+ python -m lidar_slam --no-model /working/9cd08aa0-f5f1-4699-962d-ab2e4cc16792 Lidar SLAM 0.0.6 ===================================================== The recording path: /working/9cd08aa0-f5f1-4699-962d-ab2e4cc16792 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 0.005099893 Adjusted end_distance from 9.223372036854776e+18 to 590.465099893 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.005099893 meters 0.2172218271457214 Centerline is valid? [0, False] SLAMing on 0.06509989299999999 meters 0.22225897885566456 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.01 [[ 0.99993311 0.01150533 0.00118681 0.05273738] [-0.01150816 0.99993089 0.00240368 -0.01093154] [-0.00115907 -0.00241718 0.99999641 -0.00658259] [ 0. 0. 0. 1. ]] SLAMing on 0.125099893 meters 0.22446404864234687 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.02, Z:-0.02 [[ 0.99998915 0.00143503 -0.00443134 0.0732894 ] [-0.00140247 0.99997206 0.00734208 -0.01508615] [ 0.00444175 -0.00733579 0.99996323 -0.01575011] [ 0. 0. 0. 1. ]] SLAMing on 0.18509989299999996 meters 0.22907837126728772 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.03, Z:-0.02 [[ 9.99914752e-01 -1.24717596e-02 -3.86566353e-03 7.67101714e-02] [ 1.24703383e-02 9.99922166e-01 -3.91562866e-04 -3.23666824e-02] [ 3.87024613e-03 3.43323354e-04 9.99992452e-01 -2.30841790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24509989299999996 meters 0.22895472807155234 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.02, Z:-0.03 [[ 0.99999217 -0.00118472 -0.00377572 0.09720542] [ 0.00116899 0.99999065 -0.00416342 -0.01609363] [ 0.00378061 0.00415897 0.9999842 -0.03028532] [ 0. 0. 0. 1. ]] SLAMing on 0.30509989299999996 meters 0.2338405907347863 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.02, Z:-0.04 [[ 0.99999132 0.00127399 -0.00396669 0.10316351] [-0.0012683 0.99999816 0.00143834 -0.02301669] [ 0.00396851 -0.0014333 0.9999911 -0.03903942] [ 0. 0. 0. 1. ]] SLAMing on 0.36509989299999995 meters 0.23828248999482418 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.02, Z:-0.05 [[ 0.99997308 -0.00571923 -0.00459606 0.11129408] [ 0.00568544 0.99995696 -0.00733169 -0.01969481] [ 0.00463779 0.00730536 0.99996256 -0.04700811] [ 0. 0. 0. 1. ]] SLAMing on 0.42509989299999995 meters 0.24805268560754237 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.03, Z:-0.05 [[ 0.99997499 -0.00379054 -0.00597051 0.12119992] [ 0.00375039 0.99997037 -0.00672201 -0.02597424] [ 0.00599582 0.00669945 0.99995958 -0.054005 ] [ 0. 0. 0. 1. ]] SLAMing on 0.48509989299999995 meters 0.25379857923545157 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.05, Z:-0.07 [[ 0.99996209 -0.00362234 -0.00791784 0.1352114 ] [ 0.00361243 0.99999268 -0.00126479 -0.05280339] [ 0.00792236 0.00123614 0.99996785 -0.0673325 ] [ 0. 0. 0. 1. ]] SLAMing on 0.545099893 meters 0.2651502230402619 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.07, Z:-0.07 [[ 0.99993715 -0.00753448 -0.00830167 0.14029941] [ 0.00749399 0.99995993 -0.00489767 -0.06584406] [ 0.00833824 0.00483515 0.99995355 -0.07073129] [ 0. 0. 0. 1. ]] SLAMing on 0.6050998929999999 meters 0.2810336739253367 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.07, Z:-0.07 [[ 0.99991523 -0.01073207 -0.00737274 0.14031319] [ 0.0106754 0.9999135 -0.00768314 -0.07055367] [ 0.00745456 0.00760378 0.9999433 -0.07253773] [ 0. 0. 0. 1. ]] SLAMing on 0.6650998929999999 meters 0.27800948120939345 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.07, Z:-0.09 [[ 0.99990372 -0.00249252 -0.01365077 0.15725027] [ 0.00255111 0.9999876 0.00427668 -0.07416849] [ 0.01363994 -0.00431109 0.99989768 -0.08987776] [ 0. 0. 0. 1. ]] SLAMing on 0.7250998929999999 meters 0.2761650475188347 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.08, Z:-0.10 [[ 0.99988814 -0.00497315 -0.01410572 0.16572637] [ 0.00499744 0.99998609 0.00168747 -0.07794885] [ 0.01409713 -0.00175778 0.99989909 -0.09806476] [ 0. 0. 0. 1. ]] SLAMing on 0.7850998929999999 meters 0.256456333893372 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.09, Z:-0.11 [[ 9.99848174e-01 -1.10521393e-02 -1.34714400e-02 1.69316502e-01] [ 1.10626967e-02 9.99938555e-01 7.09416440e-04 -9.38377301e-02] [ 1.34627717e-02 -8.58339186e-04 9.99909004e-01 -1.06220749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8450998929999999 meters 0.24134703547852213 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.12, Z:-0.12 [[ 0.99982127 -0.0138697 -0.01284766 0.17621373] [ 0.01390325 0.99990016 0.00252572 -0.11893306] [ 0.01281134 -0.00270389 0.99991428 -0.11675487] [ 0. 0. 0. 1. ]] SLAMing on 0.9050998929999999 meters 0.18623573334049373 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.14, Z:-0.13 [[ 0.99971124 -0.01249701 -0.02052443 0.17407689] [ 0.0125557 0.99991744 0.00273324 -0.13585706] [ 0.02048858 -0.00299015 0.99978562 -0.12791103] [ 0. 0. 0. 1. ]] SLAMing on 0.9650998929999999 meters 0.18333466502865567 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.14, Z:-0.13 [[ 0.99955483 -0.01847457 -0.02342719 0.18645254] [ 0.01832557 0.99981056 -0.00655882 -0.14154927] [ 0.02354392 0.00612659 0.99970403 -0.13081343] [ 0. 0. 0. 1. ]] SLAMing on 1.0250998929999997 meters 0.17611905681373266 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.15, Z:-0.14 [[ 0.99947728 -0.02281714 -0.02290275 0.19140669] [ 0.02258668 0.99969212 -0.01027143 -0.14580124] [ 0.02313007 0.00974877 0.99968493 -0.13746452] [ 0. 0. 0. 1. ]] SLAMing on 1.0850998929999998 meters 0.16698698567026327 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.16, Z:-0.15 [[ 0.99933495 -0.02536277 -0.02619895 0.20305017] [ 0.0252045 0.99966212 -0.00635382 -0.15723844] [ 0.02635125 0.00568926 0.99963656 -0.15104975] [ 0. 0. 0. 1. ]] SLAMing on 1.1450998929999998 meters 0.1660945722317206 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.16, Z:-0.16 [[ 0.99943992 -0.01680507 -0.02893849 0.22227381] [ 0.01669246 0.99985215 -0.00412874 -0.15884305] [ 0.0290036 0.00364337 0.99957267 -0.15916334] [ 0. 0. 0. 1. ]] SLAMing on 1.2050998929999996 meters 0.15641463930974514 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.15, Z:-0.16 [[ 0.99918789 -0.02603264 -0.03075497 0.22948112] [ 0.02562905 0.9995811 -0.01344519 -0.15475947] [ 0.0310921 0.01264605 0.99943652 -0.16448881] [ 0. 0. 0. 1. ]] SLAMing on 1.2650998929999997 meters 0.15343173084406134 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.17, Z:-0.17 [[ 0.99865398 -0.03757141 -0.03575779 0.24781319] [ 0.03659621 0.99895039 -0.02754692 -0.16773243] [ 0.03675523 0.02620125 0.99898075 -0.16756495] [ 0. 0. 0. 1. ]] SLAMing on 1.3250998929999998 meters 0.143164891814447 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.20, Z:-0.18 [[ 0.99869263 -0.03409106 -0.03808964 0.25464602] [ 0.03370933 0.99937525 -0.01061992 -0.19567519] [ 0.03842789 0.00932206 0.99921789 -0.17535887] [ 0. 0. 0. 1. ]] SLAMing on 1.3850998929999998 meters 0.13922418767255482 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.21, Z:-0.18 [[ 0.99882198 -0.02430166 -0.04200091 0.27088318] [ 0.02414722 0.99969967 -0.00418054 -0.20800412] [ 0.04208989 0.00316141 0.99910883 -0.18016154] [ 0. 0. 0. 1. ]] SLAMing on 1.4450998929999996 meters 0.13077041362988734 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.22, Z:-0.19 [[ 0.99888929 -0.01949 -0.04289893 0.27680374] [ 0.01960486 0.99980526 0.0022584 -0.21599997] [ 0.04284656 -0.00309692 0.99907686 -0.18707377] [ 0. 0. 0. 1. ]] SLAMing on 1.5050998929999997 meters 0.11957769627289541 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.21, Z:-0.19 [[ 0.99891877 -0.01615488 -0.04359252 0.27842021] [ 0.01630677 0.99986213 0.00313098 -0.20783052] [ 0.04353593 -0.00383845 0.99904449 -0.18715369] [ 0. 0. 0. 1. ]] SLAMing on 1.5650998929999997 meters 0.11477685362025539 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.20, Z:-0.19 [[ 0.99892783 -0.01129672 -0.04489512 0.28259159] [ 0.01160653 0.99991056 0.00664602 -0.20178606] [ 0.04481603 -0.00715998 0.9989696 -0.19024901] [ 0. 0. 0. 1. ]] SLAMing on 1.6250998929999996 meters 0.10751175767708088 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.20, Z:-0.19 [[ 0.99890592 -0.01235676 -0.04510284 0.28352713] [ 0.01254816 0.99991342 0.00396306 -0.19538911] [ 0.04504997 -0.00452469 0.99897449 -0.19115552] [ 0. 0. 0. 1. ]] SLAMing on 1.6850998929999996 meters 0.09916791159879436 Centerline is valid? [False, True] Translation: X:0.28, Y:-0.18, Z:-0.19 [[ 0.99886504 -0.02023307 -0.04311904 0.27931447] [ 0.02003113 0.9997863 -0.00511026 -0.183582 ] [ 0.04321322 0.00424074 0.99905687 -0.19076606] [ 0. 0. 0. 1. ]] SLAMing on 1.7450998929999997 meters 0.09474926665445293 Centerline is valid? [True, True] Translation: X:0.34, Y:-0.21, Z:-0.21 [[ 9.97176859e-01 -5.16587202e-02 -5.44948505e-02 3.42764121e-01] [ 5.15577663e-02 9.98664700e-01 -3.25771815e-03 -2.13216744e-01] [ 5.45903731e-02 4.38888389e-04 9.98508737e-01 -2.11036195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8050998929999997 meters 0.09392935342508904 Centerline is valid? [True, True] Translation: X:0.40, Y:-0.23, Z:-0.21 [[ 9.96084276e-01 -7.00970046e-02 -5.38750866e-02 4.02715577e-01] [ 7.00251275e-02 9.97540021e-01 -3.22299298e-03 -2.30634265e-01] [ 5.39684772e-02 -5.62237176e-04 9.98542482e-01 -2.10266305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8650998929999996 meters 0.0945489922072819 Centerline is valid? [True, True] Translation: X:0.46, Y:-0.22, Z:-0.21 [[ 9.96130410e-01 -6.82691482e-02 -5.53491535e-02 4.58564698e-01] [ 6.81899446e-02 9.97666831e-01 -3.32050703e-03 -2.17171176e-01] [ 5.54467027e-02 -4.66597681e-04 9.98461539e-01 -2.09277700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9250998929999996 meters 0.08386529705493609 Centerline is valid? [True, True] Translation: X:0.52, Y:-0.21, Z:-0.20 [[ 9.96300642e-01 -6.85381969e-02 -5.18415446e-02 5.16515033e-01] [ 6.84687978e-02 9.97648394e-01 -3.11554749e-03 -2.12897718e-01] [ 5.19331677e-02 -4.45506266e-04 9.98650463e-01 -2.04461970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9850998929999997 meters 0.07842934513786448 Centerline is valid? [True, True] Translation: X:0.58, Y:-0.21, Z:-0.21 [[ 9.95637646e-01 -7.49969716e-02 -5.55079514e-02 5.76030447e-01] [ 7.49269492e-02 9.97183417e-01 -3.34447799e-03 -2.14956963e-01] [ 5.56024344e-02 -8.29153260e-04 9.98452644e-01 -2.08772786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0450998929999997 meters 0.06746688705973636 Centerline is valid? [True, True] Translation: X:0.63, Y:-0.19, Z:-0.20 [[ 9.96753143e-01 -6.21696149e-02 -5.11674850e-02 6.34168475e-01] [ 6.20931568e-02 9.98065593e-01 -3.08407537e-03 -1.89847321e-01] [ 5.12602421e-02 -1.03088857e-04 9.98685324e-01 -1.97201392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1050998929999998 meters 0.06235471708407767 Centerline is valid? [True, True] Translation: X:0.69, Y:-0.14, Z:-0.18 [[ 9.98539612e-01 -3.74605470e-02 -3.89275002e-02 6.89886696e-01] [ 3.73975025e-02 9.99297713e-01 -2.34670315e-03 -1.43065797e-01] [ 3.89880707e-02 8.87484765e-04 9.99239282e-01 -1.78866432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.165099893 meters 0.051491844037314084 Centerline is valid? [True, True] Translation: X:0.75, Y:-0.16, Z:-0.18 [[ 9.98503916e-01 -4.12733277e-02 -3.58669962e-02 7.49986396e-01] [ 4.12223020e-02 9.99147662e-01 -2.16128812e-03 -1.57283688e-01] [ 3.59256290e-02 6.79534503e-04 9.99354235e-01 -1.81747884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.225099893 meters 0.05181595875844633 Centerline is valid? [True, True] Translation: X:0.81, Y:-0.16, Z:-0.17 [[ 9.98372687e-01 -4.70195745e-02 -3.22666549e-02 8.07673467e-01] [ 4.69810164e-02 9.98893874e-01 -1.95252109e-03 -1.59465790e-01] [ 3.23227706e-02 4.33423482e-04 9.99477389e-01 -1.71594688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.285099893 meters 0.052250322931274414 Centerline is valid? [True, True] Translation: X:0.87, Y:-0.15, Z:-0.17 [[ 9.98837860e-01 -3.37968378e-02 -3.43613559e-02 8.67983391e-01] [ 3.37451573e-02 9.99428299e-01 -2.08302093e-03 -1.49426173e-01] [ 3.44121111e-02 9.21070804e-04 9.99407303e-01 -1.73936445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.345099893 meters 0.05815515295598416 Centerline is valid? [True, True] Translation: X:0.93, Y:-0.14, Z:-0.16 [[ 0.99929833 -0.02139846 -0.03074008 0.92717315] [ 0.02135124 0.9997703 -0.00186334 -0.13854152] [ 0.03077289 0.0012057 0.99952568 -0.16416024] [ 0. 0. 0. 1. ]] SLAMing on 2.4050998929999996 meters 0.04434698927504708 Centerline is valid? [True, True] Translation: X:0.99, Y:-0.17, Z:-0.18 [[ 0.9987509 -0.03299375 -0.03752394 0.99043339] [ 0.03293153 0.99945502 -0.00227519 -0.16561007] [ 0.03757856 0.00103662 0.99929314 -0.17899161] [ 0. 0. 0. 1. ]] SLAMing on 2.4650998929999997 meters 0.03729090558792955 Centerline is valid? [True, True] Translation: X:1.05, Y:-0.19, Z:-0.18 [[ 9.98298133e-01 -4.43034267e-02 -3.79215615e-02 1.05254320e+00] [ 4.42480456e-02 9.99017931e-01 -2.29886010e-03 -1.92112052e-01] [ 3.79861673e-02 6.16992758e-04 9.99278075e-01 -1.79605312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5250998929999997 meters 0.03347454876969429 Centerline is valid? [True, True] Translation: X:1.11, Y:-0.18, Z:-0.17 [[ 9.98955373e-01 -3.45463578e-02 -2.99117465e-02 1.11260827e+00] [ 3.45075302e-02 9.99402793e-01 -1.81345938e-03 -1.84635400e-01] [ 2.99565314e-02 7.79384489e-04 9.99550899e-01 -1.70580432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5850998929999998 meters 0.029963068008097987 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.18, Z:-0.17 [[ 9.98872493e-01 -3.49616439e-02 -3.21158283e-02 1.17088729e+00] [ 3.49171650e-02 9.99388317e-01 -1.94492336e-03 -1.76125336e-01] [ 3.21641814e-02 8.21336762e-04 9.99482261e-01 -1.71068481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.645099893 meters 0.029171288300479145 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.20, Z:-0.18 [[ 9.96983200e-01 -6.71380156e-02 -3.89485036e-02 1.23311531e+00] [ 6.70966384e-02 9.97743667e-01 -2.37001718e-03 -1.98321153e-01] [ 3.90197411e-02 -2.50446354e-04 9.99238409e-01 -1.77000942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.705099893 meters 0.029616261432963153 Centerline is valid? [True, True] Translation: X:1.29, Y:-0.22, Z:-0.17 [[ 9.95334846e-01 -9.03053377e-02 -3.39630595e-02 1.29387618e+00] [ 9.02872919e-02 9.95913615e-01 -2.06776050e-03 -2.18413407e-01] [ 3.40110031e-02 -1.00831859e-03 9.99420950e-01 -1.68828800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.765099893 meters 0.02561984318884347 Centerline is valid? [True, True] Translation: X:1.35, Y:-0.20, Z:-0.16 [[ 9.96678713e-01 -7.52433416e-02 -3.11445568e-02 1.35184562e+00] [ 7.52208042e-02 9.97165099e-01 -1.89631504e-03 -1.98094889e-01] [ 3.11989502e-02 -4.52701780e-04 9.99513092e-01 -1.63931875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8250998929999995 meters 0.022530023643472393 Centerline is valid? [True, True] Translation: X:1.41, Y:-0.17, Z:-0.16 [[ 9.98082211e-01 -5.34633166e-02 -3.12021459e-02 1.40877703e+00] [ 5.34300322e-02 9.98569788e-01 -1.90012770e-03 -1.67542983e-01] [ 3.12591074e-02 2.29351995e-04 9.99511288e-01 -1.61957134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8850998929999996 meters 0.026513579960744257 Centerline is valid? [True, True] Translation: X:1.47, Y:-0.13, Z:-0.16 [[ 9.98866026e-01 -3.47786384e-02 -3.25131935e-02 1.46701716e+00] [ 3.47325093e-02 9.99394678e-01 -1.98265889e-03 -1.30985306e-01] [ 3.25624667e-02 8.51145813e-04 9.99469340e-01 -1.60584710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9450998929999996 meters 0.02104969031092601 Centerline is valid? [True, True] Translation: X:1.53, Y:-0.13, Z:-0.16 [[ 9.98538255e-01 -4.47053792e-02 -3.03773314e-02 1.52692399e+00] [ 4.46697093e-02 9.99000093e-01 -1.85218448e-03 -1.28158331e-01] [ 3.04297595e-02 4.92530495e-04 9.99536786e-01 -1.62471511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0050998929999997 meters 0.02098408735936852 Centerline is valid? [True, True] Translation: X:1.59, Y:-0.11, Z:-0.17 [[ 9.98402007e-01 -4.29716939e-02 -3.66996768e-02 1.58549704e+00] [ 4.29184630e-02 9.99076073e-01 -2.23739343e-03 -1.11562113e-01] [ 3.67619136e-02 6.58724370e-04 9.99323835e-01 -1.65667666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0650998929999997 meters 0.022901869893317703 Centerline is valid? [True, True] Translation: X:1.64, Y:-0.09, Z:-0.15 [[ 9.99037490e-01 -3.29449384e-02 -2.89607490e-02 1.64369467e+00] [ 3.29073813e-02 9.99456834e-01 -1.77261294e-03 -9.34684624e-02] [ 2.90034171e-02 8.17884374e-04 9.99578978e-01 -1.53633020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.125099893 meters 0.023578058465554073 Centerline is valid? [True, True] Translation: X:1.70, Y:-0.09, Z:-0.16 [[ 9.98681394e-01 -3.50891029e-02 -3.74730193e-02 1.70273259e+00] [ 3.50276894e-02 9.99383709e-01 -2.29434618e-03 -9.06809668e-02] [ 3.75304316e-02 9.78727558e-04 9.99295006e-01 -1.59250738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.185099893 meters 0.019452126013055855 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.10, Z:-0.15 [[ 9.98013334e-01 -5.10142140e-02 -3.69720896e-02 1.76280882e+00] [ 5.09652934e-02 9.98697856e-01 -2.26505449e-03 -1.03443983e-01] [ 3.70394966e-02 3.76261187e-04 9.99313732e-01 -1.54464475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2450998929999995 meters 0.0188455086734734 Centerline is valid? [True, True] Translation: X:1.82, Y:-0.12, Z:-0.15 [[ 9.97020031e-01 -6.84020248e-02 -3.56682179e-02 1.82164946e+00] [ 6.83675963e-02 9.97657805e-01 -2.18544753e-03 -1.17370122e-01] [ 3.57341650e-02 -2.59615362e-04 9.99361297e-01 -1.49856147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3050998929999995 meters 0.023304366590777045 Centerline is valid? [True, True] Translation: X:1.88, Y:-0.13, Z:-0.15 [[ 9.95829605e-01 -8.27749604e-02 -3.83627781e-02 1.88146101e+00] [ 8.27456461e-02 9.96567919e-01 -2.35399917e-03 -1.29012667e-01] [ 3.84259661e-02 -8.30170795e-04 9.99261105e-01 -1.51644883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3650998929999996 meters 0.027073089566831993 Centerline is valid? [True, True] Translation: X:1.94, Y:-0.12, Z:-0.15 [[ 9.95182436e-01 -8.95497828e-02 -3.99093429e-02 1.94045468e+00] [ 8.95234690e-02 9.95981701e-01 -2.44957864e-03 -1.19401014e-01] [ 3.99683345e-02 -1.13504519e-03 9.99200302e-01 -1.49074866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4250998929999996 meters 0.024718049266891928 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.10, Z:-0.15 [[ 9.95412797e-01 -8.51906385e-02 -4.35421559e-02 1.99911358e+00] [ 8.51551194e-02 9.96364120e-01 -2.67327235e-03 -9.53162966e-02] [ 4.36115796e-02 -1.04682797e-03 9.99048014e-01 -1.51182958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4850998929999997 meters 0.023825042298152646 Centerline is valid? [True, True] Translation: X:2.06, Y:-0.07, Z:-0.15 [[ 9.95303001e-01 -8.54464442e-02 -4.55065064e-02 2.05514146e+00] [ 8.54078468e-02 9.96342153e-01 -2.79538007e-03 -7.22669635e-02] [ 4.55789059e-02 -1.10436256e-03 9.98960131e-01 -1.47140754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5450998929999997 meters 0.03226745813649368 Centerline is valid? [True, True] Translation: X:2.12, Y:-0.06, Z:-0.15 [[ 9.93744017e-01 -9.79464979e-02 -5.36592193e-02 2.11523071e+00] [ 9.79103726e-02 9.95189739e-01 -3.30796236e-03 -6.22623636e-02] [ 5.37251077e-02 -1.96652634e-03 9.98553827e-01 -1.53397963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6050998929999998 meters 0.03910710341944827 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.05, Z:-0.15 [[ 0.99258401 -0.10757855 -0.05660246 2.17508009] [ 0.10755396 0.99419312 -0.00348958 -0.0518784 ] [ 0.05664918 -0.00262411 0.9983907 -0.15205023] [ 0. 0. 0. 1. ]] SLAMing on 3.6650998929999994 meters 0.0414690081650564 Centerline is valid? [True, True] Translation: X:2.23, Y:-0.04, Z:-0.14 [[ 0.99250132 -0.11025106 -0.05278105 2.23256852] [ 0.11023331 0.9939004 -0.00325631 -0.03716046] [ 0.05281811 -0.00258634 0.9986008 -0.1423913 ] [ 0. 0. 0. 1. ]] SLAMing on 3.7250998929999994 meters 0.04208491200873061 Centerline is valid? [True, True] Translation: X:2.29, Y:-0.02, Z:-0.14 [[ 0.99270957 -0.1091678 -0.05108917 2.28925747] [ 0.10914927 0.99402034 -0.00316081 -0.02441711] [ 0.05112874 -0.00243858 0.99868909 -0.13780022] [ 0. 0. 0. 1. ]] SLAMing on 3.7850998929999995 meters 0.04323596357196514 Centerline is valid? [True, True] Translation: X:2.35, Y:-0.02, Z:-0.14 [[ 0.99268047 -0.10909906 -0.05179659 2.34800578] [ 0.10907967 0.99402783 -0.00320957 -0.01676742] [ 0.05183742 -0.00246388 0.9986525 -0.13596339] [ 0. 0. 0. 1. ]] SLAMing on 3.8450998929999995 meters 0.037313315054617394 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.00, Z:-0.13 [[ 9.93443766e-01 -1.01658972e-01 -5.22966221e-02 2.40707640e+00] [ 1.01628466e-01 9.94817118e-01 -3.24915345e-03 -2.66236865e-03] [ 5.23558805e-02 -2.08697422e-03 9.98626310e-01 -1.33734738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9050998929999996 meters 0.028634754382045477 Centerline is valid? [True, True] Translation: X:2.47, Y:0.02, Z:-0.14 [[ 9.94400228e-01 -9.04965224e-02 -5.45762441e-02 2.46663646e+00] [ 9.04464523e-02 9.95895544e-01 -3.39177935e-03 1.58827609e-02] [ 5.46591825e-02 -1.56344150e-03 9.98503845e-01 -1.35499152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9650998929999997 meters 0.01920909525202987 Centerline is valid? [True, True] Translation: X:2.53, Y:0.04, Z:-0.13 [[ 9.94752150e-01 -8.61314020e-02 -5.52226479e-02 2.52536031e+00] [ 8.60734147e-02 9.96282886e-01 -3.43205734e-03 3.77336271e-02] [ 5.53129869e-02 -1.33915546e-03 9.98468167e-01 -1.26548923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.025099892999999 meters 0.0238962731066165 Centerline is valid? [True, True] Translation: X:2.59, Y:0.03, Z:-0.13 [[ 9.93828997e-01 -9.25806559e-02 -6.10962052e-02 2.58660855e+00] [ 9.25217919e-02 9.95703417e-01 -3.79787415e-03 3.36431617e-02] [ 6.11853099e-02 -1.87829292e-03 9.98124656e-01 -1.32991393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.085099892999999 meters 0.028978087245012885 Centerline is valid? [True, True] Translation: X:2.65, Y:0.03, Z:-0.13 [[ 9.92941882e-01 -1.01772110e-01 -6.09003853e-02 2.64668071e+00] [ 1.01730837e-01 9.94804756e-01 -3.78602265e-03 2.67532104e-02] [ 6.09693044e-02 -2.43614673e-03 9.98136669e-01 -1.29952982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.145099892999999 meters 0.031060475509765238 Centerline is valid? [True, True] Translation: X:2.70, Y:0.03, Z:-0.12 [[ 9.92954603e-01 -1.03688367e-01 -5.73574718e-02 2.70450305e+00] [ 1.03654831e-01 9.94606932e-01 -3.56757897e-03 2.51862755e-02] [ 5.74180555e-02 -2.40293508e-03 9.98347331e-01 -1.24443483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.205099892999999 meters 0.029201663194913467 Centerline is valid? [True, True] Translation: X:2.76, Y:0.03, Z:-0.11 [[ 9.93794121e-01 -9.81007418e-02 -5.24355779e-02 2.76343334e+00] [ 9.80647699e-02 9.95174680e-01 -3.26462556e-03 3.36821358e-02] [ 5.25028217e-02 -1.89771720e-03 9.98618973e-01 -1.14939518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2650998929999995 meters 0.0313616058098608 Centerline is valid? [True, True] Translation: X:2.82, Y:0.03, Z:-0.12 [[ 9.93287814e-01 -9.98110229e-02 -5.84557817e-02 2.82381277e+00] [ 9.97692201e-02 9.95003944e-01 -3.64054609e-03 2.79734686e-02] [ 5.85271000e-02 -2.21597769e-03 9.98283361e-01 -1.22736810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.325099892999999 meters 0.030797941047036 Centerline is valid? [True, True] Translation: X:2.88, Y:0.03, Z:-0.12 [[ 9.93363273e-01 -9.74413473e-02 -6.11113044e-02 2.88117565e+00] [ 9.73910656e-02 9.95238906e-01 -3.80800584e-03 3.41002010e-02] [ 6.11914050e-02 -2.16896191e-03 9.98123694e-01 -1.22848745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.385099892999999 meters 0.030907258800561072 Centerline is valid? [True, True] Translation: X:2.94, Y:0.03, Z:-0.12 [[ 9.93661907e-01 -9.70104977e-02 -5.67888829e-02 2.93944028e+00] [ 9.69661531e-02 9.95281376e-01 -3.54240053e-03 3.44763608e-02] [ 5.68645675e-02 -1.98665104e-03 9.98379925e-01 -1.16444082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.445099892999999 meters 0.02006057400864186 Centerline is valid? [True, True] Translation: X:3.00, Y:0.06, Z:-0.11 [[ 9.93547881e-01 -9.51334169e-02 -6.17433519e-02 2.99875424e+00] [ 9.50772282e-02 9.95462439e-01 -3.85409268e-03 5.51405522e-02] [ 6.18298406e-02 -2.04116115e-03 9.98084618e-01 -1.12076357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.505099892999999 meters 0.01753376611119331 Centerline is valid? [True, True] Translation: X:3.06, Y:0.07, Z:-0.10 [[ 9.94438517e-01 -8.92932076e-02 -5.58458561e-02 3.05785527e+00] [ 8.92380288e-02 9.96004228e-01 -3.48601135e-03 6.67996940e-02] [ 5.59339859e-02 -1.51695016e-03 9.98433317e-01 -9.85396836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.565099892999999 meters 0.0179607117735213 Centerline is valid? [True, True] Translation: X:3.12, Y:0.07, Z:-0.10 [[ 9.94987794e-01 -8.20730765e-02 -5.71253039e-02 3.11753785e+00] [ 8.20033985e-02 9.96625667e-01 -3.56679127e-03 7.39284846e-02] [ 5.72252816e-02 -1.13555528e-03 9.98360645e-01 -1.00037860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.625099892999999 meters 0.01594885199453096 Centerline is valid? [True, True] Translation: X:3.18, Y:0.09, Z:-0.09 [[ 9.95840939e-01 -7.33085608e-02 -5.40987839e-02 3.17607759e+00] [ 7.32330088e-02 9.97309130e-01 -3.38027282e-03 8.92445793e-02] [ 5.42010140e-02 -5.95602655e-04 9.98529867e-01 -9.44992440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.685099892999999 meters 0.015310940665311903 Centerline is valid? [True, True] Translation: X:3.24, Y:0.11, Z:-0.09 [[ 9.96710684e-01 -6.07425540e-02 -5.36484272e-02 3.23515816e+00] [ 6.06499461e-02 9.98153462e-01 -3.35408466e-03 1.05500290e-01] [ 5.37530990e-02 8.92778016e-05 9.98554253e-01 -9.43949506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.745099892999999 meters 0.015907977593287 Centerline is valid? [True, True] Translation: X:3.29, Y:0.12, Z:-0.09 [[ 9.96898255e-01 -5.89958894e-02 -5.20898703e-02 3.29223940e+00] [ 5.89060574e-02 9.98258209e-01 -3.25946401e-03 1.15138697e-01] [ 5.21914356e-02 1.80945100e-04 9.98637082e-01 -9.21575543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.805099892999999 meters 0.015132155021230515 Centerline is valid? [True, True] Translation: X:3.35, Y:0.12, Z:-0.09 [[ 9.96121126e-01 -7.05137361e-02 -5.26356790e-02 3.35149957e+00] [ 7.04376316e-02 9.97510721e-01 -3.30184382e-03 1.15684783e-01] [ 5.27374794e-02 -4.18496174e-04 9.98608323e-01 -9.15912203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.865099892999999 meters 0.0158020024841387 Centerline is valid? [True, True] Translation: X:3.41, Y:0.11, Z:-0.08 [[ 9.95233204e-01 -8.37034459e-02 -5.00460052e-02 3.41184523e+00] [ 8.36507791e-02 9.96490154e-01 -3.14963625e-03 1.12114758e-01] [ 5.01339869e-02 -1.05176476e-03 9.98741947e-01 -8.38306000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.925099892999999 meters 0.014483324398118233 Centerline is valid? [True, True] Translation: X:3.47, Y:0.11, Z:-0.08 [[ 9.95887281e-01 -7.97095174e-02 -4.30687420e-02 3.47295059e+00] [ 7.96667507e-02 9.96817866e-01 -2.71118482e-03 1.14944994e-01] [ 4.31477988e-02 -7.31112254e-04 9.99068433e-01 -7.65258338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.985099892999999 meters 0.016180391307882742 Centerline is valid? [True, True] Translation: X:3.54, Y:0.12, Z:-0.08 [[ 9.95637878e-01 -8.01526600e-02 -4.77573862e-02 3.53554048e+00] [ 8.01006840e-02 9.96782251e-01 -3.00422381e-03 1.19207570e-01] [ 4.78445114e-02 -8.34280278e-04 9.98854447e-01 -7.97795336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.045099892999999 meters 0.019005742767949706 Centerline is valid? [True, True] Translation: X:3.60, Y:0.12, Z:-0.09 [[ 9.94047123e-01 -8.99526526e-02 -6.14722536e-02 3.59764947e+00] [ 8.98854996e-02 9.95944616e-01 -3.86252026e-03 1.15693177e-01] [ 6.15704039e-02 -1.68593707e-03 9.98101319e-01 -8.97011426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.105099892999999 meters 0.01964844404661267 Centerline is valid? [True, True] Translation: X:3.66, Y:0.11, Z:-0.09 [[ 9.93780534e-01 -9.21510139e-02 -6.25175186e-02 3.65702440e+00] [ 9.20856494e-02 9.95743326e-01 -3.93219593e-03 1.10590601e-01] [ 6.26137577e-02 -1.84922652e-03 9.98036120e-01 -8.70908045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.165099892999999 meters 0.021893679562720578 Centerline is valid? [True, True] Translation: X:3.72, Y:0.11, Z:-0.08 [[ 9.92597817e-01 -1.01689077e-01 -6.63995861e-02 3.71596436e+00] [ 1.01635877e-01 9.94812853e-01 -4.18753273e-03 1.11655665e-01] [ 6.64809880e-02 -2.59204434e-03 9.97784325e-01 -8.23548900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2250998929999986 meters 0.022418203442221587 Centerline is valid? [True, True] Translation: X:3.77, Y:0.11, Z:-0.08 [[ 9.92560599e-01 -1.02573815e-01 -6.55901620e-02 3.77472135e+00] [ 1.02523452e-01 9.94721963e-01 -4.14219217e-03 1.12316875e-01] [ 6.56688551e-02 -2.61315309e-03 9.97838049e-01 -7.98226704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.285099892999999 meters 0.02183080352294854 Centerline is valid? [True, True] Translation: X:3.83, Y:0.12, Z:-0.07 [[ 9.93728296e-01 -9.67997162e-02 -5.59811540e-02 3.83309915e+00] [ 9.67533065e-02 9.95302080e-01 -3.54512941e-03 1.15370087e-01] [ 5.60613266e-02 -1.89346635e-03 9.98425532e-01 -6.88830997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.345099892999999 meters 0.021308278580088255 Centerline is valid? [True, True] Translation: X:3.89, Y:0.11, Z:-0.07 [[ 9.93387045e-01 -1.00270912e-01 -5.59278302e-02 3.89411211e+00] [ 1.00229981e-01 9.94957986e-01 -3.54348695e-03 1.13792437e-01] [ 5.60011500e-02 -2.08559134e-03 9.98428526e-01 -6.57769106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.405099892999999 meters 0.028318047527750613 Centerline is valid? [True, True] Translation: X:3.95, Y:0.10, Z:-0.06 [[ 9.92414755e-01 -1.10851140e-01 -5.31505330e-02 3.95441778e+00] [ 1.10829321e-01 9.93833752e-01 -3.36687938e-03 1.00607364e-01] [ 5.31960160e-02 -2.54929669e-03 9.98580835e-01 -6.05625182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.465099892999999 meters 0.025605995554056862 Centerline is valid? [True, True] Translation: X:4.01, Y:0.10, Z:-0.05 [[ 9.93386368e-01 -1.05046266e-01 -4.63552051e-02 4.01415961e+00] [ 1.05023334e-01 9.94465422e-01 -2.93667377e-03 1.03950989e-01] [ 4.64071352e-02 -1.95112652e-03 9.98920703e-01 -5.22866356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.525099892999999 meters 0.018703321147594296 Centerline is valid? [True, True] Translation: X:4.07, Y:0.12, Z:-0.05 [[ 9.95729837e-01 -8.43763781e-02 -3.74528738e-02 4.07326328e+00] [ 8.43467768e-02 9.96433637e-01 -2.37255355e-03 1.19129077e-01] [ 3.75194907e-02 -7.96606823e-04 9.99295579e-01 -4.53359824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.585099892999999 meters 0.018756389702942196 Centerline is valid? [True, True] Translation: X:4.14, Y:0.11, Z:-0.05 [[ 9.95356163e-01 -8.80080698e-02 -3.89960124e-02 4.13622172e+00] [ 8.79787667e-02 9.96119287e-01 -2.47020309e-03 1.09969802e-01] [ 3.90620779e-02 -9.72089211e-04 9.99236313e-01 -4.98414133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6450998929999985 meters 0.023471079969720518 Centerline is valid? [True, True] Translation: X:4.20, Y:0.10, Z:-0.06 [[ 9.93564802e-01 -1.02517514e-01 -4.81574926e-02 4.19860440e+00] [ 1.02490005e-01 9.94729369e-01 -3.04669885e-03 9.58867449e-02] [ 4.82160122e-02 -1.90856890e-03 9.98835108e-01 -5.64443615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.705099892999999 meters 0.027910120674052682 Centerline is valid? [True, True] Translation: X:4.26, Y:0.09, Z:-0.06 [[ 9.92255176e-01 -1.09349788e-01 -5.89261341e-02 4.25960912e+00] [ 1.09320678e-01 9.93999546e-01 -3.72722870e-03 8.93404792e-02] [ 5.89801222e-02 -2.74348293e-03 9.98255387e-01 -6.22507356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.765099892999999 meters 0.022333915111011536 Centerline is valid? [True, True] Translation: X:4.32, Y:0.10, Z:-0.06 [[ 9.93410858e-01 -9.71578836e-02 -6.07882629e-02 4.31930082e+00] [ 9.71040862e-02 9.95266803e-01 -3.84552210e-03 9.95291188e-02] [ 6.08741629e-02 -2.08260531e-03 9.98143276e-01 -5.67008472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.825099892999999 meters 0.016614017924513943 Centerline is valid? [True, True] Translation: X:4.38, Y:0.12, Z:-0.05 [[ 9.96258788e-01 -6.67233460e-02 -5.49219646e-02 4.37769365e+00] [ 6.66331169e-02 9.97771495e-01 -3.47446397e-03 1.22525754e-01] [ 5.50313986e-02 -1.98156426e-04 9.98484605e-01 -4.98117126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.885099892999999 meters 0.018112660513879816 Centerline is valid? [True, True] Translation: X:4.44, Y:0.15, Z:-0.04 [[ 9.98248058e-01 -3.56185626e-02 -4.72454561e-02 4.43627523e+00] [ 3.55169509e-02 9.99364605e-01 -2.98872085e-03 1.46369209e-01] [ 4.73218905e-02 1.30547024e-03 9.98878839e-01 -3.78123738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.945099892999999 meters 0.01669394966442618 Centerline is valid? [True, True] Translation: X:4.50, Y:0.14, Z:-0.04 [[ 9.97831068e-01 -4.67977573e-02 -4.62939554e-02 4.49730587e+00] [ 4.67122102e-02 9.98904096e-01 -2.92860756e-03 1.39968993e-01] [ 4.63802740e-02 7.59762630e-04 9.98923567e-01 -3.77425544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.005099892999999 meters 0.017498968843465794 Centerline is valid? [True, True] Translation: X:4.56, Y:0.12, Z:-0.04 [[ 9.95647841e-01 -7.55365990e-02 -5.45856975e-02 4.55766771e+00] [ 7.54606272e-02 9.97142798e-01 -3.45447955e-03 1.19109168e-01] [ 5.46906748e-02 -6.79625863e-04 9.98503114e-01 -4.19178881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.065099892999998 meters 0.016422458040995732 Centerline is valid? [True, True] Translation: X:4.62, Y:0.13, Z:-0.03 [[ 9.96511204e-01 -6.61027104e-02 -5.09495008e-02 4.61591955e+00] [ 6.60239476e-02 9.97812813e-01 -3.22923567e-03 1.31581985e-01] [ 5.10515260e-02 -1.45917647e-04 9.98696010e-01 -3.13223761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.125099892999999 meters 0.019955219218066842 Centerline is valid? [True, True] Translation: X:4.67, Y:0.17, Z:-0.03 [[ 9.98453848e-01 -2.94286764e-02 -4.71578977e-02 4.67426383e+00] [ 2.93198479e-02 9.99565585e-01 -2.99795284e-03 1.71213347e-01] [ 4.72256374e-02 1.61065516e-03 9.98882949e-01 -2.73633311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1850998929999985 meters 0.0184764940737873 Centerline is valid? [True, True] Translation: X:4.73, Y:0.18, Z:-0.02 [[ 9.98556965e-01 -3.30598601e-02 -4.23206034e-02 4.73269057e+00] [ 3.29754763e-02 9.99452539e-01 -2.69064382e-03 1.84383860e-01] [ 4.23863869e-02 1.29121907e-03 9.99100459e-01 -2.03458267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.245099892999999 meters 0.015340932518312476 Centerline is valid? [True, True] Translation: X:4.79, Y:0.18, Z:-0.03 [[ 9.96755509e-01 -6.33950388e-02 -4.95935977e-02 4.79385830e+00] [ 6.33164935e-02 9.97988511e-01 -3.15477699e-03 1.77082777e-01] [ 4.96938380e-02 4.44863610e-06 9.98764498e-01 -2.54843536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.305099892999999 meters 0.017988219642255603 Centerline is valid? [True, True] Translation: X:4.85, Y:0.18, Z:-0.03 [[ 9.95351823e-01 -7.73854121e-02 -5.73257948e-02 4.85373883e+00] [ 7.73035884e-02 9.97000931e-01 -3.64687823e-03 1.76365110e-01] [ 5.74360859e-02 -8.01562757e-04 9.98348864e-01 -2.83539880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.365099892999999 meters 0.01699222749337173 Centerline is valid? [True, True] Translation: X:4.91, Y:0.21, Z:-0.02 [[ 9.96239354e-01 -6.09079402e-02 -6.16228194e-02 4.90992029e+00] [ 6.07814986e-02 9.98143374e-01 -3.92607946e-03 2.09134681e-01] [ 6.17475383e-02 1.65787557e-04 9.98091786e-01 -2.16653318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.425099892999999 meters 0.016790346087849278 Centerline is valid? [True, True] Translation: X:4.97, Y:0.22, Z:-0.02 [[ 9.95505770e-01 -7.82709316e-02 -5.33096895e-02 4.96727113e+00] [ 7.82006234e-02 9.96931822e-01 -3.40670991e-03 2.20289468e-01] [ 5.34127722e-02 -7.77451582e-04 9.98572216e-01 -1.76621417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.485099892999998 meters 0.015249948123481013 Centerline is valid? [True, True] Translation: X:5.03, Y:0.22, Z:-0.02 [[ 9.95572022e-01 -7.58996765e-02 -5.54579853e-02 5.02785104e+00] [ 7.58196925e-02 9.97115232e-01 -3.54789301e-03 2.16623650e-01] [ 5.55672858e-02 -6.72624367e-04 9.98454718e-01 -1.85710673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.545099892999999 meters 0.016110914541928974 Centerline is valid? [True, True] Translation: X:5.09, Y:0.23, Z:-0.01 [[ 9.95868025e-01 -7.35818226e-02 -5.32220959e-02 5.08691671e+00] [ 7.35048312e-02 9.97289047e-01 -3.40525252e-03 2.26845371e-01] [ 5.33283780e-02 -5.20899074e-04 9.98576894e-01 -1.07689341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6050998929999984 meters 0.01568290434898906 Centerline is valid? [True, True] Translation: X:5.15, Y:0.23, Z:-0.01 [[ 9.95739778e-01 -7.59002704e-02 -5.23588036e-02 5.14635939e+00] [ 7.58288637e-02 9.97115213e-01 -3.35184098e-03 2.29712142e-01] [ 5.24621652e-02 -6.32747193e-04 9.98622712e-01 -6.40445489e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.665099892999999 meters 0.017016761739666444 Centerline is valid? [True, True] Translation: X:5.21, Y:0.23, Z:-0.01 [[ 9.95502947e-01 -7.79408195e-02 -5.38433970e-02 5.20632433e+00] [ 7.78681992e-02 9.96957698e-01 -3.44848531e-03 2.31488984e-01] [ 5.39483669e-02 -7.59711082e-04 9.98543437e-01 -5.68561966e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7250998929999986 meters 0.017637698857664724 Centerline is valid? [True, True] Translation: X:5.27, Y:0.23, Z:-0.01 [[ 9.95005668e-01 -8.35862106e-02 -5.45624934e-02 5.26566996e+00] [ 8.35200709e-02 9.96499965e-01 -3.49529438e-03 2.30542874e-01] [ 5.46636812e-02 -1.07922560e-03 9.98504240e-01 -5.59619400e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.785099892999999 meters 0.018039962529103323 Centerline is valid? [True, True] Translation: X:5.33, Y:0.23, Z:-0.00 [[ 9.94941760e-01 -8.48673523e-02 -5.37440867e-02 5.32541572e+00] [ 8.48049821e-02 9.96391616e-01 -3.44410303e-03 2.33965971e-01] [ 5.38424493e-02 -1.13108438e-03 9.98548803e-01 -2.45023207e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.845099892999999 meters 0.015300132558673497 Centerline is valid? [True, True] Translation: X:5.39, Y:0.25, Z:0.00 [[ 9.96169008e-01 -6.88877289e-02 -5.38682500e-02 5.38519150e+00] [ 6.88017393e-02 9.97624383e-01 -3.45133891e-03 2.46960113e-01] [ 5.39780346e-02 -2.68112439e-04 9.98542087e-01 3.78618926e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.905099892999998 meters 0.013791350390113082 Centerline is valid? [True, True] Translation: X:5.44, Y:0.26, Z:0.01 [[ 9.96615902e-01 -6.49291758e-02 -5.04077985e-02 5.44315087e+00] [ 6.48487166e-02 9.97889874e-01 -3.23173851e-03 2.57158160e-01] [ 5.05112658e-02 -4.80790486e-05 9.98723490e-01 7.32457776e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.965099892999999 meters 0.01535813269423991 Centerline is valid? [True, True] Translation: X:5.50, Y:0.26, Z:0.01 [[ 9.96607747e-01 -6.53995016e-02 -4.99590198e-02 5.50224446e+00] [ 6.53205282e-02 9.97859159e-01 -3.21357826e-03 2.62195662e-01] [ 5.00622319e-02 -6.06725759e-05 9.98746098e-01 9.04027245e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.025099892999998 meters 0.014992005498321703 Centerline is valid? [True, True] Translation: X:5.56, Y:0.27, Z:0.01 [[ 9.96553256e-01 -6.76945874e-02 -4.79484077e-02 5.56223868e+00] [ 6.76244315e-02 9.97706076e-01 -3.08568611e-03 2.66544805e-01] [ 4.80473020e-02 -1.67433274e-04 9.98845047e-01 1.42568729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.085099892999999 meters 0.015748302654693732 Centerline is valid? [True, True] Translation: X:5.62, Y:0.27, Z:0.02 [[ 9.96242511e-01 -7.19752419e-02 -4.81707876e-02 5.62240275e+00] [ 7.19094329e-02 9.97406348e-01 -3.09999721e-03 2.68594064e-01] [ 4.82689724e-02 -3.75585014e-04 9.98834303e-01 1.67367639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1450998929999985 meters 0.016732997646791713 Centerline is valid? [True, True] Translation: X:5.68, Y:0.26, Z:0.01 [[ 9.95062666e-01 -8.29234462e-02 -5.45343250e-02 5.68298435e+00] [ 8.28555035e-02 9.96555392e-01 -3.50951819e-03 2.62851300e-01] [ 5.46374969e-02 -1.02627843e-03 9.98505729e-01 1.16605536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.205099892999999 meters 0.017008509856934875 Centerline is valid? [True, True] Translation: X:5.74, Y:0.27, Z:0.02 [[ 9.95505273e-01 -8.00105950e-02 -5.06710551e-02 5.74385485e+00] [ 7.99481919e-02 9.96793688e-01 -3.26043003e-03 2.72744947e-01] [ 5.07694569e-02 -8.05283955e-04 9.98710075e-01 2.08807768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.265099892999999 meters 0.01740906749349364 Centerline is valid? [True, True] Translation: X:5.81, Y:0.26, Z:0.02 [[ 9.94646482e-01 -8.82168497e-02 -5.38160079e-02 5.80566987e+00] [ 8.81585881e-02 9.96100442e-01 -3.46018690e-03 2.63424654e-01] [ 5.39113961e-02 -1.30268055e-03 9.98544874e-01 1.73371859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.325099892999998 meters 0.019042717860850312 Centerline is valid? [True, True] Translation: X:5.87, Y:0.26, Z:0.02 [[ 9.94144289e-01 -9.31525956e-02 -5.47697588e-02 5.86710770e+00] [ 9.30997820e-02 9.95650559e-01 -3.52050756e-03 2.60178844e-01] [ 5.48594854e-02 -1.59916012e-03 9.98492804e-01 1.73197058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.385099892999999 meters 0.02107629658278376 Centerline is valid? [True, True] Translation: X:5.93, Y:0.26, Z:0.02 [[ 9.94021666e-01 -9.49489953e-02 -5.39037647e-02 5.92802519e+00] [ 9.49005374e-02 9.95480734e-01 -3.46367707e-03 2.62461136e-01] [ 5.39890319e-02 -1.67252619e-03 9.98540128e-01 2.12800473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.445099892999998 meters 0.016626756814372912 Centerline is valid? [True, True] Translation: X:5.99, Y:0.28, Z:0.03 [[ 9.95319564e-01 -8.03251443e-02 -5.37292975e-02 5.98732941e+00] [ 8.02557724e-02 9.96768329e-01 -3.45099411e-03 2.82076029e-01] [ 5.38328637e-02 -8.77244323e-04 9.98549575e-01 2.51806338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.505099892999999 meters 0.014102544330621419 Centerline is valid? [True, True] Translation: X:6.05, Y:0.29, Z:0.03 [[ 9.96004489e-01 -6.98453899e-02 -5.56478071e-02 6.04703001e+00] [ 6.97546176e-02 9.97557777e-01 -3.57425880e-03 2.93632222e-01] [ 5.57615482e-02 -3.21713689e-04 9.98444063e-01 2.76432621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.565099892999998 meters 0.013572340628311048 Centerline is valid? [True, True] Translation: X:6.10, Y:0.30, Z:0.03 [[ 9.96158722e-01 -6.89291031e-02 -5.40053657e-02 6.10449855e+00] [ 6.88422101e-02 9.97621527e-01 -3.46982291e-03 2.98384312e-01] [ 5.41160872e-02 -2.61354375e-04 9.98534617e-01 3.19188565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.625099892999999 meters 0.014504816594155347 Centerline is valid? [True, True] Translation: X:6.16, Y:0.30, Z:0.04 [[ 9.95999435e-01 -7.10571544e-02 -5.41849285e-02 6.16391818e+00] [ 7.09726044e-02 9.97472175e-01 -3.48548058e-03 3.02489736e-01] [ 5.42956269e-02 -3.74108809e-04 9.98524834e-01 3.50100335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6850998929999985 meters 0.015619413133731353 Centerline is valid? [True, True] Translation: X:6.22, Y:0.31, Z:0.04 [[ 9.95742974e-01 -7.45971813e-02 -5.41404602e-02 6.22376695e+00] [ 7.45179033e-02 9.97213589e-01 -3.48434761e-03 3.05244352e-01] [ 5.42495251e-02 -5.64918920e-04 9.98527250e-01 3.77606163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.745099892999998 meters 0.01627937058755617 Centerline is valid? [True, True] Translation: X:6.28, Y:0.30, Z:0.04 [[ 9.95294044e-01 -7.99296412e-02 -5.47815605e-02 6.28329303e+00] [ 7.98564851e-02 9.96800133e-01 -3.52660645e-03 3.03972357e-01] [ 5.48881472e-02 -8.64652475e-04 9.98492135e-01 3.99600539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.805099892999999 meters 0.015717591350653502 Centerline is valid? [True, True] Translation: X:6.34, Y:0.31, Z:0.04 [[ 9.95432519e-01 -7.69831875e-02 -5.64596215e-02 6.34432869e+00] [ 7.69007308e-02 9.97032129e-01 -3.63486571e-03 3.11030584e-01] [ 5.65718802e-02 -7.23522622e-04 9.98398267e-01 3.98148179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.865099892999998 meters 0.015109762817987685 Centerline is valid? [True, True] Translation: X:6.40, Y:0.32, Z:0.05 [[ 9.96063247e-01 -7.18688010e-02 -5.18930035e-02 6.40329719e+00] [ 7.17922747e-02 9.97414014e-01 -3.33962273e-03 3.20803616e-01] [ 5.19988236e-02 -3.99041297e-04 9.98647066e-01 4.77122521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.925099892999999 meters 0.014497270169120903 Centerline is valid? [True, True] Translation: X:6.46, Y:0.32, Z:0.05 [[ 9.95896770e-01 -7.39947583e-02 -5.20998916e-02 6.46355191e+00] [ 7.39204868e-02 9.97258499e-01 -3.35370243e-03 3.22641293e-01] [ 5.22052161e-02 -5.11307928e-04 9.98636247e-01 5.03764074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.985099892999998 meters 0.013349604989511713 Centerline is valid? [True, True] Translation: X:6.52, Y:0.33, Z:0.06 [[ 9.96573864e-01 -6.68772847e-02 -4.86617120e-02 6.52416195e+00] [ 6.68040117e-02 9.97761200e-01 -3.13239507e-03 3.29312217e-01] [ 4.87622542e-02 -1.29134516e-04 9.98810405e-01 5.53472429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.045099893 meters 0.016022861763568052 Centerline is valid? [True, True] Translation: X:6.58, Y:0.33, Z:0.05 [[ 9.96356229e-01 -6.51168741e-02 -5.50822869e-02 6.58479656e+00] [ 6.50202830e-02 9.97877643e-01 -3.54576599e-03 3.31835585e-01] [ 5.51962718e-02 -4.86198520e-05 9.98475523e-01 5.39559547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.105099893 meters 0.015519051943936036 Centerline is valid? [True, True] Translation: X:6.64, Y:0.33, Z:0.06 [[ 9.95803542e-01 -7.60631845e-02 -5.08890707e-02 6.64380624e+00] [ 7.59949032e-02 9.97102817e-01 -3.27814493e-03 3.30248256e-01] [ 5.09909819e-02 -6.02921665e-04 9.98698932e-01 5.80161908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.165099892999999 meters 0.017961328998271183 Centerline is valid? [True, True] Translation: X:6.70, Y:0.35, Z:0.06 [[ 9.97405507e-01 -4.91202078e-02 -5.26256480e-02 6.70339540e+00] [ 4.90090909e-02 9.98792543e-01 -3.40062512e-03 3.47792823e-01] [ 5.27291442e-02 8.12667058e-04 9.98608520e-01 5.80437998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.225099893 meters 0.01853975919822618 Centerline is valid? [True, True] Translation: X:6.76, Y:0.36, Z:0.07 [[ 9.98033282e-01 -2.90817197e-02 -5.55321644e-02 6.76276858e+00] [ 2.89270945e-02 9.99575090e-01 -3.58638242e-03 3.58860861e-01] [ 5.56128664e-02 1.97294485e-03 9.98450458e-01 6.59326135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.285099893 meters 0.020160487042403218 Centerline is valid? [True, True] Translation: X:6.82, Y:0.36, Z:0.07 [[ 9.98610786e-01 -2.31318586e-02 -4.73435765e-02 6.82177371e+00] [ 2.30128148e-02 9.99730493e-01 -3.05805650e-03 3.62390378e-01] [ 4.74015556e-02 1.96429925e-03 9.98873983e-01 7.22610892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.345099892999999 meters 0.017474814498611196 Centerline is valid? [True, True] Translation: X:6.88, Y:0.32, Z:0.07 [[ 9.95373011e-01 -8.23543423e-02 -4.95008166e-02 6.88441014e+00] [ 8.22969540e-02 9.96602715e-01 -3.19983046e-03 3.18799139e-01] [ 4.95961682e-02 -8.88741547e-04 9.98768957e-01 6.81375845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.405099893 meters 0.014770233144437098 Centerline is valid? [True, True] Translation: X:6.94, Y:0.35, Z:0.08 [[ 9.96110225e-01 -7.52850034e-02 -4.57885149e-02 6.94373397e+00] [ 7.52284292e-02 9.97161934e-01 -2.95995677e-03 3.45128364e-01] [ 4.58814045e-02 -4.96154847e-04 9.98946771e-01 7.54204057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.465099893 meters 0.016309260320378226 Centerline is valid? [True, True] Translation: X:7.01, Y:0.35, Z:0.07 [[ 9.95944233e-01 -7.12431322e-02 -5.49499874e-02 7.00613076e+00] [ 7.11556468e-02 9.97458909e-01 -3.54942512e-03 3.54131765e-01] [ 5.50632267e-02 -3.74972418e-04 9.98482799e-01 6.97507746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.525099893 meters 0.01480019454564638 Centerline is valid? [True, True] Translation: X:7.07, Y:0.37, Z:0.08 [[ 9.96901852e-01 -6.24109279e-02 -4.78703892e-02 7.06505090e+00] [ 6.23344867e-02 9.98050533e-01 -3.08948063e-03 3.68010412e-01] [ 4.79698848e-02 9.59328251e-05 9.98848778e-01 8.28855043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.585099892999999 meters 0.014809897683736702 Centerline is valid? [True, True] Translation: X:7.12, Y:0.37, Z:0.08 [[ 9.97132259e-01 -5.83243036e-02 -4.82237817e-02 7.12467005e+00] [ 5.82419401e-02 9.98297645e-01 -3.11252150e-03 3.69836356e-01] [ 4.83232234e-02 2.94948984e-04 9.98831707e-01 8.16790521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.645099893 meters 0.016462212953961764 Centerline is valid? [True, True] Translation: X:7.18, Y:0.37, Z:0.08 [[ 9.97300609e-01 -5.43732911e-02 -4.93461246e-02 7.18352645e+00] [ 5.42821135e-02 9.98520553e-01 -3.18695378e-03 3.72597157e-01] [ 4.94464048e-02 4.99739009e-04 9.98776653e-01 8.33594629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.705099893 meters 0.016242057236854537 Centerline is valid? [True, True] Translation: X:7.24, Y:0.36, Z:0.08 [[ 9.95978575e-01 -7.47031806e-02 -4.94581888e-02 7.24310338e+00] [ 7.46364622e-02 9.97205685e-01 -3.19702540e-03 3.64681528e-01] [ 4.95588150e-02 -5.07215436e-04 9.98771078e-01 8.44931109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.765099892999999 meters 0.017826521517124723 Centerline is valid? [True, True] Translation: X:7.30, Y:0.36, Z:0.09 [[ 9.95471690e-01 -8.13946831e-02 -4.91021382e-02 7.30344415e+00] [ 8.13369108e-02 9.96681601e-01 -3.17686820e-03 3.62709643e-01] [ 4.91977779e-02 -8.31333883e-04 9.98788710e-01 8.67551259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.825099892999999 meters 0.017356300232778805 Centerline is valid? [True, True] Translation: X:7.37, Y:0.37, Z:0.09 [[ 9.95487493e-01 -8.08702100e-02 -4.96453511e-02 7.36607791e+00] [ 8.08105654e-02 9.96724307e-01 -3.21071190e-03 3.65556420e-01] [ 4.97423791e-02 -8.15645349e-04 9.98761749e-01 8.75621867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.885099893 meters 0.018139483996206147 Centerline is valid? [True, True] Translation: X:7.43, Y:0.37, Z:0.09 [[ 9.95426040e-01 -8.30868068e-02 -4.71548734e-02 7.42823043e+00] [ 8.30356338e-02 9.96541922e-01 -3.04643091e-03 3.67575868e-01] [ 4.72449264e-02 -8.83038137e-04 9.98882945e-01 9.20535675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.945099893 meters 0.019846051978968073 Centerline is valid? [True, True] Translation: X:7.49, Y:0.37, Z:0.09 [[ 9.94502130e-01 -8.77524872e-02 -5.71403076e-02 7.48934765e+00] [ 8.76852549e-02 9.96141404e-01 -3.68764369e-03 3.66288956e-01] [ 5.72434262e-02 -1.34299293e-03 9.98359347e-01 8.55034574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.005099892999999 meters 0.014457814591998679 Centerline is valid? [True, True] Translation: X:7.55, Y:0.38, Z:0.09 [[ 9.95947469e-01 -7.27925964e-02 -5.28192945e-02 7.54871282e+00] [ 7.27141414e-02 9.97347000e-01 -3.40808350e-03 3.79949782e-01] [ 5.29272481e-02 -4.46437513e-04 9.98598271e-01 9.26941202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.065099893 meters 0.015498845757833456 Centerline is valid? [True, True] Translation: X:7.61, Y:0.40, Z:0.10 [[ 9.96946696e-01 -5.89865871e-02 -5.11651121e-02 7.60722731e+00] [ 5.88947801e-02 9.98258737e-01 -3.30145859e-03 3.95395937e-01] [ 5.12707619e-02 2.78020211e-04 9.98684751e-01 1.00045207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.125099893 meters 0.014771877233647637 Centerline is valid? [True, True] Translation: X:7.67, Y:0.40, Z:0.10 [[ 9.97046112e-01 -5.55265708e-02 -5.30645843e-02 7.66534213e+00] [ 5.54227253e-02 9.98457096e-01 -3.42763261e-03 3.99876462e-01] [ 5.31730355e-02 4.76523883e-04 9.98585200e-01 1.02914496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.185099892999999 meters 0.015048146482854807 Centerline is valid? [True, True] Translation: X:7.72, Y:0.40, Z:0.11 [[ 9.96941237e-01 -5.77493632e-02 -5.26609940e-02 7.72377333e+00] [ 5.76494913e-02 9.98331045e-01 -3.41480192e-03 4.00584982e-01] [ 5.27703078e-02 3.68477340e-04 9.98606609e-01 1.05260493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.245099892999999 meters 0.01318381703053269 Centerline is valid? [True, True] Translation: X:7.78, Y:0.40, Z:0.11 [[ 9.96042565e-01 -7.72053750e-02 -4.40288332e-02 7.78230535e+00] [ 7.71541552e-02 9.97015062e-01 -2.86401215e-03 3.96181603e-01] [ 4.41185270e-02 -5.44329416e-04 9.99026155e-01 1.13512419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.305099893 meters 0.01790746453391848 Centerline is valid? [True, True] Translation: X:7.84, Y:0.39, Z:0.10 [[ 9.94505893e-01 -8.95237980e-02 -5.42541990e-02 7.84230796e+00] [ 8.94641080e-02 9.95983781e-01 -3.53278018e-03 3.92418726e-01] [ 5.43525702e-02 -1.34043282e-03 9.98520907e-01 1.04727720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.365099893 meters 0.017162409482320846 Centerline is valid? [True, True] Translation: X:7.90, Y:0.40, Z:0.11 [[ 9.95047433e-01 -8.46701924e-02 -5.20726859e-02 7.90387976e+00] [ 8.46086170e-02 9.96408496e-01 -3.38972205e-03 3.98273934e-01] [ 5.21726751e-02 -1.03286371e-03 9.98637544e-01 1.09703433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.425099892999999 meters 0.015966155533089926 Centerline is valid? [True, True] Translation: X:7.97, Y:0.41, Z:0.11 [[ 9.94967438e-01 -8.63878082e-02 -5.07636138e-02 7.96532048e+00] [ 8.63316683e-02 9.96260981e-01 -3.30165087e-03 4.05869781e-01] [ 5.08590300e-02 -1.09747236e-03 9.98705239e-01 1.12526336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.485099893 meters 0.01874523555762006 Centerline is valid? [True, True] Translation: X:8.03, Y:0.40, Z:0.11 [[ 9.94264774e-01 -9.18779848e-02 -5.47356820e-02 8.02562616e+00] [ 9.18212034e-02 9.95769158e-01 -3.55664774e-03 3.99712183e-01] [ 5.48308817e-02 -1.48964663e-03 9.98494544e-01 1.11103205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.545099893 meters 0.01834675617553149 Centerline is valid? [True, True] Translation: X:8.09, Y:0.41, Z:0.11 [[ 9.94108490e-01 -9.12888715e-02 -5.84350162e-02 8.08801237e+00] [ 9.12232126e-02 9.95823236e-01 -3.79582664e-03 4.05967108e-01] [ 5.85374636e-02 -1.55716641e-03 9.98283998e-01 1.11155533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.605099892999998 meters 0.01804999892451197 Centerline is valid? [True, True] Translation: X:8.15, Y:0.41, Z:0.12 [[ 9.94602825e-01 -8.82831409e-02 -5.45097074e-02 8.14821942e+00] [ 8.82216628e-02 9.96094585e-01 -3.53778498e-03 4.13668221e-01] [ 5.46091511e-02 -1.29024608e-03 9.98506973e-01 1.16530064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.665099892999999 meters 0.01851771164176909 Centerline is valid? [True, True] Translation: X:8.21, Y:0.41, Z:0.12 [[ 9.94561870e-01 -8.87837706e-02 -5.44438141e-02 8.20935436e+00] [ 8.87232554e-02 9.96050052e-01 -3.53231193e-03 4.13155288e-01] [ 5.45423759e-02 -1.31732967e-03 9.98510588e-01 1.19158438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.725099893 meters 0.01779406270416171 Centerline is valid? [True, True] Translation: X:8.27, Y:0.42, Z:0.12 [[ 9.94339921e-01 -9.13034565e-02 -5.43304658e-02 8.27053402e+00] [ 9.12470536e-02 9.95822054e-01 -3.52302425e-03 4.18703262e-01] [ 5.44251404e-02 -1.45441127e-03 9.98516794e-01 1.22308951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.785099893 meters 0.018694021992540905 Centerline is valid? [True, True] Translation: X:8.33, Y:0.43, Z:0.13 [[ 9.94881727e-01 -8.54933357e-02 -5.38631437e-02 8.33159690e+00] [ 8.54295095e-02 9.96338103e-01 -3.49051260e-03 4.29227971e-01] [ 5.39643180e-02 -1.12885474e-03 9.98542226e-01 1.27653788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.845099892999999 meters 0.015915067578599753 Centerline is valid? [True, True] Translation: X:8.39, Y:0.43, Z:0.13 [[ 9.95255049e-01 -8.21303211e-02 -5.21727615e-02 8.39352633e+00] [ 8.20659783e-02 9.96621174e-01 -3.37796538e-03 4.31936930e-01] [ 5.22739122e-02 -9.19671611e-04 9.98632361e-01 1.28216234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.905099893 meters 0.015908928325429186 Centerline is valid? [True, True] Translation: X:8.46, Y:0.43, Z:0.13 [[ 9.94795471e-01 -8.64178555e-02 -5.39807868e-02 8.45518992e+00] [ 8.63554312e-02 9.96258272e-01 -3.49219726e-03 4.31781483e-01] [ 5.40805935e-02 -1.18751210e-03 9.98535868e-01 1.27797745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.965099893 meters 0.018791575789631577 Centerline is valid? [True, True] Translation: X:8.52, Y:0.43, Z:0.13 [[ 9.94003278e-01 -9.45200929e-02 -5.49857688e-02 8.51641805e+00] [ 9.44677963e-02 9.95521569e-01 -3.55532145e-03 4.32396282e-01] [ 5.50755682e-02 -1.66038323e-03 9.98480808e-01 1.32248048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.025099892999998 meters 0.019139882546651856 Centerline is valid? [True, True] Translation: X:8.58, Y:0.44, Z:0.13 [[ 9.94648950e-01 -8.81649592e-02 -5.38554163e-02 8.57581141e+00] [ 8.81055374e-02 9.96105062e-01 -3.48120917e-03 4.38174465e-01] [ 5.39525734e-02 -1.28237934e-03 9.98542676e-01 1.33601490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.085099892999999 meters 0.01847953288920048 Centerline is valid? [True, True] Translation: X:8.64, Y:0.44, Z:0.13 [[ 9.94559310e-01 -8.78799036e-02 -5.59365879e-02 8.63683841e+00] [ 8.78153792e-02 9.96130207e-01 -3.61522972e-03 4.44688695e-01] [ 5.60378310e-02 -1.31653230e-03 9.98427778e-01 1.34372288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.145099893 meters 0.017846905830591044 Centerline is valid? [True, True] Translation: X:8.70, Y:0.45, Z:0.14 [[ 9.94298999e-01 -9.12725664e-02 -5.51254872e-02 8.69749989e+00] [ 9.12152006e-02 9.95824837e-01 -3.56107404e-03 4.47317541e-01] [ 5.52203577e-02 -1.48751002e-03 9.98473084e-01 1.40658573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.205099893 meters 0.0162144283975321 Centerline is valid? [True, True] Translation: X:8.76, Y:0.46, Z:0.14 [[ 9.95335324e-01 -8.06218911e-02 -5.29877761e-02 8.75617355e+00] [ 8.05538316e-02 9.96744384e-01 -3.42235931e-03 4.59369383e-01] [ 5.30911853e-02 -8.61973280e-04 9.98589296e-01 1.44508510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.265099892999999 meters 0.015226348315911258 Centerline is valid? [True, True] Translation: X:8.82, Y:0.46, Z:0.15 [[ 9.95563948e-01 -7.84129811e-02 -5.19983691e-02 8.81628326e+00] [ 7.83444059e-02 9.96920695e-01 -3.35890442e-03 4.64220316e-01] [ 5.21016320e-02 -7.29777189e-04 9.98641521e-01 1.47463608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.325099892999999 meters 0.01701982648313356 Centerline is valid? [True, True] Translation: X:8.88, Y:0.47, Z:0.15 [[ 9.95530064e-01 -7.87587531e-02 -5.21243689e-02 8.87718481e+00] [ 7.86903378e-02 9.96893423e-01 -3.36667718e-03 4.66751562e-01] [ 5.22275958e-02 -7.50055848e-04 9.98634926e-01 1.49414687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.385099893 meters 0.017159814756468366 Centerline is valid? [True, True] Translation: X:8.94, Y:0.47, Z:0.15 [[ 9.95341111e-01 -8.03968897e-02 -5.32204097e-02 8.93702911e+00] [ 8.03279872e-02 9.96762564e-01 -3.43593437e-03 4.67596734e-01] [ 5.33243504e-02 -8.55161650e-04 9.98576879e-01 1.50924618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.445099892999998 meters 0.016915484079611052 Centerline is valid? [True, True] Translation: X:9.00, Y:0.47, Z:0.15 [[ 9.95218111e-01 -8.14642819e-02 -5.38932538e-02 8.99842257e+00] [ 8.13952122e-02 9.96675833e-01 -3.47894602e-03 4.70720436e-01] [ 5.39975135e-02 -9.24342744e-04 9.98540642e-01 1.54016987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.505099892999999 meters 0.018236969683479067 Centerline is valid? [True, True] Translation: X:9.06, Y:0.47, Z:0.16 [[ 9.94937062e-01 -8.37278755e-02 -5.55867326e-02 9.05881322e+00] [ 8.36580235e-02 9.96488069e-01 -3.58648189e-03 4.72864691e-01] [ 5.56918044e-02 -1.08195243e-03 9.98447421e-01 1.55476598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.565099893 meters 0.016266748773598162 Centerline is valid? [True, True] Translation: X:9.12, Y:0.49, Z:0.16 [[ 9.95678130e-01 -7.62895570e-02 -5.29619223e-02 9.11861193e+00] [ 7.62156754e-02 9.97085503e-01 -3.41623134e-03 4.86547585e-01] [ 5.30681877e-02 -6.35061845e-04 9.98590689e-01 1.60207638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.625099893 meters 0.01588494422387594 Centerline is valid? [True, True] Translation: X:9.18, Y:0.49, Z:0.16 [[ 9.95830261e-01 -7.44709458e-02 -5.26893596e-02 9.17903715e+00] [ 7.43953181e-02 9.97223040e-01 -3.39791261e-03 4.92429168e-01] [ 5.27960891e-02 -5.36097462e-04 9.98605170e-01 1.63203815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.685099892999999 meters 0.01636972580396017 Centerline is valid? [True, True] Translation: X:9.24, Y:0.50, Z:0.17 [[ 9.95805803e-01 -7.44272363e-02 -5.32107927e-02 9.23939184e+00] [ 7.43500413e-02 9.97226301e-01 -3.43153960e-03 4.98109090e-01] [ 5.33186020e-02 -5.39077592e-04 9.98577406e-01 1.66428739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.745099892999999 meters 0.015666951812790993 Centerline is valid? [True, True] Translation: X:9.30, Y:0.50, Z:0.17 [[ 9.95756045e-01 -7.50528457e-02 -5.32632112e-02 9.29993901e+00] [ 7.49763927e-02 9.97179393e-01 -3.43492004e-03 5.02749959e-01] [ 5.33707772e-02 -5.73141046e-04 9.98574600e-01 1.69887161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.805099893 meters 0.015065958428328979 Centerline is valid? [True, True] Translation: X:9.36, Y:0.51, Z:0.17 [[ 9.95556979e-01 -7.74592202e-02 -5.35384918e-02 9.35921399e+00] [ 7.73854470e-02 9.96995271e-01 -3.45273772e-03 5.05150089e-01] [ 5.36450696e-02 -7.05702990e-04 9.98559817e-01 1.72814197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.865099892999998 meters 0.016431754544207876 Centerline is valid? [True, True] Translation: X:9.42, Y:0.51, Z:0.17 [[ 9.95271685e-01 -8.01914457e-02 -5.48051554e-02 9.41962350e+00] [ 8.01182634e-02 9.96779098e-01 -3.53466551e-03 5.06918690e-01] [ 5.49120833e-02 -8.72941382e-04 9.98490812e-01 1.73124779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.925099892999999 meters 0.015850559979740917 Centerline is valid? [True, True] Translation: X:9.48, Y:0.51, Z:0.17 [[ 9.95134097e-01 -8.22567423e-02 -5.42398102e-02 9.48066748e+00] [ 8.21881265e-02 9.96610694e-01 -3.49820349e-03 5.06703085e-01] [ 5.43437257e-02 -9.76686807e-04 9.98521810e-01 1.74034443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.985099893 meters 0.016044907182472295 Centerline is valid? [True, True] Translation: X:9.54, Y:0.51, Z:0.18 [[ 9.95794437e-01 -7.51105522e-02 -5.24580223e-02 9.54132464e+00] [ 7.50364593e-02 9.97175051e-01 -3.38327604e-03 5.14966861e-01] [ 5.25639508e-02 -5.67216793e-04 9.98617399e-01 1.77306821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.045099893 meters 0.014250997244150588 Centerline is valid? [True, True] Translation: X:9.60, Y:0.52, Z:0.18 [[ 9.95764464e-01 -7.58085887e-02 -5.20210573e-02 9.60109829e+00] [ 7.57366795e-02 9.97122209e-01 -3.35505140e-03 5.20534012e-01] [ 5.21256932e-02 -5.99061184e-04 9.98640352e-01 1.82705936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.105099892999998 meters 0.013542374286801866 Centerline is valid? [True, True] Translation: X:9.66, Y:0.53, Z:0.19 [[ 9.96483436e-01 -6.62887042e-02 -5.12500746e-02 9.66060531e+00] [ 6.62063298e-02 9.97800480e-01 -3.30516348e-03 5.29164727e-01] [ 5.13564441e-02 -9.95386864e-05 9.98680382e-01 1.87847541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.165099892999999 meters 0.01529836746162873 Centerline is valid? [True, True] Translation: X:9.72, Y:0.53, Z:0.19 [[ 9.96225586e-01 -6.71340369e-02 -5.50236511e-02 9.72000396e+00] [ 6.70403689e-02 9.97743954e-01 -3.54844864e-03 5.28803494e-01] [ 5.51377369e-02 -1.53750546e-04 9.98478746e-01 1.85560088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.225099893 meters 0.01418311468826949 Centerline is valid? [True, True] Translation: X:9.78, Y:0.53, Z:0.19 [[ 9.96471750e-01 -6.74323684e-02 -4.99692597e-02 9.77858561e+00] [ 6.73552953e-02 9.97723836e-01 -3.22662932e-03 5.33007734e-01] [ 5.00731007e-02 -1.50449273e-04 9.98745544e-01 1.93581500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.285099892999998 meters 0.01468894658672171 Centerline is valid? [True, True] Translation: X:9.84, Y:0.53, Z:0.20 [[ 9.96393910e-01 -6.98446861e-02 -4.81756867e-02 9.83923091e+00] [ 6.97753671e-02 9.97557846e-01 -3.12115507e-03 5.34400828e-01] [ 4.82760303e-02 -2.51576322e-04 9.98834001e-01 1.97090849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.345099892999999 meters 0.014621412953934765 Centerline is valid? [True, True] Translation: X:9.90, Y:0.53, Z:0.20 [[ 9.95644322e-01 -7.90184926e-02 -4.94819411e-02 9.90105157e+00] [ 7.89566887e-02 9.96872894e-01 -3.20550671e-03 5.33380189e-01] [ 4.95805001e-02 -7.15385660e-04 9.98769875e-01 1.97757045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.405099893 meters 0.018093370077312407 Centerline is valid? [True, True] Translation: X:9.96, Y:0.53, Z:0.20 [[ 9.94772994e-01 -8.75005014e-02 -5.26341381e-02 9.96242134e+00] [ 8.74425180e-02 9.96163738e-01 -3.40788410e-03 5.33991156e-01] [ 5.27304113e-02 -1.21239049e-03 9.98608048e-01 1.96090922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.465099893 meters 0.01509002742979449 Centerline is valid? [True, True] Translation: X:10.02, Y:0.55, Z:0.20 [[ 9.95930163e-01 -7.56580280e-02 -4.89793200e-02 1.00226727e+01] [ 7.55935368e-02 9.97133675e-01 -3.17040097e-03 5.48614320e-01] [ 4.90787957e-02 -5.45022084e-04 9.98794761e-01 2.03175504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.525099892999998 meters 0.016768456307141532 Centerline is valid? [True, True] Translation: X:10.08, Y:0.55, Z:0.20 [[ 9.95575164e-01 -7.85997374e-02 -5.14992646e-02 1.00846913e+01] [ 7.85324280e-02 9.96905990e-01 -3.33235976e-03 5.47843393e-01] [ 5.16018480e-02 -7.26747679e-04 9.98667473e-01 2.01816232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.585099892999999 meters 0.01663538934426305 Centerline is valid? [True, True] Translation: X:10.15, Y:0.55, Z:0.20 [[ 9.95221890e-01 -8.21606120e-02 -5.27543738e-02 1.01455772e+01] [ 8.20950707e-02 9.96618663e-01 -3.41180834e-03 5.49030424e-01] [ 5.28563098e-02 -9.35367710e-04 9.98601690e-01 2.04156050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.645099893 meters 0.01576912430349507 Centerline is valid? [True, True] Translation: X:10.21, Y:0.55, Z:0.21 [[ 9.94986861e-01 -8.46955182e-02 -5.31772188e-02 1.02061958e+01] [ 8.46325894e-02 9.96406294e-01 -3.43818276e-03 5.50679997e-01] [ 5.32773142e-02 -1.07957905e-03 9.98579172e-01 2.06801831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.705099892999998 meters 0.017385171748652485 Centerline is valid? [True, True] Translation: X:10.27, Y:0.55, Z:0.21 [[ 9.94797061e-01 -8.62733265e-02 -5.41822860e-02 1.02677040e+01] [ 8.62103989e-02 9.96270798e-01 -3.50196340e-03 5.53286795e-01] [ 5.42823553e-02 -1.18733359e-03 9.98524920e-01 2.06501060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.765099892999999 meters 0.014855914162970205 Centerline is valid? [True, True] Translation: X:10.33, Y:0.56, Z:0.22 [[ 9.95594029e-01 -7.94584870e-02 -4.97883389e-02 1.03275303e+01] [ 7.93969093e-02 9.96837893e-01 -3.21645636e-03 5.64446897e-01] [ 4.98864777e-02 -7.50755488e-04 9.98754612e-01 2.15000121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.825099892999999 meters 0.013848906171287338 Centerline is valid? [True, True] Translation: X:10.39, Y:0.57, Z:0.22 [[ 9.95917470e-01 -7.76759672e-02 -4.59873548e-02 1.03884293e+01] [ 7.76215750e-02 9.96978470e-01 -2.97004024e-03 5.67389082e-01] [ 4.60791034e-02 -6.11695949e-04 9.98937607e-01 2.21052358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.885099893 meters 0.016027381618711034 Centerline is valid? [True, True] Translation: X:10.45, Y:0.57, Z:0.22 [[ 9.95301851e-01 -8.19278737e-02 -5.15950461e-02 1.04510072e+01] [ 8.18652349e-02 9.96637846e-01 -3.32977244e-03 5.67515794e-01] [ 5.16943768e-02 -9.09711895e-04 9.98662538e-01 2.15741800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.945099892999998 meters 0.015807278594714914 Centerline is valid? [True, True] Translation: X:10.51, Y:0.57, Z:0.22 [[ 9.95270488e-01 -7.97927888e-02 -5.54054668e-02 1.05125304e+01] [ 7.97175211e-02 9.96811099e-01 -3.57078912e-03 5.72712149e-01] [ 5.55137074e-02 -8.62885439e-04 9.98457552e-01 2.17042734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.005099892999999 meters 0.015090686741915944 Centerline is valid? [True, True] Translation: X:10.57, Y:0.58, Z:0.22 [[ 9.95842619e-01 -7.47295879e-02 -5.20861521e-02 1.05714608e+01] [ 7.46563866e-02 9.97203683e-01 -3.35230617e-03 5.79173060e-01] [ 5.21910191e-02 -5.50194547e-04 9.98636968e-01 2.20905964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.065099893 meters 0.015159861014329005 Centerline is valid? [True, True] Translation: X:10.63, Y:0.59, Z:0.23 [[ 9.96955165e-01 -6.37368183e-02 -4.49223410e-02 1.06315094e+01] [ 6.36711826e-02 9.97966742e-01 -2.89189276e-03 5.90310294e-01] [ 4.50153223e-02 2.28288498e-05 9.98986296e-01 2.28992649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.125099892999998 meters 0.015275797782708938 Centerline is valid? [True, True] Translation: X:10.69, Y:0.59, Z:0.23 [[ 9.96535835e-01 -6.46918091e-02 -5.22618302e-02 1.06919102e+01] [ 6.46042645e-02 9.97905291e-01 -3.36448063e-03 5.91867599e-01] [ 5.23700112e-02 -2.35115805e-05 9.98627749e-01 2.25098103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.185099892999999 meters 0.01458681097188279 Centerline is valid? [True, True] Translation: X:10.75, Y:0.60, Z:0.23 [[ 9.96664015e-01 -6.24369690e-02 -5.25591753e-02 1.07497390e+01] [ 6.23452179e-02 9.98048904e-01 -3.38501044e-03 5.95334738e-01] [ 5.26679771e-02 9.69048532e-05 9.98612074e-01 2.28834410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.245099892999999 meters 0.015513652904017053 Centerline is valid? [True, True] Translation: X:10.81, Y:0.60, Z:0.23 [[ 9.97083419e-01 -5.79230634e-02 -4.96948120e-02 1.08077889e+01] [ 5.78350853e-02 9.98320997e-01 -3.20769559e-03 6.01317603e-01] [ 4.97971739e-02 3.24236394e-04 9.98759299e-01 2.33761034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.305099893 meters 0.01529466492599362 Centerline is valid? [True, True] Translation: X:10.87, Y:0.60, Z:0.24 [[ 9.96608707e-01 -6.62430941e-02 -4.88153380e-02 1.08670599e+01] [ 6.61675704e-02 9.97803511e-01 -3.16325013e-03 6.00119235e-01] [ 4.89176591e-02 -7.74696849e-05 9.98802812e-01 2.36140410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.365099892999998 meters 0.016278672094390486 Centerline is valid? [True, True] Translation: X:10.93, Y:0.60, Z:0.23 [[ 9.95983183e-01 -7.32951672e-02 -5.14326534e-02 1.09272330e+01] [ 7.32201152e-02 9.97310197e-01 -3.34445609e-03 5.97563040e-01] [ 5.15394422e-02 -4.34882782e-04 9.98670865e-01 2.34275369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.425099892999999 meters 0.017187065380511585 Centerline is valid? [True, True] Translation: X:10.99, Y:0.59, Z:0.24 [[ 9.94425348e-01 -9.02287985e-02 -5.45618094e-02 1.09880834e+01] [ 9.01696687e-02 9.95920093e-01 -3.54953774e-03 5.93509509e-01] [ 5.46594728e-02 -1.39006997e-03 9.98504086e-01 2.36447365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.485099893 meters 0.01816379262292707 Centerline is valid? [True, True] Translation: X:11.05, Y:0.59, Z:0.24 [[ 9.94431949e-01 -9.10612031e-02 -5.30373123e-02 1.10494888e+01] [ 9.10065455e-02 9.95844319e-01 -3.44974929e-03 5.93713070e-01] [ 5.31310445e-02 -1.39620166e-03 9.98586572e-01 2.37928635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.545099892999998 meters 0.01589575716825421 Centerline is valid? [True, True] Translation: X:11.11, Y:0.61, Z:0.24 [[ 9.95328101e-01 -8.24222782e-02 -5.02845854e-02 1.11096980e+01] [ 8.23622456e-02 9.96597099e-01 -3.26831509e-03 6.07947475e-01] [ 5.03828539e-02 -8.88505522e-04 9.98729582e-01 2.44222523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.605099892999998 meters 0.01574223203044536 Centerline is valid? [True, True] Translation: X:11.17, Y:0.61, Z:0.25 [[ 9.95430045e-01 -8.04714844e-02 -5.14136797e-02 1.11719024e+01] [ 8.04062116e-02 9.96756583e-01 -3.34002711e-03 6.09466689e-01] [ 5.15157006e-02 -8.09215872e-04 9.98671857e-01 2.45343922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.665099892999999 meters 0.017445030966193507 Centerline is valid? [True, True] Translation: X:11.23, Y:0.61, Z:0.25 [[ 9.94771956e-01 -8.70755540e-02 -5.33535702e-02 1.12335515e+01] [ 8.70149358e-02 9.96200990e-01 -3.46247265e-03 6.07868948e-01] [ 5.34523762e-02 -1.19818679e-03 9.98569681e-01 2.47163629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.725099893 meters 0.017653314881342953 Centerline is valid? [True, True] Translation: X:11.29, Y:0.61, Z:0.25 [[ 9.94429653e-01 -9.08215749e-02 -5.34893204e-02 1.12946319e+01] [ 9.07661629e-02 9.95866190e-01 -3.46932583e-03 6.09749468e-01] [ 5.35832953e-02 -1.40501989e-03 9.98562395e-01 2.49494773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.785099892999998 meters 0.019079704962840168 Centerline is valid? [True, True] Translation: X:11.36, Y:0.62, Z:0.25 [[ 9.94339642e-01 -9.21247171e-02 -5.29312039e-02 1.13564140e+01] [ 9.20724209e-02 9.95746403e-01 -3.43082284e-03 6.16050669e-01] [ 5.30221195e-02 -1.46210093e-03 9.98592268e-01 2.53840609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.845099892999999 meters 0.018939589345613232 Centerline is valid? [True, True] Translation: X:11.42, Y:0.62, Z:0.25 [[ 9.94316791e-01 -9.16758083e-02 -5.41263892e-02 1.14172710e+01] [ 9.16206645e-02 9.95787815e-01 -3.50453415e-03 6.18822010e-01] [ 5.42196799e-02 -1.47447859e-03 9.98527943e-01 2.53909294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.905099893 meters 0.01815867370208259 Centerline is valid? [True, True] Translation: X:11.48, Y:0.62, Z:0.26 [[ 9.94375146e-01 -9.17873566e-02 -5.28502708e-02 1.14791492e+01] [ 9.17350969e-02 9.95777577e-01 -3.41892755e-03 6.23878948e-01] [ 5.29409289e-02 -1.44852812e-03 9.98596595e-01 2.58592714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.965099892999998 meters 0.018245172072213954 Centerline is valid? [True, True] Translation: X:11.54, Y:0.63, Z:0.26 [[ 9.94162214e-01 -9.41687183e-02 -5.26663602e-02 1.15409428e+01] [ 9.41203586e-02 9.95555009e-01 -3.40321888e-03 6.25936473e-01] [ 5.27527355e-02 -1.57362509e-03 9.98606365e-01 2.62126423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.025099892999998 meters 0.019526715525990623 Centerline is valid? [True, True] Translation: X:11.60, Y:0.63, Z:0.26 [[ 9.94032486e-01 -9.56734847e-02 -5.24023099e-02 1.16029190e+01] [ 9.56278971e-02 9.95411405e-01 -3.38232373e-03 6.28757445e-01] [ 5.24854556e-02 -1.64898304e-03 9.98620327e-01 2.63768511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.085099892999999 meters 0.020060810780496794 Centerline is valid? [True, True] Translation: X:11.66, Y:0.63, Z:0.27 [[ 9.94087083e-01 -9.56936232e-02 -5.13186231e-02 1.16647943e+01] [ 9.56501153e-02 9.95409518e-01 -3.30872522e-03 6.31186950e-01] [ 5.13996698e-02 -1.61947121e-03 9.98676850e-01 2.65429270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.145099893 meters 0.020587441197999972 Centerline is valid? [True, True] Translation: X:11.73, Y:0.63, Z:0.27 [[ 9.93831621e-01 -9.76343970e-02 -5.25949894e-02 1.17266797e+01] [ 9.75916155e-02 9.95220781e-01 -3.38715592e-03 6.34287705e-01] [ 5.26743294e-02 -1.76656732e-03 9.98610181e-01 2.67556807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.205099892999998 meters 0.01989701617218308 Centerline is valid? [True, True] Translation: X:11.79, Y:0.64, Z:0.27 [[ 9.93759923e-01 -9.74216153e-02 -5.43161557e-02 1.17892637e+01] [ 9.73758935e-02 9.95241542e-01 -3.49395599e-03 6.38079037e-01] [ 5.43980814e-02 -1.81693076e-03 9.98517675e-01 2.67669292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.265099892999999 meters 0.020510082767529834 Centerline is valid? [True, True] Translation: X:11.85, Y:0.64, Z:0.27 [[ 9.94242234e-01 -9.42565098e-02 -5.09714671e-02 1.18497234e+01] [ 9.42122516e-02 9.95546745e-01 -3.27559733e-03 6.40508107e-01] [ 5.10532246e-02 -1.54539947e-03 9.98694738e-01 2.71296197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.325099892999999 meters 0.018061531309810835 Centerline is valid? [True, True] Translation: X:11.91, Y:0.65, Z:0.28 [[ 9.94474316e-01 -9.24946409e-02 -4.96545707e-02 1.19107225e+01] [ 9.24505470e-02 9.95712171e-01 -3.18893434e-03 6.51106999e-01] [ 4.97366197e-02 -1.41927892e-03 9.98761360e-01 2.79478290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.385099892999998 meters 0.019534916563415976 Centerline is valid? [True, True] Translation: X:11.97, Y:0.65, Z:0.27 [[ 9.94160056e-01 -9.28823703e-02 -5.49422194e-02 1.19734612e+01] [ 9.28292180e-02 9.95675809e-01 -3.52422257e-03 6.52167764e-01] [ 5.50319769e-02 -1.59660195e-03 9.98483316e-01 2.72600351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.445099892999998 meters 0.01944868307395476 Centerline is valid? [True, True] Translation: X:12.04, Y:0.66, Z:0.28 [[ 9.94061119e-01 -9.47145503e-02 -5.35877348e-02 1.20351488e+01] [ 9.46668476e-02 9.95503088e-01 -3.43352616e-03 6.57817517e-01] [ 5.36719604e-02 -1.65984707e-03 9.98557242e-01 2.79897477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.505099892999999 meters 0.019017168155001218 Centerline is valid? [True, True] Translation: X:12.10, Y:0.66, Z:0.28 [[ 9.94448156e-01 -9.12217684e-02 -5.24543015e-02 1.20966093e+01] [ 9.11713964e-02 9.95829556e-01 -3.35732461e-03 6.64062524e-01] [ 5.25418049e-02 -1.44364665e-03 9.98617682e-01 2.83437630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.565099893 meters 0.017405246687316408 Centerline is valid? [True, True] Translation: X:12.16, Y:0.67, Z:0.29 [[ 9.94837763e-01 -8.83563197e-02 -4.99097797e-02 1.21580812e+01] [ 8.83072432e-02 9.96088170e-01 -3.19185137e-03 6.69571927e-01] [ 4.99965614e-02 -1.23202077e-03 9.98748630e-01 2.86203313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.625099892999998 meters 0.016814692334205565 Centerline is valid? [True, True] Translation: X:12.22, Y:0.68, Z:0.29 [[ 9.95051725e-01 -8.58075326e-02 -5.00912307e-02 1.22203075e+01] [ 8.57550329e-02 9.96311112e-01 -3.20025633e-03 6.77189666e-01] [ 5.01810558e-02 -1.11115455e-03 9.98739519e-01 2.89746757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.685099892999999 meters 0.017756109760517277 Centerline is valid? [True, True] Translation: X:12.28, Y:0.68, Z:0.29 [[ 9.94934556e-01 -8.52739991e-02 -5.32313224e-02 1.22820895e+01] [ 8.52142737e-02 9.96356865e-01 -3.39478390e-03 6.79459855e-01] [ 5.33268803e-02 -1.15848066e-03 9.98576438e-01 2.88739185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.745099892999999 meters 0.015916893378108306 Centerline is valid? [True, True] Translation: X:12.34, Y:0.69, Z:0.29 [[ 9.94898679e-01 -8.56728868e-02 -5.32613838e-02 1.23443718e+01] [ 8.56139762e-02 9.96322613e-01 -3.39087278e-03 6.85478228e-01] [ 5.33560269e-02 -1.18634399e-03 9.98574848e-01 2.92749442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.805099892999998 meters 0.016356849230633543 Centerline is valid? [True, True] Translation: X:12.40, Y:0.69, Z:0.30 [[ 9.95360205e-01 -8.14277290e-02 -5.12599916e-02 1.24046998e+01] [ 8.13677114e-02 9.96678819e-01 -3.26006247e-03 6.91918878e-01] [ 5.13552073e-02 -9.25971749e-04 9.98680021e-01 2.96455426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.865099892999998 meters 0.016343450893833798 Centerline is valid? [True, True] Translation: X:12.47, Y:0.70, Z:0.30 [[ 9.95497540e-01 -8.12824800e-02 -4.87627508e-02 1.24659981e+01] [ 8.12280805e-02 9.96690720e-01 -3.09948122e-03 6.99454083e-01] [ 4.88533147e-02 -8.75378713e-04 9.98805580e-01 3.01748738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.925099892999999 meters 0.016538823193788597 Centerline is valid? [True, True] Translation: X:12.53, Y:0.70, Z:0.30 [[ 9.94974462e-01 -8.67943045e-02 -4.99256284e-02 1.25273126e+01] [ 8.67443012e-02 9.96225561e-01 -3.17152127e-03 6.98473120e-01] [ 5.00124571e-02 -1.17518108e-03 9.98747903e-01 3.01209857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.985099893 meters 0.017439830500869336 Centerline is valid? [True, True] Translation: X:12.59, Y:0.70, Z:0.30 [[ 9.94655607e-01 -8.91810433e-02 -5.20284933e-02 1.25890158e+01] [ 8.91300711e-02 9.96014516e-01 -3.30374173e-03 7.01637219e-01] [ 5.21157657e-02 -1.35121806e-03 9.98640136e-01 3.03217711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.045099892999998 meters 0.016998754013910655 Centerline is valid? [True, True] Translation: X:12.65, Y:0.70, Z:0.31 [[ 9.95147938e-01 -8.55227676e-02 -4.86460458e-02 1.26504840e+01] [ 8.54739636e-02 9.96335624e-01 -3.08640627e-03 7.02962629e-01] [ 4.87317464e-02 -1.08653951e-03 9.98811312e-01 3.09311193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.105099892999998 meters 0.013687281302576012 Centerline is valid? [True, True] Translation: X:12.71, Y:0.72, Z:0.32 [[ 9.95756935e-01 -7.76836896e-02 -4.93292007e-02 1.27097803e+01] [ 7.76240128e-02 9.96977800e-01 -3.12725184e-03 7.18272563e-01] [ 4.94230544e-02 -7.15147799e-04 9.98777678e-01 3.15897268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.165099892999999 meters 0.014613720470821146 Centerline is valid? [True, True] Translation: X:12.77, Y:0.72, Z:0.32 [[ 9.96853092e-01 -6.42829600e-02 -4.63854875e-02 1.27702625e+01] [ 6.42157160e-02 9.97931710e-01 -2.93991045e-03 7.16234576e-01] [ 4.64785350e-02 -4.80184679e-05 9.98919288e-01 3.17114768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.225099892999998 meters 0.012984688026146026 Centerline is valid? [True, True] Translation: X:12.83, Y:0.72, Z:0.32 [[ 9.97037522e-01 -6.11549066e-02 -4.66503747e-02 1.28295557e+01] [ 6.10834612e-02 9.98128282e-01 -2.95686876e-03 7.19048941e-01] [ 4.67438854e-02 9.85427442e-05 9.98906902e-01 3.19864960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.285099892999998 meters 0.012984688026146026 Centerline is valid? [True, True] Translation: X:12.89, Y:0.72, Z:0.32 [[ 9.97035339e-01 -6.11905620e-02 -4.66502690e-02 1.28885353e+01] [ 6.11190777e-02 9.98126097e-01 -2.95853537e-03 7.22819078e-01] [ 4.67438854e-02 9.85428952e-05 9.98906902e-01 3.22350035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.345099892999999 meters 0.014800583821010972 Centerline is valid? [True, True] Translation: X:12.95, Y:0.73, Z:0.32 [[ 9.97093329e-01 -5.93170434e-02 -4.78161170e-02 1.29476791e+01] [ 5.92397018e-02 9.98239175e-01 -3.03422646e-03 7.27899306e-01] [ 4.79119025e-02 1.92794448e-04 9.98851547e-01 3.23852978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.405099893 meters 0.013996961671014566 Centerline is valid? [True, True] Translation: X:13.01, Y:0.73, Z:0.33 [[ 9.97119069e-01 -5.91932856e-02 -4.74311766e-02 1.30066494e+01] [ 5.91169077e-02 9.98246520e-01 -3.01268781e-03 7.32183387e-01] [ 4.75263379e-02 2.00023975e-04 9.98869965e-01 3.26967421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.465099892999998 meters 0.014602598616689482 Centerline is valid? [True, True] Translation: X:13.06, Y:0.74, Z:0.33 [[ 9.97082784e-01 -5.88544444e-02 -4.86011999e-02 1.30648181e+01] [ 5.87732378e-02 9.98266547e-01 -3.09949920e-03 7.36321717e-01] [ 4.86993713e-02 2.34007412e-04 9.98813454e-01 3.28450583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.525099892999998 meters 0.014583529685602309 Centerline is valid? [True, True] Translation: X:13.12, Y:0.74, Z:0.33 [[ 9.97036283e-01 -5.90571911e-02 -4.93041467e-02 1.31226953e+01] [ 5.89732328e-02 9.98254572e-01 -3.15710238e-03 7.40088491e-01] [ 4.94045395e-02 2.40120698e-04 9.98778821e-01 3.30354200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.585099892999999 meters 0.014801554564887789 Centerline is valid? [True, True] Translation: X:13.18, Y:0.74, Z:0.33 [[ 9.96988713e-01 -5.90753793e-02 -5.02355054e-02 1.31815777e+01] [ 5.89875120e-02 9.98253491e-01 -3.23117871e-03 7.43803327e-01] [ 5.03386518e-02 2.58181223e-04 9.98732173e-01 3.32007603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.645099892999998 meters 0.014690000395879695 Centerline is valid? [True, True] Translation: X:13.24, Y:0.75, Z:0.33 [[ 9.96936164e-01 -5.95751529e-02 -5.06861600e-02 1.32397828e+01] [ 5.94856702e-02 9.98223792e-01 -3.27346241e-03 7.47134112e-01] [ 5.07911479e-02 2.48332861e-04 9.98709266e-01 3.33497535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.705099892999998 meters 0.013784336125646491 Centerline is valid? [True, True] Translation: X:13.30, Y:0.75, Z:0.34 [[ 9.96894217e-01 -6.03415198e-02 -5.06045518e-02 1.32973721e+01] [ 6.02525671e-02 9.98177765e-01 -3.28285845e-03 7.49823652e-01] [ 5.07104311e-02 2.23608455e-04 9.98713373e-01 3.35589405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.765099892999999 meters 0.013741027185501561 Centerline is valid? [True, True] Translation: X:13.36, Y:0.75, Z:0.34 [[ 9.96843774e-01 -6.14372264e-02 -5.02787940e-02 1.33554165e+01] [ 6.13500702e-02 9.98110933e-01 -3.27636941e-03 7.52861497e-01] [ 5.03851050e-02 1.81420913e-04 9.98729847e-01 3.37406116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.825099892999999 meters 0.01778034040514942 Centerline is valid? [True, True] Translation: X:13.42, Y:0.76, Z:0.34 [[ 9.95181120e-01 -8.47120642e-02 -4.93802079e-02 1.34154364e+01] [ 8.46559780e-02 9.96405005e-01 -3.22991186e-03 7.56313175e-01] [ 4.94762988e-02 -9.65982491e-04 9.98774831e-01 3.38797274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.885099892999998 meters 0.016882018199999252 Centerline is valid? [True, True] Translation: X:13.48, Y:0.76, Z:0.34 [[ 9.95389694e-01 -8.24933455e-02 -4.89306148e-02 1.34768488e+01] [ 8.24355730e-02 9.96591255e-01 -3.20100127e-03 7.62719717e-01] [ 4.90278841e-02 -8.47379591e-04 9.98797051e-01 3.41789600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.945099892999998 meters 0.01634796009199158 Centerline is valid? [True, True] Translation: X:13.54, Y:0.77, Z:0.35 [[ 9.95441105e-01 -8.21774031e-02 -4.84136419e-02 1.35382442e+01] [ 8.21205999e-02 9.96617375e-01 -3.16454352e-03 7.66707290e-01] [ 4.85099307e-02 -8.25640617e-04 9.98822359e-01 3.45345971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.005099892999999 meters 0.01710428191210576 Centerline is valid? [True, True] Translation: X:13.60, Y:0.77, Z:0.35 [[ 9.95454565e-01 -8.21082012e-02 -4.82540445e-02 1.36000805e+01] [ 8.20518231e-02 9.96623082e-01 -3.15137699e-03 7.71281847e-01] [ 4.83498485e-02 -8.22279716e-04 9.98830124e-01 3.47553562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.065099892999998 meters 0.017537583534104905 Centerline is valid? [True, True] Translation: X:13.66, Y:0.78, Z:0.35 [[ 9.95395951e-01 -8.24992956e-02 -4.87930969e-02 1.36620568e+01] [ 8.24422945e-02 9.96590757e-01 -3.18301575e-03 7.76577479e-01] [ 4.88893460e-02 -8.54253881e-04 9.98803836e-01 3.49865159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.125099892999998 meters 0.01662050133818208 Centerline is valid? [True, True] Translation: X:13.72, Y:0.78, Z:0.35 [[ 9.95368372e-01 -8.31510311e-02 -4.82463443e-02 1.37227688e+01] [ 8.30962323e-02 9.96536568e-01 -3.14390147e-03 7.79219708e-01] [ 4.83406650e-02 -8.79749349e-04 9.98830519e-01 3.52316056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.185099892999999 meters 0.015840142861079463 Centerline is valid? [True, True] Translation: X:13.78, Y:0.78, Z:0.35 [[ 9.95291647e-01 -8.39500781e-02 -4.84450366e-02 1.37846125e+01] [ 8.38959088e-02 9.96469532e-01 -3.15404410e-03 7.82240394e-01] [ 4.85387852e-02 -9.25146624e-04 9.98820870e-01 3.54874177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.245099892999999 meters 0.018263751791634468 Centerline is valid? [True, True] Translation: X:13.85, Y:0.78, Z:0.35 [[ 9.95215175e-01 -8.43270780e-02 -4.93527950e-02 1.38457915e+01] [ 8.42714979e-02 9.96437661e-01 -3.20960218e-03 7.83200977e-01] [ 4.94476400e-02 -9.64789168e-04 9.98776251e-01 3.54044418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.305099892999998 meters 0.01779933709653795 Centerline is valid? [True, True] Translation: X:13.91, Y:0.79, Z:0.36 [[ 9.95133386e-01 -8.53425594e-02 -4.92563949e-02 1.39071458e+01] [ 8.52885706e-02 9.96351151e-01 -3.20066424e-03 7.87430703e-01] [ 4.93498186e-02 -1.01591967e-03 9.98781039e-01 3.59356567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.365099892999998 meters 0.017959263554726105 Centerline is valid? [True, True] Translation: X:13.97, Y:0.79, Z:0.36 [[ 9.94800401e-01 -9.03494077e-02 -4.70015592e-02 1.39687472e+01] [ 9.03059555e-02 9.95909395e-01 -3.05145676e-03 7.86746983e-01] [ 4.70849917e-02 -1.20893031e-03 9.98890155e-01 3.64283467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.425099892999999 meters 0.017940274644148307 Centerline is valid? [True, True] Translation: X:14.03, Y:0.79, Z:0.37 [[ 9.94856221e-01 -8.85786300e-02 -4.91419019e-02 1.40292374e+01] [ 8.85292080e-02 9.96068487e-01 -3.18564744e-03 7.92906790e-01] [ 4.92308801e-02 -1.18123248e-03 9.98786727e-01 3.65908188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.485099892999997 meters 0.018075818780703544 Centerline is valid? [True, True] Translation: X:14.09, Y:0.80, Z:0.37 [[ 9.95079320e-01 -8.52933686e-02 -5.04201149e-02 1.40907660e+01] [ 8.52372629e-02 9.96355330e-01 -3.26585437e-03 7.98566497e-01] [ 5.05149059e-02 -1.04788845e-03 9.98722757e-01 3.65247422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.545099892999998 meters 0.01644387551373788 Centerline is valid? [True, True] Translation: X:14.15, Y:0.80, Z:0.37 [[ 9.95102828e-01 -8.49917925e-02 -5.04654036e-02 1.41527413e+01] [ 8.49353048e-02 9.96381113e-01 -3.26668938e-03 8.02304178e-01] [ 5.05604168e-02 -1.03560259e-03 9.98720467e-01 3.67859541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.605099892999998 meters 0.018073972595862357 Centerline is valid? [True, True] Translation: X:14.21, Y:0.80, Z:0.37 [[ 9.95054444e-01 -8.51430286e-02 -5.11597247e-02 1.42137759e+01] [ 8.50853597e-02 9.96368174e-01 -3.30804429e-03 8.02624709e-01] [ 5.12555784e-02 -1.06125940e-03 9.98685005e-01 3.67790694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.665099892999999 meters 0.014911339539448044 Centerline is valid? [True, True] Translation: X:14.27, Y:0.81, Z:0.38 [[ 9.95652722e-01 -8.08774764e-02 -4.62005529e-02 1.42740024e+01] [ 8.08259582e-02 9.96723760e-01 -2.98518261e-03 8.13897331e-01] [ 4.62906228e-02 -7.61998755e-04 9.98927724e-01 3.78373516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.725099892999998 meters 0.01571456287964418 Centerline is valid? [True, True] Translation: X:14.34, Y:0.82, Z:0.38 [[ 9.95464129e-01 -8.16260780e-02 -4.88707616e-02 1.43350879e+01] [ 8.15694319e-02 9.96662666e-01 -3.15569212e-03 8.15756710e-01] [ 4.89652504e-02 -8.44981954e-04 9.98800125e-01 3.77715601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.785099892999998 meters 0.01649374526789462 Centerline is valid? [True, True] Translation: X:14.40, Y:0.82, Z:0.38 [[ 9.95073238e-01 -8.47852866e-02 -5.13877939e-02 1.43967221e+01] [ 8.47270028e-02 9.96398687e-01 -3.31547855e-03 8.16185729e-01] [ 5.14838342e-02 -1.05478978e-03 9.98673271e-01 3.76681977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.845099892999999 meters 0.017456580085713845 Centerline is valid? [True, True] Translation: X:14.46, Y:0.82, Z:0.38 [[ 9.94865833e-01 -8.67604411e-02 -5.21018335e-02 1.44575215e+01] [ 8.67033309e-02 9.96228511e-01 -3.35964151e-03 8.17382783e-01] [ 5.21968159e-02 -1.17500996e-03 9.98636126e-01 3.78005953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.905099892999997 meters 0.018196868004115085 Centerline is valid? [True, True] Translation: X:14.52, Y:0.82, Z:0.38 [[ 9.94708595e-01 -8.83889682e-02 -5.23660362e-02 1.45194659e+01] [ 8.83336506e-02 9.96085227e-01 -3.37440093e-03 8.20939032e-01] [ 5.24592948e-02 -1.26913754e-03 9.98622257e-01 3.80534442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.965099892999998 meters 0.019529868895749005 Centerline is valid? [True, True] Translation: X:14.58, Y:0.82, Z:0.38 [[ 9.94546097e-01 -9.23717335e-02 -4.84306061e-02 1.45814693e+01] [ 9.23292799e-02 9.95723648e-01 -3.11775088e-03 8.17119847e-01] [ 4.85114918e-02 -1.37081601e-03 9.98821684e-01 3.83874598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.025099892999997 meters 0.019902417445457968 Centerline is valid? [True, True] Translation: X:14.64, Y:0.82, Z:0.39 [[ 9.94062864e-01 -9.59199401e-02 -5.13652430e-02 1.46423330e+01] [ 9.58770068e-02 9.95387702e-01 -3.30489541e-03 8.18002906e-01] [ 5.14453365e-02 -1.63947196e-03 9.98674466e-01 3.85123225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.085099893 meters 0.021672556809644125 Centerline is valid? [True, True] Translation: X:14.70, Y:0.82, Z:0.39 [[ 9.93885893e-01 -9.74192245e-02 -5.19646587e-02 1.47035792e+01] [ 9.73773987e-02 9.95241917e-01 -3.34213273e-03 8.17573079e-01] [ 5.20429945e-02 -1.73848472e-03 9.98643332e-01 3.86249137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.145099892999998 meters 0.020659302393886175 Centerline is valid? [True, True] Translation: X:14.77, Y:0.82, Z:0.39 [[ 9.93843221e-01 -9.81407935e-02 -5.14201947e-02 1.47651192e+01] [ 9.81009555e-02 9.95170983e-01 -3.30415514e-03 8.21645718e-01] [ 5.14961581e-02 -1.76055805e-03 9.98671641e-01 3.89854452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.205099893 meters 0.020659302393886175 Centerline is valid? [True, True] Translation: X:14.83, Y:0.83, Z:0.39 [[ 9.93850336e-01 -9.80685920e-02 -5.14204339e-02 1.48266772e+01] [ 9.80288501e-02 9.95178100e-01 -3.30042837e-03 8.25536976e-01] [ 5.14961581e-02 -1.76055417e-03 9.98671641e-01 3.92446396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.265099893 meters 0.02230357825818627 Centerline is valid? [True, True] Translation: X:14.89, Y:0.83, Z:0.39 [[ 9.93579327e-01 -1.00039421e-01 -5.28416019e-02 1.48876381e+01] [ 1.00000433e-01 9.94981626e-01 -3.38792000e-03 8.28224593e-01] [ 5.29153485e-02 -1.91801578e-03 9.98597160e-01 3.93100059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.325099892999997 meters 0.018114275439520603 Centerline is valid? [True, True] Translation: X:14.95, Y:0.84, Z:0.40 [[ 9.94385337e-01 -9.19836804e-02 -5.23144738e-02 1.49475863e+01] [ 9.19344496e-02 9.95759420e-01 -3.35179894e-03 8.40709274e-01] [ 5.24009409e-02 -1.47652264e-03 9.98625035e-01 3.95633735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.385099893 meters 0.018939924072858706 Centerline is valid? [True, True] Translation: X:15.01, Y:0.85, Z:0.40 [[ 9.94456045e-01 -9.16686917e-02 -5.15172377e-02 1.50089344e+01] [ 9.16205815e-02 9.95788522e-01 -3.29967143e-03 8.48481305e-01] [ 5.16027506e-02 -1.43866108e-03 9.98666654e-01 4.03388766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.445099893 meters 0.020729767903422354 Centerline is valid? [True, True] Translation: X:15.07, Y:0.84, Z:0.40 [[ 9.93508228e-01 -9.97215384e-02 -5.47449972e-02 1.50696869e+01] [ 9.96795727e-02 9.95013422e-01 -3.50339720e-03 8.43159185e-01] [ 5.48213712e-02 -1.97630399e-03 9.98494222e-01 3.99508256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.505099892999997 meters 0.021807512636116664 Centerline is valid? [True, True] Translation: X:15.13, Y:0.85, Z:0.40 [[ 9.93440412e-01 -1.01076253e-01 -5.34765347e-02 1.51320681e+01] [ 1.01038178e-01 9.94876664e-01 -3.42199132e-03 8.45417443e-01] [ 5.35484385e-02 -2.00362718e-03 9.98563243e-01 4.02816060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.565099893 meters 0.020645853342484727 Centerline is valid? [True, True] Translation: X:15.19, Y:0.85, Z:0.41 [[ 9.93990601e-01 -9.62117249e-02 -5.22109965e-02 1.51927846e+01] [ 9.61688934e-02 9.95359434e-01 -3.33783823e-03 8.52916590e-01] [ 5.22898471e-02 -1.70329392e-03 9.98630498e-01 4.05837187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.625099892999998 meters 0.02209178359044732 Centerline is valid? [True, True] Translation: X:15.25, Y:0.85, Z:0.41 [[ 9.93779347e-01 -9.93212143e-02 -5.03776256e-02 1.52539456e+01] [ 9.92853836e-02 9.95053791e-01 -3.21942772e-03 8.53089544e-01] [ 5.04482048e-02 -1.80236111e-03 9.98725052e-01 4.10081591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.685099892999997 meters 0.020230871848645235 Centerline is valid? [True, True] Translation: X:15.32, Y:0.86, Z:0.41 [[ 9.93482551e-01 -9.89317574e-02 -5.66120792e-02 1.53156467e+01] [ 9.88860973e-02 9.95092195e-01 -3.61419970e-03 8.63527576e-01] [ 5.66917973e-02 -2.00750324e-03 9.98389709e-01 4.10776807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.745099893 meters 0.02097207892578872 Centerline is valid? [True, True] Translation: X:15.38, Y:0.86, Z:0.41 [[ 9.93690967e-01 -9.90421034e-02 -5.26205623e-02 1.53774090e+01] [ 9.90029753e-02 9.95081478e-01 -3.35610866e-03 8.61889499e-01] [ 5.26941430e-02 -1.87465737e-03 9.98608939e-01 4.12057850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.805099892999998 meters 0.020686115690103486 Centerline is valid? [True, True] Translation: X:15.44, Y:0.87, Z:0.41 [[ 9.93792164e-01 -9.76285075e-02 -5.33461334e-02 1.54395115e+01] [ 9.75863895e-02 9.95221250e-01 -3.39998477e-03 8.68998528e-01] [ 5.34231410e-02 -1.82697833e-03 9.98570293e-01 4.14734504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.865099892999996 meters 0.022489440293934484 Centerline is valid? [True, True] Translation: X:15.50, Y:0.87, Z:0.41 [[ 9.93501566e-01 -9.86213674e-02 -5.68195737e-02 1.55005764e+01] [ 9.85754310e-02 9.95123006e-01 -3.61753089e-03 8.68831453e-01] [ 5.68992309e-02 -2.00699137e-03 9.98377909e-01 4.11042776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.925099893 meters 0.021046902208446124 Centerline is valid? [True, True] Translation: X:15.56, Y:0.88, Z:0.42 [[ 9.93887859e-01 -9.55301960e-02 -5.53254537e-02 1.55611853e+01] [ 9.54819688e-02 9.95424934e-01 -3.52043278e-03 8.78454740e-01] [ 5.54086437e-02 -1.78366784e-03 9.98462168e-01 4.18292867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.985099892999997 meters 0.01896037019729811 Centerline is valid? [True, True] Translation: X:15.62, Y:0.88, Z:0.42 [[ 9.94083624e-01 -9.45108988e-02 -5.35297852e-02 1.56223488e+01] [ 9.44643756e-02 9.95522422e-01 -3.40427390e-03 8.81227775e-01] [ 5.36118424e-02 -1.67252480e-03 9.98560450e-01 4.21674171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.045099893 meters 0.02136684624167256 Centerline is valid? [True, True] Translation: X:15.68, Y:0.89, Z:0.43 [[ 9.94285505e-01 -9.34752777e-02 -5.15626498e-02 1.56831255e+01] [ 9.34308623e-02 9.95620379e-01 -3.27638919e-03 8.90427068e-01] [ 5.16430863e-02 -1.55987655e-03 9.98664387e-01 4.28498726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.105099893 meters 0.019260659591923295 Centerline is valid? [True, True] Translation: X:15.75, Y:0.89, Z:0.42 [[ 9.94335329e-01 -9.18845562e-02 -5.34273424e-02 1.57454225e+01] [ 9.18349372e-02 9.95768479e-01 -3.38819445e-03 8.89547246e-01] [ 5.35125862e-02 -1.53749519e-03 9.98565991e-01 4.24000180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.165099892999997 meters 0.020999560618314983 Centerline is valid? [True, True] Translation: X:15.81, Y:0.89, Z:0.43 [[ 9.93300879e-01 -9.83209414e-02 -6.07153657e-02 1.58056485e+01] [ 9.82690807e-02 9.95152445e-01 -3.84681793e-03 8.94929385e-01] [ 6.07992675e-02 -2.14539555e-03 9.98147708e-01 4.26177636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.225099893 meters 0.02198072896961666 Centerline is valid? [True, True] Translation: X:15.87, Y:0.89, Z:0.42 [[ 9.92801559e-01 -1.02537646e-01 -6.18958410e-02 1.58668107e+01] [ 1.02491932e-01 9.94726106e-01 -3.92147144e-03 8.92452847e-01] [ 6.19715073e-02 -2.45058139e-03 9.98074910e-01 4.23292676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.285099892999998 meters 0.0200819398871607 Centerline is valid? [True, True] Translation: X:15.93, Y:0.90, Z:0.43 [[ 9.93937156e-01 -9.39751281e-02 -5.70754380e-02 1.59254613e+01] [ 9.39221278e-02 9.95572979e-01 -3.61636481e-03 9.02125569e-01] [ 5.71626122e-02 -1.76620723e-03 9.98363319e-01 4.32715710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.345099892999997 meters 0.01817043642058608 Centerline is valid? [True, True] Translation: X:15.99, Y:0.91, Z:0.44 [[ 9.94900392e-01 -8.64433782e-02 -5.19687643e-02 1.59853798e+01] [ 8.63891280e-02 9.96256027e-01 -3.29350039e-03 9.13007908e-01] [ 5.20588960e-02 -1.21283141e-03 9.98643280e-01 4.39067195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.405099893 meters 0.016132195442683118 Centerline is valid? [True, True] Translation: X:16.05, Y:0.92, Z:0.45 [[ 9.94896565e-01 -8.77500376e-02 -4.98071825e-02 1.60472002e+01] [ 8.77018785e-02 9.96141768e-01 -3.15576874e-03 9.17540567e-01] [ 4.98919337e-02 -1.22851999e-03 9.98753866e-01 4.45332135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.465099892999998 meters 0.019869291546491318 Centerline is valid? [True, True] Translation: X:16.11, Y:0.92, Z:0.44 [[ 9.94108772e-01 -9.25362500e-02 -5.64339646e-02 1.61081090e+01] [ 9.24823416e-02 9.95707918e-01 -3.57178249e-03 9.15961660e-01] [ 5.65222647e-02 -1.66840488e-03 9.98399945e-01 4.40616100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.525099892999997 meters 0.016173279553917095 Centerline is valid? [True, True] Translation: X:16.17, Y:0.94, Z:0.45 [[ 9.95711721e-01 -7.34840373e-02 -5.61984460e-02 1.61665650e+01] [ 7.34002920e-02 9.97296222e-01 -3.55564426e-03 9.42028867e-01] [ 5.63077810e-02 -5.84585688e-04 9.98413287e-01 4.49357188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.585099893 meters 0.015086332850535879 Centerline is valid? [True, True] Translation: X:16.22, Y:0.95, Z:0.45 [[ 9.96097267e-01 -6.94885332e-02 -5.44203775e-02 1.62247470e+01] [ 6.94038883e-02 9.97582691e-01 -3.44603279e-03 9.46099591e-01] [ 5.45282864e-02 -3.44401953e-04 9.98512167e-01 4.52384459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.645099892999998 meters 0.014259353368650439 Centerline is valid? [True, True] Translation: X:16.28, Y:0.95, Z:0.46 [[ 9.96369246e-01 -6.66587487e-02 -5.29616590e-02 1.62842277e+01] [ 6.65740084e-02 9.97775817e-01 -3.36456411e-03 9.49960281e-01] [ 5.30681402e-02 -1.73521729e-04 9.98590878e-01 4.55859554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.705099892999996 meters 0.015159643758528645 Centerline is valid? [True, True] Translation: X:16.34, Y:0.95, Z:0.46 [[ 9.96463480e-01 -6.56653961e-02 -5.24269880e-02 1.63426737e+01] [ 6.55808745e-02 9.97841692e-01 -3.33270243e-03 9.53895762e-01] [ 5.25326776e-02 -1.17291453e-04 9.98619199e-01 4.57529274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.765099893 meters 0.014823457064724606 Centerline is valid? [True, True] Translation: X:16.40, Y:0.96, Z:0.46 [[ 9.96536066e-01 -6.49453077e-02 -5.19420373e-02 1.64014699e+01] [ 6.48611151e-02 9.97888822e-01 -3.30668804e-03 9.58340178e-01] [ 5.20471323e-02 -7.37845696e-05 9.98644627e-01 4.60932521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.825099892999997 meters 0.01569838747483148 Centerline is valid? [True, True] Translation: X:16.46, Y:0.96, Z:0.46 [[ 9.96664769e-01 -6.26008701e-02 -5.23494912e-02 1.64601558e+01] [ 6.25114147e-02 9.98038640e-01 -3.34602331e-03 9.63328829e-01] [ 5.24562790e-02 6.24227918e-05 9.98623220e-01 4.62510702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.885099893 meters 0.014440183009509826 Centerline is valid? [True, True] Translation: X:16.52, Y:0.97, Z:0.47 [[ 9.96757333e-01 -6.12458372e-02 -5.21897259e-02 1.65173209e+01] [ 6.11544686e-02 9.98122701e-01 -3.34731473e-03 9.67865139e-01] [ 5.22967592e-02 1.44825546e-04 9.98631578e-01 4.65407562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.945099893 meters 0.016111515342424217 Centerline is valid? [True, True] Translation: X:16.58, Y:0.97, Z:0.47 [[ 9.97126946e-01 -5.53803354e-02 -5.16804705e-02 1.65759803e+01] [ 5.52825474e-02 9.98465228e-01 -3.32082154e-03 9.71782674e-01] [ 5.17850610e-02 4.54252589e-04 9.98658150e-01 4.67455889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.005099892999997 meters 0.016766450015621076 Centerline is valid? [True, True] Translation: X:16.64, Y:0.94, Z:0.48 [[ 9.97572711e-01 -4.88586899e-02 -4.96136492e-02 1.66371285e+01] [ 4.87599042e-02 9.98805402e-01 -3.20019875e-03 9.35745751e-01] [ 4.97107383e-02 7.73274156e-04 9.98763358e-01 4.75528370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.065099893 meters 0.016655304098021653 Centerline is valid? [True, True] Translation: X:16.70, Y:0.94, Z:0.48 [[ 9.97588602e-01 -4.94269797e-02 -4.87232561e-02 1.66951377e+01] [ 4.93318427e-02 9.98777464e-01 -3.15392503e-03 9.38402842e-01] [ 4.88195791e-02 7.42711661e-04 9.98807337e-01 4.78582459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.125099892999998 meters 0.016852665625261287 Centerline is valid? [True, True] Translation: X:16.75, Y:0.93, Z:0.48 [[ 9.97646880e-01 -5.06947293e-02 -4.61600108e-02 1.67544389e+01] [ 5.06104887e-02 9.98713984e-01 -2.99261002e-03 9.33444758e-01] [ 4.62523579e-02 6.49387347e-04 9.98929576e-01 4.82963981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.185099892999997 meters 0.01716536264613224 Centerline is valid? [True, True] Translation: X:16.82, Y:0.89, Z:0.48 [[ 9.97532661e-01 -4.92361815e-02 -5.00438757e-02 1.68155208e+01] [ 4.91346588e-02 9.98786851e-01 -3.25761659e-03 8.93511279e-01] [ 5.01435576e-02 7.90690186e-04 9.98741708e-01 4.84154233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.245099893 meters 0.017146299661468096 Centerline is valid? [True, True] Translation: X:16.87, Y:0.89, Z:0.49 [[ 9.97494980e-01 -4.83123400e-02 -5.16689694e-02 1.68738630e+01] [ 4.82021873e-02 9.98831892e-01 -3.37661266e-03 8.93790144e-01] [ 5.17717465e-02 8.77596835e-04 9.98658558e-01 4.87461670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.305099892999998 meters 0.017516289617897564 Centerline is valid? [True, True] Translation: X:16.93, Y:0.89, Z:0.49 [[ 9.97450062e-01 -4.77634072e-02 -5.30285897e-02 1.69326460e+01] [ 4.76458695e-02 9.98858231e-01 -3.47919872e-03 8.94834219e-01] [ 5.31342217e-02 9.43733709e-04 9.98586934e-01 4.88735522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.365099892999996 meters 0.01916129462904128 Centerline is valid? [True, True] Translation: X:16.99, Y:0.90, Z:0.49 [[ 9.97416575e-01 -4.72299379e-02 -5.41249342e-02 1.69909203e+01] [ 4.71060497e-02 9.98883539e-01 -3.56310320e-03 8.95566759e-01] [ 5.42327910e-02 1.00428635e-03 9.98527814e-01 4.88005306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.425099893 meters 0.019126584037321825 Centerline is valid? [True, True] Translation: X:17.05, Y:0.89, Z:0.49 [[ 9.97408341e-01 -4.74308649e-02 -5.41009574e-02 1.70489952e+01] [ 4.73069867e-02 9.98874022e-01 -3.56880373e-03 8.88145681e-01] [ 5.42093124e-02 1.00020134e-03 9.98529093e-01 4.89475664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.485099892999997 meters 0.018133566499058087 Centerline is valid? [True, True] Translation: X:17.11, Y:0.88, Z:0.49 [[ 9.97248690e-01 -5.17466491e-02 -5.30785643e-02 1.71079594e+01] [ 5.16328410e-02 9.98659953e-01 -3.51409445e-03 8.83525490e-01] [ 5.31892791e-02 7.63829014e-04 9.98584156e-01 4.94320081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.545099892999996 meters 0.01822925238299818 Centerline is valid? [True, True] Translation: X:17.17, Y:0.88, Z:0.50 [[ 9.96901833e-01 -5.70354826e-02 -5.41635479e-02 1.71661404e+01] [ 5.69245406e-02 9.98372029e-01 -3.59008180e-03 8.76207840e-01] [ 5.42801332e-02 4.95724042e-04 9.98525624e-01 4.95560583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.605099893 meters 0.016186473106748298 Centerline is valid? [True, True] Translation: X:17.23, Y:0.87, Z:0.50 [[ 9.96657097e-01 -6.13718428e-02 -5.39270610e-02 1.72255016e+01] [ 6.12678470e-02 9.98114937e-01 -3.58110531e-03 8.67914568e-01] [ 5.40451841e-02 2.65139099e-04 9.98538456e-01 4.97872098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.665099892999997 meters 0.01671493321772168 Centerline is valid? [True, True] Translation: X:17.28, Y:0.86, Z:0.50 [[ 9.96280379e-01 -6.80744932e-02 -5.28324662e-02 1.72843749e+01] [ 6.79834032e-02 9.97680238e-01 -3.52143050e-03 8.64120823e-01] [ 5.29496271e-02 -8.33987436e-05 9.98597181e-01 5.01817932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.725099893 meters 0.016646040059018225 Centerline is valid? [True, True] Translation: X:17.34, Y:0.86, Z:0.51 [[ 9.96116651e-01 -7.23200275e-02 -5.02138569e-02 1.73435714e+01] [ 7.22425297e-02 9.97381439e-01 -3.35896055e-03 8.62692165e-01] [ 5.03252889e-02 -2.81659510e-04 9.98732840e-01 5.06383476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.785099892999998 meters 0.016698897915659393 Centerline is valid? [True, True] Translation: X:17.40, Y:0.85, Z:0.51 [[ 9.95413054e-01 -8.16417825e-02 -4.98745511e-02 1.74045451e+01] [ 8.15764727e-02 9.96661465e-01 -3.34705075e-03 8.49180304e-01] [ 4.99813024e-02 -7.36891945e-04 9.98749882e-01 5.08180158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.845099892999997 meters 0.019224183979704535 Centerline is valid? [True, True] Translation: X:17.46, Y:0.85, Z:0.51 [[ 9.94693911e-01 -8.70346667e-02 -5.48542609e-02 1.74645121e+01] [ 8.69637318e-02 9.96204669e-01 -3.68333832e-03 8.51451050e-01] [ 5.49666490e-02 -1.10653703e-03 9.98487578e-01 5.07660233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.905099893 meters 0.019008508105474255 Centerline is valid? [True, True] Translation: X:17.52, Y:0.85, Z:0.51 [[ 9.94463761e-01 -9.00536874e-02 -5.41494400e-02 1.75230685e+01] [ 8.99887825e-02 9.95936125e-01 -3.64061741e-03 8.52636478e-01] [ 5.42572344e-02 -1.25238009e-03 9.98526206e-01 5.10420188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.965099892999998 meters 0.019753135616346167 Centerline is valid? [True, True] Translation: X:17.58, Y:0.86, Z:0.51 [[ 9.94178303e-01 -9.24936973e-02 -5.52667864e-02 1.75808959e+01] [ 9.24291775e-02 9.95712283e-01 -3.72787428e-03 8.60619345e-01] [ 5.53746229e-02 -1.40209188e-03 9.98464664e-01 5.11152884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.025099892999997 meters 0.02139167284982313 Centerline is valid? [True, True] Translation: X:17.64, Y:0.87, Z:0.52 [[ 9.94122812e-01 -9.39744802e-02 -5.37459955e-02 1.76390185e+01] [ 9.39152606e-02 9.95573570e-01 -3.63200427e-03 8.70297304e-01] [ 5.38494083e-02 -1.43691087e-03 9.98548034e-01 5.15635153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.085099893 meters 0.01976616928848679 Centerline is valid? [True, True] Translation: X:17.70, Y:0.88, Z:0.52 [[ 9.93925275e-01 -9.66106294e-02 -5.27156010e-02 1.76962827e+01] [ 9.65567591e-02 9.95321064e-01 -3.57372710e-03 8.84771912e-01] [ 5.28142081e-02 -1.53802990e-03 9.98603171e-01 5.21724042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.145099892999998 meters 0.02278519427217505 Centerline is valid? [True, True] Translation: X:17.76, Y:0.89, Z:0.52 [[ 9.93323238e-01 -1.01956069e-01 -5.39805926e-02 1.77557909e+01] [ 1.01907234e-01 9.94787160e-01 -3.66362426e-03 8.92256747e-01] [ 5.40727291e-02 -1.86184977e-03 9.98535264e-01 5.19324687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.205099892999996 meters 0.0223229144702 Centerline is valid? [True, True] Translation: X:17.81, Y:0.91, Z:0.53 [[ 9.93119437e-01 -1.03691437e-01 -5.44230562e-02 1.78131807e+01] [ 1.03644186e-01 9.94607566e-01 -3.69756521e-03 9.13802625e-01] [ 5.45129893e-02 -1.96850946e-03 9.98511121e-01 5.25143860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.265099893 meters 0.02221897946657125 Centerline is valid? [True, True] Translation: X:17.87, Y:0.93, Z:0.53 [[ 9.93329661e-01 -1.02101845e-01 -5.35854327e-02 1.78704428e+01] [ 1.02053015e-01 9.94772251e-01 -3.65390304e-03 9.34371195e-01] [ 5.36783718e-02 -1.83902469e-03 9.98556583e-01 5.27110482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.325099892999997 meters 0.021823613127375144 Centerline is valid? [True, True] Translation: X:17.93, Y:0.95, Z:0.53 [[ 9.93414324e-01 -1.00418030e-01 -5.51742748e-02 1.79281612e+01] [ 1.00362898e-01 9.94943732e-01 -3.77619330e-03 9.49667797e-01] [ 5.52744967e-02 -1.78612562e-03 9.98469599e-01 5.27273643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.385099892999996 meters 0.016987122196218826 Centerline is valid? [True, True] Translation: X:17.99, Y:0.97, Z:0.53 [[ 9.93861037e-01 -9.53694927e-02 -5.60793945e-02 1.79865202e+01] [ 9.53038692e-02 9.95440784e-01 -3.84954799e-03 9.72181984e-01] [ 5.61908458e-02 -1.51866752e-03 9.98418891e-01 5.33499794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.445099893 meters 0.01772321915398603 Centerline is valid? [True, True] Translation: X:18.04, Y:0.99, Z:0.54 [[ 9.94728300e-01 -8.62319296e-02 -5.54947105e-02 1.80446395e+01] [ 8.61533075e-02 9.96274599e-01 -3.81203844e-03 9.94945183e-01] [ 5.56166898e-02 -9.89110338e-04 9.98451704e-01 5.37065818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.505099892999997 meters 0.015754695595428872 Centerline is valid? [True, True] Translation: X:18.10, Y:1.02, Z:0.54 [[ 9.95645075e-01 -7.49477133e-02 -5.54411781e-02 1.81032392e+01] [ 7.48516518e-02 9.97187401e-01 -3.81010968e-03 1.01531361e+00] [ 5.55708033e-02 -3.56346823e-04 9.98454685e-01 5.38529466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.565099893 meters 0.016490038780891732 Centerline is valid? [True, True] Translation: X:18.16, Y:1.05, Z:0.54 [[ 9.97081802e-01 -5.61327578e-02 -5.17396654e-02 1.81600091e+01] [ 5.60235930e-02 9.98423102e-01 -3.55891529e-03 1.04581092e+00] [ 5.18578490e-02 6.49887713e-04 9.98654265e-01 5.44289292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.625099892999998 meters 0.018708490490863445 Centerline is valid? [True, True] Translation: X:18.22, Y:1.07, Z:0.55 [[ 9.97397179e-01 -4.89460121e-02 -5.29448357e-02 1.82181085e+01] [ 4.88209564e-02 9.98800864e-01 -3.65352089e-03 1.06504328e+00] [ 5.30601730e-02 1.05919391e-03 9.98590755e-01 5.46225001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.685099892999997 meters 0.01675235921521403 Centerline is valid? [True, True] Translation: X:18.28, Y:1.07, Z:0.55 [[ 9.97240156e-01 -5.08167094e-02 -5.41270180e-02 1.82768735e+01] [ 5.06884053e-02 9.98707508e-01 -3.74149619e-03 1.07310023e+00] [ 5.42471898e-02 9.87558013e-04 9.98527049e-01 5.47618889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.745099893 meters 0.016873725393302834 Centerline is valid? [True, True] Translation: X:18.34, Y:1.08, Z:0.55 [[ 9.96776881e-01 -5.71734953e-02 -5.62764747e-02 1.83358713e+01] [ 5.70440989e-02 9.98364025e-01 -3.90433076e-03 1.08004097e+00] [ 5.64076320e-02 6.81505857e-04 9.98407589e-01 5.47559904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.805099892999998 meters 0.015097659057006744 Centerline is valid? [True, True] Translation: X:18.39, Y:1.09, Z:0.55 [[ 9.96527152e-01 -6.32208864e-02 -5.41918328e-02 1.83943379e+01] [ 6.31092696e-02 9.97999502e-01 -3.77016964e-03 1.08844943e+00] [ 5.43217756e-02 3.37069432e-04 9.98523425e-01 5.52664847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.865099892999996 meters 0.01580601025079591 Centerline is valid? [True, True] Translation: X:18.45, Y:1.10, Z:0.56 [[ 9.96425258e-01 -6.68326870e-02 -5.16729803e-02 1.84511981e+01] [ 6.67358703e-02 9.97764187e-01 -3.59868440e-03 1.09665199e+00] [ 5.17979590e-02 1.37378715e-04 9.98657575e-01 5.56509339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.925099893 meters 0.01477335036286027 Centerline is valid? [True, True] Translation: X:18.51, Y:1.10, Z:0.56 [[ 9.96160433e-01 -7.04900461e-02 -5.19186490e-02 1.85110734e+01] [ 7.03970553e-02 9.97512482e-01 -3.61988838e-03 1.09962267e+00] [ 5.20446665e-02 -4.89304319e-05 9.98644757e-01 5.58945725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.985099892999997 meters 0.016065996613715258 Centerline is valid? [True, True] Translation: X:18.57, Y:1.10, Z:0.56 [[ 9.95769850e-01 -7.31522655e-02 -5.55981237e-02 1.85708697e+01] [ 7.30496469e-02 9.97320764e-01 -3.87850078e-03 1.10034530e+00] [ 5.57328843e-02 -1.99329159e-04 9.98445695e-01 5.56687174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.045099892999996 meters 0.015455688981146068 Centerline is valid? [True, True] Translation: X:18.63, Y:1.10, Z:0.56 [[ 9.95366727e-01 -7.68300030e-02 -5.78120254e-02 1.86297344e+01] [ 7.67249174e-02 9.97044120e-01 -4.03848301e-03 1.09949659e+00] [ 5.79514167e-02 -4.15851261e-04 9.98319318e-01 5.57295081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.105099893 meters 0.01511031732873532 Centerline is valid? [True, True] Translation: X:18.69, Y:1.11, Z:0.56 [[ 9.96070029e-01 -6.92770058e-02 -5.51832737e-02 1.86882499e+01] [ 6.91689330e-02 9.97597461e-01 -3.86827424e-03 1.10622908e+00] [ 5.53186763e-02 3.61038708e-05 9.98468749e-01 5.62000831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.165099892999997 meters 0.01545883451697499 Centerline is valid? [True, True] Translation: X:18.75, Y:1.11, Z:0.57 [[ 9.96902077e-01 -5.77066067e-02 -5.34433912e-02 1.87464541e+01] [ 5.75879184e-02 9.98333360e-01 -3.75940033e-03 1.11401984e+00] [ 5.35712625e-02 6.70060344e-04 9.98563804e-01 5.67500320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.225099892999996 meters 0.017887057683002767 Centerline is valid? [True, True] Translation: X:18.81, Y:1.12, Z:0.57 [[ 9.97176847e-01 -5.10829277e-02 -5.50351654e-02 1.88059211e+01] [ 5.09463494e-02 9.98693844e-01 -3.88270668e-03 1.12099272e+00] [ 5.51616209e-02 1.06790444e-03 9.98476868e-01 5.71190474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.285099892999998 meters 0.01917534669660656 Centerline is valid? [True, True] Translation: X:18.86, Y:1.13, Z:0.57 [[ 9.97214460e-01 -4.71624165e-02 -5.77843205e-02 1.88639401e+01] [ 4.70051024e-02 9.98886319e-01 -4.07939107e-03 1.12521603e+00] [ 5.79123611e-02 1.35186986e-03 9.98320756e-01 5.69637959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.345099892999997 meters 0.0197785101205298 Centerline is valid? [True, True] Translation: X:18.92, Y:1.13, Z:0.57 [[ 9.97368613e-01 -4.63365953e-02 -5.57563411e-02 1.89201955e+01] [ 4.61885458e-02 9.98924963e-01 -3.94172031e-03 1.13002423e+00] [ 5.58790469e-02 1.35604380e-03 9.98436625e-01 5.73561797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.405099893 meters 0.01633029925440192 Centerline is valid? [True, True] Translation: X:18.98, Y:1.13, Z:0.58 [[ 9.97128968e-01 -5.26487344e-02 -5.44236289e-02 1.89794483e+01] [ 5.25166283e-02 9.98612606e-01 -3.85564920e-03 1.13037943e+00] [ 5.45511170e-02 9.86434012e-04 9.98510492e-01 5.81181152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.465099892999998 meters 0.014641685384547857 Centerline is valid? [True, True] Translation: X:19.04, Y:1.13, Z:0.58 [[ 9.96801729e-01 -5.83390276e-02 -5.46156735e-02 1.90385868e+01] [ 5.82142670e-02 9.98296596e-01 -3.87380881e-03 1.13148159e+00] [ 5.47486351e-02 6.82007918e-04 9.98499936e-01 5.84662189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.525099892999997 meters 0.01523778185845986 Centerline is valid? [True, True] Translation: X:19.10, Y:1.13, Z:0.58 [[ 9.96159842e-01 -6.81504691e-02 -5.49643783e-02 1.90979168e+01] [ 6.80382765e-02 9.97675042e-01 -3.91204859e-03 1.13033105e+00] [ 5.51031964e-02 1.57344131e-04 9.98480652e-01 5.82899174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.585099893 meters 0.015435630864234154 Centerline is valid? [True, True] Translation: X:19.16, Y:1.13, Z:0.59 [[ 9.95899377e-01 -7.36023568e-02 -5.26034506e-02 1.91558542e+01] [ 7.35066005e-02 9.97287660e-01 -3.75535236e-03 1.13423523e+00] [ 5.27371750e-02 -1.26747753e-04 9.98608419e-01 5.87837398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.645099892999998 meters 0.015620817360655582 Centerline is valid? [True, True] Translation: X:19.22, Y:1.14, Z:0.59 [[ 9.95332805e-01 -8.05952812e-02 -5.30754924e-02 1.92166710e+01] [ 8.05075220e-02 9.96746785e-01 -3.79289307e-03 1.13630579e+00] [ 5.32085157e-02 -4.97785478e-04 9.98583300e-01 5.91684482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.705099892999996 meters 0.01624677100731563 Centerline is valid? [True, True] Translation: X:19.28, Y:1.14, Z:0.59 [[ 9.94706033e-01 -8.67580868e-02 -5.50721574e-02 1.92782062e+01] [ 8.66730554e-02 9.96229038e-01 -3.93509626e-03 1.13634102e+00] [ 5.52058839e-02 -8.59008168e-04 9.98474623e-01 5.91737851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.765099893 meters 0.01664580590645721 Centerline is valid? [True, True] Translation: X:19.34, Y:1.15, Z:0.59 [[ 9.94520893e-01 -8.78569991e-02 -5.66510389e-02 1.93391858e+01] [ 8.77689218e-02 9.96132646e-01 -4.04579498e-03 1.14513437e+00] [ 5.67874006e-02 -9.48572961e-04 9.98385843e-01 5.93610228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.825099892999997 meters 0.014903841589200814 Centerline is valid? [True, True] Translation: X:19.40, Y:1.15, Z:0.60 [[ 9.95004996e-01 -8.35145964e-02 -5.46842792e-02 1.93995901e+01] [ 8.34260829e-02 9.96506323e-01 -3.90339101e-03 1.15484067e+00] [ 5.48192201e-02 -6.78201660e-04 9.98496066e-01 5.97267493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.885099892999996 meters 0.015008048099964864 Centerline is valid? [True, True] Translation: X:19.46, Y:1.17, Z:0.60 [[ 9.95702645e-01 -7.39323178e-02 -5.57696563e-02 1.94600914e+01] [ 7.38253416e-02 9.97263249e-01 -3.97878765e-03 1.17044632e+00] [ 5.59111897e-02 -1.55524543e-04 9.98435734e-01 6.00007158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.945099893 meters 0.015575454150027312 Centerline is valid? [True, True] Translation: X:19.52, Y:1.17, Z:0.60 [[ 9.95296609e-01 -8.06353440e-02 -5.36898717e-02 1.95202055e+01] [ 8.05460113e-02 9.96743537e-01 -3.82913966e-03 1.16634663e+00] [ 5.38237966e-02 -5.13375301e-04 9.98550317e-01 6.04249025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.005099892999997 meters 0.015026136113092328 Centerline is valid? [True, True] Translation: X:19.58, Y:1.17, Z:0.61 [[ 9.95261961e-01 -8.21563836e-02 -5.19995937e-02 1.95809542e+01] [ 8.20746445e-02 9.96619284e-01 -3.70896094e-03 1.16816979e+00] [ 5.21285126e-02 -5.76460436e-04 9.98640218e-01 6.09308605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.065099892999996 meters 0.01660363204091065 Centerline is valid? [True, True] Translation: X:19.64, Y:1.17, Z:0.61 [[ 9.95226769e-01 -8.29368749e-02 -5.14310461e-02 1.96436152e+01] [ 8.28580680e-02 9.96554614e-01 -3.66623145e-03 1.16969153e+00] [ 5.15579121e-02 -6.12745434e-04 9.98669818e-01 6.12258747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.125099892999998 meters 0.01564209612217686 Centerline is valid? [True, True] Translation: X:19.71, Y:1.17, Z:0.61 [[ 9.95582193e-01 -7.88373925e-02 -5.09976689e-02 1.97052186e+01] [ 7.87547044e-02 9.96887409e-01 -3.63198029e-03 1.16827114e+00] [ 5.11252698e-02 -4.00371434e-04 9.98692168e-01 6.14123340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.185099892999997 meters 0.015557606847643861 Centerline is valid? [True, True] Translation: X:19.77, Y:1.18, Z:0.61 [[ 9.96902235e-01 -6.04792752e-02 -5.02811113e-02 1.97651277e+01] [ 6.03756172e-02 9.98169311e-01 -3.57925207e-03 1.17710117e+00] [ 5.04055328e-02 5.32411258e-04 9.98728691e-01 6.14428860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.245099893 meters 0.01608675140456852 Centerline is valid? [True, True] Translation: X:19.82, Y:1.18, Z:0.62 [[ 9.96847231e-01 -6.13997263e-02 -5.02560632e-02 1.98229797e+01] [ 6.12972561e-02 9.98113138e-01 -3.57913942e-03 1.18117516e+00] [ 5.03809951e-02 4.87296438e-04 9.98729952e-01 6.18146690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.305099892999998 meters 0.014080403253902817 Centerline is valid? [True, True] Translation: X:19.88, Y:1.18, Z:0.62 [[ 9.96799828e-01 -6.20221545e-02 -5.04316890e-02 1.98811297e+01] [ 6.19190171e-02 9.98074661e-01 -3.60636690e-03 1.18477206e+00] [ 5.05582656e-02 4.72145284e-04 9.98721002e-01 6.21098653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.365099892999996 meters 0.013433606689906816 Centerline is valid? [True, True] Translation: X:19.94, Y:1.19, Z:0.62 [[ 9.96698827e-01 -6.30866327e-02 -5.11030773e-02 1.99390085e+01] [ 6.29813618e-02 9.98007958e-01 -3.66928964e-03 1.18749062e+00] [ 5.12327610e-02 4.38635280e-04 9.98686643e-01 6.23136942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.425099893 meters 0.01565258957997417 Centerline is valid? [True, True] Translation: X:20.00, Y:1.19, Z:0.62 [[ 9.96466984e-01 -6.54376111e-02 -5.26447366e-02 1.99968508e+01] [ 6.53284478e-02 9.97856604e-01 -3.79356186e-03 1.19034074e+00] [ 5.27801397e-02 3.40960218e-04 9.98606099e-01 6.21380910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.485099892999997 meters 0.015009062170143235 Centerline is valid? [True, True] Translation: X:20.05, Y:1.19, Z:0.62 [[ 9.95953939e-01 -7.14416048e-02 -5.45146654e-02 2.00547483e+01] [ 7.13331160e-02 9.97444783e-01 -3.93578822e-03 1.19253756e+00] [ 5.46565477e-02 3.11628235e-05 9.98505213e-01 6.23406604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.545099892999996 meters 0.015180247594273276 Centerline is valid? [True, True] Translation: X:20.11, Y:1.20, Z:0.63 [[ 9.95870753e-01 -7.23156156e-02 -5.48807299e-02 2.01135516e+01] [ 7.22061482e-02 9.97381798e-01 -3.97749030e-03 1.19522249e+00] [ 5.50246758e-02 -1.65985378e-06 9.98484995e-01 6.25394315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.605099893 meters 0.01581160287226892 Centerline is valid? [True, True] Translation: X:20.17, Y:1.20, Z:0.63 [[ 9.95861107e-01 -7.08327308e-02 -5.69506793e-02 2.01717057e+01] [ 7.07117189e-02 9.97488203e-01 -4.13977010e-03 1.19965005e+00] [ 5.71008620e-02 9.55556029e-05 9.98368410e-01 6.25393718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.665099892999997 meters 0.0142390921714396 Centerline is valid? [True, True] Translation: X:20.23, Y:1.21, Z:0.64 [[ 9.96607701e-01 -6.31947677e-02 -5.27210815e-02 2.02279676e+01] [ 6.30800406e-02 9.98001088e-01 -3.83893265e-03 1.21338522e+00] [ 5.28582971e-02 5.00261882e-04 9.98601898e-01 6.36169637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.725099892999996 meters 0.015569855640961439 Centerline is valid? [True, True] Translation: X:20.29, Y:1.22, Z:0.64 [[ 9.96886668e-01 -5.98262702e-02 -5.13594088e-02 2.02861325e+01] [ 5.97121927e-02 9.98208576e-01 -3.75407652e-03 1.22056248e+00] [ 5.14919947e-02 6.75605916e-04 9.98673179e-01 6.38071576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.785099892999998 meters 0.014070596292333528 Centerline is valid? [True, True] Translation: X:20.34, Y:1.23, Z:0.64 [[ 9.96468232e-01 -6.66969214e-02 -5.10155269e-02 2.03437009e+01] [ 6.65927707e-02 9.97773227e-01 -3.74046925e-03 1.22530355e+00] [ 5.11514046e-02 3.29993496e-04 9.98690856e-01 6.42026064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.845099892999997 meters 0.015256765816271119 Centerline is valid? [True, True] Translation: X:20.40, Y:1.23, Z:0.64 [[ 9.96043686e-01 -7.11798183e-02 -5.32015940e-02 2.04036864e+01] [ 7.10726982e-02 9.97463494e-01 -3.90510847e-03 1.22701152e+00] [ 5.33446127e-02 1.08477802e-04 9.98576157e-01 6.41270303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.905099892999996 meters 0.01601802753740728 Centerline is valid? [True, True] Translation: X:20.46, Y:1.23, Z:0.64 [[ 9.95579319e-01 -7.64748364e-02 -5.45290683e-02 2.04634541e+01] [ 7.63701215e-02 9.97071496e-01 -4.00457924e-03 1.22995027e+00] [ 5.46756293e-02 -1.77515298e-04 9.98504153e-01 6.42702649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.965099892999998 meters 0.015543250200789739 Centerline is valid? [True, True] Translation: X:20.52, Y:1.23, Z:0.65 [[ 9.94921146e-01 -8.63279403e-02 -5.17629182e-02 2.05237954e+01] [ 8.62468252e-02 9.96266542e-01 -3.80288475e-03 1.23124759e+00] [ 5.18979587e-02 -6.80816908e-04 9.98652161e-01 6.48713420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.025099892999997 meters 0.016571369787061484 Centerline is valid? [True, True] Translation: X:20.59, Y:1.23, Z:0.65 [[ 9.94218916e-01 -9.44454555e-02 -5.10764342e-02 2.05852995e+01] [ 9.43771894e-02 9.95529441e-01 -3.75211238e-03 1.23189254e+00] [ 5.12024639e-02 -1.09002920e-03 9.98687699e-01 6.51365369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.085099893 meters 0.01884454344886595 Centerline is valid? [True, True] Translation: X:20.65, Y:1.24, Z:0.65 [[ 9.93611034e-01 -1.00516349e-01 -5.13183773e-02 2.06450856e+01] [ 1.00455596e-01 9.94934406e-01 -3.76833672e-03 1.23526744e+00] [ 5.14371987e-02 -1.41095725e-03 9.98675234e-01 6.52511396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.145099892999998 meters 0.01934799732459876 Centerline is valid? [True, True] Translation: X:20.71, Y:1.24, Z:0.65 [[ 9.92852235e-01 -1.07697671e-01 -5.14359012e-02 2.07060861e+01] [ 1.07646263e-01 9.94182085e-01 -3.77679286e-03 1.23879290e+00] [ 5.15434033e-02 -1.78708530e-03 9.98669156e-01 6.54344174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.205099892999996 meters 0.020707789067093488 Centerline is valid? [True, True] Translation: X:20.77, Y:1.25, Z:0.66 [[ 9.92559931e-01 -1.09062326e-01 -5.41312491e-02 2.07682957e+01] [ 1.09007509e-01 9.94032986e-01 -3.97301188e-03 1.24545435e+00] [ 5.42415531e-02 -1.95726024e-03 9.98525925e-01 6.55652874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.265099893 meters 0.019825714572053132 Centerline is valid? [True, True] Translation: X:20.83, Y:1.25, Z:0.65 [[ 9.93242054e-01 -1.01994425e-01 -5.53837491e-02 2.08282657e+01] [ 1.01926241e-01 9.94783666e-01 -4.06182256e-03 1.25480828e+00] [ 5.55091322e-02 -1.61068440e-03 9.98456880e-01 6.54757702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.325099892999997 meters 0.017545745668476553 Centerline is valid? [True, True] Translation: X:20.89, Y:1.26, Z:0.66 [[ 9.93867675e-01 -9.74716233e-02 -5.22142356e-02 2.08889160e+01] [ 9.74048029e-02 9.95237481e-01 -3.82898971e-03 1.26114301e+00] [ 5.23387822e-02 -1.28040822e-03 9.98628566e-01 6.59790034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.385099892999996 meters 0.017734338557196427 Centerline is valid? [True, True] Translation: X:20.95, Y:1.27, Z:0.67 [[ 9.94427108e-01 -9.30629399e-02 -4.95380267e-02 2.09491510e+01] [ 9.29974141e-02 9.95659729e-01 -3.63098787e-03 1.27333844e+00] [ 4.96609287e-02 -9.96155618e-04 9.98765638e-01 6.68789093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.445099893 meters 0.01493501989687921 Centerline is valid? [True, True] Translation: X:21.01, Y:1.28, Z:0.67 [[ 9.94910929e-01 -8.68013436e-02 -5.11641494e-02 2.10107771e+01] [ 8.67232752e-02 9.96225389e-01 -3.74809412e-03 1.28016427e+00] [ 5.12963642e-02 -7.08102804e-04 9.98683224e-01 6.68680793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.505099892999997 meters 0.014814669639138045 Centerline is valid? [True, True] Translation: X:21.07, Y:1.29, Z:0.67 [[ 9.95262735e-01 -8.23296689e-02 -5.17099006e-02 2.10723559e+01] [ 8.22440494e-02 9.96605032e-01 -3.78505285e-03 1.28604963e+00] [ 5.18459693e-02 -4.85709564e-04 9.98654975e-01 6.70227455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.565099892999996 meters 0.015903411245549625 Centerline is valid? [True, True] Translation: X:21.13, Y:1.30, Z:0.68 [[ 9.95974746e-01 -7.22545056e-02 -5.30433036e-02 2.11339764e+01] [ 7.21503461e-02 9.97386227e-01 -3.87845511e-03 1.30010111e+00] [ 5.31848962e-02 3.57506273e-05 9.98584681e-01 6.75776095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.625099892999998 meters 0.015327105536394032 Centerline is valid? [True, True] Translation: X:21.19, Y:1.30, Z:0.67 [[ 9.96358966e-01 -6.70169194e-02 -5.27024062e-02 2.11948839e+01] [ 6.69069751e-02 9.97751791e-01 -3.84966852e-03 1.30209123e+00] [ 5.28419131e-02 3.09493168e-04 9.98602842e-01 6.74700948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.685099892999997 meters 0.014662787159270625 Centerline is valid? [True, True] Translation: X:21.25, Y:1.31, Z:0.68 [[ 9.96976406e-01 -6.09215404e-02 -4.82349673e-02 2.12540603e+01] [ 6.08223201e-02 9.98142390e-01 -3.52345770e-03 1.30864412e+00] [ 4.83600201e-02 5.79041570e-04 9.98829802e-01 6.81066645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.745099892999995 meters 0.017900707389551802 Centerline is valid? [True, True] Translation: X:21.31, Y:1.31, Z:0.68 [[ 9.97203011e-01 -5.55948218e-02 -4.99536928e-02 2.13130259e+01] [ 5.54816581e-02 9.98453034e-01 -3.65021935e-03 1.31319665e+00] [ 5.00793494e-02 8.68496018e-04 9.98744865e-01 6.81868137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.805099892999998 meters 0.015439369750235035 Centerline is valid? [True, True] Translation: X:21.37, Y:1.31, Z:0.69 [[ 9.97080929e-01 -5.95571419e-02 -4.77762350e-02 2.13722584e+01] [ 5.94580049e-02 9.98224690e-01 -3.49476636e-03 1.30786432e+00] [ 4.78995557e-02 6.43885272e-04 9.98851950e-01 6.85894271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.865099892999996 meters 0.016273601139607876 Centerline is valid? [True, True] Translation: X:21.43, Y:1.31, Z:0.69 [[ 9.96870447e-01 -6.29364769e-02 -4.78363118e-02 2.14319299e+01] [ 6.28404392e-02 9.98017413e-01 -3.51036848e-03 1.30670702e+00] [ 4.79624024e-02 4.93327750e-04 9.98849020e-01 6.87786110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.925099893 meters 0.015937429846253657 Centerline is valid? [True, True] Translation: X:21.49, Y:1.31, Z:0.69 [[ 9.96557448e-01 -6.71372841e-02 -4.86398790e-02 2.14916529e+01] [ 6.70429003e-02 9.97743703e-01 -3.57116056e-03 1.30637662e+00] [ 4.87698910e-02 2.97908100e-04 9.98809996e-01 6.90961091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.985099892999997 meters 0.014852862565103535 Centerline is valid? [True, True] Translation: X:21.55, Y:1.30, Z:0.69 [[ 9.96237858e-01 -7.15972387e-02 -4.88258656e-02 2.15512406e+01] [ 7.15074007e-02 9.97433621e-01 -3.58648801e-03 1.30449334e+00] [ 4.89573425e-02 8.15844049e-05 9.98800867e-01 6.92511230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.045099892999996 meters 0.015819026592613413 Centerline is valid? [True, True] Translation: X:21.61, Y:1.30, Z:0.69 [[ 9.95720779e-01 -7.67449868e-02 -5.14814355e-02 2.16121868e+01] [ 7.66519354e-02 9.97050738e-01 -3.78235143e-03 1.29926399e+00] [ 5.16198797e-02 -1.79985759e-04 9.98666789e-01 6.90251164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.105099893 meters 0.016136551770803455 Centerline is valid? [True, True] Translation: X:21.67, Y:1.30, Z:0.69 [[ 9.95670814e-01 -7.70370046e-02 -5.20089449e-02 2.16727102e+01] [ 7.69424335e-02 9.97028215e-01 -3.82110766e-03 1.30167611e+00] [ 5.21487522e-02 -1.97129417e-04 9.98639309e-01 6.93334581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.165099892999997 meters 0.015484157684590579 Centerline is valid? [True, True] Translation: X:21.73, Y:1.31, Z:0.70 [[ 9.95931404e-01 -7.47797346e-02 -5.02854851e-02 2.17324915e+01] [ 7.46884550e-02 9.97200073e-01 -3.69448472e-03 1.30701011e+00] [ 5.04209620e-02 -7.62918419e-05 9.98728051e-01 6.98419917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.225099892999996 meters 0.014594160231466145 Centerline is valid? [True, True] Translation: X:21.79, Y:1.32, Z:0.70 [[ 9.96492701e-01 -6.64511103e-02 -5.08581033e-02 2.17923062e+01] [ 6.63468924e-02 9.97789621e-01 -3.73655509e-03 1.31914376e+00] [ 5.09939859e-02 3.49172763e-04 9.98698899e-01 7.04458349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.285099892999998 meters 0.015177018141083931 Centerline is valid? [True, True] Translation: X:21.85, Y:1.32, Z:0.71 [[ 9.96722718e-01 -6.21033611e-02 -5.18362420e-02 2.18521028e+01] [ 6.19891969e-02 9.98069553e-01 -3.80878447e-03 1.32279683e+00] [ 5.19727132e-02 5.83014997e-04 9.98648335e-01 7.05350846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.345099892999997 meters 0.01708987606352517 Centerline is valid? [True, True] Translation: X:21.91, Y:1.33, Z:0.71 [[ 9.97196907e-01 -5.43523681e-02 -5.14212823e-02 2.19104103e+01] [ 5.42296200e-02 9.98521335e-01 -3.78033878e-03 1.33446371e+00] [ 5.15507178e-02 9.81185542e-04 9.98669896e-01 7.09141776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.405099892999996 meters 0.01698176656492123 Centerline is valid? [True, True] Translation: X:21.97, Y:1.34, Z:0.71 [[ 9.97342428e-01 -5.40941090e-02 -4.88048044e-02 2.19690339e+01] [ 5.39830447e-02 9.98535392e-01 -3.59189096e-03 1.33939791e+00] [ 4.89276247e-02 9.47713308e-04 9.98801877e-01 7.12270773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.465099892999998 meters 0.015781811285996344 Centerline is valid? [True, True] Translation: X:22.03, Y:1.34, Z:0.71 [[ 9.96908034e-01 -6.10181016e-02 -4.95092186e-02 2.20277776e+01] [ 6.09117724e-02 9.98136462e-01 -3.65501163e-03 1.33894577e+00] [ 4.96399781e-02 6.28016207e-04 9.98766979e-01 7.13588543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.525099892999997 meters 0.0153386647161934 Centerline is valid? [True, True] Translation: X:22.09, Y:1.33, Z:0.71 [[ 9.95838272e-01 -7.60355951e-02 -5.02466389e-02 2.20869756e+01] [ 7.59448903e-02 9.97105097e-01 -3.71469892e-03 1.33441536e+00] [ 5.03836291e-02 -1.16736120e-04 9.98729932e-01 7.14480947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.585099892999995 meters 0.017806521945986878 Centerline is valid? [True, True] Translation: X:22.15, Y:1.33, Z:0.71 [[ 9.94391405e-01 -9.18448291e-02 -5.24429295e-02 2.21478729e+01] [ 9.17673535e-02 9.95772882e-01 -3.88846541e-03 1.32893145e+00] [ 5.25783825e-02 -9.45892268e-04 9.98616352e-01 7.13528746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.645099892999998 meters 0.02046364441225376 Centerline is valid? [True, True] Translation: X:22.21, Y:1.33, Z:0.72 [[ 9.93276589e-01 -1.04289080e-01 -5.02534036e-02 2.22086955e+01] [ 1.04233792e-01 9.94545840e-01 -3.72681926e-03 1.33031669e+00] [ 5.03679800e-02 -1.53634051e-03 9.98729546e-01 7.19187965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.705099892999996 meters 0.02136950443415541 Centerline is valid? [True, True] Translation: X:22.27, Y:1.33, Z:0.72 [[ 9.92696633e-01 -1.09394967e-01 -5.08540569e-02 2.22702548e+01] [ 1.09345058e-01 9.93996700e-01 -3.77089364e-03 1.33307088e+00] [ 5.09612815e-02 -1.81728637e-03 9.98698976e-01 7.19250815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.765099893 meters 0.02115600215153312 Centerline is valid? [True, True] Translation: X:22.33, Y:1.34, Z:0.72 [[ 9.92399789e-01 -1.11495556e-01 -5.20711106e-02 2.23320163e+01] [ 1.11446236e-01 9.93762973e-01 -3.85884913e-03 1.34067469e+00] [ 5.21765862e-02 -1.97360822e-03 9.98635924e-01 7.21043324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.825099892999997 meters 0.02115600215153312 Centerline is valid? [True, True] Translation: X:22.39, Y:1.35, Z:0.72 [[ 9.92407986e-01 -1.11422437e-01 -5.20713940e-02 2.23935418e+01] [ 1.11373216e-01 9.93771174e-01 -3.85502113e-03 1.34517096e+00] [ 5.21765862e-02 -1.97360487e-03 9.98635924e-01 7.23635632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.885099892999996 meters 0.022683826153861202 Centerline is valid? [True, True] Translation: X:22.45, Y:1.35, Z:0.73 [[ 9.92270455e-01 -1.12518528e-01 -5.23347308e-02 2.24541032e+01] [ 1.12470523e-01 9.93647522e-01 -3.87083118e-03 1.35479046e+00] [ 5.24378158e-02 -2.04520314e-03 9.98622097e-01 7.27368674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.945099893 meters 0.018946921867197396 Centerline is valid? [True, True] Translation: X:22.51, Y:1.37, Z:0.72 [[ 9.93377111e-01 -1.01511459e-01 -5.38269395e-02 2.25137240e+01] [ 1.01444659e-01 9.94833227e-01 -3.97885241e-03 1.36996409e+00] [ 5.39527271e-02 -1.50795463e-03 9.98542352e-01 7.23933522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.005099892999997 meters 0.018209725785129097 Centerline is valid? [True, True] Translation: X:22.57, Y:1.38, Z:0.73 [[ 9.93832807e-01 -9.80853906e-02 -5.17262737e-02 2.25743902e+01] [ 9.80190937e-02 9.95177191e-01 -3.82305686e-03 1.38333181e+00] [ 5.18517938e-02 -1.27068314e-03 9.98653983e-01 7.31245977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.065099892999996 meters 0.016306466137849113 Centerline is valid? [True, True] Translation: X:22.64, Y:1.39, Z:0.74 [[ 9.94137404e-01 -9.52628747e-02 -5.11449535e-02 2.26356568e+01] [ 9.51944804e-02 9.95451528e-01 -3.77711796e-03 1.39298376e+00] [ 5.12721412e-02 -1.11374303e-03 9.98684098e-01 7.36434900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.125099892999998 meters 0.01549103934951291 Centerline is valid? [True, True] Translation: X:22.69, Y:1.40, Z:0.74 [[ 9.95195763e-01 -8.36696092e-02 -5.08408189e-02 2.26947580e+01] [ 8.35870457e-02 9.96493417e-01 -3.75172849e-03 1.40189621e+00] [ 5.09764470e-02 -5.15929550e-04 9.98699722e-01 7.37563035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.185099892999997 meters 0.014388921095926507 Centerline is valid? [True, True] Translation: X:22.76, Y:1.41, Z:0.74 [[ 9.95531117e-01 -7.96357160e-02 -5.07537993e-02 2.27565835e+01] [ 7.95481896e-02 9.96823985e-01 -3.74540924e-03 1.40909968e+00] [ 5.08908728e-02 -3.08701410e-04 9.98704172e-01 7.41347122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.245099892999995 meters 0.015421641002607563 Centerline is valid? [True, True] Translation: X:22.82, Y:1.41, Z:0.74 [[ 9.95573851e-01 -7.86574700e-02 -5.14364561e-02 2.28172485e+01] [ 7.85664570e-02 9.96901666e-01 -3.79211113e-03 1.41407566e+00] [ 5.15753667e-02 -2.65853431e-04 9.98669070e-01 7.42770386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.305099892999998 meters 0.014888313533605603 Centerline is valid? [True, True] Translation: X:22.88, Y:1.42, Z:0.75 [[ 9.96454437e-01 -6.78846372e-02 -4.97014214e-02 2.28786297e+01] [ 6.77864010e-02 9.97693138e-01 -3.66139743e-03 1.42275798e+00] [ 4.98353198e-02 2.79335226e-04 9.98757409e-01 7.46982519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.365099892999996 meters 0.01588108442653814 Centerline is valid? [True, True] Translation: X:22.94, Y:1.43, Z:0.75 [[ 9.97080839e-01 -5.98712879e-02 -4.73838602e-02 2.29383553e+01] [ 5.97731044e-02 9.98205897e-01 -3.48759230e-03 1.42972481e+00] [ 4.75076553e-02 6.45131030e-04 9.98870666e-01 7.49497002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.425099892999995 meters 0.01744837097832333 Centerline is valid? [True, True] Translation: X:23.00, Y:1.44, Z:0.75 [[ 9.97302536e-01 -5.53940015e-02 -4.81576276e-02 2.29966062e+01] [ 5.52873872e-02 9.98464193e-01 -3.54410216e-03 1.43653109e+00] [ 4.82799888e-02 8.72032669e-04 9.98833461e-01 7.50859212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.485099892999997 meters 0.017104378083246437 Centerline is valid? [True, True] Translation: X:23.06, Y:1.44, Z:0.75 [[ 9.97299344e-01 -5.36935195e-02 -5.01101212e-02 2.30551702e+01] [ 5.35757136e-02 9.98556964e-01 -3.69214353e-03 1.44237867e+00] [ 5.02360547e-02 9.97486819e-04 9.98736874e-01 7.52940686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.545099892999996 meters 0.019124006466176787 Centerline is valid? [True, True] Translation: X:23.11, Y:1.44, Z:0.75 [[ 9.97369870e-01 -5.07613696e-02 -5.17361093e-02 2.31137452e+01] [ 5.06311670e-02 9.98710095e-01 -3.82502310e-03 1.44317767e+00] [ 5.18635380e-02 1.19550321e-03 9.98653466e-01 7.54259507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.605099893 meters 0.018197378246229537 Centerline is valid? [True, True] Translation: X:23.17, Y:1.44, Z:0.76 [[ 9.97843657e-01 -4.53155065e-02 -4.74820048e-02 2.31737142e+01] [ 4.51992305e-02 9.98971790e-01 -3.52022182e-03 1.44235363e+00] [ 4.75927040e-02 1.36648093e-03 9.98865891e-01 7.60438691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.665099892999997 meters 0.018440029764864554 Centerline is valid? [True, True] Translation: X:23.23, Y:1.44, Z:0.76 [[ 9.97909441e-01 -4.48301491e-02 -4.65510983e-02 2.32328009e+01] [ 4.47177395e-02 9.98993691e-01 -3.45387527e-03 1.44065857e+00] [ 4.66590913e-02 1.36499485e-03 9.98909939e-01 7.62506142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.725099892999996 meters 0.016663201892514218 Centerline is valid? [True, True] Translation: X:23.29, Y:1.43, Z:0.76 [[ 9.97522944e-01 -5.06167324e-02 -4.88459144e-02 2.32935802e+01] [ 5.04993309e-02 9.98717478e-01 -3.63539358e-03 1.43340125e+00] [ 4.89672802e-02 1.15970251e-03 9.98799710e-01 7.63061146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.785099892999998 meters 0.01748659519210465 Centerline is valid? [True, True] Translation: X:23.35, Y:1.43, Z:0.76 [[ 9.97122676e-01 -5.58053623e-02 -5.13043003e-02 2.33528467e+01] [ 5.56826165e-02 9.98441213e-01 -3.81983738e-03 1.42709947e+00] [ 5.14374952e-02 9.52088792e-04 9.98675762e-01 7.60265187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.845099892999997 meters 0.015677277369835263 Centerline is valid? [True, True] Translation: X:23.41, Y:1.41, Z:0.77 [[ 9.96247607e-01 -7.27312682e-02 -4.69134177e-02 2.34135710e+01] [ 7.26472462e-02 9.97351571e-01 -3.49579082e-03 1.41425160e+00] [ 4.70434241e-02 7.45426342e-05 9.98892842e-01 7.67921971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.905099892999996 meters 0.017458846545297814 Centerline is valid? [True, True] Translation: X:23.47, Y:1.41, Z:0.77 [[ 9.94940020e-01 -8.84175756e-02 -4.77146695e-02 2.34728472e+01] [ 8.83486084e-02 9.96083267e-01 -3.55658486e-03 1.40583939e+00] [ 4.78422485e-02 -6.76936039e-04 9.98854675e-01 7.69131933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.965099892999998 meters 0.020453765771517026 Centerline is valid? [True, True] Translation: X:23.53, Y:1.40, Z:0.77 [[ 9.93076666e-01 -1.05743188e-01 -5.11577266e-02 2.35345238e+01] [ 1.05686698e-01 9.94392157e-01 -3.81571004e-03 1.39770866e+00] [ 5.12743275e-02 -1.61739860e-03 9.98683297e-01 7.68870835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.025099892999997 meters 0.021391164281473047 Centerline is valid? [True, True] Translation: X:23.60, Y:1.40, Z:0.77 [[ 9.92548431e-01 -1.10561897e-01 -5.12218661e-02 2.35959299e+01] [ 1.10511669e-01 9.93867484e-01 -3.82046133e-03 1.40206567e+00] [ 5.13301446e-02 -1.86862100e-03 9.98679991e-01 7.70655941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.085099892999995 meters 0.021637717078305477 Centerline is valid? [True, True] Translation: X:23.66, Y:1.41, Z:0.77 [[ 9.92585169e-01 -1.10356862e-01 -5.09514088e-02 2.36579911e+01] [ 1.10307005e-01 9.93890305e-01 -3.79810266e-03 1.40812972e+00] [ 5.10592579e-02 -1.85035692e-03 9.98693911e-01 7.72672103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.145099892999998 meters 0.021586283116151204 Centerline is valid? [True, True] Translation: X:23.72, Y:1.42, Z:0.78 [[ 9.92775091e-01 -1.09401496e-01 -4.92841944e-02 2.37191445e+01] [ 1.09353845e-01 9.93996109e-01 -3.67029043e-03 1.41526137e+00] [ 4.93898328e-02 -1.74564327e-03 9.98778052e-01 7.77617237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.205099892999996 meters 0.0210776290178761 Centerline is valid? [True, True] Translation: X:23.78, Y:1.43, Z:0.78 [[ 9.92955556e-01 -1.07596962e-01 -4.96201384e-02 2.37805471e+01] [ 1.07546591e-01 9.94193192e-01 -3.69167844e-03 1.42760963e+00] [ 4.97292171e-02 -1.67080411e-03 9.98761340e-01 7.81801857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.265099892999995 meters 0.021525476884496617 Centerline is valid? [True, True] Translation: X:23.84, Y:1.44, Z:0.78 [[ 9.92973499e-01 -1.06902043e-01 -5.07502131e-02 2.38421650e+01] [ 1.06848639e-01 9.94268143e-01 -3.77197788e-03 1.43895898e+00] [ 5.08625523e-02 -1.67711711e-03 9.98704255e-01 7.82798917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.325099892999997 meters 0.02289834776561181 Centerline is valid? [True, True] Translation: X:23.90, Y:1.44, Z:0.78 [[ 9.92184255e-01 -1.13956763e-01 -5.08356224e-02 2.39021940e+01] [ 1.13912571e-01 9.93483605e-01 -3.77523667e-03 1.44293006e+00] [ 5.09345712e-02 -2.04508605e-03 9.98699898e-01 7.82813996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.385099892999996 meters 0.023213912883507232 Centerline is valid? [True, True] Translation: X:23.96, Y:1.45, Z:0.78 [[ 9.91551231e-01 -1.17865033e-01 -5.41663232e-02 2.39630004e+01] [ 1.17820714e-01 9.93026738e-01 -4.02197156e-03 1.45278461e+00] [ 5.42626570e-02 -2.39392403e-03 9.98523827e-01 7.83445130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.445099893 meters 0.021977879338804872 Centerline is valid? [True, True] Translation: X:24.03, Y:1.46, Z:0.78 [[ 9.91727622e-01 -1.15700468e-01 -5.55852947e-02 2.40250698e+01] [ 1.15650567e-01 9.93281398e-01 -4.12448248e-03 1.46437066e+00] [ 5.56890437e-02 -2.33810764e-03 9.98445423e-01 7.84577277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.505099892999997 meters 0.020836202234597676 Centerline is valid? [True, True] Translation: X:24.08, Y:1.48, Z:0.79 [[ 9.92822173e-01 -1.06969560e-01 -5.34943473e-02 2.40834579e+01] [ 1.06910868e-01 9.94260699e-01 -3.96581972e-03 1.48083693e+00] [ 5.36115492e-02 -1.78177336e-03 9.98560277e-01 7.89008611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.565099892999996 meters 0.01508462336933789 Centerline is valid? [True, True] Translation: X:24.14, Y:1.50, Z:0.80 [[ 9.94397626e-01 -9.25292217e-02 -5.11048456e-02 2.41424822e+01] [ 9.24565481e-02 9.95709510e-01 -3.78934830e-03 1.50430861e+00] [ 5.12362062e-02 -9.56858667e-04 9.98686105e-01 7.96250029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.625099892999998 meters 0.017035529545523797 Centerline is valid? [True, True] Translation: X:24.21, Y:1.51, Z:0.79 [[ 9.94411803e-01 -8.97356723e-02 -5.56118339e-02 2.42053980e+01] [ 8.96453277e-02 9.95965222e-01 -4.12208833e-03 1.50535187e+00] [ 5.57573509e-02 -8.86287796e-04 9.98443956e-01 7.92086033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.685099892999997 meters 0.015987230384012403 Centerline is valid? [True, True] Translation: X:24.27, Y:1.51, Z:0.80 [[ 9.94422867e-01 -9.00470854e-02 -5.49061369e-02 2.42667492e+01] [ 8.99596994e-02 9.95937106e-01 -4.06605729e-03 1.50819042e+00] [ 5.50491957e-02 -8.95959225e-04 9.98483241e-01 7.95745915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.745099892999995 meters 0.015384782265680685 Centerline is valid? [True, True] Translation: X:24.33, Y:1.51, Z:0.80 [[ 9.94624416e-01 -8.82106455e-02 -5.42323916e-02 2.43276375e+01] [ 8.81228100e-02 9.96101532e-01 -4.01348029e-03 1.51284796e+00] [ 5.43750000e-02 -7.87205247e-04 9.98520275e-01 8.00218387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.805099892999998 meters 0.015196597404161547 Centerline is valid? [True, True] Translation: X:24.39, Y:1.52, Z:0.81 [[ 9.95554368e-01 -7.86836256e-02 -5.17724589e-02 2.43882986e+01] [ 7.85907933e-02 9.96899604e-01 -3.82959660e-03 1.52433013e+00] [ 5.19132704e-02 -2.56267000e-04 9.98651564e-01 8.05423259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.865099892999996 meters 0.014799797159085408 Centerline is valid? [True, True] Translation: X:24.45, Y:1.53, Z:0.81 [[ 9.95961992e-01 -7.29828727e-02 -5.22801207e-02 2.44489745e+01] [ 7.28804715e-02 9.97333193e-01 -3.86498465e-03 1.53098432e+00] [ 5.24227774e-02 3.91779617e-05 9.98624980e-01 8.05443478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.925099892999995 meters 0.015922368778482576 Centerline is valid? [True, True] Translation: X:24.51, Y:1.53, Z:0.81 [[ 9.94816288e-01 -8.81220533e-02 -5.07450105e-02 2.45097209e+01] [ 8.80453525e-02 9.96109411e-01 -3.74925237e-03 1.53047715e+00] [ 5.08779743e-02 -7.38045004e-04 9.98704604e-01 8.09568700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.985099892999997 meters 0.018878889088441993 Centerline is valid? [True, True] Translation: X:24.57, Y:1.52, Z:0.80 [[ 9.93162869e-01 -1.02293970e-01 -5.62446440e-02 2.45718447e+01] [ 1.02222423e-01 9.94752889e-01 -4.15518719e-03 1.52150497e+00] [ 5.63745727e-02 -1.62268616e-03 9.98408371e-01 8.04978730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.045099892999996 meters 0.015845280507220835 Centerline is valid? [True, True] Translation: X:24.63, Y:1.55, Z:0.82 [[ 9.96724841e-01 -6.25427061e-02 -5.12640288e-02 2.46303137e+01] [ 6.24306304e-02 9.98042124e-01 -3.78618396e-03 1.54838899e+00] [ 5.14004584e-02 5.73337969e-04 9.98677958e-01 8.15036789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.105099892999995 meters 0.015065401130093426 Centerline is valid? [True, True] Translation: X:24.69, Y:1.53, Z:0.81 [[ 9.95775033e-01 -7.70266909e-02 -4.99897305e-02 2.46907598e+01] [ 7.69382363e-02 9.97029017e-01 -3.69418033e-03 1.52513843e+00] [ 5.01257623e-02 -1.67549154e-04 9.98742900e-01 8.13609211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.165099892999997 meters 0.014605112079387455 Centerline is valid? [True, True] Translation: X:24.75, Y:1.53, Z:0.82 [[ 9.95436840e-01 -8.25659845e-02 -4.78367539e-02 2.47514690e+01] [ 8.24908930e-02 9.96585513e-01 -3.54518462e-03 1.52617861e+00] [ 4.79661276e-02 -4.17089178e-04 9.98848876e-01 8.20464979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.225099892999996 meters 0.016730461353337552 Centerline is valid? [True, True] Translation: X:24.81, Y:1.52, Z:0.82 [[ 9.94577773e-01 -8.98820544e-02 -5.23093623e-02 2.48128059e+01] [ 8.98023710e-02 9.95952061e-01 -3.87645973e-03 1.52460279e+00] [ 5.24460413e-02 -8.42064073e-04 9.98623404e-01 8.17822699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.285099892999998 meters 0.018624729089334484 Centerline is valid? [True, True] Translation: X:24.87, Y:1.53, Z:0.82 [[ 9.93608205e-01 -9.79121179e-02 -5.61778621e-02 2.48743691e+01] [ 9.78330908e-02 9.95194135e-01 -4.16184673e-03 1.52561521e+00] [ 5.63153741e-02 -1.36080883e-03 9.98412103e-01 8.17444553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.345099892999997 meters 0.01804243801998978 Centerline is valid? [True, True] Translation: X:24.93, Y:1.54, Z:0.82 [[ 9.94055428e-01 -9.38549638e-02 -5.51819929e-02 2.49345237e+01] [ 9.37725708e-02 9.95585259e-01 -4.08621384e-03 1.53821387e+00] [ 5.53218902e-02 -1.11263429e-03 9.98467952e-01 8.21398234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.405099892999996 meters 0.01682141998799555 Centerline is valid? [True, True] Translation: X:24.99, Y:1.55, Z:0.83 [[ 9.94702692e-01 -8.89679489e-02 -5.14903692e-02 2.49938522e+01] [ 8.88897530e-02 9.96034179e-01 -3.81122257e-03 1.54839409e+00] [ 5.16252443e-02 -7.85932848e-04 9.98666219e-01 8.27701262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.465099892999998 meters 0.01684849459213415 Centerline is valid? [True, True] Translation: X:25.05, Y:1.56, Z:0.83 [[ 9.95049191e-01 -8.59322493e-02 -4.99275117e-02 2.50539152e+01] [ 8.58549622e-02 9.96300796e-01 -3.69451049e-03 1.55983679e+00] [ 5.00602972e-02 -6.10304957e-04 9.98746011e-01 8.34151683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.525099892999997 meters 0.015521810553471675 Centerline is valid? [True, True] Translation: X:25.12, Y:1.57, Z:0.84 [[ 9.95178921e-01 -8.36406327e-02 -5.12167907e-02 2.51157267e+01] [ 8.35563821e-02 9.96495853e-01 -3.78769296e-03 1.56891032e+00] [ 5.13541245e-02 -5.10057536e-04 9.98680376e-01 8.37471442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.585099892999995 meters 0.015745519085281257 Centerline is valid? [True, True] Translation: X:25.18, Y:1.57, Z:0.84 [[ 9.95197940e-01 -8.27621417e-02 -5.22636311e-02 2.51771683e+01] [ 8.26733954e-02 9.96569215e-01 -3.86138124e-03 1.57320755e+00] [ 5.24039020e-02 -4.77973184e-04 9.98625857e-01 8.37595562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.645099892999998 meters 0.01419530778968017 Centerline is valid? [True, True] Translation: X:25.24, Y:1.59, Z:0.84 [[ 9.95528883e-01 -7.83621223e-02 -5.27410691e-02 2.52384942e+01] [ 7.82657379e-02 9.96924929e-01 -3.89356138e-03 1.58549689e+00] [ 5.28839943e-02 -2.51665875e-04 9.98600631e-01 8.40076893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.705099892999996 meters 0.013205691937150307 Centerline is valid? [True, True] Translation: X:25.30, Y:1.59, Z:0.84 [[ 9.95639944e-01 -7.66179449e-02 -5.32051864e-02 2.52990654e+01] [ 7.65175526e-02 9.97060512e-01 -3.92434613e-03 1.59324251e+00] [ 5.33494657e-02 -1.63894886e-04 9.98575890e-01 8.43497048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.765099892999995 meters 0.015063285893751463 Centerline is valid? [True, True] Translation: X:25.36, Y:1.60, Z:0.84 [[ 9.95157802e-01 -8.19842646e-02 -5.42174300e-02 2.53593035e+01] [ 8.18880540e-02 9.96633517e-01 -3.99742518e-03 1.59695766e+00] [ 5.43626339e-02 -4.61690986e-04 9.98521152e-01 8.44207927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.825099892999997 meters 0.017276006504473997 Centerline is valid? [True, True] Translation: X:25.42, Y:1.59, Z:0.85 [[ 9.94537301e-01 -9.04406591e-02 -5.21156879e-02 2.54204446e+01] [ 9.03633808e-02 9.95901450e-01 -3.84204260e-03 1.59238231e+00] [ 5.22495660e-02 -8.88295079e-04 9.98633663e-01 8.47964682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.885099892999996 meters 0.016352268722593072 Centerline is valid? [True, True] Translation: X:25.48, Y:1.60, Z:0.85 [[ 9.94346584e-01 -9.26068894e-02 -5.19503112e-02 2.54822085e+01] [ 9.25331822e-02 9.95702245e-01 -3.82738926e-03 1.59575858e+00] [ 5.20814841e-02 -1.00137618e-03 9.98642337e-01 8.52045175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.945099892999995 meters 0.017365949039743554 Centerline is valid? [True, True] Translation: X:25.54, Y:1.60, Z:0.85 [[ 9.94133545e-01 -9.42043897e-02 -5.31415869e-02 2.55436209e+01] [ 9.41297425e-02 9.95552255e-01 -3.91140147e-03 1.59787791e+00] [ 5.32736979e-02 -1.11374848e-03 9.98579327e-01 8.53293853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.005099892999997 meters 0.016574111458224367 Centerline is valid? [True, True] Translation: X:25.61, Y:1.60, Z:0.86 [[ 9.94060732e-01 -9.44429178e-02 -5.40721476e-02 2.56060291e+01] [ 9.43661595e-02 9.95529615e-01 -3.97668617e-03 1.60280104e+00] [ 5.42059941e-02 -1.14951334e-03 9.98529113e-01 8.55910583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.065099892999996 meters 0.016729098157205104 Centerline is valid? [True, True] Translation: X:25.67, Y:1.61, Z:0.86 [[ 9.94405082e-01 -8.97317649e-02 -5.57381613e-02 2.56672185e+01] [ 8.96430146e-02 9.95965540e-01 -4.09551301e-03 1.60879777e+00] [ 5.58807856e-02 -9.23937858e-04 9.98437021e-01 8.55924619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.125099892999998 meters 0.015316354054950358 Centerline is valid? [True, True] Translation: X:25.73, Y:1.62, Z:0.86 [[ 9.95485859e-01 -7.80251024e-02 -5.40369208e-02 2.57275344e+01] [ 7.79245461e-02 9.96951361e-01 -3.96855271e-03 1.62241319e+00] [ 5.41818285e-02 -2.60164423e-04 9.98531052e-01 8.60858485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.185099892999997 meters 0.016355622047320727 Centerline is valid? [True, True] Translation: X:25.79, Y:1.64, Z:0.86 [[ 9.96722848e-01 -6.17804663e-02 -5.22181776e-02 2.57863809e+01] [ 6.16643367e-02 9.98089581e-01 -3.83365521e-03 1.63509771e+00] [ 5.23552640e-02 6.01092457e-04 9.98628342e-01 8.64096772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.245099892999995 meters 0.013962656188673858 Centerline is valid? [True, True] Translation: X:25.85, Y:1.64, Z:0.87 [[ 9.96662484e-01 -6.10056589e-02 -5.42420656e-02 2.58456402e+01] [ 6.08789860e-02 9.98137195e-01 -3.98612733e-03 1.63544320e+00] [ 5.43841995e-02 6.70621619e-04 9.98519859e-01 8.66021257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.305099892999998 meters 0.016105586667746273 Centerline is valid? [True, True] Translation: X:25.90, Y:1.64, Z:0.87 [[ 9.96432962e-01 -6.27672655e-02 -5.64058805e-02 2.59046726e+01] [ 6.26322677e-02 9.98028003e-01 -4.15972127e-03 1.63664545e+00] [ 5.65557427e-02 6.12055174e-04 9.98399255e-01 8.65489273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.365099892999996 meters 0.015591547605131888 Centerline is valid? [True, True] Translation: X:25.96, Y:1.64, Z:0.87 [[ 9.96291504e-01 -6.55551746e-02 -5.57293274e-02 2.59631092e+01] [ 6.54269701e-02 9.97848839e-01 -4.12386724e-03 1.63681173e+00] [ 5.58797855e-02 4.62372862e-04 9.98437397e-01 8.69605204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.425099892999995 meters 0.015543149412003666 Centerline is valid? [True, True] Translation: X:26.02, Y:1.64, Z:0.87 [[ 9.95948670e-01 -7.03282468e-02 -5.60373399e-02 2.60206888e+01] [ 7.02054865e-02 9.97523882e-01 -4.15874074e-03 1.63795621e+00] [ 5.61910618e-02 2.07763593e-04 9.98420013e-01 8.70380316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.485099892999997 meters 0.015552193002057084 Centerline is valid? [True, True] Translation: X:26.08, Y:1.64, Z:0.87 [[ 9.95687630e-01 -7.52116543e-02 -5.43079238e-02 2.60792276e+01] [ 7.51032438e-02 9.97167591e-01 -4.03722384e-03 1.64018192e+00] [ 5.44577478e-02 -5.88874096e-05 9.98516074e-01 8.74251647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.545099892999996 meters 0.016160203672309876 Centerline is valid? [True, True] Translation: X:26.14, Y:1.64, Z:0.88 [[ 9.94888606e-01 -8.70689808e-02 -5.11434746e-02 2.61391042e+01] [ 8.69879497e-02 9.96202069e-01 -3.81238946e-03 1.63886250e+00] [ 5.12811760e-02 -6.55963164e-04 9.98684039e-01 8.79342349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.605099892999995 meters 0.01921901657636217 Centerline is valid? [True, True] Translation: X:26.20, Y:1.64, Z:0.88 [[ 9.93437264e-01 -1.01300083e-01 -5.31102154e-02 2.62000663e+01] [ 1.01232902e-01 9.94854871e-01 -3.96052277e-03 1.63608748e+00] [ 5.32381578e-02 -1.44197033e-03 9.98580803e-01 8.81305544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.665099892999997 meters 0.019457629260607366 Centerline is valid? [True, True] Translation: X:26.26, Y:1.65, Z:0.89 [[ 9.93314000e-01 -1.02396961e-01 -5.33119160e-02 2.62616579e+01] [ 1.02330897e-01 9.94742474e-01 -3.97460624e-03 1.64602012e+00] [ 5.34386148e-02 -1.50742414e-03 9.98569999e-01 8.85378144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.725099892999996 meters 0.01880157453850624 Centerline is valid? [True, True] Translation: X:26.32, Y:1.65, Z:0.89 [[ 9.93486880e-01 -1.00980481e-01 -5.27897812e-02 2.63235079e+01] [ 1.00913909e-01 9.94887392e-01 -3.93187609e-03 1.65420112e+00] [ 5.29169305e-02 -1.42095589e-03 9.98597907e-01 8.89575055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.785099892999995 meters 0.01853960237835389 Centerline is valid? [True, True] Translation: X:26.38, Y:1.69, Z:0.89 [[ 9.97327601e-01 -4.99910528e-02 -5.32780594e-02 2.63831011e+01] [ 4.98505136e-02 9.98748822e-01 -3.96433310e-03 1.68857940e+00] [ 5.34095802e-02 1.29780020e-03 9.98571846e-01 8.94246412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.845099892999997 meters 0.017569588635604025 Centerline is valid? [True, True] Translation: X:26.44, Y:1.68, Z:0.90 [[ 9.97198934e-01 -5.30300884e-02 -5.27455787e-02 2.64424315e+01] [ 5.28966038e-02 9.98592283e-01 -3.92450210e-03 1.68489870e+00] [ 5.28794446e-02 1.12344733e-03 9.98600271e-01 8.96642155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.905099892999996 meters 0.016357916827991283 Centerline is valid? [True, True] Translation: X:26.50, Y:1.68, Z:0.90 [[ 9.96420576e-01 -6.38530158e-02 -5.53969982e-02 2.65031364e+01] [ 6.37217865e-02 9.97959140e-01 -4.13382504e-03 1.67937996e+00] [ 5.55478979e-02 5.89032637e-04 9.98455850e-01 8.97478712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.965099892999998 meters 0.01610290490963244 Centerline is valid? [True, True] Translation: X:26.56, Y:1.67, Z:0.90 [[ 9.95123048e-01 -8.14938510e-02 -5.55776124e-02 2.65623731e+01] [ 8.13890421e-02 9.96673767e-01 -4.15044321e-03 1.67077226e+00] [ 5.57309839e-02 -3.93206943e-04 9.98445744e-01 8.99674928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.025099892999997 meters 0.016501128406790255 Centerline is valid? [True, True] Translation: X:26.62, Y:1.67, Z:0.90 [[ 9.94625405e-01 -8.73749622e-02 -5.55510548e-02 2.66229113e+01] [ 8.72792434e-02 9.96175235e-01 -4.15150910e-03 1.67428213e+00] [ 5.57013230e-02 -7.19257617e-04 9.98447217e-01 9.04019339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.085099892999995 meters 0.015714391984426136 Centerline is valid? [True, True] Translation: X:26.68, Y:1.71, Z:0.91 [[ 9.96264273e-01 -6.50654031e-02 -5.67802024e-02 2.66813293e+01] [ 6.49291855e-02 9.97880855e-01 -4.24254127e-03 1.70865882e+00] [ 5.69359196e-02 5.40000006e-04 9.98377689e-01 9.07236699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.145099892999998 meters 0.015737735202180612 Centerline is valid? [True, True] Translation: X:26.74, Y:1.71, Z:0.91 [[ 9.96047683e-01 -6.99998978e-02 -5.46720065e-02 2.67406771e+01] [ 6.98809842e-02 9.97546967e-01 -4.08606489e-03 1.70730687e+00] [ 5.48239185e-02 2.49381841e-04 9.98496007e-01 9.08302407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.205099892999996 meters 0.016243152363141555 Centerline is valid? [True, True] Translation: X:26.80, Y:1.70, Z:0.91 [[ 9.94545929e-01 -8.62992800e-02 -5.85732874e-02 2.68008188e+01] [ 8.61902649e-02 9.96269024e-01 -4.38975569e-03 1.70217849e+00] [ 5.87335846e-02 -6.82633505e-04 9.98273460e-01 9.09478941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.265099892999995 meters 0.015627048499646006 Centerline is valid? [True, True] Translation: X:26.86, Y:1.71, Z:0.91 [[ 9.94649803e-01 -8.58241511e-02 -5.74976986e-02 2.68621694e+01] [ 8.57182582e-02 9.96310094e-01 -4.31007678e-03 1.70750914e+00] [ 5.76554462e-02 -6.41585554e-04 9.98336335e-01 9.11796254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.325099892999997 meters 0.015933508202112985 Centerline is valid? [True, True] Translation: X:26.92, Y:1.71, Z:0.92 [[ 9.94781208e-01 -8.46334864e-02 -5.69870296e-02 2.69230436e+01] [ 8.45276328e-02 9.96411987e-01 -4.26973848e-03 1.71465315e+00] [ 5.71439223e-02 -5.69523112e-04 9.98365789e-01 9.15145026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.385099892999996 meters 0.015761910762962742 Centerline is valid? [True, True] Translation: X:26.98, Y:1.72, Z:0.92 [[ 9.95102331e-01 -8.02324773e-02 -5.77416750e-02 2.69827609e+01] [ 8.01165012e-02 9.96776126e-01 -4.32444778e-03 1.72374054e+00] [ 5.79024843e-02 -3.22792913e-04 9.98322192e-01 9.16539904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.445099892999995 meters 0.01632984163079921 Centerline is valid? [True, True] Translation: X:27.04, Y:1.74, Z:0.92 [[ 9.96453100e-01 -6.01962970e-02 -5.88015684e-02 2.70415374e+01] [ 6.00411298e-02 9.98186190e-01 -4.40366513e-03 1.73539039e+00] [ 5.89599979e-02 8.57533167e-04 9.98259978e-01 9.20876159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.505099892999997 meters 0.01600709592640764 Centerline is valid? [True, True] Translation: X:27.10, Y:1.74, Z:0.93 [[ 9.96554173e-01 -6.15816904e-02 -5.55650651e-02 2.71002672e+01] [ 6.14450319e-02 9.98101774e-01 -4.16613356e-03 1.73905544e+00] [ 5.57161476e-02 7.37580589e-04 9.98446377e-01 9.27133667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.565099892999996 meters 0.012930970896867927 Centerline is valid? [True, True] Translation: X:27.16, Y:1.72, Z:0.94 [[ 9.95082513e-01 -8.56527669e-02 -4.97433013e-02 2.71602289e+01] [ 8.55727669e-02 9.96324905e-01 -3.73961799e-03 1.72179404e+00] [ 4.98807986e-02 -5.35443457e-04 9.98755035e-01 9.35986799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.625099892999994 meters 0.014318675159949786 Centerline is valid? [True, True] Translation: X:27.22, Y:1.73, Z:0.93 [[ 9.95912465e-01 -7.26411528e-02 -5.36807704e-02 2.72222603e+01] [ 7.25289446e-02 9.97358134e-01 -4.03802976e-03 1.73122324e+00] [ 5.38322802e-02 1.28114546e-04 9.98549983e-01 9.29975096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.685099892999997 meters 0.015027324082714753 Centerline is valid? [True, True] Translation: X:27.28, Y:1.74, Z:0.93 [[ 9.96428301e-01 -6.50910734e-02 -5.37939882e-02 2.72815373e+01] [ 6.49675318e-02 9.97879184e-01 -4.04394426e-03 1.74083745e+00] [ 5.39431257e-02 5.34637866e-04 9.98543867e-01 9.32798097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.745099892999995 meters 0.01782798013888409 Centerline is valid? [True, True] Translation: X:27.34, Y:1.75, Z:0.94 [[ 9.97015881e-01 -5.41134021e-02 -5.50551854e-02 2.73413207e+01] [ 5.39671791e-02 9.98534126e-01 -4.14028434e-03 1.75248776e+00] [ 5.51985263e-02 1.15675619e-03 9.98474729e-01 9.35300245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.805099892999998 meters 0.01762070053401388 Centerline is valid? [True, True] Translation: X:27.40, Y:1.76, Z:0.94 [[ 9.97128411e-01 -5.14079758e-02 -5.56071159e-02 2.73997394e+01] [ 5.12544033e-02 9.98676859e-01 -4.18532863e-03 1.75644358e+00] [ 5.57486991e-02 1.32320054e-03 9.98443955e-01 9.37881135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.865099892999996 meters 0.017955282392698956 Centerline is valid? [True, True] Translation: X:27.46, Y:1.76, Z:0.94 [[ 9.97132771e-01 -5.03675753e-02 -5.64742770e-02 2.74579775e+01] [ 5.02066695e-02 9.98729742e-01 -4.26530478e-03 1.76001202e+00] [ 5.66173732e-02 1.41768981e-03 9.98394944e-01 9.39236531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.925099892999995 meters 0.019346377330648475 Centerline is valid? [True, True] Translation: X:27.51, Y:1.76, Z:0.94 [[ 9.97191129e-01 -5.01272860e-02 -5.56516535e-02 2.75147530e+01] [ 4.99699763e-02 9.98741824e-01 -4.21550664e-03 1.76395321e+00] [ 5.57929459e-02 1.42275402e-03 9.98441347e-01 9.40784553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.985099892999997 meters 0.017370294286218415 Centerline is valid? [True, True] Translation: X:27.57, Y:1.77, Z:0.95 [[ 9.97221104e-01 -5.07118861e-02 -5.45744891e-02 2.75731818e+01] [ 5.05610276e-02 9.98712383e-01 -4.14231750e-03 1.76680524e+00] [ 5.47142828e-02 1.37146418e-03 9.98501110e-01 9.45608564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.045099892999996 meters 0.017918310351475262 Centerline is valid? [True, True] Translation: X:27.63, Y:1.77, Z:0.95 [[ 9.97190328e-01 -5.11523379e-02 -5.47255631e-02 2.76307655e+01] [ 5.10005134e-02 9.98689929e-01 -4.16817973e-03 1.77026502e+00] [ 5.48670808e-02 1.36543671e-03 9.98492734e-01 9.48400091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.105099892999995 meters 0.017528454949746048 Centerline is valid? [True, True] Translation: X:27.69, Y:1.77, Z:0.95 [[ 9.97085909e-01 -5.28356101e-02 -5.50280771e-02 2.76890285e+01] [ 5.26838016e-02 9.98602383e-01 -4.20676245e-03 1.77321282e+00] [ 5.51734358e-02 1.29541527e-03 9.98475946e-01 9.51444465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.165099892999997 meters 0.01830229273794999 Centerline is valid? [True, True] Translation: X:27.75, Y:1.78, Z:0.95 [[ 9.97032440e-01 -5.38009560e-02 -5.50615203e-02 2.77472690e+01] [ 5.36496696e-02 9.98550889e-01 -4.22312175e-03 1.77578074e+00] [ 5.52089380e-02 1.25655701e-03 9.98474033e-01 9.53006912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.225099892999996 meters 0.01790098605794292 Centerline is valid? [True, True] Translation: X:27.81, Y:1.78, Z:0.96 [[ 9.96912403e-01 -5.71042274e-02 -5.38959041e-02 2.78067662e+01] [ 5.69634724e-02 9.98367657e-01 -4.14542876e-03 1.77570750e+00] [ 5.40446490e-02 1.06253151e-03 9.98537955e-01 9.55655430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.285099892999995 meters 0.01680757513998948 Centerline is valid? [True, True] Translation: X:27.87, Y:1.78, Z:0.96 [[ 9.96716842e-01 -6.12697265e-02 -5.29297320e-02 2.78654461e+01] [ 6.11395346e-02 9.98120902e-01 -4.07693068e-03 1.77572818e+00] [ 5.30800643e-02 8.27446301e-04 9.98589917e-01 9.58772814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.345099892999997 meters 0.01648608569165851 Centerline is valid? [True, True] Translation: X:27.93, Y:1.74, Z:0.96 [[ 9.94439865e-01 -9.21518686e-02 -5.09645770e-02 2.79263684e+01] [ 9.20714164e-02 9.95744654e-01 -3.92907520e-03 1.74496755e+00] [ 5.11097768e-02 -7.85151780e-04 9.98692733e-01 9.60888053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.405099892999996 meters 0.016718629890201432 Centerline is valid? [True, True] Translation: X:27.99, Y:1.75, Z:0.96 [[ 9.94283365e-01 -9.39852988e-02 -5.06690603e-02 2.79882345e+01] [ 9.39080360e-02 9.95573203e-01 -3.90863598e-03 1.74640381e+00] [ 5.08121130e-02 -8.71940204e-04 9.98707850e-01 9.64457342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.465099892999994 meters 0.016739716826795058 Centerline is valid? [True, True] Translation: X:28.05, Y:1.75, Z:0.97 [[ 9.94338154e-01 -9.18520282e-02 -5.34307075e-02 2.80492574e+01] [ 9.17632427e-02 9.95772339e-01 -4.11777475e-03 1.75148891e+00] [ 5.35830466e-02 -8.08514445e-04 9.98563069e-01 9.65372575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.525099892999997 meters 0.01658912965282361 Centerline is valid? [True, True] Translation: X:28.11, Y:1.76, Z:0.97 [[ 9.94442289e-01 -9.06706044e-02 -5.35105248e-02 2.81105596e+01] [ 9.05799904e-02 9.95880656e-01 -4.12120917e-03 1.75792272e+00] [ 5.36637691e-02 -7.48678145e-04 9.98558781e-01 9.68323616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.585099892999995 meters 0.016670842730083926 Centerline is valid? [True, True] Translation: X:28.17, Y:1.77, Z:0.97 [[ 9.94771429e-01 -8.57055752e-02 -5.55370037e-02 2.81703828e+01] [ 8.56003677e-02 9.96320382e-01 -4.27483168e-03 1.76614642e+00] [ 5.56990257e-02 -5.01507523e-04 9.98447478e-01 9.68664693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.645099892999998 meters 0.014821666530412173 Centerline is valid? [True, True] Translation: X:28.23, Y:1.78, Z:0.97 [[ 9.95472718e-01 -7.67220384e-02 -5.61052357e-02 2.82295769e+01] [ 7.66005488e-02 9.97052521e-01 -4.31591345e-03 1.78290951e+00] [ 5.62709923e-02 -1.31775436e-06 9.98415532e-01 9.72780556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.705099892999996 meters 0.013235687546705129 Centerline is valid? [True, True] Translation: X:28.29, Y:1.79, Z:0.98 [[ 9.95546535e-01 -7.73534565e-02 -5.38845050e-02 2.82880123e+01] [ 7.72422903e-02 9.97003732e-01 -4.14572513e-03 1.78957571e+00] [ 5.40437387e-02 -3.49002922e-05 9.98538569e-01 9.77300270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.765099892999995 meters 0.014633935093559577 Centerline is valid? [True, True] Translation: X:28.35, Y:1.80, Z:0.98 [[ 9.95552679e-01 -7.76254605e-02 -5.33774350e-02 2.83473949e+01] [ 7.75166282e-02 9.96982590e-01 -4.10933643e-03 1.79911164e+00] [ 5.35353625e-02 -4.65778887e-05 9.98565953e-01 9.81266957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.825099892999997 meters 0.015401779257856976 Centerline is valid? [True, True] Translation: X:28.41, Y:1.81, Z:0.98 [[ 9.95434297e-01 -7.87613733e-02 -5.39185236e-02 2.84068362e+01] [ 7.86518825e-02 9.96893492e-01 -4.15291642e-03 1.80518774e+00] [ 5.40781147e-02 -1.06837949e-04 9.98536702e-01 9.83735742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.885099892999996 meters 0.01581914649129697 Centerline is valid? [True, True] Translation: X:28.47, Y:1.82, Z:0.99 [[ 9.94949515e-01 -8.65339900e-02 -5.08658167e-02 2.84665893e+01] [ 8.64466254e-02 9.96248775e-01 -3.91920306e-03 1.81641684e+00] [ 5.10141519e-02 -4.97769027e-04 9.98697806e-01 9.89615949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.945099892999995 meters 0.015116132659131932 Centerline is valid? [True, True] Translation: X:28.53, Y:1.83, Z:0.99 [[ 9.95234731e-01 -8.38774845e-02 -4.97232218e-02 2.85277419e+01] [ 8.37907171e-02 9.96476012e-01 -3.83059437e-03 1.83095164e+00] [ 4.98692984e-02 -3.54003863e-04 9.98755690e-01 9.92627602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.005099892999997 meters 0.015008447493768121 Centerline is valid? [True, True] Translation: X:28.59, Y:1.86, Z:0.99 [[ 9.96293772e-01 -6.64463228e-02 -5.46223960e-02 2.85877617e+01] [ 6.63156277e-02 9.97789841e-01 -4.20375151e-03 1.85981644e+00] [ 5.47809956e-02 5.65852971e-04 9.98498234e-01 9.90387870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.065099892999996 meters 0.016575805392888155 Centerline is valid? [True, True] Translation: X:28.65, Y:1.86, Z:0.99 [[ 9.96307232e-01 -6.58851640e-02 -5.50549218e-02 2.86477579e+01] [ 6.57516742e-02 9.97827032e-01 -4.23448454e-03 1.86363184e+00] [ 5.52142790e-02 5.98894292e-04 9.98474349e-01 9.91499373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.125099892999994 meters 0.016449068764278936 Centerline is valid? [True, True] Translation: X:28.71, Y:1.87, Z:0.99 [[ 9.96367914e-01 -6.59087277e-02 -5.39167833e-02 2.87067747e+01] [ 6.57804946e-02 9.97825482e-01 -4.15146782e-03 1.86678400e+00] [ 5.40731582e-02 5.89716667e-04 9.98536802e-01 9.94892567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.185099892999997 meters 0.015505037010129185 Centerline is valid? [True, True] Translation: X:28.77, Y:1.87, Z:1.00 [[ 9.96404330e-01 -6.60750695e-02 -5.30329751e-02 2.87665149e+01] [ 6.59506668e-02 9.97814485e-01 -4.09427339e-03 1.87137869e+00] [ 5.31876001e-02 5.81991669e-04 9.98584368e-01 9.99654266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.245099892999995 meters 0.016193081871239197 Centerline is valid? [True, True] Translation: X:28.82, Y:1.88, Z:1.00 [[ 9.96428765e-01 -6.58945895e-02 -5.27979077e-02 2.88248082e+01] [ 6.57709219e-02 9.97826415e-01 -4.07825891e-03 1.87734543e+00] [ 5.29518821e-02 5.91127431e-04 9.98596890e-01 1.00245514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.305099892999994 meters 0.016790704243991702 Centerline is valid? [True, True] Translation: X:28.88, Y:1.88, Z:1.00 [[ 9.96555486e-01 -6.22510903e-02 -5.47901931e-02 2.88845084e+01] [ 6.21122457e-02 9.98060185e-01 -4.23498420e-03 1.88142035e+00] [ 5.49475427e-02 8.17254801e-04 9.98488908e-01 1.00278958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.365099892999996 meters 0.016918737498212016 Centerline is valid? [True, True] Translation: X:28.94, Y:1.89, Z:1.01 [[ 9.97127764e-01 -5.57731093e-02 -5.12404412e-02 2.89416472e+01] [ 5.56430243e-02 9.98442862e-01 -3.96285556e-03 1.88811480e+00] [ 5.13816735e-02 1.10030019e-03 9.98678483e-01 1.00774839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.425099892999995 meters 0.016512487989162012 Centerline is valid? [True, True] Translation: X:29.00, Y:1.88, Z:1.01 [[ 9.96769870e-01 -5.97106837e-02 -5.37071737e-02 2.90011018e+01] [ 5.95730942e-02 9.98215276e-01 -4.16054714e-03 1.87933524e+00] [ 5.38597503e-02 9.47605512e-04 9.98548061e-01 1.00745143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.485099892999997 meters 0.01760269609036559 Centerline is valid? [True, True] Translation: X:29.06, Y:1.89, Z:1.01 [[ 9.96870529e-01 -5.92219081e-02 -5.23632854e-02 2.90577789e+01] [ 5.90898335e-02 9.98244380e-01 -4.06818079e-03 1.88566164e+00] [ 5.25122808e-02 9.61311718e-04 9.98619816e-01 1.01117211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.545099892999996 meters 0.016874566938095782 Centerline is valid? [True, True] Translation: X:29.12, Y:1.89, Z:1.02 [[ 9.96882079e-01 -5.89249074e-02 -5.24783409e-02 2.91168023e+01] [ 5.87914205e-02 9.98261930e-01 -4.08508159e-03 1.88846707e+00] [ 5.26278429e-02 9.87068424e-04 9.98613707e-01 1.01505366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.605099892999995 meters 0.01703603544234435 Centerline is valid? [True, True] Translation: X:29.18, Y:1.89, Z:1.02 [[ 9.96911916e-01 -5.82643660e-02 -5.26487984e-02 2.91755886e+01] [ 5.81283812e-02 9.98300649e-01 -4.11174659e-03 1.89253975e+00] [ 5.27988979e-02 1.03865974e-03 9.98604625e-01 1.01713525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.665099892999997 meters 0.018630376209984013 Centerline is valid? [True, True] Translation: X:29.23, Y:1.90, Z:1.02 [[ 9.97161095e-01 -5.33488145e-02 -5.31380772e-02 2.92344114e+01] [ 5.32027090e-02 9.98575062e-01 -4.16131273e-03 1.89658805e+00] [ 5.32843599e-02 1.32240950e-03 9.98578504e-01 1.01786710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.725099892999996 meters 0.019129757496708043 Centerline is valid? [True, True] Translation: X:29.29, Y:1.90, Z:1.02 [[ 9.97447642e-01 -4.91894001e-02 -5.17552402e-02 2.92938821e+01] [ 4.90450830e-02 9.98788332e-01 -4.05556012e-03 1.89856833e+00] [ 5.18920207e-02 1.50686883e-03 9.98651565e-01 1.02333645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.785099892999995 meters 0.01677104829585006 Centerline is valid? [True, True] Translation: X:29.35, Y:1.89, Z:1.03 [[ 9.96976007e-01 -5.65477599e-02 -5.33028376e-02 2.93541892e+01] [ 5.64050666e-02 9.98399222e-01 -4.17879191e-03 1.89016920e+00] [ 5.34538129e-02 1.15960516e-03 9.98569650e-01 1.02522603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.845099892999997 meters 0.013848465976064227 Centerline is valid? [True, True] Translation: X:29.42, Y:1.88, Z:1.03 [[ 9.95992956e-01 -7.21308849e-02 -5.28693415e-02 2.94151844e+01] [ 7.20123255e-02 9.97395123e-01 -4.14652295e-03 1.87682844e+00] [ 5.30307157e-02 3.22663419e-04 9.98592829e-01 1.02763794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.905099892999996 meters 0.0138979304740345 Centerline is valid? [True, True] Translation: X:29.47, Y:1.87, Z:1.03 [[ 9.95007614e-01 -8.52147133e-02 -5.19451632e-02 2.94735796e+01] [ 8.51179763e-02 9.96362544e-01 -4.07571931e-03 1.86680843e+00] [ 5.21035262e-02 -3.66095421e-04 9.98641622e-01 1.02662670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.965099892999994 meters 0.01562655939976797 Centerline is valid? [True, True] Translation: X:29.53, Y:1.87, Z:1.03 [[ 9.95387973e-01 -8.05351459e-02 -5.21236312e-02 2.95335858e+01] [ 8.04311282e-02 9.96751763e-01 -4.09355552e-03 1.87452795e+00] [ 5.22839964e-02 -1.17686537e-04 9.98632250e-01 1.03041783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.025099892999997 meters 0.016180850427118327 Centerline is valid? [True, True] Translation: X:29.59, Y:1.89, Z:1.03 [[ 9.96177805e-01 -6.92458877e-02 -5.32427200e-02 2.95934374e+01] [ 6.91212266e-02 9.97599505e-01 -4.18144371e-03 1.88545282e+00] [ 5.34044588e-02 4.85259308e-04 9.98572846e-01 1.03256367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.085099892999995 meters 0.018022696658433198 Centerline is valid? [True, True] Translation: X:29.65, Y:1.90, Z:1.03 [[ 9.96463568e-01 -6.32164445e-02 -5.53537609e-02 2.96523787e+01] [ 6.30723671e-02 9.97999486e-01 -4.34772969e-03 1.89511133e+00] [ 5.55178730e-02 8.41061510e-04 9.98457339e-01 1.03421436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.145099892999998 meters 0.016098223612612938 Centerline is valid? [True, True] Translation: X:29.71, Y:1.89, Z:1.04 [[ 9.95291504e-01 -7.95062054e-02 -5.54399219e-02 2.97109061e+01] [ 7.93867580e-02 9.96834369e-01 -4.35700916e-03 1.89215522e+00] [ 5.56108289e-02 -6.47014713e-05 9.98452518e-01 1.03512478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.205099892999996 meters 0.015202068187149058 Centerline is valid? [True, True] Translation: X:29.77, Y:1.90, Z:1.04 [[ 9.95909648e-01 -7.52932737e-02 -4.99489386e-02 2.97692694e+01] [ 7.51908816e-02 9.97161420e-01 -3.92847877e-03 1.90168094e+00] [ 5.01029426e-02 1.56705174e-04 9.98744047e-01 1.04373308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.265099892999995 meters 0.014690138077336363 Centerline is valid? [True, True] Translation: X:29.83, Y:1.91, Z:1.05 [[ 9.96368029e-01 -7.09577650e-02 -4.70717195e-02 2.98298833e+01] [ 7.08619401e-02 9.97479258e-01 -3.70343687e-03 1.90974092e+00] [ 4.72158514e-02 3.54392719e-04 9.98884647e-01 1.04943844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.325099892999997 meters 0.01575863443495597 Centerline is valid? [True, True] Translation: X:29.89, Y:1.91, Z:1.05 [[ 9.95482033e-01 -7.89689103e-02 -5.27203233e-02 2.98905511e+01] [ 7.88599979e-02 9.96877079e-01 -4.14613367e-03 1.90953472e+00] [ 5.28830975e-02 -3.01230072e-05 9.98600710e-01 1.04743166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.385099892999996 meters 0.014738509197495838 Centerline is valid? [True, True] Translation: X:29.95, Y:1.91, Z:1.05 [[ 9.94771552e-01 -8.51937828e-02 -5.63167725e-02 2.99504328e+01] [ 8.50794391e-02 9.96364326e-01 -4.42923598e-03 1.91289263e+00] [ 5.64893665e-02 -3.85321472e-04 9.98403126e-01 1.04568692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.445099892999995 meters 0.015457648504262065 Centerline is valid? [True, True] Translation: X:30.01, Y:1.92, Z:1.05 [[ 9.94731236e-01 -8.57511246e-02 -5.61828560e-02 3.00095925e+01] [ 8.56381401e-02 9.96316502e-01 -4.41998913e-03 1.91965194e+00] [ 5.63549256e-02 -4.14694043e-04 9.98410712e-01 1.04815186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.505099892999997 meters 0.016480919943330462 Centerline is valid? [True, True] Translation: X:30.07, Y:1.93, Z:1.05 [[ 9.95073218e-01 -8.46434940e-02 -5.16214094e-02 3.00690268e+01] [ 8.45465578e-02 9.96411248e-01 -4.06254173e-03 1.92776738e+00] [ 5.17800207e-02 -3.21886006e-04 9.98658463e-01 1.05179720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.565099892999996 meters 0.014242991374715037 Centerline is valid? [True, True] Translation: X:30.13, Y:1.94, Z:1.05 [[ 9.95340772e-01 -8.13118484e-02 -5.18182396e-02 3.01301430e+01] [ 8.12096765e-02 9.96688698e-01 -4.07767955e-03 1.93833570e+00] [ 5.19782175e-02 -1.49461767e-04 9.98648208e-01 1.05433299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.625099892999994 meters 0.015046109100290158 Centerline is valid? [True, True] Translation: X:30.19, Y:1.95, Z:1.06 [[ 9.95293519e-01 -8.19947176e-02 -5.16495539e-02 3.01913087e+01] [ 8.18942237e-02 9.96632747e-01 -4.06257976e-03 1.94548674e+00] [ 5.18087468e-02 -1.86340817e-04 9.98657008e-01 1.05639467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.685099892999997 meters 0.015474187220188892 Centerline is valid? [True, True] Translation: X:30.25, Y:1.96, Z:1.06 [[ 9.95355504e-01 -8.04712475e-02 -5.28374772e-02 3.02516204e+01] [ 8.03640317e-02 9.96756924e-01 -4.15409489e-03 1.95506307e+00] [ 5.30004064e-02 -1.11431480e-04 9.98594485e-01 1.05917713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.745099892999995 meters 0.015209762010873328 Centerline is valid? [True, True] Translation: X:30.31, Y:1.97, Z:1.06 [[ 9.95786599e-01 -7.54866817e-02 -5.20654333e-02 3.03117143e+01] [ 7.53758660e-02 9.97146799e-01 -4.09150027e-03 1.96665963e+00] [ 5.22257339e-02 1.49784016e-04 9.98635294e-01 1.06204760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.805099892999994 meters 0.015018336707196725 Centerline is valid? [True, True] Translation: X:30.37, Y:1.97, Z:1.07 [[ 9.95925995e-01 -7.47958961e-02 -5.03684985e-02 3.03726748e+01] [ 7.46913999e-02 9.97198848e-01 -3.95633516e-03 1.97377746e+00] [ 5.05233263e-02 1.78123372e-04 9.98722865e-01 1.06607764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.865099892999996 meters 0.012263739933446855 Centerline is valid? [True, True] Translation: X:30.43, Y:1.98, Z:1.07 [[ 9.95617796e-01 -7.97851713e-02 -4.87804440e-02 3.04339980e+01] [ 7.96932332e-02 9.96812079e-01 -3.82984083e-03 1.97853198e+00] [ 4.89305003e-02 -7.44136196e-05 9.98802183e-01 1.07204770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.925099892999995 meters 0.015128703817255527 Centerline is valid? [True, True] Translation: X:30.49, Y:1.99, Z:1.07 [[ 9.95678170e-01 -7.84846593e-02 -4.96501759e-02 3.04949392e+01] [ 7.83878954e-02 9.96915321e-01 -3.89612180e-03 1.98538049e+00] [ 4.98028069e-02 -1.26893713e-05 9.98759070e-01 1.07279919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.985099892999997 meters 0.01570358094969126 Centerline is valid? [True, True] Translation: X:30.56, Y:2.00, Z:1.07 [[ 9.95889128e-01 -7.41312869e-02 -5.20518746e-02 3.05562398e+01] [ 7.40191492e-02 9.97248468e-01 -4.08143499e-03 1.99572420e+00] [ 5.22112142e-02 2.11821264e-04 9.98636042e-01 1.07305411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.04509989299999 meters 0.01614168833148235 Centerline is valid? [True, True] Translation: X:30.62, Y:2.00, Z:1.07 [[ 9.96038157e-01 -7.18102453e-02 -5.24526364e-02 3.06160057e+01] [ 7.16933502e-02 9.97418256e-01 -4.10917871e-03 2.00404079e+00] [ 5.26122983e-02 3.32393553e-04 9.98614959e-01 1.07411490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.105099892999995 meters 0.015503504682546873 Centerline is valid? [True, True] Translation: X:30.68, Y:2.01, Z:1.08 [[ 9.96008772e-01 -7.15174237e-02 -5.34020927e-02 3.06762111e+01] [ 7.13959637e-02 9.97439289e-01 -4.18114644e-03 2.01184318e+00] [ 5.35643702e-02 3.51764656e-04 9.98564337e-01 1.07683330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.165099893 meters 0.015652456698037685 Centerline is valid? [True, True] Translation: X:30.74, Y:2.02, Z:1.08 [[ 9.95934767e-01 -7.40614418e-02 -5.12722338e-02 3.07364515e+01] [ 7.39528527e-02 9.97253659e-01 -4.01438795e-03 2.01568769e+00] [ 5.14287341e-02 2.06340580e-04 9.98676646e-01 1.08020012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.22509989299999 meters 0.015031946757644058 Centerline is valid? [True, True] Translation: X:30.80, Y:2.02, Z:1.08 [[ 9.95653567e-01 -7.93504382e-02 -4.87594326e-02 3.07965371e+01] [ 7.92585807e-02 9.96846781e-01 -3.81752168e-03 2.01856536e+00] [ 4.89086054e-02 -6.36743438e-05 9.98803256e-01 1.08450272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.285099892999995 meters 0.01538521371889373 Centerline is valid? [True, True] Translation: X:30.86, Y:2.02, Z:1.09 [[ 9.94804328e-01 -8.95388402e-02 -4.84473362e-02 3.08590636e+01] [ 8.94602785e-02 9.95983173e-01 -3.79186742e-03 2.02003829e+00] [ 4.85922510e-02 -5.61946070e-04 9.98818541e-01 1.08875004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.345099893 meters 0.016245603955872594 Centerline is valid? [True, True] Translation: X:30.92, Y:2.02, Z:1.09 [[ 9.94156117e-01 -9.59991801e-02 -4.93738037e-02 3.09211034e+01] [ 9.59257154e-02 9.95381008e-01 -3.86083163e-03 2.02100551e+00] [ 4.95163832e-02 -8.97948059e-04 9.98772908e-01 1.09032081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.405099893 meters 0.01583749299917653 Centerline is valid? [True, True] Translation: X:30.98, Y:2.02, Z:1.09 [[ 9.93574028e-01 -1.01191162e-01 -5.07050310e-02 3.09823498e+01] [ 1.01120605e-01 9.94866287e-01 -3.96151466e-03 2.02384479e+00] [ 5.08455962e-02 -1.19126535e-03 9.98705816e-01 1.09399700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.465099892999994 meters 0.018576609204565803 Centerline is valid? [True, True] Translation: X:31.04, Y:2.03, Z:1.09 [[ 9.93724915e-01 -9.93887723e-02 -5.13095019e-02 3.10438590e+01] [ 9.93142360e-02 9.95048054e-01 -4.00654350e-03 2.03275520e+00] [ 5.14536255e-02 -1.11436189e-03 9.98674763e-01 1.09355756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.525099893 meters 0.015285014435101964 Centerline is valid? [True, True] Translation: X:31.10, Y:2.05, Z:1.10 [[ 9.94615843e-01 -9.06937341e-02 -5.01395247e-02 3.11038330e+01] [ 9.06116747e-02 9.95878618e-01 -3.91195221e-03 2.05076248e+00] [ 5.02876701e-02 -6.52336654e-04 9.98734562e-01 1.10050488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.585099893 meters 0.01451068552303643 Centerline is valid? [True, True] Translation: X:31.16, Y:2.06, Z:1.10 [[ 9.95218730e-01 -8.39737993e-02 -4.98806682e-02 3.11642921e+01] [ 8.38842458e-02 9.96467914e-01 -3.88976442e-03 2.05937978e+00] [ 5.00311236e-02 -3.13035824e-04 9.98747610e-01 1.10263776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.645099892999994 meters 0.015250665304737912 Centerline is valid? [True, True] Translation: X:31.23, Y:2.06, Z:1.10 [[ 9.95440231e-01 -8.07091155e-02 -5.08407841e-02 3.12258870e+01] [ 8.06119766e-02 9.96737686e-01 -3.96163052e-03 2.06482312e+00] [ 5.09946652e-02 -1.54809696e-04 9.98698914e-01 1.10383729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.705099892999996 meters 0.015805511235139926 Centerline is valid? [True, True] Translation: X:31.29, Y:2.07, Z:1.11 [[ 9.96022503e-01 -7.25355623e-02 -5.17471412e-02 3.12878699e+01] [ 7.24240978e-02 9.97365792e-01 -4.02838448e-03 2.07315298e+00] [ 5.19030296e-02 2.64621570e-04 9.98652094e-01 1.10612816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.765099893 meters 0.016077248830421602 Centerline is valid? [True, True] Translation: X:31.35, Y:2.08, Z:1.11 [[ 9.97025164e-01 -5.74286571e-02 -5.14078966e-02 3.13486081e+01] [ 5.72987439e-02 9.98349070e-01 -3.99854586e-03 2.08242597e+00] [ 5.15526569e-02 1.04104294e-03 9.98669735e-01 1.11028661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.825099892999994 meters 0.017865004978110093 Centerline is valid? [True, True] Translation: X:31.41, Y:2.09, Z:1.11 [[ 9.97396272e-01 -5.11855113e-02 -5.08007966e-02 3.14068665e+01] [ 5.10506135e-02 9.98688255e-01 -3.95027885e-03 2.08782532e+00] [ 5.09363560e-02 1.34658156e-03 9.98700993e-01 1.11243770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.885099892999996 meters 0.01779165808068241 Centerline is valid? [True, True] Translation: X:31.47, Y:2.09, Z:1.12 [[ 9.97424593e-01 -5.18135498e-02 -4.95937279e-02 3.14653932e+01] [ 5.16855605e-02 9.98655946e-01 -3.86057731e-03 2.08927624e+00] [ 4.97271015e-02 1.28735513e-03 9.98762013e-01 1.11640032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.945099893 meters 0.015600800919959516 Centerline is valid? [True, True] Translation: X:31.53, Y:2.08, Z:1.12 [[ 9.96412361e-01 -6.76654479e-02 -5.08310399e-02 3.15273081e+01] [ 6.75510228e-02 9.97707932e-01 -3.96765268e-03 2.07787123e+00] [ 5.09830046e-02 5.19729435e-04 9.98699386e-01 1.11723158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.00509989299999 meters 0.015558576099067033 Centerline is valid? [True, True] Translation: X:31.59, Y:2.07, Z:1.12 [[ 9.95265437e-01 -8.13437606e-02 -5.31968213e-02 3.15885417e+01] [ 8.12379013e-02 9.96686088e-01 -4.15286321e-03 2.06588307e+00] [ 5.33583412e-02 -1.88396905e-04 9.98575411e-01 1.11604945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.065099892999996 meters 0.016042617879687145 Centerline is valid? [True, True] Translation: X:31.65, Y:2.06, Z:1.12 [[ 9.94814114e-01 -8.72211875e-02 -5.23196153e-02 3.16500423e+01] [ 8.71268525e-02 9.96188848e-01 -4.08549840e-03 2.06335284e+00] [ 5.24765593e-02 -4.94131932e-04 9.98622034e-01 1.11917540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.125099893 meters 0.015276377084337 Centerline is valid? [True, True] Translation: X:31.71, Y:2.06, Z:1.12 [[ 9.94982076e-01 -8.74460876e-02 -4.86194397e-02 3.17125514e+01] [ 8.73649931e-02 9.96169142e-01 -3.79461047e-03 2.06431298e+00] [ 4.87650094e-02 -4.72067609e-04 9.98810168e-01 1.12421622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.18509989299999 meters 0.01436960726123422 Centerline is valid? [True, True] Translation: X:31.77, Y:2.07, Z:1.13 [[ 9.95465890e-01 -8.24971375e-02 -4.73485367e-02 3.17740003e+01] [ 8.24147964e-02 9.96591276e-01 -3.69195899e-03 2.06918808e+00] [ 4.74917146e-02 -2.27000773e-04 9.98871606e-01 1.12775307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.245099892999995 meters 0.014242589648424002 Centerline is valid? [True, True] Translation: X:31.84, Y:2.07, Z:1.13 [[ 9.95508341e-01 -8.06290082e-02 -4.96196150e-02 3.18363189e+01] [ 8.05364439e-02 9.96744170e-01 -3.86525008e-03 2.07321829e+00] [ 4.97697132e-02 -1.48298637e-04 9.98760709e-01 1.12942232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.305099893 meters 0.015641844945493456 Centerline is valid? [True, True] Translation: X:31.90, Y:2.08, Z:1.13 [[ 9.95301753e-01 -8.07610742e-02 -5.34047661e-02 3.18980975e+01] [ 8.06542261e-02 9.96733475e-01 -4.15643461e-03 2.07638956e+00] [ 5.35659962e-02 -1.70413425e-04 9.98564297e-01 1.12855990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.36509989299999 meters 0.015704563317378847 Centerline is valid? [True, True] Translation: X:31.96, Y:2.07, Z:1.13 [[ 9.94860547e-01 -8.37406526e-02 -5.69209556e-02 3.19574890e+01] [ 8.36241949e-02 9.96487520e-01 -4.42900154e-03 2.07473217e+00] [ 5.70919093e-02 -3.53730189e-04 9.98368864e-01 1.12708007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.425099892999995 meters 0.016479266527458986 Centerline is valid? [True, True] Translation: X:32.02, Y:2.08, Z:1.13 [[ 9.95094900e-01 -8.29627660e-02 -5.38824541e-02 3.20169813e+01] [ 8.28571758e-02 9.96552605e-01 -4.19445346e-03 2.08037838e+00] [ 5.40446835e-02 -2.90668721e-04 9.98538476e-01 1.13254564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.485099893 meters 0.015550997567764234 Centerline is valid? [True, True] Translation: X:32.08, Y:2.08, Z:1.14 [[ 9.95252305e-01 -8.34852196e-02 -5.00306575e-02 3.20775743e+01] [ 8.33947889e-02 9.96508972e-01 -3.89590035e-03 2.08309281e+00] [ 5.01812491e-02 -2.94892310e-04 9.98740084e-01 1.13703364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.54509989299999 meters 0.013086714916877176 Centerline is valid? [True, True] Translation: X:32.14, Y:2.09, Z:1.14 [[ 9.95493530e-01 -8.20634760e-02 -4.75207148e-02 3.21388004e+01] [ 8.19803301e-02 9.96627082e-01 -3.69932246e-03 2.09075822e+00] [ 4.76640106e-02 -2.13112317e-04 9.98863402e-01 1.14460102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.605099892999995 meters 0.015135633090897029 Centerline is valid? [True, True] Translation: X:32.20, Y:2.10, Z:1.14 [[ 9.95824275e-01 -7.72531273e-02 -4.86412164e-02 3.22003453e+01] [ 7.71604492e-02 9.97011512e-01 -3.78298310e-03 2.09650252e+00] [ 4.87881000e-02 1.40082903e-05 9.98809151e-01 1.14462586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.665099893 meters 0.01601087085828838 Centerline is valid? [True, True] Translation: X:32.26, Y:2.10, Z:1.15 [[ 9.96132622e-01 -7.30059445e-02 -4.88869338e-02 3.22617671e+01] [ 7.29073787e-02 9.97331481e-01 -3.79873492e-03 2.10241802e+00] [ 4.90338083e-02 2.19825581e-04 9.98797095e-01 1.14638933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.72509989299999 meters 0.01533280651036548 Centerline is valid? [True, True] Translation: X:32.32, Y:2.10, Z:1.15 [[ 9.96028771e-01 -7.35414466e-02 -5.01830846e-02 3.23216825e+01] [ 7.34383321e-02 9.97292142e-01 -3.89802883e-03 2.10389972e+00] [ 5.03338626e-02 1.97186837e-04 9.98732428e-01 1.14596413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.785099892999995 meters 0.01569594798916969 Centerline is valid? [True, True] Translation: X:32.38, Y:2.11, Z:1.15 [[ 9.95841898e-01 -7.55738717e-02 -5.08675139e-02 3.23817123e+01] [ 7.54705171e-02 9.97140201e-01 -3.95228057e-03 2.10666822e+00] [ 5.10207321e-02 9.68490090e-05 9.98697590e-01 1.14751148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.845099893 meters 0.01575927014233968 Centerline is valid? [True, True] Translation: X:32.44, Y:2.11, Z:1.15 [[ 9.95561662e-01 -7.89551500e-02 -5.12158392e-02 3.24411654e+01] [ 7.88547485e-02 9.96878166e-01 -3.98120501e-03 2.10902868e+00] [ 5.13702886e-02 -7.50770508e-05 9.98679672e-01 1.14891420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.90509989299999 meters 0.016657058001627485 Centerline is valid? [True, True] Translation: X:32.50, Y:2.12, Z:1.16 [[ 9.96723577e-01 -6.50515151e-02 -4.80667394e-02 3.25008834e+01] [ 6.49468465e-02 9.97881724e-01 -3.73782123e-03 2.12025719e+00] [ 4.82080718e-02 6.03791395e-04 9.98837132e-01 1.15561754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.965099892999994 meters 0.016890201469266956 Centerline is valid? [True, True] Translation: X:32.56, Y:2.13, Z:1.16 [[ 9.97221229e-01 -5.73868618e-02 -4.75033475e-02 3.25589661e+01] [ 5.72759220e-02 9.98351551e-01 -3.69441653e-03 2.12507272e+00] [ 4.76370516e-02 9.63352572e-04 9.98864247e-01 1.15753817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.025099893 meters 0.016577753323265422 Centerline is valid? [True, True] Translation: X:32.62, Y:2.13, Z:1.16 [[ 9.97235731e-01 -5.75440034e-02 -4.70062251e-02 3.26165142e+01] [ 5.74353397e-02 9.98342519e-01 -3.66020326e-03 2.12907646e+00] [ 4.71389359e-02 9.50266964e-04 9.98887890e-01 1.16075688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.085099893 meters 0.018083266331703457 Centerline is valid? [True, True] Translation: X:32.68, Y:2.13, Z:1.16 [[ 9.97086449e-01 -5.90066747e-02 -4.83407246e-02 3.26753011e+01] [ 5.88927947e-02 9.98257164e-01 -3.77793525e-03 2.13232973e+00] [ 4.84793981e-02 9.20007664e-04 9.98823759e-01 1.16185887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.145099892999994 meters 0.01438380854591546 Centerline is valid? [True, True] Translation: X:32.73, Y:2.13, Z:1.16 [[ 9.96614047e-01 -6.59500308e-02 -4.91022787e-02 3.27348878e+01] [ 6.58404043e-02 9.97822745e-01 -3.84847556e-03 2.12676072e+00] [ 4.92491776e-02 6.02530920e-04 9.98786341e-01 1.16464705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.205099892999996 meters 0.015057568652074636 Centerline is valid? [True, True] Translation: X:32.79, Y:2.12, Z:1.17 [[ 9.95608087e-01 -7.90828298e-02 -5.01043125e-02 3.27940861e+01] [ 7.89850202e-02 9.96868048e-01 -3.93222132e-03 2.12098401e+00] [ 5.02583594e-02 -4.25387883e-05 9.98736249e-01 1.16674559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.265099893 meters 0.017120813304323083 Centerline is valid? [True, True] Translation: X:32.85, Y:2.11, Z:1.17 [[ 9.94581499e-01 -9.05858821e-02 -5.10082276e-02 3.28542986e+01] [ 9.04990407e-02 9.95888452e-01 -4.01429878e-03 2.11298502e+00] [ 5.11621436e-02 -6.23648367e-04 9.98690165e-01 1.16643660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.325099892999994 meters 0.017043657589357917 Centerline is valid? [True, True] Translation: X:32.91, Y:2.11, Z:1.17 [[ 9.94019461e-01 -9.83845518e-02 -4.73897821e-02 3.29149319e+01] [ 9.83183845e-02 9.95148017e-01 -3.73084711e-03 2.11166866e+00] [ 4.75269054e-02 -9.50752188e-04 9.98869506e-01 1.17166423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.385099892999996 meters 0.020364828429414842 Centerline is valid? [True, True] Translation: X:32.98, Y:2.11, Z:1.17 [[ 9.93257082e-01 -1.05776359e-01 -4.74524073e-02 3.29756582e+01] [ 1.05718477e-01 9.94389086e-01 -3.73492630e-03 2.11174632e+00] [ 4.75812228e-02 -1.30685424e-03 9.98866517e-01 1.17338963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.445099893 meters 0.021183131817655482 Centerline is valid? [True, True] Translation: X:33.04, Y:2.12, Z:1.17 [[ 9.92818109e-01 -1.08638487e-01 -5.00987192e-02 3.30368926e+01] [ 1.08577660e-01 9.94080153e-01 -3.94214782e-03 2.11672706e+00] [ 5.02304115e-02 -1.52576597e-03 9.98736491e-01 1.17405787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.50509989299999 meters 0.019647258935663724 Centerline is valid? [True, True] Translation: X:33.10, Y:2.13, Z:1.18 [[ 9.92963074e-01 -1.07164703e-01 -5.03990056e-02 3.30986217e+01] [ 1.07101355e-01 9.94240207e-01 -3.96368685e-03 2.12689712e+00] [ 5.05334851e-02 -1.46200712e-03 9.98721297e-01 1.17704510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.565099892999996 meters 0.018267542563824353 Centerline is valid? [True, True] Translation: X:33.16, Y:2.14, Z:1.18 [[ 9.93639720e-01 -1.00640914e-01 -5.05125059e-02 3.31576522e+01] [ 1.00569010e-01 9.94922166e-01 -3.96957369e-03 2.13820629e+00] [ 5.06555133e-02 -1.13566664e-03 9.98715540e-01 1.18022084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.625099893 meters 0.015568704380253104 Centerline is valid? [True, True] Translation: X:33.22, Y:2.16, Z:1.19 [[ 9.95300407e-01 -8.18513090e-02 -5.17442011e-02 3.32167076e+01] [ 8.17504553e-02 9.96644535e-01 -4.06612519e-03 2.16456749e+00] [ 5.19033929e-02 -1.83095938e-04 9.98652094e-01 1.18518645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.68509989299999 meters 0.016417297084964706 Centerline is valid? [True, True] Translation: X:33.28, Y:2.17, Z:1.19 [[ 9.95789707e-01 -7.57578061e-02 -5.16102158e-02 3.32771845e+01] [ 7.56493637e-02 9.97126239e-01 -4.05420902e-03 2.17494137e+00] [ 5.17690383e-02 1.32859634e-04 9.98659075e-01 1.18845596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.745099892999995 meters 0.016586961523699987 Centerline is valid? [True, True] Translation: X:33.34, Y:2.19, Z:1.19 [[ 9.96402816e-01 -6.61257836e-02 -5.29981999e-02 3.33358566e+01] [ 6.59978760e-02 9.97811084e-01 -4.16184644e-03 2.18850648e+00] [ 5.31573967e-02 6.49106890e-04 9.98585935e-01 1.18864719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.805099893 meters 0.015787064241203637 Centerline is valid? [True, True] Translation: X:33.39, Y:2.20, Z:1.19 [[ 9.96429770e-01 -6.55634262e-02 -5.31897554e-02 3.33938294e+01] [ 6.54335955e-02 9.97848169e-01 -4.18054651e-03 2.19678417e+00] [ 5.33493910e-02 6.85224062e-04 9.98575672e-01 1.19182174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.86509989299999 meters 0.01626680214798149 Centerline is valid? [True, True] Translation: X:33.45, Y:2.20, Z:1.19 [[ 9.95817529e-01 -7.53526260e-02 -5.16665338e-02 3.34522706e+01] [ 7.52427125e-02 9.97156935e-01 -4.07191305e-03 2.19666672e+00] [ 5.18264718e-02 1.67352249e-04 9.98656091e-01 1.19333563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.925099892999995 meters 0.016524976647726824 Centerline is valid? [True, True] Translation: X:33.51, Y:2.19, Z:1.20 [[ 9.94727143e-01 -8.98590427e-02 -4.94293874e-02 3.35124028e+01] [ 8.97761678e-02 9.95954336e-01 -3.89874054e-03 2.19323190e+00] [ 4.95797498e-02 -5.59397944e-04 9.98770011e-01 1.19720582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.985099893 meters 0.017349369296919905 Centerline is valid? [True, True] Translation: X:33.57, Y:2.19, Z:1.20 [[ 9.94019720e-01 -9.80155083e-02 -4.81430829e-02 3.35732895e+01] [ 9.79463779e-02 9.95184444e-01 -3.79863564e-03 2.19330335e+00] [ 4.82835724e-02 -9.39521856e-04 9.98833226e-01 1.20172998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.04509989299999 meters 0.018415269210346606 Centerline is valid? [True, True] Translation: X:33.63, Y:2.19, Z:1.20 [[ 9.93141308e-01 -1.06211925e-01 -4.88811787e-02 3.36347440e+01] [ 1.06150616e-01 9.94342586e-01 -3.85583967e-03 2.19488708e+00] [ 4.90141738e-02 -1.35937358e-03 9.98797158e-01 1.20443268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.105099892999995 meters 0.020915303634385773 Centerline is valid? [True, True] Translation: X:33.69, Y:2.19, Z:1.20 [[ 9.92319746e-01 -1.13357343e-01 -4.95139827e-02 3.36946760e+01] [ 1.13303388e-01 9.93552766e-01 -3.90419378e-03 2.19441777e+00] [ 4.96373235e-02 -1.73589344e-03 9.98765800e-01 1.20493874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.165099893 meters 0.021313366012794342 Centerline is valid? [True, True] Translation: X:33.76, Y:2.20, Z:1.20 [[ 9.91723433e-01 -1.17066042e-01 -5.27273653e-02 3.37556777e+01] [ 1.17010098e-01 9.93122023e-01 -4.15740004e-03 2.19986318e+00] [ 5.28513981e-02 -2.04664316e-03 9.98600291e-01 1.20428833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.22509989299999 meters 0.021605553304672852 Centerline is valid? [True, True] Translation: X:33.82, Y:2.20, Z:1.21 [[ 9.91643334e-01 -1.17811584e-01 -5.25730841e-02 3.38169639e+01] [ 1.17757083e-01 9.93033785e-01 -4.14389259e-03 2.20487015e+00] [ 5.26950472e-02 -2.08158954e-03 9.98608481e-01 1.20650079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.285099892999995 meters 0.02340523135613242 Centerline is valid? [True, True] Translation: X:33.88, Y:2.21, Z:1.21 [[ 9.91603042e-01 -1.18213938e-01 -5.24296929e-02 3.38785152e+01] [ 1.18160453e-01 9.92985928e-01 -4.12957271e-03 2.21488092e+00] [ 5.25501203e-02 -2.10021942e-03 9.98616079e-01 1.20788190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.345099893 meters 0.02267917812911267 Centerline is valid? [True, True] Translation: X:33.94, Y:2.23, Z:1.21 [[ 9.91552045e-01 -1.18693265e-01 -5.23111018e-02 3.39400135e+01] [ 1.18640883e-01 9.92928696e-01 -4.11649343e-03 2.22744835e+00] [ 5.24297941e-02 -2.12451785e-03 9.98622353e-01 1.21203769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.40509989299999 meters 0.02230782688613957 Centerline is valid? [True, True] Translation: X:34.00, Y:2.24, Z:1.22 [[ 9.91764418e-01 -1.17012749e-01 -5.20706787e-02 3.40009385e+01] [ 1.16958732e-01 9.93128338e-01 -4.09380646e-03 2.24266044e+00] [ 5.21918941e-02 -2.03002900e-03 9.98635011e-01 1.21607776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.465099892999994 meters 0.01906174702487574 Centerline is valid? [True, True] Translation: X:34.06, Y:2.26, Z:1.22 [[ 9.92833675e-01 -1.07534657e-01 -5.21305130e-02 3.40601484e+01] [ 1.07467621e-01 9.94200150e-01 -4.09547906e-03 2.26055234e+00] [ 5.22685698e-02 -1.53621269e-03 9.98631882e-01 1.21877653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.525099893 meters 0.01783614561855911 Centerline is valid? [True, True] Translation: X:34.12, Y:2.27, Z:1.22 [[ 9.93114284e-01 -1.04782921e-01 -5.23885367e-02 3.41217502e+01] [ 1.04711435e-01 9.94494134e-01 -4.11499132e-03 2.26807732e+00] [ 5.25312732e-02 -1.39902221e-03 9.98618299e-01 1.22148565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.58509989299999 meters 0.017026187255580187 Centerline is valid? [True, True] Translation: X:34.18, Y:2.27, Z:1.22 [[ 9.93426688e-01 -1.02062350e-01 -5.18333204e-02 3.41836782e+01] [ 1.01988864e-01 9.94777224e-01 -4.06768302e-03 2.27434411e+00] [ 5.19777639e-02 -1.24547660e-03 9.98647466e-01 1.22300939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.645099892999994 meters 0.01592419134773361 Centerline is valid? [True, True] Translation: X:34.25, Y:2.28, Z:1.23 [[ 9.93773046e-01 -9.89975067e-02 -5.11334225e-02 3.42454428e+01] [ 9.89221260e-02 9.95087102e-01 -4.00911110e-03 2.27982793e+00] [ 5.12791012e-02 -1.07408030e-03 9.98683784e-01 1.22628668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.705099892999996 meters 0.01650349942428996 Centerline is valid? [True, True] Translation: X:34.31, Y:2.29, Z:1.23 [[ 9.94305530e-01 -9.30204768e-02 -5.19971607e-02 3.43060602e+01] [ 9.29345375e-02 9.95663889e-01 -4.07339912e-03 2.28892933e+00] [ 5.21506047e-02 -7.82128803e-04 9.98638925e-01 1.22783543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.765099893 meters 0.014746172492997292 Centerline is valid? [True, True] Translation: X:34.37, Y:2.30, Z:1.23 [[ 9.94880339e-01 -8.59834730e-02 -5.31032357e-02 3.43672961e+01] [ 8.58839422e-02 9.96296473e-01 -4.15766161e-03 2.29824179e+00] [ 5.32640566e-02 -4.24339440e-04 9.98580372e-01 1.23028178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.825099892999994 meters 0.015536144070049256 Centerline is valid? [True, True] Translation: X:34.43, Y:2.31, Z:1.23 [[ 9.95805166e-01 -7.56481381e-02 -5.14726133e-02 3.44276908e+01] [ 7.55410032e-02 9.97134567e-01 -4.02645565e-03 2.30916327e+00] [ 5.16297158e-02 1.21272492e-04 9.98666289e-01 1.23480852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.885099892999996 meters 0.015560874189886397 Centerline is valid? [True, True] Translation: X:34.49, Y:2.31, Z:1.24 [[ 9.96100970e-01 -7.28031862e-02 -4.98252300e-02 3.44891112e+01] [ 7.26993714e-02 9.97346294e-01 -3.89508719e-03 2.31319529e+00] [ 4.99765833e-02 2.57637227e-04 9.98750357e-01 1.23816457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.945099893 meters 0.013369174396548849 Centerline is valid? [True, True] Translation: X:34.55, Y:2.31, Z:1.24 [[ 9.95584874e-01 -7.84339967e-02 -5.15642006e-02 3.45504161e+01] [ 7.83304363e-02 9.96919308e-01 -4.02930969e-03 2.31042119e+00] [ 5.17213821e-02 -2.75265567e-05 9.98661553e-01 1.23806677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.00509989299999 meters 0.014953231554901988 Centerline is valid? [True, True] Translation: X:34.61, Y:2.31, Z:1.24 [[ 9.94953783e-01 -8.44845805e-02 -5.41232476e-02 3.46123927e+01] [ 8.43794856e-02 9.96424722e-01 -4.22805928e-03 2.31051484e+00] [ 5.42869478e-02 -3.60168218e-04 9.98525311e-01 1.23772338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.065099892999996 meters 0.016192742682086637 Centerline is valid? [True, True] Translation: X:34.67, Y:2.31, Z:1.24 [[ 9.94226732e-01 -9.25623044e-02 -5.42717724e-02 3.46740919e+01] [ 9.24687539e-02 9.95706569e-01 -4.23770101e-03 2.30783838e+00] [ 5.44310116e-02 -8.05207541e-04 9.98517209e-01 1.23881721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.125099893 meters 0.01872901720531132 Centerline is valid? [True, True] Translation: X:34.74, Y:2.31, Z:1.24 [[ 9.93741726e-01 -9.99826329e-02 -4.98081806e-02 3.47358357e+01] [ 9.99132375e-02 9.94988559e-01 -3.88736929e-03 2.30729038e+00] [ 4.99472393e-02 -1.11345551e-03 9.98751237e-01 1.24434363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.18509989299999 meters 0.01777825971567286 Centerline is valid? [True, True] Translation: X:34.80, Y:2.31, Z:1.25 [[ 9.93725193e-01 -1.02326878e-01 -4.51602761e-02 3.47976376e+01] [ 1.02272353e-01 9.94750199e-01 -3.52230989e-03 2.30861600e+00] [ 4.52836206e-02 -1.11843962e-03 9.98973545e-01 1.24998124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.245099892999995 meters 0.019619974209756915 Centerline is valid? [True, True] Translation: X:34.86, Y:2.31, Z:1.25 [[ 9.93176458e-01 -1.05768166e-01 -4.91285908e-02 3.48593934e+01] [ 1.05708025e-01 9.94389843e-01 -3.82807556e-03 2.30737925e+00] [ 4.92578602e-02 -1.39133178e-03 9.98785126e-01 1.24845197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.305099893 meters 0.01921797473121707 Centerline is valid? [True, True] Translation: X:34.92, Y:2.31, Z:1.25 [[ 9.92803321e-01 -1.05634992e-01 -5.64164438e-02 3.49216878e+01] [ 1.05555681e-01 9.94403694e-01 -4.39227042e-03 2.31282463e+00] [ 5.65646975e-02 -1.59441548e-03 9.98397663e-01 1.24547031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.36509989299999 meters 0.01644197433853866 Centerline is valid? [True, True] Translation: X:34.98, Y:2.33, Z:1.25 [[ 9.93758056e-01 -9.56388757e-02 -5.74293694e-02 3.49810908e+01] [ 9.55401858e-02 9.95415546e-01 -4.46800109e-03 2.32674734e+00] [ 5.75934017e-02 -1.04670055e-03 9.98339574e-01 1.24907159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.425099892999995 meters 0.01701483662961068 Centerline is valid? [True, True] Translation: X:35.04, Y:2.35, Z:1.25 [[ 9.95694492e-01 -7.47496537e-02 -5.48175866e-02 3.50400738e+01] [ 7.46280665e-02 9.97202319e-01 -4.26456617e-03 2.34878852e+00] [ 5.49829993e-02 1.55274549e-04 9.98487279e-01 1.25420648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.485099893 meters 0.015729255628372896 Centerline is valid? [True, True] Translation: X:35.10, Y:2.37, Z:1.26 [[ 9.97162864e-01 -5.73241566e-02 -4.87869149e-02 3.50993261e+01] [ 5.72070370e-02 9.98355125e-01 -3.79472031e-03 2.36540363e+00] [ 4.89241956e-02 9.92999327e-04 9.98802001e-01 1.26260630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.54509989299999 meters 0.017599363291360845 Centerline is valid? [True, True] Translation: X:35.16, Y:2.37, Z:1.26 [[ 9.97312257e-01 -5.35133215e-02 -5.00458412e-02 3.51588074e+01] [ 5.33852652e-02 9.98566402e-01 -3.89294286e-03 2.36884513e+00] [ 5.01824198e-02 1.21076913e-03 9.98739335e-01 1.26438168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.605099892999995 meters 0.01677354419229162 Centerline is valid? [True, True] Translation: X:35.22, Y:2.37, Z:1.26 [[ 9.96765893e-01 -6.03930177e-02 -5.30135665e-02 3.52179317e+01] [ 6.02588923e-02 9.98174253e-01 -4.12624072e-03 2.36658404e+00] [ 5.31659733e-02 9.18357223e-04 9.98585267e-01 1.26432128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.665099893 meters 0.016496095612228357 Centerline is valid? [True, True] Translation: X:35.28, Y:2.36, Z:1.26 [[ 9.96125473e-01 -6.90564820e-02 -5.44540603e-02 3.52777265e+01] [ 6.89276650e-02 9.97612640e-01 -4.24241011e-03 2.36000395e+00] [ 5.46170248e-02 4.72581554e-04 9.98507265e-01 1.26392705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.72509989299999 meters 0.01593124898415973 Centerline is valid? [True, True] Translation: X:35.34, Y:2.36, Z:1.27 [[ 9.95510644e-01 -7.85572666e-02 -5.27950210e-02 3.53364078e+01] [ 7.84492198e-02 9.96909602e-01 -4.11895176e-03 2.35611348e+00] [ 5.29554370e-02 -4.12678923e-05 9.98596876e-01 1.26803234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.785099892999995 meters 0.015963846399622374 Centerline is valid? [True, True] Translation: X:35.40, Y:2.35, Z:1.27 [[ 9.94883994e-01 -8.79057130e-02 -4.97837743e-02 3.53970752e+01] [ 8.78208327e-02 9.96128675e-01 -3.89405294e-03 2.34939117e+00] [ 4.99333546e-02 -4.97921571e-04 9.98752428e-01 1.27066942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.845099893 meters 0.017203889844245188 Centerline is valid? [True, True] Translation: X:35.46, Y:2.34, Z:1.28 [[ 9.93825809e-01 -1.00412610e-01 -4.71971383e-02 3.54581682e+01] [ 1.00350438e-01 9.94945308e-01 -3.69091396e-03 2.34260550e+00] [ 4.73291856e-02 -1.06812793e-03 9.98878775e-01 1.27637303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.90509989299999 meters 0.020240264881621225 Centerline is valid? [True, True] Translation: X:35.52, Y:2.33, Z:1.28 [[ 9.92360725e-01 -1.14114322e-01 -4.68840313e-02 3.55197188e+01] [ 1.14068262e-01 9.93466152e-01 -3.66549030e-03 2.33447389e+00] [ 4.69959831e-02 -1.71049138e-03 9.98893614e-01 1.28061428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.965099892999994 meters 0.023978465745912184 Centerline is valid? [True, True] Translation: X:35.58, Y:2.33, Z:1.28 [[ 9.90983451e-01 -1.23483396e-01 -5.19966490e-02 3.55809519e+01] [ 1.23439713e-01 9.92343755e-01 -4.06302116e-03 2.33091693e+00] [ 5.21002656e-02 -2.39206473e-03 9.98638994e-01 1.27841091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.025099893 meters 0.024662833355337744 Centerline is valid? [True, True] Translation: X:35.64, Y:2.34, Z:1.28 [[ 9.90769761e-01 -1.23812625e-01 -5.51879869e-02 3.56424782e+01] [ 1.23764105e-01 9.92302311e-01 -4.30930005e-03 2.33548576e+00] [ 5.52967127e-02 -2.56076762e-03 9.98466682e-01 1.27869974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.08509989299999 meters 0.02408684371593407 Centerline is valid? [True, True] Translation: X:35.70, Y:2.35, Z:1.28 [[ 9.91348676e-01 -1.19502545e-01 -5.42857641e-02 3.57021624e+01] [ 1.19449385e-01 9.92831261e-01 -4.23448102e-03 2.34548762e+00] [ 5.44026349e-02 -2.28655400e-03 9.98516462e-01 1.28197161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.145099892999994 meters 0.020811314300369442 Centerline is valid? [True, True] Translation: X:35.76, Y:2.36, Z:1.29 [[ 9.91863518e-01 -1.15889946e-01 -5.26904388e-02 3.57632056e+01] [ 1.15834806e-01 9.93259991e-01 -4.10945849e-03 2.35548155e+00] [ 5.28115497e-02 -2.02736478e-03 9.98602438e-01 1.28733673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.205099892999996 meters 0.02027452939948155 Centerline is valid? [True, True] Translation: X:35.82, Y:2.37, Z:1.29 [[ 9.92512680e-01 -1.10084957e-01 -5.29139128e-02 3.58230698e+01] [ 1.10021243e-01 9.93920679e-01 -4.12436924e-03 2.36754439e+00] [ 5.30462631e-02 -1.72816568e-03 9.98590560e-01 1.28867020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.26509989299999 meters 0.018210837014750483 Centerline is valid? [True, True] Translation: X:35.88, Y:2.39, Z:1.29 [[ 9.94054230e-01 -9.57478249e-02 -5.18511497e-02 3.58815903e+01] [ 9.56671866e-02 9.95405175e-01 -4.04058401e-03 2.38655322e+00] [ 5.19997799e-02 -9.43893987e-04 9.98646650e-01 1.29128261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.325099892999994 meters 0.015791493165146796 Centerline is valid? [True, True] Translation: X:35.94, Y:2.41, Z:1.30 [[ 9.95256297e-01 -8.26748712e-02 -5.12812665e-02 3.59420473e+01] [ 8.25786657e-02 9.96576539e-01 -3.99561124e-03 2.40613957e+00] [ 5.14360438e-02 -2.58081315e-04 9.98676257e-01 1.29622255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.385099892999996 meters 0.015677372963719283 Centerline is valid? [True, True] Translation: X:36.00, Y:2.42, Z:1.30 [[ 9.95576125e-01 -7.69904352e-02 -5.38576971e-02 3.60032088e+01] [ 7.68762003e-02 9.97031831e-01 -4.19261982e-03 2.41900803e+00] [ 5.40206299e-02 3.36970895e-05 9.98539819e-01 1.29778524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.445099893 meters 0.014385741681281806 Centerline is valid? [True, True] Translation: X:36.06, Y:2.42, Z:1.30 [[ 9.95222461e-01 -8.04368048e-02 -5.53369009e-02 3.60636340e+01] [ 8.03217033e-02 9.96759698e-01 -4.30457699e-03 2.42254728e+00] [ 5.55038390e-02 -1.60742418e-04 9.98458461e-01 1.29874678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.50509989299999 meters 0.01595293947959955 Centerline is valid? [True, True] Translation: X:36.12, Y:2.42, Z:1.30 [[ 9.94625330e-01 -8.83575215e-02 -5.39759399e-02 3.61233370e+01] [ 8.82596498e-02 9.96088652e-01 -4.19893178e-03 2.42138720e+00] [ 5.41358284e-02 -5.87533647e-04 9.98533408e-01 1.30021885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.565099892999996 meters 0.01590775342089266 Centerline is valid? [True, True] Translation: X:36.18, Y:2.42, Z:1.30 [[ 9.93834381e-01 -9.75863793e-02 -5.26319457e-02 3.61844714e+01] [ 9.75062117e-02 9.95226492e-01 -4.09493415e-03 2.41947669e+00] [ 5.27803165e-02 -1.06225529e-03 9.98605583e-01 1.30413256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.625099893 meters 0.018432417243269907 Centerline is valid? [True, True] Translation: X:36.25, Y:2.42, Z:1.31 [[ 9.92898210e-01 -1.07452950e-01 -5.10588787e-02 3.62455223e+01] [ 1.07390565e-01 9.94208978e-01 -3.97164987e-03 2.41918388e+00] [ 5.11899611e-02 -1.53979777e-03 9.98687747e-01 1.30810440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.68509989299999 meters 0.019066564049130125 Centerline is valid? [True, True] Translation: X:36.31, Y:2.42, Z:1.31 [[ 9.92731431e-01 -1.08575423e-01 -5.19199737e-02 3.63074076e+01] [ 1.08512549e-01 9.94086883e-01 -4.03669771e-03 2.42004763e+00] [ 5.20512510e-02 -1.62661202e-03 9.98643090e-01 1.30906022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.745099892999995 meters 0.01918246932995019 Centerline is valid? [True, True] Translation: X:36.37, Y:2.43, Z:1.31 [[ 9.92823145e-01 -1.08067387e-01 -5.12215097e-02 3.63692190e+01] [ 1.08005802e-01 9.94142309e-01 -3.97687587e-03 2.42605705e+00] [ 5.13512405e-02 -1.58388584e-03 9.98679399e-01 1.31385201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.805099893 meters 0.01911996405005767 Centerline is valid? [True, True] Translation: X:36.43, Y:2.43, Z:1.32 [[ 9.92810384e-01 -1.07921261e-01 -5.17739600e-02 3.64315352e+01] [ 1.07858354e-01 9.94158161e-01 -4.01570645e-03 2.42934847e+00] [ 5.19048850e-02 -1.59741904e-03 9.98650755e-01 1.31552766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.86509989299999 meters 0.01973120350890014 Centerline is valid? [True, True] Translation: X:36.49, Y:2.44, Z:1.32 [[ 9.92802938e-01 -1.06875768e-01 -5.40360651e-02 3.64929355e+01] [ 1.06805965e-01 9.94271070e-01 -4.18626339e-03 2.43635249e+00] [ 5.41739064e-02 -1.61523947e-03 9.98530209e-01 1.31677929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.925099892999995 meters 0.01886041543614987 Centerline is valid? [True, True] Translation: X:36.55, Y:2.45, Z:1.32 [[ 9.93210618e-01 -1.02480425e-01 -5.50493412e-02 3.65536962e+01] [ 1.02401432e-01 9.94734029e-01 -4.26120922e-03 2.44638341e+00] [ 5.51961435e-02 -1.40485310e-03 9.98474543e-01 1.31925937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.985099893 meters 0.01648502897319227 Centerline is valid? [True, True] Translation: X:36.61, Y:2.46, Z:1.32 [[ 9.93846102e-01 -9.58371575e-02 -5.55442659e-02 3.66145913e+01] [ 9.57465049e-02 9.95396475e-01 -4.29707846e-03 2.45716540e+00] [ 5.57003862e-02 -1.04753464e-03 9.98446979e-01 1.32209754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.04509989299999 meters 0.015674092768441113 Centerline is valid? [True, True] Translation: X:36.68, Y:2.47, Z:1.33 [[ 9.94977555e-01 -8.31546280e-02 -5.57222910e-02 3.66754635e+01] [ 8.30437027e-02 9.96536598e-01 -4.30725054e-03 2.47022341e+00] [ 5.58874701e-02 -3.41767758e-04 9.98437015e-01 1.32503792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.105099892999995 meters 0.0147975767143273 Centerline is valid? [True, True] Translation: X:36.74, Y:2.48, Z:1.33 [[ 9.95811887e-01 -7.38145585e-02 -5.39453202e-02 3.67359414e+01] [ 7.36970403e-02 9.97271969e-01 -4.16720873e-03 2.47827462e+00] [ 5.41057563e-02 1.74145559e-04 9.98535196e-01 1.33018998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.165099893 meters 0.01590471352332317 Centerline is valid? [True, True] Translation: X:36.80, Y:2.49, Z:1.33 [[ 9.96149746e-01 -6.86614129e-02 -5.45095780e-02 3.67953925e+01] [ 6.85337824e-02 9.97639916e-01 -4.20946728e-03 2.48580218e+00] [ 5.46699588e-02 4.57512202e-04 9.98504375e-01 1.33281805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.22509989299999 meters 0.017225527713985663 Centerline is valid? [True, True] Translation: X:36.85, Y:2.49, Z:1.34 [[ 9.96216673e-01 -6.77945733e-02 -5.43712797e-02 3.68548399e+01] [ 6.76662336e-02 9.97699173e-01 -4.20000588e-03 2.48644189e+00] [ 5.45309184e-02 5.05016172e-04 9.98511955e-01 1.33503454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.285099892999995 meters 0.016076516301796538 Centerline is valid? [True, True] Translation: X:36.91, Y:2.48, Z:1.34 [[ 9.95877785e-01 -7.37036951e-02 -5.28696693e-02 3.69142715e+01] [ 7.35904384e-02 9.97280168e-01 -4.08836570e-03 2.48145412e+00] [ 5.30272003e-02 1.80810441e-04 9.98593052e-01 1.33792861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.345099893 meters 0.012484857793938414 Centerline is valid? [True, True] Translation: X:36.97, Y:2.48, Z:1.34 [[ 9.95339776e-01 -8.20325774e-02 -5.06891257e-02 3.69738800e+01] [ 8.19387260e-02 9.96629619e-01 -3.93029507e-03 2.47759292e+00] [ 5.08406963e-02 -2.41423376e-04 9.98706746e-01 1.34347877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.40509989299999 meters 0.015504732127771405 Centerline is valid? [True, True] Translation: X:37.04, Y:2.47, Z:1.34 [[ 9.94322217e-01 -9.37001006e-02 -5.04343072e-02 3.70361650e+01] [ 9.36221497e-02 9.95600119e-01 -3.91098564e-03 2.47070054e+00] [ 5.05788620e-02 -8.32988346e-04 9.98719723e-01 1.34423936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.465099892999994 meters 0.018759319077430312 Centerline is valid? [True, True] Translation: X:37.10, Y:2.47, Z:1.34 [[ 9.93506191e-01 -1.01480801e-01 -5.14499271e-02 3.70980645e+01] [ 1.01410189e-01 9.94836705e-01 -3.98785970e-03 2.46713436e+00] [ 5.15889671e-02 -1.25558355e-03 9.98667613e-01 1.34371711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.525099893 meters 0.020888044011762197 Centerline is valid? [True, True] Translation: X:37.16, Y:2.46, Z:1.35 [[ 9.92481831e-01 -1.11762166e-01 -4.98902199e-02 3.71591777e+01] [ 1.11708800e-01 9.93733466e-01 -3.86549016e-03 2.46281985e+00] [ 5.00095967e-02 -1.73674787e-03 9.98747227e-01 1.34714224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.58509989299999 meters 0.022448203044514475 Centerline is valid? [True, True] Translation: X:37.22, Y:2.46, Z:1.35 [[ 9.91964340e-01 -1.16357781e-01 -4.96750874e-02 3.72206162e+01] [ 1.16310643e-01 9.93205429e-01 -3.84840593e-03 2.46322570e+00] [ 4.97853584e-02 -1.96025989e-03 9.98758016e-01 1.34916040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.645099892999994 meters 0.021344963862018066 Centerline is valid? [True, True] Translation: X:37.28, Y:2.47, Z:1.35 [[ 9.91729028e-01 -1.17379013e-01 -5.19201491e-02 3.72825077e+01] [ 1.17329038e-01 9.93084959e-01 -4.02000350e-03 2.47217450e+00] [ 5.20329832e-02 -2.10498698e-03 9.98643148e-01 1.35154957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.705099892999996 meters 0.022523042075728493 Centerline is valid? [True, True] Translation: X:37.34, Y:2.48, Z:1.35 [[ 9.91691236e-01 -1.15690683e-01 -5.62508554e-02 3.73436911e+01] [ 1.15629560e-01 9.93282877e-01 -4.35110109e-03 2.47573777e+00] [ 5.63763933e-02 -2.18931284e-03 9.98407186e-01 1.34966176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.76509989299999 meters 0.0212647590602985 Centerline is valid? [True, True] Translation: X:37.40, Y:2.49, Z:1.35 [[ 9.92253193e-01 -1.10910977e-01 -5.59674509e-02 3.74021218e+01] [ 1.10842993e-01 9.93828510e-01 -4.32711074e-03 2.48816288e+00] [ 5.61019724e-02 -1.91001033e-03 9.98423217e-01 1.35331659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.825099892999994 meters 0.017420957581771992 Centerline is valid? [True, True] Translation: X:37.46, Y:2.51, Z:1.36 [[ 9.93574710e-01 -1.01515424e-01 -5.00391332e-02 3.74605781e+01] [ 1.01449132e-01 9.94833203e-01 -3.86942514e-03 2.50981097e+00] [ 5.01733975e-02 -1.23186365e-03 9.98739762e-01 1.36186541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.885099892999996 meters 0.017567553906784807 Centerline is valid? [True, True] Translation: X:37.52, Y:2.52, Z:1.36 [[ 9.93792684e-01 -9.93336579e-02 -5.00891806e-02 3.75214827e+01] [ 9.92644862e-02 9.95053548e-01 -3.87286356e-03 2.51789334e+00] [ 5.02261225e-02 -1.12325330e-03 9.98737240e-01 1.36310959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.94509989299999 meters 0.017780395623590177 Centerline is valid? [True, True] Translation: X:37.58, Y:2.53, Z:1.37 [[ 9.93591158e-01 -1.00428559e-01 -5.18721022e-02 3.75827867e+01] [ 1.00356026e-01 9.94943520e-01 -4.00761167e-03 2.52645326e+00] [ 5.20122906e-02 -1.22375054e-03 9.98645695e-01 1.36503453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.00509989299999 meters 0.018053252408197547 Centerline is valid? [True, True] Translation: X:37.64, Y:2.53, Z:1.37 [[ 9.93427784e-01 -1.00832740e-01 -5.41663797e-02 3.76447769e+01] [ 1.00754472e-01 9.94902537e-01 -4.18077630e-03 2.53439335e+00] [ 5.43118277e-02 -1.30420564e-03 9.98523172e-01 1.36559782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.065099892999996 meters 0.017116556766920355 Centerline is valid? [True, True] Translation: X:37.71, Y:2.54, Z:1.37 [[ 9.93561937e-01 -9.97593720e-02 -5.36912014e-02 3.77061972e+01] [ 9.96811187e-02 9.95010821e-01 -4.14014361e-03 2.54171481e+00] [ 5.38363445e-02 -1.23850991e-03 9.98549004e-01 1.36863021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.125099893 meters 0.01629455925557282 Centerline is valid? [True, True] Translation: X:37.77, Y:2.55, Z:1.37 [[ 9.94169724e-01 -9.40767982e-02 -5.26888516e-02 3.77670633e+01] [ 9.39936465e-02 9.95564521e-01 -4.05939641e-03 2.55194521e+00] [ 5.28370463e-02 -9.16688281e-04 9.98602727e-01 1.37247835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.18509989299999 meters 0.013173049399726853 Centerline is valid? [True, True] Translation: X:37.83, Y:2.56, Z:1.38 [[ 9.95533091e-01 -8.07545004e-02 -4.89139600e-02 3.78260540e+01] [ 8.06668229e-02 9.96734003e-01 -3.76712297e-03 2.56397370e+00] [ 4.90584193e-02 -1.95438180e-04 9.98795892e-01 1.37884257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.245099892999995 meters 0.015041394100710892 Centerline is valid? [True, True] Translation: X:37.89, Y:2.57, Z:1.38 [[ 9.95953597e-01 -7.48152862e-02 -4.97906270e-02 3.78873812e+01] [ 7.47170443e-02 9.97197404e-01 -3.83405919e-03 2.57262717e+00] [ 4.99379302e-02 9.83365508e-05 9.98752318e-01 1.38115433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.305099893 meters 0.015555124450528264 Centerline is valid? [True, True] Translation: X:37.95, Y:2.57, Z:1.38 [[ 9.96171230e-01 -7.07228757e-02 -5.13921786e-02 3.79489540e+01] [ 7.06129452e-02 9.97495954e-01 -3.95386924e-03 2.57421152e+00] [ 5.15431193e-02 3.09777691e-04 9.98670722e-01 1.38092039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.36509989299999 meters 0.016761504665073635 Centerline is valid? [True, True] Translation: X:38.01, Y:2.58, Z:1.39 [[ 9.96673531e-01 -6.33678711e-02 -5.12482655e-02 3.80099408e+01] [ 6.32489308e-02 9.97990001e-01 -3.94094293e-03 2.58139709e+00] [ 5.13949857e-02 6.86435512e-04 9.98678169e-01 1.38547500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.425099892999995 meters 0.016610387280250948 Centerline is valid? [True, True] Translation: X:38.07, Y:2.59, Z:1.39 [[ 9.97308743e-01 -5.44757831e-02 -4.90679151e-02 3.80676710e+01] [ 5.43560446e-02 9.98514492e-01 -3.77232801e-03 2.58694940e+00] [ 4.92005248e-02 1.09503792e-03 9.98788321e-01 1.38844009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.485099893 meters 0.01747011867401938 Centerline is valid? [True, True] Translation: X:38.13, Y:2.59, Z:1.39 [[ 9.97488336e-01 -5.14222160e-02 -4.87111321e-02 3.81263264e+01] [ 5.13003456e-02 9.98676231e-01 -3.74962503e-03 2.58850087e+00] [ 4.88394638e-02 1.24130933e-03 9.98805870e-01 1.39052680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.54509989299999 meters 0.0167481985517576 Centerline is valid? [True, True] Translation: X:38.19, Y:2.58, Z:1.39 [[ 9.97178736e-01 -5.55426760e-02 -5.04933673e-02 3.81860578e+01] [ 5.54163765e-02 9.98455719e-01 -3.89893372e-03 2.58459877e+00] [ 5.06319486e-02 1.08977434e-03 9.98716786e-01 1.38954915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.605099892999995 meters 0.016826440808935174 Centerline is valid? [True, True] Translation: X:38.25, Y:2.58, Z:1.39 [[ 9.96617863e-01 -6.34901453e-02 -5.21712204e-02 3.82460438e+01] [ 6.33658679e-02 9.97982209e-01 -4.03439975e-03 2.57861766e+00] [ 5.23220944e-02 7.14880195e-04 9.98630005e-01 1.39086613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.665099893 meters 0.015461284346092058 Centerline is valid? [True, True] Translation: X:38.31, Y:2.57, Z:1.39 [[ 9.96125604e-01 -7.13521128e-02 -5.14067851e-02 3.83055466e+01] [ 7.12417163e-02 9.97451144e-01 -3.97902557e-03 2.57470662e+00] [ 5.15596685e-02 3.01301651e-04 9.98669870e-01 1.39411550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.72509989299999 meters 0.015573793295187462 Centerline is valid? [True, True] Translation: X:38.36, Y:2.57, Z:1.40 [[ 9.95905947e-01 -7.61568879e-02 -4.86977689e-02 3.83640657e+01] [ 7.60630926e-02 9.97095845e-01 -3.77902801e-03 2.57340569e+00] [ 4.88441421e-02 5.94535591e-05 9.98806411e-01 1.39809622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.785099892999995 meters 0.015964396369229694 Centerline is valid? [True, True] Translation: X:38.43, Y:2.57, Z:1.40 [[ 9.95297108e-01 -8.51161926e-02 -4.62482432e-02 3.84262022e+01] [ 8.50411696e-02 9.96370968e-01 -3.59090280e-03 2.56839729e+00] [ 4.63860508e-02 -3.58989521e-04 9.98923523e-01 1.40244059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.845099893 meters 0.016944067800388846 Centerline is valid? [True, True] Translation: X:38.49, Y:2.56, Z:1.40 [[ 9.94286097e-01 -9.52309168e-02 -4.82310095e-02 3.84879626e+01] [ 9.51612835e-02 9.95454830e-01 -3.74313092e-03 2.56194471e+00] [ 4.83682532e-02 -8.67981733e-04 9.98829194e-01 1.40204050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.90509989299999 meters 0.018858670231925848 Centerline is valid? [True, True] Translation: X:38.55, Y:2.56, Z:1.40 [[ 9.93390807e-01 -1.03700332e-01 -4.92031076e-02 3.85496736e+01] [ 1.03638283e-01 9.94607728e-01 -3.81751969e-03 2.55908057e+00] [ 4.93336691e-02 -1.30703663e-03 9.98781498e-01 1.40335219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.965099892999994 meters 0.019485195913726647 Centerline is valid? [True, True] Translation: X:38.61, Y:2.56, Z:1.40 [[ 9.93030997e-01 -1.06632677e-01 -5.01887502e-02 3.86106984e+01] [ 1.06571959e-01 9.94297375e-01 -3.89195965e-03 2.55981309e+00] [ 5.03175527e-02 -1.48387686e-03 9.98732167e-01 1.40440918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.025099893 meters 0.019642060925859423 Centerline is valid? [True, True] Translation: X:38.67, Y:2.56, Z:1.40 [[ 9.92784588e-01 -1.07967866e-01 -5.21699330e-02 3.86716434e+01] [ 1.07904244e-01 9.94153071e-01 -4.04283872e-03 2.56131628e+00] [ 5.23013958e-02 -1.61568922e-03 9.98630038e-01 1.40400083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.08509989299999 meters 0.018985615206911572 Centerline is valid? [True, True] Translation: X:38.73, Y:2.57, Z:1.41 [[ 9.93116610e-01 -1.05119331e-01 -5.16655093e-02 3.87323201e+01] [ 1.05053179e-01 9.94458553e-01 -4.00190201e-03 2.56911702e+00] [ 5.17998849e-02 -1.45327063e-03 9.98656427e-01 1.40724066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.145099892999994 meters 0.018556581476745323 Centerline is valid? [True, True] Translation: X:38.79, Y:2.58, Z:1.41 [[ 9.93520579e-01 -1.01905262e-01 -5.03207353e-02 3.87928989e+01] [ 1.01838483e-01 9.94793318e-01 -3.89592697e-03 2.57727979e+00] [ 5.04557467e-02 -1.25390370e-03 9.98725511e-01 1.41126407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.205099892999996 meters 0.0177268399898622 Centerline is valid? [True, True] Translation: X:38.85, Y:2.59, Z:1.42 [[ 9.93878136e-01 -9.86199337e-02 -4.98032167e-02 3.88538485e+01] [ 9.85504911e-02 9.95124589e-01 -3.85401906e-03 2.58577339e+00] [ 4.99404886e-02 -1.07770619e-03 9.98751614e-01 1.41502166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.26509989299999 meters 0.018503047808057976 Centerline is valid? [True, True] Translation: X:38.91, Y:2.59, Z:1.42 [[ 9.94097422e-01 -9.64869155e-02 -4.96043418e-02 3.89142888e+01] [ 9.64155004e-02 9.95333781e-01 -3.83607632e-03 2.59291847e+00] [ 4.97430083e-02 -9.69193859e-04 9.98761580e-01 1.41742531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.325099892999994 meters 0.016977551427758166 Centerline is valid? [True, True] Translation: X:38.98, Y:2.60, Z:1.42 [[ 9.94336384e-01 -9.34921742e-02 -5.05407728e-02 3.89761134e+01] [ 9.34144878e-02 9.95619659e-01 -3.90224818e-03 2.60361077e+00] [ 5.06842167e-02 -8.41093062e-04 9.98714375e-01 1.42041898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.385099892999996 meters 0.015502491699432332 Centerline is valid? [True, True] Translation: X:39.04, Y:2.62, Z:1.42 [[ 9.94938101e-01 -8.72830286e-02 -4.97980660e-02 3.90360701e+01] [ 8.71999971e-02 9.96183418e-01 -3.84163950e-03 2.61810716e+00] [ 4.99433175e-02 -5.20197699e-04 9.98751918e-01 1.42486256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.44509989299999 meters 0.015779537376777158 Centerline is valid? [True, True] Translation: X:39.10, Y:2.63, Z:1.43 [[ 9.95231023e-01 -8.32701283e-02 -5.08064586e-02 3.90971379e+01] [ 8.31785835e-02 9.96526958e-01 -3.91723553e-03 2.63009171e+00] [ 5.09561943e-02 -3.27454938e-04 9.98700836e-01 1.42648928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.50509989299999 meters 0.01602706219486168 Centerline is valid? [True, True] Translation: X:39.16, Y:2.64, Z:1.43 [[ 9.95125571e-01 -8.48890725e-02 -5.01890672e-02 3.91571110e+01] [ 8.48019593e-02 9.96390324e-01 -3.86642571e-03 2.63621301e+00] [ 5.03361182e-02 -4.08552135e-04 9.98732251e-01 1.42737330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.565099892999996 meters 0.015447627488225828 Centerline is valid? [True, True] Translation: X:39.22, Y:2.64, Z:1.43 [[ 9.94805542e-01 -8.82987151e-02 -5.06484901e-02 3.92189016e+01] [ 8.82144852e-02 9.96093867e-01 -3.90040749e-03 2.64090693e+00] [ 5.07950513e-02 -5.87783492e-04 9.98708925e-01 1.43037494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.62509989299999 meters 0.01668019759311535 Centerline is valid? [True, True] Translation: X:39.28, Y:2.65, Z:1.43 [[ 9.94671952e-01 -8.88489330e-02 -5.22836112e-02 3.92793802e+01] [ 8.87601204e-02 9.96044908e-01 -4.02277222e-03 2.64645797e+00] [ 5.24342438e-02 -6.39360938e-04 9.98624174e-01 1.43109156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.68509989299999 meters 0.014344731557319112 Centerline is valid? [True, True] Translation: X:39.34, Y:2.66, Z:1.43 [[ 9.95379368e-01 -8.04968459e-02 -5.23466446e-02 3.93401239e+01] [ 8.03963806e-02 9.96754843e-01 -4.02551980e-03 2.66136687e+00] [ 5.25008132e-02 -2.01561407e-04 9.98620861e-01 1.43439787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.745099892999995 meters 0.014430840551480835 Centerline is valid? [True, True] Translation: X:39.40, Y:2.67, Z:1.44 [[ 9.95955971e-01 -7.34961918e-02 -5.16721674e-02 3.94010168e+01] [ 7.33890171e-02 9.97295484e-01 -3.97100242e-03 2.67350484e+00] [ 5.18242728e-02 1.62773993e-04 9.98656206e-01 1.43818727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.805099893 meters 0.01590851030222841 Centerline is valid? [True, True] Translation: X:39.46, Y:2.69, Z:1.44 [[ 9.96692136e-01 -6.47596519e-02 -4.91016553e-02 3.94592796e+01] [ 6.46523470e-02 9.97900719e-01 -3.77212033e-03 2.68689153e+00] [ 4.92428583e-02 5.85105415e-04 9.98786663e-01 1.44288044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.86509989299999 meters 0.016605807196222892 Centerline is valid? [True, True] Translation: X:39.52, Y:2.69, Z:1.44 [[ 9.96719486e-01 -6.41566755e-02 -4.93374748e-02 3.95191553e+01] [ 6.40475471e-02 9.97939646e-01 -3.79127136e-03 2.69170778e+00] [ 4.94790575e-02 6.18889793e-04 9.98774970e-01 1.44415054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.925099892999995 meters 0.014839004570968362 Centerline is valid? [True, True] Translation: X:39.58, Y:2.69, Z:1.45 [[ 9.96465831e-01 -6.74377438e-02 -5.00799273e-02 3.95784921e+01] [ 6.73293505e-02 9.97723376e-01 -3.85016899e-03 2.69303666e+00] [ 5.02255608e-02 4.64712865e-04 9.98737792e-01 1.44627899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.985099893 meters 0.015920257851351854 Centerline is valid? [True, True] Translation: X:39.64, Y:2.69, Z:1.44 [[ 9.95083494e-01 -8.28415760e-02 -5.42781034e-02 3.96376750e+01] [ 8.27368370e-02 9.96562673e-01 -4.17777328e-03 2.68678873e+00] [ 5.44376252e-02 -3.33565359e-04 9.98517117e-01 1.44418925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.04509989299999 meters 0.016676602449034628 Centerline is valid? [True, True] Translation: X:39.70, Y:2.68, Z:1.45 [[ 9.93781348e-01 -9.70629124e-02 -5.45657644e-02 3.96989111e+01] [ 9.69778645e-02 9.95277632e-01 -4.21056536e-03 2.68304939e+00] [ 5.47167745e-02 -1.10728999e-03 9.98501301e-01 1.44729328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.105099892999995 meters 0.018178538162346068 Centerline is valid? [True, True] Translation: X:39.76, Y:2.68, Z:1.45 [[ 9.93143737e-01 -1.03596665e-01 -5.41594755e-02 3.97588361e+01] [ 1.03522651e-01 9.94618322e-01 -4.17783160e-03 2.68386539e+00] [ 5.43008161e-02 -1.45754519e-03 9.98523559e-01 1.44942648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.165099893 meters 0.019448001820287778 Centerline is valid? [True, True] Translation: X:39.82, Y:2.69, Z:1.45 [[ 9.92772887e-01 -1.06841718e-01 -5.46520174e-02 3.98206986e+01] [ 1.06771489e-01 9.94274666e-01 -4.21164357e-03 2.68677168e+00] [ 5.47890956e-02 -1.65407172e-03 9.98496579e-01 1.45032350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.22509989299999 meters 0.018550865183951177 Centerline is valid? [True, True] Translation: X:39.88, Y:2.69, Z:1.46 [[ 9.92849815e-01 -1.08252782e-01 -5.03048740e-02 3.98822169e+01] [ 1.08195225e-01 9.94122118e-01 -3.87389664e-03 2.69011908e+00] [ 5.04285480e-02 -1.59654959e-03 9.98726395e-01 1.45831235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.285099892999995 meters 0.01926752564456262 Centerline is valid? [True, True] Translation: X:39.94, Y:2.69, Z:1.46 [[ 9.92772945e-01 -1.09104062e-01 -4.99818236e-02 3.99438748e+01] [ 1.09048519e-01 9.94028992e-01 -3.84503870e-03 2.69281329e+00] [ 5.01028911e-02 -1.63319342e-03 9.98742726e-01 1.46175197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.345099893 meters 0.019125435077611837 Centerline is valid? [True, True] Translation: X:40.01, Y:2.70, Z:1.46 [[ 9.92705229e-01 -1.07381823e-01 -5.48221907e-02 4.00063047e+01] [ 1.07312719e-01 9.94216398e-01 -4.21129528e-03 2.69795121e+00] [ 5.49573375e-02 -1.70254348e-03 9.98487252e-01 1.45936030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.40509989299999 meters 0.017195828243184573 Centerline is valid? [True, True] Translation: X:40.07, Y:2.71, Z:1.46 [[ 9.93239243e-01 -1.01352326e-01 -5.65995744e-02 4.00672690e+01] [ 1.01269115e-01 9.94849585e-01 -4.34387036e-03 2.71090308e+00] [ 5.67483245e-02 -1.41728627e-03 9.98387509e-01 1.46312677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.465099892999994 meters 0.01561395997943134 Centerline is valid? [True, True] Translation: X:40.13, Y:2.72, Z:1.47 [[ 9.94380920e-01 -8.96770897e-02 -5.62548293e-02 4.01272709e+01] [ 8.95763560e-02 9.95970612e-01 -4.31476937e-03 2.72346159e+00] [ 5.64150927e-02 -7.48578284e-04 9.98407120e-01 1.46543944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.525099893 meters 0.015442049758035184 Centerline is valid? [True, True] Translation: X:40.19, Y:2.74, Z:1.47 [[ 9.95458054e-01 -7.82939491e-02 -5.41601396e-02 4.01878799e+01] [ 7.81838097e-02 9.96930312e-01 -4.15265063e-03 2.73546577e+00] [ 5.43190123e-02 -1.00656532e-04 9.98523628e-01 1.46983088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.58509989299999 meters 0.014717093391032502 Centerline is valid? [True, True] Translation: X:40.25, Y:2.74, Z:1.48 [[ 9.96174243e-01 -7.07884605e-02 -5.12432509e-02 4.02478623e+01] [ 7.06800180e-02 9.97491308e-01 -3.92755327e-03 2.74379312e+00] [ 5.13927229e-02 2.90653507e-04 9.98678479e-01 1.47558153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.645099892999994 meters 0.013304792177854564 Centerline is valid? [True, True] Translation: X:40.31, Y:2.75, Z:1.48 [[ 9.96759287e-01 -6.38225766e-02 -4.89653251e-02 4.03079169e+01] [ 6.37151644e-02 9.97961068e-01 -3.75296101e-03 2.74924040e+00] [ 4.91050118e-02 6.20965001e-04 9.98793428e-01 1.48230591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.705099892999996 meters 0.015918166053797277 Centerline is valid? [True, True] Translation: X:40.37, Y:2.75, Z:1.48 [[ 9.96732997e-01 -6.02419486e-02 -5.37981396e-02 4.03674543e+01] [ 6.01070309e-02 9.98183420e-01 -4.12380736e-03 2.75262286e+00] [ 5.39488371e-02 8.76688428e-04 9.98543316e-01 1.48014507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.76509989299999 meters 0.016729257748615705 Centerline is valid? [True, True] Translation: X:40.42, Y:2.75, Z:1.48 [[ 9.96563915e-01 -6.15481428e-02 -5.54273302e-02 4.04246015e+01] [ 6.14067017e-02 9.98103767e-01 -4.25295753e-03 2.75201001e+00] [ 5.55839887e-02 8.34734478e-04 9.98453666e-01 1.47853557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.825099892999994 meters 0.014456838547218872 Centerline is valid? [True, True] Translation: X:40.48, Y:2.75, Z:1.48 [[ 9.96440981e-01 -6.74423727e-02 -5.05657772e-02 4.04840250e+01] [ 6.73317651e-02 9.97723060e-01 -3.88959432e-03 2.74858965e+00] [ 5.07129655e-02 4.71068146e-04 9.98713159e-01 1.48488939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.885099892999996 meters 0.014995209103150052 Centerline is valid? [True, True] Translation: X:40.54, Y:2.74, Z:1.49 [[ 9.96024900e-01 -7.60490485e-02 -4.63782388e-02 4.05437825e+01] [ 7.59648793e-02 9.97104077e-01 -3.57721609e-03 2.74358796e+00] [ 4.65159748e-02 3.98789900e-05 9.98917545e-01 1.48905525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.94509989299999 meters 0.016603176228478792 Centerline is valid? [True, True] Translation: X:40.60, Y:2.74, Z:1.49 [[ 9.95049580e-01 -8.82870406e-02 -4.56259938e-02 4.06045374e+01] [ 8.82181715e-02 9.96094940e-01 -3.52474403e-03 2.73802638e+00] [ 4.57590108e-02 -5.17746681e-04 9.98952374e-01 1.49189601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.00509989299999 meters 0.015790451440602586 Centerline is valid? [True, True] Translation: X:40.67, Y:2.74, Z:1.49 [[ 9.94346102e-01 -9.48936894e-02 -4.76551995e-02 4.06672074e+01] [ 9.48261919e-02 9.95487041e-01 -3.68026696e-03 2.73714504e+00] [ 4.77893676e-02 -8.59501987e-04 9.98857066e-01 1.49401931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.065099892999996 meters 0.017540813889216588 Centerline is valid? [True, True] Translation: X:40.73, Y:2.74, Z:1.50 [[ 9.94194132e-01 -9.54105502e-02 -4.97479184e-02 4.07294009e+01] [ 9.53378318e-02 9.95437576e-01 -3.83802817e-03 2.74110929e+00] [ 4.98871356e-02 -9.27113594e-04 9.98754431e-01 1.49565817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.12509989299999 meters 0.01502893858980247 Centerline is valid? [True, True] Translation: X:40.79, Y:2.75, Z:1.50 [[ 9.95149750e-01 -8.50169617e-02 -4.94882950e-02 4.07904684e+01] [ 8.49323236e-02 9.96379421e-01 -3.81444590e-03 2.75014839e+00] [ 4.96334113e-02 -4.07211002e-04 9.98767420e-01 1.49934175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.18509989299999 meters 0.013478789914508415 Centerline is valid? [True, True] Translation: X:40.85, Y:2.76, Z:1.50 [[ 9.96423560e-01 -6.88358165e-02 -4.90073342e-02 4.08496684e+01] [ 6.87333636e-02 9.97627925e-01 -3.77473818e-03 2.76389456e+00] [ 4.91509223e-02 3.92799133e-04 9.98791286e-01 1.50325366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.245099892999995 meters 0.017602338256818336 Centerline is valid? [True, True] Translation: X:40.91, Y:2.77, Z:1.50 [[ 9.96999984e-01 -5.76116866e-02 -5.16906678e-02 4.09094698e+01] [ 5.74826461e-02 9.98338569e-01 -3.98082610e-03 2.76846157e+00] [ 5.18341294e-02 9.97567201e-04 9.98655210e-01 1.50128371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.30509989299999 meters 0.018408121432915273 Centerline is valid? [True, True] Translation: X:40.97, Y:2.77, Z:1.50 [[ 9.96977538e-01 -5.70832843e-02 -5.26999673e-02 4.09669204e+01] [ 5.69483153e-02 9.98368871e-01 -4.06040020e-03 2.76950486e+00] [ 5.28457878e-02 1.04695345e-03 9.98602136e-01 1.50383170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.36509989299999 meters 0.016469483477104477 Centerline is valid? [True, True] Translation: X:41.03, Y:2.76, Z:1.51 [[ 9.96869568e-01 -6.19941577e-02 -4.90692166e-02 4.10259502e+01] [ 6.18829034e-02 9.98076241e-01 -3.78470782e-03 2.76255493e+00] [ 4.92094490e-02 7.36314464e-04 9.98788210e-01 1.50967610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.425099892999995 meters 0.014753033936107132 Centerline is valid? [True, True] Translation: X:41.09, Y:2.76, Z:1.51 [[ 9.96603103e-01 -6.88061272e-02 -4.52545182e-02 4.10853797e+01] [ 6.87183855e-02 9.97629981e-01 -3.49355307e-03 2.75779658e+00] [ 4.53876420e-02 3.71868402e-04 9.98969381e-01 1.51498641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.485099893 meters 0.01581641733627935 Centerline is valid? [True, True] Translation: X:41.14, Y:2.76, Z:1.52 [[ 9.96128478e-01 -7.52363768e-02 -4.54702491e-02 4.11445902e+01] [ 7.51543364e-02 9.97165724e-01 -3.51353710e-03 2.75558108e+00] [ 4.56057197e-02 8.26479680e-05 9.98959514e-01 1.51647127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.54509989299999 meters 0.018173393494689726 Centerline is valid? [True, True] Translation: X:41.21, Y:2.74, Z:1.51 [[ 9.94219975e-01 -9.62562415e-02 -4.75539472e-02 4.12054258e+01] [ 9.61903624e-02 9.95356164e-01 -3.67716157e-03 2.73619830e+00] [ 4.76870642e-02 -9.18323936e-04 9.98861903e-01 1.51412444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.605099892999995 meters 0.019971290892067155 Centerline is valid? [True, True] Translation: X:41.27, Y:2.73, Z:1.52 [[ 9.93046377e-01 -1.07941259e-01 -4.69848759e-02 4.12664369e+01] [ 1.07889923e-01 9.94156202e-01 -3.63467894e-03 2.72908993e+00] [ 4.71026376e-02 -1.45978991e-03 9.98888988e-01 1.51762139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.665099893 meters 0.020140399572761283 Centerline is valid? [True, True] Translation: X:41.33, Y:2.73, Z:1.52 [[ 9.92471813e-01 -1.11977668e-01 -4.96054735e-02 4.13282447e+01] [ 1.11925479e-01 9.93709194e-01 -3.83738954e-03 2.72931268e+00] [ 4.97231170e-02 -1.74361541e-03 9.98761519e-01 1.51696809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.72509989299999 meters 0.019398799543076526 Centerline is valid? [True, True] Translation: X:41.39, Y:2.74, Z:1.52 [[ 9.93093853e-01 -1.07146341e-01 -4.77939448e-02 4.13875875e+01] [ 1.07092374e-01 9.94242206e-01 -3.69577399e-03 2.74487661e+00] [ 4.79147458e-02 -1.44811661e-03 9.98850379e-01 1.52207234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.785099892999995 meters 0.020561012397225457 Centerline is valid? [True, True] Translation: X:41.45, Y:2.75, Z:1.52 [[ 9.93121597e-01 -1.06788236e-01 -4.80184055e-02 4.14497747e+01] [ 1.06733365e-01 9.94280747e-01 -3.71268790e-03 2.75209053e+00] [ 4.81402475e-02 -1.43801545e-03 9.98839551e-01 1.52381637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.845099893 meters 0.018257467854838835 Centerline is valid? [True, True] Translation: X:41.51, Y:2.76, Z:1.53 [[ 9.93225843e-01 -1.05799526e-01 -4.80508534e-02 4.15105286e+01] [ 1.05743581e-01 9.94386503e-01 -3.71195000e-03 2.75973545e+00] [ 4.81738426e-02 -1.39426466e-03 9.98837993e-01 1.52777731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.90509989299999 meters 0.018395085348744136 Centerline is valid? [True, True] Translation: X:41.57, Y:2.77, Z:1.53 [[ 9.93324617e-01 -1.04448418e-01 -4.89564395e-02 4.15712954e+01] [ 1.04388796e-01 9.94529381e-01 -3.78009732e-03 2.76750425e+00] [ 4.90834426e-02 -1.35564004e-03 9.98793761e-01 1.52967558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.965099892999994 meters 0.017846861319851647 Centerline is valid? [True, True] Translation: X:41.63, Y:2.78, Z:1.53 [[ 9.93805387e-01 -9.95163147e-02 -4.94707557e-02 4.16325354e+01] [ 9.94494245e-02 9.95035294e-01 -3.81784292e-03 2.77861675e+00] [ 4.96050856e-02 -1.12564532e-03 9.98768276e-01 1.53189565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.025099893 meters 0.015956177557397224 Centerline is valid? [True, True] Translation: X:41.69, Y:2.80, Z:1.53 [[ 9.95262409e-01 -8.43628498e-02 -4.83285298e-02 4.16912149e+01] [ 8.42812468e-02 9.96435034e-01 -3.72745446e-03 2.79711371e+00] [ 4.84706989e-02 -3.63393439e-04 9.98824539e-01 1.53337493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.08509989299999 meters 0.014958890057111738 Centerline is valid? [True, True] Translation: X:41.75, Y:2.81, Z:1.54 [[ 9.96217223e-01 -7.29254714e-02 -4.72558929e-02 4.17502579e+01] [ 7.28345794e-02 9.97337375e-01 -3.64474619e-03 2.81349319e+00] [ 4.73958630e-02 1.89095851e-04 9.98876167e-01 1.53653015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.145099892999994 meters 0.014006326843831119 Centerline is valid? [True, True] Translation: X:41.81, Y:2.82, Z:1.54 [[ 9.96187843e-01 -7.26145920e-02 -4.83415210e-02 4.18100964e+01] [ 7.25190959e-02 9.97360054e-01 -3.72871305e-03 2.81944894e+00] [ 4.84846610e-02 2.08815212e-04 9.98823905e-01 1.53819608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.205099892999996 meters 0.01453409330809945 Centerline is valid? [True, True] Translation: X:41.87, Y:2.82, Z:1.54 [[ 9.95743535e-01 -7.88671924e-02 -4.76946289e-02 4.18698934e+01] [ 7.87813197e-02 9.96885127e-01 -3.68052699e-03 2.82158717e+00] [ 4.78363390e-02 -9.25848429e-05 9.98855183e-01 1.54030632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.26509989299999 meters 0.01602242787209737 Centerline is valid? [True, True] Translation: X:41.93, Y:2.82, Z:1.54 [[ 9.94597346e-01 -9.31425452e-02 -4.58321519e-02 4.19305516e+01] [ 9.30783123e-02 9.95652504e-01 -3.53825967e-03 2.81884127e+00] [ 4.59624593e-02 -7.46835665e-04 9.98942889e-01 1.54490581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.325099892999994 meters 0.02411539617508714 Centerline is valid? [True, True] Translation: X:41.99, Y:2.81, Z:1.55 [[ 9.91310828e-01 -1.23380157e-01 -4.56089891e-02 4.19923247e+01] [ 1.23348390e-01 9.92357182e-01 -3.52103660e-03 2.80714856e+00] [ 4.56948340e-02 -2.13535366e-03 9.98953163e-01 1.54639126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.385099892999996 meters 0.0283477323564991 Centerline is valid? [True, True] Translation: X:42.05, Y:2.81, Z:1.55 [[ 9.90960379e-01 -1.26204420e-01 -4.54969359e-02 4.20529723e+01] [ 1.26175775e-01 9.92001682e-01 -3.51237892e-03 2.80630420e+00] [ 4.55763147e-02 -2.25998282e-03 9.98958303e-01 1.54817879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.44509989299999 meters 0.025015617320380615 Centerline is valid? [True, True] Translation: X:42.11, Y:2.81, Z:1.55 [[ 9.90487440e-01 -1.30047153e-01 -4.49707525e-02 4.21134740e+01] [ 1.30023152e-01 9.91504883e-01 -3.47088790e-03 2.81451415e+00] [ 4.50400998e-02 -2.40936810e-03 9.98982274e-01 1.55204411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.50509989299999 meters 0.026776571775329792 Centerline is valid? [True, True] Translation: X:42.17, Y:2.82, Z:1.55 [[ 9.90747086e-01 -1.27830659e-01 -4.56019168e-02 4.21738724e+01] [ 1.27803725e-01 9.91793241e-01 -3.51774288e-03 2.82241706e+00] [ 4.56773483e-02 -2.34290134e-03 9.98953498e-01 1.55234071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.565099892999996 meters 0.023406932605614994 Centerline is valid? [True, True] Translation: X:42.23, Y:2.84, Z:1.55 [[ 9.91775401e-01 -1.19331159e-01 -4.62777336e-02 4.22334660e+01] [ 1.19294257e-01 9.92852530e-01 -3.56831779e-03 2.83553611e+00] [ 4.63727764e-02 -1.98169805e-03 9.98922238e-01 1.55468934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.62509989299999 meters 0.019905846769322496 Centerline is valid? [True, True] Translation: X:42.29, Y:2.86, Z:1.56 [[ 9.93259774e-01 -1.05809856e-01 -4.73211926e-02 4.22930497e+01] [ 1.05755934e-01 9.94385423e-01 -3.64874196e-03 2.85717375e+00] [ 4.74415769e-02 -1.38034830e-03 9.98873061e-01 1.55563277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.68509989299999 meters 0.015493167731473183 Centerline is valid? [True, True] Translation: X:42.35, Y:2.88, Z:1.56 [[ 9.94857375e-01 -8.68639843e-02 -5.20908082e-02 4.23513690e+01] [ 8.67727026e-02 9.96220042e-01 -4.01566067e-03 2.88388458e+00] [ 5.22427235e-02 -5.25050584e-04 9.98634278e-01 1.55506780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.745099892999995 meters 0.015448775274695244 Centerline is valid? [True, True] Translation: X:42.41, Y:2.91, Z:1.56 [[ 9.96094941e-01 -7.10710863e-02 -5.23810036e-02 4.24107251e+01] [ 7.09569560e-02 9.97471206e-01 -4.03767144e-03 2.90824611e+00] [ 5.25355045e-02 3.05107525e-04 9.98619010e-01 1.55909933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.80509989299999 meters 0.01764144275650553 Centerline is valid? [True, True] Translation: X:42.47, Y:2.92, Z:1.56 [[ 9.96979847e-01 -5.97427991e-02 -4.96183687e-02 4.24685032e+01] [ 5.96264456e-02 9.98213439e-01 -3.82318783e-03 2.92453909e+00] [ 4.97581304e-02 8.53074252e-04 9.98760933e-01 1.56115161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.86509989299999 meters 0.015970323098931052 Centerline is valid? [True, True] Translation: X:42.53, Y:2.93, Z:1.57 [[ 9.97056300e-01 -6.05582386e-02 -4.70258862e-02 4.25264328e+01] [ 6.04546000e-02 9.98164368e-01 -3.62430509e-03 2.93092635e+00] [ 4.71590455e-02 7.70705084e-04 9.98887096e-01 1.56766780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.925099892999995 meters 0.015494823850037073 Centerline is valid? [True, True] Translation: X:42.59, Y:2.93, Z:1.57 [[ 9.96721952e-01 -6.50444908e-02 -4.81099242e-02 4.25856868e+01] [ 6.49407185e-02 9.97882195e-01 -3.71856030e-03 2.93306347e+00] [ 4.82499086e-02 5.82077642e-04 9.98835125e-01 1.57009496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98509989299999 meters 0.015404320729908024 Centerline is valid? [True, True] Translation: X:42.65, Y:2.93, Z:1.57 [[ 9.96291311e-01 -7.06338829e-02 -4.91373321e-02 4.26462574e+01] [ 7.05323148e-02 9.97502257e-01 -3.80006736e-03 2.93013215e+00] [ 4.92830131e-02 3.20204323e-04 9.98784803e-01 1.56956536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.04509989299999 meters 0.01438072746360058 Centerline is valid? [True, True] Translation: X:42.71, Y:2.93, Z:1.57 [[ 9.95788146e-01 -7.78691291e-02 -4.83980017e-02 4.27075482e+01] [ 7.77789857e-02 9.96963589e-01 -3.74590696e-03 2.92817310e+00] [ 4.85427360e-02 -3.42177321e-05 9.98821106e-01 1.57275681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.105099892999995 meters 0.01464071110705618 Centerline is valid? [True, True] Translation: X:42.77, Y:2.93, Z:1.58 [[ 9.95803677e-01 -7.89300626e-02 -4.63150396e-02 4.27692638e+01] [ 7.88487032e-02 9.96880152e-01 -3.58380801e-03 2.92770809e+00] [ 4.64534140e-02 -8.31116249e-05 9.98920454e-01 1.57577286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.165099893 meters 0.014483847829419558 Centerline is valid? [True, True] Translation: X:42.83, Y:2.93, Z:1.58 [[ 9.96117874e-01 -7.49093828e-02 -4.62359652e-02 4.28312984e+01] [ 7.48240562e-02 9.97190340e-01 -3.57585301e-03 2.93266122e+00] [ 4.63739228e-02 1.02408646e-04 9.98924146e-01 1.57841069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.22509989299999 meters 0.015000775146868078 Centerline is valid? [True, True] Translation: X:42.89, Y:2.94, Z:1.58 [[ 9.96337223e-01 -7.10068334e-02 -4.76462854e-02 4.28932845e+01] [ 7.09119292e-02 9.97475787e-01 -3.68134604e-03 2.93832019e+00] [ 4.77874167e-02 2.89172072e-04 9.98857487e-01 1.58002289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.285099892999995 meters 0.014548177124184195 Centerline is valid? [True, True] Translation: X:42.95, Y:2.94, Z:1.58 [[ 9.96185010e-01 -7.10534037e-02 -5.06639802e-02 4.29538927e+01] [ 7.09463236e-02 9.97472467e-01 -3.91105831e-03 2.94151888e+00] [ 5.08138194e-02 3.01714522e-04 9.98708098e-01 1.58014523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.345099893 meters 0.014543974627498532 Centerline is valid? [True, True] Translation: X:43.01, Y:2.95, Z:1.58 [[ 9.96102611e-01 -7.19236070e-02 -5.10546978e-02 4.30133244e+01] [ 7.18160321e-02 9.97410110e-01 -3.94078818e-03 2.94631298e+00] [ 5.12059075e-02 2.58883582e-04 9.98688083e-01 1.58268623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.40509989299999 meters 0.014608578861566487 Centerline is valid? [True, True] Translation: X:43.07, Y:2.95, Z:1.59 [[ 9.95984248e-01 -7.36768731e-02 -5.08635024e-02 4.30733925e+01] [ 7.35723104e-02 9.97282151e-01 -3.92753782e-03 2.94937339e+00] [ 5.10146318e-02 1.69620416e-04 9.98697892e-01 1.58500885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.465099892999994 meters 0.012523900567433768 Centerline is valid? [True, True] Translation: X:43.13, Y:2.95, Z:1.59 [[ 9.95894694e-01 -7.58785961e-02 -4.93578420e-02 4.31323945e+01] [ 7.57828249e-02 9.97117062e-01 -3.81154525e-03 2.95499554e+00] [ 4.95047611e-02 5.54209984e-05 9.98773886e-01 1.59170805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.525099893 meters 0.01465913658619656 Centerline is valid? [True, True] Translation: X:43.19, Y:2.96, Z:1.59 [[ 9.95560209e-01 -7.95729436e-02 -5.02793928e-02 4.31942612e+01] [ 7.94782050e-02 9.96829037e-01 -3.88394517e-03 2.95787234e+00] [ 5.04290157e-02 -1.29414625e-04 9.98727639e-01 1.59066684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.58509989299999 meters 0.015117265557791484 Centerline is valid? [True, True] Translation: X:43.25, Y:2.96, Z:1.59 [[ 9.94930179e-01 -8.76471648e-02 -4.93144430e-02 4.32549258e+01] [ 8.75660154e-02 9.96151441e-01 -3.80777335e-03 2.96085854e+00] [ 4.94583940e-02 -5.29800657e-04 9.98776044e-01 1.59449472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.645099892999994 meters 0.014690910634203191 Centerline is valid? [True, True] Translation: X:43.32, Y:2.96, Z:1.60 [[ 9.94287799e-01 -9.43729943e-02 -4.98549053e-02 4.33166827e+01] [ 9.42985589e-02 9.95536525e-01 -3.84829316e-03 2.96293334e+00] [ 4.99955541e-02 -8.74934789e-04 9.98749057e-01 1.59626447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.705099892999996 meters 0.016476452757897563 Centerline is valid? [True, True] Translation: X:43.38, Y:2.97, Z:1.60 [[ 9.94167446e-01 -9.58991618e-02 -4.93400522e-02 4.33785441e+01] [ 9.58282730e-02 9.95390606e-01 -3.80574003e-03 2.96777204e+00] [ 4.94775918e-02 -9.44629150e-04 9.98774787e-01 1.59770942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.76509989299999 meters 0.017401764989574235 Centerline is valid? [True, True] Translation: X:43.44, Y:2.97, Z:1.60 [[ 9.94131067e-01 -9.62898506e-02 -4.93121366e-02 4.34401231e+01] [ 9.62197014e-02 9.95352867e-01 -3.79996588e-03 2.97413344e+00] [ 4.94488747e-02 -9.67134931e-04 9.98776188e-01 1.60021022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.825099892999994 meters 0.0165486834454176 Centerline is valid? [True, True] Translation: X:43.50, Y:2.98, Z:1.60 [[ 9.94031862e-01 -9.52357750e-02 -5.32052984e-02 4.35020366e+01] [ 9.51528238e-02 9.95454250e-01 -4.09580189e-03 2.98141011e+00] [ 5.33535073e-02 -9.91276802e-04 9.98575195e-01 1.59968099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.885099892999996 meters 0.01574992772651826 Centerline is valid? [True, True] Translation: X:43.56, Y:2.99, Z:1.60 [[ 9.94391555e-01 -9.17087927e-02 -5.26776290e-02 4.35634508e+01] [ 9.16227278e-02 9.95785550e-01 -4.05150770e-03 2.98836106e+00] [ 5.28271807e-02 -7.97683019e-04 9.98603351e-01 1.60274480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.94509989299999 meters 0.015693746842505196 Centerline is valid? [True, True] Translation: X:43.62, Y:3.00, Z:1.61 [[ 9.95090170e-01 -8.50568744e-02 -5.06051530e-02 4.36238940e+01] [ 8.49689801e-02 9.96376005e-01 -3.88956075e-03 2.99571048e+00] [ 5.07525941e-02 -4.29404569e-04 9.98711164e-01 1.60903894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.00509989299999 meters 0.014617603724594317 Centerline is valid? [True, True] Translation: X:43.69, Y:3.00, Z:1.61 [[ 9.95492800e-01 -7.97148742e-02 -5.13772694e-02 4.36859904e+01] [ 7.96172806e-02 9.96817693e-01 -3.94663479e-03 3.00159776e+00] [ 5.15283766e-02 -1.61671954e-04 9.98671518e-01 1.61168776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.065099892999996 meters 0.01451900651235522 Centerline is valid? [True, True] Translation: X:43.75, Y:3.01, Z:1.61 [[ 9.95898782e-01 -7.36680867e-02 -5.25226567e-02 4.37455103e+01] [ 7.35578594e-02 9.97282803e-01 -4.03127885e-03 3.00973538e+00] [ 5.26769190e-02 1.51291497e-04 9.98611596e-01 1.61341996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.12509989299999 meters 0.015798777786039185 Centerline is valid? [True, True] Translation: X:43.81, Y:3.02, Z:1.62 [[ 9.96442487e-01 -6.54701140e-02 -5.30663274e-02 4.38056905e+01] [ 6.53460086e-02 9.97854356e-01 -4.07224511e-03 3.01782491e+00] [ 5.32190763e-02 5.90085360e-04 9.98582686e-01 1.61501431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.18509989299999 meters 0.016485034669056136 Centerline is valid? [True, True] Translation: X:43.86, Y:3.02, Z:1.62 [[ 9.97010832e-01 -5.77449762e-02 -5.13314489e-02 4.38643483e+01] [ 5.76185979e-02 9.98330895e-01 -3.93964102e-03 3.02498983e+00] [ 5.14732658e-02 9.70218661e-04 9.98673902e-01 1.62012122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.245099892999995 meters 0.016436009986027556 Centerline is valid? [True, True] Translation: X:43.92, Y:3.03, Z:1.62 [[ 9.97003118e-01 -5.82338921e-02 -5.09273607e-02 4.39219264e+01] [ 5.81099737e-02 9.98302524e-01 -3.91177730e-03 3.02742619e+00] [ 5.10687107e-02 9.40666576e-04 9.98694699e-01 1.62133367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.30509989299999 meters 0.01631305912185325 Centerline is valid? [True, True] Translation: X:43.98, Y:3.02, Z:1.62 [[ 9.96439171e-01 -6.72637955e-02 -5.08385797e-02 4.39820634e+01] [ 6.71518334e-02 9.97735110e-01 -3.90910460e-03 3.02418508e+00] [ 5.09863771e-02 4.81281117e-04 9.98699233e-01 1.62302499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.36509989299999 meters 0.014579999306594775 Centerline is valid? [True, True] Translation: X:44.04, Y:3.02, Z:1.63 [[ 9.95666757e-01 -7.75860535e-02 -5.12651194e-02 4.40414253e+01] [ 7.74856620e-02 9.96985658e-01 -3.94585607e-03 3.02142064e+00] [ 5.14167322e-02 -4.35539910e-05 9.98677284e-01 1.62671660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.425099892999995 meters 0.016816846137444035 Centerline is valid? [True, True] Translation: X:44.10, Y:3.01, Z:1.62 [[ 9.94101161e-01 -9.48045373e-02 -5.26780832e-02 4.41016162e+01] [ 9.47220508e-02 9.95495455e-01 -4.06592811e-03 3.01096103e+00] [ 5.28262608e-02 -9.47832215e-04 9.98603268e-01 1.62482596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.48509989299999 meters 0.017822921556530938 Centerline is valid? [True, True] Translation: X:44.16, Y:3.01, Z:1.63 [[ 9.93030725e-01 -1.05748075e-01 -5.20319463e-02 4.41630018e+01] [ 1.05682564e-01 9.94391806e-01 -4.01648353e-03 3.00797195e+00] [ 5.21648764e-02 -1.51037796e-03 9.98637344e-01 1.62911033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.54509989299999 meters 0.021370561901299153 Centerline is valid? [True, True] Translation: X:44.22, Y:3.01, Z:1.63 [[ 9.92069472e-01 -1.14392982e-01 -5.20807883e-02 4.42238674e+01] [ 1.14339279e-01 9.93433629e-01 -4.01926349e-03 3.00754538e+00] [ 5.21985820e-02 -1.96749118e-03 9.98634787e-01 1.63146232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.605099892999995 meters 0.02195602993086537 Centerline is valid? [True, True] Translation: X:44.28, Y:3.01, Z:1.64 [[ 9.91696060e-01 -1.17768661e-01 -5.16668829e-02 4.42847297e+01] [ 1.17720403e-01 9.93038777e-01 -3.98683573e-03 3.01277134e+00] [ 5.17767425e-02 -2.12851698e-03 9.98656417e-01 1.63558656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66509989299999 meters 0.021266820718077 Centerline is valid? [True, True] Translation: X:44.35, Y:3.02, Z:1.64 [[ 9.91647721e-01 -1.17589231e-01 -5.29865058e-02 4.43463268e+01] [ 1.17538351e-01 9.93059937e-01 -4.08625583e-03 3.01964933e+00] [ 5.30992758e-02 -2.17582021e-03 9.98586868e-01 1.63706521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.72509989299999 meters 0.020081124498747067 Centerline is valid? [True, True] Translation: X:44.41, Y:3.03, Z:1.64 [[ 9.92300925e-01 -1.10863739e-01 -5.52096568e-02 4.44069750e+01] [ 1.10798303e-01 9.93833808e-01 -4.25419990e-03 3.02977356e+00] [ 5.53408599e-02 -1.89568979e-03 9.98465721e-01 1.63745851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.785099892999995 meters 0.017449115148623552 Centerline is valid? [True, True] Translation: X:44.47, Y:3.04, Z:1.64 [[ 9.92881286e-01 -1.05511277e-01 -5.52641154e-02 4.44677960e+01] [ 1.05437515e-01 9.94416819e-01 -4.25689284e-03 3.04055897e+00] [ 5.54047160e-02 -1.60032173e-03 9.98462697e-01 1.64122637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.845099893 meters 0.016685849256839483 Centerline is valid? [True, True] Translation: X:44.53, Y:3.06, Z:1.64 [[ 9.94296363e-01 -9.04721997e-02 -5.64758744e-02 4.45264473e+01] [ 9.03710223e-02 9.95898676e-01 -4.34814078e-03 3.05741482e+00] [ 5.66376344e-02 -7.80441944e-04 9.98394496e-01 1.64105613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.90509989299999 meters 0.015569540787854795 Centerline is valid? [True, True] Translation: X:44.59, Y:3.07, Z:1.65 [[ 9.95411281e-01 -7.84929498e-02 -5.47287660e-02 4.45854778e+01] [ 7.83797901e-02 9.96914664e-01 -4.21433661e-03 3.07404647e+00] [ 5.48907050e-02 -9.46309781e-05 9.98492364e-01 1.64698784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.965099892999994 meters 0.01696074511603263 Centerline is valid? [True, True] Translation: X:44.64, Y:3.09, Z:1.65 [[ 9.96795591e-01 -5.92048412e-02 -5.37897525e-02 4.46438839e+01] [ 5.90674265e-02 9.98245401e-01 -4.14224228e-03 3.09277647e+00] [ 5.39406138e-02 9.51746589e-04 9.98543692e-01 1.65054177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.025099893 meters 0.016818970408226698 Centerline is valid? [True, True] Translation: X:44.70, Y:3.10, Z:1.65 [[ 9.97086969e-01 -5.38976206e-02 -5.39687146e-02 4.47030258e+01] [ 5.37514452e-02 9.98545691e-01 -4.15743220e-03 3.09546989e+00] [ 5.41143032e-02 1.24442507e-03 9.98533972e-01 1.65356915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.08509989299999 meters 0.018047805909247257 Centerline is valid? [True, True] Translation: X:44.76, Y:3.09, Z:1.65 [[ 9.96944548e-01 -5.72011814e-02 -5.31939133e-02 4.47621410e+01] [ 5.70637105e-02 9.98362117e-01 -4.10079746e-03 3.09195348e+00] [ 5.33413584e-02 1.05282560e-03 9.98575781e-01 1.65439022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.145099892999994 meters 0.01563095472789838 Centerline is valid? [True, True] Translation: X:44.82, Y:3.09, Z:1.66 [[ 9.96646851e-01 -6.21582105e-02 -5.32109986e-02 4.48217048e+01] [ 6.20274000e-02 9.98065993e-01 -4.10785661e-03 3.08903825e+00] [ 5.33634252e-02 7.93542459e-04 9.98574842e-01 1.65764626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.205099892999996 meters 0.01568005667216411 Centerline is valid? [True, True] Translation: X:44.88, Y:3.09, Z:1.66 [[ 9.96304088e-01 -6.68584554e-02 -5.39268991e-02 4.48807774e+01] [ 6.67302544e-02 9.97762312e-01 -4.17642695e-03 3.08831321e+00] [ 5.40854570e-02 5.62435548e-04 9.98536152e-01 1.65910285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.26509989299999 meters 0.01529257099337828 Centerline is valid? [True, True] Translation: X:44.94, Y:3.09, Z:1.66 [[ 9.95877451e-01 -7.27402645e-02 -5.41936940e-02 4.49403043e+01] [ 7.26187442e-02 9.97350885e-01 -4.21077306e-03 3.08619376e+00] [ 5.43564214e-02 2.57935950e-04 9.98521564e-01 1.66263092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.325099892999994 meters 0.015101525265330379 Centerline is valid? [True, True] Translation: X:45.00, Y:3.08, Z:1.66 [[ 9.95519333e-01 -7.75823196e-02 -5.40577584e-02 4.49999177e+01] [ 7.74678366e-02 9.96985950e-01 -4.21315246e-03 3.08042457e+00] [ 5.42216917e-02 6.53713371e-06 9.98528922e-01 1.66355992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.385099892999996 meters 0.014956388494572767 Centerline is valid? [True, True] Translation: X:45.06, Y:3.08, Z:1.67 [[ 9.95635313e-01 -7.74539551e-02 -5.20692563e-02 4.50592865e+01] [ 7.73469586e-02 9.96995930e-01 -4.06986220e-03 3.07945957e+00] [ 5.22280635e-02 2.46999201e-05 9.98635183e-01 1.66784596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.44509989299999 meters 0.015449720999161283 Centerline is valid? [True, True] Translation: X:45.12, Y:3.08, Z:1.67 [[ 9.95727861e-01 -7.62396254e-02 -5.20917026e-02 4.51176264e+01] [ 7.61304414e-02 9.97089520e-01 -4.07991921e-03 3.08110403e+00] [ 5.22511422e-02 9.67249164e-05 9.98633971e-01 1.66920199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.50509989299999 meters 0.015204492779604532 Centerline is valid? [True, True] Translation: X:45.18, Y:3.08, Z:1.67 [[ 9.95647980e-01 -7.72640873e-02 -5.21091304e-02 4.51764869e+01] [ 7.71555519e-02 9.97010661e-01 -4.09428057e-03 3.08314854e+00] [ 5.22696994e-02 5.59534620e-05 9.98633003e-01 1.67168924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.565099892999996 meters 0.015328071139116405 Centerline is valid? [True, True] Translation: X:45.24, Y:3.08, Z:1.67 [[ 9.95135363e-01 -8.21633429e-02 -5.43580294e-02 4.52356911e+01] [ 8.20517621e-02 9.96618857e-01 -4.28504929e-03 3.08000930e+00] [ 5.45263111e-02 -1.95968022e-04 9.98512315e-01 1.67214920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.62509989299999 meters 0.016000421905501737 Centerline is valid? [True, True] Translation: X:45.29, Y:3.08, Z:1.68 [[ 9.94855912e-01 -8.52245868e-02 -5.47584238e-02 4.52947184e+01] [ 8.51152252e-02 9.96361704e-01 -4.33046791e-03 3.08207656e+00] [ 5.49282588e-02 -3.52583979e-04 9.98490241e-01 1.67590234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68509989299999 meters 0.015641040107839177 Centerline is valid? [True, True] Translation: X:45.35, Y:3.09, Z:1.68 [[ 9.94662799e-01 -8.66503908e-02 -5.60145254e-02 4.53529079e+01] [ 8.65373958e-02 9.96238690e-01 -4.44426711e-03 3.08532507e+00] [ 5.61889349e-02 -4.26803993e-04 9.98420063e-01 1.67852576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.745099892999995 meters 0.015609467296511833 Centerline is valid? [True, True] Translation: X:45.41, Y:3.09, Z:1.68 [[ 9.94449928e-01 -8.86094728e-02 -5.67247888e-02 4.54114733e+01] [ 8.84959473e-02 9.96066303e-01 -4.51516232e-03 3.08548112e+00] [ 5.69017368e-02 -5.29811073e-04 9.98379643e-01 1.68056568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.80509989299999 meters 0.01618348572168257 Centerline is valid? [True, True] Translation: X:45.47, Y:3.09, Z:1.68 [[ 9.94538241e-01 -8.85509795e-02 -5.52486367e-02 4.54690532e+01] [ 8.84425551e-02 9.96071520e-01 -4.40925969e-03 3.08748177e+00] [ 5.54220378e-02 -5.01153222e-04 9.98462892e-01 1.68297779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.86509989299999 meters 0.014316087069788623 Centerline is valid? [True, True] Translation: X:45.53, Y:3.10, Z:1.69 [[ 9.95168906e-01 -8.26270899e-02 -5.30246418e-02 4.55271163e+01] [ 8.25184770e-02 9.96580523e-01 -4.23814315e-03 3.09572282e+00] [ 5.31935107e-02 -1.57844404e-04 9.98584211e-01 1.68891781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.925099892999995 meters 0.015859036695479455 Centerline is valid? [True, True] Translation: X:45.59, Y:3.11, Z:1.69 [[ 9.96048732e-01 -7.26036133e-02 -5.11433187e-02 4.55863432e+01] [ 7.24888275e-02 9.97360805e-01 -4.09815873e-03 3.10728302e+00] [ 5.13058826e-02 3.74646599e-04 9.98682916e-01 1.69412342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98509989299999 meters 0.016309774301812754 Centerline is valid? [True, True] Translation: X:45.64, Y:3.12, Z:1.70 [[ 9.96318406e-01 -6.78024806e-02 -5.24638705e-02 4.56448555e+01] [ 6.76748059e-02 9.97698557e-01 -4.20827436e-03 3.11524182e+00] [ 5.26284593e-02 6.42298956e-04 9.98613956e-01 1.69651275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.04509989299999 meters 0.015584318587158067 Centerline is valid? [True, True] Translation: X:45.70, Y:3.12, Z:1.70 [[ 9.96024380e-01 -6.90253189e-02 -5.63111071e-02 4.57033261e+01] [ 6.88793007e-02 9.97614706e-01 -4.53215151e-03 3.12022743e+00] [ 5.64896217e-02 6.35463720e-04 9.98402984e-01 1.69643351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.105099892999995 meters 0.014824009778237645 Centerline is valid? [True, True] Translation: X:45.76, Y:3.12, Z:1.70 [[ 9.95550653e-01 -7.45752913e-02 -5.75970705e-02 4.57623048e+01] [ 7.44309271e-02 9.97215327e-01 -4.65067842e-03 3.12187316e+00] [ 5.77835072e-02 3.42982588e-04 9.98329078e-01 1.69789729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16509989299999 meters 0.014784385384421086 Centerline is valid? [True, True] Translation: X:45.82, Y:3.12, Z:1.70 [[ 9.95093419e-01 -8.04601867e-02 -5.75781628e-02 4.58209449e+01] [ 8.03248994e-02 9.96757823e-01 -4.66395127e-03 3.12383745e+00] [ 5.77667466e-02 1.61070862e-05 9.98330107e-01 1.70070042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.22509989299999 meters 0.015799391887686517 Centerline is valid? [True, True] Translation: X:45.88, Y:3.12, Z:1.70 [[ 9.94181921e-01 -9.23633575e-02 -5.54194774e-02 4.58797765e+01] [ 9.22557267e-02 9.95725166e-01 -4.50281923e-03 3.12049772e+00] [ 5.55984638e-02 -6.36142694e-04 9.98453006e-01 1.70378563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.285099892999995 meters 0.01763760539447489 Centerline is valid? [True, True] Translation: X:45.94, Y:3.12, Z:1.71 [[ 9.93396936e-01 -1.01575796e-01 -5.33374698e-02 4.59395343e+01] [ 1.01488784e-01 9.94827198e-01 -4.34437591e-03 3.12087519e+00] [ 5.35028490e-02 -1.09746521e-03 9.98567094e-01 1.70835904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.345099893 meters 0.020353728597074246 Centerline is valid? [True, True] Translation: X:46.00, Y:3.12, Z:1.71 [[ 9.92191347e-01 -1.12113501e-01 -5.46524901e-02 4.59997232e+01] [ 1.12037991e-01 9.93693945e-01 -4.45326520e-03 3.11688342e+00] [ 5.48071196e-02 -1.70466397e-03 9.98495505e-01 1.70970476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.40509989299999 meters 0.019712096295206927 Centerline is valid? [True, True] Translation: X:46.06, Y:3.12, Z:1.71 [[ 9.91353108e-01 -1.17978493e-01 -5.74464129e-02 4.60601152e+01] [ 1.17904861e-01 9.93013861e-01 -4.68139218e-03 3.12335198e+00] [ 5.75973879e-02 -2.13229862e-03 9.98337615e-01 1.71161659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.465099892999994 meters 0.021330187596104527 Centerline is valid? [True, True] Translation: X:46.12, Y:3.13, Z:1.71 [[ 9.91437400e-01 -1.17243774e-01 -5.74959134e-02 4.61201080e+01] [ 1.17168828e-01 9.93100962e-01 -4.68462991e-03 3.13101738e+00] [ 5.76484905e-02 -2.09221148e-03 9.98334751e-01 1.71338028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.525099893 meters 0.0203577461352237 Centerline is valid? [True, True] Translation: X:46.18, Y:3.14, Z:1.72 [[ 9.91595805e-01 -1.15698020e-01 -5.78941107e-02 4.61805990e+01] [ 1.15619482e-01 9.93282386e-01 -4.71570705e-03 3.14053020e+00] [ 5.80507983e-02 -2.01761177e-03 9.98311592e-01 1.71624833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.58509989299999 meters 0.02022196894785856 Centerline is valid? [True, True] Translation: X:46.24, Y:3.15, Z:1.72 [[ 9.91542179e-01 -1.14970190e-01 -6.02159683e-02 4.62424589e+01] [ 1.14884068e-01 9.93366812e-01 -4.90188122e-03 3.15229329e+00] [ 6.03801146e-02 -2.05743342e-03 9.98173336e-01 1.71767639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.645099892999994 meters 0.02028491950531999 Centerline is valid? [True, True] Translation: X:46.30, Y:3.16, Z:1.72 [[ 9.91691391e-01 -1.13438074e-01 -6.06629070e-02 4.63020881e+01] [ 1.13348018e-01 9.93543091e-01 -4.93481943e-03 3.16303243e+00] [ 6.08310086e-02 -1.98220236e-03 9.98146111e-01 1.72014811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.705099892999996 meters 0.0188690641147859 Centerline is valid? [True, True] Translation: X:46.36, Y:3.18, Z:1.72 [[ 9.92428231e-01 -1.07387610e-01 -5.96163325e-02 4.63610788e+01] [ 1.07289774e-01 9.94215969e-01 -4.84893993e-03 3.17736641e+00] [ 5.97922259e-02 -1.58399799e-03 9.98209588e-01 1.72178679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.76509989299999 meters 0.017040078393255553 Centerline is valid? [True, True] Translation: X:46.42, Y:3.19, Z:1.73 [[ 9.93124368e-01 -1.00789101e-01 -5.95444985e-02 4.64201384e+01] [ 1.00679650e-01 9.94907107e-01 -4.84309726e-03 3.19454045e+00] [ 5.97293762e-02 -1.18512135e-03 9.98213903e-01 1.72508940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.825099892999994 meters 0.015830259019542308 Centerline is valid? [True, True] Translation: X:46.48, Y:3.21, Z:1.73 [[ 9.93880202e-01 -9.29885384e-02 -5.96261400e-02 4.64791764e+01] [ 9.28647542e-02 9.95666921e-01 -4.84973763e-03 3.21374994e+00] [ 5.98187453e-02 -7.17108625e-04 9.98208998e-01 1.72784054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.885099892999996 meters 0.015063959811225899 Centerline is valid? [True, True] Translation: X:46.54, Y:3.23, Z:1.73 [[ 9.93998686e-01 -9.29418588e-02 -5.76924798e-02 4.65383645e+01] [ 9.28258988e-02 9.95671298e-01 -4.69246190e-03 3.22570375e+00] [ 5.78788724e-02 -6.91055328e-04 9.98323374e-01 1.73243248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.94509989299999 meters 0.01557452307927718 Centerline is valid? [True, True] Translation: X:46.60, Y:3.24, Z:1.74 [[ 9.93823780e-01 -9.56435392e-02 -5.62726146e-02 4.65995519e+01] [ 9.55376054e-02 9.95415304e-01 -4.57591166e-03 3.23552105e+00] [ 5.64522781e-02 -8.28501018e-04 9.98404955e-01 1.73854350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.00509989299999 meters 0.017556357921509738 Centerline is valid? [True, True] Translation: X:46.66, Y:3.24, Z:1.74 [[ 9.93213194e-01 -1.01349248e-01 -5.70603235e-02 4.66601666e+01] [ 1.01249922e-01 9.94850218e-01 -4.63655546e-03 3.23682173e+00] [ 5.72363866e-02 -1.17226524e-03 9.98359966e-01 1.73931733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.065099892999996 meters 0.019003255346296294 Centerline is valid? [True, True] Translation: X:46.72, Y:3.23, Z:1.74 [[ 9.92328765e-01 -1.08201661e-01 -5.97998515e-02 4.67211824e+01] [ 1.08105048e-01 9.94127607e-01 -4.85804080e-03 3.23451303e+00] [ 5.99743313e-02 -1.64389216e-03 9.98198566e-01 1.73819114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.12509989299999 meters 0.019256613090769956 Centerline is valid? [True, True] Translation: X:46.78, Y:3.24, Z:1.74 [[ 9.92021841e-01 -1.09704022e-01 -6.21103391e-02 4.67823662e+01] [ 1.09602832e-01 9.93962663e-01 -5.04422758e-03 3.23622204e+00] [ 6.22887301e-02 -1.80348511e-03 9.98056542e-01 1.73832978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18509989299999 meters 0.017732702504828085 Centerline is valid? [True, True] Translation: X:46.84, Y:3.24, Z:1.74 [[ 9.92371105e-01 -1.06899392e-01 -6.14174983e-02 4.68433935e+01] [ 1.06795219e-01 9.94268537e-01 -4.98575991e-03 3.24410856e+00] [ 6.15984609e-02 -1.61137110e-03 9.98099711e-01 1.74286402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.245099892999995 meters 0.014271516604462924 Centerline is valid? [True, True] Translation: X:46.90, Y:3.25, Z:1.75 [[ 9.93662975e-01 -9.74765307e-02 -5.59662212e-02 4.69026300e+01] [ 9.73751679e-02 9.95237383e-01 -4.54181569e-03 3.25461207e+00] [ 5.61423960e-02 -9.36686092e-04 9.98422332e-01 1.75021304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.30509989299999 meters 0.012882163954008772 Centerline is valid? [True, True] Translation: X:46.96, Y:3.26, Z:1.75 [[ 9.94494314e-01 -8.94316510e-02 -5.46172003e-02 4.69632507e+01] [ 8.93230158e-02 9.95992850e-01 -4.43181938e-03 3.26434161e+00] [ 5.47946859e-02 -4.71153869e-04 9.98497531e-01 1.75441231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.36509989299999 meters 0.0153968469457697 Centerline is valid? [True, True] Translation: X:47.02, Y:3.27, Z:1.75 [[ 9.94701875e-01 -8.49485258e-02 -5.78958349e-02 4.70243706e+01] [ 8.48189840e-02 9.96385312e-01 -4.69569146e-03 3.27105730e+00] [ 5.80854516e-02 -2.39852799e-04 9.98311586e-01 1.75338853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.425099892999995 meters 0.014568698292557624 Centerline is valid? [True, True] Translation: X:47.08, Y:3.27, Z:1.75 [[ 9.94423259e-01 -8.71195101e-02 -5.94354584e-02 4.70844315e+01] [ 8.69869282e-02 9.96197796e-01 -4.81933385e-03 3.27273891e+00] [ 5.96293307e-02 -3.77650280e-04 9.98220517e-01 1.75367380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48509989299999 meters 0.015615363153482782 Centerline is valid? [True, True] Translation: X:47.14, Y:3.28, Z:1.76 [[ 9.93811096e-01 -9.33236143e-02 -6.02512151e-02 4.71446731e+01] [ 9.31987032e-02 9.95635539e-01 -4.88623574e-03 3.27571301e+00] [ 6.04442522e-02 -7.59339818e-04 9.98171286e-01 1.75643184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.54509989299999 meters 0.014356977709530656 Centerline is valid? [True, True] Translation: X:47.21, Y:3.28, Z:1.76 [[ 9.93640847e-01 -9.55922828e-02 -5.94977517e-02 4.72062874e+01] [ 9.54745780e-02 9.95420177e-01 -4.82449291e-03 3.27907980e+00] [ 5.96864468e-02 -8.86709516e-04 9.98216781e-01 1.75941560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.605099892999995 meters 0.017083266837866016 Centerline is valid? [True, True] Translation: X:47.27, Y:3.28, Z:1.76 [[ 9.93017780e-01 -1.02445737e-01 -5.84855590e-02 4.72661711e+01] [ 1.02344031e-01 9.94737772e-01 -4.73965335e-03 3.27924007e+00] [ 5.86633519e-02 -1.27908782e-03 9.98277003e-01 1.76124303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66509989299999 meters 0.019221264760275938 Centerline is valid? [True, True] Translation: X:47.33, Y:3.28, Z:1.77 [[ 9.92099718e-01 -1.12551089e-01 -5.54112148e-02 4.73266030e+01] [ 1.12475712e-01 9.93644343e-01 -4.48700148e-03 3.28206917e+00] [ 5.55640571e-02 -1.78086295e-03 9.98453536e-01 1.76877616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.72509989299999 meters 0.01998377452592307 Centerline is valid? [True, True] Translation: X:47.39, Y:3.28, Z:1.77 [[ 9.91415005e-01 -1.18122988e-01 -5.60646786e-02 4.73876535e+01] [ 1.18054806e-01 9.92996711e-01 -4.53818723e-03 3.28346006e+00] [ 5.62081057e-02 -2.11947787e-03 9.98416825e-01 1.77049906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.785099892999995 meters 0.021616431839908915 Centerline is valid? [True, True] Translation: X:47.45, Y:3.28, Z:1.77 [[ 9.91307919e-01 -1.18487131e-01 -5.71787457e-02 4.74490296e+01] [ 1.18416913e-01 9.92953185e-01 -4.62672574e-03 3.28395248e+00] [ 5.73240251e-02 -2.18442067e-03 9.98353236e-01 1.77134467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.84509989299999 meters 0.019058330264864348 Centerline is valid? [True, True] Translation: X:47.51, Y:3.29, Z:1.77 [[ 9.91398600e-01 -1.17338556e-01 -5.79696370e-02 4.75111493e+01] [ 1.17264631e-01 9.93089642e-01 -4.68717253e-03 3.28945242e+00] [ 5.81190321e-02 -2.15093181e-03 9.98307343e-01 1.77445341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.90509989299999 meters 0.020645070915112963 Centerline is valid? [True, True] Translation: X:47.57, Y:3.29, Z:1.78 [[ 9.91551947e-01 -1.16266663e-01 -5.75047842e-02 4.75722765e+01] [ 1.16192348e-01 9.93215866e-01 -4.64561435e-03 3.29222476e+00] [ 5.76547941e-02 -2.07524795e-03 9.98334422e-01 1.77655200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.965099892999994 meters 0.01845497503599887 Centerline is valid? [True, True] Translation: X:47.63, Y:3.31, Z:1.78 [[ 9.92826068e-01 -1.03775524e-01 -5.93888866e-02 4.76318309e+01] [ 1.03674072e-01 9.94599764e-01 -4.79533876e-03 3.30723492e+00] [ 5.95658114e-02 -1.39615039e-03 9.98223404e-01 1.77823153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.025099893 meters 0.01521954860262805 Centerline is valid? [True, True] Translation: X:47.69, Y:3.32, Z:1.78 [[ 9.94099993e-01 -9.18620932e-02 -5.76763310e-02 4.76912560e+01] [ 9.17463884e-02 9.95771518e-01 -4.65653546e-03 3.32218060e+00] [ 5.78602068e-02 -6.62533196e-04 9.98324475e-01 1.78418016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.08509989299999 meters 0.014459488638928293 Centerline is valid? [True, True] Translation: X:47.75, Y:3.33, Z:1.79 [[ 9.95150621e-01 -7.99287008e-02 -5.73292589e-02 4.77520258e+01] [ 7.97946560e-02 9.96800583e-01 -4.62720158e-03 3.33386381e+00] [ 5.75156849e-02 3.01940357e-05 9.98344602e-01 1.78725495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.145099892999994 meters 0.015061989535331544 Centerline is valid? [True, True] Translation: X:47.81, Y:3.34, Z:1.79 [[ 9.96204559e-01 -6.63647431e-02 -5.63222682e-02 4.78106038e+01] [ 6.62137602e-02 9.97795111e-01 -4.54467602e-03 3.34444849e+00] [ 5.64996901e-02 7.98117815e-04 9.98402298e-01 1.78997246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.205099892999996 meters 0.01600520958734835 Centerline is valid? [True, True] Translation: X:47.87, Y:3.34, Z:1.79 [[ 9.95682667e-01 -7.18887157e-02 -5.87200088e-02 4.78701383e+01] [ 7.17338881e-02 9.97412529e-01 -4.74312975e-03 3.34094110e+00] [ 5.89090500e-02 5.10437534e-04 9.98263223e-01 1.78979848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.26509989299999 meters 0.013770990255286655 Centerline is valid? [True, True] Translation: X:47.93, Y:3.34, Z:1.79 [[ 9.95066956e-01 -8.01860760e-02 -5.84118626e-02 4.79291496e+01] [ 8.00462916e-02 9.96779912e-01 -4.73277128e-03 3.33792556e+00] [ 5.86032736e-02 3.37713188e-05 9.98281351e-01 1.79367980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.325099892999994 meters 0.014488744450324727 Centerline is valid? [True, True] Translation: X:47.99, Y:3.34, Z:1.80 [[ 9.94535127e-01 -8.83981602e-02 -5.55486006e-02 4.79883807e+01] [ 8.82837892e-02 9.96085134e-01 -4.51431291e-03 3.33572919e+00] [ 5.57301922e-02 -4.14398183e-04 9.98445779e-01 1.79805883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.385099892999996 meters 0.015815906980909313 Centerline is valid? [True, True] Translation: X:48.05, Y:3.34, Z:1.80 [[ 9.94024176e-01 -9.44959773e-02 -5.46484095e-02 4.80501897e+01] [ 9.43939388e-02 9.95524973e-01 -4.45114482e-03 3.33554479e+00] [ 5.48244717e-02 -7.33933064e-04 9.98495738e-01 1.80232793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.44509989299999 meters 0.016766992466795375 Centerline is valid? [True, True] Translation: X:48.11, Y:3.34, Z:1.80 [[ 9.93711578e-01 -9.77643395e-02 -5.45841843e-02 4.81117556e+01] [ 9.76675886e-02 9.95209172e-01 -4.44366462e-03 3.33519657e+00] [ 5.47571128e-02 -9.15384672e-04 9.98499284e-01 1.80446420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.50509989299999 meters 0.015510491458416549 Centerline is valid? [True, True] Translation: X:48.17, Y:3.35, Z:1.81 [[ 9.96055662e-01 -6.57477821e-02 -5.95847906e-02 4.81725207e+01] [ 6.55753417e-02 9.97835849e-01 -4.84693427e-03 3.35434762e+00] [ 5.97745153e-02 9.20523321e-04 9.98211481e-01 1.80570394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.565099892999996 meters 0.016562345085130912 Centerline is valid? [True, True] Translation: X:48.23, Y:3.36, Z:1.81 [[ 9.96222447e-01 -6.17792728e-02 -6.10258780e-02 4.82313531e+01] [ 6.15910709e-02 9.98089133e-01 -4.96204990e-03 3.35960813e+00] [ 6.12158175e-02 1.18465631e-03 9.98123850e-01 1.80715946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.62509989299999 meters 0.017018113455649575 Centerline is valid? [True, True] Translation: X:48.29, Y:3.36, Z:1.81 [[ 9.96256080e-01 -6.02159851e-02 -6.20311027e-02 4.82886521e+01] [ 6.00182345e-02 9.98184517e-01 -5.04799903e-03 3.36395378e+00] [ 6.22224565e-02 1.30610246e-03 9.98061451e-01 1.80786305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.68509989299999 meters 0.01571314496334695 Centerline is valid? [True, True] Translation: X:48.35, Y:3.37, Z:1.81 [[ 9.96197485e-01 -6.33368152e-02 -5.98248923e-02 4.83476783e+01] [ 6.31580364e-02 9.97991624e-01 -4.87646558e-03 3.36627078e+00] [ 6.00136012e-02 1.07950002e-03 9.98196976e-01 1.81420665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.745099892999995 meters 0.014474734347082225 Centerline is valid? [True, True] Translation: X:48.41, Y:3.35, Z:1.82 [[ 9.94366069e-01 -8.89937153e-02 -5.75868029e-02 4.84094742e+01] [ 8.88703977e-02 9.96032090e-01 -4.70399880e-03 3.34903710e+00] [ 5.77769300e-02 -4.40265282e-04 9.98329421e-01 1.81738094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.80509989299999 meters 0.015531011672418295 Centerline is valid? [True, True] Translation: X:48.47, Y:3.35, Z:1.82 [[ 9.94274768e-01 -8.99496896e-02 -5.76778916e-02 4.84687668e+01] [ 8.98275103e-02 9.95946187e-01 -4.71278382e-03 3.35282179e+00] [ 5.78679897e-02 -4.95259362e-04 9.98324121e-01 1.81993090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.86509989299999 meters 0.014738162022584978 Centerline is valid? [True, True] Translation: X:48.53, Y:3.36, Z:1.82 [[ 9.94503496e-01 -8.85558751e-02 -5.58628082e-02 4.85275282e+01] [ 8.84389738e-02 9.96071131e-01 -4.56622201e-03 3.35965066e+00] [ 5.60476963e-02 -3.99325671e-04 9.98428013e-01 1.82499768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.925099892999995 meters 0.01563851721424297 Centerline is valid? [True, True] Translation: X:48.59, Y:3.36, Z:1.83 [[ 9.94621263e-01 -8.69430418e-02 -5.62978687e-02 4.85881580e+01] [ 8.68216864e-02 9.96213236e-01 -4.60254833e-03 3.36486190e+00] [ 5.64848415e-02 -3.10083470e-04 9.98403409e-01 1.82665183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98509989299999 meters 0.016133080257184258 Centerline is valid? [True, True] Translation: X:48.65, Y:3.36, Z:1.83 [[ 9.93900306e-01 -9.55286137e-02 -5.51041296e-02 4.86488221e+01] [ 9.54254998e-02 9.95426378e-01 -4.50544223e-03 3.35574157e+00] [ 5.52825028e-02 -7.80378691e-04 9.98470448e-01 1.83141342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.04509989299999 meters 0.018277085628059336 Centerline is valid? [True, True] Translation: X:48.71, Y:3.35, Z:1.83 [[ 9.92711613e-01 -1.07088626e-01 -5.52782011e-02 4.87092469e+01] [ 1.07002630e-01 9.94248456e-01 -4.52163177e-03 3.34792321e+00] [ 5.54444814e-02 -1.42623655e-03 9.98460753e-01 1.83118477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.105099892999995 meters 0.022084339346040826 Centerline is valid? [True, True] Translation: X:48.77, Y:3.34, Z:1.84 [[ 9.91334776e-01 -1.19397647e-01 -5.47682703e-02 4.87702067e+01] [ 1.19331886e-01 9.92844308e-01 -4.48116336e-03 3.34198908e+00] [ 5.49114058e-02 -2.09326791e-03 9.98489036e-01 1.83520897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.16509989299999 meters 0.023150319447025954 Centerline is valid? [True, True] Translation: X:48.83, Y:3.34, Z:1.84 [[ 9.90992501e-01 -1.21585944e-01 -5.61312780e-02 4.88308342e+01] [ 1.21520395e-01 9.92578312e-01 -4.59229248e-03 3.34419007e+00] [ 5.62730474e-02 -2.27016764e-03 9.98412836e-01 1.83673897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.22509989299999 meters 0.021494586180878204 Centerline is valid? [True, True] Translation: X:48.89, Y:3.35, Z:1.84 [[ 9.90508936e-01 -1.24676845e-01 -5.78595925e-02 4.88913723e+01] [ 1.24612520e-01 9.92194196e-01 -4.73262023e-03 3.35054879e+00] [ 5.79980000e-02 -2.52232699e-03 9.98313513e-01 1.83890647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.285099892999995 meters 0.02522473310838372 Centerline is valid? [True, True] Translation: X:48.95, Y:3.35, Z:1.84 [[ 9.90177997e-01 -1.27307240e-01 -5.77962013e-02 4.89513056e+01] [ 1.27247647e-01 9.91859722e-01 -4.72527381e-03 3.35117462e+00] [ 5.79272858e-02 -2.67556848e-03 9.98317220e-01 1.83981595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.34509989299999 meters 0.024043753688269255 Centerline is valid? [True, True] Translation: X:49.01, Y:3.36, Z:1.84 [[ 9.90095186e-01 -1.28404465e-01 -5.67786532e-02 4.90129087e+01] [ 1.28349014e-01 9.91718219e-01 -4.63742007e-03 3.35776856e+00] [ 5.69038902e-02 -2.69599685e-03 9.98376021e-01 1.84394195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.40509989299999 meters 0.02354135372891317 Centerline is valid? [True, True] Translation: X:49.07, Y:3.36, Z:1.85 [[ 9.90051422e-01 -1.29161957e-01 -5.58155038e-02 4.90748204e+01] [ 1.29109796e-01 9.91619844e-01 -4.55469563e-03 3.36460498e+00] [ 5.59360546e-02 -2.69694543e-03 9.98430711e-01 1.84744955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.465099892999994 meters 0.02516417954200407 Centerline is valid? [True, True] Translation: X:49.14, Y:3.37, Z:1.85 [[ 9.90052505e-01 -1.29108471e-01 -5.59199477e-02 4.91362399e+01] [ 1.29056248e-01 9.91626793e-01 -4.55933629e-03 3.36842742e+00] [ 5.60403674e-02 -2.70283631e-03 9.98424845e-01 1.84924906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.52509989299999 meters 0.02446075884630768 Centerline is valid? [True, True] Translation: X:49.20, Y:3.38, Z:1.85 [[ 9.90358023e-01 -1.27240442e-01 -5.47800654e-02 4.91974273e+01] [ 1.27187635e-01 9.91868632e-01 -4.46345711e-03 3.37835091e+00] [ 5.49025608e-02 -2.54692642e-03 9.98488469e-01 1.85299391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.58509989299999 meters 0.02340477670154495 Centerline is valid? [True, True] Translation: X:49.26, Y:3.39, Z:1.86 [[ 9.90557039e-01 -1.26031042e-01 -5.39715549e-02 4.92583993e+01] [ 1.25978158e-01 9.92023282e-01 -4.39447145e-03 3.38976406e+00] [ 5.40948789e-02 -2.44626244e-03 9.98532804e-01 1.85649813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.645099892999994 meters 0.02263936609374629 Centerline is valid? [True, True] Translation: X:49.32, Y:3.40, Z:1.86 [[ 9.90519677e-01 -1.26316994e-01 -5.39887582e-02 4.93187926e+01] [ 1.26264704e-01 9.91986862e-01 -4.39211482e-03 3.39510563e+00] [ 5.41109376e-02 -2.46639843e-03 9.98531884e-01 1.86118950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.705099892999996 meters 0.02405935503944595 Centerline is valid? [True, True] Translation: X:49.38, Y:3.40, Z:1.86 [[ 9.90560675e-01 -1.25640733e-01 -5.48083556e-02 4.93809306e+01] [ 1.25585991e-01 9.92072733e-01 -4.45554054e-03 3.40304619e+00] [ 5.49336725e-02 -2.46967843e-03 9.98486951e-01 1.86089067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.76509989299999 meters 0.025034514334299665 Centerline is valid? [True, True] Translation: X:49.44, Y:3.41, Z:1.86 [[ 9.90612853e-01 -1.25569887e-01 -5.40220193e-02 4.94419879e+01] [ 1.25516835e-01 9.92081789e-01 -4.38724947e-03 3.40785734e+00] [ 5.41451679e-02 -2.43460717e-03 9.98530106e-01 1.86397945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.825099892999994 meters 0.02433384103055446 Centerline is valid? [True, True] Translation: X:49.50, Y:3.42, Z:1.87 [[ 9.90614739e-01 -1.25535596e-01 -5.40671129e-02 4.95039380e+01] [ 1.25482714e-01 9.92086114e-01 -4.38520855e-03 3.41633418e+00] [ 5.41897317e-02 -2.44043584e-03 9.98527675e-01 1.86729449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.885099892999996 meters 0.024098355617666926 Centerline is valid? [True, True] Translation: X:49.57, Y:3.42, Z:1.87 [[ 9.90524118e-01 -1.26071620e-01 -5.44786012e-02 4.95652628e+01] [ 1.26018956e-01 9.92018011e-01 -4.41462826e-03 3.42359464e+00] [ 5.46003130e-02 -2.49254068e-03 9.98505179e-01 1.86992602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.94509989299999 meters 0.02463074622208002 Centerline is valid? [True, True] Translation: X:49.63, Y:3.43, Z:1.87 [[ 9.90234464e-01 -1.27472029e-01 -5.64498685e-02 4.96267746e+01] [ 1.27417983e-01 9.91838580e-01 -4.57039669e-03 3.43029575e+00] [ 5.65717552e-02 -2.66696404e-03 9.98394974e-01 1.87022075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.00509989299999 meters 0.026660161506670416 Centerline is valid? [True, True] Translation: X:49.69, Y:3.43, Z:1.87 [[ 9.89850442e-01 -1.30028617e-01 -5.73468457e-02 4.96867926e+01] [ 1.29977253e-01 9.91506116e-01 -4.64066829e-03 3.43248168e+00] [ 5.74631679e-02 -2.86021790e-03 9.98343530e-01 1.87130764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.065099892999996 meters 0.025337608135432347 Centerline is valid? [True, True] Translation: X:49.75, Y:3.44, Z:1.88 [[ 9.89603310e-01 -1.32116561e-01 -5.68375096e-02 4.97477011e+01] [ 1.32069627e-01 9.91229778e-01 -4.59782558e-03 3.44497362e+00] [ 5.69464809e-02 -2.95648529e-03 9.98372855e-01 1.87622054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.12509989299999 meters 0.025549032604351037 Centerline is valid? [True, True] Translation: X:49.81, Y:3.45, Z:1.88 [[ 9.89836539e-01 -1.31042011e-01 -5.52414509e-02 4.98080738e+01] [ 1.30996289e-01 9.91372810e-01 -4.46356605e-03 3.45276386e+00] [ 5.53497871e-02 -2.81822428e-03 9.98463048e-01 1.88091812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.18509989299999 meters 0.022935806967558838 Centerline is valid? [True, True] Translation: X:49.87, Y:3.47, Z:1.89 [[ 9.90249474e-01 -1.28624707e-01 -5.34945197e-02 4.98686785e+01] [ 1.28578463e-01 9.91689932e-01 -4.31953831e-03 3.46657932e+00] [ 5.36055759e-02 -2.60082258e-03 9.98558800e-01 1.88510050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.245099892999995 meters 0.023985378785191396 Centerline is valid? [True, True] Translation: X:49.93, Y:3.47, Z:1.89 [[ 9.90409988e-01 -1.27601676e-01 -5.29704403e-02 4.99301414e+01] [ 1.27555042e-01 9.91822284e-01 -4.27405087e-03 3.47083701e+00] [ 5.30826391e-02 -2.52358405e-03 9.98586934e-01 1.88780577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.30509989299999 meters 0.023145224901191076 Centerline is valid? [True, True] Translation: X:49.99, Y:3.48, Z:1.89 [[ 9.90829350e-01 -1.24615376e-01 -5.22322503e-02 4.99908411e+01] [ 1.24566072e-01 9.92202379e-01 -4.21105417e-03 3.48101522e+00] [ 5.23497251e-02 -2.33393017e-03 9.98626086e-01 1.89156227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.36509989299999 meters 0.02232251230154555 Centerline is valid? [True, True] Translation: X:50.05, Y:3.49, Z:1.90 [[ 9.91078790e-01 -1.22845468e-01 -5.16896738e-02 5.00527283e+01] [ 1.22794895e-01 9.92423330e-01 -4.16510281e-03 3.48854337e+00] [ 5.18097022e-02 -2.21928300e-03 9.98654510e-01 1.89514487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.425099892999995 meters 0.021853809507268132 Centerline is valid? [True, True] Translation: X:50.11, Y:3.50, Z:1.90 [[ 9.91335471e-01 -1.20414008e-01 -5.24828603e-02 5.01135240e+01] [ 1.20358654e-01 9.92721481e-01 -4.22557123e-03 3.49790342e+00] [ 5.26096808e-02 -2.12780776e-03 9.98612885e-01 1.89639758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48509989299999 meters 0.021364320117520593 Centerline is valid? [True, True] Translation: X:50.17, Y:3.51, Z:1.90 [[ 9.91753502e-01 -1.16920263e-01 -5.24846943e-02 5.01732861e+01] [ 1.16860113e-01 9.93139402e-01 -4.22397501e-03 3.50581350e+00] [ 5.26184861e-02 -1.94422528e-03 9.98612795e-01 1.89855079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.54509989299999 meters 0.019397872376884548 Centerline is valid? [True, True] Translation: X:50.23, Y:3.52, Z:1.90 [[ 9.92118815e-01 -1.13983116e-01 -5.20394709e-02 5.02340175e+01] [ 1.13920017e-01 9.93481102e-01 -4.18680657e-03 3.51944546e+00] [ 5.21774561e-02 -1.77452786e-03 9.98636252e-01 1.90139823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.605099892999995 meters 0.018451303504293824 Centerline is valid? [True, True] Translation: X:50.30, Y:3.53, Z:1.90 [[ 9.92263171e-01 -1.12688168e-01 -5.21073559e-02 5.02956856e+01] [ 1.12623286e-01 9.93628928e-01 -4.18912374e-03 3.52711022e+00] [ 5.22474409e-02 -1.71178845e-03 9.98632703e-01 1.90447362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.66509989299999 meters 0.01904294182495533 Centerline is valid? [True, True] Translation: X:50.36, Y:3.53, Z:1.90 [[ 9.92417517e-01 -1.10267557e-01 -5.43004383e-02 5.03561607e+01] [ 1.10193699e-01 9.93900562e-01 -4.36147007e-03 3.53466252e+00] [ 5.44501647e-02 -1.65516685e-03 9.98515118e-01 1.90414939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.72509989299999 meters 0.01674370305432213 Centerline is valid? [True, True] Translation: X:50.42, Y:3.55, Z:1.91 [[ 9.92723590e-01 -1.07229654e-01 -5.47875461e-02 5.04173256e+01] [ 1.07150027e-01 9.94233140e-01 -4.39728158e-03 3.54553874e+00] [ 5.49431130e-02 -1.50520187e-03 9.98488352e-01 1.90684356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.785099892999995 meters 0.016453061560391908 Centerline is valid? [True, True] Translation: X:50.48, Y:3.56, Z:1.91 [[ 9.93389355e-01 -1.02250975e-01 -5.21759340e-02 5.04779447e+01] [ 1.02172074e-01 9.94757940e-01 -4.18427602e-03 3.55584977e+00] [ 5.23302710e-02 -1.17430815e-03 9.98629142e-01 1.91224707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.84509989299999 meters 0.016595510493944733 Centerline is valid? [True, True] Translation: X:50.54, Y:3.56, Z:1.91 [[ 9.93589404e-01 -1.00238443e-01 -5.22718860e-02 5.05400295e+01] [ 1.00156591e-01 9.94962866e-01 -4.18964364e-03 3.56278619e+00] [ 5.24285489e-02 -1.07258838e-03 9.98624102e-01 1.91469425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.90509989299999 meters 0.015813943698027404 Centerline is valid? [True, True] Translation: X:50.60, Y:3.57, Z:1.92 [[ 9.93720055e-01 -9.97056437e-02 -5.07861785e-02 5.06023399e+01] [ 9.96278701e-02 9.95016456e-01 -4.06692527e-03 3.56757249e+00] [ 5.09385787e-02 -1.01833359e-03 9.98701269e-01 1.91842974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.965099892999994 meters 0.016578862459583104 Centerline is valid? [True, True] Translation: X:50.66, Y:3.57, Z:1.92 [[ 9.93691483e-01 -1.00127474e-01 -5.05146069e-02 5.06641295e+01] [ 1.00051262e-01 9.94974076e-01 -4.04149686e-03 3.57124156e+00] [ 5.06653892e-02 -1.03804916e-03 9.98715145e-01 1.92158496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.02509989299999 meters 0.01668263331249369 Centerline is valid? [True, True] Translation: X:50.73, Y:3.57, Z:1.92 [[ 9.93228583e-01 -1.03749338e-01 -5.22786549e-02 5.07266878e+01] [ 1.03672923e-01 9.94602666e-01 -4.17871110e-03 3.57263254e+00] [ 5.24300281e-02 -1.26946567e-03 9.98623793e-01 1.92321989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.08509989299999 meters 0.018260093051059977 Centerline is valid? [True, True] Translation: X:50.79, Y:3.57, Z:1.93 [[ 9.92873830e-01 -1.07300574e-01 -5.18473110e-02 5.07890180e+01] [ 1.07230446e-01 9.94225572e-01 -4.14043056e-03 3.57416412e+00] [ 5.19921930e-02 -1.44868515e-03 9.98646441e-01 1.92626017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.145099892999994 meters 0.01885325699090852 Centerline is valid? [True, True] Translation: X:50.85, Y:3.57, Z:1.93 [[ 9.92657851e-01 -1.09929856e-01 -5.04560955e-02 5.08497912e+01] [ 1.09867000e-01 9.93938144e-01 -4.02600792e-03 3.57348998e+00] [ 5.05928164e-02 -1.54701150e-03 9.98718165e-01 1.93141977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.20509989299999 meters 0.01923609408906927 Centerline is valid? [True, True] Translation: X:50.91, Y:3.58, Z:1.93 [[ 9.92410155e-01 -1.11200378e-01 -5.25029640e-02 5.09118033e+01] [ 1.11134219e-01 9.93796586e-01 -4.18696904e-03 3.57644759e+00] [ 5.26428589e-02 -1.67968530e-03 9.98611991e-01 1.93188409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.26509989299999 meters 0.02098073324990455 Centerline is valid? [True, True] Translation: X:50.97, Y:3.58, Z:1.93 [[ 9.92213786e-01 -1.12868126e-01 -5.26553790e-02 5.09735466e+01] [ 1.12804128e-01 9.93608388e-01 -4.19530626e-03 3.57938361e+00] [ 5.27923426e-02 -1.77710343e-03 9.98603931e-01 1.93457483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.325099892999994 meters 0.020847338804286186 Centerline is valid? [True, True] Translation: X:51.04, Y:3.58, Z:1.94 [[ 9.91934699e-01 -1.14880334e-01 -5.35542806e-02 5.10353117e+01] [ 1.14817259e-01 9.93377482e-01 -4.26321364e-03 3.58064696e+00] [ 5.36893758e-02 -1.92012618e-03 9.98555839e-01 1.93656484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.385099892999996 meters 0.01735973947976947 Centerline is valid? [True, True] Translation: X:51.10, Y:3.59, Z:1.94 [[ 9.91960314e-01 -1.14850651e-01 -5.31419230e-02 5.10981060e+01] [ 1.14788689e-01 9.93380939e-01 -4.22687113e-03 3.58800760e+00] [ 5.32756323e-02 -1.90720325e-03 9.98578024e-01 1.94248537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.44509989299999 meters 0.019895043507192175 Centerline is valid? [True, True] Translation: X:51.16, Y:3.59, Z:1.94 [[ 9.92138987e-01 -1.13313271e-01 -5.31068045e-02 5.11597271e+01] [ 1.13249490e-01 9.93557627e-01 -4.21848981e-03 3.59146315e+00] [ 5.32426816e-02 -1.82899030e-03 9.98579928e-01 1.94151597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.50509989299999 meters 0.01936951263301397 Centerline is valid? [True, True] Translation: X:51.22, Y:3.60, Z:1.94 [[ 9.92280714e-01 -1.12080786e-01 -5.30743047e-02 5.12216036e+01] [ 1.12015532e-01 9.93697529e-01 -4.21198305e-03 3.59708801e+00] [ 5.32118878e-02 -1.76567695e-03 9.98581683e-01 1.94332777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.565099892999996 meters 0.019577156435770512 Centerline is valid? [True, True] Translation: X:51.28, Y:3.60, Z:1.95 [[ 9.92297768e-01 -1.12041863e-01 -5.28371185e-02 5.12840348e+01] [ 1.11977361e-01 9.93701929e-01 -4.18891467e-03 3.60336992e+00] [ 5.29736804e-02 -1.75991043e-03 9.98594358e-01 1.94634254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.62509989299999 meters 0.01979021055595989 Centerline is valid? [True, True] Translation: X:51.35, Y:3.61, Z:1.95 [[ 9.91993589e-01 -1.14182681e-01 -5.39540006e-02 5.13458929e+01] [ 1.14118878e-01 9.93457916e-01 -4.27201765e-03 3.60533493e+00] [ 5.40888194e-02 -1.91935590e-03 9.98534284e-01 1.94787493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.68509989299999 meters 0.020056133532432407 Centerline is valid? [True, True] Translation: X:51.41, Y:3.61, Z:1.95 [[ 9.92176069e-01 -1.12656379e-01 -5.38069500e-02 5.14072550e+01] [ 1.12590904e-01 9.93632312e-01 -4.25627597e-03 3.60965534e+00] [ 5.39438208e-02 -1.83519799e-03 9.98542286e-01 1.95051611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.745099892999995 meters 0.016752486011009853 Centerline is valid? [True, True] Translation: X:51.47, Y:3.62, Z:1.96 [[ 9.92884006e-01 -1.07908234e-01 -5.03702705e-02 5.14675294e+01] [ 1.07845050e-01 9.94159754e-01 -3.97849693e-03 3.61956824e+00] [ 5.05054083e-02 -1.48199837e-03 9.98722688e-01 1.95935398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.80509989299999 meters 0.016722682315971207 Centerline is valid? [True, True] Translation: X:51.53, Y:3.63, Z:1.96 [[ 9.93505325e-01 -1.02382993e-01 -4.96476811e-02 5.15286355e+01] [ 1.02314774e-01 9.94744348e-01 -3.92024014e-03 3.62946585e+00] [ 4.97881161e-02 -1.18491180e-03 9.98759100e-01 1.96157663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.86509989299999 meters 0.013950716811058365 Centerline is valid? [True, True] Translation: X:51.59, Y:3.64, Z:1.97 [[ 9.94210171e-01 -9.46354327e-02 -5.08946998e-02 5.15889455e+01] [ 9.45537353e-02 9.95511659e-01 -4.01596486e-03 3.64209465e+00] [ 5.10463196e-02 -8.19570861e-04 9.98695951e-01 1.96609592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.925099892999995 meters 0.015382440797192927 Centerline is valid? [True, True] Translation: X:51.65, Y:3.65, Z:1.97 [[ 9.94580870e-01 -8.94102004e-02 -5.30538336e-02 5.16509707e+01] [ 8.93141223e-02 9.95994720e-01 -4.18386667e-03 3.65040339e+00] [ 5.32154186e-02 -5.77262830e-04 9.98582889e-01 1.96552771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.98509989299999 meters 0.01360546033193838 Centerline is valid? [True, True] Translation: X:51.71, Y:3.66, Z:1.97 [[ 9.95071911e-01 -8.38141160e-02 -5.29819447e-02 5.17129491e+01] [ 8.37105767e-02 9.96481367e-01 -4.17427814e-03 3.65800632e+00] [ 5.31453841e-02 -2.81442217e-04 9.98586746e-01 1.96818586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.04509989299999 meters 0.014944373114014635 Centerline is valid? [True, True] Translation: X:51.77, Y:3.67, Z:1.97 [[ 9.95692750e-01 -7.67436472e-02 -5.20226927e-02 5.17734385e+01] [ 7.66343656e-02 9.97050853e-01 -4.09507218e-03 3.66703322e+00] [ 5.21835410e-02 9.07076294e-05 9.98637507e-01 1.97007820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.105099892999995 meters 0.015119411699743497 Centerline is valid? [True, True] Translation: X:51.83, Y:3.67, Z:1.97 [[ 9.95888733e-01 -7.46826997e-02 -5.12652426e-02 5.18345785e+01] [ 7.45739935e-02 9.97207329e-01 -4.03266486e-03 3.67125244e+00] [ 5.14232459e-02 1.93031635e-04 9.98676931e-01 1.97035510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.16509989299999 meters 0.014246967490157657 Centerline is valid? [True, True] Translation: X:51.90, Y:3.67, Z:1.97 [[ 9.95718900e-01 -7.79985130e-02 -4.95994309e-02 5.18965072e+01] [ 7.79009967e-02 9.96953475e-01 -3.89911455e-03 3.67127072e+00] [ 4.97524502e-02 1.85769452e-05 9.98761580e-01 1.97458465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.22509989299999 meters 0.014165056520169701 Centerline is valid? [True, True] Translation: X:51.96, Y:3.67, Z:1.98 [[ 9.95192647e-01 -8.38632668e-02 -5.05820858e-02 5.19583801e+01] [ 8.37695281e-02 9.96477231e-01 -3.97408413e-03 3.67085436e+00] [ 5.07371765e-02 -2.82258158e-04 9.98712000e-01 1.97647331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.285099892999995 meters 0.016552545389655594 Centerline is valid? [True, True] Translation: X:52.02, Y:3.67, Z:1.98 [[ 9.94401798e-01 -9.28659060e-02 -5.04082057e-02 5.20204858e+01] [ 9.27844990e-02 9.95678348e-01 -3.95767466e-03 3.66664538e+00] [ 5.05578921e-02 -7.41581310e-04 9.98720857e-01 1.97746285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.34509989299999 meters 0.016302791861941987 Centerline is valid? [True, True] Translation: X:52.08, Y:3.67, Z:1.98 [[ 9.95926508e-01 -7.49337767e-02 -5.01529641e-02 5.20816326e+01] [ 7.48305668e-02 9.97188498e-01 -3.93506571e-03 3.67459939e+00] [ 5.03068283e-02 1.66061520e-04 9.98733796e-01 1.97993040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.40509989299999 meters 0.014881329302109864 Centerline is valid? [True, True] Translation: X:52.14, Y:3.68, Z:1.98 [[ 9.96446036e-01 -6.83637080e-02 -4.92107824e-02 5.21418126e+01] [ 6.82564498e-02 9.97660347e-01 -3.85874307e-03 3.68378892e+00] [ 4.93594443e-02 4.86075935e-04 9.98780961e-01 1.98488976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.465099892999994 meters 0.01601312446254505 Centerline is valid? [True, True] Translation: X:52.20, Y:3.69, Z:1.99 [[ 9.96519569e-01 -6.64530426e-02 -5.03263578e-02 5.22025780e+01] [ 6.63386780e-02 9.97789380e-01 -3.94126157e-03 3.68752066e+00] [ 5.04770141e-02 5.88960240e-04 9.98725049e-01 1.98619967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.52509989299999 meters 0.015017871272803289 Centerline is valid? [True, True] Translation: X:52.26, Y:3.69, Z:1.99 [[ 9.96152857e-01 -7.23067419e-02 -4.95097980e-02 5.22625118e+01] [ 7.22032694e-02 9.97382400e-01 -3.87758836e-03 3.68839566e+00] [ 4.96605769e-02 2.87901439e-04 9.98766111e-01 1.99083118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.58509989299999 meters 0.015097416620006467 Centerline is valid? [True, True] Translation: X:52.32, Y:3.69, Z:1.99 [[ 9.95720908e-01 -7.76645720e-02 -5.00808118e-02 5.23233324e+01] [ 7.75653903e-02 9.96979545e-01 -3.92383449e-03 3.68916109e+00] [ 5.02342879e-02 2.25063277e-05 9.98737461e-01 1.99303310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.645099892999994 meters 0.015160150746441722 Centerline is valid? [True, True] Translation: X:52.39, Y:3.69, Z:1.99 [[ 9.95156057e-01 -8.42405654e-02 -5.06749448e-02 5.23854307e+01] [ 8.41475636e-02 9.96445397e-01 -3.96973288e-03 3.68807839e+00] [ 5.08292280e-02 -3.13669422e-04 9.98707310e-01 1.99454358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.70509989299999 meters 0.014087035410518976 Centerline is valid? [True, True] Translation: X:52.45, Y:3.69, Z:2.00 [[ 9.94447651e-01 -9.28716754e-02 -4.94845494e-02 5.24481714e+01] [ 9.27938421e-02 9.95677811e-01 -3.87288864e-03 3.68566584e+00] [ 4.96303495e-02 -7.40476454e-04 9.98767380e-01 1.99804180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.76509989299999 meters 0.018477503065501805 Centerline is valid? [True, True] Translation: X:52.51, Y:3.68, Z:2.00 [[ 9.93498235e-01 -1.02532664e-01 -4.94803961e-02 5.25084012e+01] [ 1.02466956e-01 9.94728883e-01 -3.86946272e-03 3.68250933e+00] [ 4.96163254e-02 -1.22580118e-03 9.98767599e-01 1.99786858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.825099892999994 meters 0.018036649512081886 Centerline is valid? [True, True] Translation: X:52.57, Y:3.70, Z:2.00 [[ 9.93461436e-01 -1.01826723e-01 -5.16303536e-02 5.25697614e+01] [ 1.01754283e-01 9.94801373e-01 -4.03653617e-03 3.70369380e+00] [ 5.17729739e-02 -1.24346657e-03 9.98658106e-01 1.99779791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88509989299999 meters 0.017520450918245487 Centerline is valid? [True, True] Translation: X:52.63, Y:3.71, Z:2.00 [[ 9.93836829e-01 -9.77011516e-02 -5.23721615e-02 5.26303456e+01] [ 9.76211526e-02 9.95215246e-01 -4.08955551e-03 3.71387998e+00] [ 5.25211279e-02 -1.04827989e-03 9.98619263e-01 1.99867250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.94509989299999 meters 0.017226124688513006 Centerline is valid? [True, True] Translation: X:52.69, Y:3.72, Z:2.00 [[ 9.93946759e-01 -9.67686267e-02 -5.20160881e-02 5.26917206e+01] [ 9.66885528e-02 9.95306407e-01 -4.05952217e-03 3.72322917e+00] [ 5.21647802e-02 -9.94411382e-04 9.98637996e-01 2.00210495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.00509989299999 meters 0.01476565885862408 Centerline is valid? [True, True] Translation: X:52.75, Y:3.73, Z:2.01 [[ 9.93945517e-01 -9.75700665e-02 -5.05211884e-02 5.27544119e+01] [ 9.74957656e-02 9.95228145e-01 -3.93888384e-03 3.73120685e+00] [ 5.06644258e-02 -1.01056600e-03 9.98715222e-01 2.00887710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.065099892999996 meters 0.016436131827459653 Centerline is valid? [True, True] Translation: X:52.82, Y:3.74, Z:2.01 [[ 9.93900687e-01 -9.79974580e-02 -5.05759191e-02 5.28154815e+01] [ 9.79238126e-02 9.95186123e-01 -3.93795440e-03 3.73513398e+00] [ 5.07183624e-02 -1.03865124e-03 9.98712456e-01 2.00983336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.12509989299999 meters 0.018504499586071282 Centerline is valid? [True, True] Translation: X:52.88, Y:3.73, Z:2.01 [[ 9.93268345e-01 -1.02700689e-01 -5.35776291e-02 5.28765440e+01] [ 1.02625015e-01 9.94711378e-01 -4.16901417e-03 3.73464821e+00] [ 5.37224379e-02 -1.35745516e-03 9.98554984e-01 2.00903846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.18509989299999 meters 0.01713487337891507 Centerline is valid? [True, True] Translation: X:52.94, Y:3.74, Z:2.01 [[ 9.93184944e-01 -1.03653340e-01 -5.32883834e-02 5.29388724e+01] [ 1.03579935e-01 9.94612496e-01 -4.14490569e-03 3.73800857e+00] [ 5.34309254e-02 -1.40294934e-03 9.98570562e-01 2.01320431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.245099892999995 meters 0.019084122719309253 Centerline is valid? [True, True] Translation: X:53.00, Y:3.74, Z:2.01 [[ 9.93083810e-01 -1.04451853e-01 -5.36130191e-02 5.30010697e+01] [ 1.04378926e-01 9.94528875e-01 -4.16619230e-03 3.74180286e+00] [ 5.37548621e-02 -1.45869122e-03 9.98553097e-01 2.01419057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.30509989299999 meters 0.01814860410689851 Centerline is valid? [True, True] Translation: X:53.06, Y:3.75, Z:2.02 [[ 9.93125290e-01 -1.05156255e-01 -5.14229587e-02 5.30639428e+01] [ 1.05090312e-01 9.94454670e-01 -3.99201908e-03 3.74687632e+00] [ 5.15575872e-02 -1.43947969e-03 9.98668986e-01 2.01855766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.36509989299999 meters 0.019120287880619827 Centerline is valid? [True, True] Translation: X:53.13, Y:3.75, Z:2.02 [[ 9.93254590e-01 -1.04626085e-01 -4.99870103e-02 5.31264102e+01] [ 1.04563361e-01 9.94510676e-01 -3.87542570e-03 3.74987129e+00] [ 5.01180860e-02 -1.37752542e-03 9.98742349e-01 2.02080251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.425099892999995 meters 0.017952073346531646 Centerline is valid? [True, True] Translation: X:53.19, Y:3.76, Z:2.03 [[ 9.93383494e-01 -1.04243085e-01 -4.81935057e-02 5.31885006e+01] [ 1.04184496e-01 9.94550982e-01 -3.73295683e-03 3.75576950e+00] [ 4.83200334e-02 -1.31275841e-03 9.98831042e-01 2.02579526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.48509989299999 meters 0.018335982222875444 Centerline is valid? [True, True] Translation: X:53.25, Y:3.76, Z:2.03 [[ 9.93219376e-01 -1.05292498e-01 -4.92824683e-02 5.32508177e+01] [ 1.05232706e-01 9.94440312e-01 -3.81357839e-03 3.75895351e+00] [ 4.94100143e-02 -1.39840754e-03 9.98777600e-01 2.02734534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.54509989299999 meters 0.018902531247931384 Centerline is valid? [True, True] Translation: X:53.31, Y:3.77, Z:2.03 [[ 9.92752620e-01 -1.07893930e-01 -5.29257437e-02 5.33123994e+01] [ 1.07828907e-01 9.94161049e-01 -4.09088254e-03 3.76514873e+00] [ 5.30580943e-02 -1.64569073e-03 9.98590071e-01 2.02802521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.605099892999995 meters 0.018899702946872415 Centerline is valid? [True, True] Translation: X:53.37, Y:3.77, Z:2.03 [[ 9.92834553e-01 -1.06752005e-01 -5.36987801e-02 5.33744380e+01] [ 1.06683723e-01 9.94284368e-01 -4.14466287e-03 3.77219083e+00] [ 5.38343087e-02 -1.61382124e-03 9.98548578e-01 2.02971179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66509989299999 meters 0.017862939999639796 Centerline is valid? [True, True] Translation: X:53.44, Y:3.78, Z:2.03 [[ 9.93415201e-01 -1.01824736e-01 -5.25162944e-02 5.34351896e+01] [ 1.01752731e-01 9.94801477e-01 -4.04995062e-03 3.77700986e+00] [ 5.26556724e-02 -1.32039388e-03 9.98611855e-01 2.03232728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.72509989299999 meters 0.016381058935113147 Centerline is valid? [True, True] Translation: X:53.50, Y:3.79, Z:2.04 [[ 9.94071267e-01 -9.58929251e-02 -5.12529330e-02 5.34958917e+01] [ 9.58165667e-02 9.95391169e-01 -3.95050336e-03 3.78911874e+00] [ 5.13955423e-02 -9.83798194e-04 9.98677891e-01 2.03790111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.785099892999995 meters 0.016611231610478245 Centerline is valid? [True, True] Translation: X:53.56, Y:3.79, Z:2.04 [[ 9.93973414e-01 -9.67019170e-02 -5.16293758e-02 5.35579564e+01] [ 9.66256798e-02 9.95312848e-01 -3.97648891e-03 3.79326255e+00] [ 5.17719152e-02 -1.03619928e-03 9.98658398e-01 2.04134414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.84509989299999 meters 0.017798206820076955 Centerline is valid? [True, True] Translation: X:53.62, Y:3.80, Z:2.04 [[ 9.93773163e-01 -9.83078666e-02 -5.24448647e-02 5.36199917e+01] [ 9.82316395e-02 9.95155395e-01 -4.03541476e-03 3.79611365e+00] [ 5.25875031e-02 -1.14145815e-03 9.98615668e-01 2.04291171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.90509989299999 meters 0.01606862942370109 Centerline is valid? [True, True] Translation: X:53.68, Y:3.80, Z:2.05 [[ 9.93806597e-01 -9.87954625e-02 -5.08714549e-02 5.36823956e+01] [ 9.87245833e-02 9.95107113e-01 -3.91035056e-03 3.79907566e+00] [ 5.10088715e-02 -1.13613101e-03 9.98697554e-01 2.04738638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.965099892999994 meters 0.018359989755247375 Centerline is valid? [True, True] Translation: X:53.74, Y:3.80, Z:2.05 [[ 9.93722214e-01 -9.89654320e-02 -5.21728327e-02 5.37444256e+01] [ 9.88914010e-02 9.95090173e-01 -4.00489702e-03 3.80397203e+00] [ 5.23130194e-02 -1.17968939e-03 9.98630040e-01 2.04783401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.02509989299999 meters 0.02027966459451378 Centerline is valid? [True, True] Translation: X:53.81, Y:3.80, Z:2.05 [[ 9.92670545e-01 -1.09827746e-01 -5.04287215e-02 5.38053887e+01] [ 1.09772715e-01 9.93949189e-01 -3.86799126e-03 3.79773105e+00] [ 5.05483996e-02 -1.69605670e-03 9.98720172e-01 2.05129152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.08509989299999 meters 0.020113719570532297 Centerline is valid? [True, True] Translation: X:53.87, Y:3.80, Z:2.05 [[ 9.92524971e-01 -1.10976151e-01 -5.07786946e-02 5.38672581e+01] [ 1.10921885e-01 9.93821498e-01 -3.89421582e-03 3.79637690e+00] [ 5.08971234e-02 -1.76736210e-03 9.98702338e-01 2.05239977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.145099892999994 meters 0.02058010793215553 Centerline is valid? [True, True] Translation: X:53.93, Y:3.80, Z:2.05 [[ 9.92613301e-01 -1.09855978e-01 -5.14829993e-02 5.39296775e+01] [ 1.09798858e-01 9.93945998e-01 -3.94504323e-03 3.80280976e+00] [ 5.16047077e-02 -1.73687217e-03 9.98666079e-01 2.05399168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.20509989299999 meters 0.018996881974987702 Centerline is valid? [True, True] Translation: X:53.99, Y:3.81, Z:2.06 [[ 9.92688549e-01 -1.10028932e-01 -4.96294057e-02 5.39917569e+01] [ 1.09976275e-01 9.93926953e-01 -3.79879637e-03 3.80632848e+00] [ 4.97459815e-02 -1.68703551e-03 9.98760477e-01 2.05990980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.26509989299999 meters 0.021299843545588924 Centerline is valid? [True, True] Translation: X:54.05, Y:3.81, Z:2.06 [[ 9.92676876e-01 -1.10127745e-01 -4.96437248e-02 5.40528868e+01] [ 1.10075352e-01 9.93915994e-01 -3.79646729e-03 3.80890685e+00] [ 4.97597885e-02 -1.69588517e-03 9.98759775e-01 2.06047315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.325099892999994 meters 0.020171541777144843 Centerline is valid? [True, True] Translation: X:54.11, Y:3.82, Z:2.06 [[ 9.92581687e-01 -1.10408289e-01 -5.09078036e-02 5.41147841e+01] [ 1.10353713e-01 9.93884764e-01 -3.89019727e-03 3.81590458e+00] [ 5.10260004e-02 -1.75652659e-03 9.98695780e-01 2.06323480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38509989299999 meters 0.019742103729976854 Centerline is valid? [True, True] Translation: X:54.18, Y:3.82, Z:2.07 [[ 9.92489904e-01 -1.10410383e-01 -5.26624913e-02 5.41764344e+01] [ 1.10352193e-01 9.93884415e-01 -4.02034032e-03 3.82224437e+00] [ 5.27843167e-02 -1.82127422e-03 9.98604275e-01 2.06532619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.44509989299999 meters 0.018881375688928042 Centerline is valid? [True, True] Translation: X:54.24, Y:3.83, Z:2.07 [[ 9.92849764e-01 -1.08183162e-01 -5.04554245e-02 5.42367492e+01] [ 1.08127039e-01 9.94129635e-01 -3.84859546e-03 3.82839493e+00] [ 5.05755860e-02 -1.63451853e-03 9.98718899e-01 2.07141230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.50509989299999 meters 0.019318136851744726 Centerline is valid? [True, True] Translation: X:54.30, Y:3.83, Z:2.07 [[ 9.92994030e-01 -1.06931418e-01 -5.02844636e-02 5.42983611e+01] [ 1.06874180e-01 9.94265163e-01 -3.83341692e-03 3.83454650e+00] [ 5.04060031e-02 -1.56755070e-03 9.98727579e-01 2.07178528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56509989299999 meters 0.018344118806695862 Centerline is valid? [True, True] Translation: X:54.36, Y:3.84, Z:2.08 [[ 9.93125650e-01 -1.06026048e-01 -4.95975915e-02 5.43608539e+01] [ 1.05969423e-01 9.94362214e-01 -3.77727331e-03 3.83866875e+00] [ 4.97184602e-02 -1.50452115e-03 9.98762139e-01 2.07594918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.62509989299999 meters 0.017937909638218102 Centerline is valid? [True, True] Translation: X:54.42, Y:3.84, Z:2.08 [[ 9.93217866e-01 -1.05233402e-01 -4.94388661e-02 5.44232206e+01] [ 1.05176376e-01 9.94446472e-01 -3.76081355e-03 3.84322791e+00] [ 4.95600692e-02 -1.46449354e-03 9.98770071e-01 2.07868158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.68509989299999 meters 0.017781381850189626 Centerline is valid? [True, True] Translation: X:54.49, Y:3.85, Z:2.08 [[ 9.93260515e-01 -1.04270280e-01 -5.06088703e-02 5.44854472e+01] [ 1.04209466e-01 9.94547935e-01 -3.84604396e-03 3.84621562e+00] [ 5.07339756e-02 -1.45379974e-03 9.98711145e-01 2.07968593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.745099892999995 meters 0.015301034664286077 Centerline is valid? [True, True] Translation: X:54.55, Y:3.85, Z:2.08 [[ 9.93788328e-01 -9.81256855e-02 -5.24986663e-02 5.45469194e+01] [ 9.80518752e-02 9.95173323e-01 -3.98591877e-03 3.85295344e+00] [ 5.26363932e-02 -1.18643312e-03 9.98613039e-01 2.08386824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.80509989299999 meters 0.01698433337234509 Centerline is valid? [True, True] Translation: X:54.61, Y:3.86, Z:2.08 [[ 9.94019704e-01 -9.55030155e-02 -5.29528379e-02 5.46089186e+01] [ 9.54243705e-02 9.95428577e-01 -4.01727902e-03 3.85695672e+00] [ 5.30944303e-02 -1.05973672e-03 9.98588934e-01 2.08360679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.86509989299999 meters 0.01618743653872913 Centerline is valid? [True, True] Translation: X:54.67, Y:3.86, Z:2.09 [[ 9.94371255e-01 -9.28555524e-02 -5.10260020e-02 5.46709965e+01] [ 9.27792286e-02 9.95679194e-01 -3.86750913e-03 3.86217570e+00] [ 5.11646482e-02 -8.88413193e-04 9.98689836e-01 2.08796746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.925099892999995 meters 0.015573744644422075 Centerline is valid? [True, True] Translation: X:54.73, Y:3.87, Z:2.09 [[ 9.94702962e-01 -9.05138584e-02 -4.87161063e-02 5.47314887e+01] [ 9.04416457e-02 9.95894924e-01 -3.68911558e-03 3.86664152e+00] [ 4.88500390e-02 -7.36390628e-04 9.98805853e-01 2.09304035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.98509989299999 meters 0.017517787080441355 Centerline is valid? [True, True] Translation: X:54.79, Y:3.86, Z:2.09 [[ 9.94270022e-01 -9.46595600e-02 -4.96658003e-02 5.47944548e+01] [ 9.45898134e-02 9.95509238e-01 -3.75813137e-03 3.85919535e+00] [ 4.97985061e-02 -9.61281422e-04 9.98758822e-01 2.09348649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.04509989299999 meters 0.01886095669134866 Centerline is valid? [True, True] Translation: X:54.85, Y:3.85, Z:2.09 [[ 9.93703112e-01 -1.00056243e-01 -5.04269066e-02 5.48546281e+01] [ 9.99914391e-02 9.94980993e-01 -3.81255761e-03 3.85475515e+00] [ 5.05552837e-02 -1.25370859e-03 9.98720477e-01 2.09481293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.105099892999995 meters 0.0188115169787716 Centerline is valid? [True, True] Translation: X:54.92, Y:3.85, Z:2.10 [[ 9.93402033e-01 -1.02443627e-01 -5.15529212e-02 5.49166580e+01] [ 1.02379143e-01 9.94737817e-01 -3.89698616e-03 3.85461663e+00] [ 5.16808617e-02 -1.40666991e-03 9.98662661e-01 2.09641173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.16509989299999 meters 0.018691826160900867 Centerline is valid? [True, True] Translation: X:54.98, Y:3.86, Z:2.10 [[ 9.93295721e-01 -1.03392034e-01 -5.17078101e-02 5.49786287e+01] [ 1.03328641e-01 9.94639605e-01 -3.90491289e-03 3.85793290e+00] [ 5.18343727e-02 -1.46416449e-03 9.98654622e-01 2.09929378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.22509989299999 meters 0.019242657931680496 Centerline is valid? [True, True] Translation: X:55.04, Y:3.86, Z:2.10 [[ 9.93247627e-01 -1.04426716e-01 -5.05392235e-02 5.50405998e+01] [ 1.04367678e-01 9.94531472e-01 -3.81302350e-03 3.85996835e+00] [ 5.06610299e-02 -1.48738486e-03 9.98714798e-01 2.10334623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.285099892999995 meters 0.019078162153597124 Centerline is valid? [True, True] Translation: X:55.10, Y:3.86, Z:2.11 [[ 9.93682741e-01 -1.00674996e-01 -4.95898778e-02 5.51022258e+01] [ 1.00613650e-01 9.94918549e-01 -3.73812368e-03 3.86027459e+00] [ 4.97142248e-02 -1.27490963e-03 9.98762670e-01 2.10750369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.34509989299999 meters 0.019078162153597124 Centerline is valid? [True, True] Translation: X:55.16, Y:3.86, Z:2.11 [[ 9.93689941e-01 -1.00603823e-01 -4.95900328e-02 5.51637184e+01] [ 1.00542492e-01 9.94925751e-01 -3.73606546e-03 3.86484756e+00] [ 4.97142631e-02 -1.27341481e-03 9.98762670e-01 2.11009542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.40509989299999 meters 0.01765465731867317 Centerline is valid? [True, True] Translation: X:55.23, Y:3.87, Z:2.11 [[ 9.93806898e-01 -9.92174067e-02 -5.00375432e-02 5.52252097e+01] [ 9.91533916e-02 9.95065034e-01 -3.76612521e-03 3.87160328e+00] [ 5.01642748e-02 -1.21859091e-03 9.98740237e-01 2.11277110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.465099892999994 meters 0.017671291280144965 Centerline is valid? [True, True] Translation: X:55.29, Y:3.87, Z:2.11 [[ 9.93930911e-01 -9.77941736e-02 -5.03750360e-02 5.52862202e+01] [ 9.77276498e-02 9.95205988e-01 -3.78789025e-03 3.87469683e+00] [ 5.05039710e-02 -1.15813266e-03 9.98723189e-01 2.11463030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.52509989299999 meters 0.017771592180362165 Centerline is valid? [True, True] Translation: X:55.35, Y:3.88, Z:2.12 [[ 9.94044108e-01 -9.62999986e-02 -5.10158919e-02 5.53478933e+01] [ 9.62299599e-02 9.95351748e-01 -3.83306626e-03 3.88017185e+00] [ 5.11478814e-02 -1.09902030e-03 9.98690486e-01 2.11649865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.58509989299999 meters 0.01689232221355675 Centerline is valid? [True, True] Translation: X:55.41, Y:3.89, Z:2.12 [[ 9.94731989e-01 -8.93947074e-02 -5.01682734e-02 5.54086617e+01] [ 8.93183631e-02 9.95996007e-01 -3.76609938e-03 3.88945648e+00] [ 5.03040694e-02 -7.34688531e-04 9.98733679e-01 2.12004874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.645099892999994 meters 0.016989533481710464 Centerline is valid? [True, True] Translation: X:55.47, Y:3.89, Z:2.12 [[ 9.94721827e-01 -8.97294935e-02 -4.97705286e-02 5.54704207e+01] [ 8.96548790e-02 9.95965892e-01 -3.73413805e-03 3.89474092e+00] [ 4.99048112e-02 -7.47742094e-04 9.98753699e-01 2.12341321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.70509989299999 meters 0.017177751809410346 Centerline is valid? [True, True] Translation: X:55.53, Y:3.90, Z:2.13 [[ 9.94568063e-01 -9.16407069e-02 -4.93593832e-02 5.55311505e+01] [ 9.15698722e-02 9.95791783e-01 -3.69924405e-03 3.89662940e+00] [ 4.94906695e-02 -8.40682413e-04 9.98774232e-01 2.12553668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.76509989299999 meters 0.017346751125304496 Centerline is valid? [True, True] Translation: X:55.59, Y:3.90, Z:2.13 [[ 9.94324742e-01 -9.47533680e-02 -4.83746541e-02 5.55932564e+01] [ 9.46892890e-02 9.95500294e-01 -3.61972604e-03 3.89934698e+00] [ 4.84999636e-02 -9.81378440e-04 9.98822702e-01 2.12958886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.825099892999994 meters 0.018290370293714896 Centerline is valid? [True, True] Translation: X:55.65, Y:3.90, Z:2.13 [[ 9.94163107e-01 -9.64876161e-02 -4.82685930e-02 5.56548979e+01] [ 9.64260274e-02 9.95333613e-01 -3.60831969e-03 3.90300702e+00] [ 4.83915113e-02 -1.06709037e-03 9.98827875e-01 2.13217376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88509989299999 meters 0.017209939118682675 Centerline is valid? [True, True] Translation: X:55.72, Y:3.91, Z:2.14 [[ 9.93997697e-01 -9.82333367e-02 -4.81538190e-02 5.57172339e+01] [ 9.81742540e-02 9.95162742e-01 -3.59627330e-03 3.90752849e+00] [ 4.82741605e-02 -1.15277788e-03 9.98833458e-01 2.13609345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.94509989299999 meters 0.019028308116290235 Centerline is valid? [True, True] Translation: X:55.78, Y:3.91, Z:2.14 [[ 9.93564082e-01 -1.01576686e-01 -5.01257640e-02 5.57792300e+01] [ 1.01517103e-01 9.94826765e-01 -3.73976798e-03 3.91083398e+00] [ 5.02463248e-02 -1.37292320e-03 9.98735912e-01 2.13680681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.00509989299999 meters 0.01552090840731671 Centerline is valid? [True, True] Translation: X:55.84, Y:3.96, Z:2.14 [[ 9.94564174e-01 -9.07388350e-02 -5.10741292e-02 5.58361613e+01] [ 9.06628584e-02 9.95874365e-01 -3.80718809e-03 3.96404704e+00] [ 5.12088758e-02 -8.44033663e-04 9.98687608e-01 2.14229848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06509989299999 meters 0.015632372942356632 Centerline is valid? [True, True] Translation: X:55.90, Y:3.97, Z:2.15 [[ 9.94538730e-01 -9.05967224e-02 -5.18164806e-02 5.58981559e+01] [ 9.05184199e-02 9.95887298e-01 -3.86075352e-03 3.97179096e+00] [ 5.19531465e-02 -8.50677048e-04 9.98649161e-01 2.14521835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.12509989299999 meters 0.015730789909050795 Centerline is valid? [True, True] Translation: X:55.96, Y:3.98, Z:2.15 [[ 9.94507315e-01 -9.06499933e-02 -5.23237944e-02 5.59597461e+01] [ 9.05704220e-02 9.95882438e-01 -3.89476983e-03 3.98066038e+00] [ 5.24614088e-02 -8.65611056e-04 9.98622577e-01 2.14820618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.18509989299999 meters 0.014452342185226626 Centerline is valid? [True, True] Translation: X:56.02, Y:3.99, Z:2.15 [[ 9.94735708e-01 -8.92682789e-02 -5.03194332e-02 5.60219197e+01] [ 8.91931112e-02 9.96007323e-01 -3.74183212e-03 3.98841178e+00] [ 5.04525509e-02 -7.66012774e-04 9.98726165e-01 2.15364667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24509989299999 meters 0.016352541415404175 Centerline is valid? [True, True] Translation: X:56.08, Y:3.99, Z:2.15 [[ 9.94764170e-01 -8.80768991e-02 -5.18334383e-02 5.60845095e+01] [ 8.79957850e-02 9.96113409e-01 -3.84937251e-03 3.99466053e+00] [ 5.19710238e-02 -7.31906241e-04 9.98648325e-01 2.15404688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.30509989299999 meters 0.01564648005757182 Centerline is valid? [True, True] Translation: X:56.15, Y:4.00, Z:2.15 [[ 9.94699358e-01 -8.70712921e-02 -5.46971469e-02 5.61466188e+01] [ 8.69797629e-02 9.96201821e-01 -4.05625179e-03 4.00177591e+00] [ 5.48425805e-02 -7.22793823e-04 9.98494752e-01 2.15457659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.36509989299999 meters 0.0160698888836538 Centerline is valid? [True, True] Translation: X:56.21, Y:4.01, Z:2.16 [[ 9.94581863e-01 -8.77066106e-02 -5.58074179e-02 5.62082979e+01] [ 8.76125594e-02 9.96146047e-01 -4.13441247e-03 4.00524955e+00] [ 5.59549541e-02 -7.77419060e-04 9.98432992e-01 2.15642211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.425099892999995 meters 0.01330586818059949 Centerline is valid? [True, True] Translation: X:56.27, Y:4.01, Z:2.16 [[ 9.94639168e-01 -8.77114276e-02 -5.47688937e-02 5.62700016e+01] [ 8.76210711e-02 9.96145630e-01 -4.05350715e-03 4.00858912e+00] [ 5.49133330e-02 -7.67132148e-04 9.98490830e-01 2.16148209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.48509989299999 meters 0.012479027972862862 Centerline is valid? [True, True] Translation: X:56.33, Y:4.02, Z:2.17 [[ 9.95591034e-01 -7.84673195e-02 -5.13942855e-02 5.63308219e+01] [ 7.83756233e-02 9.96916656e-01 -3.80022778e-03 4.01915181e+00] [ 5.15340129e-02 -2.44586452e-04 9.98671210e-01 2.16835709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.54509989299999 meters 0.014685464064749704 Centerline is valid? [True, True] Translation: X:56.39, Y:4.03, Z:2.17 [[ 9.96192066e-01 -6.92117602e-02 -5.30198021e-02 5.63928848e+01] [ 6.91012563e-02 9.97601962e-01 -3.91673442e-03 4.02660626e+00] [ 5.31637427e-02 2.38084821e-04 9.98585780e-01 2.16727753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.605099892999995 meters 0.015606226533903377 Centerline is valid? [True, True] Translation: X:56.45, Y:4.03, Z:2.17 [[ 9.96459472e-01 -6.38473083e-02 -5.46995582e-02 5.64527993e+01] [ 6.37217975e-02 9.97959534e-01 -4.03735224e-03 4.03277172e+00] [ 5.48457197e-02 5.37503709e-04 9.98494696e-01 2.16768472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66509989299999 meters 0.014868164328358054 Centerline is valid? [True, True] Translation: X:56.51, Y:4.03, Z:2.17 [[ 9.96458845e-01 -6.19835246e-02 -5.68138455e-02 5.65119151e+01] [ 6.18449138e-02 9.98076949e-01 -4.19643866e-03 4.03350498e+00] [ 5.69646997e-02 6.67931042e-04 9.98375970e-01 2.17018721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.72509989299999 meters 0.014233230937680655 Centerline is valid? [True, True] Translation: X:56.57, Y:4.03, Z:2.17 [[ 9.96427084e-01 -6.55582122e-02 -5.32464710e-02 5.65702509e+01] [ 6.54409937e-02 9.97848647e-01 -3.94382614e-03 4.03229621e+00] [ 5.33904692e-02 4.45233214e-04 9.98573612e-01 2.17460001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.785099892999995 meters 0.015306862485738768 Centerline is valid? [True, True] Translation: X:56.63, Y:4.02, Z:2.18 [[ 9.95253296e-01 -8.25895388e-02 -5.14766460e-02 5.66294079e+01] [ 8.25024461e-02 9.96583548e-01 -3.81812539e-03 4.02150803e+00] [ 5.16161157e-02 -4.46947327e-04 9.98666900e-01 2.17761322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.84509989299999 meters 0.01650649367760844 Centerline is valid? [True, True] Translation: X:56.69, Y:4.01, Z:2.18 [[ 9.93538665e-01 -1.02169664e-01 -4.94194423e-02 5.66896423e+01] [ 1.02113029e-01 9.94766011e-01 -3.67602278e-03 4.00883650e+00] [ 4.95363595e-02 -1.39409818e-03 9.98771348e-01 2.18211394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.90509989299999 meters 0.020376872507124152 Centerline is valid? [True, True] Translation: X:56.75, Y:4.00, Z:2.18 [[ 9.92051427e-01 -1.15416856e-01 -5.01289846e-02 5.67503927e+01] [ 1.15375406e-01 9.93314959e-01 -3.72945141e-03 4.00221820e+00] [ 5.02243118e-02 -2.08384434e-03 9.98735789e-01 2.18453352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.965099892999994 meters 0.02513043928773256 Centerline is valid? [True, True] Translation: X:56.81, Y:4.00, Z:2.18 [[ 9.90863800e-01 -1.24944831e-01 -5.07712531e-02 5.68121748e+01] [ 1.24914775e-01 9.92160286e-01 -3.77713293e-03 3.99668892e+00] [ 5.08451542e-02 -2.59945539e-03 9.98703166e-01 2.18401973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.02509989299999 meters 0.021500227659053323 Centerline is valid? [True, True] Translation: X:56.87, Y:4.01, Z:2.19 [[ 9.92160423e-01 -1.14219193e-01 -5.07116386e-02 5.68718250e+01] [ 1.14175265e-01 9.93453463e-01 -3.77179287e-03 4.01204233e+00] [ 5.08104641e-02 -2.04779115e-03 9.98706215e-01 2.18710083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.08509989299999 meters 0.02088150493817324 Centerline is valid? [True, True] Translation: X:56.93, Y:4.02, Z:2.19 [[ 9.92280762e-01 -1.13022645e-01 -5.10369645e-02 5.69340551e+01] [ 1.12976640e-01 9.93590398e-01 -3.79466217e-03 4.01855035e+00] [ 5.11387207e-02 -2.00061453e-03 9.98689556e-01 2.18957578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.145099892999994 meters 0.021677214167121314 Centerline is valid? [True, True] Translation: X:57.00, Y:4.03, Z:2.19 [[ 9.92427302e-01 -1.11116705e-01 -5.23557929e-02 5.69961444e+01] [ 1.11065849e-01 9.93805441e-01 -3.88886034e-03 4.02798775e+00] [ 5.24635892e-02 -1.95552943e-03 9.98620923e-01 2.18858344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.20509989299999 meters 0.0204370281853095 Centerline is valid? [True, True] Translation: X:57.06, Y:4.04, Z:2.19 [[ 9.92558783e-01 -1.09984060e-01 -5.22548377e-02 5.70584294e+01] [ 1.09932052e-01 9.93931543e-01 -3.87721129e-03 4.03599636e+00] [ 5.23641629e-02 -1.89612141e-03 9.98626256e-01 2.19129739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.26509989299999 meters 0.021448374265764552 Centerline is valid? [True, True] Translation: X:57.12, Y:4.05, Z:2.19 [[ 9.92548415e-01 -1.09597891e-01 -5.32536041e-02 5.71214170e+01] [ 1.09543633e-01 9.93974157e-01 -3.94550420e-03 4.04500436e+00] [ 5.33651252e-02 -1.91748931e-03 9.98573225e-01 2.19238879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.325099892999994 meters 0.01943310552792587 Centerline is valid? [True, True] Translation: X:57.18, Y:4.06, Z:2.20 [[ 9.92301920e-01 -1.12149587e-01 -5.25296994e-02 5.71821648e+01] [ 1.12100626e-01 9.93689258e-01 -3.88680871e-03 4.05692478e+00] [ 5.26341020e-02 -2.03172446e-03 9.98611798e-01 2.20006898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38509989299999 meters 0.019608534978492465 Centerline is valid? [True, True] Translation: X:57.24, Y:4.07, Z:2.20 [[ 9.92873719e-01 -1.05865011e-01 -5.47208985e-02 5.72424641e+01] [ 1.05802498e-01 9.94378931e-01 -4.04629568e-03 4.07050734e+00] [ 5.48416697e-02 -1.77214710e-03 9.98493491e-01 2.19854531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.44509989299999 meters 0.018678599178327968 Centerline is valid? [True, True] Translation: X:57.30, Y:4.08, Z:2.20 [[ 9.93223803e-01 -1.03210603e-01 -5.34233023e-02 5.73023697e+01] [ 1.03147235e-01 9.94658258e-01 -3.94939005e-03 4.07672097e+00] [ 5.35455478e-02 -1.58783771e-03 9.98564146e-01 2.20297350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.50509989299999 meters 0.017338955881993398 Centerline is valid? [True, True] Translation: X:57.37, Y:4.08, Z:2.21 [[ 9.93239640e-01 -1.03447259e-01 -5.26657524e-02 5.73651908e+01] [ 1.03386109e-01 9.94633686e-01 -3.89144919e-03 4.08240340e+00] [ 5.27856912e-02 -1.57976564e-03 9.98604614e-01 2.20822004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56509989299999 meters 0.019025431828822773 Centerline is valid? [True, True] Translation: X:57.43, Y:4.09, Z:2.21 [[ 9.93073802e-01 -1.04368720e-01 -5.39591821e-02 5.74277084e+01] [ 1.04306195e-01 9.94537262e-01 -3.98137467e-03 4.08586978e+00] [ 5.40799483e-02 -1.67447810e-03 9.98535205e-01 2.20832751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.62509989299999 meters 0.01830671942846645 Centerline is valid? [True, True] Translation: X:57.49, Y:4.09, Z:2.22 [[ 9.93564519e-01 -1.02089117e-01 -4.90648398e-02 5.74892808e+01] [ 1.02034798e-01 9.94774254e-01 -3.61703850e-03 4.09056139e+00] [ 4.91776997e-02 -1.41255992e-03 9.98789046e-01 2.21576412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.68509989299999 meters 0.013424542483953632 Centerline is valid? [True, True] Translation: X:57.55, Y:4.11, Z:2.22 [[ 9.96008808e-01 -7.43009007e-02 -4.94553442e-02 5.75485581e+01] [ 7.42115237e-02 9.97235867e-01 -3.64352660e-03 4.10952667e+00] [ 4.95893603e-02 -4.11718604e-05 9.98769690e-01 2.21946498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74509989299999 meters 0.01505503103451338 Centerline is valid? [True, True] Translation: X:57.61, Y:4.12, Z:2.22 [[ 9.96279363e-01 -7.05723908e-02 -4.94668490e-02 5.76094217e+01] [ 7.04784204e-02 9.97506650e-01 -3.64351838e-03 4.11555167e+00] [ 4.96006427e-02 1.43616784e-04 9.98769120e-01 2.22114132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.80509989299999 meters 0.015689139111830813 Centerline is valid? [True, True] Translation: X:57.67, Y:4.11, Z:2.22 [[ 9.96147121e-01 -7.24043711e-02 -4.94825250e-02 5.76706149e+01] [ 7.23128662e-02 9.97375358e-01 -3.63930783e-03 4.11422522e+00] [ 4.96161529e-02 4.70628045e-05 9.98768359e-01 2.22197627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.86509989299999 meters 0.01623706165257852 Centerline is valid? [True, True] Translation: X:57.73, Y:4.09, Z:2.22 [[ 9.93952548e-01 -9.82809336e-02 -4.89815251e-02 5.77323739e+01] [ 9.82226729e-02 9.95157947e-01 -3.60087023e-03 4.09267088e+00] [ 4.90982509e-02 -1.23200218e-03 9.98793194e-01 2.22456963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92509989299999 meters 0.019205624362902445 Centerline is valid? [True, True] Translation: X:57.79, Y:4.09, Z:2.22 [[ 9.93388400e-01 -1.03361116e-01 -4.99596554e-02 5.77926983e+01] [ 1.03306978e-01 9.94642744e-01 -3.67156787e-03 4.09066930e+00] [ 5.00715061e-02 -1.51388808e-03 9.98744488e-01 2.22463614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98509989299999 meters 0.01979005153482757 Centerline is valid? [True, True] Translation: X:57.85, Y:4.09, Z:2.23 [[ 9.92744268e-01 -1.09751254e-01 -4.91271924e-02 5.78542244e+01] [ 1.09706899e-01 9.93957438e-01 -3.60655046e-03 4.08907699e+00] [ 4.92261618e-02 -1.80920964e-03 9.98786019e-01 2.22819030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.04509989299999 meters 0.02066249134695606 Centerline is valid? [True, True] Translation: X:57.92, Y:4.09, Z:2.23 [[ 9.92407819e-01 -1.12260979e-01 -5.02413501e-02 5.79166875e+01] [ 1.12217911e-01 9.93676785e-01 -3.68614195e-03 4.09168620e+00] [ 5.03374732e-02 -1.97982327e-03 9.98730303e-01 2.23046421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.105099892999995 meters 0.019143290849383505 Centerline is valid? [True, True] Translation: X:57.98, Y:4.10, Z:2.23 [[ 9.92977045e-01 -1.07147658e-01 -5.01594243e-02 5.79758650e+01] [ 1.07098367e-01 9.94241630e-01 -3.67713322e-03 4.09555035e+00] [ 5.02645840e-02 -1.72068354e-03 9.98734455e-01 2.23276814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.16509989299999 meters 0.01601505808574476 Centerline is valid? [True, True] Translation: X:58.04, Y:4.11, Z:2.23 [[ 9.93726007e-01 -9.92346646e-02 -5.15858949e-02 5.80364509e+01] [ 9.91718451e-02 9.95063133e-01 -3.78232575e-03 4.10750862e+00] [ 5.17065600e-02 -1.35727292e-03 9.98661399e-01 2.23475575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.22509989299999 meters 0.015815107594903923 Centerline is valid? [True, True] Translation: X:58.10, Y:4.12, Z:2.24 [[ 9.94616588e-01 -8.80838678e-02 -5.45809060e-02 5.80964112e+01] [ 8.79968123e-02 9.96112721e-01 -4.00088775e-03 4.12284351e+00] [ 5.47211485e-02 -8.23596426e-04 9.98501336e-01 2.23512311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.285099892999995 meters 0.012609167823727011 Centerline is valid? [True, True] Translation: X:58.16, Y:4.14, Z:2.24 [[ 9.95755375e-01 -7.58430595e-02 -5.21446414e-02 5.81568901e+01] [ 7.57468883e-02 9.97119757e-01 -3.82094622e-03 4.14116792e+00] [ 5.22842444e-02 -1.45066595e-04 9.98632233e-01 2.24373258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.34509989299999 meters 0.013778549068548385 Centerline is valid? [True, True] Translation: X:58.22, Y:4.15, Z:2.25 [[ 9.96260695e-01 -7.15377239e-02 -4.84456652e-02 5.82186131e+01] [ 7.14497719e-02 9.97437892e-01 -3.54700694e-03 4.15188789e+00] [ 4.85752870e-02 7.23118621e-05 9.98819521e-01 2.24712117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.40509989299999 meters 0.014985509286561782 Centerline is valid? [True, True] Translation: X:58.28, Y:4.16, Z:2.25 [[ 9.96162678e-01 -7.13293210e-02 -5.07153580e-02 5.82796596e+01] [ 7.12328487e-02 9.97452816e-01 -3.70946476e-03 4.16014160e+00] [ 5.08507703e-02 8.26309239e-05 9.98706259e-01 2.24611633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.465099892999994 meters 0.012737814604736549 Centerline is valid? [True, True] Translation: X:58.34, Y:4.17, Z:2.25 [[ 9.96089467e-01 -7.14552562e-02 -5.19607520e-02 5.83402586e+01] [ 7.13542963e-02 9.97443803e-01 -3.79785776e-03 4.16782557e+00] [ 5.20993070e-02 7.53832209e-05 9.98641906e-01 2.25024627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.52509989299999 meters 0.014688030398271304 Centerline is valid? [True, True] Translation: X:58.40, Y:4.17, Z:2.25 [[ 9.96215696e-01 -7.22108215e-02 -4.83723520e-02 5.84016305e+01] [ 7.21243075e-02 9.97389390e-01 -3.53383745e-03 4.17486007e+00] [ 4.85012520e-02 3.16419449e-05 9.98823121e-01 2.25355468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.58509989299999 meters 0.018383050498520268 Centerline is valid? [True, True] Translation: X:58.46, Y:4.15, Z:2.25 [[ 9.93007521e-01 -1.05910089e-01 -5.21451474e-02 5.84647101e+01] [ 1.05855939e-01 9.94374189e-01 -3.80697702e-03 4.15001675e+00] [ 5.22549859e-02 -1.73951672e-03 9.98632260e-01 2.25241181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.645099892999994 meters 0.02083652785902396 Centerline is valid? [True, True] Translation: X:58.52, Y:4.15, Z:2.25 [[ 9.92547407e-01 -1.09271010e-01 -5.39396999e-02 5.85247426e+01] [ 1.09218089e-01 9.94010016e-01 -3.93674769e-03 4.14993272e+00] [ 5.40467744e-02 -1.98378226e-03 9.98536434e-01 2.25280643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.70509989299999 meters 0.021205875012094567 Centerline is valid? [True, True] Translation: X:58.59, Y:4.15, Z:2.25 [[ 9.92445508e-01 -1.09946949e-01 -5.44387891e-02 5.85870243e+01] [ 1.09894316e-01 9.93935355e-01 -3.96849304e-03 4.15387571e+00] [ 5.45449609e-02 -2.04400039e-03 9.98509223e-01 2.25468037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.76509989299999 meters 0.0192598881848033 Centerline is valid? [True, True] Translation: X:58.65, Y:4.16, Z:2.26 [[ 9.93133767e-01 -1.05432617e-01 -5.06881128e-02 5.86473782e+01] [ 1.05381264e-01 9.94425039e-01 -3.69203356e-03 4.16401259e+00] [ 5.07947893e-02 -1.67489422e-03 9.98707707e-01 2.26028796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.825099892999994 meters 0.016486524967164424 Centerline is valid? [True, True] Translation: X:58.71, Y:4.18, Z:2.27 [[ 9.94332895e-01 -9.56426305e-02 -4.64174711e-02 5.87065863e+01] [ 9.55889425e-02 9.95415154e-01 -3.38005948e-03 4.17577642e+00] [ 4.65279319e-02 -1.07609265e-03 9.98916410e-01 2.26695527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88509989299999 meters 0.013301500069319164 Centerline is valid? [True, True] Translation: X:58.77, Y:4.19, Z:2.27 [[ 9.95637936e-01 -8.00357253e-02 -4.79518829e-02 5.87659209e+01] [ 7.99603211e-02 9.96791932e-01 -3.49175283e-03 4.19238206e+00] [ 4.80775150e-02 -3.57726372e-04 9.98843544e-01 2.26906318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.94509989299999 meters 0.015045161667575467 Centerline is valid? [True, True] Translation: X:58.83, Y:4.19, Z:2.27 [[ 9.95217719e-01 -8.22927226e-02 -5.26269805e-02 5.88269065e+01] [ 8.22050636e-02 9.96608070e-01 -3.83179015e-03 4.19323688e+00] [ 5.27638019e-02 -5.12738822e-04 9.98606889e-01 2.26573720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.00509989299999 meters 0.014671279874715934 Centerline is valid? [True, True] Translation: X:58.89, Y:4.20, Z:2.27 [[ 9.95110476e-01 -8.31278286e-02 -5.33376391e-02 5.88883029e+01] [ 8.30391006e-02 9.96538731e-01 -3.88134668e-03 4.19862750e+00] [ 5.34756711e-02 -5.66740832e-04 9.98568992e-01 2.26919668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06509989299999 meters 0.015332089349146275 Centerline is valid? [True, True] Translation: X:58.95, Y:4.20, Z:2.27 [[ 9.95156700e-01 -8.34090085e-02 -5.20200017e-02 5.89507248e+01] [ 8.33251621e-02 9.96515234e-01 -3.78228182e-03 4.20374612e+00] [ 5.21542005e-02 -5.70611974e-04 9.98638881e-01 2.27267039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.12509989299999 meters 0.014179689510985742 Centerline is valid? [True, True] Translation: X:59.01, Y:4.21, Z:2.28 [[ 9.95182608e-01 -8.45625706e-02 -4.96059237e-02 5.90125829e+01] [ 8.44879705e-02 9.96417987e-01 -3.60254319e-03 4.20817610e+00] [ 4.97328750e-02 -6.05915493e-04 9.98762371e-01 2.27782264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.18509989299999 meters 0.014628533055972308 Centerline is valid? [True, True] Translation: X:59.07, Y:4.21, Z:2.28 [[ 9.94500746e-01 -9.30764938e-02 -4.80107623e-02 5.90740761e+01] [ 9.30166753e-02 9.95658457e-01 -3.48349583e-03 4.20824724e+00] [ 4.81265531e-02 -1.00146229e-03 9.98840744e-01 2.28165284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24509989299999 meters 0.018039204818096764 Centerline is valid? [True, True] Translation: X:59.13, Y:4.20, Z:2.28 [[ 9.93839569e-01 -9.89538862e-02 -4.99103157e-02 5.91345565e+01] [ 9.88967181e-02 9.95091120e-01 -3.61972720e-03 4.20289376e+00] [ 5.00234980e-02 -1.33853830e-03 9.98747144e-01 2.27939016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.30509989299999 meters 0.016549832251992615 Centerline is valid? [True, True] Translation: X:59.20, Y:4.20, Z:2.28 [[ 9.93587276e-01 -1.00860951e-01 -5.11018008e-02 5.91962786e+01] [ 1.00803574e-01 9.94899447e-01 -3.70546357e-03 4.20499268e+00] [ 5.12148900e-02 -1.46954271e-03 9.98686575e-01 2.28366292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.36509989299999 meters 0.019245645826102782 Centerline is valid? [True, True] Translation: X:59.26, Y:4.21, Z:2.28 [[ 9.93301470e-01 -1.02515052e-01 -5.33184220e-02 5.92568417e+01] [ 1.02455163e-01 9.94730124e-01 -3.86257403e-03 4.20856337e+00] [ 5.34334125e-02 -1.62604716e-03 9.98570091e-01 2.28335278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42509989299999 meters 0.01566111222761912 Centerline is valid? [True, True] Translation: X:59.32, Y:4.23, Z:2.29 [[ 9.95201395e-01 -8.36949096e-02 -5.06887212e-02 5.93165492e+01] [ 8.36164342e-02 9.96491254e-01 -3.67051098e-03 4.22713306e+00] [ 5.08180704e-02 -5.85512477e-04 9.98707755e-01 2.29076672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48509989299999 meters 0.012538966143305208 Centerline is valid? [True, True] Translation: X:59.38, Y:4.24, Z:2.30 [[ 9.95881861e-01 -7.63323370e-02 -4.89151665e-02 5.93783682e+01] [ 7.62504300e-02 9.97082410e-01 -3.54103695e-03 4.23592521e+00] [ 4.90427477e-02 -2.03348010e-04 9.98796660e-01 2.29678763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.54509989299999 meters 0.01618408339140302 Centerline is valid? [True, True] Translation: X:59.44, Y:4.25, Z:2.30 [[ 9.97209973e-01 -5.62749077e-02 -4.90449224e-02 5.94373630e+01] [ 5.61684442e-02 9.98415005e-01 -3.54734980e-03 4.24910556e+00] [ 4.91668133e-02 7.82675608e-04 9.98790274e-01 2.29620343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60509989299999 meters 0.017108879039623423 Centerline is valid? [True, True] Translation: X:59.50, Y:4.25, Z:2.30 [[ 9.97727888e-01 -5.00703714e-02 -4.50779231e-02 5.94964069e+01] [ 4.99741113e-02 9.98745191e-01 -3.26053507e-03 4.25456266e+00] [ 4.51846151e-02 1.00039763e-03 9.98978153e-01 2.30154642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66509989299999 meters 0.016854801584547684 Centerline is valid? [True, True] Translation: X:59.56, Y:4.21, Z:2.29 [[ 9.94815249e-01 -8.94235303e-02 -4.84360674e-02 5.95589076e+01] [ 8.93587509e-02 9.95993336e-01 -3.50549219e-03 4.20593338e+00] [ 4.85554738e-02 -8.40869399e-04 9.98820133e-01 2.29381820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.72509989299999 meters 0.016681914163199023 Centerline is valid? [True, True] Translation: X:59.62, Y:4.20, Z:2.30 [[ 9.94492869e-01 -9.46411152e-02 -4.50221373e-02 5.96215788e+01] [ 9.45903714e-02 9.95510938e-01 -3.26096166e-03 4.20264427e+00] [ 4.51286512e-02 -1.01565757e-03 9.98980667e-01 2.30014912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.785099892999995 meters 0.01851069648459679 Centerline is valid? [True, True] Translation: X:59.68, Y:4.20, Z:2.30 [[ 9.94385581e-01 -9.63544260e-02 -4.37394638e-02 5.96838396e+01] [ 9.63083230e-02 9.95346517e-01 -3.16498328e-03 4.20234459e+00] [ 4.38408831e-02 -1.06526066e-03 9.99037958e-01 2.30463268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.84509989299999 meters 0.015538828857626693 Centerline is valid? [True, True] Translation: X:59.75, Y:4.20, Z:2.31 [[ 9.94330695e-01 -9.77234542e-02 -4.19117504e-02 5.97459292e+01] [ 9.76824608e-02 9.95213021e-01 -3.02981568e-03 4.20259567e+00] [ 4.20072037e-02 -1.08140418e-03 9.99116723e-01 2.31140760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.90509989299999 meters 0.017932750461572295 Centerline is valid? [True, True] Translation: X:59.81, Y:4.20, Z:2.31 [[ 9.94288902e-01 -9.77738303e-02 -4.27768260e-02 5.98086573e+01] [ 9.77313131e-02 9.95208043e-01 -3.08910762e-03 4.20290966e+00] [ 4.28738751e-02 -1.10916995e-03 9.99079877e-01 2.31104460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.965099892999994 meters 0.018145946428944293 Centerline is valid? [True, True] Translation: X:59.87, Y:4.20, Z:2.31 [[ 9.94190957e-01 -9.82489092e-02 -4.39487555e-02 5.98704835e+01] [ 9.82046745e-02 9.95161191e-01 -3.16964949e-03 4.20486411e+00] [ 4.40475104e-02 -1.16473636e-03 9.99028758e-01 2.31313641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.02509989299999 meters 0.016888484166557974 Centerline is valid? [True, True] Translation: X:59.93, Y:4.21, Z:2.32 [[ 9.94212313e-01 -9.76667542e-02 -4.47558025e-02 5.99329257e+01] [ 9.76204403e-02 9.95218495e-01 -3.22452609e-03 4.20746681e+00] [ 4.48567313e-02 -1.16321760e-03 9.98992753e-01 2.31633492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.08509989299999 meters 0.016500956105141445 Centerline is valid? [True, True] Translation: X:59.99, Y:4.21, Z:2.31 [[ 9.94846246e-01 -9.02022611e-02 -4.63087384e-02 5.99943373e+01] [ 9.01447479e-02 9.95923097e-01 -3.33308942e-03 4.20742860e+00] [ 4.64205943e-02 -8.58578046e-04 9.98921614e-01 2.31482053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.145099892999994 meters 0.01476725964873905 Centerline is valid? [True, True] Translation: X:60.06, Y:4.21, Z:2.32 [[ 9.95212251e-01 -8.66484475e-02 -4.52174996e-02 6.00555243e+01] [ 8.65900190e-02 9.96238720e-01 -3.25295964e-03 4.21391328e+00] [ 4.53292878e-02 -6.77998867e-04 9.98971869e-01 2.31940562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.20509989299999 meters 0.015277279938656302 Centerline is valid? [True, True] Translation: X:60.12, Y:4.22, Z:2.32 [[ 9.95395207e-01 -8.46976176e-02 -4.48853480e-02 6.01154458e+01] [ 8.46381327e-02 9.96406528e-01 -3.22749990e-03 4.21835842e+00] [ 4.49974154e-02 -5.86374113e-04 9.98986931e-01 2.32153710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.26509989299999 meters 0.014777741777816315 Centerline is valid? [True, True] Translation: X:60.18, Y:4.22, Z:2.32 [[ 9.95752237e-01 -8.11400278e-02 -4.35175544e-02 6.01765927e+01] [ 8.10807519e-02 9.96702626e-01 -3.12836357e-03 4.22421160e+00] [ 4.36278962e-02 -4.13360998e-04 9.99047765e-01 2.32496790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.325099892999994 meters 0.012856917805154001 Centerline is valid? [True, True] Translation: X:60.24, Y:4.23, Z:2.33 [[ 9.95929582e-01 -7.96874718e-02 -4.21209406e-02 6.02380267e+01] [ 7.96307051e-02 9.96819839e-01 -3.02647399e-03 4.22885498e+00] [ 4.22281612e-02 -3.39965214e-04 9.99107936e-01 2.33050950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38509989299999 meters 0.015352631810220237 Centerline is valid? [True, True] Translation: X:60.30, Y:4.24, Z:2.33 [[ 9.96253260e-01 -7.57332313e-02 -4.17602753e-02 6.03004271e+01] [ 7.56740842e-02 9.97128100e-01 -2.99758523e-03 4.23509385e+00] [ 4.18673608e-02 -1.73816528e-04 9.99123163e-01 2.33258589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.44509989299999 meters 0.01259600257868443 Centerline is valid? [True, True] Translation: X:60.36, Y:4.24, Z:2.34 [[ 9.96514734e-01 -7.19283650e-02 -4.22456424e-02 6.03620617e+01] [ 7.18645800e-02 9.97409800e-01 -3.02855563e-03 4.23990272e+00] [ 4.23540568e-02 -1.79650320e-05 9.99102664e-01 2.33750006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.50509989299999 meters 0.015966502201359253 Centerline is valid? [True, True] Translation: X:60.42, Y:4.24, Z:2.33 [[ 9.96737313e-01 -6.71080443e-02 -4.48468514e-02 6.04236536e+01] [ 6.70314313e-02 9.97745695e-01 -3.21167740e-03 4.24399113e+00] [ 4.49612823e-02 1.95050070e-04 9.98988711e-01 2.33476872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56509989299999 meters 0.012793484637057262 Centerline is valid? [True, True] Translation: X:60.48, Y:4.25, Z:2.34 [[ 9.96852385e-01 -6.50336235e-02 -4.53425867e-02 6.04825860e+01] [ 6.49532265e-02 9.97883031e-01 -3.24574819e-03 4.24786563e+00] [ 4.54576806e-02 2.90384525e-04 9.98966223e-01 2.33903078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.62509989299999 meters 0.013943830457253736 Centerline is valid? [True, True] Translation: X:60.54, Y:4.25, Z:2.34 [[ 9.96874809e-01 -6.41652648e-02 -4.60807434e-02 6.05424260e+01] [ 6.40812194e-02 9.97939229e-01 -3.30032723e-03 4.25188072e+00] [ 4.61975479e-02 3.37102852e-04 9.98932266e-01 2.33941703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.68509989299999 meters 0.01286724716147429 Centerline is valid? [True, True] Translation: X:60.60, Y:4.26, Z:2.34 [[ 9.96915589e-01 -6.40827936e-02 -4.53067850e-02 6.06003585e+01] [ 6.40013814e-02 9.97944529e-01 -3.24671900e-03 4.25592491e+00] [ 4.54217170e-02 3.37007958e-04 9.98967844e-01 2.34352016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74509989299999 meters 0.014611305976222939 Centerline is valid? [True, True] Translation: X:60.66, Y:4.26, Z:2.34 [[ 9.96927029e-01 -6.40870146e-02 -4.50483417e-02 6.06587155e+01] [ 6.40063263e-02 9.97944257e-01 -3.23278102e-03 4.25915422e+00] [ 4.51629131e-02 3.39467920e-04 9.98979577e-01 2.34410265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.80509989299999 meters 0.015571782544226268 Centerline is valid? [True, True] Translation: X:60.72, Y:4.26, Z:2.35 [[ 9.96929030e-01 -6.42153883e-02 -4.48206766e-02 6.07173358e+01] [ 6.41351222e-02 9.97936003e-01 -3.22803595e-03 4.26269565e+00] [ 4.49354564e-02 3.43543184e-04 9.98989833e-01 2.34584385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.86509989299999 meters 0.014131045002822073 Centerline is valid? [True, True] Translation: X:60.78, Y:4.27, Z:2.35 [[ 9.96872296e-01 -6.55428166e-02 -4.41561369e-02 6.07759481e+01] [ 6.54657182e-02 9.97849715e-01 -3.19140388e-03 4.26584518e+00] [ 4.42703623e-02 2.90708904e-04 9.99019545e-01 2.34950529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92509989299999 meters 0.014795411249207397 Centerline is valid? [True, True] Translation: X:60.83, Y:4.27, Z:2.35 [[ 9.96801643e-01 -6.64511008e-02 -4.43929791e-02 6.08343773e+01] [ 6.63735819e-02 9.97789648e-01 -3.21954025e-03 4.26874640e+00] [ 4.45087970e-02 2.62721971e-04 9.99008958e-01 2.35101152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98509989299999 meters 0.01352816950736699 Centerline is valid? [True, True] Translation: X:60.89, Y:4.27, Z:2.35 [[ 9.96573597e-01 -7.03060039e-02 -4.35675633e-02 6.08940185e+01] [ 7.02349231e-02 9.97525467e-01 -3.16197263e-03 4.26882558e+00] [ 4.36820596e-02 9.11739792e-05 9.99045479e-01 2.35372320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.04509989299999 meters 0.01460694478918164 Centerline is valid? [True, True] Translation: X:60.95, Y:4.27, Z:2.36 [[ 9.96373257e-01 -7.31889014e-02 -4.34018053e-02 6.09546611e+01] [ 7.31210282e-02 9.97318095e-01 -3.15145081e-03 4.27025814e+00] [ 4.35160571e-02 -3.35633257e-05 9.99052727e-01 2.35546199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10509989299999 meters 0.02209240882368094 Centerline is valid? [True, True] Translation: X:61.02, Y:4.24, Z:2.36 [[ 9.92562160e-01 -1.13576433e-01 -4.38263990e-02 6.10161313e+01] [ 1.13546391e-01 9.93527599e-01 -3.18231966e-03 4.23966124e+00] [ 4.39041735e-02 -1.81767935e-03 9.99034093e-01 2.35684683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.16509989299999 meters 0.02388530971980695 Centerline is valid? [True, True] Translation: X:61.08, Y:4.24, Z:2.36 [[ 9.92358651e-01 -1.15589078e-01 -4.31679532e-02 6.10774781e+01] [ 1.15561798e-01 9.93295344e-01 -3.13526374e-03 4.24098589e+00] [ 4.32409292e-02 -1.87726018e-03 9.99062910e-01 2.36048738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.22509989299999 meters 0.02244276021133256 Centerline is valid? [True, True] Translation: X:61.14, Y:4.25, Z:2.36 [[ 9.92216577e-01 -1.16602120e-01 -4.37059502e-02 6.11396521e+01] [ 1.16575243e-01 9.93176798e-01 -3.17189766e-03 4.24911484e+00] [ 4.37775856e-02 -1.94782234e-03 9.99039403e-01 2.36197415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.285099892999995 meters 0.02406491104005555 Centerline is valid? [True, True] Translation: X:61.20, Y:4.25, Z:2.37 [[ 9.91914818e-01 -1.19278471e-01 -4.33317366e-02 6.11994402e+01] [ 1.19254733e-01 9.92858720e-01 -3.14164928e-03 4.24963676e+00] [ 4.33970237e-02 -2.05126620e-03 9.99055800e-01 2.36665200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.34509989299999 meters 0.025002292713496403 Centerline is valid? [True, True] Translation: X:61.26, Y:4.26, Z:2.37 [[ 9.91726425e-01 -1.20244998e-01 -4.49426234e-02 6.12614243e+01] [ 1.20220464e-01 9.92741872e-01 -3.25821951e-03 4.25577221e+00] [ 4.50082087e-02 -2.17176066e-03 9.98984256e-01 2.36570589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.40509989299999 meters 0.02522217843540778 Centerline is valid? [True, True] Translation: X:61.32, Y:4.26, Z:2.37 [[ 9.91482733e-01 -1.22171791e-01 -4.51225459e-02 6.13234306e+01] [ 1.22149200e-01 9.92506369e-01 -3.26795798e-03 4.26070017e+00] [ 4.51836665e-02 -2.27155896e-03 9.98976114e-01 2.36901097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.465099892999994 meters 0.026324096965587452 Centerline is valid? [True, True] Translation: X:61.39, Y:4.27, Z:2.37 [[ 9.91368095e-01 -1.22883890e-01 -4.57039251e-02 6.13855823e+01] [ 1.22861623e-01 9.92418303e-01 -3.30670191e-03 4.26643255e+00] [ 4.57637521e-02 -2.33709962e-03 9.98949557e-01 2.37075489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52509989299999 meters 0.026262153971339047 Centerline is valid? [True, True] Translation: X:61.45, Y:4.27, Z:2.37 [[ 9.91384651e-01 -1.22636383e-01 -4.60086086e-02 6.14474792e+01] [ 1.22613707e-01 9.92448901e-01 -3.32539192e-03 4.27358676e+00] [ 4.60690070e-02 -2.34454352e-03 9.98935508e-01 2.37242840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.58509989299999 meters 0.028036280954556812 Centerline is valid? [True, True] Translation: X:61.51, Y:4.28, Z:2.37 [[ 9.91423285e-01 -1.22215230e-01 -4.62958775e-02 6.15085114e+01] [ 1.22191981e-01 9.92500855e-01 -3.34252028e-03 4.27647604e+00] [ 4.63572049e-02 -2.34313255e-03 9.98922179e-01 2.37486031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.645099892999994 meters 0.02487190201234477 Centerline is valid? [True, True] Translation: X:61.57, Y:4.29, Z:2.38 [[ 9.91599483e-01 -1.20798062e-01 -4.62416857e-02 6.15697093e+01] [ 1.20773583e-01 9.92674484e-01 -3.33317675e-03 4.28880279e+00] [ 4.63055828e-02 -2.27959774e-03 9.98924720e-01 2.37802906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70509989299999 meters 0.02501378538129242 Centerline is valid? [True, True] Translation: X:61.63, Y:4.29, Z:2.38 [[ 9.91742014e-01 -1.19650262e-01 -4.61691711e-02 6.16312877e+01] [ 1.19624777e-01 9.92813608e-01 -3.32454631e-03 4.29494646e+00] [ 4.62351641e-02 -2.22588453e-03 9.98928103e-01 2.38075661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.76509989299999 meters 0.021711089721840902 Centerline is valid? [True, True] Translation: X:61.69, Y:4.30, Z:2.39 [[ 9.91942562e-01 -1.18498040e-01 -4.48125840e-02 6.16926299e+01] [ 1.18472998e-01 9.92952041e-01 -3.22368132e-03 4.30406150e+00] [ 4.48787467e-02 -2.11137447e-03 9.98990210e-01 2.38634544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.825099892999994 meters 0.017122628023432146 Centerline is valid? [True, True] Translation: X:61.75, Y:4.34, Z:2.39 [[ 9.93889107e-01 -1.01790000e-01 -4.26994095e-02 6.17505948e+01] [ 1.01751972e-01 9.94805066e-01 -3.06869103e-03 4.34001238e+00] [ 4.27899509e-02 -1.29481052e-03 9.99083252e-01 2.38961700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88509989299999 meters 0.017651801421739315 Centerline is valid? [True, True] Translation: X:61.81, Y:4.35, Z:2.39 [[ 9.94110646e-01 -9.90882723e-02 -4.38809391e-02 6.18125646e+01] [ 9.90455028e-02 9.95077910e-01 -3.15312444e-03 4.34674368e+00] [ 4.39773908e-02 -1.21165510e-03 9.99031792e-01 2.38911510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.94509989299999 meters 0.017254352489233682 Centerline is valid? [True, True] Translation: X:61.87, Y:4.36, Z:2.39 [[ 9.94294965e-01 -9.67357620e-02 -4.49412438e-02 6.18744770e+01] [ 9.66886505e-02 9.95309448e-01 -3.22598024e-03 4.35500117e+00] [ 4.50425122e-02 -1.13773231e-03 9.98984423e-01 2.39031055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.00509989299999 meters 0.01642598803727803 Centerline is valid? [True, True] Translation: X:61.94, Y:4.36, Z:2.39 [[ 9.94485188e-01 -9.46826378e-02 -4.51044247e-02 6.19361153e+01] [ 9.46332267e-02 9.95506952e-01 -3.23431516e-03 4.36109517e+00] [ 4.52080019e-02 -1.05189873e-03 9.98977042e-01 2.39263310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06509989299999 meters 0.01400004213822446 Centerline is valid? [True, True] Translation: X:62.00, Y:4.37, Z:2.40 [[ 9.94888984e-01 -8.97582970e-02 -4.62531978e-02 6.19965675e+01] [ 8.97011726e-02 9.95963213e-01 -3.31335854e-03 4.37153075e+00] [ 4.63638849e-02 -8.52542170e-04 9.98924253e-01 2.39557592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.12509989299999 meters 0.013859112217578042 Centerline is valid? [True, True] Translation: X:62.06, Y:4.38, Z:2.40 [[ 9.95164436e-01 -8.66489264e-02 -4.62569859e-02 6.20579540e+01] [ 8.65885218e-02 9.96238656e-01 -3.31176912e-03 4.38185473e+00] [ 4.63699587e-02 -7.09569187e-04 9.98924083e-01 2.39742204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.18509989299999 meters 0.015256816365802589 Centerline is valid? [True, True] Translation: X:62.12, Y:4.39, Z:2.40 [[ 9.95259049e-01 -8.56546215e-02 -4.60728846e-02 6.21185012e+01] [ 8.55937876e-02 9.96324668e-01 -3.29522782e-03 4.38748791e+00] [ 4.61858030e-02 -6.63947398e-04 9.98932646e-01 2.39857039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24509989299999 meters 0.014489470609566929 Centerline is valid? [True, True] Translation: X:62.18, Y:4.39, Z:2.40 [[ 9.95167272e-01 -8.81386989e-02 -4.32859131e-02 6.21800074e+01] [ 8.80874506e-02 9.96107941e-01 -3.09361620e-03 4.39327738e+00] [ 4.33901090e-02 -7.34280128e-04 9.99057936e-01 2.40421144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.30509989299999 meters 0.017961269995251 Centerline is valid? [True, True] Translation: X:62.24, Y:4.39, Z:2.40 [[ 9.94310789e-01 -9.70517714e-02 -4.38977078e-02 6.22400798e+01] [ 9.70078767e-02 9.95278679e-01 -3.13411436e-03 4.39135545e+00] [ 4.39946240e-02 -1.14213970e-03 9.99031115e-01 2.40473837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.36509989299999 meters 0.02439421652798091 Centerline is valid? [True, True] Translation: X:62.30, Y:4.38, Z:2.41 [[ 9.92208143e-01 -1.16129505e-01 -4.51324646e-02 6.23001910e+01] [ 1.16102770e-01 9.93231979e-01 -3.22216539e-03 4.38393145e+00] [ 4.52011956e-02 -2.04294542e-03 9.98975815e-01 2.40587238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42509989299999 meters 0.02118750085201558 Centerline is valid? [True, True] Translation: X:62.36, Y:4.40, Z:2.41 [[ 9.92803628e-01 -1.11650394e-01 -4.33029636e-02 6.23602513e+01] [ 1.11621585e-01 9.93745980e-01 -3.09021581e-03 4.39774539e+00] [ 4.33771698e-02 -1.76556797e-03 9.99057208e-01 2.41195847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48509989299999 meters 0.017672301139204843 Centerline is valid? [True, True] Translation: X:62.42, Y:4.41, Z:2.41 [[ 9.93244884e-01 -1.07483059e-01 -4.37263432e-02 6.24216338e+01] [ 1.07449693e-01 9.94205629e-01 -3.11952042e-03 4.40982146e+00] [ 4.38082721e-02 -1.59993444e-03 9.99038676e-01 2.41305406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.54509989299999 meters 0.01921186380662313 Centerline is valid? [True, True] Translation: X:62.48, Y:4.41, Z:2.42 [[ 9.93482198e-01 -1.05160946e-01 -4.39806531e-02 6.24830486e+01] [ 1.05125078e-01 9.94454069e-01 -3.13404698e-03 4.41369003e+00] [ 4.40663188e-02 -1.50984969e-03 9.99027467e-01 2.41512040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60509989299999 meters 0.019033233123184237 Centerline is valid? [True, True] Translation: X:62.54, Y:4.42, Z:2.42 [[ 9.93718609e-01 -1.02588588e-01 -4.47091480e-02 6.25449471e+01] [ 1.02549073e-01 9.94722855e-01 -3.18260271e-03 4.42110251e+00] [ 4.47997101e-02 -1.42227015e-03 9.98994977e-01 2.41604049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.66509989299999 meters 0.016883132225608735 Centerline is valid? [True, True] Translation: X:62.61, Y:4.43, Z:2.42 [[ 9.94008680e-01 -9.95279834e-02 -4.51766006e-02 6.26053107e+01] [ 9.94846200e-02 9.95033913e-01 -3.21279292e-03 4.43060832e+00] [ 4.52720124e-02 -1.30083289e-03 9.98973850e-01 2.42004939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.72509989299999 meters 0.016336636179260997 Centerline is valid? [True, True] Translation: X:62.67, Y:4.44, Z:2.42 [[ 9.94423436e-01 -9.47494005e-02 -4.63096138e-02 6.26665739e+01] [ 9.46987411e-02 9.95500534e-01 -3.29157016e-03 4.44042540e+00] [ 4.64131196e-02 -1.11224762e-03 9.98921711e-01 2.42136661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78509989299999 meters 0.013686983165026123 Centerline is valid? [True, True] Translation: X:62.73, Y:4.45, Z:2.43 [[ 9.94889833e-01 -8.91000690e-02 -4.74910336e-02 6.27270050e+01] [ 8.90404804e-02 9.96022297e-01 -3.37298869e-03 4.45217990e+00] [ 4.76026619e-02 -8.72872299e-04 9.98865969e-01 2.42546060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.84509989299999 meters 0.012445907796259943 Centerline is valid? [True, True] Translation: X:62.79, Y:4.47, Z:2.43 [[ 9.96547715e-01 -6.87341500e-02 -4.65646656e-02 6.27868873e+01] [ 6.86546883e-02 9.97635007e-01 -3.30554220e-03 4.46908294e+00] [ 4.66817442e-02 9.72479216e-05 9.98909808e-01 2.42643723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.90509989299999 meters 0.013490787135801423 Centerline is valid? [True, True] Translation: X:62.85, Y:4.47, Z:2.43 [[ 9.96712355e-01 -6.62743156e-02 -4.66068261e-02 6.28474392e+01] [ 6.61920661e-02 9.97801418e-01 -3.30758361e-03 4.47324553e+00] [ 4.67235650e-02 2.11707333e-04 9.98907835e-01 2.42769024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.965099892999994 meters 0.013789267644887847 Centerline is valid? [True, True] Translation: X:62.91, Y:4.48, Z:2.43 [[ 9.96671041e-01 -6.67066593e-02 -4.68727822e-02 6.29089845e+01] [ 6.66240272e-02 9.97772612e-01 -3.32472538e-03 4.47650623e+00] [ 4.69901596e-02 1.90803991e-04 9.98895334e-01 2.43062800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02509989299999 meters 0.012819239675683759 Centerline is valid? [True, True] Translation: X:62.97, Y:4.47, Z:2.43 [[ 9.96214696e-01 -7.30803320e-02 -4.70695663e-02 6.29700305e+01] [ 7.30041902e-02 9.97326051e-01 -3.33701231e-03 4.47058834e+00] [ 4.71875747e-02 -1.11894868e-04 9.98886040e-01 2.43164715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08509989299998 meters 0.015554647880438007 Centerline is valid? [True, True] Translation: X:63.03, Y:4.46, Z:2.43 [[ 9.95441704e-01 -8.35759503e-02 -4.59442550e-02 6.30324140e+01] [ 8.35146121e-02 9.96501232e-01 -3.25633146e-03 4.46153543e+00] [ 4.60556577e-02 -5.95528502e-04 9.98938698e-01 2.43356730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14509989299998 meters 0.015567137560893772 Centerline is valid? [True, True] Translation: X:63.09, Y:4.46, Z:2.44 [[ 9.94396462e-01 -9.59201915e-02 -4.44408910e-02 6.30936194e+01] [ 9.58751738e-02 9.95388386e-01 -3.14824962e-03 4.45506834e+00] [ 4.45379275e-02 -1.13016987e-03 9.99007055e-01 2.44134400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20509989299998 meters 0.02175377942455438 Centerline is valid? [True, True] Translation: X:63.15, Y:4.44, Z:2.44 [[ 9.92849963e-01 -1.11803396e-01 -4.18204675e-02 6.31545267e+01] [ 1.11777604e-01 9.93728833e-01 -2.96192075e-03 4.43717490e+00] [ 4.18893572e-02 -1.73384874e-03 9.99120751e-01 2.44325502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26509989299998 meters 0.020700911694174283 Centerline is valid? [True, True] Translation: X:63.22, Y:4.44, Z:2.45 [[ 9.92646443e-01 -1.13607455e-01 -4.17897690e-02 6.32165395e+01] [ 1.13583332e-01 9.93524067e-01 -2.95887586e-03 4.44165195e+00] [ 4.18552916e-02 -1.80950359e-03 9.99122045e-01 2.44533033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32509989299999 meters 0.022860462352079305 Centerline is valid? [True, True] Translation: X:63.28, Y:4.44, Z:2.44 [[ 9.92571779e-01 -1.13753552e-01 -4.31438535e-02 6.32779687e+01] [ 1.13728121e-01 9.93507223e-01 -3.05146837e-03 4.44113512e+00] [ 4.32108454e-02 -1.87786802e-03 9.99064210e-01 2.44495108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38509989299999 meters 0.020057479600631253 Centerline is valid? [True, True] Translation: X:63.34, Y:4.45, Z:2.45 [[ 9.92618641e-01 -1.12531171e-01 -4.52213330e-02 6.33400443e+01] [ 1.12502090e-01 9.93646349e-01 -3.19574648e-03 4.44718366e+00] [ 4.52936336e-02 -1.91533693e-03 9.98971881e-01 2.44518036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44509989299998 meters 0.01600272731404315 Centerline is valid? [True, True] Translation: X:63.40, Y:4.46, Z:2.45 [[ 9.94326952e-01 -9.54596443e-02 -4.69187549e-02 6.33996156e+01] [ 9.54094893e-02 9.95432598e-01 -3.31243025e-03 4.46379709e+00] [ 4.70206615e-02 -1.18285577e-03 9.98893217e-01 2.44710931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.50509989299998 meters 0.015555843379825466 Centerline is valid? [True, True] Translation: X:63.46, Y:4.48, Z:2.45 [[ 9.95380984e-01 -8.37234872e-02 -4.69795129e-02 6.34597170e+01] [ 8.36601463e-02 9.96488827e-01 -3.31635588e-03 4.47802319e+00] [ 4.70922165e-02 -6.29275336e-04 9.98890348e-01 2.44866721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56509989299998 meters 0.014013234849801971 Centerline is valid? [True, True] Translation: X:63.52, Y:4.49, Z:2.45 [[ 9.96391386e-01 -7.14304491e-02 -4.58464436e-02 6.35199482e+01] [ 7.13571641e-02 9.97445582e-01 -3.23519381e-03 4.49192377e+00] [ 4.59604240e-02 -4.79529605e-05 9.98943260e-01 2.45274462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62509989299998 meters 0.016140217257910254 Centerline is valid? [True, True] Translation: X:63.58, Y:4.50, Z:2.45 [[ 9.97173155e-01 -6.03542705e-02 -4.47555755e-02 6.35799287e+01] [ 6.02733431e-02 9.98176918e-01 -3.15670207e-03 4.50349248e+00] [ 4.48645029e-02 4.50210408e-04 9.98992980e-01 2.45421771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68509989299999 meters 0.014555404556918838 Centerline is valid? [True, True] Translation: X:63.64, Y:4.51, Z:2.46 [[ 9.97496827e-01 -5.55409624e-02 -4.37639363e-02 6.36386096e+01] [ 5.54589483e-02 9.98456197e-01 -3.08686002e-03 4.51058798e+00] [ 4.38678206e-02 6.52031193e-04 9.99037131e-01 2.45816611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74509989299999 meters 0.015263397503828512 Centerline is valid? [True, True] Translation: X:63.70, Y:4.52, Z:2.46 [[ 9.97516506e-01 -5.46351621e-02 -4.44501996e-02 6.36966875e+01] [ 5.45495431e-02 9.98506135e-01 -3.13778049e-03 4.51528595e+00] [ 4.45552302e-02 7.05249746e-04 9.99006674e-01 2.45979345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80509989299999 meters 0.013272693897151779 Centerline is valid? [True, True] Translation: X:63.76, Y:4.52, Z:2.46 [[ 9.97287299e-01 -5.74520678e-02 -4.60141552e-02 6.37553132e+01] [ 5.73630808e-02 9.98348083e-01 -3.25312459e-03 4.51656808e+00] [ 4.61250424e-02 6.04786136e-04 9.98935491e-01 2.46265577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86509989299998 meters 0.013888505209373231 Centerline is valid? [True, True] Translation: X:63.81, Y:4.51, Z:2.46 [[ 9.96930703e-01 -6.43340118e-02 -4.46128777e-02 6.38144495e+01] [ 6.42567504e-02 9.97928380e-01 -3.16520317e-03 4.51475193e+00] [ 4.47240869e-02 2.88809674e-04 9.98999336e-01 2.46302889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92509989299998 meters 0.012348537812271578 Centerline is valid? [True, True] Translation: X:63.87, Y:4.51, Z:2.47 [[ 9.96461423e-01 -7.23284862e-02 -4.28161410e-02 6.38737010e+01] [ 7.22642522e-02 9.97380863e-01 -3.04811275e-03 4.51404700e+00] [ 4.29244651e-02 -5.67496479e-05 9.99078319e-01 2.46894205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98509989299998 meters 0.015727059364895258 Centerline is valid? [True, True] Translation: X:63.93, Y:4.51, Z:2.47 [[ 9.95867932e-01 -8.00432009e-02 -4.28969393e-02 6.39341001e+01] [ 7.99858085e-02 9.96791320e-01 -3.05537269e-03 4.51126182e+00] [ 4.30038585e-02 -3.88398693e-04 9.99074831e-01 2.46837026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04509989299999 meters 0.016833032041810927 Centerline is valid? [True, True] Translation: X:64.00, Y:4.50, Z:2.47 [[ 9.94748761e-01 -9.22282038e-02 -4.43718551e-02 6.39958108e+01] [ 9.21789342e-02 9.95737446e-01 -3.15956005e-03 4.50286236e+00] [ 4.44741182e-02 -9.47181869e-04 9.99010088e-01 2.46817561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10509989299999 meters 0.017212177415529595 Centerline is valid? [True, True] Translation: X:64.06, Y:4.50, Z:2.47 [[ 9.94259765e-01 -9.70926336e-02 -4.49504229e-02 6.40573688e+01] [ 9.70471083e-02 9.95274648e-01 -3.19911651e-03 4.50286927e+00] [ 4.50486269e-02 -1.18155572e-03 9.98984097e-01 2.47045124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16509989299999 meters 0.018327035085954995 Centerline is valid? [True, True] Translation: X:64.12, Y:4.50, Z:2.47 [[ 9.94024486e-01 -9.95440018e-02 -4.47918949e-02 6.41182690e+01] [ 9.95013613e-02 9.95032325e-01 -3.18606810e-03 4.50476066e+00] [ 4.48865373e-02 -1.28982482e-03 9.98991259e-01 2.47267362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22509989299998 meters 0.017589100286211714 Centerline is valid? [True, True] Translation: X:64.18, Y:4.51, Z:2.48 [[ 9.93898973e-01 -1.01221450e-01 -4.38069632e-02 6.41793767e+01] [ 1.01182464e-01 9.94863018e-01 -3.11205063e-03 4.51292081e+00] [ 4.38969339e-02 -1.33943257e-03 9.99035167e-01 2.47682125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28509989299998 meters 0.017796651445191332 Centerline is valid? [True, True] Translation: X:64.24, Y:4.52, Z:2.48 [[ 9.93742498e-01 -1.02296123e-01 -4.48480794e-02 6.42412322e+01] [ 1.02256472e-01 9.94752974e-01 -3.18342867e-03 4.51991484e+00] [ 4.49384128e-02 -1.42249803e-03 9.98988746e-01 2.48024910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34509989299998 meters 0.01769161292408927 Centerline is valid? [True, True] Translation: X:64.30, Y:4.53, Z:2.48 [[ 9.93669981e-01 -1.02191885e-01 -4.66560655e-02 6.43025953e+01] [ 1.02149023e-01 9.94763606e-01 -3.30825693e-03 4.52744425e+00] [ 4.67498329e-02 -1.47855590e-03 9.98905535e-01 2.48077334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40509989299998 meters 0.019601511617545808 Centerline is valid? [True, True] Translation: X:64.36, Y:4.53, Z:2.48 [[ 9.93595960e-01 -1.01878701e-01 -4.88651061e-02 6.43641599e+01] [ 1.01831489e-01 9.94795641e-01 -3.46121319e-03 4.53453965e+00] [ 4.89634184e-02 -1.53695905e-03 9.98799390e-01 2.47915205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46509989299999 meters 0.0170081984071856 Centerline is valid? [True, True] Translation: X:64.43, Y:4.55, Z:2.48 [[ 9.93991080e-01 -9.74309643e-02 -4.98892838e-02 6.44251885e+01] [ 9.73763312e-02 9.95241371e-01 -3.53025621e-03 4.54944055e+00] [ 4.99958355e-02 -1.34899224e-03 9.98748515e-01 2.48242296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52509989299999 meters 0.014600046160902491 Centerline is valid? [True, True] Translation: X:64.48, Y:4.56, Z:2.49 [[ 9.94891528e-01 -9.00332061e-02 -4.56603628e-02 6.44849330e+01] [ 8.99797529e-02 9.95938361e-01 -3.22883634e-03 4.56413702e+00] [ 4.57656094e-02 -8.96166242e-04 9.98951804e-01 2.48950585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58509989299998 meters 0.013147758228610524 Centerline is valid? [True, True] Translation: X:64.55, Y:4.58, Z:2.49 [[ 9.95662974e-01 -8.20530002e-02 -4.38468541e-02 6.45450502e+01] [ 8.19960063e-02 9.96627837e-01 -3.09980250e-03 4.57830982e+00] [ 4.39533435e-02 -5.08908345e-04 9.99033455e-01 2.49379180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64509989299998 meters 0.012373223710119152 Centerline is valid? [True, True] Translation: X:64.61, Y:4.59, Z:2.50 [[ 9.96474668e-01 -7.14589414e-02 -4.39528736e-02 6.46060176e+01] [ 7.13914371e-02 9.97443541e-01 -3.10561964e-03 4.59164825e+00] [ 4.40624342e-02 -4.31875170e-05 9.99028778e-01 2.49647091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70509989299998 meters 0.012310291021256135 Centerline is valid? [True, True] Translation: X:64.67, Y:4.59, Z:2.50 [[ 9.96524189e-01 -7.01888828e-02 -4.48671428e-02 6.46670251e+01] [ 7.01174136e-02 9.97533719e-01 -3.16664973e-03 4.59357341e+00] [ 4.49787514e-02 9.67505317e-06 9.98987944e-01 2.49722155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76509989299998 meters 0.013729851878501443 Centerline is valid? [True, True] Translation: X:64.73, Y:4.59, Z:2.50 [[ 9.96397795e-01 -7.04258961e-02 -4.72401018e-02 6.47286655e+01] [ 7.03471983e-02 9.97517014e-01 -3.32845167e-03 4.59447857e+00] [ 4.73572145e-02 -6.74689915e-06 9.98878018e-01 2.49658413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82509989299999 meters 0.013913088298749992 Centerline is valid? [True, True] Translation: X:64.79, Y:4.59, Z:2.50 [[ 9.96308600e-01 -7.20207197e-02 -4.67139083e-02 6.47883769e+01] [ 7.19455854e-02 9.97403133e-01 -3.28994138e-03 4.59401483e+00] [ 4.68295424e-02 -8.30625808e-05 9.98902892e-01 2.49860597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88509989299999 meters 0.012674403026761842 Centerline is valid? [True, True] Translation: X:64.85, Y:4.59, Z:2.50 [[ 9.95752919e-01 -7.98021817e-02 -4.59100833e-02 6.48502613e+01] [ 7.97378457e-02 9.96810623e-01 -3.23392596e-03 4.58637889e+00] [ 4.60217331e-02 -4.40579924e-04 9.98940342e-01 2.50350258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94509989299998 meters 0.014464666131131938 Centerline is valid? [True, True] Translation: X:64.91, Y:4.58, Z:2.51 [[ 9.95014014e-01 -8.85063804e-02 -4.59753449e-02 6.49108153e+01] [ 8.84512142e-02 9.96075251e-01 -3.23689414e-03 4.58246010e+00] [ 4.60813890e-02 -8.45820048e-04 9.98937330e-01 2.50684817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.00509989299998 meters 0.01886696448603158 Centerline is valid? [True, True] Translation: X:64.97, Y:4.58, Z:2.51 [[ 9.93889490e-01 -9.92281898e-02 -4.83471703e-02 6.49723859e+01] [ 9.91798822e-02 9.95063702e-01 -3.40304134e-03 4.57700008e+00] [ 4.84461918e-02 -1.41281963e-03 9.98824795e-01 2.50569903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06509989299998 meters 0.02243906188560852 Centerline is valid? [True, True] Translation: X:65.03, Y:4.57, Z:2.51 [[ 9.92424065e-01 -1.12519651e-01 -4.93335924e-02 6.50334649e+01] [ 1.12485731e-01 9.93647273e-01 -3.47223809e-03 4.57093041e+00] [ 4.94108846e-02 -2.10339254e-03 9.98776321e-01 2.50691089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12509989299998 meters 0.022665032830736006 Centerline is valid? [True, True] Translation: X:65.09, Y:4.57, Z:2.51 [[ 9.92008365e-01 -1.16765367e-01 -4.78043210e-02 6.50949281e+01] [ 1.16738438e-01 9.93156995e-01 -3.36443676e-03 4.57210449e+00] [ 4.78700455e-02 -2.24305235e-03 9.98851054e-01 2.51138010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18509989299999 meters 0.022372131741738625 Centerline is valid? [True, True] Translation: X:65.16, Y:4.58, Z:2.52 [[ 9.92456374e-01 -1.14207269e-01 -4.45762923e-02 6.51556377e+01] [ 1.14181342e-01 9.93454976e-01 -3.13573072e-03 4.57734712e+00] [ 4.46426626e-02 -1.97770492e-03 9.99001062e-01 2.51679120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24509989299999 meters 0.022654865284285293 Centerline is valid? [True, True] Translation: X:65.22, Y:4.58, Z:2.52 [[ 9.92330621e-01 -1.14210860e-01 -4.72844473e-02 6.52180774e+01] [ 1.14181791e-01 9.93454311e-01 -3.32422309e-03 4.58250026e+00] [ 4.73546004e-02 -2.10029453e-03 9.98875934e-01 2.51533009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30509989299998 meters 0.023876788250241837 Centerline is valid? [True, True] Translation: X:65.28, Y:4.58, Z:2.52 [[ 9.91558596e-01 -1.18628549e-01 -5.23337242e-02 6.52783928e+01] [ 1.18599264e-01 9.92935397e-01 -3.67574862e-03 4.58465033e+00] [ 5.24000559e-02 -2.56202105e-03 9.98622887e-01 2.51571152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36509989299998 meters 0.023832225568615906 Centerline is valid? [True, True] Translation: X:65.34, Y:4.59, Z:2.52 [[ 9.91347929e-01 -1.20094863e-01 -5.29764878e-02 6.53400571e+01] [ 1.20066996e-01 9.92758822e-01 -3.71989263e-03 4.58961114e+00] [ 5.30396156e-02 -2.67301987e-03 9.98588831e-01 2.51940196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42509989299998 meters 0.02228771271223498 Centerline is valid? [True, True] Translation: X:65.40, Y:4.60, Z:2.52 [[ 9.92182817e-01 -1.14263263e-01 -5.01713578e-02 6.54000935e+01] [ 1.14230969e-01 9.93447983e-01 -3.52001768e-03 4.59611851e+00] [ 5.02448430e-02 -2.23862175e-03 9.98734421e-01 2.52128440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48509989299998 meters 0.01855742758262163 Centerline is valid? [True, True] Translation: X:65.46, Y:4.61, Z:2.52 [[ 9.92993808e-01 -1.07042074e-01 -5.00528837e-02 6.54599048e+01] [ 1.07000774e-01 9.94252736e-01 -3.51166626e-03 4.61032399e+00] [ 5.01411125e-02 -1.86863444e-03 9.98740395e-01 2.52464432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54509989299999 meters 0.018845470736562255 Centerline is valid? [True, True] Translation: X:65.52, Y:4.62, Z:2.52 [[ 9.93243030e-01 -1.03340948e-01 -5.28103421e-02 6.55207811e+01] [ 1.03289778e-01 9.94644407e-01 -3.70465347e-03 4.61776308e+00] [ 5.29103538e-02 -1.77514729e-03 9.98597688e-01 2.52345993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60509989299999 meters 0.016397177008033437 Centerline is valid? [True, True] Translation: X:65.58, Y:4.63, Z:2.53 [[ 9.93636581e-01 -9.94446171e-02 -5.28877455e-02 6.55820818e+01] [ 9.93878998e-02 9.95041857e-01 -3.70791893e-03 4.62809241e+00] [ 5.29942531e-02 -1.57207806e-03 9.98593580e-01 2.52852884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66509989299999 meters 0.013045171493205202 Centerline is valid? [True, True] Translation: X:65.64, Y:4.65, Z:2.53 [[ 9.95183421e-01 -8.30006664e-02 -5.21617489e-02 6.56410325e+01] [ 8.29230206e-02 9.96549254e-01 -3.65472581e-03 4.64791271e+00] [ 5.22850966e-02 -6.88287244e-04 9.98631962e-01 2.53238031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72509989299998 meters 0.0123740169619302 Centerline is valid? [True, True] Translation: X:65.70, Y:4.65, Z:2.54 [[ 9.95977278e-01 -7.45237578e-02 -4.97541130e-02 6.57016228e+01] [ 7.44425376e-02 9.97219212e-01 -3.48608432e-03 4.65423553e+00] [ 4.98755535e-02 -2.31761659e-04 9.98755413e-01 2.53620163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78509989299998 meters 0.012212999170636934 Centerline is valid? [True, True] Translation: X:65.76, Y:4.66, Z:2.54 [[ 9.96200300e-01 -7.14837140e-02 -4.97497775e-02 6.57616675e+01] [ 7.13987117e-02 9.97441764e-01 -3.48591943e-03 4.65933774e+00] [ 4.98716923e-02 -7.93960346e-05 9.98755630e-01 2.53948706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84509989299998 meters 0.012141480060091345 Centerline is valid? [True, True] Translation: X:65.82, Y:4.66, Z:2.54 [[ 9.96227620e-01 -7.14881264e-02 -4.91932546e-02 6.58208069e+01] [ 7.14050088e-02 9.97441448e-01 -3.44718595e-03 4.66168870e+00] [ 4.93138239e-02 -7.84629172e-05 9.98783330e-01 2.54207244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90509989299998 meters 0.012190022554126172 Centerline is valid? [True, True] Translation: X:65.88, Y:4.66, Z:2.54 [[ 9.96067971e-01 -7.34624637e-02 -4.95163026e-02 6.58817022e+01] [ 7.33806128e-02 9.97297967e-01 -3.47133535e-03 4.66225670e+00] [ 4.96375208e-02 -1.75850667e-04 9.98767283e-01 2.54472370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96509989299999 meters 0.014965629450997138 Centerline is valid? [True, True] Translation: X:65.94, Y:4.66, Z:2.54 [[ 9.95086681e-01 -8.23734584e-02 -5.49282318e-02 6.59413285e+01] [ 8.22862186e-02 9.96601295e-01 -3.85184741e-03 4.65646277e+00] [ 5.50588370e-02 -6.86914432e-04 9.98482875e-01 2.54059522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02509989299999 meters 0.01427383608066768 Centerline is valid? [True, True] Translation: X:66.00, Y:4.66, Z:2.55 [[ 9.94527305e-01 -8.98596080e-02 -5.32981251e-02 6.60002014e+01] [ 8.97879723e-02 9.95953874e-01 -3.74186791e-03 4.65719211e+00] [ 5.34187169e-02 -1.06414077e-03 9.98571634e-01 2.54692751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08509989299998 meters 0.015730150854088094 Centerline is valid? [True, True] Translation: X:66.06, Y:4.66, Z:2.55 [[ 9.94229273e-01 -9.50332793e-02 -4.97677463e-02 6.60618167e+01] [ 9.49771565e-02 9.95473311e-01 -3.49672104e-03 4.65660959e+00] [ 4.98747680e-02 -1.25025661e-03 9.98754697e-01 2.55078283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14509989299998 meters 0.016295758397123362 Centerline is valid? [True, True] Translation: X:66.12, Y:4.66, Z:2.56 [[ 9.93887914e-01 -9.92933228e-02 -4.82457202e-02 6.61235283e+01] [ 9.92456836e-02 9.95057193e-01 -3.38785463e-03 4.66379121e+00] [ 4.83436422e-02 -1.42103171e-03 9.98829752e-01 2.55672101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20509989299998 meters 0.01645015928736095 Centerline is valid? [True, True] Translation: X:66.18, Y:4.67, Z:2.55 [[ 9.94206716e-01 -9.32200792e-02 -5.35072302e-02 6.61842314e+01] [ 9.31529054e-02 9.95644740e-01 -3.75346195e-03 4.67060990e+00] [ 5.36240903e-02 -1.25263687e-03 9.98560408e-01 2.55430234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26509989299998 meters 0.012858060621662443 Centerline is valid? [True, True] Translation: X:66.24, Y:4.69, Z:2.56 [[ 9.95392262e-01 -7.77961580e-02 -5.60535648e-02 6.62438990e+01] [ 7.76980818e-02 9.96969188e-01 -3.93022390e-03 4.68920442e+00] [ 5.61894333e-02 -4.43140000e-04 9.98420027e-01 2.55817680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32509989299999 meters 0.012937885865813611 Centerline is valid? [True, True] Translation: X:66.30, Y:4.70, Z:2.56 [[ 9.96506644e-01 -6.31960127e-02 -5.45964463e-02 6.63016109e+01] [ 6.30810576e-02 9.98001065e-01 -3.82799651e-03 4.70384280e+00] [ 5.47292256e-02 3.70622388e-04 9.98501164e-01 2.56109470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38509989299999 meters 0.012914801946324862 Centerline is valid? [True, True] Translation: X:66.36, Y:4.70, Z:2.57 [[ 9.96745873e-01 -6.01971126e-02 -5.36094411e-02 6.63601746e+01] [ 6.00816648e-02 9.98186368e-01 -3.76399803e-03 4.70419454e+00] [ 5.37387952e-02 5.30805028e-04 9.98554886e-01 2.56546754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44509989299998 meters 0.012257966025198132 Centerline is valid? [True, True] Translation: X:66.42, Y:4.70, Z:2.57 [[ 9.96264655e-01 -6.85265647e-02 -5.25437703e-02 6.64197273e+01] [ 6.84265308e-02 9.97649288e-01 -3.70252165e-03 4.69794226e+00] [ 5.26739761e-02 9.33035355e-05 9.98611758e-01 2.56918281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.50509989299998 meters 0.01230198341524599 Centerline is valid? [True, True] Translation: X:66.48, Y:4.69, Z:2.57 [[ 9.95780511e-01 -7.69807793e-02 -4.99513120e-02 6.64782555e+01] [ 7.69003629e-02 9.97032525e-01 -3.53260225e-03 4.69415327e+00] [ 5.00750252e-02 -3.23577542e-04 9.98745407e-01 2.57328108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56509989299998 meters 0.020898924595949088 Centerline is valid? [True, True] Translation: X:66.54, Y:4.67, Z:2.57 [[ 9.92139038e-01 -1.14266656e-01 -5.10221636e-02 6.65409728e+01] [ 1.14231154e-01 9.93447599e-01 -3.62093681e-03 4.66817904e+00] [ 5.11015983e-02 -2.23584788e-03 9.98690957e-01 2.57454917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62509989299998 meters 0.022076908443116966 Centerline is valid? [True, True] Translation: X:66.60, Y:4.67, Z:2.58 [[ 9.91434101e-01 -1.20356502e-01 -5.07221353e-02 6.66019307e+01] [ 1.20329363e-01 9.92727499e-01 -3.59951985e-03 4.66913599e+00] [ 5.07864841e-02 -2.53467553e-03 9.98706317e-01 2.57725339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68509989299999 meters 0.027694534409034858 Centerline is valid? [True, True] Translation: X:66.66, Y:4.67, Z:2.58 [[ 9.90897636e-01 -1.25140217e-01 -4.96165468e-02 6.66622692e+01] [ 1.25120239e-01 9.92135339e-01 -3.52067139e-03 4.66527653e+00] [ 4.96669070e-02 -2.71940921e-03 9.98762135e-01 2.57946129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74509989299999 meters 0.025698284267284127 Centerline is valid? [True, True] Translation: X:66.72, Y:4.67, Z:2.58 [[ 9.91200074e-01 -1.23560345e-01 -4.74895186e-02 6.67230719e+01] [ 1.23540303e-01 9.92333839e-01 -3.36820731e-03 4.67463839e+00] [ 4.75416332e-02 -2.52830218e-03 9.98866057e-01 2.58454299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80509989299998 meters 0.02207335874100639 Centerline is valid? [True, True] Translation: X:66.78, Y:4.69, Z:2.58 [[ 9.91419483e-01 -1.19278911e-01 -5.34784921e-02 6.67839189e+01] [ 1.19247430e-01 9.92857332e-01 -3.79061989e-03 4.68902744e+00] [ 5.35486540e-02 -2.61907831e-03 9.98561807e-01 2.58171275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86509989299998 meters 0.024685706847128185 Centerline is valid? [True, True] Translation: X:66.84, Y:4.70, Z:2.58 [[ 9.91090354e-01 -1.20383354e-01 -5.69891134e-02 6.68447977e+01] [ 1.20349625e-01 9.92723364e-01 -4.03614106e-03 4.69777645e+00] [ 5.70603085e-02 -2.85843792e-03 9.98366641e-01 2.57843189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92509989299998 meters 0.020862650293134694 Centerline is valid? [True, True] Translation: X:66.90, Y:4.72, Z:2.59 [[ 9.92079380e-01 -1.13652408e-01 -5.34942341e-02 6.69043873e+01] [ 1.13613032e-01 9.93517862e-01 -3.78639897e-03 4.71540974e+00] [ 5.35778105e-02 -2.32123379e-03 9.98560980e-01 2.58536063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98509989299998 meters 0.020355370526262077 Centerline is valid? [True, True] Translation: X:66.96, Y:4.72, Z:2.59 [[ 9.92760177e-01 -1.08344991e-01 -5.18516455e-02 6.69636583e+01] [ 1.08300776e-01 9.94111399e-01 -3.66993462e-03 4.72373707e+00] [ 5.19439309e-02 -1.97220853e-03 9.98648055e-01 2.58921091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04509989299999 meters 0.018998716451157735 Centerline is valid? [True, True] Translation: X:67.03, Y:4.73, Z:2.59 [[ 9.92970307e-01 -1.06309732e-01 -5.20404721e-02 6.70251729e+01] [ 1.06262444e-01 9.94331299e-01 -3.68256193e-03 4.73266407e+00] [ 5.21369624e-02 -1.87327314e-03 9.98638187e-01 2.59163967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10509989299999 meters 0.01817583639090414 Centerline is valid? [True, True] Translation: X:67.09, Y:4.74, Z:2.60 [[ 9.92930383e-01 -1.07324674e-01 -5.07017585e-02 6.70864434e+01] [ 1.07281283e-01 9.94222248e-01 -3.58434689e-03 4.73807931e+00] [ 5.07935052e-02 -1.88034279e-03 9.98707407e-01 2.59701679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16509989299999 meters 0.020316675598716798 Centerline is valid? [True, True] Translation: X:67.15, Y:4.74, Z:2.60 [[ 9.92744478e-01 -1.08551869e-01 -5.17193609e-02 6.71475694e+01] [ 1.08508534e-01 9.94088804e-01 -3.65336050e-03 4.73983392e+00] [ 5.18102167e-02 -1.98513857e-03 9.98654976e-01 2.59859199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22509989299998 meters 0.018453559922430026 Centerline is valid? [True, True] Translation: X:67.21, Y:4.75, Z:2.60 [[ 9.92787929e-01 -1.07981834e-01 -5.20773554e-02 6.72090538e+01] [ 1.07937276e-01 9.94150911e-01 -3.67557479e-03 4.74777223e+00] [ 5.21696456e-02 -1.97202159e-03 9.98636290e-01 2.60120414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28509989299998 meters 0.018497628757219668 Centerline is valid? [True, True] Translation: X:67.27, Y:4.75, Z:2.60 [[ 9.92910953e-01 -1.06869791e-01 -5.20258228e-02 6.72711747e+01] [ 1.06823998e-01 9.94271180e-01 -3.66808376e-03 4.75284426e+00] [ 5.21197836e-02 -1.91552587e-03 9.98639003e-01 2.60362918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34509989299998 meters 0.01746913392120968 Centerline is valid? [True, True] Translation: X:67.33, Y:4.75, Z:2.60 [[ 9.92894860e-01 -1.06511654e-01 -5.30571859e-02 6.73335025e+01] [ 1.06463731e-01 9.94309565e-01 -3.73681219e-03 4.75327677e+00] [ 5.31532814e-02 -1.93840437e-03 9.98584484e-01 2.60277380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40509989299998 meters 0.0182490422794469 Centerline is valid? [True, True] Translation: X:67.39, Y:4.76, Z:2.61 [[ 9.93067772e-01 -1.04827493e-01 -5.31751496e-02 6.73947288e+01] [ 1.04777150e-01 9.94488688e-01 -3.74132608e-03 4.75701536e+00] [ 5.32742786e-02 -1.85615027e-03 9.98578192e-01 2.60584858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46509989299999 meters 0.01759577153927784 Centerline is valid? [True, True] Translation: X:67.45, Y:4.76, Z:2.61 [[ 9.93615074e-01 -1.00205443e-01 -5.18454860e-02 6.74538279e+01] [ 1.00151409e-01 9.94965529e-01 -3.64567816e-03 4.76393975e+00] [ 5.19497882e-02 -1.56999771e-03 9.98648464e-01 2.61018827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52509989299999 meters 0.016027813704063715 Centerline is valid? [True, True] Translation: X:67.52, Y:4.77, Z:2.61 [[ 9.93828057e-01 -9.82992923e-02 -5.14105188e-02 6.75160763e+01] [ 9.82436206e-02 9.95155829e-01 -3.61496234e-03 4.77177577e+00] [ 5.15168257e-02 -1.45810450e-03 9.98671062e-01 2.61395154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58509989299998 meters 0.014855933521874943 Centerline is valid? [True, True] Translation: X:67.58, Y:4.78, Z:2.62 [[ 9.94359347e-01 -9.25065981e-02 -5.18846665e-02 6.75774294e+01] [ 9.24422465e-02 9.95711381e-01 -3.64386331e-03 4.78037223e+00] [ 5.19992343e-02 -1.17302559e-03 9.98646436e-01 2.61552680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64509989299998 meters 0.014136963872509158 Centerline is valid? [True, True] Translation: X:67.64, Y:4.79, Z:2.62 [[ 9.94705815e-01 -8.77758161e-02 -5.34391942e-02 6.76375743e+01] [ 8.77009055e-02 9.96139795e-01 -3.74973289e-03 4.78852968e+00] [ 5.35620438e-02 -9.56784608e-04 9.98564065e-01 2.61541184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70509989299998 meters 0.014765442853693703 Centerline is valid? [True, True] Translation: X:67.70, Y:4.79, Z:2.62 [[ 9.94494143e-01 -9.30798379e-02 -4.81408663e-02 6.76986017e+01] [ 9.30254059e-02 9.95658016e-01 -3.37479193e-03 4.79315193e+00] [ 4.82459645e-02 -1.12211281e-03 9.98834855e-01 2.62340497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76509989299998 meters 0.012911671362378453 Centerline is valid? [True, True] Translation: X:67.76, Y:4.80, Z:2.62 [[ 9.95257566e-01 -8.12710095e-02 -5.34546625e-02 6.77591995e+01] [ 8.11869798e-02 9.96691852e-01 -3.74517488e-03 4.80090018e+00] [ 5.35822008e-02 -6.12408973e-04 9.98563254e-01 2.62285618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82509989299999 meters 0.014342496681410952 Centerline is valid? [True, True] Translation: X:67.82, Y:4.81, Z:2.62 [[ 9.95894393e-01 -7.18038624e-02 -5.51231599e-02 6.78193583e+01] [ 7.17000890e-02 9.97418765e-01 -3.86050342e-03 4.81058609e+00] [ 5.52580732e-02 -1.07681763e-04 9.98472100e-01 2.62226309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88509989299999 meters 0.012226258614911679 Centerline is valid? [True, True] Translation: X:67.88, Y:4.79, Z:2.63 [[ 9.96483456e-01 -6.50418832e-02 -5.28230601e-02 6.78796048e+01] [ 6.49369504e-02 9.97882501e-01 -3.70217769e-03 4.79083900e+00] [ 5.29520039e-02 2.58990385e-04 9.98597025e-01 2.62868128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94509989299998 meters 0.01283797685238982 Centerline is valid? [True, True] Translation: X:67.94, Y:4.80, Z:2.63 [[ 9.96727556e-01 -5.95291995e-02 -5.46850430e-02 6.79381557e+01] [ 5.94076583e-02 9.98226393e-01 -3.84690229e-03 4.79640908e+00] [ 5.48170562e-02 5.85603168e-04 9.98496243e-01 2.62948866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.00509989299998 meters 0.013147414340249452 Centerline is valid? [True, True] Translation: X:68.00, Y:4.80, Z:2.63 [[ 9.96836082e-01 -5.82907910e-02 -5.40371133e-02 6.79952711e+01] [ 5.81696643e-02 9.98299430e-01 -3.81299385e-03 4.80083336e+00] [ 5.41674818e-02 6.57609107e-04 9.98531648e-01 2.63201932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06509989299998 meters 0.013315827439717905 Centerline is valid? [True, True] Translation: X:68.05, Y:4.80, Z:2.64 [[ 9.96982437e-01 -5.60859899e-02 -5.36691953e-02 6.80533728e+01] [ 5.59630581e-02 9.98425640e-01 -3.79182620e-03 4.80465457e+00] [ 5.37973690e-02 7.76891826e-04 9.98551571e-01 2.63539547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12509989299998 meters 0.013299361783052651 Centerline is valid? [True, True] Translation: X:68.11, Y:4.81, Z:2.64 [[ 9.97014301e-01 -5.53809350e-02 -5.38092579e-02 6.81119094e+01] [ 5.52559636e-02 9.98464958e-01 -3.80858381e-03 4.80860090e+00] [ 5.39375814e-02 8.23930127e-04 9.98543969e-01 2.63834272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18509989299999 meters 0.013924075726087736 Centerline is valid? [True, True] Translation: X:68.17, Y:4.81, Z:2.64 [[ 9.97049307e-01 -5.42054026e-02 -5.43548854e-02 6.81689653e+01] [ 5.40754681e-02 9.98529393e-01 -3.85944697e-03 4.81361926e+00] [ 5.44841536e-02 9.08793054e-04 9.98514222e-01 2.64041909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24509989299999 meters 0.0127563362205852 Centerline is valid? [True, True] Translation: X:68.23, Y:4.81, Z:2.65 [[ 9.97091107e-01 -5.86291350e-02 -4.87026672e-02 6.82287114e+01] [ 5.85299004e-02 9.98279651e-01 -3.46242431e-03 4.80908168e+00] [ 4.88218806e-02 6.01790224e-04 9.98807320e-01 2.64838523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30509989299998 meters 0.011988266525642086 Centerline is valid? [True, True] Translation: X:68.29, Y:4.81, Z:2.65 [[ 9.96746653e-01 -6.48101386e-02 -4.79140372e-02 6.82873602e+01] [ 6.47210822e-02 9.97897569e-01 -3.40939086e-03 4.80576930e+00] [ 4.80342644e-02 2.97250591e-04 9.98845644e-01 2.65126897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36509989299998 meters 0.011800871475649346 Centerline is valid? [True, True] Translation: X:68.35, Y:4.81, Z:2.65 [[ 9.96479896e-01 -6.89316297e-02 -4.77100379e-02 6.83467077e+01] [ 6.88474696e-02 9.97621380e-01 -3.40700196e-03 4.80593952e+00] [ 4.78314040e-02 1.10293571e-04 9.98855417e-01 2.65361993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42509989299998 meters 0.01175089705737205 Centerline is valid? [True, True] Translation: X:68.40, Y:4.81, Z:2.66 [[ 9.96183663e-01 -7.31712132e-02 -4.75823822e-02 6.84048481e+01] [ 7.30918346e-02 9.97319391e-01 -3.40836605e-03 4.80557387e+00] [ 4.77042267e-02 -8.25250361e-05 9.98861502e-01 2.65550538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48509989299998 meters 0.014574218702794276 Centerline is valid? [True, True] Translation: X:68.47, Y:4.79, Z:2.66 [[ 9.94284903e-01 -9.39099912e-02 -5.07783915e-02 6.84667287e+01] [ 9.38463504e-02 9.95580033e-01 -3.64136587e-03 4.78723132e+00] [ 5.08959133e-02 -1.14481161e-03 9.98703307e-01 2.65615850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54509989299999 meters 0.013746336195130621 Centerline is valid? [True, True] Translation: X:68.53, Y:4.79, Z:2.66 [[ 9.94345881e-01 -9.20528498e-02 -5.29390411e-02 6.85271534e+01] [ 9.19810405e-02 9.95753521e-01 -3.79645367e-03 4.79457307e+00] [ 5.30637110e-02 -1.09440002e-03 9.98590529e-01 2.65687017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60509989299999 meters 0.013484296642737918 Centerline is valid? [True, True] Translation: X:68.59, Y:4.80, Z:2.66 [[ 9.94460358e-01 -8.99267360e-02 -5.44222315e-02 6.85868738e+01] [ 8.98476400e-02 9.95947873e-01 -3.90328067e-03 4.80066907e+00] [ 5.45527150e-02 -1.00805117e-03 9.98510383e-01 2.65765699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66509989299998 meters 0.012224882025974644 Centerline is valid? [True, True] Translation: X:68.65, Y:4.82, Z:2.66 [[ 9.95209975e-01 -8.19315497e-02 -5.33322394e-02 6.86451320e+01] [ 8.18440098e-02 9.96637804e-01 -3.82704436e-03 4.81647248e+00] [ 5.34664816e-02 -5.56211600e-04 9.98569490e-01 2.66244961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72509989299998 meters 0.012545221054035655 Centerline is valid? [True, True] Translation: X:68.70, Y:4.82, Z:2.67 [[ 9.95249887e-01 -8.27423462e-02 -5.12968544e-02 6.87030953e+01] [ 8.26623355e-02 9.96570807e-01 -3.68300876e-03 4.82261164e+00] [ 5.14256884e-02 -5.74803741e-04 9.98676658e-01 2.66613569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78509989299998 meters 0.012443295721990011 Centerline is valid? [True, True] Translation: X:68.76, Y:4.83, Z:2.67 [[ 9.95206024e-01 -8.37114347e-02 -5.05703969e-02 6.87622230e+01] [ 8.36347936e-02 9.96489849e-01 -3.63344014e-03 4.82805707e+00] [ 5.06970477e-02 -6.13423189e-04 9.98713889e-01 2.66951368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84509989299998 meters 0.0124349686464842 Centerline is valid? [True, True] Translation: X:68.82, Y:4.84, Z:2.67 [[ 9.95271639e-01 -8.35972735e-02 -4.94556477e-02 6.88221901e+01] [ 8.35237597e-02 9.96499445e-01 -3.55485022e-03 4.83507794e+00] [ 4.95797012e-02 -5.92680026e-04 9.98769995e-01 2.67356770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90509989299998 meters 0.012889318120161357 Centerline is valid? [True, True] Translation: X:68.88, Y:4.85, Z:2.67 [[ 9.95373508e-01 -8.03385419e-02 -5.27000695e-02 6.88818710e+01] [ 8.02504973e-02 9.96767530e-01 -3.78805784e-03 4.84522687e+00] [ 5.28340452e-02 -4.58674361e-04 9.98603201e-01 2.67320104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96509989299999 meters 0.012138730010726793 Centerline is valid? [True, True] Translation: X:68.94, Y:4.85, Z:2.67 [[ 9.95346928e-01 -7.99553380e-02 -5.37739456e-02 6.89414218e+01] [ 7.98630842e-02 9.96798347e-01 -3.86568704e-03 4.85116195e+00] [ 5.39108624e-02 -4.46853430e-04 9.98545652e-01 2.67469269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02509989299999 meters 0.012528903859994235 Centerline is valid? [True, True] Translation: X:69.00, Y:4.86, Z:2.68 [[ 9.95317033e-01 -8.05553396e-02 -5.34307206e-02 6.89993307e+01] [ 8.04650078e-02 9.96750025e-01 -3.84318171e-03 4.85667710e+00] [ 5.35666609e-02 -4.74119134e-04 9.98564163e-01 2.67602296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08509989299998 meters 0.013535532977905286 Centerline is valid? [True, True] Translation: X:69.06, Y:4.86, Z:2.68 [[ 9.95256611e-01 -8.11629662e-02 -5.36362899e-02 6.90588338e+01] [ 8.10726732e-02 9.96700716e-01 -3.86068147e-03 4.86474899e+00] [ 5.37726729e-02 -5.06068648e-04 9.98553075e-01 2.67753591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.14509989299998 meters 0.015522241169777627 Centerline is valid? [True, True] Translation: X:69.12, Y:4.87, Z:2.68 [[ 9.94924525e-01 -8.40828056e-02 -5.52745092e-02 6.91167465e+01] [ 8.39912786e-02 9.96458537e-01 -3.98097638e-03 4.87032305e+00] [ 5.54134883e-02 -6.81805667e-04 9.98463259e-01 2.67665134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20509989299998 meters 0.013902647997834047 Centerline is valid? [True, True] Translation: X:69.18, Y:4.88, Z:2.68 [[ 9.94334104e-01 -9.16922229e-02 -5.37794189e-02 6.91758033e+01] [ 9.16165337e-02 9.95786817e-01 -3.87625725e-03 4.87763618e+00] [ 5.39082591e-02 -1.07278917e-03 9.98545316e-01 2.68409548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26509989299998 meters 0.015458713142885076 Centerline is valid? [True, True] Translation: X:69.24, Y:4.88, Z:2.69 [[ 9.93991839e-01 -9.69538212e-02 -5.07954728e-02 6.92353868e+01] [ 9.68931233e-02 9.95288055e-01 -3.66186829e-03 4.88417580e+00] [ 5.09111595e-02 -1.28186481e-03 9.98702363e-01 2.68868486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32509989299999 meters 0.017622915897031785 Centerline is valid? [True, True] Translation: X:69.30, Y:4.89, Z:2.69 [[ 9.94046833e-01 -9.63682529e-02 -5.08335911e-02 6.92966763e+01] [ 9.63069149e-02 9.95344955e-01 -3.66038660e-03 4.89360656e+00] [ 5.09497035e-02 -1.25703062e-03 9.98700429e-01 2.68970794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38509989299999 meters 0.015151234088407678 Centerline is valid? [True, True] Translation: X:69.36, Y:4.90, Z:2.70 [[ 9.94077168e-01 -9.63162198e-02 -5.03365701e-02 6.93577939e+01] [ 9.62561937e-02 9.95350006e-01 -3.62093609e-03 4.90164058e+00] [ 5.04512602e-02 -1.24571675e-03 9.98725747e-01 2.69558152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44509989299998 meters 0.015642314265600227 Centerline is valid? [True, True] Translation: X:69.42, Y:4.91, Z:2.69 [[ 9.93496100e-01 -1.00035237e-01 -5.43916348e-02 6.94189880e+01] [ 9.99709198e-02 9.94982681e-01 -3.90886757e-03 4.91063371e+00] [ 5.45097592e-02 -1.55413708e-03 9.98512028e-01 2.69491147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.50509989299998 meters 0.017475745403068028 Centerline is valid? [True, True] Translation: X:69.48, Y:4.92, Z:2.70 [[ 9.93145226e-01 -1.02883370e-01 -5.54758780e-02 6.94796364e+01] [ 1.02821028e-01 9.94691892e-01 -3.98445712e-03 4.91772253e+00] [ 5.55913405e-02 -1.74694225e-03 9.98452077e-01 2.69755493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56509989299998 meters 0.01744159104311487 Centerline is valid? [True, True] Translation: X:69.54, Y:4.93, Z:2.70 [[ 9.93588503e-01 -1.00373478e-01 -5.20293332e-02 6.95391268e+01] [ 1.00315366e-01 9.94948685e-01 -3.73377894e-03 4.92538048e+00] [ 5.21412890e-02 -1.50950175e-03 9.98638577e-01 2.70423704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62509989299998 meters 0.015311778022476366 Centerline is valid? [True, True] Translation: X:69.60, Y:4.93, Z:2.71 [[ 9.94185323e-01 -9.52574266e-02 -5.02151908e-02 6.96002220e+01] [ 9.51969938e-02 9.95451947e-01 -3.59924225e-03 4.93367526e+00] [ 5.03296640e-02 -1.20202138e-03 9.98731936e-01 2.70900984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68509989299999 meters 0.013673568171547648 Centerline is valid? [True, True] Translation: X:69.66, Y:4.94, Z:2.71 [[ 9.94779276e-01 -8.92592803e-02 -4.94668926e-02 6.96613291e+01] [ 8.91933551e-02 9.96008029e-01 -3.54294738e-03 4.94286313e+00] [ 4.95856631e-02 -8.87667493e-04 9.98769480e-01 2.71275616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74509989299999 meters 0.012690301524602524 Centerline is valid? [True, True] Translation: X:69.72, Y:4.95, Z:2.71 [[ 9.95184535e-01 -8.27105530e-02 -5.25994915e-02 6.97237112e+01] [ 8.26270521e-02 9.96573431e-01 -3.76382403e-03 4.94977370e+00] [ 5.27305637e-02 -6.00441454e-04 9.98608596e-01 2.71369332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80509989299998 meters 0.01260702439629413 Centerline is valid? [True, True] Translation: X:69.78, Y:4.95, Z:2.72 [[ 9.95413590e-01 -7.97587317e-02 -5.28235616e-02 6.97846832e+01] [ 7.96706511e-02 9.96814096e-01 -3.77443588e-03 4.95470087e+00] [ 5.29563150e-02 -4.51362774e-04 9.98596728e-01 2.71741588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86509989299998 meters 0.012604073599465932 Centerline is valid? [True, True] Translation: X:69.84, Y:4.96, Z:2.72 [[ 9.95567730e-01 -7.88020796e-02 -5.13334988e-02 6.98445691e+01] [ 7.87179137e-02 9.96890203e-01 -3.66245288e-03 4.95587857e+00] [ 5.14624709e-02 -3.94646024e-04 9.98674851e-01 2.72130350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92509989299998 meters 0.01335973456370673 Centerline is valid? [True, True] Translation: X:69.91, Y:4.95, Z:2.73 [[ 9.94979139e-01 -8.71675223e-02 -4.91765701e-02 6.99059527e+01] [ 8.71005392e-02 9.96193351e-01 -3.50749755e-03 4.95039127e+00] [ 4.92951120e-02 -7.93418876e-04 9.98783942e-01 2.72586576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98509989299998 meters 0.015393005252940122 Centerline is valid? [True, True] Translation: X:69.97, Y:4.95, Z:2.73 [[ 9.94379912e-01 -9.41049366e-02 -4.85062039e-02 6.99665081e+01] [ 9.40481070e-02 9.95561650e-01 -3.45765147e-03 4.94617172e+00] [ 4.86162985e-02 -1.12369749e-03 9.98816897e-01 2.72873003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04509989299999 meters 0.019362979045646926 Centerline is valid? [True, True] Translation: X:70.03, Y:4.94, Z:2.73 [[ 9.93101365e-01 -1.06262868e-01 -4.95770239e-02 7.00289048e+01] [ 1.06218659e-01 9.94336520e-01 -3.53298950e-03 4.93544853e+00] [ 4.96716710e-02 -1.75738827e-03 9.98764055e-01 2.72917967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10509989299999 meters 0.024934919692118335 Centerline is valid? [True, True] Translation: X:70.09, Y:4.93, Z:2.73 [[ 9.91732606e-01 -1.18453883e-01 -4.93468891e-02 7.00908417e+01] [ 1.18425182e-01 9.92956756e-01 -3.51529913e-03 4.92554375e+00] [ 4.94157277e-02 -2.35767755e-03 9.98775514e-01 2.72996754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16509989299998 meters 0.021860228731534124 Centerline is valid? [True, True] Translation: X:70.15, Y:4.93, Z:2.74 [[ 9.92137178e-01 -1.14899120e-01 -4.96186690e-02 7.01516673e+01] [ 1.14865724e-01 9.93374743e-01 -3.53353154e-03 4.92888244e+00] [ 4.96959322e-02 -2.19373630e-03 9.98761985e-01 2.73556619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22509989299998 meters 0.017320220847751724 Centerline is valid? [True, True] Translation: X:70.21, Y:4.94, Z:2.74 [[ 9.93375849e-01 -1.03616172e-01 -4.96800994e-02 7.02112898e+01] [ 1.03568670e-01 9.94616019e-01 -3.53640613e-03 4.94056509e+00] [ 4.97790515e-02 -1.63232137e-03 9.98758921e-01 2.73886341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28509989299998 meters 0.013906056678178796 Centerline is valid? [True, True] Translation: X:70.27, Y:4.95, Z:2.74 [[ 9.94788384e-01 -8.85174492e-02 -5.06036775e-02 7.02713731e+01] [ 8.84486276e-02 9.96074227e-01 -3.60215744e-03 4.95150784e+00] [ 5.07238727e-02 -8.92441454e-04 9.98712317e-01 2.74085846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34509989299998 meters 0.012879059005395342 Centerline is valid? [True, True] Translation: X:70.33, Y:4.96, Z:2.74 [[ 9.95413513e-01 -8.06584748e-02 -5.14407335e-02 7.03320271e+01] [ 8.05768916e-02 9.96741672e-01 -3.66122718e-03 4.95943278e+00] [ 5.15684317e-02 -5.00499398e-04 9.98669338e-01 2.74260531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40509989299998 meters 0.012340219097515048 Centerline is valid? [True, True] Translation: X:70.39, Y:4.97, Z:2.75 [[ 9.95983199e-01 -7.26712651e-02 -5.23101768e-02 7.03922551e+01] [ 7.25759249e-02 9.97355944e-01 -3.72234143e-03 4.96877100e+00] [ 5.24423730e-02 -8.90699411e-05 9.98623948e-01 2.74577966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46509989299999 meters 0.012694049798488673 Centerline is valid? [True, True] Translation: X:70.45, Y:4.98, Z:2.75 [[ 9.96457622e-01 -6.52948179e-02 -5.29980668e-02 7.04496963e+01] [ 6.51864669e-02 9.97865970e-01 -3.77230825e-03 4.97660339e+00] [ 5.31312795e-02 3.04188582e-04 9.98587490e-01 2.74727949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52509989299999 meters 0.01595287257024222 Centerline is valid? [True, True] Translation: X:70.51, Y:4.99, Z:2.75 [[ 9.97735872e-01 -4.61535831e-02 -4.89180509e-02 7.05086284e+01] [ 4.60380921e-02 9.98933604e-01 -3.48560780e-03 4.98793182e+00] [ 4.90267581e-02 1.22562220e-03 9.98796713e-01 2.75370791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58509989299998 meters 0.016102138416750712 Centerline is valid? [True, True] Translation: X:70.57, Y:4.99, Z:2.76 [[ 9.98033577e-01 -4.13101973e-02 -4.71428371e-02 7.05685825e+01] [ 4.11974920e-02 9.99145372e-01 -3.36025989e-03 4.98825538e+00] [ 4.72413606e-02 1.41148554e-03 9.98882506e-01 2.75830728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64509989299998 meters 0.016924883344634507 Centerline is valid? [True, True] Translation: X:70.63, Y:4.99, Z:2.76 [[ 9.98018193e-01 -4.21728747e-02 -4.67026200e-02 7.06261428e+01] [ 4.20631186e-02 9.99109403e-01 -3.33082190e-03 4.98870788e+00] [ 4.68014971e-02 1.35976301e-03 9.98903284e-01 2.75977228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70509989299998 meters 0.017849941352014485 Centerline is valid? [True, True] Translation: X:70.69, Y:4.98, Z:2.76 [[ 9.97760430e-01 -4.66506710e-02 -4.79357833e-02 7.06858827e+01] [ 4.65399447e-02 9.98910561e-01 -3.42401271e-03 4.98380185e+00] [ 4.80432927e-02 1.18541569e-03 9.98844551e-01 2.75818985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76509989299998 meters 0.012650996632122921 Centerline is valid? [True, True] Translation: X:70.75, Y:4.97, Z:2.76 [[ 9.96854722e-01 -6.33687259e-02 -4.75927190e-02 7.07477903e+01] [ 6.32781382e-02 9.97990108e-01 -3.40914792e-03 4.96566163e+00] [ 4.77130961e-02 3.86846551e-04 9.98861007e-01 2.76254676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82509989299999 meters 0.014066940930770976 Centerline is valid? [True, True] Translation: X:70.81, Y:4.94, Z:2.76 [[ 9.95540007e-01 -8.16739607e-02 -4.72171472e-02 7.08075928e+01] [ 8.16053170e-02 9.96658983e-01 -3.38285533e-03 4.94364647e+00] [ 4.73356851e-02 -4.85402444e-04 9.98878920e-01 2.76187668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88509989299999 meters 0.01382265143464609 Centerline is valid? [True, True] Translation: X:70.87, Y:4.94, Z:2.77 [[ 9.94968396e-01 -8.87255792e-02 -4.65366849e-02 7.08675963e+01] [ 8.86664259e-02 9.96055783e-01 -3.33789777e-03 4.93725829e+00] [ 4.66492910e-02 -8.05138731e-04 9.98911005e-01 2.76513713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94509989299998 meters 0.014660726713820554 Centerline is valid? [True, True] Translation: X:70.93, Y:4.94, Z:2.77 [[ 9.94742319e-01 -9.18529289e-02 -4.52852887e-02 7.09273319e+01] [ 9.18000793e-02 9.95772155e-01 -3.24973414e-03 4.93581744e+00] [ 4.53923272e-02 -9.24545017e-04 9.98968809e-01 2.76823835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.00509989299998 meters 0.018589145462091432 Centerline is valid? [True, True] Translation: X:70.99, Y:4.93, Z:2.77 [[ 9.93910510e-01 -1.01873691e-01 -4.19958253e-02 7.09873965e+01] [ 1.01837109e-01 9.94796518e-01 -3.01507127e-03 4.92580107e+00] [ 4.20844573e-02 -1.28002242e-03 9.99113237e-01 2.77266979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06509989299998 meters 0.021821880852190303 Centerline is valid? [True, True] Translation: X:71.05, Y:4.92, Z:2.77 [[ 9.92743421e-01 -1.11644668e-01 -4.46762676e-02 7.10489860e+01] [ 1.11613129e-01 9.93746557e-01 -3.20762393e-03 4.92091938e+00] [ 4.47550012e-02 -1.80211049e-03 9.98996367e-01 2.76914640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12509989299998 meters 0.023493286994542575 Centerline is valid? [True, True] Translation: X:71.11, Y:4.92, Z:2.77 [[ 9.91544326e-01 -1.20897506e-01 -4.71555217e-02 7.11099391e+01] [ 1.20872805e-01 9.92662230e-01 -3.38548917e-03 4.91772825e+00] [ 4.72188025e-02 -2.34295758e-03 9.98881822e-01 2.77139959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18509989299999 meters 0.025132875336185762 Centerline is valid? [True, True] Translation: X:71.17, Y:4.92, Z:2.77 [[ 9.91433666e-01 -1.21293671e-01 -4.84472065e-02 7.11694943e+01] [ 1.21268071e-01 9.92613700e-01 -3.47825892e-03 4.92115132e+00] [ 4.85112517e-02 -2.42663627e-03 9.98819688e-01 2.77327479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24509989299999 meters 0.020736295165377762 Centerline is valid? [True, True] Translation: X:71.23, Y:4.94, Z:2.78 [[ 9.92156221e-01 -1.14703286e-01 -4.96909314e-02 7.12294789e+01] [ 1.14668061e-01 9.93397454e-01 -3.56850700e-03 4.93595572e+00] [ 4.97721642e-02 -2.15744633e-03 9.98758268e-01 2.77557680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30509989299998 meters 0.01937549877863862 Centerline is valid? [True, True] Translation: X:71.29, Y:4.95, Z:2.78 [[ 9.93093434e-01 -1.06420885e-01 -4.93966296e-02 7.12879207e+01] [ 1.06375786e-01 9.94319667e-01 -3.54850025e-03 4.94576628e+00] [ 4.94936748e-02 -1.73061301e-03 9.98772938e-01 2.77813598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36509989299998 meters 0.012811349019622113 Centerline is valid? [True, True] Translation: X:71.35, Y:4.98, Z:2.78 [[ 9.95805237e-01 -7.97811419e-02 -4.47984330e-02 7.13464741e+01] [ 7.97170125e-02 9.96812337e-01 -3.21904198e-03 4.97677112e+00] [ 4.49124496e-02 -3.65658380e-04 9.98990860e-01 2.78488930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42509989299998 meters 0.012486958910432272 Centerline is valid? [True, True] Translation: X:71.41, Y:4.99, Z:2.79 [[ 9.96402151e-01 -7.25942065e-02 -4.37359658e-02 7.14055212e+01] [ 7.25261228e-02 9.97361559e-01 -3.14354941e-03 4.98804945e+00] [ 4.38487745e-02 -3.97606305e-05 9.99038179e-01 2.78792174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48509989299998 meters 0.012446574689714133 Centerline is valid? [True, True] Translation: X:71.47, Y:4.99, Z:2.79 [[ 9.96395303e-01 -7.24935149e-02 -4.40578014e-02 7.14653027e+01] [ 7.24242551e-02 9.97368883e-01 -3.16830000e-03 4.99397929e+00] [ 4.41715614e-02 -3.39742100e-05 9.99023960e-01 2.79055397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54509989299999 meters 0.012598382076873608 Centerline is valid? [True, True] Translation: X:71.52, Y:5.00, Z:2.79 [[ 9.96064131e-01 -7.61155482e-02 -4.54166297e-02 7.15236120e+01] [ 7.60456287e-02 9.97098984e-01 -3.26780575e-03 4.99680528e+00] [ 4.55336062e-02 -1.98792066e-04 9.98962788e-01 2.79210556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60509989299999 meters 0.013364176450316264 Centerline is valid? [True, True] Translation: X:71.58, Y:5.00, Z:2.79 [[ 9.95268644e-01 -8.56704892e-02 -4.58355044e-02 7.15828662e+01] [ 8.56092384e-02 9.96323321e-01 -3.30127726e-03 4.99646280e+00] [ 4.59498040e-02 -6.38284881e-04 9.98943546e-01 2.79416153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66509989299998 meters 0.015079976992445688 Centerline is valid? [True, True] Translation: X:71.64, Y:4.99, Z:2.80 [[ 9.94548376e-01 -9.39255662e-02 -4.52936516e-02 7.16423183e+01] [ 9.38738066e-02 9.95578724e-01 -3.27315965e-03 4.99494738e+00] [ 4.54008292e-02 -9.96571868e-04 9.98968354e-01 2.79521046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72509989299998 meters 0.017631353761141774 Centerline is valid? [True, True] Translation: X:71.70, Y:4.99, Z:2.80 [[ 9.93821827e-01 -1.02685884e-01 -4.21163215e-02 7.17024955e+01] [ 1.02648921e-01 9.94712987e-01 -3.04497971e-03 4.99195428e+00] [ 4.22063284e-02 -1.29702767e-03 9.99108074e-01 2.79839709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78509989299998 meters 0.019772373409460045 Centerline is valid? [True, True] Translation: X:71.76, Y:4.99, Z:2.80 [[ 9.92848037e-01 -1.11973013e-01 -4.14103733e-02 7.17632939e+01] [ 1.11945304e-01 9.93709857e-01 -2.99468776e-03 4.99139007e+00] [ 4.14852203e-02 -1.66242698e-03 9.99137735e-01 2.80077487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84509989299998 meters 0.02193772235798425 Centerline is valid? [True, True] Translation: X:71.82, Y:4.99, Z:2.80 [[ 9.92022351e-01 -1.18385457e-01 -4.33190401e-02 7.18240444e+01] [ 1.18361238e-01 9.92965661e-01 -3.13257045e-03 4.99268303e+00] [ 4.33851701e-02 -2.01971532e-03 9.99056379e-01 2.80210828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90509989299998 meters 0.027123245028782526 Centerline is valid? [True, True] Translation: X:71.88, Y:4.99, Z:2.80 [[ 9.90655431e-01 -1.28594133e-01 -4.54463042e-02 7.18841509e+01] [ 1.28578185e-01 9.91693930e-01 -3.28616535e-03 4.99174690e+00] [ 4.54914056e-02 -2.58794575e-03 9.98961378e-01 2.80222481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96509989299999 meters 0.029023026474850312 Centerline is valid? [True, True] Translation: X:71.95, Y:5.00, Z:2.80 [[ 9.90192190e-01 -1.31300300e-01 -4.77457711e-02 7.19452975e+01] [ 1.31285888e-01 9.91338542e-01 -3.45133024e-03 4.99862685e+00] [ 4.77853837e-02 -2.85086571e-03 9.98853558e-01 2.80320992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02509989299998 meters 0.029307774172559874 Centerline is valid? [True, True] Translation: X:72.00, Y:5.01, Z:2.81 [[ 9.90670809e-01 -1.27155600e-01 -4.90183857e-02 7.20044024e+01] [ 1.27135433e-01 9.91879044e-01 -3.54178206e-03 5.01114364e+00] [ 4.90706670e-02 -2.72323361e-03 9.98791597e-01 2.80515039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08509989299998 meters 0.02615034228736273 Centerline is valid? [True, True] Translation: X:72.06, Y:5.03, Z:2.81 [[ 9.91276647e-01 -1.23042110e-01 -4.72361018e-02 7.20642441e+01] [ 1.23018727e-01 9.92398481e-01 -3.41288383e-03 5.02798086e+00] [ 4.72969641e-02 -2.42781308e-03 9.98877922e-01 2.80830139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.14509989299998 meters 0.021662038136958515 Centerline is valid? [True, True] Translation: X:72.12, Y:5.04, Z:2.82 [[ 9.91815166e-01 -1.19824055e-01 -4.41007052e-02 7.21240474e+01] [ 1.19800539e-01 9.92792871e-01 -3.18534269e-03 5.04437802e+00] [ 4.41645464e-02 -2.12401707e-03 9.99022012e-01 2.81627745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.20509989299998 meters 0.02024097260301811 Centerline is valid? [True, True] Translation: X:72.18, Y:5.06, Z:2.82 [[ 9.92193313e-01 -1.16064715e-01 -4.56224856e-02 7.21845912e+01] [ 1.16035632e-01 9.93239588e-01 -3.29423808e-03 5.06083219e+00] [ 4.56964036e-02 -2.02531295e-03 9.98953321e-01 2.81950319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26509989299998 meters 0.018113232831683413 Centerline is valid? [True, True] Translation: X:72.24, Y:5.08, Z:2.82 [[ 9.92988324e-01 -1.08006562e-01 -4.80496790e-02 7.22434454e+01] [ 1.07965004e-01 9.94148650e-01 -3.46701746e-03 5.08019850e+00] [ 4.81429841e-02 -1.74497594e-03 9.98838930e-01 2.82049426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32509989299999 meters 0.018168398200829505 Centerline is valid? [True, True] Translation: X:72.30, Y:5.09, Z:2.82 [[ 9.93231708e-01 -1.05749610e-01 -4.80395064e-02 7.23046086e+01] [ 1.05705457e-01 9.94391444e-01 -3.46580747e-03 5.08727119e+00] [ 4.81365819e-02 -1.63568811e-03 9.98839424e-01 2.82301795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38509989299999 meters 0.015436958705264582 Centerline is valid? [True, True] Translation: X:72.36, Y:5.11, Z:2.83 [[ 9.94443181e-01 -9.41651387e-02 -4.70710741e-02 7.23623941e+01] [ 9.41099103e-02 9.95556032e-01 -3.39302156e-03 5.10699638e+00] [ 4.71813961e-02 -1.05568741e-03 9.98885780e-01 2.82662771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44509989299998 meters 0.014177516493618187 Centerline is valid? [True, True] Translation: X:72.42, Y:5.13, Z:2.83 [[ 9.94685925e-01 -9.03515892e-02 -4.93609215e-02 7.24230496e+01] [ 9.02861517e-02 9.95909508e-01 -3.55833150e-03 5.12866454e+00] [ 4.94805120e-02 -9.17185379e-04 9.98774668e-01 2.82596736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.50509989299998 meters 0.015090892821174682 Centerline is valid? [True, True] Translation: X:72.48, Y:5.13, Z:2.83 [[ 9.94232546e-01 -9.49108035e-02 -4.99357921e-02 7.24844655e+01] [ 9.48497540e-02 9.95485104e-01 -3.59619083e-03 5.13254898e+00] [ 5.00516545e-02 -1.16094763e-03 9.98745956e-01 2.82886396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56509989299998 meters 0.015445588025056 Centerline is valid? [True, True] Translation: X:72.55, Y:5.14, Z:2.83 [[ 9.94023965e-01 -9.70010533e-02 -5.00714769e-02 7.25461605e+01] [ 9.69424673e-02 9.95283465e-01 -3.60302468e-03 5.13681180e+00] [ 5.01848103e-02 -1.27255963e-03 9.98739138e-01 2.83159675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62509989299998 meters 0.016623904381796614 Centerline is valid? [True, True] Translation: X:72.61, Y:5.14, Z:2.83 [[ 9.93596112e-01 -1.01363544e-01 -4.99219250e-02 7.26078019e+01] [ 1.01310981e-01 9.94848333e-01 -3.58872052e-03 5.13921553e+00] [ 5.00285093e-02 -1.49190044e-03 9.98746676e-01 2.83379719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68509989299999 meters 0.01682692699883997 Centerline is valid? [True, True] Translation: X:72.67, Y:5.14, Z:2.84 [[ 9.93393817e-01 -1.03310747e-01 -4.99561183e-02 7.26697081e+01] [ 1.03260716e-01 9.94647852e-01 -3.58827931e-03 5.14312539e+00] [ 5.00594536e-02 -1.59393005e-03 9.98744968e-01 2.83638069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74509989299999 meters 0.01794847892103382 Centerline is valid? [True, True] Translation: X:72.73, Y:5.15, Z:2.84 [[ 9.93254720e-01 -1.04749204e-01 -4.97259001e-02 7.27313523e+01] [ 1.04701609e-01 9.94497281e-01 -3.56818609e-03 5.14585915e+00] [ 4.98260371e-02 -1.66226406e-03 9.98756528e-01 2.83823744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80509989299998 meters 0.01695285187027388 Centerline is valid? [True, True] Translation: X:72.79, Y:5.15, Z:2.84 [[ 9.93815176e-01 -1.00210901e-01 -4.78452742e-02 7.27930498e+01] [ 1.00161705e-01 9.94965257e-01 -3.43068320e-03 5.15152197e+00] [ 4.79481774e-02 -1.38279923e-03 9.98848868e-01 2.84285750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86509989299998 meters 0.017125395817331898 Centerline is valid? [True, True] Translation: X:72.86, Y:5.16, Z:2.85 [[ 9.93708597e-01 -1.00828482e-01 -4.87528605e-02 7.28551510e+01] [ 1.00778283e-01 9.94902778e-01 -3.49293978e-03 5.15616913e+00] [ 4.88565442e-02 -1.44226527e-03 9.98804765e-01 2.84531693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92509989299998 meters 0.017775098929451612 Centerline is valid? [True, True] Translation: X:72.92, Y:5.16, Z:2.85 [[ 9.93537368e-01 -1.01732033e-01 -5.03397611e-02 7.29167820e+01] [ 1.01679852e-01 9.94810648e-01 -3.60304376e-03 5.16022026e+00] [ 5.04450753e-02 -1.53878087e-03 9.98725651e-01 2.84637152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98509989299998 meters 0.016352408183290788 Centerline is valid? [True, True] Translation: X:72.98, Y:5.17, Z:2.85 [[ 9.93705175e-01 -9.95672279e-02 -5.13458163e-02 7.29788798e+01] [ 9.95102192e-02 9.95029765e-01 -3.67187946e-03 5.16879430e+00] [ 5.14562144e-02 -1.46066781e-03 9.98674183e-01 2.84935857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04509989299999 meters 0.014488597012096234 Centerline is valid? [True, True] Translation: X:73.04, Y:5.18, Z:2.85 [[ 9.94472815e-01 -9.17467423e-02 -5.10524876e-02 7.30391477e+01] [ 9.16802883e-02 9.95781816e-01 -3.64690016e-03 5.17920258e+00] [ 5.11717301e-02 -1.05376372e-03 9.98689313e-01 2.85251192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10509989299999 meters 0.012522924637345539 Centerline is valid? [True, True] Translation: X:73.10, Y:5.19, Z:2.85 [[ 9.95875026e-01 -7.64009102e-02 -4.89472512e-02 7.30989035e+01] [ 7.63213165e-02 9.97077147e-01 -3.49577442e-03 5.18987859e+00] [ 4.90712659e-02 -2.54364207e-04 9.98795247e-01 2.85414183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16509989299998 meters 0.012540880276917825 Centerline is valid? [True, True] Translation: X:73.16, Y:5.19, Z:2.85 [[ 9.96256960e-01 -6.98940127e-02 -5.08615484e-02 7.31592266e+01] [ 6.97996161e-02 9.97554421e-01 -3.63197807e-03 5.19490579e+00] [ 5.09910160e-02 6.82668736e-05 9.98699110e-01 2.85391979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22509989299998 meters 0.012436907225683198 Centerline is valid? [True, True] Translation: X:73.22, Y:5.19, Z:2.86 [[ 9.96009597e-01 -7.27271351e-02 -5.17266438e-02 7.32187844e+01] [ 7.26334231e-02 9.97351872e-01 -3.69167409e-03 5.19418351e+00] [ 5.18581499e-02 -8.01403748e-05 9.98654458e-01 2.85755736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28509989299998 meters 0.01263522068292377 Centerline is valid? [True, True] Translation: X:73.28, Y:5.19, Z:2.86 [[ 9.95561591e-01 -7.96689125e-02 -5.00997393e-02 7.32782977e+01] [ 7.95896949e-02 9.96821289e-01 -3.57736101e-03 5.19008692e+00] [ 5.02254912e-02 -4.25939739e-04 9.98737813e-01 2.86214690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34509989299998 meters 0.013899469606420144 Centerline is valid? [True, True] Translation: X:73.34, Y:5.19, Z:2.87 [[ 9.94880151e-01 -8.82403257e-02 -4.92659083e-02 7.33386458e+01] [ 8.81741719e-02 9.96098857e-01 -3.51874425e-03 5.18544695e+00] [ 4.93842101e-02 -8.43251859e-04 9.98779500e-01 2.86540079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40509989299998 meters 0.01621246277652509 Centerline is valid? [True, True] Translation: X:73.40, Y:5.18, Z:2.87 [[ 9.94016841e-01 -9.77641052e-02 -4.87103576e-02 7.34003508e+01] [ 9.77110229e-02 9.95208761e-01 -3.47547411e-03 5.18075939e+00] [ 4.88167513e-02 -1.30485908e-03 9.98806899e-01 2.86744351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46509989299999 meters 0.020053286247463976 Centerline is valid? [True, True] Translation: X:73.46, Y:5.17, Z:2.87 [[ 9.92321789e-01 -1.13198721e-01 -4.98348884e-02 7.34622583e+01] [ 1.13162634e-01 9.93570122e-01 -3.55413331e-03 5.17177717e+00] [ 4.99167795e-02 -2.11260332e-03 9.98751146e-01 2.86825910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52509989299998 meters 0.02258562604948202 Centerline is valid? [True, True] Translation: X:73.52, Y:5.17, Z:2.87 [[ 9.91456576e-01 -1.20389908e-01 -5.02008780e-02 7.35232370e+01] [ 1.20362521e-01 9.92723553e-01 -3.57929407e-03 5.17007435e+00] [ 5.02665048e-02 -2.49358959e-03 9.98732727e-01 2.87015228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58509989299998 meters 0.026809149333464774 Centerline is valid? [True, True] Translation: X:73.58, Y:5.17, Z:2.87 [[ 9.90977055e-01 -1.24827248e-01 -4.88122274e-02 7.35836656e+01] [ 1.24806722e-01 9.92174970e-01 -3.48015292e-03 5.16625540e+00] [ 4.88646882e-02 -2.64334238e-03 9.98801910e-01 2.87293580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64509989299998 meters 0.026017758005847255 Centerline is valid? [True, True] Translation: X:73.65, Y:5.17, Z:2.88 [[ 9.91019307e-01 -1.24760416e-01 -4.81203909e-02 7.36459039e+01] [ 1.24740408e-01 9.92183483e-01 -3.43037656e-03 5.17242371e+00] [ 4.81722323e-02 -2.60298781e-03 9.98835652e-01 2.87639914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.70509989299998 meters 0.0259002819216261 Centerline is valid? [True, True] Translation: X:73.71, Y:5.18, Z:2.88 [[ 9.91360193e-01 -1.21448788e-01 -4.95495711e-02 7.37056579e+01] [ 1.21423609e-01 9.92594505e-01 -3.52913630e-03 5.17916826e+00] [ 4.96112413e-02 -2.51784251e-03 9.98765431e-01 2.87857532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76509989299998 meters 0.02324131431385349 Centerline is valid? [True, True] Translation: X:73.77, Y:5.19, Z:2.88 [[ 9.91425181e-01 -1.19626486e-01 -5.25891093e-02 7.37670793e+01] [ 1.19595617e-01 9.92815625e-01 -3.74484261e-03 5.19044760e+00] [ 5.26592717e-02 -2.57669572e-03 9.98609214e-01 2.88033409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82509989299999 meters 0.02491957322534937 Centerline is valid? [True, True] Translation: X:73.83, Y:5.19, Z:2.88 [[ 9.91040786e-01 -1.21183791e-01 -5.61484663e-02 7.38270418e+01] [ 1.21151361e-01 9.92626011e-01 -3.99374729e-03 5.19428251e+00] [ 5.62184056e-02 -2.84449666e-03 9.98414443e-01 2.87840512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88509989299999 meters 0.02487679847966416 Centerline is valid? [True, True] Translation: X:73.89, Y:5.20, Z:2.88 [[ 9.90710804e-01 -1.22852778e-01 -5.83034961e-02 7.38877712e+01] [ 1.22820976e-01 9.92420198e-01 -4.14228149e-03 5.20180229e+00] [ 5.83704580e-02 -3.05708929e-03 9.98290310e-01 2.87925564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94509989299998 meters 0.02262950009564698 Centerline is valid? [True, True] Translation: X:73.95, Y:5.21, Z:2.88 [[ 9.91335029e-01 -1.18621422e-01 -5.64253356e-02 7.39482873e+01] [ 1.18584927e-01 9.92935830e-01 -4.00650880e-03 5.21467701e+00] [ 5.65019953e-02 -2.71940177e-03 9.98398783e-01 2.88228004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.00509989299998 meters 0.018682262552473357 Centerline is valid? [True, True] Translation: X:74.01, Y:5.23, Z:2.89 [[ 9.92507656e-01 -1.09967781e-01 -5.32507230e-02 7.40081078e+01] [ 1.09922878e-01 9.93932931e-01 -3.78024423e-03 5.23099175e+00] [ 5.33433522e-02 -2.10155140e-03 9.98574018e-01 2.88722761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06509989299998 meters 0.01847251874460757 Centerline is valid? [True, True] Translation: X:74.07, Y:5.24, Z:2.89 [[ 9.92675714e-01 -1.06941417e-01 -5.62001723e-02 7.40688348e+01] [ 1.06886643e-01 9.94263214e-01 -3.98829231e-03 5.24066781e+00] [ 5.63042776e-02 -2.04796683e-03 9.98411556e-01 2.88737943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12509989299998 meters 0.020169177392787313 Centerline is valid? [True, True] Translation: X:74.13, Y:5.24, Z:2.89 [[ 9.92210419e-01 -1.08887477e-01 -6.05144740e-02 7.41291367e+01] [ 1.08827761e-01 9.94051357e-01 -4.29163027e-03 5.24282239e+00] [ 6.06217998e-02 -2.32745446e-03 9.98158094e-01 2.88605285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18509989299999 meters 0.019844076104140285 Centerline is valid? [True, True] Translation: X:74.19, Y:5.24, Z:2.89 [[ 9.92355238e-01 -1.09103603e-01 -5.76843603e-02 7.41907135e+01] [ 1.09049775e-01 9.94027878e-01 -4.08963066e-03 5.24417553e+00] [ 5.77860557e-02 -2.23210011e-03 9.98326494e-01 2.89139614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24509989299999 meters 0.01950858369204256 Centerline is valid? [True, True] Translation: X:74.25, Y:5.25, Z:2.89 [[ 9.92411483e-01 -1.09278709e-01 -5.63703138e-02 7.42522292e+01] [ 1.09227728e-01 9.94008728e-01 -3.99392949e-03 5.24830228e+00] [ 5.64690354e-02 -2.19357982e-03 9.98401941e-01 2.89496796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30509989299998 meters 0.019112711418072505 Centerline is valid? [True, True] Translation: X:74.31, Y:5.25, Z:2.90 [[ 9.92412308e-01 -1.10218171e-01 -5.44955615e-02 7.43144432e+01] [ 1.10172147e-01 9.93905036e-01 -3.85720229e-03 5.25234552e+00] [ 5.45885467e-02 -2.17595800e-03 9.98506563e-01 2.89982113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36509989299998 meters 0.021937652559401777 Centerline is valid? [True, True] Translation: X:74.38, Y:5.25, Z:2.90 [[ 9.92573484e-01 -1.09310545e-01 -5.33768110e-02 7.43761349e+01] [ 1.09265326e-01 9.94005458e-01 -3.77342140e-03 5.25200188e+00] [ 5.34693162e-02 -2.08683661e-03 9.98567312e-01 2.90144071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42509989299998 meters 0.021598227541490333 Centerline is valid? [True, True] Translation: X:74.44, Y:5.25, Z:2.90 [[ 9.91931932e-01 -1.14257628e-01 -5.49202818e-02 7.44367118e+01] [ 1.14217650e-01 9.93448187e-01 -3.87651785e-03 5.25221848e+00] [ 5.50033761e-02 -2.42762367e-03 9.98483217e-01 2.90459349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48509989299998 meters 0.012422066584334809 Centerline is valid? [True, True] Translation: X:74.50, Y:5.28, Z:2.91 [[ 9.96384635e-01 -6.86558375e-02 -5.00403437e-02 7.44954657e+01] [ 6.85650185e-02 9.97640400e-01 -3.53127649e-03 5.28330409e+00] [ 5.01647113e-02 8.74925395e-05 9.98740954e-01 2.91287441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54509989299999 meters 0.012634039437697255 Centerline is valid? [True, True] Translation: X:74.55, Y:5.29, Z:2.92 [[ 9.96719912e-01 -6.34582337e-02 -5.02242032e-02 7.45548871e+01] [ 6.33601642e-02 9.97984434e-01 -3.54395135e-03 5.28822544e+00] [ 5.03478659e-02 3.50113110e-04 9.98731681e-01 2.91548526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60509989299999 meters 0.013452871642409481 Centerline is valid? [True, True] Translation: X:74.61, Y:5.29, Z:2.92 [[ 9.97093307e-01 -5.72673971e-02 -5.02531776e-02 7.46136341e+01] [ 5.71611698e-02 9.98358653e-01 -3.54965836e-03 5.29275535e+00] [ 5.03739744e-02 6.66810175e-04 9.98730203e-01 2.91695858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66509989299998 meters 0.014017627871537937 Centerline is valid? [True, True] Translation: X:74.67, Y:5.30, Z:2.92 [[ 9.97291784e-01 -5.35968993e-02 -5.03633751e-02 7.46717023e+01] [ 5.34849504e-02 9.98562278e-01 -3.56886747e-03 5.29612878e+00] [ 5.04822468e-02 8.65519586e-04 9.98724583e-01 2.91930030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72509989299998 meters 0.014490450308821129 Centerline is valid? [True, True] Translation: X:74.73, Y:5.30, Z:2.92 [[ 9.97305980e-01 -5.31185788e-02 -5.05885270e-02 7.47288607e+01] [ 5.30047787e-02 9.98587808e-01 -3.58939812e-03 5.30033445e+00] [ 5.07077500e-02 8.98294532e-04 9.98713131e-01 2.92126512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78509989299998 meters 0.014832656926900976 Centerline is valid? [True, True] Translation: X:74.79, Y:5.30, Z:2.92 [[ 9.97260658e-01 -5.32786989e-02 -5.13084738e-02 7.47861172e+01] [ 5.31616087e-02 9.98579269e-01 -3.64507632e-03 5.30292178e+00] [ 5.14297832e-02 9.07450209e-04 9.98676201e-01 2.92348325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84509989299998 meters 0.014721690636519626 Centerline is valid? [True, True] Translation: X:74.84, Y:5.31, Z:2.93 [[ 9.97228544e-01 -5.41322936e-02 -5.10384771e-02 7.48448472e+01] [ 5.40172501e-02 9.98533398e-01 -3.63175754e-03 5.30516914e+00] [ 5.11602193e-02 8.64734100e-04 9.98690084e-01 2.92613606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90509989299998 meters 0.013893473499219038 Centerline is valid? [True, True] Translation: X:74.90, Y:5.31, Z:2.93 [[ 9.97171137e-01 -5.55891176e-02 -5.05922378e-02 7.49041205e+01] [ 5.54773340e-02 9.98453413e-01 -3.61217450e-03 5.30550708e+00] [ 5.07147901e-02 7.95233678e-04 9.98712860e-01 2.92995385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96509989299999 meters 0.013114727206200289 Centerline is valid? [True, True] Translation: X:74.96, Y:5.30, Z:2.93 [[ 9.96999303e-01 -6.09013513e-02 -4.77850884e-02 7.49630465e+01] [ 6.08072652e-02 9.98143662e-01 -3.42150361e-03 5.29883041e+00] [ 4.79047573e-02 5.05556174e-04 9.98851780e-01 2.93466499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02509989299998 meters 0.01320683933465573 Centerline is valid? [True, True] Translation: X:75.02, Y:5.26, Z:2.94 [[ 9.95819378e-01 -7.72779507e-02 -4.87020020e-02 7.50240488e+01] [ 7.71995289e-02 9.97009548e-01 -3.49200840e-03 5.26089111e+00] [ 4.88262162e-02 -2.82361974e-04 9.98807249e-01 2.93919120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08509989299998 meters 0.013498057971957814 Centerline is valid? [True, True] Translation: X:75.08, Y:5.25, Z:2.94 [[ 9.95580513e-01 -7.90466675e-02 -5.07056937e-02 7.50831658e+01] [ 7.89632746e-02 9.96870848e-01 -3.64891990e-03 5.25266224e+00] [ 5.08354628e-02 -3.71094068e-04 9.98706973e-01 2.93973858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14509989299998 meters 0.013595219680818957 Centerline is valid? [True, True] Translation: X:75.14, Y:5.25, Z:2.94 [[ 9.95565409e-01 -7.90076462e-02 -5.10618137e-02 7.51412439e+01] [ 7.89223489e-02 9.96873946e-01 -3.68775466e-03 5.25369163e+00] [ 5.11935525e-02 -3.58517301e-04 9.98688686e-01 2.94167156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20509989299998 meters 0.013506206789678527 Centerline is valid? [True, True] Translation: X:75.20, Y:5.26, Z:2.94 [[ 9.95610722e-01 -7.85264310e-02 -5.09204173e-02 7.51996038e+01] [ 7.84402429e-02 9.96911981e-01 -3.69189941e-03 5.25552511e+00] [ 5.10530857e-02 -3.18515258e-04 9.98695890e-01 2.94447941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26509989299998 meters 0.01349523581423814 Centerline is valid? [True, True] Translation: X:75.26, Y:5.25, Z:2.95 [[ 9.95791838e-01 -7.65219322e-02 -5.04282658e-02 7.52579892e+01] [ 7.64342208e-02 9.97067878e-01 -3.66832603e-03 5.25475936e+00] [ 5.05611114e-02 -2.01556088e-04 9.98720949e-01 2.94696071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32509989299999 meters 0.013420585468815697 Centerline is valid? [True, True] Translation: X:75.32, Y:5.24, Z:2.95 [[ 9.96169882e-01 -7.25555240e-02 -4.87981792e-02 7.53186474e+01] [ 7.24683750e-02 9.97364375e-01 -3.55509586e-03 5.23533781e+00] [ 4.89275074e-02 5.15466960e-06 9.98802332e-01 2.95099805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38509989299997 meters 0.013319915905597588 Centerline is valid? [True, True] Translation: X:75.38, Y:5.23, Z:2.95 [[ 9.95910240e-01 -7.63543526e-02 -4.82991280e-02 7.53769682e+01] [ 7.62728502e-02 9.97080731e-01 -3.53093585e-03 5.23111453e+00] [ 4.84277322e-02 -1.67416986e-04 9.98826675e-01 2.95392586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44509989299998 meters 0.013442511030622686 Centerline is valid? [True, True] Translation: X:75.44, Y:5.23, Z:2.96 [[ 9.95754199e-01 -7.87130576e-02 -4.77266063e-02 7.54350422e+01] [ 7.86355815e-02 9.96897278e-01 -3.50166003e-03 5.23061523e+00] [ 4.78541503e-02 -2.66216758e-04 9.98854298e-01 2.95613170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.50509989299998 meters 0.013732348801695993 Centerline is valid? [True, True] Translation: X:75.49, Y:5.23, Z:2.96 [[ 9.95379016e-01 -8.40317884e-02 -4.64679779e-02 7.54937998e+01] [ 8.39639110e-02 9.96462947e-01 -3.41414308e-03 5.22671707e+00] [ 4.65905148e-02 -5.03266782e-04 9.98913946e-01 2.96040985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56509989299998 meters 0.01939330231303196 Centerline is valid? [True, True] Translation: X:75.56, Y:5.20, Z:2.96 [[ 9.93072436e-01 -1.05734607e-01 -5.12574812e-02 7.55551401e+01] [ 1.05680195e-01 9.94392991e-01 -3.77825747e-03 5.19692814e+00] [ 5.13695726e-02 -1.66481725e-03 9.98678324e-01 2.95784386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62509989299998 meters 0.018819270261608633 Centerline is valid? [True, True] Translation: X:75.61, Y:5.20, Z:2.96 [[ 9.92643877e-01 -1.09121942e-01 -5.24455370e-02 7.56149470e+01] [ 1.09069601e-01 9.94026591e-01 -3.86762492e-03 5.19961968e+00] [ 5.25543011e-02 -1.88103962e-03 9.98616296e-01 2.95961594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68509989299999 meters 0.020824343996751305 Centerline is valid? [True, True] Translation: X:75.67, Y:5.20, Z:2.96 [[ 9.92427558e-01 -1.10824636e-01 -5.29664313e-02 7.56728471e+01] [ 1.10773534e-01 9.93837988e-01 -3.90860039e-03 5.19942276e+00] [ 5.30732207e-02 -1.98827606e-03 9.98588644e-01 2.96113053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74509989299999 meters 0.02110257147559606 Centerline is valid? [True, True] Translation: X:75.73, Y:5.20, Z:2.96 [[ 9.92167101e-01 -1.13474330e-01 -5.22304437e-02 7.57313513e+01] [ 1.13427968e-01 9.93538722e-01 -3.86063931e-03 5.20149260e+00] [ 5.23310517e-02 -2.09399378e-03 9.98627596e-01 2.96404983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80509989299998 meters 0.024191974208509597 Centerline is valid? [True, True] Translation: X:75.79, Y:5.20, Z:2.97 [[ 9.92101664e-01 -1.14489675e-01 -5.12484441e-02 7.57896201e+01] [ 1.14445814e-01 9.93422227e-01 -3.79923978e-03 5.20086528e+00] [ 5.13463172e-02 -2.09593782e-03 9.98678708e-01 2.96660303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86509989299998 meters 0.022922570083215812 Centerline is valid? [True, True] Translation: X:75.85, Y:5.21, Z:2.97 [[ 9.91482444e-01 -1.20140533e-01 -5.02873295e-02 7.58496231e+01] [ 1.20105362e-01 9.92754137e-01 -3.73162265e-03 5.20892465e+00] [ 5.03712735e-02 -2.33993959e-03 9.98727821e-01 2.97183289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92509989299998 meters 0.025932447050075223 Centerline is valid? [True, True] Translation: X:75.91, Y:5.21, Z:2.98 [[ 9.91147583e-01 -1.23786732e-01 -4.79928472e-02 7.59077556e+01] [ 1.23758933e-01 9.92305921e-01 -3.56178323e-03 5.21169222e+00] [ 4.80644880e-02 -2.40929072e-03 9.98841329e-01 2.97641750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98509989299998 meters 0.025838686591849062 Centerline is valid? [True, True] Translation: X:75.97, Y:5.22, Z:2.98 [[ 9.90959130e-01 -1.25420559e-01 -4.76412320e-02 7.59662786e+01] [ 1.25394835e-01 9.92100601e-01 -3.54011150e-03 5.21774190e+00] [ 4.77088977e-02 -2.46585863e-03 9.98858239e-01 2.97960482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04509989299999 meters 0.02420020250760659 Centerline is valid? [True, True] Translation: X:76.02, Y:5.23, Z:2.98 [[ 9.90765550e-01 -1.26931269e-01 -4.76663106e-02 7.60242014e+01] [ 1.26906685e-01 9.91908293e-01 -3.55399824e-03 5.22598232e+00] [ 4.77317223e-02 -2.52799446e-03 9.98856993e-01 2.98272942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10509989299999 meters 0.024723836970588102 Centerline is valid? [True, True] Translation: X:76.08, Y:5.23, Z:2.98 [[ 9.90367865e-01 -1.29788638e-01 -4.82327878e-02 7.60833234e+01] [ 1.29766301e-01 9.91538044e-01 -3.60745916e-03 5.23266824e+00] [ 4.82928513e-02 -2.68627883e-03 9.98829607e-01 2.98487506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16509989299998 meters 0.028165413871957028 Centerline is valid? [True, True] Translation: X:76.14, Y:5.23, Z:2.99 [[ 9.90204577e-01 -1.30869521e-01 -4.86627628e-02 7.61411437e+01] [ 1.30847979e-01 9.91395755e-01 -3.64181098e-03 5.23395540e+00] [ 4.87206585e-02 -2.76128625e-03 9.98808627e-01 2.98644794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22509989299998 meters 0.023538966834704887 Centerline is valid? [True, True] Translation: X:76.20, Y:5.27, Z:2.99 [[ 9.90560110e-01 -1.27800223e-01 -4.95759183e-02 7.61986335e+01] [ 1.27773827e-01 9.91796377e-01 -3.71434343e-03 5.26681788e+00] [ 4.96439101e-02 -2.65522436e-03 9.98763451e-01 2.98770841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.28509989299998 meters 0.02349307599283274 Centerline is valid? [True, True] Translation: X:76.26, Y:5.28, Z:2.99 [[ 9.90995429e-01 -1.24310770e-01 -4.97482815e-02 7.62566574e+01] [ 1.24279706e-01 9.92240216e-01 -3.72926839e-03 5.27705873e+00] [ 4.98258339e-02 -2.48701389e-03 9.98754825e-01 2.98983945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34509989299998 meters 0.024505722732351815 Centerline is valid? [True, True] Translation: X:76.32, Y:5.28, Z:2.99 [[ 9.91302573e-01 -1.22013328e-01 -4.93148623e-02 7.63151313e+01] [ 1.21979833e-01 9.92525684e-01 -3.69947354e-03 5.28281464e+00] [ 4.93976525e-02 -2.34812105e-03 9.98776431e-01 2.99217396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40509989299998 meters 0.021092479263343403 Centerline is valid? [True, True] Translation: X:76.37, Y:5.30, Z:3.00 [[ 9.91965445e-01 -1.17060044e-01 -4.79739815e-02 7.63745964e+01] [ 1.17022452e-01 9.93122740e-01 -3.60117214e-03 5.29824039e+00] [ 4.80656054e-02 -2.04179464e-03 9.98842094e-01 2.99562191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46509989299999 meters 0.021108326139621218 Centerline is valid? [True, True] Translation: X:76.43, Y:5.30, Z:3.00 [[ 9.92262635e-01 -1.14500777e-01 -4.80045273e-02 7.64333855e+01] [ 1.14460109e-01 9.93421307e-01 -3.60427197e-03 5.30499371e+00] [ 4.81014122e-02 -1.91821905e-03 9.98840615e-01 2.99773942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52509989299998 meters 0.014573794388964938 Centerline is valid? [True, True] Translation: X:76.49, Y:5.34, Z:3.00 [[ 9.94320106e-01 -9.49627166e-02 -4.80583858e-02 7.64914119e+01] [ 9.48990536e-02 9.95480356e-01 -3.60981373e-03 5.33986469e+00] [ 4.81839768e-02 -9.71384965e-04 9.98838005e-01 2.99996985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58509989299998 meters 0.013742903559322466 Centerline is valid? [True, True] Translation: X:76.55, Y:5.35, Z:3.00 [[ 9.94706249e-01 -9.08544602e-02 -4.80098544e-02 7.65513932e+01] [ 9.07861447e-02 9.95863882e-01 -3.60613539e-03 5.34863294e+00] [ 4.81389135e-02 -7.71584186e-04 9.98840352e-01 3.00235027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64509989299998 meters 0.013531856216905686 Centerline is valid? [True, True] Translation: X:76.61, Y:5.35, Z:3.01 [[ 9.94880689e-01 -8.90941790e-02 -4.76932135e-02 7.66106050e+01] [ 8.90247305e-02 9.96022973e-01 -3.58256168e-03 5.35490382e+00] [ 4.78227217e-02 -6.81654044e-04 9.98855607e-01 3.00523874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70509989299998 meters 0.013024004364442112 Centerline is valid? [True, True] Translation: X:76.67, Y:5.36, Z:3.01 [[ 9.95248028e-01 -8.54288347e-02 -4.67255414e-02 7.66699571e+01] [ 8.53580609e-02 9.96344153e-01 -3.51152889e-03 5.36448065e+00] [ 4.68547057e-02 -4.93559406e-04 9.98901593e-01 3.00933547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76509989299998 meters 0.012654545569361715 Centerline is valid? [True, True] Translation: X:76.73, Y:5.37, Z:3.01 [[ 9.95411543e-01 -8.38499626e-02 -4.60982064e-02 7.67287028e+01] [ 8.37793095e-02 9.96478306e-01 -3.46601437e-03 5.37221643e+00] [ 4.62264878e-02 -4.11965196e-04 9.98930900e-01 3.01307249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82509989299999 meters 0.012630478769530573 Centerline is valid? [True, True] Translation: X:76.79, Y:5.38, Z:3.02 [[ 9.95544467e-01 -8.23229306e-02 -4.59798778e-02 7.67881749e+01] [ 8.22509370e-02 9.96605649e-01 -3.45873949e-03 5.37859721e+00] [ 4.61085395e-02 -3.38559067e-04 9.98936378e-01 3.01608285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88509989299997 meters 0.015012670792554944 Centerline is valid? [True, True] Translation: X:76.85, Y:5.37, Z:3.02 [[ 9.94213100e-01 -9.69831231e-02 -4.62015804e-02 7.68486114e+01] [ 9.69261898e-02 9.95285501e-01 -3.47626080e-03 5.37394618e+00] [ 4.63209017e-02 -1.02199912e-03 9.98926088e-01 3.01587251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94509989299998 meters 0.017136154498749424 Centerline is valid? [True, True] Translation: X:76.91, Y:5.37, Z:3.02 [[ 9.93275587e-01 -1.05342215e-01 -4.80273488e-02 7.69093641e+01] [ 1.05290406e-01 9.94434948e-01 -3.61440942e-03 5.37165918e+00] [ 4.81408240e-02 -1.46671442e-03 9.98839482e-01 3.01639669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.00509989299998 meters 0.018146001189114722 Centerline is valid? [True, True] Translation: X:76.97, Y:5.37, Z:3.02 [[ 9.92749257e-01 -1.09617194e-01 -4.93252926e-02 7.69701569e+01] [ 1.09567827e-01 9.93972391e-01 -3.71178998e-03 5.37346665e+00] [ 4.94348550e-02 -1.71958839e-03 9.98775870e-01 3.01761412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06509989299998 meters 0.02125208429061553 Centerline is valid? [True, True] Translation: X:77.03, Y:5.37, Z:3.02 [[ 9.91782347e-01 -1.17091211e-01 -5.15502106e-02 7.70304404e+01] [ 1.17047430e-01 9.93118755e-01 -3.87782038e-03 5.37249265e+00] [ 5.16495396e-02 -2.18786589e-03 9.98662875e-01 3.01817649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12509989299998 meters 0.02216433743321496 Centerline is valid? [True, True] Translation: X:77.09, Y:5.38, Z:3.02 [[ 9.91379884e-01 -1.20274217e-01 -5.19618853e-02 7.70905685e+01] [ 1.20234046e-01 9.92737875e-01 -3.90970395e-03 5.37619255e+00] [ 5.20547681e-02 -2.37158585e-03 9.98641415e-01 3.02097742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18509989299999 meters 0.0263617386671719 Centerline is valid? [True, True] Translation: X:77.15, Y:5.38, Z:3.03 [[ 9.90108732e-01 -1.31458618e-01 -4.90237690e-02 7.71506714e+01] [ 1.31436468e-01 9.91317731e-01 -3.68932710e-03 5.38125924e+00] [ 4.90831253e-02 -2.79067605e-03 9.98790798e-01 3.02866008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24509989299999 meters 0.025393726617776512 Centerline is valid? [True, True] Translation: X:77.21, Y:5.39, Z:3.03 [[ 9.90133224e-01 -1.31156909e-01 -4.93362388e-02 7.72126201e+01] [ 1.31134137e-01 9.91357684e-01 -3.71214702e-03 5.38806652e+00] [ 4.93967332e-02 -2.79414501e-03 9.98775328e-01 3.03109667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30509989299998 meters 0.023998093961493706 Centerline is valid? [True, True] Translation: X:77.27, Y:5.40, Z:3.03 [[ 9.90193971e-01 -1.30343403e-01 -5.02642673e-02 7.72740582e+01] [ 1.30318916e-01 9.91464929e-01 -3.77818944e-03 5.39538112e+00] [ 5.03277203e-02 -2.80924442e-03 9.98728806e-01 3.03204901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36509989299998 meters 0.02798681972068232 Centerline is valid? [True, True] Translation: X:77.34, Y:5.39, Z:3.03 [[ 9.90229365e-01 -1.29915156e-01 -5.06740183e-02 7.73351963e+01] [ 1.29889897e-01 9.91521121e-01 -3.80532609e-03 5.39462535e+00] [ 5.07387290e-02 -2.81389737e-03 9.98707997e-01 3.03302214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42509989299998 meters 0.01210449014973115 Centerline is valid? [True, True] Translation: X:77.39, Y:5.47, Z:3.04 [[ 9.96440727e-01 -6.90373322e-02 -4.83707023e-02 7.73897403e+01] [ 6.89424064e-02 9.97614037e-01 -3.63009363e-03 5.47039657e+00] [ 4.85059036e-02 2.82380518e-04 9.98822856e-01 3.03976523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48509989299998 meters 0.01187475535940878 Centerline is valid? [True, True] Translation: X:77.45, Y:5.47, Z:3.04 [[ 9.96140429e-01 -7.36978682e-02 -4.76746182e-02 7.74482114e+01] [ 7.36109312e-02 9.97280613e-01 -3.57906546e-03 5.46951112e+00] [ 4.78087420e-02 5.58787588e-05 9.98856507e-01 3.04219289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54509989299999 meters 0.011835434891515464 Centerline is valid? [True, True] Translation: X:77.51, Y:5.47, Z:3.05 [[ 9.96108202e-01 -7.42652047e-02 -4.74671366e-02 7.75080458e+01] [ 7.41791430e-02 9.97238526e-01 -3.57448196e-03 5.47287524e+00] [ 4.76015169e-02 3.94992844e-05 9.98866404e-01 3.04531766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60509989299999 meters 0.011885604851780505 Centerline is valid? [True, True] Translation: X:77.57, Y:5.48, Z:3.05 [[ 9.96066191e-01 -7.44061132e-02 -4.81235168e-02 7.75674574e+01] [ 7.43177369e-02 9.97228023e-01 -3.62558701e-03 5.47665828e+00] [ 4.82598853e-02 3.48937837e-05 9.98834812e-01 3.04688067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66509989299998 meters 0.011878541370113469 Centerline is valid? [True, True] Translation: X:77.63, Y:5.48, Z:3.05 [[ 9.96068620e-01 -7.42812150e-02 -4.82659872e-02 7.76272791e+01] [ 7.41921199e-02 9.97237334e-01 -3.63730840e-03 5.47991204e+00] [ 4.84028281e-02 4.20528431e-05 9.98827895e-01 3.04907132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72509989299998 meters 0.011825580767544475 Centerline is valid? [True, True] Translation: X:77.69, Y:5.48, Z:3.05 [[ 9.96055348e-01 -7.42696042e-02 -4.85568601e-02 7.76864716e+01] [ 7.41793322e-02 9.97238198e-01 -3.66097964e-03 5.48314900e+00] [ 4.86946552e-02 4.46228882e-05 9.98813711e-01 3.05144918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.78509989299998 meters 0.011894524975489975 Centerline is valid? [True, True] Translation: X:77.75, Y:5.49, Z:3.05 [[ 9.96021382e-01 -7.43324421e-02 -4.91537947e-02 7.77452231e+01] [ 7.42399142e-02 9.97233516e-01 -3.70796756e-03 5.48608041e+00] [ 4.92934338e-02 4.40414683e-05 9.98784339e-01 3.05277416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84509989299998 meters 0.011885412302441728 Centerline is valid? [True, True] Translation: X:77.80, Y:5.49, Z:3.05 [[ 9.95967480e-01 -7.45841050e-02 -4.98596960e-02 7.78036260e+01] [ 7.44890753e-02 9.97214726e-01 -3.76398649e-03 5.48806284e+00] [ 5.00015567e-02 3.48054866e-05 9.98749139e-01 3.05376647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90509989299998 meters 0.012013172755984168 Centerline is valid? [True, True] Translation: X:77.86, Y:5.49, Z:3.06 [[ 9.96320283e-01 -7.18816715e-02 -4.66788843e-02 7.78623064e+01] [ 7.17952649e-02 9.97413153e-01 -3.52720548e-03 5.48532554e+00] [ 4.68116746e-02 1.62903497e-04 9.98903719e-01 3.05804946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96509989299999 meters 0.012069663396615048 Centerline is valid? [True, True] Translation: X:77.92, Y:5.49, Z:3.06 [[ 9.96433183e-01 -7.04610060e-02 -4.64344530e-02 7.79217507e+01] [ 7.03734551e-02 9.97514506e-01 -3.51957939e-03 5.48696048e+00] [ 4.65670335e-02 2.39272800e-04 9.98915139e-01 3.06025329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02509989299998 meters 0.012136336484405874 Centerline is valid? [True, True] Translation: X:77.98, Y:5.49, Z:3.06 [[ 9.96418420e-01 -7.04819496e-02 -4.67185985e-02 7.79796339e+01] [ 7.03932445e-02 9.97513026e-01 -3.54328531e-03 5.48963134e+00] [ 4.68521482e-02 2.41921025e-04 9.98901806e-01 3.06214150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08509989299998 meters 0.012136336484405874 Centerline is valid? [True, True] Translation: X:78.04, Y:5.49, Z:3.06 [[ 9.96400869e-01 -7.07299659e-02 -4.67180926e-02 7.80376541e+01] [ 7.06412211e-02 9.97495472e-01 -3.54994345e-03 5.49407991e+00] [ 4.68521732e-02 2.36943631e-04 9.98901806e-01 3.06458948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14509989299998 meters 0.012035786643872485 Centerline is valid? [True, True] Translation: X:78.10, Y:5.49, Z:3.07 [[ 9.96288320e-01 -7.24709785e-02 -4.64493357e-02 7.80967506e+01] [ 7.23846037e-02 9.97370508e-01 -3.54109285e-03 5.49425651e+00] [ 4.65838240e-02 1.65732684e-04 9.98914371e-01 3.06737224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20509989299998 meters 0.013048596351718575 Centerline is valid? [True, True] Translation: X:78.16, Y:5.47, Z:3.07 [[ 9.94765678e-01 -8.98663754e-02 -4.86341440e-02 7.81579669e+01] [ 8.97918736e-02 9.95953608e-01 -3.71892403e-03 5.47327403e+00] [ 4.87715574e-02 -6.67492919e-04 9.98809736e-01 3.06979735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26509989299998 meters 0.013612598809291157 Centerline is valid? [True, True] Translation: X:78.22, Y:5.47, Z:3.07 [[ 9.94329677e-01 -9.40120881e-02 -4.97013222e-02 7.82173039e+01] [ 9.39393547e-02 9.95570660e-01 -3.80248213e-03 5.47216835e+00] [ 4.98386574e-02 -8.87989308e-04 9.98756887e-01 3.07222505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32509989299999 meters 0.014008063343952316 Centerline is valid? [True, True] Translation: X:78.28, Y:5.47, Z:3.07 [[ 9.94140170e-01 -9.57885675e-02 -5.00986215e-02 7.82765709e+01] [ 9.57166975e-02 9.95401220e-01 -3.83729086e-03 5.47178187e+00] [ 5.02357975e-02 -9.80469609e-04 9.98736904e-01 3.07478508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38509989299997 meters 0.012539636824993563 Centerline is valid? [True, True] Translation: X:78.34, Y:5.47, Z:3.08 [[ 9.95117819e-01 -8.57394732e-02 -4.88801463e-02 7.83351738e+01] [ 8.56584024e-02 9.96317489e-01 -3.75477815e-03 5.47130254e+00] [ 4.90220774e-02 -4.50548597e-04 9.98797594e-01 3.07755701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44509989299998 meters 0.012340451750805604 Centerline is valid? [True, True] Translation: X:78.39, Y:5.48, Z:3.08 [[ 9.95253992e-01 -8.46854258e-02 -4.79361068e-02 7.83932827e+01] [ 8.46060569e-02 9.96407662e-01 -3.68597408e-03 5.47525424e+00] [ 4.80760524e-02 -3.87204565e-04 9.98843603e-01 3.08043685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.50509989299998 meters 0.012171284163346471 Centerline is valid? [True, True] Translation: X:78.45, Y:5.48, Z:3.08 [[ 9.95385845e-01 -8.35732965e-02 -4.71436439e-02 7.84513841e+01] [ 8.34947367e-02 9.96501583e-01 -3.63661349e-03 5.47952861e+00] [ 4.72826395e-02 -3.16412538e-04 9.98881500e-01 3.08382791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56509989299998 meters 0.012072054090557642 Centerline is valid? [True, True] Translation: X:78.51, Y:5.48, Z:3.09 [[ 9.95617896e-01 -8.12403234e-02 -4.63142992e-02 7.85102398e+01] [ 8.11614474e-02 9.96694524e-01 -3.58411827e-03 5.48347900e+00] [ 4.64523833e-02 -1.90523265e-04 9.98920487e-01 3.08771245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62509989299998 meters 0.012077815588885505 Centerline is valid? [True, True] Translation: X:78.57, Y:5.48, Z:3.09 [[ 9.95807659e-01 -7.74138420e-02 -4.87258061e-02 7.85682129e+01] [ 7.73213867e-02 9.96999046e-01 -3.78233936e-03 5.47997865e+00] [ 4.88723876e-02 -1.06439238e-06 9.98805031e-01 3.08779679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68509989299999 meters 0.01205102777540548 Centerline is valid? [True, True] Translation: X:78.63, Y:5.48, Z:3.09 [[ 9.95717216e-01 -7.82497192e-02 -4.92362387e-02 7.86258042e+01] [ 7.81560475e-02 9.96933789e-01 -3.82781112e-03 5.48176094e+00] [ 4.93847952e-02 -3.66923822e-05 9.98779826e-01 3.09041440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74509989299999 meters 0.012105719031853106 Centerline is valid? [True, True] Translation: X:78.68, Y:5.48, Z:3.09 [[ 9.95579452e-01 -8.00732781e-02 -4.90899747e-02 7.86840909e+01] [ 7.99816728e-02 9.96788973e-01 -3.83073588e-03 5.48289903e+00] [ 4.92390851e-02 -1.12496371e-04 9.98787014e-01 3.09336895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80509989299998 meters 0.012225907759808419 Centerline is valid? [True, True] Translation: X:78.74, Y:5.48, Z:3.09 [[ 9.95340052e-01 -8.26180773e-02 -4.97235701e-02 7.87417588e+01] [ 8.25265779e-02 9.96581257e-01 -3.89390630e-03 5.48266176e+00] [ 4.98752850e-02 -2.27755172e-04 9.98755428e-01 3.09468735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86509989299998 meters 0.014365951248412456 Centerline is valid? [True, True] Translation: X:78.80, Y:5.47, Z:3.10 [[ 9.93924725e-01 -9.84462969e-02 -4.92134949e-02 7.88027115e+01] [ 9.83757351e-02 9.95141857e-01 -3.85982337e-03 5.46938501e+00] [ 4.93543941e-02 -1.00503985e-03 9.98780824e-01 3.09666588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92509989299998 meters 0.017029043024147268 Centerline is valid? [True, True] Translation: X:78.86, Y:5.46, Z:3.10 [[ 9.93237369e-01 -1.06151302e-01 -4.70258413e-02 7.88628232e+01] [ 1.06095455e-01 9.94349106e-01 -3.68907126e-03 5.46494561e+00] [ 4.71517030e-02 -1.32510462e-03 9.98886861e-01 3.10101210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98509989299998 meters 0.01826955213770593 Centerline is valid? [True, True] Translation: X:78.92, Y:5.46, Z:3.10 [[ 9.92456755e-01 -1.13021946e-01 -4.74934707e-02 7.89231717e+01] [ 1.12972790e-01 9.93591093e-01 -3.72662339e-03 5.46416548e+00] [ 4.76102797e-02 -1.66695735e-03 9.98864597e-01 3.10342362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04509989299999 meters 0.028294012369451307 Centerline is valid? [True, True] Translation: X:78.98, Y:5.45, Z:3.11 [[ 9.89029739e-01 -1.40022635e-01 -4.70514324e-02 7.89847288e+01] [ 1.40004704e-01 9.90143952e-01 -3.69275540e-03 5.44518076e+00] [ 4.71047605e-02 -2.93517697e-03 9.98885642e-01 3.10842815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10509989299999 meters 0.03183027010408149 Centerline is valid? [True, True] Translation: X:79.04, Y:5.44, Z:3.11 [[ 9.88687751e-01 -1.42244090e-01 -4.75725794e-02 7.90432109e+01] [ 1.42228279e-01 9.89826838e-01 -3.73453198e-03 5.44395955e+00] [ 4.76198310e-02 -3.07388005e-03 9.98860803e-01 3.11006575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16509989299998 meters 0.03148007663191287 Centerline is valid? [True, True] Translation: X:79.10, Y:5.45, Z:3.11 [[ 9.88305240e-01 -1.44862664e-01 -4.76189150e-02 7.91029411e+01] [ 1.44849695e-01 9.89446597e-01 -3.74132119e-03 5.44924837e+00] [ 4.76583511e-02 -3.20001795e-03 9.98858569e-01 3.11295231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22509989299998 meters 0.026652488014089672 Centerline is valid? [True, True] Translation: X:79.16, Y:5.46, Z:3.12 [[ 9.89486719e-01 -1.37438194e-01 -4.50197316e-02 7.91628405e+01] [ 1.37418901e-01 9.90506703e-01 -3.53789998e-03 5.46312069e+00] [ 4.50785885e-02 -2.68585698e-03 9.98979833e-01 3.11799530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28509989299998 meters 0.027470605501325362 Centerline is valid? [True, True] Translation: X:79.22, Y:5.47, Z:3.12 [[ 9.90063920e-01 -1.33677176e-01 -4.36330939e-02 7.92218508e+01] [ 1.33655402e-01 9.91021935e-01 -3.42910631e-03 5.46911563e+00] [ 4.36997464e-02 -2.43676426e-03 9.99041738e-01 3.12183628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34509989299998 meters 0.02417970360034996 Centerline is valid? [True, True] Translation: X:79.28, Y:5.48, Z:3.13 [[ 9.90950284e-01 -1.27280594e-01 -4.26284467e-02 7.92817392e+01] [ 1.27253841e-01 9.91864520e-01 -3.35162426e-03 5.48324022e+00] [ 4.27082405e-02 -2.10334058e-03 9.99085373e-01 3.12523228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40509989299998 meters 0.021857532017164494 Centerline is valid? [True, True] Translation: X:79.34, Y:5.49, Z:3.13 [[ 9.91481253e-01 -1.23151847e-01 -4.24092834e-02 7.93408404e+01] [ 1.23121626e-01 9.92385989e-01 -3.33379081e-03 5.49457035e+00] [ 4.24969411e-02 -1.91610883e-03 9.99094760e-01 3.12705698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46509989299999 meters 0.02112369998906764 Centerline is valid? [True, True] Translation: X:79.40, Y:5.51, Z:3.13 [[ 9.91858530e-01 -1.20028597e-01 -4.25416619e-02 7.94004553e+01] [ 1.19995237e-01 9.92768828e-01 -3.34614700e-03 5.50637261e+00] [ 4.26356692e-02 -1.78589235e-03 9.99089090e-01 3.12963798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52509989299998 meters 0.01960010035005066 Centerline is valid? [True, True] Translation: X:79.46, Y:5.52, Z:3.13 [[ 9.92065583e-01 -1.17774703e-01 -4.39886285e-02 7.94607751e+01] [ 1.17736828e-01 9.93038805e-01 -3.45988015e-03 5.52105313e+00] [ 4.40899014e-02 -1.74665356e-03 9.99026041e-01 3.13132454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58509989299998 meters 0.02033383600346178 Centerline is valid? [True, True] Translation: X:79.52, Y:5.53, Z:3.13 [[ 9.92219440e-01 -1.16056619e-01 -4.50715339e-02 7.95201321e+01] [ 1.16015160e-01 9.93241122e-01 -3.54345103e-03 5.53012253e+00] [ 4.51781418e-02 -1.71310023e-03 9.98977478e-01 3.13309968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64509989299998 meters 0.018621533130835914 Centerline is valid? [True, True] Translation: X:79.58, Y:5.54, Z:3.13 [[ 9.92365118e-01 -1.14360920e-01 -4.61849928e-02 7.95802178e+01] [ 1.14315555e-01 9.93437854e-01 -3.63098937e-03 5.54138726e+00] [ 4.62971634e-02 -1.67639591e-03 9.98926305e-01 3.13494597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70509989299998 meters 0.017598871031965328 Centerline is valid? [True, True] Translation: X:79.64, Y:5.55, Z:3.14 [[ 9.92697660e-01 -1.11161998e-01 -4.68440699e-02 7.96401069e+01] [ 1.11111774e-01 9.93801092e-01 -3.68280494e-03 5.55137279e+00] [ 4.69630758e-02 -1.54901584e-03 9.98895425e-01 3.13635025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76509989299998 meters 0.01673893426481447 Centerline is valid? [True, True] Translation: X:79.70, Y:5.56, Z:3.14 [[ 9.93253173e-01 -1.06068139e-01 -4.68794598e-02 7.97003398e+01] [ 1.06012174e-01 9.94358002e-01 -3.68549575e-03 5.56254166e+00] [ 4.70058797e-02 -1.30916310e-03 9.98893755e-01 3.13814610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82509989299999 meters 0.01578026853149783 Centerline is valid? [True, True] Translation: X:79.76, Y:5.57, Z:3.14 [[ 9.93528841e-01 -1.02930261e-01 -4.80187816e-02 7.97604348e+01] [ 1.02867920e-01 9.94687864e-01 -3.77428148e-03 5.57365473e+00] [ 4.81521871e-02 -1.18973468e-03 9.98839302e-01 3.14028160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88509989299997 meters 0.015709192526475423 Centerline is valid? [True, True] Translation: X:79.82, Y:5.59, Z:3.14 [[ 9.93669819e-01 -1.00485766e-01 -5.02284996e-02 7.98197448e+01] [ 1.00414435e-01 9.94937865e-01 -3.94796556e-03 5.58527170e+00] [ 5.03709505e-02 -1.12069216e-03 9.98729949e-01 3.14128078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94509989299998 meters 0.015417162829170092 Centerline is valid? [True, True] Translation: X:79.88, Y:5.60, Z:3.15 [[ 9.93851344e-01 -1.00292215e-01 -4.69145747e-02 7.98790299e+01] [ 1.00229767e-01 9.94957484e-01 -3.68758251e-03 5.59602217e+00] [ 4.70478431e-02 -1.03732805e-03 9.98892098e-01 3.14777950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.00509989299998 meters 0.014381858061590327 Centerline is valid? [True, True] Translation: X:79.94, Y:5.61, Z:3.15 [[ 9.94436431e-01 -9.44499665e-02 -4.66410520e-02 7.99392756e+01] [ 9.43817894e-02 9.95529323e-01 -3.66675509e-03 5.60637429e+00] [ 4.67788598e-02 -7.55711100e-04 9.98904984e-01 3.15123573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06509989299998 meters 0.013566994291381081 Centerline is valid? [True, True] Translation: X:80.00, Y:5.61, Z:3.15 [[ 9.94891973e-01 -8.93741044e-02 -4.69279354e-02 7.99997080e+01] [ 8.92994765e-02 9.95997991e-01 -3.68854998e-03 5.61399288e+00] [ 4.70697902e-02 -5.20931289e-04 9.98891467e-01 3.15279931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12509989299998 meters 0.012985797101820962 Centerline is valid? [True, True] Translation: X:80.06, Y:5.62, Z:3.15 [[ 9.95436236e-01 -8.26943124e-02 -4.76272085e-02 8.00593506e+01] [ 8.26097978e-02 9.96574938e-01 -3.74351306e-03 5.62206334e+00] [ 4.77736496e-02 -2.08045511e-04 9.98858166e-01 3.15460844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18509989299999 meters 0.012890564788404127 Centerline is valid? [True, True] Translation: X:80.12, Y:5.63, Z:3.16 [[ 9.95575363e-01 -8.06533405e-02 -4.82155181e-02 8.01174745e+01] [ 8.05642526e-02 9.96742207e-01 -3.79138553e-03 5.62812513e+00] [ 4.83642298e-02 -1.09837146e-04 9.98829760e-01 3.15660987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24509989299997 meters 0.012858302950697826 Centerline is valid? [True, True] Translation: X:80.18, Y:5.63, Z:3.16 [[ 9.95646720e-01 -7.94648766e-02 -4.87128576e-02 8.01764635e+01] [ 7.93719018e-02 9.96837666e-01 -3.84310151e-03 5.63263552e+00] [ 4.88642028e-02 -4.00607350e-05 9.98805431e-01 3.15823924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30509989299998 meters 0.012902072762668006 Centerline is valid? [True, True] Translation: X:80.23, Y:5.64, Z:3.16 [[ 9.95638163e-01 -7.95518780e-02 -4.87457343e-02 8.02337471e+01] [ 7.94582669e-02 9.96830727e-01 -3.85825331e-03 5.63646604e+00] [ 4.88981771e-02 -3.18273343e-05 9.98803768e-01 3.16034580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36509989299998 meters 0.012834933817747626 Centerline is valid? [True, True] Translation: X:80.29, Y:5.64, Z:3.16 [[ 9.95574552e-01 -8.06296938e-02 -4.82717805e-02 8.02917614e+01] [ 8.05384986e-02 9.96744123e-01 -3.83441082e-03 5.63975295e+00] [ 4.84237810e-02 -7.02948936e-05 9.98826878e-01 3.16309077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.42509989299998 meters 0.013202160404438008 Centerline is valid? [True, True] Translation: X:80.35, Y:5.64, Z:3.17 [[ 9.95112674e-01 -8.82516863e-02 -4.42990531e-02 8.03506808e+01] [ 8.81819145e-02 9.96098130e-01 -3.53052816e-03 5.63583681e+00] [ 4.44377791e-02 -3.93101992e-04 9.99012077e-01 3.16826394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48509989299998 meters 0.015676459491553663 Centerline is valid? [True, True] Translation: X:80.41, Y:5.63, Z:3.17 [[ 9.93855255e-01 -1.01588243e-01 -4.39495178e-02 8.04120026e+01] [ 1.01532116e-01 9.94826058e-01 -3.51323460e-03 5.62587233e+00] [ 4.40790289e-02 -9.70640852e-04 9.99027576e-01 3.17107613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54509989299999 meters 0.020422479174721758 Centerline is valid? [True, True] Translation: X:80.47, Y:5.61, Z:3.17 [[ 9.91497926e-01 -1.21726197e-01 -4.59847240e-02 8.04731142e+01] [ 1.21686284e-01 9.92561801e-01 -3.67677808e-03 5.61437177e+00] [ 4.60902407e-02 -1.95019231e-03 9.98935377e-01 3.17180623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60509989299999 meters 0.02576624912107842 Centerline is valid? [True, True] Translation: X:80.53, Y:5.61, Z:3.17 [[ 9.90305692e-01 -1.31243098e-01 -4.54960040e-02 8.05332775e+01] [ 1.31213997e-01 9.91347390e-01 -3.63844709e-03 5.61022238e+00] [ 4.55798659e-02 -2.36653769e-03 9.98957895e-01 3.17458073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66509989299998 meters 0.02539942219619603 Centerline is valid? [True, True] Translation: X:80.59, Y:5.62, Z:3.18 [[ 9.90125600e-01 -1.32561273e-01 -4.55939114e-02 8.05941465e+01] [ 1.32533417e-01 9.91171829e-01 -3.64677565e-03 5.61580755e+00] [ 4.56748218e-02 -2.43195095e-03 9.98953400e-01 3.17694348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72509989299998 meters 0.025202463777015537 Centerline is valid? [True, True] Translation: X:80.66, Y:5.62, Z:3.18 [[ 9.89956808e-01 -1.33555074e-01 -4.63525600e-02 8.06554273e+01] [ 1.33527450e-01 9.91038187e-01 -3.70573886e-03 5.62136534e+00] [ 4.64320772e-02 -2.52081772e-03 9.98918269e-01 3.17896071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78509989299998 meters 0.026926423837748552 Centerline is valid? [True, True] Translation: X:80.72, Y:5.63, Z:3.18 [[ 9.89915957e-01 -1.33630287e-01 -4.70036622e-02 8.07155743e+01] [ 1.33602055e-01 9.91027943e-01 -3.75592975e-03 5.62565566e+00] [ 4.70838487e-02 -2.56173107e-03 9.98887656e-01 3.17947543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84509989299998 meters 0.02663332895478632 Centerline is valid? [True, True] Translation: X:80.77, Y:5.64, Z:3.18 [[ 9.90386901e-01 -1.30096922e-01 -4.69955086e-02 8.07749783e+01] [ 1.30064849e-01 9.91498387e-01 -3.75282185e-03 5.63578980e+00] [ 4.70842016e-02 -2.39571812e-03 9.98888051e-01 3.18149274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90509989299998 meters 0.023264355702533213 Centerline is valid? [True, True] Translation: X:80.83, Y:5.65, Z:3.19 [[ 9.91007241e-01 -1.25552251e-01 -4.62739815e-02 8.08341965e+01] [ 1.25516211e-01 9.92084687e-01 -3.69520437e-03 5.65223850e+00] [ 4.63716497e-02 -2.14616056e-03 9.98921951e-01 3.18596631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96509989299999 meters 0.021047891025287906 Centerline is valid? [True, True] Translation: X:80.89, Y:5.66, Z:3.19 [[ 9.91539282e-01 -1.21084343e-01 -4.67807108e-02 8.08940293e+01] [ 1.21042551e-01 9.92640290e-01 -3.73557962e-03 5.66467687e+00] [ 4.68887386e-02 -1.95848265e-03 9.98898198e-01 3.18875504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02509989299998 meters 0.01876377812328814 Centerline is valid? [True, True] Translation: X:80.95, Y:5.68, Z:3.19 [[ 9.92525969e-01 -1.12579856e-01 -4.70953985e-02 8.09537277e+01] [ 1.12527973e-01 9.93641443e-01 -3.75993969e-03 5.67953044e+00] [ 4.72192332e-02 -1.56771194e-03 9.98883320e-01 3.19124108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08509989299998 meters 0.01590505466838457 Centerline is valid? [True, True] Translation: X:81.01, Y:5.70, Z:3.19 [[ 9.93492392e-01 -1.03544461e-01 -4.74490345e-02 8.10131489e+01] [ 1.03481496e-01 9.94624165e-01 -3.78813181e-03 5.69676989e+00] [ 4.75861964e-02 -1.14661696e-03 9.98866477e-01 3.19425051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.14509989299998 meters 0.013755345868626954 Centerline is valid? [True, True] Translation: X:81.07, Y:5.71, Z:3.19 [[ 9.94533602e-01 -9.24110448e-02 -4.86118539e-02 8.10716834e+01] [ 9.23316698e-02 9.95720746e-01 -3.88066246e-03 5.71467213e+00] [ 4.87624474e-02 -6.28964428e-04 9.98810206e-01 3.19461830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.20509989299998 meters 0.012916599499080169 Centerline is valid? [True, True] Translation: X:81.13, Y:5.73, Z:3.20 [[ 9.95148885e-01 -8.59502160e-02 -4.78670679e-02 8.11315302e+01] [ 8.58657822e-02 9.96299386e-01 -3.82120653e-03 5.72834547e+00] [ 4.80183639e-02 -3.07473808e-04 9.98846406e-01 3.19787926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26509989299998 meters 0.01268425807835919 Centerline is valid? [True, True] Translation: X:81.19, Y:5.74, Z:3.20 [[ 9.95510072e-01 -8.20671242e-02 -4.71665508e-02 8.11919915e+01] [ 8.19807967e-02 9.96626797e-01 -3.76509017e-03 5.73953619e+00] [ 4.73164385e-02 -1.18566219e-04 9.98879943e-01 3.20123605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32509989299999 meters 0.012752256405479577 Centerline is valid? [True, True] Translation: X:81.25, Y:5.75, Z:3.20 [[ 9.95405582e-01 -8.16955110e-02 -4.99356676e-02 8.12520828e+01] [ 8.15983576e-02 9.96657329e-01 -3.98450991e-03 5.74846248e+00] [ 5.00942656e-02 -1.08465050e-04 9.98744488e-01 3.20090937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38509989299997 meters 0.012725195967220389 Centerline is valid? [True, True] Translation: X:81.31, Y:5.75, Z:3.21 [[ 9.95366701e-01 -8.36948606e-02 -4.73318264e-02 8.13112671e+01] [ 8.36098295e-02 9.96491410e-01 -3.77694203e-03 5.75456433e+00] [ 4.74818691e-02 -1.97963619e-04 9.98872080e-01 3.20577913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44509989299998 meters 0.013043231057780496 Centerline is valid? [True, True] Translation: X:81.37, Y:5.76, Z:3.21 [[ 9.95001654e-01 -8.72150754e-02 -4.86337208e-02 8.13719052e+01] [ 8.71294299e-02 9.96189435e-01 -3.88228271e-03 5.75746976e+00] [ 4.87869924e-02 -3.74550643e-04 9.98809135e-01 3.20806825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.50509989299998 meters 0.013437389526164214 Centerline is valid? [True, True] Translation: X:81.43, Y:5.76, Z:3.21 [[ 9.94518800e-01 -9.23273912e-02 -4.90714689e-02 8.14324981e+01] [ 9.22464496e-02 9.95728504e-01 -3.91646619e-03 5.75988255e+00] [ 4.92234575e-02 -6.31669527e-04 9.98787591e-01 3.21111370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56509989299998 meters 0.014730798994922146 Centerline is valid? [True, True] Translation: X:81.49, Y:5.76, Z:3.21 [[ 9.94071046e-01 -9.63184680e-02 -5.04530391e-02 8.14928651e+01] [ 9.62380446e-02 9.95350202e-01 -4.02657660e-03 5.75918417e+00] [ 5.06062764e-02 -8.52798616e-04 9.98718317e-01 3.21166366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62509989299998 meters 0.014459557099570393 Centerline is valid? [True, True] Translation: X:81.55, Y:5.76, Z:3.22 [[ 9.94136229e-01 -9.63876134e-02 -4.90161927e-02 8.15533894e+01] [ 9.63118268e-02 9.95343526e-01 -3.91117112e-03 5.76448682e+00] [ 4.91649385e-02 -8.32602153e-04 9.98790326e-01 3.21604046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68509989299999 meters 0.013258550725723956 Centerline is valid? [True, True] Translation: X:81.61, Y:5.77, Z:3.22 [[ 9.94664067e-01 -9.13558322e-02 -4.79322983e-02 8.16142687e+01] [ 9.12775313e-02 9.95818149e-01 -3.82445965e-03 5.77304449e+00] [ 4.80812392e-02 -5.71089270e-04 9.98843265e-01 3.21980097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74509989299997 meters 0.012641620499352909 Centerline is valid? [True, True] Translation: X:81.68, Y:5.78, Z:3.22 [[ 9.95401512e-01 -8.32204719e-02 -4.74360874e-02 8.16751538e+01] [ 8.31346284e-02 9.96531144e-01 -3.78313643e-03 5.78219555e+00] [ 4.75863729e-02 -1.77841777e-04 9.98867111e-01 3.22276848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80509989299998 meters 0.012702330613291275 Centerline is valid? [True, True] Translation: X:81.74, Y:5.79, Z:3.22 [[ 9.95610591e-01 -8.02515082e-02 -4.81585483e-02 8.17352195e+01] [ 8.01596366e-02 9.96774646e-01 -3.83909955e-03 5.78612616e+00] [ 4.83113135e-02 -3.81235546e-05 9.98832326e-01 3.22402896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86509989299998 meters 0.012736803560417497 Centerline is valid? [True, True] Translation: X:81.80, Y:5.79, Z:3.23 [[ 9.95558082e-01 -8.06964901e-02 -4.84992885e-02 8.17951653e+01] [ 8.06038657e-02 9.96738718e-01 -3.86574950e-03 5.78931043e+00] [ 4.86530710e-02 -6.06519713e-05 9.98815736e-01 3.22658649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92509989299998 meters 0.013215901127198653 Centerline is valid? [True, True] Translation: X:81.85, Y:5.79, Z:3.23 [[ 9.94967670e-01 -8.58920259e-02 -5.15935525e-02 8.18543865e+01] [ 8.57940546e-02 9.96304396e-01 -4.11470659e-03 5.78847249e+00] [ 5.17563036e-02 -3.32420032e-04 9.98659689e-01 3.22612854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98509989299998 meters 0.014846222202987152 Centerline is valid? [True, True] Translation: X:81.91, Y:5.79, Z:3.23 [[ 9.93804687e-01 -1.00286583e-01 -4.79045501e-02 8.19145754e+01] [ 1.00218673e-01 9.94958089e-01 -3.82344008e-03 5.78501078e+00] [ 4.80464594e-02 -1.00117778e-03 9.98844600e-01 3.23328978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04509989299999 meters 0.015730133649055615 Centerline is valid? [True, True] Translation: X:81.98, Y:5.79, Z:3.24 [[ 9.93559148e-01 -1.02766154e-01 -4.77424019e-02 8.19751325e+01] [ 1.02701530e-01 9.94704916e-01 -3.81116005e-03 5.78786437e+00] [ 4.78812601e-02 -1.11660480e-03 9.98852411e-01 3.23573768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10509989299999 meters 0.017183211363102996 Centerline is valid? [True, True] Translation: X:82.04, Y:5.79, Z:3.24 [[ 9.92934943e-01 -1.08366260e-01 -4.83420385e-02 8.20366641e+01] [ 1.08306675e-01 9.94110044e-01 -3.85802370e-03 5.78863442e+00] [ 4.84753856e-02 -1.40499893e-03 9.98823389e-01 3.23723386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16509989299998 meters 0.01862041557410772 Centerline is valid? [True, True] Translation: X:82.10, Y:5.79, Z:3.24 [[ 9.92510222e-01 -1.12025686e-01 -4.87206784e-02 8.20975774e+01] [ 1.11969646e-01 9.93704027e-01 -3.88658991e-03 5.79020308e+00] [ 4.88493323e-02 -1.59775690e-03 9.98804881e-01 3.23896082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22509989299998 meters 0.021978518938330305 Centerline is valid? [True, True] Translation: X:82.16, Y:5.79, Z:3.24 [[ 9.90997211e-01 -1.24093822e-01 -5.02518694e-02 8.21589211e+01] [ 1.24049710e-01 9.92267911e-01 -4.00783341e-03 5.78872395e+00] [ 5.03606648e-02 -2.26197807e-03 9.98728535e-01 3.24019967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28509989299998 meters 0.026091432615242553 Centerline is valid? [True, True] Translation: X:82.22, Y:5.79, Z:3.24 [[ 9.89656841e-01 -1.34003773e-01 -5.12086546e-02 8.22199089e+01] [ 1.33971212e-01 9.90976811e-01 -4.08340741e-03 5.78787940e+00] [ 5.12937813e-02 -2.81931344e-03 9.98679628e-01 3.24126252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34509989299998 meters 0.028555309523948032 Centerline is valid? [True, True] Translation: X:82.28, Y:5.79, Z:3.24 [[ 9.89120477e-01 -1.37478114e-01 -5.23493041e-02 8.22804846e+01] [ 1.37448962e-01 9.90500057e-01 -4.17382493e-03 5.79090147e+00] [ 5.24257982e-02 -3.06694179e-03 9.98620113e-01 3.24234313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40509989299998 meters 0.027941216893430234 Centerline is valid? [True, True] Translation: X:82.34, Y:5.80, Z:3.25 [[ 9.89819374e-01 -1.32785698e-01 -5.12402664e-02 8.23391643e+01] [ 1.32751527e-01 9.91140932e-01 -4.08481655e-03 5.80259972e+00] [ 5.13287306e-02 -2.75899303e-03 9.98678001e-01 3.24650350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46509989299999 meters 0.021965104841608924 Centerline is valid? [True, True] Translation: X:82.40, Y:5.82, Z:3.25 [[ 9.91321051e-01 -1.22225576e-01 -4.84095319e-02 8.23979246e+01] [ 1.22182469e-01 9.92500149e-01 -3.85974719e-03 5.82453240e+00] [ 4.85182275e-02 -2.08854748e-03 9.98820114e-01 3.25333885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52509989299998 meters 0.018245626383358114 Centerline is valid? [True, True] Translation: X:82.46, Y:5.84, Z:3.26 [[ 9.92343249e-01 -1.13948478e-01 -4.76510382e-02 8.24571802e+01] [ 1.13897191e-01 9.93485278e-01 -3.79901176e-03 5.84138045e+00] [ 4.77734965e-02 -1.65739573e-03 9.98856820e-01 3.25705020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58509989299998 meters 0.015775100963749074 Centerline is valid? [True, True] Translation: X:82.52, Y:5.86, Z:3.26 [[ 9.93474098e-01 -1.02896034e-01 -4.92099777e-02 8.25156603e+01] [ 1.02827776e-01 9.94691437e-01 -3.92342586e-03 5.85955744e+00] [ 4.93524484e-02 -1.16233061e-03 9.98780749e-01 3.25851028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64509989299998 meters 0.013995501816881709 Centerline is valid? [True, True] Translation: X:82.58, Y:5.87, Z:3.26 [[ 9.94251837e-01 -9.41267982e-02 -5.10238284e-02 8.25763164e+01] [ 9.40418558e-02 9.95559932e-01 -4.06831410e-03 5.87475093e+00] [ 5.11802166e-02 -7.53446752e-04 9.98689150e-01 3.25950789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.70509989299998 meters 0.012919802564636958 Centerline is valid? [True, True] Translation: X:82.64, Y:5.89, Z:3.26 [[ 9.94989197e-01 -8.51863763e-02 -5.23429000e-02 8.26367098e+01] [ 8.50847544e-02 9.96364988e-01 -4.17079204e-03 5.89269207e+00] [ 5.25079276e-02 -3.03689773e-04 9.98620461e-01 3.26121493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76509989299998 meters 0.01286079847896777 Centerline is valid? [True, True] Translation: X:82.70, Y:5.90, Z:3.26 [[ 9.95165441e-01 -8.28040500e-02 -5.28132038e-02 8.26977629e+01] [ 8.26973418e-02 9.96565831e-01 -4.20633975e-03 5.90317838e+00] [ 5.29801363e-02 -1.81507610e-04 9.98595550e-01 3.26246434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82509989299999 meters 0.012944002405063692 Centerline is valid? [True, True] Translation: X:82.76, Y:5.91, Z:3.27 [[ 9.95022706e-01 -8.64229482e-02 -4.96073382e-02 8.27581244e+01] [ 8.63333665e-02 9.96258475e-01 -3.94970931e-03 5.91168406e+00] [ 4.97630766e-02 -3.52718061e-04 9.98760988e-01 3.26755114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88509989299997 meters 0.013853014591931492 Centerline is valid? [True, True] Translation: X:82.82, Y:5.92, Z:3.27 [[ 9.94341156e-01 -9.48323422e-02 -4.78799882e-02 8.28198642e+01] [ 9.47586195e-02 9.95492978e-01 -3.81235711e-03 5.91563438e+00] [ 4.80257268e-02 -7.46258007e-04 9.98845820e-01 3.27118350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94509989299998 meters 0.016573043234178055 Centerline is valid? [True, True] Translation: X:82.88, Y:5.92, Z:3.27 [[ 9.93024315e-01 -1.07994724e-01 -4.73270489e-02 8.28803895e+01] [ 1.07937752e-01 9.94150524e-01 -3.76528313e-03 5.91549305e+00] [ 4.74568411e-02 -1.36935754e-03 9.98872351e-01 3.27499817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.00509989299998 meters 0.02171160985607716 Centerline is valid? [True, True] Translation: X:82.94, Y:5.91, Z:3.28 [[ 9.91189230e-01 -1.22560588e-01 -5.02276052e-02 8.29417785e+01] [ 1.22515060e-01 9.92458610e-01 -3.99585557e-03 5.91212300e+00] [ 5.03385537e-02 -2.19298907e-03 9.98729804e-01 3.27535566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06509989299998 meters 0.025282875478831658 Centerline is valid? [True, True] Translation: X:83.00, Y:5.91, Z:3.27 [[ 9.90469414e-01 -1.27456693e-01 -5.22027843e-02 8.30016473e+01] [ 1.27414296e-01 9.91840889e-01 -4.15297329e-03 5.91127939e+00] [ 5.23061802e-02 -2.53798800e-03 9.98627870e-01 3.27494766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12509989299998 meters 0.02325189386980626 Centerline is valid? [True, True] Translation: X:83.06, Y:5.92, Z:3.28 [[ 9.91405315e-01 -1.21028215e-01 -4.96756715e-02 8.30615548e+01] [ 1.20981736e-01 9.92646864e-01 -3.95248862e-03 5.92244728e+00] [ 4.97887622e-02 -2.09133073e-03 9.98757581e-01 3.28056900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18509989299999 meters 0.019659837007520213 Centerline is valid? [True, True] Translation: X:83.12, Y:5.94, Z:3.29 [[ 9.92189479e-01 -1.15290732e-01 -4.76244242e-02 8.31213516e+01] [ 1.15241414e-01 9.93330287e-01 -3.78918528e-03 5.93691714e+00] [ 4.77436409e-02 -1.72871622e-03 9.98858126e-01 3.28586863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24509989299997 meters 0.018631829512703334 Centerline is valid? [True, True] Translation: X:83.18, Y:5.94, Z:3.29 [[ 9.92494710e-01 -1.12712965e-01 -4.74345684e-02 8.31830444e+01] [ 1.12661148e-01 9.93626303e-01 -3.77304551e-03 5.94305605e+00] [ 4.75575060e-02 -1.59930524e-03 9.98867221e-01 3.28662917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30509989299998 meters 0.0171457485812575 Centerline is valid? [True, True] Translation: X:83.24, Y:5.95, Z:3.29 [[ 9.92937171e-01 -1.07913957e-01 -4.92985950e-02 8.32438851e+01] [ 1.07852211e-01 9.94159215e-01 -3.91867452e-03 5.95366810e+00] [ 4.94335322e-02 -1.42596488e-03 9.98776398e-01 3.28917698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36509989299998 meters 0.015943847279570454 Centerline is valid? [True, True] Translation: X:83.31, Y:5.96, Z:3.29 [[ 9.93426497e-01 -1.02746073e-01 -5.04682112e-02 8.33050955e+01] [ 1.02674802e-01 9.94706896e-01 -4.00962158e-03 5.96082650e+00] [ 5.06130506e-02 -1.19854926e-03 9.98717619e-01 3.29071718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.42509989299998 meters 0.013520629300459816 Centerline is valid? [True, True] Translation: X:83.36, Y:5.97, Z:3.30 [[ 9.94456251e-01 -9.26120612e-02 -4.97972894e-02 8.33646369e+01] [ 9.25300788e-02 9.95702039e-01 -3.95408728e-03 5.97451774e+00] [ 4.99494587e-02 -6.75580297e-04 9.98751518e-01 3.29542196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48509989299998 meters 0.012753284432197198 Centerline is valid? [True, True] Translation: X:83.42, Y:5.99, Z:3.30 [[ 9.95565690e-01 -8.08666647e-02 -4.80576688e-02 8.34245781e+01] [ 8.07766340e-02 9.96724925e-01 -3.81572666e-03 5.98707349e+00] [ 4.82088414e-02 -8.31301717e-05 9.98837274e-01 3.29946757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54509989299999 meters 0.012904092007252918 Centerline is valid? [True, True] Translation: X:83.49, Y:5.99, Z:3.30 [[ 9.96413961e-01 -7.14192633e-02 -4.53707700e-02 8.34863776e+01] [ 7.13293059e-02 9.97446322e-01 -3.60067291e-03 5.99343675e+00] [ 4.55120651e-02 3.51495224e-04 9.98963727e-01 3.30430580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60509989299997 meters 0.012943273584621433 Centerline is valid? [True, True] Translation: X:83.55, Y:5.99, Z:3.31 [[ 9.96304841e-01 -7.19885176e-02 -4.68435353e-02 8.35474310e+01] [ 7.18934129e-02 9.97405405e-01 -3.71409386e-03 5.99372035e+00] [ 4.69893675e-02 3.32628062e-04 9.98895334e-01 3.30653220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66509989299998 meters 0.012665400624375074 Centerline is valid? [True, True] Translation: X:83.61, Y:5.99, Z:3.31 [[ 9.95926657e-01 -7.58586735e-02 -4.87396726e-02 8.36090438e+01] [ 7.57604664e-02 9.97118568e-01 -3.86181903e-03 5.99026497e+00] [ 4.88921851e-02 1.53548183e-04 9.98804050e-01 3.30635930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72509989299998 meters 0.012519776573909357 Centerline is valid? [True, True] Translation: X:83.67, Y:5.99, Z:3.31 [[ 9.95711334e-01 -7.87740449e-02 -4.85138140e-02 8.36711589e+01] [ 7.86802879e-02 9.96892497e-01 -3.84220345e-03 5.98803383e+00] [ 4.86657230e-02 8.64467506e-06 9.98815122e-01 3.30961649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78509989299998 meters 0.012410045282363601 Centerline is valid? [True, True] Translation: X:83.73, Y:5.99, Z:3.31 [[ 9.95649111e-01 -8.01451550e-02 -4.75352626e-02 8.37325652e+01] [ 8.00567863e-02 9.96783201e-01 -3.76301805e-03 5.98955155e+00] [ 4.76839389e-02 -5.88747839e-05 9.98862472e-01 3.31425446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84509989299998 meters 0.01234744833075034 Centerline is valid? [True, True] Translation: X:83.79, Y:5.99, Z:3.32 [[ 9.95599097e-01 -8.21560367e-02 -4.50868461e-02 8.37939661e+01] [ 8.20786761e-02 9.96619468e-01 -3.56755357e-03 5.98873591e+00] [ 4.52275247e-02 -1.48815529e-04 9.98976701e-01 3.31901121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90509989299998 meters 0.01230435257587632 Centerline is valid? [True, True] Translation: X:83.86, Y:5.98, Z:3.32 [[ 9.95551649e-01 -8.24595750e-02 -4.55777705e-02 8.38556508e+01] [ 8.23809529e-02 9.96594396e-01 -3.60388055e-03 5.98484051e+00] [ 4.57197251e-02 -1.66890941e-04 9.98954293e-01 3.32086076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96509989299999 meters 0.012143603562608622 Centerline is valid? [True, True] Translation: X:83.92, Y:5.99, Z:3.32 [[ 9.95769118e-01 -7.93157399e-02 -4.63991147e-02 8.39181537e+01] [ 7.92309676e-02 9.96849544e-01 -3.66620112e-03 5.98604969e+00] [ 4.65437238e-02 -2.55568997e-05 9.98916253e-01 3.32337876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02509989299998 meters 0.012453748281698554 Centerline is valid? [True, True] Translation: X:83.98, Y:5.99, Z:3.32 [[ 9.96076037e-01 -7.38296781e-02 -4.88027388e-02 8.39786150e+01] [ 7.37294709e-02 9.97270836e-01 -3.85276777e-03 5.98581689e+00] [ 4.89539968e-02 2.39449534e-04 9.98801006e-01 3.32423684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08509989299998 meters 0.012571970490379069 Centerline is valid? [True, True] Translation: X:84.04, Y:5.98, Z:3.33 [[ 9.96073029e-01 -7.21738783e-02 -5.12781931e-02 8.40382114e+01] [ 7.20610610e-02 9.97392008e-01 -4.04792266e-03 5.98265762e+00] [ 5.14366143e-02 3.36865583e-04 9.98676204e-01 3.32542906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14509989299998 meters 0.01244278871008955 Centerline is valid? [True, True] Translation: X:84.10, Y:5.98, Z:3.33 [[ 9.95826304e-01 -7.44708732e-02 -5.27641957e-02 8.40952309e+01] [ 7.43543968e-02 9.97223163e-01 -4.16978864e-03 5.97957769e+00] [ 5.29282060e-02 2.29135266e-04 9.98598294e-01 3.32543491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20509989299998 meters 0.012286508860280885 Centerline is valid? [True, True] Translation: X:84.15, Y:5.97, Z:3.33 [[ 9.95444907e-01 -7.91773236e-02 -5.31073326e-02 8.41535705e+01] [ 7.90653914e-02 9.96860548e-01 -4.20862678e-03 5.97429644e+00] [ 5.32738325e-02 -9.49595148e-06 9.98579941e-01 3.32777355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26509989299998 meters 0.012611596988959849 Centerline is valid? [True, True] Translation: X:84.21, Y:5.97, Z:3.33 [[ 9.94784525e-01 -8.81433114e-02 -5.13274346e-02 8.42128501e+01] [ 8.80499478e-02 9.96107698e-01 -4.08174557e-03 5.96740058e+00] [ 5.14874313e-02 -4.58920602e-04 9.98673537e-01 3.33293895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32509989299999 meters 0.013764638880226521 Centerline is valid? [True, True] Translation: X:84.27, Y:5.96, Z:3.34 [[ 9.94076965e-01 -9.67576382e-02 -4.94868390e-02 8.42724778e+01] [ 9.66809798e-02 9.95307599e-01 -3.94604949e-03 5.96095444e+00] [ 4.96364373e-02 -8.61759180e-04 9.98766981e-01 3.33803109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38509989299997 meters 0.01594918232536652 Centerline is valid? [True, True] Translation: X:84.33, Y:5.95, Z:3.34 [[ 9.93312732e-01 -1.04792815e-01 -4.84590747e-02 8.43320500e+01] [ 1.04728731e-01 9.94493309e-01 -3.86658225e-03 5.95400483e+00] [ 4.85974156e-02 -1.23433202e-03 9.98817685e-01 3.34215099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44509989299998 meters 0.01670383731138799 Centerline is valid? [True, True] Translation: X:84.39, Y:5.95, Z:3.34 [[ 9.92957387e-01 -1.08052530e-01 -4.85826888e-02 8.43930184e+01] [ 1.07991940e-01 9.94144206e-01 -3.87796289e-03 5.95381759e+00] [ 4.87172223e-02 -1.39588693e-03 9.98811636e-01 3.34398520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.50509989299998 meters 0.019456638763760654 Centerline is valid? [True, True] Translation: X:84.45, Y:5.95, Z:3.34 [[ 9.92363108e-01 -1.13258026e-01 -4.88680104e-02 8.44525848e+01] [ 1.13203016e-01 9.93564221e-01 -3.90080902e-03 5.95078389e+00] [ 4.89953046e-02 -1.66098721e-03 9.98797628e-01 3.34409880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56509989299998 meters 0.019829949128748692 Centerline is valid? [True, True] Translation: X:84.51, Y:5.96, Z:3.35 [[ 9.91679236e-01 -1.18321633e-01 -5.07176798e-02 8.45128759e+01] [ 1.18268965e-01 9.92973342e-01 -4.04889793e-03 5.95527088e+00] [ 5.08403762e-02 -1.98311950e-03 9.98704823e-01 3.34529062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62509989299998 meters 0.023966032374100093 Centerline is valid? [True, True] Translation: X:84.57, Y:5.95, Z:3.34 [[ 9.91080660e-01 -1.22295290e-01 -5.29432454e-02 8.45725030e+01] [ 1.22243534e-01 9.92491134e-01 -4.22696626e-03 5.95381959e+00] [ 5.30626397e-02 -2.28270488e-03 9.98588577e-01 3.34396341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68509989299999 meters 0.022120531786995835 Centerline is valid? [True, True] Translation: X:84.63, Y:5.96, Z:3.35 [[ 9.90884524e-01 -1.24459857e-01 -5.15519511e-02 8.46323232e+01] [ 1.24413628e-01 9.92221899e-01 -4.11734621e-03 5.96425006e+00] [ 5.16634191e-02 -2.33395062e-03 9.98661827e-01 3.34984177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74509989299997 meters 0.02063909253986453 Centerline is valid? [True, True] Translation: X:84.69, Y:5.98, Z:3.35 [[ 9.91414407e-01 -1.20614367e-01 -5.04940469e-02 8.46923217e+01] [ 1.20565045e-01 9.92697239e-01 -4.03269640e-03 5.97516927e+00] [ 5.06117020e-02 -2.08974371e-03 9.98716220e-01 3.35410770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80509989299998 meters 0.01739855777110101 Centerline is valid? [True, True] Translation: X:84.75, Y:5.99, Z:3.36 [[ 9.92859663e-01 -1.09534316e-01 -4.72432260e-02 8.47520937e+01] [ 1.09478637e-01 9.93981991e-01 -3.77226875e-03 5.99023775e+00] [ 4.73721087e-02 -1.42679053e-03 9.98876292e-01 3.36004730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86509989299998 meters 0.013984514256063483 Centerline is valid? [True, True] Translation: X:84.81, Y:6.01, Z:3.36 [[ 9.94061192e-01 -9.82266977e-02 -4.68386807e-02 8.48111088e+01] [ 9.81594489e-02 9.95163675e-01 -3.73927333e-03 6.00662076e+00] [ 4.69794501e-02 -8.80592583e-04 9.98895468e-01 3.36376715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92509989299998 meters 0.012435928349704485 Centerline is valid? [True, True] Translation: X:84.87, Y:6.02, Z:3.37 [[ 9.95230637e-01 -8.53403873e-02 -4.72546110e-02 8.48713411e+01] [ 8.52574226e-02 9.96351817e-01 -3.77214048e-03 6.02156854e+00] [ 4.74041335e-02 -2.74656565e-04 9.98875754e-01 3.36523332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98509989299998 meters 0.012647689307289068 Centerline is valid? [True, True] Translation: X:84.93, Y:6.04, Z:3.37 [[ 9.96331670e-01 -7.08690100e-02 -4.79665241e-02 8.49312358e+01] [ 7.07668210e-02 9.97485543e-01 -3.82741986e-03 6.03559094e+00] [ 4.81171598e-02 4.18941197e-04 9.98841611e-01 3.36622315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04509989299999 meters 0.013296247637229452 Centerline is valid? [True, True] Translation: X:84.99, Y:6.04, Z:3.37 [[ 9.96730476e-01 -6.56233122e-02 -4.71374554e-02 8.49890640e+01] [ 6.55187408e-02 9.97844248e-01 -3.76174175e-03 6.04284716e+00] [ 4.72826967e-02 6.61055918e-04 9.98881329e-01 3.36841720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10509989299997 meters 0.01301719510972198 Centerline is valid? [True, True] Translation: X:85.05, Y:6.05, Z:3.37 [[ 9.96679737e-01 -6.73887053e-02 -4.56975331e-02 8.50481787e+01] [ 6.72920739e-02 9.97726638e-01 -3.65139701e-03 6.04513706e+00] [ 4.58397090e-02 5.64191634e-04 9.98948649e-01 3.37192651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16509989299998 meters 0.012047804876889922 Centerline is valid? [True, True] Translation: X:85.11, Y:6.04, Z:3.37 [[ 9.95798238e-01 -7.94192466e-02 -4.55900543e-02 8.51072135e+01] [ 7.93351985e-02 9.96841303e-01 -3.65286746e-03 6.03805666e+00] [ 4.57361571e-02 2.06229704e-05 9.98953554e-01 3.37454309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22509989299998 meters 0.013233960832454551 Centerline is valid? [True, True] Translation: X:85.17, Y:6.03, Z:3.38 [[ 9.94462075e-01 -9.45156108e-02 -4.59562865e-02 8.51673822e+01] [ 9.44461458e-02 9.95523151e-01 -3.68542555e-03 6.02868646e+00] [ 4.60988774e-02 -6.75378195e-04 9.98936653e-01 3.37596156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28509989299998 meters 0.016466935563929756 Centerline is valid? [True, True] Translation: X:85.23, Y:6.02, Z:3.38 [[ 9.92988111e-01 -1.09061966e-01 -4.56080938e-02 8.52284190e+01] [ 1.09008750e-01 9.94034053e-01 -3.65978455e-03 6.02000844e+00] [ 4.57351416e-02 -1.33755873e-03 9.98952705e-01 3.37802130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34509989299998 meters 0.020228439361564435 Centerline is valid? [True, True] Translation: X:85.29, Y:6.01, Z:3.38 [[ 9.91783477e-01 -1.19547588e-01 -4.55401865e-02 8.52899124e+01] [ 1.19505533e-01 9.92826808e-01 -3.65471259e-03 6.01369251e+00] [ 4.56504301e-02 -1.81762072e-03 9.98955822e-01 3.38036321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40509989299998 meters 0.023232862230972522 Centerline is valid? [True, True] Translation: X:85.35, Y:6.01, Z:3.38 [[ 9.91115675e-01 -1.25145794e-01 -4.50360914e-02 8.53495284e+01] [ 1.25110420e-01 9.92136240e-01 -3.61441330e-03 6.01136688e+00] [ 4.51342670e-02 -2.05218264e-03 9.98978822e-01 3.38262614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46509989299999 meters 0.021956448338104655 Centerline is valid? [True, True] Translation: X:85.41, Y:6.02, Z:3.39 [[ 9.90895171e-01 -1.27040782e-01 -4.45802532e-02 8.54116540e+01] [ 1.27008017e-01 9.91895237e-01 -3.57818097e-03 6.01774888e+00] [ 4.46735157e-02 -2.11644730e-03 9.98999398e-01 3.38594523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52509989299998 meters 0.025788850912402534 Centerline is valid? [True, True] Translation: X:85.47, Y:6.02, Z:3.39 [[ 9.90811846e-01 -1.27650386e-01 -4.46907773e-02 8.54731110e+01] [ 1.27618230e-01 9.91816891e-01 -3.58363802e-03 6.01689502e+00] [ 4.47825205e-02 -2.15264689e-03 9.98994440e-01 3.38808573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58509989299998 meters 0.023008633458850198 Centerline is valid? [True, True] Translation: X:85.53, Y:6.03, Z:3.39 [[ 9.90537373e-01 -1.29183563e-01 -4.63391859e-02 8.55344764e+01] [ 1.29150901e-01 9.91618009e-01 -3.71075929e-03 6.02575229e+00] [ 4.64301403e-02 -2.30910184e-03 9.98918871e-01 3.38984121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64509989299998 meters 0.025549143620267025 Centerline is valid? [True, True] Translation: X:85.60, Y:6.03, Z:3.39 [[ 9.90240880e-01 -1.30500435e-01 -4.89145894e-02 8.55952057e+01] [ 1.30465820e-01 9.91445084e-01 -3.91347784e-03 6.02772043e+00] [ 4.90068398e-02 -2.50639628e-03 9.98795298e-01 3.39036608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70509989299998 meters 0.024375380543645915 Centerline is valid? [True, True] Translation: X:85.66, Y:6.04, Z:3.39 [[ 9.89841094e-01 -1.32354924e-01 -5.19305575e-02 8.56564372e+01] [ 1.32318563e-01 9.91198543e-01 -4.15278689e-03 6.03537843e+00] [ 5.20231348e-02 -2.76077765e-03 9.98642064e-01 3.39016420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76509989299998 meters 0.02303728146548416 Centerline is valid? [True, True] Translation: X:85.72, Y:6.05, Z:3.39 [[ 9.89759135e-01 -1.32786600e-01 -5.23886681e-02 8.57172895e+01] [ 1.32750301e-01 9.91140667e-01 -4.18747885e-03 6.04620245e+00] [ 5.24805806e-02 -2.81001601e-03 9.98617991e-01 3.39328643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82509989299999 meters 0.02621294518398272 Centerline is valid? [True, True] Translation: X:85.78, Y:6.05, Z:3.40 [[ 9.90059678e-01 -1.31463357e-01 -4.99922042e-02 8.57776544e+01] [ 1.31428706e-01 9.91317579e-01 -3.99412578e-03 6.05272631e+00] [ 5.00832320e-02 -2.61598781e-03 9.98741621e-01 3.39747207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88509989299997 meters 0.02560964974624203 Centerline is valid? [True, True] Translation: X:85.84, Y:6.06, Z:3.40 [[ 9.90636153e-01 -1.28196620e-01 -4.69642201e-02 8.58373145e+01] [ 1.28162440e-01 9.91746097e-01 -3.75074288e-03 6.06381691e+00] [ 4.70574146e-02 -2.30342757e-03 9.98889530e-01 3.40159807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94509989299998 meters 0.022128010782228057 Centerline is valid? [True, True] Translation: X:85.90, Y:6.08, Z:3.41 [[ 9.90809301e-01 -1.27396977e-01 -4.54636081e-02 8.58985538e+01] [ 1.27364117e-01 9.91849384e-01 -3.63063156e-03 6.07975748e+00] [ 4.55555832e-02 -2.19316879e-03 9.98959398e-01 3.40562950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.00509989299998 meters 0.026476144631109356 Centerline is valid? [True, True] Translation: X:85.96, Y:6.08, Z:3.41 [[ 9.90508448e-01 -1.29838907e-01 -4.51095703e-02 8.59586433e+01] [ 1.29809227e-01 9.91532456e-01 -3.59910739e-03 6.08409964e+00] [ 4.51949072e-02 -2.29069218e-03 9.98975562e-01 3.40914046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06509989299998 meters 0.026149102574301464 Centerline is valid? [True, True] Translation: X:86.02, Y:6.09, Z:3.41 [[ 9.89771666e-01 -1.34731007e-01 -4.68999497e-02 8.60184111e+01] [ 1.34704506e-01 9.90878757e-01 -3.73965185e-03 6.09339707e+00] [ 4.69760109e-02 -2.61623311e-03 9.98892592e-01 3.41034965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12509989299998 meters 0.027989119184054716 Centerline is valid? [True, True] Translation: X:86.08, Y:6.10, Z:3.41 [[ 9.89011215e-01 -1.39658652e-01 -4.85002791e-02 8.60779093e+01] [ 1.39636216e-01 9.90195320e-01 -3.86719431e-03 6.10299755e+00] [ 4.85648365e-02 -2.94769691e-03 9.98815683e-01 3.41216341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18509989299999 meters 0.027507603798742383 Centerline is valid? [True, True] Translation: X:86.14, Y:6.11, Z:3.41 [[ 9.88870523e-01 -1.40634937e-01 -4.85479553e-02 8.61394443e+01] [ 1.40613621e-01 9.90056980e-01 -3.87114245e-03 6.11415273e+00] [ 4.86096599e-02 -2.99844515e-03 9.98813351e-01 3.41415047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24509989299997 meters 0.02857316184688184 Centerline is valid? [True, True] Translation: X:86.20, Y:6.12, Z:3.42 [[ 9.88999389e-01 -1.39647579e-01 -4.87725586e-02 8.61998269e+01] [ 1.39625041e-01 9.90196824e-01 -3.88556867e-03 6.12305308e+00] [ 4.88370429e-02 -2.96704547e-03 9.98802353e-01 3.41556622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30509989299998 meters 0.02842282163641343 Centerline is valid? [True, True] Translation: X:86.26, Y:6.13, Z:3.42 [[ 9.89269039e-01 -1.38609348e-01 -4.61975988e-02 8.62612781e+01] [ 1.38588107e-01 9.90343279e-01 -3.67795268e-03 6.13387014e+00] [ 4.62612801e-02 -2.76395305e-03 9.98925550e-01 3.41987992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36509989299998 meters 0.029678101357124623 Centerline is valid? [True, True] Translation: X:86.32, Y:6.14, Z:3.42 [[ 9.89293251e-01 -1.38001587e-01 -4.74807850e-02 8.63220910e+01] [ 1.37978640e-01 9.90428006e-01 -3.77624036e-03 6.14088220e+00] [ 4.75474263e-02 -2.81552504e-03 9.98865013e-01 3.42038860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42509989299998 meters 0.02708234907423838 Centerline is valid? [True, True] Translation: X:86.38, Y:6.15, Z:3.42 [[ 9.89445997e-01 -1.36889834e-01 -4.75162409e-02 8.63838620e+01] [ 1.36865869e-01 9.90582404e-01 -3.77291766e-03 6.15496205e+00] [ 4.75852262e-02 -2.77025332e-03 9.98863340e-01 3.42338417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48509989299998 meters 0.026512942710269695 Centerline is valid? [True, True] Translation: X:86.44, Y:6.17, Z:3.43 [[ 9.90061185e-01 -1.32440377e-01 -4.73116844e-02 8.64428824e+01] [ 1.32411731e-01 9.91187696e-01 -3.75292712e-03 6.16755299e+00] [ 4.73917985e-02 -2.54899453e-03 9.98873125e-01 3.42666041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54509989299999 meters 0.021568226750493254 Centerline is valid? [True, True] Translation: X:86.50, Y:6.19, Z:3.43 [[ 9.91198147e-01 -1.24207702e-01 -4.58113546e-02 8.65017411e+01] [ 1.24172045e-01 9.92254047e-01 -3.63434101e-03 6.18603839e+00] [ 4.59079151e-02 -2.08613752e-03 9.98943498e-01 3.43101513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60509989299997 meters 0.01947586439346683 Centerline is valid? [True, True] Translation: X:86.56, Y:6.20, Z:3.43 [[ 9.92068673e-01 -1.17071142e-01 -4.57612911e-02 8.65614294e+01] [ 1.17027979e-01 9.93121983e-01 -3.63041348e-03 6.19950356e+00] [ 4.58715608e-02 -1.75373194e-03 9.98945807e-01 3.43393983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66509989299998 meters 0.01660769896706972 Centerline is valid? [True, True] Translation: X:86.62, Y:6.21, Z:3.44 [[ 9.92750432e-01 -1.10626129e-01 -4.69940265e-02 8.66217643e+01] [ 1.10573411e-01 9.93860968e-01 -3.72791579e-03 6.21230872e+00] [ 4.71179336e-02 -1.49539982e-03 9.98888214e-01 3.43522765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72509989299998 meters 0.01518407203405944 Centerline is valid? [True, True] Translation: X:86.68, Y:6.22, Z:3.44 [[ 9.93419768e-01 -1.04147397e-01 -4.76496027e-02 8.66819794e+01] [ 1.04085794e-01 9.94561143e-01 -3.77902821e-03 6.22299559e+00] [ 4.77840192e-02 -1.20548540e-03 9.98856964e-01 3.43717923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78509989299998 meters 0.0144358440676858 Centerline is valid? [True, True] Translation: X:86.74, Y:6.23, Z:3.44 [[ 9.93872801e-01 -9.92646329e-02 -4.86146854e-02 8.67422302e+01] [ 9.91947212e-02 9.95060576e-01 -3.85454195e-03 6.23074890e+00] [ 4.87571765e-02 -9.91395758e-04 9.98810170e-01 3.43883521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84509989299998 meters 0.01402787394377518 Centerline is valid? [True, True] Translation: X:86.80, Y:6.24, Z:3.44 [[ 9.94017477e-01 -9.74513372e-02 -4.93202997e-02 8.68044685e+01] [ 9.73772535e-02 9.95239868e-01 -3.90841478e-03 6.23636335e+00] [ 4.94664088e-02 -9.17642723e-04 9.98775366e-01 3.44062224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90509989299998 meters 0.0135818642634302 Centerline is valid? [True, True] Translation: X:86.87, Y:6.24, Z:3.44 [[ 9.94237754e-01 -9.55770990e-02 -4.85418131e-02 8.68658785e+01] [ 9.55032714e-02 9.95421697e-01 -3.84328584e-03 6.24313633e+00] [ 4.86869041e-02 -8.14762072e-04 9.98813757e-01 3.44444652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96509989299997 meters 0.013486809614417323 Centerline is valid? [True, True] Translation: X:86.93, Y:6.25, Z:3.45 [[ 9.94481081e-01 -9.44280491e-02 -4.57244157e-02 8.69278730e+01] [ 9.43614745e-02 9.95531430e-01 -3.61709418e-03 6.24733402e+00] [ 4.58616482e-02 -7.17491557e-04 9.98947543e-01 3.44913927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02509989299998 meters 0.013622804081487506 Centerline is valid? [True, True] Translation: X:86.99, Y:6.25, Z:3.45 [[ 9.94480451e-01 -9.56783973e-02 -4.30613158e-02 8.69896072e+01] [ 9.56206505e-02 9.95412029e-01 -3.40351888e-03 6.25006391e+00] [ 4.31893949e-02 -7.32818032e-04 9.99066634e-01 3.45339384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08509989299998 meters 0.01583908706863664 Centerline is valid? [True, True] Translation: X:87.05, Y:6.25, Z:3.45 [[ 9.93731843e-01 -1.02676218e-01 -4.42110595e-02 8.70505454e+01] [ 1.02622401e-01 9.94714258e-01 -3.49121444e-03 6.24549367e+00] [ 4.43358359e-02 -1.06771413e-03 9.99016113e-01 3.45394202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14509989299998 meters 0.016300924538953678 Centerline is valid? [True, True] Translation: X:87.11, Y:6.25, Z:3.46 [[ 9.93205050e-01 -1.07104269e-01 -4.55236617e-02 8.71113265e+01] [ 1.07051890e-01 9.94246939e-01 -3.59402911e-03 6.24673102e+00] [ 4.56466971e-02 -1.30378618e-03 9.98956795e-01 3.45520225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20509989299998 meters 0.01837254442252846 Centerline is valid? [True, True] Translation: X:87.17, Y:6.25, Z:3.46 [[ 9.92685160e-01 -1.11018320e-01 -4.74458183e-02 8.71719960e+01] [ 1.10965930e-01 9.93817155e-01 -3.74488522e-03 6.24501708e+00] [ 4.75682191e-02 -1.54737739e-03 9.98866793e-01 3.45618857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26509989299998 meters 0.019996687040547252 Centerline is valid? [True, True] Translation: X:87.23, Y:6.24, Z:3.46 [[ 9.92136782e-01 -1.14987275e-01 -4.94219831e-02 8.72334461e+01] [ 1.14935389e-01 9.93365314e-01 -3.89994650e-03 6.24307304e+00] [ 4.95425280e-02 -1.81105449e-03 9.98770373e-01 3.45604607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32509989299999 meters 0.019126680781134976 Centerline is valid? [True, True] Translation: X:87.30, Y:6.25, Z:3.46 [[ 9.92284284e-01 -1.13411897e-01 -5.00963230e-02 8.72950175e+01] [ 1.13356650e-01 9.93546503e-01 -3.95181650e-03 6.24870273e+00] [ 5.02212095e-02 -1.75742594e-03 9.98736573e-01 3.45818400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38509989299997 meters 0.017002531370962824 Centerline is valid? [True, True] Translation: X:87.35, Y:6.26, Z:3.46 [[ 9.92971376e-01 -1.07909155e-01 -4.86154392e-02 8.73548968e+01] [ 1.07850679e-01 9.94159719e-01 -3.83208772e-03 6.25706012e+00] [ 4.87450287e-02 -1.43805469e-03 9.98810219e-01 3.46156274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44509989299998 meters 0.014604532714578195 Centerline is valid? [True, True] Translation: X:87.42, Y:6.27, Z:3.47 [[ 9.93891324e-01 -1.00052750e-01 -4.65777071e-02 8.74151849e+01] [ 9.99904529e-02 9.94981623e-01 -3.67137815e-03 6.26778186e+00] [ 4.67112941e-02 -1.00837514e-03 9.98907923e-01 3.46639498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.50509989299998 meters 0.013676660380937185 Centerline is valid? [True, True] Translation: X:87.48, Y:6.28, Z:3.47 [[ 9.94625903e-01 -9.27336792e-02 -4.60410362e-02 8.74756341e+01] [ 9.26650110e-02 9.95690731e-01 -3.62816540e-03 6.27652083e+00] [ 4.61790861e-02 -6.57725838e-04 9.98932960e-01 3.46980147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56509989299998 meters 0.013193092220745859 Centerline is valid? [True, True] Translation: X:87.54, Y:6.28, Z:3.47 [[ 9.94791695e-01 -9.08027949e-02 -4.63069817e-02 8.75377342e+01] [ 9.07313262e-02 9.95868728e-01 -3.64727194e-03 6.28310476e+00] [ 4.64468575e-02 -5.73218033e-04 9.98920598e-01 3.47238059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62509989299998 meters 0.01263292519610192 Centerline is valid? [True, True] Translation: X:87.60, Y:6.29, Z:3.47 [[ 9.95063631e-01 -8.69560615e-02 -4.78227274e-02 8.75993643e+01] [ 8.68755660e-02 9.96212063e-01 -3.76309158e-03 6.28949112e+00] [ 4.79688015e-02 -4.10110932e-04 9.98848750e-01 3.47471849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68509989299999 meters 0.012513536688418767 Centerline is valid? [True, True] Translation: X:87.66, Y:6.30, Z:3.48 [[ 9.95310304e-01 -8.39356483e-02 -4.80853926e-02 8.76603168e+01] [ 8.38509303e-02 9.96471141e-01 -3.77986424e-03 6.29532291e+00] [ 4.82329714e-02 -2.69867084e-04 9.98836076e-01 3.47721027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74509989299997 meters 0.01234792687315318 Centerline is valid? [True, True] Translation: X:87.72, Y:6.30, Z:3.48 [[ 9.95493914e-01 -8.27222600e-02 -4.63561751e-02 8.77219041e+01] [ 8.26424658e-02 9.96572619e-01 -3.63851417e-03 6.30000349e+00] [ 4.64982810e-02 -2.08869904e-04 9.98918348e-01 3.47969679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80509989299998 meters 0.012504221373822526 Centerline is valid? [True, True] Translation: X:87.78, Y:6.30, Z:3.48 [[ 9.95300939e-01 -8.47792927e-02 -4.67815312e-02 8.77836661e+01] [ 8.47004554e-02 9.96399706e-01 -3.66853243e-03 6.30270364e+00] [ 4.69241195e-02 -3.11123224e-04 9.98898408e-01 3.48109412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86509989299998 meters 0.013222798444562964 Centerline is valid? [True, True] Translation: X:87.85, Y:6.30, Z:3.48 [[ 9.94827435e-01 -9.05756266e-02 -4.59829333e-02 8.78460326e+01] [ 9.05057933e-02 9.95889413e-01 -3.60267186e-03 6.30445687e+00] [ 4.61202307e-02 -5.77685043e-04 9.98935729e-01 3.48330403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92509989299998 meters 0.014804388677259608 Centerline is valid? [True, True] Translation: X:87.91, Y:6.30, Z:3.48 [[ 9.93898223e-01 -9.98609097e-02 -4.68414489e-02 8.79070219e+01] [ 9.97988874e-02 9.95000873e-01 -3.66674174e-03 6.30314924e+00] [ 4.69734467e-02 -1.03035638e-03 9.98895607e-01 3.48410314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98509989299998 meters 0.01789887926045443 Centerline is valid? [True, True] Translation: X:87.97, Y:6.30, Z:3.49 [[ 9.93055841e-01 -1.08275428e-01 -4.60057317e-02 8.79674039e+01] [ 1.08224657e-01 9.94119943e-01 -3.60031232e-03 6.30072848e+00] [ 4.61250407e-02 -1.40364334e-03 9.98934688e-01 3.48622331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04509989299999 meters 0.024028444443384894 Centerline is valid? [True, True] Translation: X:88.03, Y:6.29, Z:3.49 [[ 9.91126966e-01 -1.25503816e-01 -4.37736109e-02 8.80286535e+01] [ 1.25474695e-01 9.92090915e-01 -3.42312377e-03 6.29499438e+00] [ 4.38570168e-02 -2.09973018e-03 9.99035612e-01 3.49230687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10509989299997 meters 0.02562217780655501 Centerline is valid? [True, True] Translation: X:88.09, Y:6.30, Z:3.50 [[ 9.90408433e-01 -1.31038369e-01 -4.38187368e-02 8.80892906e+01] [ 1.31014593e-01 9.91374519e-01 -3.42642800e-03 6.29736363e+00] [ 4.38897726e-02 -2.34733079e-03 9.99033622e-01 3.49548192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16509989299998 meters 0.030296575765204323 Centerline is valid? [True, True] Translation: X:88.15, Y:6.29, Z:3.50 [[ 9.89833421e-01 -1.35432322e-01 -4.34497939e-02 8.81489553e+01] [ 1.35413168e-01 9.90783393e-01 -3.39740092e-03 6.29494081e+00] [ 4.35094521e-02 -2.52081328e-03 9.99049835e-01 3.49766085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22509989299998 meters 0.02873927131103173 Centerline is valid? [True, True] Translation: X:88.21, Y:6.30, Z:3.50 [[ 9.89795721e-01 -1.34998098e-01 -4.56063994e-02 8.82110703e+01] [ 1.34976603e-01 9.90842374e-01 -3.56466574e-03 6.30255075e+00] [ 4.56699761e-02 -2.62750598e-03 9.98953127e-01 3.49813069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28509989299998 meters 0.025223575081924788 Centerline is valid? [True, True] Translation: X:88.27, Y:6.31, Z:3.50 [[ 9.90104153e-01 -1.32434246e-01 -4.64212895e-02 8.82723982e+01] [ 1.32409328e-01 9.91188493e-01 -3.62494772e-03 6.31400865e+00] [ 4.64923152e-02 -2.55753596e-03 9.98915374e-01 3.49972225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34509989299998 meters 0.020804137575296925 Centerline is valid? [True, True] Translation: X:88.33, Y:6.33, Z:3.50 [[ 9.91558029e-01 -1.21660606e-01 -4.48483337e-02 8.83315756e+01] [ 1.21626489e-01 9.92569773e-01 -3.49886250e-03 6.33162903e+00] [ 4.49407741e-02 -1.98542016e-03 9.98987680e-01 3.50403093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40509989299998 meters 0.01817789473266624 Centerline is valid? [True, True] Translation: X:88.39, Y:6.34, Z:3.51 [[ 9.92579905e-01 -1.13385897e-01 -4.39177742e-02 8.83913058e+01] [ 1.13345105e-01 9.93549772e-01 -3.42591735e-03 6.34442028e+00] [ 4.40229453e-02 -1.57736803e-03 9.99029275e-01 3.50771103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46509989299997 meters 0.01365617850982586 Centerline is valid? [True, True] Translation: X:88.45, Y:6.37, Z:3.51 [[ 9.94675057e-01 -9.33771483e-02 -4.36146681e-02 8.84494595e+01] [ 9.33176649e-02 9.95630573e-01 -3.40229489e-03 6.36709630e+00] [ 4.37417936e-02 -6.85841122e-04 9.99042634e-01 3.51134467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52509989299998 meters 0.01224862531532769 Centerline is valid? [True, True] Translation: X:88.51, Y:6.38, Z:3.51 [[ 9.95498032e-01 -8.37078604e-02 -4.44596611e-02 8.85099063e+01] [ 8.36363906e-02 9.96490303e-01 -3.46851230e-03 6.38033932e+00] [ 4.45939629e-02 -2.65548407e-04 9.99005159e-01 3.51361221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58509989299998 meters 0.012285856309918708 Centerline is valid? [True, True] Translation: X:88.57, Y:6.40, Z:3.52 [[ 9.96534856e-01 -6.94790088e-02 -4.57268871e-02 8.85710348e+01] [ 6.93885008e-02 9.97583341e-01 -3.56556351e-03 6.39694915e+00] [ 4.58641127e-02 3.80288171e-04 9.98947616e-01 3.51595543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64509989299998 meters 0.013173052673556937 Centerline is valid? [True, True] Translation: X:88.63, Y:6.40, Z:3.52 [[ 9.96846535e-01 -6.51405275e-02 -4.53177419e-02 8.86317945e+01] [ 6.50472977e-02 9.97875937e-01 -3.53044007e-03 6.40496373e+00] [ 4.54514589e-02 5.71510297e-04 9.98966385e-01 3.51812558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.70509989299998 meters 0.012892034448730766 Centerline is valid? [True, True] Translation: X:88.69, Y:6.41, Z:3.52 [[ 9.96879854e-01 -6.50418147e-02 -4.47226994e-02 8.86935523e+01] [ 6.49510240e-02 9.97882379e-01 -3.48175518e-03 6.40648949e+00] [ 4.48544533e-02 5.66106476e-04 9.98993372e-01 3.52061653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76509989299998 meters 0.012143516131547304 Centerline is valid? [True, True] Translation: X:88.76, Y:6.41, Z:3.52 [[ 9.96636169e-01 -6.94024318e-02 -4.35849697e-02 8.87554086e+01] [ 6.93204367e-02 9.97588680e-01 -3.39167228e-03 6.40569850e+00] [ 4.37152627e-02 3.58934132e-04 9.99043966e-01 3.52481109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82509989299999 meters 0.011589696408872412 Centerline is valid? [True, True] Translation: X:88.82, Y:6.40, Z:3.53 [[ 9.96025057e-01 -7.75703743e-02 -4.37826743e-02 8.88175075e+01] [ 7.74955839e-02 9.96986879e-01 -3.40550148e-03 6.40130703e+00] [ 4.39149178e-02 -9.99100297e-07 9.99035275e-01 3.52656542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88509989299997 meters 0.011880071156683982 Centerline is valid? [True, True] Translation: X:88.88, Y:6.40, Z:3.53 [[ 9.95411453e-01 -8.46737855e-02 -4.45689194e-02 8.88798483e+01] [ 8.46034711e-02 9.96408675e-01 -3.46497703e-03 6.39805275e+00] [ 4.47022506e-02 -3.21607463e-04 9.99000303e-01 3.52873432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94509989299998 meters 0.012836277706702306 Centerline is valid? [True, True] Translation: X:88.94, Y:6.40, Z:3.53 [[ 9.94706697e-01 -9.16712265e-02 -4.64216787e-02 8.89426607e+01] [ 9.16027117e-02 9.95789106e-01 -3.60559519e-03 6.39556836e+00] [ 4.65567312e-02 -6.65841968e-04 9.98915426e-01 3.53055896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.00509989299998 meters 0.01420953410177212 Centerline is valid? [True, True] Translation: X:89.00, Y:6.39, Z:3.53 [[ 9.93843292e-01 -1.00416753e-01 -4.68186521e-02 8.90048451e+01] [ 1.00356898e-01 9.94944869e-01 -3.63322716e-03 6.38925726e+00] [ 4.69468145e-02 -1.08771625e-03 9.98896798e-01 3.53199197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06509989299998 meters 0.014703387844306104 Centerline is valid? [True, True] Translation: X:89.07, Y:6.39, Z:3.54 [[ 9.93812929e-01 -1.01588568e-01 -4.48957214e-02 8.90671843e+01] [ 1.01534800e-01 9.94825893e-01 -3.48231290e-03 6.39002013e+00] [ 4.50171893e-02 -1.09771053e-03 9.98985609e-01 3.53608470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12509989299998 meters 0.015124800595151328 Centerline is valid? [True, True] Translation: X:89.13, Y:6.39, Z:3.54 [[ 9.93934192e-01 -1.01469738e-01 -4.24112609e-02 8.91286777e+01] [ 1.01421773e-01 9.94838088e-01 -3.28668649e-03 6.38976968e+00] [ 4.25258369e-02 -1.03467520e-03 9.99094832e-01 3.54129769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18509989299999 meters 0.015070023008190079 Centerline is valid? [True, True] Translation: X:89.19, Y:6.39, Z:3.54 [[ 9.93734274e-01 -1.02789942e-01 -4.38910080e-02 8.91913976e+01] [ 1.02739967e-01 9.94702441e-01 -3.39886921e-03 6.39106628e+00] [ 4.40078624e-02 -1.13178788e-03 9.99030544e-01 3.54222807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24509989299997 meters 0.015284806133517298 Centerline is valid? [True, True] Translation: X:89.25, Y:6.39, Z:3.54 [[ 9.93368805e-01 -1.04862449e-01 -4.71411084e-02 8.92533797e+01] [ 1.04807297e-01 9.94485862e-01 -3.64698198e-03 6.39200187e+00] [ 4.72635973e-02 -1.31793404e-03 9.98881582e-01 3.54182584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30509989299998 meters 0.01583262898615966 Centerline is valid? [True, True] Translation: X:89.31, Y:6.39, Z:3.54 [[ 9.93128243e-01 -1.05095429e-01 -5.14902225e-02 8.93147538e+01] [ 1.05030103e-01 9.94461077e-01 -3.98038826e-03 6.39414958e+00] [ 5.16233427e-02 -1.45498739e-03 9.98665566e-01 3.54067400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36509989299998 meters 0.015523138848201494 Centerline is valid? [True, True] Translation: X:89.38, Y:6.40, Z:3.54 [[ 9.93395849e-01 -1.02607471e-01 -5.13458330e-02 8.93761933e+01] [ 1.02539336e-01 9.94721042e-01 -3.96644593e-03 6.39966568e+00] [ 5.14817675e-02 -1.32471668e-03 9.98673056e-01 3.54387407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42509989299998 meters 0.013380362649104471 Centerline is valid? [True, True] Translation: X:89.44, Y:6.41, Z:3.55 [[ 9.94166086e-01 -9.68737502e-02 -4.74264653e-02 8.94369293e+01] [ 9.68092114e-02 9.95296223e-01 -3.66130764e-03 6.40968731e+00] [ 4.75580664e-02 -9.51370824e-04 9.98868022e-01 3.55116659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48509989299998 meters 0.012699850890713698 Centerline is valid? [True, True] Translation: X:89.50, Y:6.42, Z:3.55 [[ 9.94444446e-01 -9.41145328e-02 -4.71455109e-02 8.94987807e+01] [ 9.40477832e-02 9.95561041e-01 -3.63696471e-03 6.41661058e+00] [ 4.72785252e-02 -8.17171442e-04 9.98881411e-01 3.55423517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54509989299999 meters 0.011438933867929456 Centerline is valid? [True, True] Translation: X:89.56, Y:6.43, Z:3.56 [[ 9.95221436e-01 -8.63295768e-02 -4.56234381e-02 8.95590194e+01] [ 8.62590303e-02 9.96266538e-01 -3.51645013e-03 6.42534909e+00] [ 4.57566784e-02 -4.35786984e-04 9.98952520e-01 3.55788967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60509989299997 meters 0.010752341226427679 Centerline is valid? [True, True] Translation: X:89.62, Y:6.43, Z:3.56 [[ 9.95653972e-01 -8.14606045e-02 -4.51368796e-02 8.96203167e+01] [ 8.13866258e-02 9.96676540e-01 -3.47733780e-03 6.43070896e+00] [ 4.52701351e-02 -2.11313139e-04 9.98974760e-01 3.56036861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66509989299998 meters 0.010689384527742945 Centerline is valid? [True, True] Translation: X:89.68, Y:6.43, Z:3.56 [[ 9.95630471e-01 -8.09814037e-02 -4.64970770e-02 8.96822449e+01] [ 8.09024631e-02 9.96715593e-01 -3.58023434e-03 6.43243571e+00] [ 4.66342941e-02 -1.97137654e-04 9.98912010e-01 3.56201823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72509989299998 meters 0.010798485933642693 Centerline is valid? [True, True] Translation: X:89.74, Y:6.43, Z:3.56 [[ 9.95453729e-01 -8.21122232e-02 -4.82644433e-02 8.97434792e+01] [ 8.20286558e-02 9.96623055e-01 -3.71294982e-03 6.43343190e+00] [ 4.84063355e-02 -2.62997672e-04 9.98827692e-01 3.56311810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78509989299998 meters 0.010687989820129997 Centerline is valid? [True, True] Translation: X:89.80, Y:6.44, Z:3.57 [[ 9.95451514e-01 -8.22249057e-02 -4.81180575e-02 8.98046869e+01] [ 8.21420590e-02 9.96613763e-01 -3.69997574e-03 6.43600299e+00] [ 4.82593485e-02 -2.69369864e-04 9.98834803e-01 3.56517498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84509989299998 meters 0.010762016619881732 Centerline is valid? [True, True] Translation: X:89.87, Y:6.44, Z:3.57 [[ 9.95489290e-01 -8.24371861e-02 -4.69593800e-02 8.98650369e+01] [ 8.23585944e-02 9.96596225e-01 -3.60928369e-03 6.43810616e+00] [ 4.70970800e-02 -2.74505275e-04 9.98890279e-01 3.56825631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90509989299998 meters 0.010992349348237772 Centerline is valid? [True, True] Translation: X:89.93, Y:6.44, Z:3.57 [[ 9.95309020e-01 -8.51943124e-02 -4.58463012e-02 8.99262751e+01] [ 8.51223672e-02 9.96364277e-01 -3.52284975e-03 6.43889414e+00] [ 4.59797436e-02 -3.96221555e-04 9.98942294e-01 3.57067494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96509989299997 meters 0.012037439521522853 Centerline is valid? [True, True] Translation: X:89.99, Y:6.44, Z:3.57 [[ 9.94789806e-01 -9.14682279e-02 -4.50200625e-02 8.99873964e+01] [ 9.14053395e-02 9.95807766e-01 -3.45783167e-03 6.43673711e+00] [ 4.51476096e-02 -6.75258398e-04 9.98980099e-01 3.57326272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02509989299998 meters 0.013607497902118086 Centerline is valid? [True, True] Translation: X:90.05, Y:6.43, Z:3.58 [[ 9.94084692e-01 -9.87609924e-02 -4.51872912e-02 9.00490268e+01] [ 9.87051979e-02 9.95110669e-01 -3.46980366e-03 6.43388878e+00] [ 4.53090369e-02 -1.01094182e-03 9.98972507e-01 3.57520428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08509989299998 meters 0.015418048685354513 Centerline is valid? [True, True] Translation: X:90.11, Y:6.43, Z:3.58 [[ 9.93701356e-01 -1.02914955e-01 -4.43410264e-02 9.01101467e+01] [ 1.02865432e-01 9.94689460e-01 -3.40320326e-03 6.43249614e+00] [ 4.44557921e-02 -1.17939114e-03 9.99010656e-01 3.57827159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14509989299998 meters 0.017082250599109675 Centerline is valid? [True, True] Translation: X:90.17, Y:6.43, Z:3.58 [[ 9.93433023e-01 -1.06031349e-01 -4.29904911e-02 9.01719718e+01] [ 1.05987804e-01 9.94361963e-01 -3.29735939e-03 6.43119280e+00] [ 4.30977326e-02 -1.28076206e-03 9.99070040e-01 3.58187004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20509989299998 meters 0.015022204881100731 Centerline is valid? [True, True] Translation: X:90.23, Y:6.44, Z:3.58 [[ 9.93723422e-01 -1.02118214e-01 -4.56687125e-02 9.02336386e+01] [ 1.02065065e-01 9.94771567e-01 -3.50022685e-03 6.43829170e+00] [ 4.57873736e-02 -1.18292269e-03 9.98950508e-01 3.58195629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26509989299998 meters 0.012657552632369643 Centerline is valid? [True, True] Translation: X:90.29, Y:6.45, Z:3.59 [[ 9.94565141e-01 -9.36690572e-02 -4.54564460e-02 9.02938604e+01] [ 9.36076824e-02 9.95603073e-01 -3.48164998e-03 6.44924115e+00] [ 4.55827002e-02 -7.92344855e-04 9.98960254e-01 3.58549803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32509989299997 meters 0.010589915358946678 Centerline is valid? [True, True] Translation: X:90.35, Y:6.46, Z:3.59 [[ 9.95675571e-01 -8.05581757e-02 -4.62659535e-02 9.03545186e+01] [ 8.04804808e-02 9.96749889e-01 -3.54264895e-03 6.46366959e+00] [ 4.64009733e-02 -1.96177167e-04 9.98922875e-01 3.58857714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38509989299997 meters 0.010585048872221045 Centerline is valid? [True, True] Translation: X:90.41, Y:6.47, Z:3.59 [[ 9.96227351e-01 -7.26576187e-02 -4.74545695e-02 9.04140054e+01] [ 7.25670269e-02 9.97356927e-01 -3.63131358e-03 6.47354404e+00] [ 4.75929862e-02 1.73976890e-04 9.98866797e-01 3.59062844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44509989299998 meters 0.01087275807854888 Centerline is valid? [True, True] Translation: X:90.47, Y:6.48, Z:3.59 [[ 9.96469058e-01 -6.93674594e-02 -4.73029861e-02 9.04719877e+01] [ 6.92736751e-02 9.97591122e-01 -3.62107833e-03 6.47915288e+00] [ 4.74402240e-02 3.31440819e-04 9.98874024e-01 3.59288025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.50509989299998 meters 0.01115943431187312 Centerline is valid? [True, True] Translation: X:90.53, Y:6.48, Z:3.60 [[ 9.96595949e-01 -6.76485925e-02 -4.71188054e-02 9.05302450e+01] [ 6.75530595e-02 9.97709120e-01 -3.61877373e-03 6.48325143e+00] [ 4.72556668e-02 4.23435781e-04 9.98882737e-01 3.59504903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56509989299998 meters 0.010686949076337101 Centerline is valid? [True, True] Translation: X:90.59, Y:6.48, Z:3.60 [[ 9.96392192e-01 -7.15040553e-02 -4.57139903e-02 9.05892402e+01] [ 7.14176844e-02 9.97440279e-01 -3.52193638e-03 6.48378551e+00] [ 4.58488079e-02 2.44442585e-04 9.98948361e-01 3.59869317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62509989299998 meters 0.010440657326305326 Centerline is valid? [True, True] Translation: X:90.65, Y:6.48, Z:3.60 [[ 9.95766907e-01 -8.00686813e-02 -4.51361562e-02 9.06477623e+01] [ 7.99927915e-02 9.96789340e-01 -3.48796493e-03 6.47902087e+00] [ 4.52705161e-02 -1.37367086e-04 9.98974755e-01 3.60090962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68509989299999 meters 0.011060148244806558 Centerline is valid? [True, True] Translation: X:90.71, Y:6.48, Z:3.60 [[ 9.95085900e-01 -8.79983799e-02 -4.53909234e-02 9.07089866e+01] [ 8.79297026e-02 9.96120494e-01 -3.51132462e-03 6.47668945e+00] [ 4.55238199e-02 -4.97140771e-04 9.98963130e-01 3.60318231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74509989299997 meters 0.015620674228080314 Centerline is valid? [True, True] Translation: X:90.77, Y:6.47, Z:3.60 [[ 9.93505285e-01 -1.04299418e-01 -4.54849502e-02 9.07698835e+01] [ 1.04247493e-01 9.94545162e-01 -3.51866020e-03 6.46516245e+00] [ 4.56038314e-02 -1.24588453e-03 9.98958827e-01 3.60443210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80509989299998 meters 0.017301390780489156 Centerline is valid? [True, True] Translation: X:90.83, Y:6.46, Z:3.61 [[ 9.92789070e-01 -1.11054440e-01 -4.51306264e-02 9.08306175e+01] [ 1.11010256e-01 9.93813126e-01 -3.49190422e-03 6.46439776e+00] [ 4.52392004e-02 -1.54323802e-03 9.98974991e-01 3.60724360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86509989299998 meters 0.01894832039275225 Centerline is valid? [True, True] Translation: X:90.89, Y:6.47, Z:3.61 [[ 9.92489843e-01 -1.13810445e-01 -4.48452297e-02 9.08915579e+01] [ 1.13769661e-01 9.93501097e-01 -3.46901748e-03 6.46538580e+00] [ 4.49485953e-02 -1.65906198e-03 9.98987923e-01 3.61043842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92509989299998 meters 0.019069920347465692 Centerline is valid? [True, True] Translation: X:90.95, Y:6.47, Z:3.61 [[ 9.92362632e-01 -1.15247851e-01 -4.39811292e-02 9.09537991e+01] [ 1.15210070e-01 9.93335327e-01 -3.40128999e-03 6.46893430e+00] [ 4.40800007e-02 -1.69175590e-03 9.99026572e-01 3.61343214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98509989299998 meters 0.019994805473374563 Centerline is valid? [True, True] Translation: X:91.02, Y:6.47, Z:3.62 [[ 9.92111380e-01 -1.17592516e-01 -4.34397337e-02 9.10156039e+01] [ 1.17558036e-01 9.93060342e-01 -3.35634595e-03 6.47181716e+00] [ 4.35329580e-02 -1.77682076e-03 9.99050411e-01 3.61559029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04509989299999 meters 0.02404915496202016 Centerline is valid? [True, True] Translation: X:91.08, Y:6.47, Z:3.62 [[ 9.91101249e-01 -1.24727840e-01 -4.64895678e-02 9.10751399e+01] [ 1.24696285e-01 9.92188465e-01 -3.58962142e-03 6.47108430e+00] [ 4.65741387e-02 -2.23939814e-03 9.98912326e-01 3.61517395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10509989299997 meters 0.025730955833101043 Centerline is valid? [True, True] Translation: X:91.14, Y:6.47, Z:3.62 [[ 9.90424206e-01 -1.29396978e-01 -4.81280998e-02 9.11361031e+01] [ 1.29368626e-01 9.91589605e-01 -3.71672851e-03 6.47356929e+00] [ 4.82042569e-02 -2.54512827e-03 9.98834256e-01 3.61668556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16509989299998 meters 0.02499382136232122 Centerline is valid? [True, True] Translation: X:91.20, Y:6.48, Z:3.62 [[ 9.89560153e-01 -1.35033661e-01 -5.03648142e-02 9.11960192e+01] [ 1.35009909e-01 9.90836616e-01 -3.88900289e-03 6.47991655e+00] [ 5.04284484e-02 -2.95134670e-03 9.98723316e-01 3.61865103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22509989299998 meters 0.029313209937237548 Centerline is valid? [True, True] Translation: X:91.26, Y:6.48, Z:3.62 [[ 9.89158427e-01 -1.37407887e-01 -5.18138805e-02 9.12560416e+01] [ 1.37386037e-01 9.90509503e-01 -4.00013172e-03 6.48216650e+00] [ 5.18717907e-02 -3.16173968e-03 9.98648747e-01 3.61960483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28509989299998 meters 0.026604078030633332 Centerline is valid? [True, True] Translation: X:91.32, Y:6.50, Z:3.62 [[ 9.89562461e-01 -1.34862697e-01 -5.07758677e-02 9.13164927e+01] [ 1.34838520e-01 9.90859844e-01 -3.91707882e-03 6.49502390e+00] [ 5.08400362e-02 -2.97034870e-03 9.98702392e-01 3.62343068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34509989299998 meters 0.0239749442129655 Centerline is valid? [True, True] Translation: X:91.38, Y:6.51, Z:3.63 [[ 9.90100486e-01 -1.31691137e-01 -4.85640979e-02 9.13759364e+01] [ 1.31665283e-01 9.91287157e-01 -3.74500055e-03 6.50806796e+00] [ 4.86341499e-02 -2.68627882e-03 9.98813047e-01 3.62860036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40509989299998 meters 0.023317585581499867 Centerline is valid? [True, True] Translation: X:91.44, Y:6.52, Z:3.63 [[ 9.90645660e-01 -1.28208669e-01 -4.67302109e-02 9.14357327e+01] [ 1.28180863e-01 9.91744262e-01 -3.60358111e-03 6.51780435e+00] [ 4.68064289e-02 -2.42004679e-03 9.98901047e-01 3.63311175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46509989299997 meters 0.023336067527931385 Centerline is valid? [True, True] Translation: X:91.50, Y:6.53, Z:3.64 [[ 9.91054454e-01 -1.25707479e-01 -4.48185078e-02 9.14963960e+01] [ 1.25679353e-01 9.92064895e-01 -3.45605390e-03 6.52666841e+00] [ 4.48973201e-02 -2.20762344e-03 9.98989168e-01 3.63715443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52509989299998 meters 0.02287442784523205 Centerline is valid? [True, True] Translation: X:91.56, Y:6.53, Z:3.64 [[ 9.91013474e-01 -1.25835847e-01 -4.53611549e-02 9.15579370e+01] [ 1.25807252e-01 9.92048543e-01 -3.49610207e-03 6.53472207e+00] [ 4.54404026e-02 -2.24207799e-03 9.98964535e-01 3.63899335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58509989299998 meters 0.02344959494345672 Centerline is valid? [True, True] Translation: X:91.62, Y:6.54, Z:3.64 [[ 9.90933969e-01 -1.25925937e-01 -4.68244396e-02 9.16196804e+01] [ 1.25895736e-01 9.92036927e-01 -3.60536372e-03 6.54106480e+00] [ 4.69055820e-02 -2.32231989e-03 9.98896628e-01 3.64042525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.64509989299998 meters 0.020999010525460115 Centerline is valid? [True, True] Translation: X:91.68, Y:6.55, Z:3.64 [[ 9.91048364e-01 -1.23984030e-01 -4.95085837e-02 9.16808571e+01] [ 1.23948043e-01 9.92281402e-01 -3.80826180e-03 6.55357291e+00] [ 4.95986105e-02 -2.36232041e-03 9.98766438e-01 3.64130847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.70509989299998 meters 0.017818397694640616 Centerline is valid? [True, True] Translation: X:91.74, Y:6.57, Z:3.64 [[ 9.92197948e-01 -1.13037376e-01 -5.25907156e-02 9.17400317e+01] [ 1.12981591e-01 9.93588860e-01 -4.04205198e-03 6.57068628e+00] [ 5.27104521e-02 -1.93126706e-03 9.98607970e-01 3.64135960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76509989299998 meters 0.015987688606621708 Centerline is valid? [True, True] Translation: X:91.80, Y:6.58, Z:3.64 [[ 9.93070998e-01 -1.04997598e-01 -5.27778112e-02 9.18000455e+01] [ 1.04930071e-01 9.94471330e-01 -4.05644890e-03 6.58418167e+00] [ 5.29119374e-02 -1.50963771e-03 9.98598041e-01 3.64439338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82509989299997 meters 0.012727372870042613 Centerline is valid? [True, True] Translation: X:91.86, Y:6.60, Z:3.65 [[ 9.94521986e-01 -9.23412424e-02 -4.89807620e-02 9.18590685e+01] [ 9.22677403e-02 9.95727118e-01 -3.76439379e-03 6.60234405e+00] [ 4.91190818e-02 -7.75571840e-04 9.98792628e-01 3.64973972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88509989299997 meters 0.011010460344474154 Centerline is valid? [True, True] Translation: X:91.92, Y:6.62, Z:3.65 [[ 9.95582576e-01 -8.22622000e-02 -4.52577656e-02 9.19192605e+01] [ 8.21890392e-02 9.96610689e-01 -3.47813196e-03 6.61730767e+00] [ 4.53904917e-02 -2.56924692e-04 9.98969287e-01 3.65442473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94509989299998 meters 0.01077025775862366 Centerline is valid? [True, True] Translation: X:91.98, Y:6.63, Z:3.66 [[ 9.95978867e-01 -7.78082018e-02 -4.44069786e-02 9.19805260e+01] [ 7.77334144e-02 9.96968345e-01 -3.41108783e-03 6.62731289e+00] [ 4.45377626e-02 -5.45346803e-05 9.99007700e-01 3.65674831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.00509989299998 meters 0.010733107692085898 Centerline is valid? [True, True] Translation: X:92.04, Y:6.63, Z:3.66 [[ 9.95796466e-01 -7.94087952e-02 -4.56469183e-02 9.20428678e+01] [ 7.93316065e-02 9.96842127e-01 -3.50295130e-03 6.63178478e+00] [ 4.57809363e-02 -1.33016837e-04 9.98951494e-01 3.65767294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06509989299998 meters 0.011274148998033928 Centerline is valid? [True, True] Translation: X:92.10, Y:6.63, Z:3.66 [[ 9.95182540e-01 -8.54498861e-02 -4.80627593e-02 9.21044738e+01] [ 8.53715074e-02 9.96342374e-01 -3.68494772e-03 6.63177985e+00] [ 4.82018421e-02 -4.35994585e-04 9.98837520e-01 3.65764518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12509989299998 meters 0.012827235400914962 Centerline is valid? [True, True] Translation: X:92.17, Y:6.63, Z:3.66 [[ 9.94511846e-01 -9.30008383e-02 -4.79273631e-02 9.21659911e+01] [ 9.29317383e-02 9.95665708e-01 -3.67287020e-03 6.63023559e+00] [ 4.80612119e-02 -8.01260234e-04 9.98844071e-01 3.65929317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18509989299999 meters 0.014976625937605768 Centerline is valid? [True, True] Translation: X:92.23, Y:6.63, Z:3.66 [[ 9.93832064e-01 -1.01329078e-01 -4.50582611e-02 9.22275343e+01] [ 1.01276617e-01 9.94852318e-01 -3.45150540e-03 6.62989782e+00] [ 4.51760533e-02 -1.13313150e-03 9.98978398e-01 3.66377405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24509989299997 meters 0.0171934264742693 Centerline is valid? [True, True] Translation: X:92.29, Y:6.63, Z:3.67 [[ 9.93307145e-01 -1.07357775e-01 -4.26054453e-02 9.22890397e+01] [ 1.07316466e-01 9.94219560e-01 -3.26218577e-03 6.62867115e+00] [ 4.27093881e-02 -1.33191341e-03 9.99086650e-01 3.66756249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30509989299998 meters 0.018589632484052456 Centerline is valid? [True, True] Translation: X:92.35, Y:6.63, Z:3.67 [[ 9.92795293e-01 -1.12139113e-01 -4.22176014e-02 9.23499792e+01] [ 1.12102930e-01 9.93691347e-01 -3.23101088e-03 6.62893020e+00] [ 4.23135879e-02 -1.52498441e-03 9.99103215e-01 3.67002235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36509989299998 meters 0.020217025347585692 Centerline is valid? [True, True] Translation: X:92.41, Y:6.63, Z:3.67 [[ 9.92090430e-01 -1.17060004e-01 -4.53159302e-02 9.24112909e+01] [ 1.17023476e-01 9.93123096e-01 -3.46726498e-03 6.62820052e+00] [ 4.54101749e-02 -1.86318728e-03 9.98966688e-01 3.66998114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42509989299998 meters 0.020503123555559367 Centerline is valid? [True, True] Translation: X:92.47, Y:6.63, Z:3.67 [[ 9.92100354e-01 -1.15860113e-01 -4.80969999e-02 9.24736916e+01] [ 1.15817621e-01 9.93263683e-01 -3.67881335e-03 6.63126259e+00] [ 4.81992310e-02 -1.92072808e-03 9.98835895e-01 3.66948525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48509989299998 meters 0.016532895964668566 Centerline is valid? [True, True] Translation: X:92.53, Y:6.64, Z:3.67 [[ 9.92819786e-01 -1.08980920e-01 -4.93156398e-02 9.25332134e+01] [ 1.08927923e-01 9.94042505e-01 -3.76897886e-03 6.64368189e+00] [ 4.94325890e-02 -1.62993341e-03 9.98776132e-01 3.67265423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54509989299999 meters 0.014273279597502233 Centerline is valid? [True, True] Translation: X:92.59, Y:6.66, Z:3.67 [[ 9.93914769e-01 -9.81568432e-02 -4.99866619e-02 9.25916482e+01] [ 9.80887015e-02 9.95170343e-01 -3.82042262e-03 6.65553362e+00] [ 5.01202441e-02 -1.10595229e-03 9.98742578e-01 3.67408810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60509989299997 meters 0.011079482763534645 Centerline is valid? [True, True] Translation: X:92.65, Y:6.67, Z:3.68 [[ 9.95172898e-01 -8.52061082e-02 -4.86910927e-02 9.26510762e+01] [ 8.51259194e-02 9.96363249e-01 -3.72197219e-03 6.67302990e+00] [ 4.88311501e-02 -4.40868185e-04 9.98806951e-01 3.67793701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66509989299998 meters 0.010715234029391495 Centerline is valid? [True, True] Translation: X:92.71, Y:6.68, Z:3.68 [[ 9.95436939e-01 -8.19487908e-02 -4.88845248e-02 9.27129979e+01] [ 8.18640989e-02 9.96636501e-01 -3.73549828e-03 6.68093983e+00] [ 4.90262214e-02 -2.83434602e-04 9.98797452e-01 3.67997512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72509989299998 meters 0.010800974187767804 Centerline is valid? [True, True] Translation: X:92.77, Y:6.69, Z:3.68 [[ 9.95470642e-01 -8.26432227e-02 -4.69925282e-02 9.27735620e+01] [ 8.25658824e-02 9.96579150e-01 -3.58781767e-03 6.68615779e+00] [ 4.71282826e-02 -3.08412400e-04 9.98888798e-01 3.68369923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.78509989299998 meters 0.011430307717797586 Centerline is valid? [True, True] Translation: X:92.84, Y:6.69, Z:3.69 [[ 9.94983011e-01 -8.76059401e-02 -4.83115596e-02 9.28361046e+01] [ 8.75301368e-02 9.96155051e-01 -3.68650186e-03 6.68803840e+00] [ 4.84487635e-02 -5.60710695e-04 9.98825512e-01 3.68526361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84509989299998 meters 0.012785509896747203 Centerline is valid? [True, True] Translation: X:92.90, Y:6.69, Z:3.69 [[ 9.94243406e-01 -9.54525810e-02 -4.86708743e-02 9.28969482e+01] [ 9.53851871e-02 9.95433522e-01 -3.71075084e-03 6.68894520e+00] [ 4.88028205e-02 -9.53090894e-04 9.98807978e-01 3.68777297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90509989299998 meters 0.015585586871624722 Centerline is valid? [True, True] Translation: X:92.96, Y:6.69, Z:3.69 [[ 9.93448636e-01 -1.03681975e-01 -4.80609519e-02 9.29567973e+01] [ 1.03625907e-01 9.94609597e-01 -3.66349369e-03 6.68880549e+00] [ 4.81817223e-02 -1.34086693e-03 9.98837686e-01 3.69153258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96509989299997 meters 0.017130368410103302 Centerline is valid? [True, True] Translation: X:93.02, Y:6.69, Z:3.69 [[ 9.92649642e-01 -1.10906252e-01 -4.84405955e-02 9.30174662e+01] [ 1.10857882e-01 9.93829410e-01 -3.69231619e-03 6.69256650e+00] [ 4.85511894e-02 -1.70484547e-03 9.98819241e-01 3.69461870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02509989299998 meters 0.018920134693158 Centerline is valid? [True, True] Translation: X:93.08, Y:6.70, Z:3.70 [[ 9.92201120e-01 -1.15023037e-01 -4.80274692e-02 9.30781996e+01] [ 1.14980349e-01 9.93361025e-01 -3.65979955e-03 6.69741914e+00] [ 4.81295773e-02 -1.89095797e-03 9.98839310e-01 3.69779564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08509989299998 meters 0.01821785068075235 Centerline is valid? [True, True] Translation: X:93.14, Y:6.71, Z:3.70 [[ 9.92701381e-01 -1.10900130e-01 -4.73828002e-02 9.31385317e+01] [ 1.10853992e-01 9.93830152e-01 -3.60851808e-03 6.70513260e+00] [ 4.74906406e-02 -1.67039167e-03 9.98870286e-01 3.70092200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14509989299998 meters 0.018132763623061175 Centerline is valid? [True, True] Translation: X:93.20, Y:6.71, Z:3.70 [[ 9.92805563e-01 -1.10018440e-01 -4.72552351e-02 9.32005816e+01] [ 1.09971644e-01 9.93928217e-01 -3.59690806e-03 6.71040679e+00] [ 4.73640377e-02 -1.62570554e-03 9.98876371e-01 3.70386082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.20509989299998 meters 0.016668784942626913 Centerline is valid? [True, True] Translation: X:93.26, Y:6.72, Z:3.71 [[ 9.92724974e-01 -1.09978029e-01 -4.90097827e-02 9.32622747e+01] [ 1.09927823e-01 9.93932585e-01 -3.72683221e-03 6.71759311e+00] [ 4.91222897e-02 -1.68781930e-03 9.98791346e-01 3.70580546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26509989299998 meters 0.018771584885261493 Centerline is valid? [True, True] Translation: X:93.32, Y:6.72, Z:3.71 [[ 9.92727168e-01 -1.09908303e-01 -4.91216302e-02 9.33248202e+01] [ 1.09857969e-01 9.93940291e-01 -3.73155664e-03 6.71908223e+00] [ 4.92340965e-02 -1.69198486e-03 9.98785833e-01 3.70765270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32509989299997 meters 0.01686225051019006 Centerline is valid? [True, True] Translation: X:93.39, Y:6.73, Z:3.71 [[ 9.92753889e-01 -1.09455732e-01 -4.95899009e-02 9.33866681e+01] [ 1.09404092e-01 9.93990235e-01 -3.76267315e-03 6.72767336e+00] [ 4.97037234e-02 -1.68992970e-03 9.98762576e-01 3.71130384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38509989299997 meters 0.017172220009478427 Centerline is valid? [True, True] Translation: X:93.45, Y:6.73, Z:3.71 [[ 9.92882672e-01 -1.08559407e-01 -4.89781094e-02 9.34489509e+01] [ 1.08508119e-01 9.94088630e-01 -3.71269704e-03 6.73254508e+00] [ 4.90916298e-02 -1.62824998e-03 9.98792952e-01 3.71487855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44509989299998 meters 0.017076423919178022 Centerline is valid? [True, True] Translation: X:93.51, Y:6.74, Z:3.72 [[ 9.92984519e-01 -1.08181320e-01 -4.77341380e-02 9.35109029e+01] [ 1.08132328e-01 9.94129937e-01 -3.61504010e-03 6.73677178e+00] [ 4.78450154e-02 -1.57192460e-03 9.98853535e-01 3.71962335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.50509989299998 meters 0.017626307425784988 Centerline is valid? [True, True] Translation: X:93.57, Y:6.74, Z:3.72 [[ 9.92932424e-01 -1.08962683e-01 -4.70354771e-02 9.35733928e+01] [ 1.08916147e-01 9.94044570e-01 -3.55879340e-03 6.73837672e+00] [ 4.71431363e-02 -1.58928156e-03 9.98886880e-01 3.72394623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56509989299998 meters 0.01666928635612814 Centerline is valid? [True, True] Translation: X:93.64, Y:6.74, Z:3.73 [[ 9.92943988e-01 -1.08196183e-01 -4.85368206e-02 9.36351410e+01] [ 1.08145890e-01 9.94128264e-01 -3.66881264e-03 6.74218802e+00] [ 4.86487767e-02 -1.60613222e-03 9.98814656e-01 3.72641818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62509989299998 meters 0.016793191736234513 Centerline is valid? [True, True] Translation: X:93.70, Y:6.75, Z:3.73 [[ 9.93117570e-01 -1.06011568e-01 -4.97899592e-02 9.36963609e+01] [ 1.05956080e-01 9.94363702e-01 -3.75999309e-03 6.74533116e+00] [ 4.99079309e-02 -1.54143372e-03 9.98752633e-01 3.72750578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68509989299999 meters 0.013322887709085395 Centerline is valid? [True, True] Translation: X:93.76, Y:6.76, Z:3.73 [[ 9.93785139e-01 -9.87950293e-02 -5.12897536e-02 9.37566668e+01] [ 9.87266730e-02 9.95107060e-01 -3.87076645e-03 6.75507575e+00] [ 5.14212084e-02 -1.21695656e-03 9.98676313e-01 3.72968000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74509989299997 meters 0.011895176956596323 Centerline is valid? [True, True] Translation: X:93.82, Y:6.76, Z:3.73 [[ 9.94525785e-01 -9.11380102e-02 -5.11109252e-02 9.38165555e+01] [ 9.10600694e-02 9.95837935e-01 -3.85633533e-03 6.76368820e+00] [ 5.12496569e-02 -8.18939475e-04 9.98685537e-01 3.73210372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80509989299998 meters 0.01024377139862753 Centerline is valid? [True, True] Translation: X:93.88, Y:6.78, Z:3.73 [[ 9.95857108e-01 -7.45948323e-02 -5.20022216e-02 9.38758311e+01] [ 7.44916311e-02 9.97213924e-01 -3.92262208e-03 6.77884481e+00] [ 5.21499468e-02 3.26407645e-05 9.98639265e-01 3.73350800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86509989299998 meters 0.01059891537085393 Centerline is valid? [True, True] Translation: X:93.94, Y:6.79, Z:3.74 [[ 9.96552827e-01 -6.60852056e-02 -5.01518572e-02 9.39357216e+01] [ 6.59784840e-02 9.97813877e-01 -3.78232200e-03 6.78835245e+00] [ 5.02921746e-02 4.60340179e-04 9.98734442e-01 3.73815634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92509989299998 meters 0.011056349458848614 Centerline is valid? [True, True] Translation: X:93.99, Y:6.79, Z:3.74 [[ 9.96859826e-01 -6.27892775e-02 -4.82492920e-02 9.39948104e+01] [ 6.26866353e-02 9.98026624e-01 -3.63906553e-03 6.79470604e+00] [ 4.83825723e-02 6.03052465e-04 9.98828696e-01 3.74265870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98509989299998 meters 0.010450544427924018 Centerline is valid? [True, True] Translation: X:94.05, Y:6.79, Z:3.75 [[ 9.96612814e-01 -6.69909271e-02 -4.76981638e-02 9.40536585e+01] [ 6.68952844e-02 9.97753505e-01 -3.60044828e-03 6.79453137e+00] [ 4.78322075e-02 3.97470660e-04 9.98855306e-01 3.74535134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04509989299999 meters 0.009886673619052095 Centerline is valid? [True, True] Translation: X:94.11, Y:6.79, Z:3.75 [[ 9.95813155e-01 -7.82507873e-02 -4.72543557e-02 9.41135505e+01] [ 7.81690253e-02 9.96933698e-01 -3.57857004e-03 6.78797868e+00] [ 4.73894855e-02 -1.30239806e-04 9.98876479e-01 3.74784421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10509989299997 meters 0.010966040873049797 Centerline is valid? [True, True] Translation: X:94.18, Y:6.78, Z:3.75 [[ 9.95068719e-01 -8.75990370e-02 -4.65258300e-02 9.41752973e+01] [ 8.75295424e-02 9.96155660e-01 -3.53280766e-03 6.78273087e+00] [ 4.66564394e-02 -5.56998212e-04 9.98910840e-01 3.75066035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16509989299998 meters 0.015171298191643121 Centerline is valid? [True, True] Translation: X:94.24, Y:6.77, Z:3.75 [[ 9.93473740e-01 -1.03798759e-01 -4.72836670e-02 9.42371935e+01] [ 1.03745354e-01 9.94597417e-01 -3.58882845e-03 6.76876019e+00] [ 4.74007290e-02 -1.34005393e-03 9.98875055e-01 3.75263906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22509989299998 meters 0.018233532918582415 Centerline is valid? [True, True] Translation: X:94.30, Y:6.76, Z:3.75 [[ 9.92632096e-01 -1.11436999e-01 -4.75743372e-02 9.42983348e+01] [ 1.11391694e-01 9.93770020e-01 -3.61073631e-03 6.76255158e+00] [ 4.76803196e-02 -1.71525326e-03 9.98861174e-01 3.75483475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28509989299998 meters 0.018032342195903092 Centerline is valid? [True, True] Translation: X:94.36, Y:6.76, Z:3.76 [[ 9.92400722e-01 -1.13405332e-01 -4.77497314e-02 9.43601259e+01] [ 1.13361990e-01 9.93547145e-01 -3.62354268e-03 6.76213308e+00] [ 4.78525384e-02 -1.81699820e-03 9.98852758e-01 3.75668840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34509989299998 meters 0.01771112239232966 Centerline is valid? [True, True] Translation: X:94.42, Y:6.76, Z:3.76 [[ 9.92777737e-01 -1.09576099e-01 -4.88409960e-02 9.44208948e+01] [ 1.09526255e-01 9.93977003e-01 -3.70374880e-03 6.76394506e+00] [ 4.89526692e-02 -1.67237204e-03 9.98799699e-01 3.75780084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40509989299998 meters 0.014924461386373784 Centerline is valid? [True, True] Translation: X:94.48, Y:6.77, Z:3.76 [[ 9.93673790e-01 -1.00623421e-01 -4.98731046e-02 9.44807249e+01] [ 1.00560258e-01 9.94923787e-01 -3.78043367e-03 6.77247849e+00] [ 5.00003383e-02 -1.25873442e-03 9.98748408e-01 3.75934089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46509989299997 meters 0.011329654960315386 Centerline is valid? [True, True] Translation: X:94.54, Y:6.79, Z:3.76 [[ 9.94691344e-01 -8.94329856e-02 -5.09006004e-02 9.45408707e+01] [ 8.93525608e-02 9.95992588e-01 -3.85795024e-03 6.78520720e+00] [ 5.10416487e-02 -7.10629286e-04 9.98696273e-01 3.76098449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52509989299998 meters 0.010191621193701306 Centerline is valid? [True, True] Translation: X:94.60, Y:6.80, Z:3.76 [[ 9.95598421e-01 -7.92362285e-02 -5.00540184e-02 9.46011153e+01] [ 7.91456147e-02 9.96855850e-01 -3.79288101e-03 6.79510142e+00] [ 5.01971747e-02 -1.85369711e-04 9.98739310e-01 3.76352646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58509989299998 meters 0.010343169994220587 Centerline is valid? [True, True] Translation: X:94.66, Y:6.80, Z:3.76 [[ 9.96060468e-01 -7.30330006e-02 -5.02963658e-02 9.46589056e+01] [ 7.29336158e-02 9.97329517e-01 -3.81092469e-03 6.80313036e+00] [ 5.04403734e-02 1.27615612e-04 9.98727066e-01 3.76467425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.64509989299998 meters 0.010301543846925604 Centerline is valid? [True, True] Translation: X:94.72, Y:6.81, Z:3.77 [[ 9.96031885e-01 -7.38639274e-02 -4.96447859e-02 9.47169961e+01] [ 7.37679252e-02 9.97268325e-01 -3.76574407e-03 6.80673339e+00] [ 4.97873251e-02 8.86083064e-05 9.98759838e-01 3.76713741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70509989299998 meters 0.010258819080660857 Centerline is valid? [True, True] Translation: X:94.78, Y:6.81, Z:3.77 [[ 9.95560312e-01 -8.10930233e-02 -4.77868986e-02 9.47756395e+01] [ 8.10118410e-02 9.96706506e-01 -3.63635848e-03 6.80617062e+00] [ 4.79243960e-02 -2.51090449e-04 9.98850934e-01 3.77179766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76509989299998 meters 0.011666931941363817 Centerline is valid? [True, True] Translation: X:94.84, Y:6.80, Z:3.78 [[ 9.94722756e-01 -9.19257477e-02 -4.55663886e-02 9.48360810e+01] [ 9.18628191e-02 9.95765599e-01 -3.47757798e-03 6.80334973e+00] [ 4.56931212e-02 -7.26630964e-04 9.98955260e-01 3.77601362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82509989299997 meters 0.014699190205331081 Centerline is valid? [True, True] Translation: X:94.90, Y:6.80, Z:3.78 [[ 9.93615644e-01 -1.03602022e-01 -4.46606434e-02 9.48970902e+01] [ 1.03553310e-01 9.94618062e-01 -3.40913069e-03 6.79870963e+00] [ 4.47734755e-02 -1.23739185e-03 9.98996399e-01 3.77808101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88509989299997 meters 0.01924256178417953 Centerline is valid? [True, True] Translation: X:94.96, Y:6.79, Z:3.78 [[ 9.92396845e-01 -1.14287330e-01 -4.56826877e-02 9.49572234e+01] [ 1.14247658e-01 9.93446180e-01 -3.48699935e-03 6.79379418e+00] [ 4.57818114e-02 -1.75865294e-03 9.98949915e-01 3.77901812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94509989299998 meters 0.020437336354255136 Centerline is valid? [True, True] Translation: X:95.02, Y:6.80, Z:3.78 [[ 9.91475104e-01 -1.22188107e-01 -4.52458330e-02 9.50173577e+01] [ 1.22157373e-01 9.92504733e-01 -3.45402273e-03 6.79607193e+00] [ 4.53287439e-02 -2.10253456e-03 9.98969912e-01 3.78200883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00509989299998 meters 0.022397545173998373 Centerline is valid? [True, True] Translation: X:95.08, Y:6.80, Z:3.78 [[ 9.90901306e-01 -1.26800556e-01 -4.51245070e-02 9.50779074e+01] [ 1.26774762e-01 9.91925549e-01 -3.44456297e-03 6.79960792e+00] [ 4.51969239e-02 -2.30742669e-03 9.98975432e-01 3.78465594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06509989299998 meters 0.02624224960955943 Centerline is valid? [True, True] Translation: X:95.14, Y:6.80, Z:3.79 [[ 9.90718308e-01 -1.28381816e-01 -4.46692780e-02 9.51392436e+01] [ 1.28358187e-01 9.91722015e-01 -3.40876829e-03 6.80000575e+00] [ 4.47371302e-02 -2.35653841e-03 9.98996014e-01 3.78715052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12509989299998 meters 0.02379349448824958 Centerline is valid? [True, True] Translation: X:95.20, Y:6.81, Z:3.79 [[ 9.90894669e-01 -1.27533868e-01 -4.31609494e-02 9.52008416e+01] [ 1.27511188e-01 9.91831678e-01 -3.28939737e-03 6.81150211e+00] [ 4.32279065e-02 -2.24405763e-03 9.99062717e-01 3.79007362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18509989299997 meters 0.022753349276758806 Centerline is valid? [True, True] Translation: X:95.26, Y:6.82, Z:3.79 [[ 9.91007383e-01 -1.26654119e-01 -4.31636455e-02 9.52627630e+01] [ 1.26630741e-01 9.91944482e-01 -3.28644588e-03 6.81882258e+00] [ 4.32321819e-02 -2.20895230e-03 9.99062610e-01 3.79281304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24509989299997 meters 0.022690444481613403 Centerline is valid? [True, True] Translation: X:95.32, Y:6.83, Z:3.79 [[ 9.91330973e-01 -1.23721451e-01 -4.42256013e-02 9.53237038e+01] [ 1.23694144e-01 9.92314689e-01 -3.36404750e-03 6.82707463e+00] [ 4.43019187e-02 -2.13556342e-03 9.99015905e-01 3.79471720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30509989299998 meters 0.019444151757884186 Centerline is valid? [True, True] Translation: X:95.38, Y:6.84, Z:3.80 [[ 9.91739230e-01 -1.19898297e-01 -4.55817793e-02 9.53840903e+01] [ 1.19865338e-01 9.92784111e-01 -3.46556494e-03 6.83994543e+00] [ 4.56683816e-02 -2.02673867e-03 9.98954599e-01 3.79648339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36509989299998 meters 0.017374928770043613 Centerline is valid? [True, True] Translation: X:95.44, Y:6.85, Z:3.80 [[ 9.92412895e-01 -1.13608386e-01 -4.70083000e-02 9.54444079e+01] [ 1.13566329e-01 9.93523991e-01 -3.57315191e-03 6.85248199e+00] [ 4.71098139e-02 -1.79251803e-03 9.98888108e-01 3.79823355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.42509989299998 meters 0.015049818564903054 Centerline is valid? [True, True] Translation: X:95.50, Y:6.87, Z:3.80 [[ 9.93505407e-01 -1.03725085e-01 -4.67772671e-02 9.55025659e+01] [ 1.03672513e-01 9.94605133e-01 -3.55513010e-03 6.86704911e+00] [ 4.68936662e-02 -1.31747587e-03 9.98899018e-01 3.80088415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48509989299998 meters 0.011204835455582506 Centerline is valid? [True, True] Translation: X:95.56, Y:6.89, Z:3.80 [[ 9.94945770e-01 -8.95239465e-02 -4.54794108e-02 9.55620265e+01] [ 8.94593755e-02 9.95984472e-01 -3.45724084e-03 6.88582390e+00] [ 4.56062928e-02 -6.28792533e-04 9.98959294e-01 3.80467507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54509989299999 meters 0.009990447432482117 Centerline is valid? [True, True] Translation: X:95.62, Y:6.90, Z:3.81 [[ 9.96226666e-01 -7.51542086e-02 -4.34082443e-02 9.56219132e+01] [ 7.50817417e-02 9.97171923e-01 -3.29968576e-03 6.90337501e+00] [ 4.35334678e-02 2.80683536e-05 9.99051969e-01 3.80917417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60509989299997 meters 0.010861113853448994 Centerline is valid? [True, True] Translation: X:95.68, Y:6.92, Z:3.81 [[ 9.96966894e-01 -6.35568087e-02 -4.49170878e-02 9.56823370e+01] [ 6.34675175e-02 9.97978070e-01 -3.41267635e-03 6.91759696e+00] [ 4.50431674e-02 5.51549286e-04 9.98984889e-01 3.81039471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66509989299998 meters 0.011417577062640643 Centerline is valid? [True, True] Translation: X:95.74, Y:6.92, Z:3.81 [[ 9.97018178e-01 -6.24667961e-02 -4.53062027e-02 9.57413908e+01] [ 6.23748954e-02 9.98046860e-01 -3.44070099e-03 6.92389535e+00] [ 4.54326429e-02 6.04471775e-04 9.98967221e-01 3.81174895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72509989299998 meters 0.010643305402390866 Centerline is valid? [True, True] Translation: X:95.80, Y:6.93, Z:3.81 [[ 9.96874655e-01 -6.49037278e-02 -4.50380758e-02 9.58010336e+01] [ 6.48153865e-02 9.97891410e-01 -3.42058020e-03 6.92618887e+00] [ 4.51651173e-02 4.90729416e-04 9.98979415e-01 3.81428738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78509989299998 meters 0.010127836714857829 Centerline is valid? [True, True] Translation: X:95.86, Y:6.93, Z:3.82 [[ 9.96569116e-01 -7.03848827e-02 -4.35426916e-02 9.58620492e+01] [ 7.03074751e-02 9.97519881e-01 -3.30851177e-03 6.92808787e+00] [ 4.36675698e-02 2.35783941e-04 9.99046089e-01 3.81751340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84509989299998 meters 0.009992048873697796 Centerline is valid? [True, True] Translation: X:95.92, Y:6.93, Z:3.82 [[ 9.96054276e-01 -7.76741142e-02 -4.29256533e-02 9.59235672e+01] [ 7.76056387e-02 9.96978799e-01 -3.26184601e-03 6.92880937e+00] [ 4.30493273e-02 -8.22970761e-05 9.99072945e-01 3.82082563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90509989299998 meters 0.01078577125470451 Centerline is valid? [True, True] Translation: X:95.98, Y:6.93, Z:3.82 [[ 9.95439462e-01 -8.53791767e-02 -4.25520003e-02 9.59843998e+01] [ 8.53189867e-02 9.96348446e-01 -3.23189903e-03 6.92799496e+00] [ 4.26725562e-02 -4.13333716e-04 9.99089026e-01 3.82329183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96509989299997 meters 0.012324700994967066 Centerline is valid? [True, True] Translation: X:96.05, Y:6.93, Z:3.83 [[ 9.94900635e-01 -9.21748927e-02 -4.09452747e-02 9.60468330e+01] [ 9.21249694e-02 9.95742601e-01 -3.10846114e-03 6.92548817e+00] [ 4.10574764e-02 -6.79472214e-04 9.99156555e-01 3.82576547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02509989299998 meters 0.013710750197472202 Centerline is valid? [True, True] Translation: X:96.11, Y:6.92, Z:3.83 [[ 9.94410135e-01 -9.79162435e-02 -3.95081405e-02 9.61086473e+01] [ 9.78743981e-02 9.95194264e-01 -2.99660899e-03 6.92426359e+00] [ 3.96116915e-02 -8.86977124e-04 9.99214755e-01 3.82840140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08509989299998 meters 0.014505965965413599 Centerline is valid? [True, True] Translation: X:96.17, Y:6.92, Z:3.83 [[ 9.93777303e-01 -1.03375027e-01 -4.14762165e-02 9.61701545e+01] [ 1.03333752e-01 9.94641772e-01 -3.14353960e-03 6.92341820e+00] [ 4.15789409e-02 -1.16191478e-03 9.99134546e-01 3.82781562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.14509989299998 meters 0.014790361270761079 Centerline is valid? [True, True] Translation: X:96.23, Y:6.93, Z:3.83 [[ 9.93733720e-01 -1.03525237e-01 -4.21404683e-02 9.62325446e+01] [ 1.03482832e-01 9.94626117e-01 -3.19229182e-03 6.92544233e+00] [ 4.22444931e-02 -1.18852697e-03 9.99106596e-01 3.82931579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20509989299998 meters 0.013386671296659658 Centerline is valid? [True, True] Translation: X:96.29, Y:6.93, Z:3.83 [[ 9.94265214e-01 -9.80043000e-02 -4.28000277e-02 9.62936030e+01] [ 9.79555812e-02 9.95185517e-01 -3.23908772e-03 6.93274902e+00] [ 4.29114122e-02 -9.71989352e-04 9.99078408e-01 3.83114322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26509989299998 meters 0.011854623247058061 Centerline is valid? [True, True] Translation: X:96.35, Y:6.94, Z:3.83 [[ 9.94822891e-01 -9.19306372e-02 -4.33148289e-02 9.63541002e+01] [ 9.18750542e-02 9.95765153e-01 -3.27643093e-03 6.94166497e+00] [ 4.34326016e-02 -7.20083759e-04 9.99056100e-01 3.83363580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32509989299997 meters 0.010818469234171334 Centerline is valid? [True, True] Translation: X:96.41, Y:6.95, Z:3.84 [[ 9.95394273e-01 -8.53886227e-02 -4.35777944e-02 9.64148211e+01] [ 8.53261647e-02 9.96347625e-01 -3.29470084e-03 6.95113764e+00] [ 4.36999619e-02 -4.38799711e-04 9.99044604e-01 3.83611443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38509989299997 meters 0.010101236553726065 Centerline is valid? [True, True] Translation: X:96.48, Y:6.96, Z:3.84 [[ 9.96005296e-01 -7.69450634e-02 -4.53090151e-02 9.64766178e+01] [ 7.68688892e-02 9.97035331e-01 -3.42373296e-03 6.96041095e+00] [ 4.54381283e-02 -7.27975099e-05 9.98967152e-01 3.83736777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44509989299998 meters 0.010271847349426422 Centerline is valid? [True, True] Translation: X:96.54, Y:6.97, Z:3.84 [[ 9.96284961e-01 -7.24758270e-02 -4.65137645e-02 9.65362789e+01] [ 7.23908272e-02 9.97370161e-01 -3.51153516e-03 6.96669058e+00] [ 4.66459422e-02 1.31319790e-04 9.98911477e-01 3.83890266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50509989299998 meters 0.010267307625948331 Centerline is valid? [True, True] Translation: X:96.60, Y:6.97, Z:3.84 [[ 9.96214869e-01 -7.32016133e-02 -4.68770565e-02 9.65954649e+01] [ 7.31161102e-02 9.97317158e-01 -3.53837985e-03 6.96917581e+00] [ 4.70103079e-02 9.75185846e-05 9.98894400e-01 3.84128557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56509989299998 meters 0.01021042617426983 Centerline is valid? [True, True] Translation: X:96.65, Y:6.97, Z:3.84 [[ 9.95972093e-01 -7.61101209e-02 -4.74008350e-02 9.66547708e+01] [ 7.60259060e-02 9.97099417e-01 -3.57961019e-03 6.97084173e+00] [ 4.75357895e-02 -3.84995724e-05 9.98869535e-01 3.84322308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62509989299998 meters 0.01036425349067404 Centerline is valid? [True, True] Translation: X:96.72, Y:6.97, Z:3.85 [[ 9.95603393e-01 -8.10011755e-02 -4.70392848e-02 9.67153742e+01] [ 8.09236250e-02 9.96713970e-01 -3.55378789e-03 6.97168132e+00] [ 4.71725732e-02 -2.68426154e-04 9.98886718e-01 3.84542321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68509989299997 meters 0.011552137173332786 Centerline is valid? [True, True] Translation: X:96.78, Y:6.97, Z:3.85 [[ 9.94913115e-01 -9.01885719e-02 -4.48766587e-02 9.67768796e+01] [ 9.01273289e-02 9.95924480e-01 -3.39029339e-03 6.97004405e+00] [ 4.49995287e-02 -6.71566018e-04 9.98986782e-01 3.84938085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74509989299997 meters 0.01451854311980261 Centerline is valid? [True, True] Translation: X:96.84, Y:6.97, Z:3.85 [[ 9.93731499e-01 -1.02584104e-01 -4.44320865e-02 9.68378055e+01] [ 1.02536500e-01 9.94723584e-01 -3.35518203e-03 6.96643076e+00] [ 4.45418327e-02 -1.22176057e-03 9.99006773e-01 3.85232666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80509989299998 meters 0.0179801689422374 Centerline is valid? [True, True] Translation: X:96.90, Y:6.96, Z:3.85 [[ 9.92347147e-01 -1.15058830e-01 -4.48174797e-02 9.68989160e+01] [ 1.15023088e-01 9.93357054e-01 -3.38409633e-03 6.96403189e+00] [ 4.49091298e-02 -1.79684659e-03 9.98989460e-01 3.85447340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86509989299998 meters 0.020998987095151255 Centerline is valid? [True, True] Translation: X:96.96, Y:6.96, Z:3.86 [[ 9.91703016e-01 -1.19791727e-01 -4.66376514e-02 9.69589577e+01] [ 1.19758270e-01 9.92796837e-01 -3.52097430e-03 6.96202546e+00] [ 4.67234964e-02 -2.09348361e-03 9.98905667e-01 3.85505163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92509989299998 meters 0.02399269361514317 Centerline is valid? [True, True] Translation: X:97.02, Y:6.96, Z:3.86 [[ 9.91598705e-01 -1.20736262e-01 -4.64194329e-02 9.70205713e+01] [ 1.20704160e-01 9.92682339e-01 -3.50425521e-03 6.96249863e+00] [ 4.65028419e-02 -2.12820375e-03 9.98915891e-01 3.85794918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98509989299998 meters 0.02143642228954063 Centerline is valid? [True, True] Translation: X:97.08, Y:6.97, Z:3.86 [[ 9.91515923e-01 -1.21460969e-01 -4.62969463e-02 9.70821301e+01] [ 1.21429944e-01 9.92593860e-01 -3.49243522e-03 6.97076229e+00] [ 4.63782593e-02 -2.15903047e-03 9.98921616e-01 3.86123265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04509989299999 meters 0.022457780760478514 Centerline is valid? [True, True] Translation: X:97.14, Y:6.97, Z:3.86 [[ 9.91335521e-01 -1.22066253e-01 -4.85150908e-02 9.71444159e+01] [ 1.22033090e-01 9.92519299e-01 -3.65606734e-03 6.97271570e+00] [ 4.85984463e-02 -2.29605703e-03 9.98815758e-01 3.86092190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10509989299997 meters 0.02143579188852799 Centerline is valid? [True, True] Translation: X:97.21, Y:6.98, Z:3.86 [[ 9.91367368e-01 -1.21427743e-01 -4.94575086e-02 9.72064945e+01] [ 1.21392669e-01 9.92597580e-01 -3.72344931e-03 6.97900783e+00] [ 4.95435334e-02 -2.31247283e-03 9.98769288e-01 3.86259182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16509989299998 meters 0.022534361007507126 Centerline is valid? [True, True] Translation: X:97.27, Y:6.98, Z:3.87 [[ 9.91632203e-01 -1.19201227e-01 -4.95645103e-02 9.72669470e+01] [ 1.19163394e-01 9.92867658e-01 -3.72815805e-03 6.98431478e+00] [ 4.96554003e-02 -2.20931367e-03 9.98763966e-01 3.86509275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22509989299998 meters 0.0180517413065681 Centerline is valid? [True, True] Translation: X:97.33, Y:7.00, Z:3.87 [[ 9.92195172e-01 -1.14636101e-01 -4.90642960e-02 9.73264932e+01] [ 1.14593536e-01 9.93405614e-01 -3.68890275e-03 6.99919808e+00] [ 4.91636285e-02 -1.96233966e-03 9.98788810e-01 3.86939236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28509989299998 meters 0.01777592351442871 Centerline is valid? [True, True] Translation: X:97.39, Y:7.01, Z:3.87 [[ 9.92720080e-01 -1.10340164e-01 -4.82896535e-02 9.73853340e+01] [ 1.10293888e-01 9.93892389e-01 -3.63001308e-03 7.00716029e+00] [ 4.83952553e-02 -1.72246675e-03 9.98826778e-01 3.87228768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34509989299998 meters 0.016752301573339453 Centerline is valid? [True, True] Translation: X:97.45, Y:7.02, Z:3.88 [[ 9.93129457e-01 -1.06357815e-01 -4.88046770e-02 9.74466687e+01] [ 1.06305725e-01 9.94326722e-01 -3.66912779e-03 7.01607005e+00] [ 4.89180349e-02 -1.54429770e-03 9.98801602e-01 3.87518740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40509989299998 meters 0.014311425384731243 Centerline is valid? [True, True] Translation: X:97.51, Y:7.03, Z:3.88 [[ 9.93709362e-01 -1.00396330e-01 -4.96213804e-02 9.75063221e+01] [ 1.00335171e-01 9.94946709e-01 -3.72822967e-03 7.02780258e+00] [ 4.97449297e-02 -1.27399296e-03 9.98761142e-01 3.87827193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46509989299997 meters 0.012869518334998564 Centerline is valid? [True, True] Translation: X:97.57, Y:7.04, Z:3.88 [[ 9.94208881e-01 -9.53510102e-02 -4.95669784e-02 9.75673918e+01] [ 9.52837396e-02 9.95443189e-01 -3.72372089e-03 7.03747800e+00] [ 4.96961716e-02 -1.02077068e-03 9.98763860e-01 3.88139298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52509989299998 meters 0.011395930986756241 Centerline is valid? [True, True] Translation: X:97.63, Y:7.05, Z:3.88 [[ 9.94880250e-01 -8.81903735e-02 -4.93532726e-02 9.76282317e+01] [ 8.81150001e-02 9.96103418e-01 -3.70510498e-03 7.04780002e+00] [ 4.94877181e-02 -6.62627849e-04 9.98774512e-01 3.88398683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58509989299998 meters 0.010761026807138021 Centerline is valid? [True, True] Translation: X:97.69, Y:7.06, Z:3.89 [[ 9.95411240e-01 -8.27964153e-02 -4.79710103e-02 9.76880634e+01] [ 8.27190213e-02 9.96566408e-01 -3.59972850e-03 7.05578486e+00] [ 4.81043420e-02 -3.84904814e-04 9.98842242e-01 3.88621037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64509989299998 meters 0.010787953649941713 Centerline is valid? [True, True] Translation: X:97.75, Y:7.06, Z:3.89 [[ 9.95398058e-01 -8.27685869e-02 -4.82914894e-02 9.77490191e+01] [ 8.26901702e-02 9.96568719e-01 -3.62278725e-03 7.06019997e+00] [ 4.84256407e-02 -3.87116081e-04 9.98826715e-01 3.88809637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70509989299998 meters 0.01169601397985712 Centerline is valid? [True, True] Translation: X:97.81, Y:7.06, Z:3.89 [[ 9.95088368e-01 -8.71747834e-02 -4.69009213e-02 9.78097034e+01] [ 8.71057822e-02 9.96192860e-01 -3.51690650e-03 7.05946244e+00] [ 4.70289485e-02 -5.85708688e-04 9.98893355e-01 3.89072189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76509989299998 meters 0.012436471034299026 Centerline is valid? [True, True] Translation: X:97.87, Y:7.06, Z:3.89 [[ 9.94682643e-01 -9.14377678e-02 -4.73874858e-02 9.78718264e+01] [ 9.13722136e-02 9.95810474e-01 -3.55224395e-03 7.06023973e+00] [ 4.75137640e-02 -7.96544072e-04 9.98870266e-01 3.89305346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82509989299997 meters 0.014762330688652158 Centerline is valid? [True, True] Translation: X:97.93, Y:7.06, Z:3.90 [[ 9.94025170e-01 -9.85069373e-02 -4.70142970e-02 9.79321909e+01] [ 9.84504617e-02 9.95135724e-01 -3.52095905e-03 7.05610158e+00] [ 4.71324454e-02 -1.12865732e-03 9.98888011e-01 3.89534546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88509989299997 meters 0.015082348948996824 Centerline is valid? [True, True] Translation: X:97.99, Y:7.06, Z:3.90 [[ 9.93832512e-01 -1.01122519e-01 -4.55101453e-02 9.79941640e+01] [ 1.01072470e-01 9.94873238e-01 -3.40542681e-03 7.05798845e+00] [ 4.56211909e-02 -1.21539890e-03 9.98958072e-01 3.89884317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94509989299998 meters 0.01535777935279485 Centerline is valid? [True, True] Translation: X:98.06, Y:7.06, Z:3.90 [[ 9.93799715e-01 -1.02239688e-01 -4.36940843e-02 9.80560869e+01] [ 1.02194764e-01 9.94759046e-01 -3.26650475e-03 7.05997839e+00] [ 4.37990521e-02 -1.21905514e-03 9.99039617e-01 3.90197072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00509989299998 meters 0.014583427318257463 Centerline is valid? [True, True] Translation: X:98.12, Y:7.06, Z:3.91 [[ 9.94120960e-01 -9.98561292e-02 -4.18601307e-02 9.81180617e+01] [ 9.98129081e-02 9.95001311e-01 -3.12649430e-03 7.06485950e+00] [ 4.19630845e-02 -1.07006786e-03 9.99118589e-01 3.90539682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06509989299998 meters 0.013577252731344809 Centerline is valid? [True, True] Translation: X:98.18, Y:7.07, Z:3.91 [[ 9.94520061e-01 -9.60268306e-02 -4.13363777e-02 9.81796363e+01] [ 9.59815024e-02 9.95378339e-01 -3.08438943e-03 7.07106387e+00] [ 4.14415191e-02 -9.00040477e-04 9.99140526e-01 3.90852908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12509989299998 meters 0.012967807768925886 Centerline is valid? [True, True] Translation: X:98.24, Y:7.07, Z:3.91 [[ 9.94575762e-01 -9.44782270e-02 -4.35076826e-02 9.82421375e+01] [ 9.44266413e-02 9.95526537e-01 -3.24387559e-03 7.07453003e+00] [ 4.36195282e-02 -8.82004299e-04 9.99047826e-01 3.90891917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18509989299997 meters 0.013027347530288991 Centerline is valid? [True, True] Translation: X:98.30, Y:7.07, Z:3.91 [[ 9.94501218e-01 -9.47932528e-02 -4.45147918e-02 9.83048665e+01] [ 9.47397156e-02 9.95496556e-01 -3.31562199e-03 7.07496491e+00] [ 4.46286205e-02 -9.19928598e-04 9.99003223e-01 3.90971004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24509989299997 meters 0.013473980122401703 Centerline is valid? [True, True] Translation: X:98.37, Y:7.07, Z:3.91 [[ 9.94582682e-01 -9.38318100e-02 -4.47311877e-02 9.83665211e+01] [ 9.37769247e-02 9.95587670e-01 -3.32850083e-03 7.07436466e+00] [ 4.48461382e-02 -8.84283933e-04 9.98993514e-01 3.91218252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30509989299998 meters 0.012048062393168496 Centerline is valid? [True, True] Translation: X:98.43, Y:7.08, Z:3.92 [[ 9.94839591e-01 -9.07670372e-02 -4.53379892e-02 9.84284600e+01] [ 9.07075879e-02 9.95871864e-01 -3.37109947e-03 7.07953277e+00] [ 4.54568126e-02 -7.58796421e-04 9.98966017e-01 3.91601330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36509989299998 meters 0.011701609972744248 Centerline is valid? [True, True] Translation: X:98.49, Y:7.08, Z:3.92 [[ 9.95139249e-01 -8.75136663e-02 -4.51578796e-02 9.84887149e+01] [ 8.74514829e-02 9.96163132e-01 -3.35456191e-03 7.08151579e+00] [ 4.52781847e-02 -6.10867318e-04 9.98974230e-01 3.91821550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42509989299998 meters 0.01114191564467883 Centerline is valid? [True, True] Translation: X:98.55, Y:7.08, Z:3.92 [[ 9.95375647e-01 -8.51060004e-02 -4.45453678e-02 9.85495179e+01] [ 8.50431208e-02 9.96371780e-01 -3.30821531e-03 7.08399084e+00] [ 4.46652964e-02 -4.95360134e-04 9.99001885e-01 3.92136243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48509989299998 meters 0.010687260021557347 Centerline is valid? [True, True] Translation: X:98.61, Y:7.09, Z:3.93 [[ 9.95797585e-01 -8.10798474e-02 -4.25820125e-02 9.86102488e+01] [ 8.10187737e-02 9.96707563e-01 -3.16090926e-03 7.08831381e+00] [ 4.26980999e-02 -3.02316630e-04 9.99087975e-01 3.92593696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54509989299997 meters 0.010369035721684875 Centerline is valid? [True, True] Translation: X:98.67, Y:7.09, Z:3.93 [[ 9.96174683e-01 -7.67723842e-02 -4.17372981e-02 9.86717015e+01] [ 7.67099927e-02 9.97048638e-01 -3.09671333e-03 7.09261775e+00] [ 4.18518584e-02 -1.16800413e-04 9.99123820e-01 3.92961026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60509989299997 meters 0.010301154540378573 Centerline is valid? [True, True] Translation: X:98.73, Y:7.10, Z:3.93 [[ 9.96280676e-01 -7.47693520e-02 -4.28294142e-02 9.87333462e+01] [ 7.47018709e-02 9.97200854e-01 -3.17611745e-03 7.09554175e+00] [ 4.29470047e-02 -3.51329263e-05 9.99077351e-01 3.93148132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66509989299998 meters 0.010297769987460733 Centerline is valid? [True, True] Translation: X:98.79, Y:7.09, Z:3.93 [[ 9.96125196e-01 -7.50315170e-02 -4.58788106e-02 9.87933592e+01] [ 7.49544300e-02 9.97181161e-01 -3.40067774e-03 7.09476282e+00] [ 4.60046436e-02 -5.13193130e-05 9.98941225e-01 3.93073163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72509989299998 meters 0.01043194939273192 Centerline is valid? [True, True] Translation: X:98.85, Y:7.09, Z:3.93 [[ 9.95803871e-01 -7.79732049e-02 -4.79043779e-02 9.88525610e+01] [ 7.78924481e-02 9.96955436e-01 -3.55310147e-03 7.09267393e+00] [ 4.80355766e-02 -1.93197068e-04 9.98845607e-01 3.93165615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78509989299998 meters 0.010533392415537404 Centerline is valid? [True, True] Translation: X:98.91, Y:7.09, Z:3.93 [[ 9.95571854e-01 -8.05652556e-02 -4.84347262e-02 9.89115047e+01] [ 8.04851733e-02 9.96749288e-01 -3.60460236e-03 7.09302317e+00] [ 4.85676845e-02 -3.09636670e-04 9.98819846e-01 3.93441784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84509989299998 meters 0.010977603272953293 Centerline is valid? [True, True] Translation: X:98.97, Y:7.09, Z:3.94 [[ 9.95279382e-01 -8.48127596e-02 -4.71778207e-02 9.89704542e+01] [ 8.47409982e-02 9.96396785e-01 -3.52268649e-03 7.09038742e+00] [ 4.73065977e-02 -4.91838386e-04 9.98880295e-01 3.93854964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90509989299998 meters 0.012020625846830814 Centerline is valid? [True, True] Translation: X:99.03, Y:7.09, Z:3.94 [[ 9.94804735e-01 -9.08375679e-02 -4.59573299e-02 9.90298251e+01] [ 9.07753754e-02 9.95865442e-01 -3.44279022e-03 7.08723542e+00] [ 4.60800513e-02 -7.46889858e-04 9.98937471e-01 3.94295126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96509989299997 meters 0.014267286316785125 Centerline is valid? [True, True] Translation: X:99.09, Y:7.08, Z:3.95 [[ 9.94086296e-01 -9.87519722e-02 -4.51717162e-02 9.90905068e+01] [ 9.86995770e-02 9.95111487e-01 -3.39427056e-03 7.08222723e+00] [ 4.52860846e-02 -1.08423143e-03 9.98973471e-01 3.94602614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02509989299998 meters 0.015579574260678315 Centerline is valid? [True, True] Translation: X:99.15, Y:7.08, Z:3.95 [[ 9.93762679e-01 -1.01963286e-01 -4.51577994e-02 9.91511291e+01] [ 1.01914200e-01 9.94787403e-01 -3.39396986e-03 7.08243850e+00] [ 4.52684703e-02 -1.22942040e-03 9.98974101e-01 3.94782503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08509989299998 meters 0.019115308873570207 Centerline is valid? [True, True] Translation: X:99.21, Y:7.08, Z:3.95 [[ 9.92688415e-01 -1.11744325e-01 -4.56389801e-02 9.92118864e+01] [ 1.11704497e-01 9.93735548e-01 -3.43013323e-03 7.07657482e+00] [ 4.57363749e-02 -1.69302579e-03 9.98952110e-01 3.94913364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14509989299998 meters 0.022615698430270125 Centerline is valid? [True, True] Translation: X:99.27, Y:7.07, Z:3.95 [[ 9.91762736e-01 -1.19455016e-01 -4.62295977e-02 9.92728466e+01] [ 1.19422502e-01 9.92837446e-01 -3.47450810e-03 7.07290474e+00] [ 4.63135231e-02 -2.07496657e-03 9.98924798e-01 3.94986412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20509989299998 meters 0.02449409220549441 Centerline is valid? [True, True] Translation: X:99.33, Y:7.07, Z:3.95 [[ 9.91237135e-01 -1.23756903e-01 -4.61862567e-02 9.93330441e+01] [ 1.23729102e-01 9.92309961e-01 -3.47131682e-03 7.07300775e+00] [ 4.62606820e-02 -2.27368592e-03 9.98926814e-01 3.95183942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26509989299998 meters 0.023209692365459327 Centerline is valid? [True, True] Translation: X:99.39, Y:7.08, Z:3.95 [[ 9.91052717e-01 -1.25343060e-01 -4.58653353e-02 9.93930811e+01] [ 1.25317302e-01 9.92110722e-01 -3.44793345e-03 7.07896513e+00] [ 4.59356655e-02 -2.33063627e-03 9.98941681e-01 3.95364449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32509989299997 meters 0.023717097069139544 Centerline is valid? [True, True] Translation: X:99.45, Y:7.09, Z:3.96 [[ 9.91330367e-01 -1.23265643e-01 -4.54937805e-02 9.94531660e+01] [ 1.23238122e-01 9.92371236e-01 -3.41993686e-03 7.08597587e+00] [ 4.55682799e-02 -2.21628080e-03 9.98958768e-01 3.95671290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38509989299997 meters 0.02000085593814821 Centerline is valid? [True, True] Translation: X:99.51, Y:7.10, Z:3.96 [[ 9.92140501e-01 -1.16588889e-01 -4.54340995e-02 9.95123685e+01] [ 1.16554486e-01 9.93178429e-01 -3.41469509e-03 7.10096706e+00] [ 4.55222831e-02 -1.90769081e-03 9.98961502e-01 3.95990637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44509989299998 meters 0.017983977811699796 Centerline is valid? [True, True] Translation: X:99.57, Y:7.11, Z:3.96 [[ 9.92862955e-01 -1.10709636e-01 -4.43455750e-02 9.95719551e+01] [ 1.10671005e-01 9.93851508e-01 -3.33284602e-03 7.11239546e+00] [ 4.44418947e-02 -1.59871002e-03 9.99010692e-01 3.96361563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.50509989299998 meters 0.01442889704131882 Centerline is valid? [True, True] Translation: X:99.63, Y:7.13, Z:3.97 [[ 9.94030516e-01 -1.00454765e-01 -4.25696399e-02 9.96313174e+01] [ 1.00409765e-01 9.94941025e-01 -3.19937341e-03 7.12884227e+00] [ 4.26756734e-02 -1.09413273e-03 9.99088379e-01 3.96808304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56509989299998 meters 0.012267347432863812 Centerline is valid? [True, True] Translation: X:99.69, Y:7.14, Z:3.97 [[ 9.95095315e-01 -8.91008436e-02 -4.29692186e-02 9.96904186e+01] [ 8.90444079e-02 9.96022422e-01 -3.22940206e-03 7.14372276e+00] [ 4.30860476e-02 -6.12605767e-04 9.99071177e-01 3.96948759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62509989299998 meters 0.011007904557188175 Centerline is valid? [True, True] Translation: X:99.75, Y:7.16, Z:3.97 [[ 9.95721723e-01 -8.12876947e-02 -4.39381449e-02 9.97500294e+01] [ 8.12210772e-02 9.96690640e-01 -3.30222285e-03 7.15595575e+00] [ 4.40611678e-02 -2.80608425e-04 9.99028796e-01 3.97059256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68509989299997 meters 0.01095783840420539 Centerline is valid? [True, True] Translation: X:99.81, Y:7.17, Z:3.97 [[ 9.96600195e-01 -6.95159032e-02 -4.42220526e-02 9.98095481e+01] [ 6.94368283e-02 9.97580814e-01 -3.32356027e-03 7.17036624e+00] [ 4.43461115e-02 2.41621743e-04 9.99016198e-01 3.97195503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74509989299997 meters 0.012142925469961848 Centerline is valid? [True, True] Translation: X:99.87, Y:7.18, Z:3.97 [[ 9.97216367e-01 -6.00918775e-02 -4.41416429e-02 9.98679395e+01] [ 6.00038520e-02 9.98192632e-01 -3.31764024e-03 7.18263413e+00] [ 4.42612260e-02 6.59736538e-04 9.99019774e-01 3.97426387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80509989299998 meters 0.012947839765165841 Centerline is valid? [True, True] Translation: X:99.93, Y:7.19, Z:3.98 [[ 9.97437138e-01 -5.66428155e-02 -4.37120910e-02 9.99264210e+01] [ 5.65530662e-02 9.98394180e-01 -3.28808055e-03 7.19019150e+00] [ 4.38281434e-02 8.07600879e-04 9.99038759e-01 3.97644981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86509989299998 meters 0.0123638393583107 Centerline is valid? [True, True] Translation: X:99.99, Y:7.19, Z:3.98 [[ 9.97386949e-01 -5.89726513e-02 -4.17312933e-02 9.99851979e+01] [ 5.88924734e-02 9.98259365e-01 -3.14912543e-03 7.19200658e+00] [ 4.18443666e-02 6.83237527e-04 9.99123907e-01 3.97964781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.92509989299998 meters 0.011745858722330303 Centerline is valid? [True, True] Translation: X:100.04, Y:7.19, Z:3.98 [[ 9.97094331e-01 -6.46103278e-02 -4.03534452e-02 1.00043746e+02] [ 6.45395676e-02 9.97910472e-01 -3.05514809e-03 7.19271274e+00] [ 4.04665197e-02 4.41876935e-04 9.99180797e-01 3.98265651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98509989299998 meters 0.011044563688384194 Centerline is valid? [True, True] Translation: X:100.10, Y:7.19, Z:3.99 [[ 9.96143457e-01 -7.79858837e-02 -4.02046660e-02 1.00103198e+02] [ 7.79261140e-02 9.96954459e-01 -3.05402213e-03 7.18832513e+00] [ 4.03203916e-02 -9.07492210e-05 9.99186798e-01 3.98563265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04509989299997 meters 0.013538822883050854 Centerline is valid? [True, True] Translation: X:100.16, Y:7.18, Z:3.99 [[ 9.94691792e-01 -9.44458322e-02 -4.08438858e-02 1.00164646e+02] [ 9.43975516e-02 9.95529713e-01 -3.11337754e-03 7.17884736e+00] [ 4.09553474e-02 -7.58711731e-04 9.99160690e-01 3.98707596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10509989299997 meters 0.01947568013767929 Centerline is valid? [True, True] Translation: X:100.23, Y:7.17, Z:3.99 [[ 9.93133680e-01 -1.09859514e-01 -4.02042512e-02 1.00225174e+02] [ 1.09825359e-01 9.93946177e-01 -3.06387708e-03 7.16948219e+00] [ 4.02974578e-02 -1.37260681e-03 9.99186785e-01 3.98932534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16509989299998 meters 0.023373531571372754 Centerline is valid? [True, True] Translation: X:100.29, Y:7.17, Z:3.99 [[ 9.92252336e-01 -1.17762309e-01 -3.95896522e-02 1.00286082e+02] [ 1.17735454e-01 9.93040412e-01 -3.01725792e-03 7.16654592e+00] [ 3.96694437e-02 -1.66722446e-03 9.99211467e-01 3.99167147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22509989299998 meters 0.023746532660301703 Centerline is valid? [True, True] Translation: X:100.35, Y:7.17, Z:3.99 [[ 9.91299181e-01 -1.25362144e-01 -4.01281191e-02 1.00346106e+02] [ 1.25340765e-01 9.92109037e-01 -3.05814925e-03 7.16879793e+00] [ 4.01948457e-02 -1.99814830e-03 9.99189863e-01 3.99212467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28509989299998 meters 0.02478317485305501 Centerline is valid? [True, True] Translation: X:100.41, Y:7.17, Z:4.00 [[ 9.91143970e-01 -1.26841548e-01 -3.93046034e-02 1.00407684e+02] [ 1.26822165e-01 9.91920945e-01 -2.99618908e-03 7.17411201e+00] [ 3.93671006e-02 -2.01504017e-03 9.99222783e-01 3.99501626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34509989299998 meters 0.02400008867542377 Centerline is valid? [True, True] Translation: X:100.47, Y:7.18, Z:4.00 [[ 9.91371429e-01 -1.24899800e-01 -3.97835277e-02 1.00468855e+02] [ 1.24878502e-01 9.92167416e-01 -3.02970572e-03 7.18195745e+00] [ 3.98503295e-02 -1.96454364e-03 9.99203729e-01 3.99642263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40509989299998 meters 0.024345367830070873 Centerline is valid? [True, True] Translation: X:100.53, Y:7.19, Z:4.00 [[ 9.91540279e-01 -1.23426180e-01 -4.01727953e-02 1.00531264e+02] [ 1.23403314e-01 9.92351889e-01 -3.05796710e-03 7.18784265e+00] [ 4.02429825e-02 -1.92535851e-03 9.99188068e-01 3.99773903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46509989299997 meters 0.021424326219883372 Centerline is valid? [True, True] Translation: X:100.59, Y:7.20, Z:4.00 [[ 9.91856286e-01 -1.20141975e-01 -4.22730929e-02 1.00592168e+02] [ 1.20113849e-01 9.92754922e-01 -3.21388812e-03 7.20006063e+00] [ 4.23529439e-02 -1.88986876e-03 9.99100924e-01 3.99756787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52509989299998 meters 0.01829862102550731 Centerline is valid? [True, True] Translation: X:100.65, Y:7.21, Z:4.00 [[ 9.92441512e-01 -1.14331196e-01 -4.45894919e-02 1.00651739e+02] [ 1.14294195e-01 9.93441174e-01 -3.38676628e-03 7.21471485e+00] [ 4.46842502e-02 -1.73515261e-03 9.98999653e-01 3.99825790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58509989299998 meters 0.017208987834085386 Centerline is valid? [True, True] Translation: X:100.71, Y:7.23, Z:4.00 [[ 9.92998196e-01 -1.08887297e-01 -4.58054611e-02 1.00711220e+02] [ 1.08842466e-01 9.94052923e-01 -3.47912444e-03 7.22525120e+00] [ 4.59118849e-02 -1.53081506e-03 9.98944320e-01 4.00045138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64509989299998 meters 0.014098944331950091 Centerline is valid? [True, True] Translation: X:100.77, Y:7.24, Z:4.00 [[ 9.94172100e-01 -9.80952354e-02 -4.47119776e-02 1.00770109e+02] [ 9.80416070e-02 9.95176522e-01 -3.39606792e-03 7.24373072e+00] [ 4.48294485e-02 -1.00735817e-03 9.98994147e-01 4.00407775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70509989299998 meters 0.011520045382406741 Centerline is valid? [True, True] Translation: X:100.83, Y:7.26, Z:4.01 [[ 9.95420261e-01 -8.50118633e-02 -4.37205515e-02 1.00829894e+02] [ 8.49479645e-02 9.96379855e-01 -3.32070633e-03 7.26414869e+00] [ 4.38445762e-02 -4.08473488e-04 9.99038281e-01 4.00781088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76509989299998 meters 0.011143233140037364 Centerline is valid? [True, True] Translation: X:100.89, Y:7.28, Z:4.01 [[ 9.96347068e-01 -7.39761098e-02 -4.26621150e-02 1.00889692e+02] [ 7.39051847e-02 9.97260011e-01 -3.23945624e-03 7.28248198e+00] [ 4.27848636e-02 7.46712396e-05 9.99084306e-01 4.01068998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82509989299997 meters 0.011487206408048008 Centerline is valid? [True, True] Translation: X:100.95, Y:7.30, Z:4.01 [[ 9.96747581e-01 -6.88168791e-02 -4.19344266e-02 1.00950400e+02] [ 6.87440137e-02 9.97629268e-01 -3.17885075e-03 7.29596850e+00] [ 4.20537699e-02 2.85770996e-04 9.99115308e-01 4.01357405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88509989299997 meters 0.011433129106646091 Centerline is valid? [True, True] Translation: X:101.01, Y:7.30, Z:4.02 [[ 9.96780138e-01 -6.82598219e-02 -4.20708193e-02 1.01011774e+02] [ 6.81860499e-02 9.97667530e-01 -3.18766520e-03 7.30235760e+00] [ 4.21902799e-02 3.08758373e-04 9.99109546e-01 4.01634551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94509989299998 meters 0.011454095752164134 Centerline is valid? [True, True] Translation: X:101.07, Y:7.31, Z:4.02 [[ 9.96703571e-01 -6.98180679e-02 -4.13210353e-02 1.01072120e+02] [ 6.97483027e-02 9.97559713e-01 -3.12938359e-03 7.31127644e+00] [ 4.14386877e-02 2.36995725e-04 9.99141021e-01 4.01915966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.00509989299998 meters 0.011308571981153079 Centerline is valid? [True, True] Translation: X:101.13, Y:7.32, Z:4.02 [[ 9.96430306e-01 -7.33034566e-02 -4.18718164e-02 1.01133477e+02] [ 7.32349582e-02 9.97309679e-01 -3.16955402e-03 7.31634671e+00] [ 4.19915070e-02 9.17589618e-05 9.99117963e-01 4.02075600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06509989299998 meters 0.01164572509308388 Centerline is valid? [True, True] Translation: X:101.20, Y:7.32, Z:4.02 [[ 9.95675754e-01 -8.17774480e-02 -4.40708718e-02 1.01195777e+02] [ 8.17099309e-02 9.96650576e-01 -3.33425463e-03 7.31884275e+00] [ 4.41959266e-02 -2.81191396e-04 9.99022843e-01 4.02105555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12509989299998 meters 0.012361633646141625 Centerline is valid? [True, True] Translation: X:101.26, Y:7.32, Z:4.02 [[ 9.95151600e-01 -8.79327748e-02 -4.40581392e-02 1.01258143e+02] [ 8.78714648e-02 9.96126255e-01 -3.33007522e-03 7.32084074e+00] [ 4.41802920e-02 -5.57523542e-04 9.99023419e-01 4.02330369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18509989299997 meters 0.014251141644236404 Centerline is valid? [True, True] Translation: X:101.32, Y:7.32, Z:4.03 [[ 9.94501131e-01 -9.55778034e-02 -4.28063492e-02 1.01318631e+02] [ 9.55271291e-02 9.95421578e-01 -3.23246349e-03 7.32235476e+00] [ 4.29193155e-02 -8.74479052e-04 9.99078159e-01 4.02663355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24509989299997 meters 0.014340311092471223 Centerline is valid? [True, True] Translation: X:101.38, Y:7.33, Z:4.03 [[ 9.94246549e-01 -9.87485337e-02 -4.15033451e-02 1.01380348e+02] [ 9.87036862e-02 9.95111936e-01 -3.13336719e-03 7.32756962e+00] [ 4.16098895e-02 -9.81193634e-04 9.99133452e-01 4.03009772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30509989299998 meters 0.015641006073122337 Centerline is valid? [True, True] Translation: X:101.44, Y:7.33, Z:4.03 [[ 9.94051186e-01 -1.01103496e-01 -4.05009064e-02 1.01441155e+02] [ 1.01062862e-01 9.94875352e-01 -3.05470732e-03 7.33148126e+00] [ 4.06021951e-02 -1.05660207e-03 9.99174832e-01 4.03302614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36509989299998 meters 0.016330856153201734 Centerline is valid? [True, True] Translation: X:101.50, Y:7.34, Z:4.04 [[ 9.93924511e-01 -1.02201571e-01 -4.08522428e-02 1.01503093e+02] [ 1.02161248e-01 9.94763087e-01 -3.07894680e-03 7.33627660e+00] [ 4.09529764e-02 -1.11327541e-03 9.99160455e-01 4.03516437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42509989299998 meters 0.016501451718054838 Centerline is valid? [True, True] Translation: X:101.56, Y:7.34, Z:4.04 [[ 9.93722259e-01 -1.03767230e-01 -4.18142835e-02 1.01564994e+02] [ 1.03726499e-01 9.94600875e-01 -3.14837229e-03 7.34129692e+00] [ 4.19152209e-02 -1.20864160e-03 9.99120440e-01 4.03657860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48509989299998 meters 0.017234283532422262 Centerline is valid? [True, True] Translation: X:101.63, Y:7.35, Z:4.04 [[ 9.93617484e-01 -1.04354178e-01 -4.28310740e-02 1.01627391e+02] [ 1.04312124e-01 9.94539391e-01 -3.22175270e-03 7.34548823e+00] [ 4.29333937e-02 -1.26661047e-03 9.99077134e-01 4.03838445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54509989299997 meters 0.017804404857709868 Centerline is valid? [True, True] Translation: X:101.69, Y:7.35, Z:4.04 [[ 9.93533188e-01 -1.04548595e-01 -4.42876372e-02 1.01688262e+02] [ 1.04503968e-01 9.94518901e-01 -3.32809713e-03 7.35064352e+00] [ 4.43928401e-02 -1.32165887e-03 9.99013278e-01 4.03934548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60509989299997 meters 0.017370844738578976 Centerline is valid? [True, True] Translation: X:101.75, Y:7.36, Z:4.04 [[ 9.93463269e-01 -1.04577777e-01 -4.57626606e-02 1.01749994e+02] [ 1.04530276e-01 9.94515768e-01 -3.43638080e-03 7.35732470e+00] [ 4.58710566e-02 -1.36966546e-03 9.98946430e-01 4.04113440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66509989299998 meters 0.01601654117914639 Centerline is valid? [True, True] Translation: X:101.81, Y:7.37, Z:4.04 [[ 9.93432465e-01 -1.04182669e-01 -4.73065492e-02 1.01812907e+02] [ 1.04131638e-01 9.94557193e-01 -3.54862570e-03 7.36538222e+00] [ 4.74187741e-02 -1.40078847e-03 9.98874115e-01 4.04261008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72509989299998 meters 0.015340342545829649 Centerline is valid? [True, True] Translation: X:101.87, Y:7.37, Z:4.05 [[ 9.93779095e-01 -1.00944932e-01 -4.70449931e-02 1.01873938e+02] [ 1.00891067e-01 9.94891237e-01 -3.52416271e-03 7.37282558e+00] [ 4.71603977e-02 -1.24418035e-03 9.98886555e-01 4.04638761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.78509989299998 meters 0.014973987277772603 Centerline is valid? [True, True] Translation: X:101.93, Y:7.38, Z:4.05 [[ 9.94105703e-01 -9.77609841e-02 -4.68683408e-02 1.01934593e+02] [ 9.77040942e-02 9.95209324e-01 -3.50867193e-03 7.37993392e+00] [ 4.69868210e-02 -1.09123801e-03 9.98894913e-01 4.05029585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84509989299998 meters 0.013945227116430346 Centerline is valid? [True, True] Translation: X:102.00, Y:7.39, Z:4.05 [[ 9.94433443e-01 -9.45085544e-02 -4.65860492e-02 1.01996537e+02] [ 9.44490765e-02 9.95523607e-01 -3.48122803e-03 7.38826096e+00] [ 4.67065176e-02 -9.38159752e-04 9.98908215e-01 4.05457253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90509989299997 meters 0.013542526557807444 Centerline is valid? [True, True] Translation: X:102.06, Y:7.39, Z:4.06 [[ 9.94583778e-01 -9.25021025e-02 -4.73969262e-02 1.02058632e+02] [ 9.24384276e-02 9.95712116e-01 -3.53828101e-03 7.39397651e+00] [ 4.75209921e-02 -8.62180434e-04 9.98869867e-01 4.05725293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96509989299997 meters 0.013179149755062831 Centerline is valid? [True, True] Translation: X:102.12, Y:7.40, Z:4.06 [[ 9.94759098e-01 -9.02185519e-02 -4.81139223e-02 1.02120673e+02] [ 9.01504388e-02 9.95921695e-01 -3.58823151e-03 7.39975365e+00] [ 4.82414241e-02 -7.68065272e-04 9.98835409e-01 4.06066620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02509989299998 meters 0.012476444603726208 Centerline is valid? [True, True] Translation: X:102.18, Y:7.41, Z:4.07 [[ 9.95217447e-01 -8.50137886e-02 -4.81132899e-02 1.02181969e+02] [ 8.49397661e-02 9.96379640e-01 -3.58468237e-03 7.40786032e+00] [ 4.82438499e-02 -5.19193161e-04 9.98835453e-01 4.06517951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08509989299998 meters 0.012059518954102535 Centerline is valid? [True, True] Translation: X:102.24, Y:7.42, Z:4.07 [[ 9.95548510e-01 -8.13067691e-02 -4.76694286e-02 1.02243847e+02] [ 8.12300225e-02 9.96689066e-01 -3.54818421e-03 7.41506859e+00] [ 4.78000896e-02 -3.39799248e-04 9.98856865e-01 4.06968525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14509989299998 meters 0.012061565562035378 Centerline is valid? [True, True] Translation: X:102.30, Y:7.42, Z:4.07 [[ 9.95821908e-01 -7.84049980e-02 -4.68122100e-02 1.02304729e+02] [ 7.83279387e-02 9.96921570e-01 -3.48106195e-03 7.41837124e+00] [ 4.69410345e-02 -2.00186165e-04 9.98897642e-01 4.07317679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20509989299998 meters 0.01206379839341448 Centerline is valid? [True, True] Translation: X:102.37, Y:7.42, Z:4.08 [[ 9.95861294e-01 -7.78663010e-02 -4.68734652e-02 1.02366872e+02] [ 7.77885686e-02 9.96963795e-01 -3.48295765e-03 7.42067030e+00] [ 4.70023528e-02 -1.77677048e-04 9.98894763e-01 4.07609788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26509989299998 meters 0.012194661432382636 Centerline is valid? [True, True] Translation: X:102.43, Y:7.42, Z:4.08 [[ 9.95791197e-01 -7.88740454e-02 -4.66773663e-02 1.02428630e+02] [ 7.87982206e-02 9.96884564e-01 -3.46514719e-03 7.42012220e+00] [ 4.68052561e-02 -2.27530332e-04 9.98904008e-01 4.07958821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32509989299997 meters 0.012320545699936056 Centerline is valid? [True, True] Translation: X:102.49, Y:7.42, Z:4.08 [[ 9.95647099e-01 -8.05500009e-02 -4.68887055e-02 1.02489222e+02] [ 8.04754213e-02 9.96750521e-01 -3.47920821e-03 7.41983868e+00] [ 4.70165919e-02 -3.09324771e-04 9.98894061e-01 4.08247764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38509989299997 meters 0.012849391645474034 Centerline is valid? [True, True] Translation: X:102.55, Y:7.42, Z:4.08 [[ 9.95367293e-01 -8.38064882e-02 -4.71213729e-02 1.02550864e+02] [ 8.37348567e-02 9.96481939e-01 -3.49553029e-03 7.41571577e+00] [ 4.72485451e-02 -4.66364886e-04 9.98883055e-01 4.08457448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44509989299998 meters 0.013341030558692476 Centerline is valid? [True, True] Translation: X:102.61, Y:7.41, Z:4.09 [[ 9.95007120e-01 -8.80093457e-02 -4.70657749e-02 1.02612210e+02] [ 8.79426589e-02 9.96119426e-01 -3.48973718e-03 7.41223370e+00] [ 4.71902622e-02 -6.66776052e-04 9.98885696e-01 4.08825322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.50509989299998 meters 0.014163588836470517 Centerline is valid? [True, True] Translation: X:102.67, Y:7.41, Z:4.09 [[ 9.94672500e-01 -9.17637236e-02 -4.69684631e-02 1.02674379e+02] [ 9.17015824e-02 9.95780450e-01 -3.48062821e-03 7.41041798e+00] [ 4.70896727e-02 -8.44997223e-04 9.98890309e-01 4.09100533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56509989299998 meters 0.015398168358331575 Centerline is valid? [True, True] Translation: X:102.74, Y:7.40, Z:4.09 [[ 9.94122108e-01 -9.80492281e-02 -4.59084154e-02 1.02736145e+02] [ 9.79966968e-02 9.95180936e-01 -3.39893324e-03 7.40409055e+00] [ 4.60204425e-02 -1.11991839e-03 9.98939870e-01 4.09262665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62509989299998 meters 0.01835848199553745 Centerline is valid? [True, True] Translation: X:102.80, Y:7.40, Z:4.09 [[ 9.93520977e-01 -1.04233167e-01 -4.52936652e-02 1.02796872e+02] [ 1.04188516e-01 9.94551918e-01 -3.35190759e-03 7.39622062e+00] [ 4.53962816e-02 -1.38888925e-03 9.98968092e-01 4.09433508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68509989299997 meters 0.018110348892391083 Centerline is valid? [True, True] Translation: X:102.86, Y:7.40, Z:4.10 [[ 9.93185806e-01 -1.07256941e-01 -4.55840259e-02 1.02859233e+02] [ 1.07214907e-01 9.94230147e-01 -3.37312483e-03 7.39674403e+00] [ 4.56828039e-02 -1.53714741e-03 9.98954813e-01 4.09635309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74509989299997 meters 0.020460412305804584 Centerline is valid? [True, True] Translation: X:102.92, Y:7.39, Z:4.10 [[ 9.92740714e-01 -1.11629580e-01 -4.47740175e-02 1.02919497e+02] [ 1.11593598e-01 9.93748415e-01 -3.31017461e-03 7.39084402e+00] [ 4.48636223e-02 -1.71034861e-03 9.98991657e-01 4.09778393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80509989299998 meters 0.020178799014283873 Centerline is valid? [True, True] Translation: X:102.98, Y:7.39, Z:4.10 [[ 9.92588824e-01 -1.13041960e-01 -4.45975630e-02 1.02981356e+02] [ 1.13007692e-01 9.93588643e-01 -3.29693103e-03 7.39338117e+00] [ 4.46843237e-02 -1.76737079e-03 9.98999593e-01 4.09994874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86509989299998 meters 0.023913607801093233 Centerline is valid? [True, True] Translation: X:103.04, Y:7.39, Z:4.10 [[ 9.91993593e-01 -1.18103591e-01 -4.47241945e-02 1.03041685e+02] [ 1.18074396e-01 9.92999258e-01 -3.30322095e-03 7.38603333e+00] [ 4.48012142e-02 -2.00400824e-03 9.98993911e-01 4.10091008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92509989299998 meters 0.023644641140394454 Centerline is valid? [True, True] Translation: X:103.10, Y:7.39, Z:4.10 [[ 9.91691553e-01 -1.19514030e-01 -4.75842361e-02 1.03103559e+02] [ 1.19482633e-01 9.92830073e-01 -3.51389095e-03 7.38735184e+00] [ 4.76630199e-02 -2.20079383e-03 9.98861048e-01 4.09972868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98509989299998 meters 0.021760704197301785 Centerline is valid? [True, True] Translation: X:103.17, Y:7.39, Z:4.10 [[ 9.91838641e-01 -1.18862551e-01 -4.61281359e-02 1.03165202e+02] [ 1.18832541e-01 9.92908482e-01 -3.40201815e-03 7.39339210e+00] [ 4.62053900e-02 -2.10727054e-03 9.98929738e-01 4.10249009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04509989299997 meters 0.022027945812599987 Centerline is valid? [True, True] Translation: X:103.23, Y:7.40, Z:4.11 [[ 9.92023248e-01 -1.17550058e-01 -4.55176705e-02 1.03226499e+02] [ 1.17519604e-01 9.93064900e-01 -3.35380522e-03 7.39814550e+00] [ 4.55962409e-02 -2.02216585e-03 9.98957904e-01 4.10613534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10509989299997 meters 0.021950972678694863 Centerline is valid? [True, True] Translation: X:103.29, Y:7.40, Z:4.11 [[ 9.92398422e-01 -1.14754408e-01 -4.44611873e-02 1.03286925e+02] [ 1.14722620e-01 9.93392168e-01 -3.27437621e-03 7.40253735e+00] [ 4.45431444e-02 -1.85121814e-03 9.99005746e-01 4.10824930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16509989299998 meters 0.021898815609315298 Centerline is valid? [True, True] Translation: X:103.35, Y:7.41, Z:4.11 [[ 9.92655961e-01 -1.12902296e-01 -4.34420932e-02 1.03347617e+02] [ 1.12870244e-01 9.93604590e-01 -3.19778853e-03 7.40774973e+00] [ 4.35253009e-02 -1.72901583e-03 9.99050829e-01 4.11110184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22509989299998 meters 0.020806654552219122 Centerline is valid? [True, True] Translation: X:103.41, Y:7.42, Z:4.11 [[ 9.92786726e-01 -1.11418809e-01 -4.42760124e-02 1.03408141e+02] [ 1.11384115e-01 9.93772090e-01 -3.25756899e-03 7.41544412e+00] [ 4.43632198e-02 -1.69757321e-03 9.99014025e-01 4.11351956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28509989299998 meters 0.020341366840417846 Centerline is valid? [True, True] Translation: X:103.47, Y:7.42, Z:4.11 [[ 9.92919454e-01 -1.09985910e-01 -4.48782439e-02 1.03470300e+02] [ 1.09948883e-01 9.93931764e-01 -3.30014851e-03 7.42228105e+00] [ 4.49688820e-02 -1.65753114e-03 9.98987013e-01 4.11434499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34509989299998 meters 0.019281864367599322 Centerline is valid? [True, True] Translation: X:103.53, Y:7.43, Z:4.12 [[ 9.93011243e-01 -1.09382074e-01 -4.43196789e-02 1.03532039e+02] [ 1.09345501e-01 9.93998471e-01 -3.25594003e-03 7.43087443e+00] [ 4.44098345e-02 -1.61297245e-03 9.99012094e-01 4.11768557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40509989299997 meters 0.01969249748924175 Centerline is valid? [True, True] Translation: X:103.59, Y:7.44, Z:4.12 [[ 9.92936184e-01 -1.09945517e-01 -4.46062615e-02 1.03593546e+02] [ 1.09909184e-01 9.93936242e-01 -3.27371497e-03 7.43641909e+00] [ 4.46957103e-02 -1.65204776e-03 9.98999281e-01 4.11983329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46509989299997 meters 0.02083146262168272 Centerline is valid? [True, True] Translation: X:103.66, Y:7.44, Z:4.12 [[ 9.92634639e-01 -1.12381743e-01 -4.52417707e-02 1.03655649e+02] [ 1.12347044e-01 9.93663494e-01 -3.31702319e-03 7.44075482e+00] [ 4.53278688e-02 -1.79018711e-03 9.98970560e-01 4.12094321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52509989299998 meters 0.022237699490102694 Centerline is valid? [True, True] Translation: X:103.72, Y:7.44, Z:4.12 [[ 9.92360750e-01 -1.14529098e-01 -4.58609535e-02 1.03717554e+02] [ 1.14495885e-01 9.93418043e-01 -3.35906881e-03 7.44392834e+00] [ 4.59438098e-02 -1.91748242e-03 9.98942185e-01 4.12268918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58509989299998 meters 0.022285176736516622 Centerline is valid? [True, True] Translation: X:103.78, Y:7.45, Z:4.13 [[ 9.92047566e-01 -1.17324688e-01 -4.55691068e-02 1.03778643e+02] [ 1.17294979e-01 9.93091521e-01 -3.33458736e-03 7.45035222e+00] [ 4.56455230e-02 -2.03695816e-03 9.98955623e-01 4.12578296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64509989299998 meters 0.02253239861273403 Centerline is valid? [True, True] Translation: X:103.84, Y:7.46, Z:4.13 [[ 9.91796086e-01 -1.18991441e-01 -4.67071714e-02 1.03840234e+02] [ 1.18962160e-01 9.92892912e-01 -3.41604388e-03 7.45598234e+00] [ 4.67816994e-02 -2.16836704e-03 9.98902783e-01 4.12768348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70509989299998 meters 0.0251567803011819 Centerline is valid? [True, True] Translation: X:103.90, Y:7.46, Z:4.13 [[ 9.91611822e-01 -1.20176510e-01 -4.75773110e-02 1.03900865e+02] [ 1.20147636e-01 9.92749948e-01 -3.47661669e-03 7.45993872e+00] [ 4.76501806e-02 -2.26884722e-03 9.98861508e-01 4.12975173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76509989299998 meters 0.024094265050951556 Centerline is valid? [True, True] Translation: X:103.96, Y:7.47, Z:4.13 [[ 9.91717750e-01 -1.19446138e-01 -4.72072473e-02 1.03962758e+02] [ 1.19417151e-01 9.92838196e-01 -3.44395215e-03 7.47030795e+00] [ 4.72805250e-02 -2.22192650e-03 9.98879179e-01 4.13349683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82509989299997 meters 0.024148516928337298 Centerline is valid? [True, True] Translation: X:104.02, Y:7.48, Z:4.14 [[ 9.92267754e-01 -1.16170274e-01 -4.36940631e-02 1.04022293e+02] [ 1.16142388e-01 9.93227468e-01 -3.18487228e-03 7.47858324e+00] [ 4.37681311e-02 -1.91448677e-03 9.99039882e-01 4.13855771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88509989299997 meters 0.021074553589008192 Centerline is valid? [True, True] Translation: X:104.08, Y:7.49, Z:4.14 [[ 9.92677688e-01 -1.13162628e-01 -4.22519633e-02 1.04082501e+02] [ 1.13133832e-01 9.93574985e-01 -3.07974405e-03 7.49327053e+00] [ 4.23290057e-02 -1.72293331e-03 9.99102240e-01 4.14336482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94509989299998 meters 0.019537044622217906 Centerline is valid? [True, True] Translation: X:104.14, Y:7.50, Z:4.14 [[ 9.92716674e-01 -1.12234740e-01 -4.37831860e-02 1.04144029e+02] [ 1.12202996e-01 9.93680187e-01 -3.18963056e-03 7.50251947e+00] [ 4.38644718e-02 -1.74620523e-03 9.99035965e-01 4.14458492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00509989299998 meters 0.02148002615706028 Centerline is valid? [True, True] Translation: X:104.20, Y:7.51, Z:4.14 [[ 9.92576541e-01 -1.12729334e-01 -4.56498417e-02 1.04204994e+02] [ 1.12695508e-01 9.93624016e-01 -3.32215603e-03 7.50508651e+00] [ 4.57332834e-02 -1.84703795e-03 9.98951978e-01 4.14492541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06509989299998 meters 0.02216222020703108 Centerline is valid? [True, True] Translation: X:104.27, Y:7.51, Z:4.14 [[ 9.92165737e-01 -1.15357821e-01 -4.79554273e-02 1.04266102e+02] [ 1.15323685e-01 9.93321844e-01 -3.48730479e-03 7.51046855e+00] [ 4.80374613e-02 -2.07041224e-03 9.98843389e-01 4.14426457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12509989299998 meters 0.021332449811327227 Centerline is valid? [True, True] Translation: X:104.33, Y:7.52, Z:4.15 [[ 9.91974772e-01 -1.16464621e-01 -4.92142540e-02 1.04327176e+02] [ 1.16430126e-01 9.93192444e-01 -3.57689587e-03 7.51979733e+00] [ 4.92958070e-02 -2.18183130e-03 9.98781840e-01 4.14627139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18509989299997 meters 0.02022358515793134 Centerline is valid? [True, True] Translation: X:104.39, Y:7.53, Z:4.15 [[ 9.92188738e-01 -1.14531628e-01 -4.94369709e-02 1.04388818e+02] [ 1.14494570e-01 9.93417387e-01 -3.59018451e-03 7.53080144e+00] [ 4.95227361e-02 -2.09812408e-03 9.98770793e-01 4.14936522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24509989299997 meters 0.018961611180386622 Centerline is valid? [True, True] Translation: X:104.45, Y:7.54, Z:4.15 [[ 9.92956808e-01 -1.08268083e-01 -4.81123565e-02 1.04448595e+02] [ 1.08225789e-01 9.94120210e-01 -3.49089480e-03 7.54344215e+00] [ 4.82074185e-02 -1.74068998e-03 9.98835830e-01 4.15391533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30509989299998 meters 0.017192747064176096 Centerline is valid? [True, True] Translation: X:104.51, Y:7.55, Z:4.16 [[ 9.93782328e-01 -1.01281235e-01 -4.62471078e-02 1.04508525e+02] [ 1.01234618e-01 9.94856922e-01 -3.35510080e-03 7.55468646e+00] [ 4.63490641e-02 -1.34756840e-03 9.98924396e-01 4.15787394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36509989299998 meters 0.01570024560735598 Centerline is valid? [True, True] Translation: X:104.57, Y:7.56, Z:4.16 [[ 9.94156480e-01 -9.74183125e-02 -4.65033848e-02 1.04569367e+02] [ 9.73670124e-02 9.95242830e-01 -3.37245700e-03 7.56327068e+00] [ 4.66106994e-02 -1.17514566e-03 9.98912439e-01 4.16090661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.42509989299998 meters 0.016254030558365905 Centerline is valid? [True, True] Translation: X:104.63, Y:7.57, Z:4.16 [[ 9.94104902e-01 -9.78163033e-02 -4.67698040e-02 1.04630632e+02] [ 9.77649394e-02 9.95203760e-01 -3.38995324e-03 7.56746589e+00] [ 4.68770775e-02 -1.20247791e-03 9.98899942e-01 4.16411761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48509989299998 meters 0.017092883218145866 Centerline is valid? [True, True] Translation: X:104.69, Y:7.57, Z:4.17 [[ 9.93893476e-01 -9.99813937e-02 -4.66848830e-02 1.04692884e+02] [ 9.99327237e-02 9.94988451e-01 -3.38118014e-03 7.56961143e+00] [ 4.67889745e-02 -1.30481462e-03 9.98903944e-01 4.16671068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54509989299997 meters 0.017728928993441733 Centerline is valid? [True, True] Translation: X:104.75, Y:7.57, Z:4.17 [[ 9.93359070e-01 -1.04727677e-01 -4.76431812e-02 1.04753708e+02] [ 1.04682588e-01 9.94499709e-01 -3.44740357e-03 7.56965927e+00] [ 4.77421684e-02 -1.56290193e-03 9.98858470e-01 4.16896924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60509989299997 meters 0.01885033616602996 Centerline is valid? [True, True] Translation: X:104.81, Y:7.57, Z:4.17 [[ 9.93189322e-01 -1.06013417e-01 -4.83334789e-02 1.04814555e+02] [ 1.05968588e-01 9.94363331e-01 -3.49622570e-03 7.57113232e+00] [ 4.84316859e-02 -1.64941646e-03 9.98825135e-01 4.17098632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66509989299998 meters 0.01753744049235184 Centerline is valid? [True, True] Translation: X:104.88, Y:7.58, Z:4.17 [[ 9.93082377e-01 -1.06796673e-01 -4.88043410e-02 1.04875897e+02] [ 1.06752042e-01 9.94279416e-01 -3.52759956e-03 7.57723844e+00] [ 4.89018876e-02 -1.70676608e-03 9.98802129e-01 4.17380696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72509989299998 meters 0.017658274162899525 Centerline is valid? [True, True] Translation: X:104.94, Y:7.58, Z:4.18 [[ 9.93138730e-01 -1.06340939e-01 -4.86525232e-02 1.04937436e+02] [ 1.06296179e-01 9.94328304e-01 -3.51375590e-03 7.58119000e+00] [ 4.87502369e-02 -1.68193025e-03 9.98809584e-01 4.17676172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78509989299998 meters 0.018262620041562715 Centerline is valid? [True, True] Translation: X:105.00, Y:7.58, Z:4.18 [[ 9.93236498e-01 -1.05053159e-01 -4.94478777e-02 1.04998225e+02] [ 1.05005510e-01 9.94465241e-01 -3.56759339e-03 7.58392714e+00] [ 4.95489826e-02 -1.64883567e-03 9.98770334e-01 4.17811041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84509989299998 meters 0.01754003720316293 Centerline is valid? [True, True] Translation: X:105.06, Y:7.59, Z:4.18 [[ 9.93211035e-01 -1.05578475e-01 -4.88367154e-02 1.05060518e+02] [ 1.05532768e-01 9.94409594e-01 -3.52069311e-03 7.58894124e+00] [ 4.89354077e-02 -1.65708250e-03 9.98800571e-01 4.18213197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90509989299997 meters 0.01889394173882104 Centerline is valid? [True, True] Translation: X:105.12, Y:7.59, Z:4.19 [[ 9.93098189e-01 -1.06911586e-01 -4.82275820e-02 1.05122171e+02] [ 1.06868746e-01 9.94267070e-01 -3.47334985e-03 7.58937639e+00] [ 4.83224380e-02 -1.70464377e-03 9.98830334e-01 4.18547491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96509989299997 meters 0.019155080972046355 Centerline is valid? [True, True] Translation: X:105.18, Y:7.59, Z:4.19 [[ 9.92998193e-01 -1.07731157e-01 -4.84622118e-02 1.05184603e+02] [ 1.07689009e-01 9.94178513e-01 -3.48745167e-03 7.59253297e+00] [ 4.85557968e-02 -1.75581436e-03 9.98818928e-01 4.18838391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02509989299998 meters 0.019840107565754578 Centerline is valid? [True, True] Translation: X:105.25, Y:7.60, Z:4.19 [[ 9.92918062e-01 -1.08232196e-01 -4.89848324e-02 1.05246953e+02] [ 1.08189920e-01 9.94124007e-01 -3.52146638e-03 7.59552260e+00] [ 4.90781339e-02 -1.80313754e-03 9.98793315e-01 4.19146859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08509989299998 meters 0.018958063593979176 Centerline is valid? [True, True] Translation: X:105.31, Y:7.60, Z:4.19 [[ 9.92744041e-01 -1.08784278e-01 -5.12371931e-02 1.05308725e+02] [ 1.08738959e-01 9.94063529e-01 -3.67954671e-03 7.59934180e+00] [ 5.13333018e-02 -1.91863095e-03 9.98679734e-01 4.19247758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14509989299998 meters 0.019897438429644927 Centerline is valid? [True, True] Translation: X:105.37, Y:7.60, Z:4.19 [[ 9.92803640e-01 -1.07940209e-01 -5.18637117e-02 1.05369679e+02] [ 1.07892854e-01 9.94155568e-01 -3.72016165e-03 7.60169627e+00] [ 5.19621528e-02 -1.90233385e-03 9.98647243e-01 4.19433256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.20509989299998 meters 0.017423946977145128 Centerline is valid? [True, True] Translation: X:105.43, Y:7.61, Z:4.20 [[ 9.93181376e-01 -1.04431861e-01 -5.18144808e-02 1.05430523e+02] [ 1.04380123e-01 9.94530552e-01 -3.71098071e-03 7.61103686e+00] [ 5.19186288e-02 -1.72272493e-03 9.98649833e-01 4.19791356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26509989299997 meters 0.01636331796850301 Centerline is valid? [True, True] Translation: X:105.49, Y:7.62, Z:4.20 [[ 9.93829270e-01 -9.80384936e-02 -5.18829092e-02 1.05490183e+02] [ 9.79779957e-02 9.95181650e-01 -3.71432319e-03 7.61927139e+00] [ 5.19970658e-02 -1.39198035e-03 9.98646267e-01 4.20108094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32509989299997 meters 0.015549351275318875 Centerline is valid? [True, True] Translation: X:105.55, Y:7.63, Z:4.20 [[ 9.94171682e-01 -9.49188025e-02 -5.11183769e-02 1.05551542e+02] [ 9.48559800e-02 9.95484281e-01 -3.65908920e-03 7.62638769e+00] [ 5.12348571e-02 -1.21112088e-03 9.98685898e-01 4.20445173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38509989299997 meters 0.01512035114646532 Centerline is valid? [True, True] Translation: X:105.61, Y:7.63, Z:4.21 [[ 9.94301726e-01 -9.42590541e-02 -4.97926614e-02 1.05613057e+02] [ 9.41987612e-02 9.95547040e-01 -3.56139941e-03 7.63189531e+00] [ 4.99066308e-02 -1.14930144e-03 9.98753226e-01 4.20883612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44509989299998 meters 0.01582147318479855 Centerline is valid? [True, True] Translation: X:105.67, Y:7.63, Z:4.21 [[ 9.93963681e-01 -9.76956237e-02 -4.99175859e-02 1.05674481e+02] [ 9.76395237e-02 9.95215454e-01 -3.56696113e-03 7.63308526e+00] [ 5.00272294e-02 -1.32849949e-03 9.98746971e-01 4.21158018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50509989299998 meters 0.017525451894748932 Centerline is valid? [True, True] Translation: X:105.74, Y:7.63, Z:4.21 [[ 9.93224193e-01 -1.03724382e-01 -5.24113958e-02 1.05735214e+02] [ 1.03671017e-01 9.94604599e-01 -3.74317560e-03 7.63283590e+00] [ 5.25168739e-02 -1.71573013e-03 9.98618563e-01 4.21402643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56509989299998 meters 0.021920220148252147 Centerline is valid? [True, True] Translation: X:105.80, Y:7.63, Z:4.21 [[ 9.92220442e-01 -1.11506071e-01 -5.53623547e-02 1.05795113e+02] [ 1.11458702e-01 9.93761207e-01 -3.95224842e-03 7.62699449e+00] [ 5.54576602e-02 -2.24911451e-03 9.98458507e-01 4.21334783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62509989299998 meters 0.021669749474530407 Centerline is valid? [True, True] Translation: X:105.86, Y:7.63, Z:4.22 [[ 9.91405048e-01 -1.18117065e-01 -5.62529009e-02 1.05855088e+02] [ 1.18078772e-01 9.92996112e-01 -4.01571897e-03 7.62916745e+00] [ 5.63332368e-02 -2.66106938e-03 9.98408476e-01 4.21736290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68509989299997 meters 0.02286549103840569 Centerline is valid? [True, True] Translation: X:105.92, Y:7.63, Z:4.22 [[ 9.91236921e-01 -1.20187424e-01 -5.48119495e-02 1.05916634e+02] [ 1.20154257e-01 9.92747526e-01 -3.91213627e-03 7.63151796e+00] [ 5.48846168e-02 -2.70803517e-03 9.98489031e-01 4.22149902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74509989299997 meters 0.024172927760604476 Centerline is valid? [True, True] Translation: X:105.98, Y:7.63, Z:4.22 [[ 9.91358691e-01 -1.19818383e-01 -5.33994558e-02 1.05978177e+02] [ 1.19786626e-01 9.92792363e-01 -3.80644953e-03 7.63290883e+00] [ 5.34706545e-02 -2.62298383e-03 9.98565976e-01 4.22378473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80509989299998 meters 0.02330847388714097 Centerline is valid? [True, True] Translation: X:106.04, Y:7.64, Z:4.23 [[ 9.91366012e-01 -1.19709230e-01 -5.35082368e-02 1.06040364e+02] [ 1.19677354e-01 9.92805523e-01 -3.81107363e-03 7.63727829e+00] [ 5.35794937e-02 -2.62555534e-03 9.98560136e-01 4.22631824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86509989299998 meters 0.022426484332140523 Centerline is valid? [True, True] Translation: X:106.10, Y:7.64, Z:4.23 [[ 9.91358375e-01 -1.19704058e-01 -5.36610796e-02 1.06102623e+02] [ 1.19672204e-01 9.92806117e-01 -3.81803109e-03 7.64315019e+00] [ 5.37320819e-02 -2.63670254e-03 9.98551907e-01 4.22981763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92509989299998 meters 0.025610191554901515 Centerline is valid? [True, True] Translation: X:106.16, Y:7.64, Z:4.23 [[ 9.91093506e-01 -1.20718137e-01 -5.62209400e-02 1.06164425e+02] [ 1.20685032e-01 9.92682806e-01 -3.99614241e-03 7.64082627e+00] [ 5.62919674e-02 -2.82447517e-03 9.98410355e-01 4.22931841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98509989299998 meters 0.022436407593630758 Centerline is valid? [True, True] Translation: X:106.23, Y:7.65, Z:4.23 [[ 9.91033027e-01 -1.20171531e-01 -5.84152560e-02 1.06226349e+02] [ 1.20135065e-01 9.92748889e-01 -4.14850962e-03 7.64951629e+00] [ 5.84902132e-02 -2.90641055e-03 9.98283751e-01 4.23195922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04509989299997 meters 0.02368380156496676 Centerline is valid? [True, True] Translation: X:106.29, Y:7.65, Z:4.23 [[ 9.91188003e-01 -1.18485846e-01 -5.92236993e-02 1.06286729e+02] [ 1.18445634e-01 9.92951650e-01 -4.20143023e-03 7.65368877e+00] [ 5.93040799e-02 -2.85038139e-03 9.98235895e-01 4.23399025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10509989299997 meters 0.021834865570192433 Centerline is valid? [True, True] Translation: X:106.35, Y:7.66, Z:4.24 [[ 9.91532071e-01 -1.15708855e-01 -5.89543263e-02 1.06347369e+02] [ 1.15664322e-01 9.93279569e-01 -4.17878221e-03 7.66155102e+00] [ 5.90416499e-02 -2.67551560e-03 9.98251935e-01 4.23802245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16509989299998 meters 0.018558273329912434 Centerline is valid? [True, True] Translation: X:106.41, Y:7.67, Z:4.24 [[ 9.92268817e-01 -1.10109735e-01 -5.72576715e-02 1.06407161e+02] [ 1.10058468e-01 9.93916832e-01 -4.05768085e-03 7.67214016e+00] [ 5.73561536e-02 -2.27538141e-03 9.98351188e-01 4.24313277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22509989299998 meters 0.01950910700889097 Centerline is valid? [True, True] Translation: X:106.47, Y:7.68, Z:4.24 [[ 9.92774799e-01 -1.05790010e-01 -5.66274829e-02 1.06466258e+02] [ 1.05732849e-01 9.94386474e-01 -4.01300902e-03 7.67681439e+00] [ 5.67341393e-02 -2.00337089e-03 9.98387312e-01 4.24499544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28509989299998 meters 0.015372040496162271 Centerline is valid? [True, True] Translation: X:106.53, Y:7.69, Z:4.25 [[ 9.93450878e-01 -9.92574062e-02 -5.65978904e-02 1.06526185e+02] [ 9.91896884e-02 9.95060458e-01 -4.01140414e-03 7.68959179e+00] [ 5.67164843e-02 -1.62879415e-03 9.98388996e-01 4.24963297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34509989299998 meters 0.014599760169860202 Centerline is valid? [True, True] Translation: X:106.59, Y:7.70, Z:4.25 [[ 9.93865570e-01 -9.46900220e-02 -5.71404205e-02 1.06586488e+02] [ 9.46135044e-02 9.95505846e-01 -4.04907602e-03 7.69568582e+00] [ 5.72670297e-02 -1.38201818e-03 9.98357940e-01 4.25171207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40509989299997 meters 0.013842314657897599 Centerline is valid? [True, True] Translation: X:106.65, Y:7.70, Z:4.26 [[ 9.94079303e-01 -9.20249257e-02 -5.77732793e-02 1.06646149e+02] [ 9.19422081e-02 9.95755929e-01 -4.09392157e-03 7.70269036e+00] [ 5.79048283e-02 -1.24212017e-03 9.98321335e-01 4.25519451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46509989299997 meters 0.01409138225551921 Centerline is valid? [True, True] Translation: X:106.71, Y:7.71, Z:4.26 [[ 9.94029538e-01 -9.26341095e-02 -5.76558646e-02 1.06705586e+02] [ 9.25527184e-02 9.95699401e-01 -4.08616553e-03 7.70681168e+00] [ 5.77864281e-02 -1.27443776e-03 9.98328155e-01 4.25865465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52509989299998 meters 0.014298714383247427 Centerline is valid? [True, True] Translation: X:106.77, Y:7.71, Z:4.26 [[ 9.93572223e-01 -9.56270341e-02 -6.05781126e-02 1.06765464e+02] [ 9.55425984e-02 9.95416074e-01 -4.29552676e-03 7.70972445e+00] [ 6.07111955e-02 -1.51987422e-03 9.98154217e-01 4.25962325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58509989299998 meters 0.015240405604510144 Centerline is valid? [True, True] Translation: X:106.82, Y:7.71, Z:4.26 [[ 9.93342441e-01 -9.81505265e-02 -6.03097710e-02 1.06824090e+02] [ 9.80711065e-02 9.95170195e-01 -4.28266020e-03 7.71195114e+00] [ 6.04388319e-02 -1.66049784e-03 9.98170522e-01 4.26192533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64509989299998 meters 0.015406277599442022 Centerline is valid? [True, True] Translation: X:106.88, Y:7.72, Z:4.27 [[ 9.93231461e-01 -9.97936048e-02 -5.94348527e-02 1.06883389e+02] [ 9.97187496e-02 9.95006666e-01 -4.23156844e-03 7.71626796e+00] [ 5.95603581e-02 -1.72384229e-03 9.98223218e-01 4.26584284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.70509989299998 meters 0.015971578710620892 Centerline is valid? [True, True] Translation: X:106.94, Y:7.72, Z:4.27 [[ 9.92932512e-01 -1.03803307e-01 -5.75317255e-02 1.06943551e+02] [ 1.03739798e-01 9.94596031e-01 -4.09754461e-03 7.71978876e+00] [ 5.76461645e-02 -1.89974431e-03 9.98335270e-01 4.27141740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76509989299997 meters 0.02045432420325925 Centerline is valid? [True, True] Translation: X:107.00, Y:7.72, Z:4.27 [[ 9.92289808e-01 -1.09550907e-01 -5.79615033e-02 1.07003600e+02] [ 1.09496206e-01 9.93978640e-01 -4.12848230e-03 7.71614672e+00] [ 5.80647752e-02 -2.24991379e-03 9.98310282e-01 4.27165634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82509989299997 meters 0.02170062863792484 Centerline is valid? [True, True] Translation: X:107.06, Y:7.72, Z:4.27 [[ 9.91451310e-01 -1.17093778e-01 -5.75616766e-02 1.07064220e+02] [ 1.17052449e-01 9.93117268e-01 -4.10080709e-03 7.71692667e+00] [ 5.76456740e-02 -2.67198466e-03 9.98333530e-01 4.27479133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88509989299997 meters 0.023881153935329105 Centerline is valid? [True, True] Translation: X:107.12, Y:7.72, Z:4.28 [[ 9.90682674e-01 -1.23511887e-01 -5.73816403e-02 1.07124689e+02] [ 1.23481547e-01 9.92338449e-01 -4.08780935e-03 7.71611661e+00] [ 5.74469010e-02 -3.03585180e-03 9.98343947e-01 4.27753483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94509989299998 meters 0.025743420695230453 Centerline is valid? [True, True] Translation: X:107.19, Y:7.72, Z:4.28 [[ 9.90336685e-01 -1.26256602e-01 -5.73804920e-02 1.07185442e+02] [ 1.26230875e-01 9.91992470e-01 -4.08730944e-03 7.71646670e+00] [ 5.74370658e-02 -3.19537725e-03 9.98344015e-01 4.27979569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.00509989299998 meters 0.02413721945698543 Centerline is valid? [True, True] Translation: X:107.25, Y:7.72, Z:4.28 [[ 9.90191131e-01 -1.27083520e-01 -5.80629310e-02 1.07246686e+02] [ 1.27058694e-01 9.91886584e-01 -4.13425133e-03 7.72277275e+00] [ 5.81172375e-02 -3.28370118e-03 9.98304364e-01 4.28334390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06509989299998 meters 0.026305136269363844 Centerline is valid? [True, True] Translation: X:107.31, Y:7.73, Z:4.28 [[ 9.90460867e-01 -1.24427557e-01 -5.92034992e-02 1.07306679e+02] [ 1.24397185e-01 9.92223560e-01 -4.21275283e-03 7.72596927e+00] [ 5.92672893e-02 -3.19218186e-03 9.98237045e-01 4.28441554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12509989299998 meters 0.023555846540517147 Centerline is valid? [True, True] Translation: X:107.37, Y:7.74, Z:4.29 [[ 9.91124472e-01 -1.19564043e-01 -5.81095562e-02 1.07366703e+02] [ 1.19526490e-01 9.92822405e-01 -4.13409608e-03 7.73758431e+00] [ 5.81867586e-02 -2.84822752e-03 9.98301652e-01 4.28919870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18509989299997 meters 0.018900375289585276 Centerline is valid? [True, True] Translation: X:107.43, Y:7.75, Z:4.29 [[ 9.91897748e-01 -1.13741736e-01 -5.65833401e-02 1.07426168e+02] [ 1.13696685e-01 9.93507353e-01 -4.02530032e-03 7.75125426e+00] [ 5.66738091e-02 -2.44065190e-03 9.98389765e-01 4.29294955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24509989299997 meters 0.017514676927548344 Centerline is valid? [True, True] Translation: X:107.49, Y:7.76, Z:4.30 [[ 9.92522065e-01 -1.08607624e-01 -5.57165624e-02 1.07486809e+02] [ 1.08555898e-01 9.94082447e-01 -3.96308436e-03 7.75979737e+00] [ 5.58172778e-02 -2.11491276e-03 9.98438761e-01 4.29513782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30509989299998 meters 0.017678852482095584 Centerline is valid? [True, True] Translation: X:107.55, Y:7.77, Z:4.30 [[ 9.93014845e-01 -1.04535861e-01 -5.47153618e-02 1.07547104e+02] [ 1.04479883e-01 9.94519391e-01 -3.89041440e-03 7.76738295e+00] [ 5.48221761e-02 -1.85341535e-03 9.98494414e-01 4.29774904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36509989299998 meters 0.017207575826687752 Centerline is valid? [True, True] Translation: X:107.61, Y:7.77, Z:4.30 [[ 9.93092900e-01 -1.04267624e-01 -5.38029153e-02 1.07607777e+02] [ 1.04213208e-01 9.94547629e-01 -3.82360797e-03 7.77275813e+00] [ 5.39082404e-02 -1.80977648e-03 9.98544254e-01 4.30096597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42509989299998 meters 0.01897662049256702 Centerline is valid? [True, True] Translation: X:107.67, Y:7.77, Z:4.31 [[ 9.92750735e-01 -1.08621262e-01 -5.14528901e-02 1.07668596e+02] [ 1.08577410e-01 9.94081278e-01 -3.65498976e-03 7.77402943e+00] [ 5.15453643e-02 -1.95812777e-03 9.98668734e-01 4.30628429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48509989299998 meters 0.0180136969686492 Centerline is valid? [True, True] Translation: X:107.73, Y:7.78, Z:4.31 [[ 9.92548190e-01 -1.10309511e-01 -5.17677746e-02 1.07729848e+02] [ 1.10267480e-01 9.93895150e-01 -3.67605007e-03 7.78002312e+00] [ 5.18572434e-02 -2.05964519e-03 9.98652384e-01 4.30981128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54509989299997 meters 0.02045835726371921 Centerline is valid? [True, True] Translation: X:107.79, Y:7.78, Z:4.31 [[ 9.92089299e-01 -1.13792467e-01 -5.30103424e-02 1.07790190e+02] [ 1.13753492e-01 9.93501884e-01 -3.76168214e-03 7.78066468e+00] [ 5.30939261e-02 -2.29818694e-03 9.98586878e-01 4.31138114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60509989299997 meters 0.021273914729341606 Centerline is valid? [True, True] Translation: X:107.85, Y:7.78, Z:4.31 [[ 9.91798700e-01 -1.15684098e-01 -5.43371674e-02 1.07851870e+02] [ 1.15646088e-01 9.93283006e-01 -3.85389123e-03 7.78306155e+00] [ 5.44180189e-02 -2.46159651e-03 9.98515208e-01 4.31218164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66509989299998 meters 0.020711275510465955 Centerline is valid? [True, True] Translation: X:107.91, Y:7.79, Z:4.32 [[ 9.91879854e-01 -1.15548734e-01 -5.31304639e-02 1.07913773e+02] [ 1.15512444e-01 9.93298903e-01 -3.76365884e-03 7.78797957e+00] [ 5.32093176e-02 -2.40413237e-03 9.98580487e-01 4.31534960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72509989299998 meters 0.02039105193797744 Centerline is valid? [True, True] Translation: X:107.98, Y:7.79, Z:4.32 [[ 9.91994307e-01 -1.15113468e-01 -5.19247897e-02 1.07976037e+02] [ 1.15078403e-01 9.93349616e-01 -3.67451068e-03 7.79218227e+00] [ 5.20024556e-02 -2.33032820e-03 9.98644238e-01 4.31882047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78509989299998 meters 0.02017061318634667 Centerline is valid? [True, True] Translation: X:108.04, Y:7.80, Z:4.32 [[ 9.92344949e-01 -1.13911127e-01 -4.77048881e-02 1.08038111e+02] [ 1.13880292e-01 9.93488754e-01 -3.37262941e-03 7.79502312e+00] [ 4.77784498e-02 -2.08583483e-03 9.98855780e-01 4.32335160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84509989299998 meters 0.020959235723351368 Centerline is valid? [True, True] Translation: X:108.10, Y:7.80, Z:4.33 [[ 9.92642364e-01 -1.12381312e-01 -4.50730278e-02 1.08098912e+02] [ 1.12352346e-01 9.93663331e-01 -3.18350839e-03 7.79699948e+00] [ 4.51451818e-02 -1.90397514e-03 9.98978622e-01 4.32756754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90509989299997 meters 0.019568163989902226 Centerline is valid? [True, True] Translation: X:108.16, Y:7.80, Z:4.33 [[ 9.92949928e-01 -1.10252472e-01 -4.35296674e-02 1.08160182e+02] [ 1.10223511e-01 9.93902077e-01 -3.07224419e-03 7.80246286e+00] [ 4.36029494e-02 -1.74740812e-03 9.99047411e-01 4.33123681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96509989299997 meters 0.019339929306343803 Centerline is valid? [True, True] Translation: X:108.22, Y:7.81, Z:4.33 [[ 9.93312259e-01 -1.07294475e-01 -4.26456550e-02 1.08221477e+02] [ 1.07264022e-01 9.94226020e-01 -3.00831829e-03 7.80584585e+00] [ 4.27221958e-02 -1.58614503e-03 9.99085731e-01 4.33419026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02509989299998 meters 0.01793407527897004 Centerline is valid? [True, True] Translation: X:108.28, Y:7.81, Z:4.34 [[ 9.93496406e-01 -1.04860357e-01 -4.43756378e-02 1.08283278e+02] [ 1.04825038e-01 9.94485758e-01 -3.12859697e-03 7.81056920e+00] [ 4.44590056e-02 -1.54342807e-03 9.99010017e-01 4.33571015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08509989299998 meters 0.017076936887400557 Centerline is valid? [True, True] Translation: X:108.35, Y:7.81, Z:4.34 [[ 9.93655737e-01 -1.02801500e-01 -4.56084095e-02 1.08345622e+02] [ 1.02762182e-01 9.94700767e-01 -3.21210876e-03 7.81315873e+00] [ 4.56969296e-02 -1.49508938e-03 9.98954231e-01 4.33701521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14509989299998 meters 0.01611491800492172 Centerline is valid? [True, True] Translation: X:108.41, Y:7.82, Z:4.34 [[ 9.93973140e-01 -9.93065873e-02 -4.64284343e-02 1.08407130e+02] [ 9.92621884e-02 9.95055952e-01 -3.26656949e-03 7.81542430e+00] [ 4.65232818e-02 -1.36170567e-03 9.98916278e-01 4.33799945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.20509989299998 meters 0.014918539476842227 Centerline is valid? [True, True] Translation: X:108.47, Y:7.82, Z:4.34 [[ 9.94529501e-01 -9.43775628e-02 -4.47654744e-02 1.08468275e+02] [ 9.43313685e-02 9.95535877e-01 -3.14798161e-03 7.81931182e+00] [ 4.48627347e-02 -1.09202789e-03 9.98992564e-01 4.34131904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26509989299997 meters 0.01325497610646099 Centerline is valid? [True, True] Translation: X:108.53, Y:7.82, Z:4.35 [[ 9.95222048e-01 -8.78708480e-02 -4.25651111e-02 1.08529750e+02] [ 8.78231976e-02 9.96131585e-01 -2.99175946e-03 7.82382842e+00] [ 4.26633401e-02 -7.60739185e-04 9.99089216e-01 4.34571612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32509989299997 meters 0.013239101129989952 Centerline is valid? [True, True] Translation: X:108.59, Y:7.82, Z:4.35 [[ 9.95288104e-01 -8.71412527e-02 -4.25205007e-02 1.08591919e+02] [ 8.70931368e-02 9.96195697e-01 -2.98627765e-03 7.82436796e+00] [ 4.26189679e-02 -7.31037168e-04 9.99091132e-01 4.34803387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38509989299997 meters 0.015946446146874356 Centerline is valid? [True, True] Translation: X:108.65, Y:7.81, Z:4.35 [[ 9.94564496e-01 -9.52957063e-02 -4.19546487e-02 1.08653236e+02] [ 9.52562326e-02 9.95448435e-01 -2.94352860e-03 7.81296619e+00] [ 4.20441950e-02 -1.06891273e-03 9.99115180e-01 4.34994195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44509989299998 meters 0.01579795624861506 Centerline is valid? [True, True] Translation: X:108.72, Y:7.81, Z:4.35 [[ 9.94262754e-01 -9.83149721e-02 -4.21395638e-02 1.08715791e+02] [ 9.82778900e-02 9.95154621e-01 -2.95573380e-03 7.81401211e+00] [ 4.22259745e-02 -1.20261139e-03 9.99107362e-01 4.35192851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.50509989299998 meters 0.017035384711223567 Centerline is valid? [True, True] Translation: X:108.78, Y:7.81, Z:4.35 [[ 9.94115934e-01 -9.97514644e-02 -4.22274235e-02 1.08776640e+02] [ 9.97156538e-02 9.95011575e-01 -2.95877287e-03 7.81415263e+00] [ 4.23119171e-02 -1.26937189e-03 9.99103643e-01 4.35418194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56509989299998 meters 0.017519613466450635 Centerline is valid? [True, True] Translation: X:108.84, Y:7.82, Z:4.36 [[ 9.94012969e-01 -1.00846301e-01 -4.20504597e-02 1.08838663e+02] [ 1.00811833e-01 9.94901152e-01 -2.94483469e-03 7.81597253e+00] [ 4.21330264e-02 -1.31198005e-03 9.99111148e-01 4.35677820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62509989299998 meters 0.01816426553902984 Centerline is valid? [True, True] Translation: X:108.90, Y:7.82, Z:4.36 [[ 9.93947786e-01 -1.01537203e-01 -4.19284442e-02 1.08900610e+02] [ 1.01503675e-01 9.94830840e-01 -2.93328314e-03 7.81753765e+00] [ 4.20095467e-02 -1.34036089e-03 9.99116310e-01 4.35933397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68509989299997 meters 0.01741224404645422 Centerline is valid? [True, True] Translation: X:108.96, Y:7.82, Z:4.36 [[ 9.93927959e-01 -1.01935862e-01 -4.14281602e-02 1.08962660e+02] [ 1.01903596e-01 9.94790065e-01 -2.89536895e-03 7.81927640e+00] [ 4.15074641e-02 -1.34389036e-03 9.99137290e-01 4.36170816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74509989299997 meters 0.017468259105838997 Centerline is valid? [True, True] Translation: X:109.03, Y:7.82, Z:4.36 [[ 9.94094594e-01 -1.00373485e-01 -4.12444110e-02 1.09025254e+02] [ 1.00340286e-01 9.94949011e-01 -2.87952016e-03 7.82061815e+00] [ 4.13251134e-02 -1.27596056e-03 9.99144938e-01 4.36366219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80509989299998 meters 0.01677247720523915 Centerline is valid? [True, True] Translation: X:109.09, Y:7.82, Z:4.37 [[ 9.94239349e-01 -9.90424183e-02 -4.09721421e-02 1.09087865e+02] [ 9.90086471e-02 9.95082470e-01 -2.85758385e-03 7.82313590e+00] [ 4.10536824e-02 -1.21547405e-03 9.99156203e-01 4.36574418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86509989299998 meters 0.016962597403693477 Centerline is valid? [True, True] Translation: X:109.15, Y:7.82, Z:4.37 [[ 9.94219115e-01 -9.93099799e-02 -4.08151905e-02 1.09149667e+02] [ 9.92768450e-02 9.95055790e-01 -2.84290085e-03 7.82404229e+00] [ 4.08957200e-02 -1.22553697e-03 9.99162669e-01 4.36790009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92509989299998 meters 0.017292957452780894 Centerline is valid? [True, True] Translation: X:109.21, Y:7.83, Z:4.37 [[ 9.94118132e-01 -1.00068976e-01 -4.14166509e-02 1.09211606e+02] [ 1.00035643e-01 9.94979681e-01 -2.88171999e-03 7.82572494e+00] [ 4.14970969e-02 -1.27837121e-03 9.99137807e-01 4.37009139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98509989299998 meters 0.01809357468010384 Centerline is valid? [True, True] Translation: X:109.27, Y:7.82, Z:4.37 [[ 9.94115112e-01 -9.93694960e-02 -4.31375428e-02 1.09272647e+02] [ 9.93328227e-02 9.95049748e-01 -2.99812711e-03 7.82479573e+00] [ 4.32219235e-02 -1.30449042e-03 9.99064644e-01 4.37033863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04509989299997 meters 0.01635123559970481 Centerline is valid? [True, True] Translation: X:109.33, Y:7.83, Z:4.37 [[ 9.94280850e-01 -9.84168971e-02 -4.14693292e-02 1.09334501e+02] [ 9.83823834e-02 9.95144526e-01 -2.87722474e-03 7.83114610e+00] [ 4.15511435e-02 -1.21908199e-03 9.99135635e-01 4.37389084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10509989299997 meters 0.019077817164631278 Centerline is valid? [True, True] Translation: X:109.40, Y:7.83, Z:4.38 [[ 9.94220398e-01 -9.88422902e-02 -4.19046751e-02 1.09395409e+02] [ 9.88075577e-02 9.95102322e-01 -2.90428611e-03 7.83074671e+00] [ 4.19865058e-02 -1.25299811e-03 9.99117392e-01 4.37687965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16509989299998 meters 0.02075771274182429 Centerline is valid? [True, True] Translation: X:109.46, Y:7.83, Z:4.38 [[ 9.93863133e-01 -1.02469053e-01 -4.16673247e-02 1.09455761e+02] [ 1.02437990e-01 9.94735207e-01 -2.88555038e-03 7.83195424e+00] [ 4.17436345e-02 -1.40047487e-03 9.99127373e-01 4.37904509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22509989299998 meters 0.0201880250590291 Centerline is valid? [True, True] Translation: X:109.52, Y:7.84, Z:4.38 [[ 9.93471625e-01 -1.06090478e-01 -4.19397252e-02 1.09516852e+02] [ 1.06062228e-01 9.94355253e-01 -2.90441331e-03 7.83712589e+00] [ 4.20111166e-02 -1.56276846e-03 9.99115921e-01 4.38153274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28509989299998 meters 0.021595620863178216 Centerline is valid? [True, True] Translation: X:109.58, Y:7.84, Z:4.38 [[ 9.92848254e-01 -1.11895447e-01 -4.16143532e-02 1.09577588e+02] [ 1.11872780e-01 9.93718363e-01 -2.88039716e-03 7.83932891e+00] [ 4.16752502e-02 -1.79571608e-03 9.99129596e-01 4.38426833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34509989299998 meters 0.024012047750971266 Centerline is valid? [True, True] Translation: X:109.64, Y:7.84, Z:4.39 [[ 9.92359532e-01 -1.16281586e-01 -4.12450244e-02 1.09639137e+02] [ 1.16263113e-01 9.93214348e-01 -2.85444099e-03 7.84007643e+00] [ 4.12970689e-02 -1.96264321e-03 9.99144985e-01 4.38731515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40509989299997 meters 0.02297339910057515 Centerline is valid? [True, True] Translation: X:109.70, Y:7.85, Z:4.39 [[ 9.92044126e-01 -1.18787263e-01 -4.16897733e-02 1.09700058e+02] [ 1.18770659e-01 9.92917527e-01 -2.88370891e-03 7.84707218e+00] [ 4.17370545e-02 -2.09075536e-03 9.99126442e-01 4.38910703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46509989299997 meters 0.022937823232720637 Centerline is valid? [True, True] Translation: X:109.76, Y:7.85, Z:4.39 [[ 9.91845603e-01 -1.19963252e-01 -4.30246133e-02 1.09762377e+02] [ 1.19946745e-01 9.92775872e-01 -2.97434905e-03 7.85309731e+00] [ 4.30706106e-02 -2.21056730e-03 9.99069585e-01 4.39023767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52509989299998 meters 0.02477699617737797 Centerline is valid? [True, True] Translation: X:109.82, Y:7.86, Z:4.39 [[ 9.91853517e-01 -1.19970544e-01 -4.28213581e-02 1.09823513e+02] [ 1.19954338e-01 9.92775006e-01 -2.95705104e-03 7.85630745e+00] [ 4.28667330e-02 -2.20364620e-03 9.99078369e-01 4.39223552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58509989299998 meters 0.02374291697745853 Centerline is valid? [True, True] Translation: X:109.88, Y:7.87, Z:4.40 [[ 9.92126641e-01 -1.18073877e-01 -4.17527058e-02 1.09884516e+02] [ 1.18057000e-01 9.93002648e-01 -2.87832697e-03 7.86935539e+00] [ 4.18004026e-02 -2.07353433e-03 9.99123830e-01 4.39583709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64509989299998 meters 0.023911470956325204 Centerline is valid? [True, True] Translation: X:109.95, Y:7.88, Z:4.40 [[ 9.92416464e-01 -1.15985466e-01 -4.07054473e-02 1.09945581e+02] [ 1.15967761e-01 9.93249020e-01 -2.80394511e-03 7.87912067e+00] [ 4.07558625e-02 -1.93783827e-03 9.99167255e-01 4.39918285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70509989299998 meters 0.02361356164472296 Centerline is valid? [True, True] Translation: X:110.01, Y:7.89, Z:4.40 [[ 9.92675726e-01 -1.14107182e-01 -3.96793827e-02 1.10006361e+02] [ 1.14088945e-01 9.93466785e-01 -2.73112786e-03 7.88711751e+00] [ 3.97317901e-02 -1.81585457e-03 9.99208731e-01 4.40204618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76509989299997 meters 0.02181475038063204 Centerline is valid? [True, True] Translation: X:110.07, Y:7.90, Z:4.41 [[ 9.93069627e-01 -1.10871484e-01 -3.89901291e-02 1.10066956e+02] [ 1.10851439e-01 9.93833368e-01 -2.68230595e-03 7.89957583e+00] [ 3.90470826e-02 -1.65839534e-03 9.99235996e-01 4.40506897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82509989299997 meters 0.022695350255317038 Centerline is valid? [True, True] Translation: X:110.13, Y:7.91, Z:4.41 [[ 9.93137312e-01 -1.10592253e-01 -3.80477791e-02 1.10127249e+02] [ 1.10573009e-01 9.93864561e-01 -2.61618995e-03 7.90726885e+00] [ 3.81036696e-02 -1.60882158e-03 9.99272496e-01 4.40905983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88509989299997 meters 0.024238170963132282 Centerline is valid? [True, True] Translation: X:110.19, Y:7.91, Z:4.41 [[ 9.92584177e-01 -1.13385774e-01 -4.38214274e-02 1.10188439e+02] [ 1.13363085e-01 9.93549067e-01 -3.01052894e-03 7.91251075e+00] [ 4.38800894e-02 -1.97952879e-03 9.99034844e-01 4.40648851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94509989299998 meters 0.02194398840334639 Centerline is valid? [True, True] Translation: X:110.25, Y:7.92, Z:4.41 [[ 9.92292349e-01 -1.14724196e-01 -4.68428538e-02 1.10249703e+02] [ 1.14699861e-01 9.93394987e-01 -3.21600429e-03 7.92195355e+00] [ 4.69024096e-02 -2.18165236e-03 9.98897094e-01 4.40588240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00509989299998 meters 0.024186638236927245 Centerline is valid? [True, True] Translation: X:110.31, Y:7.93, Z:4.41 [[ 9.92279012e-01 -1.15428416e-01 -4.53722685e-02 1.10310628e+02] [ 1.15406528e-01 9.93313475e-01 -3.11038590e-03 7.92628394e+00] [ 4.54279126e-02 -2.14988534e-03 9.98965306e-01 4.40932195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06509989299998 meters 0.02156130348293077 Centerline is valid? [True, True] Translation: X:110.37, Y:7.94, Z:4.41 [[ 9.92698559e-01 -1.12295179e-01 -4.40382032e-02 1.10371050e+02] [ 1.12271673e-01 9.93672976e-01 -3.01457724e-03 7.93958120e+00] [ 4.40980950e-02 -1.95167626e-03 9.99025299e-01 4.41351353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12509989299997 meters 0.022923660095886145 Centerline is valid? [True, True] Translation: X:110.43, Y:7.95, Z:4.42 [[ 9.92860342e-01 -1.11329203e-01 -4.28269755e-02 1.10432317e+02] [ 1.11306142e-01 9.93781846e-01 -2.93008963e-03 7.94619491e+00] [ 4.28868753e-02 -1.85773563e-03 9.99078208e-01 4.41812606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18509989299997 meters 0.021454482654130413 Centerline is valid? [True, True] Translation: X:110.49, Y:7.95, Z:4.42 [[ 9.92915619e-01 -1.11072953e-01 -4.22063164e-02 1.10493664e+02] [ 1.11050452e-01 9.93810584e-01 -2.88461158e-03 7.95438073e+00] [ 4.22654862e-02 -1.82285460e-03 9.99104752e-01 4.42154649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24509989299997 meters 0.022308453017558877 Centerline is valid? [True, True] Translation: X:110.56, Y:7.96, Z:4.42 [[ 9.92734233e-01 -1.12302714e-01 -4.32069792e-02 1.10555559e+02] [ 1.12280436e-01 9.93672181e-01 -2.94976306e-03 7.95806634e+00] [ 4.32648396e-02 -1.92296770e-03 9.99061788e-01 4.42301203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30509989299998 meters 0.022923860576512328 Centerline is valid? [True, True] Translation: X:110.62, Y:7.96, Z:4.43 [[ 9.92446915e-01 -1.14961903e-01 -4.28121713e-02 1.10616251e+02] [ 1.14942627e-01 9.93367841e-01 -2.91977300e-03 7.96243070e+00] [ 4.28638969e-02 -2.02322375e-03 9.99078872e-01 4.42592219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36509989299998 meters 0.024977399665728196 Centerline is valid? [True, True] Translation: X:110.68, Y:7.96, Z:4.43 [[ 9.92170841e-01 -1.17274009e-01 -4.29398429e-02 1.10677470e+02] [ 1.17256812e-01 9.93097311e-01 -2.92765607e-03 7.96428037e+00] [ 4.29867805e-02 -2.13025410e-03 9.99073370e-01 4.42875065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.42509989299998 meters 0.02494315060555826 Centerline is valid? [True, True] Translation: X:110.74, Y:7.97, Z:4.43 [[ 9.92118758e-01 -1.18037691e-01 -4.20413406e-02 1.10739497e+02] [ 1.18021981e-01 9.93006852e-01 -2.86418209e-03 7.96888714e+00] [ 4.20854207e-02 -2.12019354e-03 9.99111767e-01 4.43097081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48509989299998 meters 0.02565502929629079 Centerline is valid? [True, True] Translation: X:110.80, Y:7.97, Z:4.43 [[ 9.92097650e-01 -1.18562262e-01 -4.10517127e-02 1.10801127e+02] [ 1.18547849e-01 9.92944410e-01 -2.79386012e-03 7.97191269e+00] [ 4.10933150e-02 -2.09481018e-03 9.99153117e-01 4.43391230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54509989299997 meters 0.02665417870633587 Centerline is valid? [True, True] Translation: X:110.86, Y:7.97, Z:4.44 [[ 9.92197802e-01 -1.18040101e-01 -4.01255122e-02 1.10862219e+02] [ 1.18026018e-01 9.93006756e-01 -2.72797135e-03 7.97376219e+00] [ 4.01669147e-02 -2.02916726e-03 9.99190923e-01 4.43598509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60509989299997 meters 0.024125405115736676 Centerline is valid? [True, True] Translation: X:110.92, Y:7.98, Z:4.43 [[ 9.92367957e-01 -1.15703140e-01 -4.26452893e-02 1.10923306e+02] [ 1.15685188e-01 9.93281705e-01 -2.89688252e-03 7.98065710e+00] [ 4.26939641e-02 -2.05865494e-03 9.99086076e-01 4.43443660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66509989299998 meters 0.02323606931840417 Centerline is valid? [True, True] Translation: X:110.98, Y:7.99, Z:4.44 [[ 9.93338619e-01 -1.07143402e-01 -4.24108431e-02 1.10982787e+02] [ 1.07117920e-01 9.94242154e-01 -2.87944189e-03 7.98865017e+00] [ 4.24751612e-02 -1.68270048e-03 9.99096106e-01 4.43605482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72509989299998 meters 0.02323606931840417 Centerline is valid? [True, True] Translation: X:111.04, Y:7.99, Z:4.44 [[ 9.93345986e-01 -1.07075079e-01 -4.24108420e-02 1.11044338e+02] [ 1.07049535e-01 9.94249519e-01 -2.87945878e-03 7.99276497e+00] [ 4.24752775e-02 -1.67976207e-03 9.99096106e-01 4.43864811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78509989299998 meters 0.02014362824628047 Centerline is valid? [True, True] Translation: X:111.11, Y:8.00, Z:4.44 [[ 9.93523614e-01 -1.05614390e-01 -4.19097737e-02 1.11105824e+02] [ 1.05588268e-01 9.94405872e-01 -2.84257484e-03 8.00224248e+00] [ 4.19755419e-02 -1.60101518e-03 9.99117356e-01 4.44175053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84509989299998 meters 0.02024237382830476 Centerline is valid? [True, True] Translation: X:111.17, Y:8.01, Z:4.44 [[ 9.93668401e-01 -1.04236352e-01 -4.19272157e-02 1.11168339e+02] [ 1.04209113e-01 9.94551352e-01 -2.84068442e-03 8.00696507e+00] [ 4.19948716e-02 -1.54649961e-03 9.99116629e-01 4.44428833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90509989299997 meters 0.01936356740887737 Centerline is valid? [True, True] Translation: X:111.23, Y:8.01, Z:4.45 [[ 9.93788542e-01 -1.02820871e-01 -4.25699680e-02 1.11230320e+02] [ 1.02791680e-01 9.94698737e-01 -2.87986876e-03 8.01323951e+00] [ 4.26404040e-02 -1.51385796e-03 9.99089337e-01 4.44626780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96509989299997 meters 0.018854773788749796 Centerline is valid? [True, True] Translation: X:111.29, Y:8.02, Z:4.45 [[ 9.94018485e-01 -1.00264332e-01 -4.32933568e-02 1.11291906e+02] [ 1.00231858e-01 9.94959806e-01 -2.92561735e-03 8.01937170e+00] [ 4.33684849e-02 -1.43125588e-03 9.99058119e-01 4.44750883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02509989299998 meters 0.01779441934357975 Centerline is valid? [True, True] Translation: X:111.35, Y:8.03, Z:4.45 [[ 9.94193143e-01 -9.82534466e-02 -4.38891112e-02 1.11353904e+02] [ 9.82182251e-02 9.95160489e-01 -2.96342247e-03 8.02709584e+00] [ 4.39678758e-02 -1.36449631e-03 9.99032014e-01 4.44914822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08509989299998 meters 0.01823121437437259 Centerline is valid? [True, True] Translation: X:111.42, Y:8.03, Z:4.45 [[ 9.94241030e-01 -9.77992271e-02 -4.38187858e-02 1.11415851e+02] [ 9.77638185e-02 9.95205256e-01 -2.95547283e-03 8.03133204e+00] [ 4.38977289e-02 -1.34543946e-03 9.99035124e-01 4.45155345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14509989299998 meters 0.018647431924363703 Centerline is valid? [True, True] Translation: X:111.48, Y:8.04, Z:4.45 [[ 9.94217913e-01 -9.79464232e-02 -4.40140835e-02 1.11478193e+02] [ 9.79109830e-02 9.95190758e-01 -2.96545997e-03 8.03526468e+00] [ 4.40928653e-02 -1.36114876e-03 9.99026509e-01 4.45385542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20509989299998 meters 0.01743075421552381 Centerline is valid? [True, True] Translation: X:111.54, Y:8.04, Z:4.46 [[ 9.94376840e-01 -9.62233923e-02 -4.42239573e-02 1.11540117e+02] [ 9.61860526e-02 9.95358922e-01 -2.97642019e-03 8.04256727e+00] [ 4.43051117e-02 -1.29404458e-03 9.99017208e-01 4.45650471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26509989299997 meters 0.017227551815212846 Centerline is valid? [True, True] Translation: X:111.60, Y:8.05, Z:4.46 [[ 9.94683486e-01 -9.29097853e-02 -4.44132270e-02 1.11600416e+02] [ 9.28689643e-02 9.95673862e-01 -2.98603781e-03 8.04871578e+00] [ 4.44985214e-02 -1.15444790e-03 9.99008783e-01 4.45899883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32509989299997 meters 0.016525119427174557 Centerline is valid? [True, True] Translation: X:111.66, Y:8.06, Z:4.46 [[ 9.94939952e-01 -9.01780454e-02 -4.42991258e-02 1.11661871e+02] [ 9.01347692e-02 9.95925127e-01 -2.97745020e-03 8.05545809e+00] [ 4.43871131e-02 -1.03050732e-03 9.99013875e-01 4.46146175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38509989299997 meters 0.015967895203783812 Centerline is valid? [True, True] Translation: X:111.72, Y:8.06, Z:4.47 [[ 9.94908080e-01 -9.10084642e-02 -4.33055580e-02 1.11723501e+02] [ 9.09680238e-02 9.95849569e-01 -2.90766048e-03 8.06075882e+00] [ 4.33904430e-02 -1.04656612e-03 9.99057643e-01 4.46505673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44509989299998 meters 0.017925404769253077 Centerline is valid? [True, True] Translation: X:111.78, Y:8.06, Z:4.47 [[ 9.94515817e-01 -9.51766729e-02 -4.33553997e-02 1.11784296e+02] [ 9.51402311e-02 9.95459633e-01 -2.90785623e-03 8.05966378e+00] [ 4.34353104e-02 -1.23293373e-03 9.99055481e-01 4.46744929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.50509989299998 meters 0.020351125700350293 Centerline is valid? [True, True] Translation: X:111.84, Y:8.06, Z:4.47 [[ 9.94014978e-01 -9.95432069e-02 -4.50041598e-02 1.11844934e+02] [ 9.95084824e-02 9.95032141e-01 -3.01679675e-03 8.05864392e+00] [ 4.50808871e-02 -1.47955449e-03 9.98982244e-01 4.46924760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56509989299998 meters 0.020303849538001618 Centerline is valid? [True, True] Translation: X:111.91, Y:8.06, Z:4.47 [[ 9.93499729e-01 -1.03751568e-01 -4.68390987e-02 1.11906035e+02] [ 1.03718663e-01 9.94601722e-01 -3.13894636e-03 8.06116922e+00] [ 4.69119189e-02 -1.73954632e-03 9.98897515e-01 4.47145606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62509989299997 meters 0.020887207485359098 Centerline is valid? [True, True] Translation: X:111.97, Y:8.06, Z:4.47 [[ 9.93148486e-01 -1.07093482e-01 -4.67661321e-02 1.11966900e+02] [ 1.07064422e-01 9.94247149e-01 -3.13304794e-03 8.06183089e+00] [ 4.68326225e-02 -1.89540706e-03 9.98900952e-01 4.47413506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68509989299997 meters 0.023084661233488835 Centerline is valid? [True, True] Translation: X:112.03, Y:8.06, Z:4.48 [[ 9.92927973e-01 -1.09188627e-01 -4.66034777e-02 1.12028425e+02] [ 1.09162194e-01 9.94019056e-01 -3.11951141e-03 8.06106181e+00] [ 4.66653601e-02 -1.98988774e-03 9.98908597e-01 4.47674998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74509989299997 meters 0.020759609577472603 Centerline is valid? [True, True] Translation: X:112.09, Y:8.07, Z:4.48 [[ 9.92913295e-01 -1.09411787e-01 -4.63923421e-02 1.12090019e+02] [ 1.09386035e-01 9.93994506e-01 -3.10110248e-03 8.06842291e+00] [ 4.64530304e-02 -1.99554846e-03 9.98918482e-01 4.47994171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80509989299998 meters 0.02155987635902025 Centerline is valid? [True, True] Translation: X:112.15, Y:8.07, Z:4.48 [[ 9.92752650e-01 -1.10688587e-01 -4.67997025e-02 1.12152583e+02] [ 1.10663962e-01 9.93852969e-01 -3.12480121e-03 8.06939825e+00] [ 4.68579031e-02 -2.07688580e-03 9.98899406e-01 4.48202888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86509989299998 meters 0.023867174698834287 Centerline is valid? [True, True] Translation: X:112.21, Y:8.07, Z:4.48 [[ 9.92625207e-01 -1.12054860e-01 -4.62483229e-02 1.12213383e+02] [ 1.12032439e-01 9.93699762e-01 -3.08475589e-03 8.06851434e+00] [ 4.63026093e-02 -2.11930598e-03 9.98925211e-01 4.48471029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92509989299998 meters 0.024784496007203775 Centerline is valid? [True, True] Translation: X:112.27, Y:8.07, Z:4.49 [[ 9.92324322e-01 -1.14602057e-01 -4.64629801e-02 1.12274443e+02] [ 1.14582291e-01 9.93408931e-01 -3.09736599e-03 8.07045127e+00] [ 4.65117039e-02 -2.25024310e-03 9.98915211e-01 4.48811458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98509989299998 meters 0.02437848450947098 Centerline is valid? [True, True] Translation: X:112.34, Y:8.07, Z:4.49 [[ 9.91937146e-01 -1.16956850e-01 -4.88036149e-02 1.12335704e+02] [ 1.16937978e-01 9.93133897e-01 -3.25156832e-03 8.07442477e+00] [ 4.88488174e-02 -2.48164465e-03 9.98803101e-01 4.48978165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04509989299997 meters 0.025600592962763406 Centerline is valid? [True, True] Translation: X:112.40, Y:8.08, Z:4.49 [[ 9.91661871e-01 -1.18676543e-01 -5.02256025e-02 1.12397323e+02] [ 1.18658859e-01 9.92929449e-01 -3.34427948e-03 8.07538029e+00] [ 5.02673673e-02 -2.64331823e-03 9.98732299e-01 4.49109456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10509989299997 meters 0.02605941053330046 Centerline is valid? [True, True] Translation: X:112.46, Y:8.08, Z:4.49 [[ 9.91556947e-01 -1.19913294e-01 -4.93520358e-02 1.12459416e+02] [ 1.19897881e-01 9.92780801e-01 -3.28332300e-03 8.07719677e+00] [ 4.93894677e-02 -2.66160280e-03 9.98776049e-01 4.49450765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16509989299998 meters 0.02409878574238488 Centerline is valid? [True, True] Translation: X:112.52, Y:8.08, Z:4.50 [[ 9.91817014e-01 -1.18329823e-01 -4.79276917e-02 1.12520146e+02] [ 1.18313594e-01 9.92971171e-01 -3.18537367e-03 8.08435461e+00] [ 4.79677409e-02 -2.51118966e-03 9.98845729e-01 4.49811102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22509989299998 meters 0.024045293885573596 Centerline is valid? [True, True] Translation: X:112.58, Y:8.09, Z:4.50 [[ 9.92160512e-01 -1.15505640e-01 -4.77070734e-02 1.12581412e+02] [ 1.15486388e-01 9.93304008e-01 -3.16893664e-03 8.08764329e+00] [ 4.77536573e-02 -2.36542380e-03 9.98856343e-01 4.49964984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28509989299998 meters 0.025893607993900288 Centerline is valid? [True, True] Translation: X:112.64, Y:8.09, Z:4.50 [[ 9.92426288e-01 -1.13077290e-01 -4.79957192e-02 1.12641863e+02] [ 1.13055080e-01 9.93583615e-01 -3.18589407e-03 8.08832261e+00] [ 4.80480125e-02 -2.26439484e-03 9.98842461e-01 4.50182741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34509989299998 meters 0.022486416425503343 Centerline is valid? [True, True] Translation: X:112.70, Y:8.10, Z:4.51 [[ 9.92603400e-01 -1.11620951e-01 -4.77415300e-02 1.12703518e+02] [ 1.11597532e-01 9.93748449e-01 -3.16406957e-03 8.09816295e+00] [ 4.77962478e-02 -2.18717068e-03 9.98854712e-01 4.50591328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40509989299997 meters 0.021991780360439507 Centerline is valid? [True, True] Translation: X:112.77, Y:8.10, Z:4.51 [[ 9.92717766e-01 -1.10519388e-01 -4.79260051e-02 1.12765548e+02] [ 1.10494678e-01 9.93871652e-01 -3.17274713e-03 8.10326624e+00] [ 4.79829479e-02 -2.14592607e-03 9.98845850e-01 4.50878819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46509989299997 meters 0.020810167564567387 Centerline is valid? [True, True] Translation: X:112.83, Y:8.11, Z:4.51 [[ 9.93270076e-01 -1.05428088e-01 -4.79528254e-02 1.12826355e+02] [ 1.05397583e-01 9.94425106e-01 -3.17130768e-03 8.10993736e+00] [ 4.80198384e-02 -1.90414686e-03 9.98844567e-01 4.51135248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52509989299998 meters 0.020145281458024154 Centerline is valid? [True, True] Translation: X:112.89, Y:8.12, Z:4.51 [[ 9.93826862e-01 -1.00309791e-01 -4.73931952e-02 1.12886047e+02] [ 1.00274217e-01 9.94954905e-01 -3.13354030e-03 8.11515220e+00] [ 4.74684168e-02 -1.63811900e-03 9.98871396e-01 4.51410805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58509989299998 meters 0.01688173717219087 Centerline is valid? [True, True] Translation: X:112.95, Y:8.13, Z:4.52 [[ 9.94594975e-01 -9.28004956e-02 -4.65714992e-02 1.12945833e+02] [ 9.27579215e-02 9.95683929e-01 -3.07912564e-03 8.12618417e+00] [ 4.66562377e-02 -1.25739259e-03 9.98910213e-01 4.51918758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64509989299998 meters 0.015802180809596778 Centerline is valid? [True, True] Translation: X:113.01, Y:8.13, Z:4.52 [[ 9.95036824e-01 -8.84833132e-02 -4.55238706e-02 1.13006520e+02] [ 8.84381583e-02 9.96077125e-01 -3.00897116e-03 8.13182596e+00] [ 4.56115298e-02 -1.03201016e-03 9.98958720e-01 4.52260400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.70509989299998 meters 0.015160547821900811 Centerline is valid? [True, True] Translation: X:113.07, Y:8.14, Z:4.52 [[ 9.95308967e-01 -8.46504892e-02 -4.68439460e-02 1.13068274e+02] [ 8.45985237e-02 9.96410314e-01 -3.09434510e-03 8.13597599e+00] [ 4.69377288e-02 -8.83099255e-04 9.98897427e-01 4.52443279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76509989299997 meters 0.014628110272883113 Centerline is valid? [True, True] Translation: X:113.13, Y:8.14, Z:4.53 [[ 9.95551200e-01 -8.16030884e-02 -4.71035384e-02 1.13129097e+02] [ 8.15472525e-02 9.96664627e-01 -3.10903543e-03 8.14065409e+00] [ 4.72001375e-02 -7.45960187e-04 9.98885174e-01 4.52757962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82509989299997 meters 0.014691759812251006 Centerline is valid? [True, True] Translation: X:113.19, Y:8.14, Z:4.53 [[ 9.95665536e-01 -8.00054094e-02 -4.74265161e-02 1.13189744e+02] [ 7.99470718e-02 9.96794200e-01 -3.12871334e-03 8.14269498e+00] [ 4.75247901e-02 -6.76459036e-04 9.98869830e-01 4.53014289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88509989299997 meters 0.014665667636375907 Centerline is valid? [True, True] Translation: X:113.25, Y:8.15, Z:4.53 [[ 9.95714228e-01 -7.97770947e-02 -4.67845256e-02 1.13249683e+02] [ 7.97201092e-02 9.96812512e-01 -3.08561852e-03 8.14544874e+00] [ 4.68815621e-02 -6.57273228e-04 9.98900239e-01 4.53329147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94509989299998 meters 0.015126863436109642 Centerline is valid? [True, True] Translation: X:113.31, Y:8.15, Z:4.54 [[ 9.95588527e-01 -8.17396206e-02 -4.60664605e-02 1.13309448e+02] [ 8.16864669e-02 9.96653445e-01 -3.03833183e-03 8.14599891e+00] [ 4.61606486e-02 -7.38078085e-04 9.98933756e-01 4.53685265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.00509989299998 meters 0.015496415398746561 Centerline is valid? [True, True] Translation: X:113.37, Y:8.14, Z:4.54 [[ 9.95166493e-01 -8.72468924e-02 -4.50736125e-02 1.13370476e+02] [ 8.72016146e-02 9.96186246e-01 -2.97356306e-03 8.14271150e+00] [ 4.51611470e-02 -9.71301459e-04 9.98979243e-01 4.53965956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06509989299998 meters 0.01665744359077735 Centerline is valid? [True, True] Translation: X:113.43, Y:8.14, Z:4.54 [[ 9.94587636e-01 -9.34283108e-02 -4.54597155e-02 1.13432356e+02] [ 9.33887059e-02 9.95625209e-01 -2.99890328e-03 8.13911127e+00] [ 4.55410212e-02 -1.26275188e-03 9.98961671e-01 4.54180752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12509989299997 meters 0.018017349158510165 Centerline is valid? [True, True] Translation: X:113.49, Y:8.14, Z:4.54 [[ 9.94197029e-01 -9.66737411e-02 -4.71853301e-02 1.13493181e+02] [ 9.66348091e-02 9.95315044e-01 -3.11089831e-03 8.13770699e+00] [ 4.72650110e-02 -1.46689950e-03 9.98881308e-01 4.54297679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18509989299997 meters 0.0198562025850518 Centerline is valid? [True, True] Translation: X:113.55, Y:8.13, Z:4.54 [[ 9.93801112e-01 -9.99985546e-02 -4.85761161e-02 1.13553352e+02] [ 9.99613501e-02 9.94986173e-01 -3.20071554e-03 8.13455058e+00] [ 4.86526307e-02 -1.67485948e-03 9.98814355e-01 4.54352064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24509989299997 meters 0.018925416031247668 Centerline is valid? [True, True] Translation: X:113.61, Y:8.14, Z:4.55 [[ 9.93701911e-01 -1.01046792e-01 -4.84361234e-02 1.13614073e+02] [ 1.01011061e-01 9.94880185e-01 -3.19114173e-03 8.13708463e+00] [ 4.85105940e-02 -1.72154057e-03 9.98821184e-01 4.54664182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30509989299998 meters 0.019027128455457912 Centerline is valid? [True, True] Translation: X:113.68, Y:8.14, Z:4.55 [[ 9.93780534e-01 -1.00113232e-01 -4.87605461e-02 1.13675165e+02] [ 1.00076022e-01 9.94974616e-01 -3.21000653e-03 8.13974838e+00] [ 4.88368698e-02 -1.68971948e-03 9.98805339e-01 4.54865117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36509989299998 meters 0.02076836450156756 Centerline is valid? [True, True] Translation: X:113.74, Y:8.14, Z:4.55 [[ 9.93838551e-01 -9.97018219e-02 -4.84198355e-02 1.13735146e+02] [ 9.96647217e-02 9.95015976e-01 -3.18594635e-03 8.14037460e+00] [ 4.84961546e-02 -1.65943313e-03 9.98821991e-01 4.55046364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42509989299998 meters 0.019619990565593375 Centerline is valid? [True, True] Translation: X:113.80, Y:8.15, Z:4.55 [[ 9.93883100e-01 -9.92318007e-02 -4.84709524e-02 1.13795894e+02] [ 9.91941063e-02 9.95062995e-01 -3.18844252e-03 8.14530910e+00] [ 4.85480459e-02 -1.63909367e-03 9.98819504e-01 4.55334482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48509989299997 meters 0.019360023149482933 Centerline is valid? [True, True] Translation: X:113.86, Y:8.15, Z:4.56 [[ 9.93798998e-01 -9.95152283e-02 -4.96011088e-02 1.13855917e+02] [ 9.94761471e-02 9.95034600e-01 -3.26202405e-03 8.14870361e+00] [ 4.96794405e-02 -1.69233096e-03 9.98763780e-01 4.55515964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54509989299997 meters 0.020282135588121152 Centerline is valid? [True, True] Translation: X:113.92, Y:8.15, Z:4.56 [[ 9.93640002e-01 -1.01216944e-01 -4.93424451e-02 1.13915864e+02] [ 1.01180356e-01 9.94862807e-01 -3.24514494e-03 8.15067486e+00] [ 4.94174271e-02 -1.76798035e-03 9.98776648e-01 4.55813886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60509989299997 meters 0.02008215025042608 Centerline is valid? [True, True] Translation: X:113.98, Y:8.16, Z:4.56 [[ 9.93288437e-01 -1.04426195e-01 -4.97317966e-02 1.13975921e+02] [ 1.04393004e-01 9.94530743e-01 -3.27150168e-03 8.15613065e+00] [ 4.98014311e-02 -1.94210683e-03 9.98757251e-01 4.56152034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66509989299998 meters 0.02109116377506141 Centerline is valid? [True, True] Translation: X:114.04, Y:8.16, Z:4.57 [[ 9.92996804e-01 -1.07311160e-01 -4.94131818e-02 1.14036430e+02] [ 1.07281962e-01 9.94223323e-01 -3.25040507e-03 8.15969618e+00] [ 4.94765425e-02 -2.07350125e-03 9.98773134e-01 4.56503582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72509989299998 meters 0.02230503424236898 Centerline is valid? [True, True] Translation: X:114.10, Y:8.16, Z:4.57 [[ 9.92705540e-01 -1.10757793e-01 -4.76279518e-02 1.14097196e+02] [ 1.10734659e-01 9.93845071e-01 -3.13212944e-03 8.16294952e+00] [ 4.76817128e-02 -2.16478276e-03 9.98860234e-01 4.56863110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78509989299998 meters 0.02277323508017862 Centerline is valid? [True, True] Translation: X:114.16, Y:8.17, Z:4.57 [[ 9.92442024e-01 -1.13523790e-01 -4.65959049e-02 1.14158106e+02] [ 1.13504729e-01 9.93532733e-01 -3.06333888e-03 8.16864629e+00] [ 4.66423186e-02 -2.24866931e-03 9.98909124e-01 4.57235983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84509989299998 meters 0.024935680619141296 Centerline is valid? [True, True] Translation: X:114.22, Y:8.17, Z:4.57 [[ 9.92109251e-01 -1.16308970e-01 -4.68129982e-02 1.14218036e+02] [ 1.16292894e-01 9.93210200e-01 -3.07606011e-03 8.17266754e+00] [ 4.68529207e-02 -2.39223133e-03 9.98898934e-01 4.57426902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90509989299997 meters 0.02724904156554101 Centerline is valid? [True, True] Translation: X:114.28, Y:8.18, Z:4.58 [[ 9.91660205e-01 -1.19647389e-01 -4.79013630e-02 1.14278810e+02] [ 1.19634444e-01 9.92813020e-01 -3.14746912e-03 8.17578627e+00] [ 4.79336833e-02 -2.60943308e-03 9.98847112e-01 4.57638856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96509989299997 meters 0.026672232243819465 Centerline is valid? [True, True] Translation: X:114.34, Y:8.18, Z:4.58 [[ 9.91176792e-01 -1.23201926e-01 -4.88861111e-02 1.14339334e+02] [ 1.23192796e-01 9.92377561e-01 -3.21128251e-03 8.18290643e+00] [ 4.89091159e-02 -2.83946800e-03 9.98799197e-01 4.57863759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02509989299998 meters 0.029648620689292082 Centerline is valid? [True, True] Translation: X:114.40, Y:8.19, Z:4.58 [[ 9.90945527e-01 -1.25233086e-01 -4.84111269e-02 1.14399060e+02] [ 1.25226609e-01 9.92123073e-01 -3.17872819e-03 8.18547088e+00] [ 4.84278780e-02 -2.91241478e-03 9.98822436e-01 4.58155016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08509989299998 meters 0.02987607423818565 Centerline is valid? [True, True] Translation: X:114.46, Y:8.19, Z:4.58 [[ 9.90848718e-01 -1.26164378e-01 -4.79725836e-02 1.14460565e+02] [ 1.26159315e-01 9.92005006e-01 -3.14552466e-03 8.19038156e+00] [ 4.79858963e-02 -2.93544921e-03 9.98843700e-01 4.58479607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.14509989299998 meters 0.030599857106873626 Centerline is valid? [True, True] Translation: X:114.52, Y:8.20, Z:4.59 [[ 9.90969476e-01 -1.25162934e-01 -4.81013248e-02 1.14522382e+02] [ 1.25156905e-01 9.92131963e-01 -3.14907862e-03 8.19514875e+00] [ 4.81170097e-02 -2.89957213e-03 9.98837497e-01 4.58641024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20509989299998 meters 0.028364792127103838 Centerline is valid? [True, True] Translation: X:114.58, Y:8.21, Z:4.59 [[ 9.91080522e-01 -1.24030008e-01 -4.87437869e-02 1.14584108e+02] [ 1.24022626e-01 9.92274270e-01 -3.18762802e-03 8.20632908e+00] [ 4.87625671e-02 -2.88613639e-03 9.98806229e-01 4.58951695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26509989299997 meters 0.02850076720064221 Centerline is valid? [True, True] Translation: X:114.65, Y:8.21, Z:4.59 [[ 9.91090363e-01 -1.23918890e-01 -4.88262270e-02 1.14646414e+02] [ 1.23911522e-01 9.92288145e-01 -3.18947162e-03 8.21233999e+00] [ 4.88449219e-02 -2.88907752e-03 9.98802196e-01 4.59228643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32509989299997 meters 0.029380660111616757 Centerline is valid? [True, True] Translation: X:114.71, Y:8.22, Z:4.59 [[ 9.90985670e-01 -1.24128708e-01 -5.03931184e-02 1.14708643e+02] [ 1.24121325e-01 9.92261601e-01 -3.28808271e-03 8.21767402e+00] [ 5.04113018e-02 -2.99641776e-03 9.98724047e-01 4.59353055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38509989299997 meters 0.03169002616624898 Centerline is valid? [True, True] Translation: X:114.77, Y:8.22, Z:4.60 [[ 9.90852352e-01 -1.24698953e-01 -5.15925201e-02 1.14769394e+02] [ 1.24692174e-01 9.92189777e-01 -3.36275022e-03 8.22176396e+00] [ 5.16089024e-02 -3.10119450e-03 9.98662558e-01 4.59548955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44509989299998 meters 0.02691469803033013 Centerline is valid? [True, True] Translation: X:114.83, Y:8.23, Z:4.60 [[ 9.90904959e-01 -1.24185260e-01 -5.18206757e-02 1.14830791e+02] [ 1.24177876e-01 9.92254235e-01 -3.37465418e-03 8.23306710e+00] [ 5.18383672e-02 -3.09101990e-03 9.98650704e-01 4.59910562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.50509989299998 meters 0.028277713044635226 Centerline is valid? [True, True] Translation: X:114.89, Y:8.24, Z:4.60 [[ 9.91079167e-01 -1.23071193e-01 -5.11426097e-02 1.14892188e+02] [ 1.23062713e-01 9.92393320e-01 -3.32676405e-03 8.23700533e+00] [ 5.11630131e-02 -2.99666173e-03 9.98685820e-01 4.60233522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.56509989299998 meters 0.028394429234568915 Centerline is valid? [True, True] Translation: X:114.95, Y:8.24, Z:4.61 [[ 9.91241239e-01 -1.22383218e-01 -4.96301811e-02 1.14954063e+02] [ 1.22374542e-01 9.92478751e-01 -3.22486901e-03 8.24241880e+00] [ 4.96515700e-02 -2.87684754e-03 9.98762457e-01 4.60725766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62509989299997 meters 0.026039025589328538 Centerline is valid? [True, True] Translation: X:115.02, Y:8.25, Z:4.61 [[ 9.91241389e-01 -1.22301875e-01 -4.98272990e-02 1.15016084e+02] [ 1.22293208e-01 9.92488747e-01 -3.23406059e-03 8.24991350e+00] [ 4.98485652e-02 -2.88780554e-03 9.98752613e-01 4.61024789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68509989299997 meters 0.028164336652278826 Centerline is valid? [True, True] Translation: X:115.08, Y:8.25, Z:4.61 [[ 9.90904832e-01 -1.24065982e-01 -5.21080169e-02 1.15076025e+02] [ 1.24059112e-01 9.92269077e-01 -3.37883322e-03 8.24973662e+00] [ 5.21243721e-02 -3.11637213e-03 9.98635738e-01 4.61075439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74509989299997 meters 0.029292005035052623 Centerline is valid? [True, True] Translation: X:115.14, Y:8.25, Z:4.61 [[ 9.90465225e-01 -1.26124072e-01 -5.54198276e-02 1.15137503e+02] [ 1.26119550e-01 9.92008543e-01 -3.59309139e-03 8.25152082e+00] [ 5.54301177e-02 -3.43069163e-03 9.98456675e-01 4.61097672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80509989299998 meters 0.027462833592347212 Centerline is valid? [True, True] Translation: X:115.20, Y:8.26, Z:4.61 [[ 9.90765191e-01 -1.23803047e-01 -5.52914208e-02 1.15199043e+02] [ 1.23795071e-01 9.92301338e-01 -3.58251119e-03 8.25918807e+00] [ 5.53092767e-02 -3.29537798e-03 9.98463832e-01 4.61405015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86509989299998 meters 0.025531738977725173 Centerline is valid? [True, True] Translation: X:115.26, Y:8.27, Z:4.62 [[ 9.91416924e-01 -1.19117469e-01 -5.38842455e-02 1.15259595e+02] [ 1.19103112e-01 9.92875760e-01 -3.48909942e-03 8.26731756e+00] [ 5.39159739e-02 -2.95862909e-03 9.98541093e-01 4.61789617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92509989299998 meters 0.02468572005400076 Centerline is valid? [True, True] Translation: X:115.32, Y:8.28, Z:4.62 [[ 9.92487763e-01 -1.10973997e-01 -5.15054611e-02 1.15318347e+02] [ 1.10949916e-01 9.93820402e-01 -3.33534558e-03 8.27523695e+00] [ 5.15573147e-02 -2.40423691e-03 9.98667143e-01 4.62255357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98509989299997 meters 0.019922788499427472 Centerline is valid? [True, True] Translation: X:115.38, Y:8.29, Z:4.63 [[ 9.93129935e-01 -1.05690319e-01 -5.02243763e-02 1.15378804e+02] [ 1.05660645e-01 9.94396926e-01 -3.25297302e-03 8.28773057e+00] [ 5.02867732e-02 -2.07611511e-03 9.98732662e-01 4.62780652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04509989299997 meters 0.020772691470006637 Centerline is valid? [True, True] Translation: X:115.44, Y:8.29, Z:4.63 [[ 9.93289921e-01 -1.03903131e-01 -5.07865356e-02 1.15439674e+02] [ 1.03870541e-01 9.94585392e-01 -3.28777716e-03 8.28902421e+00] [ 5.08531567e-02 -2.00950904e-03 9.98704120e-01 4.63024400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10509989299997 meters 0.020347769428261428 Centerline is valid? [True, True] Translation: X:115.50, Y:8.29, Z:4.63 [[ 9.93197661e-01 -1.04312318e-01 -5.17430765e-02 1.15501438e+02] [ 1.04279205e-01 9.94542431e-01 -3.34661468e-03 8.29122035e+00] [ 5.18097782e-02 -2.07187698e-03 9.98654822e-01 4.63301947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16509989299998 meters 0.021345668256130424 Centerline is valid? [True, True] Translation: X:115.56, Y:8.29, Z:4.63 [[ 9.93006100e-01 -1.04687439e-01 -5.45841150e-02 1.15563253e+02] [ 1.04651377e-01 9.94502717e-01 -3.52642297e-03 8.28999475e+00] [ 5.46532228e-02 -2.21054326e-03 9.98502949e-01 4.63317903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22509989299998 meters 0.021030302550493034 Centerline is valid? [True, True] Translation: X:115.62, Y:8.29, Z:4.63 [[ 9.92894286e-01 -1.04265111e-01 -5.73561133e-02 1.15624673e+02] [ 1.04224768e-01 9.94546876e-01 -3.70255544e-03 8.29126850e+00] [ 5.74293907e-02 -2.30168146e-03 9.98346917e-01 4.63264703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28509989299998 meters 0.02143693211584353 Centerline is valid? [True, True] Translation: X:115.68, Y:8.29, Z:4.63 [[ 9.93052641e-01 -1.02742800e-01 -5.73617354e-02 1.15684374e+02] [ 1.02699986e-01 9.94705489e-01 -3.70168436e-03 8.29236403e+00] [ 5.74383545e-02 -2.21508197e-03 9.98346598e-01 4.63433168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34509989299998 meters 0.019441406829798027 Centerline is valid? [True, True] Translation: X:115.74, Y:8.30, Z:4.64 [[ 9.93408609e-01 -1.00358427e-01 -5.53852091e-02 1.15744285e+02] [ 1.00314770e-01 9.94949329e-01 -3.57485006e-03 8.29915186e+00] [ 5.54642429e-02 -2.00466769e-03 9.98458662e-01 4.63905347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40509989299997 meters 0.01856956133142944 Centerline is valid? [True, True] Translation: X:115.80, Y:8.30, Z:4.65 [[ 9.94050499e-01 -9.56648427e-02 -5.20753682e-02 1.15804525e+02] [ 9.56198198e-02 9.95412253e-01 -3.36103415e-03 8.30382660e+00] [ 5.21579924e-02 -1.63839965e-03 9.98637502e-01 4.64513922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46509989299997 meters 0.018864275109927595 Centerline is valid? [True, True] Translation: X:115.86, Y:8.31, Z:4.65 [[ 9.94144970e-01 -9.49223690e-02 -5.16286931e-02 1.15864454e+02] [ 9.48771535e-02 9.95483414e-01 -3.33146274e-03 8.30638653e+00] [ 5.17117380e-02 -1.58642651e-03 9.98660793e-01 4.64864317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52509989299998 meters 0.0180095357198769 Centerline is valid? [True, True] Translation: X:115.93, Y:8.31, Z:4.65 [[ 9.93985481e-01 -9.60654525e-02 -5.25765338e-02 1.15925299e+02] [ 9.60201791e-02 9.95373607e-01 -3.39223547e-03 8.30947970e+00] [ 5.26591708e-02 -1.67657539e-03 9.98611136e-01 4.65165550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58509989299998 meters 0.020785711343161675 Centerline is valid? [True, True] Translation: X:115.98, Y:8.30, Z:4.65 [[ 9.93460819e-01 -1.00261746e-01 -5.46185279e-02 1.15984635e+02] [ 1.00219279e-01 9.94959138e-01 -3.52285341e-03 8.30466334e+00] [ 5.46964109e-02 -1.97401268e-03 9.98501080e-01 4.65084164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.64509989299998 meters 0.021330523511074402 Centerline is valid? [True, True] Translation: X:116.04, Y:8.31, Z:4.65 [[ 9.92904845e-01 -1.04631449e-01 -5.64998079e-02 1.16044862e+02] [ 1.04592963e-01 9.94508431e-01 -3.64601342e-03 8.30600622e+00] [ 5.65710229e-02 -2.28933791e-03 9.98395953e-01 4.65224510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70509989299998 meters 0.022827227577816356 Centerline is valid? [True, True] Translation: X:116.11, Y:8.31, Z:4.65 [[ 9.92171920e-01 -1.10884129e-01 -5.74420593e-02 1.16105152e+02] [ 1.10854748e-01 9.93829703e-01 -3.70761629e-03 8.30524152e+00] [ 5.74987405e-02 -2.68913223e-03 9.98341957e-01 4.65401722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76509989299997 meters 0.02443922574888691 Centerline is valid? [True, True] Translation: X:116.17, Y:8.31, Z:4.66 [[ 9.91830869e-01 -1.14359506e-01 -5.65104510e-02 1.16165592e+02] [ 1.14336682e-01 9.93435362e-01 -3.64757683e-03 8.30584231e+00] [ 5.65566154e-02 -2.84343818e-03 9.98395345e-01 4.65635816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82509989299997 meters 0.025291574590020304 Centerline is valid? [True, True] Translation: X:116.23, Y:8.31, Z:4.66 [[ 9.91690221e-01 -1.17111857e-01 -5.32477097e-02 1.16226320e+02] [ 1.17095559e-01 9.93114707e-01 -3.43652311e-03 8.30948863e+00] [ 5.32835412e-02 -2.82710395e-03 9.98575421e-01 4.66189388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88509989299997 meters 0.028197927372504112 Centerline is valid? [True, True] Translation: X:116.29, Y:8.31, Z:4.67 [[ 9.91799921e-01 -1.17443607e-01 -5.03975877e-02 1.16286712e+02] [ 1.17429512e-01 9.93075899e-01 -3.25084105e-03 8.31088468e+00] [ 5.04304202e-02 -2.69398023e-03 9.98723943e-01 4.66696101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94509989299998 meters 0.027545150805722524 Centerline is valid? [True, True] Translation: X:116.35, Y:8.32, Z:4.67 [[ 9.91641081e-01 -1.19041367e-01 -4.97706583e-02 1.16348899e+02] [ 1.19029689e-01 9.92885509e-01 -3.20909844e-03 8.31638251e+00] [ 4.97985809e-02 -2.74191213e-03 9.98755517e-01 4.67140763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.00509989299998 meters 0.02659844299089582 Centerline is valid? [True, True] Translation: X:116.41, Y:8.32, Z:4.67 [[ 9.91154817e-01 -1.22399680e-01 -5.12878848e-02 1.16409930e+02] [ 1.22391928e-01 9.92476348e-01 -3.30366080e-03 8.32071631e+00] [ 5.13063796e-02 -3.00278381e-03 9.98678446e-01 4.67339176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06509989299998 meters 0.029382344609268366 Centerline is valid? [True, True] Translation: X:116.47, Y:8.32, Z:4.67 [[ 9.90819279e-01 -1.24621325e-01 -5.24088004e-02 1.16470112e+02] [ 1.24616371e-01 9.92199259e-01 -3.37507468e-03 8.31995518e+00] [ 5.24205792e-02 -3.18690545e-03 9.98620011e-01 4.67447219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12509989299997 meters 0.02956127735615133 Centerline is valid? [True, True] Translation: X:116.53, Y:8.32, Z:4.68 [[ 9.90794383e-01 -1.24601398e-01 -5.29242996e-02 1.16532591e+02] [ 1.24596362e-01 9.92201661e-01 -3.40747877e-03 8.32359247e+00] [ 5.29361546e-02 -3.21806436e-03 9.98592714e-01 4.67662790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18509989299997 meters 0.02740894976377096 Centerline is valid? [True, True] Translation: X:116.59, Y:8.33, Z:4.68 [[ 9.90903932e-01 -1.23479250e-01 -5.35002107e-02 1.16593947e+02] [ 1.23472676e-01 9.92342007e-01 -3.44086412e-03 8.33173838e+00] [ 5.35153818e-02 -3.19624838e-03 9.98561910e-01 4.67886601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24509989299997 meters 0.028340053425383028 Centerline is valid? [True, True] Translation: X:116.65, Y:8.34, Z:4.68 [[ 9.91199611e-01 -1.21532837e-01 -5.24700009e-02 1.16654851e+02] [ 1.21523932e-01 9.92582774e-01 -3.37194959e-03 8.33517251e+00] [ 5.24906217e-02 -3.03408571e-03 9.98616808e-01 4.68018812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30509989299998 meters 0.028877656421828435 Centerline is valid? [True, True] Translation: X:116.72, Y:8.34, Z:4.68 [[ 9.91279948e-01 -1.21137361e-01 -5.18633233e-02 1.16716689e+02] [ 1.21128234e-01 9.92631279e-01 -3.33075038e-03 8.33928636e+00] [ 5.18846353e-02 -2.98040673e-03 9.98648638e-01 4.68309996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36509989299998 meters 0.030010831801093093 Centerline is valid? [True, True] Translation: X:116.78, Y:8.34, Z:4.69 [[ 9.91436177e-01 -1.20318570e-01 -5.07715431e-02 1.16776920e+02] [ 1.20308906e-01 9.92731160e-01 -3.25755829e-03 8.34413943e+00] [ 5.07944376e-02 -2.87860768e-03 9.98704981e-01 4.68574469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.42509989299998 meters 0.027256020580195956 Centerline is valid? [True, True] Translation: X:116.84, Y:8.35, Z:4.69 [[ 9.91301424e-01 -1.21477360e-01 -5.06432485e-02 1.16838225e+02] [ 1.21469312e-01 9.92589873e-01 -3.24811817e-03 8.35284774e+00] [ 5.06625485e-02 -2.93173640e-03 9.98711525e-01 4.68916871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48509989299997 meters 0.027608950149764937 Centerline is valid? [True, True] Translation: X:116.90, Y:8.36, Z:4.69 [[ 9.91091952e-01 -1.23119573e-01 -5.07771019e-02 1.16899537e+02] [ 1.23113771e-01 9.92387229e-01 -3.25390692e-03 8.35789158e+00] [ 5.07911671e-02 -3.02643953e-03 9.98704710e-01 4.69228353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54509989299997 meters 0.028864894361087256 Centerline is valid? [True, True] Translation: X:116.96, Y:8.36, Z:4.69 [[ 9.91164841e-01 -1.22640829e-01 -5.05122292e-02 1.16960195e+02] [ 1.22634607e-01 9.92446620e-01 -3.23417163e-03 8.36292675e+00] [ 5.05273326e-02 -2.98895017e-03 9.98718206e-01 4.69482505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60509989299997 meters 0.027373475834157498 Centerline is valid? [True, True] Translation: X:117.02, Y:8.37, Z:4.70 [[ 9.91397189e-01 -1.21224134e-01 -4.93591282e-02 1.17020897e+02] [ 1.21216563e-01 9.92621062e-01 -3.15785279e-03 8.37076090e+00] [ 4.93777182e-02 -2.85245751e-03 9.98776103e-01 4.69875723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66509989299998 meters 0.025698619925445754 Centerline is valid? [True, True] Translation: X:117.08, Y:8.38, Z:4.70 [[ 9.91693022e-01 -1.19196911e-01 -4.83430019e-02 1.17081777e+02] [ 1.19187330e-01 9.92866973e-01 -3.09110525e-03 8.37983969e+00] [ 4.83666202e-02 -2.69644580e-03 9.98826010e-01 4.70115970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72509989299998 meters 0.026208051893275523 Centerline is valid? [True, True] Translation: X:117.14, Y:8.38, Z:4.70 [[ 9.91621593e-01 -1.20206028e-01 -4.72982876e-02 1.17143473e+02] [ 1.20198087e-01 9.92745327e-01 -3.02239201e-03 8.38429988e+00] [ 4.73184637e-02 -2.68809453e-03 9.98876237e-01 4.70430791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.78509989299998 meters 0.027075843686955457 Centerline is valid? [True, True] Translation: X:117.20, Y:8.39, Z:4.71 [[ 9.91268969e-01 -1.23024107e-01 -4.74436513e-02 1.17204393e+02] [ 1.23019484e-01 9.92399635e-01 -3.02848056e-03 8.38736503e+00] [ 4.74556383e-02 -2.83445469e-03 9.98869325e-01 4.70690395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84509989299997 meters 0.030772351169593308 Centerline is valid? [True, True] Translation: X:117.26, Y:8.39, Z:4.71 [[ 9.90900326e-01 -1.25126738e-01 -4.95968032e-02 1.17264973e+02] [ 1.25124361e-01 9.92136017e-01 -3.16497714e-03 8.38532126e+00] [ 4.96027981e-02 -3.06959144e-03 9.98764307e-01 4.70623097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90509989299997 meters 0.029063966008929836 Centerline is valid? [True, True] Translation: X:117.33, Y:8.39, Z:4.71 [[ 9.90936046e-01 -1.24684795e-01 -4.99945444e-02 1.17326316e+02] [ 1.24681890e-01 9.92191643e-01 -3.18900627e-03 8.39270228e+00] [ 5.00017897e-02 -3.07331301e-03 9.98744400e-01 4.70874807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96509989299997 meters 0.029012311758786345 Centerline is valid? [True, True] Translation: X:117.39, Y:8.40, Z:4.71 [[ 9.91097468e-01 -1.23440834e-01 -4.98815622e-02 1.17388083e+02] [ 1.23436553e-01 9.92347377e-01 -3.17818142e-03 8.39776652e+00] [ 4.98921547e-02 -3.00732053e-03 9.98750083e-01 4.71180875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02509989299998 meters 0.028240205545772275 Centerline is valid? [True, True] Translation: X:117.45, Y:8.40, Z:4.72 [[ 9.91379558e-01 -1.21886912e-01 -4.80640419e-02 1.17448820e+02] [ 1.21881264e-01 9.92539973e-01 -3.05923630e-03 8.40391602e+00] [ 4.80783637e-02 -2.82524185e-03 9.98839571e-01 4.71555153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08509989299998 meters 0.02646806333029547 Centerline is valid? [True, True] Translation: X:117.51, Y:8.41, Z:4.72 [[ 9.91694542e-01 -1.20111872e-01 -4.59899216e-02 1.17509751e+02] [ 1.20104867e-01 9.92756900e-01 -2.92561168e-03 8.41017678e+00] [ 4.60082127e-02 -2.62230030e-03 9.98937620e-01 4.71823026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.14509989299998 meters 0.030103948770343468 Centerline is valid? [True, True] Translation: X:117.57, Y:8.41, Z:4.72 [[ 9.91544227e-01 -1.21319801e-01 -4.60603113e-02 1.17570859e+02] [ 1.21314169e-01 9.92609842e-01 -2.92801527e-03 8.40802264e+00] [ 4.60751446e-02 -2.68451173e-03 9.98934369e-01 4.71894948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20509989299998 meters 0.031045521609999877 Centerline is valid? [True, True] Translation: X:117.63, Y:8.41, Z:4.72 [[ 9.91257899e-01 -1.23842185e-01 -4.55070317e-02 1.17632349e+02] [ 1.23839577e-01 9.92298051e-01 -2.88747815e-03 8.40942870e+00] [ 4.55141305e-02 -2.77333602e-03 9.98959845e-01 4.72158512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26509989299997 meters 0.02818681179887829 Centerline is valid? [True, True] Translation: X:117.69, Y:8.42, Z:4.72 [[ 9.91243682e-01 -1.24062706e-01 -4.52151219e-02 1.17694063e+02] [ 1.24060435e-01 9.92270521e-01 -2.86724031e-03 8.41567769e+00] [ 4.52213501e-02 -2.76727386e-03 9.98973159e-01 4.72478001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32509989299997 meters 0.030609993155670086 Centerline is valid? [True, True] Translation: X:117.76, Y:8.42, Z:4.73 [[ 9.91446820e-01 -1.23088852e-01 -4.33859236e-02 1.17755543e+02] [ 1.23085961e-01 9.92392208e-01 -2.74819786e-03 8.41538806e+00] [ 4.33941250e-02 -2.61550608e-03 9.99054608e-01 4.72926717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38509989299997 meters 0.025911069057706602 Centerline is valid? [True, True] Translation: X:117.82, Y:8.43, Z:4.73 [[ 9.91899443e-01 -1.19293264e-01 -4.36418587e-02 1.17815868e+02] [ 1.19286780e-01 9.92855999e-01 -2.76207700e-03 8.42761336e+00] [ 4.36595784e-02 -2.46619416e-03 9.99043422e-01 4.73225529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44509989299998 meters 0.024913661678411834 Centerline is valid? [True, True] Translation: X:117.88, Y:8.43, Z:4.73 [[ 9.92131366e-01 -1.17181416e-01 -4.40893206e-02 1.17877703e+02] [ 1.17172761e-01 9.93107629e-01 -2.78948834e-03 8.43237068e+00] [ 4.41123168e-02 -2.39852854e-03 9.99023699e-01 4.73352518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.50509989299998 meters 0.02743123622270751 Centerline is valid? [True, True] Translation: X:117.94, Y:8.43, Z:4.74 [[ 9.92490553e-01 -1.14267312e-01 -4.36518555e-02 1.17938579e+02] [ 1.14256122e-01 9.93447494e-01 -2.75942643e-03 8.43216733e+00] [ 4.36811388e-02 -2.24878705e-03 9.99042993e-01 4.73520456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56509989299998 meters 0.024216317191926448 Centerline is valid? [True, True] Translation: X:118.00, Y:8.44, Z:4.74 [[ 9.92846509e-01 -1.11395777e-01 -4.29742916e-02 1.17999535e+02] [ 1.11382313e-01 9.93773922e-01 -2.71504095e-03 8.44069349e+00] [ 4.30091744e-02 -2.09095709e-03 9.99072489e-01 4.73718297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62509989299997 meters 0.02604014468681996 Centerline is valid? [True, True] Translation: X:118.06, Y:8.44, Z:4.74 [[ 9.92860515e-01 -1.11388697e-01 -4.26679750e-02 1.18061049e+02] [ 1.11375484e-01 9.93774745e-01 -2.69412166e-03 8.44113619e+00] [ 4.27024507e-02 -2.07727937e-03 9.99085675e-01 4.73956563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68509989299997 meters 0.024994529158565197 Centerline is valid? [True, True] Translation: X:118.12, Y:8.44, Z:4.74 [[ 9.92740187e-01 -1.12933199e-01 -4.13885593e-02 1.18123100e+02] [ 1.12922192e-01 9.93600403e-01 -2.61118658e-03 8.44432119e+00] [ 4.14185788e-02 -2.08145701e-03 9.99139714e-01 4.74314832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74509989299997 meters 0.0267393379776207 Centerline is valid? [True, True] Translation: X:118.18, Y:8.44, Z:4.75 [[ 9.92523372e-01 -1.15039135e-01 -4.07842388e-02 1.18184736e+02] [ 1.15030336e-01 9.93358654e-01 -2.57018216e-03 8.44416529e+00] [ 4.08090481e-02 -2.14045884e-03 9.99164671e-01 4.74654195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80509989299998 meters 0.025334656842898137 Centerline is valid? [True, True] Translation: X:118.25, Y:8.45, Z:4.75 [[ 9.92375898e-01 -1.16685797e-01 -3.96799980e-02 1.18246484e+02] [ 1.16678952e-01 9.93166547e-01 -2.49621178e-03 8.44805814e+00] [ 3.97001191e-02 -2.15264020e-03 9.99209321e-01 4.74950867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86509989299998 meters 0.028078969036576674 Centerline is valid? [True, True] Translation: X:118.31, Y:8.45, Z:4.75 [[ 9.92285149e-01 -1.17331948e-01 -4.00424390e-02 1.18307421e+02] [ 1.17325620e-01 9.93090312e-01 -2.51611407e-03 8.44620778e+00] [ 4.00609788e-02 -2.20130134e-03 9.99194812e-01 4.75228190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92509989299998 meters 0.03065704516967713 Centerline is valid? [True, True] Translation: X:118.37, Y:8.44, Z:4.75 [[ 9.92114444e-01 -1.18432033e-01 -4.10217557e-02 1.18368680e+02] [ 1.18426553e-01 9.92959483e-01 -2.57221355e-03 8.44418527e+00] [ 4.10375738e-02 -2.30613490e-03 9.99154943e-01 4.75406822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98509989299997 meters 0.02734328478618827 Centerline is valid? [True, True] Translation: X:118.43, Y:8.45, Z:4.76 [[ 9.92001517e-01 -1.19416212e-01 -4.08993676e-02 1.18430323e+02] [ 1.19411685e-01 9.92841520e-01 -2.56240130e-03 8.44972139e+00] [ 4.09125825e-02 -2.34195642e-03 9.99159985e-01 4.75572597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04509989299997 meters 0.029009645900350482 Centerline is valid? [True, True] Translation: X:118.49, Y:8.45, Z:4.76 [[ 9.91774921e-01 -1.20981325e-01 -4.17854745e-02 1.18492696e+02] [ 1.20978116e-01 9.92651731e-01 -2.61478869e-03 8.44886204e+00] [ 4.17947642e-02 -2.46184616e-03 9.99123184e-01 4.75706217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10509989299997 meters 0.028781840648703955 Centerline is valid? [True, True] Translation: X:118.55, Y:8.45, Z:4.76 [[ 9.91592249e-01 -1.22036307e-01 -4.30343129e-02 1.18554958e+02] [ 1.22034034e-01 9.92522272e-01 -2.68973693e-03 8.45012305e+00] [ 4.30407596e-02 -2.58452851e-03 9.99069974e-01 4.75796477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16509989299998 meters 0.02869667575994331 Centerline is valid? [True, True] Translation: X:118.62, Y:8.45, Z:4.76 [[ 9.91433205e-01 -1.23352529e-01 -4.29459292e-02 1.18617259e+02] [ 1.23351628e-01 9.92359404e-01 -2.68109292e-03 8.45189681e+00] [ 4.29485163e-02 -2.63932574e-03 9.99073801e-01 4.76021244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22509989299998 meters 0.031485765711609846 Centerline is valid? [True, True] Translation: X:118.68, Y:8.45, Z:4.76 [[ 9.91266865e-01 -1.24526217e-01 -4.33961350e-02 1.18678597e+02] [ 1.24526557e-01 9.92212585e-01 -2.70600284e-03 8.44979624e+00] [ 4.33951596e-02 -2.72160032e-03 9.99054279e-01 4.76243206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28509989299998 meters 0.03026792775581666 Centerline is valid? [True, True] Translation: X:118.74, Y:8.45, Z:4.76 [[ 9.91252953e-01 -1.24317018e-01 -4.43042099e-02 1.18740369e+02] [ 1.24317278e-01 9.92238679e-01 -2.76012070e-03 8.45241286e+00] [ 4.43034807e-02 -2.77180099e-03 9.99014274e-01 4.76415036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34509989299997 meters 0.027383291232053207 Centerline is valid? [True, True] Translation: X:118.80, Y:8.46, Z:4.77 [[ 9.91844810e-01 -1.19733140e-01 -4.36789247e-02 1.18800180e+02] [ 1.19729094e-01 9.92802879e-01 -2.71814983e-03 8.45806961e+00] [ 4.36900148e-02 -2.53365527e-03 9.99041923e-01 4.76781272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40509989299997 meters 0.029088461143870675 Centerline is valid? [True, True] Translation: X:118.86, Y:8.46, Z:4.77 [[ 9.92278781e-01 -1.16008903e-01 -4.38720301e-02 1.18860004e+02] [ 1.16001203e-01 9.93245321e-01 -2.72993257e-03 8.45940875e+00] [ 4.38923851e-02 -2.38035412e-03 9.99033429e-01 4.77081662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46509989299997 meters 0.02281344047784246 Centerline is valid? [True, True] Translation: X:118.92, Y:8.47, Z:4.77 [[ 9.92993983e-01 -1.09538612e-01 -4.43197653e-02 1.18919971e+02] [ 1.09524326e-01 9.93980290e-01 -2.75779292e-03 8.47197652e+00] [ 4.43550580e-02 -2.11562062e-03 9.99013590e-01 4.77393243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52509989299998 meters 0.02344593283328616 Centerline is valid? [True, True] Translation: X:118.98, Y:8.47, Z:4.78 [[ 9.93548287e-01 -1.04332434e-01 -4.44583572e-02 1.18979294e+02] [ 1.04312855e-01 9.94540685e-01 -2.76646434e-03 8.47493121e+00] [ 4.45042770e-02 -1.88896225e-03 9.99007408e-01 4.77647585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58509989299998 meters 0.021275922463355704 Centerline is valid? [True, True] Translation: X:119.04, Y:8.48, Z:4.78 [[ 9.94061744e-01 -9.93676308e-02 -4.43545068e-02 1.19039821e+02] [ 9.93431763e-02 9.95049402e-01 -2.76072114e-03 8.48270271e+00] [ 4.44092518e-02 -1.66199032e-03 9.99012040e-01 4.77974479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64509989299998 meters 0.018780424985394565 Centerline is valid? [True, True] Translation: X:119.10, Y:8.49, Z:4.78 [[ 9.94479489e-01 -9.40945049e-02 -4.64410359e-02 1.19099777e+02] [ 9.40619916e-02 9.95562148e-01 -2.88981581e-03 8.49041036e+00] [ 4.65068532e-02 -1.49447377e-03 9.98916853e-01 4.78172547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70509989299998 meters 0.01811306356426322 Centerline is valid? [True, True] Translation: X:119.16, Y:8.49, Z:4.78 [[ 9.94740097e-01 -9.03253897e-02 -4.83059456e-02 1.19160050e+02] [ 9.02857810e-02 9.95911363e-01 -3.00574807e-03 8.49454987e+00] [ 4.83799355e-02 -1.37140190e-03 9.98828064e-01 4.78191597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76509989299997 meters 0.01784819490646411 Centerline is valid? [True, True] Translation: X:119.22, Y:8.50, Z:4.78 [[ 9.94913790e-01 -8.89735318e-02 -4.72256352e-02 1.19220279e+02] [ 8.89341873e-02 9.96033172e-01 -2.93780482e-03 8.49855634e+00] [ 4.72996861e-02 -1.27711096e-03 9.98879927e-01 4.78470147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82509989299997 meters 0.01801064129723249 Centerline is valid? [True, True] Translation: X:119.28, Y:8.50, Z:4.79 [[ 9.94868426e-01 -9.01404823e-02 -4.59511518e-02 1.19281053e+02] [ 9.01044752e-02 9.95928216e-01 -2.85852196e-03 8.50148629e+00] [ 4.60217172e-02 -1.29655118e-03 9.98939598e-01 4.78853548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88509989299997 meters 0.021253534956597 Centerline is valid? [True, True] Translation: X:119.34, Y:8.50, Z:4.79 [[ 9.93732130e-01 -1.02397181e-01 -4.48471946e-02 1.19341881e+02] [ 1.02375328e-01 9.94741931e-01 -2.78984091e-03 8.49645179e+00] [ 4.48970568e-02 -1.81889169e-03 9.98989963e-01 4.79319630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94509989299998 meters 0.024083891441736036 Centerline is valid? [True, True] Translation: X:119.40, Y:8.49, Z:4.79 [[ 9.93160868e-01 -1.07443106e-01 -4.56888383e-02 1.19401638e+02] [ 1.07425761e-01 9.94209047e-01 -2.84195124e-03 8.49451881e+00] [ 4.57296045e-02 -2.08564348e-03 9.98951677e-01 4.79456162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.00509989299998 meters 0.026786224010556674 Centerline is valid? [True, True] Translation: X:119.46, Y:8.49, Z:4.80 [[ 9.92414328e-01 -1.13998737e-01 -4.60227068e-02 1.19461888e+02] [ 1.13988244e-01 9.93477979e-01 -2.86095579e-03 8.49207296e+00] [ 4.60486911e-02 -2.40679401e-03 9.98936297e-01 4.79637139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06509989299998 meters 0.025947397701444885 Centerline is valid? [True, True] Translation: X:119.52, Y:8.50, Z:4.80 [[ 9.92045063e-01 -1.16865502e-01 -4.67872633e-02 1.19522623e+02] [ 1.16857850e-01 9.93144393e-01 -2.90814754e-03 8.49618271e+00] [ 4.68063703e-02 -2.58244559e-03 9.98900643e-01 4.79875868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12509989299997 meters 0.026843000975341768 Centerline is valid? [True, True] Translation: X:119.58, Y:8.50, Z:4.80 [[ 9.91773636e-01 -1.18793104e-01 -4.76786478e-02 1.19583595e+02] [ 1.18787422e-01 9.92915289e-01 -2.96266686e-03 8.49781332e+00] [ 4.76928028e-02 -2.72532875e-03 9.98858333e-01 4.80106610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18509989299997 meters 0.026656301455517742 Centerline is valid? [True, True] Translation: X:119.65, Y:8.50, Z:4.80 [[ 9.91842623e-01 -1.17701641e-01 -4.89339903e-02 1.19645394e+02] [ 1.17694399e-01 9.93045211e-01 -3.03937458e-03 8.50208529e+00] [ 4.89514040e-02 -2.74467534e-03 9.98797390e-01 4.80252499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24509989299997 meters 0.027878997957931546 Centerline is valid? [True, True] Translation: X:119.71, Y:8.50, Z:4.80 [[ 9.92060251e-01 -1.15774333e-01 -4.91198841e-02 1.19706012e+02] [ 1.15764846e-01 9.93271973e-01 -3.04759157e-03 8.50478968e+00] [ 4.91422371e-02 -2.66296138e-03 9.98788240e-01 4.80498989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30509989299998 meters 0.027430233571415406 Centerline is valid? [True, True] Translation: X:119.77, Y:8.51, Z:4.81 [[ 9.92380341e-01 -1.13134583e-01 -4.88039390e-02 1.19766698e+02] [ 1.13122114e-01 9.93576483e-01 -3.02637071e-03 8.51101283e+00] [ 4.88328333e-02 -2.51749395e-03 9.98803793e-01 4.80876132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36509989299998 meters 0.02631427230958381 Centerline is valid? [True, True] Translation: X:119.83, Y:8.52, Z:4.81 [[ 9.92578878e-01 -1.11753332e-01 -4.79412561e-02 1.19827532e+02] [ 1.11739737e-01 9.93733062e-01 -2.97194148e-03 8.51764122e+00] [ 4.79729356e-02 -2.40705699e-03 9.98845736e-01 4.81286677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42509989299998 meters 0.02735248637739153 Centerline is valid? [True, True] Translation: X:119.89, Y:8.52, Z:4.81 [[ 9.92551297e-01 -1.11701551e-01 -4.86280475e-02 1.19887946e+02] [ 1.11687583e-01 9.93738802e-01 -3.01288984e-03 8.52018232e+00] [ 4.86601221e-02 -2.44070136e-03 9.98812413e-01 4.81460086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48509989299997 meters 0.024980109221388665 Centerline is valid? [True, True] Translation: X:119.95, Y:8.53, Z:4.82 [[ 9.92420712e-01 -1.12374661e-01 -4.97299221e-02 1.19949043e+02] [ 1.12360949e-01 9.93662684e-01 -3.08013215e-03 8.52855043e+00] [ 4.97608967e-02 -2.53091430e-03 9.98757952e-01 4.81756761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54509989299997 meters 0.023134440721711603 Centerline is valid? [True, True] Translation: X:120.01, Y:8.54, Z:4.82 [[ 9.92316645e-01 -1.13344298e-01 -4.96059042e-02 1.20009924e+02] [ 1.13331950e-01 9.93552435e-01 -3.07065216e-03 8.53740683e+00] [ 4.96341078e-02 -2.57487463e-03 9.98764149e-01 4.82131590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60509989299997 meters 0.027334583292669558 Centerline is valid? [True, True] Translation: X:120.07, Y:8.54, Z:4.82 [[ 9.92224097e-01 -1.14084496e-01 -4.97601136e-02 1.20070065e+02] [ 1.14073085e-01 9.93467591e-01 -3.07848146e-03 8.53586987e+00] [ 4.97862672e-02 -2.62174620e-03 9.98756454e-01 4.82313505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66509989299998 meters 0.02572547814781122 Centerline is valid? [True, True] Translation: X:120.13, Y:8.54, Z:4.83 [[ 9.92114136e-01 -1.14864712e-01 -5.01561573e-02 1.20130994e+02] [ 1.14854167e-01 9.93377521e-01 -3.10190847e-03 8.54265254e+00] [ 5.01802990e-02 -2.68319643e-03 9.98736571e-01 4.82544454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72509989299998 meters 0.029770284017273756 Centerline is valid? [True, True] Translation: X:120.19, Y:8.54, Z:4.83 [[ 9.92019553e-01 -1.15872862e-01 -4.97059976e-02 1.20191414e+02] [ 1.15863847e-01 9.93260353e-01 -3.07242544e-03 8.54201137e+00] [ 4.97270075e-02 -2.71122200e-03 9.98759167e-01 4.82712773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78509989299998 meters 0.028435886969961258 Centerline is valid? [True, True] Translation: X:120.25, Y:8.55, Z:4.83 [[ 9.92087297e-01 -1.15636263e-01 -4.88983695e-02 1.20251763e+02] [ 1.15627298e-01 9.93288074e-01 -3.02152556e-03 8.55026916e+00] [ 4.89195652e-02 -2.65636920e-03 9.98799189e-01 4.83174696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84509989299997 meters 0.02661182398032817 Centerline is valid? [True, True] Translation: X:120.31, Y:8.56, Z:4.84 [[ 9.92099339e-01 -1.15512705e-01 -4.89460598e-02 1.20313518e+02] [ 1.15503670e-01 9.93302455e-01 -3.02249366e-03 8.55762638e+00] [ 4.89673777e-02 -2.65483555e-03 9.98796850e-01 4.83545688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90509989299997 meters 0.026168764043392835 Centerline is valid? [True, True] Translation: X:120.38, Y:8.56, Z:4.84 [[ 9.91967008e-01 -1.16054661e-01 -5.03266337e-02 1.20375554e+02] [ 1.16045995e-01 9.93238990e-01 -3.10402494e-03 8.56263061e+00] [ 5.03466114e-02 -2.76111398e-03 9.98727988e-01 4.83788461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96509989299997 meters 0.02489475000827191 Centerline is valid? [True, True] Translation: X:120.44, Y:8.57, Z:4.84 [[ 9.91985665e-01 -1.15550621e-01 -5.11125584e-02 1.20437717e+02] [ 1.15541213e-01 9.93297696e-01 -3.14871588e-03 8.56860422e+00] [ 5.11338226e-02 -2.78212597e-03 9.98687935e-01 4.84061185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02509989299998 meters 0.024739660972066806 Centerline is valid? [True, True] Translation: X:120.50, Y:8.57, Z:4.84 [[ 9.92253707e-01 -1.12766510e-01 -5.21180847e-02 1.20499286e+02] [ 1.12753098e-01 9.93617861e-01 -3.20692845e-03 8.57424374e+00] [ 5.21470940e-02 -2.69438889e-03 9.98635780e-01 4.84318496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08509989299998 meters 0.022264595187083114 Centerline is valid? [True, True] Translation: X:120.56, Y:8.58, Z:4.85 [[ 9.92842311e-01 -1.07331752e-01 -5.23835872e-02 1.20558846e+02] [ 1.07310773e-01 9.94220309e-01 -3.22107656e-03 8.58377244e+00] [ 5.24265501e-02 -2.42330217e-03 9.98621843e-01 4.84679653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14509989299998 meters 0.023271771909860916 Centerline is valid? [True, True] Translation: X:120.62, Y:8.59, Z:4.85 [[ 9.93256581e-01 -1.03608736e-01 -5.20249463e-02 1.20618136e+02] [ 1.03582912e-01 9.94615676e-01 -3.19970399e-03 8.58668357e+00] [ 5.20763444e-02 -2.21076838e-03 9.98640660e-01 4.84880016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20509989299997 meters 0.019340968113143474 Centerline is valid? [True, True] Translation: X:120.68, Y:8.60, Z:4.85 [[ 9.93583844e-01 -1.00256921e-01 -5.23420880e-02 1.20678841e+02] [ 1.00226121e-01 9.94959476e-01 -3.21958353e-03 8.59682347e+00] [ 5.24010420e-02 -2.04711825e-03 9.98624023e-01 4.85311031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26509989299997 meters 0.019270832280963702 Centerline is valid? [True, True] Translation: X:120.74, Y:8.60, Z:4.86 [[ 9.93721445e-01 -9.80840617e-02 -5.38257069e-02 1.20740236e+02] [ 9.80484227e-02 9.95176145e-01 -3.30879262e-03 8.59958574e+00] [ 5.38905993e-02 -1.98950748e-03 9.98544864e-01 4.85504400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32509989299997 meters 0.017740080754272136 Centerline is valid? [True, True] Translation: X:120.80, Y:8.61, Z:4.86 [[ 9.93973570e-01 -9.52491554e-02 -5.42599332e-02 1.20799973e+02] [ 9.52088075e-02 9.95451741e-01 -3.33393838e-03 8.60608743e+00] [ 5.43306998e-02 -1.85217690e-03 9.98521279e-01 4.85925855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38509989299997 meters 0.017485318261608478 Centerline is valid? [True, True] Translation: X:120.86, Y:8.61, Z:4.86 [[ 9.94180975e-01 -9.32006514e-02 -5.40169200e-02 1.20859976e+02] [ 9.31576450e-02 9.95645839e-01 -3.31900672e-03 8.61041941e+00] [ 5.40910552e-02 -1.73239572e-03 9.98534504e-01 4.86270013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44509989299998 meters 0.017231796278092685 Centerline is valid? [True, True] Translation: X:120.92, Y:8.61, Z:4.87 [[ 9.94250494e-01 -9.17938756e-02 -5.51347433e-02 1.20920177e+02] [ 9.17469129e-02 9.95776595e-01 -3.38769007e-03 8.61392972e+00] [ 5.52128561e-02 -1.69022997e-03 9.98473176e-01 4.86502870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.50509989299998 meters 0.017640455143178486 Centerline is valid? [True, True] Translation: X:120.98, Y:8.61, Z:4.87 [[ 9.94087135e-01 -9.30961459e-02 -5.58916352e-02 1.20979136e+02] [ 9.30497396e-02 9.95655527e-01 -3.43777908e-03 8.61451374e+00] [ 5.59688595e-02 -1.78325014e-03 9.98430922e-01 4.86667078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56509989299998 meters 0.019965709070845952 Centerline is valid? [True, True] Translation: X:121.04, Y:8.61, Z:4.87 [[ 9.93925368e-01 -9.53526257e-02 -5.49566989e-02 1.21037448e+02] [ 9.53105526e-02 9.95441808e-01 -3.39201557e-03 8.61182637e+00] [ 5.50296333e-02 -1.86654302e-03 9.98482977e-01 4.86884286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62509989299997 meters 0.01923473856140636 Centerline is valid? [True, True] Translation: X:121.10, Y:8.61, Z:4.87 [[ 9.93590855e-01 -9.86736373e-02 -5.51427751e-02 1.21096289e+02] [ 9.86361109e-02 9.95117732e-01 -3.40839585e-03 8.61392242e+00] [ 5.52098721e-02 -2.05251793e-03 9.98472662e-01 4.87336402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68509989299997 meters 0.02076262659985336 Centerline is valid? [True, True] Translation: X:121.16, Y:8.61, Z:4.88 [[ 9.92740049e-01 -1.05729754e-01 -5.73446884e-02 1.21156919e+02] [ 1.05700700e-01 9.94391660e-01 -3.54815515e-03 8.61123810e+00] [ 5.73982254e-02 -2.53897797e-03 9.98348134e-01 4.87639781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74509989299997 meters 0.022650055822327163 Centerline is valid? [True, True] Translation: X:121.22, Y:8.61, Z:4.88 [[ 9.92231106e-01 -1.10123387e-01 -5.78815385e-02 1.21217763e+02] [ 1.10101236e-01 9.93913926e-01 -3.58139868e-03 8.60932140e+00] [ 5.79236629e-02 -2.81925376e-03 9.98317034e-01 4.87863757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80509989299998 meters 0.02353428311098098 Centerline is valid? [True, True] Translation: X:121.28, Y:8.61, Z:4.88 [[ 9.92342034e-01 -1.10772763e-01 -5.46505434e-02 1.21277059e+02] [ 1.10753960e-01 9.93842102e-01 -3.38194495e-03 8.60975439e+00] [ 5.46886383e-02 -2.69671798e-03 9.98499815e-01 4.88454559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86509989299998 meters 0.025279895836877855 Centerline is valid? [True, True] Translation: X:121.34, Y:8.61, Z:4.89 [[ 9.92341815e-01 -1.09622387e-01 -5.69267459e-02 1.21337055e+02] [ 1.09600001e-01 9.93969525e-01 -3.52465912e-03 8.61056059e+00] [ 5.69698321e-02 -2.74150479e-03 9.98372136e-01 4.88556099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.92509989299998 meters 0.024713522765508006 Centerline is valid? [True, True] Translation: X:121.40, Y:8.61, Z:4.89 [[ 9.92402315e-01 -1.08564197e-01 -5.78918050e-02 1.21396420e+02] [ 1.08539178e-01 9.94085705e-01 -3.58573455e-03 8.61435363e+00] [ 5.79386982e-02 -2.72503765e-03 9.98316423e-01 4.88771928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98509989299997 meters 0.021835175370321584 Centerline is valid? [True, True] Translation: X:121.46, Y:8.62, Z:4.89 [[ 9.92469434e-01 -1.07974952e-01 -5.78431723e-02 1.21455659e+02] [ 1.07948858e-01 9.94149985e-01 -3.58477818e-03 8.62176208e+00] [ 5.78918551e-02 -2.68632159e-03 9.98319246e-01 4.89112924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04509989299997 meters 0.023980266342763772 Centerline is valid? [True, True] Translation: X:121.51, Y:8.62, Z:4.89 [[ 9.92844159e-01 -1.04846771e-01 -5.71631959e-02 1.21514666e+02] [ 1.04815994e-01 9.94485315e-01 -3.54470887e-03 8.62129097e+00] [ 5.72196102e-02 -2.47227369e-03 9.98358555e-01 4.89171293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10509989299997 meters 0.019563267991254515 Centerline is valid? [True, True] Translation: X:121.57, Y:8.63, Z:4.90 [[ 9.93622398e-01 -9.80179794e-02 -5.57405148e-02 1.21574466e+02] [ 9.79778988e-02 9.95182583e-01 -3.45800799e-03 8.63303651e+00] [ 5.58109365e-02 -2.02538433e-03 9.98439301e-01 4.89563166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16509989299998 meters 0.018024893363717705 Centerline is valid? [True, True] Translation: X:121.63, Y:8.64, Z:4.90 [[ 9.93844674e-01 -9.60642935e-02 -5.51762167e-02 1.21633163e+02] [ 9.60219529e-02 9.95373327e-01 -3.42410169e-03 8.63945959e+00] [ 5.52498683e-02 -1.89510285e-03 9.98470761e-01 4.89912819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22509989299998 meters 0.019341085777226655 Centerline is valid? [True, True] Translation: X:121.69, Y:8.64, Z:4.90 [[ 9.94028825e-01 -9.49470989e-02 -5.37749348e-02 1.21691111e+02] [ 9.49050285e-02 9.95480724e-01 -3.34119929e-03 8.64112573e+00] [ 5.38491483e-02 -1.78226332e-03 9.98547491e-01 4.90135780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28509989299998 meters 0.01905207799575267 Centerline is valid? [True, True] Translation: X:121.75, Y:8.65, Z:4.90 [[ 9.94186043e-01 -9.32263053e-02 -5.38791904e-02 1.21749590e+02] [ 9.31811879e-02 9.95643518e-01 -3.35435675e-03 8.64505818e+00] [ 5.39571809e-02 -1.68567229e-03 9.98541827e-01 4.90296525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34509989299997 meters 0.01802792305228646 Centerline is valid? [True, True] Translation: X:121.81, Y:8.65, Z:4.91 [[ 9.94635705e-01 -8.89454483e-02 -5.28064611e-02 1.21808915e+02] [ 8.88955345e-02 9.96035495e-01 -3.29791139e-03 8.65093996e+00] [ 5.28904438e-02 -1.41403816e-03 9.98599320e-01 4.90546807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40509989299997 meters 0.014283379409137369 Centerline is valid? [True, True] Translation: X:121.87, Y:8.66, Z:4.91 [[ 9.95390049e-01 -7.89678187e-02 -5.44309952e-02 1.21868372e+02] [ 7.88997666e-02 9.96876751e-01 -3.40137208e-03 8.66473211e+00] [ 5.45295926e-02 -9.08900888e-04 9.98511741e-01 4.90725133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46509989299997 meters 0.012950978110508767 Centerline is valid? [True, True] Translation: X:121.93, Y:8.68, Z:4.91 [[ 9.96584967e-01 -6.41354086e-02 -5.20101137e-02 1.21927413e+02] [ 6.40529652e-02 9.97941201e-01 -3.25214525e-03 8.67591050e+00] [ 5.21116130e-02 -9.03629354e-05 9.98641263e-01 4.91026470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52509989299998 meters 0.012899531882120965 Centerline is valid? [True, True] Translation: X:121.98, Y:8.68, Z:4.91 [[ 9.96696453e-01 -6.30837077e-02 -5.11529717e-02 1.21984844e+02] [ 6.30023664e-02 9.98008239e-01 -3.20264648e-03 8.68009752e+00] [ 5.12531220e-02 -3.06918776e-05 9.98685695e-01 4.91336525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58509989299998 meters 0.012956940873526838 Centerline is valid? [True, True] Translation: X:122.04, Y:8.68, Z:4.92 [[ 9.96752811e-01 -6.25242094e-02 -5.07400845e-02 1.22042626e+02] [ 6.24427228e-02 9.98043447e-01 -3.19112593e-03 8.68403580e+00] [ 5.08403315e-02 1.24147121e-05 9.98706794e-01 4.91615558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64509989299998 meters 0.012935126681413273 Centerline is valid? [True, True] Translation: X:122.10, Y:8.69, Z:4.92 [[ 9.96849791e-01 -6.21172535e-02 -4.93147082e-02 1.22101242e+02] [ 6.20391195e-02 9.98068858e-01 -3.11495087e-03 8.68727029e+00] [ 4.94129667e-02 4.56970484e-05 9.98778432e-01 4.92028647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70509989299997 meters 0.012879519246684958 Centerline is valid? [True, True] Translation: X:122.16, Y:8.69, Z:4.92 [[ 9.96855919e-01 -6.25691387e-02 -4.86146019e-02 1.22158925e+02] [ 6.24931354e-02 9.98040631e-01 -3.08324586e-03 8.69048690e+00] [ 4.87122640e-02 3.54729885e-05 9.98812852e-01 4.92320947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76509989299997 meters 0.013007598288386296 Centerline is valid? [True, True] Translation: X:122.22, Y:8.69, Z:4.93 [[ 9.96667562e-01 -6.62381253e-02 -4.76054749e-02 1.22215543e+02] [ 6.61688178e-02 9.97803836e-01 -3.03202867e-03 8.69085566e+00] [ 4.77017613e-02 -1.28073370e-04 9.98861615e-01 4.92624653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82509989299997 meters 0.013692147842936896 Centerline is valid? [True, True] Translation: X:122.27, Y:8.69, Z:4.93 [[ 9.96130654e-01 -7.44674214e-02 -4.66725086e-02 1.22274875e+02] [ 7.44095288e-02 9.97223319e-01 -2.97897917e-03 8.68650238e+00] [ 4.67647509e-02 -5.05426905e-04 9.98905803e-01 4.92865718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88509989299997 meters 0.014115224747616305 Centerline is valid? [True, True] Translation: X:122.33, Y:8.69, Z:4.93 [[ 9.95865896e-01 -7.82050459e-02 -4.62070018e-02 1.22333904e+02] [ 7.81517925e-02 9.96937075e-01 -2.96069548e-03 8.68694438e+00] [ 4.62970146e-02 -6.62704361e-04 9.98927499e-01 4.93120126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94509989299998 meters 0.01632515033615169 Centerline is valid? [True, True] Translation: X:122.39, Y:8.68, Z:4.93 [[ 9.94962546e-01 -8.88163228e-02 -4.64886274e-02 1.22394391e+02] [ 8.87734807e-02 9.96047354e-01 -2.98944183e-03 8.68078610e+00] [ 4.65703856e-02 -1.15257461e-03 9.98914346e-01 4.93288330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.00509989299998 meters 0.02459418236280818 Centerline is valid? [True, True] Translation: X:122.45, Y:8.66, Z:4.93 [[ 9.93105085e-01 -1.07843408e-01 -4.59574697e-02 1.22454974e+02] [ 1.07821807e-01 9.94165841e-01 -2.95595551e-03 8.66240358e+00] [ 4.60081269e-02 -2.01964297e-03 9.98939024e-01 4.93376299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06509989299998 meters 0.027039842694887135 Centerline is valid? [True, True] Translation: X:122.52, Y:8.66, Z:4.94 [[ 9.91381056e-01 -1.23129881e-01 -4.47507981e-02 1.22515460e+02] [ 1.23124929e-01 9.92387007e-01 -2.87754417e-03 8.65809424e+00] [ 4.47644223e-02 -2.65719605e-03 9.98994037e-01 4.93802708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12509989299997 meters 0.028270623731256085 Centerline is valid? [True, True] Translation: X:122.58, Y:8.66, Z:4.94 [[ 9.91103693e-01 -1.25339330e-01 -4.47607228e-02 1.22576349e+02] [ 1.25336638e-01 9.92110098e-01 -2.87774315e-03 8.65978964e+00] [ 4.47682594e-02 -2.75801664e-03 9.98993592e-01 4.94079563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18509989299997 meters 0.029354590096252447 Centerline is valid? [True, True] Translation: X:122.64, Y:8.66, Z:4.94 [[ 9.90828198e-01 -1.27595268e-01 -4.44851668e-02 1.22637154e+02] [ 1.27594954e-01 9.91822241e-01 -2.85817451e-03 8.66155187e+00] [ 4.44860674e-02 -2.84412292e-03 9.99005956e-01 4.94342530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24509989299997 meters 0.030612744736781588 Centerline is valid? [True, True] Translation: X:122.70, Y:8.66, Z:4.95 [[ 9.90522311e-01 -1.29854263e-01 -4.47595977e-02 1.22697910e+02] [ 1.29856321e-01 9.91528656e-01 -2.87400923e-03 8.66300128e+00] [ 4.47536261e-02 -2.96554641e-03 9.98993653e-01 4.94567742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30509989299998 meters 0.03349024891805994 Centerline is valid? [True, True] Translation: X:122.76, Y:8.66, Z:4.95 [[ 9.90004751e-01 -1.32914971e-01 -4.71614715e-02 1.22758420e+02] [ 1.32920802e-01 9.91122041e-01 -3.02644618e-03 8.66250809e+00] [ 4.71450339e-02 -3.27254453e-03 9.98882694e-01 4.94648184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36509989299998 meters 0.03409730435355679 Centerline is valid? [True, True] Translation: X:122.82, Y:8.67, Z:4.95 [[ 9.90191331e-01 -1.31669126e-01 -4.67372351e-02 1.22819126e+02] [ 1.31673513e-01 9.91288604e-01 -2.99830671e-03 8.66784564e+00] [ 4.67248729e-02 -3.18515864e-03 9.98902718e-01 4.95060547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42509989299998 meters 0.034343814032052555 Centerline is valid? [True, True] Translation: X:122.88, Y:8.67, Z:4.96 [[ 9.90788579e-01 -1.27450012e-01 -4.57655500e-02 1.22878349e+02] [ 1.27449799e-01 9.91840681e-01 -2.93456712e-03 8.67438292e+00] [ 4.57661450e-02 -2.92527455e-03 9.98947898e-01 4.95513764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48509989299997 meters 0.025294621594364904 Centerline is valid? [True, True] Translation: X:122.94, Y:8.69, Z:4.96 [[ 9.91899515e-01 -1.18308157e-01 -4.62442729e-02 1.22937848e+02] [ 1.18298003e-01 9.92973708e-01 -2.96593358e-03 8.69481549e+00] [ 4.62702413e-02 -2.52869707e-03 9.98925758e-01 4.95855588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54509989299997 meters 0.019404926572917224 Centerline is valid? [True, True] Translation: X:123.00, Y:8.71, Z:4.96 [[ 9.93426857e-01 -1.04726335e-01 -4.62111872e-02 1.22997317e+02] [ 1.04701532e-01 9.94499274e-01 -2.96357754e-03 8.71289571e+00] [ 4.62673568e-02 -1.89428457e-03 9.98927296e-01 4.96274293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60509989299997 meters 0.0176199029877633 Centerline is valid? [True, True] Translation: X:123.06, Y:8.72, Z:4.97 [[ 9.94074490e-01 -9.80345864e-02 -4.69587888e-02 1.23057938e+02] [ 9.80015228e-02 9.95181708e-01 -3.01143535e-03 8.72203049e+00] [ 4.70277525e-02 -1.60844175e-03 9.98892288e-01 4.96542392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66509989299998 meters 0.015361290644175631 Centerline is valid? [True, True] Translation: X:123.12, Y:8.73, Z:4.97 [[ 9.94947085e-01 -8.80095187e-02 -4.83179416e-02 1.23117776e+02] [ 8.79627516e-02 9.96118949e-01 -3.09752322e-03 8.73274917e+00] [ 4.84030287e-02 -1.16830740e-03 9.98827203e-01 4.96828664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72509989299998 meters 0.01362832693023981 Centerline is valid? [True, True] Translation: X:123.18, Y:8.74, Z:4.97 [[ 9.95734188e-01 -7.73826922e-02 -5.02528267e-02 1.23176519e+02] [ 7.73185640e-02 9.97001234e-01 -3.22175077e-03 8.74305824e+00] [ 5.03514379e-02 -6.77469012e-04 9.98731332e-01 4.96966087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.78509989299998 meters 0.012775304290919737 Centerline is valid? [True, True] Translation: X:123.23, Y:8.75, Z:4.97 [[ 9.96503325e-01 -6.66081382e-02 -5.04428342e-02 1.23233772e+02] [ 6.65296032e-02 9.97779203e-01 -3.23622378e-03 8.75406858e+00] [ 5.05463698e-02 -1.31033986e-04 9.98721707e-01 4.97190242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84509989299997 meters 0.01268123314025247 Centerline is valid? [True, True] Translation: X:123.29, Y:8.76, Z:4.97 [[ 9.96884784e-01 -6.07338877e-02 -5.03201963e-02 1.23291689e+02] [ 6.06479397e-02 9.98153979e-01 -3.23455385e-03 8.76016557e+00] [ 5.04237512e-02 1.72661280e-04 9.98727899e-01 4.97461910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90509989299997 meters 0.012886265557439167 Centerline is valid? [True, True] Translation: X:123.35, Y:8.76, Z:4.98 [[ 9.96965823e-01 -5.94680592e-02 -5.02264683e-02 1.23349147e+02] [ 5.93801681e-02 9.98230178e-01 -3.24158047e-03 8.76186791e+00] [ 5.03303469e-02 2.49288814e-04 9.98732594e-01 4.97531731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96509989299997 meters 0.012549704594068638 Centerline is valid? [True, True] Translation: X:123.41, Y:8.76, Z:4.98 [[ 9.96835985e-01 -6.29164811e-02 -4.85750552e-02 1.23407790e+02] [ 6.28381095e-02 9.98018793e-01 -3.14033094e-03 8.75821066e+00] [ 4.86763965e-02 7.80302465e-05 9.98814599e-01 4.97940218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02509989299998 meters 0.013015225979528852 Centerline is valid? [True, True] Translation: X:123.47, Y:8.74, Z:4.98 [[ 9.96160063e-01 -7.43498022e-02 -4.62302529e-02 1.23467317e+02] [ 7.42905976e-02 9.97232123e-01 -2.99987096e-03 8.74377806e+00] [ 4.63253331e-02 -4.46121465e-04 9.98926306e-01 4.98233322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08509989299998 meters 0.015088215332571965 Centerline is valid? [True, True] Translation: X:123.53, Y:8.73, Z:4.98 [[ 9.95141094e-01 -8.63945659e-02 -4.72248061e-02 1.23528539e+02] [ 8.63458150e-02 9.96260480e-01 -3.07513969e-03 8.72948389e+00] [ 4.73138833e-02 -1.01746649e-03 9.98879553e-01 4.98442332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.14509989299998 meters 0.015753597099051195 Centerline is valid? [True, True] Translation: X:123.59, Y:8.73, Z:4.99 [[ 9.94841561e-01 -8.93153294e-02 -4.80940869e-02 1.23587435e+02] [ 8.92680631e-02 9.96002706e-01 -3.13407611e-03 8.72707894e+00] [ 4.81817618e-02 -1.17535682e-03 9.98837893e-01 4.98598940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20509989299997 meters 0.015744951330433177 Centerline is valid? [True, True] Translation: X:123.65, Y:8.73, Z:4.99 [[ 9.94709780e-01 -9.06139204e-02 -4.83897787e-02 1.23646188e+02] [ 9.05670078e-02 9.95885333e-01 -3.16566599e-03 8.72860792e+00] [ 4.84775242e-02 -1.23359854e-03 9.98823512e-01 4.98827579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26509989299997 meters 0.016265246377932946 Centerline is valid? [True, True] Translation: X:123.70, Y:8.73, Z:4.99 [[ 9.94659586e-01 -9.09989535e-02 -4.86980417e-02 1.23703546e+02] [ 9.09513447e-02 9.95850205e-01 -3.19724744e-03 8.72943800e+00] [ 4.87869010e-02 -1.24897956e-03 9.98808429e-01 4.99054595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32509989299997 meters 0.01661935936006775 Centerline is valid? [True, True] Translation: X:123.76, Y:8.73, Z:4.99 [[ 9.94627078e-01 -9.13551297e-02 -4.86951332e-02 1.23761291e+02] [ 9.13076748e-02 9.95817579e-01 -3.20274959e-03 8.72974507e+00] [ 4.87840573e-02 -1.26069792e-03 9.98808553e-01 4.99297189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38509989299997 meters 0.016526928140349253 Centerline is valid? [True, True] Translation: X:123.82, Y:8.73, Z:4.99 [[ 9.94663578e-01 -9.03434602e-02 -4.98239523e-02 1.23820145e+02] [ 9.02918067e-02 9.95909915e-01 -3.29111315e-03 8.72950441e+00] [ 4.99174986e-02 -1.22514429e-03 9.98752593e-01 4.99409757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44509989299998 meters 0.015351148373843788 Centerline is valid? [True, True] Translation: X:123.88, Y:8.73, Z:5.00 [[ 9.94746706e-01 -8.90982909e-02 -5.04032323e-02 1.23878644e+02] [ 8.90431975e-02 9.96022159e-01 -3.34194136e-03 8.73335497e+00] [ 5.05004975e-02 -1.16367982e-03 9.98723358e-01 4.99650174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.50509989299998 meters 0.016118010930741056 Centerline is valid? [True, True] Translation: X:123.94, Y:8.73, Z:5.00 [[ 9.94885321e-01 -8.82745786e-02 -4.90998686e-02 1.23936826e+02] [ 8.82206948e-02 9.96095593e-01 -3.26771720e-03 8.73435867e+00] [ 4.91966191e-02 -1.08062065e-03 9.98788529e-01 4.99965260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56509989299998 meters 0.015182106613007892 Centerline is valid? [True, True] Translation: X:124.00, Y:8.74, Z:5.00 [[ 9.94999907e-01 -8.74362790e-02 -4.82709294e-02 1.23995502e+02] [ 8.73826374e-02 9.96169603e-01 -3.22445121e-03 8.73718442e+00] [ 4.83679665e-02 -1.00971247e-03 9.98829075e-01 5.00156737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62509989299997 meters 0.01531635310121995 Centerline is valid? [True, True] Translation: X:124.05, Y:8.74, Z:5.00 [[ 9.94929419e-01 -8.83072961e-02 -4.81380562e-02 1.24054103e+02] [ 8.82543882e-02 9.96092740e-01 -3.22757669e-03 8.73938360e+00] [ 4.82349868e-02 -1.03718370e-03 9.98835477e-01 5.00438166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68509989299997 meters 0.015903372325437416 Centerline is valid? [True, True] Translation: X:124.11, Y:8.74, Z:5.01 [[ 9.94807249e-01 -8.98971264e-02 -4.77183792e-02 1.24113122e+02] [ 8.98463973e-02 9.95950457e-01 -3.21127380e-03 8.74142156e+00] [ 4.78138258e-02 -1.09272600e-03 9.98855667e-01 5.00782023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74509989299997 meters 0.01615362501224534 Centerline is valid? [True, True] Translation: X:124.17, Y:8.74, Z:5.01 [[ 9.94679405e-01 -9.12148540e-02 -4.78824710e-02 1.24171600e+02] [ 9.11647295e-02 9.95830574e-01 -3.23420002e-03 8.74371360e+00] [ 4.79778357e-02 -1.14820036e-03 9.98847741e-01 5.01030554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80509989299998 meters 0.01591537418703864 Centerline is valid? [True, True] Translation: X:124.23, Y:8.75, Z:5.01 [[ 9.94622479e-01 -9.20936307e-02 -4.73802392e-02 1.24229868e+02] [ 9.20449932e-02 9.95749669e-01 -3.21194937e-03 8.74701508e+00] [ 4.74746575e-02 -1.16643675e-03 9.98871762e-01 5.01378029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86509989299998 meters 0.01611156820723066 Centerline is valid? [True, True] Translation: X:124.29, Y:8.75, Z:5.02 [[ 9.94578309e-01 -9.26104897e-02 -4.72999440e-02 1.24287538e+02] [ 9.25620236e-02 9.95701718e-01 -3.21866755e-03 8.75009325e+00] [ 4.73947179e-02 -1.17696161e-03 9.98875546e-01 5.01659426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92509989299998 meters 0.016625686310377967 Centerline is valid? [True, True] Translation: X:124.35, Y:8.75, Z:5.02 [[ 9.94508609e-01 -9.31589515e-02 -4.76868511e-02 1.24345532e+02] [ 9.31097000e-02 9.95650526e-01 -3.25793709e-03 8.75112092e+00] [ 4.77829444e-02 -1.20006192e-03 9.98857022e-01 5.01849055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98509989299997 meters 0.01648231074447449 Centerline is valid? [True, True] Translation: X:124.40, Y:8.75, Z:5.02 [[ 9.94411385e-01 -9.46578755e-02 -4.67534341e-02 1.24404414e+02] [ 9.46118798e-02 9.95509090e-01 -3.20072764e-03 8.75340187e+00] [ 4.68464427e-02 -1.24059029e-03 9.98901332e-01 5.02197826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04509989299997 meters 0.016078274157101866 Centerline is valid? [True, True] Translation: X:124.46, Y:8.76, Z:5.02 [[ 9.94284540e-01 -9.58699267e-02 -4.69809695e-02 1.24463386e+02] [ 9.58242670e-02 9.95393032e-01 -3.22832405e-03 8.75691248e+00] [ 4.70740288e-02 -1.29204427e-03 9.98890568e-01 5.02478344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10509989299997 meters 0.016758150378898773 Centerline is valid? [True, True] Translation: X:124.52, Y:8.76, Z:5.03 [[ 9.94064365e-01 -9.74537718e-02 -4.83611460e-02 1.24521752e+02] [ 9.74066730e-02 9.95239075e-01 -3.33530417e-03 8.75854220e+00] [ 4.84559401e-02 -1.39519131e-03 9.98824347e-01 5.02596174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16509989299998 meters 0.018298842237222748 Centerline is valid? [True, True] Translation: X:124.58, Y:8.76, Z:5.03 [[ 9.93764566e-01 -9.97677062e-02 -4.97834519e-02 1.24579325e+02] [ 9.97203504e-02 9.95009556e-01 -3.44030546e-03 8.75837864e+00] [ 4.98782418e-02 -1.54556961e-03 9.98754110e-01 5.02669223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22509989299998 meters 0.018859037898937166 Centerline is valid? [True, True] Translation: X:124.64, Y:8.76, Z:5.03 [[ 9.93652014e-01 -1.01326656e-01 -4.88731416e-02 1.24637724e+02] [ 1.01282593e-01 9.94851942e-01 -3.38360769e-03 8.76140816e+00] [ 4.89643895e-02 -1.58786993e-03 9.98799263e-01 5.02992591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.28509989299998 meters 0.018578017732248004 Centerline is valid? [True, True] Translation: X:124.70, Y:8.77, Z:5.03 [[ 9.93515353e-01 -1.03437910e-01 -4.72000176e-02 1.24695731e+02] [ 1.03398689e-01 9.94634588e-01 -3.27834806e-03 8.76625217e+00] [ 4.72858755e-02 -1.62333079e-03 9.98880078e-01 5.03400488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34509989299997 meters 0.019442693451552185 Centerline is valid? [True, True] Translation: X:124.75, Y:8.77, Z:5.03 [[ 9.93293526e-01 -1.05084651e-01 -4.82202034e-02 1.24754567e+02] [ 1.05045387e-01 9.94461770e-01 -3.35471598e-03 8.76922354e+00] [ 4.83056780e-02 -1.73309227e-03 9.98831096e-01 5.03494241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40509989299997 meters 0.020544853947610037 Centerline is valid? [True, True] Translation: X:124.81, Y:8.77, Z:5.04 [[ 9.92997464e-01 -1.07900221e-01 -4.80996827e-02 1.24813718e+02] [ 1.07863922e-01 9.94159999e-01 -3.35724595e-03 8.77374640e+00] [ 4.81810280e-02 -1.85448372e-03 9.98836898e-01 5.03721816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46509989299997 meters 0.02241508460400963 Centerline is valid? [True, True] Translation: X:124.87, Y:8.78, Z:5.04 [[ 9.92438072e-01 -1.13116693e-01 -4.76580158e-02 1.24873581e+02] [ 1.13086942e-01 9.93579520e-01 -3.32876179e-03 8.77560167e+00] [ 4.77285670e-02 -2.08590934e-03 9.98858165e-01 5.03924856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52509989299998 meters 0.026805533362617193 Centerline is valid? [True, True] Translation: X:124.93, Y:8.78, Z:5.04 [[ 9.91652854e-01 -1.19222803e-01 -4.90972504e-02 1.24932893e+02] [ 1.19198643e-01 9.92864501e-01 -3.43020001e-03 8.77537616e+00] [ 4.91558750e-02 -2.45075801e-03 9.98788113e-01 5.03953160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58509989299998 meters 0.028654139593288087 Centerline is valid? [True, True] Translation: X:124.99, Y:8.78, Z:5.04 [[ 9.91162289e-01 -1.23453368e-01 -4.85446377e-02 1.24993228e+02] [ 1.23434765e-01 9.92346890e-01 -3.39237022e-03 8.78065011e+00] [ 4.85919198e-02 -2.62970651e-03 9.98815253e-01 5.04281238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64509989299998 meters 0.03031228925851697 Centerline is valid? [True, True] Translation: X:125.05, Y:8.78, Z:5.05 [[ 9.91137468e-01 -1.23964241e-01 -4.77429155e-02 1.25050950e+02] [ 1.23946812e-01 9.92283253e-01 -3.33684755e-03 8.78459014e+00] [ 4.77881453e-02 -2.61030755e-03 9.98854083e-01 5.04553544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70509989299997 meters 0.026429931638706793 Centerline is valid? [True, True] Translation: X:125.11, Y:8.80, Z:5.05 [[ 9.91665334e-01 -1.20270184e-01 -4.62054919e-02 1.25109997e+02] [ 1.20249692e-01 9.92738414e-01 -3.23295933e-03 8.79910357e+00] [ 4.62587954e-02 -2.35018248e-03 9.98926724e-01 5.05055942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76509989299997 meters 0.02258630316896158 Centerline is valid? [True, True] Translation: X:125.17, Y:8.82, Z:5.05 [[ 9.93022642e-01 -1.08982129e-01 -4.50436149e-02 1.25169343e+02] [ 1.08951021e-01 9.94042121e-01 -3.15239685e-03 8.81846586e+00] [ 4.51188054e-02 -1.77714640e-03 9.98980047e-01 5.05425605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82509989299997 meters 0.01798204665237205 Centerline is valid? [True, True] Translation: X:125.23, Y:8.84, Z:5.06 [[ 9.93854778e-01 -1.01478531e-01 -4.42129832e-02 1.25228294e+02] [ 1.01441137e-01 9.94836731e-01 -3.09437786e-03 8.83554837e+00] [ 4.42987126e-02 -1.40965305e-03 9.99017336e-01 5.05718278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88509989299997 meters 0.017767120929039787 Centerline is valid? [True, True] Translation: X:125.29, Y:8.84, Z:5.06 [[ 9.94151096e-01 -9.83805416e-02 -4.45518579e-02 1.25287104e+02] [ 9.83394715e-02 9.95148043e-01 -3.11794142e-03 8.84485222e+00] [ 4.46424389e-02 -1.28150128e-03 9.99002207e-01 5.05936698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94509989299998 meters 0.016633585276136988 Centerline is valid? [True, True] Translation: X:125.35, Y:8.86, Z:5.06 [[ 9.93946798e-01 -9.88965222e-02 -4.78460006e-02 1.25348062e+02] [ 9.88498129e-02 9.95096734e-01 -3.34722315e-03 8.85506733e+00] [ 4.79424276e-02 -1.40260647e-03 9.98849116e-01 5.05899084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.00509989299998 meters 0.017485532328180554 Centerline is valid? [True, True] Translation: X:125.41, Y:8.86, Z:5.06 [[ 9.93715029e-01 -1.00697972e-01 -4.88913080e-02 1.25407259e+02] [ 1.00651441e-01 9.94915875e-01 -3.41902320e-03 8.86090570e+00] [ 4.89870272e-02 -1.52344589e-03 9.98798253e-01 5.05982768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06509989299997 meters 0.01687060879055648 Centerline is valid? [True, True] Translation: X:125.47, Y:8.87, Z:5.06 [[ 9.93951549e-01 -9.98034468e-02 -4.58212798e-02 1.25466765e+02] [ 9.97615597e-02 9.95006208e-01 -3.20576638e-03 8.86932491e+00] [ 4.59124044e-02 -1.38482588e-03 9.98944510e-01 5.06492483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12509989299997 meters 0.016472983491713496 Centerline is valid? [True, True] Translation: X:125.53, Y:8.88, Z:5.07 [[ 9.94296516e-01 -9.70545824e-02 -4.42136486e-02 1.25527854e+02] [ 9.70128711e-02 9.95278320e-01 -3.09320726e-03 8.87727663e+00] [ 4.43050959e-02 -1.21372780e-03 9.99017310e-01 5.06912697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18509989299997 meters 0.015876656673477475 Centerline is valid? [True, True] Translation: X:125.59, Y:8.89, Z:5.07 [[ 9.94598915e-01 -9.42334401e-02 -4.35092739e-02 1.25589152e+02] [ 9.41904201e-02 9.95549551e-01 -3.04232460e-03 8.88516712e+00] [ 4.36023268e-02 -1.07226404e-03 9.99048391e-01 5.07248674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24509989299997 meters 0.015136443618629017 Centerline is valid? [True, True] Translation: X:125.65, Y:8.89, Z:5.07 [[ 9.94839267e-01 -9.14536699e-02 -4.39438169e-02 1.25650039e+02] [ 9.14071760e-02 9.95808867e-01 -3.07045500e-03 8.89276348e+00] [ 4.40404469e-02 -9.62171001e-04 9.99029285e-01 5.07434906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30509989299998 meters 0.014585831405137644 Centerline is valid? [True, True] Translation: X:125.71, Y:8.90, Z:5.08 [[ 9.95137316e-01 -8.85187530e-02 -4.31989829e-02 1.25711117e+02] [ 8.84711256e-02 9.96074173e-01 -3.01685756e-03 8.89831740e+00] [ 4.32964397e-02 -8.19675105e-04 9.99061933e-01 5.07719460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36509989299998 meters 0.013893371620558627 Centerline is valid? [True, True] Translation: X:125.77, Y:8.90, Z:5.08 [[ 9.95452284e-01 -8.36474498e-02 -4.55834959e-02 1.25770878e+02] [ 8.35893902e-02 9.96495204e-01 -3.18170395e-03 8.90416541e+00] [ 4.56898764e-02 -6.43062158e-04 9.98955465e-01 5.07779475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.42509989299998 meters 0.012929390381283998 Centerline is valid? [True, True] Translation: X:125.83, Y:8.91, Z:5.08 [[ 9.95983464e-01 -7.68057176e-02 -4.60197881e-02 1.25830862e+02] [ 7.67392734e-02 9.97046022e-01 -3.21139737e-03 8.91272793e+00] [ 4.61305004e-02 -3.33026423e-04 9.98935366e-01 5.07956381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48509989299997 meters 0.012714997280055911 Centerline is valid? [True, True] Translation: X:125.89, Y:8.92, Z:5.08 [[ 9.96447532e-01 -7.10574762e-02 -4.52012335e-02 1.25888686e+02] [ 7.09874418e-02 9.97472221e-01 -3.15472400e-03 8.91804571e+00] [ 4.53111415e-02 -6.52029932e-05 9.98972921e-01 5.08135147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54509989299997 meters 0.012794744517258275 Centerline is valid? [True, True] Translation: X:125.95, Y:8.92, Z:5.08 [[ 9.96495707e-01 -6.99687904e-02 -4.58331116e-02 1.25946657e+02] [ 6.98953153e-02 9.97549181e-01 -3.20571531e-03 8.92235731e+00] [ 4.59450829e-02 -9.03824003e-06 9.98943967e-01 5.08295248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60509989299997 meters 0.013098639141119705 Centerline is valid? [True, True] Translation: X:126.01, Y:8.92, Z:5.08 [[ 9.95941562e-01 -7.75927582e-02 -4.56044747e-02 1.26005853e+02] [ 7.75274088e-02 9.96985077e-01 -3.20260970e-03 8.91877462e+00] [ 4.57154800e-02 -3.45984638e-04 9.98954441e-01 5.08420174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66509989299998 meters 0.0135384440895442 Centerline is valid? [True, True] Translation: X:126.06, Y:8.92, Z:5.09 [[ 9.95642780e-01 -8.13195567e-02 -4.56353398e-02 1.26064307e+02] [ 8.12575069e-02 9.96687952e-01 -3.21619861e-03 8.91909596e+00] [ 4.57457332e-02 -5.06029019e-04 9.98952988e-01 5.08596205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72509989299998 meters 0.016597567237284287 Centerline is valid? [True, True] Translation: X:126.13, Y:8.91, Z:5.09 [[ 9.94256476e-01 -9.69251823e-02 -4.53824823e-02 1.26125721e+02] [ 9.68795627e-02 9.95290939e-01 -3.20879604e-03 8.91067822e+00] [ 4.54797866e-02 -1.20626879e-03 9.98964531e-01 5.08871815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78509989299998 meters 0.01892541402232122 Centerline is valid? [True, True] Translation: X:126.19, Y:8.91, Z:5.09 [[ 9.93634179e-01 -1.03517671e-01 -4.44433314e-02 1.26186359e+02] [ 1.03480498e-01 9.94626519e-01 -3.14245185e-03 8.90939624e+00] [ 4.45298153e-02 -1.47657048e-03 9.99006965e-01 5.09202670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84509989299997 meters 0.021000884863675302 Centerline is valid? [True, True] Translation: X:126.25, Y:8.91, Z:5.10 [[ 9.93034479e-01 -1.09483657e-01 -4.35413970e-02 1.26246649e+02] [ 1.09453697e-01 9.93987128e-01 -3.07870837e-03 8.90822506e+00] [ 4.36166564e-02 -1.70850332e-03 9.99046880e-01 5.09562706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90509989299997 meters 0.024640939565359395 Centerline is valid? [True, True] Translation: X:126.31, Y:8.90, Z:5.10 [[ 9.92226491e-01 -1.16619221e-01 -4.34344172e-02 1.26306655e+02] [ 1.16596189e-01 9.93174653e-01 -3.07191718e-03 8.90414600e+00] [ 4.34962069e-02 -2.01624990e-03 9.99051558e-01 5.09752193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96509989299997 meters 0.028075085117549383 Centerline is valid? [True, True] Translation: X:126.37, Y:8.90, Z:5.10 [[ 9.91665673e-01 -1.21417118e-01 -4.30938204e-02 1.26366084e+02] [ 1.21398933e-01 9.92599116e-01 -3.04845208e-03 8.90353078e+00] [ 4.31450223e-02 -2.20849854e-03 9.99066379e-01 5.10047905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02509989299998 meters 0.025083089932615366 Centerline is valid? [True, True] Translation: X:126.43, Y:8.91, Z:5.10 [[ 9.91568762e-01 -1.22065324e-01 -4.34907567e-02 1.26426530e+02] [ 1.22047403e-01 9.92519503e-01 -3.07703287e-03 8.91292186e+00] [ 4.35410232e-02 -2.25684423e-03 9.99049091e-01 5.10237586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08509989299998 meters 0.022657761972019654 Centerline is valid? [True, True] Translation: X:126.49, Y:8.92, Z:5.10 [[ 9.91821020e-01 -1.18635814e-01 -4.70808635e-02 1.26488025e+02] [ 1.18611058e-01 9.92935211e-01 -3.32909685e-03 8.92388898e+00] [ 4.71431973e-02 -2.28244279e-03 9.98885534e-01 5.10205333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14509989299998 meters 0.02329412385804659 Centerline is valid? [True, True] Translation: X:126.55, Y:8.93, Z:5.11 [[ 9.92276247e-01 -1.15093931e-01 -4.62734891e-02 1.26546917e+02] [ 1.15066275e-01 9.93352435e-01 -3.26979961e-03 8.93057299e+00] [ 4.63422172e-02 -2.07997352e-03 9.98923457e-01 5.10518007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20509989299997 meters 0.02156819085058992 Centerline is valid? [True, True] Translation: X:126.61, Y:8.94, Z:5.11 [[ 9.92536761e-01 -1.12611909e-01 -4.67903499e-02 1.26607538e+02] [ 1.12580853e-01 9.93637064e-01 -3.30691441e-03 8.93985221e+00] [ 4.68650239e-02 -1.98546340e-03 9.98899258e-01 5.10840254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26509989299997 meters 0.01927593529995035 Centerline is valid? [True, True] Translation: X:126.67, Y:8.95, Z:5.11 [[ 9.93068237e-01 -1.07433409e-01 -4.76816498e-02 1.26667593e+02] [ 1.07395280e-01 9.94210696e-01 -3.36823611e-03 8.95296316e+00] [ 4.77674674e-02 -1.77589585e-03 9.98856904e-01 5.11155961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32509989299997 meters 0.018950825519846958 Centerline is valid? [True, True] Translation: X:126.73, Y:8.96, Z:5.11 [[ 9.93853724e-01 -1.00135019e-01 -4.71990744e-02 1.26726806e+02] [ 1.00089469e-01 9.94972857e-01 -3.33341530e-03 8.96312768e+00] [ 4.72955895e-02 -1.41120309e-03 9.98879941e-01 5.11493527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38509989299997 meters 0.015725424153782707 Centerline is valid? [True, True] Translation: X:126.79, Y:8.98, Z:5.12 [[ 9.94596504e-01 -9.25850305e-02 -4.69660106e-02 1.26786663e+02] [ 9.25315068e-02 9.95704232e-01 -3.31715370e-03 8.97735328e+00] [ 4.70713743e-02 -1.04660625e-03 9.98890980e-01 5.11759348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44509989299998 meters 0.014283043004797354 Centerline is valid? [True, True] Translation: X:126.85, Y:8.99, Z:5.12 [[ 9.95354089e-01 -8.46286667e-02 -4.59154253e-02 1.26845277e+02] [ 8.45690736e-02 9.96412344e-01 -3.24237336e-03 8.99040436e+00] [ 4.60250942e-02 -6.55715396e-04 9.98940069e-01 5.12064866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.50509989299998 meters 0.01366972125366054 Centerline is valid? [True, True] Translation: X:126.91, Y:9.00, Z:5.12 [[ 9.95614103e-01 -8.17020697e-02 -4.55777218e-02 1.26905326e+02] [ 8.16403577e-02 9.96656663e-01 -3.21693655e-03 8.99749753e+00] [ 4.56881705e-02 -5.18154114e-04 9.98955616e-01 5.12348134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56509989299997 meters 0.01346105552975351 Centerline is valid? [True, True] Translation: X:126.97, Y:9.00, Z:5.13 [[ 9.95791493e-01 -7.92288983e-02 -4.60660865e-02 1.26965493e+02] [ 7.91632111e-02 9.96856366e-01 -3.25140598e-03 9.00418625e+00] [ 4.61788769e-02 -4.09016913e-04 9.98933103e-01 5.12575445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62509989299997 meters 0.013494055299149982 Centerline is valid? [True, True] Translation: X:127.02, Y:9.01, Z:5.13 [[ 9.95834616e-01 -7.81763443e-02 -4.69241553e-02 1.27023782e+02] [ 7.81070058e-02 9.96939479e-01 -3.31223412e-03 9.01114027e+00] [ 4.70394813e-02 -3.66667876e-04 9.98892964e-01 5.12745700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68509989299997 meters 0.013691924928116375 Centerline is valid? [True, True] Translation: X:127.08, Y:9.01, Z:5.13 [[ 9.95677463e-01 -8.09940370e-02 -4.54571824e-02 1.27083036e+02] [ 8.09317986e-02 9.96714470e-01 -3.21094961e-03 9.01391558e+00] [ 4.55678992e-02 -4.81861370e-04 9.98961128e-01 5.13108391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74509989299997 meters 0.01492018658092529 Centerline is valid? [True, True] Translation: X:127.14, Y:9.01, Z:5.14 [[ 9.95052616e-01 -8.88487096e-02 -4.44544400e-02 1.27143876e+02] [ 8.87969489e-02 9.96044794e-01 -3.14160642e-03 9.01352954e+00] [ 4.45577412e-02 -8.21354943e-04 9.99006473e-01 5.13555572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80509989299998 meters 0.016255750519494284 Centerline is valid? [True, True] Translation: X:127.21, Y:9.01, Z:5.14 [[ 9.94354184e-01 -9.62646965e-02 -4.46415240e-02 1.27205570e+02] [ 9.62199646e-02 9.95355095e-01 -3.15472672e-03 9.01246808e+00] [ 4.47378572e-02 -1.15849015e-03 9.98998089e-01 5.13742551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86509989299998 meters 0.01767468708474489 Centerline is valid? [True, True] Translation: X:127.27, Y:9.01, Z:5.14 [[ 9.93815444e-01 -1.00936940e-01 -4.62881961e-02 1.27266423e+02] [ 1.00893984e-01 9.94891811e-01 -3.26941483e-03 9.01432571e+00] [ 4.63817520e-02 -1.42100557e-03 9.98922777e-01 5.13833101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.92509989299998 meters 0.019295186764348955 Centerline is valid? [True, True] Translation: X:127.33, Y:9.02, Z:5.14 [[ 9.93708757e-01 -1.02165808e-01 -4.58808669e-02 1.27326690e+02] [ 1.02124957e-01 9.94766303e-01 -3.23968063e-03 9.01649959e+00] [ 4.59717249e-02 -1.46628254e-03 9.98941665e-01 5.14104279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98509989299997 meters 0.01830413870327994 Centerline is valid? [True, True] Translation: X:127.39, Y:9.02, Z:5.14 [[ 9.93486357e-01 -1.03652240e-01 -4.73399491e-02 1.27387388e+02] [ 1.03610549e-01 9.94612335e-01 -3.34030498e-03 9.02340493e+00] [ 4.74311274e-02 -1.58637068e-03 9.98873251e-01 5.14287306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04509989299999 meters 0.019956171887706053 Centerline is valid? [True, True] Translation: X:127.45, Y:9.03, Z:5.14 [[ 9.93328767e-01 -1.04189738e-01 -4.94212482e-02 1.27447625e+02] [ 1.04145053e-01 9.94556011e-01 -3.48541196e-03 9.02602230e+00] [ 4.95153436e-02 -1.68481854e-03 9.98771942e-01 5.14283690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.105099893 meters 0.01926438221576388 Centerline is valid? [True, True] Translation: X:127.51, Y:9.04, Z:5.15 [[ 9.93388976e-01 -1.03698838e-01 -4.92432074e-02 1.27508625e+02] [ 1.03653922e-01 9.94607365e-01 -3.47183519e-03 9.03502089e+00] [ 4.93376821e-02 -1.65536880e-03 9.98780783e-01 5.14652768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16509989299996 meters 0.019639115192246783 Centerline is valid? [True, True] Translation: X:127.57, Y:9.04, Z:5.15 [[ 9.93514012e-01 -1.03246597e-01 -4.76450224e-02 1.27568873e+02] [ 1.03204098e-01 9.94654533e-01 -3.35770226e-03 9.04108637e+00] [ 4.77370089e-02 -1.58123733e-03 9.98858688e-01 5.15078214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.22509989299996 meters 0.020275723324469842 Centerline is valid? [True, True] Translation: X:127.63, Y:9.05, Z:5.15 [[ 9.93289142e-01 -1.04928965e-01 -4.86476311e-02 1.27629292e+02] [ 1.04886679e-01 9.94478271e-01 -3.42824029e-03 9.04731930e+00] [ 4.87387338e-02 -1.69725462e-03 9.98810120e-01 5.15337136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.28509989299997 meters 0.019790615416379435 Centerline is valid? [True, True] Translation: X:127.69, Y:9.05, Z:5.16 [[ 9.92862807e-01 -1.08704669e-01 -4.90585453e-02 1.27689835e+02] [ 1.08666308e-01 9.94072275e-01 -3.45632031e-03 9.05441234e+00] [ 4.91434579e-02 -1.89935909e-03 9.98789924e-01 5.15671608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34509989299997 meters 0.02476015296037686 Centerline is valid? [True, True] Translation: X:127.75, Y:9.05, Z:5.16 [[ 9.92417048e-01 -1.13475419e-01 -4.72412029e-02 1.27749876e+02] [ 1.13445270e-01 9.93538675e-01 -3.32753976e-03 9.05050516e+00] [ 4.73135561e-02 -2.05698384e-03 9.98877969e-01 5.16033772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.40509989299997 meters 0.022790085970025877 Centerline is valid? [True, True] Translation: X:127.81, Y:9.06, Z:5.16 [[ 9.92104979e-01 -1.16429430e-01 -4.66036257e-02 1.27810396e+02] [ 1.16403342e-01 9.93196600e-01 -3.28254456e-03 9.05870250e+00] [ 4.66687474e-02 -2.16818899e-03 9.98908067e-01 5.16492065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46509989299997 meters 0.0208307064305979 Centerline is valid? [True, True] Translation: X:127.87, Y:9.07, Z:5.17 [[ 9.92632674e-01 -1.13140526e-01 -4.33543105e-02 1.27871100e+02] [ 1.13114848e-01 9.93577229e-01 -3.05291061e-03 9.06718137e+00] [ 4.34212637e-02 -1.87359742e-03 9.99055095e-01 5.17036580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52509989299998 meters 0.019946607929477222 Centerline is valid? [True, True] Translation: X:127.93, Y:9.07, Z:5.17 [[ 9.93411729e-01 -1.06255670e-01 -4.29286554e-02 1.27930456e+02] [ 1.06224139e-01 9.94337620e-01 -3.02139435e-03 9.07427910e+00] [ 4.30066173e-02 -1.55857087e-03 9.99073572e-01 5.17303120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58509989299998 meters 0.01835701746707656 Centerline is valid? [True, True] Translation: X:127.99, Y:9.08, Z:5.18 [[ 9.94028895e-01 -1.00250072e-01 -4.30868891e-02 1.27990309e+02] [ 1.00212645e-01 9.94961419e-01 -3.03315541e-03 9.08347832e+00] [ 4.31738664e-02 -1.30280699e-03 9.99066724e-01 5.17555582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64509989299998 meters 0.014246199892441658 Centerline is valid? [True, True] Translation: X:128.05, Y:9.10, Z:5.18 [[ 9.95288922e-01 -8.66821210e-02 -4.34300862e-02 1.28050380e+02] [ 8.66311755e-02 9.96235761e-01 -3.05731656e-03 9.09822813e+00] [ 4.35316197e-02 -7.19486122e-04 9.99051791e-01 5.17724457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70509989299998 meters 0.01294642444704931 Centerline is valid? [True, True] Translation: X:128.11, Y:9.11, Z:5.18 [[ 9.96464166e-01 -7.04818478e-02 -4.57326557e-02 1.28110021e+02] [ 7.04082852e-02 9.97513062e-01 -3.21937602e-03 9.10703903e+00] [ 4.58458290e-02 -1.19650298e-05 9.98948527e-01 5.17709822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76509989299998 meters 0.013070047506018367 Centerline is valid? [True, True] Translation: X:128.17, Y:9.10, Z:5.18 [[ 9.96192403e-01 -7.46313738e-02 -4.50650060e-02 1.28169568e+02] [ 7.45642168e-02 9.97211170e-01 -3.17171591e-03 9.10443883e+00] [ 4.51760369e-02 -2.00597581e-04 9.98979022e-01 5.17925958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.825099893 meters 0.013166938729055574 Centerline is valid? [True, True] Translation: X:128.23, Y:9.11, Z:5.18 [[ 9.96005885e-01 -7.70881922e-02 -4.50520492e-02 1.28230283e+02] [ 7.70235168e-02 9.97024230e-01 -3.17231864e-03 9.10630973e+00] [ 4.51625329e-02 -3.10419235e-04 9.98979604e-01 5.18173984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88509989299996 meters 0.013527189703531678 Centerline is valid? [True, True] Translation: X:128.29, Y:9.11, Z:5.18 [[ 9.95751197e-01 -8.01240047e-02 -4.53838855e-02 1.28290102e+02] [ 8.00615203e-02 9.96784801e-01 -3.19574791e-03 9.10684202e+00] [ 4.54940234e-02 -4.51333056e-04 9.98964509e-01 5.18395842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.94509989299996 meters 0.014507978327896236 Centerline is valid? [True, True] Translation: X:128.35, Y:9.10, Z:5.19 [[ 9.95142684e-01 -8.75180332e-02 -4.50736222e-02 1.28350556e+02] [ 8.74639381e-02 9.96162628e-01 -3.17471253e-03 9.10323049e+00] [ 4.51785026e-02 -7.83024560e-04 9.98978623e-01 5.18591423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.00509989299997 meters 0.014507978327896236 Centerline is valid? [True, True] Translation: X:128.41, Y:9.11, Z:5.19 [[ 9.95145854e-01 -8.74820112e-02 -4.50735768e-02 1.28411210e+02] [ 8.74278500e-02 9.96165794e-01 -3.17535751e-03 9.10747503e+00] [ 4.51785421e-02 -7.80742052e-04 9.98978623e-01 5.18847051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06509989299997 meters 0.018452811842251185 Centerline is valid? [True, True] Translation: X:128.47, Y:9.10, Z:5.19 [[ 9.94101108e-01 -9.92414645e-02 -4.37506391e-02 1.28471688e+02] [ 9.92018641e-02 9.95062561e-01 -3.08070370e-03 9.09686710e+00] [ 4.38403565e-02 -1.27761399e-03 9.99037732e-01 5.19124272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12509989299997 meters 0.02082651153339907 Centerline is valid? [True, True] Translation: X:128.53, Y:9.09, Z:5.19 [[ 9.92732216e-01 -1.10813889e-01 -4.69364479e-02 1.28533328e+02] [ 1.10781181e-01 9.93839324e-01 -3.30561776e-03 9.08973725e+00] [ 4.70135961e-02 -1.91808188e-03 9.98892408e-01 5.18978512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18509989299997 meters 0.021698862179619832 Centerline is valid? [True, True] Translation: X:128.59, Y:9.09, Z:5.19 [[ 9.92628174e-01 -1.11597430e-01 -4.72791904e-02 1.28594958e+02] [ 1.11565163e-01 9.93751544e-01 -3.32903107e-03 9.09017173e+00] [ 4.73552798e-02 -1.97022055e-03 9.98876166e-01 5.19025816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24509989299997 meters 0.01982567271131096 Centerline is valid? [True, True] Translation: X:128.66, Y:9.10, Z:5.20 [[ 9.93444828e-01 -1.06030755e-01 -4.27183043e-02 1.28655718e+02] [ 1.05999328e-01 9.94361656e-01 -3.00651197e-03 9.09726907e+00] [ 4.27962266e-02 -1.54130777e-03 9.99082633e-01 5.19691598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30509989299998 meters 0.018496410662624495 Centerline is valid? [True, True] Translation: X:128.72, Y:9.10, Z:5.20 [[ 9.93590378e-01 -1.05073454e-01 -4.16860843e-02 1.28717379e+02] [ 1.05042715e-01 9.94463385e-01 -2.93314255e-03 9.10387389e+00] [ 4.17634799e-02 -1.46447726e-03 9.99126452e-01 5.19989580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36509989299998 meters 0.019238801674606763 Centerline is valid? [True, True] Translation: X:128.78, Y:9.11, Z:5.20 [[ 9.93575049e-01 -1.05742534e-01 -4.03377984e-02 1.28779059e+02] [ 1.05714418e-01 9.94392489e-01 -2.83537640e-03 9.10683543e+00] [ 4.04114236e-02 -1.44712765e-03 9.99182077e-01 5.20410625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42509989299998 meters 0.022168765642988374 Centerline is valid? [True, True] Translation: X:128.84, Y:9.10, Z:5.20 [[ 9.92958381e-01 -1.09356470e-01 -4.55501403e-02 1.28839285e+02] [ 1.09324576e-01 9.94000960e-01 -3.19828105e-03 9.10411377e+00] [ 4.56266359e-02 -1.80398979e-03 9.98956934e-01 5.20201068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48509989299998 meters 0.020353697048461128 Centerline is valid? [True, True] Translation: X:128.90, Y:9.11, Z:5.20 [[ 9.92965910e-01 -1.09090831e-01 -4.60205709e-02 1.28900437e+02] [ 1.09057998e-01 9.94030137e-01 -3.23116170e-03 9.11217328e+00] [ 4.60983245e-02 -1.81047791e-03 9.98935266e-01 5.20488058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54509989299999 meters 0.01872178934010672 Centerline is valid? [True, True] Translation: X:128.96, Y:9.12, Z:5.21 [[ 9.93561612e-01 -1.04337458e-01 -4.41476853e-02 1.28960308e+02] [ 1.04302619e-01 9.94540781e-01 -3.09819758e-03 9.12143369e+00] [ 4.42299315e-02 -1.52646903e-03 9.99020212e-01 5.20978993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.605099893 meters 0.016696250428570442 Centerline is valid? [True, True] Translation: X:129.02, Y:9.13, Z:5.21 [[ 9.94449484e-01 -9.59210538e-02 -4.32362715e-02 1.29020197e+02] [ 9.58796883e-02 9.95388306e-01 -3.03422694e-03 9.13230901e+00] [ 4.33279253e-02 -1.12809482e-03 9.99060268e-01 5.21222443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66509989299996 meters 0.013649965169883004 Centerline is valid? [True, True] Translation: X:129.08, Y:9.15, Z:5.22 [[ 9.95892389e-01 -8.19552158e-02 -3.84927629e-02 1.29079721e+02] [ 8.19120004e-02 9.96635906e-01 -2.70110432e-03 9.14780189e+00] [ 3.85846392e-02 -4.63009976e-04 9.99255228e-01 5.21714332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.72509989299996 meters 0.012929651827082774 Centerline is valid? [True, True] Translation: X:129.14, Y:9.16, Z:5.22 [[ 9.96770720e-01 -7.05043000e-02 -3.84353421e-02 1.29140567e+02] [ 7.04527057e-02 9.97511475e-01 -2.69684385e-03 9.15915314e+00] [ 3.85298339e-02 -1.97388614e-05 9.99257450e-01 5.21987351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.78509989299997 meters 0.013083507329221583 Centerline is valid? [True, True] Translation: X:129.20, Y:9.15, Z:5.21 [[ 9.96250852e-01 -7.44449211e-02 -4.40703356e-02 1.29201041e+02] [ 7.43810098e-02 9.97225107e-01 -3.09051516e-03 9.15295526e+00] [ 4.41781183e-02 -1.99067698e-04 9.99023650e-01 5.21476105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84509989299997 meters 0.013162277834255212 Centerline is valid? [True, True] Translation: X:129.26, Y:9.16, Z:5.22 [[ 9.96170717e-01 -7.60500883e-02 -4.31310475e-02 1.29260732e+02] [ 7.59903433e-02 9.97103964e-01 -3.02542420e-03 9.15556885e+00] [ 4.32362222e-02 -2.63704116e-04 9.99064843e-01 5.21794815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.90509989299997 meters 0.013229107768421441 Centerline is valid? [True, True] Translation: X:129.32, Y:9.16, Z:5.22 [[ 9.96048761e-01 -7.81532464e-02 -4.21774214e-02 1.29320707e+02] [ 7.80979357e-02 9.96941297e-01 -2.96003571e-03 9.15773638e+00] [ 4.22797496e-02 -3.45629641e-04 9.99105752e-01 5.22101062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96509989299997 meters 0.013542951888741243 Centerline is valid? [True, True] Translation: X:129.38, Y:9.16, Z:5.22 [[ 9.95872570e-01 -8.05717379e-02 -4.17854083e-02 1.29380016e+02] [ 8.05195150e-02 9.96748714e-01 -2.93403412e-03 9.15989426e+00] [ 4.18859523e-02 -4.42616720e-04 9.99122300e-01 5.22398108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02509989299998 meters 0.013785053444879094 Centerline is valid? [True, True] Translation: X:129.44, Y:9.16, Z:5.23 [[ 9.95670503e-01 -8.29996977e-02 -4.18485351e-02 1.29440709e+02] [ 8.29493953e-02 9.96549424e-01 -2.94000383e-03 9.16198680e+00] [ 4.19481529e-02 -5.44035588e-04 9.99119641e-01 5.22691645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08509989299998 meters 0.015299562961089976 Centerline is valid? [True, True] Translation: X:129.50, Y:9.16, Z:5.23 [[ 9.94908125e-01 -9.19327127e-02 -4.13061753e-02 1.29501646e+02] [ 9.18913930e-02 9.95764807e-01 -2.90190118e-03 9.16030754e+00] [ 4.13980153e-02 -9.08556923e-04 9.99142322e-01 5.22983458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14509989299998 meters 0.027065145125919232 Centerline is valid? [True, True] Translation: X:129.56, Y:9.14, Z:5.23 [[ 9.91478756e-01 -1.23425061e-01 -4.16669068e-02 1.29562851e+02] [ 1.23410671e-01 9.92351368e-01 -2.92724568e-03 9.13838536e+00] [ 4.17095075e-02 -2.23983904e-03 9.99127269e-01 5.23231284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20509989299998 meters 0.02925725095279313 Centerline is valid? [True, True] Translation: X:129.62, Y:9.14, Z:5.23 [[ 9.90571512e-01 -1.30106762e-01 -4.28988456e-02 1.29623529e+02] [ 1.30097763e-01 9.91496592e-01 -3.01343604e-03 9.13946472e+00] [ 4.29261276e-02 -2.59601996e-03 9.99074876e-01 5.23360043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26509989299998 meters 0.030928645533327376 Centerline is valid? [True, True] Translation: X:129.68, Y:9.14, Z:5.24 [[ 9.90294821e-01 -1.32167585e-01 -4.29871785e-02 1.29684755e+02] [ 1.32160504e-01 9.91223732e-01 -3.01914283e-03 9.14145317e+00] [ 4.30089443e-02 -2.69136566e-03 9.99071062e-01 5.23556902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.325099893 meters 0.03232566015397539 Centerline is valid? [True, True] Translation: X:129.75, Y:9.14, Z:5.24 [[ 9.90014410e-01 -1.34270761e-01 -4.29282052e-02 1.29746211e+02] [ 1.34265733e-01 9.90940781e-01 -3.01346686e-03 9.14471396e+00] [ 4.29439297e-02 -2.78041130e-03 9.99073615e-01 5.23771876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38509989299996 meters 0.02910822813636163 Centerline is valid? [True, True] Translation: X:129.81, Y:9.15, Z:5.24 [[ 9.90036937e-01 -1.34024305e-01 -4.31780958e-02 1.29807618e+02] [ 1.34019055e-01 9.90974125e-01 -3.02941368e-03 9.15465601e+00] [ 4.31943908e-02 -2.78745614e-03 9.99062798e-01 5.24040684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.44509989299996 meters 0.02963427760354406 Centerline is valid? [True, True] Translation: X:129.87, Y:9.16, Z:5.24 [[ 9.90588719e-01 -1.29975568e-01 -4.28992124e-02 1.29866472e+02] [ 1.29966734e-01 9.91513796e-01 -3.00677321e-03 9.16410857e+00] [ 4.29259680e-02 -2.59699491e-03 9.99074881e-01 5.24302266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.50509989299997 meters 0.025618307230129176 Centerline is valid? [True, True] Translation: X:129.93, Y:9.18, Z:5.25 [[ 9.90851089e-01 -1.27838303e-01 -4.32606941e-02 1.29926852e+02] [ 1.27827275e-01 9.91791809e-01 -3.03247582e-03 9.17582667e+00] [ 4.32932686e-02 -2.52516466e-03 9.99059216e-01 5.24543458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56509989299997 meters 0.020759500222358434 Centerline is valid? [True, True] Translation: X:129.98, Y:9.20, Z:5.25 [[ 9.92907195e-01 -1.10228712e-01 -4.45525974e-02 1.29984850e+02] [ 1.10199378e-01 9.93904600e-01 -3.12145544e-03 9.20219809e+00] [ 4.46251055e-02 -1.81035295e-03 9.99002163e-01 5.24731527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62509989299997 meters 0.0155879821828197 Centerline is valid? [True, True] Translation: X:130.04, Y:9.23, Z:5.25 [[ 9.94757515e-01 -9.22071308e-02 -4.42191227e-02 1.30043448e+02] [ 9.21603912e-02 9.95739353e-01 -3.09881794e-03 9.22941783e+00] [ 4.43164537e-02 -9.92679212e-04 9.99017050e-01 5.24928918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68509989299997 meters 0.014085809783992808 Centerline is valid? [True, True] Translation: X:130.10, Y:9.24, Z:5.25 [[ 9.95292158e-01 -8.62036179e-02 -4.42996295e-02 1.30104077e+02] [ 8.61507781e-02 9.96277275e-01 -3.10412761e-03 9.24177202e+00] [ 4.44023011e-02 -7.26933683e-04 9.99013467e-01 5.25146873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74509989299997 meters 0.013304947218769417 Centerline is valid? [True, True] Translation: X:130.16, Y:9.26, Z:5.25 [[ 9.95865607e-01 -7.91696080e-02 -4.45406148e-02 1.30163795e+02] [ 7.91092285e-02 9.96861073e-01 -3.11941245e-03 9.25596458e+00] [ 4.46477677e-02 -4.17058098e-04 9.99002704e-01 5.25387876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80509989299998 meters 0.01286402019948209 Centerline is valid? [True, True] Translation: X:130.22, Y:9.27, Z:5.26 [[ 9.96158647e-01 -7.49718776e-02 -4.52456443e-02 1.30224400e+02] [ 7.49052824e-02 9.97185621e-01 -3.16789924e-03 9.26647036e+00] [ 4.53558093e-02 -2.33407549e-04 9.98970868e-01 5.25595792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86509989299998 meters 0.012838311945428156 Centerline is valid? [True, True] Translation: X:130.28, Y:9.27, Z:5.26 [[ 9.96277802e-01 -7.30584925e-02 -4.57492976e-02 1.30284509e+02] [ 7.29884646e-02 9.97327646e-01 -3.20152071e-03 9.27295086e+00] [ 4.58609375e-02 -1.49566966e-04 9.98947822e-01 5.25809413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92509989299998 meters 0.012800313704911805 Centerline is valid? [True, True] Translation: X:130.34, Y:9.28, Z:5.26 [[ 9.96471999e-01 -6.99933650e-02 -4.63085673e-02 1.30344027e+02] [ 6.99183408e-02 9.97547457e-01 -3.23988441e-03 9.28197250e+00] [ 4.64217639e-02 -9.36409276e-06 9.98921929e-01 5.25966397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98509989299998 meters 0.012788862706199484 Centerline is valid? [True, True] Translation: X:130.40, Y:9.29, Z:5.26 [[ 9.96568439e-01 -6.96201242e-02 -4.47703553e-02 1.30403425e+02] [ 6.95496228e-02 9.97573575e-01 -3.13236916e-03 9.29078292e+00] [ 4.48797993e-02 7.85891831e-06 9.98992394e-01 5.26278655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04509989299999 meters 0.012842962925727246 Centerline is valid? [True, True] Translation: X:130.46, Y:9.29, Z:5.26 [[ 9.96256622e-01 -7.40767952e-02 -4.45575122e-02 1.30464134e+02] [ 7.40113498e-02 9.97252522e-01 -3.11896772e-03 9.29443062e+00] [ 4.46661345e-02 -1.90469372e-04 9.99001952e-01 5.26485757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10509989299996 meters 0.013154781339984664 Centerline is valid? [True, True] Translation: X:130.53, Y:9.30, Z:5.27 [[ 9.95788543e-01 -7.95838903e-02 -4.55146432e-02 1.30525604e+02] [ 7.95213547e-02 9.96828072e-01 -3.18583225e-03 9.29691452e+00] [ 4.56238149e-02 -4.46970832e-04 9.98958592e-01 5.26679928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16509989299996 meters 0.014836483073463885 Centerline is valid? [True, True] Translation: X:130.59, Y:9.30, Z:5.27 [[ 9.95100230e-01 -8.83745308e-02 -4.43336695e-02 1.30585866e+02] [ 8.83239797e-02 9.96086971e-01 -3.10161920e-03 9.29607307e+00] [ 4.44342947e-02 -8.29304154e-04 9.99011965e-01 5.26991974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.22509989299996 meters 0.016299221552199206 Centerline is valid? [True, True] Translation: X:130.65, Y:9.30, Z:5.27 [[ 9.94448692e-01 -9.56231029e-02 -4.39092487e-02 1.30647307e+02] [ 9.55806058e-02 9.95416956e-01 -3.07110001e-03 9.29510013e+00] [ 4.40016788e-02 -1.14282120e-03 9.99030803e-01 5.27239696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.28509989299997 meters 0.01801920577428915 Centerline is valid? [True, True] Translation: X:130.71, Y:9.30, Z:5.27 [[ 9.94180472e-01 -9.82407576e-02 -4.42034176e-02 1.30707938e+02] [ 9.82003535e-02 9.95161868e-01 -3.08985378e-03 9.29612818e+00] [ 4.42931052e-02 -1.26891895e-03 9.99017773e-01 5.27499977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34509989299997 meters 0.017034532431684558 Centerline is valid? [True, True] Translation: X:130.77, Y:9.30, Z:5.28 [[ 9.94303523e-01 -9.68478010e-02 -4.45085012e-02 1.30770135e+02] [ 9.68056882e-02 9.95298454e-01 -3.10569470e-03 9.30259131e+00] [ 4.46000221e-02 -1.22067290e-03 9.99004178e-01 5.27729224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.40509989299997 meters 0.016076831045735412 Centerline is valid? [True, True] Translation: X:130.83, Y:9.31, Z:5.28 [[ 9.94755487e-01 -9.23217808e-02 -4.40251017e-02 1.30831759e+02] [ 9.22762853e-02 9.95728713e-01 -3.06885895e-03 9.30949814e+00] [ 4.41203804e-02 -1.00970857e-03 9.99025712e-01 5.27987327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46509989299997 meters 0.014127372508230695 Centerline is valid? [True, True] Translation: X:130.89, Y:9.32, Z:5.28 [[ 9.95310667e-01 -8.57381989e-02 -4.47843536e-02 1.30892947e+02] [ 8.56845681e-02 9.96317432e-01 -3.11933751e-03 9.32132687e+00] [ 4.48868786e-02 -7.32618107e-04 9.98991807e-01 5.28216385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52509989299998 meters 0.013138276909528394 Centerline is valid? [True, True] Translation: X:130.95, Y:9.33, Z:5.28 [[ 9.95808482e-01 -7.81615218e-02 -4.74999373e-02 1.30953754e+02] [ 7.80926963e-02 9.96940621e-01 -3.30583062e-03 9.33376613e+00] [ 4.76130057e-02 -4.17424007e-04 9.98865770e-01 5.28272174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58509989299998 meters 0.01323564388604787 Centerline is valid? [True, True] Translation: X:131.01, Y:9.34, Z:5.28 [[ 9.95687972e-01 -7.86615993e-02 -4.91712863e-02 1.31014412e+02] [ 7.85885373e-02 9.96901270e-01 -3.42043082e-03 9.33838179e+00] [ 4.92879744e-02 -4.58617640e-04 9.98784504e-01 5.28303241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64509989299998 meters 0.013534503808233232 Centerline is valid? [True, True] Translation: X:131.08, Y:9.34, Z:5.28 [[ 9.95433595e-01 -8.15523331e-02 -4.96102331e-02 1.31075115e+02] [ 8.14815913e-02 9.96668875e-01 -3.45007032e-03 9.34273463e+00] [ 4.97263365e-02 -6.08004834e-04 9.98762695e-01 5.28485025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70509989299998 meters 0.013980478751576784 Centerline is valid? [True, True] Translation: X:131.14, Y:9.35, Z:5.29 [[ 9.95257796e-01 -8.39154142e-02 -4.91947474e-02 1.31135917e+02] [ 8.38487864e-02 9.96472621e-01 -3.42016924e-03 9.34607795e+00] [ 4.93082237e-02 -7.20969766e-04 9.98783350e-01 5.28757595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76509989299998 meters 0.014502314285701066 Centerline is valid? [True, True] Translation: X:131.20, Y:9.35, Z:5.29 [[ 9.94838983e-01 -8.87738738e-02 -4.91385560e-02 1.31197230e+02] [ 8.87134038e-02 9.96051341e-01 -3.41450034e-03 9.35033566e+00] [ 4.92476430e-02 -9.62370513e-04 9.98786135e-01 5.28971735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.825099893 meters 0.01600805268002906 Centerline is valid? [True, True] Translation: X:131.26, Y:9.35, Z:5.29 [[ 9.94410384e-01 -9.40379843e-02 -4.80088142e-02 1.31258543e+02] [ 9.39864718e-02 9.95567891e-01 -3.33426857e-03 9.35445905e+00] [ 4.81095818e-02 -1.19654777e-03 9.98841347e-01 5.29383367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88509989299996 meters 0.017338130484812322 Centerline is valid? [True, True] Translation: X:131.32, Y:9.36, Z:5.30 [[ 9.93923639e-01 -9.88075695e-02 -4.85063340e-02 1.31319620e+02] [ 9.87607399e-02 9.95105512e-01 -3.36704423e-03 9.35890470e+00] [ 4.86016098e-02 -1.44393658e-03 9.98817200e-01 5.29589453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.94509989299996 meters 0.0179212860460727 Centerline is valid? [True, True] Translation: X:131.38, Y:9.37, Z:5.30 [[ 9.93461660e-01 -1.04076604e-01 -4.69253723e-02 1.31380776e+02] [ 1.04038719e-01 9.94567919e-01 -3.25564373e-03 9.36567122e+00] [ 4.70093062e-02 -1.64769840e-03 9.98893092e-01 5.29970647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.00509989299997 meters 0.01794531847809181 Centerline is valid? [True, True] Translation: X:131.44, Y:9.37, Z:5.30 [[ 9.93607256e-01 -1.02397709e-01 -4.75324121e-02 1.31442548e+02] [ 1.02357016e-01 9.94742268e-01 -3.29575990e-03 9.37110127e+00] [ 4.76199777e-02 -1.59058491e-03 9.98864259e-01 5.30180996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06509989299997 meters 0.017766243064361652 Centerline is valid? [True, True] Translation: X:131.50, Y:9.38, Z:5.30 [[ 9.93854940e-01 -1.00205689e-01 -4.70231566e-02 1.31504836e+02] [ 1.00163579e-01 9.94965653e-01 -3.25692198e-03 9.37690826e+00] [ 4.71127878e-02 -1.47309967e-03 9.98888490e-01 5.30410670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12509989299997 meters 0.01841154834718121 Centerline is valid? [True, True] Translation: X:131.57, Y:9.38, Z:5.31 [[ 9.93970857e-01 -9.86959254e-02 -4.77603378e-02 1.31565971e+02] [ 9.86509463e-02 9.95116614e-01 -3.30377741e-03 9.38078956e+00] [ 4.78531750e-02 -1.42774406e-03 9.98853360e-01 5.30605285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18509989299997 meters 0.017885810280280637 Centerline is valid? [True, True] Translation: X:131.63, Y:9.38, Z:5.31 [[ 9.93773801e-01 -9.95137738e-02 -5.01062965e-02 1.31628015e+02] [ 9.94654564e-02 9.95034989e-01 -3.46308026e-03 9.38495490e+00] [ 5.02021424e-02 -1.54232722e-03 9.98737887e-01 5.30716812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24509989299997 meters 0.01768038524300394 Centerline is valid? [True, True] Translation: X:131.69, Y:9.39, Z:5.31 [[ 9.93943456e-01 -9.77491287e-02 -5.02146758e-02 1.31689995e+02] [ 9.76985357e-02 9.95210016e-01 -3.46694806e-03 9.39003289e+00] [ 5.03130395e-02 -1.45994996e-03 9.98732430e-01 5.30966253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30509989299998 meters 0.016446822279523734 Centerline is valid? [True, True] Translation: X:131.75, Y:9.40, Z:5.32 [[ 9.94654553e-01 -9.14467070e-02 -4.79564310e-02 1.31749065e+02] [ 9.13933782e-02 9.95809373e-01 -3.30817421e-03 9.39833512e+00] [ 4.80579851e-02 -1.09240969e-03 9.98843950e-01 5.31526573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36509989299998 meters 0.0157380804772399 Centerline is valid? [True, True] Translation: X:131.81, Y:9.40, Z:5.32 [[ 9.94948500e-01 -8.86506940e-02 -4.71013401e-02 1.31810859e+02] [ 8.85961362e-02 9.96062332e-01 -3.24882698e-03 9.40445879e+00] [ 4.72038815e-02 -9.40581212e-04 9.98884833e-01 5.31861358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42509989299998 meters 0.013786532269557769 Centerline is valid? [True, True] Translation: X:131.87, Y:9.41, Z:5.32 [[ 9.95691397e-01 -8.03487245e-02 -4.62895773e-02 1.31872056e+02] [ 8.02872052e-02 9.96766668e-01 -3.18972224e-03 9.41480904e+00] [ 4.63961978e-02 -5.40481806e-04 9.98922970e-01 5.32127433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48509989299998 meters 0.012959182774965244 Centerline is valid? [True, True] Translation: X:131.93, Y:9.42, Z:5.32 [[ 9.96444438e-01 -7.12782206e-02 -4.49210008e-02 1.31931611e+02] [ 7.12111864e-02 9.97456466e-01 -3.09279342e-03 9.42455197e+00] [ 4.50271915e-02 -1.17080962e-04 9.98985755e-01 5.32387438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54509989299999 meters 0.013140328712103464 Centerline is valid? [True, True] Translation: X:131.99, Y:9.43, Z:5.33 [[ 9.96918930e-01 -6.36936713e-02 -4.57795092e-02 1.31992803e+02] [ 6.36162115e-02 9.97969471e-01 -3.14843685e-03 9.43189272e+00] [ 4.58870881e-02 2.26417348e-04 9.98946607e-01 5.32582064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60509989299996 meters 0.013561428646381244 Centerline is valid? [True, True] Translation: X:132.05, Y:9.44, Z:5.33 [[ 9.97162965e-01 -6.00080400e-02 -4.54428897e-02 1.32052180e+02] [ 5.99279511e-02 9.98197817e-01 -3.12394668e-03 9.43557952e+00] [ 4.55484552e-02 3.91784666e-04 9.98962054e-01 5.32866672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66509989299996 meters 0.01335837603514094 Centerline is valid? [True, True] Translation: X:132.11, Y:9.44, Z:5.33 [[ 9.97113244e-01 -6.03896326e-02 -4.60246684e-02 1.32112151e+02] [ 6.03078099e-02 9.98174808e-01 -3.16556270e-03 9.43514598e+00] [ 4.61318317e-02 3.80777540e-04 9.98935288e-01 5.33127843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.72509989299996 meters 0.0130045068913492 Centerline is valid? [True, True] Translation: X:132.17, Y:9.43, Z:5.33 [[ 9.96755831e-01 -6.62790926e-02 -4.56606467e-02 1.32170260e+02] [ 6.62046497e-02 9.97801117e-01 -3.14235457e-03 9.42909223e+00] [ 4.57685167e-02 1.09213120e-04 9.98952066e-01 5.33325427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.78509989299997 meters 0.013484300125598692 Centerline is valid? [True, True] Translation: X:132.23, Y:9.42, Z:5.34 [[ 9.95873189e-01 -7.88820282e-02 -4.48800229e-02 1.32230405e+02] [ 7.88227202e-02 9.96883853e-01 -3.09238882e-03 9.41862213e+00] [ 4.49841040e-02 -4.57938369e-04 9.98987598e-01 5.33692162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84509989299997 meters 0.013827750962355372 Centerline is valid? [True, True] Translation: X:132.29, Y:9.42, Z:5.34 [[ 9.95558638e-01 -8.25109624e-02 -4.53314425e-02 1.32291812e+02] [ 8.24541489e-02 9.96589960e-01 -3.12490708e-03 9.41904579e+00] [ 4.54346996e-02 -6.26737275e-04 9.98967114e-01 5.33939031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.90509989299997 meters 0.015900398237980753 Centerline is valid? [True, True] Translation: X:132.35, Y:9.41, Z:5.34 [[ 9.94921625e-01 -8.97852005e-02 -4.54926235e-02 1.32352534e+02] [ 8.97356520e-02 9.95960686e-01 -3.13433688e-03 9.41249223e+00] [ 4.55902816e-02 -9.63890692e-04 9.98959758e-01 5.34111507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96509989299997 meters 0.01828175967578948 Centerline is valid? [True, True] Translation: X:132.41, Y:9.40, Z:5.34 [[ 9.93995567e-01 -9.94726476e-02 -4.55851460e-02 1.32413486e+02] [ 9.94331306e-02 9.95039295e-01 -3.13922618e-03 9.40392817e+00] [ 4.56712787e-02 -1.41229687e-03 9.98955524e-01 5.34365698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02509989299998 meters 0.019633606516240937 Centerline is valid? [True, True] Translation: X:132.47, Y:9.40, Z:5.35 [[ 9.93450625e-01 -1.04402959e-01 -4.64314299e-02 1.32474977e+02] [ 1.04367346e-01 9.94533677e-01 -3.19725471e-03 9.39919344e+00] [ 4.65114235e-02 -1.66961042e-03 9.98916363e-01 5.34541253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08509989299998 meters 0.019350468478729465 Centerline is valid? [True, True] Translation: X:132.54, Y:9.40, Z:5.35 [[ 9.93420449e-01 -1.05273421e-01 -4.50923302e-02 1.32536799e+02] [ 1.05240771e-01 9.94441926e-01 -3.10407692e-03 9.39936355e+00] [ 4.51684805e-02 -1.66189811e-03 9.98978001e-01 5.34858534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14509989299998 meters 0.02073020868837678 Centerline is valid? [True, True] Translation: X:132.60, Y:9.40, Z:5.35 [[ 9.93669271e-01 -1.02698660e-01 -4.55451880e-02 1.32597338e+02] [ 1.02662796e-01 9.94711285e-01 -3.13207827e-03 9.39836712e+00] [ 4.56259727e-02 -1.56354639e-03 9.98957369e-01 5.35037265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20509989299998 meters 0.019100902402901656 Centerline is valid? [True, True] Translation: X:132.66, Y:9.40, Z:5.35 [[ 9.93656134e-01 -1.02311598e-01 -4.66885823e-02 1.32659197e+02] [ 1.02273536e-01 9.94751136e-01 -3.20958862e-03 9.40409807e+00] [ 4.67718984e-02 -1.58577900e-03 9.98904337e-01 5.35211237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26509989299998 meters 0.020758749562461036 Centerline is valid? [True, True] Translation: X:132.72, Y:9.40, Z:5.35 [[ 9.93220927e-01 -1.05617390e-01 -4.85505611e-02 1.32719069e+02] [ 1.05580328e-01 9.94405187e-01 -3.33443920e-03 9.40405342e+00] [ 4.86311045e-02 -1.81414937e-03 9.98815160e-01 5.35265423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.325099893 meters 0.019885289794105733 Centerline is valid? [True, True] Translation: X:132.78, Y:9.41, Z:5.36 [[ 9.92947821e-01 -1.07940934e-01 -4.90242827e-02 1.32779476e+02] [ 1.07905987e-01 9.94155402e-01 -3.36665480e-03 9.41011443e+00] [ 4.91011553e-02 -1.94710106e-03 9.98791913e-01 5.35564862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38509989299996 meters 0.022914931567847064 Centerline is valid? [True, True] Translation: X:132.84, Y:9.41, Z:5.36 [[ 9.92669435e-01 -1.09894673e-01 -5.03046000e-02 1.32839391e+02] [ 1.09860515e-01 9.93941020e-01 -3.45193663e-03 9.41048632e+00] [ 5.03791549e-02 -2.09985727e-03 9.98727957e-01 5.35727366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.44509989299996 meters 0.0218044267761636 Centerline is valid? [True, True] Translation: X:132.90, Y:9.42, Z:5.36 [[ 9.92722885e-01 -1.09227891e-01 -5.07005117e-02 1.32900533e+02] [ 1.09192525e-01 9.94014545e-01 -3.47520699e-03 9.41757345e+00] [ 5.07766356e-02 -2.08619936e-03 9.98707856e-01 5.36053955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.50509989299997 meters 0.01882674429637098 Centerline is valid? [True, True] Translation: X:132.96, Y:9.43, Z:5.36 [[ 9.93365186e-01 -1.03747860e-01 -4.96184276e-02 1.32960335e+02] [ 1.03707240e-01 9.94602057e-01 -3.39940847e-03 9.43001188e+00] [ 4.97032715e-02 -1.76893613e-03 9.98762462e-01 5.36475348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56509989299997 meters 0.016190673218033285 Centerline is valid? [True, True] Translation: X:133.02, Y:9.44, Z:5.37 [[ 9.94494353e-01 -9.40957777e-02 -4.61190395e-02 1.33019642e+02] [ 9.40503475e-02 9.95562431e-01 -3.15881921e-03 9.44385527e+00] [ 4.62116146e-02 -1.19608382e-03 9.98930957e-01 5.37030433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62509989299997 meters 0.01406783971928637 Centerline is valid? [True, True] Translation: X:133.08, Y:9.46, Z:5.37 [[ 9.95446257e-01 -8.32749847e-02 -4.63899350e-02 1.33080073e+02] [ 8.32172733e-02 9.96526362e-01 -3.17729104e-03 9.45654608e+00] [ 4.64933820e-02 -6.97621419e-04 9.98918354e-01 5.37216115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68509989299997 meters 0.012931243146170893 Centerline is valid? [True, True] Translation: X:133.14, Y:9.47, Z:5.37 [[ 9.96106129e-01 -7.44819092e-02 -4.71701766e-02 1.33140996e+02] [ 7.44124305e-02 9.97222322e-01 -3.22967517e-03 9.46899033e+00] [ 4.72797054e-02 -2.92948256e-04 9.98881646e-01 5.37472067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74509989299997 meters 0.012701474756121258 Centerline is valid? [True, True] Translation: X:133.20, Y:9.48, Z:5.38 [[ 9.96405264e-01 -7.00176483e-02 -4.76873092e-02 1.33200527e+02] [ 6.99416267e-02 9.97545749e-01 -3.26297517e-03 9.47634548e+00] [ 4.77987384e-02 -8.40823418e-05 9.98856984e-01 5.37682278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80509989299998 meters 0.012853230713050017 Centerline is valid? [True, True] Translation: X:133.26, Y:9.48, Z:5.38 [[ 9.96665943e-01 -6.50451074e-02 -4.92557886e-02 1.33258487e+02] [ 6.49577616e-02 9.97882311e-01 -3.37368270e-03 9.48384656e+00] [ 4.93709218e-02 1.62888873e-04 9.98780499e-01 5.37729994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86509989299998 meters 0.012986380344772008 Centerline is valid? [True, True] Translation: X:133.32, Y:9.49, Z:5.38 [[ 9.96850379e-01 -6.19422642e-02 -4.95225012e-02 1.33316570e+02] [ 6.18495252e-02 9.98079679e-01 -3.40436170e-03 9.48989197e+00] [ 4.96382760e-02 3.30696057e-04 9.98767206e-01 5.37939327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92509989299998 meters 0.013136650839050102 Centerline is valid? [True, True] Translation: X:133.37, Y:9.49, Z:5.38 [[ 9.96879327e-01 -6.15472640e-02 -4.94321978e-02 1.33373659e+02] [ 6.14538033e-02 9.98104105e-01 -3.40973809e-03 9.49373087e+00] [ 4.95483395e-02 3.61300851e-04 9.98771661e-01 5.38097249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98509989299998 meters 0.012579407685800266 Centerline is valid? [True, True] Translation: X:133.43, Y:9.49, Z:5.39 [[ 9.96392414e-01 -7.03099816e-02 -4.75254065e-02 1.33432270e+02] [ 7.02332459e-02 9.97525189e-01 -3.28464859e-03 9.49071062e+00] [ 4.76387336e-02 -6.50646265e-05 9.98864629e-01 5.38524385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04509989299999 meters 0.012985829321211688 Centerline is valid? [True, True] Translation: X:133.49, Y:9.49, Z:5.39 [[ 9.95754030e-01 -7.91871371e-02 -4.69394135e-02 1.33491506e+02] [ 7.91215821e-02 9.96859656e-01 -3.25585832e-03 9.48707116e+00] [ 4.70498297e-02 -4.71886609e-04 9.98892432e-01 5.38810331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10509989299996 meters 0.013869943589291856 Centerline is valid? [True, True] Translation: X:133.55, Y:9.48, Z:5.39 [[ 9.95301497e-01 -8.48644180e-02 -4.66150343e-02 1.33552237e+02] [ 8.48054820e-02 9.96392245e-01 -3.24412083e-03 9.48375126e+00] [ 4.67221691e-02 -7.24332135e-04 9.98907661e-01 5.38996531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.16509989299996 meters 0.014030752601334545 Centerline is valid? [True, True] Translation: X:133.61, Y:9.48, Z:5.39 [[ 9.95288993e-01 -8.53340372e-02 -4.60208836e-02 1.33613282e+02] [ 8.52771028e-02 9.96352126e-01 -3.20262229e-03 9.48395100e+00] [ 4.61262979e-02 -7.36992907e-04 9.98935344e-01 5.39243999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.22509989299996 meters 0.013599036948319085 Centerline is valid? [True, True] Translation: X:133.67, Y:9.49, Z:5.40 [[ 9.95483153e-01 -8.36918745e-02 -4.48214551e-02 1.33674380e+02] [ 8.36362776e-02 9.96491472e-01 -3.11756790e-03 9.48776339e+00] [ 4.49251129e-02 -6.45213334e-04 9.98990149e-01 5.39558018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.28509989299997 meters 0.013602450518718338 Centerline is valid? [True, True] Translation: X:133.74, Y:9.49, Z:5.40 [[ 9.95544828e-01 -8.26152115e-02 -4.54447200e-02 1.33735965e+02] [ 8.25570131e-02 9.96581336e-01 -3.15923388e-03 9.49144971e+00] [ 4.55503605e-02 -6.06621387e-04 9.98961859e-01 5.39739053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34509989299997 meters 0.012989413566494879 Centerline is valid? [True, True] Translation: X:133.80, Y:9.50, Z:5.40 [[ 9.96003187e-01 -7.67324726e-02 -4.57141004e-02 1.33796529e+02] [ 7.66674572e-02 9.97051659e-01 -3.17642466e-03 9.49640417e+00] [ 4.58230546e-02 -3.41054751e-04 9.98949514e-01 5.39911788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.40509989299997 meters 0.012836332124454817 Centerline is valid? [True, True] Translation: X:133.86, Y:9.50, Z:5.40 [[ 9.96762151e-01 -6.62910954e-02 -4.55050074e-02 1.33855764e+02] [ 6.62157877e-02 9.97800316e-01 -3.16195992e-03 9.50268495e+00] [ 4.56145205e-02 1.38572063e-04 9.98959106e-01 5.40174214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46509989299997 meters 0.013185238541665744 Centerline is valid? [True, True] Translation: X:133.91, Y:9.51, Z:5.40 [[ 9.96970036e-01 -6.16349376e-02 -4.74539861e-02 1.33914074e+02] [ 6.15476596e-02 9.98098692e-01 -3.29957844e-03 9.50539053e+00] [ 4.75671307e-02 3.68899050e-04 9.98867975e-01 5.40251388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52509989299998 meters 0.013249960978842582 Centerline is valid? [True, True] Translation: X:133.97, Y:9.51, Z:5.40 [[ 9.96936167e-01 -6.09606269e-02 -4.90110223e-02 1.33972566e+02] [ 6.08660765e-02 9.98140080e-01 -3.42070152e-03 9.50642080e+00] [ 4.91283938e-02 4.27112435e-04 9.98792380e-01 5.40332145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58509989299998 meters 0.01325085830232977 Centerline is valid? [True, True] Translation: X:134.03, Y:9.51, Z:5.41 [[ 9.96801099e-01 -6.29749101e-02 -4.92110779e-02 1.34030605e+02] [ 6.28814724e-02 9.98015052e-01 -3.44612368e-03 9.50667373e+00] [ 4.93304158e-02 3.40634833e-04 9.98782456e-01 5.40517787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64509989299998 meters 0.012842774505500164 Centerline is valid? [True, True] Translation: X:134.09, Y:9.50, Z:5.41 [[ 9.96541132e-01 -6.86735814e-02 -4.67943477e-02 1.34089516e+02] [ 6.85951526e-02 9.97639181e-01 -3.28168852e-03 9.50295855e+00] [ 4.69092400e-02 6.04721706e-05 9.98899154e-01 5.40853442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70509989299998 meters 0.01368872257694901 Centerline is valid? [True, True] Translation: X:134.15, Y:9.49, Z:5.41 [[ 9.95517963e-01 -8.29302036e-02 -4.54595146e-02 1.34148703e+02] [ 8.28705513e-02 9.96555187e-01 -3.19849760e-03 9.49118017e+00] [ 4.55681671e-02 -5.83093223e-04 9.98961061e-01 5.41270902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76509989299998 meters 0.015473533027055649 Centerline is valid? [True, True] Translation: X:134.21, Y:9.48, Z:5.42 [[ 9.94685375e-01 -9.27093726e-02 -4.47881434e-02 1.34209477e+02] [ 9.26611974e-02 9.95692698e-01 -3.15502009e-03 9.48461738e+00] [ 4.48877272e-02 -1.01187065e-03 9.98991526e-01 5.41545782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.825099893 meters 0.017302325040643437 Centerline is valid? [True, True] Translation: X:134.27, Y:9.48, Z:5.42 [[ 9.94093369e-01 -9.86672635e-02 -4.52011697e-02 1.34269454e+02] [ 9.86243035e-02 9.95119642e-01 -3.18500265e-03 9.48156055e+00] [ 4.52948273e-02 -1.29174386e-03 9.98972827e-01 5.41804116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88509989299996 meters 0.01706307615588959 Centerline is valid? [True, True] Translation: X:134.33, Y:9.48, Z:5.42 [[ 9.93918336e-01 -1.00751666e-01 -4.44459532e-02 1.34329529e+02] [ 1.00712144e-01 9.94910673e-01 -3.13326911e-03 9.48499520e+00] [ 4.45354353e-02 -1.36203361e-03 9.99006877e-01 5.42183671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.94509989299996 meters 0.01830125682428132 Centerline is valid? [True, True] Translation: X:134.39, Y:9.49, Z:5.42 [[ 9.93839357e-01 -1.01343583e-01 -4.48643549e-02 1.34389948e+02] [ 1.01303919e-01 9.94850498e-01 -3.16271074e-03 9.48612821e+00] [ 4.49538463e-02 -1.40170855e-03 9.98988081e-01 5.42471565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.00509989299997 meters 0.017902004296576172 Centerline is valid? [True, True] Translation: X:134.45, Y:9.49, Z:5.43 [[ 9.93800143e-01 -1.01315714e-01 -4.57864881e-02 1.34450131e+02] [ 1.01274409e-01 9.94853296e-01 -3.22693702e-03 9.49055934e+00] [ 4.58777780e-02 -1.43006904e-03 9.98946037e-01 5.42615014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06509989299997 meters 0.0178375067951322 Centerline is valid? [True, True] Translation: X:134.51, Y:9.50, Z:5.43 [[ 9.93524305e-01 -1.02958136e-01 -4.80528559e-02 1.34510739e+02] [ 1.02914560e-01 9.94684434e-01 -3.38666594e-03 9.49556430e+00] [ 4.81461126e-02 -1.58060359e-03 9.98839053e-01 5.42636690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12509989299997 meters 0.020168537816091216 Centerline is valid? [True, True] Translation: X:134.57, Y:9.50, Z:5.43 [[ 9.92812361e-01 -1.08398155e-01 -5.07292461e-02 1.34570245e+02] [ 1.08356659e-01 9.94105653e-01 -3.57561213e-03 9.49703778e+00] [ 5.08178201e-02 -1.94693972e-03 9.98706042e-01 5.42640218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18509989299997 meters 0.02214787736372973 Centerline is valid? [True, True] Translation: X:134.63, Y:9.50, Z:5.43 [[ 9.92369469e-01 -1.11985284e-01 -5.15958727e-02 1.34629332e+02] [ 1.11947076e-01 9.93707507e-01 -3.63899891e-03 9.50000615e+00] [ 5.16787204e-02 -2.16477567e-03 9.98661416e-01 5.42849917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24509989299997 meters 0.02406991124552779 Centerline is valid? [True, True] Translation: X:134.69, Y:9.50, Z:5.43 [[ 9.91983280e-01 -1.15647874e-01 -5.09386060e-02 1.34688443e+02] [ 1.15615244e-01 9.93287562e-01 -3.59659272e-03 9.50363731e+00] [ 5.10126220e-02 -2.32151951e-03 9.98695310e-01 5.43162279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30509989299998 meters 0.022660219604287764 Centerline is valid? [True, True] Translation: X:134.75, Y:9.51, Z:5.44 [[ 9.91582241e-01 -1.19658560e-01 -4.94619941e-02 1.34748238e+02] [ 1.19632607e-01 9.92812077e-01 -3.49551127e-03 9.51394891e+00] [ 4.95247330e-02 -2.45118039e-03 9.98769890e-01 5.43691639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36509989299998 meters 0.02630249899405421 Centerline is valid? [True, True] Translation: X:134.81, Y:9.52, Z:5.44 [[ 9.91354382e-01 -1.22314210e-01 -4.74944665e-02 1.34807762e+02] [ 1.22293332e-01 9.92488326e-01 -3.35607038e-03 9.51749199e+00] [ 4.75481987e-02 -2.48120150e-03 9.98865863e-01 5.44085668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42509989299998 meters 0.026007221629485325 Centerline is valid? [True, True] Translation: X:134.87, Y:9.53, Z:5.44 [[ 9.91203982e-01 -1.23819751e-01 -4.67261754e-02 1.34868312e+02] [ 1.23801352e-01 9.92301539e-01 -3.29870202e-03 9.52766441e+00] [ 4.67749002e-02 -2.51507713e-03 9.98902289e-01 5.44471897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48509989299998 meters 0.026705285102283236 Centerline is valid? [True, True] Translation: X:134.93, Y:9.54, Z:5.45 [[ 9.91033945e-01 -1.24742875e-01 -4.78637096e-02 1.34929500e+02] [ 1.24724735e-01 9.92185636e-01 -3.37713122e-03 9.53580880e+00] [ 4.79109582e-02 -2.62293682e-03 9.98848167e-01 5.44594540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54509989299999 meters 0.028189625140276453 Centerline is valid? [True, True] Translation: X:134.99, Y:9.54, Z:5.45 [[ 9.90775897e-01 -1.26475238e-01 -4.86532149e-02 1.34990453e+02] [ 1.26458702e-01 9.91965942e-01 -3.43028613e-03 9.54234619e+00] [ 4.86961784e-02 -2.75397760e-03 9.98809841e-01 5.44686201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60509989299996 meters 0.027923500651888145 Centerline is valid? [True, True] Translation: X:135.05, Y:9.55, Z:5.45 [[ 9.90507566e-01 -1.27935853e-01 -5.02710500e-02 1.35052010e+02] [ 1.27920186e-01 9.91778140e-01 -3.54220186e-03 9.55152076e+00] [ 5.03109031e-02 -2.92210430e-03 9.98729330e-01 5.44807806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66509989299996 meters 0.02577901347343679 Centerline is valid? [True, True] Translation: X:135.11, Y:9.56, Z:5.45 [[ 9.90653468e-01 -1.26002333e-01 -5.22409712e-02 1.35112442e+02] [ 1.25982929e-01 9.92025593e-01 -3.67745932e-03 9.56454644e+00] [ 5.22877489e-02 -2.93838272e-03 9.98627737e-01 5.44919544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.72509989299996 meters 0.023593649283964544 Centerline is valid? [True, True] Translation: X:135.17, Y:9.58, Z:5.45 [[ 9.91253145e-01 -1.22019353e-01 -5.02839880e-02 1.35171989e+02] [ 1.21996346e-01 9.92524244e-01 -3.53798765e-03 9.57941958e+00] [ 5.03397801e-02 -2.62742141e-03 9.98728693e-01 5.45320884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.78509989299997 meters 0.023598851870873933 Centerline is valid? [True, True] Translation: X:135.23, Y:9.59, Z:5.46 [[ 9.91979355e-01 -1.16308307e-01 -4.94907714e-02 1.35230404e+02] [ 1.16278973e-01 9.93210492e-01 -3.48125896e-03 9.59084290e+00] [ 4.95596527e-02 -2.30139907e-03 9.98768514e-01 5.45595554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84509989299997 meters 0.019879593652848804 Centerline is valid? [True, True] Translation: X:135.29, Y:9.61, Z:5.46 [[ 9.92707430e-01 -1.10595613e-01 -4.79642375e-02 1.35290074e+02] [ 1.10561372e-01 9.93863570e-01 -3.37449396e-03 9.60931349e+00] [ 4.80431126e-02 -1.95310669e-03 9.98843353e-01 5.46002139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.90509989299997 meters 0.02118328189632527 Centerline is valid? [True, True] Translation: X:135.35, Y:9.62, Z:5.46 [[ 9.93103212e-01 -1.07310591e-01 -4.72276031e-02 1.35350191e+02] [ 1.07273708e-01 9.94223976e-01 -3.32216785e-03 9.61663191e+00] [ 4.73113191e-02 -1.76702454e-03 9.98878630e-01 5.46247655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96509989299997 meters 0.01922865095940756 Centerline is valid? [True, True] Translation: X:135.41, Y:9.63, Z:5.46 [[ 9.93398148e-01 -1.04239595e-01 -4.78980881e-02 1.35410694e+02] [ 1.04198143e-01 9.94550854e-01 -3.36833002e-03 9.62982248e+00] [ 4.79881978e-02 -1.64479901e-03 9.98846549e-01 5.46359113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02509989299998 meters 0.0191138721718144 Centerline is valid? [True, True] Translation: X:135.47, Y:9.64, Z:5.46 [[ 9.93229054e-01 -1.04854029e-01 -5.00167899e-02 1.35472173e+02] [ 1.04809717e-01 9.94486082e-01 -3.51515679e-03 9.64025338e+00] [ 5.01095797e-02 -1.75088973e-03 9.98742191e-01 5.46451054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08509989299998 meters 0.01920962639657624 Centerline is valid? [True, True] Translation: X:135.53, Y:9.65, Z:5.47 [[ 9.93253630e-01 -1.05056787e-01 -4.90947810e-02 1.35534336e+02] [ 1.05014512e-01 9.94464716e-01 -3.44686257e-03 9.64932156e+00] [ 4.91851438e-02 -1.73205568e-03 9.98788177e-01 5.46669106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14509989299998 meters 0.017400020911601196 Centerline is valid? [True, True] Translation: X:135.60, Y:9.66, Z:5.47 [[ 9.93737440e-01 -1.00503772e-01 -4.88353626e-02 1.35595014e+02] [ 1.00456612e-01 9.94935544e-01 -3.42537745e-03 9.65803927e+00] [ 4.89323014e-02 -1.50190923e-03 9.98800968e-01 5.46881480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20509989299998 meters 0.01678576618572937 Centerline is valid? [True, True] Translation: X:135.66, Y:9.66, Z:5.47 [[ 9.93977805e-01 -9.83499048e-02 -4.83261672e-02 1.35656562e+02] [ 9.83012764e-02 9.95150935e-01 -3.38766228e-03 9.66419721e+00] [ 4.84250067e-02 -1.38326280e-03 9.98825863e-01 5.47147513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26509989299998 meters 0.017153589071440746 Centerline is valid? [True, True] Translation: X:135.72, Y:9.67, Z:5.48 [[ 9.93985013e-01 -9.86220605e-02 -4.76181037e-02 1.35718126e+02] [ 9.85753233e-02 9.95124005e-01 -3.33456933e-03 9.66869300e+00] [ 4.77147802e-02 -1.37945803e-03 9.98860049e-01 5.47531349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.325099893 meters 0.017563315405591494 Centerline is valid? [True, True] Translation: X:135.78, Y:9.67, Z:5.48 [[ 9.93773733e-01 -1.00297938e-01 -4.85189706e-02 1.35779872e+02] [ 1.00251595e-01 9.94956330e-01 -3.39386134e-03 9.67171224e+00] [ 4.86146543e-02 -1.49137395e-03 9.98816495e-01 5.47710518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38509989299996 meters 0.01851918742132801 Centerline is valid? [True, True] Translation: X:135.84, Y:9.67, Z:5.48 [[ 9.93359168e-01 -1.04490538e-01 -4.81590240e-02 1.35841378e+02] [ 1.04450012e-01 9.94524448e-01 -3.36422285e-03 9.67268665e+00] [ 4.82468562e-02 -1.68832903e-03 9.98834015e-01 5.47946438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.44509989299996 meters 0.019104063487283232 Centerline is valid? [True, True] Translation: X:135.90, Y:9.67, Z:5.48 [[ 9.93216302e-01 -1.05643254e-01 -4.85888865e-02 1.35903835e+02] [ 1.05603478e-01 9.94402533e-01 -3.39220951e-03 9.67394342e+00] [ 4.86752759e-02 -1.76195761e-03 9.98813102e-01 5.48078736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.50509989299997 meters 0.020098654125833178 Centerline is valid? [True, True] Translation: X:135.97, Y:9.68, Z:5.48 [[ 9.93368467e-01 -1.04548885e-01 -4.78395198e-02 1.35965290e+02] [ 1.04509219e-01 9.94518321e-01 -3.33655143e-03 9.67500620e+00] [ 4.79261117e-02 -1.68524587e-03 9.98849462e-01 5.48383347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56509989299997 meters 0.019623275137283413 Centerline is valid? [True, True] Translation: X:136.03, Y:9.68, Z:5.49 [[ 9.93337797e-01 -1.05826621e-01 -4.56152186e-02 1.36026866e+02] [ 1.05792012e-01 9.94383198e-01 -3.17898977e-03 9.67849155e+00] [ 4.56954287e-02 -1.66791505e-03 9.98954026e-01 5.48783611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62509989299997 meters 0.022950412385069105 Centerline is valid? [True, True] Translation: X:136.09, Y:9.68, Z:5.49 [[ 9.92904557e-01 -1.09316205e-01 -4.68028557e-02 1.36087501e+02] [ 1.09283789e-01 9.94005249e-01 -3.25855075e-03 9.67606136e+00] [ 4.68784967e-02 -1.87936353e-03 9.98898831e-01 5.48944281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68509989299997 meters 0.0217541370344852 Centerline is valid? [True, True] Translation: X:136.15, Y:9.68, Z:5.49 [[ 9.92559254e-01 -1.11426184e-01 -4.90951332e-02 1.36149526e+02] [ 1.11393157e-01 9.93770542e-01 -3.41684274e-03 9.68040180e+00] [ 4.91700229e-02 -2.07744302e-03 9.98788262e-01 5.49058495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74509989299997 meters 0.02243858007354864 Centerline is valid? [True, True] Translation: X:136.21, Y:9.68, Z:5.49 [[ 9.92171103e-01 -1.13859432e-01 -5.13082086e-02 1.36211121e+02] [ 1.13826790e-01 9.93494205e-01 -3.56735446e-03 9.68045333e+00] [ 5.13805848e-02 -2.30082265e-03 9.98676495e-01 5.49136931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80509989299998 meters 0.023591374252339703 Centerline is valid? [True, True] Translation: X:136.27, Y:9.68, Z:5.49 [[ 9.92105469e-01 -1.14357681e-01 -5.14690053e-02 1.36272898e+02] [ 1.14325635e-01 9.93436894e-01 -3.57596034e-03 9.68161310e+00] [ 5.15401472e-02 -2.33649689e-03 9.98668190e-01 5.49356919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86509989299998 meters 0.023309000623625543 Centerline is valid? [True, True] Translation: X:136.33, Y:9.69, Z:5.50 [[ 9.92248561e-01 -1.13617117e-01 -5.03382954e-02 1.36334499e+02] [ 1.13585769e-01 9.93522057e-01 -3.49227880e-03 9.68689594e+00] [ 5.04089894e-02 -2.25250539e-03 9.98726119e-01 5.49744954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92509989299998 meters 0.023087952295357834 Centerline is valid? [True, True] Translation: X:136.39, Y:9.69, Z:5.50 [[ 9.92698123e-01 -1.10167340e-01 -4.91283447e-02 1.36393373e+02] [ 1.10133401e-01 9.93910980e-01 -3.40554323e-03 9.69282053e+00] [ 4.92043809e-02 -2.02999533e-03 9.98786668e-01 5.50159536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98509989299998 meters 0.01970980079631449 Centerline is valid? [True, True] Translation: X:136.45, Y:9.70, Z:5.50 [[ 9.93114838e-01 -1.06277531e-01 -4.92747889e-02 1.36454193e+02] [ 1.06238587e-01 9.94334799e-01 -3.41615992e-03 9.70284065e+00] [ 4.93586984e-02 -1.84224483e-03 9.98779418e-01 5.50388253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04509989299999 meters 0.019173784784846035 Centerline is valid? [True, True] Translation: X:136.51, Y:9.71, Z:5.51 [[ 9.93528959e-01 -1.02540698e-01 -4.88427366e-02 1.36514226e+02] [ 1.02498035e-01 9.94727451e-01 -3.38393218e-03 9.70841794e+00] [ 4.89322017e-02 -1.64424993e-03 9.98800749e-01 5.50641736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10509989299996 meters 0.018515302369810475 Centerline is valid? [True, True] Translation: X:136.58, Y:9.71, Z:5.51 [[ 9.93712982e-01 -1.00983033e-01 -4.83418756e-02 1.36576085e+02] [ 1.00939640e-01 9.94886931e-01 -3.34429805e-03 9.71360893e+00] [ 4.84324176e-02 -1.55633912e-03 9.98825249e-01 5.50933341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16509989299996 meters 0.017387443228798267 Centerline is valid? [True, True] Translation: X:136.64, Y:9.72, Z:5.51 [[ 9.93717586e-01 -1.00036858e-01 -5.01795329e-02 1.36638276e+02] [ 9.99890883e-02 9.94982491e-01 -3.46768140e-03 9.71915063e+00] [ 5.02746526e-02 -1.57150976e-03 9.98734194e-01 5.51106946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.22509989299996 meters 0.01827092016288395 Centerline is valid? [True, True] Translation: X:136.70, Y:9.72, Z:5.51 [[ 9.93794269e-01 -9.93852078e-02 -4.99552879e-02 1.36699867e+02] [ 9.93372183e-02 9.95047850e-01 -3.44866462e-03 9.72135464e+00] [ 5.00506480e-02 -1.53515620e-03 9.98745501e-01 5.51316675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.28509989299997 meters 0.01781752295885507 Centerline is valid? [True, True] Translation: X:136.76, Y:9.73, Z:5.52 [[ 9.93794934e-01 -9.91760490e-02 -5.03561432e-02 1.36761494e+02] [ 9.91271658e-02 9.95068711e-01 -3.47342098e-03 9.72537935e+00] [ 5.04523027e-02 -1.53979359e-03 9.98725285e-01 5.51574756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34509989299997 meters 0.01854683776562106 Centerline is valid? [True, True] Translation: X:136.82, Y:9.73, Z:5.52 [[ 9.93730890e-01 -9.94993587e-02 -5.09783930e-02 1.36822577e+02] [ 9.94498957e-02 9.95036372e-01 -3.51222566e-03 9.72826121e+00] [ 5.10748195e-02 -1.57958874e-03 9.98693580e-01 5.51801352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.40509989299997 meters 0.018550529881257515 Centerline is valid? [True, True] Translation: X:136.88, Y:9.73, Z:5.52 [[ 9.93334245e-01 -1.03536095e-01 -5.06690676e-02 1.36883166e+02] [ 1.03492734e-01 9.94624102e-01 -3.48571610e-03 9.73293787e+00] [ 5.07575733e-02 -1.78139917e-03 9.98709415e-01 5.52162028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46509989299997 meters 0.020227994625791786 Centerline is valid? [True, True] Translation: X:136.94, Y:9.73, Z:5.52 [[ 9.93079705e-01 -1.06104059e-01 -5.03450822e-02 1.36944158e+02] [ 1.06064667e-01 9.94353211e-01 -3.46099191e-03 9.73400309e+00] [ 5.04280194e-02 -1.90279355e-03 9.98725885e-01 5.52415879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52509989299998 meters 0.02158282664608294 Centerline is valid? [True, True] Translation: X:137.01, Y:9.73, Z:5.53 [[ 9.92674228e-01 -1.10623172e-01 -4.85838572e-02 1.37005658e+02] [ 1.10592003e-01 9.93860287e-01 -3.33745885e-03 9.73495308e+00] [ 4.86547666e-02 -2.05997668e-03 9.98813531e-01 5.52794278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58509989299998 meters 0.02327984354445547 Centerline is valid? [True, True] Translation: X:137.07, Y:9.74, Z:5.53 [[ 9.92220961e-01 -1.15221549e-01 -4.71334131e-02 1.37066344e+02] [ 1.15197456e-01 9.93337341e-01 -3.23625249e-03 9.73628425e+00] [ 4.71922652e-02 -2.21857174e-03 9.98883361e-01 5.53258020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64509989299998 meters 0.025195183709877913 Centerline is valid? [True, True] Translation: X:137.13, Y:9.74, Z:5.53 [[ 9.91778025e-01 -1.18018624e-01 -4.94767988e-02 1.37127390e+02] [ 1.17995597e-01 9.93008311e-01 -3.39621786e-03 9.73781099e+00] [ 4.95316893e-02 -2.46975017e-03 9.98769499e-01 5.53370551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70509989299998 meters 0.0226742885900816 Centerline is valid? [True, True] Translation: X:137.19, Y:9.75, Z:5.54 [[ 9.91827462e-01 -1.17004011e-01 -5.08758056e-02 1.37189611e+02] [ 1.16978419e-01 9.93128323e-01 -3.49064140e-03 9.74608337e+00] [ 5.09346225e-02 -2.48925728e-03 9.98698887e-01 5.53600487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76509989299998 meters 0.023598359716307776 Centerline is valid? [True, True] Translation: X:137.25, Y:9.75, Z:5.54 [[ 9.92034629e-01 -1.15217660e-01 -5.09135171e-02 1.37250945e+02] [ 1.15189917e-01 9.93337361e-01 -3.48866290e-03 9.74965221e+00] [ 5.09762543e-02 -2.40384939e-03 9.98696973e-01 5.53949451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82509989299996 meters 0.022797468369114293 Centerline is valid? [True, True] Translation: X:137.31, Y:9.76, Z:5.54 [[ 9.92318993e-01 -1.13188875e-01 -4.99128794e-02 1.37312180e+02] [ 1.13159822e-01 9.93570924e-01 -3.41665632e-03 9.75728509e+00] [ 4.99787132e-02 -2.25771958e-03 9.98747731e-01 5.54456249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88509989299996 meters 0.023812192835011167 Centerline is valid? [True, True] Translation: X:137.37, Y:9.76, Z:5.55 [[ 9.92668165e-01 -1.10599683e-01 -4.87608865e-02 1.37372777e+02] [ 1.10568958e-01 9.93862858e-01 -3.33531061e-03 9.76182517e+00] [ 4.88305183e-02 -2.08058373e-03 9.98804912e-01 5.54808134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.94509989299996 meters 0.019964240892996876 Centerline is valid? [True, True] Translation: X:137.43, Y:9.77, Z:5.55 [[ 9.92834426e-01 -1.08542353e-01 -4.99836012e-02 1.37434409e+02] [ 1.08507576e-01 9.94089750e-01 -3.41679803e-03 9.77235489e+00] [ 5.00590529e-02 -2.03128467e-03 9.98744194e-01 5.55054864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.00509989299997 meters 0.020480426946605543 Centerline is valid? [True, True] Translation: X:137.50, Y:9.78, Z:5.55 [[ 9.92826527e-01 -1.07952295e-01 -5.13983360e-02 1.37496613e+02] [ 1.07914937e-01 9.94153936e-01 -3.50958845e-03 9.77584204e+00] [ 5.14767262e-02 -2.06223567e-03 9.98672065e-01 5.55249489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06509989299997 meters 0.02075003931857876 Centerline is valid? [True, True] Translation: X:137.56, Y:9.78, Z:5.56 [[ 9.92714379e-01 -1.09011911e-01 -5.13280076e-02 1.37558508e+02] [ 1.08976262e-01 9.94038187e-01 -3.50101038e-03 9.77875746e+00] [ 5.14036515e-02 -2.11803107e-03 9.98675712e-01 5.55518258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12509989299997 meters 0.021283418884707375 Centerline is valid? [True, True] Translation: X:137.62, Y:9.78, Z:5.56 [[ 9.92518000e-01 -1.10788890e-01 -5.13209612e-02 1.37620938e+02] [ 1.10755815e-01 9.93841498e-01 -3.49674055e-03 9.78079561e+00] [ 5.13923010e-02 -2.21351695e-03 9.98676090e-01 5.55789391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18509989299997 meters 0.021253187732881058 Centerline is valid? [True, True] Translation: X:137.68, Y:9.78, Z:5.56 [[ 9.92411783e-01 -1.11563016e-01 -5.16966785e-02 1.37683376e+02] [ 1.11530703e-01 9.93754760e-01 -3.51849450e-03 9.78381361e+00] [ 5.17663542e-02 -2.27397150e-03 9.98656634e-01 5.56070569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24509989299997 meters 0.02122317475433261 Centerline is valid? [True, True] Translation: X:137.75, Y:9.79, Z:5.56 [[ 9.92508552e-01 -1.10530437e-01 -5.20557036e-02 1.37745509e+02] [ 1.10496461e-01 9.93870217e-01 -3.53904190e-03 9.78854023e+00] [ 5.21277852e-02 -2.23944167e-03 9.98637912e-01 5.56387479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30509989299998 meters 0.021643491661223237 Centerline is valid? [True, True] Translation: X:137.81, Y:9.79, Z:5.57 [[ 9.92568401e-01 -1.10196401e-01 -5.16209443e-02 1.37807718e+02] [ 1.10162734e-01 9.93907381e-01 -3.50570537e-03 9.79271336e+00] [ 5.16927537e-02 -2.20705199e-03 9.98660597e-01 5.56751245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36509989299998 meters 0.02286091963492381 Centerline is valid? [True, True] Translation: X:137.87, Y:9.79, Z:5.57 [[ 9.92456353e-01 -1.11346693e-01 -5.13059617e-02 1.37869459e+02] [ 1.11315150e-01 9.93779061e-01 -3.48076691e-03 9.79408663e+00] [ 5.13743623e-02 -2.25662158e-03 9.98676916e-01 5.57078746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42509989299998 meters 0.023843291235856445 Centerline is valid? [True, True] Translation: X:137.93, Y:9.80, Z:5.57 [[ 9.92304616e-01 -1.12374723e-01 -5.19949186e-02 1.37931673e+02] [ 1.12343893e-01 9.93663136e-01 -3.52449906e-03 9.79591932e+00] [ 5.20614985e-02 -2.34393488e-03 9.98641130e-01 5.57340874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48509989299998 meters 0.022747697550944457 Centerline is valid? [True, True] Translation: X:137.99, Y:9.80, Z:5.58 [[ 9.92350528e-01 -1.12025100e-01 -5.18729891e-02 1.37993740e+02] [ 1.11994130e-01 9.93702660e-01 -3.51254390e-03 9.79983240e+00] [ 5.19398204e-02 -2.32379547e-03 9.98647513e-01 5.57662983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54509989299999 meters 0.02360410420448231 Centerline is valid? [True, True] Translation: X:138.06, Y:9.80, Z:5.58 [[ 9.92411464e-01 -1.12179088e-01 -5.03521422e-02 1.38055932e+02] [ 1.12150280e-01 9.93685420e-01 -3.40602127e-03 9.80084961e+00] [ 5.04162739e-02 -2.26683230e-03 9.98725719e-01 5.57921244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60509989299996 meters 0.02432401188660888 Centerline is valid? [True, True] Translation: X:138.12, Y:9.80, Z:5.58 [[ 9.92498049e-01 -1.12001740e-01 -4.90227907e-02 1.38118136e+02] [ 1.11974382e-01 9.93705572e-01 -3.31269053e-03 9.80369373e+00] [ 4.90852474e-02 -2.20145779e-03 9.98792167e-01 5.58268361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66509989299996 meters 0.022807373880913778 Centerline is valid? [True, True] Translation: X:138.18, Y:9.81, Z:5.59 [[ 9.92526104e-01 -1.12008816e-01 -4.84350847e-02 1.38179708e+02] [ 1.11982282e-01 9.93704825e-01 -3.26958672e-03 9.80952903e+00] [ 4.84963999e-02 -2.17872113e-03 9.98820981e-01 5.58661283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.72509989299996 meters 0.022225491936795343 Centerline is valid? [True, True] Translation: X:138.24, Y:9.81, Z:5.59 [[ 9.92385181e-01 -1.12736837e-01 -4.96191284e-02 1.38242268e+02] [ 1.12710083e-01 9.93622284e-01 -3.34583469e-03 9.81267049e+00] [ 4.96798705e-02 -2.27221931e-03 9.98762608e-01 5.58773882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.78509989299997 meters 0.02442566500713109 Centerline is valid? [True, True] Translation: X:138.30, Y:9.81, Z:5.59 [[ 9.92319922e-01 -1.13344968e-01 -4.95387737e-02 1.38303948e+02] [ 1.13319230e-01 9.93553027e-01 -3.33691633e-03 9.81273959e+00] [ 4.95976213e-02 -2.30240713e-03 9.98766627e-01 5.58961711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84509989299997 meters 0.02251499910411028 Centerline is valid? [True, True] Translation: X:138.37, Y:9.82, Z:5.59 [[ 9.92607355e-01 -1.10285605e-01 -5.06727080e-02 1.38365188e+02] [ 1.10254835e-01 9.93897499e-01 -3.41064752e-03 9.81891172e+00] [ 5.07396230e-02 -2.20147723e-03 9.98709489e-01 5.59164666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.90509989299997 meters 0.023052970663117216 Centerline is valid? [True, True] Translation: X:138.43, Y:9.82, Z:5.59 [[ 9.93002261e-01 -1.06801680e-01 -5.03975209e-02 1.38425470e+02] [ 1.06766849e-01 9.94278303e-01 -3.39046229e-03 9.82182648e+00] [ 5.04712686e-02 -2.01404778e-03 9.98723483e-01 5.59312100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96509989299997 meters 0.020178000791649237 Centerline is valid? [True, True] Translation: X:138.49, Y:9.83, Z:5.60 [[ 9.93602552e-01 -1.01877187e-01 -4.87340485e-02 1.38485578e+02] [ 1.01838742e-01 9.94795520e-01 -3.27770410e-03 9.83040496e+00] [ 4.88143364e-02 -1.70627901e-03 9.98806412e-01 5.59696536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02509989299998 meters 0.017740769476177313 Centerline is valid? [True, True] Translation: X:138.55, Y:9.84, Z:5.60 [[ 9.94232349e-01 -9.59450276e-02 -4.79227182e-02 1.38545747e+02] [ 9.59010070e-02 9.95385661e-01 -3.22229612e-03 9.83861518e+00] [ 4.80107498e-02 -1.39212589e-03 9.98845849e-01 5.59951292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08509989299998 meters 0.015456334569748653 Centerline is valid? [True, True] Translation: X:138.61, Y:9.85, Z:5.60 [[ 9.94935163e-01 -8.87670390e-02 -4.71639075e-02 1.38606120e+02] [ 8.87163804e-02 9.96051882e-01 -3.17042932e-03 9.84844693e+00] [ 4.72591284e-02 -1.02983955e-03 9.98882132e-01 5.60242564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14509989299998 meters 0.01532908245063402 Centerline is valid? [True, True] Translation: X:138.67, Y:9.85, Z:5.60 [[ 9.95102893e-01 -8.66186096e-02 -4.76177415e-02 1.38666470e+02] [ 8.65645564e-02 9.96241104e-01 -3.20004326e-03 9.85289741e+00] [ 4.77159347e-02 -9.37636371e-04 9.98860506e-01 5.60415817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20509989299998 meters 0.015512881668281592 Centerline is valid? [True, True] Translation: X:138.73, Y:9.86, Z:5.61 [[ 9.95249867e-01 -8.56989871e-02 -4.61885840e-02 1.38727519e+02] [ 8.56471858e-02 9.96320697e-01 -3.10302420e-03 9.85538775e+00] [ 4.62845682e-02 -8.67637809e-04 9.98927918e-01 5.60669351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26509989299998 meters 0.015483566859814819 Centerline is valid? [True, True] Translation: X:138.79, Y:9.86, Z:5.61 [[ 9.95226191e-01 -8.61955371e-02 -4.57728918e-02 1.38789202e+02] [ 8.61453049e-02 9.96277846e-01 -3.07256781e-03 9.85928008e+00] [ 4.58673596e-02 -8.85219760e-04 9.98947147e-01 5.60963844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32509989299996 meters 0.0162118799423355 Centerline is valid? [True, True] Translation: X:138.85, Y:9.86, Z:5.61 [[ 9.94943468e-01 -8.94973388e-02 -4.55820242e-02 1.38850116e+02] [ 8.94511267e-02 9.95986522e-01 -3.05666443e-03 9.85977032e+00] [ 4.56726451e-02 -1.03615511e-03 9.98955923e-01 5.61202813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38509989299996 meters 0.017162196220685676 Centerline is valid? [True, True] Translation: X:138.91, Y:9.86, Z:5.61 [[ 9.94704803e-01 -9.25303143e-02 -4.47269088e-02 1.38911658e+02] [ 9.24889195e-02 9.95709199e-01 -2.99848031e-03 9.86053699e+00] [ 4.48124449e-02 -1.15414071e-03 9.98994751e-01 5.61457625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.44509989299996 meters 0.01803451212809746 Centerline is valid? [True, True] Translation: X:138.97, Y:9.86, Z:5.62 [[ 9.94378207e-01 -9.58336664e-02 -4.50321000e-02 1.38973824e+02] [ 9.57951652e-02 9.95396495e-01 -3.01720534e-03 9.86138058e+00] [ 4.51139443e-02 -1.31361422e-03 9.98980984e-01 5.61730699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.50509989299997 meters 0.02051499384058523 Centerline is valid? [True, True] Translation: X:139.03, Y:9.86, Z:5.62 [[ 9.93541490e-01 -1.04614801e-01 -4.39437376e-02 1.39034549e+02] [ 1.04586835e-01 9.94511409e-01 -2.94133390e-03 9.85765503e+00] [ 4.40102555e-02 -1.67359917e-03 9.99029677e-01 5.61956475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56509989299997 meters 0.022933413856208586 Centerline is valid? [True, True] Translation: X:139.10, Y:9.86, Z:5.62 [[ 9.92962530e-01 -1.09961073e-01 -4.39769926e-02 1.39095387e+02] [ 1.09938301e-01 9.93934055e-01 -2.94339480e-03 9.85591423e+00] [ 4.40338895e-02 -1.91207509e-03 9.99028208e-01 5.62178153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62509989299997 meters 0.02425831970957309 Centerline is valid? [True, True] Translation: X:139.16, Y:9.86, Z:5.62 [[ 9.92086557e-01 -1.17954179e-01 -4.30241104e-02 1.39156025e+02] [ 1.17939904e-01 9.93016561e-01 -2.87884507e-03 9.85509998e+00] [ 4.30632260e-02 -2.21819597e-03 9.99069887e-01 5.62486646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68509989299997 meters 0.02875278446826542 Centerline is valid? [True, True] Translation: X:139.22, Y:9.85, Z:5.62 [[ 9.91314976e-01 -1.23485701e-01 -4.52316245e-02 1.39215907e+02] [ 1.23475741e-01 9.92342981e-01 -3.02482666e-03 9.85021913e+00] [ 4.52588079e-02 -2.58645238e-03 9.98971947e-01 5.62497934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74509989299997 meters 0.02788138695076502 Centerline is valid? [True, True] Translation: X:139.28, Y:9.86, Z:5.63 [[ 9.91330894e-01 -1.23772761e-01 -4.40835729e-02 1.39277662e+02] [ 1.23763560e-01 9.92307355e-01 -2.94851441e-03 9.85599994e+00] [ 4.41093994e-02 -2.53298648e-03 9.99023496e-01 5.62934910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80509989299998 meters 0.025969170794284936 Centerline is valid? [True, True] Translation: X:139.34, Y:9.86, Z:5.63 [[ 9.91723310e-01 -1.20541377e-01 -4.42114536e-02 1.39338373e+02] [ 1.20529060e-01 9.92705404e-01 -2.95394531e-03 9.86420652e+00] [ 4.42450215e-02 -2.39926853e-03 9.99017828e-01 5.63188897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86509989299998 meters 0.02607165209811922 Centerline is valid? [True, True] Translation: X:139.40, Y:9.87, Z:5.63 [[ 9.92011729e-01 -1.17767108e-01 -4.52066099e-02 1.39398623e+02] [ 1.17751405e-01 9.93038514e-01 -3.01945285e-03 9.86927444e+00] [ 4.52474970e-02 -2.32780919e-03 9.98973095e-01 5.63341656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92509989299998 meters 0.02350471682821379 Centerline is valid? [True, True] Translation: X:139.46, Y:9.88, Z:5.64 [[ 9.92384475e-01 -1.14348480e-01 -4.57982477e-02 1.39458307e+02] [ 1.14328769e-01 9.93438262e-01 -3.05819588e-03 9.87947579e+00] [ 4.58474316e-02 -2.20115117e-03 9.98946029e-01 5.63570689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98509989299998 meters 0.02396887148557658 Centerline is valid? [True, True] Translation: X:139.52, Y:9.88, Z:5.64 [[ 9.92673953e-01 -1.11655215e-01 -4.61685524e-02 1.39518732e+02] [ 1.11632286e-01 9.93744801e-01 -3.08276893e-03 9.88496501e+00] [ 4.62239662e-02 -2.09371663e-03 9.98928907e-01 5.63773274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04509989299999 meters 0.022623294097423956 Centerline is valid? [True, True] Translation: X:139.58, Y:9.89, Z:5.64 [[ 9.92902603e-01 -1.09493748e-01 -4.64277884e-02 1.39579586e+02] [ 1.09468282e-01 9.93985460e-01 -3.09838991e-03 9.89327380e+00] [ 4.64878009e-02 -2.00597081e-03 9.98916844e-01 5.64015211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10509989299996 meters 0.02305385869394825 Centerline is valid? [True, True] Translation: X:139.64, Y:9.90, Z:5.64 [[ 9.93046581e-01 -1.07700272e-01 -4.75304093e-02 1.39640434e+02] [ 1.07671622e-01 9.94181458e-01 -3.17012295e-03 9.90037231e+00] [ 4.75952748e-02 -1.96959650e-03 9.98864761e-01 5.64206244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16509989299996 meters 0.024564028021345122 Centerline is valid? [True, True] Translation: X:139.70, Y:9.90, Z:5.64 [[ 9.93040383e-01 -1.07314281e-01 -4.85225920e-02 1.39701589e+02] [ 1.07284092e-01 9.94223147e-01 -3.23367842e-03 9.90495615e+00] [ 4.85893040e-02 -1.99452898e-03 9.98816851e-01 5.64370072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.22509989299996 meters 0.02136422899561023 Centerline is valid? [True, True] Translation: X:139.76, Y:9.92, Z:5.65 [[ 9.93071167e-01 -1.07227888e-01 -4.80815789e-02 1.39762798e+02] [ 1.07198269e-01 9.94232508e-01 -3.20167615e-03 9.91737053e+00] [ 4.81475778e-02 -1.97476976e-03 9.98838281e-01 5.64767809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.28509989299997 meters 0.02057100952692884 Centerline is valid? [True, True] Translation: X:139.82, Y:9.93, Z:5.65 [[ 9.93232454e-01 -1.06160154e-01 -4.71095907e-02 1.39824740e+02] [ 1.06130680e-01 9.94347253e-01 -3.13357852e-03 9.92708124e+00] [ 4.71759533e-02 -1.88740102e-03 9.98884812e-01 5.65216557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34509989299997 meters 0.020592647335718375 Centerline is valid? [True, True] Translation: X:139.89, Y:9.93, Z:5.66 [[ 9.93302822e-01 -1.05689258e-01 -4.66828085e-02 1.39886871e+02] [ 1.05659955e-01 9.94397482e-01 -3.10178867e-03 9.93410917e+00] [ 4.67490930e-02 -1.85148802e-03 9.98904948e-01 5.65584073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.40509989299997 meters 0.02465949346695236 Centerline is valid? [True, True] Translation: X:139.95, Y:9.93, Z:5.66 [[ 9.93429499e-01 -1.04394164e-01 -4.69008475e-02 1.39948398e+02] [ 1.04363305e-01 9.94534369e-01 -3.11292180e-03 9.93485650e+00] [ 4.69694756e-02 -1.80225908e-03 9.98894699e-01 5.65729720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46509989299997 meters 0.01852361872561796 Centerline is valid? [True, True] Translation: X:140.01, Y:9.95, Z:5.66 [[ 9.93700771e-01 -1.01180712e-01 -4.81792694e-02 1.40009203e+02] [ 1.01144507e-01 9.94866614e-01 -3.19509189e-03 9.95164198e+00] [ 4.82552283e-02 -1.69810319e-03 9.98833594e-01 5.65895589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52509989299998 meters 0.01702693398452309 Centerline is valid? [True, True] Translation: X:140.07, Y:9.96, Z:5.66 [[ 9.94380610e-01 -9.48669908e-02 -4.69835738e-02 1.40069215e+02] [ 9.48256314e-02 9.95489029e-01 -3.11341326e-03 9.96198444e+00] [ 4.70669924e-02 -1.35932927e-03 9.98890810e-01 5.66241965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58509989299998 meters 0.01588796127021196 Centerline is valid? [True, True] Translation: X:140.13, Y:9.97, Z:5.67 [[ 9.95005113e-01 -8.87152550e-02 -4.57649321e-02 1.40130650e+02] [ 8.86695542e-02 9.96056484e-01 -3.03169226e-03 9.97095155e+00] [ 4.58534147e-02 -1.04140683e-03 9.98947636e-01 5.66580056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64509989299998 meters 0.015994826031257667 Centerline is valid? [True, True] Translation: X:140.19, Y:9.98, Z:5.67 [[ 9.95209738e-01 -8.64970244e-02 -4.55614131e-02 1.40191817e+02] [ 8.64495326e-02 9.96251668e-01 -3.01544887e-03 9.97550394e+00] [ 4.56514611e-02 -9.37758786e-04 9.98956988e-01 5.66806918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70509989299998 meters 0.014894572111439953 Centerline is valid? [True, True] Translation: X:140.25, Y:9.98, Z:5.67 [[ 9.95529723e-01 -8.27283548e-02 -4.55696161e-02 1.40253296e+02] [ 8.26771631e-02 9.96571836e-01 -3.01023202e-03 9.98337491e+00] [ 4.56624275e-02 -7.70791128e-04 9.98956630e-01 5.67042003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76509989299998 meters 0.014315897498201053 Centerline is valid? [True, True] Translation: X:140.31, Y:9.99, Z:5.67 [[ 9.95836967e-01 -7.82230741e-02 -4.67962217e-02 1.40314177e+02] [ 7.81642391e-02 9.96935711e-01 -3.08865158e-03 9.99082580e+00] [ 4.68944284e-02 -5.81997643e-04 9.98899682e-01 5.67266281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82509989299996 meters 0.013747318080331996 Centerline is valid? [True, True] Translation: X:140.38, Y:10.00, Z:5.67 [[ 9.96041731e-01 -7.47110412e-02 -4.81573601e-02 1.40376195e+02] [ 7.46447638e-02 9.97205131e-01 -3.17571211e-03 9.99591522e+00] [ 4.82600274e-02 -4.31552990e-04 9.98834713e-01 5.67393228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88509989299996 meters 0.013607927533353985 Centerline is valid? [True, True] Translation: X:140.44, Y:10.00, Z:5.68 [[ 9.96182568e-01 -7.28808653e-02 -4.80486274e-02 1.40436397e+02] [ 7.28129140e-02 9.97340594e-01 -3.16533163e-03 9.99908711e+00] [ 4.81515387e-02 -3.45312383e-04 9.98839982e-01 5.67639105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.94509989299996 meters 0.013564027176503374 Centerline is valid? [True, True] Translation: X:140.50, Y:10.00, Z:5.68 [[ 9.96288660e-01 -7.23903205e-02 -4.65676690e-02 1.40497342e+02] [ 7.23260021e-02 9.97376330e-01 -3.06686028e-03 1.00024575e+01] [ 4.66675018e-02 -3.12575207e-04 9.98910430e-01 5.68148600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.00509989299997 meters 0.013659241162791083 Centerline is valid? [True, True] Translation: X:140.56, Y:10.00, Z:5.68 [[ 9.96255868e-01 -7.29958126e-02 -4.63233994e-02 1.40558356e+02] [ 7.29329007e-02 9.97332189e-01 -3.04906992e-03 1.00037170e+01] [ 4.64223866e-02 -3.40846084e-04 9.98921842e-01 5.68414525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06509989299997 meters 0.01382682259834831 Centerline is valid? [True, True] Translation: X:140.62, Y:10.00, Z:5.69 [[ 9.96136926e-01 -7.44677120e-02 -4.65379965e-02 1.40618407e+02] [ 7.44058964e-02 9.97223340e-01 -3.06157463e-03 1.00027848e+01] [ 4.66367648e-02 -4.12953805e-04 9.98911829e-01 5.68598976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12509989299997 meters 0.014070650152220619 Centerline is valid? [True, True] Translation: X:140.68, Y:10.00, Z:5.69 [[ 9.95950249e-01 -7.66491185e-02 -4.69895152e-02 1.40679679e+02] [ 7.65885674e-02 9.97057993e-01 -3.09033790e-03 1.00026729e+01] [ 4.70881434e-02 -5.21036853e-04 9.98890602e-01 5.68882991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18509989299997 meters 0.014419242034985146 Centerline is valid? [True, True] Translation: X:140.74, Y:10.00, Z:5.69 [[ 9.95624855e-01 -7.96530185e-02 -4.88522837e-02 1.40740204e+02] [ 7.95912583e-02 9.96822411e-01 -3.21129430e-03 9.99965726e+00] [ 4.89528405e-02 -6.90970312e-04 9.98800852e-01 5.68949473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24509989299997 meters 0.014860233622036046 Centerline is valid? [True, True] Translation: X:140.80, Y:10.00, Z:5.69 [[ 9.95456682e-01 -8.19263076e-02 -4.85187971e-02 1.40799982e+02] [ 8.18680796e-02 9.96638071e-01 -3.18949033e-03 9.99855419e+00] [ 4.86169835e-02 -7.97141280e-04 9.98817177e-01 5.69130880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30509989299998 meters 0.014945517938778591 Centerline is valid? [True, True] Translation: X:140.86, Y:10.00, Z:5.69 [[ 9.95399497e-01 -8.25815127e-02 -4.85812290e-02 1.40860808e+02] [ 8.25238896e-02 9.96583968e-01 -3.19410283e-03 1.00012611e+01] [ 4.86790478e-02 -8.29703624e-04 9.98814128e-01 5.69354737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36509989299998 meters 0.015378729912303211 Centerline is valid? [True, True] Translation: X:140.92, Y:10.00, Z:5.70 [[ 9.95159350e-01 -8.61464651e-02 -4.72932889e-02 1.40921904e+02] [ 8.60959567e-02 9.96282002e-01 -3.10776622e-03 1.00005121e+01] [ 4.73851756e-02 -9.79038340e-04 9.98876212e-01 5.69742940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42509989299998 meters 0.01579406359453365 Centerline is valid? [True, True] Translation: X:140.98, Y:10.00, Z:5.70 [[ 9.94947465e-01 -8.82770054e-02 -4.78195845e-02 1.40982951e+02] [ 8.82279084e-02 9.96095363e-01 -3.14059423e-03 1.00014284e+01] [ 4.79101086e-02 -1.09429566e-03 9.98851052e-01 5.69979859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48509989299998 meters 0.01669310702684671 Centerline is valid? [True, True] Translation: X:141.04, Y:10.00, Z:5.70 [[ 9.94491760e-01 -9.24540572e-02 -4.93800266e-02 1.41044571e+02] [ 9.24069365e-02 9.95716050e-01 -3.24122496e-03 1.00018537e+01] [ 4.94681495e-02 -1.33968547e-03 9.98774803e-01 5.70245542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54509989299999 meters 0.017274377288903606 Centerline is valid? [True, True] Translation: X:141.11, Y:10.00, Z:5.71 [[ 9.94190105e-01 -9.52514799e-02 -5.01317371e-02 1.41105394e+02] [ 9.52065506e-02 9.95452106e-01 -3.28884997e-03 1.00037133e+01] [ 5.02170111e-02 -1.50312767e-03 9.98737199e-01 5.70530465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60509989299996 meters 0.01877645633982302 Centerline is valid? [True, True] Translation: X:141.17, Y:10.00, Z:5.71 [[ 9.93769340e-01 -9.87740035e-02 -5.16352120e-02 1.41165895e+02] [ 9.87311358e-02 9.95108383e-01 -3.38651081e-03 1.00027679e+01] [ 5.17171315e-02 -1.73259251e-03 9.98660271e-01 5.70691731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66509989299996 meters 0.0197825563484156 Centerline is valid? [True, True] Translation: X:141.23, Y:10.00, Z:5.71 [[ 9.93697779e-01 -9.99554378e-02 -5.07309993e-02 1.41225854e+02] [ 9.99156401e-02 9.94990352e-01 -3.32630253e-03 1.00043407e+01] [ 5.08093369e-02 -1.76348083e-03 9.98706815e-01 5.71030274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.72509989299996 meters 0.01919214843215345 Centerline is valid? [True, True] Translation: X:141.29, Y:10.01, Z:5.71 [[ 9.93470462e-01 -1.01888356e-01 -5.13342351e-02 1.41287232e+02] [ 1.01850239e-01 9.94794053e-01 -3.36475048e-03 1.00095112e+01] [ 5.14098207e-02 -1.88562391e-03 9.98675861e-01 5.71293155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.78509989299997 meters 0.020996059770371764 Centerline is valid? [True, True] Translation: X:141.35, Y:10.01, Z:5.71 [[ 9.93136150e-01 -1.05519651e-01 -5.04597905e-02 1.41348545e+02] [ 1.05487588e-01 9.94415125e-01 -3.30560496e-03 1.00109982e+01] [ 5.05267852e-02 -2.03996580e-03 9.98720623e-01 5.71443705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84509989299997 meters 0.02469435684859382 Centerline is valid? [True, True] Translation: X:141.41, Y:10.01, Z:5.72 [[ 9.92744214e-01 -1.10868504e-01 -4.65521163e-02 1.41409074e+02] [ 1.10847142e-01 9.93832793e-01 -3.04809903e-03 1.00105598e+01] [ 4.66029579e-02 -2.13418639e-03 9.98911212e-01 5.71879950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.90509989299997 meters 0.02536305430657642 Centerline is valid? [True, True] Translation: X:141.47, Y:10.01, Z:5.72 [[ 9.92690825e-01 -1.11372285e-01 -4.64880727e-02 1.41471262e+02] [ 1.11351595e-01 9.93776416e-01 -3.04257773e-03 1.00139554e+01] [ 4.65376091e-02 -2.15618206e-03 9.98914211e-01 5.72151230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96509989299997 meters 0.02442095531528097 Centerline is valid? [True, True] Translation: X:141.53, Y:10.02, Z:5.72 [[ 9.92621974e-01 -1.11956523e-01 -4.65548544e-02 1.41532724e+02] [ 1.11936568e-01 9.93710693e-01 -3.04366669e-03 1.00195778e+01] [ 4.66028150e-02 -2.18998019e-03 9.98911098e-01 5.72435069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02509989299998 meters 0.024240811462753326 Centerline is valid? [True, True] Translation: X:141.59, Y:10.03, Z:5.73 [[ 9.92450691e-01 -1.12911556e-01 -4.78811769e-02 1.41594684e+02] [ 1.12891727e-01 9.93602376e-01 -3.12685895e-03 1.00252764e+01] [ 4.79279096e-02 -2.30213542e-03 9.98848144e-01 5.72561511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08509989299998 meters 0.02522145836925221 Centerline is valid? [True, True] Translation: X:141.66, Y:10.03, Z:5.73 [[ 9.92310360e-01 -1.13584230e-01 -4.91810070e-02 1.41657223e+02] [ 1.13564316e-01 9.93525467e-01 -3.20810874e-03 1.00283236e+01] [ 4.92269736e-02 -2.40176786e-03 9.98784730e-01 5.72740733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14509989299998 meters 0.02431718057535422 Centerline is valid? [True, True] Translation: X:141.72, Y:10.03, Z:5.73 [[ 9.92086578e-01 -1.15132409e-01 -5.00874215e-02 1.41718830e+02] [ 1.15113906e-01 9.93346937e-01 -3.26358424e-03 1.00338863e+01] [ 5.01299311e-02 -2.52800060e-03 9.98739505e-01 5.73085126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20509989299998 meters 0.02799006257244038 Centerline is valid? [True, True] Translation: X:141.78, Y:10.03, Z:5.73 [[ 9.91923739e-01 -1.16799308e-01 -4.94491442e-02 1.41780124e+02] [ 1.16783522e-01 9.93152180e-01 -3.21825022e-03 1.00329472e+01] [ 4.94864148e-02 -2.58258641e-03 9.98771458e-01 5.73392524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26509989299998 meters 0.026218024709360813 Centerline is valid? [True, True] Translation: X:141.84, Y:10.04, Z:5.74 [[ 9.91857030e-01 -1.17651316e-01 -4.87626923e-02 1.41841709e+02] [ 1.17637205e-01 9.93051582e-01 -3.16917323e-03 1.00401655e+01] [ 4.87967261e-02 -2.59294007e-03 9.98805365e-01 5.73785409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32509989299996 meters 0.027758003122088756 Centerline is valid? [True, True] Translation: X:141.90, Y:10.04, Z:5.74 [[ 9.91809063e-01 -1.18506307e-01 -4.76554018e-02 1.41903758e+02] [ 1.18493971e-01 9.92949952e-01 -3.09383145e-03 1.00430751e+01] [ 4.76860675e-02 -2.57838773e-03 9.98859045e-01 5.74177478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38509989299996 meters 0.026854654337777877 Centerline is valid? [True, True] Translation: X:141.97, Y:10.05, Z:5.74 [[ 9.91851414e-01 -1.17908228e-01 -4.82537196e-02 1.41965480e+02] [ 1.17895045e-01 9.93021131e-01 -3.12919476e-03 1.00493892e+01] [ 4.82859210e-02 -2.58517818e-03 9.98830209e-01 5.74438210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.44509989299996 meters 0.02890910261117427 Centerline is valid? [True, True] Translation: X:142.03, Y:10.05, Z:5.75 [[ 9.91779256e-01 -1.18317041e-01 -4.87338260e-02 1.42026624e+02] [ 1.18304254e-01 9.92972375e-01 -3.15692032e-03 1.00516528e+01] [ 4.87648604e-02 -2.63445083e-03 9.98806812e-01 5.74681691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.50509989299997 meters 0.025267878078856047 Centerline is valid? [True, True] Translation: X:142.09, Y:10.06, Z:5.75 [[ 9.91998155e-01 -1.16629356e-01 -4.83451556e-02 1.42086851e+02] [ 1.16614891e-01 9.93172278e-01 -3.12929543e-03 1.00633812e+01] [ 4.83800361e-02 -2.53350978e-03 9.98825787e-01 5.75116862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56509989299997 meters 0.02550223919750425 Centerline is valid? [True, True] Translation: X:142.15, Y:10.07, Z:5.75 [[ 9.92259076e-01 -1.14944933e-01 -4.70062549e-02 1.42148203e+02] [ 1.14929450e-01 9.93369002e-01 -3.04094808e-03 1.00678033e+01] [ 4.70440981e-02 -2.38499470e-03 9.98889966e-01 5.75469056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62509989299997 meters 0.025481920153282506 Centerline is valid? [True, True] Translation: X:142.21, Y:10.07, Z:5.76 [[ 9.92736317e-01 -1.11595526e-01 -4.49560186e-02 1.42207865e+02] [ 1.11577999e-01 9.93751428e-01 -2.90685776e-03 1.00724378e+01] [ 4.49994999e-02 -2.13035934e-03 9.98984738e-01 5.75864244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68509989299997 meters 0.023285558753356368 Centerline is valid? [True, True] Translation: X:142.27, Y:10.08, Z:5.76 [[ 9.92976041e-01 -1.09576103e-01 -4.46280234e-02 1.42268440e+02] [ 1.09556801e-01 9.93976348e-01 -2.88555084e-03 1.00799520e+01] [ 4.46753871e-02 -2.02402063e-03 9.98999506e-01 5.76167694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74509989299997 meters 0.02410171119650471 Centerline is valid? [True, True] Translation: X:142.33, Y:10.08, Z:5.76 [[ 9.92909570e-01 -1.09926019e-01 -4.52421976e-02 1.42330891e+02] [ 1.09906626e-01 9.93937617e-01 -2.92347785e-03 1.00829781e+01] [ 4.52892884e-02 -2.06966815e-03 9.98971770e-01 5.76406745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80509989299998 meters 0.022032091611739333 Centerline is valid? [True, True] Translation: X:142.39, Y:10.09, Z:5.76 [[ 9.92778458e-01 -1.10121423e-01 -4.75836599e-02 1.42392593e+02] [ 1.10100370e-01 9.93915729e-01 -3.07120234e-03 1.00888711e+01] [ 4.76323532e-02 -2.18995504e-03 9.98862535e-01 5.76460433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86509989299998 meters 0.024183354134306157 Centerline is valid? [True, True] Translation: X:142.45, Y:10.09, Z:5.77 [[ 9.92789959e-01 -1.09493236e-01 -4.87783664e-02 1.42453610e+02] [ 1.09470557e-01 9.93985066e-01 -3.14425448e-03 1.00880469e+01] [ 4.88292424e-02 -2.21821067e-03 9.98804678e-01 5.76548788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92509989299998 meters 0.02109169656313407 Centerline is valid? [True, True] Translation: X:142.51, Y:10.10, Z:5.77 [[ 9.93096198e-01 -1.05804531e-01 -5.06492194e-02 1.42514325e+02] [ 1.05775592e-01 9.94384686e-01 -3.25901764e-03 1.00971761e+01] [ 5.07096270e-02 -2.12093317e-03 9.98711187e-01 5.76780995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98509989299998 meters 0.019872259580429742 Centerline is valid? [True, True] Translation: X:142.58, Y:10.10, Z:5.77 [[ 9.93535560e-01 -1.01688712e-01 -5.04628354e-02 1.42575509e+02] [ 1.01654787e-01 9.94814442e-01 -3.24501955e-03 1.01035347e+01] [ 5.05311393e-02 -1.90574648e-03 9.98720668e-01 5.77027816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04509989299999 meters 0.01684478670142052 Centerline is valid? [True, True] Translation: X:142.64, Y:10.12, Z:5.78 [[ 9.94801999e-01 -8.99274225e-02 -4.77707223e-02 1.42635662e+02] [ 8.98835717e-02 9.95947549e-01 -3.06964845e-03 1.01152421e+01] [ 4.78531793e-02 -1.24011072e-03 9.98853611e-01 5.77539526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10509989299996 meters 0.014875576200042658 Centerline is valid? [True, True] Translation: X:142.70, Y:10.12, Z:5.78 [[ 9.95535065e-01 -8.26562783e-02 -4.55837067e-02 1.42695782e+02] [ 8.26087644e-02 9.96577752e-01 -2.92838118e-03 1.01241260e+01] [ 4.56697571e-02 -8.50307539e-04 9.98956230e-01 5.78041960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16509989299996 meters 0.014660305080390854 Centerline is valid? [True, True] Translation: X:142.76, Y:10.13, Z:5.78 [[ 9.95761026e-01 -7.99638315e-02 -4.54506956e-02 1.42755951e+02] [ 7.99138379e-02 9.96797502e-01 -2.91881758e-03 1.01268646e+01] [ 4.55385397e-02 -7.25694738e-04 9.98962319e-01 5.78265264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.22509989299996 meters 0.014865635653999029 Centerline is valid? [True, True] Translation: X:142.82, Y:10.13, Z:5.78 [[ 9.95486698e-01 -8.22990417e-02 -4.72557106e-02 1.42817412e+02] [ 8.22477799e-02 9.96607301e-01 -3.03148631e-03 1.01269067e+01] [ 4.73448747e-02 -8.68872991e-04 9.98878225e-01 5.78321548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.28509989299997 meters 0.01562873784107077 Centerline is valid? [True, True] Translation: X:142.88, Y:10.13, Z:5.78 [[ 9.95164014e-01 -8.46953338e-02 -4.97522443e-02 1.42877722e+02] [ 8.46415900e-02 9.96406356e-01 -3.18989512e-03 1.01265789e+01] [ 4.98436216e-02 -1.03664022e-03 9.98756496e-01 5.78371971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34509989299997 meters 0.01672817811097023 Centerline is valid? [True, True] Translation: X:142.94, Y:10.13, Z:5.79 [[ 9.94574929e-01 -8.96019362e-02 -5.28413153e-02 1.42938206e+02] [ 8.95482669e-02 9.95976724e-01 -3.38715479e-03 1.01258597e+01] [ 5.29322157e-02 -1.36306897e-03 9.98597177e-01 5.78526493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.40509989299997 meters 0.01639200326973295 Centerline is valid? [True, True] Translation: X:143.00, Y:10.13, Z:5.79 [[ 9.94617244e-01 -8.95430066e-02 -5.21400844e-02 1.42998132e+02] [ 8.94906711e-02 9.95982053e-01 -3.34220554e-03 1.01293505e+01] [ 5.22298594e-02 -1.34183588e-03 9.98634188e-01 5.78846302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46509989299997 meters 0.015702167559013998 Centerline is valid? [True, True] Translation: X:143.06, Y:10.13, Z:5.79 [[ 9.94904881e-01 -8.68324397e-02 -5.12289437e-02 1.43058334e+02] [ 8.67783272e-02 9.96222234e-01 -3.28380096e-03 1.01346339e+01] [ 5.13205531e-02 -1.17849243e-03 9.98681537e-01 5.79195123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52509989299998 meters 0.014151633956068208 Centerline is valid? [True, True] Translation: X:143.12, Y:10.14, Z:5.80 [[ 9.95850374e-01 -7.76829260e-02 -4.74067053e-02 1.43118410e+02] [ 7.76262238e-02 9.96977901e-01 -3.03873797e-03 1.01431211e+01] [ 4.74994956e-02 -6.53875172e-04 9.98871048e-01 5.79799086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58509989299998 meters 0.013414050731139352 Centerline is valid? [True, True] Translation: X:143.18, Y:10.15, Z:5.80 [[ 9.96232571e-01 -7.27896224e-02 -4.71416518e-02 1.43178471e+02] [ 7.27280959e-02 9.97347229e-01 -3.02132621e-03 1.01482940e+01] [ 4.72365170e-02 -4.18578993e-04 9.98883645e-01 5.80082816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64509989299998 meters 0.01305504496563978 Centerline is valid? [True, True] Translation: X:143.24, Y:10.15, Z:5.80 [[ 9.96626863e-01 -6.60996233e-02 -4.86388245e-02 1.43237872e+02] [ 6.60261535e-02 9.97813023e-01 -3.11740145e-03 1.01513360e+01] [ 4.87385115e-02 -1.04548457e-04 9.98811567e-01 5.80220147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70509989299998 meters 0.013074455457761376 Centerline is valid? [True, True] Translation: X:143.30, Y:10.15, Z:5.80 [[ 9.96604126e-01 -6.46103147e-02 -5.10462863e-02 1.43296830e+02] [ 6.45272742e-02 9.97910570e-01 -3.27483625e-03 1.01521159e+01] [ 5.11512169e-02 -3.01623971e-05 9.98690919e-01 5.80317146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76509989299998 meters 0.013011934249972082 Centerline is valid? [True, True] Translation: X:143.35, Y:10.15, Z:5.80 [[ 9.96406035e-01 -6.60086530e-02 -5.30836196e-02 1.43354813e+02] [ 6.59201540e-02 9.97819046e-01 -3.41822753e-03 1.01483487e+01] [ 5.31934792e-02 -9.33378335e-05 9.98584220e-01 5.80358413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82509989299996 meters 0.013046203524378634 Centerline is valid? [True, True] Translation: X:143.41, Y:10.15, Z:5.81 [[ 9.96358487e-01 -6.70170283e-02 -5.27113123e-02 1.43412383e+02] [ 6.69307147e-02 9.97751822e-01 -3.40299793e-03 1.01501851e+01] [ 5.28208667e-02 -1.37399928e-04 9.98603994e-01 5.80678995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88509989299996 meters 0.013033034711464853 Centerline is valid? [True, True] Translation: X:143.47, Y:10.15, Z:5.81 [[ 9.96278847e-01 -7.05017107e-02 -4.95779036e-02 1.43471632e+02] [ 7.04290039e-02 9.97511616e-01 -3.21410453e-03 1.01480853e+01] [ 4.96811346e-02 -2.89578011e-04 9.98765088e-01 5.81201480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.94509989299996 meters 0.013424605276209098 Centerline is valid? [True, True] Translation: X:143.53, Y:10.14, Z:5.82 [[ 9.96011217e-01 -7.64636740e-02 -4.59887184e-02 1.43530402e+02] [ 7.64069613e-02 9.97072225e-01 -2.99236624e-03 1.01437256e+01] [ 4.60828811e-02 -5.33427888e-04 9.98937477e-01 5.81732566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.00509989299997 meters 0.014159649943181115 Centerline is valid? [True, True] Translation: X:143.59, Y:10.14, Z:5.82 [[ 9.95543858e-01 -8.25075178e-02 -4.56610923e-02 1.43590521e+02] [ 8.24574690e-02 9.96590124e-01 -2.98176190e-03 1.01399857e+01] [ 4.57514114e-02 -7.96623354e-04 9.98952538e-01 5.82016099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06509989299997 meters 0.018563075850913366 Centerline is valid? [True, True] Translation: X:143.65, Y:10.13, Z:5.82 [[ 9.94466708e-01 -9.45024681e-02 -4.58830036e-02 1.43650802e+02] [ 9.44646003e-02 9.95523708e-01 -2.99778322e-03 1.01277116e+01] [ 4.59609158e-02 -1.35312399e-03 9.98942322e-01 5.82180910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12509989299997 meters 0.020030951211257194 Centerline is valid? [True, True] Translation: X:143.71, Y:10.12, Z:5.82 [[ 9.93514247e-01 -1.03242459e-01 -4.76490799e-02 1.43711912e+02] [ 1.03211652e-01 9.94654545e-01 -3.11307173e-03 1.01238957e+01] [ 4.77157751e-02 -1.82505912e-03 9.98859286e-01 5.82335592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18509989299997 meters 0.02363740536374113 Centerline is valid? [True, True] Translation: X:143.77, Y:10.11, Z:5.82 [[ 9.92113988e-01 -1.15060457e-01 -4.97084143e-02 1.43773378e+02] [ 1.15041704e-01 9.93355354e-01 -3.24768102e-03 1.01148552e+01] [ 4.97517991e-02 -2.49647093e-03 9.98758492e-01 5.82344192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24509989299997 meters 0.027296141716257803 Centerline is valid? [True, True] Translation: X:143.83, Y:10.11, Z:5.82 [[ 9.91151271e-01 -1.22132602e-01 -5.19883138e-02 1.43834092e+02] [ 1.22121747e-01 9.92509313e-01 -3.39731056e-03 1.01087642e+01] [ 5.20138080e-02 -2.98165501e-03 9.98641915e-01 5.82421385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30509989299998 meters 0.02549830527254725 Centerline is valid? [True, True] Translation: X:143.89, Y:10.11, Z:5.83 [[ 9.91007730e-01 -1.23508779e-01 -5.14709773e-02 1.43893916e+02] [ 1.23499937e-01 9.92338877e-01 -3.36443838e-03 1.01139269e+01] [ 5.14921894e-02 -3.02247801e-03 9.98668824e-01 5.82797724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36509989299998 meters 0.028969595856856736 Centerline is valid? [True, True] Translation: X:143.95, Y:10.11, Z:5.83 [[ 9.91228514e-01 -1.22201826e-01 -5.03264043e-02 1.43953166e+02] [ 1.22191644e-01 9.92501070e-01 -3.29054165e-03 1.01132058e+01] [ 5.03511203e-02 -2.88778738e-03 9.98727403e-01 5.83101840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42509989299998 meters 0.027297911016746758 Centerline is valid? [True, True] Translation: X:144.01, Y:10.12, Z:5.83 [[ 9.91503695e-01 -1.20175479e-01 -4.97823002e-02 1.44012958e+02] [ 1.20162931e-01 9.92748845e-01 -3.25572665e-03 1.01219803e+01] [ 4.98125796e-02 -2.75392211e-03 9.98754786e-01 5.83434191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48509989299998 meters 0.02577156947315336 Centerline is valid? [True, True] Translation: X:144.07, Y:10.13, Z:5.84 [[ 9.91389216e-01 -1.20632665e-01 -5.09429368e-02 1.44073390e+02] [ 1.20620139e-01 9.92693147e-01 -3.33146599e-03 1.01297916e+01] [ 5.09725879e-02 -2.84196465e-03 9.98696009e-01 5.83646639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54509989299999 meters 0.026333053360370454 Centerline is valid? [True, True] Translation: X:144.13, Y:10.13, Z:5.84 [[ 9.91229854e-01 -1.21569745e-01 -5.18090185e-02 1.44133454e+02] [ 1.21558108e-01 9.92578537e-01 -3.38732352e-03 1.01340556e+01] [ 5.18363159e-02 -2.94019006e-03 9.98651266e-01 5.83796370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60509989299996 meters 0.026107001151971353 Centerline is valid? [True, True] Translation: X:144.19, Y:10.14, Z:5.84 [[ 9.91258116e-01 -1.21282292e-01 -5.19418204e-02 1.44193684e+02] [ 1.21270203e-01 9.92613724e-01 -3.39600624e-03 1.01411588e+01] [ 5.19700392e-02 -2.93267634e-03 9.98644338e-01 5.84047597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66509989299996 meters 0.02526007274977389 Centerline is valid? [True, True] Translation: X:144.25, Y:10.15, Z:5.84 [[ 9.91614721e-01 -1.18895783e-01 -5.06363368e-02 1.44253622e+02] [ 1.18881188e-01 9.92902967e-01 -3.31065246e-03 1.01499833e+01] [ 5.06705917e-02 -2.73681618e-03 9.98711671e-01 5.84405194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.72509989299996 meters 0.026250125638215976 Centerline is valid? [True, True] Translation: X:144.31, Y:10.16, Z:5.85 [[ 9.92260862e-01 -1.13625239e-01 -5.00768015e-02 1.44312893e+02] [ 1.13604263e-01 9.93520685e-01 -3.27419479e-03 1.01571180e+01] [ 5.01243693e-02 -2.44008280e-03 9.98740003e-01 5.84653085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.78509989299997 meters 0.01963057384170184 Centerline is valid? [True, True] Translation: X:144.37, Y:10.18, Z:5.85 [[ 9.93337726e-01 -1.04292935e-01 -4.90218846e-02 1.44372540e+02] [ 1.04261457e-01 9.94544756e-01 -3.20576846e-03 1.01776039e+01] [ 4.90887972e-02 -1.92668235e-03 9.98792560e-01 5.85111207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84509989299997 meters 0.01773425126300917 Centerline is valid? [True, True] Translation: X:144.43, Y:10.19, Z:5.85 [[ 9.94455173e-01 -9.35507495e-02 -4.80329721e-02 1.44431213e+02] [ 9.35080224e-02 9.95613572e-01 -3.14074629e-03 1.01898751e+01] [ 4.81160981e-02 -1.36813683e-03 9.98840813e-01 5.85453157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.90509989299997 meters 0.014854509548372948 Centerline is valid? [True, True] Translation: X:144.49, Y:10.20, Z:5.86 [[ 9.95241049e-01 -8.44797291e-02 -4.85636744e-02 1.44491605e+02] [ 8.44252233e-02 9.96424756e-01 -3.17615234e-03 1.02035571e+01] [ 4.86583679e-02 -9.38961870e-04 9.98815039e-01 5.85685393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96509989299997 meters 0.01403977132216122 Centerline is valid? [True, True] Translation: X:144.55, Y:10.21, Z:5.86 [[ 9.95617034e-01 -8.02401149e-02 -4.80442122e-02 1.44551628e+02] [ 8.01818715e-02 9.96775300e-01 -3.14143109e-03 1.02112244e+01] [ 4.81413529e-02 -7.24612552e-04 9.98840270e-01 5.85924313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02509989299998 meters 0.013227106985533301 Centerline is valid? [True, True] Translation: X:144.61, Y:10.22, Z:5.86 [[ 9.96103281e-01 -7.46626834e-02 -4.69439780e-02 1.44610809e+02] [ 7.46008771e-02 9.97208748e-01 -3.06967201e-03 1.02176518e+01] [ 4.70421355e-02 -4.44351567e-04 9.98892807e-01 5.86071588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08509989299998 meters 0.013178857313613 Centerline is valid? [True, True] Translation: X:144.67, Y:10.22, Z:5.86 [[ 9.96085154e-01 -7.45631184e-02 -4.74837533e-02 1.44670593e+02] [ 7.44996867e-02 9.97216198e-01 -3.10669473e-03 1.02215321e+01] [ 4.75832128e-02 -4.42992241e-04 9.98867179e-01 5.86240094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14509989299998 meters 0.014086854657844814 Centerline is valid? [True, True] Translation: X:144.73, Y:10.22, Z:5.87 [[ 9.95664955e-01 -8.05693205e-02 -4.64745208e-02 1.44729169e+02] [ 8.05149706e-02 9.96748754e-01 -3.04328440e-03 1.02214688e+01] [ 4.65686160e-02 -7.11803047e-04 9.98914840e-01 5.86557551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20509989299998 meters 0.015633850339369235 Centerline is valid? [True, True] Translation: X:144.79, Y:10.22, Z:5.87 [[ 9.95104794e-01 -8.74636351e-02 -4.60061084e-02 1.44788879e+02] [ 8.74172471e-02 9.96167198e-01 -3.02313297e-03 1.02197631e+01] [ 4.60941903e-02 -1.01339323e-03 9.98936584e-01 5.86788953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26509989299998 meters 0.018847648737978645 Centerline is valid? [True, True] Translation: X:144.85, Y:10.22, Z:5.87 [[ 9.93954866e-01 -9.95545007e-02 -4.62885036e-02 1.44850192e+02] [ 9.95205502e-02 9.95030853e-01 -3.04318775e-03 1.02150880e+01] [ 4.63614523e-02 -1.58186608e-03 9.98923477e-01 5.86964668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32509989299996 meters 0.022538208426083218 Centerline is valid? [True, True] Translation: X:144.91, Y:10.21, Z:5.87 [[ 9.92744500e-01 -1.10879774e-01 -4.65191771e-02 1.44911171e+02] [ 1.10857879e-01 9.93831564e-01 -3.05830857e-03 1.02104995e+01] [ 4.65713311e-02 -2.12089827e-03 9.98912715e-01 5.87188589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38509989299996 meters 0.02167537861127997 Centerline is valid? [True, True] Translation: X:144.97, Y:10.21, Z:5.87 [[ 9.92438785e-01 -1.13830109e-01 -4.59125796e-02 1.44972262e+02] [ 1.13811942e-01 9.93497727e-01 -3.01810202e-03 1.02148394e+01] [ 4.59575943e-02 -2.23011837e-03 9.98940902e-01 5.87469628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.44509989299996 meters 0.024092988341847626 Centerline is valid? [True, True] Translation: X:145.03, Y:10.21, Z:5.88 [[ 9.91743403e-01 -1.20344294e-01 -4.42975608e-02 1.45033225e+02] [ 1.20333920e-01 9.92729206e-01 -2.91040865e-03 1.02123302e+01] [ 4.43257335e-02 -2.44412055e-03 9.99014142e-01 5.87768617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.50509989299997 meters 0.029414722290117764 Centerline is valid? [True, True] Translation: X:145.09, Y:10.21, Z:5.88 [[ 9.91606637e-01 -1.21669937e-01 -4.37344738e-02 1.45094751e+02] [ 1.21661118e-01 9.92567538e-01 -2.87318624e-03 1.02081086e+01] [ 4.37589993e-02 -2.47171444e-03 9.99039059e-01 5.88053938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56509989299997 meters 0.025844115648489357 Centerline is valid? [True, True] Translation: X:145.16, Y:10.22, Z:5.88 [[ 9.91647123e-01 -1.21230159e-01 -4.40367216e-02 1.45156921e+02] [ 1.21220897e-01 9.92621347e-01 -2.89053964e-03 1.02164738e+01] [ 4.40622105e-02 -2.47177556e-03 9.99025731e-01 5.88250470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62509989299997 meters 0.02710439258035509 Centerline is valid? [True, True] Translation: X:145.22, Y:10.22, Z:5.88 [[ 9.91838451e-01 -1.19164223e-01 -4.53472716e-02 1.45217504e+02] [ 1.19152400e-01 9.92871525e-01 -2.97331724e-03 1.02180603e+01] [ 4.53783277e-02 -2.45418590e-03 9.98966858e-01 5.88352680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68509989299997 meters 0.024208456214347404 Centerline is valid? [True, True] Translation: X:145.28, Y:10.23, Z:5.88 [[ 9.92102596e-01 -1.15840131e-01 -4.80988890e-02 1.45278967e+02] [ 1.15822997e-01 9.93264866e-01 -3.15257933e-03 1.02273004e+01] [ 4.81401317e-02 -2.44327535e-03 9.98837603e-01 5.88397602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74509989299997 meters 0.02392822106782982 Centerline is valid? [True, True] Translation: X:145.34, Y:10.23, Z:5.89 [[ 9.92271049e-01 -1.14158869e-01 -4.86406949e-02 1.45339971e+02] [ 1.14139460e-01 9.93459630e-01 -3.18551244e-03 1.02325864e+01] [ 4.86862212e-02 -2.39093089e-03 9.98811261e-01 5.88609897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80509989299998 meters 0.021608159680625134 Centerline is valid? [True, True] Translation: X:145.40, Y:10.24, Z:5.89 [[ 9.92756320e-01 -1.09799883e-01 -4.87737143e-02 1.45400420e+02] [ 1.09775201e-01 9.93951313e-01 -3.19256168e-03 1.02426993e+01] [ 4.88292403e-02 -2.18470852e-03 9.98804752e-01 5.88931866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86509989299998 meters 0.020889147378527918 Centerline is valid? [True, True] Translation: X:145.46, Y:10.25, Z:5.89 [[ 9.93387425e-01 -1.04159143e-01 -4.82938548e-02 1.45459679e+02] [ 1.04128326e-01 9.94558849e-01 -3.16039209e-03 1.02509687e+01] [ 4.83602643e-02 -1.88926448e-03 9.98828171e-01 5.89197358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92509989299998 meters 0.01725271990968907 Centerline is valid? [True, True] Translation: X:145.52, Y:10.27, Z:5.90 [[ 9.94394038e-01 -9.43289580e-02 -4.77759907e-02 1.45519688e+02] [ 9.42874649e-02 9.95540104e-01 -3.12641906e-03 1.02662928e+01] [ 4.78578266e-02 -1.39578457e-03 9.98853183e-01 5.89566184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98509989299998 meters 0.015550615513599415 Centerline is valid? [True, True] Translation: X:145.58, Y:10.28, Z:5.90 [[ 9.95155253e-01 -8.59570810e-02 -4.77221478e-02 1.45579142e+02] [ 8.59060953e-02 9.96298346e-01 -3.12214909e-03 1.02784820e+01] [ 4.78138678e-02 -9.92600311e-04 9.98855770e-01 5.89823015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04509989299996 meters 0.013924178954439452 Centerline is valid? [True, True] Translation: X:145.64, Y:10.29, Z:5.90 [[ 9.95692093e-01 -8.05406625e-02 -4.59397068e-02 1.45639321e+02] [ 8.04876552e-02 9.96751075e-01 -3.00546124e-03 1.02906120e+01] [ 4.60325140e-02 -7.05065288e-04 9.98939693e-01 5.90236312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10509989299996 meters 0.01380273761616489 Centerline is valid? [True, True] Translation: X:145.70, Y:10.30, Z:5.90 [[ 9.95808881e-01 -7.89182949e-02 -4.62230923e-02 1.45699960e+02] [ 7.88629282e-02 9.96880885e-01 -3.02306490e-03 1.02966853e+01] [ 4.63174923e-02 -6.34893526e-04 9.98926567e-01 5.90477344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16509989299996 meters 0.013767000382249787 Centerline is valid? [True, True] Translation: X:145.76, Y:10.30, Z:5.91 [[ 9.95911796e-01 -7.73108992e-02 -4.67195860e-02 1.45760225e+02] [ 7.72526453e-02 9.97006872e-01 -3.05390258e-03 1.03031278e+01] [ 4.68158482e-02 -5.67794001e-04 9.98903376e-01 5.90653147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.22509989299996 meters 0.013653445594811535 Centerline is valid? [True, True] Translation: X:145.82, Y:10.31, Z:5.91 [[ 9.95971661e-01 -7.63850238e-02 -4.69657084e-02 1.45820445e+02] [ 7.63251613e-02 9.97078256e-01 -3.06923367e-03 1.03090921e+01] [ 4.70629301e-02 -5.27795513e-04 9.98891787e-01 5.90874341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.28509989299997 meters 0.013445381535386356 Centerline is valid? [True, True] Translation: X:145.88, Y:10.31, Z:5.91 [[ 9.96096929e-01 -7.47882629e-02 -4.68788283e-02 1.45880160e+02] [ 7.47268460e-02 9.97199334e-01 -3.06373285e-03 1.03146897e+01] [ 4.69766677e-02 -4.51332105e-04 9.98895885e-01 5.91180210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34509989299997 meters 0.013251044717538914 Centerline is valid? [True, True] Translation: X:145.94, Y:10.32, Z:5.91 [[ 9.96244191e-01 -7.27540686e-02 -4.69505799e-02 1.45939980e+02] [ 7.26901163e-02 9.97349848e-01 -3.07031581e-03 1.03207460e+01] [ 4.70495317e-02 -3.54058822e-04 9.98892495e-01 5.91431115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.40509989299997 meters 0.013023754948510418 Centerline is valid? [True, True] Translation: X:146.00, Y:10.33, Z:5.92 [[ 9.96458722e-01 -6.95492786e-02 -4.72537169e-02 1.45998895e+02] [ 6.94807278e-02 9.97578497e-01 -3.09367381e-03 1.03271624e+01] [ 4.73544547e-02 -2.00504391e-04 9.98878128e-01 5.91587053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46509989299997 meters 0.012964887607381494 Centerline is valid? [True, True] Translation: X:146.06, Y:10.33, Z:5.92 [[ 9.96814517e-01 -6.45057564e-02 -4.69023105e-02 1.46057572e+02] [ 6.44325100e-02 9.97917334e-01 -3.07343408e-03 1.03339340e+01] [ 4.70028828e-02 4.16101257e-05 9.98894753e-01 5.91860057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52509989299998 meters 0.012996751706485272 Centerline is valid? [True, True] Translation: X:146.12, Y:10.34, Z:5.92 [[ 9.96958599e-01 -6.25899316e-02 -4.64333002e-02 1.46116213e+02] [ 6.25155208e-02 9.98039318e-01 -3.05441476e-03 1.03385632e+01] [ 4.65334349e-02 1.42323113e-04 9.98916723e-01 5.92153140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58509989299998 meters 0.013008244449368605 Centerline is valid? [True, True] Translation: X:146.17, Y:10.34, Z:5.92 [[ 9.96964719e-01 -6.25827879e-02 -4.63113726e-02 1.46174192e+02] [ 6.25082040e-02 9.98039764e-01 -3.05836059e-03 1.03417073e+01] [ 4.64119921e-02 1.54236886e-04 9.98922371e-01 5.92424422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64509989299998 meters 0.012990058655710398 Centerline is valid? [True, True] Translation: X:146.23, Y:10.34, Z:5.93 [[ 9.96777952e-01 -6.60767052e-02 -4.54706982e-02 1.46232019e+02] [ 6.60078692e-02 9.97814546e-01 -3.01532512e-03 1.03407302e+01] [ 4.55705668e-02 4.18570028e-06 9.98961122e-01 5.92625977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70509989299998 meters 0.01301006638650291 Centerline is valid? [True, True] Translation: X:146.29, Y:10.34, Z:5.93 [[ 9.96553548e-01 -7.02528792e-02 -4.41084897e-02 1.46290776e+02] [ 7.01919220e-02 9.97529199e-01 -2.93116803e-03 1.03398249e+01] [ 4.42054294e-02 -1.74993770e-04 9.99022447e-01 5.92952411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76509989299998 meters 0.013466574648481987 Centerline is valid? [True, True] Translation: X:146.35, Y:10.34, Z:5.93 [[ 9.96242997e-01 -7.49905032e-02 -4.33164483e-02 1.46350222e+02] [ 7.49357288e-02 9.97184180e-01 -2.88916553e-03 1.03381894e+01] [ 4.34111370e-02 -3.67638699e-04 9.99057225e-01 5.93269285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82509989299996 meters 0.014128500044739676 Centerline is valid? [True, True] Translation: X:146.41, Y:10.34, Z:5.94 [[ 9.95836311e-01 -8.07106503e-02 -4.23772596e-02 1.46411175e+02] [ 8.06633685e-02 9.96737391e-01 -2.82726463e-03 1.03369655e+01] [ 4.24671896e-02 -6.02799725e-04 9.99097680e-01 5.93579112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88509989299996 meters 0.016662370343975053 Centerline is valid? [True, True] Translation: X:146.47, Y:10.33, Z:5.94 [[ 9.94994983e-01 -9.03602826e-02 -4.26614925e-02 1.46472197e+02] [ 9.03212197e-02 9.95908618e-01 -2.84621421e-03 1.03295002e+01] [ 4.27441328e-02 -1.02126918e-03 9.99085530e-01 5.93814134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.94509989299996 meters 0.017607743317067118 Centerline is valid? [True, True] Translation: X:146.53, Y:10.33, Z:5.94 [[ 9.94307011e-01 -9.71502638e-02 -4.37652219e-02 1.46533225e+02] [ 9.71157550e-02 9.95268813e-01 -2.91902369e-03 1.03278518e+01] [ 4.38417444e-02 -1.34788685e-03 9.99037579e-01 5.93901665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.00509989299997 meters 0.01935673525876373 Centerline is valid? [True, True] Translation: X:146.59, Y:10.33, Z:5.94 [[ 9.93627933e-01 -1.03680536e-01 -4.42026724e-02 1.46594387e+02] [ 1.03651842e-01 9.94609276e-01 -2.94682815e-03 1.03256226e+01] [ 4.42699168e-02 -1.65363764e-03 9.99018238e-01 5.94060406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06509989299997 meters 0.024394950843292865 Centerline is valid? [True, True] Translation: X:146.66, Y:10.32, Z:5.94 [[ 9.92581413e-01 -1.13221665e-01 -4.43056791e-02 1.46655095e+02] [ 1.13202346e-01 9.93567567e-01 -2.95289790e-03 1.03174373e+01] [ 4.43550178e-02 -2.08451524e-03 9.99013657e-01 5.94217011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12509989299997 meters 0.0262073306099204 Centerline is valid? [True, True] Translation: X:146.72, Y:10.32, Z:5.94 [[ 9.92036738e-01 -1.17761731e-01 -4.46686171e-02 1.46715991e+02] [ 1.17746706e-01 9.93039200e-01 -2.97652786e-03 1.03167290e+01] [ 4.47082089e-02 -2.30675754e-03 9.98997425e-01 5.94368183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18509989299997 meters 0.029635406054998058 Centerline is valid? [True, True] Translation: X:146.78, Y:10.31, Z:5.95 [[ 9.91592981e-01 -1.21797566e-01 -4.36888094e-02 1.46776569e+02] [ 1.21787125e-01 9.92551976e-01 -2.91050051e-03 1.03141174e+01] [ 4.37179060e-02 -2.43470264e-03 9.99040949e-01 5.94602986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24509989299997 meters 0.030288128517269492 Centerline is valid? [True, True] Translation: X:146.84, Y:10.32, Z:5.95 [[ 9.91555043e-01 -1.22464708e-01 -4.26730926e-02 1.46838391e+02] [ 1.22455394e-01 9.92469949e-01 -2.84206738e-03 1.03170449e+01] [ 4.26998149e-02 -2.40748411e-03 9.99085046e-01 5.94938336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30509989299998 meters 0.02683087403150838 Centerline is valid? [True, True] Translation: X:146.90, Y:10.33, Z:5.95 [[ 9.91698904e-01 -1.21528098e-01 -4.20024482e-02 1.46900204e+02] [ 1.21518357e-01 9.92585251e-01 -2.79450886e-03 1.03259054e+01] [ 4.20306219e-02 -2.33275712e-03 9.99113600e-01 5.95296106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36509989299998 meters 0.02693246709107991 Centerline is valid? [True, True] Translation: X:146.96, Y:10.33, Z:5.96 [[ 9.91893134e-01 -1.19959054e-01 -4.19265513e-02 1.46961801e+02] [ 1.19948079e-01 9.92776256e-01 -2.78640542e-03 1.03304295e+01] [ 4.19579391e-02 -2.26519287e-03 9.99116810e-01 5.95531385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42509989299998 meters 0.025918126101692456 Centerline is valid? [True, True] Translation: X:147.02, Y:10.34, Z:5.96 [[ 9.92242148e-01 -1.16814495e-01 -4.25428437e-02 1.47021850e+02] [ 1.16800432e-01 9.93151389e-01 -2.82458372e-03 1.03379013e+01] [ 4.25814366e-02 -2.16635152e-03 9.99090651e-01 5.95696552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48509989299998 meters 0.025431598991186855 Centerline is valid? [True, True] Translation: X:147.08, Y:10.34, Z:5.96 [[ 9.92519208e-01 -1.13858487e-01 -4.40666210e-02 1.47083383e+02] [ 1.13840501e-01 9.93494731e-01 -2.92563801e-03 1.03448819e+01] [ 4.41130645e-02 -2.11281427e-03 9.99024311e-01 5.95872029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54509989299996 meters 0.02545609548573877 Centerline is valid? [True, True] Translation: X:147.14, Y:10.35, Z:5.96 [[ 9.92904162e-01 -1.10697721e-01 -4.34435197e-02 1.47143996e+02] [ 1.10677319e-01 9.93852215e-01 -2.88201016e-03 1.03516434e+01] [ 4.34954702e-02 -1.94665241e-03 9.99051728e-01 5.96113420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60509989299996 meters 0.025108809218792705 Centerline is valid? [True, True] Translation: X:147.21, Y:10.36, Z:5.96 [[ 9.93141803e-01 -1.08570723e-01 -4.33792367e-02 1.47205218e+02] [ 1.08548422e-01 9.94087002e-01 -2.87622697e-03 1.03578147e+01] [ 4.34350093e-02 -1.85224647e-03 9.99054538e-01 5.96395450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66509989299996 meters 0.019916393901491487 Centerline is valid? [True, True] Translation: X:147.27, Y:10.37, Z:5.97 [[ 9.93712904e-01 -1.03652181e-01 -4.23189159e-02 1.47265537e+02] [ 1.03626563e-01 9.94612322e-01 -2.80450535e-03 1.03726021e+01] [ 4.23816083e-02 -1.59849067e-03 9.99100217e-01 5.96710658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.72509989299996 meters 0.02089117198355673 Centerline is valid? [True, True] Translation: X:147.33, Y:10.38, Z:5.97 [[ 9.94232586e-01 -9.89145205e-02 -4.14425314e-02 1.47325046e+02] [ 9.88858722e-02 9.95094993e-01 -2.74567501e-03 1.03777967e+01] [ 4.15108427e-02 -1.36824131e-03 9.99137117e-01 5.97030446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.78509989299997 meters 0.01704953848057736 Centerline is valid? [True, True] Translation: X:147.39, Y:10.39, Z:5.97 [[ 9.94755955e-01 -9.35626189e-02 -4.13113438e-02 1.47385899e+02] [ 9.35295390e-02 9.95612743e-01 -2.73701631e-03 1.03913786e+01] [ 4.13861827e-02 -1.14116767e-03 9.99142573e-01 5.97268789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84509989299997 meters 0.01656524707265934 Centerline is valid? [True, True] Translation: X:147.45, Y:10.40, Z:5.97 [[ 9.95025016e-01 -9.05182651e-02 -4.16132304e-02 1.47446980e+02] [ 9.04821361e-02 9.95894269e-01 -2.75471272e-03 1.03972113e+01] [ 4.16917295e-02 -1.02424590e-03 9.99129997e-01 5.97390894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.90509989299997 meters 0.015409656386556902 Centerline is valid? [True, True] Translation: X:147.51, Y:10.40, Z:5.98 [[ 9.95201572e-01 -8.78579984e-02 -4.30674174e-02 1.47509156e+02] [ 8.78168832e-02 9.96132560e-01 -2.84931510e-03 1.04044594e+01] [ 4.31511919e-02 -9.46403500e-04 9.99068105e-01 5.97583150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96509989299997 meters 0.01462598798802916 Centerline is valid? [True, True] Translation: X:147.57, Y:10.41, Z:5.98 [[ 9.95645262e-01 -8.19284117e-02 -4.44774933e-02 1.47569445e+02] [ 8.18787932e-02 9.96637960e-01 -2.93929778e-03 1.04123521e+01] [ 4.45687702e-02 -7.15265568e-04 9.99006063e-01 5.97873175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02509989299998 meters 0.013940015190816257 Centerline is valid? [True, True] Translation: X:147.63, Y:10.42, Z:5.98 [[ 9.96003935e-01 -7.77282191e-02 -4.39827842e-02 1.47629993e+02] [ 7.76756711e-02 9.96974448e-01 -2.90509672e-03 1.04191344e+01] [ 4.40755200e-02 -5.22904510e-04 9.99028065e-01 5.98203754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08509989299998 meters 0.013343670745634991 Centerline is valid? [True, True] Translation: X:147.69, Y:10.43, Z:5.98 [[ 9.96529695e-01 -7.05295265e-02 -4.42058034e-02 1.47690339e+02] [ 7.04693536e-02 9.97509671e-01 -2.92000886e-03 1.04267130e+01] [ 4.43016633e-02 -2.05278851e-04 9.99018178e-01 5.98496000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14509989299998 meters 0.013220161135592247 Centerline is valid? [True, True] Translation: X:147.75, Y:10.43, Z:5.99 [[ 9.96673517e-01 -6.84589689e-02 -4.42184385e-02 1.47749379e+02] [ 6.83967208e-02 9.97653926e-01 -2.92092636e-03 1.04319237e+01] [ 4.43146624e-02 -1.13186244e-04 9.99017616e-01 5.98777429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20509989299998 meters 0.013305137036818886 Centerline is valid? [True, True] Translation: X:147.81, Y:10.44, Z:5.99 [[ 9.96934140e-01 -6.38947270e-02 -4.51639762e-02 1.47808105e+02] [ 6.38250269e-02 9.97956640e-01 -2.98509516e-03 1.04382398e+01] [ 4.52624217e-02 9.33512865e-05 9.98975127e-01 5.98927421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26509989299998 meters 0.013305960892558434 Centerline is valid? [True, True] Translation: X:147.87, Y:10.44, Z:5.99 [[ 9.96913836e-01 -6.43150152e-02 -4.50153593e-02 1.47866168e+02] [ 6.42460611e-02 9.97929643e-01 -2.97838106e-03 1.04412810e+01] [ 4.51137161e-02 7.71297657e-05 9.98981855e-01 5.99176880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32509989299996 meters 0.013290069652877453 Centerline is valid? [True, True] Translation: X:147.92, Y:10.44, Z:5.99 [[ 9.96570164e-01 -6.96549285e-02 -4.46777349e-02 1.47924616e+02] [ 6.95917933e-02 9.97571134e-01 -2.96884242e-03 1.04394952e+01] [ 4.47760132e-02 -1.50543916e-04 9.98997040e-01 5.99376803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38509989299996 meters 0.013670754985640122 Centerline is valid? [True, True] Translation: X:147.98, Y:10.44, Z:6.00 [[ 9.96117732e-01 -7.62782968e-02 -4.39441103e-02 1.47983180e+02] [ 7.62231075e-02 9.97086475e-01 -2.93256772e-03 1.04376924e+01] [ 4.40397692e-02 -4.28373930e-04 9.99029687e-01 5.99625500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.44509989299996 meters 0.015170419218043626 Centerline is valid? [True, True] Translation: X:148.04, Y:10.43, Z:6.00 [[ 9.95511761e-01 -8.44902326e-02 -4.26348961e-02 1.48043199e+02] [ 8.44453577e-02 9.96424020e-01 -2.85565065e-03 1.04331965e+01] [ 4.27237091e-02 -7.57485241e-04 9.99086638e-01 5.99936525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.50509989299997 meters 0.017553365977638576 Centerline is valid? [True, True] Translation: X:148.10, Y:10.43, Z:6.00 [[ 9.94342280e-01 -9.72016394e-02 -4.28400759e-02 1.48104742e+02] [ 9.71680772e-02 9.95263848e-01 -2.86998511e-03 1.04254542e+01] [ 4.29161460e-02 -1.30894026e-03 9.99077820e-01 6.00019978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56509989299997 meters 0.021950962106288295 Centerline is valid? [True, True] Translation: X:148.17, Y:10.42, Z:6.00 [[ 9.93182474e-01 -1.08338264e-01 -4.30278328e-02 1.48165226e+02] [ 1.08314833e-01 9.94112463e-01 -2.88241561e-03 1.04173356e+01] [ 4.30867808e-02 -1.79778786e-03 9.99069716e-01 6.00210161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62509989299997 meters 0.024971749900525347 Centerline is valid? [True, True] Translation: X:148.23, Y:10.42, Z:6.01 [[ 9.92436902e-01 -1.14650814e-01 -4.38655498e-02 1.48226197e+02] [ 1.14632735e-01 9.93403603e-01 -2.93567578e-03 1.04152805e+01] [ 4.39127728e-02 -2.11495498e-03 9.99033130e-01 6.00514290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68509989299997 meters 0.024727567149812352 Centerline is valid? [True, True] Translation: X:148.29, Y:10.42, Z:6.01 [[ 9.91766875e-01 -1.20029096e-01 -4.46260268e-02 1.48286546e+02] [ 1.20015817e-01 9.92767488e-01 -2.98640573e-03 1.04177947e+01] [ 4.46617241e-02 -2.39401081e-03 9.98999299e-01 6.00732565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74509989299997 meters 0.02647013113158092 Centerline is valid? [True, True] Translation: X:148.35, Y:10.42, Z:6.01 [[ 9.91222301e-01 -1.24112494e-01 -4.55460078e-02 1.48347759e+02] [ 1.24102974e-01 9.92264664e-01 -3.04762446e-03 1.04175834e+01] [ 4.55719424e-02 -2.63152169e-03 9.98957593e-01 6.00884152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80509989299998 meters 0.029117462759588337 Centerline is valid? [True, True] Translation: X:148.41, Y:10.42, Z:6.01 [[ 9.90794039e-01 -1.27268836e-01 -4.61499297e-02 1.48408039e+02] [ 1.27262508e-01 9.91864266e-01 -3.08725414e-03 1.04166826e+01] [ 4.61673774e-02 -2.81432279e-03 9.98929754e-01 6.01081926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86509989299998 meters 0.02895176901949362 Centerline is valid? [True, True] Translation: X:148.47, Y:10.42, Z:6.01 [[ 9.90678348e-01 -1.28140735e-01 -4.62207964e-02 1.48470192e+02] [ 1.28135347e-01 9.91751871e-01 -3.09167821e-03 1.04209085e+01] [ 4.62357313e-02 -2.85965915e-03 9.98926464e-01 6.01417648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92509989299998 meters 0.029811548952662206 Centerline is valid? [True, True] Translation: X:148.53, Y:10.42, Z:6.02 [[ 9.90943356e-01 -1.25723627e-01 -4.71681575e-02 1.48530834e+02] [ 1.25715449e-01 9.92061335e-01 -3.15171601e-03 1.04245958e+01] [ 4.71899504e-02 -2.80659405e-03 9.98881991e-01 6.01588923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98509989299998 meters 0.025504677270759862 Centerline is valid? [True, True] Translation: X:148.59, Y:10.44, Z:6.02 [[ 9.91363111e-01 -1.22524988e-01 -4.67633298e-02 1.48590449e+02] [ 1.22513473e-01 9.92461936e-01 -3.12315891e-03 1.04356131e+01] [ 4.67934898e-02 -2.63295341e-03 9.98901115e-01 6.01897882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04509989299996 meters 0.025655201147646967 Centerline is valid? [True, True] Translation: X:148.65, Y:10.44, Z:6.02 [[ 9.92045849e-01 -1.17285487e-01 -4.57072022e-02 1.48649918e+02] [ 1.17268935e-01 9.93095503e-01 -3.05268553e-03 1.04421123e+01] [ 4.57496527e-02 -2.33163093e-03 9.98950215e-01 6.02257553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10509989299996 meters 0.025225994116036685 Centerline is valid? [True, True] Translation: X:148.71, Y:10.45, Z:6.03 [[ 9.92469252e-01 -1.13385197e-01 -4.63527917e-02 1.48709748e+02] [ 1.13363900e-01 9.93548709e-01 -3.09649294e-03 1.04491996e+01] [ 4.64048528e-02 -2.18155922e-03 9.98920332e-01 6.02512539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16509989299996 meters 0.022169627840190255 Centerline is valid? [True, True] Translation: X:148.77, Y:10.46, Z:6.03 [[ 9.92938363e-01 -1.08937670e-01 -4.69679827e-02 1.48770262e+02] [ 1.08910844e-01 9.94046570e-01 -3.13748996e-03 1.04607276e+01] [ 4.70301530e-02 -1.99998850e-03 9.98891468e-01 6.02756359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.22509989299996 meters 0.01933821786988425 Centerline is valid? [True, True] Translation: X:148.83, Y:10.47, Z:6.03 [[ 9.93753923e-01 -1.01451885e-01 -4.64828623e-02 1.48830268e+02] [ 1.01417470e-01 9.94839113e-01 -3.10426137e-03 1.04744635e+01] [ 4.65579027e-02 -1.62930236e-03 9.98914264e-01 6.03086736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.28509989299997 meters 0.017946101439509442 Centerline is valid? [True, True] Translation: X:148.89, Y:10.48, Z:6.03 [[ 9.94347268e-01 -9.54479709e-02 -4.65101596e-02 1.48890846e+02] [ 9.54069592e-02 9.95433506e-01 -3.10596930e-03 1.04844821e+01] [ 4.65942297e-02 -1.34898081e-03 9.98912988e-01 6.03324464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34509989299997 meters 0.01614799688472574 Centerline is valid? [True, True] Translation: X:148.95, Y:10.50, Z:6.04 [[ 9.94923602e-01 -8.93467993e-02 -4.63052439e-02 1.48950419e+02] [ 8.92995641e-02 9.96000014e-01 -3.09186287e-03 1.04959244e+01] [ 4.63962716e-02 -1.05887074e-03 9.98922552e-01 6.03582896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.40509989299997 meters 0.014570096751137481 Centerline is valid? [True, True] Translation: X:149.01, Y:10.51, Z:6.04 [[ 9.95462929e-01 -8.34345906e-02 -4.57408504e-02 1.49011298e+02] [ 8.33822676e-02 9.96512955e-01 -3.05403316e-03 1.05072155e+01] [ 4.58361620e-02 -7.73799034e-04 9.98948671e-01 6.03921873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46509989299997 meters 0.013728226947711836 Centerline is valid? [True, True] Translation: X:149.07, Y:10.52, Z:6.04 [[ 9.96121198e-01 -7.51372360e-02 -4.57925228e-02 1.49071054e+02] [ 7.50761002e-02 9.97173125e-01 -3.05590243e-03 1.05180458e+01] [ 4.58926851e-02 -3.93874845e-04 9.98946298e-01 6.04166459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52509989299998 meters 0.013434466602583073 Centerline is valid? [True, True] Translation: X:149.13, Y:10.52, Z:6.04 [[ 9.96312735e-01 -7.25812014e-02 -4.57482590e-02 1.49129906e+02] [ 7.25174838e-02 9.97362468e-01 -3.05309161e-03 1.05243201e+01] [ 4.58491936e-02 -2.75714575e-04 9.98948335e-01 6.04460839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58509989299998 meters 0.013378993621886364 Centerline is valid? [True, True] Translation: X:149.19, Y:10.53, Z:6.05 [[ 9.96601062e-01 -6.75564662e-02 -4.71428408e-02 1.49187832e+02] [ 6.74830903e-02 9.97715451e-01 -3.14810552e-03 1.05324114e+01] [ 4.72478156e-02 -4.39392838e-05 9.98883197e-01 6.04680842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64509989299998 meters 0.013486503693867892 Centerline is valid? [True, True] Translation: X:149.25, Y:10.54, Z:6.05 [[ 9.96794804e-01 -6.34874909e-02 -4.86770777e-02 1.49245806e+02] [ 6.34042434e-02 9.97982622e-01 -3.25393950e-03 1.05393437e+01] [ 4.87854621e-02 1.57176697e-04 9.98809268e-01 6.04808335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70509989299998 meters 0.013572485187555907 Centerline is valid? [True, True] Translation: X:149.30, Y:10.54, Z:6.05 [[ 9.96930239e-01 -6.22870270e-02 -4.74386476e-02 1.49303430e+02] [ 6.22063537e-02 9.98058255e-01 -3.17644820e-03 1.05442271e+01] [ 4.75443854e-02 2.15711966e-04 9.98869103e-01 6.05146961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76509989299998 meters 0.013464735354250624 Centerline is valid? [True, True] Translation: X:149.36, Y:10.55, Z:6.05 [[ 9.96898236e-01 -6.29906814e-02 -4.71813675e-02 1.49360046e+02] [ 6.29110646e-02 9.98014096e-01 -3.17198773e-03 1.05477274e+01] [ 4.72874755e-02 1.93918912e-04 9.98881303e-01 6.05409575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82509989299996 meters 0.013349467090762929 Centerline is valid? [True, True] Translation: X:149.42, Y:10.55, Z:6.06 [[ 9.96514387e-01 -6.92194814e-02 -4.65589934e-02 1.49418067e+02] [ 6.91484425e-02 9.97601451e-01 -3.13660739e-03 1.05463284e+01] [ 4.66644337e-02 -9.38074839e-05 9.98910618e-01 6.05684545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88509989299996 meters 0.014015019204101553 Centerline is valid? [True, True] Translation: X:149.48, Y:10.54, Z:6.06 [[ 9.95749253e-01 -7.88215069e-02 -4.76507668e-02 1.49477422e+02] [ 7.87574316e-02 9.96888597e-01 -3.22361579e-03 1.05430932e+01] [ 4.77565963e-02 -5.42938991e-04 9.98858855e-01 6.05855736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.94509989299996 meters 0.01484182137545005 Centerline is valid? [True, True] Translation: X:149.54, Y:10.54, Z:6.06 [[ 9.95237185e-01 -8.51013825e-02 -4.75468264e-02 1.49536974e+02] [ 8.50442294e-02 9.96371950e-01 -3.22736565e-03 1.05415845e+01] [ 4.76489774e-02 -8.31588914e-04 9.98863796e-01 6.06106427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.00509989299997 meters 0.017002734906619226 Centerline is valid? [True, True] Translation: X:149.60, Y:10.54, Z:6.07 [[ 9.94677024e-01 -9.21960582e-02 -4.60163520e-02 1.49596882e+02] [ 9.21500336e-02 9.95740230e-01 -3.12504045e-03 1.05366047e+01] [ 4.61084493e-02 -1.13200245e-03 9.98935798e-01 6.06526608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06509989299997 meters 0.01723813227192716 Centerline is valid? [True, True] Translation: X:149.66, Y:10.54, Z:6.07 [[ 9.94393120e-01 -9.54516493e-02 -4.55115885e-02 1.49658018e+02] [ 9.54100051e-02 9.95433260e-01 -3.09138181e-03 1.05384900e+01] [ 4.55988264e-02 -1.26821209e-03 9.98959028e-01 6.06875708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12509989299997 meters 0.01785514063884506 Centerline is valid? [True, True] Translation: X:149.72, Y:10.54, Z:6.07 [[ 9.94140513e-01 -9.79159093e-02 -4.57942625e-02 1.49719481e+02] [ 9.78764336e-02 9.95193719e-01 -3.10890510e-03 1.05392590e+01] [ 4.58785737e-02 -1.39149057e-03 9.98946055e-01 6.07143499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18509989299997 meters 0.019016466089638483 Centerline is valid? [True, True] Translation: X:149.78, Y:10.54, Z:6.07 [[ 9.93997541e-01 -9.90477511e-02 -4.64589278e-02 1.49779440e+02] [ 9.90084280e-02 9.95081601e-01 -3.15247926e-03 1.05399325e+01] [ 4.65426702e-02 -1.46626878e-03 9.98915227e-01 6.07310454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24509989299997 meters 0.019663132798178405 Centerline is valid? [True, True] Translation: X:149.84, Y:10.54, Z:6.07 [[ 9.93477418e-01 -1.03577777e-01 -4.76892488e-02 1.49840498e+02] [ 1.03541562e-01 9.94619865e-01 -3.23576116e-03 1.05388153e+01] [ 4.77678271e-02 -1.72316365e-03 9.98856979e-01 6.07417830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30509989299998 meters 0.021663635955156704 Centerline is valid? [True, True] Translation: X:149.90, Y:10.54, Z:6.07 [[ 9.92786532e-01 -1.08801648e-01 -5.03696651e-02 1.49901137e+02] [ 1.08768039e-01 9.94061288e-01 -3.41597397e-03 1.05378499e+01] [ 5.04421978e-02 -2.08727676e-03 9.98724801e-01 6.07484978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36509989299998 meters 0.02252526030250223 Centerline is valid? [True, True] Translation: X:149.96, Y:10.54, Z:6.08 [[ 9.92356253e-01 -1.12014975e-01 -5.17852547e-02 1.49961501e+02] [ 1.11983846e-01 9.93703823e-01 -3.51140521e-03 1.05402404e+01] [ 5.18525355e-02 -2.31454708e-03 9.98652070e-01 6.07685903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42509989299998 meters 0.022509235882809828 Centerline is valid? [True, True] Translation: X:150.02, Y:10.54, Z:6.08 [[ 9.92009808e-01 -1.14783336e-01 -5.23576759e-02 1.50022116e+02] [ 1.14755371e-01 9.93387438e-01 -3.55002631e-03 1.05439674e+01] [ 5.24189414e-02 -2.48666358e-03 9.98622086e-01 6.07932548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48509989299998 meters 0.024632840685019832 Centerline is valid? [True, True] Translation: X:150.08, Y:10.54, Z:6.08 [[ 9.91667643e-01 -1.17940225e-01 -5.18207340e-02 1.50082461e+02] [ 1.17917152e-01 9.93017222e-01 -3.51308409e-03 1.05443877e+01] [ 5.18732153e-02 -2.62674156e-03 9.98650224e-01 6.08198956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54509989299996 meters 0.02295314247442811 Centerline is valid? [True, True] Translation: X:150.14, Y:10.55, Z:6.09 [[ 9.91543953e-01 -1.19464193e-01 -5.06842696e-02 1.50143756e+02] [ 1.19444070e-01 9.92834983e-01 -3.43665995e-03 1.05512288e+01] [ 5.07316738e-02 -2.64633606e-03 9.98708814e-01 6.08619796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60509989299996 meters 0.026547082259766448 Centerline is valid? [True, True] Translation: X:150.20, Y:10.55, Z:6.09 [[ 9.91463020e-01 -1.20420393e-01 -5.00000915e-02 1.50204089e+02] [ 1.20402105e-01 9.92719422e-01 -3.38855844e-03 1.05507065e+01] [ 5.00441135e-02 -2.66048589e-03 9.98743465e-01 6.08832274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66509989299996 meters 0.028176701010609026 Centerline is valid? [True, True] Translation: X:150.27, Y:10.55, Z:6.09 [[ 9.91450191e-01 -1.21488685e-01 -4.76132151e-02 1.50265024e+02] [ 1.21473368e-01 9.92589449e-01 -3.22585468e-03 1.05540207e+01] [ 4.76522798e-02 -2.58546334e-03 9.98860639e-01 6.09341186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.72509989299996 meters 0.02687138047902139 Centerline is valid? [True, True] Translation: X:150.33, Y:10.56, Z:6.10 [[ 9.91418482e-01 -1.21988330e-01 -4.69919192e-02 1.50327231e+02] [ 1.21974054e-01 9.92528189e-01 -3.18192947e-03 1.05606818e+01] [ 4.70289628e-02 -2.57717122e-03 9.98890202e-01 6.09734037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.78509989299997 meters 0.02702431433914967 Centerline is valid? [True, True] Translation: X:150.39, Y:10.57, Z:6.10 [[ 9.91402470e-01 -1.22308804e-01 -4.64940664e-02 1.50389603e+02] [ 1.22295335e-01 9.92488771e-01 -3.14487136e-03 1.05658455e+01] [ 4.65294843e-02 -2.56817416e-03 9.98913616e-01 6.10054543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84509989299997 meters 0.02770388924747531 Centerline is valid? [True, True] Translation: X:150.45, Y:10.57, Z:6.10 [[ 9.91361536e-01 -1.22499703e-01 -4.68628664e-02 1.50451292e+02] [ 1.22486393e-01 9.92465142e-01 -3.16639060e-03 1.05696897e+01] [ 4.68976433e-02 -2.60102564e-03 9.98896314e-01 6.10250424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.90509989299997 meters 0.026400557775010384 Centerline is valid? [True, True] Translation: X:150.51, Y:10.58, Z:6.10 [[ 9.91261276e-01 -1.22813718e-01 -4.81442897e-02 1.50513446e+02] [ 1.22800215e-01 9.92426092e-01 -3.24941832e-03 1.05774497e+01] [ 4.81787224e-02 -2.69110657e-03 9.98835106e-01 6.10342598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96509989299997 meters 0.029058466755496445 Centerline is valid? [True, True] Translation: X:150.57, Y:10.58, Z:6.10 [[ 9.91215176e-01 -1.22886427e-01 -4.89019516e-02 1.50574719e+02] [ 1.22872757e-01 9.92416956e-01 -3.29705174e-03 1.05783714e+01] [ 4.89362889e-02 -2.74062989e-03 9.98798142e-01 6.10430506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02509989299998 meters 0.02882266456343593 Centerline is valid? [True, True] Translation: X:150.64, Y:10.58, Z:6.11 [[ 9.91121052e-01 -1.22890142e-01 -5.07648792e-02 1.50636990e+02] [ 1.22875574e-01 9.92416193e-01 -3.41966426e-03 1.05838663e+01] [ 5.08001312e-02 -2.84846244e-03 9.98704778e-01 6.10513688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08509989299998 meters 0.029686425764523565 Centerline is valid? [True, True] Translation: X:150.70, Y:10.59, Z:6.11 [[ 9.91178637e-01 -1.22239629e-01 -5.12092077e-02 1.50697963e+02] [ 1.22224112e-01 9.92496544e-01 -3.44626731e-03 1.05884594e+01] [ 5.12462321e-02 -2.84313339e-03 9.98682002e-01 6.10703660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14509989299998 meters 0.029011695655734193 Centerline is valid? [True, True] Translation: X:150.76, Y:10.59, Z:6.11 [[ 9.91214750e-01 -1.21992844e-01 -5.10985947e-02 1.50758929e+02] [ 1.21977158e-01 9.92526957e-01 -3.43704085e-03 1.05943905e+01] [ 5.11360271e-02 -2.82601576e-03 9.98687699e-01 6.11003415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20509989299998 meters 0.02962061019393126 Centerline is valid? [True, True] Translation: X:150.82, Y:10.60, Z:6.11 [[ 9.91260206e-01 -1.22180380e-01 -4.97509665e-02 1.50819769e+02] [ 1.22165827e-01 9.92504067e-01 -3.34468834e-03 1.05991402e+01] [ 4.97866919e-02 -2.76241153e-03 9.98756053e-01 6.11365822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26509989299998 meters 0.026597709230908623 Centerline is valid? [True, True] Translation: X:150.88, Y:10.61, Z:6.12 [[ 9.91305414e-01 -1.21973669e-01 -4.93558459e-02 1.50881233e+02] [ 1.21959188e-01 9.92529576e-01 -3.31612843e-03 1.06087788e+01] [ 4.93916172e-02 -2.73210285e-03 9.98775752e-01 6.11778228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32509989299996 meters 0.02867018413241929 Centerline is valid? [True, True] Translation: X:150.94, Y:10.61, Z:6.12 [[ 9.91310871e-01 -1.22225645e-01 -4.86173759e-02 1.50942521e+02] [ 1.22212059e-01 9.92498647e-01 -3.26313437e-03 1.06119172e+01] [ 4.86515185e-02 -2.70684902e-03 9.98812146e-01 6.12109856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38509989299996 meters 0.026521842448650655 Centerline is valid? [True, True] Translation: X:151.00, Y:10.62, Z:6.12 [[ 9.91251149e-01 -1.22857921e-01 -4.82399277e-02 1.51004519e+02] [ 1.22845421e-01 9.92420544e-01 -3.23508894e-03 1.06214707e+01] [ 4.82717516e-02 -2.71926857e-03 9.98830538e-01 6.12482077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.44509989299996 meters 0.027488335682252306 Centerline is valid? [True, True] Translation: X:151.07, Y:10.62, Z:6.13 [[ 9.91192489e-01 -1.23328341e-01 -4.82448868e-02 1.51066497e+02] [ 1.23316565e-01 9.92362121e-01 -3.23186448e-03 1.06245011e+01] [ 4.82749786e-02 -2.74599392e-03 9.98830309e-01 6.12707895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.50509989299997 meters 0.028718411241671484 Centerline is valid? [True, True] Translation: X:151.13, Y:10.63, Z:6.13 [[ 9.90983441e-01 -1.24602997e-01 -4.92535641e-02 1.51128652e+02] [ 1.24592475e-01 9.92202526e-01 -3.29577984e-03 1.06278554e+01] [ 4.92801748e-02 -2.87056020e-03 9.98780869e-01 6.12858142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56509989299997 meters 0.029009815389109083 Centerline is valid? [True, True] Translation: X:151.19, Y:10.63, Z:6.13 [[ 9.90729719e-01 -1.26633739e-01 -4.91784558e-02 1.51189181e+02] [ 1.26625895e-01 9.91945096e-01 -3.28759891e-03 1.06318132e+01] [ 4.91986490e-02 -2.97014403e-03 9.98784597e-01 6.13080351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62509989299997 meters 0.033307873157496753 Centerline is valid? [True, True] Translation: X:151.25, Y:10.63, Z:6.13 [[ 9.90282057e-01 -1.30140403e-01 -4.90400108e-02 1.51249358e+02] [ 1.30136919e-01 9.91490615e-01 -3.27758520e-03 1.06305678e+01] [ 4.90492567e-02 -3.13618209e-03 9.98791437e-01 6.13362337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68509989299997 meters 0.028816763927756357 Centerline is valid? [True, True] Translation: X:151.31, Y:10.64, Z:6.14 [[ 9.90152026e-01 -1.31259789e-01 -4.86809276e-02 1.51311021e+02] [ 1.31257725e-01 9.91342941e-01 -3.25308415e-03 1.06410381e+01] [ 4.86864931e-02 -3.16869995e-03 9.98809083e-01 6.13713175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74509989299997 meters 0.028397762546550583 Centerline is valid? [True, True] Translation: X:151.37, Y:10.65, Z:6.14 [[ 9.90383805e-01 -1.29757092e-01 -4.79897534e-02 1.51372422e+02] [ 1.29753492e-01 9.91541108e-01 -3.20347078e-03 1.06471230e+01] [ 4.79994863e-02 -3.05417251e-03 9.98842691e-01 6.14048906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80509989299998 meters 0.03136768317577071 Centerline is valid? [True, True] Translation: X:151.43, Y:10.65, Z:6.14 [[ 9.90698617e-01 -1.27625896e-01 -4.72004245e-02 1.51433166e+02] [ 1.27620121e-01 9.91818125e-01 -3.14827461e-03 1.06481186e+01] [ 4.72160379e-02 -2.90473258e-03 9.98880477e-01 6.14356498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86509989299998 meters 0.029550147676816206 Centerline is valid? [True, True] Translation: X:151.49, Y:10.66, Z:6.15 [[ 9.91034368e-01 -1.25287990e-01 -4.64090658e-02 1.51494443e+02] [ 1.25279936e-01 9.92116610e-01 -3.09365459e-03 1.06553633e+01] [ 4.64308028e-02 -2.74820675e-03 9.98917728e-01 6.14767781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92509989299998 meters 0.02599152626646172 Centerline is valid? [True, True] Translation: X:151.56, Y:10.66, Z:6.15 [[ 9.91494964e-01 -1.21396014e-01 -4.69120834e-02 1.51555103e+02] [ 1.21383590e-01 9.92600758e-01 -3.12409449e-03 1.06643024e+01] [ 4.69442222e-02 -2.59683313e-03 9.98894137e-01 6.14948407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98509989299998 meters 0.025860644990793914 Centerline is valid? [True, True] Translation: X:151.62, Y:10.67, Z:6.15 [[ 9.91761993e-01 -1.18497629e-01 -4.86462916e-02 1.51617049e+02] [ 1.18480855e-01 9.92951056e-01 -3.23841641e-03 1.06685573e+01] [ 4.86871313e-02 -2.55191592e-03 9.98810818e-01 6.15010505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04509989299996 meters 0.02592396968224138 Centerline is valid? [True, True] Translation: X:151.68, Y:10.67, Z:6.15 [[ 9.91943212e-01 -1.16534890e-01 -4.96818212e-02 1.51677566e+02] [ 1.16515073e-01 9.93183425e-01 -3.30472832e-03 1.06724540e+01] [ 4.97282775e-02 -2.51057819e-03 9.98759628e-01 6.15178431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10509989299996 meters 0.023028924534002522 Centerline is valid? [True, True] Translation: X:151.74, Y:10.68, Z:6.15 [[ 9.92401809e-01 -1.11919255e-01 -5.11148709e-02 1.51737881e+02] [ 1.11892267e-01 9.93714533e-01 -3.39827725e-03 1.06812207e+01] [ 5.11739227e-02 -2.34690229e-03 9.98686999e-01 6.15417890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16509989299996 meters 0.02018013624630769 Centerline is valid? [True, True] Translation: X:151.80, Y:10.69, Z:6.16 [[ 9.93631012e-01 -1.01588124e-01 -4.87572028e-02 1.51798102e+02] [ 1.01551191e-01 9.94825037e-01 -3.24048019e-03 1.06912124e+01] [ 4.88340804e-02 -1.73151039e-03 9.98805404e-01 6.15933872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.22509989299996 meters 0.01756211330025555 Centerline is valid? [True, True] Translation: X:151.86, Y:10.70, Z:6.16 [[ 9.94487893e-01 -9.36656483e-02 -4.71229955e-02 1.51858420e+02] [ 9.36222944e-02 9.95602864e-01 -3.13115474e-03 1.07008955e+01] [ 4.72090709e-02 -1.29786747e-03 9.98884187e-01 6.16405605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.28509989299997 meters 0.015742378653780666 Centerline is valid? [True, True] Translation: X:151.92, Y:10.71, Z:6.17 [[ 9.95224043e-01 -8.58784726e-02 -4.64111230e-02 1.51919152e+02] [ 8.58279763e-02 9.96305200e-01 -3.08338427e-03 1.07092223e+01] [ 4.65044395e-02 -9.14714604e-04 9.98917664e-01 6.16785715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.34509989299997 meters 0.014352382288443858 Centerline is valid? [True, True] Translation: X:151.98, Y:10.72, Z:6.17 [[ 9.95790844e-01 -7.88855710e-02 -4.66654224e-02 1.51979811e+02] [ 7.88268868e-02 9.96883502e-01 -3.09934266e-03 1.07163639e+01] [ 4.67644831e-02 -5.92192930e-04 9.98905768e-01 6.17051409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.40509989299997 meters 0.013986585420770938 Centerline is valid? [True, True] Translation: X:152.04, Y:10.72, Z:6.17 [[ 9.96121411e-01 -7.42887493e-02 -4.71520513e-02 1.52040253e+02] [ 7.42237603e-02 9.97236700e-01 -3.13009441e-03 1.07210812e+01] [ 4.72542868e-02 -3.81848486e-04 9.98882819e-01 6.17295373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46509989299997 meters 0.013887943980208758 Centerline is valid? [True, True] Translation: X:152.10, Y:10.72, Z:6.17 [[ 9.96174314e-01 -7.30522535e-02 -4.79593984e-02 1.52098963e+02] [ 7.29835136e-02 9.97328061e-01 -3.18520915e-03 1.07237291e+01] [ 4.80639405e-02 -3.27221869e-04 9.98844207e-01 6.17462681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52509989299998 meters 0.013750764911772679 Centerline is valid? [True, True] Translation: X:152.16, Y:10.72, Z:6.18 [[ 9.96102916e-01 -7.30420801e-02 -4.94351625e-02 1.52157794e+02] [ 7.29683961e-02 9.97328807e-01 -3.29600464e-03 1.07242645e+01] [ 4.95438587e-02 -3.24044692e-04 9.98771896e-01 6.17638543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58509989299998 meters 0.013709914172415159 Centerline is valid? [True, True] Translation: X:152.22, Y:10.72, Z:6.18 [[ 9.96002587e-01 -7.42369043e-02 -4.96762378e-02 1.52216999e+02] [ 7.41633480e-02 9.97240564e-01 -3.32484726e-03 1.07243706e+01] [ 4.97859858e-02 -3.72599640e-04 9.98759839e-01 6.17875045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64509989299998 meters 0.014028730790398914 Centerline is valid? [True, True] Translation: X:152.28, Y:10.72, Z:6.18 [[ 9.95824255e-01 -7.76362035e-02 -4.80278312e-02 1.52275831e+02] [ 7.75708251e-02 9.96981623e-01 -3.22644308e-03 1.07220744e+01] [ 4.81333539e-02 -5.12588213e-04 9.98840787e-01 6.18292633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70509989299998 meters 0.014385214654085798 Centerline is valid? [True, True] Translation: X:152.34, Y:10.72, Z:6.19 [[ 9.95481320e-01 -8.26655214e-02 -4.67263664e-02 1.52335361e+02] [ 8.26086778e-02 9.96577085e-01 -3.14958759e-03 1.07188553e+01] [ 4.68267883e-02 -7.24647729e-04 9.98902761e-01 6.18623489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76509989299996 meters 0.01602829060794529 Centerline is valid? [True, True] Translation: X:152.39, Y:10.71, Z:6.19 [[ 9.94933078e-01 -8.95173527e-02 -4.57691446e-02 1.52394700e+02] [ 8.94699407e-02 9.95984737e-01 -3.08752857e-03 1.07129110e+01] [ 4.58617569e-02 -1.02307836e-03 9.98947272e-01 6.18863262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82509989299996 meters 0.017320069294041885 Centerline is valid? [True, True] Translation: X:152.46, Y:10.71, Z:6.19 [[ 9.94370094e-01 -9.50754460e-02 -4.67843555e-02 1.52455705e+02] [ 9.50319400e-02 9.95469214e-01 -3.15832881e-03 1.07111032e+01] [ 4.68726651e-02 -1.30546035e-03 9.98900020e-01 6.19057148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88509989299996 meters 0.01797042196421122 Centerline is valid? [True, True] Translation: X:152.52, Y:10.71, Z:6.19 [[ 9.94103901e-01 -9.78179659e-02 -4.67875977e-02 1.52516127e+02] [ 9.77774862e-02 9.95203289e-01 -3.15854769e-03 1.07121538e+01] [ 4.68721338e-02 -1.43484911e-03 9.98899867e-01 6.19288474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.94509989299996 meters 0.02060291932776483 Centerline is valid? [True, True] Translation: X:152.58, Y:10.71, Z:6.19 [[ 9.93298500e-01 -1.04984181e-01 -4.83364429e-02 1.52577113e+02] [ 1.04949439e-01 9.94472205e-01 -3.26315399e-03 1.07080099e+01] [ 4.84118285e-02 -1.83159662e-03 9.98825781e-01 6.19362276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.00509989299997 meters 0.02709982585763335 Centerline is valid? [True, True] Translation: X:152.64, Y:10.70, Z:6.19 [[ 9.92051105e-01 -1.15138774e-01 -5.07707305e-02 1.52637157e+02] [ 1.15113674e-01 9.93346410e-01 -3.42795321e-03 1.06976012e+01] [ 5.08276132e-02 -2.44370057e-03 9.98704452e-01 6.19308732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06509989299997 meters 0.02647495075701554 Centerline is valid? [True, True] Translation: X:152.70, Y:10.70, Z:6.20 [[ 9.91455325e-01 -1.20344979e-01 -5.03331390e-02 1.52696909e+02] [ 1.20326956e-01 9.92728497e-01 -3.39912951e-03 1.07005997e+01] [ 5.03762096e-02 -2.68634836e-03 9.98726700e-01 6.19718436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12509989299997 meters 0.024126730287641836 Centerline is valid? [True, True] Translation: X:152.76, Y:10.71, Z:6.20 [[ 9.91532586e-01 -1.20305135e-01 -4.88856388e-02 1.52757370e+02] [ 1.20288071e-01 9.92733539e-01 -3.30160017e-03 1.07085409e+01] [ 4.89276127e-02 -2.60671504e-03 9.98798926e-01 6.20112697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18509989299997 meters 0.02531848426413614 Centerline is valid? [True, True] Translation: X:152.82, Y:10.71, Z:6.20 [[ 9.91916869e-01 -1.17878328e-01 -4.69640775e-02 1.52817227e+02] [ 1.17859862e-01 9.93025172e-01 -3.17182325e-03 1.07133222e+01] [ 4.70104004e-02 -2.38899471e-03 9.98891543e-01 6.20433118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24509989299997 meters 0.023813282241691033 Centerline is valid? [True, True] Translation: X:152.88, Y:10.72, Z:6.21 [[ 9.92155793e-01 -1.15879611e-01 -4.68913426e-02 1.52878006e+02] [ 1.15858984e-01 9.93260624e-01 -3.16672807e-03 1.07214797e+01] [ 4.69422834e-02 -2.29089572e-03 9.98894976e-01 6.20647458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30509989299998 meters 0.023100422789296547 Centerline is valid? [True, True] Translation: X:152.94, Y:10.73, Z:6.21 [[ 9.92214241e-01 -1.15377163e-01 -4.68935968e-02 1.52938989e+02] [ 1.15356056e-01 9.93319164e-01 -3.16516014e-03 1.07276006e+01] [ 4.69454956e-02 -2.26894341e-03 9.98894876e-01 6.20872989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36509989299998 meters 0.024585296579827467 Centerline is valid? [True, True] Translation: X:153.00, Y:10.73, Z:6.21 [[ 9.92284550e-01 -1.14866982e-01 -4.66577890e-02 1.52998900e+02] [ 1.14845599e-01 9.93378367e-01 -3.14762838e-03 1.07302727e+01] [ 4.67103969e-02 -2.23509873e-03 9.98905973e-01 6.21109287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42509989299998 meters 0.024684146139006054 Centerline is valid? [True, True] Translation: X:153.06, Y:10.74, Z:6.21 [[ 9.92442667e-01 -1.13444771e-01 -4.67743191e-02 1.53059641e+02] [ 1.13421750e-01 9.93541924e-01 -3.15455917e-03 1.07362712e+01] [ 4.68301152e-02 -2.17450602e-03 9.98900501e-01 6.21317422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48509989299998 meters 0.02349205096968724 Centerline is valid? [True, True] Translation: X:153.12, Y:10.74, Z:6.22 [[ 9.92642162e-01 -1.11597632e-01 -4.69841054e-02 1.53120476e+02] [ 1.11572418e-01 9.93751259e-01 -3.16704142e-03 1.07449411e+01] [ 4.70439483e-02 -2.09839143e-03 9.98890616e-01 6.21527564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54509989299996 meters 0.020417786318962263 Centerline is valid? [True, True] Translation: X:153.18, Y:10.76, Z:6.22 [[ 9.93003335e-01 -1.08961528e-01 -4.55166096e-02 1.53181532e+02] [ 1.08935175e-01 9.94044126e-01 -3.06645789e-03 1.07571384e+01] [ 4.55796444e-02 -1.91335694e-03 9.98958876e-01 6.21896921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60509989299996 meters 0.020139818466240345 Centerline is valid? [True, True] Translation: X:153.24, Y:10.77, Z:6.22 [[ 9.93383719e-01 -1.05866760e-01 -4.45085991e-02 1.53242893e+02] [ 1.05838572e-01 9.94378811e-01 -2.99600165e-03 1.07657257e+01] [ 4.45755849e-02 -1.73454733e-03 9.99004509e-01 6.22216788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66509989299996 meters 0.0196442296053201 Centerline is valid? [True, True] Translation: X:153.30, Y:10.78, Z:6.22 [[ 9.93921093e-01 -1.00075685e-01 -4.58881133e-02 1.53302439e+02] [ 1.00039670e-01 9.94978662e-01 -3.08648432e-03 1.07762271e+01] [ 4.59665756e-02 -1.52290984e-03 9.98941817e-01 6.22418623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.72509989299996 meters 0.017361853284673864 Centerline is valid? [True, True] Translation: X:153.36, Y:10.79, Z:6.23 [[ 9.94353406e-01 -9.57499954e-02 -4.57519740e-02 1.53363138e+02] [ 9.57096262e-02 9.95404540e-01 -3.07718751e-03 1.07873511e+01] [ 4.58363634e-02 -1.31909245e-03 9.98948091e-01 6.22697583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.78509989299997 meters 0.015539362278761827 Centerline is valid? [True, True] Translation: X:153.42, Y:10.80, Z:6.23 [[ 9.95073615e-01 -8.84395422e-02 -4.47989751e-02 1.53422995e+02] [ 8.83935010e-02 9.96081081e-01 -3.01154558e-03 1.08005669e+01] [ 4.48897512e-02 -9.63228700e-04 9.98991483e-01 6.23092498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84509989299997 meters 0.013948486205966712 Centerline is valid? [True, True] Translation: X:153.48, Y:10.81, Z:6.23 [[ 9.95684566e-01 -8.12827261e-02 -4.47812933e-02 1.53484199e+02] [ 8.12295254e-02 9.96690879e-01 -3.00944830e-03 1.08124036e+01] [ 4.48777227e-02 -6.41101972e-04 9.98992282e-01 6.23329897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.90509989299997 meters 0.01352692527241546 Centerline is valid? [True, True] Translation: X:153.54, Y:10.82, Z:6.24 [[ 9.96025594e-01 -7.72310054e-02 -4.43665080e-02 1.53544223e+02] [ 7.71748705e-02 9.97013121e-01 -2.97926180e-03 1.08191335e+01] [ 4.44640820e-02 -4.56558509e-04 9.99010879e-01 6.23512236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96509989299997 meters 0.01309378857309863 Centerline is valid? [True, True] Translation: X:153.60, Y:10.83, Z:6.24 [[ 9.96277436e-01 -7.38916096e-02 -4.43993340e-02 1.53604262e+02] [ 7.38321098e-02 9.97266231e-01 -2.98071913e-03 1.08258391e+01] [ 4.44982066e-02 -3.08473288e-04 9.99009417e-01 6.23705726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02509989299998 meters 0.012688514369896582 Centerline is valid? [True, True] Translation: X:153.66, Y:10.83, Z:6.24 [[ 9.96619273e-01 -6.95007199e-02 -4.38140976e-02 1.53663908e+02] [ 6.94385366e-02 9.97581895e-01 -2.94142969e-03 1.08343088e+01] [ 4.39125820e-02 -1.10901307e-04 9.99035371e-01 6.23990076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08509989299998 meters 0.012609126930823156 Centerline is valid? [True, True] Translation: X:153.72, Y:10.84, Z:6.24 [[ 9.96704533e-01 -6.84263189e-02 -4.35650310e-02 1.53723667e+02] [ 6.83638123e-02 9.97656171e-01 -2.92476803e-03 1.08390252e+01] [ 4.36630531e-02 -6.31420451e-05 9.99046312e-01 6.24254990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14509989299998 meters 0.012679403217417961 Centerline is valid? [True, True] Translation: X:153.78, Y:10.84, Z:6.24 [[ 9.96795538e-01 -6.70211810e-02 -4.36671235e-02 1.53783384e+02] [ 6.69569647e-02 9.97751553e-01 -2.93318729e-03 1.08416984e+01] [ 4.37655260e-02 -3.00434755e-08 9.99041830e-01 6.24461977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20509989299998 meters 0.012749201000341555 Centerline is valid? [True, True] Translation: X:153.84, Y:10.84, Z:6.25 [[ 9.96663868e-01 -6.82041892e-02 -4.48254732e-02 1.53842758e+02] [ 6.81376403e-02 9.97671382e-01 -3.01265106e-03 1.08430753e+01] [ 4.49265672e-02 -5.17015071e-05 9.98990291e-01 6.24654436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26509989299996 meters 0.012846416332148263 Centerline is valid? [True, True] Translation: X:153.90, Y:10.84, Z:6.25 [[ 9.96373317e-01 -7.17141770e-02 -4.57961704e-02 1.53901658e+02] [ 7.16483021e-02 9.97425201e-01 -3.08040862e-03 1.08436467e+01] [ 4.58991634e-02 -2.11980897e-04 9.98946056e-01 6.24815754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32509989299996 meters 0.013895488555629595 Centerline is valid? [True, True] Translation: X:153.96, Y:10.84, Z:6.25 [[ 9.95797461e-01 -7.89691503e-02 -4.63820088e-02 1.53960149e+02] [ 7.89089314e-02 9.96876913e-01 -3.13072372e-03 1.08383235e+01] [ 4.64843843e-02 -5.42388021e-04 9.98918869e-01 6.25053432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38509989299996 meters 0.01438148715818335 Centerline is valid? [True, True] Translation: X:154.02, Y:10.84, Z:6.25 [[ 9.95368131e-01 -8.47283981e-02 -4.54244794e-02 1.54020281e+02] [ 8.46764963e-02 9.96403770e-01 -3.06903699e-03 1.08368321e+01] [ 4.55211571e-02 -7.91564145e-04 9.98963061e-01 6.25397093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44509989299996 meters 0.015584940036594223 Centerline is valid? [True, True] Translation: X:154.08, Y:10.84, Z:6.26 [[ 9.94893981e-01 -9.05260498e-02 -4.46206335e-02 1.54081129e+02] [ 9.04817634e-02 9.95893548e-01 -3.01535603e-03 1.08350148e+01] [ 4.47103692e-02 -1.03739404e-03 9.98999453e-01 6.25761370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.50509989299997 meters 0.017855792356948706 Centerline is valid? [True, True] Translation: X:154.14, Y:10.83, Z:6.26 [[ 9.94205666e-01 -9.78520281e-02 -4.44980176e-02 1.54142052e+02] [ 9.78153877e-02 9.95200039e-01 -3.00529286e-03 1.08309719e+01] [ 4.45785029e-02 -1.36471165e-03 9.99004952e-01 6.26093258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56509989299997 meters 0.019774003190654213 Centerline is valid? [True, True] Translation: X:154.20, Y:10.83, Z:6.26 [[ 9.93804939e-01 -1.01577255e-01 -4.50977282e-02 1.54202544e+02] [ 1.01543485e-01 9.94826441e-01 -3.04497600e-03 1.08284214e+01] [ 4.51737128e-02 -1.55326833e-03 9.98977939e-01 6.26212396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62509989299997 meters 0.02108258486762527 Centerline is valid? [True, True] Translation: X:154.26, Y:10.83, Z:6.26 [[ 9.93204710e-01 -1.07004663e-01 -4.57646775e-02 1.54263974e+02] [ 1.06975673e-01 9.94256839e-01 -3.08918570e-03 1.08263614e+01] [ 4.58324008e-02 -1.82751340e-03 9.98947472e-01 6.26339480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68509989299997 meters 0.020949057034495858 Centerline is valid? [True, True] Translation: X:154.32, Y:10.83, Z:6.27 [[ 9.92993837e-01 -1.08943758e-01 -4.57656792e-02 1.54324766e+02] [ 1.08916859e-01 9.94046065e-01 -3.08843017e-03 1.08300784e+01] [ 4.58296586e-02 -1.91786193e-03 9.98947428e-01 6.26624277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74509989299997 meters 0.022665971959837453 Centerline is valid? [True, True] Translation: X:154.39, Y:10.83, Z:6.27 [[ 9.92519514e-01 -1.12767530e-01 -4.67813924e-02 1.54386310e+02] [ 1.12743706e-01 9.93619090e-01 -3.15601363e-03 1.08297384e+01] [ 4.68387804e-02 -2.14190242e-03 9.98900166e-01 6.26775685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80509989299998 meters 0.021656056206265244 Centerline is valid? [True, True] Translation: X:154.45, Y:10.84, Z:6.27 [[ 9.92366398e-01 -1.13848132e-01 -4.74081763e-02 1.54447423e+02] [ 1.13824979e-01 9.93495675e-01 -3.19655150e-03 1.08350329e+01] [ 4.74637395e-02 -2.22408438e-03 9.98870486e-01 6.27049231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86509989299998 meters 0.02162508087532361 Centerline is valid? [True, True] Translation: X:154.51, Y:10.84, Z:6.27 [[ 9.92486684e-01 -1.12783303e-01 -4.74353156e-02 1.54508436e+02] [ 1.12758994e-01 9.93617226e-01 -3.19661274e-03 1.08397781e+01] [ 4.74930712e-02 -2.17616289e-03 9.98869197e-01 6.27334181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92509989299998 meters 0.022801502967771583 Centerline is valid? [True, True] Translation: X:154.57, Y:10.84, Z:6.28 [[ 9.92581091e-01 -1.11996681e-01 -4.73235830e-02 1.54568810e+02] [ 1.11971672e-01 9.93706287e-01 -3.18743543e-03 1.08426069e+01] [ 4.73827241e-02 -2.13511259e-03 9.98874526e-01 6.27616549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98509989299998 meters 0.022039046894589017 Centerline is valid? [True, True] Translation: X:154.63, Y:10.85, Z:6.28 [[ 9.92966748e-01 -1.08714229e-01 -4.68855397e-02 1.54629786e+02] [ 1.08686073e-01 9.94071110e-01 -3.15699568e-03 1.08500256e+01] [ 4.69507708e-02 -1.96101347e-03 9.98895280e-01 6.27980863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04509989299996 meters 0.01932102608881529 Centerline is valid? [True, True] Translation: X:154.69, Y:10.86, Z:6.28 [[ 9.93146906e-01 -1.06484105e-01 -4.81700986e-02 1.54690728e+02] [ 1.06451856e-01 9.94312573e-01 -3.24170561e-03 1.08609481e+01] [ 4.82413248e-02 -1.90830648e-03 9.98833887e-01 6.28232247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10509989299996 meters 0.020724836825714677 Centerline is valid? [True, True] Translation: X:154.75, Y:10.86, Z:6.28 [[ 9.93301018e-01 -1.04968590e-01 -4.83185461e-02 1.54751262e+02] [ 1.04934434e-01 9.94473832e-01 -3.25000209e-03 1.08646851e+01] [ 4.83926779e-02 -1.84204892e-03 9.98826689e-01 6.28462838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16509989299996 meters 0.019365278773826076 Centerline is valid? [True, True] Translation: X:154.81, Y:10.87, Z:6.29 [[ 9.93470359e-01 -1.02983412e-01 -4.91025631e-02 1.54812279e+02] [ 1.02945771e-01 9.94681490e-01 -3.30169644e-03 1.08728169e+01] [ 4.91814306e-02 -1.77476367e-03 9.98788284e-01 6.28709296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.22509989299996 meters 0.019316614042583436 Centerline is valid? [True, True] Translation: X:154.87, Y:10.88, Z:6.29 [[ 9.93655405e-01 -1.00727403e-01 -5.00292644e-02 1.54871670e+02] [ 1.00685560e-01 9.94912616e-01 -3.36231170e-03 1.08784080e+01] [ 5.01134232e-02 -1.69624528e-03 9.98742093e-01 6.28921176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.28509989299997 meters 0.018055173444583746 Centerline is valid? [True, True] Translation: X:154.93, Y:10.89, Z:6.29 [[ 9.93920134e-01 -9.83380513e-02 -4.95216600e-02 1.54931503e+02] [ 9.82941279e-02 9.95151844e-01 -3.32743930e-03 1.08862198e+01] [ 4.96087852e-02 -1.56047947e-03 9.98767507e-01 6.29227289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34509989299997 meters 0.01708019427929806 Centerline is valid? [True, True] Translation: X:154.99, Y:10.89, Z:6.29 [[ 9.94188996e-01 -9.53636590e-02 -4.99400998e-02 1.54991289e+02] [ 9.53152426e-02 9.95441482e-01 -3.35555493e-03 1.08935216e+01] [ 5.00324450e-02 -1.42399694e-03 9.98746578e-01 6.29472356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.40509989299997 meters 0.01587390200719087 Centerline is valid? [True, True] Translation: X:155.05, Y:10.90, Z:6.30 [[ 9.94724668e-01 -8.90376495e-02 -5.09424400e-02 1.55050749e+02] [ 8.89789809e-02 9.96027622e-01 -3.42290377e-03 1.09022808e+01] [ 5.10448447e-02 -1.12795958e-03 9.98695725e-01 6.29570953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46509989299997 meters 0.014601692051573594 Centerline is valid? [True, True] Translation: X:155.11, Y:10.91, Z:6.30 [[ 9.94934093e-01 -8.62656777e-02 -5.16176670e-02 1.55110455e+02] [ 8.62017070e-02 9.96271668e-01 -3.46845171e-03 1.09100006e+01] [ 5.17244275e-02 -9.98650151e-04 9.98660897e-01 6.29879661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52509989299998 meters 0.01322850739318615 Centerline is valid? [True, True] Translation: X:155.17, Y:10.92, Z:6.30 [[ 9.95790581e-01 -7.58912946e-02 -5.13967862e-02 1.55169004e+02] [ 7.58139950e-02 9.97115993e-01 -3.45471885e-03 1.09208306e+01] [ 5.15107406e-02 -4.56419201e-04 9.98672336e-01 6.30102929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58509989299998 meters 0.012817876038087504 Centerline is valid? [True, True] Translation: X:155.23, Y:10.93, Z:6.30 [[ 9.96272994e-01 -6.89960173e-02 -5.17655335e-02 1.55227508e+02] [ 6.89080906e-02 9.97616931e-01 -3.48349922e-03 1.09298933e+01] [ 5.18825203e-02 -9.65478830e-05 9.98653190e-01 6.30349536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64509989299998 meters 0.012996489283064546 Centerline is valid? [True, True] Translation: X:155.28, Y:10.94, Z:6.31 [[ 9.96683482e-01 -6.32093772e-02 -5.12504758e-02 1.55284486e+02] [ 6.31148736e-02 9.98000265e-01 -3.46188352e-03 1.09380578e+01] [ 5.13668119e-02 2.15734817e-04 9.98679831e-01 6.30600272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70509989299998 meters 0.013675176012807141 Centerline is valid? [True, True] Translation: X:155.34, Y:10.94, Z:6.31 [[ 9.97014208e-01 -5.79543225e-02 -5.10290690e-02 1.55341645e+02] [ 5.78530850e-02 9.98319112e-01 -3.45998981e-03 1.09444082e+01] [ 5.11438162e-02 4.97469934e-04 9.98691175e-01 6.30818934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76509989299996 meters 0.013548852536463343 Centerline is valid? [True, True] Translation: X:155.40, Y:10.95, Z:6.31 [[ 9.97012521e-01 -5.79514315e-02 -5.10652953e-02 1.55399620e+02] [ 5.78496270e-02 9.98319275e-01 -3.47062839e-03 1.09463303e+01] [ 5.11805965e-02 5.06151682e-04 9.98689286e-01 6.31082117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82509989299996 meters 0.013235681057900852 Centerline is valid? [True, True] Translation: X:155.46, Y:10.95, Z:6.31 [[ 9.96935381e-01 -6.01136956e-02 -5.00618666e-02 1.55458608e+02] [ 6.00178861e-02 9.98191456e-01 -3.41623655e-03 1.09465333e+01] [ 5.01766901e-02 4.01159675e-04 9.98740276e-01 6.31410951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88509989299996 meters 0.012856452919755845 Centerline is valid? [True, True] Translation: X:155.52, Y:10.94, Z:6.32 [[ 9.96643131e-01 -6.46144997e-02 -5.02736155e-02 1.55517900e+02] [ 6.45229553e-02 9.97910282e-01 -3.44342606e-03 1.09449430e+01] [ 5.03910531e-02 1.88064682e-04 9.98729546e-01 6.31618612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94509989299996 meters 0.012754466327111618 Centerline is valid? [True, True] Translation: X:155.58, Y:10.94, Z:6.32 [[ 9.96132304e-01 -7.32339388e-02 -4.85512483e-02 1.55576184e+02] [ 7.31582584e-02 9.97314764e-01 -3.33634798e-03 1.09389700e+01] [ 4.86652106e-02 -2.28480773e-04 9.98815121e-01 6.32000899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.00509989299997 meters 0.013170091248961664 Centerline is valid? [True, True] Translation: X:155.64, Y:10.94, Z:6.32 [[ 9.95641427e-01 -7.92727403e-02 -4.91322919e-02 1.55635403e+02] [ 7.92023031e-02 9.96852827e-01 -3.38191433e-03 1.09362091e+01] [ 4.92457576e-02 -5.24216665e-04 9.98786554e-01 6.32283596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06509989299997 meters 0.014461466354830858 Centerline is valid? [True, True] Translation: X:155.70, Y:10.93, Z:6.32 [[ 9.94902081e-01 -8.75806390e-02 -4.99947994e-02 1.55695116e+02] [ 8.75176100e-02 9.96156989e-01 -3.45262412e-03 1.09292628e+01] [ 5.01050519e-02 -9.40402431e-04 9.98743510e-01 6.32429374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12509989299997 meters 0.015539863449886981 Centerline is valid? [True, True] Translation: X:155.75, Y:10.93, Z:6.33 [[ 9.94500107e-01 -9.19914894e-02 -5.00709836e-02 1.55754922e+02] [ 9.19337207e-02 9.95759116e-01 -3.46046855e-03 1.09269650e+01] [ 5.01769720e-02 -1.16177549e-03 9.98739667e-01 6.32693484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18509989299997 meters 0.017486641031510815 Centerline is valid? [True, True] Translation: X:155.81, Y:10.92, Z:6.33 [[ 9.94143768e-01 -9.56987531e-02 -5.01987867e-02 1.55813704e+02] [ 9.56453091e-02 9.95409426e-01 -3.47125779e-03 1.09229060e+01] [ 5.03005404e-02 -1.35034917e-03 9.98733214e-01 6.32955665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24509989299997 meters 0.016690730152454238 Centerline is valid? [True, True] Translation: X:155.87, Y:10.93, Z:6.33 [[ 9.94067018e-01 -9.65419861e-02 -5.01039831e-02 1.55872159e+02] [ 9.64895970e-02 9.95327948e-01 -3.46900488e-03 1.09258773e+01] [ 5.02047993e-02 -1.38608980e-03 9.98737982e-01 6.33254030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30509989299998 meters 0.01612363290761026 Centerline is valid? [True, True] Translation: X:155.93, Y:10.93, Z:6.34 [[ 9.94093523e-01 -9.63560723e-02 -4.99357105e-02 1.55930397e+02] [ 9.63031674e-02 9.95346000e-01 -3.46998419e-03 1.09285333e+01] [ 5.00376638e-02 -1.35947828e-03 9.98746406e-01 6.33552366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36509989299998 meters 0.017080678719930336 Centerline is valid? [True, True] Translation: X:155.99, Y:10.93, Z:6.34 [[ 9.94078188e-01 -9.60402625e-02 -5.08411651e-02 1.55988408e+02] [ 9.59844088e-02 9.95376526e-01 -3.54467993e-03 1.09301389e+01] [ 5.09465343e-02 -1.35627018e-03 9.98700461e-01 6.33647886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42509989299998 meters 0.01662597204462704 Centerline is valid? [True, True] Translation: X:156.05, Y:10.93, Z:6.34 [[ 9.94090912e-01 -9.56312442e-02 -5.13607177e-02 1.56046821e+02] [ 9.55733799e-02 9.95415924e-01 -3.58707827e-03 1.09348374e+01] [ 5.14683131e-02 -1.34283548e-03 9.98673725e-01 6.33854501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48509989299998 meters 0.016668226909068645 Centerline is valid? [True, True] Translation: X:156.10, Y:10.94, Z:6.34 [[ 9.94086478e-01 -9.55110916e-02 -5.16691880e-02 1.56104330e+02] [ 9.54516810e-02 9.95427475e-01 -3.62187617e-03 1.09396327e+01] [ 5.17788587e-02 -1.33145273e-03 9.98657688e-01 6.34053966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54509989299996 meters 0.015815298788753856 Centerline is valid? [True, True] Translation: X:156.16, Y:10.95, Z:6.34 [[ 9.94162983e-01 -9.42951003e-02 -5.24251533e-02 1.56162997e+02] [ 9.42314779e-02 9.95543478e-01 -3.68954360e-03 1.09482026e+01] [ 5.25394253e-02 -1.27209201e-03 9.98618040e-01 6.34288176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60509989299996 meters 0.015256147661404212 Centerline is valid? [True, True] Translation: X:156.22, Y:10.96, Z:6.35 [[ 9.94311271e-01 -9.28028962e-02 -5.22754147e-02 1.56221754e+02] [ 9.27368960e-02 9.95683804e-01 -3.69197870e-03 1.09558903e+01] [ 5.23924100e-02 -1.17688366e-03 9.98625881e-01 6.34609750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66509989299996 meters 0.014524892657910286 Centerline is valid? [True, True] Translation: X:156.28, Y:10.96, Z:6.35 [[ 9.94576767e-01 -9.05152670e-02 -5.12253928e-02 1.56280053e+02] [ 9.04482400e-02 9.95894543e-01 -3.62988609e-03 1.09640879e+01] [ 5.13436493e-02 -1.02304625e-03 9.98680521e-01 6.34974332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.72509989299996 meters 0.013774820195375152 Centerline is valid? [True, True] Translation: X:156.34, Y:10.97, Z:6.35 [[ 9.95083956e-01 -8.55907010e-02 -4.98212043e-02 1.56337261e+02] [ 8.55205563e-02 9.96330111e-01 -3.54184765e-03 1.09747848e+01] [ 4.99415152e-02 -7.36301339e-04 9.98751873e-01 6.35330447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.78509989299997 meters 0.013302359370164307 Centerline is valid? [True, True] Translation: X:156.40, Y:10.98, Z:6.36 [[ 9.95397805e-01 -8.23914189e-02 -4.89373524e-02 1.56395697e+02] [ 8.23195257e-02 9.96599891e-01 -3.48616893e-03 1.09829653e+01] [ 4.90581904e-02 -5.58374743e-04 9.98795766e-01 6.35648805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84509989299997 meters 0.012705761266595018 Centerline is valid? [True, True] Translation: X:156.45, Y:10.99, Z:6.36 [[ 9.95754916e-01 -7.86878241e-02 -4.77532614e-02 1.56453699e+02] [ 7.86145561e-02 9.96899243e-01 -3.41341120e-03 1.09906228e+01] [ 4.78737840e-02 -3.55180467e-04 9.98853330e-01 6.36009642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.90509989299997 meters 0.012531309636975227 Centerline is valid? [True, True] Translation: X:156.51, Y:11.00, Z:6.36 [[ 9.95808088e-01 -7.78698884e-02 -4.79847028e-02 1.56512082e+02] [ 7.77943769e-02 9.96963483e-01 -3.44204286e-03 1.09968447e+01] [ 4.81070279e-02 -3.05325935e-04 9.98842140e-01 6.36319975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96509989299997 meters 0.012493150027628488 Centerline is valid? [True, True] Translation: X:156.57, Y:11.00, Z:6.37 [[ 9.95684819e-01 -7.95005492e-02 -4.78686130e-02 1.56571185e+02] [ 7.94267081e-02 9.96834753e-01 -3.44574177e-03 1.09999719e+01] [ 4.79910353e-02 -3.71173576e-04 9.98847697e-01 6.36566994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02509989299998 meters 0.0128604693488234 Centerline is valid? [True, True] Translation: X:156.63, Y:11.00, Z:6.37 [[ 9.95470939e-01 -8.20891479e-02 -4.79476987e-02 1.56629314e+02] [ 8.20175018e-02 9.96624872e-01 -3.46308711e-03 1.10002344e+01] [ 4.80701510e-02 -4.85147885e-04 9.98843844e-01 6.36649900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08509989299998 meters 0.013185646561132285 Centerline is valid? [True, True] Translation: X:156.69, Y:11.00, Z:6.37 [[ 9.95178678e-01 -8.53433019e-02 -4.83313539e-02 1.56688412e+02] [ 8.52740476e-02 9.96351399e-01 -3.49678372e-03 1.10018337e+01] [ 4.84534391e-02 -6.41485580e-04 9.98825236e-01 6.36881202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14509989299998 meters 0.01349043115875498 Centerline is valid? [True, True] Translation: X:156.75, Y:11.00, Z:6.37 [[ 9.95013817e-01 -8.73203544e-02 -4.81939742e-02 1.56748143e+02] [ 8.72536885e-02 9.96180013e-01 -3.48935907e-03 1.10043968e+01] [ 4.83145660e-02 -7.33141535e-04 9.98831900e-01 6.37134904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20509989299998 meters 0.014660158132697458 Centerline is valid? [True, True] Translation: X:156.81, Y:11.00, Z:6.37 [[ 9.94496787e-01 -9.35146718e-02 -4.72350227e-02 1.56808381e+02] [ 9.34575296e-02 9.95617388e-01 -3.42162311e-03 1.10019514e+01] [ 4.73479819e-02 -1.01167534e-03 9.98877943e-01 6.37401928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26509989299996 meters 0.017203868993968887 Centerline is valid? [True, True] Translation: X:156.87, Y:11.00, Z:6.38 [[ 9.94030197e-01 -9.88866344e-02 -4.61020814e-02 1.56867635e+02] [ 9.88379003e-02 9.95097938e-01 -3.34103178e-03 1.09985810e+01] [ 4.62064695e-02 -1.23554645e-03 9.98931147e-01 6.37613787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32509989299996 meters 0.01833163548365961 Centerline is valid? [True, True] Translation: X:156.93, Y:11.00, Z:6.38 [[ 9.93528663e-01 -1.03969490e-01 -4.57289935e-02 1.56928187e+02] [ 1.03926919e-01 9.94579415e-01 -3.31391270e-03 1.09985884e+01] [ 4.58256615e-02 -1.46000617e-03 9.98948386e-01 6.37900692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38509989299996 meters 0.01994729581900479 Centerline is valid? [True, True] Translation: X:156.99, Y:11.00, Z:6.38 [[ 9.93073248e-01 -1.08857462e-01 -4.42219040e-02 1.56988694e+02] [ 1.08822486e-01 9.94056033e-01 -3.20469615e-03 1.09989691e+01] [ 4.43079056e-02 -1.62983951e-03 9.99016593e-01 6.38248034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44509989299996 meters 0.020851932608525005 Centerline is valid? [True, True] Translation: X:157.05, Y:11.00, Z:6.39 [[ 9.92436555e-01 -1.14848691e-01 -4.33527755e-02 1.57049708e+02] [ 1.14820776e-01 9.93381256e-01 -3.14169952e-03 1.09983809e+01] [ 4.34266546e-02 -1.85986188e-03 9.99054887e-01 6.38515518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.50509989299997 meters 0.023027162823243078 Centerline is valid? [True, True] Translation: X:157.11, Y:11.00, Z:6.39 [[ 9.92138812e-01 -1.17371661e-01 -4.34104883e-02 1.57110153e+02] [ 1.17346096e-01 9.93086099e-01 -3.14550522e-03 1.09975741e+01] [ 4.34795456e-02 -1.97327353e-03 9.99052369e-01 6.38711406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56509989299997 meters 0.02208844963532469 Centerline is valid? [True, True] Translation: X:157.17, Y:11.00, Z:6.39 [[ 9.91869610e-01 -1.19587413e-01 -4.35146821e-02 1.57171093e+02] [ 1.19563888e-01 9.92821505e-01 -3.15223776e-03 1.10019846e+01] [ 4.35792801e-02 -2.07617571e-03 9.99047815e-01 6.38947843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62509989299997 meters 0.026004322881201167 Centerline is valid? [True, True] Translation: X:157.23, Y:11.00, Z:6.39 [[ 9.91523281e-01 -1.22256368e-01 -4.39882185e-02 1.57231284e+02] [ 1.22235022e-01 9.92496074e-01 -3.18483443e-03 1.09990634e+01] [ 4.40475004e-02 -2.21906335e-03 9.99026973e-01 6.39037373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68509989299997 meters 0.02548531611167626 Centerline is valid? [True, True] Translation: X:157.29, Y:11.00, Z:6.39 [[ 9.91321949e-01 -1.23470207e-01 -4.51209530e-02 1.57292769e+02] [ 1.23449142e-01 9.92345533e-01 -3.26378351e-03 1.10032275e+01] [ 4.51785561e-02 -2.33468268e-03 9.98976200e-01 6.39187722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74509989299997 meters 0.0244225525888394 Centerline is valid? [True, True] Translation: X:157.35, Y:11.01, Z:6.39 [[ 9.90985047e-01 -1.25801284e-01 -4.60724904e-02 1.57354105e+02] [ 1.25781910e-01 9.92052325e-01 -3.33092172e-03 1.10084450e+01] [ 4.61253555e-02 -2.49419223e-03 9.98932546e-01 6.39340015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80509989299998 meters 0.02843325258805178 Centerline is valid? [True, True] Translation: X:157.41, Y:11.01, Z:6.40 [[ 9.90828712e-01 -1.26837882e-01 -4.65898682e-02 1.57414615e+02] [ 1.26819291e-01 9.91920124e-01 -3.36667822e-03 1.10080499e+01] [ 4.66404502e-02 -2.57269258e-03 9.98908429e-01 6.39538163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86509989299998 meters 0.0277729861192409 Centerline is valid? [True, True] Translation: X:157.47, Y:11.01, Z:6.40 [[ 9.90694599e-01 -1.27807988e-01 -4.67902633e-02 1.57474639e+02] [ 1.27790351e-01 9.91795442e-01 -3.38039514e-03 1.10139243e+01] [ 4.68384114e-02 -2.63040498e-03 9.98899016e-01 6.39764061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92509989299998 meters 0.02794191652744526 Centerline is valid? [True, True] Translation: X:157.54, Y:11.02, Z:6.40 [[ 9.90712172e-01 -1.27947029e-01 -4.60320491e-02 1.57535752e+02] [ 1.27930113e-01 9.91777610e-01 -3.32546988e-03 1.10200889e+01] [ 4.60790397e-02 -2.59430178e-03 9.98934428e-01 6.40116719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98509989299998 meters 0.026232593116474662 Centerline is valid? [True, True] Translation: X:157.60, Y:11.03, Z:6.40 [[ 9.90822241e-01 -1.27446396e-01 -4.50411266e-02 1.57596715e+02] [ 1.27429754e-01 9.91842266e-01 -3.25230776e-03 1.10286887e+01] [ 4.50881880e-02 -2.51712084e-03 9.98979839e-01 6.40476899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04509989299996 meters 0.028192080753513142 Centerline is valid? [True, True] Translation: X:157.66, Y:11.03, Z:6.41 [[ 9.90925016e-01 -1.26761923e-01 -4.47104962e-02 1.57656424e+02] [ 1.26744900e-01 9.91930097e-01 -3.22686979e-03 1.10323263e+01] [ 4.47587311e-02 -2.46924136e-03 9.98994774e-01 6.40797089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10509989299996 meters 0.02670193126612759 Centerline is valid? [True, True] Translation: X:157.72, Y:11.04, Z:6.41 [[ 9.90849017e-01 -1.27550101e-01 -4.41497260e-02 1.57718364e+02] [ 1.27534320e-01 9.91829043e-01 -3.18549301e-03 1.10408882e+01] [ 4.41952904e-02 -2.47426267e-03 9.99019847e-01 6.41132444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16509989299996 meters 0.02908754797269808 Centerline is valid? [True, True] Translation: X:157.78, Y:11.04, Z:6.41 [[ 9.90364969e-01 -1.30255883e-01 -4.70173736e-02 1.57778290e+02] [ 1.30241181e-01 9.91476550e-01 -3.38916530e-03 1.10433976e+01] [ 4.70580820e-02 -2.76708769e-03 9.98888322e-01 6.41084137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.22509989299996 meters 0.02572408259407889 Centerline is valid? [True, True] Translation: X:157.84, Y:11.05, Z:6.41 [[ 9.90020346e-01 -1.32605531e-01 -4.77020634e-02 1.57839100e+02] [ 1.32593126e-01 9.91164588e-01 -3.43830222e-03 1.10534415e+01] [ 4.77365339e-02 -2.92097654e-03 9.98855691e-01 6.41302423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.28509989299997 meters 0.027970524172319374 Centerline is valid? [True, True] Translation: X:157.90, Y:11.06, Z:6.42 [[ 9.89764224e-01 -1.34580456e-01 -4.74856007e-02 1.57898697e+02] [ 1.34570523e-01 9.90898115e-01 -3.42062148e-03 1.10573621e+01] [ 4.75137410e-02 -3.00455337e-03 9.98866066e-01 6.41503266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34509989299997 meters 0.0270041755538926 Centerline is valid? [True, True] Translation: X:157.96, Y:11.07, Z:6.42 [[ 9.89858409e-01 -1.34070492e-01 -4.69620319e-02 1.57960095e+02] [ 1.34060402e-01 9.90967403e-01 -3.37870979e-03 1.10655653e+01] [ 4.69908281e-02 -2.95130459e-03 9.98890961e-01 6.41793701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.40509989299997 meters 0.0282993241900485 Centerline is valid? [True, True] Translation: X:158.02, Y:11.07, Z:6.42 [[ 9.90115149e-01 -1.32367939e-01 -4.63758624e-02 1.58020086e+02] [ 1.32356399e-01 9.91196587e-01 -3.33305437e-03 1.10712534e+01] [ 4.64087861e-02 -2.83803455e-03 9.98918500e-01 6.42057859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46509989299997 meters 0.02666215879509643 Centerline is valid? [True, True] Translation: X:158.08, Y:11.08, Z:6.42 [[ 9.90493012e-01 -1.29861978e-01 -4.53812682e-02 1.58081053e+02] [ 1.29848479e-01 9.91528497e-01 -3.25775780e-03 1.10818909e+01] [ 4.54198795e-02 -2.66590230e-03 9.98964428e-01 6.42385214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52509989299998 meters 0.026959912503238107 Centerline is valid? [True, True] Translation: X:158.14, Y:11.09, Z:6.43 [[ 9.90615302e-01 -1.28820281e-01 -4.56799566e-02 1.58143194e+02] [ 1.28805620e-01 9.91664447e-01 -3.27660000e-03 1.10893553e+01] [ 4.57212815e-02 -2.63798502e-03 9.98950752e-01 6.42529348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58509989299998 meters 0.024520435092765146 Centerline is valid? [True, True] Translation: X:158.21, Y:11.10, Z:6.43 [[ 9.90561398e-01 -1.29027826e-01 -4.62594592e-02 1.58205093e+02] [ 1.29013176e-01 9.91637339e-01 -3.31475180e-03 1.11001285e+01] [ 4.63003023e-02 -2.68461458e-03 9.98923958e-01 6.42751815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64509989299998 meters 0.02978598276441843 Centerline is valid? [True, True] Translation: X:158.27, Y:11.10, Z:6.43 [[ 9.90397834e-01 -1.30219165e-01 -4.64230448e-02 1.58266169e+02] [ 1.30205873e-01 9.91481411e-01 -3.32305651e-03 1.11014718e+01] [ 4.64603116e-02 -2.75340511e-03 9.98916342e-01 6.42981790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70509989299998 meters 0.027445629539625448 Centerline is valid? [True, True] Translation: X:158.33, Y:11.11, Z:6.43 [[ 9.90204196e-01 -1.31485581e-01 -4.69807685e-02 1.58327457e+02] [ 1.31473513e-01 9.91313988e-01 -3.36034182e-03 1.11111427e+01] [ 4.70145295e-02 -2.84930211e-03 9.98890142e-01 6.43157673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76509989299996 meters 0.026974389006635808 Centerline is valid? [True, True] Translation: X:158.39, Y:11.12, Z:6.43 [[ 9.89927377e-01 -1.33724243e-01 -4.64931687e-02 1.58387996e+02] [ 1.33714990e-01 9.91014257e-01 -3.32309351e-03 1.11201896e+01] [ 4.65197712e-02 -2.92721236e-03 9.98913080e-01 6.43458512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82509989299996 meters 0.031238572970836438 Centerline is valid? [True, True] Translation: X:158.45, Y:11.12, Z:6.44 [[ 9.90102780e-01 -1.32974764e-01 -4.48797988e-02 1.58449365e+02] [ 1.32965413e-01 9.91115490e-01 -3.20686035e-03 1.11233984e+01] [ 4.49074953e-02 -2.79233966e-03 9.98987247e-01 6.43803958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88509989299996 meters 0.026618017952913044 Centerline is valid? [True, True] Translation: X:158.51, Y:11.14, Z:6.44 [[ 9.90496085e-01 -1.30208918e-01 -4.43073745e-02 1.58508820e+02] [ 1.30197148e-01 9.91483078e-01 -3.16367569e-03 1.11375362e+01] [ 4.43419508e-02 -2.63508539e-03 9.99012937e-01 6.44040202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94509989299996 meters 0.026868797824738794 Centerline is valid? [True, True] Translation: X:158.57, Y:11.14, Z:6.44 [[ 9.90677149e-01 -1.28683204e-01 -4.47148658e-02 1.58571115e+02] [ 1.28669680e-01 9.91682369e-01 -3.19251627e-03 1.11442572e+01] [ 4.47537673e-02 -2.59069454e-03 9.98994689e-01 6.44245234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.00509989299997 meters 0.025843822019721338 Centerline is valid? [True, True] Translation: X:158.63, Y:11.15, Z:6.44 [[ 9.90802730e-01 -1.26935393e-01 -4.68759652e-02 1.58631999e+02] [ 1.26918782e-01 9.91907480e-01 -3.34265067e-03 1.11525726e+01] [ 4.69209212e-02 -2.63753300e-03 9.98895125e-01 6.44270710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06509989299997 meters 0.028809137281738895 Centerline is valid? [True, True] Translation: X:158.69, Y:11.15, Z:6.44 [[ 9.90826534e-01 -1.26571356e-01 -4.73547495e-02 1.58693278e+02] [ 1.26554079e-01 9.91953968e-01 -3.37494111e-03 1.11534440e+01] [ 4.74009025e-02 -2.64895549e-03 9.98872433e-01 6.44424143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12509989299997 meters 0.025386905843970072 Centerline is valid? [True, True] Translation: X:158.75, Y:11.16, Z:6.45 [[ 9.91161666e-01 -1.24012492e-01 -4.71110771e-02 1.58753923e+02] [ 1.23992626e-01 9.92277467e-01 -3.35513010e-03 1.11636717e+01] [ 4.71633383e-02 -2.51594981e-03 9.98884022e-01 6.44690948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18509989299997 meters 0.0249305312926113 Centerline is valid? [True, True] Translation: X:158.81, Y:11.17, Z:6.45 [[ 9.91853115e-01 -1.18619965e-01 -4.64403079e-02 1.58812924e+02] [ 1.18594829e-01 9.92937227e-01 -3.30592777e-03 1.11713986e+01] [ 4.65044596e-02 -2.22858562e-03 9.98915596e-01 6.45050141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24509989299997 meters 0.021075571036114304 Centerline is valid? [True, True] Translation: X:158.87, Y:11.18, Z:6.45 [[ 9.92448401e-01 -1.13537950e-01 -4.64252626e-02 1.58873428e+02] [ 1.13507254e-01 9.93531669e-01 -3.30544406e-03 1.11828140e+01] [ 4.65002620e-02 -1.98912140e-03 9.98916297e-01 6.45310261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30509989299998 meters 0.01905900166703049 Centerline is valid? [True, True] Translation: X:158.93, Y:11.19, Z:6.45 [[ 9.93024627e-01 -1.08190697e-01 -4.68707145e-02 1.58933962e+02] [ 1.08153503e-01 9.94128608e-01 -3.33630736e-03 1.11913287e+01] [ 4.69564755e-02 -1.75619656e-03 9.98895393e-01 6.45480567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36509989299998 meters 0.015997332586245364 Centerline is valid? [True, True] Translation: X:158.99, Y:11.20, Z:6.46 [[ 9.93966561e-01 -9.89915861e-02 -4.72349516e-02 1.58993643e+02] [ 9.89434684e-02 9.95087378e-01 -3.36146818e-03 1.12031668e+01] [ 4.73356612e-02 -1.33240297e-03 9.98878151e-01 6.45612487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42509989299998 meters 0.01314490492263713 Centerline is valid? [True, True] Translation: X:159.05, Y:11.22, Z:6.46 [[ 9.94819443e-01 -9.00063685e-02 -4.72559888e-02 1.59053815e+02] [ 8.99480799e-02 9.95940779e-01 -3.36283168e-03 1.12156264e+01] [ 4.73668425e-02 -9.05175111e-04 9.98877151e-01 6.45869014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48509989299998 meters 0.012441823790232568 Centerline is valid? [True, True] Translation: X:159.11, Y:11.22, Z:6.46 [[ 9.95246954e-01 -8.51650334e-02 -4.72273047e-02 1.59113890e+02] [ 8.51014078e-02 9.96366630e-01 -3.35992979e-03 1.12227269e+01] [ 4.73418589e-02 -6.75150223e-04 9.98878517e-01 6.46091242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54509989299996 meters 0.011524014765307632 Centerline is valid? [True, True] Translation: X:159.17, Y:11.23, Z:6.46 [[ 9.95723246e-01 -7.92414261e-02 -4.74975116e-02 1.59174757e+02] [ 7.91703777e-02 9.96855375e-01 -3.37819964e-03 1.12306328e+01] [ 4.76158431e-02 -3.96644022e-04 9.98865644e-01 6.46236349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60509989299996 meters 0.011150756011848235 Centerline is valid? [True, True] Translation: X:159.23, Y:11.24, Z:6.47 [[ 9.96135164e-01 -7.39730361e-02 -4.73574106e-02 1.59234507e+02] [ 7.38965237e-02 9.97260231e-01 -3.36676584e-03 1.12387288e+01] [ 4.74767121e-02 -1.45794175e-04 9.98872334e-01 6.46527856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66509989299996 meters 0.011046175468658541 Centerline is valid? [True, True] Translation: X:159.29, Y:11.24, Z:6.47 [[ 9.96338383e-01 -7.14284704e-02 -4.69872433e-02 1.59293400e+02] [ 7.13503125e-02 9.97445724e-01 -3.34063793e-03 1.12443962e+01] [ 4.71058416e-02 -2.41487009e-05 9.98889903e-01 6.46857546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.72509989299996 meters 0.011016705858186662 Centerline is valid? [True, True] Translation: X:159.35, Y:11.25, Z:6.47 [[ 9.96419400e-01 -7.00451290e-02 -4.73503879e-02 1.59352770e+02] [ 6.99641129e-02 9.97543823e-01 -3.36821658e-03 1.12481229e+01] [ 4.74700141e-02 4.33284593e-05 9.98872662e-01 6.47084359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.78509989299997 meters 0.01088771809000102 Centerline is valid? [True, True] Translation: X:159.41, Y:11.25, Z:6.47 [[ 9.96282521e-01 -7.18164883e-02 -4.75765713e-02 1.59412238e+02] [ 7.17366310e-02 9.97417862e-01 -3.38605013e-03 1.12504769e+01] [ 4.76968962e-02 -3.95203788e-05 9.98861855e-01 6.47329799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84509989299997 meters 0.011019154313172975 Centerline is valid? [True, True] Translation: X:159.47, Y:11.25, Z:6.48 [[ 9.95589718e-01 -8.01641514e-02 -4.87321390e-02 1.59472034e+02] [ 8.00902636e-02 9.96781575e-01 -3.47011337e-03 1.12477430e+01] [ 4.88534770e-02 -4.48160663e-04 9.98805855e-01 6.47537426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.90509989299997 meters 0.011899586747400664 Centerline is valid? [True, True] Translation: X:159.53, Y:11.25, Z:6.48 [[ 9.95101938e-01 -8.60103367e-02 -4.87273593e-02 1.59531957e+02] [ 8.59433822e-02 9.96293975e-01 -3.47143923e-03 1.12458146e+01] [ 4.88453541e-02 -7.33358157e-04 9.98806084e-01 6.47732262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96509989299997 meters 0.014675021957229242 Centerline is valid? [True, True] Translation: X:159.59, Y:11.24, Z:6.48 [[ 9.94031970e-01 -9.80426383e-02 -4.78339257e-02 1.59592943e+02] [ 9.79919808e-02 9.95181367e-01 -3.40856571e-03 1.12392002e+01] [ 4.79376163e-02 -1.29911784e-03 9.98849487e-01 6.47959804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02509989299998 meters 0.016470594449662663 Centerline is valid? [True, True] Translation: X:159.65, Y:11.24, Z:6.48 [[ 9.93451082e-01 -1.03563261e-01 -4.82659097e-02 1.59654377e+02] [ 1.03518188e-01 9.94621614e-01 -3.43932358e-03 1.12385407e+01] [ 4.83625046e-02 -1.57959980e-03 9.98828600e-01 6.48182103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08509989299998 meters 0.018439914974185432 Centerline is valid? [True, True] Translation: X:159.72, Y:11.24, Z:6.48 [[ 9.92873341e-01 -1.08713723e-01 -4.88247416e-02 1.59716101e+02] [ 1.08673900e-01 9.94071371e-01 -3.47735642e-03 1.12376503e+01] [ 4.89133142e-02 -1.85340060e-03 9.98801308e-01 6.48387779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14509989299998 meters 0.01954046439086518 Centerline is valid? [True, True] Translation: X:159.78, Y:11.24, Z:6.49 [[ 9.92395325e-01 -1.12919284e-01 -4.89974971e-02 1.59776772e+02] [ 1.12884373e-01 9.93602009e-01 -3.48801200e-03 1.12382415e+01] [ 4.90778753e-02 -2.06956493e-03 9.98792811e-01 6.48629587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20509989299998 meters 0.021218592178150055 Centerline is valid? [True, True] Translation: X:159.84, Y:11.24, Z:6.49 [[ 9.91726119e-01 -1.17682587e-01 -5.12846407e-02 1.59837963e+02] [ 1.17650749e-01 9.93048327e-01 -3.64973328e-03 1.12381636e+01] [ 5.13576367e-02 -2.41414056e-03 9.98677408e-01 6.48753379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26509989299996 meters 0.02017774265822966 Centerline is valid? [True, True] Translation: X:159.90, Y:11.24, Z:6.49 [[ 9.91694863e-01 -1.17228056e-01 -5.29044628e-02 1.59899577e+02] [ 1.17193650e-01 9.93101953e-01 -3.76283528e-03 1.12437136e+01] [ 5.29806352e-02 -2.46848270e-03 9.98592489e-01 6.48875745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32509989299996 meters 0.02224859842062054 Centerline is valid? [True, True] Translation: X:159.96, Y:11.25, Z:6.49 [[ 9.91885395e-01 -1.15161254e-01 -5.38632463e-02 1.59960191e+02] [ 1.15122747e-01 9.93343900e-01 -3.82741969e-03 1.12466617e+01] [ 5.39454976e-02 -2.40452321e-03 9.98540986e-01 6.49067363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38509989299996 meters 0.021027312850729556 Centerline is valid? [True, True] Translation: X:160.02, Y:11.25, Z:6.49 [[ 9.92047319e-01 -1.13495965e-01 -5.44130759e-02 1.60020821e+02] [ 1.13454253e-01 9.93535704e-01 -3.86498063e-03 1.12537120e+01] [ 5.44999934e-02 -2.33915121e-03 9.98511031e-01 6.49337444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44509989299996 meters 0.018382744176535435 Centerline is valid? [True, True] Translation: X:160.08, Y:11.26, Z:6.50 [[ 9.92396893e-01 -1.10289958e-01 -5.46308772e-02 1.60080506e+02] [ 1.10243057e-01 9.93897082e-01 -3.88059508e-03 1.12631421e+01] [ 5.47254601e-02 -2.17158441e-03 9.98499078e-01 6.49591663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.50509989299997 meters 0.016154325083498355 Centerline is valid? [True, True] Translation: X:160.14, Y:11.27, Z:6.50 [[ 9.92714206e-01 -1.07386686e-01 -5.46498388e-02 1.60141806e+02] [ 1.07335401e-01 9.94215293e-01 -3.88120640e-03 1.12722012e+01] [ 5.47504954e-02 -2.01293365e-03 9.98498038e-01 6.49914007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56509989299997 meters 0.01465978910020342 Centerline is valid? [True, True] Translation: X:160.20, Y:11.28, Z:6.50 [[ 9.93385406e-01 -1.01187611e-01 -5.42816920e-02 1.60202016e+02] [ 1.01127915e-01 9.94865973e-01 -3.85243215e-03 1.12827302e+01] [ 5.43928267e-02 -1.66244445e-03 9.98518231e-01 6.50193685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62509989299997 meters 0.013074546388516529 Centerline is valid? [True, True] Translation: X:160.26, Y:11.29, Z:6.50 [[ 9.94208874e-01 -9.28049569e-02 -5.41844601e-02 1.60260905e+02] [ 9.27330747e-02 9.95683582e-01 -3.84475721e-03 1.12933624e+01] [ 5.43073899e-02 -1.20219985e-03 9.98523541e-01 6.50458555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68509989299997 meters 0.011388248720845413 Centerline is valid? [True, True] Translation: X:160.32, Y:11.30, Z:6.51 [[ 9.94750001e-01 -8.67809490e-02 -5.42356128e-02 1.60320878e+02] [ 8.66999826e-02 9.96227034e-01 -3.84838684e-03 1.13043385e+01] [ 5.43649503e-02 -8.74043869e-04 9.98520750e-01 6.50803456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74509989299997 meters 0.01084225927685356 Centerline is valid? [True, True] Translation: X:160.38, Y:11.31, Z:6.51 [[ 9.95241536e-01 -8.12764697e-02 -5.37440238e-02 1.60378962e+02] [ 8.11889078e-02 9.96691433e-01 -3.81414850e-03 1.13130139e+01] [ 5.38762087e-02 -5.67419588e-04 9.98547461e-01 6.51032924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80509989299998 meters 0.010404819162852413 Centerline is valid? [True, True] Translation: X:160.44, Y:11.32, Z:6.51 [[ 9.95926865e-01 -7.24992465e-02 -5.36054062e-02 1.60436686e+02] [ 7.23991384e-02 9.97368463e-01 -3.80960125e-03 1.13247800e+01] [ 5.37405349e-02 -8.69009964e-05 9.98554930e-01 6.51261431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86509989299998 meters 0.011299973106672034 Centerline is valid? [True, True] Translation: X:160.49, Y:11.34, Z:6.51 [[ 9.96629173e-01 -6.36949427e-02 -5.17034319e-02 1.60493758e+02] [ 6.35893582e-02 9.97969341e-01 -3.68622528e-03 1.13369103e+01] [ 5.18332338e-02 3.86011603e-04 9.98655680e-01 6.51451890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92509989299998 meters 0.011865535960203804 Centerline is valid? [True, True] Translation: X:160.55, Y:11.34, Z:6.52 [[ 9.96998442e-01 -5.84397830e-02 -5.07828564e-02 1.60552156e+02] [ 5.83307049e-02 9.98290720e-01 -3.62861050e-03 1.13433412e+01] [ 5.09081095e-02 6.55519208e-04 9.98703126e-01 6.51741787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98509989299995 meters 0.012076798660861322 Centerline is valid? [True, True] Translation: X:160.61, Y:11.35, Z:6.52 [[ 9.97028202e-01 -5.82596445e-02 -5.04041533e-02 1.60609882e+02] [ 5.81512920e-02 9.98301238e-01 -3.61472450e-03 1.13477918e+01] [ 5.05291212e-02 6.72915630e-04 9.98722361e-01 6.51926384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04509989299996 meters 0.011787790542713807 Centerline is valid? [True, True] Translation: X:160.67, Y:11.35, Z:6.52 [[ 9.96891795e-01 -6.18528006e-02 -4.87952951e-02 1.60668695e+02] [ 6.17548994e-02 9.98085163e-01 -3.51284006e-03 1.13482291e+01] [ 4.89191390e-02 4.88572891e-04 9.98802623e-01 6.52036238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10509989299996 meters 0.011337327692498105 Centerline is valid? [True, True] Translation: X:160.73, Y:11.34, Z:6.52 [[ 9.96335818e-01 -7.04735095e-02 -4.84605288e-02 1.60727584e+02] [ 7.03865440e-02 9.97513648e-01 -3.50084384e-03 1.13449759e+01] [ 4.85867556e-02 7.70469682e-05 9.98818963e-01 6.52207346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16509989299996 meters 0.011614472964400123 Centerline is valid? [True, True] Translation: X:160.79, Y:11.34, Z:6.52 [[ 9.95789040e-01 -7.81355506e-02 -4.79481297e-02 1.60786352e+02] [ 7.80587088e-02 9.96942705e-01 -3.47584793e-03 1.13424706e+01] [ 4.80731254e-02 -2.81557826e-04 9.98843779e-01 6.52419938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.22509989299996 meters 0.013353755410477662 Centerline is valid? [True, True] Translation: X:160.85, Y:11.34, Z:6.53 [[ 9.94949246e-01 -8.93435796e-02 -4.57572182e-02 1.60846763e+02] [ 8.92849629e-02 9.96000564e-01 -3.32732649e-03 1.13368834e+01] [ 4.58714905e-02 -7.74910548e-04 9.98947049e-01 6.52801435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.28509989299997 meters 0.014585830878946852 Centerline is valid? [True, True] Translation: X:160.91, Y:11.34, Z:6.53 [[ 9.94474617e-01 -9.50616519e-02 -4.45367106e-02 1.60907621e+02] [ 9.50118162e-02 9.95470874e-01 -3.23926393e-03 1.13364790e+01] [ 4.46429281e-02 -1.01014801e-03 9.99002497e-01 6.53195474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34509989299997 meters 0.017409949887446378 Centerline is valid? [True, True] Translation: X:160.97, Y:11.33, Z:6.53 [[ 9.94076363e-01 -9.92031819e-02 -4.43949787e-02 1.60969435e+02] [ 9.91578269e-02 9.95066483e-01 -3.22805454e-03 1.13332971e+01] [ 4.44961886e-02 -1.19317690e-03 9.99008842e-01 6.53451377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.40509989299997 meters 0.01749329173892849 Centerline is valid? [True, True] Translation: X:161.03, Y:11.34, Z:6.54 [[ 9.93843960e-01 -1.01944357e-01 -4.33766283e-02 1.61031299e+02] [ 1.01903767e-01 9.94789269e-01 -3.15167598e-03 1.13354813e+01] [ 4.34719000e-02 -1.28796769e-03 9.99053820e-01 6.53752889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46509989299997 meters 0.017034454999809236 Centerline is valid? [True, True] Translation: X:161.09, Y:11.34, Z:6.54 [[ 9.93814393e-01 -1.02591229e-01 -4.25204815e-02 1.61093434e+02] [ 1.02552944e-01 9.94722759e-01 -3.08648512e-03 1.13383882e+01] [ 4.26127370e-02 -1.29320721e-03 9.99090828e-01 6.54109146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52509989299998 meters 0.01715178722492984 Centerline is valid? [True, True] Translation: X:161.15, Y:11.34, Z:6.54 [[ 9.94131922e-01 -9.97204572e-02 -4.19231746e-02 1.61153679e+02] [ 9.96808173e-02 9.95014820e-01 -3.04009080e-03 1.13413156e+01] [ 4.20173392e-02 -1.15668499e-03 9.99116212e-01 6.54381424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58509989299998 meters 0.015705696861051034 Centerline is valid? [True, True] Translation: X:161.22, Y:11.35, Z:6.55 [[ 9.94524785e-01 -9.56475984e-02 -4.20950004e-02 1.61215174e+02] [ 9.56040196e-02 9.95414767e-01 -3.05178209e-03 1.13478374e+01] [ 4.21938806e-02 -9.89378311e-04 9.99108952e-01 6.54617075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64509989299998 meters 0.015237392343439203 Centerline is valid? [True, True] Translation: X:161.28, Y:11.35, Z:6.55 [[ 9.94732960e-01 -9.27271843e-02 -4.36807499e-02 1.61276620e+02] [ 9.26775539e-02 9.95691146e-01 -3.16429823e-03 1.13515272e+01] [ 4.37859524e-02 -9.00593307e-04 9.99040529e-01 6.54687258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70509989299998 meters 0.014709067693443264 Centerline is valid? [True, True] Translation: X:161.34, Y:11.36, Z:6.55 [[ 9.94800281e-01 -9.05020536e-02 -4.67095200e-02 1.61338205e+02] [ 9.04429334e-02 9.95895897e-01 -3.38193096e-03 1.13556464e+01] [ 4.68238910e-02 -8.60200134e-04 9.98902790e-01 6.54668775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76509989299996 meters 0.01427390536572909 Centerline is valid? [True, True] Translation: X:161.40, Y:11.36, Z:6.55 [[ 9.94905480e-01 -8.92936505e-02 -4.67945593e-02 1.61399674e+02] [ 8.92330580e-02 9.96005017e-01 -3.38640911e-03 1.13609085e+01] [ 4.69100007e-02 -8.06464646e-04 9.98898794e-01 6.54923483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82509989299996 meters 0.014113118935984716 Centerline is valid? [True, True] Translation: X:161.46, Y:11.37, Z:6.55 [[ 9.95067552e-01 -8.76007811e-02 -4.65474984e-02 1.61458544e+02] [ 8.75390432e-02 9.96155399e-01 -3.36709021e-03 1.13650202e+01] [ 4.66635016e-02 -7.24241268e-04 9.98910403e-01 6.55218208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88509989299996 meters 0.013693938362066406 Centerline is valid? [True, True] Translation: X:161.52, Y:11.37, Z:6.56 [[ 9.95178454e-01 -8.67368922e-02 -4.57881678e-02 1.61519975e+02] [ 8.66762113e-02 9.96231027e-01 -3.31276058e-03 1.13702710e+01] [ 4.59029320e-02 -6.71956958e-04 9.98945679e-01 6.55562227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.94509989299996 meters 0.013179766907740581 Centerline is valid? [True, True] Translation: X:161.58, Y:11.38, Z:6.56 [[ 9.95453655e-01 -8.45219618e-02 -4.39096698e-02 1.61581011e+02] [ 8.44640737e-02 9.96421466e-01 -3.17529690e-03 1.13759394e+01] [ 4.40209198e-02 -5.47928681e-04 9.99030459e-01 6.56080052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.00509989299997 meters 0.012883133364481235 Centerline is valid? [True, True] Translation: X:161.64, Y:11.38, Z:6.56 [[ 9.95702107e-01 -8.18490890e-02 -4.33363568e-02 1.61641676e+02] [ 8.17902423e-02 9.96644643e-01 -3.13223175e-03 1.13810287e+01] [ 4.34473182e-02 -4.25721371e-04 9.99055629e-01 6.56462162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06509989299997 meters 0.012784754715097216 Centerline is valid? [True, True] Translation: X:161.70, Y:11.38, Z:6.57 [[ 9.95764639e-01 -8.10716193e-02 -4.33610026e-02 1.61701982e+02] [ 8.10120379e-02 9.96708201e-01 -3.13242563e-03 1.13849589e+01] [ 4.34722177e-02 -3.93604509e-04 9.99054559e-01 6.56742066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12509989299997 meters 0.013112639994483952 Centerline is valid? [True, True] Translation: X:161.76, Y:11.39, Z:6.57 [[ 9.95502110e-01 -8.33819543e-02 -4.49777662e-02 1.61762734e+02] [ 8.33202374e-02 9.96517529e-01 -3.24842667e-03 1.13866837e+01] [ 4.50919926e-02 -5.13742555e-04 9.98982707e-01 6.56936750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18509989299997 meters 0.014250340333860325 Centerline is valid? [True, True] Translation: X:161.82, Y:11.39, Z:6.57 [[ 9.95096881e-01 -8.69353809e-02 -4.71639469e-02 1.61822396e+02] [ 8.68714990e-02 9.96213701e-01 -3.40641352e-03 1.13855895e+01] [ 4.72815080e-02 -7.07491298e-04 9.98881354e-01 6.56977157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24509989299997 meters 0.014717974348449216 Centerline is valid? [True, True] Translation: X:161.88, Y:11.39, Z:6.57 [[ 9.94470112e-01 -9.28051763e-02 -4.91568554e-02 1.61882487e+02] [ 9.27428954e-02 9.95683757e-01 -3.55126490e-03 1.13865517e+01] [ 4.92742582e-02 -1.02732230e-03 9.98784758e-01 6.57132716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30509989299998 meters 0.015611850913497918 Centerline is valid? [True, True] Translation: X:161.94, Y:11.39, Z:6.57 [[ 9.94054189e-01 -9.66258484e-02 -5.01967625e-02 1.61942585e+02] [ 9.65657215e-02 9.95320001e-01 -3.62731645e-03 1.13879806e+01] [ 5.03123342e-02 -1.24153748e-03 9.98732761e-01 6.57313338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36509989299998 meters 0.017180351457547018 Centerline is valid? [True, True] Translation: X:162.00, Y:11.39, Z:6.58 [[ 9.93535982e-01 -1.02206799e-01 -4.93965865e-02 1.62002255e+02] [ 1.02155407e-01 9.94762044e-01 -3.57051553e-03 1.13882180e+01] [ 4.95027804e-02 -1.49869275e-03 9.98772861e-01 6.57697110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42509989299998 meters 0.019751826261481982 Centerline is valid? [True, True] Translation: X:162.06, Y:11.39, Z:6.58 [[ 9.92983568e-01 -1.07432515e-01 -4.94154651e-02 1.62061666e+02] [ 1.07387452e-01 9.94210825e-01 -3.57367121e-03 1.13873593e+01] [ 4.95133188e-02 -1.75800407e-03 9.98771916e-01 6.57989199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48509989299995 meters 0.021577924518919225 Centerline is valid? [True, True] Translation: X:162.12, Y:11.39, Z:6.58 [[ 9.92740594e-01 -1.10199678e-01 -4.81886313e-02 1.62122013e+02] [ 1.10160005e-01 9.93907751e-01 -3.48640843e-03 1.13891714e+01] [ 4.82792553e-02 -1.84736070e-03 9.98832168e-01 6.58369079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54509989299996 meters 0.022265763410243618 Centerline is valid? [True, True] Translation: X:162.18, Y:11.39, Z:6.59 [[ 9.92238364e-01 -1.14086047e-01 -4.94712394e-02 1.62182418e+02] [ 1.14049064e-01 9.93468672e-01 -3.57897419e-03 1.13939683e+01] [ 4.95564376e-02 -2.09095307e-03 9.98769136e-01 6.58671671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60509989299996 meters 0.021675322526491042 Centerline is valid? [True, True] Translation: X:162.24, Y:11.40, Z:6.59 [[ 9.91988626e-01 -1.15723990e-01 -5.06608710e-02 1.62243047e+02] [ 1.15687426e-01 9.93278913e-01 -3.66336189e-03 1.13999915e+01] [ 5.07443137e-02 -2.22681241e-03 9.98709195e-01 6.58894367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66509989299996 meters 0.020555116018781745 Centerline is valid? [True, True] Translation: X:162.30, Y:11.41, Z:6.59 [[ 9.91697144e-01 -1.17733118e-01 -5.17270557e-02 1.62304128e+02] [ 1.17697839e-01 9.93042418e-01 -3.73826362e-03 1.14077862e+01] [ 5.18072779e-02 -2.38093731e-03 9.98654263e-01 6.59220973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.72509989299996 meters 0.02134696154471873 Centerline is valid? [True, True] Translation: X:162.37, Y:11.41, Z:6.59 [[ 9.91701040e-01 -1.17270714e-01 -5.26937097e-02 1.62365038e+02] [ 1.17233572e-01 9.93097077e-01 -3.80592269e-03 1.14135068e+01] [ 5.27762923e-02 -2.40313432e-03 9.98603469e-01 6.59432225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.78509989299997 meters 0.020844427012353995 Centerline is valid? [True, True] Translation: X:162.42, Y:11.42, Z:6.60 [[ 9.92242981e-01 -1.12634253e-01 -5.26060077e-02 1.62424679e+02] [ 1.12590854e-01 9.93634178e-01 -3.79726293e-03 1.14222882e+01] [ 5.26988291e-02 -2.15514784e-03 9.98608126e-01 6.59615212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84509989299997 meters 0.020470048684039437 Centerline is valid? [True, True] Translation: X:162.49, Y:11.43, Z:6.60 [[ 9.92477425e-01 -1.10322708e-01 -5.30797538e-02 1.62485585e+02] [ 1.10275247e-01 9.93893703e-01 -3.83105818e-03 1.14288157e+01] [ 5.31782858e-02 -2.05114421e-03 9.98582927e-01 6.59819685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.90509989299997 meters 0.01701667079914816 Centerline is valid? [True, True] Translation: X:162.54, Y:11.44, Z:6.60 [[ 9.93381899e-01 -1.01397284e-01 -5.39536258e-02 1.62544770e+02] [ 1.01335181e-01 9.94844726e-01 -3.89258738e-03 1.14437808e+01] [ 5.40701778e-02 -1.60057458e-03 9.98535855e-01 6.59970953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96509989299997 meters 0.01546509838635018 Centerline is valid? [True, True] Translation: X:162.60, Y:11.45, Z:6.60 [[ 9.93953462e-01 -9.58611966e-02 -5.35457338e-02 1.62604038e+02] [ 9.57919940e-02 9.95393876e-01 -3.86331290e-03 1.14537886e+01] [ 5.36694373e-02 -1.28929938e-03 9.98557925e-01 6.60241479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02509989299998 meters 0.014240947089255567 Centerline is valid? [True, True] Translation: X:162.66, Y:11.46, Z:6.61 [[ 9.94568407e-01 -8.97301405e-02 -5.27464337e-02 1.62662790e+02] [ 8.96543115e-02 9.95965669e-01 -3.80677197e-03 1.14649409e+01] [ 5.28752193e-02 -9.42850067e-04 9.98600682e-01 6.60527718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08509989299998 meters 0.013496226399590397 Centerline is valid? [True, True] Translation: X:162.72, Y:11.48, Z:6.61 [[ 9.94871785e-01 -8.58581051e-02 -5.34651021e-02 1.62721701e+02] [ 8.57745045e-02 9.96307096e-01 -3.86055616e-03 1.14757916e+01] [ 5.35991207e-02 -7.45184241e-04 9.98562256e-01 6.60724557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14509989299998 meters 0.012846528262027028 Centerline is valid? [True, True] Translation: X:162.78, Y:11.49, Z:6.61 [[ 9.95149205e-01 -8.22281905e-02 -5.40054107e-02 1.62780850e+02] [ 8.21374443e-02 9.96613375e-01 -3.90149864e-03 1.14861760e+01] [ 5.41433278e-02 -5.53293146e-04 9.98533021e-01 6.61025095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20509989299998 meters 0.012736340050157904 Centerline is valid? [True, True] Translation: X:162.84, Y:11.49, Z:6.61 [[ 9.95333093e-01 -8.05845559e-02 -5.30863816e-02 1.62839508e+02] [ 8.04943104e-02 9.96747674e-01 -3.83935888e-03 1.14932750e+01] [ 5.32231204e-02 -4.51710727e-04 9.98582543e-01 6.61376665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26509989299996 meters 0.012334404079895982 Centerline is valid? [True, True] Translation: X:162.90, Y:11.50, Z:6.62 [[ 9.95721709e-01 -7.74931882e-02 -5.03297434e-02 1.62897555e+02] [ 7.74075250e-02 9.96992848e-01 -3.65193950e-03 1.15028975e+01] [ 5.04613947e-02 -2.59585432e-04 9.98725979e-01 6.61960567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32509989299996 meters 0.012162348617887517 Centerline is valid? [True, True] Translation: X:162.96, Y:11.51, Z:6.62 [[ 9.95785154e-01 -7.71697541e-02 -4.95656816e-02 1.62956709e+02] [ 7.70857496e-02 9.97017942e-01 -3.60702154e-03 1.15081550e+01] [ 4.96962268e-02 -2.28989219e-04 9.98764353e-01 6.62259527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38509989299996 meters 0.012359075087705932 Centerline is valid? [True, True] Translation: X:163.02, Y:11.51, Z:6.62 [[ 9.95670143e-01 -7.87378933e-02 -4.94096218e-02 1.63016387e+02] [ 7.86562557e-02 9.96895306e-01 -3.59749445e-03 1.15109975e+01] [ 4.95394792e-02 -3.04458039e-04 9.98772120e-01 6.62429241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44509989299996 meters 0.013314527403928158 Centerline is valid? [True, True] Translation: X:163.08, Y:11.51, Z:6.63 [[ 9.95050328e-01 -8.60264784e-02 -4.97422329e-02 1.63075631e+02] [ 8.59527411e-02 9.96292626e-01 -3.62353713e-03 1.15083765e+01] [ 4.98695400e-02 -6.69879455e-04 9.98755516e-01 6.62597050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.50509989299997 meters 0.01372656093722884 Centerline is valid? [True, True] Translation: X:163.14, Y:11.51, Z:6.63 [[ 9.94684615e-01 -8.97305892e-02 -5.05068209e-02 1.63137095e+02] [ 8.96592744e-02 9.95965697e-01 -3.68045161e-03 1.15098366e+01] [ 5.06333102e-02 -8.67516331e-04 9.98716935e-01 6.62865769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56509989299997 meters 0.014563626725833273 Centerline is valid? [True, True] Translation: X:163.20, Y:11.51, Z:6.63 [[ 9.94122571e-01 -9.49036151e-02 -5.20923998e-02 1.63198024e+02] [ 9.48349345e-02 9.95485780e-01 -3.79422775e-03 1.15098730e+01] [ 5.22173292e-02 -1.16825188e-03 9.98635061e-01 6.62966186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62509989299997 meters 0.015619246864304562 Centerline is valid? [True, True] Translation: X:163.26, Y:11.51, Z:6.63 [[ 9.93785316e-01 -9.82352684e-02 -5.23505260e-02 1.63259705e+02] [ 9.81705815e-02 9.95162302e-01 -3.81187153e-03 1.15105277e+01] [ 5.24717302e-02 -1.35109963e-03 9.98621496e-01 6.63117705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68509989299997 meters 0.01689266407236361 Centerline is valid? [True, True] Translation: X:163.32, Y:11.51, Z:6.63 [[ 9.93419683e-01 -1.01969912e-01 -5.21485509e-02 1.63321047e+02] [ 1.01910959e-01 9.94786285e-01 -3.79527163e-03 1.15103462e+01] [ 5.22636667e-02 -1.54421128e-03 9.98632127e-01 6.63404763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74509989299997 meters 0.01802696935692052 Centerline is valid? [True, True] Translation: X:163.38, Y:11.51, Z:6.64 [[ 9.93207563e-01 -1.04194880e-01 -5.17896115e-02 1.63382058e+02] [ 1.04139851e-01 9.94555528e-01 -3.76729076e-03 1.15121668e+01] [ 5.19001769e-02 -1.65166076e-03 9.98650912e-01 6.63713055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80509989299998 meters 0.018594456681368284 Centerline is valid? [True, True] Translation: X:163.44, Y:11.51, Z:6.64 [[ 9.92690945e-01 -1.09483049e-01 -5.07754911e-02 1.63443488e+02] [ 1.09437145e-01 9.93986862e-01 -3.69172745e-03 1.15144046e+01] [ 5.08743526e-02 -1.89198038e-03 9.98703270e-01 6.64123595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86509989299998 meters 0.020727437432458255 Centerline is valid? [True, True] Translation: X:163.50, Y:11.51, Z:6.64 [[ 9.92190663e-01 -1.13857447e-01 -5.09330003e-02 1.63504365e+02] [ 1.13817094e-01 9.93494825e-01 -3.70146960e-03 1.15146854e+01] [ 5.10231122e-02 -2.12448250e-03 9.98695213e-01 6.64396349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92509989299998 meters 0.024858903775556697 Centerline is valid? [True, True] Translation: X:163.56, Y:11.51, Z:6.65 [[ 9.91359489e-01 -1.20376062e-01 -5.21149350e-02 1.63564344e+02] [ 1.20342837e-01 9.92725170e-01 -3.78648408e-03 1.15111532e+01] [ 5.21916098e-02 -2.51789223e-03 9.98633915e-01 6.64524450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98509989299995 meters 0.02483153717134438 Centerline is valid? [True, True] Translation: X:163.62, Y:11.51, Z:6.65 [[ 9.90688624e-01 -1.25131615e-01 -5.36481943e-02 1.63624640e+02] [ 1.25103383e-01 9.92136056e-01 -3.89740387e-03 1.15146530e+01] [ 5.37139964e-02 -2.85045691e-03 9.98552293e-01 6.64780086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04509989299996 meters 0.02768559340075771 Centerline is valid? [True, True] Translation: X:163.69, Y:11.51, Z:6.65 [[ 9.89861136e-01 -1.30652684e-01 -5.57208039e-02 1.63685427e+02] [ 1.30630955e-01 9.91422800e-01 -4.04775479e-03 1.15134764e+01] [ 5.57717255e-02 -3.27214666e-03 9.98438184e-01 6.64835507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10509989299996 meters 0.028543199867726046 Centerline is valid? [True, True] Translation: X:163.75, Y:11.52, Z:6.65 [[ 9.89637096e-01 -1.32046581e-01 -5.64102707e-02 1.63746939e+02] [ 1.32026653e-01 9.91237702e-01 -4.09633643e-03 1.15180862e+01] [ 5.64568944e-02 -3.39377277e-03 9.98399270e-01 6.65111349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16509989299996 meters 0.028335491300409205 Centerline is valid? [True, True] Translation: X:163.81, Y:11.53, Z:6.66 [[ 9.89855159e-01 -1.30677355e-01 -5.57691064e-02 1.63808122e+02] [ 1.30655973e-01 9.91419515e-01 -4.04507871e-03 1.15258717e+01] [ 5.58191805e-02 -3.28252482e-03 9.98435498e-01 6.65524908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.22509989299996 meters 0.02721163398862019 Centerline is valid? [True, True] Translation: X:163.87, Y:11.54, Z:6.66 [[ 9.90639256e-01 -1.25495305e-01 -5.37102633e-02 1.63868308e+02] [ 1.25467990e-01 9.92090028e-01 -3.89356222e-03 1.15357114e+01] [ 5.37740404e-02 -2.88180321e-03 9.98548971e-01 6.65856021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.28509989299997 meters 0.021694333318008435 Centerline is valid? [True, True] Translation: X:163.93, Y:11.55, Z:6.66 [[ 9.91505133e-01 -1.19254967e-01 -5.19213194e-02 1.63928063e+02] [ 1.19220901e-01 9.92860620e-01 -3.76386758e-03 1.15516805e+01] [ 5.19994932e-02 -2.45821247e-03 9.98644086e-01 6.66316043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34509989299997 meters 0.022683605852846813 Centerline is valid? [True, True] Translation: X:163.99, Y:11.56, Z:6.66 [[ 9.92102430e-01 -1.14279849e-01 -5.16999520e-02 1.63987112e+02] [ 1.14239326e-01 9.93446189e-01 -3.74793219e-03 1.15579574e+01] [ 5.17894334e-02 -2.18783502e-03 9.98655630e-01 6.66471792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.40509989299997 meters 0.019973993395149776 Centerline is valid? [True, True] Translation: X:164.05, Y:11.57, Z:6.67 [[ 9.92265121e-01 -1.12476692e-01 -5.25254608e-02 1.64048243e+02] [ 1.12432346e-01 9.93652086e-01 -3.80776872e-03 1.15687574e+01] [ 5.26203189e-02 -2.12724469e-03 9.98612326e-01 6.66752457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46509989299997 meters 0.0196894064762128 Centerline is valid? [True, True] Translation: X:164.11, Y:11.58, Z:6.67 [[ 9.92354883e-01 -1.11162477e-01 -5.36161386e-02 1.64109943e+02] [ 1.11114574e-01 9.93800018e-01 -3.88282119e-03 1.15751574e+01] [ 5.37153435e-02 -2.10439782e-03 9.98554071e-01 6.66937985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52509989299998 meters 0.019848291766231922 Centerline is valid? [True, True] Translation: X:164.17, Y:11.58, Z:6.67 [[ 9.92470263e-01 -1.10346395e-01 -5.31643768e-02 1.64172317e+02] [ 1.10298344e-01 9.93891082e-01 -3.84603436e-03 1.15806028e+01] [ 5.32639961e-02 -2.04686798e-03 9.98578368e-01 6.67192595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58509989299998 meters 0.019118678872440637 Centerline is valid? [True, True] Translation: X:164.23, Y:11.59, Z:6.68 [[ 9.92631222e-01 -1.09600440e-01 -5.16817336e-02 1.64234138e+02] [ 1.09554249e-01 9.93973803e-01 -3.73435270e-03 1.15873001e+01] [ 5.17795759e-02 -1.95511844e-03 9.98656624e-01 6.67630664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64509989299998 meters 0.019546346460026093 Centerline is valid? [True, True] Translation: X:164.30, Y:11.59, Z:6.68 [[ 9.92793390e-01 -1.08986940e-01 -4.98310347e-02 1.64295611e+02] [ 1.08943403e-01 9.94041446e-01 -3.59706594e-03 1.15924844e+01] [ 4.99261470e-02 -1.85761919e-03 9.98751185e-01 6.68031594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70509989299998 meters 0.020211703278670293 Centerline is valid? [True, True] Translation: X:164.36, Y:11.60, Z:6.68 [[ 9.92767135e-01 -1.09379531e-01 -4.94927650e-02 1.64357576e+02] [ 1.09337246e-01 9.93998304e-01 -3.56907808e-03 1.15966989e+01] [ 4.95861085e-02 -1.86813920e-03 9.98768105e-01 6.68296439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76509989299996 meters 0.02069317695341778 Centerline is valid? [True, True] Translation: X:164.42, Y:11.60, Z:6.68 [[ 9.92565506e-01 -1.11042185e-01 -4.98332245e-02 1.64419031e+02] [ 1.11001580e-01 9.93813745e-01 -3.59017586e-03 1.16008764e+01] [ 4.99236044e-02 -1.96808196e-03 9.98751100e-01 6.68470912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82509989299996 meters 0.02383050716634137 Centerline is valid? [True, True] Translation: X:164.48, Y:11.60, Z:6.69 [[ 9.92025308e-01 -1.15605410e-01 -5.02113225e-02 1.64478850e+02] [ 1.15570158e-01 9.93292743e-01 -3.61458681e-03 1.16000994e+01] [ 5.02924081e-02 -2.21716890e-03 9.98732075e-01 6.68543249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88509989299996 meters 0.021830452634458437 Centerline is valid? [True, True] Translation: X:164.54, Y:11.61, Z:6.69 [[ 9.91679320e-01 -1.18786982e-01 -4.96163291e-02 1.64539388e+02] [ 1.18756684e-01 9.92916973e-01 -3.56863992e-03 1.16065648e+01] [ 4.96888032e-02 -2.35332432e-03 9.98761976e-01 6.68840047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94509989299996 meters 0.022498170056908934 Centerline is valid? [True, True] Translation: X:164.60, Y:11.61, Z:6.69 [[ 9.91625016e-01 -1.19648757e-01 -4.86210035e-02 1.64601197e+02] [ 1.19620819e-01 9.92813501e-01 -3.49447139e-03 1.16089832e+01] [ 4.86896979e-02 -2.35087900e-03 9.98811187e-01 6.69083962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.00509989299997 meters 0.02380613051426293 Centerline is valid? [True, True] Translation: X:164.66, Y:11.61, Z:6.69 [[ 9.91682088e-01 -1.19764690e-01 -4.71492951e-02 1.64662185e+02] [ 1.19738701e-01 9.92799669e-01 -3.38540421e-03 1.16107897e+01] [ 4.72152564e-02 -2.28835065e-03 9.98882117e-01 6.69361198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06509989299997 meters 0.026323369314634106 Centerline is valid? [True, True] Translation: X:164.72, Y:11.61, Z:6.70 [[ 9.91618119e-01 -1.20703625e-01 -4.60884080e-02 1.64723053e+02] [ 1.20679930e-01 9.92685963e-01 -3.30646869e-03 1.16095136e+01] [ 4.61504185e-02 -2.28319158e-03 9.98931893e-01 6.69615954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12509989299997 meters 0.02586045165540918 Centerline is valid? [True, True] Translation: X:164.79, Y:11.61, Z:6.70 [[ 9.91402616e-01 -1.22668072e-01 -4.55345657e-02 1.64785230e+02] [ 1.22647255e-01 9.92444968e-01 -3.26130430e-03 1.16114962e+01] [ 4.55906085e-02 -2.35142387e-03 9.98957440e-01 6.69883636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18509989299997 meters 0.027477015344225565 Centerline is valid? [True, True] Translation: X:164.85, Y:11.61, Z:6.70 [[ 9.91191867e-01 -1.24147930e-01 -4.61082799e-02 1.64847130e+02] [ 1.24128332e-01 9.92260688e-01 -3.29912473e-03 1.16120931e+01] [ 4.61610130e-02 -2.45327826e-03 9.98931000e-01 6.70026345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24509989299997 meters 0.026999133464093356 Centerline is valid? [True, True] Translation: X:164.91, Y:11.61, Z:6.70 [[ 9.90914669e-01 -1.25566847e-01 -4.81776446e-02 1.64909495e+02] [ 1.25547261e-01 9.92081661e-01 -3.44440697e-03 1.16139894e+01] [ 4.82286610e-02 -2.63545791e-03 9.98832844e-01 6.70041126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30509989299998 meters 0.02509046733848402 Centerline is valid? [True, True] Translation: X:164.97, Y:11.62, Z:6.70 [[ 9.90956995e-01 -1.24994447e-01 -4.87916255e-02 1.64971538e+02] [ 1.24973843e-01 9.92153917e-01 -3.48474807e-03 1.16204418e+01] [ 4.88443765e-02 -2.64444145e-03 9.98802900e-01 6.70340134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36509989299998 meters 0.027448016299279523 Centerline is valid? [True, True] Translation: X:165.03, Y:11.62, Z:6.71 [[ 9.91104580e-01 -1.23768239e-01 -4.89196719e-02 1.65033194e+02] [ 1.23746214e-01 9.92307761e-01 -3.49029572e-03 1.16215799e+01] [ 4.89753579e-02 -2.59437614e-03 9.98796618e-01 6.70600709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42509989299998 meters 0.025431788616462052 Centerline is valid? [True, True] Translation: X:165.09, Y:11.63, Z:6.71 [[ 9.91555077e-01 -1.20248963e-01 -4.85666202e-02 1.65093826e+02] [ 1.20223197e-01 9.92740851e-01 -3.46197719e-03 1.16278954e+01] [ 4.86303670e-02 -2.40609331e-03 9.98813946e-01 6.70868109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48509989299995 meters 0.022577377617950693 Centerline is valid? [True, True] Translation: X:165.15, Y:11.64, Z:6.71 [[ 9.92077050e-01 -1.16074857e-01 -4.80599070e-02 1.65154407e+02] [ 1.16044780e-01 9.93238077e-01 -3.42497907e-03 1.16365589e+01] [ 4.81324836e-02 -2.17925822e-03 9.98838583e-01 6.71202226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54509989299996 meters 0.021545433713894453 Centerline is valid? [True, True] Translation: X:165.22, Y:11.64, Z:6.71 [[ 9.92644290e-01 -1.11093293e-01 -4.81206111e-02 1.65215281e+02] [ 1.11057351e-01 9.93808086e-01 -3.42822488e-03 1.16423284e+01] [ 4.82035052e-02 -1.94113973e-03 9.98835649e-01 6.71428398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60509989299996 meters 0.02081267868319016 Centerline is valid? [True, True] Translation: X:165.28, Y:11.65, Z:6.72 [[ 9.92963566e-01 -1.07828938e-01 -4.89517836e-02 1.65276395e+02] [ 1.07787833e-01 9.94167807e-01 -3.48643121e-03 1.16470147e+01] [ 4.90422255e-02 -1.81450752e-03 9.98795058e-01 6.71631302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66509989299996 meters 0.017719705759040597 Centerline is valid? [True, True] Translation: X:165.34, Y:11.66, Z:6.72 [[ 9.93337210e-01 -1.03531730e-01 -5.06198316e-02 1.65337579e+02] [ 1.03482310e-01 9.94624768e-01 -3.60321727e-03 1.16552877e+01] [ 5.07207855e-02 -1.65904729e-03 9.98711495e-01 6.71893999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.72509989299996 meters 0.01721492049200471 Centerline is valid? [True, True] Translation: X:165.40, Y:11.66, Z:6.72 [[ 9.93598120e-01 -1.00442487e-01 -5.17115306e-02 1.65398518e+02] [ 1.00386876e-01 9.94941680e-01 -3.67820348e-03 1.16596547e+01] [ 5.18194051e-02 -1.53650293e-03 9.98655290e-01 6.72165758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.78509989299997 meters 0.016049790130055273 Centerline is valid? [True, True] Translation: X:165.46, Y:11.66, Z:6.72 [[ 9.94053106e-01 -9.54655444e-02 -5.23903798e-02 1.65458788e+02] [ 9.54016398e-02 9.95431892e-01 -3.72494204e-03 1.16647278e+01] [ 5.25066585e-02 -1.29533793e-03 9.98619734e-01 6.72439417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84509989299997 meters 0.014636188289534273 Centerline is valid? [True, True] Translation: X:165.52, Y:11.67, Z:6.73 [[ 9.94565240e-01 -9.02880508e-02 -5.18464163e-02 1.65518868e+02] [ 9.02184362e-02 9.95915180e-01 -3.68626638e-03 1.16709714e+01] [ 5.19674588e-02 -1.01127019e-03 9.98648267e-01 6.72856366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.90509989299997 meters 0.014033735306557785 Centerline is valid? [True, True] Translation: X:165.58, Y:11.68, Z:6.73 [[ 9.94899627e-01 -8.68705180e-02 -5.12664117e-02 1.65579412e+02] [ 8.67979168e-02 9.96219271e-01 -3.64505822e-03 1.16767707e+01] [ 5.13892354e-02 -8.23350677e-04 9.98678361e-01 6.73216801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96509989299997 meters 0.013523245104166026 Centerline is valid? [True, True] Translation: X:165.64, Y:11.68, Z:6.74 [[ 9.95227200e-01 -8.35052077e-02 -5.04945555e-02 1.65639631e+02] [ 8.34304409e-02 9.96507136e-01 -3.59031109e-03 1.16809919e+01] [ 5.06179946e-02 -6.39607777e-04 9.98717883e-01 6.73596089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02509989299998 meters 0.013492114387615611 Centerline is valid? [True, True] Translation: X:165.70, Y:11.68, Z:6.74 [[ 9.95320963e-01 -8.26957010e-02 -4.99760069e-02 1.65699339e+02] [ 8.26214281e-02 9.96574669e-01 -3.55373439e-03 1.16823093e+01] [ 5.00987011e-02 -5.91982721e-04 9.98744096e-01 6.73882604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08509989299998 meters 0.013614106664004578 Centerline is valid? [True, True] Translation: X:165.76, Y:11.68, Z:6.74 [[ 9.95238261e-01 -8.38864920e-02 -4.96372913e-02 1.65759351e+02] [ 8.38146132e-02 9.96475107e-01 -3.53144206e-03 1.16837900e+01] [ 4.97585655e-02 -6.45704117e-04 9.98761067e-01 6.74204565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14509989299998 meters 0.014413042674623722 Centerline is valid? [True, True] Translation: X:165.82, Y:11.68, Z:6.74 [[ 9.94936013e-01 -8.78535347e-02 -4.88271040e-02 1.65819168e+02] [ 8.77886699e-02 9.96133058e-01 -3.47554815e-03 1.16809814e+01] [ 4.89436316e-02 -8.28518494e-04 9.98801199e-01 6.74477237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20509989299998 meters 0.015204810945017348 Centerline is valid? [True, True] Translation: X:165.88, Y:11.68, Z:6.75 [[ 9.94637981e-01 -9.13307372e-02 -4.85178708e-02 1.65879300e+02] [ 9.12707391e-02 9.95820121e-01 -3.45526670e-03 1.16796678e+01] [ 4.86306441e-02 -9.91522437e-04 9.98816338e-01 6.74723894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26509989299996 meters 0.01624080982222412 Centerline is valid? [True, True] Translation: X:165.94, Y:11.68, Z:6.75 [[ 9.94059578e-01 -9.75435991e-02 -4.82783707e-02 1.65939926e+02] [ 9.74914285e-02 9.95230420e-01 -3.43981652e-03 1.16760701e+01] [ 4.83836352e-02 -1.28734477e-03 9.98827996e-01 6.74990517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32509989299996 meters 0.017727462475149454 Centerline is valid? [True, True] Translation: X:166.00, Y:11.67, Z:6.75 [[ 9.93315107e-01 -1.04330110e-01 -4.93996508e-02 1.66000638e+02] [ 1.04283824e-01 9.94541347e-01 -3.52045987e-03 1.16720188e+01] [ 4.94972852e-02 -1.65465855e-03 9.98772888e-01 6.75142445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38509989299996 meters 0.020043158178105924 Centerline is valid? [True, True] Translation: X:166.06, Y:11.67, Z:6.75 [[ 9.92836900e-01 -1.08700309e-01 -4.95896520e-02 1.66060359e+02] [ 1.08659107e-01 9.94072789e-01 -3.53395878e-03 1.16687179e+01] [ 4.96798661e-02 -1.87972264e-03 9.98763424e-01 6.75324872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44509989299996 meters 0.022917145677833112 Centerline is valid? [True, True] Translation: X:166.12, Y:11.66, Z:6.75 [[ 9.92173660e-01 -1.14461711e-01 -4.98993521e-02 1.66120415e+02] [ 1.14427213e-01 9.93425267e-01 -3.55693259e-03 1.16637946e+01] [ 4.99784098e-02 -2.18074898e-03 9.98747918e-01 6.75472850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.50509989299997 meters 0.0243110121719296 Centerline is valid? [True, True] Translation: X:166.18, Y:11.66, Z:6.76 [[ 9.91835501e-01 -1.17588739e-01 -4.93480329e-02 1.66180615e+02] [ 1.17558816e-01 9.93059689e-01 -3.51845944e-03 1.16626213e+01] [ 4.94192734e-02 -2.31156335e-03 9.98775446e-01 6.75767542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56509989299997 meters 0.022569479707715716 Centerline is valid? [True, True] Translation: X:166.24, Y:11.67, Z:6.76 [[ 9.91826352e-01 -1.18060438e-01 -4.83964910e-02 1.66240894e+02] [ 1.18032181e-01 9.93003773e-01 -3.45134925e-03 1.16672600e+01] [ 4.84653660e-02 -2.28920425e-03 9.98822240e-01 6.76204637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62509989299997 meters 0.024845929571043656 Centerline is valid? [True, True] Translation: X:166.30, Y:11.67, Z:6.76 [[ 9.92004559e-01 -1.16812675e-01 -4.77677057e-02 1.66300943e+02] [ 1.16783703e-01 9.93151530e-01 -3.40650802e-03 1.16671320e+01] [ 4.78384933e-02 -2.19921806e-03 9.98852663e-01 6.76455485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68509989299997 meters 0.024389618703582597 Centerline is valid? [True, True] Translation: X:166.36, Y:11.67, Z:6.77 [[ 9.92109196e-01 -1.16130998e-01 -4.72539283e-02 1.66361750e+02] [ 1.16101878e-01 9.93231594e-01 -3.36977432e-03 1.16717038e+01] [ 4.73254298e-02 -2.14308572e-03 9.98877225e-01 6.76741018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74509989299997 meters 0.02148319549839116 Centerline is valid? [True, True] Translation: X:166.42, Y:11.68, Z:6.77 [[ 9.92357788e-01 -1.14357281e-01 -4.63511811e-02 1.66422995e+02] [ 1.14327376e-01 9.93437634e-01 -3.30444503e-03 1.16798471e+01] [ 4.64248950e-02 -2.02001713e-03 9.98919741e-01 6.77184567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80509989299998 meters 0.0227982577221918 Centerline is valid? [True, True] Translation: X:166.48, Y:11.68, Z:6.77 [[ 9.92330834e-01 -1.14354894e-01 -4.69305293e-02 1.66482928e+02] [ 1.14324342e-01 9.93437852e-01 -3.34346283e-03 1.16811967e+01] [ 4.70049056e-02 -2.04748062e-03 9.98892560e-01 6.77297905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86509989299998 meters 0.02433902569056667 Centerline is valid? [True, True] Translation: X:166.54, Y:11.68, Z:6.78 [[ 9.92049780e-01 -1.16520176e-01 -4.75424249e-02 1.66543825e+02] [ 1.16491339e-01 9.93185935e-01 -3.38629176e-03 1.16819006e+01] [ 4.76130390e-02 -2.17891073e-03 9.98863480e-01 6.77512083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92509989299998 meters 0.025843364760161042 Centerline is valid? [True, True] Translation: X:166.60, Y:11.68, Z:6.78 [[ 9.91593385e-01 -1.19488546e-01 -4.96492301e-02 1.66603711e+02] [ 1.19460801e-01 9.92832619e-01 -3.53654395e-03 1.16838210e+01] [ 4.97159516e-02 -2.42432319e-03 9.98760455e-01 6.77677459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98509989299995 meters 0.025186084660429667 Centerline is valid? [True, True] Translation: X:166.66, Y:11.69, Z:6.78 [[ 9.91348413e-01 -1.21484248e-01 -4.96980969e-02 1.66663483e+02] [ 1.21458889e-01 9.92590146e-01 -3.54119988e-03 1.16896429e+01] [ 4.97600412e-02 -2.52571275e-03 9.98758008e-01 6.78057823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04509989299996 meters 0.026167058810060272 Centerline is valid? [True, True] Translation: X:166.72, Y:11.69, Z:6.78 [[ 9.91295650e-01 -1.22168456e-01 -4.90693605e-02 1.66723530e+02] [ 1.22144531e-01 9.92506163e-01 -3.49714410e-03 1.16936635e+01] [ 4.91288834e-02 -2.52685030e-03 9.98789251e-01 6.78485134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10509989299996 meters 0.023755210146186805 Centerline is valid? [True, True] Translation: X:166.78, Y:11.70, Z:6.79 [[ 9.91660501e-01 -1.19590401e-01 -4.80373452e-02 1.66784273e+02] [ 1.19564465e-01 9.92820537e-01 -3.42336796e-03 1.17039514e+01] [ 4.81018648e-02 -2.34874067e-03 9.98839674e-01 6.78902134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16509989299996 meters 0.021877925395603934 Centerline is valid? [True, True] Translation: X:166.84, Y:11.71, Z:6.79 [[ 9.91971372e-01 -1.17038312e-01 -4.79043939e-02 1.66844988e+02] [ 1.17009634e-01 9.93124918e-01 -3.41213890e-03 1.17124750e+01] [ 4.79743983e-02 -2.22053150e-03 9.98846097e-01 6.79176010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22509989299996 meters 0.02270320187208016 Centerline is valid? [True, True] Translation: X:166.91, Y:11.72, Z:6.79 [[ 9.92245636e-01 -1.14325535e-01 -4.87675144e-02 1.66905109e+02] [ 1.14292631e-01 9.93441060e-01 -3.47190184e-03 1.17174670e+01] [ 4.88445783e-02 -2.12878809e-03 9.98804123e-01 6.79381139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.28509989299997 meters 0.02061640641715421 Centerline is valid? [True, True] Translation: X:166.97, Y:11.73, Z:6.80 [[ 9.92284331e-01 -1.13738086e-01 -4.93503136e-02 1.66966159e+02] [ 1.13703720e-01 9.93508494e-01 -3.51233585e-03 1.17261699e+01] [ 4.94294421e-02 -2.12607843e-03 9.98775355e-01 6.79608131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34509989299997 meters 0.02420357204831194 Centerline is valid? [True, True] Translation: X:167.03, Y:11.73, Z:6.80 [[ 9.92165805e-01 -1.14405520e-01 -5.01835838e-02 1.67026144e+02] [ 1.14370909e-01 9.93431703e-01 -3.57021492e-03 1.17262795e+01] [ 5.02624155e-02 -2.19729693e-03 9.98733629e-01 6.79637229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.40509989299997 meters 0.021559744023614692 Centerline is valid? [True, True] Translation: X:167.09, Y:11.74, Z:6.80 [[ 9.92046842e-01 -1.14905614e-01 -5.13786304e-02 1.67085780e+02] [ 1.14869966e-01 9.93373809e-01 -3.65601599e-03 1.17354259e+01] [ 5.14582826e-02 -2.27492240e-03 9.98672554e-01 6.79891763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46509989299997 meters 0.022162004214548472 Centerline is valid? [True, True] Translation: X:167.15, Y:11.74, Z:6.80 [[ 9.92017823e-01 -1.15440356e-01 -5.07362168e-02 1.67146344e+02] [ 1.15406289e-01 9.93311811e-01 -3.61030293e-03 1.17419422e+01] [ 5.08136581e-02 -2.27379368e-03 9.98705563e-01 6.80168886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52509989299998 meters 0.021763796113047417 Centerline is valid? [True, True] Translation: X:167.21, Y:11.75, Z:6.80 [[ 9.92075527e-01 -1.15295784e-01 -4.99302529e-02 1.67206881e+02] [ 1.15262622e-01 9.93328700e-01 -3.55265735e-03 1.17489488e+01] [ 5.00067596e-02 -2.23058743e-03 9.98746388e-01 6.80488638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58509989299998 meters 0.02190710881808233 Centerline is valid? [True, True] Translation: X:167.27, Y:11.76, Z:6.81 [[ 9.92128064e-01 -1.15859062e-01 -4.75245440e-02 1.67268452e+02] [ 1.15829748e-01 9.93263333e-01 -3.37960901e-03 1.17565794e+01] [ 4.75959453e-02 -2.15175100e-03 9.98864353e-01 6.80951183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64509989299998 meters 0.02476847324737654 Centerline is valid? [True, True] Translation: X:167.33, Y:11.76, Z:6.81 [[ 9.91829817e-01 -1.18282996e-01 -4.77780981e-02 1.67328111e+02] [ 1.18256346e-01 9.92977299e-01 -3.39400609e-03 1.17601127e+01] [ 4.78440201e-02 -2.28378688e-03 9.98852208e-01 6.81154230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70509989299995 meters 0.024674876948832154 Centerline is valid? [True, True] Translation: X:167.39, Y:11.77, Z:6.81 [[ 9.91301398e-01 -1.22413161e-01 -4.83379491e-02 1.67388837e+02] [ 1.22390968e-01 9.92476039e-01 -3.42983302e-03 1.17668682e+01] [ 4.83941130e-02 -2.51613013e-03 9.98825149e-01 6.81351392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76509989299996 meters 0.02653488871178121 Centerline is valid? [True, True] Translation: X:167.45, Y:11.77, Z:6.81 [[ 9.90792232e-01 -1.25727174e-01 -5.02337639e-02 1.67449337e+02] [ 1.25707511e-01 9.92060948e-01 -3.56323327e-03 1.17711291e+01] [ 5.02829507e-02 -2.78433757e-03 9.98731131e-01 6.81412633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82509989299996 meters 0.027016304300730213 Centerline is valid? [True, True] Translation: X:167.51, Y:11.78, Z:6.82 [[ 9.90653976e-01 -1.26938903e-01 -4.99120663e-02 1.67510962e+02] [ 1.26921131e-01 9.91906501e-01 -3.53822004e-03 1.17773640e+01] [ 4.99572409e-02 -2.82974414e-03 9.98747349e-01 6.81720155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88509989299996 meters 0.027577274707170397 Centerline is valid? [True, True] Translation: X:167.57, Y:11.78, Z:6.82 [[ 9.90618826e-01 -1.27268732e-01 -4.97695881e-02 1.67572722e+02] [ 1.27251657e-01 9.91864201e-01 -3.52449608e-03 1.17832654e+01] [ 4.98132309e-02 -2.84183036e-03 9.98754507e-01 6.81963388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94509989299996 meters 0.028668619388139447 Centerline is valid? [True, True] Translation: X:167.63, Y:11.79, Z:6.82 [[ 9.90765297e-01 -1.26410863e-01 -4.90348930e-02 1.67633173e+02] [ 1.26393405e-01 9.91974129e-01 -3.46908727e-03 1.17892153e+01] [ 4.90798756e-02 -2.76063580e-03 9.98791042e-01 6.82211675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.00509989299997 meters 0.02684891442016129 Centerline is valid? [True, True] Translation: X:167.70, Y:11.80, Z:6.83 [[ 9.90871231e-01 -1.25760619e-01 -4.85640916e-02 1.67695251e+02] [ 1.25742853e-01 9.92056929e-01 -3.43294809e-03 1.17984445e+01] [ 4.86100733e-02 -2.70497795e-03 9.98814169e-01 6.82535271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06509989299997 meters 0.029215261224574584 Centerline is valid? [True, True] Translation: X:167.76, Y:11.80, Z:6.83 [[ 9.90846017e-01 -1.26030803e-01 -4.83777578e-02 1.67756652e+02] [ 1.26013694e-01 9.92022622e-01 -3.41563502e-03 1.18016690e+01] [ 4.84223054e-02 -2.71189161e-03 9.98823271e-01 6.82783210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12509989299997 meters 0.028278655789339812 Centerline is valid? [True, True] Translation: X:167.82, Y:11.81, Z:6.83 [[ 9.90712713e-01 -1.26817720e-01 -4.90467827e-02 1.67818002e+02] [ 1.26801247e-01 9.91922111e-01 -3.45982761e-03 1.18081720e+01] [ 4.90893556e-02 -2.79149798e-03 9.98790490e-01 6.83003406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18509989299997 meters 0.028940335593230483 Centerline is valid? [True, True] Translation: X:167.88, Y:11.81, Z:6.83 [[ 9.90401790e-01 -1.28685704e-01 -5.04408914e-02 1.67879209e+02] [ 1.28670945e-01 9.91680978e-01 -3.55327209e-03 1.18123905e+01] [ 5.04785279e-02 -2.97111015e-03 9.98720727e-01 6.83129191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24509989299997 meters 0.028508673348465092 Centerline is valid? [True, True] Translation: X:167.94, Y:11.82, Z:6.83 [[ 9.90227551e-01 -1.29659983e-01 -5.13584124e-02 1.67940762e+02] [ 1.29646096e-01 9.91553738e-01 -3.61585669e-03 1.18174013e+01] [ 5.13934577e-02 -3.07789674e-03 9.98673740e-01 6.83348683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30509989299998 meters 0.027693801879036594 Centerline is valid? [True, True] Translation: X:168.00, Y:11.82, Z:6.84 [[ 9.90294045e-01 -1.28702177e-01 -5.24733649e-02 1.68002896e+02] [ 1.28686510e-01 9.91678454e-01 -3.69123186e-03 1.18239096e+01] [ 5.25117749e-02 -3.09720927e-03 9.98615502e-01 6.83581044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36509989299998 meters 0.027692359483089922 Centerline is valid? [True, True] Translation: X:168.06, Y:11.83, Z:6.84 [[ 9.90728850e-01 -1.25936789e-01 -5.09536215e-02 1.68062219e+02] [ 1.25918520e-01 9.92034123e-01 -3.58133759e-03 1.18302026e+01] [ 5.09987534e-02 -2.86787013e-03 9.98694599e-01 6.83919258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42509989299998 meters 0.02715522848933048 Centerline is valid? [True, True] Translation: X:168.12, Y:11.84, Z:6.84 [[ 9.91156986e-01 -1.23021398e-01 -4.97349403e-02 1.68122553e+02] [ 1.23000337e-01 9.92400473e-01 -3.49554123e-03 1.18364843e+01] [ 4.97870046e-02 -2.65278429e-03 9.98756335e-01 6.84238167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48509989299995 meters 0.023450603569600624 Centerline is valid? [True, True] Translation: X:168.18, Y:11.85, Z:6.84 [[ 9.91769657e-01 -1.18150432e-01 -4.93297429e-02 1.68182987e+02] [ 1.18123744e-01 9.92992833e-01 -3.46622473e-03 1.18467108e+01] [ 4.93936171e-02 -2.38931739e-03 9.98776532e-01 6.84490698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54509989299996 meters 0.026041264322685633 Centerline is valid? [True, True] Translation: X:168.24, Y:11.85, Z:6.85 [[ 9.91923984e-01 -1.16558611e-01 -5.00090044e-02 1.68243995e+02] [ 1.16529248e-01 9.93181050e-01 -3.51232157e-03 1.18471107e+01] [ 5.00773868e-02 -2.34355567e-03 9.98742591e-01 6.84592675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60509989299996 meters 0.023651408244836775 Centerline is valid? [True, True] Translation: X:168.31, Y:11.85, Z:6.85 [[ 9.91911481e-01 -1.16504270e-01 -5.03822332e-02 1.68305997e+02] [ 1.16474714e-01 9.93187376e-01 -3.53229016e-03 1.18549146e+01] [ 5.04505249e-02 -2.36453702e-03 9.98723762e-01 6.84842881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66509989299996 meters 0.026421796712128114 Centerline is valid? [True, True] Translation: X:168.37, Y:11.85, Z:6.85 [[ 9.91504666e-01 -1.19564008e-01 -5.12147056e-02 1.68366010e+02] [ 1.19537730e-01 9.92823179e-01 -3.58688921e-03 1.18539643e+01] [ 5.12760096e-02 -2.56567227e-03 9.98681224e-01 6.84949342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72509989299996 meters 0.030314478738840182 Centerline is valid? [True, True] Translation: X:168.43, Y:11.85, Z:6.85 [[ 9.91096406e-01 -1.22735481e-01 -5.16131314e-02 1.68425885e+02] [ 1.22713237e-01 9.92435598e-01 -3.61171187e-03 1.18515221e+01] [ 5.16659941e-02 -2.75405980e-03 9.98660623e-01 6.85111615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.78509989299997 meters 0.029977549262567012 Centerline is valid? [True, True] Translation: X:168.49, Y:11.86, Z:6.86 [[ 9.90839346e-01 -1.25265213e-01 -5.04580670e-02 1.68486447e+02] [ 1.25247225e-01 9.92119280e-01 -3.53073555e-03 1.18554912e+01] [ 5.05026994e-02 -2.82134117e-03 9.98719939e-01 6.85594808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84509989299997 meters 0.030214893720429254 Centerline is valid? [True, True] Translation: X:168.55, Y:11.86, Z:6.86 [[ 9.90616203e-01 -1.27760710e-01 -4.85462578e-02 1.68547300e+02] [ 1.27747078e-01 9.91800963e-01 -3.39614143e-03 1.18574498e+01] [ 4.85821187e-02 -2.83736984e-03 9.98815162e-01 6.86018903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.90509989299997 meters 0.02832859770887949 Centerline is valid? [True, True] Translation: X:168.61, Y:11.86, Z:6.86 [[ 9.90551554e-01 -1.28347786e-01 -4.83163028e-02 1.68609158e+02] [ 1.28335036e-01 9.91725114e-01 -3.37885358e-03 1.18634376e+01] [ 4.83501592e-02 -2.85374578e-03 9.98826370e-01 6.86315603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96509989299997 meters 0.028187116934482753 Centerline is valid? [True, True] Translation: X:168.67, Y:11.86, Z:6.87 [[ 9.90396523e-01 -1.29629360e-01 -4.80723996e-02 1.68671120e+02] [ 1.29618408e-01 9.91558264e-01 -3.35831126e-03 1.18643433e+01] [ 4.81019208e-02 -2.90500812e-03 9.98838208e-01 6.86522223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02509989299998 meters 0.030308639416600537 Centerline is valid? [True, True] Translation: X:168.73, Y:11.86, Z:6.87 [[ 9.90222030e-01 -1.30769418e-01 -4.85766423e-02 1.68732940e+02] [ 1.30759787e-01 9.91408285e-01 -3.38974859e-03 1.18627730e+01] [ 4.86025611e-02 -2.99526767e-03 9.98813706e-01 6.86612325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08509989299998 meters 0.034079695840641806 Centerline is valid? [True, True] Translation: X:168.79, Y:11.86, Z:6.87 [[ 9.90034089e-01 -1.31919449e-01 -4.92926041e-02 1.68794919e+02] [ 1.31911187e-01 9.91255587e-01 -3.43498209e-03 1.18590210e+01] [ 4.93147102e-02 -3.10149656e-03 9.98778474e-01 6.86656161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14509989299998 meters 0.03375967487756709 Centerline is valid? [True, True] Translation: X:168.86, Y:11.86, Z:6.87 [[ 9.89651653e-01 -1.34583711e-01 -4.97677730e-02 1.68856502e+02] [ 1.34578768e-01 9.90896839e-01 -3.46556078e-03 1.18596429e+01] [ 4.97811369e-02 -3.26798763e-03 9.98754804e-01 6.86840167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20509989299995 meters 0.03198776114845981 Centerline is valid? [True, True] Translation: X:168.92, Y:11.86, Z:6.87 [[ 9.89503063e-01 -1.35724226e-01 -4.96248284e-02 1.68917925e+02] [ 1.35720825e-01 9.90741101e-01 -3.45385334e-03 1.18642080e+01] [ 4.96341287e-02 -3.31752418e-03 9.98761957e-01 6.87160173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26509989299996 meters 0.03298889185323273 Centerline is valid? [True, True] Translation: X:168.98, Y:11.86, Z:6.87 [[ 9.89797178e-01 -1.33648769e-01 -4.93918301e-02 1.68978244e+02] [ 1.33642908e-01 9.91023596e-01 -3.43599491e-03 1.18648022e+01] [ 4.94076856e-02 -3.19992975e-03 9.98773568e-01 6.87419598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32509989299996 meters 0.03232072984817301 Centerline is valid? [True, True] Translation: X:169.04, Y:11.87, Z:6.88 [[ 9.90199296e-01 -1.30981793e-01 -4.84677539e-02 1.69038847e+02] [ 1.30973006e-01 9.91380204e-01 -3.37085366e-03 1.18681625e+01] [ 4.84914922e-02 -3.01015052e-03 9.98819060e-01 6.87714451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38509989299996 meters 0.027170266158050987 Centerline is valid? [True, True] Translation: X:169.10, Y:11.88, Z:6.88 [[ 9.90921210e-01 -1.26418867e-01 -4.57539761e-02 1.69099201e+02] [ 1.26406214e-01 9.91973461e-01 -3.18141020e-03 1.18771580e+01] [ 4.57889203e-02 -2.63106006e-03 9.98947672e-01 6.88177979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44509989299996 meters 0.025940080248245373 Centerline is valid? [True, True] Translation: X:169.16, Y:11.88, Z:6.88 [[ 9.91564085e-01 -1.21816736e-01 -4.42871145e-02 1.69159449e+02] [ 1.21800306e-01 9.92549849e-01 -3.07930140e-03 1.18806425e+01] [ 4.43322793e-02 -2.34085943e-03 9.99014099e-01 6.88430187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.50509989299997 meters 0.024364486140258705 Centerline is valid? [True, True] Translation: X:169.22, Y:11.88, Z:6.89 [[ 9.91791076e-01 -1.19744669e-01 -4.48517187e-02 1.69221166e+02] [ 1.19725728e-01 9.92802109e-01 -3.11809697e-03 1.18844600e+01] [ 4.49022564e-02 -2.27740390e-03 9.98988789e-01 6.88557942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56509989299997 meters 0.026361431351485436 Centerline is valid? [True, True] Translation: X:169.28, Y:11.88, Z:6.89 [[ 9.92032010e-01 -1.17191524e-01 -4.62454185e-02 1.69281556e+02] [ 1.17168738e-01 9.93106825e-01 -3.21252284e-03 1.18830500e+01] [ 4.63031212e-02 -2.23159182e-03 9.98924943e-01 6.88592964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62509989299997 meters 0.025121206191755265 Centerline is valid? [True, True] Translation: X:169.34, Y:11.89, Z:6.89 [[ 9.92420999e-01 -1.13797533e-01 -4.63754553e-02 1.69342361e+02] [ 1.13770960e-01 9.93501784e-01 -3.22070996e-03 1.18881199e+01] [ 4.64406064e-02 -2.07987988e-03 9.98918888e-01 6.88849514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68509989299997 meters 0.01841658302205623 Centerline is valid? [True, True] Translation: X:169.40, Y:11.90, Z:6.89 [[ 9.93537106e-01 -1.03789966e-01 -4.59528332e-02 1.69401933e+02] [ 1.03753214e-01 9.94597954e-01 -3.19064309e-03 1.19017955e+01] [ 4.60357506e-02 -1.59773185e-03 9.98938515e-01 6.89174967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74509989299997 meters 0.015211441380693436 Centerline is valid? [True, True] Translation: X:169.46, Y:11.91, Z:6.90 [[ 9.95050519e-01 -8.87479709e-02 -4.47019301e-02 1.69461940e+02] [ 8.86980106e-02 9.96053728e-01 -3.10379751e-03 1.19131172e+01] [ 4.48009798e-02 -8.76536950e-04 9.98995547e-01 6.89593105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80509989299998 meters 0.014317337326008059 Centerline is valid? [True, True] Translation: X:169.52, Y:11.92, Z:6.90 [[ 9.95534847e-01 -8.33943533e-02 -4.42238583e-02 1.69521718e+02] [ 8.33402066e-02 9.96516425e-01 -3.06990555e-03 1.19200642e+01] [ 4.43258139e-02 -6.29427531e-04 9.99016930e-01 6.89903182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86509989299998 meters 0.013373676703036335 Centerline is valid? [True, True] Translation: X:169.58, Y:11.93, Z:6.90 [[ 9.96717470e-01 -6.80515339e-02 -4.38551343e-02 1.69580714e+02] [ 6.79834231e-02 9.97681806e-01 -3.04438068e-03 1.19300338e+01] [ 4.39606443e-02 5.29652592e-05 9.99033262e-01 6.90164789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92509989299998 meters 0.014435362039997263 Centerline is valid? [True, True] Translation: X:169.64, Y:11.94, Z:6.90 [[ 9.97548084e-01 -5.51361626e-02 -4.31024898e-02 1.69640019e+02] [ 5.50582451e-02 9.98478657e-01 -2.99367216e-03 1.19370327e+01] [ 4.32019757e-02 6.13184473e-04 9.99066171e-01 6.90394022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98509989299995 meters 0.016197843548810546 Centerline is valid? [True, True] Translation: X:169.70, Y:11.94, Z:6.91 [[ 9.97904763e-01 -4.83289820e-02 -4.30162058e-02 1.69698115e+02] [ 4.82449858e-02 9.98831060e-01 -2.98927367e-03 1.19411737e+01] [ 4.31103909e-02 9.07694201e-04 9.99069903e-01 6.90642953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04509989299996 meters 0.01570667877932639 Centerline is valid? [True, True] Translation: X:169.76, Y:11.94, Z:6.91 [[ 9.97841554e-01 -4.82780858e-02 -4.45135933e-02 1.69757502e+02] [ 4.81879093e-02 9.98833486e-01 -3.09726636e-03 1.19394323e+01] [ 4.46111976e-02 9.45564078e-04 9.99003977e-01 6.90753726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10509989299996 meters 0.014430194578902406 Centerline is valid? [True, True] Translation: X:169.82, Y:11.93, Z:6.91 [[ 9.97468221e-01 -5.52005782e-02 -4.48335156e-02 1.69817346e+02] [ 5.51155739e-02 9.98475073e-01 -3.13087048e-03 1.19313276e+01] [ 4.49379736e-02 6.51918870e-04 9.98989566e-01 6.90979721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16509989299996 meters 0.013794504565018633 Centerline is valid? [True, True] Translation: X:169.88, Y:11.93, Z:6.91 [[ 9.97007392e-01 -6.32053493e-02 -4.45122862e-02 1.69875406e+02] [ 6.31290691e-02 9.98000498e-01 -3.11872504e-03 1.19270459e+01] [ 4.46204039e-02 2.99372733e-04 9.99003969e-01 6.91277932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22509989299996 meters 0.013724312784625214 Centerline is valid? [True, True] Translation: X:169.93, Y:11.92, Z:6.92 [[ 9.96061325e-01 -7.74308764e-02 -4.32006489e-02 1.69934243e+02] [ 7.73721475e-02 9.96997671e-01 -3.03235372e-03 1.19152236e+01] [ 4.33057442e-02 -3.22116713e-04 9.99061814e-01 6.91685307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.28509989299997 meters 0.01625195303195048 Centerline is valid? [True, True] Translation: X:170.00, Y:11.90, Z:6.92 [[ 9.94934459e-01 -9.12581321e-02 -4.21589230e-02 1.69995102e+02] [ 9.12140994e-02 9.95826873e-01 -2.97089297e-03 1.19012101e+01] [ 4.22541066e-02 -8.89644399e-04 9.99106500e-01 6.92026910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34509989299997 meters 0.01793053714913888 Centerline is valid? [True, True] Translation: X:170.06, Y:11.90, Z:6.92 [[ 9.94127369e-01 -9.97533201e-02 -4.19529322e-02 1.70055873e+02] [ 9.97172359e-02 9.95011421e-01 -2.95711055e-03 1.18958644e+01] [ 4.20386283e-02 -1.24368591e-03 9.99115212e-01 6.92292635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.40509989299997 meters 0.01993501787300687 Centerline is valid? [True, True] Translation: X:170.12, Y:11.89, Z:6.93 [[ 9.93344168e-01 -1.07213995e-01 -4.21013519e-02 1.70116912e+02] [ 1.07184297e-01 9.94234738e-01 -2.96860060e-03 1.18912182e+01] [ 4.21769021e-02 -1.56376171e-03 9.99108935e-01 6.92539384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46509989299997 meters 0.023066653710990138 Centerline is valid? [True, True] Translation: X:170.18, Y:11.89, Z:6.93 [[ 9.92688118e-01 -1.12873869e-01 -4.27760469e-02 1.70176168e+02] [ 1.12848427e-01 9.93607635e-01 -3.01676152e-03 1.18852738e+01] [ 4.28431203e-02 -1.83250628e-03 9.99080131e-01 6.92756647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52509989299998 meters 0.022728259780782484 Centerline is valid? [True, True] Translation: X:170.24, Y:11.89, Z:6.93 [[ 9.92160954e-01 -1.17400053e-01 -4.28236915e-02 1.70236770e+02] [ 1.17378693e-01 9.93082631e-01 -3.02163026e-03 1.18850625e+01] [ 4.28822038e-02 -2.02864540e-03 9.99078076e-01 6.92989945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58509989299998 meters 0.023054538725371804 Centerline is valid? [True, True] Translation: X:170.30, Y:11.88, Z:6.93 [[ 9.91900067e-01 -1.18221875e-01 -4.64526229e-02 1.70296062e+02] [ 1.18197592e-01 9.92984682e-01 -3.27886533e-03 1.18844899e+01] [ 4.65143765e-02 -2.23828143e-03 9.98915113e-01 6.92928634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64509989299998 meters 0.023117719075693342 Centerline is valid? [True, True] Translation: X:170.36, Y:11.89, Z:6.93 [[ 9.92490552e-01 -1.12816169e-01 -4.72759624e-02 1.70355306e+02] [ 1.12784369e-01 9.93613847e-01 -3.34814269e-03 1.18883512e+01] [ 4.73517755e-02 -2.00898960e-03 9.98876255e-01 6.93120188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70509989299995 meters 0.019385638529655157 Centerline is valid? [True, True] Translation: X:170.42, Y:11.90, Z:6.93 [[ 9.93257490e-01 -1.05612393e-01 -4.78077536e-02 1.70415499e+02] [ 1.05571490e-01 9.94405948e-01 -3.38686240e-03 1.18990039e+01] [ 4.78980092e-02 -1.68310935e-03 9.98850814e-01 6.93383600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76509989299996 meters 0.017793085118013783 Centerline is valid? [True, True] Translation: X:170.48, Y:11.91, Z:6.94 [[ 9.93833606e-01 -1.00223984e-01 -4.74332914e-02 1.70475208e+02] [ 1.00177576e-01 9.94963899e-01 -3.36059156e-03 1.19083289e+01] [ 4.75312244e-02 -1.41188332e-03 9.98868755e-01 6.93771348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82509989299996 meters 0.017738332302463754 Centerline is valid? [True, True] Translation: X:170.53, Y:11.91, Z:6.94 [[ 9.93918637e-01 -9.94164230e-02 -4.73510053e-02 1.70533483e+02] [ 9.93691588e-02 9.95044975e-01 -3.35691374e-03 1.19133975e+01] [ 4.74501122e-02 -1.36873044e-03 9.98872671e-01 6.94082287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88509989299996 meters 0.01758563403139875 Centerline is valid? [True, True] Translation: X:170.59, Y:11.92, Z:6.94 [[ 9.94009945e-01 -9.80311609e-02 -4.83127434e-02 1.70592510e+02] [ 9.79797242e-02 9.95182474e-01 -3.43745919e-03 1.19189185e+01] [ 4.84169737e-02 -1.31680066e-03 9.98826343e-01 6.94256008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94509989299996 meters 0.017454655165879587 Centerline is valid? [True, True] Translation: X:170.65, Y:11.92, Z:6.94 [[ 9.93961962e-01 -9.81845386e-02 -4.89838135e-02 1.70649998e+02] [ 9.81312631e-02 9.95167335e-01 -3.49713160e-03 1.19236782e+01] [ 4.90904555e-02 -1.33082771e-03 9.98793450e-01 6.94465990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.00509989299997 meters 0.018536205492280525 Centerline is valid? [True, True] Translation: X:170.71, Y:11.93, Z:6.95 [[ 9.93852163e-01 -9.90386050e-02 -4.94897317e-02 1.70707395e+02] [ 9.89846421e-02 9.95082643e-01 -3.54611308e-03 1.19284628e+01] [ 4.95975751e-02 -1.37441122e-03 9.98768337e-01 6.94755418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06509989299997 meters 0.018060121029453053 Centerline is valid? [True, True] Translation: X:170.77, Y:11.94, Z:6.95 [[ 9.93574811e-01 -1.01381878e-01 -5.03071599e-02 1.70765202e+02] [ 1.01328888e-01 9.94846435e-01 -3.60921120e-03 1.19353566e+01] [ 5.04138073e-02 -1.51154725e-03 9.98727272e-01 6.95039611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12509989299997 meters 0.01854368129923241 Centerline is valid? [True, True] Translation: X:170.82, Y:11.94, Z:6.95 [[ 9.93380862e-01 -1.03522179e-01 -4.97757167e-02 1.70823793e+02] [ 1.03472696e-01 9.94625863e-01 -3.57685005e-03 1.19402321e+01] [ 4.98784985e-02 -1.59725324e-03 9.98754016e-01 6.95349966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18509989299997 meters 0.02040016104956733 Centerline is valid? [True, True] Translation: X:170.88, Y:11.94, Z:6.96 [[ 9.93339503e-01 -1.04364095e-01 -4.88340740e-02 1.70881737e+02] [ 1.04316939e-01 9.94537875e-01 -3.52027243e-03 1.19440681e+01] [ 4.89347262e-02 -1.59739543e-03 9.98800701e-01 6.95683298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24509989299997 meters 0.019175819601530905 Centerline is valid? [True, True] Translation: X:170.94, Y:11.95, Z:6.96 [[ 9.93602008e-01 -1.02462915e-01 -4.75015822e-02 1.70940304e+02] [ 1.02415892e-01 9.94735757e-01 -3.42914516e-03 1.19531131e+01] [ 4.76028825e-02 -1.45771137e-03 9.98865277e-01 6.96153745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30509989299998 meters 0.016615750302430475 Centerline is valid? [True, True] Translation: X:171.00, Y:11.97, Z:6.97 [[ 9.94187450e-01 -9.66083941e-02 -4.75198063e-02 1.70999004e+02] [ 9.65541849e-02 9.95321784e-01 -3.44025515e-03 1.19658743e+01] [ 4.76298560e-02 -1.16797767e-03 9.98864371e-01 6.96569086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36509989299998 meters 0.01564625433527912 Centerline is valid? [True, True] Translation: X:171.06, Y:11.97, Z:6.97 [[ 9.94429560e-01 -9.35810838e-02 -4.85018710e-02 1.71056871e+02] [ 9.35208551e-02 9.95611117e-01 -3.51459906e-03 1.19744576e+01] [ 4.86179020e-02 -1.04091526e-03 9.98816908e-01 6.96856020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42509989299998 meters 0.015197073061581516 Centerline is valid? [True, True] Translation: X:171.12, Y:11.98, Z:6.97 [[ 9.94561492e-01 -9.15551855e-02 -4.96496393e-02 1.71115698e+02] [ 9.14889095e-02 9.95799550e-01 -3.61062352e-03 1.19815754e+01] [ 4.97716597e-02 -9.51404235e-04 9.98760170e-01 6.97163370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48509989299995 meters 0.015768370161653524 Centerline is valid? [True, True] Translation: X:171.17, Y:11.98, Z:6.97 [[ 9.94435903e-01 -9.24515112e-02 -5.04970488e-02 1.71173088e+02] [ 9.23835323e-02 9.95716684e-01 -3.68359741e-03 1.19842332e+01] [ 5.06213081e-02 -1.00199422e-03 9.98717417e-01 6.97349483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54509989299996 meters 0.015837444940741574 Centerline is valid? [True, True] Translation: X:171.23, Y:11.99, Z:6.98 [[ 9.94178301e-01 -9.48002338e-02 -5.12095872e-02 1.71231267e+02] [ 9.47330142e-02 9.95495676e-01 -3.74374646e-03 1.19888824e+01] [ 5.13338306e-02 -1.12928705e-03 9.98680911e-01 6.97699904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60509989299996 meters 0.016106143647070983 Centerline is valid? [True, True] Translation: X:171.29, Y:11.99, Z:6.98 [[ 9.94066027e-01 -9.57980994e-02 -5.15311373e-02 1.71289590e+02] [ 9.57306927e-02 9.95400092e-01 -3.78038466e-03 1.19929957e+01] [ 5.16562525e-02 -1.17515952e-03 9.98664233e-01 6.97967113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66509989299996 meters 0.01700286785288059 Centerline is valid? [True, True] Translation: X:171.35, Y:12.00, Z:6.98 [[ 9.93834898e-01 -9.83181909e-02 -5.12418578e-02 1.71347052e+02] [ 9.82542766e-02 9.95154198e-01 -3.77096837e-03 1.19961508e+01] [ 5.13643047e-02 -1.28701170e-03 9.98679154e-01 6.98243274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72509989299996 meters 0.018784667736259683 Centerline is valid? [True, True] Translation: X:171.41, Y:12.00, Z:6.99 [[ 9.93310164e-01 -1.04279764e-01 -4.96049217e-02 1.71406722e+02] [ 1.04226993e-01 9.94546814e-01 -3.65639788e-03 1.19969844e+01] [ 4.97157051e-02 -1.53823464e-03 9.98762225e-01 6.98633524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.78509989299997 meters 0.019104382062578334 Centerline is valid? [True, True] Translation: X:171.47, Y:12.00, Z:6.99 [[ 9.92882858e-01 -1.08632372e-01 -4.88122797e-02 1.71465859e+02] [ 1.08586432e-01 9.94080494e-01 -3.59981078e-03 1.20004168e+01] [ 4.89143911e-02 -1.72616090e-03 9.98801483e-01 6.98955764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84509989299997 meters 0.020488031165646993 Centerline is valid? [True, True] Translation: X:171.53, Y:12.00, Z:6.99 [[ 9.92081826e-01 -1.15423945e-01 -4.95071962e-02 1.71525605e+02] [ 1.15385003e-01 9.93314126e-01 -3.65343196e-03 1.20039095e+01] [ 4.95978909e-02 -2.08788452e-03 9.98767085e-01 6.99229489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.90509989299997 meters 0.02290052300575449 Centerline is valid? [True, True] Translation: X:171.59, Y:12.01, Z:6.99 [[ 9.91353711e-01 -1.20914238e-01 -5.09663214e-02 1.71585752e+02] [ 1.20880183e-01 9.92659978e-01 -3.76145063e-03 1.20063316e+01] [ 5.10470404e-02 -2.43189022e-03 9.98693289e-01 6.99420550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96509989299997 meters 0.025689831796836524 Centerline is valid? [True, True] Translation: X:171.64, Y:12.01, Z:6.99 [[ 9.90938828e-01 -1.23736596e-01 -5.22445515e-02 1.71644748e+02] [ 1.23704676e-01 9.92311584e-01 -3.85668794e-03 1.20076393e+01] [ 5.23200871e-02 -2.64115346e-03 9.98626874e-01 6.99486846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02509989299998 meters 0.025077556525157113 Centerline is valid? [True, True] Translation: X:171.70, Y:12.01, Z:7.00 [[ 9.90583662e-01 -1.26542674e-01 -5.22585955e-02 1.71703943e+02] [ 1.26514488e-01 9.91957248e-01 -3.86037488e-03 1.20137748e+01] [ 5.23267948e-02 -2.78744520e-03 9.98626125e-01 6.99725969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08509989299998 meters 0.02969617307999028 Centerline is valid? [True, True] Translation: X:171.76, Y:12.01, Z:7.00 [[ 9.90046420e-01 -1.30487442e-01 -5.27362710e-02 1.71762846e+02] [ 1.30464210e-01 9.91445358e-01 -3.89759813e-03 1.20139028e+01] [ 5.27937187e-02 -3.02139285e-03 9.98600868e-01 6.99853136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14509989299998 meters 0.030527846013148823 Centerline is valid? [True, True] Translation: X:171.82, Y:12.02, Z:7.00 [[ 9.89733582e-01 -1.32709970e-01 -5.30612886e-02 1.71822440e+02] [ 1.32689530e-01 9.91149885e-01 -3.92353102e-03 1.20189621e+01] [ 5.31123818e-02 -3.15742703e-03 9.98583550e-01 7.00015939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20509989299995 meters 0.02832179322512427 Centerline is valid? [True, True] Translation: X:171.88, Y:12.03, Z:7.00 [[ 9.89370218e-01 -1.35006981e-01 -5.40341343e-02 1.71881471e+02] [ 1.34989092e-01 9.90839021e-01 -3.99741489e-03 1.20305984e+01] [ 5.40788077e-02 -3.33909550e-03 9.98531088e-01 7.00342475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26509989299996 meters 0.02918398601375664 Centerline is valid? [True, True] Translation: X:171.94, Y:12.04, Z:7.01 [[ 9.89284590e-01 -1.35864075e-01 -5.34504691e-02 1.71940838e+02] [ 1.35847710e-01 9.90721832e-01 -3.95617733e-03 1.20372139e+01] [ 5.34920491e-02 -3.34733855e-03 9.98562665e-01 7.00675245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32509989299996 meters 0.02998757252387364 Centerline is valid? [True, True] Translation: X:172.00, Y:12.05, Z:7.01 [[ 9.89315197e-01 -1.35795294e-01 -5.30573110e-02 1.71999937e+02] [ 1.35778967e-01 9.90731364e-01 -3.92899662e-03 1.20464404e+01] [ 5.30990814e-02 -3.31705080e-03 9.98583739e-01 7.00949597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38509989299996 meters 0.030445014667620496 Centerline is valid? [True, True] Translation: X:172.06, Y:12.05, Z:7.01 [[ 9.89387514e-01 -1.35374590e-01 -5.27832090e-02 1.72058925e+02] [ 1.35357733e-01 9.90789075e-01 -3.91059118e-03 1.20523604e+01] [ 5.28264215e-02 -3.27552544e-03 9.98598338e-01 7.01220467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44509989299996 meters 0.029524550585128758 Centerline is valid? [True, True] Translation: X:172.12, Y:12.06, Z:7.02 [[ 9.89861401e-01 -1.32433594e-01 -5.13395620e-02 1.72118379e+02] [ 1.32413603e-01 9.91187245e-01 -3.80552885e-03 1.20640533e+01] [ 5.13910989e-02 -3.03111029e-03 9.98674005e-01 7.01565670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.50509989299997 meters 0.02466348890037555 Centerline is valid? [True, True] Translation: X:172.18, Y:12.08, Z:7.02 [[ 9.90286534e-01 -1.29259005e-01 -5.12317254e-02 1.72177450e+02] [ 1.29234765e-01 9.91606746e-01 -3.79947262e-03 1.20812454e+01] [ 5.12928406e-02 -2.85835340e-03 9.98679565e-01 7.01925054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56509989299997 meters 0.027465412829314976 Centerline is valid? [True, True] Translation: X:172.24, Y:12.09, Z:7.02 [[ 9.90497197e-01 -1.27651340e-01 -5.11902079e-02 1.72237588e+02] [ 1.27625039e-01 9.91815226e-01 -3.79562316e-03 1.20851785e+01] [ 5.12557440e-02 -2.77359818e-03 9.98681709e-01 7.02090706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62509989299997 meters 0.02430988632436493 Centerline is valid? [True, True] Translation: X:172.30, Y:12.10, Z:7.02 [[ 9.90650016e-01 -1.26494319e-01 -5.11051272e-02 1.72298219e+02] [ 1.26466766e-01 9.91963622e-01 -3.78551121e-03 1.20973230e+01] [ 5.11732727e-02 -2.71298344e-03 9.98686105e-01 7.02397804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68509989299997 meters 0.027860131127846247 Centerline is valid? [True, True] Translation: X:172.36, Y:12.10, Z:7.02 [[ 9.90707991e-01 -1.25719577e-01 -5.18870457e-02 1.72358608e+02] [ 1.25690209e-01 9.92062101e-01 -3.84167304e-03 1.21001022e+01] [ 5.19581451e-02 -2.71571743e-03 9.98645571e-01 7.02478615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74509989299997 meters 0.024380548139123343 Centerline is valid? [True, True] Translation: X:172.42, Y:12.11, Z:7.03 [[ 9.90712600e-01 -1.25867878e-01 -5.14375596e-02 1.72420418e+02] [ 1.25839290e-01 9.92043336e-01 -3.80692981e-03 1.21116490e+01] [ 5.15074584e-02 -2.70129265e-03 9.98668957e-01 7.02854967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80509989299998 meters 0.02615616355912886 Centerline is valid? [True, True] Translation: X:172.48, Y:12.12, Z:7.03 [[ 9.90551655e-01 -1.27104460e-01 -5.14963500e-02 1.72480316e+02] [ 1.27077641e-01 9.91885463e-01 -3.80800300e-03 1.21163596e+01] [ 5.15624951e-02 -2.77201101e-03 9.98665923e-01 7.03069248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86509989299998 meters 0.025934836211476183 Centerline is valid? [True, True] Translation: X:172.54, Y:12.12, Z:7.03 [[ 9.90401280e-01 -1.27981389e-01 -5.22117669e-02 1.72541005e+02] [ 1.27955096e-01 9.91772451e-01 -3.85975980e-03 1.21243310e+01] [ 5.22761695e-02 -2.85805062e-03 9.98628576e-01 7.03327613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92509989299998 meters 0.025836987265513107 Centerline is valid? [True, True] Translation: X:172.60, Y:12.13, Z:7.04 [[ 9.90322919e-01 -1.28464598e-01 -5.25106096e-02 1.72602913e+02] [ 1.28438802e-01 9.91709848e-01 -3.87953898e-03 1.21312611e+01] [ 5.25736721e-02 -2.90240345e-03 9.98612830e-01 7.03613062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98509989299995 meters 0.0270684957097252 Centerline is valid? [True, True] Translation: X:172.66, Y:12.14, Z:7.04 [[ 9.90278718e-01 -1.29628617e-01 -5.04428620e-02 1.72664211e+02] [ 1.29606484e-01 9.91558519e-01 -3.72335368e-03 1.21373791e+01] [ 5.04997027e-02 -2.85056405e-03 9.98720008e-01 7.04023991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04509989299996 meters 0.0275799204384543 Centerline is valid? [True, True] Translation: X:172.73, Y:12.14, Z:7.04 [[ 9.90197499e-01 -1.30624703e-01 -4.94580631e-02 1.72726378e+02] [ 1.30604799e-01 9.91427798e-01 -3.64787401e-03 1.21428074e+01] [ 4.95106011e-02 -2.84734465e-03 9.98769539e-01 7.04351481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10509989299996 meters 0.030980564768572808 Centerline is valid? [True, True] Translation: X:172.79, Y:12.14, Z:7.05 [[ 9.89816029e-01 -1.33482491e-01 -4.94636520e-02 1.72786249e+02] [ 1.33466309e-01 9.91046649e-01 -3.64476297e-03 1.21440841e+01] [ 4.95072986e-02 -2.99408627e-03 9.98769274e-01 7.04512302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16509989299996 meters 0.028516383863379836 Centerline is valid? [True, True] Translation: X:172.85, Y:12.15, Z:7.05 [[ 9.89477494e-01 -1.35835134e-01 -4.98307676e-02 1.72846357e+02] [ 1.35821823e-01 9.90726486e-01 -3.66897790e-03 1.21534965e+01] [ 4.98670374e-02 -3.13773463e-03 9.98750937e-01 7.04789399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22509989299996 meters 0.03116708313172039 Centerline is valid? [True, True] Translation: X:172.91, Y:12.16, Z:7.05 [[ 9.89380857e-01 -1.36479620e-01 -4.99883264e-02 1.72907635e+02] [ 1.36467105e-01 9.90637770e-01 -3.67936205e-03 1.21558502e+01] [ 5.00224821e-02 -3.18147179e-03 9.98743025e-01 7.05022327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.28509989299997 meters 0.029657239075648323 Centerline is valid? [True, True] Translation: X:172.97, Y:12.16, Z:7.05 [[ 9.89482280e-01 -1.35673953e-01 -5.01736530e-02 1.72969907e+02] [ 1.35660469e-01 9.90748516e-01 -3.68995084e-03 1.21635331e+01] [ 5.02101025e-02 -3.15544030e-03 9.98733693e-01 7.05273407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.34509989299997 meters 0.02712468907465387 Centerline is valid? [True, True] Translation: X:173.03, Y:12.17, Z:7.06 [[ 9.89669261e-01 -1.33880604e-01 -5.12907094e-02 1.73030771e+02] [ 1.33864336e-01 9.90992504e-01 -3.76785639e-03 1.21743594e+01] [ 5.13331514e-02 -3.13706512e-03 9.98676658e-01 7.05541595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.40509989299997 meters 0.027734409438957018 Centerline is valid? [True, True] Translation: X:173.09, Y:12.18, Z:7.06 [[ 9.90236154e-01 -1.29156389e-01 -5.24498535e-02 1.73090144e+02] [ 1.29132856e-01 9.91619822e-01 -3.85155368e-03 1.21804861e+01] [ 5.25077671e-02 -2.95905165e-03 9.98616132e-01 7.05631629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46509989299997 meters 0.02682862035210649 Centerline is valid? [True, True] Translation: X:173.15, Y:12.19, Z:7.06 [[ 9.90776126e-01 -1.25212883e-01 -5.18112068e-02 1.73150709e+02] [ 1.25184524e-01 9.92126180e-01 -3.80499947e-03 1.21890363e+01] [ 5.18796896e-02 -2.71605862e-03 9.98649649e-01 7.05936280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52509989299998 meters 0.021942009421277955 Centerline is valid? [True, True] Translation: X:173.21, Y:12.20, Z:7.06 [[ 9.91508965e-01 -1.19515537e-01 -5.12445940e-02 1.73209885e+02] [ 1.19480256e-01 9.92829448e-01 -3.76235261e-03 1.22048865e+01] [ 5.13268016e-02 -2.39231085e-03 9.98679046e-01 7.06394328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58509989299998 meters 0.02153173120038916 Centerline is valid? [True, True] Translation: X:173.27, Y:12.21, Z:7.07 [[ 9.91830951e-01 -1.16769575e-01 -5.13442337e-02 1.73270592e+02] [ 1.16730516e-01 9.93156473e-01 -3.76908226e-03 1.22122942e+01] [ 5.14329722e-02 -2.25514647e-03 9.98673903e-01 7.06654625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64509989299998 meters 0.02006753661324753 Centerline is valid? [True, True] Translation: X:173.33, Y:12.22, Z:7.07 [[ 9.92183093e-01 -1.13437573e-01 -5.20060259e-02 1.73331334e+02] [ 1.13393036e-01 9.93542883e-01 -3.81572122e-03 1.22215158e+01] [ 5.21030630e-02 -2.11122705e-03 9.98639481e-01 7.06916534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70509989299995 meters 0.018901515493592595 Centerline is valid? [True, True] Translation: X:173.39, Y:12.23, Z:7.07 [[ 9.92377791e-01 -1.11908774e-01 -5.16018077e-02 1.73392886e+02] [ 1.11862981e-01 9.93716437e-01 -3.78378915e-03 1.22297524e+01] [ 5.17010036e-02 -2.01738372e-03 9.98660571e-01 7.07240674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76509989299996 meters 0.019932327893051605 Centerline is valid? [True, True] Translation: X:173.45, Y:12.23, Z:7.07 [[ 9.92358330e-01 -1.12129191e-01 -5.14974701e-02 1.73453954e+02] [ 1.12084102e-01 9.93691566e-01 -3.77182172e-03 1.22343511e+01] [ 5.15955330e-02 -2.02904899e-03 9.98666002e-01 7.07443588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82509989299996 meters 0.02140113137380332 Centerline is valid? [True, True] Translation: X:173.52, Y:12.24, Z:7.08 [[ 9.92160765e-01 -1.13631463e-01 -5.20087220e-02 1.73515088e+02] [ 1.13587832e-01 9.93520678e-01 -3.80356281e-03 1.22377776e+01] [ 5.21039451e-02 -2.13381218e-03 9.98639387e-01 7.07669616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88509989299996 meters 0.023786822660936523 Centerline is valid? [True, True] Translation: X:173.58, Y:12.24, Z:7.08 [[ 9.91651370e-01 -1.17781284e-01 -5.24893257e-02 1.73575350e+02] [ 1.17742798e-01 9.93036717e-01 -3.83568635e-03 1.22393143e+01] [ 5.25755997e-02 -2.37657647e-03 9.98614119e-01 7.07809291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94509989299996 meters 0.02699449699487861 Centerline is valid? [True, True] Translation: X:173.64, Y:12.24, Z:7.08 [[ 9.90975211e-01 -1.23384264e-01 -5.23875425e-02 1.73635973e+02] [ 1.23353878e-01 9.92355373e-01 -3.82536718e-03 1.22384838e+01] [ 5.24590494e-02 -2.67136250e-03 9.98619503e-01 7.07989751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.00509989299997 meters 0.02532505018231378 Centerline is valid? [True, True] Translation: X:173.70, Y:12.24, Z:7.08 [[ 9.90425474e-01 -1.28170125e-01 -5.12815797e-02 1.73696551e+02] [ 1.28147408e-01 9.91748064e-01 -3.74434396e-03 1.22449729e+01] [ 5.13383204e-02 -2.86310789e-03 9.98677215e-01 7.08407384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06509989299997 meters 0.027999441227220024 Centerline is valid? [True, True] Translation: X:173.76, Y:12.25, Z:7.09 [[ 9.90236075e-01 -1.29717032e-01 -5.10490633e-02 1.73757386e+02] [ 1.29696640e-01 9.91546720e-01 -3.72594289e-03 1.22451853e+01] [ 5.11008495e-02 -2.93132891e-03 9.98689196e-01 7.08595539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12509989299997 meters 0.025912096113653804 Centerline is valid? [True, True] Translation: X:173.82, Y:12.25, Z:7.09 [[ 9.90322679e-01 -1.29327533e-01 -5.03525668e-02 1.73819002e+02] [ 1.29307488e-01 9.91597756e-01 -3.66919501e-03 1.22522483e+01] [ 5.04040202e-02 -2.87727689e-03 9.98724765e-01 7.08870523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18509989299997 meters 0.02720483528367481 Centerline is valid? [True, True] Translation: X:173.88, Y:12.25, Z:7.09 [[ 9.90584988e-01 -1.27697046e-01 -4.93441659e-02 1.73879080e+02] [ 1.27675935e-01 9.91809432e-01 -3.59252285e-03 1.22549016e+01] [ 4.93987637e-02 -2.74136334e-03 9.98775374e-01 7.09183905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24509989299997 meters 0.028524753166793055 Centerline is valid? [True, True] Translation: X:173.94, Y:12.26, Z:7.09 [[ 9.91075987e-01 -1.24209809e-01 -4.83767752e-02 1.73938769e+02] [ 1.24185409e-01 9.92252782e-01 -3.52134051e-03 1.22589069e+01] [ 4.84393748e-02 -2.51777361e-03 9.98822951e-01 7.09476718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30509989299998 meters 0.025863672096323863 Centerline is valid? [True, True] Translation: X:174.00, Y:12.27, Z:7.10 [[ 9.91236663e-01 -1.23029405e-01 -4.81003476e-02 1.74000597e+02] [ 1.23003919e-01 9.92400010e-01 -3.50077400e-03 1.22676278e+01] [ 4.81654836e-02 -2.44643573e-03 9.98836374e-01 7.09766223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36509989299998 meters 0.023714398444678833 Centerline is valid? [True, True] Translation: X:174.06, Y:12.28, Z:7.10 [[ 9.91563017e-01 -1.19996169e-01 -4.90275733e-02 1.74061521e+02] [ 1.19966158e-01 9.92771581e-01 -3.56493492e-03 1.22755605e+01] [ 4.91009600e-02 -2.34679200e-03 9.98791063e-01 7.09892107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42509989299998 meters 0.02455242880022449 Centerline is valid? [True, True] Translation: X:174.12, Y:12.28, Z:7.10 [[ 9.91854578e-01 -1.17294277e-01 -4.96643647e-02 1.74121481e+02] [ 1.17260189e-01 9.93094668e-01 -3.60954418e-03 1.22791805e+01] [ 4.97447946e-02 -2.24350988e-03 9.98759442e-01 7.09994283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48509989299995 meters 0.0227286356252185 Centerline is valid? [True, True] Translation: X:174.18, Y:12.29, Z:7.10 [[ 9.92359564e-01 -1.12810693e-01 -4.99624135e-02 1.74182284e+02] [ 1.12770569e-01 9.93614422e-01 -3.63029953e-03 1.22872477e+01] [ 5.00529113e-02 -2.03172737e-03 9.98744501e-01 7.10204453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54509989299996 meters 0.021458403226296066 Centerline is valid? [True, True] Translation: X:174.24, Y:12.29, Z:7.11 [[ 9.92939733e-01 -1.08476094e-01 -4.79960889e-02 1.74243118e+02] [ 1.08434047e-01 9.94097531e-01 -3.48661137e-03 1.22935918e+01] [ 4.80910075e-02 -1.74241522e-03 9.98841438e-01 7.10588826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60509989299996 meters 0.019133880832889555 Centerline is valid? [True, True] Translation: X:174.30, Y:12.30, Z:7.11 [[ 9.93342546e-01 -1.05299704e-01 -4.67178695e-02 1.74304472e+02] [ 1.05256403e-01 9.94439329e-01 -3.39278552e-03 1.23018267e+01] [ 4.68153461e-02 -1.54715669e-03 9.98902362e-01 7.10978808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66509989299996 meters 0.017659739271991878 Centerline is valid? [True, True] Translation: X:174.37, Y:12.31, Z:7.11 [[ 9.93714504e-01 -1.02217888e-01 -4.56397609e-02 1.74365472e+02] [ 1.02173423e-01 9.94761088e-01 -3.31213851e-03 1.23080875e+01] [ 4.57392180e-02 -1.37185051e-03 9.98952472e-01 7.11295252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72509989299996 meters 0.01762883619643252 Centerline is valid? [True, True] Translation: X:174.43, Y:12.31, Z:7.12 [[ 9.93855133e-01 -1.01201232e-01 -4.48362053e-02 1.74427150e+02] [ 1.01157363e-01 9.94865122e-01 -3.25209387e-03 1.23112030e+01] [ 4.49350928e-02 -1.30340209e-03 9.98989058e-01 7.11592814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.78509989299997 meters 0.01880137711857498 Centerline is valid? [True, True] Translation: X:174.49, Y:12.31, Z:7.12 [[ 9.93758113e-01 -1.02509171e-01 -4.40077588e-02 1.74488116e+02] [ 1.02468330e-01 9.94731156e-01 -3.18879268e-03 1.23105773e+01] [ 4.41027692e-02 -1.34051295e-03 9.99026100e-01 7.11857989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84509989299997 meters 0.018851097042522656 Centerline is valid? [True, True] Translation: X:174.55, Y:12.31, Z:7.12 [[ 9.93350851e-01 -1.06215824e-01 -4.44104288e-02 1.74549571e+02] [ 1.06178126e-01 9.94341932e-01 -3.21356797e-03 1.23127442e+01] [ 4.45004833e-02 -1.52321560e-03 9.99008202e-01 7.12050492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.90509989299997 meters 0.020504127825965494 Centerline is valid? [True, True] Translation: X:174.61, Y:12.31, Z:7.12 [[ 9.92997349e-01 -1.08952409e-01 -4.56687854e-02 1.74610315e+02] [ 1.08915527e-01 9.94045523e-01 -3.30256661e-03 1.23128755e+01] [ 4.57566743e-02 -1.69459996e-03 9.98951178e-01 7.12175505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96509989299997 meters 0.021258200024705364 Centerline is valid? [True, True] Translation: X:174.67, Y:12.31, Z:7.12 [[ 9.92642360e-01 -1.12434218e-01 -4.49409759e-02 1.74671391e+02] [ 1.12402300e-01 9.93657484e-01 -3.24465958e-03 1.23139696e+01] [ 4.50207478e-02 -1.83068252e-03 9.98984375e-01 7.12366476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02509989299998 meters 0.02243990513119527 Centerline is valid? [True, True] Translation: X:174.73, Y:12.32, Z:7.13 [[ 9.92443737e-01 -1.14644150e-01 -4.37281135e-02 1.74733594e+02] [ 1.14616108e-01 9.93404845e-01 -3.15622093e-03 1.23164141e+01] [ 4.38015621e-02 -1.87957450e-03 9.99038483e-01 7.12774618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08509989299998 meters 0.021875943524147044 Centerline is valid? [True, True] Translation: X:174.80, Y:12.32, Z:7.13 [[ 9.92401854e-01 -1.15408582e-01 -4.26546444e-02 1.74795128e+02] [ 1.15382732e-01 9.93316347e-01 -3.07572519e-03 1.23223076e+01] [ 4.27245207e-02 -1.86925401e-03 9.99085142e-01 7.13107427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14509989299998 meters 0.023637286509478817 Centerline is valid? [True, True] Translation: X:174.86, Y:12.32, Z:7.13 [[ 9.92203398e-01 -1.17075997e-01 -4.27273596e-02 1.74856105e+02] [ 1.17051735e-01 9.93121049e-01 -3.07783245e-03 1.23238131e+01] [ 4.27937805e-02 -1.94747576e-03 9.99082029e-01 7.13395522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20509989299995 meters 0.025492629865053937 Centerline is valid? [True, True] Translation: X:174.92, Y:12.32, Z:7.14 [[ 9.91891292e-01 -1.19409825e-01 -4.35081492e-02 1.74917461e+02] [ 1.19387013e-01 9.92842855e-01 -3.13167119e-03 1.23245523e+01] [ 4.35707073e-02 -2.08803058e-03 9.99048164e-01 7.13574776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26509989299996 meters 0.026443370824102513 Centerline is valid? [True, True] Translation: X:174.98, Y:12.33, Z:7.14 [[ 9.91186776e-01 -1.24721785e-01 -4.46458355e-02 1.74978450e+02] [ 1.24703236e-01 9.92188889e-01 -3.21128241e-03 1.23259504e+01] [ 4.46976188e-02 -2.38449952e-03 9.98997716e-01 7.13759144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32509989299996 meters 0.02948562986597192 Centerline is valid? [True, True] Translation: X:175.04, Y:12.32, Z:7.14 [[ 9.90633755e-01 -1.28738714e-01 -4.55094149e-02 1.75038543e+02] [ 1.28723670e-01 9.91675099e-01 -3.27327009e-03 1.23247186e+01] [ 4.55519502e-02 -2.61552706e-03 9.98958547e-01 7.13950999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38509989299996 meters 0.02745252548449382 Centerline is valid? [True, True] Translation: X:175.10, Y:12.33, Z:7.14 [[ 9.90229768e-01 -1.31367800e-01 -4.67707890e-02 1.75099830e+02] [ 1.31354835e-01 9.91329709e-01 -3.36397898e-03 1.23304384e+01] [ 4.68071911e-02 -2.81245712e-03 9.98899983e-01 7.14134371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.44509989299996 meters 0.028295858160460968 Centerline is valid? [True, True] Translation: X:175.16, Y:12.33, Z:7.14 [[ 9.89941605e-01 -1.32749110e-01 -4.89212953e-02 1.75162017e+02] [ 1.32736715e-01 9.91145095e-01 -3.51651960e-03 1.23335272e+01] [ 4.89549167e-02 -3.01250299e-03 9.98796446e-01 7.14237017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.50509989299997 meters 0.029270609138231558 Centerline is valid? [True, True] Translation: X:175.22, Y:12.34, Z:7.14 [[ 9.89946227e-01 -1.32416468e-01 -4.97226922e-02 1.75223620e+02] [ 1.32403433e-01 9.91189479e-01 -3.57041426e-03 1.23373670e+01] [ 4.97573910e-02 -3.04893702e-03 9.98756680e-01 7.14431729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.56509989299997 meters 0.03109748662964214 Centerline is valid? [True, True] Translation: X:175.28, Y:12.34, Z:7.15 [[ 9.90336572e-01 -1.29551726e-01 -4.94956964e-02 1.75283341e+02] [ 1.29535395e-01 9.91568440e-01 -3.55108179e-03 1.23406773e+01] [ 4.95384192e-02 -2.89467842e-03 9.98768024e-01 7.14654459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62509989299997 meters 0.029043479935487452 Centerline is valid? [True, True] Translation: X:175.34, Y:12.35, Z:7.15 [[ 9.90795275e-01 -1.26739600e-01 -4.75583442e-02 1.75343231e+02] [ 1.26721289e-01 9.91932494e-01 -3.41208594e-03 1.23501446e+01] [ 4.76071133e-02 -2.64597607e-03 9.98862634e-01 7.15117669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68509989299997 meters 0.02764452491350328 Centerline is valid? [True, True] Translation: X:175.41, Y:12.36, Z:7.15 [[ 9.90997018e-01 -1.25194764e-01 -4.74466198e-02 1.75405201e+02] [ 1.25174792e-01 9.92128866e-01 -3.40367788e-03 1.23579036e+01] [ 4.74992837e-02 -2.56608614e-03 9.98867976e-01 7.15446970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74509989299997 meters 0.026027955202528544 Centerline is valid? [True, True] Translation: X:175.47, Y:12.37, Z:7.16 [[ 9.91078941e-01 -1.24381128e-01 -4.78734560e-02 1.75467295e+02] [ 1.24360015e-01 9.92231231e-01 -3.43087477e-03 1.23661362e+01] [ 4.79282743e-02 -2.55327599e-03 9.98847517e-01 7.15782496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80509989299998 meters 0.02874519344178006 Centerline is valid? [True, True] Translation: X:175.53, Y:12.37, Z:7.16 [[ 9.91141762e-01 -1.23816856e-01 -4.80353482e-02 1.75528504e+02] [ 1.23795104e-01 9.92301842e-01 -3.43907660e-03 1.23667827e+01] [ 4.80913802e-02 -2.53792849e-03 9.98839716e-01 7.16013410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86509989299998 meters 0.026309396640393595 Centerline is valid? [True, True] Translation: X:175.59, Y:12.38, Z:7.16 [[ 9.91372431e-01 -1.22116946e-01 -4.76251449e-02 1.75589091e+02] [ 1.22093724e-01 9.92512727e-01 -3.40725771e-03 1.23761945e+01] [ 4.76846464e-02 -2.43686993e-03 9.98859468e-01 7.16379414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92509989299995 meters 0.025462426307313393 Centerline is valid? [True, True] Translation: X:175.65, Y:12.38, Z:7.17 [[ 9.91405804e-01 -1.21402862e-01 -4.87429659e-02 1.75650780e+02] [ 1.21377779e-01 9.92600266e-01 -3.48519823e-03 1.23835350e+01] [ 4.88053939e-02 -2.46106717e-03 9.98805275e-01 7.16681838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98509989299995 meters 0.023714626904327112 Centerline is valid? [True, True] Translation: X:175.71, Y:12.39, Z:7.17 [[ 9.91753081e-01 -1.18049588e-01 -4.99011200e-02 1.75711915e+02] [ 1.18019237e-01 9.93004911e-01 -3.56462664e-03 1.23906822e+01] [ 4.99728599e-02 -2.35406263e-03 9.98747802e-01 7.16783148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04509989299996 meters 0.021617501340747754 Centerline is valid? [True, True] Translation: X:175.77, Y:12.40, Z:7.17 [[ 9.92724764e-01 -1.09738471e-01 -4.95480723e-02 1.75770561e+02] [ 1.09698279e-01 9.93958636e-01 -3.53803664e-03 1.24000345e+01] [ 4.96369931e-02 -1.92304166e-03 9.98765473e-01 7.17049466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10509989299996 meters 0.020104068851917557 Centerline is valid? [True, True] Translation: X:175.83, Y:12.41, Z:7.17 [[ 9.93377932e-01 -1.03900551e-01 -4.90403987e-02 1.75831314e+02] [ 1.03854040e-01 9.94586382e-01 -3.50245331e-03 1.24083940e+01] [ 4.91388196e-02 -1.61378369e-03 9.98790655e-01 7.17394687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16509989299996 meters 0.017650449892575134 Centerline is valid? [True, True] Translation: X:175.89, Y:12.42, Z:7.18 [[ 9.94293834e-01 -9.49770206e-02 -4.85709417e-02 1.75890165e+02] [ 9.49207850e-02 9.95478787e-01 -3.46828622e-03 1.24175327e+01] [ 4.86807496e-02 -1.16189631e-03 9.98813714e-01 7.17736505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22509989299996 meters 0.01694337248549765 Centerline is valid? [True, True] Translation: X:175.95, Y:12.42, Z:7.18 [[ 9.94554814e-01 -9.25177983e-02 -4.79706105e-02 1.75950933e+02] [ 9.24600696e-02 9.95710500e-01 -3.42576196e-03 1.24230357e+01] [ 4.80817845e-02 -1.02825794e-03 9.98842873e-01 7.18048899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.28509989299997 meters 0.014769194105028102 Centerline is valid? [True, True] Translation: X:176.01, Y:12.43, Z:7.19 [[ 9.95229152e-01 -8.58828231e-02 -4.62933615e-02 1.76012245e+02] [ 8.58219619e-02 9.96305010e-01 -3.30433091e-03 1.24327017e+01] [ 4.64060933e-02 -6.84420659e-04 9.98922422e-01 7.18542060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34509989299997 meters 0.014057621241956092 Centerline is valid? [True, True] Translation: X:176.07, Y:12.44, Z:7.19 [[ 9.95828207e-01 -7.94974824e-02 -4.47921016e-02 1.76073690e+02] [ 7.94341628e-02 9.96834996e-01 -3.19459423e-03 1.24386546e+01] [ 4.49042966e-02 -3.76756048e-04 9.98991222e-01 7.18833024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.40509989299997 meters 0.01391967812074907 Centerline is valid? [True, True] Translation: X:176.13, Y:12.44, Z:7.19 [[ 9.95978023e-01 -7.77484391e-02 -4.45304195e-02 1.76134968e+02] [ 7.76842175e-02 9.96972964e-01 -3.17352757e-03 1.24414447e+01] [ 4.46423611e-02 -2.98547073e-04 9.99002988e-01 7.19084516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46509989299997 meters 0.014115668011152395 Centerline is valid? [True, True] Translation: X:176.20, Y:12.44, Z:7.19 [[ 9.95856529e-01 -7.89653535e-02 -4.51026187e-02 1.76196014e+02] [ 7.89007926e-02 9.96877296e-01 -3.21264222e-03 1.24427627e+01] [ 4.52154641e-02 -3.59301637e-04 9.98977193e-01 7.19287317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52509989299998 meters 0.014555185846931584 Centerline is valid? [True, True] Translation: X:176.26, Y:12.44, Z:7.19 [[ 9.95406927e-01 -8.33810564e-02 -4.70387959e-02 1.76257362e+02] [ 8.33158396e-02 9.96517565e-01 -3.34879476e-03 1.24403521e+01] [ 4.71542124e-02 -5.85663277e-04 9.98887450e-01 7.19314129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58509989299998 meters 0.015562652756216433 Centerline is valid? [True, True] Translation: X:176.32, Y:12.44, Z:7.19 [[ 9.94908250e-01 -8.90450988e-02 -4.72074608e-02 1.76318043e+02] [ 8.89858535e-02 9.96027225e-01 -3.35927672e-03 1.24356992e+01] [ 4.73190433e-02 -8.58624067e-04 9.98879458e-01 7.19485806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64509989299998 meters 0.016943974052862156 Centerline is valid? [True, True] Translation: X:176.38, Y:12.43, Z:7.20 [[ 9.94612830e-01 -9.24601112e-02 -4.68662557e-02 1.76378709e+02] [ 9.24055099e-02 9.95715873e-01 -3.33490850e-03 1.24330628e+01] [ 4.69738207e-02 -1.01375747e-03 9.98895606e-01 7.19669199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70509989299995 meters 0.016888876968050876 Centerline is valid? [True, True] Translation: X:176.44, Y:12.43, Z:7.20 [[ 9.94341046e-01 -9.60855174e-02 -4.53151008e-02 1.76440460e+02] [ 9.60382686e-02 9.95372422e-01 -3.22368865e-03 1.24319768e+01] [ 4.54151515e-02 -1.14653788e-03 9.98967542e-01 7.20064715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76509989299996 meters 0.01762725803870312 Centerline is valid? [True, True] Translation: X:176.50, Y:12.43, Z:7.20 [[ 9.94174485e-01 -9.79420055e-02 -4.49939590e-02 1.76502495e+02] [ 9.78974012e-02 9.95191371e-01 -3.19910064e-03 1.24301928e+01] [ 4.50909261e-02 -1.22432743e-03 9.98982137e-01 7.20420618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82509989299996 meters 0.01736268723810919 Centerline is valid? [True, True] Translation: X:176.56, Y:12.43, Z:7.21 [[ 9.94140062e-01 -9.80926906e-02 -4.54242416e-02 1.76564203e+02] [ 9.80475348e-02 9.95176502e-01 -3.22643635e-03 1.24315967e+01] [ 4.55216277e-02 -1.24620528e-03 9.98962576e-01 7.20629789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88509989299996 meters 0.01775797292428241 Centerline is valid? [True, True] Translation: X:176.63, Y:12.43, Z:7.21 [[ 9.94022291e-01 -9.82033718e-02 -4.77051620e-02 1.76625228e+02] [ 9.81538165e-02 9.95165496e-01 -3.38591494e-03 1.24279423e+01] [ 4.78070394e-02 -1.31676879e-03 9.98855722e-01 7.20745450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94509989299996 meters 0.017079747643376178 Centerline is valid? [True, True] Translation: X:176.69, Y:12.43, Z:7.21 [[ 9.93993704e-01 -9.71994722e-02 -5.02869636e-02 1.76685985e+02] [ 9.71431660e-02 9.95264021e-01 -3.56836315e-03 1.24300157e+01] [ 5.03956487e-02 -1.33810435e-03 9.98728436e-01 7.20899056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.00509989299997 meters 0.016766607196907854 Centerline is valid? [True, True] Translation: X:176.75, Y:12.43, Z:7.21 [[ 9.94068290e-01 -9.56788273e-02 -5.17087784e-02 1.76745758e+02] [ 9.56172193e-02 9.95411413e-01 -3.66960957e-03 1.24328268e+01] [ 5.18226121e-02 -1.29640709e-03 9.98655464e-01 7.21045515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06509989299997 meters 0.01663182229661147 Centerline is valid? [True, True] Translation: X:176.80, Y:12.44, Z:7.21 [[ 9.94147915e-01 -9.47328510e-02 -5.19192713e-02 1.76803929e+02] [ 9.46692408e-02 9.95501948e-01 -3.68859929e-03 1.24367489e+01] [ 5.20351673e-02 -1.24814470e-03 9.98644473e-01 7.21297443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12509989299997 meters 0.01687814609824984 Centerline is valid? [True, True] Translation: X:176.86, Y:12.44, Z:7.21 [[ 9.94288888e-01 -9.31223741e-02 -5.21328154e-02 1.76861556e+02] [ 9.30554247e-02 9.95653998e-01 -3.71530575e-03 1.24386473e+01] [ 5.22522241e-02 -1.15715406e-03 9.98633249e-01 7.21419402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18509989299997 meters 0.015194159872905427 Centerline is valid? [True, True] Translation: X:176.92, Y:12.44, Z:7.22 [[ 9.94488368e-01 -9.21247296e-02 -5.00591606e-02 1.76920383e+02] [ 9.20614590e-02 9.95746916e-01 -3.57307588e-03 1.24440461e+01] [ 5.01754234e-02 -1.05513696e-03 9.98739863e-01 7.22042855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24509989299997 meters 0.015799662559771825 Centerline is valid? [True, True] Translation: X:176.98, Y:12.44, Z:7.22 [[ 9.94554633e-01 -9.23328872e-02 -4.83292962e-02 1.76978220e+02] [ 9.22736550e-02 9.95727674e-01 -3.46001236e-03 1.24439887e+01] [ 4.84422906e-02 -1.01834948e-03 9.98825464e-01 7.22409797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30509989299998 meters 0.015658443178655876 Centerline is valid? [True, True] Translation: X:177.04, Y:12.45, Z:7.23 [[ 9.94548004e-01 -9.36714440e-02 -4.58249855e-02 1.77038059e+02] [ 9.36194371e-02 9.95602638e-01 -3.28450834e-03 1.24464244e+01] [ 4.59311411e-02 -1.02350814e-03 9.98944084e-01 7.22872883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36509989299998 meters 0.017107194118334078 Centerline is valid? [True, True] Translation: X:177.10, Y:12.44, Z:7.23 [[ 9.94345328e-01 -9.62514806e-02 -4.48666971e-02 1.77097779e+02] [ 9.62041803e-02 9.95356421e-01 -3.21735260e-03 1.24449431e+01] [ 4.49680300e-02 -1.11720429e-03 9.98987802e-01 7.23135866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42509989299995 meters 0.019541066070688635 Centerline is valid? [True, True] Translation: X:177.16, Y:12.44, Z:7.23 [[ 9.93695075e-01 -1.02040740e-01 -4.64519742e-02 1.77157826e+02] [ 1.01996327e-01 9.94779197e-01 -3.33157090e-03 1.24408118e+01] [ 4.65494135e-02 -1.42736513e-03 9.98914969e-01 7.23268395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48509989299995 meters 0.019822809731477885 Centerline is valid? [True, True] Translation: X:177.22, Y:12.44, Z:7.24 [[ 9.93139493e-01 -1.07039614e-01 -4.70793852e-02 1.77217817e+02] [ 1.06999557e-01 9.94253332e-01 -3.37742675e-03 1.24420700e+01] [ 4.71703540e-02 -1.68321747e-03 9.98885441e-01 7.23501540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54509989299996 meters 0.022911728713154954 Centerline is valid? [True, True] Translation: X:177.28, Y:12.44, Z:7.24 [[ 9.92322267e-01 -1.13924825e-01 -4.81419963e-02 1.77278326e+02] [ 1.13890968e-01 9.93487248e-01 -3.45470843e-03 1.24376156e+01] [ 4.82220365e-02 -2.05475447e-03 9.98834527e-01 7.23659971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60509989299996 meters 0.025078357777461275 Centerline is valid? [True, True] Translation: X:177.34, Y:12.44, Z:7.24 [[ 9.91843195e-01 -1.17110305e-01 -5.03214958e-02 1.77337866e+02] [ 1.17077360e-01 9.93116229e-01 -3.61200254e-03 1.24367871e+01] [ 5.03980969e-02 -2.30896775e-03 9.98726539e-01 7.23672090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66509989299996 meters 0.024343599511732636 Centerline is valid? [True, True] Translation: X:177.40, Y:12.44, Z:7.24 [[ 9.91324948e-01 -1.20784417e-01 -5.18263548e-02 1.77398291e+02] [ 1.20754306e-01 9.92675442e-01 -3.72336910e-03 1.24393164e+01] [ 5.18964746e-02 -2.56718682e-03 9.98649170e-01 7.23805837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.72509989299996 meters 0.024169734881961467 Centerline is valid? [True, True] Translation: X:177.46, Y:12.44, Z:7.24 [[ 9.91306331e-01 -1.21571826e-01 -5.03194762e-02 1.77458126e+02] [ 1.21544432e-01 9.92579407e-01 -3.61541726e-03 1.24432871e+01] [ 5.03856088e-02 -2.53206613e-03 9.98726629e-01 7.24176603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.78509989299997 meters 0.02428297839872669 Centerline is valid? [True, True] Translation: X:177.52, Y:12.45, Z:7.25 [[ 9.91304560e-01 -1.22036839e-01 -4.92166630e-02 1.77518705e+02] [ 1.22011128e-01 9.92522428e-01 -3.53767395e-03 1.24476479e+01] [ 4.92803684e-02 -2.49806826e-03 9.98781861e-01 7.24507923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.84509989299997 meters 0.026448716236576526 Centerline is valid? [True, True] Translation: X:177.58, Y:12.45, Z:7.25 [[ 9.91338934e-01 -1.22596056e-01 -4.70884784e-02 1.77578123e+02] [ 1.22573140e-01 9.92453711e-01 -3.38479410e-03 1.24496546e+01] [ 4.71480976e-02 -2.41630446e-03 9.98884988e-01 7.24871798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.90509989299997 meters 0.02361195775140305 Centerline is valid? [True, True] Translation: X:177.64, Y:12.46, Z:7.25 [[ 9.91278015e-01 -1.23523693e-01 -4.59324874e-02 1.77638303e+02] [ 1.23502845e-01 9.92338723e-01 -3.30243267e-03 1.24587478e+01] [ 4.59885146e-02 -2.39916394e-03 9.98939088e-01 7.25244471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96509989299997 meters 0.02455290668327738 Centerline is valid? [True, True] Translation: X:177.70, Y:12.46, Z:7.26 [[ 9.91157862e-01 -1.24783998e-01 -4.51114835e-02 1.77699589e+02] [ 1.24765193e-01 9.92180995e-01 -3.24328576e-03 1.24622575e+01] [ 4.51634667e-02 -2.41373475e-03 9.98976694e-01 7.25539700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02509989299998 meters 0.02494502063845932 Centerline is valid? [True, True] Translation: X:177.76, Y:12.47, Z:7.26 [[ 9.91112306e-01 -1.25170733e-01 -4.50409123e-02 1.77760469e+02] [ 1.25152460e-01 9.92132242e-01 -3.23655273e-03 1.24674975e+01] [ 4.50916630e-02 -2.42919371e-03 9.98979900e-01 7.25806527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08509989299998 meters 0.025785036790517465 Centerline is valid? [True, True] Translation: X:177.82, Y:12.47, Z:7.26 [[ 9.91140482e-01 -1.24686295e-01 -4.57588496e-02 1.77822042e+02] [ 1.24667000e-01 9.92193196e-01 -3.28643504e-03 1.24714615e+01] [ 4.58113926e-02 -2.44729968e-03 9.98947109e-01 7.26018261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14509989299998 meters 0.0256464729440739 Centerline is valid? [True, True] Translation: X:177.88, Y:12.48, Z:7.26 [[ 9.91345036e-01 -1.22299463e-01 -4.77269461e-02 1.77882528e+02] [ 1.22275797e-01 9.92490247e-01 -3.42617381e-03 1.24786973e+01] [ 4.77875478e-02 -2.43932995e-03 9.98854544e-01 7.26082900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20509989299995 meters 0.022175980446005255 Centerline is valid? [True, True] Translation: X:177.94, Y:12.49, Z:7.26 [[ 9.91876818e-01 -1.17698647e-01 -4.82432052e-02 1.77942735e+02] [ 1.17669053e-01 9.93046828e-01 -3.46293599e-03 1.24912526e+01] [ 4.83153447e-02 -2.24192631e-03 9.98829616e-01 7.26359131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26509989299996 meters 0.022694761529116304 Centerline is valid? [True, True] Translation: X:178.00, Y:12.50, Z:7.27 [[ 9.92577245e-01 -1.12112029e-01 -4.71307272e-02 1.78001695e+02] [ 1.12077528e-01 9.93693709e-01 -3.38237511e-03 1.24983775e+01] [ 4.72127121e-02 -1.92502684e-03 9.98883003e-01 7.26679194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32509989299996 meters 0.01960174274586071 Centerline is valid? [True, True] Translation: X:178.06, Y:12.51, Z:7.27 [[ 9.93049049e-01 -1.07658203e-01 -4.75741221e-02 1.78061367e+02] [ 1.07617930e-01 9.94186462e-01 -3.41456398e-03 1.25103799e+01] [ 4.76651540e-02 -1.72899901e-03 9.98861874e-01 7.26923736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38509989299996 meters 0.020312908984130944 Centerline is valid? [True, True] Translation: X:178.12, Y:12.51, Z:7.27 [[ 9.93152948e-01 -1.06807226e-01 -4.73227067e-02 1.78121195e+02] [ 1.06766413e-01 9.94278330e-01 -3.39651900e-03 1.25143823e+01] [ 4.74147145e-02 -1.67921276e-03 9.98873878e-01 7.27150738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44509989299996 meters 0.018056277525178913 Centerline is valid? [True, True] Translation: X:178.18, Y:12.52, Z:7.27 [[ 9.93323204e-01 -1.05008422e-01 -4.77728309e-02 1.78181697e+02] [ 1.04964763e-01 9.94470031e-01 -3.42861156e-03 1.25238514e+01] [ 4.78686817e-02 -1.60874443e-03 9.98852342e-01 7.27396451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.50509989299997 meters 0.018279291648713343 Centerline is valid? [True, True] Translation: X:178.24, Y:12.53, Z:7.28 [[ 9.93430447e-01 -1.04088542e-01 -4.75554699e-02 1.78241760e+02] [ 1.04044299e-01 9.94566813e-01 -3.41149068e-03 1.25305244e+01] [ 4.76521893e-02 -1.55879684e-03 9.98862773e-01 7.27711984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.56509989299997 meters 0.017985692309559827 Centerline is valid? [True, True] Translation: X:178.30, Y:12.54, Z:7.28 [[ 9.93457312e-01 -1.03723227e-01 -4.77918638e-02 1.78302836e+02] [ 1.03678132e-01 9.94604993e-01 -3.42823511e-03 1.25366535e+01] [ 4.78896140e-02 -1.54916591e-03 9.98851433e-01 7.28022354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.62509989299997 meters 0.01755708094859592 Centerline is valid? [True, True] Translation: X:178.36, Y:12.54, Z:7.28 [[ 9.93626312e-01 -1.01971168e-01 -4.80482250e-02 1.78363612e+02] [ 1.01923627e-01 9.94786262e-01 -3.44487575e-03 1.25443020e+01] [ 4.81489921e-02 -1.47433016e-03 9.98839077e-01 7.28429752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.68509989299997 meters 0.016873721796159508 Centerline is valid? [True, True] Translation: X:178.42, Y:12.55, Z:7.29 [[ 9.93832322e-01 -9.97425028e-02 -4.84638846e-02 1.78423977e+02] [ 9.96915686e-02 9.95012326e-01 -3.47303169e-03 1.25524984e+01] [ 4.85685714e-02 -1.37982952e-03 9.98818897e-01 7.28799724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74509989299997 meters 0.016891183950419175 Centerline is valid? [True, True] Translation: X:178.48, Y:12.56, Z:7.29 [[ 9.94170801e-01 -9.58315541e-02 -4.94037689e-02 1.78482901e+02] [ 9.57738328e-02 9.95396827e-01 -3.53974730e-03 1.25604014e+01] [ 4.95155743e-02 -1.21247490e-03 9.98772616e-01 7.29083363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80509989299998 meters 0.015044581673889399 Centerline is valid? [True, True] Translation: X:178.54, Y:12.57, Z:7.29 [[ 9.94313962e-01 -9.38065964e-02 -5.03990757e-02 1.78543318e+02] [ 9.37438967e-02 9.95589794e-01 -3.61166523e-03 1.25699397e+01] [ 5.05156034e-02 -1.13347658e-03 9.98722629e-01 7.29472064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86509989299998 meters 0.015224324831066113 Centerline is valid? [True, True] Translation: X:178.60, Y:12.58, Z:7.30 [[ 9.94304242e-01 -9.30834061e-02 -5.19090880e-02 1.78603160e+02] [ 9.30159496e-02 9.95657673e-01 -3.71908387e-03 1.25758882e+01] [ 5.20298668e-02 -1.13047224e-03 9.98644889e-01 7.29737604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92509989299995 meters 0.015298531568932967 Centerline is valid? [True, True] Translation: X:178.66, Y:12.58, Z:7.30 [[ 9.94180337e-01 -9.37079989e-02 -5.31438489e-02 1.78662778e+02] [ 9.36381642e-02 9.95599012e-01 -3.80795816e-03 1.25805286e+01] [ 5.32667996e-02 -1.19049533e-03 9.98579607e-01 7.29926654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98509989299995 meters 0.0159244397124643 Centerline is valid? [True, True] Translation: X:178.72, Y:12.58, Z:7.30 [[ 9.94061114e-01 -9.49795354e-02 -5.31167547e-02 1.78721815e+02] [ 9.49114714e-02 9.95478433e-01 -3.80814002e-03 1.25841548e+01] [ 5.32382791e-02 -1.25586544e-03 9.98581048e-01 7.30175452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04509989299996 meters 0.016233011821239318 Centerline is valid? [True, True] Translation: X:178.78, Y:12.59, Z:7.30 [[ 9.93933475e-01 -9.61855572e-02 -5.33346596e-02 1.78780514e+02] [ 9.61183930e-02 9.95362544e-01 -3.82889133e-03 1.25875945e+01] [ 5.34556065e-02 -1.32077851e-03 9.98569353e-01 7.30403401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10509989299996 meters 0.015817762085424496 Centerline is valid? [True, True] Translation: X:178.84, Y:12.59, Z:7.31 [[ 9.93942168e-01 -9.61566034e-02 -5.32247612e-02 1.78840141e+02] [ 9.60890923e-02 9.95365362e-01 -3.83189364e-03 1.25924977e+01] [ 5.33465456e-02 -1.30563832e-03 9.98575206e-01 7.30728976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16509989299996 meters 0.015944981897935966 Centerline is valid? [True, True] Translation: X:178.90, Y:12.60, Z:7.31 [[ 9.93906019e-01 -9.64728435e-02 -5.33274351e-02 1.78899599e+02] [ 9.64054218e-02 9.95334737e-01 -3.84123669e-03 1.25962057e+01] [ 5.34492237e-02 -1.32322562e-03 9.98569692e-01 7.30920481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22509989299996 meters 0.0169073160861177 Centerline is valid? [True, True] Translation: X:178.96, Y:12.60, Z:7.31 [[ 9.93775184e-01 -9.80647961e-02 -5.28600073e-02 1.78957959e+02] [ 9.80006877e-02 9.95179055e-01 -3.80967838e-03 1.25979228e+01] [ 5.29787674e-02 -1.39435323e-03 9.98594666e-01 7.31050679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.28509989299997 meters 0.01702330029297049 Centerline is valid? [True, True] Translation: X:179.02, Y:12.60, Z:7.31 [[ 9.93669829e-01 -9.93034400e-02 -5.25271064e-02 1.79017537e+02] [ 9.92417257e-02 9.95056143e-01 -3.78831851e-03 1.26013207e+01] [ 5.26436130e-02 -1.44854288e-03 9.98612313e-01 7.31312604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.34509989299997 meters 0.0171367454996262 Centerline is valid? [True, True] Translation: X:179.08, Y:12.60, Z:7.32 [[ 9.93507550e-01 -1.01553127e-01 -5.12807123e-02 1.79076647e+02] [ 1.01497204e-01 9.94828943e-01 -3.70025039e-03 1.26048299e+01] [ 5.13913088e-02 -1.52862221e-03 9.98677424e-01 7.31665747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.40509989299997 meters 0.01774513431830425 Centerline is valid? [True, True] Translation: X:179.14, Y:12.61, Z:7.32 [[ 9.93338055e-01 -1.03640937e-01 -5.03792090e-02 1.79137024e+02] [ 1.03589566e-01 9.94613481e-01 -3.63671726e-03 1.26071586e+01] [ 5.04847532e-02 -1.60627074e-03 9.98723540e-01 7.31978330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46509989299997 meters 0.019873242707640563 Centerline is valid? [True, True] Translation: X:179.20, Y:12.61, Z:7.32 [[ 9.93034293e-01 -1.06562189e-01 -5.02731747e-02 1.79196563e+02] [ 1.06514763e-01 9.94304498e-01 -3.62919928e-03 1.26066447e+01] [ 5.03735792e-02 -1.75091597e-03 9.98728911e-01 7.32267527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52509989299998 meters 0.021380743639898288 Centerline is valid? [True, True] Translation: X:179.26, Y:12.61, Z:7.32 [[ 9.92724422e-01 -1.08622432e-01 -5.19556510e-02 1.79256339e+02] [ 1.08574550e-01 9.94081231e-01 -3.75153707e-03 1.26081047e+01] [ 5.20556385e-02 -1.91681895e-03 9.98642347e-01 7.32373636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58509989299998 meters 0.022375420260261365 Centerline is valid? [True, True] Translation: X:179.32, Y:12.61, Z:7.33 [[ 9.92598011e-01 -1.09297384e-01 -5.29459195e-02 1.79315402e+02] [ 1.09248576e-01 9.94007106e-01 -3.82385321e-03 1.26105788e+01] [ 5.30465574e-02 -1.98871722e-03 9.98590060e-01 7.32549209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64509989299998 meters 0.021580856456554037 Centerline is valid? [True, True] Translation: X:179.38, Y:12.62, Z:7.33 [[ 9.92533013e-01 -1.09277475e-01 -5.41908774e-02 1.79375212e+02] [ 1.09226303e-01 9.94009203e-01 -3.91401244e-03 1.26167022e+01] [ 5.42939442e-02 -2.03428264e-03 9.98522924e-01 7.32826467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70509989299995 meters 0.020554145882885035 Centerline is valid? [True, True] Translation: X:179.43, Y:12.62, Z:7.33 [[ 9.92484066e-01 -1.09202332e-01 -5.52288903e-02 1.79434807e+02] [ 1.09149067e-01 9.94017389e-01 -3.98898438e-03 1.26239119e+01] [ 5.53340837e-02 -2.06917842e-03 9.98465752e-01 7.33186411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76509989299996 meters 0.02079927239274435 Centerline is valid? [True, True] Translation: X:179.49, Y:12.63, Z:7.34 [[ 9.92496249e-01 -1.09063502e-01 -5.52842416e-02 1.79494238e+02] [ 1.09009889e-01 9.94032644e-01 -3.99345888e-03 1.26295399e+01] [ 5.53898815e-02 -2.06303607e-03 9.98462671e-01 7.33517717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82509989299996 meters 0.02060098503314462 Centerline is valid? [True, True] Translation: X:179.55, Y:12.64, Z:7.34 [[ 9.92529375e-01 -1.09099665e-01 -5.46141319e-02 1.79554008e+02] [ 1.09047317e-01 9.94028726e-01 -3.94652599e-03 1.26353115e+01] [ 5.47185806e-02 -2.03848157e-03 9.98499735e-01 7.33833239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88509989299996 meters 0.01971235068018385 Centerline is valid? [True, True] Translation: X:179.61, Y:12.64, Z:7.34 [[ 9.92430711e-01 -1.10273720e-01 -5.40461824e-02 1.79613798e+02] [ 1.10224191e-01 9.93899077e-01 -3.90548483e-03 1.26430808e+01] [ 5.41471232e-02 -2.08127363e-03 9.98530799e-01 7.34260265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94509989299996 meters 0.020964419274988773 Centerline is valid? [True, True] Translation: X:179.67, Y:12.65, Z:7.35 [[ 9.92302929e-01 -1.11546269e-01 -5.37803506e-02 1.79672752e+02] [ 1.11499078e-01 9.93756938e-01 -3.88649027e-03 1.26466171e+01] [ 5.38781200e-02 -2.13988382e-03 9.98545226e-01 7.34554241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.00509989299997 meters 0.02234524444811095 Centerline is valid? [True, True] Translation: X:179.73, Y:12.65, Z:7.35 [[ 9.92059779e-01 -1.13375208e-01 -5.44376406e-02 1.79732608e+02] [ 1.13329551e-01 9.93549661e-01 -3.93497897e-03 1.26498798e+01] [ 5.45326284e-02 -2.26565897e-03 9.98509419e-01 7.34791005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.06509989299997 meters 0.022444982094973233 Centerline is valid? [True, True] Translation: X:179.79, Y:12.65, Z:7.35 [[ 9.91726148e-01 -1.15593131e-01 -5.58343558e-02 1.79792864e+02] [ 1.15548566e-01 9.93293629e-01 -4.03670083e-03 1.26545071e+01] [ 5.59265248e-02 -2.44827799e-03 9.98431885e-01 7.35006346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.12509989299997 meters 0.021813539708557893 Centerline is valid? [True, True] Translation: X:179.85, Y:12.66, Z:7.35 [[ 9.91292924e-01 -1.18270250e-01 -5.78833979e-02 1.79853237e+02] [ 1.18226926e-01 9.92977786e-01 -4.18454584e-03 1.26614805e+01] [ 5.79718356e-02 -2.69526552e-03 9.98314581e-01 7.35299320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.18509989299997 meters 0.022730767307472383 Centerline is valid? [True, True] Translation: X:179.91, Y:12.67, Z:7.36 [[ 9.91243827e-01 -1.18615685e-01 -5.80171916e-02 1.79913613e+02] [ 1.18572796e-01 9.92936507e-01 -4.19344069e-03 1.26658591e+01] [ 5.81047954e-02 -2.72253842e-03 9.98306777e-01 7.35593231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24509989299997 meters 0.02168885421612879 Centerline is valid? [True, True] Translation: X:179.97, Y:12.67, Z:7.36 [[ 9.91446417e-01 -1.16859711e-01 -5.81189309e-02 1.79973668e+02] [ 1.16813663e-01 9.93144965e-01 -4.20079433e-03 1.26741841e+01] [ 5.82114272e-02 -2.62422274e-03 9.98300828e-01 7.36002943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30509989299998 meters 0.020898126042788016 Centerline is valid? [True, True] Translation: X:180.03, Y:12.68, Z:7.36 [[ 9.92232383e-01 -1.10641020e-01 -5.68635392e-02 1.80032850e+02] [ 1.10586730e-01 9.93857978e-01 -4.11029122e-03 1.26840104e+01] [ 5.69690489e-02 -2.20998878e-03 9.98373499e-01 7.36422675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36509989299998 meters 0.017922907279919086 Centerline is valid? [True, True] Translation: X:180.09, Y:12.70, Z:7.37 [[ 9.92853364e-01 -1.05353700e-01 -5.60606435e-02 1.80093254e+02] [ 1.05292487e-01 9.94433038e-01 -4.05275372e-03 1.26961700e+01] [ 5.61755286e-02 -1.87897439e-03 9.98419140e-01 7.36896374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42509989299995 meters 0.015902717847999116 Centerline is valid? [True, True] Translation: X:180.15, Y:12.71, Z:7.37 [[ 9.93627912e-01 -9.82394927e-02 -5.52501100e-02 1.80153394e+02] [ 9.81690864e-02 9.95161737e-01 -3.99347308e-03 1.27080062e+01] [ 5.53751122e-02 -1.45582651e-03 9.98464560e-01 7.37261798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48509989299995 meters 0.01416830941008933 Centerline is valid? [True, True] Translation: X:180.21, Y:12.72, Z:7.38 [[ 9.94315337e-01 -9.09449435e-02 -5.53717188e-02 1.80212994e+02] [ 9.08629656e-02 9.95855366e-01 -4.00149522e-03 1.27194057e+01] [ 5.55061390e-02 -1.05249051e-03 9.98457791e-01 7.37559766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54509989299996 meters 0.013601241462061802 Centerline is valid? [True, True] Translation: X:180.27, Y:12.73, Z:7.38 [[ 9.94757672e-01 -8.57470921e-02 -5.57190366e-02 1.80272157e+02] [ 8.56559194e-02 9.96316640e-01 -4.02684309e-03 1.27272143e+01] [ 5.58590935e-02 -7.66932255e-04 9.98438367e-01 7.37659400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60509989299996 meters 0.012550832513123406 Centerline is valid? [True, True] Translation: X:180.33, Y:12.74, Z:7.38 [[ 9.95384811e-01 -7.74797743e-02 -5.66212280e-02 1.80331265e+02] [ 7.73721784e-02 9.96993877e-01 -4.09333148e-03 1.27383330e+01] [ 5.67681680e-02 -3.06467769e-04 9.98387340e-01 7.37901786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66509989299996 meters 0.012325467101246466 Centerline is valid? [True, True] Translation: X:180.39, Y:12.75, Z:7.38 [[ 9.95691014e-01 -7.36445231e-02 -5.63550172e-02 1.80389424e+02] [ 7.35315097e-02 9.97284552e-01 -4.07917198e-03 1.27452346e+01] [ 5.65023967e-02 -8.22746029e-05 9.98402460e-01 7.38203834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72509989299996 meters 0.012067684045310483 Centerline is valid? [True, True] Translation: X:180.45, Y:12.75, Z:7.39 [[ 9.95933603e-01 -7.11830907e-02 -5.52197893e-02 1.80448112e+02] [ 7.10700506e-02 9.97463264e-01 -4.01063468e-03 1.27503666e+01] [ 5.53652007e-02 6.98526343e-05 9.98466169e-01 7.38552274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.78509989299997 meters 0.011777950362651873 Centerline is valid? [True, True] Translation: X:180.51, Y:12.75, Z:7.39 [[ 9.95804088e-01 -7.45089069e-02 -5.31285292e-02 1.80506794e+02] [ 7.44083041e-02 9.97220343e-01 -3.87182297e-03 1.27497995e+01] [ 5.32693354e-02 -9.76266098e-05 9.98580176e-01 7.38810072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.84509989299997 meters 0.011787153335872505 Centerline is valid? [True, True] Translation: X:180.57, Y:12.75, Z:7.39 [[ 9.95442223e-01 -8.03090249e-02 -5.14319067e-02 1.80565063e+02] [ 8.02218098e-02 9.96769941e-01 -3.76119166e-03 1.27487230e+01] [ 5.15678362e-02 -3.81911645e-04 9.98669421e-01 7.39219120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.90509989299997 meters 0.012600333809929677 Centerline is valid? [True, True] Translation: X:180.62, Y:12.75, Z:7.39 [[ 9.94839907e-01 -8.79846237e-02 -5.05199424e-02 1.80624160e+02] [ 8.79097149e-02 9.96121548e-01 -3.70718872e-03 1.27454452e+01] [ 5.06501788e-02 -7.53134446e-04 9.98716172e-01 7.39429349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96509989299997 meters 0.015479471758326507 Centerline is valid? [True, True] Translation: X:180.69, Y:12.74, Z:7.40 [[ 9.93490540e-01 -1.02035850e-01 -5.06481200e-02 1.80685292e+02] [ 1.01978653e-01 9.94779636e-01 -3.71897198e-03 1.27370360e+01] [ 5.07631868e-02 -1.47026354e-03 9.98709636e-01 7.39629285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02509989299998 meters 0.01950289614333808 Centerline is valid? [True, True] Translation: X:180.75, Y:12.73, Z:7.40 [[ 9.92557620e-01 -1.11158071e-01 -4.97318199e-02 1.80745165e+02] [ 1.11114329e-01 9.93800920e-01 -3.65197638e-03 1.27306949e+01] [ 4.98294750e-02 -1.90112080e-03 9.98755931e-01 7.39875436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08509989299998 meters 0.02449932097338343 Centerline is valid? [True, True] Translation: X:180.81, Y:12.72, Z:7.40 [[ 9.91256775e-01 -1.22521982e-01 -4.89731500e-02 1.80806701e+02] [ 1.22493402e-01 9.92462814e-01 -3.59577136e-03 1.27220488e+01] [ 4.90445913e-02 -2.43455505e-03 9.98793623e-01 7.40104609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14509989299998 meters 0.028348531017711842 Centerline is valid? [True, True] Translation: X:180.87, Y:12.72, Z:7.40 [[ 9.90641927e-01 -1.27588874e-01 -4.84731961e-02 1.80866671e+02] [ 1.27566914e-01 9.91823581e-01 -3.55910569e-03 1.27184997e+01] [ 4.85309612e-02 -2.65777670e-03 9.98818143e-01 7.40333798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20509989299995 meters 0.030415538791677472 Centerline is valid? [True, True] Translation: X:180.93, Y:12.72, Z:7.41 [[ 9.90152659e-01 -1.32116829e-01 -4.62909866e-02 1.80927450e+02] [ 1.32101696e-01 9.91230339e-01 -3.39944903e-03 1.27168625e+01] [ 4.63341548e-02 -2.74914435e-03 9.98922213e-01 7.40632514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26509989299996 meters 0.027685315866254667 Centerline is valid? [True, True] Translation: X:180.99, Y:12.72, Z:7.41 [[ 9.90099844e-01 -1.32814945e-01 -4.54146399e-02 1.80989235e+02] [ 1.32801127e-01 9.91137095e-01 -3.33468735e-03 1.27231822e+01] [ 4.54550305e-02 -2.72944196e-03 9.98962657e-01 7.40918282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32509989299996 meters 0.027774220382458817 Centerline is valid? [True, True] Translation: X:181.05, Y:12.73, Z:7.41 [[ 9.90197177e-01 -1.32160381e-01 -4.52016033e-02 1.81051299e+02] [ 1.32146161e-01 9.91224696e-01 -3.31577144e-03 1.27257285e+01] [ 4.52431591e-02 -2.68995080e-03 9.98972382e-01 7.41007793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38509989299996 meters 0.02617739314725151 Centerline is valid? [True, True] Translation: X:181.11, Y:12.73, Z:7.41 [[ 9.90278297e-01 -1.31535582e-01 -4.52469357e-02 1.81112962e+02] [ 1.31520832e-01 9.91307861e-01 -3.31581106e-03 1.27316456e+01] [ 4.52897902e-02 -2.66733892e-03 9.98970330e-01 7.41161036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44509989299996 meters 0.02545015805118084 Centerline is valid? [True, True] Translation: X:181.18, Y:12.74, Z:7.41 [[ 9.90251766e-01 -1.31095637e-01 -4.70677621e-02 1.81175367e+02] [ 1.31079356e-01 9.91365891e-01 -3.44565765e-03 1.27368373e+01] [ 4.71130846e-02 -2.75754338e-03 9.98885756e-01 7.41115114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.50509989299997 meters 0.026721973950268457 Centerline is valid? [True, True] Translation: X:181.24, Y:12.74, Z:7.41 [[ 9.90281319e-01 -1.30701873e-01 -4.75387134e-02 1.81236074e+02] [ 1.30684977e-01 9.91417848e-01 -3.47669496e-03 1.27406220e+01] [ 4.75851395e-02 -2.76968960e-03 9.98863346e-01 7.41272615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.56509989299997 meters 0.028331972150300356 Centerline is valid? [True, True] Translation: X:181.30, Y:12.75, Z:7.42 [[ 9.90526363e-01 -1.29554259e-01 -4.55325984e-02 1.81297122e+02] [ 1.29537655e-01 9.91568920e-01 -3.32759207e-03 1.27465172e+01] [ 4.55798131e-02 -2.60211836e-03 9.98957311e-01 7.41614573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.62509989299997 meters 0.026277386877130264 Centerline is valid? [True, True] Translation: X:181.36, Y:12.76, Z:7.42 [[ 9.90956928e-01 -1.27311652e-01 -4.23805409e-02 1.81357878e+02] [ 1.27295307e-01 9.91860033e-01 -3.09512183e-03 1.27578703e+01] [ 4.24296098e-02 -2.32771156e-03 9.99096747e-01 7.42077720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.68509989299997 meters 0.023440905074080216 Centerline is valid? [True, True] Translation: X:181.42, Y:12.77, Z:7.42 [[ 9.91361819e-01 -1.25102618e-01 -3.93837349e-02 1.81418266e+02] [ 1.25086813e-01 9.92141635e-01 -2.87494748e-03 1.27687473e+01] [ 3.94339066e-02 -2.07627271e-03 9.99220024e-01 7.42441866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74509989299997 meters 0.023771309245665923 Centerline is valid? [True, True] Translation: X:181.48, Y:12.78, Z:7.43 [[ 9.91791885e-01 -1.22429733e-01 -3.68757044e-02 1.81479533e+02] [ 1.22414075e-01 9.92475468e-01 -2.69068288e-03 1.27764521e+01] [ 3.69276515e-02 -1.84550779e-03 9.99316238e-01 7.42788627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80509989299998 meters 0.022590225437364324 Centerline is valid? [True, True] Translation: X:181.54, Y:12.78, Z:7.43 [[ 9.91935532e-01 -1.20985101e-01 -3.77691201e-02 1.81541797e+02] [ 1.20967700e-01 9.92652623e-01 -2.75405167e-03 1.27842826e+01] [ 3.78248153e-02 -1.83700189e-03 9.99282697e-01 7.42772420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86509989299998 meters 0.02170817100146903 Centerline is valid? [True, True] Translation: X:181.60, Y:12.79, Z:7.43 [[ 9.92040599e-01 -1.19814954e-01 -3.87275850e-02 1.81603334e+02] [ 1.19795972e-01 9.92794530e-01 -2.81875753e-03 1.27919868e+01] [ 3.87862639e-02 -1.84308677e-03 9.99245830e-01 7.42876258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92509989299995 meters 0.02079096605159106 Centerline is valid? [True, True] Translation: X:181.66, Y:12.80, Z:7.43 [[ 9.92153149e-01 -1.18764075e-01 -3.90797044e-02 1.81664876e+02] [ 1.18744047e-01 9.92920831e-01 -2.84147490e-03 1.27987669e+01] [ 3.91405177e-02 -1.82130399e-03 9.99232056e-01 7.43075947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98509989299995 meters 0.019289179528160918 Centerline is valid? [True, True] Translation: X:181.72, Y:12.81, Z:7.43 [[ 9.92900459e-01 -1.12294239e-01 -3.92260461e-02 1.81724591e+02] [ 1.12269142e-01 9.93673751e-01 -2.84900078e-03 1.28087397e+01] [ 3.92978187e-02 -1.57510037e-03 9.99226301e-01 7.43136163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04509989299996 meters 0.017752194351956803 Centerline is valid? [True, True] Translation: X:181.78, Y:12.82, Z:7.43 [[ 9.93643581e-01 -1.05758800e-01 -3.85682418e-02 1.81784716e+02] [ 1.05729626e-01 9.94390970e-01 -2.80103817e-03 1.28174094e+01] [ 3.86481458e-02 -1.29457220e-03 9.99252043e-01 7.43260547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10509989299996 meters 0.016043856611905993 Centerline is valid? [True, True] Translation: X:181.84, Y:12.83, Z:7.43 [[ 9.94350878e-01 -9.91624165e-02 -3.78569219e-02 1.81844990e+02] [ 9.91295559e-02 9.95070739e-01 -2.74872310e-03 1.28274780e+01] [ 3.79428853e-02 -1.01954462e-03 9.99279389e-01 7.43490397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16509989299996 meters 0.013455984214902733 Centerline is valid? [True, True] Translation: X:181.90, Y:12.84, Z:7.44 [[ 9.95296791e-01 -8.99154326e-02 -3.60487511e-02 1.81904607e+02] [ 8.98795923e-02 9.95949201e-01 -2.61682928e-03 1.28421184e+01] [ 3.61380182e-02 -6.35525266e-04 9.99346606e-01 7.43774717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22509989299996 meters 0.012426985077498754 Centerline is valid? [True, True] Translation: X:181.97, Y:12.85, Z:7.44 [[ 9.95850714e-01 -8.43421302e-02 -3.41725250e-02 1.81965871e+02] [ 8.43066479e-02 9.96436770e-01 -2.48048193e-03 1.28529209e+01] [ 3.42599695e-02 -4.10781326e-04 9.99412871e-01 7.44059028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.28509989299997 meters 0.012772061348606721 Centerline is valid? [True, True] Translation: X:182.03, Y:12.86, Z:7.44 [[ 9.95906587e-01 -8.38466394e-02 -3.37610892e-02 1.82027533e+02] [ 8.38117995e-02 9.96478594e-01 -2.44832517e-03 1.28573056e+01] [ 3.38474866e-02 -3.91274480e-04 9.99426933e-01 7.44302647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.34509989299997 meters 0.012940287742482542 Centerline is valid? [True, True] Translation: X:182.09, Y:12.86, Z:7.44 [[ 9.95723371e-01 -8.60925951e-02 -3.35116826e-02 1.82089170e+02] [ 8.60596500e-02 9.96287030e-01 -2.42694655e-03 1.28611790e+01] [ 3.35961969e-02 -4.67436270e-04 9.99435379e-01 7.44417163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.40509989299997 meters 0.014173881826628758 Centerline is valid? [True, True] Translation: X:182.15, Y:12.86, Z:7.44 [[ 9.95167152e-01 -9.22674870e-02 -3.36013460e-02 1.82151093e+02] [ 9.22379434e-02 9.95734025e-01 -2.43159235e-03 1.28618849e+01] [ 3.36823604e-02 -6.79478223e-04 9.99432357e-01 7.44464894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46509989299997 meters 0.016666425061855613 Centerline is valid? [True, True] Translation: X:182.21, Y:12.86, Z:7.45 [[ 9.94418201e-01 -9.99945023e-02 -3.36681124e-02 1.82211403e+02] [ 9.99693417e-02 9.94987541e-01 -2.43408580e-03 1.28592047e+01] [ 3.37427475e-02 -9.45279812e-04 9.99430104e-01 7.44586889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52509989299998 meters 0.017568361288744536 Centerline is valid? [True, True] Translation: X:182.27, Y:12.86, Z:7.45 [[ 9.93860920e-01 -1.05530815e-01 -3.32222694e-02 1.82272882e+02] [ 1.05509393e-01 9.94415405e-01 -2.40217583e-03 1.28605553e+01] [ 3.32902401e-02 -1.11783279e-03 9.99445101e-01 7.44804088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58509989299998 meters 0.0227590773942767 Centerline is valid? [True, True] Translation: X:182.33, Y:12.86, Z:7.45 [[ 9.93318357e-01 -1.10662779e-01 -3.27473713e-02 1.82333468e+02] [ 1.10644798e-01 9.93857198e-01 -2.36629958e-03 1.28552904e+01] [ 3.28080719e-02 -1.27283747e-03 9.99460860e-01 7.45187654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64509989299995 meters 0.025195868434240213 Centerline is valid? [True, True] Translation: X:182.39, Y:12.85, Z:7.45 [[ 9.92644354e-01 -1.16257307e-01 -3.37849770e-02 1.82394094e+02] [ 1.16241398e-01 9.93217991e-01 -2.44134375e-03 1.28541809e+01] [ 3.38396710e-02 -1.50382687e-03 9.99426143e-01 7.45281285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70509989299995 meters 0.022025261291432188 Centerline is valid? [True, True] Translation: X:182.46, Y:12.86, Z:7.45 [[ 9.92576045e-01 -1.16644642e-01 -3.44502941e-02 1.82455870e+02] [ 1.16628328e-01 9.93172510e-01 -2.48961548e-03 1.28620286e+01] [ 3.45054854e-02 -1.54674749e-03 9.99403312e-01 7.45265489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76509989299996 meters 0.02090682781267865 Centerline is valid? [True, True] Translation: X:182.52, Y:12.87, Z:7.45 [[ 9.92809372e-01 -1.14516208e-01 -3.48652868e-02 1.82517112e+02] [ 1.14498289e-01 9.93420257e-01 -2.51672777e-03 1.28682870e+01] [ 3.49240883e-02 -1.49338475e-03 9.99388852e-01 7.45476670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82509989299996 meters 0.020617782752553812 Centerline is valid? [True, True] Translation: X:182.58, Y:12.87, Z:7.46 [[ 9.93220060e-01 -1.10618657e-01 -3.57410726e-02 1.82576153e+02] [ 1.10597369e-01 9.93861949e-01 -2.57822507e-03 1.28741786e+01] [ 3.58068919e-02 -1.39212375e-03 9.99357758e-01 7.45742654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88509989299996 meters 0.01695940230558043 Centerline is valid? [True, True] Translation: X:182.64, Y:12.89, Z:7.46 [[ 9.94143133e-01 -1.01842534e-01 -3.61597730e-02 1.82635466e+02] [ 1.01814914e-01 9.94799937e-01 -2.60920906e-03 1.28871420e+01] [ 3.62374683e-02 -1.08767692e-03 9.99342615e-01 7.46001162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94509989299996 meters 0.015550554024574042 Centerline is valid? [True, True] Translation: X:182.70, Y:12.90, Z:7.46 [[ 9.94789784e-01 -9.52968264e-02 -3.62187748e-02 1.82695609e+02] [ 9.52647780e-02 9.95448538e-01 -2.61352074e-03 1.28959546e+01] [ 3.63029866e-02 -8.50469805e-04 9.99340467e-01 7.46238573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.00509989299997 meters 0.013839642456426365 Centerline is valid? [True, True] Translation: X:182.76, Y:12.91, Z:7.46 [[ 9.95649428e-01 -8.58968347e-02 -3.61102523e-02 1.82755378e+02] [ 8.58588228e-02 9.96303908e-01 -2.60492037e-03 1.29060662e+01] [ 3.62005399e-02 -5.06796282e-04 9.99344417e-01 7.46458165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.06509989299997 meters 0.013267993362100192 Centerline is valid? [True, True] Translation: X:182.82, Y:12.91, Z:7.47 [[ 9.96068214e-01 -8.04194390e-02 -3.71594866e-02 1.82817522e+02] [ 8.03753610e-02 9.96761062e-01 -2.68095936e-03 1.29129906e+01] [ 3.72547305e-02 -3.16288750e-04 9.99305752e-01 7.46621754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.12509989299997 meters 0.013339751886610754 Centerline is valid? [True, True] Translation: X:182.88, Y:12.92, Z:7.47 [[ 9.95997554e-01 -8.00030626e-02 -3.98545050e-02 1.82878578e+02] [ 7.99521523e-02 9.96794565e-01 -2.87219215e-03 1.29150215e+01] [ 3.99565381e-02 -3.25757097e-04 9.99201366e-01 7.46721230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.18509989299997 meters 0.013844630926063752 Centerline is valid? [True, True] Translation: X:182.94, Y:12.91, Z:7.47 [[ 9.95543864e-01 -8.46920773e-02 -4.14688704e-02 1.82940879e+02] [ 8.46411193e-02 9.96407027e-01 -2.98619310e-03 1.29146917e+01] [ 4.15727807e-02 -5.37085386e-04 9.99135334e-01 7.46919846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24509989299997 meters 0.014560811389600057 Centerline is valid? [True, True] Translation: X:183.00, Y:12.91, Z:7.47 [[ 9.95146682e-01 -8.90844771e-02 -4.17975817e-02 1.83002926e+02] [ 8.90367075e-02 9.96023807e-01 -3.00677691e-03 1.29145324e+01] [ 4.18992436e-02 -7.29334996e-04 9.99121575e-01 7.47198423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30509989299998 meters 0.016942302939822403 Centerline is valid? [True, True] Translation: X:183.06, Y:12.91, Z:7.48 [[ 9.94450312e-01 -9.66940043e-02 -4.14589624e-02 1.83063845e+02] [ 9.66537343e-02 9.95313608e-01 -2.97938102e-03 1.29097838e+01] [ 4.15527578e-02 -1.04431715e-03 9.99135765e-01 7.47529850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36509989299998 meters 0.017721098232458717 Centerline is valid? [True, True] Translation: X:183.13, Y:12.91, Z:7.48 [[ 9.93956423e-01 -1.01652040e-01 -4.14426438e-02 1.83125466e+02] [ 1.01616162e-01 9.94819227e-01 -2.97680154e-03 1.29099928e+01] [ 4.15305368e-02 -1.25243141e-03 9.99136450e-01 7.47795269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42509989299995 meters 0.01948550389048542 Centerline is valid? [True, True] Translation: X:183.19, Y:12.91, Z:7.48 [[ 9.93037364e-01 -1.09768674e-01 -4.27508031e-02 1.83185943e+02] [ 1.09738066e-01 9.93955802e-01 -3.06919208e-03 1.29075865e+01] [ 4.28293099e-02 -1.64356805e-03 9.99081052e-01 7.47998694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48509989299995 meters 0.020456203126746307 Centerline is valid? [True, True] Translation: X:183.25, Y:12.91, Z:7.48 [[ 9.92377961e-01 -1.15161349e-01 -4.38616756e-02 1.83247422e+02] [ 1.15134394e-01 9.93344934e-01 -3.14871075e-03 1.29079488e+01] [ 4.39323830e-02 -1.92527629e-03 9.99032652e-01 7.48222007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54509989299996 meters 0.023909204036438127 Centerline is valid? [True, True] Translation: X:183.31, Y:12.90, Z:7.49 [[ 9.91550696e-01 -1.22167731e-01 -4.36149370e-02 1.83307203e+02] [ 1.22147900e-01 9.92506976e-01 -3.12942500e-03 1.29032815e+01] [ 4.36704439e-02 -2.22448943e-03 9.99043515e-01 7.48585525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60509989299996 meters 0.025296371500431066 Centerline is valid? [True, True] Translation: X:183.37, Y:12.90, Z:7.49 [[ 9.91192522e-01 -1.24735966e-01 -4.44783412e-02 1.83368652e+02] [ 1.24717938e-01 9.92187106e-01 -3.19099101e-03 1.29039138e+01] [ 4.45288680e-02 -2.38436056e-03 9.99005253e-01 7.48770649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66509989299996 meters 0.025179143537143372 Centerline is valid? [True, True] Translation: X:183.43, Y:12.91, Z:7.49 [[ 9.91055115e-01 -1.25253400e-01 -4.60580580e-02 1.83430738e+02] [ 1.25234716e-01 9.92121646e-01 -3.30243139e-03 1.29080643e+01] [ 4.61088370e-02 -2.49517626e-03 9.98933306e-01 7.49015978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.72509989299996 meters 0.02386730856595803 Centerline is valid? [True, True] Translation: X:183.49, Y:12.91, Z:7.49 [[ 9.91220653e-01 -1.23628377e-01 -4.68790012e-02 1.83491961e+02] [ 1.23607368e-01 9.92325523e-01 -3.35796716e-03 1.29144839e+01] [ 4.69343694e-02 -2.46610356e-03 9.98894931e-01 7.49233802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.78509989299997 meters 0.023271914909027327 Centerline is valid? [True, True] Translation: X:183.55, Y:12.92, Z:7.49 [[ 9.91771346e-01 -1.18684842e-01 -4.79948522e-02 1.83551114e+02] [ 1.18657120e-01 9.92929342e-01 -3.43640437e-03 1.29200853e+01] [ 4.80633461e-02 -2.28680357e-03 9.98841672e-01 7.49440444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.84509989299997 meters 0.02216852093531679 Centerline is valid? [True, True] Translation: X:183.61, Y:12.93, Z:7.50 [[ 9.92013394e-01 -1.16410569e-01 -4.85592899e-02 1.83612191e+02] [ 1.16379448e-01 9.93198737e-01 -3.47737353e-03 1.29267054e+01] [ 4.86338284e-02 -2.20170225e-03 9.98814249e-01 7.49718173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.90509989299997 meters 0.020731532219794013 Centerline is valid? [True, True] Translation: X:183.67, Y:12.94, Z:7.50 [[ 9.92632505e-01 -1.10753747e-01 -4.91357150e-02 1.83672750e+02] [ 1.10715051e-01 9.93845968e-01 -3.51692721e-03 1.29351930e+01] [ 4.92228451e-02 -1.94904692e-03 9.98785919e-01 7.49945888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96509989299997 meters 0.017894172416358402 Centerline is valid? [True, True] Translation: X:183.73, Y:12.95, Z:7.50 [[ 9.93783469e-01 -9.95997733e-02 -4.97423517e-02 1.83731871e+02] [ 9.95462048e-02 9.95026575e-01 -3.55931239e-03 1.29477608e+01] [ 4.98494685e-02 -1.41447651e-03 9.98755741e-01 7.50184825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02509989299998 meters 0.0149736130333873 Centerline is valid? [True, True] Translation: X:183.79, Y:12.96, Z:7.50 [[ 9.94563068e-01 -9.13825125e-02 -4.99353662e-02 1.83791819e+02] [ 9.13181981e-02 9.95815356e-01 -3.57265663e-03 1.29604260e+01] [ 5.00528828e-02 -1.00677533e-03 9.98746061e-01 7.50494785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08509989299998 meters 0.012863682406434969 Centerline is valid? [True, True] Translation: X:183.85, Y:12.97, Z:7.51 [[ 9.95637847e-01 -7.90272551e-02 -4.95980859e-02 1.83851132e+02] [ 7.89485104e-02 9.96872382e-01 -3.54777997e-03 1.29748209e+01] [ 4.97233334e-02 -3.83390995e-04 9.98762956e-01 7.50821612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14509989299995 meters 0.012459688724599889 Centerline is valid? [True, True] Translation: X:183.91, Y:12.98, Z:7.51 [[ 9.96171273e-01 -7.18695319e-02 -4.97751527e-02 1.83908173e+02] [ 7.17812549e-02 9.97414041e-01 -3.56113843e-03 1.29845464e+01] [ 4.99023736e-02 -2.54191269e-05 9.98754100e-01 7.51027458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20509989299995 meters 0.012730553093083548 Centerline is valid? [True, True] Translation: X:183.97, Y:12.99, Z:7.51 [[ 9.96533645e-01 -6.62560545e-02 -5.03073455e-02 1.83966325e+02] [ 6.61584362e-02 9.97802618e-01 -3.60498270e-03 1.29927812e+01] [ 5.04356530e-02 2.64231239e-04 9.98727278e-01 7.51196575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26509989299996 meters 0.013678824405878955 Centerline is valid? [True, True] Translation: X:184.02, Y:13.00, Z:7.51 [[ 9.96887037e-01 -6.01962986e-02 -5.09179922e-02 1.84023908e+02] [ 6.00878258e-02 9.98186385e-01 -3.65982727e-03 1.30012990e+01] [ 5.10459546e-02 5.88882917e-04 9.98696132e-01 7.51409714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32509989299996 meters 0.014346570253573023 Centerline is valid? [True, True] Translation: X:184.08, Y:13.01, Z:7.52 [[ 9.97182438e-01 -5.66182652e-02 -4.92093135e-02 1.84081956e+02] [ 5.65123454e-02 9.98395617e-01 -3.54220516e-03 1.30061791e+01] [ 4.93309164e-02 7.51291062e-04 9.98782207e-01 7.51864076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38509989299996 meters 0.014588573378349243 Centerline is valid? [True, True] Translation: X:184.14, Y:13.01, Z:7.52 [[ 9.97228503e-01 -5.63143023e-02 -4.86211100e-02 1.84139844e+02] [ 5.62099720e-02 9.98412795e-01 -3.51151441e-03 1.30085713e+01] [ 4.87416868e-02 7.68791029e-04 9.98811122e-01 7.52113654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44509989299996 meters 0.013424124437475995 Centerline is valid? [True, True] Translation: X:184.20, Y:13.01, Z:7.52 [[ 9.97067024e-01 -5.87191863e-02 -4.90857157e-02 1.84198610e+02] [ 5.86151146e-02 9.98274315e-01 -3.55821676e-03 1.30052312e+01] [ 4.92099448e-02 6.70615747e-04 9.98788232e-01 7.52343920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.50509989299997 meters 0.012721725793770799 Centerline is valid? [True, True] Translation: X:184.26, Y:13.00, Z:7.52 [[ 9.96809725e-01 -6.16213893e-02 -5.07264860e-02 1.84257471e+02] [ 6.15133303e-02 9.98099440e-01 -3.69014983e-03 1.30028049e+01] [ 5.08574694e-02 5.58022155e-04 9.98705766e-01 7.52453049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.56509989299997 meters 0.012256277146788903 Centerline is valid? [True, True] Translation: X:184.32, Y:13.00, Z:7.53 [[ 9.96402390e-01 -6.69976390e-02 -5.18998437e-02 1.84316017e+02] [ 6.68911888e-02 9.97753088e-01 -3.78731099e-03 1.29979478e+01] [ 5.20369702e-02 3.02043480e-04 9.98645113e-01 7.52569539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.62509989299997 meters 0.012016749480614073 Centerline is valid? [True, True] Translation: X:184.38, Y:13.00, Z:7.53 [[ 9.96152440e-01 -7.11550793e-02 -5.11592742e-02 1.84375383e+02] [ 7.10568156e-02 9.97465261e-01 -3.73929260e-03 1.29957753e+01] [ 5.12956685e-02 8.96903355e-05 9.98683507e-01 7.52912222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.68509989299997 meters 0.011884697058489546 Centerline is valid? [True, True] Translation: X:184.43, Y:12.99, Z:7.53 [[ 9.95722645e-01 -7.72692789e-02 -5.06544410e-02 1.84434021e+02] [ 7.71801918e-02 9.97010238e-01 -3.71531772e-03 1.29893327e+01] [ 5.07900762e-02 -2.10093486e-04 9.98709329e-01 7.53131761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74509989299997 meters 0.01230791370914915 Centerline is valid? [True, True] Translation: X:184.49, Y:12.99, Z:7.53 [[ 9.95326836e-01 -8.19171613e-02 -5.11279554e-02 1.84493588e+02] [ 8.18317927e-02 9.96639046e-01 -3.76432439e-03 1.29859796e+01] [ 5.12644795e-02 -4.37159160e-04 9.98685016e-01 7.53246605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80509989299998 meters 0.0129816446292953 Centerline is valid? [True, True] Translation: X:184.55, Y:12.98, Z:7.53 [[ 9.94867983e-01 -8.70325897e-02 -5.16045076e-02 1.84552530e+02] [ 8.69518323e-02 9.96205223e-01 -3.81219448e-03 1.29824625e+01] [ 5.17404651e-02 -6.94476256e-04 9.98660324e-01 7.53404569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86509989299998 meters 0.014976747117181971 Centerline is valid? [True, True] Translation: X:184.61, Y:12.98, Z:7.54 [[ 9.94208263e-01 -9.46965513e-02 -5.08182290e-02 1.84612116e+02] [ 9.46276919e-02 9.95505614e-01 -3.76469539e-03 1.29759559e+01] [ 5.09463359e-02 -1.06592045e-03 9.98700823e-01 7.53658527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92509989299995 meters 0.016905358241295382 Centerline is valid? [True, True] Translation: X:184.67, Y:12.97, Z:7.54 [[ 9.93395255e-01 -1.02874980e-01 -5.08193443e-02 1.84672795e+02] [ 1.02816677e-01 9.94693189e-01 -3.76711580e-03 1.29718437e+01] [ 5.09371976e-02 -1.48284117e-03 9.98700758e-01 7.53952699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98509989299995 meters 0.01764358271546189 Centerline is valid? [True, True] Translation: X:184.73, Y:12.97, Z:7.54 [[ 9.92860321e-01 -1.07778183e-01 -5.11101371e-02 1.84731907e+02] [ 1.07725617e-01 9.94173439e-01 -3.79017128e-03 1.29724539e+01] [ 5.12208385e-02 -1.74276039e-03 9.98685831e-01 7.54237169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04509989299996 meters 0.01879917623040709 Centerline is valid? [True, True] Translation: X:184.79, Y:12.97, Z:7.54 [[ 9.92331201e-01 -1.12306132e-01 -5.16344899e-02 1.84792120e+02] [ 1.12258410e-01 9.93671656e-01 -3.83267451e-03 1.29723647e+01] [ 5.17381620e-02 -1.99312322e-03 9.98658695e-01 7.54411282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10509989299996 meters 0.0198782913844277 Centerline is valid? [True, True] Translation: X:184.85, Y:12.97, Z:7.55 [[ 9.92172357e-01 -1.13485110e-01 -5.21070438e-02 1.84850927e+02] [ 1.13437956e-01 9.93537541e-01 -3.87111853e-03 1.29744110e+01] [ 5.22096184e-02 -2.07009974e-03 9.98634002e-01 7.54581502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16509989299996 meters 0.018484015281523193 Centerline is valid? [True, True] Translation: X:184.91, Y:12.98, Z:7.55 [[ 9.92208183e-01 -1.12927873e-01 -5.26328569e-02 1.84908787e+02] [ 1.12878267e-01 9.93601078e-01 -3.92370494e-03 1.29821350e+01] [ 5.27391590e-02 -2.04797352e-03 9.98606222e-01 7.54806586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22509989299996 meters 0.018423876616990537 Centerline is valid? [True, True] Translation: X:184.97, Y:12.99, Z:7.55 [[ 9.92359271e-01 -1.11132997e-01 -5.35960210e-02 1.84966801e+02] [ 1.11078190e-01 9.93803582e-01 -4.00961152e-03 1.29897627e+01] [ 5.37095177e-02 -1.97437382e-03 9.98554650e-01 7.54958945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.28509989299997 meters 0.01781468276574099 Centerline is valid? [True, True] Translation: X:185.02, Y:13.00, Z:7.55 [[ 9.92421390e-01 -1.10554395e-01 -5.36424303e-02 1.85024735e+02] [ 1.10497905e-01 9.93868199e-01 -4.02690515e-03 1.29966525e+01] [ 5.37586976e-02 -1.93098936e-03 9.98552089e-01 7.55173129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.34509989299997 meters 0.019567212366854193 Centerline is valid? [True, True] Translation: X:185.08, Y:13.00, Z:7.55 [[ 9.92502795e-01 -1.09991469e-01 -5.32923856e-02 1.85082792e+02] [ 1.09934172e-01 9.93930764e-01 -4.01432074e-03 1.30009379e+01] [ 5.34104826e-02 -1.87442971e-03 9.98570882e-01 7.55348557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.40509989299997 meters 0.018142487503972335 Centerline is valid? [True, True] Translation: X:185.14, Y:13.01, Z:7.56 [[ 9.92591475e-01 -1.09374322e-01 -5.29095501e-02 1.85141253e+02] [ 1.09316258e-01 9.93998976e-01 -3.99886417e-03 1.30100696e+01] [ 5.30294117e-02 -1.81463557e-03 9.98591302e-01 7.55712693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46509989299997 meters 0.017270605479694508 Centerline is valid? [True, True] Translation: X:185.20, Y:13.02, Z:7.56 [[ 9.92753837e-01 -1.07875680e-01 -5.29401271e-02 1.85199688e+02] [ 1.07814718e-01 9.94162900e-01 -4.01441768e-03 1.30204338e+01] [ 5.30641683e-02 -1.72239631e-03 9.98589619e-01 7.56065909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52509989299998 meters 0.017352453720977747 Centerline is valid? [True, True] Translation: X:185.26, Y:13.03, Z:7.56 [[ 9.92904396e-01 -1.06792003e-01 -5.23099352e-02 1.85258195e+02] [ 1.06730329e-01 9.94280043e-01 -3.97905464e-03 1.30279977e+01] [ 5.24356558e-02 -1.63223577e-03 9.98622971e-01 7.56362992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58509989299998 meters 0.016037861735751974 Centerline is valid? [True, True] Translation: X:185.32, Y:13.04, Z:7.57 [[ 9.93224851e-01 -1.04391067e-01 -5.10578074e-02 1.85317182e+02] [ 1.04328598e-01 9.94535257e-01 -3.89440916e-03 1.30401267e+01] [ 5.11853312e-02 -1.45876550e-03 9.98688106e-01 7.56847274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64509989299995 meters 0.015146422046594946 Centerline is valid? [True, True] Translation: X:185.38, Y:13.05, Z:7.57 [[ 9.93563371e-01 -1.01496631e-01 -5.03017140e-02 1.85376708e+02] [ 1.01432210e-01 9.94835048e-01 -3.83839566e-03 1.30505271e+01] [ 5.04314923e-02 -1.28852468e-03 9.98726691e-01 7.57226175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70509989299995 meters 0.015782464561525957 Centerline is valid? [True, True] Translation: X:185.44, Y:13.06, Z:7.57 [[ 9.93754573e-01 -9.99474760e-02 -4.96220845e-02 1.85436233e+02] [ 9.98828097e-02 9.94992000e-01 -3.78743003e-03 1.30557889e+01] [ 4.97521212e-02 -1.19261731e-03 9.98760884e-01 7.57428443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76509989299996 meters 0.013946504289339036 Centerline is valid? [True, True] Translation: X:185.50, Y:13.07, Z:7.58 [[ 9.94213094e-01 -9.60678311e-02 -4.80759386e-02 1.85495481e+02] [ 9.60025586e-02 9.95374321e-01 -3.67026242e-03 1.30688380e+01] [ 4.82061488e-02 -9.66390153e-04 9.98836940e-01 7.57734544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82509989299996 meters 0.013679427950452608 Centerline is valid? [True, True] Translation: X:185.56, Y:13.08, Z:7.58 [[ 9.94414934e-01 -9.39134411e-02 -4.81581310e-02 1.85555574e+02] [ 9.38453838e-02 9.95579992e-01 -3.67729802e-03 1.30769890e+01] [ 4.82906194e-02 -8.62658216e-04 9.98832955e-01 7.57907672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88509989299996 meters 0.012801164369530904 Centerline is valid? [True, True] Translation: X:185.62, Y:13.09, Z:7.58 [[ 9.94643732e-01 -9.16453655e-02 -4.78013962e-02 1.85615406e+02] [ 9.15756955e-02 9.95791429e-01 -3.65005818e-03 1.30870247e+01] [ 4.79347315e-02 -7.46938613e-04 9.98850191e-01 7.58091984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94509989299996 meters 0.013023032123919785 Centerline is valid? [True, True] Translation: X:185.68, Y:13.09, Z:7.58 [[ 9.94768881e-01 -9.11535660e-02 -4.61074910e-02 1.85675274e+02] [ 9.10882232e-02 9.95836603e-01 -3.52063710e-03 1.30931408e+01] [ 4.62364458e-02 -6.97629200e-04 9.98930280e-01 7.58372263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.00509989299997 meters 0.012980583904411938 Centerline is valid? [True, True] Translation: X:185.74, Y:13.10, Z:7.59 [[ 9.94936496e-01 -8.98018110e-02 -4.51331822e-02 1.85735560e+02] [ 8.97378449e-02 9.95959461e-01 -3.44550018e-03 1.31004759e+01] [ 4.52602319e-02 -6.22100622e-04 9.98975037e-01 7.58549651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.06509989299997 meters 0.012810378289713898 Centerline is valid? [True, True] Translation: X:185.80, Y:13.11, Z:7.59 [[ 9.95015900e-01 -8.97265088e-02 -4.35030165e-02 1.85796379e+02] [ 8.96670119e-02 9.95966263e-01 -3.32099141e-03 1.31077410e+01] [ 4.36255178e-02 -5.96346243e-04 9.99047776e-01 7.58956053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.12509989299997 meters 0.01364402225508781 Centerline is valid? [True, True] Translation: X:185.86, Y:13.11, Z:7.59 [[ 9.94714746e-01 -9.32140329e-02 -4.30548215e-02 1.85857249e+02] [ 9.31590893e-02 9.95645816e-01 -3.28516071e-03 1.31097773e+01] [ 4.31735760e-02 -7.43150153e-04 9.99067310e-01 7.59180339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.18509989299997 meters 0.01450314686160105 Centerline is valid? [True, True] Translation: X:185.92, Y:13.11, Z:7.59 [[ 9.94437706e-01 -9.65117821e-02 -4.21796837e-02 1.85918817e+02] [ 9.64621096e-02 9.95331461e-01 -3.21610129e-03 1.31110266e+01] [ 4.22931579e-02 -8.70528895e-04 9.99104865e-01 7.59451023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24509989299997 meters 0.01498682627596994 Centerline is valid? [True, True] Translation: X:185.98, Y:13.11, Z:7.60 [[ 9.94167346e-01 -9.95235430e-02 -4.15493902e-02 1.85980433e+02] [ 9.94780319e-02 9.95034720e-01 -3.16658500e-03 1.31128583e+01] [ 4.16582356e-02 -9.85136152e-04 9.99131433e-01 7.59774717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30509989299998 meters 0.015132979083295597 Centerline is valid? [True, True] Translation: X:186.04, Y:13.12, Z:7.60 [[ 9.94150556e-01 -9.96290343e-02 -4.16980565e-02 1.86042492e+02] [ 9.95834625e-02 9.95024151e-01 -3.17378611e-03 1.31156873e+01] [ 4.18067745e-02 -9.97215622e-04 9.99125217e-01 7.60039878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36509989299998 meters 0.014585344461211272 Centerline is valid? [True, True] Translation: X:186.10, Y:13.12, Z:7.60 [[ 9.94390406e-01 -9.75516617e-02 -4.08826788e-02 1.86104427e+02] [ 9.75062211e-02 9.95230060e-01 -3.10878140e-03 1.31185308e+01] [ 4.09909377e-02 -8.94973125e-04 9.99159117e-01 7.60243728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42509989299995 meters 0.014056560818769184 Centerline is valid? [True, True] Translation: X:186.17, Y:13.12, Z:7.61 [[ 9.94622867e-01 -9.52204299e-02 -4.07237337e-02 1.86166743e+02] [ 9.51735117e-02 9.95455891e-01 -3.09369690e-03 1.31224919e+01] [ 4.08332637e-02 -7.98759060e-04 9.99165655e-01 7.60511086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48509989299995 meters 0.01348293522227353 Centerline is valid? [True, True] Translation: X:186.23, Y:13.13, Z:7.61 [[ 9.94855309e-01 -9.27001145e-02 -4.08607676e-02 1.86228455e+02] [ 9.26508810e-02 9.95693827e-01 -3.10104138e-03 1.31257813e+01] [ 4.09722809e-02 -7.00698630e-04 9.99160038e-01 7.60599172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54509989299996 meters 0.014307644675152834 Centerline is valid? [True, True] Translation: X:186.29, Y:13.13, Z:7.61 [[ 9.94890228e-01 -9.20448486e-02 -4.14871068e-02 1.86289760e+02] [ 9.19936146e-02 9.95754626e-01 -3.14641260e-03 1.31266112e+01] [ 4.16005896e-02 -6.86213767e-04 9.99134085e-01 7.60810527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60509989299996 meters 0.01401243220048983 Centerline is valid? [True, True] Translation: X:186.35, Y:13.13, Z:7.61 [[ 9.94659849e-01 -9.44705531e-02 -4.15583940e-02 1.86350931e+02] [ 9.44213544e-02 9.95527342e-01 -3.14950917e-03 1.31290703e+01] [ 4.16700534e-02 -7.91309536e-04 9.99131113e-01 7.60980133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66509989299996 meters 0.01483425578106235 Centerline is valid? [True, True] Translation: X:186.41, Y:13.13, Z:7.61 [[ 9.94334318e-01 -9.78305301e-02 -4.15746531e-02 1.86412475e+02] [ 9.77842905e-02 9.95202650e-01 -3.14920427e-03 1.31295014e+01] [ 4.16832933e-02 -9.33986077e-04 9.99130437e-01 7.61174531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72509989299996 meters 0.01709298456834665 Centerline is valid? [True, True] Translation: X:186.47, Y:13.13, Z:7.61 [[ 9.93598150e-01 -1.05001577e-01 -4.16819498e-02 1.86472724e+02] [ 1.04961462e-01 9.94471283e-01 -3.15578435e-03 1.31260842e+01] [ 4.17828645e-02 -1.23941689e-03 9.99125946e-01 7.61354326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.78509989299997 meters 0.01920120207106478 Centerline is valid? [True, True] Translation: X:186.53, Y:13.13, Z:7.62 [[ 9.93057785e-01 -1.10123884e-01 -4.13396310e-02 1.86533890e+02] [ 1.10088853e-01 9.93916822e-01 -3.12987676e-03 1.31251459e+01] [ 4.14328288e-02 -1.44288408e-03 9.99140250e-01 7.61625469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.84509989299997 meters 0.021722811308234075 Centerline is valid? [True, True] Translation: X:186.59, Y:13.12, Z:7.62 [[ 9.92404973e-01 -1.16379295e-01 -3.98526041e-02 1.86594575e+02] [ 1.16351798e-01 9.93203483e-01 -3.01657751e-03 1.31224106e+01] [ 3.99328124e-02 -1.64325560e-03 9.99201016e-01 7.61946361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.90509989299997 meters 0.024071494299527697 Centerline is valid? [True, True] Translation: X:186.66, Y:13.12, Z:7.62 [[ 9.91852585e-01 -1.21175192e-01 -3.93067804e-02 1.86656149e+02] [ 1.21152203e-01 9.92629484e-01 -2.97513632e-03 1.31204907e+01] [ 3.93775819e-02 -1.81120639e-03 9.99222761e-01 7.62269301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96509989299997 meters 0.02245836715876814 Centerline is valid? [True, True] Translation: X:186.72, Y:13.12, Z:7.62 [[ 9.91442776e-01 -1.24572431e-01 -3.90247422e-02 1.86717420e+02] [ 1.24552447e-01 9.92208633e-01 -2.95241573e-03 1.31240853e+01] [ 3.90884757e-02 -1.93347588e-03 9.99233883e-01 7.62478626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02509989299998 meters 0.026165894328075562 Centerline is valid? [True, True] Translation: X:186.78, Y:13.12, Z:7.63 [[ 9.91093959e-01 -1.26956843e-01 -4.01836303e-02 1.86778217e+02] [ 1.26937674e-01 9.91906041e-01 -3.03850854e-03 1.31200322e+01] [ 4.02441451e-02 -2.08936909e-03 9.99187692e-01 7.62652317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08509989299998 meters 0.024976821049166997 Centerline is valid? [True, True] Translation: X:186.84, Y:13.12, Z:7.63 [[ 9.90962543e-01 -1.27587688e-01 -4.14079716e-02 1.86840076e+02] [ 1.27567915e-01 9.91824898e-01 -3.13032764e-03 1.31248348e+01] [ 4.14688484e-02 -2.18029115e-03 9.99137418e-01 7.62821688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14509989299995 meters 0.024197279479764962 Centerline is valid? [True, True] Translation: X:186.90, Y:13.13, Z:7.63 [[ 9.91076168e-01 -1.26001659e-01 -4.34926573e-02 1.86901368e+02] [ 1.25978469e-01 9.92027538e-01 -3.28463058e-03 1.31298326e+01] [ 4.35597826e-02 -2.22381931e-03 9.99048347e-01 7.62963838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20509989299995 meters 0.02541450784438936 Centerline is valid? [True, True] Translation: X:186.96, Y:13.13, Z:7.63 [[ 9.91220323e-01 -1.24938616e-01 -4.32737078e-02 1.86961606e+02] [ 1.24914716e-01 9.92162105e-01 -3.26652844e-03 1.31326005e+01] [ 4.33426485e-02 -2.16767355e-03 9.99057914e-01 7.63218235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26509989299996 meters 0.023961555922305786 Centerline is valid? [True, True] Translation: X:187.02, Y:13.14, Z:7.64 [[ 9.91879412e-01 -1.20071818e-01 -4.19284046e-02 1.87022326e+02] [ 1.20045071e-01 9.92763400e-01 -3.16424495e-03 1.31401093e+01] [ 4.20049221e-02 -1.89474888e-03 9.99115607e-01 7.63686514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32509989299996 meters 0.02128528456289058 Centerline is valid? [True, True] Translation: X:187.08, Y:13.15, Z:7.64 [[ 9.92518620e-01 -1.15109500e-01 -4.07012451e-02 1.87082551e+02] [ 1.15080154e-01 9.93351462e-01 -3.07101955e-03 1.31498158e+01] [ 4.07841449e-02 -1.63586147e-03 9.99166641e-01 7.64106786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38509989299996 meters 0.017198337376086375 Centerline is valid? [True, True] Translation: X:187.14, Y:13.16, Z:7.64 [[ 9.93662738e-01 -1.04991181e-01 -4.01399358e-02 1.87142398e+02] [ 1.04954409e-01 9.94472424e-01 -3.02811427e-03 1.31626064e+01] [ 4.02359845e-02 -1.20393894e-03 9.99189480e-01 7.64426682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44509989299996 meters 0.01562474120519056 Centerline is valid? [True, True] Translation: X:187.20, Y:13.17, Z:7.65 [[ 9.94468020e-01 -9.71978785e-02 -3.98237428e-02 1.87202669e+02] [ 9.71554341e-02 9.95264686e-01 -3.00433699e-03 1.31718970e+01] [ 3.99271801e-02 -8.81375960e-04 9.99202203e-01 7.64754543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.50509989299997 meters 0.0135681711019961 Centerline is valid? [True, True] Translation: X:187.26, Y:13.18, Z:7.65 [[ 9.95393639e-01 -8.64723741e-02 -4.14008656e-02 1.87262959e+02] [ 8.64172539e-02 9.96254138e-01 -3.12253582e-03 1.31827161e+01] [ 4.15157968e-02 -4.69596823e-04 9.99137737e-01 7.64924769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.56509989299997 meters 0.013083146454603943 Centerline is valid? [True, True] Translation: X:187.32, Y:13.19, Z:7.65 [[ 9.95679806e-01 -8.23810071e-02 -4.28380004e-02 1.87323456e+02] [ 8.23182401e-02 9.96600860e-01 -3.23014995e-03 1.31892228e+01] [ 4.29584910e-02 -3.10153728e-04 9.99076810e-01 7.65067249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.62509989299997 meters 0.012972479003974137 Centerline is valid? [True, True] Translation: X:187.38, Y:13.19, Z:7.65 [[ 9.95714222e-01 -8.17908776e-02 -4.31675867e-02 1.87382082e+02] [ 8.17265723e-02 9.96649472e-01 -3.25532967e-03 1.31934691e+01] [ 4.32892087e-02 -2.86560840e-04 9.99062542e-01 7.65276641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.68509989299997 meters 0.01312080982400828 Centerline is valid? [True, True] Translation: X:187.44, Y:13.19, Z:7.65 [[ 9.95544683e-01 -8.28839798e-02 -4.49558782e-02 1.87439504e+02] [ 8.28148243e-02 9.96559147e-01 -3.40178358e-03 1.31941747e+01] [ 4.50831450e-02 -3.36385605e-04 9.98983181e-01 7.65313713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74509989299997 meters 0.013482165877852642 Centerline is valid? [True, True] Translation: X:187.50, Y:13.19, Z:7.65 [[ 9.95214205e-01 -8.63135486e-02 -4.58111025e-02 1.87498061e+02] [ 8.62450184e-02 9.96267900e-01 -3.47405475e-03 1.31947369e+01] [ 4.59399889e-02 -4.93550744e-04 9.98944079e-01 7.65439013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80509989299998 meters 0.014969450116756206 Centerline is valid? [True, True] Translation: X:187.56, Y:13.19, Z:7.66 [[ 9.94515978e-01 -9.36312117e-02 -4.65957658e-02 1.87557651e+02] [ 9.35678271e-02 9.95606599e-01 -3.54437959e-03 1.31930044e+01] [ 4.67229165e-02 -8.34922421e-04 9.98907539e-01 7.65580510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86509989299998 meters 0.016080152664054877 Centerline is valid? [True, True] Translation: X:187.62, Y:13.19, Z:7.66 [[ 9.93895379e-01 -9.99443677e-02 -4.67236487e-02 1.87616916e+02] [ 9.98874827e-02 9.94992383e-01 -3.55659386e-03 1.31937904e+01] [ 4.68451360e-02 -1.13222545e-03 9.98901522e-01 7.65824119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92509989299995 meters 0.018797292241155138 Centerline is valid? [True, True] Translation: X:187.68, Y:13.19, Z:7.66 [[ 9.92853525e-01 -1.09741644e-01 -4.68897534e-02 1.87677808e+02] [ 1.09695145e-01 9.93958862e-01 -3.57152671e-03 1.31914288e+01] [ 4.69984311e-02 -1.59757543e-03 9.98893686e-01 7.66031058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98509989299995 meters 0.021227484516373154 Centerline is valid? [True, True] Translation: X:187.74, Y:13.19, Z:7.66 [[ 9.92113185e-01 -1.16264727e-01 -4.68395283e-02 1.87738221e+02] [ 1.16225570e-01 9.93216435e-01 -3.56786552e-03 1.31908149e+01] [ 4.69366063e-02 -1.90422443e-03 9.98896055e-01 7.66271961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04509989299996 meters 0.024637756662814234 Centerline is valid? [True, True] Translation: X:187.80, Y:13.19, Z:7.67 [[ 9.91161649e-01 -1.24445902e-01 -4.59543601e-02 1.87799247e+02] [ 1.24416942e-01 9.92223849e-01 -3.50108531e-03 1.31894460e+01] [ 4.60327078e-02 -2.24735946e-03 9.98937405e-01 7.66627352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10509989299996 meters 0.026827622875415316 Centerline is valid? [True, True] Translation: X:187.86, Y:13.19, Z:7.67 [[ 9.90741685e-01 -1.28072548e-01 -4.50370575e-02 1.87859557e+02] [ 1.28048464e-01 9.91761976e-01 -3.43121968e-03 1.31912425e+01] [ 4.51054862e-02 -2.36747368e-03 9.98979424e-01 7.66984093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16509989299996 meters 0.027822357677656707 Centerline is valid? [True, True] Translation: X:187.92, Y:13.20, Z:7.67 [[ 9.90666606e-01 -1.28157452e-01 -4.64256652e-02 1.87918927e+02] [ 1.28131913e-01 9.91750824e-01 -3.53794060e-03 1.31962377e+01] [ 4.64961052e-02 -2.44368968e-03 9.98915482e-01 7.67039103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22509989299996 meters 0.02573048638234691 Centerline is valid? [True, True] Translation: X:187.98, Y:13.21, Z:7.67 [[ 9.90879377e-01 -1.26640472e-01 -4.60461748e-02 1.87978443e+02] [ 1.26613644e-01 9.91945896e-01 -3.51055444e-03 1.32059415e+01] [ 4.61198924e-02 -2.35153798e-03 9.98933144e-01 7.67364651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.28509989299997 meters 0.02612190271901495 Centerline is valid? [True, True] Translation: X:188.04, Y:13.21, Z:7.68 [[ 9.90988021e-01 -1.25641085e-01 -4.64441706e-02 1.88037848e+02] [ 1.25612655e-01 9.92073040e-01 -3.54181688e-03 1.32120854e+01] [ 4.65210073e-02 -2.32407747e-03 9.98914608e-01 7.67616031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.34509989299997 meters 0.025113241142915823 Centerline is valid? [True, True] Translation: X:188.10, Y:13.22, Z:7.68 [[ 9.90949669e-01 -1.25082395e-01 -4.87149659e-02 1.88097252e+02] [ 1.25050361e-01 9.92143434e-01 -3.71678658e-03 1.32208000e+01] [ 4.87971381e-02 -2.40867563e-03 9.98805806e-01 7.67715856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.40509989299997 meters 0.022191351620498744 Centerline is valid? [True, True] Translation: X:188.16, Y:13.23, Z:7.68 [[ 9.91041853e-01 -1.23351505e-01 -5.11903466e-02 1.88156682e+02] [ 1.23313755e-01 9.92360041e-01 -3.90722447e-03 1.32337990e+01] [ 5.12812165e-02 -2.44025088e-03 9.98681271e-01 7.67877088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46509989299997 meters 0.022509687550736353 Centerline is valid? [True, True] Translation: X:188.21, Y:13.24, Z:7.68 [[ 9.91710240e-01 -1.17004829e-01 -5.31099728e-02 1.88214973e+02] [ 1.16955091e-01 9.93128929e-01 -4.05420817e-03 1.32438762e+01] [ 5.32194123e-02 -2.19088193e-03 9.98580440e-01 7.67971514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52509989299998 meters 0.01842737821439034 Centerline is valid? [True, True] Translation: X:188.27, Y:13.26, Z:7.68 [[ 9.92455994e-01 -1.11068184e-01 -5.19129984e-02 1.88274001e+02] [ 1.11012454e-01 9.93811107e-01 -3.96470477e-03 1.32593690e+01] [ 5.20320669e-02 -1.82819432e-03 9.98643741e-01 7.68485783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58509989299998 meters 0.01718483426250528 Centerline is valid? [True, True] Translation: X:188.33, Y:13.27, Z:7.69 [[ 9.93713603e-01 -1.01251973e-01 -4.77630940e-02 1.88332771e+02] [ 1.01193426e-01 9.94860080e-01 -3.64847378e-03 1.32727231e+01] [ 4.78870107e-02 -1.20777309e-03 9.98852029e-01 7.69092064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64509989299995 meters 0.015215003794934581 Centerline is valid? [True, True] Translation: X:188.39, Y:13.29, Z:7.70 [[ 9.94376187e-01 -9.51611877e-02 -4.64795402e-02 1.88392370e+02] [ 9.50990883e-02 9.95461479e-01 -3.55054873e-03 1.32852575e+01] [ 4.66064663e-02 -8.89580796e-04 9.98912932e-01 7.69502270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70509989299995 meters 0.01357475215702423 Centerline is valid? [True, True] Translation: X:188.45, Y:13.30, Z:7.70 [[ 9.94985570e-01 -8.79043517e-02 -4.77131019e-02 1.88452462e+02] [ 8.78305745e-02 9.96128760e-01 -3.64467192e-03 1.33001041e+01] [ 4.78487755e-02 -5.64273176e-04 9.98854432e-01 7.69665903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76509989299996 meters 0.013325988373495107 Centerline is valid? [True, True] Translation: X:188.51, Y:13.31, Z:7.70 [[ 9.95211626e-01 -8.45383855e-02 -4.90620063e-02 1.88510366e+02] [ 8.44563040e-02 9.96420137e-01 -3.74738099e-03 1.33075769e+01] [ 4.92031686e-02 -4.14158583e-04 9.98788705e-01 7.69683804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82509989299996 meters 0.013069978427417566 Centerline is valid? [True, True] Translation: X:188.57, Y:13.32, Z:7.70 [[ 9.95395353e-01 -8.20030823e-02 -4.96345137e-02 1.88569107e+02] [ 8.19157294e-02 9.96632034e-01 -3.79498614e-03 1.33160976e+01] [ 4.97785469e-02 -2.88335828e-04 9.98760238e-01 7.69945460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88509989299996 meters 0.012976980046318544 Centerline is valid? [True, True] Translation: X:188.63, Y:13.32, Z:7.70 [[ 9.95538499e-01 -8.04729587e-02 -4.92666230e-02 1.88627819e+02] [ 8.03846388e-02 9.96756772e-01 -3.77464185e-03 1.33242041e+01] [ 4.94105967e-02 -2.02478410e-04 9.98778530e-01 7.70269058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94509989299996 meters 0.01298853534792433 Centerline is valid? [True, True] Translation: X:188.69, Y:13.33, Z:7.71 [[ 9.95637157e-01 -7.99212735e-02 -4.81585006e-02 1.88686566e+02] [ 7.98356896e-02 9.96801166e-01 -3.70110380e-03 1.33302460e+01] [ 4.83002465e-02 -1.59810643e-04 9.98832849e-01 7.70535751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.00509989299997 meters 0.012932202026855931 Centerline is valid? [True, True] Translation: X:188.75, Y:13.34, Z:7.71 [[ 9.95660479e-01 -7.96743550e-02 -4.80854217e-02 1.88745496e+02] [ 7.95882206e-02 9.96820936e-01 -3.70630554e-03 1.33357058e+01] [ 4.82278525e-02 -1.36811199e-04 9.98836351e-01 7.70710543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.06509989299997 meters 0.013083922739454724 Centerline is valid? [True, True] Translation: X:188.80, Y:13.34, Z:7.71 [[ 9.95530179e-01 -8.10584899e-02 -4.84683722e-02 1.88803677e+02] [ 8.09725233e-02 9.96709326e-01 -3.73773937e-03 1.33398416e+01] [ 4.86118541e-02 -2.03574056e-04 9.98817724e-01 7.70923787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.12509989299997 meters 0.013424902727302741 Centerline is valid? [True, True] Translation: X:188.86, Y:13.34, Z:7.71 [[ 9.94985449e-01 -8.65191238e-02 -5.01836350e-02 1.88862670e+02] [ 8.64336751e-02 9.96250073e-01 -3.87445909e-03 1.33412627e+01] [ 5.03306648e-02 -4.82525574e-04 9.98732492e-01 7.71066996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.18509989299997 meters 0.014184266701896908 Centerline is valid? [True, True] Translation: X:188.92, Y:13.34, Z:7.71 [[ 9.94381693e-01 -9.25460606e-02 -5.13836119e-02 1.88921567e+02] [ 9.24638310e-02 9.95708088e-01 -3.98026323e-03 1.33410880e+01] [ 5.15314356e-02 -7.93224711e-04 9.98671058e-01 7.71188458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24509989299997 meters 0.015907065352814696 Centerline is valid? [True, True] Translation: X:188.98, Y:13.34, Z:7.71 [[ 9.93760588e-01 -9.91039511e-02 -5.11693248e-02 1.88979925e+02] [ 9.90305021e-02 9.95076459e-01 -3.97501210e-03 1.33397497e+01] [ 5.13113299e-02 -1.11711356e-03 9.98682081e-01 7.71360487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30509989299998 meters 0.016528453337552002 Centerline is valid? [True, True] Translation: X:189.04, Y:13.34, Z:7.72 [[ 9.93202046e-01 -1.04771651e-01 -5.07207745e-02 1.89038886e+02] [ 1.04706660e-01 9.94495329e-01 -3.94411346e-03 1.33409903e+01] [ 5.08548046e-02 -1.39350134e-03 9.98705085e-01 7.71649411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36509989299998 meters 0.018076281751409802 Centerline is valid? [True, True] Translation: X:189.10, Y:13.34, Z:7.72 [[ 9.92871495e-01 -1.08508700e-01 -4.93158929e-02 1.89098178e+02] [ 1.08451737e-01 9.94094309e-01 -3.83737586e-03 1.33409371e+01] [ 4.94410371e-02 -1.53837313e-03 9.98775859e-01 7.71950802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42509989299995 meters 0.018018671908483237 Centerline is valid? [True, True] Translation: X:189.16, Y:13.35, Z:7.72 [[ 9.92914211e-01 -1.08294894e-01 -4.89242914e-02 1.89158111e+02] [ 1.08238499e-01 9.94117661e-01 -3.80840576e-03 1.33456464e+01] [ 4.90489331e-02 -1.51407165e-03 9.98795229e-01 7.72251795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48509989299995 meters 0.016619033108016303 Centerline is valid? [True, True] Translation: X:189.22, Y:13.35, Z:7.73 [[ 9.93222177e-01 -1.05731265e-01 -4.82763521e-02 1.89218733e+02] [ 1.05673340e-01 9.94393798e-01 -3.75773103e-03 1.33529701e+01] [ 4.84030148e-02 -1.36926158e-03 9.98826949e-01 7.72625442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54509989299996 meters 0.017315277918808696 Centerline is valid? [True, True] Translation: X:189.28, Y:13.36, Z:7.73 [[ 9.93280999e-01 -1.05172035e-01 -4.82876757e-02 1.89279410e+02] [ 1.05113504e-01 9.94453135e-01 -3.75694378e-03 1.33561966e+01] [ 4.84149558e-02 -1.34398589e-03 9.98826404e-01 7.72872981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60509989299996 meters 0.016776249414459828 Centerline is valid? [True, True] Translation: X:189.34, Y:13.36, Z:7.73 [[ 9.93259857e-01 -1.04821821e-01 -4.94696029e-02 1.89340947e+02] [ 1.04760007e-01 9.94490088e-01 -3.84784859e-03 1.33610102e+01] [ 4.96003682e-02 -1.36052242e-03 9.98768218e-01 7.73108048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66509989299996 meters 0.016433735121072317 Centerline is valid? [True, True] Translation: X:189.40, Y:13.37, Z:7.73 [[ 9.93198343e-01 -1.04773113e-01 -5.07902219e-02 1.89402167e+02] [ 1.04707989e-01 9.94495171e-01 -3.94868126e-03 1.33655978e+01] [ 5.09243461e-02 -1.39631831e-03 9.98701538e-01 7.73303065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72509989299996 meters 0.017052261367768794 Centerline is valid? [True, True] Translation: X:189.46, Y:13.37, Z:7.73 [[ 9.93143913e-01 -1.04251226e-01 -5.28852471e-02 1.89461190e+02] [ 1.04179954e-01 9.94549970e-01 -4.11015522e-03 1.33689566e+01] [ 5.30255096e-02 -1.42760696e-03 9.98592138e-01 7.73439236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.78509989299997 meters 0.016153854647995586 Centerline is valid? [True, True] Translation: X:189.52, Y:13.38, Z:7.74 [[ 9.93242605e-01 -1.02555524e-01 -5.43276349e-02 1.89520862e+02] [ 1.02477723e-01 9.94726334e-01 -4.22326044e-03 1.33762202e+01] [ 5.44742478e-02 -1.37265011e-03 9.98514232e-01 7.73740473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.84509989299997 meters 0.015517421059661893 Centerline is valid? [True, True] Translation: X:189.58, Y:13.38, Z:7.74 [[ 9.93481447e-01 -1.00293304e-01 -5.41836488e-02 1.89579722e+02] [ 1.00212354e-01 9.94957141e-01 -4.21575061e-03 1.33827027e+01] [ 5.43332198e-02 -1.24160098e-03 9.98522088e-01 7.74099096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.90509989299997 meters 0.015756414653362024 Centerline is valid? [True, True] Translation: X:189.64, Y:13.39, Z:7.74 [[ 9.93610936e-01 -9.97386160e-02 -5.28158758e-02 1.89637552e+02] [ 9.96603530e-02 9.95012985e-01 -4.12000029e-03 1.33866970e+01] [ 5.29634054e-02 -1.16997148e-03 9.98595768e-01 7.74442787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96509989299997 meters 0.01498395310883959 Centerline is valid? [True, True] Translation: X:189.70, Y:13.39, Z:7.75 [[ 9.93718778e-01 -9.99222043e-02 -5.03839682e-02 1.89696486e+02] [ 9.98510222e-02 9.94994621e-01 -3.93418860e-03 1.33920051e+01] [ 5.05248901e-02 -1.12141364e-03 9.98722173e-01 7.74934977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02509989299998 meters 0.015750708012788786 Centerline is valid? [True, True] Translation: X:189.76, Y:13.39, Z:7.75 [[ 9.93703339e-01 -1.00358010e-01 -4.98191207e-02 1.89755556e+02] [ 1.00288879e-01 9.94950750e-01 -3.89176344e-03 1.33945814e+01] [ 4.99581411e-02 -1.12904543e-03 9.98750674e-01 7.75191798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08509989299998 meters 0.016021330408166792 Centerline is valid? [True, True] Translation: X:189.82, Y:13.40, Z:7.76 [[ 9.93506406e-01 -1.02322197e-01 -4.97512638e-02 1.89816291e+02] [ 1.02255675e-01 9.94750555e-01 -3.88722523e-03 1.33981583e+01] [ 4.98878467e-02 -1.22536589e-03 9.98754074e-01 7.75529272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14509989299995 meters 0.017033281496818035 Centerline is valid? [True, True] Translation: X:189.88, Y:13.40, Z:7.76 [[ 9.93236921e-01 -1.04792815e-01 -4.99888447e-02 1.89877158e+02] [ 1.04728780e-01 9.94493151e-01 -3.90578818e-03 1.33994814e+01] [ 5.01228622e-02 -1.35589771e-03 9.98742139e-01 7.75737175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20509989299995 meters 0.016883582308594533 Centerline is valid? [True, True] Translation: X:189.94, Y:13.40, Z:7.76 [[ 9.92703914e-01 -1.09645427e-01 -5.01679038e-02 1.89937750e+02] [ 1.09587116e-01 9.93969466e-01 -3.91977864e-03 1.34010909e+01] [ 5.02951504e-02 -1.60657632e-03 9.98733106e-01 7.76089881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26509989299996 meters 0.017982139406436937 Centerline is valid? [True, True] Translation: X:190.00, Y:13.40, Z:7.76 [[ 9.92359754e-01 -1.13034049e-01 -4.94512097e-02 1.89998141e+02] [ 1.12981590e-01 9.93589569e-01 -3.86378104e-03 1.34009333e+01] [ 4.95709449e-02 -1.75281552e-03 9.98769067e-01 7.76361546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32509989299996 meters 0.01907425776969468 Centerline is valid? [True, True] Translation: X:190.06, Y:13.40, Z:7.77 [[ 9.92348197e-01 -1.13385385e-01 -4.88754529e-02 1.90058222e+02] [ 1.13334573e-01 9.93549542e-01 -3.81866674e-03 1.34021095e+01] [ 4.89931648e-02 -1.74983150e-03 9.98797581e-01 7.76571333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38509989299996 meters 0.01785847095368913 Centerline is valid? [True, True] Translation: X:190.12, Y:13.41, Z:7.77 [[ 9.92664502e-01 -1.10535136e-01 -4.89813204e-02 1.90118641e+02] [ 1.10480676e-01 9.93870907e-01 -3.82616772e-03 1.34079766e+01] [ 4.91040353e-02 -1.61338849e-03 9.98792366e-01 7.76830294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44509989299996 meters 0.01729380951425093 Centerline is valid? [True, True] Translation: X:190.18, Y:13.41, Z:7.77 [[ 9.93076924e-01 -1.06885023e-01 -4.87218019e-02 1.90178623e+02] [ 1.06826751e-01 9.94270366e-01 -3.80589548e-03 1.34129370e+01] [ 4.88494370e-02 -1.42524482e-03 9.98805137e-01 7.77131157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.50509989299997 meters 0.017535284055268743 Centerline is valid? [True, True] Translation: X:190.24, Y:13.42, Z:7.77 [[ 9.93237123e-01 -1.05980942e-01 -4.74136835e-02 1.90239463e+02] [ 1.05924732e-01 9.94367253e-01 -3.70361314e-03 1.34158765e+01] [ 4.75391267e-02 -1.34371569e-03 9.98868473e-01 7.77422337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.56509989299997 meters 0.01794172849070146 Centerline is valid? [True, True] Translation: X:190.30, Y:13.42, Z:7.78 [[ 9.93331369e-01 -1.05353015e-01 -4.68351818e-02 1.90298485e+02] [ 1.05297507e-01 9.94434038e-01 -3.65764810e-03 1.34181367e+01] [ 4.69598433e-02 -1.29837132e-03 9.98895934e-01 7.77702954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.62509989299997 meters 0.01682667010996953 Centerline is valid? [True, True] Translation: X:190.36, Y:13.42, Z:7.78 [[ 9.93517153e-01 -1.03273894e-01 -4.75202038e-02 1.90358439e+02] [ 1.03214391e-01 9.94652210e-01 -3.71081716e-03 1.34238247e+01] [ 4.76493063e-02 -1.21800840e-03 9.98863384e-01 7.77952725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.68509989299997 meters 0.01525069941025064 Centerline is valid? [True, True] Translation: X:190.42, Y:13.43, Z:7.78 [[ 9.94076932e-01 -9.76270576e-02 -4.77494521e-02 1.90418197e+02] [ 9.75604633e-02 9.95222614e-01 -3.72882518e-03 1.34305229e+01] [ 4.78853688e-02 -9.51719569e-04 9.98852384e-01 7.78287058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74509989299997 meters 0.014315916868802105 Centerline is valid? [True, True] Translation: X:190.48, Y:13.44, Z:7.79 [[ 9.94594344e-01 -9.23247778e-02 -4.75208084e-02 1.90477933e+02] [ 9.22527292e-02 9.95728706e-01 -3.71182427e-03 1.34360332e+01] [ 4.76605264e-02 -6.92164846e-04 9.98863352e-01 7.78540815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80509989299998 meters 0.013420259570037391 Centerline is valid? [True, True] Translation: X:190.54, Y:13.44, Z:7.79 [[ 9.95191436e-01 -8.60595292e-02 -4.67735258e-02 1.90536872e+02] [ 8.59827212e-02 9.96289923e-01 -3.65535536e-03 1.34419156e+01] [ 4.69145706e-02 -3.83936680e-04 9.98898832e-01 7.78866056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86509989299995 meters 0.013200018726056712 Centerline is valid? [True, True] Translation: X:190.59, Y:13.44, Z:7.79 [[ 9.95359968e-01 -8.39726206e-02 -4.69801437e-02 1.90594611e+02] [ 8.38923159e-02 9.96468024e-01 -3.68194714e-03 1.34446712e+01] [ 4.71233937e-02 -2.76410277e-04 9.98889038e-01 7.79032599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92509989299995 meters 0.013175592184644884 Centerline is valid? [True, True] Translation: X:190.65, Y:13.44, Z:7.79 [[ 9.95235517e-01 -8.47880949e-02 -4.81377647e-02 1.90653768e+02] [ 8.47044730e-02 9.96398955e-01 -3.77809864e-03 1.34439472e+01] [ 4.82847562e-02 -3.17386041e-04 9.98833560e-01 7.79101241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98509989299995 meters 0.013516457033834021 Centerline is valid? [True, True] Translation: X:190.71, Y:13.44, Z:7.79 [[ 9.94959813e-01 -8.75174153e-02 -4.89456041e-02 1.90712127e+02] [ 8.74337031e-02 9.96162890e-01 -3.85285652e-03 1.34430089e+01] [ 4.90949865e-02 -4.46058019e-04 9.98794014e-01 7.79200942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04509989299996 meters 0.014518603945069744 Centerline is valid? [True, True] Translation: X:190.77, Y:13.44, Z:7.80 [[ 9.94219766e-01 -9.59106671e-02 -4.82514353e-02 1.90772233e+02] [ 9.58389944e-02 9.95389588e-01 -3.80210118e-03 1.34389100e+01] [ 4.83936383e-02 -8.44244893e-04 9.98827985e-01 7.79513792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10509989299996 meters 0.017851060299819036 Centerline is valid? [True, True] Translation: X:190.83, Y:13.43, Z:7.80 [[ 9.93082738e-01 -1.06809746e-01 -4.87683708e-02 1.90832497e+02] [ 1.06749566e-01 9.94278508e-01 -3.84437611e-03 1.34303685e+01] [ 4.88999598e-02 -1.38821886e-03 9.98802717e-01 7.79735065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16509989299996 meters 0.01855646998683313 Centerline is valid? [True, True] Translation: X:190.89, Y:13.43, Z:7.80 [[ 9.92211531e-01 -1.14251704e-01 -4.96268628e-02 1.90892383e+02] [ 1.14198663e-01 9.93450230e-01 -3.91223501e-03 1.34298988e+01] [ 4.97487978e-02 -1.78555666e-03 9.98760166e-01 7.79981894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22509989299996 meters 0.024510755836010287 Centerline is valid? [True, True] Translation: X:190.95, Y:13.42, Z:7.80 [[ 9.90960844e-01 -1.24569663e-01 -4.97896058e-02 1.90952100e+02] [ 1.24529198e-01 9.92208176e-01 -3.92609770e-03 1.34211453e+01] [ 4.98907266e-02 -2.30965058e-03 9.98752012e-01 7.80173667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.28509989299997 meters 0.02790435945182234 Centerline is valid? [True, True] Translation: X:191.01, Y:13.42, Z:7.80 [[ 9.90146191e-01 -1.30901894e-01 -4.97515303e-02 1.91012640e+02] [ 1.30869381e-01 9.91391851e-01 -3.92455805e-03 1.34183997e+01] [ 4.98369938e-02 -2.62506575e-03 9.98753915e-01 7.80433924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.34509989299997 meters 0.028977816832186983 Centerline is valid? [True, True] Translation: X:191.07, Y:13.42, Z:7.81 [[ 9.88969431e-01 -1.39557869e-01 -4.96292772e-02 1.91072738e+02] [ 1.39536351e-01 9.90209210e-01 -3.91506738e-03 1.34185269e+01] [ 4.96897459e-02 -3.05320629e-03 9.98760035e-01 7.80811378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.40509989299997 meters 0.03191038326820231 Centerline is valid? [True, True] Translation: X:191.13, Y:13.42, Z:7.81 [[ 9.88315270e-01 -1.44069120e-01 -4.97696260e-02 1.91133433e+02] [ 1.44053127e-01 9.89562163e-01 -3.92698783e-03 1.34183504e+01] [ 4.98158964e-02 -3.28836822e-03 9.98753004e-01 7.81057716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46509989299997 meters 0.03356165920750346 Centerline is valid? [True, True] Translation: X:191.19, Y:13.42, Z:7.81 [[ 9.87815459e-01 -1.47357367e-01 -5.00642203e-02 1.91193607e+02] [ 1.47345374e-01 9.89077214e-01 -3.95044505e-03 1.34201179e+01] [ 5.00995067e-02 -3.47442057e-03 9.98738188e-01 7.81274317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52509989299998 meters 0.031910236342252034 Centerline is valid? [True, True] Translation: X:191.25, Y:13.43, Z:7.81 [[ 9.87526268e-01 -1.49040780e-01 -5.07810509e-02 1.91253264e+02] [ 1.49030601e-01 9.88824461e-01 -4.00809880e-03 1.34260238e+01] [ 5.08109155e-02 -3.60982768e-03 9.98701767e-01 7.81399562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58509989299998 meters 0.03313157628242057 Centerline is valid? [True, True] Translation: X:191.31, Y:13.43, Z:7.81 [[ 9.87255578e-01 -1.50108648e-01 -5.28565790e-02 1.91313118e+02] [ 1.50099046e-01 9.88662154e-01 -4.17392445e-03 1.34296018e+01] [ 5.28838414e-02 -3.81299186e-03 9.98593391e-01 7.81407525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64509989299995 meters 0.03334011337681703 Centerline is valid? [True, True] Translation: X:191.37, Y:13.44, Z:7.82 [[ 9.87275870e-01 -1.49555491e-01 -5.40324992e-02 1.91371858e+02] [ 1.49544387e-01 9.88745787e-01 -4.27144590e-03 1.34357451e+01] [ 5.40632241e-02 -3.86316150e-03 9.98530041e-01 7.81543921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70509989299995 meters 0.02989797869131063 Centerline is valid? [True, True] Translation: X:191.43, Y:13.45, Z:7.82 [[ 9.87865860e-01 -1.45525972e-01 -5.42515771e-02 1.91430863e+02] [ 1.45508148e-01 9.89347711e-01 -4.29951250e-03 1.34493952e+01] [ 5.42993644e-02 -3.64670489e-03 9.98518042e-01 7.81869282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76509989299996 meters 0.03223933218923524 Centerline is valid? [True, True] Translation: X:191.49, Y:13.45, Z:7.82 [[ 9.88530954e-01 -1.41332182e-01 -5.32143467e-02 1.91490050e+02] [ 1.41308958e-01 9.89956559e-01 -4.21769828e-03 1.34537503e+01] [ 5.32759881e-02 -3.35033857e-03 9.98574206e-01 7.82097025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82509989299996 meters 0.024491934296079015 Centerline is valid? [True, True] Translation: X:191.55, Y:13.48, Z:7.83 [[ 9.89618109e-01 -1.34341762e-01 -5.10714129e-02 1.91548537e+02] [ 1.34311033e-01 9.90930953e-01 -4.04884905e-03 1.34753951e+01] [ 5.11521733e-02 -2.85263986e-03 9.98686797e-01 7.82683449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88509989299996 meters 0.023663948088267567 Centerline is valid? [True, True] Translation: X:191.61, Y:13.49, Z:7.83 [[ 9.90652422e-01 -1.27282296e-01 -4.90611435e-02 1.91607142e+02] [ 1.27245260e-01 9.91863655e-01 -3.89021351e-03 1.34873019e+01] [ 4.91571204e-02 -2.38894851e-03 9.98788201e-01 7.83086483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94509989299996 meters 0.022381204874579227 Centerline is valid? [True, True] Translation: X:191.67, Y:13.50, Z:7.83 [[ 9.91125186e-01 -1.23513098e-01 -4.91465192e-02 1.91666430e+02] [ 1.23471243e-01 9.92340494e-01 -3.89834553e-03 1.34981700e+01] [ 4.92515779e-02 -2.20443338e-03 9.98783972e-01 7.83330074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.00509989299997 meters 0.021612485028757775 Centerline is valid? [True, True] Translation: X:191.73, Y:13.51, Z:7.84 [[ 9.91467242e-01 -1.20826902e-01 -4.89241106e-02 1.91725912e+02] [ 1.20782118e-01 9.92671453e-01 -3.88158821e-03 1.35094293e+01] [ 4.90345682e-02 -2.06069014e-03 9.98794956e-01 7.83603432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.06509989299997 meters 0.020948448844241168 Centerline is valid? [True, True] Translation: X:191.79, Y:13.52, Z:7.84 [[ 9.90839855e-01 -1.23666522e-01 -5.42491829e-02 1.91785629e+02] [ 1.23615653e-01 9.92320833e-01 -4.30514306e-03 1.35184740e+01] [ 5.43649965e-02 -2.44034085e-03 9.98518148e-01 7.83552738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.12509989299997 meters 0.022067625431285227 Centerline is valid? [True, True] Translation: X:191.84, Y:13.52, Z:7.83 [[ 9.90408421e-01 -1.25501242e-01 -5.77979127e-02 1.91844858e+02] [ 1.25446524e-01 9.92089772e-01 -4.58847573e-03 1.35235020e+01] [ 5.79165774e-02 -2.70608226e-03 9.98317759e-01 7.83423236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.18509989299997 meters 0.023249294230631313 Centerline is valid? [True, True] Translation: X:191.90, Y:13.53, Z:7.84 [[ 9.90591469e-01 -1.24261159e-01 -5.73385251e-02 1.91902747e+02] [ 1.24204880e-01 9.92246124e-01 -4.55816156e-03 1.35312653e+01] [ 5.74603317e-02 -2.60644869e-03 9.98344388e-01 7.83651505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24509989299997 meters 0.02057499758643807 Centerline is valid? [True, True] Translation: X:191.96, Y:13.54, Z:7.84 [[ 9.91198519e-01 -1.20113630e-01 -5.56615806e-02 1.91962204e+02] [ 1.20053485e-01 9.92757518e-01 -4.43524419e-03 1.35434698e+01] [ 5.57911858e-02 -2.28615928e-03 9.98439841e-01 7.84213985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30509989299998 meters 0.01774788028755113 Centerline is valid? [True, True] Translation: X:192.02, Y:13.56, Z:7.85 [[ 9.92185743e-01 -1.12669242e-01 -5.36012402e-02 1.92021342e+02] [ 1.12602572e-01 9.93630923e-01 -4.27184980e-03 1.35577566e+01] [ 5.37411559e-02 -1.79716903e-03 9.98553283e-01 7.84743660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36509989299995 meters 0.017240262692440323 Centerline is valid? [True, True] Translation: X:192.08, Y:13.57, Z:7.85 [[ 9.92690928e-01 -1.08778076e-01 -5.22690361e-02 1.92079225e+02] [ 1.08709254e-01 9.94064857e-01 -4.16638834e-03 1.35658707e+01] [ 5.24120236e-02 -1.54619199e-03 9.98624348e-01 7.85119079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42509989299995 meters 0.01677835148141121 Centerline is valid? [True, True] Translation: X:192.14, Y:13.57, Z:7.86 [[ 9.92960576e-01 -1.07192903e-01 -5.03882601e-02 1.92139336e+02] [ 1.07126793e-01 9.94237246e-01 -4.01867866e-03 1.35730711e+01] [ 5.05286587e-02 -1.40754325e-03 9.98721620e-01 7.85646579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48509989299995 meters 0.019196442576046597 Centerline is valid? [True, True] Translation: X:192.20, Y:13.57, Z:7.86 [[ 9.92904389e-01 -1.07921174e-01 -4.99389172e-02 1.92199489e+02] [ 1.07857157e-01 9.94158423e-01 -3.98285889e-03 1.35726506e+01] [ 5.00770300e-02 -1.43167157e-03 9.98744332e-01 7.85863393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54509989299996 meters 0.017382317384202626 Centerline is valid? [True, True] Translation: X:192.26, Y:13.58, Z:7.86 [[ 9.92594922e-01 -1.10602584e-01 -5.02233858e-02 1.92259689e+02] [ 1.10541257e-01 9.93863464e-01 -4.00563653e-03 1.35790478e+01] [ 5.03582219e-02 -1.57578174e-03 9.98729977e-01 7.86213666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60509989299996 meters 0.019662902987671628 Centerline is valid? [True, True] Translation: X:192.32, Y:13.58, Z:7.86 [[ 9.92154860e-01 -1.14205222e-01 -5.08517501e-02 1.92318905e+02] [ 1.14147057e-01 9.93455584e-01 -4.05607786e-03 1.35787981e+01] [ 5.09821804e-02 -1.78032024e-03 9.98697976e-01 7.86350833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66509989299996 meters 0.021174170193351056 Centerline is valid? [True, True] Translation: X:192.38, Y:13.58, Z:7.86 [[ 9.91647968e-01 -1.18053885e-01 -5.19382981e-02 1.92378685e+02] [ 1.17998375e-01 9.93005139e-01 -4.14464926e-03 1.35789856e+01] [ 5.20642888e-02 -2.01860174e-03 9.98641695e-01 7.86459225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72509989299996 meters 0.020612969219952877 Centerline is valid? [True, True] Translation: X:192.44, Y:13.58, Z:7.87 [[ 9.91316807e-01 -1.21113472e-01 -5.12104988e-02 1.92438864e+02] [ 1.21063502e-01 9.92636347e-01 -4.08803590e-03 1.35840247e+01] [ 5.13285186e-02 -2.14718362e-03 9.98679515e-01 7.86774547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.78509989299997 meters 0.023486412190423345 Centerline is valid? [True, True] Translation: X:192.50, Y:13.58, Z:7.87 [[ 9.90953027e-01 -1.24131665e-01 -5.10238015e-02 1.92498416e+02] [ 1.24086039e-01 9.92263102e-01 -4.07328721e-03 1.35836966e+01] [ 5.11346595e-02 -2.29490515e-03 9.98689131e-01 7.87046943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.84509989299997 meters 0.021209548192723637 Centerline is valid? [True, True] Translation: X:192.56, Y:13.60, Z:7.87 [[ 9.91064775e-01 -1.21110518e-01 -5.58825088e-02 1.92557949e+02] [ 1.21050966e-01 9.92636265e-01 -4.46193932e-03 1.35965994e+01] [ 5.60113926e-02 -2.34256078e-03 9.98427382e-01 7.87346264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.90509989299997 meters 0.020014849348638827 Centerline is valid? [True, True] Translation: X:192.62, Y:13.60, Z:7.88 [[ 9.91283655e-01 -1.19265767e-01 -5.59677748e-02 1.92617367e+02] [ 1.19203070e-01 9.92859836e-01 -4.46926594e-03 1.36041373e+01] [ 5.61011861e-02 -2.24122027e-03 9.98422573e-01 7.87603393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96509989299997 meters 0.020014849348638827 Centerline is valid? [True, True] Translation: X:192.68, Y:13.61, Z:7.88 [[ 9.91279307e-01 -1.19301974e-01 -5.59676115e-02 1.92676332e+02] [ 1.19239220e-01 9.92855486e-01 -4.47130977e-03 1.36088778e+01] [ 5.61011862e-02 -2.24121748e-03 9.98422573e-01 7.87852117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02509989299998 meters 0.020639090748309236 Centerline is valid? [True, True] Translation: X:192.74, Y:13.61, Z:7.88 [[ 9.91514159e-01 -1.17317331e-01 -5.60028195e-02 1.92735293e+02] [ 1.17251223e-01 9.93092198e-01 -4.47617037e-03 1.36134484e+01] [ 5.61410955e-02 -2.12821275e-03 9.98420577e-01 7.88018357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08509989299998 meters 0.018806973690752078 Centerline is valid? [True, True] Translation: X:192.79, Y:13.62, Z:7.88 [[ 9.91744073e-01 -1.15241443e-01 -5.62414822e-02 1.92794709e+02] [ 1.15171324e-01 9.93335462e-01 -4.49728999e-03 1.36220228e+01] [ 5.63849330e-02 -2.01724527e-03 9.98407066e-01 7.88323802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14509989299995 meters 0.01881204942394112 Centerline is valid? [True, True] Translation: X:192.85, Y:13.63, Z:7.89 [[ 9.91983419e-01 -1.12981806e-01 -5.66039637e-02 1.92853413e+02] [ 1.12906991e-01 9.93595242e-01 -4.52834721e-03 1.36281583e+01] [ 5.67530499e-02 -1.89893788e-03 9.98386441e-01 7.88516938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20509989299995 meters 0.01825036456116354 Centerline is valid? [True, True] Translation: X:192.91, Y:13.64, Z:7.89 [[ 9.92177108e-01 -1.11012012e-01 -5.71044630e-02 1.92912147e+02] [ 1.10932409e-01 9.93817437e-01 -4.57190046e-03 1.36354628e+01] [ 5.72589469e-02 -1.79860070e-03 9.98357741e-01 7.88753323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26509989299996 meters 0.01733189264695964 Centerline is valid? [True, True] Translation: X:192.97, Y:13.65, Z:7.89 [[ 9.92690208e-01 -1.06566876e-01 -5.66537959e-02 1.92971510e+02] [ 1.06480970e-01 9.94304369e-01 -4.54151681e-03 1.36452422e+01] [ 5.68150920e-02 -1.52423189e-03 9.98383555e-01 7.89080569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32509989299996 meters 0.0165931610745289 Centerline is valid? [True, True] Translation: X:193.03, Y:13.65, Z:7.89 [[ 9.93063172e-01 -1.03949119e-01 -5.49555841e-02 1.93030256e+02] [ 1.03864078e-01 9.94581728e-01 -4.40908658e-03 1.36532086e+01] [ 5.51161405e-02 -1.32940958e-03 9.98479065e-01 7.89427304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38509989299996 meters 0.01488907074240905 Centerline is valid? [True, True] Translation: X:193.09, Y:13.66, Z:7.90 [[ 9.93293336e-01 -1.02624292e-01 -5.32597807e-02 1.93088845e+02] [ 1.02541998e-01 9.94719456e-01 -4.28271596e-03 1.36637034e+01] [ 5.34180508e-02 -1.20737112e-03 9.98571507e-01 7.89988210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44509989299996 meters 0.015750611035490244 Centerline is valid? [True, True] Translation: X:193.15, Y:13.67, Z:7.90 [[ 9.93036036e-01 -1.04909286e-01 -5.36047852e-02 1.93148136e+02] [ 1.04829150e-01 9.94480897e-01 -4.31224521e-03 1.36670639e+01] [ 5.37613294e-02 -1.33712918e-03 9.98552919e-01 7.90164808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.50509989299997 meters 0.020211906227632602 Centerline is valid? [True, True] Translation: X:193.21, Y:13.66, Z:7.90 [[ 9.91714286e-01 -1.15759771e-01 -5.56996381e-02 1.93208404e+02] [ 1.15690255e-01 9.93275228e-01 -4.48180075e-03 1.36630960e+01] [ 5.58438830e-02 -1.99923948e-03 9.98437511e-01 7.90086473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.56509989299997 meters 0.02088818196342198 Centerline is valid? [True, True] Translation: X:193.27, Y:13.67, Z:7.90 [[ 9.90839335e-01 -1.22369650e-01 -5.71233833e-02 1.93268583e+02] [ 1.22307441e-01 9.92481615e-01 -4.59713743e-03 1.36665772e+01] [ 5.72564578e-02 -2.43159027e-03 9.98356542e-01 7.90334394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.62509989299997 meters 0.02223406763444637 Centerline is valid? [True, True] Translation: X:193.33, Y:13.67, Z:7.91 [[ 9.90115739e-01 -1.28024024e-01 -5.72771584e-02 1.93328893e+02] [ 1.27970886e-01 9.91767211e-01 -4.60987995e-03 1.36708607e+01] [ 5.73957830e-02 -2.76549404e-03 9.98347673e-01 7.90647700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.68509989299997 meters 0.02469307782031838 Centerline is valid? [True, True] Translation: X:193.39, Y:13.67, Z:7.91 [[ 9.89530085e-01 -1.32706046e-01 -5.67390203e-02 1.93388735e+02] [ 1.32661513e-01 9.91150877e-01 -4.56751094e-03 1.36731224e+01] [ 5.68430660e-02 -3.00739477e-03 9.98378596e-01 7.90912187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74509989299997 meters 0.025106767433734828 Centerline is valid? [True, True] Translation: X:193.45, Y:13.68, Z:7.91 [[ 9.89485230e-01 -1.33697475e-01 -5.51721394e-02 1.93449488e+02] [ 1.33656884e-01 9.91017714e-01 -4.44162319e-03 1.36786746e+01] [ 5.52704012e-02 -2.97921569e-03 9.98466978e-01 7.91311912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80509989299998 meters 0.02478355743461554 Centerline is valid? [True, True] Translation: X:193.51, Y:13.69, Z:7.92 [[ 9.89501702e-01 -1.33992522e-01 -5.41515134e-02 1.93510229e+02] [ 1.33953962e-01 9.90977976e-01 -4.35750381e-03 1.36857784e+01] [ 5.42468300e-02 -2.94205230e-03 9.98523222e-01 7.91669445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86509989299995 meters 0.02738203785280816 Centerline is valid? [True, True] Translation: X:193.57, Y:13.69, Z:7.92 [[ 9.89420397e-01 -1.34836542e-01 -5.35386271e-02 1.93570950e+02] [ 1.34800194e-01 9.90863445e-01 -4.30602599e-03 1.36884209e+01] [ 5.36300782e-02 -2.95654740e-03 9.98556495e-01 7.91941833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92509989299995 meters 0.030305829632142792 Centerline is valid? [True, True] Translation: X:193.63, Y:13.69, Z:7.92 [[ 9.89231454e-01 -1.36293132e-01 -5.33414705e-02 1.93630902e+02] [ 1.36259309e-01 9.90663928e-01 -4.28738476e-03 1.36915378e+01] [ 5.34278119e-02 -3.02705606e-03 9.98567126e-01 7.92195822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98509989299995 meters 0.027334134344429915 Centerline is valid? [True, True] Translation: X:193.69, Y:13.70, Z:7.93 [[ 9.89139157e-01 -1.36871152e-01 -5.35725302e-02 1.93692374e+02] [ 1.36838026e-01 9.90584089e-01 -4.30324212e-03 1.37022933e+01] [ 5.36570857e-02 -3.07425401e-03 9.98554689e-01 7.92592066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04509989299996 meters 0.03051403936042867 Centerline is valid? [True, True] Translation: X:193.75, Y:13.71, Z:7.93 [[ 9.89245286e-01 -1.36370948e-01 -5.28841162e-02 1.93753223e+02] [ 1.36338143e-01 9.90653267e-01 -4.24435860e-03 1.37062068e+01] [ 5.29686297e-02 -3.01141048e-03 9.98591636e-01 7.92803536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10509989299996 meters 0.026245381717801955 Centerline is valid? [True, True] Translation: X:193.81, Y:13.72, Z:7.93 [[ 9.89531009e-01 -1.33807736e-01 -5.40728472e-02 1.93813532e+02] [ 1.33769780e-01 9.91002945e-01 -4.33702565e-03 1.37198172e+01] [ 5.41666784e-02 -2.94169149e-03 9.98527575e-01 7.93002864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16509989299996 meters 0.02432181721720871 Centerline is valid? [True, True] Translation: X:193.87, Y:13.73, Z:7.93 [[ 9.90483514e-01 -1.26157655e-01 -5.50150420e-02 1.93872577e+02] [ 1.26106680e-01 9.92006879e-01 -4.41106663e-03 1.37331972e+01] [ 5.51317900e-02 -2.56867550e-03 9.98475782e-01 7.93070554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22509989299996 meters 0.019953043524125146 Centerline is valid? [True, True] Translation: X:193.93, Y:13.75, Z:7.93 [[ 9.91723971e-01 -1.16264852e-01 -5.44614542e-02 1.93932352e+02] [ 1.16200004e-01 9.93216236e-01 -4.36656733e-03 1.37515268e+01] [ 5.45996789e-02 -1.99799170e-03 9.98506326e-01 7.93468497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.28509989299997 meters 0.017988381178257948 Centerline is valid? [True, True] Translation: X:193.99, Y:13.76, Z:7.94 [[ 9.92686769e-01 -1.08540518e-01 -5.28387621e-02 1.93990748e+02] [ 1.08468562e-01 9.94090854e-01 -4.23609653e-03 1.37641674e+01] [ 5.29863183e-02 -1.52622757e-03 9.98594072e-01 7.93787874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.34509989299997 meters 0.015763081464323574 Centerline is valid? [True, True] Translation: X:194.05, Y:13.77, Z:7.94 [[ 9.93083962e-01 -1.05676449e-01 -5.11539988e-02 1.94051791e+02] [ 1.05605207e-01 9.94399679e-01 -4.10113179e-03 1.37748669e+01] [ 5.13009130e-02 -1.32936044e-03 9.98682356e-01 7.94240955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.40509989299997 meters 0.015203851585837789 Centerline is valid? [True, True] Translation: X:194.11, Y:13.78, Z:7.95 [[ 9.93251051e-01 -1.04148512e-01 -5.10434888e-02 1.94114029e+02] [ 1.04075727e-01 9.94560970e-01 -4.08905259e-03 1.37825239e+01] [ 5.11917304e-02 -1.25093244e-03 9.98688060e-01 7.94561344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46509989299997 meters 0.015625157171539488 Centerline is valid? [True, True] Translation: X:194.18, Y:13.79, Z:7.95 [[ 9.93136787e-01 -1.04524575e-01 -5.24779477e-02 1.94176231e+02] [ 1.04448432e-01 9.94521440e-01 -4.19891815e-03 1.37877731e+01] [ 5.26293343e-02 -1.31113929e-03 9.98613256e-01 7.94716351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52509989299998 meters 0.016003394016341085 Centerline is valid? [True, True] Translation: X:194.24, Y:13.79, Z:7.95 [[ 9.92926538e-01 -1.06399445e-01 -5.26882090e-02 1.94237334e+02] [ 1.06325510e-01 9.94322454e-01 -4.21227189e-03 1.37921770e+01] [ 5.28372526e-02 -1.41962415e-03 9.98602128e-01 7.94962228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58509989299998 meters 0.017378759160462928 Centerline is valid? [True, True] Translation: X:194.30, Y:13.79, Z:7.95 [[ 9.92462981e-01 -1.11005501e-01 -5.19134926e-02 1.94298566e+02] [ 1.10940110e-01 9.93818435e-01 -4.14845682e-03 1.37945443e+01] [ 5.20530875e-02 -1.64209876e-03 9.98642969e-01 7.95263623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64509989299995 meters 0.019188963696718967 Centerline is valid? [True, True] Translation: X:194.36, Y:13.80, Z:7.96 [[ 9.91940417e-01 -1.15727975e-01 -5.15872540e-02 1.94360011e+02] [ 1.15669871e-01 9.93279166e-01 -4.12051360e-03 1.37967740e+01] [ 5.17174033e-02 -1.87978706e-03 9.98659990e-01 7.95582196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70509989299995 meters 0.020648303477566937 Centerline is valid? [True, True] Translation: X:194.42, Y:13.80, Z:7.96 [[ 9.91542840e-01 -1.19308703e-01 -5.10708375e-02 1.94421205e+02] [ 1.19256588e-01 9.92855096e-01 -4.07742985e-03 1.37985141e+01] [ 5.11924141e-02 -2.04758745e-03 9.98686710e-01 7.95795134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76509989299996 meters 0.02281550213266814 Centerline is valid? [True, True] Translation: X:194.48, Y:13.80, Z:7.96 [[ 9.91315913e-01 -1.21528568e-01 -5.02351176e-02 1.94482142e+02] [ 1.21481084e-01 9.92585652e-01 -4.00876986e-03 1.37998509e+01] [ 5.03498370e-02 -2.12865921e-03 9.98729374e-01 7.96020106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82509989299996 meters 0.020983361720820465 Centerline is valid? [True, True] Translation: X:194.54, Y:13.81, Z:7.96 [[ 9.90916458e-01 -1.24489804e-01 -5.08611998e-02 1.94543241e+02] [ 1.24445152e-01 9.92218198e-01 -4.05612064e-03 1.38077082e+01] [ 5.09703536e-02 -2.31015305e-03 9.98697495e-01 7.96383134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88509989299996 meters 0.024444179667334195 Centerline is valid? [True, True] Translation: X:194.60, Y:13.81, Z:7.96 [[ 9.90350662e-01 -1.28361153e-01 -5.22396563e-02 1.94603705e+02] [ 1.28319541e-01 9.91724135e-01 -4.16371525e-03 1.38057862e+01] [ 5.23417872e-02 -2.57983056e-03 9.98625897e-01 7.96368941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94509989299996 meters 0.023425406831334348 Centerline is valid? [True, True] Translation: X:194.66, Y:13.81, Z:7.97 [[ 9.89963519e-01 -1.31128456e-01 -5.27025492e-02 1.94664071e+02] [ 1.31090180e-01 9.91361562e-01 -4.19743028e-03 1.38112653e+01] [ 5.27976840e-02 -2.75348378e-03 9.98601433e-01 7.96646383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.00509989299997 meters 0.028479644431936867 Centerline is valid? [True, True] Translation: X:194.72, Y:13.81, Z:7.97 [[ 9.89591460e-01 -1.33787141e-01 -5.30070021e-02 1.94724776e+02] [ 1.33752274e-01 9.91005810e-01 -4.22068989e-03 1.38089069e+01] [ 5.30949211e-02 -2.91304838e-03 9.98585221e-01 7.96819759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.06509989299997 meters 0.027064743241962178 Centerline is valid? [True, True] Translation: X:194.79, Y:13.82, Z:7.97 [[ 9.89100283e-01 -1.37007546e-01 -5.39403671e-02 1.94785771e+02] [ 1.36976277e-01 9.90565022e-01 -4.29378632e-03 1.38164032e+01] [ 5.40197221e-02 -3.14156539e-03 9.98534927e-01 7.97195769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.12509989299997 meters 0.027409595491920954 Centerline is valid? [True, True] Translation: X:194.85, Y:13.82, Z:7.98 [[ 9.88862184e-01 -1.38889772e-01 -5.34903081e-02 1.94847248e+02] [ 1.38861878e-01 9.90302614e-01 -4.25579745e-03 1.38215837e+01] [ 5.35626787e-02 -3.21936750e-03 9.98559300e-01 7.97649118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.18509989299997 meters 0.02843786338314697 Centerline is valid? [True, True] Translation: X:194.91, Y:13.83, Z:7.98 [[ 9.88817954e-01 -1.39187991e-01 -5.35327631e-02 1.94908808e+02] [ 1.39160659e-01 9.90260671e-01 -4.25600012e-03 1.38258602e+01] [ 5.36037740e-02 -3.24124527e-03 9.98557024e-01 7.97981410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24509989299997 meters 0.02587583991200023 Centerline is valid? [True, True] Translation: X:194.97, Y:13.84, Z:7.98 [[ 9.88839060e-01 -1.38938681e-01 -5.37899367e-02 1.94970419e+02] [ 1.38910933e-01 9.90295662e-01 -4.27248121e-03 1.38354337e+01] [ 5.38615539e-02 -3.24721401e-03 9.98543133e-01 7.98401100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30509989299998 meters 0.026917465552200457 Centerline is valid? [True, True] Translation: X:195.03, Y:13.84, Z:7.99 [[ 9.89028134e-01 -1.37761237e-01 -5.33403370e-02 1.95032031e+02] [ 1.37732456e-01 9.90460425e-01 -4.23279641e-03 1.38401032e+01] [ 5.34146081e-02 -3.16034090e-03 9.98567420e-01 7.98678334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36509989299995 meters 0.028463511834588395 Centerline is valid? [True, True] Translation: X:195.09, Y:13.84, Z:7.99 [[ 9.89201375e-01 -1.36463695e-01 -5.34630659e-02 1.95093622e+02] [ 1.36433107e-01 9.90640218e-01 -4.23858678e-03 1.38437328e+01] [ 5.35410765e-02 -3.10131632e-03 9.98560832e-01 7.98926544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42509989299995 meters 0.02682887924668894 Centerline is valid? [True, True] Translation: X:195.16, Y:13.85, Z:7.99 [[ 9.89227071e-01 -1.36194065e-01 -5.36747501e-02 1.95155620e+02] [ 1.36163051e-01 9.90677318e-01 -4.25143803e-03 1.38522005e+01] [ 5.37533781e-02 -3.10288014e-03 9.98549421e-01 7.99242250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48509989299995 meters 0.028773729751797476 Centerline is valid? [True, True] Translation: X:195.22, Y:13.85, Z:7.99 [[ 9.89037292e-01 -1.37408604e-01 -5.40750394e-02 1.95216893e+02] [ 1.37379139e-01 9.90509293e-01 -4.27937762e-03 1.38548772e+01] [ 5.41498523e-02 -3.19631831e-03 9.98527705e-01 7.99451067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54509989299996 meters 0.028283638715815584 Centerline is valid? [True, True] Translation: X:195.28, Y:13.86, Z:8.00 [[ 9.88842154e-01 -1.38662890e-01 -5.44407792e-02 1.95278892e+02] [ 1.38635094e-01 9.90334174e-01 -4.30510760e-03 1.38606424e+01] [ 5.45115227e-02 -3.29033067e-03 9.98507720e-01 7.99715668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60509989299996 meters 0.02990937405033913 Centerline is valid? [True, True] Translation: X:195.34, Y:13.86, Z:8.00 [[ 9.88617819e-01 -1.40322352e-01 -5.42627457e-02 1.95340666e+02] [ 1.40297427e-01 9.90100122e-01 -4.28731625e-03 1.38631302e+01] [ 5.43271574e-02 -3.37440637e-03 9.98517488e-01 7.99981127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66509989299996 meters 0.03133874610931831 Centerline is valid? [True, True] Translation: X:195.40, Y:13.87, Z:8.00 [[ 9.88577595e-01 -1.40770431e-01 -5.38332943e-02 1.95403142e+02] [ 1.40746726e-01 9.90036512e-01 -4.25028176e-03 1.38659375e+01] [ 5.38952409e-02 -3.37512661e-03 9.98540891e-01 8.00253664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72509989299996 meters 0.027721401310968927 Centerline is valid? [True, True] Translation: X:195.46, Y:13.88, Z:8.01 [[ 9.88859518e-01 -1.39183741e-01 -5.27706442e-02 1.95464063e+02] [ 1.39158895e-01 9.90261315e-01 -4.16285274e-03 1.38769493e+01] [ 5.28361290e-02 -3.22702800e-03 9.98597982e-01 8.00722423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78509989299997 meters 0.025937796322219986 Centerline is valid? [True, True] Translation: X:195.52, Y:13.89, Z:8.01 [[ 9.89397727e-01 -1.35936082e-01 -5.11225882e-02 1.95524228e+02] [ 1.35908563e-01 9.90713187e-01 -4.03042160e-03 1.38861612e+01] [ 5.11957020e-02 -2.96030751e-03 9.98684253e-01 8.01128911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.84509989299997 meters 0.026538015062252743 Centerline is valid? [True, True] Translation: X:195.59, Y:13.89, Z:8.01 [[ 9.89746057e-01 -1.33781167e-01 -5.00533980e-02 1.95585684e+02] [ 1.33752098e-01 9.91006970e-01 -3.94491765e-03 1.38901871e+01] [ 5.01310219e-02 -2.79028033e-03 9.98738752e-01 8.01408427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.90509989299997 meters 0.024799951099870585 Centerline is valid? [True, True] Translation: X:195.65, Y:13.90, Z:8.02 [[ 9.90151481e-01 -1.31286359e-01 -4.86203307e-02 1.95647259e+02] [ 1.31256057e-01 9.91341103e-01 -3.82935715e-03 1.38973229e+01] [ 4.87020746e-02 -2.59006927e-03 9.98809992e-01 8.01746783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96509989299997 meters 0.024887243771855198 Centerline is valid? [True, True] Translation: X:195.71, Y:13.90, Z:8.02 [[ 9.90259277e-01 -1.30718809e-01 -4.79495350e-02 1.95709477e+02] [ 1.30688805e-01 9.91416257e-01 -3.77377794e-03 1.39013593e+01] [ 4.80312523e-02 -2.52944880e-03 9.98842631e-01 8.02032612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02509989299998 meters 0.026673201393616952 Centerline is valid? [True, True] Translation: X:195.77, Y:13.90, Z:8.02 [[ 9.90166681e-01 -1.31448490e-01 -4.78668827e-02 1.95771097e+02] [ 1.31419602e-01 9.91319687e-01 -3.76387014e-03 1.39012582e+01] [ 4.79461382e-02 -2.56378789e-03 9.98846632e-01 8.02234378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08509989299998 meters 0.029070987784274277 Centerline is valid? [True, True] Translation: X:195.83, Y:13.90, Z:8.02 [[ 9.89968806e-01 -1.33237455e-01 -4.70057771e-02 1.95832750e+02] [ 1.33211722e-01 9.91080720e-01 -3.69365028e-03 1.38995248e+01] [ 4.70786520e-02 -2.60512196e-03 9.98887788e-01 8.02372804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14509989299995 meters 0.02656251120543529 Centerline is valid? [True, True] Translation: X:195.89, Y:13.91, Z:8.03 [[ 9.89864730e-01 -1.33870098e-01 -4.73984563e-02 1.95894541e+02] [ 1.33844784e-01 9.90995319e-01 -3.72184500e-03 1.39064725e+01] [ 4.74698921e-02 -2.65991303e-03 9.98869128e-01 8.02648210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20509989299995 meters 0.028909912403437623 Centerline is valid? [True, True] Translation: X:195.96, Y:13.91, Z:8.03 [[ 9.89764066e-01 -1.34642970e-01 -4.73113547e-02 1.95956239e+02] [ 1.34618787e-01 9.90890511e-01 -3.71165038e-03 1.39059476e+01] [ 4.73801201e-02 -2.69533902e-03 9.98873295e-01 8.02859306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26509989299996 meters 0.029723456498496968 Centerline is valid? [True, True] Translation: X:196.02, Y:13.91, Z:8.03 [[ 9.89800299e-01 -1.34367762e-01 -4.73357529e-02 1.96018243e+02] [ 1.34343367e-01 9.90927893e-01 -3.71091040e-03 1.39080800e+01] [ 4.74049446e-02 -2.68618418e-03 9.98872142e-01 8.03088367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32509989299996 meters 0.02661589450869666 Centerline is valid? [True, True] Translation: X:196.08, Y:13.92, Z:8.03 [[ 9.90039266e-01 -1.32639685e-01 -4.72119231e-02 1.96079523e+02] [ 1.32613612e-01 9.91160913e-01 -3.69795691e-03 1.39162014e+01] [ 4.72851086e-02 -2.59982112e-03 9.98878050e-01 8.03410854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38509989299996 meters 0.025841460810545693 Centerline is valid? [True, True] Translation: X:196.14, Y:13.92, Z:8.04 [[ 9.90670359e-01 -1.28533020e-01 -4.52935207e-02 1.96139724e+02] [ 1.28504842e-01 9.91702544e-01 -3.54543258e-03 1.39215126e+01] [ 4.53734048e-02 -2.30808177e-03 9.98967430e-01 8.03821430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44509989299996 meters 0.022805321599342412 Centerline is valid? [True, True] Translation: X:196.20, Y:13.93, Z:8.04 [[ 9.91531383e-01 -1.22498727e-01 -4.31228222e-02 1.96199420e+02] [ 1.22467517e-01 9.92466784e-01 -3.37480106e-03 1.39299704e+01] [ 4.32113775e-02 -1.93492379e-03 9.99064078e-01 8.04171672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.50509989299997 meters 0.020124612584691167 Centerline is valid? [True, True] Translation: X:196.26, Y:13.94, Z:8.04 [[ 9.92157041e-01 -1.17795847e-01 -4.18156034e-02 1.96259866e+02] [ 1.17762331e-01 9.93036416e-01 -3.27245600e-03 1.39374278e+01] [ 4.19098987e-02 -1.67751268e-03 9.99119986e-01 8.04393196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.56509989299997 meters 0.021201516476895544 Centerline is valid? [True, True] Translation: X:196.32, Y:13.94, Z:8.05 [[ 9.92692574e-01 -1.13530966e-01 -4.08922091e-02 1.96320405e+02] [ 1.13495329e-01 9.93533378e-01 -3.19946852e-03 1.39393070e+01] [ 4.09910134e-02 -1.46498611e-03 9.99158441e-01 8.04765638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.62509989299997 meters 0.01876386570441235 Centerline is valid? [True, True] Translation: X:196.38, Y:13.95, Z:8.05 [[ 9.92588453e-01 -1.12885519e-01 -4.50002550e-02 1.96382118e+02] [ 1.12841790e-01 9.93606737e-01 -3.51898455e-03 1.39467143e+01] [ 4.51097990e-02 -1.58500588e-03 9.98980777e-01 8.04680497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.68509989299997 meters 0.01993264761273539 Centerline is valid? [True, True] Translation: X:196.44, Y:13.95, Z:8.04 [[ 9.92140224e-01 -1.14801230e-01 -4.97840705e-02 1.96444160e+02] [ 1.14750311e-01 9.93386753e-01 -3.88922678e-03 1.39466002e+01] [ 4.99013242e-02 -1.85407925e-03 9.98752432e-01 8.04391065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74509989299997 meters 0.020523961999177585 Centerline is valid? [True, True] Translation: X:196.51, Y:13.95, Z:8.05 [[ 9.92112143e-01 -1.15640191e-01 -4.83822490e-02 1.96506147e+02] [ 1.15593225e-01 9.93289455e-01 -3.77702163e-03 1.39481343e+01] [ 4.84943532e-02 -1.84543116e-03 9.98821752e-01 8.04736279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80509989299998 meters 0.019911837989819558 Centerline is valid? [True, True] Translation: X:196.57, Y:13.95, Z:8.05 [[ 9.92497665e-01 -1.13303322e-01 -4.59428078e-02 1.96567048e+02] [ 1.13258609e-01 9.93559080e-01 -3.58356304e-03 1.39538454e+01] [ 4.60529234e-02 -1.64674056e-03 9.98937644e-01 8.05290853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86509989299995 meters 0.01838127648420662 Centerline is valid? [True, True] Translation: X:196.63, Y:13.96, Z:8.06 [[ 9.92802561e-01 -1.11242644e-01 -4.43638147e-02 1.96629045e+02] [ 1.11198970e-01 9.93792144e-01 -3.45875376e-03 1.39611304e+01] [ 4.44731714e-02 -1.49935091e-03 9.99009454e-01 8.05706573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92509989299995 meters 0.020196034650903444 Centerline is valid? [True, True] Translation: X:196.69, Y:13.96, Z:8.06 [[ 9.92894570e-01 -1.11748868e-01 -4.08969892e-02 1.96690432e+02] [ 1.11712295e-01 9.93735485e-01 -3.18566814e-03 1.39607698e+01] [ 4.09967842e-02 -1.40566393e-03 9.99158290e-01 8.06257381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98509989299995 meters 0.01941231004723944 Centerline is valid? [True, True] Translation: X:196.75, Y:13.96, Z:8.07 [[ 9.92479733e-01 -1.15291314e-01 -4.11326221e-02 1.96751855e+02] [ 1.15257448e-01 9.93330494e-01 -3.20174997e-03 1.39636987e+01] [ 4.12274217e-02 -1.56316910e-03 9.99148566e-01 8.06535264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04509989299996 meters 0.021293609376110863 Centerline is valid? [True, True] Translation: X:196.81, Y:13.96, Z:8.07 [[ 9.92051856e-01 -1.18492523e-01 -4.23395546e-02 1.96812145e+02] [ 1.18459618e-01 9.92953407e-01 -3.29408712e-03 1.39638416e+01] [ 4.24315297e-02 -1.74762222e-03 9.99097849e-01 8.06689377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10509989299996 meters 0.022727673959765823 Centerline is valid? [True, True] Translation: X:196.87, Y:13.96, Z:8.07 [[ 9.91656842e-01 -1.21776010e-01 -4.22766060e-02 1.96873739e+02] [ 1.21746212e-01 9.92555815e-01 -3.28841127e-03 1.39638533e+01] [ 4.23623408e-02 -1.88604108e-03 9.99100533e-01 8.06825851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16509989299996 meters 0.023135000078799758 Centerline is valid? [True, True] Translation: X:196.94, Y:13.97, Z:8.07 [[ 9.91667895e-01 -1.21823850e-01 -4.18776287e-02 1.96935735e+02] [ 1.21794717e-01 9.92549972e-01 -3.25587137e-03 1.39673228e+01] [ 4.19622820e-02 -1.87173085e-03 9.99117442e-01 8.07094500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22509989299996 meters 0.024622414093004568 Centerline is valid? [True, True] Translation: X:197.00, Y:13.97, Z:8.07 [[ 9.91787248e-01 -1.21085282e-01 -4.11874995e-02 1.96997416e+02] [ 1.21056587e-01 9.92640452e-01 -3.19928059e-03 1.39695873e+01] [ 4.12717639e-02 -1.81301240e-03 9.99146313e-01 8.07365767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28509989299997 meters 0.021486996543691416 Centerline is valid? [True, True] Translation: X:197.06, Y:13.98, Z:8.08 [[ 9.92532539e-01 -1.15536228e-01 -3.91221103e-02 1.97057499e+02] [ 1.15506141e-01 9.93302126e-01 -3.03606230e-03 1.39802792e+01] [ 3.92108505e-02 -1.50545338e-03 9.99229825e-01 8.07686443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.34509989299997 meters 0.020244418766197248 Centerline is valid? [True, True] Translation: X:197.12, Y:13.99, Z:8.08 [[ 9.93065441e-01 -1.11100617e-01 -3.84406354e-02 1.97118955e+02] [ 1.11068271e-01 9.93808303e-01 -2.98262195e-03 1.39855966e+01] [ 3.85339937e-02 -1.30759613e-03 9.99256434e-01 8.07958709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.40509989299997 meters 0.015632729181376728 Centerline is valid? [True, True] Translation: X:197.18, Y:14.00, Z:8.08 [[ 9.93901486e-01 -1.00117547e-01 -4.62202540e-02 1.97179058e+02] [ 1.00059040e-01 9.94975048e-01 -3.58355167e-03 1.39971760e+01] [ 4.63467759e-02 -1.06305693e-03 9.98924845e-01 8.07774988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46509989299997 meters 0.015380021221253398 Centerline is valid? [True, True] Translation: X:197.24, Y:14.00, Z:8.08 [[ 9.94067220e-01 -9.84228507e-02 -4.62958336e-02 1.97239863e+02] [ 9.83623326e-02 9.95144196e-01 -3.58904973e-03 1.40027200e+01] [ 4.64242746e-02 -9.86009502e-04 9.98921325e-01 8.08027218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52509989299998 meters 0.015496233836023774 Centerline is valid? [True, True] Translation: X:197.30, Y:14.01, Z:8.08 [[ 9.94256981e-01 -9.67194216e-02 -4.58084077e-02 1.97300496e+02] [ 9.66584422e-02 9.95311281e-01 -3.54957689e-03 1.40071483e+01] [ 4.59369380e-02 -8.98577726e-04 9.98943938e-01 8.08253384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58509989299995 meters 0.015069254122817977 Centerline is valid? [True, True] Translation: X:197.36, Y:14.01, Z:8.09 [[ 9.94453910e-01 -9.48377750e-02 -4.54666686e-02 1.97361734e+02] [ 9.47758123e-02 9.95492413e-01 -3.52144652e-03 1.40126356e+01] [ 4.55956898e-02 -8.07224185e-04 9.98959650e-01 8.08523239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64509989299995 meters 0.014799615650466365 Centerline is valid? [True, True] Translation: X:197.42, Y:14.02, Z:8.09 [[ 9.94592157e-01 -9.34138766e-02 -4.53904084e-02 1.97422804e+02] [ 9.33507144e-02 9.95627087e-01 -3.51390178e-03 1.40179432e+01] [ 4.55201673e-02 -7.42327899e-04 9.98963144e-01 8.08775526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70509989299995 meters 0.014799615650466365 Centerline is valid? [True, True] Translation: X:197.48, Y:14.02, Z:8.09 [[ 9.94598871e-01 -9.33422926e-02 -4.53905442e-02 1.97484272e+02] [ 9.32791360e-02 9.95633802e-01 -3.51214673e-03 1.40226402e+01] [ 4.55201919e-02 -7.40813577e-04 9.98963144e-01 8.09034637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76509989299996 meters 0.014357847063203567 Centerline is valid? [True, True] Translation: X:197.55, Y:14.03, Z:8.09 [[ 9.94715797e-01 -9.20327755e-02 -4.55022221e-02 1.97545843e+02] [ 9.19680896e-02 9.95755742e-01 -3.51748023e-03 1.40284388e+01] [ 4.56328224e-02 -6.85859285e-04 9.98958045e-01 8.09305616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82509989299996 meters 0.014281390784175852 Centerline is valid? [True, True] Translation: X:197.61, Y:14.03, Z:8.10 [[ 9.94861889e-01 -9.06286042e-02 -4.51251317e-02 1.97606336e+02] [ 9.05636901e-02 9.95884568e-01 -3.48507412e-03 1.40328019e+01] [ 4.52552697e-02 -6.19531028e-04 9.98975263e-01 8.09603256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88509989299996 meters 0.014688638131079953 Centerline is valid? [True, True] Translation: X:197.67, Y:14.04, Z:8.10 [[ 9.94678408e-01 -9.25579695e-02 -4.52535793e-02 1.97667436e+02] [ 9.24947901e-02 9.95707043e-01 -3.49257482e-03 1.40357997e+01] [ 4.53825733e-02 -7.11731555e-04 9.98969427e-01 8.09920093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94509989299996 meters 0.017035602192947176 Centerline is valid? [True, True] Translation: X:197.73, Y:14.03, Z:8.10 [[ 9.93563894e-01 -1.03352247e-01 -4.63583965e-02 1.97728823e+02] [ 1.03297743e-01 9.94644050e-01 -3.57627583e-03 1.40303233e+01] [ 4.64797194e-02 -1.23545917e-03 9.98918470e-01 8.10127107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.00509989299997 meters 0.020882019604021376 Centerline is valid? [True, True] Translation: X:197.79, Y:14.03, Z:8.10 [[ 9.92532974e-01 -1.12223129e-01 -4.77939913e-02 1.97789125e+02] [ 1.12175476e-01 9.93681575e-01 -3.68660072e-03 1.40252846e+01] [ 4.79057304e-02 -1.70224093e-03 9.98850411e-01 8.10287656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.06509989299997 meters 0.023726950801725485 Centerline is valid? [True, True] Translation: X:197.85, Y:14.02, Z:8.11 [[ 9.91915983e-01 -1.17969793e-01 -4.67526588e-02 1.97849882e+02] [ 1.17930589e-01 9.93015295e-01 -3.60562624e-03 1.40241708e+01] [ 4.68514602e-02 -1.93709030e-03 9.98899989e-01 8.10658952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.12509989299997 meters 0.025049783415892188 Centerline is valid? [True, True] Translation: X:197.91, Y:14.03, Z:8.11 [[ 9.91703227e-01 -1.19992108e-01 -4.61151038e-02 1.97911035e+02] [ 1.19956180e-01 9.92772820e-01 -3.55571153e-03 1.40256007e+01] [ 4.62084790e-02 -2.00558110e-03 9.98929804e-01 8.11022813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.18509989299997 meters 0.02295949611868852 Centerline is valid? [True, True] Translation: X:197.97, Y:14.03, Z:8.11 [[ 9.91539645e-01 -1.21282541e-01 -4.62566560e-02 1.97973144e+02] [ 1.21247875e-01 9.92615859e-01 -3.56486352e-03 1.40324745e+01] [ 4.63474461e-02 -2.07381776e-03 9.98923227e-01 8.11361475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24509989299997 meters 0.023656610543961648 Centerline is valid? [True, True] Translation: X:198.04, Y:14.04, Z:8.12 [[ 9.91401012e-01 -1.22389623e-01 -4.63121229e-02 1.98035066e+02] [ 1.22356234e-01 9.92479842e-01 -3.56578276e-03 1.40359177e+01] [ 4.64002632e-02 -2.13145631e-03 9.98920654e-01 8.11604285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30509989299998 meters 0.025105238372734925 Centerline is valid? [True, True] Translation: X:198.10, Y:14.04, Z:8.12 [[ 9.91233435e-01 -1.23241183e-01 -4.76223509e-02 1.98095879e+02] [ 1.23207019e-01 9.92374229e-01 -3.66335715e-03 1.40374606e+01] [ 4.77106702e-02 -2.23616579e-03 9.98858694e-01 8.11681598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36509989299995 meters 0.02576537081611685 Centerline is valid? [True, True] Translation: X:198.16, Y:14.04, Z:8.12 [[ 9.91296234e-01 -1.22433835e-01 -4.83914545e-02 1.98156924e+02] [ 1.22397685e-01 9.92474162e-01 -3.72077859e-03 1.40409143e+01] [ 4.84828174e-02 -2.23460820e-03 9.98821517e-01 8.11847169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42509989299995 meters 0.025027646313365414 Centerline is valid? [True, True] Translation: X:198.22, Y:14.05, Z:8.12 [[ 9.91521833e-01 -1.20181462e-01 -4.94051673e-02 1.98217559e+02] [ 1.20141080e-01 9.92749568e-01 -3.79697431e-03 1.40483881e+01] [ 4.95032844e-02 -2.17080724e-03 9.98771602e-01 8.12080875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48509989299995 meters 0.020634721003062607 Centerline is valid? [True, True] Translation: X:198.28, Y:14.06, Z:8.12 [[ 9.92108775e-01 -1.14715365e-01 -5.06020096e-02 1.98277228e+02] [ 1.14665991e-01 9.93396497e-01 -3.88730715e-03 1.40619946e+01] [ 5.07137929e-02 -1.94569805e-03 9.98711332e-01 8.12322093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54509989299996 meters 0.01789226568443154 Centerline is valid? [True, True] Translation: X:198.34, Y:14.07, Z:8.13 [[ 9.92816603e-01 -1.08716765e-01 -4.99585533e-02 1.98337567e+02] [ 1.08661097e-01 9.94071448e-01 -3.83698417e-03 1.40715886e+01] [ 5.00795160e-02 -1.61912963e-03 9.98743921e-01 8.12587365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60509989299996 meters 0.016656661501938716 Centerline is valid? [True, True] Translation: X:198.40, Y:14.08, Z:8.13 [[ 9.93318406e-01 -1.04013271e-01 -4.99978327e-02 1.98398392e+02] [ 1.03951617e-01 9.94574946e-01 -3.83892894e-03 1.40800474e+01] [ 5.01258914e-02 -1.38407681e-03 9.98741948e-01 8.12923752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66509989299996 meters 0.015986502931378876 Centerline is valid? [True, True] Translation: X:198.46, Y:14.09, Z:8.13 [[ 9.93523295e-01 -1.01709399e-01 -5.06622151e-02 1.98459178e+02] [ 1.01643201e-01 9.94813321e-01 -3.88804601e-03 1.40865042e+01] [ 5.07948973e-02 -1.28660541e-03 9.98708277e-01 8.13186719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72509989299996 meters 0.015906124486553447 Centerline is valid? [True, True] Translation: X:198.52, Y:14.09, Z:8.13 [[ 9.93661779e-01 -1.00527970e-01 -5.03030501e-02 1.98519251e+02] [ 1.00461272e-01 9.94933486e-01 -3.85894949e-03 1.40907503e+01] [ 5.04361214e-02 -1.21901781e-03 9.98726545e-01 8.13438952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78509989299997 meters 0.016285465215380504 Centerline is valid? [True, True] Translation: X:198.58, Y:14.09, Z:8.14 [[ 9.93621599e-01 -1.01010130e-01 -5.01305375e-02 1.98579959e+02] [ 1.00944517e-01 9.94884625e-01 -3.84541795e-03 1.40948419e+01] [ 5.02625271e-02 -1.23951255e-03 9.98735271e-01 8.13732338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.84509989299997 meters 0.016078086507321 Centerline is valid? [True, True] Translation: X:198.64, Y:14.10, Z:8.14 [[ 9.93463205e-01 -1.02767275e-01 -4.96965602e-02 1.98640543e+02] [ 1.02705070e-01 9.94704553e-01 -3.81048719e-03 1.40998325e+01] [ 4.98249881e-02 -1.31850990e-03 9.98757094e-01 8.14124994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.90509989299997 meters 0.017005016723182793 Centerline is valid? [True, True] Translation: X:198.70, Y:14.10, Z:8.14 [[ 9.93349943e-01 -1.03995545e-01 -4.94046240e-02 1.98700850e+02] [ 1.03935631e-01 9.94576815e-01 -3.78719157e-03 1.41025338e+01] [ 4.95305447e-02 -1.37289423e-03 9.98771666e-01 8.14331227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96509989299997 meters 0.01844342003632099 Centerline is valid? [True, True] Translation: X:198.76, Y:14.11, Z:8.14 [[ 9.93180943e-01 -1.05400343e-01 -4.98235122e-02 1.98760694e+02] [ 1.05341248e-01 9.94428804e-01 -3.81781809e-03 1.41052891e+01] [ 4.99483349e-02 -1.45668679e-03 9.98750741e-01 8.14489319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02509989299998 meters 0.01851875804112158 Centerline is valid? [True, True] Translation: X:198.82, Y:14.11, Z:8.15 [[ 9.93095557e-01 -1.05954904e-01 -5.03465390e-02 1.98820716e+02] [ 1.05895465e-01 9.94369799e-01 -3.85411002e-03 1.41111366e+01] [ 5.04714397e-02 -1.50397061e-03 9.98724372e-01 8.14679140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08509989299995 meters 0.018489030424385856 Centerline is valid? [True, True] Translation: X:198.88, Y:14.12, Z:8.15 [[ 9.93088706e-01 -1.06087968e-01 -5.02012430e-02 1.98880761e+02] [ 1.06029041e-01 9.94355607e-01 -3.84298737e-03 1.41163479e+01] [ 5.03255822e-02 -1.50636228e-03 9.98731729e-01 8.14932268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14509989299995 meters 0.018489013436889926 Centerline is valid? [True, True] Translation: X:198.94, Y:14.12, Z:8.15 [[ 9.93115170e-01 -1.06292612e-01 -4.92355583e-02 1.98942164e+02] [ 1.06236194e-01 9.94333781e-01 -3.76880073e-03 1.41219683e+01] [ 4.93571745e-02 -1.48774513e-03 9.98780084e-01 8.15206264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20509989299995 meters 0.017756863293808788 Centerline is valid? [True, True] Translation: X:199.00, Y:14.13, Z:8.16 [[ 9.93197205e-01 -1.05894737e-01 -4.84315629e-02 1.99002692e+02] [ 1.05839757e-01 9.94376294e-01 -3.70555403e-03 1.41285133e+01] [ 4.85515967e-02 -1.44563893e-03 9.98819630e-01 8.15518375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26509989299996 meters 0.017674058310477938 Centerline is valid? [True, True] Translation: X:199.06, Y:14.14, Z:8.16 [[ 9.93285341e-01 -1.05005318e-01 -4.85604216e-02 1.99063386e+02] [ 1.04949069e-01 9.94470664e-01 -3.71364930e-03 1.41357971e+01] [ 4.86818676e-02 -1.40765764e-03 9.98813343e-01 8.15747094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32509989299996 meters 0.018137195422345806 Centerline is valid? [True, True] Translation: X:199.12, Y:14.14, Z:8.16 [[ 9.93304820e-01 -1.04206250e-01 -4.98657416e-02 1.99123461e+02] [ 1.04146017e-01 9.94554713e-01 -3.81177533e-03 1.41405339e+01] [ 4.99914192e-02 -1.40706355e-03 9.98748656e-01 8.15856407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38509989299996 meters 0.017146213219442877 Centerline is valid? [True, True] Translation: X:199.18, Y:14.15, Z:8.16 [[ 9.93346448e-01 -1.03982172e-01 -4.95029575e-02 1.99184382e+02] [ 1.03922584e-01 9.94578195e-01 -3.78302454e-03 1.41489951e+01] [ 4.96279292e-02 -1.38662128e-03 9.98766813e-01 8.16184905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44509989299996 meters 0.018627446008920565 Centerline is valid? [True, True] Translation: X:199.24, Y:14.15, Z:8.16 [[ 9.93371027e-01 -1.03901951e-01 -4.91771024e-02 1.99244545e+02] [ 1.03843143e-01 9.94586594e-01 -3.75617674e-03 1.41530457e+01] [ 4.93011608e-02 -1.37542772e-03 9.98783011e-01 8.16422876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.50509989299997 meters 0.017584113575128464 Centerline is valid? [True, True] Translation: X:199.31, Y:14.16, Z:8.17 [[ 9.93419293e-01 -1.03523943e-01 -4.89989960e-02 1.99306501e+02] [ 1.03465245e-01 9.94626039e-01 -3.73964456e-03 1.41616318e+01] [ 4.91228201e-02 -1.35465809e-03 9.98791827e-01 8.16680538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.56509989299997 meters 0.018206903834004393 Centerline is valid? [True, True] Translation: X:199.37, Y:14.17, Z:8.17 [[ 9.93417886e-01 -1.03640901e-01 -4.87797781e-02 1.99367203e+02] [ 1.03583055e-01 9.94613854e-01 -3.71910724e-03 1.41658989e+01] [ 4.89024948e-02 -1.35813077e-03 9.98802634e-01 8.16847495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.62509989299997 meters 0.017127981281896968 Centerline is valid? [True, True] Translation: X:199.43, Y:14.17, Z:8.17 [[ 9.93367108e-01 -1.04819344e-01 -4.72725545e-02 1.99428679e+02] [ 1.04766591e-01 9.94490326e-01 -3.59908606e-03 1.41740228e+01] [ 4.73893519e-02 -1.37737066e-03 9.98875544e-01 8.17145803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.68509989299997 meters 0.019011784402227425 Centerline is valid? [True, True] Translation: X:199.49, Y:14.18, Z:8.17 [[ 9.93073501e-01 -1.08330989e-01 -4.54908578e-02 1.99489386e+02] [ 1.08285958e-01 9.94113765e-01 -3.46030031e-03 1.41763809e+01] [ 4.55979456e-02 -1.48968858e-03 9.98958762e-01 8.17413493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74509989299997 meters 0.018850884772692488 Centerline is valid? [True, True] Translation: X:199.55, Y:14.18, Z:8.18 [[ 9.92781279e-01 -1.10969668e-01 -4.55089486e-02 1.99550788e+02] [ 1.10927455e-01 9.93822484e-01 -3.45977544e-03 1.41821023e+01] [ 4.56117465e-02 -1.61339154e-03 9.98957940e-01 8.17593602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80509989299998 meters 0.020261862698531335 Centerline is valid? [True, True] Translation: X:199.61, Y:14.19, Z:8.18 [[ 9.92317775e-01 -1.15199402e-01 -4.51057696e-02 1.99611468e+02] [ 1.15162480e-01 9.93340764e-01 -3.42498264e-03 1.41858788e+01] [ 4.51999556e-02 -1.79582111e-03 9.98976346e-01 8.17755080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86509989299995 meters 0.024255735363900417 Centerline is valid? [True, True] Translation: X:199.67, Y:14.19, Z:8.18 [[ 9.92024543e-01 -1.18028590e-01 -4.42329878e-02 1.99672384e+02] [ 1.17995924e-01 9.93008402e-01 -3.35786536e-03 1.41858982e+01] [ 4.43200526e-02 -1.88822744e-03 9.99015599e-01 8.17979413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92509989299995 meters 0.025130423625104092 Centerline is valid? [True, True] Translation: X:199.73, Y:14.19, Z:8.18 [[ 9.91862006e-01 -1.19311200e-01 -4.44364549e-02 1.99734155e+02] [ 1.19279593e-01 9.92854980e-01 -3.37161099e-03 1.41902877e+01] [ 4.45212265e-02 -1.95618941e-03 9.99006523e-01 8.18191363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98509989299995 meters 0.023289351291014553 Centerline is valid? [True, True] Translation: X:199.80, Y:14.20, Z:8.18 [[ 9.91556673e-01 -1.21581688e-01 -4.50916461e-02 1.99795547e+02] [ 1.21551628e-01 9.92579225e-01 -3.41813421e-03 1.42001169e+01] [ 4.51726137e-02 -2.09168922e-03 9.98977007e-01 8.18436415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04509989299996 meters 0.02354421360137767 Centerline is valid? [True, True] Translation: X:199.86, Y:14.21, Z:8.19 [[ 9.91308913e-01 -1.23019444e-01 -4.66138999e-02 1.99857144e+02] [ 1.22989068e-01 9.92401747e-01 -3.53010728e-03 1.42055933e+01] [ 4.66939875e-02 -2.23357330e-03 9.98906744e-01 8.18585698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10509989299996 meters 0.02375743482570279 Centerline is valid? [True, True] Translation: X:199.92, Y:14.21, Z:8.19 [[ 9.91195177e-01 -1.24233458e-01 -4.58057720e-02 1.99919091e+02] [ 1.24205535e-01 9.92250457e-01 -3.46635153e-03 1.42136696e+01] [ 4.58814350e-02 -2.25349948e-03 9.98944351e-01 8.19047494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16509989299996 meters 0.023922494958467034 Centerline is valid? [True, True] Translation: X:199.98, Y:14.22, Z:8.19 [[ 9.91389659e-01 -1.23059400e-01 -4.47540820e-02 1.99981227e+02] [ 1.23031696e-01 9.92396974e-01 -3.38348189e-03 1.42209378e+01] [ 4.48301848e-02 -2.15182165e-03 9.98992304e-01 8.19449479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22509989299996 meters 0.022388646685009676 Centerline is valid? [True, True] Translation: X:200.04, Y:14.23, Z:8.20 [[ 9.91900064e-01 -1.19157084e-01 -4.39983205e-02 2.00041421e+02] [ 1.19126644e-01 9.92873508e-01 -3.32254385e-03 1.42325943e+01] [ 4.40806715e-02 -1.94574080e-03 9.99026080e-01 8.19733503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28509989299997 meters 0.02130490345304848 Centerline is valid? [True, True] Translation: X:200.10, Y:14.24, Z:8.20 [[ 9.92241366e-01 -1.16496351e-01 -4.34243279e-02 2.00102517e+02] [ 1.16464194e-01 9.93189480e-01 -3.27832395e-03 1.42421533e+01] [ 4.35104984e-02 -1.80449072e-03 9.99051340e-01 8.20116895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.34509989299997 meters 0.01980938989004567 Centerline is valid? [True, True] Translation: X:200.16, Y:14.25, Z:8.20 [[ 9.92493241e-01 -1.13554500e-01 -4.54152299e-02 2.00162878e+02] [ 1.13516415e-01 9.93530217e-01 -3.42511343e-03 1.42531478e+01] [ 4.55103402e-02 -1.75597215e-03 9.98962324e-01 8.20320856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.40509989299997 meters 0.021429005887091335 Centerline is valid? [True, True] Translation: X:200.22, Y:14.26, Z:8.20 [[ 9.92570064e-01 -1.12387367e-01 -4.66234684e-02 2.00223779e+02] [ 1.12346032e-01 9.93662930e-01 -3.51436967e-03 1.42577856e+01] [ 4.67229830e-02 -1.74970357e-03 9.98906353e-01 8.20499502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46509989299997 meters 0.02009477994948737 Centerline is valid? [True, True] Translation: X:200.29, Y:14.27, Z:8.21 [[ 9.92611701e-01 -1.12100844e-01 -4.64264036e-02 2.00285379e+02] [ 1.12059667e-01 9.93695327e-01 -3.49689180e-03 1.42683702e+01] [ 4.65257048e-02 -1.73147159e-03 9.98915592e-01 8.20949736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52509989299998 meters 0.020562170787749863 Centerline is valid? [True, True] Translation: X:200.35, Y:14.27, Z:8.21 [[ 9.92786752e-01 -1.10789057e-01 -4.58284940e-02 2.00346151e+02] [ 1.10747703e-01 9.93842571e-01 -3.44826021e-03 1.42742833e+01] [ 4.59283378e-02 -1.65201341e-03 9.98943371e-01 8.21289786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58509989299995 meters 0.01796667208959399 Centerline is valid? [True, True] Translation: X:200.41, Y:14.29, Z:8.22 [[ 9.93155631e-01 -1.07414048e-01 -4.58706371e-02 2.00407065e+02] [ 1.07369313e-01 9.94213238e-01 -3.44515266e-03 1.42861621e+01] [ 4.59752524e-02 -1.50352601e-03 9.98941448e-01 8.21638849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64509989299995 meters 0.017492804377965868 Centerline is valid? [True, True] Translation: X:200.47, Y:14.29, Z:8.22 [[ 9.93484137e-01 -1.04319066e-01 -4.58999092e-02 2.00466971e+02] [ 1.04271086e-01 9.94542947e-01 -3.44491785e-03 1.42940035e+01] [ 4.60088015e-02 -1.36356215e-03 9.98940104e-01 8.22011771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70509989299995 meters 0.016672734709826765 Centerline is valid? [True, True] Translation: X:200.53, Y:14.30, Z:8.22 [[ 9.93642915e-01 -1.02180097e-01 -4.72544840e-02 2.00528597e+02] [ 1.02126884e-01 9.94765063e-01 -3.54538820e-03 1.43015022e+01] [ 4.73693778e-02 -1.30310335e-03 9.98876591e-01 8.22245117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76509989299996 meters 0.01742628743163719 Centerline is valid? [True, True] Translation: X:200.59, Y:14.30, Z:8.22 [[ 9.93781013e-01 -1.01020432e-01 -4.68419736e-02 2.00589428e+02] [ 1.00967015e-01 9.94883578e-01 -3.51108014e-03 1.43037338e+01] [ 4.69570011e-02 -1.24024948e-03 9.98896142e-01 8.22427893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82509989299996 meters 0.016216226026455817 Centerline is valid? [True, True] Translation: X:200.65, Y:14.31, Z:8.23 [[ 9.93997791e-01 -9.89964280e-02 -4.65628471e-02 2.00650938e+02] [ 9.89415505e-02 9.95087135e-01 -3.48753031e-03 1.43110781e+01] [ 4.66793431e-02 -1.14040286e-03 9.98909274e-01 8.22740191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88509989299996 meters 0.014820346667392455 Centerline is valid? [True, True] Translation: X:200.71, Y:14.32, Z:8.23 [[ 9.94544277e-01 -9.26545718e-02 -4.79250585e-02 2.00711860e+02] [ 9.25892391e-02 9.95697932e-01 -3.58617670e-03 1.43207174e+01] [ 4.80511573e-02 -8.70733184e-04 9.98844496e-01 8.23004403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94509989299996 meters 0.014433149694700236 Centerline is valid? [True, True] Translation: X:200.77, Y:14.33, Z:8.23 [[ 9.94737230e-01 -9.01469975e-02 -4.86966258e-02 2.00773687e+02] [ 9.00766419e-02 9.95928178e-01 -3.64184720e-03 1.43270976e+01] [ 4.88266434e-02 -7.63747529e-04 9.98806976e-01 8.23212473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.00509989299997 meters 0.013755649380184075 Centerline is valid? [True, True] Translation: X:200.84, Y:14.33, Z:8.23 [[ 9.95122227e-01 -8.56558567e-02 -4.89369846e-02 2.00835995e+02] [ 8.55795586e-02 9.96324632e-01 -3.65610860e-03 1.43347081e+01] [ 4.90702903e-02 -5.49730614e-04 9.98795176e-01 8.23434181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.06509989299997 meters 0.013202279047689709 Centerline is valid? [True, True] Translation: X:200.90, Y:14.34, Z:8.24 [[ 9.95505160e-01 -8.08879551e-02 -4.92606755e-02 2.00897549e+02] [ 8.08050238e-02 9.96723149e-01 -3.67593691e-03 1.43408197e+01] [ 4.93965946e-02 -3.21095891e-04 9.98779191e-01 8.23628921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.12509989299997 meters 0.013252208352693529 Centerline is valid? [True, True] Translation: X:200.96, Y:14.34, Z:8.24 [[ 9.95438896e-01 -8.15289856e-02 -4.95421891e-02 2.00959099e+02] [ 8.14460628e-02 9.96670907e-01 -3.69360243e-03 1.43439934e+01] [ 4.96783942e-02 -3.58260719e-04 9.98765202e-01 8.23894568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18509989299997 meters 0.013606499211545187 Centerline is valid? [True, True] Translation: X:201.02, Y:14.34, Z:8.24 [[ 9.95164920e-01 -8.48808707e-02 -4.94167996e-02 2.01019917e+02] [ 8.48025778e-02 9.96390968e-01 -3.68260136e-03 1.43444652e+01] [ 4.95510352e-02 -5.25876303e-04 9.98771455e-01 8.24061356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24509989299997 meters 0.013724953670441927 Centerline is valid? [True, True] Translation: X:201.08, Y:14.35, Z:8.24 [[ 9.95071329e-01 -8.61384544e-02 -4.91245086e-02 2.01081888e+02] [ 8.60626788e-02 9.96283003e-01 -3.65955623e-03 1.43473187e+01] [ 4.92571415e-02 -5.86267328e-04 9.98785958e-01 8.24333194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30509989299998 meters 0.014592083488179121 Centerline is valid? [True, True] Translation: X:201.14, Y:14.35, Z:8.25 [[ 9.94684658e-01 -9.08102134e-02 -4.85379902e-02 2.01144359e+02] [ 9.07419604e-02 9.95867886e-01 -3.61241746e-03 1.43460858e+01] [ 4.86654701e-02 -8.11216153e-04 9.98814805e-01 8.24578853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36509989299995 meters 0.015405150164317679 Centerline is valid? [True, True] Translation: X:201.21, Y:14.35, Z:8.25 [[ 9.94245473e-01 -9.58124330e-02 -4.79157364e-02 2.01206830e+02] [ 9.57518833e-02 9.95398857e-01 -3.56270804e-03 1.43467011e+01] [ 4.80366210e-02 -1.04581567e-03 9.98845028e-01 8.24948333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42509989299995 meters 0.016353861100327237 Centerline is valid? [True, True] Translation: X:201.27, Y:14.35, Z:8.25 [[ 9.93920307e-01 -9.93210288e-02 -4.75158641e-02 2.01268680e+02] [ 9.92656484e-02 9.95054708e-01 -3.52963406e-03 1.43472656e+01] [ 4.76314512e-02 -1.20851810e-03 9.98864247e-01 8.25214496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48509989299995 meters 0.017641748023757127 Centerline is valid? [True, True] Translation: X:201.33, Y:14.35, Z:8.26 [[ 9.93284900e-01 -1.05848830e-01 -4.67025890e-02 2.01329835e+02] [ 1.05802639e-01 9.94381105e-01 -3.46688542e-03 1.43464004e+01] [ 4.68071379e-02 -1.49765222e-03 9.98902823e-01 8.25566362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54509989299996 meters 0.018957861476408554 Centerline is valid? [True, True] Translation: X:201.39, Y:14.35, Z:8.26 [[ 9.92863610e-01 -1.09937280e-01 -4.62130574e-02 2.01391278e+02] [ 1.09896514e-01 9.93937118e-01 -3.42962528e-03 1.43473849e+01] [ 4.63099168e-02 -1.67350377e-03 9.98925718e-01 8.25857322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60509989299996 meters 0.02173415501661949 Centerline is valid? [True, True] Translation: X:201.45, Y:14.34, Z:8.26 [[ 9.92191510e-01 -1.15717105e-01 -4.65355769e-02 2.01451352e+02] [ 1.15682181e-01 9.93280281e-01 -3.45201376e-03 1.43448219e+01] [ 4.66223279e-02 -1.95827826e-03 9.98910669e-01 8.26006441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66509989299996 meters 0.024276589861963974 Centerline is valid? [True, True] Translation: X:201.51, Y:14.34, Z:8.26 [[ 9.91326269e-01 -1.22774387e-01 -4.68900566e-02 2.01512349e+02] [ 1.22746796e-01 9.92431925e-01 -3.47831967e-03 1.43421679e+01] [ 4.69622377e-02 -2.30745453e-03 9.98894000e-01 8.26140263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72509989299996 meters 0.024415636370006395 Centerline is valid? [True, True] Translation: X:201.57, Y:14.34, Z:8.26 [[ 9.90757670e-01 -1.27072701e-01 -4.74528029e-02 2.01573639e+02] [ 1.27049367e-01 9.91890150e-01 -3.51982397e-03 1.43439814e+01] [ 4.75152414e-02 -2.54155598e-03 9.98867280e-01 8.26250451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78509989299997 meters 0.02857276591453998 Centerline is valid? [True, True] Translation: X:201.63, Y:14.34, Z:8.26 [[ 9.90159041e-01 -1.30980304e-01 -4.92872457e-02 2.01634180e+02] [ 1.30960018e-01 9.91380914e-01 -3.65465288e-03 1.43402799e+01] [ 4.93411222e-02 -2.83597097e-03 9.98777959e-01 8.26252522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.84509989299997 meters 0.02702670439475845 Centerline is valid? [True, True] Translation: X:201.70, Y:14.35, Z:8.27 [[ 9.90210173e-01 -1.30290864e-01 -5.00809698e-02 2.01696033e+02] [ 1.30269200e-01 9.91471718e-01 -3.71039272e-03 1.43473291e+01] [ 5.01372955e-02 -2.84993926e-03 9.98738269e-01 8.26535000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.90509989299997 meters 0.02350051966293061 Centerline is valid? [True, True] Translation: X:201.76, Y:14.36, Z:8.27 [[ 9.90934870e-01 -1.25099575e-01 -4.89712090e-02 2.01755856e+02] [ 1.25072684e-01 9.92140959e-01 -3.62517445e-03 1.43585389e+01] [ 4.90398501e-02 -2.53264876e-03 9.98793612e-01 8.26969188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96509989299997 meters 0.024343712543690433 Centerline is valid? [True, True] Translation: X:201.81, Y:14.36, Z:8.27 [[ 9.91608433e-01 -1.20111892e-01 -4.78105480e-02 2.01814838e+02] [ 1.20080475e-01 9.92757852e-01 -3.53922191e-03 1.43639653e+01] [ 4.78893996e-02 -2.23159102e-03 9.98850152e-01 8.27349152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02509989299998 meters 0.020495811449813425 Centerline is valid? [True, True] Translation: X:201.87, Y:14.38, Z:8.28 [[ 9.92484100e-01 -1.12661313e-01 -4.77780204e-02 2.01874639e+02] [ 1.12621302e-01 9.93631688e-01 -3.53717081e-03 1.43777958e+01] [ 4.78722573e-02 -1.87023706e-03 9.98851715e-01 8.27778484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08509989299995 meters 0.018992830642794212 Centerline is valid? [True, True] Translation: X:201.94, Y:14.39, Z:8.28 [[ 9.92967587e-01 -1.07030141e-01 -5.05956439e-02 2.01935096e+02] [ 1.06977985e-01 9.94254334e-01 -3.74558360e-03 1.43862481e+01] [ 5.07058286e-02 -1.69337690e-03 9.98712196e-01 8.27731574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14509989299995 meters 0.01593624186425396 Centerline is valid? [True, True] Translation: X:201.99, Y:14.40, Z:8.28 [[ 9.93815243e-01 -9.83712047e-02 -5.15205579e-02 2.01994875e+02] [ 9.83055508e-02 9.95148974e-01 -3.81300976e-03 1.43991892e+01] [ 5.16457207e-02 -1.27532960e-03 9.98664655e-01 8.28030647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20509989299995 meters 0.015198337797911602 Centerline is valid? [True, True] Translation: X:202.06, Y:14.41, Z:8.28 [[ 9.94317530e-01 -9.33478860e-02 -5.11744256e-02 2.02055194e+02] [ 9.32765184e-02 9.95633042e-01 -3.78631240e-03 1.44069821e+01] [ 5.13043933e-02 -1.00857546e-03 9.98682553e-01 8.28369714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26509989299996 meters 0.013941350866027751 Centerline is valid? [True, True] Translation: X:202.12, Y:14.42, Z:8.29 [[ 9.94650414e-01 -8.89376146e-02 -5.25419401e-02 2.02116541e+02] [ 8.88563555e-02 9.96036874e-01 -3.88514063e-03 1.44158323e+01] [ 5.26792449e-02 -8.04328582e-04 9.98611161e-01 8.28652031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32509989299996 meters 0.014287731904208264 Centerline is valid? [True, True] Translation: X:202.18, Y:14.42, Z:8.29 [[ 9.94673226e-01 -8.85540778e-02 -5.27574453e-02 2.02177564e+02] [ 8.84718087e-02 9.96071057e-01 -3.89735378e-03 1.44190628e+01] [ 5.28952909e-02 -7.90953147e-04 9.98599751e-01 8.28829573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38509989299996 meters 0.014309188932399153 Centerline is valid? [True, True] Translation: X:202.24, Y:14.42, Z:8.29 [[ 9.94544606e-01 -9.03866565e-02 -5.20699358e-02 2.02238697e+02] [ 9.03091652e-02 9.95906361e-01 -3.84392634e-03 1.44225528e+01] [ 5.22042199e-02 -8.79436221e-04 9.98636043e-01 8.29203282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.44509989299996 meters 0.015301240831213184 Centerline is valid? [True, True] Translation: X:202.30, Y:14.42, Z:8.30 [[ 9.94119371e-01 -9.56317218e-02 -5.08060025e-02 2.02299640e+02] [ 9.55648839e-02 9.95416144e-01 -3.74872062e-03 1.44223767e+01] [ 5.09316117e-02 -1.12859395e-03 9.98701506e-01 8.29617029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.50509989299997 meters 0.016454467532679585 Centerline is valid? [True, True] Translation: X:202.36, Y:14.42, Z:8.30 [[ 9.93751835e-01 -1.00512239e-01 -4.85240219e-02 2.02361369e+02] [ 1.00457187e-01 9.94934948e-01 -3.57813603e-03 1.44221072e+01] [ 4.86378917e-02 -1.31880748e-03 9.98815607e-01 8.30042370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.56509989299997 meters 0.018546974558873993 Centerline is valid? [True, True] Translation: X:202.42, Y:14.42, Z:8.30 [[ 9.92791746e-01 -1.10103535e-01 -4.73472433e-02 2.02421884e+02] [ 1.10062110e-01 9.93918588e-01 -3.48903052e-03 1.44168271e+01] [ 4.74434598e-02 -1.74725679e-03 9.98872397e-01 8.30465079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.62509989299997 meters 0.020094000421179207 Centerline is valid? [True, True] Translation: X:202.48, Y:14.42, Z:8.30 [[ 9.92287183e-01 -1.12187591e-01 -5.27265677e-02 2.02482176e+02] [ 1.12139248e-01 9.93684913e-01 -3.88377636e-03 1.44159373e+01] [ 5.28293064e-02 -2.05889616e-03 9.98601435e-01 8.30194629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68509989299997 meters 0.018596067596372542 Centerline is valid? [True, True] Translation: X:202.54, Y:14.42, Z:8.30 [[ 9.92846711e-01 -1.06489186e-01 -5.39950212e-02 2.02542393e+02] [ 1.06430289e-01 9.94312228e-01 -3.97327662e-03 1.44216464e+01] [ 5.41110208e-02 -1.80185110e-03 9.98533300e-01 8.30235464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74509989299997 meters 0.014969042304580868 Centerline is valid? [True, True] Translation: X:202.60, Y:14.43, Z:8.31 [[ 9.94496476e-01 -9.22045660e-02 -4.97501406e-02 2.02602443e+02] [ 9.21366918e-02 9.95739639e-01 -3.66081222e-03 1.44342044e+01] [ 4.98757306e-02 -9.43148513e-04 9.98754986e-01 8.30955380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80509989299998 meters 0.013018974262459106 Centerline is valid? [True, True] Translation: X:202.66, Y:14.45, Z:8.31 [[ 9.95635602e-01 -7.84612691e-02 -5.05329330e-02 2.02662420e+02] [ 7.83735673e-02 9.96917129e-01 -3.71775813e-03 1.44461781e+01] [ 5.06688465e-02 -2.58913868e-04 9.98715475e-01 8.31200955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86509989299995 meters 0.012805502864715707 Centerline is valid? [True, True] Translation: X:202.72, Y:14.45, Z:8.31 [[ 9.96105688e-01 -7.24929330e-02 -5.01820068e-02 2.02722339e+02] [ 7.23989002e-02 9.97368925e-01 -3.69140994e-03 1.44531367e+01] [ 5.03175754e-02 4.39123329e-05 9.98733268e-01 8.31498071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92509989299995 meters 0.012793833188693654 Centerline is valid? [True, True] Translation: X:202.78, Y:14.45, Z:8.32 [[ 9.96252513e-01 -7.14274822e-02 -4.87754564e-02 2.02781803e+02] [ 7.13373615e-02 9.97445791e-01 -3.58819475e-03 1.44523534e+01] [ 4.89071694e-02 9.52356735e-05 9.98803324e-01 8.31832579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98509989299995 meters 0.013252558059784586 Centerline is valid? [True, True] Translation: X:202.84, Y:14.44, Z:8.32 [[ 9.95270339e-01 -8.40334363e-02 -4.87374042e-02 2.02841116e+02] [ 8.39584401e-02 9.96462799e-01 -3.58755432e-03 1.44402393e+01] [ 4.88664847e-02 -5.21330025e-04 9.98805184e-01 8.32041441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04509989299996 meters 0.014389627173759844 Centerline is valid? [True, True] Translation: X:202.90, Y:14.44, Z:8.32 [[ 9.94648598e-01 -9.12271313e-02 -4.84951216e-02 2.02902018e+02] [ 9.11612298e-02 9.95829734e-01 -3.57356601e-03 1.44362072e+01] [ 4.86188902e-02 -8.66432503e-04 9.98817027e-01 8.32267783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10509989299996 meters 0.015573911711743708 Centerline is valid? [True, True] Translation: X:202.96, Y:14.43, Z:8.32 [[ 9.94328132e-01 -9.48315867e-02 -4.81511752e-02 2.02962290e+02] [ 9.47708431e-02 9.95492792e-01 -3.54810803e-03 1.44345509e+01] [ 4.82706205e-02 -1.03534384e-03 9.98833758e-01 8.32435213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16509989299996 meters 0.015817122793489236 Centerline is valid? [True, True] Translation: X:203.02, Y:14.44, Z:8.33 [[ 9.93966573e-01 -9.85862262e-02 -4.80750251e-02 2.03023975e+02] [ 9.85301071e-02 9.95127769e-01 -3.54151530e-03 1.44350921e+01] [ 4.81899371e-02 -1.21668955e-03 9.98837449e-01 8.32682155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22509989299996 meters 0.020199262455534692 Centerline is valid? [True, True] Translation: X:203.08, Y:14.42, Z:8.33 [[ 9.92950313e-01 -1.09333202e-01 -4.57813040e-02 2.03084376e+02] [ 1.09293772e-01 9.94003776e-01 -3.37104227e-03 1.44233320e+01] [ 4.58753559e-02 -1.65633392e-03 9.98945798e-01 8.32909193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28509989299997 meters 0.02291094613923701 Centerline is valid? [True, True] Translation: X:203.15, Y:14.42, Z:8.33 [[ 9.92058806e-01 -1.18167270e-01 -4.30792584e-02 2.03145454e+02] [ 1.18140674e-01 9.92991803e-01 -3.17170462e-03 1.44172286e+01] [ 4.31521421e-02 -1.94289511e-03 9.99066623e-01 8.33233703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.34509989299997 meters 0.026713649427924837 Centerline is valid? [True, True] Translation: X:203.21, Y:14.40, Z:8.33 [[ 9.90525715e-01 -1.29092067e-01 -4.68406470e-02 2.03208175e+02] [ 1.29072874e-01 9.91629120e-01 -3.44683859e-03 1.43988199e+01] [ 4.68935092e-02 -2.63167468e-03 9.98896428e-01 8.32803124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.40509989299997 meters 0.025232453697295654 Centerline is valid? [True, True] Translation: X:203.27, Y:14.41, Z:8.33 [[ 9.90712407e-01 -1.27569066e-01 -4.70644168e-02 2.03269256e+02] [ 1.27547994e-01 9.91826354e-01 -3.46294649e-03 1.44063148e+01] [ 4.71214938e-02 -2.57218791e-03 9.98885854e-01 8.33031467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46509989299997 meters 0.02531520015257277 Centerline is valid? [True, True] Translation: X:203.33, Y:14.41, Z:8.33 [[ 9.90885887e-01 -1.25918276e-01 -4.78512954e-02 2.03330010e+02] [ 1.25894663e-01 9.92037373e-01 -3.51904558e-03 1.44118873e+01] [ 4.79133856e-02 -2.53725012e-03 9.98848272e-01 8.33269543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52509989299998 meters 0.02531520015257277 Centerline is valid? [True, True] Translation: X:203.39, Y:14.42, Z:8.34 [[ 9.90890447e-01 -1.25882342e-01 -4.78514237e-02 2.03390726e+02] [ 1.25858771e-01 9.92041934e-01 -3.51730074e-03 1.44163197e+01] [ 4.79133849e-02 -2.53726167e-03 9.98848272e-01 8.33525424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58509989299995 meters 0.026473324841511388 Centerline is valid? [True, True] Translation: X:203.45, Y:14.42, Z:8.34 [[ 9.91128332e-01 -1.23957896e-01 -4.79486161e-02 2.03450579e+02] [ 1.23932058e-01 9.92284452e-01 -3.52291628e-03 1.44201134e+01] [ 4.80153595e-02 -2.45070856e-03 9.98843591e-01 8.33764811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64509989299995 meters 0.02499831841112539 Centerline is valid? [True, True] Translation: X:203.51, Y:14.43, Z:8.34 [[ 9.91416177e-01 -1.22011363e-01 -4.69807581e-02 2.03511010e+02] [ 1.21984381e-01 9.92526018e-01 -3.45171397e-03 1.44276408e+01] [ 4.70507731e-02 -2.30883363e-03 9.98889831e-01 8.34095575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70509989299995 meters 0.02387179436806248 Centerline is valid? [True, True] Translation: X:203.57, Y:14.43, Z:8.34 [[ 9.91662809e-01 -1.20044325e-01 -4.68426429e-02 2.03571778e+02] [ 1.20015356e-01 9.92766073e-01 -3.44063950e-03 1.44347111e+01] [ 4.69168159e-02 -2.20988220e-03 9.98896355e-01 8.34438980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76509989299996 meters 0.02183661417748753 Centerline is valid? [True, True] Translation: X:203.63, Y:14.45, Z:8.35 [[ 9.92558187e-01 -1.13102892e-01 -4.51218481e-02 2.03631827e+02] [ 1.13068915e-01 9.93581625e-01 -3.31278085e-03 1.44461615e+01] [ 4.52069243e-02 -1.81375064e-03 9.98975998e-01 8.34855588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82509989299996 meters 0.01948317515472241 Centerline is valid? [True, True] Translation: X:203.69, Y:14.46, Z:8.35 [[ 9.93088544e-01 -1.08526473e-01 -4.46894628e-02 2.03691678e+02] [ 1.08488517e-01 9.94092288e-01 -3.28102473e-03 1.44571082e+01] [ 4.47815283e-02 -1.58994544e-03 9.98995539e-01 8.35129772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88509989299996 meters 0.017388507330022295 Centerline is valid? [True, True] Translation: X:203.75, Y:14.47, Z:8.35 [[ 9.93614509e-01 -1.03643219e-01 -4.45902611e-02 2.03752355e+02] [ 1.03600523e-01 9.94613601e-01 -3.27364154e-03 1.44671736e+01] [ 4.46893709e-02 -1.36683662e-03 9.98999996e-01 8.35362049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94509989299996 meters 0.016161208715170024 Centerline is valid? [True, True] Translation: X:203.81, Y:14.48, Z:8.36 [[ 9.94296290e-01 -9.69023134e-02 -4.45514272e-02 2.03812073e+02] [ 9.68529980e-02 9.95293328e-01 -3.26924177e-03 1.44761180e+01] [ 4.46585354e-02 -1.06434433e-03 9.99001743e-01 8.35560870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.00509989299997 meters 0.014287067538965506 Centerline is valid? [True, True] Translation: X:203.87, Y:14.49, Z:8.36 [[ 9.94947044e-01 -8.93211345e-02 -4.58488142e-02 2.03872029e+02] [ 8.92608576e-02 9.96002600e-01 -3.36444572e-03 1.44875738e+01] [ 4.59660543e-02 -7.45059156e-04 9.98942724e-01 8.35713778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.06509989299997 meters 0.013015572771994933 Centerline is valid? [True, True] Translation: X:203.93, Y:14.50, Z:8.36 [[ 9.95763903e-01 -7.95253600e-02 -4.61515551e-02 2.03932123e+02] [ 7.94537650e-02 9.96832800e-01 -3.38658286e-03 1.44992416e+01] [ 4.62747031e-02 -2.94677846e-04 9.98928709e-01 8.35964361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.12509989299997 meters 0.012911567814519045 Centerline is valid? [True, True] Translation: X:203.99, Y:14.51, Z:8.36 [[ 9.96034504e-01 -7.58927839e-02 -4.64279203e-02 2.03990584e+02] [ 7.58164080e-02 9.97115976e-01 -3.40633361e-03 1.45058922e+01] [ 4.65525372e-02 -1.27172337e-04 9.98915835e-01 8.36190118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18509989299997 meters 0.013116387976071883 Centerline is valid? [True, True] Translation: X:204.05, Y:14.52, Z:8.37 [[ 9.96777452e-01 -6.56192867e-02 -4.61391366e-02 2.04048993e+02] [ 6.55327352e-02 9.97844670e-01 -3.38763615e-03 1.45171680e+01] [ 4.62619857e-02 3.53095509e-04 9.98929279e-01 8.36568937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24509989299997 meters 0.013476778339838052 Centerline is valid? [True, True] Translation: X:204.11, Y:14.52, Z:8.37 [[ 9.97131601e-01 -6.09924235e-02 -4.48162224e-02 2.04107754e+02] [ 6.09059600e-02 9.98138075e-01 -3.29351098e-03 1.45232126e+01] [ 4.49336572e-02 5.54488831e-04 9.98989819e-01 8.36895654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30509989299998 meters 0.012988140917148337 Centerline is valid? [True, True] Translation: X:204.17, Y:14.52, Z:8.37 [[ 9.96755356e-01 -6.70608807e-02 -4.45151535e-02 2.04166819e+02] [ 6.69811108e-02 9.97748843e-01 -3.28281797e-03 1.45206755e+01] [ 4.46350916e-02 2.90491963e-04 9.99003315e-01 8.37100153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36509989299995 meters 0.012746677470633594 Centerline is valid? [True, True] Translation: X:204.23, Y:14.52, Z:8.37 [[ 9.96208861e-01 -7.49630281e-02 -4.41412565e-02 2.04226044e+02] [ 7.48918407e-02 9.97186312e-01 -3.26656622e-03 1.45184349e+01] [ 4.42619285e-02 -5.16377349e-05 9.99019959e-01 8.37316552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42509989299995 meters 0.01317082598153178 Centerline is valid? [True, True] Translation: X:204.28, Y:14.51, Z:8.38 [[ 9.95537910e-01 -8.38834589e-02 -4.32184530e-02 2.04284993e+02] [ 8.38231433e-02 9.96475480e-01 -3.20911730e-03 1.45145058e+01] [ 4.33353205e-02 -4.27908649e-04 9.99060492e-01 8.37638280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48509989299995 meters 0.014846990244535264 Centerline is valid? [True, True] Translation: X:204.35, Y:14.51, Z:8.38 [[ 9.94648779e-01 -9.41021307e-02 -4.26449825e-02 2.04345548e+02] [ 9.40523246e-02 9.95562186e-01 -3.17723392e-03 1.45064864e+01] [ 4.27547165e-02 -8.50627899e-04 9.99085237e-01 8.37799094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54509989299996 meters 0.015625848388575295 Centerline is valid? [True, True] Translation: X:204.41, Y:14.50, Z:8.38 [[ 9.94325436e-01 -9.75695291e-02 -4.23923838e-02 2.04407179e+02] [ 9.75234270e-02 9.95228215e-01 -3.15915839e-03 1.45049677e+01] [ 4.24983340e-02 -9.93019003e-04 9.99096044e-01 8.37983660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60509989299996 meters 0.01534228397356309 Centerline is valid? [True, True] Translation: X:204.47, Y:14.51, Z:8.38 [[ 9.94454959e-01 -9.58124116e-02 -4.33510714e-02 2.04468479e+02] [ 9.57626032e-02 9.95398964e-01 -3.22897574e-03 1.45072214e+01] [ 4.34609875e-02 -9.40340520e-04 9.99054682e-01 8.38160850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66509989299996 meters 0.014478808829170126 Centerline is valid? [True, True] Translation: X:204.53, Y:14.51, Z:8.38 [[ 9.94777023e-01 -9.20963748e-02 -4.40105980e-02 2.04529007e+02] [ 9.20414730e-02 9.95749784e-01 -3.27654770e-03 1.45123599e+01] [ 4.41253016e-02 -7.91365902e-04 9.99025691e-01 8.38320106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.72509989299996 meters 0.013450364784134557 Centerline is valid? [True, True] Translation: X:204.59, Y:14.52, Z:8.39 [[ 9.95448642e-01 -8.46191262e-02 -4.38361068e-02 2.04588861e+02] [ 8.45574092e-02 9.96413265e-01 -3.26355700e-03 1.45204504e+01] [ 4.39550377e-02 -4.57964243e-04 9.99033405e-01 8.38674816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.78509989299997 meters 0.013265698507253528 Centerline is valid? [True, True] Translation: X:204.65, Y:14.53, Z:8.39 [[ 9.95682520e-01 -8.23571939e-02 -4.28206981e-02 2.04648442e+02] [ 8.22962114e-02 9.96602815e-01 -3.18799518e-03 1.45260886e+01] [ 4.29377825e-02 -3.49750140e-04 9.99077687e-01 8.39012267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.84509989299997 meters 0.012978756900895564 Centerline is valid? [True, True] Translation: X:204.71, Y:14.53, Z:8.39 [[ 9.95978558e-01 -7.63779914e-02 -4.68306948e-02 2.04708094e+02] [ 7.62983509e-02 9.97078930e-01 -3.48840572e-03 1.45329406e+01] [ 4.69603365e-02 -9.87274892e-05 9.98896750e-01 8.39033821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.90509989299997 meters 0.013074314715914508 Centerline is valid? [True, True] Translation: X:204.77, Y:14.54, Z:8.39 [[ 9.96150423e-01 -7.20148832e-02 -4.99819177e-02 2.04765235e+02] [ 7.19185218e-02 9.97403551e-01 -3.72603469e-03 1.45382604e+01] [ 5.01204721e-02 1.17065398e-04 9.98743172e-01 8.38935483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96509989299997 meters 0.013321763543188042 Centerline is valid? [True, True] Translation: X:204.82, Y:14.54, Z:8.39 [[ 9.96597154e-01 -6.68625113e-02 -4.82028749e-02 2.04823201e+02] [ 6.67664844e-02 9.97762130e-01 -3.60130753e-03 1.45438632e+01] [ 4.83357956e-02 3.70716339e-04 9.98831074e-01 8.39394310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02509989299998 meters 0.013685186464730352 Centerline is valid? [True, True] Translation: X:204.88, Y:14.55, Z:8.40 [[ 9.96662055e-01 -6.45771953e-02 -4.99453034e-02 2.04881836e+02] [ 6.44705748e-02 9.97912583e-01 -3.74450117e-03 1.45478793e+01] [ 5.00828561e-02 5.11999823e-04 9.98744935e-01 8.39627885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08509989299995 meters 0.01348510190153767 Centerline is valid? [True, True] Translation: X:204.94, Y:14.55, Z:8.40 [[ 9.96675208e-01 -6.55351448e-02 -4.84115171e-02 2.04940398e+02] [ 6.54355330e-02 9.97850155e-01 -3.64130163e-03 1.45483499e+01] [ 4.85460731e-02 4.61361633e-04 9.98820838e-01 8.39974035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14509989299995 meters 0.01316782183903528 Centerline is valid? [True, True] Translation: X:205.00, Y:14.55, Z:8.40 [[ 9.96473723e-01 -6.99739854e-02 -4.63007650e-02 2.04998802e+02] [ 6.98871394e-02 9.97548786e-01 -3.49381220e-03 1.45468725e+01] [ 4.64317478e-02 2.45664033e-04 9.98921435e-01 8.40415542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20509989299995 meters 0.01299451534115595 Centerline is valid? [True, True] Translation: X:205.06, Y:14.54, Z:8.40 [[ 9.95896684e-01 -7.70347605e-02 -4.74914845e-02 2.05056228e+02] [ 7.69508414e-02 9.97028405e-01 -3.59551982e-03 1.45424544e+01] [ 4.76273391e-02 -7.37434371e-05 9.98865172e-01 8.40462651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26509989299996 meters 0.01394022943506902 Centerline is valid? [True, True] Translation: X:205.11, Y:14.54, Z:8.41 [[ 9.95308433e-01 -8.61760967e-02 -4.39863953e-02 2.05114659e+02] [ 8.61126742e-02 9.96279812e-01 -3.33818031e-03 1.45358487e+01] [ 4.41104290e-02 -4.65267113e-04 9.99026553e-01 8.40998697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32509989299996 meters 0.014539804690851203 Centerline is valid? [True, True] Translation: X:205.17, Y:14.53, Z:8.41 [[ 9.94757850e-01 -9.25401200e-02 -4.35102961e-02 2.05173698e+02] [ 9.24839709e-02 9.95708685e-01 -3.30600253e-03 1.45345327e+01] [ 4.36295176e-02 -7.35332987e-04 9.99047509e-01 8.41344162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38509989299996 meters 0.015592116140221265 Centerline is valid? [True, True] Translation: X:205.23, Y:14.53, Z:8.41 [[ 9.94261589e-01 -9.72736865e-02 -4.45165472e-02 2.05233827e+02] [ 9.72191573e-02 9.95257213e-01 -3.39344183e-03 1.45330823e+01] [ 4.46355073e-02 -9.53892341e-04 9.99002884e-01 8.41479398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.44509989299996 meters 0.015671067220081093 Centerline is valid? [True, True] Translation: X:205.29, Y:14.53, Z:8.42 [[ 9.93978672e-01 -1.00003063e-01 -4.47860191e-02 2.05292990e+02] [ 9.99505359e-02 9.94986542e-01 -3.41625550e-03 1.45329404e+01] [ 4.49031223e-02 -1.08070150e-03 9.98990762e-01 8.41629369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.50509989299997 meters 0.015331388581307807 Centerline is valid? [True, True] Translation: X:205.35, Y:14.54, Z:8.42 [[ 9.94033669e-01 -9.95277341e-02 -4.46239259e-02 2.05351807e+02] [ 9.94745928e-02 9.95034241e-01 -3.41540709e-03 1.45363626e+01] [ 4.47422619e-02 -1.04391722e-03 9.98998018e-01 8.41884683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.56509989299997 meters 0.015157906555697072 Centerline is valid? [True, True] Translation: X:205.41, Y:14.54, Z:8.42 [[ 9.94257587e-01 -9.69872975e-02 -4.52251496e-02 2.05409169e+02] [ 9.69295642e-02 9.95285184e-01 -3.47297188e-03 1.45395525e+01] [ 4.53487555e-02 -9.30625398e-04 9.98970783e-01 8.42030839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.62509989299997 meters 0.014874904166012249 Centerline is valid? [True, True] Translation: X:205.47, Y:14.54, Z:8.42 [[ 9.94232007e-01 -9.72205475e-02 -4.52866483e-02 2.05467911e+02] [ 9.71625991e-02 9.95262422e-01 -3.48428552e-03 1.45430660e+01] [ 4.54108434e-02 -9.35980268e-04 9.98967957e-01 8.42238011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68509989299997 meters 0.015739553939936826 Centerline is valid? [True, True] Translation: X:205.53, Y:14.54, Z:8.42 [[ 9.93819546e-01 -1.00752326e-01 -4.66012789e-02 2.05527135e+02] [ 1.00694263e-01 9.94910911e-01 -3.59779648e-03 1.45433688e+01] [ 4.67266072e-02 -1.11692098e-03 9.98907091e-01 8.42317946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74509989299997 meters 0.018117395111438252 Centerline is valid? [True, True] Translation: X:205.59, Y:14.54, Z:8.43 [[ 9.93015099e-01 -1.08055366e-01 -4.73819631e-02 2.05587354e+02] [ 1.08003113e-01 9.94143785e-01 -3.66909316e-03 1.45426041e+01] [ 4.75009494e-02 -1.47393460e-03 9.98870105e-01 8.42547131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80509989299995 meters 0.019164773727992607 Centerline is valid? [True, True] Translation: X:205.64, Y:14.55, Z:8.43 [[ 9.93007401e-01 -1.08173356e-01 -4.72739552e-02 2.05643709e+02] [ 1.08121407e-01 9.94130952e-01 -3.66215569e-03 1.45459794e+01] [ 4.73926497e-02 -1.47477883e-03 9.98875248e-01 8.42774225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86509989299995 meters 0.017759275332334606 Centerline is valid? [True, True] Translation: X:205.70, Y:14.55, Z:8.43 [[ 9.92977631e-01 -1.08300035e-01 -4.76080523e-02 2.05700704e+02] [ 1.08247163e-01 9.94117145e-01 -3.69496955e-03 1.45534256e+01] [ 4.77281464e-02 -1.48441450e-03 9.98859260e-01 8.43077596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92509989299995 meters 0.018449779819773013 Centerline is valid? [True, True] Translation: X:205.76, Y:14.56, Z:8.43 [[ 9.93045492e-01 -1.07585543e-01 -4.78121496e-02 2.05758106e+02] [ 1.07530773e-01 9.94194783e-01 -3.72366460e-03 1.45573281e+01] [ 4.79352022e-02 -1.44350905e-03 9.98849404e-01 8.43281369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98509989299995 meters 0.01717208281246553 Centerline is valid? [True, True] Translation: X:205.82, Y:14.57, Z:8.44 [[ 9.93542875e-01 -1.03973872e-01 -4.54091423e-02 2.05816764e+02] [ 1.03920499e-01 9.94579304e-01 -3.54090525e-03 1.45664645e+01] [ 4.55311548e-02 -1.20089956e-03 9.98962197e-01 8.43758378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04509989299996 meters 0.015046409699146317 Centerline is valid? [True, True] Translation: X:205.88, Y:14.58, Z:8.44 [[ 9.94033396e-01 -9.86078760e-02 -4.66271940e-02 2.05875898e+02] [ 9.85452282e-02 9.95125894e-01 -3.64600456e-03 1.45766549e+01] [ 4.67594529e-02 -9.70637183e-04 9.98905707e-01 8.43973384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10509989299996 meters 0.01438362218292517 Centerline is valid? [True, True] Translation: X:205.93, Y:14.59, Z:8.44 [[ 9.94430165e-01 -9.39312513e-02 -4.78076036e-02 2.05933027e+02] [ 9.38598752e-02 9.95578390e-01 -3.74067815e-03 1.45855053e+01] [ 4.79475836e-02 -7.67372511e-04 9.98849558e-01 8.44137403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16509989299996 meters 0.013605307861985532 Centerline is valid? [True, True] Translation: X:205.99, Y:14.59, Z:8.44 [[ 9.94658262e-01 -9.06145892e-02 -4.94361939e-02 2.05991900e+02] [ 9.05337951e-02 9.95885842e-01 -3.87568660e-03 1.45932562e+01] [ 4.95839994e-02 -6.20662546e-04 9.98769764e-01 8.44295289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.22509989299996 meters 0.013574640401578904 Centerline is valid? [True, True] Translation: X:206.05, Y:14.60, Z:8.44 [[ 9.94783353e-01 -8.92205085e-02 -4.94548404e-02 2.06050782e+02] [ 8.91373373e-02 9.96011752e-01 -3.88911647e-03 1.45986593e+01] [ 4.96045912e-02 -5.39444469e-04 9.98768789e-01 8.44458212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.28509989299997 meters 0.013375084177854737 Centerline is valid? [True, True] Translation: X:206.11, Y:14.60, Z:8.45 [[ 9.94886488e-01 -8.82203471e-02 -4.91736288e-02 2.06108702e+02] [ 8.81362841e-02 9.96100871e-01 -3.87944653e-03 1.46048206e+01] [ 4.93241406e-02 -4.74371981e-04 9.98782711e-01 8.44753616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.34509989299997 meters 0.013243298074562362 Centerline is valid? [True, True] Translation: X:206.17, Y:14.61, Z:8.45 [[ 9.94956753e-01 -8.78121060e-02 -4.84777675e-02 2.06166559e+02] [ 8.77293167e-02 9.96136961e-01 -3.83698348e-03 1.46107597e+01] [ 4.86274296e-02 -4.35288800e-04 9.98816892e-01 8.45085242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.40509989299997 meters 0.01327565615301769 Centerline is valid? [True, True] Translation: X:206.22, Y:14.61, Z:8.45 [[ 9.94877985e-01 -8.90183607e-02 -4.78907858e-02 2.06224563e+02] [ 8.89382924e-02 9.96029872e-01 -3.80443296e-03 1.46149061e+01] [ 4.80393176e-02 -4.74378115e-04 9.98845333e-01 8.45320995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46509989299997 meters 0.013505006671080897 Centerline is valid? [True, True] Translation: X:206.28, Y:14.62, Z:8.46 [[ 9.94691310e-01 -9.18333995e-02 -4.64308591e-02 2.06283569e+02] [ 9.17605911e-02 9.95774217e-01 -3.70160936e-03 1.46173544e+01] [ 4.65745838e-02 -5.78564413e-04 9.98914648e-01 8.45581566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52509989299998 meters 0.014449283207758531 Centerline is valid? [True, True] Translation: X:206.34, Y:14.62, Z:8.46 [[ 9.94299103e-01 -9.68214112e-02 -4.46644013e-02 2.06341936e+02] [ 9.67585839e-02 9.95301472e-01 -3.57152367e-03 1.46178483e+01] [ 4.48003444e-02 -7.70501441e-04 9.98995663e-01 8.45873887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58509989299995 meters 0.01606794085383491 Centerline is valid? [True, True] Translation: X:206.40, Y:14.62, Z:8.46 [[ 9.93588811e-01 -1.03901023e-01 -4.45628923e-02 2.06401357e+02] [ 1.03845321e-01 9.94587054e-01 -3.56940720e-03 1.46154822e+01] [ 4.46925408e-02 -1.08112482e-03 9.99000204e-01 8.46016683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64509989299995 meters 0.01808972340405507 Centerline is valid? [True, True] Translation: X:206.46, Y:14.61, Z:8.46 [[ 9.93080080e-01 -1.08729575e-01 -4.43828183e-02 2.06460252e+02] [ 1.08678970e-01 9.94070529e-01 -3.55871501e-03 1.46145011e+01] [ 4.45065892e-02 -1.28939001e-03 9.99008259e-01 8.46195176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70509989299995 meters 0.018018450716183715 Centerline is valid? [True, True] Translation: X:206.52, Y:14.62, Z:8.46 [[ 9.92625785e-01 -1.13030730e-01 -4.37961712e-02 2.06519065e+02] [ 1.12985531e-01 9.93590419e-01 -3.51399849e-03 1.46183861e+01] [ 4.39126459e-02 -1.46024814e-03 9.99034307e-01 8.46410273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76509989299996 meters 0.019720589562049137 Centerline is valid? [True, True] Translation: X:206.58, Y:14.62, Z:8.47 [[ 9.92192655e-01 -1.16644929e-01 -4.41326994e-02 2.06577257e+02] [ 1.16602488e-01 9.93172343e-01 -3.54350556e-03 1.46195528e+01] [ 4.42447084e-02 -1.63014238e-03 9.99019393e-01 8.46550076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82509989299996 meters 0.0229900315807803 Centerline is valid? [True, True] Translation: X:206.64, Y:14.62, Z:8.47 [[ 9.91567600e-01 -1.22093138e-01 -4.34391472e-02 2.06637030e+02] [ 1.22057102e-01 9.92516941e-01 -3.49086120e-03 1.46193283e+01] [ 4.35402997e-02 -1.84063157e-03 9.99049976e-01 8.46766050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88509989299996 meters 0.02428536912569982 Centerline is valid? [True, True] Translation: X:206.70, Y:14.62, Z:8.47 [[ 9.91070477e-01 -1.25836996e-01 -4.40948969e-02 2.06696898e+02] [ 1.25803512e-01 9.92048846e-01 -3.54462571e-03 1.46226954e+01] [ 4.41903366e-02 -2.03431900e-03 9.99021059e-01 8.46966964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.94509989299996 meters 0.024769533102301896 Centerline is valid? [True, True] Translation: X:206.76, Y:14.63, Z:8.47 [[ 9.90507604e-01 -1.29900406e-01 -4.49507697e-02 2.06756629e+02] [ 1.29869742e-01 9.91524476e-01 -3.61430257e-03 1.46281603e+01] [ 4.50392877e-02 -2.25775066e-03 9.98982665e-01 8.47134872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.00509989299997 meters 0.024554596416954916 Centerline is valid? [True, True] Translation: X:206.82, Y:14.63, Z:8.47 [[ 9.90196167e-01 -1.32182429e-01 -4.51592294e-02 2.06816831e+02] [ 1.32153810e-01 9.91222569e-01 -3.63182707e-03 1.46339586e+01] [ 4.52429111e-02 -2.37174296e-03 9.98973200e-01 8.47373081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.06509989299997 meters 0.02672545669194738 Centerline is valid? [True, True] Translation: X:206.88, Y:14.64, Z:8.48 [[ 9.89824535e-01 -1.34739971e-01 -4.57441907e-02 2.06875974e+02] [ 1.34713321e-01 9.90877786e-01 -3.67901209e-03 1.46374654e+01] [ 4.58226124e-02 -2.52077543e-03 9.98946412e-01 8.47561106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.12509989299997 meters 0.028206729096774852 Centerline is valid? [True, True] Translation: X:206.93, Y:14.64, Z:8.48 [[ 9.89719263e-01 -1.35432644e-01 -4.59758511e-02 2.06934091e+02] [ 1.35406384e-01 9.90783238e-01 -3.69947287e-03 1.46438268e+01] [ 4.60531320e-02 -2.56398419e-03 9.98935701e-01 8.47792811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18509989299997 meters 0.026704375114048915 Centerline is valid? [True, True] Translation: X:206.99, Y:14.65, Z:8.48 [[ 9.89771814e-01 -1.35362855e-01 -4.50405789e-02 2.06993039e+02] [ 1.35337439e-01 9.90792925e-01 -3.62733622e-03 1.46536898e+01] [ 4.51168935e-02 -2.50544143e-03 9.98978573e-01 8.48144275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24509989299997 meters 0.028516601972737317 Centerline is valid? [True, True] Translation: X:207.05, Y:14.66, Z:8.48 [[ 9.90035353e-01 -1.33614073e-01 -4.44666008e-02 2.07051832e+02] [ 1.33587472e-01 9.91030550e-01 -3.58266431e-03 1.46606805e+01] [ 4.45464543e-02 -2.39321645e-03 9.99004447e-01 8.48478259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30509989299995 meters 0.024007903283210952 Centerline is valid? [True, True] Translation: X:207.11, Y:14.68, Z:8.49 [[ 9.90416691e-01 -1.31179836e-01 -4.32044938e-02 2.07111378e+02] [ 1.31152380e-01 9.91356107e-01 -3.48170734e-03 1.46761971e+01] [ 4.32877686e-02 -2.21803112e-03 9.99060183e-01 8.48830870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36509989299995 meters 0.023623901273414776 Centerline is valid? [True, True] Translation: X:207.17, Y:14.69, Z:8.49 [[ 9.90915951e-01 -1.27235396e-01 -4.35514835e-02 2.07170457e+02] [ 1.27203697e-01 9.91870406e-01 -3.50967009e-03 1.46884564e+01] [ 4.36439819e-02 -2.06212164e-03 9.99045019e-01 8.49162263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42509989299995 meters 0.02450221188403673 Centerline is valid? [True, True] Translation: X:207.23, Y:14.70, Z:8.49 [[ 9.91211547e-01 -1.25058077e-01 -4.31294059e-02 2.07230319e+02] [ 1.25024938e-01 9.92147512e-01 -3.47555009e-03 1.46970861e+01] [ 4.32253784e-02 -1.94724590e-03 9.99063449e-01 8.49409598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48509989299995 meters 0.020891051636692408 Centerline is valid? [True, True] Translation: X:207.29, Y:14.71, Z:8.50 [[ 9.91432342e-01 -1.23000231e-01 -4.39642372e-02 2.07290258e+02] [ 1.22963940e-01 9.92404829e-01 -3.53916040e-03 1.47135883e+01] [ 4.40656388e-02 -1.89717772e-03 9.99026837e-01 8.49630727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54509989299996 meters 0.023036535026279635 Centerline is valid? [True, True] Translation: X:207.35, Y:14.72, Z:8.50 [[ 9.91443507e-01 -1.22581864e-01 -4.48715773e-02 2.07351073e+02] [ 1.22543712e-01 9.92456550e-01 -3.61043657e-03 1.47190368e+01] [ 4.49756648e-02 -1.91918577e-03 9.98986239e-01 8.49778036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60509989299996 meters 0.021574224912993437 Centerline is valid? [True, True] Translation: X:207.41, Y:14.73, Z:8.50 [[ 9.91435294e-01 -1.22392524e-01 -4.55645456e-02 2.07412903e+02] [ 1.22353105e-01 9.92479872e-01 -3.66358154e-03 1.47315400e+01] [ 4.56702894e-02 -1.94275961e-03 9.98954679e-01 8.49987331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66509989299996 meters 0.02241202370605976 Centerline is valid? [True, True] Translation: X:207.47, Y:14.74, Z:8.50 [[ 9.91472423e-01 -1.21908498e-01 -4.60516221e-02 2.07473663e+02] [ 1.21867878e-01 9.92539438e-01 -3.69914989e-03 1.47389414e+01] [ 4.61590090e-02 -1.94460835e-03 9.98932212e-01 8.50176310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.72509989299996 meters 0.021054195376341848 Centerline is valid? [True, True] Translation: X:207.53, Y:14.75, Z:8.50 [[ 9.91717772e-01 -1.20004917e-01 -4.57676816e-02 2.07534429e+02] [ 1.19963005e-01 9.92771574e-01 -3.67128179e-03 1.47517059e+01] [ 4.58774252e-02 -1.84955324e-03 9.98945364e-01 8.50458309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.78509989299997 meters 0.02073444148346584 Centerline is valid? [True, True] Translation: X:207.60, Y:14.76, Z:8.51 [[ 9.92102148e-01 -1.17078734e-01 -4.50099684e-02 2.07595218e+02] [ 1.17035265e-01 9.93121202e-01 -3.60888226e-03 1.47614498e+01] [ 4.51228773e-02 -1.68737373e-03 9.98980019e-01 8.50741170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.84509989299997 meters 0.01749359804751433 Centerline is valid? [True, True] Translation: X:207.66, Y:14.78, Z:8.51 [[ 9.92773653e-01 -1.11200730e-01 -4.51095453e-02 2.07655138e+02] [ 1.11151078e-01 9.93796945e-01 -3.61528187e-03 1.47776360e+01] [ 4.52317503e-02 -1.42481802e-03 9.98975505e-01 8.51027056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.90509989299997 meters 0.015609689823705152 Centerline is valid? [True, True] Translation: X:207.71, Y:14.79, Z:8.51 [[ 9.93792169e-01 -1.02097532e-01 -4.41952330e-02 2.07714549e+02] [ 1.02040917e-01 9.94773900e-01 -3.54100466e-03 1.47925794e+01] [ 4.43257922e-02 -9.90699415e-04 9.99016638e-01 8.51349303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96509989299997 meters 0.014484657135142347 Centerline is valid? [True, True] Translation: X:207.77, Y:14.80, Z:8.52 [[ 9.94444253e-01 -9.57364846e-02 -4.37624695e-02 2.07774989e+02] [ 9.56748491e-02 9.95406467e-01 -3.50556279e-03 1.48026312e+01] [ 4.38970554e-02 -7.00880899e-04 9.99035814e-01 8.51571004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02509989299998 meters 0.013652234539968248 Centerline is valid? [True, True] Translation: X:207.84, Y:14.81, Z:8.52 [[ 9.94936816e-01 -9.04823982e-02 -4.37454786e-02 2.07836056e+02] [ 9.04158050e-02 9.95897944e-01 -3.50255855e-03 1.48127625e+01] [ 4.38829521e-02 -4.70458208e-04 9.99036568e-01 8.51850155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08509989299995 meters 0.013327390113013593 Centerline is valid? [True, True] Translation: X:207.90, Y:14.82, Z:8.52 [[ 9.95240923e-01 -8.70601271e-02 -4.37725898e-02 2.07896643e+02] [ 8.69902479e-02 9.96203007e-01 -3.50232553e-03 1.48216563e+01] [ 4.39112984e-02 -3.22130737e-04 9.99035382e-01 8.52102883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14509989299995 meters 0.013423263079499537 Centerline is valid? [True, True] Translation: X:207.96, Y:14.83, Z:8.52 [[ 9.95152055e-01 -8.81188273e-02 -4.36744761e-02 2.07957551e+02] [ 8.80503503e-02 9.96109901e-01 -3.49287070e-03 1.48254917e+01] [ 4.38123658e-02 -3.69615468e-04 9.99039709e-01 8.52316078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20509989299995 meters 0.014554131449000994 Centerline is valid? [True, True] Translation: X:208.02, Y:14.82, Z:8.53 [[ 9.94542383e-01 -9.46178068e-02 -4.39649793e-02 2.08018534e+02] [ 9.45548269e-02 9.95513452e-01 -3.51453703e-03 1.48237014e+01] [ 4.41002661e-02 -6.61744977e-04 9.99026891e-01 8.52518023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26509989299996 meters 0.01689155543571849 Centerline is valid? [True, True] Translation: X:208.08, Y:14.82, Z:8.53 [[ 9.93629155e-01 -1.03872282e-01 -4.37224396e-02 2.08080364e+02] [ 1.03818974e-01 9.94590071e-01 -3.49433964e-03 1.48205752e+01] [ 4.38488693e-02 -1.06714109e-03 9.99037606e-01 8.52793052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32509989299996 meters 0.01858089612470526 Centerline is valid? [True, True] Translation: X:208.14, Y:14.82, Z:8.53 [[ 9.92943888e-01 -1.09936054e-01 -4.44578348e-02 2.08142023e+02] [ 1.09887075e-01 9.93937733e-01 -3.55152256e-03 1.48199904e+01] [ 4.45787599e-02 -1.35887882e-03 9.99004949e-01 8.52965098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38509989299996 meters 0.019846812997880565 Centerline is valid? [True, True] Translation: X:208.20, Y:14.82, Z:8.53 [[ 9.91832049e-01 -1.19314664e-01 -4.50909823e-02 2.08202641e+02] [ 1.19274013e-01 9.92854846e-01 -3.60058487e-03 1.48188237e+01] [ 4.51984029e-02 -1.80700694e-03 9.98976396e-01 8.53142822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.44509989299996 meters 0.025457989238539508 Centerline is valid? [True, True] Translation: X:208.26, Y:14.81, Z:8.53 [[ 9.90768789e-01 -1.27584485e-01 -4.58192848e-02 2.08263119e+02] [ 1.27551336e-01 9.91825223e-01 -3.65844951e-03 1.48133987e+01] [ 4.59114837e-02 -2.21963338e-03 9.98943046e-01 8.53318147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.50509989299997 meters 0.02708111360007248 Centerline is valid? [True, True] Translation: X:208.32, Y:14.82, Z:8.54 [[ 9.90178876e-01 -1.32066765e-01 -4.58711469e-02 2.08324046e+02] [ 1.32038414e-01 9.91237840e-01 -3.66084146e-03 1.48150604e+01] [ 4.59526920e-02 -2.43186559e-03 9.98940657e-01 8.53571050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.56509989299997 meters 0.027783814890266014 Centerline is valid? [True, True] Translation: X:208.39, Y:14.82, Z:8.54 [[ 9.89675996e-01 -1.35887327e-01 -4.55637774e-02 2.08385182e+02] [ 1.35863408e-01 9.90720907e-01 -3.63583919e-03 1.48186499e+01] [ 4.56350513e-02 -2.59214730e-03 9.98954815e-01 8.53842555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.62509989299997 meters 0.026843046524606465 Centerline is valid? [True, True] Translation: X:208.45, Y:14.82, Z:8.54 [[ 9.89355875e-01 -1.38352893e-01 -4.50935639e-02 2.08445756e+02] [ 1.38332050e-01 9.90379373e-01 -3.59751125e-03 1.48246961e+01] [ 4.51574616e-02 -2.67866624e-03 9.98976290e-01 8.54118559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68509989299997 meters 0.02783160231295646 Centerline is valid? [True, True] Translation: X:208.51, Y:14.83, Z:8.54 [[ 9.89182345e-01 -1.39867027e-01 -4.42210708e-02 2.08507542e+02] [ 1.39848529e-01 9.90166627e-01 -3.52697098e-03 1.48285439e+01] [ 4.42795354e-02 -2.69543426e-03 9.99015544e-01 8.54405860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74509989299997 meters 0.03073202470571568 Centerline is valid? [True, True] Translation: X:208.57, Y:14.83, Z:8.54 [[ 9.89112693e-01 -1.40218914e-01 -4.46624810e-02 2.08568734e+02] [ 1.40200550e-01 9.90116731e-01 -3.55889452e-03 1.48290342e+01] [ 4.47200940e-02 -2.74155664e-03 9.98995794e-01 8.54494200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80509989299995 meters 0.028155263667848103 Centerline is valid? [True, True] Translation: X:208.63, Y:14.84, Z:8.55 [[ 9.89041680e-01 -1.40402596e-01 -4.56471875e-02 2.08630563e+02] [ 1.40383730e-01 9.90090499e-01 -3.63473931e-03 1.48379202e+01] [ 4.57051735e-02 -2.81321379e-03 9.98951011e-01 8.54681897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86509989299995 meters 0.02892216928842923 Centerline is valid? [True, True] Translation: X:208.69, Y:14.84, Z:8.55 [[ 9.89024340e-01 -1.39945516e-01 -4.73931127e-02 2.08692124e+02] [ 1.39924834e-01 9.90154951e-01 -3.77014431e-03 1.48435818e+01] [ 4.74541400e-02 -2.90270896e-03 9.98869200e-01 8.54775742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92509989299995 meters 0.02892217130672827 Centerline is valid? [True, True] Translation: X:208.75, Y:14.85, Z:8.55 [[ 9.89206669e-01 -1.38767295e-01 -4.70510788e-02 2.08754551e+02] [ 1.38745748e-01 9.90320975e-01 -3.73942902e-03 1.48500257e+01] [ 4.71145807e-02 -2.82906899e-03 9.98885485e-01 8.55052808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98509989299995 meters 0.028748969609075803 Centerline is valid? [True, True] Translation: X:208.81, Y:14.86, Z:8.55 [[ 9.89796637e-01 -1.34637268e-01 -4.66414425e-02 2.08813762e+02] [ 1.34611697e-01 9.90891507e-01 -3.70313908e-03 1.48580309e+01] [ 4.67151898e-02 -2.61312915e-03 9.98904832e-01 8.55364307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04509989299996 meters 0.023491504365378616 Centerline is valid? [True, True] Translation: X:208.87, Y:14.87, Z:8.56 [[ 9.90500343e-01 -1.29554040e-01 -4.60957762e-02 2.08873706e+02] [ 1.29523562e-01 9.91569589e-01 -3.66005627e-03 1.48726968e+01] [ 4.61813449e-02 -2.34520215e-03 9.98930320e-01 8.55700344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10509989299996 meters 0.023713590609447846 Centerline is valid? [True, True] Translation: X:208.93, Y:14.88, Z:8.56 [[ 9.91783893e-01 -1.19347126e-01 -4.60540351e-02 2.08933035e+02] [ 1.19305722e-01 9.92850832e-01 -3.65656556e-03 1.48826143e+01] [ 4.61611877e-02 -1.86798708e-03 9.98932258e-01 8.55920395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16509989299996 meters 0.020829170330130015 Centerline is valid? [True, True] Translation: X:208.99, Y:14.89, Z:8.56 [[ 9.92672328e-01 -1.11832210e-01 -4.57734234e-02 2.08992478e+02] [ 1.11783325e-01 9.93725958e-01 -3.63434565e-03 1.48949086e+01] [ 4.58926759e-02 -1.50899112e-03 9.98945236e-01 8.56176009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.22509989299996 meters 0.015696198888192226 Centerline is valid? [True, True] Translation: X:209.05, Y:14.91, Z:8.56 [[ 9.93718130e-01 -1.02434016e-01 -4.50727297e-02 2.09051931e+02] [ 1.02376961e-01 9.94739238e-01 -3.57851116e-03 1.49119949e+01] [ 4.52021740e-02 -1.05837767e-03 9.98977299e-01 8.56484631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.28509989299997 meters 0.01479076808255153 Centerline is valid? [True, True] Translation: X:209.11, Y:14.92, Z:8.57 [[ 9.94221393e-01 -9.67710524e-02 -4.64670245e-02 2.09112505e+02] [ 9.67042507e-02 9.95306325e-01 -3.68875907e-03 1.49214865e+01] [ 4.66058885e-02 -8.26115604e-04 9.98913014e-01 8.56609009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.34509989299997 meters 0.014964841402068354 Centerline is valid? [True, True] Translation: X:209.17, Y:14.93, Z:8.57 [[ 9.94340974e-01 -9.50323626e-02 -4.74855431e-02 2.09173237e+02] [ 9.49607083e-02 9.95473891e-01 -3.76772722e-03 1.49263579e+01] [ 4.76286744e-02 -7.62855257e-04 9.98864819e-01 8.56660373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.40509989299997 meters 0.014880486805588053 Centerline is valid? [True, True] Translation: X:209.23, Y:14.93, Z:8.57 [[ 9.94302474e-01 -9.51830050e-02 -4.79873460e-02 2.09234155e+02] [ 9.51101245e-02 9.95459485e-01 -3.80502407e-03 1.49308465e+01] [ 4.81316324e-02 -7.80737612e-04 9.98840696e-01 8.56804621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46509989299997 meters 0.014562547476821864 Centerline is valid? [True, True] Translation: X:209.30, Y:14.94, Z:8.57 [[ 9.94239583e-01 -9.55968483e-02 -4.84653890e-02 2.09295120e+02] [ 9.55230843e-02 9.95419804e-01 -3.84118391e-03 1.49362737e+01] [ 4.86106131e-02 -8.10506349e-04 9.98817477e-01 8.57103630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52509989299998 meters 0.014826058697530767 Centerline is valid? [True, True] Translation: X:209.36, Y:14.94, Z:8.58 [[ 9.94214898e-01 -9.67458744e-02 -4.66580381e-02 2.09355787e+02] [ 9.66788523e-02 9.95308765e-01 -3.69628675e-03 1.49411312e+01] [ 4.67967547e-02 -8.35942211e-04 9.98904082e-01 8.57569850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58509989299995 meters 0.01557555863933938 Centerline is valid? [True, True] Translation: X:209.42, Y:14.94, Z:8.58 [[ 9.94030822e-01 -9.96470525e-02 -4.44206043e-02 2.09417582e+02] [ 9.95892720e-02 9.95022414e-01 -3.51739562e-03 1.49430320e+01] [ 4.45499950e-02 -9.27415982e-04 9.99006726e-01 8.58034466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64509989299995 meters 0.0161442634253612 Centerline is valid? [True, True] Translation: X:209.48, Y:14.95, Z:8.58 [[ 9.93735126e-01 -1.02580044e-01 -4.43602790e-02 2.09480056e+02] [ 1.02525482e-01 9.94724188e-01 -3.50939434e-03 1.49455020e+01] [ 4.44862364e-02 -1.06065057e-03 9.99009434e-01 8.58347549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70509989299995 meters 0.017404035679918346 Centerline is valid? [True, True] Translation: X:209.54, Y:14.95, Z:8.59 [[ 9.93143620e-01 -1.07952468e-01 -4.48554823e-02 2.09540896e+02] [ 1.07902294e-01 9.94155182e-01 -3.54540616e-03 1.49462913e+01] [ 4.49760455e-02 -1.31891192e-03 9.98987195e-01 8.58602215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76509989299996 meters 0.01826569808068261 Centerline is valid? [True, True] Translation: X:209.60, Y:14.95, Z:8.59 [[ 9.92758027e-01 -1.11044717e-01 -4.58319814e-02 2.09602864e+02] [ 1.10995673e-01 9.93814291e-01 -3.62151129e-03 1.49476452e+01] [ 4.59506278e-02 -1.49186722e-03 9.98942598e-01 8.58817317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82509989299996 meters 0.01968575380979663 Centerline is valid? [True, True] Translation: X:209.66, Y:14.95, Z:8.59 [[ 9.92272031e-01 -1.14740542e-01 -4.72316055e-02 2.09664394e+02] [ 1.14692795e-01 9.93394010e-01 -3.72873361e-03 1.49474863e+01] [ 4.73474309e-02 -1.71720679e-03 9.98877005e-01 8.59013708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88509989299996 meters 0.01935749172982681 Centerline is valid? [True, True] Translation: X:209.73, Y:14.95, Z:8.59 [[ 9.92150688e-01 -1.15484932e-01 -4.79608412e-02 2.09726140e+02] [ 1.15436664e-01 9.93307634e-01 -3.78430402e-03 1.49525283e+01] [ 4.80768998e-02 -1.78183968e-03 9.98842048e-01 8.59348593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.94509989299996 meters 0.02146855186435749 Centerline is valid? [True, True] Translation: X:209.79, Y:14.95, Z:8.60 [[ 9.92287393e-01 -1.13874173e-01 -4.89734774e-02 2.09787006e+02] [ 1.13822064e-01 9.93493650e-01 -3.86064202e-03 1.49533173e+01] [ 4.90944663e-02 -1.74339587e-03 9.98792618e-01 8.59595349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.00509989299997 meters 0.01951708796367775 Centerline is valid? [True, True] Translation: X:209.85, Y:14.96, Z:8.60 [[ 9.92757711e-01 -1.09011615e-01 -5.04836191e-02 2.09847098e+02] [ 1.08950084e-01 9.94039265e-01 -3.97732381e-03 1.49614906e+01] [ 5.06162741e-02 -1.55167567e-03 9.98716969e-01 8.59902610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.06509989299997 meters 0.017056051075700348 Centerline is valid? [True, True] Translation: X:209.91, Y:14.97, Z:8.60 [[ 9.93149088e-01 -1.04994694e-01 -5.12932962e-02 2.09908317e+02] [ 1.04925849e-01 9.94471840e-01 -4.04059702e-03 1.49723411e+01] [ 5.14339799e-02 -1.36907739e-03 9.98675458e-01 8.60335884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.12509989299997 meters 0.016143992251399328 Centerline is valid? [True, True] Translation: X:209.97, Y:14.98, Z:8.61 [[ 9.93521013e-01 -1.00392368e-01 -5.32669682e-02 2.09968728e+02] [ 1.00311638e-01 9.94947229e-01 -4.19373063e-03 1.49796271e+01] [ 5.34188409e-02 -1.17673735e-03 9.98571501e-01 8.60596066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18509989299997 meters 0.01594425320568739 Centerline is valid? [True, True] Translation: X:210.03, Y:14.98, Z:8.61 [[ 9.93572865e-01 -9.92723213e-02 -5.43872012e-02 2.10028968e+02] [ 9.91864753e-02 9.95059650e-01 -4.28208884e-03 1.49843383e+01] [ 5.45436023e-02 -1.13990751e-03 9.98510739e-01 8.60823163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24509989299997 meters 0.015424269991536024 Centerline is valid? [True, True] Translation: X:210.09, Y:14.99, Z:8.61 [[ 9.93523177e-01 -9.94636978e-02 -5.49424134e-02 2.10088996e+02] [ 9.93763821e-02 9.95040513e-01 -4.32580258e-03 1.49897112e+01] [ 5.51001876e-02 -1.16219314e-03 9.98480154e-01 8.61347435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30509989299995 meters 0.015532478238960251 Centerline is valid? [True, True] Translation: X:210.15, Y:14.99, Z:8.62 [[ 9.93489940e-01 -1.00605800e-01 -5.34435448e-02 2.10149715e+02] [ 1.00524835e-01 9.94925652e-01 -4.20779157e-03 1.49935558e+01] [ 5.35956819e-02 -1.19200491e-03 9.98562007e-01 8.61809760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36509989299995 meters 0.015882128725891113 Centerline is valid? [True, True] Translation: X:210.21, Y:15.00, Z:8.62 [[ 9.93384057e-01 -1.01872210e-01 -5.30110192e-02 2.10210791e+02] [ 1.01794373e-01 9.94796707e-01 -4.17332693e-03 1.49968569e+01] [ 5.31603334e-02 -1.25050702e-03 9.98585207e-01 8.62122355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42509989299995 meters 0.01702849320031388 Centerline is valid? [True, True] Translation: X:210.27, Y:15.00, Z:8.62 [[ 9.92996034e-01 -1.05855287e-01 -5.24741390e-02 2.10272155e+02] [ 1.05784670e-01 9.94380487e-01 -4.12914708e-03 1.49993434e+01] [ 5.26163520e-02 -1.45073282e-03 9.98613747e-01 8.62465349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48509989299995 meters 0.018064021069671896 Centerline is valid? [True, True] Translation: X:210.33, Y:15.00, Z:8.63 [[ 9.92589149e-01 -1.09683648e-01 -5.23094467e-02 2.10333403e+02] [ 1.09618880e-01 9.93965177e-01 -4.11428512e-03 1.50025824e+01] [ 5.24450383e-02 -1.65030820e-03 9.98622448e-01 8.62819541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54509989299996 meters 0.02114163879050414 Centerline is valid? [True, True] Translation: X:210.39, Y:15.00, Z:8.63 [[ 9.92003127e-01 -1.15124256e-01 -5.17320248e-02 2.10393621e+02] [ 1.15068391e-01 9.93349247e-01 -4.06690108e-03 1.50019135e+01] [ 5.18561669e-02 -1.91834226e-03 9.98652721e-01 8.63067188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60509989299996 meters 0.021940614282271193 Centerline is valid? [True, True] Translation: X:210.45, Y:15.01, Z:8.63 [[ 9.91122782e-01 -1.22157047e-01 -5.24717692e-02 2.10453950e+02] [ 1.22109505e-01 9.92508070e-01 -4.12302486e-03 1.50054135e+01] [ 5.25823109e-02 -2.32087790e-03 9.98613896e-01 8.63380655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66509989299996 meters 0.02605426261427034 Centerline is valid? [True, True] Translation: X:210.51, Y:15.00, Z:8.64 [[ 9.89762000e-01 -1.32268185e-01 -5.36312413e-02 2.10514697e+02] [ 1.32233313e-01 9.91209662e-01 -4.21385421e-03 1.50047626e+01] [ 5.37171634e-02 -2.92112396e-03 9.98551918e-01 8.63606094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.72509989299996 meters 0.030206487105101553 Centerline is valid? [True, True] Translation: X:210.57, Y:15.00, Z:8.64 [[ 9.89002732e-01 -1.37608434e-01 -5.41988460e-02 2.10574346e+02] [ 1.37580812e-01 9.90481392e-01 -4.25829834e-03 1.50043731e+01] [ 5.42689262e-02 -3.24525253e-03 9.98521082e-01 8.63718100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.78509989299997 meters 0.02936082693874154 Centerline is valid? [True, True] Translation: X:210.63, Y:15.01, Z:8.64 [[ 9.88391811e-01 -1.41571809e-01 -5.51275797e-02 2.10634280e+02] [ 1.41549339e-01 9.89921724e-01 -4.33179251e-03 1.50121472e+01] [ 5.51852484e-02 -3.52176423e-03 9.98469922e-01 8.63926203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.84509989299997 meters 0.02958886426001999 Centerline is valid? [True, True] Translation: X:210.70, Y:15.02, Z:8.64 [[ 9.88490823e-01 -1.41302179e-01 -5.40332005e-02 2.10696432e+02] [ 1.41280255e-01 9.89960541e-01 -4.24454106e-03 1.50195052e+01] [ 5.40904993e-02 -3.43813446e-03 9.98530118e-01 8.64206839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.90509989299997 meters 0.030456103835312207 Centerline is valid? [True, True] Translation: X:210.76, Y:15.03, Z:8.64 [[ 9.88691868e-01 -1.40149298e-01 -5.33531959e-02 2.10758296e+02] [ 1.40126454e-01 9.90124762e-01 -4.18728487e-03 1.50257896e+01] [ 5.34131654e-02 -3.33625963e-03 9.98566925e-01 8.64453132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96509989299997 meters 0.029494873219866238 Centerline is valid? [True, True] Translation: X:210.82, Y:15.04, Z:8.65 [[ 9.89038055e-01 -1.37808877e-01 -5.30324341e-02 2.10819443e+02] [ 1.37783144e-01 9.90453690e-01 -4.15856104e-03 1.50363713e+01] [ 5.30992567e-02 -3.19400037e-03 9.98584131e-01 8.64705977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02509989299998 meters 0.027367073278560538 Centerline is valid? [True, True] Translation: X:210.88, Y:15.05, Z:8.65 [[ 9.89269431e-01 -1.36274998e-01 -5.26793914e-02 2.10880376e+02] [ 1.36247589e-01 9.90666217e-01 -4.12802712e-03 1.50482601e+01] [ 5.27502403e-02 -3.09370903e-03 9.98602945e-01 8.65109177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08509989299995 meters 0.02434581125665667 Centerline is valid? [True, True] Translation: X:210.94, Y:15.06, Z:8.65 [[ 9.89720938e-01 -1.32933748e-01 -5.27359835e-02 2.10940343e+02] [ 1.32901686e-01 9.91120621e-01 -4.12994600e-03 1.50638910e+01] [ 5.28167299e-02 -2.92120711e-03 9.98599950e-01 8.65493871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14509989299995 meters 0.0249932751261927 Centerline is valid? [True, True] Translation: X:211.00, Y:15.07, Z:8.66 [[ 9.90503772e-01 -1.26945318e-01 -5.27935949e-02 2.10999630e+02] [ 1.26904745e-01 9.91906295e-01 -4.13367072e-03 1.50749893e+01] [ 5.28910492e-02 -2.60534128e-03 9.98596890e-01 8.65725696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20509989299995 meters 0.02276491496572361 Centerline is valid? [True, True] Translation: X:211.06, Y:15.09, Z:8.66 [[ 9.91251854e-01 -1.21042041e-01 -5.26173541e-02 2.11059555e+02] [ 1.20993441e-01 9.92644757e-01 -4.11983232e-03 1.50881961e+01] [ 5.27290136e-02 -2.28256330e-03 9.98606249e-01 8.66005162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26509989299996 meters 0.018178095902245384 Centerline is valid? [True, True] Translation: X:211.12, Y:15.11, Z:8.66 [[ 9.92554692e-01 -1.10301158e-01 -5.16608012e-02 2.11118873e+02] [ 1.10239786e-01 9.93896791e-01 -4.04465673e-03 1.51075876e+01] [ 5.17916348e-02 -1.68053265e-03 9.98656499e-01 8.66374986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32509989299996 meters 0.01617836532276248 Centerline is valid? [True, True] Translation: X:211.18, Y:15.12, Z:8.67 [[ 9.93375633e-01 -1.02932711e-01 -5.10853058e-02 2.11178703e+02] [ 1.02863006e-01 9.94687495e-01 -3.99873529e-03 1.51201984e+01] [ 5.12255155e-02 -1.28254191e-03 9.98686288e-01 8.66623312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38509989299996 meters 0.01438637080717282 Centerline is valid? [True, True] Translation: X:211.24, Y:15.14, Z:8.67 [[ 9.94263589e-01 -9.38463357e-02 -5.13106355e-02 2.11237983e+02] [ 9.37639567e-02 9.95586358e-01 -4.01560895e-03 1.51356280e+01] [ 5.14610189e-02 -8.18514448e-04 9.98674669e-01 8.66871966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.44509989299996 meters 0.013937629406430264 Centerline is valid? [True, True] Translation: X:211.30, Y:15.14, Z:8.67 [[ 9.94544865e-01 -9.06602297e-02 -5.15871472e-02 2.11299538e+02] [ 9.05727127e-02 9.95881665e-01 -4.03655106e-03 1.51445213e+01] [ 5.17406487e-02 -6.57856740e-04 9.98660339e-01 8.67034762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.50509989299997 meters 0.01373376233281651 Centerline is valid? [True, True] Translation: X:211.36, Y:15.15, Z:8.67 [[ 9.94583128e-01 -9.04985014e-02 -5.11314302e-02 2.11361765e+02] [ 9.04124991e-02 9.95896381e-01 -3.99722716e-03 1.51510607e+01] [ 5.12833494e-02 -6.47345703e-04 9.98683933e-01 8.67293414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.56509989299997 meters 0.014816329809413775 Centerline is valid? [True, True] Translation: X:211.42, Y:15.15, Z:8.67 [[ 9.94246407e-01 -9.46926966e-02 -5.00736957e-02 2.11422746e+02] [ 9.46157343e-02 9.95506188e-01 -3.91046777e-03 1.51495932e+01] [ 5.02189667e-02 -8.49790957e-04 9.98737870e-01 8.67466317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.62509989299997 meters 0.015162509150140346 Centerline is valid? [True, True] Translation: X:211.48, Y:15.15, Z:8.68 [[ 9.93902710e-01 -9.87078274e-02 -4.91341864e-02 2.11484441e+02] [ 9.86389035e-02 9.95115916e-01 -3.83147963e-03 1.51517893e+01] [ 4.92724080e-02 -1.03842429e-03 9.98784837e-01 8.67886052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68509989299997 meters 0.016565282050270334 Centerline is valid? [True, True] Translation: X:211.55, Y:15.15, Z:8.68 [[ 9.93550786e-01 -1.02632770e-01 -4.82011533e-02 2.11545605e+02] [ 1.02571178e-01 9.94718576e-01 -3.75609097e-03 1.51521184e+01] [ 4.83320806e-02 -1.21218194e-03 9.98830587e-01 8.68218747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74509989299997 meters 0.017278743019741933 Centerline is valid? [True, True] Translation: X:211.61, Y:15.15, Z:8.69 [[ 9.93199209e-01 -1.06806886e-01 -4.63424236e-02 2.11607210e+02] [ 1.06754614e-01 9.94278850e-01 -3.60855270e-03 1.51533013e+01] [ 4.64627099e-02 -1.36325588e-03 9.98919095e-01 8.68573240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80509989299995 meters 0.018153473587554807 Centerline is valid? [True, True] Translation: X:211.67, Y:15.15, Z:8.69 [[ 9.92967680e-01 -1.10127509e-01 -4.34409713e-02 2.11668879e+02] [ 1.10084943e-01 9.93916442e-01 -3.37819707e-03 1.51529806e+01] [ 4.35487281e-02 -1.42775633e-03 9.99050284e-01 8.69003267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86509989299995 meters 0.019389065288116927 Centerline is valid? [True, True] Translation: X:211.73, Y:15.15, Z:8.69 [[ 9.92775860e-01 -1.11606963e-01 -4.40451663e-02 2.11730520e+02] [ 1.11564767e-01 9.93751271e-01 -3.42271490e-03 1.51525550e+01] [ 4.41519388e-02 -1.51589997e-03 9.99023678e-01 8.69191828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92509989299995 meters 0.019080224317409453 Centerline is valid? [True, True] Translation: X:211.79, Y:15.16, Z:8.70 [[ 9.92747046e-01 -1.12199265e-01 -4.31813349e-02 2.11792757e+02] [ 1.12159367e-01 9.93684574e-01 -3.35325731e-03 1.51551337e+01] [ 4.32848594e-02 -1.51425490e-03 9.99061624e-01 8.69538735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98509989299995 meters 0.019388929595917405 Centerline is valid? [True, True] Translation: X:211.85, Y:15.16, Z:8.70 [[ 9.92710286e-01 -1.12381787e-01 -4.35502307e-02 2.11854733e+02] [ 1.12341521e-01 9.93663911e-01 -3.37868675e-03 1.51579964e+01] [ 4.36539954e-02 -1.53844204e-03 9.99045525e-01 8.69749356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04509989299996 meters 0.019988012736880667 Centerline is valid? [True, True] Translation: X:211.92, Y:15.16, Z:8.70 [[ 9.92644633e-01 -1.11814607e-01 -4.64125674e-02 2.11915989e+02] [ 1.11768420e-01 9.93727770e-01 -3.59726018e-03 1.51586584e+01] [ 4.65236834e-02 -1.61665832e-03 9.98915879e-01 8.69709881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10509989299996 meters 0.019793070906862133 Centerline is valid? [True, True] Translation: X:211.98, Y:15.16, Z:8.70 [[ 9.92788837e-01 -1.10276964e-01 -4.70033609e-02 2.11978642e+02] [ 1.10228002e-01 9.93899661e-01 -3.64031983e-03 1.51625159e+01] [ 4.71180679e-02 -1.56701765e-03 9.98888098e-01 8.69865297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16509989299996 meters 0.017680902287943834 Centerline is valid? [True, True] Translation: X:212.04, Y:15.17, Z:8.70 [[ 9.93206814e-01 -1.05426290e-01 -4.92495867e-02 2.12039983e+02] [ 1.05366792e-01 9.94426127e-01 -3.81001309e-03 1.51703610e+01] [ 4.93767514e-02 -1.40513999e-03 9.98779236e-01 8.70051039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.22509989299996 meters 0.015898216910167212 Centerline is valid? [True, True] Translation: X:212.10, Y:15.18, Z:8.70 [[ 9.94028064e-01 -9.72538804e-02 -4.94963610e-02 2.12099277e+02] [ 9.71837697e-02 9.95259097e-01 -3.82684152e-03 1.51782948e+01] [ 4.96338787e-02 -1.00625508e-03 9.98766973e-01 8.70284003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.28509989299997 meters 0.013725770640557688 Centerline is valid? [True, True] Translation: X:212.16, Y:15.19, Z:8.71 [[ 9.94905092e-01 -8.87964980e-02 -4.77392949e-02 2.12159669e+02] [ 8.87215518e-02 9.96049629e-01 -3.69078103e-03 1.51892282e+01] [ 4.78784355e-02 -5.63527493e-04 9.98853011e-01 8.70801652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.34509989299997 meters 0.013119953464657491 Centerline is valid? [True, True] Translation: X:212.22, Y:15.20, Z:8.71 [[ 9.95506478e-01 -8.28111630e-02 -4.59256369e-02 2.12221005e+02] [ 8.27355103e-02 9.96565221e-01 -3.54896663e-03 1.51950518e+01] [ 4.60617865e-02 -2.66661733e-04 9.98938557e-01 8.71144550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.40509989299997 meters 0.012971550430566232 Centerline is valid? [True, True] Translation: X:212.28, Y:15.20, Z:8.71 [[ 9.95639969e-01 -8.18089896e-02 -4.48145256e-02 2.12283176e+02] [ 8.17360143e-02 9.96648003e-01 -3.46145287e-03 1.51987167e+01] [ 4.49474855e-02 -2.16599878e-04 9.98989328e-01 8.71432845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46509989299997 meters 0.013135236801187881 Centerline is valid? [True, True] Translation: X:212.34, Y:15.20, Z:8.72 [[ 9.95543585e-01 -8.33308494e-02 -4.41468068e-02 2.12344497e+02] [ 8.32616712e-02 9.96521896e-01 -3.40666485e-03 1.51998951e+01] [ 4.42771399e-02 -2.84253579e-04 9.99019246e-01 8.71668360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52509989299995 meters 0.013779866025446622 Centerline is valid? [True, True] Translation: X:212.41, Y:15.20, Z:8.72 [[ 9.95129055e-01 -8.77392071e-02 -4.49443490e-02 2.12406392e+02] [ 8.76722283e-02 9.96143357e-01 -3.46309490e-03 1.51993631e+01] [ 4.50748639e-02 -4.94144868e-04 9.98983490e-01 8.71823258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58509989299995 meters 0.014726270918550579 Centerline is valid? [True, True] Translation: X:212.47, Y:15.20, Z:8.72 [[ 9.94543202e-01 -9.41185975e-02 -4.50056467e-02 2.12468206e+02] [ 9.40580639e-02 9.95560682e-01 -3.46549722e-03 1.51989475e+01] [ 4.51320200e-02 -7.86557292e-04 9.98980722e-01 8.72050128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64509989299995 meters 0.016603967931436776 Centerline is valid? [True, True] Translation: X:212.53, Y:15.20, Z:8.72 [[ 9.93540545e-01 -1.04017587e-01 -4.53599790e-02 2.12529195e+02] [ 1.03966498e-01 9.94574675e-01 -3.49045853e-03 1.51959839e+01] [ 4.54769555e-02 -1.24800610e-03 9.98964608e-01 8.72161419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70509989299995 meters 0.01854481983280673 Centerline is valid? [True, True] Translation: X:212.59, Y:15.19, Z:8.72 [[ 9.92607986e-01 -1.12676977e-01 -4.50919591e-02 2.12589996e+02] [ 1.12635436e-01 9.93630326e-01 -3.46907717e-03 1.51949133e+01] [ 4.51956231e-02 -1.63551877e-03 9.98976817e-01 8.72412597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76509989299996 meters 0.02175024491734212 Centerline is valid? [True, True] Translation: X:212.65, Y:15.19, Z:8.73 [[ 9.91917672e-01 -1.18953079e-01 -4.41531090e-02 2.12650012e+02] [ 1.18919455e-01 9.92898094e-01 -3.39674007e-03 1.51913979e+01] [ 4.42435905e-02 -1.88137717e-03 9.99019001e-01 8.72659723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82509989299996 meters 0.022648818282202905 Centerline is valid? [True, True] Translation: X:212.71, Y:15.19, Z:8.73 [[ 9.91402261e-01 -1.22911119e-01 -4.48822120e-02 2.12711693e+02] [ 1.22880398e-01 9.92415479e-01 -3.45331101e-03 1.51915489e+01] [ 4.49662522e-02 -2.09152375e-03 9.98986317e-01 8.72874583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88509989299996 meters 0.024386221609142562 Centerline is valid? [True, True] Translation: X:212.77, Y:15.19, Z:8.73 [[ 9.91269878e-01 -1.24131703e-01 -4.44449038e-02 2.12772995e+02] [ 1.24102874e-01 9.92263470e-01 -3.41800853e-03 1.51927941e+01] [ 4.45253377e-02 -2.12757141e-03 9.99005990e-01 8.73153751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.94509989299996 meters 0.02211791852402427 Centerline is valid? [True, True] Translation: X:212.83, Y:15.20, Z:8.73 [[ 9.91287697e-01 -1.24274694e-01 -4.36406023e-02 2.12834941e+02] [ 1.24247140e-01 9.92245635e-01 -3.35378895e-03 1.51997889e+01] [ 4.37189882e-02 -2.09765029e-03 9.99041666e-01 8.73482680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.00509989299997 meters 0.023018870797672186 Centerline is valid? [True, True] Translation: X:212.90, Y:15.20, Z:8.74 [[ 9.91409555e-01 -1.23086493e-01 -4.42358466e-02 2.12896081e+02] [ 1.23057150e-01 9.92393774e-01 -3.39622466e-03 1.52022438e+01] [ 4.43174082e-02 -2.07648763e-03 9.99015343e-01 8.73762378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.06509989299997 meters 0.02453381927639542 Centerline is valid? [True, True] Translation: X:212.96, Y:15.21, Z:8.74 [[ 9.91877920e-01 -1.18778980e-01 -4.54944551e-02 2.12955325e+02] [ 1.18743529e-01 9.92918824e-01 -3.49053671e-03 1.52054591e+01] [ 4.55869032e-02 -1.93998585e-03 9.98958493e-01 8.73934101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.12509989299997 meters 0.018853564173472313 Centerline is valid? [True, True] Translation: X:213.01, Y:15.22, Z:8.74 [[ 9.92518727e-01 -1.12657207e-01 -4.70630486e-02 2.13014908e+02] [ 1.12612368e-01 9.93632433e-01 -3.61156741e-03 1.52208886e+01] [ 4.71702405e-02 -1.71533304e-03 9.98885392e-01 8.74133412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18509989299997 meters 0.017568371642866194 Centerline is valid? [True, True] Translation: X:213.07, Y:15.23, Z:8.74 [[ 9.93201054e-01 -1.05812086e-01 -4.85331829e-02 2.13074019e+02] [ 1.05756276e-01 9.94385109e-01 -3.72358887e-03 1.52305799e+01] [ 4.86546751e-02 -1.43441629e-03 9.98814630e-01 8.74281264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24509989299997 meters 0.016079693549726957 Centerline is valid? [True, True] Translation: X:213.14, Y:15.24, Z:8.75 [[ 9.93653591e-01 -1.01306428e-01 -4.88830217e-02 2.13135128e+02] [ 1.01244382e-01 9.94854518e-01 -3.75004463e-03 1.52402407e+01] [ 4.90113987e-02 -1.22288602e-03 9.98797471e-01 8.74525081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30509989299995 meters 0.015044075324024147 Centerline is valid? [True, True] Translation: X:213.20, Y:15.25, Z:8.75 [[ 9.94331054e-01 -9.52714330e-02 -4.72134364e-02 2.13195836e+02] [ 9.52068676e-02 9.95450929e-01 -3.61954889e-03 1.52502989e+01] [ 4.73434987e-02 -8.96013522e-04 9.98878266e-01 8.74894529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36509989299995 meters 0.014242167546562738 Centerline is valid? [True, True] Translation: X:213.26, Y:15.26, Z:8.75 [[ 9.94653211e-01 -9.20901858e-02 -4.67374300e-02 2.13257679e+02] [ 9.20234928e-02 9.95750396e-01 -3.58120547e-03 1.52580904e+01] [ 4.68686083e-02 -7.38884038e-04 9.98900790e-01 8.75246489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42509989299995 meters 0.013735669486674542 Centerline is valid? [True, True] Translation: X:213.32, Y:15.26, Z:8.76 [[ 9.94891471e-01 -8.95771866e-02 -4.65498428e-02 2.13319808e+02] [ 8.95084375e-02 9.95979689e-01 -3.56343814e-03 1.52649755e+01] [ 4.66819008e-02 -6.21369478e-04 9.98909613e-01 8.75551799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48509989299995 meters 0.013616591330770911 Centerline is valid? [True, True] Translation: X:213.38, Y:15.27, Z:8.76 [[ 9.95063228e-01 -8.78407180e-02 -4.61863634e-02 2.13380441e+02] [ 8.77713237e-02 9.96134387e-01 -3.53227973e-03 1.52701605e+01] [ 4.63181028e-02 -5.38996577e-04 9.98926595e-01 8.75774481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54509989299996 meters 0.013729311581446661 Centerline is valid? [True, True] Translation: X:213.44, Y:15.27, Z:8.76 [[ 9.94904718e-01 -8.92271468e-02 -4.69373822e-02 2.13442155e+02] [ 8.91571459e-02 9.96011113e-01 -3.58700495e-03 1.52731193e+01] [ 4.70702124e-02 -6.16074877e-04 9.98891393e-01 8.75933726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60509989299996 meters 0.014151211570241769 Centerline is valid? [True, True] Translation: X:213.50, Y:15.28, Z:8.76 [[ 9.94560029e-01 -9.25124634e-02 -4.78726663e-02 2.13504425e+02] [ 9.24436169e-02 9.95711213e-01 -3.65492012e-03 1.52751044e+01] [ 4.80054763e-02 -7.90484963e-04 9.98846760e-01 8.76087793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66509989299996 meters 0.014773701707277544 Centerline is valid? [True, True] Translation: X:213.57, Y:15.28, Z:8.76 [[ 9.94416798e-01 -9.40562365e-02 -4.78399028e-02 2.13565276e+02] [ 9.39894502e-02 9.95566507e-01 -3.64864529e-03 1.52781338e+01] [ 4.79709827e-02 -8.68171988e-04 9.98848352e-01 8.76361498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.72509989299996 meters 0.014834728374694775 Centerline is valid? [True, True] Translation: X:213.63, Y:15.28, Z:8.77 [[ 9.94543704e-01 -9.33759045e-02 -4.65162448e-02 2.13626570e+02] [ 9.33122508e-02 9.95630591e-01 -3.54274705e-03 1.52818862e+01] [ 4.66438035e-02 -8.17118725e-04 9.98911251e-01 8.76714270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.78509989299997 meters 0.014616517877804278 Centerline is valid? [True, True] Translation: X:213.69, Y:15.29, Z:8.77 [[ 9.94679146e-01 -9.24799679e-02 -4.53966105e-02 2.13687719e+02] [ 9.24185146e-02 9.95714256e-01 -3.45517693e-03 1.52859715e+01] [ 4.55215869e-02 -7.58694869e-04 9.98963067e-01 8.77058870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.84509989299997 meters 0.014388385916718831 Centerline is valid? [True, True] Translation: X:213.75, Y:15.29, Z:8.77 [[ 9.94752075e-01 -9.17839993e-02 -4.52106989e-02 2.13749809e+02] [ 9.17224077e-02 9.95778676e-01 -3.43931630e-03 1.52894445e+01] [ 4.53355241e-02 -7.25567133e-04 9.98971553e-01 8.77350906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.90509989299997 meters 0.014319231677887274 Centerline is valid? [True, True] Translation: X:213.81, Y:15.29, Z:8.78 [[ 9.94621096e-01 -9.28527304e-02 -4.59047389e-02 2.13811688e+02] [ 9.27905237e-02 9.95679540e-01 -3.48877956e-03 1.52918084e+01] [ 4.60303521e-02 -7.89511012e-04 9.98939730e-01 8.77534947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96509989299997 meters 0.01601108261924364 Centerline is valid? [True, True] Translation: X:213.87, Y:15.29, Z:8.78 [[ 9.94413841e-01 -9.44303313e-02 -4.71595650e-02 2.13873383e+02] [ 9.43666106e-02 9.95531075e-01 -3.58072571e-03 1.52900496e+01] [ 4.72869416e-02 -8.89565100e-04 9.98880951e-01 8.77570271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02509989299995 meters 0.015668513133416426 Centerline is valid? [True, True] Translation: X:213.93, Y:15.29, Z:8.78 [[ 9.93939781e-01 -9.84646070e-02 -4.88716026e-02 2.13934752e+02] [ 9.84011717e-02 9.95139919e-01 -3.70812577e-03 1.52919124e+01] [ 4.89992018e-02 -1.12336924e-03 9.98798186e-01 8.77809158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08509989299995 meters 0.017387351760861702 Centerline is valid? [True, True] Translation: X:214.00, Y:15.29, Z:8.78 [[ 9.93632013e-01 -1.01087707e-01 -4.97664361e-02 2.13995042e+02] [ 1.01025296e-01 9.94876698e-01 -3.77434688e-03 1.52916872e+01] [ 4.98930077e-02 -1.27735708e-03 9.98753752e-01 8.77948587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14509989299995 meters 0.016719859130579794 Centerline is valid? [True, True] Translation: X:214.06, Y:15.30, Z:8.78 [[ 9.93413764e-01 -1.02777182e-01 -5.06551548e-02 2.14055828e+02] [ 1.02714769e-01 9.94703436e-01 -3.84067683e-03 1.52970215e+01] [ 5.07815904e-02 -1.38765131e-03 9.98708819e-01 8.78197219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20509989299995 meters 0.017676388236811398 Centerline is valid? [True, True] Translation: X:214.12, Y:15.30, Z:8.78 [[ 9.93405673e-01 -1.02865905e-01 -5.06337210e-02 2.14116335e+02] [ 1.02803746e-01 9.94694257e-01 -3.83738661e-03 1.53006675e+01] [ 5.07598077e-02 -1.39325454e-03 9.98709918e-01 8.78391769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26509989299996 meters 0.016565556558554417 Centerline is valid? [True, True] Translation: X:214.18, Y:15.31, Z:8.79 [[ 9.93569396e-01 -1.02110160e-01 -4.89220914e-02 2.14177353e+02] [ 1.02051264e-01 9.94772235e-01 -3.70669429e-03 1.53093137e+01] [ 4.90448293e-02 -1.30970326e-03 9.98795720e-01 8.78885723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32509989299996 meters 0.017769809010221523 Centerline is valid? [True, True] Translation: X:214.24, Y:15.31, Z:8.79 [[ 9.93624202e-01 -1.01696148e-01 -4.86707239e-02 2.14238572e+02] [ 1.01637451e-01 9.94814678e-01 -3.68578231e-03 1.53126501e+01] [ 4.87931804e-02 -1.28448578e-03 9.98808077e-01 8.79118407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38509989299996 meters 0.016220346394161568 Centerline is valid? [True, True] Translation: X:214.30, Y:15.32, Z:8.79 [[ 9.93841388e-01 -9.98581498e-02 -4.80379582e-02 2.14300419e+02] [ 9.97989521e-02 9.95000982e-01 -3.63520926e-03 1.53229796e+01] [ 4.81608208e-02 -1.18131647e-03 9.98838896e-01 8.79468743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.44509989299996 meters 0.015783245583763088 Centerline is valid? [True, True] Translation: X:214.36, Y:15.33, Z:8.80 [[ 9.94005955e-01 -9.82942464e-02 -4.78581425e-02 2.14361894e+02] [ 9.82338453e-02 9.95156782e-01 -3.61816614e-03 1.53306871e+01] [ 4.79820000e-02 -1.10481068e-03 9.98847590e-01 8.79696373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.50509989299997 meters 0.01523877927045454 Centerline is valid? [True, True] Translation: X:214.42, Y:15.34, Z:8.80 [[ 9.93998371e-01 -9.83514347e-02 -4.78981543e-02 2.14423247e+02] [ 9.82911661e-02 9.95151124e-01 -3.61771083e-03 1.53383005e+01] [ 4.80217091e-02 -1.11196676e-03 9.98845673e-01 8.79967265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.56509989299997 meters 0.015955548550808607 Centerline is valid? [True, True] Translation: X:214.48, Y:15.34, Z:8.80 [[ 9.93891352e-01 -9.93951587e-02 -4.79644010e-02 2.14484470e+02] [ 9.93361211e-02 9.95047355e-01 -3.61889459e-03 1.53424541e+01] [ 4.80865509e-02 -1.16780951e-03 9.98842490e-01 8.80208178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.62509989299997 meters 0.016293222129209976 Centerline is valid? [True, True] Translation: X:214.55, Y:15.35, Z:8.80 [[ 9.93658361e-01 -1.01360960e-01 -4.86725537e-02 2.14546447e+02] [ 1.01302787e-01 9.94848883e-01 -3.66689318e-03 1.53481293e+01] [ 4.87935155e-02 -1.28702625e-03 9.98808058e-01 8.80454631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68509989299997 meters 0.01711468132849282 Centerline is valid? [True, True] Translation: X:214.61, Y:15.35, Z:8.81 [[ 9.93580744e-01 -1.01950235e-01 -4.90250464e-02 2.14607516e+02] [ 1.01892103e-01 9.94788612e-01 -3.68997961e-03 1.53524846e+01] [ 4.91457522e-02 -1.32897240e-03 9.98790733e-01 8.80651771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74509989299997 meters 0.017345435066996116 Centerline is valid? [True, True] Translation: X:214.67, Y:15.36, Z:8.81 [[ 9.93654311e-01 -1.01812201e-01 -4.78057065e-02 2.14669108e+02] [ 1.01756890e-01 9.94802798e-01 -3.59557911e-03 1.53587600e+01] [ 4.79233244e-02 -1.29179734e-03 9.98850182e-01 8.80949789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80509989299995 meters 0.016773213954937388 Centerline is valid? [True, True] Translation: X:214.73, Y:15.37, Z:8.82 [[ 9.93922594e-01 -1.00326717e-01 -4.53037162e-02 2.14730368e+02] [ 1.00275641e-01 9.94953871e-01 -3.40435050e-03 1.53684652e+01] [ 4.54166552e-02 -1.15919831e-03 9.98967459e-01 8.81509180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86509989299995 meters 0.015851920987162746 Centerline is valid? [True, True] Translation: X:214.79, Y:15.38, Z:8.82 [[ 9.94108405e-01 -9.84833818e-02 -4.52714272e-02 2.14792149e+02] [ 9.84306162e-02 9.95138112e-01 -3.39869353e-03 1.53784000e+01] [ 4.53860375e-02 -1.07742468e-03 9.98968942e-01 8.81838658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92509989299995 meters 0.015991677329175072 Centerline is valid? [True, True] Translation: X:214.85, Y:15.39, Z:8.82 [[ 9.94194565e-01 -9.78234060e-02 -4.48078979e-02 2.14853844e+02] [ 9.77711911e-02 9.95203246e-01 -3.36066501e-03 1.53855591e+01] [ 4.49217171e-02 -1.03976665e-03 9.98989969e-01 8.82106459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98509989299995 meters 0.015516517934392793 Centerline is valid? [True, True] Translation: X:214.92, Y:15.39, Z:8.82 [[ 9.94235412e-01 -9.77328605e-02 -4.40934737e-02 2.14916642e+02] [ 9.76823498e-02 9.95212160e-01 -3.30388804e-03 1.53927156e+01] [ 4.42052596e-02 -1.02231163e-03 9.99021947e-01 8.82402386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04509989299996 meters 0.016070673980858857 Centerline is valid? [True, True] Translation: X:214.98, Y:15.40, Z:8.82 [[ 9.93992219e-01 -9.97922374e-02 -4.49552830e-02 2.14978930e+02] [ 9.97420593e-02 9.95007642e-01 -3.36352071e-03 1.53964713e+01] [ 4.50665034e-02 -1.14061908e-03 9.98983338e-01 8.82452289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10509989299996 meters 0.017223226307643436 Centerline is valid? [True, True] Translation: X:215.04, Y:15.40, Z:8.83 [[ 9.93644446e-01 -1.02991844e-01 -4.54246153e-02 2.15040890e+02] [ 1.02944100e-01 9.94681348e-01 -3.39534699e-03 1.53973228e+01] [ 4.55327107e-02 -1.30242848e-03 9.98961999e-01 8.82558270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16509989299996 meters 0.017682568548662753 Centerline is valid? [True, True] Translation: X:215.10, Y:15.40, Z:8.83 [[ 9.93193035e-01 -1.07295294e-01 -4.53355869e-02 2.15101863e+02] [ 1.07252318e-01 9.94226067e-01 -3.38635885e-03 1.53990393e+01] [ 4.54371626e-02 -1.49903875e-03 9.98966074e-01 8.82752791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.22509989299996 meters 0.01842299724670906 Centerline is valid? [True, True] Translation: X:215.16, Y:15.40, Z:8.83 [[ 9.93056649e-01 -1.08293452e-01 -4.59458431e-02 2.15163499e+02] [ 1.08250425e-01 9.94117737e-01 -3.43093554e-03 1.54024706e+01] [ 4.60471254e-02 -1.56654367e-03 9.98938040e-01 8.82998643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.28509989299997 meters 0.01998868147415589 Centerline is valid? [True, True] Translation: X:215.23, Y:15.40, Z:8.83 [[ 9.93124327e-01 -1.07889333e-01 -4.54308487e-02 2.15225098e+02] [ 1.07846966e-01 9.94161728e-01 -3.38976294e-03 1.54048815e+01] [ 4.55313303e-02 -1.53312317e-03 9.98961735e-01 8.83218871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.34509989299997 meters 0.018614089549671455 Centerline is valid? [True, True] Translation: X:215.29, Y:15.41, Z:8.83 [[ 9.93302277e-01 -1.06604573e-01 -4.45651394e-02 2.15286580e+02] [ 1.06562750e-01 9.94300437e-01 -3.31988431e-03 1.54115263e+01] [ 4.46650524e-02 -1.45133518e-03 9.99000964e-01 8.83490684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.40509989299997 meters 0.01800759569211841 Centerline is valid? [True, True] Translation: X:215.35, Y:15.42, Z:8.84 [[ 9.93457175e-01 -1.05625646e-01 -4.34288497e-02 2.15348099e+02] [ 1.05585127e-01 9.94405015e-01 -3.23218968e-03 1.54169004e+01] [ 4.35272681e-02 -1.37439858e-03 9.99051294e-01 8.83792203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46509989299997 meters 0.01657573014711359 Centerline is valid? [True, True] Translation: X:215.41, Y:15.42, Z:8.84 [[ 9.93761721e-01 -1.02710929e-01 -4.34523515e-02 2.15409047e+02] [ 1.02667718e-01 9.94710461e-01 -3.23084002e-03 1.54247536e+01] [ 4.35543512e-02 -1.25046863e-03 9.99050276e-01 8.84034626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52509989299995 meters 0.016593796948053092 Centerline is valid? [True, True] Translation: X:215.47, Y:15.43, Z:8.84 [[ 9.94017547e-01 -1.00226698e-01 -4.34018942e-02 2.15469890e+02] [ 1.00181293e-01 9.94963972e-01 -3.22544914e-03 1.54300257e+01] [ 4.35065972e-02 -1.14190482e-03 9.99052487e-01 8.84286519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58509989299995 meters 0.015424371521409129 Centerline is valid? [True, True] Translation: X:215.53, Y:15.44, Z:8.84 [[ 9.94343306e-01 -9.70879796e-02 -4.30733594e-02 2.15532028e+02] [ 9.70404186e-02 9.95275301e-01 -3.19867210e-03 1.54368690e+01] [ 4.31804034e-02 -9.99278641e-04 9.99066792e-01 8.84493370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64509989299995 meters 0.015971243013573385 Centerline is valid? [True, True] Translation: X:215.59, Y:15.44, Z:8.85 [[ 9.94485061e-01 -9.54797173e-02 -4.33945507e-02 2.15593755e+02] [ 9.54300540e-02 9.95430932e-01 -3.21931850e-03 1.54384450e+01] [ 4.35036577e-02 -9.39580160e-04 9.99052826e-01 8.84507610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70509989299995 meters 0.014969394105438707 Centerline is valid? [True, True] Translation: X:215.66, Y:15.44, Z:8.85 [[ 9.94491778e-01 -9.52447755e-02 -4.37554228e-02 2.15655897e+02] [ 9.51941953e-02 9.95453439e-01 -3.24290937e-03 1.54439113e+01] [ 4.38653563e-02 -9.40215555e-04 9.99037010e-01 8.84733954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76509989299996 meters 0.01527373175070374 Centerline is valid? [True, True] Translation: X:215.72, Y:15.45, Z:8.85 [[ 9.94569351e-01 -9.44565072e-02 -4.37009638e-02 2.15716747e+02] [ 9.44054320e-02 9.95528576e-01 -3.23569115e-03 1.54471412e+01] [ 4.38111903e-02 -9.07489119e-04 9.99039417e-01 8.84983020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82509989299996 meters 0.014629722101094929 Centerline is valid? [True, True] Translation: X:215.78, Y:15.45, Z:8.85 [[ 9.94845518e-01 -9.15520466e-02 -4.35960743e-02 2.15778856e+02] [ 9.14985340e-02 9.95799987e-01 -3.22552966e-03 1.54518186e+01] [ 4.37082740e-02 -7.80073156e-04 9.99044032e-01 8.85224309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88509989299996 meters 0.013884625177025 Centerline is valid? [True, True] Translation: X:215.84, Y:15.46, Z:8.86 [[ 9.95100660e-01 -8.88043035e-02 -4.34565547e-02 2.15841135e+02] [ 8.87486508e-02 9.96048874e-01 -3.21207127e-03 1.54581219e+01] [ 4.35700982e-02 -6.60376359e-04 9.99050154e-01 8.85526529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.94509989299996 meters 0.01343903105708152 Centerline is valid? [True, True] Translation: X:215.90, Y:15.46, Z:8.86 [[ 9.95477557e-01 -8.50849136e-02 -4.22491555e-02 2.15903426e+02] [ 8.50291217e-02 9.96373584e-01 -3.11906844e-03 1.54632310e+01] [ 4.23613282e-02 -4.87445963e-04 9.99102237e-01 8.85831081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.00509989299997 meters 0.013197949044531393 Centerline is valid? [True, True] Translation: X:215.97, Y:15.47, Z:8.86 [[ 9.95709602e-01 -8.22803792e-02 -4.23358944e-02 2.15965310e+02] [ 8.22219539e-02 9.96609152e-01 -3.12240608e-03 1.54682743e+01] [ 4.24492526e-02 -3.71930249e-04 9.99098555e-01 8.86063633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.06509989299997 meters 0.012868623226945505 Centerline is valid? [True, True] Translation: X:216.03, Y:15.48, Z:8.86 [[ 9.96166197e-01 -7.66443044e-02 -4.21729660e-02 2.16027066e+02] [ 7.65814041e-02 9.97058490e-01 -3.10740315e-03 1.54757293e+01] [ 4.22870786e-02 -1.34174980e-04 9.99105492e-01 8.86299052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.12509989299997 meters 0.012818084371722084 Centerline is valid? [True, True] Translation: X:216.09, Y:15.48, Z:8.87 [[ 9.96469819e-01 -7.29131068e-02 -4.16122477e-02 2.16088849e+02] [ 7.28487401e-02 9.97338297e-01 -3.06311016e-03 1.54821218e+01] [ 4.17248292e-02 2.08970067e-05 9.99129140e-01 8.86570467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18509989299997 meters 0.012974906685579001 Centerline is valid? [True, True] Translation: X:216.15, Y:15.49, Z:8.87 [[ 9.96669596e-01 -6.99418576e-02 -4.19267562e-02 2.16150134e+02] [ 6.98740165e-02 9.97551059e-01 -3.08314585e-03 1.54869789e+01] [ 4.20397210e-02 1.43286875e-04 9.99115930e-01 8.86808691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24509989299997 meters 0.013048738485856668 Centerline is valid? [True, True] Translation: X:216.21, Y:15.49, Z:8.87 [[ 9.96797201e-01 -6.81604450e-02 -4.18269602e-02 2.16211413e+02] [ 6.80914545e-02 9.97674349e-01 -3.07353129e-03 1.54908661e+01] [ 4.19391786e-02 2.15628829e-04 9.99120142e-01 8.87049595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30509989299995 meters 0.013161692856849367 Centerline is valid? [True, True] Translation: X:216.27, Y:15.49, Z:8.87 [[ 9.96808168e-01 -6.79291437e-02 -4.19417154e-02 2.16272227e+02] [ 6.78596317e-02 9.97690123e-01 -3.08047860e-03 1.54938399e+01] [ 4.20540894e-02 2.24496874e-04 9.99115310e-01 8.87261590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36509989299995 meters 0.012989877307562337 Centerline is valid? [True, True] Translation: X:216.33, Y:15.49, Z:8.87 [[ 9.96632782e-01 -7.04332039e-02 -4.19793030e-02 2.16333016e+02] [ 7.03657871e-02 9.97516491e-01 -3.08323929e-03 1.54925376e+01] [ 4.20922094e-02 1.18950649e-04 9.99113723e-01 8.87450287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42509989299995 meters 0.012904891989870543 Centerline is valid? [True, True] Translation: X:216.39, Y:15.49, Z:8.88 [[ 9.96372628e-01 -7.36652901e-02 -4.26029487e-02 2.16393581e+02] [ 7.35988068e-02 9.97283021e-01 -3.12904397e-03 1.54928485e+01] [ 4.27176993e-02 -1.78324216e-05 9.99087182e-01 8.87677479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48509989299995 meters 0.013264903937267253 Centerline is valid? [True, True] Translation: X:216.45, Y:15.49, Z:8.88 [[ 9.95831926e-01 -8.01862748e-02 -4.34618911e-02 2.16454217e+02] [ 8.01232867e-02 9.96779850e-01 -3.19213042e-03 1.54892815e+01] [ 4.35779023e-02 -3.03484174e-04 9.99049986e-01 8.87867964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54509989299996 meters 0.014286580730425812 Centerline is valid? [True, True] Translation: X:216.52, Y:15.49, Z:8.88 [[ 9.95087104e-01 -8.89574955e-02 -4.34536411e-02 2.16515298e+02] [ 8.89028840e-02 9.96035186e-01 -3.19149607e-03 1.54854608e+01] [ 4.35652630e-02 -6.87337428e-04 9.99050347e-01 8.88131447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60509989299996 meters 0.015708022605983973 Centerline is valid? [True, True] Translation: X:216.58, Y:15.48, Z:8.88 [[ 9.94571025e-01 -9.44467978e-02 -4.36838510e-02 2.16575388e+02] [ 9.43969336e-02 9.95529473e-01 -3.20749674e-03 1.54831713e+01] [ 4.37914990e-02 -9.33538266e-04 9.99040256e-01 8.88314316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66509989299996 meters 0.0173878125439693 Centerline is valid? [True, True] Translation: X:216.64, Y:15.48, Z:8.89 [[ 9.93796747e-01 -1.02419526e-01 -4.33389668e-02 2.16636276e+02] [ 1.02378158e-01 9.94740473e-01 -3.17883993e-03 1.54805961e+01] [ 4.34365996e-02 -1.27784280e-03 9.99055368e-01 8.88622076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.72509989299996 meters 0.01999591028970579 Centerline is valid? [True, True] Translation: X:216.70, Y:15.48, Z:8.89 [[ 9.93261554e-01 -1.07739892e-01 -4.27036320e-02 2.16696356e+02] [ 1.07704669e-01 9.94178001e-01 -3.13142739e-03 1.54790726e+01] [ 4.27923911e-02 -1.48905412e-03 9.99082876e-01 8.88963935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.78509989299997 meters 0.021513892404725357 Centerline is valid? [True, True] Translation: X:216.76, Y:15.48, Z:8.89 [[ 9.92440766e-01 -1.14565925e-01 -4.39997247e-02 2.16756673e+02] [ 1.14535364e-01 9.93413942e-01 -3.22326553e-03 1.54787438e+01] [ 4.40792164e-02 -1.84062438e-03 9.99026343e-01 8.89136867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.84509989299997 meters 0.02515406003999402 Centerline is valid? [True, True] Translation: X:216.82, Y:15.48, Z:8.89 [[ 9.92019377e-01 -1.17989881e-01 -4.44515898e-02 2.16817279e+02] [ 1.17962135e-01 9.93012756e-01 -3.25597201e-03 1.54769197e+01] [ 4.45251674e-02 -2.01361710e-03 9.99006234e-01 8.89341725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.90509989299997 meters 0.025669198696527475 Centerline is valid? [True, True] Translation: X:216.88, Y:15.48, Z:8.90 [[ 9.91491268e-01 -1.21864614e-01 -4.57611325e-02 2.16878162e+02] [ 1.21839363e-01 9.92544175e-01 -3.35105422e-03 1.54802139e+01] [ 4.58283205e-02 -2.25296625e-03 9.98946790e-01 8.89517755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96509989299997 meters 0.02701397379350629 Centerline is valid? [True, True] Translation: X:216.94, Y:15.48, Z:8.90 [[ 9.91160869e-01 -1.23878541e-01 -4.74788239e-02 2.16939435e+02] [ 1.23853711e-01 9.92294400e-01 -3.47587328e-03 1.54828757e+01] [ 4.75435572e-02 -2.43527897e-03 9.98866197e-01 8.89631552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02509989299995 meters 0.026571100429041036 Centerline is valid? [True, True] Translation: X:217.00, Y:15.49, Z:8.90 [[ 9.90784728e-01 -1.26247558e-01 -4.90629793e-02 2.17000440e+02] [ 1.26224029e-01 9.91995265e-01 -3.59006734e-03 1.54889542e+01] [ 4.91234804e-02 -2.63594303e-03 9.98789235e-01 8.89778468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08509989299995 meters 0.02839647463498825 Centerline is valid? [True, True] Translation: X:217.06, Y:15.49, Z:8.90 [[ 9.90568104e-01 -1.27419249e-01 -5.03901390e-02 2.17061054e+02] [ 1.27396042e-01 9.91845082e-01 -3.68523995e-03 1.54921994e+01] [ 5.04487820e-02 -2.76902312e-03 9.98722811e-01 8.89972299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14509989299995 meters 0.028467725157570435 Centerline is valid? [True, True] Translation: X:217.12, Y:15.50, Z:8.90 [[ 9.90514594e-01 -1.27722632e-01 -5.06731516e-02 2.17121818e+02] [ 1.27699675e-01 9.91805967e-01 -3.70366593e-03 1.54979673e+01] [ 5.07309761e-02 -2.80240985e-03 9.98708423e-01 8.90223653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20509989299995 meters 0.024951577239277534 Centerline is valid? [True, True] Translation: X:217.18, Y:15.51, Z:8.91 [[ 9.90758951e-01 -1.26305411e-01 -4.94332233e-02 2.17182296e+02] [ 1.26281887e-01 9.91987824e-01 -3.61131755e-03 1.55096588e+01] [ 4.94932845e-02 -2.66457554e-03 9.98770902e-01 8.90677165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26509989299996 meters 0.025550611249126397 Centerline is valid? [True, True] Translation: X:217.24, Y:15.51, Z:8.91 [[ 9.91006756e-01 -1.24508730e-01 -4.90222991e-02 2.17242987e+02] [ 1.24483492e-01 9.92215222e-01 -3.57949521e-03 1.55146813e+01] [ 4.90863498e-02 -2.55516306e-03 9.98791270e-01 8.90956401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32509989299996 meters 0.02702116927321565 Centerline is valid? [True, True] Translation: X:217.30, Y:15.52, Z:8.91 [[ 9.91188289e-01 -1.22919439e-01 -4.93617907e-02 2.17303483e+02] [ 1.22891976e-01 9.92413515e-01 -3.60247681e-03 1.55192407e+01] [ 4.94301226e-02 -2.49543517e-03 9.98774467e-01 8.91145411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38509989299996 meters 0.025463433288782426 Centerline is valid? [True, True] Translation: X:217.36, Y:15.53, Z:8.91 [[ 9.91048045e-01 -1.23642024e-01 -5.03629011e-02 2.17364614e+02] [ 1.23614491e-01 9.92323519e-01 -3.67310822e-03 1.55282598e+01] [ 5.04304418e-02 -2.58535766e-03 9.98724229e-01 8.91428627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.44509989299996 meters 0.02820999840318904 Centerline is valid? [True, True] Translation: X:217.42, Y:15.53, Z:8.92 [[ 9.90743630e-01 -1.25815159e-01 -5.09667183e-02 2.17424504e+02] [ 1.25790059e-01 9.92049937e-01 -3.71263650e-03 1.55292508e+01] [ 5.10286356e-02 -2.73283554e-03 9.98693451e-01 8.91636281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.50509989299997 meters 0.02625278729577631 Centerline is valid? [True, True] Translation: X:217.48, Y:15.54, Z:8.92 [[ 9.90287475e-01 -1.29350832e-01 -5.09811720e-02 2.17484762e+02] [ 1.29330392e-01 9.91594604e-01 -3.71352146e-03 1.55369439e+01] [ 5.10330022e-02 -2.91596117e-03 9.98692710e-01 8.91952411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.56509989299997 meters 0.027258339594660223 Centerline is valid? [True, True] Translation: X:217.55, Y:15.54, Z:8.92 [[ 9.90119162e-01 -1.30682653e-01 -5.08536067e-02 2.17547058e+02] [ 1.30664137e-01 9.91419776e-01 -3.70279693e-03 1.55406205e+01] [ 5.09011627e-02 -2.97853246e-03 9.98699254e-01 8.92180438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.62509989299997 meters 0.028443022764381196 Centerline is valid? [True, True] Translation: X:217.61, Y:15.55, Z:8.92 [[ 9.90068935e-01 -1.30817139e-01 -5.14818507e-02 2.17609028e+02] [ 1.30798543e-01 9.91401895e-01 -3.74471998e-03 1.55455010e+01] [ 5.15290779e-02 -3.02622014e-03 9.98666909e-01 8.92372783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68509989299997 meters 0.026468169294177144 Centerline is valid? [True, True] Translation: X:217.67, Y:15.55, Z:8.93 [[ 9.90187886e-01 -1.29971868e-01 -5.13348311e-02 2.17670885e+02] [ 1.29952438e-01 9.91513212e-01 -3.73029829e-03 1.55531237e+01] [ 5.13839971e-02 -2.97739028e-03 9.98674532e-01 8.92623833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74509989299997 meters 0.023622564646819694 Centerline is valid? [True, True] Translation: X:217.73, Y:15.56, Z:8.93 [[ 9.90562106e-01 -1.27138948e-01 -5.12094016e-02 2.17731632e+02] [ 1.27116018e-01 9.91880888e-01 -3.71772241e-03 1.55631974e+01] [ 5.12662940e-02 -2.82690026e-03 9.98681018e-01 8.92934856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80509989299995 meters 0.024262767954288816 Centerline is valid? [True, True] Translation: X:217.79, Y:15.57, Z:8.93 [[ 9.90956609e-01 -1.24182076e-01 -5.08311987e-02 2.17791410e+02] [ 1.24155694e-01 9.92255894e-01 -3.68850695e-03 1.55691087e+01] [ 5.08956029e-02 -2.65583241e-03 9.98700448e-01 8.93193093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86509989299995 meters 0.023963610734247152 Centerline is valid? [True, True] Translation: X:217.85, Y:15.58, Z:8.93 [[ 9.91871511e-01 -1.16752030e-01 -5.05951530e-02 2.17850250e+02] [ 1.16716277e-01 9.93158515e-01 -3.67076337e-03 1.55786352e+01] [ 5.06775761e-02 -2.26435227e-03 9.98712499e-01 8.93378842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92509989299995 meters 0.02056146401333274 Centerline is valid? [True, True] Translation: X:217.91, Y:15.59, Z:8.94 [[ 9.92680689e-01 -1.09918725e-01 -5.00292172e-02 2.17910213e+02] [ 1.09875063e-01 9.93938776e-01 -3.63048979e-03 1.55911607e+01] [ 5.01250377e-02 -1.89304626e-03 9.98741156e-01 8.93701285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98509989299995 meters 0.01689159522255817 Centerline is valid? [True, True] Translation: X:217.97, Y:15.61, Z:8.94 [[ 9.93956700e-01 -9.81552679e-02 -4.91489761e-02 2.17969863e+02] [ 9.80987583e-02 9.95170294e-01 -3.56647707e-03 1.56069877e+01] [ 4.92616695e-02 -1.27652974e-03 9.98785091e-01 8.94052349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04509989299996 meters 0.013956843595174675 Centerline is valid? [True, True] Translation: X:218.03, Y:15.62, Z:8.94 [[ 9.95045385e-01 -8.64316916e-02 -4.91349633e-02 2.18029250e+02] [ 8.63609377e-02 9.96257536e-01 -3.56511123e-03 1.56235935e+01] [ 4.92592160e-02 -6.95894028e-04 9.98785786e-01 8.94355848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10509989299996 meters 0.013586831780707881 Centerline is valid? [True, True] Translation: X:218.09, Y:15.63, Z:8.95 [[ 9.95332395e-01 -8.29027296e-02 -4.94020349e-02 2.18090057e+02] [ 8.28268732e-02 9.96557506e-01 -3.58421323e-03 1.56307255e+01] [ 4.95291098e-02 -5.24332537e-04 9.98772543e-01 8.94542942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16509989299996 meters 0.01314656860829887 Centerline is valid? [True, True] Translation: X:218.15, Y:15.64, Z:8.95 [[ 9.95667905e-01 -7.75962691e-02 -5.12273510e-02 2.18150927e+02] [ 7.75077798e-02 9.96984827e-01 -3.71469847e-03 1.56402374e+01] [ 5.13611385e-02 -2.71912203e-04 9.98680109e-01 8.94716694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.22509989299996 meters 0.013118253389538011 Centerline is valid? [True, True] Translation: X:218.21, Y:15.65, Z:8.95 [[ 9.96056417e-01 -7.15670498e-02 -5.24382621e-02 2.18209946e+02] [ 7.14660580e-02 9.97435790e-01 -3.80087238e-03 1.56488696e+01] [ 5.25758166e-02 3.83274385e-05 9.98616935e-01 8.94691077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.28509989299997 meters 0.01336035260959125 Centerline is valid? [True, True] Translation: X:218.27, Y:15.65, Z:8.95 [[ 9.96111616e-01 -6.97946649e-02 -5.37620004e-02 2.18267360e+02] [ 6.96858767e-02 9.97561370e-01 -3.89773963e-03 1.56547058e+01] [ 5.39029362e-02 1.36131592e-04 9.98546171e-01 8.94738511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.34509989299997 meters 0.01309590829562102 Centerline is valid? [True, True] Translation: X:218.32, Y:15.66, Z:8.95 [[ 9.96051579e-01 -7.07778966e-02 -5.35886287e-02 2.18324721e+02] [ 7.06708479e-02 9.97492096e-01 -3.89229400e-03 1.56574905e+01] [ 5.37297220e-02 8.97717523e-05 9.98555511e-01 8.95076695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.40509989299997 meters 0.012999054963806928 Centerline is valid? [True, True] Translation: X:218.38, Y:15.66, Z:8.95 [[ 9.95969126e-01 -7.27623515e-02 -5.24513151e-02 2.18383558e+02] [ 7.26617751e-02 9.97349307e-01 -3.82442685e-03 1.56601506e+01] [ 5.25905571e-02 -2.19459645e-06 9.98616159e-01 8.95441004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46509989299997 meters 0.01314470964128443 Centerline is valid? [True, True] Translation: X:218.44, Y:15.66, Z:8.96 [[ 9.95667847e-01 -7.74482262e-02 -5.14520216e-02 2.18441809e+02] [ 7.73570780e-02 9.96996348e-01 -3.76357089e-03 1.56593971e+01] [ 5.15889595e-02 -2.32911526e-04 9.98668376e-01 8.95721820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52509989299995 meters 0.013747329089082216 Centerline is valid? [True, True] Translation: X:218.50, Y:15.66, Z:8.96 [[ 9.95014723e-01 -8.55746837e-02 -5.12120599e-02 2.18501215e+02] [ 8.54948114e-02 9.96331550e-01 -3.75226444e-03 1.56565384e+01] [ 5.13452898e-02 -6.44807039e-04 9.98680753e-01 8.96059188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58509989299995 meters 0.014964997822941105 Centerline is valid? [True, True] Translation: X:218.56, Y:15.65, Z:8.96 [[ 9.94440879e-01 -9.21944380e-02 -5.08677051e-02 2.18562050e+02] [ 9.21241678e-02 9.95740543e-01 -3.72930953e-03 1.56541996e+01] [ 5.09948579e-02 -9.77567146e-04 9.98698437e-01 8.96321431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64509989299995 meters 0.01687824181716723 Centerline is valid? [True, True] Translation: X:218.62, Y:15.65, Z:8.97 [[ 9.93525892e-01 -1.01680732e-01 -5.06688238e-02 2.18623683e+02] [ 1.01623327e-01 9.94816014e-01 -3.71458155e-03 1.56498607e+01] [ 5.07838587e-02 -1.45860153e-03 9.98708602e-01 8.96691205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70509989299995 meters 0.020612095993918843 Centerline is valid? [True, True] Translation: X:218.68, Y:15.64, Z:8.97 [[ 9.92826087e-01 -1.08047549e-01 -5.12063237e-02 2.18683970e+02] [ 1.07997405e-01 9.94144091e-01 -3.75327647e-03 1.56446509e+01] [ 5.13119964e-02 -1.80379928e-03 9.98681043e-01 8.96863133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76509989299996 meters 0.019438568556058248 Centerline is valid? [True, True] Translation: X:218.74, Y:15.65, Z:8.97 [[ 9.92714353e-01 -1.09153037e-01 -5.10277112e-02 2.18744680e+02] [ 1.09104717e-01 9.94023226e-01 -3.73985411e-03 1.56491070e+01] [ 5.11309466e-02 -1.85475712e-03 9.98690235e-01 8.97194339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82509989299996 meters 0.018739924293189696 Centerline is valid? [True, True] Translation: X:218.81, Y:15.65, Z:8.97 [[ 9.92860364e-01 -1.07907972e-01 -5.08347110e-02 2.18806411e+02] [ 1.07858497e-01 9.94159283e-01 -3.72354384e-03 1.56532557e+01] [ 5.09395999e-02 -1.78599646e-03 9.98700139e-01 8.97493161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88509989299996 meters 0.01864853281794933 Centerline is valid? [True, True] Translation: X:218.87, Y:15.66, Z:8.98 [[ 9.93451266e-01 -1.02623698e-01 -5.02290716e-02 2.18866421e+02] [ 1.02568801e-01 9.94719120e-01 -3.67614750e-03 1.56576752e+01] [ 5.03410778e-02 -1.49986224e-03 9.98730958e-01 8.97721075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.94509989299996 meters 0.0157822836802532 Centerline is valid? [True, True] Translation: X:218.93, Y:15.67, Z:8.98 [[ 9.94091014e-01 -9.58009666e-02 -5.10414529e-02 2.18926625e+02] [ 9.57353010e-02 9.95399818e-01 -3.73543992e-03 1.56676130e+01] [ 5.11645117e-02 -1.17310159e-03 9.98689550e-01 8.97983503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.00509989299997 meters 0.015079567924455693 Centerline is valid? [True, True] Translation: X:218.99, Y:15.67, Z:8.98 [[ 9.94366181e-01 -9.17146356e-02 -5.31443703e-02 2.18986776e+02] [ 9.16376574e-02 9.95784826e-01 -3.88856006e-03 1.56726033e+01] [ 5.32769954e-02 -1.00337298e-03 9.98579268e-01 8.97944223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.06509989299997 meters 0.014538017807524515 Centerline is valid? [True, True] Translation: X:219.05, Y:15.68, Z:8.98 [[ 9.94361673e-01 -9.05550802e-02 -5.51782633e-02 2.19046451e+02] [ 9.04702858e-02 9.95890969e-01 -4.03785578e-03 1.56774352e+01] [ 5.53171825e-02 -9.76904221e-04 9.98468355e-01 8.98119782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.12509989299997 meters 0.013884420603083798 Centerline is valid? [True, True] Translation: X:219.11, Y:15.68, Z:8.98 [[ 9.94499889e-01 -8.86996345e-02 -5.56987025e-02 2.19106119e+02] [ 8.86102119e-02 9.96058031e-01 -4.07796493e-03 1.56839957e+01] [ 5.58408539e-02 -8.79938163e-04 9.98439294e-01 8.98437606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18509989299997 meters 0.013133608441518447 Centerline is valid? [True, True] Translation: X:219.16, Y:15.69, Z:8.99 [[ 9.95074925e-01 -8.31041056e-02 -5.40333379e-02 2.19164250e+02] [ 8.30115768e-02 9.96540721e-01 -3.95842373e-03 1.56922321e+01] [ 5.41753828e-02 -5.46464386e-04 9.98531286e-01 8.98931896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24509989299997 meters 0.012787084320068344 Centerline is valid? [True, True] Translation: X:219.22, Y:15.70, Z:9.00 [[ 9.95607988e-01 -7.85208013e-02 -5.09825271e-02 2.19222026e+02] [ 7.84321566e-02 9.96912438e-01 -3.74013848e-03 1.56995686e+01] [ 5.11187941e-02 -2.74957810e-04 9.98692542e-01 8.99505670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30509989299995 meters 0.012622184247793778 Centerline is valid? [True, True] Translation: X:219.28, Y:15.71, Z:9.00 [[ 9.95851562e-01 -7.66815647e-02 -4.89857565e-02 2.19280772e+02] [ 7.65969132e-02 9.97055621e-01 -3.60572959e-03 1.57050044e+01] [ 4.91180169e-02 -1.61386296e-04 9.98792969e-01 8.99917594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36509989299995 meters 0.012593586550505671 Centerline is valid? [True, True] Translation: X:219.34, Y:15.71, Z:9.00 [[ 9.96060241e-01 -7.47307598e-02 -4.77421283e-02 2.19340193e+02] [ 7.46476031e-02 9.97203746e-01 -3.52485495e-03 1.57101124e+01] [ 4.78720442e-02 -5.28675758e-05 9.98853475e-01 9.00310995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42509989299995 meters 0.012625182866373097 Centerline is valid? [True, True] Translation: X:219.40, Y:15.71, Z:9.01 [[ 9.96276619e-01 -7.28935153e-02 -4.60373034e-02 2.19399221e+02] [ 7.28141579e-02 9.97339729e-01 -3.40062553e-03 1.57136649e+01] [ 4.61627153e-02 3.57962226e-05 9.98933933e-01 9.00645254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48509989299995 meters 0.01263651698179676 Centerline is valid? [True, True] Translation: X:219.46, Y:15.72, Z:9.01 [[ 9.96342273e-01 -7.22628669e-02 -4.56087034e-02 2.19458005e+02] [ 7.21842392e-02 9.97385619e-01 -3.37074452e-03 1.57159824e+01] [ 4.57330446e-02 6.61856921e-05 9.98953695e-01 9.00862714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54509989299996 meters 0.01260098868694581 Centerline is valid? [True, True] Translation: X:219.52, Y:15.72, Z:9.01 [[ 9.96432042e-01 -7.12957601e-02 -4.51674666e-02 2.19518131e+02] [ 7.12175166e-02 9.97455213e-01 -3.34116893e-03 1.57157457e+01] [ 4.52907362e-02 1.12532974e-04 9.98973842e-01 9.01078739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60509989299996 meters 0.012652700442092338 Centerline is valid? [True, True] Translation: X:219.58, Y:15.71, Z:9.01 [[ 9.96523264e-01 -7.00499879e-02 -4.51041427e-02 2.19578098e+02] [ 6.99706141e-02 9.97543468e-01 -3.33812104e-03 1.57147186e+01] [ 4.52271783e-02 1.70550706e-04 9.98976713e-01 9.01240174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66509989299996 meters 0.01270337390374202 Centerline is valid? [True, True] Translation: X:219.64, Y:15.71, Z:9.01 [[ 9.96594961e-01 -6.95702287e-02 -4.42545627e-02 2.19638146e+02] [ 6.94932742e-02 9.97577038e-01 -3.27685594e-03 1.57146412e+01] [ 4.43753072e-02 1.90303659e-04 9.99014913e-01 9.01379966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.72509989299996 meters 0.012661688868739557 Centerline is valid? [True, True] Translation: X:219.70, Y:15.71, Z:9.02 [[ 9.96573331e-01 -7.06131208e-02 -4.30741574e-02 2.19696778e+02] [ 7.05411146e-02 9.97503768e-01 -3.19125346e-03 1.57137101e+01] [ 4.31919787e-02 1.41819017e-04 9.99066781e-01 9.01577182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.78509989299997 meters 0.012683233427463112 Centerline is valid? [True, True] Translation: X:219.76, Y:15.71, Z:9.02 [[ 9.96107460e-01 -7.73927110e-02 -4.21935551e-02 2.19755625e+02] [ 7.73292526e-02 9.97000677e-01 -3.13649368e-03 1.57072740e+01] [ 4.23097448e-02 -1.38511334e-04 9.99104532e-01 9.01780775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.84509989299997 meters 0.013460477885562925 Centerline is valid? [True, True] Translation: X:219.82, Y:15.70, Z:9.02 [[ 9.95447263e-01 -8.53037154e-02 -4.25208507e-02 2.19815662e+02] [ 8.52463794e-02 9.96354881e-01 -3.16311247e-03 1.57022453e+01] [ 4.26356824e-02 -4.76036927e-04 9.99090572e-01 9.01928891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.90509989299997 meters 0.01598992685990736 Centerline is valid? [True, True] Translation: X:219.88, Y:15.69, Z:9.02 [[ 9.94130530e-01 -9.93795465e-02 -4.27573865e-02 2.19877188e+02] [ 9.93344970e-02 9.95049009e-01 -3.18221241e-03 1.56908951e+01] [ 4.28619419e-02 -1.08374897e-03 9.99080417e-01 9.02035653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96509989299997 meters 0.019317798854369236 Centerline is valid? [True, True] Translation: X:219.94, Y:15.68, Z:9.02 [[ 9.93194079e-01 -1.08185380e-01 -4.31444569e-02 2.19937547e+02] [ 1.08147785e-01 9.94129641e-01 -3.21137364e-03 1.56839291e+01] [ 4.32386072e-02 -1.47646016e-03 9.99063683e-01 9.02180738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02509989299995 meters 0.022490744152382877 Centerline is valid? [True, True] Translation: X:220.00, Y:15.68, Z:9.02 [[ 9.92418951e-01 -1.14944142e-01 -4.35025294e-02 2.19998587e+02] [ 1.14912370e-01 9.93370353e-01 -3.23864057e-03 1.56797276e+01] [ 4.35863858e-02 -1.78489047e-03 9.99048067e-01 9.02362489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08509989299995 meters 0.022964823578249274 Centerline is valid? [True, True] Translation: X:220.06, Y:15.68, Z:9.03 [[ 9.91799938e-01 -1.20146175e-01 -4.35635205e-02 2.20059875e+02] [ 1.20119325e-01 9.92754164e-01 -3.24298512e-03 1.56807315e+01] [ 4.36374986e-02 -2.01642825e-03 9.99045396e-01 9.02597005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14509989299995 meters 0.02840079914905305 Centerline is valid? [True, True] Translation: X:220.12, Y:15.68, Z:9.03 [[ 9.91376577e-01 -1.23791846e-01 -4.29890945e-02 2.20120759e+02] [ 1.23769159e-01 9.92305880e-01 -3.19923068e-03 1.56753498e+01] [ 4.30543699e-02 -2.14908170e-03 9.99070419e-01 9.02990849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20509989299995 meters 0.023167672283914996 Centerline is valid? [True, True] Translation: X:220.18, Y:15.69, Z:9.03 [[ 9.91424103e-01 -1.23976350e-01 -4.13293308e-02 2.20182285e+02] [ 1.23955566e-01 9.92283005e-01 -3.07503220e-03 1.56865551e+01] [ 4.13916239e-02 -2.07433957e-03 9.99140846e-01 9.03497435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26509989299996 meters 0.02345838218340879 Centerline is valid? [True, True] Translation: X:220.24, Y:15.69, Z:9.04 [[ 9.91737568e-01 -1.21425460e-01 -4.13818008e-02 2.20243091e+02] [ 1.21402538e-01 9.92598591e-01 -3.07581559e-03 1.56901350e+01] [ 4.14489995e-02 -1.97345378e-03 9.99138672e-01 9.03865698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32509989299996 meters 0.021745801336600586 Centerline is valid? [True, True] Translation: X:220.30, Y:15.70, Z:9.04 [[ 9.92307026e-01 -1.15099317e-01 -4.55950965e-02 2.20302998e+02] [ 1.15064909e-01 9.93352200e-01 -3.38725602e-03 1.56982379e+01] [ 4.56818602e-02 -1.88519769e-03 9.98954260e-01 9.03922543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38509989299996 meters 0.0190703468020573 Centerline is valid? [True, True] Translation: X:220.36, Y:15.71, Z:9.04 [[ 9.92817456e-01 -1.09541999e-01 -4.81045612e-02 2.20362863e+02] [ 1.09497201e-01 9.93980681e-01 -3.57341509e-03 1.57086174e+01] [ 4.82064436e-02 -1.71956595e-03 9.98835913e-01 9.04044747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.44509989299996 meters 0.017037848614551227 Centerline is valid? [True, True] Translation: X:220.42, Y:15.72, Z:9.04 [[ 9.93668445e-01 -9.95484376e-02 -5.20877192e-02 2.20421551e+02] [ 9.94821854e-02 9.95031819e-01 -3.86952190e-03 1.57203583e+01] [ 5.22141429e-02 -1.33677834e-03 9.98635017e-01 9.04076589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.50509989299997 meters 0.01525155188327557 Centerline is valid? [True, True] Translation: X:220.48, Y:15.73, Z:9.04 [[ 9.94214225e-01 -9.29461402e-02 -5.38431974e-02 2.20480953e+02] [ 9.28656087e-02 9.95670613e-01 -4.00108624e-03 1.57313235e+01] [ 5.39819749e-02 -1.02224444e-03 9.98541387e-01 9.04322613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.56509989299997 meters 0.013827527072137002 Centerline is valid? [True, True] Translation: X:220.54, Y:15.74, Z:9.05 [[ 9.95060807e-01 -8.36182593e-02 -5.34974559e-02 2.20540232e+02] [ 8.35252278e-02 9.96497730e-01 -3.97635693e-03 1.57448713e+01] [ 5.36425894e-02 -5.11670258e-04 9.98560069e-01 9.04720374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.62509989299997 meters 0.013481251942880093 Centerline is valid? [True, True] Translation: X:220.60, Y:15.75, Z:9.05 [[ 9.95467184e-01 -7.93526754e-02 -5.24236408e-02 2.20598737e+02] [ 7.92572513e-02 9.96846567e-01 -3.89994373e-03 1.57534795e+01] [ 5.25677974e-02 -2.72687676e-04 9.98617320e-01 9.05143158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68509989299997 meters 0.013318997840134145 Centerline is valid? [True, True] Translation: X:220.66, Y:15.76, Z:9.06 [[ 9.95697464e-01 -7.69499374e-02 -5.16262268e-02 2.20656289e+02] [ 7.68535834e-02 9.97034949e-01 -3.85189397e-03 1.57611126e+01] [ 5.17695554e-02 -1.32339466e-04 9.98659049e-01 9.05606793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74509989299995 meters 0.013329758235003517 Centerline is valid? [True, True] Translation: X:220.71, Y:15.77, Z:9.06 [[ 9.95502883e-01 -7.97287600e-02 -5.11598990e-02 2.20714284e+02] [ 7.96374794e-02 9.96816559e-01 -3.82345970e-03 1.57652120e+01] [ 5.13018742e-02 -2.67980257e-04 9.98683156e-01 9.06047533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80509989299995 meters 0.014755346716835432 Centerline is valid? [True, True] Translation: X:220.77, Y:15.76, Z:9.06 [[ 9.94624131e-01 -8.96821934e-02 -5.17681677e-02 2.20773410e+02] [ 8.96015221e-02 9.95970130e-01 -3.88172618e-03 1.57625048e+01] [ 5.19076705e-02 -7.77648098e-04 9.98651585e-01 9.06295335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86509989299995 meters 0.017922354713170177 Centerline is valid? [True, True] Translation: X:220.83, Y:15.76, Z:9.07 [[ 9.92993501e-01 -1.05497315e-01 -5.32374171e-02 2.20834086e+02] [ 1.05434534e-01 9.94418224e-01 -3.99429043e-03 1.57571809e+01] [ 5.33616447e-02 -1.64675783e-03 9.98573895e-01 9.06591410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92509989299995 meters 0.02141552812237263 Centerline is valid? [True, True] Translation: X:220.89, Y:15.75, Z:9.07 [[ 9.91759493e-01 -1.16135551e-01 -5.40891957e-02 2.20894768e+02] [ 1.16086496e-01 9.93230816e-01 -4.05854076e-03 1.57540596e+01] [ 5.41943969e-02 -2.25392886e-03 9.98527860e-01 9.06793012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98509989299995 meters 0.02443579938935418 Centerline is valid? [True, True] Translation: X:220.96, Y:15.75, Z:9.07 [[ 9.90692570e-01 -1.24797592e-01 -5.43488093e-02 2.20955820e+02] [ 1.24761054e-01 9.92178437e-01 -4.07793559e-03 1.57530974e+01] [ 5.44326332e-02 -2.74063423e-03 9.98513684e-01 9.06992227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04509989299996 meters 0.026910775109686157 Centerline is valid? [True, True] Translation: X:221.02, Y:15.75, Z:9.07 [[ 9.89626365e-01 -1.32724216e-01 -5.49903695e-02 2.21015940e+02] [ 1.32698983e-01 9.91147796e-01 -4.12622070e-03 1.57546639e+01] [ 5.50512329e-02 -3.21374932e-03 9.98478359e-01 9.07208023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10509989299996 meters 0.029377241608495887 Centerline is valid? [True, True] Translation: X:221.07, Y:15.76, Z:9.07 [[ 9.89449204e-01 -1.34408681e-01 -5.40793856e-02 2.21074920e+02] [ 1.34386716e-01 9.90920650e-01 -4.05898615e-03 1.57571026e+01] [ 5.41339430e-02 -3.25139045e-03 9.98528390e-01 9.07446681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16509989299996 meters 0.02837601277092894 Centerline is valid? [True, True] Translation: X:221.13, Y:15.77, Z:9.08 [[ 9.89515021e-01 -1.34287038e-01 -5.31696862e-02 2.21134536e+02] [ 1.34265549e-01 9.90937347e-01 -3.99219449e-03 1.57652862e+01] [ 5.32239278e-02 -3.18852070e-03 9.98577512e-01 9.07726838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.22509989299996 meters 0.028967434027131242 Centerline is valid? [True, True] Translation: X:221.19, Y:15.77, Z:9.08 [[ 9.89595296e-01 -1.33850889e-01 -5.27739542e-02 2.21194951e+02] [ 1.33829100e-01 9.90996504e-01 -3.96248134e-03 1.57709406e+01] [ 5.28291858e-02 -3.14143790e-03 9.98598622e-01 9.07953025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.28509989299997 meters 0.029194056915934064 Centerline is valid? [True, True] Translation: X:221.26, Y:15.78, Z:9.08 [[ 9.89754572e-01 -1.32814934e-01 -5.24030538e-02 2.21255294e+02] [ 1.32792002e-01 9.91136117e-01 -3.93463264e-03 1.57786218e+01] [ 5.24611373e-02 -3.06438577e-03 9.98618265e-01 9.08212780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.34509989299997 meters 0.029252382452332363 Centerline is valid? [True, True] Translation: X:221.32, Y:15.78, Z:9.08 [[ 9.89877119e-01 -1.31617097e-01 -5.31058326e-02 2.21315099e+02] [ 1.31591831e-01 9.91295965e-01 -3.98740010e-03 1.57848953e+01] [ 5.31684076e-02 -3.04125765e-03 9.98580929e-01 9.08350062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.40509989299997 meters 0.02679678519359427 Centerline is valid? [True, True] Translation: X:221.38, Y:15.80, Z:9.09 [[ 9.90050991e-01 -1.29709369e-01 -5.45391077e-02 2.21375391e+02] [ 1.29679856e-01 9.91547461e-01 -4.09478826e-03 1.57958732e+01] [ 5.46092462e-02 -3.01857444e-03 9.98503239e-01 9.08545753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46509989299997 meters 0.026858038293638198 Centerline is valid? [True, True] Translation: X:221.44, Y:15.80, Z:9.09 [[ 9.90270974e-01 -1.27500295e-01 -5.57411198e-02 2.21436135e+02] [ 1.27466040e-01 9.91834110e-01 -4.18401885e-03 1.58030471e+01] [ 5.58194076e-02 -2.96178738e-03 9.98436488e-01 9.08679396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52509989299995 meters 0.023031475562870423 Centerline is valid? [True, True] Translation: X:221.50, Y:15.82, Z:9.09 [[ 9.90991888e-01 -1.21089168e-01 -5.72057021e-02 2.21495197e+02] [ 1.21042485e-01 9.92638044e-01 -4.29317329e-03 1.58184899e+01] [ 5.73044130e-02 -2.66982043e-03 9.98353182e-01 9.08978069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58509989299995 meters 0.02098815421064024 Centerline is valid? [True, True] Translation: X:221.56, Y:15.83, Z:9.09 [[ 9.91893526e-01 -1.14077697e-01 -5.59777779e-02 2.21555389e+02] [ 1.14021845e-01 9.93469360e-01 -4.20107568e-03 1.58299131e+01] [ 5.60914563e-02 -2.21566974e-03 9.98423176e-01 9.09257451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64509989299995 meters 0.016218496822615554 Centerline is valid? [True, True] Translation: X:221.61, Y:15.85, Z:9.10 [[ 9.93491318e-01 -1.00481386e-01 -5.36515832e-02 2.21614933e+02] [ 1.00410246e-01 9.94937972e-01 -4.02668667e-03 1.58494718e+01] [ 5.37846044e-02 -1.38669045e-03 9.98551598e-01 9.09684565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70509989299995 meters 0.014403227574572687 Centerline is valid? [True, True] Translation: X:221.67, Y:15.86, Z:9.10 [[ 9.94506354e-01 -9.06126622e-02 -5.24066497e-02 2.21673957e+02] [ 9.05310981e-02 9.95885863e-01 -3.93302982e-03 1.58631419e+01] [ 5.25474239e-02 -8.33008405e-04 9.98618082e-01 9.09965101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76509989299996 meters 0.012919680267202829 Centerline is valid? [True, True] Translation: X:221.73, Y:15.88, Z:9.10 [[ 9.95611940e-01 -7.80648410e-02 -5.16018046e-02 2.21732873e+02] [ 7.79688682e-02 9.96948270e-01 -3.87335600e-03 1.58798984e+01] [ 5.17467027e-02 -1.66974820e-04 9.98660228e-01 9.10221458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82509989299996 meters 0.013122360871076611 Centerline is valid? [True, True] Translation: X:221.79, Y:15.89, Z:9.10 [[ 9.96302842e-01 -6.93541750e-02 -5.07015285e-02 2.21790864e+02] [ 6.92500953e-02 9.97592060e-01 -3.80871223e-03 1.58917467e+01] [ 5.08435924e-02 2.83545143e-04 9.98706588e-01 9.10442249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88509989299996 meters 0.01368573960815722 Centerline is valid? [True, True] Translation: X:221.85, Y:15.90, Z:9.11 [[ 9.96619483e-01 -6.51435558e-02 -5.00592031e-02 2.21849137e+02] [ 6.50361709e-02 9.97875775e-01 -3.77275810e-03 1.59003385e+01] [ 5.01986370e-02 5.04345330e-04 9.98739126e-01 9.10657703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.94509989299996 meters 0.013587046352591605 Centerline is valid? [True, True] Translation: X:221.91, Y:15.91, Z:9.11 [[ 9.96718165e-01 -6.36056754e-02 -5.00721264e-02 2.21907146e+02] [ 6.34956761e-02 9.97974932e-01 -3.78605424e-03 1.59057421e+01] [ 5.02115415e-02 5.94265515e-04 9.98738428e-01 9.10980134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.00509989299997 meters 0.013912428095393855 Centerline is valid? [True, True] Translation: X:221.97, Y:15.91, Z:9.11 [[ 9.96835754e-01 -6.14788941e-02 -5.03867547e-02 2.21965297e+02] [ 6.13641436e-02 9.98108125e-01 -3.82265899e-03 1.59135884e+01] [ 5.05264421e-02 7.18623106e-04 9.98722465e-01 9.11217978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.06509989299997 meters 0.013584869061750405 Centerline is valid? [True, True] Translation: X:222.02, Y:15.92, Z:9.11 [[ 9.96667991e-01 -6.42303760e-02 -5.02729983e-02 2.22024470e+02] [ 6.41190114e-02 9.97934923e-01 -3.82648712e-03 1.59169022e+01] [ 5.04149574e-02 5.90282273e-04 9.98728183e-01 9.11387665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.12509989299997 meters 0.013039020932855099 Centerline is valid? [True, True] Translation: X:222.08, Y:15.92, Z:9.12 [[ 9.96455404e-01 -6.82141893e-02 -4.92285763e-02 2.22083212e+02] [ 6.81117046e-02 9.97670622e-01 -3.75831630e-03 1.59185544e+01] [ 4.93702748e-02 3.91952340e-04 9.98780468e-01 9.11760182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18509989299997 meters 0.01269062623106914 Centerline is valid? [True, True] Translation: X:222.14, Y:15.92, Z:9.12 [[ 9.96172010e-01 -7.29828373e-02 -4.81127093e-02 2.22141685e+02] [ 7.28899272e-02 9.97333183e-01 -3.68510061e-03 1.59204567e+01] [ 4.82533506e-02 1.64062208e-04 9.98835115e-01 9.12111222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24509989299995 meters 0.01263696683680929 Centerline is valid? [True, True] Translation: X:222.20, Y:15.92, Z:9.12 [[ 9.95740221e-01 -8.03089036e-02 -4.52978185e-02 2.22200310e+02] [ 8.02336301e-02 9.96770009e-01 -3.48038962e-03 1.59197285e+01] [ 4.54310132e-02 -1.68844477e-04 9.98967464e-01 9.12452536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30509989299995 meters 0.013294666690863793 Centerline is valid? [True, True] Translation: X:222.26, Y:15.92, Z:9.13 [[ 9.95150442e-01 -8.76929309e-02 -4.45594834e-02 2.22261546e+02] [ 8.76270236e-02 9.96147435e-01 -3.43399139e-03 1.59172486e+01] [ 4.46889519e-02 -4.87276860e-04 9.99000831e-01 9.12591288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36509989299995 meters 0.014121699813637251 Centerline is valid? [True, True] Translation: X:222.32, Y:15.92, Z:9.13 [[ 9.94730265e-01 -9.21062390e-02 -4.50348930e-02 2.22323449e+02] [ 9.20434406e-02 9.95748945e-01 -3.47051534e-03 1.59173499e+01] [ 4.51631033e-02 -6.92939859e-04 9.98979386e-01 9.12757406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42509989299995 meters 0.015049364878009983 Centerline is valid? [True, True] Translation: X:222.38, Y:15.92, Z:9.13 [[ 9.94359502e-01 -9.59470754e-02 -4.52033093e-02 2.22384967e+02] [ 9.58878443e-02 9.95386055e-01 -3.48186232e-03 1.59170680e+01] [ 4.53288182e-02 -8.72225001e-04 9.98971740e-01 9.12874061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48509989299995 meters 0.015056419591137647 Centerline is valid? [True, True] Translation: X:222.45, Y:15.92, Z:9.13 [[ 9.94229569e-01 -9.73836944e-02 -4.49886595e-02 2.22446719e+02] [ 9.73265714e-02 9.95246473e-01 -3.46361089e-03 1.59203946e+01] [ 4.51121039e-02 -9.34967620e-04 9.98981493e-01 9.13041987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54509989299996 meters 0.015470709320482487 Centerline is valid? [True, True] Translation: X:222.51, Y:15.92, Z:9.13 [[ 9.94054776e-01 -9.90486733e-02 -4.52157280e-02 2.22509288e+02] [ 9.89928436e-02 9.95082068e-01 -3.47776365e-03 1.59227253e+01] [ 4.53378280e-02 -1.01894592e-03 9.98971192e-01 9.13142740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60509989299996 meters 0.016674750467539325 Centerline is valid? [True, True] Translation: X:222.57, Y:15.93, Z:9.13 [[ 9.93941924e-01 -9.97876378e-02 -4.60638506e-02 2.22570284e+02] [ 9.97306534e-02 9.95008176e-01 -3.53938910e-03 1.59250679e+01] [ 4.61870952e-02 -1.07603071e-03 9.98932227e-01 9.13271601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66509989299996 meters 0.01646379349870345 Centerline is valid? [True, True] Translation: X:222.63, Y:15.93, Z:9.13 [[ 9.93841228e-01 -1.00494770e-01 -4.66949129e-02 2.22632338e+02] [ 1.00437239e-01 9.94936946e-01 -3.58262417e-03 1.59307525e+01] [ 4.68185290e-02 -1.12934853e-03 9.98902773e-01 9.13465326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.72509989299996 meters 0.016405951738789514 Centerline is valid? [True, True] Translation: X:222.69, Y:15.94, Z:9.14 [[ 9.93683010e-01 -1.02751334e-01 -4.51247145e-02 2.22694222e+02] [ 1.02700073e-01 9.94706354e-01 -3.45903480e-03 1.59361997e+01] [ 4.52412607e-02 -1.19712735e-03 9.98975373e-01 9.13773205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.78509989299997 meters 0.01754311647626592 Centerline is valid? [True, True] Translation: X:222.76, Y:15.94, Z:9.14 [[ 9.93492082e-01 -1.04877015e-01 -4.44330425e-02 2.22755657e+02] [ 1.04829577e-01 9.94484379e-01 -3.40285133e-03 1.59389453e+01] [ 4.45448476e-02 -1.27719119e-03 9.99006569e-01 9.14051444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.84509989299997 meters 0.018080131188958768 Centerline is valid? [True, True] Translation: X:222.82, Y:15.94, Z:9.14 [[ 9.93024878e-01 -1.09147853e-01 -4.45907838e-02 2.22816150e+02] [ 1.09104483e-01 9.94024430e-01 -3.41251708e-03 1.59430633e+01] [ 4.46967974e-02 -1.47634006e-03 9.98999508e-01 9.14336073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.90509989299997 meters 0.02061480272239836 Centerline is valid? [True, True] Translation: X:222.88, Y:15.94, Z:9.15 [[ 9.92652867e-01 -1.12238880e-01 -4.51964573e-02 2.22876958e+02] [ 1.12197636e-01 9.93679900e-01 -3.45633351e-03 1.59431984e+01] [ 4.52987462e-02 -1.63999630e-03 9.98972139e-01 9.14522039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96509989299997 meters 0.02296892356751849 Centerline is valid? [True, True] Translation: X:222.94, Y:15.94, Z:9.15 [[ 9.91961848e-01 -1.17774991e-01 -4.62681744e-02 2.22937949e+02] [ 1.17738033e-01 9.93038406e-01 -3.53271117e-03 1.59439033e+01] [ 4.63621391e-02 -1.94320916e-03 9.98922808e-01 9.14702799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02509989299995 meters 0.02369621650033951 Centerline is valid? [True, True] Translation: X:223.00, Y:15.95, Z:9.15 [[ 9.91452554e-01 -1.22214933e-01 -4.56655613e-02 2.22998766e+02] [ 1.22183692e-01 9.92501385e-01 -3.48528190e-03 1.59485764e+01] [ 4.57490863e-02 -2.12409522e-03 9.98950704e-01 9.15109903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08509989299995 meters 0.025167882781214526 Centerline is valid? [True, True] Translation: X:223.06, Y:15.95, Z:9.15 [[ 9.91296585e-01 -1.23803789e-01 -4.47627455e-02 2.23060832e+02] [ 1.23775426e-01 9.92304378e-01 -3.41543300e-03 1.59524691e+01] [ 4.48411119e-02 -2.15482085e-03 9.98991807e-01 9.15440873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14509989299995 meters 0.023177912988363133 Centerline is valid? [True, True] Translation: X:223.12, Y:15.96, Z:9.16 [[ 9.91341583e-01 -1.23637231e-01 -4.42233081e-02 2.23122070e+02] [ 1.23609520e-01 9.92325210e-01 -3.37114614e-03 1.59624073e+01] [ 4.43007026e-02 -2.12446454e-03 9.99015983e-01 9.15757485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20509989299995 meters 0.023098310342537197 Centerline is valid? [True, True] Translation: X:223.18, Y:15.97, Z:9.16 [[ 9.91560915e-01 -1.21861297e-01 -4.42354663e-02 2.23184157e+02] [ 1.21831956e-01 9.92545025e-01 -3.36876176e-03 1.59700226e+01] [ 4.43162136e-02 -2.04896087e-03 9.99015453e-01 9.16049928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26509989299996 meters 0.022842717449912637 Centerline is valid? [True, True] Translation: X:223.25, Y:15.98, Z:9.16 [[ 9.91750420e-01 -1.20004230e-01 -4.50565140e-02 2.23246492e+02] [ 1.19972067e-01 9.92771352e-01 -3.42710119e-03 1.59767209e+01] [ 4.51420830e-02 -2.00669409e-03 9.98978561e-01 9.16297250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32509989299996 meters 0.020797273275900315 Centerline is valid? [True, True] Translation: X:223.31, Y:15.99, Z:9.17 [[ 9.92015178e-01 -1.17323372e-01 -4.62721564e-02 2.23307561e+02] [ 1.17286734e-01 9.93091871e-01 -3.51542727e-03 1.59870125e+01] [ 4.63649441e-02 -1.93975290e-03 9.98922684e-01 9.16561424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38509989299996 meters 0.02073938221475059 Centerline is valid? [True, True] Translation: X:223.37, Y:15.99, Z:9.17 [[ 9.92254353e-01 -1.14870352e-01 -4.72874291e-02 2.23368948e+02] [ 1.14829437e-01 9.93378736e-01 -3.58988673e-03 1.59940404e+01] [ 4.73866981e-02 -1.86790810e-03 9.98874873e-01 9.16801415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.44509989299996 meters 0.01873427020158823 Centerline is valid? [True, True] Translation: X:223.43, Y:16.01, Z:9.17 [[ 9.92759489e-01 -1.09852235e-01 -4.85909820e-02 2.23429418e+02] [ 1.09803153e-01 9.93946517e-01 -3.68637235e-03 1.60055859e+01] [ 4.87017935e-02 -1.67576190e-03 9.98811958e-01 9.17070627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.50509989299997 meters 0.017419508781126313 Centerline is valid? [True, True] Translation: X:223.49, Y:16.02, Z:9.17 [[ 9.93270901e-01 -1.05279637e-01 -4.82609100e-02 2.23490726e+02] [ 1.05225885e-01 9.94441610e-01 -3.66013764e-03 1.60153829e+01] [ 4.83779950e-02 -1.44278875e-03 9.98828057e-01 9.17371720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.56509989299997 meters 0.015731976977352444 Centerline is valid? [True, True] Translation: X:223.55, Y:16.03, Z:9.18 [[ 9.94006021e-01 -9.83880419e-02 -4.76636437e-02 2.23550987e+02] [ 9.83278340e-02 9.95147522e-01 -3.61191582e-03 1.60268391e+01] [ 4.77877263e-02 -1.09639678e-03 9.98856912e-01 9.17653357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.62509989299997 meters 0.01512463906141237 Centerline is valid? [True, True] Translation: X:223.61, Y:16.03, Z:9.18 [[ 9.94389444e-01 -9.43639549e-02 -4.78024884e-02 2.23612071e+02] [ 9.42988012e-02 9.95537353e-01 -3.62134807e-03 1.60343362e+01] [ 4.79308875e-02 -9.06687054e-04 9.98850243e-01 9.17861320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68509989299997 meters 0.014131120919029952 Centerline is valid? [True, True] Translation: X:223.67, Y:16.04, Z:9.18 [[ 9.94723007e-01 -9.10367190e-02 -4.73123171e-02 2.23673981e+02] [ 9.09692234e-02 9.95847261e-01 -3.58231940e-03 1.60433631e+01] [ 4.74419640e-02 -7.40549214e-04 9.98873722e-01 9.18176269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74509989299995 meters 0.013590676283216686 Centerline is valid? [True, True] Translation: X:223.73, Y:16.05, Z:9.18 [[ 9.95162374e-01 -8.57831125e-02 -4.78863960e-02 2.23734773e+02] [ 8.57080490e-02 9.96313710e-01 -3.62243805e-03 1.60521109e+01] [ 4.80206168e-02 -4.99335524e-04 9.98846220e-01 9.18356909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80509989299995 meters 0.013366794924656252 Centerline is valid? [True, True] Translation: X:223.80, Y:16.06, Z:9.19 [[ 9.95358588e-01 -8.33494132e-02 -4.81056761e-02 2.23796558e+02] [ 8.32709147e-02 9.96520309e-01 -3.63705183e-03 1.60582707e+01] [ 4.82414294e-02 -3.85632877e-04 9.98835630e-01 9.18609941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86509989299995 meters 0.013008667702906424 Centerline is valid? [True, True] Translation: X:223.86, Y:16.07, Z:9.19 [[ 9.95884389e-01 -7.59014883e-02 -4.95302619e-02 2.23855811e+02] [ 7.58092196e-02 9.97115321e-01 -3.74152116e-03 1.60686200e+01] [ 4.96713700e-02 -2.87279825e-05 9.98765615e-01 9.18874933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92509989299995 meters 0.013156524282913517 Centerline is valid? [True, True] Translation: X:223.91, Y:16.08, Z:9.19 [[ 9.96240599e-01 -7.09561139e-02 -4.96980738e-02 2.23914399e+02] [ 7.08570969e-02 9.97479415e-01 -3.75359085e-03 1.60761178e+01] [ 4.98391458e-02 2.18018361e-04 9.98757234e-01 9.19173504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98509989299995 meters 0.013776289556945279 Centerline is valid? [True, True] Translation: X:223.97, Y:16.08, Z:9.20 [[ 9.96609563e-01 -6.55815629e-02 -4.96833742e-02 2.23973067e+02] [ 6.54758719e-02 9.97847093e-01 -3.75360556e-03 1.60833649e+01] [ 4.98225778e-02 4.87816948e-04 9.98757965e-01 9.19525954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04509989299996 meters 0.013739374956348385 Centerline is valid? [True, True] Translation: X:224.03, Y:16.09, Z:9.20 [[ 9.96566176e-01 -6.58917693e-02 -5.01411101e-02 2.24030964e+02] [ 6.57842887e-02 9.97826660e-01 -3.79263647e-03 1.60868897e+01] [ 5.02820399e-02 4.81115967e-04 9.98734942e-01 9.19844181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10509989299996 meters 0.013543983858188832 Centerline is valid? [True, True] Translation: X:224.09, Y:16.09, Z:9.20 [[ 9.96381293e-01 -6.83207426e-02 -5.05627817e-02 2.24088387e+02] [ 6.82139447e-02 9.97663338e-01 -3.83684821e-03 1.60883996e+01] [ 5.07067699e-02 3.73876988e-04 9.98713514e-01 9.20079261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16509989299996 meters 0.012765181712174226 Centerline is valid? [True, True] Translation: X:224.15, Y:16.08, Z:9.20 [[ 9.95650722e-01 -7.73343201e-02 -5.19523117e-02 2.24147295e+02] [ 7.72334976e-02 9.97005214e-01 -3.94848023e-03 1.60828820e+01] [ 5.21020787e-02 -8.11515571e-05 9.98641761e-01 9.20418855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.22509989299996 meters 0.013077333059615996 Centerline is valid? [True, True] Translation: X:224.21, Y:16.08, Z:9.21 [[ 9.94935698e-01 -8.57111983e-02 -5.25028297e-02 2.24206633e+02] [ 8.56191615e-02 9.96319893e-01 -4.00381768e-03 1.60794732e+01] [ 5.26527856e-02 -5.11707110e-04 9.98612749e-01 9.20595295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.28509989299997 meters 0.015448741599073518 Centerline is valid? [True, True] Translation: X:224.27, Y:16.07, Z:9.21 [[ 9.93806800e-01 -9.79449857e-02 -5.24864208e-02 2.24267127e+02] [ 9.78694571e-02 9.95191168e-01 -4.01347094e-03 1.60704563e+01] [ 5.26271218e-02 -1.14820280e-03 9.98613573e-01 9.20705419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.34509989299997 meters 0.017392298545608507 Centerline is valid? [True, True] Translation: X:224.33, Y:16.07, Z:9.21 [[ 9.93174730e-01 -1.04386396e-01 -5.20330302e-02 2.24327675e+02] [ 1.04320941e-01 9.94535722e-01 -3.97972998e-03 1.60683472e+01] [ 5.21641370e-02 -1.47556744e-03 9.98637434e-01 9.20958544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.40509989299997 meters 0.025179167814266355 Centerline is valid? [True, True] Translation: X:224.39, Y:16.06, Z:9.21 [[ 9.92530458e-01 -1.10590290e-01 -5.15080428e-02 2.24388429e+02] [ 1.10534436e-01 9.93864483e-01 -3.94048309e-03 1.60573500e+01] [ 5.16277935e-02 -1.78236298e-03 9.98664806e-01 9.20946903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46509989299997 meters 0.028841743287703593 Centerline is valid? [True, True] Translation: X:224.45, Y:16.06, Z:9.21 [[ 9.92112653e-01 -1.15346235e-01 -4.90686166e-02 2.24448424e+02] [ 1.15301307e-01 9.93323468e-01 -3.75467199e-03 1.60550443e+01] [ 4.91740957e-02 -1.93261803e-03 9.98788353e-01 9.21444099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52509989299995 meters 0.02106513097075495 Centerline is valid? [True, True] Translation: X:224.51, Y:16.07, Z:9.22 [[ 9.91909859e-01 -1.17993679e-01 -4.68222489e-02 2.24509609e+02] [ 1.17955698e-01 9.93012394e-01 -3.58303804e-03 1.60701021e+01] [ 4.69178493e-02 -1.96890031e-03 9.98896811e-01 9.22135121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58509989299995 meters 0.023576517156430436 Centerline is valid? [True, True] Translation: X:224.57, Y:16.07, Z:9.23 [[ 9.91637709e-01 -1.21130864e-01 -4.45193057e-02 2.24570047e+02] [ 1.21099810e-01 9.92634500e-01 -3.40383710e-03 1.60708377e+01] [ 4.46037085e-02 -2.01590624e-03 9.99002725e-01 9.22603698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64509989299995 meters 0.02361628080140674 Centerline is valid? [True, True] Translation: X:224.63, Y:16.08, Z:9.23 [[ 9.91463269e-01 -1.22477922e-01 -4.47185127e-02 2.24632106e+02] [ 1.22448000e-01 9.92469044e-01 -3.41810440e-03 1.60751921e+01] [ 4.48003819e-02 -2.08676747e-03 9.98993779e-01 9.22877918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70509989299995 meters 0.023559296553327023 Centerline is valid? [True, True] Translation: X:224.69, Y:16.08, Z:9.23 [[ 9.91194808e-01 -1.23863019e-01 -4.68060391e-02 2.24694480e+02] [ 1.23831947e-01 9.92296767e-01 -3.57413288e-03 1.60788366e+01] [ 4.68881842e-02 -2.25342100e-03 9.98897602e-01 9.22918656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76509989299996 meters 0.0244431737848017 Centerline is valid? [True, True] Translation: X:224.76, Y:16.08, Z:9.23 [[ 9.91033193e-01 -1.24434552e-01 -4.86749692e-02 2.24756824e+02] [ 1.24401819e-01 9.92224974e-01 -3.71316413e-03 1.60817176e+01] [ 4.87585660e-02 -2.37538581e-03 9.98807769e-01 9.23013570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82509989299996 meters 0.0252433928542587 Centerline is valid? [True, True] Translation: X:224.82, Y:16.09, Z:9.23 [[ 9.91137344e-01 -1.23005647e-01 -5.01634879e-02 2.24818412e+02] [ 1.22969246e-01 9.92403118e-01 -3.82300772e-03 1.60855205e+01] [ 5.02526533e-02 -2.37944057e-03 9.98733703e-01 9.23167972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88509989299996 meters 0.02146009389830374 Centerline is valid? [True, True] Translation: X:224.88, Y:16.10, Z:9.23 [[ 9.91875116e-01 -1.16454050e-01 -5.12075146e-02 2.24878582e+02] [ 1.16407562e-01 9.93193875e-01 -3.89951492e-03 1.60982182e+01] [ 5.13131041e-02 -2.09311013e-03 9.98680421e-01 9.23431265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.94509989299996 meters 0.018614693453237203 Centerline is valid? [True, True] Translation: X:224.94, Y:16.11, Z:9.24 [[ 9.92814984e-01 -1.08538953e-01 -5.03756152e-02 2.24938751e+02] [ 1.08483798e-01 9.94090816e-01 -3.83590496e-03 1.61099558e+01] [ 5.04942815e-02 -1.65659415e-03 9.98722976e-01 9.23778233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.00509989299997 meters 0.014487497030336532 Centerline is valid? [True, True] Translation: X:225.00, Y:16.13, Z:9.24 [[ 9.94429084e-01 -9.42096539e-02 -4.72793615e-02 2.24998136e+02] [ 9.41449103e-02 9.95551998e-01 -3.59929304e-03 1.61277665e+01] [ 4.74081510e-02 -8.71869562e-04 9.98875221e-01 9.24375532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.06509989299997 meters 0.013001953669483706 Centerline is valid? [True, True] Translation: X:225.06, Y:16.14, Z:9.25 [[ 9.95446132e-01 -8.39381070e-02 -4.51817633e-02 2.25058715e+02] [ 8.38684355e-02 9.96470903e-01 -3.43881031e-03 1.61398471e+01] [ 4.53109597e-02 -3.66173376e-04 9.98972864e-01 9.24781051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.12509989299997 meters 0.012679689049688811 Centerline is valid? [True, True] Translation: X:225.12, Y:16.15, Z:9.25 [[ 9.96384810e-01 -7.26874128e-02 -4.39755599e-02 2.25119391e+02] [ 7.26105207e-02 9.97354762e-01 -3.34543458e-03 1.61516539e+01] [ 4.41024051e-02 1.40251897e-04 9.99027006e-01 9.25080269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18509989299997 meters 0.012977800604786809 Centerline is valid? [True, True] Translation: X:225.18, Y:16.16, Z:9.25 [[ 9.96669472e-01 -6.87579902e-02 -4.38440798e-02 2.25180345e+02] [ 6.86778253e-02 9.97633320e-01 -3.33386434e-03 1.61578988e+01] [ 4.39695447e-02 3.11644751e-04 9.99032823e-01 9.25328982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24509989299995 meters 0.013155742468737687 Centerline is valid? [True, True] Translation: X:225.24, Y:16.16, Z:9.25 [[ 9.96591752e-01 -6.79939693e-02 -4.67086809e-02 2.25239878e+02] [ 6.79022075e-02 9.97685665e-01 -3.55027335e-03 1.61590835e+01] [ 4.68419785e-02 3.66550596e-04 9.98902245e-01 9.25307344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30509989299995 meters 0.01301167153647624 Centerline is valid? [True, True] Translation: X:225.30, Y:16.16, Z:9.25 [[ 9.96512216e-01 -6.85571936e-02 -4.75743000e-02 2.25299203e+02] [ 6.84624977e-02 9.97647127e-01 -3.61901218e-03 1.61597741e+01] [ 4.77104730e-02 3.49334443e-04 9.98861146e-01 9.25455920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36509989299995 meters 0.013391648571616717 Centerline is valid? [True, True] Translation: X:225.36, Y:16.16, Z:9.26 [[ 9.96589555e-01 -6.76092497e-02 -4.73101270e-02 2.25356668e+02] [ 6.75140107e-02 9.97711795e-01 -3.60996670e-03 1.61614473e+01] [ 4.74459389e-02 4.03558690e-04 9.98873726e-01 9.25635843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42509989299995 meters 0.013314074825529215 Centerline is valid? [True, True] Translation: X:225.42, Y:16.16, Z:9.26 [[ 9.96712535e-01 -6.61415533e-02 -4.67912159e-02 2.25415159e+02] [ 6.60465452e-02 9.97810138e-01 -3.57530633e-03 1.61618945e+01] [ 4.69252259e-02 4.73154477e-04 9.98898293e-01 9.25971662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48509989299995 meters 0.013398920910118807 Centerline is valid? [True, True] Translation: X:225.47, Y:16.16, Z:9.26 [[ 9.96880869e-01 -6.55365344e-02 -4.39715329e-02 2.25472887e+02] [ 6.54515815e-02 9.97850054e-01 -3.37047579e-03 1.61604801e+01] [ 4.40978858e-02 4.81956469e-04 9.99027099e-01 9.26348516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54509989299996 meters 0.01332737614426938 Centerline is valid? [True, True] Translation: X:225.53, Y:16.16, Z:9.26 [[ 9.96749037e-01 -6.70685350e-02 -4.46449258e-02 2.25531949e+02] [ 6.69819149e-02 9.97748277e-01 -3.43501679e-03 1.61596460e+01] [ 4.47747793e-02 4.33447056e-04 9.98997013e-01 9.26478652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60509989299996 meters 0.013065733967456982 Centerline is valid? [True, True] Translation: X:225.59, Y:16.15, Z:9.27 [[ 9.96638503e-01 -6.93160895e-02 -4.36689094e-02 2.25591303e+02] [ 6.92349086e-02 9.97594691e-01 -3.37052478e-03 1.61548367e+01] [ 4.37975037e-02 3.35781825e-04 9.99040373e-01 9.26716690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66509989299996 meters 0.013025784913936253 Centerline is valid? [True, True] Translation: X:225.65, Y:16.15, Z:9.27 [[ 9.96621760e-01 -7.00455621e-02 -4.28799206e-02 2.25649885e+02] [ 6.99674994e-02 9.97543745e-01 -3.32043544e-03 1.61531557e+01] [ 4.30071784e-02 3.09017394e-04 9.99074715e-01 9.27031110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.72509989299996 meters 0.013161515569808867 Centerline is valid? [True, True] Translation: X:225.71, Y:16.15, Z:9.27 [[ 9.96616413e-01 -6.98601258e-02 -4.33045905e-02 2.25708370e+02] [ 6.97798482e-02 9.97556742e-01 -3.36448015e-03 1.61519387e+01] [ 4.34338292e-02 3.31308396e-04 9.99056251e-01 9.27262194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.78509989299997 meters 0.013177805186517958 Centerline is valid? [True, True] Translation: X:225.77, Y:16.15, Z:9.27 [[ 9.96616151e-01 -6.93900854e-02 -4.40597719e-02 2.25767553e+02] [ 6.93060160e-02 9.97589535e-01 -3.43460894e-03 1.61517598e+01] [ 4.41918951e-02 3.69379487e-04 9.99022993e-01 9.27426118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.84509989299997 meters 0.013330205977777534 Centerline is valid? [True, True] Translation: X:225.83, Y:16.15, Z:9.28 [[ 9.96584663e-01 -6.93012507e-02 -4.49037380e-02 2.25825177e+02] [ 6.92133295e-02 9.97595701e-01 -3.51167072e-03 1.61515902e+01] [ 4.50391392e-02 3.91739973e-04 9.98985146e-01 9.27598485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.90509989299997 meters 0.013277144173748737 Centerline is valid? [True, True] Translation: X:225.88, Y:16.15, Z:9.28 [[ 9.96389898e-01 -7.06698903e-02 -4.70418689e-02 2.25883567e+02] [ 7.05746564e-02 9.97499696e-01 -3.68436509e-03 1.61469814e+01] [ 4.71846236e-02 3.51100425e-04 9.98886124e-01 9.27696971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96509989299997 meters 0.01318026757504134 Centerline is valid? [True, True] Translation: X:225.94, Y:16.15, Z:9.28 [[ 9.96205344e-01 -7.27926752e-02 -4.77088892e-02 2.25941500e+02] [ 7.26965289e-02 9.97347058e-01 -3.74961469e-03 1.61453683e+01] [ 4.78552648e-02 2.67115553e-04 9.98854245e-01 9.27843956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02509989299995 meters 0.012897176354867108 Centerline is valid? [True, True] Translation: X:226.00, Y:16.14, Z:9.28 [[ 9.95789886e-01 -7.86215179e-02 -4.71291853e-02 2.26001223e+02] [ 7.85339818e-02 9.96904537e-01 -3.70902195e-03 1.61401549e+01] [ 4.72749076e-02 -7.83603341e-06 9.98881916e-01 9.28272053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08509989299995 meters 0.013170020051823503 Centerline is valid? [True, True] Translation: X:226.06, Y:16.13, Z:9.29 [[ 9.95189066e-01 -8.62775581e-02 -4.64209744e-02 2.26061033e+02] [ 8.62004436e-02 9.96271076e-01 -3.66422111e-03 1.61330915e+01] [ 4.65640142e-02 -3.54915806e-04 9.98915245e-01 9.28541256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14509989299995 meters 0.013971707378474751 Centerline is valid? [True, True] Translation: X:226.12, Y:16.13, Z:9.29 [[ 9.94550097e-01 -9.33514110e-02 -4.64286506e-02 2.26120480e+02] [ 9.32814166e-02 9.95632994e-01 -3.67667226e-03 1.61260380e+01] [ 4.65691190e-02 -6.74295555e-04 9.98914842e-01 9.28738612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20509989299995 meters 0.014285420501280944 Centerline is valid? [True, True] Translation: X:226.18, Y:16.12, Z:9.29 [[ 9.94321787e-01 -9.60724216e-02 -4.57632314e-02 2.26178982e+02] [ 9.60067907e-02 9.95374042e-01 -3.63503135e-03 1.61247585e+01] [ 4.59007589e-02 -7.79190108e-04 9.98945701e-01 9.29039192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26509989299996 meters 0.014418027052460591 Centerline is valid? [True, True] Translation: X:226.24, Y:16.13, Z:9.29 [[ 9.94295143e-01 -9.62526848e-02 -4.59629121e-02 2.26236621e+02] [ 9.61863463e-02 9.95356623e-01 -3.65795701e-03 1.61262480e+01] [ 4.61015771e-02 -7.83915688e-04 9.98936449e-01 9.29263487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32509989299996 meters 0.013606694269780128 Centerline is valid? [True, True] Translation: X:226.29, Y:16.13, Z:9.30 [[ 9.94795088e-01 -9.07872036e-02 -4.62646348e-02 2.26294864e+02] [ 9.07134580e-02 9.95870179e-01 -3.69539827e-03 1.61299588e+01] [ 4.64090650e-02 -5.20660956e-04 9.98922383e-01 9.29508039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38509989299996 meters 0.013009539655864006 Centerline is valid? [True, True] Translation: X:226.35, Y:16.14, Z:9.30 [[ 9.95610573e-01 -8.13923822e-02 -4.62046154e-02 2.26352070e+02] [ 8.13082097e-02 9.96682133e-01 -3.70135889e-03 1.61362740e+01] [ 4.63525770e-02 -7.17025128e-05 9.98925139e-01 9.29669329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.44509989299996 meters 0.013364799821874034 Centerline is valid? [True, True] Translation: X:226.41, Y:16.14, Z:9.30 [[ 9.96332540e-01 -7.23970608e-02 -4.56084911e-02 2.26410168e+02] [ 7.23054089e-02 9.97375829e-01 -3.65823973e-03 1.61435541e+01] [ 4.57536524e-02 3.47082681e-04 9.98952693e-01 9.29927034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.50509989299997 meters 0.01394137403766769 Centerline is valid? [True, True] Translation: X:226.47, Y:16.15, Z:9.30 [[ 9.96473777e-01 -6.93785437e-02 -4.71871849e-02 2.26468396e+02] [ 6.92765040e-02 9.97590273e-01 -3.79638808e-03 1.61463738e+01] [ 4.73368646e-02 5.14037962e-04 9.98878850e-01 9.29912282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.56509989299997 meters 0.012995815889823823 Centerline is valid? [True, True] Translation: X:226.53, Y:16.14, Z:9.30 [[ 9.95809924e-01 -7.78218823e-02 -4.80244785e-02 2.26528157e+02] [ 7.77256572e-02 9.96967271e-01 -3.87071059e-03 1.61418811e+01] [ 4.81800593e-02 1.21757859e-04 9.98838659e-01 9.30051819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.62509989299997 meters 0.012881529737370263 Centerline is valid? [True, True] Translation: X:226.59, Y:16.14, Z:9.30 [[ 9.95413254e-01 -8.26394504e-02 -4.81993158e-02 2.26585774e+02] [ 8.25476138e-02 9.96579506e-01 -3.89619148e-03 1.61425207e+01] [ 4.83564295e-02 -1.00417869e-04 9.98830139e-01 9.30272572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68509989299997 meters 0.013804686962044635 Centerline is valid? [True, True] Translation: X:226.64, Y:16.14, Z:9.31 [[ 9.94553872e-01 -9.27783413e-02 -4.74844620e-02 2.26644523e+02] [ 9.27001626e-02 9.95686623e-01 -3.85068503e-03 1.61387633e+01] [ 4.76369038e-02 -5.72103641e-04 9.98864554e-01 9.30589612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74509989299995 meters 0.016292707042698855 Centerline is valid? [True, True] Translation: X:226.71, Y:16.13, Z:9.31 [[ 9.93573162e-01 -1.03120470e-01 -4.66748291e-02 2.26705047e+02] [ 1.03056063e-01 9.94668326e-01 -3.79062185e-03 1.61337116e+01] [ 4.68168648e-02 -1.04386400e-03 9.98902944e-01 9.30865654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80509989299995 meters 0.02007834157988779 Centerline is valid? [True, True] Translation: X:226.77, Y:16.13, Z:9.31 [[ 9.92622223e-01 -1.12474285e-01 -4.52841840e-02 2.26765373e+02] [ 1.12423335e-01 9.93653593e-01 -3.67847309e-03 1.61284068e+01] [ 4.54105258e-02 -1.43966486e-03 9.98967373e-01 9.31132570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86509989299995 meters 0.022454574645343957 Centerline is valid? [True, True] Translation: X:226.83, Y:16.13, Z:9.31 [[ 9.91382767e-01 -1.23485515e-01 -4.37211283e-02 2.26825567e+02] [ 1.23448651e-01 9.92344603e-01 -3.55249506e-03 1.61271648e+01] [ 4.38251073e-02 -1.87543192e-03 9.99037458e-01 9.31499792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92509989299995 meters 0.02243823205918779 Centerline is valid? [True, True] Translation: X:226.89, Y:16.13, Z:9.32 [[ 9.90751080e-01 -1.28377377e-01 -4.39493742e-02 2.26885185e+02] [ 1.28344893e-01 9.91723162e-01 -3.57177117e-03 1.61316818e+01] [ 4.40441470e-02 -2.10194157e-03 9.99027374e-01 9.31740819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98509989299995 meters 0.024369144854698106 Centerline is valid? [True, True] Translation: X:226.95, Y:16.13, Z:9.32 [[ 9.90341535e-01 -1.31797302e-01 -4.30478315e-02 2.26945635e+02] [ 1.31769323e-01 9.91274231e-01 -3.49926417e-03 1.61335150e+01] [ 4.31333996e-02 -2.20691695e-03 9.99066884e-01 9.31971872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04509989299996 meters 0.025326885729516184 Centerline is valid? [True, True] Translation: X:227.00, Y:16.14, Z:9.32 [[ 9.90342132e-01 -1.32149098e-01 -4.19413680e-02 2.27003299e+02] [ 1.32122851e-01 9.91227486e-01 -3.40934487e-03 1.61381948e+01] [ 4.20239786e-02 -2.16499525e-03 9.99114257e-01 9.32241360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10509989299996 meters 0.024341728446237353 Centerline is valid? [True, True] Translation: X:227.06, Y:16.15, Z:9.32 [[ 9.90667880e-01 -1.29748705e-01 -4.17423676e-02 2.27062054e+02] [ 1.29720073e-01 9.91544808e-01 -3.40528789e-03 1.61489948e+01] [ 4.18312596e-02 -2.04131365e-03 9.99122604e-01 9.32474414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16509989299996 meters 0.021462727962598602 Centerline is valid? [True, True] Translation: X:227.12, Y:16.16, Z:9.33 [[ 9.91234777e-01 -1.24688283e-01 -4.36628905e-02 2.27121068e+02] [ 1.24651988e-01 9.92194126e-01 -3.56358370e-03 1.61639752e+01] [ 4.37664005e-02 -1.91031802e-03 9.99039966e-01 9.32517008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.22509989299996 meters 0.02030788424144291 Centerline is valid? [True, True] Translation: X:227.18, Y:16.17, Z:9.33 [[ 9.91769851e-01 -1.20218416e-01 -4.40465098e-02 2.27179860e+02] [ 1.20177043e-01 9.92745964e-01 -3.59572562e-03 1.61746870e+01] [ 4.41592673e-02 -1.72724704e-03 9.99023011e-01 9.32660621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.28509989299997 meters 0.020441548698260967 Centerline is valid? [True, True] Translation: X:227.24, Y:16.19, Z:9.33 [[ 9.92559215e-01 -1.12933750e-01 -4.55211285e-02 2.27238272e+02] [ 1.12881832e-01 9.93601464e-01 -3.71777309e-03 1.61884272e+01] [ 4.56497220e-02 -1.44839843e-03 9.98956458e-01 9.32810885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.34509989299997 meters 0.016865678185201356 Centerline is valid? [True, True] Translation: X:227.30, Y:16.20, Z:9.33 [[ 9.93155717e-01 -1.07324737e-01 -4.60773587e-02 2.27296988e+02] [ 1.07265463e-01 9.94223290e-01 -3.76421067e-03 1.62045466e+01] [ 4.62151761e-02 -1.20406187e-03 9.98930782e-01 9.33040996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.40509989299997 meters 0.015291176930860618 Centerline is valid? [True, True] Translation: X:227.36, Y:16.22, Z:9.33 [[ 9.93733184e-01 -1.01788309e-01 -4.61898175e-02 2.27355853e+02] [ 1.01722725e-01 9.94805630e-01 -3.77431383e-03 1.62176673e+01] [ 4.63340716e-02 -9.47893221e-04 9.98925550e-01 9.33279971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46509989299994 meters 0.014154581174567221 Centerline is valid? [True, True] Translation: X:227.41, Y:16.23, Z:9.34 [[ 9.94416306e-01 -9.51317069e-02 -4.56745945e-02 2.27413934e+02] [ 9.50604473e-02 9.95464497e-01 -3.73463260e-03 1.62333799e+01] [ 4.58227192e-02 -6.28067832e-04 9.98949390e-01 9.33542703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52509989299995 meters 0.013687465441579632 Centerline is valid? [True, True] Translation: X:227.47, Y:16.24, Z:9.34 [[ 9.94676003e-01 -9.23768752e-02 -4.56745326e-02 2.27472104e+02] [ 9.23022124e-02 9.95723994e-01 -3.74553350e-03 1.62445602e+01] [ 4.58252288e-02 -4.90268129e-04 9.98949352e-01 9.33776201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58509989299995 meters 0.013822139942833477 Centerline is valid? [True, True] Translation: X:227.53, Y:16.25, Z:9.34 [[ 9.94822217e-01 -9.11872664e-02 -4.48735816e-02 2.27529502e+02] [ 9.11134966e-02 9.95833675e-01 -3.69081117e-03 1.62539092e+01] [ 4.50231786e-02 -4.16887969e-04 9.98985856e-01 9.34047869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64509989299995 meters 0.013828531189200065 Centerline is valid? [True, True] Translation: X:227.59, Y:16.26, Z:9.34 [[ 9.94798005e-01 -9.16150609e-02 -4.45377457e-02 2.27587296e+02] [ 9.15426167e-02 9.95794405e-01 -3.66773528e-03 1.62602200e+01] [ 4.46864578e-02 -4.28446043e-04 9.99000969e-01 9.34355941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70509989299995 meters 0.013856973088001415 Centerline is valid? [True, True] Translation: X:227.65, Y:16.27, Z:9.35 [[ 9.94647771e-01 -9.37756013e-02 -4.33814203e-02 2.27645552e+02] [ 9.37084032e-02 9.95593234e-01 -3.58447768e-03 1.62691148e+01] [ 4.35263851e-02 -4.99910888e-04 9.99052153e-01 9.34748696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76509989299996 meters 0.014405883381000862 Centerline is valid? [True, True] Translation: X:227.70, Y:16.27, Z:9.35 [[ 9.94355396e-01 -9.70387632e-02 -4.29048424e-02 2.27704228e+02] [ 9.69756070e-02 9.95280407e-01 -3.55581394e-03 1.62742130e+01] [ 4.30474008e-02 -6.24980365e-04 9.99072836e-01 9.35034380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82509989299996 meters 0.015561940609017682 Centerline is valid? [True, True] Translation: X:227.76, Y:16.28, Z:9.35 [[ 9.93731732e-01 -1.03558922e-01 -4.21045703e-02 2.27764928e+02] [ 1.03503813e-01 9.94622925e-01 -3.49262347e-03 1.62772057e+01] [ 4.22398632e-02 -8.87252783e-04 9.99107105e-01 9.35266308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88509989299996 meters 0.017221722329553827 Centerline is valid? [True, True] Translation: X:227.82, Y:16.28, Z:9.35 [[ 9.93209807e-01 -1.08545117e-01 -4.18597360e-02 2.27824589e+02] [ 1.08495068e-01 9.94090923e-01 -3.47231421e-03 1.62789829e+01] [ 4.19892863e-02 -1.09283839e-03 9.99117463e-01 9.35490885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.94509989299996 meters 0.01937849442185329 Centerline is valid? [True, True] Translation: X:227.89, Y:16.28, Z:9.36 [[ 9.92336851e-01 -1.15629392e-01 -4.35593594e-02 2.27885571e+02] [ 1.15581973e-01 9.93291370e-01 -3.61406511e-03 1.62812004e+01] [ 4.36850280e-02 -1.44830672e-03 9.99044304e-01 9.35570375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.00509989299997 meters 0.0206452120803025 Centerline is valid? [True, True] Translation: X:227.95, Y:16.28, Z:9.36 [[ 9.91784670e-01 -1.20129319e-01 -4.39558350e-02 2.27946441e+02] [ 1.20085459e-01 9.92756861e-01 -3.64656452e-03 1.62842421e+01] [ 4.40755161e-02 -1.66184985e-03 9.99026820e-01 9.35737808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.06509989299997 meters 0.020967626929910166 Centerline is valid? [True, True] Translation: X:228.01, Y:16.29, Z:9.36 [[ 9.91034480e-01 -1.25984664e-01 -4.44806013e-02 2.28007203e+02] [ 1.25945667e-01 9.92030281e-01 -3.68931549e-03 1.62889951e+01] [ 4.45909006e-02 -1.94590013e-03 9.99003436e-01 9.35887331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.12509989299997 meters 0.025942448598075398 Centerline is valid? [True, True] Translation: X:228.07, Y:16.29, Z:9.36 [[ 9.90602890e-01 -1.29071044e-01 -4.52391339e-02 2.28067993e+02] [ 1.29033938e-01 9.91633081e-01 -3.75173419e-03 1.62880391e+01] [ 4.53448620e-02 -2.12090488e-03 9.98969141e-01 9.36029127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18509989299997 meters 0.02377545424659036 Centerline is valid? [True, True] Translation: X:228.13, Y:16.30, Z:9.36 [[ 9.90232272e-01 -1.31523074e-01 -4.62788205e-02 2.28128444e+02] [ 1.31486985e-01 9.91310473e-01 -3.83642820e-03 1.62977564e+01] [ 4.63812583e-02 -2.28610754e-03 9.98921194e-01 9.36236898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24509989299995 meters 0.026124289616196342 Centerline is valid? [True, True] Translation: X:228.19, Y:16.30, Z:9.36 [[ 9.89820525e-01 -1.34207657e-01 -4.73669983e-02 2.28188326e+02] [ 1.34172970e-01 9.90950152e-01 -3.92548155e-03 1.63031035e+01] [ 4.74651638e-02 -2.46984863e-03 9.98869840e-01 9.36427250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30509989299995 meters 0.026432867632696855 Centerline is valid? [True, True] Translation: X:228.25, Y:16.31, Z:9.37 [[ 9.89475387e-01 -1.36404968e-01 -4.82922753e-02 2.28248894e+02] [ 1.36371672e-01 9.90649673e-01 -3.99907359e-03 1.63116332e+01] [ 4.83862202e-02 -2.62871342e-03 9.98825242e-01 9.36648589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36509989299995 meters 0.025962126003820026 Centerline is valid? [True, True] Translation: X:228.31, Y:16.32, Z:9.37 [[ 9.89299574e-01 -1.37955630e-01 -4.74825894e-02 2.28309423e+02] [ 1.37925295e-01 9.90434836e-01 -3.93040166e-03 1.63207254e+01] [ 4.75706317e-02 -2.66070547e-03 9.98864333e-01 9.37039482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42509989299995 meters 0.02906577723922688 Centerline is valid? [True, True] Translation: X:228.37, Y:16.33, Z:9.37 [[ 9.88996500e-01 -1.40357069e-01 -4.67527202e-02 2.28369694e+02] [ 1.40330406e-01 9.90097173e-01 -3.86837750e-03 1.63260647e+01] [ 4.68326903e-02 -2.73501640e-03 9.98899003e-01 9.37410542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48509989299995 meters 0.030837002891782376 Centerline is valid? [True, True] Translation: X:228.43, Y:16.33, Z:9.38 [[ 9.88822688e-01 -1.41514867e-01 -4.69386239e-02 2.28430784e+02] [ 1.41489335e-01 9.89932165e-01 -3.88281605e-03 1.63320505e+01] [ 4.70155298e-02 -2.80189806e-03 9.98890229e-01 9.37684653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54509989299996 meters 0.02753718763833399 Centerline is valid? [True, True] Translation: X:228.49, Y:16.35, Z:9.38 [[ 9.88689553e-01 -1.42032621e-01 -4.81632811e-02 2.28492343e+02] [ 1.42006450e-01 9.89857722e-01 -3.98214179e-03 1.63466988e+01] [ 4.82403898e-02 -2.90239459e-03 9.98831538e-01 9.37937536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60509989299996 meters 0.028096290853164497 Centerline is valid? [True, True] Translation: X:228.55, Y:16.36, Z:9.38 [[ 9.88568350e-01 -1.42421006e-01 -4.94861068e-02 2.28553510e+02] [ 1.42394045e-01 9.89801609e-01 -4.08791330e-03 1.63563429e+01] [ 4.95636328e-02 -3.00534520e-03 9.98766446e-01 9.38043664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66509989299996 meters 0.031240944546701805 Centerline is valid? [True, True] Translation: X:228.61, Y:16.36, Z:9.38 [[ 9.88545857e-01 -1.42564404e-01 -4.95225100e-02 2.28614599e+02] [ 1.42537718e-01 9.89780928e-01 -4.08819091e-03 1.63605554e+01] [ 4.95992664e-02 -3.01746139e-03 9.98764641e-01 9.38254117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.72509989299996 meters 0.02763439475691826 Centerline is valid? [True, True] Translation: X:228.68, Y:16.38, Z:9.39 [[ 9.88638629e-01 -1.42103694e-01 -4.89918547e-02 2.28675905e+02] [ 1.42077148e-01 9.89847336e-01 -4.04160762e-03 1.63769894e+01] [ 4.90687843e-02 -2.96493358e-03 9.98791001e-01 9.38603825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.78509989299997 meters 0.029544276983345684 Centerline is valid? [True, True] Translation: X:228.74, Y:16.38, Z:9.39 [[ 9.88802431e-01 -1.41314792e-01 -4.79570773e-02 2.28737237e+02] [ 1.41288596e-01 9.89960559e-01 -3.95277048e-03 1.63839852e+01] [ 4.80342000e-02 -2.86727907e-03 9.98841576e-01 9.38900963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.84509989299997 meters 0.02911745120860808 Centerline is valid? [True, True] Translation: X:228.80, Y:16.39, Z:9.39 [[ 9.89004524e-01 -1.40252686e-01 -4.68960052e-02 2.28799250e+02] [ 1.40226605e-01 9.90111905e-01 -3.86188604e-03 1.63949257e+01] [ 4.69739329e-02 -2.75664485e-03 9.98892312e-01 9.39260983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.90509989299997 meters 0.030578200303146535 Centerline is valid? [True, True] Translation: X:228.86, Y:16.40, Z:9.40 [[ 9.89097155e-01 -1.39899385e-01 -4.59889076e-02 2.28860050e+02] [ 1.39874113e-01 9.90162068e-01 -3.78301891e-03 1.64010014e+01] [ 4.60657139e-02 -2.69088443e-03 9.98934787e-01 9.39602827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96509989299994 meters 0.029232861814530376 Centerline is valid? [True, True] Translation: X:228.92, Y:16.41, Z:9.40 [[ 9.89110136e-01 -1.40141509e-01 -4.49610483e-02 2.28921698e+02] [ 1.40117825e-01 9.90127948e-01 -3.69349656e-03 1.64110529e+01] [ 4.50348026e-02 -2.64656942e-03 9.98981913e-01 9.39961454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02509989299995 meters 0.031097060802119714 Centerline is valid? [True, True] Translation: X:228.98, Y:16.42, Z:9.40 [[ 9.89134187e-01 -1.39723352e-01 -4.57268571e-02 2.28982640e+02] [ 1.39698561e-01 9.90186965e-01 -3.75313316e-03 1.64155600e+01] [ 4.58025382e-02 -2.67562382e-03 9.98946930e-01 9.40105753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08509989299995 meters 0.03096369582578504 Centerline is valid? [True, True] Translation: X:229.04, Y:16.42, Z:9.40 [[ 9.89335914e-01 -1.37559657e-01 -4.78726513e-02 2.29044205e+02] [ 1.37530097e-01 9.90489805e-01 -3.92652538e-03 1.64229196e+01] [ 4.79575046e-02 -2.69927782e-03 9.98845730e-01 9.40093040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14509989299995 meters 0.025133075639036506 Centerline is valid? [True, True] Translation: X:229.11, Y:16.44, Z:9.40 [[ 9.89427382e-01 -1.36340199e-01 -4.94449701e-02 2.29105194e+02] [ 1.36307321e-01 9.90658314e-01 -4.05211035e-03 1.64383488e+01] [ 4.95355362e-02 -2.73044245e-03 9.98768630e-01 9.40334301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20509989299995 meters 0.028622952761667566 Centerline is valid? [True, True] Translation: X:229.17, Y:16.44, Z:9.41 [[ 9.89776579e-01 -1.34094785e-01 -4.85892104e-02 2.29165643e+02] [ 1.34060497e-01 9.90965162e-01 -3.97867277e-03 1.64427376e+01] [ 4.86837341e-02 -2.57589658e-03 9.98810922e-01 9.40681741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26509989299996 meters 0.024567545445287883 Centerline is valid? [True, True] Translation: X:229.23, Y:16.46, Z:9.41 [[ 9.90159079e-01 -1.31738768e-01 -4.72217661e-02 2.29226669e+02] [ 1.31703799e-01 9.91281581e-01 -3.86479719e-03 1.64559595e+01] [ 4.73192106e-02 -2.39252195e-03 9.98876953e-01 9.41121389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32509989299996 meters 0.02338940536467225 Centerline is valid? [True, True] Translation: X:229.29, Y:16.47, Z:9.42 [[ 9.90606602e-01 -1.28571177e-01 -4.65619121e-02 2.29287885e+02] [ 1.28533847e-01 9.91697814e-01 -3.80736747e-03 1.64664342e+01] [ 4.66648642e-02 -2.21317832e-03 9.98908150e-01 9.41517946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38509989299996 meters 0.022138792043211855 Centerline is valid? [True, True] Translation: X:229.35, Y:16.47, Z:9.42 [[ 9.90679183e-01 -1.27995657e-01 -4.66032963e-02 2.29349473e+02] [ 1.27957750e-01 9.91772309e-01 -3.80809428e-03 1.64740133e+01] [ 4.67072783e-02 -2.19065319e-03 9.98906217e-01 9.41820613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.44509989299996 meters 0.02491222168740125 Centerline is valid? [True, True] Translation: X:229.41, Y:16.47, Z:9.42 [[ 9.90512352e-01 -1.28944628e-01 -4.75243421e-02 2.29410499e+02] [ 1.28906464e-01 9.91649167e-01 -3.87986503e-03 1.64749008e+01] [ 4.76277620e-02 -2.28314067e-03 9.98862545e-01 9.42122166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.50509989299997 meters 0.023893523720796724 Centerline is valid? [True, True] Translation: X:229.47, Y:16.48, Z:9.43 [[ 9.90317004e-01 -1.30288359e-01 -4.79288486e-02 2.29472442e+02] [ 1.30251245e-01 9.91473310e-01 -3.91012343e-03 1.64801887e+01] [ 4.80296177e-02 -2.37053048e-03 9.98843099e-01 9.42528174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.56509989299997 meters 0.0235461296116573 Centerline is valid? [True, True] Translation: X:229.53, Y:16.49, Z:9.43 [[ 9.90133603e-01 -1.31155833e-01 -4.93314819e-02 2.29534028e+02] [ 1.31117775e-01 9.91358644e-01 -4.02083792e-03 1.64853820e+01] [ 4.94325473e-02 -2.48706740e-03 9.98774368e-01 9.42866365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.62509989299997 meters 0.026416638382163227 Centerline is valid? [True, True] Translation: X:229.60, Y:16.49, Z:9.43 [[ 9.89963305e-01 -1.32061627e-01 -5.03227802e-02 2.29595440e+02] [ 1.32023375e-01 9.91238132e-01 -4.09800968e-03 1.64867135e+01] [ 5.04230485e-02 -2.58690409e-03 9.98724599e-01 9.43152904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68509989299997 meters 0.022931897730705638 Centerline is valid? [True, True] Translation: X:229.66, Y:16.50, Z:9.44 [[ 9.89906617e-01 -1.32176788e-01 -5.11291236e-02 2.29656323e+02] [ 1.32137644e-01 9.91222648e-01 -4.16001294e-03 1.64975968e+01] [ 5.12302024e-02 -2.63805760e-03 9.98683387e-01 9.43610778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74509989299995 meters 0.0231996677617679 Centerline is valid? [True, True] Translation: X:229.72, Y:16.50, Z:9.44 [[ 9.90211198e-01 -1.30040796e-01 -5.07067551e-02 2.29718043e+02] [ 1.29999831e-01 9.91505460e-01 -4.11917399e-03 1.65022284e+01] [ 5.08116852e-02 -2.51301741e-03 9.98705090e-01 9.43887525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80509989299995 meters 0.02183438832666581 Centerline is valid? [True, True] Translation: X:229.78, Y:16.51, Z:9.44 [[ 9.90680425e-01 -1.26598611e-01 -5.02502480e-02 2.29778132e+02] [ 1.26554080e-01 9.91951320e-01 -4.07977931e-03 1.65099626e+01] [ 5.03622942e-02 -2.31761639e-03 9.98728325e-01 9.44256935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86509989299995 meters 0.021053644335859815 Centerline is valid? [True, True] Translation: X:229.84, Y:16.52, Z:9.45 [[ 9.91345078e-01 -1.21546641e-01 -4.96119999e-02 2.29837526e+02] [ 1.21496918e-01 9.92583636e-01 -4.02796043e-03 1.65177575e+01] [ 4.97336444e-02 -2.03460634e-03 9.98760444e-01 9.44620919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92509989299995 meters 0.0203239194078725 Centerline is valid? [True, True] Translation: X:229.90, Y:16.52, Z:9.45 [[ 9.91568892e-01 -1.19611056e-01 -4.98430367e-02 2.29899333e+02] [ 1.19558458e-01 9.92818918e-01 -4.04613530e-03 1.65241713e+01] [ 4.99690723e-02 -1.94713471e-03 9.98748868e-01 9.44857108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98509989299995 meters 0.01895578270069757 Centerline is valid? [True, True] Translation: X:229.96, Y:16.53, Z:9.45 [[ 9.91615168e-01 -1.18404785e-01 -5.17654816e-02 2.29961388e+02] [ 1.18346616e-01 9.92963470e-01 -4.19828064e-03 1.65299953e+01] [ 5.18983287e-02 -1.96319082e-03 9.98650444e-01 9.44989464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04509989299996 meters 0.019859371379607024 Centerline is valid? [True, True] Translation: X:230.02, Y:16.53, Z:9.45 [[ 9.91557706e-01 -1.18366514e-01 -5.29403812e-02 2.30022830e+02] [ 1.18305863e-01 9.92967939e-01 -4.28904377e-03 1.65318874e+01] [ 5.30757804e-02 -2.01032308e-03 9.98588464e-01 9.45253091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10509989299996 meters 0.020708460255785162 Centerline is valid? [True, True] Translation: X:230.09, Y:16.53, Z:9.45 [[ 9.91384259e-01 -1.19056125e-01 -5.46158366e-02 2.30085206e+02] [ 1.18992955e-01 9.92885266e-01 -4.41868438e-03 1.65343111e+01] [ 5.47533309e-02 -2.11828564e-03 9.98497664e-01 9.45368620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16509989299996 meters 0.020871414241591606 Centerline is valid? [True, True] Translation: X:230.15, Y:16.54, Z:9.46 [[ 9.91471539e-01 -1.18008891e-01 -5.53000003e-02 2.30147311e+02] [ 1.17942726e-01 9.93010338e-01 -4.47003402e-03 1.65381045e+01] [ 5.54409758e-02 -2.09032127e-03 9.98459778e-01 9.45538920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.22509989299996 meters 0.02016329592930621 Centerline is valid? [True, True] Translation: X:230.21, Y:16.54, Z:9.46 [[ 9.91944451e-01 -1.14971949e-01 -5.31757223e-02 2.30208121e+02] [ 1.14906584e-01 9.93367016e-01 -4.29506421e-03 1.65446141e+01] [ 5.33168206e-02 -1.84977552e-03 9.98575934e-01 9.45996416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.28509989299997 meters 0.01852684823574345 Centerline is valid? [True, True] Translation: X:230.27, Y:16.55, Z:9.46 [[ 9.91942508e-01 -1.14939010e-01 -5.32830640e-02 2.30270262e+02] [ 1.14873458e-01 9.93370820e-01 -4.30141806e-03 1.65518240e+01] [ 5.34242417e-02 -1.85405037e-03 9.98570184e-01 9.46270177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.34509989299997 meters 0.018797478109481763 Centerline is valid? [True, True] Translation: X:230.33, Y:16.56, Z:9.46 [[ 9.91587107e-01 -1.17678388e-01 -5.39148126e-02 2.30331874e+02] [ 1.17615517e-01 9.93049686e-01 -4.34863931e-03 1.65550596e+01] [ 5.40518286e-02 -2.02916391e-03 9.98536070e-01 9.46460915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40509989299997 meters 0.01993126489652133 Centerline is valid? [True, True] Translation: X:230.39, Y:16.56, Z:9.47 [[ 9.91035460e-01 -1.22337706e-01 -5.36861419e-02 2.30392525e+02] [ 1.22282321e-01 9.92485922e-01 -4.32764517e-03 1.65563730e+01] [ 5.38121742e-02 -2.27601620e-03 9.98548481e-01 9.46717307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46509989299994 meters 0.022471745757576315 Centerline is valid? [True, True] Translation: X:230.45, Y:16.55, Z:9.47 [[ 9.90350838e-01 -1.27887791e-01 -5.33847330e-02 2.30453709e+02] [ 1.27841106e-01 9.91785330e-01 -4.30251199e-03 1.65546650e+01] [ 5.34964337e-02 -2.56376695e-03 9.98564749e-01 9.46927041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52509989299995 meters 0.024044704529972073 Centerline is valid? [True, True] Translation: X:230.52, Y:16.56, Z:9.47 [[ 9.90105040e-01 -1.30528694e-01 -5.15196104e-02 2.30515725e+02] [ 1.30488820e-01 9.91441090e-01 -4.15127585e-03 1.65559417e+01] [ 5.16205193e-02 -2.61253403e-03 9.98663355e-01 9.47360524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58509989299995 meters 0.024487426125852023 Centerline is valid? [True, True] Translation: X:230.58, Y:16.56, Z:9.48 [[ 9.90166767e-01 -1.30730245e-01 -4.97933443e-02 2.30577184e+02] [ 1.30693426e-01 9.91414726e-01 -4.00863590e-03 1.65596468e+01] [ 4.98899047e-02 -2.53844471e-03 9.98751497e-01 9.47849559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64509989299995 meters 0.02335495602516089 Centerline is valid? [True, True] Translation: X:230.64, Y:16.56, Z:9.48 [[ 9.90381973e-01 -1.29569941e-01 -4.85301820e-02 2.30639282e+02] [ 1.29533744e-01 9.91567331e-01 -3.90346455e-03 1.65649220e+01] [ 4.86267147e-02 -2.42037523e-03 9.98814089e-01 9.48280195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70509989299995 meters 0.025596276592258466 Centerline is valid? [True, True] Translation: X:230.70, Y:16.57, Z:9.48 [[ 9.90421120e-01 -1.29117390e-01 -4.89357273e-02 2.30700538e+02] [ 1.29080208e-01 9.91626358e-01 -3.93256338e-03 1.65655474e+01] [ 4.90337194e-02 -2.42174004e-03 9.98794188e-01 9.48447155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76509989299996 meters 0.023879131511691572 Centerline is valid? [True, True] Translation: X:230.76, Y:16.57, Z:9.49 [[ 9.90262881e-01 -1.29753141e-01 -5.04336019e-02 2.30762458e+02] [ 1.29714625e-01 9.91543097e-01 -4.04994141e-03 1.65714283e+01] [ 5.05325825e-02 -2.53146912e-03 9.98719205e-01 9.48645461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82509989299996 meters 0.023620825179539066 Centerline is valid? [True, True] Translation: X:230.82, Y:16.57, Z:9.49 [[ 9.89986962e-01 -1.30881190e-01 -5.28765442e-02 2.30824577e+02] [ 1.30840676e-01 9.91394332e-01 -4.24207152e-03 1.65741211e+01] [ 5.29767136e-02 -2.71880731e-03 9.98592047e-01 9.48739609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88509989299996 meters 0.02606252873745447 Centerline is valid? [True, True] Translation: X:230.89, Y:16.57, Z:9.49 [[ 9.90284831e-01 -1.28074690e-01 -5.41555766e-02 2.30885151e+02] [ 1.28028259e-01 9.91761024e-01 -4.34015069e-03 1.65740967e+01] [ 5.42652535e-02 -2.63545878e-03 9.98523078e-01 9.48967445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.94509989299996 meters 0.020694501940088393 Centerline is valid? [True, True] Translation: X:230.94, Y:16.59, Z:9.50 [[ 9.91772703e-01 -1.15997033e-01 -5.41441864e-02 2.30944381e+02] [ 1.15932897e-01 9.93247590e-01 -4.33455455e-03 1.65874888e+01] [ 5.42813781e-02 -1.97819951e-03 9.98523720e-01 9.49527085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.00509989299997 meters 0.019272521354750865 Centerline is valid? [True, True] Translation: X:231.01, Y:16.59, Z:9.50 [[ 9.91848741e-01 -1.15392949e-01 -5.40420445e-02 2.31005772e+02] [ 1.15328214e-01 9.93318023e-01 -4.32538358e-03 1.65945654e+01] [ 5.41800555e-02 -1.94244622e-03 9.98529293e-01 9.49873596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.06509989299997 meters 0.01916926679026646 Centerline is valid? [True, True] Translation: X:231.07, Y:16.60, Z:9.50 [[ 9.91872203e-01 -1.14995887e-01 -5.44562108e-02 2.31067477e+02] [ 1.14929735e-01 9.93364076e-01 -4.35530679e-03 1.65995111e+01] [ 5.45956859e-02 -1.93873011e-03 9.98506661e-01 9.50123240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.12509989299997 meters 0.019679197192368738 Centerline is valid? [True, True] Translation: X:231.13, Y:16.60, Z:9.50 [[ 9.91825258e-01 -1.14987331e-01 -5.53224267e-02 2.31129274e+02] [ 1.14919272e-01 9.93364998e-01 -4.42050305e-03 1.66031570e+01] [ 5.54636642e-02 -1.97324645e-03 9.98458756e-01 9.50362261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18509989299997 meters 0.019679197192368738 Centerline is valid? [True, True] Translation: X:231.19, Y:16.61, Z:9.51 [[ 9.91829379e-01 -1.14951646e-01 -5.53227053e-02 2.31189920e+02] [ 1.14883726e-01 9.93369125e-01 -4.41701478e-03 1.66079679e+01] [ 5.54636105e-02 -1.97475349e-03 9.98458756e-01 9.50617917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24509989299995 meters 0.019815386532584967 Centerline is valid? [True, True] Translation: X:231.25, Y:16.61, Z:9.51 [[ 9.91679677e-01 -1.16009368e-01 -5.57964626e-02 2.31250839e+02] [ 1.15942065e-01 9.93245997e-01 -4.45281186e-03 1.66113048e+01] [ 5.59361810e-02 -2.05339408e-03 9.98432235e-01 9.50821939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30509989299995 meters 0.020351038570569458 Centerline is valid? [True, True] Translation: X:231.31, Y:16.61, Z:9.51 [[ 9.91279636e-01 -1.19220288e-01 -5.61356043e-02 2.31311791e+02] [ 1.19157400e-01 9.92865278e-01 -4.47809134e-03 1.66122478e+01] [ 5.62689717e-02 -2.24993190e-03 9.98413111e-01 9.51049977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36509989299995 meters 0.021973934561638944 Centerline is valid? [True, True] Translation: X:231.37, Y:16.61, Z:9.51 [[ 9.90929904e-01 -1.22116572e-01 -5.60844750e-02 2.31372531e+02] [ 1.22058481e-01 9.92512831e-01 -4.47299230e-03 1.66132114e+01] [ 5.62107876e-02 -2.41316400e-03 9.98416007e-01 9.51353092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42509989299995 meters 0.0214960882892662 Centerline is valid? [True, True] Translation: X:231.43, Y:16.62, Z:9.52 [[ 9.90771155e-01 -1.23704330e-01 -5.54053868e-02 2.31433186e+02] [ 1.23650167e-01 9.92316038e-01 -4.41783827e-03 1.66180289e+01] [ 5.55261597e-02 -2.47381859e-03 9.98454168e-01 9.51656606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48509989299995 meters 0.022234143210087463 Centerline is valid? [True, True] Translation: X:231.49, Y:16.62, Z:9.52 [[ 9.90242920e-01 -1.28434405e-01 -5.40699815e-02 2.31493782e+02] [ 1.28389897e-01 9.91714402e-01 -4.31037843e-03 1.66203168e+01] [ 5.41755803e-02 -2.67371766e-03 9.98527845e-01 9.52097274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54509989299996 meters 0.02740448775519686 Centerline is valid? [True, True] Translation: X:231.55, Y:16.62, Z:9.52 [[ 9.89815751e-01 -1.32107231e-01 -5.30326196e-02 2.31553995e+02] [ 1.32069747e-01 9.91231417e-01 -4.22612243e-03 1.66157386e+01] [ 5.31259000e-02 -2.82092209e-03 9.98583838e-01 9.52281437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60509989299996 meters 0.026102082952953614 Centerline is valid? [True, True] Translation: X:231.61, Y:16.62, Z:9.53 [[ 9.89461537e-01 -1.34867100e-01 -5.26947074e-02 2.31614922e+02] [ 1.34834165e-01 9.90859295e-01 -4.19584807e-03 1.66203133e+01] [ 5.27789225e-02 -2.95341661e-03 9.98601854e-01 9.52585141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66509989299996 meters 0.02797093018819769 Centerline is valid? [True, True] Translation: X:231.68, Y:16.62, Z:9.53 [[ 9.89330955e-01 -1.35795507e-01 -5.27621190e-02 2.31675834e+02] [ 1.35763958e-01 9.90732316e-01 -4.19830000e-03 1.66214822e+01] [ 5.28432466e-02 -3.00968595e-03 9.98598284e-01 9.52698400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.72509989299996 meters 0.02924852904519803 Centerline is valid? [True, True] Translation: X:231.74, Y:16.62, Z:9.53 [[ 9.89397460e-01 -1.35367975e-01 -5.26134715e-02 2.31736720e+02] [ 1.35336300e-01 9.90790900e-01 -4.18080727e-03 1.66234395e+01] [ 5.26948962e-02 -2.98403245e-03 9.98606200e-01 9.52827085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.78509989299997 meters 0.026135633343597264 Centerline is valid? [True, True] Translation: X:231.80, Y:16.63, Z:9.53 [[ 9.89536942e-01 -1.34660974e-01 -5.17982867e-02 2.31797958e+02] [ 1.34629418e-01 9.90887479e-01 -4.11384144e-03 1.66326317e+01] [ 5.18802477e-02 -2.90277512e-03 9.98649094e-01 9.53150049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.84509989299997 meters 0.026422609652505636 Centerline is valid? [True, True] Translation: X:231.86, Y:16.64, Z:9.53 [[ 9.89591901e-01 -1.33998021e-01 -5.24633211e-02 2.31859901e+02] [ 1.33964929e-01 9.90977330e-01 -4.16276393e-03 1.66371998e+01] [ 5.25477640e-02 -2.90880761e-03 9.98614175e-01 9.53342744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90509989299997 meters 0.026767077336369773 Centerline is valid? [True, True] Translation: X:231.92, Y:16.64, Z:9.53 [[ 9.89645621e-01 -1.33437920e-01 -5.28759474e-02 2.31922333e+02] [ 1.33403716e-01 9.91052914e-01 -4.19163017e-03 1.66415165e+01] [ 5.29621842e-02 -2.90561941e-03 9.98592291e-01 9.53452181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96509989299994 meters 0.02481375308332298 Centerline is valid? [True, True] Translation: X:231.98, Y:16.65, Z:9.54 [[ 9.89581606e-01 -1.33931678e-01 -5.28256632e-02 2.31984143e+02] [ 1.33898443e-01 9.90986227e-01 -4.18380225e-03 1.66498177e+01] [ 5.29098483e-02 -2.93306029e-03 9.98594986e-01 9.53730269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02509989299995 meters 0.02625615359199712 Centerline is valid? [True, True] Translation: X:232.05, Y:16.65, Z:9.54 [[ 9.89466371e-01 -1.34816688e-01 -5.27329201e-02 2.32046495e+02] [ 1.34785028e-01 9.90866079e-01 -4.17254127e-03 1.66537919e+01] [ 5.28137900e-02 -2.97901885e-03 9.98599934e-01 9.53909967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08509989299995 meters 0.029128748450009765 Centerline is valid? [True, True] Translation: X:232.11, Y:16.66, Z:9.54 [[ 9.89255586e-01 -1.36092972e-01 -5.34049462e-02 2.32106787e+02] [ 1.36062533e-01 9.90691253e-01 -4.22239234e-03 1.66551886e+01] [ 5.34824510e-02 -3.08938704e-03 9.98564011e-01 9.54039562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14509989299995 meters 0.03017156297764656 Centerline is valid? [True, True] Translation: X:232.17, Y:16.66, Z:9.54 [[ 9.88943539e-01 -1.38373262e-01 -5.33246376e-02 2.32167951e+02] [ 1.38346276e-01 9.90374951e-01 -4.21488260e-03 1.66595124e+01] [ 5.33946124e-02 -3.20898410e-03 9.98568334e-01 9.54319450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20509989299995 meters 0.028713139121422693 Centerline is valid? [True, True] Translation: X:232.23, Y:16.67, Z:9.55 [[ 9.88627781e-01 -1.41162553e-01 -5.18482847e-02 2.32228212e+02] [ 1.41140951e-01 9.89981036e-01 -4.09630346e-03 1.66662179e+01] [ 5.19070633e-02 -3.26819679e-03 9.98646572e-01 9.54802279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26509989299996 meters 0.032582829012323025 Centerline is valid? [True, True] Translation: X:232.29, Y:16.67, Z:9.55 [[ 9.88495000e-01 -1.42382127e-01 -5.10388613e-02 2.32289655e+02] [ 1.42362926e-01 9.89806323e-01 -4.03004382e-03 1.66656840e+01] [ 5.10923938e-02 -3.28236347e-03 9.98688537e-01 9.55109234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32509989299996 meters 0.03387829053542311 Centerline is valid? [True, True] Translation: X:232.35, Y:16.67, Z:9.56 [[ 9.88398705e-01 -1.43667310e-01 -4.92717352e-02 2.32351633e+02] [ 1.43651133e-01 9.89620754e-01 -3.88778389e-03 1.66683941e+01] [ 4.93188792e-02 -3.23526002e-03 9.98777844e-01 9.55531675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38509989299996 meters 0.03308666486326801 Centerline is valid? [True, True] Translation: X:232.41, Y:16.67, Z:9.56 [[ 9.88190690e-01 -1.45194863e-01 -4.89654128e-02 2.32413185e+02] [ 1.45180914e-01 9.89397595e-01 -3.86029742e-03 1.66737352e+01] [ 4.90067570e-02 -3.29413341e-03 9.98793015e-01 9.55855204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.44509989299996 meters 0.031542473133505534 Centerline is valid? [True, True] Translation: X:232.47, Y:16.68, Z:9.56 [[ 9.87934999e-01 -1.46656032e-01 -4.97638994e-02 2.32474770e+02] [ 1.46643625e-01 9.89181621e-01 -3.92014307e-03 1.66797760e+01] [ 4.98004473e-02 -3.42471205e-03 9.98753316e-01 9.56065266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.50509989299997 meters 0.03246663956418277 Centerline is valid? [True, True] Translation: X:232.54, Y:16.68, Z:9.56 [[ 9.87373437e-01 -1.49992675e-01 -5.09499052e-02 2.32535428e+02] [ 1.49984317e-01 9.88680247e-01 -4.00912196e-03 1.66816190e+01] [ 5.09745038e-02 -3.68318623e-03 9.98693163e-01 9.56154405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.56509989299997 meters 0.03458959344603677 Centerline is valid? [True, True] Translation: X:232.60, Y:16.68, Z:9.56 [[ 9.86888906e-01 -1.52883890e-01 -5.17378254e-02 2.32596458e+02] [ 1.52879243e-01 9.88236493e-01 -4.07072850e-03 1.66817910e+01] [ 5.17515559e-02 -3.89228280e-03 9.98652405e-01 9.56246843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.62509989299997 meters 0.035769676808486146 Centerline is valid? [True, True] Translation: X:232.66, Y:16.68, Z:9.56 [[ 9.86874264e-01 -1.52983675e-01 -5.17221707e-02 2.32658293e+02] [ 1.52979243e-01 9.88221029e-01 -4.06802683e-03 1.66843447e+01] [ 5.17352785e-02 -3.89778755e-03 9.98653227e-01 9.56480364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68509989299997 meters 0.03561391890717944 Centerline is valid? [True, True] Translation: X:232.72, Y:16.69, Z:9.57 [[ 9.87198477e-01 -1.51675874e-01 -4.93314966e-02 2.32719334e+02] [ 1.51670364e-01 9.88423528e-01 -3.87683214e-03 1.66883162e+01] [ 4.93484338e-02 -3.65492328e-03 9.98774936e-01 9.56907379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74509989299995 meters 0.032861693431653266 Centerline is valid? [True, True] Translation: X:232.78, Y:16.70, Z:9.57 [[ 9.87635990e-01 -1.49105159e-01 -4.84024994e-02 2.32779677e+02] [ 1.49096859e-01 9.88815286e-01 -3.80221509e-03 1.66964900e+01] [ 4.84280612e-02 -3.46145616e-03 9.98820675e-01 9.57267047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80509989299995 meters 0.03302141585081113 Centerline is valid? [True, True] Translation: X:232.84, Y:16.70, Z:9.58 [[ 9.88071397e-01 -1.46369841e-01 -4.78621415e-02 2.32840318e+02] [ 1.46358572e-01 9.89224463e-01 -3.75890148e-03 1.67011343e+01] [ 4.78965911e-02 -3.29097164e-03 9.98846878e-01 9.57548093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86509989299995 meters 0.0332514775377261 Centerline is valid? [True, True] Translation: X:232.90, Y:16.70, Z:9.58 [[ 9.88580691e-01 -1.43265311e-01 -4.67254500e-02 2.32899658e+02] [ 1.43251166e-01 9.89679567e-01 -3.66854827e-03 1.67045054e+01] [ 4.67687988e-02 -3.06681922e-03 9.98901033e-01 9.57825768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92509989299995 meters 0.02879145482671993 Centerline is valid? [True, True] Translation: X:232.96, Y:16.71, Z:9.58 [[ 9.88696547e-01 -1.42497634e-01 -4.66214874e-02 2.32961641e+02] [ 1.42482857e-01 9.89790514e-01 -3.65706630e-03 1.67140312e+01] [ 4.66666292e-02 -3.02703389e-03 9.98905933e-01 9.58101678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98509989299995 meters 0.02886681564170749 Centerline is valid? [True, True] Translation: X:233.02, Y:16.72, Z:9.58 [[ 9.88698079e-01 -1.42324385e-01 -4.71155790e-02 2.33023913e+02] [ 1.42309266e-01 9.89815356e-01 -3.69228830e-03 1.67178545e+01] [ 4.71612263e-02 -3.05442509e-03 9.98882620e-01 9.58270380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04509989299996 meters 0.03186498932892447 Centerline is valid? [True, True] Translation: X:233.09, Y:16.72, Z:9.58 [[ 9.88415954e-01 -1.43892444e-01 -4.82583310e-02 2.33085348e+02] [ 1.43878616e-01 9.89588131e-01 -3.77830788e-03 1.67174678e+01] [ 4.82995415e-02 -3.20880209e-03 9.98827742e-01 9.58374647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10509989299996 meters 0.03142877539391302 Centerline is valid? [True, True] Translation: X:233.15, Y:16.72, Z:9.59 [[ 9.88315861e-01 -1.44519152e-01 -4.84352477e-02 2.33147381e+02] [ 1.44506107e-01 9.89496653e-01 -3.78938514e-03 1.67215837e+01] [ 4.84741542e-02 -3.25407962e-03 9.98819136e-01 9.58635298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16509989299996 meters 0.03078814512799534 Centerline is valid? [True, True] Translation: X:233.21, Y:16.73, Z:9.59 [[ 9.88463585e-01 -1.43333573e-01 -4.89410580e-02 2.33209808e+02] [ 1.43318992e-01 9.89669154e-01 -3.82522249e-03 1.67264893e+01] [ 4.89837383e-02 -3.23308999e-03 9.98794343e-01 9.58960905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.22509989299996 meters 0.03210299687917148 Centerline is valid? [True, True] Translation: X:233.27, Y:16.73, Z:9.59 [[ 9.88677149e-01 -1.41748881e-01 -4.92417591e-02 2.33270002e+02] [ 1.41732362e-01 9.89897548e-01 -3.84474756e-03 1.67293286e+01] [ 4.92892853e-02 -3.17793676e-03 9.98779489e-01 9.59232638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.28509989299997 meters 0.02786757340367178 Centerline is valid? [True, True] Translation: X:233.33, Y:16.74, Z:9.60 [[ 9.89095742e-01 -1.38757753e-01 -4.93548375e-02 2.33330298e+02] [ 1.38737494e-01 9.90321697e-01 -3.85268656e-03 1.67395771e+01] [ 4.94117566e-02 -3.03669062e-03 9.98773877e-01 9.59619661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.34509989299997 meters 0.029356500018060658 Centerline is valid? [True, True] Translation: X:233.39, Y:16.74, Z:9.60 [[ 9.89356787e-01 -1.36834314e-01 -4.94926199e-02 2.33390758e+02] [ 1.36811591e-01 9.90589557e-01 -3.86252744e-03 1.67408568e+01] [ 4.95553987e-02 -2.94974632e-03 9.98767021e-01 9.59813679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40509989299997 meters 0.02812183974924783 Centerline is valid? [True, True] Translation: X:233.45, Y:16.75, Z:9.60 [[ 9.89570205e-01 -1.35149288e-01 -4.98545773e-02 2.33452271e+02] [ 1.35124163e-01 9.90821039e-01 -3.88956609e-03 1.67462219e+01] [ 4.99226362e-02 -2.88755930e-03 9.98748914e-01 9.60099046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46509989299994 meters 0.02637232321846236 Centerline is valid? [True, True] Translation: X:233.51, Y:16.75, Z:9.60 [[ 9.89903345e-01 -1.32586960e-01 -5.01205026e-02 2.33513517e+02] [ 1.32558431e-01 9.91167490e-01 -3.90757463e-03 1.67522796e+01] [ 5.01959062e-02 -2.77577399e-03 9.98735534e-01 9.60391181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52509989299995 meters 0.023765944890961732 Centerline is valid? [True, True] Translation: X:233.57, Y:16.76, Z:9.61 [[ 9.90231387e-01 -1.29983104e-01 -5.04598149e-02 2.33574398e+02] [ 1.29950952e-01 9.91512629e-01 -3.93138789e-03 1.67603304e+01] [ 5.05425578e-02 -2.66431732e-03 9.98718354e-01 9.60667775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58509989299995 meters 0.02363324478865967 Centerline is valid? [True, True] Translation: X:233.64, Y:16.76, Z:9.61 [[ 9.90508355e-01 -1.27471285e-01 -5.14224622e-02 2.33635881e+02] [ 1.27434634e-01 9.91838888e-01 -4.00425012e-03 1.67646570e+01] [ 5.15132247e-02 -2.58675945e-03 9.98668962e-01 9.60808660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64509989299995 meters 0.023273197352309823 Centerline is valid? [True, True] Translation: X:233.70, Y:16.77, Z:9.61 [[ 9.90676511e-01 -1.26067162e-01 -5.16441697e-02 2.33696861e+02] [ 1.26028432e-01 9.92018489e-01 -4.01882028e-03 1.67692032e+01] [ 5.17386125e-02 -2.52728287e-03 9.98657463e-01 9.60962618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70509989299995 meters 0.023446499396980937 Centerline is valid? [True, True] Translation: X:233.76, Y:16.77, Z:9.61 [[ 9.90874748e-01 -1.24773246e-01 -5.09791195e-02 2.33758619e+02] [ 1.24733901e-01 9.92182308e-01 -3.96504937e-03 1.67731466e+01] [ 5.10753125e-02 -2.42995715e-03 9.98691848e-01 9.61216454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76509989299996 meters 0.023765654880948263 Centerline is valid? [True, True] Translation: X:233.82, Y:16.78, Z:9.61 [[ 9.91148062e-01 -1.22988616e-01 -4.99932001e-02 2.33819313e+02] [ 1.22948639e-01 9.92405428e-01 -3.88582094e-03 1.67770846e+01] [ 5.00914349e-02 -2.29517202e-03 9.98741999e-01 9.61499053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82509989299996 meters 0.022445642326937028 Centerline is valid? [True, True] Translation: X:233.88, Y:16.78, Z:9.62 [[ 9.91307132e-01 -1.22036294e-01 -4.91661804e-02 2.33879812e+02] [ 1.21996545e-01 9.92523175e-01 -3.81978636e-03 1.67841962e+01] [ 4.92647260e-02 -2.21152269e-03 9.98783308e-01 9.61833220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88509989299996 meters 0.023767174280034952 Centerline is valid? [True, True] Translation: X:233.94, Y:16.79, Z:9.62 [[ 9.91392501e-01 -1.21492006e-01 -4.87914129e-02 2.33939993e+02] [ 1.21452284e-01 9.92590039e-01 -3.78902873e-03 1.67871929e+01] [ 4.88902071e-02 -2.16941384e-03 9.98801803e-01 9.62097933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.94509989299996 meters 0.024195916148513373 Centerline is valid? [True, True] Translation: X:234.00, Y:16.79, Z:9.62 [[ 9.91346568e-01 -1.22035904e-01 -4.83654967e-02 2.34001321e+02] [ 1.21997564e-01 9.92523297e-01 -3.75497723e-03 1.67911513e+01] [ 4.84621243e-02 -2.17798898e-03 9.98822646e-01 9.62355100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.00509989299997 meters 0.02497031769128084 Centerline is valid? [True, True] Translation: X:234.06, Y:16.80, Z:9.63 [[ 9.91203398e-01 -1.23687111e-01 -4.70884460e-02 2.34062340e+02] [ 1.23652701e-01 9.92318828e-01 -3.65420569e-03 1.67953638e+01] [ 4.71787296e-02 -2.20055245e-03 9.98884040e-01 9.62723382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.06509989299997 meters 0.02277825308961205 Centerline is valid? [True, True] Translation: X:234.12, Y:16.80, Z:9.63 [[ 9.91127365e-01 -1.24728218e-01 -4.59284016e-02 2.34123875e+02] [ 1.24696676e-01 9.92188514e-01 -3.56244057e-03 1.68042359e+01] [ 4.60139694e-02 -2.19628667e-03 9.98938382e-01 9.63073312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.12509989299997 meters 0.023280701157743788 Centerline is valid? [True, True] Translation: X:234.19, Y:16.81, Z:9.63 [[ 9.90925893e-01 -1.26061665e-01 -4.66297273e-02 2.34186018e+02] [ 1.26030790e-01 9.92019750e-01 -3.61333504e-03 1.68090629e+01] [ 4.67131135e-02 -2.29623412e-03 9.98905707e-01 9.63246413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18509989299997 meters 0.02422502823415564 Centerline is valid? [True, True] Translation: X:234.25, Y:16.81, Z:9.63 [[ 9.90867039e-01 -1.26360472e-01 -4.70695392e-02 2.34248471e+02] [ 1.26329514e-01 9.91981641e-01 -3.64390201e-03 1.68128986e+01] [ 4.71525639e-02 -2.33564964e-03 9.98884969e-01 9.63385433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24509989299995 meters 0.0238520018165851 Centerline is valid? [True, True] Translation: X:234.31, Y:16.82, Z:9.64 [[ 9.91018951e-01 -1.24975653e-01 -4.75660075e-02 2.34310360e+02] [ 1.24942616e-01 9.92157149e-01 -3.67882657e-03 1.68196510e+01] [ 4.76527181e-02 -2.29723456e-03 9.98861322e-01 9.63571295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30509989299995 meters 0.023425756270275218 Centerline is valid? [True, True] Translation: X:234.37, Y:16.83, Z:9.64 [[ 9.91539743e-01 -1.20743400e-01 -4.76441990e-02 2.34369423e+02] [ 1.20705521e-01 9.92681530e-01 -3.68191467e-03 1.68274752e+01] [ 4.77400833e-02 -2.10015315e-03 9.98857584e-01 9.63721607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36509989299995 meters 0.020835285021491817 Centerline is valid? [True, True] Translation: X:234.43, Y:16.84, Z:9.64 [[ 9.91995196e-01 -1.17656883e-01 -4.58518152e-02 2.34429868e+02] [ 1.17618481e-01 9.93052533e-01 -3.54397522e-03 1.68377140e+01] [ 4.59502343e-02 -1.87741445e-03 9.98941966e-01 9.64117449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42509989299995 meters 0.02095696495578021 Centerline is valid? [True, True] Translation: X:234.49, Y:16.84, Z:9.65 [[ 9.92519317e-01 -1.14348952e-01 -4.27752501e-02 2.34490337e+02] [ 1.14312523e-01 9.93439342e-01 -3.30470720e-03 1.68437579e+01] [ 4.28725061e-02 -1.60976105e-03 9.99079255e-01 9.64606566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48509989299995 meters 0.02116770433447957 Centerline is valid? [True, True] Translation: X:234.55, Y:16.85, Z:9.65 [[ 9.92649885e-01 -1.13557736e-01 -4.18431194e-02 2.34551839e+02] [ 1.13522238e-01 9.93530201e-01 -3.23120934e-03 1.68490217e+01] [ 4.19393317e-02 -1.54266498e-03 9.99118968e-01 9.64982011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54509989299996 meters 0.020044244852256088 Centerline is valid? [True, True] Translation: X:234.61, Y:16.86, Z:9.65 [[ 9.92592568e-01 -1.14192442e-01 -4.14738585e-02 2.34613220e+02] [ 1.14158243e-01 9.93457426e-01 -3.19976078e-03 1.68552615e+01] [ 4.15679012e-02 -1.55852402e-03 9.99134466e-01 9.65219169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60509989299996 meters 0.020275759027152652 Centerline is valid? [True, True] Translation: X:234.67, Y:16.86, Z:9.65 [[ 9.92332221e-01 -1.16037983e-01 -4.25670008e-02 2.34674753e+02] [ 1.16003755e-01 9.93243354e-01 -3.28169162e-03 1.68588259e+01] [ 4.26601915e-02 -1.68140359e-03 9.99088225e-01 9.65409268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66509989299996 meters 0.021769030463478396 Centerline is valid? [True, True] Translation: X:234.74, Y:16.86, Z:9.66 [[ 9.91794254e-01 -1.19604907e-01 -4.51533438e-02 2.34736041e+02] [ 1.19570199e-01 9.92819655e-01 -3.47850175e-03 1.68604897e+01] [ 4.52451731e-02 -1.94903625e-03 9.98974011e-01 9.65500375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.72509989299996 meters 0.02196451954750948 Centerline is valid? [True, True] Translation: X:234.80, Y:16.86, Z:9.66 [[ 9.91276160e-01 -1.23123121e-01 -4.70347852e-02 2.34796680e+02] [ 1.23089491e-01 9.92388966e-01 -3.62175497e-03 1.68641451e+01] [ 4.71227236e-02 -2.19932840e-03 9.98886686e-01 9.65724730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.78509989299997 meters 0.02368513163597597 Centerline is valid? [True, True] Translation: X:234.86, Y:16.87, Z:9.66 [[ 9.91034417e-01 -1.25270655e-01 -4.64547899e-02 2.34857235e+02] [ 1.25240244e-01 9.92119999e-01 -3.57615538e-03 1.68655275e+01] [ 4.65367134e-02 -2.27391618e-03 9.98913992e-01 9.66034895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.84509989299997 meters 0.02308592174833474 Centerline is valid? [True, True] Translation: X:234.92, Y:16.87, Z:9.66 [[ 9.90807320e-01 -1.27334406e-01 -4.56815538e-02 2.34919288e+02] [ 1.27307267e-01 9.91857099e-01 -3.51482455e-03 1.68703191e+01] [ 4.57571316e-02 -2.33307989e-03 9.98949869e-01 9.66308060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90509989299997 meters 0.024655293593611773 Centerline is valid? [True, True] Translation: X:234.98, Y:16.87, Z:9.67 [[ 9.90707640e-01 -1.28199906e-01 -4.54219721e-02 2.34979987e+02] [ 1.28174129e-01 9.91745533e-01 -3.49159021e-03 1.68724407e+01] [ 4.54946595e-02 -2.36277662e-03 9.98961788e-01 9.66544707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96509989299994 meters 0.02677549066248893 Centerline is valid? [True, True] Translation: X:235.04, Y:16.87, Z:9.67 [[ 9.90385934e-01 -1.30442982e-01 -4.60470411e-02 2.35040554e+02] [ 1.30418984e-01 9.91452657e-01 -3.53798594e-03 1.68740728e+01] [ 4.61149666e-02 -2.50143678e-03 9.98933007e-01 9.66765703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02509989299995 meters 0.027922208715209642 Centerline is valid? [True, True] Translation: X:235.10, Y:16.88, Z:9.67 [[ 9.89738735e-01 -1.35343732e-01 -4.58182247e-02 2.35100986e+02] [ 1.35325235e-01 9.90794980e-01 -3.51964050e-03 1.68771274e+01] [ 4.58728284e-02 -2.71683748e-03 9.98943593e-01 9.67080714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08509989299995 meters 0.031414907942444885 Centerline is valid? [True, True] Translation: X:235.16, Y:16.88, Z:9.67 [[ 9.89031430e-01 -1.40176948e-01 -4.65537775e-02 2.35160280e+02] [ 1.40163200e-01 9.90121958e-01 -3.57573927e-03 1.68774676e+01] [ 4.65951535e-02 -2.98860791e-03 9.98909385e-01 9.67245507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14509989299995 meters 0.0334642874857756 Centerline is valid? [True, True] Translation: X:235.22, Y:16.88, Z:9.67 [[ 9.88797417e-01 -1.41478435e-01 -4.75764784e-02 2.35221939e+02] [ 1.41465721e-01 9.89936421e-01 -3.65129394e-03 1.68804033e+01] [ 4.76142681e-02 -3.12005080e-03 9.98860925e-01 9.67381702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20509989299995 meters 0.035049383022668266 Centerline is valid? [True, True] Translation: X:235.28, Y:16.89, Z:9.68 [[ 9.88715051e-01 -1.41640307e-01 -4.87910949e-02 2.35283292e+02] [ 1.41627352e-01 9.89912978e-01 -3.74011390e-03 1.68851838e+01] [ 4.88286889e-02 -3.21224665e-03 9.98802003e-01 9.67558568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26509989299996 meters 0.028463666052345547 Centerline is valid? [True, True] Translation: X:235.34, Y:16.90, Z:9.68 [[ 9.88759471e-01 -1.41324395e-01 -4.88070133e-02 2.35344008e+02] [ 1.41311180e-01 9.89958167e-01 -3.73862010e-03 1.68996611e+01] [ 4.88452597e-02 -3.20038062e-03 9.98801231e-01 9.67918475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32509989299996 meters 0.028732237237840987 Centerline is valid? [True, True] Translation: X:235.41, Y:16.91, Z:9.68 [[ 9.88875997e-01 -1.40362025e-01 -4.92215949e-02 2.35406242e+02] [ 1.40347590e-01 9.90095130e-01 -3.76652373e-03 1.69060188e+01] [ 4.92627383e-02 -3.18350734e-03 9.98780781e-01 9.68187080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38509989299996 meters 0.02977885451410182 Centerline is valid? [True, True] Translation: X:235.47, Y:16.91, Z:9.68 [[ 9.88971829e-01 -1.39065597e-01 -5.09458681e-02 2.35467176e+02] [ 1.39048659e-01 9.90277894e-01 -3.89393417e-03 1.69119320e+01] [ 5.09920793e-02 -3.23296343e-03 9.98693825e-01 9.68272645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.44509989299996 meters 0.029909658798652358 Centerline is valid? [True, True] Translation: X:235.53, Y:16.92, Z:9.68 [[ 9.88869116e-01 -1.39731577e-01 -5.11171028e-02 2.35529191e+02] [ 1.39715564e-01 9.90183983e-01 -3.90403000e-03 1.69173402e+01] [ 5.11608528e-02 -3.28128018e-03 9.98685036e-01 9.68464258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.50509989299997 meters 0.030396411881160542 Centerline is valid? [True, True] Translation: X:235.59, Y:16.92, Z:9.69 [[ 9.88715464e-01 -1.41082700e-01 -5.03726349e-02 2.35590540e+02] [ 1.41069088e-01 9.89992294e-01 -3.84329314e-03 1.69221409e+01] [ 5.04107426e-02 -3.30609833e-03 9.98723098e-01 9.68716906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.56509989299997 meters 0.03238871738402725 Centerline is valid? [True, True] Translation: X:235.65, Y:16.93, Z:9.69 [[ 9.88613260e-01 -1.41927269e-01 -5.00047281e-02 2.35651302e+02] [ 1.41915182e-01 9.89871489e-01 -3.81017986e-03 1.69251023e+01] [ 5.00390231e-02 -3.32963574e-03 9.98741713e-01 9.68988583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.62509989299997 meters 0.03024872373029041 Centerline is valid? [True, True] Translation: X:235.71, Y:16.93, Z:9.69 [[ 9.88360147e-01 -1.44004800e-01 -4.90595305e-02 2.35711589e+02] [ 1.43995922e-01 9.89571237e-01 -3.73377082e-03 1.69331739e+01] [ 4.90855812e-02 -3.37406206e-03 9.98788877e-01 9.69320668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68509989299994 meters 0.03451108172630011 Centerline is valid? [True, True] Translation: X:235.77, Y:16.93, Z:9.69 [[ 9.88039258e-01 -1.45916110e-01 -4.98689606e-02 2.35771659e+02] [ 1.45909400e-01 9.89290679e-01 -3.79458275e-03 1.69319308e+01] [ 4.98885887e-02 -3.52715341e-03 9.98748561e-01 9.69483512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74509989299995 meters 0.03661137099506283 Centerline is valid? [True, True] Translation: X:235.83, Y:16.93, Z:9.70 [[ 9.87606824e-01 -1.48259717e-01 -5.14957965e-02 2.35832661e+02] [ 1.48255755e-01 9.88941293e-01 -3.91800150e-03 1.69348066e+01] [ 5.15072014e-02 -3.76510317e-03 9.98665526e-01 9.69660276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80509989299995 meters 0.036775295799818995 Centerline is valid? [True, True] Translation: X:235.89, Y:16.94, Z:9.70 [[ 9.87321977e-01 -1.49921480e-01 -5.21427303e-02 2.35893542e+02] [ 1.49919828e-01 9.88690205e-01 -3.96522969e-03 1.69400397e+01] [ 5.21474798e-02 -3.90227073e-03 9.98631770e-01 9.69985083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86509989299995 meters 0.034755731560873 Centerline is valid? [True, True] Translation: X:235.96, Y:16.95, Z:9.70 [[ 9.87372553e-01 -1.49739526e-01 -5.17060470e-02 2.35955488e+02] [ 1.49737765e-01 9.88717937e-01 -3.92982198e-03 1.69475491e+01] [ 5.17111458e-02 -3.86214956e-03 9.98654616e-01 9.70390902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92509989299995 meters 0.03339609434254377 Centerline is valid? [True, True] Translation: X:236.02, Y:16.95, Z:9.71 [[ 9.87597825e-01 -1.48594998e-01 -5.06957881e-02 2.36016493e+02] [ 1.48591970e-01 9.88891099e-01 -3.84971382e-03 1.69541585e+01] [ 5.07046618e-02 -3.73101803e-03 9.98706722e-01 9.70697493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98509989299995 meters 0.03366556531348046 Centerline is valid? [True, True] Translation: X:236.08, Y:16.96, Z:9.71 [[ 9.88145230e-01 -1.45363342e-01 -4.93811982e-02 2.36077443e+02] [ 1.45356530e-01 9.89372240e-01 -3.74826628e-03 1.69590227e+01] [ 4.94012472e-02 -3.47404815e-03 9.98772971e-01 9.70972310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04509989299996 meters 0.03257511270262488 Centerline is valid? [True, True] Translation: X:236.14, Y:16.96, Z:9.71 [[ 9.88327143e-01 -1.44414408e-01 -4.85173905e-02 2.36139292e+02] [ 1.44406744e-01 9.89511565e-01 -3.68160388e-03 1.69644333e+01] [ 4.85401957e-02 -3.36760937e-03 9.98815553e-01 9.71241519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10509989299996 meters 0.03194232574128982 Centerline is valid? [True, True] Translation: X:236.20, Y:16.97, Z:9.71 [[ 9.88131855e-01 -1.45679915e-01 -4.87113990e-02 2.36201044e+02] [ 1.45673901e-01 9.89325770e-01 -3.69259689e-03 1.69674435e+01] [ 4.87293795e-02 -3.44720692e-03 9.98806069e-01 9.71438799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16509989299996 meters 0.03832689005436179 Centerline is valid? [True, True] Translation: X:236.26, Y:16.96, Z:9.72 [[ 9.87554970e-01 -1.49214633e-01 -4.97008425e-02 2.36260785e+02] [ 1.49213024e-01 9.88797911e-01 -3.76358586e-03 1.69614685e+01] [ 4.97056713e-02 -3.69926510e-03 9.98757058e-01 9.71521593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.22509989299996 meters 0.03712638018734181 Centerline is valid? [True, True] Translation: X:236.32, Y:16.96, Z:9.72 [[ 9.86813570e-01 -1.53104134e-01 -5.25176353e-02 2.36321318e+02] [ 1.53107789e-01 9.88201490e-01 -3.97750949e-03 1.69648870e+01] [ 5.25069785e-02 -4.11579868e-03 9.98612076e-01 9.71606643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.28509989299997 meters 0.040013892887609655 Centerline is valid? [True, True] Translation: X:236.38, Y:16.96, Z:9.72 [[ 9.86584605e-01 -1.54516123e-01 -5.26838195e-02 2.36381471e+02] [ 1.54521808e-01 9.87981321e-01 -3.98996586e-03 1.69642693e+01] [ 5.26671437e-02 -4.20436013e-03 9.98603272e-01 9.71814145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.34509989299997 meters 0.040156816703162186 Centerline is valid? [True, True] Translation: X:236.44, Y:16.97, Z:9.72 [[ 9.86776130e-01 -1.53996993e-01 -5.05746490e-02 2.36442389e+02] [ 1.54001558e-01 9.88063182e-01 -3.82992216e-03 1.69665594e+01] [ 5.05607451e-02 -4.00929897e-03 9.98712940e-01 9.72238359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40509989299997 meters 0.033631875164305304 Centerline is valid? [True, True] Translation: X:236.50, Y:16.98, Z:9.73 [[ 9.87213157e-01 -1.51606282e-01 -4.92515702e-02 2.36502445e+02] [ 1.51607727e-01 9.88433709e-01 -3.72814891e-03 1.69796500e+01] [ 4.92471230e-02 -3.78644094e-03 9.98779447e-01 9.72697123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46509989299994 meters 0.030944152543650554 Centerline is valid? [True, True] Translation: X:236.56, Y:16.99, Z:9.73 [[ 9.87949537e-01 -1.46831888e-01 -4.89500641e-02 2.36562058e+02] [ 1.46827523e-01 9.89155172e-01 -3.70455612e-03 1.69888138e+01] [ 4.89631560e-02 -3.52730214e-03 9.98794357e-01 9.73021182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52509989299995 meters 0.03172869005365151 Centerline is valid? [True, True] Translation: X:236.62, Y:16.99, Z:9.73 [[ 9.88064121e-01 -1.46051352e-01 -4.89724018e-02 2.36623838e+02] [ 1.46046054e-01 9.89270852e-01 -3.70574468e-03 1.69922261e+01] [ 4.89881986e-02 -3.49071266e-03 9.98793258e-01 9.73308745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58509989299995 meters 0.03454284163544712 Centerline is valid? [True, True] Translation: X:236.69, Y:16.99, Z:9.73 [[ 9.88141895e-01 -1.45358418e-01 -4.94623637e-02 2.36685662e+02] [ 1.45352359e-01 9.89372889e-01 -3.73865612e-03 1.69902334e+01] [ 4.94801668e-02 -3.49514849e-03 9.98768991e-01 9.73402952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64509989299995 meters 0.03584240739294007 Centerline is valid? [True, True] Translation: X:236.75, Y:16.99, Z:9.74 [[ 9.88192662e-01 -1.45042268e-01 -4.93761348e-02 2.36747289e+02] [ 1.45036142e-01 9.89419342e-01 -3.72596713e-03 1.69926234e+01] [ 4.93941256e-02 -3.47935075e-03 9.98773305e-01 9.73679794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70509989299995 meters 0.032783880781574584 Centerline is valid? [True, True] Translation: X:236.81, Y:17.00, Z:9.74 [[ 9.88534860e-01 -1.42427434e-01 -5.01323879e-02 2.36807790e+02] [ 1.42417938e-01 9.89799396e-01 -3.77983797e-03 1.70010110e+01] [ 5.01593598e-02 -3.40324970e-03 9.98735429e-01 9.73870853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76509989299996 meters 0.031969376222452314 Centerline is valid? [True, True] Translation: X:236.87, Y:17.01, Z:9.74 [[ 9.89048266e-01 -1.39014541e-01 -4.95831136e-02 2.36868260e+02] [ 1.39001029e-01 9.90285184e-01 -3.73744394e-03 1.70059532e+01] [ 4.96209818e-02 -3.19559134e-03 9.98763008e-01 9.74195816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82509989299996 meters 0.028600909885022438 Centerline is valid? [True, True] Translation: X:236.93, Y:17.01, Z:9.75 [[ 9.89467455e-01 -1.36530985e-01 -4.80982862e-02 2.36928746e+02] [ 1.36515384e-01 9.90631320e-01 -3.62468265e-03 1.70148572e+01] [ 4.81425502e-02 -2.97965047e-03 9.98836031e-01 9.74604737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88509989299996 meters 0.02908033372853265 Centerline is valid? [True, True] Translation: X:236.99, Y:17.02, Z:9.75 [[ 9.90008765e-01 -1.32491390e-01 -4.82563625e-02 2.36988323e+02] [ 1.32470942e-01 9.91180221e-01 -3.63582907e-03 1.70181581e+01] [ 4.83124681e-02 -2.79306313e-03 9.98828366e-01 9.74838922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.94509989299996 meters 0.025434304050088872 Centerline is valid? [True, True] Translation: X:237.05, Y:17.03, Z:9.75 [[ 9.90360165e-01 -1.29460536e-01 -4.92616715e-02 2.37049325e+02] [ 1.29435505e-01 9.91580897e-01 -3.71133269e-03 1.70256954e+01] [ 4.93274036e-02 -2.70065328e-03 9.98779011e-01 9.75042295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.00509989299997 meters 0.025517336273770543 Centerline is valid? [True, True] Translation: X:237.11, Y:17.03, Z:9.75 [[ 9.90519395e-01 -1.28139995e-01 -4.95123125e-02 2.37110901e+02] [ 1.28113163e-01 9.91752549e-01 -3.72824382e-03 1.70293652e+01] [ 4.95816992e-02 -2.65028115e-03 9.98766555e-01 9.75327162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.06509989299997 meters 0.025872971041192315 Centerline is valid? [True, True] Translation: X:237.17, Y:17.03, Z:9.76 [[ 9.90538269e-01 -1.28051619e-01 -4.93631447e-02 2.37173387e+02] [ 1.28024979e-01 9.91763989e-01 -3.71416898e-03 1.70328339e+01] [ 4.94321947e-02 -2.64068904e-03 9.98773991e-01 9.75672577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.12509989299997 meters 0.02445167060039267 Centerline is valid? [True, True] Translation: X:237.24, Y:17.04, Z:9.76 [[ 9.90648754e-01 -1.27029897e-01 -4.97840404e-02 2.37235510e+02] [ 1.27001700e-01 9.91895440e-01 -3.74217355e-03 1.70388060e+01] [ 4.98559306e-02 -2.61547817e-03 9.98752995e-01 9.75989259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18509989299994 meters 0.02549052970362365 Centerline is valid? [True, True] Translation: X:237.30, Y:17.04, Z:9.76 [[ 9.90691928e-01 -1.26629751e-01 -4.99440652e-02 2.37296705e+02] [ 1.26601043e-01 9.91946626e-01 -3.75064813e-03 1.70419015e+01] [ 5.00167906e-02 -2.60723392e-03 9.98744974e-01 9.76225546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24509989299995 meters 0.02597620029720875 Centerline is valid? [True, True] Translation: X:237.36, Y:17.05, Z:9.76 [[ 9.90761565e-01 -1.25940936e-01 -5.03031089e-02 2.37357734e+02] [ 1.25911062e-01 9.92034351e-01 -3.77500062e-03 1.70464834e+01] [ 5.03778391e-02 -2.59359231e-03 9.98726863e-01 9.76494656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30509989299995 meters 0.025739297678729952 Centerline is valid? [True, True] Translation: X:237.42, Y:17.05, Z:9.77 [[ 9.90835039e-01 -1.25226665e-01 -5.06380123e-02 2.37418816e+02] [ 1.25195556e-01 9.92124814e-01 -3.79830659e-03 1.70519772e+01] [ 5.07148778e-02 -2.57615883e-03 9.98709850e-01 9.76686326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36509989299995 meters 0.02558314238642153 Centerline is valid? [True, True] Translation: X:237.48, Y:17.06, Z:9.77 [[ 9.90906478e-01 -1.24770961e-01 -5.03642594e-02 2.37479875e+02] [ 1.24739690e-01 9.92182318e-01 -3.77597398e-03 1.70579362e+01] [ 5.04416595e-02 -2.54078504e-03 9.98723777e-01 9.76947486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42509989299995 meters 0.02614302282160554 Centerline is valid? [True, True] Translation: X:237.54, Y:17.06, Z:9.77 [[ 9.90913254e-01 -1.25490294e-01 -4.84056652e-02 2.37541223e+02] [ 1.25462340e-01 9.92091751e-01 -3.62745478e-03 1.70632821e+01] [ 4.84780715e-02 -2.47859502e-03 9.98821172e-01 9.77337168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48509989299995 meters 0.027075457392682207 Centerline is valid? [True, True] Translation: X:237.60, Y:17.07, Z:9.78 [[ 9.90580687e-01 -1.28788920e-01 -4.65114762e-02 2.37602085e+02] [ 1.28766801e-01 9.91668782e-01 -3.48398420e-03 1.70664906e+01] [ 4.65726775e-02 -2.53796654e-03 9.98911680e-01 9.77722426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54509989299996 meters 0.027934584110705662 Centerline is valid? [True, True] Translation: X:237.66, Y:17.07, Z:9.78 [[ 9.89658572e-01 -1.35149041e-01 -4.80691887e-02 2.37663559e+02] [ 1.35132932e-01 9.90820939e-01 -3.59970855e-03 1.70685847e+01] [ 4.81144558e-02 -2.93324798e-03 9.98837522e-01 9.77940588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60509989299996 meters 0.02938682544867146 Centerline is valid? [True, True] Translation: X:237.73, Y:17.07, Z:9.78 [[ 9.89143776e-01 -1.38014618e-01 -5.04634092e-02 2.37725103e+02] [ 1.38000663e-01 9.90424933e-01 -3.77742171e-03 1.70697487e+01] [ 5.05015581e-02 -3.22757075e-03 9.98718767e-01 9.77995576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66509989299996 meters 0.031157591001679117 Centerline is valid? [True, True] Translation: X:237.79, Y:17.07, Z:9.78 [[ 9.88774020e-01 -1.40530377e-01 -5.07656503e-02 2.37786712e+02] [ 1.40519649e-01 9.90070605e-01 -3.79817413e-03 1.70709079e+01] [ 5.07953370e-02 -3.37803547e-03 9.98703371e-01 9.78197021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.72509989299996 meters 0.03395605811433695 Centerline is valid? [True, True] Translation: X:237.85, Y:17.07, Z:9.78 [[ 9.88260706e-01 -1.43548751e-01 -5.22927685e-02 2.37847705e+02] [ 1.43541668e-01 9.89636548e-01 -3.91067589e-03 1.70708450e+01] [ 5.23122075e-02 -3.64142387e-03 9.98624140e-01 9.78438625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.78509989299997 meters 0.03311240786739104 Centerline is valid? [True, True] Translation: X:237.91, Y:17.08, Z:9.79 [[ 9.87580827e-01 -1.47688753e-01 -5.35923748e-02 2.37907552e+02] [ 1.47687424e-01 9.89025970e-01 -4.00698805e-03 1.70750997e+01] [ 5.35960376e-02 -3.95769523e-03 9.98554856e-01 9.78771333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.84509989299997 meters 0.03634697827472652 Centerline is valid? [True, True] Translation: X:237.97, Y:17.07, Z:9.79 [[ 9.87266529e-01 -1.49656909e-01 -5.39222685e-02 2.37968229e+02] [ 1.49658517e-01 9.88729528e-01 -4.03098390e-03 1.70741715e+01] [ 5.39178036e-02 -4.09027126e-03 9.98537000e-01 9.79036818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90509989299997 meters 0.03727251343963695 Centerline is valid? [True, True] Translation: X:238.03, Y:17.08, Z:9.79 [[ 9.87027915e-01 -1.51753629e-01 -5.24092610e-02 2.38029047e+02] [ 1.51758124e-01 9.88409899e-01 -3.91694846e-03 1.70757399e+01] [ 5.23962435e-02 -4.08739366e-03 9.98618008e-01 9.79451840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96509989299994 meters 0.03601110829680064 Centerline is valid? [True, True] Translation: X:238.09, Y:17.08, Z:9.80 [[ 9.87368692e-01 -1.49669060e-01 -5.19830565e-02 2.38089210e+02] [ 1.49670648e-01 9.88728279e-01 -3.88434341e-03 1.70804839e+01] [ 5.19784840e-02 -3.94505869e-03 9.98640413e-01 9.79811716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02509989299995 meters 0.03567764324215983 Centerline is valid? [True, True] Translation: X:238.15, Y:17.09, Z:9.80 [[ 9.87739948e-01 -1.47262338e-01 -5.18034686e-02 2.38149699e+02] [ 1.47260633e-01 9.89090149e-01 -3.87074606e-03 1.70852117e+01] [ 5.18083156e-02 -3.80532105e-03 9.98649797e-01 9.80099005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08509989299995 meters 0.03374684476389557 Centerline is valid? [True, True] Translation: X:238.21, Y:17.09, Z:9.80 [[ 9.87930157e-01 -1.45515958e-01 -5.30952993e-02 2.38210516e+02] [ 1.45511729e-01 9.89348577e-01 -3.96609175e-03 1.70919886e+01] [ 5.31068884e-02 -3.80776715e-03 9.98581574e-01 9.80497630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14509989299995 meters 0.03628175310659047 Centerline is valid? [True, True] Translation: X:238.27, Y:17.09, Z:9.81 [[ 9.88084558e-01 -1.44140383e-01 -5.39671741e-02 2.38270542e+02] [ 1.44134063e-01 9.89549965e-01 -4.02966349e-03 1.70912802e+01] [ 5.39840525e-02 -3.79685979e-03 9.98534579e-01 9.80689696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20509989299995 meters 0.03200778857866438 Centerline is valid? [True, True] Translation: X:238.33, Y:17.10, Z:9.81 [[ 9.88437824e-01 -1.41609315e-01 -5.41984370e-02 2.38330930e+02] [ 1.41599168e-01 9.89915804e-01 -4.04670806e-03 1.71006353e+01] [ 5.42249410e-02 -3.67453427e-03 9.98521985e-01 9.80988777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26509989299996 meters 0.03055701739363502 Centerline is valid? [True, True] Translation: X:238.39, Y:17.11, Z:9.81 [[ 9.89249648e-01 -1.35299146e-01 -5.54912146e-02 2.38391565e+02] [ 1.35278684e-01 9.90798930e-01 -4.14224819e-03 1.71076770e+01] [ 5.55410787e-02 -3.40906091e-03 9.98450583e-01 9.81166176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32509989299996 meters 0.025537594936578794 Centerline is valid? [True, True] Translation: X:238.45, Y:17.12, Z:9.81 [[ 9.90255921e-01 -1.27041307e-01 -5.70413633e-02 2.38450933e+02] [ 1.27006071e-01 9.91892803e-01 -4.25734494e-03 1.71206823e+01] [ 5.71197764e-02 -3.02873838e-03 9.98362739e-01 9.81456880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38509989299996 meters 0.024773961816229963 Centerline is valid? [True, True] Translation: X:238.51, Y:17.13, Z:9.82 [[ 9.90863454e-01 -1.22352021e-01 -5.67415008e-02 2.38510439e+02] [ 1.22309461e-01 9.92482976e-01 -4.23540217e-03 1.71274092e+01] [ 5.68331836e-02 -2.74331716e-03 9.98379919e-01 9.81766252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.44509989299996 meters 0.021371539607702585 Centerline is valid? [True, True] Translation: X:238.57, Y:17.14, Z:9.82 [[ 9.91556591e-01 -1.17298242e-01 -5.52869682e-02 2.38570071e+02] [ 1.17249934e-01 9.93093859e-01 -4.12790694e-03 1.71365506e+01] [ 5.53893448e-02 -2.38934003e-03 9.98461973e-01 9.82269581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.50509989299997 meters 0.022488527449682143 Centerline is valid? [True, True] Translation: X:238.63, Y:17.14, Z:9.82 [[ 9.92102741e-01 -1.13215379e-01 -5.39854459e-02 2.38629342e+02] [ 1.13163235e-01 9.93568230e-01 -4.03160781e-03 1.71382079e+01] [ 5.40946640e-02 -2.10939855e-03 9.98533584e-01 9.82485713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.56509989299997 meters 0.02269296802687029 Centerline is valid? [True, True] Translation: X:238.69, Y:17.14, Z:9.83 [[ 9.92093764e-01 -1.12948921e-01 -5.47037826e-02 2.38689026e+02] [ 1.12894869e-01 9.93598532e-01 -4.08723116e-03 1.71422676e+01] [ 5.48152465e-02 -2.12085982e-03 9.98494262e-01 9.82697442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.62509989299997 meters 0.020631395403182155 Centerline is valid? [True, True] Translation: X:238.75, Y:17.15, Z:9.83 [[ 9.92054714e-01 -1.13086574e-01 -5.51259580e-02 2.38747961e+02] [ 1.13031789e-01 9.93582827e-01 -4.12070977e-03 1.71493437e+01] [ 5.52382022e-02 -2.14301613e-03 9.98470905e-01 9.83033479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68509989299994 meters 0.024466754378996033 Centerline is valid? [True, True] Translation: X:238.81, Y:17.15, Z:9.83 [[ 9.91825814e-01 -1.15094958e-01 -5.50881528e-02 2.38806588e+02] [ 1.15043203e-01 9.93351944e-01 -4.12033779e-03 1.71465974e+01] [ 5.51961538e-02 -2.25086016e-03 9.98472993e-01 9.83147845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74509989299995 meters 0.028089427865235495 Centerline is valid? [True, True] Translation: X:238.87, Y:17.14, Z:9.83 [[ 9.91019365e-01 -1.20998446e-01 -5.69209542e-02 2.38865940e+02] [ 1.20952766e-01 9.92649124e-01 -4.25974659e-03 1.71438854e+01] [ 5.70179581e-02 -2.66325548e-03 9.98369601e-01 9.83279851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80509989299995 meters 0.025375739619106854 Centerline is valid? [True, True] Translation: X:238.93, Y:17.15, Z:9.84 [[ 9.90534384e-01 -1.24397337e-01 -5.80253161e-02 2.38925586e+02] [ 1.24355790e-01 9.92228198e-01 -4.34052667e-03 1.71510028e+01] [ 5.81143048e-02 -2.91634309e-03 9.98305676e-01 9.83642316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86509989299995 meters 0.026602276208996745 Centerline is valid? [True, True] Translation: X:238.99, Y:17.15, Z:9.84 [[ 9.90155179e-01 -1.27805143e-01 -5.70838512e-02 2.38985230e+02] [ 1.27770511e-01 9.91794562e-01 -4.27113935e-03 1.71536280e+01] [ 5.71613268e-02 -3.06454208e-03 9.98360251e-01 9.83975741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92509989299995 meters 0.025889566394426827 Centerline is valid? [True, True] Translation: X:239.04, Y:17.16, Z:9.84 [[ 9.90118524e-01 -1.28768050e-01 -5.55346532e-02 2.39044237e+02] [ 1.28736702e-01 9.91670099e-01 -4.15653222e-03 1.71599754e+01] [ 5.56072836e-02 -3.03388853e-03 9.98448109e-01 9.84488960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98509989299995 meters 0.02502183152120427 Centerline is valid? [True, True] Translation: X:239.10, Y:17.17, Z:9.85 [[ 9.90162183e-01 -1.29323171e-01 -5.34262906e-02 2.39104362e+02] [ 1.29294877e-01 9.91598121e-01 -4.00019977e-03 1.71665533e+01] [ 5.34947278e-02 -2.94689910e-03 9.98563784e-01 9.84998961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04509989299996 meters 0.029240674322037412 Centerline is valid? [True, True] Translation: X:239.16, Y:17.17, Z:9.85 [[ 9.90099272e-01 -1.30125321e-01 -5.26386961e-02 2.39164507e+02] [ 1.30099033e-01 9.91493175e-01 -3.94025195e-03 1.71653391e+01] [ 5.27036345e-02 -2.94700289e-03 9.98605849e-01 9.85211688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10509989299996 meters 0.03155180154217248 Centerline is valid? [True, True] Translation: X:239.22, Y:17.17, Z:9.86 [[ 9.89658735e-01 -1.33501817e-01 -5.24676329e-02 2.39224217e+02] [ 1.33480613e-01 9.91043657e-01 -3.92383590e-03 1.71668344e+01] [ 5.25215539e-02 -3.12015331e-03 9.98614916e-01 9.85534924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16509989299996 meters 0.031713937284372565 Centerline is valid? [True, True] Translation: X:239.28, Y:17.17, Z:9.86 [[ 9.89131332e-01 -1.37078634e-01 -5.31851039e-02 2.39284163e+02] [ 1.37061948e-01 9.90554489e-01 -3.97834092e-03 1.71712723e+01] [ 5.32280889e-02 -3.35455230e-03 9.98576746e-01 9.85813522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.22509989299996 meters 0.030719084534147727 Centerline is valid? [True, True] Translation: X:239.34, Y:17.18, Z:9.86 [[ 9.88733447e-01 -1.39292369e-01 -5.48069901e-02 2.39344517e+02] [ 1.39278032e-01 9.90244829e-01 -4.09983996e-03 1.71773375e+01] [ 5.48434149e-02 -3.57976081e-03 9.98488550e-01 9.86041698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.28509989299997 meters 0.031439706060748925 Centerline is valid? [True, True] Translation: X:239.40, Y:17.18, Z:9.86 [[ 9.88310435e-01 -1.41554561e-01 -5.66108688e-02 2.39404785e+02] [ 1.41543009e-01 9.89923052e-01 -4.23399514e-03 1.71817162e+01] [ 5.66397454e-02 -3.82837116e-03 9.98387341e-01 9.86188767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.34509989299997 meters 0.032095381596594 Centerline is valid? [True, True] Translation: X:239.47, Y:17.19, Z:9.86 [[ 9.88208461e-01 -1.41955882e-01 -5.73808736e-02 2.39465123e+02] [ 1.41944692e-01 9.89865287e-01 -4.29158473e-03 1.71869564e+01] [ 5.74085507e-02 -3.90393008e-03 9.98343136e-01 9.86428733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40509989299997 meters 0.03336294710229418 Centerline is valid? [True, True] Translation: X:239.52, Y:17.19, Z:9.87 [[ 9.88432035e-01 -1.41123774e-01 -5.55535072e-02 2.39524045e+02] [ 1.41111954e-01 9.89984925e-01 -4.15515654e-03 1.71913131e+01] [ 5.55835260e-02 -3.73217409e-03 9.98447065e-01 9.86776356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46509989299994 meters 0.029942863976201595 Centerline is valid? [True, True] Translation: X:239.58, Y:17.20, Z:9.87 [[ 9.88615454e-01 -1.40712483e-01 -5.32867876e-02 2.39584845e+02] [ 1.40700986e-01 9.90044113e-01 -3.98590849e-03 1.72026176e+01] [ 5.33171374e-02 -3.55697285e-03 9.98571295e-01 9.87406708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52509989299995 meters 0.031331097356084546 Centerline is valid? [True, True] Translation: X:239.64, Y:17.21, Z:9.88 [[ 9.88605675e-01 -1.40792612e-01 -5.32565473e-02 2.39644980e+02] [ 1.40781362e-01 9.90032705e-01 -3.98142943e-03 1.72063509e+01] [ 5.32862794e-02 -3.56146553e-03 9.98572926e-01 9.87632718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58509989299995 meters 0.034977229921309194 Centerline is valid? [True, True] Translation: X:239.71, Y:17.21, Z:9.88 [[ 9.88371313e-01 -1.41818203e-01 -5.48611368e-02 2.39705427e+02] [ 1.41807997e-01 9.89885697e-01 -4.09860299e-03 1.72080545e+01] [ 5.48875112e-02 -3.72880630e-03 9.98485582e-01 9.87766757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64509989299995 meters 0.033420037191228096 Centerline is valid? [True, True] Translation: X:239.77, Y:17.22, Z:9.88 [[ 9.88220267e-01 -1.42708884e-01 -5.52709531e-02 2.39765987e+02] [ 1.42699981e-01 9.89757382e-01 -4.12798817e-03 1.72154492e+01] [ 5.52939344e-02 -3.80780238e-03 9.98462859e-01 9.88026183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70509989299995 meters 0.035223594437087856 Centerline is valid? [True, True] Translation: X:239.83, Y:17.22, Z:9.88 [[ 9.88114013e-01 -1.43841082e-01 -5.42258266e-02 2.39827335e+02] [ 1.43834306e-01 9.89593505e-01 -4.04802285e-03 1.72189884e+01] [ 5.42437978e-02 -3.79962601e-03 9.98520492e-01 9.88344791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76509989299996 meters 0.03373148686851877 Centerline is valid? [True, True] Translation: X:239.89, Y:17.23, Z:9.89 [[ 9.88181229e-01 -1.43905264e-01 -5.28122412e-02 2.39888624e+02] [ 1.43899027e-01 9.89584530e-01 -3.94046704e-03 1.72272176e+01] [ 5.28292309e-02 -3.70573458e-03 9.98596685e-01 9.88756716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82509989299996 meters 0.03204123232312622 Centerline is valid? [True, True] Translation: X:239.95, Y:17.23, Z:9.89 [[ 9.88085438e-01 -1.44709622e-01 -5.24050898e-02 2.39950104e+02] [ 1.44704762e-01 9.89467163e-01 -3.90708109e-03 1.72345792e+01] [ 5.24185078e-02 -3.72273611e-03 9.98618266e-01 9.89131350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88509989299996 meters 0.030122759229180784 Centerline is valid? [True, True] Translation: X:240.01, Y:17.24, Z:9.89 [[ 9.87839515e-01 -1.46018156e-01 -5.34021683e-02 2.40012070e+02] [ 1.46015229e-01 9.89274347e-01 -3.97741388e-03 1.72412127e+01] [ 5.34101698e-02 -3.86848327e-03 9.98565165e-01 9.89300136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.94509989299996 meters 0.03242519510730105 Centerline is valid? [True, True] Translation: X:240.07, Y:17.24, Z:9.89 [[ 9.87561989e-01 -1.47361271e-01 -5.48267657e-02 2.40072658e+02] [ 1.47360442e-01 9.89074443e-01 -4.08003949e-03 1.72423581e+01] [ 5.48289925e-02 -4.05000452e-03 9.98487546e-01 9.89404179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.00509989299997 meters 0.03417199857680355 Centerline is valid? [True, True] Translation: X:240.13, Y:17.24, Z:9.90 [[ 9.87018688e-01 -1.50274493e-01 -5.66717497e-02 2.40133350e+02] [ 1.50278439e-01 9.88634721e-01 -4.21646699e-03 1.72444775e+01] [ 5.66612869e-02 -4.35481034e-03 9.98383961e-01 9.89538078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.06509989299997 meters 0.032679429868295265 Centerline is valid? [True, True] Translation: X:240.19, Y:17.25, Z:9.90 [[ 9.87023183e-01 -1.50094063e-01 -5.70702144e-02 2.40194738e+02] [ 1.50097844e-01 9.88662035e-01 -4.24477304e-03 1.72510688e+01] [ 5.70602696e-02 -4.37642676e-03 9.98361143e-01 9.89876372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.12509989299997 meters 0.03255029559790013 Centerline is valid? [True, True] Translation: X:240.26, Y:17.26, Z:9.90 [[ 9.87312569e-01 -1.48693621e-01 -5.57144373e-02 2.40255967e+02] [ 1.48695213e-01 9.88874407e-01 -4.14010521e-03 1.72572698e+01] [ 5.57101884e-02 -4.19689221e-03 9.98438161e-01 9.90328706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18509989299994 meters 0.03097810084367408 Centerline is valid? [True, True] Translation: X:240.32, Y:17.26, Z:9.91 [[ 9.87860898e-01 -1.45491222e-01 -5.44348248e-02 2.40315936e+02] [ 1.45488032e-01 9.89351752e-01 -4.04257853e-03 1.72647262e+01] [ 5.44433490e-02 -3.92611029e-03 9.98509142e-01 9.90690823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24509989299995 meters 0.03366953712564551 Centerline is valid? [True, True] Translation: X:240.38, Y:17.27, Z:9.91 [[ 9.88188775e-01 -1.43548044e-01 -5.36367686e-02 2.40376509e+02] [ 1.43542135e-01 9.89636193e-01 -3.98259234e-03 1.72659244e+01] [ 5.36525808e-02 -3.76358325e-03 9.98552570e-01 9.90882697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30509989299995 meters 0.033153734517265866 Centerline is valid? [True, True] Translation: X:240.44, Y:17.27, Z:9.91 [[ 9.88458366e-01 -1.41873755e-01 -5.31215160e-02 2.40437573e+02] [ 1.41865614e-01 9.89878073e-01 -3.94316199e-03 1.72726472e+01] [ 5.31432551e-02 -3.63846501e-03 9.98580270e-01 9.91177840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36509989299995 meters 0.03010736060332639 Centerline is valid? [True, True] Translation: X:240.50, Y:17.28, Z:9.91 [[ 9.88357264e-01 -1.42930613e-01 -5.21608989e-02 2.40499534e+02] [ 1.42924339e-01 9.89726053e-01 -3.86961103e-03 1.72820468e+01] [ 5.21780864e-02 -3.63050383e-03 9.98631197e-01 9.91494958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42509989299995 meters 0.03007013843017445 Centerline is valid? [True, True] Translation: X:240.56, Y:17.29, Z:9.92 [[ 9.88199742e-01 -1.44060537e-01 -5.20368243e-02 2.40561246e+02] [ 1.44056052e-01 9.89562015e-01 -3.85654150e-03 1.72865664e+01] [ 5.20492402e-02 -3.68518616e-03 9.98637720e-01 9.91726671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48509989299995 meters 0.036094855184762034 Centerline is valid? [True, True] Translation: X:240.62, Y:17.28, Z:9.92 [[ 9.88075125e-01 -1.45110722e-01 -5.14822880e-02 2.40622725e+02] [ 1.45107933e-01 9.89408489e-01 -3.81182167e-03 1.72832273e+01] [ 5.14901490e-02 -3.70412224e-03 9.98666633e-01 9.91840222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54509989299996 meters 0.032975613073907804 Centerline is valid? [True, True] Translation: X:240.68, Y:17.29, Z:9.92 [[ 9.87989978e-01 -1.45802435e-01 -5.11610600e-02 2.40683814e+02] [ 1.45800745e-01 9.89306734e-01 -3.78523347e-03 1.72928847e+01] [ 5.11658775e-02 -3.71954792e-03 9.98683242e-01 9.92153564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60509989299996 meters 0.030858978859123566 Centerline is valid? [True, True] Translation: X:240.75, Y:17.30, Z:9.92 [[ 9.88015677e-01 -1.45861344e-01 -5.04924779e-02 2.40745174e+02] [ 1.45859918e-01 9.89298211e-01 -3.73285371e-03 1.73004811e+01] [ 5.04965971e-02 -3.67671068e-03 9.98717465e-01 9.92458281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66509989299996 meters 0.032602284291737636 Centerline is valid? [True, True] Translation: X:240.81, Y:17.30, Z:9.93 [[ 9.88034673e-01 -1.45810094e-01 -5.02682922e-02 2.40806310e+02] [ 1.45808794e-01 9.89305823e-01 -3.71270024e-03 1.73032706e+01] [ 5.02720633e-02 -3.66128248e-03 9.98728849e-01 9.92676209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.72509989299996 meters 0.030081711012625526 Centerline is valid? [True, True] Translation: X:240.87, Y:17.31, Z:9.93 [[ 9.88149004e-01 -1.45267173e-01 -4.95882461e-02 2.40867885e+02] [ 1.45265367e-01 9.89385961e-01 -3.65961344e-03 1.73112294e+01] [ 4.95935362e-02 -3.58721140e-03 9.98763042e-01 9.92970640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.78509989299997 meters 0.03070570316581722 Centerline is valid? [True, True] Translation: X:240.93, Y:17.32, Z:9.93 [[ 9.88471659e-01 -1.42972192e-01 -4.98270185e-02 2.40929569e+02] [ 1.42967650e-01 9.89720544e-01 -3.67362817e-03 1.73159210e+01] [ 4.98400506e-02 -3.49237442e-03 9.98751106e-01 9.93108864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.84509989299997 meters 0.03137660326630459 Centerline is valid? [True, True] Translation: X:240.99, Y:17.32, Z:9.93 [[ 9.88749150e-01 -1.41186363e-01 -4.94118240e-02 2.40990520e+02] [ 1.41179804e-01 9.89977278e-01 -3.64043188e-03 1.73202632e+01] [ 4.94305623e-02 -3.37647768e-03 9.98771855e-01 9.93291750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90509989299997 meters 0.029576881837999603 Centerline is valid? [True, True] Translation: X:241.05, Y:17.33, Z:9.94 [[ 9.89006587e-01 -1.39448969e-01 -4.91930490e-02 2.41051674e+02] [ 1.39440423e-01 9.90223837e-01 -3.62238057e-03 1.73281903e+01] [ 4.92172669e-02 -3.27694132e-03 9.98782720e-01 9.93541140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96509989299994 meters 0.03233894666416178 Centerline is valid? [True, True] Translation: X:241.11, Y:17.33, Z:9.94 [[ 9.89111541e-01 -1.38906024e-01 -4.86155951e-02 2.41112925e+02] [ 1.38897153e-01 9.90300351e-01 -3.57719857e-03 1.73293224e+01] [ 4.86409353e-02 -3.21431934e-03 9.98811157e-01 9.93763985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02509989299995 meters 0.027341825879721005 Centerline is valid? [True, True] Translation: X:241.17, Y:17.34, Z:9.94 [[ 9.89257485e-01 -1.38167664e-01 -4.77422786e-02 2.41174146e+02] [ 1.38158378e-01 9.90403928e-01 -3.51025549e-03 1.73411159e+01] [ 4.77691440e-02 -3.12344927e-03 9.98853519e-01 9.94054863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08509989299995 meters 0.033640118369660944 Centerline is valid? [True, True] Translation: X:241.24, Y:17.34, Z:9.94 [[ 9.89350628e-01 -1.37427936e-01 -4.79468167e-02 2.41235983e+02] [ 1.37417874e-01 9.90506903e-01 -3.52178791e-03 1.73376111e+01] [ 4.79756449e-02 -3.10446655e-03 9.98843681e-01 9.94161862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14509989299995 meters 0.030402657645389557 Centerline is valid? [True, True] Translation: X:241.30, Y:17.35, Z:9.94 [[ 9.89279170e-01 -1.38098199e-01 -4.74932741e-02 2.41297877e+02] [ 1.38089223e-01 9.90413659e-01 -3.48576073e-03 1.73452773e+01] [ 4.75193647e-02 -3.10991885e-03 9.98865476e-01 9.94456896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20509989299995 meters 0.029043324474743608 Centerline is valid? [True, True] Translation: X:241.36, Y:17.35, Z:9.95 [[ 9.89199944e-01 -1.38597501e-01 -4.76886120e-02 2.41360182e+02] [ 1.38589196e-01 9.90343783e-01 -3.49661316e-03 1.73509220e+01] [ 4.77127423e-02 -3.15027685e-03 9.98856131e-01 9.94650453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26509989299996 meters 0.03019071401173349 Centerline is valid? [True, True] Translation: X:241.42, Y:17.35, Z:9.95 [[ 9.89203309e-01 -1.38391359e-01 -4.82145645e-02 2.41422812e+02] [ 1.38382807e-01 9.90372519e-01 -3.53146709e-03 1.73539404e+01] [ 4.82391043e-02 -3.17872787e-03 9.98830759e-01 9.94829794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32509989299996 meters 0.028041328719514244 Centerline is valid? [True, True] Translation: X:241.48, Y:17.36, Z:9.95 [[ 9.89244379e-01 -1.37989147e-01 -4.85237458e-02 2.41484851e+02] [ 1.37980216e-01 9.90428624e-01 -3.54977144e-03 1.73610638e+01] [ 4.85491367e-02 -3.18372547e-03 9.98815721e-01 9.95090895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38509989299996 meters 0.03093085539511606 Centerline is valid? [True, True] Translation: X:241.55, Y:17.36, Z:9.95 [[ 9.89404546e-01 -1.36986638e-01 -4.80968293e-02 2.41546402e+02] [ 1.36976849e-01 9.90568012e-01 -3.51509125e-03 1.73615000e+01] [ 4.81247011e-02 -3.11030486e-03 9.98836493e-01 9.95301999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.44509989299996 meters 0.03293134115476357 Centerline is valid? [True, True] Translation: X:241.61, Y:17.36, Z:9.96 [[ 9.89425626e-01 -1.37016863e-01 -4.75742475e-02 2.41607256e+02] [ 1.37007442e-01 9.90563925e-01 -3.47430691e-03 1.73634049e+01] [ 4.76013720e-02 -3.08045768e-03 9.98861662e-01 9.95632464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.50509989299997 meters 0.027696796306485142 Centerline is valid? [True, True] Translation: X:241.67, Y:17.37, Z:9.96 [[ 9.89584736e-01 -1.35920454e-01 -4.74097133e-02 2.41668321e+02] [ 1.35909970e-01 9.90715151e-01 -3.45966014e-03 1.73749186e+01] [ 4.74397599e-02 -3.01982585e-03 9.98869536e-01 9.95962960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.56509989299997 meters 0.028536150971541413 Centerline is valid? [True, True] Translation: X:241.73, Y:17.38, Z:9.96 [[ 9.90040655e-01 -1.32692048e-01 -4.70353205e-02 2.41727917e+02] [ 1.32678245e-01 9.91153229e-01 -3.42923947e-03 1.73791418e+01] [ 4.70742426e-02 -2.84547727e-03 9.98887340e-01 9.96176725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.62509989299997 meters 0.028114732442666022 Centerline is valid? [True, True] Translation: X:241.79, Y:17.39, Z:9.97 [[ 9.90401208e-01 -1.30325390e-01 -4.60514960e-02 2.41789563e+02] [ 1.30309617e-01 9.91467666e-01 -3.35728687e-03 1.73855038e+01] [ 4.60961090e-02 -2.67589185e-03 9.98933425e-01 9.96540213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68509989299994 meters 0.024329560687705528 Centerline is valid? [True, True] Translation: X:241.85, Y:17.39, Z:9.97 [[ 9.90699449e-01 -1.28153354e-01 -4.57309563e-02 2.41850566e+02] [ 1.28135610e-01 9.91751061e-01 -3.33138510e-03 1.73946669e+01] [ 4.57806526e-02 -2.55936258e-03 9.98948238e-01 9.96914719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74509989299995 meters 0.024892218026298818 Centerline is valid? [True, True] Translation: X:241.91, Y:17.40, Z:9.97 [[ 9.90889511e-01 -1.26435575e-01 -4.63898973e-02 2.41911364e+02] [ 1.26415599e-01 9.91971622e-01 -3.37598343e-03 1.73980702e+01] [ 4.64443061e-02 -2.51918010e-03 9.98917704e-01 9.97138630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80509989299995 meters 0.024832811298959333 Centerline is valid? [True, True] Translation: X:241.97, Y:17.40, Z:9.97 [[ 9.91022857e-01 -1.25084008e-01 -4.71983803e-02 2.41973666e+02] [ 1.25061896e-01 9.92143003e-01 -3.43286630e-03 1.74026754e+01] [ 4.72569394e-02 -2.50066995e-03 9.98879637e-01 9.97360378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86509989299995 meters 0.022955937455678605 Centerline is valid? [True, True] Translation: X:242.04, Y:17.41, Z:9.98 [[ 9.91138739e-01 -1.23484613e-01 -4.89443545e-02 2.42035129e+02] [ 1.23459076e-01 9.92343293e-01 -3.55617138e-03 1.74092972e+01] [ 4.90087343e-02 -2.51796556e-03 9.98795176e-01 9.97558071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92509989299995 meters 0.026284177604005022 Centerline is valid? [True, True] Translation: X:242.10, Y:17.41, Z:9.98 [[ 9.91134329e-01 -1.23014614e-01 -5.02010602e-02 2.42096222e+02] [ 1.22987334e-01 9.92401551e-01 -3.64384935e-03 1.74077952e+01] [ 5.02678567e-02 -2.56255039e-03 9.98732485e-01 9.97647079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98509989299995 meters 0.022087202016724653 Centerline is valid? [True, True] Translation: X:242.16, Y:17.42, Z:9.98 [[ 9.91191769e-01 -1.22425095e-01 -5.05071526e-02 2.42158249e+02] [ 1.22396868e-01 9.92474477e-01 -3.66312960e-03 1.74169096e+01] [ 5.05755188e-02 -2.55105336e-03 9.98716981e-01 9.98020321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04509989299996 meters 0.020764662615811374 Centerline is valid? [True, True] Translation: X:242.22, Y:17.42, Z:9.98 [[ 9.91630936e-01 -1.19344898e-01 -4.92431005e-02 2.42219752e+02] [ 1.19314445e-01 9.92850106e-01 -3.56800594e-03 1.74216641e+01] [ 4.93168409e-02 -2.33726816e-03 9.98780450e-01 9.98352542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10509989299996 meters 0.0193590474660628 Centerline is valid? [True, True] Translation: X:242.28, Y:17.43, Z:9.99 [[ 9.92153746e-01 -1.15080814e-01 -4.88605135e-02 2.42280663e+02] [ 1.15045792e-01 9.93353889e-01 -3.53783138e-03 1.74269772e+01] [ 4.89429176e-02 -2.11112381e-03 9.98799346e-01 9.98621244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16509989299996 meters 0.01935791947293093 Centerline is valid? [True, True] Translation: X:242.34, Y:17.43, Z:9.99 [[ 9.92645693e-01 -1.10882115e-01 -4.85765957e-02 2.42340682e+02] [ 1.10842518e-01 9.93831762e-01 -3.51650428e-03 1.74301266e+01] [ 4.86668811e-02 -1.89370936e-03 9.98813270e-01 9.98822846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.22509989299996 meters 0.016952143974414 Centerline is valid? [True, True] Translation: X:242.40, Y:17.44, Z:9.99 [[ 9.92888716e-01 -1.09015393e-01 -4.78293020e-02 2.42401298e+02] [ 1.08974852e-01 9.94038478e-01 -3.46218642e-03 1.74368829e+01] [ 4.79215981e-02 -1.77462528e-03 9.98849524e-01 9.99141109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.28509989299997 meters 0.017353489638484505 Centerline is valid? [True, True] Translation: X:242.46, Y:17.44, Z:9.99 [[ 9.92983376e-01 -1.08325928e-01 -4.74289921e-02 2.42463402e+02] [ 1.08285370e-01 9.94113930e-01 -3.43125964e-03 1.74395680e+01] [ 4.75215161e-02 -1.72868218e-03 9.98868719e-01 9.99426865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.34509989299997 meters 0.01865791676002995 Centerline is valid? [True, True] Translation: X:242.52, Y:17.44, Z:10.00 [[ 9.92877399e-01 -1.09044296e-01 -4.79980496e-02 2.42524016e+02] [ 1.09003763e-01 9.94035284e-01 -3.46899582e-03 1.74391585e+01] [ 4.80900290e-02 -1.78768047e-03 9.98841405e-01 9.99592246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40509989299994 meters 0.018815785567081765 Centerline is valid? [True, True] Translation: X:242.59, Y:17.44, Z:10.00 [[ 9.92682160e-01 -1.10541890e-01 -4.86067822e-02 2.42585429e+02] [ 1.10502234e-01 9.93869676e-01 -3.51053497e-03 1.74388613e+01] [ 4.86968681e-02 -1.88631257e-03 9.98811823e-01 9.99748773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46509989299994 meters 0.018135654345595456 Centerline is valid? [True, True] Translation: X:242.65, Y:17.44, Z:10.00 [[ 9.92683794e-01 -1.10559936e-01 -4.85323070e-02 2.42647044e+02] [ 1.10520509e-01 9.93867669e-01 -3.50340211e-03 1.74416129e+01] [ 4.86220268e-02 -1.88604476e-03 9.98815469e-01 9.99999741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52509989299995 meters 0.018611328133999388 Centerline is valid? [True, True] Translation: X:242.71, Y:17.44, Z:10.00 [[ 9.92716642e-01 -1.10505018e-01 -4.79823839e-02 2.42708471e+02] [ 1.10466498e-01 9.93873819e-01 -3.46196448e-03 1.74441838e+01] [ 4.80709996e-02 -1.86369616e-03 9.98842183e-01 1.00021080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58509989299995 meters 0.02010281834521978 Centerline is valid? [True, True] Translation: X:242.77, Y:17.44, Z:10.00 [[ 9.92668752e-01 -1.11522435e-01 -4.65993119e-02 2.42769276e+02] [ 1.11487293e-01 9.93760177e-01 -3.36061343e-03 1.74422073e+01] [ 4.66833242e-02 -1.85925521e-03 9.98908009e-01 1.00042418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64509989299995 meters 0.01890998634165061 Centerline is valid? [True, True] Translation: X:242.83, Y:17.44, Z:10.01 [[ 9.92403519e-01 -1.13918242e-01 -4.64530911e-02 2.42830515e+02] [ 1.13885981e-01 9.93488181e-01 -3.34915255e-03 1.74446420e+01] [ 4.65321266e-02 -1.96664508e-03 9.98914858e-01 1.00056212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70509989299995 meters 0.022498385771546447 Centerline is valid? [True, True] Translation: X:242.89, Y:17.44, Z:10.01 [[ 9.92152913e-01 -1.16133166e-01 -4.63215482e-02 2.42891156e+02] [ 1.16103571e-01 9.93231503e-01 -3.33803513e-03 1.74420895e+01] [ 4.63956775e-02 -2.06625588e-03 9.98921004e-01 1.00072817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76509989299996 meters 0.023431476841881783 Centerline is valid? [True, True] Translation: X:242.95, Y:17.44, Z:10.01 [[ 9.91845470e-01 -1.18699801e-01 -4.63995735e-02 2.42952731e+02] [ 1.18672950e-01 9.92927770e-01 -3.34273029e-03 1.74433604e+01] [ 4.64682064e-02 -2.19090236e-03 9.98917367e-01 1.00090030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82509989299996 meters 0.024540009465978833 Centerline is valid? [True, True] Translation: X:243.01, Y:17.44, Z:10.01 [[ 9.91438534e-01 -1.22284838e-01 -4.57826584e-02 2.43014380e+02] [ 1.22262578e-01 9.92492314e-01 -3.29667725e-03 1.74430140e+01] [ 4.58420702e-02 -2.32905298e-03 9.98945985e-01 1.00116080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88509989299996 meters 0.02570796136277398 Centerline is valid? [True, True] Translation: X:243.08, Y:17.44, Z:10.01 [[ 9.91206902e-01 -1.24452441e-01 -4.49496059e-02 2.43075411e+02] [ 1.24433272e-01 9.92222704e-01 -3.23516305e-03 1.74441565e+01] [ 4.50026434e-02 -2.38651059e-03 9.98984017e-01 1.00143754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.94509989299996 meters 0.02496802057774583 Centerline is valid? [True, True] Translation: X:243.14, Y:17.45, Z:10.02 [[ 9.90981946e-01 -1.26178391e-01 -4.50976392e-02 2.43136564e+02] [ 1.26160916e-01 9.92004483e-01 -3.24494732e-03 1.74478312e+01] [ 4.51465025e-02 -2.47387524e-03 9.98977314e-01 1.00165393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.00509989299997 meters 0.025265574204497394 Centerline is valid? [True, True] Translation: X:243.20, Y:17.45, Z:10.02 [[ 9.90960307e-01 -1.26338575e-01 -4.51246437e-02 2.43197825e+02] [ 1.26321319e-01 9.91984069e-01 -3.24523863e-03 1.74514674e+01] [ 4.51729265e-02 -2.48430185e-03 9.98976093e-01 1.00188155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.06509989299997 meters 0.027874161335924696 Centerline is valid? [True, True] Translation: X:243.26, Y:17.45, Z:10.02 [[ 9.91083561e-01 -1.25372419e-01 -4.51124269e-02 2.43258185e+02] [ 1.25354246e-01 9.92106747e-01 -3.24277464e-03 1.74519973e+01] [ 4.51628975e-02 -2.44117363e-03 9.98976653e-01 1.00195510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.12509989299997 meters 0.02380526744403774 Centerline is valid? [True, True] Translation: X:243.32, Y:17.46, Z:10.02 [[ 9.91234566e-01 -1.24184028e-01 -4.50817212e-02 2.43318708e+02] [ 1.24164694e-01 9.92256334e-01 -3.23969896e-03 1.74632612e+01] [ 4.51349423e-02 -2.38625654e-03 9.98978049e-01 1.00220076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18509989299994 meters 0.024309798192209065 Centerline is valid? [True, True] Translation: X:243.38, Y:17.47, Z:10.02 [[ 9.91228485e-01 -1.24182242e-01 -4.52201503e-02 2.43380552e+02] [ 1.24162869e-01 9.92256536e-01 -3.24785149e-03 1.74682559e+01] [ 4.52733152e-02 -2.39530069e-03 9.98971766e-01 1.00243625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24509989299995 meters 0.024713190579700037 Centerline is valid? [True, True] Translation: X:243.44, Y:17.47, Z:10.03 [[ 9.91207290e-01 -1.24635421e-01 -4.44310643e-02 2.43442053e+02] [ 1.24617309e-01 9.92199759e-01 -3.18805535e-03 1.74730869e+01] [ 4.44818360e-02 -2.37685599e-03 9.99007366e-01 1.00267859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30509989299995 meters 0.02476730157630626 Centerline is valid? [True, True] Translation: X:243.50, Y:17.48, Z:10.03 [[ 9.91205554e-01 -1.24670770e-01 -4.43705950e-02 2.43504257e+02] [ 1.24652820e-01 9.92195318e-01 -3.18200137e-03 1.74803981e+01] [ 4.44209992e-02 -2.37690237e-03 9.99010073e-01 1.00290136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36509989299995 meters 0.028099716381182305 Centerline is valid? [True, True] Translation: X:243.56, Y:17.48, Z:10.03 [[ 9.91282051e-01 -1.24114572e-01 -4.42206785e-02 2.43564926e+02] [ 1.24096333e-01 9.92265118e-01 -3.16805374e-03 1.74831271e+01] [ 4.42718384e-02 -2.34718922e-03 9.99016764e-01 1.00312953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42509989299995 meters 0.02399358342612705 Centerline is valid? [True, True] Translation: X:243.63, Y:17.50, Z:10.03 [[ 9.91463138e-01 -1.22507627e-01 -4.46399703e-02 2.43625200e+02] [ 1.22487524e-01 9.92464908e-01 -3.19569722e-03 1.74977107e+01] [ 4.46951013e-02 -2.29942344e-03 9.98998028e-01 1.00333931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48509989299995 meters 0.023609715058958012 Centerline is valid? [True, True] Translation: X:243.69, Y:17.51, Z:10.04 [[ 9.91530267e-01 -1.22134434e-01 -4.41690947e-02 2.43686586e+02] [ 1.22114458e-01 9.92510993e-01 -3.16029152e-03 1.75058872e+01] [ 4.42242925e-02 -2.26016035e-03 9.99019071e-01 1.00361886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54509989299996 meters 0.024840357460510987 Centerline is valid? [True, True] Translation: X:243.75, Y:17.51, Z:10.04 [[ 9.91383947e-01 -1.23350535e-01 -4.40739771e-02 2.43748265e+02] [ 1.23331986e-01 9.92360467e-01 -3.15023922e-03 1.75135875e+01] [ 4.41258562e-02 -2.31263455e-03 9.99023303e-01 1.00386070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60509989299996 meters 0.027113302232477245 Centerline is valid? [True, True] Translation: X:243.81, Y:17.52, Z:10.04 [[ 9.91135798e-01 -1.25182271e-01 -4.44885344e-02 2.43809345e+02] [ 1.25165355e-01 9.92130809e-01 -3.17663773e-03 1.75198844e+01] [ 4.45361043e-02 -2.41994384e-03 9.99004844e-01 1.00403339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66509989299996 meters 0.027302508287269878 Centerline is valid? [True, True] Translation: X:243.87, Y:17.53, Z:10.04 [[ 9.90920375e-01 -1.26934911e-01 -4.43208560e-02 2.43870875e+02] [ 1.26919976e-01 9.91907919e-01 -3.16223515e-03 1.75294363e+01] [ 4.43636061e-02 -2.49167876e-03 9.99012343e-01 1.00435207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.72509989299996 meters 0.028481947138430348 Centerline is valid? [True, True] Translation: X:243.93, Y:17.54, Z:10.05 [[ 9.90971839e-01 -1.27121152e-01 -4.26031396e-02 2.43932909e+02] [ 1.27107647e-01 9.91884280e-01 -3.03672173e-03 1.75361817e+01] [ 4.26434160e-02 -2.40587911e-03 9.99087459e-01 1.00478310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.78509989299997 meters 0.028519402540355645 Centerline is valid? [True, True] Translation: X:243.99, Y:17.55, Z:10.05 [[ 9.91279294e-01 -1.25053327e-01 -4.15575018e-02 2.43994312e+02] [ 1.25038784e-01 9.92147441e-01 -2.95928522e-03 1.75460925e+01] [ 4.16012376e-02 -2.26282135e-03 9.99131731e-01 1.00508735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.84509989299997 meters 0.028414181184293532 Centerline is valid? [True, True] Translation: X:244.05, Y:17.55, Z:10.05 [[ 9.91615106e-01 -1.22712572e-01 -4.05105820e-02 2.44054895e+02] [ 1.22696889e-01 9.92440005e-01 -2.88261424e-03 1.75543741e+01] [ 4.05580552e-02 -2.11207857e-03 9.99174951e-01 1.00544767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90509989299994 meters 0.02329925709535186 Centerline is valid? [True, True] Translation: X:244.11, Y:17.57, Z:10.06 [[ 9.92083471e-01 -1.18535175e-01 -4.14704483e-02 2.44114937e+02] [ 1.18515163e-01 9.92947862e-01 -2.94942415e-03 1.75705729e+01] [ 4.15276035e-02 -1.98880199e-03 9.99135378e-01 1.00562330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96509989299994 meters 0.022245775038988315 Centerline is valid? [True, True] Translation: X:244.18, Y:17.58, Z:10.06 [[ 9.92524189e-01 -1.14087138e-01 -4.33573429e-02 2.44175403e+02] [ 1.14061078e-01 9.93468957e-01 -3.08255110e-03 1.75816917e+01] [ 4.34258536e-02 -1.88587872e-03 9.99054873e-01 1.00577257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02509989299995 meters 0.01985351153729987 Centerline is valid? [True, True] Translation: X:244.24, Y:17.59, Z:10.06 [[ 9.92846026e-01 -1.10812402e-01 -4.44677369e-02 2.44236295e+02] [ 1.10781754e-01 9.93839732e-01 -3.16057814e-03 1.75934837e+01] [ 4.45440350e-02 -1.78824643e-03 9.99005821e-01 1.00601484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08509989299995 meters 0.019017352315191867 Centerline is valid? [True, True] Translation: X:244.30, Y:17.60, Z:10.06 [[ 9.93166235e-01 -1.07437277e-01 -4.55857631e-02 2.44297525e+02] [ 1.07401639e-01 9.94210444e-01 -3.23744412e-03 1.76021986e+01] [ 4.56696639e-02 -1.68066547e-03 9.98955183e-01 1.00628415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14509989299995 meters 0.017891911173500894 Centerline is valid? [True, True] Translation: X:244.36, Y:17.61, Z:10.07 [[ 9.93548107e-01 -1.03965953e-01 -4.53126960e-02 2.44358348e+02] [ 1.03927245e-01 9.94579704e-01 -3.21562234e-03 1.76128107e+01] [ 4.54014030e-02 -1.51434818e-03 9.98967677e-01 1.00668542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20509989299995 meters 0.018959262506697275 Centerline is valid? [True, True] Translation: X:244.42, Y:17.62, Z:10.07 [[ 9.93624640e-01 -1.03575730e-01 -4.45212541e-02 2.44419454e+02] [ 1.03538046e-01 9.94620481e-01 -3.15779291e-03 1.76187278e+01] [ 4.46088219e-02 -1.47198280e-03 9.99003447e-01 1.00714931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26509989299996 meters 0.019022182909490083 Centerline is valid? [True, True] Translation: X:244.48, Y:17.62, Z:10.07 [[ 9.93507342e-01 -1.04583279e-01 -4.47827986e-02 2.44481457e+02] [ 1.04546285e-01 9.94514958e-01 -3.17384423e-03 1.76237495e+01] [ 4.48690941e-02 -1.52863767e-03 9.98991706e-01 1.00747820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32509989299996 meters 0.01877253663400131 Centerline is valid? [True, True] Translation: X:244.54, Y:17.63, Z:10.08 [[ 9.93211846e-01 -1.07430468e-01 -4.45973435e-02 2.44543621e+02] [ 1.07396786e-01 9.94211225e-01 -3.15750489e-03 1.76277122e+01] [ 4.46783918e-02 -1.65354011e-03 9.99000054e-01 1.00784200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38509989299996 meters 0.022784014063210054 Centerline is valid? [True, True] Translation: X:244.60, Y:17.62, Z:10.08 [[ 9.92620550e-01 -1.12211667e-01 -4.59672332e-02 2.44604109e+02] [ 1.12181146e-01 9.93682454e-01 -3.25130914e-03 1.76242229e+01] [ 4.60416679e-02 -1.92934063e-03 9.98937657e-01 1.00795621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.44509989299996 meters 0.023242002466218582 Centerline is valid? [True, True] Translation: X:244.67, Y:17.63, Z:10.08 [[ 9.92015406e-01 -1.16666722e-01 -4.78989550e-02 2.44665378e+02] [ 1.16638768e-01 9.93168626e-01 -3.38783414e-03 1.76252183e+01] [ 4.79669869e-02 -2.22609142e-03 9.98846441e-01 1.00798071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.50509989299997 meters 0.023335930179788415 Centerline is valid? [True, True] Translation: X:244.73, Y:17.63, Z:10.08 [[ 9.91745008e-01 -1.18972023e-01 -4.78277748e-02 2.44727596e+02] [ 1.18946881e-01 9.92894861e-01 -3.38161464e-03 1.76273033e+01] [ 4.78902693e-02 -2.33526520e-03 9.98849873e-01 1.00819689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.56509989299997 meters 0.024130305222408024 Centerline is valid? [True, True] Translation: X:244.79, Y:17.63, Z:10.09 [[ 9.91616045e-01 -1.20462256e-01 -4.67596354e-02 2.44789862e+02] [ 1.20440031e-01 9.92715111e-01 -3.30273354e-03 1.76286155e+01] [ 4.68168514e-02 -2.35668837e-03 9.98900710e-01 1.00851942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.62509989299997 meters 0.026849716347167773 Centerline is valid? [True, True] Translation: X:244.85, Y:17.63, Z:10.09 [[ 9.91404767e-01 -1.22967781e-01 -4.46711659e-02 2.44850684e+02] [ 1.22950161e-01 9.92407840e-01 -3.15223603e-03 1.76255967e+01] [ 4.47196387e-02 -2.36718523e-03 9.98996772e-01 1.00883522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68509989299994 meters 0.024177901059732207 Centerline is valid? [True, True] Translation: X:244.91, Y:17.63, Z:10.09 [[ 9.91194629e-01 -1.24550119e-01 -4.49496888e-02 2.44912235e+02] [ 1.24533942e-01 9.92210281e-01 -3.17096140e-03 1.76307419e+01] [ 4.49944870e-02 -2.45472204e-03 9.98984219e-01 1.00905645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74509989299995 meters 0.02485255981674726 Centerline is valid? [True, True] Translation: X:244.97, Y:17.63, Z:10.09 [[ 9.91077550e-01 -1.25151309e-01 -4.58523749e-02 2.44974818e+02] [ 1.25135244e-01 9.92134429e-01 -3.23193826e-03 1.76304440e+01] [ 4.58962011e-02 -2.53464666e-03 9.98942999e-01 1.00912062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80509989299995 meters 0.025380897441298973 Centerline is valid? [True, True] Translation: X:245.04, Y:17.63, Z:10.09 [[ 9.91123792e-01 -1.24705487e-01 -4.60670305e-02 2.45036625e+02] [ 1.24688950e-01 9.92190579e-01 -3.24362706e-03 1.76331180e+01] [ 4.61117717e-02 -2.52921371e-03 9.98933085e-01 1.00930980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86509989299995 meters 0.025947684789297445 Centerline is valid? [True, True] Translation: X:245.10, Y:17.64, Z:10.10 [[ 9.91232014e-01 -1.23776144e-01 -4.62445704e-02 2.45098364e+02] [ 1.23758630e-01 9.92307020e-01 -3.25271382e-03 1.76358320e+01] [ 4.62914202e-02 -2.49897060e-03 9.98924852e-01 1.00954535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92509989299995 meters 0.02476385284782607 Centerline is valid? [True, True] Translation: X:245.16, Y:17.64, Z:10.10 [[ 9.91692114e-01 -1.20362465e-01 -4.53831326e-02 2.45158901e+02] [ 1.20342170e-01 9.92727350e-01 -3.18907295e-03 1.76415719e+01] [ 4.54369217e-02 -2.29892614e-03 9.98964564e-01 1.00987932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98509989299995 meters 0.02347490705631591 Centerline is valid? [True, True] Translation: X:245.22, Y:17.65, Z:10.10 [[ 9.92315155e-01 -1.15450948e-01 -4.45164246e-02 2.45219696e+02] [ 1.15426523e-01 9.93311098e-01 -3.12738107e-03 1.76477401e+01] [ 4.45797177e-02 -2.03502846e-03 9.99003757e-01 1.01019586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04509989299996 meters 0.022354351804124623 Centerline is valid? [True, True] Translation: X:245.28, Y:17.65, Z:10.10 [[ 9.92701786e-01 -1.12289935e-01 -4.39787973e-02 2.45281268e+02] [ 1.12263036e-01 9.93673724e-01 -3.08878570e-03 1.76534367e+01] [ 4.40474148e-02 -1.87095023e-03 9.99027690e-01 1.01049702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10509989299996 meters 0.022391077918125675 Centerline is valid? [True, True] Translation: X:245.34, Y:17.66, Z:10.11 [[ 9.92709773e-01 -1.12228295e-01 -4.39558490e-02 2.45343564e+02] [ 1.12201470e-01 9.93680690e-01 -3.08478426e-03 1.76569706e+01] [ 4.40242785e-02 -1.86961537e-03 9.99028712e-01 1.01064688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16509989299996 meters 0.021063943298427826 Centerline is valid? [True, True] Translation: X:245.41, Y:17.66, Z:10.11 [[ 9.92466194e-01 -1.14291075e-01 -4.41407246e-02 2.45405849e+02] [ 1.14266198e-01 9.93445348e-01 -3.09459060e-03 1.76619302e+01] [ 4.42050816e-02 -1.97251624e-03 9.99020530e-01 1.01084020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.22509989299996 meters 0.02396016225357989 Centerline is valid? [True, True] Translation: X:245.47, Y:17.66, Z:10.11 [[ 9.91488471e-01 -1.21595959e-01 -4.65299322e-02 2.45467588e+02] [ 1.21576493e-01 9.92576716e-01 -3.25868281e-03 1.76588853e+01] [ 4.65807699e-02 -2.42599953e-03 9.98911581e-01 1.01079456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.28509989299997 meters 0.02519147265030251 Centerline is valid? [True, True] Translation: X:245.53, Y:17.66, Z:10.11 [[ 9.91172615e-01 -1.24201852e-01 -4.63761476e-02 2.45528987e+02] [ 1.24185417e-01 9.92253718e-01 -3.24660656e-03 1.76611667e+01] [ 4.64201395e-02 -2.54129371e-03 9.98918772e-01 1.01101272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.34509989299997 meters 0.027084643582648345 Centerline is valid? [True, True] Translation: X:245.59, Y:17.66, Z:10.11 [[ 9.91166937e-01 -1.24600860e-01 -4.54172780e-02 2.45590471e+02] [ 1.24585590e-01 9.92203776e-01 -3.17777635e-03 1.76630675e+01] [ 4.54591484e-02 -2.50863153e-03 9.98963049e-01 1.01132994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40509989299994 meters 0.022459709379375036 Centerline is valid? [True, True] Translation: X:245.65, Y:17.68, Z:10.12 [[ 9.91903752e-01 -1.19460555e-01 -4.30827436e-02 2.45650051e+02] [ 1.19442068e-01 9.92836602e-01 -3.01225394e-03 1.76751725e+01] [ 4.31339703e-02 -2.15802601e-03 9.99066966e-01 1.01172157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46509989299994 meters 0.02287933080882644 Centerline is valid? [True, True] Translation: X:245.71, Y:17.68, Z:10.12 [[ 9.92598184e-01 -1.13841189e-01 -4.22969146e-02 2.45709309e+02] [ 1.13818290e-01 9.93497183e-01 -2.95699686e-03 1.76806139e+01] [ 4.23584935e-02 -1.87905279e-03 9.99100709e-01 1.01201293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52509989299995 meters 0.01958833582451079 Centerline is valid? [True, True] Translation: X:245.77, Y:17.69, Z:10.12 [[ 9.93670307e-01 -1.04910959e-01 -4.01623113e-02 2.45769485e+02] [ 1.04883002e-01 9.94480603e-01 -2.80832623e-03 1.76939179e+01] [ 4.02352637e-02 -1.42179340e-03 9.99189222e-01 1.01237128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58509989299995 meters 0.01712662520015621 Centerline is valid? [True, True] Translation: X:245.83, Y:17.70, Z:10.13 [[ 9.94295037e-01 -9.94049035e-02 -3.86787254e-02 2.45829332e+02] [ 9.93748378e-02 9.95046396e-01 -2.70388799e-03 1.77041434e+01] [ 3.87559060e-02 -1.15522965e-03 9.99248040e-01 1.01264322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64509989299995 meters 0.01713502327041675 Centerline is valid? [True, True] Translation: X:245.89, Y:17.71, Z:10.13 [[ 9.94389644e-01 -9.82733354e-02 -3.91355082e-02 2.45890917e+02] [ 9.82416722e-02 9.95158826e-01 -2.73602354e-03 1.77095257e+01] [ 3.92149246e-02 -1.12406430e-03 9.99230167e-01 1.01285204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70509989299995 meters 0.018738299230870684 Centerline is valid? [True, True] Translation: X:245.95, Y:17.71, Z:10.13 [[ 9.94051904e-01 -1.00726284e-01 -4.14129069e-02 2.45952435e+02] [ 1.00693089e-01 9.94913332e-01 -2.89200093e-03 1.77110714e+01] [ 4.14935537e-02 -1.29519448e-03 9.99137932e-01 1.01285713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76509989299996 meters 0.018729554987769913 Centerline is valid? [True, True] Translation: X:246.01, Y:17.72, Z:10.13 [[ 9.93684155e-01 -1.03836525e-01 -4.25414581e-02 2.46014749e+02] [ 1.03804443e-01 9.94593297e-01 -2.96842565e-03 1.77150393e+01] [ 4.26196801e-02 -1.46631483e-03 9.99090293e-01 1.01296692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82509989299996 meters 0.02049699144620195 Centerline is valid? [True, True] Translation: X:246.08, Y:17.72, Z:10.13 [[ 9.93154285e-01 -1.08309305e-01 -4.37453993e-02 2.46075732e+02] [ 1.08279851e-01 9.94115776e-01 -3.04923992e-03 1.77163541e+01] [ 4.38182527e-02 -1.70837963e-03 9.99038058e-01 1.01303178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88509989299996 meters 0.02276705195272693 Centerline is valid? [True, True] Translation: X:246.14, Y:17.72, Z:10.13 [[ 9.92871892e-01 -1.11458639e-01 -4.22182108e-02 2.46135895e+02] [ 1.11434076e-01 9.93767473e-01 -2.94204965e-03 1.77182118e+01] [ 4.22830015e-02 -1.78346893e-03 9.99104082e-01 1.01338096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.94509989299996 meters 0.02361316935671402 Centerline is valid? [True, True] Translation: X:246.20, Y:17.72, Z:10.14 [[ 9.92820047e-01 -1.12294740e-01 -4.12097823e-02 2.46197579e+02] [ 1.12272082e-01 9.93673355e-01 -2.87109402e-03 1.77219337e+01] [ 4.12714714e-02 -1.77622838e-03 9.99146391e-01 1.01371697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.00509989299997 meters 0.021662334175166074 Centerline is valid? [True, True] Translation: X:246.26, Y:17.73, Z:10.14 [[ 9.92956467e-01 -1.11909858e-01 -3.89055150e-02 2.46259643e+02] [ 1.11889466e-01 9.93716969e-01 -2.70797888e-03 1.77305160e+01] [ 3.89641199e-02 -1.66421217e-03 9.99239224e-01 1.01409444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.06509989299997 meters 0.023008847522595282 Centerline is valid? [True, True] Translation: X:246.32, Y:17.73, Z:10.14 [[ 9.92999744e-01 -1.11540405e-01 -3.88618966e-02 2.46321138e+02] [ 1.11519880e-01 9.93758529e-01 -2.70230157e-03 1.77334669e+01] [ 3.89207570e-02 -1.65048927e-03 9.99240937e-01 1.01436051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.12509989299997 meters 0.021842223400418952 Centerline is valid? [True, True] Translation: X:246.38, Y:17.74, Z:10.15 [[ 9.92897532e-01 -1.12392205e-01 -3.90190121e-02 2.46383139e+02] [ 1.12372396e-01 9.93662475e-01 -2.70744593e-03 1.77399666e+01] [ 3.90760240e-02 -1.69644349e-03 9.99234800e-01 1.01454020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18509989299994 meters 0.023914882957801517 Centerline is valid? [True, True] Translation: X:246.44, Y:17.74, Z:10.15 [[ 9.92615823e-01 -1.14411262e-01 -4.02975375e-02 2.46444374e+02] [ 1.14391915e-01 9.93431773e-01 -2.79316290e-03 1.77406549e+01] [ 4.03524234e-02 -1.83717480e-03 9.99183820e-01 1.01468002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24509989299995 meters 0.024850983593181875 Centerline is valid? [True, True] Translation: X:246.51, Y:17.74, Z:10.15 [[ 9.92349347e-01 -1.16150012e-01 -4.18562862e-02 2.46505945e+02] [ 1.16130904e-01 9.93229695e-01 -2.89596374e-03 1.77432385e+01] [ 4.19092725e-02 -1.98700063e-03 9.99119445e-01 1.01477516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30509989299995 meters 0.026227281047605706 Centerline is valid? [True, True] Translation: X:246.57, Y:17.75, Z:10.15 [[ 9.92095970e-01 -1.17503347e-01 -4.40289547e-02 2.46566539e+02] [ 1.17483644e-01 9.93070153e-01 -3.04384185e-03 1.77454908e+01] [ 4.40815024e-02 -2.15289881e-03 9.99025618e-01 1.01483746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36509989299995 meters 0.027647919122816497 Centerline is valid? [True, True] Translation: X:246.63, Y:17.75, Z:10.15 [[ 9.91941350e-01 -1.18153326e-01 -4.57400194e-02 2.46627601e+02] [ 1.18132834e-01 9.92992772e-01 -3.16038935e-03 1.77491191e+01] [ 4.57929192e-02 -2.26847723e-03 9.98948378e-01 1.01495265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42509989299995 meters 0.02325188129601903 Centerline is valid? [True, True] Translation: X:246.69, Y:17.76, Z:10.15 [[ 9.92143659e-01 -1.16862654e-01 -4.46551156e-02 2.46688708e+02] [ 1.16841921e-01 9.93145740e-01 -3.08309435e-03 1.77619154e+01] [ 4.47093364e-02 -2.15871699e-03 9.98997705e-01 1.01536720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48509989299995 meters 0.022125638119348652 Centerline is valid? [True, True] Translation: X:246.75, Y:17.77, Z:10.16 [[ 9.92475002e-01 -1.14643690e-01 -4.30138961e-02 2.46749477e+02] [ 1.14622502e-01 9.93404691e-01 -2.96675685e-03 1.77698168e+01] [ 4.30703261e-02 -1.98592839e-03 9.99070069e-01 1.01579092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54509989299996 meters 0.022486266065999922 Centerline is valid? [True, True] Translation: X:246.81, Y:17.77, Z:10.16 [[ 9.92747727e-01 -1.12670671e-01 -4.19198136e-02 2.46809802e+02] [ 1.12648854e-01 9.93630658e-01 -2.88976878e-03 1.77747888e+01] [ 4.19784042e-02 -1.85340760e-03 9.99116799e-01 1.01613657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60509989299996 meters 0.02199141771329491 Centerline is valid? [True, True] Translation: X:246.87, Y:17.78, Z:10.17 [[ 9.93010129e-01 -1.10566602e-01 -4.13026667e-02 2.46871314e+02] [ 1.10543637e-01 9.93867195e-01 -2.84650452e-03 1.77817614e+01] [ 4.13640939e-02 -1.73913915e-03 9.99142626e-01 1.01651619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66509989299996 meters 0.02234133189718804 Centerline is valid? [True, True] Translation: X:246.93, Y:17.79, Z:10.17 [[ 9.92997829e-01 -1.10464492e-01 -4.18677286e-02 2.46934545e+02] [ 1.10440901e-01 9.93878511e-01 -2.88313270e-03 1.77859205e+01] [ 4.19299196e-02 -1.76096514e-03 9.99119002e-01 1.01676342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.72509989299996 meters 0.021933981986728912 Centerline is valid? [True, True] Translation: X:247.00, Y:17.79, Z:10.17 [[ 9.92791719e-01 -1.10331497e-01 -4.68141470e-02 2.46996203e+02] [ 1.10302117e-01 9.93892894e-01 -3.21830984e-03 1.77911090e+01] [ 4.68833290e-02 -1.96858817e-03 9.98898432e-01 1.01661749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.78509989299997 meters 0.02255038480504374 Centerline is valid? [True, True] Translation: X:247.06, Y:17.80, Z:10.17 [[ 9.92714904e-01 -1.10491541e-01 -4.80493300e-02 2.47057833e+02] [ 1.10460951e-01 9.93874987e-01 -3.29966640e-03 1.77951621e+01] [ 4.81196125e-02 -2.03194667e-03 9.98839514e-01 1.01685034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.84509989299997 meters 0.020388683455321792 Centerline is valid? [True, True] Translation: X:247.12, Y:17.80, Z:10.17 [[ 9.92805903e-01 -1.09280731e-01 -4.89301682e-02 2.47119717e+02] [ 1.09247719e-01 9.94008888e-01 -3.35657809e-03 1.78041242e+01] [ 4.90038314e-02 -2.01307870e-03 9.98796562e-01 1.01715719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90509989299994 meters 0.02227802071067368 Centerline is valid? [True, True] Translation: X:247.18, Y:17.81, Z:10.17 [[ 9.93191933e-01 -1.05846233e-01 -4.86452386e-02 2.47180374e+02] [ 1.05809655e-01 9.94380814e-01 -3.33369187e-03 1.78076506e+01] [ 4.87247507e-02 -1.83614003e-03 9.98810556e-01 1.01738465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96509989299994 meters 0.019693644640869725 Centerline is valid? [True, True] Translation: X:247.24, Y:17.82, Z:10.18 [[ 9.93524583e-01 -1.03317269e-01 -4.72699153e-02 2.47241066e+02] [ 1.03279950e-01 9.94647057e-01 -3.23775572e-03 1.78186799e+01] [ 4.73513982e-02 -1.66524459e-03 9.98876905e-01 1.01787116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02509989299995 meters 0.019905729813804174 Centerline is valid? [True, True] Translation: X:247.30, Y:17.82, Z:10.18 [[ 9.93553162e-01 -1.03099187e-01 -4.71452109e-02 2.47303323e+02] [ 1.03061909e-01 9.94669708e-01 -3.22732213e-03 1.78234736e+01] [ 4.72266475e-02 -1.65235933e-03 9.98882833e-01 1.01808908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08509989299995 meters 0.01935073632112084 Centerline is valid? [True, True] Translation: X:247.37, Y:17.83, Z:10.18 [[ 9.93181903e-01 -1.06174590e-01 -4.81317362e-02 2.47365382e+02] [ 1.06139510e-01 9.94345801e-01 -3.29133010e-03 1.78294267e+01] [ 4.82090454e-02 -1.83978938e-03 9.98835574e-01 1.01826707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14509989299995 meters 0.021922792815508324 Centerline is valid? [True, True] Translation: X:247.43, Y:17.83, Z:10.18 [[ 9.92738340e-01 -1.09792996e-01 -4.91536966e-02 2.47425592e+02] [ 1.09761021e-01 9.93952336e-01 -3.35744506e-03 1.78298881e+01] [ 4.92250555e-02 -2.06209548e-03 9.98785583e-01 1.01848266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20509989299995 meters 0.022454875639191418 Centerline is valid? [True, True] Translation: X:247.49, Y:17.83, Z:10.19 [[ 9.92141517e-01 -1.13945319e-01 -5.16882399e-02 2.47486661e+02] [ 1.13915788e-01 9.93484150e-01 -3.52662974e-03 1.78338541e+01] [ 5.17532901e-02 -2.38919082e-03 9.98657043e-01 1.01866370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26509989299996 meters 0.023156400385064526 Centerline is valid? [True, True] Translation: X:247.55, Y:17.84, Z:10.19 [[ 9.92197457e-01 -1.13408851e-01 -5.17942050e-02 2.47548897e+02] [ 1.13378548e-01 9.93545584e-01 -3.53237678e-03 1.78375071e+01] [ 5.18605064e-02 -2.36753647e-03 9.98651532e-01 1.01889461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32509989299996 meters 0.021720535687677095 Centerline is valid? [True, True] Translation: X:247.61, Y:17.85, Z:10.19 [[ 9.92625526e-01 -1.10206328e-01 -5.04889097e-02 2.47610316e+02] [ 1.10173577e-01 9.93906410e-01 -3.43977463e-03 1.78453358e+01] [ 5.05603359e-02 -2.14813568e-03 9.98718698e-01 1.01933576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38509989299996 meters 0.02052871286539253 Centerline is valid? [True, True] Translation: X:247.67, Y:17.85, Z:10.20 [[ 9.92991395e-01 -1.07199513e-01 -4.97629823e-02 2.47671212e+02] [ 1.07164093e-01 9.94235578e-01 -3.38700230e-03 1.78530211e+01] [ 4.98392125e-02 -1.96954073e-03 9.98755312e-01 1.01977365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.44509989299996 meters 0.019595007100341812 Centerline is valid? [True, True] Translation: X:247.73, Y:17.86, Z:10.20 [[ 9.93073975e-01 -1.06042652e-01 -5.05869100e-02 2.47732712e+02] [ 1.06004666e-01 9.94359679e-01 -3.44087422e-03 1.78590922e+01] [ 5.06664630e-02 -1.94540583e-03 9.98713735e-01 1.02001337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.50509989299997 meters 0.01998426907044073 Centerline is valid? [True, True] Translation: X:247.79, Y:17.86, Z:10.20 [[ 9.93085216e-01 -1.05527014e-01 -5.14373720e-02 2.47794425e+02] [ 1.05487248e-01 9.94414514e-01 -3.49487305e-03 1.78627740e+01] [ 5.15188728e-02 -1.95528007e-03 9.98670107e-01 1.02020208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.56509989299997 meters 0.02066164991124186 Centerline is valid? [True, True] Translation: X:247.86, Y:17.87, Z:10.20 [[ 9.93002052e-01 -1.05110858e-01 -5.38389486e-02 2.47855104e+02] [ 1.05066936e-01 9.94458441e-01 -3.65344303e-03 1.78665534e+01] [ 5.39246135e-02 -2.02881694e-03 9.98542948e-01 1.02033720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.62509989299997 meters 0.021757978181593134 Centerline is valid? [True, True] Translation: X:247.92, Y:17.87, Z:10.20 [[ 9.92801643e-01 -1.05965805e-01 -5.58224581e-02 2.47916102e+02] [ 1.05920304e-01 9.94367432e-01 -3.78150863e-03 1.78679705e+01] [ 5.59087449e-02 -2.15844377e-03 9.98433550e-01 1.02041132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68509989299994 meters 0.020253845354970466 Centerline is valid? [True, True] Translation: X:247.98, Y:17.87, Z:10.21 [[ 9.92629108e-01 -1.06960950e-01 -5.69807758e-02 2.47976901e+02] [ 1.06915461e-01 9.94260641e-01 -3.85506683e-03 1.78738476e+01] [ 5.70660843e-02 -2.26547435e-03 9.98367833e-01 1.02074240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74509989299995 meters 0.020785546062989838 Centerline is valid? [True, True] Translation: X:248.04, Y:17.88, Z:10.21 [[ 9.92714561e-01 -1.06136035e-01 -5.70345699e-02 2.48036733e+02] [ 1.06089204e-01 9.94349136e-01 -3.85690373e-03 1.78765628e+01] [ 5.71216318e-02 -2.22194763e-03 9.98364754e-01 1.02097675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80509989299995 meters 0.01953621780938515 Centerline is valid? [True, True] Translation: X:248.10, Y:17.88, Z:10.21 [[ 9.92813285e-01 -1.05429336e-01 -5.66253950e-02 2.48097673e+02] [ 1.05382100e-01 9.94424436e-01 -3.82794525e-03 1.78823851e+01] [ 5.67132543e-02 -2.16686816e-03 9.98388157e-01 1.02134792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86509989299995 meters 0.020929832249948342 Centerline is valid? [True, True] Translation: X:248.16, Y:17.88, Z:10.22 [[ 9.93127444e-01 -1.02794418e-01 -5.59570121e-02 2.48158622e+02] [ 1.02744228e-01 9.94700623e-01 -3.78073357e-03 1.78832896e+01] [ 5.60491131e-02 -1.99450977e-03 9.98426021e-01 1.02161289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92509989299995 meters 0.018765695289236797 Centerline is valid? [True, True] Translation: X:248.22, Y:17.89, Z:10.22 [[ 9.93204090e-01 -1.02000054e-01 -5.60501989e-02 2.48219638e+02] [ 1.01948549e-01 9.94782472e-01 -3.78498997e-03 1.78901288e+01] [ 5.61438246e-02 -1.95496896e-03 9.98420778e-01 1.02209483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98509989299995 meters 0.019501913464689075 Centerline is valid? [True, True] Translation: X:248.28, Y:17.89, Z:10.22 [[ 9.93209325e-01 -1.02131104e-01 -5.57178044e-02 2.48280322e+02] [ 1.02080512e-01 9.94769031e-01 -3.76077748e-03 1.78916063e+01] [ 5.58104386e-02 -1.95246275e-03 9.98439474e-01 1.02227682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04509989299996 meters 0.018374154977433152 Centerline is valid? [True, True] Translation: X:248.34, Y:17.89, Z:10.23 [[ 9.93160295e-01 -1.02726747e-01 -5.54963396e-02 2.48341968e+02] [ 1.02677583e-01 9.94707643e-01 -3.74406843e-03 1.78948490e+01] [ 5.55872491e-02 -1.97976990e-03 9.98451871e-01 1.02262006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10509989299996 meters 0.019633836271361657 Centerline is valid? [True, True] Translation: X:248.40, Y:17.89, Z:10.23 [[ 9.93164807e-01 -1.02976659e-01 -5.49497405e-02 2.48402712e+02] [ 1.02929022e-01 9.94681807e-01 -3.70386632e-03 1.78947807e+01] [ 5.50389190e-02 -1.97737337e-03 9.98482252e-01 1.02282897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16509989299996 meters 0.019816768022633987 Centerline is valid? [True, True] Translation: X:248.46, Y:17.90, Z:10.23 [[ 9.93115269e-01 -1.04000434e-01 -5.39070761e-02 2.48463819e+02] [ 1.03956155e-01 9.94575248e-01 -3.63240362e-03 1.78955634e+01] [ 5.39924151e-02 -1.99657686e-03 9.98539350e-01 1.02322625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.22509989299996 meters 0.020587106430784315 Centerline is valid? [True, True] Translation: X:248.53, Y:17.89, Z:10.23 [[ 9.93105209e-01 -1.04501482e-01 -5.31176501e-02 2.48525435e+02] [ 1.04459305e-01 9.94522728e-01 -3.57732078e-03 1.78943505e+01] [ 5.32005456e-02 -1.99597693e-03 9.98581853e-01 1.02347919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.28509989299997 meters 0.021224421203426748 Centerline is valid? [True, True] Translation: X:248.59, Y:17.89, Z:10.24 [[ 9.93021057e-01 -1.05615738e-01 -5.24833010e-02 2.48586767e+02] [ 1.05576211e-01 9.94404939e-01 -3.53275035e-03 1.78928740e+01] [ 5.25627678e-02 -2.03289260e-03 9.98615553e-01 1.02374750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.34509989299997 meters 0.020645316930766433 Centerline is valid? [True, True] Translation: X:248.65, Y:17.89, Z:10.24 [[ 9.92945006e-01 -1.06059593e-01 -5.30243091e-02 2.48647978e+02] [ 1.06019981e-01 9.94357601e-01 -3.56726359e-03 1.78943301e+01] [ 5.31034673e-02 -2.07953968e-03 9.98586850e-01 1.02401932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40509989299994 meters 0.02009817311954382 Centerline is valid? [True, True] Translation: X:248.71, Y:17.89, Z:10.24 [[ 9.93104563e-01 -1.05055218e-01 -5.20262174e-02 2.48709424e+02] [ 1.05015803e-01 9.94464400e-01 -3.49826098e-03 1.78941831e+01] [ 5.21057316e-02 -1.98943607e-03 9.98639592e-01 1.02435940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46509989299994 meters 0.02081844040447047 Centerline is valid? [True, True] Translation: X:248.77, Y:17.89, Z:10.25 [[ 9.93312090e-01 -1.03069725e-01 -5.20357887e-02 2.48770229e+02] [ 1.03027674e-01 9.94672343e-01 -3.49701612e-03 1.78944529e+01] [ 5.21189963e-02 -1.88749789e-03 9.98639098e-01 1.02463508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52509989299995 meters 0.0180518990648193 Centerline is valid? [True, True] Translation: X:248.83, Y:17.90, Z:10.25 [[ 9.93737051e-01 -9.87568335e-02 -5.22853861e-02 2.48830518e+02] [ 9.87084967e-02 9.95110193e-01 -3.51228508e-03 1.79000227e+01] [ 5.23765828e-02 -1.67072404e-03 9.98626007e-01 1.02496437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58509989299995 meters 0.017506205967323527 Centerline is valid? [True, True] Translation: X:248.89, Y:17.90, Z:10.25 [[ 9.94015299e-01 -9.54914949e-02 -5.30561922e-02 2.48890829e+02] [ 9.54370780e-02 9.95429084e-01 -3.56406420e-03 1.79024033e+01] [ 5.31540146e-02 -1.52079362e-03 9.98585168e-01 1.02512179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64509989299995 meters 0.016940930857018723 Centerline is valid? [True, True] Translation: X:248.95, Y:17.90, Z:10.25 [[ 9.94305407e-01 -9.23678959e-02 -5.31500628e-02 2.48950066e+02] [ 9.23088073e-02 9.95724025e-01 -3.57077296e-03 1.79047781e+01] [ 5.32526192e-02 -1.35578004e-03 9.98580152e-01 1.02533937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70509989299995 meters 0.01607174313664498 Centerline is valid? [True, True] Translation: X:249.01, Y:17.91, Z:10.26 [[ 9.94510677e-01 -8.99827697e-02 -5.34005023e-02 2.49009368e+02] [ 8.99195853e-02 9.95942560e-01 -3.58952404e-03 1.79065749e+01] [ 5.35068283e-02 -1.23193104e-03 9.98566724e-01 1.02568378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76509989299996 meters 0.016335194929346614 Centerline is valid? [True, True] Translation: X:249.07, Y:17.90, Z:10.26 [[ 9.94466590e-01 -9.05786705e-02 -5.32137697e-02 2.49067996e+02] [ 9.05165458e-02 9.95888512e-01 -3.58134208e-03 1.79048761e+01] [ 5.33193752e-02 -1.25520158e-03 9.98576721e-01 1.02598517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82509989299996 meters 0.016879275938562966 Centerline is valid? [True, True] Translation: X:249.13, Y:17.90, Z:10.26 [[ 9.94362873e-01 -9.22670069e-02 -5.22424684e-02 2.49126527e+02] [ 9.22087756e-02 9.95733442e-01 -3.52895585e-03 1.79037036e+01] [ 5.23451791e-02 -1.30815136e-03 9.98628195e-01 1.02628204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88509989299996 meters 0.017546884576956898 Centerline is valid? [True, True] Translation: X:249.19, Y:17.90, Z:10.27 [[ 9.94211164e-01 -9.48289007e-02 -5.05137720e-02 2.49185706e+02] [ 9.47771347e-02 9.95492625e-01 -3.42452979e-03 1.79021260e+01] [ 5.06108319e-02 -1.38284483e-03 9.98717493e-01 1.02669302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.94509989299996 meters 0.01919340922558004 Centerline is valid? [True, True] Translation: X:249.24, Y:17.90, Z:10.27 [[ 9.93919775e-01 -9.86277296e-02 -4.89494868e-02 2.49244429e+02] [ 9.85831927e-02 9.95123244e-01 -3.32917772e-03 1.78963311e+01] [ 4.90391214e-02 -1.51666112e-03 9.98795707e-01 1.02703643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.00509989299997 meters 0.019302449939557285 Centerline is valid? [True, True] Translation: X:249.30, Y:17.89, Z:10.27 [[ 9.93462630e-01 -1.03004891e-01 -4.92137726e-02 2.49304443e+02] [ 1.02965071e-01 9.94679330e-01 -3.35039427e-03 1.78933349e+01] [ 4.92970294e-02 -1.73880808e-03 9.98782649e-01 1.02716858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.06509989299997 meters 0.020531644799223155 Centerline is valid? [True, True] Translation: X:249.36, Y:17.89, Z:10.27 [[ 9.93060743e-01 -1.06419610e-01 -5.00522485e-02 2.49364917e+02] [ 1.06382664e-01 9.94319419e-01 -3.40918453e-03 1.78916319e+01] [ 5.01307267e-02 -1.93916421e-03 9.98740782e-01 1.02728316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.12509989299997 meters 0.022622155205761392 Centerline is valid? [True, True] Translation: X:249.42, Y:17.89, Z:10.27 [[ 9.92574732e-01 -1.10408554e-01 -5.10426463e-02 2.49424591e+02] [ 1.10375349e-01 9.93883891e-01 -3.47750827e-03 1.78875500e+01] [ 5.11144106e-02 -2.18216304e-03 9.98690420e-01 1.02730023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18509989299994 meters 0.02645321596291718 Centerline is valid? [True, True] Translation: X:249.48, Y:17.88, Z:10.27 [[ 9.92216358e-01 -1.13166975e-01 -5.19609007e-02 2.49483647e+02] [ 1.13136275e-01 9.93573169e-01 -3.54125135e-03 1.78831098e+01] [ 5.20277095e-02 -2.36497524e-03 9.98642841e-01 1.02735395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24509989299995 meters 0.022362069469772154 Centerline is valid? [True, True] Translation: X:249.54, Y:17.89, Z:10.28 [[ 9.92194139e-01 -1.13660898e-01 -5.13029279e-02 2.49543162e+02] [ 1.13631443e-01 9.93516807e-01 -3.50000713e-03 1.78921632e+01] [ 5.13681351e-02 -2.35693916e-03 9.98677005e-01 1.02780114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30509989299995 meters 0.021542213348268873 Centerline is valid? [True, True] Translation: X:249.60, Y:17.90, Z:10.28 [[ 9.92549890e-01 -1.11126459e-01 -4.99562394e-02 2.49602316e+02] [ 1.11095234e-01 9.93803915e-01 -3.40994142e-03 1.78971385e+01] [ 5.00256410e-02 -2.16536313e-03 9.98745586e-01 1.02819166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36509989299995 meters 0.020527485372258805 Centerline is valid? [True, True] Translation: X:249.66, Y:17.90, Z:10.28 [[ 9.92883339e-01 -1.07820753e-01 -5.05703477e-02 2.49662228e+02] [ 1.07784390e-01 9.94168295e-01 -3.45359021e-03 1.79037023e+01] [ 5.06478050e-02 -2.02168189e-03 9.98714530e-01 1.02846318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42509989299995 meters 0.01879147445552409 Centerline is valid? [True, True] Translation: X:249.72, Y:17.91, Z:10.29 [[ 9.93431456e-01 -1.02379922e-01 -5.11106109e-02 2.49721292e+02] [ 1.02335530e-01 9.94743810e-01 -3.49161224e-03 1.79126738e+01] [ 5.11994348e-02 -1.76175404e-03 9.98686895e-01 1.02869331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48509989299995 meters 0.01851313790285998 Centerline is valid? [True, True] Translation: X:249.78, Y:17.92, Z:10.29 [[ 9.93715905e-01 -9.91567241e-02 -5.19292197e-02 2.49779559e+02] [ 9.91063947e-02 9.95070511e-01 -3.54966673e-03 1.79178369e+01] [ 5.20252085e-02 -1.61915746e-03 9.98644459e-01 1.02883725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54509989299996 meters 0.019256557301529423 Centerline is valid? [True, True] Translation: X:249.84, Y:17.92, Z:10.29 [[ 9.93709156e-01 -9.85561934e-02 -5.31863689e-02 2.49837550e+02] [ 9.85023608e-02 9.95130164e-01 -3.63895875e-03 1.79217031e+01] [ 5.32860019e-02 -1.62291628e-03 9.98577973e-01 1.02889085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60509989299996 meters 0.017950756057746906 Centerline is valid? [True, True] Translation: X:249.90, Y:17.93, Z:10.29 [[ 9.93508368e-01 -1.00250304e-01 -5.37680174e-02 2.49896143e+02] [ 1.00197393e-01 9.94960752e-01 -3.68563456e-03 1.79292454e+01] [ 5.38665530e-02 -1.72570639e-03 9.98546652e-01 1.02921061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66509989299996 meters 0.02043860097670465 Centerline is valid? [True, True] Translation: X:249.95, Y:17.93, Z:10.29 [[ 9.93421746e-01 -1.01389733e-01 -5.32292857e-02 2.49953873e+02] [ 1.01338877e-01 9.94845230e-01 -3.66054439e-03 1.79297682e+01] [ 5.33260426e-02 -1.75773164e-03 9.98575607e-01 1.02932514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.72509989299996 meters 0.019136502339541926 Centerline is valid? [True, True] Translation: X:250.01, Y:17.94, Z:10.30 [[ 9.93344841e-01 -1.02557346e-01 -5.24215417e-02 2.50012528e+02] [ 1.02509303e-01 9.94725490e-01 -3.61146336e-03 1.79373595e+01] [ 5.25154259e-02 -1.78626722e-03 9.98618515e-01 1.02977248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.78509989299997 meters 0.02259092234372202 Centerline is valid? [True, True] Translation: X:250.07, Y:17.94, Z:10.30 [[ 9.93143083e-01 -1.04505647e-01 -5.23964331e-02 2.50070178e+02] [ 1.04459716e-01 9.94522523e-01 -3.62191866e-03 1.79380742e+01] [ 5.24879438e-02 -1.87623305e-03 9.98619795e-01 1.02985772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.84509989299997 meters 0.01961983804504405 Centerline is valid? [True, True] Translation: X:250.13, Y:17.95, Z:10.30 [[ 9.93019593e-01 -1.05989885e-01 -5.17516478e-02 2.50128266e+02] [ 1.05946658e-01 9.94365350e-01 -3.58561850e-03 1.79474958e+01] [ 5.18400846e-02 -1.92232471e-03 9.98653549e-01 1.03022088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90509989299994 meters 0.02152725742917398 Centerline is valid? [True, True] Translation: X:250.19, Y:17.95, Z:10.30 [[ 9.92904502e-01 -1.07377408e-01 -5.10954318e-02 2.50186712e+02] [ 1.07336518e-01 9.94216404e-01 -3.55155812e-03 1.79505264e+01] [ 5.11812735e-02 -1.95804769e-03 9.98687460e-01 1.03043126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96509989299994 meters 0.02259467044802188 Centerline is valid? [True, True] Translation: X:250.25, Y:17.96, Z:10.31 [[ 9.92755321e-01 -1.09076236e-01 -5.03909400e-02 2.50246006e+02] [ 1.09038481e-01 9.94031347e-01 -3.50589470e-03 1.79557399e+01] [ 5.04725837e-02 -2.01405592e-03 9.98723416e-01 1.03075147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02509989299995 meters 0.023693254639046875 Centerline is valid? [True, True] Translation: X:250.31, Y:17.96, Z:10.31 [[ 9.92612053e-01 -1.10551665e-01 -4.99964191e-02 2.50305757e+02] [ 1.10516284e-01 9.93868221e-01 -3.48006134e-03 1.79604342e+01] [ 5.00745787e-02 -2.07106765e-03 9.98743334e-01 1.03100591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08509989299995 meters 0.02435287075468632 Centerline is valid? [True, True] Translation: X:250.37, Y:17.97, Z:10.31 [[ 9.92542136e-01 -1.11226674e-01 -4.98872269e-02 2.50365705e+02] [ 1.11192261e-01 9.93792845e-01 -3.47319459e-03 1.79655649e+01] [ 4.99638810e-02 -2.09978159e-03 9.98748818e-01 1.03123092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14509989299995 meters 0.022293947433698075 Centerline is valid? [True, True] Translation: X:250.43, Y:17.98, Z:10.32 [[ 9.92370684e-01 -1.12531428e-01 -5.03696672e-02 2.50426269e+02] [ 1.12498040e-01 9.93645760e-01 -3.50647265e-03 1.79768674e+01] [ 5.04441946e-02 -2.18676816e-03 9.98724487e-01 1.03157429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20509989299995 meters 0.024554337904745233 Centerline is valid? [True, True] Translation: X:250.49, Y:17.98, Z:10.32 [[ 9.92175537e-01 -1.13989538e-01 -5.09321905e-02 2.50485693e+02] [ 1.13957387e-01 9.93479316e-01 -3.54424545e-03 1.79805906e+01] [ 5.10040847e-02 -2.28758573e-03 9.98695825e-01 1.03173874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26509989299996 meters 0.02532731153223741 Centerline is valid? [True, True] Translation: X:250.55, Y:17.99, Z:10.32 [[ 9.91973517e-01 -1.15787553e-01 -5.08112526e-02 2.50545520e+02] [ 1.15757860e-01 9.93271166e-01 -3.53674050e-03 1.79855509e+01] [ 5.08788627e-02 -2.37344895e-03 9.98702012e-01 1.03203751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32509989299996 meters 0.024947621356059532 Centerline is valid? [True, True] Translation: X:250.61, Y:17.99, Z:10.32 [[ 9.91788507e-01 -1.17459517e-01 -5.05847775e-02 2.50606044e+02] [ 1.17432234e-01 9.93074655e-01 -3.52140321e-03 1.79937708e+01] [ 5.06480828e-02 -2.44779618e-03 9.98713563e-01 1.03236342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38509989299996 meters 0.027342629368313567 Centerline is valid? [True, True] Translation: X:250.67, Y:18.00, Z:10.33 [[ 9.91846542e-01 -1.17317060e-01 -4.97709132e-02 2.50666714e+02] [ 1.17290548e-01 9.93091604e-01 -3.46311806e-03 1.79963779e+01] [ 4.98333588e-02 -2.40277600e-03 9.98754656e-01 1.03254170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.44509989299996 meters 0.023317412022651682 Centerline is valid? [True, True] Translation: X:250.73, Y:18.01, Z:10.33 [[ 9.92150005e-01 -1.15270574e-01 -4.84877546e-02 2.50727914e+02] [ 1.15243025e-01 9.93331601e-01 -3.37274309e-03 1.80083283e+01] [ 4.85531969e-02 -2.24160842e-03 9.98818083e-01 1.03282541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.50509989299997 meters 0.024105819871340417 Centerline is valid? [True, True] Translation: X:250.79, Y:18.01, Z:10.33 [[ 9.92307378e-01 -1.14106511e-01 -4.80184542e-02 2.50788583e+02] [ 1.14078252e-01 9.93466161e-01 -3.33758123e-03 1.80121944e+01] [ 4.80855491e-02 -2.16595485e-03 9.98840873e-01 1.03308092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.56509989299997 meters 0.022293035055269562 Centerline is valid? [True, True] Translation: X:250.85, Y:18.02, Z:10.33 [[ 9.92860435e-01 -1.09758582e-01 -4.67034389e-02 2.50849014e+02] [ 1.09727120e-01 9.93956454e-01 -3.24462068e-03 1.80232879e+01] [ 4.67773094e-02 -1.90317834e-03 9.98903529e-01 1.03348941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62509989299994 meters 0.021566641382098663 Centerline is valid? [True, True] Translation: X:250.91, Y:18.03, Z:10.34 [[ 9.93131172e-01 -1.07134432e-01 -4.70392357e-02 2.50910262e+02] [ 1.07099628e-01 9.94242927e-01 -3.26689971e-03 1.80307473e+01] [ 4.71184249e-02 -1.79342470e-03 9.98887700e-01 1.03367929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68509989299994 meters 0.020182045777009515 Centerline is valid? [True, True] Translation: X:250.97, Y:18.04, Z:10.34 [[ 9.93222570e-01 -1.05508402e-01 -4.87535048e-02 2.50971573e+02] [ 1.05469204e-01 9.94416815e-01 -3.38304517e-03 1.80395940e+01] [ 4.88382447e-02 -1.78187651e-03 9.98805112e-01 1.03386386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74509989299995 meters 0.02044847336115364 Centerline is valid? [True, True] Translation: X:251.03, Y:18.05, Z:10.34 [[ 9.93197012e-01 -1.04821048e-01 -5.07172929e-02 2.51033337e+02] [ 1.04777935e-01 9.94489430e-01 -3.51542751e-03 1.80454914e+01] [ 5.08063025e-02 -1.82254111e-03 9.98706863e-01 1.03400985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80509989299995 meters 0.021910953778506992 Centerline is valid? [True, True] Translation: X:251.09, Y:18.05, Z:10.34 [[ 9.93325249e-01 -1.03799029e-01 -5.03061833e-02 2.51094037e+02] [ 1.03755472e-01 9.94596736e-01 -3.48358431e-03 1.80487430e+01] [ 5.03959584e-02 -1.75920953e-03 9.98727767e-01 1.03422512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86509989299995 meters 0.019618404032972762 Centerline is valid? [True, True] Translation: X:251.15, Y:18.06, Z:10.35 [[ 9.93449925e-01 -1.02226051e-01 -5.10595814e-02 2.51154530e+02] [ 1.02179202e-01 9.94759731e-01 -3.53389118e-03 1.80581762e+01] [ 5.11532712e-02 -1.70648335e-03 9.98689356e-01 1.03455935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92509989299995 meters 0.021172961725828863 Centerline is valid? [True, True] Translation: X:251.22, Y:18.06, Z:10.35 [[ 9.93497533e-01 -1.02018234e-01 -5.05463264e-02 2.51215305e+02] [ 1.01972145e-01 9.94781109e-01 -3.49653800e-03 1.80605463e+01] [ 5.06392412e-02 -1.68051547e-03 9.98715597e-01 1.03479140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98509989299995 meters 0.021183024295545295 Centerline is valid? [True, True] Translation: X:251.28, Y:18.07, Z:10.35 [[ 9.93333285e-01 -1.03978044e-01 -4.97750083e-02 2.51276318e+02] [ 1.03935894e-01 9.94578044e-01 -3.44141521e-03 1.80661605e+01] [ 4.98629621e-02 -1.75493774e-03 9.98754527e-01 1.03517068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04509989299996 meters 0.022681317296904705 Centerline is valid? [True, True] Translation: X:251.34, Y:18.07, Z:10.35 [[ 9.93107633e-01 -1.06626802e-01 -4.86616413e-02 2.51337303e+02] [ 1.06589771e-01 9.94297397e-01 -3.36274209e-03 1.80685685e+01] [ 4.87427017e-02 -1.84726836e-03 9.98809660e-01 1.03549300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10509989299996 meters 0.024191451796390744 Centerline is valid? [True, True] Translation: X:251.40, Y:18.07, Z:10.36 [[ 9.92476032e-01 -1.11571236e-01 -5.04300033e-02 2.51398040e+02] [ 1.11537921e-01 9.93754074e-01 -3.48318430e-03 1.80714679e+01] [ 5.05036444e-02 -2.16788080e-03 9.98721524e-01 1.03567158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16509989299996 meters 0.022718982628714076 Centerline is valid? [True, True] Translation: X:251.46, Y:18.08, Z:10.36 [[ 9.91980058e-01 -1.15141427e-01 -5.21345949e-02 2.51458366e+02] [ 1.15110813e-01 9.93346135e-01 -3.59954682e-03 1.80796844e+01] [ 5.22021553e-02 -2.43057694e-03 9.98633580e-01 1.03594431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.22509989299996 meters 0.026192909613958357 Centerline is valid? [True, True] Translation: X:251.52, Y:18.08, Z:10.36 [[ 9.91371631e-01 -1.19613311e-01 -5.36185215e-02 2.51517802e+02] [ 1.19587487e-01 9.92816767e-01 -3.70130717e-03 1.80819772e+01] [ 5.36760928e-02 -2.74273331e-03 9.98554633e-01 1.03609072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.28509989299997 meters 0.028123097197895512 Centerline is valid? [True, True] Translation: X:251.58, Y:18.08, Z:10.36 [[ 9.91125130e-01 -1.21721794e-01 -5.34301473e-02 2.51577460e+02] [ 1.21699183e-01 9.92560176e-01 -3.68868402e-03 1.80848110e+01] [ 5.34816297e-02 -2.84645782e-03 9.98564777e-01 1.03636906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.34509989299997 meters 0.025556023722935174 Centerline is valid? [True, True] Translation: X:251.64, Y:18.09, Z:10.37 [[ 9.91072769e-01 -1.22621816e-01 -5.23321768e-02 2.51638811e+02] [ 1.22601411e-01 9.92449418e-01 -3.61211017e-03 1.80943536e+01] [ 5.23799619e-02 -2.83613469e-03 9.98623200e-01 1.03675958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40509989299994 meters 0.026456819420558435 Centerline is valid? [True, True] Translation: X:251.70, Y:18.10, Z:10.37 [[ 9.91166935e-01 -1.21689620e-01 -5.27232767e-02 2.51699552e+02] [ 1.21667793e-01 9.92564221e-01 -3.63538587e-03 1.80977756e+01] [ 5.27736268e-02 -2.81145042e-03 9.98602544e-01 1.03692839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46509989299994 meters 0.02572869112985952 Centerline is valid? [True, True] Translation: X:251.76, Y:18.10, Z:10.37 [[ 9.91228669e-01 -1.20421910e-01 -5.44452877e-02 2.51761288e+02] [ 1.20396914e-01 9.92718749e-01 -3.75084113e-03 1.81043604e+01] [ 5.45005413e-02 -2.83710335e-03 9.98509710e-01 1.03701330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52509989299995 meters 0.026826179069137156 Centerline is valid? [True, True] Translation: X:251.82, Y:18.11, Z:10.37 [[ 9.91197264e-01 -1.20825731e-01 -5.41213970e-02 2.51823321e+02] [ 1.20801841e-01 9.92669654e-01 -3.72462280e-03 1.81069949e+01] [ 5.41746987e-02 -2.84612848e-03 9.98527417e-01 1.03725868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58509989299995 meters 0.026021358435712415 Centerline is valid? [True, True] Translation: X:251.88, Y:18.11, Z:10.38 [[ 9.91284937e-01 -1.20432357e-01 -5.33874715e-02 2.51884940e+02] [ 1.20408743e-01 9.92717615e-01 -3.67031618e-03 1.81131456e+01] [ 5.34407082e-02 -2.78998917e-03 9.98567127e-01 1.03759090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64509989299995 meters 0.023818869780333558 Centerline is valid? [True, True] Translation: X:251.95, Y:18.12, Z:10.38 [[ 9.91489665e-01 -1.18985576e-01 -5.28268504e-02 2.51946858e+02] [ 1.18960609e-01 9.92892346e-01 -3.62795456e-03 1.81215730e+01] [ 5.28830497e-02 -2.68723487e-03 9.98597097e-01 1.03795935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70509989299995 meters 0.023811801843359175 Centerline is valid? [True, True] Translation: X:252.01, Y:18.13, Z:10.38 [[ 9.91953160e-01 -1.15039225e-01 -5.28668613e-02 2.52005778e+02] [ 1.15008785e-01 9.93357850e-01 -3.62777918e-03 1.81290104e+01] [ 5.29330486e-02 -2.48156648e-03 9.98594980e-01 1.03816075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76509989299996 meters 0.021604937567494077 Centerline is valid? [True, True] Translation: X:252.07, Y:18.14, Z:10.38 [[ 9.92324475e-01 -1.11204613e-01 -5.40894583e-02 2.52066824e+02] [ 1.11167063e-01 9.93794801e-01 -3.71178280e-03 1.81389847e+01] [ 5.41665898e-02 -2.32967332e-03 9.98529195e-01 1.03837815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82509989299996 meters 0.02256993687071412 Centerline is valid? [True, True] Translation: X:252.13, Y:18.14, Z:10.39 [[ 9.92546297e-01 -1.09619547e-01 -5.32485056e-02 2.52126898e+02] [ 1.09581011e-01 9.93971161e-01 -3.65158906e-03 1.81424172e+01] [ 5.33277645e-02 -2.21065387e-03 9.98574615e-01 1.03859341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88509989299996 meters 0.02010679775705476 Centerline is valid? [True, True] Translation: X:252.19, Y:18.15, Z:10.39 [[ 9.92736036e-01 -1.08825325e-01 -5.13050861e-02 2.52188812e+02] [ 1.08788562e-01 9.94058691e-01 -3.51688435e-03 1.81507433e+01] [ 5.13829928e-02 -2.09006872e-03 9.98676834e-01 1.03906748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.94509989299996 meters 0.021834929412531515 Centerline is valid? [True, True] Translation: X:252.25, Y:18.15, Z:10.39 [[ 9.92717470e-01 -1.09555793e-01 -5.00954345e-02 2.52250198e+02] [ 1.09521846e-01 9.93978469e-01 -3.43045686e-03 1.81514312e+01] [ 5.01696098e-02 -2.08106999e-03 9.98738544e-01 1.03934915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.00509989299997 meters 0.02328980380244261 Centerline is valid? [True, True] Translation: X:252.31, Y:18.15, Z:10.39 [[ 9.92709544e-01 -1.09671121e-01 -5.00000683e-02 2.52311991e+02] [ 1.09637585e-01 9.93965742e-01 -3.42118634e-03 1.81512954e+01] [ 5.00735603e-02 -2.08564243e-03 9.98743355e-01 1.03943729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.06509989299997 meters 0.021203981595620494 Centerline is valid? [True, True] Translation: X:252.37, Y:18.16, Z:10.40 [[ 9.92718818e-01 -1.09412385e-01 -5.03813305e-02 2.52373666e+02] [ 1.09378150e-01 9.93994244e-01 -3.44439232e-03 1.81573913e+01] [ 5.04556117e-02 -2.09130368e-03 9.98724115e-01 1.03964993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12509989299994 meters 0.023981121175188445 Centerline is valid? [True, True] Translation: X:252.44, Y:18.16, Z:10.40 [[ 9.92648308e-01 -1.09334539e-01 -5.19162279e-02 2.52435282e+02] [ 1.09298276e-01 9.94002674e-01 -3.54561666e-03 1.81560388e+01] [ 5.19925277e-02 -2.15480382e-03 9.98645149e-01 1.03963230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18509989299994 meters 0.022875800788953307 Centerline is valid? [True, True] Translation: X:252.50, Y:18.16, Z:10.40 [[ 9.92688910e-01 -1.08928891e-01 -5.19925355e-02 2.52496842e+02] [ 1.08892104e-01 9.94047242e-01 -3.54819628e-03 1.81611156e+01] [ 5.20695376e-02 -2.13932148e-03 9.98641170e-01 1.03981656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24509989299995 meters 0.021317576838554068 Centerline is valid? [True, True] Translation: X:252.56, Y:18.17, Z:10.40 [[ 9.92804212e-01 -1.07852878e-01 -5.20341534e-02 2.52558354e+02] [ 1.07814673e-01 9.94164676e-01 -3.54882199e-03 1.81680306e+01] [ 5.21132679e-02 -2.08675980e-03 9.98639000e-01 1.04009772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30509989299995 meters 0.022042268543070044 Centerline is valid? [True, True] Translation: X:252.62, Y:18.17, Z:10.40 [[ 9.93156991e-01 -1.05572648e-01 -4.99360349e-02 2.52618584e+02] [ 1.05534735e-01 9.94409796e-01 -3.40265676e-03 1.81727536e+01] [ 5.00161097e-02 -1.89061385e-03 9.98746622e-01 1.04044350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36509989299995 meters 0.01997440339125385 Centerline is valid? [True, True] Translation: X:252.68, Y:18.18, Z:10.41 [[ 9.93448929e-01 -1.03707250e-01 -4.80003290e-02 2.52679495e+02] [ 1.03670089e-01 9.94606365e-01 -3.26980392e-03 1.81802343e+01] [ 4.80805351e-02 -1.72781518e-03 9.98841968e-01 1.04083929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42509989299995 meters 0.019770754289434273 Centerline is valid? [True, True] Translation: X:252.74, Y:18.18, Z:10.41 [[ 9.93588469e-01 -1.02914127e-01 -4.68042465e-02 2.52741554e+02] [ 1.02878003e-01 9.94688877e-01 -3.18647437e-03 1.81847122e+01] [ 4.68835967e-02 -1.64908320e-03 9.98898998e-01 1.04115373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48509989299995 meters 0.020723276429613566 Centerline is valid? [True, True] Translation: X:252.80, Y:18.19, Z:10.42 [[ 9.93754167e-01 -1.02297121e-01 -4.45864776e-02 2.52802936e+02] [ 1.02263853e-01 9.94752687e-01 -3.03243455e-03 1.81867488e+01] [ 4.46627277e-02 -1.54609053e-03 9.99000926e-01 1.04157489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54509989299996 meters 0.02040223023856991 Centerline is valid? [True, True] Translation: X:252.87, Y:18.19, Z:10.42 [[ 9.93377145e-01 -1.04560084e-01 -4.76344162e-02 2.52865359e+02] [ 1.04524846e-01 9.94517008e-01 -3.23691576e-03 1.81891392e+01] [ 4.77116893e-02 -1.76350189e-03 9.98859592e-01 1.04150103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60509989299996 meters 0.02312394969531449 Centerline is valid? [True, True] Translation: X:252.93, Y:18.19, Z:10.42 [[ 9.93065443e-01 -1.07102012e-01 -4.84787023e-02 2.52926962e+02] [ 1.07068705e-01 9.94246178e-01 -3.29084330e-03 1.81878824e+01] [ 4.85522205e-02 -1.92252910e-03 9.98818795e-01 1.04158332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66509989299996 meters 0.02408933100266869 Centerline is valid? [True, True] Translation: X:252.99, Y:18.19, Z:10.42 [[ 9.92511174e-01 -1.10825994e-01 -5.13728334e-02 2.52988308e+02] [ 1.10793701e-01 9.93837317e-01 -3.48475969e-03 1.81882897e+01] [ 5.14424409e-02 -2.23312341e-03 9.98673464e-01 1.04159437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.72509989299996 meters 0.02231994182869916 Centerline is valid? [True, True] Translation: X:253.05, Y:18.19, Z:10.42 [[ 9.92219090e-01 -1.12781250e-01 -5.27415141e-02 2.53050141e+02] [ 1.12750053e-01 9.93616947e-01 -3.57605199e-03 1.81946211e+01] [ 5.28081738e-02 -2.39838146e-03 9.98601795e-01 1.04182387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.78509989299997 meters 0.024369204130792636 Centerline is valid? [True, True] Translation: X:253.11, Y:18.20, Z:10.42 [[ 9.92242255e-01 -1.12645030e-01 -5.25966221e-02 2.53111201e+02] [ 1.12614005e-01 9.93632424e-01 -3.56259202e-03 1.81959847e+01] [ 5.26630174e-02 -2.38816192e-03 9.98609485e-01 1.04207337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.84509989299997 meters 0.022607208966570213 Centerline is valid? [True, True] Translation: X:253.17, Y:18.20, Z:10.43 [[ 9.92690576e-01 -1.09863940e-01 -4.99533273e-02 2.53172192e+02] [ 1.09832560e-01 9.93944353e-01 -3.38108035e-03 1.82039139e+01] [ 5.00222864e-02 -2.13013521e-03 9.98745830e-01 1.04254741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90509989299994 meters 0.021197284334367975 Centerline is valid? [True, True] Translation: X:253.23, Y:18.21, Z:10.43 [[ 9.93315092e-01 -1.05597966e-01 -4.66282979e-02 2.53232150e+02] [ 1.05565993e-01 9.94407296e-01 -3.15460537e-03 1.82113739e+01] [ 4.67006395e-02 -1.78884545e-03 9.98907328e-01 1.04299253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96509989299994 meters 0.020956098944509467 Centerline is valid? [True, True] Translation: X:253.29, Y:18.22, Z:10.43 [[ 9.93562153e-01 -1.03621371e-01 -4.57914822e-02 2.53294046e+02] [ 1.03588451e-01 9.94615422e-01 -3.09771333e-03 1.82169713e+01] [ 4.58659036e-02 -1.66569798e-03 9.98946217e-01 1.04334229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02509989299995 meters 0.020673122063758865 Centerline is valid? [True, True] Translation: X:253.36, Y:18.22, Z:10.43 [[ 9.93439848e-01 -1.04334144e-01 -4.68151042e-02 2.53355683e+02] [ 1.04300687e-01 9.94540778e-01 -3.16354156e-03 1.82211395e+01] [ 4.68895955e-02 -1.74005929e-03 9.98898562e-01 1.04348281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08509989299995 meters 0.022168613579868626 Centerline is valid? [True, True] Translation: X:253.42, Y:18.22, Z:10.44 [[ 9.93131996e-01 -1.06529843e-01 -4.83759245e-02 2.53417907e+02] [ 1.06496894e-01 9.94307673e-01 -3.26542398e-03 1.82222287e+01] [ 4.84484180e-02 -1.90888866e-03 9.98823862e-01 1.04358497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14509989299995 meters 0.023744704474367634 Centerline is valid? [True, True] Translation: X:253.48, Y:18.22, Z:10.44 [[ 9.92590058e-01 -1.10736346e-01 -5.00243766e-02 2.53479083e+02] [ 1.10706604e-01 9.93847407e-01 -3.37346924e-03 1.82225994e+01] [ 5.00901626e-02 -2.18955681e-03 9.98742300e-01 1.04368399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20509989299995 meters 0.022663667170584302 Centerline is valid? [True, True] Translation: X:253.54, Y:18.23, Z:10.44 [[ 9.92425427e-01 -1.12196384e-01 -5.00374104e-02 2.53540751e+02] [ 1.12168544e-01 9.93683471e-01 -3.37300904e-03 1.82281232e+01] [ 5.00997871e-02 -2.26516354e-03 9.98741648e-01 1.04396142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26509989299996 meters 0.02240712064789329 Centerline is valid? [True, True] Translation: X:253.60, Y:18.23, Z:10.44 [[ 9.92605882e-01 -1.10806570e-01 -4.95526625e-02 2.53602958e+02] [ 1.10777724e-01 9.93839606e-01 -3.33659271e-03 1.82340839e+01] [ 4.96171150e-02 -2.17740962e-03 9.98765939e-01 1.04436386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32509989299996 meters 0.022624985305899153 Centerline is valid? [True, True] Translation: X:253.66, Y:18.24, Z:10.45 [[ 9.93113296e-01 -1.07131449e-01 -4.74218772e-02 2.53662442e+02] [ 1.07101019e-01 9.94243028e-01 -3.18946293e-03 1.82388368e+01] [ 4.74905626e-02 -1.91143335e-03 9.98869858e-01 1.04473355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38509989299996 meters 0.019380454208679374 Centerline is valid? [True, True] Translation: X:253.72, Y:18.25, Z:10.45 [[ 9.93610520e-01 -1.03012479e-01 -4.61146756e-02 2.53723150e+02] [ 1.02979279e-01 9.94678666e-01 -3.10139003e-03 1.82496520e+01] [ 4.61887659e-02 -1.66728230e-03 9.98931338e-01 1.04520848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.44509989299996 meters 0.019099391951460785 Centerline is valid? [True, True] Translation: X:253.78, Y:18.25, Z:10.45 [[ 9.93850268e-01 -1.00435134e-01 -4.66307775e-02 2.53784190e+02] [ 1.00398436e-01 9.94942375e-01 -3.13437494e-03 1.82548625e+01] [ 4.67097379e-02 -1.56655774e-03 9.98907276e-01 1.04545011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.50509989299997 meters 0.018869421402640467 Centerline is valid? [True, True] Translation: X:253.85, Y:18.26, Z:10.46 [[ 9.93794945e-01 -1.00300695e-01 -4.80768009e-02 2.53846454e+02] [ 1.00261628e-01 9.94955866e-01 -3.22954278e-03 1.82594282e+01] [ 4.81582204e-02 -1.61075503e-03 9.98838421e-01 1.04566616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.56509989299997 meters 0.01946290634571707 Centerline is valid? [True, True] Translation: X:253.91, Y:18.26, Z:10.46 [[ 9.93759030e-01 -1.00438007e-01 -4.85303671e-02 2.53908043e+02] [ 1.00398531e-01 9.94941973e-01 -3.25656020e-03 1.82621244e+01] [ 4.86119816e-02 -1.63614145e-03 9.98816399e-01 1.04586669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62509989299994 meters 0.020703252282374195 Centerline is valid? [True, True] Translation: X:253.97, Y:18.26, Z:10.46 [[ 9.93492492e-01 -1.02537424e-01 -4.95857369e-02 2.53969621e+02] [ 1.02498977e-01 9.94727555e-01 -3.32429573e-03 1.82637930e+01] [ 4.96651635e-02 -1.77982444e-03 9.98764338e-01 1.04612048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68509989299994 meters 0.02013332092516957 Centerline is valid? [True, True] Translation: X:254.03, Y:18.27, Z:10.47 [[ 9.93190527e-01 -1.05115254e-01 -5.02330658e-02 2.54031197e+02] [ 1.05079332e-01 9.94458157e-01 -3.36282892e-03 1.82691935e+01] [ 5.03081666e-02 -1.93852715e-03 9.98731861e-01 1.04652024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74509989299995 meters 0.022802886178718708 Centerline is valid? [True, True] Translation: X:254.09, Y:18.27, Z:10.47 [[ 9.93036998e-01 -1.06819125e-01 -4.96708783e-02 2.54091937e+02] [ 1.06786290e-01 9.94276447e-01 -3.32193512e-03 1.82699874e+01] [ 4.97414306e-02 -2.00536431e-03 9.98760116e-01 1.04682122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80509989299995 meters 0.022135479597985605 Centerline is valid? [True, True] Translation: X:254.15, Y:18.28, Z:10.47 [[ 9.92813206e-01 -1.08808779e-01 -4.98255750e-02 2.54153404e+02] [ 1.08778337e-01 9.94060452e-01 -3.33032089e-03 1.82755191e+01] [ 4.98920018e-02 -2.11355661e-03 9.98752382e-01 1.04719990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86509989299995 meters 0.02221086953257316 Centerline is valid? [True, True] Translation: X:254.21, Y:18.28, Z:10.48 [[ 9.92173990e-01 -1.14016267e-01 -5.09024929e-02 2.54214172e+02] [ 1.13991449e-01 9.93475913e-01 -3.39991486e-03 1.82798437e+01] [ 5.09580462e-02 -2.42914185e-03 9.98697841e-01 1.04755809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92509989299995 meters 0.023613668988550118 Centerline is valid? [True, True] Translation: X:254.28, Y:18.28, Z:10.48 [[ 9.91758074e-01 -1.16815108e-01 -5.26322494e-02 2.54275621e+02] [ 1.16792542e-01 9.93150114e-01 -3.51478834e-03 1.82810960e+01] [ 5.26823049e-02 -2.66123451e-03 9.98607777e-01 1.04773027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98509989299995 meters 0.02384268283560258 Centerline is valid? [True, True] Translation: X:254.34, Y:18.28, Z:10.48 [[ 9.91750373e-01 -1.16664861e-01 -5.31084611e-02 2.54337425e+02] [ 1.16641799e-01 9.93167725e-01 -3.54420010e-03 1.82844901e+01] [ 5.31590931e-02 -2.67970469e-03 9.98582460e-01 1.04803329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04509989299996 meters 0.025302881981037282 Centerline is valid? [True, True] Translation: X:254.40, Y:18.29, Z:10.48 [[ 9.91902730e-01 -1.15915812e-01 -5.18892933e-02 2.54399016e+02] [ 1.15892966e-01 9.93255685e-01 -3.45909485e-03 1.82868884e+01] [ 5.19402993e-02 -2.58251850e-03 9.98646852e-01 1.04844586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10509989299996 meters 0.022644644143690967 Centerline is valid? [True, True] Translation: X:254.46, Y:18.29, Z:10.49 [[ 9.92032532e-01 -1.14509863e-01 -5.25256729e-02 2.54460685e+02] [ 1.14484693e-01 9.93418855e-01 -3.49766063e-03 1.82949911e+01] [ 5.25805105e-02 -2.54359241e-03 9.98613449e-01 1.04874399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16509989299996 meters 0.02544789683310096 Centerline is valid? [True, True] Translation: X:254.52, Y:18.29, Z:10.49 [[ 9.92140149e-01 -1.13375248e-01 -5.29525983e-02 2.54521730e+02] [ 1.13348301e-01 9.93549074e-01 -3.52150772e-03 1.82949843e+01] [ 5.30102568e-02 -2.50825785e-03 9.98590818e-01 1.04886980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.22509989299996 meters 0.02360374076357372 Centerline is valid? [True, True] Translation: X:254.58, Y:18.30, Z:10.49 [[ 9.92115765e-01 -1.13243560e-01 -5.36861656e-02 2.54583910e+02] [ 1.13216016e-01 9.93564005e-01 -3.56388102e-03 1.83018992e+01] [ 5.37442283e-02 -2.54235122e-03 9.98551498e-01 1.04921811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.28509989299997 meters 0.02378200205746787 Centerline is valid? [True, True] Translation: X:254.65, Y:18.31, Z:10.49 [[ 9.92048074e-01 -1.13363922e-01 -5.46739483e-02 2.54646012e+02] [ 1.13335760e-01 9.93550130e-01 -3.62544519e-03 1.83055179e+01] [ 5.47323031e-02 -2.59989754e-03 9.98497679e-01 1.04941701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.34509989299997 meters 0.025038645888581675 Centerline is valid? [True, True] Translation: X:254.71, Y:18.31, Z:10.50 [[ 9.91939974e-01 -1.13570652e-01 -5.61853555e-02 2.54706835e+02] [ 1.13541507e-01 9.93526285e-01 -3.72104240e-03 1.83079523e+01] [ 5.62442288e-02 -2.68831926e-03 9.98413421e-01 1.04960307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40509989299994 meters 0.024267348290039625 Centerline is valid? [True, True] Translation: X:254.77, Y:18.31, Z:10.50 [[ 9.91965193e-01 -1.13349700e-01 -5.61863123e-02 2.54767899e+02] [ 1.13320482e-01 9.93551538e-01 -3.71612984e-03 1.83142092e+01] [ 5.62452192e-02 -2.68078853e-03 9.98413386e-01 1.04999197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46509989299994 meters 0.022283111392565294 Centerline is valid? [True, True] Translation: X:254.83, Y:18.32, Z:10.50 [[ 9.92275745e-01 -1.11309189e-01 -5.47641290e-02 2.54828564e+02] [ 1.11278432e-01 9.93782675e-01 -3.62014006e-03 1.83226474e+01] [ 5.48265975e-02 -2.50188926e-03 9.98492756e-01 1.05045105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52509989299995 meters 0.02149875047822392 Centerline is valid? [True, True] Translation: X:254.89, Y:18.33, Z:10.51 [[ 9.92580858e-01 -1.09071881e-01 -5.37267625e-02 2.54890005e+02] [ 1.09039123e-01 9.94031122e-01 -3.54940867e-03 1.83290854e+01] [ 5.37932147e-02 -2.33524396e-03 9.98549366e-01 1.05083321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58509989299995 meters 0.018952468373095097 Centerline is valid? [True, True] Translation: X:254.95, Y:18.34, Z:10.51 [[ 9.93196472e-01 -1.03770040e-01 -5.28445474e-02 2.54950573e+02] [ 1.03730986e-01 9.94599272e-01 -3.48866200e-03 1.83385051e+01] [ 5.29211669e-02 -2.01669021e-03 9.98596657e-01 1.05120282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64509989299995 meters 0.017818598536844775 Centerline is valid? [True, True] Translation: X:255.01, Y:18.34, Z:10.51 [[ 9.93632799e-01 -9.98101812e-02 -5.22665202e-02 2.55011793e+02] [ 9.97665767e-02 9.95004891e-01 -3.44916082e-03 1.83449428e+01] [ 5.23497046e-02 -1.78725248e-03 9.98627215e-01 1.05149017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70509989299995 meters 0.016635949731451983 Centerline is valid? [True, True] Translation: X:255.07, Y:18.35, Z:10.52 [[ 9.94140476e-01 -9.44623006e-02 -5.25508100e-02 2.55072517e+02] [ 9.44108922e-02 9.95527285e-01 -3.46537669e-03 1.83530640e+01] [ 5.26431126e-02 -1.51629762e-03 9.98612239e-01 1.05178089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76509989299996 meters 0.015489375698492527 Centerline is valid? [True, True] Translation: X:255.13, Y:18.36, Z:10.52 [[ 9.94574046e-01 -8.96016922e-02 -5.28583315e-02 2.55133421e+02] [ 8.95428871e-02 9.95976872e-01 -3.48443702e-03 1.83599467e+01] [ 5.29578871e-02 -1.26755698e-03 9.98595942e-01 1.05210326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82509989299996 meters 0.014598396378874966 Centerline is valid? [True, True] Translation: X:255.19, Y:18.37, Z:10.52 [[ 9.94855623e-01 -8.62221227e-02 -5.31792694e-02 2.55194673e+02] [ 8.61578811e-02 9.96275335e-01 -3.50365387e-03 1.83654231e+01] [ 5.32832869e-02 -1.09618341e-03 9.98578835e-01 1.05236816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88509989299996 meters 0.013894036894522063 Centerline is valid? [True, True] Translation: X:255.25, Y:18.37, Z:10.53 [[ 9.95309653e-01 -8.08270864e-02 -5.31571007e-02 2.55253961e+02] [ 8.07552786e-02 9.96727811e-01 -3.50087947e-03 1.83714483e+01] [ 5.32661265e-02 -8.08257346e-04 9.98580025e-01 1.05259474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.94509989299996 meters 0.01283341572843127 Centerline is valid? [True, True] Translation: X:255.31, Y:18.38, Z:10.53 [[ 9.95577817e-01 -7.71111166e-02 -5.36533954e-02 2.55314045e+02] [ 7.70325279e-02 9.97022316e-01 -3.53431808e-03 1.83793485e+01] [ 5.37661677e-02 -6.14367991e-04 9.98553365e-01 1.05297707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.00509989299997 meters 0.012701770117853459 Centerline is valid? [True, True] Translation: X:255.37, Y:18.38, Z:10.53 [[ 9.95645969e-01 -7.62347230e-02 -5.36411435e-02 2.55372411e+02] [ 7.61547425e-02 9.97089740e-01 -3.53642248e-03 1.83836651e+01] [ 5.37546320e-02 -5.64002690e-04 9.98554015e-01 1.05327282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.06509989299997 meters 0.012731994386572744 Centerline is valid? [True, True] Translation: X:255.43, Y:18.38, Z:10.54 [[ 9.95660522e-01 -7.72312758e-02 -5.19177678e-02 2.55429986e+02] [ 7.71571379e-02 9.97013032e-01 -3.43374152e-03 1.83849819e+01] [ 5.20278833e-02 -5.86985499e-04 9.98645460e-01 1.05361441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.12509989299994 meters 0.012685621507625 Centerline is valid? [True, True] Translation: X:255.49, Y:18.39, Z:10.54 [[ 9.95452657e-01 -8.02370253e-02 -5.13422498e-02 2.55489952e+02] [ 8.01683212e-02 9.96775543e-01 -3.39946308e-03 1.83868241e+01] [ 5.14494618e-02 -7.32017418e-04 9.98675331e-01 1.05398699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18509989299994 meters 0.01402722467174709 Centerline is valid? [True, True] Translation: X:255.55, Y:18.38, Z:10.54 [[ 9.94900380e-01 -8.73491789e-02 -5.04316849e-02 2.55550848e+02] [ 8.72919753e-02 9.96177171e-01 -3.33993324e-03 1.83831157e+01] [ 5.05306337e-02 -1.07938055e-03 9.98721928e-01 1.05416328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24509989299995 meters 0.016908171500032772 Centerline is valid? [True, True] Translation: X:255.61, Y:18.38, Z:10.54 [[ 9.94125620e-01 -9.60734005e-02 -4.98412808e-02 2.55611455e+02] [ 9.60284696e-02 9.95373115e-01 -3.30083932e-03 1.83756962e+01] [ 4.99277938e-02 -1.50473298e-03 9.98751696e-01 1.05433648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30509989299995 meters 0.01861757279348014 Centerline is valid? [True, True] Translation: X:255.67, Y:18.37, Z:10.55 [[ 9.93559837e-01 -1.02273933e-01 -4.87738906e-02 2.55672715e+02] [ 1.02238363e-01 9.94754685e-01 -3.23005996e-03 1.83736660e+01] [ 4.88484071e-02 -1.77730488e-03 9.98804623e-01 1.05464091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36509989299995 meters 0.020892055647391463 Centerline is valid? [True, True] Translation: X:255.73, Y:18.37, Z:10.55 [[ 9.92652734e-01 -1.11119096e-01 -4.78862778e-02 2.55734085e+02] [ 1.11095110e-01 9.93804722e-01 -3.17037453e-03 1.83696146e+01] [ 4.79418981e-02 -2.17285038e-03 9.98847763e-01 1.05494988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42509989299995 meters 0.022883369718124005 Centerline is valid? [True, True] Translation: X:255.79, Y:18.37, Z:10.55 [[ 9.91805377e-01 -1.17897258e-01 -4.92171869e-02 2.55794930e+02] [ 1.17880295e-01 9.93022470e-01 -3.25731189e-03 1.83660696e+01] [ 4.92578006e-02 -2.57111708e-03 9.98782788e-01 1.05505079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48509989299995 meters 0.026654252468192495 Centerline is valid? [True, True] Translation: X:255.86, Y:18.36, Z:10.55 [[ 9.91381461e-01 -1.21242080e-01 -4.96301901e-02 2.55855665e+02] [ 1.21229021e-01 9.92619130e-01 -3.28437642e-03 1.83622675e+01] [ 4.96620808e-02 -2.76054948e-03 9.98762263e-01 1.05518515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54509989299996 meters 0.026644341835888898 Centerline is valid? [True, True] Translation: X:255.92, Y:18.36, Z:10.55 [[ 9.91056514e-01 -1.23559799e-01 -5.03980323e-02 2.55916646e+02] [ 1.23549367e-01 9.92332826e-01 -3.33425864e-03 1.83646154e+01] [ 5.04236021e-02 -2.92220624e-03 9.98723646e-01 1.05547735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60509989299996 meters 0.026356475530677475 Centerline is valid? [True, True] Translation: X:255.98, Y:18.37, Z:10.56 [[ 9.91090269e-01 -1.23259737e-01 -5.04689698e-02 2.55979080e+02] [ 1.23248958e-01 9.92370170e-01 -3.33756325e-03 1.83686489e+01] [ 5.04952873e-02 -2.91242147e-03 9.98720053e-01 1.05581031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66509989299996 meters 0.025417899986399796 Centerline is valid? [True, True] Translation: X:256.04, Y:18.37, Z:10.56 [[ 9.91206326e-01 -1.22565962e-01 -4.98758835e-02 2.56040901e+02] [ 1.22554739e-01 9.92456287e-01 -3.29472161e-03 1.83728483e+01] [ 4.99034548e-02 -2.84677698e-03 9.98749989e-01 1.05609642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.72509989299996 meters 0.0288089854321492 Centerline is valid? [True, True] Translation: X:256.10, Y:18.37, Z:10.56 [[ 9.91224508e-01 -1.22314661e-01 -5.01308072e-02 2.56102143e+02] [ 1.22303208e-01 9.92487272e-01 -3.30747637e-03 1.83712475e+01] [ 5.01587409e-02 -2.85270692e-03 9.98737184e-01 1.05624598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.78509989299997 meters 0.02610999124918813 Centerline is valid? [True, True] Translation: X:256.16, Y:18.38, Z:10.56 [[ 9.91154263e-01 -1.22392789e-01 -5.13150276e-02 2.56164006e+02] [ 1.22381194e-01 9.92477415e-01 -3.37984121e-03 1.83772741e+01] [ 5.13426741e-02 -2.93005034e-03 9.98676797e-01 1.05636946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.84509989299997 meters 0.027616446386422067 Centerline is valid? [True, True] Translation: X:256.23, Y:18.38, Z:10.57 [[ 9.91119720e-01 -1.22665777e-01 -5.13303870e-02 2.56226214e+02] [ 1.22654732e-01 9.92443657e-01 -3.37712545e-03 1.83790791e+01] [ 5.13567747e-02 -2.94877924e-03 9.98676017e-01 1.05663276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90509989299994 meters 0.02902856020350121 Centerline is valid? [True, True] Translation: X:256.29, Y:18.38, Z:10.57 [[ 9.91010637e-01 -1.23213116e-01 -5.21195232e-02 2.56288351e+02] [ 1.23202683e-01 9.92375618e-01 -3.42527123e-03 1.83814855e+01] [ 5.21441824e-02 -3.02678485e-03 9.98634980e-01 1.05684580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96509989299994 meters 0.030083150985941248 Centerline is valid? [True, True] Translation: X:256.35, Y:18.39, Z:10.57 [[ 9.91072110e-01 -1.22354417e-01 -5.29666824e-02 2.56348394e+02] [ 1.22342594e-01 9.92481836e-01 -3.47773985e-03 1.83857905e+01] [ 5.29939870e-02 -3.03339034e-03 9.98590224e-01 1.05706114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.025099893 meters 0.029390504356248646 Centerline is valid? [True, True] Translation: X:256.41, Y:18.39, Z:10.57 [[ 9.91253438e-01 -1.21377270e-01 -5.18090761e-02 2.56409765e+02] [ 1.21364685e-01 9.92602161e-01 -3.40056037e-03 1.83921661e+01] [ 5.18385516e-02 -2.91697503e-03 9.98651218e-01 1.05746096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.085099893 meters 0.023664587513490137 Centerline is valid? [True, True] Translation: X:256.47, Y:18.41, Z:10.58 [[ 9.91866020e-01 -1.16910506e-01 -5.03361999e-02 2.56469959e+02] [ 1.16892987e-01 9.93139027e-01 -3.30187992e-03 1.84060485e+01] [ 5.03768690e-02 -2.60892626e-03 9.98726872e-01 1.05793695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.145099893 meters 0.020830250166462085 Centerline is valid? [True, True] Translation: X:256.53, Y:18.42, Z:10.58 [[ 9.92377284e-01 -1.13093377e-01 -4.89613514e-02 2.56530243e+02] [ 1.13072197e-01 9.93581586e-01 -3.21102639e-03 1.84158383e+01] [ 4.90102430e-02 -2.34961794e-03 9.98795512e-01 1.05829209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.205099893 meters 0.021714973194488108 Centerline is valid? [True, True] Translation: X:256.59, Y:18.42, Z:10.59 [[ 9.92952669e-01 -1.08634371e-01 -4.73663352e-02 2.56589314e+02] [ 1.08609515e-01 9.94079638e-01 -3.10576386e-03 1.84215398e+01] [ 4.74233021e-02 -2.06055819e-03 9.98872757e-01 1.05861417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26509989299996 meters 0.019736646403414864 Centerline is valid? [True, True] Translation: X:256.65, Y:18.43, Z:10.59 [[ 9.93141534e-01 -1.07161209e-01 -4.67586244e-02 2.56650986e+02] [ 1.07135337e-01 9.94239718e-01 -3.06631916e-03 1.84286956e+01] [ 4.68178720e-02 -1.96421208e-03 9.98901511e-01 1.05886675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32509989299996 meters 0.02247628545963718 Centerline is valid? [True, True] Translation: X:256.71, Y:18.43, Z:10.59 [[ 9.93131965e-01 -1.07277406e-01 -4.66953870e-02 2.56711958e+02] [ 1.07251889e-01 9.94227175e-01 -3.05883088e-03 1.84283315e+01] [ 4.67539661e-02 -1.97034572e-03 9.98904492e-01 1.05904063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38509989299996 meters 0.021186862105192373 Centerline is valid? [True, True] Translation: X:256.77, Y:18.43, Z:10.59 [[ 9.92902940e-01 -1.09625382e-01 -4.61088688e-02 2.56774074e+02] [ 1.09603144e-01 9.93970846e-01 -3.01785268e-03 1.84330539e+01] [ 4.61617046e-02 -2.05724220e-03 9.98931862e-01 1.05931109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.44509989299996 meters 0.02041656323126933 Centerline is valid? [True, True] Translation: X:256.84, Y:18.44, Z:10.59 [[ 9.92655682e-01 -1.11866896e-01 -4.60488254e-02 2.56836141e+02] [ 1.11847277e-01 9.93720848e-01 -3.01054719e-03 1.84361214e+01] [ 4.60964584e-02 -2.16199896e-03 9.98934654e-01 1.05948228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.50509989299997 meters 0.0224213394566492 Centerline is valid? [True, True] Translation: X:256.90, Y:18.44, Z:10.60 [[ 9.92520307e-01 -1.12360251e-01 -4.77348252e-02 2.56897651e+02] [ 1.12339913e-01 9.93664947e-01 -3.11717467e-03 1.84369184e+01] [ 4.77826691e-02 -2.26866696e-03 9.98855180e-01 1.05957875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.56509989299997 meters 0.020626557113008998 Centerline is valid? [True, True] Translation: X:256.96, Y:18.44, Z:10.60 [[ 9.92544393e-01 -1.11485903e-01 -4.92597424e-02 2.56959473e+02] [ 1.11463321e-01 9.93763352e-01 -3.21379705e-03 1.84439640e+01] [ 4.93108198e-02 -2.30081821e-03 9.98780831e-01 1.05967405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.62509989299997 meters 0.020744732650830815 Centerline is valid? [True, True] Translation: X:257.02, Y:18.45, Z:10.60 [[ 9.92927569e-01 -1.08594690e-01 -4.79795287e-02 2.57019557e+02] [ 1.08570048e-01 9.94083883e-01 -3.12710918e-03 1.84485885e+01] [ 4.80352636e-02 -2.10414683e-03 9.98843424e-01 1.06002159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.685099893 meters 0.019679110527048838 Centerline is valid? [True, True] Translation: X:257.08, Y:18.46, Z:10.60 [[ 9.93308477e-01 -1.05966566e-01 -4.59277372e-02 2.57080223e+02] [ 1.05941220e-01 9.94367891e-01 -2.99248809e-03 1.84551618e+01] [ 4.59861709e-02 -1.89317674e-03 9.98940282e-01 1.06041015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.745099893 meters 0.018133763950533517 Centerline is valid? [True, True] Translation: X:257.14, Y:18.46, Z:10.61 [[ 9.93768429e-01 -1.02096149e-01 -4.47290320e-02 2.57141015e+02] [ 1.02068266e-01 9.94773132e-01 -2.91276977e-03 1.84622133e+01] [ 4.47926218e-02 -1.67079608e-03 9.98994910e-01 1.06072538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.805099893 meters 0.018360550381719295 Centerline is valid? [True, True] Translation: X:257.20, Y:18.47, Z:10.61 [[ 9.93942529e-01 -1.00102371e-01 -4.53625767e-02 2.57202030e+02] [ 1.00071701e-01 9.94975848e-01 -2.95225353e-03 1.84656328e+01] [ 4.54301958e-02 -1.60513989e-03 9.98966226e-01 1.06084095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.865099893 meters 0.018657755173468238 Centerline is valid? [True, True] Translation: X:257.26, Y:18.47, Z:10.61 [[ 9.94114902e-01 -9.85926874e-02 -4.48892403e-02 2.57263264e+02] [ 9.85612371e-02 9.95126707e-01 -2.91877920e-03 1.84677811e+01] [ 4.49582522e-02 -1.52273716e-03 9.98987706e-01 1.06103045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.925099893 meters 0.017354481705609357 Centerline is valid? [True, True] Translation: X:257.33, Y:18.47, Z:10.61 [[ 9.94039411e-01 -9.84993874e-02 -4.67281529e-02 2.57325593e+02] [ 9.84654929e-02 9.95135846e-01 -3.03223318e-03 1.84726475e+01] [ 4.67995331e-02 -1.58695132e-03 9.98903041e-01 1.06111976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.985099893 meters 0.017663249117670317 Centerline is valid? [True, True] Translation: X:257.39, Y:18.48, Z:10.61 [[ 9.93938923e-01 -9.88089090e-02 -4.81893941e-02 2.57387330e+02] [ 9.87734023e-02 9.95105049e-01 -3.12340899e-03 1.84753683e+01] [ 4.82621301e-02 -1.65535265e-03 9.98833333e-01 1.06116761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.045099893 meters 0.01871188574967573 Centerline is valid? [True, True] Translation: X:257.45, Y:18.48, Z:10.61 [[ 9.93773173e-01 -9.96719268e-02 -4.98034856e-02 2.57448235e+02] [ 9.96352655e-02 9.95018802e-01 -3.22441816e-03 1.84770273e+01] [ 4.98767885e-02 -1.75784324e-03 9.98753832e-01 1.06123356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.105099893 meters 0.0184466330953824 Centerline is valid? [True, True] Translation: X:257.51, Y:18.48, Z:10.61 [[ 9.93770834e-01 -9.91488057e-02 -5.08826546e-02 2.57509304e+02] [ 9.91099906e-02 9.95071040e-01 -3.29163671e-03 1.84819809e+01] [ 5.09582179e-02 -1.77184686e-03 9.98699214e-01 1.06140316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.165099893 meters 0.017763919538946845 Centerline is valid? [True, True] Translation: X:257.57, Y:18.49, Z:10.62 [[ 9.93930256e-01 -9.83489149e-02 -4.92964145e-02 2.57570055e+02] [ 9.83115833e-02 9.95150578e-01 -3.18729652e-03 1.84885158e+01] [ 4.93708225e-02 -1.67845812e-03 9.98779107e-01 1.06181788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.225099893 meters 0.01793937019239257 Centerline is valid? [True, True] Translation: X:257.63, Y:18.49, Z:10.62 [[ 9.94086795e-01 -9.80432368e-02 -4.66794170e-02 2.57631081e+02] [ 9.80095003e-02 9.95180908e-01 -3.01647777e-03 1.84942397e+01] [ 4.67502098e-02 -1.57638562e-03 9.98905367e-01 1.06234176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.285099893 meters 0.019134422032626525 Centerline is valid? [True, True] Translation: X:257.69, Y:18.50, Z:10.63 [[ 9.94025216e-01 -9.87775966e-02 -4.64419686e-02 2.57692041e+02] [ 9.87450839e-02 9.95108241e-01 -2.99938001e-03 1.84963702e+01] [ 4.65110573e-02 -1.60445672e-03 9.98916487e-01 1.06253410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.345099893 meters 0.019654583985777758 Centerline is valid? [True, True] Translation: X:257.75, Y:18.50, Z:10.63 [[ 9.93698194e-01 -1.01661371e-01 -4.72108651e-02 2.57753522e+02] [ 1.01631138e-01 9.94817486e-01 -3.04655977e-03 1.84997265e+01] [ 4.72759115e-02 -1.77073302e-03 9.98880299e-01 1.06267242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.405099893 meters 0.021656552867842956 Centerline is valid? [True, True] Translation: X:257.81, Y:18.50, Z:10.63 [[ 9.93378531e-01 -1.04794043e-01 -4.70882424e-02 2.57814680e+02] [ 1.04767553e-01 9.94492100e-01 -3.03705686e-03 1.85001260e+01] [ 4.71471505e-02 -1.91637284e-03 9.98886116e-01 1.06283841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.465099893 meters 0.02064658233750088 Centerline is valid? [True, True] Translation: X:257.88, Y:18.51, Z:10.63 [[ 9.93082411e-01 -1.07249061e-01 -4.78012933e-02 2.57876164e+02] [ 1.07224663e-01 9.94230041e-01 -3.08174991e-03 1.85057296e+01] [ 4.78559966e-02 -2.06504595e-03 9.98852111e-01 1.06310453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.525099893 meters 0.021041867421962637 Centerline is valid? [True, True] Translation: X:257.94, Y:18.51, Z:10.63 [[ 9.93000008e-01 -1.08023889e-01 -4.77684360e-02 2.57938513e+02] [ 1.08000624e-01 9.94146069e-01 -3.07533101e-03 1.85099677e+01] [ 4.78210121e-02 -2.10521719e-03 9.98853702e-01 1.06334600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.585099893 meters 0.021554178208560856 Centerline is valid? [True, True] Translation: X:258.00, Y:18.51, Z:10.64 [[ 9.93107875e-01 -1.07144311e-01 -4.75062594e-02 2.58000239e+02] [ 1.07120462e-01 9.94241356e-01 -3.05497431e-03 1.85147273e+01] [ 4.75600109e-02 -2.05497341e-03 9.98866269e-01 1.06362087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.645099893 meters 0.02133565958026248 Centerline is valid? [True, True] Translation: X:258.06, Y:18.52, Z:10.64 [[ 9.93381565e-01 -1.04833637e-01 -4.69358558e-02 2.58060999e+02] [ 1.04807933e-01 9.94487912e-01 -3.01509837e-03 1.85220908e+01] [ 4.69932250e-02 -1.92410690e-03 9.98893355e-01 1.06388964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.705099893 meters 0.020449488702245854 Centerline is valid? [True, True] Translation: X:258.12, Y:18.53, Z:10.64 [[ 9.93517276e-01 -1.03877959e-01 -4.61821701e-02 2.58122598e+02] [ 1.03852125e-01 9.94588330e-01 -2.96488396e-03 1.85302860e+01] [ 4.62402335e-02 -1.85045310e-03 9.98928634e-01 1.06425624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76509989299996 meters 0.021508096445851756 Centerline is valid? [True, True] Translation: X:258.18, Y:18.53, Z:10.64 [[ 9.93363429e-01 -1.05048710e-01 -4.68387289e-02 2.58184791e+02] [ 1.05023598e-01 9.94465194e-01 -3.00358628e-03 1.85329120e+01] [ 4.68950085e-02 -1.93551906e-03 9.98897949e-01 1.06447385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82509989299996 meters 0.023027510479690715 Centerline is valid? [True, True] Translation: X:258.25, Y:18.53, Z:10.65 [[ 9.93112028e-01 -1.06870180e-01 -4.80339950e-02 2.58245738e+02] [ 1.06846062e-01 9.94270814e-01 -3.07681510e-03 1.85341484e+01] [ 4.80876191e-02 -2.07662113e-03 9.98840963e-01 1.06458984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88509989299996 meters 0.021249460326750756 Centerline is valid? [True, True] Translation: X:258.31, Y:18.54, Z:10.65 [[ 9.92800246e-01 -1.09459835e-01 -4.86437681e-02 2.58306769e+02] [ 1.09438324e-01 9.93988712e-01 -3.11336170e-03 1.85401726e+01] [ 4.86921445e-02 -2.23254617e-03 9.98811339e-01 1.06484032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.94509989299996 meters 0.023247828312584675 Centerline is valid? [True, True] Translation: X:258.37, Y:18.54, Z:10.65 [[ 9.92396863e-01 -1.13040999e-01 -4.86846801e-02 2.58368297e+02] [ 1.13023836e-01 9.93587397e-01 -3.11416997e-03 1.85412660e+01] [ 4.87245134e-02 -2.41203676e-03 9.98809343e-01 1.06506687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.00509989299997 meters 0.024707951926812757 Centerline is valid? [True, True] Translation: X:258.43, Y:18.54, Z:10.65 [[ 9.92236013e-01 -1.14194361e-01 -4.92680602e-02 2.58428893e+02] [ 1.14178292e-01 9.93455282e-01 -3.14965660e-03 1.85443462e+01] [ 4.93052876e-02 -2.50014025e-03 9.98780626e-01 1.06525130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.06509989299997 meters 0.026176875076269944 Centerline is valid? [True, True] Translation: X:258.49, Y:18.55, Z:10.66 [[ 9.92380571e-01 -1.13706225e-01 -4.74520372e-02 2.58489698e+02] [ 1.13690862e-01 9.93511549e-01 -3.03139088e-03 1.85500010e+01] [ 4.74888350e-02 -2.38656958e-03 9.98868918e-01 1.06570178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.12509989299997 meters 0.023581495095074987 Centerline is valid? [True, True] Translation: X:258.55, Y:18.56, Z:10.66 [[ 9.92412932e-01 -1.13589786e-01 -4.70524514e-02 2.58551823e+02] [ 1.13574813e-01 9.93524917e-01 -3.00024313e-03 1.85589824e+01] [ 4.70885799e-02 -2.36649330e-03 9.98887914e-01 1.06607358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.185099893 meters 0.024344495525740383 Centerline is valid? [True, True] Translation: X:258.61, Y:18.56, Z:10.66 [[ 9.92479619e-01 -1.13479605e-01 -4.58975477e-02 2.58614271e+02] [ 1.13465394e-01 9.93537649e-01 -2.92322038e-03 1.85637357e+01] [ 4.59326675e-02 -2.30654670e-03 9.98941875e-01 1.06641546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.245099893 meters 0.025792598798362047 Centerline is valid? [True, True] Translation: X:258.68, Y:18.57, Z:10.67 [[ 9.92570619e-01 -1.12912691e-01 -4.53242773e-02 2.58675317e+02] [ 1.12898422e-01 9.93602353e-01 -2.88275413e-03 1.85661849e+01] [ 4.53598081e-02 -2.25570234e-03 9.98968167e-01 1.06660376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.305099893 meters 0.025069356003378167 Centerline is valid? [True, True] Translation: X:258.74, Y:18.57, Z:10.67 [[ 9.92836727e-01 -1.10373435e-01 -4.57486334e-02 2.58736484e+02] [ 1.10356320e-01 9.93887836e-01 -2.90732937e-03 1.85725877e+01] [ 4.57899021e-02 -2.16214746e-03 9.98948752e-01 1.06670791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.365099893 meters 0.02470715389868585 Centerline is valid? [True, True] Translation: X:258.80, Y:18.58, Z:10.67 [[ 9.92968442e-01 -1.09224423e-01 -4.56475492e-02 2.58798638e+02] [ 1.09206253e-01 9.94014884e-01 -2.89915933e-03 1.85787191e+01] [ 4.56910023e-02 -2.10622406e-03 9.98953400e-01 1.06700049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.425099893 meters 0.021948279262801653 Centerline is valid? [True, True] Translation: X:258.86, Y:18.59, Z:10.67 [[ 9.93028644e-01 -1.08971640e-01 -4.49365442e-02 2.58860725e+02] [ 1.08953913e-01 9.94042714e-01 -2.85086928e-03 1.85880273e+01] [ 4.49795083e-02 -2.06501750e-03 9.98985775e-01 1.06734723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.485099893 meters 0.022982601960804247 Centerline is valid? [True, True] Translation: X:258.92, Y:18.59, Z:10.68 [[ 9.93060944e-01 -1.08592571e-01 -4.51399586e-02 2.58922244e+02] [ 1.08574441e-01 9.94084206e-01 -2.86048352e-03 1.85897086e+01] [ 4.51835471e-02 -2.06041132e-03 9.98976577e-01 1.06753342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.545099893 meters 0.022845416137265744 Centerline is valid? [True, True] Translation: X:258.98, Y:18.59, Z:10.68 [[ 9.93177204e-01 -1.07936497e-01 -4.41446977e-02 2.58983939e+02] [ 1.07918616e-01 9.94155803e-01 -2.79501189e-03 1.85942364e+01] [ 4.41883911e-02 -1.98809260e-03 9.99021238e-01 1.06788845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.605099893 meters 0.0213979785618758 Centerline is valid? [True, True] Translation: X:259.05, Y:18.60, Z:10.68 [[ 9.93215830e-01 -1.07544945e-01 -4.42312053e-02 2.59045731e+02] [ 1.07526750e-01 9.94198257e-01 -2.79726008e-03 1.86001522e+01] [ 4.42754183e-02 -1.97775478e-03 9.99017405e-01 1.06819897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.665099893 meters 0.021807269834326393 Centerline is valid? [True, True] Translation: X:259.11, Y:18.60, Z:10.68 [[ 9.93127672e-01 -1.08249559e-01 -4.44911149e-02 2.59108031e+02] [ 1.08232004e-01 9.94121690e-01 -2.81036038e-03 1.86029917e+01] [ 4.45338026e-02 -2.02431587e-03 9.99005827e-01 1.06841442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.725099893 meters 0.024868752141723027 Centerline is valid? [True, True] Translation: X:259.17, Y:18.60, Z:10.69 [[ 9.92777901e-01 -1.10703612e-01 -4.62249806e-02 2.59168754e+02] [ 1.10687471e-01 9.93850983e-01 -2.91656904e-03 1.86006497e+01] [ 4.62636172e-02 -2.22102092e-03 9.98926797e-01 1.06857844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.785099893 meters 0.025833441918089364 Centerline is valid? [True, True] Translation: X:259.23, Y:18.60, Z:10.69 [[ 9.92395921e-01 -1.13747104e-01 -4.70311842e-02 2.59229507e+02] [ 1.13733844e-01 9.93506825e-01 -2.96656627e-03 1.86015051e+01] [ 4.70632408e-02 -2.40502908e-03 9.98889016e-01 1.06881077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.845099893 meters 0.026847808675448916 Centerline is valid? [True, True] Translation: X:259.29, Y:18.60, Z:10.69 [[ 9.92018005e-01 -1.16984324e-01 -4.70632129e-02 2.59290296e+02] [ 1.16974716e-01 9.93130459e-01 -2.96774513e-03 1.86012651e+01] [ 4.70870899e-02 -2.56114935e-03 9.98887504e-01 1.06917134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.905099893 meters 0.028554882594459645 Centerline is valid? [True, True] Translation: X:259.35, Y:18.60, Z:10.69 [[ 9.91733664e-01 -1.19469177e-01 -4.68129761e-02 2.59351947e+02] [ 1.19462470e-01 9.92834331e-01 -2.95104313e-03 1.86009467e+01] [ 4.68300885e-02 -2.66574495e-03 9.98899313e-01 1.06949647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.965099893 meters 0.030101173094300396 Centerline is valid? [True, True] Translation: X:259.41, Y:18.60, Z:10.70 [[ 9.91506699e-01 -1.21352572e-01 -4.67762697e-02 2.59414445e+02] [ 1.21348049e-01 9.92605645e-01 -2.94689700e-03 1.86002968e+01] [ 4.67880029e-02 -2.75434093e-03 9.98901044e-01 1.06977083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.025099893 meters 0.02648316605317289 Centerline is valid? [True, True] Translation: X:259.47, Y:18.61, Z:10.70 [[ 9.91221105e-01 -1.23394789e-01 -4.74810284e-02 2.59474947e+02] [ 1.23392610e-01 9.92353432e-01 -2.98819065e-03 1.86067872e+01] [ 4.74866887e-02 -2.89685041e-03 9.98867670e-01 1.07015133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.085099893 meters 0.028692036375701453 Centerline is valid? [True, True] Translation: X:259.54, Y:18.61, Z:10.71 [[ 9.91117034e-01 -1.24290441e-01 -4.73171264e-02 2.59535791e+02] [ 1.24289364e-01 9.92241551e-01 -2.97639335e-03 1.86057626e+01] [ 4.73199561e-02 -2.93106140e-03 9.98875483e-01 1.07050944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.145099893 meters 0.03668276655111365 Centerline is valid? [True, True] Translation: X:259.60, Y:18.60, Z:10.71 [[ 9.91026516e-01 -1.24704360e-01 -4.81172298e-02 2.59597240e+02] [ 1.24704010e-01 9.92189389e-01 -3.02098500e-03 1.85952518e+01] [ 4.81181348e-02 -3.00653529e-03 9.98837127e-01 1.07075950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.205099893 meters 0.029803631237513676 Centerline is valid? [True, True] Translation: X:259.66, Y:18.61, Z:10.71 [[ 9.91141233e-01 -1.23440604e-01 -4.90048266e-02 2.59658530e+02] [ 1.23438808e-01 9.92347423e-01 -3.07465548e-03 1.86063953e+01] [ 4.90093507e-02 -3.00167954e-03 9.98793809e-01 1.07103641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26509989299996 meters 0.028667221984508995 Centerline is valid? [True, True] Translation: X:259.72, Y:18.61, Z:10.71 [[ 9.91555047e-01 -1.19426243e-01 -5.05565144e-02 2.59718828e+02] [ 1.19419296e-01 9.92838854e-01 -3.16889430e-03 1.86100473e+01] [ 5.05729209e-02 -2.89529024e-03 9.98716174e-01 1.07125451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32509989299996 meters 0.024862497054397692 Centerline is valid? [True, True] Translation: X:259.78, Y:18.62, Z:10.71 [[ 9.92393477e-01 -1.11341324e-01 -5.25194897e-02 2.59779347e+02] [ 1.11322549e-01 9.93778876e-01 -3.29180617e-03 1.86184346e+01] [ 5.25592735e-02 -2.57983650e-03 9.98614474e-01 1.07145703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38509989299996 meters 0.020771975392210384 Centerline is valid? [True, True] Translation: X:259.84, Y:18.63, Z:10.72 [[ 9.93014118e-01 -1.05401430e-01 -5.30424289e-02 2.59839053e+02] [ 1.05373858e-01 9.94427122e-01 -3.32398043e-03 1.86285141e+01] [ 5.30971822e-02 -2.28852585e-03 9.98586727e-01 1.07181975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.44509989299996 meters 0.01876500102361829 Centerline is valid? [True, True] Translation: X:259.90, Y:18.63, Z:10.72 [[ 9.93813805e-01 -9.74223814e-02 -5.33197928e-02 2.59898845e+02] [ 9.73830726e-02 9.95241365e-01 -3.34100917e-03 1.86343395e+01] [ 5.33915525e-02 -1.87210422e-03 9.98571899e-01 1.07209805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.50509989299997 meters 0.016587757303467326 Centerline is valid? [True, True] Translation: X:259.96, Y:18.64, Z:10.72 [[ 9.94502616e-01 -9.04412567e-02 -5.27724011e-02 2.59959383e+02] [ 9.03929347e-02 9.95900690e-01 -3.30665076e-03 1.86397544e+01] [ 5.28551283e-02 -1.48177937e-03 9.98601091e-01 1.07240468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.56509989299997 meters 0.015263807636787982 Centerline is valid? [True, True] Translation: X:260.02, Y:18.64, Z:10.73 [[ 9.95124613e-01 -8.38489650e-02 -5.19264370e-02 2.60018429e+02] [ 8.37932002e-02 9.96477853e-01 -3.25384709e-03 1.86441406e+01] [ 5.20163761e-02 -1.11309900e-03 9.98645612e-01 1.07268020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.62509989299997 meters 0.014778008709233365 Centerline is valid? [True, True] Translation: X:260.08, Y:18.65, Z:10.73 [[ 9.95356849e-01 -8.16930709e-02 -5.09017179e-02 2.60077105e+02] [ 8.16364803e-02 9.96657056e-01 -3.19332515e-03 1.86464811e+01] [ 5.09924288e-02 -9.76939027e-04 9.98698562e-01 1.07305068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.685099893 meters 0.014527428344997075 Centerline is valid? [True, True] Translation: X:260.14, Y:18.65, Z:10.73 [[ 9.95227047e-01 -8.27815303e-02 -5.16753554e-02 2.60136983e+02] [ 8.27241076e-02 9.96567179e-01 -3.25274492e-03 1.86479810e+01] [ 5.17672303e-02 -1.03757793e-03 9.98658639e-01 1.07332499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.745099893 meters 0.01533767989141114 Centerline is valid? [True, True] Translation: X:260.20, Y:18.65, Z:10.73 [[ 9.94831255e-01 -8.66895286e-02 -5.28743784e-02 2.60196751e+02] [ 8.66348183e-02 9.96234570e-01 -3.33016180e-03 1.86454742e+01] [ 5.29639738e-02 -1.26781312e-03 9.98595619e-01 1.07342757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.805099893 meters 0.015993083855764784 Centerline is valid? [True, True] Translation: X:260.26, Y:18.64, Z:10.74 [[ 9.94538306e-01 -8.97919194e-02 -5.32068475e-02 2.60255639e+02] [ 8.97407166e-02 9.95959509e-01 -3.35550327e-03 1.86444438e+01] [ 5.32931628e-02 -1.43764409e-03 9.98577875e-01 1.07365086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.865099893 meters 0.016712451713936073 Centerline is valid? [True, True] Translation: X:260.31, Y:18.64, Z:10.74 [[ 9.94498890e-01 -9.08996682e-02 -5.20500497e-02 2.60313812e+02] [ 9.08515654e-02 9.95858996e-01 -3.29435570e-03 1.86418928e+01] [ 5.21339661e-02 -1.45259541e-03 9.98639044e-01 1.07382842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.925099893 meters 0.017087140040908066 Centerline is valid? [True, True] Translation: X:260.37, Y:18.64, Z:10.74 [[ 9.94653280e-01 -9.02996916e-02 -5.01080635e-02 2.60371669e+02] [ 9.02540220e-02 9.95913707e-01 -3.17796208e-03 1.86425074e+01] [ 5.01902762e-02 -1.36148385e-03 9.98738746e-01 1.07416965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.985099893 meters 0.016657555270483414 Centerline is valid? [True, True] Translation: X:260.43, Y:18.64, Z:10.75 [[ 9.94783509e-01 -9.02097338e-02 -4.76232514e-02 2.60430966e+02] [ 9.01680658e-02 9.95921964e-01 -3.02688903e-03 1.86424895e+01] [ 4.77020970e-02 -1.28299718e-03 9.98860783e-01 1.07454081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.045099893 meters 0.016934625974481 Centerline is valid? [True, True] Translation: X:260.49, Y:18.64, Z:10.75 [[ 9.94749739e-01 -9.13586115e-02 -4.61146524e-02 2.60491004e+02] [ 9.13203356e-02 9.95817227e-01 -2.94047989e-03 1.86421885e+01] [ 4.61904035e-02 -1.28616393e-03 9.98931826e-01 1.07484766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.105099893 meters 0.017771270772243167 Centerline is valid? [True, True] Translation: X:260.55, Y:18.64, Z:10.75 [[ 9.94367382e-01 -9.57098075e-02 -4.55317774e-02 2.60551224e+02] [ 9.56769731e-02 9.95408197e-01 -2.90490815e-03 1.86389478e+01] [ 4.56007326e-02 -1.46779673e-03 9.98958667e-01 1.07508291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.165099893 meters 0.019285348180330803 Centerline is valid? [True, True] Translation: X:260.61, Y:18.64, Z:10.75 [[ 9.93965274e-01 -9.91087383e-02 -4.70158743e-02 2.60611824e+02] [ 9.90774512e-02 9.95075199e-01 -3.00114681e-03 1.86369112e+01] [ 4.70817704e-02 -1.67517729e-03 9.98889634e-01 1.07520850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.225099893 meters 0.020161796983632164 Centerline is valid? [True, True] Translation: X:260.67, Y:18.64, Z:10.75 [[ 9.93521478e-01 -1.02630180e-01 -4.88069623e-02 2.60671664e+02] [ 1.02600693e-01 9.94717744e-01 -3.11572396e-03 1.86353828e+01] [ 4.88689187e-02 -1.91208950e-03 9.98803370e-01 1.07544626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.285099893 meters 0.02060365391570784 Centerline is valid? [True, True] Translation: X:260.73, Y:18.64, Z:10.76 [[ 9.93503813e-01 -1.02204417e-01 -5.00442885e-02 2.60731709e+02] [ 1.02172788e-01 9.94761531e-01 -3.19654198e-03 1.86356942e+01] [ 5.01088337e-02 -1.93738781e-03 9.98741884e-01 1.07568803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.345099893 meters 0.019532754571078115 Centerline is valid? [True, True] Translation: X:260.79, Y:18.64, Z:10.76 [[ 9.93654577e-01 -1.00264339e-01 -5.09670931e-02 2.60790633e+02] [ 1.00228802e-01 9.94959077e-01 -3.25909116e-03 1.86399807e+01] [ 5.10369426e-02 -1.86995984e-03 9.98695015e-01 1.07596587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.405099893 meters 0.015087637977202795 Centerline is valid? [True, True] Translation: X:260.85, Y:18.65, Z:10.76 [[ 9.94467949e-01 -9.23673265e-02 -5.00177571e-02 2.60850534e+02] [ 9.23226416e-02 9.95723977e-01 -3.20793594e-03 1.86493765e+01] [ 5.01001885e-02 -1.42758199e-03 9.98743177e-01 1.07640223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.465099893 meters 0.014003791226018612 Centerline is valid? [True, True] Translation: X:260.91, Y:18.65, Z:10.77 [[ 9.95087058e-01 -8.62984486e-02 -4.85213798e-02 2.60910606e+02] [ 8.62491726e-02 9.96268736e-01 -3.11225234e-03 1.86530958e+01] [ 4.86089163e-02 -1.08796683e-03 9.98817295e-01 1.07671598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.525099893 meters 0.014411419727205041 Centerline is valid? [True, True] Translation: X:260.97, Y:18.66, Z:10.77 [[ 9.95282871e-01 -8.34842486e-02 -4.94205109e-02 2.60968561e+02] [ 8.34295903e-02 9.96508628e-01 -3.17139459e-03 1.86550811e+01] [ 4.95127270e-02 -9.66698257e-04 9.98773025e-01 1.07682408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.585099893 meters 0.013427845602197183 Centerline is valid? [True, True] Translation: X:261.03, Y:18.66, Z:10.77 [[ 9.95317067e-01 -8.27562373e-02 -4.99533980e-02 2.61027139e+02] [ 8.26991816e-02 9.96569381e-01 -3.21150040e-03 1.86601077e+01] [ 5.00477987e-02 -9.34643974e-04 9.98746386e-01 1.07712667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.645099893 meters 0.013764368482312791 Centerline is valid? [True, True] Translation: X:261.08, Y:18.66, Z:10.77 [[ 9.95295065e-01 -8.37124986e-02 -4.87847416e-02 2.61084711e+02] [ 8.36586185e-02 9.96489498e-01 -3.14884520e-03 1.86606530e+01] [ 4.88770804e-02 -9.47233999e-04 9.98804352e-01 1.07740011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70509989299995 meters 0.014187455522270551 Centerline is valid? [True, True] Translation: X:261.14, Y:18.66, Z:10.78 [[ 9.95163559e-01 -8.53156929e-02 -4.86900717e-02 2.61143570e+02] [ 8.52632657e-02 9.96353457e-01 -3.15650759e-03 1.86620629e+01] [ 4.87818209e-02 -1.01023320e-03 9.98808947e-01 1.07766956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76509989299996 meters 0.014740842944784479 Centerline is valid? [True, True] Translation: X:261.20, Y:18.66, Z:10.78 [[ 9.94933039e-01 -8.79201620e-02 -4.87677410e-02 2.61202289e+02] [ 8.78700938e-02 9.96126886e-01 -3.17377366e-03 1.86641199e+01] [ 4.88578966e-02 -1.12753370e-03 9.98805103e-01 1.07791267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82509989299996 meters 0.015754792935777064 Centerline is valid? [True, True] Translation: X:261.26, Y:18.67, Z:10.78 [[ 9.94629292e-01 -9.11587392e-02 -4.90168995e-02 2.61260914e+02] [ 9.11114776e-02 9.95835551e-01 -3.20233975e-03 1.86652655e+01] [ 4.91046924e-02 -1.28086123e-03 9.98792816e-01 1.07807255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88509989299996 meters 0.01666550197282621 Centerline is valid? [True, True] Translation: X:261.32, Y:18.67, Z:10.78 [[ 9.94343975e-01 -9.38436240e-02 -4.97336264e-02 2.61319197e+02] [ 9.37977593e-02 9.95585933e-01 -3.26047211e-03 1.86669888e+01] [ 4.98200734e-02 -1.42287192e-03 9.98757196e-01 1.07815918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.94509989299996 meters 0.018151924720169466 Centerline is valid? [True, True] Translation: X:261.38, Y:18.67, Z:10.78 [[ 9.93926351e-01 -9.83868335e-02 -4.92994914e-02 2.61378823e+02] [ 9.83471478e-02 9.95146907e-01 -3.23596352e-03 1.86680294e+01] [ 4.93786126e-02 -1.63215495e-03 9.98778799e-01 1.07833251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.00509989299997 meters 0.018766913768046196 Centerline is valid? [True, True] Translation: X:261.44, Y:18.67, Z:10.79 [[ 9.93546412e-01 -1.02459515e-01 -4.86577269e-02 2.61438396e+02] [ 1.02425644e-01 9.94735531e-01 -3.19555566e-03 1.86708496e+01] [ 4.87289848e-02 -1.80886616e-03 9.98810399e-01 1.07863259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.06509989299997 meters 0.020832571141919134 Centerline is valid? [True, True] Translation: X:261.50, Y:18.67, Z:10.79 [[ 9.92839452e-01 -1.09280173e-01 -4.82458980e-02 2.61499158e+02] [ 1.09254827e-01 9.94008719e-01 -3.17004330e-03 1.86711122e+01] [ 4.83032661e-02 -2.12375321e-03 9.98830458e-01 1.07891608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.12509989299997 meters 0.02251323211474056 Centerline is valid? [True, True] Translation: X:261.56, Y:18.67, Z:10.79 [[ 9.92249879e-01 -1.14562105e-01 -4.81217421e-02 2.61559067e+02] [ 1.14543067e-01 9.93413251e-01 -3.16216775e-03 1.86745871e+01] [ 4.81670408e-02 -2.37435136e-03 9.98836472e-01 1.07936504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.185099893 meters 0.02508045236072091 Centerline is valid? [True, True] Translation: X:261.62, Y:18.68, Z:10.80 [[ 9.91964666e-01 -1.16922587e-01 -4.83240212e-02 2.61618774e+02] [ 1.16906138e-01 9.93137889e-01 -3.17632311e-03 1.86762800e+01] [ 4.83638003e-02 -2.49857442e-03 9.98826662e-01 1.07971124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.245099893 meters 0.02528454738985596 Centerline is valid? [True, True] Translation: X:261.68, Y:18.68, Z:10.80 [[ 9.91485639e-01 -1.20196550e-01 -5.00900797e-02 2.61678835e+02] [ 1.20182993e-01 9.92746293e-01 -3.29341187e-03 1.86807363e+01] [ 5.01225977e-02 -2.75460514e-03 9.98739274e-01 1.07990341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.305099893 meters 0.027194825436154525 Centerline is valid? [True, True] Translation: X:261.74, Y:18.68, Z:10.80 [[ 9.91086208e-01 -1.22620037e-01 -5.20812321e-02 2.61738679e+02] [ 1.22608650e-01 9.92449184e-01 -3.42568525e-03 1.86843544e+01] [ 5.21080340e-02 -2.99046016e-03 9.98636976e-01 1.08011228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.365099893 meters 0.025849456493537527 Centerline is valid? [True, True] Translation: X:261.80, Y:18.69, Z:10.80 [[ 9.90936444e-01 -1.23110666e-01 -5.37468804e-02 2.61799014e+02] [ 1.23099223e-01 9.92388068e-01 -3.53602336e-03 1.86923280e+01] [ 5.37730850e-02 -3.11222479e-03 9.98548331e-01 1.08035887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.425099893 meters 0.02544383595859708 Centerline is valid? [True, True] Translation: X:261.86, Y:18.70, Z:10.81 [[ 9.91375062e-01 -1.19496789e-01 -5.38145334e-02 2.61858688e+02] [ 1.19479981e-01 9.92830295e-01 -3.54101953e-03 1.87012115e+01] [ 5.38518395e-02 -2.91928098e-03 9.98544670e-01 1.08064135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.485099893 meters 0.021155584595442676 Centerline is valid? [True, True] Translation: X:261.92, Y:18.72, Z:10.81 [[ 9.92372938e-01 -1.11924545e-01 -5.16609032e-02 2.61917862e+02] [ 1.11898714e-01 9.93713797e-01 -3.40118327e-03 1.87186165e+01] [ 5.17168281e-02 -2.40554641e-03 9.98658892e-01 1.08127508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.545099893 meters 0.01971184744762843 Centerline is valid? [True, True] Translation: X:261.98, Y:18.73, Z:10.82 [[ 9.93217408e-01 -1.04493053e-01 -5.09939449e-02 2.61976883e+02] [ 1.04458098e-01 9.94523621e-01 -3.35742821e-03 1.87314237e+01] [ 5.10655107e-02 -1.99207433e-03 9.98693319e-01 1.08165375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.605099893 meters 0.01907029118290109 Centerline is valid? [True, True] Translation: X:262.04, Y:18.74, Z:10.82 [[ 9.93444582e-01 -1.02469588e-01 -5.06739184e-02 2.62037162e+02] [ 1.02432437e-01 9.94734369e-01 -3.33646301e-03 1.87399521e+01] [ 5.07489742e-02 -1.87606183e-03 9.98709679e-01 1.08194676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.665099893 meters 0.023018401708009135 Centerline is valid? [True, True] Translation: X:262.10, Y:18.74, Z:10.82 [[ 9.93198826e-01 -1.03060127e-01 -5.41728863e-02 2.62096466e+02] [ 1.03018545e-01 9.94673040e-01 -3.56694179e-03 1.87425688e+01] [ 5.42519190e-02 -2.03812951e-03 9.98525200e-01 1.08178554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.725099893 meters 0.02022943603568022 Centerline is valid? [True, True] Translation: X:262.16, Y:18.75, Z:10.82 [[ 9.92919020e-01 -1.05537629e-01 -5.45309831e-02 2.62155502e+02] [ 1.05499180e-01 9.94412905e-01 -3.59132022e-03 1.87532250e+01] [ 5.46053327e-02 -2.18708384e-03 9.98505621e-01 1.08218693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.785099893 meters 0.020746110639099626 Centerline is valid? [True, True] Translation: X:262.22, Y:18.76, Z:10.82 [[ 9.92437775e-01 -1.09869040e-01 -5.47362458e-02 2.62215316e+02] [ 1.09836768e-01 9.93943095e-01 -3.60667456e-03 1.87595129e+01] [ 5.48009754e-02 -2.43265224e-03 9.98494334e-01 1.08249317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.845099893 meters 0.024777048372280484 Centerline is valid? [True, True] Translation: X:262.27, Y:18.76, Z:10.83 [[ 9.91946364e-01 -1.13777820e-01 -5.56508606e-02 2.62274619e+02] [ 1.13750507e-01 9.93502574e-01 -3.66850437e-03 1.87596860e+01] [ 5.57066677e-02 -2.69135405e-03 9.98443551e-01 1.08251160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.905099893 meters 0.025149017547158845 Centerline is valid? [True, True] Translation: X:262.33, Y:18.76, Z:10.83 [[ 9.91812370e-01 -1.15055413e-01 -5.54118644e-02 2.62334715e+02] [ 1.15030236e-01 9.93355269e-01 -3.65426615e-03 1.87639384e+01] [ 5.54641106e-02 -2.74969347e-03 9.98456895e-01 1.08276087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.965099893 meters 0.023497280972127214 Centerline is valid? [True, True] Translation: X:262.40, Y:18.77, Z:10.83 [[ 9.91606833e-01 -1.17287813e-01 -5.44009061e-02 2.62395625e+02] [ 1.17266916e-01 9.93093955e-01 -3.58713632e-03 1.87720167e+01] [ 5.44459383e-02 -2.82239758e-03 9.98512731e-01 1.08317017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.025099893 meters 0.025606707623520672 Centerline is valid? [True, True] Translation: X:262.46, Y:18.78, Z:10.83 [[ 9.91358076e-01 -1.19475902e-01 -5.41726220e-02 2.62455696e+02] [ 1.19458529e-01 9.92832772e-01 -3.57032559e-03 1.87753572e+01] [ 5.42109223e-02 -2.93191063e-03 9.98525202e-01 1.08339818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.085099893 meters 0.02444558402552425 Centerline is valid? [True, True] Translation: X:262.52, Y:18.78, Z:10.84 [[ 9.91358864e-01 -1.19960835e-01 -5.30754193e-02 2.62517612e+02] [ 1.19944930e-01 9.92774390e-01 -3.49644331e-03 1.87836704e+01] [ 5.31113533e-02 -2.89989741e-03 9.98584385e-01 1.08375990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.145099893 meters 0.027498537226756915 Centerline is valid? [True, True] Translation: X:262.58, Y:18.79, Z:10.84 [[ 9.91433724e-01 -1.19415779e-01 -5.29059845e-02 2.62578501e+02] [ 1.19399398e-01 9.92840200e-01 -3.48159099e-03 1.87853169e+01] [ 5.29429451e-02 -2.86517596e-03 9.98593428e-01 1.08397390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20509989299995 meters 0.026474478953846553 Centerline is valid? [True, True] Translation: X:262.64, Y:18.79, Z:10.84 [[ 9.91513487e-01 -1.18751393e-01 -5.29066307e-02 2.62639275e+02] [ 1.18734211e-01 9.92919979e-01 -3.47895222e-03 1.87935941e+01] [ 5.29451811e-02 -2.83239899e-03 9.98593403e-01 1.08422374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26509989299996 meters 0.02584143418728001 Centerline is valid? [True, True] Translation: X:262.70, Y:18.80, Z:10.84 [[ 9.91553330e-01 -1.18485020e-01 -5.27569394e-02 2.62700905e+02] [ 1.18467678e-01 9.92951857e-01 -3.46683882e-03 1.88001045e+01] [ 5.27958694e-02 -2.81243655e-03 9.98601365e-01 1.08444467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32509989299996 meters 0.024647660327407343 Centerline is valid? [True, True] Translation: X:262.76, Y:18.81, Z:10.85 [[ 9.91816674e-01 -1.16523831e-01 -5.21716565e-02 2.62762074e+02] [ 1.16504351e-01 9.93184276e-01 -3.42483484e-03 1.88083383e+01] [ 5.22151438e-02 -2.68141667e-03 9.98632259e-01 1.08471770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38509989299996 meters 0.02472231030893738 Centerline is valid? [True, True] Translation: X:262.82, Y:18.81, Z:10.85 [[ 9.92019483e-01 -1.14545866e-01 -5.26933496e-02 2.62822969e+02] [ 1.14523356e-01 9.93414543e-01 -3.45639573e-03 1.88143315e+01] [ 5.27422556e-02 -2.60580731e-03 9.98604759e-01 1.08487630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.44509989299996 meters 0.021244771917834818 Centerline is valid? [True, True] Translation: X:262.88, Y:18.83, Z:10.85 [[ 9.92393308e-01 -1.11098043e-01 -5.30353353e-02 2.62884040e+02] [ 1.11070443e-01 9.93806455e-01 -3.47670042e-03 1.88277074e+01] [ 5.30931132e-02 -2.44040394e-03 9.98586584e-01 1.08509016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.50509989299997 meters 0.02146614471435793 Centerline is valid? [True, True] Translation: X:262.94, Y:18.83, Z:10.85 [[ 9.92643094e-01 -1.08783954e-01 -5.31576858e-02 2.62943983e+02] [ 1.08753052e-01 9.94062698e-01 -3.48218675e-03 1.88347431e+01] [ 5.32208786e-02 -2.32449193e-03 9.98580059e-01 1.08524975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.56509989299997 meters 0.020877031699864365 Centerline is valid? [True, True] Translation: X:263.00, Y:18.84, Z:10.86 [[ 9.92915011e-01 -1.07143010e-01 -5.13824453e-02 2.63004878e+02] [ 1.07111996e-01 9.94241268e-01 -3.36481784e-03 1.88434160e+01] [ 5.14470643e-02 -2.16269815e-03 9.98673381e-01 1.08553821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.62509989299997 meters 0.019491762414347334 Centerline is valid? [True, True] Translation: X:263.07, Y:18.85, Z:10.86 [[ 9.93295388e-01 -1.04438445e-01 -4.95669630e-02 2.63065407e+02] [ 1.04406308e-01 9.94529436e-01 -3.24417543e-03 1.88545725e+01] [ 4.96346203e-02 -1.95267909e-03 9.98765534e-01 1.08593606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.685099893 meters 0.01883331608767035 Centerline is valid? [True, True] Translation: X:263.13, Y:18.86, Z:10.86 [[ 9.93466387e-01 -1.03238415e-01 -4.86453151e-02 2.63127551e+02] [ 1.03206123e-01 9.94654901e-01 -3.18184650e-03 1.88623869e+01] [ 4.87137899e-02 -1.85943680e-03 9.98811048e-01 1.08623000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.745099893 meters 0.01965255371141343 Centerline is valid? [True, True] Translation: X:263.19, Y:18.87, Z:10.86 [[ 9.93567106e-01 -1.02482630e-01 -4.81841960e-02 2.63188252e+02] [ 1.02450223e-01 9.94733150e-01 -3.14828887e-03 1.88670918e+01] [ 4.82530620e-02 -1.80844537e-03 9.98833505e-01 1.08647832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.805099893 meters 0.0184769557757731 Centerline is valid? [True, True] Translation: X:263.25, Y:18.88, Z:10.87 [[ 9.93528318e-01 -1.02877840e-01 -4.81417911e-02 2.63250220e+02] [ 1.02846085e-01 9.94692317e-01 -3.14277789e-03 1.88754233e+01] [ 4.82095919e-02 -1.82875592e-03 9.98835567e-01 1.08668906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.865099893 meters 0.021288643672394306 Centerline is valid? [True, True] Translation: X:263.31, Y:18.88, Z:10.87 [[ 9.93375684e-01 -1.04301972e-01 -4.82270582e-02 2.63310837e+02] [ 1.04271968e-01 9.94543850e-01 -3.14443950e-03 1.88775861e+01] [ 4.82918954e-02 -1.90512054e-03 9.98831449e-01 1.08688165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.925099893 meters 0.018702540891841844 Centerline is valid? [True, True] Translation: X:263.37, Y:18.89, Z:10.87 [[ 9.93278256e-01 -1.05103536e-01 -4.84928170e-02 2.63372051e+02] [ 1.05074432e-01 9.94459352e-01 -3.15604265e-03 1.88870548e+01] [ 4.85558466e-02 -1.96052668e-03 9.98818545e-01 1.08714771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.985099893 meters 0.021066013252760894 Centerline is valid? [True, True] Translation: X:263.43, Y:18.89, Z:10.87 [[ 9.93361778e-01 -1.04629884e-01 -4.78013211e-02 2.63433233e+02] [ 1.04601183e-01 9.94509392e-01 -3.10838637e-03 1.88884106e+01] [ 4.78640929e-02 -1.91232252e-03 9.98852027e-01 1.08733120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.045099893 meters 0.0203330872998364 Centerline is valid? [True, True] Translation: X:263.49, Y:18.90, Z:10.88 [[ 9.93659953e-01 -1.02124968e-01 -4.70147646e-02 2.63494804e+02] [ 1.02094525e-01 9.94770012e-01 -3.05468305e-03 1.88952673e+01] [ 4.70808374e-02 -1.76463383e-03 9.98889524e-01 1.08759767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.105099893 meters 0.019190659125806763 Centerline is valid? [True, True] Translation: X:263.56, Y:18.90, Z:10.88 [[ 9.93821405e-01 -1.00778356e-01 -4.65052430e-02 2.63556677e+02] [ 1.00747214e-01 9.94907475e-01 -3.01905326e-03 1.89020823e+01] [ 4.65726692e-02 -1.68487390e-03 9.98913484e-01 1.08787196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.165099893 meters 0.018175918903184606 Centerline is valid? [True, True] Translation: X:263.62, Y:18.91, Z:10.88 [[ 9.94006454e-01 -9.93390088e-02 -4.56391308e-02 2.63619075e+02] [ 9.93076510e-02 9.95052376e-01 -2.95953658e-03 1.89082024e+01] [ 4.57073230e-02 -1.59051641e-03 9.98953608e-01 1.08810831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.225099893 meters 0.017990298677744897 Centerline is valid? [True, True] Translation: X:263.68, Y:18.91, Z:10.88 [[ 9.94065253e-01 -9.88065694e-02 -4.55141114e-02 2.63680996e+02] [ 9.87750109e-02 9.95105427e-01 -2.94737535e-03 1.89136256e+01] [ 4.55825593e-02 -1.56577342e-03 9.98959348e-01 1.08837860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.285099893 meters 0.018487511616901216 Centerline is valid? [True, True] Translation: X:263.74, Y:18.92, Z:10.89 [[ 9.94039457e-01 -9.88499938e-02 -4.59808316e-02 2.63743193e+02] [ 9.88179867e-02 9.95101080e-01 -2.97423308e-03 1.89173743e+01] [ 4.60495781e-02 -1.58722817e-03 9.98937894e-01 1.08854738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.345099893 meters 0.017070212451486898 Centerline is valid? [True, True] Translation: X:263.81, Y:18.92, Z:10.89 [[ 9.94050101e-01 -9.89843910e-02 -4.54586307e-02 2.63805372e+02] [ 9.89533943e-02 9.95087734e-01 -2.93721550e-03 1.89227141e+01] [ 4.55260643e-02 -1.57854644e-03 9.98961904e-01 1.08883009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.405099893 meters 0.018240924055733153 Centerline is valid? [True, True] Translation: X:263.87, Y:18.92, Z:10.89 [[ 9.94167225e-01 -9.82098022e-02 -4.45686315e-02 2.63866551e+02] [ 9.81793728e-02 9.95164578e-01 -2.87650133e-03 1.89240924e+01] [ 4.46356239e-02 -1.51599693e-03 9.99002184e-01 1.08907857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.465099893 meters 0.016914061246586547 Centerline is valid? [True, True] Translation: X:263.93, Y:18.93, Z:10.89 [[ 9.94275304e-01 -9.68361318e-02 -4.51595280e-02 2.63928669e+02] [ 9.68035922e-02 9.95299244e-01 -2.91206780e-03 1.89303138e+01] [ 4.52292374e-02 -1.47620743e-03 9.98975544e-01 1.08927881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.525099893 meters 0.018001372243513416 Centerline is valid? [True, True] Translation: X:263.99, Y:18.93, Z:10.89 [[ 9.94268126e-01 -9.67389664e-02 -4.55243350e-02 2.63989386e+02] [ 9.67059594e-02 9.95308676e-01 -2.93204509e-03 1.89321799e+01] [ 4.55944087e-02 -1.48723552e-03 9.98958927e-01 1.08943762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.585099893 meters 0.01855830189127029 Centerline is valid? [True, True] Translation: X:264.05, Y:18.93, Z:10.90 [[ 9.94094667e-01 -9.83731414e-02 -4.58095937e-02 2.64051801e+02] [ 9.83416989e-02 9.95148349e-01 -2.94503524e-03 1.89334068e+01] [ 4.58770540e-02 -1.57734944e-03 9.98945848e-01 1.08954035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.645099893 meters 0.01802769390029709 Centerline is valid? [True, True] Translation: X:264.11, Y:18.94, Z:10.90 [[ 9.93938360e-01 -9.98043598e-02 -4.61045245e-02 2.64114077e+02] [ 9.97742016e-02 9.95005700e-01 -2.96067742e-03 1.89377637e+01] [ 4.61697532e-02 -1.65731127e-03 9.98932234e-01 1.08982322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70509989299995 meters 0.018018661557664902 Centerline is valid? [True, True] Translation: X:264.18, Y:18.94, Z:10.90 [[ 9.94001102e-01 -9.94823583e-02 -4.54430303e-02 2.64176126e+02] [ 9.94528726e-02 9.95038004e-01 -2.91490697e-03 1.89412878e+01] [ 4.55075240e-02 -1.62201916e-03 9.98962679e-01 1.09012967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76509989299996 meters 0.01832766798104939 Centerline is valid? [True, True] Translation: X:264.24, Y:18.94, Z:10.90 [[ 9.94048495e-01 -9.93461517e-02 -4.46982382e-02 2.64239103e+02] [ 9.93176359e-02 9.95051660e-01 -2.86379780e-03 1.89430733e+01] [ 4.47615634e-02 -1.59256945e-03 9.98996430e-01 1.09039839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82509989299996 meters 0.022604095332177592 Centerline is valid? [True, True] Translation: X:264.30, Y:18.94, Z:10.91 [[ 9.94043417e-01 -9.95526841e-02 -4.43502955e-02 2.64300534e+02] [ 9.95250316e-02 9.95031015e-01 -2.83664180e-03 1.89395305e+01] [ 4.44123148e-02 -1.59421945e-03 9.99012014e-01 1.09060729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.88509989299996 meters 0.018869872217224144 Centerline is valid? [True, True] Translation: X:264.36, Y:18.95, Z:10.91 [[ 9.93778041e-01 -1.01929470e-01 -4.48952936e-02 2.64362164e+02] [ 1.01903791e-01 9.94790130e-01 -2.86624593e-03 1.89469688e+01] [ 4.49535499e-02 -1.72658834e-03 9.98987586e-01 1.09085816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.94509989299996 meters 0.020162522871574294 Centerline is valid? [True, True] Translation: X:264.42, Y:18.95, Z:10.91 [[ 9.93421926e-01 -1.05145757e-01 -4.53568877e-02 2.64422895e+02] [ 1.05123037e-01 9.94455017e-01 -2.89252655e-03 1.89475208e+01] [ 4.54095214e-02 -1.89455450e-03 9.98966659e-01 1.09107363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.00509989299997 meters 0.019136864013690774 Centerline is valid? [True, True] Translation: X:264.48, Y:18.95, Z:10.91 [[ 9.93279322e-01 -1.06423188e-01 -4.55004744e-02 2.64484541e+02] [ 1.06401709e-01 9.94318994e-01 -2.90063688e-03 1.89516449e+01] [ 4.55506810e-02 -1.96018560e-03 9.98960106e-01 1.09135733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.06509989299997 meters 0.020801969948489527 Centerline is valid? [True, True] Translation: X:264.55, Y:18.95, Z:10.92 [[ 9.93178252e-01 -1.07185897e-01 -4.59145306e-02 2.64545432e+02] [ 1.07164996e-01 9.94236952e-01 -2.92360768e-03 1.89515550e+01] [ 4.59632925e-02 -2.01676695e-03 9.98941094e-01 1.09153130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.12509989299997 meters 0.020661786939423117 Centerline is valid? [True, True] Translation: X:264.61, Y:18.95, Z:10.92 [[ 9.93048027e-01 -1.08037339e-01 -4.67284546e-02 2.64607347e+02] [ 1.08016760e-01 9.94144629e-01 -2.97270426e-03 1.89543902e+01] [ 4.67760052e-02 -2.09541816e-03 9.98903206e-01 1.09173404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.185099893 meters 0.021280016618509603 Centerline is valid? [True, True] Translation: X:264.67, Y:18.96, Z:10.92 [[ 9.93051547e-01 -1.08218694e-01 -4.62313749e-02 2.64669581e+02] [ 1.08198902e-01 9.94124926e-01 -2.93769388e-03 1.89565106e+01] [ 4.62776756e-02 -2.08490256e-03 9.98926439e-01 1.09201263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.245099893 meters 0.02208741369001265 Centerline is valid? [True, True] Translation: X:264.73, Y:18.96, Z:10.92 [[ 9.93240215e-01 -1.06841758e-01 -4.53730441e-02 2.64730485e+02] [ 1.06821418e-01 9.94274053e-01 -2.87966707e-03 1.89582621e+01] [ 4.54209092e-02 -1.98661179e-03 9.98965963e-01 1.09225338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.305099893 meters 0.021790808542341403 Centerline is valid? [True, True] Translation: X:264.79, Y:18.96, Z:10.92 [[ 9.93670494e-01 -1.02911343e-01 -4.50355873e-02 2.64789683e+02] [ 1.02887530e-01 9.94688906e-01 -2.85260431e-03 1.89625879e+01] [ 4.50899644e-02 -1.79905159e-03 9.98981310e-01 1.09248447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.365099893 meters 0.018062437293032904 Centerline is valid? [True, True] Translation: X:264.85, Y:18.97, Z:10.93 [[ 9.94147990e-01 -9.78663516e-02 -4.57378603e-02 2.64849952e+02] [ 9.78364279e-02 9.95198290e-01 -2.89776641e-03 1.89730987e+01] [ 4.58018342e-02 -1.59402022e-03 9.98949274e-01 1.09263208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.425099893 meters 0.016634240157319954 Centerline is valid? [True, True] Translation: X:264.91, Y:18.98, Z:10.93 [[ 9.94581090e-01 -9.32827138e-02 -4.58997831e-02 2.64911181e+02] [ 9.32477475e-02 9.95638693e-01 -2.90704726e-03 1.89800116e+01] [ 4.59707773e-02 -1.38875715e-03 9.98941820e-01 1.09281299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.485099893 meters 0.01595222965175615 Centerline is valid? [True, True] Translation: X:264.97, Y:18.98, Z:10.93 [[ 9.94784703e-01 -9.13515360e-02 -4.53684074e-02 2.64973264e+02] [ 9.13154823e-02 9.95817875e-01 -2.87088818e-03 1.89846623e+01] [ 4.54409311e-02 -1.28692236e-03 9.98966198e-01 1.09302631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.545099893 meters 0.016176239305869523 Centerline is valid? [True, True] Translation: X:265.04, Y:18.99, Z:10.93 [[ 9.94876656e-01 -9.02938839e-02 -4.54692736e-02 2.65035151e+02] [ 9.02567172e-02 9.95914387e-01 -2.87396381e-03 1.89884147e+01] [ 4.55430051e-02 -1.24466787e-03 9.98961604e-01 1.09320432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.605099893 meters 0.01625363740147451 Centerline is valid? [True, True] Translation: X:265.10, Y:18.99, Z:10.93 [[ 9.94740409e-01 -9.14781955e-02 -4.60788360e-02 2.65097471e+02] [ 9.14414488e-02 9.95806205e-01 -2.90915576e-03 1.89922517e+01] [ 4.61517151e-02 -1.31966073e-03 9.98933570e-01 1.09339221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.665099893 meters 0.016234091176217137 Centerline is valid? [True, True] Translation: X:265.16, Y:18.99, Z:10.94 [[ 9.94630665e-01 -9.28540459e-02 -4.56942604e-02 2.65159363e+02] [ 9.28195099e-02 9.95678781e-01 -2.88159456e-03 1.89948825e+01] [ 4.57643732e-02 -1.37519654e-03 9.98951316e-01 1.09364364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.725099893 meters 0.01688211424238889 Centerline is valid? [True, True] Translation: X:265.22, Y:19.00, Z:10.94 [[ 9.94599447e-01 -9.35382238e-02 -4.49726623e-02 2.65221046e+02] [ 9.35056144e-02 9.95614722e-01 -2.83283973e-03 1.89969277e+01] [ 4.50404234e-02 -1.38765559e-03 9.98984201e-01 1.09392105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.785099893 meters 0.016975291177373186 Centerline is valid? [True, True] Translation: X:265.28, Y:19.00, Z:10.94 [[ 9.94525336e-01 -9.45277083e-02 -4.45406380e-02 2.65282595e+02] [ 9.44968536e-02 9.95521216e-01 -2.80247338e-03 1.90003132e+01] [ 4.46060614e-02 -1.42181937e-03 9.99003642e-01 1.09423109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.845099893 meters 0.017426676671719706 Centerline is valid? [True, True] Translation: X:265.35, Y:19.00, Z:10.95 [[ 9.94551345e-01 -9.43835187e-02 -4.42648093e-02 2.65345042e+02] [ 9.43530113e-02 9.95534915e-01 -2.78265937e-03 1.90033869e+01] [ 4.43298004e-02 -1.40902044e-03 9.99015958e-01 1.09450987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.905099893 meters 0.01777029683343377 Centerline is valid? [True, True] Translation: X:265.41, Y:19.01, Z:10.95 [[ 9.94569844e-01 -9.39816811e-02 -4.47020032e-02 2.65407048e+02] [ 9.39503090e-02 9.95572931e-01 -2.80688818e-03 1.90059407e+01] [ 4.47679004e-02 -1.40812067e-03 9.98996423e-01 1.09474196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.965099893 meters 0.017450119722843944 Centerline is valid? [True, True] Translation: X:265.47, Y:19.01, Z:10.95 [[ 9.94447707e-01 -9.50226184e-02 -4.52157028e-02 2.65468791e+02] [ 9.49917434e-02 9.95474021e-01 -2.83588621e-03 1.90091398e+01] [ 4.52805308e-02 -1.47497790e-03 9.98973222e-01 1.09488027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.025099893 meters 0.01781080115058287 Centerline is valid? [True, True] Translation: X:265.53, Y:19.01, Z:10.95 [[ 9.94283759e-01 -9.68624071e-02 -4.49163662e-02 2.65531237e+02] [ 9.68339589e-02 9.95296572e-01 -2.81387592e-03 1.90117314e+01] [ 4.49776642e-02 -1.55163843e-03 9.98986788e-01 1.09516433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.085099893 meters 0.019056139250884625 Centerline is valid? [True, True] Translation: X:265.59, Y:19.01, Z:10.95 [[ 9.93917156e-01 -1.00543198e-01 -4.49416554e-02 2.65592030e+02] [ 1.00518617e-01 9.94931203e-01 -2.81224090e-03 1.90117350e+01] [ 4.49966070e-02 -1.72233859e-03 9.98985655e-01 1.09535726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.145099893 meters 0.020153296732102893 Centerline is valid? [True, True] Translation: X:265.65, Y:19.01, Z:10.95 [[ 9.93356652e-01 -1.05285785e-01 -4.64485335e-02 2.65653448e+02] [ 1.05264807e-01 9.94439986e-01 -2.90425527e-03 1.90120135e+01] [ 4.64960558e-02 -2.00443460e-03 9.98916462e-01 1.09548230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20509989299995 meters 0.02266372543981562 Centerline is valid? [True, True] Translation: X:265.71, Y:19.01, Z:10.96 [[ 9.92707279e-01 -1.11179987e-01 -4.65968687e-02 2.65713797e+02] [ 1.11165420e-01 9.93797650e-01 -2.91196676e-03 1.90101390e+01] [ 4.66316110e-02 -2.28922988e-03 9.98909532e-01 1.09574240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26509989299996 meters 0.023270995812257632 Centerline is valid? [True, True] Translation: X:265.77, Y:19.01, Z:10.96 [[ 9.92157085e-01 -1.15948213e-01 -4.66940142e-02 2.65774909e+02] [ 1.15938858e-01 9.93252067e-01 -2.91778332e-03 1.90106624e+01] [ 4.67172379e-02 -2.51875130e-03 9.98904978e-01 1.09600961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32509989299996 meters 0.026315434916208223 Centerline is valid? [True, True] Translation: X:265.84, Y:19.01, Z:10.96 [[ 9.92058524e-01 -1.17236087e-01 -4.55585929e-02 2.65836578e+02] [ 1.17228587e-01 9.93100882e-01 -2.84561209e-03 1.90096920e+01] [ 4.55778872e-02 -2.51775573e-03 9.98957615e-01 1.09633927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.38509989299996 meters 0.024466516376471986 Centerline is valid? [True, True] Translation: X:265.90, Y:19.02, Z:10.97 [[ 9.92105187e-01 -1.17060237e-01 -4.49911043e-02 2.65898123e+02] [ 1.17052854e-01 9.93121718e-01 -2.80765018e-03 1.90164346e+01] [ 4.50103070e-02 -2.48085287e-03 9.98983442e-01 1.09672411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.44509989299996 meters 0.023662550242933005 Centerline is valid? [True, True] Translation: X:265.96, Y:19.02, Z:10.97 [[ 9.92372300e-01 -1.15042387e-01 -4.42997552e-02 2.65958974e+02] [ 1.15033365e-01 9.93357791e-01 -2.76134786e-03 1.90214650e+01] [ 4.43231790e-02 -2.35566477e-03 9.99014468e-01 1.09709276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.50509989299997 meters 0.023478963469175048 Centerline is valid? [True, True] Translation: X:266.02, Y:19.03, Z:10.97 [[ 9.92533678e-01 -1.13793930e-01 -4.39071774e-02 2.66020773e+02] [ 1.13783923e-01 9.93501755e-01 -2.73517662e-03 1.90252696e+01] [ 4.39331043e-02 -2.28117598e-03 9.99031871e-01 1.09743808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.56509989299997 meters 0.022669408004231624 Centerline is valid? [True, True] Translation: X:266.08, Y:19.03, Z:10.98 [[ 9.92557187e-01 -1.12852255e-01 -4.57667950e-02 2.66082450e+02] [ 1.12840550e-01 9.93609029e-01 -2.84749522e-03 1.90305168e+01] [ 4.57956470e-02 -2.33804846e-03 9.98948093e-01 1.09764542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.62509989299997 meters 0.024368363384322897 Centerline is valid? [True, True] Translation: X:266.14, Y:19.03, Z:10.98 [[ 9.92579255e-01 -1.11813113e-01 -4.77938261e-02 2.66144156e+02] [ 1.11799329e-01 9.93726366e-01 -2.96992821e-03 1.90320282e+01] [ 4.78260621e-02 -2.39542856e-03 9.98852807e-01 1.09771556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.685099893 meters 0.023065455828581567 Centerline is valid? [True, True] Translation: X:266.21, Y:19.04, Z:10.98 [[ 9.92829679e-01 -1.08564373e-01 -5.00300402e-02 2.66205269e+02] [ 1.08545336e-01 9.94086649e-01 -3.10538815e-03 1.90390351e+01] [ 5.00713295e-02 -2.34740601e-03 9.98742886e-01 1.09792554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.745099893 meters 0.02281262976536267 Centerline is valid? [True, True] Translation: X:266.27, Y:19.04, Z:10.98 [[ 9.92946011e-01 -1.07375560e-01 -5.02862708e-02 2.66266349e+02] [ 1.07354900e-01 9.94215869e-01 -3.11947298e-03 1.90437557e+01] [ 5.03303636e-02 -2.30100931e-03 9.98729973e-01 1.09816410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.805099893 meters 0.022420488054786507 Centerline is valid? [True, True] Translation: X:266.33, Y:19.05, Z:10.98 [[ 9.93179659e-01 -1.05035968e-01 -5.06123465e-02 2.66327136e+02] [ 1.05012101e-01 9.94465994e-01 -3.13788740e-03 1.90498764e+01] [ 5.06618485e-02 -2.19842289e-03 9.98713444e-01 1.09845383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.865099893 meters 0.021871199513692343 Centerline is valid? [True, True] Translation: X:266.39, Y:19.06, Z:10.99 [[ 9.93610826e-01 -1.01445896e-01 -4.94596556e-02 2.66386728e+02] [ 1.01418734e-01 9.94839106e-01 -3.06496883e-03 1.90570371e+01] [ 4.95153281e-02 -1.97074945e-03 9.98771420e-01 1.09889380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.925099893 meters 0.01793432555089836 Centerline is valid? [True, True] Translation: X:266.45, Y:19.07, Z:10.99 [[ 9.94033035e-01 -9.78169900e-02 -4.82717426e-02 2.66447574e+02] [ 9.77868604e-02 9.95202886e-01 -2.99100567e-03 1.90685680e+01] [ 4.83327487e-02 -1.74718371e-03 9.98829762e-01 1.09930975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.985099893 meters 0.01785924636438594 Centerline is valid? [True, True] Translation: X:266.51, Y:19.08, Z:11.00 [[ 9.94292570e-01 -9.54513270e-02 -4.76584568e-02 2.66507460e+02] [ 9.54193803e-02 9.95432790e-01 -2.95015552e-03 1.90752500e+01] [ 4.77223868e-02 -1.61422269e-03 9.98859333e-01 1.09968767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.045099893 meters 0.018070788269464733 Centerline is valid? [True, True] Translation: X:266.57, Y:19.08, Z:11.00 [[ 9.94278640e-01 -9.56837707e-02 -4.74826458e-02 2.66569317e+02] [ 9.56525414e-02 9.95410457e-01 -2.93469672e-03 1.90798032e+01] [ 4.75455251e-02 -1.62392949e-03 9.98867752e-01 1.09998229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.105099893 meters 0.018168628351192297 Centerline is valid? [True, True] Translation: X:266.63, Y:19.08, Z:11.00 [[ 9.94173445e-01 -9.65199745e-02 -4.79901609e-02 2.66631054e+02] [ 9.64892145e-02 9.95329621e-01 -2.96258200e-03 1.90840597e+01] [ 4.80519770e-02 -1.68521258e-03 9.98843415e-01 1.10019747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.165099893 meters 0.017729600558443154 Centerline is valid? [True, True] Translation: X:266.69, Y:19.09, Z:11.00 [[ 9.94024473e-01 -9.76001477e-02 -4.88830990e-02 2.66692846e+02] [ 9.75697140e-02 9.95224129e-01 -3.01409696e-03 1.90889347e+01] [ 4.89438159e-02 -1.77342385e-03 9.98799959e-01 1.10041392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.225099893 meters 0.017668559481017112 Centerline is valid? [True, True] Translation: X:266.76, Y:19.10, Z:11.01 [[ 9.94087038e-01 -9.62749442e-02 -5.02204675e-02 2.66755084e+02] [ 9.62413273e-02 9.95353225e-01 -3.09276557e-03 1.90956593e+01] [ 5.02848601e-02 -1.75880628e-03 9.98733368e-01 1.10064858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.285099893 meters 0.01650814722384458 Centerline is valid? [True, True] Translation: X:266.82, Y:19.10, Z:11.01 [[ 9.94319769e-01 -9.39298623e-02 -5.00537414e-02 2.66816358e+02] [ 9.38936700e-02 9.95577469e-01 -3.07913675e-03 1.91025926e+01] [ 5.01216001e-02 -1.63808293e-03 9.98741779e-01 1.10096658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.345099893 meters 0.015722281287640624 Centerline is valid? [True, True] Translation: X:266.88, Y:19.11, Z:11.01 [[ 9.94784631e-01 -8.96072940e-02 -4.87244440e-02 2.66877096e+02] [ 8.95679044e-02 9.95976213e-01 -2.99559428e-03 1.91095355e+01] [ 4.87968143e-02 -1.38417520e-03 9.98807767e-01 1.10132114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.405099893 meters 0.014669948042030841 Centerline is valid? [True, True] Translation: X:266.94, Y:19.12, Z:11.02 [[ 9.95165572e-01 -8.54392559e-02 -4.84315810e-02 2.66938639e+02] [ 8.53954982e-02 9.96342689e-01 -2.97570572e-03 1.91175461e+01] [ 4.85086937e-02 -1.17451910e-03 9.98822070e-01 1.10159918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.465099893 meters 0.014091152637411904 Centerline is valid? [True, True] Translation: X:267.00, Y:19.12, Z:11.02 [[ 9.95325807e-01 -8.31279569e-02 -4.91556820e-02 2.66999720e+02] [ 8.30801927e-02 9.96538296e-01 -3.01761096e-03 1.91239196e+01] [ 4.92363674e-02 -1.08035747e-03 9.98786570e-01 1.10180376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.525099893 meters 0.01383257698935659 Centerline is valid? [True, True] Translation: X:267.06, Y:19.13, Z:11.02 [[ 9.95632153e-01 -8.00819670e-02 -4.79947326e-02 2.67059652e+02] [ 8.00329727e-02 9.96787867e-01 -2.94474350e-03 1.91287969e+01] [ 4.80763880e-02 -9.09279812e-04 9.98843248e-01 1.10207764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.585099893 meters 0.013229559037107187 Centerline is valid? [True, True] Translation: X:267.12, Y:19.13, Z:11.02 [[ 9.95966254e-01 -7.66657614e-02 -4.66216904e-02 2.67121216e+02] [ 7.66158356e-02 9.97056587e-01 -2.85951958e-03 1.91342087e+01] [ 4.67036907e-02 -7.23974758e-04 9.98908525e-01 1.10237975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.645099893 meters 0.012534170419595255 Centerline is valid? [True, True] Translation: X:267.18, Y:19.14, Z:11.03 [[ 9.96138579e-01 -7.45928625e-02 -4.63015868e-02 2.67182143e+02] [ 7.45414931e-02 9.97213876e-01 -2.83749520e-03 1.91403550e+01] [ 4.63842418e-02 -6.24850983e-04 9.98923476e-01 1.10268875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70509989299995 meters 0.012479011615607003 Centerline is valid? [True, True] Translation: X:267.24, Y:19.14, Z:11.03 [[ 9.96176128e-01 -7.35587401e-02 -4.71405773e-02 2.67243257e+02] [ 7.35044178e-02 9.97290712e-01 -2.88715207e-03 1.91438439e+01] [ 4.72252352e-02 -5.88928720e-04 9.98884093e-01 1.10277240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76509989299996 meters 0.013057941441922283 Centerline is valid? [True, True] Translation: X:267.30, Y:19.14, Z:11.03 [[ 9.96003846e-01 -7.56319619e-02 -4.74988874e-02 2.67303783e+02] [ 7.55792540e-02 9.97135560e-01 -2.90724627e-03 1.91442215e+01] [ 4.75827105e-02 -6.94302015e-04 9.98867060e-01 1.10287577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82509989299996 meters 0.014251774855070395 Centerline is valid? [True, True] Translation: X:267.36, Y:19.14, Z:11.03 [[ 9.95661318e-01 -7.94800015e-02 -4.83887389e-02 2.67363944e+02] [ 7.94299792e-02 9.96836057e-01 -2.95881944e-03 1.91436459e+01] [ 4.84708067e-02 -8.97534468e-04 9.98824196e-01 1.10300622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.88509989299996 meters 0.014562052402227917 Centerline is valid? [True, True] Translation: X:267.43, Y:19.15, Z:11.03 [[ 9.95387442e-01 -8.29713957e-02 -4.81621051e-02 2.67425060e+02] [ 8.29261117e-02 9.96551359e-01 -2.94104539e-03 1.91454265e+01] [ 4.82400339e-02 -1.06641646e-03 9.98835203e-01 1.10325901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.94509989299996 meters 0.016846052067564503 Centerline is valid? [True, True] Translation: X:267.49, Y:19.14, Z:11.04 [[ 9.94936881e-01 -8.87998986e-02 -4.70657122e-02 2.67485214e+02] [ 8.87632331e-02 9.96048612e-01 -2.87260960e-03 1.91424201e+01] [ 4.71348247e-02 -1.31963955e-03 9.98887665e-01 1.10353367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.00509989299997 meters 0.01816277891476816 Centerline is valid? [True, True] Translation: X:267.55, Y:19.14, Z:11.04 [[ 9.94454435e-01 -9.45760983e-02 -4.59971549e-02 2.67546838e+02] [ 9.45472512e-02 9.95516417e-01 -2.80724414e-03 1.91409462e+01] [ 4.60564210e-02 -1.55722817e-03 9.98937626e-01 1.10382165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.06509989299997 meters 0.01928693197139168 Centerline is valid? [True, True] Translation: X:267.61, Y:19.14, Z:11.04 [[ 9.94021183e-01 -9.95557469e-02 -4.48390665e-02 2.67608208e+02] [ 9.95334587e-02 9.95030457e-01 -2.73498259e-03 1.91403720e+01] [ 4.48885201e-02 -1.74435675e-03 9.98990479e-01 1.10413756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.12509989299997 meters 0.020561573281639284 Centerline is valid? [True, True] Translation: X:267.67, Y:19.14, Z:11.04 [[ 9.93810326e-01 -1.01709631e-01 -4.46787054e-02 2.67669848e+02] [ 1.01689749e-01 9.94812433e-01 -2.72351943e-03 1.91403426e+01] [ 4.47239398e-02 -1.83670460e-03 9.98997696e-01 1.10436386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.185099893 meters 0.02273228925550187 Centerline is valid? [True, True] Translation: X:267.73, Y:19.14, Z:11.04 [[ 9.93523840e-01 -1.03922112e-01 -4.59409836e-02 2.67730691e+02] [ 1.03903566e-01 9.94583441e-01 -2.79795701e-03 1.91382802e+01] [ 4.59829111e-02 -1.99359505e-03 9.98940237e-01 1.10444608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.245099893 meters 0.02337041627638571 Centerline is valid? [True, True] Translation: X:267.79, Y:19.14, Z:11.05 [[ 9.93280984e-01 -1.05667457e-01 -4.71940200e-02 2.67793206e+02] [ 1.05649944e-01 9.94399235e-01 -2.87234261e-03 1.91390656e+01] [ 4.72332105e-02 -2.13300229e-03 9.98881612e-01 1.10451337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.305099893 meters 0.023342940795413557 Centerline is valid? [True, True] Translation: X:267.86, Y:19.14, Z:11.05 [[ 9.93057593e-01 -1.06898016e-01 -4.90859628e-02 2.67855469e+02] [ 1.06880753e-01 9.94267369e-01 -2.98386965e-03 1.91407037e+01] [ 4.91235408e-02 -2.28319025e-03 9.98790100e-01 1.10458651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.365099893 meters 0.02451017273771059 Centerline is valid? [True, True] Translation: X:267.92, Y:19.14, Z:11.05 [[ 9.93094979e-01 -1.06416212e-01 -4.93756214e-02 2.67916714e+02] [ 1.06398321e-01 9.94319068e-01 -2.99805120e-03 1.91421191e+01] [ 4.94141631e-02 -2.27613362e-03 9.98775780e-01 1.10477880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.425099893 meters 0.024447049480294795 Centerline is valid? [True, True] Translation: X:267.98, Y:19.15, Z:11.05 [[ 9.93393143e-01 -1.04203239e-01 -4.80806492e-02 2.67977574e+02] [ 1.04183800e-01 9.94553783e-01 -2.91703833e-03 1.91473627e+01] [ 4.81227564e-02 -2.11145885e-03 9.98839197e-01 1.10517697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.485099893 meters 0.019849275447984267 Centerline is valid? [True, True] Translation: X:268.04, Y:19.16, Z:11.06 [[ 9.93849040e-01 -1.00505522e-01 -4.65051089e-02 2.68037862e+02] [ 1.00483366e-01 9.94934742e-01 -2.81987040e-03 1.91597568e+01] [ 4.65529611e-02 -1.87046441e-03 9.98914072e-01 1.10569258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.545099893 meters 0.02298102214231425 Centerline is valid? [True, True] Translation: X:268.10, Y:19.16, Z:11.06 [[ 9.94202337e-01 -9.73695901e-02 -4.56166131e-02 2.68098406e+02] [ 9.73450625e-02 9.95246853e-01 -2.76411280e-03 1.91594867e+01] [ 4.56689312e-02 -1.69246465e-03 9.98955196e-01 1.10594061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.605099893 meters 0.018836178911203125 Centerline is valid? [True, True] Translation: X:268.16, Y:19.17, Z:11.06 [[ 9.94340543e-01 -9.64077958e-02 -4.46365456e-02 2.68159595e+02] [ 9.63835354e-02 9.95340606e-01 -2.70040854e-03 1.91701019e+01] [ 4.46889068e-02 -1.61710238e-03 9.98999643e-01 1.10632852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.665099893 meters 0.021643881788323282 Centerline is valid? [True, True] Translation: X:268.22, Y:19.17, Z:11.07 [[ 9.94359952e-01 -9.62302421e-02 -4.45872902e-02 2.68220558e+02] [ 9.62060096e-02 9.95357798e-01 -2.69401439e-03 1.91692005e+01] [ 4.46395527e-02 -1.61074525e-03 9.99001860e-01 1.10656207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.725099893 meters 0.0209723325429018 Centerline is valid? [True, True] Translation: X:268.28, Y:19.17, Z:11.07 [[ 9.94226797e-01 -9.71627136e-02 -4.55245349e-02 2.68282728e+02] [ 9.71386783e-02 9.95267070e-01 -2.74516381e-03 1.91731077e+01] [ 4.55757981e-02 -1.69287774e-03 9.98959449e-01 1.10675762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.785099893 meters 0.02079292717979049 Centerline is valid? [True, True] Translation: X:268.35, Y:19.18, Z:11.07 [[ 9.93977077e-01 -9.87369591e-02 -4.75455962e-02 2.68345037e+02] [ 9.87127087e-02 9.95111854e-01 -2.86354101e-03 1.91769613e+01] [ 4.75959237e-02 -1.84706047e-03 9.98864964e-01 1.10688396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.845099893 meters 0.020170717346379916 Centerline is valid? [True, True] Translation: X:268.41, Y:19.18, Z:11.07 [[ 9.93836618e-01 -9.98593567e-02 -4.81340360e-02 2.68406900e+02] [ 9.98359860e-02 9.94999695e-01 -2.89547273e-03 1.91812985e+01] [ 4.81824911e-02 -1.92788211e-03 9.98836689e-01 1.10709192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.905099893 meters 0.022569225494431626 Centerline is valid? [True, True] Translation: X:268.47, Y:19.18, Z:11.07 [[ 9.93691898e-01 -1.01379986e-01 -4.79427728e-02 2.68467810e+02] [ 1.01358750e-01 9.94845771e-01 -2.88013204e-03 1.91803809e+01] [ 4.79876525e-02 -1.99745563e-03 9.98845932e-01 1.10729280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.965099893 meters 0.02406028042778855 Centerline is valid? [True, True] Translation: X:268.53, Y:19.18, Z:11.08 [[ 9.93726977e-01 -1.01882097e-01 -4.61165165e-02 2.68529197e+02] [ 1.01863231e-01 9.94794570e-01 -2.76510149e-03 1.91822400e+01] [ 4.61581745e-02 -1.94982140e-03 9.98932241e-01 1.10768724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.025099893 meters 0.023184774710282356 Centerline is valid? [True, True] Translation: X:268.59, Y:19.19, Z:11.08 [[ 9.93711729e-01 -1.02703360e-01 -4.45984173e-02 2.68591149e+02] [ 1.02686642e-01 9.94710166e-01 -2.67174668e-03 1.91868168e+01] [ 4.46368965e-02 -1.92471572e-03 9.99001423e-01 1.10803387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.085099893 meters 0.025218490710878887 Centerline is valid? [True, True] Translation: X:268.65, Y:19.19, Z:11.08 [[ 9.93553611e-01 -1.04379847e-01 -4.42274720e-02 2.68652487e+02] [ 1.04365198e-01 9.94535521e-01 -2.64644830e-03 1.91863387e+01] [ 4.42620278e-02 -1.98642062e-03 9.99017981e-01 1.10830050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.145099893 meters 0.02410780201506195 Centerline is valid? [True, True] Translation: X:268.71, Y:19.19, Z:11.09 [[ 9.93430018e-01 -1.05470091e-01 -4.44168694e-02 2.68714845e+02] [ 1.05456510e-01 9.94420371e-01 -2.65538926e-03 1.91907675e+01] [ 4.44491039e-02 -2.04610465e-03 9.99009555e-01 1.10856677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20509989299995 meters 0.02241528953756739 Centerline is valid? [True, True] Translation: X:268.78, Y:19.20, Z:11.09 [[ 9.93367249e-01 -1.06513069e-01 -4.33182858e-02 2.68776292e+02] [ 1.06501270e-01 9.94309202e-01 -2.58670599e-03 1.91964209e+01] [ 4.33472882e-02 -2.04390342e-03 9.99057974e-01 1.10894531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26509989299996 meters 0.02295615548319907 Centerline is valid? [True, True] Translation: X:268.84, Y:19.20, Z:11.09 [[ 9.93398084e-01 -1.05983501e-01 -4.39060733e-02 2.68837985e+02] [ 1.05970975e-01 9.94365774e-01 -2.61928665e-03 1.91983910e+01] [ 4.39362977e-02 -2.05077505e-03 9.99032230e-01 1.10915906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32509989299996 meters 0.025006757657800437 Centerline is valid? [True, True] Translation: X:268.90, Y:19.20, Z:11.09 [[ 9.93578174e-01 -1.03871687e-01 -4.48674230e-02 2.68898507e+02] [ 1.03856603e-01 9.94588688e-01 -2.67344286e-03 1.91990556e+01] [ 4.49023264e-02 -2.00350367e-03 9.98989373e-01 1.10929516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.38509989299996 meters 0.022450661498351406 Centerline is valid? [True, True] Translation: X:268.96, Y:19.21, Z:11.10 [[ 9.93932312e-01 -1.00552667e-01 -4.45838586e-02 2.68960047e+02] [ 1.00534481e-01 9.94930031e-01 -2.65565347e-03 1.92064550e+01] [ 4.46248529e-02 -1.84267530e-03 9.99002116e-01 1.10959351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.44509989299996 meters 0.020191020048822138 Centerline is valid? [True, True] Translation: X:269.02, Y:19.21, Z:11.10 [[ 9.94385850e-01 -9.62607133e-02 -4.39392286e-02 2.69020054e+02] [ 9.62389619e-02 9.95354823e-01 -2.61504898e-03 1.92129946e+01] [ 4.39868496e-02 -1.62829804e-03 9.99030783e-01 1.10983720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.50509989299997 meters 0.0193148151732237 Centerline is valid? [True, True] Translation: X:269.08, Y:19.22, Z:11.10 [[ 9.94719973e-01 -9.26285719e-02 -4.41828253e-02 2.69081595e+02] [ 9.26030064e-02 9.95699638e-01 -2.62942604e-03 1.92187516e+01] [ 4.42363832e-02 -1.47591986e-03 9.99020002e-01 1.11010924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.56509989299997 meters 0.01829833144300944 Centerline is valid? [True, True] Translation: X:269.14, Y:19.22, Z:11.10 [[ 9.94805024e-01 -9.14817297e-02 -4.46548750e-02 2.69143518e+02] [ 9.14545720e-02 9.95805710e-01 -2.65505464e-03 1.92249500e+01] [ 4.47104685e-02 -1.44263079e-03 9.98998945e-01 1.11040877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.62509989299997 meters 0.017480889202205925 Centerline is valid? [True, True] Translation: X:269.21, Y:19.23, Z:11.11 [[ 9.94826858e-01 -9.04740999e-02 -4.61947970e-02 2.69206054e+02] [ 9.04441174e-02 9.95897754e-01 -2.74307315e-03 1.92301781e+01] [ 4.62534717e-02 -1.44916480e-03 9.98928684e-01 1.11052640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.685099893 meters 0.017034630413465906 Centerline is valid? [True, True] Translation: X:269.27, Y:19.24, Z:11.11 [[ 9.94992108e-01 -8.80150215e-02 -4.73715237e-02 2.69266708e+02] [ 8.79809072e-02 9.96118201e-01 -2.80878871e-03 1.92363476e+01] [ 4.74348526e-02 -1.37306703e-03 9.98873390e-01 1.11076695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.745099893 meters 0.016947526778208825 Centerline is valid? [True, True] Translation: X:269.33, Y:19.24, Z:11.11 [[ 9.95118678e-01 -8.65997730e-02 -4.73211942e-02 2.69327399e+02] [ 8.65642146e-02 9.96242327e-01 -2.80408302e-03 1.92416057e+01] [ 4.73862096e-02 -1.30592662e-03 9.98875789e-01 1.11101833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.805099893 meters 0.017043852798829313 Centerline is valid? [True, True] Translation: X:269.39, Y:19.25, Z:11.11 [[ 9.95258849e-01 -8.52494120e-02 -4.68226473e-02 2.69388867e+02] [ 8.52131880e-02 9.96358883e-01 -2.77279235e-03 1.92481178e+01] [ 4.68885395e-02 -1.23026092e-03 9.98899370e-01 1.11138909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.865099893 meters 0.016505145478833277 Centerline is valid? [True, True] Translation: X:269.45, Y:19.25, Z:11.12 [[ 9.95102014e-01 -8.64440935e-02 -4.79520720e-02 2.69450062e+02] [ 8.64076068e-02 9.96255829e-01 -2.83717647e-03 1.92541552e+01] [ 4.80177884e-02 -1.32014376e-03 9.98845608e-01 1.11160166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.925099893 meters 0.017375955474943767 Centerline is valid? [True, True] Translation: X:269.51, Y:19.26, Z:11.12 [[ 9.94974998e-01 -8.83297062e-02 -4.71446299e-02 2.69511498e+02] [ 8.82966312e-02 9.96090324e-01 -2.78770313e-03 1.92571951e+01] [ 4.72065467e-02 -1.38901708e-03 9.98884184e-01 1.11193275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.985099893 meters 0.01786955752180603 Centerline is valid? [True, True] Translation: X:269.57, Y:19.26, Z:11.12 [[ 9.94490157e-01 -9.34376975e-02 -4.75260434e-02 2.69572665e+02] [ 9.34099890e-02 9.95623767e-01 -2.80851877e-03 1.92608019e+01] [ 4.75804799e-02 -1.64636292e-03 9.98866051e-01 1.11231831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.045099893 meters 0.018766703571101197 Centerline is valid? [True, True] Translation: X:269.63, Y:19.26, Z:11.13 [[ 9.94220970e-01 -9.59433008e-02 -4.81616538e-02 2.69634255e+02] [ 9.59178858e-02 9.95385187e-01 -2.84390009e-03 1.92634765e+01] [ 4.82122500e-02 -1.79209890e-03 9.98835506e-01 1.11258947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.105099893 meters 0.022029578824640187 Centerline is valid? [True, True] Translation: X:269.69, Y:19.26, Z:11.13 [[ 9.93723687e-01 -1.00218576e-01 -4.96937629e-02 2.69694058e+02] [ 1.00197059e-01 9.94963297e-01 -2.93022420e-03 1.92618359e+01] [ 4.97371331e-02 -2.06733570e-03 9.98760203e-01 1.11274023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.165099893 meters 0.0216051143187869 Centerline is valid? [True, True] Translation: X:269.76, Y:19.27, Z:11.13 [[ 9.93519035e-01 -1.01891147e-01 -5.03797685e-02 2.69756053e+02] [ 1.01871209e-01 9.94793162e-01 -2.97005786e-03 1.92658693e+01] [ 5.04200718e-02 -2.18143891e-03 9.98725717e-01 1.11306700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.225099893 meters 0.02213089142627652 Centerline is valid? [True, True] Translation: X:269.82, Y:19.27, Z:11.13 [[ 9.93844243e-01 -9.85715529e-02 -5.05694438e-02 2.69816118e+02] [ 9.85473777e-02 9.95127906e-01 -2.97727400e-03 1.92703276e+01] [ 5.06165392e-02 -2.02453945e-03 9.98716109e-01 1.11338676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.285099893 meters 0.019377174000760805 Centerline is valid? [True, True] Translation: X:269.88, Y:19.28, Z:11.14 [[ 9.94279428e-01 -9.47064574e-02 -4.93873073e-02 2.69876597e+02] [ 9.46788599e-02 9.95503634e-01 -2.90317023e-03 1.92802325e+01] [ 4.94401929e-02 -1.78937151e-03 9.98775483e-01 1.11390892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.345099893 meters 0.01746702956360092 Centerline is valid? [True, True] Translation: X:269.94, Y:19.29, Z:11.14 [[ 9.94844236e-01 -8.79670906e-02 -5.04652082e-02 2.69936830e+02] [ 8.79297028e-02 9.96122270e-01 -2.96481360e-03 1.92881371e+01] [ 5.05303238e-02 -1.48786304e-03 9.98721419e-01 1.11404476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.405099893 meters 0.01592765806882408 Centerline is valid? [True, True] Translation: X:270.00, Y:19.30, Z:11.14 [[ 9.95100763e-01 -8.43908663e-02 -5.15039100e-02 2.69997982e+02] [ 8.43471984e-02 9.96431835e-01 -3.02470727e-03 1.92952751e+01] [ 5.15753932e-02 -1.33432200e-03 9.98668212e-01 1.11429920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.465099893 meters 0.015334728175273182 Centerline is valid? [True, True] Translation: X:270.06, Y:19.30, Z:11.15 [[ 9.95418919e-01 -8.08045641e-02 -5.11057576e-02 2.70058078e+02] [ 8.07569257e-02 9.96729311e-01 -2.99977647e-03 1.93014354e+01] [ 5.11810022e-02 -1.14110962e-03 9.98688742e-01 1.11464736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.525099893 meters 0.015505913095678498 Centerline is valid? [True, True] Translation: X:270.12, Y:19.31, Z:11.15 [[ 9.95468984e-01 -8.04626658e-02 -5.06681463e-02 2.70118665e+02] [ 8.04153973e-02 9.96757001e-01 -2.97408981e-03 1.93052795e+01] [ 5.07431328e-02 -1.11388495e-03 9.98711116e-01 1.11497361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.585099893 meters 0.015031520980712617 Centerline is valid? [True, True] Translation: X:270.18, Y:19.31, Z:11.15 [[ 9.95492384e-01 -7.96797598e-02 -5.14397630e-02 2.70178947e+02] [ 7.96299968e-02 9.96819917e-01 -3.01938172e-03 1.93097523e+01] [ 5.15167639e-02 -1.09037665e-03 9.98671535e-01 1.11524364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.645099893 meters 0.015534794460187022 Centerline is valid? [True, True] Translation: X:270.24, Y:19.31, Z:11.16 [[ 9.95476176e-01 -8.06909056e-02 -5.01613456e-02 2.70239457e+02] [ 8.06448673e-02 9.96738550e-01 -2.94434191e-03 1.93130179e+01] [ 5.02353285e-02 -1.11423283e-03 9.98736787e-01 1.11564851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70509989299995 meters 0.016637525049907308 Centerline is valid? [True, True] Translation: X:270.30, Y:19.31, Z:11.16 [[ 9.95337589e-01 -8.31330593e-02 -4.89078476e-02 2.70300116e+02] [ 8.30922431e-02 9.96537726e-01 -2.87064035e-03 1.93140050e+01] [ 4.89771603e-02 -1.20660652e-03 9.98799170e-01 1.11592679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76509989299996 meters 0.01829708953499929 Centerline is valid? [True, True] Translation: X:270.36, Y:19.31, Z:11.16 [[ 9.94733654e-01 -8.98133809e-02 -4.93813071e-02 2.70361827e+02] [ 8.97800366e-02 9.95957404e-01 -2.89740803e-03 1.93125052e+01] [ 4.94419044e-02 -1.55130628e-03 9.98775796e-01 1.11608312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82509989299996 meters 0.02024489242070079 Centerline is valid? [True, True] Translation: X:270.42, Y:19.31, Z:11.16 [[ 9.94232043e-01 -9.47280622e-02 -5.02915388e-02 2.70422892e+02] [ 9.46998364e-02 9.95501504e-01 -2.94913597e-03 1.93117346e+01] [ 5.03446684e-02 -1.83047502e-03 9.98730226e-01 1.11625869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88509989299996 meters 0.021504004974035335 Centerline is valid? [True, True] Translation: X:270.48, Y:19.31, Z:11.16 [[ 9.93724852e-01 -9.96333511e-02 -5.08341777e-02 2.70483759e+02] [ 9.96109615e-02 9.95021998e-01 -2.98004195e-03 1.93128850e+01] [ 5.08780366e-02 -2.10229958e-03 9.98702661e-01 1.11648230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.94509989299996 meters 0.022859514964354784 Centerline is valid? [True, True] Translation: X:270.54, Y:19.31, Z:11.17 [[ 9.93127980e-01 -1.05631441e-01 -5.03866519e-02 2.70544282e+02] [ 1.05617177e-01 9.94402480e-01 -2.95302754e-03 1.93131609e+01] [ 5.04165441e-02 -2.38896165e-03 9.98725420e-01 1.11671050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.00509989299997 meters 0.025764895748885967 Centerline is valid? [True, True] Translation: X:270.60, Y:19.31, Z:11.17 [[ 9.92812098e-01 -1.08996479e-01 -4.94358672e-02 2.70604190e+02] [ 1.08986911e-01 9.94038963e-01 -2.89714900e-03 1.93113422e+01] [ 4.94569572e-02 -2.51153788e-03 9.98773098e-01 1.11701751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.06509989299997 meters 0.02449813978529909 Centerline is valid? [True, True] Translation: X:270.67, Y:19.32, Z:11.17 [[ 9.92834422e-01 -1.08637864e-01 -4.97757486e-02 2.70665794e+02] [ 1.08627744e-01 9.94078220e-01 -2.91649640e-03 1.93162246e+01] [ 4.97978295e-02 -2.51142926e-03 9.98756161e-01 1.11729239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.12509989299997 meters 0.023844889295322406 Centerline is valid? [True, True] Translation: X:270.73, Y:19.32, Z:11.17 [[ 9.92844103e-01 -1.08036739e-01 -5.08787723e-02 2.70727537e+02] [ 1.08025575e-01 9.94143657e-01 -2.97735069e-03 1.93213324e+01] [ 5.09024721e-02 -2.54016355e-03 9.98700398e-01 1.11748227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.185099893 meters 0.02480467640739405 Centerline is valid? [True, True] Translation: X:270.79, Y:19.32, Z:11.18 [[ 9.92645563e-01 -1.09171832e-01 -5.23096286e-02 2.70789892e+02] [ 1.09161811e-01 9.94019292e-01 -3.05716705e-03 1.93243428e+01] [ 5.23305365e-02 -2.67553051e-03 9.98626235e-01 1.11768229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.245099893 meters 0.025257051795186013 Centerline is valid? [True, True] Translation: X:270.85, Y:19.33, Z:11.18 [[ 9.92594158e-01 -1.09470992e-01 -5.26587050e-02 2.70852342e+02] [ 1.09461461e-01 9.93986288e-01 -3.07372129e-03 1.93270446e+01] [ 5.26785140e-02 -2.71314098e-03 9.98607837e-01 1.11792098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.305099893 meters 0.024593068566645268 Centerline is valid? [True, True] Translation: X:270.91, Y:19.33, Z:11.18 [[ 9.92533724e-01 -1.10241802e-01 -5.21876611e-02 2.70913843e+02] [ 1.10233688e-01 9.93901040e-01 -3.04265074e-03 1.93312787e+01] [ 5.22047979e-02 -2.73290487e-03 9.98632660e-01 1.11818795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.365099893 meters 0.027362176660500896 Centerline is valid? [True, True] Translation: X:270.97, Y:19.33, Z:11.18 [[ 9.92829806e-01 -1.08409694e-01 -5.03618323e-02 2.70973984e+02] [ 1.08399903e-01 9.94103040e-01 -2.93381172e-03 1.93313614e+01] [ 5.03829042e-02 -2.54644201e-03 9.98726729e-01 1.11843615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.425099893 meters 0.023798313504446337 Centerline is valid? [True, True] Translation: X:271.03, Y:19.34, Z:11.19 [[ 9.93107457e-01 -1.06102383e-01 -4.97982244e-02 2.71034583e+02] [ 1.06089967e-01 9.94352306e-01 -2.89993349e-03 1.93406612e+01] [ 4.98246691e-02 -2.40314640e-03 9.98755089e-01 1.11880389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.485099893 meters 0.02409999403601452 Centerline is valid? [True, True] Translation: X:271.10, Y:19.34, Z:11.19 [[ 9.93420116e-01 -1.03190342e-01 -4.96812383e-02 2.71095263e+02] [ 1.03174442e-01 9.94659075e-01 -2.89131334e-03 1.93437430e+01] [ 4.97142502e-02 -2.25354522e-03 9.98760940e-01 1.11894109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.545099893 meters 0.0233966265554494 Centerline is valid? [True, True] Translation: X:271.16, Y:19.35, Z:11.19 [[ 9.93515663e-01 -1.02920825e-01 -4.83107748e-02 2.71157414e+02] [ 1.02905562e-01 9.94687163e-01 -2.80963671e-03 1.93482227e+01] [ 4.83432776e-02 -2.18002934e-03 9.98828401e-01 1.11927647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.605099893 meters 0.024552811170153618 Centerline is valid? [True, True] Translation: X:271.22, Y:19.35, Z:11.20 [[ 9.93447965e-01 -1.03550461e-01 -4.83574445e-02 2.71219944e+02] [ 1.03536080e-01 9.94621732e-01 -2.80888311e-03 1.93504848e+01] [ 4.83882264e-02 -2.21626104e-03 9.98826145e-01 1.11950308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.665099893 meters 0.021943621913270414 Centerline is valid? [True, True] Translation: X:271.28, Y:19.36, Z:11.20 [[ 9.93540811e-01 -1.03028472e-01 -4.75582907e-02 2.71281633e+02] [ 1.03014123e-01 9.94676067e-01 -2.75912351e-03 1.93573738e+01] [ 4.75893618e-02 -2.15787382e-03 9.98864654e-01 1.11966178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.725099893 meters 0.022399235643028235 Centerline is valid? [True, True] Translation: X:271.34, Y:19.36, Z:11.20 [[ 9.93725949e-01 -1.01760180e-01 -4.64069329e-02 2.71343219e+02] [ 1.01745293e-01 9.94806848e-01 -2.68896278e-03 1.93602899e+01] [ 4.64395640e-02 -2.04959487e-03 9.98918999e-01 1.11992469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.785099893 meters 0.02213724797530167 Centerline is valid? [True, True] Translation: X:271.40, Y:19.36, Z:11.20 [[ 9.94003678e-01 -9.99703373e-02 -4.43014692e-02 2.71404864e+02] [ 9.99551280e-02 9.94988643e-01 -2.56391845e-03 1.93640028e+01] [ 4.43357745e-02 -1.87961466e-03 9.99014918e-01 1.12027095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.845099893 meters 0.02110425775340882 Centerline is valid? [True, True] Translation: X:271.47, Y:19.37, Z:11.21 [[ 9.94244249e-01 -9.85819332e-02 -4.19520771e-02 2.71466428e+02] [ 9.85671486e-02 9.95127445e-01 -2.42578705e-03 1.93692530e+01] [ 4.19868021e-02 -1.72327179e-03 9.99116679e-01 1.12068310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.905099893 meters 0.020973615227345033 Centerline is valid? [True, True] Translation: X:271.53, Y:19.37, Z:11.21 [[ 9.94469852e-01 -9.65582597e-02 -4.13063684e-02 2.71528314e+02] [ 9.65423070e-02 9.95326023e-01 -2.38546362e-03 1.93730230e+01] [ 4.13436396e-02 -1.61554045e-03 9.99143680e-01 1.12095461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.965099893 meters 0.02131891982892742 Centerline is valid? [True, True] Translation: X:271.59, Y:19.38, Z:11.21 [[ 9.94524900e-01 -9.56016597e-02 -4.21965175e-02 2.71590912e+02] [ 9.55842863e-02 9.95418365e-01 -2.43373268e-03 1.93758749e+01] [ 4.22358574e-02 -1.61291626e-03 9.99106366e-01 1.12111668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.025099893 meters 0.021923316598577294 Centerline is valid? [True, True] Translation: X:271.65, Y:19.38, Z:11.21 [[ 9.94524460e-01 -9.51507687e-02 -4.32137638e-02 2.71652228e+02] [ 9.51322931e-02 9.95461528e-01 -2.48849387e-03 1.93773942e+01] [ 4.32544215e-02 -1.63615642e-03 9.99062750e-01 1.12118133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.085099893 meters 0.0205810554217699 Centerline is valid? [True, True] Translation: X:271.71, Y:19.38, Z:11.22 [[ 9.94602294e-01 -9.47682459e-02 -4.22523053e-02 2.71713998e+02] [ 9.47503305e-02 9.95498099e-01 -2.43093507e-03 1.93826872e+01] [ 4.22924650e-02 -1.58560630e-03 9.99104015e-01 1.12154345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.145099893 meters 0.01985304919636106 Centerline is valid? [True, True] Translation: X:271.78, Y:19.39, Z:11.22 [[ 9.94671297e-01 -9.41729646e-02 -4.19578848e-02 2.71775862e+02] [ 9.41548958e-02 9.95554641e-01 -2.41097937e-03 1.93868346e+01] [ 4.19984160e-02 -1.55240829e-03 9.99116471e-01 1.12177686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20509989299995 meters 0.02091199698804447 Centerline is valid? [True, True] Translation: X:271.84, Y:19.39, Z:11.22 [[ 9.94622737e-01 -9.46917118e-02 -4.19415193e-02 2.71837167e+02] [ 9.46742477e-02 9.95505396e-01 -2.40693717e-03 1.93862134e+01] [ 4.19809258e-02 -1.57678735e-03 9.99117168e-01 1.12195451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26509989299996 meters 0.02293586029544369 Centerline is valid? [True, True] Translation: X:271.90, Y:19.38, Z:11.22 [[ 9.94355750e-01 -9.74282400e-02 -4.20045244e-02 2.71898688e+02] [ 9.74132571e-02 9.95241105e-01 -2.40823930e-03 1.93843997e+01] [ 4.20392599e-02 -1.69715094e-03 9.99114518e-01 1.12211635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32509989299996 meters 0.022448519319408784 Centerline is valid? [True, True] Translation: X:271.96, Y:19.39, Z:11.22 [[ 9.94086457e-01 -9.96016736e-02 -4.32622451e-02 2.71961043e+02] [ 9.95879385e-02 9.95025679e-01 -2.47795756e-03 1.93863552e+01] [ 4.32938536e-02 -1.84509376e-03 9.99060678e-01 1.12226135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.38509989299996 meters 0.023498285328315903 Centerline is valid? [True, True] Translation: X:272.02, Y:19.39, Z:11.23 [[ 9.93696597e-01 -1.03393963e-01 -4.33216062e-02 2.72022423e+02] [ 1.03383917e-01 9.94638439e-01 -2.47827307e-03 1.93855730e+01] [ 4.33455733e-02 -2.01610584e-03 9.99058105e-01 1.12255151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.44509989299996 meters 0.023809373038397568 Centerline is valid? [True, True] Translation: X:272.08, Y:19.39, Z:11.23 [[ 9.93523022e-01 -1.05052653e-01 -4.33121726e-02 2.72084015e+02] [ 1.05044253e-01 9.94464466e-01 -2.47613616e-03 1.93876315e+01] [ 4.33325413e-02 -2.08959654e-03 9.99058519e-01 1.12286924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.50509989299997 meters 0.025302056651151424 Centerline is valid? [True, True] Translation: X:272.15, Y:19.39, Z:11.23 [[ 9.93426725e-01 -1.06081251e-01 -4.30129112e-02 2.72145355e+02] [ 1.06074028e-01 9.94355201e-01 -2.45667521e-03 1.93883454e+01] [ 4.30307191e-02 -2.12202595e-03 9.99071496e-01 1.12326585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.56509989299997 meters 0.024377562485024606 Centerline is valid? [True, True] Translation: X:272.21, Y:19.39, Z:11.23 [[ 9.93444566e-01 -1.05644343e-01 -4.36711195e-02 2.72207872e+02] [ 1.05636584e-01 9.94401681e-01 -2.49183524e-03 1.93916505e+01] [ 4.36898830e-02 -2.13776772e-03 9.99042854e-01 1.12342103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.62509989299997 meters 0.02468882408375522 Centerline is valid? [True, True] Translation: X:272.27, Y:19.39, Z:11.24 [[ 9.93698325e-01 -1.03697214e-01 -4.25502875e-02 2.72269220e+02] [ 1.03688194e-01 9.94606896e-01 -2.42487431e-03 1.93929355e+01] [ 4.25722621e-02 -2.00236893e-03 9.99091384e-01 1.12375359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.685099893 meters 0.02371298043214136 Centerline is valid? [True, True] Translation: X:272.33, Y:19.40, Z:11.24 [[ 9.93835267e-01 -1.01875675e-01 -4.37356772e-02 2.72330786e+02] [ 1.01864461e-01 9.94795169e-01 -2.49077638e-03 1.93980194e+01] [ 4.37617899e-02 -1.97968977e-03 9.99040033e-01 1.12399705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.745099893 meters 0.02344082957092828 Centerline is valid? [True, True] Translation: X:272.39, Y:19.40, Z:11.24 [[ 9.93822348e-01 -1.00820813e-01 -4.63929342e-02 2.72392647e+02] [ 1.00807180e-01 9.94902481e-01 -2.63937776e-03 1.94012242e+01] [ 4.64225496e-02 -2.05366827e-03 9.98919781e-01 1.12400873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.805099893 meters 0.023285015654682092 Centerline is valid? [True, True] Translation: X:272.46, Y:19.40, Z:11.24 [[ 9.93796004e-01 -1.00125033e-01 -4.84198339e-02 2.72455237e+02] [ 1.00109548e-01 9.94972618e-01 -2.75088932e-03 1.94048196e+01] [ 4.84518418e-02 -2.11346487e-03 9.98823284e-01 1.12416515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.865099893 meters 0.021565149048959516 Centerline is valid? [True, True] Translation: X:272.52, Y:19.41, Z:11.24 [[ 9.94014795e-01 -9.75289759e-02 -4.92207818e-02 2.72516548e+02] [ 9.75100268e-02 9.95230627e-01 -2.79179885e-03 1.94107156e+01] [ 4.92583108e-02 -2.02443039e-03 9.98784021e-01 1.12442592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.925099893 meters 0.02064961395393897 Centerline is valid? [True, True] Translation: X:272.58, Y:19.42, Z:11.25 [[ 9.94679591e-01 -9.08499550e-02 -4.85674502e-02 2.72575899e+02] [ 9.08236235e-02 9.95863188e-01 -2.75330858e-03 1.94168377e+01] [ 4.86166737e-02 -1.67241195e-03 9.98816110e-01 1.12471743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.985099893 meters 0.018437943492869823 Centerline is valid? [True, True] Translation: X:272.64, Y:19.43, Z:11.25 [[ 9.95228129e-01 -8.55408065e-02 -4.69440358e-02 2.72636040e+02] [ 8.55102835e-02 9.96333733e-01 -2.66171381e-03 1.94255788e+01] [ 4.69996115e-02 -1.36518535e-03 9.98893975e-01 1.12516285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.045099893 meters 0.016659895531962572 Centerline is valid? [True, True] Translation: X:272.70, Y:19.43, Z:11.26 [[ 9.95690239e-01 -7.98680434e-02 -4.71385639e-02 2.72696610e+02] [ 7.98309355e-02 9.96804836e-01 -2.67230596e-03 1.94327120e+01] [ 4.72013803e-02 -1.10232670e-03 9.98884785e-01 1.12551858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.105099893 meters 0.016531972994875094 Centerline is valid? [True, True] Translation: X:272.76, Y:19.44, Z:11.26 [[ 9.95608742e-01 -8.01134518e-02 -4.84259058e-02 2.72757136e+02] [ 8.00746176e-02 9.96785094e-01 -2.74450835e-03 1.94354467e+01] [ 4.84900931e-02 -1.14522939e-03 9.98823007e-01 1.12578818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.165099893 meters 0.016820057472167495 Centerline is valid? [True, True] Translation: X:272.82, Y:19.44, Z:11.26 [[ 9.95421452e-01 -8.22782355e-02 -4.86459148e-02 2.72817055e+02] [ 8.22416264e-02 9.96608606e-01 -2.75703424e-03 1.94371105e+01] [ 4.87077812e-02 -1.25630812e-03 9.98812282e-01 1.12606282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.225099893 meters 0.01851612641435961 Centerline is valid? [True, True] Translation: X:272.88, Y:19.43, Z:11.26 [[ 9.94782375e-01 -8.88129169e-02 -5.02025139e-02 2.72877660e+02] [ 8.87822065e-02 9.96046998e-01 -2.84577410e-03 1.94346545e+01] [ 5.02568047e-02 -1.62616403e-03 9.98735004e-01 1.12617517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.285099893 meters 0.021273521707221323 Centerline is valid? [True, True] Translation: X:272.94, Y:19.43, Z:11.26 [[ 9.94260025e-01 -9.39461306e-02 -5.11969514e-02 2.72937104e+02] [ 9.39209248e-02 9.95575427e-01 -2.90325981e-03 1.94327806e+01] [ 5.12431768e-02 -1.92186986e-03 9.98684356e-01 1.12630918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.345099893 meters 0.02139066876375976 Centerline is valid? [True, True] Translation: X:273.00, Y:19.44, Z:11.27 [[ 9.93818702e-01 -9.89469085e-02 -5.03378223e-02 2.72996987e+02] [ 9.89288546e-02 9.95090410e-01 -2.85617935e-03 1.94355690e+01] [ 5.03732943e-02 -2.14133865e-03 9.98728164e-01 1.12677556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.405099893 meters 0.022066202071741085 Centerline is valid? [True, True] Translation: X:273.06, Y:19.44, Z:11.27 [[ 9.93697921e-01 -1.00190016e-01 -5.02633361e-02 2.73058034e+02] [ 1.00173578e-01 9.94965888e-01 -2.85241751e-03 1.94387471e+01] [ 5.02960885e-02 -2.20061688e-03 9.98731926e-01 1.12709494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.465099893 meters 0.021342803935689204 Centerline is valid? [True, True] Translation: X:273.12, Y:19.45, Z:11.27 [[ 9.93640911e-01 -9.98367143e-02 -5.20612276e-02 2.73120064e+02] [ 9.98187225e-02 9.95001260e-01 -2.95210516e-03 1.94452804e+01] [ 5.20957155e-02 -2.26335277e-03 9.98639531e-01 1.12724324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.525099893 meters 0.02353902857999332 Centerline is valid? [True, True] Translation: X:273.18, Y:19.45, Z:11.27 [[ 9.93703401e-01 -9.94449328e-02 -5.16164344e-02 2.73180059e+02] [ 9.94268879e-02 9.95040575e-01 -2.92361496e-03 1.94458301e+01] [ 5.16511853e-02 -2.22685530e-03 9.98662704e-01 1.12746076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.585099893 meters 0.022846123656610352 Centerline is valid? [True, True] Translation: X:273.24, Y:19.45, Z:11.28 [[ 9.93738546e-01 -9.89407933e-02 -5.19078133e-02 2.73240730e+02] [ 9.89219172e-02 9.95090858e-01 -2.93899389e-03 1.94519508e+01] [ 5.19437769e-02 -2.21422890e-03 9.98647556e-01 1.12782284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.645099893 meters 0.022929120364509246 Centerline is valid? [True, True] Translation: X:273.30, Y:19.46, Z:11.28 [[ 9.93684807e-01 -9.91784549e-02 -5.24798795e-02 2.73301496e+02] [ 9.91595919e-02 9.95067112e-01 -2.96949428e-03 1.94569318e+01] [ 5.25155119e-02 -2.25314208e-03 9.98617567e-01 1.12812815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70509989299995 meters 0.02451174652087994 Centerline is valid? [True, True] Translation: X:273.36, Y:19.46, Z:11.28 [[ 9.93588574e-01 -9.99636052e-02 -5.28112039e-02 2.73361255e+02] [ 9.99457177e-02 9.94988410e-01 -2.98621250e-03 1.94606514e+01] [ 5.28450484e-02 -2.31118706e-03 9.98600050e-01 1.12845740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76509989299996 meters 0.02177338619012789 Centerline is valid? [True, True] Translation: X:273.42, Y:19.47, Z:11.29 [[ 9.93485283e-01 -1.00140041e-01 -5.43963657e-02 2.73422005e+02] [ 1.00121470e-01 9.94970475e-01 -3.07331647e-03 1.94693982e+01] [ 5.44305398e-02 -2.39294943e-03 9.98514692e-01 1.12879732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82509989299996 meters 0.02436639908312264 Centerline is valid? [True, True] Translation: X:273.48, Y:19.47, Z:11.29 [[ 9.93611976e-01 -1.00049232e-01 -5.22052926e-02 2.73482483e+02] [ 1.00032084e-01 9.94979845e-01 -2.94785162e-03 1.94724714e+01] [ 5.22381442e-02 -2.29318351e-03 9.98632023e-01 1.12933189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.88509989299996 meters 0.02488785567627836 Centerline is valid? [True, True] Translation: X:273.54, Y:19.48, Z:11.30 [[ 9.93637997e-01 -1.00245637e-01 -5.13258459e-02 2.73544073e+02] [ 1.00229376e-01 9.94960139e-01 -2.89711846e-03 1.94757876e+01] [ 5.13575943e-02 -2.26567050e-03 9.98677758e-01 1.12967917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.94509989299996 meters 0.021367067685086023 Centerline is valid? [True, True] Translation: X:273.61, Y:19.49, Z:11.30 [[ 9.93680389e-01 -9.98330874e-02 -5.13092447e-02 2.73606201e+02] [ 9.98164076e-02 9.95001664e-01 -2.89384898e-03 1.94857986e+01] [ 5.13416857e-02 -2.24594350e-03 9.98678621e-01 1.13001071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.00509989299997 meters 0.022414581174113168 Centerline is valid? [True, True] Translation: X:273.67, Y:19.49, Z:11.30 [[ 9.93874576e-01 -9.85181921e-02 -5.00748666e-02 2.73666878e+02] [ 9.85008438e-02 9.95132971e-01 -2.82011460e-03 1.94897560e+01] [ 5.01089833e-02 -2.12957640e-03 9.98741485e-01 1.13026007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.06509989299997 meters 0.02453377574843494 Centerline is valid? [True, True] Translation: X:273.73, Y:19.49, Z:11.31 [[ 9.94012747e-01 -9.73223294e-02 -4.96691262e-02 2.73728054e+02] [ 9.73038673e-02 9.95250794e-01 -2.79532314e-03 1.94920421e+01] [ 4.97052846e-02 -2.05441122e-03 9.98761815e-01 1.13057295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.12509989299997 meters 0.020740207144817245 Centerline is valid? [True, True] Translation: X:273.79, Y:19.50, Z:11.31 [[ 9.94250361e-01 -9.44772324e-02 -5.04011129e-02 2.73789169e+02] [ 9.44547139e-02 9.95525126e-01 -2.83377261e-03 1.95030744e+01] [ 5.04433013e-02 -1.94314327e-03 9.98725036e-01 1.13077630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.185099893 meters 0.02092804575173264 Centerline is valid? [True, True] Translation: X:273.85, Y:19.51, Z:11.31 [[ 9.94430951e-01 -9.30455095e-02 -4.94935989e-02 2.73850648e+02] [ 9.30221551e-02 9.95660158e-01 -2.78008547e-03 1.95095555e+01] [ 4.95374789e-02 -1.83939820e-03 9.98770572e-01 1.13116320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.245099893 meters 0.020100757649181924 Centerline is valid? [True, True] Translation: X:273.91, Y:19.51, Z:11.32 [[ 9.94428838e-01 -9.39042191e-02 -4.78882524e-02 2.73912049e+02] [ 9.38834680e-02 9.95579566e-01 -2.68737747e-03 1.95144216e+01] [ 4.79289216e-02 -1.82350956e-03 9.98849084e-01 1.13163133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.305099893 meters 0.02113708198541679 Centerline is valid? [True, True] Translation: X:273.97, Y:19.52, Z:11.32 [[ 9.94403832e-01 -9.51308789e-02 -4.59470960e-02 2.73974533e+02] [ 9.51131966e-02 9.95463131e-01 -2.57590585e-03 1.95152439e+01] [ 4.59836882e-02 -1.80868452e-03 9.98940553e-01 1.13205648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.365099893 meters 0.020651216324794875 Centerline is valid? [True, True] Translation: X:274.04, Y:19.52, Z:11.32 [[ 9.94303135e-01 -9.62386745e-02 -4.58191446e-02 2.74036684e+02] [ 9.62224164e-02 9.95356552e-01 -2.56541132e-03 1.95189938e+01] [ 4.58532775e-02 -1.85803229e-03 9.98946457e-01 1.13233749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.425099893 meters 0.022227064560892185 Centerline is valid? [True, True] Translation: X:274.10, Y:19.52, Z:11.32 [[ 9.94194823e-01 -9.69646370e-02 -4.66316744e-02 2.74097932e+02] [ 9.69487548e-02 9.95285959e-01 -2.60748935e-03 1.95192584e+01] [ 4.66646851e-02 -1.92853035e-03 9.98908749e-01 1.13248325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.485099893 meters 0.02181552942827926 Centerline is valid? [True, True] Translation: X:274.16, Y:19.52, Z:11.33 [[ 9.94079442e-01 -9.77012853e-02 -4.75449412e-02 2.74159677e+02] [ 9.76857480e-02 9.95213767e-01 -2.65580834e-03 1.95226576e+01] [ 4.75768559e-02 -2.00437867e-03 9.98865569e-01 1.13263318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.545099893 meters 0.02323498336433556 Centerline is valid? [True, True] Translation: X:274.22, Y:19.52, Z:11.33 [[ 9.93620181e-01 -1.01251186e-01 -4.96702408e-02 2.74221342e+02] [ 1.01238829e-01 9.94858292e-01 -2.77104837e-03 1.95214992e+01] [ 4.96954228e-02 -2.27518743e-03 9.98761828e-01 1.13266684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.605099893 meters 0.02325191219304523 Centerline is valid? [True, True] Translation: X:274.28, Y:19.52, Z:11.33 [[ 9.93349454e-01 -1.04752329e-01 -4.77892410e-02 2.74282423e+02] [ 1.04745004e-01 9.94495543e-01 -2.66443452e-03 1.95230383e+01] [ 4.78052929e-02 -2.35896969e-03 9.98853888e-01 1.13308640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.665099893 meters 0.025029708161270262 Centerline is valid? [True, True] Translation: X:274.34, Y:19.52, Z:11.33 [[ 9.93093695e-01 -1.07801875e-01 -4.62997729e-02 2.74343971e+02] [ 1.07798377e-01 9.94169430e-01 -2.57972919e-03 1.95220192e+01] [ 4.63079184e-02 -2.42912756e-03 9.98924259e-01 1.13342397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.725099893 meters 0.024304136231836068 Centerline is valid? [True, True] Translation: X:274.41, Y:19.52, Z:11.34 [[ 9.92912893e-01 -1.08971234e-01 -4.74263393e-02 2.74405885e+02] [ 1.08968990e-01 9.94041642e-01 -2.64051365e-03 1.95244182e+01] [ 4.74314963e-02 -2.54620024e-03 9.98871248e-01 1.13354723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.785099893 meters 0.02672096344323107 Centerline is valid? [True, True] Translation: X:274.47, Y:19.52, Z:11.34 [[ 9.92918501e-01 -1.09100520e-01 -4.70098570e-02 2.74467086e+02] [ 1.09098617e-01 9.94027494e-01 -2.61393356e-03 1.95229000e+01] [ 4.70142719e-02 -2.53328741e-03 9.98891005e-01 1.13372753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.845099893 meters 0.027908582701005245 Centerline is valid? [True, True] Translation: X:274.53, Y:19.52, Z:11.34 [[ 9.93071731e-01 -1.08268176e-01 -4.56786485e-02 2.74527926e+02] [ 1.08265610e-01 9.94118765e-01 -2.53746215e-03 1.95227674e+01] [ 4.56847280e-02 -2.42554483e-03 9.98952963e-01 1.13405419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.905099893 meters 0.025424260097330287 Centerline is valid? [True, True] Translation: X:274.59, Y:19.53, Z:11.34 [[ 9.93272198e-01 -1.06402126e-01 -4.57048023e-02 2.74588663e+02] [ 1.06397697e-01 9.94320419e-01 -2.53654023e-03 1.95291772e+01] [ 4.57151114e-02 -2.34341081e-03 9.98951769e-01 1.13426926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.965099893 meters 0.022757966713946528 Centerline is valid? [True, True] Translation: X:274.65, Y:19.54, Z:11.34 [[ 9.93621976e-01 -1.03002824e-01 -4.58888515e-02 2.74648683e+02] [ 1.02994815e-01 9.94678637e-01 -2.54522383e-03 1.95354773e+01] [ 4.59068255e-02 -2.19732343e-03 9.98943309e-01 1.13442584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.025099893 meters 0.020104890366807338 Centerline is valid? [True, True] Translation: X:274.71, Y:19.54, Z:11.35 [[ 9.94302090e-01 -9.61824206e-02 -4.59597228e-02 2.74708624e+02] [ 9.61671146e-02 9.95361938e-01 -2.54913544e-03 1.95434927e+01] [ 4.59917408e-02 -1.88520324e-03 9.98940041e-01 1.13458987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.085099893 meters 0.020566004018978956 Centerline is valid? [True, True] Translation: X:274.77, Y:19.55, Z:11.35 [[ 9.94653356e-01 -9.27781834e-02 -4.53531666e-02 2.74768550e+02] [ 9.27597570e-02 9.95685342e-01 -2.51523149e-03 1.95470115e+01] [ 4.53908418e-02 -1.70516527e-03 9.98967849e-01 1.13480370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.145099893 meters 0.019247385685517645 Centerline is valid? [True, True] Translation: X:274.83, Y:19.55, Z:11.35 [[ 9.94856129e-01 -9.07399803e-02 -4.50281935e-02 2.74829266e+02] [ 9.07197723e-02 9.95873331e-01 -2.49632308e-03 1.95526108e+01] [ 4.50688933e-02 -1.60146514e-03 9.98982598e-01 1.13506263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20509989299995 meters 0.018309379116054375 Centerline is valid? [True, True] Translation: X:274.89, Y:19.56, Z:11.35 [[ 9.95276779e-01 -8.59918703e-02 -4.50503204e-02 2.74890763e+02] [ 8.59668610e-02 9.96294871e-01 -2.49584855e-03 1.95571532e+01] [ 4.50980258e-02 -1.38877452e-03 9.98981601e-01 1.13525455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26509989299996 meters 0.017078959270128775 Centerline is valid? [True, True] Translation: X:274.95, Y:19.56, Z:11.36 [[ 9.95691327e-01 -8.17906735e-02 -4.36928670e-02 2.74952322e+02] [ 8.17632077e-02 9.96648850e-01 -2.41833186e-03 1.95638426e+01] [ 4.37442426e-02 -1.16455690e-03 9.99042084e-01 1.13560017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32509989299996 meters 0.01650710805355979 Centerline is valid? [True, True] Translation: X:275.01, Y:19.57, Z:11.36 [[ 9.95884099e-01 -7.87994683e-02 -4.47828591e-02 2.75013563e+02] [ 7.87677138e-02 9.96889922e-01 -2.47599272e-03 1.95689684e+01] [ 4.48386879e-02 -1.06164166e-03 9.98993676e-01 1.13569514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38509989299996 meters 0.015705396077543485 Centerline is valid? [True, True] Translation: X:275.07, Y:19.57, Z:11.36 [[ 9.96348633e-01 -7.35715613e-02 -4.33200568e-02 2.75073602e+02] [ 7.35369771e-02 9.97289619e-01 -2.39352630e-03 1.95742870e+01] [ 4.33787384e-02 -8.00839363e-04 9.99058379e-01 1.13600586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.44509989299996 meters 0.014595333858269274 Centerline is valid? [True, True] Translation: X:275.13, Y:19.58, Z:11.36 [[ 9.96645030e-01 -6.89489191e-02 -4.40990982e-02 2.75134327e+02] [ 6.89087393e-02 9.97620002e-01 -2.43243606e-03 1.95812387e+01] [ 4.41618563e-02 -6.14537948e-04 9.99024200e-01 1.13617487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.50509989299997 meters 0.014393624079628175 Centerline is valid? [True, True] Translation: X:275.19, Y:19.59, Z:11.36 [[ 9.96768792e-01 -6.66226070e-02 -4.48709727e-02 2.75194889e+02] [ 6.65787222e-02 9.97778109e-01 -2.47345529e-03 1.95854019e+01] [ 4.49360624e-02 -5.21988990e-04 9.98989729e-01 1.13633807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.56509989299997 meters 0.014524601691623359 Centerline is valid? [True, True] Translation: X:275.25, Y:19.59, Z:11.37 [[ 9.96800461e-01 -6.61713875e-02 -4.48351249e-02 2.75254410e+02] [ 6.61271120e-02 9.97808146e-01 -2.47158405e-03 1.95873659e+01] [ 4.49004010e-02 -5.01141208e-04 9.98991343e-01 1.13650184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.62509989299997 meters 0.014595263785249262 Centerline is valid? [True, True] Translation: X:275.31, Y:19.59, Z:11.37 [[ 9.96789378e-01 -6.69327632e-02 -4.39424861e-02 2.75314466e+02] [ 6.68909042e-02 9.97757351e-01 -2.42393676e-03 1.95888415e+01] [ 4.40061793e-02 -5.23198205e-04 9.99031122e-01 1.13682957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.685099893 meters 0.014912475155506174 Centerline is valid? [True, True] Translation: X:275.37, Y:19.59, Z:11.37 [[ 9.96781705e-01 -6.79797001e-02 -4.24852187e-02 2.75374189e+02] [ 6.79414585e-02 9.97686553e-01 -2.34504685e-03 1.95892545e+01] [ 4.25463470e-02 -5.49007924e-04 9.99094343e-01 1.13714308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.745099893 meters 0.015689799544842068 Centerline is valid? [True, True] Translation: X:275.43, Y:19.59, Z:11.38 [[ 9.96668996e-01 -7.13393316e-02 -3.95172373e-02 2.75434320e+02] [ 7.13088596e-02 9.97451897e-01 -2.18188392e-03 1.95874732e+01] [ 3.95721974e-02 -6.43313067e-04 9.99216507e-01 1.13761141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.805099893 meters 0.016279068481743382 Centerline is valid? [True, True] Translation: X:275.50, Y:19.59, Z:11.38 [[ 9.96178211e-01 -7.73003402e-02 -4.06648427e-02 2.75495644e+02] [ 7.72730001e-02 9.97007442e-01 -2.24605532e-03 1.95852053e+01] [ 4.07167716e-02 -9.04823022e-04 9.99170319e-01 1.13778974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.865099893 meters 0.018515924854516308 Centerline is valid? [True, True] Translation: X:275.56, Y:19.58, Z:11.38 [[ 9.95485542e-01 -8.44471294e-02 -4.33268783e-02 2.75555876e+02] [ 8.44229250e-02 9.96427143e-01 -2.39137058e-03 1.95792184e+01] [ 4.33740219e-02 -1.27720696e-03 9.99058088e-01 1.13776133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.925099893 meters 0.018991431927101104 Centerline is valid? [True, True] Translation: X:275.62, Y:19.58, Z:11.38 [[ 9.95039151e-01 -8.91480667e-02 -4.41555265e-02 2.75616705e+02] [ 8.91276440e-02 9.96017236e-01 -2.43493212e-03 1.95788106e+01] [ 4.41967349e-02 -1.51262526e-03 9.99021702e-01 1.13791781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.985099893 meters 0.020479783375657614 Centerline is valid? [True, True] Translation: X:275.68, Y:19.58, Z:11.38 [[ 9.94621187e-01 -9.37097441e-02 -4.41268521e-02 2.75678370e+02] [ 9.36938649e-02 9.95598083e-01 -2.43249823e-03 1.95765996e+01] [ 4.41605581e-02 -1.71500104e-03 9.99022975e-01 1.13815449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.045099893 meters 0.022110722360511915 Centerline is valid? [True, True] Translation: X:275.74, Y:19.58, Z:11.38 [[ 9.94430012e-01 -9.61692632e-02 -4.31326271e-02 2.75739046e+02] [ 9.61564661e-02 9.95363395e-01 -2.37612667e-03 1.95761376e+01] [ 4.31611485e-02 -1.78458932e-03 9.99066530e-01 1.13839789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.105099893 meters 0.023528552288408864 Centerline is valid? [True, True] Translation: X:275.80, Y:19.58, Z:11.39 [[ 9.94241141e-01 -9.90112333e-02 -4.10040112e-02 2.75800073e+02] [ 9.90021556e-02 9.95084659e-01 -2.25693095e-03 1.95768473e+01] [ 4.10259241e-02 -1.81555190e-03 9.99156433e-01 1.13890639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.165099893 meters 0.025885010553417746 Centerline is valid? [True, True] Translation: X:275.86, Y:19.58, Z:11.39 [[ 9.93692728e-01 -1.02731477e-01 -4.49555934e-02 2.75860789e+02] [ 1.02724444e-01 9.94706778e-01 -2.47273019e-03 1.95750463e+01] [ 4.49716607e-02 -2.16090434e-03 9.98985926e-01 1.13864035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.225099893 meters 0.029865125674296743 Centerline is valid? [True, True] Translation: X:275.92, Y:19.57, Z:11.39 [[ 9.93095373e-01 -1.08557965e-01 -4.44606447e-02 2.75920556e+02] [ 1.08556937e-01 9.94087227e-01 -2.44474874e-03 1.95725609e+01] [ 4.44631560e-02 -2.39864273e-03 9.99008145e-01 1.13905609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.285099893 meters 0.029651703596303217 Centerline is valid? [True, True] Translation: X:275.98, Y:19.58, Z:11.39 [[ 9.92886925e-01 -1.09811897e-01 -4.60098008e-02 2.75982227e+02] [ 1.09812171e-01 9.93949138e-01 -2.52929217e-03 1.95761646e+01] [ 4.60091482e-02 -2.54113496e-03 9.98937786e-01 1.13920028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.345099893 meters 0.03064511678852941 Centerline is valid? [True, True] Translation: X:276.04, Y:19.58, Z:11.39 [[ 9.92675291e-01 -1.11129256e-01 -4.73925709e-02 2.76043167e+02] [ 1.11131159e-01 9.93802340e-01 -2.60293025e-03 1.95780561e+01] [ 4.73881095e-02 -2.68292678e-03 9.98872949e-01 1.13933546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.405099893 meters 0.03229764098615658 Centerline is valid? [True, True] Translation: X:276.10, Y:19.58, Z:11.39 [[ 9.92351371e-01 -1.13421300e-01 -4.87274576e-02 2.76104098e+02] [ 1.13426113e-01 9.93542832e-01 -2.67528987e-03 1.95795256e+01] [ 4.87162511e-02 -2.87213856e-03 9.98808529e-01 1.13939119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.465099893 meters 0.030040535928063068 Centerline is valid? [True, True] Translation: X:276.17, Y:19.59, Z:11.40 [[ 9.92367262e-01 -1.13480545e-01 -4.82636814e-02 2.76165668e+02] [ 1.13485419e-01 9.93536133e-01 -2.64811192e-03 1.95866704e+01] [ 4.82522206e-02 -2.84932451e-03 9.98831119e-01 1.13974137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.525099893 meters 0.0285328888190499 Centerline is valid? [True, True] Translation: X:276.23, Y:19.60, Z:11.40 [[ 9.92961886e-01 -1.08907508e-01 -4.65386747e-02 2.76225470e+02] [ 1.08907162e-01 9.94048653e-01 -2.55057065e-03 1.95952563e+01] [ 4.65394832e-02 -2.53577557e-03 9.98913233e-01 1.14022660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.585099893 meters 0.024131998481565747 Centerline is valid? [True, True] Translation: X:276.29, Y:19.61, Z:11.41 [[ 9.93610166e-01 -1.03622334e-01 -4.47353335e-02 2.76285068e+02] [ 1.03616674e-01 9.94614284e-01 -2.45160875e-03 1.96069227e+01] [ 4.47484431e-02 -2.19938306e-03 9.98995866e-01 1.14059489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64509989299995 meters 0.020652822144525358 Centerline is valid? [True, True] Translation: X:276.34, Y:19.62, Z:11.41 [[ 9.94457979e-01 -9.55865549e-02 -4.37782915e-02 2.76344528e+02] [ 9.55733637e-02 9.95419498e-01 -2.39905064e-03 1.96197536e+01] [ 4.38070819e-02 -1.79828353e-03 9.99038391e-01 1.14094915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70509989299995 meters 0.01979446780324276 Centerline is valid? [True, True] Translation: X:276.40, Y:19.63, Z:11.41 [[ 9.94889474e-01 -9.01436745e-02 -4.54868339e-02 2.76403847e+02] [ 9.01237544e-02 9.95927455e-01 -2.49271470e-03 1.96271742e+01] [ 4.55262892e-02 -1.61946863e-03 9.98961828e-01 1.14106313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76509989299996 meters 0.019122994278387057 Centerline is valid? [True, True] Translation: X:276.46, Y:19.63, Z:11.41 [[ 9.95180880e-01 -8.60467818e-02 -4.70209253e-02 2.76463696e+02] [ 8.60209348e-02 9.96289998e-01 -2.57669170e-03 1.96332433e+01] [ 4.70681935e-02 -1.48050964e-03 9.98890581e-01 1.14121688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82509989299996 meters 0.01809188745771406 Centerline is valid? [True, True] Translation: X:276.52, Y:19.64, Z:11.42 [[ 9.95384310e-01 -8.32091906e-02 -4.78153354e-02 2.76524710e+02] [ 8.31792413e-02 9.96531160e-01 -2.61923519e-03 1.96401945e+01] [ 4.78674161e-02 -1.37009771e-03 9.98852759e-01 1.14152905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.88509989299996 meters 0.017428818658515147 Centerline is valid? [True, True] Translation: X:276.58, Y:19.65, Z:11.42 [[ 9.95647130e-01 -8.01149419e-02 -4.76276002e-02 2.76584774e+02] [ 8.00817631e-02 9.96784888e-01 -2.60743214e-03 1.96467071e+01] [ 4.76833664e-02 -1.21801987e-03 9.98861759e-01 1.14182922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.94509989299996 meters 0.01677215663627193 Centerline is valid? [True, True] Translation: X:276.64, Y:19.65, Z:11.42 [[ 9.95919132e-01 -7.59026220e-02 -4.88249334e-02 2.76644676e+02] [ 7.58626910e-02 9.97114691e-01 -2.67310306e-03 1.96538391e+01] [ 4.88869539e-02 -1.04179636e-03 9.98803775e-01 1.14199761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.00509989299997 meters 0.015837816623769516 Centerline is valid? [True, True] Translation: X:276.70, Y:19.66, Z:11.42 [[ 9.96054810e-01 -7.34767899e-02 -4.97591928e-02 2.76703522e+02] [ 7.34322001e-02 9.97296486e-01 -2.72609360e-03 1.96610330e+01] [ 4.98249727e-02 -9.38588360e-04 9.98757524e-01 1.14225984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.06509989299997 meters 0.017286124191007564 Centerline is valid? [True, True] Translation: X:276.76, Y:19.66, Z:11.42 [[ 9.95628019e-01 -7.78521686e-02 -5.16128676e-02 2.76761733e+02] [ 7.78097171e-02 9.96964199e-01 -2.83437982e-03 1.96616737e+01] [ 5.16768438e-02 -1.19399466e-03 9.98663146e-01 1.14242574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.12509989299997 meters 0.017511232266353816 Centerline is valid? [True, True] Translation: X:276.82, Y:19.66, Z:11.43 [[ 9.95306717e-01 -8.13233715e-02 -5.24504432e-02 2.76820540e+02] [ 8.12840461e-02 9.96686799e-01 -2.88603244e-03 1.96643974e+01] [ 5.25113662e-02 -1.39089677e-03 9.98619358e-01 1.14271913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.185099893 meters 0.017758653662171903 Centerline is valid? [True, True] Translation: X:276.88, Y:19.67, Z:11.43 [[ 9.95173926e-01 -8.30679472e-02 -5.22357414e-02 2.76880317e+02] [ 8.30307726e-02 9.96542807e-01 -2.88510025e-03 1.96671005e+01] [ 5.22948117e-02 -1.46599742e-03 9.98630614e-01 1.14304427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.245099893 meters 0.01805062228630512 Centerline is valid? [True, True] Translation: X:276.94, Y:19.67, Z:11.43 [[ 9.95061215e-01 -8.44584732e-02 -5.21530953e-02 2.76939863e+02] [ 8.44232242e-02 9.96425818e-01 -2.88242240e-03 1.96700161e+01] [ 5.22101356e-02 -1.53474573e-03 9.98634941e-01 1.14334783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.305099893 meters 0.019528952558950555 Centerline is valid? [True, True] Translation: X:277.00, Y:19.67, Z:11.44 [[ 9.94661744e-01 -8.90533819e-02 -5.21297448e-02 2.76998843e+02] [ 8.90243532e-02 9.96025277e-01 -2.88320834e-03 1.96696479e+01] [ 5.21793030e-02 -1.77299978e-03 9.98636158e-01 1.14362417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.365099893 meters 0.01941558559591378 Centerline is valid? [True, True] Translation: X:277.06, Y:19.67, Z:11.44 [[ 9.94446114e-01 -9.13377679e-02 -5.22909071e-02 2.77059515e+02] [ 9.13116021e-02 9.95818164e-01 -2.89420194e-03 1.96730588e+01] [ 5.23365850e-02 -1.89663863e-03 9.98627701e-01 1.14396223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.425099893 meters 0.022131147978552243 Centerline is valid? [True, True] Translation: X:277.12, Y:19.67, Z:11.44 [[ 9.93923872e-01 -9.55493657e-02 -5.46411520e-02 2.77119205e+02] [ 9.55271791e-02 9.95422230e-01 -3.02370798e-03 1.96713439e+01] [ 5.46799307e-02 -2.21437957e-03 9.98501478e-01 1.14406196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.485099893 meters 0.021631364482671587 Centerline is valid? [True, True] Translation: X:277.18, Y:19.67, Z:11.44 [[ 9.93530848e-01 -9.85741650e-02 -5.63878382e-02 2.77179670e+02] [ 9.85553558e-02 9.95126675e-01 -3.12114858e-03 1.96745520e+01] [ 5.64207066e-02 -2.45636606e-03 9.98404062e-01 1.14433198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.545099893 meters 0.022921677627179046 Centerline is valid? [True, True] Translation: X:277.24, Y:19.67, Z:11.45 [[ 9.93102046e-01 -1.01707769e-01 -5.83425744e-02 2.77240437e+02] [ 1.01693031e-01 9.94810584e-01 -3.22934607e-03 1.96748971e+01] [ 5.83682601e-02 -2.72596301e-03 9.98291398e-01 1.14452681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.605099893 meters 0.023458070674318748 Centerline is valid? [True, True] Translation: X:277.30, Y:19.68, Z:11.45 [[ 9.93114575e-01 -1.00981728e-01 -5.93812319e-02 2.77299555e+02] [ 1.00965134e-01 9.94884533e-01 -3.28746033e-03 1.96781595e+01] [ 5.94094426e-02 -2.73060926e-03 9.98229964e-01 1.14476163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.665099893 meters 0.02303064971371235 Centerline is valid? [True, True] Translation: X:277.36, Y:19.68, Z:11.45 [[ 9.93360988e-01 -9.85473857e-02 -5.93494770e-02 2.77358757e+02] [ 9.85263499e-02 9.95129011e-01 -3.28781713e-03 1.96833117e+01] [ 5.93843921e-02 -2.58149806e-03 9.98231852e-01 1.14504253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.725099893 meters 0.02094109858603359 Centerline is valid? [True, True] Translation: X:277.42, Y:19.69, Z:11.45 [[ 9.93973250e-01 -9.27052594e-02 -5.85056751e-02 2.77418261e+02] [ 9.26746242e-02 9.95691167e-01 -3.24260090e-03 1.96915997e+01] [ 5.85541900e-02 -2.19893289e-03 9.98281810e-01 1.14543504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.785099893 meters 0.018214417203562688 Centerline is valid? [True, True] Translation: X:277.48, Y:19.70, Z:11.46 [[ 9.94538562e-01 -8.63031324e-02 -5.86925642e-02 2.77477389e+02] [ 8.62611432e-02 9.96267249e-01 -3.25340964e-03 1.97018938e+01] [ 5.87542589e-02 -1.82724633e-03 9.98270804e-01 1.14590851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.845099893 meters 0.0169308929497249 Centerline is valid? [True, True] Translation: X:277.54, Y:19.71, Z:11.46 [[ 9.94811644e-01 -8.27962126e-02 -5.91149727e-02 2.77535849e+02] [ 8.27473176e-02 9.96565166e-01 -3.27880199e-03 1.97085680e+01] [ 5.91833950e-02 -1.62981503e-03 9.98245796e-01 1.14624177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.905099893 meters 0.015684002392116703 Centerline is valid? [True, True] Translation: X:277.59, Y:19.71, Z:11.46 [[ 9.94879808e-01 -8.06118299e-02 -6.09581942e-02 2.77594653e+02] [ 8.05552594e-02 9.96744383e-01 -3.38900647e-03 1.97143201e+01] [ 6.10329317e-02 -1.53884904e-03 9.98134567e-01 1.14641157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.965099893 meters 0.015454566438853878 Centerline is valid? [True, True] Translation: X:277.65, Y:19.72, Z:11.47 [[ 9.95113139e-01 -7.78744202e-02 -6.07076250e-02 2.77652083e+02] [ 7.78124719e-02 9.96962258e-01 -3.38745971e-03 1.97194902e+01] [ 6.07870073e-02 -1.35290470e-03 9.98149843e-01 1.14667834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.025099893 meters 0.015075852383025683 Centerline is valid? [True, True] Translation: X:277.71, Y:19.73, Z:11.47 [[ 9.95376318e-01 -7.44513005e-02 -6.06876367e-02 2.77710055e+02] [ 7.43825338e-02 9.97224005e-01 -3.39461938e-03 1.97254895e+01] [ 6.07719019e-02 -1.13517645e-03 9.98151034e-01 1.14697374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.085099893 meters 0.013827322336046133 Centerline is valid? [True, True] Translation: X:277.77, Y:19.73, Z:11.47 [[ 9.95651281e-01 -7.24122454e-02 -5.86088151e-02 2.77768757e+02] [ 7.23437669e-02 9.97374323e-01 -3.29216768e-03 1.97313484e+01] [ 5.86933205e-02 -9.62131492e-04 9.98275597e-01 1.14740620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14509989299995 meters 0.013313044207627737 Centerline is valid? [True, True] Translation: X:277.83, Y:19.74, Z:11.48 [[ 9.95652836e-01 -7.26016501e-02 -5.83474978e-02 2.77826400e+02] [ 7.25332221e-02 9.97360562e-01 -3.29258745e-03 1.97354652e+01] [ 5.84325405e-02 -9.53857986e-04 9.98290904e-01 1.14778276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20509989299995 meters 0.013709405139419017 Centerline is valid? [True, True] Translation: X:277.88, Y:19.74, Z:11.48 [[ 9.95738358e-01 -7.28567506e-02 -5.65421649e-02 2.77884397e+02] [ 7.27921431e-02 9.97341986e-01 -3.20411071e-03 1.97373305e+01] [ 5.66253161e-02 -9.25369423e-04 9.98395071e-01 1.14798511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26509989299996 meters 0.01370639932300745 Centerline is valid? [True, True] Translation: X:277.94, Y:19.74, Z:11.48 [[ 9.95491091e-01 -7.57878515e-02 -5.70411121e-02 2.77943215e+02] [ 7.57264592e-02 9.97123365e-01 -3.24015356e-03 1.97401115e+01] [ 5.71225899e-02 -1.09397745e-03 9.98366572e-01 1.14825834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32509989299996 meters 0.014807065027427919 Centerline is valid? [True, True] Translation: X:278.00, Y:19.74, Z:11.48 [[ 9.95292234e-01 -7.89682448e-02 -5.61906075e-02 2.78001016e+02] [ 7.89130543e-02 9.96876354e-01 -3.20384217e-03 1.97397496e+01] [ 5.62680897e-02 -1.24541323e-03 9.98414919e-01 1.14845572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.38509989299996 meters 0.016671418227449494 Centerline is valid? [True, True] Translation: X:278.06, Y:19.74, Z:11.49 [[ 9.94773376e-01 -8.49231901e-02 -5.66919862e-02 2.78060473e+02] [ 8.48763989e-02 9.96386230e-01 -3.23705903e-03 1.97376333e+01] [ 5.67620157e-02 -1.59167149e-03 9.98386468e-01 1.14858417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.44509989299996 meters 0.017896436652289946 Centerline is valid? [True, True] Translation: X:278.12, Y:19.74, Z:11.49 [[ 9.94525986e-01 -8.84943732e-02 -5.55590583e-02 2.78119674e+02] [ 8.84548175e-02 9.96075128e-01 -3.17553178e-03 1.97377976e+01] [ 5.56220128e-02 -1.75631749e-03 9.98450353e-01 1.14885983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.50509989299997 meters 0.02031983606764661 Centerline is valid? [True, True] Translation: X:278.18, Y:19.74, Z:11.49 [[ 9.94237166e-01 -9.27896413e-02 -5.36892942e-02 2.78178525e+02] [ 9.27587433e-02 9.95683873e-01 -3.07248189e-03 1.97351149e+01] [ 5.37426588e-02 -1.92537577e-03 9.98552963e-01 1.14908649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.56509989299997 meters 0.0191533674911939 Centerline is valid? [True, True] Translation: X:278.24, Y:19.74, Z:11.49 [[ 9.94021720e-01 -9.59402790e-02 -5.21179638e-02 2.78239795e+02] [ 9.59153272e-02 9.95385019e-01 -2.98549635e-03 1.97390273e+01] [ 5.21638698e-02 -2.03126333e-03 9.98636473e-01 1.14946532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.62509989299997 meters 0.02055602926945941 Centerline is valid? [True, True] Translation: X:278.30, Y:19.74, Z:11.50 [[ 9.93682359e-01 -9.99410532e-02 -5.10603025e-02 2.78301112e+02] [ 9.99224633e-02 9.94990933e-01 -2.92306609e-03 1.97395258e+01] [ 5.10966724e-02 -2.19747199e-03 9.98691294e-01 1.14979853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.685099893 meters 0.02288283961543106 Centerline is valid? [True, True] Translation: X:278.36, Y:19.74, Z:11.50 [[ 9.93444025e-01 -1.02580584e-01 -5.04598051e-02 2.78361109e+02] [ 1.02565932e-01 9.94722020e-01 -2.88652019e-03 1.97382945e+01] [ 5.04895802e-02 -2.30786073e-03 9.98721921e-01 1.14993937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.745099893 meters 0.023317820325873144 Centerline is valid? [True, True] Translation: X:278.42, Y:19.74, Z:11.50 [[ 9.93169286e-01 -1.05690861e-01 -4.94389707e-02 2.78422394e+02] [ 1.05680803e-01 9.94396093e-01 -2.82472414e-03 1.97396856e+01] [ 4.94604668e-02 -2.41932086e-03 9.98773152e-01 1.15020265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.805099893 meters 0.02472223071800608 Centerline is valid? [True, True] Translation: X:278.48, Y:19.74, Z:11.51 [[ 9.93126475e-01 -1.06732806e-01 -4.80407310e-02 2.78484797e+02] [ 1.06724613e-01 9.94284835e-01 -2.74291314e-03 1.97412023e+01] [ 4.80589291e-02 -2.40306877e-03 9.98841611e-01 1.15054032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.865099893 meters 0.023581310224215626 Centerline is valid? [True, True] Translation: X:278.55, Y:19.74, Z:11.51 [[ 9.93403959e-01 -1.04532004e-01 -4.71342221e-02 2.78546037e+02] [ 1.04521793e-01 9.94518964e-01 -2.68800933e-03 1.97449028e+01] [ 4.71568607e-02 -2.25627430e-03 9.98884948e-01 1.15084499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.925099893 meters 0.024091173927327302 Centerline is valid? [True, True] Translation: X:278.61, Y:19.75, Z:11.51 [[ 9.93617617e-01 -1.02806943e-01 -4.64194269e-02 2.78606060e+02] [ 1.02795234e-01 9.94699020e-01 -2.64566991e-03 1.97472310e+01] [ 4.64453517e-02 -2.14291161e-03 9.98918534e-01 1.15114010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.985099893 meters 0.020970150448689884 Centerline is valid? [True, True] Translation: X:278.67, Y:19.76, Z:11.51 [[ 9.93791037e-01 -1.01232256e-01 -4.61671421e-02 2.78668190e+02] [ 1.01219030e-01 9.94860689e-01 -2.63016134e-03 1.97553749e+01] [ 4.61961320e-02 -2.05916258e-03 9.98930266e-01 1.15143906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.045099893 meters 0.019798084202387718 Centerline is valid? [True, True] Translation: X:278.73, Y:19.76, Z:11.52 [[ 9.94063419e-01 -9.80990733e-02 -4.70583704e-02 2.78729993e+02] [ 9.80820301e-02 9.95174734e-01 -2.67669512e-03 1.97597460e+01] [ 4.70938825e-02 -1.95477579e-03 9.98888555e-01 1.15164207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.105099893 meters 0.018603163356345848 Centerline is valid? [True, True] Translation: X:278.79, Y:19.76, Z:11.52 [[ 9.94483312e-01 -9.32571482e-02 -4.80213091e-02 2.78790425e+02] [ 9.32338865e-02 9.95640495e-01 -2.72897315e-03 1.97643806e+01] [ 4.80664562e-02 -1.76329502e-03 9.98842583e-01 1.15183354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.165099893 meters 0.01677659258926039 Centerline is valid? [True, True] Translation: X:278.85, Y:19.77, Z:11.52 [[ 9.95019448e-01 -8.64703657e-02 -4.95900543e-02 2.78850405e+02] [ 8.64371822e-02 9.96253319e-01 -2.81732944e-03 1.97722060e+01] [ 4.96478717e-02 -1.48312697e-03 9.98765683e-01 1.15202245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.225099893 meters 0.014381222957376741 Centerline is valid? [True, True] Translation: X:278.91, Y:19.78, Z:11.52 [[ 9.95669693e-01 -7.79849800e-02 -5.05984695e-02 2.78910583e+02] [ 7.79394921e-02 9.96953947e-01 -2.87446426e-03 1.97815056e+01] [ 5.06685090e-02 -1.08160207e-03 9.98714940e-01 1.15228814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.285099893 meters 0.012382917974263346 Centerline is valid? [True, True] Translation: X:278.97, Y:19.79, Z:11.53 [[ 9.96375584e-01 -6.85249513e-02 -5.03986682e-02 2.78970174e+02] [ 6.84677531e-02 9.97649223e-01 -2.86251516e-03 1.97905899e+01] [ 5.04763459e-02 -5.98543357e-04 9.98725077e-01 1.15266506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.345099893 meters 0.011810457537777574 Centerline is valid? [True, True] Translation: X:279.03, Y:19.80, Z:11.53 [[ 9.96690728e-01 -6.36699697e-02 -5.05344179e-02 2.79029034e+02] [ 6.36060865e-02 9.97970947e-01 -2.87296038e-03 1.97973996e+01] [ 5.06148022e-02 -3.50843580e-04 9.98718188e-01 1.15301102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.405099893 meters 0.011523404471370248 Centerline is valid? [True, True] Translation: X:279.09, Y:19.80, Z:11.53 [[ 9.97025866e-01 -5.78790289e-02 -5.08865412e-02 2.79087503e+02] [ 5.78061035e-02 9.98323603e-01 -2.90489938e-03 1.98044990e+01] [ 5.09693679e-02 -4.52928429e-05 9.98700216e-01 1.15325162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.465099893 meters 0.011905350848399438 Centerline is valid? [True, True] Translation: X:279.15, Y:19.81, Z:11.54 [[ 9.97414034e-01 -4.93668282e-02 -5.22318036e-02 2.79145589e+02] [ 4.92776336e-02 9.98780629e-01 -2.99488998e-03 1.98109298e+01] [ 5.23159619e-02 4.13285623e-04 9.98630497e-01 1.15360423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.525099893 meters 0.012381303033670167 Centerline is valid? [True, True] Translation: X:279.20, Y:19.82, Z:11.54 [[ 9.97545797e-01 -4.55978192e-02 -5.31339979e-02 2.79202780e+02] [ 4.54995193e-02 9.98959677e-01 -3.05884131e-03 1.98151845e+01] [ 5.32181979e-02 6.33762927e-04 9.98582707e-01 1.15382867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.585099893 meters 0.012149362762972665 Centerline is valid? [True, True] Translation: X:279.26, Y:19.81, Z:11.54 [[ 9.97450844e-01 -4.59533005e-02 -5.45903654e-02 2.79261299e+02] [ 4.58496276e-02 9.98943384e-01 -3.15066146e-03 1.98130242e+01] [ 5.46774676e-02 6.39682012e-04 9.98503863e-01 1.15411189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64509989299995 meters 0.011945420935691477 Centerline is valid? [True, True] Translation: X:279.32, Y:19.81, Z:11.54 [[ 9.97241961e-01 -4.98094289e-02 -5.50226583e-02 2.79319215e+02] [ 4.97092641e-02 9.98758641e-01 -3.18838667e-03 1.98119515e+01] [ 5.51131672e-02 4.44457117e-04 9.98480015e-01 1.15425770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70509989299995 meters 0.011382045869017258 Centerline is valid? [True, True] Translation: X:279.38, Y:19.81, Z:11.55 [[ 9.96895453e-01 -5.59920904e-02 -5.53564892e-02 2.79377829e+02] [ 5.58997154e-02 9.98431206e-01 -3.21693404e-03 1.98078926e+01] [ 5.54497691e-02 1.12534929e-04 9.98461472e-01 1.15458582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76509989299996 meters 0.011696553617895076 Centerline is valid? [True, True] Translation: X:279.44, Y:19.80, Z:11.55 [[ 9.96274140e-01 -6.72948617e-02 -5.39373596e-02 2.79436651e+02] [ 6.72230446e-02 9.97733011e-01 -3.14668782e-03 1.97977594e+01] [ 5.40268401e-02 -4.90869825e-04 9.98539363e-01 1.15488705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82509989299996 meters 0.013705701500948225 Centerline is valid? [True, True] Translation: X:279.50, Y:19.79, Z:11.55 [[ 9.95531435e-01 -7.83812982e-02 -5.26643569e-02 2.79495849e+02] [ 7.83279930e-02 9.96922890e-01 -3.07857240e-03 1.97876336e+01] [ 5.27436053e-02 -1.06027778e-03 9.98607524e-01 1.15525455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.88509989299996 meters 0.015279793029300567 Centerline is valid? [True, True] Translation: X:279.56, Y:19.78, Z:11.56 [[ 9.95029947e-01 -8.49086721e-02 -5.20184787e-02 2.79556020e+02] [ 8.48654353e-02 9.96387774e-01 -3.04340324e-03 1.97829010e+01] [ 5.20889875e-02 -1.38629347e-03 9.98641485e-01 1.15556974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.94509989299996 meters 0.018611513170941774 Centerline is valid? [True, True] Translation: X:279.62, Y:19.77, Z:11.56 [[ 9.94325397e-01 -9.32264964e-02 -5.12428075e-02 2.79615534e+02] [ 9.31954685e-02 9.95643313e-01 -2.99976845e-03 1.97731454e+01] [ 5.12992165e-02 -1.79285149e-03 9.98681719e-01 1.15575719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.00509989299997 meters 0.01916304992028784 Centerline is valid? [True, True] Translation: X:279.68, Y:19.77, Z:11.56 [[ 9.93654943e-01 -9.98133726e-02 -5.18376695e-02 2.79676139e+02] [ 9.97904911e-02 9.95003840e-01 -3.03590513e-03 1.97703784e+01] [ 5.18817041e-02 -2.15626436e-03 9.98650910e-01 1.15598831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.06509989299997 meters 0.02260471999829868 Centerline is valid? [True, True] Translation: X:279.73, Y:19.77, Z:11.56 [[ 9.93430396e-01 -1.01756734e-01 -5.23604362e-02 2.79734224e+02] [ 1.01736002e-01 9.94806701e-01 -3.06805261e-03 1.97671998e+01] [ 5.24007078e-02 -2.27904472e-03 9.98623539e-01 1.15607720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.12509989299997 meters 0.025341067071843724 Centerline is valid? [True, True] Translation: X:279.79, Y:19.76, Z:11.56 [[ 9.93029002e-01 -1.05134347e-01 -5.32932515e-02 2.79794053e+02] [ 1.05117504e-01 9.94454893e-01 -3.12675256e-03 1.97640046e+01] [ 5.33264638e-02 -2.49709763e-03 9.98574010e-01 1.15616264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.185099893 meters 0.026532238075656175 Centerline is valid? [True, True] Translation: X:279.85, Y:19.76, Z:11.56 [[ 9.92500873e-01 -1.09462200e-01 -5.44062825e-02 2.79854763e+02] [ 1.09451089e-01 9.93987055e-01 -3.19279442e-03 1.97631488e+01] [ 5.44286308e-02 -2.78597562e-03 9.98513777e-01 1.15630899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.245099893 meters 0.026798373873473037 Centerline is valid? [True, True] Translation: X:279.91, Y:19.77, Z:11.57 [[ 9.92200900e-01 -1.11859771e-01 -5.49978632e-02 2.79914474e+02] [ 1.11852064e-01 9.93719626e-01 -3.22797099e-03 1.97660754e+01] [ 5.50135362e-02 -2.94882880e-03 9.98481254e-01 1.15654203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.305099893 meters 0.026071240825999514 Centerline is valid? [True, True] Translation: X:279.97, Y:19.77, Z:11.57 [[ 9.92057344e-01 -1.13147833e-01 -5.49526581e-02 2.79972936e+02] [ 1.13141845e-01 9.93573595e-01 -3.23006857e-03 1.97699086e+01] [ 5.49649853e-02 -3.01303189e-03 9.98483736e-01 1.15673899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.365099893 meters 0.024214331689112602 Centerline is valid? [True, True] Translation: X:280.03, Y:19.78, Z:11.57 [[ 9.92243013e-01 -1.12376361e-01 -5.31540780e-02 2.80030914e+02] [ 1.12368954e-01 9.93661600e-01 -3.13739213e-03 1.97769403e+01] [ 5.31697349e-02 -2.85981274e-03 9.98581394e-01 1.15713377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.425099893 meters 0.023640120002548455 Centerline is valid? [True, True] Translation: X:280.09, Y:19.78, Z:11.57 [[ 9.92475452e-01 -1.10360709e-01 -5.30376382e-02 2.80090038e+02] [ 1.10349880e-01 9.93887838e-01 -3.14153259e-03 1.97829291e+01] [ 5.30601653e-02 -2.73480303e-03 9.98587572e-01 1.15739470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.485099893 meters 0.02358860771228892 Centerline is valid? [True, True] Translation: X:280.15, Y:19.79, Z:11.58 [[ 9.92663349e-01 -1.09209190e-01 -5.18924616e-02 2.80149833e+02] [ 1.09197154e-01 9.94015353e-01 -3.07556444e-03 1.97866890e+01] [ 5.19177834e-02 -2.61350901e-03 9.98647943e-01 1.15763774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.545099893 meters 0.022821433354223347 Centerline is valid? [True, True] Translation: X:280.21, Y:19.79, Z:11.58 [[ 9.92985817e-01 -1.06852493e-01 -5.06133530e-02 2.80209685e+02] [ 1.06837903e-01 9.94271922e-01 -3.00139945e-03 1.97922468e+01] [ 5.06441427e-02 -2.42707743e-03 9.98713813e-01 1.15791878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.605099893 meters 0.02219339564383985 Centerline is valid? [True, True] Translation: X:280.27, Y:19.80, Z:11.58 [[ 9.93377086e-01 -1.03416518e-01 -5.00698359e-02 2.80269236e+02] [ 1.03397827e-01 9.94635645e-01 -2.97032280e-03 1.97987201e+01] [ 5.01084240e-02 -2.22646161e-03 9.98741302e-01 1.15820350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.665099893 meters 0.017977743266010798 Centerline is valid? [True, True] Translation: X:280.33, Y:19.81, Z:11.58 [[ 9.94306808e-01 -9.47618607e-02 -4.87253630e-02 2.80328585e+02] [ 9.47336795e-02 9.95498449e-01 -2.89259688e-03 1.98115944e+01] [ 4.87801312e-02 -1.73980415e-03 9.98808026e-01 1.15847608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.725099893 meters 0.01596030886382507 Centerline is valid? [True, True] Translation: X:280.39, Y:19.82, Z:11.59 [[ 9.95439136e-01 -8.29013474e-02 -4.72048015e-02 2.80387386e+02] [ 8.28615540e-02 9.96557128e-01 -2.80257352e-03 1.98231253e+01] [ 4.72746185e-02 -1.12167184e-03 9.98881300e-01 1.15870948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.785099893 meters 0.014053986384277507 Centerline is valid? [True, True] Translation: X:280.45, Y:19.83, Z:11.59 [[ 9.96088518e-01 -7.45540716e-02 -4.74273620e-02 2.80446227e+02] [ 7.45043909e-02 9.97216707e-01 -2.81688648e-03 1.98348192e+01] [ 4.75053681e-02 -7.27678440e-04 9.98870718e-01 1.15894578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.845099893 meters 0.012999721589403756 Centerline is valid? [True, True] Translation: X:280.50, Y:19.85, Z:11.59 [[ 9.96910389e-01 -6.35845892e-02 -4.61158921e-02 2.80503535e+02] [ 6.35257955e-02 9.97976433e-01 -2.74083349e-03 1.98473742e+01] [ 4.61968483e-02 -1.97183354e-04 9.98932336e-01 1.15921039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.905099893 meters 0.01301790931460464 Centerline is valid? [True, True] Translation: X:280.56, Y:19.86, Z:11.59 [[ 9.97326022e-01 -5.72086620e-02 -4.54749967e-02 2.80560483e+02] [ 5.71446528e-02 9.98362238e-01 -2.70739230e-03 1.98561548e+01] [ 4.55554058e-02 1.01499893e-04 9.98961808e-01 1.15948775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.965099893 meters 0.0135185684927691 Centerline is valid? [True, True] Translation: X:280.62, Y:19.86, Z:11.60 [[ 9.97713160e-01 -5.05582916e-02 -4.48587732e-02 2.80618954e+02] [ 5.04887210e-02 9.98721027e-01 -2.68325449e-03 1.98646612e+01] [ 4.49370608e-02 4.12256235e-04 9.98989735e-01 1.15974984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.025099893 meters 0.013885221185088724 Centerline is valid? [True, True] Translation: X:280.68, Y:19.87, Z:11.60 [[ 9.97778622e-01 -4.98902878e-02 -4.41449939e-02 2.80676356e+02] [ 4.98217811e-02 9.98754605e-01 -2.65141089e-03 1.98683927e+01] [ 4.42222956e-02 4.46138879e-04 9.99021616e-01 1.15992862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.085099893 meters 0.01343820203840362 Centerline is valid? [True, True] Translation: X:280.74, Y:19.87, Z:11.60 [[ 9.97532543e-01 -5.47449682e-02 -4.39523962e-02 2.80735030e+02] [ 5.46815781e-02 9.98500342e-01 -2.64413075e-03 1.98667885e+01] [ 4.40312355e-02 2.34220087e-04 9.99030127e-01 1.16007768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14509989299995 meters 0.013471727317072042 Centerline is valid? [True, True] Translation: X:280.79, Y:19.87, Z:11.60 [[ 9.97252953e-01 -5.97516427e-02 -4.37754447e-02 2.80793373e+02] [ 5.96931106e-02 9.98213274e-01 -2.64422475e-03 1.98662971e+01] [ 4.38552268e-02 2.38684776e-05 9.99037896e-01 1.16030341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20509989299995 meters 0.013999974050938991 Centerline is valid? [True, True] Translation: X:280.85, Y:19.86, Z:11.61 [[ 9.96674081e-01 -6.92602783e-02 -4.29393862e-02 2.80852160e+02] [ 6.92126079e-02 9.97598550e-01 -2.59763586e-03 1.98609965e+01] [ 4.30161824e-02 -3.82950563e-04 9.99074302e-01 1.16055460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26509989299996 meters 0.015402474910568741 Centerline is valid? [True, True] Translation: X:280.91, Y:19.85, Z:11.61 [[ 9.96007249e-01 -7.87720652e-02 -4.20062094e-02 2.80912148e+02] [ 7.87344598e-02 9.96892359e-01 -2.55145969e-03 1.98545279e+01] [ 4.20766530e-02 -7.66063864e-04 9.99114092e-01 1.16082801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32509989299996 meters 0.016466652109229426 Centerline is valid? [True, True] Translation: X:280.97, Y:19.85, Z:11.61 [[ 9.95582807e-01 -8.38094856e-02 -4.23183781e-02 2.80972811e+02] [ 8.37757988e-02 9.96481310e-01 -2.57195756e-03 1.98526679e+01] [ 4.23850273e-02 -9.84659208e-04 9.99100866e-01 1.16106128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38509989299996 meters 0.016747301789154952 Centerline is valid? [True, True] Translation: X:281.03, Y:19.85, Z:11.61 [[ 9.95221385e-01 -8.61444354e-02 -4.59731548e-02 2.81033046e+02] [ 8.61071640e-02 9.96281963e-01 -2.79415645e-03 1.98519686e+01] [ 4.60429259e-02 -1.17781373e-03 9.98938768e-01 1.16093813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.44509989299996 meters 0.016681673326641083 Centerline is valid? [True, True] Translation: X:281.09, Y:19.85, Z:11.61 [[ 9.95367483e-01 -8.51972150e-02 -4.45534365e-02 2.81092041e+02] [ 8.51611978e-02 9.96363503e-01 -2.70929566e-03 1.98545000e+01] [ 4.46222425e-02 -1.09747922e-03 9.99003329e-01 1.16128953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.50509989299997 meters 0.0158268054638781 Centerline is valid? [True, True] Translation: X:281.15, Y:19.86, Z:11.62 [[ 9.95756682e-01 -8.02000998e-02 -4.51284179e-02 2.81151672e+02] [ 8.01575189e-02 9.96778401e-01 -2.75529604e-03 1.98589062e+01] [ 4.52040073e-02 -8.73777567e-04 9.98977394e-01 1.16162686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.56509989299997 meters 0.014860254062392 Centerline is valid? [True, True] Translation: X:281.21, Y:19.87, Z:11.62 [[ 9.96295694e-01 -7.27029110e-02 -4.59257768e-02 2.81209701e+02] [ 7.26507645e-02 9.97353495e-01 -2.80580085e-03 1.98657130e+01] [ 4.60082239e-02 -5.41135489e-04 9.98940914e-01 1.16176281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.62509989299997 meters 0.013947043001677371 Centerline is valid? [True, True] Translation: X:281.27, Y:19.87, Z:11.62 [[ 9.96801904e-01 -6.40191621e-02 -4.78279312e-02 2.81267868e+02] [ 6.39523905e-02 9.97948659e-01 -2.92658181e-03 1.98735621e+01] [ 4.79171772e-02 -1.41488214e-04 9.98851302e-01 1.16190231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.685099893 meters 0.014199735544167006 Centerline is valid? [True, True] Translation: X:281.33, Y:19.88, Z:11.62 [[ 9.97239393e-01 -5.49723378e-02 -4.99162723e-02 2.81326691e+02] [ 5.48876150e-02 9.98487827e-01 -3.06750258e-03 1.98794297e+01] [ 5.00094180e-02 3.19249283e-04 9.98748695e-01 1.16201867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.745099893 meters 0.014560584535320945 Centerline is valid? [True, True] Translation: X:281.38, Y:19.88, Z:11.62 [[ 9.97546148e-01 -4.94650642e-02 -4.95468483e-02 2.81384731e+02] [ 4.93742327e-02 9.98775673e-01 -3.05624155e-03 1.98845963e+01] [ 4.96373639e-02 6.02404373e-04 9.98767125e-01 1.16230085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.805099893 meters 0.015171649409229606 Centerline is valid? [True, True] Translation: X:281.44, Y:19.89, Z:11.63 [[ 9.97794823e-01 -4.58096149e-02 -4.80309251e-02 2.81442895e+02] [ 4.57197746e-02 9.98949895e-01 -2.96799508e-03 1.98884789e+01] [ 4.81164503e-02 7.65487058e-04 9.98841439e-01 1.16267631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.865099893 meters 0.015038931945379046 Centerline is valid? [True, True] Translation: X:281.50, Y:19.89, Z:11.63 [[ 9.97823770e-01 -4.55333215e-02 -4.76911015e-02 2.81500945e+02] [ 4.54438491e-02 9.98962512e-01 -2.95921855e-03 1.98868378e+01] [ 4.77763656e-02 7.85511389e-04 9.98857749e-01 1.16293643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.925099893 meters 0.014827393743520299 Centerline is valid? [True, True] Translation: X:281.56, Y:19.89, Z:11.63 [[ 9.97607917e-01 -4.95760041e-02 -4.81732775e-02 2.81558554e+02] [ 4.94887920e-02 9.98770167e-01 -3.00214696e-03 1.98855040e+01] [ 4.82628669e-02 6.10928269e-04 9.98834482e-01 1.16309860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.985099893 meters 0.014130460263440716 Centerline is valid? [True, True] Translation: X:281.62, Y:19.88, Z:11.63 [[ 9.97277980e-01 -5.67836914e-02 -4.70344824e-02 2.81617598e+02] [ 5.67083301e-02 9.98386470e-01 -2.93615084e-03 1.98813763e+01] [ 4.71253164e-02 2.60911625e-04 9.98888951e-01 1.16339288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.045099893 meters 0.014363437073117474 Centerline is valid? [True, True] Translation: X:281.68, Y:19.87, Z:11.64 [[ 9.96461253e-01 -7.07762598e-02 -4.53397452e-02 2.81676697e+02] [ 7.07201986e-02 9.97492145e-01 -2.84133747e-03 1.98710044e+01] [ 4.54271390e-02 -3.75153095e-04 9.98967584e-01 1.16380908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.105099893 meters 0.015503088967590983 Centerline is valid? [True, True] Translation: X:281.74, Y:19.87, Z:11.64 [[ 9.95755421e-01 -8.05184459e-02 -4.45861054e-02 2.81736779e+02] [ 8.04735122e-02 9.96752802e-01 -2.80469707e-03 1.98657340e+01] [ 4.46671553e-02 -7.95208177e-04 9.99001608e-01 1.16410114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.165099893 meters 0.01920524459405184 Centerline is valid? [True, True] Translation: X:281.80, Y:19.86, Z:11.64 [[ 9.94466677e-01 -9.49814776e-02 -4.48837079e-02 2.81797415e+02] [ 9.49505643e-02 9.95477980e-01 -2.82501876e-03 1.98560412e+01] [ 4.49490673e-02 -1.45234637e-03 9.98988224e-01 1.16427054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.225099893 meters 0.023776768496431427 Centerline is valid? [True, True] Translation: X:281.86, Y:19.85, Z:11.64 [[ 9.92804840e-01 -1.10685747e-01 -4.56860486e-02 2.81858065e+02] [ 1.10670249e-01 9.93853019e-01 -2.87626581e-03 1.98466162e+01] [ 4.57235790e-02 -2.20051577e-03 9.98951707e-01 1.16435007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.285099893 meters 0.026570056339890426 Centerline is valid? [True, True] Translation: X:281.92, Y:19.85, Z:11.65 [[ 9.91946482e-01 -1.18148904e-01 -4.56400425e-02 2.81918401e+02] [ 1.18141296e-01 9.92992637e-01 -2.87355164e-03 1.98466066e+01] [ 4.56597331e-02 -2.54156432e-03 9.98953817e-01 1.16458133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.345099893 meters 0.028421848211516335 Centerline is valid? [True, True] Translation: X:281.98, Y:19.85, Z:11.65 [[ 9.91774812e-01 -1.19396404e-01 -4.61217993e-02 2.81976344e+02] [ 1.19389944e-01 9.92843192e-01 -2.90463692e-03 1.98490726e+01] [ 4.61385176e-02 -2.62573331e-03 9.98931601e-01 1.16476900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.405099893 meters 0.03027230950763083 Centerline is valid? [True, True] Translation: X:282.03, Y:19.85, Z:11.65 [[ 9.91747188e-01 -1.19506775e-01 -4.64289367e-02 2.82033943e+02] [ 1.19500144e-01 9.92829865e-01 -2.92841766e-03 1.98508057e+01] [ 4.64460007e-02 -2.64401463e-03 9.98917303e-01 1.16490330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.465099893 meters 0.028235705108011593 Centerline is valid? [True, True] Translation: X:282.09, Y:19.86, Z:11.65 [[ 9.91742478e-01 -1.19067902e-01 -4.76412938e-02 2.82092782e+02] [ 1.19060071e-01 9.92882484e-01 -3.01219346e-03 1.98590440e+01] [ 4.76608616e-02 -2.68485561e-03 9.98859967e-01 1.16502883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.525099893 meters 0.02643996904741377 Centerline is valid? [True, True] Translation: X:282.15, Y:19.87, Z:11.65 [[ 9.91928696e-01 -1.17507771e-01 -4.76380684e-02 2.82151607e+02] [ 1.17497615e-01 9.93068563e-01 -3.02315165e-03 1.98679482e+01] [ 4.76631119e-02 -2.59860857e-03 9.98860088e-01 1.16523581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.585099893 meters 0.024633141575355528 Centerline is valid? [True, True] Translation: X:282.21, Y:19.88, Z:11.66 [[ 9.92528235e-01 -1.12506065e-01 -4.72238043e-02 2.82211041e+02] [ 1.12489970e-01 9.93648311e-01 -3.00675246e-03 1.98803867e+01] [ 4.72621313e-02 -2.32791762e-03 9.98879808e-01 1.16551098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64509989299995 meters 0.022276015009534966 Centerline is valid? [True, True] Translation: X:282.27, Y:19.89, Z:11.66 [[ 9.93263617e-01 -1.05769204e-01 -4.73314221e-02 2.82270969e+02] [ 1.05745393e-01 9.94388671e-01 -3.01377347e-03 1.98948873e+01] [ 4.73845943e-02 -2.01160832e-03 9.98874694e-01 1.16577010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70509989299995 meters 0.01987946023545602 Centerline is valid? [True, True] Translation: X:282.33, Y:19.91, Z:11.66 [[ 9.94189387e-01 -9.72364490e-02 -4.61793928e-02 2.82330439e+02] [ 9.72045815e-02 9.95260078e-01 -2.94054517e-03 1.99097459e+01] [ 4.62464342e-02 -1.56538975e-03 9.98928835e-01 1.16613450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76509989299996 meters 0.016989229827451505 Centerline is valid? [True, True] Translation: X:282.39, Y:19.93, Z:11.67 [[ 9.95287958e-01 -8.61840942e-02 -4.44317749e-02 2.82390294e+02] [ 8.61435838e-02 9.96278715e-01 -2.82921526e-03 1.99266489e+01] [ 4.45102649e-02 -1.01162844e-03 9.99008415e-01 1.16650365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82509989299996 meters 0.01545257686705879 Centerline is valid? [True, True] Translation: X:282.45, Y:19.94, Z:11.67 [[ 9.95976863e-01 -7.83202355e-02 -4.35434062e-02 2.82448960e+02] [ 7.82738393e-02 9.96928042e-01 -2.77208739e-03 1.99390363e+01] [ 4.36267532e-02 -6.47374676e-04 9.99047690e-01 1.16675925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88509989299996 meters 0.014367347406778724 Centerline is valid? [True, True] Translation: X:282.51, Y:19.95, Z:11.67 [[ 9.96678950e-01 -6.86725309e-02 -4.37624650e-02 2.82506560e+02] [ 6.86162940e-02 9.97639230e-01 -2.78766185e-03 1.99530595e+01] [ 4.38505876e-02 -2.24414272e-04 9.99038075e-01 1.16689729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.94509989299996 meters 0.014153698962015739 Centerline is valid? [True, True] Translation: X:282.56, Y:19.96, Z:11.67 [[ 9.96852237e-01 -6.55889973e-02 -4.45387681e-02 2.82564082e+02] [ 6.55275039e-02 9.97846720e-01 -2.84082693e-03 1.99620587e+01] [ 4.46291906e-02 -8.66296202e-05 9.99003618e-01 1.16705162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.00509989299997 meters 0.01414873181348965 Centerline is valid? [True, True] Translation: X:282.62, Y:19.97, Z:11.67 [[ 9.96887398e-01 -6.57370155e-02 -4.35219557e-02 2.82621735e+02] [ 6.56779219e-02 9.97836980e-01 -2.78784149e-03 1.99685596e+01] [ 4.36110812e-02 -7.92675532e-05 9.99048581e-01 1.16733826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.06509989299997 meters 0.014364830591823929 Centerline is valid? [True, True] Translation: X:282.68, Y:19.97, Z:11.68 [[ 9.96712361e-01 -6.90685850e-02 -4.23556297e-02 2.82679457e+02] [ 6.90151373e-02 9.97611892e-01 -2.72458138e-03 1.99705485e+01] [ 4.24426629e-02 -2.07555664e-04 9.99098883e-01 1.16760773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.12509989299997 meters 0.015333266115703303 Centerline is valid? [True, True] Translation: X:282.74, Y:19.97, Z:11.68 [[ 9.96189950e-01 -7.78833396e-02 -3.92398810e-02 2.82738267e+02] [ 7.78441190e-02 9.96962336e-01 -2.52873158e-03 1.99700297e+01] [ 3.93176295e-02 -5.35496979e-04 9.99226620e-01 1.16806332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.185099893 meters 0.017470587443928903 Centerline is valid? [True, True] Translation: X:282.80, Y:19.97, Z:11.68 [[ 9.95156669e-01 -9.00434386e-02 -3.94383464e-02 2.82799223e+02] [ 9.00129350e-02 9.95937327e-01 -2.55205977e-03 1.99659415e+01] [ 3.95079175e-02 -1.01026201e-03 9.99218747e-01 1.16828396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.245099893 meters 0.02160184536220452 Centerline is valid? [True, True] Translation: X:282.86, Y:19.96, Z:11.68 [[ 9.93929958e-01 -1.01607401e-01 -4.21802577e-02 2.82860005e+02] [ 1.01582888e-01 9.94823334e-01 -2.72966033e-03 1.99590577e+01] [ 4.22392582e-02 -1.57170121e-03 9.99106288e-01 1.16820150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.305099893 meters 0.025158656245869052 Centerline is valid? [True, True] Translation: X:282.92, Y:19.96, Z:11.69 [[ 9.93162423e-01 -1.09839667e-01 -3.95429961e-02 2.82920178e+02] [ 1.09824640e-01 9.93947686e-01 -2.55865339e-03 1.99560798e+01] [ 3.95847111e-02 -1.80163690e-03 9.99214594e-01 1.16870167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.365099893 meters 0.02451650651653446 Centerline is valid? [True, True] Translation: X:282.98, Y:19.96, Z:11.69 [[ 9.92831354e-01 -1.12975899e-01 -3.90172783e-02 2.82981548e+02] [ 1.12963683e-01 9.93595910e-01 -2.52463186e-03 1.99600984e+01] [ 3.90526307e-02 -1.90100181e-03 9.99235347e-01 1.16897062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.425099893 meters 0.02403866316526717 Centerline is valid? [True, True] Translation: X:283.04, Y:19.96, Z:11.69 [[ 9.92599147e-01 -1.14982403e-01 -3.90637989e-02 2.83042980e+02] [ 1.14971757e-01 9.93365548e-01 -2.52638126e-03 1.99646439e+01] [ 3.90951214e-02 -1.98354970e-03 9.99233525e-01 1.16910432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.485099893 meters 0.028852141267286427 Centerline is valid? [True, True] Translation: X:283.10, Y:19.96, Z:11.69 [[ 9.92582335e-01 -1.15116312e-01 -3.90965747e-02 2.83104516e+02] [ 1.15105901e-01 9.93350018e-01 -2.52468651e-03 1.99624748e+01] [ 3.91272157e-02 -1.99428722e-03 9.99232247e-01 1.16937250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.545099893 meters 0.02730274250500043 Centerline is valid? [True, True] Translation: X:283.17, Y:19.97, Z:11.70 [[ 9.92585437e-01 -1.14955488e-01 -3.94890494e-02 2.83166534e+02] [ 1.14944826e-01 9.93368610e-01 -2.54786582e-03 1.99704034e+01] [ 3.95200732e-02 -2.01008741e-03 9.99216755e-01 1.16970413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.605099893 meters 0.026814253075049876 Centerline is valid? [True, True] Translation: X:283.23, Y:19.98, Z:11.70 [[ 9.92675016e-01 -1.14015041e-01 -3.99610114e-02 2.83228130e+02] [ 1.14003478e-01 9.93477012e-01 -2.57544753e-03 1.99769895e+01] [ 3.99939859e-02 -1.99911187e-03 9.99197921e-01 1.16997187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.665099893 meters 0.02408184723302621 Centerline is valid? [True, True] Translation: X:283.29, Y:19.99, Z:11.70 [[ 9.92831164e-01 -1.12381945e-01 -4.07010778e-02 2.83288695e+02] [ 1.12368705e-01 9.93663127e-01 -2.62015709e-03 1.99863574e+01] [ 4.07376186e-02 -1.97215377e-03 9.99167932e-01 1.17020047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.725099893 meters 0.023580787316967118 Centerline is valid? [True, True] Translation: X:283.35, Y:19.99, Z:11.70 [[ 9.93195012e-01 -1.08439854e-01 -4.24790058e-02 2.83348423e+02] [ 1.08421905e-01 9.94101213e-01 -2.73300147e-03 1.99931768e+01] [ 4.25247975e-02 -1.89125131e-03 9.99093622e-01 1.17037075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.785099893 meters 0.022455365014657926 Centerline is valid? [True, True] Translation: X:283.41, Y:20.00, Z:11.71 [[ 9.93580006e-01 -1.04403253e-01 -4.35744419e-02 2.83408930e+02] [ 1.04380494e-01 9.94533485e-01 -2.80344982e-03 2.00003220e+01] [ 4.36289309e-02 -1.76287009e-03 9.99046250e-01 1.17061054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.845099893 meters 0.01894117443357574 Centerline is valid? [True, True] Translation: X:283.47, Y:20.01, Z:11.71 [[ 9.94469585e-01 -9.56555524e-02 -4.33619655e-02 2.83468963e+02] [ 9.56247391e-02 9.95413548e-01 -2.78903872e-03 2.00136841e+01] [ 4.34298749e-02 -1.37286246e-03 9.99055535e-01 1.17105916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.905099893 meters 0.017218612813607686 Centerline is valid? [True, True] Translation: X:283.53, Y:20.02, Z:11.71 [[ 9.94794163e-01 -9.21298804e-02 -4.35506365e-02 2.83529957e+02] [ 9.20954261e-02 9.95746246e-01 -2.80111295e-03 2.00223059e+01] [ 4.36234490e-02 -1.22428361e-03 9.99047294e-01 1.17137866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.965099893 meters 0.015802205296978115 Centerline is valid? [True, True] Translation: X:283.59, Y:20.03, Z:11.72 [[ 9.95368187e-01 -8.52441273e-02 -4.44478533e-02 2.83589800e+02] [ 8.52014480e-02 9.96359649e-01 -2.85723431e-03 2.00314855e+01] [ 4.45296100e-02 -9.43021331e-04 9.99007620e-01 1.17171084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.025099893 meters 0.014604091249874154 Centerline is valid? [True, True] Translation: X:283.65, Y:20.04, Z:11.72 [[ 9.96021025e-01 -7.75452123e-02 -4.39187711e-02 2.83648884e+02] [ 7.74960628e-02 9.96988661e-01 -2.82315406e-03 2.00392553e+01] [ 4.40054389e-02 -5.91611039e-04 9.99031116e-01 1.17201774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.085099893 meters 0.01367268383942887 Centerline is valid? [True, True] Translation: X:283.71, Y:20.05, Z:11.72 [[ 9.96450760e-01 -7.20045151e-02 -4.36031324e-02 2.83708081e+02] [ 7.19508263e-02 9.97404246e-01 -2.80148630e-03 2.00468776e+01] [ 4.36916690e-02 -3.45738256e-04 9.99045003e-01 1.17232668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14509989299995 meters 0.013429232782988345 Centerline is valid? [True, True] Translation: X:283.77, Y:20.05, Z:11.72 [[ 9.96561019e-01 -6.97653342e-02 -4.47094312e-02 2.83765293e+02] [ 6.97065512e-02 9.97563399e-01 -2.87438572e-03 2.00514771e+01] [ 4.48010247e-02 -2.52039500e-04 9.98995898e-01 1.17248552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20509989299995 meters 0.013240715269017926 Centerline is valid? [True, True] Translation: X:283.82, Y:20.05, Z:11.73 [[ 9.96516212e-01 -6.90182343e-02 -4.68179665e-02 2.83823905e+02] [ 6.89527047e-02 9.97615373e-01 -3.01515655e-03 2.00540063e+01] [ 4.69144240e-02 -2.23573033e-04 9.98898887e-01 1.17261615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26509989299996 meters 0.01343189604321594 Centerline is valid? [True, True] Translation: X:283.88, Y:20.05, Z:11.73 [[ 9.96324746e-01 -7.14950150e-02 -4.71748123e-02 2.83882570e+02] [ 7.14306722e-02 9.97440902e-01 -3.05048242e-03 2.00530202e+01] [ 4.72721817e-02 -3.30457436e-04 9.98881991e-01 1.17288978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32509989299996 meters 0.013972288652961072 Centerline is valid? [True, True] Translation: X:283.94, Y:20.05, Z:11.73 [[ 9.96115141e-01 -7.46373655e-02 -4.67320991e-02 2.83940368e+02] [ 7.45771582e-02 9.97210634e-01 -3.03299318e-03 2.00520040e+01] [ 4.68281208e-02 -4.63936719e-04 9.98902854e-01 1.17316614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.38509989299996 meters 0.014940536175770564 Centerline is valid? [True, True] Translation: X:284.00, Y:20.05, Z:11.74 [[ 9.95571499e-01 -8.15851267e-02 -4.67039292e-02 2.83999805e+02] [ 8.15323932e-02 9.96666068e-01 -3.03615776e-03 2.00475186e+01] [ 4.67959268e-02 -7.85170990e-04 9.98904162e-01 1.17354255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.44509989299996 meters 0.015808768056157652 Centerline is valid? [True, True] Translation: X:284.06, Y:20.04, Z:11.74 [[ 9.95113893e-01 -8.71289990e-02 -4.64421929e-02 2.84059430e+02] [ 8.70823889e-02 9.96196506e-01 -3.02977468e-03 2.00448944e+01] [ 4.65295315e-02 -1.02932622e-03 9.98916384e-01 1.17382040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.50509989299997 meters 0.01787400042747104 Centerline is valid? [True, True] Translation: X:284.12, Y:20.04, Z:11.74 [[ 9.94325605e-01 -9.58892187e-02 -4.60635327e-02 2.84120262e+02] [ 9.58526725e-02 9.95390991e-01 -3.00667052e-03 2.00389976e+01] [ 4.61395328e-02 -1.42570323e-03 9.98933987e-01 1.17414352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.56509989299997 meters 0.019100317227462308 Centerline is valid? [True, True] Translation: X:284.18, Y:20.04, Z:11.74 [[ 9.93830835e-01 -1.00730486e-01 -4.64073352e-02 2.84180577e+02] [ 1.00698619e-01 9.94912362e-01 -3.02996807e-03 2.00376286e+01] [ 4.64764416e-02 -1.66187888e-03 9.98918004e-01 1.17439583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.62509989299997 meters 0.022126610215515326 Centerline is valid? [True, True] Translation: X:284.24, Y:20.03, Z:11.75 [[ 9.93353207e-01 -1.05354591e-01 -4.63661101e-02 2.84240623e+02] [ 1.05327766e-01 9.94432950e-01 -3.02812800e-03 2.00324288e+01] [ 4.64270149e-02 -1.87563814e-03 9.98919924e-01 1.17454825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.685099893 meters 0.02238080330870752 Centerline is valid? [True, True] Translation: X:284.30, Y:20.03, Z:11.75 [[ 9.93211324e-01 -1.06571225e-01 -4.66244607e-02 2.84300586e+02] [ 1.06545395e-01 9.94303174e-01 -3.04593261e-03 2.00328141e+01] [ 4.66834580e-02 -1.94236680e-03 9.98907845e-01 1.17471203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.745099893 meters 0.02019840175629517 Centerline is valid? [True, True] Translation: X:284.36, Y:20.04, Z:11.75 [[ 9.93504852e-01 -1.03542433e-01 -4.71918856e-02 2.84360022e+02] [ 1.03512479e-01 9.94623372e-01 -3.08470966e-03 2.00394163e+01] [ 4.72575507e-02 -1.82027507e-03 9.98881079e-01 1.17491909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.805099893 meters 0.01712519302032219 Centerline is valid? [True, True] Translation: X:284.42, Y:20.05, Z:11.75 [[ 9.94508503e-01 -9.35277346e-02 -4.69616842e-02 2.84420040e+02] [ 9.34868419e-02 9.95615778e-01 -3.07120555e-03 2.00495040e+01] [ 4.70430366e-02 -1.33595951e-03 9.98891970e-01 1.17517902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.865099893 meters 0.014941009678160524 Centerline is valid? [True, True] Translation: X:284.48, Y:20.06, Z:11.75 [[ 9.95643104e-01 -8.06740305e-02 -4.67601390e-02 2.84478401e+02] [ 8.06193004e-02 9.96740275e-01 -3.05826557e-03 2.00597432e+01] [ 4.68544364e-02 -7.24828664e-04 9.98901465e-01 1.17541278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.925099893 meters 0.013841861446265522 Centerline is valid? [True, True] Translation: X:284.54, Y:20.07, Z:11.76 [[ 9.96205727e-01 -7.37367468e-02 -4.62281379e-02 2.84536708e+02] [ 7.36757305e-02 9.97277663e-01 -3.02469254e-03 2.00681229e+01] [ 4.63253204e-02 -3.92675796e-04 9.98926329e-01 1.17570814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.985099893 meters 0.013474640107304037 Centerline is valid? [True, True] Translation: X:284.59, Y:20.07, Z:11.76 [[ 9.96479489e-01 -6.93760168e-02 -4.70701289e-02 2.84594271e+02] [ 6.93077260e-02 9.97590563e-01 -3.08332108e-03 2.00736009e+01] [ 4.71706249e-02 -1.89857383e-04 9.98886828e-01 1.17583618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.045099893 meters 0.013571087240570176 Centerline is valid? [True, True] Translation: X:284.65, Y:20.07, Z:11.76 [[ 9.96336762e-01 -7.08980983e-02 -4.78175348e-02 2.84652867e+02] [ 7.08291201e-02 9.97483530e-01 -3.13753356e-03 2.00749295e+01] [ 4.79196486e-02 -2.60833893e-04 9.98851160e-01 1.17598286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.105099893 meters 0.014033080502182665 Centerline is valid? [True, True] Translation: X:284.71, Y:20.07, Z:11.76 [[ 9.95831638e-01 -7.76204500e-02 -4.79000371e-02 2.84711287e+02] [ 7.75584691e-02 9.96982816e-01 -3.15401736e-03 2.00731939e+01] [ 4.80003301e-02 -5.74183267e-04 9.98847155e-01 1.17623841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.165099893 meters 0.01568705075819671 Centerline is valid? [True, True] Translation: X:284.77, Y:20.07, Z:11.77 [[ 9.95217691e-01 -8.55487875e-02 -4.71503160e-02 2.84770374e+02] [ 8.54974261e-02 9.96333542e-01 -3.10868459e-03 2.00696051e+01] [ 4.72433855e-02 -9.37412755e-04 9.98882968e-01 1.17655525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.225099893 meters 0.016535975014875057 Centerline is valid? [True, True] Translation: X:284.83, Y:20.07, Z:11.77 [[ 9.94808055e-01 -9.03993951e-02 -4.67427428e-02 2.84830270e+02] [ 9.03541516e-02 9.95904923e-01 -3.08421815e-03 2.00695911e+01] [ 4.68301391e-02 -1.15519581e-03 9.98902199e-01 1.17691330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.285099893 meters 0.017660436943538946 Centerline is valid? [True, True] Translation: X:284.89, Y:20.07, Z:11.77 [[ 9.94234070e-01 -9.69451607e-02 -4.58284781e-02 2.84890506e+02] [ 9.69085385e-02 9.95288693e-01 -3.02544554e-03 2.00692856e+01] [ 4.59058683e-02 -1.43316980e-03 9.98944742e-01 1.17721820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.345099893 meters 0.01976241193647476 Centerline is valid? [True, True] Translation: X:284.95, Y:20.07, Z:11.78 [[ 9.93812558e-01 -1.01617159e-01 -4.48391780e-02 2.84948691e+02] [ 1.01586802e-01 9.94822272e-01 -2.96110232e-03 2.00683703e+01] [ 4.49079118e-02 -1.61228804e-03 9.98989830e-01 1.17750687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.405099893 meters 0.02071278490303382 Centerline is valid? [True, True] Translation: X:285.01, Y:20.07, Z:11.78 [[ 9.93245257e-01 -1.06994175e-01 -4.49010789e-02 2.85009079e+02] [ 1.06969075e-01 9.94257917e-01 -2.96829155e-03 2.00696681e+01] [ 4.49608431e-02 -1.85478538e-03 9.98987028e-01 1.17774676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.465099893 meters 0.025801447170100637 Centerline is valid? [True, True] Translation: X:285.07, Y:20.07, Z:11.78 [[ 9.92037910e-01 -1.17215368e-01 -4.60580397e-02 2.85068472e+02] [ 1.17199894e-01 9.93103675e-01 -3.04561269e-03 2.00652393e+01] [ 4.60974010e-02 -2.37663411e-03 9.98934123e-01 1.17797177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.525099893 meters 0.02888800006085472 Centerline is valid? [True, True] Translation: X:285.13, Y:20.07, Z:11.78 [[ 9.90869449e-01 -1.26701796e-01 -4.60911075e-02 2.85128474e+02] [ 1.26696489e-01 9.91936847e-01 -3.04828969e-03 2.00653556e+01] [ 4.61056916e-02 -2.81912438e-03 9.98932589e-01 1.17830696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.585099893 meters 0.03166758760067895 Centerline is valid? [True, True] Translation: X:285.19, Y:20.07, Z:11.78 [[ 9.90354668e-01 -1.30189237e-01 -4.74172313e-02 2.85188309e+02] [ 1.30187584e-01 9.91484420e-01 -3.13637502e-03 2.00663421e+01] [ 4.74217684e-02 -3.06701116e-03 9.98870246e-01 1.17849262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64509989299995 meters 0.03346484321318625 Centerline is valid? [True, True] Translation: X:285.25, Y:20.07, Z:11.79 [[ 9.90172785e-01 -1.31242338e-01 -4.83042854e-02 2.85247514e+02] [ 1.31241797e-01 9.91345234e-01 -3.19661707e-03 2.00711584e+01] [ 4.83057546e-02 -3.17433800e-03 9.98827552e-01 1.17862619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70509989299995 meters 0.030531114787981987 Centerline is valid? [True, True] Translation: X:285.31, Y:20.08, Z:11.79 [[ 9.90342099e-01 -1.29763675e-01 -4.88253574e-02 2.85306869e+02] [ 1.29761257e-01 9.91539997e-01 -3.23272280e-03 2.00823207e+01] [ 4.88317847e-02 -3.13413826e-03 9.98802100e-01 1.17889302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76509989299996 meters 0.02961519016190129 Centerline is valid? [True, True] Translation: X:285.37, Y:20.09, Z:11.79 [[ 9.90643185e-01 -1.27194991e-01 -4.94723620e-02 2.85366256e+02] [ 1.27189276e-01 9.91873053e-01 -3.27646716e-03 2.00913451e+01] [ 4.94870529e-02 -3.04654405e-03 9.98770119e-01 1.17913196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82509989299996 meters 0.028095213629171393 Centerline is valid? [True, True] Translation: X:285.43, Y:20.10, Z:11.79 [[ 9.90976288e-01 -1.24648700e-01 -4.92818261e-02 2.85425821e+02] [ 1.24639836e-01 9.92196680e-01 -3.26499298e-03 2.01016886e+01] [ 4.93042413e-02 -2.90694807e-03 9.98779576e-01 1.17946296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.88509989299996 meters 0.02797531075559406 Centerline is valid? [True, True] Translation: X:285.48, Y:20.11, Z:11.80 [[ 9.91404528e-01 -1.21422288e-01 -4.87205267e-02 2.85484943e+02] [ 1.21409627e-01 9.92597234e-01 -3.23012328e-03 2.01124402e+01] [ 4.87520690e-02 -2.71278210e-03 9.98807227e-01 1.17988144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.94509989299996 meters 0.02752784969805815 Centerline is valid? [True, True] Translation: X:285.54, Y:20.12, Z:11.80 [[ 9.91689673e-01 -1.19082297e-01 -4.86929076e-02 2.85544701e+02] [ 1.19066797e-01 9.92880995e-01 -3.22916052e-03 2.01207819e+01] [ 4.87307984e-02 -2.59538339e-03 9.98808577e-01 1.18015988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.00509989299997 meters 0.026185040545403607 Centerline is valid? [True, True] Translation: X:285.60, Y:20.13, Z:11.80 [[ 9.92254279e-01 -1.14125859e-01 -4.90584695e-02 2.85604801e+02] [ 1.14104045e-01 9.93463476e-01 -3.25417657e-03 2.01316901e+01] [ 4.91091833e-02 -2.36879920e-03 9.98790607e-01 1.18036179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.06509989299997 meters 0.0210446493496296 Centerline is valid? [True, True] Translation: X:285.66, Y:20.15, Z:11.81 [[ 9.93079069e-01 -1.06499101e-01 -4.95166964e-02 2.85664212e+02] [ 1.06467410e-01 9.94310767e-01 -3.28468496e-03 2.01493131e+01] [ 4.95848004e-02 -2.00996251e-03 9.98767895e-01 1.18076831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.12509989299997 meters 0.018799308702414672 Centerline is valid? [True, True] Translation: X:285.72, Y:20.16, Z:11.81 [[ 9.93693772e-01 -1.00141603e-01 -5.04415088e-02 2.85724020e+02] [ 1.00100554e-01 9.94971701e-01 -3.34574272e-03 2.01606568e+01] [ 5.05229219e-02 -1.72457926e-03 9.98721413e-01 1.18102743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.185099893 meters 0.0177999712861666 Centerline is valid? [True, True] Translation: X:285.78, Y:20.17, Z:11.81 [[ 9.94378455e-01 -9.28744077e-02 -5.08510881e-02 2.85782788e+02] [ 9.28232030e-02 9.95676894e-01 -3.37276195e-03 2.01694332e+01] [ 5.09444968e-02 -1.36635906e-03 9.98700551e-01 1.18119573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.245099893 meters 0.014428414798769778 Centerline is valid? [True, True] Translation: X:285.84, Y:20.19, Z:11.82 [[ 9.95375837e-01 -8.12484006e-02 -5.12410045e-02 2.85842427e+02] [ 8.11809229e-02 9.96693582e-01 -3.40021361e-03 2.01856184e+01] [ 5.13478422e-02 -7.75301565e-04 9.98680528e-01 1.18158211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.305099893 meters 0.01362052313597985 Centerline is valid? [True, True] Translation: X:285.90, Y:20.20, Z:11.82 [[ 9.96111884e-01 -7.12817022e-02 -5.17690400e-02 2.85900024e+02] [ 7.11993112e-02 9.97456189e-01 -3.43632083e-03 2.01965017e+01] [ 5.18822962e-02 -2.62959979e-04 9.98653172e-01 1.18169197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.365099893 meters 0.013413594325769147 Centerline is valid? [True, True] Translation: X:285.96, Y:20.20, Z:11.82 [[ 9.96403128e-01 -6.76798365e-02 -5.09926075e-02 2.85958665e+02] [ 6.75949154e-02 9.97707089e-01 -3.39005051e-03 2.02034076e+01] [ 5.11051240e-02 -6.89840572e-05 9.98693277e-01 1.18197313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.425099893 meters 0.01331675794893759 Centerline is valid? [True, True] Translation: X:286.02, Y:20.21, Z:11.82 [[ 9.96457456e-01 -6.73932849e-02 -5.03059047e-02 2.86016175e+02] [ 6.73096300e-02 9.97726487e-01 -3.35711531e-03 2.02074512e+01] [ 5.04177806e-02 -4.08492516e-05 9.98728214e-01 1.18222401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.485099893 meters 0.013294151999412154 Centerline is valid? [True, True] Translation: X:286.07, Y:20.21, Z:11.82 [[ 9.96241255e-01 -7.04266275e-02 -5.04326573e-02 2.86073834e+02] [ 7.03457075e-02 9.97516946e-01 -3.37992246e-03 2.02091100e+01] [ 5.05454668e-02 -1.80502771e-04 9.98721745e-01 1.18243550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.545099893 meters 0.013896282383274894 Centerline is valid? [True, True] Translation: X:286.13, Y:20.21, Z:11.83 [[ 9.95606839e-01 -7.91223629e-02 -5.00666856e-02 2.86133201e+02] [ 7.90528874e-02 9.96864729e-01 -3.36945607e-03 2.02061316e+01] [ 5.01763123e-02 -6.03262548e-04 9.98740193e-01 1.18261087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.605099893 meters 0.01556398885315151 Centerline is valid? [True, True] Translation: X:286.19, Y:20.20, Z:11.83 [[ 9.94806234e-01 -8.96584634e-02 -4.81862749e-02 2.86193758e+02] [ 8.96059489e-02 9.95971983e-01 -3.25323078e-03 2.02008005e+01] [ 4.82838595e-02 -1.08144263e-03 9.98833069e-01 1.18294583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.665099893 meters 0.01836652255561467 Centerline is valid? [True, True] Translation: X:286.25, Y:20.20, Z:11.83 [[ 9.94286557e-01 -9.57891728e-02 -4.71028261e-02 2.86252801e+02] [ 9.57458120e-02 9.95400733e-01 -3.18110582e-03 2.01963027e+01] [ 4.71909031e-02 -1.34696757e-03 9.98884981e-01 1.18315851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.725099893 meters 0.0188577845452164 Centerline is valid? [True, True] Translation: X:286.31, Y:20.20, Z:11.83 [[ 9.93558654e-01 -1.03121628e-01 -4.69801136e-02 2.86312820e+02] [ 1.03086560e-01 9.94667321e-01 -3.17514986e-03 2.01966261e+01] [ 4.70570104e-02 -1.68832069e-03 9.98890778e-01 1.18338813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.785099893 meters 0.020500215522732377 Centerline is valid? [True, True] Translation: X:286.37, Y:20.20, Z:11.84 [[ 9.93117099e-01 -1.06960680e-01 -4.77267341e-02 2.86373960e+02] [ 1.06928887e-01 9.94261437e-01 -3.22613143e-03 2.01968005e+01] [ 4.77979205e-02 -1.89944029e-03 9.98855220e-01 1.18362293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.845099893 meters 0.022660007656599913 Centerline is valid? [True, True] Translation: X:286.43, Y:20.20, Z:11.84 [[ 9.92502308e-01 -1.12669130e-01 -4.73796907e-02 2.86434571e+02] [ 1.12644352e-01 9.93630214e-01 -3.20121875e-03 2.01955625e+01] [ 4.74385708e-02 -2.15983755e-03 9.98871822e-01 1.18377284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.905099893 meters 0.024742080883458615 Centerline is valid? [True, True] Translation: X:286.50, Y:20.20, Z:11.84 [[ 9.91973047e-01 -1.17036670e-01 -4.78737152e-02 2.86495837e+02] [ 1.17016443e-01 9.93124710e-01 -3.23458303e-03 2.01963280e+01] [ 4.79231343e-02 -2.39339268e-03 9.98848159e-01 1.18396761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.965099893 meters 0.026859259364512448 Centerline is valid? [True, True] Translation: X:286.56, Y:20.20, Z:11.84 [[ 9.91253321e-01 -1.22546121e-01 -4.89826687e-02 2.86556238e+02] [ 1.22531696e-01 9.92459086e-01 -3.30851977e-03 2.01987775e+01] [ 4.90187409e-02 -2.72234828e-03 9.98794149e-01 1.18403781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.025099893 meters 0.03037015482740352 Centerline is valid? [True, True] Translation: X:286.62, Y:20.20, Z:11.84 [[ 9.90774785e-01 -1.25946349e-01 -5.00284171e-02 2.86616444e+02] [ 1.25935647e-01 9.92032660e-01 -3.37865040e-03 2.02006340e+01] [ 5.00553524e-02 -2.95287943e-03 9.98742080e-01 1.18410183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.085099893 meters 0.02826575669880016 Centerline is valid? [True, True] Translation: X:286.68, Y:20.21, Z:11.84 [[ 9.90686076e-01 -1.26393167e-01 -5.06543764e-02 2.86677005e+02] [ 1.26382894e-01 9.91975643e-01 -3.41864529e-03 2.02096033e+01] [ 5.06800010e-02 -3.01504239e-03 9.98710392e-01 1.18434139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14509989299995 meters 0.02743934248494783 Centerline is valid? [True, True] Translation: X:286.74, Y:20.22, Z:11.85 [[ 9.90970432e-01 -1.24538968e-01 -4.96754323e-02 2.86738258e+02] [ 1.24526860e-01 9.92210580e-01 -3.35065962e-03 2.02197074e+01] [ 4.97057772e-02 -2.86552098e-03 9.98759793e-01 1.18464745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20509989299995 meters 0.028350376351658484 Centerline is valid? [True, True] Translation: X:286.80, Y:20.23, Z:11.85 [[ 9.91328530e-01 -1.21909335e-01 -4.90495687e-02 2.86797414e+02] [ 1.21894426e-01 9.92537565e-01 -3.30630770e-03 2.02260871e+01] [ 4.90866093e-02 -2.70123187e-03 9.98790873e-01 1.18494810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26509989299996 meters 0.02382353850613291 Centerline is valid? [True, True] Translation: X:286.86, Y:20.24, Z:11.85 [[ 9.92279072e-01 -1.14633752e-01 -4.73428529e-02 2.86856666e+02] [ 1.14611564e-01 9.93405255e-01 -3.19193927e-03 2.02429752e+01] [ 4.73965428e-02 -2.25874386e-03 9.98873599e-01 1.18539824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32509989299996 meters 0.021367275000689866 Centerline is valid? [True, True] Translation: X:286.92, Y:20.26, Z:11.86 [[ 9.93056213e-01 -1.07867800e-01 -4.69456705e-02 2.86916150e+02] [ 1.07838451e-01 9.94163393e-01 -3.16480517e-03 2.02553964e+01] [ 4.70130476e-02 -1.91971895e-03 9.98892431e-01 1.18565132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.38509989299996 meters 0.017706196468215498 Centerline is valid? [True, True] Translation: X:286.98, Y:20.27, Z:11.86 [[ 9.94284045e-01 -9.67321922e-02 -4.51898329e-02 2.86975292e+02] [ 9.66935033e-02 9.95309543e-01 -3.04640088e-03 2.02736184e+01] [ 4.52725570e-02 -1.34057547e-03 9.98973773e-01 1.18607516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.44509989299996 meters 0.015531016908093092 Centerline is valid? [True, True] Translation: X:287.04, Y:20.29, Z:11.86 [[ 9.95256445e-01 -8.61201207e-02 -4.52540890e-02 2.87035220e+02] [ 8.60703515e-02 9.96284391e-01 -3.05077060e-03 2.02877536e+01] [ 4.53486752e-02 -8.58736241e-04 9.98970851e-01 1.18632430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.50509989299997 meters 0.014551535119330855 Centerline is valid? [True, True] Translation: X:287.10, Y:20.30, Z:11.87 [[ 9.95769127e-01 -8.00321078e-02 -4.51520477e-02 2.87096137e+02] [ 7.99763243e-02 9.96792117e-01 -3.04348295e-03 2.02982656e+01] [ 4.52507816e-02 -5.80488450e-04 9.98975490e-01 1.18660906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.56509989299997 meters 0.013907573710953818 Centerline is valid? [True, True] Translation: X:287.16, Y:20.31, Z:11.87 [[ 9.96172764e-01 -7.45145529e-02 -4.56881243e-02 2.87156517e+02] [ 7.44517105e-02 9.97219870e-01 -3.07796412e-03 2.03078959e+01] [ 4.57904585e-02 -3.35374980e-04 9.98951011e-01 1.18684975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.62509989299997 meters 0.013633197971324467 Centerline is valid? [True, True] Translation: X:287.22, Y:20.32, Z:11.87 [[ 9.96605454e-01 -6.74060992e-02 -4.72650767e-02 2.87216848e+02] [ 6.73309223e-02 9.97725622e-01 -3.18264396e-03 2.03179373e+01] [ 4.73721077e-02 -1.05608843e-05 9.98877311e-01 1.18701412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.685099893 meters 0.013612136852067467 Centerline is valid? [True, True] Translation: X:287.28, Y:20.32, Z:11.87 [[ 9.96714322e-01 -6.54270611e-02 -4.77478879e-02 2.87275174e+02] [ 6.53479991e-02 9.97857351e-01 -3.21662830e-03 2.03232093e+01] [ 4.78560354e-02 8.58305625e-05 9.98854240e-01 1.18717956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.745099893 meters 0.013677705530776975 Centerline is valid? [True, True] Translation: X:287.33, Y:20.33, Z:11.87 [[ 9.96979156e-01 -6.09874991e-02 -4.80945687e-02 2.87333548e+02] [ 6.09015292e-02 9.98138481e-01 -3.25222888e-03 2.03306073e+01] [ 4.82033850e-02 3.13371627e-04 9.98837492e-01 1.18749846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.805099893 meters 0.01351467203292344 Centerline is valid? [True, True] Translation: X:287.39, Y:20.33, Z:11.88 [[ 9.96908396e-01 -6.18033913e-02 -4.85179444e-02 2.87391153e+02] [ 6.17162394e-02 9.98088301e-01 -3.29372136e-03 2.03345551e+01] [ 4.86287558e-02 2.89193401e-04 9.98816880e-01 1.18783744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.865099893 meters 0.013208841767726602 Centerline is valid? [True, True] Translation: X:287.45, Y:20.34, Z:11.88 [[ 9.96655031e-01 -6.64517293e-02 -4.75701188e-02 2.87450105e+02] [ 6.63725943e-02 9.97789638e-01 -3.24293615e-03 2.03357902e+01] [ 4.76804704e-02 7.47364295e-05 9.98862637e-01 1.18818493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.925099893 meters 0.013531849090626501 Centerline is valid? [True, True] Translation: X:287.51, Y:20.33, Z:11.89 [[ 9.95861593e-01 -7.79536867e-02 -4.67216231e-02 2.87509083e+02] [ 7.78894416e-02 9.96956877e-01 -3.19682224e-03 2.03305825e+01] [ 4.68286475e-02 -4.55528637e-04 9.98902833e-01 1.18854437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.985099893 meters 0.014662958618254123 Centerline is valid? [True, True] Translation: X:287.57, Y:20.33, Z:11.89 [[ 9.95253306e-01 -8.56665278e-02 -4.61746898e-02 2.87569977e+02] [ 8.56115835e-02 9.96323546e-01 -3.16985728e-03 2.03281308e+01] [ 4.62764814e-02 -7.98277375e-04 9.98928351e-01 1.18885892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.045099893 meters 0.016683116417152838 Centerline is valid? [True, True] Translation: X:287.63, Y:20.32, Z:11.89 [[ 9.94481125e-01 -9.38193910e-02 -4.69597150e-02 2.87631607e+02] [ 9.37716399e-02 9.95588513e-01 -3.22365828e-03 2.03229994e+01] [ 4.70549945e-02 -1.19762217e-03 9.98891582e-01 1.18906745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.105099893 meters 0.017180773118767135 Centerline is valid? [True, True] Translation: X:287.69, Y:20.32, Z:11.89 [[ 9.94248750e-01 -9.63892265e-02 -4.66748346e-02 2.87692759e+02] [ 9.63449233e-02 9.95342853e-01 -3.20318556e-03 2.03233244e+01] [ 4.67662156e-02 -1.31212012e-03 9.98905000e-01 1.18929124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.165099893 meters 0.01765000495643962 Centerline is valid? [True, True] Translation: X:287.75, Y:20.32, Z:11.90 [[ 9.94393011e-01 -9.48933725e-02 -4.66667719e-02 2.87753360e+02] [ 9.48475246e-02 9.95486666e-01 -3.20080842e-03 2.03236916e+01] [ 4.67598847e-02 -1.24336628e-03 9.98905385e-01 1.18959472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.225099893 meters 0.016051588821712415 Centerline is valid? [True, True] Translation: X:287.81, Y:20.33, Z:11.90 [[ 9.94769430e-01 -9.11206288e-02 -4.61607111e-02 2.87814686e+02] [ 9.10718476e-02 9.95839301e-01 -3.16315069e-03 2.03300159e+01] [ 4.62568786e-02 -1.05733564e-03 9.98929018e-01 1.18993058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.285099893 meters 0.014094030390899999 Centerline is valid? [True, True] Translation: X:287.87, Y:20.34, Z:11.90 [[ 9.95478286e-01 -8.28773490e-02 -4.64147315e-02 2.87874960e+02] [ 8.28191804e-02 9.96559523e-01 -3.17820761e-03 2.03381066e+01] [ 4.65184441e-02 -6.80193356e-04 9.98917200e-01 1.19019611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.345099893 meters 0.01332428440691517 Centerline is valid? [True, True] Translation: X:287.94, Y:20.35, Z:11.90 [[ 9.95912998e-01 -7.68367981e-02 -4.74700672e-02 2.87935459e+02] [ 7.67691291e-02 9.97043600e-01 -3.24971698e-03 2.03453945e+01] [ 4.75794245e-02 -4.07800336e-04 9.98867375e-01 1.19036081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.405099893 meters 0.013165867515421249 Centerline is valid? [True, True] Translation: X:287.99, Y:20.35, Z:11.91 [[ 9.95887742e-01 -7.65105685e-02 -4.85153406e-02 2.87993814e+02] [ 7.64394111e-02 9.97068691e-01 -3.32306981e-03 2.03495697e+01] [ 4.86273771e-02 -3.99079578e-04 9.98816910e-01 1.19052905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.465099893 meters 0.013497783859366588 Centerline is valid? [True, True] Translation: X:288.05, Y:20.35, Z:11.91 [[ 9.95450374e-01 -8.12734846e-02 -4.97310172e-02 2.88052926e+02] [ 8.12040150e-02 9.96691636e-01 -3.41909923e-03 2.03504742e+01] [ 4.98443710e-02 -6.34814659e-04 9.98756795e-01 1.19072604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.525099893 meters 0.014555815188572073 Centerline is valid? [True, True] Translation: X:288.11, Y:20.35, Z:11.91 [[ 9.94941686e-01 -8.66324712e-02 -5.08513207e-02 2.88111597e+02] [ 8.65662356e-02 9.96239922e-01 -3.50767626e-03 2.03499890e+01] [ 5.09639945e-02 -9.12074080e-04 9.98700075e-01 1.19090283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.585099893 meters 0.01612076289988698 Centerline is valid? [True, True] Translation: X:288.17, Y:20.35, Z:11.91 [[ 9.94261460e-01 -9.45738625e-02 -4.99993273e-02 2.88172094e+02] [ 9.45197387e-02 9.95517006e-01 -3.45114521e-03 2.03499108e+01] [ 5.01015687e-02 -1.29458267e-03 9.98743289e-01 1.19135266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64509989299995 meters 0.019106724879654785 Centerline is valid? [True, True] Translation: X:288.23, Y:20.35, Z:11.92 [[ 9.93764510e-01 -9.97796276e-02 -4.97606637e-02 2.88231717e+02] [ 9.97325247e-02 9.95008354e-01 -3.43483133e-03 2.03477431e+01] [ 4.98550023e-02 -1.54934315e-03 9.98755264e-01 1.19158513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70509989299995 meters 0.019955956902314883 Centerline is valid? [True, True] Translation: X:288.29, Y:20.35, Z:11.92 [[ 9.92994507e-01 -1.07504901e-01 -4.90367789e-02 2.88292539e+02] [ 1.07468513e-01 9.94202724e-01 -3.38567402e-03 2.03494799e+01] [ 4.91164757e-02 -1.90795400e-03 9.98791235e-01 1.19193798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76509989299996 meters 0.022500424117443008 Centerline is valid? [True, True] Translation: X:288.35, Y:20.35, Z:11.92 [[ 9.92479819e-01 -1.12614176e-01 -4.79776602e-02 2.88353658e+02] [ 1.12585309e-01 9.93636542e-01 -3.31221739e-03 2.03490779e+01] [ 4.80453590e-02 -2.11427081e-03 9.98842917e-01 1.19222969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82509989299996 meters 0.022905712495164748 Centerline is valid? [True, True] Translation: X:288.41, Y:20.35, Z:11.93 [[ 9.91848452e-01 -1.18448319e-01 -4.69749255e-02 2.88413883e+02] [ 1.18427222e-01 9.92957443e-01 -3.24180161e-03 2.03524833e+01] [ 4.70280878e-02 -2.34773401e-03 9.98890808e-01 1.19255161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.88509989299996 meters 0.02431134942399388 Centerline is valid? [True, True] Translation: X:288.48, Y:20.36, Z:11.93 [[ 9.91637234e-01 -1.20416703e-01 -4.64264286e-02 2.88475730e+02] [ 1.20398275e-01 9.92720502e-01 -3.20328968e-03 2.03554370e+01] [ 4.64741970e-02 -2.41316058e-03 9.98916576e-01 1.19280496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.94509989299996 meters 0.023260647203012706 Centerline is valid? [True, True] Translation: X:288.54, Y:20.36, Z:11.93 [[ 9.91783568e-01 -1.18964426e-01 -4.70406095e-02 2.88537978e+02] [ 1.18944050e-01 9.92895665e-01 -3.24207007e-03 2.03636368e+01] [ 4.70921083e-02 -2.37976878e-03 9.98887716e-01 1.19296398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.00509989299997 meters 0.02341931273387835 Centerline is valid? [True, True] Translation: X:288.60, Y:20.37, Z:11.93 [[ 9.92188349e-01 -1.15184819e-01 -4.79034229e-02 2.88597112e+02] [ 1.15159481e-01 9.93341542e-01 -3.29769673e-03 2.03701215e+01] [ 4.79643045e-02 -2.24459702e-03 9.98846528e-01 1.19310694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.06509989299997 meters 0.019684193443599465 Centerline is valid? [True, True] Translation: X:288.66, Y:20.38, Z:11.93 [[ 9.93102692e-01 -1.06331493e-01 -4.94029967e-02 2.88656466e+02] [ 1.06293568e-01 9.94328973e-01 -3.40172252e-03 2.03847325e+01] [ 4.94845412e-02 -1.87296102e-03 9.98773133e-01 1.19327877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.12509989299997 meters 0.016777594034079905 Centerline is valid? [True, True] Translation: X:288.72, Y:20.40, Z:11.94 [[ 9.93974216e-01 -9.71797508e-02 -5.07085252e-02 2.88715764e+02] [ 9.71278960e-02 9.95265784e-01 -3.49165294e-03 2.04004326e+01] [ 5.08077781e-02 -1.45459937e-03 9.98707391e-01 1.19351852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.185099893 meters 0.015600951401880173 Centerline is valid? [True, True] Translation: X:288.78, Y:20.41, Z:11.94 [[ 9.94473757e-01 -9.14685462e-02 -5.15310795e-02 2.88776173e+02] [ 9.14073472e-02 9.95807265e-01 -3.54804972e-03 2.04106031e+01] [ 5.16395583e-02 -1.18187694e-03 9.98665089e-01 1.19374260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.245099893 meters 0.014622449256147127 Centerline is valid? [True, True] Translation: X:288.84, Y:20.42, Z:11.94 [[ 9.94865128e-01 -8.73315853e-02 -5.11524396e-02 2.88836342e+02] [ 8.72658563e-02 9.96178835e-01 -3.52123220e-03 2.04199503e+01] [ 5.12644925e-02 -9.60710320e-04 9.98684649e-01 1.19400247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.305099893 meters 0.013871739391543885 Centerline is valid? [True, True] Translation: X:288.90, Y:20.43, Z:11.94 [[ 9.95292649e-01 -8.32801592e-02 -4.95677015e-02 2.88896091e+02] [ 8.32134190e-02 9.96525907e-01 -3.41214199e-03 2.04296550e+01] [ 4.96796625e-02 -7.28618077e-04 9.98764937e-01 1.19440242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.365099893 meters 0.013700423166533401 Centerline is valid? [True, True] Translation: X:288.96, Y:20.44, Z:11.95 [[ 9.95608147e-01 -8.05517448e-02 -4.77057069e-02 2.88956244e+02] [ 8.04867953e-02 9.96750265e-01 -3.28396598e-03 2.04376501e+01] [ 4.78152052e-02 -5.70136182e-04 9.98856036e-01 1.19484602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.425099893 meters 0.013696127531004043 Centerline is valid? [True, True] Translation: X:289.02, Y:20.44, Z:11.95 [[ 9.95669136e-01 -7.98568101e-02 -4.76010762e-02 2.89017719e+02] [ 7.97913612e-02 9.96806201e-01 -3.27656185e-03 2.04427992e+01] [ 4.77107037e-02 -5.35783161e-04 9.98861052e-01 1.19510039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.485099893 meters 0.013906233928860446 Centerline is valid? [True, True] Translation: X:289.08, Y:20.45, Z:11.95 [[ 9.95628270e-01 -8.07500124e-02 -4.69444686e-02 2.89077731e+02] [ 8.06874316e-02 9.96734221e-01 -3.22961957e-03 2.04463638e+01] [ 4.70519502e-02 -5.72328060e-04 9.98892280e-01 1.19533127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.545099893 meters 0.013690418592436414 Centerline is valid? [True, True] Translation: X:289.14, Y:20.45, Z:11.96 [[ 9.95587740e-01 -8.12745651e-02 -4.68988025e-02 2.89138963e+02] [ 8.12128073e-02 9.96691570e-01 -3.22393571e-03 2.04514956e+01] [ 4.70056651e-02 -5.99072548e-04 9.98894443e-01 1.19560502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.605099893 meters 0.013746780104400185 Centerline is valid? [True, True] Translation: X:289.20, Y:20.46, Z:11.96 [[ 9.95623427e-01 -8.07112487e-02 -4.71135380e-02 2.89198727e+02] [ 8.06483709e-02 9.96737358e-01 -3.23705915e-03 2.04550697e+01] [ 4.72210905e-02 -5.76738165e-04 9.98884296e-01 1.19579441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.665099893 meters 0.013415898462438812 Centerline is valid? [True, True] Translation: X:289.26, Y:20.46, Z:11.96 [[ 9.95772291e-01 -7.87248917e-02 -4.73279551e-02 2.89260061e+02] [ 7.86592433e-02 9.96896261e-01 -3.25083272e-03 2.04607027e+01] [ 4.74369830e-02 -4.85691996e-04 9.98874115e-01 1.19604969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.725099893 meters 0.013130443561595503 Centerline is valid? [True, True] Translation: X:289.32, Y:20.47, Z:11.96 [[ 9.96120779e-01 -7.42415992e-02 -4.72395919e-02 2.89319836e+02] [ 7.41712455e-02 9.97240247e-01 -3.24287154e-03 2.04659848e+01] [ 4.73499782e-02 -2.73527642e-04 9.98878323e-01 1.19622436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.785099893 meters 0.013062442949002809 Centerline is valid? [True, True] Translation: X:289.38, Y:20.47, Z:11.96 [[ 9.96370962e-01 -7.04504648e-02 -4.77664963e-02 2.89379947e+02] [ 7.03743138e-02 9.97515274e-01 -3.27618672e-03 2.04700509e+01] [ 4.78786185e-02 -9.72370912e-05 9.98853157e-01 1.19642889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.845099893 meters 0.01305021947105957 Centerline is valid? [True, True] Translation: X:289.44, Y:20.47, Z:11.97 [[ 9.96510186e-01 -6.87464484e-02 -4.73431611e-02 2.89439434e+02] [ 6.86697103e-02 9.97634164e-01 -3.24734892e-03 2.04723749e+01] [ 4.74543987e-02 -1.50248825e-05 9.98873405e-01 1.19666001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.905099893 meters 0.01299627463739683 Centerline is valid? [True, True] Translation: X:289.50, Y:20.47, Z:11.97 [[ 9.96607651e-01 -6.78887718e-02 -4.65220829e-02 2.89498810e+02] [ 6.78136622e-02 9.97692896e-01 -3.19269326e-03 2.04724343e+01] [ 4.66314996e-02 2.70297179e-05 9.98912160e-01 1.19691851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.965099893 meters 0.013076737747523503 Centerline is valid? [True, True] Translation: X:289.56, Y:20.47, Z:11.97 [[ 9.96372038e-01 -7.07718571e-02 -4.72663279e-02 2.89557053e+02] [ 7.06974695e-02 9.97492523e-01 -3.24578756e-03 2.04697345e+01] [ 4.73775191e-02 -1.07597811e-04 9.98877049e-01 1.19711318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.025099893 meters 0.013306228479736884 Centerline is valid? [True, True] Translation: X:289.62, Y:20.47, Z:11.97 [[ 9.96000827e-01 -7.54380740e-02 -4.78690830e-02 2.89616055e+02] [ 7.53669052e-02 9.97150435e-01 -3.29248690e-03 2.04679400e+01] [ 4.79810558e-02 -3.28424965e-04 9.98848192e-01 1.19738078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.085099893 meters 0.014580801709528248 Centerline is valid? [True, True] Translation: X:289.68, Y:20.46, Z:11.98 [[ 9.95182314e-01 -8.47622799e-02 -4.92698527e-02 2.89676124e+02] [ 8.46977341e-02 9.96400890e-01 -3.40013542e-03 2.04605023e+01] [ 4.93807283e-02 -7.89290249e-04 9.98779716e-01 1.19752322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14509989299995 meters 0.01598569256141081 Centerline is valid? [True, True] Translation: X:289.74, Y:20.46, Z:11.98 [[ 9.94444993e-01 -9.20501385e-02 -5.10482990e-02 2.89736303e+02] [ 9.19903367e-02 9.95753661e-01 -3.52475547e-03 2.04575362e+01] [ 5.11559848e-02 -1.19077478e-03 9.98689966e-01 1.19769001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20509989299995 meters 0.01986381297069808 Centerline is valid? [True, True] Translation: X:289.80, Y:20.45, Z:11.98 [[ 9.93303221e-01 -1.02857094e-01 -5.26225188e-02 2.89796767e+02] [ 1.02808580e-01 9.94694516e-01 -3.63520559e-03 2.04486359e+01] [ 5.27172376e-02 -1.79918503e-03 9.98607859e-01 1.19780130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26509989299996 meters 0.021736713055268843 Centerline is valid? [True, True] Translation: X:289.86, Y:20.45, Z:11.98 [[ 9.92409014e-01 -1.11772859e-01 -5.12950066e-02 2.89857191e+02] [ 1.11738595e-01 9.93731314e-01 -3.54422666e-03 2.04453613e+01] [ 5.13696026e-02 -2.21430946e-03 9.98677256e-01 1.19826164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32509989299996 meters 0.023934950858099695 Centerline is valid? [True, True] Translation: X:289.92, Y:20.44, Z:11.99 [[ 9.91988544e-01 -1.16012280e-01 -4.99987947e-02 2.89917172e+02] [ 1.15985084e-01 9.93244947e-01 -3.45480633e-03 2.04433440e+01] [ 5.00618502e-02 -2.37198611e-03 9.98743303e-01 1.19858011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.38509989299996 meters 0.025939569089752302 Centerline is valid? [True, True] Translation: X:289.98, Y:20.44, Z:11.99 [[ 9.91506858e-01 -1.20530012e-01 -4.88535261e-02 2.89978113e+02] [ 1.20509478e-01 9.92706435e-01 -3.37631056e-03 2.04413526e+01] [ 4.89041565e-02 -2.53967785e-03 9.98800247e-01 1.19890473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.44509989299996 meters 0.029150659796071426 Centerline is valid? [True, True] Translation: X:290.04, Y:20.44, Z:11.99 [[ 9.91120964e-01 -1.23089780e-01 -5.02806161e-02 2.90038405e+02] [ 1.23071344e-01 9.92391744e-01 -3.47435859e-03 2.04389740e+01] [ 5.03257264e-02 -2.74459335e-03 9.98729087e-01 1.19902039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.50509989299997 meters 0.02981724747028089 Centerline is valid? [True, True] Translation: X:290.10, Y:20.44, Z:11.99 [[ 9.90529621e-01 -1.26756919e-01 -5.27612892e-02 2.90098765e+02] [ 1.26741801e-01 9.91929042e-01 -3.64586850e-03 2.04399651e+01] [ 5.27975941e-02 -3.07572008e-03 9.98600498e-01 1.19915849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.56509989299997 meters 0.028090600673017215 Centerline is valid? [True, True] Translation: X:290.16, Y:20.45, Z:11.99 [[ 9.90277787e-01 -1.27974325e-01 -5.45204201e-02 2.90158408e+02] [ 1.27959993e-01 9.91772172e-01 -3.76804181e-03 2.04459197e+01] [ 5.45540481e-02 -3.24502449e-03 9.98505546e-01 1.19939259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.62509989299997 meters 0.024824252750697055 Centerline is valid? [True, True] Translation: X:290.22, Y:20.46, Z:12.00 [[ 9.90651433e-01 -1.24205008e-01 -5.64167927e-02 2.90218683e+02] [ 1.24183552e-01 9.92251600e-01 -3.89962118e-03 2.04572726e+01] [ 5.64640053e-02 -3.14287242e-03 9.98399689e-01 1.19976960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.685099893 meters 0.02510893808247852 Centerline is valid? [True, True] Translation: X:290.28, Y:20.46, Z:12.00 [[ 9.91553775e-01 -1.17164131e-01 -5.56208442e-02 2.90278036e+02] [ 1.17132266e-01 9.93108885e-01 -3.84388130e-03 2.04642062e+01] [ 5.56879196e-02 -2.70358048e-03 9.98444563e-01 1.20005615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.745099893 meters 0.020107398738575203 Centerline is valid? [True, True] Translation: X:290.34, Y:20.48, Z:12.01 [[ 9.93364513e-01 -1.01465528e-01 -5.41450897e-02 2.90336786e+02] [ 1.01412012e-01 9.94837474e-01 -3.74208180e-03 2.04815004e+01] [ 5.42452566e-02 -1.77371121e-03 9.98526067e-01 1.20052830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.805099893 meters 0.013897231882411772 Centerline is valid? [True, True] Translation: X:290.40, Y:20.50, Z:12.01 [[ 9.95121133e-01 -8.28828999e-02 -5.35196664e-02 2.90395818e+02] [ 8.28037262e-02 9.96559010e-01 -3.69887976e-03 2.05040533e+01] [ 5.36420797e-02 -7.50794386e-04 9.98559945e-01 1.20106371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.865099893 meters 0.012999350237920601 Centerline is valid? [True, True] Translation: X:290.45, Y:20.52, Z:12.01 [[ 9.95953322e-01 -7.19050300e-02 -5.39133291e-02 2.90454105e+02] [ 7.18085898e-02 9.97411470e-01 -3.72631587e-03 2.05161352e+01] [ 5.40417137e-02 -1.60203470e-04 9.98538666e-01 1.20127459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.925099893 meters 0.013762952641474051 Centerline is valid? [True, True] Translation: X:290.51, Y:20.53, Z:12.01 [[ 9.96755695e-01 -5.93496726e-02 -5.43663606e-02 2.90511356e+02] [ 5.92327001e-02 9.98237114e-01 -3.76178909e-03 2.05278899e+01] [ 5.44937798e-02 5.29318373e-04 9.98513970e-01 1.20143325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.985099893 meters 0.0148271595919772 Centerline is valid? [True, True] Translation: X:290.57, Y:20.53, Z:12.02 [[ 9.96978522e-01 -5.48557501e-02 -5.49970359e-02 2.90568552e+02] [ 5.47289415e-02 9.98493978e-01 -3.81033169e-03 2.05343471e+01] [ 5.51232278e-02 7.88889296e-04 9.98479247e-01 1.20155945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.045099893 meters 0.014310839879849716 Centerline is valid? [True, True] Translation: X:290.63, Y:20.54, Z:12.02 [[ 9.97035517e-01 -5.32634846e-02 -5.55263819e-02 2.90626797e+02] [ 5.31314793e-02 9.98580096e-01 -3.85192905e-03 2.05356074e+01] [ 5.56527070e-02 8.90311262e-04 9.98449790e-01 1.20190168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.105099893 meters 0.014066316539656572 Centerline is valid? [True, True] Translation: X:290.69, Y:20.54, Z:12.02 [[ 9.96962722e-01 -5.49514958e-02 -5.51875354e-02 2.90685444e+02] [ 5.48232848e-02 9.98488706e-01 -3.83558900e-03 2.05373292e+01] [ 5.53149022e-02 7.98377279e-04 9.98468640e-01 1.20216348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.165099893 meters 0.01334761959764841 Centerline is valid? [True, True] Translation: X:290.74, Y:20.54, Z:12.03 [[ 9.96761651e-01 -5.96211297e-02 -5.39586055e-02 2.90744014e+02] [ 5.95046723e-02 9.98220932e-01 -3.76370386e-03 2.05360838e+01] [ 5.40870057e-02 5.40726541e-04 9.98536080e-01 1.20256259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.225099893 meters 0.012912154045606063 Centerline is valid? [True, True] Translation: X:290.80, Y:20.53, Z:12.03 [[ 9.96535425e-01 -6.52255456e-02 -5.16020861e-02 2.90801702e+02] [ 6.51259536e-02 9.97870518e-01 -3.61088420e-03 2.05337614e+01] [ 5.17277223e-02 2.37738956e-04 9.98661197e-01 1.20295161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.285099893 meters 0.012617292372381468 Centerline is valid? [True, True] Translation: X:290.86, Y:20.53, Z:12.03 [[ 9.96051294e-01 -7.34714365e-02 -4.98374192e-02 2.90861326e+02] [ 7.33884863e-02 9.97297306e-01 -3.49474242e-03 2.05276999e+01] [ 4.99594876e-02 -1.76550043e-04 9.98751229e-01 1.20327158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.345099893 meters 0.013125283538142907 Centerline is valid? [True, True] Translation: X:290.92, Y:20.52, Z:12.03 [[ 9.95505626e-01 -8.06108822e-02 -4.97034632e-02 2.90920207e+02] [ 8.05366485e-02 9.96745511e-01 -3.49771145e-03 2.05235428e+01] [ 4.98236574e-02 -5.20958919e-04 9.98757894e-01 1.20340472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.405099893 meters 0.014988391976556473 Centerline is valid? [True, True] Translation: X:290.98, Y:20.51, Z:12.03 [[ 9.94586433e-01 -9.10106272e-02 -5.01487189e-02 2.90981672e+02] [ 9.09477206e-02 9.95849378e-01 -3.53962094e-03 2.05146862e+01] [ 5.02627136e-02 -1.04045271e-03 9.98735489e-01 1.20345987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.465099893 meters 0.016087958498904098 Centerline is valid? [True, True] Translation: X:291.04, Y:20.51, Z:12.04 [[ 9.94019349e-01 -9.67129749e-02 -5.07162174e-02 2.91041131e+02] [ 9.66560212e-02 9.95311407e-01 -3.58015450e-03 2.05116215e+01] [ 5.08246771e-02 -1.34328494e-03 9.98706688e-01 1.20361923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.525099893 meters 0.01668947481658136 Centerline is valid? [True, True] Translation: X:291.10, Y:20.51, Z:12.04 [[ 9.93576412e-01 -1.01053126e-01 -5.09330881e-02 2.91101133e+02] [ 1.01001242e-01 9.94879793e-01 -3.59807697e-03 2.05106070e+01] [ 5.10358971e-02 -1.56934076e-03 9.98695586e-01 1.20380856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58509989299995 meters 0.018291136508856932 Centerline is valid? [True, True] Translation: X:291.16, Y:20.51, Z:12.04 [[ 9.93149498e-01 -1.04789447e-01 -5.17034415e-02 2.91161128e+02] [ 1.04740936e-01 9.94492826e-01 -3.65441850e-03 2.05093109e+01] [ 5.18016462e-02 -1.78608294e-03 9.98655796e-01 1.20397161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64509989299995 meters 0.018743052276589366 Centerline is valid? [True, True] Translation: X:291.22, Y:20.51, Z:12.04 [[ 9.92655484e-01 -1.08870432e-01 -5.27476998e-02 2.91220602e+02] [ 1.08825575e-01 9.94053861e-01 -3.73038177e-03 2.05091433e+01] [ 5.28401830e-02 -2.03731486e-03 9.98600903e-01 1.20422582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70509989299995 meters 0.019141095161353535 Centerline is valid? [True, True] Translation: X:291.28, Y:20.51, Z:12.04 [[ 9.92466267e-01 -1.10510708e-01 -5.28970033e-02 2.91279677e+02] [ 1.10467646e-01 9.93872661e-01 -3.74613471e-03 2.05107716e+01] [ 5.29868734e-02 -2.12549511e-03 9.98592947e-01 1.20445386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76509989299996 meters 0.020557587925888018 Centerline is valid? [True, True] Translation: X:291.34, Y:20.51, Z:12.05 [[ 9.92502786e-01 -1.10280142e-01 -5.26926003e-02 2.91337346e+02] [ 1.10236462e-01 9.93898339e-01 -3.74348768e-03 2.05118602e+01] [ 5.27839202e-02 -2.09322387e-03 9.98603763e-01 1.20463931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82509989299996 meters 0.02035824241194662 Centerline is valid? [True, True] Translation: X:291.40, Y:20.52, Z:12.05 [[ 9.92833549e-01 -1.07394409e-01 -5.24212319e-02 2.91395844e+02] [ 1.07346938e-01 9.94214631e-01 -3.72847348e-03 2.05173763e+01] [ 5.25183730e-02 -1.92550520e-03 9.98618102e-01 1.20489710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.88509989299996 meters 0.018158359171219475 Centerline is valid? [True, True] Translation: X:291.45, Y:20.53, Z:12.05 [[ 9.93130151e-01 -1.04712540e-01 -5.22282176e-02 2.91454238e+02] [ 1.04661579e-01 9.94500948e-01 -3.71734047e-03 2.05260422e+01] [ 5.23302641e-02 -1.77448484e-03 9.98628256e-01 1.20524466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.94509989299996 meters 0.016648913032895313 Centerline is valid? [True, True] Translation: X:291.51, Y:20.53, Z:12.06 [[ 9.93766898e-01 -9.90976415e-02 -5.10588887e-02 2.91513751e+02] [ 9.90413596e-02 9.95076669e-01 -3.63749218e-03 2.05342168e+01] [ 5.11679758e-02 -1.44212243e-03 9.98689020e-01 1.20552996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.00509989299997 meters 0.015561912273653852 Centerline is valid? [True, True] Translation: X:291.57, Y:20.54, Z:12.06 [[ 9.94182580e-01 -9.49715503e-02 -5.08075036e-02 2.91572714e+02] [ 9.49102389e-02 9.95479240e-01 -3.62349036e-03 2.05414761e+01] [ 5.09219435e-02 -1.21974131e-03 9.98701891e-01 1.20578769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.06509989299997 meters 0.014138111667870053 Centerline is valid? [True, True] Translation: X:291.63, Y:20.55, Z:12.06 [[ 9.94805429e-01 -8.84904879e-02 -5.03149215e-02 2.91632156e+02] [ 8.84215615e-02 9.96076643e-01 -3.59850787e-03 2.05501961e+01] [ 5.04359518e-02 -8.69108752e-04 9.98726919e-01 1.20605394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.12509989299997 meters 0.013492822928519695 Centerline is valid? [True, True] Translation: X:291.69, Y:20.56, Z:12.06 [[ 9.95132275e-01 -8.43826165e-02 -5.09051013e-02 2.91689960e+02] [ 8.43065431e-02 9.96433204e-01 -3.64362168e-03 2.05569136e+01] [ 5.10309916e-02 -6.65747591e-04 9.98696848e-01 1.20623172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.185099893 meters 0.012472282338556212 Centerline is valid? [True, True] Translation: X:291.75, Y:20.57, Z:12.07 [[ 9.95661521e-01 -7.89298710e-02 -4.92768728e-02 2.91748691e+02] [ 7.88516889e-02 9.96880103e-01 -3.53158208e-03 2.05654383e+01] [ 4.94018813e-02 -3.69304258e-04 9.98778913e-01 1.20666874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.245099893 meters 0.01226280594250484 Centerline is valid? [True, True] Translation: X:291.81, Y:20.57, Z:12.07 [[ 9.95825257e-01 -7.66698452e-02 -4.95357750e-02 2.91807137e+02] [ 7.65876748e-02 9.97056504e-01 -3.55756809e-03 2.05712777e+01] [ 4.96627248e-02 -2.51113673e-04 9.98766014e-01 1.20697042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.305099893 meters 0.01216563145712821 Centerline is valid? [True, True] Translation: X:291.87, Y:20.58, Z:12.07 [[ 9.95988570e-01 -7.31870543e-02 -5.14822573e-02 2.91865048e+02] [ 7.30929229e-02 9.97318229e-01 -3.71132892e-03 2.05767263e+01] [ 5.16158149e-02 -6.65474724e-05 9.98667013e-01 1.20707605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.365099893 meters 0.012170625193887773 Centerline is valid? [True, True] Translation: X:291.92, Y:20.58, Z:12.07 [[ 9.96478155e-01 -6.88450120e-02 -4.78711979e-02 2.91923951e+02] [ 6.87579874e-02 9.97627355e-01 -3.46418807e-03 2.05809739e+01] [ 4.79961086e-02 1.60460512e-04 9.98847510e-01 1.20749024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.425099893 meters 0.012568867847802421 Centerline is valid? [True, True] Translation: X:291.98, Y:20.58, Z:12.08 [[ 9.96674732e-01 -6.52552616e-02 -4.87978326e-02 2.91981690e+02] [ 6.51599645e-02 9.97868542e-01 -3.54283231e-03 2.05846984e+01] [ 4.89250105e-02 3.51386401e-04 9.98802393e-01 1.20764538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.485099893 meters 0.012612213165136638 Centerline is valid? [True, True] Translation: X:292.04, Y:20.59, Z:12.08 [[ 9.96744856e-01 -6.41814847e-02 -4.87896334e-02 2.92040539e+02] [ 6.40846643e-02 9.97938159e-01 -3.54774577e-03 2.05864076e+01] [ 4.89167365e-02 4.09530077e-04 9.98802776e-01 1.20784012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.545099893 meters 0.01253953967357804 Centerline is valid? [True, True] Translation: X:292.10, Y:20.58, Z:12.08 [[ 9.96677158e-01 -6.53860890e-02 -4.85726407e-02 2.92099093e+02] [ 6.52909517e-02 9.97859975e-01 -3.54439982e-03 2.05847387e+01] [ 4.87004484e-02 3.61268398e-04 9.98813364e-01 1.20807961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.605099893 meters 0.012176851121715989 Centerline is valid? [True, True] Translation: X:292.16, Y:20.58, Z:12.08 [[ 9.96368609e-01 -6.98898202e-02 -4.86313579e-02 2.92158810e+02] [ 6.97991498e-02 9.97554705e-01 -3.56225385e-03 2.05799655e+01] [ 4.87614051e-02 1.54890480e-04 9.98810443e-01 1.20828645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.665099893 meters 0.012135051028973947 Centerline is valid? [True, True] Translation: X:292.22, Y:20.58, Z:12.09 [[ 9.96077084e-01 -7.43660901e-02 -4.79596341e-02 2.92217064e+02] [ 7.42825338e-02 9.97231007e-01 -3.52465585e-03 2.05786342e+01] [ 4.80889491e-02 -5.17342240e-05 9.98843056e-01 1.20859307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.725099893 meters 0.012465751153995591 Centerline is valid? [True, True] Translation: X:292.28, Y:20.57, Z:12.09 [[ 9.95529909e-01 -8.16678428e-02 -4.74401147e-02 2.92276285e+02] [ 8.15937180e-02 9.96659528e-01 -3.50013963e-03 2.05731313e+01] [ 4.75674911e-02 -3.86321651e-04 9.98867952e-01 1.20877051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.785099893 meters 0.013197314353179333 Centerline is valid? [True, True] Translation: X:292.33, Y:20.57, Z:12.09 [[ 9.95058824e-01 -8.68318443e-02 -4.81473566e-02 2.92334168e+02] [ 8.67609590e-02 9.96222783e-01 -3.56413716e-03 2.05699774e+01] [ 4.82749741e-02 -6.30784698e-04 9.98833885e-01 1.20888922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.845099893 meters 0.014346505132012796 Centerline is valid? [True, True] Translation: X:292.39, Y:20.56, Z:12.09 [[ 9.94426308e-01 -9.39971945e-02 -4.77581990e-02 2.92394358e+02] [ 9.39354158e-02 9.95571995e-01 -3.54129067e-03 2.05644781e+01] [ 4.78795968e-02 -9.64633669e-04 9.98852649e-01 1.20914558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.905099893 meters 0.015371239334122834 Centerline is valid? [True, True] Translation: X:292.45, Y:20.56, Z:12.10 [[ 9.94147694e-01 -9.74666486e-02 -4.65898531e-02 2.92452988e+02] [ 9.74115354e-02 9.95238182e-01 -3.45733734e-03 2.05625939e+01] [ 4.67049758e-02 -1.10128518e-03 9.98908120e-01 1.20950454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.965099893 meters 0.016955970188881498 Centerline is valid? [True, True] Translation: X:292.51, Y:20.56, Z:12.10 [[ 9.93910468e-01 -1.00378967e-01 -4.54537730e-02 2.92511333e+02] [ 1.00329064e-01 9.94948556e-01 -3.38368537e-03 2.05581298e+01] [ 4.55638167e-02 -1.19725419e-03 9.98960713e-01 1.20982111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.025099893 meters 0.017412548168855634 Centerline is valid? [True, True] Translation: X:292.57, Y:20.56, Z:12.10 [[ 9.93780698e-01 -1.01623542e-01 -4.55256035e-02 2.92569858e+02] [ 1.01574601e-01 9.94822139e-01 -3.39307698e-03 2.05565090e+01] [ 4.56346947e-02 -1.25227058e-03 9.98957410e-01 1.21003951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08509989299995 meters 0.01762513036029363 Centerline is valid? [True, True] Translation: X:292.63, Y:20.56, Z:12.10 [[ 9.93592777e-01 -1.03153566e-01 -4.61815397e-02 2.92628393e+02] [ 1.03104665e-01 9.94664543e-01 -3.44606592e-03 2.05554078e+01] [ 4.62906140e-02 -1.33754595e-03 9.98927119e-01 1.21021444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14509989299995 meters 0.0172355945018798 Centerline is valid? [True, True] Translation: X:292.69, Y:20.56, Z:12.10 [[ 9.93116702e-01 -1.07564050e-01 -4.63593653e-02 2.92688271e+02] [ 1.07519386e-01 9.94196956e-01 -3.46322114e-03 2.05561705e+01] [ 4.64628580e-02 -1.54514776e-03 9.98918823e-01 1.21049191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20509989299995 meters 0.019309430592157558 Centerline is valid? [True, True] Translation: X:292.75, Y:20.56, Z:12.11 [[ 9.92934704e-01 -1.09046427e-01 -4.67926294e-02 2.92746299e+02] [ 1.09002472e-01 9.94035325e-01 -3.49761459e-03 2.05563275e+01] [ 4.68949289e-02 -1.62760939e-03 9.98898502e-01 1.21072093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26509989299996 meters 0.019481074661472513 Centerline is valid? [True, True] Translation: X:292.81, Y:20.56, Z:12.11 [[ 9.92493628e-01 -1.13128048e-01 -4.64590571e-02 2.92805504e+02] [ 1.13088989e-01 9.93578780e-01 -3.47674823e-03 2.05594839e+01] [ 4.65540510e-02 -1.80335734e-03 9.98914145e-01 1.21103007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32509989299996 meters 0.021510041546332175 Centerline is valid? [True, True] Translation: X:292.86, Y:20.56, Z:12.11 [[ 9.92228073e-01 -1.15376871e-01 -4.66007460e-02 2.92863680e+02] [ 1.15339925e-01 9.93319949e-01 -3.48998803e-03 2.05601835e+01] [ 4.66921146e-02 -1.91206244e-03 9.98907498e-01 1.21125028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.38509989299996 meters 0.021793662641063277 Centerline is valid? [True, True] Translation: X:292.92, Y:20.56, Z:12.11 [[ 9.91971498e-01 -1.17398062e-01 -4.70132030e-02 2.92922667e+02] [ 1.17362575e-01 9.93082880e-01 -3.52403218e-03 2.05636763e+01] [ 4.71017216e-02 -2.02185109e-03 9.98888052e-01 1.21148310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.44509989299996 meters 0.02443386182244081 Centerline is valid? [True, True] Translation: X:292.98, Y:20.56, Z:12.12 [[ 9.91292869e-01 -1.22629510e-01 -4.79630132e-02 2.92983275e+02] [ 1.22598563e-01 9.92449822e-01 -3.59765851e-03 2.05645232e+01] [ 4.80420630e-02 -2.31386325e-03 9.98842633e-01 1.21168694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.50509989299997 meters 0.025878439696810134 Centerline is valid? [True, True] Translation: X:293.04, Y:20.57, Z:12.12 [[ 9.90929278e-01 -1.25355869e-01 -4.84259353e-02 2.93042922e+02] [ 1.25327517e-01 9.92108770e-01 -3.63340496e-03 2.05678106e+01] [ 4.84992638e-02 -2.46865486e-03 9.98820168e-01 1.21193232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.56509989299997 meters 0.026206812931886966 Centerline is valid? [True, True] Translation: X:293.10, Y:20.57, Z:12.12 [[ 9.90462389e-01 -1.28806901e-01 -4.89186959e-02 2.93102508e+02] [ 1.28782083e-01 9.91666119e-01 -3.67200967e-03 2.05730929e+01] [ 4.89839935e-02 -2.66286408e-03 9.98796014e-01 1.21225890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.62509989299997 meters 0.026191619521683807 Centerline is valid? [True, True] Translation: X:293.16, Y:20.58, Z:12.13 [[ 9.90336118e-01 -1.29755917e-01 -4.89670861e-02 2.93160537e+02] [ 1.29732137e-01 9.91542259e-01 -3.67704381e-03 2.05787443e+01] [ 4.90300533e-02 -2.71109544e-03 9.98793624e-01 1.21253780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.685099893 meters 0.025188769322787928 Centerline is valid? [True, True] Translation: X:293.22, Y:20.59, Z:12.13 [[ 9.90301635e-01 -1.29782725e-01 -4.95894793e-02 2.93217373e+02] [ 1.29758067e-01 9.91538669e-01 -3.72991810e-03 2.05890051e+01] [ 4.96539653e-02 -2.74089098e-03 9.98762720e-01 1.21285661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.745099893 meters 0.028146233082810106 Centerline is valid? [True, True] Translation: X:293.28, Y:20.59, Z:12.13 [[ 9.90547931e-01 -1.27888767e-01 -4.95909224e-02 2.93275044e+02] [ 1.27861091e-01 9.91785022e-01 -3.74311874e-03 2.05932903e+01] [ 4.96622369e-02 -2.63301090e-03 9.98762599e-01 1.21312755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.805099893 meters 0.024514683858444533 Centerline is valid? [True, True] Translation: X:293.33, Y:20.61, Z:12.14 [[ 9.91043161e-01 -1.23987747e-01 -4.96033459e-02 2.93333693e+02] [ 1.23954988e-01 9.92280763e-01 -3.74800101e-03 2.06086933e+01] [ 4.96851521e-02 -2.43415136e-03 9.98761964e-01 1.21350439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.865099893 meters 0.021573880768537612 Centerline is valid? [True, True] Translation: X:293.39, Y:20.63, Z:12.14 [[ 9.91540829e-01 -1.19418728e-01 -5.08522495e-02 2.93392396e+02] [ 1.19378249e-01 9.92841408e-01 -3.84348820e-03 2.06253417e+01] [ 5.09472035e-02 -2.25967703e-03 9.98698792e-01 1.21382967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.925099893 meters 0.019561458096772098 Centerline is valid? [True, True] Translation: X:293.45, Y:20.64, Z:12.14 [[ 9.92245392e-01 -1.13015228e-01 -5.17362510e-02 2.93451630e+02] [ 1.12964552e-01 9.93591317e-01 -3.91200752e-03 2.06413788e+01] [ 5.18468062e-02 -1.96269099e-03 9.98653121e-01 1.21410795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.985099893 meters 0.01817974304491949 Centerline is valid? [True, True] Translation: X:293.51, Y:20.65, Z:12.14 [[ 9.92796868e-01 -1.08040116e-01 -5.17852615e-02 2.93511069e+02] [ 1.07982567e-01 9.94145075e-01 -3.91606009e-03 2.06535217e+01] [ 5.19051542e-02 -1.70405329e-03 9.98650565e-01 1.21438075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.045099893 meters 0.015577879820497286 Centerline is valid? [True, True] Translation: X:293.57, Y:20.67, Z:12.15 [[ 9.93485233e-01 -1.01279456e-01 -5.22452204e-02 2.93570033e+02] [ 1.01211491e-01 9.94857084e-01 -3.95179428e-03 2.06706426e+01] [ 5.23767632e-02 -1.36176738e-03 9.98626467e-01 1.21467001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.105099893 meters 0.014636217507893888 Centerline is valid? [True, True] Translation: X:293.63, Y:20.68, Z:12.15 [[ 9.93842413e-01 -9.74465705e-02 -5.27392078e-02 2.93628443e+02] [ 9.73717445e-02 9.95240073e-01 -3.99252217e-03 2.06845844e+01] [ 5.28772306e-02 -1.16737080e-03 9.98600338e-01 1.21490633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.165099893 meters 0.014618745395904105 Centerline is valid? [True, True] Translation: X:293.69, Y:20.69, Z:12.15 [[ 9.93899013e-01 -9.69726377e-02 -5.25457865e-02 2.93686920e+02] [ 9.68970304e-02 9.95286412e-01 -3.99053360e-03 2.06925544e+01] [ 5.26850799e-02 -1.12534327e-03 9.98610543e-01 1.21516084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.225099893 meters 0.015005631159617014 Centerline is valid? [True, True] Translation: X:293.75, Y:20.70, Z:12.15 [[ 9.93736324e-01 -9.88179815e-02 -5.21835754e-02 2.93745009e+02] [ 9.87452616e-02 9.95104800e-01 -3.97623923e-03 2.07013405e+01] [ 5.23210503e-02 -1.20154746e-03 9.98629593e-01 1.21547932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.285099893 meters 0.015089164164827302 Centerline is valid? [True, True] Translation: X:293.80, Y:20.71, Z:12.16 [[ 9.93459627e-01 -1.01395465e-01 -5.25064696e-02 2.93803446e+02] [ 1.01324724e-01 9.94845307e-01 -4.01434943e-03 2.07086933e+01] [ 5.26428517e-02 -1.33210947e-03 9.98612515e-01 1.21579040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.345099893 meters 0.017577556393796268 Centerline is valid? [True, True] Translation: X:293.86, Y:20.71, Z:12.16 [[ 9.92933921e-01 -1.06128218e-01 -5.30945355e-02 2.93862108e+02] [ 1.06062002e-01 9.94351184e-01 -4.07121750e-03 2.07118268e+01] [ 5.32266853e-02 -1.58886279e-03 9.98581191e-01 1.21590704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.405099893 meters 0.018944515450915543 Centerline is valid? [True, True] Translation: X:293.92, Y:20.72, Z:12.16 [[ 9.92612578e-01 -1.08925626e-01 -5.34366816e-02 2.93921606e+02] [ 1.08862399e-01 9.94048368e-01 -4.10120181e-03 2.07166120e+01] [ 5.35653722e-02 -1.74634084e-03 9.98562818e-01 1.21610297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.465099893 meters 0.01945738580549605 Centerline is valid? [True, True] Translation: X:293.98, Y:20.72, Z:12.16 [[ 9.92299849e-01 -1.12067810e-01 -5.27429226e-02 2.93980370e+02] [ 1.12010518e-01 9.93698767e-01 -4.05029352e-03 2.07233440e+01] [ 5.28644846e-02 -1.88865643e-03 9.98599909e-01 1.21637292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.525099893 meters 0.01952259617690168 Centerline is valid? [True, True] Translation: X:294.04, Y:20.73, Z:12.17 [[ 9.92131677e-01 -1.14058985e-01 -5.16263861e-02 2.94039584e+02] [ 1.14006590e-01 9.93472068e-01 -3.96824750e-03 2.07295528e+01] [ 5.17419868e-02 -1.94872420e-03 9.98658585e-01 1.21662811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58509989299995 meters 0.01969537097611752 Centerline is valid? [True, True] Translation: X:294.10, Y:20.74, Z:12.17 [[ 9.91850593e-01 -1.17457209e-01 -4.93579271e-02 2.94099558e+02] [ 1.17413440e-01 9.93075868e-01 -3.79532772e-03 2.07361990e+01] [ 4.94619549e-02 -2.03088597e-03 9.98773944e-01 1.21695253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64509989299995 meters 0.02179671236974405 Centerline is valid? [True, True] Translation: X:294.16, Y:20.74, Z:12.17 [[ 9.91300321e-01 -1.22142831e-01 -4.90387946e-02 2.94160868e+02] [ 1.22105353e-01 9.92509983e-01 -3.77056503e-03 2.07394615e+01] [ 4.91320407e-02 -2.25013699e-03 9.98789757e-01 1.21715210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70509989299995 meters 0.02418299935254794 Centerline is valid? [True, True] Translation: X:294.22, Y:20.74, Z:12.17 [[ 9.90905492e-01 -1.25358194e-01 -4.89042827e-02 2.94220528e+02] [ 1.25324887e-01 9.92108635e-01 -3.75892036e-03 2.07416207e+01] [ 4.89895726e-02 -2.40418888e-03 9.98796396e-01 1.21732342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76509989299996 meters 0.026039579204037346 Centerline is valid? [True, True] Translation: X:294.28, Y:20.75, Z:12.17 [[ 9.90435859e-01 -1.28958902e-01 -4.90551857e-02 2.94281830e+02] [ 1.28929803e-01 9.91646556e-01 -3.77026273e-03 2.07452595e+01] [ 4.91316149e-02 -2.59047202e-03 9.98788954e-01 1.21748240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82509989299996 meters 0.025112330766579243 Centerline is valid? [True, True] Translation: X:294.34, Y:20.75, Z:12.18 [[ 9.90254540e-01 -1.30001272e-01 -4.99561424e-02 2.94342840e+02] [ 1.29972510e-01 9.91510171e-01 -3.83769027e-03 2.07531781e+01] [ 5.00309279e-02 -2.69263499e-03 9.98744039e-01 1.21767996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.88509989299996 meters 0.02392711200728153 Centerline is valid? [True, True] Translation: X:294.40, Y:20.76, Z:12.18 [[ 9.90664139e-01 -1.26561627e-01 -5.06627891e-02 2.94402692e+02] [ 1.26527640e-01 9.91955453e-01 -3.89042898e-03 2.07623487e+01] [ 5.07476089e-02 -2.55613469e-03 9.98708239e-01 1.21791064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.94509989299996 meters 0.021851710148940957 Centerline is valid? [True, True] Translation: X:294.46, Y:20.77, Z:12.18 [[ 9.91396553e-01 -1.21457975e-01 -4.87937918e-02 2.94462400e+02] [ 1.21420281e-01 9.92594115e-01 -3.74685774e-03 2.07725138e+01] [ 4.88875164e-02 -2.20993405e-03 9.98801846e-01 1.21831346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.00509989299997 meters 0.01915791400134049 Centerline is valid? [True, True] Translation: X:294.52, Y:20.78, Z:12.19 [[ 9.92310904e-01 -1.14346473e-01 -4.73703888e-02 2.94521884e+02] [ 1.14302866e-01 9.93439291e-01 -3.63725799e-03 2.07842167e+01] [ 4.74755131e-02 -1.80528046e-03 9.98870771e-01 1.21879379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.06509989299997 meters 0.01573375245679522 Centerline is valid? [True, True] Translation: X:294.58, Y:20.80, Z:12.19 [[ 9.93643237e-01 -1.02549708e-01 -4.64400101e-02 2.94581724e+02] [ 1.02494920e-01 9.94727137e-01 -3.56574762e-03 2.07995295e+01] [ 4.65608047e-02 -1.21678410e-03 9.98914717e-01 1.21915959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.12509989299997 meters 0.013634953027509673 Centerline is valid? [True, True] Translation: X:294.64, Y:20.81, Z:12.19 [[ 9.94375003e-01 -9.52913900e-02 -4.62374702e-02 2.94641983e+02] [ 9.52292533e-02 9.95449039e-01 -3.54979360e-03 2.08105242e+01] [ 4.63653100e-02 -8.73333743e-04 9.98924169e-01 1.21936429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.185099893 meters 0.012311141861938785 Centerline is valid? [True, True] Translation: X:294.70, Y:20.82, Z:12.20 [[ 9.95129617e-01 -8.67484686e-02 -4.68161248e-02 2.94702841e+02] [ 8.66753578e-02 9.96230129e-01 -3.59325980e-03 2.08210400e+01] [ 4.69513439e-02 -4.82045125e-04 9.98897061e-01 1.21956252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.245099893 meters 0.011966324360819949 Centerline is valid? [True, True] Translation: X:294.76, Y:20.83, Z:12.20 [[ 9.95498161e-01 -8.25294757e-02 -4.66079002e-02 2.94762809e+02] [ 8.24524629e-02 9.96588584e-01 -3.57574889e-03 2.08286098e+01] [ 4.67440059e-02 -2.83284716e-04 9.98906861e-01 1.21982769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.305099893 meters 0.011836956164863322 Centerline is valid? [True, True] Translation: X:294.82, Y:20.83, Z:12.20 [[ 9.95611142e-01 -8.08139129e-02 -4.71970925e-02 2.94822871e+02] [ 8.07330130e-02 9.96729186e-01 -3.62095161e-03 2.08346644e+01] [ 4.73353428e-02 -2.05303719e-04 9.98879033e-01 1.22003299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.365099893 meters 0.011926471285355565 Centerline is valid? [True, True] Translation: X:294.88, Y:20.84, Z:12.20 [[ 9.95734500e-01 -7.83173650e-02 -4.87769921e-02 2.94881798e+02] [ 7.82279488e-02 9.96928474e-01 -3.74241209e-03 2.08402472e+01] [ 4.89202681e-02 -8.92752066e-05 9.98802683e-01 1.22011629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.425099893 meters 0.012032092906858596 Centerline is valid? [True, True] Translation: X:294.94, Y:20.84, Z:12.20 [[ 9.95630351e-01 -8.01860738e-02 -4.78580968e-02 2.94940088e+02] [ 8.01020668e-02 9.96779897e-01 -3.67372482e-03 2.08422694e+01] [ 4.79985704e-02 -1.75860535e-04 9.98847389e-01 1.22039571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.485099893 meters 0.012273722123950129 Centerline is valid? [True, True] Translation: X:295.00, Y:20.84, Z:12.21 [[ 9.95377480e-01 -8.33793250e-02 -4.76608934e-02 2.94999278e+02] [ 8.32995447e-02 9.96517828e-01 -3.66113558e-03 2.08435167e+01] [ 4.78001930e-02 -3.25918812e-04 9.98856864e-01 1.22067794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.545099893 meters 0.013271098865517854 Centerline is valid? [True, True] Translation: X:295.06, Y:20.84, Z:12.21 [[ 9.94804941e-01 -9.01272795e-02 -4.73307829e-02 2.95059050e+02] [ 9.00561132e-02 9.95930048e-01 -3.63821174e-03 2.08410122e+01] [ 4.74660510e-02 -6.43115328e-04 9.98872645e-01 1.22095323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.605099893 meters 0.014409877377505478 Centerline is valid? [True, True] Translation: X:295.12, Y:20.84, Z:12.21 [[ 9.94339215e-01 -9.58131600e-02 -4.59278131e-02 2.95119505e+02] [ 9.57521421e-02 9.95398942e-01 -3.53180852e-03 2.08398279e+01] [ 4.60548903e-02 -8.85870768e-04 9.98938518e-01 1.22126692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.665099893 meters 0.017158511661548966 Centerline is valid? [True, True] Translation: X:295.18, Y:20.83, Z:12.21 [[ 9.93399502e-01 -1.05076147e-01 -4.60046940e-02 2.95180712e+02] [ 1.05024837e-01 9.94463307e-01 -3.53772060e-03 2.08341810e+01] [ 4.61217101e-02 -1.31726560e-03 9.98934959e-01 1.22149540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.725099893 meters 0.01967769461731309 Centerline is valid? [True, True] Translation: X:295.24, Y:20.83, Z:12.22 [[ 9.92309787e-01 -1.14372998e-01 -4.73297412e-02 2.95242091e+02] [ 1.14329237e-01 9.93436248e-01 -3.63959920e-03 2.08305210e+01] [ 4.74353524e-02 -1.79956329e-03 9.98872689e-01 1.22160634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.785099893 meters 0.021257415622811665 Centerline is valid? [True, True] Translation: X:295.30, Y:20.83, Z:12.22 [[ 9.91712991e-01 -1.19620273e-01 -4.68650650e-02 2.95302913e+02] [ 1.19583220e-01 9.92817641e-01 -3.60365081e-03 2.08307111e+01] [ 4.69595330e-02 -2.03048803e-03 9.98894729e-01 1.22186639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.845099893 meters 0.023462417029551215 Centerline is valid? [True, True] Translation: X:295.36, Y:20.83, Z:12.22 [[ 9.90898910e-01 -1.25656350e-01 -4.82683248e-02 2.95363663e+02] [ 1.25624221e-01 9.92070958e-01 -3.71074543e-03 2.08307300e+01] [ 4.83518820e-02 -2.38669711e-03 9.98827512e-01 1.22208624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.905099893 meters 0.023570570339485387 Centerline is valid? [True, True] Translation: X:295.42, Y:20.84, Z:12.22 [[ 9.90492107e-01 -1.28662039e-01 -4.86976891e-02 2.95424888e+02] [ 1.28632976e-01 9.91685204e-01 -3.74335573e-03 2.08353151e+01] [ 4.87744055e-02 -2.55636438e-03 9.98806549e-01 1.22232917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.965099893 meters 0.025473393533174734 Centerline is valid? [True, True] Translation: X:295.49, Y:20.84, Z:12.23 [[ 9.90017593e-01 -1.32604777e-01 -4.77612575e-02 2.95486107e+02] [ 1.32581472e-01 9.91165318e-01 -3.66963436e-03 2.08380949e+01] [ 4.78259130e-02 -2.69925524e-03 9.98852039e-01 1.22262544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.025099893 meters 0.027267868210871904 Centerline is valid? [True, True] Translation: X:295.55, Y:20.84, Z:12.23 [[ 9.89732351e-01 -1.34909012e-01 -4.72168510e-02 2.95546704e+02] [ 1.34888922e-01 9.90854091e-01 -3.62618195e-03 2.08406858e+01] [ 4.72742146e-02 -2.78008054e-03 9.98878081e-01 1.22284977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08509989299995 meters 0.026722810809981092 Centerline is valid? [True, True] Translation: X:295.61, Y:20.85, Z:12.23 [[ 9.89370155e-01 -1.37403929e-01 -4.76115167e-02 2.95607409e+02] [ 1.37386420e-01 9.90510781e-01 -3.65561392e-03 2.08470673e+01] [ 4.76620163e-02 -2.92442053e-03 9.98859239e-01 1.22306563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14509989299995 meters 0.02961643152162366 Centerline is valid? [True, True] Translation: X:295.67, Y:20.85, Z:12.23 [[ 9.88953770e-01 -1.39873907e-01 -4.90482436e-02 2.95667252e+02] [ 1.39858417e-01 9.90164355e-01 -3.76462477e-03 2.08493241e+01] [ 4.90923953e-02 -3.13676983e-03 9.98789316e-01 1.22317157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20509989299995 meters 0.029511142870103216 Centerline is valid? [True, True] Translation: X:295.73, Y:20.86, Z:12.23 [[ 9.88645406e-01 -1.42213794e-01 -4.85334818e-02 2.95727790e+02] [ 1.42201585e-01 9.89830721e-01 -3.72194533e-03 2.08555952e+01] [ 4.85692432e-02 -3.22185386e-03 9.98814622e-01 1.22342169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26509989299996 meters 0.03026080323015913 Centerline is valid? [True, True] Translation: X:295.79, Y:20.86, Z:12.24 [[ 9.88591290e-01 -1.42658837e-01 -4.83292587e-02 2.95789860e+02] [ 1.42647371e-01 9.89766643e-01 -3.70394835e-03 2.08609187e+01] [ 4.83630891e-02 -3.23235063e-03 9.98824591e-01 1.22369170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32509989299996 meters 0.031294333478693995 Centerline is valid? [True, True] Translation: X:295.85, Y:20.87, Z:12.24 [[ 9.88920724e-01 -1.40705475e-01 -4.73050748e-02 2.95850224e+02] [ 1.40692415e-01 9.90046728e-01 -3.62224147e-03 2.08694040e+01] [ 4.73439038e-02 -3.07335557e-03 9.98873921e-01 1.22395463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.38509989299996 meters 0.029128176893366043 Centerline is valid? [True, True] Translation: X:295.91, Y:20.88, Z:12.24 [[ 9.89084572e-01 -1.39642665e-01 -4.70280185e-02 2.95911905e+02] [ 1.39628650e-01 9.90197398e-01 -3.59913395e-03 2.08784481e+01] [ 4.70696142e-02 -3.00661087e-03 9.98887087e-01 1.22426989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.44509989299996 meters 0.02899561393953013 Centerline is valid? [True, True] Translation: X:295.97, Y:20.89, Z:12.24 [[ 9.89594811e-01 -1.36310968e-01 -4.60589860e-02 2.95972071e+02] [ 1.36294071e-01 9.90662164e-01 -3.52186712e-03 2.08872860e+01] [ 4.61089639e-02 -2.79234526e-03 9.98932513e-01 1.22443246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.50509989299997 meters 0.030104329986546118 Centerline is valid? [True, True] Translation: X:296.03, Y:20.89, Z:12.25 [[ 9.89930240e-01 -1.34122288e-01 -4.52695551e-02 2.96032658e+02] [ 1.34103722e-01 9.90961258e-01 -3.46063910e-03 2.08934198e+01] [ 4.53245241e-02 -2.64502455e-03 9.98968814e-01 1.22470429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.56509989299997 meters 0.029589244782358214 Centerline is valid? [True, True] Translation: X:296.09, Y:20.90, Z:12.25 [[ 9.90372820e-01 -1.31196727e-01 -4.41485626e-02 2.96092465e+02] [ 1.31176235e-01 9.91353325e-01 -3.37348515e-03 2.09031973e+01] [ 4.42094145e-02 -2.45023420e-03 9.99019281e-01 1.22502588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.62509989299997 meters 0.029700017792854205 Centerline is valid? [True, True] Translation: X:296.15, Y:20.91, Z:12.25 [[ 9.90619436e-01 -1.29258449e-01 -4.43326799e-02 2.96153556e+02] [ 1.29235854e-01 9.91608097e-01 -3.38746891e-03 2.09099246e+01] [ 4.43985033e-02 -2.37367922e-03 9.99011080e-01 1.22519844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.685099893 meters 0.02447814550453979 Centerline is valid? [True, True] Translation: X:296.21, Y:20.92, Z:12.25 [[ 9.90874503e-01 -1.27043247e-01 -4.50303573e-02 2.96214641e+02] [ 1.27017731e-01 9.91894485e-01 -3.43913082e-03 2.09241530e+01] [ 4.51022813e-02 -2.31190676e-03 9.98979699e-01 1.22539849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.745099893 meters 0.026139112287751724 Centerline is valid? [True, True] Translation: X:296.27, Y:20.93, Z:12.26 [[ 9.91212215e-01 -1.24141545e-01 -4.56861239e-02 2.96274593e+02] [ 1.24112317e-01 9.92262050e-01 -3.48680343e-03 2.09289088e+01] [ 4.57654641e-02 -2.21404855e-03 9.98949759e-01 1.22560461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.805099893 meters 0.023160962260247598 Centerline is valid? [True, True] Translation: X:296.34, Y:20.94, Z:12.26 [[ 9.91541394e-01 -1.21491040e-01 -4.56682640e-02 2.96335491e+02] [ 1.21459076e-01 9.92590324e-01 -3.48447110e-03 2.09394686e+01] [ 4.57532090e-02 -2.09182780e-03 9.98950583e-01 1.22595805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.865099893 meters 0.022833857423341056 Centerline is valid? [True, True] Translation: X:296.40, Y:20.95, Z:12.26 [[ 9.91810928e-01 -1.19362019e-01 -4.54289755e-02 2.96396592e+02] [ 1.19328269e-01 9.92848813e-01 -3.46381749e-03 2.09455310e+01] [ 4.55175526e-02 -1.98550896e-03 9.98961566e-01 1.22627551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.925099893 meters 0.021496217572264067 Centerline is valid? [True, True] Translation: X:296.46, Y:20.95, Z:12.27 [[ 9.92109626e-01 -1.16952454e-01 -4.51731516e-02 2.96457656e+02] [ 1.16916664e-01 9.93135762e-01 -3.44269145e-03 2.09526685e+01] [ 4.52657035e-02 -1.86596685e-03 9.98973240e-01 1.22656804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.985099893 meters 0.020922445891830444 Centerline is valid? [True, True] Translation: X:296.52, Y:20.96, Z:12.27 [[ 9.92291601e-01 -1.14499708e-01 -4.74046021e-02 2.96518904e+02] [ 1.14457589e-01 9.93421573e-01 -3.61095860e-03 2.09592699e+01] [ 4.75062081e-02 -1.84269255e-03 9.98869243e-01 1.22668366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.045099893 meters 0.02063729519107275 Centerline is valid? [True, True] Translation: X:296.58, Y:20.97, Z:12.27 [[ 9.92489045e-01 -1.12540108e-01 -4.79606129e-02 2.96580507e+02] [ 1.12494806e-01 9.93645604e-01 -3.65135343e-03 2.09652871e+01] [ 4.80667759e-02 -1.77139158e-03 9.98842554e-01 1.22689247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.105099893 meters 0.01743076921776997 Centerline is valid? [True, True] Translation: X:296.64, Y:20.98, Z:12.27 [[ 9.92848045e-01 -1.09837207e-01 -4.67819045e-02 2.96641340e+02] [ 1.09791252e-01 9.93948297e-01 -3.55852954e-03 2.09758150e+01] [ 4.68896533e-02 -1.60316479e-03 9.98898789e-01 1.22725545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.165099893 meters 0.017852126324555653 Centerline is valid? [True, True] Translation: X:296.70, Y:20.98, Z:12.28 [[ 9.92990255e-01 -1.08928221e-01 -4.58802454e-02 2.96703063e+02] [ 1.08883136e-01 9.94048437e-01 -3.48809287e-03 2.09804310e+01] [ 4.59871380e-02 -1.53194277e-03 9.98940857e-01 1.22755119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.225099893 meters 0.018220653991011308 Centerline is valid? [True, True] Translation: X:296.77, Y:20.98, Z:12.28 [[ 9.93005320e-01 -1.08823817e-01 -4.58018671e-02 2.96765276e+02] [ 1.08778931e-01 9.94059879e-01 -3.47874573e-03 2.09845254e+01] [ 4.59083689e-02 -1.52786511e-03 9.98944487e-01 1.22782396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.285099893 meters 0.021333422747444552 Centerline is valid? [True, True] Translation: X:296.83, Y:20.98, Z:12.28 [[ 9.92774479e-01 -1.10932418e-01 -4.57474855e-02 2.96826236e+02] [ 1.10890020e-01 9.93826621e-01 -3.47141045e-03 2.09843589e+01] [ 4.58501609e-02 -1.62661188e-03 9.98947004e-01 1.22804933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.345099893 meters 0.021283753981258726 Centerline is valid? [True, True] Translation: X:296.89, Y:20.99, Z:12.28 [[ 9.92508748e-01 -1.13446863e-01 -4.53452781e-02 2.96887691e+02] [ 1.13407902e-01 9.93542561e-01 -3.43920525e-03 2.09881402e+01] [ 4.54426308e-02 -1.72907157e-03 9.98965454e-01 1.22835959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.405099893 meters 0.021649299013282376 Centerline is valid? [True, True] Translation: X:296.95, Y:20.99, Z:12.29 [[ 9.91859097e-01 -1.18817770e-01 -4.58024966e-02 2.96948288e+02] [ 1.18783837e-01 9.92914069e-01 -3.47156111e-03 2.09914238e+01] [ 4.58904264e-02 -1.99729682e-03 9.98944483e-01 1.22864407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.465099893 meters 0.0249232372808686 Centerline is valid? [True, True] Translation: X:297.01, Y:20.99, Z:12.29 [[ 9.91138265e-01 -1.24074542e-01 -4.74388756e-02 2.97008495e+02] [ 1.24044178e-01 9.92270184e-01 -3.59488207e-03 2.09905789e+01] [ 4.75182152e-02 -2.32149116e-03 9.98867674e-01 1.22874788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.525099893 meters 0.02505246776050099 Centerline is valid? [True, True] Translation: X:297.07, Y:20.99, Z:12.29 [[ 9.90814707e-01 -1.26380288e-01 -4.81065401e-02 2.97069952e+02] [ 1.26351756e-01 9.91978801e-01 -3.64585219e-03 2.09948024e+01] [ 4.81814319e-02 -2.46598184e-03 9.98835556e-01 1.22900454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58509989299995 meters 0.022722236055750984 Centerline is valid? [True, True] Translation: X:297.13, Y:21.00, Z:12.29 [[ 9.90838498e-01 -1.26296405e-01 -4.78360554e-02 2.97131927e+02] [ 1.26268198e-01 9.91989524e-01 -3.62317263e-03 2.10038688e+01] [ 4.79104595e-02 -2.45019361e-03 9.98848629e-01 1.22936298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64509989299995 meters 0.02433086346976495 Centerline is valid? [True, True] Translation: X:297.19, Y:21.01, Z:12.30 [[ 9.91604254e-01 -1.20067825e-01 -4.80075049e-02 2.97191589e+02] [ 1.20032362e-01 9.92763338e-01 -3.63138589e-03 2.10091936e+01] [ 4.80961034e-02 -2.16155650e-03 9.98840374e-01 1.22974433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70509989299995 meters 0.018952987971390688 Centerline is valid? [True, True] Translation: X:297.25, Y:21.02, Z:12.30 [[ 9.92484349e-01 -1.12224538e-01 -4.87900516e-02 2.97250817e+02] [ 1.12178450e-01 9.93681224e-01 -3.69051855e-03 2.10249568e+01] [ 4.88959250e-02 -1.81041046e-03 9.98802238e-01 1.23008488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76509989299996 meters 0.015803487046901807 Centerline is valid? [True, True] Translation: X:297.31, Y:21.04, Z:12.30 [[ 9.93870567e-01 -9.89021064e-02 -4.93930053e-02 2.97310273e+02] [ 9.88384228e-02 9.95096482e-01 -3.73612972e-03 2.10401222e+01] [ 4.95203169e-02 -1.16869738e-03 9.98772433e-01 1.23044079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82509989299996 meters 0.014129339049138332 Centerline is valid? [True, True] Translation: X:297.37, Y:21.05, Z:12.31 [[ 9.94649161e-01 -9.09832740e-02 -4.89396554e-02 2.97370931e+02] [ 9.09111807e-02 9.95852125e-01 -3.70164302e-03 2.10511925e+01] [ 4.90734474e-02 -7.67325731e-04 9.98794878e-01 1.23078484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88509989299996 meters 0.01333351252672126 Centerline is valid? [True, True] Translation: X:297.43, Y:21.06, Z:12.31 [[ 9.95237086e-01 -8.38273231e-02 -4.97606456e-02 2.97432051e+02] [ 8.37439473e-02 9.96480206e-01 -3.76172974e-03 2.10607639e+01] [ 4.99008341e-02 -4.23339940e-04 9.98754088e-01 1.23107394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.94509989299996 meters 0.013321564882425262 Centerline is valid? [True, True] Translation: X:297.49, Y:21.07, Z:12.31 [[ 9.95327777e-01 -8.24394673e-02 -5.02628248e-02 2.97491658e+02] [ 8.23527554e-02 9.96596009e-01 -3.79722389e-03 2.10658027e+01] [ 5.04047717e-02 -3.59799702e-04 9.98728807e-01 1.23133480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.00509989299997 meters 0.013616726445132725 Centerline is valid? [True, True] Translation: X:297.55, Y:21.07, Z:12.32 [[ 9.94934508e-01 -8.59273906e-02 -5.21709607e-02 2.97552311e+02] [ 8.58387972e-02 9.96301246e-01 -3.94060059e-03 2.10676571e+01] [ 5.23165987e-02 -5.57653008e-04 9.98630393e-01 1.23156145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.06509989299997 meters 0.014069548235116776 Centerline is valid? [True, True] Translation: X:297.61, Y:21.07, Z:12.32 [[ 9.94385810e-01 -9.10566450e-02 -5.39031418e-02 2.97613045e+02] [ 9.09695937e-02 9.95845348e-01 -4.07143647e-03 2.10687440e+01] [ 5.40499243e-02 -8.54968251e-04 9.98537868e-01 1.23183628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.12509989299997 meters 0.01594570370864335 Centerline is valid? [True, True] Translation: X:297.67, Y:21.07, Z:12.32 [[ 9.93394925e-01 -1.00817708e-01 -5.47933617e-02 2.97673456e+02] [ 1.00742552e-01 9.94903918e-01 -4.13906133e-03 2.10652450e+01] [ 5.49314210e-02 -1.40830056e-03 9.98489136e-01 1.23211502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.185099893 meters 0.018305744307193547 Centerline is valid? [True, True] Translation: X:297.73, Y:21.06, Z:12.33 [[ 9.92491985e-01 -1.09369041e-01 -5.47546633e-02 2.97734496e+02] [ 1.09306905e-01 9.93999438e-01 -4.13732988e-03 2.10632290e+01] [ 5.48786004e-02 -1.87879604e-03 9.98491267e-01 1.23254879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.245099893 meters 0.021990647729315978 Centerline is valid? [True, True] Translation: X:297.79, Y:21.06, Z:12.33 [[ 9.91992225e-01 -1.13981545e-01 -5.44025071e-02 2.97794490e+02] [ 1.13927133e-01 9.93480605e-01 -4.11054721e-03 2.10602610e+01] [ 5.45163622e-02 -2.12029077e-03 9.98510626e-01 1.23276019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.305099893 meters 0.022107280086906975 Centerline is valid? [True, True] Translation: X:297.86, Y:21.06, Z:12.33 [[ 9.91573979e-01 -1.17642164e-01 -5.42343493e-02 2.97855224e+02] [ 1.17593559e-01 9.93053354e-01 -4.09762051e-03 2.10625190e+01] [ 5.43396554e-02 -2.31451628e-03 9.98519827e-01 1.23313014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.365099893 meters 0.023872714845215463 Centerline is valid? [True, True] Translation: X:297.92, Y:21.06, Z:12.33 [[ 9.91167446e-01 -1.21025055e-01 -5.42220513e-02 2.97916528e+02] [ 1.20981571e-01 9.92646304e-01 -4.09572354e-03 2.10616590e+01] [ 5.43190040e-02 -2.50032111e-03 9.98520503e-01 1.23344340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.425099893 meters 0.02393057545229289 Centerline is valid? [True, True] Translation: X:297.98, Y:21.06, Z:12.34 [[ 9.91302390e-01 -1.20001877e-01 -5.40288984e-02 2.97978178e+02] [ 1.19957273e-01 9.92770673e-01 -4.07953647e-03 2.10649376e+01] [ 5.41278579e-02 -2.43710506e-03 9.98531039e-01 1.23375002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.485099893 meters 0.02102266393926019 Centerline is valid? [True, True] Translation: X:298.04, Y:21.07, Z:12.34 [[ 9.91642124e-01 -1.17116180e-01 -5.41266859e-02 2.98039042e+02] [ 1.17067311e-01 9.93115587e-01 -4.08351134e-03 2.10737192e+01] [ 5.42323007e-02 -2.28708372e-03 9.98525727e-01 1.23411263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.545099893 meters 0.018032164419383306 Centerline is valid? [True, True] Translation: X:298.10, Y:21.08, Z:12.34 [[ 9.92337049e-01 -1.10161821e-01 -5.59602908e-02 2.98098862e+02] [ 1.10098637e-01 9.93911706e-01 -4.22026648e-03 2.10839005e+01] [ 5.60845003e-02 -1.97322493e-03 9.98424076e-01 1.23437032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.605099893 meters 0.01698378537593536 Centerline is valid? [True, True] Translation: X:298.16, Y:21.09, Z:12.35 [[ 9.92894290e-01 -1.04440549e-01 -5.70359621e-02 2.98157930e+02] [ 1.04365469e-01 9.94529710e-01 -4.30168739e-03 2.10914430e+01] [ 5.71732294e-02 -1.68146409e-03 9.98362857e-01 1.23455891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.665099893 meters 0.01632040007845765 Centerline is valid? [True, True] Translation: X:298.22, Y:21.10, Z:12.35 [[ 9.93775400e-01 -9.54745311e-02 -5.74026935e-02 2.98217040e+02] [ 9.53834894e-02 9.95431183e-01 -4.33011305e-03 2.10998624e+01] [ 5.75538466e-02 -1.17210938e-03 9.98341715e-01 1.23468480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.725099893 meters 0.013507922605215956 Centerline is valid? [True, True] Translation: X:298.28, Y:21.11, Z:12.35 [[ 9.94477846e-01 -8.80929122e-02 -5.70390450e-02 2.98276165e+02] [ 8.79908363e-02 9.96111988e-01 -4.30351892e-03 2.11116005e+01] [ 5.71963860e-02 -7.39159042e-04 9.98362673e-01 1.23510503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.785099893 meters 0.012889350431545061 Centerline is valid? [True, True] Translation: X:298.33, Y:21.12, Z:12.35 [[ 9.94724333e-01 -8.54223759e-02 -5.68024549e-02 2.98334488e+02] [ 8.53164482e-02 9.96344662e-01 -4.29173586e-03 2.11182522e+01] [ 5.69614330e-02 -5.77089610e-04 9.98376213e-01 1.23545378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.845099893 meters 0.01260923860883658 Centerline is valid? [True, True] Translation: X:298.39, Y:21.12, Z:12.36 [[ 9.94827919e-01 -8.45591165e-02 -5.62775979e-02 2.98392529e+02] [ 8.44529618e-02 9.96418334e-01 -4.26616969e-03 2.11225988e+01] [ 5.64367739e-02 -5.08705110e-04 9.98406046e-01 1.23581055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.905099893 meters 0.012572260646166403 Centerline is valid? [True, True] Translation: X:298.45, Y:21.13, Z:12.36 [[ 9.94692734e-01 -8.66640478e-02 -5.54590629e-02 2.98451306e+02] [ 8.65634560e-02 9.96237410e-01 -4.21799006e-03 2.11251294e+01] [ 5.56159413e-02 -6.05124089e-04 9.98452052e-01 1.23615745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.965099893 meters 0.013423105499839908 Centerline is valid? [True, True] Translation: X:298.51, Y:21.12, Z:12.36 [[ 9.94149247e-01 -9.29384317e-02 -5.50429238e-02 2.98511390e+02] [ 9.28483314e-02 9.95671416e-01 -4.19747267e-03 2.11231739e+01] [ 5.51947724e-02 -9.37729341e-04 9.98475166e-01 1.23638654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.025099893 meters 0.015078156985174253 Centerline is valid? [True, True] Translation: X:298.57, Y:21.12, Z:12.37 [[ 9.93358326e-01 -1.00677570e-01 -5.57069329e-02 2.98571856e+02] [ 1.00597326e-01 9.94918145e-01 -4.24991162e-03 2.11204348e+01] [ 5.58517091e-02 -1.38228340e-03 9.98438118e-01 1.23655072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08509989299995 meters 0.01687195475241165 Centerline is valid? [True, True] Translation: X:298.63, Y:21.12, Z:12.37 [[ 9.92959308e-01 -1.04818880e-01 -5.51798370e-02 2.98631738e+02] [ 1.04746475e-01 9.94490043e-01 -4.21069345e-03 2.11200431e+01] [ 5.53171587e-02 -1.59884615e-03 9.98467554e-01 1.23674210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14509989299995 meters 0.016188818052009557 Centerline is valid? [True, True] Translation: X:298.69, Y:21.13, Z:12.37 [[ 9.92835827e-01 -1.06270098e-01 -5.46231298e-02 2.98693216e+02] [ 1.06201324e-01 9.94335910e-01 -4.16848614e-03 2.11250209e+01] [ 5.47567249e-02 -1.66242631e-03 9.98498341e-01 1.23712117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20509989299995 meters 0.017701594295590508 Centerline is valid? [True, True] Translation: X:298.75, Y:21.13, Z:12.37 [[ 9.92776446e-01 -1.07519319e-01 -5.32402494e-02 2.98753238e+02] [ 1.07455866e-01 9.94201561e-01 -4.06124390e-03 2.11253162e+01] [ 5.33682012e-02 -1.68906982e-03 9.98573474e-01 1.23735332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26509989299996 meters 0.017081890314287078 Centerline is valid? [True, True] Translation: X:298.81, Y:21.13, Z:12.38 [[ 9.92993430e-01 -1.05994106e-01 -5.22426881e-02 2.98814128e+02] [ 1.05930959e-01 9.94365506e-01 -3.98403357e-03 2.11301319e+01] [ 5.23706111e-02 -1.57799888e-03 9.98626471e-01 1.23761539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32509989299996 meters 0.016518258796388217 Centerline is valid? [True, True] Translation: X:298.88, Y:21.14, Z:12.38 [[ 9.93168898e-01 -1.04745782e-01 -5.14184883e-02 2.98875342e+02] [ 1.04683034e-01 9.94497914e-01 -3.91936987e-03 2.11350308e+01] [ 5.15461168e-02 -1.49004710e-03 9.98669504e-01 1.23789028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38509989299996 meters 0.015275598065499283 Centerline is valid? [True, True] Translation: X:298.94, Y:21.14, Z:12.38 [[ 9.93235813e-01 -1.04337721e-01 -5.09535115e-02 2.98937515e+02] [ 1.04275677e-01 9.94540856e-01 -3.88176365e-03 2.11402847e+01] [ 5.10803633e-02 -1.45770524e-03 9.98693482e-01 1.23816461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.44509989299996 meters 0.016385816418747395 Centerline is valid? [True, True] Translation: X:299.00, Y:21.14, Z:12.38 [[ 9.93119058e-01 -1.05188997e-01 -5.14763127e-02 2.98997602e+02] [ 1.05126987e-01 9.94451087e-01 -3.91825769e-03 2.11413609e+01] [ 5.16028327e-02 -1.52025329e-03 9.98666529e-01 1.23823937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.50509989299997 meters 0.017803357008367944 Centerline is valid? [True, True] Translation: X:299.06, Y:21.14, Z:12.38 [[ 9.92982351e-01 -1.05921588e-01 -5.25991294e-02 2.99057730e+02] [ 1.05857922e-01 9.94373209e-01 -4.00275062e-03 2.11428792e+01] [ 5.27271428e-02 -1.59337383e-03 9.98607686e-01 1.23830513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.56509989299997 meters 0.016771462246057436 Centerline is valid? [True, True] Translation: X:299.12, Y:21.15, Z:12.39 [[ 9.92849585e-01 -1.07499104e-01 -5.19003222e-02 2.99118917e+02] [ 1.07439327e-01 9.94203802e-01 -3.94847280e-03 2.11490913e+01] [ 5.20239550e-02 -1.65589608e-03 9.98644464e-01 1.23859530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.62509989299997 meters 0.017525493640895715 Centerline is valid? [True, True] Translation: X:299.18, Y:21.15, Z:12.39 [[ 9.92988530e-01 -1.06976657e-01 -5.02968554e-02 2.99179411e+02] [ 1.06919929e-01 9.94260277e-01 -3.82485259e-03 2.11533396e+01] [ 5.04173354e-02 -1.57970144e-03 9.98726988e-01 1.23880330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.685099893 meters 0.016043528398027442 Centerline is valid? [True, True] Translation: X:299.24, Y:21.16, Z:12.39 [[ 9.93284346e-01 -1.05092803e-01 -4.83912260e-02 2.99239910e+02] [ 1.05038105e-01 9.94461393e-01 -3.67897564e-03 2.11621970e+01] [ 4.85098398e-02 -1.42865375e-03 9.98821683e-01 1.23925118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.745099893 meters 0.015697707055285982 Centerline is valid? [True, True] Translation: X:299.30, Y:21.17, Z:12.40 [[ 9.93649578e-01 -1.02846741e-01 -4.56406024e-02 2.99300694e+02] [ 1.02795789e-01 9.94696434e-01 -3.46827350e-03 2.11690383e+01] [ 4.57552452e-02 -1.24541326e-03 9.98951904e-01 1.23960206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.805099893 meters 0.015435985391506748 Centerline is valid? [True, True] Translation: X:299.36, Y:21.17, Z:12.40 [[ 9.93681586e-01 -1.02947616e-01 -4.47067660e-02 2.99362813e+02] [ 1.02898906e-01 9.94686023e-01 -3.39560481e-03 2.11744402e+01] [ 4.48187647e-02 -1.22612732e-03 9.98994382e-01 1.23987581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.865099893 meters 0.01766204297710792 Centerline is valid? [True, True] Translation: X:299.42, Y:21.17, Z:12.40 [[ 9.93356331e-01 -1.05596524e-01 -4.57446493e-02 2.99423925e+02] [ 1.05548485e-01 9.94408100e-01 -3.47107124e-03 2.11749338e+01] [ 4.58553828e-02 -1.38026783e-03 9.98947135e-01 1.23995647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.925099893 meters 0.018548975684087563 Centerline is valid? [True, True] Translation: X:299.48, Y:21.18, Z:12.40 [[ 9.92977468e-01 -1.09228513e-01 -4.54409511e-02 2.99484867e+02] [ 1.09185011e-01 9.94015473e-01 -3.44570001e-03 2.11773102e+01] [ 4.55453771e-02 -1.53996827e-03 9.98961084e-01 1.24013703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.985099893 meters 0.020237598652602266 Centerline is valid? [True, True] Translation: X:299.55, Y:21.18, Z:12.40 [[ 9.92392045e-01 -1.14446420e-01 -4.53877193e-02 2.99545874e+02] [ 1.14408501e-01 9.93427831e-01 -3.44085611e-03 2.11781828e+01] [ 4.54832172e-02 -1.77806269e-03 9.98963521e-01 1.24028794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.045099893 meters 0.02095467585166786 Centerline is valid? [True, True] Translation: X:299.61, Y:21.18, Z:12.40 [[ 9.91993204e-01 -1.17943855e-01 -4.51523111e-02 2.99607033e+02] [ 1.17909980e-01 9.93018391e-01 -3.42214581e-03 2.11813997e+01] [ 4.52406964e-02 -1.92916274e-03 9.98974253e-01 1.24045205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.105099893 meters 0.02159912688226623 Centerline is valid? [True, True] Translation: X:299.67, Y:21.19, Z:12.41 [[ 9.91929917e-01 -1.18557754e-01 -4.49343769e-02 2.99669071e+02] [ 1.18524912e-01 9.92945245e-01 -3.40390058e-03 2.11854639e+01] [ 4.50209347e-02 -1.94941224e-03 9.98984142e-01 1.24066541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.165099893 meters 0.020146043849547615 Centerline is valid? [True, True] Translation: X:299.73, Y:21.19, Z:12.41 [[ 9.92070338e-01 -1.17726083e-01 -4.40115114e-02 2.99730482e+02] [ 1.17693896e-01 9.93044335e-01 -3.33087197e-03 2.11927020e+01] [ 4.40975126e-02 -1.87542695e-03 9.99025471e-01 1.24096625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.225099893 meters 0.01914455497627272 Centerline is valid? [True, True] Translation: X:299.79, Y:21.20, Z:12.41 [[ 9.92690376e-01 -1.12428971e-01 -4.38810114e-02 2.99789933e+02] [ 1.12391942e-01 9.93658414e-01 -3.31791014e-03 2.12012499e+01] [ 4.39757654e-02 -1.63821462e-03 9.99031255e-01 1.24124887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.285099893 meters 0.016015665253584797 Centerline is valid? [True, True] Translation: X:299.85, Y:21.21, Z:12.42 [[ 9.93505644e-01 -1.05067724e-01 -4.36727404e-02 2.99849771e+02] [ 1.05023941e-01 9.94464211e-01 -3.30213070e-03 2.12131375e+01] [ 4.37779247e-02 -1.30599782e-03 9.99040433e-01 1.24154875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.345099893 meters 0.014823235625316662 Centerline is valid? [True, True] Translation: X:299.91, Y:21.22, Z:12.42 [[ 9.94015078e-01 -1.00257512e-01 -4.33872673e-02 2.99911007e+02] [ 1.00209758e-01 9.94960928e-01 -3.27969755e-03 2.12208330e+01] [ 4.34974501e-02 -1.08775874e-03 9.99052946e-01 1.24181712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.405099893 meters 0.013803301299608687 Centerline is valid? [True, True] Translation: X:299.97, Y:21.23, Z:12.42 [[ 9.94445315e-01 -9.58938643e-02 -4.33921922e-02 2.99971651e+02] [ 9.58420835e-02 9.95391158e-01 -3.27694061e-03 2.12278246e+01] [ 4.35064429e-02 -9.00059865e-04 9.99052741e-01 1.24200665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.465099893 meters 0.01358553185185716 Centerline is valid? [True, True] Translation: X:300.03, Y:21.23, Z:12.42 [[ 9.94589225e-01 -9.42320004e-02 -4.37333248e-02 3.00033193e+02] [ 9.41778713e-02 9.95549914e-01 -3.30100439e-03 2.12333159e+01] [ 4.38497680e-02 -8.35568042e-04 9.99037787e-01 1.24221160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.525099893 meters 0.013155916602823014 Centerline is valid? [True, True] Translation: X:300.10, Y:21.24, Z:12.42 [[ 9.94698691e-01 -9.31183632e-02 -4.36289460e-02 3.00095141e+02] [ 9.30635610e-02 9.95654734e-01 -3.28994632e-03 2.12388762e+01] [ 4.37457211e-02 -7.87759783e-04 9.99042387e-01 1.24241966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58509989299995 meters 0.014907498633953109 Centerline is valid? [True, True] Translation: X:300.16, Y:21.24, Z:12.43 [[ 9.94647371e-01 -9.34341972e-02 -4.41209511e-02 3.00156523e+02] [ 9.33786069e-02 9.95625124e-01 -3.32378149e-03 2.12397746e+01] [ 4.42384823e-02 -8.13962425e-04 9.99020668e-01 1.24255944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64509989299995 meters 0.014265008249361475 Centerline is valid? [True, True] Translation: X:300.22, Y:21.25, Z:12.43 [[ 9.94330911e-01 -9.69321951e-02 -4.37057043e-02 3.00218655e+02] [ 9.68811270e-02 9.95290522e-01 -3.29009165e-03 2.12453088e+01] [ 4.38187890e-02 -9.62818059e-04 9.99039032e-01 1.24285975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70509989299995 meters 0.016156091903225745 Centerline is valid? [True, True] Translation: X:300.28, Y:21.25, Z:12.43 [[ 9.93932071e-01 -1.01117257e-01 -4.32936430e-02 3.00279661e+02] [ 1.01071250e-01 9.94873862e-01 -3.25586832e-03 2.12453394e+01] [ 4.34009383e-02 -1.13963069e-03 9.99057085e-01 1.24309843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76509989299996 meters 0.018179619683932013 Centerline is valid? [True, True] Translation: X:300.34, Y:21.24, Z:12.43 [[ 9.93173246e-01 -1.08151804e-01 -4.37045936e-02 3.00340718e+02] [ 1.08111951e-01 9.94133310e-01 -3.28143619e-03 2.12445403e+01] [ 4.38030856e-02 -1.46595426e-03 9.99039109e-01 1.24323525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82509989299996 meters 0.02165237054438308 Centerline is valid? [True, True] Translation: X:300.40, Y:21.24, Z:12.43 [[ 9.92375274e-01 -1.15193946e-01 -4.38368701e-02 3.00400966e+02] [ 1.15160738e-01 9.93341420e-01 -3.29057713e-03 2.12423435e+01] [ 4.39240334e-02 -1.78279893e-03 9.99033283e-01 1.24346701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88509989299996 meters 0.02128219023018807 Centerline is valid? [True, True] Translation: X:300.46, Y:21.25, Z:12.44 [[ 9.91862757e-01 -1.19458189e-01 -4.40228681e-02 3.00462161e+02] [ 1.19428927e-01 9.92837256e-01 -3.30364645e-03 2.12457403e+01] [ 4.41021912e-02 -1.98084002e-03 9.99025061e-01 1.24369834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.94509989299996 meters 0.026917864023100334 Centerline is valid? [True, True] Translation: X:300.52, Y:21.24, Z:12.44 [[ 9.91375713e-01 -1.24033422e-01 -4.23072782e-02 3.00523024e+02] [ 1.24010610e-01 9.92275818e-01 -3.17342201e-03 2.12417460e+01] [ 4.23740994e-02 -2.10049785e-03 9.99099606e-01 1.24406392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.00509989299997 meters 0.027201165150597697 Centerline is valid? [True, True] Translation: X:300.59, Y:21.25, Z:12.44 [[ 9.91327141e-01 -1.24663218e-01 -4.15882362e-02 3.00585067e+02] [ 1.24641756e-01 9.92196909e-01 -3.11876583e-03 2.12466907e+01] [ 4.16525148e-02 -2.09191358e-03 9.99129967e-01 1.24441155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.06509989299997 meters 0.02731225108466228 Centerline is valid? [True, True] Translation: X:300.65, Y:21.25, Z:12.45 [[ 9.91377523e-01 -1.24444642e-01 -4.10382454e-02 3.00647427e+02] [ 1.24423671e-01 9.92224418e-01 -3.07472229e-03 2.12523778e+01] [ 4.11017818e-02 -2.05791859e-03 9.99152845e-01 1.24476414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.12509989299997 meters 0.02412355199990939 Centerline is valid? [True, True] Translation: X:300.71, Y:21.26, Z:12.45 [[ 9.90861416e-01 -1.28402027e-01 -4.13106918e-02 3.00707908e+02] [ 1.28384355e-01 9.91719668e-01 -3.09148789e-03 2.12625483e+01] [ 4.13655788e-02 -2.24041045e-03 9.99141566e-01 1.24510055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.185099893 meters 0.027209165608866406 Centerline is valid? [True, True] Translation: X:300.77, Y:21.26, Z:12.45 [[ 9.89735417e-01 -1.33599589e-01 -5.07440014e-02 3.00768071e+02] [ 1.33579835e-01 9.91030787e-01 -3.79576591e-03 2.12628807e+01] [ 5.07959804e-02 -3.02157139e-03 9.98704480e-01 1.24453570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.245099893 meters 0.02727850565874802 Centerline is valid? [True, True] Translation: X:300.83, Y:21.27, Z:12.44 [[ 9.89629227e-01 -1.32950422e-01 -5.43891472e-02 3.00829565e+02] [ 1.32927012e-01 9.91117498e-01 -4.06392766e-03 2.12698284e+01] [ 5.44463363e-02 -3.20800520e-03 9.98511545e-01 1.24445997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.305099893 meters 0.024541267366269732 Centerline is valid? [True, True] Translation: X:300.89, Y:21.28, Z:12.45 [[ 9.90348848e-01 -1.27144257e-01 -5.51678952e-02 3.00889128e+02] [ 1.27111366e-01 9.91879899e-01 -4.11902630e-03 2.12838184e+01] [ 5.52436369e-02 -2.93319357e-03 9.98468596e-01 1.24484878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.365099893 meters 0.021117637142912597 Centerline is valid? [True, True] Translation: X:300.95, Y:21.30, Z:12.45 [[ 9.91298074e-01 -1.19953028e-01 -5.42162313e-02 3.00948535e+02] [ 1.19910533e-01 9.92776450e-01 -4.04788069e-03 2.12974668e+01] [ 5.43101532e-02 -2.48844084e-03 9.98521014e-01 1.24537756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.425099893 meters 0.017514772635331577 Centerline is valid? [True, True] Translation: X:301.01, Y:21.31, Z:12.46 [[ 9.92925177e-01 -1.07892971e-01 -4.95852807e-02 3.01008347e+02] [ 1.07842408e-01 9.94161110e-01 -3.70178712e-03 2.13126609e+01] [ 4.96951545e-02 -1.67179844e-03 9.98763033e-01 1.24606145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.485099893 meters 0.01516676081445895 Centerline is valid? [True, True] Translation: X:301.07, Y:21.32, Z:12.47 [[ 9.94076442e-01 -9.89416920e-02 -4.49729705e-02 3.01068417e+02] [ 9.88909501e-02 9.95092613e-01 -3.35719438e-03 2.13236770e+01] [ 4.50844372e-02 -1.11011194e-03 9.98982563e-01 1.24674652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.545099893 meters 0.013294007623265831 Centerline is valid? [True, True] Translation: X:301.13, Y:21.33, Z:12.47 [[ 9.94670772e-01 -9.26463594e-02 -4.52405552e-02 3.01129750e+02] [ 9.25885144e-02 9.95698731e-01 -3.37691314e-03 2.13316017e+01] [ 4.53588221e-02 -8.29838997e-04 9.98970414e-01 1.24695583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.605099893 meters 0.012021894975178412 Centerline is valid? [True, True] Translation: X:301.19, Y:21.34, Z:12.47 [[ 9.95279596e-01 -8.47676136e-02 -4.72544001e-02 3.01189642e+02] [ 8.46957419e-02 9.96400626e-01 -3.52474081e-03 2.13389317e+01] [ 4.73830977e-02 -4.94143859e-04 9.98876668e-01 1.24700690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.665099893 meters 0.011515283576516181 Centerline is valid? [True, True] Translation: X:301.25, Y:21.34, Z:12.47 [[ 9.95508517e-01 -8.15148234e-02 -4.81469157e-02 3.01250345e+02] [ 8.14364556e-02 9.96672069e-01 -3.59031471e-03 2.13443633e+01] [ 4.82793500e-02 -3.46725288e-04 9.98833812e-01 1.24722931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.725099893 meters 0.011262618544077011 Centerline is valid? [True, True] Translation: X:301.31, Y:21.35, Z:12.47 [[ 9.95846917e-01 -7.66929746e-02 -4.90622572e-02 3.01310195e+02] [ 7.66058164e-02 9.97054750e-01 -3.65715823e-03 2.13480278e+01] [ 4.91982349e-02 -1.16484519e-04 9.98789027e-01 1.24735340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.785099893 meters 0.011203014017947228 Centerline is valid? [True, True] Translation: X:301.37, Y:21.35, Z:12.48 [[ 9.96276279e-01 -7.16242239e-02 -4.79952730e-02 3.01369345e+02] [ 7.15348916e-02 9.97431678e-01 -3.57856462e-03 2.13530987e+01] [ 4.81283176e-02 1.31902390e-04 9.98841152e-01 1.24767769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.845099893 meters 0.011250311342620148 Centerline is valid? [True, True] Translation: X:301.43, Y:21.36, Z:12.48 [[ 9.96678053e-01 -6.76584614e-02 -4.53342120e-02 3.01428105e+02] [ 6.75745620e-02 9.97708493e-01 -3.38240380e-03 2.13561922e+01] [ 4.54591766e-02 3.07728109e-04 9.98966150e-01 1.24809905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.905099893 meters 0.017650321961428482 Centerline is valid? [True, True] Translation: X:301.49, Y:21.30, Z:12.47 [[ 9.92229793e-01 -1.13252501e-01 -5.15161129e-02 3.01493297e+02] [ 1.13204618e-01 9.93564214e-01 -3.85583341e-03 2.12993959e+01] [ 5.16212490e-02 -2.00598910e-03 9.98664720e-01 1.24743573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.965099893 meters 0.018242363587744063 Centerline is valid? [True, True] Translation: X:301.55, Y:21.30, Z:12.48 [[ 9.92047407e-01 -1.14658669e-01 -5.19165940e-02 3.01554119e+02] [ 1.14611921e-01 9.93402739e-01 -3.88655772e-03 2.13018363e+01] [ 5.20197142e-02 -2.09461104e-03 9.98643861e-01 1.24764069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.025099893 meters 0.018242363587744063 Centerline is valid? [True, True] Translation: X:301.61, Y:21.31, Z:12.48 [[ 9.92047407e-01 -1.14658669e-01 -5.19165940e-02 3.01613951e+02] [ 1.14611921e-01 9.93402739e-01 -3.88655772e-03 2.13063154e+01] [ 5.20197142e-02 -2.09461104e-03 9.98643861e-01 1.24789292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08509989299995 meters 0.01909072159574903 Centerline is valid? [True, True] Translation: X:301.67, Y:21.31, Z:12.48 [[ 9.91915686e-01 -1.15596121e-01 -5.23527414e-02 3.01674784e+02] [ 1.15549887e-01 9.93293946e-01 -3.91920840e-03 2.13089443e+01] [ 5.24547064e-02 -2.16182908e-03 9.98620964e-01 1.24808997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14509989299995 meters 0.01909072159574903 Centerline is valid? [True, True] Translation: X:301.73, Y:21.31, Z:12.48 [[ 9.91915686e-01 -1.15596121e-01 -5.23527414e-02 3.01734618e+02] [ 1.15549887e-01 9.93293946e-01 -3.91920840e-03 2.13134236e+01] [ 5.24547064e-02 -2.16182908e-03 9.98620964e-01 1.24834221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20509989299995 meters 0.019522066468149135 Centerline is valid? [True, True] Translation: X:301.80, Y:21.32, Z:12.49 [[ 9.91856330e-01 -1.15946955e-01 -5.27003177e-02 3.01795416e+02] [ 1.15900601e-01 9.93252982e-01 -3.94522850e-03 2.13167769e+01] [ 5.28021849e-02 -2.19489861e-03 9.98602579e-01 1.24857347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26509989299996 meters 0.01866184983804485 Centerline is valid? [True, True] Translation: X:301.86, Y:21.32, Z:12.49 [[ 9.91813495e-01 -1.16223923e-01 -5.28960306e-02 3.01855361e+02] [ 1.16177617e-01 9.93220560e-01 -3.95987988e-03 2.13213050e+01] [ 5.29976579e-02 -2.21787246e-03 9.98592174e-01 1.24879889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32509989299996 meters 0.01858453841145641 Centerline is valid? [True, True] Translation: X:301.92, Y:21.33, Z:12.49 [[ 9.91847746e-01 -1.16116399e-01 -5.24883905e-02 3.01915344e+02] [ 1.16070652e-01 9.93233187e-01 -3.92936330e-03 2.13253754e+01] [ 5.25894749e-02 -2.19503158e-03 9.98613804e-01 1.24902854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.38509989299996 meters 0.018834182682150143 Centerline is valid? [True, True] Translation: X:301.98, Y:21.33, Z:12.49 [[ 9.91848356e-01 -1.16814876e-01 -5.09030774e-02 3.01975778e+02] [ 1.16772766e-01 9.93151348e-01 -3.81068428e-03 2.13300857e+01] [ 5.09996046e-02 -2.16447219e-03 9.98696328e-01 1.24937340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.44509989299996 meters 0.020696458447633882 Centerline is valid? [True, True] Translation: X:302.04, Y:21.33, Z:12.50 [[ 9.91927060e-01 -1.17540223e-01 -4.75920591e-02 3.02035447e+02] [ 1.17504236e-01 9.93065990e-01 -3.56292074e-03 2.13341296e+01] [ 4.76808418e-02 -2.05811105e-03 9.98860502e-01 1.24978424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.50509989299997 meters 0.019626917972451776 Centerline is valid? [True, True] Translation: X:302.10, Y:21.34, Z:12.50 [[ 9.92000013e-01 -1.17381051e-01 -4.64506455e-02 3.02097070e+02] [ 1.17346575e-01 9.93084934e-01 -3.47787966e-03 2.13417499e+01] [ 4.65376734e-02 -2.00076748e-03 9.98914532e-01 1.25012548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.56509989299997 meters 0.02015874335725732 Centerline is valid? [True, True] Translation: X:302.16, Y:21.35, Z:12.50 [[ 9.91832843e-01 -1.18598367e-01 -4.69258905e-02 3.02158365e+02] [ 1.18564697e-01 9.92940125e-01 -3.51013717e-03 2.13478534e+01] [ 4.70108961e-02 -2.08228466e-03 9.98892206e-01 1.25027090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.62509989299997 meters 0.022405756340873193 Centerline is valid? [True, True] Translation: X:302.22, Y:21.35, Z:12.50 [[ 9.91512366e-01 -1.20570578e-01 -4.86411825e-02 3.02218249e+02] [ 1.20536876e-01 9.92702190e-01 -3.63630262e-03 2.13501658e+01] [ 4.87246395e-02 -2.25761715e-03 9.98809698e-01 1.25032414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.685099893 meters 0.021156395475301834 Centerline is valid? [True, True] Translation: X:302.28, Y:21.36, Z:12.51 [[ 9.91384504e-01 -1.21323517e-01 -4.93697161e-02 3.02279091e+02] [ 1.21289911e-01 9.92610277e-01 -3.68710078e-03 2.13595579e+01] [ 4.94522196e-02 -2.33271391e-03 9.98773766e-01 1.25052600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.745099893 meters 0.019322737505163234 Centerline is valid? [True, True] Translation: X:302.34, Y:21.37, Z:12.51 [[ 9.92120340e-01 -1.15768372e-01 -4.79052797e-02 3.02339254e+02] [ 1.15730340e-01 9.93274232e-01 -3.57616914e-03 2.13730535e+01] [ 4.79970871e-02 -1.99610414e-03 9.98845481e-01 1.25095057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.805099893 meters 0.017235119797912483 Centerline is valid? [True, True] Translation: X:302.40, Y:21.39, Z:12.51 [[ 9.92948323e-01 -1.08988951e-01 -4.66372897e-02 3.02399238e+02] [ 1.08945455e-01 9.94041634e-01 -3.48108039e-03 2.13857529e+01] [ 4.67388070e-02 -1.62438780e-03 9.98905824e-01 1.25132485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.865099893 meters 0.015087127744850734 Centerline is valid? [True, True] Translation: X:302.46, Y:21.40, Z:12.52 [[ 9.93901047e-01 -1.00841939e-01 -4.46274888e-02 3.02459304e+02] [ 1.00793914e-01 9.94901750e-01 -3.33079303e-03 2.13989995e+01] [ 4.47358503e-02 -1.18770061e-03 9.98998145e-01 1.25168619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.925099893 meters 0.01433006468453788 Centerline is valid? [True, True] Translation: X:302.52, Y:21.41, Z:12.52 [[ 9.94365421e-01 -9.65772331e-02 -4.37063765e-02 3.02520049e+02] [ 9.65270710e-02 9.95325015e-01 -3.26163781e-03 2.14072966e+01] [ 4.38170498e-02 -9.75588655e-04 9.99039096e-01 1.25199955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.985099893 meters 0.012010542423175194 Centerline is valid? [True, True] Translation: X:302.58, Y:21.42, Z:12.52 [[ 9.95524591e-01 -8.48486562e-02 -4.16112210e-02 3.02578360e+02] [ 8.47929990e-02 9.96393754e-01 -3.10385917e-03 2.14239133e+01] [ 4.17245190e-02 -4.38372089e-04 9.99129057e-01 1.25245937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.045099893 meters 0.011170645658737764 Centerline is valid? [True, True] Translation: X:302.64, Y:21.44, Z:12.53 [[ 9.96196385e-01 -7.68806971e-02 -4.10136726e-02 3.02639315e+02] [ 7.68199917e-02 9.97040294e-01 -3.05641611e-03 2.14364055e+01] [ 4.11272636e-02 -1.05879306e-04 9.99153911e-01 1.25274507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.105099893 meters 0.011101696955224704 Centerline is valid? [True, True] Translation: X:302.70, Y:21.44, Z:12.53 [[ 9.96402287e-01 -7.41834974e-02 -4.09791468e-02 3.02700543e+02] [ 7.41207049e-02 9.97244608e-01 -3.05162064e-03 2.14430984e+01] [ 4.10926131e-02 3.23853708e-06 9.99155342e-01 1.25298981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.165099893 meters 0.011221653470715659 Centerline is valid? [True, True] Translation: X:302.76, Y:21.45, Z:12.53 [[ 9.96349075e-01 -7.42958884e-02 -4.20552332e-02 3.02760748e+02] [ 7.42299199e-02 9.97236241e-01 -3.13018190e-03 2.14467696e+01] [ 4.21715624e-02 -3.00275568e-06 9.99110384e-01 1.25316463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.225099893 meters 0.011223427442258713 Centerline is valid? [True, True] Translation: X:302.82, Y:21.45, Z:12.53 [[ 9.96172277e-01 -7.65486382e-02 -4.22030788e-02 3.02821991e+02] [ 7.64842577e-02 9.97065843e-01 -3.14041952e-03 2.14488282e+01] [ 4.23196432e-02 -9.94722913e-05 9.99104118e-01 1.25343391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.285099893 meters 0.011452426785314012 Centerline is valid? [True, True] Translation: X:302.88, Y:21.45, Z:12.54 [[ 9.95807369e-01 -8.16007830e-02 -4.13400023e-02 3.02883721e+02] [ 8.15434198e-02 9.96665047e-01 -3.07474303e-03 2.14475426e+01] [ 4.14530367e-02 -3.09153396e-04 9.99140406e-01 1.25377053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.345099893 meters 0.012287814629314777 Centerline is valid? [True, True] Translation: X:302.94, Y:21.45, Z:12.54 [[ 9.95479641e-01 -8.59803182e-02 -4.03443784e-02 3.02944692e+02] [ 8.59293326e-02 9.96296720e-01 -2.99937341e-03 2.14464464e+01] [ 4.04528590e-02 -4.80950349e-04 9.99181332e-01 1.25410694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.405099893 meters 0.014003356359469674 Centerline is valid? [True, True] Translation: X:303.01, Y:21.44, Z:12.54 [[ 9.94853687e-01 -9.36303484e-02 -3.87233622e-02 3.03006511e+02] [ 9.35893612e-02 9.95606736e-01 -2.87383196e-03 2.14428156e+01] [ 3.88223181e-02 -7.65052408e-04 9.99245837e-01 1.25446607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.465099893 meters 0.014803125708591132 Centerline is valid? [True, True] Translation: X:303.07, Y:21.44, Z:12.55 [[ 9.94344298e-01 -9.90864219e-02 -3.82269277e-02 3.03068242e+02] [ 9.90505569e-02 9.95078362e-01 -2.83564541e-03 2.14429430e+01] [ 3.83197625e-02 -9.66790625e-04 9.99265060e-01 1.25470321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.525099893 meters 0.01781598570978157 Centerline is valid? [True, True] Translation: X:303.13, Y:21.44, Z:12.55 [[ 9.93669043e-01 -1.05328433e-01 -3.90864959e-02 3.03128570e+02] [ 1.05295811e-01 9.94436722e-01 -2.89804227e-03 2.14379345e+01] [ 3.91742931e-02 -1.23594940e-03 9.99231628e-01 1.25489378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58509989299995 meters 0.018009069240132042 Centerline is valid? [True, True] Translation: X:303.19, Y:21.44, Z:12.55 [[ 9.93353832e-01 -1.08190095e-01 -3.92818917e-02 3.03191132e+02] [ 1.08159502e-01 9.94129296e-01 -2.90941018e-03 2.14393461e+01] [ 3.93660487e-02 -1.35863611e-03 9.99223933e-01 1.25504145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64509989299995 meters 0.01880379111896607 Centerline is valid? [True, True] Translation: X:303.25, Y:21.44, Z:12.55 [[ 9.93142845e-01 -1.09954796e-01 -3.97143928e-02 3.03253100e+02] [ 1.09925049e-01 9.93935535e-01 -2.93855339e-03 2.14393176e+01] [ 3.97966543e-02 -1.44720331e-03 9.99206751e-01 1.25520114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70509989299995 meters 0.0190448237833215 Centerline is valid? [True, True] Translation: X:303.32, Y:21.44, Z:12.55 [[ 9.93132662e-01 -1.09718473e-01 -4.06124541e-02 3.03315216e+02] [ 1.09687340e-01 9.93961610e-01 -3.00080066e-03 2.14418523e+01] [ 4.06964636e-02 -1.47447892e-03 9.99170468e-01 1.25535530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76509989299996 meters 0.01839218625796072 Centerline is valid? [True, True] Translation: X:303.38, Y:21.45, Z:12.55 [[ 9.93145807e-01 -1.09120088e-01 -4.18833098e-02 3.03377608e+02] [ 1.09086578e-01 9.94027445e-01 -3.09155866e-03 2.14464845e+01] [ 4.19705105e-02 -1.49853842e-03 9.99117726e-01 1.25543854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82509989299996 meters 0.017856636839389914 Centerline is valid? [True, True] Translation: X:303.44, Y:21.45, Z:12.56 [[ 9.93139365e-01 -1.09231923e-01 -4.17443264e-02 3.03439166e+02] [ 1.09198861e-01 9.94015157e-01 -3.07824382e-03 2.14519905e+01] [ 4.18307356e-02 -1.50130779e-03 9.99123584e-01 1.25570191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88509989299996 meters 0.01894408690510136 Centerline is valid? [True, True] Translation: X:303.50, Y:21.46, Z:12.56 [[ 9.93083108e-01 -1.09912273e-01 -4.12944659e-02 3.03500219e+02] [ 1.09880632e-01 9.93940135e-01 -3.04205724e-03 2.14550899e+01] [ 4.13785864e-02 -1.51644635e-03 9.99142389e-01 1.25596744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.94509989299996 meters 0.018824350972169588 Centerline is valid? [True, True] Translation: X:303.56, Y:21.46, Z:12.56 [[ 9.92960389e-01 -1.11039150e-01 -4.12307186e-02 3.03561705e+02] [ 1.11008776e-01 9.93814799e-01 -3.03253274e-03 2.14600887e+01] [ 4.13124282e-02 -1.56578671e-03 9.99145050e-01 1.25619613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.00509989299997 meters 0.02047219811253827 Centerline is valid? [True, True] Translation: X:303.62, Y:21.46, Z:12.56 [[ 9.92513007e-01 -1.14624424e-01 -4.21802377e-02 3.03623002e+02] [ 1.14595966e-01 9.93407346e-01 -3.09997639e-03 2.14619165e+01] [ 4.22574910e-02 -1.75691820e-03 9.99105209e-01 1.25639982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.06509989299997 meters 0.023126820035213453 Centerline is valid? [True, True] Translation: X:303.68, Y:21.46, Z:12.57 [[ 9.91993192e-01 -1.18767582e-01 -4.29391261e-02 3.03682823e+02] [ 1.18742029e-01 9.92920129e-01 -3.15419541e-03 2.14621469e+01] [ 4.30097388e-02 -1.96973857e-03 9.99072711e-01 1.25661438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.12509989299997 meters 0.024953764416244584 Centerline is valid? [True, True] Translation: X:303.74, Y:21.47, Z:12.57 [[ 9.91848994e-01 -1.20027797e-01 -4.27656538e-02 3.03743785e+02] [ 1.20003620e-01 9.92768484e-01 -3.14140603e-03 2.14650815e+01] [ 4.28334494e-02 -2.01623287e-03 9.99080192e-01 1.25698928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.185099893 meters 0.020809347951735155 Centerline is valid? [True, True] Translation: X:303.81, Y:21.48, Z:12.57 [[ 9.92087997e-01 -1.18593776e-01 -4.11937110e-02 3.03805083e+02] [ 1.18570195e-01 9.92941068e-01 -3.02384762e-03 2.14765324e+01] [ 4.12615369e-02 -1.88442341e-03 9.99146603e-01 1.25734623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.245099893 meters 0.021633627994951284 Centerline is valid? [True, True] Translation: X:303.87, Y:21.48, Z:12.58 [[ 9.92514565e-01 -1.15133805e-01 -4.07313701e-02 3.03865182e+02] [ 1.15107967e-01 9.93348496e-01 -2.98682763e-03 2.14820215e+01] [ 4.08043300e-02 -1.72403528e-03 9.99165669e-01 1.25767212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.305099893 meters 0.01859922589192566 Centerline is valid? [True, True] Translation: X:303.92, Y:21.50, Z:12.58 [[ 9.93491631e-01 -1.06511882e-01 -4.03682721e-02 3.03924706e+02] [ 1.06479423e-01 9.94310502e-01 -2.95943762e-03 2.14954388e+01] [ 4.04538122e-02 -1.35821382e-03 9.99180486e-01 1.25794365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.365099893 meters 0.015166726656903511 Centerline is valid? [True, True] Translation: X:303.98, Y:21.51, Z:12.58 [[ 9.94535680e-01 -9.65487948e-02 -3.97128524e-02 3.03983952e+02] [ 9.65094482e-02 9.95327811e-01 -2.91116826e-03 2.15110482e+01] [ 3.98083762e-02 -9.37404760e-04 9.99206893e-01 1.25826567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.425099893 meters 0.01424334119887262 Centerline is valid? [True, True] Translation: X:304.04, Y:21.52, Z:12.59 [[ 9.95017238e-01 -9.14668348e-02 -3.96801455e-02 3.04044398e+02] [ 9.14235151e-02 9.95807853e-01 -2.90873144e-03 2.15205656e+01] [ 3.97798530e-02 -7.33460452e-04 9.99208199e-01 1.25854484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.485099893 meters 0.013225348880984799 Centerline is valid? [True, True] Translation: X:304.11, Y:21.53, Z:12.59 [[ 9.95323105e-01 -8.71204265e-02 -4.17366422e-02 3.04105573e+02] [ 8.70687461e-02 9.96197612e-01 -3.05789043e-03 2.15309853e+01] [ 4.18443480e-02 -5.90368100e-04 9.99123967e-01 1.25865013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.545099893 meters 0.01319022989539869 Centerline is valid? [True, True] Translation: X:304.17, Y:21.54, Z:12.59 [[ 9.95297425e-01 -8.66908127e-02 -4.32173476e-02 3.04167429e+02] [ 8.66351024e-02 9.96235087e-01 -3.16389139e-03 2.15378562e+01] [ 4.33289184e-02 -5.95126385e-04 9.99060684e-01 1.25876737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.605099893 meters 0.01349760482529668 Centerline is valid? [True, True] Translation: X:304.23, Y:21.54, Z:12.59 [[ 9.95232899e-01 -8.73213114e-02 -4.34334636e-02 3.04228487e+02] [ 8.72657790e-02 9.96180000e-01 -3.17657708e-03 2.15417988e+01] [ 4.35449306e-02 -6.28821020e-04 9.99051272e-01 1.25894261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.665099893 meters 0.014224306728440737 Centerline is valid? [True, True] Translation: X:304.29, Y:21.54, Z:12.59 [[ 9.94958981e-01 -9.06699394e-02 -4.28437654e-02 3.04289987e+02] [ 9.06190724e-02 9.95880703e-01 -3.13191520e-03 2.15442309e+01] [ 4.29512498e-02 -7.66335118e-04 9.99076875e-01 1.25928508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.725099893 meters 0.015445379033056593 Centerline is valid? [True, True] Translation: X:304.35, Y:21.55, Z:12.60 [[ 9.94639055e-01 -9.47279246e-02 -4.14701071e-02 3.04351377e+02] [ 9.46838806e-02 9.95502780e-01 -3.02933454e-03 2.15456793e+01] [ 4.15705695e-02 -9.13456222e-04 9.99135153e-01 1.25959335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.785099893 meters 0.0166626686760404 Centerline is valid? [True, True] Translation: X:304.41, Y:21.55, Z:12.60 [[ 9.93819356e-01 -1.03445086e-01 -4.02765616e-02 3.04412934e+02] [ 1.03410741e-01 9.94634390e-01 -2.94076895e-03 2.15460416e+01] [ 4.03646613e-02 -1.24243599e-03 9.99184243e-01 1.25979004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.845099893 meters 0.017765817463750364 Centerline is valid? [True, True] Translation: X:304.47, Y:21.55, Z:12.60 [[ 9.93489054e-01 -1.06481301e-01 -4.05121196e-02 3.04474558e+02] [ 1.06449133e-01 9.94313754e-01 -2.95650200e-03 2.15479817e+01] [ 4.05965699e-02 -1.37522762e-03 9.99174673e-01 1.25999577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.905099893 meters 0.02214842996112981 Centerline is valid? [True, True] Translation: X:304.53, Y:21.54, Z:12.60 [[ 9.92478648e-01 -1.15483815e-01 -4.06155356e-02 3.04534910e+02] [ 1.15459094e-01 9.93307820e-01 -2.96168993e-03 2.15442922e+01] [ 4.06857564e-02 -1.75001894e-03 9.99170459e-01 1.26017925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.965099893 meters 0.02197567049164897 Centerline is valid? [True, True] Translation: X:304.60, Y:21.55, Z:12.60 [[ 9.91972854e-01 -1.19704856e-01 -4.07505238e-02 3.04595965e+02] [ 1.19683494e-01 9.92807649e-01 -2.97221985e-03 2.15490514e+01] [ 4.08132209e-02 -1.92880368e-03 9.99164932e-01 1.26045858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.025099893 meters 0.02534800855741091 Centerline is valid? [True, True] Translation: X:304.66, Y:21.55, Z:12.61 [[ 9.91751973e-01 -1.21656391e-01 -4.03453436e-02 3.04657004e+02] [ 1.21637117e-01 9.92570280e-01 -2.94129376e-03 2.15488054e+01] [ 4.04034162e-02 -1.99045740e-03 9.99181466e-01 1.26075230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08509989299995 meters 0.02565475044343235 Centerline is valid? [True, True] Translation: X:304.72, Y:21.55, Z:12.61 [[ 9.91791003e-01 -1.21384486e-01 -4.02046449e-02 3.04718575e+02] [ 1.21365300e-01 9.92603596e-01 -2.92665499e-03 2.15535119e+01] [ 4.02625256e-02 -1.97681871e-03 9.99187180e-01 1.26101554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14509989299995 meters 0.023104590184043112 Centerline is valid? [True, True] Translation: X:304.78, Y:21.56, Z:12.61 [[ 9.92078144e-01 -1.18647383e-01 -4.12765735e-02 3.04779697e+02] [ 1.18624924e-01 9.92934599e-01 -3.00165385e-03 2.15622269e+01] [ 4.13410763e-02 -1.91855521e-03 9.99143250e-01 1.26111941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20509989299995 meters 0.021765871158313937 Centerline is valid? [True, True] Translation: X:304.84, Y:21.57, Z:12.61 [[ 9.92823599e-01 -1.11224425e-01 -4.39366364e-02 3.04839268e+02] [ 1.11191830e-01 9.93793834e-01 -3.19265648e-03 2.15707692e+01] [ 4.40190597e-02 -1.71565032e-03 9.99029218e-01 1.26110671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26509989299996 meters 0.018314672730018022 Centerline is valid? [True, True] Translation: X:304.90, Y:21.58, Z:12.61 [[ 9.93640265e-01 -1.03268040e-01 -4.48857967e-02 3.04899145e+02] [ 1.03225913e-01 9.94652589e-01 -3.26161778e-03 2.15840990e+01] [ 4.49825948e-02 -1.39250259e-03 9.98986800e-01 1.26127415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32509989299996 meters 0.01695973805757473 Centerline is valid? [True, True] Translation: X:304.96, Y:21.59, Z:12.61 [[ 9.94083369e-01 -9.84763640e-02 -4.58329641e-02 3.04960333e+02] [ 9.84273666e-02 9.95138666e-01 -3.33011928e-03 2.15928569e+01] [ 4.59380928e-02 -1.20080176e-03 9.98943567e-01 1.26142109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.38509989299996 meters 0.015023782204802466 Centerline is valid? [True, True] Translation: X:305.02, Y:21.60, Z:12.61 [[ 9.94789148e-01 -9.01834287e-02 -4.75552276e-02 3.05019447e+02] [ 9.01213173e-02 9.95924809e-01 -3.45294219e-03 2.16045911e+01] [ 4.76728291e-02 -8.50790338e-04 9.98862642e-01 1.26147635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.44509989299996 meters 0.013318687026414958 Centerline is valid? [True, True] Translation: X:305.08, Y:21.62, Z:12.62 [[ 9.95348698e-01 -8.36722283e-02 -4.77485828e-02 3.05080055e+02] [ 8.36021307e-02 9.96493184e-01 -3.46676650e-03 2.16172167e+01] [ 4.78712094e-02 -5.41241734e-04 9.98853370e-01 1.26183377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.50509989299997 meters 0.012700988943969555 Centerline is valid? [True, True] Translation: X:305.14, Y:21.63, Z:12.62 [[ 9.96067741e-01 -7.43545388e-02 -4.81711377e-02 3.05140231e+02] [ 7.42723781e-02 9.97231865e-01 -3.49577816e-03 2.16303546e+01] [ 4.82977205e-02 -9.57531003e-05 9.98832980e-01 1.26212041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.56509989299997 meters 0.012910663792924026 Centerline is valid? [True, True] Translation: X:305.20, Y:21.64, Z:12.62 [[ 9.96471575e-01 -6.92118873e-02 -4.74775114e-02 3.05198339e+02] [ 6.91262599e-02 9.97601971e-01 -3.44504398e-03 2.16393396e+01] [ 4.76020969e-02 1.50945610e-04 9.98866366e-01 1.26235631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.62509989299997 meters 0.012971864351729812 Centerline is valid? [True, True] Translation: X:305.26, Y:21.65, Z:12.63 [[ 9.96738272e-01 -6.61322969e-02 -4.62529528e-02 3.05257321e+02] [ 6.60475852e-02 9.97810820e-01 -3.35903882e-03 2.16471110e+01] [ 4.63738378e-02 2.93186712e-04 9.98924112e-01 1.26269747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.685099893 meters 0.012844341221983569 Centerline is valid? [True, True] Translation: X:305.32, Y:21.65, Z:12.63 [[ 9.96650268e-01 -6.78668039e-02 -4.56326557e-02 3.05315874e+02] [ 6.77860886e-02 9.97694368e-01 -3.31570822e-03 2.16507936e+01] [ 4.57524701e-02 2.11342250e-04 9.98952785e-01 1.26301341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.745099893 meters 0.012764850322808946 Centerline is valid? [True, True] Translation: X:305.37, Y:21.65, Z:12.63 [[ 9.96072154e-01 -7.65212874e-02 -4.45506103e-02 3.05374758e+02] [ 7.64528740e-02 9.97067932e-01 -3.23997583e-03 2.16485609e+01] [ 4.46679120e-02 -1.78772485e-04 9.99001875e-01 1.26335385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.805099893 meters 0.014484084556316248 Centerline is valid? [True, True] Translation: X:305.44, Y:21.64, Z:12.64 [[ 9.94983928e-01 -8.95930832e-02 -4.44978980e-02 3.05435738e+02] [ 8.95374082e-02 9.95978168e-01 -3.24673206e-03 2.16424231e+01] [ 4.46098196e-02 -7.53780233e-04 9.99004202e-01 1.26358610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.865099893 meters 0.016703958800675302 Centerline is valid? [True, True] Translation: X:305.50, Y:21.64, Z:12.64 [[ 9.94061754e-01 -9.89671280e-02 -4.52408648e-02 3.05496719e+02] [ 9.89193442e-02 9.95089985e-01 -3.29925244e-03 2.16399661e+01] [ 4.53452490e-02 -1.19553600e-03 9.98970660e-01 1.26376246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.925099893 meters 0.02132361037140364 Centerline is valid? [True, True] Translation: X:305.56, Y:21.63, Z:12.64 [[ 9.92517123e-01 -1.12464972e-01 -4.75540870e-02 3.05558212e+02] [ 1.12427661e-01 9.93653863e-01 -3.46709400e-03 2.16345411e+01] [ 4.76422289e-02 -1.90524463e-03 9.98862647e-01 1.26380584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.985099893 meters 0.023527626292866886 Centerline is valid? [True, True] Translation: X:305.62, Y:21.63, Z:12.64 [[ 9.91587484e-01 -1.19896426e-01 -4.87761176e-02 3.05619319e+02] [ 1.19866160e-01 9.92783693e-01 -3.55567306e-03 2.16346092e+01] [ 4.88504466e-02 -2.32084502e-03 9.98803408e-01 1.26396446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.045099893 meters 0.029740576493205714 Centerline is valid? [True, True] Translation: X:305.68, Y:21.63, Z:12.64 [[ 9.90612682e-01 -1.27427352e-01 -4.94851956e-02 3.05679556e+02] [ 1.27405594e-01 9.91844144e-01 -3.60664761e-03 2.16302348e+01] [ 4.95411871e-02 -2.73189991e-03 9.98768345e-01 1.26414282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.105099893 meters 0.029305330772742857 Centerline is valid? [True, True] Translation: X:305.74, Y:21.64, Z:12.65 [[ 9.90432014e-01 -1.29290650e-01 -4.82530131e-02 3.05740997e+02] [ 1.29272338e-01 9.91602904e-01 -3.51319485e-03 2.16379834e+01] [ 4.83020511e-02 -2.75819917e-03 9.98828966e-01 1.26460702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.165099893 meters 0.029944149659981642 Centerline is valid? [True, True] Translation: X:305.80, Y:21.64, Z:12.65 [[ 9.90651480e-01 -1.27811773e-01 -4.76843373e-02 3.05801383e+02] [ 1.27792331e-01 9.91794882e-01 -3.46865686e-03 2.16441699e+01] [ 4.77364169e-02 -2.65746258e-03 9.98856432e-01 1.26492429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.225099893 meters 0.024806666670914464 Centerline is valid? [True, True] Translation: X:305.86, Y:21.66, Z:12.65 [[ 9.91013817e-01 -1.24852810e-01 -4.79936390e-02 3.05862205e+02] [ 1.24829744e-01 9.92172041e-01 -3.48934719e-03 2.16589871e+01] [ 4.80536016e-02 -2.53304241e-03 9.98841547e-01 1.26525120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.285099893 meters 0.02538885545989435 Centerline is valid? [True, True] Translation: X:305.92, Y:21.67, Z:12.65 [[ 9.91254395e-01 -1.22472700e-01 -4.91442921e-02 3.05922191e+02] [ 1.22445724e-01 9.92468789e-01 -3.57051244e-03 2.16657582e+01] [ 4.92114663e-02 -2.47822226e-03 9.98785307e-01 1.26535947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.345099893 meters 0.02268083858161541 Centerline is valid? [True, True] Translation: X:305.98, Y:21.68, Z:12.66 [[ 9.91290321e-01 -1.21155111e-01 -5.16230516e-02 3.05983627e+02] [ 1.21123649e-01 9.92630347e-01 -3.74908150e-03 2.16763641e+01] [ 5.16968280e-02 -2.53634418e-03 9.98659604e-01 1.26551680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.405099893 meters 0.021364941416800332 Centerline is valid? [True, True] Translation: X:306.04, Y:21.69, Z:12.66 [[ 9.91476230e-01 -1.18213816e-01 -5.47757223e-02 3.06044959e+02] [ 1.18174147e-01 9.92984933e-01 -3.97403730e-03 2.16869258e+01] [ 5.48612530e-02 -2.53291071e-03 9.98490775e-01 1.26554785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.465099893 meters 0.021620734774574848 Centerline is valid? [True, True] Translation: X:306.10, Y:21.69, Z:12.66 [[ 9.91813608e-01 -1.14471654e-01 -5.65862837e-02 3.06104837e+02] [ 1.14423400e-01 9.93423602e-01 -4.10271713e-03 2.16946236e+01] [ 5.66837946e-02 -2.40566432e-03 9.98389283e-01 1.26565551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52509989299995 meters 0.017767025497371164 Centerline is valid? [True, True] Translation: X:306.16, Y:21.71, Z:12.66 [[ 9.92839095e-01 -1.04917553e-01 -5.71212593e-02 3.06164314e+02] [ 1.04852634e-01 9.94479150e-01 -4.14073492e-03 2.17130069e+01] [ 5.72403372e-02 -1.87823102e-03 9.98358661e-01 1.26603453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58509989299995 meters 0.013945655854712465 Centerline is valid? [True, True] Translation: X:306.22, Y:21.73, Z:12.67 [[ 9.94244518e-01 -9.15093895e-02 -5.57123908e-02 3.06223127e+02] [ 9.14265840e-02 9.95803630e-01 -4.03864073e-03 2.17328739e+01] [ 5.58481745e-02 -1.07819716e-03 9.98438691e-01 1.26662327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64509989299995 meters 0.012615429643834355 Centerline is valid? [True, True] Translation: X:306.28, Y:21.75, Z:12.67 [[ 9.95137603e-01 -8.21670186e-02 -5.43114321e-02 3.06282448e+02] [ 8.20744127e-02 9.96618427e-01 -3.93711745e-03 2.17463210e+01] [ 5.44512752e-02 -5.39605270e-04 9.98516283e-01 1.26707033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70509989299995 meters 0.012086724596738875 Centerline is valid? [True, True] Translation: X:306.34, Y:21.75, Z:12.67 [[ 9.95738979e-01 -7.57542577e-02 -5.25849645e-02 3.06342873e+02] [ 7.56585188e-02 9.97126501e-01 -3.81176887e-03 2.17544661e+01] [ 5.27226194e-02 -1.82973680e-04 9.98609179e-01 1.26739187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76509989299996 meters 0.012045007896899787 Centerline is valid? [True, True] Translation: X:306.40, Y:21.76, Z:12.68 [[ 9.96034722e-01 -7.23898067e-02 -5.17160316e-02 3.06402863e+02] [ 7.22927133e-02 9.97376416e-01 -3.74803329e-03 2.17598915e+01] [ 5.18516697e-02 -5.52094774e-06 9.98654797e-01 1.26777062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82509989299996 meters 0.012085746995795794 Centerline is valid? [True, True] Translation: X:306.46, Y:21.77, Z:12.68 [[ 9.96177731e-01 -6.95223505e-02 -5.28826123e-02 3.06461301e+02] [ 6.94167542e-02 9.97580383e-01 -3.83317590e-03 2.17650619e+01] [ 5.30211481e-02 1.47585170e-04 9.98593379e-01 1.26801164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.88509989299996 meters 0.012051000603382066 Centerline is valid? [True, True] Translation: X:306.52, Y:21.77, Z:12.68 [[ 9.96200391e-01 -6.92113742e-02 -5.28636551e-02 3.06520285e+02] [ 6.91052638e-02 9.97602004e-01 -3.83467226e-03 2.17685300e+01] [ 5.30022912e-02 1.66945178e-04 9.98594377e-01 1.26828952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.94509989299996 meters 0.011929630216993363 Centerline is valid? [True, True] Translation: X:306.58, Y:21.77, Z:12.68 [[ 9.96074460e-01 -7.04820015e-02 -5.35533066e-02 3.06578864e+02] [ 7.03746489e-02 9.97513046e-01 -3.89005969e-03 2.17669780e+01] [ 5.36943012e-02 1.05993960e-04 9.98557415e-01 1.26842944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.00509989299997 meters 0.012069638847635452 Centerline is valid? [True, True] Translation: X:306.64, Y:21.77, Z:12.69 [[ 9.95961094e-01 -7.19248409e-02 -5.37430652e-02 3.06637001e+02] [ 7.18181730e-02 9.97410054e-01 -3.91591528e-03 2.17673901e+01] [ 5.38855251e-02 4.03705099e-05 9.98547119e-01 1.26852579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.06509989299997 meters 0.012090639218010842 Centerline is valid? [True, True] Translation: X:306.70, Y:21.77, Z:12.69 [[ 9.95918543e-01 -7.31216349e-02 -5.29101425e-02 3.06695025e+02] [ 7.30196601e-02 9.97323030e-01 -3.86045176e-03 2.17676856e+01] [ 5.30507862e-02 -1.87851334e-05 9.98591815e-01 1.26882101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.12509989299997 meters 0.011932427817154239 Centerline is valid? [True, True] Translation: X:306.75, Y:21.77, Z:12.69 [[ 9.96013575e-01 -7.28350823e-02 -5.14976556e-02 3.06753788e+02] [ 7.27376944e-02 9.97343998e-01 -3.76524249e-03 2.17701587e+01] [ 5.16351194e-02 4.41190304e-06 9.98666017e-01 1.26928596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.185099893 meters 0.011864548174282865 Centerline is valid? [True, True] Translation: X:306.81, Y:21.77, Z:12.70 [[ 9.96199333e-01 -7.18987940e-02 -4.91675895e-02 3.06812426e+02] [ 7.18083530e-02 9.97411931e-01 -3.60565874e-03 2.17694038e+01] [ 4.92995829e-02 6.13112074e-05 9.98784034e-01 1.26952078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.245099893 meters 0.01186247830054656 Centerline is valid? [True, True] Translation: X:306.87, Y:21.77, Z:12.70 [[ 9.96272725e-01 -7.14704123e-02 -4.82973896e-02 3.06871881e+02] [ 7.13825228e-02 9.97442717e-01 -3.54432678e-03 2.17708415e+01] [ 4.84271940e-02 8.35265862e-05 9.98826712e-01 1.26981179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.305099893 meters 0.011853689256538798 Centerline is valid? [True, True] Translation: X:306.93, Y:21.77, Z:12.70 [[ 9.96357373e-01 -7.06847948e-02 -4.77037118e-02 3.06932041e+02] [ 7.05980714e-02 9.97498694e-01 -3.50248460e-03 2.17703286e+01] [ 4.78319626e-02 1.21936302e-04 9.98855389e-01 1.27006412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.365099893 meters 0.011949830797354469 Centerline is valid? [True, True] Translation: X:306.99, Y:21.77, Z:12.70 [[ 9.96413524e-01 -6.97508154e-02 -4.79052595e-02 3.06991119e+02] [ 6.96621897e-02 9.97564432e-01 -3.51912485e-03 2.17693772e+01] [ 4.80340447e-02 1.69318319e-04 9.98845685e-01 1.27021324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.425099893 meters 0.011964534910686296 Centerline is valid? [True, True] Translation: X:307.05, Y:21.77, Z:12.70 [[ 9.96414178e-01 -6.97952726e-02 -4.78268235e-02 3.07049533e+02] [ 6.97068078e-02 9.97561322e-01 -3.51712267e-03 2.17689360e+01] [ 4.79556678e-02 1.70655698e-04 9.98849451e-01 1.27047622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.485099893 meters 0.011929822112532821 Centerline is valid? [True, True] Translation: X:307.11, Y:21.77, Z:12.71 [[ 9.96293521e-01 -7.02984409e-02 -4.95716589e-02 3.07108788e+02] [ 7.02033681e-02 9.97525991e-01 -3.65856515e-03 2.17666433e+01] [ 4.97062095e-02 1.64907340e-04 9.98763869e-01 1.27062457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.545099893 meters 0.011987776388386336 Centerline is valid? [True, True] Translation: X:307.17, Y:21.77, Z:12.71 [[ 9.96139183e-01 -7.16502174e-02 -5.07245045e-02 3.07166330e+02] [ 7.15518030e-02 9.97429814e-01 -3.75574918e-03 2.17657984e+01] [ 5.08632333e-02 1.11819162e-04 9.98705622e-01 1.27073656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.605099893 meters 0.011891484094210666 Centerline is valid? [True, True] Translation: X:307.22, Y:21.76, Z:12.71 [[ 9.95834084e-01 -7.52182022e-02 -5.15431832e-02 3.07224328e+02] [ 7.51209153e-02 9.97167096e-01 -3.82491792e-03 2.17610172e+01] [ 5.16848697e-02 -6.29874607e-05 9.98663442e-01 1.27096968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.665099893 meters 0.011935799395318438 Centerline is valid? [True, True] Translation: X:307.28, Y:21.76, Z:12.71 [[ 9.95460439e-01 -8.06437496e-02 -5.05480069e-02 3.07283665e+02] [ 8.05564630e-02 9.96742936e-01 -3.76505097e-03 2.17556830e+01] [ 5.06869967e-02 -3.24009358e-04 9.98714535e-01 1.27143085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.725099893 meters 0.012614372334507908 Centerline is valid? [True, True] Translation: X:307.34, Y:21.75, Z:12.72 [[ 9.95089402e-01 -8.61576935e-02 -4.87230402e-02 3.07341809e+02] [ 8.60826550e-02 9.96281348e-01 -3.64027749e-03 2.17491445e+01] [ 4.88554941e-02 -5.71807107e-04 9.98805694e-01 1.27177824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.785099893 meters 0.013193279600134928 Centerline is valid? [True, True] Translation: X:307.40, Y:21.75, Z:12.72 [[ 9.94856387e-01 -8.99660975e-02 -4.65496604e-02 3.07400486e+02] [ 8.99015447e-02 9.95944568e-01 -3.48273751e-03 2.17463328e+01] [ 4.66742097e-02 -7.20062715e-04 9.98909906e-01 1.27215688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.845099893 meters 0.014675009859757077 Centerline is valid? [True, True] Translation: X:307.46, Y:21.74, Z:12.72 [[ 9.94286677e-01 -9.66870937e-02 -4.52284227e-02 3.07460540e+02] [ 9.66326263e-02 9.95314330e-01 -3.39425824e-03 2.17388000e+01] [ 4.53446782e-02 -9.95675524e-04 9.98970905e-01 1.27243576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.905099893 meters 0.01705475516301841 Centerline is valid? [True, True] Translation: X:307.52, Y:21.73, Z:12.73 [[ 9.93603447e-01 -1.03324189e-01 -4.55664603e-02 3.07519995e+02] [ 1.03275761e-01 9.94646875e-01 -3.42202599e-03 2.17332233e+01] [ 4.56761154e-02 -1.30577405e-03 9.98955448e-01 1.27261711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.965099893 meters 0.02005644796358018 Centerline is valid? [True, True] Translation: X:307.58, Y:21.73, Z:12.73 [[ 9.92246997e-01 -1.14940313e-01 -4.72717846e-02 3.07581368e+02] [ 1.14901262e-01 9.93370568e-01 -3.55162261e-03 2.17255267e+01] [ 4.73666241e-02 -1.90750083e-03 9.98875750e-01 1.27270293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02509989299995 meters 0.020714901544162313 Centerline is valid? [True, True] Translation: X:307.64, Y:21.73, Z:12.73 [[ 9.91388459e-01 -1.21555225e-01 -4.87160232e-02 3.07641672e+02] [ 1.21521716e-01 9.92582025e-01 -3.66008709e-03 2.17261334e+01] [ 4.87995516e-02 -2.29148662e-03 9.98805964e-01 1.27294862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08509989299995 meters 0.02555639690342117 Centerline is valid? [True, True] Translation: X:307.70, Y:21.72, Z:12.73 [[ 9.90716101e-01 -1.26361936e-01 -5.01424808e-02 3.07700968e+02] [ 1.26332561e-01 9.91980791e-01 -3.76747709e-03 2.17217034e+01] [ 5.02164434e-02 -2.60212781e-03 9.98734969e-01 1.27311873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14509989299995 meters 0.023494826610538047 Centerline is valid? [True, True] Translation: X:307.76, Y:21.73, Z:12.74 [[ 9.90810517e-01 -1.26130713e-01 -4.88422130e-02 3.07760129e+02] [ 1.26102513e-01 9.92010424e-01 -3.67070248e-03 2.17293913e+01] [ 4.89149727e-02 -2.52215519e-03 9.98799762e-01 1.27354572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20509989299995 meters 0.02244024900361533 Centerline is valid? [True, True] Translation: X:307.82, Y:21.74, Z:12.74 [[ 9.91006134e-01 -1.24470147e-01 -4.91327208e-02 3.07820249e+02] [ 1.24439501e-01 9.92220320e-01 -3.69408202e-03 2.17357200e+01] [ 4.92102869e-02 -2.45319334e-03 9.98785427e-01 1.27373445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26509989299996 meters 0.025690115382609593 Centerline is valid? [True, True] Translation: X:307.88, Y:21.74, Z:12.74 [[ 9.91300497e-01 -1.21702703e-01 -5.01176194e-02 3.07878786e+02] [ 1.21667269e-01 9.92563788e-01 -3.76858113e-03 2.17371001e+01] [ 5.02035806e-02 -2.36187751e-03 9.98736212e-01 1.27377505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32509989299996 meters 0.021319941063982717 Centerline is valid? [True, True] Translation: X:307.94, Y:21.75, Z:12.74 [[ 9.91415812e-01 -1.20632147e-01 -5.04239228e-02 3.07937788e+02] [ 1.20594765e-01 9.92694569e-01 -3.79422245e-03 2.17485985e+01] [ 5.05132595e-02 -2.31920899e-03 9.98720698e-01 1.27406550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.38509989299996 meters 0.02215224405280598 Centerline is valid? [True, True] Translation: X:308.00, Y:21.75, Z:12.74 [[ 9.91665690e-01 -1.18418601e-01 -5.07562171e-02 3.07995975e+02] [ 1.18377730e-01 9.92961284e-01 -3.82125147e-03 2.17533035e+01] [ 5.08514657e-02 -2.21900181e-03 9.98703762e-01 1.27429324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.44509989299996 meters 0.018930004215253718 Centerline is valid? [True, True] Translation: X:308.05, Y:21.76, Z:12.75 [[ 9.92144710e-01 -1.14856189e-01 -4.95674358e-02 3.08054811e+02] [ 1.14812647e-01 9.93380145e-01 -3.73424878e-03 2.17645506e+01] [ 4.96682082e-02 -1.98605332e-03 9.98763798e-01 1.27466101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.50509989299997 meters 0.01671221866795881 Centerline is valid? [True, True] Translation: X:308.11, Y:21.78, Z:12.75 [[ 9.93139698e-01 -1.06222162e-01 -4.88916489e-02 3.08114465e+02] [ 1.06169270e-01 9.94341243e-01 -3.68488036e-03 2.17762917e+01] [ 4.90063989e-02 -1.53118972e-03 9.98797291e-01 1.27492246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.56509989299997 meters 0.013249680232619689 Centerline is valid? [True, True] Translation: X:308.17, Y:21.79, Z:12.75 [[ 9.94303527e-01 -9.43595541e-02 -4.95658285e-02 3.08174462e+02] [ 9.42904552e-02 9.95537721e-01 -3.73570584e-03 2.17905612e+01] [ 4.96971515e-02 -9.59159040e-04 9.98763873e-01 1.27514404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.62509989299997 meters 0.012470676378632898 Centerline is valid? [True, True] Translation: X:308.23, Y:21.80, Z:12.75 [[ 9.94631735e-01 -9.04009723e-02 -5.03525102e-02 3.08233076e+02] [ 9.03245163e-02 9.95905150e-01 -3.79650409e-03 2.17982705e+01] [ 5.04895318e-02 -7.71942675e-04 9.98724292e-01 1.27537047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.685099893 meters 0.011279356342803288 Centerline is valid? [True, True] Translation: X:308.29, Y:21.81, Z:12.76 [[ 9.95328261e-01 -8.22864875e-02 -5.05033273e-02 3.08291361e+02] [ 8.21985541e-02 9.96608655e-01 -3.81918955e-03 2.18089520e+01] [ 5.06463208e-02 -3.49953181e-04 9.98716590e-01 1.27562945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.745099893 meters 0.011142715902091187 Centerline is valid? [True, True] Translation: X:308.35, Y:21.82, Z:12.76 [[ 9.96100464e-01 -7.30466873e-02 -4.94777529e-02 3.08349051e+02] [ 7.29506467e-02 9.97328515e-01 -3.74655426e-03 2.18192411e+01] [ 4.96192472e-02 1.22510361e-04 9.98768199e-01 1.27596294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.805099893 meters 0.011373153833001868 Centerline is valid? [True, True] Translation: X:308.41, Y:21.82, Z:12.76 [[ 9.96316571e-01 -7.10368663e-02 -4.80318104e-02 3.08406421e+02] [ 7.09434407e-02 9.97473665e-01 -3.64920290e-03 2.18236923e+01] [ 4.81696939e-02 2.28219426e-04 9.98839140e-01 1.27623175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.865099893 meters 0.011266348246398314 Centerline is valid? [True, True] Translation: X:308.47, Y:21.82, Z:12.76 [[ 9.96153054e-01 -7.40904532e-02 -4.67941992e-02 3.08465655e+02] [ 7.40045361e-02 9.97251521e-01 -3.56823082e-03 2.18232678e+01] [ 4.69299582e-02 9.15210260e-05 9.98898178e-01 1.27642618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.925099893 meters 0.011621850051041539 Centerline is valid? [True, True] Translation: X:308.52, Y:21.82, Z:12.76 [[ 9.95603987e-01 -8.18336420e-02 -4.55626655e-02 3.08523903e+02] [ 8.17597861e-02 9.96645970e-01 -3.48532202e-03 2.18180968e+01] [ 4.56950636e-02 -2.55193283e-04 9.98955402e-01 1.27644305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.985099893 meters 0.012678645798721052 Centerline is valid? [True, True] Translation: X:308.58, Y:21.81, Z:12.77 [[ 9.95009519e-01 -8.91899153e-02 -4.47349616e-02 3.08582986e+02] [ 8.91258542e-02 9.96014472e-01 -3.42848373e-03 2.18148524e+01] [ 4.48624554e-02 -5.75667725e-04 9.98993007e-01 1.27657357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.045099893 meters 0.014955441059455715 Centerline is valid? [True, True] Translation: X:308.64, Y:21.81, Z:12.77 [[ 9.93908973e-01 -1.01293643e-01 -4.34114178e-02 3.08644326e+02] [ 1.01244398e-01 9.94855987e-01 -3.33717869e-03 2.18079403e+01] [ 4.35261439e-02 -1.07831100e-03 9.99051706e-01 1.27674446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.105099893 meters 0.0179098596348331 Centerline is valid? [True, True] Translation: X:308.70, Y:21.80, Z:12.77 [[ 9.93264330e-01 -1.08020156e-01 -4.19239322e-02 3.08703596e+02] [ 1.07980208e-01 9.94147820e-01 -3.22283246e-03 2.18037990e+01] [ 4.20267167e-02 -1.32583038e-03 9.99115608e-01 1.27698446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.165099893 meters 0.020104039883370835 Centerline is valid? [True, True] Translation: X:308.76, Y:21.80, Z:12.77 [[ 9.92747739e-01 -1.13434122e-01 -3.98073613e-02 3.08763752e+02] [ 1.13402391e-01 9.93544425e-01 -3.06153768e-03 2.18013973e+01] [ 3.98976647e-02 -1.47491534e-03 9.99202683e-01 1.27726903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.225099893 meters 0.02015415951234603 Centerline is valid? [True, True] Translation: X:308.82, Y:21.80, Z:12.77 [[ 9.92848677e-01 -1.13204072e-01 -3.78991006e-02 3.08824184e+02] [ 1.13175115e-01 9.93570779e-01 -2.91548847e-03 2.18040576e+01] [ 3.79854841e-02 -1.39459621e-03 9.99277318e-01 1.27741740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.285099893 meters 0.018584824788471014 Centerline is valid? [True, True] Translation: X:308.89, Y:21.81, Z:12.78 [[ 9.93102589e-01 -1.10867052e-01 -3.81542250e-02 3.08885307e+02] [ 1.10835977e-01 9.93834378e-01 -2.93525196e-03 2.18100156e+01] [ 3.82444032e-02 -1.31385448e-03 9.99267551e-01 1.27751838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.345099893 meters 0.018013304764708898 Centerline is valid? [True, True] Translation: X:308.94, Y:21.82, Z:12.78 [[ 9.93583315e-01 -1.06035925e-01 -3.93519919e-02 3.08944603e+02] [ 1.05999142e-01 9.94361617e-01 -3.02590811e-03 2.18150613e+01] [ 3.94509653e-02 -1.16478556e-03 9.99220829e-01 1.27752877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.405099893 meters 0.016188264672638886 Centerline is valid? [True, True] Translation: X:309.00, Y:21.82, Z:12.78 [[ 9.93924368e-01 -1.02811651e-01 -3.92952379e-02 3.09004491e+02] [ 1.02772524e-01 9.94700301e-01 -3.01981866e-03 2.18223172e+01] [ 3.93974576e-02 -1.03699944e-03 9.99223081e-01 1.27766841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.465099893 meters 0.015751587724442243 Centerline is valid? [True, True] Translation: X:309.06, Y:21.83, Z:12.78 [[ 9.94405468e-01 -9.75298751e-02 -4.05670830e-02 3.09063569e+02] [ 9.74837820e-02 9.95232231e-01 -3.11753565e-03 2.18273379e+01] [ 4.06777214e-02 -8.54538181e-04 9.99171954e-01 1.27775496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52509989299995 meters 0.01389443550610971 Centerline is valid? [True, True] Translation: X:309.12, Y:21.84, Z:12.78 [[ 9.95062166e-01 -9.02942011e-02 -4.12097468e-02 3.09122600e+02] [ 9.02404003e-02 9.95914974e-01 -3.16766755e-03 2.18375687e+01] [ 4.13274260e-02 -5.66757920e-04 9.99145496e-01 1.27791251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58509989299995 meters 0.01292023058634537 Centerline is valid? [True, True] Translation: X:309.18, Y:21.85, Z:12.78 [[ 9.95518251e-01 -8.50178431e-02 -4.14171257e-02 3.09181384e+02] [ 8.49588760e-02 9.96379368e-01 -3.18498856e-03 2.18464293e+01] [ 4.15379504e-02 -3.48038206e-04 9.99136866e-01 1.27815249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64509989299995 meters 0.012539913503659766 Centerline is valid? [True, True] Translation: X:309.24, Y:21.86, Z:12.78 [[ 9.96109701e-01 -7.77069401e-02 -4.15583344e-02 3.09239593e+02] [ 7.76407951e-02 9.96976244e-01 -3.20571202e-03 2.18555264e+01] [ 4.16817782e-02 -3.33812798e-05 9.99130936e-01 1.27848048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.70509989299995 meters 0.012803457857346408 Centerline is valid? [True, True] Translation: X:309.30, Y:21.86, Z:12.79 [[ 9.96511841e-01 -7.33803921e-02 -3.97425211e-02 3.09297720e+02] [ 7.33160753e-02 9.97304013e-01 -3.07535426e-03 2.18630115e+01] [ 3.98610465e-02 1.50861264e-04 9.99205221e-01 1.27882586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76509989299996 meters 0.012792028427907758 Centerline is valid? [True, True] Translation: X:309.36, Y:21.87, Z:12.79 [[ 9.96510518e-01 -7.37029434e-02 -3.91747818e-02 3.09355825e+02] [ 7.36403222e-02 9.97280229e-01 -3.04105517e-03 2.18671001e+01] [ 3.92923701e-02 1.45599910e-04 9.99227746e-01 1.27917919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.82509989299996 meters 0.012807391889437861 Centerline is valid? [True, True] Translation: X:309.41, Y:21.87, Z:12.79 [[ 9.96176527e-01 -7.84186315e-02 -3.85077245e-02 3.09413560e+02] [ 7.83612297e-02 9.96920517e-01 -3.00004821e-03 2.18659788e+01] [ 3.86244003e-02 -2.89350342e-05 9.99253799e-01 1.27944735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.88509989299996 meters 0.013122465550574666 Centerline is valid? [True, True] Translation: X:309.47, Y:21.87, Z:12.80 [[ 9.95743152e-01 -8.38533307e-02 -3.82647857e-02 3.09472376e+02] [ 8.38002354e-02 9.96478082e-01 -2.99219338e-03 2.18658772e+01] [ 3.83809256e-02 -2.27141983e-04 9.99263155e-01 1.27971670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.94509989299996 meters 0.014324013073966779 Centerline is valid? [True, True] Translation: X:309.53, Y:21.86, Z:12.80 [[ 9.94893881e-01 -9.29097098e-02 -3.94201975e-02 3.09531866e+02] [ 9.28600394e-02 9.95674367e-01 -3.09312323e-03 2.18632822e+01] [ 3.95370614e-02 -5.83231720e-04 9.99217934e-01 1.27992879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.00509989299997 meters 0.015550185270102098 Centerline is valid? [True, True] Translation: X:309.59, Y:21.86, Z:12.80 [[ 9.94195217e-01 -9.96844961e-02 -4.04829694e-02 3.09591084e+02] [ 9.96375915e-02 9.95018713e-01 -3.17966215e-03 2.18628652e+01] [ 4.05982751e-02 -8.72420665e-04 9.99175169e-01 1.28013801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.06509989299997 meters 0.019585580644632564 Centerline is valid? [True, True] Translation: X:309.65, Y:21.86, Z:12.80 [[ 9.93183021e-01 -1.08995579e-01 -4.13213135e-02 3.09650389e+02] [ 1.08954657e-01 9.94041415e-01 -3.24782373e-03 2.18578132e+01] [ 4.14290953e-02 -1.27646616e-03 9.99140631e-01 1.28035424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.12509989299997 meters 0.0190489926270786 Centerline is valid? [True, True] Translation: X:309.71, Y:21.86, Z:12.81 [[ 9.92441637e-01 -1.15106059e-01 -4.25463476e-02 3.09710581e+02] [ 1.15068214e-01 9.93351958e-01 -3.34559533e-03 2.18629168e+01] [ 4.26485960e-02 -1.57542411e-03 9.99088893e-01 1.28057509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.185099893 meters 0.020236284074865638 Centerline is valid? [True, True] Translation: X:309.77, Y:21.87, Z:12.81 [[ 9.92216760e-01 -1.16676074e-01 -4.35039738e-02 3.09769711e+02] [ 1.16638011e-01 9.93168602e-01 -3.42092735e-03 2.18664261e+01] [ 4.36059212e-02 -1.67991552e-03 9.99047397e-01 1.28075587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.245099893 meters 0.02083297452340447 Centerline is valid? [True, True] Translation: X:309.83, Y:21.87, Z:12.81 [[ 9.92189413e-01 -1.16474158e-01 -4.46535529e-02 3.09829122e+02] [ 1.16433813e-01 9.93192243e-01 -3.51221244e-03 2.18730252e+01] [ 4.47586444e-02 -1.71440345e-03 9.98996359e-01 1.28093538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.305099893 meters 0.021242120591573214 Centerline is valid? [True, True] Translation: X:309.89, Y:21.88, Z:12.81 [[ 9.92170351e-01 -1.16570751e-01 -4.48247030e-02 3.09888792e+02] [ 1.16530122e-01 9.93180894e-01 -3.52729538e-03 2.18794805e+01] [ 4.49302181e-02 -1.72375022e-03 9.98988641e-01 1.28125506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.365099893 meters 0.0200708737123844 Centerline is valid? [True, True] Translation: X:309.95, Y:21.89, Z:12.82 [[ 9.92270972e-01 -1.15551627e-01 -4.52342783e-02 3.09947586e+02] [ 1.15509122e-01 9.93300036e-01 -3.56115926e-03 2.18891232e+01] [ 4.53427080e-02 -1.69133681e-03 9.98970059e-01 1.28153115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.425099893 meters 0.020355145088183844 Centerline is valid? [True, True] Translation: X:310.01, Y:21.90, Z:12.82 [[ 9.92182467e-01 -1.15785947e-01 -4.65571270e-02 3.10006828e+02] [ 1.15741097e-01 9.93272647e-01 -3.66704634e-03 2.18966544e+01] [ 4.66685132e-02 -1.75019385e-03 9.98908898e-01 1.28176347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.485099893 meters 0.02185575604124592 Centerline is valid? [True, True] Translation: X:310.06, Y:21.90, Z:12.82 [[ 9.92087397e-01 -1.16154839e-01 -4.76513421e-02 3.10064878e+02] [ 1.16108193e-01 9.93229473e-01 -3.75510036e-03 2.19014665e+01] [ 4.77648905e-02 -1.80732345e-03 9.98856971e-01 1.28194739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.545099893 meters 0.019506544094609553 Centerline is valid? [True, True] Translation: X:310.12, Y:21.91, Z:12.82 [[ 9.92142688e-01 -1.15252705e-01 -4.86795601e-02 3.10123447e+02] [ 1.15202816e-01 9.93334574e-01 -3.83867688e-03 2.19120575e+01] [ 4.87975080e-02 -1.79950722e-03 9.98807071e-01 1.28221874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.605099893 meters 0.019211905644168612 Centerline is valid? [True, True] Translation: X:310.18, Y:21.92, Z:12.82 [[ 9.92391584e-01 -1.12479279e-01 -5.00735122e-02 3.10182354e+02] [ 1.12422874e-01 9.93652601e-01 -3.95048379e-03 2.19205509e+01] [ 5.02000232e-02 -1.70898127e-03 9.98737722e-01 1.28245115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.665099893 meters 0.0170433090318614 Centerline is valid? [True, True] Translation: X:310.24, Y:21.93, Z:12.83 [[ 9.93197783e-01 -1.05381552e-01 -4.95266802e-02 3.10241477e+02] [ 1.05317472e-01 9.94430968e-01 -3.90898739e-03 2.19347053e+01] [ 4.96627997e-02 -1.33362715e-03 9.98765151e-01 1.28293495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.725099893 meters 0.01629615355680048 Centerline is valid? [True, True] Translation: X:310.30, Y:21.94, Z:12.83 [[ 9.93764083e-01 -1.00326689e-01 -4.86569972e-02 3.10299268e+02] [ 1.00258730e-01 9.94953984e-01 -3.84146409e-03 2.19440700e+01] [ 4.87968746e-02 -1.06077971e-03 9.98808160e-01 1.28325019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.785099893 meters 0.014993705435812426 Centerline is valid? [True, True] Translation: X:310.36, Y:21.96, Z:12.84 [[ 9.94249000e-01 -9.50812007e-02 -4.92797316e-02 3.10357306e+02] [ 9.50049110e-02 9.95469190e-01 -3.89344707e-03 2.19554349e+01] [ 4.94266482e-02 -8.10760670e-04 9.98777427e-01 1.28352470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.845099893 meters 0.01482059006974629 Centerline is valid? [True, True] Translation: X:310.42, Y:21.96, Z:12.84 [[ 9.94357049e-01 -9.35069222e-02 -5.01050329e-02 3.10415557e+02] [ 9.34258006e-02 9.95618355e-01 -3.96376489e-03 2.19615421e+01] [ 5.02561298e-02 -7.39705251e-04 9.98736088e-01 1.28369099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.905099893 meters 0.014807977484540328 Centerline is valid? [True, True] Translation: X:310.47, Y:21.97, Z:12.84 [[ 9.94324518e-01 -9.35505135e-02 -5.06660983e-02 3.10473000e+02] [ 9.34669565e-02 9.95614262e-01 -4.02120719e-03 2.19673094e+01] [ 5.08200761e-02 -7.37221103e-04 9.98707553e-01 1.28394091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.965099893 meters 0.015087030864792673 Centerline is valid? [True, True] Translation: X:310.53, Y:21.97, Z:12.84 [[ 9.94078661e-01 -9.58539604e-02 -5.11823534e-02 3.10531851e+02] [ 9.57709951e-02 9.95395046e-01 -4.07669251e-03 2.19712052e+01] [ 5.13374281e-02 -8.49231885e-04 9.98681004e-01 1.28424000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02509989299995 meters 0.015546837154553744 Centerline is valid? [True, True] Translation: X:310.59, Y:21.97, Z:12.85 [[ 9.93750022e-01 -9.88404032e-02 -5.18793557e-02 3.10590810e+02] [ 9.87585320e-02 9.95102792e-01 -4.14553666e-03 2.19743223e+01] [ 5.20350382e-02 -1.00390186e-03 9.98644755e-01 1.28452679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08509989299995 meters 0.016242136416634242 Centerline is valid? [True, True] Translation: X:310.65, Y:21.98, Z:12.85 [[ 9.93672683e-01 -9.96422648e-02 -5.18267998e-02 3.10648656e+02] [ 9.95610477e-02 9.95022789e-01 -4.15288541e-03 2.19766216e+01] [ 5.19826499e-02 -1.03332171e-03 9.98647453e-01 1.28468437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14509989299995 meters 0.016394807980340854 Centerline is valid? [True, True] Translation: X:310.71, Y:21.98, Z:12.85 [[ 9.93619309e-01 -1.00294659e-01 -5.15911831e-02 3.10706095e+02] [ 1.00214722e-01 9.94957218e-01 -4.14046928e-03 2.19804536e+01] [ 5.17462869e-02 -1.05614586e-03 9.98659705e-01 1.28494392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.20509989299995 meters 0.016016977124436702 Centerline is valid? [True, True] Translation: X:310.76, Y:21.99, Z:12.85 [[ 9.93505312e-01 -1.01669143e-01 -5.10938376e-02 3.10764576e+02] [ 1.01591836e-01 9.94817656e-01 -4.11457549e-03 2.19861695e+01] [ 5.12473772e-02 -1.10286417e-03 9.98685381e-01 1.28524476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26509989299996 meters 0.016459543994893768 Centerline is valid? [True, True] Translation: X:310.82, Y:21.99, Z:12.85 [[ 9.93334761e-01 -1.03140390e-01 -5.14598094e-02 3.10823065e+02] [ 1.03063261e-01 9.94666116e-01 -4.15724492e-03 2.19898030e+01] [ 5.16141086e-02 -1.17407989e-03 9.98666413e-01 1.28545153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.32509989299996 meters 0.017748927916681347 Centerline is valid? [True, True] Translation: X:310.88, Y:21.99, Z:12.86 [[ 9.93206730e-01 -1.04425814e-01 -5.13384956e-02 3.10880865e+02] [ 1.04350175e-01 9.94531922e-01 -4.15885235e-03 2.19912839e+01] [ 5.14920643e-02 -1.22658088e-03 9.98672650e-01 1.28557487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.38509989299996 meters 0.017471462793627827 Centerline is valid? [True, True] Translation: X:310.94, Y:22.00, Z:12.86 [[ 9.93081281e-01 -1.05656244e-01 -5.12476984e-02 3.10939748e+02] [ 1.05582198e-01 9.94401888e-01 -4.15753616e-03 2.19964224e+01] [ 5.14000777e-02 -1.28207330e-03 9.98677319e-01 1.28596259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.44509989299996 meters 0.01823818344082049 Centerline is valid? [True, True] Translation: X:311.00, Y:22.00, Z:12.86 [[ 9.92902458e-01 -1.07371177e-01 -5.11482085e-02 3.10998372e+02] [ 1.07299042e-01 9.94218081e-01 -4.16209277e-03 2.20001186e+01] [ 5.12993625e-02 -1.35560161e-03 9.98682401e-01 1.28624490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.50509989299997 meters 0.019341438363132644 Centerline is valid? [True, True] Translation: X:311.06, Y:22.00, Z:12.86 [[ 9.92634093e-01 -1.09279106e-01 -5.23032916e-02 3.11056329e+02] [ 1.09205723e-01 9.94010009e-01 -4.26745711e-03 2.20028255e+01] [ 5.24563392e-02 -1.47579534e-03 9.98622128e-01 1.28638819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.56509989299997 meters 0.021044174322655568 Centerline is valid? [True, True] Translation: X:311.12, Y:22.00, Z:12.87 [[ 9.92155456e-01 -1.12520459e-01 -5.44674041e-02 3.11115968e+02] [ 1.12445524e-01 9.93647934e-01 -4.44820149e-03 2.20045278e+01] [ 5.46219373e-02 -1.71130841e-03 9.98505641e-01 1.28652342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.62509989299997 meters 0.02201574546645829 Centerline is valid? [True, True] Translation: X:311.17, Y:22.01, Z:12.87 [[ 9.91954057e-01 -1.14041059e-01 -5.49707693e-02 3.11174831e+02] [ 1.13966813e-01 9.93474394e-01 -4.49382782e-03 2.20078273e+01] [ 5.51245326e-02 -1.80717267e-03 9.98477852e-01 1.28676046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.685099893 meters 0.022749544010930923 Centerline is valid? [True, True] Translation: X:311.23, Y:22.01, Z:12.87 [[ 9.91866895e-01 -1.15153828e-01 -5.42186162e-02 3.11233765e+02] [ 1.15082573e-01 9.93345984e-01 -4.44494126e-03 2.20121980e+01] [ 5.43696967e-02 -1.83082775e-03 9.98519196e-01 1.28716773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.745099893 meters 0.01943727591024535 Centerline is valid? [True, True] Translation: X:311.29, Y:22.02, Z:12.88 [[ 9.91790687e-01 -1.16082522e-01 -5.36291007e-02 3.11291198e+02] [ 1.16013481e-01 9.93237852e-01 -4.40927458e-03 2.20226078e+01] [ 5.37782925e-02 -1.84862116e-03 9.98551189e-01 1.28778554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.805099893 meters 0.02064005775690888 Centerline is valid? [True, True] Translation: X:311.35, Y:22.03, Z:12.88 [[ 9.91766507e-01 -1.16245516e-01 -5.37231439e-02 3.11348786e+02] [ 1.16175837e-01 9.93218788e-01 -4.42874918e-03 2.20260106e+01] [ 5.38736581e-02 -1.84904613e-03 9.98546048e-01 1.28801762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.865099893 meters 0.019203527558524686 Centerline is valid? [True, True] Translation: X:311.41, Y:22.04, Z:12.88 [[ 9.91594581e-01 -1.17167005e-01 -5.48824135e-02 3.11406917e+02] [ 1.17095300e-01 9.93110344e-01 -4.53149524e-03 2.20351798e+01] [ 5.50352343e-02 -1.93306657e-03 9.98482542e-01 1.28838197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.925099893 meters 0.022037883603414993 Centerline is valid? [True, True] Translation: X:311.46, Y:22.04, Z:12.89 [[ 9.91402916e-01 -1.18654800e-01 -5.51479447e-02 3.11464851e+02] [ 1.18584031e-01 9.92933525e-01 -4.56545417e-03 2.20365965e+01] [ 5.52999562e-02 -2.01346098e-03 9.98467757e-01 1.28854554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.985099893 meters 0.02286261505355613 Centerline is valid? [True, True] Translation: X:311.52, Y:22.04, Z:12.89 [[ 9.90801600e-01 -1.23604825e-01 -5.50820966e-02 3.11524724e+02] [ 1.23541629e-01 9.92328895e-01 -4.56401375e-03 2.20412306e+01] [ 5.52236901e-02 -2.28289982e-03 9.98471398e-01 1.28891710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.045099893 meters 0.023271952226312766 Centerline is valid? [True, True] Translation: X:311.58, Y:22.05, Z:12.89 [[ 9.89806134e-01 -1.30948571e-01 -5.60025788e-02 3.11584928e+02] [ 1.30894915e-01 9.91385385e-01 -4.64102887e-03 2.20475606e+01] [ 5.61278743e-02 -2.73673398e-03 9.98419838e-01 1.28925655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.105099893 meters 0.024615210958247324 Centerline is valid? [True, True] Translation: X:311.64, Y:22.05, Z:12.89 [[ 9.89134609e-01 -1.35419467e-01 -5.72214487e-02 3.11644487e+02] [ 1.35370879e-01 9.90783646e-01 -4.74248875e-03 2.20520500e+01] [ 5.73363009e-02 -3.05515803e-03 9.98350246e-01 1.28948898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.165099893 meters 0.027344773057994327 Centerline is valid? [True, True] Translation: X:311.70, Y:22.06, Z:12.90 [[ 9.88547408e-01 -1.39356465e-01 -5.79119889e-02 3.11702937e+02] [ 1.39313326e-01 9.90236711e-01 -4.80143435e-03 2.20563617e+01] [ 5.80156883e-02 -3.32146631e-03 9.98310146e-01 1.28979169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.225099893 meters 0.025027789739844215 Centerline is valid? [True, True] Translation: X:311.76, Y:22.07, Z:12.90 [[ 9.88474556e-01 -1.40049365e-01 -5.74824050e-02 3.11762212e+02] [ 1.40007968e-01 9.90138902e-01 -4.76685771e-03 2.20668841e+01] [ 5.75831608e-02 -3.33607717e-03 9.98335139e-01 1.29024577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.285099893 meters 0.02629735325802603 Centerline is valid? [True, True] Translation: X:311.82, Y:22.07, Z:12.91 [[ 9.88671251e-01 -1.39286246e-01 -5.59329956e-02 3.11821886e+02] [ 1.39245842e-01 9.90246981e-01 -4.63810796e-03 2.20743897e+01] [ 5.60335047e-02 -3.20287310e-03 9.98423752e-01 1.29069299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.345099893 meters 0.026260231905936883 Centerline is valid? [True, True] Translation: X:311.88, Y:22.08, Z:12.91 [[ 9.89047325e-01 -1.36387829e-01 -5.64247211e-02 3.11882114e+02] [ 1.36342074e-01 9.90650774e-01 -4.67783471e-03 2.20836747e+01] [ 5.65351934e-02 -3.06646358e-03 9.98395898e-01 1.29090953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.405099893 meters 0.023951076362933463 Centerline is valid? [True, True] Translation: X:311.94, Y:22.10, Z:12.91 [[ 9.89714603e-01 -1.31311189e-01 -5.67659796e-02 3.11942167e+02] [ 1.31256605e-01 9.91337261e-01 -4.70521608e-03 2.20974754e+01] [ 5.68920783e-02 -2.79408870e-03 9.98376424e-01 1.29121583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.465099893 meters 0.023030018949472153 Centerline is valid? [True, True] Translation: X:312.00, Y:22.11, Z:12.92 [[ 9.89995025e-01 -1.29059698e-01 -5.70389792e-02 3.12002447e+02] [ 1.29000901e-01 9.91633209e-01 -4.72715349e-03 2.21059247e+01] [ 5.71718310e-02 -2.67822130e-03 9.98360761e-01 1.29150124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52509989299995 meters 0.021854732522191708 Centerline is valid? [True, True] Translation: X:312.06, Y:22.12, Z:12.92 [[ 9.90660749e-01 -1.23703143e-01 -5.73481645e-02 3.12062347e+02] [ 1.23634808e-01 9.92316409e-01 -4.75180681e-03 2.21171832e+01] [ 5.74953380e-02 -2.38280080e-03 9.98342931e-01 1.29178453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58509989299995 meters 0.01930898048611781 Centerline is valid? [True, True] Translation: X:312.12, Y:22.13, Z:12.92 [[ 9.91750829e-01 -1.14287501e-01 -5.80401526e-02 3.12120653e+02] [ 1.14201417e-01 9.93445978e-01 -4.80888780e-03 2.21326769e+01] [ 5.82093519e-02 -1.85904918e-03 9.98302667e-01 1.29198295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64509989299995 meters 0.015534711257168524 Centerline is valid? [True, True] Translation: X:312.18, Y:22.15, Z:12.92 [[ 9.92778907e-01 -1.04657706e-01 -5.86242735e-02 3.12179619e+02] [ 1.04553067e-01 9.94507445e-01 -4.85785181e-03 2.21513201e+01] [ 5.88106880e-02 -1.30657479e-03 9.98268299e-01 1.29245660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70509989299995 meters 0.014557700950921166 Centerline is valid? [True, True] Translation: X:312.24, Y:22.16, Z:12.93 [[ 9.93293784e-01 -9.93182183e-02 -5.91890993e-02 3.12239061e+02] [ 9.92020929e-02 9.95055220e-01 -4.90443866e-03 2.21630622e+01] [ 5.93835223e-02 -1.00013408e-03 9.98234740e-01 1.29279288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76509989299996 meters 0.01394873702116287 Centerline is valid? [True, True] Translation: X:312.30, Y:22.17, Z:12.93 [[ 9.93854294e-01 -9.43367391e-02 -5.79156380e-02 3.12298152e+02] [ 9.42170444e-02 9.95540109e-01 -4.79997088e-03 2.21747536e+01] [ 5.81101542e-02 -6.86168567e-04 9.98309941e-01 1.29326524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.82509989299996 meters 0.014046168420005695 Centerline is valid? [True, True] Translation: X:312.36, Y:22.18, Z:12.94 [[ 9.93856363e-01 -9.42132913e-02 -5.80808532e-02 3.12357777e+02] [ 9.40926219e-02 9.95551804e-01 -4.81503038e-03 2.21815391e+01] [ 5.82761381e-02 -6.79531180e-04 9.98300270e-01 1.29361503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.88509989299996 meters 0.01505274400696974 Centerline is valid? [True, True] Translation: X:312.42, Y:22.19, Z:12.94 [[ 9.93372182e-01 -9.87792832e-02 -5.87738224e-02 3.12416125e+02] [ 9.86635501e-02 9.95108908e-01 -4.87493633e-03 2.21851597e+01] [ 5.89678970e-02 -9.56207839e-04 9.98259422e-01 1.29399001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.94509989299996 meters 0.016859883004762124 Centerline is valid? [True, True] Translation: X:312.48, Y:22.18, Z:12.94 [[ 9.92463174e-01 -1.07065568e-01 -5.96138684e-02 3.12476626e+02] [ 1.06961261e-01 9.94250881e-01 -4.94721411e-03 2.21845218e+01] [ 5.98008175e-02 -1.46644675e-03 9.98209252e-01 1.29433805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.00509989299997 meters 0.018691156624626948 Centerline is valid? [True, True] Translation: X:312.54, Y:22.18, Z:12.95 [[ 9.91711374e-01 -1.13209299e-01 -6.07635151e-02 3.12536601e+02] [ 1.13112367e-01 9.93569400e-01 -5.04371027e-03 2.21844162e+01] [ 6.09437642e-02 -1.87120020e-03 9.98139447e-01 1.29460449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.06509989299997 meters 0.0192043921683463 Centerline is valid? [True, True] Translation: X:312.60, Y:22.19, Z:12.95 [[ 9.90733752e-01 -1.20625637e-01 -6.24186531e-02 3.12597234e+02] [ 1.20537974e-01 9.92695192e-01 -5.18195083e-03 2.21862897e+01] [ 6.25877730e-02 -2.38988441e-03 9.98036602e-01 1.29501603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.12509989299997 meters 0.0210940578705212 Centerline is valid? [True, True] Translation: X:312.66, Y:22.19, Z:12.95 [[ 9.90329524e-01 -1.23765462e-01 -6.26860824e-02 3.12657084e+02] [ 1.23683306e-01 9.92308095e-01 -5.20434763e-03 2.21870091e+01] [ 6.28480255e-02 -2.59920283e-03 9.98019724e-01 1.29520420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.185099893 meters 0.02044631359162053 Centerline is valid? [True, True] Translation: X:312.72, Y:22.19, Z:12.96 [[ 9.90289945e-01 -1.24689055e-01 -6.14692236e-02 3.12716915e+02] [ 1.24611828e-01 9.92192445e-01 -5.10332111e-03 2.21917790e+01] [ 6.16256275e-02 -2.60602476e-03 9.98095933e-01 1.29558329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.245099893 meters 0.021925803713476567 Centerline is valid? [True, True] Translation: X:312.78, Y:22.19, Z:12.96 [[ 9.90612547e-01 -1.22940550e-01 -5.97695816e-02 3.12776591e+02] [ 1.22864336e-01 9.92411068e-01 -4.96253864e-03 2.21943490e+01] [ 5.99260915e-02 -2.42759694e-03 9.98199865e-01 1.29583406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.305099893 meters 0.019696910884289612 Centerline is valid? [True, True] Translation: X:312.84, Y:22.20, Z:12.96 [[ 9.91080673e-01 -1.19919404e-01 -5.81243167e-02 3.12837067e+02] [ 1.19842114e-01 9.92781232e-01 -4.82638274e-03 2.22030766e+01] [ 5.82835076e-02 -2.18240634e-03 9.98297686e-01 1.29629523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.365099893 meters 0.019097557736830608 Centerline is valid? [True, True] Translation: X:312.90, Y:22.21, Z:12.97 [[ 9.91333180e-01 -1.17863314e-01 -5.80238311e-02 3.12898355e+02] [ 1.17782854e-01 9.93027693e-01 -4.81670204e-03 2.22095886e+01] [ 5.81869836e-02 -2.05925590e-03 9.98303578e-01 1.29654021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.425099893 meters 0.01974819245795679 Centerline is valid? [True, True] Translation: X:312.96, Y:22.21, Z:12.97 [[ 9.91346268e-01 -1.17340041e-01 -5.88548302e-02 3.12958691e+02] [ 1.17256449e-01 9.93089660e-01 -4.88385217e-03 2.22144917e+01] [ 5.90211947e-02 -2.05951977e-03 9.98254605e-01 1.29669783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.485099893 meters 0.018238096431009532 Centerline is valid? [True, True] Translation: X:313.02, Y:22.22, Z:12.97 [[ 9.91251066e-01 -1.18059487e-01 -5.90193284e-02 3.13019302e+02] [ 1.17976781e-01 9.93004284e-01 -4.89613347e-03 2.22231914e+01] [ 5.91844809e-02 -2.10961284e-03 9.98244833e-01 1.29698801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.545099893 meters 0.018421662287433017 Centerline is valid? [True, True] Translation: X:313.08, Y:22.23, Z:12.97 [[ 9.91141502e-01 -1.18841179e-01 -5.92899348e-02 3.13080669e+02] [ 1.18759239e-01 9.92910909e-01 -4.91640514e-03 2.22287896e+01] [ 5.94538944e-02 -2.16837432e-03 9.98228698e-01 1.29713515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.605099893 meters 0.019445040242899485 Centerline is valid? [True, True] Translation: X:313.14, Y:22.23, Z:12.97 [[ 9.91154144e-01 -1.18979240e-01 -5.87996802e-02 3.13142037e+02] [ 1.18899034e-01 9.92894390e-01 -4.87331422e-03 2.22347050e+01] [ 5.89616958e-02 -2.16101960e-03 9.98257907e-01 1.29724909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.665099893 meters 0.01798546794382699 Centerline is valid? [True, True] Translation: X:313.20, Y:22.24, Z:12.98 [[ 9.91381862e-01 -1.17642652e-01 -5.76386174e-02 3.13202558e+02] [ 1.17563489e-01 9.93053892e-01 -4.77428290e-03 2.22446232e+01] [ 5.77999126e-02 -2.04305949e-03 9.98326097e-01 1.29760045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.725099893 meters 0.016986658761855785 Centerline is valid? [True, True] Translation: X:313.26, Y:22.25, Z:12.98 [[ 9.92078875e-01 -1.13266231e-01 -5.43163486e-02 3.13262182e+02] [ 1.13189456e-01 9.93563243e-01 -4.49765058e-03 2.22549169e+01] [ 5.44761594e-02 -1.68601380e-03 9.98513648e-01 1.29795689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.785099893 meters 0.01562782749419078 Centerline is valid? [True, True] Translation: X:313.32, Y:22.26, Z:12.98 [[ 9.92683712e-01 -1.08908829e-01 -5.21336320e-02 3.13322590e+02] [ 1.08832116e-01 9.94050772e-01 -4.31653520e-03 2.22649420e+01] [ 5.22935859e-02 -1.38885930e-03 9.98630789e-01 1.29832298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.845099893 meters 0.013980922123920214 Centerline is valid? [True, True] Translation: X:313.38, Y:22.28, Z:12.99 [[ 9.93464924e-01 -1.02900576e-01 -4.93853894e-02 3.13383733e+02] [ 1.02824411e-01 9.94691126e-01 -4.08712889e-03 2.22771192e+01] [ 4.95437766e-02 -1.01760438e-03 9.98771435e-01 1.29874173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.905099893 meters 0.013458617225004375 Centerline is valid? [True, True] Translation: X:313.45, Y:22.28, Z:12.99 [[ 9.93735700e-01 -1.00789361e-01 -4.82790068e-02 3.13445168e+02] [ 1.00714211e-01 9.94907385e-01 -3.99287717e-03 2.22848295e+01] [ 4.84355799e-02 -8.94517505e-04 9.98825908e-01 1.29901231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.965099893 meters 0.013580891520065261 Centerline is valid? [True, True] Translation: X:313.51, Y:22.29, Z:12.99 [[ 9.93721298e-01 -1.00109763e-01 -4.99601589e-02 3.13506777e+02] [ 1.00028638e-01 9.94975996e-01 -4.12774807e-03 2.22897700e+01] [ 5.01223868e-02 -8.95615466e-04 9.98742682e-01 1.29892945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02509989299995 meters 0.013743418188816636 Centerline is valid? [True, True] Translation: X:313.57, Y:22.29, Z:12.99 [[ 9.93508032e-01 -1.01749313e-01 -5.08809122e-02 3.13568857e+02] [ 1.01667616e-01 9.94809566e-01 -4.19797754e-03 2.22944551e+01] [ 5.10439595e-02 -1.00221664e-03 9.98695905e-01 1.29900986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08509989299995 meters 0.014310884880837817 Centerline is valid? [True, True] Translation: X:313.63, Y:22.30, Z:12.99 [[ 9.93409216e-01 -1.02934048e-01 -5.04253011e-02 3.13631264e+02] [ 1.02855518e-01 9.94687621e-01 -4.15673495e-03 2.22984705e+01] [ 5.05852924e-02 -1.05718164e-03 9.98719185e-01 1.29923405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14509989299995 meters 0.014997509322167707 Centerline is valid? [True, True] Translation: X:313.69, Y:22.30, Z:12.99 [[ 9.93242291e-01 -1.04895261e-01 -4.96662463e-02 3.13693683e+02] [ 1.04821702e-01 9.94482618e-01 -4.09062840e-03 2.23013567e+01] [ 4.98213062e-02 -1.14311536e-03 9.98757493e-01 1.29945698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.20509989299995 meters 0.015527350534545821 Centerline is valid? [True, True] Translation: X:313.76, Y:22.30, Z:13.00 [[ 9.93149660e-01 -1.07008361e-01 -4.69357339e-02 3.13756058e+02] [ 1.06945175e-01 9.94257416e-01 -3.86255382e-03 2.23042692e+01] [ 4.70795270e-02 -1.18345626e-03 9.98890443e-01 1.29984827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26509989299996 meters 0.01725489151648727 Centerline is valid? [True, True] Translation: X:313.82, Y:22.30, Z:13.00 [[ 9.92854092e-01 -1.11169308e-01 -4.33836145e-02 3.13818463e+02] [ 1.11119416e-01 9.93800659e-01 -3.56735360e-03 2.23044921e+01] [ 4.35112449e-02 -1.27890027e-03 9.99052119e-01 1.30028715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.32509989299996 meters 0.019286907923455103 Centerline is valid? [True, True] Translation: X:313.88, Y:22.30, Z:13.01 [[ 9.92472449e-01 -1.14907512e-01 -4.23639123e-02 3.13879385e+02] [ 1.14863461e-01 9.93375191e-01 -3.48060312e-03 2.23048554e+01] [ 4.24832069e-02 -1.41166286e-03 9.99096184e-01 1.30053885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.38509989299996 meters 0.021822411012840187 Centerline is valid? [True, True] Translation: X:313.94, Y:22.30, Z:13.01 [[ 9.91894970e-01 -1.20009040e-01 -4.17396609e-02 3.13940423e+02] [ 1.19970813e-01 9.92771499e-01 -3.42860011e-03 2.23043787e+01] [ 4.18494087e-02 -1.60672983e-03 9.99122638e-01 1.30072589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.44509989299996 meters 0.0215111933150327 Centerline is valid? [True, True] Translation: X:314.00, Y:22.31, Z:13.01 [[ 9.91112748e-01 -1.26201329e-01 -4.20564636e-02 3.14001098e+02] [ 1.26168109e-01 9.92002862e-01 -3.45389445e-03 2.23077451e+01] [ 4.21560183e-02 -1.88298565e-03 9.99109266e-01 1.30088296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.50509989299997 meters 0.027057803555814466 Centerline is valid? [True, True] Translation: X:314.06, Y:22.30, Z:13.01 [[ 9.89832746e-01 -1.35399473e-01 -4.35673905e-02 3.14061116e+02] [ 1.35372707e-01 9.90788287e-01 -3.57775731e-03 2.23021414e+01] [ 4.36504867e-02 -2.35645426e-03 9.99044084e-01 1.30101408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.56509989299997 meters 0.027099613727308635 Centerline is valid? [True, True] Translation: X:314.12, Y:22.31, Z:13.01 [[ 9.89177829e-01 -1.40320774e-01 -4.28637649e-02 3.14121409e+02] [ 1.40299531e-01 9.90102854e-01 -3.51844287e-03 2.23056805e+01] [ 4.29332466e-02 -2.53340042e-03 9.99074731e-01 1.30126281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.62509989299997 meters 0.02949800289219796 Centerline is valid? [True, True] Translation: X:314.18, Y:22.31, Z:13.01 [[ 9.88757647e-01 -1.42878542e-01 -4.40912440e-02 3.14181417e+02] [ 1.42858613e-01 9.89736490e-01 -3.61887256e-03 2.23058609e+01] [ 4.41557724e-02 -2.72062605e-03 9.99020954e-01 1.30137165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.685099893 meters 0.03025164656156632 Centerline is valid? [True, True] Translation: X:314.24, Y:22.31, Z:13.02 [[ 9.88905689e-01 -1.41838578e-01 -4.41288575e-02 3.14243477e+02] [ 1.41817745e-01 9.89886173e-01 -3.61831822e-03 2.23096982e+01] [ 4.41957630e-02 -2.68007958e-03 9.99019295e-01 1.30159799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.745099893 meters 0.028200835525518615 Centerline is valid? [True, True] Translation: X:314.30, Y:22.32, Z:13.02 [[ 9.89211678e-01 -1.39674921e-01 -4.41720704e-02 3.14304041e+02] [ 1.39652035e-01 9.90194028e-01 -3.61878335e-03 2.23183229e+01] [ 4.42443736e-02 -2.58897675e-03 9.99017384e-01 1.30191668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.805099893 meters 0.027583575599943906 Centerline is valid? [True, True] Translation: X:314.36, Y:22.32, Z:13.02 [[ 9.89832793e-01 -1.35114386e-01 -4.44425895e-02 3.14363372e+02] [ 1.35086703e-01 9.90827097e-01 -3.63944928e-03 2.23249150e+01] [ 4.45266639e-02 -2.40115665e-03 9.99005311e-01 1.30214180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.865099893 meters 0.025521419865366223 Centerline is valid? [True, True] Translation: X:314.42, Y:22.33, Z:13.02 [[ 9.90259146e-01 -1.31850472e-01 -4.47468003e-02 3.14423399e+02] [ 1.31819062e-01 9.91267019e-01 -3.66490896e-03 2.23338295e+01] [ 4.48392473e-02 -2.26927162e-03 9.98991638e-01 1.30239940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.925099893 meters 0.023181720141441868 Centerline is valid? [True, True] Translation: X:314.48, Y:22.34, Z:13.03 [[ 9.91218601e-01 -1.24256948e-01 -4.52315791e-02 3.14483118e+02] [ 1.24216961e-01 9.92248166e-01 -3.70461775e-03 2.23441047e+01] [ 4.53412759e-02 -1.94644329e-03 9.98969659e-01 1.30261265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.985099893 meters 0.018190899582380692 Centerline is valid? [True, True] Translation: X:314.54, Y:22.36, Z:13.03 [[ 9.92437759e-01 -1.14235325e-01 -4.49175312e-02 3.14542999e+02] [ 1.14185634e-01 9.93452619e-01 -3.67891569e-03 2.23591716e+01] [ 4.50437012e-02 -1.47784193e-03 9.98983924e-01 1.30288336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.045099893 meters 0.015246311409536212 Centerline is valid? [True, True] Translation: X:314.60, Y:22.37, Z:13.03 [[ 9.93217108e-01 -1.07171344e-01 -4.51007785e-02 3.14602795e+02] [ 1.07113989e-01 9.94239886e-01 -3.69346878e-03 2.23711396e+01] [ 4.52368269e-02 -1.16250793e-03 9.98975614e-01 1.30317928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.105099893 meters 0.013386435613360472 Centerline is valid? [True, True] Translation: X:314.66, Y:22.38, Z:13.03 [[ 9.93947100e-01 -9.97899080e-02 -4.59471000e-02 3.14663204e+02] [ 9.97225448e-02 9.95008173e-01 -3.76171036e-03 2.23812486e+01] [ 4.60931207e-02 -8.43020637e-04 9.98936792e-01 1.30336632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.165099893 meters 0.011568361270244418 Centerline is valid? [True, True] Translation: X:314.72, Y:22.39, Z:13.04 [[ 9.94544216e-01 -9.32387963e-02 -4.67795800e-02 3.14724007e+02] [ 9.31617671e-02 9.95643623e-01 -3.82894214e-03 2.23899259e+01] [ 4.69327965e-02 -5.50016083e-04 9.98897898e-01 1.30350866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.225099893 meters 0.010877830013130326 Centerline is valid? [True, True] Translation: X:314.79, Y:22.40, Z:13.04 [[ 9.94926174e-01 -8.89725661e-02 -4.69658367e-02 3.14785969e+02] [ 8.88902596e-02 9.96034015e-01 -3.84228719e-03 2.23971389e+01] [ 4.71214290e-02 -3.52013316e-04 9.98889106e-01 1.30382341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.285099893 meters 0.010674286818640917 Centerline is valid? [True, True] Translation: X:314.85, Y:22.40, Z:13.04 [[ 9.95349181e-01 -8.42732682e-02 -4.66693058e-02 3.14847406e+02] [ 8.41869948e-02 9.96442672e-01 -3.81458905e-03 2.24039140e+01] [ 4.68247557e-02 -1.32100523e-04 9.98903111e-01 1.30411928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.345099893 meters 0.010758814387296164 Centerline is valid? [True, True] Translation: X:314.91, Y:22.41, Z:13.04 [[ 9.95925255e-01 -7.71931049e-02 -4.66273542e-02 3.14908962e+02] [ 7.70993872e-02 9.97016141e-01 -3.80773641e-03 2.24105621e+01] [ 4.67821558e-02 1.97280425e-04 9.98905096e-01 1.30437385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.405099893 meters 0.011077488520581063 Centerline is valid? [True, True] Translation: X:314.97, Y:22.41, Z:13.05 [[ 9.96198058e-01 -7.31660215e-02 -4.72880885e-02 3.14970456e+02] [ 7.30652486e-02 9.97319699e-01 -3.85838746e-03 2.24145662e+01] [ 4.74436451e-02 3.88602146e-04 9.98873841e-01 1.30457013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.465099893 meters 0.010986614308324772 Centerline is valid? [True, True] Translation: X:315.03, Y:22.42, Z:13.05 [[ 9.96173742e-01 -7.37526612e-02 -4.68873133e-02 3.15031442e+02] [ 7.36543108e-02 9.97276500e-01 -3.82417777e-03 2.24160907e+01] [ 4.70416590e-02 3.56092741e-04 9.98892865e-01 1.30479848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52509989299995 meters 0.010929196073246392 Centerline is valid? [True, True] Translation: X:315.09, Y:22.41, Z:13.05 [[ 9.95860067e-01 -7.82564350e-02 -4.62456158e-02 3.15091255e+02] [ 7.81656079e-02 9.96933253e-01 -3.77192048e-03 2.24122983e+01] [ 4.63989692e-02 1.41488312e-04 9.98922978e-01 1.30492831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58509989299995 meters 0.01100142212216591 Centerline is valid? [True, True] Translation: X:315.15, Y:22.41, Z:13.05 [[ 9.95445958e-01 -8.43898358e-02 -4.43362146e-02 3.15152683e+02] [ 8.43124026e-02 9.96432806e-01 -3.61691880e-03 2.24069882e+01] [ 4.44832899e-02 -1.37645572e-04 9.99010119e-01 1.30518570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64509989299995 meters 0.011506822684101988 Centerline is valid? [True, True] Translation: X:315.21, Y:22.40, Z:13.05 [[ 9.95097684e-01 -8.90142857e-02 -4.30935697e-02 3.15214698e+02] [ 8.89454684e-02 9.96030293e-01 -3.51550081e-03 2.24047165e+01] [ 4.32354307e-02 -3.34711027e-04 9.99064856e-01 1.30545139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.70509989299995 meters 0.013417685594580253 Centerline is valid? [True, True] Translation: X:315.28, Y:22.40, Z:13.06 [[ 9.94369639e-01 -9.72620273e-02 -4.20609035e-02 3.15276189e+02] [ 9.72038997e-02 9.95258579e-01 -3.42979912e-03 2.23963769e+01] [ 4.21950642e-02 -6.77995726e-04 9.99109162e-01 1.30556680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76509989299996 meters 0.014571063832355912 Centerline is valid? [True, True] Translation: X:315.34, Y:22.39, Z:13.06 [[ 9.93702405e-01 -1.03798941e-01 -4.22055805e-02 3.15337892e+02] [ 1.03746332e-01 9.94597838e-01 -3.44084742e-03 2.23934202e+01] [ 4.23347355e-02 -9.59495792e-04 9.99103022e-01 1.30566731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.82509989299996 meters 0.01685590347843867 Centerline is valid? [True, True] Translation: X:315.40, Y:22.39, Z:13.06 [[ 9.92639723e-01 -1.13158501e-01 -4.31455057e-02 3.15398945e+02] [ 1.13112411e-01 9.93575976e-01 -3.51592667e-03 2.23872014e+01] [ 4.32661950e-02 -1.39024368e-03 9.99062612e-01 1.30567107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.88509989299996 meters 0.023190100139519536 Centerline is valid? [True, True] Translation: X:315.46, Y:22.38, Z:13.06 [[ 9.91872257e-01 -1.18944794e-01 -4.51836435e-02 3.15459549e+02] [ 1.18900244e-01 9.92899379e-01 -3.68184388e-03 2.23786977e+01] [ 4.53007477e-02 -1.72042743e-03 9.98971913e-01 1.30566383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.94509989299996 meters 0.02309441661163697 Centerline is valid? [True, True] Translation: X:315.52, Y:22.38, Z:13.06 [[ 9.90784098e-01 -1.27024145e-01 -4.70291203e-02 3.15520255e+02] [ 1.26984956e-01 9.91897240e-01 -3.83218242e-03 2.23802117e+01] [ 4.71348344e-02 -2.17512536e-03 9.98886168e-01 1.30577477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.00509989299997 meters 0.023692580856404823 Centerline is valid? [True, True] Translation: X:315.58, Y:22.38, Z:13.06 [[ 9.90055949e-01 -1.32845647e-01 -4.62736597e-02 3.15581286e+02] [ 1.32814057e-01 9.91133801e-01 -3.77026978e-03 2.23821880e+01] [ 4.63642521e-02 -2.41301445e-03 9.98921685e-01 1.30603772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.06509989299997 meters 0.025399629297709062 Centerline is valid? [True, True] Translation: X:315.64, Y:22.38, Z:13.06 [[ 9.89730526e-01 -1.35510455e-01 -4.55016733e-02 3.15642466e+02] [ 1.35482727e-01 9.90772773e-01 -3.70708864e-03 2.23847804e+01] [ 4.55841683e-02 -2.49567198e-03 9.98957384e-01 1.30636153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.12509989299997 meters 0.02505619389131333 Centerline is valid? [True, True] Translation: X:315.70, Y:22.39, Z:13.07 [[ 9.89363873e-01 -1.38151693e-01 -4.55327980e-02 3.15702854e+02] [ 1.38126786e-01 9.90407614e-01 -3.70802647e-03 2.23914701e+01] [ 4.56082999e-02 -2.62071162e-03 9.98955962e-01 1.30669078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.185099893 meters 0.02831798111338115 Centerline is valid? [True, True] Translation: X:315.76, Y:22.39, Z:13.07 [[ 9.89202541e-01 -1.39093254e-01 -4.61670918e-02 3.15764401e+02] [ 1.39068718e-01 9.90275600e-01 -3.75865240e-03 2.23923028e+01] [ 4.62409477e-02 -2.70232979e-03 9.98926660e-01 1.30693351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.245099893 meters 0.026233529669678467 Centerline is valid? [True, True] Translation: X:315.83, Y:22.40, Z:13.07 [[ 9.89161260e-01 -1.39399070e-01 -4.61291816e-02 3.15826388e+02] [ 1.39375028e-01 9.90232557e-01 -3.75293808e-03 2.24001967e+01] [ 4.62017736e-02 -2.71699501e-03 9.98928433e-01 1.30721750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.305099893 meters 0.027877747347259618 Centerline is valid? [True, True] Translation: X:315.89, Y:22.40, Z:13.08 [[ 9.88994354e-01 -1.40355032e-01 -4.68042021e-02 3.15888630e+02] [ 1.40331513e-01 9.90097265e-01 -3.80434457e-03 2.24034269e+01] [ 4.68746714e-02 -2.80562921e-03 9.98896838e-01 1.30753265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.365099893 meters 0.025944619160104074 Centerline is valid? [True, True] Translation: X:315.95, Y:22.41, Z:13.08 [[ 9.89183628e-01 -1.38241697e-01 -4.90406276e-02 3.15949870e+02] [ 1.38213476e-01 9.90394454e-01 -3.98247861e-03 2.24128352e+01] [ 4.91201102e-02 -2.83867295e-03 9.98788845e-01 1.30773323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.425099893 meters 0.024836305152668253 Centerline is valid? [True, True] Translation: X:316.01, Y:22.42, Z:13.08 [[ 9.89759526e-01 -1.33745770e-01 -4.98813481e-02 3.16009807e+02] [ 1.33711022e-01 9.91012097e-01 -4.04797243e-03 2.24215862e+01] [ 4.99744186e-02 -2.66316678e-03 9.98746947e-01 1.30800309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.485099893 meters 0.021214915334617748 Centerline is valid? [True, True] Translation: X:316.07, Y:22.44, Z:13.08 [[ 9.91331367e-01 -1.21330632e-01 -5.04083094e-02 3.16067858e+02] [ 1.21279149e-01 9.92610014e-01 -4.09012160e-03 2.24375698e+01] [ 5.05320497e-02 -2.05881100e-03 9.98720318e-01 1.30836483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.545099893 meters 0.016664145521247002 Centerline is valid? [True, True] Translation: X:316.13, Y:22.45, Z:13.09 [[ 9.92566079e-01 -1.10662063e-01 -5.06605082e-02 3.16127294e+02] [ 1.10596138e-01 9.93856927e-01 -4.11134519e-03 2.24548179e+01] [ 5.08042669e-02 -1.52207477e-03 9.98707470e-01 1.30877908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.605099893 meters 0.012924166187319574 Centerline is valid? [True, True] Translation: X:316.19, Y:22.47, Z:13.09 [[ 9.94253921e-01 -9.44691467e-02 -5.03460213e-02 3.16186068e+02] [ 9.43832641e-02 9.95527551e-01 -4.08588202e-03 2.24738044e+01] [ 5.05068411e-02 -6.89417611e-04 9.98723477e-01 1.30912572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.665099893 meters 0.011930799260502108 Centerline is valid? [True, True] Translation: X:316.25, Y:22.49, Z:13.09 [[ 9.95053673e-01 -8.53604961e-02 -5.08111469e-02 3.16245347e+02] [ 8.52611407e-02 9.96350106e-01 -4.12366338e-03 2.24872131e+01] [ 5.09776895e-02 -2.28949949e-04 9.98699766e-01 1.30939855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.725099893 meters 0.011874848363603446 Centerline is valid? [True, True] Translation: X:316.30, Y:22.50, Z:13.10 [[ 9.95722109e-01 -7.60011572e-02 -5.25481229e-02 3.16304571e+02] [ 7.58818547e-02 9.97107696e-01 -4.26463056e-03 2.25011531e+01] [ 5.27202546e-02 2.58937915e-04 9.98609287e-01 1.30969362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.785099893 meters 0.012494935517108388 Centerline is valid? [True, True] Translation: X:316.36, Y:22.51, Z:13.10 [[ 9.96041643e-01 -7.16296108e-02 -5.26331076e-02 3.16361517e+02] [ 7.15037694e-02 9.97431179e-01 -4.27250316e-03 2.25106223e+01] [ 5.28039403e-02 4.92125478e-04 9.98604778e-01 1.30986164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.845099893 meters 0.01260569155160032 Centerline is valid? [True, True] Translation: X:316.42, Y:22.52, Z:13.10 [[ 9.95985565e-01 -7.20815224e-02 -5.30754925e-02 3.16417893e+02] [ 7.19539203e-02 9.97398630e-01 -4.31358527e-03 2.25157209e+01] [ 5.32483533e-02 4.77278904e-04 9.98581186e-01 1.30999784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.905099893 meters 0.011746144009636942 Centerline is valid? [True, True] Translation: X:316.48, Y:22.52, Z:13.10 [[ 9.95633062e-01 -7.72811613e-02 -5.23682020e-02 3.16476802e+02] [ 7.71637259e-02 9.97009318e-01 -4.26368000e-03 2.25167852e+01] [ 5.25410875e-02 2.04135193e-04 9.98618742e-01 1.31035354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.965099893 meters 0.011462461800527061 Centerline is valid? [True, True] Translation: X:316.54, Y:22.52, Z:13.11 [[ 9.95199938e-01 -8.33249438e-02 -5.13228694e-02 3.16536140e+02] [ 8.32195374e-02 9.96522425e-01 -4.19104922e-03 2.25170578e+01] [ 5.14936092e-02 -1.00133524e-04 9.98673319e-01 1.31071428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02509989299995 meters 0.0122670782765568 Centerline is valid? [True, True] Translation: X:316.60, Y:22.51, Z:13.11 [[ 9.94351107e-01 -9.34405444e-02 -5.03462105e-02 3.16595540e+02] [ 9.33515268e-02 9.95624680e-01 -4.12182173e-03 2.25135741e+01] [ 5.05110749e-02 -6.01357620e-04 9.98723320e-01 1.31101679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08509989299995 meters 0.014073229784030195 Centerline is valid? [True, True] Translation: X:316.66, Y:22.51, Z:13.11 [[ 9.93520916e-01 -1.01928160e-01 -5.02676770e-02 3.16656628e+02] [ 1.01850109e-01 9.94791231e-01 -4.11847816e-03 2.25108595e+01] [ 5.04256331e-02 -1.02797419e-03 9.98727289e-01 1.31140523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14509989299995 meters 0.015806937567174387 Centerline is valid? [True, True] Translation: X:316.72, Y:22.51, Z:13.12 [[ 9.93038056e-01 -1.06705331e-01 -4.98937962e-02 3.16717193e+02] [ 1.06634464e-01 9.94289888e-01 -4.08770150e-03 2.25099035e+01] [ 5.00450766e-02 -1.26115505e-03 9.98746164e-01 1.31171138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20509989299995 meters 0.018617301330972034 Centerline is valid? [True, True] Translation: X:316.78, Y:22.51, Z:13.12 [[ 9.92439326e-01 -1.11953950e-01 -5.03040552e-02 3.16778232e+02] [ 1.11888687e-01 9.93712204e-01 -4.12040627e-03 2.25052285e+01] [ 5.04490493e-02 -1.53920147e-03 9.98725450e-01 1.31195622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26509989299996 meters 0.018315523815916935 Centerline is valid? [True, True] Translation: X:316.84, Y:22.51, Z:13.12 [[ 9.92074952e-01 -1.13773907e-01 -5.33178066e-02 3.16839208e+02] [ 1.13703256e-01 9.93505160e-01 -4.36647890e-03 2.25066482e+01] [ 5.34683073e-02 -1.73053388e-03 9.98568047e-01 1.31200802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.32509989299996 meters 0.01859500357642692 Centerline is valid? [True, True] Translation: X:316.90, Y:22.51, Z:13.12 [[ 9.92112270e-01 -1.13367961e-01 -5.34878448e-02 3.16899431e+02] [ 1.13296270e-01 9.93551593e-01 -4.38040425e-03 2.25102966e+01] [ 5.36395309e-02 -1.71412051e-03 9.98558893e-01 1.31226401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.38509989299996 meters 0.018151689492369484 Centerline is valid? [True, True] Translation: X:316.96, Y:22.52, Z:13.12 [[ 9.92294574e-01 -1.10906772e-01 -5.52373594e-02 3.16959075e+02] [ 1.10826482e-01 9.93829474e-01 -4.52415115e-03 2.25154302e+01] [ 5.53982749e-02 -1.63247157e-03 9.98463002e-01 1.31240735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.44509989299996 meters 0.017522697240804658 Centerline is valid? [True, True] Translation: X:317.02, Y:22.52, Z:13.13 [[ 9.92352309e-01 -1.10149398e-01 -5.57136068e-02 3.17017905e+02] [ 1.10066415e-01 9.93913751e-01 -4.56513240e-03 2.25220407e+01] [ 5.58773665e-02 -1.60197729e-03 9.98436354e-01 1.31270502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.50509989299997 meters 0.01652457568088185 Centerline is valid? [True, True] Translation: X:317.08, Y:22.53, Z:13.13 [[ 9.92335163e-01 -1.10852473e-01 -5.46136688e-02 3.17077493e+02] [ 1.10773717e-01 9.93835572e-01 -4.47646194e-03 2.25293340e+01] [ 5.47732337e-02 -1.60760851e-03 9.98497526e-01 1.31318191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.56509989299997 meters 0.018702618118714445 Centerline is valid? [True, True] Translation: X:317.14, Y:22.53, Z:13.13 [[ 9.92022891e-01 -1.13836812e-01 -5.41457701e-02 3.17137236e+02] [ 1.13763829e-01 9.93497908e-01 -4.43824290e-03 2.25309124e+01] [ 5.42989447e-02 -1.75699155e-03 9.98523178e-01 1.31343165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.62509989299997 meters 0.01985648137632406 Centerline is valid? [True, True] Translation: X:317.20, Y:22.53, Z:13.14 [[ 9.91419208e-01 -1.19438289e-01 -5.31267320e-02 3.17197261e+02] [ 1.19376013e-01 9.92839563e-01 -4.35536197e-03 2.25346675e+01] [ 5.32665183e-02 -2.02406793e-03 9.98578280e-01 1.31384931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.685099893 meters 0.021700016581639836 Centerline is valid? [True, True] Translation: X:317.26, Y:22.54, Z:13.14 [[ 9.90835795e-01 -1.24261582e-01 -5.29479567e-02 3.17257914e+02] [ 1.24206561e-01 9.92246886e-01 -4.34126216e-03 2.25378599e+01] [ 5.30768973e-02 -2.27500566e-03 9.98587837e-01 1.31429848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.745099893 meters 0.025414655135922965 Centerline is valid? [True, True] Translation: X:317.32, Y:22.54, Z:13.15 [[ 9.89886407e-01 -1.31477175e-01 -5.32790218e-02 3.17318197e+02] [ 1.31431918e-01 9.91315578e-01 -4.36761909e-03 2.25383027e+01] [ 5.33905665e-02 -2.67911725e-03 9.98570113e-01 1.31461885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.805099893 meters 0.029147360027704787 Centerline is valid? [True, True] Translation: X:317.38, Y:22.54, Z:13.15 [[ 9.89310954e-01 -1.35834927e-01 -5.30349690e-02 3.17378171e+02] [ 1.35796319e-01 9.90727237e-01 -4.34762799e-03 2.25398275e+01] [ 5.31337480e-02 -2.90079757e-03 9.98583191e-01 1.31489492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.865099893 meters 0.02989172476229633 Centerline is valid? [True, True] Translation: X:317.44, Y:22.55, Z:13.15 [[ 9.88836766e-01 -1.40012097e-01 -5.09751175e-02 3.17438423e+02] [ 1.39981936e-01 9.90145239e-01 -4.17901141e-03 2.25468526e+01] [ 5.10578820e-02 -3.00323553e-03 9.98691180e-01 1.31537769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.925099893 meters 0.027404340715148256 Centerline is valid? [True, True] Translation: X:317.50, Y:22.56, Z:13.16 [[ 9.88628628e-01 -1.42481884e-01 -4.80868820e-02 3.17498718e+02] [ 1.42457989e-01 9.89793002e-01 -3.94131308e-03 2.25585202e+01] [ 4.81576250e-02 -2.95386558e-03 9.98835381e-01 1.31585890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.985099893 meters 0.027446421310025653 Centerline is valid? [True, True] Translation: X:317.56, Y:22.57, Z:13.16 [[ 9.88454802e-01 -1.43676399e-01 -4.81060971e-02 3.17560497e+02] [ 1.43653990e-01 9.89620129e-01 -3.94087213e-03 2.25655911e+01] [ 4.81729723e-02 -3.01525881e-03 9.98834457e-01 1.31610157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.045099893 meters 0.029362199712083793 Centerline is valid? [True, True] Translation: X:317.62, Y:22.57, Z:13.16 [[ 9.88046690e-01 -1.45582497e-01 -5.06899920e-02 3.17621865e+02] [ 1.45560305e-01 9.89340681e-01 -4.14892565e-03 2.25707044e+01] [ 5.07536822e-02 -3.27911845e-03 9.98705818e-01 1.31603725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.105099893 meters 0.029848489508469373 Centerline is valid? [True, True] Translation: X:317.68, Y:22.58, Z:13.16 [[ 9.87704864e-01 -1.47422583e-01 -5.20161880e-02 3.17682252e+02] [ 1.47401850e-01 9.89067532e-01 -4.25570885e-03 2.25771466e+01] [ 5.20749103e-02 -3.46389803e-03 9.98637174e-01 1.31611943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.165099893 meters 0.03178342777041109 Centerline is valid? [True, True] Translation: X:317.74, Y:22.58, Z:13.16 [[ 9.87653554e-01 -1.47770383e-01 -5.20035739e-02 3.17743595e+02] [ 1.47750210e-01 9.89015563e-01 -4.25334979e-03 2.25806720e+01] [ 5.20608631e-02 -3.48270291e-03 9.98637841e-01 1.31636663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.225099893 meters 0.031236382692383196 Centerline is valid? [True, True] Translation: X:317.80, Y:22.59, Z:13.17 [[ 9.87938671e-01 -1.46181236e-01 -5.10708164e-02 3.17804486e+02] [ 1.46159794e-01 9.89252186e-01 -4.17447698e-03 2.25902314e+01] [ 5.11321469e-02 -3.34037278e-03 9.98686310e-01 1.31672453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.285099893 meters 0.02809775526004621 Centerline is valid? [True, True] Translation: X:317.87, Y:22.60, Z:13.17 [[ 9.88248568e-01 -1.44568627e-01 -4.96455348e-02 3.17865610e+02] [ 1.44546430e-01 9.89489706e-01 -4.05606559e-03 2.26022098e+01] [ 4.97101255e-02 -3.16768380e-03 9.98758664e-01 1.31710024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.345099893 meters 0.02719314169776926 Centerline is valid? [True, True] Translation: X:317.93, Y:22.61, Z:13.18 [[ 9.88608175e-01 -1.42723929e-01 -4.77886616e-02 3.17926794e+02] [ 1.42701340e-01 9.89758104e-01 -3.90164672e-03 2.26111270e+01] [ 4.78560735e-02 -2.96230622e-03 9.98849849e-01 1.31751748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.405099893 meters 0.028274492198764364 Centerline is valid? [True, True] Translation: X:317.99, Y:22.62, Z:13.18 [[ 9.89011706e-01 -1.40354645e-01 -4.64372607e-02 3.17986952e+02] [ 1.40330866e-01 9.90097419e-01 -3.78796688e-03 2.26182929e+01] [ 4.65090707e-02 -2.77023743e-03 9.98914026e-01 1.31788243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.465099893 meters 0.026333553981812457 Centerline is valid? [True, True] Translation: X:318.05, Y:22.63, Z:13.18 [[ 9.89195525e-01 -1.39289368e-01 -4.57240059e-02 3.18048636e+02] [ 1.39265261e-01 9.90248095e-01 -3.72798411e-03 2.26282217e+01] [ 4.57973782e-02 -2.68006041e-03 9.98947154e-01 1.31819393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52509989299995 meters 0.027313787310040773 Centerline is valid? [True, True] Translation: X:318.11, Y:22.63, Z:13.18 [[ 9.89212248e-01 -1.39143041e-01 -4.58076593e-02 3.18111030e+02] [ 1.39118846e-01 9.90268662e-01 -3.73139947e-03 2.26327576e+01] [ 4.58810877e-02 -2.68156264e-03 9.98943309e-01 1.31834367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58509989299995 meters 0.02986378826733315 Centerline is valid? [True, True] Translation: X:318.17, Y:22.64, Z:13.18 [[ 9.89260233e-01 -1.37520821e-01 -4.95198475e-02 3.18172517e+02] [ 1.37490717e-01 9.90494857e-01 -4.03005699e-03 2.26361295e+01] [ 4.96033710e-02 -2.82174420e-03 9.98765009e-01 1.31816273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64509989299995 meters 0.0251517846023734 Centerline is valid? [True, True] Translation: X:318.23, Y:22.65, Z:13.18 [[ 9.89657502e-01 -1.34060981e-01 -5.10458877e-02 3.18232760e+02] [ 1.34024537e-01 9.90969317e-01 -4.15174939e-03 2.26500349e+01] [ 5.11414960e-02 -2.73259155e-03 9.98687679e-01 1.31837285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70509989299995 meters 0.023146737348237877 Centerline is valid? [True, True] Translation: X:318.29, Y:22.66, Z:13.19 [[ 9.91005688e-01 -1.24687630e-01 -4.85872617e-02 3.18291339e+02] [ 1.24643396e-01 9.92193738e-01 -3.95106949e-03 2.26623300e+01] [ 4.87006262e-02 -2.14054894e-03 9.98811127e-01 1.31891054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76509989299996 meters 0.017636225380918448 Centerline is valid? [True, True] Translation: X:318.35, Y:22.68, Z:13.20 [[ 9.92609764e-01 -1.12552634e-01 -4.53625403e-02 3.18350442e+02] [ 1.12501407e-01 9.93644718e-01 -3.68885458e-03 2.26800128e+01] [ 4.54894389e-02 -1.44175651e-03 9.98963779e-01 1.31950148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.82509989299996 meters 0.015351682837209741 Centerline is valid? [True, True] Translation: X:318.41, Y:22.69, Z:13.20 [[ 9.93531141e-01 -1.04264999e-01 -4.49964550e-02 3.18410299e+02] [ 1.04206136e-01 9.94548992e-01 -3.65824269e-03 2.26914861e+01] [ 4.51326056e-02 -1.05432869e-03 9.98980448e-01 1.31980819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.88509989299996 meters 0.013036166873292442 Centerline is valid? [True, True] Translation: X:318.47, Y:22.70, Z:13.20 [[ 9.94484619e-01 -9.40901330e-02 -4.63399310e-02 3.18470186e+02] [ 9.40166949e-02 9.95563496e-01 -3.76661478e-03 2.27031061e+01] [ 4.64887450e-02 -6.10886697e-04 9.98918627e-01 1.31996909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.94509989299996 meters 0.012168815829288668 Centerline is valid? [True, True] Translation: X:318.53, Y:22.71, Z:13.20 [[ 9.95065145e-01 -8.65848562e-02 -4.84604912e-02 3.18531083e+02] [ 8.64956956e-02 9.96244442e-01 -3.93784259e-03 2.27112024e+01] [ 4.86194526e-02 -2.73213992e-04 9.98817338e-01 1.32010551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.00509989299997 meters 0.011962308566512921 Centerline is valid? [True, True] Translation: X:318.59, Y:22.72, Z:13.20 [[ 9.95463365e-01 -8.13968750e-02 -4.92669963e-02 3.18592825e+02] [ 8.12985068e-02 9.96681769e-01 -4.00057223e-03 2.27188367e+01] [ 4.94291511e-02 -2.29101356e-05 9.98777632e-01 1.32043268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.06509989299997 meters 0.0122612739320027 Centerline is valid? [True, True] Translation: X:318.65, Y:22.73, Z:13.21 [[ 9.95987698e-01 -7.34901655e-02 -5.10656472e-02 3.18653575e+02] [ 7.33742684e-02 9.97295870e-01 -4.14309468e-03 2.27263502e+01] [ 5.12320357e-02 3.79566830e-04 9.98686705e-01 1.32068990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.12509989299997 meters 0.012906220757434105 Centerline is valid? [True, True] Translation: X:318.71, Y:22.73, Z:13.21 [[ 9.96459144e-01 -6.74009868e-02 -5.02621317e-02 3.18713408e+02] [ 6.72810276e-02 9.97725736e-01 -4.07670816e-03 2.27306851e+01] [ 5.04225965e-02 6.80585254e-04 9.98727740e-01 1.32096630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.185099893 meters 0.013326909470056736 Centerline is valid? [True, True] Translation: X:318.77, Y:22.73, Z:13.21 [[ 9.96649680e-01 -6.55085740e-02 -4.89698111e-02 3.18772070e+02] [ 6.53922666e-02 9.97851717e-01 -3.97513182e-03 2.27341836e+01] [ 4.91250153e-02 7.59566914e-04 9.98792349e-01 1.32131290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.245099893 meters 0.01277336587579281 Centerline is valid? [True, True] Translation: X:318.83, Y:22.73, Z:13.22 [[ 9.96631036e-01 -6.61558947e-02 -4.84765507e-02 3.18830728e+02] [ 6.60420998e-02 9.97809030e-01 -3.94712170e-03 2.27326053e+01] [ 4.86314654e-02 7.32330788e-04 9.98816522e-01 1.32166715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.305099893 meters 0.01221956595164683 Centerline is valid? [True, True] Translation: X:318.89, Y:22.73, Z:13.22 [[ 9.96255977e-01 -7.05205933e-02 -5.00087441e-02 3.18889718e+02] [ 7.04043136e-02 9.97510173e-01 -4.08510412e-03 2.27304583e+01] [ 5.01723149e-02 5.48978090e-04 9.98740425e-01 1.32177967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.365099893 meters 0.011611831853744743 Centerline is valid? [True, True] Translation: X:318.95, Y:22.72, Z:13.22 [[ 9.95381001e-01 -8.12898691e-02 -5.10746552e-02 3.18948300e+02] [ 8.11821217e-02 9.96690502e-01 -4.18405066e-03 2.27205223e+01] [ 5.12457446e-02 1.83756570e-05 9.98686073e-01 1.32166009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.425099893 meters 0.012326915883953822 Centerline is valid? [True, True] Translation: X:319.01, Y:22.71, Z:13.22 [[ 9.94149953e-01 -9.45597236e-02 -5.21951053e-02 3.19008936e+02] [ 9.44652241e-02 9.95518961e-01 -4.28008866e-03 2.27084551e+01] [ 5.23659410e-02 -6.75572375e-04 9.98627734e-01 1.32192519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.485099893 meters 0.01388983042323049 Centerline is valid? [True, True] Translation: X:319.07, Y:22.70, Z:13.22 [[ 9.93397428e-01 -1.01995915e-01 -5.25203220e-02 3.19069286e+02] [ 1.01910508e-01 9.94784240e-01 -4.30866310e-03 2.27029727e+01] [ 5.26858546e-02 -1.07215784e-03 9.98610560e-01 1.32207837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.545099893 meters 0.016631935878172056 Centerline is valid? [True, True] Translation: X:319.13, Y:22.70, Z:13.22 [[ 9.92593433e-01 -1.09304535e-01 -5.30169345e-02 3.19129463e+02] [ 1.09227818e-01 9.94007219e-01 -4.35111766e-03 2.26956749e+01] [ 5.31748125e-02 -1.47203324e-03 9.98584134e-01 1.32220868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.605099893 meters 0.01711175919801072 Centerline is valid? [True, True] Translation: X:319.19, Y:22.70, Z:13.23 [[ 9.92166641e-01 -1.13087714e-01 -5.30709547e-02 3.19189687e+02] [ 1.13016191e-01 9.93583596e-01 -4.35649514e-03 2.26963512e+01] [ 5.32230960e-02 -1.67550798e-03 9.98581241e-01 1.32251118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.665099893 meters 0.02059400576586839 Centerline is valid? [True, True] Translation: X:319.25, Y:22.69, Z:13.23 [[ 9.91490406e-01 -1.19223085e-01 -5.22745776e-02 3.19249644e+02] [ 1.19162139e-01 9.92865530e-01 -4.29222992e-03 2.26913575e+01] [ 5.24133591e-02 -1.97344569e-03 9.98623525e-01 1.32275959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.725099893 meters 0.02272770104884771 Centerline is valid? [True, True] Translation: X:319.31, Y:22.69, Z:13.23 [[ 9.90699317e-01 -1.26449348e-01 -5.02536103e-02 3.19309893e+02] [ 1.26402215e-01 9.91970484e-01 -4.12773001e-03 2.26896760e+01] [ 5.03720469e-02 -2.26282833e-03 9.98727959e-01 1.32309708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.785099893 meters 0.02615085769217643 Centerline is valid? [True, True] Translation: X:319.37, Y:22.69, Z:13.23 [[ 9.89810190e-01 -1.32980877e-01 -5.09104467e-02 3.19371077e+02] [ 1.32941107e-01 9.91115117e-01 -4.18174969e-03 2.26874777e+01] [ 5.10142060e-02 -2.62895269e-03 9.98694467e-01 1.32325282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.845099893 meters 0.025564280368004025 Centerline is valid? [True, True] Translation: X:319.43, Y:22.69, Z:13.23 [[ 9.89327316e-01 -1.36017756e-01 -5.22554456e-02 3.19432308e+02] [ 1.35980104e-01 9.90702272e-01 -4.29176976e-03 2.26923328e+01] [ 5.23533456e-02 -2.85973588e-03 9.98624529e-01 1.32341315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.905099893 meters 0.02745184165864418 Centerline is valid? [True, True] Translation: X:319.49, Y:22.69, Z:13.24 [[ 9.89062772e-01 -1.37699352e-01 -5.28556664e-02 3.19492849e+02] [ 1.37663304e-01 9.90469577e-01 -4.33953565e-03 2.26941624e+01] [ 5.29494808e-02 -2.98421254e-03 9.98592733e-01 1.32353152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.965099893 meters 0.025443808293488177 Centerline is valid? [True, True] Translation: X:319.55, Y:22.70, Z:13.24 [[ 9.89208799e-01 -1.36834119e-01 -5.23676944e-02 3.19553857e+02] [ 1.36797545e-01 9.90589698e-01 -4.29908927e-03 2.27026237e+01] [ 5.24631607e-02 -2.91107510e-03 9.98618617e-01 1.32386767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02509989299995 meters 0.02342459488205632 Centerline is valid? [True, True] Translation: X:319.61, Y:22.71, Z:13.24 [[ 9.89992935e-01 -1.31221724e-01 -5.19119234e-02 3.19613719e+02] [ 1.31178166e-01 9.91349656e-01 -4.26015031e-03 2.27134183e+01] [ 5.20218916e-02 -2.59219222e-03 9.98642580e-01 1.32410946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08509989299995 meters 0.025420764169165472 Centerline is valid? [True, True] Translation: X:319.67, Y:22.72, Z:13.24 [[ 9.90400187e-01 -1.28236849e-01 -5.16021406e-02 3.19673175e+02] [ 1.28189761e-01 9.91740617e-01 -4.23485954e-03 2.27169731e+01] [ 5.17190037e-02 -2.42066040e-03 9.98658743e-01 1.32426980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14509989299995 meters 0.01664087119530036 Centerline is valid? [True, True] Translation: X:319.73, Y:22.74, Z:13.25 [[ 9.92604351e-01 -1.10887848e-01 -4.94012995e-02 3.19731687e+02] [ 1.10823170e-01 9.93831869e-01 -4.05489089e-03 2.27433856e+01] [ 4.95462239e-02 -1.44990626e-03 9.98770779e-01 1.32478596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.20509989299995 meters 0.013910215989955094 Centerline is valid? [True, True] Translation: X:319.79, Y:22.76, Z:13.25 [[ 9.93718945e-01 -1.01042113e-01 -4.80952114e-02 3.19791564e+02] [ 1.00969300e-01 9.94881711e-01 -3.94725157e-03 2.27580426e+01] [ 4.82478849e-02 -9.33681158e-04 9.98834956e-01 1.32513091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26509989299996 meters 0.011978001844643489 Centerline is valid? [True, True] Translation: X:319.85, Y:22.77, Z:13.25 [[ 9.95032101e-01 -8.82733772e-02 -4.60318261e-02 3.19851090e+02] [ 8.81930340e-02 9.96096240e-01 -3.77737145e-03 2.27743120e+01] [ 4.61855702e-02 -3.01080557e-04 9.98932832e-01 1.32546357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.32509989299996 meters 0.011831779847203405 Centerline is valid? [True, True] Translation: X:319.91, Y:22.79, Z:13.26 [[ 9.95771282e-01 -7.96029804e-02 -4.58576052e-02 3.19911172e+02] [ 7.95140898e-02 9.96826643e-01 -3.76218062e-03 2.27869044e+01] [ 4.60115634e-02 9.99456828e-05 9.98940902e-01 1.32572012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.38509989299996 meters 0.011999810213778104 Centerline is valid? [True, True] Translation: X:319.97, Y:22.79, Z:13.26 [[ 9.95883759e-01 -7.78214047e-02 -4.64689957e-02 3.19971309e+02] [ 7.77282587e-02 9.96967299e-01 -3.81082606e-03 2.27932638e+01] [ 4.66246330e-02 1.83185657e-04 9.98912464e-01 1.32587654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.44509989299996 meters 0.012191316423034256 Centerline is valid? [True, True] Translation: X:320.03, Y:22.80, Z:13.26 [[ 9.96060856e-01 -7.53251322e-02 -4.67856383e-02 3.20030532e+02] [ 7.52279507e-02 9.97158981e-01 -3.83697023e-03 2.27995627e+01] [ 4.69417397e-02 3.02268154e-04 9.98897583e-01 1.32602432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.50509989299997 meters 0.012103414307412397 Centerline is valid? [True, True] Translation: X:320.09, Y:22.80, Z:13.26 [[ 9.96036093e-01 -7.69046010e-02 -4.46965673e-02 3.20089872e+02] [ 7.68174295e-02 9.97038432e-01 -3.66718110e-03 2.28022363e+01] [ 4.48462185e-02 2.19169326e-04 9.98993878e-01 1.32637602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.56509989299997 meters 0.01190460692538507 Centerline is valid? [True, True] Translation: X:320.15, Y:22.80, Z:13.27 [[ 9.95824434e-01 -8.00590149e-02 -4.38662928e-02 3.20149320e+02] [ 7.99780470e-02 9.96790122e-01 -3.60053031e-03 2.28043030e+01] [ 4.40137423e-02 7.71556302e-05 9.99030923e-01 1.32669283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.62509989299997 meters 0.012200791668687367 Centerline is valid? [True, True] Translation: X:320.21, Y:22.80, Z:13.27 [[ 9.95103943e-01 -8.85453061e-02 -4.39075429e-02 3.20210254e+02] [ 8.84724478e-02 9.96072106e-01 -3.60366058e-03 2.28010551e+01] [ 4.40541660e-02 -2.98590956e-04 9.99029099e-01 1.32686726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.685099893 meters 0.013722455239204066 Centerline is valid? [True, True] Translation: X:320.27, Y:22.79, Z:13.27 [[ 9.94071857e-01 -9.96252963e-02 -4.35424432e-02 3.20272254e+02] [ 9.95642587e-02 9.95024717e-01 -3.57363441e-03 2.27947829e+01] [ 4.36818316e-02 -7.82821684e-04 9.99045187e-01 1.32711283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.745099893 meters 0.016218353594517308 Centerline is valid? [True, True] Translation: X:320.33, Y:22.79, Z:13.27 [[ 9.93307137e-01 -1.06979233e-01 -4.35473888e-02 3.20332738e+02] [ 1.06925303e-01 9.94260638e-01 -3.57252140e-03 2.27903141e+01] [ 4.36796402e-02 -1.10770673e-03 9.99044975e-01 1.32735246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.805099893 meters 0.017803297440147352 Centerline is valid? [True, True] Translation: X:320.39, Y:22.79, Z:13.28 [[ 9.92177152e-01 -1.16694581e-01 -4.43494398e-02 3.20393362e+02] [ 1.16648328e-01 9.93166618e-01 -3.63830898e-03 2.27861468e+01] [ 4.44709540e-02 -1.56344093e-03 9.99009454e-01 1.32759678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.865099893 meters 0.019987978983869906 Centerline is valid? [True, True] Translation: X:320.45, Y:22.78, Z:13.28 [[ 9.91325642e-01 -1.23126691e-01 -4.59705304e-02 3.20454206e+02] [ 1.23083901e-01 9.92389103e-01 -3.77109578e-03 2.27815441e+01] [ 4.60849760e-02 -1.91984825e-03 9.98935678e-01 1.32771981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.925099893 meters 0.02177647658053863 Centerline is valid? [True, True] Translation: X:320.52, Y:22.78, Z:13.28 [[ 9.90943190e-01 -1.26100772e-01 -4.61539799e-02 3.20515753e+02] [ 1.26060872e-01 9.92015284e-01 -3.78582338e-03 2.27811275e+01] [ 4.62628487e-02 -2.06667504e-03 9.98927163e-01 1.32794377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.985099893 meters 0.022117303282986396 Centerline is valid? [True, True] Translation: X:320.58, Y:22.78, Z:13.28 [[ 9.90523395e-01 -1.28767532e-01 -4.77737107e-02 3.20577391e+02] [ 1.28727963e-01 9.91672209e-01 -3.91689504e-03 2.27825221e+01] [ 4.78802302e-02 -2.27003630e-03 9.98850505e-01 1.32820236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.045099893 meters 0.024123812688319427 Centerline is valid? [True, True] Translation: X:320.64, Y:22.78, Z:13.28 [[ 9.90315739e-01 -1.29656273e-01 -4.96385816e-02 3.20638156e+02] [ 1.29614770e-01 9.91556082e-01 -4.06780244e-03 2.27835392e+01] [ 4.97468536e-02 -2.40548456e-03 9.98758962e-01 1.32835010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.105099893 meters 0.02477259550250582 Centerline is valid? [True, True] Translation: X:320.70, Y:22.79, Z:13.29 [[ 9.90186577e-01 -1.30249162e-01 -5.06527221e-02 3.20698748e+02] [ 1.30206831e-01 9.91478174e-01 -4.14874049e-03 2.27881185e+01] [ 5.07614384e-02 -2.48730329e-03 9.98707710e-01 1.32859242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.165099893 meters 0.02533947527707055 Centerline is valid? [True, True] Translation: X:320.76, Y:22.79, Z:13.29 [[ 9.89815279e-01 -1.31938958e-01 -5.34586222e-02 3.20759387e+02] [ 1.31894270e-01 9.91254120e-01 -4.37855936e-03 2.27927584e+01] [ 5.35687820e-02 -2.71692100e-03 9.98560466e-01 1.32864918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.225099893 meters 0.023651788172459113 Centerline is valid? [True, True] Translation: X:320.82, Y:22.80, Z:13.29 [[ 9.89576692e-01 -1.33477390e-01 -5.40532851e-02 3.20818685e+02] [ 1.33433979e-01 9.91047814e-01 -4.42748926e-03 2.28009264e+01] [ 5.41603597e-02 -2.83120473e-03 9.98528237e-01 1.32902481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.285099893 meters 0.02407312895047023 Centerline is valid? [True, True] Translation: X:320.88, Y:22.81, Z:13.30 [[ 9.89481198e-01 -1.34850074e-01 -5.23680931e-02 3.20878394e+02] [ 1.34811199e-01 9.90862016e-01 -4.29019950e-03 2.28081238e+01] [ 5.24680881e-02 -2.81473368e-03 9.98618634e-01 1.32958030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.345099893 meters 0.025606467417587528 Centerline is valid? [True, True] Translation: X:320.94, Y:22.81, Z:13.30 [[ 9.89824470e-01 -1.32768565e-01 -5.11861922e-02 3.20937876e+02] [ 1.32728647e-01 9.91143542e-01 -4.19337354e-03 2.28146425e+01] [ 5.12896121e-02 -2.64317032e-03 9.98680324e-01 1.32995418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.405099893 meters 0.023730970266923553 Centerline is valid? [True, True] Translation: X:321.00, Y:22.82, Z:13.30 [[ 9.90337443e-01 -1.29411780e-01 -4.98431639e-02 3.20997837e+02] [ 1.29369693e-01 9.91588024e-01 -4.08320455e-03 2.28244794e+01] [ 4.99522992e-02 -2.40444447e-03 9.98748710e-01 1.33035782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46509989299994 meters 0.019299798377897127 Centerline is valid? [True, True] Translation: X:321.06, Y:22.84, Z:13.31 [[ 9.91249266e-01 -1.22724126e-01 -4.86177086e-02 3.21057030e+02] [ 1.22676088e-01 9.92438774e-01 -3.98207785e-03 2.28404191e+01] [ 4.87387961e-02 -2.01699853e-03 9.98809522e-01 1.33081636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52509989299995 meters 0.01819708469748666 Centerline is valid? [True, True] Translation: X:321.12, Y:22.85, Z:13.31 [[ 9.91879957e-01 -1.17399649e-01 -4.89026970e-02 3.21117614e+02] [ 1.17344592e-01 9.93083181e-01 -4.00525697e-03 2.28497870e+01] [ 4.90346617e-02 -1.76573293e-03 9.98795517e-01 1.33105214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58509989299995 meters 0.015709243032371322 Centerline is valid? [True, True] Translation: X:321.18, Y:22.86, Z:13.31 [[ 9.92733668e-01 -1.09962698e-01 -4.88678852e-02 3.21177282e+02] [ 1.09898760e-01 9.93934731e-01 -4.00151482e-03 2.28624748e+01] [ 4.90115058e-02 -1.39808150e-03 9.98797236e-01 1.33127886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64509989299995 meters 0.014522538966317632 Centerline is valid? [True, True] Translation: X:321.24, Y:22.87, Z:13.32 [[ 9.93478688e-01 -1.03066339e-01 -4.87588515e-02 3.21236197e+02] [ 1.02994416e-01 9.94673924e-01 -3.99195027e-03 2.28725947e+01] [ 4.89105938e-02 -1.05597192e-03 9.98802602e-01 1.33150061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.70509989299995 meters 0.013849107008726014 Centerline is valid? [True, True] Translation: X:321.30, Y:22.88, Z:13.32 [[ 9.93965102e-01 -9.88913422e-02 -4.74750366e-02 3.21296549e+02] [ 9.88183716e-02 9.95097894e-01 -3.88738021e-03 2.28808704e+01] [ 4.76267371e-02 -8.27485537e-04 9.98864860e-01 1.33177782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76509989299996 meters 0.012655641692282631 Centerline is valid? [True, True] Translation: X:321.36, Y:22.89, Z:13.32 [[ 9.94544346e-01 -9.36668664e-02 -4.59136292e-02 3.21356807e+02] [ 9.35931252e-02 9.95603438e-01 -3.75793899e-03 2.28913751e+01] [ 4.60637615e-02 -5.59763069e-04 9.98938345e-01 1.33212448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.82509989299996 meters 0.012695256342256142 Centerline is valid? [True, True] Translation: X:321.42, Y:22.90, Z:13.32 [[ 9.94752750e-01 -9.23185063e-02 -4.40937616e-02 3.21417292e+02] [ 9.22492401e-02 9.95729413e-01 -3.60746847e-03 2.28963646e+01] [ 4.42384915e-02 -4.79076816e-04 9.99020884e-01 1.33232193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.88509989299996 meters 0.013553358195143979 Centerline is valid? [True, True] Translation: X:321.48, Y:22.90, Z:13.32 [[ 9.94362147e-01 -9.69201063e-02 -4.30164352e-02 3.21478987e+02] [ 9.68585191e-02 9.95291941e-01 -3.51855400e-03 2.28976254e+01] [ 4.31549299e-02 -6.67791298e-04 9.99068169e-01 1.33243325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.94509989299996 meters 0.015581139101627646 Centerline is valid? [True, True] Translation: X:321.54, Y:22.90, Z:13.32 [[ 9.93434741e-01 -1.06023641e-01 -4.29697987e-02 3.21540859e+02] [ 1.05970753e-01 9.94363041e-01 -3.51320412e-03 2.28957743e+01] [ 4.31000624e-02 -1.06340292e-03 9.99070195e-01 1.33249293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.00509989299997 meters 0.01766038117986847 Centerline is valid? [True, True] Translation: X:321.60, Y:22.90, Z:13.33 [[ 9.92746467e-01 -1.12071954e-01 -4.35239023e-02 3.21602503e+02] [ 1.12023565e-01 9.93699184e-01 -3.55691720e-03 2.28951376e+01] [ 4.36482969e-02 -1.34458572e-03 9.99046054e-01 1.33255221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.06509989299997 meters 0.017675275563378078 Centerline is valid? [True, True] Translation: X:321.66, Y:22.90, Z:13.33 [[ 9.92448176e-01 -1.14713903e-01 -4.34434970e-02 3.21664536e+02] [ 1.14668290e-01 9.93397498e-01 -3.54872932e-03 2.28990557e+01] [ 4.35637499e-02 -1.45966158e-03 9.99049583e-01 1.33274129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.12509989299997 meters 0.021625008720605455 Centerline is valid? [True, True] Translation: X:321.72, Y:22.90, Z:13.33 [[ 9.91611730e-01 -1.22291935e-01 -4.18432755e-02 3.21724451e+02] [ 1.22256473e-01 9.92492666e-01 -3.41503384e-03 2.28956513e+01] [ 4.19467752e-02 -1.72922367e-03 9.99118350e-01 1.33293139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.185099893 meters 0.021427753831036036 Centerline is valid? [True, True] Translation: X:321.79, Y:22.90, Z:13.33 [[ 9.91203436e-01 -1.25685585e-01 -4.14594005e-02 3.21785597e+02] [ 1.25653704e-01 9.92068391e-01 -3.38435012e-03 2.28998184e+01] [ 4.15559247e-02 -1.85494777e-03 9.99134458e-01 1.33312032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.245099893 meters 0.024545175642188728 Centerline is valid? [True, True] Translation: X:321.85, Y:22.90, Z:13.33 [[ 9.90928806e-01 -1.27790123e-01 -4.15906846e-02 3.21847238e+02] [ 1.27759952e-01 9.91799314e-01 -3.39353552e-03 2.28995683e+01] [ 4.16832728e-02 -1.95087176e-03 9.99128970e-01 1.33316710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.305099893 meters 0.02285971736273044 Centerline is valid? [True, True] Translation: X:321.91, Y:22.91, Z:13.33 [[ 9.90888801e-01 -1.28102647e-01 -4.15824017e-02 3.21909156e+02] [ 1.28072857e-01 9.91758966e-01 -3.39059287e-03 2.29064324e+01] [ 4.16740637e-02 -1.96587647e-03 9.99129325e-01 1.33329200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.365099893 meters 0.023690943930830818 Centerline is valid? [True, True] Translation: X:321.97, Y:22.91, Z:13.33 [[ 9.90819582e-01 -1.28394703e-01 -4.23244054e-02 3.21971153e+02] [ 1.28364241e-01 9.91721097e-01 -3.44793075e-03 2.29098043e+01] [ 4.24167018e-02 -2.01666288e-03 9.99097971e-01 1.33336201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.425099893 meters 0.0259161509856519 Centerline is valid? [True, True] Translation: X:322.03, Y:22.91, Z:13.33 [[ 9.90501469e-01 -1.30090028e-01 -4.45356464e-02 3.22032650e+02] [ 1.30058161e-01 9.91499741e-01 -3.62472677e-03 2.29098431e+01] [ 4.46286227e-02 -2.20192708e-03 9.99001220e-01 1.33336660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.485099893 meters 0.022741901503901183 Centerline is valid? [True, True] Translation: X:322.09, Y:22.92, Z:13.34 [[ 9.90574862e-01 -1.29276171e-01 -4.52671375e-02 3.22094450e+02] [ 1.29242517e-01 9.91606180e-01 -3.68172813e-03 2.29190420e+01] [ 4.53631330e-02 -2.20341146e-03 9.98968133e-01 1.33354575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.545099893 meters 0.023339012373022845 Centerline is valid? [True, True] Translation: X:322.15, Y:22.92, Z:13.34 [[ 9.91112108e-01 -1.25143288e-01 -4.51214753e-02 3.22153605e+02] [ 1.25105715e-01 9.92136641e-01 -3.66683958e-03 2.29238901e+01] [ 4.52255493e-02 -2.01070530e-03 9.98974778e-01 1.33379774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.605099893 meters 0.019247617631749123 Centerline is valid? [True, True] Translation: X:322.21, Y:22.94, Z:13.34 [[ 9.92641063e-01 -1.13027625e-01 -4.34565968e-02 3.22213561e+02] [ 1.12981136e-01 9.93590854e-01 -3.53224959e-03 2.29375860e+01] [ 4.35773189e-02 -1.40351970e-03 9.99049072e-01 1.33410400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.665099893 meters 0.015820612763050964 Centerline is valid? [True, True] Translation: X:322.27, Y:22.95, Z:13.34 [[ 9.93772151e-01 -1.02881045e-01 -4.28065690e-02 3.22272879e+02] [ 1.02826553e-01 9.94693218e-01 -3.47875454e-03 2.29512442e+01] [ 4.29373018e-02 -9.44562543e-04 9.99077322e-01 1.33439109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.725099893 meters 0.013294352535531665 Centerline is valid? [True, True] Translation: X:322.33, Y:22.97, Z:13.35 [[ 9.95149829e-01 -8.85076669e-02 -4.29326327e-02 3.22331557e+02] [ 8.84394724e-02 9.96075443e-01 -3.48890070e-03 2.29671070e+01] [ 4.30729355e-02 -3.24960444e-04 9.99071878e-01 1.33462707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.785099893 meters 0.012767552868675147 Centerline is valid? [True, True] Translation: X:322.39, Y:22.98, Z:13.35 [[ 9.95899322e-01 -7.96150903e-02 -4.29648509e-02 3.22392306e+02] [ 7.95385174e-02 9.96825679e-01 -3.49147941e-03 2.29781781e+01] [ 4.31064411e-02 5.98014344e-05 9.99070484e-01 1.33492947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.845099893 meters 0.012837873519967513 Centerline is valid? [True, True] Translation: X:322.45, Y:22.98, Z:13.35 [[ 9.95995775e-01 -7.82998737e-02 -4.31456477e-02 3.22452482e+02] [ 7.82214864e-02 9.96929845e-01 -3.50466460e-03 2.29836152e+01] [ 4.32875987e-02 1.15714441e-04 9.99062646e-01 1.33527638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.905099893 meters 0.012801052251740882 Centerline is valid? [True, True] Translation: X:322.51, Y:22.99, Z:13.36 [[ 9.95774207e-01 -8.07367004e-02 -4.37642903e-02 3.22511726e+02] [ 8.06583969e-02 9.96735464e-01 -3.55498432e-03 2.29864723e+01] [ 4.39084379e-02 1.00041917e-05 9.99035559e-01 1.33556127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96509989299994 meters 0.013167027289447861 Centerline is valid? [True, True] Translation: X:322.57, Y:22.98, Z:13.36 [[ 9.95084580e-01 -8.85070653e-02 -4.44204769e-02 3.22571038e+02] [ 8.84340556e-02 9.96075492e-01 -3.60990078e-03 2.29848495e+01] [ 4.45656501e-02 -3.36126331e-04 9.99006401e-01 1.33577617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02509989299995 meters 0.014689999744990375 Centerline is valid? [True, True] Translation: X:322.63, Y:22.98, Z:13.36 [[ 9.94030881e-01 -9.91565646e-02 -4.55036639e-02 3.22631644e+02] [ 9.90910160e-02 9.95071497e-01 -3.69950840e-03 2.29820395e+01] [ 4.56462295e-02 -8.31578697e-04 9.98957322e-01 1.33602466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08509989299995 meters 0.017032271505416672 Centerline is valid? [True, True] Translation: X:322.69, Y:22.98, Z:13.36 [[ 9.93250811e-01 -1.06666057e-01 -4.55541364e-02 3.22691302e+02] [ 1.06608209e-01 9.94294205e-01 -3.70443008e-03 2.29803948e+01] [ 4.56893508e-02 -1.17701674e-03 9.98955003e-01 1.33632004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14509989299995 meters 0.018831924949692994 Centerline is valid? [True, True] Translation: X:322.75, Y:22.98, Z:13.37 [[ 9.92006900e-01 -1.17398763e-01 -4.62584150e-02 3.22752553e+02] [ 1.17350714e-01 9.93083407e-01 -3.76245302e-03 2.29783935e+01] [ 4.63801717e-02 -1.69607869e-03 9.98922421e-01 1.33665676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.20509989299995 meters 0.024420316837441954 Centerline is valid? [True, True] Translation: X:322.81, Y:22.97, Z:13.37 [[ 9.91181692e-01 -1.23773806e-01 -4.73169885e-02 3.22812459e+02] [ 1.23730774e-01 9.92308361e-01 -3.84862503e-03 2.29727310e+01] [ 4.74294023e-02 -2.03988092e-03 9.98872510e-01 1.33677660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26509989299996 meters 0.023968251366600368 Centerline is valid? [True, True] Translation: X:322.87, Y:22.98, Z:13.37 [[ 9.90120559e-01 -1.31456773e-01 -4.87893025e-02 3.22873347e+02] [ 1.31420294e-01 9.91318796e-01 -3.96881008e-03 2.29772295e+01] [ 4.88874796e-02 -2.48230401e-03 9.98801208e-01 1.33719604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.32509989299996 meters 0.023005812814411185 Centerline is valid? [True, True] Translation: X:322.93, Y:22.98, Z:13.38 [[ 9.89635833e-01 -1.34681800e-01 -4.98169815e-02 3.22933515e+02] [ 1.34647914e-01 9.90885225e-01 -4.05094108e-03 2.29836694e+01] [ 4.99084989e-02 -2.69879618e-03 9.98750148e-01 1.33760474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.38509989299996 meters 0.02657323576616449 Centerline is valid? [True, True] Translation: X:322.99, Y:22.98, Z:13.38 [[ 9.89375996e-01 -1.36173767e-01 -5.09101589e-02 3.22994942e+02] [ 1.36140415e-01 9.90680907e-01 -4.13851590e-03 2.29846916e+01] [ 5.09992797e-02 -2.83638189e-03 9.98694662e-01 1.33788852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.44509989299996 meters 0.024611139726120865 Centerline is valid? [True, True] Translation: X:323.06, Y:23.00, Z:13.38 [[ 9.89334733e-01 -1.35970428e-01 -5.22381947e-02 3.23055977e+02] [ 1.35935202e-01 9.90708643e-01 -4.24328648e-03 2.29952587e+01] [ 5.23297924e-02 -2.90297886e-03 9.98625638e-01 1.33836894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.50509989299997 meters 0.025859840540298815 Centerline is valid? [True, True] Translation: X:323.12, Y:23.00, Z:13.38 [[ 9.89406246e-01 -1.34470356e-01 -5.47083542e-02 3.23115791e+02] [ 1.34429636e-01 9.90913193e-01 -4.44043055e-03 2.30005110e+01] [ 5.48083362e-02 -2.96103440e-03 9.98492503e-01 1.33847319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.56509989299997 meters 0.024880951950989858 Centerline is valid? [True, True] Translation: X:323.18, Y:23.01, Z:13.39 [[ 9.89425325e-01 -1.33386527e-01 -5.69698166e-02 3.23176731e+02] [ 1.33340666e-01 9.91059483e-01 -4.62263545e-03 2.30097306e+01] [ 5.70770743e-02 -3.02264070e-03 9.98365199e-01 1.33873227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.62509989299997 meters 0.026100047814288915 Centerline is valid? [True, True] Translation: X:323.24, Y:23.02, Z:13.39 [[ 9.89580067e-01 -1.31836257e-01 -5.78834461e-02 3.23236256e+02] [ 1.31786379e-01 9.91267021e-01 -4.69494736e-03 2.30150295e+01] [ 5.79969155e-02 -2.98222345e-03 9.98312308e-01 1.33889163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.685099893 meters 0.023269547469833063 Centerline is valid? [True, True] Translation: X:323.30, Y:23.03, Z:13.39 [[ 9.90080718e-01 -1.27281685e-01 -5.94940664e-02 3.23296422e+02] [ 1.27220861e-01 9.91862680e-01 -4.82453880e-03 2.30284367e+01] [ 5.96240196e-02 -2.79220351e-03 9.98217000e-01 1.33920974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.745099893 meters 0.02060493559262599 Centerline is valid? [True, True] Translation: X:323.36, Y:23.04, Z:13.40 [[ 9.90782489e-01 -1.22471468e-01 -5.78860855e-02 3.23356087e+02] [ 1.22405727e-01 9.92469047e-01 -4.69353166e-03 2.30399647e+01] [ 5.80249719e-02 -2.43531938e-03 9.98312162e-01 1.33965061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.805099893 meters 0.01965824043398756 Centerline is valid? [True, True] Translation: X:323.41, Y:23.05, Z:13.40 [[ 9.91829728e-01 -1.14169439e-01 -5.69133501e-02 3.23414960e+02] [ 1.14092203e-01 9.93459445e-01 -4.61524938e-03 2.30502794e+01] [ 5.70680257e-02 -1.91582794e-03 9.98368454e-01 1.33994514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.865099893 meters 0.016533833389344266 Centerline is valid? [True, True] Translation: X:323.47, Y:23.06, Z:13.40 [[ 9.92194983e-01 -1.11117299e-01 -5.65867635e-02 3.23474572e+02] [ 1.11035946e-01 9.93805793e-01 -4.58953544e-03 2.30616946e+01] [ 5.67462302e-02 -1.72945077e-03 9.98387137e-01 1.34042034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.925099893 meters 0.015071756379144895 Centerline is valid? [True, True] Translation: X:323.53, Y:23.07, Z:13.41 [[ 9.93178366e-01 -1.02347553e-01 -5.58722888e-02 3.23533700e+02] [ 1.02254368e-01 9.94747962e-01 -4.53165149e-03 2.30728519e+01] [ 5.60426488e-02 -1.21244735e-03 9.98427640e-01 1.34075937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.985099893 meters 0.01350845137583935 Centerline is valid? [True, True] Translation: X:323.59, Y:23.08, Z:13.41 [[ 9.93927513e-01 -9.48552806e-02 -5.57725216e-02 3.23593306e+02] [ 9.47506122e-02 9.95490761e-01 -4.52400406e-03 2.30832034e+01] [ 5.59501557e-02 -7.87948461e-04 9.98433252e-01 1.34114565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.045099893 meters 0.012918480620764833 Centerline is valid? [True, True] Translation: X:323.65, Y:23.09, Z:13.41 [[ 9.94384203e-01 -8.99115737e-02 -5.58208358e-02 3.23652197e+02] [ 8.97988671e-02 9.95949622e-01 -4.52918593e-03 2.30911233e+01] [ 5.60019666e-02 -5.08896874e-04 9.98430529e-01 1.34143237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.105099893 meters 0.012573435774538816 Centerline is valid? [True, True] Translation: X:323.71, Y:23.10, Z:13.42 [[ 9.94556080e-01 -8.82294877e-02 -5.54415108e-02 3.23710211e+02] [ 8.81154207e-02 9.96100092e-01 -4.50336466e-03 2.30963330e+01] [ 5.56226235e-02 -4.06403343e-04 9.98451781e-01 1.34168766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.165099893 meters 0.012344346757052004 Centerline is valid? [True, True] Translation: X:323.77, Y:23.10, Z:13.42 [[ 9.94792934e-01 -8.62480367e-02 -5.42981990e-02 3.23768484e+02] [ 8.61349362e-02 9.96273657e-01 -4.42410797e-03 2.30998100e+01] [ 5.44774359e-02 -2.75900557e-04 9.98514964e-01 1.34193865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.225099893 meters 0.012251154536870326 Centerline is valid? [True, True] Translation: X:323.83, Y:23.10, Z:13.42 [[ 9.94846254e-01 -8.54579426e-02 -5.45698708e-02 3.23826726e+02] [ 8.53417515e-02 9.96341754e-01 -4.46023905e-03 2.31035745e+01] [ 5.47514037e-02 -2.19836251e-04 9.98499993e-01 1.34217061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.285099893 meters 0.012165585584471774 Centerline is valid? [True, True] Translation: X:323.88, Y:23.11, Z:13.42 [[ 9.94907581e-01 -8.49184624e-02 -5.42932867e-02 3.23884933e+02] [ 8.48019959e-02 9.96387888e-01 -4.44951525e-03 2.31055611e+01] [ 5.44750193e-02 -1.77322627e-04 9.98515118e-01 1.34234486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.345099893 meters 0.012033987345313326 Centerline is valid? [True, True] Translation: X:323.94, Y:23.10, Z:13.43 [[ 9.94793447e-01 -8.71605381e-02 -5.28113436e-02 3.23942772e+02] [ 8.70531354e-02 9.96194238e-01 -4.33500022e-03 2.31044879e+01] [ 5.29881971e-02 -2.84963225e-04 9.98595098e-01 1.34261805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.405099893 meters 0.012231368947856959 Centerline is valid? [True, True] Translation: X:324.00, Y:23.10, Z:13.43 [[ 9.94722381e-01 -8.84986453e-02 -5.19169948e-02 3.24000834e+02] [ 8.83959885e-02 9.96076240e-01 -4.27470259e-03 2.31046534e+01] [ 5.20915903e-02 -3.37111738e-04 9.98642255e-01 1.34280776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46509989299994 meters 0.012018904203660257 Centerline is valid? [True, True] Translation: X:324.06, Y:23.11, Z:13.43 [[ 9.94742209e-01 -8.86153763e-02 -5.13347066e-02 3.24059882e+02] [ 8.85148492e-02 9.96065863e-01 -4.23289955e-03 2.31051163e+01] [ 5.15078488e-02 -3.33239960e-04 9.98672534e-01 1.34305655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52509989299995 meters 0.011995993531600602 Centerline is valid? [True, True] Translation: X:324.12, Y:23.11, Z:13.43 [[ 9.94977831e-01 -8.60966648e-02 -5.10536927e-02 3.24118247e+02] [ 8.59932686e-02 9.96286770e-01 -4.22246089e-03 2.31065964e+01] [ 5.12276584e-02 -1.89018933e-04 9.98686984e-01 1.34324363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58509989299995 meters 0.011959051333554483 Centerline is valid? [True, True] Translation: X:324.18, Y:23.11, Z:13.43 [[ 9.95184859e-01 -8.34424666e-02 -5.14242260e-02 3.24175670e+02] [ 8.33333394e-02 9.96512596e-01 -4.26630299e-03 2.31097813e+01] [ 5.16008798e-02 -3.95923439e-05 9.98667786e-01 1.34340488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64509989299995 meters 0.012062926943916865 Centerline is valid? [True, True] Translation: X:324.23, Y:23.11, Z:13.44 [[ 9.95594016e-01 -7.89964337e-02 -5.05185014e-02 3.24233474e+02] [ 7.88846790e-02 9.96874878e-01 -4.20530790e-03 2.31122626e+01] [ 5.06928292e-02 2.01643618e-04 9.98714272e-01 1.34369536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.70509989299995 meters 0.012021933233830039 Centerline is valid? [True, True] Translation: X:324.29, Y:23.11, Z:13.44 [[ 9.95883082e-01 -7.63764593e-02 -4.88213372e-02 3.24290881e+02] [ 7.62682752e-02 9.97078995e-01 -4.07768974e-03 2.31145462e+01] [ 4.89901693e-02 3.37383047e-04 9.98799204e-01 1.34402541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76509989299996 meters 0.012316642827613007 Centerline is valid? [True, True] Translation: X:324.35, Y:23.11, Z:13.44 [[ 9.95982539e-01 -7.43450736e-02 -4.99158562e-02 3.24349693e+02] [ 7.42286925e-02 9.97232469e-01 -4.18383572e-03 2.31149663e+01] [ 5.00887601e-02 4.61838584e-04 9.98744663e-01 1.34419922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.82509989299996 meters 0.012473987939923692 Centerline is valid? [True, True] Translation: X:324.41, Y:23.11, Z:13.44 [[ 9.95973376e-01 -7.42482030e-02 -5.02418036e-02 3.24407704e+02] [ 7.41295887e-02 9.97239677e-01 -4.22272259e-03 2.31140930e+01] [ 5.04166495e-02 4.81315036e-04 9.98728156e-01 1.34434105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.88509989299996 meters 0.01213312539051668 Centerline is valid? [True, True] Translation: X:324.47, Y:23.11, Z:13.45 [[ 9.95831521e-01 -7.62556857e-02 -5.00465083e-02 3.24466533e+02] [ 7.61402315e-02 9.97088222e-01 -4.21215490e-03 2.31136570e+01] [ 5.02219847e-02 3.84043899e-04 9.98738006e-01 1.34468302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.94509989299996 meters 0.011763942613024143 Centerline is valid? [True, True] Translation: X:324.53, Y:23.11, Z:13.45 [[ 9.95231268e-01 -8.40102907e-02 -4.95680787e-02 3.24525886e+02] [ 8.39060159e-02 9.96464887e-01 -4.18443235e-03 2.31061497e+01] [ 4.97443853e-02 5.41791215e-06 9.98761982e-01 1.34502013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.00509989299997 meters 0.011868148352392338 Centerline is valid? [True, True] Translation: X:324.58, Y:23.10, Z:13.45 [[ 9.94779756e-01 -8.93578092e-02 -4.92789970e-02 3.24584151e+02] [ 8.92607446e-02 9.95999558e-01 -4.17128569e-03 2.31039919e+01] [ 4.94545962e-02 -2.49169400e-04 9.98776342e-01 1.34522112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.06509989299997 meters 0.012332203143692468 Centerline is valid? [True, True] Translation: X:324.64, Y:23.10, Z:13.45 [[ 9.94255013e-01 -9.51233271e-02 -4.90766959e-02 3.24643000e+02] [ 9.50337984e-02 9.95465355e-01 -4.15973719e-03 2.31019781e+01] [ 4.92498385e-02 -5.28105264e-04 9.98786351e-01 1.34543416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.12509989299997 meters 0.013735561876695548 Centerline is valid? [True, True] Translation: X:324.70, Y:23.10, Z:13.46 [[ 9.93579014e-01 -1.02761501e-01 -4.73372718e-02 3.24703500e+02] [ 1.02686363e-01 9.94705649e-01 -4.02283445e-03 2.30962574e+01] [ 4.75000442e-02 -8.63888386e-04 9.98870862e-01 1.34569331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.185099893 meters 0.015906063853229818 Centerline is valid? [True, True] Translation: X:324.76, Y:23.09, Z:13.46 [[ 9.92879782e-01 -1.09900679e-01 -4.59519304e-02 3.24762484e+02] [ 1.09837427e-01 9.93941888e-01 -3.90686571e-03 2.30912494e+01] [ 4.61029156e-02 -1.16819383e-03 9.98936012e-01 1.34602370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.245099893 meters 0.017225882479163023 Centerline is valid? [True, True] Translation: X:324.82, Y:23.09, Z:13.46 [[ 9.92111336e-01 -1.17024160e-01 -4.49493403e-02 3.24822734e+02] [ 1.16970799e-01 9.93127990e-01 -3.82460114e-03 2.30893062e+01] [ 4.50880187e-02 -1.46333010e-03 9.98981946e-01 1.34633225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.305099893 meters 0.019066536825478226 Centerline is valid? [True, True] Translation: X:324.88, Y:23.09, Z:13.47 [[ 9.91622230e-01 -1.21121658e-01 -4.48876078e-02 3.24882385e+02] [ 1.21072590e-01 9.92636305e-01 -3.82027872e-03 2.30881317e+01] [ 4.50197876e-02 -1.64638563e-03 9.98984739e-01 1.34659631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.365099893 meters 0.020337265495588668 Centerline is valid? [True, True] Translation: X:324.94, Y:23.09, Z:13.47 [[ 9.90837781e-01 -1.26682426e-01 -4.68193735e-02 3.24942556e+02] [ 1.26635120e-01 9.91941354e-01 -3.98714924e-03 2.30887837e+01] [ 4.69471745e-02 -1.97835887e-03 9.98895414e-01 1.34671871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.425099893 meters 0.02284340971196551 Centerline is valid? [True, True] Translation: X:325.00, Y:23.09, Z:13.47 [[ 9.90360099e-01 -1.29715532e-01 -4.85875983e-02 3.25001350e+02] [ 1.29668171e-01 9.91548806e-01 -4.13889447e-03 2.30897917e+01] [ 4.87138540e-02 -2.20126905e-03 9.98810350e-01 1.34683638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.485099893 meters 0.0215959643400453 Centerline is valid? [True, True] Translation: X:325.06, Y:23.10, Z:13.47 [[ 9.90193672e-01 -1.30642842e-01 -4.94867600e-02 3.25059795e+02] [ 1.30594655e-01 9.91426866e-01 -4.21976835e-03 2.30973344e+01] [ 4.96137858e-02 -2.28431842e-03 9.98765866e-01 1.34704526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.545099893 meters 0.02255354151393407 Centerline is valid? [True, True] Translation: X:325.12, Y:23.10, Z:13.47 [[ 9.90409682e-01 -1.28997258e-01 -4.94809911e-02 3.25117458e+02] [ 1.28946464e-01 9.91642531e-01 -4.23073697e-03 2.31023668e+01] [ 4.96132087e-02 -2.19023599e-03 9.98766105e-01 1.34725410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.605099893 meters 0.020484405539579392 Centerline is valid? [True, True] Translation: X:325.18, Y:23.11, Z:13.48 [[ 9.90781227e-01 -1.26783818e-01 -4.77328363e-02 3.25175787e+02] [ 1.26733773e-01 9.91928353e-01 -4.08565952e-03 2.31129536e+01] [ 4.78655492e-02 -2.00136770e-03 9.98851783e-01 1.34763907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.665099893 meters 0.019665643474334714 Centerline is valid? [True, True] Translation: X:325.24, Y:23.12, Z:13.48 [[ 9.91401141e-01 -1.22439362e-01 -4.61777098e-02 3.25235086e+02] [ 1.22387572e-01 9.92474492e-01 -3.95786784e-03 2.31220313e+01] [ 4.63147979e-02 -1.72774310e-03 9.98925400e-01 1.34791833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.725099893 meters 0.017337790738344797 Centerline is valid? [True, True] Translation: X:325.29, Y:23.13, Z:13.48 [[ 9.91901270e-01 -1.18827999e-01 -4.48528440e-02 3.25293676e+02] [ 1.18775368e-01 9.92913702e-01 -3.84612287e-03 2.31346421e+01] [ 4.49920305e-02 -1.51243892e-03 9.98986201e-01 1.34828255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.785099893 meters 0.018836191367576718 Centerline is valid? [True, True] Translation: X:325.35, Y:23.14, Z:13.48 [[ 9.92079235e-01 -1.17298502e-01 -4.49427763e-02 3.25352384e+02] [ 1.17244016e-01 9.93095653e-01 -3.85553868e-03 2.31389354e+01] [ 4.50847247e-02 -1.44427173e-03 9.98982123e-01 1.34848943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.845099893 meters 0.015646178309192578 Centerline is valid? [True, True] Translation: X:325.41, Y:23.15, Z:13.49 [[ 9.92564473e-01 -1.12800676e-01 -4.57359249e-02 3.25410683e+02] [ 1.12739368e-01 9.93616838e-01 -3.92602334e-03 2.31536027e+01] [ 4.58868432e-02 -1.25940797e-03 9.98945850e-01 1.34871583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.905099893 meters 0.014662775404167064 Centerline is valid? [True, True] Translation: X:325.47, Y:23.16, Z:13.49 [[ 9.93068769e-01 -1.08575452e-01 -4.50087961e-02 3.25469002e+02] [ 1.08511639e-01 9.94087662e-01 -3.86585441e-03 2.31644633e+01] [ 4.51624257e-02 -1.04491893e-03 9.98979111e-01 1.34904293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96509989299994 meters 0.013819478584091667 Centerline is valid? [True, True] Translation: X:325.53, Y:23.17, Z:13.49 [[ 9.93487526e-01 -1.04401280e-01 -4.56388825e-02 3.25528264e+02] [ 1.04330802e-01 9.94534885e-01 -3.93008393e-03 2.31747724e+01] [ 4.57997666e-02 -8.57051845e-04 9.98950272e-01 1.34920482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02509989299995 meters 0.013147897155048415 Centerline is valid? [True, True] Translation: X:325.59, Y:23.18, Z:13.49 [[ 9.93659331e-01 -1.02658283e-01 -4.58520484e-02 3.25587418e+02] [ 1.02585215e-01 9.94716377e-01 -3.95008411e-03 2.31832076e+01] [ 4.60152923e-02 -7.78704288e-04 9.98940432e-01 1.34944935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08509989299995 meters 0.012737528830593443 Centerline is valid? [True, True] Translation: X:325.65, Y:23.19, Z:13.50 [[ 9.93666603e-01 -1.01958589e-01 -4.72348204e-02 3.25646722e+02] [ 1.01880173e-01 9.94788348e-01 -4.07096862e-03 2.31904714e+01] [ 4.74037192e-02 -7.67106099e-04 9.98875517e-01 1.34952444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14509989299995 meters 0.014149381240218934 Centerline is valid? [True, True] Translation: X:325.70, Y:23.19, Z:13.50 [[ 9.93213610e-01 -1.06185339e-01 -4.74489163e-02 3.25704154e+02] [ 1.06110923e-01 9.94345881e-01 -4.09158849e-03 2.31928149e+01] [ 4.76151012e-02 -9.71026915e-04 9.98865286e-01 1.34961154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.20509989299995 meters 0.015519930244069122 Centerline is valid? [True, True] Translation: X:325.76, Y:23.19, Z:13.50 [[ 9.92696373e-01 -1.11489211e-01 -4.60875961e-02 3.25763836e+02] [ 1.11424498e-01 9.93764937e-01 -3.97879181e-03 2.31946607e+01] [ 4.62438294e-02 -1.18555507e-03 9.98929478e-01 1.34998364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26509989299996 meters 0.019663167089964458 Centerline is valid? [True, True] Translation: X:325.82, Y:23.19, Z:13.50 [[ 9.91563869e-01 -1.20265413e-01 -4.83458866e-02 3.25823479e+02] [ 1.20204532e-01 9.92740367e-01 -4.17531943e-03 2.31918422e+01] [ 4.84970597e-02 -1.67129878e-03 9.98821927e-01 1.34992816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.32509989299996 meters 0.02436645031662513 Centerline is valid? [True, True] Translation: X:325.88, Y:23.19, Z:13.50 [[ 9.90592913e-01 -1.28098273e-01 -4.81301671e-02 3.25883589e+02] [ 1.28047150e-01 9.91759371e-01 -4.15671591e-03 2.31904323e+01] [ 4.82660124e-02 -2.04531742e-03 9.98832423e-01 1.35013569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.38509989299996 meters 0.02131445738325918 Centerline is valid? [True, True] Translation: X:325.94, Y:23.20, Z:13.51 [[ 9.90301946e-01 -1.30802974e-01 -4.68256039e-02 3.25942816e+02] [ 1.30757560e-01 9.91406122e-01 -4.04485000e-03 2.32022111e+01] [ 4.69522688e-02 -2.11717890e-03 9.98894890e-01 1.35054431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.44509989299996 meters 0.020247264820816426 Centerline is valid? [True, True] Translation: X:326.00, Y:23.21, Z:13.51 [[ 9.90638256e-01 -1.27937618e-01 -4.76215375e-02 3.26003290e+02] [ 1.27887312e-01 9.91780171e-01 -4.11427876e-03 2.32122410e+01] [ 4.77564676e-02 -2.01442849e-03 9.98856978e-01 1.35076964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.50509989299997 meters 0.019419135037505898 Centerline is valid? [True, True] Translation: X:326.06, Y:23.22, Z:13.51 [[ 9.91170948e-01 -1.24271364e-01 -4.62253183e-02 3.26063320e+02] [ 1.24220018e-01 9.92246665e-01 -3.99290676e-03 2.32208588e+01] [ 4.63631218e-02 -1.78445670e-03 9.98923058e-01 1.35110960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.56509989299997 meters 0.01692663952182049 Centerline is valid? [True, True] Translation: X:326.12, Y:23.23, Z:13.52 [[ 9.91977999e-01 -1.18130720e-01 -4.49975775e-02 3.26123552e+02] [ 1.18075756e-01 9.92996983e-01 -3.88679764e-03 2.32343422e+01] [ 4.51416089e-02 -1.45750523e-03 9.98979535e-01 1.35153224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.62509989299997 meters 0.015737610019894918 Centerline is valid? [True, True] Translation: X:326.18, Y:23.24, Z:13.52 [[ 9.92528139e-01 -1.13123816e-01 -4.57263147e-02 3.26184100e+02] [ 1.13061785e-01 9.93580112e-01 -3.94895135e-03 2.32444161e+01] [ 4.58794773e-02 -1.25045343e-03 9.98946200e-01 1.35171258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.685099893 meters 0.015965605006879817 Centerline is valid? [True, True] Translation: X:326.24, Y:23.25, Z:13.52 [[ 9.92666384e-01 -1.11544116e-01 -4.65978672e-02 3.26243119e+02] [ 1.11477967e-01 9.93758758e-01 -4.02402395e-03 2.32506688e+01] [ 4.67558949e-02 -1.20012223e-03 9.98905624e-01 1.35186920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.745099893 meters 0.01644679865214783 Centerline is valid? [True, True] Translation: X:326.30, Y:23.26, Z:13.52 [[ 9.92475687e-01 -1.12688622e-01 -4.78882586e-02 3.26302913e+02] [ 1.12620112e-01 9.93629515e-01 -4.13498240e-03 2.32565729e+01] [ 4.80491526e-02 -1.28931155e-03 9.98844140e-01 1.35203718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.805099893 meters 0.01681555023991788 Centerline is valid? [True, True] Translation: X:326.36, Y:23.26, Z:13.52 [[ 9.92142207e-01 -1.14874303e-01 -4.95755497e-02 3.26363050e+02] [ 1.14803605e-01 9.93378985e-01 -4.28067405e-03 2.32632989e+01] [ 4.97390487e-02 -1.44441443e-03 9.98761203e-01 1.35224499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.865099893 meters 0.016469449645758902 Centerline is valid? [True, True] Translation: X:326.42, Y:23.27, Z:13.53 [[ 9.92129007e-01 -1.15300179e-01 -4.88456957e-02 3.26422774e+02] [ 1.15232063e-01 9.93329645e-01 -4.21765372e-03 2.32712302e+01] [ 4.90061738e-02 -1.44413366e-03 9.98797432e-01 1.35265942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.925099893 meters 0.016215248728014685 Centerline is valid? [True, True] Translation: X:326.48, Y:23.28, Z:13.53 [[ 9.92363789e-01 -1.13576905e-01 -4.81081700e-02 3.26482283e+02] [ 1.13508807e-01 9.93528306e-01 -4.15397098e-03 2.32793167e+01] [ 4.82686239e-02 -1.33845061e-03 9.98833494e-01 1.35303813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.985099893 meters 0.014804593878510602 Centerline is valid? [True, True] Translation: X:326.54, Y:23.29, Z:13.54 [[ 9.93004788e-01 -1.08609424e-01 -4.63193672e-02 3.26541758e+02] [ 1.08540896e-01 9.94083939e-01 -3.99951416e-03 2.32912888e+01] [ 4.64797240e-02 -1.05600891e-03 9.98918675e-01 1.35353940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.045099893 meters 0.01323129939499724 Centerline is valid? [True, True] Translation: X:326.60, Y:23.30, Z:13.54 [[ 9.93623541e-01 -1.03252731e-01 -4.52894201e-02 3.26601894e+02] [ 1.03181658e-01 9.94654841e-01 -3.91051968e-03 2.33016084e+01] [ 4.54511128e-02 -7.87453026e-04 9.98966254e-01 1.35390075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.105099893 meters 0.012525766255764096 Centerline is valid? [True, True] Translation: X:326.66, Y:23.31, Z:13.54 [[ 9.93998741e-01 -1.00032989e-01 -4.42708026e-02 3.26662503e+02] [ 9.99619216e-02 9.94983924e-01 -3.82173979e-03 2.33102493e+01] [ 4.44310369e-02 -6.26589950e-04 9.99012257e-01 1.35438124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.165099893 meters 0.012552907929131722 Centerline is valid? [True, True] Translation: X:326.72, Y:23.31, Z:13.54 [[ 9.93765694e-01 -1.01168195e-01 -4.68480754e-02 3.26723859e+02] [ 1.01089955e-01 9.94869077e-01 -4.04241935e-03 2.33137996e+01] [ 4.70166658e-02 -7.18652177e-04 9.98893847e-01 1.35446548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.225099893 meters 0.012602993488789247 Centerline is valid? [True, True] Translation: X:326.78, Y:23.32, Z:13.55 [[ 9.93631051e-01 -1.01946869e-01 -4.80017762e-02 3.26784534e+02] [ 1.01865717e-01 9.94789543e-01 -4.14026577e-03 2.33181820e+01] [ 4.81737521e-02 -7.75838709e-04 9.98838669e-01 1.35466242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.285099893 meters 0.013568333003254199 Centerline is valid? [True, True] Translation: X:326.85, Y:23.32, Z:13.55 [[ 9.93321305e-01 -1.04026255e-01 -4.99131487e-02 3.26845248e+02] [ 1.03941193e-01 9.94574132e-01 -4.30389707e-03 2.33194812e+01] [ 5.00900448e-02 -9.12879543e-04 9.98744289e-01 1.35469454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.345099893 meters 0.014511370865092552 Centerline is valid? [True, True] Translation: X:326.91, Y:23.32, Z:13.55 [[ 9.92852592e-01 -1.07611663e-01 -5.16087304e-02 3.26905102e+02] [ 1.07525656e-01 9.94192359e-01 -4.44822527e-03 2.33205508e+01] [ 5.17876864e-02 -1.13283058e-03 9.98657475e-01 1.35481107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.405099893 meters 0.014729230908562983 Centerline is valid? [True, True] Translation: X:326.96, Y:23.32, Z:13.55 [[ 9.92612676e-01 -1.10087919e-01 -5.09973191e-02 3.26964318e+02] [ 1.10007108e-01 9.93921073e-01 -4.39733501e-03 2.33241640e+01] [ 5.11714036e-02 -1.24521714e-03 9.98689109e-01 1.35522553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46509989299994 meters 0.015570726997526556 Centerline is valid? [True, True] Translation: X:327.02, Y:23.33, Z:13.56 [[ 9.92437773e-01 -1.12071333e-01 -5.00727699e-02 3.27023623e+02] [ 1.11995856e-01 9.93699286e-01 -4.31941451e-03 2.33272147e+01] [ 5.02413582e-02 -1.32119263e-03 9.98736232e-01 1.35558542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52509989299995 meters 0.016551871337231603 Centerline is valid? [True, True] Translation: X:327.08, Y:23.33, Z:13.56 [[ 9.91883171e-01 -1.17539628e-01 -4.84996006e-02 3.27084220e+02] [ 1.17475272e-01 9.93066989e-01 -4.18517582e-03 2.33297923e+01] [ 4.86552764e-02 -1.54629833e-03 9.98814434e-01 1.35602996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58509989299995 meters 0.020560496275066446 Centerline is valid? [True, True] Translation: X:327.14, Y:23.33, Z:13.56 [[ 9.90898133e-01 -1.26012930e-01 -4.73458746e-02 3.27144175e+02] [ 1.25961243e-01 9.92026750e-01 -4.08561492e-03 2.33272050e+01] [ 4.74832144e-02 -1.91531702e-03 9.98870200e-01 1.35635855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64509989299995 meters 0.02237905807364963 Centerline is valid? [True, True] Translation: X:327.21, Y:23.33, Z:13.57 [[ 9.89619198e-01 -1.35286095e-01 -4.84924181e-02 3.27205500e+02] [ 1.35242976e-01 9.90803628e-01 -4.18432907e-03 2.33281685e+01] [ 4.86125453e-02 -2.41736654e-03 9.98814786e-01 1.35664132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.70509989299995 meters 0.024267774755157786 Centerline is valid? [True, True] Translation: X:327.27, Y:23.33, Z:13.57 [[ 9.89222411e-01 -1.37945962e-01 -4.90910592e-02 3.27266790e+02] [ 1.37905114e-01 9.90436393e-01 -4.23441000e-03 2.33307232e+01] [ 4.92056914e-02 -2.58113486e-03 9.98785331e-01 1.35686932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76509989299996 meters 0.026335756369408096 Centerline is valid? [True, True] Translation: X:327.33, Y:23.33, Z:13.57 [[ 9.88609655e-01 -1.41709208e-01 -5.06897430e-02 3.27327842e+02] [ 1.41670679e-01 9.89904196e-01 -4.37046254e-03 2.33343519e+01] [ 5.07973241e-02 -2.86056887e-03 9.98704886e-01 1.35711157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.82509989299996 meters 0.02473294781547615 Centerline is valid? [True, True] Translation: X:327.39, Y:23.34, Z:13.57 [[ 9.88674407e-01 -1.41251780e-01 -5.07035592e-02 3.27388703e+02] [ 1.41212712e-01 9.89969632e-01 -4.37007150e-03 2.33434599e+01] [ 5.08122642e-02 -2.83940924e-03 9.98704186e-01 1.35739810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.88509989299996 meters 0.025746798368361145 Centerline is valid? [True, True] Translation: X:327.45, Y:23.35, Z:13.57 [[ 9.89216719e-01 -1.36751983e-01 -5.24326021e-02 3.27447797e+02] [ 1.36703982e-01 9.90601641e-01 -4.51768488e-03 2.33509917e+01] [ 5.25576241e-02 -2.69877610e-03 9.98614246e-01 1.35743460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.94509989299996 meters 0.020125758376383227 Centerline is valid? [True, True] Translation: X:327.51, Y:23.37, Z:13.58 [[ 9.90293143e-01 -1.28119892e-01 -5.38960529e-02 3.27506700e+02] [ 1.28056380e-01 9.91756015e-01 -4.64446222e-03 2.33705001e+01] [ 5.40467827e-02 -2.30235433e-03 9.98535750e-01 1.35768956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.00509989299997 meters 0.0165724978704189 Centerline is valid? [True, True] Translation: X:327.57, Y:23.39, Z:13.58 [[ 9.91662058e-01 -1.17347340e-01 -5.32537666e-02 3.27565579e+02] [ 1.17269829e-01 9.93089488e-01 -4.58878975e-03 2.33871787e+01] [ 5.34242381e-02 -1.69453140e-03 9.98570468e-01 1.35804610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.06509989299997 meters 0.014606635610884749 Centerline is valid? [True, True] Translation: X:327.63, Y:23.40, Z:13.58 [[ 9.92524401e-01 -1.09999496e-01 -5.28717694e-02 3.27625674e+02] [ 1.09912678e-01 9.93930806e-01 -4.55580479e-03 2.33997846e+01] [ 5.30520166e-02 -1.28953032e-03 9.98590918e-01 1.35839384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.12509989299997 meters 0.012717183871222925 Centerline is valid? [True, True] Translation: X:327.68, Y:23.41, Z:13.59 [[ 9.93717699e-01 -9.92327126e-02 -5.17494348e-02 3.27684126e+02] [ 9.91349651e-02 9.95064008e-01 -4.45862620e-03 2.34144944e+01] [ 5.19364415e-02 -6.99562642e-04 9.98650147e-01 1.35865608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.185099893 meters 0.011877133990641869 Centerline is valid? [True, True] Translation: X:327.74, Y:23.42, Z:13.59 [[ 9.94255809e-01 -9.37490560e-02 -5.16381635e-02 3.27744373e+02] [ 9.36443438e-02 9.95595774e-01 -4.44886242e-03 2.34249349e+01] [ 5.18278140e-02 -4.12314632e-04 9.98655951e-01 1.35896753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.245099893 meters 0.01153717421462678 Centerline is valid? [True, True] Translation: X:327.80, Y:23.43, Z:13.59 [[ 9.94642994e-01 -8.90905082e-02 -5.24232392e-02 3.27804289e+02] [ 8.89761580e-02 9.96023520e-01 -4.51573308e-03 2.34333600e+01] [ 5.26170882e-02 -1.72876141e-04 9.98614747e-01 1.35923091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.305099893 meters 0.011759578850212156 Centerline is valid? [True, True] Translation: X:327.86, Y:23.44, Z:13.59 [[ 9.94499618e-01 -8.99213869e-02 -5.37089696e-02 3.27861760e+02] [ 8.98025079e-02 9.95948842e-01 -4.62755548e-03 2.34374453e+01] [ 5.39075023e-02 -2.21098015e-04 9.98545909e-01 1.35927002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.365099893 meters 0.011890230691848941 Centerline is valid? [True, True] Translation: X:327.92, Y:23.44, Z:13.60 [[ 9.94198689e-01 -9.43742907e-02 -5.15990301e-02 3.27920139e+02] [ 9.42702503e-02 9.95536690e-01 -4.45182315e-03 2.34384629e+01] [ 5.17888653e-02 -4.38256744e-04 9.98657960e-01 1.35959870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.425099893 meters 0.012699407356931655 Centerline is valid? [True, True] Translation: X:327.98, Y:23.44, Z:13.60 [[ 9.93729334e-01 -9.98847744e-02 -5.02498091e-02 3.27979132e+02] [ 9.97925241e-02 9.94998769e-01 -4.34765940e-03 2.34376895e+01] [ 5.04327631e-02 -6.94158604e-04 9.98727217e-01 1.35984490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.485099893 meters 0.013061881372389155 Centerline is valid? [True, True] Translation: X:328.04, Y:23.44, Z:13.60 [[ 9.93370370e-01 -1.03548816e-01 -4.99294609e-02 3.28039905e+02] [ 1.03461848e-01 9.94623997e-01 -4.33017433e-03 2.34407020e+01] [ 5.01094244e-02 -8.64327423e-04 9.98743360e-01 1.36013457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.545099893 meters 0.014007847437052693 Centerline is valid? [True, True] Translation: X:328.10, Y:23.44, Z:13.61 [[ 9.93013825e-01 -1.07941678e-01 -4.76669375e-02 3.28101124e+02] [ 1.07867479e-01 9.94156687e-01 -4.13374286e-03 2.34420190e+01] [ 4.78346078e-02 -1.03684857e-03 9.98854732e-01 1.36056857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.605099893 meters 0.015160968507073536 Centerline is valid? [True, True] Translation: X:328.16, Y:23.44, Z:13.61 [[ 9.92782836e-01 -1.10374858e-01 -4.69002162e-02 3.28161352e+02] [ 1.10305814e-01 9.93889379e-01 -4.06566053e-03 2.34420968e+01] [ 4.70623735e-02 -1.13704853e-03 9.98891305e-01 1.36084965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.665099893 meters 0.014326168947742855 Centerline is valid? [True, True] Translation: X:328.22, Y:23.45, Z:13.61 [[ 9.92847417e-01 -1.10002994e-01 -4.64041865e-02 3.28223061e+02] [ 1.09935047e-01 9.93930638e-01 -4.02158188e-03 2.34464726e+01] [ 4.65649287e-02 -1.10862926e-03 9.98914650e-01 1.36111079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.725099893 meters 0.014142982024045733 Centerline is valid? [True, True] Translation: X:328.28, Y:23.45, Z:13.61 [[ 9.93007018e-01 -1.08119532e-01 -4.74049384e-02 3.28284181e+02] [ 1.08046638e-01 9.94137351e-01 -4.10496163e-03 2.34510356e+01] [ 4.75708465e-02 -1.04568853e-03 9.98867319e-01 1.36128359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.785099893 meters 0.013034179039274453 Centerline is valid? [True, True] Translation: X:328.34, Y:23.46, Z:13.61 [[ 9.93533814e-01 -1.02497697e-01 -4.88342357e-02 3.28343710e+02] [ 1.02413628e-01 9.94732919e-01 -4.22716726e-03 2.34573784e+01] [ 4.90102967e-02 -8.01457647e-04 9.98797952e-01 1.36138622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.845099893 meters 0.011316110667260243 Centerline is valid? [True, True] Translation: X:328.40, Y:23.47, Z:13.62 [[ 9.94417240e-01 -9.35154106e-02 -4.88796564e-02 3.28403119e+02] [ 9.34203268e-02 9.95617768e-01 -4.23122479e-03 2.34669649e+01] [ 4.90611391e-02 -3.58750593e-04 9.98795713e-01 1.36160907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.905099893 meters 0.010913244863230281 Centerline is valid? [True, True] Translation: X:328.46, Y:23.48, Z:13.62 [[ 9.95222106e-01 -8.43803498e-02 -4.91214474e-02 3.28462582e+02] [ 8.42731497e-02 9.96433614e-01 -4.25303859e-03 2.34763844e+01] [ 4.93051342e-02 9.30989352e-05 9.98783758e-01 1.36189044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96509989299994 meters 0.01096780368553173 Centerline is valid? [True, True] Translation: X:328.52, Y:23.48, Z:13.62 [[ 9.95438396e-01 -8.18099059e-02 -4.90870581e-02 3.28520830e+02] [ 8.16996041e-02 9.96647927e-01 -4.25265395e-03 2.34815243e+01] [ 4.92704239e-02 2.22861816e-04 9.98785450e-01 1.36209981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02509989299995 meters 0.010719980976481261 Centerline is valid? [True, True] Translation: X:328.58, Y:23.48, Z:13.62 [[ 9.95277993e-01 -8.31770987e-02 -5.00328535e-02 3.28579248e+02] [ 8.30635645e-02 9.96534767e-01 -4.34779976e-03 2.34821495e+01] [ 5.02211153e-02 1.71362268e-04 9.98738109e-01 1.36218815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08509989299995 meters 0.010532727033536445 Centerline is valid? [True, True] Translation: X:328.64, Y:23.48, Z:13.62 [[ 9.94516204e-01 -9.10055627e-02 -5.15316255e-02 3.28638153e+02] [ 9.08948343e-02 9.95850361e-01 -4.49310402e-03 2.34788102e+01] [ 5.17266853e-02 -2.15493799e-04 9.98661256e-01 1.36237301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14509989299995 meters 0.011091873338765133 Centerline is valid? [True, True] Translation: X:328.70, Y:23.48, Z:13.63 [[ 9.93901297e-01 -9.79639830e-02 -5.06287380e-02 3.28695921e+02] [ 9.78655310e-02 9.95189806e-01 -4.42592405e-03 2.34767496e+01] [ 5.08187851e-02 -5.55876672e-04 9.98707736e-01 1.36269742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.20509989299995 meters 0.014441295840956122 Centerline is valid? [True, True] Translation: X:328.76, Y:23.47, Z:13.63 [[ 9.92332972e-01 -1.13315069e-01 -4.93454033e-02 3.28757603e+02] [ 1.13240288e-01 9.93558250e-01 -4.31752578e-03 2.34664645e+01] [ 4.95167732e-02 -1.30346449e-03 9.98772442e-01 1.36320239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26509989299996 meters 0.016684861688684466 Centerline is valid? [True, True] Translation: X:328.82, Y:23.46, Z:13.64 [[ 9.91488513e-01 -1.20677606e-01 -4.88614710e-02 3.28818576e+02] [ 1.20613191e-01 9.92690374e-01 -4.27543914e-03 2.34645767e+01] [ 4.90202617e-02 -1.65428916e-03 9.98796414e-01 1.36354357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.32509989299996 meters 0.018715169084084642 Centerline is valid? [True, True] Translation: X:328.88, Y:23.46, Z:13.64 [[ 9.90653074e-01 -1.27563272e-01 -4.83125123e-02 3.28878643e+02] [ 1.27508457e-01 9.91828474e-01 -4.22747967e-03 2.34634804e+01] [ 4.84569965e-02 -1.97228815e-03 9.98823322e-01 1.36382749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.38509989299996 meters 0.021371179031089135 Centerline is valid? [True, True] Translation: X:328.94, Y:23.46, Z:13.64 [[ 9.89672399e-01 -1.35344846e-01 -4.72262224e-02 3.28939213e+02] [ 1.35301273e-01 9.90795884e-01 -4.13289714e-03 2.34626149e+01] [ 4.73509131e-02 -2.29955380e-03 9.98875669e-01 1.36414577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.44509989299996 meters 0.024268639277412234 Centerline is valid? [True, True] Translation: X:329.00, Y:23.46, Z:13.64 [[ 9.89036138e-01 -1.40104276e-01 -4.66723631e-02 3.28999651e+02] [ 1.40066997e-01 9.90133604e-01 -4.08442909e-03 2.34629202e+01] [ 4.67841211e-02 -2.49760975e-03 9.98901901e-01 1.36434913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.50509989299997 meters 0.02657274085573228 Centerline is valid? [True, True] Translation: X:329.06, Y:23.47, Z:13.65 [[ 9.88604077e-01 -1.42914990e-01 -4.72999520e-02 3.29059679e+02] [ 1.42879890e-01 9.89731378e-01 -4.13971761e-03 2.34656038e+01] [ 4.74058744e-02 -2.66567024e-03 9.98872153e-01 1.36453288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.56509989299997 meters 0.026177455436443616 Centerline is valid? [True, True] Translation: X:329.12, Y:23.47, Z:13.65 [[ 9.88285803e-01 -1.44417602e-01 -4.93429697e-02 3.29119982e+02] [ 1.44381236e-01 9.89512710e-01 -4.31930755e-03 2.34726588e+01] [ 4.94492797e-02 -2.85548861e-03 9.98772554e-01 1.36456942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.62509989299997 meters 0.025259814299042668 Centerline is valid? [True, True] Translation: X:329.18, Y:23.48, Z:13.65 [[ 9.88367832e-01 -1.43933345e-01 -4.91143756e-02 3.29179707e+02] [ 1.43896718e-01 9.89583372e-01 -4.29929724e-03 2.34800617e+01] [ 4.92215816e-02 -2.81811037e-03 9.98783908e-01 1.36478067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.685099893 meters 0.02176166345429975 Centerline is valid? [True, True] Translation: X:329.24, Y:23.50, Z:13.65 [[ 9.89556275e-01 -1.35755244e-01 -4.84653747e-02 3.29239421e+02] [ 1.35709794e-01 9.90739549e-01 -4.24243848e-03 2.34972700e+01] [ 4.85924967e-02 -2.37909438e-03 9.98815853e-01 1.36516003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.745099893 meters 0.01784247098749927 Centerline is valid? [True, True] Translation: X:329.30, Y:23.51, Z:13.66 [[ 9.90435685e-01 -1.28977594e-01 -4.90095274e-02 3.29299054e+02] [ 1.28922852e-01 9.91645348e-01 -4.28973278e-03 2.35130953e+01] [ 4.91533493e-02 -2.06974364e-03 9.98789099e-01 1.36551047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.805099893 meters 0.015242626074232558 Centerline is valid? [True, True] Translation: X:329.36, Y:23.53, Z:13.66 [[ 9.91853497e-01 -1.17431655e-01 -4.93603779e-02 3.29357908e+02] [ 1.17361846e-01 9.93079822e-01 -4.32024947e-03 2.35296303e+01] [ 4.95261294e-02 -1.50797056e-03 9.98771690e-01 1.36572679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.865099893 meters 0.011923484291648965 Centerline is valid? [True, True] Translation: X:329.42, Y:23.55, Z:13.66 [[ 9.93142547e-01 -1.06339906e-01 -4.85767942e-02 3.29417372e+02] [ 1.06259026e-01 9.94329393e-01 -4.25171299e-03 2.35459922e+01] [ 4.87534611e-02 -9.39165761e-04 9.98810401e-01 1.36597981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.925099893 meters 0.010065146492092189 Centerline is valid? [True, True] Translation: X:329.48, Y:23.56, Z:13.66 [[ 9.94130497e-01 -9.68043609e-02 -4.83060209e-02 3.29477353e+02] [ 9.67131278e-02 9.95303319e-01 -4.22787670e-03 2.35596175e+01] [ 4.84884198e-02 -4.68765206e-04 9.98823635e-01 1.36621575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.985099893 meters 0.009605065166910398 Centerline is valid? [True, True] Translation: X:329.54, Y:23.57, Z:13.66 [[ 9.94778193e-01 -8.99219315e-02 -4.82741443e-02 3.29536836e+02] [ 8.98227210e-02 9.95948808e-01 -4.22496252e-03 2.35698709e+01] [ 4.84584932e-02 -1.33214413e-04 9.98825188e-01 1.36632073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.045099893 meters 0.009651076983532274 Centerline is valid? [True, True] Translation: X:329.60, Y:23.58, Z:13.66 [[ 9.95014876e-01 -8.75965842e-02 -4.76679731e-02 3.29596378e+02] [ 8.74971733e-02 9.96156031e-01 -4.17212337e-03 2.35762033e+01] [ 4.78502026e-02 -1.94880831e-05 9.98854523e-01 1.36649695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.105099893 meters 0.00977182977130865 Centerline is valid? [True, True] Translation: X:329.66, Y:23.58, Z:13.67 [[ 9.95069800e-01 -8.74008345e-02 -4.68741687e-02 3.29655477e+02] [ 8.73044123e-02 9.96173225e-01 -4.10433245e-03 2.35797870e+01] [ 4.70535139e-02 -8.22447814e-06 9.98892370e-01 1.36666002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.165099893 meters 0.010017659597415483 Centerline is valid? [True, True] Translation: X:329.71, Y:23.58, Z:13.67 [[ 9.94839503e-01 -9.08179348e-02 -4.52378746e-02 3.29714894e+02] [ 9.07315882e-02 9.95867499e-01 -3.96264082e-03 2.35795388e+01] [ 4.54108079e-02 -1.62312582e-04 9.98968384e-01 1.36695133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.225099893 meters 0.010717883075209841 Centerline is valid? [True, True] Translation: X:329.77, Y:23.58, Z:13.67 [[ 9.94368471e-01 -9.72105743e-02 -4.22072009e-02 3.29774990e+02] [ 9.71411066e-02 9.95263747e-01 -3.69858035e-03 2.35757897e+01] [ 4.23668380e-02 -4.22302506e-04 9.99102033e-01 1.36732777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.285099893 meters 0.01190649488026955 Centerline is valid? [True, True] Translation: X:329.84, Y:23.57, Z:13.68 [[ 9.93862985e-01 -1.02525834e-01 -4.15309664e-02 3.29836173e+02] [ 1.02463149e-01 9.94730138e-01 -3.64081959e-03 2.35733853e+01] [ 4.16853820e-02 -6.36917755e-04 9.99130584e-01 1.36754823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.345099893 meters 0.01473003232071347 Centerline is valid? [True, True] Translation: X:329.90, Y:23.57, Z:13.68 [[ 9.92975196e-01 -1.11250088e-01 -4.02949001e-02 3.29897647e+02] [ 1.11198279e-01 9.93791965e-01 -3.53173428e-03 2.35655013e+01] [ 4.04376537e-02 -9.73798998e-04 9.99181589e-01 1.36765859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.405099893 meters 0.01848039350342597 Centerline is valid? [True, True] Translation: X:329.96, Y:23.56, Z:13.68 [[ 9.92031727e-01 -1.19563278e-01 -3.97199672e-02 3.29958121e+02] [ 1.19519583e-01 9.92825740e-01 -3.48139709e-03 2.35580246e+01] [ 3.98512531e-02 -1.29365757e-03 9.99204786e-01 1.36787458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46509989299994 meters 0.021898358584585897 Centerline is valid? [True, True] Translation: X:330.02, Y:23.55, Z:13.68 [[ 9.91122182e-01 -1.26525081e-01 -4.08438901e-02 3.30019374e+02] [ 1.26484820e-01 9.91962087e-01 -3.57881122e-03 2.35516904e+01] [ 4.09683999e-02 -1.61909292e-03 9.99159131e-01 1.36789259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52509989299995 meters 0.018957266511711996 Centerline is valid? [True, True] Translation: X:330.08, Y:23.56, Z:13.68 [[ 9.90685028e-01 -1.29536362e-01 -4.19941169e-02 3.30080654e+02] [ 1.29496501e-01 9.91573052e-01 -3.67956967e-03 2.35581306e+01] [ 4.21168727e-02 -1.79279662e-03 9.99111082e-01 1.36795695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58509989299995 meters 0.022385283849675894 Centerline is valid? [True, True] Translation: X:330.14, Y:23.56, Z:13.68 [[ 9.90196798e-01 -1.33127247e-01 -4.22780864e-02 3.30140889e+02] [ 1.33090176e-01 9.91097015e-01 -3.70287686e-03 2.35556972e+01] [ 4.23946390e-02 -1.96022116e-03 9.99099020e-01 1.36810361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64509989299995 meters 0.02277440151074594 Centerline is valid? [True, True] Translation: X:330.20, Y:23.56, Z:13.68 [[ 9.89972604e-01 -1.34540597e-01 -4.30473127e-02 3.30200879e+02] [ 1.34503498e-01 9.90905946e-01 -3.77027049e-03 2.35587904e+01] [ 4.31630926e-02 -2.05754964e-03 9.99065921e-01 1.36822858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.70509989299995 meters 0.024321518065084397 Centerline is valid? [True, True] Translation: X:330.26, Y:23.56, Z:13.68 [[ 9.89667032e-01 -1.36576227e-01 -4.36589129e-02 3.30261435e+02] [ 1.36540008e-01 9.90627174e-01 -3.82460543e-03 2.35624711e+01] [ 4.37720557e-02 -2.17610239e-03 9.99039174e-01 1.36834613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76509989299996 meters 0.022646411469944307 Centerline is valid? [True, True] Translation: X:330.32, Y:23.57, Z:13.69 [[ 9.89456307e-01 -1.37714401e-01 -4.48437330e-02 3.30321574e+02] [ 1.37677358e-01 9.90469340e-01 -3.92834246e-03 2.35722219e+01] [ 4.49573319e-02 -2.28704347e-03 9.98986290e-01 1.36852722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.82509989299996 meters 0.024726258524171606 Centerline is valid? [True, True] Translation: X:330.38, Y:23.58, Z:13.69 [[ 9.89187334e-01 -1.38960784e-01 -4.68862239e-02 3.30381327e+02] [ 1.38921723e-01 9.90294851e-01 -4.10654923e-03 2.35760941e+01] [ 4.70018354e-02 -2.45136851e-03 9.98891795e-01 1.36856266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.88509989299996 meters 0.026822925714075924 Centerline is valid? [True, True] Translation: X:330.44, Y:23.58, Z:13.69 [[ 9.88945964e-01 -1.40573506e-01 -4.71695737e-02 3.30440052e+02] [ 1.40535750e-01 9.90066981e-01 -4.13241606e-03 2.35800679e+01] [ 4.72819456e-02 -2.54227521e-03 9.98878348e-01 1.36877407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.94509989299996 meters 0.027825641338391754 Centerline is valid? [True, True] Translation: X:330.50, Y:23.59, Z:13.69 [[ 9.88680105e-01 -1.42447139e-01 -4.71217861e-02 3.30498737e+02] [ 1.42411460e-01 9.89798926e-01 -4.13074180e-03 2.35868729e+01] [ 4.72295057e-02 -2.62670014e-03 9.98880611e-01 1.36911318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.00509989299997 meters 0.025595218292183433 Centerline is valid? [True, True] Translation: X:330.56, Y:23.60, Z:13.70 [[ 9.88795726e-01 -1.41767889e-01 -4.67426867e-02 3.30558725e+02] [ 1.41731921e-01 9.89896588e-01 -4.09971377e-03 2.35986648e+01] [ 4.68516338e-02 -2.57115134e-03 9.98898550e-01 1.36951136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.06509989299997 meters 0.02653606763349776 Centerline is valid? [True, True] Translation: X:330.62, Y:23.61, Z:13.70 [[ 9.89234440e-01 -1.38873808e-01 -4.61442179e-02 3.30617931e+02] [ 1.38835616e-01 9.90307170e-01 -4.04722319e-03 2.36060909e+01] [ 4.62590031e-02 -2.40280833e-03 9.98926589e-01 1.36981567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.12509989299997 meters 0.02183107581875067 Centerline is valid? [True, True] Translation: X:330.68, Y:23.62, Z:13.70 [[ 9.90271185e-01 -1.31990445e-01 -4.40624836e-02 3.30677300e+02] [ 1.31948818e-01 9.91248997e-01 -3.86459947e-03 2.36236636e+01] [ 4.41869829e-02 -1.98699113e-03 9.99021302e-01 1.37035196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.185099893 meters 0.017350576864719146 Centerline is valid? [True, True] Translation: X:330.74, Y:23.64, Z:13.71 [[ 9.91425757e-01 -1.23082086e-01 -4.38835827e-02 3.30736314e+02] [ 1.23032111e-01 9.92395229e-01 -3.84816875e-03 2.36406592e+01] [ 4.40234988e-02 -1.58391620e-03 9.99029240e-01 1.37063979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.245099893 meters 0.015604402759773239 Centerline is valid? [True, True] Translation: X:330.80, Y:23.65, Z:13.71 [[ 9.92575285e-01 -1.13433753e-01 -4.38985935e-02 3.30795084e+02] [ 1.13374322e-01 9.93544889e-01 -3.84922882e-03 2.36542558e+01] [ 4.40518557e-02 -1.15632388e-03 9.99028577e-01 1.37089584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.305099893 meters 0.012635867975671646 Centerline is valid? [True, True] Translation: X:330.85, Y:23.67, Z:13.71 [[ 9.93333565e-01 -1.05608025e-01 -4.62101070e-02 3.30854776e+02] [ 1.05533672e-01 9.94407472e-01 -4.05259244e-03 2.36699209e+01] [ 4.63796620e-02 -8.51146194e-04 9.98923522e-01 1.37100220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.365099893 meters 0.01227343946295468 Centerline is valid? [True, True] Translation: X:330.92, Y:23.68, Z:13.71 [[ 9.93570895e-01 -1.02885066e-01 -4.72391838e-02 3.30915466e+02] [ 1.02804334e-01 9.94692975e-01 -4.14185447e-03 2.36780209e+01] [ 4.74146192e-02 -7.41166785e-04 9.98875019e-01 1.37115443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.425099893 meters 0.012274995778681822 Centerline is valid? [True, True] Translation: X:330.98, Y:23.69, Z:13.71 [[ 9.93509582e-01 -1.03240077e-01 -4.77514165e-02 3.30976742e+02] [ 1.03158078e-01 9.94656170e-01 -4.18500795e-03 2.36863056e+01] [ 4.79283016e-02 -7.68098857e-04 9.98850483e-01 1.37135697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.485099893 meters 0.012350063983544405 Centerline is valid? [True, True] Translation: X:331.04, Y:23.69, Z:13.72 [[ 9.93464846e-01 -1.03636344e-01 -4.78237105e-02 3.31037703e+02] [ 1.03554640e-01 9.94614943e-01 -4.18959337e-03 2.36921882e+01] [ 4.80003713e-02 -7.90153394e-04 9.98847005e-01 1.37163094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.545099893 meters 0.012504548541801759 Centerline is valid? [True, True] Translation: X:331.10, Y:23.70, Z:13.72 [[ 9.93326700e-01 -1.04799075e-01 -4.81583002e-02 3.31099032e+02] [ 1.04717675e-01 9.94493049e-01 -4.21712597e-03 2.36980221e+01] [ 4.83350457e-02 -8.54041387e-04 9.98830813e-01 1.37189228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.605099893 meters 0.013589904692841102 Centerline is valid? [True, True] Translation: X:331.16, Y:23.70, Z:13.72 [[ 9.93176515e-01 -1.06063096e-01 -4.84874117e-02 3.31159580e+02] [ 1.05982166e-01 9.94358973e-01 -4.24427232e-03 2.37019671e+01] [ 4.86640536e-02 -9.23489297e-04 9.98814776e-01 1.37208493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.665099893 meters 0.013837469899625024 Centerline is valid? [True, True] Translation: X:331.22, Y:23.71, Z:13.72 [[ 9.93012186e-01 -1.07167489e-01 -4.94158562e-02 3.31219800e+02] [ 1.07084833e-01 9.94240481e-01 -4.32476826e-03 2.37094483e+01] [ 4.95947192e-02 -9.97141120e-04 9.98768927e-01 1.37231725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.725099893 meters 0.013183062886853078 Centerline is valid? [True, True] Translation: X:331.28, Y:23.72, Z:13.73 [[ 9.92961031e-01 -1.07673186e-01 -4.93444545e-02 3.31280973e+02] [ 1.07591406e-01 9.94185819e-01 -4.31824248e-03 2.37180385e+01] [ 4.95225158e-02 -1.02119270e-03 9.98772485e-01 1.37268378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.785099893 meters 0.013306050679909209 Centerline is valid? [True, True] Translation: X:331.34, Y:23.73, Z:13.73 [[ 9.93083482e-01 -1.06823208e-01 -4.87237174e-02 3.31341066e+02] [ 1.06742532e-01 9.94277559e-01 -4.26227132e-03 2.37260183e+01] [ 4.89002083e-02 -9.68101708e-04 9.98803200e-01 1.37298691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.845099893 meters 0.012619949612891888 Centerline is valid? [True, True] Translation: X:331.40, Y:23.74, Z:13.73 [[ 9.93204701e-01 -1.05277014e-01 -4.96101961e-02 3.31401688e+02] [ 1.05191500e-01 9.94442519e-01 -4.33875466e-03 2.37355533e+01] [ 4.97912595e-02 -9.09299421e-04 9.98759232e-01 1.37325943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.905099893 meters 0.012133396007635269 Centerline is valid? [True, True] Translation: X:331.46, Y:23.75, Z:13.74 [[ 9.93752105e-01 -1.00251317e-01 -4.90553547e-02 3.31461752e+02] [ 1.00161674e-01 9.94961933e-01 -4.28841334e-03 2.37463241e+01] [ 4.92381297e-02 -6.51846673e-04 9.98786855e-01 1.37356249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96509989299994 meters 0.01145791369068955 Centerline is valid? [True, True] Translation: X:331.52, Y:23.76, Z:13.74 [[ 9.94455108e-01 -9.32790520e-02 -4.85598161e-02 3.31520864e+02] [ 9.31829803e-02 9.95639958e-01 -4.24343793e-03 2.37578528e+01] [ 4.87439171e-02 -3.05039866e-04 9.98811262e-01 1.37392451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02509989299995 meters 0.01125715802070933 Centerline is valid? [True, True] Translation: X:331.58, Y:23.77, Z:13.74 [[ 9.94848468e-01 -8.88954948e-02 -4.87249046e-02 3.31580814e+02] [ 8.87935489e-02 9.96040954e-01 -4.25710982e-03 2.37673796e+01] [ 4.89104384e-02 -9.12780181e-05 9.98803164e-01 1.37427248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08509989299995 meters 0.011331384318779902 Centerline is valid? [True, True] Translation: X:331.64, Y:23.78, Z:13.75 [[ 9.95199727e-01 -8.48869149e-02 -4.87002619e-02 3.31641079e+02] [ 8.47802739e-02 9.96390586e-01 -4.25495678e-03 2.37764071e+01] [ 4.88856727e-02 1.05710283e-04 9.98804375e-01 1.37464592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14509989299995 meters 0.011384387705079197 Centerline is valid? [True, True] Translation: X:331.70, Y:23.78, Z:13.75 [[ 9.95171011e-01 -8.51467727e-02 -4.88332457e-02 3.31700309e+02] [ 8.50398483e-02 9.96368415e-01 -4.26683068e-03 2.37805975e+01] [ 4.90192105e-02 9.34543982e-05 9.98797832e-01 1.37487660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.20509989299995 meters 0.011392045986591064 Centerline is valid? [True, True] Translation: X:331.76, Y:23.78, Z:13.75 [[ 9.94774609e-01 -8.94247251e-02 -4.92615146e-02 3.31759752e+02] [ 8.93210663e-02 9.95993577e-01 -4.30606070e-03 2.37821830e+01] [ 4.94492205e-02 -1.16531162e-04 9.98776632e-01 1.37514119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26509989299996 meters 0.011807348210947621 Centerline is valid? [True, True] Translation: X:331.82, Y:23.78, Z:13.75 [[ 9.94313903e-01 -9.40377527e-02 -4.99676227e-02 3.31818494e+02] [ 9.39368181e-02 9.95568571e-01 -4.36976544e-03 2.37829003e+01] [ 5.01571176e-02 -3.48880949e-04 9.98741279e-01 1.37532735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.32509989299996 meters 0.013028713239903324 Centerline is valid? [True, True] Translation: X:331.88, Y:23.78, Z:13.76 [[ 9.93442269e-01 -1.03381645e-01 -4.88333274e-02 3.31878946e+02] [ 1.03296400e-01 9.94641441e-01 -4.27286505e-03 2.37791426e+01] [ 4.90133870e-02 -7.99462168e-04 9.98797802e-01 1.37566715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.38509989299996 meters 0.01626657192581378 Centerline is valid? [True, True] Translation: X:331.94, Y:23.77, Z:13.76 [[ 9.92421788e-01 -1.13718319e-01 -4.65525355e-02 3.31939125e+02] [ 1.13652171e-01 9.93512248e-01 -4.07393480e-03 2.37726022e+01] [ 4.67137952e-02 -1.24773505e-03 9.98907536e-01 1.37610271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.44509989299996 meters 0.01784841131675902 Centerline is valid? [True, True] Translation: X:332.00, Y:23.77, Z:13.77 [[ 9.91256885e-01 -1.24114359e-01 -4.47818368e-02 3.31999676e+02] [ 1.24063695e-01 9.92266514e-01 -3.91968284e-03 2.37705410e+01] [ 4.49220061e-02 -1.67038756e-03 9.98989101e-01 1.37651695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.50509989299997 meters 0.020784166692835743 Centerline is valid? [True, True] Translation: X:332.06, Y:23.77, Z:13.77 [[ 9.90426089e-01 -1.30905022e-01 -4.38182354e-02 3.32060143e+02] [ 1.30863147e-01 9.91393024e-01 -3.83518974e-03 2.37684921e+01] [ 4.39431385e-02 -1.93572020e-03 9.99032158e-01 1.37681053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.56509989299997 meters 0.024764785223201555 Centerline is valid? [True, True] Translation: X:332.12, Y:23.77, Z:13.77 [[ 9.89465465e-01 -1.37989943e-01 -4.37820753e-02 3.32119565e+02] [ 1.37955056e-01 9.90431078e-01 -3.83179907e-03 2.37656431e+01] [ 4.38918778e-02 -2.24852582e-03 9.99033757e-01 1.37705329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.62509989299997 meters 0.023091726956229974 Centerline is valid? [True, True] Translation: X:332.18, Y:23.77, Z:13.77 [[ 9.89127992e-01 -1.40339787e-01 -4.39381380e-02 3.32179998e+02] [ 1.40306901e-01 9.90100589e-01 -3.84682442e-03 2.37725267e+01] [ 4.40430388e-02 -2.35982226e-03 9.99026847e-01 1.37730163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.685099893 meters 0.022955039452868427 Centerline is valid? [True, True] Translation: X:332.24, Y:23.78, Z:13.77 [[ 9.89190844e-01 -1.39703488e-01 -4.45467129e-02 3.32242057e+02] [ 1.39669087e-01 9.90190559e-01 -3.89910477e-03 2.37778736e+01] [ 4.46544531e-02 -2.36484000e-03 9.98999693e-01 1.37746335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.745099893 meters 0.023398177949542836 Centerline is valid? [True, True] Translation: X:332.30, Y:23.78, Z:13.78 [[ 9.89396547e-01 -1.37769440e-01 -4.59788520e-02 3.32302035e+02] [ 1.37730866e-01 9.90461528e-01 -4.02112761e-03 2.37837571e+01] [ 4.60942725e-02 -2.35421734e-03 9.98934320e-01 1.37757539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.805099893 meters 0.024426375209367367 Centerline is valid? [True, True] Translation: X:332.36, Y:23.79, Z:13.78 [[ 9.89546497e-01 -1.36134645e-01 -4.75929544e-02 3.32363327e+02] [ 1.36091491e-01 9.90687535e-01 -4.16107144e-03 2.37911005e+01] [ 4.77162127e-02 -2.35942249e-03 9.98858146e-01 1.37767650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.865099893 meters 0.022321367463068977 Centerline is valid? [True, True] Translation: X:332.42, Y:23.80, Z:13.78 [[ 9.89680260e-01 -1.35291657e-01 -4.72138913e-02 3.32424668e+02] [ 1.35248392e-01 9.90803139e-01 -4.12451382e-03 2.38034476e+01] [ 4.73376840e-02 -2.30365297e-03 9.98876287e-01 1.37798164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.925099893 meters 0.02216105297908889 Centerline is valid? [True, True] Translation: X:332.49, Y:23.81, Z:13.78 [[ 9.90140446e-01 -1.32612371e-01 -4.51204659e-02 3.32485189e+02] [ 1.32570220e-01 9.91165791e-01 -3.93855467e-03 2.38135063e+01] [ 4.52441633e-02 -2.08190780e-03 9.98973789e-01 1.37840174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.985099893 meters 0.020866670959329883 Centerline is valid? [True, True] Translation: X:332.54, Y:23.83, Z:13.79 [[ 9.90941152e-01 -1.27507177e-01 -4.21610288e-02 3.32544672e+02] [ 1.27465818e-01 9.91836142e-01 -3.67879226e-03 2.38256578e+01] [ 4.22859045e-02 -1.72862337e-03 9.99104056e-01 1.37887230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.045099893 meters 0.019553829826179682 Centerline is valid? [True, True] Translation: X:332.61, Y:23.84, Z:13.79 [[ 9.91442040e-01 -1.23379822e-01 -4.26626425e-02 3.32605815e+02] [ 1.23333660e-01 9.92358278e-01 -3.72251703e-03 2.38356135e+01] [ 4.27959099e-02 -1.57107995e-03 9.99082600e-01 1.37907173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.105099893 meters 0.017092661987423163 Centerline is valid? [True, True] Translation: X:332.67, Y:23.85, Z:13.79 [[ 9.92147981e-01 -1.16781975e-01 -4.47700154e-02 3.32666131e+02] [ 1.16724537e-01 9.93156655e-01 -3.90399252e-03 2.38483083e+01] [ 4.49195547e-02 -1.35242101e-03 9.98989692e-01 1.37916198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.165099893 meters 0.01487065334527563 Centerline is valid? [True, True] Translation: X:332.73, Y:23.86, Z:13.79 [[ 9.92675292e-01 -1.11742980e-01 -4.59267917e-02 3.32726785e+02] [ 1.11677189e-01 9.93736471e-01 -4.00394706e-03 2.38597133e+01] [ 4.60865409e-02 -1.15435566e-03 9.98936784e-01 1.37937131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.225099893 meters 0.012512445914162043 Centerline is valid? [True, True] Translation: X:332.79, Y:23.87, Z:13.80 [[ 9.93958329e-01 -9.99899504e-02 -4.52642215e-02 3.32786057e+02] [ 9.99139222e-02 9.94988265e-01 -3.94466334e-03 2.38740548e+01] [ 4.54317959e-02 -6.01694921e-04 9.98967262e-01 1.37960401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.285099893 meters 0.011856776107182375 Centerline is valid? [True, True] Translation: X:332.85, Y:23.88, Z:13.80 [[ 9.94529457e-01 -9.52085823e-02 -4.29707511e-02 3.32846483e+02] [ 9.51356048e-02 9.95457279e-01 -3.74475299e-03 2.38824104e+01] [ 4.31320796e-02 -3.63781237e-04 9.99069313e-01 1.37997637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.345099893 meters 0.011550478875578096 Centerline is valid? [True, True] Translation: X:332.91, Y:23.89, Z:13.80 [[ 9.94825817e-01 -9.27330135e-02 -4.14991720e-02 3.32907718e+02] [ 9.26628560e-02 9.95690979e-01 -3.61509659e-03 2.38896129e+01] [ 4.16555900e-02 -2.49040379e-04 9.99131998e-01 1.38041918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.405099893 meters 0.011693583449547516 Centerline is valid? [True, True] Translation: X:332.97, Y:23.89, Z:13.81 [[ 9.94622380e-01 -9.45251544e-02 -4.23239565e-02 3.32970253e+02] [ 9.44539349e-02 9.95522418e-01 -3.68379528e-03 2.38936854e+01] [ 4.24826588e-02 -3.33678997e-04 9.99097149e-01 1.38059706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46509989299994 meters 0.012113307373803034 Centerline is valid? [True, True] Translation: X:333.03, Y:23.90, Z:13.81 [[ 9.94215926e-01 -9.86169193e-02 -4.25369826e-02 3.33032218e+02] [ 9.85488554e-02 9.95125338e-01 -3.69921823e-03 2.38961647e+01] [ 4.26944347e-02 -5.14149274e-04 9.99088045e-01 1.38081125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52509989299995 meters 0.013497054547358403 Centerline is valid? [True, True] Translation: X:333.09, Y:23.90, Z:13.81 [[ 9.93507865e-01 -1.05401353e-01 -4.28097732e-02 3.33094365e+02] [ 1.05338838e-01 9.94429431e-01 -3.71978435e-03 2.38956085e+01] [ 4.29633687e-02 -8.13896773e-04 9.99076317e-01 1.38100856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58509989299995 meters 0.017076147841669928 Centerline is valid? [True, True] Translation: X:333.16, Y:23.89, Z:13.81 [[ 9.92102130e-01 -1.17845892e-01 -4.29617235e-02 3.33155370e+02] [ 1.17794670e-01 9.93030965e-01 -3.73068464e-03 2.38889906e+01] [ 4.31019676e-02 -1.35944189e-03 9.99069753e-01 1.38110272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64509989299995 meters 0.02100591101211465 Centerline is valid? [True, True] Translation: X:333.22, Y:23.88, Z:13.81 [[ 9.90814116e-01 -1.27996331e-01 -4.36385952e-02 3.33217462e+02] [ 1.27953305e-01 9.91772954e-01 -3.78927249e-03 2.38844930e+01] [ 4.37645914e-02 -1.82923780e-03 9.99040197e-01 1.38114472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.70509989299995 meters 0.02282795270455089 Centerline is valid? [True, True] Translation: X:333.28, Y:23.89, Z:13.81 [[ 9.90340692e-01 -1.31645532e-01 -4.35289263e-02 3.33278979e+02] [ 1.31606292e-01 9.91294864e-01 -3.77849988e-03 2.38862577e+01] [ 4.36474237e-02 -1.98667838e-03 9.99045022e-01 1.38134057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76509989299996 meters 0.019663167792226197 Centerline is valid? [True, True] Translation: X:333.34, Y:23.90, Z:13.82 [[ 9.90351175e-01 -1.31927631e-01 -4.24222880e-02 3.33340590e+02] [ 1.31890681e-01 9.91257433e-01 -3.68093421e-03 2.38961238e+01] [ 4.25370253e-02 -1.94968693e-03 9.99092989e-01 1.38165691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.82509989299996 meters 0.020796803644137444 Centerline is valid? [True, True] Translation: X:333.40, Y:23.90, Z:13.82 [[ 9.90603073e-01 -1.30059148e-01 -4.23103901e-02 3.33401470e+02] [ 1.30020828e-01 9.91504478e-01 -3.66802054e-03 2.39005219e+01] [ 4.24280009e-02 -1.86767955e-03 9.99097781e-01 1.38188919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.88509989299996 meters 0.018782036288554786 Centerline is valid? [True, True] Translation: X:333.46, Y:23.91, Z:13.82 [[ 9.91370710e-01 -1.24154542e-01 -4.20685852e-02 3.33461884e+02] [ 1.24111449e-01 9.92261591e-01 -3.64471637e-03 2.39116633e+01] [ 4.21955493e-02 -1.60792800e-03 9.99108077e-01 1.38203811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.94509989299996 meters 0.01869163716476949 Centerline is valid? [True, True] Translation: X:333.52, Y:23.92, Z:13.82 [[ 9.91792147e-01 -1.20166598e-01 -4.36843950e-02 3.33522526e+02] [ 1.20116305e-01 9.92752615e-01 -3.78386285e-03 2.39184930e+01] [ 4.38224913e-02 -1.49440267e-03 9.99038215e-01 1.38211399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.00509989299997 meters 0.015874958010577946 Centerline is valid? [True, True] Translation: X:333.58, Y:23.93, Z:13.82 [[ 9.92601400e-01 -1.12390080e-01 -4.59448691e-02 3.33582314e+02] [ 1.12326201e-01 9.93663424e-01 -3.97798916e-03 2.39310760e+01] [ 4.61008225e-02 -1.21225497e-03 9.98936056e-01 1.38208969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.06509989299997 meters 0.014198403357758183 Centerline is valid? [True, True] Translation: X:333.64, Y:23.94, Z:13.82 [[ 9.93185114e-01 -1.06684722e-01 -4.69222687e-02 3.33643389e+02] [ 1.06611781e-01 9.94292428e-01 -4.06156641e-03 2.39422851e+01] [ 4.70877635e-02 -9.68579319e-04 9.98890286e-01 1.38225609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.12509989299997 meters 0.012430698975585764 Centerline is valid? [True, True] Translation: X:333.70, Y:23.96, Z:13.82 [[ 9.94077296e-01 -9.84092097e-02 -4.61081032e-02 3.33703619e+02] [ 9.83299909e-02 9.95145871e-01 -3.98860977e-03 2.39559317e+01] [ 4.62768044e-02 -5.68822954e-04 9.98928493e-01 1.38249168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.185099893 meters 0.011407995301078897 Centerline is valid? [True, True] Translation: X:333.76, Y:23.97, Z:13.83 [[ 9.94783628e-01 -9.10582899e-02 -4.59773979e-02 3.33764043e+02] [ 9.09717429e-02 9.95845538e-01 -3.97567700e-03 2.39688469e+01] [ 4.61484049e-02 -2.27705627e-04 9.98934569e-01 1.38265151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.245099893 meters 0.011256204302622953 Centerline is valid? [True, True] Translation: X:333.83, Y:23.98, Z:13.83 [[ 9.95237988e-01 -8.67753739e-02 -4.44002534e-02 3.33825125e+02] [ 8.66904731e-02 9.96227902e-01 -3.83774383e-03 2.39783865e+01] [ 4.45657930e-02 -2.96105314e-05 9.99006451e-01 1.38292649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.305099893 meters 0.011381273366077926 Centerline is valid? [True, True] Translation: X:333.89, Y:23.99, Z:13.83 [[ 9.95595106e-01 -8.34016717e-02 -4.28315954e-02 3.33886544e+02] [ 8.33196102e-02 9.96516005e-01 -3.70064469e-03 2.39890179e+01] [ 4.29910103e-02 1.15631913e-04 9.99075452e-01 1.38324865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.365099893 meters 0.011306458554578284 Centerline is valid? [True, True] Translation: X:333.95, Y:23.99, Z:13.83 [[ 9.95219357e-01 -8.79004893e-02 -4.25668433e-02 3.33947355e+02] [ 8.78236810e-02 9.96129257e-01 -3.67473249e-03 2.39931228e+01] [ 4.27250888e-02 -8.12119670e-05 9.99086863e-01 1.38344971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.425099893 meters 0.011601614534256184 Centerline is valid? [True, True] Translation: X:334.01, Y:24.00, Z:13.84 [[ 9.94750939e-01 -9.34372714e-02 -4.17138664e-02 3.34009590e+02] [ 9.33684364e-02 9.95625119e-01 -3.59963481e-03 2.39961054e+01] [ 4.18677132e-02 -3.14018372e-04 9.99123114e-01 1.38377688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.485099893 meters 0.012539299428431629 Centerline is valid? [True, True] Translation: X:334.07, Y:24.00, Z:13.84 [[ 9.94145694e-01 -9.99452517e-02 -4.10522407e-02 3.34072191e+02] [ 9.98842497e-02 9.94992768e-01 -3.53953681e-03 2.39971707e+01] [ 4.12004425e-02 -5.81656985e-04 9.99150732e-01 1.38407715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.545099893 meters 0.01481514006347728 Centerline is valid? [True, True] Translation: X:334.13, Y:24.00, Z:13.84 [[ 9.93270027e-01 -1.08611573e-01 -4.02265953e-02 3.34132355e+02] [ 1.08560218e-01 9.94083835e-01 -3.46532434e-03 2.39956003e+01] [ 4.03649824e-02 -9.25005159e-04 9.99184574e-01 1.38433972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.605099893 meters 0.015911545063336065 Centerline is valid? [True, True] Translation: X:334.19, Y:24.00, Z:13.85 [[ 9.92731997e-01 -1.13780244e-01 -3.92076351e-02 3.34193088e+02] [ 1.13735477e-01 9.93505326e-01 -3.37768436e-03 2.39980210e+01] [ 3.93373081e-02 -1.10616376e-03 9.99225376e-01 1.38458913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.665099893 meters 0.017147759532721848 Centerline is valid? [True, True] Translation: X:334.25, Y:24.00, Z:13.85 [[ 9.92483744e-01 -1.15719633e-01 -3.98118570e-02 3.34254165e+02] [ 1.15675113e-01 9.93281188e-01 -3.42775377e-03 2.40002916e+01] [ 3.99410270e-02 -1.20325117e-03 9.99201314e-01 1.38468549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.725099893 meters 0.016818814178967384 Centerline is valid? [True, True] Translation: X:334.32, Y:24.01, Z:13.85 [[ 9.92556050e-01 -1.14863735e-01 -4.04822079e-02 3.34315755e+02] [ 1.14817198e-01 9.93380540e-01 -3.48041949e-03 2.40065895e+01] [ 4.06140115e-02 -1.19354224e-03 9.99174198e-01 1.38474443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.785099893 meters 0.016122547809213572 Centerline is valid? [True, True] Translation: X:334.38, Y:24.01, Z:13.85 [[ 9.92717056e-01 -1.13301877e-01 -4.09332510e-02 3.34378020e+02] [ 1.13253094e-01 9.93559949e-01 -3.51620313e-03 2.40134393e+01] [ 4.10680312e-02 -1.14522249e-03 9.99155696e-01 1.38495793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.845099893 meters 0.016072146850410213 Centerline is valid? [True, True] Translation: X:334.44, Y:24.02, Z:13.85 [[ 9.92981703e-01 -1.10591814e-01 -4.19140577e-02 3.34439454e+02] [ 1.10538419e-01 9.93865345e-01 -3.59650692e-03 2.40191131e+01] [ 4.20546736e-02 -1.06184810e-03 9.99114747e-01 1.38512310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.905099893 meters 0.01382806734051963 Centerline is valid? [True, True] Translation: X:334.50, Y:24.03, Z:13.85 [[ 9.93527650e-01 -1.04664764e-01 -4.41372355e-02 3.34499853e+02] [ 1.04599853e-01 9.94507191e-01 -3.78399030e-03 2.40316258e+01] [ 4.42908485e-02 -8.57249345e-04 9.99018311e-01 1.38520325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96509989299994 meters 0.013222119941567653 Centerline is valid? [True, True] Translation: X:334.56, Y:24.04, Z:13.85 [[ 9.94165910e-01 -9.85510057e-02 -4.38388239e-02 3.34559264e+02] [ 9.84810960e-02 9.95131831e-01 -3.75681419e-03 2.40415428e+01] [ 4.39956469e-02 -5.82398820e-04 9.99031553e-01 1.38542015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02509989299995 meters 0.012744375945863046 Centerline is valid? [True, True] Translation: X:334.62, Y:24.05, Z:13.86 [[ 9.94456158e-01 -9.52408995e-02 -4.45659099e-02 3.34620932e+02] [ 9.51653720e-02 9.95454155e-01 -3.81813971e-03 2.40505071e+01] [ 4.47269632e-02 -4.44158845e-04 9.98999150e-01 1.38560599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08509989299995 meters 0.012968857478649438 Centerline is valid? [True, True] Translation: X:334.68, Y:24.06, Z:13.86 [[ 9.94231060e-01 -9.74761459e-02 -4.47548888e-02 3.34682624e+02] [ 9.74023839e-02 9.95237709e-01 -3.83110736e-03 2.40560169e+01] [ 4.49151945e-02 -5.50226925e-04 9.98990652e-01 1.38585363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14509989299995 meters 0.013652146953062282 Centerline is valid? [True, True] Translation: X:334.74, Y:24.06, Z:13.86 [[ 9.93838976e-01 -1.01332821e-01 -4.48970953e-02 3.34744341e+02] [ 1.01262669e-01 9.94852314e-01 -3.83998946e-03 2.40593503e+01] [ 4.50550961e-02 -7.30068521e-04 9.98984237e-01 1.38611288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.20509989299995 meters 0.015139878980576123 Centerline is valid? [True, True] Translation: X:334.81, Y:24.06, Z:13.86 [[ 9.93013292e-01 -1.08661008e-01 -4.60150835e-02 3.34805187e+02] [ 1.08595326e-01 9.94078263e-01 -3.93228133e-03 2.40607849e+01] [ 4.61698799e-02 -1.09221535e-03 9.98933005e-01 1.38631399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26509989299996 meters 0.016377272254587703 Centerline is valid? [True, True] Translation: X:334.87, Y:24.06, Z:13.87 [[ 9.92485059e-01 -1.13298439e-01 -4.62263036e-02 3.34866428e+02] [ 1.13237273e-01 9.93560130e-01 -3.94818986e-03 2.40640792e+01] [ 4.63759360e-02 -1.31602109e-03 9.98923191e-01 1.38654626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.32509989299996 meters 0.017752969851987568 Centerline is valid? [True, True] Translation: X:334.93, Y:24.07, Z:13.87 [[ 9.92237345e-01 -1.15505452e-01 -4.60818950e-02 3.34927055e+02] [ 1.15447121e-01 9.93305836e-01 -3.93417131e-03 2.40674659e+01] [ 4.62278335e-02 -1.41639044e-03 9.98929918e-01 1.38685371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.38509989299996 meters 0.019218256768062728 Centerline is valid? [True, True] Translation: X:334.99, Y:24.07, Z:13.87 [[ 9.91761431e-01 -1.19912829e-01 -4.50574919e-02 3.34987993e+02] [ 1.19861674e-01 9.92783156e-01 -3.84510873e-03 2.40716851e+01] [ 4.51933969e-02 -1.58723587e-03 9.98976996e-01 1.38725066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.44509989299996 meters 0.02043661491794651 Centerline is valid? [True, True] Translation: X:335.05, Y:24.08, Z:13.88 [[ 9.91724377e-01 -1.20492161e-01 -4.43215532e-02 3.35049384e+02] [ 1.20443313e-01 9.92713007e-01 -3.78069267e-03 2.40761736e+01] [ 4.44541262e-02 -1.58882961e-03 9.99010163e-01 1.38755476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.50509989299997 meters 0.017804539684438504 Centerline is valid? [True, True] Translation: X:335.11, Y:24.09, Z:13.88 [[ 9.92075830e-01 -1.17366467e-01 -4.48403895e-02 3.35109506e+02] [ 1.17313387e-01 9.93087588e-01 -3.82258060e-03 2.40884729e+01] [ 4.49790770e-02 -1.46808816e-03 9.98986850e-01 1.38789364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.56509989299997 meters 0.01614568622310163 Centerline is valid? [True, True] Translation: X:335.17, Y:24.10, Z:13.88 [[ 9.92747141e-01 -1.11275723e-01 -4.55063426e-02 3.35169903e+02] [ 1.11214735e-01 9.93788834e-01 -3.87772145e-03 2.40992782e+01] [ 4.56551914e-02 -1.21137892e-03 9.98956524e-01 1.38818056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.62509989299997 meters 0.014637740211838262 Centerline is valid? [True, True] Translation: X:335.23, Y:24.11, Z:13.88 [[ 9.93344165e-01 -1.04991356e-01 -4.73728364e-02 3.35230424e+02] [ 1.04918166e-01 9.94472670e-01 -4.03577632e-03 2.41100898e+01] [ 4.75347127e-02 -9.61356247e-04 9.98869124e-01 1.38835299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.685099893 meters 0.014079718569567752 Centerline is valid? [True, True] Translation: X:335.29, Y:24.12, Z:13.88 [[ 9.93605808e-01 -1.01045179e-01 -5.03723237e-02 3.35291101e+02] [ 1.00957496e-01 9.94881497e-01 -4.28855321e-03 2.41187530e+01] [ 5.05478304e-02 -8.24332277e-04 9.98721301e-01 1.38843381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.745099893 meters 0.014065966040317327 Centerline is valid? [True, True] Translation: X:335.35, Y:24.12, Z:13.89 [[ 9.93660627e-01 -9.98122476e-02 -5.17307853e-02 3.35352525e+02] [ 9.97184327e-02 9.95005977e-01 -4.39781783e-03 2.41247271e+01] [ 5.19113966e-02 -7.88574410e-04 9.98651383e-01 1.38858566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.805099893 meters 0.014236835602781129 Centerline is valid? [True, True] Translation: X:335.41, Y:24.13, Z:13.89 [[ 9.93620138e-01 -9.97382219e-02 -5.26432176e-02 3.35414004e+02] [ 9.96411418e-02 9.95013389e-01 -4.47201241e-03 2.41300938e+01] [ 5.28267369e-02 -8.01948725e-04 9.98603371e-01 1.38876426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.865099893 meters 0.013975391264454328 Centerline is valid? [True, True] Translation: X:335.48, Y:24.14, Z:13.89 [[ 9.93273990e-01 -1.02787092e-01 -5.33066074e-02 3.35475479e+02] [ 1.02692058e-01 9.94702898e-01 -4.52604248e-03 2.41365664e+01] [ 5.34894556e-02 -9.78564961e-04 9.98567935e-01 1.38919792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.925099893 meters 0.014834859582109427 Centerline is valid? [True, True] Translation: X:335.54, Y:24.14, Z:13.89 [[ 9.92783563e-01 -1.07155994e-01 -5.38367051e-02 3.35537172e+02] [ 1.07065680e-01 9.94241460e-01 -4.56723284e-03 2.41398769e+01] [ 5.40160906e-02 -1.22978975e-03 9.98539308e-01 1.38940031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.985099893 meters 0.018443396780341643 Centerline is valid? [True, True] Translation: X:335.60, Y:24.14, Z:13.90 [[ 9.91648665e-01 -1.17000442e-01 -5.42569945e-02 3.35597495e+02] [ 1.16923548e-01 9.93130264e-01 -4.60031917e-03 2.41381965e+01] [ 5.44225027e-02 -1.78201997e-03 9.98516407e-01 1.38951924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.045099893 meters 0.021176285886153463 Centerline is valid? [True, True] Translation: X:335.66, Y:24.14, Z:13.90 [[ 9.90562605e-01 -1.26530182e-01 -5.26862264e-02 3.35657683e+02] [ 1.26471149e-01 9.91960231e-01 -4.46639590e-03 2.41401818e+01] [ 5.28277752e-02 -2.23904283e-03 9.98601128e-01 1.38995350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.105099893 meters 0.02280495755568737 Centerline is valid? [True, True] Translation: X:335.72, Y:24.14, Z:13.90 [[ 9.90147351e-01 -1.30312414e-01 -5.12532773e-02 3.35719056e+02] [ 1.30261621e-01 9.91470139e-01 -4.34446254e-03 2.41437052e+01] [ 5.13822314e-02 -2.37467691e-03 9.98676237e-01 1.39030697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.165099893 meters 0.022190182107315513 Centerline is valid? [True, True] Translation: X:335.78, Y:24.15, Z:13.91 [[ 9.90079036e-01 -1.31051216e-01 -5.06861052e-02 3.35780620e+02] [ 1.31002616e-01 9.91372722e-01 -4.29423209e-03 2.41494170e+01] [ 5.08115864e-02 -2.38838319e-03 9.98705401e-01 1.39056394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.225099893 meters 0.02257200559370537 Centerline is valid? [True, True] Translation: X:335.84, Y:24.15, Z:13.91 [[ 9.90377886e-01 -1.29141995e-01 -4.97392085e-02 3.35840627e+02] [ 1.29092949e-01 9.91623557e-01 -4.21082192e-03 2.41526639e+01] [ 4.98663648e-02 -2.25067618e-03 9.98753363e-01 1.39083158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.285099893 meters 0.022445903608911976 Centerline is valid? [True, True] Translation: X:335.90, Y:24.16, Z:13.91 [[ 9.90444232e-01 -1.28346777e-01 -5.04710595e-02 3.35902695e+02] [ 1.28295319e-01 9.91726810e-01 -4.27138026e-03 2.41580529e+01] [ 5.06017208e-02 -2.24463673e-03 9.98716390e-01 1.39103685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.345099893 meters 0.020489424612334328 Centerline is valid? [True, True] Translation: X:335.96, Y:24.16, Z:13.91 [[ 9.90545028e-01 -1.26664485e-01 -5.26939833e-02 3.35964321e+02] [ 1.26606234e-01 9.91943048e-01 -4.45553295e-03 2.41649595e+01] [ 5.28337882e-02 -2.25798077e-03 9.98600767e-01 1.39113137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.40509989299994 meters 0.020574529992180603 Centerline is valid? [True, True] Translation: X:336.02, Y:24.17, Z:13.91 [[ 9.90885474e-01 -1.23556630e-01 -5.36631755e-02 3.36024683e+02] [ 1.23491864e-01 9.92335227e-01 -4.53388093e-03 2.41702937e+01] [ 5.38120505e-02 -2.13440883e-03 9.98548801e-01 1.39128954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46509989299994 meters 0.018808618909049477 Centerline is valid? [True, True] Translation: X:336.09, Y:24.18, Z:13.92 [[ 9.91152017e-01 -1.21743175e-01 -5.28798438e-02 3.36086334e+02] [ 1.21677834e-01 9.92559603e-01 -4.46536408e-03 2.41795720e+01] [ 5.30300244e-02 -2.00845021e-03 9.98590899e-01 1.39172241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.52509989299995 meters 0.020178602489530566 Centerline is valid? [True, True] Translation: X:336.15, Y:24.18, Z:13.92 [[ 9.91184232e-01 -1.21486619e-01 -5.28660513e-02 3.36147068e+02] [ 1.21421145e-01 9.92591059e-01 -4.46047356e-03 2.41819415e+01] [ 5.30162577e-02 -1.99790541e-03 9.98591651e-01 1.39187021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.58509989299995 meters 0.020315947403757778 Centerline is valid? [True, True] Translation: X:336.21, Y:24.19, Z:13.92 [[ 9.91012930e-01 -1.22734752e-01 -5.31935448e-02 3.36208574e+02] [ 1.22670448e-01 9.92437328e-01 -4.48454443e-03 2.41864636e+01] [ 5.33416689e-02 -2.08103445e-03 9.98574151e-01 1.39209704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64509989299995 meters 0.022540687158357 Centerline is valid? [True, True] Translation: X:336.27, Y:24.19, Z:13.92 [[ 9.90420873e-01 -1.27134028e-01 -5.38835214e-02 3.36269474e+02] [ 1.27074799e-01 9.91882757e-01 -4.53787689e-03 2.41876828e+01] [ 5.40230543e-02 -2.35282965e-03 9.98536917e-01 1.39228927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.70509989299995 meters 0.02349074108101839 Centerline is valid? [True, True] Translation: X:336.33, Y:24.19, Z:13.93 [[ 9.90135132e-01 -1.29382763e-01 -5.37821660e-02 3.36331435e+02] [ 1.29327150e-01 9.91591644e-01 -4.52774431e-03 2.41914287e+01] [ 5.39157584e-02 -2.47241556e-03 9.98542427e-01 1.39261659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76509989299996 meters 0.023334566797291036 Centerline is valid? [True, True] Translation: X:336.39, Y:24.20, Z:13.93 [[ 9.90266218e-01 -1.28957464e-01 -5.23716439e-02 3.36393210e+02] [ 1.28904327e-01 9.91647250e-01 -4.40533248e-03 2.41956108e+01] [ 5.25022972e-02 -2.38847956e-03 9.98617947e-01 1.39301529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.82509989299996 meters 0.02257124546684027 Centerline is valid? [True, True] Translation: X:336.45, Y:24.20, Z:13.93 [[ 9.90601564e-01 -1.27183773e-01 -5.03272242e-02 3.36453979e+02] [ 1.27132577e-01 9.91876713e-01 -4.23018020e-03 2.42008132e+01] [ 5.04564120e-02 -2.20780657e-03 9.98723824e-01 1.39346146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.88509989299996 meters 0.02067049806480167 Centerline is valid? [True, True] Translation: X:336.52, Y:24.21, Z:13.94 [[ 9.90627127e-01 -1.27475700e-01 -4.90697537e-02 3.36515240e+02] [ 1.27427484e-01 9.91839322e-01 -4.12248132e-03 2.42078617e+01] [ 4.91948274e-02 -2.16899345e-03 9.98786846e-01 1.39387448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.94509989299996 meters 0.022212662182771348 Centerline is valid? [True, True] Translation: X:336.58, Y:24.21, Z:13.94 [[ 9.90505400e-01 -1.29239602e-01 -4.68633976e-02 3.36577765e+02] [ 1.29197747e-01 9.91611046e-01 -3.93378195e-03 2.42077063e+01] [ 4.69786632e-02 -2.15821313e-03 9.98893562e-01 1.39415698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.00509989299997 meters 0.022687430709643085 Centerline is valid? [True, True] Translation: X:336.64, Y:24.21, Z:13.94 [[ 9.90414298e-01 -1.30255474e-01 -4.59676962e-02 3.36640392e+02] [ 1.30216447e-01 9.91478095e-01 -3.85528253e-03 2.42094450e+01] [ 4.60781356e-02 -2.16742312e-03 9.98935487e-01 1.39438866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.06509989299997 meters 0.023001769113112604 Centerline is valid? [True, True] Translation: X:336.70, Y:24.21, Z:13.95 [[ 9.90370348e-01 -1.30594018e-01 -4.59540776e-02 3.36702143e+02] [ 1.30555533e-01 9.91433520e-01 -3.85076594e-03 2.42124670e+01] [ 4.60632999e-02 -2.18587468e-03 9.98936131e-01 1.39462615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.12509989299997 meters 0.022593740047606975 Centerline is valid? [True, True] Translation: X:336.76, Y:24.21, Z:13.95 [[ 9.90240477e-01 -1.31723462e-01 -4.55272156e-02 3.36764462e+02] [ 1.31687030e-01 9.91284014e-01 -3.81168597e-03 2.42145414e+01] [ 4.56324895e-02 -2.22085806e-03 9.98955827e-01 1.39488295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.185099893 meters 0.021490966846796848 Centerline is valid? [True, True] Translation: X:336.83, Y:24.22, Z:13.95 [[ 9.90230282e-01 -1.31067037e-01 -4.75964362e-02 3.36826649e+02] [ 1.31026641e-01 9.91370853e-01 -3.98124623e-03 2.42182360e+01] [ 4.77075298e-02 -2.29405058e-03 9.98858713e-01 1.39495172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.245099893 meters 0.025450540796026926 Centerline is valid? [True, True] Translation: X:336.89, Y:24.22, Z:13.95 [[ 9.90318171e-01 -1.30193513e-01 -4.81618981e-02 3.36888243e+02] [ 1.30151293e-01 9.91485976e-01 -4.02500791e-03 2.42170420e+01] [ 4.82758765e-02 -2.28229483e-03 9.98831433e-01 1.39507235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.305099893 meters 0.021330856919086687 Centerline is valid? [True, True] Translation: X:336.95, Y:24.23, Z:13.95 [[ 9.90612689e-01 -1.27747872e-01 -4.86516407e-02 3.36948844e+02] [ 1.27701974e-01 9.91804263e-01 -4.06334127e-03 2.42277490e+01] [ 4.87719878e-02 -2.18771312e-03 9.98807543e-01 1.39535334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.365099893 meters 0.01873194729880699 Centerline is valid? [True, True] Translation: X:337.01, Y:24.24, Z:13.96 [[ 9.91234323e-01 -1.22757993e-01 -4.88363779e-02 3.37009382e+02] [ 1.22705783e-01 9.92434717e-01 -4.07708468e-03 2.42362958e+01] [ 4.89674117e-02 -1.95115973e-03 9.98798471e-01 1.39558718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.425099893 meters 0.022713029279027852 Centerline is valid? [True, True] Translation: X:337.07, Y:24.24, Z:13.96 [[ 9.91804606e-01 -1.18607390e-01 -4.74964369e-02 3.37069026e+02] [ 1.18553283e-01 9.92939777e-01 -3.96456174e-03 2.42356405e+01] [ 4.76313278e-02 -1.69878796e-03 9.98863540e-01 1.39574975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.485099893 meters 0.018479535112995174 Centerline is valid? [True, True] Translation: X:337.13, Y:24.25, Z:13.96 [[ 9.91844057e-01 -1.18161039e-01 -4.77842594e-02 3.37130825e+02] [ 1.18105741e-01 9.92993012e-01 -3.98893036e-03 2.42469832e+01] [ 4.79207719e-02 -1.68719851e-03 9.98849715e-01 1.39605341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.545099893 meters 0.019545950109565745 Centerline is valid? [True, True] Translation: X:337.19, Y:24.25, Z:13.96 [[ 9.91631116e-01 -1.19251902e-01 -4.94642760e-02 3.37191840e+02] [ 1.19194199e-01 9.92862390e-01 -4.12522745e-03 2.42490744e+01] [ 4.96031605e-02 -1.80515086e-03 9.98767374e-01 1.39599133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.605099893 meters 0.018277239526211943 Centerline is valid? [True, True] Translation: X:337.25, Y:24.26, Z:13.96 [[ 9.91577091e-01 -1.19893601e-01 -4.89938394e-02 3.37253446e+02] [ 1.19838012e-01 9.92785070e-01 -4.08111279e-03 2.42564383e+01] [ 4.91296515e-02 -1.82458637e-03 9.98790743e-01 1.39637064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.665099893 meters 0.018652909158803656 Centerline is valid? [True, True] Translation: X:337.31, Y:24.26, Z:13.97 [[ 9.91794551e-01 -1.18410080e-01 -4.81935878e-02 3.37313883e+02] [ 1.18354707e-01 9.92963280e-01 -4.01105886e-03 2.42632327e+01] [ 4.83294128e-02 -1.72579167e-03 9.98829960e-01 1.39684296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.725099893 meters 0.018880460781844036 Centerline is valid? [True, True] Translation: X:337.38, Y:24.27, Z:13.97 [[ 9.92012273e-01 -1.16936961e-01 -4.73011337e-02 3.37375527e+02] [ 1.16882073e-01 9.93138008e-01 -3.93414439e-03 2.42684496e+01] [ 4.74366006e-02 -1.62593503e-03 9.98872927e-01 1.39717380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.785099893 meters 0.016807012096545667 Centerline is valid? [True, True] Translation: X:337.44, Y:24.28, Z:13.97 [[ 9.92016468e-01 -1.16479706e-01 -4.83301683e-02 3.37436914e+02] [ 1.16422035e-01 9.93191714e-01 -4.01618583e-03 2.42772578e+01] [ 4.84689268e-02 -1.64257404e-03 9.98823340e-01 1.39743290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.845099893 meters 0.01744196004739824 Centerline is valid? [True, True] Translation: X:337.50, Y:24.28, Z:13.98 [[ 9.91893084e-01 -1.16716860e-01 -5.02522094e-02 3.37498829e+02] [ 1.16655012e-01 9.93163734e-01 -4.17200543e-03 2.42829121e+01] [ 5.03956153e-02 -1.72398878e-03 9.98727846e-01 1.39758610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.90509989299994 meters 0.018893522780464016 Centerline is valid? [True, True] Translation: X:337.56, Y:24.29, Z:13.98 [[ 9.91637596e-01 -1.18338091e-01 -5.14876155e-02 3.37559694e+02] [ 1.18275538e-01 9.92971629e-01 -4.27086459e-03 2.42869074e+01] [ 5.16311474e-02 -1.85457555e-03 9.98664501e-01 1.39777886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96509989299994 meters 0.019682970445060913 Centerline is valid? [True, True] Translation: X:337.62, Y:24.29, Z:13.98 [[ 9.91109065e-01 -1.21933772e-01 -5.32445061e-02 3.37620545e+02] [ 1.21872193e-01 9.92535987e-01 -4.41401829e-03 2.42916230e+01] [ 5.33853063e-02 -2.11425117e-03 9.98571750e-01 1.39801811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02509989299995 meters 0.019980696897388992 Centerline is valid? [True, True] Translation: X:337.68, Y:24.30, Z:13.98 [[ 9.90724193e-01 -1.24406149e-01 -5.46688615e-02 3.37681380e+02] [ 1.24345055e-01 9.92228693e-01 -4.53084215e-03 2.42975727e+01] [ 5.48076776e-02 -2.30898768e-03 9.98494260e-01 1.39821746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08509989299995 meters 0.0226961437796864 Centerline is valid? [True, True] Translation: X:337.74, Y:24.30, Z:13.99 [[ 9.90521432e-01 -1.26069889e-01 -5.45314279e-02 3.37742142e+02] [ 1.26011739e-01 9.92018466e-01 -4.51721584e-03 2.43021367e+01] [ 5.46656684e-02 -2.39720096e-03 9.98501837e-01 1.39853923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14509989299995 meters 0.021891365850950514 Centerline is valid? [True, True] Translation: X:337.80, Y:24.31, Z:13.99 [[ 9.90693229e-01 -1.24808836e-01 -5.43109522e-02 3.37803725e+02] [ 1.24749437e-01 9.92178092e-01 -4.49577402e-03 2.43109125e+01] [ 5.44472492e-02 -2.32132785e-03 9.98513950e-01 1.39891804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.20509989299995 meters 0.021321046970291545 Centerline is valid? [True, True] Translation: X:337.86, Y:24.32, Z:13.99 [[ 9.91033114e-01 -1.21646242e-01 -5.52771025e-02 3.37864918e+02] [ 1.21580012e-01 9.92571105e-01 -4.57198263e-03 2.43205207e+01] [ 5.54226192e-02 -2.18960463e-03 9.98460585e-01 1.39911419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26509989299996 meters 0.018603676064677853 Centerline is valid? [True, True] Translation: X:337.93, Y:24.33, Z:14.00 [[ 9.91306685e-01 -1.19634253e-01 -5.47604116e-02 3.37926104e+02] [ 1.19566366e-01 9.92815894e-01 -4.52608642e-03 2.43339662e+01] [ 5.49084819e-02 -2.06076367e-03 9.98489265e-01 1.39959047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.32509989299996 meters 0.01939863242447909 Centerline is valid? [True, True] Translation: X:337.99, Y:24.34, Z:14.00 [[ 9.91427033e-01 -1.18811402e-01 -5.43717735e-02 3.37987037e+02] [ 1.18743496e-01 9.92914814e-01 -4.48926063e-03 2.43403184e+01] [ 5.45199148e-02 -2.00552012e-03 9.98510669e-01 1.39989380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.38509989299996 meters 0.01991158871120176 Centerline is valid? [True, True] Translation: X:338.05, Y:24.34, Z:14.00 [[ 9.91725217e-01 -1.16249779e-01 -5.44709440e-02 3.38047715e+02] [ 1.16178091e-01 9.93218242e-01 -4.49155739e-03 2.43449887e+01] [ 5.46236778e-02 -1.87393954e-03 9.98505254e-01 1.40000253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.44509989299996 meters 0.01799630466929168 Centerline is valid? [True, True] Translation: X:338.11, Y:24.35, Z:14.00 [[ 9.92000021e-01 -1.13633379e-01 -5.49855731e-02 3.38108582e+02] [ 1.13556426e-01 9.93521212e-01 -4.53200718e-03 2.43538056e+01] [ 5.51443205e-02 -1.74821396e-03 9.98476864e-01 1.40031053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.50509989299997 meters 0.016360882788851717 Centerline is valid? [True, True] Translation: X:338.17, Y:24.36, Z:14.01 [[ 9.92065559e-01 -1.12683777e-01 -5.57520617e-02 3.38169967e+02] [ 1.12603311e-01 9.93629409e-01 -4.59261234e-03 2.43618793e+01] [ 5.59144011e-02 -1.72169424e-03 9.98434082e-01 1.40067511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.56509989299997 meters 0.016807523249182093 Centerline is valid? [True, True] Translation: X:338.23, Y:24.37, Z:14.01 [[ 9.91953860e-01 -1.13465946e-01 -5.61517534e-02 3.38231939e+02] [ 1.13385811e-01 9.93540287e-01 -4.62132430e-03 2.43664726e+01] [ 5.63133921e-02 -1.78267164e-03 9.98411550e-01 1.40086221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.62509989299997 meters 0.018384757614893627 Centerline is valid? [True, True] Translation: X:338.29, Y:24.37, Z:14.01 [[ 9.91687144e-01 -1.16052276e-01 -5.55740780e-02 3.38293086e+02] [ 1.15978047e-01 9.93241264e-01 -4.56995443e-03 2.43696341e+01] [ 5.57288211e-02 -1.91340796e-03 9.98444108e-01 1.40122278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.685099893 meters 0.018234590745185058 Centerline is valid? [True, True] Translation: X:338.36, Y:24.37, Z:14.02 [[ 9.91554918e-01 -1.17479814e-01 -5.49302978e-02 3.38355449e+02] [ 1.17409659e-01 9.93073309e-01 -4.51378395e-03 2.43737756e+01] [ 5.50800912e-02 -1.97368284e-03 9.98479989e-01 1.40151642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.745099893 meters 0.019236161386238272 Centerline is valid? [True, True] Translation: X:338.42, Y:24.38, Z:14.02 [[ 9.91689707e-01 -1.17306566e-01 -5.28270202e-02 3.38417090e+02] [ 1.17241631e-01 9.93093948e-01 -4.33720111e-03 2.43757977e+01] [ 5.29709762e-02 -1.89236832e-03 9.98594259e-01 1.40191094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.805099893 meters 0.017796393978253604 Centerline is valid? [True, True] Translation: X:338.48, Y:24.38, Z:14.02 [[ 9.91883358e-01 -1.16181925e-01 -5.16639619e-02 3.38479056e+02] [ 1.16118485e-01 9.93226327e-01 -4.23803029e-03 2.43827888e+01] [ 5.18063896e-02 -1.79550927e-03 9.98655533e-01 1.40226331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.865099893 meters 0.01773021365696632 Centerline is valid? [True, True] Translation: X:338.54, Y:24.39, Z:14.03 [[ 9.92145897e-01 -1.14635001e-01 -5.00533329e-02 3.38541551e+02] [ 1.14573685e-01 9.93406284e-01 -4.10200361e-03 2.43872716e+01] [ 5.01935286e-02 -1.66500873e-03 9.98738123e-01 1.40256615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.925099893 meters 0.01745408874293453 Centerline is valid? [True, True] Translation: X:338.60, Y:24.39, Z:14.03 [[ 9.92324102e-01 -1.13413247e-01 -4.92982040e-02 3.38603668e+02] [ 1.13352515e-01 9.93546640e-01 -4.03499071e-03 2.43912259e+01] [ 4.94376863e-02 -1.58405688e-03 9.98775954e-01 1.40281258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.985099893 meters 0.01681054006462934 Centerline is valid? [True, True] Translation: X:338.67, Y:24.40, Z:14.03 [[ 9.92400261e-01 -1.12261686e-01 -5.03888492e-02 3.38666143e+02] [ 1.12196955e-01 9.93677446e-01 -4.12031690e-03 2.43960561e+01] [ 5.05328167e-02 -1.56447185e-03 9.98721176e-01 1.40297182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.045099893 meters 0.016326947111246107 Centerline is valid? [True, True] Translation: X:338.73, Y:24.40, Z:14.03 [[ 9.92555629e-01 -1.10612514e-01 -5.09725016e-02 3.38727786e+02] [ 1.10544349e-01 9.93862473e-01 -4.16324266e-03 2.44014879e+01] [ 5.11201632e-02 -1.50247206e-03 9.98691380e-01 1.40318598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.105099893 meters 0.015992695809319984 Centerline is valid? [True, True] Translation: X:338.79, Y:24.41, Z:14.03 [[ 9.92840669e-01 -1.07700168e-01 -5.16534608e-02 3.38789000e+02] [ 1.07626465e-01 9.94182470e-01 -4.21436660e-03 2.44070319e+01] [ 5.18068533e-02 -1.37508487e-03 9.98656177e-01 1.40344642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.165099893 meters 0.014528485472865721 Centerline is valid? [True, True] Translation: X:338.85, Y:24.41, Z:14.04 [[ 9.93471740e-01 -1.01789773e-01 -5.15047863e-02 3.38850284e+02] [ 1.01708889e-01 9.94805356e-01 -4.19581803e-03 2.44143601e+01] [ 5.16643286e-02 -1.07006793e-03 9.98663934e-01 1.40373955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.225099893 meters 0.013132109669455338 Centerline is valid? [True, True] Translation: X:338.91, Y:24.42, Z:14.04 [[ 9.93931841e-01 -9.75904823e-02 -5.07503062e-02 3.38911408e+02] [ 9.75066095e-02 9.95226301e-01 -4.13181292e-03 2.44216706e+01] [ 5.09112651e-02 -8.41749868e-04 9.98702826e-01 1.40415638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.285099893 meters 0.012919513615457493 Centerline is valid? [True, True] Translation: X:338.97, Y:24.43, Z:14.04 [[ 9.94213944e-01 -9.44889339e-02 -5.10928113e-02 3.38972252e+02] [ 9.43999375e-02 9.95525673e-01 -4.15763745e-03 2.44271874e+01] [ 5.12570561e-02 -6.89577061e-04 9.98685255e-01 1.40445475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.345099893 meters 0.012451911334114068 Centerline is valid? [True, True] Translation: X:339.03, Y:24.43, Z:14.05 [[ 9.94408567e-01 -9.26463532e-02 -5.06779539e-02 3.39034695e+02] [ 9.25565617e-02 9.95698901e-01 -4.12080932e-03 2.44313660e+01] [ 5.08417610e-02 -5.92809072e-04 9.98706545e-01 1.40488540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.40509989299994 meters 0.013224492051983517 Centerline is valid? [True, True] Translation: X:339.10, Y:24.43, Z:14.05 [[ 9.94265892e-01 -9.44684581e-02 -5.01103433e-02 3.39095373e+02] [ 9.43831787e-02 9.95527621e-01 -4.07069551e-03 2.44294484e+01] [ 5.02707833e-02 -6.82219792e-04 9.98735392e-01 1.40513597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46509989299994 meters 0.01326376461407365 Centerline is valid? [True, True] Translation: X:339.16, Y:24.43, Z:14.05 [[ 9.93956004e-01 -9.70055322e-02 -5.13944515e-02 3.39157012e+02] [ 9.69192796e-02 9.95283494e-01 -4.17370322e-03 2.44308840e+01] [ 5.15569216e-02 -8.32635845e-04 9.98669710e-01 1.40542828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52509989299995 meters 0.016056696839430704 Centerline is valid? [True, True] Translation: X:339.22, Y:24.43, Z:14.05 [[ 9.93206003e-01 -1.03259418e-01 -5.36593691e-02 3.39217652e+02] [ 1.03174635e-01 9.94653722e-01 -4.35520431e-03 2.44262925e+01] [ 5.38222070e-02 -1.21067075e-03 9.98549801e-01 1.40543138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58509989299995 meters 0.017702431886870977 Centerline is valid? [True, True] Translation: X:339.28, Y:24.42, Z:14.06 [[ 9.92245142e-01 -1.10863723e-01 -5.62033269e-02 3.39278101e+02] [ 1.10782876e-01 9.93834164e-01 -4.56173435e-03 2.44241699e+01] [ 5.63625172e-02 -1.70000747e-03 9.98408923e-01 1.40551599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64509989299995 meters 0.01948001392035464 Centerline is valid? [True, True] Translation: X:339.34, Y:24.42, Z:14.06 [[ 9.91554493e-01 -1.16435534e-01 -5.71178989e-02 3.39338154e+02] [ 1.16361231e-01 9.93196138e-01 -4.63639151e-03 2.44238218e+01] [ 5.72691173e-02 -2.04907420e-03 9.98356674e-01 1.40574958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.70509989299995 meters 0.019656222268214375 Centerline is valid? [True, True] Translation: X:339.40, Y:24.43, Z:14.06 [[ 9.90726157e-01 -1.23672265e-01 -5.62748027e-02 3.39398428e+02] [ 1.23611737e-01 9.92320143e-01 -4.56862901e-03 2.44267685e+01] [ 5.64076330e-02 -2.42996586e-03 9.98404865e-01 1.40628671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76509989299996 meters 0.02245414429742059 Centerline is valid? [True, True] Translation: X:339.46, Y:24.43, Z:14.07 [[ 9.90249357e-01 -1.27727510e-01 -5.56048036e-02 3.39458888e+02] [ 1.27674818e-01 9.91805812e-01 -4.51363736e-03 2.44268560e+01] [ 5.57256830e-02 -2.62970670e-03 9.98442654e-01 1.40657622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.82509989299996 meters 0.02214609820759192 Centerline is valid? [True, True] Translation: X:339.52, Y:24.43, Z:14.07 [[ 9.89953450e-01 -1.30330560e-01 -5.48280284e-02 3.39520174e+02] [ 1.30283405e-01 9.91466814e-01 -4.44879936e-03 2.44317113e+01] [ 5.49399851e-02 -2.73907795e-03 9.98485901e-01 1.40694983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.88509989299996 meters 0.02469908205096222 Centerline is valid? [True, True] Translation: X:339.58, Y:24.43, Z:14.07 [[ 9.89871253e-01 -1.31153160e-01 -5.43484308e-02 3.39581070e+02] [ 1.31108220e-01 9.91358267e-01 -4.40696945e-03 2.44325064e+01] [ 5.44567541e-02 -2.76319365e-03 9.98512307e-01 1.40718040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.94509989299996 meters 0.0241405420581151 Centerline is valid? [True, True] Translation: X:339.64, Y:24.44, Z:14.08 [[ 9.89406517e-01 -1.35081417e-01 -5.31766329e-02 3.39641691e+02] [ 1.35044293e-01 9.90830201e-01 -4.30723654e-03 2.44368499e+01] [ 5.32708415e-02 -2.91959287e-03 9.98575833e-01 1.40756874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.00509989299997 meters 0.027585473562573994 Centerline is valid? [True, True] Translation: X:339.70, Y:24.44, Z:14.08 [[ 9.88650181e-01 -1.40004649e-01 -5.44932793e-02 3.39701778e+02] [ 1.39973163e-01 9.90145464e-01 -4.41293249e-03 2.44353011e+01] [ 5.45741044e-02 -3.26475017e-03 9.98504386e-01 1.40764562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.06509989299997 meters 0.028953723222696893 Centerline is valid? [True, True] Translation: X:339.76, Y:24.44, Z:14.08 [[ 9.87888338e-01 -1.44080779e-01 -5.75965417e-02 3.39762742e+02] [ 1.44052545e-01 9.89559051e-01 -4.66364362e-03 2.44375465e+01] [ 5.76671205e-02 -3.68976925e-03 9.98329048e-01 1.40763824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.12509989299997 meters 0.032263279623087684 Centerline is valid? [True, True] Translation: X:339.82, Y:24.44, Z:14.08 [[ 9.87616222e-01 -1.45609602e-01 -5.84126788e-02 3.39822899e+02] [ 1.45583234e-01 9.89334702e-01 -4.72959300e-03 2.44379472e+01] [ 5.84783644e-02 -3.83288393e-03 9.98281318e-01 1.40779021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.185099893 meters 0.0282788297206547 Centerline is valid? [True, True] Translation: X:339.88, Y:24.45, Z:14.08 [[ 9.87817945e-01 -1.44584324e-01 -5.75419941e-02 3.39883997e+02] [ 1.44557048e-01 9.89485503e-01 -4.65828418e-03 2.44485121e+01] [ 5.76104838e-02 -3.71656408e-03 9.98332219e-01 1.40826133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.245099893 meters 0.026148156489329204 Centerline is valid? [True, True] Translation: X:339.94, Y:24.46, Z:14.09 [[ 9.88481861e-01 -1.40503843e-01 -5.62341652e-02 3.39943887e+02] [ 1.40471334e-01 9.90074290e-01 -4.55020276e-03 2.44582375e+01] [ 5.63153222e-02 -3.40149532e-03 9.98407239e-01 1.40869908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.305099893 meters 0.027816372100740908 Centerline is valid? [True, True] Translation: X:340.00, Y:24.46, Z:14.09 [[ 9.88929954e-01 -1.37273220e-01 -5.63347935e-02 3.40003806e+02] [ 1.37235389e-01 9.90527976e-01 -4.55807631e-03 2.44618773e+01] [ 5.64268908e-02 -3.22350910e-03 9.98401530e-01 1.40892913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.365099893 meters 0.023951702233447378 Centerline is valid? [True, True] Translation: X:340.06, Y:24.47, Z:14.09 [[ 9.89448296e-01 -1.33631576e-01 -5.59881427e-02 3.40064105e+02] [ 1.33588411e-01 9.91026547e-01 -4.52976836e-03 2.44718278e+01] [ 5.60910559e-02 -2.99739544e-03 9.98421158e-01 1.40924664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.425099893 meters 0.024508902338788423 Centerline is valid? [True, True] Translation: X:340.12, Y:24.48, Z:14.09 [[ 9.89753044e-01 -1.31023516e-01 -5.67604578e-02 3.40124354e+02] [ 1.30974940e-01 9.91375048e-01 -4.59119769e-03 2.44753810e+01] [ 5.68724565e-02 -2.89004566e-03 9.98377269e-01 1.40943961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.485099893 meters 0.024603113990201684 Centerline is valid? [True, True] Translation: X:340.19, Y:24.48, Z:14.10 [[ 9.89888408e-01 -1.29838883e-01 -5.71209601e-02 3.40185186e+02] [ 1.29787799e-01 9.91531034e-01 -4.61904131e-03 2.44801317e+01] [ 5.72369358e-02 -2.84126825e-03 9.98356580e-01 1.40969800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.545099893 meters 0.023076257022375986 Centerline is valid? [True, True] Translation: X:340.25, Y:24.49, Z:14.10 [[ 9.89816738e-01 -1.30070005e-01 -5.78326810e-02 3.40246349e+02] [ 1.30018157e-01 9.91500594e-01 -4.67450304e-03 2.44866731e+01] [ 5.79491502e-02 -2.89239726e-03 9.98315346e-01 1.41005397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.605099893 meters 0.024176863298865734 Centerline is valid? [True, True] Translation: X:340.31, Y:24.49, Z:14.10 [[ 9.89714443e-01 -1.30712714e-01 -5.81335274e-02 3.40306141e+02] [ 1.30661521e-01 9.91415908e-01 -4.69728154e-03 2.44897591e+01] [ 5.82484983e-02 -2.94684770e-03 9.98297765e-01 1.41025761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.665099893 meters 0.025452910315710366 Centerline is valid? [True, True] Translation: X:340.37, Y:24.49, Z:14.11 [[ 9.89744583e-01 -1.30698686e-01 -5.76499206e-02 3.40366560e+02] [ 1.30648371e-01 9.91417830e-01 -4.65725631e-03 2.44931005e+01] [ 5.77638565e-02 -2.92237400e-03 9.98325997e-01 1.41050842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.725099893 meters 0.023169936970711572 Centerline is valid? [True, True] Translation: X:340.43, Y:24.50, Z:14.11 [[ 9.90022404e-01 -1.29334921e-01 -5.59295768e-02 3.40427439e+02] [ 1.29285555e-01 9.91597124e-01 -4.51532412e-03 2.45025051e+01] [ 5.60435966e-02 -2.76061432e-03 9.98424506e-01 1.41104744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.785099893 meters 0.022245221677501065 Centerline is valid? [True, True] Translation: X:340.49, Y:24.51, Z:14.11 [[ 9.90295546e-01 -1.27832600e-01 -5.45303402e-02 3.40488158e+02] [ 1.27783505e-01 9.91792323e-01 -4.40040683e-03 2.45088816e+01] [ 5.46452882e-02 -2.61037470e-03 9.98502418e-01 1.41143026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.845099893 meters 0.02075101222731334 Centerline is valid? [True, True] Translation: X:340.55, Y:24.52, Z:14.12 [[ 9.90468935e-01 -1.26566368e-01 -5.43345509e-02 3.40549697e+02] [ 1.26515859e-01 9.91954905e-01 -4.38214877e-03 2.45168497e+01] [ 5.44520569e-02 -2.53380015e-03 9.98513171e-01 1.41178095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.90509989299994 meters 0.023160546594236428 Centerline is valid? [True, True] Translation: X:340.61, Y:24.52, Z:14.12 [[ 9.90498510e-01 -1.26597786e-01 -5.37187313e-02 3.40611193e+02] [ 1.26548661e-01 9.91950956e-01 -4.32874968e-03 2.45175116e+01] [ 5.38343569e-02 -2.51041338e-03 9.98546724e-01 1.41202773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96509989299994 meters 0.022606987846644944 Centerline is valid? [True, True] Translation: X:340.67, Y:24.52, Z:14.12 [[ 9.90456070e-01 -1.26402490e-01 -5.49470991e-02 3.40673235e+02] [ 1.26350978e-01 9.91975733e-01 -4.42443671e-03 2.45229848e+01] [ 5.50654487e-02 -2.56040950e-03 9.98479464e-01 1.41220157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02509989299995 meters 0.023197108757607037 Centerline is valid? [True, True] Translation: X:340.74, Y:24.53, Z:14.12 [[ 9.90437921e-01 -1.26222736e-01 -5.56825463e-02 3.40735593e+02] [ 1.26169780e-01 9.91998548e-01 -4.47961303e-03 2.45277959e+01] [ 5.58024341e-02 -2.58867600e-03 9.98438474e-01 1.41236001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08509989299995 meters 0.02173973511598457 Centerline is valid? [True, True] Translation: X:340.80, Y:24.54, Z:14.13 [[ 9.90428531e-01 -1.25903339e-01 -5.65656672e-02 3.40797189e+02] [ 1.25848406e-01 9.92039065e-01 -4.54655100e-03 2.45354422e+01] [ 5.66877776e-02 -2.61566525e-03 9.98388529e-01 1.41262004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14509989299995 meters 0.021885267014604547 Centerline is valid? [True, True] Translation: X:340.86, Y:24.54, Z:14.13 [[ 9.90437259e-01 -1.25337607e-01 -5.76586598e-02 3.40858668e+02] [ 1.25279792e-01 9.92110644e-01 -4.63071387e-03 2.45404820e+01] [ 5.77841727e-02 -2.63703333e-03 9.98325616e-01 1.41276897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.20509989299995 meters 0.020599376182135753 Centerline is valid? [True, True] Translation: X:340.92, Y:24.55, Z:14.13 [[ 9.90727904e-01 -1.22848899e-01 -5.80204062e-02 3.40919402e+02] [ 1.22786223e-01 9.92422213e-01 -4.65765290e-03 2.45489160e+01] [ 5.81529275e-02 -2.50963981e-03 9.98304532e-01 1.41299699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.26509989299996 meters 0.019999589630012023 Centerline is valid? [True, True] Translation: X:340.98, Y:24.56, Z:14.13 [[ 9.91284405e-01 -1.18688858e-01 -5.71680218e-02 3.40979064e+02] [ 1.18621190e-01 9.92928983e-01 -4.58771737e-03 2.45571687e+01] [ 5.73082967e-02 -2.23360611e-03 9.98354030e-01 1.41331995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.32509989299996 meters 0.01816640784890788 Centerline is valid? [True, True] Translation: X:341.04, Y:24.57, Z:14.14 [[ 9.91827968e-01 -1.14817139e-01 -5.56264875e-02 3.41039553e+02] [ 1.14747004e-01 9.93384719e-01 -4.46376302e-03 2.45662722e+01] [ 5.57710192e-02 -1.95568779e-03 9.98441670e-01 1.41369473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.38509989299996 meters 0.016611404700669394 Centerline is valid? [True, True] Translation: X:341.10, Y:24.57, Z:14.14 [[ 9.92327728e-01 -1.10936539e-01 -5.45780575e-02 3.41100093e+02] [ 1.10863226e-01 9.93826028e-01 -4.37843239e-03 2.45747791e+01] [ 5.47268222e-02 -1.70585966e-03 9.98499907e-01 1.41401833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.44509989299996 meters 0.016740948235233047 Centerline is valid? [True, True] Translation: X:341.16, Y:24.58, Z:14.14 [[ 9.92716233e-01 -1.08027751e-01 -5.33337167e-02 3.41160063e+02] [ 1.07953683e-01 9.94146728e-01 -4.27613489e-03 2.45807143e+01] [ 5.34834812e-02 -1.51258262e-03 9.98567589e-01 1.41429426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.50509989299997 meters 0.017145203531742648 Centerline is valid? [True, True] Translation: X:341.22, Y:24.58, Z:14.15 [[ 9.92637563e-01 -1.08954948e-01 -5.29101905e-02 3.41220983e+02] [ 1.08883576e-01 9.94045474e-01 -4.23823403e-03 2.45841211e+01] [ 5.30569119e-02 -1.55402044e-03 9.98590281e-01 1.41454817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.56509989299997 meters 0.015724769833164218 Centerline is valid? [True, True] Translation: X:341.28, Y:24.59, Z:14.15 [[ 9.92508856e-01 -1.10139811e-01 -5.28714722e-02 3.41282789e+02] [ 1.10070342e-01 9.93914786e-01 -4.23286187e-03 2.45903431e+01] [ 5.30159446e-02 -1.61842813e-03 9.98592354e-01 1.41490471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.62509989299997 meters 0.01662025693740946 Centerline is valid? [True, True] Translation: X:341.34, Y:24.59, Z:14.15 [[ 9.92501778e-01 -1.10203987e-01 -5.28706178e-02 3.41343465e+02] [ 1.10134844e-01 9.93907660e-01 -4.22839607e-03 2.45938007e+01] [ 5.30144981e-02 -1.62620664e-03 9.98592419e-01 1.41508534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.685099893 meters 0.01646176986647721 Centerline is valid? [True, True] Translation: X:341.40, Y:24.60, Z:14.15 [[ 9.92619726e-01 -1.08857259e-01 -5.34432116e-02 3.41404882e+02] [ 1.08784955e-01 9.94056141e-01 -4.26873814e-03 2.45992156e+01] [ 5.35902358e-02 -1.57658366e-03 9.98561766e-01 1.41529759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.745099893 meters 0.014963737851224285 Centerline is valid? [True, True] Translation: X:341.47, Y:24.61, Z:14.16 [[ 9.93064747e-01 -1.06096618e-01 -5.06548769e-02 3.41465971e+02] [ 1.06028162e-01 9.94354903e-01 -4.04428078e-03 2.46064271e+01] [ 5.07980097e-02 -1.35461083e-03 9.98708029e-01 1.41575365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.805099893 meters 0.01425438283604706 Centerline is valid? [True, True] Translation: X:341.53, Y:24.61, Z:14.16 [[ 9.93675763e-01 -1.01420009e-01 -4.81918980e-02 3.41526163e+02] [ 1.01352634e-01 9.94843129e-01 -3.84593595e-03 2.46132655e+01] [ 4.83334335e-02 -1.06276248e-03 9.98830691e-01 1.41626234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.865099893 meters 0.013647061673755205 Centerline is valid? [True, True] Translation: X:341.59, Y:24.62, Z:14.17 [[ 9.94104952e-01 -9.79866550e-02 -4.64107821e-02 3.41586946e+02] [ 9.79205055e-02 9.95187354e-01 -3.70216804e-03 2.46195303e+01] [ 4.65501865e-02 -8.64223661e-04 9.98915579e-01 1.41668656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.925099893 meters 0.01241996763018659 Centerline is valid? [True, True] Translation: X:341.65, Y:24.63, Z:14.17 [[ 9.94437407e-01 -9.46443015e-02 -4.62244428e-02 3.41648541e+02] [ 9.45751577e-02 9.95510902e-01 -3.68548234e-03 2.46260578e+01] [ 4.63657466e-02 -7.06702460e-04 9.98924280e-01 1.41701044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.985099893 meters 0.01270247477752429 Centerline is valid? [True, True] Translation: X:341.71, Y:24.63, Z:14.17 [[ 9.94310203e-01 -9.52855903e-02 -4.76222258e-02 3.41709545e+02] [ 9.52131054e-02 9.95449685e-01 -3.79336912e-03 2.46272694e+01] [ 4.77669831e-02 -7.62474385e-04 9.98858215e-01 1.41710250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.045099893 meters 0.013606040106629094 Centerline is valid? [True, True] Translation: X:341.77, Y:24.63, Z:14.17 [[ 9.93964369e-01 -9.84903710e-02 -4.83164628e-02 3.41770297e+02] [ 9.84196579e-02 9.95137567e-01 -3.84620589e-03 2.46266825e+01] [ 4.84603415e-02 -9.32298132e-04 9.98824672e-01 1.41727506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.105099893 meters 0.014839490635904317 Centerline is valid? [True, True] Translation: X:341.83, Y:24.62, Z:14.18 [[ 9.93352939e-01 -1.04174582e-01 -4.89652428e-02 3.41831896e+02] [ 1.04108901e-01 9.94558270e-01 -3.89682807e-03 2.46248244e+01] [ 4.91047376e-02 -1.22679200e-03 9.98792881e-01 1.41752962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.165099893 meters 0.01732184601378958 Centerline is valid? [True, True] Translation: X:341.89, Y:24.62, Z:14.18 [[ 9.92956869e-01 -1.07656193e-01 -4.94651414e-02 3.41892316e+02] [ 1.07593560e-01 9.94187177e-01 -3.93493410e-03 2.46230622e+01] [ 4.96012293e-02 -1.41491082e-03 9.98768099e-01 1.41768389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.225099893 meters 0.017454609910748167 Centerline is valid? [True, True] Translation: X:341.95, Y:24.62, Z:14.18 [[ 9.92422340e-01 -1.12076277e-01 -5.03667269e-02 3.41953950e+02] [ 1.12017075e-01 9.93698209e-01 -4.00558105e-03 2.46246343e+01] [ 5.04982569e-02 -1.66670531e-03 9.98722758e-01 1.41791936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.285099893 meters 0.01915989252810096 Centerline is valid? [True, True] Translation: X:342.02, Y:24.62, Z:14.18 [[ 9.92028263e-01 -1.15797137e-01 -4.97086393e-02 3.42015647e+02] [ 1.15744220e-01 9.93271192e-01 -3.95147029e-03 2.46241263e+01] [ 4.98317284e-02 -1.83351750e-03 9.98755945e-01 1.41819944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.345099893 meters 0.020048860473910184 Centerline is valid? [True, True] Translation: X:342.08, Y:24.63, Z:14.19 [[ 9.91972040e-01 -1.16740357e-01 -4.86123628e-02 3.42076792e+02] [ 1.16690961e-01 9.93160762e-01 -3.86262095e-03 2.46260545e+01] [ 4.87308151e-02 -1.84101138e-03 9.98810251e-01 1.41851206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.40509989299994 meters 0.01917579072912807 Centerline is valid? [True, True] Translation: X:342.14, Y:24.63, Z:14.19 [[ 9.92063682e-01 -1.16688324e-01 -4.68346719e-02 3.42138783e+02] [ 1.16642499e-01 9.93167001e-01 -3.71957751e-03 2.46313349e+01] [ 4.69486819e-02 -1.77285542e-03 9.98895729e-01 1.41895780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46509989299994 meters 0.01960673036616805 Centerline is valid? [True, True] Translation: X:342.20, Y:24.63, Z:14.19 [[ 9.92144874e-01 -1.15960710e-01 -4.69218849e-02 3.42199751e+02] [ 1.15914059e-01 9.93252269e-01 -3.72318254e-03 2.46344439e+01] [ 4.70370115e-02 -1.74496965e-03 9.98891623e-01 1.41922855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52509989299995 meters 0.019508075420027485 Centerline is valid? [True, True] Translation: X:342.26, Y:24.64, Z:14.19 [[ 9.92000558e-01 -1.16723307e-01 -4.80683126e-02 3.42262083e+02] [ 1.16675376e-01 9.93162791e-01 -3.81139895e-03 2.46380246e+01] [ 4.81845386e-02 -1.82747856e-03 9.98836779e-01 1.41943126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58509989299995 meters 0.018843764044816146 Centerline is valid? [True, True] Translation: X:342.32, Y:24.64, Z:14.20 [[ 9.91907775e-01 -1.17231203e-01 -4.87422971e-02 3.42323566e+02] [ 1.17182698e-01 9.93102867e-01 -3.86140850e-03 2.46427655e+01] [ 4.88587925e-02 -1.88159278e-03 9.98803924e-01 1.41968257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64509989299995 meters 0.019119010766001646 Centerline is valid? [True, True] Translation: X:342.39, Y:24.65, Z:14.20 [[ 9.91706308e-01 -1.17910099e-01 -5.11449681e-02 3.42385367e+02] [ 1.17857758e-01 9.93022234e-01 -4.04865499e-03 2.46472727e+01] [ 5.12654678e-02 -2.01275456e-03 9.98683033e-01 1.41984277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.70509989299995 meters 0.0184625845588036 Centerline is valid? [True, True] Translation: X:342.45, Y:24.65, Z:14.20 [[ 9.91559856e-01 -1.18779530e-01 -5.19660997e-02 3.42446642e+02] [ 1.18726879e-01 9.92918444e-01 -4.10997871e-03 2.46535656e+01] [ 5.20862802e-02 -2.09448292e-03 9.98640392e-01 1.42007267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76509989299996 meters 0.020983124124616136 Centerline is valid? [True, True] Translation: X:342.51, Y:24.66, Z:14.20 [[ 9.91348398e-01 -1.19586724e-01 -5.41051770e-02 3.42506788e+02] [ 1.19531015e-01 9.92821258e-01 -4.27614675e-03 2.46557080e+01] [ 5.42281403e-02 -2.22809548e-03 9.98526086e-01 1.42005068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.82509989299996 meters 0.020425498274750008 Centerline is valid? [True, True] Translation: X:342.57, Y:24.66, Z:14.20 [[ 9.91389585e-01 -1.20032633e-01 -5.23340973e-02 3.42567544e+02] [ 1.19981247e-01 9.92767551e-01 -4.13391729e-03 2.46630967e+01] [ 5.24517986e-02 -2.18078772e-03 9.98621076e-01 1.42044876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.88509989299996 meters 0.022879659552111235 Centerline is valid? [True, True] Translation: X:342.63, Y:24.67, Z:14.21 [[ 9.91226594e-01 -1.23054398e-01 -4.82437004e-02 3.42627230e+02] [ 1.23014388e-01 9.92397578e-01 -3.80885855e-03 2.46679952e+01] [ 4.83456282e-02 -2.15922741e-03 9.98828333e-01 1.42101636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.94509989299996 meters 0.0215973701293704 Centerline is valid? [True, True] Translation: X:342.69, Y:24.68, Z:14.21 [[ 9.91098510e-01 -1.24142810e-01 -4.80864535e-02 3.42688943e+02] [ 1.24104538e-01 9.92261902e-01 -3.79228812e-03 2.46754445e+01] [ 4.81851411e-02 -2.20921599e-03 9.98835978e-01 1.42128906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.00509989299997 meters 0.025392802806129457 Centerline is valid? [True, True] Translation: X:342.75, Y:24.68, Z:14.21 [[ 9.90681140e-01 -1.27510385e-01 -4.78746245e-02 3.42749190e+02] [ 1.27476521e-01 9.91834414e-01 -3.77242188e-03 2.46766710e+01] [ 4.79647231e-02 -2.36562337e-03 9.98846229e-01 1.42149167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.06509989299997 meters 0.02659008824225948 Centerline is valid? [True, True] Translation: X:342.81, Y:24.68, Z:14.22 [[ 9.90139553e-01 -1.31824200e-01 -4.73924634e-02 3.42810193e+02] [ 1.31795976e-01 9.91269833e-01 -3.73359014e-03 2.46808523e+01] [ 4.74708968e-02 -2.54936069e-03 9.98869368e-01 1.42180050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.12509989299997 meters 0.029361576802380374 Centerline is valid? [True, True] Translation: X:342.87, Y:24.68, Z:14.22 [[ 9.89282361e-01 -1.37961903e-01 -4.78217990e-02 3.42871285e+02] [ 1.37940348e-01 9.90433377e-01 -3.76649261e-03 2.46823705e+01] [ 4.78839384e-02 -2.87043088e-03 9.98848782e-01 1.42198749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.185099893 meters 0.028431493748610374 Centerline is valid? [True, True] Translation: X:342.93, Y:24.69, Z:14.22 [[ 9.88859072e-01 -1.40749481e-01 -4.84491393e-02 3.42932267e+02] [ 1.40730766e-01 9.90040556e-01 -3.81429677e-03 2.46906764e+01] [ 4.85034731e-02 -3.04648254e-03 9.98818368e-01 1.42218866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.245099893 meters 0.028514552611661324 Centerline is valid? [True, True] Translation: X:342.99, Y:24.70, Z:14.22 [[ 9.88944925e-01 -1.40405342e-01 -4.76893550e-02 3.42994309e+02] [ 1.40386901e-01 9.90089610e-01 -3.75255124e-03 2.46976896e+01] [ 4.77436131e-02 -2.98389425e-03 9.98855167e-01 1.42249798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.305099893 meters 0.02855604801671731 Centerline is valid? [True, True] Translation: X:343.06, Y:24.71, Z:14.23 [[ 9.89282873e-01 -1.38282241e-01 -4.68766399e-02 3.43055348e+02] [ 1.38262197e-01 9.90388804e-01 -3.68541201e-03 2.47051562e+01] [ 4.69357263e-02 -2.83535221e-03 9.98893887e-01 1.42276450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.365099893 meters 0.029460354939381025 Centerline is valid? [True, True] Translation: X:343.12, Y:24.71, Z:14.23 [[ 9.89445507e-01 -1.36805638e-01 -4.77682632e-02 3.43116036e+02] [ 1.36783202e-01 9.90593896e-01 -3.75365301e-03 2.47113267e+01] [ 4.78324708e-02 -2.81986087e-03 9.98851392e-01 1.42293783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.425099893 meters 0.02929869673445415 Centerline is valid? [True, True] Translation: X:343.18, Y:24.72, Z:14.23 [[ 9.89711594e-01 -1.34448479e-01 -4.89343177e-02 3.43176801e+02] [ 1.34422191e-01 9.90916701e-01 -3.84276683e-03 2.47201386e+01] [ 4.90064868e-02 -2.77462729e-03 9.98794606e-01 1.42308002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.485099893 meters 0.02610153430208922 Centerline is valid? [True, True] Translation: X:343.24, Y:24.73, Z:14.23 [[ 9.89924534e-01 -1.33082648e-01 -4.83572768e-02 3.43238449e+02] [ 1.33055443e-01 9.91101328e-01 -3.79552813e-03 2.47316134e+01] [ 4.84320802e-02 -2.67691249e-03 9.98822891e-01 1.42341428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.545099893 meters 0.030490581923309185 Centerline is valid? [True, True] Translation: X:343.30, Y:24.73, Z:14.23 [[ 9.90121051e-01 -1.30906904e-01 -5.02363065e-02 3.43298602e+02] [ 1.30874962e-01 9.91391058e-01 -3.93897370e-03 2.47333728e+01] [ 5.03194639e-02 -2.67461390e-03 9.98729592e-01 1.42338469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.605099893 meters 0.02418383641928649 Centerline is valid? [True, True] Translation: X:343.36, Y:24.75, Z:14.24 [[ 9.90339815e-01 -1.29364939e-01 -4.99175701e-02 3.43360205e+02] [ 1.29331705e-01 9.91593682e-01 -3.90882706e-03 2.47487119e+01] [ 5.00036124e-02 -2.58485741e-03 9.98745692e-01 1.42380189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.665099893 meters 0.02339364379446032 Centerline is valid? [True, True] Translation: X:343.42, Y:24.76, Z:14.24 [[ 9.90515904e-01 -1.28948751e-01 -4.74390540e-02 3.43421889e+02] [ 1.28918446e-01 9.91648257e-01 -3.71070766e-03 2.47564831e+01] [ 4.75213463e-02 -2.44025419e-03 9.98867242e-01 1.42428633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.725099893 meters 0.023986147381884673 Centerline is valid? [True, True] Translation: X:343.48, Y:24.76, Z:14.24 [[ 9.90660161e-01 -1.27961316e-01 -4.70993417e-02 3.43483557e+02] [ 1.27930493e-01 9.91776306e-01 -3.68069667e-03 2.47612298e+01] [ 4.71829979e-02 -2.37912243e-03 9.98883429e-01 1.42446590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.785099893 meters 0.02208787906662102 Centerline is valid? [True, True] Translation: X:343.55, Y:24.77, Z:14.25 [[ 9.90775018e-01 -1.26926780e-01 -4.74811203e-02 3.43545591e+02] [ 1.26894442e-01 9.91909300e-01 -3.70696880e-03 2.47705533e+01] [ 4.75674784e-02 -2.35231817e-03 9.98865257e-01 1.42470452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.845099893 meters 0.021074580001738993 Centerline is valid? [True, True] Translation: X:343.61, Y:24.78, Z:14.25 [[ 9.90828848e-01 -1.25940164e-01 -4.89619085e-02 3.43607002e+02] [ 1.25904800e-01 9.92034981e-01 -3.81807101e-03 2.47787085e+01] [ 4.90527745e-02 -2.38148442e-03 9.98793349e-01 1.42487328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.90509989299994 meters 0.0227950677546468 Centerline is valid? [True, True] Translation: X:343.67, Y:24.78, Z:14.25 [[ 9.90625319e-01 -1.26833016e-01 -5.07431137e-02 3.43667614e+02] [ 1.26796386e-01 9.91920888e-01 -3.95340849e-03 2.47811354e+01] [ 5.08345771e-02 -2.51769686e-03 9.98703914e-01 1.42501842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96509989299994 meters 0.024834287602883302 Centerline is valid? [True, True] Translation: X:343.73, Y:24.78, Z:14.25 [[ 9.90389092e-01 -1.28093363e-01 -5.21683585e-02 3.43728809e+02] [ 1.28056504e-01 9.91758554e-01 -4.06230653e-03 2.47823577e+01] [ 5.22587703e-02 -2.65723355e-03 9.98630042e-01 1.42512171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02509989299995 meters 0.022950419674713514 Centerline is valid? [True, True] Translation: X:343.79, Y:24.79, Z:14.26 [[ 9.90778308e-01 -1.25539493e-01 -5.09723515e-02 3.43789530e+02] [ 1.25501061e-01 9.92085556e-01 -3.96663265e-03 2.47906662e+01] [ 5.10669027e-02 -2.46703062e-03 9.98692187e-01 1.42553182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08509989299995 meters 0.020764514698536195 Centerline is valid? [True, True] Translation: X:343.85, Y:24.80, Z:14.26 [[ 9.91252147e-01 -1.22666083e-01 -4.87053735e-02 3.43850835e+02] [ 1.22627618e-01 9.92445523e-01 -3.78839289e-03 2.47992210e+01] [ 4.88021372e-02 -2.21737135e-03 9.98806005e-01 1.42600947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14509989299995 meters 0.02033900261101978 Centerline is valid? [True, True] Translation: X:343.91, Y:24.80, Z:14.26 [[ 9.91656334e-01 -1.20339628e-01 -4.62178360e-02 3.43911530e+02] [ 1.20302576e-01 9.92730771e-01 -3.59256136e-03 2.48043084e+01] [ 4.63141955e-02 -1.99753851e-03 9.98924925e-01 1.42642444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.20509989299995 meters 0.021029091015584367 Centerline is valid? [True, True] Translation: X:343.97, Y:24.81, Z:14.27 [[ 9.91698170e-01 -1.20268318e-01 -4.55002426e-02 3.43974336e+02] [ 1.20232418e-01 9.92739478e-01 -3.53488534e-03 2.48072832e+01] [ 4.55950218e-02 -1.96506487e-03 9.98958073e-01 1.42665790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.26509989299996 meters 0.024703300407060598 Centerline is valid? [True, True] Translation: X:344.03, Y:24.80, Z:14.26 [[ 9.91096876e-01 -1.23777166e-01 -4.90529795e-02 3.44034973e+02] [ 1.23739972e-01 9.92307379e-01 -3.80600334e-03 2.48029318e+01] [ 4.91467298e-02 -2.29769628e-03 9.98788926e-01 1.42647779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.32509989299996 meters 0.024723471922958182 Centerline is valid? [True, True] Translation: X:344.10, Y:24.80, Z:14.26 [[ 9.90395968e-01 -1.27660364e-01 -5.30910320e-02 3.44095845e+02] [ 1.27622369e-01 9.91814279e-01 -4.11919491e-03 2.48044416e+01] [ 5.31823015e-02 -2.69596926e-03 9.98581181e-01 1.42634463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.38509989299996 meters 0.023354296046034694 Centerline is valid? [True, True] Translation: X:344.16, Y:24.81, Z:14.27 [[ 9.90084995e-01 -1.29468161e-01 -5.44949429e-02 3.44157302e+02] [ 1.29430925e-01 9.91579431e-01 -4.22696638e-03 2.48102741e+01] [ 5.45833221e-02 -2.86827490e-03 9.98505100e-01 1.42661316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.44509989299996 meters 0.02245188025235521 Centerline is valid? [True, True] Translation: X:344.22, Y:24.82, Z:14.27 [[ 9.90163082e-01 -1.29387597e-01 -5.32533559e-02 3.44219096e+02] [ 1.29352085e-01 9.91590138e-01 -4.12755754e-03 2.48163286e+01] [ 5.33395573e-02 -2.80147750e-03 9.98572503e-01 1.42701853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.50509989299997 meters 0.023077609107512633 Centerline is valid? [True, True] Translation: X:344.28, Y:24.82, Z:14.27 [[ 9.90626758e-01 -1.26958564e-01 -5.03998924e-02 3.44279337e+02] [ 1.26923770e-01 9.91904794e-01 -3.90328803e-03 2.48202374e+01] [ 5.04874507e-02 -2.53024278e-03 9.98721490e-01 1.42749784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.56509989299997 meters 0.01968079747370938 Centerline is valid? [True, True] Translation: X:344.34, Y:24.83, Z:14.28 [[ 9.91230149e-01 -1.22596847e-01 -4.93234634e-02 3.44339671e+02] [ 1.22558178e-01 9.92453983e-01 -3.81902612e-03 2.48297303e+01] [ 4.94194683e-02 -2.25945998e-03 9.98775556e-01 1.42783278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.62509989299997 meters 0.017916331150307108 Centerline is valid? [True, True] Translation: X:344.40, Y:24.84, Z:14.28 [[ 9.92078460e-01 -1.15705726e-01 -4.89133322e-02 3.44399468e+02] [ 1.15659373e-01 9.93281718e-01 -3.78648656e-03 2.48370455e+01] [ 4.90228368e-02 -1.90079360e-03 9.98795849e-01 1.42801870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.685099893 meters 0.016267327338832238 Centerline is valid? [True, True] Translation: X:344.46, Y:24.84, Z:14.28 [[ 9.92579272e-01 -1.11455268e-01 -4.86221346e-02 3.44460480e+02] [ 1.11404388e-01 9.93768030e-01 -3.76362522e-03 2.48437783e+01] [ 4.87385988e-02 -1.68102279e-03 9.98810154e-01 1.42826709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.745099893 meters 0.015559423736588003 Centerline is valid? [True, True] Translation: X:344.52, Y:24.85, Z:14.28 [[ 9.92761762e-01 -1.09404976e-01 -4.95442779e-02 3.44522252e+02] [ 1.09349707e-01 9.93995951e-01 -3.83285388e-03 2.48486229e+01] [ 4.96661450e-02 -1.61254149e-03 9.98764574e-01 1.42841224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.805099893 meters 0.015677496298441927 Centerline is valid? [True, True] Translation: X:344.58, Y:24.85, Z:14.29 [[ 9.92964529e-01 -1.07450029e-01 -4.97587671e-02 3.44583132e+02] [ 1.07392006e-01 9.94209317e-01 -3.84590307e-03 2.48514400e+01] [ 4.98838723e-02 -1.52484849e-03 9.98753861e-01 1.42859371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.865099893 meters 0.014933209223161291 Centerline is valid? [True, True] Translation: X:344.64, Y:24.86, Z:14.29 [[ 9.93005948e-01 -1.07013460e-01 -4.98728968e-02 3.44644916e+02] [ 1.06954765e-01 9.94256427e-01 -3.85183805e-03 2.48570729e+01] [ 4.99986467e-02 -1.50924585e-03 9.98748145e-01 1.42887227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.925099893 meters 0.01457506707142139 Centerline is valid? [True, True] Translation: X:344.71, Y:24.86, Z:14.29 [[ 9.93324189e-01 -1.04184853e-01 -4.95234402e-02 3.44705578e+02] [ 1.04123632e-01 9.94557020e-01 -3.82151074e-03 2.48618794e+01] [ 4.96520286e-02 -1.36056140e-03 9.98765651e-01 1.42906659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.985099893 meters 0.01389964187864382 Centerline is valid? [True, True] Translation: X:344.77, Y:24.87, Z:14.29 [[ 9.93779080e-01 -1.00659233e-01 -4.76535395e-02 3.44766024e+02] [ 1.00598578e-01 9.94920307e-01 -3.67555047e-03 2.48671458e+01] [ 4.77814522e-02 -1.14119315e-03 9.98857162e-01 1.42939491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.045099893 meters 0.012322700717855267 Centerline is valid? [True, True] Translation: X:344.83, Y:24.87, Z:14.30 [[ 9.94058944e-01 -9.90324802e-02 -4.51595390e-02 3.44828012e+02] [ 9.89764062e-02 9.95083690e-01 -3.48152466e-03 2.48746905e+01] [ 4.52823047e-02 -1.00888815e-03 9.98973721e-01 1.42987413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.105099893 meters 0.012506446058149101 Centerline is valid? [True, True] Translation: X:344.89, Y:24.88, Z:14.30 [[ 9.94025477e-01 -9.92627775e-02 -4.53899944e-02 3.44889605e+02] [ 9.92065247e-02 9.95060724e-01 -3.49588384e-03 2.48787296e+01] [ 4.55128119e-02 -1.02798600e-03 9.98963226e-01 1.43010012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.165099893 meters 0.013292347251594566 Centerline is valid? [True, True] Translation: X:344.95, Y:24.88, Z:14.30 [[ 9.93638520e-01 -1.02428034e-01 -4.68080011e-02 3.44951946e+02] [ 1.02371885e-01 9.94739678e-01 -3.60153282e-03 2.48790557e+01] [ 4.69306738e-02 -1.21320157e-03 9.98897412e-01 1.43010759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.225099893 meters 0.014070182783197457 Centerline is valid? [True, True] Translation: X:345.01, Y:24.88, Z:14.30 [[ 9.93261327e-01 -1.05552129e-01 -4.78610885e-02 3.45014654e+02] [ 1.05497220e-01 9.94412793e-01 -3.67894464e-03 2.48794400e+01] [ 4.79819991e-02 -1.39505835e-03 9.98847226e-01 1.43022494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.285099893 meters 0.01527236869615637 Centerline is valid? [True, True] Translation: X:345.08, Y:24.88, Z:14.30 [[ 9.92719780e-01 -1.09895586e-01 -4.92990765e-02 3.45076130e+02] [ 1.09842846e-01 9.93941757e-01 -3.78599531e-03 2.48797946e+01] [ 4.94164749e-02 -1.65671845e-03 9.98776886e-01 1.43034301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.345099893 meters 0.017047272844179638 Centerline is valid? [True, True] Translation: X:345.14, Y:24.88, Z:14.31 [[ 9.92501532e-01 -1.11825284e-01 -4.93539704e-02 3.45137767e+02] [ 1.11774905e-01 9.93726330e-01 -3.78823993e-03 2.48803774e+01] [ 4.94679610e-02 -1.75670142e-03 9.98774166e-01 1.43052977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.40509989299994 meters 0.01680093584799566 Centerline is valid? [True, True] Translation: X:345.20, Y:24.88, Z:14.31 [[ 9.92545329e-01 -1.11784028e-01 -4.85602811e-02 3.45199379e+02] [ 1.11735341e-01 9.93731021e-01 -3.72455619e-03 2.48839809e+01] [ 4.86722036e-02 -1.72910870e-03 9.98813309e-01 1.43081769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46509989299994 meters 0.01804127292128412 Centerline is valid? [True, True] Translation: X:345.26, Y:24.89, Z:14.31 [[ 9.92719927e-01 -1.10516304e-01 -4.78883398e-02 3.45261024e+02] [ 1.10467648e-01 9.93872946e-01 -3.66956693e-03 2.48861058e+01] [ 4.80004724e-02 -1.64726006e-03 9.98845955e-01 1.43111770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52509989299995 meters 0.014924175268571685 Centerline is valid? [True, True] Translation: X:345.32, Y:24.90, Z:14.31 [[ 9.93268007e-01 -1.05876975e-01 -4.69971522e-02 3.45321994e+02] [ 1.05825077e-01 9.94378252e-01 -3.59804106e-03 2.48959062e+01] [ 4.71138957e-02 -1.39965817e-03 9.98888543e-01 1.43148396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58509989299995 meters 0.012865159308881678 Centerline is valid? [True, True] Translation: X:345.38, Y:24.90, Z:14.32 [[ 9.93709460e-01 -1.01608151e-01 -4.70881381e-02 3.45382963e+02] [ 1.01551382e-01 9.94823773e-01 -3.60251171e-03 2.49043910e+01] [ 4.72104437e-02 -1.20201552e-03 9.98884242e-01 1.43177336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64509989299995 meters 0.011140697468664596 Centerline is valid? [True, True] Translation: X:345.44, Y:24.91, Z:14.32 [[ 9.94379516e-01 -9.41343467e-02 -4.84572360e-02 3.45443744e+02] [ 9.40654478e-02 9.95559120e-01 -3.70538904e-03 2.49131936e+01] [ 4.85908476e-02 -8.73588641e-04 9.98818385e-01 1.43200570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.70509989299995 meters 0.01004346785066023 Centerline is valid? [True, True] Translation: X:345.50, Y:24.92, Z:14.32 [[ 9.94974768e-01 -8.67192093e-02 -5.00498824e-02 3.45504045e+02] [ 8.66364227e-02 9.96232652e-01 -3.82525006e-03 2.49214045e+01] [ 5.01930498e-02 -5.30115484e-04 9.98739394e-01 1.43219713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76509989299996 meters 0.009558094828409367 Centerline is valid? [True, True] Translation: X:345.56, Y:24.93, Z:14.32 [[ 9.95302902e-01 -8.13773779e-02 -5.24390683e-02 3.45563682e+02] [ 8.12791684e-02 9.96683323e-01 -4.00623661e-03 2.49290409e+01] [ 5.25911619e-02 -2.74784941e-04 9.98616089e-01 1.43225362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.82509989299996 meters 0.009316638594815694 Centerline is valid? [True, True] Translation: X:345.62, Y:24.94, Z:14.33 [[ 9.95740396e-01 -7.53328491e-02 -5.31603814e-02 3.45622175e+02] [ 7.52231489e-02 9.97158443e-01 -4.06427387e-03 2.49373930e+01] [ 5.33154965e-02 4.80703775e-05 9.98577716e-01 1.43251959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.88509989299996 meters 0.010204549221634872 Centerline is valid? [True, True] Translation: X:345.68, Y:24.95, Z:14.33 [[ 9.96481496e-01 -6.61624163e-02 -5.14505920e-02 3.45679090e+02] [ 6.60468522e-02 9.97808724e-01 -3.94495236e-03 2.49474515e+01] [ 5.15988571e-02 5.32922384e-04 9.98667750e-01 1.43291246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.94509989299996 meters 0.011252666677433912 Centerline is valid? [True, True] Translation: X:345.74, Y:24.96, Z:14.33 [[ 9.96826806e-01 -6.17044469e-02 -5.02879805e-02 3.45736110e+02] [ 6.15881548e-02 9.98094183e-01 -3.86028436e-03 2.49550840e+01] [ 5.04303375e-02 7.50890996e-04 9.98727299e-01 1.43316824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.00509989299997 meters 0.010587368695702455 Centerline is valid? [True, True] Translation: X:345.79, Y:24.96, Z:14.34 [[ 9.96821433e-01 -6.23851869e-02 -4.95491520e-02 3.45794523e+02] [ 6.22728490e-02 9.98051894e-01 -3.80921392e-03 2.49576629e+01] [ 4.96902635e-02 7.11539214e-04 9.98764422e-01 1.43353579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.06509989299997 meters 0.009982310889613275 Centerline is valid? [True, True] Translation: X:345.85, Y:24.96, Z:14.34 [[ 9.96508616e-01 -6.76002560e-02 -4.89977929e-02 3.45852678e+02] [ 6.74961348e-02 9.97712381e-01 -3.77838446e-03 2.49571669e+01] [ 4.91411244e-02 4.58031030e-04 9.98791740e-01 1.43381292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.12509989299997 meters 0.00938211369143146 Centerline is valid? [True, True] Translation: X:345.91, Y:24.96, Z:14.34 [[ 9.96105151e-01 -7.36218806e-02 -4.85216152e-02 3.45911330e+02] [ 7.35265727e-02 9.97286213e-01 -3.74861255e-03 2.49560004e+01] [ 4.86659178e-02 1.66384199e-04 9.98815098e-01 1.43409856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.185099893 meters 0.00961021938638218 Centerline is valid? [True, True] Translation: X:345.97, Y:24.95, Z:14.34 [[ 9.95286369e-01 -8.40521142e-02 -4.83765068e-02 3.45970524e+02] [ 8.39690812e-02 9.96461305e-01 -3.74970250e-03 2.49508818e+01] [ 4.85204875e-02 -3.30103042e-04 9.98822133e-01 1.43437443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.245099893 meters 0.010628613452805712 Centerline is valid? [True, True] Translation: X:346.03, Y:24.95, Z:14.35 [[ 9.94756097e-01 -9.04898609e-02 -4.76643793e-02 3.46030399e+02] [ 9.04161241e-02 9.95897181e-01 -3.70521410e-03 2.49486280e+01] [ 4.78041053e-02 -6.23844114e-04 9.98856535e-01 1.43471075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.305099893 meters 0.01215678239747151 Centerline is valid? [True, True] Translation: X:346.09, Y:24.95, Z:14.35 [[ 9.94100883e-01 -9.77264084e-02 -4.70423627e-02 3.46091732e+02] [ 9.76626434e-02 9.95212857e-01 -3.65751383e-03 2.49455031e+01] [ 4.71745999e-02 -9.58343774e-04 9.98886199e-01 1.43500940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.365099893 meters 0.013529829740134865 Centerline is valid? [True, True] Translation: X:346.15, Y:24.95, Z:14.35 [[ 9.93759964e-01 -1.01284906e-01 -4.67172437e-02 3.46152785e+02] [ 1.01225986e-01 9.94856830e-01 -3.63139014e-03 2.49450849e+01] [ 4.68447740e-02 -1.12026892e-03 9.98901553e-01 1.43518203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.425099893 meters 0.014977981856889302 Centerline is valid? [True, True] Translation: X:346.21, Y:24.94, Z:14.35 [[ 9.93417373e-01 -1.05021764e-01 -4.57422311e-02 3.46214010e+02] [ 1.04969273e-01 9.94469112e-01 -3.55472335e-03 2.49445846e+01] [ 4.58625593e-02 -1.27020481e-03 9.98946952e-01 1.43542604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.485099893 meters 0.015773478925752732 Centerline is valid? [True, True] Translation: X:346.27, Y:24.95, Z:14.36 [[ 9.93265055e-01 -1.06238534e-01 -4.62374862e-02 3.46274775e+02] [ 1.06186290e-01 9.94339767e-01 -3.59161783e-03 2.49470650e+01] [ 4.63573395e-02 -1.34235865e-03 9.98924019e-01 1.43566500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.545099893 meters 0.013975632290989927 Centerline is valid? [True, True] Translation: X:346.34, Y:24.96, Z:14.36 [[ 9.93420273e-01 -1.04783761e-01 -4.62225590e-02 3.46335817e+02] [ 1.04730021e-01 9.94494212e-01 -3.58955197e-03 2.49553372e+01] [ 4.63441941e-02 -1.27495585e-03 9.98924717e-01 1.43595268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.605099893 meters 0.013867547523896302 Centerline is valid? [True, True] Translation: X:346.40, Y:24.96, Z:14.36 [[ 9.94022806e-01 -9.88755582e-02 -4.62848260e-02 3.46396341e+02] [ 9.88153517e-02 9.95099301e-01 -3.59266205e-03 2.49615992e+01] [ 4.64132245e-02 -1.00246335e-03 9.98921823e-01 1.43618040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.665099893 meters 0.011960766534348704 Centerline is valid? [True, True] Translation: X:346.46, Y:24.97, Z:14.37 [[ 9.94625612e-01 -9.29073814e-02 -4.56958367e-02 3.46456365e+02] [ 9.28424709e-02 9.95674498e-01 -3.54541713e-03 2.49715178e+01] [ 4.58275747e-02 -7.16151702e-04 9.98949108e-01 1.43653113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.725099893 meters 0.011024624543103248 Centerline is valid? [True, True] Translation: X:346.52, Y:24.98, Z:14.37 [[ 9.95239057e-01 -8.65433103e-02 -4.48271663e-02 3.46516171e+02] [ 8.64743900e-02 9.96248003e-01 -3.47801934e-03 2.49808899e+01] [ 4.49599743e-02 -4.14941180e-04 9.98988703e-01 1.43690399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.785099893 meters 0.010483457368434642 Centerline is valid? [True, True] Translation: X:346.58, Y:24.99, Z:14.37 [[ 9.95881699e-01 -7.84736720e-02 -4.54040158e-02 3.46575620e+02] [ 7.83945780e-02 9.96916185e-01 -3.52277553e-03 2.49916005e+01] [ 4.55404433e-02 -5.11609742e-05 9.98962494e-01 1.43718387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.845099893 meters 0.010709366341613007 Centerline is valid? [True, True] Translation: X:346.63, Y:25.00, Z:14.37 [[ 9.96028220e-01 -7.58980117e-02 -4.65540192e-02 3.46634210e+02] [ 7.58120342e-02 9.97115584e-01 -3.61224886e-03 2.49971651e+01] [ 4.66939005e-02 6.85469138e-05 9.98909243e-01 1.43729168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.90509989299994 meters 0.01095066090315678 Centerline is valid? [True, True] Translation: X:346.69, Y:25.00, Z:14.38 [[ 9.95987715e-01 -7.61048594e-02 -4.70799551e-02 3.46692424e+02] [ 7.60169910e-02 9.97099818e-01 -3.65659225e-03 2.50003256e+01] [ 4.72216991e-02 6.30444321e-05 9.98884431e-01 1.43754734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96509989299994 meters 0.010991560860121985 Centerline is valid? [True, True] Translation: X:346.75, Y:25.00, Z:14.38 [[ 9.95686454e-01 -7.98181127e-02 -4.73027932e-02 3.46750839e+02] [ 7.97330334e-02 9.96809439e-01 -3.68576404e-03 2.50006377e+01] [ 4.74460615e-02 -1.01729866e-04 9.98873796e-01 1.43789272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02509989299995 meters 0.011239200125981137 Centerline is valid? [True, True] Translation: X:346.81, Y:25.00, Z:14.38 [[ 9.95371232e-01 -8.34093330e-02 -4.77388047e-02 3.46809998e+02] [ 8.33262615e-02 9.96515335e-01 -3.73104925e-03 2.50014889e+01] [ 4.78836553e-02 -2.64117032e-04 9.98852885e-01 1.43812331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08509989299995 meters 0.01221959361677765 Centerline is valid? [True, True] Translation: X:346.87, Y:25.00, Z:14.38 [[ 9.94717659e-01 -9.07647644e-02 -4.79430494e-02 3.46870297e+02] [ 9.06893907e-02 9.95872168e-01 -3.74953824e-03 2.49990365e+01] [ 4.80854745e-02 -6.18194039e-04 9.98843033e-01 1.43832383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14509989299995 meters 0.013459428877997528 Centerline is valid? [True, True] Translation: X:346.93, Y:25.00, Z:14.39 [[ 9.94158462e-01 -9.65839978e-02 -4.81713972e-02 3.46930175e+02] [ 9.65146411e-02 9.95324428e-01 -3.76914966e-03 2.49983219e+01] [ 4.83102080e-02 -9.02113088e-04 9.98831973e-01 1.43850408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.20509989299995 meters 0.016090650162670268 Centerline is valid? [True, True] Translation: X:346.99, Y:24.99, Z:14.39 [[ 9.93455403e-01 -1.04026707e-01 -4.71678536e-02 3.46989664e+02] [ 1.03968512e-01 9.94573736e-01 -3.69214119e-03 2.49949192e+01] [ 4.72959897e-02 -1.23599396e-03 9.98880154e-01 1.43881752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.26509989299996 meters 0.016582568700038717 Centerline is valid? [True, True] Translation: X:347.05, Y:25.00, Z:14.39 [[ 9.92956153e-01 -1.09209891e-01 -4.59486354e-02 3.47049989e+02] [ 1.09160191e-01 9.94017663e-01 -3.59699459e-03 2.49968326e+01] [ 4.60665826e-02 -1.44410393e-03 9.98937328e-01 1.43914427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.32509989299996 meters 0.02022942733657803 Centerline is valid? [True, True] Translation: X:347.11, Y:24.99, Z:14.39 [[ 9.92008034e-01 -1.18202171e-01 -4.41396419e-02 3.47110871e+02] [ 1.18165184e-01 9.92987940e-01 -3.45537442e-03 2.49933640e+01] [ 4.42385648e-02 -1.78800970e-03 9.99019395e-01 1.43948048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.38509989299996 meters 0.023950739947536753 Centerline is valid? [True, True] Translation: X:347.17, Y:24.99, Z:14.40 [[ 9.91228090e-01 -1.24501187e-01 -4.43432944e-02 3.47170558e+02] [ 1.24470145e-01 9.92217281e-01 -3.47122614e-03 2.49913951e+01] [ 4.44303548e-02 -2.07863941e-03 9.99010322e-01 1.43966607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.44509989299996 meters 0.024452736724643456 Centerline is valid? [True, True] Translation: X:347.23, Y:24.99, Z:14.40 [[ 9.90254990e-01 -1.31452127e-01 -4.59933954e-02 3.47231847e+02] [ 1.31426178e-01 9.91319420e-01 -3.60089382e-03 2.49940070e+01] [ 4.60674912e-02 -2.47893309e-03 9.98935254e-01 1.43977592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.50509989299997 meters 0.025702841593758425 Centerline is valid? [True, True] Translation: X:347.29, Y:25.00, Z:14.40 [[ 9.89849836e-01 -1.34211191e-01 -4.67403370e-02 3.47293086e+02] [ 1.34187531e-01 9.90949205e-01 -3.65781734e-03 2.49967620e+01] [ 4.68082198e-02 -2.65128054e-03 9.98900376e-01 1.43999843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.56509989299997 meters 0.025767710754107404 Centerline is valid? [True, True] Translation: X:347.36, Y:25.00, Z:14.40 [[ 9.89593729e-01 -1.35646774e-01 -4.80021229e-02 3.47355218e+02] [ 1.35623602e-01 9.90753321e-01 -3.75452607e-03 2.50023913e+01] [ 4.80675520e-02 -2.79476535e-03 9.98840177e-01 1.44015562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.62509989299997 meters 0.027179044152794308 Centerline is valid? [True, True] Translation: X:347.42, Y:25.01, Z:14.40 [[ 9.89573750e-01 -1.35256310e-01 -4.94926637e-02 3.47416480e+02] [ 1.35231375e-01 9.90806499e-01 -3.86748359e-03 2.50062657e+01] [ 4.95607543e-02 -2.86580073e-03 9.98766999e-01 1.44023289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.685099893 meters 0.027412905752567534 Centerline is valid? [True, True] Translation: X:347.48, Y:25.01, Z:14.40 [[ 9.89858848e-01 -1.32801722e-01 -5.04297920e-02 3.47476157e+02] [ 1.32772789e-01 9.91138677e-01 -3.93821446e-03 2.50142522e+01] [ 5.05059189e-02 -2.79742771e-03 9.98719844e-01 1.44042215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.745099893 meters 0.024074902454223425 Centerline is valid? [True, True] Translation: X:347.54, Y:25.03, Z:14.41 [[ 9.90598796e-01 -1.27680235e-01 -4.91099140e-02 3.47535963e+02] [ 1.27646554e-01 9.91812308e-01 -3.83438250e-03 2.50283065e+01] [ 4.91973920e-02 -2.47037658e-03 9.98786020e-01 1.44084607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.805099893 meters 0.023047250875697527 Centerline is valid? [True, True] Translation: X:347.60, Y:25.04, Z:14.41 [[ 9.91252314e-01 -1.23018105e-01 -4.78058165e-02 3.47596591e+02] [ 1.22980787e-01 9.92402033e-01 -3.73234427e-03 2.50384053e+01] [ 4.79017354e-02 -2.17950206e-03 9.98849675e-01 1.44126083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.865099893 meters 0.018383510230692596 Centerline is valid? [True, True] Translation: X:347.66, Y:25.06, Z:14.42 [[ 9.92380939e-01 -1.14025371e-01 -4.66721144e-02 3.47655909e+02] [ 1.13979900e-01 9.93476376e-01 -3.64310509e-03 2.50551310e+01] [ 4.67830495e-02 -1.70433491e-03 9.98903620e-01 1.44166797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.925099893 meters 0.017788286249439917 Centerline is valid? [True, True] Translation: X:347.72, Y:25.06, Z:14.42 [[ 9.93111517e-01 -1.07552392e-01 -4.64972899e-02 3.47715377e+02] [ 1.07500172e-01 9.94198441e-01 -3.62950248e-03 2.50641205e+01] [ 4.66178948e-02 -1.39396595e-03 9.98911822e-01 1.44188533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.985099893 meters 0.015933800658670866 Centerline is valid? [True, True] Translation: X:347.78, Y:25.07, Z:14.42 [[ 9.93805150e-01 -1.00702015e-01 -4.70151811e-02 3.47775327e+02] [ 1.00640967e-01 9.94916041e-01 -3.66983456e-03 2.50747898e+01] [ 4.71457176e-02 -1.08455282e-03 9.98887434e-01 1.44210180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.045099893 meters 0.012979778009053464 Centerline is valid? [True, True] Translation: X:347.84, Y:25.09, Z:14.42 [[ 9.94757099e-01 -8.97081859e-02 -4.90994403e-02 3.47835005e+02] [ 8.96282580e-02 9.95967918e-01 -3.83159576e-03 2.50901429e+01] [ 4.92451928e-02 -5.89190212e-04 9.98786546e-01 1.44225509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.105099893 meters 0.012319599431775886 Centerline is valid? [True, True] Translation: X:347.89, Y:25.10, Z:14.42 [[ 9.95669967e-01 -7.77018696e-02 -5.10268120e-02 3.47894422e+02] [ 7.75998102e-02 9.96976639e-01 -3.98120791e-03 2.51028938e+01] [ 5.11818868e-02 4.29822386e-06 9.98689348e-01 1.44244980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.165099893 meters 0.01271809957928803 Centerline is valid? [True, True] Translation: X:347.95, Y:25.11, Z:14.43 [[ 9.96250126e-01 -7.02747622e-02 -5.04692356e-02 3.47952555e+02] [ 7.01652820e-02 9.97527599e-01 -3.93989981e-03 2.51125079e+01] [ 5.06213310e-02 3.83937532e-04 9.98717845e-01 1.44270912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.225099893 meters 0.013706281183513972 Centerline is valid? [True, True] Translation: X:348.01, Y:25.12, Z:14.43 [[ 9.96871168e-01 -6.12524354e-02 -4.99601263e-02 3.48011110e+02] [ 6.11332726e-02 9.98121949e-01 -3.91118757e-03 2.51217526e+01] [ 5.01058684e-02 8.44724096e-04 9.98743555e-01 1.44300592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.285099893 meters 0.015045769800394468 Centerline is valid? [True, True] Translation: X:348.07, Y:25.13, Z:14.43 [[ 9.97076399e-01 -5.80523217e-02 -4.96848326e-02 3.48068705e+02] [ 5.79303492e-02 9.98313038e-01 -3.89265119e-03 2.51290879e+01] [ 4.98269936e-02 1.00301093e-03 9.98757360e-01 1.44325769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.345099893 meters 0.014602072446192285 Centerline is valid? [True, True] Translation: X:348.13, Y:25.13, Z:14.44 [[ 9.96964665e-01 -5.93352600e-02 -5.04061861e-02 3.48127641e+02] [ 5.92110515e-02 9.98237651e-01 -3.95515892e-03 2.51297721e+01] [ 5.05520332e-02 9.58550408e-04 9.98720969e-01 1.44357043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.40509989299994 meters 0.01302298618258707 Centerline is valid? [True, True] Translation: X:348.19, Y:25.12, Z:14.44 [[ 9.96344895e-01 -6.85482843e-02 -5.09704073e-02 3.48187498e+02] [ 6.84327538e-02 9.97647671e-01 -4.01039210e-03 2.51242884e+01] [ 5.11254136e-02 5.07688366e-04 9.98692112e-01 1.44405403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46509989299994 meters 0.012658932811619636 Centerline is valid? [True, True] Translation: X:348.25, Y:25.12, Z:14.44 [[ 9.95590548e-01 -7.84180910e-02 -5.14787648e-02 3.48246058e+02] [ 7.83132084e-02 9.96920560e-01 -4.05443154e-03 2.51205097e+01] [ 5.16381798e-02 5.08648797e-06 9.98665859e-01 1.44433643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52509989299995 meters 0.014104179658671735 Centerline is valid? [True, True] Translation: X:348.31, Y:25.11, Z:14.45 [[ 9.94089326e-01 -9.47954780e-02 -5.29171946e-02 3.48306227e+02] [ 9.47071795e-02 9.95496400e-01 -4.17937653e-03 2.51090959e+01] [ 5.30750627e-02 -8.56964650e-04 9.98590158e-01 1.44460102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58509989299995 meters 0.01619150573102879 Centerline is valid? [True, True] Translation: X:348.37, Y:25.10, Z:14.45 [[ 9.93000881e-01 -1.05535584e-01 -5.30234875e-02 3.48366847e+02] [ 1.05462075e-01 9.94414497e-01 -4.19024834e-03 2.51038815e+01] [ 5.31695450e-02 -1.43104673e-03 9.98584474e-01 1.44487184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64509989299995 meters 0.020208205823917115 Centerline is valid? [True, True] Translation: X:348.43, Y:25.10, Z:14.45 [[ 9.91899290e-01 -1.15476543e-01 -5.29241642e-02 3.48426657e+02] [ 1.15417367e-01 9.93308276e-01 -4.18337023e-03 2.50965380e+01] [ 5.30530915e-02 -1.95888570e-03 9.98589772e-01 1.44508257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.70509989299995 meters 0.021594736937257192 Centerline is valid? [True, True] Translation: X:348.49, Y:25.09, Z:14.45 [[ 9.90802511e-01 -1.24581108e-01 -5.28198066e-02 3.48487151e+02] [ 1.24535015e-01 9.92206426e-01 -4.17588614e-03 2.50949418e+01] [ 5.29283880e-02 -2.44043695e-03 9.98595328e-01 1.44539616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.76509989299996 meters 0.02694882689795312 Centerline is valid? [True, True] Translation: X:348.55, Y:25.09, Z:14.45 [[ 9.89257784e-01 -1.35818468e-01 -5.40590566e-02 3.48547476e+02] [ 1.35786876e-01 9.90728851e-01 -4.27404250e-03 2.50877470e+01] [ 5.41383610e-02 -3.11238059e-03 9.98528593e-01 1.44549555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.82509989299996 meters 0.028994834452583364 Centerline is valid? [True, True] Translation: X:348.61, Y:25.09, Z:14.46 [[ 9.88549482e-01 -1.40402495e-01 -5.52906901e-02 3.48607696e+02] [ 1.40376542e-01 9.90088537e-01 -4.37222952e-03 2.50887394e+01] [ 5.53565504e-02 -3.43935064e-03 9.98460727e-01 1.44564659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.88509989299996 meters 0.031796770388052925 Centerline is valid? [True, True] Translation: X:348.67, Y:25.09, Z:14.46 [[ 9.88293340e-01 -1.42015051e-01 -5.57494305e-02 3.48666034e+02] [ 1.41991161e-01 9.89858104e-01 -4.40956077e-03 2.50899177e+01] [ 5.58102496e-02 -3.55798683e-03 9.98435054e-01 1.44582284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.94509989299996 meters 0.031648425649074836 Centerline is valid? [True, True] Translation: X:348.73, Y:25.10, Z:14.46 [[ 9.88651953e-01 -1.39205395e-01 -5.64727752e-02 3.48725951e+02] [ 1.39176134e-01 9.90257553e-01 -4.47007466e-03 2.50974521e+01] [ 5.65448507e-02 -3.44031448e-03 9.98394133e-01 1.44605894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.00509989299997 meters 0.02917578589250498 Centerline is valid? [True, True] Translation: X:348.79, Y:25.11, Z:14.46 [[ 9.89039749e-01 -1.35919552e-01 -5.76736568e-02 3.48785171e+02] [ 1.35883415e-01 9.90714312e-01 -4.56615827e-03 2.51082507e+01] [ 5.77587474e-02 -3.32078140e-03 9.98325047e-01 1.44631864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.06509989299997 meters 0.02557592659103893 Centerline is valid? [True, True] Translation: X:348.84, Y:25.12, Z:14.47 [[ 9.89512679e-01 -1.32059942e-01 -5.85220380e-02 3.48843817e+02] [ 1.32015932e-01 9.91236760e-01 -4.63468166e-03 2.51212873e+01] [ 5.86212511e-02 -3.13976511e-03 9.98275358e-01 1.44660938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.12509989299997 meters 0.024979057321352006 Centerline is valid? [True, True] Translation: X:348.90, Y:25.13, Z:14.47 [[ 9.90470410e-01 -1.24712174e-01 -5.84400660e-02 3.48902124e+02] [ 1.24655394e-01 9.92189292e-01 -4.63046911e-03 2.51317352e+01] [ 5.85610836e-02 -2.69852680e-03 9.98280180e-01 1.44683072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.185099893 meters 0.020970107375267708 Centerline is valid? [True, True] Translation: X:348.96, Y:25.15, Z:14.47 [[ 9.91611259e-01 -1.15903634e-01 -5.72141437e-02 3.48960520e+02] [ 1.15834433e-01 9.93258180e-01 -4.53566389e-03 2.51484708e+01] [ 5.73541161e-02 -2.12975253e-03 9.98351626e-01 1.44727740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.245099893 meters 0.018911632213601214 Centerline is valid? [True, True] Translation: X:349.02, Y:25.16, Z:14.48 [[ 9.92356773e-01 -1.09844223e-01 -5.62341670e-02 3.49019502e+02] [ 1.09767577e-01 9.93947279e-01 -4.45937032e-03 2.51604985e+01] [ 5.63836333e-02 -1.74740189e-03 9.98407648e-01 1.44765320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.305099893 meters 0.014997140012309302 Centerline is valid? [True, True] Translation: X:349.08, Y:25.18, Z:14.48 [[ 9.93265193e-01 -1.01863894e-01 -5.52087311e-02 3.49078766e+02] [ 1.01777664e-01 9.94797534e-01 -4.37864361e-03 2.51777686e+01] [ 5.53675353e-02 -1.26986139e-03 9.98465234e-01 1.44812190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.365099893 meters 0.014336077994725588 Centerline is valid? [True, True] Translation: X:349.14, Y:25.19, Z:14.48 [[ 9.93730562e-01 -9.70583897e-02 -5.54908963e-02 3.49137218e+02] [ 9.69637620e-02 9.95278180e-01 -4.40150969e-03 2.51865084e+01] [ 5.56560817e-02 -1.00669137e-03 9.98449492e-01 1.44824090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.425099893 meters 0.013312549359905035 Centerline is valid? [True, True] Translation: X:349.20, Y:25.20, Z:14.49 [[ 9.94325415e-01 -9.08182148e-02 -5.53987397e-02 3.49195869e+02] [ 9.07141077e-02 9.95867272e-01 -4.39621929e-03 2.51988623e+01] [ 5.55690486e-02 -6.54174663e-04 9.98454632e-01 1.44851915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.485099893 meters 0.012851272230718663 Centerline is valid? [True, True] Translation: X:349.25, Y:25.21, Z:14.49 [[ 9.94824740e-01 -8.60848212e-02 -5.39735218e-02 3.49254492e+02] [ 8.59788030e-02 9.96287741e-01 -4.28750341e-03 2.52088394e+01] [ 5.41422471e-02 -3.75264337e-04 9.98533162e-01 1.44885343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.545099893 meters 0.012649139371267451 Centerline is valid? [True, True] Translation: X:349.31, Y:25.22, Z:14.49 [[ 9.95054416e-01 -8.41588450e-02 -5.27635968e-02 3.49313008e+02] [ 8.40541559e-02 9.96452320e-01 -4.20398229e-03 2.52154105e+01] [ 5.29302107e-02 -2.51808451e-04 9.98598182e-01 1.44923040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.605099893 meters 0.012558435656069929 Centerline is valid? [True, True] Translation: X:349.37, Y:25.22, Z:14.49 [[ 9.95322125e-01 -8.18793235e-02 -5.12800613e-02 3.49371246e+02] [ 8.17768462e-02 9.96642244e-01 -4.09688288e-03 2.52213932e+01] [ 5.14433254e-02 -1.15803516e-04 9.98675909e-01 1.44948077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.665099893 meters 0.012395896383647454 Centerline is valid? [True, True] Translation: X:349.43, Y:25.23, Z:14.50 [[ 9.95484608e-01 -8.09807413e-02 -4.95228701e-02 3.49430240e+02] [ 8.08838597e-02 9.96715664e-01 -3.96051325e-03 2.52255767e+01] [ 4.96809457e-02 -6.29709039e-05 9.98765137e-01 1.44980740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.725099893 meters 0.012268964278397227 Centerline is valid? [True, True] Translation: X:349.49, Y:25.23, Z:14.50 [[ 9.95462847e-01 -8.20488043e-02 -4.81841775e-02 3.49489334e+02] [ 8.19578022e-02 9.96628308e-01 -3.86462698e-03 2.52265426e+01] [ 4.83388033e-02 -1.01976715e-04 9.98830992e-01 1.45006130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.785099893 meters 0.012303203066405456 Centerline is valid? [True, True] Translation: X:349.55, Y:25.23, Z:14.50 [[ 9.95255000e-01 -8.45168342e-02 -4.82119181e-02 3.49548911e+02] [ 8.44281016e-02 9.96422029e-01 -3.87757171e-03 2.52276090e+01] [ 4.83671374e-02 -2.11268085e-04 9.98829603e-01 1.45027298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.845099893 meters 0.012639959772101101 Centerline is valid? [True, True] Translation: X:349.61, Y:25.22, Z:14.50 [[ 9.94612266e-01 -9.13493725e-02 -4.90074826e-02 3.49609362e+02] [ 9.12658873e-02 9.95818753e-01 -3.94322066e-03 2.52244128e+01] [ 4.91627809e-02 -5.50735744e-04 9.98790628e-01 1.45038934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.90509989299994 meters 0.013808096426357228 Centerline is valid? [True, True] Translation: X:349.67, Y:25.22, Z:14.51 [[ 9.94009905e-01 -9.75014596e-02 -4.93738219e-02 3.49668876e+02] [ 9.74242474e-02 9.95235010e-01 -3.97375050e-03 2.52215003e+01] [ 4.95260026e-02 -8.60260083e-04 9.98772464e-01 1.45053646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96509989299994 meters 0.0161906791595261 Centerline is valid? [True, True] Translation: X:349.73, Y:25.22, Z:14.51 [[ 9.93359455e-01 -1.04771988e-01 -4.75376097e-02 3.49728226e+02] [ 1.04708644e-01 9.94495575e-01 -3.82763598e-03 2.52160058e+01] [ 4.76769715e-02 -1.17538026e-03 9.98862115e-01 1.45083616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.02509989299995 meters 0.016004635934853153 Centerline is valid? [True, True] Translation: X:349.79, Y:25.22, Z:14.51 [[ 9.93013808e-01 -1.08261710e-01 -4.69358979e-02 3.49789296e+02] [ 1.08203792e-01 9.94121546e-01 -3.78046260e-03 2.52186559e+01] [ 4.70692668e-02 -1.32459056e-03 9.98890750e-01 1.45113714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08509989299995 meters 0.017328528775026428 Centerline is valid? [True, True] Translation: X:349.85, Y:25.22, Z:14.51 [[ 9.92437229e-01 -1.13320762e-01 -4.71884703e-02 3.49851096e+02] [ 1.13268008e-01 9.93557208e-01 -3.79906887e-03 2.52179622e+01] [ 4.73149582e-02 -1.57460665e-03 9.98878779e-01 1.45131895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14509989299995 meters 0.019120592712032917 Centerline is valid? [True, True] Translation: X:349.91, Y:25.22, Z:14.52 [[ 9.91722184e-01 -1.19831721e-01 -4.61244813e-02 3.49912553e+02] [ 1.19788417e-01 9.92792505e-01 -3.71179022e-03 2.52162816e+01] [ 4.62368295e-02 -1.84411387e-03 9.98928804e-01 1.45157465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.20509989299995 meters 0.02401992849764097 Centerline is valid? [True, True] Translation: X:349.97, Y:25.21, Z:14.52 [[ 9.91062704e-01 -1.25229976e-01 -4.59583468e-02 3.49972802e+02] [ 1.25192830e-01 9.92125540e-01 -3.69710891e-03 2.52113856e+01] [ 4.60594385e-02 -2.08958874e-03 9.98936515e-01 1.45176879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26509989299996 meters 0.02404429380694529 Centerline is valid? [True, True] Translation: X:350.03, Y:25.21, Z:14.52 [[ 9.89987370e-01 -1.33203628e-01 -4.67097541e-02 3.50033802e+02] [ 1.33174198e-01 9.91085531e-01 -3.75540326e-03 2.52141363e+01] [ 4.67935948e-02 -2.50273225e-03 9.98901444e-01 1.45201879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.32509989299996 meters 0.026383049393446722 Centerline is valid? [True, True] Translation: X:350.09, Y:25.22, Z:14.52 [[ 9.89347879e-01 -1.37258339e-01 -4.84863076e-02 3.50094899e+02] [ 1.37231548e-01 9.90531331e-01 -3.89686906e-03 2.52150401e+01] [ 4.85620845e-02 -2.79849189e-03 9.98816246e-01 1.45209282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.38509989299996 meters 0.030979400787672907 Centerline is valid? [True, True] Translation: X:350.16, Y:25.21, Z:14.52 [[ 9.89000562e-01 -1.39002303e-01 -5.05593482e-02 3.50155119e+02] [ 1.38975497e-01 9.90287487e-01 -4.06249120e-03 2.52141948e+01] [ 5.06329855e-02 -3.00870446e-03 9.98712796e-01 1.45213681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.44509989299996 meters 0.026845717556972775 Centerline is valid? [True, True] Translation: X:350.22, Y:25.23, Z:14.53 [[ 9.89200783e-01 -1.37778101e-01 -4.99900539e-02 3.50215463e+02] [ 1.37750506e-01 9.90458829e-01 -4.01335509e-03 2.52262444e+01] [ 5.00660427e-02 -2.91614123e-03 9.98741652e-01 1.45251674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.50509989299997 meters 0.024045797571834372 Centerline is valid? [True, True] Translation: X:350.28, Y:25.24, Z:14.53 [[ 9.89657114e-01 -1.34699047e-01 -4.93453581e-02 3.50275619e+02] [ 1.34668425e-01 9.90882805e-01 -3.95994693e-03 2.52385824e+01] [ 4.94288679e-02 -2.72627201e-03 9.98773926e-01 1.45295511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.56509989299997 meters 0.027500628089588284 Centerline is valid? [True, True] Translation: X:350.34, Y:25.24, Z:14.53 [[ 9.89855478e-01 -1.33333275e-01 -4.90751537e-02 3.50336198e+02] [ 1.33301359e-01 9.91067730e-01 -3.93735134e-03 2.52401224e+01] [ 4.91617811e-02 -2.64437588e-03 9.98787328e-01 1.45315980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.62509989299997 meters 0.025324427857681887 Centerline is valid? [True, True] Translation: X:350.40, Y:25.25, Z:14.54 [[ 9.90474467e-01 -1.28786817e-01 -4.87266544e-02 3.50395611e+02] [ 1.28749901e-01 9.91669393e-01 -3.90864054e-03 2.52527372e+01] [ 4.88241132e-02 -2.40214330e-03 9.98804503e-01 1.45351007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.685099893 meters 0.023239478662051415 Centerline is valid? [True, True] Translation: X:350.46, Y:25.27, Z:14.54 [[ 9.91180843e-01 -1.23533922e-01 -4.79573353e-02 3.50455244e+02] [ 1.23492023e-01 9.92338108e-01 -3.84697869e-03 2.52661550e+01] [ 4.80651237e-02 -2.10929675e-03 9.98841977e-01 1.45388176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.745099893 meters 0.01935485310460902 Centerline is valid? [True, True] Translation: X:350.52, Y:25.28, Z:14.54 [[ 9.91647210e-01 -1.20174602e-01 -4.68388191e-02 3.50516225e+02] [ 1.20130920e-01 9.92750950e-01 -3.75669190e-03 2.52807843e+01] [ 4.69507411e-02 -1.90147737e-03 9.98895396e-01 1.45426525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.805099893 meters 0.020081769773908537 Centerline is valid? [True, True] Translation: X:350.58, Y:25.29, Z:14.54 [[ 9.92093074e-01 -1.16335716e-01 -4.70885662e-02 3.50576088e+02] [ 1.16287366e-01 9.93208439e-01 -3.77426221e-03 2.52887570e+01] [ 4.72078429e-02 -1.73138593e-03 9.98883588e-01 1.45441754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.865099893 meters 0.018394154936963104 Centerline is valid? [True, True] Translation: X:350.64, Y:25.30, Z:14.55 [[ 9.92217563e-01 -1.15059456e-01 -4.75986280e-02 3.50637525e+02] [ 1.15008645e-01 9.93357169e-01 -3.81393287e-03 2.52991068e+01] [ 4.77212674e-02 -1.69000252e-03 9.98859262e-01 1.45460860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.925099893 meters 0.01850878437049064 Centerline is valid? [True, True] Translation: X:350.70, Y:25.31, Z:14.55 [[ 9.92214591e-01 -1.14436823e-01 -4.91367299e-02 3.50699207e+02] [ 1.14382099e-01 9.93429043e-01 -3.93343641e-03 2.53057769e+01] [ 4.92639845e-02 -1.71754929e-03 9.98784316e-01 1.45474730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.985099893 meters 0.01848628669658998 Centerline is valid? [True, True] Translation: X:350.76, Y:25.31, Z:14.55 [[ 9.92428042e-01 -1.12344638e-01 -4.96514142e-02 3.50760271e+02] [ 1.12286316e-01 9.93667959e-01 -3.97124081e-03 2.53141226e+01] [ 4.97831670e-02 -1.63400366e-03 9.98758713e-01 1.45497665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.045099893 meters 0.01652995906603973 Centerline is valid? [True, True] Translation: X:350.82, Y:25.33, Z:14.55 [[ 9.93139125e-01 -1.06361816e-01 -4.85987991e-02 3.50819813e+02] [ 1.06298856e-01 9.94326634e-01 -3.88556731e-03 2.53274110e+01] [ 4.87363563e-02 -1.30708781e-03 9.98810822e-01 1.45534690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.105099893 meters 0.015380822978043296 Centerline is valid? [True, True] Translation: X:350.88, Y:25.34, Z:14.56 [[ 9.93807913e-01 -1.00597917e-01 -4.71793529e-02 3.50880761e+02] [ 1.00532104e-01 9.94926666e-01 -3.77178697e-03 2.53384842e+01] [ 4.73194302e-02 -9.94607865e-04 9.98879313e-01 1.45572648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.165099893 meters 0.014445314978302242 Centerline is valid? [True, True] Translation: X:350.94, Y:25.35, Z:14.56 [[ 9.94422534e-01 -9.48493376e-02 -4.61240455e-02 3.50942039e+02] [ 9.47803691e-02 9.95491388e-01 -3.68492966e-03 2.53480698e+01] [ 4.62656032e-02 -7.07276966e-04 9.98928923e-01 1.45603163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.225099893 meters 0.013789880196410797 Centerline is valid? [True, True] Translation: X:351.00, Y:25.36, Z:14.56 [[ 9.95026629e-01 -8.89061752e-02 -4.49188016e-02 3.51001971e+02] [ 8.88348131e-02 9.96039916e-01 -3.58635084e-03 2.53579711e+01] [ 4.50597681e-02 -4.21838757e-04 9.98984204e-01 1.45633233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.285099893 meters 0.013533071784957081 Centerline is valid? [True, True] Translation: X:351.06, Y:25.37, Z:14.57 [[ 9.95203342e-01 -8.66247498e-02 -4.54583318e-02 3.51063700e+02] [ 8.65493302e-02 9.96240959e-01 -3.62840252e-03 2.53660641e+01] [ 4.56017616e-02 -3.23389856e-04 9.98959646e-01 1.45662860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34509989299994 meters 0.01345777293469605 Centerline is valid? [True, True] Translation: X:351.13, Y:25.37, Z:14.57 [[ 9.95372110e-01 -8.40689917e-02 -4.65485564e-02 3.51125858e+02] [ 8.39872810e-02 9.96459913e-01 -3.71188980e-03 2.53720692e+01] [ 4.66958253e-02 -2.14775107e-04 9.98909132e-01 1.45674350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.40509989299994 meters 0.01339480671776964 Centerline is valid? [True, True] Translation: X:351.19, Y:25.38, Z:14.57 [[ 9.95419027e-01 -8.31148539e-02 -4.72533696e-02 3.51187293e+02] [ 8.30297317e-02 9.96539959e-01 -3.76477424e-03 2.53769564e+01] [ 4.74027797e-02 -1.75906693e-04 9.98875841e-01 1.45698322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.46509989299994 meters 0.013460816218373806 Centerline is valid? [True, True] Translation: X:351.25, Y:25.38, Z:14.57 [[ 9.95411733e-01 -8.34414939e-02 -4.68294589e-02 3.51247188e+02] [ 8.33583309e-02 9.96512659e-01 -3.72936974e-03 2.53802107e+01] [ 4.69773329e-02 -1.91367132e-04 9.98895937e-01 1.45722973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52509989299995 meters 0.013648041053258621 Centerline is valid? [True, True] Translation: X:351.31, Y:25.38, Z:14.58 [[ 9.95186344e-01 -8.62836880e-02 -4.64679073e-02 3.51309060e+02] [ 8.62049438e-02 9.96270556e-01 -3.69964923e-03 2.53803864e+01] [ 4.66138272e-02 -3.23922950e-04 9.98912932e-01 1.45757428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58509989299995 meters 0.014054346224133672 Centerline is valid? [True, True] Translation: X:351.37, Y:25.38, Z:14.58 [[ 9.94896826e-01 -8.99160855e-02 -4.57755636e-02 3.51370028e+02] [ 8.98435852e-02 9.95949225e-01 -3.64294562e-03 2.53810235e+01] [ 4.59176965e-02 -4.88285715e-04 9.98945107e-01 1.45785501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64509989299995 meters 0.015301727897988854 Centerline is valid? [True, True] Translation: X:351.43, Y:25.38, Z:14.58 [[ 9.94236620e-01 -9.65733836e-02 -4.65523822e-02 3.51430805e+02] [ 9.65057281e-02 9.95325537e-01 -3.70391253e-03 2.53782878e+01] [ 4.66924742e-02 -8.10006058e-04 9.98908983e-01 1.45809169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.70509989299995 meters 0.01646740955618982 Centerline is valid? [True, True] Translation: X:351.49, Y:25.38, Z:14.58 [[ 9.93541084e-01 -1.03074549e-01 -4.74526350e-02 3.51492034e+02] [ 1.03011695e-01 9.94672983e-01 -3.77467879e-03 2.53766849e+01] [ 4.75889273e-02 -1.13787791e-03 9.98866357e-01 1.45827558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.76509989299996 meters 0.021558232001608512 Centerline is valid? [True, True] Translation: X:351.55, Y:25.37, Z:14.58 [[ 9.92155416e-01 -1.14971962e-01 -4.90823598e-02 3.51553040e+02] [ 1.14919274e-01 9.93367164e-01 -3.90346428e-03 2.53670103e+01] [ 4.92055935e-02 -1.76766593e-03 9.98787107e-01 1.45837056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.82509989299996 meters 0.02299301781776216 Centerline is valid? [True, True] Translation: X:351.61, Y:25.36, Z:14.59 [[ 9.90759429e-01 -1.25397049e-01 -5.16849507e-02 3.51614279e+02] [ 1.25352789e-01 9.92103718e-01 -4.10992367e-03 2.53649109e+01] [ 5.17922040e-02 -2.40690709e-03 9.98654983e-01 1.45853338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.88509989299996 meters 0.02480374376105302 Centerline is valid? [True, True] Translation: X:351.68, Y:25.36, Z:14.59 [[ 9.89971801e-01 -1.31153096e-01 -5.24852258e-02 3.51675282e+02] [ 1.31115534e-01 9.91358311e-01 -4.17317532e-03 2.53646164e+01] [ 5.25789897e-02 -2.75030253e-03 9.98612981e-01 1.45871915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.94509989299996 meters 0.02574180260325794 Centerline is valid? [True, True] Translation: X:351.74, Y:25.37, Z:14.59 [[ 9.89900328e-01 -1.31584921e-01 -5.27517718e-02 3.51736858e+02] [ 1.31547616e-01 9.91300982e-01 -4.19383812e-03 2.53675090e+01] [ 5.28447291e-02 -2.78788812e-03 9.98598850e-01 1.45902029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.00509989299997 meters 0.02492640633686794 Centerline is valid? [True, True] Translation: X:351.80, Y:25.37, Z:14.59 [[ 9.90172333e-01 -1.30076867e-01 -5.13688637e-02 3.51797459e+02] [ 1.30039560e-01 9.91500403e-01 -4.08207711e-03 2.53735815e+01] [ 5.14632328e-02 -2.63802460e-03 9.98671406e-01 1.45941522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.06509989299997 meters 0.02278209860919031 Centerline is valid? [True, True] Translation: X:351.86, Y:25.38, Z:14.60 [[ 9.90761137e-01 -1.26270315e-01 -4.94790585e-02 3.51857683e+02] [ 1.26231043e-01 9.91993083e-01 -3.93029078e-03 2.53827628e+01] [ 4.95791629e-02 -2.35181381e-03 9.98767428e-01 1.45990277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.12509989299997 meters 0.020787665931297036 Centerline is valid? [True, True] Translation: X:351.92, Y:25.39, Z:14.60 [[ 9.91526592e-01 -1.19513818e-01 -5.09064248e-02 3.51917782e+02] [ 1.19463403e-01 9.92830373e-01 -4.04286214e-03 2.53925694e+01] [ 5.10246226e-02 -2.07284944e-03 9.98695244e-01 1.46006711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.185099893 meters 0.017071188346278646 Centerline is valid? [True, True] Translation: X:351.98, Y:25.41, Z:14.60 [[ 9.92638572e-01 -1.09256019e-01 -5.22664978e-02 3.51977495e+02] [ 1.09188672e-01 9.94012377e-01 -4.15079208e-03 2.54063319e+01] [ 5.24070447e-02 -1.58667316e-03 9.98624546e-01 1.46028698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.245099893 meters 0.015228956604252046 Centerline is valid? [True, True] Translation: X:352.04, Y:25.42, Z:14.61 [[ 9.93388536e-01 -1.01947782e-01 -5.27813111e-02 3.52037451e+02] [ 1.01868802e-01 9.94789012e-01 -4.19150700e-03 2.54170726e+01] [ 5.29335832e-02 -1.21297391e-03 9.98597298e-01 1.46054812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.305099893 meters 0.013852097434849454 Centerline is valid? [True, True] Translation: X:352.10, Y:25.43, Z:14.61 [[ 9.94083988e-01 -9.45429744e-02 -5.34663541e-02 3.52097578e+02] [ 9.44512775e-02 9.95520435e-01 -4.24492040e-03 2.54274027e+01] [ 5.36281755e-02 -8.30158054e-04 9.98560629e-01 1.46078112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.365099893 meters 0.012785365904770396 Centerline is valid? [True, True] Translation: X:352.16, Y:25.44, Z:14.61 [[ 9.94772732e-01 -8.53809003e-02 -5.60117309e-02 3.52156667e+02] [ 8.52657553e-02 9.96348321e-01 -4.44671859e-03 2.54401319e+01] [ 5.61868589e-02 -3.52408141e-04 9.98420208e-01 1.46089529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.425099893 meters 0.012535810504317919 Centerline is valid? [True, True] Translation: X:352.21, Y:25.45, Z:14.61 [[ 9.95108135e-01 -8.03553352e-02 -5.74701693e-02 3.52213705e+02] [ 8.02253834e-02 9.96766280e-01 -4.56857786e-03 2.54492765e+01] [ 5.76514364e-02 -6.43373643e-05 9.98336771e-01 1.46113703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.485099893 meters 0.012436633973464235 Centerline is valid? [True, True] Translation: X:352.27, Y:25.45, Z:14.61 [[ 9.95160833e-01 -7.99230915e-02 -5.71595716e-02 3.52271372e+02] [ 7.97928763e-02 9.96801033e-01 -4.56047776e-03 2.54546472e+01] [ 5.73412075e-02 -2.25177805e-05 9.98354639e-01 1.46144801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.545099893 meters 0.012242744807016998 Centerline is valid? [True, True] Translation: X:352.33, Y:25.46, Z:14.62 [[ 9.95215314e-01 -8.04900640e-02 -5.53879760e-02 3.52329473e+02] [ 8.03678207e-02 9.96755410e-01 -4.43455169e-03 2.54596749e+01] [ 5.55652021e-02 -3.80771740e-05 9.98455060e-01 1.46187265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.605099893 meters 0.012213484395246527 Centerline is valid? [True, True] Translation: X:352.39, Y:25.46, Z:14.62 [[ 9.94927671e-01 -8.53587697e-02 -5.32241511e-02 3.52387451e+02] [ 8.52522189e-02 9.96350239e-01 -4.27322961e-03 2.54621527e+01] [ 5.33946533e-02 -2.85922601e-04 9.98573447e-01 1.46231440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.665099893 meters 0.01266345967865315 Centerline is valid? [True, True] Translation: X:352.45, Y:25.46, Z:14.63 [[ 9.94323110e-01 -9.24246666e-02 -5.27184367e-02 3.52446051e+02] [ 9.23296168e-02 9.95719467e-01 -4.24079528e-03 2.54625846e+01] [ 5.28847278e-02 -6.50752303e-04 9.98600412e-01 1.46259905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.725099893 meters 0.016091342794462372 Centerline is valid? [True, True] Translation: X:352.51, Y:25.45, Z:14.63 [[ 9.92830453e-01 -1.07044406e-01 -5.31900968e-02 3.52507568e+02] [ 1.06968003e-01 9.94253211e-01 -4.28940308e-03 2.54548984e+01] [ 5.33435811e-02 -1.43098841e-03 9.98575192e-01 1.46272828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.785099893 meters 0.020018961454924645 Centerline is valid? [True, True] Translation: X:352.57, Y:25.45, Z:14.63 [[ 9.90956214e-01 -1.23053752e-01 -5.35121998e-02 3.52569066e+02] [ 1.22999672e-01 9.92397329e-01 -4.31538302e-03 2.54494497e+01] [ 5.36363882e-02 -2.30562742e-03 9.98557871e-01 1.46302131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84509989299994 meters 0.025143117270353333 Centerline is valid? [True, True] Translation: X:352.63, Y:25.44, Z:14.63 [[ 9.89759825e-01 -1.32148347e-01 -5.39657531e-02 3.52628667e+02] [ 1.32106796e-01 9.91225934e-01 -4.35219740e-03 2.54449577e+01] [ 5.40673898e-02 -2.82161259e-03 9.98533302e-01 1.46319621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.90509989299994 meters 0.028161552068630562 Centerline is valid? [True, True] Translation: X:352.69, Y:25.44, Z:14.63 [[ 9.88557017e-01 -1.40664687e-01 -5.44836624e-02 3.52689345e+02] [ 1.40635134e-01 9.90051736e-01 -4.39524472e-03 2.54443013e+01] [ 5.45599002e-02 -3.31736715e-03 9.98504989e-01 1.46340363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.96509989299994 meters 0.027585972919283365 Centerline is valid? [True, True] Translation: X:352.75, Y:25.45, Z:14.64 [[ 9.88202016e-01 -1.43265719e-01 -5.41452552e-02 3.52750494e+02] [ 1.43240457e-01 9.89678281e-01 -4.36717598e-03 2.54502923e+01] [ 5.42120497e-02 -3.44013900e-03 9.98523520e-01 1.46377815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02509989299995 meters 0.03311581924906303 Centerline is valid? [True, True] Translation: X:352.81, Y:25.45, Z:14.64 [[ 9.88103303e-01 -1.44257085e-01 -5.33081213e-02 3.52811558e+02] [ 1.44234135e-01 9.89534256e-01 -4.29770863e-03 2.54485124e+01] [ 5.33701871e-02 -3.44227065e-03 9.98568863e-01 1.46400074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08509989299995 meters 0.029510237903322616 Centerline is valid? [True, True] Translation: X:352.87, Y:25.46, Z:14.64 [[ 9.88091526e-01 -1.44341506e-01 -5.32979008e-02 3.52872865e+02] [ 1.44318812e-01 9.89521924e-01 -4.29451602e-03 2.54580806e+01] [ 5.33593182e-02 -3.44851485e-03 9.98569422e-01 1.46431452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14509989299995 meters 0.02889089727482977 Centerline is valid? [True, True] Translation: X:352.93, Y:25.46, Z:14.65 [[ 9.88025584e-01 -1.44882464e-01 -5.30520120e-02 3.52934957e+02] [ 1.44860960e-01 9.89442804e-01 -4.27084171e-03 2.54643090e+01] [ 5.31107016e-02 -3.46546453e-03 9.98582617e-01 1.46457433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.20509989299995 meters 0.029246059125260532 Centerline is valid? [True, True] Translation: X:353.00, Y:25.47, Z:14.65 [[ 9.87938684e-01 -1.45426512e-01 -5.31816395e-02 3.52996688e+02] [ 1.45405897e-01 9.89362840e-01 -4.27735234e-03 2.54686972e+01] [ 5.32379784e-02 -3.50716213e-03 9.98575694e-01 1.46478011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.26509989299996 meters 0.03072642659336259 Centerline is valid? [True, True] Translation: X:353.06, Y:25.47, Z:14.65 [[ 9.87667311e-01 -1.46310569e-01 -5.57359935e-02 3.53058517e+02] [ 1.46289562e-01 9.89231674e-01 -4.47881049e-03 2.54718495e+01] [ 5.57911074e-02 -3.73001936e-03 9.98435496e-01 1.46471700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.32509989299996 meters 0.03194287518394279 Centerline is valid? [True, True] Translation: X:353.12, Y:25.48, Z:14.65 [[ 9.87653684e-01 -1.46551855e-01 -5.53421564e-02 3.53119467e+02] [ 1.46531672e-01 9.89195995e-01 -4.44441101e-03 2.54766017e+01] [ 5.53955761e-02 -3.71983978e-03 9.98457557e-01 1.46492822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.38509989299996 meters 0.029794194571528064 Centerline is valid? [True, True] Translation: X:353.18, Y:25.49, Z:14.65 [[ 9.87808586e-01 -1.46114715e-01 -5.37092835e-02 3.53181257e+02] [ 1.46095179e-01 9.89261146e-01 -4.31094983e-03 2.54854792e+01] [ 5.37624005e-02 -3.58827411e-03 9.98547309e-01 1.46538114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.44509989299996 meters 0.028284698918725027 Centerline is valid? [True, True] Translation: X:353.24, Y:25.49, Z:14.66 [[ 9.88131173e-01 -1.44081160e-01 -5.32672988e-02 3.53242327e+02] [ 1.44059199e-01 9.89559851e-01 -4.27178380e-03 2.54934066e+01] [ 5.33266638e-02 -3.45256165e-03 9.98571153e-01 1.46574566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.50509989299997 meters 0.029613760740169137 Centerline is valid? [True, True] Translation: X:353.30, Y:25.50, Z:14.66 [[ 9.88593178e-01 -1.41317856e-01 -5.20844696e-02 3.53301966e+02] [ 1.41293155e-01 9.89958998e-01 -4.17464859e-03 2.54978592e+01] [ 5.21514417e-02 -3.23214991e-03 9.98633957e-01 1.46604377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.56509989299997 meters 0.025831473098462593 Centerline is valid? [True, True] Translation: X:353.36, Y:25.51, Z:14.67 [[ 9.89584274e-01 -1.35408150e-01 -4.88630543e-02 3.53361230e+02] [ 1.35379218e-01 9.90786117e-01 -3.91645511e-03 2.55087511e+01] [ 4.89431558e-02 -2.73937968e-03 9.98797809e-01 1.46662264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.62509989299997 meters 0.02346818398678056 Centerline is valid? [True, True] Translation: X:353.42, Y:25.52, Z:14.67 [[ 9.90575155e-01 -1.28419635e-01 -4.76367549e-02 3.53421561e+02] [ 1.28384075e-01 9.91717173e-01 -3.81811188e-03 2.55165558e+01] [ 4.77325084e-02 -2.33367394e-03 9.98857428e-01 1.46697703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.685099893 meters 0.02194471622249861 Centerline is valid? [True, True] Translation: X:353.48, Y:25.52, Z:14.67 [[ 9.91038434e-01 -1.24709914e-01 -4.78566665e-02 3.53481890e+02] [ 1.24669750e-01 9.92190882e-01 -3.83490967e-03 2.55230525e+01] [ 4.79611994e-02 -2.16573577e-03 9.98846852e-01 1.46716167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.745099893 meters 0.019179871001031995 Centerline is valid? [True, True] Translation: X:353.54, Y:25.53, Z:14.67 [[ 9.91614950e-01 -1.18926207e-01 -5.05603385e-02 3.53542107e+02] [ 1.18873925e-01 9.92901094e-01 -4.05060720e-03 2.55309584e+01] [ 5.06831388e-02 -1.99366321e-03 9.98712794e-01 1.46718220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.805099893 meters 0.016676942785057724 Centerline is valid? [True, True] Translation: X:353.60, Y:25.54, Z:14.67 [[ 9.92509392e-01 -1.10533032e-01 -5.20341752e-02 3.53601741e+02] [ 1.10466178e-01 9.93871145e-01 -4.16787006e-03 2.55395250e+01] [ 5.21759525e-02 -1.61136627e-03 9.98636607e-01 1.46735517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.865099893 meters 0.01425771956882021 Centerline is valid? [True, True] Translation: X:353.66, Y:25.55, Z:14.68 [[ 9.93324488e-01 -1.03427174e-01 -5.10811163e-02 3.53661446e+02] [ 1.03353363e-01 9.94636287e-01 -4.09142099e-03 2.55497335e+01] [ 5.12302959e-02 -1.21529648e-03 9.98686127e-01 1.46777152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.925099893 meters 0.012510549278342416 Centerline is valid? [True, True] Translation: X:353.72, Y:25.56, Z:14.68 [[ 9.94382791e-01 -9.31957145e-02 -5.01739448e-02 3.53720961e+02] [ 9.31114772e-02 9.95647579e-01 -4.01875969e-03 2.55590477e+01] [ 5.03300979e-02 -6.75584643e-04 9.98732409e-01 1.46808790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.985099893 meters 0.01167564677667573 Centerline is valid? [True, True] Translation: X:353.78, Y:25.57, Z:14.68 [[ 9.94788563e-01 -8.91880092e-02 -4.94086454e-02 3.53781246e+02] [ 8.91013816e-02 9.96014700e-01 -3.95746185e-03 2.55659063e+01] [ 4.95646953e-02 -4.65540781e-04 9.98770807e-01 1.46843093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.045099893 meters 0.011292828242670994 Centerline is valid? [True, True] Translation: X:353.84, Y:25.57, Z:14.69 [[ 9.95105428e-01 -8.63941903e-02 -4.79711454e-02 3.53841811e+02] [ 8.63092872e-02 9.96260982e-01 -3.84232307e-03 2.55697044e+01] [ 4.81237348e-02 -3.16838828e-04 9.98841332e-01 1.46873454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.105099893 meters 0.011720887920843557 Centerline is valid? [True, True] Translation: X:353.90, Y:25.57, Z:14.69 [[ 9.94916083e-01 -8.90015647e-02 -4.71244125e-02 3.53901215e+02] [ 8.89225516e-02 9.96031391e-01 -3.77459717e-03 2.55687249e+01] [ 4.72733392e-02 -4.35015572e-04 9.98881896e-01 1.46890375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.165099893 meters 0.012393626209995475 Centerline is valid? [True, True] Translation: X:353.96, Y:25.57, Z:14.69 [[ 9.94541331e-01 -9.36968920e-02 -4.59176822e-02 3.53962179e+02] [ 9.36268436e-02 9.95600564e-01 -3.67860018e-03 2.55681520e+01] [ 4.60603437e-02 -6.40607740e-04 9.98938454e-01 1.46920093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.225099893 meters 0.016030051121950807 Centerline is valid? [True, True] Translation: X:354.02, Y:25.56, Z:14.69 [[ 9.93527543e-01 -1.04179404e-01 -4.52733099e-02 3.54022897e+02] [ 1.04122203e-01 9.94557900e-01 -3.62626040e-03 2.55599378e+01] [ 4.54047096e-02 -1.11116717e-03 9.98968056e-01 1.46935641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.285099893 meters 0.018186107026000337 Centerline is valid? [True, True] Translation: X:354.08, Y:25.56, Z:14.70 [[ 9.92610758e-01 -1.12569491e-01 -4.52989311e-02 3.54084304e+02] [ 1.12520930e-01 9.93642729e-01 -3.62856705e-03 2.55575642e+01] [ 4.54194195e-02 -1.49532317e-03 9.98966887e-01 1.46952658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34509989299994 meters 0.01798736151277775 Centerline is valid? [True, True] Translation: X:354.15, Y:25.56, Z:14.70 [[ 9.92139398e-01 -1.16683488e-01 -4.52147953e-02 3.54145157e+02] [ 1.16639394e-01 9.93167729e-01 -3.62131064e-03 2.55607267e+01] [ 4.53284227e-02 -1.68098136e-03 9.98970724e-01 1.46973540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.40509989299994 meters 0.024179342546214413 Centerline is valid? [True, True] Translation: X:354.21, Y:25.55, Z:14.70 [[ 9.90840180e-01 -1.27103154e-01 -4.56127778e-02 3.54205211e+02] [ 1.27069321e-01 9.91887115e-01 -3.65230024e-03 2.55511842e+01] [ 4.57069455e-02 -2.17713888e-03 9.98952519e-01 1.46979363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46509989299994 meters 0.02358048730535757 Centerline is valid? [True, True] Translation: X:354.27, Y:25.55, Z:14.70 [[ 9.89906931e-01 -1.34246813e-01 -4.54099272e-02 3.54265739e+02] [ 1.34220821e-01 9.90944781e-01 -3.63485033e-03 2.55547061e+01] [ 4.54866974e-02 -2.49679416e-03 9.98961824e-01 1.47006739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52509989299995 meters 0.02587059113410343 Centerline is valid? [True, True] Translation: X:354.33, Y:25.56, Z:14.70 [[ 9.89449241e-01 -1.37242045e-01 -4.64200523e-02 3.54326662e+02] [ 1.37218190e-01 9.90533879e-01 -3.71523095e-03 2.55556017e+01] [ 4.64905204e-02 -2.69364310e-03 9.98915099e-01 1.47027639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58509989299995 meters 0.02849232928697742 Centerline is valid? [True, True] Translation: X:354.39, Y:25.56, Z:14.70 [[ 9.89054258e-01 -1.39488113e-01 -4.81117524e-02 3.54386568e+02] [ 1.39465199e-01 9.90219491e-01 -3.84934531e-03 2.55559806e+01] [ 4.81781329e-02 -2.90270376e-03 9.98834542e-01 1.47041657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64509989299995 meters 0.029219257732815536 Centerline is valid? [True, True] Translation: X:354.45, Y:25.56, Z:14.71 [[ 9.89031185e-01 -1.39715619e-01 -4.79255717e-02 3.54447200e+02] [ 1.39693308e-01 9.90187408e-01 -3.83112173e-03 2.55599790e+01] [ 4.79905652e-02 -2.90578279e-03 9.98843562e-01 1.47069708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.70509989299995 meters 0.026187824401563264 Centerline is valid? [True, True] Translation: X:354.51, Y:25.57, Z:14.71 [[ 9.89269497e-01 -1.38238896e-01 -4.72849889e-02 3.54508148e+02] [ 1.38215545e-01 9.90394963e-01 -3.77887370e-03 2.55711432e+01] [ 4.73532021e-02 -2.79719600e-03 9.98874291e-01 1.47113509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76509989299996 meters 0.026125481364461533 Centerline is valid? [True, True] Translation: X:354.57, Y:25.58, Z:14.71 [[ 9.89648170e-01 -1.35189141e-01 -4.81704835e-02 3.54568585e+02] [ 1.35161429e-01 9.90816122e-01 -3.84715531e-03 2.55783683e+01] [ 4.82481852e-02 -2.70346117e-03 9.98831720e-01 1.47140246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.82509989299996 meters 0.027045404267535683 Centerline is valid? [True, True] Translation: X:354.63, Y:25.58, Z:14.72 [[ 9.89850448e-01 -1.33315966e-01 -4.92234018e-02 3.54629049e+02] [ 1.33284776e-01 9.91069988e-01 -3.93020612e-03 2.55838994e+01] [ 4.93077955e-02 -2.67041378e-03 9.98780061e-01 1.47161592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.88509989299996 meters 0.024351259664665566 Centerline is valid? [True, True] Translation: X:354.69, Y:25.59, Z:14.72 [[ 9.90080752e-01 -1.31148954e-01 -5.03989679e-02 3.54689456e+02] [ 1.31113554e-01 9.91359197e-01 -4.02221509e-03 2.55948552e+01] [ 5.04909896e-02 -2.62567005e-03 9.98721065e-01 1.47197570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.94509989299996 meters 0.023350575104257063 Centerline is valid? [True, True] Translation: X:354.75, Y:25.60, Z:14.72 [[ 9.90618547e-01 -1.26782091e-01 -5.10019199e-02 3.54749327e+02] [ 1.26740147e-01 9.91927608e-01 -4.06878484e-03 2.56041409e+01] [ 5.11060614e-02 -2.43337710e-03 9.98690267e-01 1.47226315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.00509989299997 meters 0.02247423042224505 Centerline is valid? [True, True] Translation: X:354.81, Y:25.61, Z:14.73 [[ 9.91218445e-01 -1.22137567e-01 -5.06794694e-02 3.54809427e+02] [ 1.22090101e-01 9.92510787e-01 -4.04290509e-03 2.56126605e+01] [ 5.07937106e-02 -2.18005946e-03 9.98706787e-01 1.47258824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.06509989299997 meters 0.01927127317817956 Centerline is valid? [True, True] Translation: X:354.87, Y:25.63, Z:14.73 [[ 9.92320477e-01 -1.12753382e-01 -5.08600668e-02 3.54869462e+02] [ 1.12693310e-01 9.93621539e-01 -4.05642397e-03 2.56257749e+01] [ 5.09930334e-02 -1.70631669e-03 9.98697551e-01 1.47292127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.12509989299997 meters 0.01448209081017952 Centerline is valid? [True, True] Translation: X:354.93, Y:25.64, Z:14.73 [[ 9.93311027e-01 -1.03160422e-01 -5.18761108e-02 3.54928905e+02] [ 1.03084890e-01 9.94663960e-01 -4.13670610e-03 2.56409721e+01] [ 5.20260421e-02 -1.23860738e-03 9.98644960e-01 1.47322978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.185099893 meters 0.013234789832176538 Centerline is valid? [True, True] Translation: X:354.99, Y:25.65, Z:14.73 [[ 9.93822914e-01 -9.75484654e-02 -5.29179735e-02 3.54989263e+02] [ 9.74619416e-02 9.95230309e-01 -4.21933257e-03 2.56495156e+01] [ 5.30771605e-02 -9.64219042e-04 9.98589949e-01 1.47346270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.245099893 meters 0.012327848161709922 Centerline is valid? [True, True] Translation: X:355.05, Y:25.66, Z:14.74 [[ 9.94359079e-01 -9.15004631e-02 -5.36440864e-02 3.55048897e+02] [ 9.14027803e-02 9.95804821e-01 -4.27666525e-03 2.56583663e+01] [ 5.38103567e-02 -6.50677732e-04 9.98550961e-01 1.47370222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.305099893 meters 0.011761186861734371 Centerline is valid? [True, True] Translation: X:355.11, Y:25.67, Z:14.74 [[ 9.94908607e-01 -8.40485239e-02 -5.56121367e-02 3.55106615e+02] [ 8.39318152e-02 9.96461630e-01 -4.43507079e-03 2.56676347e+01] [ 5.57881216e-02 -2.55137482e-04 9.98442597e-01 1.47389026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.365099893 meters 0.011784230968030761 Centerline is valid? [True, True] Translation: X:355.16, Y:25.68, Z:14.74 [[ 9.95210476e-01 -7.95716277e-02 -5.67843617e-02 3.55163877e+02] [ 7.94424567e-02 9.96829151e-01 -4.53210806e-03 2.56753286e+01] [ 5.69649343e-02 -6.87779736e-07 9.98376180e-01 1.47413275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.425099893 meters 0.011657182669089683 Centerline is valid? [True, True] Translation: X:355.22, Y:25.68, Z:14.75 [[ 9.95316305e-01 -7.84111801e-02 -5.65432632e-02 3.55220965e+02] [ 7.82807927e-02 9.96921101e-01 -4.52062052e-03 2.56804829e+01] [ 5.67236393e-02 7.31958472e-05 9.98389916e-01 1.47463080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.485099893 meters 0.011369761655290748 Centerline is valid? [True, True] Translation: X:355.28, Y:25.68, Z:14.75 [[ 9.95225652e-01 -7.96396675e-02 -5.64218515e-02 3.55279008e+02] [ 7.95108961e-02 9.96823717e-01 -4.52707571e-03 2.56836436e+01] [ 5.66031746e-02 1.93099062e-05 9.98396755e-01 1.47509862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.545099893 meters 0.011317358656368832 Centerline is valid? [True, True] Translation: X:355.34, Y:25.68, Z:14.75 [[ 9.94917766e-01 -8.33213459e-02 -5.65348687e-02 3.55336572e+02] [ 8.31970390e-02 9.96522716e-01 -4.55297210e-03 2.56847893e+01] [ 5.67176407e-02 -1.73700850e-04 9.98390244e-01 1.47538048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.605099893 meters 0.011383294746570967 Centerline is valid? [True, True] Translation: X:355.39, Y:25.69, Z:14.76 [[ 9.94644237e-01 -8.72303674e-02 -5.54410030e-02 3.55394984e+02] [ 8.71160002e-02 9.96188097e-01 -4.48090884e-03 2.56850891e+01] [ 5.56205386e-02 -3.72888274e-04 9.98451910e-01 1.47561001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.665099893 meters 0.011841632159231752 Centerline is valid? [True, True] Translation: X:355.45, Y:25.68, Z:14.76 [[ 9.94135378e-01 -9.35465991e-02 -5.42575770e-02 3.55453836e+02] [ 9.34456380e-02 9.95614659e-01 -4.40032068e-03 2.56816988e+01] [ 5.44312741e-02 -6.95619440e-04 9.98517277e-01 1.47592477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.725099893 meters 0.012791883164834329 Centerline is valid? [True, True] Translation: X:355.51, Y:25.68, Z:14.76 [[ 9.93767369e-01 -9.73198712e-02 -5.43622883e-02 3.55511713e+02] [ 9.72235115e-02 9.95252755e-01 -4.42065047e-03 2.56803500e+01] [ 5.45344343e-02 -8.92194373e-04 9.98511492e-01 1.47606313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.785099893 meters 0.013897377066608149 Centerline is valid? [True, True] Translation: X:355.57, Y:25.68, Z:14.76 [[ 9.93407478e-01 -1.01339351e-01 -5.35902912e-02 3.55570420e+02] [ 1.01251294e-01 9.94851317e-01 -4.36262054e-03 2.56775343e+01] [ 5.37564769e-02 -1.09222647e-03 9.98553478e-01 1.47629659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84509989299994 meters 0.014497693687730866 Centerline is valid? [True, True] Translation: X:355.63, Y:25.68, Z:14.77 [[ 9.93296331e-01 -1.02634655e-01 -5.31838836e-02 3.55629294e+02] [ 1.02549438e-01 9.94718459e-01 -4.33599614e-03 2.56777595e+01] [ 5.33480142e-02 -1.14704833e-03 9.98575322e-01 1.47652088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.90509989299994 meters 0.013634833607399467 Centerline is valid? [True, True] Translation: X:355.69, Y:25.68, Z:14.77 [[ 9.93325714e-01 -1.02526765e-01 -5.28420997e-02 3.55688463e+02] [ 1.02441863e-01 9.94729613e-01 -4.31989840e-03 2.56804641e+01] [ 5.30065066e-02 -1.12217695e-03 9.98593536e-01 1.47687949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96509989299994 meters 0.012878122937746428 Centerline is valid? [True, True] Translation: X:355.75, Y:25.68, Z:14.77 [[ 9.93640640e-01 -9.95130918e-02 -5.26822896e-02 3.55747940e+02] [ 9.94241358e-02 9.95035797e-01 -4.31315255e-03 2.56842625e+01] [ 5.28499792e-02 -9.52167456e-04 9.98602009e-01 1.47722103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02509989299995 meters 0.013564381167871866 Centerline is valid? [True, True] Translation: X:355.81, Y:25.69, Z:14.77 [[ 9.94026733e-01 -9.56319825e-02 -5.25868529e-02 3.55806137e+02] [ 9.55377611e-02 9.95416483e-01 -4.30835998e-03 2.56858123e+01] [ 5.27578371e-02 -7.41405188e-04 9.98607060e-01 1.47724243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08509989299995 meters 0.011939094149212218 Centerline is valid? [True, True] Translation: X:355.86, Y:25.69, Z:14.78 [[ 9.94638509e-01 -8.88394235e-02 -5.29319610e-02 3.55864211e+02] [ 8.87338922e-02 9.96045891e-01 -4.34513387e-03 2.56926725e+01] [ 5.31086814e-02 -3.75021440e-04 9.98588668e-01 1.47760306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14509989299995 meters 0.011547442059130681 Centerline is valid? [True, True] Translation: X:355.92, Y:25.70, Z:14.78 [[ 9.95217567e-01 -8.25705767e-02 -5.21928560e-02 3.55922528e+02] [ 8.24586776e-02 9.96585219e-01 -4.29736651e-03 2.56971880e+01] [ 5.23694649e-02 -2.69392410e-05 9.98627778e-01 1.47784001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.20509989299995 meters 0.01148125194713657 Centerline is valid? [True, True] Translation: X:355.98, Y:25.70, Z:14.78 [[ 9.95450224e-01 -8.02217278e-02 -5.14132907e-02 3.55979909e+02] [ 8.01093397e-02 9.96777038e-01 -4.24629724e-03 2.57000300e+01] [ 5.15882329e-02 1.08292771e-04 9.98668435e-01 1.47815411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26509989299996 meters 0.011475392796417428 Centerline is valid? [True, True] Translation: X:356.04, Y:25.70, Z:14.78 [[ 9.95517948e-01 -7.96985870e-02 -5.09131664e-02 3.56037966e+02] [ 7.95869482e-02 9.96818997e-01 -4.21954154e-03 2.57035274e+01] [ 5.10875030e-02 1.48605797e-04 9.98694170e-01 1.47845848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.32509989299996 meters 0.011434378299371217 Centerline is valid? [True, True] Translation: X:356.10, Y:25.70, Z:14.79 [[ 9.95448376e-01 -8.09699064e-02 -5.02633467e-02 3.56096075e+02] [ 8.08620732e-02 9.96716542e-01 -4.17850611e-03 2.57026316e+01] [ 5.04366424e-02 9.50887037e-05 9.98727258e-01 1.47877482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.38509989299996 meters 0.011361618995412106 Centerline is valid? [True, True] Translation: X:356.16, Y:25.70, Z:14.79 [[ 9.95230607e-01 -8.44581061e-02 -4.88146139e-02 3.56155148e+02] [ 8.43603295e-02 9.96427028e-01 -4.06348875e-03 2.57020333e+01] [ 4.89833953e-02 -7.39085431e-05 9.98799590e-01 1.47916225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.44509989299996 meters 0.011898411588321552 Centerline is valid? [True, True] Translation: X:356.21, Y:25.70, Z:14.79 [[ 9.94503360e-01 -9.28279653e-02 -4.84358861e-02 3.56214402e+02] [ 9.27410168e-02 9.95682052e-01 -4.04423328e-03 2.56958787e+01] [ 4.86021604e-02 -4.69989741e-04 9.98818106e-01 1.47942591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.50509989299997 meters 0.0137001064946711 Centerline is valid? [True, True] Translation: X:356.27, Y:25.69, Z:14.80 [[ 9.93641515e-01 -1.01973171e-01 -4.77285340e-02 3.56274675e+02] [ 1.01898765e-01 9.94786748e-01 -3.99583487e-03 2.56895085e+01] [ 4.78871811e-02 -8.93051263e-04 9.98852352e-01 1.47971420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.56509989299997 meters 0.01656379501746903 Centerline is valid? [True, True] Translation: X:356.33, Y:25.68, Z:14.80 [[ 9.92712690e-01 -1.10535064e-01 -4.79949490e-02 3.56334272e+02] [ 1.10469734e-01 9.93871360e-01 -4.01974156e-03 2.56838280e+01] [ 4.81451276e-02 -1.31154079e-03 9.98839490e-01 1.47989981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.62509989299997 meters 0.01775369655496809 Centerline is valid? [True, True] Translation: X:356.39, Y:25.68, Z:14.80 [[ 9.92031076e-01 -1.16807907e-01 -4.72255905e-02 3.56394437e+02] [ 1.16751711e-01 9.93153255e-01 -3.95605960e-03 2.56839891e+01] [ 4.73643480e-02 -1.58913445e-03 9.98876415e-01 1.48017528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.685099893 meters 0.020402166029004413 Centerline is valid? [True, True] Translation: X:356.46, Y:25.68, Z:14.80 [[ 9.91304300e-01 -1.22972584e-01 -4.68351166e-02 3.56455179e+02] [ 1.22924136e-01 9.92408312e-01 -3.92418913e-03 2.56817260e+01] [ 4.69621266e-02 -1.86710067e-03 9.98894926e-01 1.48038185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.745099893 meters 0.02101683498935638 Centerline is valid? [True, True] Translation: X:356.52, Y:25.68, Z:14.81 [[ 9.90177037e-01 -1.31742584e-01 -4.68329629e-02 3.56515142e+02] [ 1.31703877e-01 9.91281335e-01 -3.92479590e-03 2.56829938e+01] [ 4.69417048e-02 -2.28184001e-03 9.98895024e-01 1.48061270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.805099893 meters 0.024702687418135198 Centerline is valid? [True, True] Translation: X:356.57, Y:25.68, Z:14.81 [[ 9.89237169e-01 -1.38399950e-01 -4.74897559e-02 3.56574271e+02] [ 1.38367784e-01 9.90372918e-01 -3.97995529e-03 2.56828567e+01] [ 4.75833937e-02 -2.63393258e-03 9.98863796e-01 1.48084359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.865099893 meters 0.026667596773347443 Centerline is valid? [True, True] Translation: X:356.63, Y:25.69, Z:14.81 [[ 9.88908022e-01 -1.40972768e-01 -4.67718194e-02 3.56633903e+02] [ 1.40944491e-01 9.90009745e-01 -3.91851077e-03 2.56862522e+01] [ 4.68569603e-02 -2.71718354e-03 9.98897914e-01 1.48113975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.925099893 meters 0.028518768074963324 Centerline is valid? [True, True] Translation: X:356.69, Y:25.69, Z:14.81 [[ 9.88963854e-01 -1.40716280e-01 -4.63618853e-02 3.56691670e+02] [ 1.40688126e-01 9.90046337e-01 -3.88608241e-03 2.56909522e+01] [ 4.64472498e-02 -2.67937174e-03 9.98917151e-01 1.48139718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.985099893 meters 0.02517190918623487 Centerline is valid? [True, True] Translation: X:356.75, Y:25.70, Z:14.82 [[ 9.89138515e-01 -1.39367868e-01 -4.67075577e-02 3.56750464e+02] [ 1.39337610e-01 9.90237180e-01 -3.91901502e-03 2.57032384e+01] [ 4.67977449e-02 -2.63167077e-03 9.98900919e-01 1.48161510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.045099893 meters 0.023894251839232276 Centerline is valid? [True, True] Translation: X:356.81, Y:25.72, Z:14.82 [[ 9.89409799e-01 -1.36668123e-01 -4.88883759e-02 3.56809574e+02] [ 1.36631609e-01 9.90613428e-01 -4.10374332e-03 2.57150802e+01] [ 4.89903325e-02 -2.61941359e-03 9.98795818e-01 1.48173694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.105099893 meters 0.025262391965070696 Centerline is valid? [True, True] Translation: X:356.87, Y:25.72, Z:14.82 [[ 9.89661994e-01 -1.34936622e-01 -4.85926450e-02 3.56868132e+02] [ 1.34898411e-01 9.90851034e-01 -4.08005805e-03 2.57211321e+01] [ 4.86986218e-02 -2.51719219e-03 9.98810346e-01 1.48195488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.165099893 meters 0.02264945740080294 Centerline is valid? [True, True] Translation: X:356.93, Y:25.74, Z:14.82 [[ 9.90232272e-01 -1.31148863e-01 -4.73288778e-02 3.56927144e+02] [ 1.31108186e-01 9.91360092e-01 -3.97627764e-03 2.57361369e+01] [ 4.74414449e-02 -2.26776486e-03 9.98871446e-01 1.48233737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.225099893 meters 0.02015066309610163 Centerline is valid? [True, True] Translation: X:356.99, Y:25.75, Z:14.83 [[ 9.90706781e-01 -1.27816825e-01 -4.65073497e-02 3.56987307e+02] [ 1.27773849e-01 9.91795630e-01 -3.90798612e-03 2.57490119e+01] [ 4.66252926e-02 -2.07075472e-03 9.98910303e-01 1.48265754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.285099893 meters 0.021051815144059835 Centerline is valid? [True, True] Translation: X:357.05, Y:25.76, Z:14.83 [[ 9.91560842e-01 -1.21366530e-01 -4.55769810e-02 3.57045853e+02] [ 1.21318469e-01 9.92606249e-01 -3.82940049e-03 2.57579689e+01] [ 4.57047572e-02 -1.73224598e-03 9.98953490e-01 1.48291008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34509989299994 meters 0.01615532759232724 Centerline is valid? [True, True] Translation: X:357.11, Y:25.78, Z:14.83 [[ 9.92381962e-01 -1.14374102e-01 -4.57887096e-02 3.57105709e+02] [ 1.14318278e-01 9.93436737e-01 -3.84457387e-03 2.57760412e+01] [ 4.59279059e-02 -1.41920065e-03 9.98943749e-01 1.48323035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.40509989299994 meters 0.015421721366786531 Centerline is valid? [True, True] Translation: X:357.17, Y:25.79, Z:14.83 [[ 9.92923036e-01 -1.09325260e-01 -4.63878400e-02 3.57165156e+02] [ 1.09262499e-01 9.94005303e-01 -3.89403055e-03 2.57860844e+01] [ 4.65354749e-02 -1.20197870e-03 9.98915915e-01 1.48342896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46509989299994 meters 0.01358537682392696 Centerline is valid? [True, True] Translation: X:357.22, Y:25.80, Z:14.84 [[ 9.93564290e-01 -1.03013766e-01 -4.70974069e-02 3.57224832e+02] [ 1.02942010e-01 9.94679504e-01 -3.95300698e-03 2.57986754e+01] [ 4.72540394e-02 -9.20735149e-04 9.98882480e-01 1.48366235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52509989299995 meters 0.012741856688040199 Centerline is valid? [True, True] Translation: X:357.28, Y:25.81, Z:14.84 [[ 9.93898534e-01 -9.95194913e-02 -4.75560194e-02 3.57284794e+02] [ 9.94423332e-02 9.95035321e-01 -3.99149952e-03 2.58077111e+01] [ 4.77171511e-02 -7.61936011e-04 9.98860597e-01 1.48384893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58509989299995 meters 0.013134506478133589 Centerline is valid? [True, True] Translation: X:357.34, Y:25.81, Z:14.84 [[ 9.93986978e-01 -9.88021354e-02 -4.72019752e-02 3.57343697e+02] [ 9.87253093e-02 9.95106837e-01 -3.96188059e-03 2.58128586e+01] [ 4.73624505e-02 -7.21971883e-04 9.98877509e-01 1.48403145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64509989299995 meters 0.012652037030929913 Centerline is valid? [True, True] Translation: X:357.40, Y:25.82, Z:14.84 [[ 9.93910695e-01 -9.94110534e-02 -4.75286573e-02 3.57403983e+02] [ 9.93338191e-02 9.95046166e-01 -3.99006424e-03 2.58199127e+01] [ 4.76898647e-02 -7.55435525e-04 9.98861905e-01 1.48428000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.70509989299995 meters 0.013707870448377327 Centerline is valid? [True, True] Translation: X:357.46, Y:25.82, Z:14.85 [[ 9.93523995e-01 -1.03064231e-01 -4.78313248e-02 3.57463496e+02] [ 1.02990234e-01 9.94674262e-01 -4.01554091e-03 2.58223426e+01] [ 4.79904464e-02 -9.36623103e-04 9.98847356e-01 1.48450873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76509989299996 meters 0.014140486766126675 Centerline is valid? [True, True] Translation: X:357.52, Y:25.83, Z:14.85 [[ 9.93208445e-01 -1.06217698e-01 -4.74845904e-02 3.57523640e+02] [ 1.06148347e-01 9.94342312e-01 -3.98690112e-03 2.58262778e+01] [ 4.76394168e-02 -1.08058691e-03 9.98864014e-01 1.48479066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.82509989299996 meters 0.01550514375177927 Centerline is valid? [True, True] Translation: X:357.58, Y:25.83, Z:14.85 [[ 9.92734320e-01 -1.11101709e-01 -4.62058406e-02 3.57584102e+02] [ 1.11041325e-01 9.93808218e-01 -3.87953473e-03 2.58290628e+01] [ 4.63507670e-02 -1.27941046e-03 9.98924406e-01 1.48518450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.88509989299996 meters 0.017619245099286807 Centerline is valid? [True, True] Translation: X:357.64, Y:25.83, Z:14.85 [[ 9.92309048e-01 -1.14972289e-01 -4.58707617e-02 3.57644640e+02] [ 1.14916909e-01 9.93367642e-01 -3.85132865e-03 2.58304714e+01] [ 4.60093265e-02 -1.44961787e-03 9.98939958e-01 1.48542813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.94509989299996 meters 0.016992984150025547 Centerline is valid? [True, True] Translation: X:357.71, Y:25.84, Z:14.86 [[ 9.92168967e-01 -1.16133069e-01 -4.59766282e-02 3.57705140e+02] [ 1.16078715e-01 9.93232519e-01 -3.85938808e-03 2.58369946e+01] [ 4.61136849e-02 -1.50774283e-03 9.98935060e-01 1.48569275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.00509989299997 meters 0.01648804408843739 Centerline is valid? [True, True] Translation: X:357.77, Y:25.84, Z:14.86 [[ 9.92373073e-01 -1.14384171e-01 -4.59559053e-02 3.57765671e+02] [ 1.14328035e-01 9.93435567e-01 -3.85673498e-03 2.58443479e+01] [ 4.60953803e-02 -1.42672843e-03 9.98936024e-01 1.48597883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.06509989299997 meters 0.016052541769721516 Centerline is valid? [True, True] Translation: X:357.83, Y:25.85, Z:14.86 [[ 9.92778459e-01 -1.10898369e-01 -4.57436672e-02 3.57825586e+02] [ 1.10839127e-01 9.93830953e-01 -3.83733681e-03 2.58515172e+01] [ 4.58870268e-02 -1.26056282e-03 9.98945840e-01 1.48623838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.12509989299997 meters 0.014715878507793824 Centerline is valid? [True, True] Translation: X:357.89, Y:25.86, Z:14.86 [[ 9.93045410e-01 -1.08253515e-01 -4.62816496e-02 3.57886444e+02] [ 1.08190044e-01 9.94122652e-01 -3.88154790e-03 2.58594622e+01] [ 4.64298275e-02 -1.15266040e-03 9.98920889e-01 1.48643964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.185099893 meters 0.01457078408671175 Centerline is valid? [True, True] Translation: X:357.95, Y:25.86, Z:14.87 [[ 9.93178987e-01 -1.06309606e-01 -4.78932862e-02 3.57946259e+02] [ 1.06239461e-01 9.94332468e-01 -4.01503823e-03 2.58649814e+01] [ 4.80486866e-02 -1.10050529e-03 9.98844389e-01 1.48654241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.245099893 meters 0.014039383342205187 Centerline is valid? [True, True] Translation: X:358.01, Y:25.87, Z:14.87 [[ 9.93293507e-01 -1.04613907e-01 -4.92335148e-02 3.58006225e+02] [ 1.04537737e-01 9.94512359e-01 -4.12662785e-03 2.58716705e+01] [ 4.93950416e-02 -1.04780756e-03 9.98778770e-01 1.48666028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.305099893 meters 0.013272908473467331 Centerline is valid? [True, True] Translation: X:358.07, Y:25.88, Z:14.87 [[ 9.93353498e-01 -1.03375190e-01 -5.06201389e-02 3.58065896e+02] [ 1.03293061e-01 9.94641916e-01 -4.24285115e-03 2.58787676e+01] [ 5.07875175e-02 -1.01405808e-03 9.98708966e-01 1.48685369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.365099893 meters 0.01339879330187827 Centerline is valid? [True, True] Translation: X:358.13, Y:25.88, Z:14.87 [[ 9.93373676e-01 -1.03047892e-01 -5.08907750e-02 3.58125189e+02] [ 1.02964436e-01 9.94675891e-01 -4.26585798e-03 2.58836458e+01] [ 5.10594146e-02 -1.00234894e-03 9.98695114e-01 1.48711569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.425099893 meters 0.012985982958745364 Centerline is valid? [True, True] Translation: X:358.19, Y:25.89, Z:14.88 [[ 9.93514514e-01 -1.02608509e-01 -4.89939225e-02 3.58185577e+02] [ 1.02530556e-01 9.94721372e-01 -4.10829565e-03 2.58898815e+01] [ 4.91568479e-02 -9.41722750e-04 9.98790627e-01 1.48763014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.485099893 meters 0.013195247451047469 Centerline is valid? [True, True] Translation: X:358.25, Y:25.89, Z:14.88 [[ 9.93408932e-01 -1.04302403e-01 -4.75363254e-02 3.58246204e+02] [ 1.04230967e-01 9.94545131e-01 -3.98586413e-03 2.58948034e+01] [ 4.76927562e-02 -9.95164134e-04 9.98861557e-01 1.48806215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.545099893 meters 0.01393950255261653 Centerline is valid? [True, True] Translation: X:358.31, Y:25.90, Z:14.88 [[ 9.93064242e-01 -1.07834212e-01 -4.68528927e-02 3.58307302e+02] [ 1.07768821e-01 9.94168226e-01 -3.92686997e-03 2.58977106e+01] [ 4.70031081e-02 -1.14964684e-03 9.98894082e-01 1.48838357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.605099893 meters 0.01851390716173066 Centerline is valid? [True, True] Translation: X:358.37, Y:25.89, Z:14.89 [[ 9.92036237e-01 -1.16823094e-01 -4.70793826e-02 3.58367271e+02] [ 1.16767236e-01 9.93151476e-01 -3.94438454e-03 2.58927406e+01] [ 4.72177535e-02 -1.58435697e-03 9.98883363e-01 1.48856528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.665099893 meters 0.02018473773927214 Centerline is valid? [True, True] Translation: X:358.43, Y:25.89, Z:14.89 [[ 9.90567405e-01 -1.28226272e-01 -4.83139719e-02 3.58428004e+02] [ 1.28180932e-01 9.91742537e-01 -4.04843348e-03 2.58931627e+01] [ 4.84341366e-02 -2.18268368e-03 9.98823994e-01 1.48879098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.725099893 meters 0.023009478899593188 Centerline is valid? [True, True] Translation: X:358.49, Y:25.89, Z:14.89 [[ 9.89781446e-01 -1.33863201e-01 -4.91256819e-02 3.58489207e+02] [ 1.33823253e-01 9.90996667e-01 -4.11624655e-03 2.58933588e+01] [ 4.92344010e-02 -2.49997408e-03 9.98784123e-01 1.48896627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.785099893 meters 0.026654259151241737 Centerline is valid? [True, True] Translation: X:358.55, Y:25.89, Z:14.89 [[ 9.89309770e-01 -1.37201111e-01 -4.94169423e-02 3.58549143e+02] [ 1.37164844e-01 9.90539581e-01 -4.14050944e-03 2.58933327e+01] [ 4.95175198e-02 -2.68202072e-03 9.98769654e-01 1.48922268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84509989299994 meters 0.022655954884715945 Centerline is valid? [True, True] Translation: X:358.61, Y:25.90, Z:14.89 [[ 9.89343939e-01 -1.36807505e-01 -4.98224586e-02 3.58610338e+02] [ 1.36770173e-01 9.90594013e-01 -4.17388849e-03 2.59040805e+01] [ 4.99248485e-02 -2.68481501e-03 9.98749369e-01 1.48949031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.90509989299994 meters 0.022026680133139576 Centerline is valid? [True, True] Translation: X:358.67, Y:25.91, Z:14.90 [[ 9.89903202e-01 -1.32729011e-01 -4.97459673e-02 3.58670341e+02] [ 1.32686821e-01 9.91149266e-01 -4.16419891e-03 2.59126374e+01] [ 4.98583889e-02 -2.47848043e-03 9.98753222e-01 1.48975519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96509989299994 meters 0.021026959428260376 Centerline is valid? [True, True] Translation: X:358.73, Y:25.92, Z:14.90 [[ 9.90463508e-01 -1.28606049e-01 -4.94218853e-02 3.58730223e+02] [ 1.28559325e-01 9.91693194e-01 -4.13630349e-03 2.59216459e+01] [ 4.95433009e-02 -2.25678654e-03 9.98769427e-01 1.49005368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02509989299995 meters 0.018268956913442908 Centerline is valid? [True, True] Translation: X:358.79, Y:25.93, Z:14.90 [[ 9.91381599e-01 -1.21343682e-01 -4.93784962e-02 3.58789738e+02] [ 1.21288045e-01 9.92608750e-01 -4.13266633e-03 2.59346327e+01] [ 4.95150004e-02 -1.89197192e-03 9.98771588e-01 1.49031825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08509989299995 meters 0.016134973746716512 Centerline is valid? [True, True] Translation: X:358.85, Y:25.95, Z:14.91 [[ 9.91988157e-01 -1.16463158e-01 -4.89472084e-02 3.58849461e+02] [ 1.16402556e-01 9.93193669e-01 -4.09653853e-03 2.59455586e+01] [ 4.90911533e-02 -1.63386245e-03 9.98792966e-01 1.49063961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14509989299995 meters 0.01435212981953019 Centerline is valid? [True, True] Translation: X:358.91, Y:25.96, Z:14.91 [[ 9.92809299e-01 -1.09463013e-01 -4.84514634e-02 3.58909049e+02] [ 1.09395302e-01 9.93990053e-01 -4.05504814e-03 2.59572497e+01] [ 4.86041505e-02 -1.27447295e-03 9.98817307e-01 1.49087930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.20509989299995 meters 0.013674759750994522 Centerline is valid? [True, True] Translation: X:358.97, Y:25.97, Z:14.91 [[ 9.93283201e-01 -1.04912578e-01 -4.88040272e-02 3.58968664e+02] [ 1.04838396e-01 9.94480884e-01 -4.08442872e-03 2.59653661e+01] [ 4.89631801e-02 -1.05954147e-03 9.98800022e-01 1.49103849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26509989299996 meters 0.011400643902969977 Centerline is valid? [True, True] Translation: X:359.03, Y:25.98, Z:14.91 [[ 9.93967831e-01 -9.77830580e-02 -4.96631145e-02 3.59028721e+02] [ 9.76973818e-02 9.95207492e-01 -4.15554489e-03 2.59775815e+01] [ 4.98314455e-02 -7.21478325e-04 9.98757381e-01 1.49127704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.32509989299996 meters 0.010429308678118207 Centerline is valid? [True, True] Translation: X:359.09, Y:25.99, Z:14.92 [[ 9.94750223e-01 -8.94829548e-02 -4.96466907e-02 3.59088331e+02] [ 8.93869991e-02 9.95988307e-01 -4.15413964e-03 2.59887362e+01] [ 4.98192481e-02 -3.05437359e-04 9.98758204e-01 1.49153735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.38509989299996 meters 0.01012273371787489 Centerline is valid? [True, True] Translation: X:359.15, Y:26.00, Z:14.92 [[ 9.95181040e-01 -8.51149315e-02 -4.86841409e-02 3.59147972e+02] [ 8.50174370e-02 9.96371136e-01 -4.07359920e-03 2.59966150e+01] [ 4.88541969e-02 -8.50321861e-05 9.98805917e-01 1.49185568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.44509989299996 meters 0.010116026029919267 Centerline is valid? [True, True] Translation: X:359.21, Y:26.00, Z:14.92 [[ 9.95482380e-01 -8.23858796e-02 -4.71953259e-02 3.59207030e+02] [ 8.22911851e-02 9.96600504e-01 -3.94921418e-03 2.60023355e+01] [ 4.73602451e-02 4.76138354e-05 9.98877873e-01 1.49215271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.50509989299997 meters 0.010099671269082218 Centerline is valid? [True, True] Translation: X:359.27, Y:26.00, Z:14.92 [[ 9.95181806e-01 -8.64779760e-02 -4.62031714e-02 3.59266729e+02] [ 8.63915544e-02 9.96253753e-01 -3.86780680e-03 2.60026192e+01] [ 4.63645630e-02 -1.42392842e-04 9.98924575e-01 1.49238887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.56509989299997 meters 0.010651209018408896 Centerline is valid? [True, True] Translation: X:359.33, Y:26.00, Z:14.93 [[ 9.94633580e-01 -9.24210677e-02 -4.65014714e-02 3.59326400e+02] [ 9.23399359e-02 9.95719925e-01 -3.89444797e-03 2.60019011e+01] [ 4.66623707e-02 -4.20394162e-04 9.98910630e-01 1.49259288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.62509989299997 meters 0.013163263656409806 Centerline is valid? [True, True] Translation: X:359.39, Y:26.00, Z:14.93 [[ 9.93408313e-01 -1.04733552e-01 -4.65919227e-02 3.59387052e+02] [ 1.04665545e-01 9.94499817e-01 -3.90359128e-03 2.59955417e+01] [ 4.67444956e-02 -9.98708975e-04 9.98906379e-01 1.49268489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.685099893 meters 0.016778971647196356 Centerline is valid? [True, True] Translation: X:359.45, Y:25.99, Z:14.93 [[ 9.92457761e-01 -1.13191644e-01 -4.70663750e-02 3.59447020e+02] [ 1.13131708e-01 9.93572173e-01 -3.94393042e-03 2.59914511e+01] [ 4.72102604e-02 -1.41051502e-03 9.98883978e-01 1.49283268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.745099893 meters 0.020618413676435833 Centerline is valid? [True, True] Translation: X:359.51, Y:25.99, Z:14.93 [[ 9.91230056e-01 -1.23856088e-01 -4.60721668e-02 3.59508402e+02] [ 1.23810204e-01 9.92298413e-01 -3.85926455e-03 2.59866535e+01] [ 4.61953314e-02 -1.87878533e-03 9.98930659e-01 1.49309887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.805099893 meters 0.021051896487833885 Centerline is valid? [True, True] Translation: X:359.57, Y:25.99, Z:14.93 [[ 9.90639498e-01 -1.28789751e-01 -4.52391876e-02 3.59569747e+02] [ 1.28750650e-01 9.91669759e-01 -3.78923926e-03 2.59894945e+01] [ 4.53503495e-02 -2.07080475e-03 9.98968997e-01 1.49335539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.865099893 meters 0.023312783112069687 Centerline is valid? [True, True] Translation: X:359.63, Y:25.99, Z:14.94 [[ 9.90026810e-01 -1.34068614e-01 -4.32726486e-02 3.59630163e+02] [ 1.34037924e-01 9.90969580e-01 -3.62305717e-03 2.59900392e+01] [ 4.33676167e-02 -2.21325227e-03 9.99056731e-01 1.49366269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.925099893 meters 0.024808271101234257 Centerline is valid? [True, True] Translation: X:359.69, Y:25.99, Z:14.94 [[ 9.89780692e-01 -1.36117354e-01 -4.24999622e-02 3.59692312e+02] [ 1.36089642e-01 9.90690138e-01 -3.55813130e-03 2.59921699e+01] [ 4.25886168e-02 -2.26203498e-03 9.99090133e-01 1.49391134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.985099893 meters 0.026270860180513913 Centerline is valid? [True, True] Translation: X:359.75, Y:25.99, Z:14.94 [[ 9.89547761e-01 -1.37646704e-01 -4.29955086e-02 3.59754313e+02] [ 1.37619915e-01 9.90478583e-01 -3.59652466e-03 2.59935606e+01] [ 4.30811802e-02 -2.35810530e-03 9.99068792e-01 1.49404074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.045099893 meters 0.02384332562684995 Centerline is valid? [True, True] Translation: X:359.82, Y:26.00, Z:14.94 [[ 9.89570988e-01 -1.36932586e-01 -4.47071318e-02 3.59815608e+02] [ 1.36903047e-01 9.90577405e-01 -3.73636149e-03 2.60016400e+01] [ 4.47975042e-02 -2.42314763e-03 9.98993149e-01 1.49414567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.105099893 meters 0.030868297321821527 Centerline is valid? [True, True] Translation: X:359.88, Y:26.00, Z:14.94 [[ 9.89728271e-01 -1.35682073e-01 -4.50369265e-02 3.59876480e+02] [ 1.35650950e-01 9.90749553e-01 -3.76074958e-03 2.59976069e+01] [ 4.51305811e-02 -2.38718169e-03 9.98978244e-01 1.49430673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.165099893 meters 0.02168124319619464 Centerline is valid? [True, True] Translation: X:359.94, Y:26.02, Z:14.94 [[ 9.90266350e-01 -1.30862118e-01 -4.74095146e-02 3.59935962e+02] [ 1.30822167e-01 9.91397950e-01 -3.95796925e-03 2.60159592e+01] [ 4.75196439e-02 -2.28277169e-03 9.98867695e-01 1.49446001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.225099893 meters 0.019104978401543755 Centerline is valid? [True, True] Translation: X:360.00, Y:26.03, Z:14.95 [[ 9.90718049e-01 -1.27077035e-01 -4.82615326e-02 3.59995878e+02] [ 1.27031194e-01 9.91890543e-01 -4.02831768e-03 2.60258793e+01] [ 4.83820644e-02 -2.13979307e-03 9.98826610e-01 1.49468980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.285099893 meters 0.019521544461962737 Centerline is valid? [True, True] Translation: X:360.05, Y:26.03, Z:14.95 [[ 9.91681143e-01 -1.19058523e-01 -4.89242094e-02 3.60054557e+02] [ 1.19001663e-01 9.92885657e-01 -4.08376105e-03 2.60335996e+01] [ 4.90623523e-02 -1.77227345e-03 9.98794145e-01 1.49487659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34509989299994 meters 0.015484855178334216 Centerline is valid? [True, True] Translation: X:360.11, Y:26.05, Z:14.95 [[ 9.92492488e-01 -1.12215406e-01 -4.86452870e-02 3.60114360e+02] [ 1.12150948e-01 9.93682883e-01 -4.06112585e-03 2.60473134e+01] [ 4.87937099e-02 -1.42497816e-03 9.98807861e-01 1.49525294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.40509989299994 meters 0.012218350813226657 Centerline is valid? [True, True] Translation: X:360.17, Y:26.06, Z:14.96 [[ 9.93788751e-01 -1.00587277e-01 -4.76037678e-02 3.60173453e+02] [ 1.00512244e-01 9.94927887e-01 -3.97341814e-03 2.60621895e+01] [ 4.77619914e-02 -8.36023296e-04 9.98858395e-01 1.49563766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46509989299994 meters 0.010855813796652073 Centerline is valid? [True, True] Translation: X:360.23, Y:26.07, Z:14.96 [[ 9.94725690e-01 -9.18079151e-02 -4.57395728e-02 3.60233388e+02] [ 9.17293709e-02 9.95776656e-01 -3.81763321e-03 2.60740122e+01] [ 4.58968878e-02 -3.98164405e-04 9.98946103e-01 1.49605523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52509989299995 meters 0.010486780759956793 Centerline is valid? [True, True] Translation: X:360.29, Y:26.08, Z:14.96 [[ 9.94991278e-01 -8.90971885e-02 -4.53215988e-02 3.60293400e+02] [ 8.90172964e-02 9.96022900e-01 -3.78200698e-03 2.60808684e+01] [ 4.54783165e-02 -2.71342240e-04 9.98965289e-01 1.49632939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58509989299995 meters 0.010533838563381644 Centerline is valid? [True, True] Translation: X:360.35, Y:26.09, Z:14.97 [[ 9.94945210e-01 -8.92723729e-02 -4.59833874e-02 3.60354505e+02] [ 8.91903234e-02 9.96007210e-01 -3.83708148e-03 2.60851535e+01] [ 4.61423307e-02 -2.83587347e-04 9.98934835e-01 1.49653559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64509989299995 meters 0.010625946300071439 Centerline is valid? [True, True] Translation: X:360.41, Y:26.09, Z:14.97 [[ 9.94811173e-01 -9.03361611e-02 -4.67985998e-02 3.60414985e+02] [ 9.02524245e-02 9.95911272e-01 -3.90355314e-03 2.60888269e+01] [ 4.69598851e-02 -3.40388820e-04 9.98896718e-01 1.49674853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.70509989299995 meters 0.010818034962912138 Centerline is valid? [True, True] Translation: X:360.48, Y:26.09, Z:14.97 [[ 9.94652054e-01 -9.14242014e-02 -4.80510818e-02 3.60475695e+02] [ 9.13371893e-02 9.95811957e-01 -4.00802485e-03 2.60913178e+01] [ 4.82162722e-02 -4.02260596e-04 9.98836838e-01 1.49694096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76509989299996 meters 0.010956278268320052 Centerline is valid? [True, True] Translation: X:360.54, Y:26.09, Z:14.97 [[ 9.94510515e-01 -9.27775725e-02 -4.83855111e-02 3.60535546e+02] [ 9.26909391e-02 9.95686748e-01 -4.03603956e-03 2.60948020e+01] [ 4.85512662e-02 -4.71014681e-04 9.98820581e-01 1.49723759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.82509989299996 meters 0.011526029879644248 Centerline is valid? [True, True] Translation: X:360.59, Y:26.09, Z:14.98 [[ 9.94352970e-01 -9.49184514e-02 -4.74621791e-02 3.60594160e+02] [ 9.48374807e-02 9.95484892e-01 -3.96007330e-03 2.60947924e+01] [ 4.76237663e-02 -5.63482846e-04 9.98865186e-01 1.49757585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.88509989299996 meters 0.012503117176537333 Centerline is valid? [True, True] Translation: X:360.65, Y:26.09, Z:14.98 [[ 9.94055420e-01 -9.84864764e-02 -4.64137552e-02 3.60654023e+02] [ 9.84128197e-02 9.95138132e-01 -3.87495971e-03 2.60929549e+01] [ 4.65697287e-02 -7.15783812e-04 9.98914785e-01 1.49792418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.94509989299996 meters 0.012962687409820014 Centerline is valid? [True, True] Translation: X:360.71, Y:26.09, Z:14.98 [[ 9.93772493e-01 -1.02035704e-01 -4.47766396e-02 3.60714886e+02] [ 1.01970689e-01 9.94780374e-01 -3.73966599e-03 2.60940613e+01] [ 4.49245018e-02 -8.49527618e-04 9.98990024e-01 1.49832195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.00509989299997 meters 0.01462658761546426 Centerline is valid? [True, True] Translation: X:360.78, Y:26.09, Z:14.99 [[ 9.93100930e-01 -1.08733745e-01 -4.39034773e-02 3.60775585e+02] [ 1.08677776e-01 9.94070267e-01 -3.66674102e-03 2.60910325e+01] [ 4.40418399e-02 -1.12988836e-03 9.99029048e-01 1.49864150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.06509989299997 meters 0.016078469479556694 Centerline is valid? [True, True] Translation: X:360.84, Y:26.09, Z:14.99 [[ 9.91993051e-01 -1.17732858e-01 -4.57029581e-02 3.60836150e+02] [ 1.17681735e-01 9.93044027e-01 -3.81701660e-03 2.60890532e+01] [ 4.58344379e-02 -1.59194945e-03 9.98947781e-01 1.49875536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.12509989299997 meters 0.018259081803619466 Centerline is valid? [True, True] Translation: X:360.90, Y:26.09, Z:14.99 [[ 9.91189596e-01 -1.23873626e-01 -4.68882637e-02 3.60897525e+02] [ 1.23826678e-01 9.92296135e-01 -3.91579859e-03 2.60879084e+01] [ 4.70121070e-02 -1.92471911e-03 9.98892465e-01 1.49893744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.185099893 meters 0.024170774093583803 Centerline is valid? [True, True] Translation: X:360.96, Y:26.08, Z:14.99 [[ 9.90250360e-01 -1.30770249e-01 -4.79933993e-02 3.60957443e+02] [ 1.30729156e-01 9.91410019e-01 -4.00764743e-03 2.60810620e+01] [ 4.81052179e-02 -2.30556229e-03 9.98839613e-01 1.49905898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.245099893 meters 0.02200944743182025 Centerline is valid? [True, True] Translation: X:361.02, Y:26.09, Z:14.99 [[ 9.89949952e-01 -1.32870185e-01 -4.84211457e-02 3.61017235e+02] [ 1.32830847e-01 9.91130473e-01 -4.04366366e-03 2.60879789e+01] [ 4.85289554e-02 -2.42879714e-03 9.98818823e-01 1.49934743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.305099893 meters 0.022380666456231466 Centerline is valid? [True, True] Translation: X:361.08, Y:26.09, Z:15.00 [[ 9.90076525e-01 -1.32281873e-01 -4.74339671e-02 3.61077600e+02] [ 1.32243448e-01 9.91209352e-01 -3.96122409e-03 2.60927858e+01] [ 4.75409899e-02 -2.35091638e-03 9.98866521e-01 1.49976202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.365099893 meters 0.02092893460614698 Centerline is valid? [True, True] Translation: X:361.14, Y:26.10, Z:15.00 [[ 9.90414406e-01 -1.30086107e-01 -4.64425399e-02 3.61137517e+02] [ 1.30046861e-01 9.91500263e-01 -3.87842972e-03 2.61001784e+01] [ 4.65523203e-02 -2.19845387e-03 9.98913434e-01 1.50014779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.425099893 meters 0.022957372447523095 Centerline is valid? [True, True] Translation: X:361.20, Y:26.10, Z:15.00 [[ 9.90556381e-01 -1.29125125e-01 -4.60951054e-02 3.61198258e+02] [ 1.29085440e-01 9.91626005e-01 -3.84911333e-03 2.61021210e+01] [ 4.62061225e-02 -2.13744320e-03 9.98929640e-01 1.50039635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.485099893 meters 0.020145477696308613 Centerline is valid? [True, True] Translation: X:361.26, Y:26.11, Z:15.01 [[ 9.90534651e-01 -1.28992109e-01 -4.69269715e-02 3.61259016e+02] [ 1.28950984e-01 9.91643239e-01 -3.91535358e-03 2.61101441e+01] [ 4.70398637e-02 -2.17298574e-03 9.98890649e-01 1.50064586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.545099893 meters 0.02049510738173841 Centerline is valid? [True, True] Translation: X:361.32, Y:26.11, Z:15.01 [[ 9.90416657e-01 -1.29506956e-01 -4.79874363e-02 3.61319816e+02] [ 1.29464642e-01 9.91575963e-01 -4.00201699e-03 2.61141862e+01] [ 4.81014774e-02 -2.24901198e-03 9.98839922e-01 1.50086127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.605099893 meters 0.020372405407986502 Centerline is valid? [True, True] Translation: X:361.38, Y:26.12, Z:15.01 [[ 9.90521522e-01 -1.28017194e-01 -4.97866734e-02 3.61380063e+02] [ 1.27969854e-01 9.91769373e-01 -4.15046224e-03 2.61191608e+01] [ 4.99082284e-02 -2.26007117e-03 9.98751251e-01 1.50096763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.665099893 meters 0.018346541316392205 Centerline is valid? [True, True] Translation: X:361.44, Y:26.13, Z:15.01 [[ 9.91276581e-01 -1.21878732e-01 -5.01628730e-02 3.61439860e+02] [ 1.21822827e-01 9.92543052e-01 -4.18185481e-03 2.61289528e+01] [ 5.02984902e-02 -1.96560824e-03 9.98732296e-01 1.50123693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.725099893 meters 0.017048119972305202 Centerline is valid? [True, True] Translation: X:361.50, Y:26.14, Z:15.02 [[ 9.92016959e-01 -1.15850824e-01 -4.98090245e-02 3.61498154e+02] [ 1.15788089e-01 9.93265258e-01 -4.15286812e-03 2.61375111e+01] [ 4.99546867e-02 -1.64757615e-03 9.98750126e-01 1.50150659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.785099893 meters 0.013097739343130362 Centerline is valid? [True, True] Translation: X:361.56, Y:26.15, Z:15.02 [[ 9.93275799e-01 -1.05342424e-01 -4.80225063e-02 3.61558076e+02] [ 1.05271746e-01 9.94435425e-01 -4.00564228e-03 2.61508200e+01] [ 4.81772456e-02 -1.07670553e-03 9.98838222e-01 1.50190048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84509989299994 meters 0.011470041925805483 Centerline is valid? [True, True] Translation: X:361.62, Y:26.16, Z:15.02 [[ 9.93914219e-01 -9.93826385e-02 -4.75143834e-02 3.61617300e+02] [ 9.93066598e-02 9.95048985e-01 -3.96285160e-03 2.61605018e+01] [ 4.76729777e-02 -7.79760161e-04 9.98862693e-01 1.50220854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.90509989299994 meters 0.010585842851849039 Centerline is valid? [True, True] Translation: X:361.68, Y:26.17, Z:15.02 [[ 9.94462305e-01 -9.37104561e-02 -4.75717878e-02 3.61676406e+02] [ 9.36277217e-02 9.95599364e-01 -3.96938110e-03 2.61684546e+01] [ 4.77344142e-02 -5.06638232e-04 9.98859935e-01 1.50243610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.96509989299994 meters 0.010513755014023568 Centerline is valid? [True, True] Translation: X:361.73, Y:26.17, Z:15.03 [[ 9.94485296e-01 -9.35256945e-02 -4.74546064e-02 3.61734965e+02] [ 9.34430185e-02 9.95616744e-01 -3.96251411e-03 2.61730709e+01] [ 4.76171976e-02 -4.93639643e-04 9.98865536e-01 1.50266542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.02509989299995 meters 0.010818299222350891 Centerline is valid? [True, True] Translation: X:361.79, Y:26.17, Z:15.03 [[ 9.94196532e-01 -9.64220735e-02 -4.77078564e-02 3.61793844e+02] [ 9.63412677e-02 9.95340341e-01 -3.99567925e-03 2.61742794e+01] [ 4.78708258e-02 -6.23744920e-04 9.98853340e-01 1.50287604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.08509989299995 meters 0.011132722184653094 Centerline is valid? [True, True] Translation: X:361.85, Y:26.18, Z:15.03 [[ 9.93811472e-01 -1.00164893e-01 -4.80182575e-02 3.61853059e+02] [ 1.00086861e-01 9.94970531e-01 -4.03276513e-03 2.61763615e+01] [ 4.81806926e-02 -7.98188403e-04 9.98838317e-01 1.50311554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.14509989299995 meters 0.012201140591337568 Centerline is valid? [True, True] Translation: X:361.91, Y:26.18, Z:15.03 [[ 9.93354543e-01 -1.04733119e-01 -4.77255281e-02 3.61912488e+02] [ 1.04661130e-01 9.94499851e-01 -4.01174037e-03 2.61761990e+01] [ 4.78831926e-02 -1.00992717e-03 9.98852431e-01 1.50328817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.20509989299995 meters 0.01274893995555378 Centerline is valid? [True, True] Translation: X:361.97, Y:26.18, Z:15.04 [[ 9.93118887e-01 -1.07208644e-01 -4.71294356e-02 3.61971593e+02] [ 1.07141104e-01 9.94235922e-01 -3.96421173e-03 2.61781817e+01] [ 4.72827756e-02 -1.11256621e-03 9.98880924e-01 1.50353012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.26509989299996 meters 0.01353458061643849 Centerline is valid? [True, True] Translation: X:362.03, Y:26.18, Z:15.04 [[ 9.92791357e-01 -1.10547002e-01 -4.63107067e-02 3.62031046e+02] [ 1.10485301e-01 9.93870115e-01 -3.89778995e-03 2.61795843e+01] [ 4.64577164e-02 -1.24696022e-03 9.98919479e-01 1.50375277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.32509989299996 meters 0.014077857021216644 Centerline is valid? [True, True] Translation: X:362.09, Y:26.18, Z:15.04 [[ 9.92652720e-01 -1.11989677e-01 -4.58136381e-02 3.62091084e+02] [ 1.11930758e-01 9.93708521e-01 -3.85748358e-03 2.61832309e+01] [ 4.59574009e-02 -1.29881367e-03 9.98942556e-01 1.50401900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.38509989299996 meters 0.01790957237589696 Centerline is valid? [True, True] Translation: X:362.15, Y:26.18, Z:15.04 [[ 9.92069559e-01 -1.17091937e-01 -4.56888175e-02 3.62150405e+02] [ 1.17038737e-01 9.93119899e-01 -3.84700470e-03 2.61798544e+01] [ 4.58249271e-02 -1.53086523e-03 9.98948313e-01 1.50418850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.44509989299996 meters 0.018728955664283765 Centerline is valid? [True, True] Translation: X:362.21, Y:26.18, Z:15.04 [[ 9.91621567e-01 -1.21271357e-01 -4.44963571e-02 3.62210165e+02] [ 1.21225076e-01 9.92617973e-01 -3.74702254e-03 2.61817954e+01] [ 4.46222904e-02 -1.67844591e-03 9.99002520e-01 1.50444117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.50509989299997 meters 0.019748425227109265 Centerline is valid? [True, True] Translation: X:362.27, Y:26.18, Z:15.05 [[ 9.91394375e-01 -1.22799941e-01 -4.53582110e-02 3.62270400e+02] [ 1.22753378e-01 9.92429850e-01 -3.82112135e-03 2.61837871e+01] [ 4.54840761e-02 -1.77963539e-03 9.98963479e-01 1.50457668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.56509989299997 meters 0.016893095313087157 Centerline is valid? [True, True] Translation: X:362.33, Y:26.19, Z:15.05 [[ 9.91505931e-01 -1.21843898e-01 -4.54978302e-02 3.62329932e+02] [ 1.21796043e-01 9.92547748e-01 -3.83288332e-03 2.61923913e+01] [ 4.56257824e-02 -1.74112913e-03 9.98957084e-01 1.50481239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.62509989299997 meters 0.016793197554308248 Centerline is valid? [True, True] Translation: X:362.39, Y:26.20, Z:15.05 [[ 9.91968605e-01 -1.18009347e-01 -4.55201170e-02 3.62389309e+02] [ 1.17957419e-01 9.93011250e-01 -3.83463380e-03 2.61980104e+01] [ 4.56545109e-02 -1.56559916e-03 9.98956062e-01 1.50510659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.685099893 meters 0.015124135904596471 Centerline is valid? [True, True] Translation: X:362.45, Y:26.21, Z:15.05 [[ 9.92402205e-01 -1.14248186e-01 -4.56641689e-02 3.62448821e+02] [ 1.14192015e-01 9.93451255e-01 -3.84538427e-03 2.62065951e+01] [ 4.58044541e-02 -1.39831563e-03 9.98949447e-01 1.50533215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.745099893 meters 0.01281829854958055 Centerline is valid? [True, True] Translation: X:362.51, Y:26.22, Z:15.06 [[ 9.93221443e-01 -1.06574832e-01 -4.64001157e-02 3.62508047e+02] [ 1.06508426e-01 9.94304119e-01 -3.90821838e-03 2.62183855e+01] [ 4.65523439e-02 -1.06027701e-03 9.98915289e-01 1.50552264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.805099893 meters 0.011283811500341181 Centerline is valid? [True, True] Translation: X:362.57, Y:26.23, Z:15.06 [[ 9.93816313e-01 -1.00938492e-01 -4.62661630e-02 3.62567067e+02] [ 1.00866321e-01 9.94892352e-01 -3.89785277e-03 2.62286934e+01] [ 4.64232951e-02 -7.92947963e-04 9.98921543e-01 1.50576020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.865099893 meters 0.009839211336503347 Centerline is valid? [True, True] Translation: X:362.63, Y:26.24, Z:15.06 [[ 9.94591862e-01 -9.28445781e-02 -4.65500962e-02 3.62625415e+02] [ 9.27625733e-02 9.95680527e-01 -3.92347079e-03 2.62399653e+01] [ 4.67132973e-02 -4.15854585e-04 9.98908252e-01 1.50595879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.925099893 meters 0.009127775686790122 Centerline is valid? [True, True] Translation: X:362.68, Y:26.25, Z:15.06 [[ 9.95237900e-01 -8.63875789e-02 -4.51520636e-02 3.62683574e+02] [ 8.63036779e-02 9.96261600e-01 -3.80793936e-03 2.62500938e+01] [ 4.53122258e-02 -1.06983583e-04 9.98972868e-01 1.50630616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.985099893 meters 0.009122942445822584 Centerline is valid? [True, True] Translation: X:362.74, Y:26.26, Z:15.07 [[ 9.95456124e-01 -8.38713174e-02 -4.50855472e-02 3.62742007e+02] [ 8.37845563e-02 9.96476594e-01 -3.81397051e-03 2.62563220e+01] [ 4.52465752e-02 1.91677362e-05 9.98975849e-01 1.50657465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.045099893 meters 0.00904880458808979 Centerline is valid? [True, True] Translation: X:362.80, Y:26.26, Z:15.07 [[ 9.95472925e-01 -8.39649192e-02 -4.45370453e-02 3.62801034e+02] [ 8.38798453e-02 9.96468711e-01 -3.77887363e-03 2.62588980e+01] [ 4.46970650e-02 2.60059065e-05 9.99000586e-01 1.50678515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.105099893 meters 0.009059585888412559 Centerline is valid? [True, True] Translation: X:362.86, Y:26.26, Z:15.07 [[ 9.95283070e-01 -8.62182753e-02 -4.44749241e-02 3.62859277e+02] [ 8.61351936e-02 9.96276269e-01 -3.78464299e-03 2.62601103e+01] [ 4.46356168e-02 -6.40651025e-05 9.99003332e-01 1.50696657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.165099893 meters 0.009313951478567216 Centerline is valid? [True, True] Translation: X:362.92, Y:26.26, Z:15.07 [[ 9.94709071e-01 -9.19878970e-02 -4.57393781e-02 3.62917859e+02] [ 9.19059189e-02 9.95760071e-01 -3.89650153e-03 2.62593578e+01] [ 4.59038774e-02 -3.27834158e-04 9.98945808e-01 1.50714743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.225099893 meters 0.010779887958933967 Centerline is valid? [True, True] Translation: X:362.98, Y:26.26, Z:15.07 [[ 9.93914884e-01 -1.00418918e-01 -4.52685731e-02 3.62977741e+02] [ 1.00347173e-01 9.94944995e-01 -3.86031015e-03 2.62556437e+01] [ 4.54273884e-02 -7.05753614e-04 9.98967394e-01 1.50733840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.285099893 meters 0.01311867809445316 Centerline is valid? [True, True] Translation: X:363.04, Y:26.25, Z:15.08 [[ 9.93199845e-01 -1.07563716e-01 -4.45434104e-02 3.63036912e+02] [ 1.07501352e-01 9.94197676e-01 -3.80011283e-03 2.62531714e+01] [ 4.46937093e-02 -1.01420536e-03 9.99000222e-01 1.50760361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34509989299994 meters 0.016638664265047818 Centerline is valid? [True, True] Translation: X:363.10, Y:26.25, Z:15.08 [[ 9.91956009e-01 -1.18494270e-01 -4.45239664e-02 3.63098236e+02] [ 1.18442842e-01 9.92953598e-01 -3.80070425e-03 2.62497408e+01] [ 4.46605943e-02 -1.50341372e-03 9.99001087e-01 1.50777014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.40509989299994 meters 0.02103537915667859 Centerline is valid? [True, True] Translation: X:363.16, Y:26.25, Z:15.08 [[ 9.90505411e-01 -1.30338378e-01 -4.37142721e-02 3.63159021e+02] [ 1.30300295e-01 9.91467553e-01 -3.73164435e-03 2.62456309e+01] [ 4.38276589e-02 -1.99976862e-03 9.99037105e-01 1.50794400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.46509989299994 meters 0.02497301957164138 Centerline is valid? [True, True] Translation: X:363.22, Y:26.24, Z:15.08 [[ 9.89545810e-01 -1.37471055e-01 -4.35981604e-02 3.63220189e+02] [ 1.37440035e-01 9.90503094e-01 -3.72252212e-03 2.62437781e+01] [ 4.36958518e-02 -2.30852652e-03 9.99042213e-01 1.50812709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.52509989299995 meters 0.028291289892188883 Centerline is valid? [True, True] Translation: X:363.28, Y:26.25, Z:15.08 [[ 9.88463580e-01 -1.44936062e-01 -4.39691742e-02 3.63280088e+02] [ 1.44911862e-01 9.89437445e-01 -3.75418448e-03 2.62451174e+01] [ 4.40488641e-02 -2.66078028e-03 9.99025834e-01 1.50838332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.58509989299995 meters 0.031154665645832715 Centerline is valid? [True, True] Translation: X:363.34, Y:26.25, Z:15.09 [[ 9.88199400e-01 -1.46805408e-01 -4.37049055e-02 3.63338007e+02] [ 1.46783287e-01 9.89161633e-01 -3.73232823e-03 2.62478194e+01] [ 4.37791417e-02 -2.72686516e-03 9.99037512e-01 1.50867445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.64509989299995 meters 0.03086529253683141 Centerline is valid? [True, True] Translation: X:363.40, Y:26.26, Z:15.09 [[ 9.88350246e-01 -1.45612016e-01 -4.42824046e-02 3.63396623e+02] [ 1.45587958e-01 9.89338071e-01 -3.78519703e-03 2.62556529e+01] [ 4.43614389e-02 -2.70588443e-03 9.99011882e-01 1.50886251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.70509989299995 meters 0.03033128386913654 Centerline is valid? [True, True] Translation: X:363.46, Y:26.27, Z:15.09 [[ 9.88801177e-01 -1.41667179e-01 -4.69323295e-02 3.63455052e+02] [ 1.41635252e-01 9.89910743e-01 -4.02192864e-03 2.62674814e+01] [ 4.70285924e-02 -2.67038456e-03 9.98889974e-01 1.50886751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.76509989299996 meters 0.02187181189733028 Centerline is valid? [True, True] Translation: X:363.51, Y:26.29, Z:15.09 [[ 9.89232977e-01 -1.38158035e-01 -4.82749963e-02 3.63514389e+02] [ 1.38120046e-01 9.90406851e-01 -4.13795111e-03 2.62883123e+01] [ 4.83835782e-02 -2.57434702e-03 9.98825511e-01 1.50911910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.82509989299996 meters 0.020805898336467933 Centerline is valid? [True, True] Translation: X:363.57, Y:26.30, Z:15.09 [[ 9.89865844e-01 -1.33474917e-01 -4.84773839e-02 3.63574641e+02] [ 1.33431051e-01 9.91049391e-01 -4.15442072e-03 2.63018877e+01] [ 4.85979928e-02 -2.35606910e-03 9.98815641e-01 1.50937019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.88509989299996 meters 0.02307474635130305 Centerline is valid? [True, True] Translation: X:363.63, Y:26.31, Z:15.10 [[ 9.90102502e-01 -1.31754496e-01 -4.83506838e-02 3.63633776e+02] [ 1.31708835e-01 9.91279788e-01 -4.14309879e-03 2.63062968e+01] [ 4.84749275e-02 -2.26611977e-03 9.98821829e-01 1.50960332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.94509989299996 meters 0.017341302632212206 Centerline is valid? [True, True] Translation: X:363.69, Y:26.33, Z:15.10 [[ 9.90943480e-01 -1.25257660e-01 -4.83894409e-02 3.63692331e+02] [ 1.25204157e-01 9.92122331e-01 -4.14715913e-03 2.63272919e+01] [ 4.85277084e-02 -1.94895887e-03 9.98819935e-01 1.50990804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.00509989299997 meters 0.01585626656334443 Centerline is valid? [True, True] Translation: X:363.75, Y:26.34, Z:15.10 [[ 9.91786193e-01 -1.18694496e-01 -4.76630253e-02 3.63751087e+02] [ 1.18635022e-01 9.92929527e-01 -4.08478412e-03 2.63399985e+01] [ 4.78108666e-02 -1.60327156e-03 9.98855120e-01 1.51020749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.06509989299997 meters 0.012014408384690665 Centerline is valid? [True, True] Translation: X:363.81, Y:26.36, Z:15.11 [[ 9.93180375e-01 -1.06956540e-01 -4.64008687e-02 3.63810424e+02] [ 1.06887355e-01 9.94263184e-01 -3.97678494e-03 2.63587450e+01] [ 4.65600186e-02 -1.01000137e-03 9.98914984e-01 1.51052542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.12509989299997 meters 0.01041518716036849 Centerline is valid? [True, True] Translation: X:363.87, Y:26.37, Z:15.11 [[ 9.93870659e-01 -1.00409103e-01 -4.62506847e-02 3.63870174e+02] [ 1.00333277e-01 9.94945989e-01 -3.96392579e-03 2.63716068e+01] [ 4.64149475e-02 -7.00853219e-04 9.98922000e-01 1.51081440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.185099893 meters 0.009643373174941287 Centerline is valid? [True, True] Translation: X:363.93, Y:26.38, Z:15.11 [[ 9.94382782e-01 -9.46982117e-02 -4.72771830e-02 3.63929319e+02] [ 9.46125278e-02 9.95505928e-01 -4.05190207e-03 2.63832832e+01] [ 4.74484238e-02 -4.43872137e-04 9.98873591e-01 1.51096469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.245099893 meters 0.009486496168694823 Centerline is valid? [True, True] Translation: X:363.99, Y:26.39, Z:15.11 [[ 9.94344086e-01 -9.49692275e-02 -4.75466563e-02 3.63989626e+02] [ 9.48828732e-02 9.95480103e-01 -4.07499734e-03 2.63901658e+01] [ 4.77187496e-02 -4.59413852e-04 9.98860706e-01 1.51124475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.305099893 meters 0.010185161538275485 Centerline is valid? [True, True] Translation: X:364.05, Y:26.39, Z:15.11 [[ 9.93939989e-01 -9.89684833e-02 -4.78386712e-02 3.64050359e+02] [ 9.88856916e-02 9.95090353e-01 -4.10002455e-03 2.63942929e+01] [ 4.80095734e-02 -6.55381733e-04 9.98846661e-01 1.51149100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.365099893 meters 0.011553313518729054 Centerline is valid? [True, True] Translation: X:364.11, Y:26.40, Z:15.12 [[ 9.93364276e-01 -1.04571041e-01 -4.78781074e-02 3.64110893e+02] [ 1.04494611e-01 9.94516988e-01 -4.10340444e-03 2.63967008e+01] [ 4.80446884e-02 -9.26828813e-04 9.98844757e-01 1.51175585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.425099893 meters 0.013834335330878009 Centerline is valid? [True, True] Translation: X:364.17, Y:26.40, Z:15.12 [[ 9.92931595e-01 -1.08524610e-01 -4.80547356e-02 3.64171581e+02] [ 1.08452251e-01 9.94093129e-01 -4.11827595e-03 2.63979145e+01] [ 4.82178168e-02 -1.12247793e-03 9.98836214e-01 1.51197037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.485099893 meters 0.014220935223324124 Centerline is valid? [True, True] Translation: X:364.23, Y:26.40, Z:15.12 [[ 9.92156285e-01 -1.15125961e-01 -4.87023539e-02 3.64232135e+02] [ 1.15059670e-01 9.93349822e-01 -4.17182975e-03 2.64028528e+01] [ 4.88587605e-02 -1.46456969e-03 9.98804624e-01 1.51224220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.545099893 meters 0.017653653237812914 Centerline is valid? [True, True] Translation: X:364.29, Y:26.40, Z:15.12 [[ 9.91315401e-01 -1.22097387e-01 -4.88467376e-02 3.64291567e+02] [ 1.22039178e-01 9.92516467e-01 -4.18350238e-03 2.64029910e+01] [ 4.89919862e-02 -1.81404535e-03 9.98797524e-01 1.51239790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.605099893 meters 0.01885816660298648 Centerline is valid? [True, True] Translation: X:364.35, Y:26.41, Z:15.13 [[ 9.90878620e-01 -1.25651511e-01 -4.86955733e-02 3.64352430e+02] [ 1.25597926e-01 9.92072459e-01 -4.17090627e-03 2.64067006e+01] [ 4.88336178e-02 -1.98320114e-03 9.98804958e-01 1.51265598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.665099893 meters 0.01983245194871409 Centerline is valid? [True, True] Translation: X:364.41, Y:26.41, Z:15.13 [[ 9.90386136e-01 -1.29555879e-01 -4.84827384e-02 3.64413618e+02] [ 1.29507474e-01 9.91569754e-01 -4.15167922e-03 2.64126150e+01] [ 4.86118915e-02 -2.16711142e-03 9.98815392e-01 1.51297485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.725099893 meters 0.020944213451756958 Centerline is valid? [True, True] Translation: X:364.48, Y:26.42, Z:15.13 [[ 9.90154929e-01 -1.31348272e-01 -4.83823205e-02 3.64475857e+02] [ 1.31302297e-01 9.91333727e-01 -4.14107248e-03 2.64173090e+01] [ 4.85069488e-02 -2.25240651e-03 9.98820305e-01 1.51320553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.785099893 meters 0.021647002088581634 Centerline is valid? [True, True] Translation: X:364.54, Y:26.42, Z:15.13 [[ 9.89817754e-01 -1.33830083e-01 -4.84801178e-02 3.64536276e+02] [ 1.33787056e-01 9.91001430e-01 -4.14603079e-03 2.64232864e+01] [ 4.85987297e-02 -2.38219736e-03 9.98815543e-01 1.51336958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.84509989299994 meters 0.02287897280218317 Centerline is valid? [True, True] Translation: X:364.60, Y:26.43, Z:15.14 [[ 9.89588564e-01 -1.35167842e-01 -4.94381308e-02 3.64598241e+02] [ 1.35124901e-01 9.90819564e-01 -4.22517872e-03 2.64297918e+01] [ 4.95553755e-02 -2.49913400e-03 9.98768251e-01 1.51356510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.90509989299994 meters 0.022714447927464514 Centerline is valid? [True, True] Translation: X:364.66, Y:26.44, Z:15.14 [[ 9.89441730e-01 -1.35972023e-01 -5.01664402e-02 3.64659563e+02] [ 1.35929019e-01 9.90709317e-01 -4.28387241e-03 2.64368616e+01] [ 5.02828465e-02 -2.58043286e-03 9.98731684e-01 1.51374597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.96509989299994 meters 0.022985560403366218 Centerline is valid? [True, True] Translation: X:364.72, Y:26.44, Z:15.14 [[ 9.89241907e-01 -1.36933325e-01 -5.14753683e-02 3.64720914e+02] [ 1.36889497e-01 9.90576584e-01 -4.39274716e-03 2.64438666e+01] [ 5.15918080e-02 -2.70094770e-03 9.98664603e-01 1.51388138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.02509989299995 meters 0.023324613319049725 Centerline is valid? [True, True] Translation: X:364.78, Y:26.45, Z:15.14 [[ 9.89260970e-01 -1.36317473e-01 -5.27283537e-02 3.64782380e+02] [ 1.36270783e-01 9.90661423e-01 -4.49651667e-03 2.64503222e+01] [ 5.28488997e-02 -2.73710563e-03 9.98598769e-01 1.51407232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.08509989299995 meters 0.020272791923801603 Centerline is valid? [True, True] Translation: X:364.84, Y:26.46, Z:15.14 [[ 9.89776666e-01 -1.32320535e-01 -5.32299474e-02 3.64842206e+02] [ 1.32267366e-01 9.91203697e-01 -4.53600368e-03 2.64633072e+01] [ 5.33619271e-02 -2.55095434e-03 9.98571979e-01 1.51439045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.14509989299995 meters 0.01881525140537975 Centerline is valid? [True, True] Translation: X:364.90, Y:26.47, Z:15.15 [[ 9.90468715e-01 -1.27479268e-01 -5.21609188e-02 3.64902532e+02] [ 1.27421561e-01 9.91838695e-01 -4.44395420e-03 2.64729349e+01] [ 5.23017297e-02 -2.24482812e-03 9.98628805e-01 1.51474364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.20509989299995 meters 0.017275802765514367 Centerline is valid? [True, True] Translation: X:364.96, Y:26.48, Z:15.15 [[ 9.91700758e-01 -1.18434350e-01 -5.00291152e-02 3.64961226e+02] [ 1.18369792e-01 9.92960437e-01 -4.26174700e-03 2.64843923e+01] [ 5.01816693e-02 -1.69555822e-03 9.98738667e-01 1.51512641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.26509989299996 meters 0.012955202669517786 Centerline is valid? [True, True] Translation: X:365.02, Y:26.50, Z:15.15 [[ 9.92842633e-01 -1.08938120e-01 -4.89488702e-02 3.65020693e+02] [ 1.08864744e-01 9.94047823e-01 -4.17049699e-03 2.65000087e+01] [ 4.91118439e-02 -1.18815903e-03 9.98792579e-01 1.51545648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.32509989299996 meters 0.011468332743567474 Centerline is valid? [True, True] Translation: X:365.08, Y:26.51, Z:15.16 [[ 9.93483331e-01 -1.02959554e-01 -4.88896804e-02 3.65081533e+02] [ 1.02879139e-01 9.94685144e-01 -4.16507477e-03 2.65103420e+01] [ 4.90586730e-02 -8.91795871e-04 9.98795500e-01 1.51572020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.38509989299996 meters 0.01011087574763797 Centerline is valid? [True, True] Translation: X:365.14, Y:26.52, Z:15.16 [[ 9.94190477e-01 -9.55956875e-02 -4.94647404e-02 3.65142094e+02] [ 9.55043473e-02 9.95420101e-01 -4.21221856e-03 2.65208337e+01] [ 4.96408668e-02 -5.36350167e-04 9.98766988e-01 1.51595063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.44509989299996 meters 0.009799382163038379 Centerline is valid? [True, True] Translation: X:365.20, Y:26.53, Z:15.16 [[ 9.94497836e-01 -9.19129284e-02 -5.02600062e-02 3.65203379e+02] [ 9.18140203e-02 9.95766983e-01 -4.27805204e-03 2.65286607e+01] [ 5.04404630e-02 -3.60059728e-04 9.98727005e-01 1.51611446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.50509989299997 meters 0.009696827122238157 Centerline is valid? [True, True] Translation: X:365.26, Y:26.54, Z:15.16 [[ 9.94776443e-01 -8.83295381e-02 -5.11636607e-02 3.65264014e+02] [ 8.82223998e-02 9.96091291e-01 -4.35306097e-03 2.65359721e+01] [ 5.13481806e-02 -1.83458418e-04 9.98680795e-01 1.51635761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.56509989299997 meters 0.009792488051230326 Centerline is valid? [True, True] Translation: X:365.32, Y:26.54, Z:15.17 [[ 9.94788514e-01 -8.85878539e-02 -5.04777603e-02 3.65323742e+02] [ 8.84839724e-02 9.96068348e-01 -4.29333468e-03 2.65397734e+01] [ 5.06596366e-02 -1.95512724e-04 9.98715957e-01 1.51662070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.62509989299997 meters 0.010023941901375209 Centerline is valid? [True, True] Translation: X:365.38, Y:26.54, Z:15.17 [[ 9.94600398e-01 -9.13119653e-02 -4.93170765e-02 3.65383748e+02] [ 9.12161177e-02 9.95822283e-01 -4.19535700e-03 2.65421372e+01] [ 4.94941300e-02 -3.25808517e-04 9.98774361e-01 1.51701702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.685099893 meters 0.01096833187273426 Centerline is valid? [True, True] Translation: X:365.45, Y:26.54, Z:15.17 [[ 9.93968060e-01 -9.84521768e-02 -4.83183596e-02 3.65445621e+02] [ 9.83686101e-02 9.95141559e-01 -4.11015922e-03 2.65402871e+01] [ 4.84882618e-02 -6.67642889e-04 9.98823529e-01 1.51737013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.745099893 meters 0.012631815082753952 Centerline is valid? [True, True] Translation: X:365.51, Y:26.54, Z:15.18 [[ 9.93372418e-01 -1.04658603e-01 -4.75164770e-02 3.65506100e+02] [ 1.04584961e-01 9.94507749e-01 -4.04018775e-03 2.65386858e+01] [ 4.76783450e-02 -9.56097821e-04 9.98862283e-01 1.51760768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.805099893 meters 0.01467646827001364 Centerline is valid? [True, True] Translation: X:365.57, Y:26.54, Z:15.18 [[ 9.92597550e-01 -1.11677309e-01 -4.77313583e-02 3.65567724e+02] [ 1.11611197e-01 9.93743672e-01 -4.05641475e-03 2.65365688e+01] [ 4.78857448e-02 -1.30096672e-03 9.98851972e-01 1.51781798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.865099893 meters 0.0158032200313454 Centerline is valid? [True, True] Translation: X:365.63, Y:26.54, Z:15.18 [[ 9.91864824e-01 -1.18061862e-01 -4.75979826e-02 3.65628595e+02] [ 1.18003532e-01 9.93004943e-01 -4.04346085e-03 2.65359537e+01] [ 4.77424106e-02 -1.60616348e-03 9.98858390e-01 1.51797175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.925099893 meters 0.01765735624703575 Centerline is valid? [True, True] Translation: X:365.69, Y:26.53, Z:15.18 [[ 9.91043254e-01 -1.25011826e-01 -4.69607572e-02 3.65689879e+02] [ 1.24962864e-01 9.92153403e-01 -3.98853590e-03 2.65336914e+01] [ 4.70908892e-02 -1.91553914e-03 9.98888772e-01 1.51817231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.985099893 meters 0.018340978248035503 Centerline is valid? [True, True] Translation: X:365.75, Y:26.54, Z:15.18 [[ 9.90871564e-01 -1.26679446e-01 -4.61070695e-02 3.65751567e+02] [ 1.26634068e-01 9.91941773e-01 -3.91559283e-03 2.65358362e+01] [ 4.62315534e-02 -1.95887621e-03 9.98928829e-01 1.51845622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.045099893 meters 0.02011201655863954 Centerline is valid? [True, True] Translation: X:365.81, Y:26.54, Z:15.19 [[ 9.91096046e-01 -1.25395031e-01 -4.47740274e-02 3.65812822e+02] [ 1.25351042e-01 9.92105174e-01 -3.79991356e-03 2.65356331e+01] [ 4.48970346e-02 -1.84639168e-03 9.98989913e-01 1.51866335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.105099893 meters 0.018180958080808527 Centerline is valid? [True, True] Translation: X:365.87, Y:26.54, Z:15.19 [[ 9.91526747e-01 -1.22393457e-01 -4.35264488e-02 3.65874035e+02] [ 1.22349100e-01 9.92480261e-01 -3.69166491e-03 2.65427958e+01] [ 4.36509769e-02 -1.66503732e-03 9.99045454e-01 1.51896576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.165099893 meters 0.017242575039355737 Centerline is valid? [True, True] Translation: X:365.93, Y:26.55, Z:15.19 [[ 9.92454425e-01 -1.15285983e-01 -4.17535186e-02 3.65933576e+02] [ 1.15238974e-01 9.93331492e-01 -3.53905869e-03 2.65480575e+01] [ 4.18830888e-02 -1.29927818e-03 9.99121674e-01 1.51923908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.225099893 meters 0.014951630814563266 Centerline is valid? [True, True] Translation: X:365.99, Y:26.56, Z:15.19 [[ 9.92976193e-01 -1.10873871e-01 -4.12948467e-02 3.65994775e+02] [ 1.10824064e-01 9.93833876e-01 -3.50048252e-03 2.65559928e+01] [ 4.14283297e-02 -1.10056694e-03 9.99140872e-01 1.51944832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.28509989299994 meters 0.01392087399120259 Centerline is valid? [True, True] Translation: X:366.06, Y:26.56, Z:15.20 [[ 9.93377274e-01 -1.06644733e-01 -4.27608851e-02 3.66056137e+02] [ 1.06587516e-01 9.94296726e-01 -3.62231755e-03 2.65611328e+01] [ 4.29033092e-02 -9.59448588e-04 9.99078768e-01 1.51950875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34509989299994 meters 0.014543424941954645 Centerline is valid? [True, True] Translation: X:366.12, Y:26.56, Z:15.20 [[ 9.93359004e-01 -1.05987475e-01 -4.47721316e-02 3.66117588e+02] [ 1.05924161e-01 9.94366985e-01 -3.79091765e-03 2.65626807e+01] [ 4.49217193e-02 -9.76708287e-04 9.98990033e-01 1.51959857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.40509989299994 meters 0.01367764454818806 Centerline is valid? [True, True] Translation: X:366.18, Y:26.57, Z:15.20 [[ 9.93283569e-01 -1.06525848e-01 -4.51663147e-02 3.66178619e+02] [ 1.06462079e-01 9.94309418e-01 -3.82187805e-03 2.65674619e+01] [ 4.53164209e-02 -1.01229109e-03 9.98972170e-01 1.51980571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.46509989299994 meters 0.015456506946054582 Centerline is valid? [True, True] Translation: X:366.24, Y:26.57, Z:15.20 [[ 9.93098614e-01 -1.08532273e-01 -4.44509737e-02 3.66239063e+02] [ 1.08472590e-01 9.94092331e-01 -3.75968907e-03 2.65668654e+01] [ 4.45964197e-02 -1.08797023e-03 9.99004492e-01 1.52008900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.52509989299995 meters 0.015389796790631405 Centerline is valid? [True, True] Translation: X:366.30, Y:26.57, Z:15.21 [[ 9.92920292e-01 -1.11518515e-01 -4.09012721e-02 3.66300195e+02] [ 1.11470592e-01 9.93761718e-01 -3.45754439e-03 2.65701024e+01] [ 4.10316987e-02 -1.12622303e-03 9.99157211e-01 1.52071349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.58509989299995 meters 0.01650297067194288 Centerline is valid? [True, True] Translation: X:366.36, Y:26.57, Z:15.21 [[ 9.92390302e-01 -1.14985802e-01 -4.40426347e-02 3.66361335e+02] [ 1.14933718e-01 9.93366192e-01 -3.72140591e-03 2.65716590e+01] [ 4.41783732e-02 -1.36889664e-03 9.99022721e-01 1.52069797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.64509989299995 meters 0.016991904898904467 Centerline is valid? [True, True] Translation: X:366.42, Y:26.58, Z:15.21 [[ 9.91983590e-01 -1.18941848e-01 -4.26777811e-02 3.66422004e+02] [ 1.18896629e-01 9.92900092e-01 -3.60532694e-03 2.65755736e+01] [ 4.28035970e-02 -1.49781913e-03 9.99082383e-01 1.52110840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.70509989299995 meters 0.019478209103444177 Centerline is valid? [True, True] Translation: X:366.48, Y:26.58, Z:15.21 [[ 9.91327510e-01 -1.24743636e-01 -4.13375531e-02 3.66482729e+02] [ 1.24706273e-01 9.92187561e-01 -3.49136125e-03 2.65754553e+01] [ 4.14501311e-02 -1.69396974e-03 9.99139138e-01 1.52145105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.76509989299996 meters 0.025578178609712496 Centerline is valid? [True, True] Translation: X:366.54, Y:26.57, Z:15.22 [[ 9.89965012e-01 -1.34474556e-01 -4.34265965e-02 3.66542791e+02] [ 1.34442684e-01 9.90914587e-01 -3.66703015e-03 2.65697490e+01] [ 4.35251702e-02 -2.20815663e-03 9.99049890e-01 1.52152617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.82509989299996 meters 0.030586603789219905 Centerline is valid? [True, True] Translation: X:366.60, Y:26.57, Z:15.22 [[ 9.88617283e-01 -1.43398985e-01 -4.55258050e-02 3.66604144e+02] [ 1.43373325e-01 9.89661206e-01 -3.84540523e-03 2.65680380e+01] [ 4.56065503e-02 -2.72555198e-03 9.98955762e-01 1.52153550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.88509989299996 meters 0.028659157279484197 Centerline is valid? [True, True] Translation: X:366.66, Y:26.58, Z:15.22 [[ 9.87987574e-01 -1.47485317e-01 -4.61371327e-02 3.66664548e+02] [ 1.47463404e-01 9.89059836e-01 -3.89693557e-03 2.65761243e+01] [ 4.62071257e-02 -2.95341470e-03 9.98927514e-01 1.52179100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.94509989299996 meters 0.02894091525669924 Centerline is valid? [True, True] Translation: X:366.73, Y:26.58, Z:15.22 [[ 9.87674174e-01 -1.49358380e-01 -4.68166726e-02 3.66725019e+02] [ 1.49337924e-01 9.88778312e-01 -3.95407065e-03 2.65811302e+01] [ 4.68818841e-02 -3.08617122e-03 9.98895672e-01 1.52196081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.00509989299997 meters 0.030072909425080393 Centerline is valid? [True, True] Translation: X:366.79, Y:26.59, Z:15.22 [[ 9.87678057e-01 -1.49405827e-01 -4.65827779e-02 3.66787224e+02] [ 1.49385679e-01 9.88771181e-01 -3.93319800e-03 2.65869922e+01] [ 4.66473511e-02 -3.07406655e-03 9.98906690e-01 1.52230114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.06509989299997 meters 0.03138441607420818 Centerline is valid? [True, True] Translation: X:366.85, Y:26.59, Z:15.23 [[ 9.88258938e-01 -1.45549654e-01 -4.64711808e-02 3.66846682e+02] [ 1.45525497e-01 9.89346733e-01 -3.92074986e-03 2.65944201e+01] [ 4.65467747e-02 -2.88802558e-03 9.98911937e-01 1.52260553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.12509989299997 meters 0.02769034289585339 Centerline is valid? [True, True] Translation: X:366.91, Y:26.61, Z:15.23 [[ 9.88835577e-01 -1.41419506e-01 -4.69544991e-02 3.66906879e+02] [ 1.41390191e-01 9.89946018e-01 -3.96183645e-03 2.66078872e+01] [ 4.70427003e-02 -2.72130075e-03 9.98889172e-01 1.52284916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.185099893 meters 0.022857072559660244 Centerline is valid? [True, True] Translation: X:366.97, Y:26.63, Z:15.23 [[ 9.89914315e-01 -1.33868574e-01 -4.63557252e-02 3.66965772e+02] [ 1.33831766e-01 9.90996349e-01 -3.91079200e-03 2.66256543e+01] [ 4.64618865e-02 -2.33251957e-03 9.98917340e-01 1.52315264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.245099893 meters 0.023504351650046933 Centerline is valid? [True, True] Translation: X:367.03, Y:26.64, Z:15.24 [[ 9.91020736e-01 -1.25766928e-01 -4.53936136e-02 3.67025133e+02] [ 1.25723142e-01 9.92057975e-01 -3.82968676e-03 2.66356895e+01] [ 4.55147443e-02 -1.91172873e-03 9.98961838e-01 1.52351704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.305099893 meters 0.01879482918807704 Centerline is valid? [True, True] Translation: X:367.08, Y:26.65, Z:15.24 [[ 9.91678923e-01 -1.20239970e-01 -4.59919846e-02 3.67084583e+02] [ 1.20189088e-01 9.92743435e-01 -3.88014231e-03 2.66516783e+01] [ 4.61247890e-02 -1.67987932e-03 9.98934273e-01 1.52382544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.365099893 meters 0.015808172884452562 Centerline is valid? [True, True] Translation: X:367.14, Y:26.67, Z:15.24 [[ 9.92656034e-01 -1.11236240e-01 -4.75446911e-02 3.67144508e+02] [ 1.11171582e-01 9.93793136e-01 -4.01033195e-03 2.66670483e+01] [ 4.76956819e-02 -1.30473831e-03 9.98861061e-01 1.52402668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.425099893 meters 0.013091553613526 Centerline is valid? [True, True] Translation: X:367.20, Y:26.68, Z:15.24 [[ 9.93995413e-01 -9.82083716e-02 -4.82517755e-02 3.67204092e+02] [ 9.81264301e-02 9.95165635e-01 -4.06979898e-03 2.66842892e+01] [ 4.84181971e-02 -6.89412959e-04 9.98826913e-01 1.52426626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.485099893 meters 0.012203105516149101 Centerline is valid? [True, True] Translation: X:367.26, Y:26.70, Z:15.25 [[ 9.94876954e-01 -8.79672415e-02 -4.98157645e-02 3.67263643e+02] [ 8.78670790e-02 9.96123349e-01 -4.20130566e-03 2.66983494e+01] [ 4.99922234e-02 -1.97383538e-04 9.98749588e-01 1.52455283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.545099893 meters 0.012169962245727715 Centerline is valid? [True, True] Translation: X:367.32, Y:26.70, Z:15.25 [[ 9.94869593e-01 -8.79295110e-02 -5.00289254e-02 3.67323934e+02] [ 8.78284796e-02 9.96126680e-01 -4.21852044e-03 2.67037994e+01] [ 5.02060798e-02 -1.97086734e-04 9.98738860e-01 1.52490133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.605099893 meters 0.012366519992439321 Centerline is valid? [True, True] Translation: X:367.38, Y:26.71, Z:15.25 [[ 9.94718767e-01 -8.93710202e-02 -5.04717208e-02 3.67382858e+02] [ 8.92700375e-02 9.95998367e-01 -4.25601644e-03 2.67072730e+01] [ 5.06501160e-02 -2.72072984e-04 9.98716422e-01 1.52508606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.665099893 meters 0.012561657802639757 Centerline is valid? [True, True] Translation: X:367.44, Y:26.71, Z:15.25 [[ 9.94477717e-01 -9.21010295e-02 -5.03137143e-02 3.67442967e+02] [ 9.20041302e-02 9.95749584e-01 -4.24346092e-03 2.67107005e+01] [ 5.04906872e-02 -4.09042195e-04 9.98724448e-01 1.52543391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.725099893 meters 0.012739126982486106 Centerline is valid? [True, True] Translation: X:367.50, Y:26.71, Z:15.26 [[ 9.94284779e-01 -9.39716943e-02 -5.06665380e-02 3.67503085e+02] [ 9.38758572e-02 9.95574740e-01 -4.27321809e-03 2.67143312e+01] [ 5.08438869e-02 -5.07568985e-04 9.98706484e-01 1.52573098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.78509989299994 meters 0.013792906167429567 Centerline is valid? [True, True] Translation: X:367.56, Y:26.71, Z:15.26 [[ 9.93593512e-01 -1.01158622e-01 -5.03871664e-02 3.67563883e+02] [ 1.01073066e-01 9.94869929e-01 -4.24965587e-03 2.67135682e+01] [ 5.05585660e-02 -8.70354898e-04 9.98720719e-01 1.52601153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.84509989299994 meters 0.015016255644573309 Centerline is valid? [True, True] Translation: X:367.63, Y:26.71, Z:15.26 [[ 9.92964663e-01 -1.06900807e-01 -5.09253859e-02 3.67625233e+02] [ 1.06820969e-01 9.94268996e-01 -4.29471751e-03 2.67141007e+01] [ 5.10926410e-02 -1.17539634e-03 9.98693226e-01 1.52628954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.90509989299994 meters 0.017089287155192756 Centerline is valid? [True, True] Translation: X:367.69, Y:26.71, Z:15.27 [[ 9.92278015e-01 -1.13001939e-01 -5.11361150e-02 3.67685907e+02] [ 1.12929619e-01 9.93593639e-01 -4.31064032e-03 2.67129518e+01] [ 5.12956293e-02 -1.49742836e-03 9.98682390e-01 1.52650071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.96509989299994 meters 0.01915343432981061 Centerline is valid? [True, True] Translation: X:367.75, Y:26.71, Z:15.27 [[ 9.91060618e-01 -1.22666783e-01 -5.24567651e-02 3.67746373e+02] [ 1.22604255e-01 9.92445795e-01 -4.42048998e-03 2.67121193e+01] [ 5.26027433e-02 -2.05044906e-03 9.98613412e-01 1.52679978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.02509989299995 meters 0.02410711432447419 Centerline is valid? [True, True] Translation: X:367.81, Y:26.71, Z:15.27 [[ 9.89820027e-01 -1.32044255e-01 -5.31096036e-02 3.67806528e+02] [ 1.31993611e-01 9.91240464e-01 -4.47542907e-03 2.67072068e+01] [ 5.32353428e-02 -2.58025906e-03 9.98578660e-01 1.52692388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.08509989299995 meters 0.025044448290864135 Centerline is valid? [True, True] Translation: X:367.87, Y:26.71, Z:15.27 [[ 9.89069475e-01 -1.37472444e-01 -5.33188536e-02 3.67867260e+02] [ 1.37429246e-01 9.90501395e-01 -4.49325823e-03 2.67100813e+01] [ 5.34300980e-02 -2.88342528e-03 9.98567429e-01 1.52721614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.14509989299995 meters 0.02999606663389644 Centerline is valid? [True, True] Translation: X:367.93, Y:26.71, Z:15.27 [[ 9.88186876e-01 -1.43465645e-01 -5.38916124e-02 3.67927176e+02] [ 1.43430446e-01 9.89649985e-01 -4.54040471e-03 2.67089643e+01] [ 5.39852254e-02 -3.24292963e-03 9.98536468e-01 1.52735822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.20509989299995 meters 0.03039118918785708 Centerline is valid? [True, True] Translation: X:367.99, Y:26.71, Z:15.28 [[ 9.87725398e-01 -1.46104349e-01 -5.52454201e-02 3.67987574e+02] [ 1.46071677e-01 9.89263077e-01 -4.65075271e-03 2.67145969e+01] [ 5.53317495e-02 -3.47612459e-03 9.98461974e-01 1.52753324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.26509989299996 meters 0.031163130271785668 Centerline is valid? [True, True] Translation: X:368.05, Y:26.72, Z:15.28 [[ 9.87305869e-01 -1.48400945e-01 -5.66063563e-02 3.68048548e+02] [ 1.48370472e-01 9.88920374e-01 -4.76414216e-03 2.67196720e+01] [ 5.66861822e-02 -3.69504628e-03 9.98385208e-01 1.52770812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.32509989299996 meters 0.03442760496783491 Centerline is valid? [True, True] Translation: X:368.11, Y:26.72, Z:15.28 [[ 9.87306193e-01 -1.48266949e-01 -5.69507878e-02 3.68108848e+02] [ 1.48235965e-01 9.88940412e-01 -4.79169322e-03 2.67228600e+01] [ 5.70313853e-02 -3.71128660e-03 9.98365488e-01 1.52787668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.38509989299996 meters 0.03043834515396057 Centerline is valid? [True, True] Translation: X:368.17, Y:26.74, Z:15.28 [[ 9.87596650e-01 -1.46169030e-01 -5.73364773e-02 3.68169844e+02] [ 1.46134200e-01 9.89253021e-01 -4.82256041e-03 2.67365244e+01] [ 5.74251923e-02 -3.61607570e-03 9.98343263e-01 1.52828348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.44509989299996 meters 0.0294511684259829 Centerline is valid? [True, True] Translation: X:368.23, Y:26.75, Z:15.29 [[ 9.88506148e-01 -1.39886524e-01 -5.73354682e-02 3.68228224e+02] [ 1.39841277e-01 9.90162199e-01 -4.82050717e-03 2.67475260e+01] [ 5.74457372e-02 -3.25276413e-03 9.98343331e-01 1.52850165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.50509989299997 meters 0.026291486459841716 Centerline is valid? [True, True] Translation: X:368.29, Y:26.76, Z:15.29 [[ 9.89680353e-01 -1.31546916e-01 -5.68173265e-02 3.68287392e+02] [ 1.31488725e-01 9.91306153e-01 -4.77776496e-03 2.67630646e+01] [ 5.69518656e-02 -2.74237770e-03 9.98373159e-01 1.52883785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.56509989299997 meters 0.023448310250460607 Centerline is valid? [True, True] Translation: X:368.35, Y:26.78, Z:15.29 [[ 9.90540606e-01 -1.25418773e-01 -5.56726091e-02 3.68347051e+02] [ 1.25353236e-01 9.92101128e-01 -4.68157387e-03 2.67766176e+01] [ 5.58200156e-02 -2.34145271e-03 9.98438102e-01 1.52928619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.62509989299997 meters 0.018436309553481498 Centerline is valid? [True, True] Translation: X:368.41, Y:26.80, Z:15.30 [[ 9.91688556e-01 -1.16405981e-01 -5.48037826e-02 3.68406587e+02] [ 1.16328738e-01 9.93200075e-01 -4.60826883e-03 2.67961249e+01] [ 5.49675510e-02 -1.80528743e-03 9.98486509e-01 1.52975703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.685099893 meters 0.016291388099621412 Centerline is valid? [True, True] Translation: X:368.47, Y:26.81, Z:15.30 [[ 9.92289062e-01 -1.11338667e-01 -5.44620826e-02 3.68466871e+02] [ 1.11254825e-01 9.93781366e-01 -4.57836001e-03 2.68082685e+01] [ 5.46331513e-02 -1.51611291e-03 9.98505343e-01 1.53009562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.745099893 meters 0.015274408363215562 Centerline is valid? [True, True] Translation: X:368.53, Y:26.82, Z:15.30 [[ 9.92792926e-01 -1.06623156e-01 -5.47147927e-02 3.68527777e+02] [ 1.06531504e-01 9.94298699e-01 -4.59733179e-03 2.68186477e+01] [ 5.48930293e-02 -1.26465066e-03 9.98491440e-01 1.53036247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.805099893 meters 0.014953979674118182 Centerline is valid? [True, True] Translation: X:368.59, Y:26.83, Z:15.31 [[ 9.93038383e-01 -1.03912681e-01 -5.54700268e-02 3.68589040e+02] [ 1.03814416e-01 9.94585779e-01 -4.65791202e-03 2.68260808e+01] [ 5.56537159e-02 -1.13310303e-03 9.98449488e-01 1.53051170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.865099893 meters 0.014160693256258189 Centerline is valid? [True, True] Translation: X:368.65, Y:26.84, Z:15.31 [[ 9.93437741e-01 -1.00024970e-01 -5.54658407e-02 3.68650117e+02] [ 9.99207886e-02 9.94984504e-01 -4.65535512e-03 2.68354218e+01] [ 5.56533038e-02 -9.17385068e-04 9.98449732e-01 1.53081551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.925099893 meters 0.01320093684325764 Centerline is valid? [True, True] Translation: X:368.71, Y:26.84, Z:15.31 [[ 9.93807722e-01 -9.70365976e-02 -5.41304947e-02 3.68711109e+02] [ 9.69330850e-02 9.95280543e-01 -4.54067939e-03 2.68438360e+01] [ 5.43156403e-02 -7.34473603e-04 9.98523546e-01 1.53129786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.985099893 meters 0.013108438836945319 Centerline is valid? [True, True] Translation: X:368.77, Y:26.85, Z:15.32 [[ 9.93920091e-01 -9.61977642e-02 -5.35615851e-02 3.68771814e+02] [ 9.60953030e-02 9.95362006e-01 -4.49104176e-03 2.68490363e+01] [ 5.37451950e-02 -6.83280120e-04 9.98554449e-01 1.53159842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.045099893 meters 0.0133159533540768 Centerline is valid? [True, True] Translation: X:368.83, Y:26.85, Z:15.32 [[ 9.93728936e-01 -9.83427286e-02 -5.32119382e-02 3.68833846e+02] [ 9.82447969e-02 9.95152287e-01 -4.45940988e-03 2.68525195e+01] [ 5.33925325e-02 -7.96351427e-04 9.98573284e-01 1.53181886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.105099893 meters 0.0145468075906842 Centerline is valid? [True, True] Translation: X:368.89, Y:26.85, Z:15.32 [[ 9.93125276e-01 -1.04176024e-01 -5.33811102e-02 3.68894896e+02] [ 1.04086056e-01 9.94558248e-01 -4.47033741e-03 2.68518142e+01] [ 5.35563254e-02 -1.11662413e-03 9.98564206e-01 1.53194551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.165099893 meters 0.016647700942648117 Centerline is valid? [True, True] Translation: X:368.96, Y:26.85, Z:15.32 [[ 9.92313224e-01 -1.12117061e-01 -5.23854005e-02 3.68956667e+02] [ 1.12041518e-01 9.93693848e-01 -4.38583878e-03 2.68492895e+01] [ 5.25467776e-02 -1.51721397e-03 9.98617311e-01 1.53226227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.225099893 meters 0.018105293830179628 Centerline is valid? [True, True] Translation: X:369.02, Y:26.85, Z:15.33 [[ 9.92014195e-01 -1.14960171e-01 -5.18844500e-02 3.69018112e+02] [ 1.14890078e-01 9.93368724e-01 -4.34139579e-03 2.68505827e+01] [ 5.20394776e-02 -1.65428224e-03 9.98643658e-01 1.53251420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.28509989299994 meters 0.021172450966085603 Centerline is valid? [True, True] Translation: X:369.08, Y:26.85, Z:15.33 [[ 9.91337082e-01 -1.20425906e-01 -5.24251026e-02 3.69078737e+02] [ 1.20362192e-01 9.92720372e-01 -4.38237045e-03 2.68471402e+01] [ 5.25712183e-02 -1.96559392e-03 9.98615243e-01 1.53253422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34509989299994 meters 0.019195541539798876 Centerline is valid? [True, True] Translation: X:369.14, Y:26.85, Z:15.33 [[ 9.91252674e-01 -1.21558885e-01 -5.13962362e-02 3.69140882e+02] [ 1.21499202e-01 9.92582234e-01 -4.29566494e-03 2.68535900e+01] [ 5.15371672e-02 -1.98651231e-03 9.98669101e-01 1.53294764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.40509989299994 meters 0.020600782934649127 Centerline is valid? [True, True] Translation: X:369.20, Y:26.86, Z:15.33 [[ 9.91485135e-01 -1.20153892e-01 -5.02022783e-02 3.69201842e+02] [ 1.20095359e-01 9.92753511e-01 -4.19175080e-03 2.68558101e+01] [ 5.03421432e-02 -1.87300201e-03 9.98730274e-01 1.53316274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.46509989299994 meters 0.017104187297665496 Centerline is valid? [True, True] Translation: X:369.26, Y:26.87, Z:15.33 [[ 9.92038556e-01 -1.15051276e-01 -5.12123760e-02 3.69261647e+02] [ 1.14983870e-01 9.93358180e-01 -4.27032588e-03 2.68662504e+01] [ 5.13635391e-02 -1.65226927e-03 9.98678655e-01 1.53341350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.52509989299995 meters 0.014887389587169536 Centerline is valid? [True, True] Translation: X:369.32, Y:26.88, Z:15.34 [[ 9.92906006e-01 -1.06727652e-01 -5.24106047e-02 3.69321721e+02] [ 1.06645476e-01 9.94287506e-01 -4.37004866e-03 2.68771088e+01] [ 5.25776144e-02 -1.25030634e-03 9.98616058e-01 1.53364515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.58509989299995 meters 0.014329173177262546 Centerline is valid? [True, True] Translation: X:369.38, Y:26.88, Z:15.34 [[ 9.93194138e-01 -1.03644441e-01 -5.31341157e-02 3.69383194e+02] [ 1.03555646e-01 9.94613801e-01 -4.42899987e-03 2.68839278e+01] [ 5.33069659e-02 -1.10348095e-03 9.98577563e-01 1.53390189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.64509989299995 meters 0.012261093378211135 Centerline is valid? [True, True] Translation: X:369.44, Y:26.90, Z:15.34 [[ 9.94070372e-01 -9.43389347e-02 -5.40764407e-02 3.69444289e+02] [ 9.42333553e-02 9.95539946e-01 -4.50457620e-03 2.68956088e+01] [ 5.42602138e-02 -6.17938715e-04 9.98526638e-01 1.53421745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.70509989299995 meters 0.01173544307539188 Centerline is valid? [True, True] Translation: X:369.50, Y:26.90, Z:15.35 [[ 9.94596237e-01 -8.88350024e-02 -5.37277207e-02 3.69504784e+02] [ 8.87228887e-02 9.96046305e-01 -4.47301134e-03 2.69038908e+01] [ 5.39126577e-02 -3.18038333e-04 9.98545604e-01 1.53454934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.76509989299996 meters 0.011653907383622349 Centerline is valid? [True, True] Translation: X:369.56, Y:26.91, Z:15.35 [[ 9.95112663e-01 -8.33334884e-02 -5.29746862e-02 3.69563405e+02] [ 8.32167330e-02 9.96521715e-01 -4.40976663e-03 2.69118801e+01] [ 5.31579064e-02 -2.01657042e-05 9.98586119e-01 1.53488980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.82509989299996 meters 0.011676884633563756 Centerline is valid? [True, True] Translation: X:369.62, Y:26.92, Z:15.35 [[ 9.95176490e-01 -8.23023718e-02 -5.33860742e-02 3.69622438e+02] [ 8.21822488e-02 9.96607404e-01 -4.44518801e-03 2.69170534e+01] [ 5.35708064e-02 3.63589678e-05 9.98564053e-01 1.53527688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.88509989299996 meters 0.011743718472798747 Centerline is valid? [True, True] Translation: X:369.68, Y:26.92, Z:15.36 [[ 9.94880891e-01 -8.58136518e-02 -5.33669294e-02 3.69681954e+02] [ 8.56985572e-02 9.96311194e-01 -4.44554060e-03 2.69181337e+01] [ 5.35515572e-02 -1.50685460e-04 9.98565074e-01 1.53557975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.94509989299996 meters 0.01198856510452581 Centerline is valid? [True, True] Translation: X:369.74, Y:26.92, Z:15.36 [[ 9.94520371e-01 -9.01240952e-02 -5.29799868e-02 3.69741438e+02] [ 9.00166723e-02 9.95930472e-01 -4.41522037e-03 2.69180168e+01] [ 5.31623010e-02 -3.78055504e-04 9.98585813e-01 1.53592531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.00509989299997 meters 0.012630082675832356 Centerline is valid? [True, True] Translation: X:369.80, Y:26.92, Z:15.36 [[ 9.93821492e-01 -9.74255434e-02 -5.31705252e-02 3.69802212e+02] [ 9.73276982e-02 9.95242519e-01 -4.43262274e-03 2.69158386e+01] [ 5.33494181e-02 -7.69729088e-04 9.98575609e-01 1.53631828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.06509989299997 meters 0.013904252794917598 Centerline is valid? [True, True] Translation: X:369.86, Y:26.91, Z:15.37 [[ 9.93220155e-01 -1.03126894e-01 -5.36522853e-02 3.69862391e+02] [ 1.03035572e-01 9.94667615e-01 -4.47278523e-03 2.69138062e+01] [ 5.38274551e-02 -1.08563346e-03 9.98549661e-01 1.53655276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.12509989299997 meters 0.014491910698371612 Centerline is valid? [True, True] Translation: X:369.92, Y:26.91, Z:15.37 [[ 9.92897163e-01 -1.05952376e-01 -5.41231781e-02 3.69923801e+02] [ 1.05863659e-01 9.94370420e-01 -4.51159505e-03 2.69132902e+01] [ 5.42965015e-02 -1.25012775e-03 9.98524074e-01 1.53677949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.185099893 meters 0.014800573966548356 Centerline is valid? [True, True] Translation: X:369.98, Y:26.92, Z:15.37 [[ 9.92948187e-01 -1.05624105e-01 -5.38279308e-02 3.69984375e+02] [ 1.05535965e-01 9.94405371e-01 -4.48525388e-03 2.69158377e+01] [ 5.40005345e-02 -1.22715792e-03 9.98540153e-01 1.53703880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.245099893 meters 0.01321848352909075 Centerline is valid? [True, True] Translation: X:370.05, Y:26.92, Z:15.37 [[ 9.93619342e-01 -9.99253838e-02 -5.23022023e-02 3.70045090e+02] [ 9.98343280e-02 9.94994534e-01 -4.35720244e-03 2.69214018e+01] [ 5.24758005e-02 -8.92154605e-04 9.98621797e-01 1.53743725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.305099893 meters 0.0124967019862586 Centerline is valid? [True, True] Translation: X:370.11, Y:26.93, Z:15.38 [[ 9.94009234e-01 -9.60255820e-02 -5.21989444e-02 3.70106243e+02] [ 9.59295708e-02 9.95378630e-01 -4.34746441e-03 2.69264236e+01] [ 5.23751816e-02 -6.86002569e-04 9.98627243e-01 1.53768353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.365099893 meters 0.012240572964534381 Centerline is valid? [True, True] Translation: X:370.17, Y:26.93, Z:15.38 [[ 9.94321793e-01 -9.24493855e-02 -5.26999252e-02 3.70165451e+02] [ 9.23465724e-02 9.95717258e-01 -4.38784545e-03 2.69308836e+01] [ 5.28798787e-02 -5.03727110e-04 9.98600753e-01 1.53782827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.425099893 meters 0.011896086799818939 Centerline is valid? [True, True] Translation: X:370.22, Y:26.93, Z:15.38 [[ 9.94607352e-01 -8.95310767e-02 -5.23488535e-02 3.70224889e+02] [ 8.94255306e-02 9.95983969e-01 -4.35973163e-03 2.69341238e+01] [ 5.25289504e-02 -3.45102867e-04 9.98619342e-01 1.53814468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.485099893 meters 0.011793976267864213 Centerline is valid? [True, True] Translation: X:370.28, Y:26.94, Z:15.39 [[ 9.94657998e-01 -8.94625217e-02 -5.14968347e-02 3.70283849e+02] [ 8.93600914e-02 9.95990134e-01 -4.29267870e-03 2.69357688e+01] [ 5.16743731e-02 -3.32014648e-04 9.98663932e-01 1.53851163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.545099893 meters 0.011841833633366742 Centerline is valid? [True, True] Translation: X:370.34, Y:26.94, Z:15.39 [[ 9.94650653e-01 -8.96464402e-02 -5.13185573e-02 3.70342243e+02] [ 8.95443910e-02 9.95973598e-01 -4.28890949e-03 2.69373206e+01] [ 5.14964136e-02 -3.29322335e-04 9.98673125e-01 1.53873944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.605099893 meters 0.011860041014503385 Centerline is valid? [True, True] Translation: X:370.40, Y:26.94, Z:15.39 [[ 9.94560554e-01 -9.14605052e-02 -4.98425563e-02 3.70400890e+02] [ 9.13663099e-02 9.95808621e-01 -4.16976612e-03 2.69364825e+01] [ 5.00150162e-02 -4.06845543e-04 9.98748383e-01 1.53905790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.665099893 meters 0.012308441937882691 Centerline is valid? [True, True] Translation: X:370.46, Y:26.94, Z:15.39 [[ 9.94403331e-01 -9.42063041e-02 -4.78245546e-02 3.70460639e+02] [ 9.41222552e-02 9.95552565e-01 -4.01140456e-03 2.69355901e+01] [ 4.79897576e-02 -5.12400874e-04 9.98847696e-01 1.53940452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.725099893 meters 0.013767056148125978 Centerline is valid? [True, True] Translation: X:370.52, Y:26.93, Z:15.40 [[ 9.93905728e-01 -1.00277738e-01 -4.57796732e-02 3.70520686e+02] [ 1.00207088e-01 9.94959187e-01 -3.84139989e-03 2.69298387e+01] [ 4.59341133e-02 -7.69458374e-04 9.98944175e-01 1.53976548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.78509989299994 meters 0.014559975008967932 Centerline is valid? [True, True] Translation: X:370.58, Y:26.93, Z:15.40 [[ 9.93365029e-01 -1.05721675e-01 -4.52641916e-02 3.70582408e+02] [ 1.05658223e-01 9.94395248e-01 -3.79875604e-03 2.69285581e+01] [ 4.54121079e-02 -1.00898266e-03 9.98967829e-01 1.53999346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.84509989299994 meters 0.01687917596265316 Centerline is valid? [True, True] Translation: X:370.64, Y:26.92, Z:15.40 [[ 9.92337965e-01 -1.15186189e-01 -4.46934584e-02 3.70644196e+02] [ 1.15133972e-01 9.93342897e-01 -3.74934067e-03 2.69213404e+01] [ 4.48278017e-02 -1.42512229e-03 9.98993712e-01 1.54017250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.90509989299994 meters 0.02036116080415368 Centerline is valid? [True, True] Translation: X:370.71, Y:26.91, Z:15.40 [[ 9.91048873e-01 -1.26042069e-01 -4.39946386e-02 3.70706139e+02] [ 1.26002144e-01 9.92023105e-01 -3.69047255e-03 2.69131478e+01] [ 4.41088528e-02 -1.88598014e-03 9.99024951e-01 1.54041355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.96509989299994 meters 0.02402571379087736 Centerline is valid? [True, True] Translation: X:370.77, Y:26.91, Z:15.41 [[ 9.90117700e-01 -1.33131146e-01 -4.40799044e-02 3.70766011e+02] [ 1.33098122e-01 9.91095972e-01 -3.69639506e-03 2.69091208e+01] [ 4.41795210e-02 -2.20708631e-03 9.99021170e-01 1.54063158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.02509989299995 meters 0.028331941595032266 Centerline is valid? [True, True] Translation: X:370.83, Y:26.90, Z:15.41 [[ 9.88996079e-01 -1.41332266e-01 -4.37258108e-02 3.70826719e+02] [ 1.41307720e-01 9.89958928e-01 -3.66735248e-03 2.69038172e+01] [ 4.38050720e-02 -2.55179739e-03 9.99036838e-01 1.54092564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.08509989299995 meters 0.02894920789410733 Centerline is valid? [True, True] Translation: X:370.89, Y:26.91, Z:15.41 [[ 9.88499692e-01 -1.44756466e-01 -4.37484279e-02 3.70887652e+02] [ 1.44735206e-01 9.89463619e-01 -3.66983897e-03 2.69057593e+01] [ 4.38187107e-02 -2.70430303e-03 9.99035839e-01 1.54117697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.14509989299995 meters 0.030947592338648786 Centerline is valid? [True, True] Translation: X:370.95, Y:26.91, Z:15.42 [[ 9.88163668e-01 -1.47221546e-01 -4.31089603e-02 3.70949189e+02] [ 1.47203283e-01 9.89099653e-01 -3.61511604e-03 2.69065219e+01] [ 4.31712807e-02 -2.77345416e-03 9.99063836e-01 1.54150699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.20509989299995 meters 0.03228023190976893 Centerline is valid? [True, True] Translation: X:371.01, Y:26.91, Z:15.42 [[ 9.88251877e-01 -1.46836876e-01 -4.23929109e-02 3.71009426e+02] [ 1.46818924e-01 9.89157003e-01 -3.55357175e-03 2.69099854e+01] [ 4.24550400e-02 -2.71225762e-03 9.99094697e-01 1.54181854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.26509989299996 meters 0.033314827686958426 Centerline is valid? [True, True] Translation: X:371.07, Y:26.91, Z:15.42 [[ 9.88400835e-01 -1.45796217e-01 -4.25118002e-02 3.71068659e+02] [ 1.45777238e-01 9.89311025e-01 -3.56280100e-03 2.69140175e+01] [ 4.25768355e-02 -2.67577734e-03 9.99089612e-01 1.54209504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.32509989299996 meters 0.027716249149699043 Centerline is valid? [True, True] Translation: X:371.13, Y:26.93, Z:15.42 [[ 9.88659321e-01 -1.43569497e-01 -4.40516241e-02 3.71129485e+02] [ 1.43546892e-01 9.89636628e-01 -3.69248628e-03 2.69285739e+01] [ 4.41252291e-02 -2.67286275e-03 9.99022432e-01 1.54224301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.38509989299996 meters 0.027919587436334766 Centerline is valid? [True, True] Translation: X:371.19, Y:26.94, Z:15.43 [[ 9.88944084e-01 -1.41638331e-01 -4.39110693e-02 3.71190686e+02] [ 1.41614078e-01 9.89915109e-01 -3.67831293e-03 2.69351373e+01] [ 4.39892210e-02 -2.58077978e-03 9.99028672e-01 1.54250165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.44509989299996 meters 0.025789609306040084 Centerline is valid? [True, True] Translation: X:371.25, Y:26.95, Z:15.43 [[ 9.89401618e-01 -1.38377475e-01 -4.40012697e-02 3.71250538e+02] [ 1.38349978e-01 9.90376549e-01 -3.68429385e-03 2.69464224e+01] [ 4.40876489e-02 -2.44232842e-03 9.99024681e-01 1.54273798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.50509989299997 meters 0.025753475626098723 Centerline is valid? [True, True] Translation: X:371.31, Y:26.95, Z:15.43 [[ 9.89543045e-01 -1.37420353e-01 -4.38201953e-02 3.71311406e+02] [ 1.37392184e-01 9.90509935e-01 -3.66827379e-03 2.69526106e+01] [ 4.39084343e-02 -2.39063753e-03 9.99032699e-01 1.54302510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.56509989299997 meters 0.025866421807673894 Centerline is valid? [True, True] Translation: X:371.37, Y:26.96, Z:15.43 [[ 9.89942587e-01 -1.34285047e-01 -4.45106912e-02 3.71371061e+02] [ 1.34252894e-01 9.90940103e-01 -3.72452382e-03 2.69608773e+01] [ 4.46075768e-02 -2.28862436e-03 9.99001965e-01 1.54326844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.62509989299997 meters 0.02501722472205222 Centerline is valid? [True, True] Translation: X:371.43, Y:26.97, Z:15.44 [[ 9.90278650e-01 -1.31815904e-01 -4.44157990e-02 3.71432194e+02] [ 1.31781417e-01 9.91271833e-01 -3.71644601e-03 2.69694522e+01] [ 4.45180172e-02 -2.17285982e-03 9.99006219e-01 1.54351771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.685099893 meters 0.02302506655269362 Centerline is valid? [True, True] Translation: X:371.49, Y:26.98, Z:15.44 [[ 9.90719467e-01 -1.28599515e-01 -4.40125361e-02 3.71492710e+02] [ 1.28562586e-01 9.91694568e-01 -3.68039807e-03 2.69801673e+01] [ 4.41202903e-02 -2.01212347e-03 9.99024200e-01 1.54384773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.745099893 meters 0.020635979143779366 Centerline is valid? [True, True] Translation: X:371.55, Y:26.99, Z:15.44 [[ 9.91168456e-01 -1.25510302e-01 -4.28048684e-02 3.71553851e+02] [ 1.25472561e-01 9.92090639e-01 -3.57787416e-03 2.69912077e+01] [ 4.29153693e-02 -1.82456048e-03 9.99077045e-01 1.54420236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.805099893 meters 0.023220239829990556 Centerline is valid? [True, True] Translation: X:371.61, Y:27.00, Z:15.44 [[ 9.91368805e-01 -1.23862796e-01 -4.29639383e-02 3.71614118e+02] [ 1.23823344e-01 9.92297789e-01 -3.58855050e-03 2.69950296e+01] [ 4.30775089e-02 -1.76236147e-03 9.99070179e-01 1.54440859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.865099893 meters 0.020118646814867868 Centerline is valid? [True, True] Translation: X:371.68, Y:27.01, Z:15.45 [[ 9.91322920e-01 -1.23819027e-01 -4.41329421e-02 3.71675126e+02] [ 1.23777515e-01 9.92303162e-01 -3.68260575e-03 2.70061270e+01] [ 4.42492347e-02 -1.81201443e-03 9.99018880e-01 1.54458436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.925099893 meters 0.020657832035175117 Centerline is valid? [True, True] Translation: X:371.74, Y:27.01, Z:15.45 [[ 9.91069590e-01 -1.25431665e-01 -4.52544422e-02 3.71737246e+02] [ 1.25389850e-01 9.92100374e-01 -3.77276062e-03 2.70114407e+01] [ 4.53701727e-02 -1.93537941e-03 9.98968369e-01 1.54472684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.985099893 meters 0.022790523228934077 Centerline is valid? [True, True] Translation: X:371.80, Y:27.02, Z:15.45 [[ 9.90489972e-01 -1.29664145e-01 -4.60089576e-02 3.71798203e+02] [ 1.29625626e-01 9.91555601e-01 -3.83243797e-03 2.70150170e+01] [ 4.61173694e-02 -2.16794855e-03 9.98933676e-01 1.54492547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.045099893 meters 0.0255139521248817 Centerline is valid? [True, True] Translation: X:371.86, Y:27.02, Z:15.45 [[ 9.89983988e-01 -1.33659503e-01 -4.54625279e-02 3.71859551e+02] [ 1.33626131e-01 9.91024582e-01 -3.78603990e-03 2.70174550e+01] [ 4.55605229e-02 -2.32686282e-03 9.98958870e-01 1.54525519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.105099893 meters 0.029944836563763358 Centerline is valid? [True, True] Translation: X:371.92, Y:27.02, Z:15.46 [[ 9.89236067e-01 -1.39306223e-01 -4.47859394e-02 3.71918990e+02] [ 1.39279666e-01 9.90246068e-01 -3.72818592e-03 2.70176561e+01] [ 4.48684599e-02 -2.54971472e-03 9.98989650e-01 1.54563568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.165099893 meters 0.02991539505532598 Centerline is valid? [True, True] Translation: X:371.98, Y:27.02, Z:15.46 [[ 9.88794836e-01 -1.42592681e-01 -4.41825791e-02 3.71979595e+02] [ 1.42570120e-01 9.89777872e-01 -3.67750002e-03 2.70236201e+01] [ 4.42553238e-02 -2.66282259e-03 9.99016704e-01 1.54596220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.225099893 meters 0.026681584440113364 Centerline is valid? [True, True] Translation: X:372.04, Y:27.03, Z:15.46 [[ 9.88201847e-01 -1.46892349e-01 -4.33560550e-02 3.72039007e+02] [ 1.46874773e-01 9.89148515e-01 -3.60795846e-03 2.70341972e+01] [ 4.34155589e-02 -2.80251951e-03 9.99053169e-01 1.54631563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.28509989299994 meters 0.03126941488243633 Centerline is valid? [True, True] Translation: X:372.10, Y:27.03, Z:15.47 [[ 9.87851816e-01 -1.49241375e-01 -4.33105247e-02 3.72099707e+02] [ 1.49226100e-01 9.88796533e-01 -3.60375555e-03 2.70335781e+01] [ 4.33631261e-02 -2.90308422e-03 9.99055159e-01 1.54655079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.34509989299994 meters 0.03334965141192371 Centerline is valid? [True, True] Translation: X:372.16, Y:27.04, Z:15.47 [[ 9.87227837e-01 -1.52650808e-01 -4.55952628e-02 3.72160205e+02] [ 1.52637539e-01 9.88274959e-01 -3.79302218e-03 2.70368708e+01] [ 4.56396644e-02 -3.21497162e-03 9.98952794e-01 1.54664242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.40509989299994 meters 0.03260856572552573 Centerline is valid? [True, True] Translation: X:372.22, Y:27.04, Z:15.47 [[ 9.86943702e-01 -1.54169794e-01 -4.66240679e-02 3.72222271e+02] [ 1.54157634e-01 9.88038655e-01 -3.87803811e-03 2.70435959e+01] [ 4.66642577e-02 -3.36005073e-03 9.98904979e-01 1.54684222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.46509989299994 meters 0.030153609797809823 Centerline is valid? [True, True] Translation: X:372.28, Y:27.05, Z:15.47 [[ 9.86823783e-01 -1.54618914e-01 -4.76635421e-02 3.72283721e+02] [ 1.54606900e-01 9.87968126e-01 -3.96092961e-03 2.70541486e+01] [ 4.77024949e-02 -3.46037295e-03 9.98855594e-01 1.54714229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.52509989299995 meters 0.030188141301756587 Centerline is valid? [True, True] Translation: X:372.35, Y:27.06, Z:15.47 [[ 9.87010139e-01 -1.53512306e-01 -4.73809709e-02 3.72346026e+02] [ 1.53499340e-01 9.88140920e-01 -3.93377421e-03 2.70610783e+01] [ 4.74229590e-02 -3.39027276e-03 9.98869145e-01 1.54739559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.58509989299995 meters 0.03188225690918719 Centerline is valid? [True, True] Translation: X:372.40, Y:27.07, Z:15.48 [[ 9.87636023e-01 -1.49689701e-01 -4.65626378e-02 3.72404916e+02] [ 1.49673126e-01 9.88727991e-01 -3.86202908e-03 2.70681338e+01] [ 4.66158893e-02 -3.15489650e-03 9.98907906e-01 1.54758908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.64509989299995 meters 0.028397187079841693 Centerline is valid? [True, True] Translation: X:372.47, Y:27.08, Z:15.48 [[ 9.87926615e-01 -1.47979598e-01 -4.58589415e-02 3.72465529e+02] [ 1.47961665e-01 9.88985781e-01 -3.80409524e-03 2.70800719e+01] [ 4.59167696e-02 -3.02719842e-03 9.98940682e-01 1.54786559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.70509989299995 meters 0.030432504484611076 Centerline is valid? [True, True] Translation: X:372.53, Y:27.08, Z:15.48 [[ 9.88088619e-01 -1.46755761e-01 -4.62993300e-02 3.72526850e+02] [ 1.46736231e-01 9.89168207e-01 -3.83878745e-03 2.70840664e+01] [ 4.63611894e-02 -3.00072697e-03 9.98920235e-01 1.54804994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.76509989299996 meters 0.029196904944890332 Centerline is valid? [True, True] Translation: X:372.59, Y:27.09, Z:15.48 [[ 9.88006850e-01 -1.47344039e-01 -4.61757395e-02 3.72588236e+02] [ 1.47325374e-01 9.89080683e-01 -3.82590787e-03 2.70924781e+01] [ 4.62352566e-02 -3.02283491e-03 9.98926005e-01 1.54825899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.82509989299996 meters 0.03227483122549055 Centerline is valid? [True, True] Translation: X:372.65, Y:27.09, Z:15.48 [[ 9.87896631e-01 -1.48047023e-01 -4.62852594e-02 3.72649764e+02] [ 1.48029193e-01 9.88975569e-01 -3.83162581e-03 2.70939355e+01] [ 4.63422516e-02 -3.06631936e-03 9.98920914e-01 1.54842413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.88509989299996 meters 0.03223595491984527 Centerline is valid? [True, True] Translation: X:372.71, Y:27.10, Z:15.49 [[ 9.87896384e-01 -1.47685088e-01 -4.74325852e-02 3.72712135e+02] [ 1.47666088e-01 9.89029489e-01 -3.92375247e-03 2.71001607e+01] [ 4.74917052e-02 -3.12792340e-03 9.98866735e-01 1.54858846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.94509989299996 meters 0.030278462829497383 Centerline is valid? [True, True] Translation: X:372.77, Y:27.11, Z:15.49 [[ 9.88184922e-01 -1.45514204e-01 -4.81266814e-02 3.72773328e+02] [ 1.45492282e-01 9.89351393e-01 -3.97701218e-03 2.71092385e+01] [ 4.81929111e-02 -3.07203725e-03 9.98833322e-01 1.54878379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.00509989299997 meters 0.025999689836953565 Centerline is valid? [True, True] Translation: X:372.83, Y:27.12, Z:15.49 [[ 9.89088786e-01 -1.39015891e-01 -4.87642875e-02 3.72833414e+02] [ 1.38985635e-01 9.90286208e-01 -4.02725945e-03 2.71234610e+01] [ 4.88504545e-02 -2.79421830e-03 9.98802195e-01 1.54908826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.06509989299997 meters 0.02480207384224948 Centerline is valid? [True, True] Translation: X:372.89, Y:27.13, Z:15.49 [[ 9.89944249e-01 -1.32851942e-01 -4.85875004e-02 3.72892199e+02] [ 1.32814529e-01 9.91132788e-01 -4.01206563e-03 2.71326317e+01] [ 4.86896754e-02 -2.48140470e-03 9.98810872e-01 1.54942516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.12509989299997 meters 0.02083651311611353 Centerline is valid? [True, True] Translation: X:372.95, Y:27.15, Z:15.50 [[ 9.91345628e-01 -1.22582274e-01 -4.69833111e-02 3.72951996e+02] [ 1.22535738e-01 9.92456516e-01 -3.88027972e-03 2.71468538e+01] [ 4.71045468e-02 -1.91043636e-03 9.98888138e-01 1.54985076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.185099893 meters 0.019749669447742355 Centerline is valid? [True, True] Translation: X:373.01, Y:27.16, Z:15.50 [[ 9.92261914e-01 -1.15331698e-01 -4.59879671e-02 3.73010511e+02] [ 1.15279360e-01 9.93325852e-01 -3.79747993e-03 2.71555677e+01] [ 4.61190065e-02 -1.53336872e-03 9.98934776e-01 1.55013036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.245099893 meters 0.016199105485619116 Centerline is valid? [True, True] Translation: X:373.07, Y:27.17, Z:15.50 [[ 9.93334518e-01 -1.06088436e-01 -4.50752696e-02 3.73070176e+02] [ 1.06028613e-01 9.94356110e-01 -3.72273092e-03 2.71681659e+01] [ 4.52158085e-02 -1.08135122e-03 9.98976657e-01 1.55039121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.305099893 meters 0.014954645237490943 Centerline is valid? [True, True] Translation: X:373.13, Y:27.18, Z:15.51 [[ 9.93858401e-01 -1.01039611e-01 -4.51273305e-02 3.73131727e+02] [ 1.00974468e-01 9.94882038e-01 -3.72658782e-03 2.71760191e+01] [ 4.52729035e-02 -8.53007590e-04 9.98974292e-01 1.55058693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.365099893 meters 0.013551668136345155 Centerline is valid? [True, True] Translation: X:373.19, Y:27.18, Z:15.51 [[ 9.94443855e-01 -9.50575517e-02 -4.52270055e-02 3.73192671e+02] [ 9.49860464e-02 9.95471607e-01 -3.73236448e-03 2.71837612e+01] [ 4.53769893e-02 -5.84307529e-04 9.98969763e-01 1.55071563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.425099893 meters 0.013385292022177506 Centerline is valid? [True, True] Translation: X:373.25, Y:27.19, Z:15.51 [[ 9.94668919e-01 -9.27901857e-02 -4.49857988e-02 3.73253460e+02] [ 9.27171987e-02 9.95685568e-01 -3.71079348e-03 2.71891170e+01] [ 4.51360359e-02 -4.79946304e-04 9.98980735e-01 1.55091818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.485099893 meters 0.012990433357632324 Centerline is valid? [True, True] Translation: X:373.31, Y:27.19, Z:15.51 [[ 9.95155773e-01 -8.74132051e-02 -4.49879870e-02 3.73313942e+02] [ 8.73347910e-02 9.96172111e-01 -3.70933835e-03 2.71949342e+01] [ 4.51400231e-02 -2.37646961e-04 9.98980641e-01 1.55105932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.545099893 meters 0.012868424315439282 Centerline is valid? [True, True] Translation: X:373.38, Y:27.20, Z:15.51 [[ 9.95337654e-01 -8.53297577e-02 -4.49642768e-02 3.73375569e+02] [ 8.52493736e-02 9.96352755e-01 -3.70577780e-03 2.71988470e+01] [ 4.51164942e-02 -1.44676250e-04 9.98981722e-01 1.55124948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.605099893 meters 0.012957671387592672 Centerline is valid? [True, True] Translation: X:373.44, Y:27.20, Z:15.51 [[ 9.95302954e-01 -8.61092675e-02 -4.42405260e-02 3.73436824e+02] [ 8.60322893e-02 9.96285683e-01 -3.64459419e-03 2.72004091e+01] [ 4.43900360e-02 -1.78638369e-04 9.99014261e-01 1.55148421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.665099893 meters 0.013150449045205714 Centerline is valid? [True, True] Translation: X:373.50, Y:27.20, Z:15.52 [[ 9.95091118e-01 -8.92735018e-02 -4.27072528e-02 3.73498107e+02] [ 8.92047472e-02 9.96007101e-01 -3.51673795e-03 2.72009067e+01] [ 4.28506786e-02 -3.10214990e-04 9.99081440e-01 1.55177229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.725099893 meters 0.014317447507928337 Centerline is valid? [True, True] Translation: X:373.56, Y:27.20, Z:15.52 [[ 9.94273849e-01 -9.80488563e-02 -4.24962994e-02 3.73559183e+02] [ 9.79888498e-02 9.95181366e-01 -3.49780790e-03 2.71960561e+01] [ 4.26344814e-02 -6.86384581e-04 9.99090501e-01 1.55200360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.78509989299994 meters 0.01719805069829448 Centerline is valid? [True, True] Translation: X:373.62, Y:27.19, Z:15.52 [[ 9.93012969e-01 -1.10223865e-01 -4.21419369e-02 3.73620658e+02] [ 1.10175860e-01 9.93906062e-01 -3.46708104e-03 2.71882435e+01] [ 4.22672816e-02 -1.20016772e-03 9.99105618e-01 1.55220651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.84509989299994 meters 0.019605560591753172 Centerline is valid? [True, True] Translation: X:373.68, Y:27.18, Z:15.52 [[ 9.92067790e-01 -1.18613568e-01 -4.16211571e-02 3.73681931e+02] [ 1.18574114e-01 9.92939301e-01 -3.42408420e-03 2.71847836e+01] [ 4.17334255e-02 -1.53826818e-03 9.99127597e-01 1.55245715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.90509989299994 meters 0.02411084897098401 Centerline is valid? [True, True] Translation: X:373.74, Y:27.18, Z:15.53 [[ 9.90759429e-01 -1.28855438e-01 -4.23323739e-02 3.73742790e+02] [ 1.28823946e-01 9.91661365e-01 -3.48245716e-03 2.71775889e+01] [ 4.24281132e-02 -2.00314617e-03 9.99097514e-01 1.55262585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.96509989299994 meters 0.02831893718824837 Centerline is valid? [True, True] Translation: X:373.80, Y:27.17, Z:15.53 [[ 9.90266816e-01 -1.32715159e-01 -4.19323286e-02 3.73803698e+02] [ 1.32687692e-01 9.91151893e-01 -3.44991994e-03 2.71741549e+01] [ 4.20191635e-02 -2.14756264e-03 9.99114497e-01 1.55287247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.02509989299995 meters 0.026547177004112254 Centerline is valid? [True, True] Translation: X:373.87, Y:27.18, Z:15.53 [[ 9.90059247e-01 -1.34102962e-01 -4.24156050e-02 3.73865843e+02] [ 1.34076183e-01 9.90964888e-01 -3.48837699e-03 2.71794827e+01] [ 4.25001769e-02 -2.23322253e-03 9.99093963e-01 1.55311214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.08509989299995 meters 0.02418563697941801 Centerline is valid? [True, True] Translation: X:373.93, Y:27.19, Z:15.53 [[ 9.90239434e-01 -1.32505719e-01 -4.32215014e-02 3.73926933e+02] [ 1.32476532e-01 9.91179779e-01 -3.55153515e-03 2.71871014e+01] [ 4.33108769e-02 -2.20896447e-03 9.99059202e-01 1.55328330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.14509989299995 meters 0.023002538584448104 Centerline is valid? [True, True] Translation: X:373.99, Y:27.19, Z:15.54 [[ 9.90948160e-01 -1.26801300e-01 -4.40814601e-02 3.73987026e+02] [ 1.26765380e-01 9.91926121e-01 -3.62060096e-03 2.71944936e+01] [ 4.41846486e-02 -2.00017520e-03 9.99021379e-01 1.55351045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.20509989299995 meters 0.020020691582102516 Centerline is valid? [True, True] Translation: X:374.05, Y:27.21, Z:15.54 [[ 9.91875680e-01 -1.18840371e-01 -4.53828338e-02 3.74046598e+02] [ 1.18793991e-01 9.92911927e-01 -3.72721356e-03 2.72059065e+01] [ 4.55041005e-02 -1.69427545e-03 9.98962715e-01 1.55375246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.26509989299996 meters 0.017426819263771567 Centerline is valid? [True, True] Translation: X:374.11, Y:27.22, Z:15.54 [[ 9.92515859e-01 -1.12848919e-01 -4.66625232e-02 3.74106512e+02] [ 1.12793276e-01 9.93611086e-01 -3.83222812e-03 2.72172219e+01] [ 4.67968632e-02 -1.45967169e-03 9.98903360e-01 1.55398495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.32509989299996 meters 0.016459604951013472 Centerline is valid? [True, True] Translation: X:374.17, Y:27.23, Z:15.54 [[ 9.93028314e-01 -1.07855859e-01 -4.75592344e-02 3.74167212e+02] [ 1.07792379e-01 9.94165758e-01 -3.90497876e-03 2.72254512e+01] [ 4.77029372e-02 -1.24876854e-03 9.98860786e-01 1.55420757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.38509989299996 meters 0.015166858370376018 Centerline is valid? [True, True] Translation: X:374.23, Y:27.23, Z:15.55 [[ 9.93630641e-01 -1.02215327e-01 -4.74360244e-02 3.74227489e+02] [ 1.02145792e-01 9.94761818e-01 -3.89399901e-03 2.72341301e+01] [ 4.75855723e-02 -9.76193548e-04 9.98866688e-01 1.55456682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.44509989299996 meters 0.01490938366942469 Centerline is valid? [True, True] Translation: X:374.29, Y:27.24, Z:15.55 [[ 9.93742699e-01 -1.01191804e-01 -4.72828308e-02 3.74287594e+02] [ 1.01121596e-01 9.94866505e-01 -3.88066450e-03 2.72404527e+01] [ 4.74327961e-02 -9.24933302e-04 9.98874003e-01 1.55491686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.50509989299997 meters 0.01576614626958528 Centerline is valid? [True, True] Translation: X:374.35, Y:27.24, Z:15.55 [[ 9.93466660e-01 -1.03761609e-01 -4.75134060e-02 3.74347309e+02] [ 1.03693673e-01 9.94601638e-01 -3.89908158e-03 2.72430047e+01] [ 4.76614864e-02 -1.05323205e-03 9.98862990e-01 1.55528539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.56509989299997 meters 0.016047488142078636 Centerline is valid? [True, True] Translation: X:374.41, Y:27.25, Z:15.56 [[ 9.93011487e-01 -1.08078748e-01 -4.74043292e-02 3.74407955e+02] [ 1.08016218e-01 9.94141536e-01 -3.88628248e-03 2.72461368e+01] [ 4.75466372e-02 -1.26131322e-03 9.98868223e-01 1.55562328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.62509989299997 meters 0.019184924045953546 Centerline is valid? [True, True] Translation: X:374.47, Y:27.24, Z:15.56 [[ 9.92086342e-01 -1.16562946e-01 -4.66665883e-02 3.74467840e+02] [ 1.16511743e-01 9.93181948e-01 -3.82510795e-03 2.72431556e+01] [ 4.67942790e-02 -1.64236822e-03 9.98903198e-01 1.55598745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.685099893 meters 0.022833811129496916 Centerline is valid? [True, True] Translation: X:374.53, Y:27.24, Z:15.56 [[ 9.90685906e-01 -1.27088441e-01 -4.88872464e-02 3.74528408e+02] [ 1.27044984e-01 9.91888859e-01 -4.00787115e-03 2.72392967e+01] [ 4.90000691e-02 -2.24033796e-03 9.98796263e-01 1.55611407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.745099893 meters 0.027527150899350997 Centerline is valid? [True, True] Translation: X:374.59, Y:27.24, Z:15.56 [[ 9.89116753e-01 -1.38295340e-01 -5.02239788e-02 3.74589288e+02] [ 1.38263822e-01 9.90386872e-01 -4.11809628e-03 2.72350501e+01] [ 5.03106828e-02 -2.87088122e-03 9.98729490e-01 1.55630733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.805099893 meters 0.028415731773952357 Centerline is valid? [True, True] Translation: X:374.65, Y:27.24, Z:15.57 [[ 9.88653310e-01 -1.41540496e-01 -5.03082582e-02 3.74649784e+02] [ 1.41513067e-01 9.89927795e-01 -4.12476391e-03 2.72383863e+01] [ 5.03853642e-02 -3.04131440e-03 9.98725220e-01 1.55656944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.865099893 meters 0.03072491993684157 Centerline is valid? [True, True] Translation: X:374.71, Y:27.24, Z:15.57 [[ 9.87638543e-01 -1.48360932e-01 -5.05879746e-02 3.74710069e+02] [ 1.48342125e-01 9.88927407e-01 -4.14706689e-03 2.72403305e+01] [ 5.06430973e-02 -3.40852453e-03 9.98710999e-01 1.55695117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.925099893 meters 0.030671500573062355 Centerline is valid? [True, True] Translation: X:374.77, Y:27.25, Z:15.57 [[ 9.87503352e-01 -1.49162667e-01 -5.08687314e-02 3.74770732e+02] [ 1.49144694e-01 9.88806588e-01 -4.17040147e-03 2.72461263e+01] [ 5.09214049e-02 -3.46851592e-03 9.98696641e-01 1.55722528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.985099893 meters 0.031995252939870704 Centerline is valid? [True, True] Translation: X:374.83, Y:27.25, Z:15.58 [[ 9.87996149e-01 -1.46121209e-01 -5.01218749e-02 3.74830455e+02] [ 1.46099937e-01 9.89261308e-01 -4.10765215e-03 2.72520886e+01] [ 5.01838466e-02 -3.26445826e-03 9.98734662e-01 1.55756895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.045099893 meters 0.029466663176359913 Centerline is valid? [True, True] Translation: X:374.89, Y:27.26, Z:15.58 [[ 9.88530928e-01 -1.42644920e-01 -4.95886285e-02 3.74890062e+02] [ 1.42619741e-01 9.89769212e-01 -4.06395085e-03 2.72628852e+01] [ 4.96609997e-02 -3.05497624e-03 9.98761459e-01 1.55789894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.105099893 meters 0.027232217444566824 Centerline is valid? [True, True] Translation: X:374.95, Y:27.27, Z:15.58 [[ 9.89109891e-01 -1.38393191e-01 -5.00894096e-02 3.74949789e+02] [ 1.38362075e-01 9.90373205e-01 -4.10489179e-03 2.72748992e+01] [ 5.01752982e-02 -2.87028556e-03 9.98736302e-01 1.55821065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.165099893 meters 0.025183091286448068 Centerline is valid? [True, True] Translation: X:375.01, Y:27.29, Z:15.58 [[ 9.89376368e-01 -1.36044496e-01 -5.12474084e-02 3.75010819e+02] [ 1.36008842e-01 9.90698726e-01 -4.19873795e-03 2.72854341e+01] [ 5.13419574e-02 -2.81596858e-03 9.98677162e-01 1.55842338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.225099893 meters 0.02513476577596132 Centerline is valid? [True, True] Translation: X:375.07, Y:27.29, Z:15.59 [[ 9.89885577e-01 -1.31712088e-01 -5.27111913e-02 3.75070308e+02] [ 1.31668378e-01 9.91284424e-01 -4.31621588e-03 2.72945704e+01] [ 5.28202807e-02 -2.66783720e-03 9.98600471e-01 1.55859309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.28509989299994 meters 0.024410764774108078 Centerline is valid? [True, True] Translation: X:375.13, Y:27.30, Z:15.59 [[ 9.90478701e-01 -1.27053562e-01 -5.30031709e-02 3.75129202e+02] [ 1.27002703e-01 9.91892875e-01 -4.34032266e-03 2.73036718e+01] [ 5.31249211e-02 -2.43254881e-03 9.98584911e-01 1.55885508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.34509989299994 meters 0.022630169176863467 Centerline is valid? [True, True] Translation: X:375.19, Y:27.31, Z:15.59 [[ 9.91279297e-01 -1.20920859e-01 -5.23784443e-02 3.75189081e+02] [ 1.20862607e-01 9.92659976e-01 -4.28987405e-03 2.73147239e+01] [ 5.25127205e-02 -2.07813200e-03 9.98618093e-01 1.55920496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.40509989299994 meters 0.018803092386824448 Centerline is valid? [True, True] Translation: X:375.25, Y:27.33, Z:15.60 [[ 9.92158078e-01 -1.13600339e-01 -5.21278354e-02 3.75248524e+02] [ 1.13532558e-01 9.93525104e-01 -4.26920155e-03 2.73293838e+01] [ 5.22752958e-02 -1.68248367e-03 9.98631295e-01 1.55959440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.46509989299994 meters 0.01590527609617778 Centerline is valid? [True, True] Translation: X:375.31, Y:27.34, Z:15.60 [[ 9.93037964e-01 -1.05921467e-01 -5.15387681e-02 3.75308254e+02] [ 1.05844891e-01 9.94373695e-01 -4.22061526e-03 2.73425456e+01] [ 5.16958491e-02 -1.26388411e-03 9.98662076e-01 1.55997546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.52509989299995 meters 0.014271866932338277 Centerline is valid? [True, True] Translation: X:375.37, Y:27.35, Z:15.60 [[ 9.94075821e-01 -9.57135027e-02 -5.14994005e-02 3.75366780e+02] [ 9.56233763e-02 9.95408654e-01 -4.21679933e-03 2.73547814e+01] [ 5.16665535e-02 -7.32728290e-04 9.98664123e-01 1.56015724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.58509989299995 meters 0.013348310131157547 Centerline is valid? [True, True] Translation: X:375.43, Y:27.36, Z:15.61 [[ 9.94790573e-01 -8.91817829e-02 -4.93794129e-02 3.75426286e+02] [ 8.90908449e-02 9.96015295e-01 -4.04393503e-03 2.73643662e+01] [ 4.95432959e-02 -3.76385179e-04 9.98771906e-01 1.56059831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.64509989299995 meters 0.013288705218294606 Centerline is valid? [True, True] Translation: X:375.49, Y:27.37, Z:15.61 [[ 9.94978234e-01 -8.77309748e-02 -4.81828728e-02 3.75486776e+02] [ 8.76426923e-02 9.96144160e-01 -3.94594418e-03 2.73689633e+01] [ 4.83432689e-02 -2.96748124e-04 9.98830737e-01 1.56087303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.70509989299995 meters 0.013354400858591796 Centerline is valid? [True, True] Translation: X:375.55, Y:27.37, Z:15.61 [[ 9.94930890e-01 -8.82574186e-02 -4.81990960e-02 3.75547566e+02] [ 8.81696940e-02 9.96097648e-01 -3.94727278e-03 2.73718611e+01] [ 4.83593823e-02 -3.22435926e-04 9.98829949e-01 1.56103056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.76509989299996 meters 0.01355819018553466 Centerline is valid? [True, True] Translation: X:375.61, Y:27.37, Z:15.61 [[ 9.94645157e-01 -9.12590780e-02 -4.85055990e-02 3.75608287e+02] [ 9.11737995e-02 9.95827073e-01 -3.97237390e-03 2.73728040e+01] [ 4.86657039e-02 -4.71337305e-04 9.98815011e-01 1.56117659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.82509989299996 meters 0.013844112578972799 Centerline is valid? [True, True] Translation: X:375.67, Y:27.37, Z:15.61 [[ 9.94451731e-01 -9.35650314e-02 -4.80763989e-02 3.75668576e+02] [ 9.34839484e-02 9.95613002e-01 -3.93722448e-03 2.73739591e+01] [ 4.82338743e-02 -5.78991892e-04 9.98835902e-01 1.56144902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.88509989299996 meters 0.013982325707586517 Centerline is valid? [True, True] Translation: X:375.73, Y:27.37, Z:15.62 [[ 9.94312045e-01 -9.56459912e-02 -4.68551174e-02 3.75730204e+02] [ 9.55712937e-02 9.95415192e-01 -3.83702463e-03 2.73746297e+01] [ 4.70072918e-02 -6.62804387e-04 9.98894326e-01 1.56182497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.94509989299996 meters 0.013994261982988757 Centerline is valid? [True, True] Translation: X:375.79, Y:27.38, Z:15.62 [[ 9.94344776e-01 -9.54716539e-02 -4.65148299e-02 3.75791614e+02] [ 9.53979262e-02 9.95431936e-01 -3.80746849e-03 2.73771820e+01] [ 4.66658525e-02 -6.51481907e-04 9.98910343e-01 1.56213647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.00509989299997 meters 0.013753563107045388 Centerline is valid? [True, True] Translation: X:375.85, Y:27.38, Z:15.62 [[ 9.94512934e-01 -9.38298494e-02 -4.62599492e-02 3.75852513e+02] [ 9.37552300e-02 9.95588083e-01 -3.78493828e-03 2.73792490e+01] [ 4.64109944e-02 -5.72942101e-04 9.98922265e-01 1.56242440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.06509989299997 meters 0.013597281920457569 Centerline is valid? [True, True] Translation: X:375.91, Y:27.38, Z:15.63 [[ 9.94699477e-01 -9.19673461e-02 -4.59886653e-02 3.75912872e+02] [ 9.18916796e-02 9.95761905e-01 -3.76123506e-03 2.73816646e+01] [ 4.61396718e-02 -4.84677145e-04 9.98934881e-01 1.56265177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.12509989299997 meters 0.013168412147578518 Centerline is valid? [True, True] Translation: X:375.97, Y:27.38, Z:15.63 [[ 9.94999695e-01 -8.83361698e-02 -4.66082426e-02 3.75972118e+02] [ 8.82544684e-02 9.96090668e-01 -3.81188414e-03 2.73841304e+01] [ 4.67627627e-02 -3.20562111e-04 9.98905972e-01 1.56293013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.185099893 meters 0.01284477012662668 Centerline is valid? [True, True] Translation: X:376.03, Y:27.39, Z:15.63 [[ 9.95261940e-01 -8.50293239e-02 -4.71559640e-02 3.76032036e+02] [ 8.49419805e-02 9.96378435e-01 -3.85665707e-03 2.73882743e+01] [ 4.73131146e-02 -1.67136981e-04 9.98880094e-01 1.56319908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.245099893 meters 0.012748292423256013 Centerline is valid? [True, True] Translation: X:376.09, Y:27.39, Z:15.63 [[ 9.95504734e-01 -8.05252834e-02 -4.98598391e-02 3.76090926e+02] [ 8.04218005e-02 9.96752565e-01 -4.08143415e-03 2.73913723e+01] [ 5.00265812e-02 5.32689832e-05 9.98747885e-01 1.56340064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.305099893 meters 0.012937342490634619 Centerline is valid? [True, True] Translation: X:376.15, Y:27.39, Z:15.63 [[ 9.95658048e-01 -7.76831435e-02 -5.12872379e-02 3.76148722e+02] [ 7.75692626e-02 9.96978076e-01 -4.21021737e-03 2.73949681e+01] [ 5.14593147e-02 2.13623585e-04 9.98675069e-01 1.56347360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.365099893 meters 0.01308658929738498 Centerline is valid? [True, True] Translation: X:376.21, Y:27.40, Z:15.64 [[ 9.95887825e-01 -7.42316369e-02 -5.19336537e-02 3.76207122e+02] [ 7.41098413e-02 9.97240945e-01 -4.26965944e-03 2.73974193e+01] [ 5.21073096e-02 4.03307020e-04 9.98641410e-01 1.56383144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.425099893 meters 0.01315423262867804 Centerline is valid? [True, True] Translation: X:376.26, Y:27.40, Z:15.64 [[ 9.95976758e-01 -7.34926367e-02 -5.12750458e-02 3.76264918e+02] [ 7.33722557e-02 9.97295658e-01 -4.22868766e-03 2.73983950e+01] [ 5.14471579e-02 4.49508854e-04 9.98675617e-01 1.56410698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.485099893 meters 0.012992475166394797 Centerline is valid? [True, True] Translation: X:376.32, Y:27.40, Z:15.64 [[ 9.95881191e-01 -7.51510768e-02 -5.07244397e-02 3.76324253e+02] [ 7.50347483e-02 9.97172090e-01 -4.19643302e-03 2.73992994e+01] [ 5.08963620e-02 3.73053147e-04 9.98703871e-01 1.56437158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.545099893 meters 0.0126143825577893 Centerline is valid? [True, True] Translation: X:376.38, Y:27.39, Z:15.65 [[ 9.95488550e-01 -8.08753319e-02 -4.96157985e-02 3.76383402e+02] [ 8.07707590e-02 9.96724221e-01 -4.11232802e-03 2.73949302e+01] [ 4.97858540e-02 8.62697557e-05 9.98759912e-01 1.56462144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.605099893 meters 0.012576554788929705 Centerline is valid? [True, True] Translation: X:376.44, Y:27.39, Z:15.65 [[ 9.95067420e-01 -8.63519705e-02 -4.88279393e-02 3.76441305e+02] [ 8.62566634e-02 9.96264677e-01 -4.05961370e-03 2.73922469e+01] [ 4.89961068e-02 -1.72145801e-04 9.98798955e-01 1.56485382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.665099893 meters 0.012963421276451916 Centerline is valid? [True, True] Translation: X:376.50, Y:27.39, Z:15.65 [[ 9.94570198e-01 -9.21437793e-02 -4.83698736e-02 3.76500741e+02] [ 9.20564277e-02 9.95745616e-01 -4.03525362e-03 2.73896328e+01] [ 4.85359131e-02 -4.39414779e-04 9.98821341e-01 1.56512164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.725099893 meters 0.014014096033332792 Centerline is valid? [True, True] Translation: X:376.56, Y:27.38, Z:15.65 [[ 9.93930207e-01 -9.90683553e-02 -4.78351834e-02 3.76559882e+02] [ 9.89904012e-02 9.95080342e-01 -4.00171796e-03 2.73836785e+01] [ 4.79962943e-02 -7.57795643e-04 9.98847226e-01 1.56534474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.78509989299994 meters 0.014670598631681629 Centerline is valid? [True, True] Translation: X:376.62, Y:27.38, Z:15.66 [[ 9.93585959e-01 -1.02403542e-01 -4.79630819e-02 3.76618436e+02] [ 1.02328831e-01 9.94742516e-01 -4.01700287e-03 2.73826838e+01] [ 4.81222721e-02 -9.16768453e-04 9.98841032e-01 1.56552943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.84509989299994 meters 0.015323064441326209 Centerline is valid? [True, True] Translation: X:376.68, Y:27.38, Z:15.66 [[ 9.93471574e-01 -1.03463435e-01 -4.80577730e-02 3.76676912e+02] [ 1.03389363e-01 9.94632791e-01 -4.03122055e-03 2.73809502e+01] [ 4.82169208e-02 -9.63759530e-04 9.98836423e-01 1.56571342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.90509989299994 meters 0.013939410434745341 Centerline is valid? [True, True] Translation: X:376.74, Y:27.39, Z:15.66 [[ 9.93672901e-01 -1.02262896e-01 -4.64377571e-02 3.76735535e+02] [ 1.02192203e-01 9.94757027e-01 -3.90008928e-03 2.73859940e+01] [ 4.65931196e-02 -8.70163680e-04 9.98913572e-01 1.56617848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.96509989299994 meters 0.014088081852669158 Centerline is valid? [True, True] Translation: X:376.79, Y:27.39, Z:15.66 [[ 9.93739252e-01 -1.01003896e-01 -4.77547012e-02 3.76793960e+02] [ 1.00927120e-01 9.94885690e-01 -4.02243855e-03 2.73860429e+01] [ 4.79167509e-02 -8.22489372e-04 9.98850994e-01 1.56632093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.02509989299995 meters 0.014302256761262882 Centerline is valid? [True, True] Translation: X:376.85, Y:27.39, Z:15.66 [[ 9.93605294e-01 -1.00821609e-01 -5.08283685e-02 3.76853098e+02] [ 1.00734068e-01 9.94904148e-01 -4.28764271e-03 2.73881180e+01] [ 5.10016417e-02 -8.59923849e-04 9.98698199e-01 1.56621349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.08509989299995 meters 0.014122921121870009 Centerline is valid? [True, True] Translation: X:376.91, Y:27.39, Z:15.67 [[ 9.93664097e-01 -1.01213086e-01 -4.88628117e-02 3.76912267e+02] [ 1.01132079e-01 9.94864421e-01 -4.13365771e-03 2.73888355e+01] [ 4.90302531e-02 -8.34130491e-04 9.98796946e-01 1.56654394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.14509989299995 meters 0.014579338769375345 Centerline is valid? [True, True] Translation: X:376.97, Y:27.39, Z:15.67 [[ 9.93677687e-01 -1.01303084e-01 -4.83977278e-02 3.76969439e+02] [ 1.01223168e-01 9.94855273e-01 -4.10563909e-03 2.73886588e+01] [ 4.85646486e-02 -8.19289369e-04 9.98819705e-01 1.56675771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.20509989299995 meters 0.014738877342795106 Centerline is valid? [True, True] Translation: X:377.03, Y:27.39, Z:15.67 [[ 9.93587181e-01 -1.01723138e-01 -4.93651325e-02 3.77027875e+02] [ 1.01640158e-01 9.94812385e-01 -4.19484835e-03 2.73897239e+01] [ 4.95357584e-02 -8.49532339e-04 9.98771989e-01 1.56691959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.26509989299996 meters 0.014482168868697418 Centerline is valid? [True, True] Translation: X:377.09, Y:27.39, Z:15.67 [[ 9.93590938e-01 -1.02203308e-01 -4.82859346e-02 3.77085697e+02] [ 1.02123914e-01 9.94763175e-01 -4.11491211e-03 2.73932472e+01] [ 4.84536273e-02 -8.42609237e-04 9.98825078e-01 1.56721229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.32509989299996 meters 0.014456317668642152 Centerline is valid? [True, True] Translation: X:377.14, Y:27.40, Z:15.68 [[ 9.93545923e-01 -1.02968520e-01 -4.75813330e-02 3.77143540e+02] [ 1.02891662e-01 9.94684249e-01 -4.06825223e-03 2.73959602e+01] [ 4.77473044e-02 -8.53727032e-04 9.98859082e-01 1.56757931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.38509989299996 meters 0.014912932590007864 Centerline is valid? [True, True] Translation: X:377.20, Y:27.39, Z:15.68 [[ 9.93410928e-01 -1.04402559e-01 -4.72740271e-02 3.77202541e+02] [ 1.04327679e-01 9.94534710e-01 -4.05534663e-03 2.73946166e+01] [ 4.74390494e-02 -9.03363848e-04 9.98873726e-01 1.56772087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.44509989299996 meters 0.016085022650387366 Centerline is valid? [True, True] Translation: X:377.26, Y:27.39, Z:15.68 [[ 9.93111759e-01 -1.07527636e-01 -4.65493446e-02 3.77260462e+02] [ 1.07457962e-01 9.94201567e-01 -4.00388776e-03 2.73937076e+01] [ 4.67099599e-02 -1.02578969e-03 9.98907967e-01 1.56807314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.50509989299997 meters 0.01618777224099356 Centerline is valid? [True, True] Translation: X:377.32, Y:27.40, Z:15.68 [[ 9.92834289e-01 -1.10417035e-01 -4.56963015e-02 3.77318716e+02] [ 1.10352767e-01 9.93884695e-01 -3.93446717e-03 2.73964621e+01] [ 4.58512869e-02 -1.13643939e-03 9.98947630e-01 1.56842605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.56509989299997 meters 0.01678411636266451 Centerline is valid? [True, True] Translation: X:377.38, Y:27.40, Z:15.69 [[ 9.92506109e-01 -1.13636789e-01 -4.49255437e-02 3.77377385e+02] [ 1.13577760e-01 9.93521563e-01 -3.87261255e-03 2.73971525e+01] [ 4.50745676e-02 -1.25895101e-03 9.98982832e-01 1.56868386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.62509989299997 meters 0.01862467722520239 Centerline is valid? [True, True] Translation: X:377.43, Y:27.40, Z:15.69 [[ 9.92351267e-01 -1.14990318e-01 -4.49020068e-02 3.77434967e+02] [ 1.14932238e-01 9.93365750e-01 -3.88160635e-03 2.73959780e+01] [ 4.50504628e-02 -1.30877115e-03 9.98983855e-01 1.56885268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.685099893 meters 0.01724039298896538 Centerline is valid? [True, True] Translation: X:377.49, Y:27.40, Z:15.69 [[ 9.92508960e-01 -1.13699672e-01 -4.47028907e-02 3.77493365e+02] [ 1.13640564e-01 9.93514393e-01 -3.86960440e-03 2.74021782e+01] [ 4.48529381e-02 -1.23944466e-03 9.98992832e-01 1.56907839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.745099893 meters 0.016231375176888413 Centerline is valid? [True, True] Translation: X:377.55, Y:27.41, Z:15.69 [[ 9.93024569e-01 -1.09230979e-01 -4.43936860e-02 3.77551791e+02] [ 1.09167748e-01 9.94015872e-01 -3.85348810e-03 2.74079541e+01] [ 4.45489488e-02 -1.01975039e-03 9.99006682e-01 1.56920288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.805099893 meters 0.014521452226795071 Centerline is valid? [True, True] Translation: X:377.61, Y:27.42, Z:15.69 [[ 9.93397668e-01 -1.05754892e-01 -4.44631987e-02 3.77610543e+02] [ 1.05687824e-01 9.94391855e-01 -3.86309448e-03 2.74159874e+01] [ 4.46223837e-02 -8.61629670e-04 9.99003554e-01 1.56937162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.865099893 meters 0.013768446015968298 Centerline is valid? [True, True] Translation: X:377.67, Y:27.42, Z:15.70 [[ 9.93888348e-01 -1.00774031e-01 -4.50615868e-02 3.77668854e+02] [ 1.00699551e-01 9.94909137e-01 -3.92558535e-03 2.74233188e+01] [ 4.52277815e-02 -6.36088038e-04 9.98976498e-01 1.56957877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.925099893 meters 0.014088320935978156 Centerline is valid? [True, True] Translation: X:377.73, Y:27.43, Z:15.70 [[ 9.93732602e-01 -1.01248828e-01 -4.73728990e-02 3.77726130e+02] [ 1.01166870e-01 9.94860896e-01 -4.13067543e-03 2.74277257e+01] [ 4.75476707e-02 -6.87781090e-04 9.98868733e-01 1.56971391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.985099893 meters 0.014840535468483802 Centerline is valid? [True, True] Translation: X:377.78, Y:27.43, Z:15.70 [[ 9.93538864e-01 -1.03409550e-01 -4.67652685e-02 3.77783730e+02] [ 1.03331878e-01 9.94638558e-01 -4.08185977e-03 2.74315885e+01] [ 4.69366425e-02 -7.76856691e-04 9.98897566e-01 1.57000717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.045099893 meters 0.015310483943879866 Centerline is valid? [True, True] Translation: X:377.84, Y:27.44, Z:15.70 [[ 9.93349156e-01 -1.05435981e-01 -4.62677828e-02 3.77842080e+02] [ 1.05361930e-01 9.94425722e-01 -4.04314799e-03 2.74360047e+01] [ 4.64361666e-02 -8.58605235e-04 9.98920890e-01 1.57029160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.105099893 meters 0.01581882013706382 Centerline is valid? [True, True] Translation: X:377.90, Y:27.44, Z:15.71 [[ 9.93156998e-01 -1.07333240e-01 -4.60299103e-02 3.77900499e+02] [ 1.07261468e-01 9.94222665e-01 -4.03351176e-03 2.74402444e+01] [ 4.61969100e-02 -9.31325308e-04 9.98931919e-01 1.57059220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.165099893 meters 0.016012540720497903 Centerline is valid? [True, True] Translation: X:377.96, Y:27.44, Z:15.71 [[ 9.92731713e-01 -1.11541599e-01 -4.51908924e-02 3.77959344e+02] [ 1.11476314e-01 9.93759161e-01 -3.97012633e-03 2.74449479e+01] [ 4.53516975e-02 -1.09644381e-03 9.98970481e-01 1.57096189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.225099893 meters 0.018264864599795507 Centerline is valid? [True, True] Translation: X:378.02, Y:27.45, Z:15.71 [[ 9.91892153e-01 -1.18926081e-01 -4.47944544e-02 3.78019153e+02] [ 1.18869347e-01 9.92902097e-01 -3.93760430e-03 2.74456749e+01] [ 4.49447915e-02 -1.41900873e-03 9.98988464e-01 1.57119992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.28509989299994 meters 0.018473934576667236 Centerline is valid? [True, True] Translation: X:378.08, Y:27.45, Z:15.71 [[ 9.91225916e-01 -1.24186913e-01 -4.52636162e-02 3.78079452e+02] [ 1.24134422e-01 9.92257430e-01 -3.97960581e-03 2.74512008e+01] [ 4.54073744e-02 -1.67408439e-03 9.98967151e-01 1.57147656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.34509989299994 meters 0.020657452627316 Centerline is valid? [True, True] Translation: X:378.14, Y:27.45, Z:15.72 [[ 9.90660236e-01 -1.28187023e-01 -4.64799375e-02 3.78137533e+02] [ 1.28136048e-01 9.91748179e-01 -4.08688732e-03 2.74531091e+01] [ 4.66202792e-02 -1.90703877e-03 9.98910863e-01 1.57162882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.40509989299994 meters 0.02207642555935236 Centerline is valid? [True, True] Translation: X:378.20, Y:27.46, Z:15.72 [[ 9.89999101e-01 -1.32908471e-01 -4.72981780e-02 3.78197231e+02] [ 1.32860905e-01 9.91125954e-01 -4.16206930e-03 2.74576284e+01] [ 4.74316261e-02 -2.16363389e-03 9.98872144e-01 1.57179789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.46509989299994 meters 0.02356029308857098 Centerline is valid? [True, True] Translation: X:378.26, Y:27.46, Z:15.72 [[ 9.89655678e-01 -1.35425138e-01 -4.73462920e-02 3.78256099e+02] [ 1.35380296e-01 9.90784946e-01 -4.16737277e-03 2.74624744e+01] [ 4.74743603e-02 -2.28549087e-03 9.98869842e-01 1.57202071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.52509989299995 meters 0.024359272980959273 Centerline is valid? [True, True] Translation: X:378.32, Y:27.47, Z:15.72 [[ 9.89111481e-01 -1.39158735e-01 -4.78886655e-02 3.78315926e+02] [ 1.39117105e-01 9.90266956e-01 -4.21753026e-03 2.74707999e+01] [ 4.80094692e-02 -2.49052488e-03 9.98843776e-01 1.57223439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.58509989299995 meters 0.02422922108893968 Centerline is valid? [True, True] Translation: X:378.37, Y:27.48, Z:15.72 [[ 9.88761874e-01 -1.41501263e-01 -4.82426116e-02 3.78374879e+02] [ 1.41461744e-01 9.89934601e-01 -4.24971364e-03 2.74789342e+01] [ 4.83583703e-02 -2.62252916e-03 9.98826607e-01 1.57246070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.64509989299995 meters 0.030767449451422943 Centerline is valid? [True, True] Translation: X:378.43, Y:27.48, Z:15.73 [[ 9.88330571e-01 -1.44641273e-01 -4.77659298e-02 3.78433855e+02] [ 1.44606105e-01 9.89480346e-01 -4.20931009e-03 2.74793443e+01] [ 4.78722887e-02 -2.74705523e-03 9.98849687e-01 1.57270450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.70509989299995 meters 0.027773110676123657 Centerline is valid? [True, True] Translation: X:378.49, Y:27.49, Z:15.73 [[ 9.88107262e-01 -1.46312291e-01 -4.72943091e-02 3.78492192e+02] [ 1.46279696e-01 9.89234490e-01 -4.16826734e-03 2.74922936e+01] [ 4.73950305e-02 -2.79950191e-03 9.98872301e-01 1.57311794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.76509989299996 meters 0.028914580562130858 Centerline is valid? [True, True] Translation: X:378.55, Y:27.50, Z:15.73 [[ 9.87911460e-01 -1.47665008e-01 -4.71804185e-02 3.78550538e+02] [ 1.47633969e-01 9.89033314e-01 -4.16110518e-03 2.74993828e+01] [ 4.72774553e-02 -2.85462895e-03 9.98877717e-01 1.57339496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.82509989299996 meters 0.02897531482119516 Centerline is valid? [True, True] Translation: X:378.61, Y:27.51, Z:15.74 [[ 9.87928022e-01 -1.47530477e-01 -4.72544354e-02 3.78608575e+02] [ 1.47498619e-01 9.89053430e-01 -4.17961854e-03 2.75098891e+01] [ 4.73537826e-02 -2.84080168e-03 9.98874141e-01 1.57367727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.88509989299996 meters 0.025059730858352298 Centerline is valid? [True, True] Translation: X:378.67, Y:27.53, Z:15.74 [[ 9.88259594e-01 -1.45280273e-01 -4.72928883e-02 3.78666936e+02] [ 1.45245285e-01 9.89386790e-01 -4.19380173e-03 2.75250441e+01] [ 4.74002356e-02 -2.72450423e-03 9.98872261e-01 1.57407238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.94509989299996 meters 0.02516622451848471 Centerline is valid? [True, True] Translation: X:378.73, Y:27.54, Z:15.74 [[ 9.89094817e-01 -1.39373211e-01 -4.76082996e-02 3.78725276e+02] [ 1.39330850e-01 9.90236879e-01 -4.22347400e-03 2.75372408e+01] [ 4.77321331e-02 -2.45588858e-03 9.98857153e-01 1.57432816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.00509989299997 meters 0.021769068625476857 Centerline is valid? [True, True] Translation: X:378.78, Y:27.55, Z:15.75 [[ 9.90037229e-01 -1.32611423e-01 -4.73338673e-02 3.78784678e+02] [ 1.32561792e-01 9.91165844e-01 -4.20004724e-03 2.75541885e+01] [ 4.74726868e-02 -2.11645911e-03 9.98870294e-01 1.57457524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.06509989299997 meters 0.019238406322973158 Centerline is valid? [True, True] Translation: X:378.84, Y:27.57, Z:15.75 [[ 9.90691866e-01 -1.27667807e-01 -4.72287887e-02 3.78843682e+02] [ 1.27612776e-01 9.91815212e-01 -4.19095344e-03 2.75678814e+01] [ 4.73772809e-02 -1.87505334e-03 9.98875306e-01 1.57473985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.12509989299997 meters 0.017853762821500474 Centerline is valid? [True, True] Translation: X:378.90, Y:27.58, Z:15.75 [[ 9.91428366e-01 -1.21784586e-01 -4.73107726e-02 3.78902433e+02] [ 1.21722627e-01 9.92555272e-01 -4.19920584e-03 2.75801869e+01] [ 4.74699553e-02 -1.59557975e-03 9.98871392e-01 1.57492133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.185099893 meters 0.01628168555885589 Centerline is valid? [True, True] Translation: X:378.96, Y:27.59, Z:15.75 [[ 9.92240559e-01 -1.15096519e-01 -4.70262121e-02 3.78961214e+02] [ 1.15027721e-01 9.93353506e-01 -4.17556530e-03 2.75931555e+01] [ 4.71942457e-02 -1.26615275e-03 9.98884928e-01 1.57511156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.245099893 meters 0.01465914474637051 Centerline is valid? [True, True] Translation: X:379.02, Y:27.61, Z:15.75 [[ 9.92983749e-01 -1.08736957e-01 -4.64709305e-02 3.79020191e+02] [ 1.08662774e-01 9.94070103e-01 -4.12708900e-03 2.76055428e+01] [ 4.66441297e-02 -9.51527901e-04 9.98911117e-01 1.57534579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.305099893 meters 0.013424600080047915 Centerline is valid? [True, True] Translation: X:379.08, Y:27.62, Z:15.76 [[ 9.93700068e-01 -1.02001173e-01 -4.64320482e-02 3.79078713e+02] [ 1.01919719e-01 9.94784077e-01 -4.12455196e-03 2.76197135e+01] [ 4.66105714e-02 -6.33773731e-04 9.98912936e-01 1.57559729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.365099893 meters 0.013275831465174226 Centerline is valid? [True, True] Translation: X:379.14, Y:27.63, Z:15.76 [[ 9.93852554e-01 -1.00498960e-01 -4.64441679e-02 3.79137130e+02] [ 1.00415742e-01 9.94937005e-01 -4.12737315e-03 2.76275817e+01] [ 4.66238180e-02 -5.61725244e-04 9.98912361e-01 1.57586416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.425099893 meters 0.013948467718550244 Centerline is valid? [True, True] Translation: X:379.20, Y:27.63, Z:15.76 [[ 9.93491063e-01 -1.04260253e-01 -4.58836340e-02 3.79195879e+02] [ 1.04182892e-01 9.94549784e-01 -4.08075285e-03 2.76316851e+01] [ 4.60590186e-02 -7.26098220e-04 9.98938456e-01 1.57612337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.485099893 meters 0.014127407227823774 Centerline is valid? [True, True] Translation: X:379.26, Y:27.64, Z:15.76 [[ 9.92958712e-01 -1.09322687e-01 -4.56239704e-02 3.79256396e+02] [ 1.09251062e-01 9.94005864e-01 -4.06799009e-03 2.76359608e+01] [ 4.57952177e-02 -9.45121047e-04 9.98950402e-01 1.57643844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.545099893 meters 0.016947776565196606 Centerline is valid? [True, True] Translation: X:379.32, Y:27.63, Z:15.77 [[ 9.91728281e-01 -1.19565385e-01 -4.66812108e-02 3.79315857e+02] [ 1.19501717e-01 9.92825269e-01 -4.16233713e-03 2.76347865e+01] [ 4.68439571e-02 -1.45057741e-03 9.98901166e-01 1.57666756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.605099893 meters 0.019117985730051697 Centerline is valid? [True, True] Translation: X:379.38, Y:27.64, Z:15.77 [[ 9.90884440e-01 -1.26631280e-01 -4.59624342e-02 3.79376583e+02] [ 1.26577107e-01 9.91948302e-01 -4.09894939e-03 2.76354969e+01] [ 4.61114138e-02 -1.75620677e-03 9.98934759e-01 1.57695596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.665099893 meters 0.020953342244642913 Centerline is valid? [True, True] Translation: X:379.44, Y:27.64, Z:15.77 [[ 9.90055978e-01 -1.32832564e-01 -4.63105966e-02 3.79437653e+02] [ 1.32784320e-01 9.91136351e-01 -4.13021890e-03 2.76369429e+01] [ 4.64487433e-02 -2.06017317e-03 9.98918550e-01 1.57721644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.725099893 meters 0.02416854765586708 Centerline is valid? [True, True] Translation: X:379.50, Y:27.64, Z:15.77 [[ 9.89281237e-01 -1.38312581e-01 -4.68216106e-02 3.79496969e+02] [ 1.38269388e-01 9.90385854e-01 -4.17569685e-03 2.76375045e+01] [ 4.69490123e-02 -2.34305690e-03 9.98894539e-01 1.57735443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.78509989299994 meters 0.025560562947290404 Centerline is valid? [True, True] Translation: X:379.56, Y:27.64, Z:15.78 [[ 9.89074633e-01 -1.39845468e-01 -4.66327758e-02 3.79557511e+02] [ 1.39804291e-01 9.90170419e-01 -4.15947616e-03 2.76420724e+01] [ 4.67560791e-02 -2.40542981e-03 9.98903440e-01 1.57754134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.84509989299994 meters 0.022871670363221217 Centerline is valid? [True, True] Translation: X:379.62, Y:27.65, Z:15.78 [[ 9.89149446e-01 -1.39528846e-01 -4.59899347e-02 3.79618125e+02] [ 1.39488461e-01 9.90215200e-01 -4.10198183e-03 2.76529846e+01] [ 4.61122772e-02 -2.35759216e-03 9.98933481e-01 1.57785581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.90509989299994 meters 0.022601099703038464 Centerline is valid? [True, True] Translation: X:379.68, Y:27.66, Z:15.78 [[ 9.89127032e-01 -1.39602664e-01 -4.62472743e-02 3.79679579e+02] [ 1.39561995e-01 9.90204752e-01 -4.12303098e-03 2.76606830e+01] [ 4.63698569e-02 -2.37616048e-03 9.98921514e-01 1.57807404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.96509989299994 meters 0.024500737867162805 Centerline is valid? [True, True] Translation: X:379.74, Y:27.67, Z:15.78 [[ 9.88555460e-01 -1.43218088e-01 -4.73991756e-02 3.79740545e+02] [ 1.43179669e-01 9.89687705e-01 -4.22239178e-03 2.76664868e+01] [ 4.75151042e-02 -2.61252982e-03 9.98867103e-01 1.57820506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.02509989299995 meters 0.024887558876736247 Centerline is valid? [True, True] Translation: X:379.80, Y:27.67, Z:15.78 [[ 9.87954271e-01 -1.47045618e-01 -4.82073192e-02 3.79800884e+02] [ 1.47010459e-01 9.89125619e-01 -4.29346979e-03 2.76727653e+01] [ 4.83144303e-02 -2.84522832e-03 9.98828124e-01 1.57837800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.08509989299995 meters 0.026788538306642493 Centerline is valid? [True, True] Translation: X:379.86, Y:27.68, Z:15.79 [[ 9.86956681e-01 -1.53404994e-01 -4.88202521e-02 3.79862049e+02] [ 1.53376725e-01 9.88158228e-01 -4.34704727e-03 2.76783795e+01] [ 4.89089926e-02 -3.19754302e-03 9.98798121e-01 1.57859408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.14509989299995 meters 0.028395217794826014 Centerline is valid? [True, True] Translation: X:379.92, Y:27.68, Z:15.79 [[ 9.86464819e-01 -1.56497712e-01 -4.89451389e-02 3.79922659e+02] [ 1.56473152e-01 9.87672603e-01 -4.35676352e-03 2.76846270e+01] [ 4.90235963e-02 -3.36080623e-03 9.98791966e-01 1.57884759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.20509989299995 meters 0.02981825975220639 Centerline is valid? [True, True] Translation: X:379.98, Y:27.69, Z:15.79 [[ 9.86301882e-01 -1.57607056e-01 -4.86684038e-02 3.79984045e+02] [ 1.57584179e-01 9.87496061e-01 -4.33082984e-03 2.76932819e+01] [ 4.87424264e-02 -3.39786486e-03 9.98805602e-01 1.57920721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.26509989299996 meters 0.030460803327144084 Centerline is valid? [True, True] Translation: X:380.04, Y:27.70, Z:15.80 [[ 9.86669859e-01 -1.55659857e-01 -4.74615484e-02 3.80044989e+02] [ 1.55636011e-01 9.87805458e-01 -4.22016148e-03 2.77014832e+01] [ 4.75396863e-02 -3.22281993e-03 9.98864151e-01 1.57960439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.32509989299996 meters 0.029246896525743825 Centerline is valid? [True, True] Translation: X:380.10, Y:27.71, Z:15.80 [[ 9.87340069e-01 -1.51705939e-01 -4.63130259e-02 3.80104494e+02] [ 1.51678970e-01 9.88421238e-01 -4.11650067e-03 2.77127724e+01] [ 4.64012761e-02 -2.96032602e-03 9.98918494e-01 1.58000199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.38509989299996 meters 0.02650168865564058 Centerline is valid? [True, True] Translation: X:380.16, Y:27.73, Z:15.80 [[ 9.88930416e-01 -1.41591964e-01 -4.43660623e-02 3.80162485e+02] [ 1.41557064e-01 9.89922243e-01 -3.94330337e-03 2.77290552e+01] [ 4.44772920e-02 -2.38067687e-03 9.99007559e-01 1.58045788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.44509989299996 meters 0.022143648913926398 Centerline is valid? [True, True] Translation: X:380.22, Y:27.75, Z:15.81 [[ 9.90701507e-01 -1.28530562e-01 -4.46140983e-02 3.80220711e+02] [ 1.28482002e-01 9.91703910e-01 -3.96618452e-03 2.77479924e+01] [ 4.47537517e-02 -1.80280368e-03 9.98996422e-01 1.58061983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.50509989299997 meters 0.01931268996072102 Centerline is valid? [True, True] Translation: X:380.28, Y:27.76, Z:15.81 [[ 9.91725643e-01 -1.20134389e-01 -4.52545765e-02 3.80280181e+02] [ 1.20075654e-01 9.92756589e-01 -4.02392355e-03 2.77618739e+01] [ 4.54101906e-02 -1.44334471e-03 9.98967383e-01 1.58078696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.56509989299997 meters 0.015350688281879573 Centerline is valid? [True, True] Translation: X:380.34, Y:27.78, Z:15.81 [[ 9.92581269e-01 -1.12808018e-01 -4.53516915e-02 3.80339516e+02] [ 1.12741391e-01 9.93616182e-01 -4.03247539e-03 2.77781021e+01] [ 4.55170701e-02 -1.11045325e-03 9.98962944e-01 1.58106780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.62509989299997 meters 0.013213053931956938 Centerline is valid? [True, True] Translation: X:380.40, Y:27.79, Z:15.81 [[ 9.93675382e-01 -1.02785964e-01 -4.52137230e-02 3.80399214e+02] [ 1.02709412e-01 9.94703284e-01 -4.01916534e-03 2.77935850e+01] [ 4.53873526e-02 -6.50129242e-04 9.98969252e-01 1.58136470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.685099893 meters 0.012754904728608974 Centerline is valid? [True, True] Translation: X:380.46, Y:27.80, Z:15.82 [[ 9.94212727e-01 -9.72546235e-02 -4.56354114e-02 3.80460188e+02] [ 9.71708588e-02 9.95259452e-01 -4.05559304e-03 2.78033148e+01] [ 4.58134997e-02 -4.02309905e-04 9.98949929e-01 1.58155130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.745099893 meters 0.012264536498670708 Centerline is valid? [True, True] Translation: X:380.52, Y:27.81, Z:15.82 [[ 9.94759298e-01 -9.12603262e-02 -4.61030638e-02 3.80521218e+02] [ 9.11685547e-02 9.95827061e-01 -4.09376069e-03 2.78139034e+01] [ 4.62842765e-02 -1.30843185e-04 9.98928300e-01 1.58177858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.805099893 meters 0.012210380672973347 Centerline is valid? [True, True] Translation: X:380.58, Y:27.82, Z:15.82 [[ 9.94893966e-01 -8.94524488e-02 -4.67360171e-02 3.80582980e+02] [ 8.93563076e-02 9.95991093e-01 -4.14650010e-03 2.78201675e+01] [ 4.69195713e-02 -5.08299869e-05 9.98898669e-01 1.58199652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.865099893 meters 0.012139309881489972 Centerline is valid? [True, True] Translation: X:380.64, Y:27.82, Z:15.82 [[ 9.94789130e-01 -9.05513000e-02 -4.68513424e-02 3.80644534e+02] [ 9.04560528e-02 9.95891787e-01 -4.15351652e-03 2.78237099e+01] [ 4.70349734e-02 -1.06114413e-04 9.98893238e-01 1.58227695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.925099893 meters 0.012256790016720512 Centerline is valid? [True, True] Translation: X:380.71, Y:27.83, Z:15.83 [[ 9.94491395e-01 -9.41564052e-02 -4.60590623e-02 3.80706342e+02] [ 9.40682942e-02 9.95557380e-01 -4.08160707e-03 2.78256895e+01] [ 4.62387488e-02 -2.73574318e-04 9.98930380e-01 1.58260936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.985099893 meters 0.013320493463984647 Centerline is valid? [True, True] Translation: X:380.77, Y:27.82, Z:15.83 [[ 9.93824522e-01 -1.01725530e-01 -4.43253466e-02 3.80768165e+02] [ 1.01651525e-01 9.94812320e-01 -3.92624226e-03 2.78210003e+01] [ 4.44947999e-02 -6.03743253e-04 9.99009434e-01 1.58289874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.045099893 meters 0.013625330403506815 Centerline is valid? [True, True] Translation: X:380.83, Y:27.82, Z:15.83 [[ 9.93549803e-01 -1.04492797e-01 -4.40459349e-02 3.80830454e+02] [ 1.04422630e-01 9.94525377e-01 -3.89718337e-03 2.78232239e+01] [ 4.42120277e-02 -7.27346588e-04 9.99021905e-01 1.58315044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.105099893 meters 0.014701945139902955 Centerline is valid? [True, True] Translation: X:380.89, Y:27.82, Z:15.83 [[ 9.92799708e-01 -1.11542322e-01 -4.36697852e-02 3.80891717e+02] [ 1.11480289e-01 9.93759145e-01 -3.86088002e-03 2.78200067e+01] [ 4.38278999e-02 -1.03523973e-03 9.99038560e-01 1.58337275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.165099893 meters 0.015282566243493298 Centerline is valid? [True, True] Translation: X:380.95, Y:27.82, Z:15.84 [[ 9.92540727e-01 -1.13833359e-01 -4.36448290e-02 3.80954257e+02] [ 1.13773648e-01 9.93499207e-01 -3.85776841e-03 2.78205120e+01] [ 4.38002457e-02 -1.13663916e-03 9.99039662e-01 1.58359924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.22509989299994 meters 0.016043190190040104 Centerline is valid? [True, True] Translation: X:381.02, Y:27.82, Z:15.84 [[ 9.92489826e-01 -1.13840570e-01 -4.47690803e-02 3.81015932e+02] [ 1.13777901e-01 9.93498343e-01 -3.95380645e-03 2.78199108e+01] [ 4.49281106e-02 -1.16961930e-03 9.98989538e-01 1.58374204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.28509989299994 meters 0.014942674544607461 Centerline is valid? [True, True] Translation: X:381.08, Y:27.82, Z:15.84 [[ 9.92654781e-01 -1.12129464e-01 -4.54254238e-02 3.81077603e+02] [ 1.12063272e-01 9.93692986e-01 -4.00918905e-03 2.78247950e+01] [ 4.55884732e-02 -1.11078092e-03 9.98959688e-01 1.58396622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.34509989299994 meters 0.014604061825668256 Centerline is valid? [True, True] Translation: X:381.14, Y:27.83, Z:15.84 [[ 9.93094893e-01 -1.07588313e-01 -4.67684465e-02 3.81138325e+02] [ 1.07513272e-01 9.94195094e-01 -4.12438572e-03 2.78285094e+01] [ 4.69406958e-02 -9.32322318e-04 9.98897243e-01 1.58413285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.40509989299994 meters 0.01350230833342475 Centerline is valid? [True, True] Translation: X:381.20, Y:27.83, Z:15.84 [[ 9.93513709e-01 -1.03314216e-01 -4.75045600e-02 3.81198370e+02] [ 1.03231984e-01 9.94648491e-01 -4.18776276e-03 2.78348337e+01] [ 4.76829944e-02 -7.43390276e-04 9.98862242e-01 1.58438727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.46509989299994 meters 0.012191702414311403 Centerline is valid? [True, True] Translation: X:381.26, Y:27.84, Z:15.85 [[ 9.93732794e-01 -1.01201655e-01 -4.74695706e-02 3.81259562e+02] [ 1.01117145e-01 9.94865726e-01 -4.18446873e-03 2.78419543e+01] [ 4.76493240e-02 -6.41743659e-04 9.98863920e-01 1.58469963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.52509989299995 meters 0.012103703810878904 Centerline is valid? [True, True] Translation: X:381.32, Y:27.85, Z:15.85 [[ 9.93824086e-01 -9.98516913e-02 -4.84079189e-02 3.81320042e+02] [ 9.97622887e-02 9.95002157e-01 -4.26547679e-03 2.78460196e+01] [ 4.85918987e-02 -5.90151200e-04 9.98818542e-01 1.58490888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.58509989299995 meters 0.012134686890250589 Centerline is valid? [True, True] Translation: X:381.38, Y:27.85, Z:15.85 [[ 9.93795762e-01 -1.00456167e-01 -4.77340733e-02 3.81379904e+02] [ 1.00369970e-01 9.94941297e-01 -4.20533705e-03 2.78474644e+01] [ 4.79150528e-02 -6.11821365e-04 9.98851227e-01 1.58522533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.64509989299995 meters 0.013760842436997203 Centerline is valid? [True, True] Translation: X:381.44, Y:27.85, Z:15.85 [[ 9.93636065e-01 -1.02170544e-01 -4.74188825e-02 3.81439811e+02] [ 1.02087431e-01 9.94766658e-01 -4.17761293e-03 2.78457612e+01] [ 4.75975522e-02 -6.89845006e-04 9.98866356e-01 1.58535246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.70509989299995 meters 0.012957396746809346 Centerline is valid? [True, True] Translation: X:381.50, Y:27.85, Z:15.86 [[ 9.93063894e-01 -1.07079410e-01 -4.85602874e-02 3.81500060e+02] [ 1.06998070e-01 9.94250021e-01 -4.27892714e-03 2.78486224e+01] [ 4.87392518e-02 -9.46608970e-04 9.98811088e-01 1.58560138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.76509989299996 meters 0.014702373624106127 Centerline is valid? [True, True] Translation: X:381.56, Y:27.85, Z:15.86 [[ 9.92590600e-01 -1.11036355e-01 -4.93439820e-02 3.81559999e+02] [ 1.10957242e-01 9.93815669e-01 -4.34811893e-03 2.78481656e+01] [ 4.95216218e-02 -1.15917020e-03 9.98772379e-01 1.58572322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.82509989299996 meters 0.016747732156406687 Centerline is valid? [True, True] Translation: X:381.62, Y:27.85, Z:15.86 [[ 9.92019797e-01 -1.16655099e-01 -4.78362899e-02 3.81619701e+02] [ 1.16587218e-01 9.93171508e-01 -4.21631498e-03 2.78465835e+01] [ 4.80014948e-02 -1.39443201e-03 9.98846291e-01 1.58599452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.88509989299996 meters 0.016642719450955214 Centerline is valid? [True, True] Translation: X:381.68, Y:27.85, Z:15.86 [[ 9.91711011e-01 -1.19688555e-01 -4.67324331e-02 3.81679406e+02] [ 1.19627026e-01 9.92810349e-01 -4.12127068e-03 2.78503824e+01] [ 4.68897121e-02 -1.50335247e-03 9.98898941e-01 1.58636873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.94509989299996 meters 0.016985939474856424 Centerline is valid? [True, True] Translation: X:381.74, Y:27.85, Z:15.87 [[ 9.91442862e-01 -1.22841818e-01 -4.41694424e-02 3.81740767e+02] [ 1.22789947e-01 9.92425035e-01 -3.89587752e-03 2.78535636e+01] [ 4.43134371e-02 -1.56102355e-03 9.99016458e-01 1.58679043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.00509989299997 meters 0.0187985987884222 Centerline is valid? [True, True] Translation: X:381.80, Y:27.86, Z:15.87 [[ 9.91369483e-01 -1.23755006e-01 -4.32579114e-02 3.81801405e+02] [ 1.23706188e-01 9.92311560e-01 -3.81393086e-03 2.78559239e+01] [ 4.33973186e-02 -1.57025667e-03 9.99056659e-01 1.58709931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.06509989299997 meters 0.019096315172070666 Centerline is valid? [True, True] Translation: X:381.86, Y:27.86, Z:15.87 [[ 9.91289444e-01 -1.24329411e-01 -4.34446188e-02 3.81862172e+02] [ 1.24280758e-01 9.92239703e-01 -3.82956767e-03 2.78605786e+01] [ 4.35836035e-02 -1.60312014e-03 9.99048497e-01 1.58732967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.12509989299997 meters 0.018584683564873153 Centerline is valid? [True, True] Translation: X:381.92, Y:27.87, Z:15.87 [[ 9.91146900e-01 -1.25160780e-01 -4.43012703e-02 3.81923168e+02] [ 1.25111091e-01 9.92135060e-01 -3.90346185e-03 2.78661486e+01] [ 4.44414038e-02 -1.67367613e-03 9.99010591e-01 1.58747743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.185099893 meters 0.02029341478832954 Centerline is valid? [True, True] Translation: X:381.98, Y:27.87, Z:15.88 [[ 9.90803745e-01 -1.27282291e-01 -4.59037872e-02 3.81982939e+02] [ 1.27231303e-01 9.91864835e-01 -4.04272838e-03 2.78689418e+01] [ 4.60449200e-02 -1.83484825e-03 9.98937685e-01 1.58763395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.245099893 meters 0.02144365593461073 Centerline is valid? [True, True] Translation: X:382.04, Y:27.87, Z:15.88 [[ 9.90478362e-01 -1.29335340e-01 -4.71697409e-02 3.82043771e+02] [ 1.29284007e-01 9.91598921e-01 -4.15037619e-03 2.78730689e+01] [ 4.73102545e-02 -1.98743528e-03 9.98878266e-01 1.58783133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.305099893 meters 0.02417004859577473 Centerline is valid? [True, True] Translation: X:382.10, Y:27.88, Z:15.88 [[ 9.90009958e-01 -1.32071845e-01 -4.93691195e-02 3.82103062e+02] [ 1.32019034e-01 9.91237666e-01 -4.34338131e-03 2.78751945e+01] [ 4.95101692e-02 -2.21767274e-03 9.98771158e-01 1.58783067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.365099893 meters 0.020893295052522628 Centerline is valid? [True, True] Translation: X:382.16, Y:27.89, Z:15.88 [[ 9.89907485e-01 -1.32694014e-01 -4.97540930e-02 3.82162994e+02] [ 1.32641087e-01 9.91154463e-01 -4.37872553e-03 2.78866192e+01] [ 4.98950220e-02 -2.26490379e-03 9.98751900e-01 1.58812338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.425099893 meters 0.02260832881909057 Centerline is valid? [True, True] Translation: X:382.22, Y:27.89, Z:15.88 [[ 9.89951091e-01 -1.32653902e-01 -4.89875420e-02 3.82222121e+02] [ 1.32602536e-01 9.91159916e-01 -4.31139228e-03 2.78928324e+01] [ 4.91264110e-02 -2.22780481e-03 9.98790084e-01 1.58844475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.485099893 meters 0.021220320279991853 Centerline is valid? [True, True] Translation: X:382.28, Y:27.90, Z:15.89 [[ 9.90031149e-01 -1.32546496e-01 -4.76418882e-02 3.82282969e+02] [ 1.32497763e-01 9.91174433e-01 -4.19348381e-03 2.79030181e+01] [ 4.77772531e-02 -2.16076400e-03 9.98855678e-01 1.58884799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.545099893 meters 0.02254926681386165 Centerline is valid? [True, True] Translation: X:382.34, Y:27.91, Z:15.89 [[ 9.89935636e-01 -1.33541344e-01 -4.68417112e-02 3.82343453e+02] [ 1.33495423e-01 9.91040860e-01 -4.12137705e-03 2.79103777e+01] [ 4.69724240e-02 -2.17325603e-03 9.98893822e-01 1.58926718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.605099893 meters 0.023469197750938822 Centerline is valid? [True, True] Translation: X:382.40, Y:27.92, Z:15.90 [[ 9.89833442e-01 -1.34499741e-01 -4.62555622e-02 3.82403958e+02] [ 1.34456077e-01 9.90911203e-01 -4.06824740e-03 2.79170031e+01] [ 4.63823331e-02 -2.19245410e-03 9.98921354e-01 1.58956076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.665099893 meters 0.024977987960093626 Centerline is valid? [True, True] Translation: X:382.46, Y:27.92, Z:15.90 [[ 9.89578437e-01 -1.36273693e-01 -4.65187901e-02 3.82464592e+02] [ 1.36231528e-01 9.90668582e-01 -4.09048592e-03 2.79239358e+01] [ 4.66421295e-02 -2.28946918e-03 9.98909040e-01 1.58978629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.72509989299994 meters 0.0259606822841874 Centerline is valid? [True, True] Translation: X:382.53, Y:27.93, Z:15.90 [[ 9.89464770e-01 -1.36605129e-01 -4.79427522e-02 3.82525830e+02] [ 1.36560816e-01 9.90622726e-01 -4.21396821e-03 2.79318513e+01] [ 4.80688296e-02 -2.37752829e-03 9.98841196e-01 1.58993596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.78509989299994 meters 0.021927978853871533 Centerline is valid? [True, True] Translation: X:382.59, Y:27.95, Z:15.90 [[ 9.89588659e-01 -1.35484720e-01 -4.85610592e-02 3.82587238e+02] [ 1.35438008e-01 9.90776637e-01 -4.26634678e-03 2.79460434e+01] [ 4.86911877e-02 -2.35508472e-03 9.98811104e-01 1.59020385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.84509989299994 meters 0.021567152062917344 Centerline is valid? [True, True] Translation: X:382.65, Y:27.96, Z:15.90 [[ 9.90045042e-01 -1.31989989e-01 -4.88820814e-02 3.82647888e+02] [ 1.31938579e-01 9.91248606e-01 -4.29107229e-03 2.79579396e+01] [ 4.90206736e-02 -2.20107752e-03 9.98795339e-01 1.59046574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.90509989299994 meters 0.019493158446599736 Centerline is valid? [True, True] Translation: X:382.71, Y:27.97, Z:15.91 [[ 9.90552878e-01 -1.28325335e-01 -4.83487794e-02 3.82708659e+02] [ 1.28270813e-01 9.91730108e-01 -4.24159012e-03 2.79701773e+01] [ 4.84932437e-02 -2.00021795e-03 9.98821508e-01 1.59074157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.96509989299994 meters 0.018284961480725583 Centerline is valid? [True, True] Translation: X:382.77, Y:27.98, Z:15.91 [[ 9.90830200e-01 -1.26149769e-01 -4.83916306e-02 3.82769700e+02] [ 1.26092707e-01 9.92009391e-01 -4.24231637e-03 2.79791917e+01] [ 4.85401193e-02 -1.89841655e-03 9.98819430e-01 1.59100700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.02509989299995 meters 0.01743848183671351 Centerline is valid? [True, True] Translation: X:382.83, Y:27.99, Z:15.91 [[ 9.91619807e-01 -1.20359620e-01 -4.69438094e-02 3.82828317e+02] [ 1.20299511e-01 9.92729119e-01 -4.11388033e-03 2.79917364e+01] [ 4.70976316e-02 -1.56791211e-03 9.98889060e-01 1.59124422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.08509989299995 meters 0.016548204641871015 Centerline is valid? [True, True] Translation: X:382.89, Y:28.00, Z:15.92 [[ 9.92072197e-01 -1.17104008e-01 -4.56005180e-02 3.82889109e+02] [ 1.17043861e-01 9.93118707e-01 -3.99602594e-03 2.80018012e+01] [ 4.57546781e-02 -1.37291444e-03 9.98951763e-01 1.59154695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.14509989299995 meters 0.014991339687673659 Centerline is valid? [True, True] Translation: X:382.95, Y:28.01, Z:15.92 [[ 9.92631654e-01 -1.12796562e-01 -4.42643867e-02 3.82950059e+02] [ 1.12735680e-01 9.93617448e-01 -3.87733480e-03 2.80140620e+01] [ 4.44192170e-02 -1.14141048e-03 9.99012327e-01 1.59179328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.20509989299995 meters 0.014803300158002665 Centerline is valid? [True, True] Translation: X:383.01, Y:28.02, Z:15.92 [[ 9.92998836e-01 -1.09373498e-01 -4.46178080e-02 3.83011263e+02] [ 1.09308299e-01 9.94000222e-01 -3.90577491e-03 2.80221938e+01] [ 4.47772993e-02 -9.98666785e-04 9.98996495e-01 1.59193009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.26509989299996 meters 0.013614833562919213 Centerline is valid? [True, True] Translation: X:383.07, Y:28.03, Z:15.92 [[ 9.93641568e-01 -1.03226783e-01 -4.49518104e-02 3.83071368e+02] [ 1.03154458e-01 9.94657578e-01 -3.93187834e-03 2.80331838e+01] [ 4.51175340e-02 -7.30101858e-04 9.98981419e-01 1.59203398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.32509989299996 meters 0.012195504108170706 Centerline is valid? [True, True] Translation: X:383.13, Y:28.04, Z:15.92 [[ 9.94194488e-01 -9.80156015e-02 -4.43876425e-02 3.83133157e+02] [ 9.79399629e-02 9.95184758e-01 -3.88084110e-03 2.80446012e+01] [ 4.45542882e-02 -4.89013225e-04 9.99006845e-01 1.59227921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.38509989299996 meters 0.011705385841189167 Centerline is valid? [True, True] Translation: X:383.19, Y:28.05, Z:15.93 [[ 9.95002876e-01 -9.02302327e-02 -4.27525743e-02 3.83193463e+02] [ 9.01530407e-02 9.95920923e-01 -3.73408952e-03 2.80549884e+01] [ 4.29151111e-02 -1.38844763e-04 9.99078713e-01 1.59254055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.44509989299996 meters 0.011691913573168108 Centerline is valid? [True, True] Translation: X:383.26, Y:28.06, Z:15.93 [[ 9.95386332e-01 -8.65999117e-02 -4.13098793e-02 3.83255035e+02] [ 8.65248080e-02 9.96243171e-01 -3.60590050e-03 2.80617040e+01] [ 4.14669558e-02 1.49346908e-05 9.99139876e-01 1.59278863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.50509989299997 meters 0.011718896977125377 Centerline is valid? [True, True] Translation: X:383.32, Y:28.06, Z:15.93 [[ 9.95502980e-01 -8.57145561e-02 -4.03339904e-02 3.83317576e+02] [ 8.56423525e-02 9.96319734e-01 -3.51779124e-03 2.80645129e+01] [ 4.04870765e-02 4.76738376e-05 9.99180061e-01 1.59291772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.56509989299997 meters 0.011981179309350023 Centerline is valid? [True, True] Translation: X:383.38, Y:28.06, Z:15.93 [[ 9.95079421e-01 -8.99474201e-02 -4.15500706e-02 3.83379631e+02] [ 8.98746136e-02 9.95946507e-01 -3.62070085e-03 2.80627368e+01] [ 4.17073204e-02 -1.31411633e-04 9.99129863e-01 1.59295815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.62509989299997 meters 0.012428993035814217 Centerline is valid? [True, True] Translation: X:383.44, Y:28.06, Z:15.93 [[ 9.94591578e-01 -9.51440890e-02 -4.16556834e-02 3.83442582e+02] [ 9.50755599e-02 9.95463449e-01 -3.62764057e-03 2.80611963e+01] [ 4.18118588e-02 -3.52416669e-04 9.99125440e-01 1.59310997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.685099893 meters 0.014320149566491597 Centerline is valid? [True, True] Translation: X:383.50, Y:28.05, Z:15.93 [[ 9.93592064e-01 -1.04890735e-01 -4.21039764e-02 3.83504151e+02] [ 1.04829589e-01 9.94483451e-01 -3.66360144e-03 2.80545078e+01] [ 4.22559856e-02 -7.73617246e-04 9.99106517e-01 1.59324958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.745099893 meters 0.016012280892234672 Centerline is valid? [True, True] Translation: X:383.57, Y:28.05, Z:15.93 [[ 9.92907997e-01 -1.11083640e-01 -4.23572148e-02 3.83565270e+02] [ 1.11027414e-01 9.93810513e-01 -3.68487457e-03 2.80525123e+01] [ 4.25043746e-02 -1.04407061e-03 9.99095735e-01 1.59344789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.805099893 meters 0.017533421451832672 Centerline is valid? [True, True] Translation: X:383.63, Y:28.05, Z:15.94 [[ 9.92295774e-01 -1.16782360e-01 -4.13639726e-02 3.83627096e+02] [ 1.16733712e-01 9.93156733e-01 -3.59775361e-03 2.80519651e+01] [ 4.15010621e-02 -1.25853439e-03 9.99137667e-01 1.59366837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.865099893 meters 0.020351183757427234 Centerline is valid? [True, True] Translation: X:383.69, Y:28.05, Z:15.94 [[ 9.91488810e-01 -1.24172446e-01 -3.91298375e-02 3.83688434e+02] [ 1.24134708e-01 9.92259543e-01 -3.40201037e-03 2.80477422e+01] [ 3.92493906e-02 -1.48431575e-03 9.99228343e-01 1.59398425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.925099893 meters 0.024151281558210568 Centerline is valid? [True, True] Translation: X:383.75, Y:28.04, Z:15.94 [[ 9.91036287e-01 -1.28241060e-01 -3.74340688e-02 3.83749340e+02] [ 1.28209419e-01 9.91741777e-01 -3.25450823e-03 2.80446149e+01] [ 3.75422915e-02 -1.57406447e-03 9.99293800e-01 1.59438885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.985099893 meters 0.024309505787518365 Centerline is valid? [True, True] Translation: X:383.81, Y:28.05, Z:15.95 [[ 9.90323456e-01 -1.33698815e-01 -3.72032118e-02 3.83809860e+02] [ 1.33671430e-01 9.91020430e-01 -3.23371886e-03 2.80465492e+01] [ 3.73014873e-02 -1.77057888e-03 9.99302489e-01 1.59461611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.045099893 meters 0.02590528953974713 Centerline is valid? [True, True] Translation: X:383.87, Y:28.05, Z:15.95 [[ 9.89961072e-01 -1.36281794e-01 -3.74746335e-02 3.83871127e+02] [ 1.36255854e-01 9.90668326e-01 -3.25729233e-03 2.80475085e+01] [ 3.75688421e-02 -1.88154557e-03 9.99292271e-01 1.59477530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.105099893 meters 0.02589654735625991 Centerline is valid? [True, True] Translation: X:383.93, Y:28.05, Z:15.95 [[ 9.89677681e-01 -1.37918288e-01 -3.89439832e-02 3.83933339e+02] [ 1.37891590e-01 9.90441548e-01 -3.38366673e-03 2.80505325e+01] [ 3.90384085e-02 -2.02130833e-03 9.99235666e-01 1.59486148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.165099893 meters 0.025634773322318748 Centerline is valid? [True, True] Translation: X:384.00, Y:28.06, Z:15.95 [[ 9.89956178e-01 -1.35159466e-01 -4.14570268e-02 3.83995165e+02] [ 1.35126935e-01 9.90821760e-01 -3.59881100e-03 2.80561231e+01] [ 4.15629376e-02 -2.03929578e-03 9.99133807e-01 1.59494899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.22509989299994 meters 0.022487815788060743 Centerline is valid? [True, True] Translation: X:384.05, Y:28.07, Z:15.95 [[ 9.90511955e-01 -1.30734375e-01 -4.23625950e-02 3.84054829e+02] [ 1.30696467e-01 9.91415618e-01 -3.67513003e-03 2.80670355e+01] [ 4.24794042e-02 -1.89638129e-03 9.99095543e-01 1.59515253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.28509989299994 meters 0.021407015103858038 Centerline is valid? [True, True] Translation: X:384.11, Y:28.08, Z:15.95 [[ 9.91686917e-01 -1.21146791e-01 -4.33648808e-02 3.84114049e+02] [ 1.21097910e-01 9.92633438e-01 -3.76208429e-03 2.80774041e+01] [ 4.35011952e-02 -1.52058668e-03 9.99052218e-01 1.59540058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.34509989299994 meters 0.016508052697798006 Centerline is valid? [True, True] Translation: X:384.17, Y:28.09, Z:15.96 [[ 9.92559563e-01 -1.13740897e-01 -4.34571386e-02 3.84174107e+02] [ 1.13684713e-01 9.93509724e-01 -3.77010877e-03 2.80935468e+01] [ 4.36039053e-02 -1.19835484e-03 9.99048179e-01 1.59577918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.40509989299994 meters 0.015877298766014868 Centerline is valid? [True, True] Translation: X:384.23, Y:28.10, Z:15.96 [[ 9.93356709e-01 -1.06828648e-01 -4.27795386e-02 3.84233396e+02] [ 1.06767827e-01 9.94277055e-01 -3.71056597e-03 2.81027082e+01] [ 4.29311084e-02 -8.81562777e-04 9.99077646e-01 1.59616854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.46509989299994 meters 0.013503163451317373 Centerline is valid? [True, True] Translation: X:384.29, Y:28.12, Z:15.97 [[ 9.94212396e-01 -9.87848279e-02 -4.22287810e-02 3.84293651e+02] [ 9.87183072e-02 9.95108677e-01 -3.66278070e-03 2.81163802e+01] [ 4.23840536e-02 -5.27171800e-04 9.99101253e-01 1.59657253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.52509989299995 meters 0.013023768621376835 Centerline is valid? [True, True] Translation: X:384.36, Y:28.12, Z:15.97 [[ 9.94474541e-01 -9.55414741e-02 -4.34995882e-02 3.84355702e+02] [ 9.54678614e-02 9.95425369e-01 -3.77128765e-03 2.81241338e+01] [ 4.36609080e-02 -4.02363098e-04 9.99046327e-01 1.59680015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.58509989299995 meters 0.012972793446083403 Centerline is valid? [True, True] Translation: X:384.42, Y:28.13, Z:15.97 [[ 9.94489762e-01 -9.41607501e-02 -4.60854182e-02 3.84416243e+02] [ 9.40768036e-02 9.95556939e-01 -3.99193730e-03 2.81294275e+01] [ 4.62565417e-02 -3.65628064e-04 9.98929526e-01 1.59695558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.64509989299995 meters 0.013076232026698284 Centerline is valid? [True, True] Translation: X:384.48, Y:28.13, Z:15.97 [[ 9.94242989e-01 -9.57502225e-02 -4.80913080e-02 3.84477231e+02] [ 9.56607906e-02 9.95405285e-01 -4.16306439e-03 2.81318809e+01] [ 4.82689565e-02 -4.61354964e-04 9.98834268e-01 1.59716316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.70509989299995 meters 0.013214734781372448 Centerline is valid? [True, True] Translation: X:384.54, Y:28.13, Z:15.97 [[ 9.94025519e-01 -9.76004488e-02 -4.88612317e-02 3.84538022e+02] [ 9.75104377e-02 9.95225521e-01 -4.22818043e-03 2.81345217e+01] [ 4.90406171e-02 -5.61560844e-04 9.98796627e-01 1.59741393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.76509989299996 meters 0.013644484500273859 Centerline is valid? [True, True] Translation: X:384.60, Y:28.14, Z:15.98 [[ 9.93852751e-01 -9.94496366e-02 -4.86464693e-02 3.84597744e+02] [ 9.93626225e-02 9.95042385e-01 -4.20971643e-03 2.81369066e+01] [ 4.88239536e-02 -6.49802503e-04 9.98807188e-01 1.59769703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.82509989299996 meters 0.014147021476694296 Centerline is valid? [True, True] Translation: X:384.66, Y:28.14, Z:15.98 [[ 9.93683402e-01 -1.01442543e-01 -4.79865284e-02 3.84657763e+02] [ 1.01360156e-01 9.94841127e-01 -4.15344443e-03 2.81389786e+01] [ 4.81603079e-02 -7.36713191e-04 9.98839347e-01 1.59798769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.88509989299996 meters 0.014251290614968734 Centerline is valid? [True, True] Translation: X:384.72, Y:28.14, Z:15.98 [[ 9.93445955e-01 -1.03616034e-01 -4.82581701e-02 3.84717880e+02] [ 1.03535238e-01 9.94617012e-01 -4.17768923e-03 2.81417873e+01] [ 4.84312726e-02 -8.46112637e-04 9.98826159e-01 1.59830153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.94509989299996 meters 0.01564649337095569 Centerline is valid? [True, True] Translation: X:384.78, Y:28.14, Z:15.98 [[ 9.93189326e-01 -1.05830812e-01 -4.87319306e-02 3.84777070e+02] [ 1.05751072e-01 9.94383684e-01 -4.21894554e-03 2.81416882e+01] [ 4.89047311e-02 -9.63242218e-04 9.98802983e-01 1.59848119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.00509989299997 meters 0.015248498476112359 Centerline is valid? [True, True] Translation: X:384.84, Y:28.14, Z:15.99 [[ 9.92739206e-01 -1.09619413e-01 -4.95222580e-02 3.84837723e+02] [ 1.09541696e-01 9.93972949e-01 -4.28886824e-03 2.81434582e+01] [ 4.96939280e-02 -1.16702450e-03 9.98763812e-01 1.59881424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.06509989299997 meters 0.01639793788175767 Centerline is valid? [True, True] Translation: X:384.90, Y:28.14, Z:15.99 [[ 9.92088585e-01 -1.15077999e-01 -5.01726381e-02 3.84898450e+02] [ 1.15005194e-01 9.93355387e-01 -4.34519431e-03 2.81411087e+01] [ 5.03392966e-02 -1.45929632e-03 9.98731108e-01 1.59902699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.12509989299997 meters 0.01774076778572701 Centerline is valid? [True, True] Translation: X:384.96, Y:28.14, Z:15.99 [[ 9.91724793e-01 -1.18140597e-01 -5.02467387e-02 3.84958799e+02] [ 1.18071493e-01 9.92995561e-01 -4.35176448e-03 2.81401262e+01] [ 5.04089085e-02 -1.61695471e-03 9.98727354e-01 1.59923143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.185099893 meters 0.019149865143853535 Centerline is valid? [True, True] Translation: X:385.02, Y:28.14, Z:15.99 [[ 9.91369673e-01 -1.20920632e-01 -5.06396251e-02 3.85018923e+02] [ 1.20854007e-01 9.92660599e-01 -4.38687313e-03 2.81377321e+01] [ 5.07984240e-02 -1.77098863e-03 9.98707356e-01 1.59938648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.245099893 meters 0.019656762197161684 Centerline is valid? [True, True] Translation: X:385.08, Y:28.14, Z:16.00 [[ 9.91259506e-01 -1.21803732e-01 -5.06798061e-02 3.85078537e+02] [ 1.21738061e-01 9.92552544e-01 -4.39217107e-03 2.81401329e+01] [ 5.08373533e-02 -1.81587999e-03 9.98705295e-01 1.59964052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.305099893 meters 0.021291968012171553 Centerline is valid? [True, True] Translation: X:385.14, Y:28.14, Z:16.00 [[ 9.90975466e-01 -1.23764057e-01 -5.14789608e-02 3.85136843e+02] [ 1.23698815e-01 9.92309769e-01 -4.46379773e-03 2.81403848e+01] [ 5.16355335e-02 -1.94437242e-03 9.98664103e-01 1.59988663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.365099893 meters 0.022693029296006164 Centerline is valid? [True, True] Translation: X:385.20, Y:28.14, Z:16.00 [[ 9.90716778e-01 -1.26073346e-01 -5.08505457e-02 3.85195641e+02] [ 1.26012424e-01 9.92018838e-01 -4.41513685e-03 2.81421952e+01] [ 5.10013303e-02 -2.03365036e-03 9.98696515e-01 1.60024461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.425099893 meters 0.024118085041154654 Centerline is valid? [True, True] Translation: X:385.26, Y:28.14, Z:16.01 [[ 9.90421278e-01 -1.28666904e-01 -5.01050911e-02 3.85255618e+02] [ 1.28610545e-01 9.91685591e-01 -4.36072630e-03 2.81439509e+01] [ 5.02495780e-02 -2.12508695e-03 9.98734431e-01 1.60052074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.485099893 meters 0.027901419785277257 Centerline is valid? [True, True] Translation: X:385.32, Y:28.14, Z:16.01 [[ 9.89838296e-01 -1.32913864e-01 -5.05376391e-02 3.85315162e+02] [ 1.32861957e-01 9.91124785e-01 -4.40012584e-03 2.81426979e+01] [ 5.06739444e-02 -2.35911656e-03 9.98712464e-01 1.60069898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.545099893 meters 0.03112011100564978 Centerline is valid? [True, True] Translation: X:385.38, Y:28.14, Z:16.01 [[ 9.89327519e-01 -1.36981495e-01 -4.96702057e-02 3.85375324e+02] [ 1.36936385e-01 9.90570397e-01 -4.32613197e-03 2.81428499e+01] [ 4.97944354e-02 -2.52169699e-03 9.98756304e-01 1.60092814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.605099893 meters 0.025183492118087073 Centerline is valid? [True, True] Translation: X:385.43, Y:28.16, Z:16.01 [[ 9.89069102e-01 -1.39206428e-01 -4.86197768e-02 3.85434182e+02] [ 1.39165843e-01 9.90260031e-01 -4.23544512e-03 2.81560865e+01] [ 4.87358229e-02 -2.57706433e-03 9.98808379e-01 1.60138691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.665099893 meters 0.02399272120141817 Centerline is valid? [True, True] Translation: X:385.49, Y:28.16, Z:16.02 [[ 9.88919441e-01 -1.40543239e-01 -4.78114717e-02 3.85493851e+02] [ 1.40505511e-01 9.90071133e-01 -4.16578288e-03 2.81634066e+01] [ 4.79222305e-02 -2.59815157e-03 9.98847691e-01 1.60172319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.72509989299994 meters 0.025738948953783633 Centerline is valid? [True, True] Translation: X:385.55, Y:28.17, Z:16.02 [[ 9.88654578e-01 -1.42691048e-01 -4.69189706e-02 3.85554465e+02] [ 1.42657127e-01 9.89763726e-01 -4.08792600e-03 2.81678891e+01] [ 4.70220056e-02 -2.65177878e-03 9.98890334e-01 1.60200888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.78509989299994 meters 0.026525368224593997 Centerline is valid? [True, True] Translation: X:385.61, Y:28.17, Z:16.02 [[ 9.88396468e-01 -1.44660763e-01 -4.63215394e-02 3.85614895e+02] [ 1.44629893e-01 9.89477596e-01 -4.03502711e-03 2.81735686e+01] [ 4.64178355e-02 -2.71127274e-03 9.98918432e-01 1.60216279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.84509989299994 meters 0.029182718974997874 Centerline is valid? [True, True] Translation: X:385.68, Y:28.18, Z:16.02 [[ 9.88201352e-01 -1.45970469e-01 -4.63757585e-02 3.85675043e+02] [ 1.45941003e-01 9.89285050e-01 -4.03889298e-03 2.81769368e+01] [ 4.64684037e-02 -2.77688521e-03 9.98915901e-01 1.60237383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.90509989299994 meters 0.030373469091727494 Centerline is valid? [True, True] Translation: X:385.74, Y:28.18, Z:16.03 [[ 9.87936825e-01 -1.47911995e-01 -4.58570861e-02 3.85736179e+02] [ 1.47885306e-01 9.88996458e-01 -3.99282469e-03 2.81845757e+01] [ 4.59430824e-02 -2.83693067e-03 9.98940031e-01 1.60263117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.96509989299994 meters 0.03147465355303545 Centerline is valid? [True, True] Translation: X:385.80, Y:28.19, Z:16.03 [[ 9.87701803e-01 -1.49136702e-01 -4.69403000e-02 3.85796624e+02] [ 1.49110200e-01 9.88812145e-01 -4.08537557e-03 2.81911705e+01] [ 4.70244182e-02 -2.96414468e-03 9.98889342e-01 1.60278212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.02509989299995 meters 0.031322678480033145 Centerline is valid? [True, True] Translation: X:385.86, Y:28.20, Z:16.03 [[ 9.87261819e-01 -1.51341320e-01 -4.90907900e-02 3.85856807e+02] [ 1.51315156e-01 9.88476346e-01 -4.27044516e-03 2.82005838e+01] [ 4.91713796e-02 -3.21213307e-03 9.98785191e-01 1.60284366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.08509989299995 meters 0.03046365568225799 Centerline is valid? [True, True] Translation: X:385.92, Y:28.21, Z:16.03 [[ 9.87182495e-01 -1.52052646e-01 -4.84841625e-02 3.85917723e+02] [ 1.52028023e-01 9.88367189e-01 -4.21668514e-03 2.82099718e+01] [ 4.85613135e-02 -3.20831363e-03 9.98815051e-01 1.60319306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.14509989299995 meters 0.029468958137167142 Centerline is valid? [True, True] Translation: X:385.98, Y:28.22, Z:16.04 [[ 9.87299282e-01 -1.51514227e-01 -4.77866891e-02 3.85979121e+02] [ 1.51489771e-01 9.88450096e-01 -4.15407614e-03 2.82204400e+01] [ 4.78641591e-02 -3.13787822e-03 9.98848926e-01 1.60359194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.20509989299995 meters 0.029434456860434458 Centerline is valid? [True, True] Translation: X:386.04, Y:28.23, Z:16.04 [[ 9.87631526e-01 -1.49776046e-01 -4.63800098e-02 3.86040353e+02] [ 1.49751249e-01 9.88715497e-01 -4.02852264e-03 2.82313598e+01] [ 4.64600106e-02 -2.96676844e-03 9.98915745e-01 1.60391156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.26509989299996 meters 0.029840257486154334 Centerline is valid? [True, True] Translation: X:386.10, Y:28.24, Z:16.04 [[ 9.87664605e-01 -1.49318762e-01 -4.71437763e-02 3.86102179e+02] [ 1.49292759e-01 9.88784571e-01 -4.09204275e-03 2.82398205e+01] [ 4.72260574e-02 -2.99665866e-03 9.98879732e-01 1.60411896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.32509989299996 meters 0.029414006592052715 Centerline is valid? [True, True] Translation: X:386.16, Y:28.25, Z:16.04 [[ 9.87593048e-01 -1.49577136e-01 -4.78189433e-02 3.86163723e+02] [ 1.49550856e-01 9.88745338e-01 -4.14710939e-03 2.82506470e+01] [ 4.79010700e-02 -3.05570749e-03 9.98847411e-01 1.60430552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.38509989299996 meters 0.028048174596266753 Centerline is valid? [True, True] Translation: X:386.22, Y:28.26, Z:16.05 [[ 9.87446453e-01 -1.50798438e-01 -4.70035489e-02 3.86224853e+02] [ 1.50774582e-01 9.88559779e-01 -4.07298647e-03 2.82635176e+01] [ 4.70800179e-02 -3.06508438e-03 9.98886419e-01 1.60462232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.44509989299996 meters 0.029061750406308033 Centerline is valid? [True, True] Translation: X:386.29, Y:28.27, Z:16.05 [[ 9.87409808e-01 -1.51208449e-01 -4.64529327e-02 3.86286304e+02] [ 1.51185759e-01 9.88497188e-01 -4.02182641e-03 2.82704406e+01] [ 4.65267275e-02 -3.05183105e-03 9.98912384e-01 1.60488280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.50509989299997 meters 0.02916007097214721 Centerline is valid? [True, True] Translation: X:386.35, Y:28.28, Z:16.05 [[ 9.87425273e-01 -1.51275255e-01 -4.59034642e-02 3.86347995e+02] [ 1.51253324e-01 9.88487058e-01 -3.97087240e-03 2.82791426e+01] [ 4.59756751e-02 -3.02211181e-03 9.98937988e-01 1.60511716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.56509989299997 meters 0.030704376334882263 Centerline is valid? [True, True] Translation: X:386.41, Y:28.29, Z:16.05 [[ 9.87589151e-01 -1.50259547e-01 -4.57136411e-02 3.86408282e+02] [ 1.50236866e-01 9.88642136e-01 -3.95113108e-03 2.82876115e+01] [ 4.57881269e-02 -2.96577997e-03 9.98946771e-01 1.60534280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.62509989299997 meters 0.030687957530678305 Centerline is valid? [True, True] Translation: X:386.47, Y:28.30, Z:16.06 [[ 9.87723918e-01 -1.49417871e-01 -4.55605201e-02 3.86469962e+02] [ 1.49394567e-01 9.88769830e-01 -3.93532884e-03 2.82962323e+01] [ 4.56368761e-02 -2.91947573e-03 9.98953829e-01 1.60563822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.685099893 meters 0.03215753553157058 Centerline is valid? [True, True] Translation: X:386.53, Y:28.30, Z:16.06 [[ 9.87890984e-01 -1.48320040e-01 -4.55254720e-02 3.86530814e+02] [ 1.48295759e-01 9.88935251e-01 -3.92907169e-03 2.83037457e+01] [ 4.56045042e-02 -2.86973991e-03 9.98955451e-01 1.60586860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.745099893 meters 0.029817616101037565 Centerline is valid? [True, True] Translation: X:386.59, Y:28.31, Z:16.06 [[ 9.87960557e-01 -1.47731658e-01 -4.59270626e-02 3.86592292e+02] [ 1.47706432e-01 9.89023316e-01 -3.96117221e-03 2.83136023e+01] [ 4.60081263e-02 -2.87024066e-03 9.98936942e-01 1.60612253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.805099893 meters 0.030510721407522992 Centerline is valid? [True, True] Translation: X:386.65, Y:28.32, Z:16.06 [[ 9.88102481e-01 -1.46629791e-01 -4.64024908e-02 3.86654010e+02] [ 1.46602990e-01 9.89187330e-01 -3.99877801e-03 2.83209206e+01] [ 4.64870959e-02 -2.85154143e-03 9.98914821e-01 1.60637243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.865099893 meters 0.033020078049575734 Centerline is valid? [True, True] Translation: X:386.71, Y:28.33, Z:16.07 [[ 9.88574277e-01 -1.43229018e-01 -4.69717808e-02 3.86713652e+02] [ 1.43197875e-01 9.89685813e-01 -4.04480375e-03 2.83275124e+01] [ 4.70666383e-02 -2.72767023e-03 9.98888027e-01 1.60658341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.925099893 meters 0.024938459412938395 Centerline is valid? [True, True] Translation: X:386.77, Y:28.35, Z:16.07 [[ 9.89091643e-01 -1.39771824e-01 -4.64925796e-02 3.86773413e+02] [ 1.39737509e-01 9.90180489e-01 -4.00345309e-03 2.83465848e+01] [ 4.65956152e-02 -2.53697525e-03 9.98910613e-01 1.60695476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.985099893 meters 0.023909380327936068 Centerline is valid? [True, True] Translation: X:386.83, Y:28.36, Z:16.07 [[ 9.89832073e-01 -1.34152384e-01 -4.72821905e-02 3.86832526e+02] [ 1.34110533e-01 9.90958018e-01 -4.07074733e-03 2.83575717e+01] [ 4.74007662e-02 -2.31168350e-03 9.98873277e-01 1.60722387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.045099893 meters 0.02074234843192679 Centerline is valid? [True, True] Translation: X:386.89, Y:28.37, Z:16.08 [[ 9.90349964e-01 -1.30285202e-01 -4.72516031e-02 3.86892548e+02] [ 1.30238986e-01 9.91474282e-01 -4.06869590e-03 2.83705342e+01] [ 4.73788401e-02 -2.12456802e-03 9.98874733e-01 1.60756771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.105099893 meters 0.019703680208675203 Centerline is valid? [True, True] Translation: X:386.95, Y:28.38, Z:16.08 [[ 9.90943242e-01 -1.25367769e-01 -4.81083434e-02 3.86953023e+02] [ 1.25314122e-01 9.92108471e-01 -4.14155195e-03 2.83813801e+01] [ 4.82479122e-02 -1.92461190e-03 9.98833537e-01 1.60785901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.165099893 meters 0.019298412543174513 Centerline is valid? [True, True] Translation: X:387.01, Y:28.39, Z:16.08 [[ 9.91233019e-01 -1.22831055e-01 -4.86788829e-02 3.87013704e+02] [ 1.22773126e-01 9.92425920e-01 -4.18963195e-03 2.83891342e+01] [ 4.88248020e-02 -1.82355709e-03 9.98805693e-01 1.60809251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.22509989299994 meters 0.019480346457518533 Centerline is valid? [True, True] Translation: X:387.07, Y:28.40, Z:16.08 [[ 9.91517484e-01 -1.20676946e-01 -4.82716658e-02 3.87074683e+02] [ 1.20617525e-01 9.92690369e-01 -4.15270114e-03 2.83957555e+01] [ 4.84199530e-02 -1.70493306e-03 9.98825611e-01 1.60827800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.28509989299994 meters 0.01883271329354846 Centerline is valid? [True, True] Translation: X:387.14, Y:28.40, Z:16.09 [[ 9.91542107e-01 -1.20340775e-01 -4.86039866e-02 3.87136514e+02] [ 1.20280266e-01 9.92731181e-01 -4.17850722e-03 2.84030208e+01] [ 4.87535378e-02 -1.70293456e-03 9.98809388e-01 1.60856046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.34509989299994 meters 0.020474188043927824 Centerline is valid? [True, True] Translation: X:387.20, Y:28.41, Z:16.09 [[ 9.91392878e-01 -1.21520194e-01 -4.87134952e-02 3.87197326e+02] [ 1.21460999e-01 9.92587384e-01 -4.18449946e-03 2.84063297e+01] [ 4.88609020e-02 -1.76830685e-03 9.98804027e-01 1.60871918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.40509989299994 meters 0.019738327964086044 Centerline is valid? [True, True] Translation: X:387.26, Y:28.41, Z:16.09 [[ 9.91148453e-01 -1.23299688e-01 -4.92131126e-02 3.87258783e+02] [ 1.23241618e-01 9.92367704e-01 -4.22427256e-03 2.84127782e+01] [ 4.93583550e-02 -1.87822240e-03 9.98779368e-01 1.60899917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.46509989299994 meters 0.020620267070541837 Centerline is valid? [True, True] Translation: X:387.32, Y:28.42, Z:16.09 [[ 9.90745908e-01 -1.26603317e-01 -4.89300077e-02 3.87320227e+02] [ 1.26550186e-01 9.91951337e-01 -4.19479547e-03 2.84164659e+01] [ 4.90672616e-02 -2.03612510e-03 9.98793401e-01 1.60925288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.52509989299995 meters 0.021916465631098506 Centerline is valid? [True, True] Translation: X:387.38, Y:28.42, Z:16.10 [[ 9.90499064e-01 -1.28686794e-01 -4.84903461e-02 3.87381903e+02] [ 1.28637194e-01 9.91683017e-01 -4.15522361e-03 2.84200117e+01] [ 4.86217751e-02 -2.12191696e-03 9.98815008e-01 1.60954847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.58509989299995 meters 0.023993177914037433 Centerline is valid? [True, True] Translation: X:387.44, Y:28.42, Z:16.10 [[ 9.90239606e-01 -1.30819505e-01 -4.80809680e-02 3.87442869e+02] [ 1.30773371e-01 9.91403738e-01 -4.11754155e-03 2.84222760e+01] [ 4.82063061e-02 -2.21035753e-03 9.98834955e-01 1.60979640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.64509989299995 meters 0.02516640981681464 Centerline is valid? [True, True] Translation: X:387.50, Y:28.43, Z:16.10 [[ 9.90180663e-01 -1.31292027e-01 -4.80068632e-02 3.87504244e+02] [ 1.31246712e-01 9.91341223e-01 -4.10862301e-03 2.84260085e+01] [ 4.81306119e-02 -2.23246391e-03 9.98838556e-01 1.61005860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.70509989299995 meters 0.023576898206821417 Centerline is valid? [True, True] Translation: X:387.57, Y:28.43, Z:16.10 [[ 9.90247236e-01 -1.31020412e-01 -4.73715450e-02 3.87566402e+02] [ 1.30976111e-01 9.91377246e-01 -4.05143895e-03 2.84342979e+01] [ 4.74938930e-02 -2.19261451e-03 9.98869122e-01 1.61039505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.76509989299996 meters 0.026612065323936823 Centerline is valid? [True, True] Translation: X:387.63, Y:28.44, Z:16.11 [[ 9.90352067e-01 -1.30192878e-01 -4.74615399e-02 3.87627967e+02] [ 1.30147727e-01 9.91486328e-01 -4.05354268e-03 2.84358448e+01] [ 4.75852103e-02 -2.16257718e-03 9.98864841e-01 1.61064372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.82509989299996 meters 0.02510602734423396 Centerline is valid? [True, True] Translation: X:387.69, Y:28.44, Z:16.11 [[ 9.90445354e-01 -1.29434573e-01 -4.75887797e-02 3.87689400e+02] [ 1.29388604e-01 9.91585660e-01 -4.05821650e-03 2.84433420e+01] [ 4.77136251e-02 -2.13800408e-03 9.98858768e-01 1.61084885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.88509989299996 meters 0.02165195584843697 Centerline is valid? [True, True] Translation: X:387.75, Y:28.45, Z:16.11 [[ 9.90533984e-01 -1.28754172e-01 -4.75898104e-02 3.87750962e+02] [ 1.28707576e-01 9.91674300e-01 -4.05496897e-03 2.84539712e+01] [ 4.77156861e-02 -2.10858456e-03 9.98858732e-01 1.61111281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.94509989299996 meters 0.022634213102076355 Centerline is valid? [True, True] Translation: X:387.81, Y:28.46, Z:16.11 [[ 9.90507046e-01 -1.28937857e-01 -4.76531283e-02 3.87812551e+02] [ 1.28891517e-01 9.91650401e-01 -4.05686260e-03 2.84586483e+01] [ 4.77783270e-02 -2.12373299e-03 9.98855706e-01 1.61131144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.00509989299997 meters 0.022056961796299016 Centerline is valid? [True, True] Translation: X:387.87, Y:28.47, Z:16.12 [[ 9.90459359e-01 -1.28935858e-01 -4.86395157e-02 3.87873886e+02] [ 1.28887753e-01 9.91650559e-01 -4.13725500e-03 2.84657516e+01] [ 4.87668435e-02 -2.17125495e-03 9.98807830e-01 1.61154278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.06509989299997 meters 0.022819695122960875 Centerline is valid? [True, True] Translation: X:387.94, Y:28.47, Z:16.12 [[ 9.90346962e-01 -1.29553399e-01 -4.92829666e-02 3.87935929e+02] [ 1.29504957e-01 9.91569929e-01 -4.18834306e-03 2.84707311e+01] [ 4.94101218e-02 -2.23447565e-03 9.98776074e-01 1.61177565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.12509989299997 meters 0.02264961346909083 Centerline is valid? [True, True] Translation: X:388.00, Y:28.48, Z:16.12 [[ 9.90294628e-01 -1.30351984e-01 -4.82173208e-02 3.87997949e+02] [ 1.30306722e-01 9.91465276e-01 -4.09434348e-03 2.84770896e+01] [ 4.83395051e-02 -2.22843468e-03 9.98828477e-01 1.61215806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.185099893 meters 0.02256483303155522 Centerline is valid? [True, True] Translation: X:388.06, Y:28.48, Z:16.13 [[ 9.90277786e-01 -1.30831896e-01 -4.72537978e-02 3.88060004e+02] [ 1.30789131e-01 9.91402103e-01 -4.00912462e-03 2.84829842e+01] [ 4.73720359e-02 -2.21013608e-03 9.98874870e-01 1.61252521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.245099893 meters 0.02257691753523941 Centerline is valid? [True, True] Translation: X:388.12, Y:28.49, Z:16.13 [[ 9.90142191e-01 -1.31903073e-01 -4.71170908e-02 3.88121776e+02] [ 1.31861927e-01 9.91260046e-01 -3.99406433e-03 2.84877386e+01] [ 4.72321190e-02 -2.25825881e-03 9.98881388e-01 1.61278458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.305099893 meters 0.02478530081651728 Centerline is valid? [True, True] Translation: X:388.18, Y:28.49, Z:16.13 [[ 9.89960831e-01 -1.33028528e-01 -4.77594283e-02 3.88182664e+02] [ 1.32987720e-01 9.91109430e-01 -4.04516082e-03 2.84888753e+01] [ 4.78729415e-02 -2.34686670e-03 9.98850676e-01 1.61297930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.365099893 meters 0.02464521498041677 Centerline is valid? [True, True] Translation: X:388.24, Y:28.49, Z:16.13 [[ 9.89641809e-01 -1.35537490e-01 -4.73146734e-02 3.88244012e+02] [ 1.35500377e-01 9.90769197e-01 -4.00577479e-03 2.84924164e+01] [ 4.74208537e-02 -2.44687385e-03 9.98872002e-01 1.61330587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.425099893 meters 0.025089477664783734 Centerline is valid? [True, True] Translation: X:388.31, Y:28.50, Z:16.14 [[ 9.89342307e-01 -1.37729000e-01 -4.72495658e-02 3.88305637e+02] [ 1.37694582e-01 9.90466666e-01 -3.99810474e-03 2.84961970e+01] [ 4.73497749e-02 -2.55051504e-03 9.98875114e-01 1.61358917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.485099893 meters 0.02740766152774655 Centerline is valid? [True, True] Translation: X:388.37, Y:28.50, Z:16.14 [[ 9.89031157e-01 -1.39535322e-01 -4.84485659e-02 3.88366417e+02] [ 1.39501553e-01 9.90213388e-01 -4.09427023e-03 2.84968037e+01] [ 4.85457139e-02 -2.70928935e-03 9.98817287e-01 1.61373962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.545099893 meters 0.0320371832144825 Centerline is valid? [True, True] Translation: X:388.43, Y:28.49, Z:16.14 [[ 9.88487194e-01 -1.42974609e-01 -4.95108899e-02 3.88426957e+02] [ 1.42943742e-01 9.89721980e-01 -4.18200495e-03 2.84932519e+01] [ 4.95999365e-02 -2.94341352e-03 9.98764828e-01 1.61378618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.605099893 meters 0.030241730601345197 Centerline is valid? [True, True] Translation: X:388.49, Y:28.50, Z:16.14 [[ 9.88080781e-01 -1.45726056e-01 -4.96012682e-02 3.88487707e+02] [ 1.45698665e-01 9.89320155e-01 -4.18685606e-03 2.84977765e+01] [ 4.96816684e-02 -3.08988657e-03 9.98760324e-01 1.61408018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.665099893 meters 0.030052570086039263 Centerline is valid? [True, True] Translation: X:388.55, Y:28.50, Z:16.14 [[ 9.87975532e-01 -1.46337678e-01 -4.98962216e-02 3.88549664e+02] [ 1.46310805e-01 9.89229711e-01 -4.21041529e-03 2.85026192e+01] [ 4.99749673e-02 -3.14056906e-03 9.98745533e-01 1.61438006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.72509989299994 meters 0.031162747170697336 Centerline is valid? [True, True] Translation: X:388.61, Y:28.51, Z:16.15 [[ 9.87944253e-01 -1.46873211e-01 -4.89327362e-02 3.88611581e+02] [ 1.46848187e-01 9.89150438e-01 -4.12562853e-03 2.85056041e+01] [ 4.90077817e-02 -3.10979260e-03 9.98793556e-01 1.61474426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.78509989299994 meters 0.03009647538105829 Centerline is valid? [True, True] Translation: X:388.67, Y:28.51, Z:16.15 [[ 9.88089508e-01 -1.46140251e-01 -4.81887101e-02 3.88673857e+02] [ 1.46115283e-01 9.89259241e-01 -4.05936436e-03 2.85117944e+01] [ 4.82643633e-02 -3.03009170e-03 9.98830000e-01 1.61515020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.84509989299994 meters 0.03107620986157607 Centerline is valid? [True, True] Translation: X:388.73, Y:28.51, Z:16.15 [[ 9.88445119e-01 -1.43920463e-01 -4.75725368e-02 3.88734680e+02] [ 1.43893755e-01 9.89585044e-01 -4.00352049e-03 2.85143478e+01] [ 4.76532594e-02 -2.88813065e-03 9.98859763e-01 1.61542315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.90509989299994 meters 0.02833837482782527 Centerline is valid? [True, True] Translation: X:388.80, Y:28.52, Z:16.16 [[ 9.88719321e-01 -1.41913758e-01 -4.79018832e-02 3.88796097e+02] [ 1.41884422e-01 9.89875030e-01 -4.02940226e-03 2.85227751e+01] [ 4.79887057e-02 -2.81258313e-03 9.98843918e-01 1.61570624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.96509989299994 meters 0.025876179658573247 Centerline is valid? [True, True] Translation: X:388.86, Y:28.53, Z:16.16 [[ 9.88937494e-01 -1.40246092e-01 -4.83080343e-02 3.88857463e+02] [ 1.40214410e-01 9.90112837e-01 -4.06077703e-03 2.85304567e+01] [ 4.83999129e-02 -2.75762787e-03 9.98824231e-01 1.61594279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.02509989299995 meters 0.028820400126146464 Centerline is valid? [True, True] Translation: X:388.92, Y:28.53, Z:16.16 [[ 9.88839537e-01 -1.40605493e-01 -4.92591613e-02 3.88919154e+02] [ 1.40573180e-01 9.90061647e-01 -4.13705461e-03 2.85304448e+01] [ 4.93512990e-02 -2.83363380e-03 9.98777463e-01 1.61611370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.08509989299995 meters 0.028815772637349676 Centerline is valid? [True, True] Translation: X:388.98, Y:28.53, Z:16.16 [[ 9.88554762e-01 -1.42360070e-01 -4.99308886e-02 3.88981336e+02] [ 1.42329245e-01 9.89810500e-01 -4.19056530e-03 2.85343317e+01] [ 5.00186870e-02 -2.96402241e-03 9.98743884e-01 1.61633704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.14509989299995 meters 0.029121739363726477 Centerline is valid? [True, True] Translation: X:389.04, Y:28.54, Z:16.16 [[ 9.88123248e-01 -1.44976093e-01 -5.09350439e-02 3.89042202e+02] [ 1.44947643e-01 9.89430106e-01 -4.27161236e-03 2.85365954e+01] [ 5.10159475e-02 -3.16203507e-03 9.98692833e-01 1.61645611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.20509989299995 meters 0.028650415764443823 Centerline is valid? [True, True] Translation: X:389.10, Y:28.54, Z:16.17 [[ 9.87882523e-01 -1.46360580e-01 -5.16401244e-02 3.89103676e+02] [ 1.46333290e-01 9.89225871e-01 -4.32942921e-03 2.85404575e+01] [ 5.17174049e-02 -3.27970186e-03 9.98656374e-01 1.61663748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.26509989299996 meters 0.02774326463846282 Centerline is valid? [True, True] Translation: X:389.17, Y:28.54, Z:16.17 [[ 9.87651035e-01 -1.48030496e-01 -5.13069633e-02 3.89165256e+02] [ 1.48005975e-01 9.88977127e-01 -4.29807093e-03 2.85444851e+01] [ 5.13776587e-02 -3.34874290e-03 9.98673681e-01 1.61695364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.32509989299996 meters 0.03540541079777083 Centerline is valid? [True, True] Translation: X:389.23, Y:28.54, Z:16.17 [[ 9.87449053e-01 -1.49276417e-01 -5.15841053e-02 3.89227240e+02] [ 1.49253607e-01 9.88789530e-01 -4.31578791e-03 2.85378981e+01] [ 5.16500686e-02 -3.43749308e-03 9.98659328e-01 1.61713397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.38509989299996 meters 0.03436881893011943 Centerline is valid? [True, True] Translation: X:389.29, Y:28.54, Z:16.17 [[ 9.86981883e-01 -1.52126155e-01 -5.21957366e-02 3.89288338e+02] [ 1.52106897e-01 9.88354412e-01 -4.36443058e-03 2.85414465e+01] [ 5.22518306e-02 -3.63171763e-03 9.98627336e-01 1.61744258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.44509989299996 meters 0.03347616903562997 Centerline is valid? [True, True] Translation: X:389.35, Y:28.55, Z:16.18 [[ 9.86823069e-01 -1.53206277e-01 -5.20390995e-02 3.89350112e+02] [ 1.53188704e-01 9.88187381e-01 -4.34985395e-03 2.85454465e+01] [ 5.20908063e-02 -3.67926600e-03 9.98635575e-01 1.61777256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.50509989299997 meters 0.03254991986387186 Centerline is valid? [True, True] Translation: X:389.41, Y:28.55, Z:16.18 [[ 9.87099546e-01 -1.51496332e-01 -5.18010356e-02 3.89411526e+02] [ 1.51476761e-01 9.88451351e-01 -4.32639683e-03 2.85498222e+01] [ 5.18582368e-02 -3.57606875e-03 9.98648054e-01 1.61810875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.56509989299997 meters 0.03152189620371563 Centerline is valid? [True, True] Translation: X:389.47, Y:28.56, Z:16.18 [[ 9.87585377e-01 -1.48413674e-01 -5.14636311e-02 3.89471947e+02] [ 1.48390318e-01 9.88919542e-01 -4.29572541e-03 2.85560425e+01] [ 5.15309349e-02 -3.39430902e-03 9.98665630e-01 1.61834564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.62509989299997 meters 0.03007750396085959 Centerline is valid? [True, True] Translation: X:389.53, Y:28.56, Z:16.19 [[ 9.88320688e-01 -1.43511504e-01 -5.12510163e-02 3.89531907e+02] [ 1.43481826e-01 9.89643710e-01 -4.27699078e-03 2.85629635e+01] [ 5.13340433e-02 -3.12655094e-03 9.98676645e-01 1.61854428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.685099893 meters 0.028386542517024552 Centerline is valid? [True, True] Translation: X:389.59, Y:28.57, Z:16.19 [[ 9.88755768e-01 -1.40360868e-01 -5.15835144e-02 3.89592665e+02] [ 1.40326543e-01 9.90095921e-01 -4.30455861e-03 2.85704155e+01] [ 5.16768187e-02 -2.98237909e-03 9.98659407e-01 1.61881092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.745099893 meters 0.02543342148528194 Centerline is valid? [True, True] Translation: X:389.65, Y:28.58, Z:16.19 [[ 9.89428557e-01 -1.35964573e-01 -5.04456661e-02 3.89652987e+02] [ 1.35926087e-01 9.90710041e-01 -4.20880451e-03 2.85794150e+01] [ 5.05492762e-02 -2.69257061e-03 9.98717939e-01 1.61910131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.805099893 meters 0.025461754130763247 Centerline is valid? [True, True] Translation: X:389.71, Y:28.58, Z:16.19 [[ 9.89855245e-01 -1.33160728e-01 -4.95460745e-02 3.89713393e+02] [ 1.33120129e-01 9.91091292e-01 -4.13313905e-03 2.85841588e+01] [ 4.96550548e-02 -2.50437044e-03 9.98763287e-01 1.61935841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.865099893 meters 0.024215477593190524 Centerline is valid? [True, True] Translation: X:389.77, Y:28.59, Z:16.20 [[ 9.90184981e-01 -1.31025484e-01 -4.86418201e-02 3.89774849e+02] [ 1.30983873e-01 9.91376203e-01 -4.05581325e-03 2.85899673e+01] [ 4.87537578e-02 -2.35528865e-03 9.98808051e-01 1.61967421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.925099893 meters 0.022661513870483662 Centerline is valid? [True, True] Translation: X:389.83, Y:28.60, Z:16.20 [[ 9.90722990e-01 -1.27260238e-01 -4.76737765e-02 3.89834829e+02] [ 1.27216036e-01 9.91867077e-01 -3.97260444e-03 2.85953953e+01] [ 4.77916039e-02 -2.12911831e-03 9.98855059e-01 1.61996801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.985099893 meters 0.02270378961170484 Centerline is valid? [True, True] Translation: X:389.90, Y:28.60, Z:16.20 [[ 9.90973425e-01 -1.25375752e-01 -4.74614690e-02 3.89896443e+02] [ 1.25329804e-01 9.92107253e-01 -3.95451644e-03 2.85999923e+01] [ 4.75826681e-02 -2.02951593e-03 9.98865242e-01 1.62024327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.045099893 meters 0.02321890425788708 Centerline is valid? [True, True] Translation: X:389.96, Y:28.60, Z:16.20 [[ 9.91115155e-01 -1.24101378e-01 -4.78497448e-02 3.89957519e+02] [ 1.24053353e-01 9.92267553e-01 -3.98356645e-03 2.86023182e+01] [ 4.79741153e-02 -1.98774819e-03 9.98846601e-01 1.62046385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.105099893 meters 0.020561775992446622 Centerline is valid? [True, True] Translation: X:390.02, Y:28.61, Z:16.21 [[ 9.91053306e-01 -1.24393581e-01 -4.83692241e-02 3.90019614e+02] [ 1.24344987e-01 9.92230886e-01 -4.02410454e-03 2.86099297e+01] [ 4.84940108e-02 -2.02636844e-03 9.98821418e-01 1.62070795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.165099893 meters 0.02202404953865344 Centerline is valid? [True, True] Translation: X:390.08, Y:28.61, Z:16.21 [[ 9.90899109e-01 -1.25611076e-01 -4.83819590e-02 3.90080484e+02] [ 1.25564071e-01 9.92077361e-01 -4.02171997e-03 2.86115840e+01] [ 4.85038187e-02 -2.08991701e-03 9.98820811e-01 1.62095840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.22509989299994 meters 0.021395311872596745 Centerline is valid? [True, True] Translation: X:390.14, Y:28.62, Z:16.21 [[ 9.90775092e-01 -1.26754022e-01 -4.79388786e-02 3.90142114e+02] [ 1.26709338e-01 9.91931896e-01 -3.98217951e-03 2.86177497e+01] [ 4.80568600e-02 -2.12885929e-03 9.98842333e-01 1.62127535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.28509989299994 meters 0.02334917829152206 Centerline is valid? [True, True] Translation: X:390.20, Y:28.62, Z:16.22 [[ 9.90613073e-01 -1.28532862e-01 -4.65300224e-02 3.90203603e+02] [ 1.28492873e-01 9.91702913e-01 -3.86188953e-03 2.86193665e+01] [ 4.66403385e-02 -2.15313799e-03 9.98909427e-01 1.62151343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.34509989299994 meters 0.024935153508068766 Centerline is valid? [True, True] Translation: X:390.26, Y:28.62, Z:16.22 [[ 9.90578847e-01 -1.29081398e-01 -4.57333555e-02 3.90264704e+02] [ 1.29043471e-01 9.91631683e-01 -3.79309877e-03 2.86219397e+01] [ 4.58402628e-02 -2.14422755e-03 9.98946481e-01 1.62176869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.40509989299994 meters 0.02507140307141302 Centerline is valid? [True, True] Translation: X:390.33, Y:28.63, Z:16.22 [[ 9.90581527e-01 -1.29426357e-01 -4.46884391e-02 3.90326526e+02] [ 1.29390700e-01 9.91586781e-01 -3.70178857e-03 2.86265734e+01] [ 4.47915745e-02 -2.11534506e-03 9.98994114e-01 1.62209273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.46509989299994 meters 0.023495914018544437 Centerline is valid? [True, True] Translation: X:390.39, Y:28.63, Z:16.22 [[ 9.90616959e-01 -1.29390713e-01 -4.40009456e-02 3.90387968e+02] [ 1.29356245e-01 9.91591498e-01 -3.64175787e-03 2.86327438e+01] [ 4.41021732e-02 -2.08420998e-03 9.99024852e-01 1.62233326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.52509989299995 meters 0.025570347496378737 Centerline is valid? [True, True] Translation: X:390.45, Y:28.63, Z:16.23 [[ 9.90577443e-01 -1.29670893e-01 -4.40657442e-02 3.90448928e+02] [ 1.29636741e-01 9.91554858e-01 -3.64394536e-03 2.86338491e+01] [ 4.41661164e-02 -2.10292937e-03 9.99021988e-01 1.62256205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.58509989299995 meters 0.023396534577356905 Centerline is valid? [True, True] Translation: X:390.51, Y:28.64, Z:16.23 [[ 9.90463422e-01 -1.30530600e-01 -4.40905019e-02 3.90510752e+02] [ 1.30497365e-01 9.91441961e-01 -3.64357128e-03 2.86416021e+01] [ 4.41887712e-02 -2.14487024e-03 9.99020897e-01 1.62288362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.64509989299995 meters 0.024692829458995848 Centerline is valid? [True, True] Translation: X:390.57, Y:28.64, Z:16.23 [[ 9.90405306e-01 -1.30982768e-01 -4.40550202e-02 3.90571900e+02] [ 1.30950180e-01 9.91382278e-01 -3.63732325e-03 2.86439145e+01] [ 4.41517929e-02 -2.16658857e-03 9.99022485e-01 1.62313150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.70509989299995 meters 0.023112586936523138 Centerline is valid? [True, True] Translation: X:390.63, Y:28.65, Z:16.23 [[ 9.90479410e-01 -1.30536177e-01 -4.37132200e-02 3.90634035e+02] [ 1.30503863e-01 9.91441249e-01 -3.60443845e-03 2.86503315e+01] [ 4.38095990e-02 -2.13462199e-03 9.99037618e-01 1.62347479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.76509989299996 meters 0.025076224056009844 Centerline is valid? [True, True] Translation: X:390.69, Y:28.65, Z:16.24 [[ 9.90832363e-01 -1.28051864e-01 -4.30575103e-02 3.90694963e+02] [ 1.28018304e-01 9.91765462e-01 -3.54727616e-03 2.86521602e+01] [ 4.31571869e-02 -1.99739344e-03 9.99066298e-01 1.62378969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.82509989299996 meters 0.021264294393623043 Centerline is valid? [True, True] Translation: X:390.75, Y:28.66, Z:16.24 [[ 9.91608982e-01 -1.21726375e-01 -4.35237526e-02 3.90754757e+02] [ 1.21686070e-01 9.92562167e-01 -3.58413720e-03 2.86627502e+01] [ 4.36363143e-02 -1.74217176e-03 9.99045963e-01 1.62404057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.88509989299996 meters 0.019953527336059713 Centerline is valid? [True, True] Translation: X:390.81, Y:28.67, Z:16.24 [[ 9.92172443e-01 -1.16485573e-01 -4.49994891e-02 3.90814808e+02] [ 1.16437111e-01 9.93191154e-01 -3.70553774e-03 2.86692330e+01] [ 4.51247362e-02 -1.56307808e-03 9.98980137e-01 1.62417342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.94509989299996 meters 0.017112018755155643 Centerline is valid? [True, True] Translation: X:390.87, Y:28.68, Z:16.24 [[ 9.92908185e-01 -1.09163107e-01 -4.70824011e-02 3.90874778e+02] [ 1.09101830e-01 9.94023017e-01 -3.87705766e-03 2.86778469e+01] [ 4.72242221e-02 -1.28721383e-03 9.98883485e-01 1.62427049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.00509989299997 meters 0.0153805856257407 Centerline is valid? [True, True] Translation: X:390.94, Y:28.69, Z:16.25 [[ 9.93349265e-01 -1.05077497e-01 -4.70739564e-02 3.90936029e+02] [ 1.05011671e-01 9.94463436e-01 -3.87607719e-03 2.86854013e+01] [ 4.72206169e-02 -1.09301639e-03 9.98883886e-01 1.62454270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.06509989299997 meters 0.014534198485558765 Centerline is valid? [True, True] Translation: X:391.00, Y:28.69, Z:16.25 [[ 9.93742225e-01 -1.01678800e-01 -4.62364741e-02 3.90997433e+02] [ 1.01611735e-01 9.94816858e-01 -3.80462792e-03 2.86907897e+01] [ 4.63836738e-02 -9.17348932e-04 9.98923277e-01 1.62484969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.12509989299997 meters 0.014287238107661263 Centerline is valid? [True, True] Translation: X:391.06, Y:28.69, Z:16.25 [[ 9.94074045e-01 -9.91172975e-02 -4.46380364e-02 3.91059131e+02] [ 9.90523168e-02 9.95075457e-01 -3.67069993e-03 2.86944867e+01] [ 4.47820443e-02 -7.72553393e-04 9.98996482e-01 1.62521533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.185099893 meters 0.014409367726523075 Centerline is valid? [True, True] Translation: X:391.12, Y:28.70, Z:16.25 [[ 9.94028828e-01 -9.97628894e-02 -4.42046966e-02 3.91121506e+02] [ 9.96999106e-02 9.95010920e-01 -3.63262592e-03 2.86962686e+01] [ 4.43465571e-02 -7.96269416e-04 9.99015890e-01 1.62545916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.245099893 meters 0.015825924833675703 Centerline is valid? [True, True] Translation: X:391.18, Y:28.69, Z:16.26 [[ 9.93455146e-01 -1.05407380e-01 -4.40017928e-02 3.91183339e+02] [ 1.05350644e-01 9.94428574e-01 -3.61282693e-03 2.86935181e+01] [ 4.41374587e-02 -1.04643573e-03 9.99024919e-01 1.62577157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.305099893 meters 0.01794102337125159 Centerline is valid? [True, True] Translation: X:391.24, Y:28.69, Z:16.26 [[ 9.92752434e-01 -1.11945454e-01 -4.37129351e-02 3.91244723e+02] [ 1.11895854e-01 9.93713463e-01 -3.58757760e-03 2.86909387e+01] [ 4.38397452e-02 -1.32971982e-03 9.99037691e-01 1.62603329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.365099893 meters 0.02089562211277642 Centerline is valid? [True, True] Translation: X:391.31, Y:28.69, Z:16.26 [[ 9.91888466e-01 -1.19340176e-01 -4.37629180e-02 3.91305959e+02] [ 1.19297675e-01 9.92852038e-01 -3.59092247e-03 2.86869644e+01] [ 4.38786437e-02 -1.65901978e-03 9.99035491e-01 1.62629174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.425099893 meters 0.025189239075610194 Centerline is valid? [True, True] Translation: X:391.37, Y:28.68, Z:16.27 [[ 9.90587042e-01 -1.29521418e-01 -4.42889946e-02 3.91366753e+02] [ 1.29488033e-01 9.91574326e-01 -3.63397394e-03 2.86797989e+01] [ 4.43865075e-02 -2.13512729e-03 9.99012152e-01 1.62650119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.485099893 meters 0.024231367436827158 Centerline is valid? [True, True] Translation: X:391.43, Y:28.68, Z:16.27 [[ 9.89737354e-01 -1.35346204e-01 -4.58407659e-02 3.91427411e+02] [ 1.35316639e-01 9.90795264e-01 -3.76182793e-03 2.86813819e+01] [ 4.59279629e-02 -2.47979676e-03 9.98941676e-01 1.62664234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.545099893 meters 0.02562263135241244 Centerline is valid? [True, True] Translation: X:391.49, Y:28.68, Z:16.27 [[ 9.89734854e-01 -1.35440648e-01 -4.56152253e-02 3.91488820e+02] [ 1.35411489e-01 9.90782377e-01 -3.74296542e-03 2.86823969e+01] [ 4.57017110e-02 -2.47228225e-03 9.98952072e-01 1.62686598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.605099893 meters 0.025722426071455005 Centerline is valid? [True, True] Translation: X:391.55, Y:28.69, Z:16.27 [[ 9.90165479e-01 -1.32489581e-01 -4.49314422e-02 3.91548788e+02] [ 1.32458362e-01 9.91181722e-01 -3.68458162e-03 2.86861505e+01] [ 4.50233929e-02 -2.30319971e-03 9.98983278e-01 1.62721298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.665099893 meters 0.021272406439151393 Centerline is valid? [True, True] Translation: X:391.61, Y:28.70, Z:16.28 [[ 9.91249878e-01 -1.24730357e-01 -4.31974333e-02 3.91608618e+02] [ 1.24694143e-01 9.92188905e-01 -3.54238636e-03 2.86978145e+01] [ 4.33018572e-02 -1.87507688e-03 9.99060275e-01 1.62762030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.72509989299994 meters 0.02022047378007709 Centerline is valid? [True, True] Translation: X:391.67, Y:28.71, Z:16.28 [[ 9.91919647e-01 -1.19288683e-01 -4.31928757e-02 3.91668688e+02] [ 1.19247324e-01 9.92858263e-01 -3.54205379e-03 2.87050294e+01] [ 4.33069305e-02 -1.63720209e-03 9.99060473e-01 1.62786454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.78509989299994 meters 0.018396071015024128 Centerline is valid? [True, True] Translation: X:391.73, Y:28.71, Z:16.28 [[ 9.92581142e-01 -1.13171896e-01 -4.44387087e-02 3.91728842e+02] [ 1.13121995e-01 9.93574423e-01 -3.64417268e-03 2.87129328e+01] [ 4.45655822e-02 -1.40985828e-03 9.99005466e-01 1.62796499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.84509989299994 meters 0.018157555262612268 Centerline is valid? [True, True] Translation: X:391.79, Y:28.72, Z:16.28 [[ 9.92802923e-01 -1.10609894e-01 -4.59108721e-02 3.91788991e+02] [ 1.10553935e-01 9.93862998e-01 -3.76404893e-03 2.87178846e+01] [ 4.60454581e-02 -1.33866880e-03 9.98938448e-01 1.62807651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.90509989299994 meters 0.016086289185788017 Centerline is valid? [True, True] Translation: X:391.85, Y:28.73, Z:16.28 [[ 9.93006178e-01 -1.08146184e-01 -4.73617204e-02 3.91850168e+02] [ 1.08083882e-01 9.94134199e-01 -3.88196792e-03 2.87274642e+01] [ 4.75037260e-02 -1.26422048e-03 9.98870261e-01 1.62828673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.96509989299994 meters 0.016616046036344093 Centerline is valid? [True, True] Translation: X:391.91, Y:28.73, Z:16.28 [[ 9.93084387e-01 -1.06935140e-01 -4.84590189e-02 3.91909222e+02] [ 1.06868574e-01 9.94265230e-01 -3.96993998e-03 2.87318295e+01] [ 4.86056436e-02 -1.23626081e-03 9.98817282e-01 1.62849062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.02509989299995 meters 0.015314134501908605 Centerline is valid? [True, True] Translation: X:391.97, Y:28.74, Z:16.29 [[ 9.93328312e-01 -1.05221153e-01 -4.71950684e-02 3.91969146e+02] [ 1.05156046e-01 9.94448214e-01 -3.86713209e-03 2.87393438e+01] [ 4.73399556e-02 -1.12151500e-03 9.98878206e-01 1.62891748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.08509989299995 meters 0.01690597352753288 Centerline is valid? [True, True] Translation: X:392.03, Y:28.74, Z:16.29 [[ 9.93422724e-01 -1.04956814e-01 -4.57750883e-02 3.92028834e+02] [ 1.04895283e-01 9.94476199e-01 -3.75085070e-03 2.87413947e+01] [ 4.59159131e-02 -1.07541055e-03 9.98944729e-01 1.62924593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.14509989299995 meters 0.016337717330798557 Centerline is valid? [True, True] Translation: X:392.09, Y:28.75, Z:16.30 [[ 9.93301045e-01 -1.06310493e-01 -4.52892196e-02 3.92089296e+02] [ 1.06251633e-01 9.94332345e-01 -3.71178745e-03 2.87467970e+01] [ 4.54271379e-02 -1.12513119e-03 9.98967021e-01 1.62954548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.20509989299995 meters 0.01695045217046805 Centerline is valid? [True, True] Translation: X:392.15, Y:28.75, Z:16.30 [[ 9.92993623e-01 -1.08995537e-01 -4.56468782e-02 3.92149908e+02] [ 1.08938576e-01 9.94041443e-01 -3.74110022e-03 2.87495455e+01] [ 4.57826519e-02 -1.25781724e-03 9.98950633e-01 1.62974487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.26509989299996 meters 0.019144115094313425 Centerline is valid? [True, True] Translation: X:392.21, Y:28.75, Z:16.30 [[ 9.92464269e-01 -1.13550755e-01 -4.60532453e-02 3.92208938e+02] [ 1.13497663e-01 9.93531093e-01 -3.77455293e-03 2.87498295e+01] [ 4.61839344e-02 -1.48082681e-03 9.98931855e-01 1.62988532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.32509989299996 meters 0.020440021795247322 Centerline is valid? [True, True] Translation: X:392.27, Y:28.75, Z:16.30 [[ 9.92209581e-01 -1.15449097e-01 -4.68151063e-02 3.92269063e+02] [ 1.15396269e-01 9.93312119e-01 -3.83858229e-03 2.87521017e+01] [ 4.69451733e-02 -1.59361048e-03 9.98896196e-01 1.63006218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.38509989299996 meters 0.018779469150238225 Centerline is valid? [True, True] Translation: X:392.33, Y:28.76, Z:16.30 [[ 9.92176086e-01 -1.15845600e-01 -4.65447174e-02 3.92329394e+02] [ 1.15793783e-01 9.93265941e-01 -3.81713088e-03 2.87594563e+01] [ 4.66734804e-02 -1.60232291e-03 9.98908914e-01 1.63037290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.44509989299996 meters 0.017451040337627486 Centerline is valid? [True, True] Translation: X:392.39, Y:28.77, Z:16.31 [[ 9.92407753e-01 -1.14363813e-01 -4.52523028e-02 3.92390020e+02] [ 1.14313297e-01 9.93437818e-01 -3.71107732e-03 2.87667382e+01] [ 4.53797619e-02 -1.49003803e-03 9.98968697e-01 1.63064140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.50509989299997 meters 0.017704221588875132 Centerline is valid? [True, True] Translation: X:392.45, Y:28.77, Z:16.31 [[ 9.92723496e-01 -1.11625031e-01 -4.51653989e-02 3.92450612e+02] [ 1.11571918e-01 9.93749463e-01 -3.70305743e-03 2.87722173e+01] [ 4.52964448e-02 -1.36307809e-03 9.98972659e-01 1.63084486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.56509989299997 meters 0.015505920648299015 Centerline is valid? [True, True] Translation: X:392.51, Y:28.78, Z:16.31 [[ 9.93269626e-01 -1.06159855e-01 -4.63199135e-02 3.92510764e+02] [ 1.06098131e-01 9.94348418e-01 -3.79606160e-03 2.87826464e+01] [ 4.64611220e-02 -1.14394356e-03 9.98919444e-01 1.63097416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.62509989299997 meters 0.01584254483621049 Centerline is valid? [True, True] Translation: X:392.57, Y:28.79, Z:16.31 [[ 9.93517059e-01 -1.03636030e-01 -4.67271513e-02 3.92570557e+02] [ 1.03570463e-01 9.94614750e-01 -3.82866327e-03 2.87871520e+01] [ 4.68723014e-02 -1.03571043e-03 9.98900353e-01 1.63111032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.685099893 meters 0.015096894601979183 Centerline is valid? [True, True] Translation: X:392.63, Y:28.79, Z:16.31 [[ 9.93555527e-01 -1.03233293e-01 -4.68006620e-02 3.92630332e+02] [ 1.03167073e-01 9.94656649e-01 -3.83468649e-03 2.87921853e+01] [ 4.69464570e-02 -1.01831335e-03 9.98896888e-01 1.63135028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.745099893 meters 0.015536142513201904 Centerline is valid? [True, True] Translation: X:392.69, Y:28.80, Z:16.32 [[ 9.93309682e-01 -1.05341083e-01 -4.73194706e-02 3.92690629e+02] [ 1.05275775e-01 9.94435508e-01 -3.87719589e-03 2.87953214e+01] [ 4.74645898e-02 -1.13033770e-03 9.98872282e-01 1.63154954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.805099893 meters 0.017150470888897013 Centerline is valid? [True, True] Translation: X:392.75, Y:28.80, Z:16.32 [[ 9.92945934e-01 -1.08577470e-01 -4.76372218e-02 3.92750082e+02] [ 1.08514996e-01 9.94087149e-01 -3.90333435e-03 2.87963483e+01] [ 4.77793642e-02 -1.29355295e-03 9.98857076e-01 1.63174240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.865099893 meters 0.017829652428819814 Centerline is valid? [True, True] Translation: X:392.81, Y:28.80, Z:16.32 [[ 9.92365502e-01 -1.13604471e-01 -4.80076534e-02 3.92809921e+02] [ 1.13546850e-01 9.93524852e-01 -3.93455050e-03 2.87986987e+01] [ 4.81437793e-02 -1.54660564e-03 9.98839219e-01 1.63200220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.925099893 meters 0.019561794145231428 Centerline is valid? [True, True] Translation: X:392.87, Y:28.80, Z:16.32 [[ 9.91829625e-01 -1.18380818e-01 -4.75392232e-02 3.92870481e+02] [ 1.18329754e-01 9.92966708e-01 -3.89691002e-03 2.88005662e+01] [ 4.76661854e-02 -1.76023377e-03 9.98861770e-01 1.63231361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.985099893 meters 0.019269430715142002 Centerline is valid? [True, True] Translation: X:392.93, Y:28.81, Z:16.33 [[ 9.91617386e-01 -1.20380877e-01 -4.69404353e-02 3.92930502e+02] [ 1.20333326e-01 9.92726088e-01 -3.84782586e-03 2.88060157e+01] [ 4.70621993e-02 -1.83292768e-03 9.98890279e-01 1.63263750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.045099893 meters 0.021478598819686705 Centerline is valid? [True, True] Translation: X:392.99, Y:28.81, Z:16.33 [[ 9.91487734e-01 -1.21475153e-01 -4.68600003e-02 3.92990261e+02] [ 1.21428985e-01 9.92592689e-01 -3.84123240e-03 2.88082412e+01] [ 4.69795080e-02 -1.88162745e-03 9.98894081e-01 1.63287824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.105099893 meters 0.02091678041634313 Centerline is valid? [True, True] Translation: X:393.05, Y:28.82, Z:16.33 [[ 9.91467603e-01 -1.21332724e-01 -4.76483100e-02 3.93050586e+02] [ 1.21284826e-01 9.92610062e-01 -3.90585214e-03 2.88154008e+01] [ 4.77700996e-02 -1.90649112e-03 9.98856538e-01 1.63310194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.165099893 meters 0.021127082319703016 Centerline is valid? [True, True] Translation: X:393.11, Y:28.82, Z:16.33 [[ 9.91639706e-01 -1.19779184e-01 -4.79962588e-02 3.93110152e+02] [ 1.19728768e-01 9.92798843e-01 -3.93437438e-03 2.88215421e+01] [ 4.81218864e-02 -1.84505108e-03 9.98839767e-01 1.63335925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.22509989299994 meters 0.0177782301744035 Centerline is valid? [True, True] Translation: X:393.17, Y:28.83, Z:16.34 [[ 9.92093681e-01 -1.16039758e-01 -4.78006458e-02 3.93170220e+02] [ 1.15985418e-01 9.93243187e-01 -3.91832426e-03 2.88343811e+01] [ 4.79323472e-02 -1.65683316e-03 9.98849210e-01 1.63367934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.28509989299994 meters 0.018334315072426353 Centerline is valid? [True, True] Translation: X:393.23, Y:28.84, Z:16.34 [[ 9.92387511e-01 -1.13577019e-01 -4.76160527e-02 3.93230426e+02] [ 1.13520278e-01 9.93528013e-01 -3.90298121e-03 2.88403794e+01] [ 4.77511712e-02 -1.53211771e-03 9.98858087e-01 1.63392951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.34509989299994 meters 0.01775515162732276 Centerline is valid? [True, True] Translation: X:393.29, Y:28.85, Z:16.34 [[ 9.92604939e-01 -1.11432650e-01 -4.81476881e-02 3.93290531e+02] [ 1.11372152e-01 9.93770937e-01 -3.94578843e-03 2.88489609e+01] [ 4.82874628e-02 -1.44570255e-03 9.98832434e-01 1.63415813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.40509989299994 meters 0.016766805180315543 Centerline is valid? [True, True] Translation: X:393.35, Y:28.86, Z:16.34 [[ 9.92590485e-01 -1.11165083e-01 -4.90556079e-02 3.93350942e+02] [ 1.11101969e-01 9.93800882e-01 -4.01993130e-03 2.88577188e+01] [ 4.91983824e-02 -1.46002908e-03 9.98787959e-01 1.63439148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.46509989299994 meters 0.01640959192811989 Centerline is valid? [True, True] Translation: X:393.41, Y:28.87, Z:16.35 [[ 9.92689975e-01 -1.09982996e-01 -4.97026611e-02 3.93411571e+02] [ 1.09916819e-01 9.93932452e-01 -4.07111964e-03 2.88662240e+01] [ 4.98488417e-02 -1.42179872e-03 9.98755762e-01 1.63460747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.52509989299995 meters 0.016430899087599135 Centerline is valid? [True, True] Translation: X:393.47, Y:28.87, Z:16.35 [[ 9.92918624e-01 -1.08177455e-01 -4.90942292e-02 3.93470712e+02] [ 1.08110751e-01 9.94130729e-01 -4.01990218e-03 2.88735448e+01] [ 4.92409447e-02 -1.31617826e-03 9.98786062e-01 1.63487700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.58509989299995 meters 0.015588046083629454 Centerline is valid? [True, True] Translation: X:393.53, Y:28.88, Z:16.35 [[ 9.93265365e-01 -1.05266139e-01 -4.84040704e-02 3.93530406e+02] [ 1.05197808e-01 9.94443416e-01 -3.96413258e-03 2.88821192e+01] [ 4.85523981e-02 -1.15456650e-03 9.98819970e-01 1.63516850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.64509989299995 meters 0.013983906757717513 Centerline is valid? [True, True] Translation: X:393.59, Y:28.89, Z:16.35 [[ 9.93885506e-01 -9.95579568e-02 -4.77474001e-02 3.93590579e+02] [ 9.94848878e-02 9.95031390e-01 -3.91024682e-03 2.88940032e+01] [ 4.78994580e-02 -8.63807098e-04 9.98851789e-01 1.63545644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.70509989299995 meters 0.013445010070520024 Centerline is valid? [True, True] Translation: X:393.65, Y:28.90, Z:16.36 [[ 9.94344617e-01 -9.54677921e-02 -4.65261624e-02 3.93649331e+02] [ 9.53939689e-02 9.95432307e-01 -3.80957859e-03 2.89018402e+01] [ 4.66773372e-02 -6.50281327e-04 9.98909807e-01 1.63571670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.76509989299996 meters 0.012661634994647855 Centerline is valid? [True, True] Translation: X:393.71, Y:28.91, Z:16.36 [[ 9.94941326e-01 -8.99025224e-02 -4.48251518e-02 3.93709433e+02] [ 8.98283202e-02 9.95950499e-01 -3.67101829e-03 2.89109182e+01] [ 4.49736661e-02 -3.74120283e-04 9.98988103e-01 1.63600466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.82509989299996 meters 0.012259094212900161 Centerline is valid? [True, True] Translation: X:393.77, Y:28.92, Z:16.36 [[ 9.95207959e-01 -8.69302894e-02 -4.47687750e-02 3.93769258e+02] [ 8.68532675e-02 9.96214368e-01 -3.66640123e-03 2.89178236e+01] [ 4.49180182e-02 -2.39482699e-04 9.98990648e-01 1.63622797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.88509989299996 meters 0.012230906295156585 Centerline is valid? [True, True] Translation: X:393.83, Y:28.92, Z:16.36 [[ 9.95273143e-01 -8.57806736e-02 -4.55307168e-02 3.93829538e+02] [ 8.56998040e-02 9.96314027e-01 -3.72880153e-03 2.89223224e+01] [ 4.56827509e-02 -1.90797495e-04 9.98955980e-01 1.63634844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.94509989299996 meters 0.012214173102796568 Centerline is valid? [True, True] Translation: X:393.89, Y:28.93, Z:16.37 [[ 9.95172740e-01 -8.67110604e-02 -4.59609508e-02 3.93889379e+02] [ 8.66296393e-02 9.96233475e-01 -3.76418454e-03 2.89251202e+01] [ 4.61142341e-02 -2.35566744e-04 9.98936145e-01 1.63653707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.00509989299997 meters 0.012519749673693 Centerline is valid? [True, True] Translation: X:393.95, Y:28.93, Z:16.37 [[ 9.94834762e-01 -9.02043741e-02 -4.65506895e-02 3.93949158e+02] [ 9.01245902e-02 9.95923195e-01 -3.81418907e-03 2.89255161e+01] [ 4.67049680e-02 -4.00873942e-04 9.98908647e-01 1.63670987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.06509989299997 meters 0.01304458730585209 Centerline is valid? [True, True] Translation: X:394.01, Y:28.93, Z:16.37 [[ 9.94555788e-01 -9.30723796e-02 -4.68648780e-02 3.94008163e+02] [ 9.29946110e-02 9.95659200e-01 -3.84173460e-03 2.89267568e+01] [ 4.70190063e-02 -5.37361710e-04 9.98893850e-01 1.63695386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.12509989299997 meters 0.014213957331561649 Centerline is valid? [True, True] Translation: X:394.07, Y:28.93, Z:16.37 [[ 9.94107259e-01 -9.79473169e-02 -4.64443913e-02 3.94067138e+02] [ 9.78761367e-02 9.95191312e-01 -3.80973670e-03 2.89252585e+01] [ 4.65942083e-02 -7.58510689e-04 9.98913612e-01 1.63722102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.185099893 meters 0.014833734107551464 Centerline is valid? [True, True] Translation: X:394.13, Y:28.93, Z:16.38 [[ 9.93807489e-01 -1.01047585e-01 -4.62175415e-02 3.94127460e+02] [ 1.00980345e-01 9.94881189e-01 -3.79332121e-03 2.89266485e+01] [ 4.63642686e-02 -8.97232274e-04 9.98924196e-01 1.63751409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.245099893 meters 0.016216288332026027 Centerline is valid? [True, True] Translation: X:394.19, Y:28.93, Z:16.38 [[ 9.93296398e-01 -1.06403828e-01 -4.51717964e-02 3.94187632e+02] [ 1.06345125e-01 9.94322366e-01 -3.70754989e-03 2.89252268e+01] [ 4.53098250e-02 -1.12110440e-03 9.98972353e-01 1.63784484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.305099893 meters 0.017335505469773943 Centerline is valid? [True, True] Translation: X:394.25, Y:28.92, Z:16.38 [[ 9.92672271e-01 -1.12503505e-01 -4.40990302e-02 3.94248652e+02] [ 1.12453534e-01 9.93650390e-01 -3.62018287e-03 2.89232941e+01] [ 4.42263018e-02 -1.36543663e-03 9.99020605e-01 1.63815907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.365099893 meters 0.019913065201081156 Centerline is valid? [True, True] Translation: X:394.31, Y:28.92, Z:16.38 [[ 9.92451687e-01 -1.14447063e-01 -4.40626690e-02 3.94308683e+02] [ 1.14399120e-01 9.93428288e-01 -3.61643719e-03 2.89225155e+01] [ 4.41869924e-02 -1.45159137e-03 9.99022223e-01 1.63843425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.425099893 meters 0.019066815058175982 Centerline is valid? [True, True] Translation: X:394.37, Y:28.93, Z:16.39 [[ 9.92137151e-01 -1.16848701e-01 -4.48358732e-02 3.94369398e+02] [ 1.16801511e-01 9.93148461e-01 -3.67984401e-03 2.89260033e+01] [ 4.49586635e-02 -1.58598778e-03 9.98987589e-01 1.63867683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.485099893 meters 0.019313458675370623 Centerline is valid? [True, True] Translation: X:394.43, Y:28.93, Z:16.39 [[ 9.92047866e-01 -1.17447961e-01 -4.52438673e-02 3.94430029e+02] [ 1.17400566e-01 9.93077703e-01 -3.71256593e-03 2.89285569e+01] [ 4.53667091e-02 -1.62861252e-03 9.98969073e-01 1.63889288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.545099893 meters 0.018830982351797733 Centerline is valid? [True, True] Translation: X:394.49, Y:28.93, Z:16.39 [[ 9.92262316e-01 -1.15700586e-01 -4.50429808e-02 3.94490685e+02] [ 1.15651815e-01 9.93282939e-01 -3.69602457e-03 2.89326232e+01] [ 4.51680566e-02 -1.54187660e-03 9.98978213e-01 1.63923431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.605099893 meters 0.018249693669833325 Centerline is valid? [True, True] Translation: X:394.55, Y:28.94, Z:16.40 [[ 9.92533243e-01 -1.13083538e-01 -4.57151431e-02 3.94551434e+02] [ 1.13030567e-01 9.93584433e-01 -3.75034611e-03 2.89377514e+01] [ 4.58459569e-02 -1.44486535e-03 9.98947476e-01 1.63950472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.665099893 meters 0.016178627063399478 Centerline is valid? [True, True] Translation: X:394.61, Y:28.95, Z:16.40 [[ 9.92901251e-01 -1.09417663e-01 -4.66356194e-02 3.94611761e+02] [ 1.09358538e-01 9.93995010e-01 -3.82500985e-03 2.89459144e+01] [ 4.67740966e-02 -1.30214608e-03 9.98904644e-01 1.63971714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.72509989299994 meters 0.015774746989309023 Centerline is valid? [True, True] Translation: X:394.67, Y:28.95, Z:16.40 [[ 9.93214069e-01 -1.05883673e-01 -4.81088468e-02 3.94670610e+02] [ 1.05816644e-01 9.94377832e-01 -3.94516058e-03 2.89518989e+01] [ 4.82560989e-02 -1.17232774e-03 9.98834308e-01 1.63986134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.78509989299994 meters 0.015102356316483762 Centerline is valid? [True, True] Translation: X:394.73, Y:28.96, Z:16.40 [[ 9.93425980e-01 -1.03577146e-01 -4.87503567e-02 3.94729562e+02] [ 1.03505493e-01 9.94620844e-01 -3.99878695e-03 2.89582732e+01] [ 4.89023039e-02 -1.07343087e-03 9.98802990e-01 1.64011303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.84509989299994 meters 0.01453102079336995 Centerline is valid? [True, True] Translation: X:394.79, Y:28.97, Z:16.41 [[ 9.93824121e-01 -1.00464778e-01 -4.71215901e-02 3.94788691e+02] [ 1.00394259e-01 9.94940219e-01 -3.86684580e-03 2.89650208e+01] [ 4.72716470e-02 -8.87772508e-04 9.98881676e-01 1.64052636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.90509989299994 meters 0.014296558493561998 Centerline is valid? [True, True] Translation: X:394.85, Y:28.97, Z:16.41 [[ 9.93935535e-01 -1.00279157e-01 -4.51247572e-02 3.94847956e+02] [ 1.00214228e-01 9.94958987e-01 -3.70454950e-03 2.89707402e+01] [ 4.52687718e-02 -8.40059298e-04 9.98974490e-01 1.64103401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.96509989299994 meters 0.014701903812528422 Centerline is valid? [True, True] Translation: X:394.91, Y:28.97, Z:16.41 [[ 9.93827488e-01 -1.01912336e-01 -4.38269232e-02 3.94908729e+02] [ 1.01852609e-01 9.94792988e-01 -3.59949154e-03 2.89742532e+01] [ 4.39655485e-02 -8.86612847e-04 9.99032654e-01 1.64139954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.02509989299995 meters 0.015780812798583916 Centerline is valid? [True, True] Translation: X:394.97, Y:28.98, Z:16.42 [[ 9.93273505e-01 -1.07147422e-01 -4.38995915e-02 3.94969630e+02] [ 1.07092604e-01 9.94242513e-01 -3.60542224e-03 2.89755536e+01] [ 4.40331519e-02 -1.12015117e-03 9.99029442e-01 1.64167306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.08509989299995 meters 0.01729860073867239 Centerline is valid? [True, True] Translation: X:395.03, Y:28.98, Z:16.42 [[ 9.92757452e-01 -1.11409929e-01 -4.49496399e-02 3.95029841e+02] [ 1.11356851e-01 9.93773631e-01 -3.69092910e-03 2.89764710e+01] [ 4.50809730e-02 -1.34125298e-03 9.98982436e-01 1.64182203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.14509989299995 meters 0.020670876761551254 Centerline is valid? [True, True] Translation: X:395.09, Y:28.97, Z:16.42 [[ 9.91964906e-01 -1.18089637e-01 -4.53923226e-02 3.95089016e+02] [ 1.18042450e-01 9.93001552e-01 -3.72805612e-03 2.89743696e+01] [ 4.55148916e-02 -1.66012012e-03 9.98962281e-01 1.64205167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.20509989299995 meters 0.020730387700534248 Centerline is valid? [True, True] Translation: X:395.15, Y:28.98, Z:16.42 [[ 9.91567093e-01 -1.21569414e-01 -4.48951815e-02 3.95149182e+02] [ 1.21526808e-01 9.92581301e-01 -3.68732268e-03 2.89788683e+01] [ 4.50103833e-02 -1.79974027e-03 9.98984898e-01 1.64237873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.26509989299996 meters 0.021269256389488397 Centerline is valid? [True, True] Translation: X:395.21, Y:28.98, Z:16.42 [[ 9.91221846e-01 -1.23913316e-01 -4.60949159e-02 3.95209350e+02] [ 1.23870932e-01 9.92291116e-01 -3.78585904e-03 2.89836064e+01] [ 4.62086939e-02 -1.95719400e-03 9.98929890e-01 1.64248700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.32509989299996 meters 0.022035041553243855 Centerline is valid? [True, True] Translation: X:395.27, Y:28.99, Z:16.43 [[ 9.91351253e-01 -1.23189393e-01 -4.52445235e-02 3.95268244e+02] [ 1.23147803e-01 9.92381383e-01 -3.71607550e-03 2.89884009e+01] [ 4.53576039e-02 -1.88782754e-03 9.98969030e-01 1.64270526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.38509989299996 meters 0.018920868939942825 Centerline is valid? [True, True] Translation: X:395.33, Y:29.00, Z:16.43 [[ 9.91792010e-01 -1.19724712e-01 -4.48843268e-02 3.95329279e+02] [ 1.19680213e-01 9.92805647e-01 -3.68706652e-03 2.90005303e+01] [ 4.50028461e-02 -1.71496267e-03 9.98985387e-01 1.64302082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.44509989299996 meters 0.01878499517771614 Centerline is valid? [True, True] Translation: X:395.39, Y:29.01, Z:16.43 [[ 9.92257734e-01 -1.15654688e-01 -4.52612620e-02 3.95388652e+02] [ 1.15605317e-01 9.93288279e-01 -3.71565711e-03 2.90086052e+01] [ 4.53872142e-02 -1.54555306e-03 9.98968274e-01 1.64325517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.50509989299997 meters 0.01751685582860448 Centerline is valid? [True, True] Translation: X:395.45, Y:29.02, Z:16.44 [[ 9.92435690e-01 -1.13936045e-01 -4.57162807e-02 3.95449265e+02] [ 1.13883863e-01 9.93486981e-01 -3.75286814e-03 2.90180860e+01] [ 4.58461167e-02 -1.48186638e-03 9.98947415e-01 1.64352151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.56509989299997 meters 0.017346669004691718 Centerline is valid? [True, True] Translation: X:395.51, Y:29.03, Z:16.44 [[ 9.92413598e-01 -1.13474174e-01 -4.73166203e-02 3.95509788e+02] [ 1.13417837e-01 9.93539793e-01 -3.88243163e-03 2.90257336e+01] [ 4.74515009e-02 -1.51357080e-03 9.98872396e-01 1.64367910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.62509989299997 meters 0.01904821297323812 Centerline is valid? [True, True] Translation: X:395.57, Y:29.03, Z:16.44 [[ 9.92394204e-01 -1.13470757e-01 -4.77297630e-02 3.95569777e+02] [ 1.13413508e-01 9.93540161e-01 -3.91466272e-03 2.90290211e+01] [ 4.78656362e-02 -1.52831126e-03 9.98852614e-01 1.64387454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.685099893 meters 0.018245477665323993 Centerline is valid? [True, True] Translation: X:395.63, Y:29.04, Z:16.44 [[ 9.92554649e-01 -1.11666926e-01 -4.86391476e-02 3.95629975e+02] [ 1.11605351e-01 9.93744604e-01 -3.98847176e-03 2.90374134e+01] [ 4.87802708e-02 -1.46961294e-03 9.98808453e-01 1.64416977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.745099893 meters 0.016468790902311917 Centerline is valid? [True, True] Translation: X:395.69, Y:29.05, Z:16.44 [[ 9.92827919e-01 -1.08840207e-01 -4.94624340e-02 3.95689559e+02] [ 1.08773025e-01 9.94058337e-01 -4.05598229e-03 2.90479644e+01] [ 4.96099989e-02 -1.35328613e-03 9.98767749e-01 1.64449577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.805099893 meters 0.015577830458716331 Centerline is valid? [True, True] Translation: X:395.75, Y:29.06, Z:16.45 [[ 9.93341392e-01 -1.03737834e-01 -5.01132781e-02 3.95748198e+02] [ 1.03662397e-01 9.94604053e-01 -4.10910596e-03 2.90574786e+01] [ 5.02691393e-02 -1.11311748e-03 9.98735087e-01 1.64472880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.865099893 meters 0.014543638876203751 Centerline is valid? [True, True] Translation: X:395.81, Y:29.07, Z:16.45 [[ 9.93596238e-01 -1.01185292e-01 -5.02797481e-02 3.95807860e+02] [ 1.01106143e-01 9.94867107e-01 -4.12165436e-03 2.90657061e+01] [ 5.04387183e-02 -9.88331124e-04 9.98726669e-01 1.64499709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.925099893 meters 0.01442350026257264 Centerline is valid? [True, True] Translation: X:395.87, Y:29.07, Z:16.45 [[ 9.93656646e-01 -1.00382331e-01 -5.06937608e-02 3.95867354e+02] [ 1.00300774e-01 9.94948479e-01 -4.15667257e-03 2.90716516e+01] [ 5.08549367e-02 -9.54318110e-04 9.98705595e-01 1.64515979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.985099893 meters 0.01445251797272318 Centerline is valid? [True, True] Translation: X:395.93, Y:29.08, Z:16.45 [[ 9.93418040e-01 -1.02672709e-01 -5.07829892e-02 3.95926185e+02] [ 1.02593751e-01 9.94714616e-01 -4.16599293e-03 2.90768591e+01] [ 5.09423154e-02 -1.07144481e-03 9.98701023e-01 1.64543932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.045099893 meters 0.016123379248279546 Centerline is valid? [True, True] Translation: X:395.99, Y:29.08, Z:16.46 [[ 9.92610024e-01 -1.09345018e-01 -5.26213481e-02 3.95986834e+02] [ 1.09269468e-01 9.94002781e-01 -4.31920995e-03 2.90782304e+01] [ 5.27780504e-02 -1.46261562e-03 9.98605196e-01 1.64560471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.105099893 meters 0.018650299086665833 Centerline is valid? [True, True] Translation: X:396.05, Y:29.08, Z:16.46 [[ 9.91955926e-01 -1.14651610e-01 -5.36511790e-02 3.96046141e+02] [ 1.14580795e-01 9.93404170e-01 -4.40416595e-03 2.90787586e+01] [ 5.38022496e-02 -1.77865622e-03 9.98550026e-01 1.64574491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.16509989299993 meters 0.020433857286981123 Centerline is valid? [True, True] Translation: X:396.11, Y:29.08, Z:16.46 [[ 9.90999191e-01 -1.22419903e-01 -5.41661423e-02 3.96106139e+02] [ 1.22359207e-01 9.92475914e-01 -4.44798414e-03 2.90816966e+01] [ 5.43031133e-02 -2.21977755e-03 9.98522030e-01 1.64614312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.22509989299994 meters 0.020619226609736786 Centerline is valid? [True, True] Translation: X:396.17, Y:29.09, Z:16.47 [[ 9.90437829e-01 -1.26916512e-01 -5.40842440e-02 3.96165846e+02] [ 1.26862666e-01 9.91910347e-01 -4.44154530e-03 2.90872282e+01] [ 5.42104267e-02 -2.46219690e-03 9.98526498e-01 1.64653613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.28509989299994 meters 0.021939416937127202 Centerline is valid? [True, True] Translation: X:396.23, Y:29.09, Z:16.47 [[ 9.89947833e-01 -1.30698196e-01 -5.40487676e-02 3.96226959e+02] [ 1.30650020e-01 9.91418614e-01 -4.43895828e-03 2.90915163e+01] [ 5.41651181e-02 -2.66713544e-03 9.98528430e-01 1.64686390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.34509989299994 meters 0.02686035842155865 Centerline is valid? [True, True] Translation: X:396.29, Y:29.09, Z:16.47 [[ 9.89532756e-01 -1.33808174e-01 -5.40397767e-02 3.96286990e+02] [ 1.33764755e-01 9.91003185e-01 -4.43597341e-03 2.90912362e+01] [ 5.41471603e-02 -2.83907652e-03 9.98528930e-01 1.64705766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.40509989299994 meters 0.025891139815446107 Centerline is valid? [True, True] Translation: X:396.35, Y:29.10, Z:16.47 [[ 9.89079804e-01 -1.37077098e-01 -5.41388131e-02 3.96347395e+02] [ 1.37038539e-01 9.90555759e-01 -4.44150889e-03 2.91005856e+01] [ 5.42363422e-02 -3.02609710e-03 9.98523541e-01 1.64748234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.46509989299994 meters 0.027982793487972002 Centerline is valid? [True, True] Translation: X:396.41, Y:29.10, Z:16.48 [[ 9.88952344e-01 -1.38286872e-01 -5.33854051e-02 3.96407247e+02] [ 1.38251183e-01 9.90387519e-01 -4.37874173e-03 2.91041973e+01] [ 5.34777613e-02 -3.05022848e-03 9.98564382e-01 1.64779793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.52509989299995 meters 0.029244874900560245 Centerline is valid? [True, True] Translation: X:396.47, Y:29.11, Z:16.48 [[ 9.88942786e-01 -1.38417206e-01 -5.32244665e-02 3.96467805e+02] [ 1.38381980e-01 9.90369315e-01 -4.36439386e-03 2.91101024e+01] [ 5.33159856e-02 -3.04917126e-03 9.98573036e-01 1.64810051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.58509989299995 meters 0.027431751441018757 Centerline is valid? [True, True] Translation: X:396.53, Y:29.12, Z:16.48 [[ 9.88956960e-01 -1.37829214e-01 -5.44723659e-02 3.96528802e+02] [ 1.37791540e-01 9.90451189e-01 -4.46476653e-03 2.91196532e+01] [ 5.45675948e-02 -3.09036923e-03 9.98505297e-01 1.64831173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.64509989299995 meters 0.028629553990885532 Centerline is valid? [True, True] Translation: X:396.59, Y:29.13, Z:16.48 [[ 9.89028086e-01 -1.36735022e-01 -5.59193987e-02 3.96589277e+02] [ 1.36693683e-01 9.90602769e-01 -4.58158560e-03 2.91250780e+01] [ 5.60203744e-02 -3.11251172e-03 9.98424774e-01 1.64835047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.70509989299995 meters 0.024326504120517036 Centerline is valid? [True, True] Translation: X:396.65, Y:29.14, Z:16.49 [[ 9.89401607e-01 -1.33376174e-01 -5.74043242e-02 3.96649341e+02] [ 1.33327037e-01 9.91060941e-01 -4.70230266e-03 2.91394130e+01] [ 5.75183587e-02 -3.00108263e-03 9.98339938e-01 1.64863298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.76509989299996 meters 0.022333836278762866 Centerline is valid? [True, True] Translation: X:396.71, Y:29.15, Z:16.49 [[ 9.89932871e-01 -1.29511122e-01 -5.70944862e-02 3.96709160e+02] [ 1.29456147e-01 9.91574122e-01 -4.67613596e-03 2.91506603e+01] [ 5.72190266e-02 -2.76217151e-03 9.98357828e-01 1.64903435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.82509989299996 meters 0.018946435467617515 Centerline is valid? [True, True] Translation: X:396.77, Y:29.17, Z:16.50 [[ 9.91153522e-01 -1.20925322e-01 -5.46970126e-02 3.96768921e+02] [ 1.20861857e-01 9.92659232e-01 -4.47890613e-03 2.91664685e+01] [ 5.48371077e-02 -2.17149891e-03 9.98492953e-01 1.64958724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.88509989299996 meters 0.015958470312261185 Centerline is valid? [True, True] Translation: X:396.83, Y:29.18, Z:16.50 [[ 9.92517523e-01 -1.10330043e-01 -5.23091687e-02 3.96828779e+02] [ 1.10257316e-01 9.93893848e-01 -4.28285420e-03 2.91817541e+01] [ 5.24622885e-02 -1.51666071e-03 9.98621754e-01 1.65000431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.94509989299996 meters 0.01372209648777001 Centerline is valid? [True, True] Translation: X:396.89, Y:29.19, Z:16.50 [[ 9.93300772e-01 -1.03386855e-01 -5.16210583e-02 3.96888750e+02] [ 1.03306687e-01 9.94640573e-01 -4.22595082e-03 2.91936372e+01] [ 5.17813068e-02 -1.13516033e-03 9.98657803e-01 1.65031187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.00509989299997 meters 0.01224720839671254 Centerline is valid? [True, True] Translation: X:396.95, Y:29.21, Z:16.50 [[ 9.94045642e-01 -9.52264622e-02 -5.29639656e-02 3.96949760e+02] [ 9.51305678e-02 9.95455367e-01 -4.33439063e-03 2.92052235e+01] [ 5.31360125e-02 -7.29909997e-04 9.98587017e-01 1.65039869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.06509989299997 meters 0.011560034441682023 Centerline is valid? [True, True] Translation: X:397.01, Y:29.21, Z:16.51 [[ 9.94355977e-01 -9.13622266e-02 -5.39363967e-02 3.97011003e+02] [ 9.12572456e-02 9.95817582e-01 -4.41119484e-03 2.92136955e+01] [ 5.41138287e-02 -5.35789049e-04 9.98534630e-01 1.65062105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.12509989299997 meters 0.011415864056194854 Centerline is valid? [True, True] Translation: X:397.07, Y:29.22, Z:16.51 [[ 9.94519811e-01 -8.92337400e-02 -5.44764709e-02 3.97071288e+02] [ 8.91235391e-02 9.96010622e-01 -4.45380685e-03 2.92203101e+01] [ 5.46565735e-02 -4.25736739e-04 9.98505122e-01 1.65081689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.185099893 meters 0.011264094781014389 Centerline is valid? [True, True] Translation: X:397.13, Y:29.23, Z:16.51 [[ 9.94639550e-01 -8.75685436e-02 -5.49901376e-02 3.97130553e+02] [ 8.74536838e-02 9.96158440e-01 -4.49627951e-03 2.92259408e+01] [ 5.51726223e-02 -3.36912673e-04 9.98476774e-01 1.65097700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.245099893 meters 0.0110944815982236 Centerline is valid? [True, True] Translation: X:397.19, Y:29.23, Z:16.51 [[ 9.94733784e-01 -8.66252148e-02 -5.47792981e-02 3.97188670e+02] [ 8.65095431e-02 9.96240932e-01 -4.48380298e-03 2.92316279e+01] [ 5.49617894e-02 -2.78741749e-04 9.98488420e-01 1.65118999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.305099893 meters 0.01082385628912724 Centerline is valid? [True, True] Translation: X:397.25, Y:29.24, Z:16.52 [[ 9.94830838e-01 -8.56624800e-02 -5.45302084e-02 3.97247303e+02] [ 8.55456634e-02 9.96324192e-01 -4.47710028e-03 2.92368776e+01] [ 5.47132853e-02 -2.10865431e-04 9.98502084e-01 1.65152866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.365099893 meters 0.010780755813367984 Centerline is valid? [True, True] Translation: X:397.31, Y:29.24, Z:16.52 [[ 9.94803697e-01 -8.60924469e-02 -5.43479083e-02 3.97305628e+02] [ 8.59763039e-02 9.96287128e-01 -4.47582501e-03 2.92405682e+01] [ 5.45314562e-02 -2.20065012e-04 9.98512029e-01 1.65185372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.425099893 meters 0.010825645497758496 Centerline is valid? [True, True] Translation: X:397.36, Y:29.24, Z:16.52 [[ 9.94668956e-01 -8.76717515e-02 -5.42893426e-02 3.97363822e+02] [ 8.75574698e-02 9.96149375e-01 -4.48455475e-03 2.92439244e+01] [ 5.44734635e-02 -2.92790087e-04 9.98515176e-01 1.65218939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.485099893 meters 0.011094418160927152 Centerline is valid? [True, True] Translation: X:397.42, Y:29.24, Z:16.52 [[ 9.94372166e-01 -9.13224895e-02 -5.37047388e-02 3.97422992e+02] [ 9.12152572e-02 9.95821258e-01 -4.44958086e-03 2.92440594e+01] [ 5.38866674e-02 -4.74152212e-04 9.98546945e-01 1.65242408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.545099893 meters 0.011196735996155166 Centerline is valid? [True, True] Translation: X:397.48, Y:29.25, Z:16.53 [[ 9.94169848e-01 -9.39563789e-02 -5.29009647e-02 3.97482638e+02] [ 9.38554920e-02 9.95576136e-01 -4.39365296e-03 2.92456692e+01] [ 5.30797498e-02 -5.97008776e-04 9.98590098e-01 1.65270425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.605099893 meters 0.011145119982537546 Centerline is valid? [True, True] Translation: X:397.54, Y:29.25, Z:16.53 [[ 9.94112463e-01 -9.44583782e-02 -5.30850728e-02 3.97543605e+02] [ 9.43574211e-02 9.95528616e-01 -4.41047193e-03 2.92475728e+01] [ 5.32643151e-02 -6.24465457e-04 9.98580254e-01 1.65291321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.66509989299993 meters 0.011031993079382832 Centerline is valid? [True, True] Translation: X:397.60, Y:29.25, Z:16.53 [[ 9.94280009e-01 -9.28913265e-02 -5.27111480e-02 3.97603827e+02] [ 9.27895866e-02 9.95676109e-01 -4.37940510e-03 2.92511867e+01] [ 5.28900395e-02 -5.36690692e-04 9.98600198e-01 1.65311479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.72509989299994 meters 0.010615926920969172 Centerline is valid? [True, True] Translation: X:397.66, Y:29.26, Z:16.53 [[ 9.94544331e-01 -9.02125903e-02 -5.23761583e-02 3.97664487e+02] [ 9.01084274e-02 9.95922454e-01 -4.35157311e-03 2.92555148e+01] [ 5.25551588e-02 -3.91700883e-04 9.98617946e-01 1.65340305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.78509989299994 meters 0.010391353520547604 Centerline is valid? [True, True] Translation: X:397.72, Y:29.26, Z:16.54 [[ 9.95015140e-01 -8.55165523e-02 -5.13009760e-02 3.97723554e+02] [ 8.54103755e-02 9.96336740e-01 -4.26241758e-03 2.92586095e+01] [ 5.14775544e-02 -1.40465600e-04 9.98674142e-01 1.65362663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.84509989299994 meters 0.010414022893867558 Centerline is valid? [True, True] Translation: X:397.78, Y:29.26, Z:16.54 [[ 9.95240356e-01 -8.32251753e-02 -5.06971832e-02 3.97782210e+02] [ 8.31184500e-02 9.96530767e-01 -4.21348951e-03 2.92618572e+01] [ 5.08719713e-02 -2.04364858e-05 9.98705183e-01 1.65382911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.90509989299994 meters 0.010256239833200087 Centerline is valid? [True, True] Translation: X:397.84, Y:29.26, Z:16.54 [[ 9.95299682e-01 -8.26088848e-02 -5.05402393e-02 3.97841457e+02] [ 8.25017978e-02 9.96582045e-01 -4.20493069e-03 2.92629753e+01] [ 5.07148596e-02 1.55055692e-05 9.98713173e-01 1.65407937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.96509989299994 meters 0.01028681692688128 Centerline is valid? [True, True] Translation: X:397.90, Y:29.26, Z:16.54 [[ 9.95085918e-01 -8.47708358e-02 -5.11656214e-02 3.97899960e+02] [ 8.46632539e-02 9.96400471e-01 -4.27022940e-03 2.92624056e+01] [ 5.13434402e-02 -8.26028549e-05 9.98681052e-01 1.65426764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.02509989299995 meters 0.010358516909213527 Centerline is valid? [True, True] Translation: X:397.96, Y:29.26, Z:16.54 [[ 9.94843160e-01 -8.77582319e-02 -5.08485880e-02 3.97958476e+02] [ 8.76552187e-02 9.96141779e-01 -4.25668496e-03 2.92623947e+01] [ 5.10259621e-02 -2.22410193e-04 9.98697302e-01 1.65449540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.08509989299995 meters 0.010915666907531076 Centerline is valid? [True, True] Translation: X:398.02, Y:29.26, Z:16.55 [[ 9.94254584e-01 -9.46775229e-02 -4.99398583e-02 3.98017833e+02] [ 9.45862455e-02 9.95507840e-01 -4.19320696e-03 2.92599048e+01] [ 5.01125229e-02 -5.54508462e-04 9.98743424e-01 1.65482946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.14509989299995 meters 0.011981752987394853 Centerline is valid? [True, True] Translation: X:398.08, Y:29.26, Z:16.55 [[ 9.93818563e-01 -9.97274308e-02 -4.87760633e-02 3.98077874e+02] [ 9.96459055e-02 9.95014488e-01 -4.10627737e-03 2.92589077e+01] [ 4.89423981e-02 -7.79440312e-04 9.98801299e-01 1.65511253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.20509989299995 meters 0.01293831270238737 Centerline is valid? [True, True] Translation: X:398.14, Y:29.26, Z:16.55 [[ 9.93579073e-01 -1.02164991e-01 -4.86100800e-02 3.98137079e+02] [ 1.02086853e-01 9.94767065e-01 -4.09394034e-03 2.92600435e+01] [ 4.87739640e-02 -8.94796646e-04 9.98809441e-01 1.65535746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.26509989299996 meters 0.013389612703401294 Centerline is valid? [True, True] Translation: X:398.20, Y:29.26, Z:16.56 [[ 9.92985639e-01 -1.08085643e-01 -4.79271717e-02 3.98198001e+02] [ 1.08016535e-01 9.94140900e-01 -4.03716380e-03 2.92600539e+01] [ 4.80827210e-02 -1.16808135e-03 9.98842674e-01 1.65572603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.32509989299996 meters 0.01580887748684059 Centerline is valid? [True, True] Translation: X:398.26, Y:29.26, Z:16.56 [[ 9.92470569e-01 -1.12650221e-01 -4.80842809e-02 3.98258167e+02] [ 1.12586001e-01 9.93633728e-01 -4.05051279e-03 2.92577656e+01] [ 4.82344544e-02 -1.39360218e-03 9.98835069e-01 1.65595186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.38509989299996 meters 0.016351040246121648 Centerline is valid? [True, True] Translation: X:398.32, Y:29.26, Z:16.56 [[ 9.92205029e-01 -1.14885799e-01 -4.82745749e-02 3.98318343e+02] [ 1.14823674e-01 9.93377562e-01 -4.06731696e-03 2.92602267e+01] [ 4.84221565e-02 -1.50745172e-03 9.98825822e-01 1.65621513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.44509989299996 meters 0.01653013671922126 Centerline is valid? [True, True] Translation: X:398.38, Y:29.26, Z:16.57 [[ 9.91978683e-01 -1.17116957e-01 -4.75595513e-02 3.98379864e+02] [ 1.17059228e-01 9.93116852e-01 -4.00686355e-03 2.92630509e+01] [ 4.77014635e-02 -1.59256115e-03 9.98860368e-01 1.65653198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.50509989299997 meters 0.016754326679834695 Centerline is valid? [True, True] Translation: X:398.44, Y:29.27, Z:16.57 [[ 9.91918092e-01 -1.17210192e-01 -4.85826176e-02 3.98440136e+02] [ 1.17150141e-01 9.93105787e-01 -4.09148366e-03 2.92669860e+01] [ 4.87272423e-02 -1.63304386e-03 9.98810787e-01 1.65672313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.56509989299997 meters 0.016654239537642 Centerline is valid? [True, True] Translation: X:398.50, Y:29.27, Z:16.57 [[ 9.91924968e-01 -1.16453164e-01 -5.02346437e-02 3.98500586e+02] [ 1.16387992e-01 9.93194813e-01 -4.23061238e-03 2.92719229e+01] [ 5.03854558e-02 -1.65025926e-03 9.98728483e-01 1.65679173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.62509989299997 meters 0.016470682673886364 Centerline is valid? [True, True] Translation: X:398.56, Y:29.28, Z:16.57 [[ 9.91933500e-01 -1.15904077e-01 -5.13242227e-02 3.98560665e+02] [ 1.15835314e-01 9.93259028e-01 -4.32237349e-03 2.92771943e+01] [ 5.14792282e-02 -1.65765038e-03 9.98672690e-01 1.65693684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.685099893 meters 0.016657008770839976 Centerline is valid? [True, True] Translation: X:398.62, Y:29.28, Z:16.57 [[ 9.92050861e-01 -1.14728094e-01 -5.16967392e-02 3.98619828e+02] [ 1.14656717e-01 9.93395631e-01 -4.35409964e-03 2.92820661e+01] [ 5.18548524e-02 -1.60789008e-03 9.98653338e-01 1.65715900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.745099893 meters 0.01575282976466054 Centerline is valid? [True, True] Translation: X:398.68, Y:29.29, Z:16.58 [[ 9.92289306e-01 -1.13124381e-01 -5.06439247e-02 3.98678814e+02] [ 1.13053704e-01 9.93579715e-01 -4.26722119e-03 2.92893384e+01] [ 5.08015030e-02 -1.49116530e-03 9.98707657e-01 1.65750386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.805099893 meters 0.0165919385397391 Centerline is valid? [True, True] Translation: X:398.74, Y:29.29, Z:16.58 [[ 9.92552949e-01 -1.11860997e-01 -4.82261347e-02 3.98737876e+02] [ 1.11795342e-01 9.93722938e-01 -4.06506420e-03 2.92945165e+01] [ 4.83781384e-02 -1.35666574e-03 9.98828171e-01 1.65794840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.865099893 meters 0.01534920289813854 Centerline is valid? [True, True] Translation: X:398.80, Y:29.30, Z:16.58 [[ 9.92595444e-01 -1.12347196e-01 -4.61778321e-02 3.98798964e+02] [ 1.12287499e-01 9.93668135e-01 -3.89296811e-03 2.93021337e+01] [ 4.63228043e-02 -1.32105088e-03 9.98925649e-01 1.65838835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.925099893 meters 0.017234794779336284 Centerline is valid? [True, True] Translation: X:398.86, Y:29.30, Z:16.58 [[ 9.92282978e-01 -1.14696628e-01 -4.71081219e-02 3.98859060e+02] [ 1.14637219e-01 9.93399491e-01 -3.96983127e-03 2.93032560e+01] [ 4.72525106e-02 -1.46114807e-03 9.98881908e-01 1.65849774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.985099893 meters 0.017044744942518685 Centerline is valid? [True, True] Translation: X:398.92, Y:29.31, Z:16.59 [[ 9.91996881e-01 -1.17105931e-01 -4.72058211e-02 3.98920094e+02] [ 1.17049006e-01 9.93118174e-01 -3.97786960e-03 2.93085427e+01] [ 4.73467909e-02 -1.57936022e-03 9.98877263e-01 1.65874505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.045099893 meters 0.01817549711974061 Centerline is valid? [True, True] Translation: X:398.98, Y:29.31, Z:16.59 [[ 9.91651991e-01 -1.19902729e-01 -4.74306160e-02 3.98981168e+02] [ 1.19848536e-01 9.92784150e-01 -3.99507959e-03 2.93119209e+01] [ 4.75673847e-02 -1.72276129e-03 9.98866546e-01 1.65900611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.105099893 meters 0.01969039383330973 Centerline is valid? [True, True] Translation: X:399.04, Y:29.31, Z:16.59 [[ 9.91316887e-01 -1.22620483e-01 -4.74873244e-02 3.99041922e+02] [ 1.22569344e-01 9.92451898e-01 -3.99833678e-03 2.93148526e+01] [ 4.76191632e-02 -1.85687141e-03 9.98863838e-01 1.65922220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.16509989299993 meters 0.01899523839783061 Centerline is valid? [True, True] Translation: X:399.10, Y:29.32, Z:16.59 [[ 9.91388895e-01 -1.22189504e-01 -4.70933604e-02 3.99102897e+02] [ 1.22138734e-01 9.92505118e-01 -3.96497578e-03 2.93218517e+01] [ 4.72248797e-02 -1.82109047e-03 9.98882623e-01 1.65945681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.22509989299994 meters 0.018235162327992736 Centerline is valid? [True, True] Translation: X:399.16, Y:29.33, Z:16.60 [[ 9.91859677e-01 -1.18549541e-01 -4.64799648e-02 3.99163422e+02] [ 1.18496171e-01 9.92946804e-01 -3.91166676e-03 2.93316273e+01] [ 4.66158589e-02 -1.62787331e-03 9.98911564e-01 1.65975386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.28509989299994 meters 0.01718180039790493 Centerline is valid? [True, True] Translation: X:399.22, Y:29.34, Z:16.60 [[ 9.92277196e-01 -1.15104377e-01 -4.62271411e-02 3.99223875e+02] [ 1.15047925e-01 9.93352330e-01 -3.88880903e-03 2.93407535e+01] [ 4.63674573e-02 -1.45956014e-03 9.98923385e-01 1.65999054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.34509989299994 meters 0.01476430403736256 Centerline is valid? [True, True] Translation: X:399.28, Y:29.35, Z:16.60 [[ 9.92756406e-01 -1.10777699e-01 -4.65082804e-02 3.99283998e+02] [ 1.10715858e-01 9.93844404e-01 -3.91153851e-03 2.93544061e+01] [ 4.66553054e-02 -1.26599926e-03 9.98910246e-01 1.66018309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.40509989299994 meters 0.014651795101915492 Centerline is valid? [True, True] Translation: X:399.35, Y:29.36, Z:16.60 [[ 9.92822443e-01 -1.10129790e-01 -4.66371657e-02 3.99345880e+02] [ 1.10066981e-01 9.93916440e-01 -3.92047488e-03 2.93617516e+01] [ 4.67852068e-02 -1.24087658e-03 9.98904202e-01 1.66032595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.46509989299994 meters 0.015640280115142555 Centerline is valid? [True, True] Translation: X:399.41, Y:29.37, Z:16.60 [[ 9.92529563e-01 -1.12597577e-01 -4.69771445e-02 3.99406750e+02] [ 1.12536763e-01 9.93639727e-01 -3.94577137e-03 2.93674121e+01] [ 4.71226414e-02 -1.37036106e-03 9.98888171e-01 1.66045444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.52509989299995 meters 0.017635287738716757 Centerline is valid? [True, True] Translation: X:399.47, Y:29.37, Z:16.61 [[ 9.92044846e-01 -1.15352371e-01 -5.04068871e-02 3.99466849e+02] [ 1.15286002e-01 9.93323325e-01 -4.23189033e-03 2.93724350e+01] [ 5.05584953e-02 -1.61298352e-03 9.98719799e-01 1.66057430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.58509989299995 meters 0.016650331787715345 Centerline is valid? [True, True] Translation: X:399.53, Y:29.38, Z:16.61 [[ 9.91803578e-01 -1.15887680e-01 -5.38117858e-02 3.99527061e+02] [ 1.15812935e-01 9.93260777e-01 -4.51581725e-03 2.93821872e+01] [ 5.39724638e-02 -1.75329713e-03 9.98540885e-01 1.66066888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.64509989299995 meters 0.01595569994163447 Centerline is valid? [True, True] Translation: X:399.59, Y:29.39, Z:16.61 [[ 9.91895304e-01 -1.14049337e-01 -5.60040677e-02 3.99587034e+02] [ 1.13965498e-01 9.93473595e-01 -4.69899878e-03 2.93912398e+01] [ 5.61744802e-02 -1.72161663e-03 9.98419483e-01 1.66074283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.70509989299995 meters 0.015420918568795112 Centerline is valid? [True, True] Translation: X:399.65, Y:29.40, Z:16.61 [[ 9.92284844e-01 -1.11242420e-01 -5.47349243e-02 3.99646395e+02] [ 1.11158047e-01 9.93792128e-01 -4.59297678e-03 2.93979384e+01] [ 5.49060708e-02 -1.52668602e-03 9.98490357e-01 1.66111580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.76509989299996 meters 0.014460382560036629 Centerline is valid? [True, True] Translation: X:399.71, Y:29.40, Z:16.62 [[ 9.92839019e-01 -1.08065602e-01 -5.09166792e-02 3.99706657e+02] [ 1.07988345e-01 9.94142973e-01 -4.27398094e-03 2.94026832e+01] [ 5.10803291e-02 -1.25503286e-03 9.98693759e-01 1.66179850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.82509989299996 meters 0.014526826368266774 Centerline is valid? [True, True] Translation: X:399.77, Y:29.40, Z:16.62 [[ 9.92951994e-01 -1.08345446e-01 -4.80375136e-02 3.99767906e+02] [ 1.08277017e-01 9.94112584e-01 -4.03208050e-03 2.94048361e+01] [ 4.81915544e-02 -1.19769633e-03 9.98837394e-01 1.66245275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.88509989299996 meters 0.01618269872645329 Centerline is valid? [True, True] Translation: X:399.83, Y:29.40, Z:16.63 [[ 9.92946696e-01 -1.10613524e-01 -4.26791186e-02 3.99828764e+02] [ 1.10561661e-01 9.93862815e-01 -3.58097266e-03 2.94010584e+01] [ 4.28132929e-02 -1.16295927e-03 9.99082414e-01 1.66328148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.94509989299996 meters 0.017300777061310658 Centerline is valid? [True, True] Translation: X:399.89, Y:29.40, Z:16.64 [[ 9.92699549e-01 -1.13396635e-01 -4.10951104e-02 3.99890591e+02] [ 1.13350959e-01 9.93549030e-01 -3.44738333e-03 2.93972157e+01] [ 4.12209288e-02 -1.23595430e-03 9.99149292e-01 1.66376915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.00509989299997 meters 0.01528381297400759 Centerline is valid? [True, True] Translation: X:399.95, Y:29.40, Z:16.64 [[ 9.92644734e-01 -1.13985611e-01 -4.07886422e-02 3.99953270e+02] [ 1.13941167e-01 9.93481611e-01 -3.42030482e-03 2.93991668e+01] [ 4.09126316e-02 -1.25235792e-03 9.99161943e-01 1.66397267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.06509989299997 meters 0.016820874977354062 Centerline is valid? [True, True] Translation: X:400.01, Y:29.40, Z:16.64 [[ 9.92720994e-01 -1.13285060e-01 -4.08842633e-02 4.00014566e+02] [ 1.13239940e-01 9.93561766e-01 -3.42524510e-03 2.93997827e+01] [ 4.10090700e-02 -1.22941882e-03 9.99158018e-01 1.66418233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.12509989299997 meters 0.014123488669989111 Centerline is valid? [True, True] Translation: X:400.08, Y:29.40, Z:16.64 [[ 9.93561187e-01 -1.05614115e-01 -4.10100787e-02 4.00075334e+02] [ 1.05562279e-01 9.94406766e-01 -3.43348607e-03 2.94025706e+01] [ 4.11433244e-02 -9.17738871e-04 9.99152833e-01 1.66431172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.185099893 meters 0.018531816097640787 Centerline is valid? [True, True] Translation: X:400.14, Y:29.38, Z:16.64 [[ 9.90976188e-01 -1.24426753e-01 -4.98415290e-02 4.00138916e+02] [ 1.24373929e-01 9.92226648e-01 -4.17197102e-03 2.93759485e+01] [ 4.99731981e-02 -2.06466286e-03 9.98748425e-01 1.66382660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.245099893 meters 0.018531816097640787 Centerline is valid? [True, True] Translation: X:400.20, Y:29.38, Z:16.64 [[ 9.90971582e-01 -1.24463437e-01 -4.98415074e-02 4.00197864e+02] [ 1.24410647e-01 9.92222043e-01 -4.17222875e-03 2.93809114e+01] [ 4.99731323e-02 -2.06625406e-03 9.98748425e-01 1.66407528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.305099893 meters 0.019473439663089016 Centerline is valid? [True, True] Translation: X:400.26, Y:29.38, Z:16.64 [[ 9.91261473e-01 -1.22058584e-01 -5.00239394e-02 4.00255775e+02] [ 1.22002235e-01 9.92520982e-01 -4.18981651e-03 2.93848795e+01] [ 5.01612126e-02 -1.94982871e-03 9.98739231e-01 1.66428980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.365099893 meters 0.01797692839416352 Centerline is valid? [True, True] Translation: X:400.31, Y:29.39, Z:16.65 [[ 9.91623686e-01 -1.19245555e-01 -4.96282547e-02 4.00314093e+02] [ 1.19186358e-01 9.92863182e-01 -4.16104760e-03 2.93931046e+01] [ 4.97702533e-02 -1.78881755e-03 9.98759091e-01 1.66457162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.425099893 meters 0.01797692839416352 Centerline is valid? [True, True] Translation: X:400.37, Y:29.40, Z:16.65 [[ 9.91593649e-01 -1.19495243e-01 -4.96278378e-02 4.00372134e+02] [ 1.19436110e-01 9.92833148e-01 -4.16601370e-03 2.93980187e+01] [ 4.97699812e-02 -1.79636316e-03 9.98759091e-01 1.66481655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.485099893 meters 0.01678012782095935 Centerline is valid? [True, True] Translation: X:400.43, Y:29.41, Z:16.65 [[ 9.91949539e-01 -1.16669748e-01 -4.92369902e-02 4.00430679e+02] [ 1.16607460e-01 9.93169429e-01 -4.14547837e-03 2.94059873e+01] [ 4.93843254e-02 -1.62929499e-03 9.98778521e-01 1.66508073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.545099893 meters 0.01529262541391971 Centerline is valid? [True, True] Translation: X:400.49, Y:29.41, Z:16.65 [[ 9.92255702e-01 -1.13844853e-01 -4.96786893e-02 4.00489294e+02] [ 1.13777357e-01 9.93497421e-01 -4.19367375e-03 2.94145612e+01] [ 4.98330779e-02 -1.49111330e-03 9.98756447e-01 1.66533688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.605099893 meters 0.01529262541391971 Centerline is valid? [True, True] Translation: X:400.55, Y:29.42, Z:16.66 [[ 9.92226488e-01 -1.14099462e-01 -4.96780572e-02 4.00547318e+02] [ 1.14031912e-01 9.93468205e-01 -4.20114883e-03 2.94195044e+01] [ 4.98329191e-02 -1.49639268e-03 9.98756447e-01 1.66558182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.66509989299993 meters 0.01529262541391971 Centerline is valid? [True, True] Translation: X:400.61, Y:29.42, Z:16.66 [[ 9.92197206e-01 -1.14354286e-01 -4.96769766e-02 4.00605341e+02] [ 1.14286416e-01 9.93438905e-01 -4.21389112e-03 2.94244651e+01] [ 4.98329177e-02 -1.49639264e-03 9.98756447e-01 1.66582687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.72509989299994 meters 0.015216153063354368 Centerline is valid? [True, True] Translation: X:400.66, Y:29.43, Z:16.66 [[ 9.92509091e-01 -1.11676779e-01 -4.95378849e-02 4.00663409e+02] [ 1.11605401e-01 9.93743671e-01 -4.21329230e-03 2.94303055e+01] [ 4.96984865e-02 -1.34696460e-03 9.98763358e-01 1.66602875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.78509989299994 meters 0.013895956450753569 Centerline is valid? [True, True] Translation: X:400.72, Y:29.44, Z:16.66 [[ 9.92995797e-01 -1.07102663e-01 -4.98835278e-02 4.00722097e+02] [ 1.07024310e-01 9.94247334e-01 -4.24684158e-03 2.94381726e+01] [ 5.00514126e-02 -1.12165431e-03 9.98746013e-01 1.66623736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.84509989299994 meters 0.012498355043116124 Centerline is valid? [True, True] Translation: X:400.78, Y:29.45, Z:16.67 [[ 9.93278922e-01 -1.04290046e-01 -5.02052657e-02 4.00780155e+02] [ 1.04206488e-01 9.94546448e-01 -4.28614043e-03 2.94473351e+01] [ 5.03784705e-02 -9.74381481e-04 9.98729723e-01 1.66659025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.90509989299994 meters 0.012859209488924522 Centerline is valid? [True, True] Translation: X:400.84, Y:29.45, Z:16.67 [[ 9.93288493e-01 -1.05312831e-01 -4.78244487e-02 4.00837243e+02] [ 1.05237618e-01 9.94438674e-01 -4.09491599e-03 2.94526259e+01] [ 4.79897285e-02 -9.65498136e-04 9.98847363e-01 1.66710624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.96509989299994 meters 0.014024725490746322 Centerline is valid? [True, True] Translation: X:400.90, Y:29.45, Z:16.67 [[ 9.92880142e-01 -1.08997146e-01 -4.80483709e-02 4.00896234e+02] [ 1.08924866e-01 9.94041415e-01 -4.12794477e-03 2.94545555e+01] [ 4.82120048e-02 -1.13510795e-03 9.98836480e-01 1.66729980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.02509989299995 meters 0.015545007071499996 Centerline is valid? [True, True] Translation: X:400.96, Y:29.46, Z:16.67 [[ 9.92369278e-01 -1.13043445e-01 -4.92381504e-02 4.00955873e+02] [ 1.12971961e-01 9.93589124e-01 -4.24130302e-03 2.94587114e+01] [ 4.94019422e-02 -1.35359161e-03 9.98778061e-01 1.66740827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.08509989299995 meters 0.01649743104281929 Centerline is valid? [True, True] Translation: X:401.01, Y:29.46, Z:16.68 [[ 9.92097554e-01 -1.15148693e-01 -4.98319322e-02 4.01014404e+02] [ 1.15077950e-01 9.93347175e-01 -4.29597493e-03 2.94639103e+01] [ 4.99950850e-02 -1.47253037e-03 9.98748378e-01 1.66760847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.14509989299995 meters 0.0167792098861252 Centerline is valid? [True, True] Translation: X:401.07, Y:29.47, Z:16.68 [[ 9.91930445e-01 -1.16731214e-01 -4.94754001e-02 4.01073054e+02] [ 1.16662832e-01 9.93162366e-01 -4.27756397e-03 2.94696651e+01] [ 4.96364306e-02 -1.52889433e-03 9.98766182e-01 1.66791417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.20509989299995 meters 0.018226735080059776 Centerline is valid? [True, True] Translation: X:401.13, Y:29.48, Z:16.68 [[ 9.91835388e-01 -1.18297629e-01 -4.76259822e-02 4.01131762e+02] [ 1.18235565e-01 9.92976994e-01 -4.12812936e-03 2.94751759e+01] [ 4.77798526e-02 -1.53666013e-03 9.98856709e-01 1.66833040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.26509989299996 meters 0.018426260601958726 Centerline is valid? [True, True] Translation: X:401.19, Y:29.48, Z:16.69 [[ 9.91725695e-01 -1.19593836e-01 -4.66632588e-02 4.01191671e+02] [ 1.19535586e-01 9.92821669e-01 -4.04686018e-03 2.94811017e+01] [ 4.68122740e-02 -1.56454476e-03 9.98902479e-01 1.66853857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.32509989299996 meters 0.018425609702578293 Centerline is valid? [True, True] Translation: X:401.25, Y:29.49, Z:16.69 [[ 9.91365126e-01 -1.22868173e-01 -4.58104642e-02 4.01252259e+02] [ 1.22815521e-01 9.92421566e-01 -3.97290178e-03 2.94868483e+01] [ 4.59514358e-02 -1.68763974e-03 9.98942249e-01 1.66859519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.38509989299996 meters 0.019608344480727586 Centerline is valid? [True, True] Translation: X:401.31, Y:29.49, Z:16.69 [[ 9.91207464e-01 -1.24313521e-01 -4.53201139e-02 4.01312042e+02] [ 1.24263494e-01 9.92241470e-01 -3.93043877e-03 2.94918798e+01] [ 4.54571031e-02 -1.73575546e-03 9.98964784e-01 1.66887270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.44509989299996 meters 0.020491287900707245 Centerline is valid? [True, True] Translation: X:401.37, Y:29.50, Z:16.69 [[ 9.91132733e-01 -1.24802420e-01 -4.56098762e-02 4.01371969e+02] [ 1.24752234e-01 9.92180038e-01 -3.95632598e-03 2.94959485e+01] [ 4.57469677e-02 -1.76868977e-03 9.98951494e-01 1.66908181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.50509989299997 meters 0.019458001483906067 Centerline is valid? [True, True] Translation: X:401.43, Y:29.50, Z:16.69 [[ 9.91062879e-01 -1.25282538e-01 -4.58110945e-02 4.01433329e+02] [ 1.25232426e-01 9.92119473e-01 -3.97363602e-03 2.95030826e+01] [ 4.59479062e-02 -1.79891137e-03 9.98942217e-01 1.66930845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.56509989299997 meters 0.020745933452604774 Centerline is valid? [True, True] Translation: X:401.49, Y:29.51, Z:16.70 [[ 9.90884331e-01 -1.26791409e-01 -4.55212134e-02 4.01493548e+02] [ 1.26743587e-01 9.91927661e-01 -3.94698071e-03 2.95079400e+01] [ 4.56541940e-02 -1.85852053e-03 9.98955575e-01 1.66951808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.62509989299997 meters 0.01929027603338724 Centerline is valid? [True, True] Translation: X:401.56, Y:29.52, Z:16.70 [[ 9.90857705e-01 -1.27257049e-01 -4.47956638e-02 4.01555153e+02] [ 1.27211224e-01 9.91868046e-01 -3.88385147e-03 2.95170610e+01] [ 4.49256350e-02 -1.85016704e-03 9.98988621e-01 1.66976744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.685099893 meters 0.019809162952227632 Centerline is valid? [True, True] Translation: X:401.61, Y:29.53, Z:16.70 [[ 9.91533955e-01 -1.21979412e-01 -4.45133569e-02 4.01614214e+02] [ 1.21928997e-01 9.92531335e-01 -3.85609863e-03 2.95251843e+01] [ 4.46512661e-02 -1.60401623e-03 9.99001347e-01 1.66994583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.745099893 meters 0.01597976463547501 Centerline is valid? [True, True] Translation: X:401.67, Y:29.54, Z:16.70 [[ 9.92351028e-01 -1.15340722e-01 -4.39994867e-02 4.01673954e+02] [ 1.15285073e-01 9.93325146e-01 -3.80866519e-03 2.95399374e+01] [ 4.41450908e-02 -1.29295122e-03 9.99024294e-01 1.67029828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.805099893 meters 0.013368293876466684 Centerline is valid? [True, True] Translation: X:401.73, Y:29.55, Z:16.71 [[ 9.93668203e-01 -1.04101252e-01 -4.22661946e-02 4.01732533e+02] [ 1.04039767e-01 9.94566412e-01 -3.65777865e-03 2.95546532e+01] [ 4.24173168e-02 -7.62746701e-04 9.99099689e-01 1.67067312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.865099893 meters 0.012194789856274573 Centerline is valid? [True, True] Translation: X:401.79, Y:29.56, Z:16.71 [[ 9.94251880e-01 -9.83198242e-02 -4.23840951e-02 4.01793746e+02] [ 9.82527180e-02 9.95154734e-01 -3.66856731e-03 2.95637254e+01] [ 4.25394258e-02 -5.16872604e-04 9.99094655e-01 1.67089590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.925099893 meters 0.011511130074992076 Centerline is valid? [True, True] Translation: X:401.85, Y:29.57, Z:16.71 [[ 9.94683561e-01 -9.33610719e-02 -4.34548561e-02 4.01854691e+02] [ 9.32859030e-02 9.95632267e-01 -3.75887996e-03 2.95714107e+01] [ 4.36159900e-02 -3.14829382e-04 9.99048320e-01 1.67103187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.985099893 meters 0.011528825547905085 Centerline is valid? [True, True] Translation: X:401.92, Y:29.58, Z:16.71 [[ 9.94713376e-01 -9.26469946e-02 -4.42926056e-02 4.01915655e+02] [ 9.25682625e-02 9.95698976e-01 -3.82973121e-03 2.95768487e+01] [ 4.44569151e-02 -2.90604689e-04 9.99011260e-01 1.67122645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.045099893 meters 0.011407861274021092 Centerline is valid? [True, True] Translation: X:401.98, Y:29.58, Z:16.71 [[ 9.94644452e-01 -9.27415913e-02 -4.56224955e-02 4.01976167e+02] [ 9.26582281e-02 9.95690165e-01 -3.94318393e-03 2.95821241e+01] [ 4.57915672e-02 -3.05233571e-04 9.98950969e-01 1.67142727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.105099893 meters 0.011499848075367098 Centerline is valid? [True, True] Translation: X:402.04, Y:29.59, Z:16.72 [[ 9.94515643e-01 -9.37220721e-02 -4.64199150e-02 4.02035926e+02] [ 9.36368275e-02 9.95598336e-01 -4.01227057e-03 2.95862288e+01] [ 4.65916285e-02 -3.56347728e-04 9.98913957e-01 1.67170827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.16509989299993 meters 0.011793630844927235 Centerline is valid? [True, True] Translation: X:402.09, Y:29.59, Z:16.72 [[ 9.94339001e-01 -9.54236773e-02 -4.67362107e-02 4.02094958e+02] [ 9.53390650e-02 9.95436653e-01 -4.04130632e-03 2.95900882e+01] [ 4.69085735e-02 -4.37358140e-04 9.98899091e-01 1.67203477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.22509989299994 meters 0.01195116718961211 Centerline is valid? [True, True] Translation: X:402.15, Y:29.59, Z:16.72 [[ 9.94235662e-01 -9.66516549e-02 -4.64101957e-02 4.02154913e+02] [ 9.65694787e-02 9.95318149e-01 -4.01477886e-03 2.95940008e+01] [ 4.65809451e-02 -4.90172091e-04 9.98914398e-01 1.67231842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.28509989299994 meters 0.012448279065376312 Centerline is valid? [True, True] Translation: X:402.21, Y:29.60, Z:16.73 [[ 9.94110182e-01 -9.86490362e-02 -4.48699681e-02 4.02214098e+02] [ 9.85741912e-02 9.95122129e-01 -3.88303726e-03 2.95963720e+01] [ 4.50341560e-02 -5.62853932e-04 9.98985289e-01 1.67261476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.34509989299994 meters 0.012403195304665923 Centerline is valid? [True, True] Translation: X:402.27, Y:29.60, Z:16.73 [[ 9.94106133e-01 -9.89386828e-02 -4.43185424e-02 4.02274293e+02] [ 9.88659220e-02 9.95093370e-01 -3.83604336e-03 2.96012360e+01] [ 4.44806208e-02 -5.68159327e-04 9.99010086e-01 1.67289463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.40509989299994 meters 0.012013049311619384 Centerline is valid? [True, True] Translation: X:402.33, Y:29.61, Z:16.73 [[ 9.94234828e-01 -9.80465379e-02 -4.34048778e-02 4.02334143e+02] [ 9.79758974e-02 9.95181696e-01 -3.75696005e-03 2.96066353e+01] [ 4.35640969e-02 -5.17331331e-04 9.99050500e-01 1.67316030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.46509989299994 meters 0.011638606093891295 Centerline is valid? [True, True] Translation: X:402.40, Y:29.61, Z:16.73 [[ 9.94494860e-01 -9.53441325e-02 -4.34680428e-02 4.02395046e+02] [ 9.52707083e-02 9.95444291e-01 -3.76236626e-03 2.96112350e+01] [ 4.36287346e-02 -3.99577320e-04 9.99047734e-01 1.67338894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.52509989299995 meters 0.011560466941085267 Centerline is valid? [True, True] Translation: X:402.45, Y:29.61, Z:16.74 [[ 9.94810746e-01 -9.19639466e-02 -4.35225502e-02 4.02454268e+02] [ 9.18871733e-02 9.95762305e-01 -3.76549610e-03 2.96138849e+01] [ 4.36844048e-02 -2.53208139e-04 9.99045349e-01 1.67359537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.58509989299995 meters 0.01150697412029986 Centerline is valid? [True, True] Translation: X:402.51, Y:29.62, Z:16.74 [[ 9.94944000e-01 -9.00290425e-02 -4.45107776e-02 4.02514148e+02] [ 8.99468188e-02 9.95939126e-01 -3.85071222e-03 2.96177150e+01] [ 4.46767009e-02 -1.72359831e-04 9.99001483e-01 1.67374325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.64509989299995 meters 0.01147558776940106 Centerline is valid? [True, True] Translation: X:402.57, Y:29.62, Z:16.74 [[ 9.94967788e-01 -8.89851591e-02 -4.60515216e-02 4.02573981e+02] [ 8.88960170e-02 9.96032944e-01 -3.98415887e-03 2.96213780e+01] [ 4.62233636e-02 -1.29687109e-04 9.98931121e-01 1.67385575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.70509989299995 meters 0.011520664845507397 Centerline is valid? [True, True] Translation: X:402.63, Y:29.62, Z:16.74 [[ 9.94828601e-01 -8.96112112e-02 -4.78109427e-02 4.02632309e+02] [ 8.95157441e-02 9.95976809e-01 -4.13850276e-03 2.96232907e+01] [ 4.79894464e-02 -1.62731199e-04 9.98847830e-01 1.67394331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.76509989299996 meters 0.011621027437088939 Centerline is valid? [True, True] Translation: X:402.69, Y:29.63, Z:16.74 [[ 9.94632010e-01 -9.13060148e-02 -4.86865123e-02 4.02690766e+02] [ 9.12087732e-02 9.95822852e-01 -4.21986713e-03 2.96257404e+01] [ 4.88684408e-02 -2.43422141e-04 9.98805194e-01 1.67418507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.82509989299996 meters 0.01185770281264784 Centerline is valid? [True, True] Translation: X:402.75, Y:29.63, Z:16.75 [[ 9.94364513e-01 -9.46510605e-02 -4.77534450e-02 4.02749845e+02] [ 9.45607951e-02 9.95510435e-01 -4.15089232e-03 2.96263550e+01] [ 4.79319391e-02 -3.88103701e-04 9.98850529e-01 1.67455040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.88509989299996 meters 0.012332406696233256 Centerline is valid? [True, True] Translation: X:402.81, Y:29.63, Z:16.75 [[ 9.94087198e-01 -9.83698414e-02 -4.59784476e-02 4.02808401e+02] [ 9.82896250e-02 9.95149782e-01 -4.00771140e-03 2.96263811e+01] [ 4.61496801e-02 -5.35189778e-04 9.98934393e-01 1.67492175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.94509989299996 meters 0.012656453807552117 Centerline is valid? [True, True] Translation: X:402.87, Y:29.63, Z:16.75 [[ 9.93723292e-01 -1.02193430e-01 -4.55029795e-02 4.02868104e+02] [ 1.02118391e-01 9.94764304e-01 -3.97670843e-03 2.96276653e+01] [ 4.56711332e-02 -6.94943268e-04 9.98956288e-01 1.67520229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.00509989299997 meters 0.01440349862430915 Centerline is valid? [True, True] Translation: X:402.93, Y:29.62, Z:16.75 [[ 9.92801938e-01 -1.10991086e-01 -4.50032386e-02 4.02929325e+02] [ 1.10926640e-01 9.93820809e-01 -3.93456086e-03 2.96234377e+01] [ 4.51618562e-02 -1.08581840e-03 9.98979093e-01 1.67539183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.06509989299997 meters 0.01765094705809789 Centerline is valid? [True, True] Translation: X:402.99, Y:29.62, Z:16.76 [[ 9.91883274e-01 -1.18733528e-01 -4.54963798e-02 4.02989154e+02] [ 1.18675782e-01 9.92925091e-01 -3.97780856e-03 2.96190760e+01] [ 4.56467962e-02 -1.45379669e-03 9.98956584e-01 1.67555119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.12509989299997 meters 0.020392705790308836 Centerline is valid? [True, True] Translation: X:403.05, Y:29.62, Z:16.76 [[ 9.90665246e-01 -1.28106287e-01 -4.65955948e-02 4.03049500e+02] [ 1.28055976e-01 9.91758568e-01 -4.07555904e-03 2.96168095e+01] [ 4.67336851e-02 -1.92932968e-03 9.98905521e-01 1.67571545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.185099893 meters 0.025452811371968583 Centerline is valid? [True, True] Translation: X:403.11, Y:29.61, Z:16.76 [[ 9.89124657e-01 -1.39136764e-01 -4.76799060e-02 4.03110288e+02] [ 1.39096807e-01 9.90270003e-01 -4.17118611e-03 2.96122599e+01] [ 4.77963460e-02 -2.50629966e-03 9.98853957e-01 1.67589759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.245099893 meters 0.0275087114222754 Centerline is valid? [True, True] Translation: X:403.17, Y:29.61, Z:16.76 [[ 9.88510974e-01 -1.43011879e-01 -4.89250042e-02 4.03170249e+02] [ 1.42974519e-01 9.89717113e-01 -4.28048608e-03 2.96148122e+01] [ 4.90340742e-02 -2.76372146e-03 9.98793283e-01 1.67605854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.305099893 meters 0.02502988004439296 Centerline is valid? [True, True] Translation: X:403.23, Y:29.63, Z:16.76 [[ 9.88507831e-01 -1.42626830e-01 -5.00984654e-02 4.03228000e+02] [ 1.42587021e-01 9.89772552e-01 -4.38605221e-03 2.96255158e+01] [ 5.02116546e-02 -2.80774398e-03 9.98734653e-01 1.67624360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.365099893 meters 0.0232754144507558 Centerline is valid? [True, True] Translation: X:403.29, Y:29.64, Z:16.76 [[ 9.89191186e-01 -1.37215212e-01 -5.16989719e-02 4.03287719e+02] [ 1.37164873e-01 9.90537839e-01 -4.53736105e-03 2.96378019e+01] [ 5.18323828e-02 -2.60296534e-03 9.98652406e-01 1.67640234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.425099893 meters 0.020263728736655245 Centerline is valid? [True, True] Translation: X:403.35, Y:29.65, Z:16.77 [[ 9.89745679e-01 -1.33271870e-01 -5.14013526e-02 4.03346685e+02] [ 1.33216773e-01 9.91076654e-01 -4.51183027e-03 2.96512351e+01] [ 5.15439807e-02 -2.38195779e-03 9.98667885e-01 1.67679097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.485099893 meters 0.020969268123968026 Centerline is valid? [True, True] Translation: X:403.41, Y:29.66, Z:16.77 [[ 9.90547519e-01 -1.28156375e-01 -4.89035425e-02 4.03405298e+02] [ 1.28100176e-01 9.91751935e-01 -4.29459979e-03 2.96601672e+01] [ 4.90505633e-02 -2.01054724e-03 9.98794273e-01 1.67715481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.545099893 meters 0.019799750606091352 Centerline is valid? [True, True] Translation: X:403.46, Y:29.67, Z:16.78 [[ 9.90853636e-01 -1.26035897e-01 -4.82081412e-02 4.03464576e+02] [ 1.25978726e-01 9.92023905e-01 -4.23464932e-03 2.96705207e+01] [ 4.83573463e-02 -1.87728252e-03 9.98828335e-01 1.67750463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.605099893 meters 0.01965922961736234 Centerline is valid? [True, True] Translation: X:403.52, Y:29.68, Z:16.78 [[ 9.91055654e-01 -1.24517845e-01 -4.79999761e-02 4.03523879e+02] [ 1.24459342e-01 9.92215746e-01 -4.21733268e-03 2.96790789e+01] [ 4.81514653e-02 -1.79443406e-03 9.98838434e-01 1.67774388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.66509989299993 meters 0.01872495743286369 Centerline is valid? [True, True] Translation: X:403.58, Y:29.69, Z:16.78 [[ 9.91238556e-01 -1.22447884e-01 -4.95241515e-02 4.03582915e+02] [ 1.22382938e-01 9.92473409e-01 -4.35306072e-03 2.96899078e+01] [ 4.96844265e-02 -1.74598957e-03 9.98763440e-01 1.67781136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.72509989299994 meters 0.017329309914315385 Centerline is valid? [True, True] Translation: X:403.64, Y:29.70, Z:16.78 [[ 9.91419771e-01 -1.20249448e-01 -5.12533657e-02 4.03641610e+02] [ 1.20176859e-01 9.92742268e-01 -4.50694174e-03 2.97007576e+01] [ 5.14233398e-02 -1.69119735e-03 9.98675513e-01 1.67799976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.78509989299994 meters 0.015103706600278875 Centerline is valid? [True, True] Translation: X:403.70, Y:29.72, Z:16.78 [[ 9.92019158e-01 -1.14421980e-01 -5.29679173e-02 4.03699967e+02] [ 1.14336049e-01 9.93431203e-01 -4.65968482e-03 2.97165312e+01] [ 5.31531522e-02 -1.43364579e-03 9.98585343e-01 1.67826498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.84509989299994 meters 0.013478146616296451 Centerline is valid? [True, True] Translation: X:403.76, Y:29.73, Z:16.79 [[ 9.92903407e-01 -1.06441349e-01 -5.30383262e-02 4.03758841e+02] [ 1.06343715e-01 9.94318474e-01 -4.66762051e-03 2.97314687e+01] [ 5.32338154e-02 -1.00579635e-03 9.98581569e-01 1.67858031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.90509989299994 meters 0.012943220204693996 Centerline is valid? [True, True] Translation: X:403.82, Y:29.74, Z:16.79 [[ 9.93163616e-01 -1.04164592e-01 -5.26855665e-02 4.03817114e+02] [ 1.04064866e-01 9.94559688e-01 -4.64007764e-03 2.97402027e+01] [ 5.28822723e-02 -8.74360137e-04 9.98600371e-01 1.67888909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.96509989299994 meters 0.01199518420480213 Centerline is valid? [True, True] Translation: X:403.88, Y:29.75, Z:16.79 [[ 9.93690725e-01 -9.96550287e-02 -5.14550215e-02 4.03876112e+02] [ 9.95533109e-02 9.95021861e-01 -4.54242354e-03 2.97518128e+01] [ 5.16515467e-02 -6.08753619e-04 9.98664982e-01 1.67931639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.02509989299995 meters 0.011744735165295082 Centerline is valid? [True, True] Translation: X:403.93, Y:29.76, Z:16.80 [[ 9.93971847e-01 -9.70332946e-02 -5.10343678e-02 4.03934979e+02] [ 9.69296835e-02 9.95281027e-01 -4.50716853e-03 2.97620084e+01] [ 5.12308833e-02 -4.66746488e-04 9.98686727e-01 1.67961758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.08509989299995 meters 0.011861374356960438 Centerline is valid? [True, True] Translation: X:403.99, Y:29.77, Z:16.80 [[ 9.93863700e-01 -9.83503433e-02 -5.06177423e-02 4.03994085e+02] [ 9.82500303e-02 9.95151712e-01 -4.47222432e-03 2.97685777e+01] [ 5.08121777e-02 -5.28413309e-04 9.98708087e-01 1.67992113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.14509989299995 meters 0.012761588737084707 Centerline is valid? [True, True] Translation: X:404.05, Y:29.77, Z:16.80 [[ 9.93482026e-01 -1.02073801e-01 -5.07385678e-02 4.04052686e+02] [ 1.01977754e-01 9.94776569e-01 -4.48494655e-03 2.97716496e+01] [ 5.09313340e-02 -7.18491406e-04 9.98701899e-01 1.68012090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.20509989299995 meters 0.014132033861800182 Centerline is valid? [True, True] Translation: X:404.11, Y:29.77, Z:16.80 [[ 9.92506088e-01 -1.11044273e-01 -5.09983885e-02 4.04112998e+02] [ 1.10958931e-01 9.93814757e-01 -4.51039051e-03 2.97740526e+01] [ 5.11838041e-02 -1.18213666e-03 9.98688550e-01 1.68038406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.26509989299996 meters 0.016646299021592644 Centerline is valid? [True, True] Translation: X:404.17, Y:29.77, Z:16.80 [[ 9.91690995e-01 -1.17904907e-01 -5.14529310e-02 4.04172430e+02] [ 1.17827193e-01 9.93023683e-01 -4.55171121e-03 2.97744911e+01] [ 5.16306481e-02 -1.54866344e-03 9.98665048e-01 1.68048928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.32509989299996 meters 0.018915858435199075 Centerline is valid? [True, True] Translation: X:404.23, Y:29.78, Z:16.81 [[ 9.90544210e-01 -1.27277681e-01 -5.12109369e-02 4.04232955e+02] [ 1.27213108e-01 9.91865055e-01 -4.53177802e-03 2.97770207e+01] [ 5.13711329e-02 -2.02577597e-03 9.98677577e-01 1.68073314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.38509989299996 meters 0.022352769152555456 Centerline is valid? [True, True] Translation: X:404.29, Y:29.78, Z:16.81 [[ 9.89741363e-01 -1.34088012e-01 -4.93197783e-02 4.04292381e+02] [ 1.34036545e-01 9.90966779e-01 -4.36441153e-03 2.97797943e+01] [ 4.94594771e-02 -2.29101408e-03 9.98773504e-01 1.68102970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.44509989299996 meters 0.023838486864775466 Centerline is valid? [True, True] Translation: X:404.35, Y:29.78, Z:16.81 [[ 9.89382553e-01 -1.37164538e-01 -4.80422010e-02 4.04353723e+02] [ 1.37119298e-01 9.90545416e-01 -4.25173421e-03 2.97848276e+01] [ 4.81711691e-02 -2.38092125e-03 9.98836258e-01 1.68131096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.50509989299997 meters 0.02625857080752722 Centerline is valid? [True, True] Translation: X:404.42, Y:29.79, Z:16.82 [[ 9.88997310e-01 -1.40471475e-01 -4.63905657e-02 4.04415046e+02] [ 1.40432990e-01 9.90081680e-01 -4.10394588e-03 2.97891547e+01] [ 4.65069365e-02 -2.45597442e-03 9.98914948e-01 1.68160695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.56509989299997 meters 0.028977566715451788 Centerline is valid? [True, True] Translation: X:404.48, Y:29.79, Z:16.82 [[ 9.88769491e-01 -1.42312928e-01 -4.56281162e-02 4.04476141e+02] [ 1.42277726e-01 9.89818554e-01 -4.03482986e-03 2.97920400e+01] [ 4.57377644e-02 -2.50234794e-03 9.98950347e-01 1.68182058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.62509989299997 meters 0.024624684733804962 Centerline is valid? [True, True] Translation: X:404.54, Y:29.81, Z:16.82 [[ 9.88519341e-01 -1.43740376e-01 -4.65641161e-02 4.04537288e+02] [ 1.43705417e-01 9.89611954e-01 -4.11498525e-03 2.98056129e+01] [ 4.66718954e-02 -2.62377320e-03 9.98906827e-01 1.68194884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.685099893 meters 0.025382226864374382 Centerline is valid? [True, True] Translation: X:404.60, Y:29.81, Z:16.82 [[ 9.88721825e-01 -1.42127616e-01 -4.72111665e-02 4.04598167e+02] [ 1.42090011e-01 9.89844963e-01 -4.16871043e-03 2.98120559e+01] [ 4.73242242e-02 -2.58654018e-03 9.98876232e-01 1.68209057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.745099893 meters 0.023776048695117173 Centerline is valid? [True, True] Translation: X:404.66, Y:29.82, Z:16.82 [[ 9.89262658e-01 -1.38489330e-01 -4.66915270e-02 4.04658174e+02] [ 1.38448616e-01 9.90361046e-01 -4.12049217e-03 2.98230561e+01] [ 4.68121137e-02 -2.38812823e-03 9.98900857e-01 1.68239204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.805099893 meters 0.02076122041181882 Centerline is valid? [True, True] Translation: X:404.72, Y:29.84, Z:16.83 [[ 9.90781080e-01 -1.27900889e-01 -4.46566199e-02 4.04716521e+02] [ 1.27852933e-01 9.91785311e-01 -3.94019300e-03 2.98399626e+01] [ 4.47937338e-02 -1.80561117e-03 9.98994625e-01 1.68287379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.865099893 meters 0.01735755617048576 Centerline is valid? [True, True] Translation: X:404.78, Y:29.86, Z:16.83 [[ 9.92069414e-01 -1.18098085e-01 -4.30246425e-02 4.04775769e+02] [ 1.18044348e-01 9.93001067e-01 -3.79636866e-03 2.98557429e+01] [ 4.31718598e-02 -1.31255463e-03 9.99066798e-01 1.68320836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.925099893 meters 0.0129841919309178 Centerline is valid? [True, True] Translation: X:404.84, Y:29.88, Z:16.84 [[ 9.93879536e-01 -1.02541660e-01 -4.10934985e-02 4.04835199e+02] [ 1.02479330e-01 9.94728525e-01 -3.62601156e-03 2.98765514e+01] [ 4.12486924e-02 -6.07415519e-04 9.99148726e-01 1.68352383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.985099893 meters 0.011736795492309535 Centerline is valid? [True, True] Translation: X:404.90, Y:29.89, Z:16.84 [[ 9.95205589e-01 -8.88820611e-02 -4.08143900e-02 4.04895008e+02] [ 8.88091072e-02 9.96042156e-01 -3.60068943e-03 2.98943308e+01] [ 4.09728897e-02 -4.12632943e-05 9.99160258e-01 1.68366635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.045099893 meters 0.011861448690893592 Centerline is valid? [True, True] Translation: X:404.96, Y:29.91, Z:16.84 [[ 9.95707304e-01 -8.29084281e-02 -4.11479960e-02 4.04956811e+02] [ 8.28292376e-02 9.96557149e-01 -3.62860553e-03 2.99057851e+01] [ 4.13071715e-02 2.04771895e-04 9.99146474e-01 1.68386672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.105099893 meters 0.012223877793747721 Centerline is valid? [True, True] Translation: X:405.02, Y:29.91, Z:16.84 [[ 9.95963511e-01 -7.97369076e-02 -4.12154150e-02 4.05018165e+02] [ 7.96548666e-02 9.96815888e-01 -3.63154700e-03 2.99143887e+01] [ 4.13737489e-02 3.33879917e-04 9.99143684e-01 1.68408826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.16509989299993 meters 0.01215883287332806 Centerline is valid? [True, True] Translation: X:405.08, Y:29.92, Z:16.84 [[ 9.95956904e-01 -8.02764284e-02 -4.03179798e-02 4.05079926e+02] [ 8.01984799e-02 9.96772594e-01 -3.54963153e-03 2.99194341e+01] [ 4.04728091e-02 3.01839339e-04 9.99180595e-01 1.68438926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.22509989299994 meters 0.012037965970187286 Centerline is valid? [True, True] Translation: X:405.14, Y:29.92, Z:16.85 [[ 9.95676636e-01 -8.35278282e-02 -4.06342147e-02 4.05140732e+02] [ 8.34514809e-02 9.96505431e-01 -3.57444532e-03 2.99227134e+01] [ 4.07907813e-02 1.68006291e-04 9.99167696e-01 1.68465407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.28509989299994 meters 0.012136854854825671 Centerline is valid? [True, True] Translation: X:405.20, Y:29.92, Z:16.85 [[ 9.94886636e-01 -9.23245272e-02 -4.09482890e-02 4.05203508e+02] [ 9.22545278e-02 9.95728951e-01 -3.59985096e-03 2.99218167e+01] [ 4.11057514e-02 -1.96221457e-04 9.99154782e-01 1.68484855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.34509989299994 meters 0.012851513758760372 Centerline is valid? [True, True] Translation: X:405.27, Y:29.92, Z:16.85 [[ 9.94195223e-01 -9.95181510e-02 -4.08900481e-02 4.05265829e+02] [ 9.94545508e-02 9.95035623e-01 -3.59173324e-03 2.99216787e+01] [ 4.10444971e-02 -4.95817337e-04 9.99157197e-01 1.68505025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.40509989299994 meters 0.015178123590523483 Centerline is valid? [True, True] Translation: X:405.33, Y:29.92, Z:16.85 [[ 9.92957409e-01 -1.11117795e-01 -4.10903946e-02 4.05327741e+02] [ 1.11063608e-01 9.93806757e-01 -3.60627215e-03 2.99183746e+01] [ 4.12366328e-02 -9.82772828e-04 9.99148925e-01 1.68529490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.46509989299994 meters 0.01742825083545139 Centerline is valid? [True, True] Translation: X:405.39, Y:29.92, Z:16.86 [[ 9.92077586e-01 -1.18835376e-01 -4.07457665e-02 4.05388708e+02] [ 1.18788650e-01 9.92913128e-01 -3.57454591e-03 2.99178540e+01] [ 4.08817889e-02 -1.29390771e-03 9.99163152e-01 1.68561349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.52509989299995 meters 0.020896969726832155 Centerline is valid? [True, True] Translation: X:405.45, Y:29.92, Z:16.86 [[ 9.91254755e-01 -1.25655987e-01 -4.03061347e-02 4.05448519e+02] [ 1.25615951e-01 9.92072649e-01 -3.53442987e-03 2.99159958e+01] [ 4.04307361e-02 -1.55957302e-03 9.99181126e-01 1.68593279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.58509989299995 meters 0.023603119344657187 Centerline is valid? [True, True] Translation: X:405.51, Y:29.92, Z:16.86 [[ 9.90271280e-01 -1.33311695e-01 -3.98846329e-02 4.05509542e+02] [ 1.33278659e-01 9.91072431e-01 -3.49804231e-03 2.99153096e+01] [ 3.99948900e-02 -1.85175953e-03 9.99198168e-01 1.68617855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.64509989299995 meters 0.026229648371546482 Centerline is valid? [True, True] Translation: X:405.57, Y:29.92, Z:16.86 [[ 9.89584553e-01 -1.38051697e-01 -4.07938783e-02 4.05570090e+02] [ 1.38021157e-01 9.90422819e-01 -3.57766425e-03 2.99164621e+01] [ 4.08970906e-02 -2.09001699e-03 9.99161178e-01 1.68632651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.70509989299995 meters 0.025894365478008528 Centerline is valid? [True, True] Translation: X:405.63, Y:29.92, Z:16.87 [[ 9.89212134e-01 -1.40529550e-01 -4.13618180e-02 4.05630957e+02] [ 1.40500324e-01 9.90073988e-01 -3.62718328e-03 2.99226272e+01] [ 4.14609866e-02 -2.22329513e-03 9.99137650e-01 1.68657502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.76509989299996 meters 0.028783660958460702 Centerline is valid? [True, True] Translation: X:405.69, Y:29.92, Z:16.87 [[ 9.88683082e-01 -1.43529871e-01 -4.36456118e-02 4.05690720e+02] [ 1.43500314e-01 9.89642876e-01 -3.82585495e-03 2.99248619e+01] [ 4.37426933e-02 -2.48060095e-03 9.99039751e-01 1.68669393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.82509989299996 meters 0.02637699159344845 Centerline is valid? [True, True] Translation: X:405.75, Y:29.93, Z:16.87 [[ 9.88529840e-01 -1.44301182e-01 -4.45637196e-02 4.05752509e+02] [ 1.44271160e-01 9.89530482e-01 -3.90613244e-03 2.99341210e+01] [ 4.46608185e-02 -2.56793104e-03 9.98998907e-01 1.68694376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.88509989299996 meters 0.0283479711276912 Centerline is valid? [True, True] Translation: X:405.81, Y:29.94, Z:16.87 [[ 9.88270272e-01 -1.45758472e-01 -4.55668549e-02 4.05813591e+02] [ 1.45728782e-01 9.89316530e-01 -3.99069362e-03 2.99378140e+01] [ 4.56617202e-02 -2.69651838e-03 9.98953320e-01 1.68708966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.94509989299996 meters 0.027504736831530856 Centerline is valid? [True, True] Translation: X:405.88, Y:29.95, Z:16.87 [[ 9.88149451e-01 -1.45689187e-01 -4.83251835e-02 4.05875743e+02] [ 1.45655858e-01 9.89326278e-01 -4.22936486e-03 2.99461251e+01] [ 4.84255467e-02 -2.85960149e-03 9.98822702e-01 1.68717283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.00509989299997 meters 0.029220092559419396 Centerline is valid? [True, True] Translation: X:405.94, Y:29.95, Z:16.87 [[ 9.88571768e-01 -1.42760410e-01 -4.84285594e-02 4.05935035e+02] [ 1.42723586e-01 9.89753525e-01 -4.23533702e-03 2.99525333e+01] [ 4.85369758e-02 -2.72496306e-03 9.98817669e-01 1.68736230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.06509989299997 meters 0.02847494504256309 Centerline is valid? [True, True] Translation: X:406.00, Y:29.96, Z:16.88 [[ 9.89103787e-01 -1.39235986e-01 -4.78229959e-02 4.05995177e+02] [ 1.39195974e-01 9.90256022e-01 -4.18227353e-03 2.99616619e+01] [ 4.79393327e-02 -2.52006590e-03 9.98847070e-01 1.68773710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.12509989299997 meters 0.023342925400650853 Centerline is valid? [True, True] Translation: X:406.05, Y:29.98, Z:16.88 [[ 9.90256242e-01 -1.31252977e-01 -4.65320450e-02 4.06054843e+02] [ 1.31206331e-01 9.91346733e-01 -4.06862066e-03 2.99787248e+01] [ 4.66634094e-02 -2.07632190e-03 9.98908512e-01 1.68826407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.185099893 meters 0.019544814625730877 Centerline is valid? [True, True] Translation: X:406.11, Y:29.99, Z:16.89 [[ 9.91045873e-01 -1.25222985e-01 -4.63387610e-02 4.06114820e+02] [ 1.25170168e-01 9.92127016e-01 -4.05120597e-03 2.99925900e+01] [ 4.64812408e-02 -1.78529956e-03 9.98917568e-01 1.68862742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.245099893 meters 0.017088763934843817 Centerline is valid? [True, True] Translation: X:406.17, Y:30.00, Z:16.89 [[ 9.92121240e-01 -1.16468223e-01 -4.61584017e-02 4.06174200e+02] [ 1.16406382e-01 9.93193473e-01 -4.03470622e-03 3.00040726e+01] [ 4.63141384e-02 -1.37021479e-03 9.98925985e-01 1.68892652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.305099893 meters 0.015233082132672403 Centerline is valid? [True, True] Translation: X:406.23, Y:30.01, Z:16.89 [[ 9.92804502e-01 -1.10577812e-01 -4.59539827e-02 4.06234864e+02] [ 1.10510226e-01 9.93866871e-01 -4.01649672e-03 3.00136792e+01] [ 4.61162765e-02 -1.09078898e-03 9.98935483e-01 1.68925529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.365099893 meters 0.013496633220065307 Centerline is valid? [True, True] Translation: X:406.30, Y:30.02, Z:16.89 [[ 9.93811970e-01 -1.00421783e-01 -4.74682400e-02 4.06295192e+02] [ 1.00338164e-01 9.94944749e-01 -4.14713222e-03 3.00241523e+01] [ 4.76447385e-02 -6.41406423e-04 9.98864139e-01 1.68947414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.425099893 meters 0.012903742400147977 Centerline is valid? [True, True] Translation: X:406.36, Y:30.03, Z:16.90 [[ 9.94464285e-01 -9.31555312e-02 -4.86089747e-02 4.06357323e+02] [ 9.30592324e-02 9.95651523e-01 -4.24537933e-03 3.00334751e+01] [ 4.87930803e-02 -3.01635747e-04 9.98808863e-01 1.68970100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.485099893 meters 0.012830368739406729 Centerline is valid? [True, True] Translation: X:406.42, Y:30.04, Z:16.90 [[ 9.95233671e-01 -8.39757502e-02 -4.95783517e-02 4.06417964e+02] [ 8.38643965e-02 9.96467788e-01 -4.32565331e-03 3.00418065e+01] [ 4.97664805e-02 1.47177280e-04 9.98760870e-01 1.68985152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.545099893 meters 0.013120478217449454 Centerline is valid? [True, True] Translation: X:406.48, Y:30.05, Z:16.90 [[ 9.95576916e-01 -7.97150095e-02 -4.97204309e-02 4.06478843e+02] [ 7.95978339e-02 9.96817631e-01 -4.33545964e-03 3.00472693e+01] [ 4.99078033e-02 3.58644940e-04 9.98753765e-01 1.69012178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.605099893 meters 0.013392325696030096 Centerline is valid? [True, True] Translation: X:406.54, Y:30.05, Z:16.90 [[ 9.95755601e-01 -7.73887089e-02 -4.98173673e-02 4.06539281e+02] [ 7.72682416e-02 9.97000884e-01 -4.34239742e-03 3.00508594e+01] [ 5.00040118e-02 4.74666180e-04 9.98748904e-01 1.69040361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.66509989299993 meters 0.013181201387217643 Centerline is valid? [True, True] Translation: X:406.60, Y:30.05, Z:16.91 [[ 9.95575028e-01 -7.95571609e-02 -5.00102096e-02 4.06599500e+02] [ 7.94384772e-02 9.96830238e-01 -4.35949926e-03 3.00513713e+01] [ 5.01985186e-02 3.67473698e-04 9.98739192e-01 1.69069639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.72509989299994 meters 0.01268745961200665 Centerline is valid? [True, True] Translation: X:406.66, Y:30.05, Z:16.91 [[ 9.95107747e-01 -8.55334340e-02 -4.94429365e-02 4.06659226e+02] [ 8.54247104e-02 9.96335299e-01 -4.31180650e-03 3.00466347e+01] [ 4.96305465e-02 6.70635137e-05 9.98767643e-01 1.69110966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.78509989299994 meters 0.012984562020818867 Centerline is valid? [True, True] Translation: X:406.72, Y:30.04, Z:16.91 [[ 9.94381021e-01 -9.38825866e-02 -4.89126209e-02 4.06719027e+02] [ 9.37861955e-02 9.95583217e-01 -4.26709150e-03 3.00399197e+01] [ 4.90971900e-02 -3.44213821e-04 9.98793946e-01 1.69145223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.84509989299994 meters 0.013627210955482572 Centerline is valid? [True, True] Translation: X:406.78, Y:30.04, Z:16.92 [[ 9.93809339e-01 -9.98221921e-02 -4.87701618e-02 4.06780584e+02] [ 9.97335095e-02 9.95005088e-01 -4.25456746e-03 3.00368767e+01] [ 4.89512594e-02 -6.35790518e-04 9.98800966e-01 1.69175523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.90509989299994 meters 0.015232442264263199 Centerline is valid? [True, True] Translation: X:406.84, Y:30.03, Z:16.92 [[ 9.92990133e-01 -1.07259814e-01 -4.96581213e-02 4.06843116e+02] [ 1.07177247e-01 9.94230500e-01 -4.33021149e-03 3.00289902e+01] [ 4.98360764e-02 -1.02236344e-03 9.98756887e-01 1.69190923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.96509989299994 meters 0.015285369625200301 Centerline is valid? [True, True] Translation: X:406.90, Y:30.03, Z:16.92 [[ 9.92801932e-01 -1.08909691e-01 -4.98297365e-02 4.06904275e+02] [ 1.08828717e-01 9.94051028e-01 -4.34338620e-03 3.00319196e+01] [ 5.00063376e-02 -1.11078407e-03 9.98748283e-01 1.69217905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.02509989299995 meters 0.016114517964793244 Centerline is valid? [True, True] Translation: X:406.97, Y:30.03, Z:16.92 [[ 9.92604816e-01 -1.09997206e-01 -5.13448536e-02 4.06965236e+02] [ 1.09912775e-01 9.93931169e-01 -4.47370977e-03 3.00295631e+01] [ 5.15253459e-02 -1.20282947e-03 9.98670963e-01 1.69229275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.08509989299995 meters 0.015176627137170355 Centerline is valid? [True, True] Translation: X:407.03, Y:30.03, Z:16.93 [[ 9.92909277e-01 -1.06862646e-01 -5.20724764e-02 4.07025419e+02] [ 1.06771537e-01 9.94273232e-01 -4.53634721e-03 3.00325094e+01] [ 5.22590355e-02 -1.05567711e-03 9.98633005e-01 1.69252678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.14509989299995 meters 0.014686381920549448 Centerline is valid? [True, True] Translation: X:407.08, Y:30.04, Z:16.93 [[ 9.93239344e-01 -1.03449872e-01 -5.26662136e-02 4.07084525e+02] [ 1.03351858e-01 9.94634274e-01 -4.58845325e-03 3.00363293e+01] [ 5.28582960e-02 -8.85718722e-04 9.98601630e-01 1.69267420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.20509989299995 meters 0.013566512816510069 Centerline is valid? [True, True] Translation: X:407.14, Y:30.04, Z:16.93 [[ 9.93840066e-01 -9.70697202e-02 -5.34732884e-02 4.07143578e+02] [ 9.69592214e-02 9.95277432e-01 -4.66294058e-03 3.00417385e+01] [ 5.36733875e-02 -5.50511236e-04 9.98558393e-01 1.69283376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.26509989299996 meters 0.013225287559747391 Centerline is valid? [True, True] Translation: X:407.20, Y:30.05, Z:16.93 [[ 9.94281032e-01 -9.26506522e-02 -5.31138945e-02 4.07201257e+02] [ 9.25347695e-02 9.95698633e-01 -4.64212978e-03 3.00463243e+01] [ 5.33155285e-02 -2.99300398e-04 9.98577671e-01 1.69301645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.32509989299996 meters 0.012839972735885002 Centerline is valid? [True, True] Translation: X:407.26, Y:30.05, Z:16.94 [[ 9.94820313e-01 -8.76113429e-02 -5.15441365e-02 4.07259838e+02] [ 8.74951387e-02 9.96154733e-01 -4.51094280e-03 3.00512135e+01] [ 5.17411453e-02 -2.22838449e-05 9.98660530e-01 1.69354508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.38509989299996 meters 0.012994126753904253 Centerline is valid? [True, True] Translation: X:407.32, Y:30.06, Z:16.94 [[ 9.95007892e-01 -8.56407816e-02 -5.12342850e-02 4.07316618e+02] [ 8.55227157e-02 9.96326075e-01 -4.49633898e-03 3.00550835e+01] [ 5.14311240e-02 9.21975844e-05 9.98676540e-01 1.69368105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.44509989299996 meters 0.012949127280003274 Centerline is valid? [True, True] Translation: X:407.37, Y:30.06, Z:16.94 [[ 9.95088008e-01 -8.45910022e-02 -5.14219761e-02 4.07374989e+02] [ 8.44700929e-02 9.96415745e-01 -4.52394151e-03 3.00558249e+01] [ 5.16203514e-02 1.58100837e-04 9.98666768e-01 1.69404255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.50509989299997 meters 0.012910119541300504 Centerline is valid? [True, True] Translation: X:407.43, Y:30.06, Z:16.94 [[ 9.95050385e-01 -8.53321675e-02 -5.09229973e-02 4.07433425e+02] [ 8.52138182e-02 9.96352550e-01 -4.49462975e-03 3.00567026e+01] [ 5.11207947e-02 1.33040031e-04 9.98692469e-01 1.69432227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.56509989299997 meters 0.012803653818568586 Centerline is valid? [True, True] Translation: X:407.49, Y:30.06, Z:16.95 [[ 9.94805094e-01 -8.83728862e-02 -5.05277868e-02 4.07490554e+02] [ 8.82595814e-02 9.96087462e-01 -4.47363232e-03 3.00550573e+01] [ 5.07254427e-02 -9.16909022e-06 9.98712636e-01 1.69451347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.62509989299997 meters 0.012851070656157627 Centerline is valid? [True, True] Translation: X:407.55, Y:30.06, Z:16.95 [[ 9.94548291e-01 -9.12097946e-02 -5.05417679e-02 4.07548982e+02] [ 9.10996235e-02 9.95831689e-01 -4.48399361e-03 3.00554400e+01] [ 5.07400783e-02 -1.44787844e-04 9.98711882e-01 1.69467351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.685099893 meters 0.01294594108243095 Centerline is valid? [True, True] Translation: X:407.61, Y:30.06, Z:16.95 [[ 9.94261592e-01 -9.44268825e-02 -5.02737565e-02 4.07607901e+02] [ 9.43216917e-02 9.95531754e-01 -4.46604101e-03 3.00562835e+01] [ 5.04708353e-02 -3.01492710e-04 9.98725490e-01 1.69493376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.745099893 meters 0.013230726285799958 Centerline is valid? [True, True] Translation: X:407.67, Y:30.06, Z:16.95 [[ 9.94013077e-01 -9.70726767e-02 -5.01487573e-02 4.07666305e+02] [ 9.69707993e-02 9.95277206e-01 -4.46630824e-03 3.00561735e+01] [ 5.03454716e-02 -4.23396290e-04 9.98731773e-01 1.69509051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.805099893 meters 0.013308960955023187 Centerline is valid? [True, True] Translation: X:407.72, Y:30.06, Z:16.96 [[ 9.93867993e-01 -9.95070857e-02 -4.82156854e-02 4.07724058e+02] [ 9.94155121e-02 9.95036718e-01 -4.29960594e-03 3.00555015e+01] [ 4.84042186e-02 -5.20146333e-04 9.98827693e-01 1.69551456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.865099893 meters 0.013718188433173538 Centerline is valid? [True, True] Translation: X:407.78, Y:30.05, Z:16.96 [[ 9.93773354e-01 -1.00912885e-01 -4.72346265e-02 4.07781717e+02] [ 1.00825997e-01 9.94895106e-01 -4.22455878e-03 3.00544595e+01] [ 4.74198111e-02 -5.64224376e-04 9.98874889e-01 1.69582098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.925099893 meters 0.013669582986944043 Centerline is valid? [True, True] Translation: X:407.84, Y:30.06, Z:16.96 [[ 9.93566287e-01 -1.02484136e-01 -4.81978694e-02 4.07840416e+02] [ 1.02395250e-01 9.94734429e-01 -4.31617474e-03 3.00563671e+01] [ 4.83864196e-02 -6.46827161e-04 9.98828482e-01 1.69603746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.985099893 meters 0.014492803220479966 Centerline is valid? [True, True] Translation: X:407.90, Y:30.05, Z:16.96 [[ 9.93123892e-01 -1.06052180e-01 -4.95769080e-02 4.07899065e+02] [ 1.05961983e-01 9.94360218e-01 -4.45149209e-03 3.00536714e+01] [ 4.97693955e-02 -8.32384348e-04 9.98760389e-01 1.69613618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.045099893 meters 0.01559782415886636 Centerline is valid? [True, True] Translation: X:407.96, Y:30.05, Z:16.96 [[ 9.92839418e-01 -1.08921646e-01 -4.90506486e-02 4.07957478e+02] [ 1.08836617e-01 9.94049874e-01 -4.40899875e-03 3.00529651e+01] [ 4.92390264e-02 -9.61078922e-04 9.98786561e-01 1.69634194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.105099893 meters 0.015833642673882334 Centerline is valid? [True, True] Translation: X:408.02, Y:30.05, Z:16.97 [[ 9.92549058e-01 -1.12061591e-01 -4.78389759e-02 4.08016095e+02] [ 1.11984008e-01 9.93700674e-01 -4.30728428e-03 3.00542505e+01] [ 4.80203037e-02 -1.08200932e-03 9.98845774e-01 1.69671877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.16509989299993 meters 0.01655766164893634 Centerline is valid? [True, True] Translation: X:408.07, Y:30.06, Z:16.97 [[ 9.92401053e-01 -1.13396559e-01 -4.77637004e-02 4.08073821e+02] [ 1.13320237e-01 9.93549161e-01 -4.31150024e-03 3.00567227e+01] [ 4.79444937e-02 -1.13385648e-03 9.98849358e-01 1.69695016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.22509989299994 meters 0.0163378381230367 Centerline is valid? [True, True] Translation: X:408.13, Y:30.06, Z:16.97 [[ 9.92216333e-01 -1.15050400e-01 -4.76461244e-02 4.08132002e+02] [ 1.14976111e-01 9.93358924e-01 -4.30603243e-03 3.00615964e+01] [ 4.78251136e-02 -1.20565039e-03 9.98854997e-01 1.69720543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.28509989299994 meters 0.016562646139939297 Centerline is valid? [True, True] Translation: X:408.19, Y:30.06, Z:16.97 [[ 9.91840169e-01 -1.18394387e-01 -4.72847594e-02 4.08190645e+02] [ 1.18324450e-01 9.92965740e-01 -4.28524973e-03 3.00649858e+01] [ 4.74594956e-02 -1.34466035e-03 9.98872258e-01 1.69740579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.34509989299994 meters 0.01830477233045996 Centerline is valid? [True, True] Translation: X:408.25, Y:30.07, Z:16.98 [[ 9.91487210e-01 -1.21342369e-01 -4.72137927e-02 4.08249143e+02] [ 1.21275453e-01 9.92609622e-01 -4.28989726e-03 3.00672269e+01] [ 4.73854112e-02 -1.47249582e-03 9.98875595e-01 1.69767332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.40509989299994 meters 0.018239125828119054 Centerline is valid? [True, True] Translation: X:408.31, Y:30.07, Z:16.98 [[ 9.91211613e-01 -1.23568824e-01 -4.72258724e-02 4.08307187e+02] [ 1.23504252e-01 9.92334753e-01 -4.29404453e-03 3.00730951e+01] [ 4.73944845e-02 -1.57628922e-03 9.98875006e-01 1.69797095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.46509989299994 meters 0.019778429457602376 Centerline is valid? [True, True] Translation: X:408.36, Y:30.08, Z:16.98 [[ 9.90921837e-01 -1.25686516e-01 -4.77159648e-02 4.08364991e+02] [ 1.25622730e-01 9.92068571e-01 -4.34520786e-03 3.00767959e+01] [ 4.78836430e-02 -1.68844840e-03 9.98851493e-01 1.69820582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.52509989299995 meters 0.021379298428991098 Centerline is valid? [True, True] Translation: X:408.42, Y:30.08, Z:16.98 [[ 9.90543959e-01 -1.28448363e-01 -4.82046060e-02 4.08424617e+02] [ 1.28386332e-01 9.91714498e-01 -4.39373026e-03 3.00801157e+01] [ 4.83695741e-02 -1.83662957e-03 9.98827819e-01 1.69844502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.58509989299995 meters 0.021060530828036217 Centerline is valid? [True, True] Translation: X:408.48, Y:30.09, Z:16.99 [[ 9.90438609e-01 -1.29137192e-01 -4.85278069e-02 4.08483101e+02] [ 1.29074998e-01 9.91624955e-01 -4.42634244e-03 3.00863645e+01] [ 4.86929897e-02 -1.87970615e-03 9.98812024e-01 1.69864648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.64509989299995 meters 0.020159421007845162 Centerline is valid? [True, True] Translation: X:408.54, Y:30.10, Z:16.99 [[ 9.90392675e-01 -1.29350987e-01 -4.88944915e-02 4.08540648e+02] [ 1.29287493e-01 9.91597067e-01 -4.47235605e-03 3.00955435e+01] [ 4.90621380e-02 -1.89205753e-03 9.98793936e-01 1.69892826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.70509989299995 meters 0.020108615353558474 Centerline is valid? [True, True] Translation: X:408.60, Y:30.10, Z:16.99 [[ 9.90501844e-01 -1.28263113e-01 -4.95446297e-02 4.08599377e+02] [ 1.28195856e-01 9.91738452e-01 -4.54598058e-03 3.01039984e+01] [ 4.97183959e-02 -1.84861408e-03 9.98761565e-01 1.69920908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.76509989299996 meters 0.018478340734242284 Centerline is valid? [True, True] Translation: X:408.66, Y:30.11, Z:17.00 [[ 9.90683499e-01 -1.26986793e-01 -4.91991765e-02 4.08657913e+02] [ 1.26918368e-01 9.91902844e-01 -4.52502505e-03 3.01141968e+01] [ 4.93754215e-02 -1.76141155e-03 9.98778737e-01 1.69957806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.82509989299996 meters 0.019601332322213606 Centerline is valid? [True, True] Translation: X:408.72, Y:30.12, Z:17.00 [[ 9.91129978e-01 -1.23817319e-01 -4.82766908e-02 4.08715553e+02] [ 1.23747386e-01 9.92303792e-01 -4.44626496e-03 3.01214458e+01] [ 4.84556679e-02 -1.56728780e-03 9.98824105e-01 1.69987630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.88509989299996 meters 0.016612143574212555 Centerline is valid? [True, True] Translation: X:408.77, Y:30.14, Z:17.00 [[ 9.91446608e-01 -1.21449859e-01 -4.77865536e-02 4.08774375e+02] [ 1.21378438e-01 9.92596533e-01 -4.40433517e-03 3.01353312e+01] [ 4.79676733e-02 -1.43359408e-03 9.98847860e-01 1.70025797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.94509989299996 meters 0.01645822634908413 Centerline is valid? [True, True] Translation: X:408.83, Y:30.14, Z:17.00 [[ 9.91882371e-01 -1.17807893e-01 -4.78608713e-02 4.08832824e+02] [ 1.17731928e-01 9.93035608e-01 -4.41297176e-03 3.01444075e+01] [ 4.80474323e-02 -1.25760376e-03 9.98844263e-01 1.70047689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.00509989299997 meters 0.015548491978480234 Centerline is valid? [True, True] Translation: X:408.89, Y:30.15, Z:17.01 [[ 9.92197108e-01 -1.15171491e-01 -4.77538061e-02 4.08892344e+02] [ 1.15092736e-01 9.93344986e-01 -4.40474074e-03 3.01541299e+01] [ 4.79433044e-02 -1.12574518e-03 9.98849424e-01 1.70073671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.06509989299997 meters 0.014979074148511927 Centerline is valid? [True, True] Translation: X:408.95, Y:30.16, Z:17.01 [[ 9.92682971e-01 -1.10528492e-01 -4.86206832e-02 4.08950309e+02] [ 1.10441230e-01 9.93872533e-01 -4.48584355e-03 3.01633735e+01] [ 4.88185751e-02 -9.16707528e-04 9.98807242e-01 1.70089956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.12509989299997 meters 0.01439172667713809 Centerline is valid? [True, True] Translation: X:409.01, Y:30.17, Z:17.01 [[ 9.92995077e-01 -1.07735857e-01 -4.85155894e-02 4.09008789e+02] [ 1.07645449e-01 9.94179253e-01 -4.48004936e-03 3.01716745e+01] [ 4.87158544e-02 -7.73815470e-04 9.98812378e-01 1.70112600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.185099893 meters 0.01348440131775866 Centerline is valid? [True, True] Translation: X:409.07, Y:30.18, Z:17.01 [[ 9.93374236e-01 -1.04411220e-01 -4.80200374e-02 4.09067710e+02] [ 1.04318263e-01 9.94534034e-01 -4.44474092e-03 3.01805735e+01] [ 4.82216423e-02 -5.94075776e-04 9.98836483e-01 1.70139538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.245099893 meters 0.013366288640010172 Centerline is valid? [True, True] Translation: X:409.13, Y:30.19, Z:17.02 [[ 9.93493311e-01 -1.03480834e-01 -4.75684593e-02 4.09125814e+02] [ 1.03388410e-01 9.94631301e-01 -4.40591508e-03 3.01867589e+01] [ 4.77690063e-02 -5.40780217e-04 9.98858263e-01 1.70164485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.305099893 meters 0.01346442835875433 Centerline is valid? [True, True] Translation: X:409.18, Y:30.19, Z:17.02 [[ 9.93519354e-01 -1.03141951e-01 -4.77601467e-02 4.09183663e+02] [ 1.03047849e-01 9.94666513e-01 -4.43493268e-03 3.01907308e+01] [ 4.79628462e-02 -5.15388930e-04 9.98848987e-01 1.70181427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.365099893 meters 0.013582364158883212 Centerline is valid? [True, True] Translation: X:409.24, Y:30.19, Z:17.02 [[ 9.93420240e-01 -1.04198700e-01 -4.75274392e-02 4.09241198e+02] [ 1.04106465e-01 9.94556343e-01 -4.41867835e-03 3.01942158e+01] [ 4.77291367e-02 -5.58309169e-04 9.98860159e-01 1.70203804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.425099893 meters 0.014011231433395763 Centerline is valid? [True, True] Translation: X:409.30, Y:30.20, Z:17.02 [[ 9.93271721e-01 -1.06081584e-01 -4.64541285e-02 4.09299706e+02] [ 1.05994931e-01 9.94357235e-01 -4.33165692e-03 3.01955960e+01] [ 4.66515078e-02 -6.21389796e-04 9.98911032e-01 1.70234105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.485099893 meters 0.014368152470950255 Centerline is valid? [True, True] Translation: X:409.36, Y:30.20, Z:17.03 [[ 9.93175796e-01 -1.07407965e-01 -4.54463080e-02 4.09358544e+02] [ 1.07325922e-01 9.94214814e-01 -4.24858965e-03 3.01975217e+01] [ 4.56397250e-02 -6.57970479e-04 9.98957748e-01 1.70266972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.545099893 meters 0.013860087388387171 Centerline is valid? [True, True] Translation: X:409.42, Y:30.20, Z:17.03 [[ 9.93191631e-01 -1.07604273e-01 -4.46285237e-02 4.09417478e+02] [ 1.07524902e-01 9.94193595e-01 -4.18221467e-03 3.02022384e+01] [ 4.48194166e-02 -6.44937035e-04 9.98994897e-01 1.70302170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.605099893 meters 0.013908035260128565 Centerline is valid? [True, True] Translation: X:409.48, Y:30.21, Z:17.03 [[ 9.93194781e-01 -1.07753028e-01 -4.41974190e-02 4.09476654e+02] [ 1.07675259e-01 9.94177484e-01 -4.14343113e-03 3.02066077e+01] [ 4.43865461e-02 -6.43734371e-04 9.99014224e-01 1.70332097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.66509989299993 meters 0.013984944429717216 Centerline is valid? [True, True] Translation: X:409.54, Y:30.21, Z:17.04 [[ 9.93256157e-01 -1.07485325e-01 -4.34639192e-02 4.09536150e+02] [ 1.07409792e-01 9.94206478e-01 -4.07623651e-03 3.02092205e+01] [ 4.36502456e-02 -6.19703522e-04 9.99046682e-01 1.70366697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.72509989299994 meters 0.013640923438081558 Centerline is valid? [True, True] Translation: X:409.60, Y:30.21, Z:17.04 [[ 9.93318173e-01 -1.07146160e-01 -4.28801603e-02 4.09596254e+02] [ 1.07072263e-01 9.94243102e-01 -4.02298202e-03 3.02132997e+01] [ 4.30643506e-02 -5.95174634e-04 9.99072123e-01 1.70394199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.78509989299994 meters 0.013714808324626168 Centerline is valid? [True, True] Translation: X:409.66, Y:30.21, Z:17.04 [[ 9.93453409e-01 -1.06063717e-01 -4.24359867e-02 4.09656236e+02] [ 1.05990356e-01 9.94359187e-01 -3.98130780e-03 3.02142807e+01] [ 4.26188855e-02 -5.42561535e-04 9.99091255e-01 1.70413380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.84509989299994 meters 0.013686926098506838 Centerline is valid? [True, True] Translation: X:409.72, Y:30.22, Z:17.04 [[ 9.93489037e-01 -1.05878237e-01 -4.20634407e-02 4.09715761e+02] [ 1.05805998e-01 9.94378961e-01 -3.94621692e-03 3.02173779e+01] [ 4.22448190e-02 -5.30041093e-04 9.99107149e-01 1.70435382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.90509989299994 meters 0.013617163702209086 Centerline is valid? [True, True] Translation: X:409.77, Y:30.22, Z:17.04 [[ 9.93409912e-01 -1.06432317e-01 -4.25312752e-02 4.09774297e+02] [ 1.06358897e-01 9.94319793e-01 -3.99181621e-03 3.02188745e+01] [ 4.27145470e-02 -5.58069725e-04 9.99087161e-01 1.70448030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.96509989299994 meters 0.013839347266466533 Centerline is valid? [True, True] Translation: X:409.83, Y:30.22, Z:17.05 [[ 9.93313657e-01 -1.06935395e-01 -4.35063108e-02 4.09831744e+02] [ 1.06858567e-01 9.94265801e-01 -4.09440706e-03 3.02205107e+01] [ 4.36946740e-02 -5.81991576e-04 9.99044762e-01 1.70457129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.02509989299995 meters 0.013721425293062013 Centerline is valid? [True, True] Translation: X:409.89, Y:30.22, Z:17.05 [[ 9.93168403e-01 -1.08059658e-01 -4.40412746e-02 4.09890398e+02] [ 1.07981840e-01 9.94144208e-01 -4.14911747e-03 3.02226198e+01] [ 4.42317303e-02 -6.34885485e-04 9.99021096e-01 1.70475927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.08509989299995 meters 0.013682945136984235 Centerline is valid? [True, True] Translation: X:409.95, Y:30.23, Z:17.05 [[ 9.93085519e-01 -1.08809575e-01 -4.40639108e-02 4.09947944e+02] [ 1.08731910e-01 9.94062395e-01 -4.16261872e-03 3.02269795e+01] [ 4.42552095e-02 -6.57316832e-04 9.99020042e-01 1.70504739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.14509989299995 meters 0.013933511041397314 Centerline is valid? [True, True] Translation: X:410.01, Y:30.23, Z:17.05 [[ 9.93080840e-01 -1.09589837e-01 -4.21961242e-02 4.10005556e+02] [ 1.09518810e-01 9.93976682e-01 -3.99824164e-03 3.02290535e+01] [ 4.23801302e-02 -6.50692150e-04 9.99101347e-01 1.70537896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.20509989299995 meters 0.014052218890806966 Centerline is valid? [True, True] Translation: X:410.06, Y:30.23, Z:17.06 [[ 9.92999735e-01 -1.10660433e-01 -4.13012633e-02 4.10064374e+02] [ 1.10592818e-01 9.93858048e-01 -3.92538274e-03 3.02323782e+01] [ 4.14819775e-02 -6.69719069e-04 9.99139028e-01 1.70567162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.26509989299996 meters 0.01448382465583235 Centerline is valid? [True, True] Translation: X:410.12, Y:30.23, Z:17.06 [[ 9.92652476e-01 -1.13968535e-01 -4.06476841e-02 4.10123340e+02] [ 1.13905393e-01 9.93484050e-01 -3.87355835e-03 3.02336187e+01] [ 4.08242895e-02 -7.84893130e-04 9.99166033e-01 1.70590084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.32509989299996 meters 0.015593417520545895 Centerline is valid? [True, True] Translation: X:410.18, Y:30.23, Z:17.06 [[ 9.92313486e-01 -1.16783917e-01 -4.09324130e-02 4.10181441e+02] [ 1.16721834e-01 9.93156943e-01 -3.91153137e-03 3.02342280e+01] [ 4.11091142e-02 -8.96240985e-04 9.99154261e-01 1.70608775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.38509989299996 meters 0.0159095670502966 Centerline is valid? [True, True] Translation: X:410.24, Y:30.24, Z:17.06 [[ 9.91895910e-01 -1.20010227e-01 -4.17138867e-02 4.10239848e+02] [ 1.19948351e-01 9.92772107e-01 -3.99213333e-03 3.02368393e+01] [ 4.18914800e-02 -1.04373120e-03 9.99121621e-01 1.70628663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.44509989299996 meters 0.016138635714763757 Centerline is valid? [True, True] Translation: X:410.30, Y:30.24, Z:17.07 [[ 9.91665254e-01 -1.21844731e-01 -4.18794082e-02 4.10298693e+02] [ 1.21783539e-01 9.92548547e-01 -4.01882799e-03 3.02411872e+01] [ 4.20570188e-02 -1.11489047e-03 9.99114590e-01 1.70653807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.50509989299997 meters 0.016531774049753804 Centerline is valid? [True, True] Translation: X:410.36, Y:30.25, Z:17.07 [[ 9.91478877e-01 -1.22869539e-01 -4.32748539e-02 4.10356876e+02] [ 1.22804682e-01 9.92422123e-01 -4.16410338e-03 3.02456827e+01] [ 4.34585639e-02 -1.18573413e-03 9.99054527e-01 1.70667013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.56509989299997 meters 0.017426265570636215 Centerline is valid? [True, True] Translation: X:410.42, Y:30.25, Z:17.07 [[ 9.91117744e-01 -1.25429608e-01 -4.41931091e-02 4.10415155e+02] [ 1.25364320e-01 9.92101642e-01 -4.25672948e-03 3.02491274e+01] [ 4.43779760e-02 -1.32131895e-03 9.99013939e-01 1.70685833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.62509989299997 meters 0.01779991568480419 Centerline is valid? [True, True] Translation: X:410.47, Y:30.25, Z:17.07 [[ 9.90862918e-01 -1.27372922e-01 -4.43488028e-02 4.10473082e+02] [ 1.27308838e-01 9.91853900e-01 -4.27796826e-03 3.02549393e+01] [ 4.45324303e-02 -1.40711443e-03 9.99006948e-01 1.70710688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.685099893 meters 0.020097562717366017 Centerline is valid? [True, True] Translation: X:410.53, Y:30.26, Z:17.07 [[ 9.90463591e-01 -1.30305692e-01 -4.47470899e-02 4.10531430e+02] [ 1.30243258e-01 9.91472656e-01 -4.32040951e-03 3.02586061e+01] [ 4.49284900e-02 -1.54879845e-03 9.98989005e-01 1.70729702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.745099893 meters 0.019773623259791408 Centerline is valid? [True, True] Translation: X:410.59, Y:30.27, Z:17.08 [[ 9.89989492e-01 -1.33701052e-01 -4.52198394e-02 4.10590152e+02] [ 1.33640709e-01 9.91020220e-01 -4.36860692e-03 3.02671629e+01] [ 4.53978625e-02 -1.71833647e-03 9.98967508e-01 1.70756441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.805099893 meters 0.020546249105393707 Centerline is valid? [True, True] Translation: X:410.65, Y:30.27, Z:17.08 [[ 9.89664056e-01 -1.36100475e-01 -4.51853730e-02 4.10649633e+02] [ 1.36042566e-01 9.90693361e-01 -4.36866296e-03 3.02736789e+01] [ 4.53594261e-02 -1.82362537e-03 9.98969067e-01 1.70781630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.865099893 meters 0.022666805264674766 Centerline is valid? [True, True] Translation: X:410.71, Y:30.28, Z:17.08 [[ 9.89482513e-01 -1.37656450e-01 -4.44416282e-02 4.10707312e+02] [ 1.37601919e-01 9.90478286e-01 -4.29850136e-03 3.02781702e+01] [ 4.46101841e-02 -1.86196139e-03 9.99002735e-01 1.70805182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.925099893 meters 0.021209770403934333 Centerline is valid? [True, True] Translation: X:410.76, Y:30.29, Z:17.08 [[ 9.89454841e-01 -1.38154339e-01 -4.35028203e-02 4.10764964e+02] [ 1.38102387e-01 9.90409002e-01 -4.21182783e-03 3.02907526e+01] [ 4.36674671e-02 -1.84042986e-03 9.99044426e-01 1.70838983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.985099893 meters 0.02037181504996495 Centerline is valid? [True, True] Translation: X:410.82, Y:30.30, Z:17.09 [[ 9.89798700e-01 -1.35743098e-01 -4.32706006e-02 4.10823821e+02] [ 1.35688932e-01 9.90742587e-01 -4.20007774e-03 3.03022528e+01] [ 4.34401583e-02 -1.71411008e-03 9.99054560e-01 1.70863619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.045099893 meters 0.019536688427374504 Centerline is valid? [True, True] Translation: X:410.88, Y:30.32, Z:17.09 [[ 9.90745096e-01 -1.28439920e-01 -4.39015016e-02 4.10882011e+02] [ 1.28376929e-01 9.91716286e-01 -4.26291762e-03 3.03155114e+01] [ 4.40853630e-02 -1.41247522e-03 9.99026769e-01 1.70880204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.10509989299993 meters 0.01734704035647946 Centerline is valid? [True, True] Translation: X:410.94, Y:30.33, Z:17.09 [[ 9.91646739e-01 -1.20906959e-01 -4.49249663e-02 4.10940481e+02] [ 1.20833223e-01 9.92663233e-01 -4.36329407e-03 3.03323483e+01] [ 4.51229149e-02 -1.10158215e-03 9.98980835e-01 1.70896529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.16509989299993 meters 0.015477607284285362 Centerline is valid? [True, True] Translation: X:411.00, Y:30.35, Z:17.09 [[ 9.92097190e-01 -1.16973555e-01 -4.53911098e-02 4.10999396e+02] [ 1.16894130e-01 9.93134593e-01 -4.40935421e-03 3.03464545e+01] [ 4.55952591e-02 -9.31446378e-04 9.98959561e-01 1.70920812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.22509989299994 meters 0.014706480679106893 Centerline is valid? [True, True] Translation: X:411.06, Y:30.36, Z:17.09 [[ 9.92453157e-01 -1.13809793e-01 -4.56515356e-02 4.11058142e+02] [ 1.13726068e-01 9.93502243e-01 -4.43554190e-03 3.03585437e+01] [ 4.58597111e-02 -7.89702084e-04 9.98947578e-01 1.70943492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.28509989299994 meters 0.014426973121889218 Centerline is valid? [True, True] Translation: X:411.12, Y:30.37, Z:17.10 [[ 9.92446229e-01 -1.13447389e-01 -4.66923261e-02 4.11117949e+02] [ 1.13359329e-01 9.93543692e-01 -4.53819814e-03 3.03674734e+01] [ 4.69057128e-02 -7.89093111e-04 9.98899010e-01 1.70969273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.34509989299994 meters 0.014866726495320942 Centerline is valid? [True, True] Translation: X:411.18, Y:30.38, Z:17.10 [[ 9.92251155e-01 -1.14781308e-01 -4.75699166e-02 4.11177161e+02] [ 1.14691427e-01 9.93390406e-01 -4.62370092e-03 3.03757216e+01] [ 4.77862132e-02 -8.67989033e-04 9.98857209e-01 1.70997622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.40509989299994 meters 0.014833228239607624 Centerline is valid? [True, True] Translation: X:411.24, Y:30.38, Z:17.10 [[ 9.92110325e-01 -1.16031360e-01 -4.74744865e-02 4.11236564e+02] [ 1.15943188e-01 9.93245120e-01 -4.61612599e-03 3.03826596e+01] [ 4.76894174e-02 -9.24637044e-04 9.98861784e-01 1.71032110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.46509989299994 meters 0.015455884124204042 Centerline is valid? [True, True] Translation: X:411.30, Y:30.39, Z:17.11 [[ 9.91955152e-01 -1.17514627e-01 -4.70668473e-02 4.11295120e+02] [ 1.17429572e-01 9.93070662e-01 -4.57774122e-03 3.03890448e+01] [ 4.72786567e-02 -9.86125727e-04 9.98881252e-01 1.71068907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.52509989299995 meters 0.016024075971859963 Centerline is valid? [True, True] Translation: X:411.35, Y:30.39, Z:17.11 [[ 9.91899611e-01 -1.17803794e-01 -4.75123909e-02 4.11353555e+02] [ 1.17717536e-01 9.93036376e-01 -4.61931171e-03 3.03944811e+01] [ 4.77257049e-02 -1.01114811e-03 9.98859967e-01 1.71094836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.58509989299995 meters 0.015355931195244466 Centerline is valid? [True, True] Translation: X:411.41, Y:30.40, Z:17.11 [[ 9.91882727e-01 -1.18169327e-01 -4.69538719e-02 4.11413830e+02] [ 1.18085392e-01 9.92992941e-01 -4.56717943e-03 3.04035926e+01] [ 4.71645639e-02 -1.01446000e-03 9.98886618e-01 1.71130585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.64509989299995 meters 0.014556666225803512 Centerline is valid? [True, True] Translation: X:411.47, Y:30.41, Z:17.12 [[ 9.92082315e-01 -1.16422646e-01 -4.71004000e-02 4.11473607e+02] [ 1.16336220e-01 9.93199323e-01 -4.58143214e-03 3.04119317e+01] [ 4.73134678e-02 -9.34324674e-04 9.98879654e-01 1.71157666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.70509989299995 meters 0.013589474070095794 Centerline is valid? [True, True] Translation: X:411.53, Y:30.42, Z:17.12 [[ 9.92753007e-01 -1.10561091e-01 -4.70925926e-02 4.11532557e+02] [ 1.10468095e-01 9.93869114e-01 -4.58076797e-03 3.04221406e+01] [ 4.73103280e-02 -6.54657794e-04 9.98880025e-01 1.71189164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.76509989299996 meters 0.0128253391021686 Centerline is valid? [True, True] Translation: X:411.59, Y:30.43, Z:17.12 [[ 9.93265887e-01 -1.06031587e-01 -4.66924003e-02 4.11592459e+02] [ 1.05935126e-01 9.94362667e-01 -4.54258701e-03 3.04318327e+01] [ 4.69108374e-02 -4.34368585e-04 9.98898986e-01 1.71218640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.82509989299996 meters 0.012560912010111946 Centerline is valid? [True, True] Translation: X:411.65, Y:30.44, Z:17.12 [[ 9.93654212e-01 -1.01902560e-01 -4.76148660e-02 4.11651789e+02] [ 1.01797511e-01 9.94794355e-01 -4.63228270e-03 3.04392852e+01] [ 4.78390413e-02 -2.44187635e-04 9.98855028e-01 1.71231808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.88509989299996 meters 0.012422383786696464 Centerline is valid? [True, True] Translation: X:411.71, Y:30.45, Z:17.13 [[ 9.93713406e-01 -1.00805551e-01 -4.87022346e-02 4.11711182e+02] [ 1.00694336e-01 9.94906127e-01 -4.73796087e-03 3.04455304e+01] [ 4.89317644e-02 -1.95863926e-04 9.98802105e-01 1.71251311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.94509989299996 meters 0.01259427465392857 Centerline is valid? [True, True] Translation: X:411.77, Y:30.45, Z:17.13 [[ 9.93480425e-01 -1.02564076e-01 -4.97720343e-02 4.11770283e+02] [ 1.02449944e-01 9.94726359e-01 -4.84560675e-03 3.04494157e+01] [ 5.00065396e-02 -2.85126691e-04 9.98748850e-01 1.71268389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.00509989299997 meters 0.012775319395034821 Centerline is valid? [True, True] Translation: X:411.83, Y:30.45, Z:17.13 [[ 9.93115069e-01 -1.05655357e-01 -5.05905614e-02 4.11828858e+02] [ 1.05540784e-01 9.94402713e-01 -4.93829700e-03 3.04529986e+01] [ 5.08291490e-02 -4.35070335e-04 9.98707269e-01 1.71290738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.06509989299997 meters 0.013952891554336887 Centerline is valid? [True, True] Translation: X:411.89, Y:30.45, Z:17.13 [[ 9.92321469e-01 -1.13000573e-01 -5.02888841e-02 4.11888059e+02] [ 1.12896141e-01 9.93594606e-01 -4.92146330e-03 3.04525451e+01] [ 5.05228922e-02 -7.93747281e-04 9.98722588e-01 1.71318931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.12509989299997 meters 0.015173118870267214 Centerline is valid? [True, True] Translation: X:411.95, Y:30.45, Z:17.14 [[ 9.91611011e-01 -1.19513422e-01 -4.92355962e-02 4.11947590e+02] [ 1.19420801e-01 9.92831985e-01 -4.82916638e-03 3.04527992e+01] [ 4.94598249e-02 -1.09109979e-03 9.98775518e-01 1.71352149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.185099893 meters 0.017840302421776002 Centerline is valid? [True, True] Translation: X:412.01, Y:30.45, Z:17.14 [[ 9.90418112e-01 -1.29114486e-01 -4.90042125e-02 4.12008434e+02] [ 1.29034293e-01 9.91628467e-01 -4.80977167e-03 3.04504303e+01] [ 4.92149833e-02 -1.55953894e-03 9.98786991e-01 1.71383951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.245099893 meters 0.021214667694468618 Centerline is valid? [True, True] Translation: X:412.07, Y:30.45, Z:17.14 [[ 9.89752463e-01 -1.34594066e-01 -4.76917167e-02 4.12068251e+02] [ 1.34524438e-01 9.90899218e-01 -4.68133330e-03 3.04486725e+01] [ 4.78877644e-02 -1.78234021e-03 9.98851133e-01 1.71409669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.305099893 meters 0.023326082006168557 Centerline is valid? [True, True] Translation: X:412.13, Y:30.45, Z:17.14 [[ 9.88700160e-01 -1.42301569e-01 -4.71408281e-02 4.12129322e+02] [ 1.42242237e-01 9.89821058e-01 -4.62799376e-03 3.04485153e+01] [ 4.73195551e-02 -2.12971865e-03 9.98877532e-01 1.71441693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.365099893 meters 0.023099695194366398 Centerline is valid? [True, True] Translation: X:412.19, Y:30.45, Z:17.15 [[ 9.87943712e-01 -1.47642399e-01 -4.65719282e-02 4.12189721e+02] [ 1.47590398e-01 9.89038002e-01 -4.57223500e-03 3.04536357e+01] [ 4.67364626e-02 -2.35645859e-03 9.98904475e-01 1.71477956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.425099893 meters 0.027403492863022034 Centerline is valid? [True, True] Translation: X:412.25, Y:30.45, Z:17.15 [[ 9.87572405e-01 -1.49901269e-01 -4.72266283e-02 4.12249803e+02] [ 1.49850325e-01 9.88697817e-01 -4.63745806e-03 3.04534284e+01] [ 4.73880252e-02 -2.49710000e-03 9.98873435e-01 1.71497146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.485099893 meters 0.024176557051197915 Centerline is valid? [True, True] Translation: X:412.31, Y:30.46, Z:17.15 [[ 9.87266370e-01 -1.51560075e-01 -4.83183061e-02 4.12310019e+02] [ 1.51508697e-01 9.88444534e-01 -4.74531795e-03 3.04640748e+01] [ 4.84791663e-02 -2.63575079e-03 9.98820716e-01 1.71522903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.545099893 meters 0.02628763870911013 Centerline is valid? [True, True] Translation: X:412.37, Y:30.47, Z:17.15 [[ 9.87285319e-01 -1.50809041e-01 -5.02427232e-02 4.12368968e+02] [ 1.50752558e-01 9.88559217e-01 -4.93365743e-03 3.04689389e+01] [ 5.04119473e-02 -2.70329148e-03 9.98724851e-01 1.71530436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.60509989299993 meters 0.025793227207381447 Centerline is valid? [True, True] Translation: X:412.43, Y:30.48, Z:17.16 [[ 9.87736878e-01 -1.47722843e-01 -5.05353412e-02 4.12428013e+02] [ 1.47661618e-01 9.89025485e-01 -4.96347513e-03 3.04783856e+01] [ 5.07139590e-02 -2.55952284e-03 9.98709939e-01 1.71560420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.66509989299993 meters 0.020459753349000683 Centerline is valid? [True, True] Translation: X:412.49, Y:30.50, Z:17.16 [[ 9.88703158e-01 -1.41346748e-01 -4.98714669e-02 4.12486871e+02] [ 1.41278951e-01 9.89957701e-01 -4.89973440e-03 3.04969749e+01] [ 5.00632042e-02 -2.20140564e-03 9.98743625e-01 1.71605633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.72509989299994 meters 0.01931743151907064 Centerline is valid? [True, True] Translation: X:412.55, Y:30.51, Z:17.16 [[ 9.89326469e-01 -1.37278743e-01 -4.88639409e-02 4.12546412e+02] [ 1.37208705e-01 9.90530527e-01 -4.80071612e-03 3.05073507e+01] [ 4.90602614e-02 -1.95508253e-03 9.98793907e-01 1.71640306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.78509989299994 meters 0.01936521003897643 Centerline is valid? [True, True] Translation: X:412.61, Y:30.52, Z:17.17 [[ 9.89840429e-01 -1.33228349e-01 -4.96601620e-02 4.12605610e+02] [ 1.33150921e-01 9.91083764e-01 -4.87894213e-03 3.05170659e+01] [ 4.98673937e-02 -1.78292215e-03 9.98754256e-01 1.71660777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.84509989299994 meters 0.0177371462482006 Centerline is valid? [True, True] Translation: X:412.67, Y:30.53, Z:17.17 [[ 9.90368998e-01 -1.29565207e-01 -4.88068095e-02 4.12665205e+02] [ 1.29485974e-01 9.91569659e-01 -4.79510315e-03 3.05295519e+01] [ 4.90166300e-02 -1.57087576e-03 9.98796727e-01 1.71697385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.90509989299994 meters 0.017495365857003793 Centerline is valid? [True, True] Translation: X:412.73, Y:30.54, Z:17.17 [[ 9.90654781e-01 -1.27560633e-01 -4.82844775e-02 4.12726081e+02] [ 1.27480720e-01 9.91829705e-01 -4.74355163e-03 3.05387450e+01] [ 4.84950696e-02 -1.45611787e-03 9.98822361e-01 1.71729928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.96509989299994 meters 0.016678419083967895 Centerline is valid? [True, True] Translation: X:412.79, Y:30.55, Z:17.18 [[ 9.90838406e-01 -1.25586296e-01 -4.96722775e-02 4.12787050e+02] [ 1.25499338e-01 9.92081711e-01 -4.87805216e-03 3.05485471e+01] [ 4.98915746e-02 -1.40047651e-03 9.98753658e-01 1.71753783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.02509989299995 meters 0.01610676498838607 Centerline is valid? [True, True] Translation: X:412.85, Y:30.56, Z:17.18 [[ 9.91240056e-01 -1.21916151e-01 -5.07897895e-02 4.12845757e+02] [ 1.21820493e-01 9.92539623e-01 -4.98640167e-03 3.05592100e+01] [ 5.10188014e-02 -1.24451612e-03 9.98696918e-01 1.71769757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.08509989299995 meters 0.015463403566567637 Centerline is valid? [True, True] Translation: X:412.91, Y:30.57, Z:17.18 [[ 9.91601401e-01 -1.18929054e-01 -5.08187161e-02 4.12905608e+02] [ 1.18829329e-01 9.92902156e-01 -4.98999107e-03 3.05681658e+01] [ 5.10514677e-02 -1.09067179e-03 9.98695428e-01 1.71800254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.14509989299995 meters 0.014604091169884937 Centerline is valid? [True, True] Translation: X:412.96, Y:30.58, Z:17.18 [[ 9.92133478e-01 -1.14292870e-01 -5.10715423e-02 4.12964925e+02] [ 1.14185980e-01 9.93446731e-01 -5.01540561e-03 3.05787131e+01] [ 5.13100819e-02 -8.55702308e-04 9.98682404e-01 1.71828864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.20509989299995 meters 0.013669427874572392 Centerline is valid? [True, True] Translation: X:413.03, Y:30.59, Z:17.19 [[ 9.92466659e-01 -1.11419467e-01 -5.09473581e-02 4.13025157e+02] [ 1.11309186e-01 9.93773218e-01 -5.00569190e-03 3.05886036e+01] [ 5.11878515e-02 -7.02926648e-04 9.98688795e-01 1.71865578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.26509989299996 meters 0.013272317717609797 Centerline is valid? [True, True] Translation: X:413.09, Y:30.60, Z:17.19 [[ 9.92662337e-01 -1.09957918e-01 -5.03064797e-02 4.13085768e+02] [ 1.09848574e-01 9.93936050e-01 -4.94165400e-03 3.05964532e+01] [ 5.05447977e-02 -6.20701233e-04 9.98721602e-01 1.71897492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.32509989299996 meters 0.013738501283074352 Centerline is valid? [True, True] Translation: X:413.15, Y:30.60, Z:17.19 [[ 9.92467362e-01 -1.11269535e-01 -5.12603727e-02 4.13145839e+02] [ 1.11157841e-01 9.93790017e-01 -5.03359213e-03 3.05992903e+01] [ 5.15021321e-02 -7.02316449e-04 9.98672638e-01 1.71907212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.38509989299996 meters 0.013989124728287387 Centerline is valid? [True, True] Translation: X:413.21, Y:30.60, Z:17.19 [[ 9.92146616e-01 -1.14050491e-01 -5.13573630e-02 4.13205880e+02] [ 1.13942135e-01 9.93474592e-01 -5.04234710e-03 3.06028016e+01] [ 5.15973174e-02 -8.49019973e-04 9.98667610e-01 1.71931640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.44509989299996 meters 0.014818496923892241 Centerline is valid? [True, True] Translation: X:413.26, Y:30.61, Z:17.19 [[ 9.91981906e-01 -1.15495996e-01 -5.13085963e-02 4.13264861e+02] [ 1.15389759e-01 9.93307517e-01 -5.03790107e-03 3.06056477e+01] [ 5.15470718e-02 -9.22979876e-04 9.98670139e-01 1.71946788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.50509989299997 meters 0.014814915716987414 Centerline is valid? [True, True] Translation: X:413.32, Y:30.61, Z:17.20 [[ 9.91474864e-01 -1.20063667e-01 -5.06192553e-02 4.13324734e+02] [ 1.19966126e-01 9.92765536e-01 -4.97186246e-03 3.06087479e+01] [ 5.08499921e-02 -1.14311932e-03 9.98705648e-01 1.71979655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.56509989299997 meters 0.016659562810767452 Centerline is valid? [True, True] Translation: X:413.38, Y:30.61, Z:17.20 [[ 9.91169159e-01 -1.22698181e-01 -5.02877206e-02 4.13384779e+02] [ 1.22605253e-01 9.92443221e-01 -4.94022533e-03 3.06089035e+01] [ 5.05138640e-02 -1.26893969e-03 9.98722554e-01 1.71993979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.62509989299997 meters 0.01779121799696269 Centerline is valid? [True, True] Translation: X:413.44, Y:30.61, Z:17.20 [[ 9.90943156e-01 -1.24723844e-01 -4.97556454e-02 4.13443845e+02] [ 1.24635370e-01 9.92190568e-01 -4.88898639e-03 3.06099229e+01] [ 4.99768552e-02 -1.35660567e-03 9.98749455e-01 1.72013901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.685099893 meters 0.0162045733364224 Centerline is valid? [True, True] Translation: X:413.50, Y:30.62, Z:17.20 [[ 9.91058860e-01 -1.23892020e-01 -4.95288157e-02 4.13503619e+02] [ 1.23803242e-01 9.92294845e-01 -4.86814053e-03 3.06174651e+01] [ 4.97503122e-02 -1.30721413e-03 9.98760831e-01 1.72047632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.745099893 meters 0.015355343327499316 Centerline is valid? [True, True] Translation: X:413.56, Y:30.62, Z:17.21 [[ 9.91604535e-01 -1.19472978e-01 -4.94636528e-02 4.13563847e+02] [ 1.19378939e-01 9.92836861e-01 -4.86173574e-03 3.06230277e+01] [ 4.96901838e-02 -1.08399919e-03 9.98764092e-01 1.72065437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.805099893 meters 0.013682574299637736 Centerline is valid? [True, True] Translation: X:413.62, Y:30.63, Z:17.21 [[ 9.92389128e-01 -1.12790182e-01 -4.94185590e-02 4.13623475e+02] [ 1.12688030e-01 9.93618546e-01 -4.85730351e-03 3.06315941e+01] [ 4.96510528e-02 -7.48544876e-04 9.98766345e-01 1.72095790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.865099893 meters 0.012990218429881463 Centerline is valid? [True, True] Translation: X:413.68, Y:30.64, Z:17.21 [[ 9.93028042e-01 -1.06825913e-01 -4.98350553e-02 4.13683695e+02] [ 1.06714521e-01 9.94277636e-01 -4.89824053e-03 3.06389058e+01] [ 5.00731400e-02 -4.54033855e-04 9.98745450e-01 1.72119597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.925099893 meters 0.01292501954988848 Centerline is valid? [True, True] Translation: X:413.74, Y:30.64, Z:17.21 [[ 9.93169837e-01 -1.05394415e-01 -5.00568824e-02 4.13742855e+02] [ 1.05280197e-01 9.94430425e-01 -4.92034449e-03 3.06447410e+01] [ 5.02966637e-02 -3.83260711e-04 9.98734248e-01 1.72141771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.985099893 meters 0.01278934189056464 Centerline is valid? [True, True] Translation: X:413.80, Y:30.65, Z:17.22 [[ 9.93389248e-01 -1.03444500e-01 -4.97698446e-02 4.13801157e+02] [ 1.03328965e-01 9.94635188e-01 -4.89567180e-03 3.06496240e+01] [ 5.00092690e-02 -2.79358789e-04 9.98748715e-01 1.72164420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.045099893 meters 0.01265433942444478 Centerline is valid? [True, True] Translation: X:413.86, Y:30.65, Z:17.22 [[ 9.93782013e-01 -9.99136897e-02 -4.91382227e-02 4.13859322e+02] [ 9.97962037e-02 9.94996104e-01 -4.84469644e-03 3.06530896e+01] [ 4.93763916e-02 -8.92359023e-05 9.98780238e-01 1.72186678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.10509989299993 meters 0.012759688515864911 Centerline is valid? [True, True] Translation: X:413.92, Y:30.66, Z:17.22 [[ 9.94311824e-01 -9.43702249e-02 -4.93787051e-02 4.13918104e+02] [ 9.42444690e-02 9.95537153e-01 -4.87406727e-03 3.06583130e+01] [ 4.96183023e-02 1.92672879e-04 9.98768235e-01 1.72217394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.16509989299993 meters 0.013222239619482712 Centerline is valid? [True, True] Translation: X:413.98, Y:30.66, Z:17.22 [[ 9.94734247e-01 -9.00890365e-02 -4.88645315e-02 4.13976069e+02] [ 8.99601248e-02 9.95933629e-01 -4.83549130e-03 3.06641411e+01] [ 4.91014550e-02 4.14169441e-04 9.98793710e-01 1.72249482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.22509989299994 meters 0.013699033639662524 Centerline is valid? [True, True] Translation: X:414.03, Y:30.67, Z:17.23 [[ 9.95104970e-01 -8.65736091e-02 -4.76561452e-02 4.14034475e+02] [ 8.64464132e-02 9.96245285e-01 -4.72750047e-03 3.06675966e+01] [ 4.78864868e-02 5.84656391e-04 9.98852613e-01 1.72278113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.28509989299994 meters 0.01416200963185186 Centerline is valid? [True, True] Translation: X:414.09, Y:30.67, Z:17.23 [[ 9.95412142e-01 -8.39388190e-02 -4.59232154e-02 4.14093349e+02] [ 8.38173970e-02 9.96470667e-01 -4.56667051e-03 3.06679692e+01] [ 4.61444580e-02 6.96554901e-04 9.98934534e-01 1.72314386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.34509989299994 meters 0.01394083906465778 Centerline is valid? [True, True] Translation: X:414.15, Y:30.67, Z:17.23 [[ 9.95379556e-01 -8.46422118e-02 -4.53346967e-02 4.14151840e+02] [ 8.45241026e-02 9.96411186e-01 -4.51934036e-03 3.06681660e+01] [ 4.55545258e-02 6.66584452e-04 9.98961631e-01 1.72342935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.40509989299994 meters 0.012955983696163919 Centerline is valid? [True, True] Translation: X:414.21, Y:30.66, Z:17.24 [[ 9.94989275e-01 -8.93246434e-02 -4.49160426e-02 4.14211491e+02] [ 8.92129067e-02 9.96002458e-01 -4.49013306e-03 3.06615835e+01] [ 4.51375684e-02 4.60543521e-04 9.98980674e-01 1.72364026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.46509989299994 meters 0.012378992340360856 Centerline is valid? [True, True] Translation: X:414.27, Y:30.66, Z:17.24 [[ 9.94364260e-01 -9.54487057e-02 -4.61439291e-02 4.14270058e+02] [ 9.53368372e-02 9.95434330e-01 -4.62411294e-03 3.06575266e+01] [ 4.63746167e-02 1.98836386e-04 9.98924099e-01 1.72379768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.52509989299995 meters 0.012572545948410561 Centerline is valid? [True, True] Translation: X:414.33, Y:30.65, Z:17.24 [[ 9.93023962e-01 -1.08506213e-01 -4.61498921e-02 4.14330013e+02] [ 1.08408167e-01 9.94095688e-01 -4.62949519e-03 3.06462356e+01] [ 4.63797377e-02 -4.05825548e-04 9.98923799e-01 1.72404076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.58509989299995 meters 0.014312352231815371 Centerline is valid? [True, True] Translation: X:414.39, Y:30.64, Z:17.24 [[ 9.91835577e-01 -1.18624198e-01 -4.68026497e-02 4.14389732e+02] [ 1.18534091e-01 9.92938832e-01 -4.70581240e-03 3.06410713e+01] [ 4.70303915e-02 -8.80317361e-04 9.98893071e-01 1.72434922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.64509989299995 meters 0.017428852987398016 Centerline is valid? [True, True] Translation: X:414.45, Y:30.63, Z:17.25 [[ 9.90029908e-01 -1.32687169e-01 -4.72746905e-02 4.14451020e+02] [ 1.32611061e-01 9.91156739e-01 -4.75656870e-03 3.06332852e+01] [ 4.74877637e-02 -1.56000159e-03 9.98870602e-01 1.72464985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.70509989299995 meters 0.020859673135805033 Centerline is valid? [True, True] Translation: X:414.51, Y:30.63, Z:17.25 [[ 9.88920292e-01 -1.40371573e-01 -4.82957216e-02 4.14511460e+02] [ 1.40301256e-01 9.90096935e-01 -4.85973497e-03 3.06298330e+01] [ 4.84996146e-02 -1.97005988e-03 9.98821258e-01 1.72494533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.76509989299996 meters 0.022429621903402638 Centerline is valid? [True, True] Translation: X:414.57, Y:30.63, Z:17.25 [[ 9.87781237e-01 -1.48169725e-01 -4.83110846e-02 4.14572053e+02] [ 1.48108615e-01 9.88959149e-01 -4.86211941e-03 3.06304288e+01] [ 4.84981080e-02 -2.35257748e-03 9.98820504e-01 1.72541808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.82509989299996 meters 0.02698742636272973 Centerline is valid? [True, True] Translation: X:414.63, Y:30.63, Z:17.26 [[ 9.87403716e-01 -1.50503090e-01 -4.88131284e-02 4.14631366e+02] [ 1.50443527e-01 9.88606397e-01 -4.91301363e-03 3.06292254e+01] [ 4.89963947e-02 -2.49249131e-03 9.98795845e-01 1.72566099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.88509989299996 meters 0.02263921782801248 Centerline is valid? [True, True] Translation: X:414.69, Y:30.64, Z:17.26 [[ 9.87231928e-01 -1.51345950e-01 -4.96741658e-02 4.14688916e+02] [ 1.51285113e-01 9.88477503e-01 -5.00407915e-03 3.06404161e+01] [ 4.98591425e-02 -2.57477505e-03 9.98752941e-01 1.72594389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.94509989299996 meters 0.0258361688290467 Centerline is valid? [True, True] Translation: X:414.75, Y:30.64, Z:17.26 [[ 9.87120707e-01 -1.51728361e-01 -5.07071361e-02 4.14747054e+02] [ 1.51664834e-01 9.88418716e-01 -5.12064704e-03 3.06424136e+01] [ 5.08968297e-02 -2.63579262e-03 9.98700438e-01 1.72606289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.00509989299997 meters 0.02308396476613388 Centerline is valid? [True, True] Translation: X:414.80, Y:30.65, Z:17.26 [[ 9.86952480e-01 -1.52293744e-01 -5.22629768e-02 4.14804627e+02] [ 1.52226581e-01 9.88331482e-01 -5.28672489e-03 3.06546359e+01] [ 5.24582804e-02 -2.73806802e-03 9.98619363e-01 1.72635879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.06509989299997 meters 0.02317856758629934 Centerline is valid? [True, True] Translation: X:414.86, Y:30.66, Z:17.27 [[ 9.86928190e-01 -1.52355298e-01 -5.25415087e-02 4.14861625e+02] [ 1.52286755e-01 9.88321984e-01 -5.32910135e-03 3.06621043e+01] [ 5.27398450e-02 -2.74193552e-03 9.98604522e-01 1.72658958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.12509989299997 meters 0.0262200156340319 Centerline is valid? [True, True] Translation: X:414.92, Y:30.67, Z:17.27 [[ 9.86998581e-01 -1.51605751e-01 -5.33806828e-02 4.14919610e+02] [ 1.51533071e-01 9.88437274e-01 -5.42984807e-03 3.06670649e+01] [ 5.35866528e-02 -2.72968647e-03 9.98559472e-01 1.72674410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.185099893 meters 0.02126561064549256 Centerline is valid? [True, True] Translation: X:414.98, Y:30.69, Z:17.27 [[ 9.87379566e-01 -1.48864410e-01 -5.40460879e-02 4.14977833e+02] [ 1.48785189e-01 9.88854195e-01 -5.50902042e-03 3.06860838e+01] [ 5.42637978e-02 -2.60176321e-03 9.98523245e-01 1.72718814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.245099893 meters 0.0208225794270908 Centerline is valid? [True, True] Translation: X:415.04, Y:30.70, Z:17.28 [[ 9.87809436e-01 -1.46102781e-01 -5.37261086e-02 4.15036683e+02] [ 1.46020278e-01 9.89266425e-01 -5.47903558e-03 3.06969028e+01] [ 5.39499377e-02 -2.43285824e-03 9.98540678e-01 1.72752091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.305099893 meters 0.02006126387836271 Centerline is valid? [True, True] Translation: X:415.10, Y:30.71, Z:17.28 [[ 9.88260774e-01 -1.43216852e-01 -5.31937601e-02 4.15096060e+02] [ 1.43131689e-01 9.89688774e-01 -5.42689981e-03 3.07084805e+01] [ 5.34224907e-02 -2.25052050e-03 9.98569463e-01 1.72783280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.365099893 meters 0.018651705249248758 Centerline is valid? [True, True] Translation: X:415.16, Y:30.72, Z:17.28 [[ 9.88748611e-01 -1.39563207e-01 -5.38358193e-02 4.15155259e+02] [ 1.39470413e-01 9.90210990e-01 -5.49531516e-03 3.07215465e+01] [ 5.40757637e-02 -2.07501870e-03 9.98534679e-01 1.72819191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.425099893 meters 0.01953105037129578 Centerline is valid? [True, True] Translation: X:415.21, Y:30.73, Z:17.28 [[ 9.89328581e-01 -1.35162361e-01 -5.44067503e-02 4.15213558e+02] [ 1.35060795e-01 9.90821734e-01 -5.55629425e-03 3.07310821e+01] [ 5.46583925e-02 -1.85121826e-03 9.98503397e-01 1.72833193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.485099893 meters 0.016376520087489604 Centerline is valid? [True, True] Translation: X:415.27, Y:30.75, Z:17.29 [[ 9.90247165e-01 -1.28176561e-01 -5.46014792e-02 4.15271986e+02] [ 1.28063557e-01 9.91750277e-01 -5.57796689e-03 3.07482545e+01] [ 5.48659967e-02 -1.46889375e-03 9.98492646e-01 1.72871205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.545099893 meters 0.015640537125096925 Centerline is valid? [True, True] Translation: X:415.33, Y:30.76, Z:17.29 [[ 9.90826917e-01 -1.23732678e-01 -5.43345622e-02 4.15328665e+02] [ 1.23613997e-01 9.92314843e-01 -5.55259341e-03 3.07587968e+01] [ 5.46040299e-02 -1.21485339e-03 9.98507348e-01 1.72898483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.60509989299993 meters 0.014400194202544419 Centerline is valid? [True, True] Translation: X:415.39, Y:30.77, Z:17.29 [[ 9.91495578e-01 -1.17791816e-01 -5.53317891e-02 4.15386831e+02] [ 1.17659101e-01 9.93037906e-01 -5.66148768e-03 3.07727094e+01] [ 5.56134409e-02 -8.96948535e-04 9.98451972e-01 1.72922273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.66509989299993 meters 0.0138122478470307 Centerline is valid? [True, True] Translation: X:415.44, Y:30.78, Z:17.29 [[ 9.91870181e-01 -1.14586755e-01 -5.53481711e-02 4.15444573e+02] [ 1.14448243e-01 9.93412995e-01 -5.67627994e-03 3.07834045e+01] [ 5.56340189e-02 -7.04368119e-04 9.98450980e-01 1.72944679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.72509989299994 meters 0.013161242668151465 Centerline is valid? [True, True] Translation: X:415.50, Y:30.79, Z:17.30 [[ 9.92138346e-01 -1.12407669e-01 -5.50092643e-02 4.15502298e+02] [ 1.12266740e-01 9.93662013e-01 -5.65528955e-03 3.07943011e+01] [ 5.52963143e-02 -5.64881158e-04 9.98469829e-01 1.72984907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.78509989299994 meters 0.013332004117148341 Centerline is valid? [True, True] Translation: X:415.56, Y:30.80, Z:17.30 [[ 9.92154420e-01 -1.12507178e-01 -5.45136812e-02 4.15559062e+02] [ 1.12368195e-01 9.93650759e-01 -5.61769865e-03 3.08002582e+01] [ 5.47995921e-02 -5.51979417e-04 9.98497221e-01 1.72995009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.84509989299994 meters 0.013412660443729454 Centerline is valid? [True, True] Translation: X:415.62, Y:30.81, Z:17.30 [[ 9.91815291e-01 -1.15602871e-01 -5.42070550e-02 4.15617807e+02] [ 1.15469417e-01 9.93295261e-01 -5.59799503e-03 3.08066643e+01] [ 5.44907551e-02 -7.07079977e-04 9.98514025e-01 1.73034992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.90509989299994 meters 0.013899186469954163 Centerline is valid? [True, True] Translation: X:415.68, Y:30.81, Z:17.31 [[ 9.91397874e-01 -1.19436476e-01 -5.35274028e-02 4.15676137e+02] [ 1.19311201e-01 9.92841443e-01 -5.54130335e-03 3.08101508e+01] [ 5.38060576e-02 -8.92782357e-04 9.98551006e-01 1.73061876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.96509989299994 meters 0.016657297889399656 Centerline is valid? [True, True] Translation: X:415.74, Y:30.81, Z:17.31 [[ 9.90565384e-01 -1.26379028e-01 -5.29958636e-02 4.15735152e+02] [ 1.26265554e-01 9.91981244e-01 -5.49739463e-03 3.08081142e+01] [ 5.32656581e-02 -1.24602323e-03 9.98579600e-01 1.73076551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.02509989299995 meters 0.016905974830160236 Centerline is valid? [True, True] Translation: X:415.79, Y:30.81, Z:17.31 [[ 9.90069216e-01 -1.30414130e-01 -5.24890585e-02 4.15794065e+02] [ 1.30308329e-01 9.91458553e-01 -5.44760752e-03 3.08118274e+01] [ 5.27511710e-02 -1.44625298e-03 9.98606640e-01 1.73113503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.08509989299995 meters 0.01908433828362564 Centerline is valid? [True, True] Translation: X:415.85, Y:30.81, Z:17.31 [[ 9.89610933e-01 -1.34485057e-01 -5.08327628e-02 4.15852900e+02] [ 1.34391054e-01 9.90914317e-01 -5.27833546e-03 3.08121872e+01] [ 5.10807697e-02 -1.60797008e-03 9.98693231e-01 1.73142423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.14509989299995 meters 0.019662487284457884 Centerline is valid? [True, True] Translation: X:415.91, Y:30.82, Z:17.32 [[ 9.89443694e-01 -1.35609311e-01 -5.11007919e-02 4.15911860e+02] [ 1.35515581e-01 9.90760983e-01 -5.31062019e-03 3.08166371e+01] [ 5.13488403e-02 -1.67039384e-03 9.98679381e-01 1.73164823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.20509989299995 meters 0.019746152847159845 Centerline is valid? [True, True] Translation: X:415.97, Y:30.82, Z:17.32 [[ 9.89532949e-01 -1.35021836e-01 -5.09278585e-02 4.15970430e+02] [ 1.34927336e-01 9.90841295e-01 -5.30487545e-03 3.08226978e+01] [ 5.11776993e-02 -1.62221126e-03 9.98688245e-01 1.73188609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.26509989299996 meters 0.015794956707054417 Centerline is valid? [True, True] Translation: X:416.03, Y:30.84, Z:17.32 [[ 9.90159120e-01 -1.30482074e-01 -5.05899793e-02 4.16029484e+02] [ 1.30382392e-01 9.91449725e-01 -5.27974149e-03 3.08360879e+01] [ 5.08463326e-02 -1.36825830e-03 9.98705551e-01 1.73226416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.32509989299996 meters 0.01464516353972019 Centerline is valid? [True, True] Translation: X:416.09, Y:30.85, Z:17.33 [[ 9.90781014e-01 -1.25945896e-01 -4.99060556e-02 4.16087926e+02] [ 1.25843007e-01 9.92036483e-01 -5.21100972e-03 3.08450698e+01] [ 5.01649332e-02 -1.11735864e-03 9.98740322e-01 1.73253331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.38509989299996 meters 0.0130814929482587 Centerline is valid? [True, True] Translation: X:416.15, Y:30.86, Z:17.33 [[ 9.91536735e-01 -1.19782370e-01 -5.00708274e-02 4.16146235e+02] [ 1.19670354e-01 9.92799854e-01 -5.23992163e-03 3.08552681e+01] [ 5.03379604e-02 -7.96418851e-04 9.98731924e-01 1.73274827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.44509989299996 meters 0.012716097829487296 Centerline is valid? [True, True] Translation: X:416.20, Y:30.86, Z:17.33 [[ 9.91801603e-01 -1.17444821e-01 -5.03616414e-02 4.16203949e+02] [ 1.17327953e-01 9.93079183e-01 -5.28089780e-03 3.08626428e+01] [ 5.06333118e-02 -6.71225399e-04 9.98717086e-01 1.73287048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.50509989299997 meters 0.01295012595323638 Centerline is valid? [True, True] Translation: X:416.26, Y:30.87, Z:17.33 [[ 9.91718320e-01 -1.17804603e-01 -5.11551540e-02 4.16261346e+02] [ 1.17684265e-01 9.93036551e-01 -5.36865452e-03 3.08667966e+01] [ 5.14313899e-02 -6.95963683e-04 9.98676288e-01 1.73294666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.56509989299997 meters 0.01263547087844567 Centerline is valid? [True, True] Translation: X:416.32, Y:30.87, Z:17.33 [[ 9.91463866e-01 -1.20285643e-01 -5.03067152e-02 4.16319886e+02] [ 1.20172165e-01 9.92738997e-01 -5.28536008e-03 3.08719939e+01] [ 5.05771909e-02 -8.05223357e-04 9.98719830e-01 1.73334987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.62509989299997 meters 0.015092681377417748 Centerline is valid? [True, True] Translation: X:416.38, Y:30.87, Z:17.34 [[ 9.90865226e-01 -1.25834159e-01 -4.84960729e-02 4.16378697e+02] [ 1.25734817e-01 9.92050748e-01 -5.10585371e-03 3.08704401e+01] [ 4.87530562e-02 -1.03843198e-03 9.98810323e-01 1.73361609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.685099893 meters 0.014483579627285035 Centerline is valid? [True, True] Translation: X:416.44, Y:30.88, Z:17.34 [[ 9.90299188e-01 -1.30477832e-01 -4.77813007e-02 4.16437433e+02] [ 1.30386663e-01 9.91450445e-01 -5.03330209e-03 3.08763411e+01] [ 4.80295262e-02 -1.24556938e-03 9.98845140e-01 1.73397580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.745099893 meters 0.01636333884309993 Centerline is valid? [True, True] Translation: X:416.50, Y:30.88, Z:17.34 [[ 9.89677182e-01 -1.35015511e-01 -4.80612970e-02 4.16495774e+02] [ 1.34928427e-01 9.90842394e-01 -5.06657639e-03 3.08768465e+01] [ 4.83052370e-02 -1.47056016e-03 9.98831538e-01 1.73414604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.805099893 meters 0.017585834072747553 Centerline is valid? [True, True] Translation: X:416.56, Y:30.88, Z:17.34 [[ 9.88916148e-01 -1.40916214e-01 -4.67704206e-02 4.16556453e+02] [ 1.40840188e-01 9.90020051e-01 -4.93349012e-03 3.08780615e+01] [ 4.69988630e-02 -1.70834678e-03 9.98893482e-01 1.73448292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.865099893 meters 0.020814273780913693 Centerline is valid? [True, True] Translation: X:416.61, Y:30.88, Z:17.35 [[ 9.88756894e-01 -1.42337894e-01 -4.58227878e-02 4.16614764e+02] [ 1.42266427e-01 9.89816598e-01 -4.83382750e-03 3.08784133e+01] [ 4.60441927e-02 -1.73956402e-03 9.98937889e-01 1.73478328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.925099893 meters 0.019330745790032855 Centerline is valid? [True, True] Translation: X:416.67, Y:30.89, Z:17.35 [[ 9.88950414e-01 -1.40853402e-01 -4.62319932e-02 4.16673444e+02] [ 1.40778842e-01 9.90029036e-01 -4.88111151e-03 3.08871423e+01] [ 4.64585369e-02 -1.68130922e-03 9.98918804e-01 1.73500930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.985099893 meters 0.017136382390682565 Centerline is valid? [True, True] Translation: X:416.73, Y:30.90, Z:17.35 [[ 9.89446601e-01 -1.37298382e-01 -4.63095980e-02 4.16732409e+02] [ 1.37219223e-01 9.90528588e-01 -4.89915498e-03 3.08971739e+01] [ 4.65436267e-02 -1.50711483e-03 9.98915121e-01 1.73520244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.045099893 meters 0.015205293710164344 Centerline is valid? [True, True] Translation: X:416.79, Y:30.91, Z:17.35 [[ 9.90233031e-01 -1.31500673e-01 -4.63262060e-02 4.16791972e+02] [ 1.31415043e-01 9.91315314e-01 -4.90251552e-03 3.09075254e+01] [ 4.65685615e-02 -1.23332756e-03 9.98914335e-01 1.73539740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.10509989299993 meters 0.015107915856500478 Centerline is valid? [True, True] Translation: X:416.85, Y:30.91, Z:17.36 [[ 9.90546251e-01 -1.29056992e-01 -4.65018087e-02 4.16850451e+02] [ 1.28967973e-01 9.91636544e-01 -4.92211817e-03 3.09147447e+01] [ 4.67481266e-02 -1.12165829e-03 9.98906079e-01 1.73563341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.16509989299993 meters 0.014560224807685814 Centerline is valid? [True, True] Translation: X:416.91, Y:30.92, Z:17.36 [[ 9.90607985e-01 -1.28489319e-01 -4.67580544e-02 4.16908189e+02] [ 1.28398519e-01 9.91710286e-01 -4.95275685e-03 3.09231726e+01] [ 4.70068198e-02 -1.09742444e-03 9.98893966e-01 1.73591373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.22509989299994 meters 0.014703146628978592 Centerline is valid? [True, True] Translation: X:416.97, Y:30.93, Z:17.36 [[ 9.90490801e-01 -1.29199044e-01 -4.72819321e-02 4.16967397e+02] [ 1.29106491e-01 9.91618033e-01 -5.01905957e-03 3.09295861e+01] [ 4.75340742e-02 -1.13307199e-03 9.98868974e-01 1.73615859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.28509989299994 meters 0.015097479958737395 Centerline is valid? [True, True] Translation: X:417.03, Y:30.94, Z:17.36 [[ 9.89849439e-01 -1.33505720e-01 -4.87269091e-02 4.17026488e+02] [ 1.33412542e-01 9.91047083e-01 -5.17425064e-03 3.09359326e+01] [ 4.89814532e-02 -1.37905170e-03 9.98798736e-01 1.73648535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.34509989299994 meters 0.015949019325641706 Centerline is valid? [True, True] Translation: X:417.09, Y:30.94, Z:17.37 [[ 9.89302993e-01 -1.37519703e-01 -4.86612810e-02 4.17085770e+02] [ 1.37431532e-01 9.90497781e-01 -5.16907903e-03 3.09409205e+01] [ 4.89097411e-02 -1.57380906e-03 9.98801963e-01 1.73682069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.40509989299994 meters 0.019762390457615433 Centerline is valid? [True, True] Translation: X:417.14, Y:30.94, Z:17.37 [[ 9.88731889e-01 -1.41844161e-01 -4.78485760e-02 4.17144834e+02] [ 1.41763866e-01 9.89887444e-01 -5.08477140e-03 3.09413176e+01] [ 4.80859497e-02 -1.75572350e-03 9.98841659e-01 1.73713089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.46509989299994 meters 0.018830881541137552 Centerline is valid? [True, True] Translation: X:417.20, Y:30.95, Z:17.37 [[ 9.88582324e-01 -1.42904120e-01 -4.77849565e-02 4.17203188e+02] [ 1.42825037e-01 9.89734900e-01 -5.08292084e-03 3.09491846e+01] [ 4.80208095e-02 -1.80000251e-03 9.98844714e-01 1.73745923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.52509989299995 meters 0.018603419355757288 Centerline is valid? [True, True] Translation: X:417.26, Y:30.96, Z:17.38 [[ 9.88631913e-01 -1.42579482e-01 -4.77287420e-02 4.17262801e+02] [ 1.42499689e-01 9.89781771e-01 -5.08776434e-03 3.09561532e+01] [ 4.79664496e-02 -1.77140469e-03 9.98847377e-01 1.73770137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.58509989299995 meters 0.01714240772896056 Centerline is valid? [True, True] Translation: X:417.32, Y:30.97, Z:17.38 [[ 9.89071610e-01 -1.39606717e-01 -4.74058572e-02 4.17321990e+02] [ 1.39524507e-01 9.90205715e-01 -5.05505970e-03 3.09655351e+01] [ 4.76472710e-02 -1.61446283e-03 9.98862919e-01 1.73794384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.64509989299995 meters 0.014946647387858895 Centerline is valid? [True, True] Translation: X:417.38, Y:30.98, Z:17.38 [[ 9.89960519e-01 -1.33222768e-01 -4.72214460e-02 4.17381490e+02] [ 1.33133862e-01 9.91085265e-01 -5.03701836e-03 3.09772678e+01] [ 4.74715249e-02 -1.30032416e-03 9.98871745e-01 1.73817941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.70509989299995 meters 0.013710904308849655 Centerline is valid? [True, True] Translation: X:417.44, Y:30.99, Z:17.38 [[ 9.90582295e-01 -1.28616786e-01 -4.69514479e-02 4.17441029e+02] [ 1.28523683e-01 9.91693790e-01 -5.00907348e-03 3.09869434e+01] [ 4.72057102e-02 -1.07247347e-03 9.98884613e-01 1.73842750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.76509989299996 meters 0.013251734070247092 Centerline is valid? [True, True] Translation: X:417.50, Y:30.99, Z:17.39 [[ 9.91033980e-01 -1.25053424e-01 -4.70456244e-02 4.17499760e+02] [ 1.24955889e-01 9.92149598e-01 -5.02007348e-03 3.09944185e+01] [ 4.73040747e-02 -9.03564425e-04 9.98880127e-01 1.73855446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.82509989299996 meters 0.013230263909478377 Centerline is valid? [True, True] Translation: X:417.56, Y:31.00, Z:17.39 [[ 9.90966699e-01 -1.25265789e-01 -4.78903199e-02 4.17559212e+02] [ 1.25164883e-01 9.92122785e-01 -5.11195264e-03 3.10009862e+01] [ 4.81534303e-02 -9.28411440e-04 9.98839519e-01 1.73870618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.88509989299996 meters 0.013975356737611971 Centerline is valid? [True, True] Translation: X:417.62, Y:31.01, Z:17.39 [[ 9.90525437e-01 -1.28310283e-01 -4.89472074e-02 4.17617797e+02] [ 1.28208420e-01 9.91733466e-01 -5.22810501e-03 3.10058234e+01] [ 4.92134033e-02 -1.09687310e-03 9.98787684e-01 1.73889092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.94509989299996 meters 0.015023546762039243 Centerline is valid? [True, True] Translation: X:417.68, Y:31.01, Z:17.39 [[ 9.90130557e-01 -1.31254100e-01 -4.91308620e-02 4.17676245e+02] [ 1.31154475e-01 9.91347989e-01 -5.26012298e-03 3.10101080e+01] [ 4.93961940e-02 -1.23552394e-03 9.98778499e-01 1.73912327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.00509989299997 meters 0.016188227323946917 Centerline is valid? [True, True] Translation: X:417.74, Y:31.01, Z:17.39 [[ 9.89741842e-01 -1.34223210e-01 -4.89409463e-02 4.17735003e+02] [ 1.34127380e-01 9.90950182e-01 -5.25193607e-03 3.10149559e+01] [ 4.92029713e-02 -1.36626000e-03 9.98787866e-01 1.73939068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.06509989299997 meters 0.017961985639982768 Centerline is valid? [True, True] Translation: X:417.79, Y:31.02, Z:17.40 [[ 9.89425230e-01 -1.36893654e-01 -4.79358043e-02 4.17793007e+02] [ 1.36804334e-01 9.90584677e-01 -5.15474120e-03 3.10189755e+01] [ 4.81901246e-02 -1.45759476e-03 9.98837118e-01 1.73971506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.12509989299997 meters 0.018641791155412795 Centerline is valid? [True, True] Translation: X:417.85, Y:31.02, Z:17.40 [[ 9.89389182e-01 -1.37611405e-01 -4.66063000e-02 4.17850196e+02] [ 1.37527538e-01 9.90485239e-01 -5.01663613e-03 3.10242871e+01] [ 4.68531985e-02 -1.44624419e-03 9.98900739e-01 1.74001512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.185099893 meters 0.018254986719250015 Centerline is valid? [True, True] Translation: X:417.91, Y:31.03, Z:17.40 [[ 9.89480769e-01 -1.37260250e-01 -4.56884172e-02 4.17908867e+02] [ 1.37178722e-01 9.90534045e-01 -4.92998999e-03 3.10314709e+01] [ 4.59326244e-02 -1.38934840e-03 9.98943574e-01 1.74024448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.245099893 meters 0.018442614253598832 Centerline is valid? [True, True] Translation: X:417.97, Y:31.04, Z:17.40 [[ 9.89589584e-01 -1.36191568e-01 -4.65221714e-02 4.17965817e+02] [ 1.36105361e-01 9.90681596e-01 -5.03055893e-03 3.10383049e+01] [ 4.67737787e-02 -1.35372822e-03 9.98904591e-01 1.74044424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.305099893 meters 0.01727901276120002 Centerline is valid? [True, True] Translation: X:418.02, Y:31.05, Z:17.41 [[ 9.90051989e-01 -1.32427773e-01 -4.75388588e-02 4.18022806e+02] [ 1.32333226e-01 9.91191934e-01 -5.14456989e-03 3.10476268e+01] [ 4.78014174e-02 -1.19757890e-03 9.98856141e-01 1.74053889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.365099893 meters 0.016338369713630282 Centerline is valid? [True, True] Translation: X:418.08, Y:31.06, Z:17.41 [[ 9.90363778e-01 -1.29843925e-01 -4.81678651e-02 4.18080729e+02] [ 1.29743565e-01 9.91533854e-01 -5.21760623e-03 3.10561882e+01] [ 4.84375434e-02 -1.08214231e-03 9.98825627e-01 1.74074472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.425099893 meters 0.014553885173601669 Centerline is valid? [True, True] Translation: X:418.14, Y:31.07, Z:17.41 [[ 9.90938251e-01 -1.25111970e-01 -4.88710380e-02 4.18138747e+02] [ 1.25002405e-01 9.92142262e-01 -5.30393038e-03 3.10666281e+01] [ 4.91506073e-02 -8.53129776e-04 9.98791014e-01 1.74091969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.485099893 meters 0.01374221007835183 Centerline is valid? [True, True] Translation: X:418.20, Y:31.07, Z:17.41 [[ 9.91191038e-01 -1.22972011e-01 -4.91753094e-02 4.18196954e+02] [ 1.22858228e-01 9.92409858e-01 -5.34132471e-03 3.10748489e+01] [ 4.94588953e-02 -7.47318184e-04 9.98775880e-01 1.74109777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.545099893 meters 0.013837451985608793 Centerline is valid? [True, True] Translation: X:418.25, Y:31.08, Z:17.41 [[ 9.91193747e-01 -1.22723940e-01 -4.97372203e-02 4.18253464e+02] [ 1.22606710e-01 9.92440576e-01 -5.41271873e-03 3.10809949e+01] [ 5.00255058e-02 -7.33063985e-04 9.98747672e-01 1.74125897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.60509989299993 meters 0.015131476546134698 Centerline is valid? [True, True] Translation: X:418.31, Y:31.08, Z:17.42 [[ 9.90847223e-01 -1.25550572e-01 -4.95866435e-02 4.18312177e+02] [ 1.25437271e-01 9.92086842e-01 -5.40264896e-03 3.10848170e+01] [ 4.98725622e-02 -8.66813511e-04 9.98755213e-01 1.74151258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.66509989299993 meters 0.019828823742807453 Centerline is valid? [True, True] Translation: X:418.37, Y:31.08, Z:17.42 [[ 9.89842522e-01 -1.33422869e-01 -4.90929790e-02 4.18372136e+02] [ 1.33321022e-01 9.91058422e-01 -5.35803453e-03 3.10822738e+01] [ 4.93688947e-02 -1.24151571e-03 9.98779841e-01 1.74184168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.72509989299994 meters 0.024205675826011634 Centerline is valid? [True, True] Translation: X:418.43, Y:31.08, Z:17.42 [[ 9.88991722e-01 -1.40156115e-01 -4.74514188e-02 4.18432566e+02] [ 1.40068664e-01 9.90128245e-01 -5.17958391e-03 3.10812811e+01] [ 4.77089404e-02 -1.52389124e-03 9.98860118e-01 1.74226510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.78509989299994 meters 0.03176827483403835 Centerline is valid? [True, True] Translation: X:418.49, Y:31.08, Z:17.42 [[ 9.87625034e-01 -1.49475273e-01 -4.74756275e-02 4.18492579e+02] [ 1.49398436e-01 9.88763493e-01 -5.18282368e-03 3.10756382e+01] [ 4.77168713e-02 -1.97409807e-03 9.98858951e-01 1.74240385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.84509989299994 meters 0.036164018027084986 Centerline is valid? [True, True] Translation: X:418.55, Y:31.08, Z:17.43 [[ 9.86809149e-01 -1.54609705e-01 -4.79952461e-02 4.18553729e+02] [ 1.54537244e-01 9.87973072e-01 -5.23924336e-03 3.10756632e+01] [ 4.82280486e-02 -2.24691978e-03 9.98833823e-01 1.74251139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.90509989299994 meters 0.04185352822708201 Centerline is valid? [True, True] Translation: X:418.61, Y:31.08, Z:17.43 [[ 9.85940477e-01 -1.60220019e-01 -4.74438678e-02 4.18613818e+02] [ 1.60155675e-01 9.87078181e-01 -5.17921709e-03 3.10754391e+01] [ 4.76606210e-02 -2.49200490e-03 9.98860478e-01 1.74280224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.96509989299994 meters 0.04511005604571698 Centerline is valid? [True, True] Translation: X:418.67, Y:31.08, Z:17.43 [[ 9.85656106e-01 -1.62231051e-01 -4.65094227e-02 4.18671999e+02] [ 1.62171408e-01 9.86749537e-01 -5.07800923e-03 3.10811938e+01] [ 4.67169620e-02 -2.53732776e-03 9.98904944e-01 1.74318558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.02509989299995 meters 0.025998858798633232 Centerline is valid? [True, True] Translation: X:418.73, Y:31.12, Z:17.44 [[ 9.85695462e-01 -1.62029600e-01 -4.63774218e-02 4.18729168e+02] [ 1.61969988e-01 9.86782684e-01 -5.06541258e-03 3.11150460e+01] [ 4.65851835e-02 -2.51879627e-03 9.98911145e-01 1.74367601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.08509989299995 meters 0.028767874511837817 Centerline is valid? [True, True] Translation: X:418.79, Y:31.12, Z:17.44 [[ 9.85976491e-01 -1.60596801e-01 -4.53764954e-02 4.18787476e+02] [ 1.60538212e-01 9.87017182e-01 -4.95628257e-03 3.11225913e+01] [ 4.55833438e-02 -2.39788335e-03 9.98957661e-01 1.74396757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.14509989299995 meters 0.025284051841469295 Centerline is valid? [True, True] Translation: X:418.85, Y:31.14, Z:17.44 [[ 9.86132984e-01 -1.59561757e-01 -4.56265686e-02 4.18846447e+02] [ 1.59501315e-01 9.87185126e-01 -4.98582918e-03 3.11353902e+01] [ 4.58374175e-02 -2.36080706e-03 9.98946124e-01 1.74427397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.20509989299995 meters 0.021699792253607082 Centerline is valid? [True, True] Translation: X:418.91, Y:31.15, Z:17.45 [[ 9.86409611e-01 -1.57696549e-01 -4.61289312e-02 4.18906362e+02] [ 1.57632743e-01 9.87484942e-01 -5.04055960e-03 3.11507132e+01] [ 4.63465038e-02 -2.29937351e-03 9.98922777e-01 1.74461324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.26509989299996 meters 0.021277377841933644 Centerline is valid? [True, True] Translation: X:418.97, Y:31.16, Z:17.45 [[ 9.86818789e-01 -1.54703617e-01 -4.74917848e-02 4.18967293e+02] [ 1.54632621e-01 9.87958421e-01 -5.18753883e-03 3.11636811e+01] [ 4.77224398e-02 -2.22461837e-03 9.98858158e-01 1.74483966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.32509989299996 meters 0.020564359104320726 Centerline is valid? [True, True] Translation: X:419.03, Y:31.18, Z:17.45 [[ 9.87220982e-01 -1.52036320e-01 -4.77461117e-02 4.19027425e+02] [ 1.51961572e-01 9.88372656e-01 -5.21275834e-03 3.11765003e+01] [ 4.79834798e-02 -2.10942978e-03 9.98845902e-01 1.74514776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.38509989299996 meters 0.020328581227981122 Centerline is valid? [True, True] Translation: X:419.09, Y:31.19, Z:17.45 [[ 9.87512895e-01 -1.50120952e-01 -4.77700867e-02 4.19088038e+02] [ 1.50043978e-01 9.88665577e-01 -5.21360868e-03 3.11872108e+01] [ 4.80113122e-02 -2.01910804e-03 9.98844751e-01 1.74546551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.44509989299996 meters 0.018210797580447913 Centerline is valid? [True, True] Translation: X:419.15, Y:31.20, Z:17.46 [[ 9.88224571e-01 -1.45894000e-01 -4.61209147e-02 4.19147625e+02] [ 1.45817724e-01 9.89298676e-01 -5.03205968e-03 3.12024938e+01] [ 4.63615071e-02 -1.75244180e-03 9.98923190e-01 1.74584508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.50509989299997 meters 0.01797224773160011 Centerline is valid? [True, True] Translation: X:419.21, Y:31.21, Z:17.46 [[ 9.88845975e-01 -1.42002140e-01 -4.49336272e-02 4.19207376e+02] [ 1.41925767e-01 9.89865168e-01 -4.90165376e-03 3.12124783e+01] [ 4.51742778e-02 -1.53025890e-03 9.98977949e-01 1.74615236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.56509989299997 meters 0.01643959627999143 Centerline is valid? [True, True] Translation: X:419.27, Y:31.22, Z:17.47 [[ 9.89327854e-01 -1.39071419e-01 -4.34688227e-02 4.19267751e+02] [ 1.38997186e-01 9.90281431e-01 -4.74032637e-03 3.12247695e+01] [ 4.37056119e-02 -1.35230711e-03 9.99043538e-01 1.74655207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.62509989299997 meters 0.015794066262372265 Centerline is valid? [True, True] Translation: X:419.33, Y:31.24, Z:17.47 [[ 9.89846305e-01 -1.35212824e-01 -4.38381698e-02 4.19326785e+02] [ 1.35133612e-01 9.90815860e-01 -4.77902318e-03 3.12367257e+01] [ 4.40817391e-02 -1.19351181e-03 9.99027215e-01 1.74675819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.685099893 meters 0.014200535801338732 Centerline is valid? [True, True] Translation: X:419.39, Y:31.25, Z:17.47 [[ 9.90184737e-01 -1.32791823e-01 -4.35949418e-02 4.19387729e+02] [ 1.32711183e-01 9.91143362e-01 -4.75161757e-03 3.12475502e+01] [ 4.38398131e-02 -1.08055708e-03 9.99037989e-01 1.74701625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.745099893 meters 0.014401296668654591 Centerline is valid? [True, True] Translation: X:419.45, Y:31.25, Z:17.47 [[ 9.90713904e-01 -1.29242346e-01 -4.22181961e-02 4.19448621e+02] [ 1.29163626e-01 9.91612632e-01 -4.59854673e-03 3.12540333e+01] [ 4.24584235e-02 -8.97211131e-04 9.99097832e-01 1.74729246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.805099893 meters 0.012800863018932011 Centerline is valid? [True, True] Translation: X:419.51, Y:31.26, Z:17.47 [[ 9.91119127e-01 -1.25929725e-01 -4.27151006e-02 4.19509999e+02] [ 1.25846166e-01 9.92038869e-01 -4.65032587e-03 3.12635874e+01] [ 4.29606544e-02 -7.66504745e-04 9.99076471e-01 1.74741385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.865099893 meters 0.01273700342084627 Centerline is valid? [True, True] Translation: X:419.57, Y:31.27, Z:17.48 [[ 9.91259710e-01 -1.24511972e-01 -4.35999502e-02 4.19570838e+02] [ 1.24423685e-01 9.92217842e-01 -4.74344567e-03 3.12694794e+01] [ 4.38512643e-02 -7.22879897e-04 9.99037809e-01 1.74750952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.925099893 meters 0.012201531935299484 Centerline is valid? [True, True] Translation: X:419.63, Y:31.27, Z:17.48 [[ 9.91293035e-01 -1.23902246e-01 -4.45685069e-02 4.19633022e+02] [ 1.23809488e-01 9.92294172e-01 -4.84630910e-03 3.12749174e+01] [ 4.48255382e-02 -7.13891579e-04 9.98994575e-01 1.74771989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.985099893 meters 0.012611603439200467 Centerline is valid? [True, True] Translation: X:419.69, Y:31.28, Z:17.48 [[ 9.91160664e-01 -1.24860982e-01 -4.48360743e-02 4.19694555e+02] [ 1.24768243e-01 9.92173951e-01 -4.87196127e-03 3.12786552e+01] [ 4.50935029e-02 -7.65221836e-04 9.98982478e-01 1.74798585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.045099893 meters 0.012799074772485876 Centerline is valid? [True, True] Translation: X:419.76, Y:31.28, Z:17.48 [[ 9.90745873e-01 -1.28369277e-01 -4.40901682e-02 4.19756739e+02] [ 1.28283283e-01 9.91726017e-01 -4.78606824e-03 3.12813430e+01] [ 4.43397511e-02 -9.14254162e-04 9.99016091e-01 1.74827650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.10509989299993 meters 0.013875217404668483 Centerline is valid? [True, True] Translation: X:419.82, Y:31.28, Z:17.49 [[ 9.90440671e-01 -1.30949576e-01 -4.33530407e-02 4.19818323e+02] [ 1.30869041e-01 9.91388510e-01 -4.70289112e-03 3.12832578e+01] [ 4.35955480e-02 -1.01563621e-03 9.99048746e-01 1.74861910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.16509989299993 meters 0.014495687105101547 Centerline is valid? [True, True] Translation: X:419.88, Y:31.29, Z:17.49 [[ 9.90112491e-01 -1.33382950e-01 -4.34309028e-02 4.19880217e+02] [ 1.33304569e-01 9.91063932e-01 -4.70889750e-03 3.12870657e+01] [ 4.36708879e-02 -1.12719955e-03 9.99045336e-01 1.74888689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.22509989299994 meters 0.01474158989908775 Centerline is valid? [True, True] Translation: X:419.94, Y:31.29, Z:17.49 [[ 9.89723759e-01 -1.36104505e-01 -4.38457024e-02 4.19942199e+02] [ 1.36027429e-01 9.90693681e-01 -4.75062387e-03 3.12908444e+01] [ 4.40842417e-02 -1.26241286e-03 9.99027020e-01 1.74905062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.28509989299994 meters 0.016889830136714128 Centerline is valid? [True, True] Translation: X:420.00, Y:31.29, Z:17.49 [[ 9.89479062e-01 -1.37727997e-01 -4.42965614e-02 4.20003887e+02] [ 1.37651099e-01 9.90469167e-01 -4.79618440e-03 3.12919053e+01] [ 4.45349472e-02 -1.35174631e-03 9.99006913e-01 1.74925428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.34509989299994 meters 0.01678571971787521 Centerline is valid? [True, True] Translation: X:420.07, Y:31.30, Z:17.50 [[ 9.89233177e-01 -1.39541330e-01 -4.41128030e-02 4.20065442e+02] [ 1.39466978e-01 9.90215215e-01 -4.77382144e-03 3.12974855e+01] [ 4.43473141e-02 -1.42985675e-03 9.99015151e-01 1.74952676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.40509989299994 meters 0.017746139660969957 Centerline is valid? [True, True] Translation: X:420.13, Y:31.30, Z:17.50 [[ 9.88817153e-01 -1.42615178e-01 -4.36067570e-02 4.20126341e+02] [ 1.42545640e-01 9.89776995e-01 -4.71596883e-03 3.13010203e+01] [ 4.38335336e-02 -1.55272223e-03 9.99037642e-01 1.74981348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.46509989299994 meters 0.01827256802997998 Centerline is valid? [True, True] Translation: X:420.19, Y:31.31, Z:17.50 [[ 9.88511320e-01 -1.44747094e-01 -4.35160785e-02 4.20187817e+02] [ 1.44680004e-01 9.89467316e-01 -4.70395133e-03 3.13060341e+01] [ 4.37386207e-02 -1.64599725e-03 9.99041653e-01 1.75008751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.52509989299995 meters 0.02063982512488304 Centerline is valid? [True, True] Translation: X:420.25, Y:31.31, Z:17.50 [[ 9.87874848e-01 -1.48796201e-01 -4.43054744e-02 4.20249389e+02] [ 1.48730789e-01 9.88866134e-01 -4.78763650e-03 3.13089232e+01] [ 4.45245653e-02 -1.86000250e-03 9.99006558e-01 1.75031819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.58509989299995 meters 0.021770877300279066 Centerline is valid? [True, True] Translation: X:420.31, Y:31.31, Z:17.50 [[ 9.86841424e-01 -1.54251122e-01 -4.84829298e-02 4.20310353e+02] [ 1.54179444e-01 9.88028982e-01 -5.23725884e-03 3.13141968e+01] [ 4.87103929e-02 -2.30672719e-03 9.98810281e-01 1.75026913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.64509989299995 meters 0.022518521502638635 Centerline is valid? [True, True] Translation: X:420.37, Y:31.32, Z:17.51 [[ 9.86118475e-01 -1.58952138e-01 -4.80059509e-02 4.20370640e+02] [ 1.58887460e-01 9.87283087e-01 -5.18471481e-03 3.13201801e+01] [ 4.82195849e-02 -2.51480056e-03 9.98833593e-01 1.75059295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.70509989299995 meters 0.02501809166763546 Centerline is valid? [True, True] Translation: X:420.43, Y:31.32, Z:17.51 [[ 9.84741762e-01 -1.67237299e-01 -4.81180600e-02 4.20430977e+02] [ 1.67182193e-01 9.85912326e-01 -5.19610873e-03 3.13246827e+01] [ 4.83091716e-02 -2.92765754e-03 9.98828140e-01 1.75094092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.76509989299996 meters 0.02649719235763599 Centerline is valid? [True, True] Translation: X:420.49, Y:31.33, Z:17.51 [[ 9.83991789e-01 -1.71489963e-01 -4.84907379e-02 4.20491386e+02] [ 1.71439127e-01 9.85180798e-01 -5.23657355e-03 3.13307502e+01] [ 4.86701636e-02 -3.16046438e-03 9.98809905e-01 1.75115449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.82509989299996 meters 0.029487804323465944 Centerline is valid? [True, True] Translation: X:420.55, Y:31.34, Z:17.52 [[ 9.83492478e-01 -1.74848729e-01 -4.65882854e-02 4.20551415e+02] [ 1.74805565e-01 9.84590121e-01 -5.03073869e-03 3.13368117e+01] [ 4.67499839e-02 -3.19619790e-03 9.98901508e-01 1.75151337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.88509989299996 meters 0.02964330019240001 Centerline is valid? [True, True] Translation: X:420.61, Y:31.35, Z:17.52 [[ 9.83525817e-01 -1.75014070e-01 -4.52442583e-02 4.20612861e+02] [ 1.74973577e-01 9.84561013e-01 -4.88459211e-03 3.13457413e+01] [ 4.54006051e-02 -3.11242725e-03 9.98964012e-01 1.75187555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.94509989299996 meters 0.029537312016320445 Centerline is valid? [True, True] Translation: X:420.67, Y:31.36, Z:17.52 [[ 9.83686757e-01 -1.74063659e-01 -4.54115363e-02 4.20674647e+02] [ 1.74022019e-01 9.84729575e-01 -4.89912828e-03 3.13576575e+01] [ 4.55708430e-02 -3.08339965e-03 9.98956351e-01 1.75212410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.00509989299997 meters 0.030146767944092972 Centerline is valid? [True, True] Translation: X:420.74, Y:31.37, Z:17.52 [[ 9.83908902e-01 -1.72861218e-01 -4.51915120e-02 4.20735273e+02] [ 1.72818927e-01 9.84941569e-01 -4.87078654e-03 3.13671456e+01] [ 4.53529688e-02 -3.01753836e-03 9.98966467e-01 1.75238416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.06509989299997 meters 0.030070586785888538 Centerline is valid? [True, True] Translation: X:420.80, Y:31.38, Z:17.53 [[ 9.84070673e-01 -1.71949812e-01 -4.51461348e-02 4.20796332e+02] [ 1.71906733e-01 9.85101221e-01 -4.86410789e-03 3.13774375e+01] [ 4.53098950e-02 -2.97429861e-03 9.98968552e-01 1.75264723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.12509989299997 meters 0.029847762717549756 Centerline is valid? [True, True] Translation: X:420.86, Y:31.39, Z:17.53 [[ 9.84228259e-01 -1.70814466e-01 -4.60125176e-02 4.20857442e+02] [ 1.70768643e-01 9.85298700e-01 -4.95402328e-03 3.13877881e+01] [ 4.61822926e-02 -2.98160549e-03 9.98928579e-01 1.75277583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.185099893 meters 0.029562682320953132 Centerline is valid? [True, True] Translation: X:420.92, Y:31.40, Z:17.53 [[ 9.84231522e-01 -1.70208704e-01 -4.81384260e-02 4.20918783e+02] [ 1.70158009e-01 9.85403180e-01 -5.17925804e-03 3.14011487e+01] [ 4.83173129e-02 -3.09354973e-03 9.98827246e-01 1.75279782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.245099893 meters 0.02914734812901172 Centerline is valid? [True, True] Translation: X:420.98, Y:31.41, Z:17.53 [[ 9.84441502e-01 -1.68907353e-01 -4.84276370e-02 4.20980250e+02] [ 1.68854653e-01 9.85627209e-01 -5.20682640e-03 3.14128658e+01] [ 4.86110679e-02 -3.05141586e-03 9.98813122e-01 1.75297861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.305099893 meters 0.028914113041024078 Centerline is valid? [True, True] Translation: X:421.04, Y:31.43, Z:17.53 [[ 9.85053445e-01 -1.65981041e-01 -4.60435095e-02 4.21039881e+02] [ 1.65930351e-01 9.86125063e-01 -4.94752106e-03 3.14271448e+01] [ 4.62258534e-02 -2.76644301e-03 9.98927183e-01 1.75338962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.365099893 meters 0.027271632666202344 Centerline is valid? [True, True] Translation: X:421.10, Y:31.44, Z:17.54 [[ 9.85477040e-01 -1.64085550e-01 -4.37142577e-02 4.21100150e+02] [ 1.64038031e-01 9.86442836e-01 -4.69645211e-03 3.14406617e+01] [ 4.38922363e-02 -2.54255503e-03 9.99033036e-01 1.75385323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.425099893 meters 0.02421357484383663 Centerline is valid? [True, True] Translation: X:421.16, Y:31.46, Z:17.54 [[ 9.85784118e-01 -1.62392395e-01 -4.31089729e-02 4.21160262e+02] [ 1.62344636e-01 9.86723256e-01 -4.62986884e-03 3.14572907e+01] [ 4.32884816e-02 -2.43445933e-03 9.99059648e-01 1.75406238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.485099893 meters 0.023788825106484248 Centerline is valid? [True, True] Translation: X:421.22, Y:31.47, Z:17.54 [[ 9.85794030e-01 -1.62460448e-01 -4.26231513e-02 4.21221899e+02] [ 1.62413892e-01 9.86712110e-01 -4.57607445e-03 3.14688320e+01] [ 4.28002107e-02 -2.41152501e-03 9.99080741e-01 1.75416538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.545099893 meters 0.025467282178698092 Centerline is valid? [True, True] Translation: X:421.28, Y:31.48, Z:17.54 [[ 9.85201465e-01 -1.65213293e-01 -4.56359612e-02 4.21282543e+02] [ 1.65163030e-01 9.86254127e-01 -4.89597851e-03 3.14777567e+01] [ 4.58175358e-02 -2.71384845e-03 9.98946139e-01 1.75408829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.60509989299993 meters 0.029188487675662764 Centerline is valid? [True, True] Translation: X:421.34, Y:31.48, Z:17.54 [[ 9.84931493e-01 -1.66312639e-01 -4.74348078e-02 4.21343837e+02] [ 1.66259721e-01 9.86068878e-01 -5.08661681e-03 3.14818700e+01] [ 4.76199564e-02 -2.87652881e-03 9.98861384e-01 1.75408972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.66509989299993 meters 0.030537205086931633 Centerline is valid? [True, True] Translation: X:421.41, Y:31.49, Z:17.54 [[ 9.84865310e-01 -1.66530802e-01 -4.80397130e-02 4.21405155e+02] [ 1.66476914e-01 9.86031910e-01 -5.14881254e-03 3.14881183e+01] [ 4.82261258e-02 -2.92661629e-03 9.98832156e-01 1.75428707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.72509989299994 meters 0.02678750369225448 Centerline is valid? [True, True] Translation: X:421.47, Y:31.50, Z:17.55 [[ 9.85189063e-01 -1.65137940e-01 -4.61732790e-02 4.21465284e+02] [ 1.65086737e-01 9.86266648e-01 -4.94647378e-03 3.15041770e+01] [ 4.63560156e-02 -2.74938411e-03 9.98921198e-01 1.75462878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.78509989299994 meters 0.0251394481453284 Centerline is valid? [True, True] Translation: X:421.53, Y:31.52, Z:17.55 [[ 9.85655271e-01 -1.62650867e-01 -4.50375572e-02 4.21525660e+02] [ 1.62599637e-01 9.86680341e-01 -4.82317775e-03 3.15157654e+01] [ 4.52221664e-02 -2.56909987e-03 9.98973651e-01 1.75495581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.84509989299994 meters 0.027163495460333184 Centerline is valid? [True, True] Translation: X:421.59, Y:31.52, Z:17.55 [[ 9.86297873e-01 -1.59192910e-01 -4.32911505e-02 4.21585079e+02] [ 1.59142317e-01 9.87244774e-01 -4.63465590e-03 3.15237572e+01] [ 4.34767664e-02 -2.31830273e-03 9.99051749e-01 1.75528310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.90509989299994 meters 0.022383747275070896 Centerline is valid? [True, True] Translation: X:421.65, Y:31.54, Z:17.56 [[ 9.86422031e-01 -1.58350981e-01 -4.35493278e-02 4.21645694e+02] [ 1.58298971e-01 9.87380221e-01 -4.66216110e-03 3.15397136e+01] [ 4.37380027e-02 -2.29495537e-03 9.99040400e-01 1.75558564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.96509989299994 meters 0.02299294954309647 Centerline is valid? [True, True] Translation: X:421.71, Y:31.55, Z:17.56 [[ 9.86287252e-01 -1.59043512e-01 -4.40751446e-02 4.21707597e+02] [ 1.58991077e-01 9.87268760e-01 -4.71509287e-03 3.15463225e+01] [ 4.42639183e-02 -2.35711871e-03 9.99017092e-01 1.75579482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.02509989299995 meters 0.02363684533927841 Centerline is valid? [True, True] Translation: X:421.77, Y:31.55, Z:17.56 [[ 9.86168450e-01 -1.59616362e-01 -4.46587631e-02 4.21769099e+02] [ 1.59563267e-01 9.87176160e-01 -4.77413508e-03 3.15525614e+01] [ 4.48480964e-02 -2.41779677e-03 9.98990892e-01 1.75596265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.08509989299995 meters 0.025292246077099352 Centerline is valid? [True, True] Translation: X:421.83, Y:31.56, Z:17.56 [[ 9.86142505e-01 -1.59703966e-01 -4.49177364e-02 4.21829759e+02] [ 1.59650520e-01 9.87161938e-01 -4.79794579e-03 3.15587565e+01] [ 4.51073306e-02 -2.43968168e-03 9.98979167e-01 1.75618688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.14509989299995 meters 0.023499905562947447 Centerline is valid? [True, True] Translation: X:421.89, Y:31.57, Z:17.56 [[ 9.86559363e-01 -1.57132927e-01 -4.48315276e-02 4.21890738e+02] [ 1.57077492e-01 9.87574719e-01 -4.77868098e-03 3.15701191e+01] [ 4.50253714e-02 -2.32757147e-03 9.98983132e-01 1.75643908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.20509989299995 meters 0.02341296463144759 Centerline is valid? [True, True] Translation: X:421.95, Y:31.58, Z:17.57 [[ 9.86886259e-01 -1.54845302e-01 -4.55899470e-02 4.21951723e+02] [ 1.54785657e-01 9.87936136e-01 -4.85702742e-03 3.15785329e+01] [ 4.57920440e-02 -2.26333627e-03 9.98948430e-01 1.75663549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.26509989299996 meters 0.020209754259370757 Centerline is valid? [True, True] Translation: X:422.01, Y:31.59, Z:17.57 [[ 9.87256417e-01 -1.52427521e-01 -4.57232686e-02 4.22012500e+02] [ 1.52365020e-01 9.88312293e-01 -4.86947552e-03 3.15924400e+01] [ 4.59311105e-02 -2.15920579e-03 9.98942276e-01 1.75683000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.32509989299996 meters 0.02103757919073331 Centerline is valid? [True, True] Translation: X:422.07, Y:31.60, Z:17.57 [[ 9.87394636e-01 -1.51611522e-01 -4.54508391e-02 4.22073696e+02] [ 1.51549050e-01 9.88437902e-01 -4.83722078e-03 3.15990103e+01] [ 4.56587104e-02 -2.11178565e-03 9.98954865e-01 1.75704786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.38509989299996 meters 0.02368702905163612 Centerline is valid? [True, True] Translation: X:422.13, Y:31.60, Z:17.57 [[ 9.87251649e-01 -1.52387262e-01 -4.59598083e-02 4.22134995e+02] [ 1.52324737e-01 9.88318450e-01 -4.88022611e-03 3.16038203e+01] [ 4.61666108e-02 -2.18280446e-03 9.98931369e-01 1.75716960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.44509989299996 meters 0.02503346763231011 Centerline is valid? [True, True] Translation: X:422.20, Y:31.61, Z:17.57 [[ 9.86924348e-01 -1.54085567e-01 -4.73071857e-02 4.22196540e+02] [ 1.54021785e-01 9.88054738e-01 -5.01245671e-03 3.16091028e+01] [ 4.75144362e-02 -2.33942161e-03 9.98867812e-01 1.75729350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.50509989299997 meters 0.022238601331577023 Centerline is valid? [True, True] Translation: X:422.26, Y:31.62, Z:17.58 [[ 9.86577257e-01 -1.56158004e-01 -4.77492909e-02 4.22257899e+02] [ 1.56095706e-01 9.87729006e-01 -5.05383549e-03 3.16203385e+01] [ 4.79525565e-02 -2.46746011e-03 9.98846567e-01 1.75751860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.56509989299997 meters 0.025722583720579218 Centerline is valid? [True, True] Translation: X:422.32, Y:31.62, Z:17.58 [[ 9.86316089e-01 -1.57703898e-01 -4.80630060e-02 4.22318943e+02] [ 1.57642776e-01 9.87483120e-01 -5.08353980e-03 3.16231161e+01] [ 4.82631011e-02 -2.56280860e-03 9.98831370e-01 1.75770764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.62509989299997 meters 0.025747422647242463 Centerline is valid? [True, True] Translation: X:422.38, Y:31.63, Z:17.58 [[ 9.86393949e-01 -1.57401742e-01 -4.74517554e-02 4.22380845e+02] [ 1.57341945e-01 9.87531443e-01 -5.01619788e-03 3.16313293e+01] [ 4.76496588e-02 -2.51820424e-03 9.98860936e-01 1.75798096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.685099893 meters 0.023859714426234465 Centerline is valid? [True, True] Translation: X:422.44, Y:31.64, Z:17.58 [[ 9.86866684e-01 -1.54223954e-01 -4.80533099e-02 4.22441653e+02] [ 1.54159038e-01 9.88033006e-01 -5.07641042e-03 3.16433268e+01] [ 4.82611604e-02 -2.39811173e-03 9.98831872e-01 1.75825127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.745099893 meters 0.02362735502829231 Centerline is valid? [True, True] Translation: X:422.50, Y:31.65, Z:17.58 [[ 9.87328574e-01 -1.51429301e-01 -4.74494772e-02 4.22502405e+02] [ 1.51362903e-01 9.88465563e-01 -5.01018582e-03 3.16518368e+01] [ 4.76608631e-02 -2.23539096e-03 9.98861074e-01 1.75848682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.805099893 meters 0.021174395519242124 Centerline is valid? [True, True] Translation: X:422.56, Y:31.66, Z:17.59 [[ 9.87701434e-01 -1.49184740e-01 -4.67951881e-02 4.22563133e+02] [ 1.49117729e-01 9.88807113e-01 -4.93934836e-03 3.16639152e+01] [ 4.70082902e-02 -2.09939070e-03 9.98892293e-01 1.75884780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.865099893 meters 0.02058172935175114 Centerline is valid? [True, True] Translation: X:422.62, Y:31.67, Z:17.59 [[ 9.87841354e-01 -1.48127438e-01 -4.71987526e-02 4.22624980e+02] [ 1.48058191e-01 9.88966116e-01 -4.97922495e-03 3.16727696e+01] [ 4.74155269e-02 -2.06947763e-03 9.98873108e-01 1.75902487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.925099893 meters 0.02061078213285473 Centerline is valid? [True, True] Translation: X:422.69, Y:31.68, Z:17.59 [[ 9.87975978e-01 -1.47310353e-01 -4.69374734e-02 4.22686981e+02] [ 1.47241113e-01 9.89088252e-01 -4.94821328e-03 3.16798601e+01] [ 4.71542266e-02 -2.02240999e-03 9.98885573e-01 1.75926224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.985099893 meters 0.018990659642283636 Centerline is valid? [True, True] Translation: X:422.75, Y:31.69, Z:17.60 [[ 9.88440358e-01 -1.44431745e-01 -4.60991357e-02 4.22747248e+02] [ 1.44361978e-01 9.89513028e-01 -4.85666255e-03 3.16905820e+01] [ 4.63171516e-02 -1.85444115e-03 9.98925064e-01 1.75958159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.045099893 meters 0.019038115100396602 Centerline is valid? [True, True] Translation: X:422.81, Y:31.70, Z:17.60 [[ 9.88673909e-01 -1.42626892e-01 -4.67062127e-02 4.22809330e+02] [ 1.42553357e-01 9.89774897e-01 -4.91868498e-03 3.16976725e+01] [ 4.69301736e-02 -1.79515189e-03 9.98896559e-01 1.75975732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.10509989299993 meters 0.01803477213817413 Centerline is valid? [True, True] Translation: X:422.87, Y:31.71, Z:17.60 [[ 9.88859593e-01 -1.40497051e-01 -4.91658822e-02 4.22871516e+02] [ 1.40413149e-01 9.90079483e-01 -5.17347252e-03 3.17056925e+01] [ 4.94049889e-02 -1.78769839e-03 9.98777228e-01 1.75980744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.16509989299993 meters 0.018827732008941833 Centerline is valid? [True, True] Translation: X:422.93, Y:31.71, Z:17.60 [[ 9.88746805e-01 -1.41433293e-01 -4.87481158e-02 4.22933776e+02] [ 1.41352254e-01 9.89946106e-01 -5.12322499e-03 3.17106909e+01] [ 4.89826020e-02 -1.82508372e-03 9.98797964e-01 1.76006648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.22509989299994 meters 0.018621292284558028 Centerline is valid? [True, True] Translation: X:423.00, Y:31.72, Z:17.60 [[ 9.88623615e-01 -1.42451740e-01 -4.82788686e-02 4.22995847e+02] [ 1.42373635e-01 9.89799999e-01 -5.07041806e-03 3.17168259e+01] [ 4.85087139e-02 -1.86090300e-03 9.98821026e-01 1.76036764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.28509989299994 meters 0.018761069941178144 Centerline is valid? [True, True] Translation: X:423.06, Y:31.72, Z:17.61 [[ 9.88469610e-01 -1.43757483e-01 -4.75564425e-02 4.23057726e+02] [ 1.43683372e-01 9.89611125e-01 -4.99107877e-03 3.17225519e+01] [ 4.77798895e-02 -1.89954032e-03 9.98856083e-01 1.76068702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.34509989299994 meters 0.020438645526966743 Centerline is valid? [True, True] Translation: X:423.12, Y:31.73, Z:17.61 [[ 9.88053964e-01 -1.46466180e-01 -4.79272649e-02 4.23120084e+02] [ 1.46394260e-01 9.89213554e-01 -5.02641034e-03 3.17250873e+01] [ 4.81464992e-02 -2.04991182e-03 9.98838181e-01 1.76094686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.40509989299994 meters 0.021047113050553796 Centerline is valid? [True, True] Translation: X:423.18, Y:31.73, Z:17.61 [[ 9.87592216e-01 -1.49162178e-01 -4.91147565e-02 4.23180911e+02] [ 1.49090135e-01 9.88810211e-01 -5.14769998e-03 3.17282708e+01] [ 4.93330149e-02 -2.23869724e-03 9.98779877e-01 1.76109535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.46509989299994 meters 0.022049715562861238 Centerline is valid? [True, True] Translation: X:423.24, Y:31.73, Z:17.61 [[ 9.87588694e-01 -1.49054743e-01 -4.95101424e-02 4.23243176e+02] [ 1.48981545e-01 9.88826376e-01 -5.18625242e-03 3.17318273e+01] [ 4.97299703e-02 -2.25421325e-03 9.98760156e-01 1.76133787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.52509989299995 meters 0.02163147625684464 Centerline is valid? [True, True] Translation: X:423.30, Y:31.74, Z:17.62 [[ 9.87780854e-01 -1.48042906e-01 -4.87060816e-02 4.23304841e+02] [ 1.47971413e-01 9.88978539e-01 -5.09030813e-03 3.17386919e+01] [ 4.89228534e-02 -2.17899877e-03 9.98800183e-01 1.76170580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.58509989299995 meters 0.02047636756990625 Centerline is valid? [True, True] Translation: X:423.37, Y:31.75, Z:17.62 [[ 9.88040859e-01 -1.46913233e-01 -4.68162656e-02 4.23366436e+02] [ 1.46846068e-01 9.89147272e-01 -4.88951232e-03 3.17460523e+01] [ 4.70265155e-02 -2.04374657e-03 9.98891551e-01 1.76214904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.64509989299995 meters 0.019589364677407444 Centerline is valid? [True, True] Translation: X:423.43, Y:31.75, Z:17.62 [[ 9.88177279e-01 -1.46593343e-01 -4.49005132e-02 4.23428232e+02] [ 1.46531376e-01 9.89194923e-01 -4.68624349e-03 3.17509575e+01] [ 4.51023318e-02 -1.94849462e-03 9.98980472e-01 1.76246928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.70509989299995 meters 0.022288682396612206 Centerline is valid? [True, True] Translation: X:423.49, Y:31.75, Z:17.63 [[ 9.88121265e-01 -1.47108724e-01 -4.44453531e-02 4.23490039e+02] [ 1.47048694e-01 9.89118395e-01 -4.63499706e-03 3.17510454e+01] [ 4.46435648e-02 -1.95569196e-03 9.99001065e-01 1.76267325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.76509989299996 meters 0.021586882736459766 Centerline is valid? [True, True] Translation: X:423.55, Y:31.76, Z:17.63 [[ 9.87551523e-01 -1.50656338e-01 -4.52178819e-02 4.23550741e+02] [ 1.50598375e-01 9.88583830e-01 -4.70531629e-03 3.17551987e+01] [ 4.54105526e-02 -2.16299729e-03 9.98966067e-01 1.76285274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.82509989299996 meters 0.02384835120641581 Centerline is valid? [True, True] Translation: X:423.61, Y:31.75, Z:17.63 [[ 9.86859441e-01 -1.54382131e-01 -4.76927734e-02 4.23611886e+02] [ 1.54322032e-01 9.88008143e-01 -4.96192530e-03 3.17545367e+01] [ 4.78868811e-02 -2.46332287e-03 9.98849728e-01 1.76276738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.88509989299996 meters 0.025077482680792025 Centerline is valid? [True, True] Translation: X:423.67, Y:31.76, Z:17.63 [[ 9.86489602e-01 -1.56843681e-01 -4.73109340e-02 4.23672981e+02] [ 1.56787402e-01 9.87620115e-01 -4.92133796e-03 3.17568405e+01] [ 4.74971108e-02 -2.56290968e-03 9.98868087e-01 1.76300435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.94509989299996 meters 0.024653297061200275 Centerline is valid? [True, True] Translation: X:423.73, Y:31.76, Z:17.63 [[ 9.85972969e-01 -1.60157220e-01 -4.69783905e-02 4.23734241e+02] [ 1.60105518e-01 9.87087814e-01 -4.88579389e-03 3.17606798e+01] [ 4.71542920e-02 -2.70423885e-03 9.98883957e-01 1.76335370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.00509989299997 meters 0.02541085992795815 Centerline is valid? [True, True] Translation: X:423.80, Y:31.76, Z:17.64 [[ 9.85695625e-01 -1.61982991e-01 -4.65364986e-02 4.23796422e+02] [ 1.61934372e-01 9.86789670e-01 -4.83793272e-03 3.17646040e+01] [ 4.67053990e-02 -2.76712954e-03 9.98904875e-01 1.76364909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.06509989299997 meters 0.02542930259518026 Centerline is valid? [True, True] Translation: X:423.86, Y:31.77, Z:17.64 [[ 9.85786315e-01 -1.62196970e-01 -4.37890757e-02 4.23858575e+02] [ 1.62154265e-01 9.86754934e-01 -4.54920071e-03 3.17683759e+01] [ 4.39469530e-02 -2.61604556e-03 9.99030441e-01 1.76407566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.12509989299997 meters 0.02727882210974154 Centerline is valid? [True, True] Translation: X:423.92, Y:31.77, Z:17.64 [[ 9.85966796e-01 -1.61448194e-01 -4.24730309e-02 4.23919894e+02] [ 1.61407458e-01 9.86878002e-01 -4.40931578e-03 3.17704655e+01] [ 4.26275759e-02 -2.50802498e-03 9.99087884e-01 1.76441713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.185099893 meters 0.02691715842343229 Centerline is valid? [True, True] Translation: X:423.98, Y:31.77, Z:17.65 [[ 9.86166466e-01 -1.60639761e-01 -4.08725864e-02 4.23981531e+02] [ 1.60601585e-01 9.87010221e-01 -4.23727534e-03 3.17743428e+01] [ 4.10223354e-02 -2.38554332e-03 9.99155382e-01 1.76475816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.245099893 meters 0.027703824392066697 Centerline is valid? [True, True] Translation: X:424.04, Y:31.78, Z:17.65 [[ 9.86059805e-01 -1.61427897e-01 -4.03372658e-02 4.24044036e+02] [ 1.61391489e-01 9.86881616e-01 -4.17884788e-03 3.17762330e+01] [ 4.04826887e-02 -2.38949747e-03 9.99177383e-01 1.76502301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.305099893 meters 0.028588160467272757 Centerline is valid? [True, True] Translation: X:424.11, Y:31.78, Z:17.65 [[ 9.85858917e-01 -1.62852253e-01 -3.95137821e-02 4.24106451e+02] [ 1.62818567e-01 9.86647546e-01 -4.09070536e-03 3.17778800e+01] [ 3.96523567e-02 -2.40071902e-03 9.99210652e-01 1.76529288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.365099893 meters 0.031131580955497475 Centerline is valid? [True, True] Translation: X:424.17, Y:31.78, Z:17.66 [[ 9.85761797e-01 -1.63679744e-01 -3.85048141e-02 4.24168008e+02] [ 1.63648493e-01 9.86510670e-01 -3.98345432e-03 3.17773066e+01] [ 3.86374207e-02 -2.37451770e-03 9.99250475e-01 1.76552630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.425099893 meters 0.029318965193400614 Centerline is valid? [True, True] Translation: X:424.23, Y:31.78, Z:17.66 [[ 9.85954756e-01 -1.62775815e-01 -3.73798569e-02 4.24230276e+02] [ 1.62745785e-01 9.86660463e-01 -3.86520308e-03 3.17820145e+01] [ 3.75103886e-02 -2.27249879e-03 9.99293654e-01 1.76566474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.485099893 meters 0.029697945645537616 Centerline is valid? [True, True] Translation: X:424.29, Y:31.79, Z:17.66 [[ 9.86132455e-01 -1.61735215e-01 -3.72088843e-02 4.24292226e+02] [ 1.61704821e-01 9.86831682e-01 -3.84483967e-03 3.17858000e+01] [ 3.73407518e-02 -2.22533479e-03 9.99300113e-01 1.76583963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.545099893 meters 0.028230206109453936 Centerline is valid? [True, True] Translation: X:424.35, Y:31.79, Z:17.66 [[ 9.86140753e-01 -1.61846961e-01 -3.64962396e-02 4.24353885e+02] [ 1.61817890e-01 9.86813441e-01 -3.76864682e-03 3.17901287e+01] [ 3.66249238e-02 -2.18932825e-03 9.99326684e-01 1.76599190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.60509989299993 meters 0.028682901625807243 Centerline is valid? [True, True] Translation: X:424.42, Y:31.79, Z:17.66 [[ 9.86057443e-01 -1.62284442e-01 -3.68032443e-02 4.24415957e+02] [ 1.62255284e-01 9.86741507e-01 -3.79762693e-03 3.17930812e+01] [ 3.69315845e-02 -2.22684254e-03 9.99315315e-01 1.76611836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.66509989299993 meters 0.030797651120174244 Centerline is valid? [True, True] Translation: X:424.48, Y:31.79, Z:17.66 [[ 9.86324303e-01 -1.60724309e-01 -3.64974649e-02 4.24476881e+02] [ 1.60694659e-01 9.86996992e-01 -3.76359974e-03 3.17933798e+01] [ 3.66277900e-02 -2.15281778e-03 9.99326658e-01 1.76619030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.72509989299994 meters 0.02668260365601522 Centerline is valid? [True, True] Translation: X:424.54, Y:31.80, Z:17.66 [[ 9.86708853e-01 -1.58331280e-01 -3.65628986e-02 4.24538186e+02] [ 1.58300036e-01 9.87383874e-01 -3.76627095e-03 3.18031972e+01] [ 3.66979349e-02 -2.07169527e-03 9.99324257e-01 1.76627050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.78509989299994 meters 0.02510129906929185 Centerline is valid? [True, True] Translation: X:424.60, Y:31.81, Z:17.66 [[ 9.86835131e-01 -1.57567766e-01 -3.64530174e-02 4.24600405e+02] [ 1.57536256e-01 9.87506072e-01 -3.75315120e-03 3.18112580e+01] [ 3.65889517e-02 -2.03893043e-03 9.99328320e-01 1.76649114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.84509989299994 meters 0.027318779016710256 Centerline is valid? [True, True] Translation: X:424.66, Y:31.81, Z:17.67 [[ 9.86871971e-01 -1.57395488e-01 -3.61990913e-02 4.24662109e+02] [ 1.57364421e-01 9.87533581e-01 -3.72364893e-03 3.18143096e+01] [ 3.63339038e-02 -2.02168431e-03 9.99337661e-01 1.76676873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.90509989299994 meters 0.025450416606232873 Centerline is valid? [True, True] Translation: X:424.72, Y:31.82, Z:17.67 [[ 9.86872676e-01 -1.57351825e-01 -3.63692696e-02 4.24724293e+02] [ 1.57320556e-01 9.87540516e-01 -3.73788186e-03 3.18229093e+01] [ 3.65042898e-02 -2.03282024e-03 9.99331429e-01 1.76700314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.96509989299994 meters 0.026274350177153592 Centerline is valid? [True, True] Translation: X:424.79, Y:31.83, Z:17.67 [[ 9.86782793e-01 -1.57839703e-01 -3.66926076e-02 4.24786635e+02] [ 1.57808372e-01 9.87462571e-01 -3.76676496e-03 3.18271295e+01] [ 3.68271217e-02 -2.07342183e-03 9.99319500e-01 1.76720067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.02509989299995 meters 0.02515761413029175 Centerline is valid? [True, True] Translation: X:424.85, Y:31.83, Z:17.67 [[ 9.86594814e-01 -1.58762698e-01 -3.77502228e-02 4.24847934e+02] [ 1.58730321e-01 9.87314382e-01 -3.87239016e-03 3.18345527e+01] [ 3.78861290e-02 -2.17162494e-03 9.99279703e-01 1.76742084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.08509989299995 meters 0.026329140084715184 Centerline is valid? [True, True] Translation: X:424.91, Y:31.84, Z:17.68 [[ 9.86631481e-01 -1.58050847e-01 -3.97271919e-02 4.24908883e+02] [ 1.58014504e-01 9.87428391e-01 -4.07300009e-03 3.18396170e+01] [ 3.98714983e-02 -2.25892242e-03 9.99202262e-01 1.76757264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.14509989299995 meters 0.026331861909843646 Centerline is valid? [True, True] Translation: X:424.97, Y:31.85, Z:17.68 [[ 9.86786579e-01 -1.56609677e-01 -4.15410322e-02 4.24970647e+02] [ 1.56568940e-01 9.87657878e-01 -4.25248944e-03 3.18463046e+01] [ 4.16943087e-02 -2.30773586e-03 9.99127749e-01 1.76780223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.20509989299995 meters 0.026831918063704736 Centerline is valid? [True, True] Translation: X:425.03, Y:31.85, Z:17.68 [[ 9.86980086e-01 -1.55152036e-01 -4.24046592e-02 4.25032449e+02] [ 1.55108382e-01 9.87887936e-01 -4.33772411e-03 3.18529378e+01] [ 4.25640579e-02 -2.29607076e-03 9.99091101e-01 1.76814681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.26509989299996 meters 0.026973657377872034 Centerline is valid? [True, True] Translation: X:425.09, Y:31.86, Z:17.68 [[ 9.87356553e-01 -1.52156688e-01 -4.44452347e-02 4.25092602e+02] [ 1.52105854e-01 9.88353767e-01 -4.54320148e-03 3.18601548e+01] [ 4.46188936e-02 -2.27462061e-03 9.99001492e-01 1.76827076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.32509989299996 meters 0.025898325192091735 Centerline is valid? [True, True] Translation: X:425.15, Y:31.87, Z:17.69 [[ 9.87673334e-01 -1.50042621e-01 -4.45936968e-02 4.25153877e+02] [ 1.49989372e-01 9.88677108e-01 -4.55673124e-03 3.18684201e+01] [ 4.47724711e-02 -2.18801865e-03 9.98994814e-01 1.76852972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.38509989299996 meters 0.02288278252517808 Centerline is valid? [True, True] Translation: X:425.22, Y:31.88, Z:17.69 [[ 9.87888674e-01 -1.48513308e-01 -4.49417901e-02 4.25215602e+02] [ 1.48457761e-01 9.88908098e-01 -4.58977213e-03 3.18798774e+01] [ 4.51249424e-02 -2.13777362e-03 9.98979064e-01 1.76885879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.44509989299996 meters 0.023252505181730738 Centerline is valid? [True, True] Translation: X:425.28, Y:31.89, Z:17.69 [[ 9.87902963e-01 -1.48135293e-01 -4.58657839e-02 4.25277589e+02] [ 1.48077227e-01 9.88964728e-01 -4.67992210e-03 3.18869378e+01] [ 4.60529041e-02 -2.16836919e-03 9.98936649e-01 1.76912317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.50509989299997 meters 0.021961917726664188 Centerline is valid? [True, True] Translation: X:425.34, Y:31.90, Z:17.69 [[ 9.87841786e-01 -1.48299285e-01 -4.66468443e-02 4.25339216e+02] [ 1.48239571e-01 9.88940043e-01 -4.75615019e-03 3.18963688e+01] [ 4.68362659e-02 -2.21658427e-03 9.98900121e-01 1.76936822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.56509989299997 meters 0.021545936798105143 Centerline is valid? [True, True] Translation: X:425.40, Y:31.90, Z:17.70 [[ 9.87807046e-01 -1.48042346e-01 -4.81736873e-02 4.25401691e+02] [ 1.47978547e-01 9.88978393e-01 -4.90787914e-03 3.19044612e+01] [ 4.83693098e-02 -2.28063464e-03 9.98826916e-01 1.76956710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.62509989299997 meters 0.022838967972290007 Centerline is valid? [True, True] Translation: X:425.46, Y:31.91, Z:17.70 [[ 9.87939413e-01 -1.46932821e-01 -4.88514265e-02 4.25462143e+02] [ 1.46866117e-01 9.89143885e-01 -4.97173922e-03 3.19109205e+01] [ 4.90516015e-02 -2.26284219e-03 9.98793682e-01 1.76985074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.685099893 meters 0.02236837166569281 Centerline is valid? [True, True] Translation: X:425.52, Y:31.92, Z:17.70 [[ 9.88258842e-01 -1.44825175e-01 -4.86839905e-02 4.25522897e+02] [ 1.44756501e-01 9.89454917e-01 -4.95213446e-03 3.19203051e+01] [ 4.88878075e-02 -2.15333342e-03 9.98801955e-01 1.77021175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.745099893 meters 0.0196205778303051 Centerline is valid? [True, True] Translation: X:425.58, Y:31.93, Z:17.71 [[ 9.88763879e-01 -1.41741942e-01 -4.74890836e-02 4.25583342e+02] [ 1.41673134e-01 9.89901715e-01 -4.82878063e-03 3.19337892e+01] [ 4.76939661e-02 -1.95340343e-03 9.98860085e-01 1.77073603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.805099893 meters 0.020643468210077 Centerline is valid? [True, True] Translation: X:425.64, Y:31.94, Z:17.71 [[ 9.88943674e-01 -1.40410861e-01 -4.76990631e-02 4.25644176e+02] [ 1.40340027e-01 9.90091500e-01 -4.84743196e-03 3.19404690e+01] [ 4.79070690e-02 -1.90025062e-03 9.98849990e-01 1.77102252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.865099893 meters 0.019795137375710637 Centerline is valid? [True, True] Translation: X:425.71, Y:31.95, Z:17.71 [[ 9.88814518e-01 -1.41212482e-01 -4.80092143e-02 4.25705757e+02] [ 1.41141802e-01 9.89977381e-01 -4.87615135e-03 3.19494205e+01] [ 4.82166097e-02 -1.95449776e-03 9.98834991e-01 1.77130350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.925099893 meters 0.021471203099716844 Centerline is valid? [True, True] Translation: X:425.77, Y:31.95, Z:17.71 [[ 9.88264810e-01 -1.44705406e-01 -4.89184135e-02 4.25766748e+02] [ 1.44636454e-01 9.89472406e-01 -4.96519131e-03 3.19537986e+01] [ 4.91219104e-02 -2.16846200e-03 9.98790436e-01 1.77142963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.985099893 meters 0.02353601301523023 Centerline is valid? [True, True] Translation: X:425.83, Y:31.96, Z:17.72 [[ 9.87456383e-01 -1.49906503e-01 -4.95775419e-02 4.25826955e+02] [ 1.49842253e-01 9.88697115e-01 -5.03128063e-03 3.19579657e+01] [ 4.97713943e-02 -2.46064039e-03 9.98757605e-01 1.77163879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.04509989299993 meters 0.028171963613539405 Centerline is valid? [True, True] Translation: X:425.89, Y:31.96, Z:17.72 [[ 9.86881179e-01 -1.53107674e-01 -5.12208917e-02 4.25887392e+02] [ 1.53043436e-01 9.88205796e-01 -5.19716800e-03 3.19585518e+01] [ 5.14125084e-02 -2.71003400e-03 9.98673825e-01 1.77171488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.10509989299993 meters 0.02780437314950731 Centerline is valid? [True, True] Translation: X:425.95, Y:31.97, Z:17.72 [[ 9.86151365e-01 -1.57068101e-01 -5.32456287e-02 4.25947572e+02] [ 1.57004613e-01 9.87583110e-01 -5.39933279e-03 3.19671944e+01] [ 5.34325466e-02 -3.03524991e-03 9.98566848e-01 1.77196065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.16509989299993 meters 0.029944798007576465 Centerline is valid? [True, True] Translation: X:426.01, Y:31.97, Z:17.72 [[ 9.86042861e-01 -1.57749238e-01 -5.32414683e-02 4.26008115e+02] [ 1.57686793e-01 9.87474423e-01 -5.39808429e-03 3.19722210e+01] [ 5.34261319e-02 -3.07273390e-03 9.98567077e-01 1.77221112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.22509989299994 meters 0.026494723770901136 Centerline is valid? [True, True] Translation: X:426.07, Y:31.99, Z:17.73 [[ 9.86632859e-01 -1.54716655e-01 -5.11698956e-02 4.26067312e+02] [ 1.54655014e-01 9.87954925e-01 -5.18590680e-03 3.19862121e+01] [ 5.13558965e-02 -2.79709489e-03 9.98676498e-01 1.77282243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.28509989299994 meters 0.02378187193046362 Centerline is valid? [True, True] Translation: X:426.13, Y:32.00, Z:17.73 [[ 9.86885266e-01 -1.53281606e-01 -5.06183898e-02 4.26128316e+02] [ 1.53219438e-01 9.88178877e-01 -5.12935254e-03 3.19975681e+01] [ 5.08062590e-02 -2.69363878e-03 9.98704896e-01 1.77320722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.34509989299994 meters 0.026117455166431488 Centerline is valid? [True, True] Translation: X:426.19, Y:32.00, Z:17.74 [[ 9.87408298e-01 -1.50097960e-01 -4.99545325e-02 4.26187778e+02] [ 1.50033503e-01 9.88667970e-01 -5.05899607e-03 3.20025778e+01] [ 5.01477912e-02 -2.49955880e-03 9.98738680e-01 1.77350691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.40509989299994 meters 0.02273021584022355 Centerline is valid? [True, True] Translation: X:426.25, Y:32.02, Z:17.74 [[ 9.88089622e-01 -1.44929200e-01 -5.17148466e-02 4.26247908e+02] [ 1.44853068e-01 9.89439317e-01 -5.23708809e-03 3.20163137e+01] [ 5.19277095e-02 -2.31634180e-03 9.98648160e-01 1.77369714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.46509989299994 meters 0.020864104692875876 Centerline is valid? [True, True] Translation: X:426.31, Y:32.03, Z:17.74 [[ 9.88487559e-01 -1.41558417e-01 -5.34187326e-02 4.26308270e+02] [ 1.41472340e-01 9.89927435e-01 -5.40843689e-03 3.20275322e+01] [ 5.36462786e-02 -2.21110054e-03 9.98557554e-01 1.77391010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.52509989299995 meters 0.02041102401494761 Centerline is valid? [True, True] Translation: X:426.37, Y:32.04, Z:17.74 [[ 9.89023793e-01 -1.36687749e-01 -5.61105730e-02 4.26367936e+02] [ 1.36585062e-01 9.90612068e-01 -5.67911214e-03 3.20381987e+01] [ 5.63600758e-02 -2.04708904e-03 9.98408409e-01 1.77394070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.58509989299995 meters 0.018088513277257443 Centerline is valid? [True, True] Translation: X:426.43, Y:32.05, Z:17.74 [[ 9.89388373e-01 -1.33588566e-01 -5.71379221e-02 4.26428276e+02] [ 1.33477001e-01 9.91035046e-01 -5.78176482e-03 3.20501159e+01] [ 5.73980609e-02 -1.90618759e-03 9.98349553e-01 1.77426489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.64509989299995 meters 0.01717898527872915 Centerline is valid? [True, True] Translation: X:426.49, Y:32.06, Z:17.75 [[ 9.90039447e-01 -1.29211971e-01 -5.59120758e-02 4.26489115e+02] [ 1.29098297e-01 9.91615674e-01 -5.65547261e-03 3.20613414e+01] [ 5.61740455e-02 -1.61901279e-03 9.98419679e-01 1.77459857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.70509989299995 meters 0.01630622709739674 Centerline is valid? [True, True] Translation: X:426.55, Y:32.07, Z:17.75 [[ 9.90384524e-01 -1.26962951e-01 -5.49445509e-02 4.26550648e+02] [ 1.26849895e-01 9.91906373e-01 -5.55445688e-03 3.20711394e+01] [ 5.52050604e-02 -1.46866238e-03 9.98473958e-01 1.77497201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.76509989299996 meters 0.015498711329255909 Centerline is valid? [True, True] Translation: X:426.61, Y:32.08, Z:17.75 [[ 9.90668446e-01 -1.25188500e-01 -5.38875652e-02 4.26612708e+02] [ 1.25077350e-01 9.92132060e-01 -5.44356193e-03 3.20805790e+01] [ 5.41450525e-02 -1.34734881e-03 9.98532172e-01 1.77528153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.82509989299996 meters 0.015305464879300597 Centerline is valid? [True, True] Translation: X:426.67, Y:32.09, Z:17.76 [[ 9.90766670e-01 -1.25025356e-01 -5.24410786e-02 4.26674326e+02] [ 1.24920102e-01 9.92152686e-01 -5.29297163e-03 3.20882083e+01] [ 5.26913126e-02 -1.30684502e-03 9.98609993e-01 1.77561334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.88509989299996 meters 0.015579030093145712 Centerline is valid? [True, True] Translation: X:426.74, Y:32.09, Z:17.76 [[ 9.90681527e-01 -1.26302407e-01 -5.09687574e-02 4.26736310e+02] [ 1.26204856e-01 9.91990881e-01 -5.14071437e-03 3.20944543e+01] [ 5.12098271e-02 -1.33969394e-03 9.98687017e-01 1.77592121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.94509989299996 meters 0.017862768880220918 Centerline is valid? [True, True] Translation: X:426.80, Y:32.10, Z:17.76 [[ 9.90049288e-01 -1.31512479e-01 -5.00687003e-02 4.26796889e+02] [ 1.31425152e-01 9.91313250e-01 -5.04676071e-03 3.20963672e+01] [ 5.02974780e-02 -1.58374469e-03 9.98733025e-01 1.77605187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.00509989299997 meters 0.01920764620551687 Centerline is valid? [True, True] Translation: X:426.86, Y:32.10, Z:17.76 [[ 9.89322348e-01 -1.36696322e-01 -5.05510323e-02 4.26857767e+02] [ 1.36614101e-01 9.90611243e-01 -5.09445560e-03 3.20997405e+01] [ 5.07728143e-02 -1.86592506e-03 9.98708486e-01 1.77622704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.06509989299997 meters 0.02048499985549857 Centerline is valid? [True, True] Translation: X:426.92, Y:32.10, Z:17.76 [[ 9.88226122e-01 -1.44536980e-01 -5.01815994e-02 4.26918689e+02] [ 1.44466069e-01 9.89496835e-01 -5.05644444e-03 3.21031228e+01] [ 5.03853770e-02 -2.25262794e-03 9.98727310e-01 1.77638793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.12509989299997 meters 0.02298795719365946 Centerline is valid? [True, True] Translation: X:426.98, Y:32.11, Z:17.77 [[ 9.87690704e-01 -1.48166556e-01 -5.01372675e-02 4.26978470e+02] [ 1.48100438e-01 9.88959422e-01 -5.05184070e-03 3.21051689e+01] [ 5.03322369e-02 -2.43569518e-03 9.98729560e-01 1.77658852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.185099893 meters 0.02351709594914323 Centerline is valid? [True, True] Translation: X:427.04, Y:32.11, Z:17.77 [[ 9.87418181e-01 -1.49994055e-01 -5.00711354e-02 4.27040697e+02] [ 1.49930484e-01 9.88683672e-01 -5.04456703e-03 3.21108285e+01] [ 5.02611691e-02 -2.52609235e-03 9.98732914e-01 1.77682604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.245099893 meters 0.025131485997014123 Centerline is valid? [True, True] Translation: X:427.10, Y:32.12, Z:17.77 [[ 9.87310650e-01 -1.50729329e-01 -4.99835012e-02 4.27102029e+02] [ 1.50667096e-01 9.88571749e-01 -5.03221938e-03 3.21161662e+01] [ 5.01707803e-02 -2.56250518e-03 9.98737366e-01 1.77699853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.305099893 meters 0.02326596124159754 Centerline is valid? [True, True] Translation: X:427.16, Y:32.13, Z:17.77 [[ 9.87266069e-01 -1.50947612e-01 -5.02048577e-02 4.27163456e+02] [ 1.50885256e-01 9.88538376e-01 -5.05159427e-03 3.21260818e+01] [ 5.03919546e-02 -2.58790517e-03 9.98726166e-01 1.77733578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.365099893 meters 0.023499063500372976 Centerline is valid? [True, True] Translation: X:427.22, Y:32.13, Z:17.78 [[ 9.87306690e-01 -1.50839376e-01 -4.97290817e-02 4.27224771e+02] [ 1.50778242e-01 9.88554966e-01 -5.00004539e-03 3.21333397e+01] [ 4.99141344e-02 -2.56148523e-03 9.98750228e-01 1.77769246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.425099893 meters 0.024232976661194047 Centerline is valid? [True, True] Translation: X:427.29, Y:32.14, Z:17.78 [[ 9.87228492e-01 -1.51018555e-01 -5.07277135e-02 4.27286244e+02] [ 1.50955373e-01 9.88527440e-01 -5.09663053e-03 3.21391067e+01] [ 5.09154225e-02 -2.62608203e-03 9.98699516e-01 1.77790063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.485099893 meters 0.02342273313661431 Centerline is valid? [True, True] Translation: X:427.35, Y:32.15, Z:17.78 [[ 9.87221846e-01 -1.51076999e-01 -5.06830147e-02 4.27348327e+02] [ 1.51014194e-01 9.88518498e-01 -5.08841834e-03 3.21471034e+01] [ 5.08698406e-02 -2.63045688e-03 9.98701827e-01 1.77821984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.54509989299993 meters 0.02546829992985182 Centerline is valid? [True, True] Translation: X:427.41, Y:32.15, Z:17.78 [[ 9.87191134e-01 -1.51121713e-01 -5.11457922e-02 4.27409001e+02] [ 1.51058005e-01 9.88511583e-01 -5.13123080e-03 3.21512953e+01] [ 5.13336484e-02 -2.66047576e-03 9.98678015e-01 1.77842570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.60509989299993 meters 0.025881239760840714 Centerline is valid? [True, True] Translation: X:427.47, Y:32.16, Z:17.79 [[ 9.87328607e-01 -1.50282356e-01 -5.09650371e-02 4.27470746e+02] [ 1.50218133e-01 9.88639671e-01 -5.11015049e-03 3.21585097e+01] [ 5.11540229e-02 -2.61047496e-03 9.98687364e-01 1.77871134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.66509989299993 meters 0.024137776352465983 Centerline is valid? [True, True] Translation: X:427.53, Y:32.17, Z:17.79 [[ 9.87423793e-01 -1.49790140e-01 -5.05684280e-02 4.27532542e+02] [ 1.49726453e-01 9.88714477e-01 -5.06675823e-03 3.21672836e+01] [ 5.07566872e-02 -2.56839373e-03 9.98707746e-01 1.77897132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.72509989299994 meters 0.02515637672947322 Centerline is valid? [True, True] Translation: X:427.59, Y:32.17, Z:17.79 [[ 9.87478835e-01 -1.49408052e-01 -5.06239546e-02 4.27593750e+02] [ 1.49343905e-01 9.88772322e-01 -5.06876119e-03 3.21725431e+01] [ 5.08128789e-02 -2.55508468e-03 9.98704923e-01 1.77915441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.78509989299994 meters 0.025140676101294897 Centerline is valid? [True, True] Translation: X:427.66, Y:32.18, Z:17.79 [[ 9.87608023e-01 -1.48417940e-01 -5.10147772e-02 4.27656103e+02] [ 1.48351642e-01 9.88921499e-01 -5.10479114e-03 3.21788422e+01] [ 5.12072526e-02 -2.52659328e-03 9.98684852e-01 1.77935318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.84509989299994 meters 0.025397470559402047 Centerline is valid? [True, True] Translation: X:427.72, Y:32.18, Z:17.80 [[ 9.87688277e-01 -1.48420158e-01 -4.94299904e-02 4.27718520e+02] [ 1.48358122e-01 9.88921354e-01 -4.94204622e-03 3.21837610e+01] [ 4.96158723e-02 -2.45213945e-03 9.98765364e-01 1.77964848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.90509989299994 meters 0.02472625431352261 Centerline is valid? [True, True] Translation: X:427.78, Y:32.19, Z:17.80 [[ 9.87649938e-01 -1.48978657e-01 -4.85073098e-02 4.27780276e+02] [ 1.48919753e-01 9.88837408e-01 -4.84636675e-03 3.21897470e+01] [ 4.86878477e-02 -2.43718278e-03 9.98811070e-01 1.77995919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.96509989299994 meters 0.024235705551363357 Centerline is valid? [True, True] Translation: X:427.84, Y:32.19, Z:17.80 [[ 9.87549160e-01 -1.49878190e-01 -4.77826907e-02 4.27842590e+02] [ 1.49822246e-01 9.88701440e-01 -4.77052914e-03 3.21947702e+01] [ 4.79578134e-02 -2.44777801e-03 9.98846363e-01 1.78024098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.02509989299995 meters 0.02809537601369852 Centerline is valid? [True, True] Translation: X:427.90, Y:32.19, Z:17.81 [[ 9.87131654e-01 -1.52938810e-01 -4.66992264e-02 4.27903030e+02] [ 1.52888926e-01 9.88232395e-01 -4.65934319e-03 3.21930564e+01] [ 4.68622828e-02 -2.54040945e-03 9.98898129e-01 1.78053142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.08509989299995 meters 0.030580657863601358 Centerline is valid? [True, True] Translation: X:427.96, Y:32.19, Z:17.81 [[ 9.86703734e-01 -1.55721344e-01 -4.65467894e-02 4.27963433e+02] [ 1.55674869e-01 9.87797432e-01 -4.64413402e-03 3.21922671e+01] [ 4.67019899e-02 -2.66378097e-03 9.98905315e-01 1.78076301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.14509989299995 meters 0.02755895987518048 Centerline is valid? [True, True] Translation: X:428.02, Y:32.20, Z:17.81 [[ 9.86478999e-01 -1.57281074e-01 -4.60635256e-02 4.28024487e+02] [ 1.57237262e-01 9.87550162e-01 -4.59568241e-03 3.22000871e+01] [ 4.62128560e-02 -2.70935844e-03 9.98927941e-01 1.78106710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.20509989299995 meters 0.028747190452799627 Centerline is valid? [True, True] Translation: X:428.09, Y:32.20, Z:17.81 [[ 9.86152444e-01 -1.59344581e-01 -4.59637011e-02 4.28085981e+02] [ 1.59303302e-01 9.87219049e-01 -4.58327964e-03 3.22009323e+01] [ 4.61065621e-02 -2.80235696e-03 9.98932596e-01 1.78131220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.26509989299996 meters 0.030525081396765786 Centerline is valid? [True, True] Translation: X:428.15, Y:32.20, Z:17.82 [[ 9.85721539e-01 -1.61978473e-01 -4.60002377e-02 4.28146836e+02] [ 1.61940057e-01 9.86789944e-01 -4.58532739e-03 3.22018204e+01] [ 4.61352963e-02 -2.92942514e-03 9.98930905e-01 1.78156934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.32509989299996 meters 0.032633992883044936 Centerline is valid? [True, True] Translation: X:428.21, Y:32.20, Z:17.82 [[ 9.85220432e-01 -1.64845916e-01 -4.65459453e-02 4.28208178e+02] [ 1.64809811e-01 9.86314457e-01 -4.63877515e-03 3.21998796e+01] [ 4.66736219e-02 -3.10101242e-03 9.98905379e-01 1.78174675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.38509989299996 meters 0.03238012218983008 Centerline is valid? [True, True] Translation: X:428.27, Y:32.20, Z:17.82 [[ 9.85141213e-01 -1.65416273e-01 -4.61979180e-02 4.28270004e+02] [ 1.65381420e-01 9.86218944e-01 -4.60215055e-03 3.22032866e+01] [ 4.63225325e-02 -3.10650911e-03 9.98921705e-01 1.78203310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.44509989299996 meters 0.034576546656119145 Centerline is valid? [True, True] Translation: X:428.33, Y:32.20, Z:17.82 [[ 9.85431189e-01 -1.63962650e-01 -4.51842932e-02 4.28331266e+02] [ 1.63927927e-01 9.86462063e-01 -4.49807869e-03 3.22025402e+01] [ 4.53101080e-02 -2.97442048e-03 9.98968542e-01 1.78238156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.50509989299997 meters 0.034919031876223854 Centerline is valid? [True, True] Translation: X:428.39, Y:32.21, Z:17.83 [[ 9.85711870e-01 -1.62217351e-01 -4.53612204e-02 4.28392617e+02] [ 1.62180590e-01 9.86750769e-01 -4.51406232e-03 3.22051598e+01] [ 4.54924784e-02 -2.90714468e-03 9.98960451e-01 1.78260870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.56509989299997 meters 0.029512320389051695 Centerline is valid? [True, True] Translation: X:428.45, Y:32.21, Z:17.83 [[ 9.85978263e-01 -1.60449615e-01 -4.58561461e-02 4.28453465e+02] [ 1.60410219e-01 9.87039894e-01 -4.56169472e-03 3.22131213e+01] [ 4.59937677e-02 -2.85806260e-03 9.98937638e-01 1.78282245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.62509989299997 meters 0.02870182088095506 Centerline is valid? [True, True] Translation: X:428.52, Y:32.22, Z:17.83 [[ 9.86018541e-01 -1.59934512e-01 -4.67802214e-02 4.28515653e+02] [ 1.59893028e-01 9.87123387e-01 -4.65169240e-03 3.22168851e+01] [ 4.69218168e-02 -2.89317630e-03 9.98894375e-01 1.78303732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.685099893 meters 0.029108762211662892 Centerline is valid? [True, True] Translation: X:428.58, Y:32.22, Z:17.83 [[ 9.86018803e-01 -1.59734767e-01 -4.74523377e-02 4.28579079e+02] [ 1.59692031e-01 9.87155624e-01 -4.71479573e-03 3.22207641e+01] [ 4.75959588e-02 -2.92888293e-03 9.98862376e-01 1.78325267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.745099893 meters 0.02822037670569251 Centerline is valid? [True, True] Translation: X:428.64, Y:32.22, Z:17.83 [[ 9.86357929e-01 -1.57457138e-01 -4.80133930e-02 4.28640779e+02] [ 1.57410940e-01 9.87521689e-01 -4.76556145e-03 3.22227894e+01] [ 4.81646386e-02 -2.85728398e-03 9.98835324e-01 1.78346931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.805099893 meters 0.026236514182291927 Centerline is valid? [True, True] Translation: X:428.70, Y:32.23, Z:17.84 [[ 9.86660920e-01 -1.55683957e-01 -4.75681993e-02 4.28701619e+02] [ 1.55636675e-01 9.87803096e-01 -4.71889569e-03 3.22279301e+01] [ 4.77226709e-02 -2.74740642e-03 9.98856846e-01 1.78380176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.865099893 meters 0.024751008644383257 Centerline is valid? [True, True] Translation: X:428.76, Y:32.23, Z:17.84 [[ 9.87289850e-01 -1.52219690e-01 -4.56937331e-02 4.28762728e+02] [ 1.52172432e-01 9.88343573e-01 -4.53135752e-03 3.22309937e+01] [ 4.58508693e-02 -2.47956321e-03 9.98945218e-01 1.78417118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.925099893 meters 0.02425653948870781 Centerline is valid? [True, True] Translation: X:428.82, Y:32.23, Z:17.84 [[ 9.87662941e-01 -1.49858675e-01 -4.54344829e-02 4.28824009e+02] [ 1.49809512e-01 9.88704617e-01 -4.50452857e-03 3.22344664e+01] [ 4.55963257e-02 -2.35756177e-03 9.98957165e-01 1.78443002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.985099893 meters 0.023765613934863018 Centerline is valid? [True, True] Translation: X:428.89, Y:32.24, Z:17.85 [[ 9.88134950e-01 -1.46538120e-01 -4.59989033e-02 4.28885642e+02] [ 1.46484223e-01 9.89202502e-01 -4.55868701e-03 3.22362295e+01] [ 4.61702517e-02 -2.23351566e-03 9.98931088e-01 1.78460322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.04509989299993 meters 0.022174632109625534 Centerline is valid? [True, True] Translation: X:428.95, Y:32.24, Z:17.85 [[ 9.88448444e-01 -1.44245717e-01 -4.65064241e-02 4.28946929e+02] [ 1.44188208e-01 9.89539560e-01 -4.60652367e-03 3.22410381e+01] [ 4.66844177e-02 -2.15236681e-03 9.98907369e-01 1.78482194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.10509989299993 meters 0.020693581517585782 Centerline is valid? [True, True] Translation: X:429.01, Y:32.25, Z:17.85 [[ 9.89107391e-01 -1.39701131e-01 -4.63698398e-02 4.29007030e+02] [ 1.39639047e-01 9.90191827e-01 -4.59144814e-03 3.22458658e+01] [ 4.65564669e-02 -1.93360495e-03 9.98913788e-01 1.78513482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.16509989299993 meters 0.01997431392875487 Centerline is valid? [True, True] Translation: X:429.07, Y:32.25, Z:17.85 [[ 9.89590588e-01 -1.36261200e-01 -4.62963601e-02 4.29068016e+02] [ 1.36195562e-01 9.90671366e-01 -4.58400752e-03 3.22512801e+01] [ 4.64891006e-02 -1.76906806e-03 9.98917231e-01 1.78546227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.22509989299994 meters 0.01857113807445566 Centerline is valid? [True, True] Translation: X:429.13, Y:32.26, Z:17.86 [[ 9.90438660e-01 -1.29886950e-01 -4.64826901e-02 4.29128046e+02] [ 1.29813841e-01 9.91527709e-01 -4.60092013e-03 3.22564856e+01] [ 4.66864747e-02 -1.47716736e-03 9.98908500e-01 1.78565394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.28509989299994 meters 0.01656955489491057 Centerline is valid? [True, True] Translation: X:429.19, Y:32.26, Z:17.86 [[ 9.90905919e-01 -1.26281964e-01 -4.64577775e-02 4.29188658e+02] [ 1.26204984e-01 9.91993527e-01 -4.59828276e-03 3.22641706e+01] [ 4.66664947e-02 -1.30673745e-03 9.98909671e-01 1.78595773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.34509989299994 meters 0.016158645227413577 Centerline is valid? [True, True] Translation: X:429.25, Y:32.27, Z:17.86 [[ 9.91311336e-01 -1.23276060e-01 -4.58786233e-02 4.29250406e+02] [ 1.23197851e-01 9.92371747e-01 -4.53921980e-03 3.22679799e+01] [ 4.60882268e-02 -1.15236774e-03 9.98936708e-01 1.78629196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.40509989299994 meters 0.015717362025987423 Centerline is valid? [True, True] Translation: X:429.31, Y:32.27, Z:17.87 [[ 9.91364654e-01 -1.22755815e-01 -4.61208390e-02 4.29312475e+02] [ 1.22676335e-01 9.92436254e-01 -4.56059125e-03 3.22725503e+01] [ 4.63318318e-02 -1.13672655e-03 9.98925457e-01 1.78658844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.46509989299994 meters 0.016428998380902254 Centerline is valid? [True, True] Translation: X:429.37, Y:32.27, Z:17.87 [[ 9.91285232e-01 -1.23420711e-01 -4.60534137e-02 4.29374025e+02] [ 1.23342333e-01 9.92353748e-01 -4.55063595e-03 3.22745125e+01] [ 4.62629204e-02 -1.16935728e-03 9.98928613e-01 1.78684682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.52509989299995 meters 0.016781507749042485 Centerline is valid? [True, True] Translation: X:429.44, Y:32.27, Z:17.87 [[ 9.90848441e-01 -1.27135776e-01 -4.53415990e-02 4.29435733e+02] [ 1.27063793e-01 9.91884439e-01 -4.47794164e-03 3.22748376e+01] [ 4.55429331e-02 -1.32431404e-03 9.98961504e-01 1.78710383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.58509989299995 meters 0.01708423176953515 Centerline is valid? [True, True] Translation: X:429.50, Y:32.28, Z:17.87 [[ 9.90322038e-01 -1.31025101e-01 -4.57677171e-02 4.29496676e+02] [ 1.30955978e-01 9.91377888e-01 -4.51840088e-03 3.22767152e+01] [ 4.59651266e-02 -1.51888417e-03 9.98941890e-01 1.78731556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.64509989299995 meters 0.02167948396162182 Centerline is valid? [True, True] Translation: X:429.56, Y:32.27, Z:17.87 [[ 9.89444000e-01 -1.37159124e-01 -4.67754902e-02 4.29557839e+02] [ 1.37093803e-01 9.90547310e-01 -4.61696010e-03 3.22711834e+01] [ 4.69665942e-02 -1.84440638e-03 9.98894758e-01 1.78741962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.70509989299995 meters 0.024301339444427052 Centerline is valid? [True, True] Translation: X:429.62, Y:32.27, Z:17.88 [[ 9.88885569e-01 -1.41079247e-01 -4.69252219e-02 4.29617750e+02] [ 1.41017956e-01 9.89996208e-01 -4.63073985e-03 3.22705733e+01] [ 4.71090931e-02 -2.03802705e-03 9.98887671e-01 1.78759153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.76509989299996 meters 0.025366435726172733 Centerline is valid? [True, True] Translation: X:429.68, Y:32.27, Z:17.88 [[ 9.88232402e-01 -1.45532297e-01 -4.70857712e-02 4.29678442e+02] [ 1.45475588e-01 9.89350926e-01 -4.64731330e-03 3.22710511e+01] [ 4.72606855e-02 -2.25720468e-03 9.98880039e-01 1.78778313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.82509989299996 meters 0.024501215022455367 Centerline is valid? [True, True] Translation: X:429.74, Y:32.28, Z:17.88 [[ 9.88040044e-01 -1.46805738e-01 -4.71693376e-02 4.29739390e+02] [ 1.46750284e-01 9.89162616e-01 -4.65536690e-03 3.22769468e+01] [ 4.73415800e-02 -2.32242477e-03 9.98876059e-01 1.78808595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.88509989299996 meters 0.02244253829132358 Centerline is valid? [True, True] Translation: X:429.80, Y:32.28, Z:17.88 [[ 9.88262560e-01 -1.45182988e-01 -4.75290615e-02 4.29799993e+02] [ 1.45124897e-01 9.89402232e-01 -4.68913440e-03 3.22848233e+01] [ 4.77061421e-02 -2.26355417e-03 9.98858849e-01 1.78839323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.94509989299996 meters 0.02108478180643103 Centerline is valid? [True, True] Translation: X:429.86, Y:32.29, Z:17.89 [[ 9.88831336e-01 -1.41428012e-01 -4.70181499e-02 4.29860074e+02] [ 1.41367004e-01 9.89946396e-01 -4.63710288e-03 3.22929449e+01] [ 4.72012643e-02 -2.06150233e-03 9.98883272e-01 1.78867480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.00509989299997 meters 0.018979693907242582 Centerline is valid? [True, True] Translation: X:429.92, Y:32.30, Z:17.89 [[ 9.89959969e-01 -1.33597163e-01 -4.61633740e-02 4.29919464e+02] [ 1.33529882e-01 9.91034333e-01 -4.55203999e-03 3.23039281e+01] [ 4.63576282e-02 -1.65785254e-03 9.98923532e-01 1.78908489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.06509989299997 meters 0.016951547511070437 Centerline is valid? [True, True] Translation: X:429.98, Y:32.31, Z:17.89 [[ 9.90643410e-01 -1.28335266e-01 -4.64294524e-02 4.29979198e+02] [ 1.28261434e-01 9.91729824e-01 -4.57825887e-03 3.23146257e+01] [ 4.66330247e-02 -1.41968618e-03 9.98911080e-01 1.78933977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.12509989299997 meters 0.016665733263517606 Centerline is valid? [True, True] Translation: X:430.04, Y:32.32, Z:17.89 [[ 9.91167241e-01 -1.23486956e-01 -4.83577462e-02 4.30038735e+02] [ 1.23401099e-01 9.92345419e-01 -4.76840172e-03 3.23219894e+01] [ 4.85764233e-02 -1.24111543e-03 9.98818698e-01 1.78937450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.185099893 meters 0.01668514402448131 Centerline is valid? [True, True] Translation: X:430.10, Y:32.33, Z:17.90 [[ 9.91240599e-01 -1.22618152e-01 -4.90597924e-02 4.30097769e+02] [ 1.22528707e-01 9.92453178e-01 -4.83788359e-03 3.23282700e+01] [ 4.92827593e-02 -1.21572633e-03 9.98784127e-01 1.78953656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.245099893 meters 0.017437959483594712 Centerline is valid? [True, True] Translation: X:430.16, Y:32.33, Z:17.90 [[ 9.91107205e-01 -1.23455591e-01 -4.96510391e-02 4.30155727e+02] [ 1.23364932e-01 9.92349284e-01 -4.89808277e-03 3.23338247e+01] [ 4.98758688e-02 -1.27067191e-03 9.98754616e-01 1.78972813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.305099893 meters 0.016403093026847334 Centerline is valid? [True, True] Translation: X:430.22, Y:32.34, Z:17.90 [[ 9.90988709e-01 -1.24591164e-01 -4.91774304e-02 4.30215791e+02] [ 1.24503516e-01 9.92207296e-01 -4.85351127e-03 3.23419358e+01] [ 4.93989098e-02 -1.31298815e-03 9.98778266e-01 1.79011407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.365099893 meters 0.01685462172878909 Centerline is valid? [True, True] Translation: X:430.28, Y:32.35, Z:17.91 [[ 9.91023191e-01 -1.25198046e-01 -4.68880005e-02 4.30275600e+02] [ 1.25119049e-01 9.92130944e-01 -4.62755856e-03 3.23485468e+01] [ 4.70983975e-02 -1.28056417e-03 9.98889434e-01 1.79060507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.425099893 meters 0.017163375885142246 Centerline is valid? [True, True] Translation: X:430.34, Y:32.35, Z:17.91 [[ 9.91026758e-01 -1.25375338e-01 -4.63356230e-02 4.30335287e+02] [ 1.25298384e-01 9.92108564e-01 -4.57304228e-03 3.23545684e+01] [ 4.65433151e-02 -1.27377143e-03 9.98915461e-01 1.79093669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.485099893 meters 0.01809391411898039 Centerline is valid? [True, True] Translation: X:430.40, Y:32.36, Z:17.91 [[ 9.90906170e-01 -1.26693155e-01 -4.53189403e-02 4.30395637e+02] [ 1.26620918e-01 9.91941096e-01 -4.47270192e-03 3.23595705e+01] [ 4.55203801e-02 -1.30629790e-03 9.98962556e-01 1.79118128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.54509989299993 meters 0.018579306544684777 Centerline is valid? [True, True] Translation: X:430.46, Y:32.36, Z:17.91 [[ 9.90822057e-01 -1.27379518e-01 -4.52339445e-02 4.30456519e+02] [ 1.27308271e-01 9.91853152e-01 -4.46419320e-03 3.23643253e+01] [ 4.54340772e-02 -1.33543417e-03 9.98966447e-01 1.79141862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.60509989299993 meters 0.019584359633234714 Centerline is valid? [True, True] Translation: X:430.52, Y:32.37, Z:17.92 [[ 9.90609858e-01 -1.28693025e-01 -4.61542436e-02 4.30516841e+02] [ 1.28620342e-01 9.91683454e-01 -4.55352747e-03 3.23680761e+01] [ 4.63564069e-02 -1.42560539e-03 9.98923947e-01 1.79157254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.66509989299993 meters 0.01863114330115665 Centerline is valid? [True, True] Translation: X:430.58, Y:32.38, Z:17.92 [[ 9.90458333e-01 -1.29284204e-01 -4.77272002e-02 4.30577642e+02] [ 1.29207178e-01 9.91606442e-01 -4.70850223e-03 3.23766424e+01] [ 4.79353341e-02 -1.50312157e-03 9.98849310e-01 1.79180281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.72509989299994 meters 0.017515592351892352 Centerline is valid? [True, True] Translation: X:430.64, Y:32.39, Z:17.92 [[ 9.90685293e-01 -1.27497902e-01 -4.78219122e-02 4.30638324e+02] [ 1.27418574e-01 9.91837822e-01 -4.71613481e-03 3.23851948e+01] [ 4.80328786e-02 -1.42119446e-03 9.98844744e-01 1.79213034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.78509989299994 meters 0.016566322848052137 Centerline is valid? [True, True] Translation: X:430.70, Y:32.39, Z:17.92 [[ 9.90946211e-01 -1.25220501e-01 -4.84296692e-02 4.30699242e+02] [ 1.25136513e-01 9.92128046e-01 -4.77429627e-03 3.23937076e+01] [ 4.86462728e-02 -1.32924911e-03 9.98815185e-01 1.79236769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.84509989299994 meters 0.015988933628074402 Centerline is valid? [True, True] Translation: X:430.76, Y:32.40, Z:17.93 [[ 9.91341548e-01 -1.21589013e-01 -4.95786981e-02 4.30759948e+02] [ 1.21496546e-01 9.92579830e-01 -4.88572033e-03 3.24023582e+01] [ 4.98048656e-02 -1.18022302e-03 9.98758270e-01 1.79261167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.90509989299994 meters 0.015462644684557101 Centerline is valid? [True, True] Translation: X:430.82, Y:32.41, Z:17.93 [[ 9.91438377e-01 -1.20722897e-01 -4.97586791e-02 4.30819901e+02] [ 1.20628744e-01 9.92685588e-01 -4.90193313e-03 3.24093645e+01] [ 4.99864992e-02 -1.14236234e-03 9.98749240e-01 1.79288612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.96509989299994 meters 0.015566242796722056 Centerline is valid? [True, True] Translation: X:430.88, Y:32.41, Z:17.93 [[ 9.91372623e-01 -1.21142335e-01 -5.00485505e-02 4.30879855e+02] [ 1.21047616e-01 9.92634457e-01 -4.93048955e-03 3.24142263e+01] [ 5.02772067e-02 -1.17030535e-03 9.98734616e-01 1.79314828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.02509989299995 meters 0.0158720332657073 Centerline is valid? [True, True] Translation: X:430.94, Y:32.42, Z:17.93 [[ 9.91128886e-01 -1.22894483e-01 -5.06011696e-02 4.30940341e+02] [ 1.22799940e-01 9.92418926e-01 -4.98493035e-03 3.24189833e+01] [ 5.08301789e-02 -1.27311213e-03 9.98706499e-01 1.79348453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.08509989299995 meters 0.017675723083677732 Centerline is valid? [True, True] Translation: X:431.00, Y:32.42, Z:17.94 [[ 9.90902375e-01 -1.24718346e-01 -5.05748713e-02 4.31000302e+02] [ 1.24626265e-01 9.92191246e-01 -4.98249843e-03 3.24210683e+01] [ 5.08013536e-02 -1.36578779e-03 9.98707844e-01 1.79369884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.14509989299995 meters 0.01929475087136175 Centerline is valid? [True, True] Translation: X:431.06, Y:32.42, Z:17.94 [[ 9.90509751e-01 -1.27325509e-01 -5.17556560e-02 4.31058990e+02] [ 1.27232563e-01 9.91859801e-01 -5.10011309e-03 3.24228420e+01] [ 5.19837291e-02 -1.53329299e-03 9.98646755e-01 1.79383966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.20509989299995 meters 0.01869558023242929 Centerline is valid? [True, True] Translation: X:431.12, Y:32.43, Z:17.94 [[ 9.90281014e-01 -1.29039450e-01 -5.18876954e-02 4.31118127e+02] [ 1.28948247e-01 9.91638130e-01 -5.11564143e-03 3.24288915e+01] [ 5.21139367e-02 -1.62490475e-03 9.98639824e-01 1.79412320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.26509989299996 meters 0.01997645225254145 Centerline is valid? [True, True] Translation: X:431.18, Y:32.43, Z:17.94 [[ 9.90150813e-01 -1.30078970e-01 -5.17767191e-02 4.31176770e+02] [ 1.29989460e-01 9.91502224e-01 -5.10688639e-03 3.24331731e+01] [ 5.20010307e-02 -1.67384007e-03 9.98645628e-01 1.79441403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.32509989299996 meters 0.019903404557382872 Centerline is valid? [True, True] Translation: X:431.24, Y:32.44, Z:17.95 [[ 9.90236682e-01 -1.29764730e-01 -5.09158911e-02 4.31236040e+02] [ 1.29677593e-01 9.91543478e-01 -5.02519813e-03 3.24397945e+01] [ 5.11374132e-02 -1.62651466e-03 9.98690302e-01 1.79475372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.38509989299996 meters 0.019467203175804915 Centerline is valid? [True, True] Translation: X:431.30, Y:32.45, Z:17.95 [[ 9.90369289e-01 -1.28806460e-01 -5.07697505e-02 4.31295104e+02] [ 1.28718476e-01 9.91668507e-01 -5.01252933e-03 3.24471208e+01] [ 5.09924089e-02 -1.57074981e-03 9.98697806e-01 1.79502287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.44509989299996 meters 0.017620167486696932 Centerline is valid? [True, True] Translation: X:431.36, Y:32.46, Z:17.95 [[ 9.90617321e-01 -1.27061022e-01 -5.03271380e-02 4.31355261e+02] [ 1.26972242e-01 9.91893818e-01 -4.97026885e-03 3.24565241e+01] [ 5.05507045e-02 -1.46651515e-03 9.98720419e-01 1.79529192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.50509989299997 meters 0.01721541015980642 Centerline is valid? [True, True] Translation: X:431.41, Y:32.46, Z:17.96 [[ 9.90470404e-01 -1.28083464e-01 -5.06261204e-02 4.31414935e+02] [ 1.27994960e-01 9.91762216e-01 -4.99979611e-03 3.24632463e+01] [ 5.08494645e-02 -1.52773818e-03 9.98705161e-01 1.79557824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.56509989299997 meters 0.01837720551524309 Centerline is valid? [True, True] Translation: X:431.47, Y:32.47, Z:17.96 [[ 9.90218313e-01 -1.29793082e-01 -5.12000738e-02 4.31473965e+02] [ 1.29704855e-01 9.91539755e-01 -5.05620106e-03 3.24663985e+01] [ 5.14231685e-02 -1.63415527e-03 9.98675617e-01 1.79567564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.62509989299997 meters 0.02023312853031524 Centerline is valid? [True, True] Translation: X:431.53, Y:32.47, Z:17.96 [[ 9.89817367e-01 -1.32980074e-01 -5.07728251e-02 4.31533756e+02] [ 1.32897551e-01 9.91117103e-01 -5.01294261e-03 3.24682355e+01] [ 5.09884368e-02 -1.78568647e-03 9.98697647e-01 1.79584418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.685099893 meters 0.01975611097448518 Centerline is valid? [True, True] Translation: X:431.59, Y:32.47, Z:17.96 [[ 9.89761712e-01 -1.33738861e-01 -4.98564962e-02 4.31594199e+02] [ 1.33660214e-01 9.91014989e-01 -4.92320348e-03 3.24741242e+01] [ 5.00669587e-02 -1.79103165e-03 9.98744257e-01 1.79621707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.745099893 meters 0.021183029580479847 Centerline is valid? [True, True] Translation: X:431.65, Y:32.48, Z:17.96 [[ 9.89928904e-01 -1.32704704e-01 -4.92973241e-02 4.31653871e+02] [ 1.32626524e-01 9.91154129e-01 -4.86811994e-03 3.24780463e+01] [ 4.95072687e-02 -1.71904012e-03 9.98772284e-01 1.79646111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.805099893 meters 0.018696433676610825 Centerline is valid? [True, True] Translation: X:431.71, Y:32.49, Z:17.97 [[ 9.90053094e-01 -1.31906156e-01 -4.89452390e-02 4.31714204e+02] [ 1.31828092e-01 9.91260807e-01 -4.83382732e-03 3.24882848e+01] [ 4.91551087e-02 -1.66661175e-03 9.98789767e-01 1.79679335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.865099893 meters 0.018732647839937843 Centerline is valid? [True, True] Translation: X:431.78, Y:32.49, Z:17.97 [[ 9.90092278e-01 -1.32211012e-01 -4.73025296e-02 4.31775311e+02] [ 1.32138526e-01 9.91220259e-01 -4.66991354e-03 3.24937394e+01] [ 4.75046396e-02 -1.62684121e-03 9.98869693e-01 1.79713210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.925099893 meters 0.019631210101316625 Centerline is valid? [True, True] Translation: X:431.84, Y:32.50, Z:17.97 [[ 9.89941800e-01 -1.33373350e-01 -4.71887955e-02 4.31836889e+02] [ 1.33302613e-01 9.91064441e-01 -4.65696115e-03 3.24981985e+01] [ 4.73882517e-02 -1.68026922e-03 9.98875132e-01 1.79738813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.985099893 meters 0.019896260511348362 Centerline is valid? [True, True] Translation: X:431.90, Y:32.50, Z:17.98 [[ 9.89705789e-01 -1.35091005e-01 -4.72532658e-02 4.31897986e+02] [ 1.35022109e-01 9.90831620e-01 -4.66161142e-03 3.25046912e+01] [ 4.74497717e-02 -1.76661180e-03 9.98872063e-01 1.79759470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.04509989299993 meters 0.02131716086956821 Centerline is valid? [True, True] Translation: X:431.96, Y:32.51, Z:17.98 [[ 9.89644771e-01 -1.35482262e-01 -4.74107967e-02 4.31958059e+02] [ 1.35413431e-01 9.90778150e-01 -4.67552260e-03 3.25089566e+01] [ 4.76070318e-02 -1.79295217e-03 9.98864533e-01 1.79776010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.10509989299993 meters 0.02030949049678306 Centerline is valid? [True, True] Translation: X:432.02, Y:32.52, Z:17.98 [[ 9.89702950e-01 -1.35029646e-01 -4.74875214e-02 4.32018695e+02] [ 1.34960118e-01 9.90839969e-01 -4.68213261e-03 3.25184706e+01] [ 4.76847609e-02 -1.77500104e-03 9.98860858e-01 1.79810697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.16509989299993 meters 0.019719017599355716 Centerline is valid? [True, True] Translation: X:432.08, Y:32.53, Z:17.98 [[ 9.89712726e-01 -1.34627778e-01 -4.84157073e-02 4.32079250e+02] [ 1.34555112e-01 9.90894622e-01 -4.77187111e-03 3.25267533e+01] [ 4.86172904e-02 -1.79179937e-03 9.98815873e-01 1.79832730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.22509989299994 meters 0.020657620605160187 Centerline is valid? [True, True] Translation: X:432.14, Y:32.53, Z:17.98 [[ 9.89677221e-01 -1.34690445e-01 -4.89640858e-02 4.32139411e+02] [ 1.34616298e-01 9.90886059e-01 -4.82395747e-03 3.25328732e+01] [ 4.91675710e-02 -1.81720312e-03 9.98788890e-01 1.79842642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.28509989299994 meters 0.020899623616172907 Centerline is valid? [True, True] Translation: X:432.20, Y:32.54, Z:17.99 [[ 9.89653388e-01 -1.34782095e-01 -4.91930670e-02 4.32200653e+02] [ 1.34707501e-01 9.90873568e-01 -4.84378630e-03 3.25397470e+01] [ 4.93969655e-02 -1.83300561e-03 9.98777543e-01 1.79866685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.34509989299994 meters 0.020808690041440352 Centerline is valid? [True, True] Translation: X:432.26, Y:32.55, Z:17.99 [[ 9.89826807e-01 -1.33746255e-01 -4.85266142e-02 4.32261757e+02] [ 1.33672509e-01 9.91014049e-01 -4.77645996e-03 3.25482918e+01] [ 4.87293901e-02 -1.75880616e-03 9.98810469e-01 1.79897648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.40509989299994 meters 0.019502632905003883 Centerline is valid? [True, True] Translation: X:432.32, Y:32.56, Z:17.99 [[ 9.90132632e-01 -1.31535476e-01 -4.83299990e-02 4.32321909e+02] [ 1.31459779e-01 9.91310099e-01 -4.75540229e-03 3.25594032e+01] [ 4.85355202e-02 -1.64497199e-03 9.98820103e-01 1.79929461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.46509989299994 meters 0.01782668461543293 Centerline is valid? [True, True] Translation: X:432.38, Y:32.57, Z:18.00 [[ 9.90225308e-01 -1.30811837e-01 -4.83952821e-02 4.32383778e+02] [ 1.30735170e-01 9.91405900e-01 -4.75982515e-03 3.25694190e+01] [ 4.86020097e-02 -1.61366611e-03 9.98816921e-01 1.79961979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.52509989299995 meters 0.017709158700060748 Centerline is valid? [True, True] Translation: X:432.45, Y:32.58, Z:18.00 [[ 9.90362110e-01 -1.29794387e-01 -4.83353796e-02 4.32445336e+02] [ 1.29716876e-01 9.91539695e-01 -4.75032554e-03 3.25776201e+01] [ 4.85430132e-02 -1.56537200e-03 9.98819866e-01 1.79987207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.58509989299995 meters 0.017299192516885952 Centerline is valid? [True, True] Translation: X:432.51, Y:32.59, Z:18.00 [[ 9.90734741e-01 -1.27199145e-01 -4.75925539e-02 4.32505988e+02] [ 1.27121164e-01 9.91876183e-01 -4.67404459e-03 3.25869110e+01] [ 4.78004552e-02 -1.41928247e-03 9.98855897e-01 1.80010346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.64509989299995 meters 0.016993215879862234 Centerline is valid? [True, True] Translation: X:432.57, Y:32.60, Z:18.00 [[ 9.91120478e-01 -1.24306266e-01 -4.72032845e-02 4.32565575e+02] [ 1.24226355e-01 9.92243084e-01 -4.63418223e-03 3.25950401e+01] [ 4.74131905e-02 -1.27085907e-03 9.98874554e-01 1.80031944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.70509989299995 meters 0.01565907911277942 Centerline is valid? [True, True] Translation: X:432.63, Y:32.61, Z:18.01 [[ 9.91607905e-01 -1.20201905e-01 -4.75948038e-02 4.32626587e+02] [ 1.20115989e-01 9.92748874e-01 -4.67154021e-03 3.26061829e+01] [ 4.78112159e-02 -1.08456075e-03 9.98855801e-01 1.80059627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.76509989299996 meters 0.01450346438379007 Centerline is valid? [True, True] Translation: X:432.69, Y:32.62, Z:18.01 [[ 9.92418800e-01 -1.13506337e-01 -4.71299973e-02 4.32686597e+02] [ 1.13414660e-01 9.93536984e-01 -4.62345479e-03 3.26180209e+01] [ 4.73501868e-02 -7.56829160e-04 9.98878064e-01 1.80085151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.82509989299996 meters 0.013749223016265851 Centerline is valid? [True, True] Translation: X:432.75, Y:32.63, Z:18.01 [[ 9.92865169e-01 -1.09140480e-01 -4.80323963e-02 4.32747553e+02] [ 1.09040234e-01 9.94026177e-01 -4.71022398e-03 3.26275661e+01] [ 4.82595354e-02 -5.60846404e-04 9.98834672e-01 1.80108045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.88509989299996 meters 0.013147205902578356 Centerline is valid? [True, True] Translation: X:432.81, Y:32.64, Z:18.01 [[ 9.93276426e-01 -1.05253876e-01 -4.82033427e-02 4.32808583e+02] [ 1.05148423e-01 9.94445313e-01 -4.72527589e-03 3.26368774e+01] [ 4.84329418e-02 -3.75000304e-04 9.98826366e-01 1.80135166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.94509989299996 meters 0.01325339998390404 Centerline is valid? [True, True] Translation: X:432.87, Y:32.64, Z:18.02 [[ 9.93206674e-01 -1.05752721e-01 -4.85475461e-02 4.32869637e+02] [ 1.05646437e-01 9.94392377e-01 -4.75725751e-03 3.26413058e+01] [ 4.87784027e-02 -4.03935371e-04 9.98809544e-01 1.80157435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.00509989299997 meters 0.013478616968544651 Centerline is valid? [True, True] Translation: X:432.93, Y:32.65, Z:18.02 [[ 9.92922340e-01 -1.07943192e-01 -4.95327616e-02 4.32930243e+02] [ 1.07835354e-01 9.94156926e-01 -4.85213485e-03 3.26457203e+01] [ 4.97670929e-02 -5.23589779e-04 9.98760713e-01 1.80183114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.06509989299997 meters 0.014434504617419236 Centerline is valid? [True, True] Translation: X:432.99, Y:32.65, Z:18.02 [[ 9.92250976e-01 -1.13277838e-01 -5.10502829e-02 4.32990810e+02] [ 1.13170378e-01 9.93563015e-01 -5.00000904e-03 3.26473975e+01] [ 5.12880632e-02 -8.16115963e-04 9.98683568e-01 1.80199771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.12509989299997 meters 0.015047967302747588 Centerline is valid? [True, True] Translation: X:433.05, Y:32.65, Z:18.02 [[ 9.91867264e-01 -1.16638647e-01 -5.09387517e-02 4.33050868e+02] [ 1.16536082e-01 9.93173928e-01 -4.98908536e-03 3.26506900e+01] [ 5.11729602e-02 -9.87692107e-04 9.98689317e-01 1.80225641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.185099893 meters 0.015265238271712158 Centerline is valid? [True, True] Translation: X:433.11, Y:32.66, Z:18.03 [[ 9.91584991e-01 -1.19314764e-01 -5.02313955e-02 4.33112035e+02] [ 1.19218474e-01 9.92855858e-01 -4.91949582e-03 3.26553711e+01] [ 5.04595038e-02 -1.11041208e-03 9.98725491e-01 1.80266718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.245099893 meters 0.01766848302967367 Centerline is valid? [True, True] Translation: X:433.17, Y:32.66, Z:18.03 [[ 9.91248239e-01 -1.22801232e-01 -4.84436456e-02 4.33172748e+02] [ 1.22715910e-01 9.92430507e-01 -4.74281205e-03 3.26559846e+01] [ 4.86593749e-02 -1.24350197e-03 9.98814657e-01 1.80295369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.305099893 meters 0.017470249498317564 Centerline is valid? [True, True] Translation: X:433.23, Y:32.66, Z:18.03 [[ 9.90924017e-01 -1.25594901e-01 -4.79115136e-02 4.33233932e+02] [ 1.25514751e-01 9.92080669e-01 -4.68974905e-03 3.26618532e+01] [ 4.81210950e-02 -1.36641671e-03 9.98840574e-01 1.80329738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.365099893 meters 0.017455202222622666 Centerline is valid? [True, True] Translation: X:433.30, Y:32.67, Z:18.04 [[ 9.90468154e-01 -1.29329967e-01 -4.73982702e-02 4.33295014e+02] [ 1.29255874e-01 9.91600429e-01 -4.63781716e-03 3.26668033e+01] [ 4.75999538e-02 -1.53289462e-03 9.98865304e-01 1.80360188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.425099893 meters 0.01821809033000798 Centerline is valid? [True, True] Translation: X:433.36, Y:32.67, Z:18.04 [[ 9.90174433e-01 -1.31543114e-01 -4.74447214e-02 4.33356991e+02] [ 1.31471505e-01 9.91309089e-01 -4.64038377e-03 3.26709336e+01] [ 4.76427941e-02 -1.64283956e-03 9.98863086e-01 1.80385786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.485099893 meters 0.01915048064833191 Centerline is valid? [True, True] Translation: X:433.42, Y:32.67, Z:18.04 [[ 9.89937453e-01 -1.33538983e-01 -4.68100249e-02 4.33418887e+02] [ 1.33471666e-01 9.91042070e-01 -4.57486228e-03 3.26746235e+01] [ 4.70016264e-02 -1.71898448e-03 9.98893334e-01 1.80420010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.54509989299993 meters 0.02124939512362012 Centerline is valid? [True, True] Translation: X:433.48, Y:32.68, Z:18.04 [[ 9.89950279e-01 -1.33258331e-01 -4.73356411e-02 4.33480499e+02] [ 1.33189353e-01 9.91079830e-01 -4.62246026e-03 3.26776580e+01] [ 4.75293804e-02 -1.72859759e-03 9.98868345e-01 1.80440896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.60509989299993 meters 0.019068304003475322 Centerline is valid? [True, True] Translation: X:433.54, Y:32.69, Z:18.05 [[ 9.90050905e-01 -1.31911230e-01 -4.89758453e-02 4.33542297e+02] [ 1.31836017e-01 9.91260028e-01 -4.77708384e-03 3.26879798e+01] [ 4.91779489e-02 -1.72722421e-03 9.98788539e-01 1.80463783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.66509989299993 meters 0.01876912165937846 Centerline is valid? [True, True] Translation: X:433.60, Y:32.70, Z:18.05 [[ 9.90442563e-01 -1.28736952e-01 -4.95007752e-02 4.33602199e+02] [ 1.28656320e-01 9.91677503e-01 -4.82504497e-03 3.26952119e+01] [ 4.97099667e-02 -1.58965767e-03 9.98762430e-01 1.80484544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.72509989299994 meters 0.018370241234269034 Centerline is valid? [True, True] Translation: X:433.66, Y:32.70, Z:18.05 [[ 9.90802093e-01 -1.26042566e-01 -4.92390438e-02 4.33662685e+02] [ 1.25959511e-01 9.92023778e-01 -4.79851913e-03 3.27032862e+01] [ 4.94511199e-02 -1.44774310e-03 9.98775496e-01 1.80516898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.78509989299994 meters 0.016676657525738787 Centerline is valid? [True, True] Translation: X:433.72, Y:32.72, Z:18.06 [[ 9.91460909e-01 -1.21055108e-01 -4.84863542e-02 4.33723430e+02] [ 1.20968703e-01 9.92645084e-01 -4.72333966e-03 3.27154705e+01] [ 4.87015255e-02 -1.18232476e-03 9.98812677e-01 1.80565764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.84509989299994 meters 0.016523408287761113 Centerline is valid? [True, True] Translation: X:433.78, Y:32.72, Z:18.06 [[ 9.91778229e-01 -1.18887746e-01 -4.73460435e-02 4.33782851e+02] [ 1.18803000e-01 9.92907143e-01 -4.60996180e-03 3.27229553e+01] [ 4.75582928e-02 -1.05279223e-03 9.98867909e-01 1.80605890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.90509989299994 meters 0.017303026343295027 Centerline is valid? [True, True] Translation: X:433.84, Y:32.73, Z:18.06 [[ 9.91845328e-01 -1.18870825e-01 -4.59627327e-02 4.33842728e+02] [ 1.18790978e-01 9.92909202e-01 -4.47448841e-03 3.27269186e+01] [ 4.61687064e-02 -1.02195753e-03 9.98933134e-01 1.80640933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.96509989299994 meters 0.01800480392637101 Centerline is valid? [True, True] Translation: X:433.90, Y:32.73, Z:18.07 [[ 9.91469407e-01 -1.21691895e-01 -4.66850987e-02 4.33904212e+02] [ 1.21612683e-01 9.92567231e-01 -4.54391499e-03 3.27306165e+01] [ 4.68910568e-02 -1.17234740e-03 9.98899321e-01 1.80667362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.02509989299995 meters 0.017584337946860294 Centerline is valid? [True, True] Translation: X:433.97, Y:32.74, Z:18.07 [[ 9.90623532e-01 -1.27930973e-01 -4.79445867e-02 4.33965392e+02] [ 1.27854801e-01 9.91781926e-01 -4.66481233e-03 3.27360228e+01] [ 4.81473485e-02 -1.50887271e-03 9.98839104e-01 1.80692487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.08509989299995 meters 0.01918388273138937 Centerline is valid? [True, True] Translation: X:434.03, Y:32.74, Z:18.07 [[ 9.90152676e-01 -1.31149379e-01 -4.89644702e-02 4.34025609e+02] [ 1.31073942e-01 9.91361156e-01 -4.76232970e-03 3.27379540e+01] [ 4.91660503e-02 -1.70253265e-03 9.98789167e-01 1.80710084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.14509989299995 meters 0.020724259124451597 Centerline is valid? [True, True] Translation: X:434.09, Y:32.74, Z:18.07 [[ 9.89805561e-01 -1.33775779e-01 -4.88773247e-02 4.34087629e+02] [ 1.33703867e-01 9.91009934e-01 -4.75260344e-03 3.27410730e+01] [ 4.90736975e-02 -1.83093402e-03 9.98793482e-01 1.80744365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.20509989299995 meters 0.02016336439321243 Centerline is valid? [True, True] Translation: X:434.15, Y:32.75, Z:18.08 [[ 9.89835433e-01 -1.33699030e-01 -4.84807744e-02 4.34149656e+02] [ 1.33628351e-01 9.91020319e-01 -4.71070147e-03 3.27483991e+01] [ 4.86752487e-02 -1.81558671e-03 9.98813007e-01 1.80779231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.26509989299996 meters 0.018523110729026796 Centerline is valid? [True, True] Translation: X:434.21, Y:32.76, Z:18.08 [[ 9.90023398e-01 -1.32086084e-01 -4.90605568e-02 4.34211044e+02] [ 1.32011906e-01 9.91236685e-01 -4.76342324e-03 3.27576729e+01] [ 4.92598056e-02 -1.76067715e-03 9.98784447e-01 1.80805755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.32509989299996 meters 0.020126661104741653 Centerline is valid? [True, True] Translation: X:434.27, Y:32.76, Z:18.08 [[ 9.90112251e-01 -1.31280324e-01 -4.94288064e-02 4.34271738e+02] [ 1.31204203e-01 9.91343764e-01 -4.79560926e-03 3.27612752e+01] [ 4.96305081e-02 -1.73707568e-03 9.98766136e-01 1.80823910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.38509989299996 meters 0.02167104222507309 Centerline is valid? [True, True] Translation: X:434.33, Y:32.76, Z:18.08 [[ 9.90123360e-01 -1.31156621e-01 -4.95345665e-02 4.34332267e+02] [ 1.31080142e-01 9.91360138e-01 -4.80342093e-03 3.27645379e+01] [ 4.97365952e-02 -1.73701874e-03 9.98760859e-01 1.80842214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.44509989299996 meters 0.01867288570844221 Centerline is valid? [True, True] Translation: X:434.39, Y:32.78, Z:18.09 [[ 9.89880070e-01 -1.33007114e-01 -4.94626503e-02 4.34393168e+02] [ 1.32933237e-01 9.91113396e-01 -4.79493568e-03 3.27756238e+01] [ 4.96608559e-02 -1.82881898e-03 9.98764464e-01 1.80889027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.50509989299997 meters 0.02012281743796262 Centerline is valid? [True, True] Translation: X:434.45, Y:32.78, Z:18.09 [[ 9.89407807e-01 -1.36039719e-01 -5.06496348e-02 4.34454711e+02] [ 1.35966457e-01 9.90701297e-01 -4.90531037e-03 3.27787049e+01] [ 5.08459759e-02 -2.03329902e-03 9.98704437e-01 1.80908406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.56509989299997 meters 0.021411894526749273 Centerline is valid? [True, True] Translation: X:434.52, Y:32.78, Z:18.09 [[ 9.89056317e-01 -1.38499386e-01 -5.08480188e-02 4.34515853e+02] [ 1.38428886e-01 9.90360142e-01 -4.92264491e-03 3.27827031e+01] [ 5.10396344e-02 -2.17006157e-03 9.98694271e-01 1.80928627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.62509989299997 meters 0.021885590208971874 Centerline is valid? [True, True] Translation: X:434.58, Y:32.79, Z:18.10 [[ 9.88722171e-01 -1.40590909e-01 -5.16010114e-02 4.34577913e+02] [ 1.40521265e-01 9.90065069e-01 -4.99326947e-03 3.27896478e+01] [ 5.17903672e-02 -2.31408317e-03 9.98655297e-01 1.80952238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.685099893 meters 0.021441716280944233 Centerline is valid? [True, True] Translation: X:434.64, Y:32.80, Z:18.10 [[ 9.88685702e-01 -1.40814028e-01 -5.16913113e-02 4.34639862e+02] [ 1.40744643e-01 9.90033314e-01 -4.99818309e-03 3.27979522e+01] [ 5.18799345e-02 -2.33364298e-03 9.98650603e-01 1.80988282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.745099893 meters 0.022545570273830803 Centerline is valid? [True, True] Translation: X:434.70, Y:32.80, Z:18.10 [[ 9.88938212e-01 -1.39377104e-01 -5.07467879e-02 4.34701028e+02] [ 1.39308532e-01 9.90236887e-01 -4.90314309e-03 3.28049130e+01] [ 5.09347272e-02 -2.22055499e-03 9.98699516e-01 1.81019916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.805099893 meters 0.02041065287689098 Centerline is valid? [True, True] Translation: X:434.76, Y:32.82, Z:18.11 [[ 9.89245377e-01 -1.36903387e-01 -5.14883116e-02 4.34761862e+02] [ 1.36829643e-01 9.90582120e-01 -4.97114445e-03 3.28163777e+01] [ 5.16839673e-02 -2.12744562e-03 9.98661225e-01 1.81052941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.865099893 meters 0.019191892475279592 Centerline is valid? [True, True] Translation: X:434.82, Y:32.83, Z:18.11 [[ 9.89712848e-01 -1.33258029e-01 -5.20651133e-02 4.34822788e+02] [ 1.33177741e-01 9.91079437e-01 -5.02391196e-03 3.28274699e+01] [ 5.22701397e-02 -1.96168396e-03 9.98631055e-01 1.81081358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.925099893 meters 0.0208113533217547 Centerline is valid? [True, True] Translation: X:434.88, Y:32.83, Z:18.11 [[ 9.90013332e-01 -1.31089524e-01 -5.18569126e-02 4.34882952e+02] [ 1.31007038e-01 9.91368823e-01 -5.00131988e-03 3.28315891e+01] [ 5.20649471e-02 -1.84224717e-03 9.98642002e-01 1.81094008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.985099893 meters 0.017713156100861344 Centerline is valid? [True, True] Translation: X:434.94, Y:32.84, Z:18.11 [[ 9.90286626e-01 -1.29113199e-01 -5.15963220e-02 4.34943870e+02] [ 1.29028939e-01 9.91628350e-01 -4.97470021e-03 3.28443529e+01] [ 5.18066752e-02 -1.73103958e-03 9.98655632e-01 1.81135856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.04509989299993 meters 0.019443386366221987 Centerline is valid? [True, True] Translation: X:435.00, Y:32.85, Z:18.11 [[ 9.90195060e-01 -1.29304446e-01 -5.28592790e-02 4.35004650e+02] [ 1.29216484e-01 9.91603330e-01 -5.09266331e-03 3.28484057e+01] [ 5.30739411e-02 -1.78756015e-03 9.98588985e-01 1.81147844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.10509989299993 meters 0.019828717459707365 Centerline is valid? [True, True] Translation: X:435.07, Y:32.85, Z:18.12 [[ 9.90016979e-01 -1.30618672e-01 -5.29636057e-02 4.35066037e+02] [ 1.30532395e-01 9.91430928e-01 -5.09980807e-03 3.28538732e+01] [ 5.31758869e-02 -1.86456972e-03 9.98583421e-01 1.81168897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.16509989299993 meters 0.018817251863167638 Centerline is valid? [True, True] Translation: X:435.13, Y:32.86, Z:18.12 [[ 9.89779598e-01 -1.32765566e-01 -5.20543142e-02 4.35127650e+02] [ 1.32685342e-01 9.91145553e-01 -5.00928729e-03 3.28618430e+01] [ 5.22584629e-02 -1.94875414e-03 9.98631692e-01 1.81209751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.22509989299994 meters 0.020686635768720915 Centerline is valid? [True, True] Translation: X:435.19, Y:32.86, Z:18.12 [[ 9.89699094e-01 -1.33732021e-01 -5.11023502e-02 4.35188752e+02] [ 1.33656173e-01 9.91015580e-01 -4.91411015e-03 3.28649754e+01] [ 5.13003991e-02 -1.96665421e-03 9.98681331e-01 1.81238031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.28509989299994 meters 0.019653449510008223 Centerline is valid? [True, True] Translation: X:435.25, Y:32.87, Z:18.13 [[ 9.89813145e-01 -1.33317977e-01 -4.99625274e-02 4.35250288e+02] [ 1.33245091e-01 9.91071486e-01 -4.80165242e-03 3.28727392e+01] [ 5.01565829e-02 -1.90452284e-03 9.98739551e-01 1.81275799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.34509989299994 meters 0.019356755924026303 Centerline is valid? [True, True] Translation: X:435.31, Y:32.88, Z:18.13 [[ 9.89916590e-01 -1.32746943e-01 -4.94306903e-02 4.35311694e+02] [ 1.32675070e-01 9.91148219e-01 -4.74692944e-03 3.28790919e+01] [ 4.96232811e-02 -1.85915607e-03 9.98766276e-01 1.81302118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.40509989299994 meters 0.02055351561539594 Centerline is valid? [True, True] Translation: X:435.37, Y:32.88, Z:18.13 [[ 9.89820039e-01 -1.33625298e-01 -4.89956197e-02 4.35372703e+02] [ 1.33555928e-01 9.91030125e-01 -4.70169204e-03 3.28828764e+01] [ 4.91844001e-02 -1.88982644e-03 9.98787927e-01 1.81331672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.46509989299994 meters 0.020016522470817776 Centerline is valid? [True, True] Translation: X:435.43, Y:32.89, Z:18.14 [[ 9.89628688e-01 -1.35184534e-01 -4.85819151e-02 4.35434002e+02] [ 1.35118334e-01 9.90818513e-01 -4.65934960e-03 3.28882882e+01] [ 4.87657329e-02 -1.95328140e-03 9.98808334e-01 1.81363553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.52509989299995 meters 0.02128659211795896 Centerline is valid? [True, True] Translation: X:435.50, Y:32.89, Z:18.14 [[ 9.89201677e-01 -1.38203149e-01 -4.87845424e-02 4.35495216e+02] [ 1.38140183e-01 9.90401647e-01 -4.67618707e-03 3.28905589e+01] [ 4.89625549e-02 -2.11341354e-03 9.98798379e-01 1.81383471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.58509989299995 meters 0.02376183126492213 Centerline is valid? [True, True] Translation: X:435.56, Y:32.89, Z:18.14 [[ 9.88972769e-01 -1.39630262e-01 -4.93584125e-02 4.35556030e+02] [ 1.39567670e-01 9.90201242e-01 -4.72936225e-03 3.28921705e+01] [ 4.95351235e-02 -2.21162815e-03 9.98769934e-01 1.81398418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.64509989299995 meters 0.021899337081855517 Centerline is valid? [True, True] Translation: X:435.62, Y:32.90, Z:18.14 [[ 9.88738444e-01 -1.40699293e-01 -5.09901825e-02 4.35617832e+02] [ 1.40634030e-01 9.90049606e-01 -4.88345156e-03 3.28995609e+01] [ 5.11699083e-02 -2.34249854e-03 9.98687215e-01 1.81416508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.70509989299995 meters 0.02215297442276772 Centerline is valid? [True, True] Translation: X:435.68, Y:32.90, Z:18.14 [[ 9.88771617e-01 -1.40471260e-01 -5.09756270e-02 4.35679647e+02] [ 1.40405925e-01 9.90082006e-01 -4.87827596e-03 3.29043184e+01] [ 5.11553086e-02 -2.33377927e-03 9.98687983e-01 1.81441859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.76509989299996 meters 0.022196574080631658 Centerline is valid? [True, True] Translation: X:435.74, Y:32.91, Z:18.15 [[ 9.89127478e-01 -1.38493351e-01 -4.94613326e-02 4.35740898e+02] [ 1.38429541e-01 9.90360990e-01 -4.72994686e-03 3.29103628e+01] [ 4.96396405e-02 -2.16838916e-03 9.98764839e-01 1.81479850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.82509989299996 meters 0.020493916648281943 Centerline is valid? [True, True] Translation: X:435.80, Y:32.92, Z:18.15 [[ 9.89539731e-01 -1.35823366e-01 -4.86120814e-02 4.35801438e+02] [ 1.35758634e-01 9.90731046e-01 -4.64623959e-03 3.29189019e+01] [ 4.87925661e-02 -2.00187110e-03 9.98806927e-01 1.81516494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.88509989299996 meters 0.019328156414846132 Centerline is valid? [True, True] Translation: X:435.86, Y:32.93, Z:18.15 [[ 9.90417397e-01 -1.29687753e-01 -4.74812276e-02 4.35862110e+02] [ 1.29619031e-01 9.91553491e-01 -4.53654497e-03 3.29272723e+01] [ 4.76685113e-02 -1.66139766e-03 9.98861829e-01 1.81541370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.94509989299996 meters 0.017579380810244696 Centerline is valid? [True, True] Translation: X:435.92, Y:32.94, Z:18.16 [[ 9.91012802e-01 -1.25015821e-01 -4.75885579e-02 4.35922762e+02] [ 1.24941453e-01 9.92153702e-01 -4.54585702e-03 3.29364429e+01] [ 4.77834679e-02 -1.44078105e-03 9.98856679e-01 1.81567185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.00509989299997 meters 0.015732362021371574 Centerline is valid? [True, True] Translation: X:435.98, Y:32.95, Z:18.16 [[ 9.91759777e-01 -1.18973419e-01 -4.75170545e-02 4.35983240e+02] [ 1.18892426e-01 9.92896774e-01 -4.53729336e-03 3.29461323e+01] [ 4.77193475e-02 -1.14951282e-03 9.98860122e-01 1.81593473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.06509989299997 meters 0.015925300929341534 Centerline is valid? [True, True] Translation: X:436.04, Y:32.95, Z:18.16 [[ 9.92071113e-01 -1.16426836e-01 -4.73254562e-02 4.36043951e+02] [ 1.16343685e-01 9.93198742e-01 -4.51718728e-03 3.29512679e+01] [ 4.75295054e-02 -1.02464695e-03 9.98869309e-01 1.81618750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.12509989299997 meters 0.014254719279853067 Centerline is valid? [True, True] Translation: X:436.11, Y:32.96, Z:18.16 [[ 9.92381753e-01 -1.13915156e-01 -4.69232764e-02 4.36105850e+02] [ 1.13830731e-01 9.93490075e-01 -4.47615786e-03 3.29597486e+01] [ 4.71277116e-02 -8.99253480e-04 9.98888467e-01 1.81647366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.185099893 meters 0.014538637496769289 Centerline is valid? [True, True] Translation: X:436.17, Y:32.96, Z:18.17 [[ 9.92583322e-01 -1.11806567e-01 -4.77246426e-02 4.36167103e+02] [ 1.11716968e-01 9.93729654e-01 -4.54905339e-03 3.29641560e+01] [ 4.79340066e-02 -8.16337832e-04 9.98850171e-01 1.81660098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.245099893 meters 0.013815168872425466 Centerline is valid? [True, True] Translation: X:436.23, Y:32.97, Z:18.17 [[ 9.93033734e-01 -1.07884856e-01 -4.73799632e-02 4.36227937e+02] [ 1.07792204e-01 9.94163200e-01 -4.51367867e-03 3.29713926e+01] [ 4.75903734e-02 -6.24955498e-04 9.98866741e-01 1.81686395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.305099893 meters 0.01351154853151156 Centerline is valid? [True, True] Translation: X:436.29, Y:32.98, Z:18.17 [[ 9.93183062e-01 -1.06519332e-01 -4.73396010e-02 4.36289311e+02] [ 1.06425379e-01 9.94310473e-01 -4.50791937e-03 3.29774614e+01] [ 4.75504416e-02 -5.60945833e-04 9.98868680e-01 1.81710260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.365099893 meters 0.013282977867379165 Centerline is valid? [True, True] Translation: X:436.35, Y:32.98, Z:18.17 [[ 9.93500408e-01 -1.03211682e-01 -4.80029954e-02 4.36350695e+02] [ 1.03111383e-01 9.94659328e-01 -4.56765258e-03 3.29825619e+01] [ 4.82180623e-02 -4.11690566e-04 9.98836748e-01 1.81729397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.425099893 meters 0.013291071068737425 Centerline is valid? [True, True] Translation: X:436.41, Y:32.99, Z:18.18 [[ 9.93531004e-01 -1.02983379e-01 -4.78598730e-02 4.36412144e+02] [ 1.02883532e-01 9.94682996e-01 -4.55156000e-03 3.29872193e+01] [ 4.80741369e-02 -4.01876788e-04 9.98843689e-01 1.81764494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.485099893 meters 0.013315531588379979 Centerline is valid? [True, True] Translation: X:436.47, Y:32.99, Z:18.18 [[ 9.93344563e-01 -1.04030936e-01 -4.94382790e-02 4.36474243e+02] [ 1.03925794e-01 9.94573951e-01 -4.69953322e-03 3.29894194e+01] [ 4.96589213e-02 -4.69656638e-04 9.98766124e-01 1.81790730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.54509989299993 meters 0.013409237461432074 Centerline is valid? [True, True] Translation: X:436.54, Y:32.99, Z:18.18 [[ 9.93141445e-01 -1.05639134e-01 -5.01043215e-02 4.36535595e+02] [ 1.05533356e-01 9.94404374e-01 -4.75940719e-03 3.29924290e+01] [ 5.03267361e-02 -5.60912661e-04 9.98732649e-01 1.81819197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.60509989299993 meters 0.013946025924020004 Centerline is valid? [True, True] Translation: X:436.60, Y:32.99, Z:18.19 [[ 9.92807999e-01 -1.08400451e-01 -5.08096296e-02 4.36595829e+02] [ 1.08295375e-01 9.94107054e-01 -4.82465583e-03 3.29931102e+01] [ 5.10332061e-02 -7.12490984e-04 9.98696703e-01 1.81850291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.66509989299993 meters 0.01417382761126968 Centerline is valid? [True, True] Translation: X:436.66, Y:33.00, Z:18.19 [[ 9.92538428e-01 -1.10447611e-01 -5.16603662e-02 4.36656381e+02] [ 1.10341795e-01 9.93881599e-01 -4.90465666e-03 3.29961260e+01] [ 5.18859950e-02 -8.32237314e-04 9.98652668e-01 1.81879403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.72509989299994 meters 0.01573175830428179 Centerline is valid? [True, True] Translation: X:436.72, Y:32.99, Z:18.19 [[ 9.91973595e-01 -1.14678705e-01 -5.32651929e-02 4.36715811e+02] [ 1.14572278e-01 9.93402041e-01 -5.05743138e-03 3.29944759e+01] [ 5.34937310e-02 -1.08587612e-03 9.98567595e-01 1.81895505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.78509989299994 meters 0.015832646851493454 Centerline is valid? [True, True] Translation: X:436.78, Y:33.00, Z:18.19 [[ 9.91523097e-01 -1.18547757e-01 -5.31824950e-02 4.36776430e+02] [ 1.18447137e-01 9.92947512e-01 -5.05108008e-03 3.29969237e+01] [ 5.34062203e-02 -1.29105168e-03 9.98572035e-01 1.81935450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.84509989299994 meters 0.01709853310104266 Centerline is valid? [True, True] Translation: X:436.84, Y:33.00, Z:18.20 [[ 9.90818057e-01 -1.24132426e-01 -5.35790969e-02 4.36836492e+02] [ 1.24038434e-01 9.92264365e-01 -5.08896366e-03 3.29968854e+01] [ 5.37963340e-02 -1.60363020e-03 9.98550641e-01 1.81965976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.90509989299994 meters 0.01776824185094178 Centerline is valid? [True, True] Translation: X:436.90, Y:33.00, Z:18.20 [[ 9.90424017e-01 -1.27059535e-01 -5.40013057e-02 4.36897258e+02] [ 1.26968356e-01 9.91893503e-01 -5.12983778e-03 3.29991661e+01] [ 5.42153391e-02 -1.77574245e-03 9.98527688e-01 1.81989665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.96509989299994 meters 0.018027650824839543 Centerline is valid? [True, True] Translation: X:436.96, Y:33.00, Z:18.20 [[ 9.89835991e-01 -1.30992853e-01 -5.53677152e-02 4.36957325e+02] [ 1.30903122e-01 9.91381211e-01 -5.25995941e-03 3.30014631e+01] [ 5.55795297e-02 -2.04130962e-03 9.98452177e-01 1.82017630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.02509989299995 meters 0.022095614087335774 Centerline is valid? [True, True] Translation: X:437.02, Y:33.00, Z:18.20 [[ 9.89205563e-01 -1.35205222e-01 -5.64969148e-02 4.37017005e+02] [ 1.35118556e-01 9.90814893e-01 -5.36878425e-03 3.29983913e+01] [ 5.67038723e-02 -2.32295032e-03 9.98388339e-01 1.82028866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.08509989299995 meters 0.023474468753908045 Centerline is valid? [True, True] Translation: X:437.08, Y:33.00, Z:18.21 [[ 9.88820790e-01 -1.37737094e-01 -5.71133735e-02 4.37076418e+02] [ 1.37652618e-01 9.90465687e-01 -5.42946622e-03 3.30011271e+01] [ 5.73166757e-02 -2.49303631e-03 9.98352935e-01 1.82054266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.14509989299995 meters 0.022627679107764715 Centerline is valid? [True, True] Translation: X:437.14, Y:33.01, Z:18.21 [[ 9.88525371e-01 -1.39951377e-01 -5.68436704e-02 4.37135592e+02] [ 1.39871231e-01 9.90154945e-01 -5.40583141e-03 3.30070828e+01] [ 5.70405949e-02 -2.60699267e-03 9.98368456e-01 1.82095949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.20509989299995 meters 0.02474384647153212 Centerline is valid? [True, True] Translation: X:437.19, Y:33.01, Z:18.21 [[ 9.88041658e-01 -1.43414758e-01 -5.66205771e-02 4.37194566e+02] [ 1.43340776e-01 9.89658731e-01 -5.38690055e-03 3.30088117e+01] [ 5.68076095e-02 -2.79355533e-03 9.98381236e-01 1.82125726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.26509989299996 meters 0.02608124568306172 Centerline is valid? [True, True] Translation: X:437.25, Y:33.01, Z:18.22 [[ 9.87753669e-01 -1.45359905e-01 -5.66849759e-02 4.37253728e+02] [ 1.45288776e-01 9.89374578e-01 -5.39601711e-03 3.30124020e+01] [ 5.68670387e-02 -2.90575505e-03 9.98377532e-01 1.82154047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.32509989299996 meters 0.028022794075810365 Centerline is valid? [True, True] Translation: X:437.31, Y:33.02, Z:18.22 [[ 9.87378996e-01 -1.48062812e-01 -5.62149693e-02 4.37313017e+02] [ 1.47997067e-01 9.88973308e-01 -5.35398733e-03 3.30160720e+01] [ 5.63878305e-02 -3.03323592e-03 9.98404333e-01 1.82186125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.38509989299996 meters 0.02709056181184783 Centerline is valid? [True, True] Translation: X:437.37, Y:33.02, Z:18.22 [[ 9.87313609e-01 -1.48595585e-01 -5.59570264e-02 4.37372555e+02] [ 1.48531182e-01 9.88893353e-01 -5.33138594e-03 3.30238599e+01] [ 5.61277519e-02 -3.04761339e-03 9.98418944e-01 1.82221297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.44509989299996 meters 0.026990037077450055 Centerline is valid? [True, True] Translation: X:437.43, Y:33.03, Z:18.23 [[ 9.87361958e-01 -1.48623084e-01 -5.50231133e-02 4.37431866e+02] [ 1.48560745e-01 9.88889378e-01 -5.24434396e-03 3.30315215e+01] [ 5.51912029e-02 -2.99620901e-03 9.98471308e-01 1.82255960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.50509989299997 meters 0.025305234656850955 Centerline is valid? [True, True] Translation: X:437.49, Y:33.04, Z:18.23 [[ 9.87657609e-01 -1.46881655e-01 -5.43895820e-02 4.37491178e+02] [ 1.46818030e-01 9.89149927e-01 -5.18543727e-03 3.30424114e+01] [ 5.45610967e-02 -2.86393472e-03 9.98506327e-01 1.82292938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.56509989299997 meters 0.023725349408844354 Centerline is valid? [True, True] Translation: X:437.55, Y:33.05, Z:18.23 [[ 9.87905189e-01 -1.45005586e-01 -5.49246474e-02 4.37551284e+02] [ 1.44937827e-01 9.89426909e-01 -5.23620963e-03 3.30524573e+01] [ 5.51032038e-02 -2.78778040e-03 9.98476772e-01 1.82315214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.62509989299997 meters 0.023600256551678172 Centerline is valid? [True, True] Translation: X:437.61, Y:33.06, Z:18.23 [[ 9.88416146e-01 -1.41021751e-01 -5.60926760e-02 4.37610449e+02] [ 1.40944729e-01 9.90003028e-01 -5.34678130e-03 3.30617956e+01] [ 5.62859316e-02 -2.62112204e-03 9.98411250e-01 1.82326601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.685099893 meters 0.020961368604005017 Centerline is valid? [True, True] Translation: X:437.67, Y:33.07, Z:18.24 [[ 9.88891565e-01 -1.37642342e-01 -5.61075595e-02 4.37670236e+02] [ 1.37559859e-01 9.90479017e-01 -5.34807949e-03 3.30734228e+01] [ 5.63094826e-02 -2.42947727e-03 9.98410406e-01 1.82357432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.745099893 meters 0.020197754590801725 Centerline is valid? [True, True] Translation: X:437.73, Y:33.08, Z:18.24 [[ 9.89833804e-01 -1.31142720e-01 -5.50511333e-02 4.37728732e+02] [ 1.31053282e-01 9.91361439e-01 -5.24724409e-03 3.30833391e+01] [ 5.52637087e-02 -2.02073215e-03 9.98469749e-01 1.82377666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.805099893 meters 0.01696866246077568 Centerline is valid? [True, True] Translation: X:437.79, Y:33.10, Z:18.24 [[ 9.90421790e-01 -1.26711260e-01 -5.48537534e-02 4.37788494e+02] [ 1.26615652e-01 9.91938071e-01 -5.22884074e-03 3.30972340e+01] [ 5.50740793e-02 -1.76658597e-03 9.98480708e-01 1.82414093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.865099893 meters 0.017045682758840996 Centerline is valid? [True, True] Translation: X:437.85, Y:33.11, Z:18.24 [[ 9.90929375e-01 -1.22797103e-01 -5.45879596e-02 4.37848119e+02] [ 1.22696530e-01 9.92430599e-01 -5.20273494e-03 3.31059122e+01] [ 5.48136422e-02 -1.54221036e-03 9.98495411e-01 1.82427926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.925099893 meters 0.015875474808012567 Centerline is valid? [True, True] Translation: X:437.91, Y:33.11, Z:18.25 [[ 9.90937260e-01 -1.23178110e-01 -5.35770443e-02 4.37908816e+02] [ 1.23081807e-01 9.92383393e-01 -5.10594701e-03 3.31147522e+01] [ 5.37979099e-02 -1.53468631e-03 9.98550665e-01 1.82461092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.985099893 meters 0.01623774522124063 Centerline is valid? [True, True] Translation: X:437.97, Y:33.12, Z:18.25 [[ 9.90789093e-01 -1.24730304e-01 -5.27192974e-02 4.37970179e+02] [ 1.24639357e-01 9.92189401e-01 -5.02226429e-03 3.31209048e+01] [ 5.29339567e-02 -1.59489467e-03 9.98596742e-01 1.82490899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.04509989299993 meters 0.017624863947665277 Centerline is valid? [True, True] Translation: X:438.03, Y:33.13, Z:18.25 [[ 9.90297107e-01 -1.28739213e-01 -5.23245250e-02 4.38031603e+02] [ 1.28655308e-01 9.91676855e-01 -4.98272473e-03 3.31251138e+01] [ 5.25304925e-02 -1.79744998e-03 9.98617703e-01 1.82514929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.10509989299993 meters 0.019081951251781352 Centerline is valid? [True, True] Translation: X:438.09, Y:33.13, Z:18.25 [[ 9.89863623e-01 -1.31998757e-01 -5.24054945e-02 4.38092825e+02] [ 1.31919250e-01 9.91247914e-01 -4.98850521e-03 3.31284869e+01] [ 5.26053136e-02 -1.97535370e-03 9.98613428e-01 1.82533931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.16509989299993 meters 0.02001578352092563 Centerline is valid? [True, True] Translation: X:438.15, Y:33.13, Z:18.26 [[ 9.89664254e-01 -1.33515287e-01 -5.23290797e-02 4.38154964e+02] [ 1.33438248e-01 9.91044623e-01 -4.97894373e-03 3.31328160e+01] [ 5.25252181e-02 -2.05521806e-03 9.98617483e-01 1.82558614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.22509989299994 meters 0.023651953369158676 Centerline is valid? [True, True] Translation: X:438.21, Y:33.13, Z:18.26 [[ 9.88898421e-01 -1.39360838e-01 -5.15603407e-02 4.38214628e+02] [ 1.39294113e-01 9.90238916e-01 -4.90294479e-03 3.31333544e+01] [ 5.17403344e-02 -2.33353754e-03 9.98657846e-01 1.82591470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.28509989299994 meters 0.021553002638147183 Centerline is valid? [True, True] Translation: X:438.28, Y:33.14, Z:18.26 [[ 9.88099747e-01 -1.45217097e-01 -5.07038964e-02 4.38275000e+02] [ 1.45160222e-01 9.89396411e-01 -4.82204047e-03 3.31422828e+01] [ 5.08664958e-02 -2.59553187e-03 9.98702089e-01 1.82633254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.34509989299994 meters 0.029941895190446245 Centerline is valid? [True, True] Translation: X:438.34, Y:33.14, Z:18.26 [[ 9.87533524e-01 -1.48929983e-01 -5.09646902e-02 4.38335607e+02] [ 1.48877488e-01 9.88843774e-01 -4.84603654e-03 3.31370217e+01] [ 5.11178368e-02 -2.80187150e-03 9.98688698e-01 1.82642589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.40509989299994 meters 0.028878445863230334 Centerline is valid? [True, True] Translation: X:438.40, Y:33.15, Z:18.27 [[ 9.86885966e-01 -1.52906853e-01 -5.17260516e-02 4.38395512e+02] [ 1.52858374e-01 9.88235881e-01 -4.91540216e-03 3.31464957e+01] [ 5.18691389e-02 -3.05581873e-03 9.98649215e-01 1.82679265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.46509989299994 meters 0.02591271891248681 Centerline is valid? [True, True] Translation: X:438.46, Y:33.16, Z:18.27 [[ 9.86674184e-01 -1.53920030e-01 -5.27511094e-02 4.38456720e+02] [ 1.53871112e-01 9.88078217e-01 -5.01174315e-03 3.31595156e+01] [ 5.28936298e-02 -3.17191428e-03 9.98595115e-01 1.82710872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.52509989299995 meters 0.029619968906932047 Centerline is valid? [True, True] Translation: X:438.52, Y:33.16, Z:18.27 [[ 9.86839343e-01 -1.52980676e-01 -5.23929687e-02 4.38517997e+02] [ 1.52931294e-01 9.88224306e-01 -4.97403108e-03 3.31627792e+01] [ 5.25369357e-02 -3.10395492e-03 9.98614158e-01 1.82734816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.58509989299995 meters 0.028089528715017773 Centerline is valid? [True, True] Translation: X:438.58, Y:33.18, Z:18.28 [[ 9.87441789e-01 -1.49195842e-01 -5.19549261e-02 4.38577738e+02] [ 1.49142189e-01 9.88803470e-01 -4.92997659e-03 3.31756173e+01] [ 5.21087432e-02 -2.88060650e-03 9.98637262e-01 1.82774053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.64509989299995 meters 0.024046990673582094 Centerline is valid? [True, True] Translation: X:438.64, Y:33.19, Z:18.28 [[ 9.88073289e-01 -1.45132889e-01 -5.14550352e-02 4.38637813e+02] [ 1.45074816e-01 9.89408645e-01 -4.88163645e-03 3.31904317e+01] [ 5.16185426e-02 -2.64141519e-03 9.98663381e-01 1.82816594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.70509989299995 meters 0.020181144024622635 Centerline is valid? [True, True] Translation: X:438.70, Y:33.21, Z:18.29 [[ 9.89309359e-01 -1.36940377e-01 -5.01430517e-02 4.38697092e+02] [ 1.36874761e-01 9.90576942e-01 -4.75634547e-03 3.32078421e+01] [ 5.03218865e-02 -2.15782111e-03 9.98730720e-01 1.82864696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.76509989299996 meters 0.019595913791938327 Centerline is valid? [True, True] Translation: X:438.76, Y:33.22, Z:18.29 [[ 9.90173812e-01 -1.30669616e-01 -4.98123783e-02 4.38755649e+02] [ 1.30596954e-01 9.91424285e-01 -4.72466899e-03 3.32188754e+01] [ 5.00025722e-02 -1.82710136e-03 9.98747418e-01 1.82893581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.82509989299996 meters 0.016163881550552286 Centerline is valid? [True, True] Translation: X:438.81, Y:33.24, Z:18.29 [[ 9.91400699e-01 -1.20967109e-01 -4.99160509e-02 4.38814458e+02] [ 1.20881830e-01 9.92655612e-01 -4.73491551e-03 3.32355518e+01] [ 5.01222171e-02 -1.33974505e-03 9.98742193e-01 1.82915396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.88509989299996 meters 0.013525153191837008 Centerline is valid? [True, True] Translation: X:438.87, Y:33.25, Z:18.29 [[ 9.92228597e-01 -1.14332192e-01 -4.90974713e-02 4.38874765e+02] [ 1.14241583e-01 9.93442084e-01 -4.65697838e-03 3.32501370e+01] [ 4.93079368e-02 -9.88185723e-04 9.98783135e-01 1.82948463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.94509989299996 meters 0.012294912981480948 Centerline is valid? [True, True] Translation: X:438.93, Y:33.26, Z:18.30 [[ 9.93423307e-01 -1.04045055e-01 -4.77991501e-02 4.38933975e+02] [ 1.03947370e-01 9.94572475e-01 -4.53162558e-03 3.32640924e+01] [ 4.80112123e-02 -4.66773478e-04 9.98846688e-01 1.82974290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.00509989299997 meters 0.011887601554403418 Centerline is valid? [True, True] Translation: X:439.00, Y:33.27, Z:18.30 [[ 9.94005947e-01 -9.83261335e-02 -4.77927716e-02 4.38995203e+02] [ 9.82221080e-02 9.95154226e-01 -4.52595201e-03 3.32743497e+01] [ 4.80061980e-02 -1.95483565e-04 9.98847019e-01 1.82993882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.06509989299997 meters 0.01180230040755523 Centerline is valid? [True, True] Translation: X:439.06, Y:33.28, Z:18.30 [[ 9.94458076e-01 -9.36307527e-02 -4.78164974e-02 4.39057365e+02] [ 9.35213683e-02 9.95606991e-01 -4.52463188e-03 3.32828260e+01] [ 4.80300838e-02 2.76924507e-05 9.98845889e-01 1.83011093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.12509989299997 meters 0.011845292130235245 Centerline is valid? [True, True] Translation: X:439.12, Y:33.29, Z:18.30 [[ 9.94484412e-01 -9.36704241e-02 -4.71869283e-02 4.39117943e+02] [ 9.35641418e-02 9.95603260e-01 -4.46096184e-03 3.32872779e+01] [ 4.73973198e-02 2.13525647e-05 9.98876115e-01 1.83027925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.185099893 meters 0.01185533873611349 Centerline is valid? [True, True] Translation: X:439.18, Y:33.29, Z:18.31 [[ 9.94227362e-01 -9.65485250e-02 -4.68010203e-02 4.39180030e+02] [ 9.64472847e-02 9.95328272e-01 -4.42185134e-03 3.32895881e+01] [ 4.70093019e-02 -1.17505736e-04 9.98894445e-01 1.83052382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.245099893 meters 0.012563169362907214 Centerline is valid? [True, True] Translation: X:439.24, Y:33.29, Z:18.31 [[ 9.93477399e-01 -1.04351327e-01 -4.59723608e-02 4.39242107e+02] [ 1.04262133e-01 9.94540381e-01 -4.34033528e-03 3.32866080e+01] [ 4.61742890e-02 -4.81151396e-04 9.98933283e-01 1.83075155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.305099893 meters 0.013506217319896497 Centerline is valid? [True, True] Translation: X:439.30, Y:33.29, Z:18.31 [[ 9.92824388e-01 -1.10520073e-01 -4.56623345e-02 4.39304450e+02] [ 1.10438709e-01 9.93873598e-01 -4.30854324e-03 3.32856328e+01] [ 4.58587692e-02 -7.65262492e-04 9.98947640e-01 1.83096412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.365099893 meters 0.015519399654553668 Centerline is valid? [True, True] Translation: X:439.37, Y:33.28, Z:18.31 [[ 9.91931904e-01 -1.18580663e-01 -4.48299366e-02 4.39366585e+02] [ 1.18510596e-01 9.92943791e-01 -4.22690646e-03 3.32807363e+01] [ 4.50148365e-02 -1.12001913e-03 9.98985691e-01 1.83118314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.425099893 meters 0.01706672311418371 Centerline is valid? [True, True] Translation: X:439.43, Y:33.28, Z:18.31 [[ 9.91574901e-01 -1.21711932e-01 -4.43330818e-02 4.39427607e+02] [ 1.21646605e-01 9.92564680e-01 -4.17847872e-03 3.32796473e+01] [ 4.45120219e-02 -1.24969427e-03 9.99008067e-01 1.83146603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.485099893 meters 0.017899156535681738 Centerline is valid? [True, True] Translation: X:439.49, Y:33.28, Z:18.32 [[ 9.91444438e-01 -1.22740237e-01 -4.44157656e-02 4.39489745e+02] [ 1.22675772e-01 9.92437980e-01 -4.18459052e-03 3.32792058e+01] [ 4.45935104e-02 -1.29994932e-03 9.99004369e-01 1.83174788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.54509989299993 meters 0.017359917151261364 Centerline is valid? [True, True] Translation: X:439.55, Y:33.28, Z:18.32 [[ 9.91536160e-01 -1.21763656e-01 -4.50516937e-02 4.39551826e+02] [ 1.21696468e-01 9.92558301e-01 -4.24130669e-03 3.32827684e+01] [ 4.52328695e-02 -1.27722307e-03 9.98975653e-01 1.83191688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.60509989299993 meters 0.014802615192039641 Centerline is valid? [True, True] Translation: X:439.61, Y:33.29, Z:18.32 [[ 9.91998763e-01 -1.17782716e-01 -4.54498132e-02 4.39613239e+02] [ 1.17710306e-01 9.93038772e-01 -4.27561247e-03 3.32892528e+01] [ 4.56370200e-02 -1.10850912e-03 9.98957473e-01 1.83217673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.66509989299993 meters 0.014339701144318548 Centerline is valid? [True, True] Translation: X:439.67, Y:33.29, Z:18.32 [[ 9.92435546e-01 -1.14025782e-01 -4.54951427e-02 4.39673059e+02] [ 1.13949392e-01 9.93477347e-01 -4.27748395e-03 3.32937999e+01] [ 4.56861372e-02 -9.39016735e-04 9.98955402e-01 1.83244822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.72509989299994 meters 0.01254182498912974 Centerline is valid? [True, True] Translation: X:439.73, Y:33.30, Z:18.33 [[ 9.93194973e-01 -1.07107206e-01 -4.57361096e-02 4.39733851e+02] [ 1.07022711e-01 9.94247281e-01 -4.29923101e-03 3.33006961e+01] [ 4.59334812e-02 -6.24827799e-04 9.98944305e-01 1.83268461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.78509989299994 meters 0.011993536003413303 Centerline is valid? [True, True] Translation: X:439.80, Y:33.31, Z:18.33 [[ 9.93696437e-01 -1.02142955e-01 -4.61974857e-02 4.39796212e+02] [ 1.02051474e-01 9.94769650e-01 -4.34061285e-03 3.33065920e+01] [ 4.63992197e-02 -4.01270004e-04 9.98922896e-01 1.83287046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.84509989299994 meters 0.011641898420468831 Centerline is valid? [True, True] Translation: X:439.86, Y:33.31, Z:18.33 [[ 9.94302341e-01 -9.59514415e-02 -4.64346472e-02 4.39857223e+02] [ 9.58524775e-02 9.95386009e-01 -4.35837628e-03 3.33110421e+01] [ 4.66385907e-02 -1.17332243e-04 9.98911822e-01 1.83296058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.90509989299994 meters 0.011557874915987715 Centerline is valid? [True, True] Translation: X:439.92, Y:33.31, Z:18.33 [[ 9.94571929e-01 -9.33277017e-02 -4.60067261e-02 4.39918223e+02] [ 9.32280018e-02 9.95635445e-01 -4.31272326e-03 3.33148708e+01] [ 4.62084238e-02 1.98340973e-07 9.98931820e-01 1.83321151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.96509989299994 meters 0.011583753941736115 Centerline is valid? [True, True] Translation: X:439.98, Y:33.32, Z:18.33 [[ 9.94778093e-01 -9.18960100e-02 -4.44034713e-02 4.39980031e+02] [ 9.18017857e-02 9.95768607e-01 -4.16085655e-03 3.33164299e+01] [ 4.45979489e-02 6.28109887e-05 9.99005015e-01 1.83349434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.02509989299995 meters 0.011399957345170544 Centerline is valid? [True, True] Translation: X:440.04, Y:33.31, Z:18.34 [[ 9.94568373e-01 -9.49135163e-02 -4.27220861e-02 4.40042005e+02] [ 9.48291428e-02 9.95485519e-01 -4.00179011e-03 3.33148004e+01] [ 4.29090420e-02 -7.12449267e-05 9.99078980e-01 1.83377212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.08509989299995 meters 0.011561222878650359 Centerline is valid? [True, True] Translation: X:440.10, Y:33.32, Z:18.34 [[ 9.94364602e-01 -9.69942247e-02 -4.27920487e-02 4.40102172e+02] [ 9.69115663e-02 9.95284931e-01 -4.00679975e-03 3.33164458e+01] [ 4.29789177e-02 -1.62824626e-04 9.99075966e-01 1.83398833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.14509989299995 meters 0.012180542236104284 Centerline is valid? [True, True] Translation: X:440.16, Y:33.31, Z:18.34 [[ 9.93783071e-01 -1.02871103e-01 -4.25763297e-02 4.40164233e+02] [ 1.02794696e-01 9.94694608e-01 -3.98582821e-03 3.33135031e+01] [ 4.27604722e-02 -4.15572293e-04 9.99085266e-01 1.83418794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.20509989299995 meters 0.013588405397251703 Centerline is valid? [True, True] Translation: X:440.23, Y:33.31, Z:18.34 [[ 9.92545754e-01 -1.14202560e-01 -4.25523401e-02 4.40226404e+02] [ 1.14136696e-01 9.93457074e-01 -3.98210415e-03 3.33078469e+01] [ 4.27286898e-02 -9.04362948e-04 9.99086303e-01 1.83434321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.26509989299996 meters 0.015733350617844626 Centerline is valid? [True, True] Translation: X:440.29, Y:33.30, Z:18.35 [[ 9.91614662e-01 -1.22034773e-01 -4.25191276e-02 4.40288249e+02] [ 1.21976265e-01 9.92525048e-01 -3.97740732e-03 3.33045744e+01] [ 4.26866812e-02 -1.24226896e-03 9.99087736e-01 1.83460950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.32509989299996 meters 0.01877780094421635 Centerline is valid? [True, True] Translation: X:440.35, Y:33.30, Z:18.35 [[ 9.90269030e-01 -1.32284241e-01 -4.32218544e-02 4.40349992e+02] [ 1.32233585e-01 9.91210343e-01 -4.04156915e-03 3.32984947e+01] [ 4.33765850e-02 -1.71313999e-03 9.99057324e-01 1.83472238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.38509989299996 meters 0.02268387904399429 Centerline is valid? [True, True] Translation: X:440.41, Y:33.29, Z:18.35 [[ 9.89034700e-01 -1.41187097e-01 -4.33193517e-02 4.40411408e+02] [ 1.41144726e-01 9.89980686e-01 -4.05054768e-03 3.32938934e+01] [ 4.34572066e-02 -2.10816582e-03 9.99053065e-01 1.83492396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.44509989299996 meters 0.02709236601049537 Centerline is valid? [True, True] Translation: X:440.47, Y:33.29, Z:18.35 [[ 9.88362040e-01 -1.45772605e-01 -4.34836153e-02 4.40471335e+02] [ 1.45734356e-01 9.89315405e-01 -4.06540026e-03 3.32912906e+01] [ 4.36116345e-02 -2.31896939e-03 9.99045869e-01 1.83515646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.50509989299997 meters 0.025387767941765668 Centerline is valid? [True, True] Translation: X:440.53, Y:33.30, Z:18.35 [[ 9.87768319e-01 -1.49651813e-01 -4.37959294e-02 4.40532173e+02] [ 1.49616850e-01 9.88735576e-01 -4.09369306e-03 3.32974194e+01] [ 4.39152221e-02 -2.50898868e-03 9.99032111e-01 1.83537273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.56509989299997 meters 0.027074428038824226 Centerline is valid? [True, True] Translation: X:440.59, Y:33.30, Z:18.36 [[ 9.87636869e-01 -1.50364869e-01 -4.43150151e-02 4.40592055e+02] [ 1.50329823e-01 9.88627226e-01 -4.14142902e-03 3.33002225e+01] [ 4.44337559e-02 -2.57164039e-03 9.99009023e-01 1.83555397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.62509989299997 meters 0.0276600025070464 Centerline is valid? [True, True] Translation: X:440.65, Y:33.31, Z:18.36 [[ 9.87742321e-01 -1.49554675e-01 -4.47046517e-02 4.40652078e+02] [ 1.49518184e-01 9.88750150e-01 -4.17784224e-03 3.33058726e+01] [ 4.48265468e-02 -2.55752676e-03 9.98991511e-01 1.83577169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.685099893 meters 0.02440576403080926 Centerline is valid? [True, True] Translation: X:440.71, Y:33.32, Z:18.36 [[ 9.87923189e-01 -1.48087266e-01 -4.55843607e-02 4.40712302e+02] [ 1.48047776e-01 9.88971035e-01 -4.25991370e-03 3.33164230e+01] [ 4.57124514e-02 -2.54019571e-03 9.98951410e-01 1.83598455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.745099893 meters 0.023575254637259752 Centerline is valid? [True, True] Translation: X:440.77, Y:33.32, Z:18.36 [[ 9.88187752e-01 -1.46332693e-01 -4.55160368e-02 4.40773320e+02] [ 1.46291544e-01 9.89232382e-01 -4.25182519e-03 3.33245330e+01] [ 4.56481185e-02 -2.45700973e-03 9.98954560e-01 1.83624191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.805099893 meters 0.025492930597157532 Centerline is valid? [True, True] Translation: X:440.83, Y:33.33, Z:18.36 [[ 9.88508496e-01 -1.44047942e-01 -4.58382407e-02 4.40832937e+02] [ 1.44003832e-01 9.89567873e-01 -4.28034283e-03 3.33302205e+01] [ 4.59766249e-02 -2.36972708e-03 9.98939705e-01 1.83647187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.865099893 meters 0.026200897659283132 Centerline is valid? [True, True] Translation: X:440.89, Y:33.34, Z:18.37 [[ 9.88620026e-01 -1.43320811e-01 -4.57120201e-02 4.40892887e+02] [ 1.43276170e-01 9.89673541e-01 -4.26855644e-03 3.33363354e+01] [ 4.58517498e-02 -2.32946278e-03 9.98945539e-01 1.83674986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.925099893 meters 0.027240099293792692 Centerline is valid? [True, True] Translation: X:440.95, Y:33.34, Z:18.37 [[ 9.88696876e-01 -1.42810844e-01 -4.56459292e-02 4.40952518e+02] [ 1.42765789e-01 9.89747322e-01 -4.26238492e-03 3.33429279e+01] [ 4.57866510e-02 -2.30247047e-03 9.98948588e-01 1.83697624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.9850998929999 meters 0.023498618589296468 Centerline is valid? [True, True] Translation: X:441.01, Y:33.36, Z:18.37 [[ 9.88888820e-01 -1.41471529e-01 -4.56586139e-02 4.41012757e+02] [ 1.41425032e-01 9.89939788e-01 -4.26343045e-03 3.33564040e+01] [ 4.58024325e-02 -2.24121222e-03 9.98948004e-01 1.83725544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.04509989299993 meters 0.023302120350487295 Centerline is valid? [True, True] Translation: X:441.07, Y:33.36, Z:18.38 [[ 9.89123269e-01 -1.39836622e-01 -4.56166503e-02 4.41073584e+02] [ 1.39788552e-01 9.90172223e-01 -4.25786307e-03 3.33646406e+01] [ 4.57637452e-02 -2.16513404e-03 9.98949945e-01 1.83751296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.10509989299993 meters 0.022867743533090217 Centerline is valid? [True, True] Translation: X:441.13, Y:33.37, Z:18.38 [[ 9.89650577e-01 -1.35912788e-01 -4.60374809e-02 4.41132754e+02] [ 1.35859661e-01 9.90718780e-01 -4.29561874e-03 3.33740781e+01] [ 4.61940264e-02 -2.00347498e-03 9.98930477e-01 1.83772119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.16509989299993 meters 0.019550870309118378 Centerline is valid? [True, True] Translation: X:441.19, Y:33.39, Z:18.38 [[ 9.90109577e-01 -1.32563288e-01 -4.59347417e-02 4.41193216e+02] [ 1.32506807e-01 9.91172829e-01 -4.28588126e-03 3.33867901e+01] [ 4.60974184e-02 -1.84317388e-03 9.98935249e-01 1.83804824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.22509989299994 meters 0.018320184176021163 Centerline is valid? [True, True] Translation: X:441.25, Y:33.40, Z:18.38 [[ 9.90654543e-01 -1.28262800e-01 -4.63921339e-02 4.41252767e+02] [ 1.28200552e-01 9.91738824e-01 -4.32700622e-03 3.33978352e+01] [ 4.65638743e-02 -1.66092880e-03 9.98913934e-01 1.83834139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.28509989299994 meters 0.017623548403679093 Centerline is valid? [True, True] Translation: X:441.31, Y:33.41, Z:18.39 [[ 9.90894295e-01 -1.26317443e-01 -4.66090058e-02 4.41313602e+02] [ 1.26252472e-01 9.91988617e-01 -4.34706073e-03 3.34068231e+01] [ 4.67847128e-02 -1.57702449e-03 9.98903751e-01 1.83859922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.34509989299994 meters 0.018285599832069524 Centerline is valid? [True, True] Translation: X:441.37, Y:33.41, Z:18.39 [[ 9.90917354e-01 -1.25982590e-01 -4.70232257e-02 4.41373948e+02] [ 1.25916158e-01 9.92031200e-01 -4.38407575e-03 3.34140827e+01] [ 4.72008242e-02 -1.57672720e-03 9.98884176e-01 1.83886186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.40509989299994 meters 0.01940808545803488 Centerline is valid? [True, True] Translation: X:441.44, Y:33.42, Z:18.39 [[ 9.90729566e-01 -1.27197970e-01 -4.77032910e-02 4.41435155e+02] [ 1.27131055e-01 9.91875962e-01 -4.44651979e-03 3.34199391e+01] [ 4.78813360e-02 -1.65927111e-03 9.98851653e-01 1.83912683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.46509989299994 meters 0.019489267026591546 Centerline is valid? [True, True] Translation: X:441.50, Y:33.43, Z:18.39 [[ 9.90420775e-01 -1.28964215e-01 -4.93449140e-02 4.41496173e+02] [ 1.28894892e-01 9.91647602e-01 -4.59776087e-03 3.34275231e+01] [ 4.95257123e-02 -1.80658948e-03 9.98771215e-01 1.83936118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.52509989299995 meters 0.019012504045297866 Centerline is valid? [True, True] Translation: X:441.56, Y:33.43, Z:18.40 [[ 9.90351269e-01 -1.29720002e-01 -4.87553605e-02 4.41556934e+02] [ 1.29653323e-01 9.91548987e-01 -4.54111275e-03 3.34349409e+01] [ 4.89324015e-02 -1.82399771e-03 9.98800427e-01 1.83967555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.58509989299995 meters 0.019183718772401385 Centerline is valid? [True, True] Translation: X:441.62, Y:33.44, Z:18.40 [[ 9.90415930e-01 -1.29532713e-01 -4.79328795e-02 4.41617487e+02] [ 1.29468128e-01 9.91573541e-01 -4.46280410e-03 3.34414262e+01] [ 4.81070541e-02 -1.78574789e-03 9.98840589e-01 1.83996446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.64509989299995 meters 0.01931105287310449 Centerline is valid? [True, True] Translation: X:441.68, Y:33.45, Z:18.40 [[ 9.90599872e-01 -1.28209361e-01 -4.76891417e-02 4.41678054e+02] [ 1.28143981e-01 9.91745643e-01 -4.43841145e-03 3.34479958e+01] [ 4.78645444e-02 -1.71438667e-03 9.98852365e-01 1.84015186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.70509989299995 meters 0.017499324048697126 Centerline is valid? [True, True] Translation: X:441.74, Y:33.46, Z:18.40 [[ 9.91096153e-01 -1.24280834e-01 -4.77774932e-02 4.41738650e+02] [ 1.24210734e-01 9.92245905e-01 -4.44493935e-03 3.34582116e+01] [ 4.79594428e-02 -1.52911521e-03 9.98848113e-01 1.84034092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.76509989299996 meters 0.015080748846525589 Centerline is valid? [True, True] Translation: X:441.80, Y:33.47, Z:18.41 [[ 9.91692887e-01 -1.19252066e-01 -4.82095738e-02 4.41799805e+02] [ 1.19174846e-01 9.92863161e-01 -4.48327086e-03 3.34685188e+01] [ 4.84001492e-02 -1.29934069e-03 9.98827181e-01 1.84058918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.82509989299996 meters 0.014036578370863731 Centerline is valid? [True, True] Translation: X:441.86, Y:33.48, Z:18.41 [[ 9.92132313e-01 -1.15442475e-01 -4.84407824e-02 4.41860425e+02] [ 1.15360099e-01 9.93313534e-01 -4.50221902e-03 3.34766047e+01] [ 4.86366321e-02 -1.12133648e-03 9.98815909e-01 1.84081602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.88509989299996 meters 0.01262616355609105 Centerline is valid? [True, True] Translation: X:441.92, Y:33.49, Z:18.41 [[ 9.92902033e-01 -1.08585899e-01 -4.85247972e-02 4.41921299e+02] [ 1.08495138e-01 9.94086757e-01 -4.50824583e-03 3.34857213e+01] [ 4.87273902e-02 -7.88458096e-04 9.98811804e-01 1.84106588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.94509989299996 meters 0.011474988937234028 Centerline is valid? [True, True] Translation: X:441.98, Y:33.49, Z:18.41 [[ 9.93620111e-01 -1.01417939e-01 -4.93302884e-02 4.41981828e+02] [ 1.01315388e-01 9.94843808e-01 -4.58140493e-03 3.34942108e+01] [ 4.95405686e-02 -4.45741229e-04 9.98772013e-01 1.84129328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.00509989299997 meters 0.01120662371981864 Centerline is valid? [True, True] Translation: X:442.04, Y:33.50, Z:18.42 [[ 9.93832676e-01 -9.93150316e-02 -4.93268340e-02 4.42042031e+02] [ 9.92099426e-02 9.95055982e-01 -4.58033915e-03 3.35003245e+01] [ 4.95378577e-02 -3.41621650e-04 9.98772188e-01 1.84153110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.06509989299997 meters 0.010774507715053925 Centerline is valid? [True, True] Translation: X:442.10, Y:33.51, Z:18.42 [[ 9.94200077e-01 -9.56110038e-02 -4.92416880e-02 4.42101719e+02] [ 9.55017355e-02 9.95418762e-01 -4.57243276e-03 3.35070966e+01] [ 4.94532750e-02 -1.56753665e-04 9.98776426e-01 1.84187364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.12509989299997 meters 0.010685831118308859 Centerline is valid? [True, True] Translation: X:442.16, Y:33.51, Z:18.42 [[ 9.94394553e-01 -9.34540436e-02 -4.94551704e-02 4.42161000e+02] [ 9.33411450e-02 9.95623593e-01 -4.59253320e-03 3.35108058e+01] [ 4.96679253e-02 -4.94122350e-05 9.98765786e-01 1.84215118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.185099893 meters 0.010707623989104086 Centerline is valid? [True, True] Translation: X:442.22, Y:33.51, Z:18.42 [[ 9.94251233e-01 -9.46472719e-02 -5.00637632e-02 4.42220192e+02] [ 9.45329056e-02 9.95510865e-01 -4.65266009e-03 3.35124457e+01] [ 5.02793818e-02 -1.06759976e-04 9.98735186e-01 1.84231869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.245099893 meters 0.011092597506126978 Centerline is valid? [True, True] Translation: X:442.28, Y:33.51, Z:18.43 [[ 9.93751772e-01 -1.00186608e-01 -4.91941002e-02 4.42279744e+02] [ 1.00082360e-01 9.94968597e-01 -4.58400955e-03 3.35100793e+01] [ 4.94058412e-02 -3.68094043e-04 9.98778718e-01 1.84257901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.305099893 meters 0.012415458130899329 Centerline is valid? [True, True] Translation: X:442.34, Y:33.51, Z:18.43 [[ 9.92911814e-01 -1.08678271e-01 -4.81161305e-02 4.42339450e+02] [ 1.08587991e-01 9.94076683e-01 -4.49404223e-03 3.35054764e+01] [ 4.83195282e-02 -7.62646336e-04 9.98831638e-01 1.84289089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.365099893 meters 0.013754502629031872 Centerline is valid? [True, True] Translation: X:442.40, Y:33.50, Z:18.43 [[ 9.92135612e-01 -1.15562367e-01 -4.80860355e-02 4.42399579e+02] [ 1.15480152e-01 9.93299623e-01 -4.49369662e-03 3.35047138e+01] [ 4.82831431e-02 -1.09462626e-03 9.98833089e-01 1.84312710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.425099893 meters 0.018584397877199926 Centerline is valid? [True, True] Translation: X:442.46, Y:33.50, Z:18.43 [[ 9.90724399e-01 -1.27308225e-01 -4.75161164e-02 4.42459963e+02] [ 1.27241346e-01 9.91861840e-01 -4.44195868e-03 3.34967137e+01] [ 4.76949205e-02 -1.64525775e-03 9.98860595e-01 1.84331192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.4850998929999 meters 0.021169635987677942 Centerline is valid? [True, True] Translation: X:442.52, Y:33.49, Z:18.44 [[ 9.89092942e-01 -1.39541748e-01 -4.71513818e-02 4.42520814e+02] [ 1.39489728e-01 9.90213707e-01 -4.40806295e-03 3.34942476e+01] [ 4.73050534e-02 -2.21714946e-03 9.98878029e-01 1.84355825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.54509989299993 meters 0.022021585070678248 Centerline is valid? [True, True] Translation: X:442.58, Y:33.50, Z:18.44 [[ 9.88571007e-01 -1.43229360e-01 -4.70395018e-02 4.42581358e+02] [ 1.43181714e-01 9.89686643e-01 -4.39828631e-03 3.34975615e+01] [ 4.71843304e-02 -2.38717819e-03 9.98883347e-01 1.84380287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.60509989299993 meters 0.024745483034956176 Centerline is valid? [True, True] Translation: X:442.64, Y:33.50, Z:18.44 [[ 9.87258103e-01 -1.51922158e-01 -4.73402218e-02 4.42642480e+02] [ 1.51883848e-01 9.88388438e-01 -4.42637275e-03 3.34970250e+01] [ 4.74629920e-02 -2.82024268e-03 9.98869016e-01 1.84397394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.66509989299993 meters 0.0276458262420667 Centerline is valid? [True, True] Translation: X:442.70, Y:33.50, Z:18.44 [[ 9.86660057e-01 -1.55555977e-01 -4.80028201e-02 4.42702314e+02] [ 1.55520876e-01 9.87822410e-01 -4.48815141e-03 3.34978690e+01] [ 4.81164203e-02 -3.03716089e-03 9.98837117e-01 1.84409274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.72509989299994 meters 0.026514804356249682 Centerline is valid? [True, True] Translation: X:442.76, Y:33.51, Z:18.44 [[ 9.86690894e-01 -1.55218540e-01 -4.84590989e-02 4.42762913e+02] [ 1.55182355e-01 9.87875451e-01 -4.53101801e-03 3.35060226e+01] [ 4.85748522e-02 -3.04928288e-03 9.98814891e-01 1.84432170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.78509989299994 meters 0.027683069582661986 Centerline is valid? [True, True] Translation: X:442.82, Y:33.51, Z:18.45 [[ 9.87095543e-01 -1.52745951e-01 -4.80735230e-02 4.42821964e+02] [ 1.52707487e-01 9.88261216e-01 -4.49352742e-03 3.35120221e+01] [ 4.81955664e-02 -2.90564598e-03 9.98833692e-01 1.84456417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.84509989299994 meters 0.025127901931228505 Centerline is valid? [True, True] Translation: X:442.88, Y:33.53, Z:18.45 [[ 9.88179852e-01 -1.45590886e-01 -4.79986841e-02 4.42881993e+02] [ 1.45544087e-01 9.89341591e-01 -4.48730078e-03 3.35254673e+01] [ 4.81404045e-02 -2.55166443e-03 9.98837319e-01 1.84488071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.90509989299994 meters 0.021042108554205144 Centerline is valid? [True, True] Translation: X:442.94, Y:33.54, Z:18.45 [[ 9.89603167e-01 -1.35698916e-01 -4.76589610e-02 4.42941743e+02] [ 1.35641327e-01 9.90747990e-01 -4.45544796e-03 3.35429595e+01] [ 4.78226192e-02 -2.05539927e-03 9.98853729e-01 1.84517443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.96509989299994 meters 0.019031031274056545 Centerline is valid? [True, True] Translation: X:443.00, Y:33.56, Z:18.45 [[ 9.90529222e-01 -1.28575519e-01 -4.81684246e-02 4.43001252e+02] [ 1.28508314e-01 9.91698211e-01 -4.50237836e-03 3.35560060e+01] [ 4.83474361e-02 -1.73030569e-03 9.98829080e-01 1.84538580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.02509989299995 meters 0.01604987457935812 Centerline is valid? [True, True] Translation: X:443.06, Y:33.57, Z:18.46 [[ 9.91727546e-01 -1.18832182e-01 -4.85323239e-02 4.43060004e+02] [ 1.18752300e-01 9.92913548e-01 -4.53628604e-03 3.35725198e+01] [ 4.87274587e-02 -1.26456525e-03 9.98811311e-01 1.84560042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.08509989299995 meters 0.014666346794359918 Centerline is valid? [True, True] Translation: X:443.12, Y:33.59, Z:18.46 [[ 9.92431184e-01 -1.12618179e-01 -4.89641858e-02 4.43119388e+02] [ 1.12529313e-01 9.93637866e-01 -4.57655384e-03 3.35855098e+01] [ 4.91680723e-02 -9.67991455e-04 9.98790050e-01 1.84584700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.14509989299995 meters 0.012455128290546201 Centerline is valid? [True, True] Translation: X:443.18, Y:33.60, Z:18.46 [[ 9.93521012e-01 -1.02649037e-01 -4.87767662e-02 4.43179053e+02] [ 1.02548840e-01 9.94717524e-01 -4.55890926e-03 3.36034766e+01] [ 4.89870717e-02 -4.72628636e-04 9.98799301e-01 1.84620661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.20509989299995 meters 0.012113164106300329 Centerline is valid? [True, True] Translation: X:443.24, Y:33.61, Z:18.46 [[ 9.94185263e-01 -9.66175811e-02 -4.75468855e-02 4.43237463e+02] [ 9.65155082e-02 9.95321563e-01 -4.44331776e-03 3.36149824e+01] [ 4.77537430e-02 -1.71530787e-04 9.98859125e-01 1.84649363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.26509989299996 meters 0.012130689747232965 Centerline is valid? [True, True] Translation: X:443.30, Y:33.63, Z:18.47 [[ 9.94705445e-01 -9.17729508e-02 -4.62471908e-02 4.43297265e+02] [ 9.16711151e-02 9.95779957e-01 -4.32258824e-03 3.36259404e+01] [ 4.64487223e-02 6.01705104e-05 9.98920674e-01 1.84681837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.32509989299996 meters 0.012152472883362743 Centerline is valid? [True, True] Translation: X:443.36, Y:33.63, Z:18.47 [[ 9.94516378e-01 -9.45345179e-02 -4.47258135e-02 4.43357848e+02] [ 9.44420660e-02 9.95521582e-01 -4.18038960e-03 3.36303493e+01] [ 4.49207037e-02 -6.65323060e-05 9.98990553e-01 1.84712812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.38509989299996 meters 0.012462855886512775 Centerline is valid? [True, True] Translation: X:443.42, Y:33.63, Z:18.47 [[ 9.93999301e-01 -9.98635822e-02 -4.46391501e-02 4.43418462e+02] [ 9.97768589e-02 9.95001091e-01 -4.17223852e-03 3.36317067e+01] [ 4.48326577e-02 -3.06752011e-04 9.98994464e-01 1.84732879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.44509989299996 meters 0.013919561026567821 Centerline is valid? [True, True] Translation: X:443.48, Y:33.63, Z:18.48 [[ 9.92809250e-01 -1.10942135e-01 -4.49626044e-02 4.43479903e+02] [ 1.10865526e-01 9.93826535e-01 -4.20165245e-03 3.36292117e+01] [ 4.51511696e-02 -8.13363391e-04 9.98979835e-01 1.84751452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.50509989299997 meters 0.01685241222750581 Centerline is valid? [True, True] Translation: X:443.54, Y:33.63, Z:18.48 [[ 9.91906122e-01 -1.18863921e-01 -4.46498920e-02 4.43540087e+02] [ 1.18796426e-01 9.92909869e-01 -4.17152345e-03 3.36261234e+01] [ 4.48291621e-02 -1.16648793e-03 9.98993987e-01 1.84769389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.56509989299997 meters 0.018611443546155883 Centerline is valid? [True, True] Translation: X:443.60, Y:33.62, Z:18.48 [[ 9.90733083e-01 -1.28614361e-01 -4.36612490e-02 4.43600794e+02] [ 1.28559356e-01 9.91693435e-01 -4.07707073e-03 3.36249751e+01] [ 4.38229439e-02 -1.57377321e-03 9.99038074e-01 1.84801223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.62509989299997 meters 0.0198978516557004 Centerline is valid? [True, True] Translation: X:443.66, Y:33.63, Z:18.48 [[ 9.90270383e-01 -1.32231906e-01 -4.33508010e-02 4.43662015e+02] [ 1.32181147e-01 9.91217312e-01 -4.04788977e-03 3.36265544e+01] [ 4.35053246e-02 -1.72165325e-03 9.99051712e-01 1.84828955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.685099893 meters 0.020075417900078597 Centerline is valid? [True, True] Translation: X:443.72, Y:33.63, Z:18.49 [[ 9.90145667e-01 -1.33398280e-01 -4.26199019e-02 4.43724107e+02] [ 1.33350363e-01 9.91060975e-01 -3.97807407e-03 3.36299969e+01] [ 4.27695897e-02 -1.74450659e-03 9.99083439e-01 1.84860919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.745099893 meters 0.019532483605081183 Centerline is valid? [True, True] Translation: X:443.79, Y:33.64, Z:18.49 [[ 9.90394860e-01 -1.31494515e-01 -4.27459315e-02 4.43786301e+02] [ 1.31444681e-01 9.91315491e-01 -3.98665927e-03 3.36351498e+01] [ 4.28989279e-02 -1.67035850e-03 9.99078021e-01 1.84883472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.805099893 meters 0.02082147581043028 Centerline is valid? [True, True] Translation: X:443.85, Y:33.64, Z:18.49 [[ 9.90545734e-01 -1.30396721e-01 -4.26127247e-02 4.43847977e+02] [ 1.30346318e-01 9.91460573e-01 -3.97109009e-03 3.36373939e+01] [ 4.27666535e-02 -1.62086541e-03 9.99083773e-01 1.84906535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.865099893 meters 0.02040943740237877 Centerline is valid? [True, True] Translation: X:443.91, Y:33.64, Z:18.49 [[ 9.90444076e-01 -1.31130746e-01 -4.27230713e-02 4.43909860e+02] [ 1.31080896e-01 9.91363693e-01 -3.97825779e-03 3.36422604e+01] [ 4.28757737e-02 -1.65993661e-03 9.99079032e-01 1.84932344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.925099893 meters 0.020650922009306166 Centerline is valid? [True, True] Translation: X:443.97, Y:33.65, Z:18.50 [[ 9.90341893e-01 -1.31819132e-01 -4.29726888e-02 4.43971297e+02] [ 1.31769482e-01 9.91272322e-01 -3.99833188e-03 3.36471147e+01] [ 4.31246936e-02 -1.70277336e-03 9.99068247e-01 1.84955628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.9850998929999 meters 0.02040085257859968 Centerline is valid? [True, True] Translation: X:444.03, Y:33.65, Z:18.50 [[ 9.89962523e-01 -1.34289079e-01 -4.40527735e-02 4.44032720e+02] [ 1.34239553e-01 9.90940453e-01 -4.09406284e-03 3.36523806e+01] [ 4.42034633e-02 -1.86065584e-03 9.99020816e-01 1.84973109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.04509989299993 meters 0.021538504256970292 Centerline is valid? [True, True] Translation: X:444.09, Y:33.66, Z:18.50 [[ 9.89346066e-01 -1.38433958e-01 -4.50599651e-02 4.44094066e+02] [ 1.38386541e-01 9.90369451e-01 -4.18516090e-03 3.36554804e+01] [ 4.52053813e-02 -2.09512023e-03 9.98975517e-01 1.84992143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.10509989299993 meters 0.025279401894026145 Centerline is valid? [True, True] Translation: X:444.16, Y:33.66, Z:18.50 [[ 9.89142180e-01 -1.39809544e-01 -4.52884104e-02 4.44155132e+02] [ 1.39763162e-01 9.90176035e-01 -4.20462404e-03 3.36564620e+01] [ 4.54313452e-02 -2.17068047e-03 9.98965105e-01 1.85018080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.16509989299993 meters 0.02303133403233429 Centerline is valid? [True, True] Translation: X:444.22, Y:33.67, Z:18.51 [[ 9.89009668e-01 -1.41058448e-01 -4.42988724e-02 4.44215962e+02] [ 1.41015425e-01 9.89998866e-01 -4.11035425e-03 3.36669706e+01] [ 4.44356336e-02 -2.18164423e-03 9.99009867e-01 1.85062043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.22509989299994 meters 0.023420325838489738 Centerline is valid? [True, True] Translation: X:444.28, Y:33.67, Z:18.51 [[ 9.88934698e-01 -1.41793893e-01 -4.36194327e-02 4.44277397e+02] [ 1.41752999e-01 9.89893795e-01 -4.04488618e-03 3.36738163e+01] [ 4.37521460e-02 -2.18305711e-03 9.99040031e-01 1.85097775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.28509989299994 meters 0.024328779200630143 Centerline is valid? [True, True] Translation: X:444.34, Y:33.68, Z:18.51 [[ 9.88784281e-01 -1.42961819e-01 -4.32153296e-02 4.44339511e+02] [ 1.42922928e-01 9.89725721e-01 -4.00424449e-03 3.36807591e+01] [ 4.33437773e-02 -2.21712743e-03 9.99057757e-01 1.85126977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.34509989299994 meters 0.025592578030059494 Centerline is valid? [True, True] Translation: X:444.40, Y:33.69, Z:18.52 [[ 9.88463437e-01 -1.45054990e-01 -4.35784703e-02 4.44400465e+02] [ 1.45017608e-01 9.89420848e-01 -4.03472797e-03 3.36858422e+01] [ 4.37027045e-02 -2.33146445e-03 9.99041860e-01 1.85150595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.40509989299994 meters 0.0254448858777522 Centerline is valid? [True, True] Translation: X:444.46, Y:33.69, Z:18.52 [[ 9.87949080e-01 -1.48328446e-01 -4.42186379e-02 4.44460709e+02] [ 1.48293295e-01 9.88934958e-01 -4.09241056e-03 3.36934518e+01] [ 4.43363777e-02 -2.51423428e-03 9.99013496e-01 1.85167543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.46509989299994 meters 0.03017234064891094 Centerline is valid? [True, True] Translation: X:444.52, Y:33.69, Z:18.52 [[ 9.87770702e-01 -1.49383780e-01 -4.46489220e-02 4.44521506e+02] [ 1.49349057e-01 9.88775906e-01 -4.13134563e-03 3.36947348e+01] [ 4.47649343e-02 -2.58745220e-03 9.98994197e-01 1.85190555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.52509989299995 meters 0.02561777632844679 Centerline is valid? [True, True] Translation: X:444.58, Y:33.71, Z:18.52 [[ 9.88101995e-01 -1.47036362e-01 -4.51082741e-02 4.44581217e+02] [ 1.46998559e-01 9.89127907e-01 -4.17217321e-03 3.37113102e+01] [ 4.52313139e-02 -2.50831864e-03 9.98973391e-01 1.85217413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.58509989299995 meters 0.024442063540861796 Centerline is valid? [True, True] Translation: X:444.64, Y:33.72, Z:18.52 [[ 9.88621592e-01 -1.43478959e-01 -4.51789437e-02 4.44640822e+02] [ 1.43437404e-01 9.89650576e-01 -4.17715824e-03 3.37218879e+01] [ 4.53107020e-02 -2.35072156e-03 9.98970177e-01 1.85244703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.64509989299995 meters 0.020288163475821817 Centerline is valid? [True, True] Translation: X:444.70, Y:33.74, Z:18.53 [[ 9.89455664e-01 -1.37372624e-01 -4.58939033e-02 4.44700125e+02] [ 1.37323190e-01 9.90517206e-01 -4.24325360e-03 3.37379976e+01] [ 4.60416078e-02 -2.10378591e-03 9.98937308e-01 1.85267162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.70509989299995 meters 0.0227216031050821 Centerline is valid? [True, True] Translation: X:444.76, Y:33.74, Z:18.53 [[ 9.89943072e-01 -1.33828557e-01 -4.58544726e-02 4.44760213e+02] [ 1.33775421e-01 9.91002605e-01 -4.23944518e-03 3.37430832e+01] [ 4.60092606e-02 -1.93739197e-03 9.98939135e-01 1.85286795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.76509989299996 meters 0.01977375696448767 Centerline is valid? [True, True] Translation: X:444.82, Y:33.76, Z:18.53 [[ 9.90430176e-01 -1.30167262e-01 -4.58753867e-02 4.44821174e+02] [ 1.30110203e-01 9.91490471e-01 -4.24036459e-03 3.37563679e+01] [ 4.60369654e-02 -1.76907083e-03 9.98938170e-01 1.85312372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.82509989299996 meters 0.019451085541066726 Centerline is valid? [True, True] Translation: X:444.88, Y:33.76, Z:18.53 [[ 9.90567470e-01 -1.28966616e-01 -4.63001018e-02 4.44883065e+02] [ 1.28907310e-01 9.91647424e-01 -4.27696975e-03 3.37639455e+01] [ 4.64649630e-02 -1.73179449e-03 9.98918419e-01 1.85333755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.88509989299996 meters 0.019260355919992773 Centerline is valid? [True, True] Translation: X:444.95, Y:33.77, Z:18.54 [[ 9.90678760e-01 -1.27797468e-01 -4.71529615e-02 4.44945189e+02] [ 1.27734802e-01 9.91798809e-01 -4.35224597e-03 3.37714259e+01] [ 4.73224571e-02 -1.71139658e-03 9.98878199e-01 1.85351196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.94509989299996 meters 0.018075270996681526 Centerline is valid? [True, True] Translation: X:445.01, Y:33.78, Z:18.54 [[ 9.90752370e-01 -1.27217690e-01 -4.71741510e-02 4.45006949e+02] [ 1.27154475e-01 9.91873384e-01 -4.35075199e-03 3.37803923e+01] [ 4.73442774e-02 -1.68788656e-03 9.98877205e-01 1.85376785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.00509989299997 meters 0.019617496350293008 Centerline is valid? [True, True] Translation: X:445.07, Y:33.78, Z:18.54 [[ 9.90775981e-01 -1.27053323e-01 -4.71212133e-02 4.45067505e+02] [ 1.26990226e-01 9.91894463e-01 -4.34244987e-03 3.37848289e+01] [ 4.72909932e-02 -1.68153850e-03 9.98879740e-01 1.85397198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.06509989299997 meters 0.020201323858594647 Centerline is valid? [True, True] Translation: X:445.13, Y:33.79, Z:18.54 [[ 9.90718240e-01 -1.27642497e-01 -4.67414423e-02 4.45129282e+02] [ 1.27581192e-01 9.91818788e-01 -4.30480927e-03 3.37901573e+01] [ 4.69085172e-02 -1.69847583e-03 9.98897746e-01 1.85424225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.12509989299997 meters 0.020927100360789257 Centerline is valid? [True, True] Translation: X:445.19, Y:33.80, Z:18.55 [[ 9.90687486e-01 -1.28066918e-01 -4.62295370e-02 4.45190928e+02] [ 1.28007561e-01 9.91764067e-01 -4.25439054e-03 3.37965077e+01] [ 4.63936403e-02 -1.70295883e-03 9.98921784e-01 1.85458161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.185099893 meters 0.019471575357510436 Centerline is valid? [True, True] Translation: X:445.25, Y:33.81, Z:18.55 [[ 9.90706059e-01 -1.28006496e-01 -4.59982842e-02 4.45252049e+02] [ 1.27947816e-01 9.91771881e-01 -4.22986762e-03 3.38056624e+01] [ 4.61612553e-02 -1.69482453e-03 9.98932563e-01 1.85489376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.245099893 meters 0.019017121679816337 Centerline is valid? [True, True] Translation: X:445.31, Y:33.81, Z:18.55 [[ 9.90686260e-01 -1.28441077e-01 -4.52064598e-02 4.45314296e+02] [ 1.28384999e-01 9.91715704e-01 -4.15380194e-03 3.38122589e+01] [ 4.53654749e-02 -1.68871680e-03 9.98969030e-01 1.85519760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.305099893 meters 0.01953701915055862 Centerline is valid? [True, True] Translation: X:445.38, Y:33.82, Z:18.55 [[ 9.90425157e-01 -1.30266784e-01 -4.57009051e-02 4.45376291e+02] [ 1.30211569e-01 9.91477353e-01 -4.19580585e-03 3.38172140e+01] [ 4.58579865e-02 -1.79515490e-03 9.98946356e-01 1.85545794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.365099893 meters 0.021822966430245026 Centerline is valid? [True, True] Translation: X:445.44, Y:33.82, Z:18.56 [[ 9.90100319e-01 -1.32601300e-01 -4.60244793e-02 4.45436914e+02] [ 1.32547987e-01 9.91167598e-01 -4.22184435e-03 3.38192117e+01] [ 4.61777946e-02 -1.92040262e-03 9.98931391e-01 1.85568775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.425099893 meters 0.022608210793612755 Centerline is valid? [True, True] Translation: X:445.50, Y:33.82, Z:18.56 [[ 9.89448054e-01 -1.36913678e-01 -4.74045779e-02 4.45498036e+02] [ 1.36862321e-01 9.90580559e-01 -4.34283608e-03 3.38219212e+01] [ 4.75526469e-02 -2.19088987e-03 9.98866330e-01 1.85587878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.4850998929999 meters 0.02527046618992782 Centerline is valid? [True, True] Translation: X:445.56, Y:33.82, Z:18.56 [[ 9.88746001e-01 -1.41349003e-01 -4.90082041e-02 4.45558703e+02] [ 1.41299589e-01 9.89956704e-01 -4.48883263e-03 3.38222356e+01] [ 4.91504922e-02 -2.48652376e-03 9.98788289e-01 1.85600154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.54509989299993 meters 0.025739100288568007 Centerline is valid? [True, True] Translation: X:445.62, Y:33.83, Z:18.56 [[ 9.88445662e-01 -1.43505351e-01 -4.87994554e-02 4.45619490e+02] [ 1.43459029e-01 9.89646168e-01 -4.46860436e-03 3.38270387e+01] [ 4.89354627e-02 -2.58374988e-03 9.98798601e-01 1.85628895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.60509989299993 meters 0.024302534674793336 Centerline is valid? [True, True] Translation: X:445.68, Y:33.83, Z:18.57 [[ 9.88378669e-01 -1.44107373e-01 -4.83804911e-02 4.45681331e+02] [ 1.44062696e-01 9.89558658e-01 -4.42747812e-03 3.38347253e+01] [ 4.85133661e-02 -2.59379902e-03 9.98819166e-01 1.85667126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.66509989299993 meters 0.023343737556691516 Centerline is valid? [True, True] Translation: X:445.74, Y:33.84, Z:18.57 [[ 9.88589149e-01 -1.43120345e-01 -4.69900213e-02 4.45743143e+02] [ 1.43077246e-01 9.89702197e-01 -4.29681571e-03 3.38415451e+01] [ 4.71210891e-02 -2.47541745e-03 9.98886117e-01 1.85699787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.72509989299994 meters 0.024031582064614046 Centerline is valid? [True, True] Translation: X:445.80, Y:33.85, Z:18.57 [[ 9.89233180e-01 -1.38903100e-01 -4.60830240e-02 4.45802863e+02] [ 1.38857225e-01 9.90303459e-01 -4.21079232e-03 3.38466731e+01] [ 4.62210702e-02 -2.23350539e-03 9.98928738e-01 1.85733195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.78509989299994 meters 0.021346354222846718 Centerline is valid? [True, True] Translation: X:445.86, Y:33.86, Z:18.58 [[ 9.89516597e-01 -1.36940313e-01 -4.58721664e-02 4.45864121e+02] [ 1.36892764e-01 9.90577006e-01 -4.19129671e-03 3.38566218e+01] [ 4.60138708e-02 -2.13221000e-03 9.98938525e-01 1.85763347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.84509989299994 meters 0.020568152693305863 Centerline is valid? [True, True] Translation: X:445.92, Y:33.86, Z:18.58 [[ 9.90510555e-01 -1.29442820e-01 -4.61887058e-02 4.45923657e+02] [ 1.29386583e-01 9.91585257e-01 -4.21783580e-03 3.38640072e+01] [ 4.63460083e-02 -1.79838793e-03 9.98923828e-01 1.85783180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.90509989299994 meters 0.01857167156579461 Centerline is valid? [True, True] Translation: X:445.98, Y:33.87, Z:18.58 [[ 9.91161091e-01 -1.24138139e-01 -4.67911771e-02 4.45983317e+02] [ 1.24074522e-01 9.92263703e-01 -4.27283011e-03 3.38734067e+01] [ 4.69596078e-02 -1.57052998e-03 9.98895554e-01 1.85809774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.96509989299994 meters 0.016571084029291003 Centerline is valid? [True, True] Translation: X:446.04, Y:33.88, Z:18.58 [[ 9.91819580e-01 -1.18101765e-01 -4.84344362e-02 4.46043238e+02] [ 1.18026410e-01 9.93000607e-01 -4.42288761e-03 3.38822283e+01] [ 4.86177753e-02 -1.32983611e-03 9.98816571e-01 1.85827502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.02509989299995 meters 0.01675839926074623 Centerline is valid? [True, True] Translation: X:446.10, Y:33.89, Z:18.58 [[ 9.92050383e-01 -1.15674080e-01 -4.95534598e-02 4.46103201e+02] [ 1.15592183e-01 9.93286450e-01 -4.52493514e-03 3.38868663e+01] [ 4.97441979e-02 -1.23902898e-03 9.98761223e-01 1.85835842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.08509989299995 meters 0.015986908033528674 Centerline is valid? [True, True] Translation: X:446.16, Y:33.89, Z:18.59 [[ 9.92221052e-01 -1.13776492e-01 -5.05202336e-02 4.46164633e+02] [ 1.13688966e-01 9.93505686e-01 -4.61214411e-03 3.38926411e+01] [ 5.07168929e-02 -1.16732661e-03 9.98712388e-01 1.85855938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.14509989299995 meters 0.01582061802969992 Centerline is valid? [True, True] Translation: X:446.23, Y:33.90, Z:18.59 [[ 9.92260511e-01 -1.13224508e-01 -5.09832188e-02 4.46225712e+02] [ 1.13134735e-01 9.93568762e-01 -4.65259229e-03 3.38970878e+01] [ 5.11821210e-02 -1.15138936e-03 9.98688673e-01 1.85876751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.20509989299995 meters 0.016505337916892782 Centerline is valid? [True, True] Translation: X:446.29, Y:33.90, Z:18.59 [[ 9.92217295e-01 -1.13883156e-01 -5.03534205e-02 4.46285868e+02] [ 1.13796516e-01 9.93493459e-01 -4.59350352e-03 3.38997054e+01] [ 5.05489166e-02 -1.17229020e-03 9.98720898e-01 1.85900882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.26509989299996 meters 0.01762230371777493 Centerline is valid? [True, True] Translation: X:446.35, Y:33.90, Z:18.59 [[ 9.92082771e-01 -1.15777094e-01 -4.86563506e-02 4.46345413e+02] [ 1.15698505e-01 9.93274464e-01 -4.43801776e-03 3.39010241e+01] [ 4.88429313e-02 -1.22658604e-03 9.98805719e-01 1.85926613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.32509989299996 meters 0.017598602319603165 Centerline is valid? [True, True] Translation: X:446.41, Y:33.90, Z:18.60 [[ 9.91537975e-01 -1.20973537e-01 -4.70940180e-02 4.46406975e+02] [ 1.20905763e-01 9.92654696e-01 -4.29553958e-03 3.39031368e+01] [ 4.72677448e-02 -1.43474755e-03 9.98881225e-01 1.85968135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.38509989299996 meters 0.01879074590369413 Centerline is valid? [True, True] Translation: X:446.47, Y:33.90, Z:18.60 [[ 9.90721458e-01 -1.27975571e-01 -4.57520146e-02 4.46468422e+02] [ 1.27919122e-01 9.91775830e-01 -4.17159496e-03 3.39021043e+01] [ 4.59096044e-02 -1.71966889e-03 9.98944118e-01 1.85991958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.44509989299996 meters 0.023005869735494528 Centerline is valid? [True, True] Translation: X:446.53, Y:33.90, Z:18.60 [[ 9.90173439e-01 -1.32201106e-01 -4.56007476e-02 4.46529361e+02] [ 1.32149536e-01 9.91221075e-01 -4.15698287e-03 3.38980370e+01] [ 4.57499798e-02 -1.90998360e-03 9.98951096e-01 1.86005137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.50509989299997 meters 0.021908195732029418 Centerline is valid? [True, True] Translation: X:446.59, Y:33.90, Z:18.60 [[ 9.89748791e-01 -1.35381014e-01 -4.54896873e-02 4.46589990e+02] [ 1.35333086e-01 9.90791485e-01 -4.14592251e-03 3.39022569e+01] [ 4.56320740e-02 -2.05283799e-03 9.98956205e-01 1.86027034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.56509989299997 meters 0.023878376516876385 Centerline is valid? [True, True] Translation: X:446.65, Y:33.90, Z:18.60 [[ 9.89724583e-01 -1.35428395e-01 -4.58737387e-02 4.46651576e+02] [ 1.35379809e-01 9.90784964e-01 -4.17871434e-03 3.39037596e+01] [ 4.60169271e-02 -2.07460167e-03 9.98938506e-01 1.86048282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.62509989299997 meters 0.021334665969099217 Centerline is valid? [True, True] Translation: X:446.71, Y:33.91, Z:18.61 [[ 9.90116466e-01 -1.32826494e-01 -4.50167295e-02 4.46712224e+02] [ 1.32777128e-01 9.91137447e-01 -4.09829801e-03 3.39118042e+01] [ 4.51621289e-02 -1.91939971e-03 9.98977827e-01 1.86075468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.685099893 meters 0.020412279963616553 Centerline is valid? [True, True] Translation: X:446.77, Y:33.92, Z:18.61 [[ 9.90737161e-01 -1.28117900e-01 -4.50075699e-02 4.46772221e+02] [ 1.28063771e-01 9.91757477e-01 -4.09592600e-03 3.39183705e+01] [ 4.51613554e-02 -1.70585304e-03 9.98978249e-01 1.86095954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.745099893 meters 0.017951902134478954 Centerline is valid? [True, True] Translation: X:446.83, Y:33.93, Z:18.61 [[ 9.91146749e-01 -1.24829680e-01 -4.52291235e-02 4.46833465e+02] [ 1.24771607e-01 9.92176953e-01 -4.11589801e-03 3.39284610e+01] [ 4.53890801e-02 -1.56385151e-03 9.98968161e-01 1.86118645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.805099893 meters 0.01827630064090395 Centerline is valid? [True, True] Translation: X:446.89, Y:33.93, Z:18.61 [[ 9.91562776e-01 -1.21292460e-01 -4.57318338e-02 4.46894116e+02] [ 1.21229447e-01 9.92615798e-01 -4.15913231e-03 3.39339304e+01] [ 4.58986121e-02 -1.42000416e-03 9.98945094e-01 1.86132268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.865099893 meters 0.01626658118251983 Centerline is valid? [True, True] Translation: X:446.96, Y:33.94, Z:18.62 [[ 9.91777213e-01 -1.19470755e-01 -4.58770013e-02 4.46955250e+02] [ 1.19405480e-01 9.92836814e-01 -4.17048557e-03 3.39432962e+01] [ 4.60466268e-02 -1.34177282e-03 9.98938390e-01 1.86158247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.925099893 meters 0.016398361023572647 Centerline is valid? [True, True] Translation: X:447.02, Y:33.95, Z:18.62 [[ 9.92017820e-01 -1.17834546e-01 -4.48961449e-02 4.47016032e+02] [ 1.17770505e-01 9.93032465e-01 -4.07807282e-03 3.39493941e+01] [ 4.50638673e-02 -1.24192074e-03 9.98983336e-01 1.86191634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.9850998929999 meters 0.01733922958407484 Centerline is valid? [True, True] Translation: X:447.08, Y:33.95, Z:18.62 [[ 9.92247386e-01 -1.16453686e-01 -4.34012077e-02 4.47077331e+02] [ 1.16392626e-01 9.93195466e-01 -3.93984016e-03 3.39535737e+01] [ 4.35646916e-02 -1.14228445e-03 9.99049955e-01 1.86222363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.04509989299993 meters 0.01592627515078306 Centerline is valid? [True, True] Translation: X:447.14, Y:33.96, Z:18.63 [[ 9.92333418e-01 -1.16118381e-01 -4.23191265e-02 4.47138441e+02] [ 1.16060243e-01 9.93234767e-01 -3.83644740e-03 3.39623436e+01] [ 4.24783097e-02 -1.10453314e-03 9.99096779e-01 1.86255742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.10509989299993 meters 0.01628651951961558 Centerline is valid? [True, True] Translation: X:447.20, Y:33.97, Z:18.63 [[ 9.92337703e-01 -1.16198877e-01 -4.19964691e-02 4.47200613e+02] [ 1.16141826e-01 9.93225355e-01 -3.80408815e-03 3.39674569e+01] [ 4.21539887e-02 -1.10260651e-03 9.99110517e-01 1.86283553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.16509989299993 meters 0.016527843334321682 Centerline is valid? [True, True] Translation: X:447.26, Y:33.97, Z:18.63 [[ 9.92327186e-01 -1.16125244e-01 -4.24462429e-02 4.47262110e+02] [ 1.16067032e-01 9.93233953e-01 -3.84166851e-03 3.39728807e+01] [ 4.26051643e-02 -1.11441733e-03 9.99091366e-01 1.86302980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.22509989299994 meters 0.016386090384825084 Centerline is valid? [True, True] Translation: X:447.32, Y:33.98, Z:18.63 [[ 9.92163484e-01 -1.16568327e-01 -4.49827261e-02 4.47323934e+02] [ 1.16503560e-01 9.93181944e-01 -4.06777103e-03 3.39786061e+01] [ 4.51502046e-02 -1.20475387e-03 9.98979483e-01 1.86310845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.28509989299994 meters 0.01659329949939382 Centerline is valid? [True, True] Translation: X:447.39, Y:33.98, Z:18.63 [[ 9.92066904e-01 -1.17187615e-01 -4.55007679e-02 4.47385380e+02] [ 1.17122150e-01 9.93109007e-01 -4.11129730e-03 3.39836343e+01] [ 4.56690155e-02 -1.25046579e-03 9.98955844e-01 1.86335423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.34509989299994 meters 0.016939571984496672 Centerline is valid? [True, True] Translation: X:447.45, Y:33.99, Z:18.64 [[ 9.91970932e-01 -1.17589217e-01 -4.65450915e-02 4.47447545e+02] [ 1.17521281e-01 9.93061470e-01 -4.20294594e-03 3.39880695e+01] [ 4.67163581e-02 -1.30083855e-03 9.98907348e-01 1.86355206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.40509989299994 meters 0.017471271037936376 Centerline is valid? [True, True] Translation: X:447.51, Y:33.99, Z:18.64 [[ 9.91957787e-01 -1.17521583e-01 -4.69939041e-02 4.47508686e+02] [ 1.17452412e-01 9.93069460e-01 -4.24011903e-03 3.39926254e+01] [ 4.71665165e-02 -1.31352832e-03 9.98886177e-01 1.86378056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.46509989299994 meters 0.01682376313230734 Centerline is valid? [True, True] Translation: X:447.57, Y:34.00, Z:18.64 [[ 9.92014381e-01 -1.17226390e-01 -4.65343080e-02 4.47570139e+02] [ 1.17158362e-01 9.93104381e-01 -4.19608126e-03 3.40001313e+01] [ 4.67053166e-02 -1.28931034e-03 9.98907879e-01 1.86413111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.52509989299995 meters 0.018004348493392136 Centerline is valid? [True, True] Translation: X:447.63, Y:34.00, Z:18.64 [[ 9.91965454e-01 -1.17417703e-01 -4.70916345e-02 4.47631096e+02] [ 1.17348424e-01 9.93081742e-01 -4.24266089e-03 3.40043748e+01] [ 4.72640060e-02 -1.31755608e-03 9.98881563e-01 1.86442242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.58509989299995 meters 0.01695129661529699 Centerline is valid? [True, True] Translation: X:447.69, Y:34.01, Z:18.65 [[ 9.91808794e-01 -1.18586862e-01 -4.74602169e-02 4.47691764e+02] [ 1.18518068e-01 9.92942711e-01 -4.27090674e-03 3.40120492e+01] [ 4.76317499e-02 -1.38897034e-03 9.98863998e-01 1.86471932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.64509989299995 meters 0.017060835121117977 Centerline is valid? [True, True] Translation: X:447.75, Y:34.02, Z:18.65 [[ 9.91413638e-01 -1.21502669e-01 -4.83332199e-02 4.47753083e+02] [ 1.21434866e-01 9.92589881e-01 -4.34766798e-03 3.40172770e+01] [ 4.85033182e-02 -1.55900077e-03 9.98821805e-01 1.86500055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.70509989299995 meters 0.018122529921137494 Centerline is valid? [True, True] Translation: X:447.81, Y:34.02, Z:18.65 [[ 9.91261113e-01 -1.22566309e-01 -4.87740320e-02 4.47813081e+02] [ 1.22498644e-01 9.92458992e-01 -4.38539744e-03 3.40211044e+01] [ 4.89437286e-02 -1.62767882e-03 9.98800211e-01 1.86520536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.76509989299996 meters 0.019472449243936332 Centerline is valid? [True, True] Translation: X:447.87, Y:34.02, Z:18.65 [[ 9.90958587e-01 -1.24768638e-01 -4.93342218e-02 4.47873573e+02] [ 1.24702244e-01 9.92184305e-01 -4.43351677e-03 3.40249856e+01] [ 4.95018044e-02 -1.75865666e-03 9.98772486e-01 1.86544455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.82509989299996 meters 0.02023925213129269 Centerline is valid? [True, True] Translation: X:447.93, Y:34.03, Z:18.66 [[ 9.90799560e-01 -1.25942363e-01 -4.95454656e-02 4.47934237e+02] [ 1.25876915e-01 9.92035880e-01 -4.45147017e-03 3.40304791e+01] [ 4.97115082e-02 -1.82611569e-03 9.98761949e-01 1.86570482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.88509989299996 meters 0.019154201175764437 Centerline is valid? [True, True] Translation: X:448.00, Y:34.04, Z:18.66 [[ 9.91120198e-01 -1.23457880e-01 -4.93852635e-02 4.47995225e+02] [ 1.23389870e-01 9.92348361e-01 -4.43517905e-03 3.40395844e+01] [ 4.95549431e-02 -1.69784573e-03 9.98769956e-01 1.86609296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.94509989299996 meters 0.019221916824382748 Centerline is valid? [True, True] Translation: X:448.05, Y:34.05, Z:18.66 [[ 9.91512844e-01 -1.20295049e-01 -4.93090442e-02 4.48054994e+02] [ 1.20223461e-01 9.92736990e-01 -4.42593985e-03 3.40459640e+01] [ 4.94833307e-02 -1.53972774e-03 9.98773763e-01 1.86637799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.00509989299997 meters 0.015907137055083745 Centerline is valid? [True, True] Translation: X:448.12, Y:34.06, Z:18.67 [[ 9.92063927e-01 -1.15363790e-01 -5.00036012e-02 4.48115307e+02] [ 1.15283966e-01 9.93322441e-01 -4.48721947e-03 3.40594385e+01] [ 5.01873619e-02 -1.31300491e-03 9.98738957e-01 1.86677200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.06509989299997 meters 0.016011388853742675 Centerline is valid? [True, True] Translation: X:448.18, Y:34.07, Z:18.67 [[ 9.92439389e-01 -1.11247670e-01 -5.18460745e-02 4.48175816e+02] [ 1.11156346e-01 9.93792050e-01 -4.65057887e-03 3.40658772e+01] [ 5.20415827e-02 -1.14760255e-03 9.98644259e-01 1.86686004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.12509989299997 meters 0.01523954366496212 Centerline is valid? [True, True] Translation: X:448.24, Y:34.07, Z:18.67 [[ 9.92548266e-01 -1.09569750e-01 -5.33142555e-02 4.48235479e+02] [ 1.09470845e-01 9.93978510e-01 -4.78069982e-03 3.40734959e+01] [ 5.35170444e-02 -1.09128128e-03 9.98566340e-01 1.86710548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.185099893 meters 0.015052531982540356 Centerline is valid? [True, True] Translation: X:448.30, Y:34.08, Z:18.67 [[ 9.92406549e-01 -1.10347616e-01 -5.43382422e-02 4.48295833e+02] [ 1.10246039e-01 9.93892383e-01 -4.87252090e-03 3.40806036e+01] [ 5.45440361e-02 -1.15505430e-03 9.98510698e-01 1.86749072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.245099893 meters 0.01595628631898992 Centerline is valid? [True, True] Translation: X:448.36, Y:34.09, Z:18.68 [[ 9.92120038e-01 -1.12929624e-01 -5.42653612e-02 4.48355716e+02] [ 1.12832176e-01 9.93602145e-01 -4.86598566e-03 3.40854867e+01] [ 5.44676932e-02 -1.29523690e-03 9.98514693e-01 1.86781997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.305099893 meters 0.016069744154781712 Centerline is valid? [True, True] Translation: X:448.42, Y:34.09, Z:18.68 [[ 9.91829175e-01 -1.15456474e-01 -5.42650080e-02 4.48415601e+02] [ 1.15362803e-01 9.93311505e-01 -4.86595398e-03 3.40909514e+01] [ 5.44638627e-02 -1.43396829e-03 9.98514713e-01 1.86815618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.365099893 meters 0.017556294148088167 Centerline is valid? [True, True] Translation: X:448.48, Y:34.09, Z:18.68 [[ 9.91411637e-01 -1.19301268e-01 -5.35740021e-02 4.48475820e+02] [ 1.19215569e-01 9.92856772e-01 -4.80399135e-03 3.40942946e+01] [ 5.37644330e-02 -1.62412223e-03 9.98552326e-01 1.86846796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.425099893 meters 0.019272760159174944 Centerline is valid? [True, True] Translation: X:448.54, Y:34.10, Z:18.69 [[ 9.90987949e-01 -1.23094610e-01 -5.28261574e-02 4.48536303e+02] [ 1.23016665e-01 9.92393300e-01 -4.73693197e-03 3.40975410e+01] [ 5.30074155e-02 -1.80425521e-03 9.98592489e-01 1.86876343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.4850998929999 meters 0.02027823916643205 Centerline is valid? [True, True] Translation: X:448.60, Y:34.10, Z:18.69 [[ 9.90171279e-01 -1.29904185e-01 -5.18241389e-02 4.48597058e+02] [ 1.29838470e-01 9.91524269e-01 -4.64702665e-03 3.41017183e+01] [ 5.19885597e-02 -2.12741460e-03 9.98645414e-01 1.86913344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.54509989299993 meters 0.02505614496548363 Centerline is valid? [True, True] Translation: X:448.66, Y:34.10, Z:18.69 [[ 9.89583226e-01 -1.34290732e-01 -5.18752090e-02 4.48657240e+02] [ 1.34230932e-01 9.90939164e-01 -4.65090591e-03 3.41000052e+01] [ 5.20297498e-02 -2.36079918e-03 9.98642745e-01 1.86924268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.60509989299993 meters 0.026112850657197345 Centerline is valid? [True, True] Translation: X:448.72, Y:34.11, Z:18.70 [[ 9.88884780e-01 -1.39309881e-01 -5.19581453e-02 4.48717220e+02] [ 1.39256897e-01 9.90245341e-01 -4.65632732e-03 3.41051052e+01] [ 5.20999838e-02 -2.63095889e-03 9.98638408e-01 1.86957083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.66509989299993 meters 0.024919604487215936 Centerline is valid? [True, True] Translation: X:448.78, Y:34.11, Z:18.70 [[ 9.88663424e-01 -1.40775691e-01 -5.22191388e-02 4.48779027e+02] [ 1.40724261e-01 9.90037773e-01 -4.67879187e-03 3.41134160e+01] [ 5.23575800e-02 -2.72274931e-03 9.98624689e-01 1.86984155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.72509989299994 meters 0.0275225059023531 Centerline is valid? [True, True] Translation: X:448.84, Y:34.12, Z:18.70 [[ 9.88530995e-01 -1.41282125e-01 -5.33463591e-02 4.48840207e+02] [ 1.41229389e-01 9.89965378e-01 -4.77603742e-03 3.41170244e+01] [ 5.34858173e-02 -2.81281266e-03 9.98564648e-01 1.86999236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.78509989299994 meters 0.027340630869065907 Centerline is valid? [True, True] Translation: X:448.90, Y:34.12, Z:18.70 [[ 9.88521240e-01 -1.41137887e-01 -5.39059905e-02 4.48901553e+02] [ 1.41083997e-01 9.89985881e-01 -4.82299470e-03 3.41240800e+01] [ 5.40468767e-02 -2.83763988e-03 9.98534367e-01 1.87026748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.84509989299994 meters 0.026232115925251067 Centerline is valid? [True, True] Translation: X:448.96, Y:34.13, Z:18.71 [[ 9.88870490e-01 -1.38643454e-01 -5.39735836e-02 4.48962601e+02] [ 1.38585919e-01 9.90338658e-01 -4.82543126e-03 3.41332464e+01] [ 5.41211408e-02 -2.70825213e-03 9.98530704e-01 1.87067122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.90509989299994 meters 0.021385838790918304 Centerline is valid? [True, True] Translation: X:449.02, Y:34.15, Z:18.71 [[ 9.89461483e-01 -1.34919171e-01 -5.25622617e-02 4.49022142e+02] [ 1.34859487e-01 9.90853601e-01 -4.69688475e-03 3.41468987e+01] [ 5.27152061e-02 -2.44113309e-03 9.98606603e-01 1.87118864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.96509989299994 meters 0.02004675436442361 Centerline is valid? [True, True] Translation: X:449.08, Y:34.16, Z:18.72 [[ 9.90614487e-01 -1.26984468e-01 -5.05755159e-02 4.49080835e+02] [ 1.26918910e-01 9.91902803e-01 -4.51876629e-03 3.41559258e+01] [ 5.07398091e-02 -1.94263399e-03 9.98710017e-01 1.87163093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.02509989299995 meters 0.01779071206695768 Centerline is valid? [True, True] Translation: X:449.14, Y:34.17, Z:18.72 [[ 9.91417953e-01 -1.20887487e-01 -4.97660316e-02 4.49141137e+02] [ 1.20816305e-01 9.92664920e-01 -4.44709282e-03 3.41655265e+01] [ 4.99385917e-02 -1.60362040e-03 9.98751003e-01 1.87202358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.08509989299995 meters 0.015495020358820815 Centerline is valid? [True, True] Translation: X:449.20, Y:34.17, Z:18.72 [[ 9.92350182e-01 -1.12466354e-01 -5.09159708e-02 4.49201693e+02] [ 1.12380814e-01 9.93654799e-01 -4.54889593e-03 3.41749101e+01] [ 5.11044964e-02 -1.20788053e-03 9.98692581e-01 1.87223732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.14509989299995 meters 0.014925581954934403 Centerline is valid? [True, True] Translation: X:449.26, Y:34.18, Z:18.72 [[ 9.92875612e-01 -1.07105035e-01 -5.22161879e-02 4.49262182e+02] [ 1.07007721e-01 9.94247251e-01 -4.66388769e-03 3.41812684e+01] [ 5.24153271e-02 -9.56874913e-04 9.98624914e-01 1.87230647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.20509989299995 meters 0.013544649551564364 Centerline is valid? [True, True] Translation: X:449.32, Y:34.19, Z:18.72 [[ 9.93602287e-01 -9.96993382e-02 -5.30522142e-02 4.49322161e+02] [ 9.95884098e-02 9.95017442e-01 -4.73700778e-03 3.41886093e+01] [ 5.32601549e-02 -5.76683882e-04 9.98580504e-01 1.87249799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.26509989299996 meters 0.013139092974783157 Centerline is valid? [True, True] Translation: X:449.38, Y:34.19, Z:18.73 [[ 9.94175504e-01 -9.44465377e-02 -5.19126104e-02 4.49381417e+02] [ 9.43331574e-02 9.95529893e-01 -4.63543023e-03 3.41939916e+01] [ 5.21183558e-02 -2.88649261e-04 9.98640873e-01 1.87276116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.32509989299996 meters 0.012835223455628335 Centerline is valid? [True, True] Translation: X:449.44, Y:34.20, Z:18.73 [[ 9.94880864e-01 -8.78029906e-02 -5.00269984e-02 4.49441242e+02] [ 8.76892672e-02 9.96137858e-01 -4.46776683e-03 3.41988395e+01] [ 5.02260703e-02 5.80648884e-05 9.98737873e-01 1.87312900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.38509989299996 meters 0.01288146587899601 Centerline is valid? [True, True] Translation: X:449.50, Y:34.20, Z:18.73 [[ 9.95158015e-01 -8.52613464e-02 -4.88981457e-02 4.49500360e+02] [ 8.51496208e-02 9.96358605e-01 -4.36721086e-03 3.42021821e+01] [ 4.90924425e-02 1.82406330e-04 9.98794222e-01 1.87338466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.44509989299996 meters 0.012841692688783359 Centerline is valid? [True, True] Translation: X:449.56, Y:34.20, Z:18.73 [[ 9.95028973e-01 -8.67401245e-02 -4.89233507e-02 4.49559967e+02] [ 8.66299756e-02 9.96230966e-01 -4.37137732e-03 3.41997774e+01] [ 4.91181308e-02 1.11418406e-04 9.98792970e-01 1.87339440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.50509989299997 meters 0.012890437517145102 Centerline is valid? [True, True] Translation: X:449.62, Y:34.20, Z:18.74 [[ 9.94594200e-01 -9.20625904e-02 -4.80297422e-02 4.49618829e+02] [ 9.19624497e-02 9.95753212e-01 -4.29527523e-03 3.41961233e+01] [ 4.82212042e-02 -1.44876917e-04 9.98836671e-01 1.87357756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.56509989299997 meters 0.013771937971796764 Centerline is valid? [True, True] Translation: X:449.68, Y:34.19, Z:18.74 [[ 9.93466380e-01 -1.03950110e-01 -4.71054812e-02 4.49679508e+02] [ 1.03866640e-01 9.94582268e-01 -4.22290190e-03 3.41864735e+01] [ 4.72892474e-02 -6.97376993e-04 9.98880994e-01 1.87390516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.62509989299997 meters 0.014538447331291535 Centerline is valid? [True, True] Translation: X:449.74, Y:34.19, Z:18.74 [[ 9.92997373e-01 -1.08563663e-01 -4.65848412e-02 4.49740464e+02] [ 1.08487031e-01 9.94089086e-01 -4.17766482e-03 3.41865263e+01] [ 4.67630248e-02 -9.05440895e-04 9.98905601e-01 1.87414881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.685099893 meters 0.01864199166431048 Centerline is valid? [True, True] Translation: X:449.80, Y:34.17, Z:18.74 [[ 9.91505323e-01 -1.20996307e-01 -4.77188465e-02 4.49801284e+02] [ 1.20930290e-01 9.92651781e-01 -4.27867435e-03 3.41740718e+01] [ 4.78859017e-02 -1.52832553e-03 9.98851643e-01 1.87419037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.745099893 meters 0.02288645905242363 Centerline is valid? [True, True] Translation: X:449.86, Y:34.17, Z:18.74 [[ 9.90774965e-01 -1.26972120e-01 -4.73608369e-02 4.49861202e+02] [ 1.26913855e-01 9.91904649e-01 -4.24751817e-03 3.41665849e+01] [ 4.75167507e-02 -1.80241172e-03 9.98868815e-01 1.87430451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.805099893 meters 0.022544511177717337 Centerline is valid? [True, True] Translation: X:449.92, Y:34.16, Z:18.75 [[ 9.90102623e-01 -1.32607466e-01 -4.59570997e-02 4.49921463e+02] [ 1.32558586e-01 9.91166596e-01 -4.12313384e-03 3.41649112e+01] [ 4.60979004e-02 -2.00968250e-03 9.98934905e-01 1.87461760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.865099893 meters 0.02436829933309424 Centerline is valid? [True, True] Translation: X:449.98, Y:34.16, Z:18.75 [[ 9.89791566e-01 -1.35199722e-01 -4.50964750e-02 4.49981697e+02] [ 1.35155298e-01 9.90816163e-01 -4.04677591e-03 3.41635019e+01] [ 4.52294394e-02 -2.08956287e-03 9.98974440e-01 1.87490502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.925099893 meters 0.02602863375553336 Centerline is valid? [True, True] Translation: X:450.04, Y:34.16, Z:18.75 [[ 9.89196694e-01 -1.39621779e-01 -4.46728135e-02 4.50042392e+02] [ 1.39582609e-01 9.90202309e-01 -4.01031788e-03 3.41617262e+01] [ 4.47950508e-02 -2.26855468e-03 9.98993622e-01 1.87517268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.9850998929999 meters 0.0246743735562963 Centerline is valid? [True, True] Translation: X:450.10, Y:34.17, Z:18.75 [[ 9.88845411e-01 -1.42232150e-01 -4.42127712e-02 4.50102233e+02] [ 1.42196323e-01 9.89830512e-01 -3.97034754e-03 3.41663919e+01] [ 4.43278610e-02 -2.36083356e-03 9.99014248e-01 1.87534018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.04509989299993 meters 0.028689402831558443 Centerline is valid? [True, True] Translation: X:450.16, Y:34.16, Z:18.75 [[ 9.88206770e-01 -1.46312092e-01 -4.51680278e-02 4.50161950e+02] [ 1.46278904e-01 9.89235069e-01 -4.05704143e-03 3.41637326e+01] [ 4.52753913e-02 -2.59793380e-03 9.98971166e-01 1.87546897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.10509989299993 meters 0.029623762826824083 Centerline is valid? [True, True] Translation: X:450.22, Y:34.17, Z:18.76 [[ 9.87869761e-01 -1.48399650e-01 -4.57261399e-02 4.50221412e+02] [ 1.48367789e-01 9.88923716e-01 -4.10885086e-03 3.41666769e+01] [ 4.58294162e-02 -2.72527674e-03 9.98945563e-01 1.87567077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.16509989299993 meters 0.03175898198210584 Centerline is valid? [True, True] Translation: X:450.28, Y:34.17, Z:18.76 [[ 9.87689338e-01 -1.49518212e-01 -4.59790726e-02 4.50278806e+02] [ 1.49487118e-01 9.88755033e-01 -4.13345004e-03 3.41696162e+01] [ 4.60800656e-02 -2.79071454e-03 9.98933851e-01 1.87589475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.22509989299994 meters 0.02985657904728413 Centerline is valid? [True, True] Translation: X:450.34, Y:34.18, Z:18.76 [[ 9.87610225e-01 -1.50054790e-01 -4.59304264e-02 4.50337534e+02] [ 1.50024162e-01 9.88673692e-01 -4.13291178e-03 3.41783954e+01] [ 4.60303675e-02 -2.80896782e-03 9.98936092e-01 1.87615137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.28509989299994 meters 0.030110714719970722 Centerline is valid? [True, True] Translation: X:450.40, Y:34.19, Z:18.76 [[ 9.87686750e-01 -1.49739718e-01 -4.53089551e-02 4.50396459e+02] [ 1.49709509e-01 9.88721613e-01 -4.07860419e-03 3.41862893e+01] [ 4.54086722e-02 -2.75479810e-03 9.98964696e-01 1.87648211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.34509989299994 meters 0.028515715004290725 Centerline is valid? [True, True] Translation: X:450.46, Y:34.20, Z:18.77 [[ 9.87968742e-01 -1.48248878e-01 -4.40458279e-02 4.50455987e+02] [ 1.48218785e-01 9.88946641e-01 -3.96640193e-03 3.41964021e+01] [ 4.41469882e-02 -2.60973797e-03 9.99021638e-01 1.87682872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.40509989299994 meters 0.028170914930541135 Centerline is valid? [True, True] Translation: X:450.52, Y:34.21, Z:18.77 [[ 9.88537309e-01 -1.45005898e-01 -4.20390204e-02 4.50515497e+02] [ 1.44975528e-01 9.89427996e-01 -3.78641082e-03 3.42076082e+01] [ 4.21436356e-02 -2.35162081e-03 9.99108795e-01 1.87722772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.46509989299994 meters 0.02606252798444613 Centerline is valid? [True, True] Translation: X:450.58, Y:34.22, Z:18.77 [[ 9.89069686e-01 -1.41425488e-01 -4.17131574e-02 4.50575624e+02] [ 1.41392412e-01 9.89946499e-01 -3.75706281e-03 3.42210197e+01] [ 4.18251386e-02 -2.18192698e-03 9.99122564e-01 1.87745730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.52509989299995 meters 0.027301757752148523 Centerline is valid? [True, True] Translation: X:450.63, Y:34.23, Z:18.78 [[ 9.89495002e-01 -1.38150661e-01 -4.25915056e-02 4.50634569e+02] [ 1.38113184e-01 9.90409026e-01 -3.83541670e-03 3.42272181e+01] [ 4.27128770e-02 -2.08732282e-03 9.99085208e-01 1.87760916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.58509989299995 meters 0.0218312165767389 Centerline is valid? [True, True] Translation: X:450.69, Y:34.24, Z:18.78 [[ 9.90061740e-01 -1.33694817e-01 -4.36285202e-02 4.50693826e+02] [ 1.33651144e-01 9.91020651e-01 -3.92956205e-03 3.42439639e+01] [ 4.37621265e-02 -1.94049259e-03 9.99040095e-01 1.87780043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.64509989299995 meters 0.018796765849593045 Centerline is valid? [True, True] Translation: X:450.75, Y:34.26, Z:18.78 [[ 9.91304511e-01 -1.23668040e-01 -4.49620163e-02 4.50753645e+02] [ 1.23611353e-01 9.92322444e-01 -4.04963856e-03 3.42599932e+01] [ 4.51176288e-02 -1.54339071e-03 9.98980489e-01 1.87795960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.70509989299995 meters 0.01568499248137602 Centerline is valid? [True, True] Translation: X:450.81, Y:34.28, Z:18.78 [[ 9.92815358e-01 -1.10458060e-01 -4.60074118e-02 4.50812372e+02] [ 1.10384538e-01 9.93880318e-01 -4.14339375e-03 3.42766427e+01] [ 4.61835323e-02 -9.64881947e-04 9.98932505e-01 1.87809238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.76509989299996 meters 0.013705898691961833 Centerline is valid? [True, True] Translation: X:450.87, Y:34.29, Z:18.78 [[ 9.93880128e-01 -1.00773490e-01 -4.52437190e-02 4.50871903e+02] [ 1.00692353e-01 9.94909266e-01 -4.07459747e-03 3.42914554e+01] [ 4.54240066e-02 -5.06035053e-04 9.98967669e-01 1.87842047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.82509989299996 meters 0.012972636332435774 Centerline is valid? [True, True] Translation: X:450.93, Y:34.30, Z:18.79 [[ 9.94765896e-01 -9.22067692e-02 -4.40309397e-02 4.50931574e+02] [ 9.21215638e-02 9.95739875e-01 -3.96464288e-03 3.43047495e+01] [ 4.42089294e-02 -1.12307492e-04 9.99022301e-01 1.87883720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.88509989299996 meters 0.013150292107082101 Centerline is valid? [True, True] Translation: X:450.99, Y:34.32, Z:18.79 [[ 9.95492221e-01 -8.47873223e-02 -4.25011600e-02 4.50991573e+02] [ 8.47011740e-02 9.96399050e-01 -3.82689814e-03 3.43158842e+01] [ 4.26725879e-02 2.09749185e-04 9.99089088e-01 1.87918656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.94509989299996 meters 0.013199400045242246 Centerline is valid? [True, True] Translation: X:451.05, Y:34.32, Z:18.79 [[ 9.95505853e-01 -8.46658699e-02 -4.24238930e-02 4.51052213e+02] [ 8.45799244e-02 9.96409376e-01 -3.81994086e-03 3.43209306e+01] [ 4.25949834e-02 2.14563816e-04 9.99092399e-01 1.87942536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.00509989299997 meters 0.012940110277986396 Centerline is valid? [True, True] Translation: X:451.11, Y:34.32, Z:18.80 [[ 9.94967880e-01 -9.07581541e-02 -4.24485026e-02 4.51112906e+02] [ 9.06776477e-02 9.95872961e-01 -3.82215675e-03 3.43207625e+01] [ 4.26202078e-02 -4.62071603e-05 9.99091345e-01 1.87959959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.06509989299997 meters 0.013371490489924677 Centerline is valid? [True, True] Translation: X:451.17, Y:34.32, Z:18.80 [[ 9.94364785e-01 -9.67476796e-02 -4.33423696e-02 4.51172382e+02] [ 9.66694287e-02 9.95308892e-01 -3.90264981e-03 3.43198163e+01] [ 4.35166181e-02 -3.09224569e-04 9.99052655e-01 1.87977991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.12509989299997 meters 0.014584907643499234 Centerline is valid? [True, True] Translation: X:451.23, Y:34.32, Z:18.80 [[ 9.93422798e-01 -1.05833800e-01 -4.37075731e-02 4.51233385e+02] [ 1.05762996e-01 9.94383577e-01 -3.93573741e-03 3.43167192e+01] [ 4.38786269e-02 -7.12792595e-04 9.99036615e-01 1.87998196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.185099893 meters 0.01688458809467577 Centerline is valid? [True, True] Translation: X:451.29, Y:34.31, Z:18.80 [[ 9.92937942e-01 -1.10348729e-01 -4.35591605e-02 4.51293124e+02] [ 1.10282743e-01 9.93892515e-01 -3.92239139e-03 3.43136090e+01] [ 4.37259545e-02 -9.09132472e-04 9.99043149e-01 1.88022077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.245099893 meters 0.01771900192657963 Centerline is valid? [True, True] Translation: X:451.35, Y:34.31, Z:18.80 [[ 9.92335472e-01 -1.15858890e-01 -4.29770732e-02 4.51353348e+02] [ 1.15799795e-01 9.93265034e-01 -3.87042813e-03 3.43138088e+01] [ 4.31360475e-02 -1.13597315e-03 9.99068562e-01 1.88049271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.305099893 meters 0.018915202274302732 Centerline is valid? [True, True] Translation: X:451.41, Y:34.31, Z:18.81 [[ 9.91770319e-01 -1.20028554e-01 -4.45508743e-02 4.51413854e+02] [ 1.19969215e-01 9.92769502e-01 -4.01296637e-03 3.43130114e+01] [ 4.47104199e-02 -1.36479247e-03 9.98999057e-01 1.88060016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.365099893 meters 0.01869249185893622 Centerline is valid? [True, True] Translation: X:451.47, Y:34.32, Z:18.81 [[ 9.91309497e-01 -1.23332767e-01 -4.57658214e-02 4.51474543e+02] [ 1.23273627e-01 9.92364153e-01 -4.12315866e-03 3.43162933e+01] [ 4.59248812e-02 -1.55439247e-03 9.98943687e-01 1.88074935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.425099893 meters 0.01970420286060231 Centerline is valid? [True, True] Translation: X:451.53, Y:34.32, Z:18.81 [[ 9.90631703e-01 -1.28518315e-01 -4.61722035e-02 4.51534984e+02] [ 1.28463735e-01 9.91705483e-01 -4.15985121e-03 3.43164530e+01] [ 4.63238444e-02 -1.81057323e-03 9.98924834e-01 1.88093650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.4850998929999 meters 0.021229089926031477 Centerline is valid? [True, True] Translation: X:451.59, Y:34.32, Z:18.81 [[ 9.90322135e-01 -1.30559228e-01 -4.70782050e-02 4.51594288e+02] [ 1.30504744e-01 9.91438608e-01 -4.24236409e-03 3.43177708e+01] [ 4.72290299e-02 -1.94262205e-03 9.98882198e-01 1.88112515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.54509989299993 meters 0.022078772651559064 Centerline is valid? [True, True] Translation: X:451.65, Y:34.32, Z:18.81 [[ 9.90313645e-01 -1.30280554e-01 -4.80193865e-02 4.51653152e+02] [ 1.30223490e-01 9.91475218e-01 -4.32828911e-03 3.43209028e+01] [ 4.81739236e-02 -1.96688835e-03 9.98837026e-01 1.88129265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.60509989299993 meters 0.02053842636224841 Centerline is valid? [True, True] Translation: X:451.71, Y:34.33, Z:18.82 [[ 9.90676563e-01 -1.27271622e-01 -4.85992038e-02 4.51712322e+02] [ 1.27209435e-01 9.91866195e-01 -4.38307230e-03 3.43283467e+01] [ 4.87617480e-02 -1.84007024e-03 9.98808743e-01 1.88157010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.66509989299993 meters 0.018321500069336277 Centerline is valid? [True, True] Translation: X:451.77, Y:34.34, Z:18.82 [[ 9.91850648e-01 -1.18225822e-01 -4.74862944e-02 4.51770953e+02] [ 1.18156012e-01 9.92985801e-01 -4.28428988e-03 3.43385212e+01] [ 4.76597298e-02 -1.36141548e-03 9.98862702e-01 1.88198793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.72509989299994 meters 0.015479602778615474 Centerline is valid? [True, True] Translation: X:451.83, Y:34.35, Z:18.82 [[ 9.92754694e-01 -1.10720368e-01 -4.66810259e-02 4.51829506e+02] [ 1.10644563e-01 9.93851113e-01 -4.21266142e-03 3.43509837e+01] [ 4.68604169e-02 -9.82862330e-04 9.98900964e-01 1.88241308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.78509989299994 meters 0.013541466539979712 Centerline is valid? [True, True] Translation: X:451.89, Y:34.36, Z:18.83 [[ 9.93774784e-01 -1.01099291e-01 -4.68039759e-02 4.51888755e+02] [ 1.01012339e-01 9.94876200e-01 -4.22535455e-03 3.43617670e+01] [ 4.69913421e-02 -5.28728260e-04 9.98895157e-01 1.88271120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.84509989299994 meters 0.013097267443458146 Centerline is valid? [True, True] Translation: X:451.95, Y:34.37, Z:18.83 [[ 9.94113401e-01 -9.75111509e-02 -4.72241578e-02 4.51946843e+02] [ 9.74184811e-02 9.95234367e-01 -4.26542278e-03 3.43685401e+01] [ 4.74150311e-02 -3.60191775e-04 9.98875210e-01 1.88296163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.90509989299994 meters 0.01290472460791133 Centerline is valid? [True, True] Translation: X:452.00, Y:34.37, Z:18.83 [[ 9.94285751e-01 -9.52373833e-02 -4.82253738e-02 4.52004459e+02] [ 9.51375127e-02 9.95454560e-01 -4.36729056e-03 3.43733981e+01] [ 4.84220976e-02 -2.45707342e-04 9.98826932e-01 1.88316128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.96509989299994 meters 0.012935709272700109 Centerline is valid? [True, True] Translation: X:452.06, Y:34.38, Z:18.83 [[ 9.94157093e-01 -9.62861543e-02 -4.87919106e-02 4.52063021e+02] [ 9.61849144e-02 9.95353651e-01 -4.42409865e-03 3.43769920e+01] [ 4.89911858e-02 -2.94796695e-04 9.98799167e-01 1.88342313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.02509989299995 meters 0.01317439698657975 Centerline is valid? [True, True] Translation: X:452.12, Y:34.38, Z:18.84 [[ 9.93746177e-01 -1.00195628e-01 -4.92886522e-02 4.52121506e+02] [ 1.00096566e-01 9.94967640e-01 -4.48029498e-03 3.43770106e+01] [ 4.94895199e-02 -4.81348822e-04 9.98774527e-01 1.88367869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.08509989299995 meters 0.013705334122286635 Centerline is valid? [True, True] Translation: X:452.18, Y:34.38, Z:18.84 [[ 9.93307985e-01 -1.04486199e-01 -4.92126041e-02 4.52180468e+02] [ 1.04392420e-01 9.94526098e-01 -4.47907619e-03 3.43776193e+01] [ 4.94112208e-02 -6.88320708e-04 9.98778282e-01 1.88394106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.14509989299995 meters 0.014639180526489288 Centerline is valid? [True, True] Translation: X:452.24, Y:34.38, Z:18.84 [[ 9.92617694e-01 -1.10602437e-01 -4.97716195e-02 4.52239990e+02] [ 1.10513621e-01 9.93864234e-01 -4.54135142e-03 3.43757107e+01] [ 4.99685170e-02 -9.92616113e-04 9.98750300e-01 1.88411412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.20509989299995 meters 0.015449951652138541 Centerline is valid? [True, True] Translation: X:452.30, Y:34.38, Z:18.84 [[ 9.92280144e-01 -1.13762893e-01 -4.93773271e-02 4.52298286e+02] [ 1.13679185e-01 9.93507276e-01 -4.50942345e-03 3.43766694e+01] [ 4.95697388e-02 -1.13856297e-03 9.98770016e-01 1.88442188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.26509989299996 meters 0.016118694795759433 Centerline is valid? [True, True] Translation: X:452.36, Y:34.38, Z:18.85 [[ 9.92230416e-01 -1.14276470e-01 -4.91903482e-02 4.52356230e+02] [ 1.14193806e-01 9.93448314e-01 -4.49679186e-03 3.43775733e+01] [ 4.93819460e-02 -1.15537942e-03 9.98779299e-01 1.88468826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.32509989299996 meters 0.01580477159742851 Centerline is valid? [True, True] Translation: X:452.41, Y:34.38, Z:18.85 [[ 9.92449942e-01 -1.12393603e-01 -4.90997918e-02 4.52414455e+02] [ 1.12308669e-01 9.93663206e-01 -4.49402690e-03 3.43818005e+01] [ 4.92937564e-02 -1.05423555e-03 9.98783767e-01 1.88494937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.38509989299996 meters 0.013740111100256424 Centerline is valid? [True, True] Translation: X:452.47, Y:34.39, Z:18.85 [[ 9.93113620e-01 -1.06468305e-01 -4.88859677e-02 4.52472502e+02] [ 1.06376407e-01 9.94315817e-01 -4.48516102e-03 3.43897995e+01] [ 4.90856184e-02 -7.46039092e-04 9.98794296e-01 1.88533346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.44509989299996 meters 0.013124232698081351 Centerline is valid? [True, True] Translation: X:452.53, Y:34.40, Z:18.86 [[ 9.93593897e-01 -1.01825287e-01 -4.90181476e-02 4.52530649e+02] [ 1.01726997e-01 9.94802165e-01 -4.50226712e-03 3.43969440e+01] [ 4.92218040e-02 -5.13043801e-04 9.98787741e-01 1.88562712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.50509989299997 meters 0.012818722016707855 Centerline is valid? [True, True] Translation: X:452.59, Y:34.40, Z:18.86 [[ 9.94054613e-01 -9.62776532e-02 -5.08531124e-02 4.52587896e+02] [ 9.61639651e-02 9.95354489e-01 -4.68331474e-03 3.44028016e+01] [ 5.10677723e-02 -2.34766305e-04 9.98695162e-01 1.88575311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.56509989299997 meters 0.012717888605830615 Centerline is valid? [True, True] Translation: X:452.65, Y:34.41, Z:18.86 [[ 9.94125033e-01 -9.50177517e-02 -5.18367287e-02 4.52645663e+02] [ 9.48974603e-02 9.95475565e-01 -4.78250014e-03 3.44064930e+01] [ 5.20566192e-02 -1.64770796e-04 9.98644121e-01 1.88604526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.62509989299997 meters 0.01281864224486192 Centerline is valid? [True, True] Translation: X:452.70, Y:34.41, Z:18.86 [[ 9.93907919e-01 -9.70827375e-02 -5.21726921e-02 4.52704301e+02] [ 9.69629352e-02 9.95276281e-01 -4.82851507e-03 3.44086031e+01] [ 5.23950084e-02 -2.59717997e-04 9.98626404e-01 1.88627895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.685099893 meters 0.013338511783647306 Centerline is valid? [True, True] Translation: X:452.76, Y:34.41, Z:18.87 [[ 9.93246180e-01 -1.03759923e-01 -5.19221071e-02 4.52763461e+02] [ 1.03649695e-01 9.94602194e-01 -4.81845571e-03 3.44068665e+01] [ 5.21418042e-02 -5.95797813e-04 9.98639513e-01 1.88660079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.745099893 meters 0.014248257246485447 Centerline is valid? [True, True] Translation: X:452.82, Y:34.41, Z:18.87 [[ 9.92625236e-01 -1.10236585e-01 -5.04285316e-02 4.52822070e+02] [ 1.10140397e-01 9.93904970e-01 -4.69085405e-03 3.44058813e+01] [ 5.06382719e-02 -8.97958363e-04 9.98716656e-01 1.88693431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.805099893 meters 0.01751106141794223 Centerline is valid? [True, True] Translation: X:452.88, Y:34.40, Z:18.87 [[ 9.91348817e-01 -1.21912906e-01 -4.86288717e-02 4.52883581e+02] [ 1.21837293e-01 9.92539762e-01 -4.52714773e-03 3.43987175e+01] [ 4.88180065e-02 -1.43682754e-03 9.98806657e-01 1.88722433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.865099893 meters 0.01978160591236601 Centerline is valid? [True, True] Translation: X:452.94, Y:34.40, Z:18.88 [[ 9.90310176e-01 -1.30175708e-01 -4.83739705e-02 4.52943890e+02] [ 1.30110704e-01 9.91489244e-01 -4.50365938e-03 3.43969729e+01] [ 4.85485385e-02 -1.83395166e-03 9.98819141e-01 1.88750407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.925099893 meters 0.026208345259280258 Centerline is valid? [True, True] Translation: X:453.00, Y:34.39, Z:18.88 [[ 9.88868943e-01 -1.40741137e-01 -4.82715862e-02 4.53004366e+02] [ 1.40688929e-01 9.90043648e-01 -4.49449258e-03 3.43885754e+01] [ 4.84235373e-02 -2.34681363e-03 9.98824135e-01 1.88770432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.9850998929999 meters 0.026191365975116513 Centerline is valid? [True, True] Translation: X:453.06, Y:34.39, Z:18.88 [[ 9.87707515e-01 -1.49027234e-01 -4.71672330e-02 4.53064769e+02] [ 1.48986760e-01 9.88829436e-01 -4.39231505e-03 3.43903241e+01] [ 4.72949229e-02 -2.68897062e-03 9.98877350e-01 1.88803292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.04509989299993 meters 0.02805410755538448 Centerline is valid? [True, True] Translation: X:453.13, Y:34.39, Z:18.88 [[ 9.87112000e-01 -1.53057431e-01 -4.67260309e-02 4.53125281e+02] [ 1.53022202e-01 9.88213171e-01 -4.35125839e-03 3.43923252e+01] [ 4.68412717e-02 -2.85494078e-03 9.98898265e-01 1.88827378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.10509989299993 meters 0.03019946042598871 Centerline is valid? [True, True] Translation: X:453.19, Y:34.39, Z:18.88 [[ 9.86562314e-01 -1.56568040e-01 -4.67038457e-02 4.53185813e+02] [ 1.56536723e-01 9.87662560e-01 -4.34996162e-03 3.43949761e+01] [ 4.68087048e-02 -3.01935873e-03 9.98899309e-01 1.88843561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.16509989299993 meters 0.03359418578973952 Centerline is valid? [True, True] Translation: X:453.24, Y:34.40, Z:18.89 [[ 9.86441857e-01 -1.57157244e-01 -4.72658837e-02 4.53243513e+02] [ 1.57125820e-01 9.87568778e-01 -4.40279858e-03 3.43969351e+01] [ 4.73702427e-02 -3.08358591e-03 9.98872640e-01 1.88862836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.22509989299994 meters 0.0307789375581009 Centerline is valid? [True, True] Translation: X:453.30, Y:34.41, Z:18.89 [[ 9.86743642e-01 -1.55529324e-01 -4.63423707e-02 4.53301883e+02] [ 1.55497130e-01 9.87826894e-01 -4.32098145e-03 3.44089917e+01] [ 4.64502794e-02 -2.94240466e-03 9.98916270e-01 1.88895027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.28509989299994 meters 0.02855286083536212 Centerline is valid? [True, True] Translation: X:453.36, Y:34.42, Z:18.89 [[ 9.87214669e-01 -1.52708682e-01 -4.56864985e-02 4.53360745e+02] [ 1.52674156e-01 9.88267380e-01 -4.26475724e-03 3.44195324e+01] [ 4.58017416e-02 -2.76491671e-03 9.98946723e-01 1.88926504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.34509989299994 meters 0.02519962576016039 Centerline is valid? [True, True] Translation: X:453.42, Y:34.43, Z:18.90 [[ 9.88108137e-01 -1.47418811e-01 -4.37035796e-02 4.53420332e+02] [ 1.47381991e-01 9.89071228e-01 -4.08112120e-03 3.44341744e+01] [ 4.38275871e-02 -2.40853151e-03 9.99036206e-01 1.88962981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.40509989299994 meters 0.025355002212212926 Centerline is valid? [True, True] Translation: X:453.48, Y:34.44, Z:18.90 [[ 9.88398111e-01 -1.45441708e-01 -4.37708133e-02 4.53478514e+02] [ 1.45402830e-01 9.89364093e-01 -4.08767407e-03 3.44410978e+01] [ 4.38997893e-02 -2.32415081e-03 9.99033236e-01 1.88987758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.46509989299994 meters 0.02438321601778692 Centerline is valid? [True, True] Translation: X:453.54, Y:34.45, Z:18.90 [[ 9.88922209e-01 -1.41802292e-01 -4.38745313e-02 4.53537990e+02] [ 1.41759521e-01 9.89892633e-01 -4.10046881e-03 3.44508203e+01] [ 4.40125312e-02 -2.16458785e-03 9.99028634e-01 1.89008680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.52509989299995 meters 0.02221698246915079 Centerline is valid? [True, True] Translation: X:453.60, Y:34.46, Z:18.90 [[ 9.89514751e-01 -1.37426694e-01 -4.44349065e-02 4.53597384e+02] [ 1.37378384e-01 9.90509933e-01 -4.15365873e-03 3.44641857e+01] [ 4.45840399e-02 -1.99428907e-03 9.99003647e-01 1.89029402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.58509989299995 meters 0.02085885496707855 Centerline is valid? [True, True] Translation: X:453.66, Y:34.47, Z:18.90 [[ 9.89892174e-01 -1.34620717e-01 -4.46177824e-02 4.53656496e+02] [ 1.34569125e-01 9.90895427e-01 -4.17162600e-03 3.44749216e+01] [ 4.47731438e-02 -1.87471601e-03 9.98995421e-01 1.89048642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.64509989299995 meters 0.020838937112917996 Centerline is valid? [True, True] Translation: X:453.71, Y:34.48, Z:18.91 [[ 9.90522040e-01 -1.29932954e-01 -4.45366760e-02 4.53714399e+02] [ 1.29876743e-01 9.91521396e-01 -4.16572880e-03 3.44841966e+01] [ 4.47003326e-02 -1.65803224e-03 9.98999065e-01 1.89069114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.70509989299995 meters 0.019224300483460258 Centerline is valid? [True, True] Translation: X:453.77, Y:34.50, Z:18.91 [[ 9.90956771e-01 -1.26840071e-01 -4.37752763e-02 4.53772099e+02] [ 1.26782647e-01 9.91922061e-01 -4.09688270e-03 3.44957855e+01] [ 4.39413112e-02 -1.49011177e-03 9.99033003e-01 1.89099662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.76509989299996 meters 0.01826425995852462 Centerline is valid? [True, True] Translation: X:453.83, Y:34.51, Z:18.91 [[ 9.91510588e-01 -1.22109115e-01 -4.46779442e-02 4.53830518e+02] [ 1.22044359e-01 9.92515826e-01 -4.18450043e-03 3.45073986e+01] [ 4.48545323e-02 -1.30371457e-03 9.98992678e-01 1.89123664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.82509989299996 meters 0.016356738377445994 Centerline is valid? [True, True] Translation: X:453.89, Y:34.52, Z:18.91 [[ 9.91865514e-01 -1.18944764e-01 -4.53315072e-02 4.53888968e+02] [ 1.18874724e-01 9.92900176e-01 -4.24733530e-03 3.45194536e+01] [ 4.55148597e-02 -1.17598500e-03 9.98962970e-01 1.89145090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.88509989299996 meters 0.01616818218663028 Centerline is valid? [True, True] Translation: X:453.95, Y:34.53, Z:18.92 [[ 9.92017125e-01 -1.17942008e-01 -4.46285292e-02 4.53947627e+02] [ 1.17873014e-01 9.93019864e-01 -4.18360293e-03 3.45273644e+01] [ 4.48104385e-02 -1.11029349e-03 9.98994891e-01 1.89179402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.94509989299996 meters 0.01486092414390701 Centerline is valid? [True, True] Translation: X:454.01, Y:34.54, Z:18.92 [[ 9.92189718e-01 -1.16480616e-01 -4.46299269e-02 4.54007285e+02] [ 1.16409705e-01 9.93192426e-01 -4.19344580e-03 3.45376322e+01] [ 4.48145606e-02 -1.03466283e-03 9.98994787e-01 1.89210633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.00509989299997 meters 0.01480114080093758 Centerline is valid? [True, True] Translation: X:454.07, Y:34.54, Z:18.92 [[ 9.92254704e-01 -1.15794727e-01 -4.49686869e-02 4.54067209e+02] [ 1.15722032e-01 9.93272651e-01 -4.22527582e-03 3.45441015e+01] [ 4.51554315e-02 -1.01131800e-03 9.98979461e-01 1.89230540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.06509989299997 meters 0.015123109242065697 Centerline is valid? [True, True] Translation: X:454.13, Y:34.55, Z:18.92 [[ 9.92168001e-01 -1.16245451e-01 -4.57127172e-02 4.54126673e+02] [ 1.16170801e-01 9.93219963e-01 -4.29532653e-03 3.45491568e+01] [ 4.59020955e-02 -1.04879743e-03 9.98945393e-01 1.89239222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.12509989299997 meters 0.01556549026518498 Centerline is valid? [True, True] Translation: X:454.19, Y:34.55, Z:18.93 [[ 9.91976099e-01 -1.17603349e-01 -4.63990412e-02 4.54185878e+02] [ 1.17527844e-01 9.93060010e-01 -4.36152055e-03 3.45540810e+01] [ 4.65899617e-02 -1.12665514e-03 9.98913463e-01 1.89256422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.185099893 meters 0.01682161763217767 Centerline is valid? [True, True] Translation: X:454.24, Y:34.56, Z:18.93 [[ 9.91707469e-01 -1.19836179e-01 -4.64282886e-02 4.54243399e+02] [ 1.19762933e-01 9.92792917e-01 -4.36618735e-03 3.45573207e+01] [ 4.66169033e-02 -1.23040742e-03 9.98912083e-01 1.89275939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.245099893 meters 0.01763806214511011 Centerline is valid? [True, True] Translation: X:454.30, Y:34.56, Z:18.93 [[ 9.91639134e-01 -1.20502667e-01 -4.61620437e-02 4.54301278e+02] [ 1.20430792e-01 9.92712216e-01 -4.34521711e-03 3.45611627e+01] [ 4.63492349e-02 -1.25044413e-03 9.98924514e-01 1.89298587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.305099893 meters 0.016178815604000037 Centerline is valid? [True, True] Translation: X:454.36, Y:34.57, Z:18.93 [[ 9.91598354e-01 -1.21017330e-01 -4.56892802e-02 4.54359944e+02] [ 1.20947293e-01 9.92649598e-01 -4.30444647e-03 3.45693329e+01] [ 4.58743582e-02 -1.25771271e-03 9.98946426e-01 1.89331760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.365099893 meters 0.016714767836695694 Centerline is valid? [True, True] Translation: X:454.42, Y:34.57, Z:18.94 [[ 9.91666379e-01 -1.20392392e-01 -4.58635437e-02 4.54418013e+02] [ 1.20321072e-01 9.92725619e-01 -4.32261526e-03 3.45733494e+01] [ 4.60503248e-02 -1.23175852e-03 9.98938362e-01 1.89351274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.425099893 meters 0.015296762491249342 Centerline is valid? [True, True] Translation: X:454.48, Y:34.58, Z:18.94 [[ 9.91830787e-01 -1.18756977e-01 -4.65668407e-02 4.54476996e+02] [ 1.18681537e-01 9.92922660e-01 -4.39136415e-03 3.45802707e+01] [ 4.67587764e-02 -1.17113405e-03 9.98905524e-01 1.89368708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.4850998929999 meters 0.014071819929388035 Centerline is valid? [True, True] Translation: X:454.54, Y:34.59, Z:18.94 [[ 9.92329008e-01 -1.14404530e-01 -4.68480795e-02 4.54536256e+02] [ 1.14323245e-01 9.93433774e-01 -4.41962721e-03 3.45880529e+01] [ 4.70460897e-02 -9.70100196e-04 9.98892249e-01 1.89398126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.54509989299993 meters 0.013773720888806941 Centerline is valid? [True, True] Translation: X:454.59, Y:34.59, Z:18.94 [[ 9.92811245e-01 -1.09750665e-01 -4.77558814e-02 4.54594624e+02] [ 1.09660725e-01 9.93958858e-01 -4.50720179e-03 3.45942652e+01] [ 4.79620497e-02 -7.62143941e-04 9.98848868e-01 1.89410588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.60509989299993 meters 0.012465325429130838 Centerline is valid? [True, True] Translation: X:454.65, Y:34.60, Z:18.94 [[ 9.93798978e-01 -1.00540890e-01 -4.74881112e-02 4.54652570e+02] [ 1.00441309e-01 9.94932878e-01 -4.48464794e-03 3.46037615e+01] [ 4.76983737e-02 -3.12929505e-04 9.98861736e-01 1.89440169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.66509989299993 meters 0.012274310811729784 Centerline is valid? [True, True] Translation: X:454.71, Y:34.61, Z:18.95 [[ 9.94406479e-01 -9.45711866e-02 -4.70323819e-02 4.54710564e+02] [ 9.44666258e-02 9.95518101e-01 -4.44594580e-03 3.46113885e+01] [ 4.72420459e-02 -2.19131095e-05 9.98883471e-01 1.89472367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.72509989299994 meters 0.012436651212310607 Centerline is valid? [True, True] Translation: X:454.77, Y:34.62, Z:18.95 [[ 9.94930602e-01 -8.87676340e-02 -4.72589164e-02 4.54768301e+02] [ 8.86549718e-02 9.96052326e-01 -4.47881349e-03 3.46178580e+01] [ 4.74699273e-02 2.66370702e-04 9.98872632e-01 1.89491736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.78509989299994 meters 0.012359695481395408 Centerline is valid? [True, True] Translation: X:454.83, Y:34.62, Z:18.95 [[ 9.94927128e-01 -8.84872035e-02 -4.78542049e-02 4.54826475e+02] [ 8.83710017e-02 9.96077271e-01 -4.54265712e-03 3.46211679e+01] [ 4.80684528e-02 2.90688785e-04 9.98844002e-01 1.89514163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.84509989299994 meters 0.012275200195173456 Centerline is valid? [True, True] Translation: X:454.88, Y:34.62, Z:18.95 [[ 9.94507178e-01 -9.30353508e-02 -4.79572449e-02 4.54884321e+02] [ 9.29232899e-02 9.95662803e-01 -4.56571898e-03 3.46195856e+01] [ 4.81740182e-02 8.42953186e-05 9.98838954e-01 1.89529517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.90509989299994 meters 0.012647162875366496 Centerline is valid? [True, True] Translation: X:454.94, Y:34.61, Z:18.96 [[ 9.93565969e-01 -1.03128279e-01 -4.68104964e-02 4.54943551e+02] [ 1.03032370e-01 9.94667989e-01 -4.46354154e-03 3.46143915e+01] [ 4.70212197e-02 -3.88173426e-04 9.98893815e-01 1.89561606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.96509989299994 meters 0.014324218479678049 Centerline is valid? [True, True] Translation: X:455.00, Y:34.61, Z:18.96 [[ 9.92302713e-01 -1.15101415e-01 -4.56835796e-02 4.55003585e+02] [ 1.15022250e-01 9.93353318e-01 -4.36658804e-03 3.46082503e+01] [ 4.58825359e-02 -9.21650957e-04 9.98946417e-01 1.89593615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.02509989299995 meters 0.01681757277503696 Centerline is valid? [True, True] Translation: X:455.06, Y:34.61, Z:18.96 [[ 9.91292476e-01 -1.23662634e-01 -4.52413585e-02 4.55063943e+02] [ 1.23593786e-01 9.92323464e-01 -4.32663866e-03 3.46051440e+01] [ 4.54291051e-02 -1.30258644e-03 9.98966716e-01 1.89616971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.08509989299995 meters 0.021971145857154012 Centerline is valid? [True, True] Translation: X:455.12, Y:34.60, Z:18.96 [[ 9.89665377e-01 -1.35893578e-01 -4.57752849e-02 4.55123885e+02] [ 1.35836099e-01 9.90721648e-01 -4.37846292e-03 3.45986237e+01] [ 4.59455706e-02 -1.88472298e-03 9.98942167e-01 1.89634640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.14509989299995 meters 0.023176424790126993 Centerline is valid? [True, True] Translation: X:455.18, Y:34.60, Z:18.97 [[ 9.88607819e-01 -1.43417874e-01 -4.56715821e-02 4.55183826e+02] [ 1.43368654e-01 9.89659712e-01 -4.36858585e-03 3.46010639e+01] [ 4.58258580e-02 -2.22905510e-03 9.98946957e-01 1.89661626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.20509989299995 meters 0.028405315863819357 Centerline is valid? [True, True] Translation: X:455.24, Y:34.60, Z:18.97 [[ 9.87366159e-01 -1.51703406e-01 -4.57618189e-02 4.55243866e+02] [ 1.51662811e-01 9.88422594e-01 -4.37803430e-03 3.45989397e+01] [ 4.58961785e-02 -2.61764319e-03 9.98942786e-01 1.89685924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.26509989299996 meters 0.028536472561581556 Centerline is valid? [True, True] Translation: X:455.30, Y:34.61, Z:18.97 [[ 9.87036520e-01 -1.53851057e-01 -4.57029608e-02 4.55303333e+02] [ 1.53812823e-01 9.88090325e-01 -4.37318049e-03 3.46053583e+01] [ 4.58314718e-02 -2.71321257e-03 9.98945501e-01 1.89714708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.32509989299996 meters 0.030419152516542286 Centerline is valid? [True, True] Translation: X:455.36, Y:34.61, Z:18.97 [[ 9.86887367e-01 -1.54830259e-01 -4.56170655e-02 4.55360514e+02] [ 1.54793125e-01 9.87937255e-01 -4.36681227e-03 3.46107636e+01] [ 4.57429131e-02 -2.75165627e-03 9.98949455e-01 1.89734284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.38509989299996 meters 0.029240118889588097 Centerline is valid? [True, True] Translation: X:455.42, Y:34.62, Z:18.98 [[ 9.86964787e-01 -1.54228082e-01 -4.59805233e-02 4.55419020e+02] [ 1.54189486e-01 9.88031470e-01 -4.40633967e-03 3.46206817e+01] [ 4.61097853e-02 -2.74081117e-03 9.98932618e-01 1.89753295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.44509989299996 meters 0.02699598732381192 Centerline is valid? [True, True] Translation: X:455.48, Y:34.63, Z:18.98 [[ 9.87280171e-01 -1.51805591e-01 -4.72538612e-02 4.55477416e+02] [ 1.51761579e-01 9.88406710e-01 -4.53860895e-03 3.46342416e+01] [ 4.73950197e-02 -2.69044199e-03 9.98872601e-01 1.89766539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.50509989299997 meters 0.02615983705378991 Centerline is valid? [True, True] Translation: X:455.54, Y:34.65, Z:18.98 [[ 9.87879561e-01 -1.47702688e-01 -4.77272369e-02 4.55536734e+02] [ 1.47652938e-01 9.89028605e-01 -4.58571831e-03 3.46478038e+01] [ 4.78809255e-02 -2.51692936e-03 9.98849880e-01 1.89791952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.56509989299997 meters 0.024724288870570977 Centerline is valid? [True, True] Translation: X:455.60, Y:34.66, Z:18.98 [[ 9.88406186e-01 -1.44204529e-01 -4.75212184e-02 4.55595598e+02] [ 1.44151135e-01 9.89545146e-01 -4.56675562e-03 3.46606064e+01] [ 4.76829379e-02 -2.33642808e-03 9.98859789e-01 1.89823681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.62509989299997 meters 0.021531956847588716 Centerline is valid? [True, True] Translation: X:455.65, Y:34.68, Z:18.99 [[ 9.89298380e-01 -1.37937688e-01 -4.75595346e-02 4.55654243e+02] [ 1.37876942e-01 9.90438818e-01 -4.57121491e-03 3.46784775e+01] [ 4.77353520e-02 -2.03506769e-03 9.98857945e-01 1.89850371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.685099893 meters 0.018989145440949824 Centerline is valid? [True, True] Translation: X:455.71, Y:34.69, Z:18.99 [[ 9.89971083e-01 -1.32821942e-01 -4.81205334e-02 4.55713289e+02] [ 1.32753697e-01 9.91138265e-01 -4.62562694e-03 3.46929029e+01] [ 4.83084867e-02 -1.80894178e-03 9.98830825e-01 1.89872714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.745099893 meters 0.01707768464211491 Centerline is valid? [True, True] Translation: X:455.77, Y:34.71, Z:18.99 [[ 9.90981785e-01 -1.24695490e-01 -4.90523823e-02 4.55771566e+02] [ 1.24614521e-01 9.92194017e-01 -4.71737808e-03 3.47093424e+01] [ 4.92577160e-02 -1.43780339e-03 9.98785067e-01 1.89892752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.805099893 meters 0.015863487277331247 Centerline is valid? [True, True] Translation: X:455.83, Y:34.72, Z:18.99 [[ 9.91583334e-01 -1.19749651e-01 -4.92190288e-02 4.55830475e+02] [ 1.19661990e-01 9.92803401e-01 -4.73445891e-03 3.47218729e+01] [ 4.94317690e-02 -1.19503639e-03 9.98776788e-01 1.89916857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.865099893 meters 0.014234562670418416 Centerline is valid? [True, True] Translation: X:455.89, Y:34.74, Z:18.99 [[ 9.92203589e-01 -1.14632746e-01 -4.89016576e-02 4.55889309e+02] [ 1.14539958e-01 9.93407501e-01 -4.70480282e-03 3.47365861e+01] [ 4.91185979e-02 -9.33071545e-04 9.98792517e-01 1.89948461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.9250998929999 meters 0.014087317834115893 Centerline is valid? [True, True] Translation: X:455.95, Y:34.74, Z:19.00 [[ 9.92404740e-01 -1.13092537e-01 -4.84036219e-02 4.55947762e+02] [ 1.12999744e-01 9.93584099e-01 -4.65800106e-03 3.47449579e+01] [ 4.86198542e-02 -8.46974573e-04 9.98816996e-01 1.89973584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.9850998929999 meters 0.014208303967708908 Centerline is valid? [True, True] Translation: X:456.01, Y:34.75, Z:19.00 [[ 9.92438584e-01 -1.13115892e-01 -4.76492593e-02 4.56007863e+02] [ 1.13025890e-01 9.93581452e-01 -4.58763086e-03 3.47533636e+01] [ 4.78623542e-02 -8.32658089e-04 9.98853594e-01 1.89999495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.04509989299993 meters 0.01476184251026398 Centerline is valid? [True, True] Translation: X:456.07, Y:34.76, Z:19.00 [[ 9.92430635e-01 -1.13889462e-01 -4.59415451e-02 4.56067473e+02] [ 1.13806627e-01 9.93493073e-01 -4.42320077e-03 3.47578392e+01] [ 4.61463628e-02 -8.38732344e-04 9.98934337e-01 1.90021160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.10509989299993 meters 0.014382684435212014 Centerline is valid? [True, True] Translation: X:456.13, Y:34.76, Z:19.00 [[ 9.92318041e-01 -1.15081209e-01 -4.54006763e-02 4.56127657e+02] [ 1.15001565e-01 9.93355694e-01 -4.37099869e-03 3.47642161e+01] [ 4.56020401e-02 -8.83727980e-04 9.98959295e-01 1.90048659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.16509989299993 meters 0.014855409304207848 Centerline is valid? [True, True] Translation: X:456.19, Y:34.77, Z:19.01 [[ 9.92131556e-01 -1.16579881e-01 -4.56520140e-02 4.56188314e+02] [ 1.16500941e-01 9.93180856e-01 -4.39512611e-03 3.47682633e+01] [ 4.58530897e-02 -9.57959274e-04 9.98947735e-01 1.90068248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.22509989299994 meters 0.014841124193608791 Centerline is valid? [True, True] Translation: X:456.25, Y:34.77, Z:19.01 [[ 9.92054357e-01 -1.17095071e-01 -4.60097562e-02 4.56248185e+02] [ 1.17015477e-01 9.93120216e-01 -4.42879620e-03 3.47725372e+01] [ 4.62118092e-02 -9.90247014e-04 9.98931173e-01 1.90085896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.28509989299994 meters 0.015102448936727936 Centerline is valid? [True, True] Translation: X:456.31, Y:34.78, Z:19.01 [[ 9.92066113e-01 -1.16748829e-01 -4.66319408e-02 4.56307208e+02] [ 1.16666681e-01 9.93160982e-01 -4.48877387e-03 3.47754272e+01] [ 4.68370832e-02 -9.87233326e-04 9.98902054e-01 1.90108811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.34509989299994 meters 0.015029486010041478 Centerline is valid? [True, True] Translation: X:456.37, Y:34.78, Z:19.01 [[ 9.92208679e-01 -1.15479621e-01 -4.67588889e-02 4.56366916e+02] [ 1.15395574e-01 9.93309415e-01 -4.50193215e-03 3.47802291e+01] [ 4.69659260e-02 -9.28912655e-04 9.98896060e-01 1.90130538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.40509989299994 meters 0.014529705335867652 Centerline is valid? [True, True] Translation: X:456.43, Y:34.79, Z:19.01 [[ 9.92572715e-01 -1.12122030e-01 -4.72022953e-02 4.56425350e+02] [ 1.12032500e-01 9.93694143e-01 -4.54642150e-03 3.47852371e+01] [ 4.74143983e-02 -7.75537224e-04 9.98875004e-01 1.90147709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.46509989299994 meters 0.013212192331794494 Centerline is valid? [True, True] Translation: X:456.48, Y:34.79, Z:19.02 [[ 9.93130346e-01 -1.07100820e-01 -4.71331086e-02 4.56483980e+02] [ 1.07005734e-01 9.94248023e-01 -4.54323130e-03 3.47924870e+01] [ 4.73485838e-02 -5.31492028e-04 9.98878285e-01 1.90179367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.52509989299995 meters 0.01279446890762169 Centerline is valid? [True, True] Translation: X:456.54, Y:34.80, Z:19.02 [[ 9.93483990e-01 -1.03849519e-01 -4.69557076e-02 4.56542895e+02] [ 1.03750997e-01 9.94592954e-01 -4.53715517e-03 3.47979950e+01] [ 4.71729973e-02 -3.64110450e-04 9.98886668e-01 1.90207497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.58509989299995 meters 0.012458006090899875 Centerline is valid? [True, True] Translation: X:456.60, Y:34.80, Z:19.02 [[ 9.93955182e-01 -9.90593324e-02 -4.73322731e-02 4.56601648e+02] [ 9.89532494e-02 9.95081521e-01 -4.58495003e-03 3.48019462e+01] [ 4.75536524e-02 -1.26447384e-04 9.98868677e-01 1.90234879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.64509989299995 meters 0.012525427659699398 Centerline is valid? [True, True] Translation: X:456.66, Y:34.80, Z:19.02 [[ 9.94260543e-01 -9.59555419e-02 -4.73128650e-02 4.56658390e+02] [ 9.58454805e-02 9.95385620e-01 -4.59467316e-03 3.48039872e+01] [ 4.75354298e-02 3.35779529e-05 9.98869552e-01 1.90249163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.70509989299995 meters 0.012564529909932577 Centerline is valid? [True, True] Translation: X:456.72, Y:34.81, Z:19.03 [[ 9.94345532e-01 -9.52186404e-02 -4.70146161e-02 4.56716647e+02] [ 9.51088158e-02 9.95456380e-01 -4.57255891e-03 3.48061381e+01] [ 4.72363924e-02 7.51990650e-05 9.98883736e-01 1.90278790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.76509989299996 meters 0.012731394283491512 Centerline is valid? [True, True] Translation: X:456.78, Y:34.81, Z:19.03 [[ 9.94320919e-01 -9.50853673e-02 -4.77983620e-02 4.56775000e+02] [ 9.49710672e-02 9.95469117e-01 -4.66183097e-03 3.48063390e+01] [ 4.80250651e-02 9.58946095e-05 9.98846126e-01 1.90292963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.82509989299996 meters 0.012722057894253527 Centerline is valid? [True, True] Translation: X:456.83, Y:34.81, Z:19.03 [[ 9.94185309e-01 -9.65049314e-02 -4.77741598e-02 4.56832583e+02] [ 9.63921195e-02 9.95332506e-01 -4.66499327e-03 3.48078255e+01] [ 4.80013690e-02 3.28152602e-05 9.98847269e-01 1.90323178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.88509989299996 meters 0.012839927451093606 Centerline is valid? [True, True] Translation: X:456.89, Y:34.81, Z:19.04 [[ 9.93767162e-01 -1.01213479e-01 -4.67189495e-02 4.56891125e+02] [ 1.01110165e-01 9.94864715e-01 -4.57540088e-03 3.48051365e+01] [ 4.69421266e-02 -1.76877517e-04 9.98897595e-01 1.90359478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.94509989299996 meters 0.013639238698589913 Centerline is valid? [True, True] Translation: X:456.95, Y:34.80, Z:19.04 [[ 9.92962291e-01 -1.09208897e-01 -4.58181753e-02 4.56950671e+02] [ 1.09117428e-01 9.94018679e-01 -4.50023851e-03 3.48003537e+01] [ 4.60355882e-02 -5.30994291e-04 9.98939659e-01 1.90390152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.00509989299997 meters 0.015275286714582427 Centerline is valid? [True, True] Translation: X:457.01, Y:34.80, Z:19.04 [[ 9.92237184e-01 -1.15590436e-01 -4.58717891e-02 4.57009461e+02] [ 1.15505058e-01 9.93296624e-01 -4.51642792e-03 3.47966523e+01] [ 4.60863491e-02 -8.17055920e-04 9.98937126e-01 1.90411497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.06509989299997 meters 0.016048958705647466 Centerline is valid? [True, True] Translation: X:457.07, Y:34.80, Z:19.04 [[ 9.91319007e-01 -1.22841376e-01 -4.68681427e-02 4.57069690e+02] [ 1.22760183e-01 9.92425621e-01 -4.61776566e-03 3.47952819e+01] [ 4.70803983e-02 -1.17586292e-03 9.98890411e-01 1.90435578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.12509989299997 meters 0.016936867464506726 Centerline is valid? [True, True] Translation: X:457.13, Y:34.80, Z:19.05 [[ 9.90944619e-01 -1.25279574e-01 -4.83093212e-02 4.57128547e+02] [ 1.25196046e-01 9.92120589e-01 -4.76299158e-03 3.47963702e+01] [ 4.85253778e-02 -1.32827512e-03 9.98821067e-01 1.90457003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.185099893 meters 0.016960302379252692 Centerline is valid? [True, True] Translation: X:457.19, Y:34.80, Z:19.05 [[ 9.90907644e-01 -1.25270559e-01 -4.90849106e-02 4.57186865e+02] [ 1.25183680e-01 9.92121717e-01 -4.85233927e-03 3.47984277e+01] [ 4.93060610e-02 -1.33640968e-03 9.98782822e-01 1.90487611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.245099893 meters 0.016659157835940287 Centerline is valid? [True, True] Translation: X:457.25, Y:34.80, Z:19.05 [[ 9.90943947e-01 -1.25032349e-01 -4.89592242e-02 4.57245214e+02] [ 1.24944941e-01 9.92151804e-01 -4.85377987e-03 3.48038900e+01] [ 4.91818621e-02 -1.30738362e-03 9.98788984e-01 1.90519677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.305099893 meters 0.016913872873135928 Centerline is valid? [True, True] Translation: X:457.30, Y:34.81, Z:19.05 [[ 9.91155197e-01 -1.23025124e-01 -4.97613799e-02 4.57303158e+02] [ 1.22931726e-01 9.92402811e-01 -4.94479905e-03 3.48072538e+01] [ 4.99916678e-02 -1.21618903e-03 9.98748894e-01 1.90543783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.365099893 meters 0.01573118959300476 Centerline is valid? [True, True] Translation: X:457.36, Y:34.81, Z:19.06 [[ 9.91234370e-01 -1.22168926e-01 -5.02909232e-02 4.57361137e+02] [ 1.22072128e-01 9.92508621e-01 -5.00333996e-03 3.48139261e+01] [ 5.05254275e-02 -1.17963751e-03 9.98722078e-01 1.90570208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.4250998929999 meters 0.01597127339729744 Centerline is valid? [True, True] Translation: X:457.42, Y:34.82, Z:19.06 [[ 9.91231789e-01 -1.21830701e-01 -5.11548724e-02 4.57418128e+02] [ 1.21729482e-01 9.92550205e-01 -5.10126441e-03 3.48165924e+01] [ 5.13952697e-02 -1.17052070e-03 9.98677704e-01 1.90587485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.4850998929999 meters 0.015218396263804229 Centerline is valid? [True, True] Translation: X:457.48, Y:34.82, Z:19.06 [[ 9.91119823e-01 -1.22614149e-01 -5.14515967e-02 4.57476006e+02] [ 1.22512406e-01 9.92453679e-01 -5.13861516e-03 3.48229969e+01] [ 5.16933933e-02 -1.21047554e-03 9.98662269e-01 1.90620888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.54509989299993 meters 0.015669846129179363 Centerline is valid? [True, True] Translation: X:457.53, Y:34.83, Z:19.07 [[ 9.90907592e-01 -1.24332413e-01 -5.14158977e-02 4.57534606e+02] [ 1.24232429e-01 9.92239788e-01 -5.14840067e-03 3.48259477e+01] [ 5.16570125e-02 -1.28593255e-03 9.98664057e-01 1.90654937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.60509989299993 meters 0.016060657438117305 Centerline is valid? [True, True] Translation: X:457.59, Y:34.83, Z:19.07 [[ 9.90709817e-01 -1.26355564e-01 -5.02825035e-02 4.57593544e+02] [ 1.26261899e-01 9.91984100e-01 -5.04763862e-03 3.48292912e+01] [ 5.05172412e-02 -1.34801923e-03 9.98722279e-01 1.90683435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.66509989299993 meters 0.01795244556515363 Centerline is valid? [True, True] Translation: X:457.65, Y:34.83, Z:19.07 [[ 9.90303009e-01 -1.29816316e-01 -4.94739679e-02 4.57651932e+02] [ 1.29729391e-01 9.91536942e-01 -4.97769383e-03 3.48291433e+01] [ 4.97014528e-02 -1.48880257e-03 9.98763009e-01 1.90708747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.72509989299994 meters 0.017716413561925798 Centerline is valid? [True, True] Translation: X:457.71, Y:34.83, Z:19.07 [[ 9.90052584e-01 -1.31605644e-01 -4.97577697e-02 4.57709877e+02] [ 1.31519753e-01 9.91300887e-01 -5.01067475e-03 3.48343692e+01] [ 4.99843543e-02 -1.58329810e-03 9.98748746e-01 1.90735042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.78509989299994 meters 0.0183160731292301 Centerline is valid? [True, True] Translation: X:457.77, Y:34.84, Z:19.07 [[ 9.90334062e-01 -1.29284148e-01 -5.02399717e-02 4.57767926e+02] [ 1.29193191e-01 9.91606495e-01 -5.06734500e-03 3.48380549e+01] [ 5.04734097e-02 -1.47229792e-03 9.98724320e-01 1.90747319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.84509989299994 meters 0.016369219900314484 Centerline is valid? [True, True] Translation: X:457.83, Y:34.85, Z:19.08 [[ 9.90980317e-01 -1.24445819e-01 -4.97116665e-02 4.57827047e+02] [ 1.24350153e-01 9.92225676e-01 -5.02463741e-03 3.48472652e+01] [ 4.99504870e-02 -1.20233658e-03 9.98750972e-01 1.90784773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.90509989299994 meters 0.013755681081856841 Centerline is valid? [True, True] Translation: X:457.89, Y:34.86, Z:19.08 [[ 9.92174439e-01 -1.15620182e-01 -4.71365745e-02 4.57885426e+02] [ 1.15524135e-01 9.93293240e-01 -4.76595147e-03 3.48601955e+01] [ 4.73714810e-02 -7.16756792e-04 9.98877084e-01 1.90848632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.96509989299994 meters 0.013148987104904237 Centerline is valid? [True, True] Translation: X:457.94, Y:34.87, Z:19.09 [[ 9.92582186e-01 -1.11391804e-01 -4.87080107e-02 4.57943925e+02] [ 1.11283991e-01 9.93776427e-01 -4.92818589e-03 3.48682968e+01] [ 4.89538324e-02 -5.28792315e-04 9.98800902e-01 1.90862566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.02509989299995 meters 0.01303073879240856 Centerline is valid? [True, True] Translation: X:458.00, Y:34.87, Z:19.09 [[ 9.92835072e-01 -1.08491633e-01 -5.00807976e-02 4.58001692e+02] [ 1.08373375e-01 9.94097288e-01 -5.07881065e-03 3.48738875e+01] [ 5.03361935e-02 -3.85003704e-04 9.98732256e-01 1.90867625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.08509989299995 meters 0.013548337907081936 Centerline is valid? [True, True] Translation: X:458.06, Y:34.87, Z:19.09 [[ 9.92521697e-01 -1.11275301e-01 -5.01845388e-02 4.58059818e+02] [ 1.11159861e-01 9.93789482e-01 -5.09419444e-03 3.48748862e+01] [ 5.04397249e-02 -5.22407824e-04 9.98726970e-01 1.90891492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.14509989299995 meters 0.01438474495688439 Centerline is valid? [True, True] Translation: X:458.12, Y:34.88, Z:19.09 [[ 9.91973653e-01 -1.16346505e-01 -4.95152832e-02 4.58118192e+02] [ 1.16240112e-01 9.93208391e-01 -5.03272442e-03 3.48757738e+01] [ 4.97645347e-02 -7.63332047e-04 9.98760686e-01 1.90922331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.20509989299995 meters 0.016460876509173855 Centerline is valid? [True, True] Translation: X:458.18, Y:34.87, Z:19.10 [[ 9.90696721e-01 -1.26970765e-01 -4.89737851e-02 4.58178260e+02] [ 1.26879361e-01 9.91905638e-01 -4.98328632e-03 3.48736325e+01] [ 4.92101052e-02 -1.27683713e-03 9.98787633e-01 1.90964230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.26509989299996 meters 0.0193158142977684 Centerline is valid? [True, True] Translation: X:458.24, Y:34.87, Z:19.10 [[ 9.89753608e-01 -1.34536269e-01 -4.78308249e-02 4.58237482e+02] [ 1.34457849e-01 9.90907357e-01 -4.86793809e-03 3.48722279e+01] [ 4.80508305e-02 -1.61317055e-03 9.98843589e-01 1.90996751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.32509989299996 meters 0.021629303217356004 Centerline is valid? [True, True] Translation: X:458.30, Y:34.87, Z:19.10 [[ 9.88560066e-01 -1.43415712e-01 -4.67004298e-02 4.58298455e+02] [ 1.43350762e-01 9.89660525e-01 -4.75434613e-03 3.48710171e+01] [ 4.68994199e-02 -1.99458550e-03 9.98897625e-01 1.91021939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.38509989299996 meters 0.024522035518486848 Centerline is valid? [True, True] Translation: X:458.36, Y:34.87, Z:19.10 [[ 9.87738217e-01 -1.48764979e-01 -4.73518189e-02 4.58359402e+02] [ 1.48704334e-01 9.88869952e-01 -4.82060416e-03 3.48725698e+01] [ 4.75419280e-02 -2.27992573e-03 9.98866641e-01 1.91039386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.44509989299996 meters 0.024467147825648215 Centerline is valid? [True, True] Translation: X:458.42, Y:34.88, Z:19.11 [[ 9.86957902e-01 -1.53869579e-01 -4.73101779e-02 4.58419682e+02] [ 1.53814896e-01 9.88087943e-01 -4.81605989e-03 3.48793971e+01] [ 4.74876615e-02 -2.52376175e-03 9.98868636e-01 1.91069080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.50509989299997 meters 0.031876927098367674 Centerline is valid? [True, True] Translation: X:458.48, Y:34.88, Z:19.11 [[ 9.85874343e-01 -1.60857290e-01 -4.66552387e-02 4.58479255e+02] [ 1.60811883e-01 9.86973647e-01 -4.74965699e-03 3.48762293e+01] [ 4.68115080e-02 -2.82015184e-03 9.98899759e-01 1.91094137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.56509989299997 meters 0.027968440554014543 Centerline is valid? [True, True] Translation: X:458.54, Y:34.89, Z:19.11 [[ 9.85256355e-01 -1.64715292e-01 -4.62470196e-02 4.58538530e+02] [ 1.64674927e-01 9.86336660e-01 -4.70760967e-03 3.48898142e+01] [ 4.63905461e-02 -2.97752222e-03 9.98918941e-01 1.91122932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.62509989299997 meters 0.028589832998446946 Centerline is valid? [True, True] Translation: X:458.60, Y:34.90, Z:19.11 [[ 9.84812273e-01 -1.67296215e-01 -4.64409669e-02 4.58598370e+02] [ 1.67258328e-01 9.85901768e-01 -4.72813798e-03 3.49009011e+01] [ 4.65772309e-02 -3.11131018e-03 9.98909846e-01 1.91145310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.685099893 meters 0.02884027500280632 Centerline is valid? [True, True] Translation: X:458.66, Y:34.91, Z:19.12 [[ 9.84808346e-01 -1.67342323e-01 -4.63580576e-02 4.58656022e+02] [ 1.67304566e-01 9.85893957e-01 -4.72090174e-03 3.49129381e+01] [ 4.64941356e-02 -3.10673128e-03 9.98913732e-01 1.91164380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.745099893 meters 0.030437669398425297 Centerline is valid? [True, True] Translation: X:458.71, Y:34.92, Z:19.12 [[ 9.85061464e-01 -1.65567114e-01 -4.73438856e-02 4.58713597e+02] [ 1.65525142e-01 9.86193728e-01 -4.83294301e-03 3.49218378e+01] [ 4.74904194e-02 -3.07585748e-03 9.98866958e-01 1.91179944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.805099893 meters 0.026916827215309868 Centerline is valid? [True, True] Translation: X:458.77, Y:34.94, Z:19.12 [[ 9.85944103e-01 -1.60476135e-01 -4.64934035e-02 4.58771688e+02] [ 1.60429875e-01 9.87035815e-01 -4.74915406e-03 3.49432812e+01] [ 4.66527803e-02 -2.77653045e-03 9.98907307e-01 1.91216867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.865099893 meters 0.025368373413416228 Centerline is valid? [True, True] Translation: X:458.83, Y:34.96, Z:19.13 [[ 9.87171404e-01 -1.53165851e-01 -4.50870335e-02 4.58828841e+02] [ 1.53114725e-01 9.88197687e-01 -4.60578157e-03 3.49605993e+01] [ 4.52603506e-02 -2.35679289e-03 9.98972445e-01 1.91251615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.9250998929999 meters 0.021858663653394533 Centerline is valid? [True, True] Translation: X:458.89, Y:34.98, Z:19.13 [[ 9.88678810e-01 -1.43272392e-01 -4.45783821e-02 4.58887107e+02] [ 1.43212278e-01 9.89681508e-01 -4.55583628e-03 3.49837893e+01] [ 4.47711260e-02 -1.87991288e-03 9.98995502e-01 1.91268487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.9850998929999 meters 0.019528649308277784 Centerline is valid? [True, True] Translation: X:458.95, Y:35.00, Z:19.13 [[ 9.89207126e-01 -1.39664524e-01 -4.43066827e-02 4.58946079e+02] [ 1.39601533e-01 9.90197409e-01 -4.52794012e-03 3.49991303e+01] [ 4.45047550e-02 -1.70621019e-03 9.99007715e-01 1.91288964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.04509989299993 meters 0.018815885169372833 Centerline is valid? [True, True] Translation: X:459.01, Y:35.01, Z:19.13 [[ 9.89452276e-01 -1.38144280e-01 -4.35930310e-02 4.59005244e+02] [ 1.38081793e-01 9.90410806e-01 -4.45583207e-03 3.50085957e+01] [ 4.37905567e-02 -1.61057070e-03 9.99039435e-01 1.91315319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.10509989299993 meters 0.017818053534003328 Centerline is valid? [True, True] Translation: X:459.07, Y:35.02, Z:19.13 [[ 9.90076679e-01 -1.34223400e-01 -4.16202803e-02 4.59065252e+02] [ 1.34162918e-01 9.90950150e-01 -4.25566785e-03 3.50221896e+01] [ 4.18148333e-02 -1.37046077e-03 9.99124437e-01 1.91339907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.16509989299993 meters 0.019034795766210328 Centerline is valid? [True, True] Translation: X:459.12, Y:35.03, Z:19.14 [[ 9.90283170e-01 -1.32768476e-01 -4.13735962e-02 4.59124998e+02] [ 1.32707472e-01 9.91146224e-01 -4.22968725e-03 3.50283713e+01] [ 4.15688528e-02 -1.30199726e-03 9.99134793e-01 1.91363630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.22509989299994 meters 0.016474142348585647 Centerline is valid? [True, True] Translation: X:459.18, Y:35.04, Z:19.14 [[ 9.90714338e-01 -1.29531909e-01 -4.13108271e-02 4.59184738e+02] [ 1.29468310e-01 9.91574570e-01 -4.22253257e-03 3.50436094e+01] [ 4.15097183e-02 -1.16511941e-03 9.99137421e-01 1.91382581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.28509989299994 meters 0.01629685319588097 Centerline is valid? [True, True] Translation: X:459.24, Y:35.06, Z:19.14 [[ 9.91464571e-01 -1.23768782e-01 -4.09791711e-02 4.59243823e+02] [ 1.23701342e-01 9.92310660e-01 -4.18709219e-03 3.50553992e+01] [ 4.11822996e-02 -9.17824904e-04 9.99151228e-01 1.91400161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.34509989299994 meters 0.0145288539250072 Centerline is valid? [True, True] Translation: X:459.30, Y:35.07, Z:19.14 [[ 9.92194333e-01 -1.18268065e-01 -3.95356737e-02 4.59304238e+02] [ 1.18200923e-01 9.92981482e-01 -4.03968250e-03 3.50686843e+01] [ 3.97359573e-02 -6.65003058e-04 9.99209994e-01 1.91420175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.40509989299994 meters 0.013713502068275362 Centerline is valid? [True, True] Translation: X:459.36, Y:35.08, Z:19.14 [[ 9.92550115e-01 -1.15464993e-01 -3.88857967e-02 4.59364351e+02] [ 1.15397945e-01 9.93311400e-01 -3.97190108e-03 3.50792093e+01] [ 3.90843207e-02 -5.45030150e-04 9.99235767e-01 1.91442972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.46509989299994 meters 0.013736802110528789 Centerline is valid? [True, True] Translation: X:459.42, Y:35.09, Z:19.15 [[ 9.92739428e-01 -1.14235683e-01 -3.76647871e-02 4.59424635e+02] [ 1.14171945e-01 9.93453560e-01 -3.84590742e-03 3.50870049e+01] [ 3.78575567e-02 -4.82278062e-04 9.99283029e-01 1.91467297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.52509989299995 meters 0.013622994840404891 Centerline is valid? [True, True] Translation: X:459.49, Y:35.09, Z:19.15 [[ 9.92648957e-01 -1.15090454e-01 -3.74464296e-02 4.59486828e+02] [ 1.15028134e-01 9.93354883e-01 -3.82164951e-03 3.50929815e+01] [ 3.76374290e-02 -5.13836519e-04 9.99291329e-01 1.91483886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.58509989299995 meters 0.014399161532307482 Centerline is valid? [True, True] Translation: X:459.55, Y:35.10, Z:19.15 [[ 9.92224511e-01 -1.18631179e-01 -3.76452197e-02 4.59547931e+02] [ 1.18570853e-01 9.92938173e-01 -3.83900197e-03 3.50957244e+01] [ 3.78348010e-02 -6.54473948e-04 9.99283793e-01 1.91496066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.64509989299995 meters 0.01525962913055775 Centerline is valid? [True, True] Translation: X:459.61, Y:35.10, Z:19.15 [[ 9.91824556e-01 -1.22086132e-01 -3.71352551e-02 4.59609071e+02] [ 1.22029927e-01 9.92519205e-01 -3.78487354e-03 3.50986363e+01] [ 3.73195344e-02 -7.77681945e-04 9.99303081e-01 1.91511569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.70509989299995 meters 0.017762745042719817 Centerline is valid? [True, True] Translation: X:459.67, Y:35.10, Z:19.15 [[ 9.90897504e-01 -1.29466282e-01 -3.68865696e-02 4.59669608e+02] [ 1.29415987e-01 9.91583269e-01 -3.75801031e-03 3.50971633e+01] [ 3.70626409e-02 -1.04990879e-03 9.99312393e-01 1.91525480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.76509989299996 meters 0.019966054564237928 Centerline is valid? [True, True] Translation: X:459.73, Y:35.10, Z:19.15 [[ 9.90193869e-01 -1.34793785e-01 -3.66979315e-02 4.59730904e+02] [ 1.34747651e-01 9.90872894e-01 -3.73888237e-03 3.50978608e+01] [ 3.68669637e-02 -1.24274168e-03 9.99319410e-01 1.91542772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.82509989299996 meters 0.023624388860604726 Centerline is valid? [True, True] Translation: X:459.79, Y:35.10, Z:19.16 [[ 9.89211514e-01 -1.41861823e-01 -3.65486554e-02 4.59790410e+02] [ 1.41820891e-01 9.89885333e-01 -3.72322996e-03 3.50966947e+01] [ 3.67071621e-02 -1.50030095e-03 9.99324939e-01 1.91563154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.88509989299996 meters 0.024416843780331893 Centerline is valid? [True, True] Translation: X:459.85, Y:35.10, Z:19.16 [[ 9.88131404e-01 -1.49138174e-01 -3.67985602e-02 4.59850375e+02] [ 1.49101797e-01 9.88814755e-01 -3.74633770e-03 3.51013818e+01] [ 3.69456812e-02 -1.78485750e-03 9.99315681e-01 1.91583571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.94509989299996 meters 0.02558898385234166 Centerline is valid? [True, True] Translation: X:459.91, Y:35.11, Z:19.16 [[ 9.87473851e-01 -1.53243094e-01 -3.75758932e-02 4.59911022e+02] [ 1.53208134e-01 9.88186539e-01 -3.82523740e-03 3.51060207e+01] [ 3.77181830e-02 -1.97961057e-03 9.99286455e-01 1.91606068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.00509989299997 meters 0.027848162646183516 Centerline is valid? [True, True] Translation: X:459.97, Y:35.11, Z:19.16 [[ 9.87007022e-01 -1.55965356e-01 -3.86257102e-02 4.59971327e+02] [ 1.55930521e-01 9.87760202e-01 -3.93137893e-03 3.51106728e+01] [ 3.87660982e-02 -2.14262851e-03 9.99246015e-01 1.91630891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.06509989299997 meters 0.027226253320509635 Centerline is valid? [True, True] Translation: X:460.03, Y:35.12, Z:19.17 [[ 9.87003865e-01 -1.55952149e-01 -3.87594824e-02 4.60032592e+02] [ 1.55917083e-01 9.87762271e-01 -3.94445839e-03 3.51194612e+01] [ 3.89003011e-02 -2.15006977e-03 9.99240784e-01 1.91662571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.12509989299997 meters 0.02556968390216085 Centerline is valid? [True, True] Translation: X:460.09, Y:35.13, Z:19.17 [[ 9.87408881e-01 -1.53160875e-01 -3.95657540e-02 4.60093465e+02] [ 1.53122220e-01 9.88199068e-01 -4.02351954e-03 3.51316544e+01] [ 3.97150870e-02 -2.08553717e-03 9.99208868e-01 1.91683319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.185099893 meters 0.02580501069375601 Centerline is valid? [True, True] Translation: X:460.15, Y:35.14, Z:19.17 [[ 9.87750210e-01 -1.50756096e-01 -4.02755687e-02 4.60153201e+02] [ 1.50714143e-01 9.88568911e-01 -4.09338084e-03 3.51403050e+01] [ 4.04322772e-02 -2.02686003e-03 9.99180225e-01 1.91705102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.245099893 meters 0.023121416891391623 Centerline is valid? [True, True] Translation: X:460.21, Y:35.16, Z:19.17 [[ 9.88168152e-01 -1.47701922e-01 -4.13260960e-02 4.60213007e+02] [ 1.47655120e-01 9.89029995e-01 -4.19938407e-03 3.51560235e+01] [ 4.14930056e-02 -1.95231208e-03 9.99136887e-01 1.91730238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.305099893 meters 0.021750169535856713 Centerline is valid? [True, True] Translation: X:460.27, Y:35.17, Z:19.18 [[ 9.88521785e-01 -1.45068509e-01 -4.21877775e-02 4.60273288e+02] [ 1.45017410e-01 9.89419823e-01 -4.28534254e-03 3.51679090e+01] [ 4.23630916e-02 -1.88180778e-03 9.99100509e-01 1.91753429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.365099893 meters 0.021790852181219796 Centerline is valid? [True, True] Translation: X:460.33, Y:35.18, Z:19.18 [[ 9.89328046e-01 -1.39436262e-01 -4.22793714e-02 4.60332077e+02] [ 1.39379872e-01 9.90229681e-01 -4.29307468e-03 3.51790396e+01] [ 4.24648988e-02 -1.64563421e-03 9.99096604e-01 1.91779886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.4250998929999 meters 0.018192083770484202 Centerline is valid? [True, True] Translation: X:460.39, Y:35.20, Z:19.18 [[ 9.90510265e-01 -1.31012858e-01 -4.15336768e-02 4.60391233e+02] [ 1.30951038e-01 9.91379866e-01 -4.21735719e-03 3.51969609e+01] [ 4.17281790e-02 -1.26154249e-03 9.99128204e-01 1.91818181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.4850998929999 meters 0.016843851737011535 Centerline is valid? [True, True] Translation: X:460.45, Y:35.21, Z:19.18 [[ 9.91213619e-01 -1.25360486e-01 -4.21937096e-02 4.60451760e+02] [ 1.25291571e-01 9.92110713e-01 -4.28428605e-03 3.52097536e+01] [ 4.23979115e-02 -1.03987348e-03 9.99100263e-01 1.91840435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.54509989299993 meters 0.01545193457084523 Centerline is valid? [True, True] Translation: X:460.51, Y:35.22, Z:19.19 [[ 9.91967906e-01 -1.18605086e-01 -4.39602865e-02 4.60512129e+02] [ 1.18523754e-01 9.92941195e-01 -4.46119007e-03 3.52232466e+01] [ 4.41790993e-02 -7.84980832e-04 9.99023319e-01 1.91851792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.60509989299993 meters 0.01501074249294506 Centerline is valid? [True, True] Translation: X:460.57, Y:35.23, Z:19.19 [[ 9.92230987e-01 -1.16161661e-01 -4.45436516e-02 4.60573669e+02] [ 1.16075772e-01 9.93230083e-01 -4.51865653e-03 3.52322559e+01] [ 4.47669894e-02 -6.86887744e-04 9.98997220e-01 1.91871526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.66509989299993 meters 0.015101811572805523 Centerline is valid? [True, True] Translation: X:460.63, Y:35.24, Z:19.19 [[ 9.92377347e-01 -1.14994521e-01 -4.43109606e-02 4.60634663e+02] [ 1.14908505e-01 9.93365924e-01 -4.49192721e-03 3.52403685e+01] [ 4.45335453e-02 -6.34019436e-04 9.99007688e-01 1.91902293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.72509989299994 meters 0.014599765773423928 Centerline is valid? [True, True] Translation: X:460.70, Y:35.25, Z:19.19 [[ 9.92317088e-01 -1.15745684e-01 -4.37004950e-02 4.60696353e+02] [ 1.15662852e-01 9.93278662e-01 -4.42770843e-03 3.52488532e+01] [ 4.39192573e-02 -6.60833157e-04 9.99034865e-01 1.91932474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.78509989299994 meters 0.016109145445272366 Centerline is valid? [True, True] Translation: X:460.76, Y:35.25, Z:19.20 [[ 9.92023914e-01 -1.18425567e-01 -4.31733621e-02 4.60757225e+02] [ 1.18347394e-01 9.92962631e-01 -4.37115972e-03 3.52504078e+01] [ 4.33871923e-02 -7.73159900e-04 9.99058033e-01 1.91951824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.84509989299994 meters 0.01594800101566416 Centerline is valid? [True, True] Translation: X:460.82, Y:35.26, Z:19.20 [[ 9.91682557e-01 -1.21504532e-01 -4.24541419e-02 4.60818487e+02] [ 1.21431827e-01 9.92590474e-01 -4.29678623e-03 3.52562952e+01] [ 4.26616558e-02 -8.94236052e-04 9.99089177e-01 1.91982485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.90509989299994 meters 0.01782101171379372 Centerline is valid? [True, True] Translation: X:460.88, Y:35.26, Z:19.20 [[ 9.90788196e-01 -1.28609153e-01 -4.24079711e-02 4.60880017e+02] [ 1.28543199e-01 9.91694632e-01 -4.28981071e-03 3.52571592e+01] [ 4.26074662e-02 -1.20096244e-03 9.99091168e-01 1.92007328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.96509989299994 meters 0.01948694893514727 Centerline is valid? [True, True] Translation: X:460.94, Y:35.26, Z:19.20 [[ 9.89954990e-01 -1.34784586e-01 -4.26876308e-02 4.60940804e+02] [ 1.34723554e-01 9.90873822e-01 -4.31656674e-03 3.52582571e+01] [ 4.28798625e-02 -1.47782253e-03 9.99079143e-01 1.92023628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.02509989299995 meters 0.022414302047158826 Centerline is valid? [True, True] Translation: X:461.00, Y:35.26, Z:19.20 [[ 9.89093591e-01 -1.40961393e-01 -4.27054365e-02 4.61000938e+02] [ 1.40906085e-01 9.90013552e-01 -4.31757397e-03 3.52573096e+01] [ 4.28875721e-02 -1.74697111e-03 9.99078377e-01 1.92042650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.08509989299995 meters 0.024772421542928 Centerline is valid? [True, True] Translation: X:461.06, Y:35.26, Z:19.21 [[ 9.88183408e-01 -1.46969812e-01 -4.35135209e-02 4.61061718e+02] [ 1.46918263e-01 9.89138860e-01 -4.39776285e-03 3.52577588e+01] [ 4.36872528e-02 -2.04713463e-03 9.99043159e-01 1.92056987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.14509989299995 meters 0.025335071431976726 Centerline is valid? [True, True] Translation: X:461.12, Y:35.26, Z:19.21 [[ 9.87139987e-01 -1.53710271e-01 -4.39067070e-02 4.61122548e+02] [ 1.53664434e-01 9.88113127e-01 -4.43735676e-03 3.52613148e+01] [ 4.40668609e-02 -2.36660698e-03 9.99025781e-01 1.92070750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.20509989299995 meters 0.02711944532918314 Centerline is valid? [True, True] Translation: X:461.18, Y:35.26, Z:19.21 [[ 9.86772302e-01 -1.56164285e-01 -4.35102351e-02 4.61183111e+02] [ 1.56121654e-01 9.87728047e-01 -4.39711877e-03 3.52647829e+01] [ 4.36629525e-02 -2.45393487e-03 9.99043305e-01 1.92096284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.26509989299996 meters 0.02972691221013607 Centerline is valid? [True, True] Translation: X:461.24, Y:35.27, Z:19.21 [[ 9.86554838e-01 -1.57723736e-01 -4.28109128e-02 4.61244242e+02] [ 1.57683961e-01 9.87480155e-01 -4.32563846e-03 3.52684067e+01] [ 4.29571827e-02 -2.48311476e-03 9.99073828e-01 1.92127628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.32509989299996 meters 0.030400434524669694 Centerline is valid? [True, True] Translation: X:461.31, Y:35.28, Z:19.21 [[ 9.86351409e-01 -1.58653644e-01 -4.40445123e-02 4.61306002e+02] [ 1.58612579e-01 9.87330880e-01 -4.44779920e-03 3.52753712e+01] [ 4.41921666e-02 -2.59892066e-03 9.99019668e-01 1.92142967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.38509989299996 meters 0.030864866884361398 Centerline is valid? [True, True] Translation: X:461.37, Y:35.28, Z:19.21 [[ 9.86185848e-01 -1.59218455e-01 -4.56832258e-02 4.61367452e+02] [ 1.59175028e-01 9.87239615e-01 -4.61016121e-03 3.52815106e+01] [ 4.58343129e-02 -2.72515297e-03 9.98945338e-01 1.92148205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.44509989299996 meters 0.030609921884550195 Centerline is valid? [True, True] Translation: X:461.43, Y:35.29, Z:19.22 [[ 9.86070319e-01 -1.59345339e-01 -4.76905486e-02 4.61428717e+02] [ 1.59298295e-01 9.87218779e-01 -4.80998043e-03 3.52898265e+01] [ 4.78474531e-02 -2.85404414e-03 9.98850577e-01 1.92157308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.50509989299997 meters 0.031189379047353392 Centerline is valid? [True, True] Translation: X:461.49, Y:35.30, Z:19.22 [[ 9.86331399e-01 -1.57618828e-01 -4.80278782e-02 4.61488298e+02] [ 1.57569222e-01 9.87496078e-01 -4.84100045e-03 3.52975952e+01] [ 4.81903742e-02 -2.79288467e-03 9.98834264e-01 1.92179281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.56509989299997 meters 0.02894522643932037 Centerline is valid? [True, True] Translation: X:461.55, Y:35.31, Z:19.22 [[ 9.86869117e-01 -1.54265800e-01 -4.78686682e-02 4.61547526e+02] [ 1.54212590e-01 9.88025909e-01 -4.82495277e-03 3.53110029e+01] [ 4.80398096e-02 -2.62035444e-03 9.98841985e-01 1.92215097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.62509989299997 meters 0.027181662941668613 Centerline is valid? [True, True] Translation: X:461.61, Y:35.33, Z:19.23 [[ 9.88258817e-01 -1.45460136e-01 -4.67531713e-02 4.61606078e+02] [ 1.45399539e-01 9.89361797e-01 -4.71252518e-03 3.53266693e+01] [ 4.69412862e-02 -2.14069499e-03 9.98895356e-01 1.92255174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.685099893 meters 0.02195174528759752 Centerline is valid? [True, True] Translation: X:461.67, Y:35.34, Z:19.23 [[ 9.89220473e-01 -1.39025095e-01 -4.59878074e-02 4.61665500e+02] [ 1.38959517e-01 9.90287213e-01 -4.63545008e-03 3.53443913e+01] [ 4.61855815e-02 -1.80496140e-03 9.98931246e-01 1.92293756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.745099893 meters 0.01758274317252404 Centerline is valid? [True, True] Translation: X:461.72, Y:35.36, Z:19.23 [[ 9.90549242e-01 -1.29324761e-01 -4.56870476e-02 4.61724510e+02] [ 1.29249729e-01 9.91601382e-01 -4.60504421e-03 3.53639562e+01] [ 4.58988858e-02 -1.34351547e-03 9.98945187e-01 1.92319821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.805099893 meters 0.016274131080248375 Centerline is valid? [True, True] Translation: X:461.78, Y:35.38, Z:19.23 [[ 9.91226438e-01 -1.23640463e-01 -4.67245505e-02 4.61784710e+02] [ 1.23555680e-01 9.92326466e-01 -4.70945714e-03 3.53767255e+01] [ 4.69482875e-02 -1.10494516e-03 9.98896710e-01 1.92339894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.865099893 meters 0.014472277701546696 Centerline is valid? [True, True] Translation: X:461.84, Y:35.39, Z:19.24 [[ 9.92001915e-01 -1.16474116e-01 -4.86413436e-02 4.61844792e+02] [ 1.16373709e-01 9.93193406e-01 -4.90081105e-03 3.53923312e+01] [ 4.88810794e-02 -7.98959610e-04 9.98804286e-01 1.92357870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.9250998929999 meters 0.014154644349039878 Centerline is valid? [True, True] Translation: X:461.91, Y:35.40, Z:19.24 [[ 9.92416481e-01 -1.12631861e-01 -4.92299903e-02 4.61905722e+02] [ 1.12524387e-01 9.93636594e-01 -4.95799911e-03 3.54020909e+01] [ 4.94751485e-02 -6.19174458e-04 9.98775163e-01 1.92377493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.9850998929999 meters 0.01347233690131186 Centerline is valid? [True, True] Translation: X:461.97, Y:35.41, Z:19.24 [[ 9.92828581e-01 -1.08630118e-01 -4.99089886e-02 4.61966923e+02] [ 1.08514788e-01 9.94082146e-01 -5.02269862e-03 3.54139918e+01] [ 5.01592508e-02 -4.29184561e-04 9.98741140e-01 1.92409210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.04509989299993 meters 0.013428252800012601 Centerline is valid? [True, True] Translation: X:462.03, Y:35.42, Z:19.24 [[ 9.92995901e-01 -1.06948077e-01 -5.02120390e-02 4.62028856e+02] [ 1.06829378e-01 9.94264545e-01 -5.04952355e-03 3.54225636e+01] [ 5.04640870e-02 -3.49964700e-04 9.98725815e-01 1.92435486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.10509989299993 meters 0.013378585577089156 Centerline is valid? [True, True] Translation: X:462.09, Y:35.43, Z:19.25 [[ 9.92840238e-01 -1.08100898e-01 -5.08178839e-02 4.62090772e+02] [ 1.07981014e-01 9.94139840e-01 -5.10674275e-03 3.54293747e+01] [ 5.10721265e-02 -4.17186925e-04 9.98694880e-01 1.92455698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.16509989299993 meters 0.013738760688211714 Centerline is valid? [True, True] Translation: X:462.15, Y:35.43, Z:19.25 [[ 9.92431415e-01 -1.11508791e-01 -5.14361420e-02 4.62152839e+02] [ 1.11390740e-01 9.93763264e-01 -5.16504852e-03 3.54342108e+01] [ 5.16912967e-02 -6.03553519e-04 9.98662929e-01 1.92482641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.22509989299994 meters 0.015226179531542951 Centerline is valid? [True, True] Translation: X:462.21, Y:35.43, Z:19.25 [[ 9.91417588e-01 -1.20727225e-01 -5.01607679e-02 4.62213795e+02] [ 1.20626894e-01 9.92685153e-01 -5.03380593e-03 3.54348982e+01] [ 5.04015670e-02 -1.06013390e-03 9.98728471e-01 1.92520722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.28509989299994 meters 0.019679595127998207 Centerline is valid? [True, True] Translation: X:462.27, Y:35.43, Z:19.25 [[ 9.89855579e-01 -1.33303771e-01 -4.91531972e-02 4.62273997e+02] [ 1.33222921e-01 9.91073826e-01 -4.93205388e-03 3.54304704e+01] [ 4.93719086e-02 -1.66631147e-03 9.98779074e-01 1.92547031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.34509989299994 meters 0.02378097441050634 Centerline is valid? [True, True] Translation: X:462.33, Y:35.43, Z:19.26 [[ 9.88662806e-01 -1.41739341e-01 -4.95561791e-02 4.62334194e+02] [ 1.41667720e-01 9.89901778e-01 -4.97253035e-03 3.54283413e+01] [ 4.97605530e-02 -2.10435511e-03 9.98758959e-01 1.92559868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.40509989299994 meters 0.028089947605382228 Centerline is valid? [True, True] Translation: X:462.40, Y:35.43, Z:19.26 [[ 9.87041956e-01 -1.52527001e-01 -4.98366428e-02 4.62395761e+02] [ 1.52468421e-01 9.88295708e-01 -4.99735351e-03 3.54264227e+01] [ 5.00155715e-02 -2.66591665e-03 9.98744880e-01 1.92573811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.46509989299994 meters 0.029095780364074803 Centerline is valid? [True, True] Translation: X:462.46, Y:35.43, Z:19.26 [[ 9.86280592e-01 -1.57419858e-01 -4.96948827e-02 4.62456046e+02] [ 1.57367815e-01 9.87527490e-01 -4.98270090e-03 3.54312387e+01] [ 4.98594389e-02 -2.90603393e-03 9.98752017e-01 1.92605583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.52509989299995 meters 0.03046433828260826 Centerline is valid? [True, True] Translation: X:462.52, Y:35.44, Z:19.26 [[ 9.85666306e-01 -1.61207864e-01 -4.97389047e-02 4.62516887e+02] [ 1.61160547e-01 9.86915605e-01 -4.98675022e-03 3.54373699e+01] [ 4.98920046e-02 -3.10067742e-03 9.98749805e-01 1.92637626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.58509989299995 meters 0.029976951173567176 Centerline is valid? [True, True] Translation: X:462.58, Y:35.45, Z:19.27 [[ 9.85461668e-01 -1.62503496e-01 -4.95773705e-02 4.62577830e+02] [ 1.62458195e-01 9.86702916e-01 -4.96898536e-03 3.54459184e+01] [ 4.97256135e-02 -3.15750553e-03 9.98757925e-01 1.92667084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.64509989299995 meters 0.029438563083636574 Centerline is valid? [True, True] Translation: X:462.64, Y:35.46, Z:19.27 [[ 9.85343745e-01 -1.63157509e-01 -4.97727975e-02 4.62638804e+02] [ 1.63112818e-01 9.86594826e-01 -4.98582855e-03 3.54554866e+01] [ 4.99190598e-02 -3.20582630e-03 9.98748121e-01 1.92686561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.70509989299995 meters 0.0313956482078091 Centerline is valid? [True, True] Translation: X:462.70, Y:35.46, Z:19.27 [[ 9.85416692e-01 -1.62532818e-01 -5.03689035e-02 4.62699774e+02] [ 1.62486382e-01 9.86697900e-01 -5.04273310e-03 3.54610968e+01] [ 5.05185010e-02 -3.21506755e-03 9.98717950e-01 1.92705790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.76509989299996 meters 0.028999406715836427 Centerline is valid? [True, True] Translation: X:462.76, Y:35.47, Z:19.27 [[ 9.85481254e-01 -1.61669827e-01 -5.18610268e-02 4.62761461e+02] [ 1.61619597e-01 9.86839493e-01 -5.18861998e-03 3.54747243e+01] [ 5.20173527e-02 -3.26847051e-03 9.98640832e-01 1.92721830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.82509989299996 meters 0.029835741543198666 Centerline is valid? [True, True] Translation: X:462.82, Y:35.48, Z:19.27 [[ 9.85428652e-01 -1.61544238e-01 -5.32337314e-02 4.62823031e+02] [ 1.61491444e-01 9.86859772e-01 -5.32019366e-03 3.54818724e+01] [ 5.33936746e-02 -3.35412088e-03 9.98567907e-01 1.92729219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.88509989299996 meters 0.02912047851807084 Centerline is valid? [True, True] Translation: X:462.88, Y:35.49, Z:19.28 [[ 9.85279094e-01 -1.62453585e-01 -5.32347601e-02 4.62884175e+02] [ 1.62402317e-01 9.86710304e-01 -5.31640334e-03 3.54928496e+01] [ 5.33909551e-02 -3.40730734e-03 9.98567873e-01 1.92753294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.94509989299996 meters 0.029772414621175414 Centerline is valid? [True, True] Translation: X:462.95, Y:35.50, Z:19.28 [[ 9.85341340e-01 -1.62289604e-01 -5.25787741e-02 4.62946409e+02] [ 1.62239561e-01 9.86737449e-01 -5.24704682e-03 3.54992862e+01] [ 5.27329866e-02 -3.36022506e-03 9.98602995e-01 1.92781844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.00509989299997 meters 0.0312840159466573 Centerline is valid? [True, True] Translation: X:463.01, Y:35.51, Z:19.28 [[ 9.85432859e-01 -1.62150219e-01 -5.12775569e-02 4.63007279e+02] [ 1.62102611e-01 9.86760657e-01 -5.11368460e-03 3.55062225e+01] [ 5.14278608e-02 -3.27303303e-03 9.98671349e-01 1.92820480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.06509989299997 meters 0.03281823727902549 Centerline is valid? [True, True] Translation: X:463.07, Y:35.51, Z:19.29 [[ 9.85816963e-01 -1.60825803e-01 -4.79580716e-02 4.63067413e+02] [ 1.60782702e-01 9.86978253e-01 -4.78030546e-03 3.55144711e+01] [ 4.81023702e-02 -2.99832214e-03 9.98837911e-01 1.92867985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.12509989299997 meters 0.029625899273622816 Centerline is valid? [True, True] Translation: X:463.13, Y:35.53, Z:19.29 [[ 9.85968942e-01 -1.60708832e-01 -4.51432895e-02 4.63128395e+02] [ 1.60670589e-01 9.86997836e-01 -4.49809534e-03 3.55285570e+01] [ 4.52792127e-02 -2.81821660e-03 9.98970395e-01 1.92930218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.185099893 meters 0.027596934182638023 Centerline is valid? [True, True] Translation: X:463.19, Y:35.54, Z:19.30 [[ 9.85899074e-01 -1.61409589e-01 -4.41583555e-02 4.63189918e+02] [ 1.61373835e-01 9.86883556e-01 -4.39679051e-03 3.55388839e+01] [ 4.42888391e-02 -2.79121147e-03 9.99014869e-01 1.92964460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.245099893 meters 0.03106280400989814 Centerline is valid? [True, True] Translation: X:463.25, Y:35.54, Z:19.30 [[ 9.85370794e-01 -1.64170604e-01 -4.57428768e-02 4.63249664e+02] [ 1.64135350e-01 9.86427328e-01 -4.55129818e-03 3.55412140e+01] [ 4.58692130e-02 -3.02330679e-03 9.98942879e-01 1.92972567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.305099893 meters 0.033303179738164636 Centerline is valid? [True, True] Translation: X:463.31, Y:35.55, Z:19.30 [[ 9.84925053e-01 -1.66455138e-01 -4.70672679e-02 4.63310320e+02] [ 1.66420416e-01 9.86043769e-01 -4.68297679e-03 3.55453318e+01] [ 4.71898918e-02 -3.22057313e-03 9.98880745e-01 1.92986876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.365099893 meters 0.03284093625947832 Centerline is valid? [True, True] Translation: X:463.37, Y:35.55, Z:19.30 [[ 9.84825984e-01 -1.66737646e-01 -4.81283488e-02 4.63371706e+02] [ 1.66701739e-01 9.85995746e-01 -4.78732075e-03 3.55526172e+01] [ 4.82525738e-02 -3.30840156e-03 9.98829687e-01 1.93004399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.4250998929999 meters 0.03193977170100551 Centerline is valid? [True, True] Translation: X:463.43, Y:35.56, Z:19.30 [[ 9.85097110e-01 -1.65494374e-01 -4.68539926e-02 4.63432547e+02] [ 1.65459088e-01 9.86205657e-01 -4.65742300e-03 3.55604088e+01] [ 4.69784499e-02 -3.16440495e-03 9.98890891e-01 1.93040804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.4850998929999 meters 0.03244377419994206 Centerline is valid? [True, True] Translation: X:463.49, Y:35.57, Z:19.31 [[ 9.85721952e-01 -1.62425769e-01 -4.43858469e-02 4.63491492e+02] [ 1.62391062e-01 9.86716620e-01 -4.41067927e-03 3.55665370e+01] [ 4.45126608e-02 -2.86016143e-03 9.99004726e-01 1.93085567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.54509989299993 meters 0.030159292463605818 Centerline is valid? [True, True] Translation: X:463.55, Y:35.57, Z:19.31 [[ 9.86139659e-01 -1.60066150e-01 -4.36738037e-02 4.63553028e+02] [ 1.60030214e-01 9.87102573e-01 -4.34055597e-03 3.55742081e+01] [ 4.38053001e-02 -2.70873375e-03 9.99036415e-01 1.93114832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.60509989299993 meters 0.027020483910899038 Centerline is valid? [True, True] Translation: X:463.61, Y:35.58, Z:19.31 [[ 9.86236440e-01 -1.59145509e-01 -4.48373776e-02 4.63614492e+02] [ 1.59106803e-01 9.87251331e-01 -4.45363039e-03 3.55826173e+01] [ 4.49745360e-02 -2.74159921e-03 9.98984372e-01 1.93128818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.66509989299993 meters 0.02733029221258125 Centerline is valid? [True, True] Translation: X:463.68, Y:35.59, Z:19.31 [[ 9.86166496e-01 -1.58827289e-01 -4.74292531e-02 4.63677878e+02] [ 1.58783806e-01 9.87302155e-01 -4.70712652e-03 3.55857822e+01] [ 4.75746239e-02 -2.88898684e-03 9.98863509e-01 1.93142653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.72509989299994 meters 0.025928923118569713 Centerline is valid? [True, True] Translation: X:463.74, Y:35.59, Z:19.32 [[ 9.86303485e-01 -1.57649110e-01 -4.84994289e-02 4.63739555e+02] [ 1.57602485e-01 9.87490931e-01 -4.80802489e-03 3.55929091e+01] [ 4.86507270e-02 -2.90145879e-03 9.98811638e-01 1.93174563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.78509989299994 meters 0.02787976491951881 Centerline is valid? [True, True] Translation: X:463.80, Y:35.59, Z:19.32 [[ 9.86663651e-01 -1.55180010e-01 -4.91325259e-02 4.63799917e+02] [ 1.55129276e-01 9.87882187e-01 -4.86744562e-03 3.55938914e+01] [ 4.92924774e-02 -2.81936151e-03 9.98780408e-01 1.93206276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.84509989299994 meters 0.026308806581083952 Centerline is valid? [True, True] Translation: X:463.86, Y:35.60, Z:19.32 [[ 9.87270445e-01 -1.51351415e-01 -4.88857641e-02 4.63860290e+02] [ 1.51296555e-01 9.88476559e-01 -4.84209105e-03 3.56002342e+01] [ 4.90552892e-02 -2.61579429e-03 9.98792639e-01 1.93240063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.90509989299994 meters 0.022897251092878802 Centerline is valid? [True, True] Translation: X:463.92, Y:35.61, Z:19.33 [[ 9.88290230e-01 -1.45092788e-01 -4.72282201e-02 4.63919943e+02] [ 1.45034486e-01 9.89415546e-01 -4.67718359e-03 3.56087718e+01] [ 4.74069607e-02 -2.22730576e-03 9.98873175e-01 1.93279844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.96509989299994 meters 0.020519250257877264 Centerline is valid? [True, True] Translation: X:463.98, Y:35.62, Z:19.33 [[ 9.88908341e-01 -1.40787274e-01 -4.73205678e-02 4.63979930e+02] [ 1.40723824e-01 9.90037799e-01 -4.68632764e-03 3.56164376e+01] [ 4.75089261e-02 -2.02478274e-03 9.98868761e-01 1.93305529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.02509989299995 meters 0.02002470335837934 Centerline is valid? [True, True] Translation: X:464.04, Y:35.62, Z:19.33 [[ 9.89571297e-01 -1.35357422e-01 -4.92647498e-02 4.64039079e+02] [ 1.35281927e-01 9.90795133e-01 -4.87900353e-03 3.56210996e+01] [ 4.94716837e-02 -1.83650843e-03 9.98773838e-01 1.93318384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.08509989299995 meters 0.018768145381671143 Centerline is valid? [True, True] Translation: X:464.10, Y:35.63, Z:19.33 [[ 9.89897090e-01 -1.32426842e-01 -5.06644108e-02 4.64100696e+02] [ 1.32343149e-01 9.91191259e-01 -5.01792214e-03 3.56275942e+01] [ 5.08826287e-02 -1.73786116e-03 9.98703128e-01 1.93334843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.14509989299995 meters 0.017403097672486042 Centerline is valid? [True, True] Translation: X:464.16, Y:35.63, Z:19.34 [[ 9.90214104e-01 -1.29567530e-01 -5.18486621e-02 4.64162997e+02] [ 1.29476134e-01 9.91569258e-01 -5.13195230e-03 3.56343203e+01] [ 5.20764738e-02 -1.63143279e-03 9.98641767e-01 1.93356331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.20509989299995 meters 0.01657478374802642 Centerline is valid? [True, True] Translation: X:464.22, Y:35.64, Z:19.34 [[ 9.90645749e-01 -1.26829383e-01 -5.03518396e-02 4.64223778e+02] [ 1.26739861e-01 9.91923490e-01 -4.97974034e-03 3.56396329e+01] [ 5.05767499e-02 -1.44842657e-03 9.98719127e-01 1.93389083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.26509989299996 meters 0.01671960814040529 Centerline is valid? [True, True] Translation: X:464.29, Y:35.64, Z:19.34 [[ 9.90822746e-01 -1.25912085e-01 -4.91572182e-02 4.64286159e+02] [ 1.25825742e-01 9.92040457e-01 -4.85940518e-03 3.56444383e+01] [ 4.93778071e-02 -1.37043427e-03 9.98779232e-01 1.93423025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.32509989299996 meters 0.01674458169123743 Centerline is valid? [True, True] Translation: X:464.35, Y:35.65, Z:19.35 [[ 9.90670701e-01 -1.27689575e-01 -4.76123424e-02 4.64348063e+02] [ 1.27610822e-01 9.91813170e-01 -4.70256204e-03 3.56491376e+01] [ 4.78230164e-02 -1.41715973e-03 9.98854820e-01 1.93467053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.38509989299996 meters 0.01926692304887393 Centerline is valid? [True, True] Translation: X:464.41, Y:35.65, Z:19.35 [[ 9.90229020e-01 -1.31431281e-01 -4.66080130e-02 4.64409293e+02] [ 1.31360118e-01 9.91324044e-01 -4.59980247e-03 3.56485202e+01] [ 4.68082019e-02 -1.56757621e-03 9.98902665e-01 1.93504993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.44509989299996 meters 0.021539397769609354 Centerline is valid? [True, True] Translation: X:464.47, Y:35.65, Z:19.35 [[ 9.88866277e-01 -1.40372133e-01 -4.93877639e-02 4.64470218e+02] [ 1.40303581e-01 9.90096558e-01 -4.86934576e-03 3.56473111e+01] [ 4.95821756e-02 -2.11414834e-03 9.98767810e-01 1.93521164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.50509989299997 meters 0.02255581455538301 Centerline is valid? [True, True] Translation: X:464.53, Y:35.65, Z:19.35 [[ 9.87703437e-01 -1.46323011e-01 -5.50590366e-02 4.64530880e+02] [ 1.46247055e-01 9.89233206e-01 -5.42803523e-03 3.56490595e+01] [ 5.52604737e-02 -2.69093293e-03 9.98468346e-01 1.93498537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.56509989299997 meters 0.023973786478932745 Centerline is valid? [True, True] Translation: X:464.59, Y:35.65, Z:19.35 [[ 9.87423433e-01 -1.47938730e-01 -5.57592714e-02 4.64592713e+02] [ 1.47863464e-01 9.88992513e-01 -5.49590507e-03 3.56527785e+01] [ 5.59585592e-02 -2.81797357e-03 9.98429115e-01 1.93520019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.62509989299997 meters 0.024359503832887167 Centerline is valid? [True, True] Translation: X:464.65, Y:35.66, Z:19.36 [[ 9.87301257e-01 -1.48244041e-01 -5.70958164e-02 4.64654531e+02] [ 1.48165879e-01 9.88946535e-01 -5.62338067e-03 3.56582244e+01] [ 5.72983425e-02 -2.90768104e-03 9.98352866e-01 1.93559751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.685099893 meters 0.022111417202508466 Centerline is valid? [True, True] Translation: X:464.72, Y:35.67, Z:19.36 [[ 9.87776148e-01 -1.44887580e-01 -5.74967036e-02 4.64715690e+02] [ 1.44802877e-01 9.89444341e-01 -5.65890489e-03 3.56680015e+01] [ 5.77096931e-02 -2.73595682e-03 9.98329658e-01 1.93599380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.745099893 meters 0.021852563947880627 Centerline is valid? [True, True] Translation: X:464.78, Y:35.67, Z:19.37 [[ 9.88210763e-01 -1.42973605e-01 -5.47543266e-02 4.64776206e+02] [ 1.42894003e-01 9.89723341e-01 -5.38628838e-03 3.56749439e+01] [ 5.49617322e-02 -2.50127676e-03 9.98485329e-01 1.93653869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.805099893 meters 0.020973076620068497 Centerline is valid? [True, True] Translation: X:464.84, Y:35.68, Z:19.37 [[ 9.88594383e-01 -1.40908407e-01 -5.31598285e-02 4.64836756e+02] [ 1.40830495e-01 9.90019921e-01 -5.22750604e-03 3.56817409e+01] [ 5.33658888e-02 -2.31864186e-03 9.98572334e-01 1.93698091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.865099893 meters 0.02151833889244419 Centerline is valid? [True, True] Translation: X:464.90, Y:35.69, Z:19.37 [[ 9.88684112e-01 -1.40439754e-01 -5.27295226e-02 4.64899171e+02] [ 1.40362558e-01 9.90086608e-01 -5.18284749e-03 3.56861141e+01] [ 5.29346719e-02 -2.27705168e-03 9.98595381e-01 1.93725591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.9250998929999 meters 0.02332478328750982 Centerline is valid? [True, True] Translation: X:464.96, Y:35.69, Z:19.38 [[ 9.88890626e-01 -1.39631671e-01 -5.09737837e-02 4.64960058e+02] [ 1.39558634e-01 9.90201151e-01 -5.00682238e-03 3.56872687e+01] [ 5.11734103e-02 -2.16263188e-03 9.98687441e-01 1.93754123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.9850998929999 meters 0.02282662564631689 Centerline is valid? [True, True] Translation: X:465.02, Y:35.69, Z:19.38 [[ 9.88718368e-01 -1.41177643e-01 -5.00485989e-02 4.65021634e+02] [ 1.41109348e-01 9.89981825e-01 -4.91313937e-03 3.56930608e+01] [ 5.02408286e-02 -2.20461404e-03 9.98734699e-01 1.93792731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.04509989299993 meters 0.024009740396676516 Centerline is valid? [True, True] Translation: X:465.08, Y:35.70, Z:19.38 [[ 9.88434817e-01 -1.43177012e-01 -4.99695533e-02 4.65083606e+02] [ 1.43111660e-01 9.89694410e-01 -4.90180028e-03 3.56957351e+01] [ 5.01564126e-02 -2.30611565e-03 9.98738713e-01 1.93815022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.10509989299993 meters 0.02318024013840462 Centerline is valid? [True, True] Translation: X:465.14, Y:35.70, Z:19.38 [[ 9.88072631e-01 -1.45620965e-01 -5.00700577e-02 4.65144919e+02] [ 1.45558672e-01 9.89337448e-01 -4.90781500e-03 3.57017356e+01] [ 5.02508639e-02 -2.43885342e-03 9.98733650e-01 1.93837036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.16509989299993 meters 0.025943947759736304 Centerline is valid? [True, True] Translation: X:465.21, Y:35.70, Z:19.39 [[ 9.88213078e-01 -1.44943980e-01 -4.92560213e-02 4.65206250e+02] [ 1.44883086e-01 9.89437025e-01 -4.82337195e-03 3.57047300e+01] [ 4.94348499e-02 -2.36984514e-03 9.98774539e-01 1.93863847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.22509989299994 meters 0.024731031458236345 Centerline is valid? [True, True] Translation: X:465.27, Y:35.71, Z:19.39 [[ 9.87896679e-01 -1.46518964e-01 -5.09150776e-02 4.65268091e+02] [ 1.46456141e-01 9.89204615e-01 -4.98281441e-03 3.57144656e+01] [ 5.10955065e-02 -2.53431996e-03 9.98690556e-01 1.93882717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.28509989299994 meters 0.026091496473481184 Centerline is valid? [True, True] Translation: X:465.33, Y:35.72, Z:19.39 [[ 9.87417109e-01 -1.49082383e-01 -5.27436775e-02 4.65329488e+02] [ 1.49018800e-01 9.88820909e-01 -5.15824269e-03 3.57193382e+01] [ 5.29230542e-02 -2.76646246e-03 9.98594761e-01 1.93897317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.34509989299994 meters 0.026018573404759947 Centerline is valid? [True, True] Translation: X:465.39, Y:35.73, Z:19.39 [[ 9.87211423e-01 -1.50189273e-01 -5.34489431e-02 4.65390795e+02] [ 1.50125741e-01 9.88653107e-01 -5.22451044e-03 3.57259409e+01] [ 5.36271291e-02 -2.86636583e-03 9.98556916e-01 1.93917733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.40509989299994 meters 0.027061039275693585 Centerline is valid? [True, True] Translation: X:465.45, Y:35.73, Z:19.39 [[ 9.87012341e-01 -1.51263655e-01 -5.40920043e-02 4.65452256e+02] [ 1.51200465e-01 9.88489006e-01 -5.28239260e-03 3.57309749e+01] [ 5.42683856e-02 -2.96494950e-03 9.98521983e-01 1.93931916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.46509989299994 meters 0.02834636658812719 Centerline is valid? [True, True] Translation: X:465.51, Y:35.74, Z:19.39 [[ 9.86809541e-01 -1.52271945e-01 -5.49562011e-02 4.65514204e+02] [ 1.52208458e-01 9.88333859e-01 -5.36355180e-03 3.57353789e+01] [ 5.51317928e-02 -3.07199452e-03 9.98474360e-01 1.93947211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.52509989299995 meters 0.02834636658812719 Centerline is valid? [True, True] Translation: X:465.58, Y:35.74, Z:19.40 [[ 9.86820275e-01 -1.52202229e-01 -5.49565791e-02 4.65575656e+02] [ 1.52138849e-01 9.88344598e-01 -5.35967646e-03 3.57413087e+01] [ 5.51317927e-02 -3.07199329e-03 9.98474360e-01 1.93973156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.58509989299995 meters 0.027547042186869233 Centerline is valid? [True, True] Translation: X:465.64, Y:35.75, Z:19.40 [[ 9.86605835e-01 -1.53545972e-01 -5.50686902e-02 4.65636940e+02] [ 1.53484624e-01 9.88136462e-01 -5.36690368e-03 3.57489917e+01] [ 5.52394471e-02 -3.15717869e-03 9.98468145e-01 1.94000139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.64509989299995 meters 0.029980303878658812 Centerline is valid? [True, True] Translation: X:465.70, Y:35.75, Z:19.40 [[ 9.86750925e-01 -1.53155638e-01 -5.35346819e-02 4.65698361e+02] [ 1.53097283e-01 9.88197369e-01 -5.21367625e-03 3.57526950e+01] [ 5.37013357e-02 -3.05141450e-03 9.98552380e-01 1.94027959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.70509989299995 meters 0.026986148416268025 Centerline is valid? [True, True] Translation: X:465.76, Y:35.77, Z:19.41 [[ 9.87418203e-01 -1.49777428e-01 -5.07150321e-02 4.65758145e+02] [ 1.49720877e-01 9.88715994e-01 -4.93382368e-03 3.57666852e+01] [ 5.08817388e-02 -2.72135176e-03 9.98700978e-01 1.94081004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.76509989299996 meters 0.02634470512261484 Centerline is valid? [True, True] Translation: X:465.82, Y:35.78, Z:19.41 [[ 9.87926197e-01 -1.46961303e-01 -4.90326888e-02 4.65818910e+02] [ 1.46905028e-01 9.89139104e-01 -4.76918050e-03 3.57757410e+01] [ 4.92010348e-02 -2.49155015e-03 9.98785788e-01 1.94119833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.82509989299996 meters 0.02512682396897892 Centerline is valid? [True, True] Translation: X:465.88, Y:35.79, Z:19.41 [[ 9.88290926e-01 -1.44536039e-01 -4.88915127e-02 4.65879843e+02] [ 1.44477218e-01 9.89496709e-01 -4.75361248e-03 3.57853458e+01] [ 4.90650593e-02 -2.36575767e-03 9.98792783e-01 1.94144722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.88509989299996 meters 0.025440214794353006 Centerline is valid? [True, True] Translation: X:465.94, Y:35.79, Z:19.42 [[ 9.88044714e-01 -1.45892696e-01 -4.98293442e-02 4.65941483e+02] [ 1.45833461e-01 9.89297305e-01 -4.84193459e-03 3.57921669e+01] [ 5.00024389e-02 -2.48273784e-03 9.98746010e-01 1.94166197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.94509989299996 meters 0.026534793162305767 Centerline is valid? [True, True] Translation: X:466.00, Y:35.80, Z:19.42 [[ 9.87557041e-01 -1.48752563e-01 -5.10271154e-02 4.66002898e+02] [ 1.48694426e-01 9.88870778e-01 -4.95492499e-03 3.57964855e+01] [ 5.11962811e-02 -2.69417658e-03 9.98684976e-01 1.94181543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.00509989299997 meters 0.02963111296271239 Centerline is valid? [True, True] Translation: X:466.06, Y:35.80, Z:19.42 [[ 9.86679557e-01 -1.53530563e-01 -5.37756277e-02 4.66063525e+02] [ 1.53473152e-01 9.88139029e-01 -5.22020446e-03 3.57974559e+01] [ 5.39392575e-02 -3.10244607e-03 9.98539399e-01 1.94182649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.06509989299997 meters 0.02701985307840471 Centerline is valid? [True, True] Translation: X:466.12, Y:35.81, Z:19.42 [[ 9.86333904e-01 -1.55348405e-01 -5.48844414e-02 4.66124116e+02] [ 1.55291441e-01 9.87854336e-01 -5.32723121e-03 3.58078692e+01] [ 5.50454103e-02 -3.26865525e-03 9.98478502e-01 1.94213597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.12509989299997 meters 0.026919385714412183 Centerline is valid? [True, True] Translation: X:466.19, Y:35.82, Z:19.43 [[ 9.86573081e-01 -1.53840139e-01 -5.48340083e-02 4.66186130e+02] [ 1.53781110e-01 9.88090619e-01 -5.31960175e-03 3.58162141e+01] [ 5.49993375e-02 -3.18425876e-03 9.98481313e-01 1.94252150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.185099893 meters 0.024394904988296617 Centerline is valid? [True, True] Translation: X:466.25, Y:35.83, Z:19.43 [[ 9.87619305e-01 -1.47727272e-01 -5.27708382e-02 4.66245526e+02] [ 1.47664087e-01 9.89024341e-01 -5.11578193e-03 3.58294477e+01] [ 5.29473839e-02 -2.73991266e-03 9.98593545e-01 1.94308567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.245099893 meters 0.023941473472943217 Centerline is valid? [True, True] Translation: X:466.30, Y:35.84, Z:19.43 [[ 9.88499382e-01 -1.42253864e-01 -5.13109054e-02 4.66304503e+02] [ 1.42186758e-01 9.89827349e-01 -4.97444225e-03 3.58384586e+01] [ 5.14965711e-02 -2.37849819e-03 9.98670339e-01 1.94348509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.305099893 meters 0.020334753510589623 Centerline is valid? [True, True] Translation: X:466.36, Y:35.85, Z:19.44 [[ 9.89627505e-01 -1.34495508e-01 -5.04812867e-02 4.66364015e+02] [ 1.34420438e-01 9.90912301e-01 -4.89468449e-03 3.58525565e+01] [ 5.06808410e-02 -1.94180228e-03 9.98713013e-01 1.94395033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.365099893 meters 0.019386673493148675 Centerline is valid? [True, True] Translation: X:466.43, Y:35.86, Z:19.44 [[ 9.90049787e-01 -1.31136312e-01 -5.10361361e-02 4.66425129e+02] [ 1.31055152e-01 9.91362731e-01 -4.94800374e-03 3.58609095e+01] [ 5.12441863e-02 -1.78977855e-03 9.98684550e-01 1.94417744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.4250998929999 meters 0.01759577117278683 Centerline is valid? [True, True] Translation: X:466.49, Y:35.87, Z:19.44 [[ 9.90232158e-01 -1.28999554e-01 -5.29092415e-02 4.66486766e+02] [ 1.28909452e-01 9.91643118e-01 -5.12641753e-03 3.58697468e+01] [ 5.31283908e-02 -1.74415783e-03 9.98586167e-01 1.94437990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.4850998929999 meters 0.019643206011105536 Centerline is valid? [True, True] Translation: X:466.55, Y:35.87, Z:19.44 [[ 9.90185406e-01 -1.28929450e-01 -5.39449570e-02 4.66548334e+02] [ 1.28835891e-01 9.91652174e-01 -5.22291410e-03 3.58720953e+01] [ 5.41680213e-02 -1.77839329e-03 9.98530251e-01 1.94443769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.54509989299993 meters 0.02013603953624159 Centerline is valid? [True, True] Translation: X:466.61, Y:35.88, Z:19.45 [[ 9.90118457e-01 -1.29066603e-01 -5.48384304e-02 4.66610713e+02] [ 1.28970309e-01 9.91634259e-01 -5.30616568e-03 3.58775884e+01] [ 5.50645151e-02 -1.81879673e-03 9.98481142e-01 1.94460822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.60509989299993 meters 0.01921228808815702 Centerline is valid? [True, True] Translation: X:466.67, Y:35.89, Z:19.45 [[ 9.90198659e-01 -1.28663820e-01 -5.43344934e-02 4.66672392e+02] [ 1.28568889e-01 9.91686664e-01 -5.25363080e-03 3.58850377e+01] [ 5.45587448e-02 -1.78358726e-03 9.98508970e-01 1.94492105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.66509989299993 meters 0.018671636835676696 Centerline is valid? [True, True] Translation: X:466.73, Y:35.89, Z:19.45 [[ 9.90375629e-01 -1.27803824e-01 -5.31252845e-02 4.66734476e+02] [ 1.27712034e-01 9.91798008e-01 -5.13299953e-03 3.58916635e+01] [ 5.33455683e-02 -1.70114048e-03 9.98574662e-01 1.94524507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.72509989299994 meters 0.01730461459142503 Centerline is valid? [True, True] Translation: X:466.80, Y:35.90, Z:19.46 [[ 9.90426599e-01 -1.27607786e-01 -5.26441388e-02 4.66796439e+02] [ 1.27517574e-01 9.91823288e-01 -5.08274031e-03 3.58997358e+01] [ 5.28622800e-02 -1.67897166e-03 9.98600401e-01 1.94561476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.78509989299994 meters 0.018341483751977004 Centerline is valid? [True, True] Translation: X:466.86, Y:35.90, Z:19.46 [[ 9.90470833e-01 -1.27602059e-01 -5.18193392e-02 4.66857629e+02] [ 1.27514866e-01 9.91824062e-01 -4.99885670e-03 3.59036752e+01] [ 5.20335319e-02 -1.65651432e-03 9.98643964e-01 1.94584011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.84509989299994 meters 0.0179298727886624 Centerline is valid? [True, True] Translation: X:466.92, Y:35.91, Z:19.46 [[ 9.90410114e-01 -1.28519036e-01 -5.07017113e-02 4.66919485e+02] [ 1.28437043e-01 9.91705630e-01 -4.88553856e-03 3.59096006e+01] [ 5.09090573e-02 -1.67329107e-03 9.98701891e-01 1.94620794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.90509989299994 meters 0.018205120037733512 Centerline is valid? [True, True] Translation: X:466.98, Y:35.91, Z:19.46 [[ 9.90484748e-01 -1.28081406e-01 -5.03499593e-02 4.66981191e+02] [ 1.28000168e-01 9.91762297e-01 -4.84796512e-03 3.59142825e+01] [ 5.05561255e-02 -1.64296774e-03 9.98719870e-01 1.94646854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.96509989299994 meters 0.016818439972759096 Centerline is valid? [True, True] Translation: X:467.04, Y:35.92, Z:19.47 [[ 9.90766866e-01 -1.26357470e-01 -4.91406961e-02 4.67043308e+02] [ 1.26278144e-01 9.91983607e-01 -4.72801183e-03 3.59211475e+01] [ 4.93441845e-02 -1.52103844e-03 9.98780676e-01 1.94676388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.02509989299995 meters 0.017339409300001656 Centerline is valid? [True, True] Translation: X:467.10, Y:35.93, Z:19.47 [[ 9.90964544e-01 -1.24522583e-01 -4.98337117e-02 4.67104391e+02] [ 1.24438868e-01 9.92215709e-01 -4.79107242e-03 3.59255764e+01] [ 5.00423883e-02 -1.45346780e-03 9.98746037e-01 1.94688524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.08509989299995 meters 0.016203798323047722 Centerline is valid? [True, True] Translation: X:467.17, Y:35.93, Z:19.47 [[ 9.91152363e-01 -1.22085294e-01 -5.20785361e-02 4.67165978e+02] [ 1.21990671e-01 9.92518634e-01 -5.00372309e-03 3.59322664e+01] [ 5.22997986e-02 -1.39364363e-03 9.98630457e-01 1.94690358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.14509989299995 meters 0.016917042407871768 Centerline is valid? [True, True] Translation: X:467.23, Y:35.94, Z:19.47 [[ 9.91310060e-01 -1.20339397e-01 -5.31299801e-02 4.67226867e+02] [ 1.20238610e-01 9.92731916e-01 -5.10099952e-03 3.59362142e+01] [ 5.33576782e-02 -1.33160284e-03 9.98574577e-01 1.94694406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.20509989299995 meters 0.015569807262759333 Centerline is valid? [True, True] Translation: X:467.29, Y:35.94, Z:19.47 [[ 9.91434567e-01 -1.19567480e-01 -5.25463304e-02 4.67287991e+02] [ 1.19467974e-01 9.92825253e-01 -5.04192791e-03 3.59444442e+01] [ 5.27721744e-02 -1.27886202e-03 9.98605759e-01 1.94734467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.26509989299996 meters 0.015914048243251436 Centerline is valid? [True, True] Translation: X:467.35, Y:35.95, Z:19.48 [[ 9.91621427e-01 -1.18592005e-01 -5.12140747e-02 4.67348617e+02] [ 1.18496399e-01 9.92942343e-01 -4.90988325e-03 3.59494898e+01] [ 5.14348963e-02 -1.19993798e-03 9.98675629e-01 1.94763741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.32509989299996 meters 0.015368533387126819 Centerline is valid? [True, True] Translation: X:467.41, Y:35.96, Z:19.48 [[ 9.91661802e-01 -1.18358268e-01 -5.09724517e-02 4.67410000e+02] [ 1.18263564e-01 9.92970246e-01 -4.88066537e-03 3.59563450e+01] [ 5.11917950e-02 -1.18821441e-03 9.98688134e-01 1.94801012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.38509989299996 meters 0.016003526216101977 Centerline is valid? [True, True] Translation: X:467.47, Y:35.96, Z:19.48 [[ 9.91463889e-01 -1.20369263e-01 -5.01058636e-02 4.67471942e+02] [ 1.20280500e-01 9.92728371e-01 -4.79405993e-03 3.59601208e+01] [ 5.03185698e-02 -1.27362102e-03 9.98732406e-01 1.94826265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.44509989299996 meters 0.016178677155226775 Centerline is valid? [True, True] Translation: X:467.53, Y:35.96, Z:19.49 [[ 9.91160714e-01 -1.23345517e-01 -4.88500080e-02 4.67533623e+02] [ 1.23264928e-01 9.92362809e-01 -4.67040113e-03 3.59644154e+01] [ 4.90530042e-02 -1.39237462e-03 9.98795206e-01 1.94860664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.50509989299997 meters 0.018660330714713687 Centerline is valid? [True, True] Translation: X:467.59, Y:35.96, Z:19.49 [[ 9.90586511e-01 -1.28521391e-01 -4.71234055e-02 4.67593549e+02] [ 1.28452385e-01 9.91705457e-01 -4.50231600e-03 3.59642027e+01] [ 4.73111823e-02 -1.59318035e-03 9.98878928e-01 1.94891618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.56509989299997 meters 0.01884419284601513 Centerline is valid? [True, True] Translation: X:467.65, Y:35.97, Z:19.49 [[ 9.90106082e-01 -1.32355385e-01 -4.66047115e-02 4.67654558e+02] [ 1.32292136e-01 9.91200769e-01 -4.45258072e-03 3.59688419e+01] [ 4.67839489e-02 -1.75690958e-03 9.98903487e-01 1.94924728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.62509989299997 meters 0.02041008396953817 Centerline is valid? [True, True] Translation: X:467.72, Y:35.97, Z:19.49 [[ 9.89927987e-01 -1.33663794e-01 -4.66537361e-02 4.67715768e+02] [ 1.33601964e-01 9.91025059e-01 -4.45508205e-03 3.59719041e+01] [ 4.68305048e-02 -1.82282038e-03 9.98901187e-01 1.94945319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.685099893 meters 0.021996205750533557 Centerline is valid? [True, True] Translation: X:467.78, Y:35.97, Z:19.50 [[ 9.89770647e-01 -1.34648683e-01 -4.71571682e-02 4.67776536e+02] [ 1.34586897e-01 9.90891588e-01 -4.49745170e-03 3.59743504e+01] [ 4.73332172e-02 -1.89529127e-03 9.98877357e-01 1.94965990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.745099893 meters 0.019599607061443994 Centerline is valid? [True, True] Translation: X:467.84, Y:35.98, Z:19.50 [[ 9.89831569e-01 -1.34108325e-01 -4.74175383e-02 4.67838366e+02] [ 1.34045328e-01 9.90964892e-01 -4.52036052e-03 3.59839426e+01] [ 4.75953337e-02 -1.88170394e-03 9.98864928e-01 1.94993294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.805099893 meters 0.020881155491412652 Centerline is valid? [True, True] Translation: X:467.90, Y:35.99, Z:19.50 [[ 9.90016080e-01 -1.32549009e-01 -4.79470755e-02 4.67899516e+02] [ 1.32482966e-01 9.91174762e-01 -4.56681801e-03 3.59886943e+01] [ 4.81292584e-02 -1.83094752e-03 9.98839438e-01 1.95010733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.865099893 meters 0.018901368742947046 Centerline is valid? [True, True] Translation: X:467.96, Y:36.00, Z:19.50 [[ 9.90593397e-01 -1.28059434e-01 -4.82234785e-02 4.67959833e+02] [ 1.27987623e-01 9.91765159e-01 -4.58678271e-03 3.59995484e+01] [ 4.84137466e-02 -1.62837175e-03 9.98826040e-01 1.95036294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.9250998929999 meters 0.016855489409922503 Centerline is valid? [True, True] Translation: X:468.02, Y:36.01, Z:19.51 [[ 9.91217887e-01 -1.23580414e-01 -4.70635825e-02 4.68020885e+02] [ 1.23507054e-01 9.92333605e-01 -4.47473084e-03 3.60102840e+01] [ 4.72557636e-02 -1.37725117e-03 9.98881873e-01 1.95073522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.9850998929999 meters 0.014965544446519633 Centerline is valid? [True, True] Translation: X:468.08, Y:36.02, Z:19.51 [[ 9.92142525e-01 -1.16338399e-01 -4.60281201e-02 4.68081078e+02] [ 1.16260548e-01 9.93209119e-01 -4.37396480e-03 3.60221409e+01] [ 4.62244086e-02 -1.01165796e-03 9.98930568e-01 1.95111160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.04509989299993 meters 0.013758364080409018 Centerline is valid? [True, True] Translation: X:468.14, Y:36.03, Z:19.51 [[ 9.92880088e-01 -1.09419189e-01 -4.70804893e-02 4.68140270e+02] [ 1.09330000e-01 9.93995444e-01 -4.47309964e-03 3.60334972e+01] [ 4.72872348e-02 -7.06058305e-04 9.98881083e-01 1.95138238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.10509989299993 meters 0.012682523310984146 Centerline is valid? [True, True] Translation: X:468.20, Y:36.04, Z:19.52 [[ 9.93374176e-01 -1.04937731e-01 -4.68595716e-02 4.68202232e+02] [ 1.04844449e-01 9.94478673e-01 -4.45090200e-03 3.60429195e+01] [ 4.70679121e-02 -4.91554877e-04 9.98891571e-01 1.95171919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.16509989299993 meters 0.012311104860635897 Centerline is valid? [True, True] Translation: X:468.26, Y:36.05, Z:19.52 [[ 9.93934169e-01 -9.96959904e-02 -4.64281903e-02 4.68262943e+02] [ 9.95988870e-02 9.95017914e-01 -4.40593111e-03 3.60509674e+01] [ 4.66361348e-02 -2.44990609e-04 9.98911913e-01 1.95198734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.22509989299994 meters 0.01214129712004396 Centerline is valid? [True, True] Translation: X:468.32, Y:36.06, Z:19.52 [[ 9.94680563e-01 -9.19772895e-02 -4.63762470e-02 4.68323999e+02] [ 9.18721320e-02 9.95761098e-01 -4.39843447e-03 3.60603861e+01] [ 4.65842188e-02 1.14352582e-04 9.98914359e-01 1.95235986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.28509989299994 meters 0.012359505909511338 Centerline is valid? [True, True] Translation: X:468.39, Y:36.07, Z:19.53 [[ 9.95122605e-01 -8.71523092e-02 -4.62112036e-02 4.68386012e+02] [ 8.70428523e-02 9.96194942e-01 -4.37945068e-03 3.60672066e+01] [ 4.64170465e-02 3.35735398e-04 9.98922092e-01 1.95267403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.34509989299994 meters 0.012865329486595424 Centerline is valid? [True, True] Translation: X:468.45, Y:36.07, Z:19.53 [[ 9.95457364e-01 -8.30956280e-02 -4.64731538e-02 4.68448410e+02] [ 8.29806688e-02 9.96541440e-01 -4.40079981e-03 3.60709712e+01] [ 4.66781108e-02 5.24435193e-04 9.98909845e-01 1.95286295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.40509989299994 meters 0.012821729068704315 Centerline is valid? [True, True] Translation: X:468.51, Y:36.07, Z:19.53 [[ 9.95392232e-01 -8.39863145e-02 -4.62666575e-02 4.68510009e+02] [ 8.38734866e-02 9.96466794e-01 -4.37802309e-03 3.60730224e+01] [ 4.64708819e-02 4.77304293e-04 9.98919531e-01 1.95307399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.46509989299994 meters 0.01232674983254082 Centerline is valid? [True, True] Translation: X:468.57, Y:36.07, Z:19.53 [[ 9.94850615e-01 -9.02429695e-02 -4.61352291e-02 4.68572464e+02] [ 9.01375829e-02 9.95919762e-01 -4.36384446e-03 3.60690122e+01] [ 4.63407926e-02 1.82855314e-04 9.98925672e-01 1.95333988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.52509989299995 meters 0.01239803249359961 Centerline is valid? [True, True] Translation: X:468.64, Y:36.06, Z:19.53 [[ 9.93778306e-01 -1.01007632e-01 -4.69269310e-02 4.68635317e+02] [ 1.00910704e-01 9.94885597e-01 -4.43603493e-03 3.60604973e+01] [ 4.71350011e-02 -3.26994358e-04 9.98888475e-01 1.95344053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.58509989299995 meters 0.01344670120744994 Centerline is valid? [True, True] Translation: X:468.70, Y:36.06, Z:19.54 [[ 9.92911836e-01 -1.09013747e-01 -4.73507002e-02 4.68697478e+02] [ 1.08924306e-01 9.94039984e-01 -4.47279998e-03 3.60562423e+01] [ 4.75560860e-02 -7.16546130e-04 9.98868312e-01 1.95361541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.64509989299995 meters 0.014404030868286946 Centerline is valid? [True, True] Translation: X:468.76, Y:36.06, Z:19.54 [[ 9.92466174e-01 -1.13083767e-01 -4.71482321e-02 4.68759369e+02] [ 1.12999762e-01 9.93585041e-01 -4.45187321e-03 3.60567305e+01] [ 4.73492127e-02 -9.09405438e-04 9.98877983e-01 1.95385090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.70509989299995 meters 0.016295978536920067 Centerline is valid? [True, True] Translation: X:468.82, Y:36.05, Z:19.54 [[ 9.91221260e-01 -1.23652634e-01 -4.68021397e-02 4.68820381e+02] [ 1.23581717e-01 9.92324569e-01 -4.41692546e-03 3.60506077e+01] [ 4.69890776e-02 -1.40573836e-03 9.98894414e-01 1.95408282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.76509989299996 meters 0.021291844299545143 Centerline is valid? [True, True] Translation: X:468.88, Y:36.04, Z:19.54 [[ 9.90552554e-01 -1.29141921e-01 -4.61302617e-02 4.68881033e+02] [ 1.29078987e-01 9.91624761e-01 -4.35303241e-03 3.60438441e+01] [ 4.63060687e-02 -1.64254007e-03 9.98925948e-01 1.95426292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.82509989299996 meters 0.024106780770732146 Centerline is valid? [True, True] Translation: X:468.94, Y:36.04, Z:19.54 [[ 9.89701236e-01 -1.35443604e-01 -4.63302637e-02 4.68942546e+02] [ 1.35387154e-01 9.90783141e-01 -4.36876129e-03 3.60407963e+01] [ 4.64949650e-02 -1.94875410e-03 9.98916623e-01 1.95446905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.88509989299996 meters 0.02261570707443412 Centerline is valid? [True, True] Translation: X:469.00, Y:36.05, Z:19.55 [[ 9.89221908e-01 -1.38973776e-01 -4.61118857e-02 4.69003243e+02] [ 1.38921690e-01 9.90293825e-01 -4.34795144e-03 3.60466319e+01] [ 4.62685668e-02 -2.10485228e-03 9.98926819e-01 1.95475834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.94509989299996 meters 0.023922977358515195 Centerline is valid? [True, True] Translation: X:469.06, Y:36.05, Z:19.55 [[ 9.88599875e-01 -1.43852661e-01 -4.44600830e-02 4.69064327e+02] [ 1.43809190e-01 9.89596559e-01 -4.19142284e-03 3.60482860e+01] [ 4.46004925e-02 -2.25012844e-03 9.99002369e-01 1.95508701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.00509989299997 meters 0.027218985366042812 Centerline is valid? [True, True] Translation: X:469.12, Y:36.05, Z:19.55 [[ 9.88082376e-01 -1.47351486e-01 -4.45057164e-02 4.69124830e+02] [ 1.47311497e-01 9.89081253e-01 -4.19493587e-03 3.60489516e+01] [ 4.46378997e-02 -2.41126150e-03 9.99000322e-01 1.95521669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.06509989299997 meters 0.02661072119998581 Centerline is valid? [True, True] Translation: X:469.19, Y:36.06, Z:19.55 [[ 9.87795249e-01 -1.48850507e-01 -4.58701635e-02 4.69186453e+02] [ 1.48809690e-01 9.88856406e-01 -4.32247164e-03 3.60565762e+01] [ 4.60024071e-02 -2.55620787e-03 9.98938058e-01 1.95536845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.12509989299997 meters 0.030089360627303458 Centerline is valid? [True, True] Translation: X:469.25, Y:36.06, Z:19.55 [[ 9.87393678e-01 -1.51013444e-01 -4.74200840e-02 4.69246541e+02] [ 1.50972459e-01 9.88527884e-01 -4.46537823e-03 3.60594433e+01] [ 4.75504074e-02 -2.75004046e-03 9.98865054e-01 1.95543045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.185099893 meters 0.031547061190050255 Centerline is valid? [True, True] Translation: X:469.31, Y:36.07, Z:19.56 [[ 9.87136647e-01 -1.52583757e-01 -4.77434463e-02 4.69307921e+02] [ 1.52544050e-01 9.88286447e-01 -4.49562147e-03 3.60650344e+01] [ 4.78701598e-02 -2.84518598e-03 9.98849515e-01 1.95564888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.245099893 meters 0.028866456713088462 Centerline is valid? [True, True] Translation: X:469.37, Y:36.08, Z:19.56 [[ 9.86936875e-01 -1.54061196e-01 -4.71248693e-02 4.69369131e+02] [ 1.54024274e-01 9.88057108e-01 -4.43554892e-03 3.60785982e+01] [ 4.72454081e-02 -2.88076698e-03 9.98879158e-01 1.95603187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.305099893 meters 0.02586621570605071 Centerline is valid? [True, True] Translation: X:469.43, Y:36.09, Z:19.56 [[ 9.87104079e-01 -1.53307155e-01 -4.60700977e-02 4.69430519e+02] [ 1.53271200e-01 9.88174663e-01 -4.33296422e-03 3.60914787e+01] [ 4.61895776e-02 -2.78413249e-03 9.98928812e-01 1.95636397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.365099893 meters 0.026505083539558504 Centerline is valid? [True, True] Translation: X:469.49, Y:36.10, Z:19.57 [[ 9.87791899e-01 -1.49265359e-01 -4.45759718e-02 4.69489190e+02] [ 1.49227727e-01 9.88793980e-01 -4.18942733e-03 3.61017192e+01] [ 4.47017889e-02 -2.51368858e-03 9.98997213e-01 1.95671648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.4250998929999 meters 0.02495281550586783 Centerline is valid? [True, True] Translation: X:469.55, Y:36.11, Z:19.57 [[ 9.88438903e-01 -1.45136662e-01 -4.38621174e-02 4.69548732e+02] [ 1.45096137e-01 9.89408971e-01 -4.12311882e-03 3.61134865e+01] [ 4.39959881e-02 -2.28877275e-03 9.99029086e-01 1.95705594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.4850998929999 meters 0.021075469758753716 Centerline is valid? [True, True] Translation: X:469.61, Y:36.13, Z:19.57 [[ 9.89601441e-01 -1.37341025e-01 -4.27367599e-02 4.69608426e+02] [ 1.37295295e-01 9.90522016e-01 -4.01731703e-03 3.61299059e+01] [ 4.28834440e-02 -1.89201331e-03 9.99078290e-01 1.95740211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.54509989299993 meters 0.020103888651910477 Centerline is valid? [True, True] Translation: X:469.67, Y:36.14, Z:19.58 [[ 9.90546695e-01 -1.30122713e-01 -4.34203202e-02 4.69667562e+02] [ 1.30068613e-01 9.91496597e-01 -4.08085530e-03 3.61404842e+01] [ 4.35821117e-02 -1.60534311e-03 9.99048559e-01 1.95764395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.60509989299993 meters 0.01731258919601571 Centerline is valid? [True, True] Translation: X:469.73, Y:36.15, Z:19.58 [[ 9.91125675e-01 -1.25013790e-01 -4.51824021e-02 4.69727961e+02] [ 1.24949878e-01 9.92153965e-01 -4.24714040e-03 3.61524821e+01] [ 4.53588505e-02 -1.43608572e-03 9.98969725e-01 1.95777659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.66509989299993 meters 0.016591628702188083 Centerline is valid? [True, True] Translation: X:469.79, Y:36.16, Z:19.58 [[ 9.91728357e-01 -1.19351997e-01 -4.72225143e-02 4.69787844e+02] [ 1.19275835e-01 9.92851239e-01 -4.43751622e-03 3.61605198e+01] [ 4.74145583e-02 -1.23169414e-03 9.98874538e-01 1.95788867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.72509989299994 meters 0.013585403833394618 Centerline is valid? [True, True] Translation: X:469.85, Y:36.17, Z:19.58 [[ 9.92933614e-01 -1.08336386e-01 -4.84361945e-02 4.69848058e+02] [ 1.08243382e-01 9.94114026e-01 -4.54677328e-03 3.61743996e+01] [ 4.86436813e-02 -7.28253467e-04 9.98815930e-01 1.95814169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.78509989299994 meters 0.012358598549112606 Centerline is valid? [True, True] Translation: X:469.91, Y:36.19, Z:19.59 [[ 9.94305254e-01 -9.52714114e-02 -4.77537341e-02 4.69907993e+02] [ 9.51659796e-02 9.95451330e-01 -4.48173574e-03 3.61889003e+01] [ 4.79634994e-02 -8.83174912e-05 9.98849085e-01 1.95859868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.84509989299994 meters 0.012829395448303497 Centerline is valid? [True, True] Translation: X:469.97, Y:36.20, Z:19.59 [[ 9.95092336e-01 -8.73033042e-02 -4.65765638e-02 4.69968397e+02] [ 8.71943783e-02 9.96181736e-01 -4.36913969e-03 3.61991104e+01] [ 4.67801626e-02 2.86482889e-04 9.98905168e-01 1.95890818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.90509989299994 meters 0.013474418919808058 Centerline is valid? [True, True] Translation: X:470.03, Y:36.21, Z:19.59 [[ 9.95681479e-01 -8.04740815e-02 -4.62851428e-02 4.70029428e+02] [ 8.03593768e-02 9.96756522e-01 -4.33664906e-03 3.62060202e+01] [ 4.64840058e-02 5.98475922e-04 9.98918855e-01 1.95924912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.96509989299994 meters 0.013417452730738645 Centerline is valid? [True, True] Translation: X:470.09, Y:36.21, Z:19.60 [[ 9.95659068e-01 -8.08863304e-02 -4.60480423e-02 4.70089602e+02] [ 8.07733088e-02 9.96723167e-01 -4.31293263e-03 3.62087703e+01] [ 4.62460078e-02 5.74757742e-04 9.98929916e-01 1.95955085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.02509989299995 meters 0.012684268271593363 Centerline is valid? [True, True] Translation: X:470.15, Y:36.20, Z:19.60 [[ 9.94989711e-01 -8.92663075e-02 -4.50222412e-02 4.70150856e+02] [ 8.91668360e-02 9.96007778e-01 -4.21685447e-03 3.62035945e+01] [ 4.52189254e-02 1.81236015e-04 9.98977085e-01 1.95984803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.08509989299995 meters 0.012803583581597158 Centerline is valid? [True, True] Translation: X:470.21, Y:36.20, Z:19.60 [[ 9.94096186e-01 -9.83150100e-02 -4.59013316e-02 4.70212404e+02] [ 9.82212532e-02 9.95155316e-01 -4.29904142e-03 3.61995270e+01] [ 4.61016144e-02 -2.34825635e-04 9.98936728e-01 1.96004539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.14509989299995 meters 0.014750530092113676 Centerline is valid? [True, True] Translation: X:470.28, Y:36.19, Z:19.60 [[ 9.92471873e-01 -1.13188311e-01 -4.67759378e-02 4.70275192e+02] [ 1.13107508e-01 9.93573105e-01 -4.37920911e-03 3.61883406e+01] [ 4.69709891e-02 -9.44467891e-04 9.98895807e-01 1.96018100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.20509989299995 meters 0.017253892676132403 Centerline is valid? [True, True] Translation: X:470.34, Y:36.18, Z:19.60 [[ 9.91354106e-01 -1.22577076e-01 -4.68176909e-02 4.70337140e+02] [ 1.22506650e-01 9.92458021e-01 -4.38149946e-03 3.61820486e+01] [ 4.70016643e-02 -1.39186098e-03 9.98893841e-01 1.96036823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.26509989299996 meters 0.020239533216507056 Centerline is valid? [True, True] Translation: X:470.40, Y:36.17, Z:19.61 [[ 9.89838497e-01 -1.34207913e-01 -4.69892210e-02 4.70398677e+02] [ 1.34150071e-01 9.90951274e-01 -4.39670304e-03 3.61742823e+01] [ 4.71541007e-02 -1.95158141e-03 9.98885720e-01 1.96060276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.32509989299996 meters 0.02477533307091135 Centerline is valid? [True, True] Translation: X:470.46, Y:36.17, Z:19.61 [[ 9.88782177e-01 -1.41193776e-01 -4.87249854e-02 4.70458840e+02] [ 1.41140056e-01 9.89979143e-01 -4.55867959e-03 3.61674437e+01] [ 4.88803765e-02 -2.36950604e-03 9.98801829e-01 1.96070946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.38509989299996 meters 0.023728953325906677 Centerline is valid? [True, True] Translation: X:470.52, Y:36.17, Z:19.61 [[ 9.88330909e-01 -1.44014835e-01 -4.96159378e-02 4.70519822e+02] [ 1.43962658e-01 9.89572231e-01 -4.64239985e-03 3.61719656e+01] [ 4.97671287e-02 -2.55461500e-03 9.98757582e-01 1.96101580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.44509989299996 meters 0.025081240066730133 Centerline is valid? [True, True] Translation: X:470.58, Y:36.17, Z:19.61 [[ 9.87896539e-01 -1.46573568e-01 -5.07603933e-02 4.70581070e+02] [ 1.46522412e-01 9.89195957e-01 -4.74773846e-03 3.61719229e+01] [ 5.09078688e-02 -2.74726088e-03 9.98699575e-01 1.96120526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.50509989299997 meters 0.025217692622156174 Centerline is valid? [True, True] Translation: X:470.64, Y:36.18, Z:19.61 [[ 9.87688593e-01 -1.47768377e-01 -5.13395475e-02 4.70642108e+02] [ 1.47717715e-01 9.89017911e-01 -4.80077839e-03 3.61759631e+01] [ 5.14851352e-02 -2.84208658e-03 9.98669717e-01 1.96146365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.56509989299997 meters 0.0276245887391989 Centerline is valid? [True, True] Translation: X:470.70, Y:36.18, Z:19.62 [[ 9.87566976e-01 -1.48392948e-01 -5.18748620e-02 4.70702063e+02] [ 1.48342155e-01 9.88924207e-01 -4.84945787e-03 3.61774372e+01] [ 5.20199321e-02 -2.90606436e-03 9.98641818e-01 1.96167067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.62509989299997 meters 0.02537293100870962 Centerline is valid? [True, True] Translation: X:470.76, Y:36.19, Z:19.62 [[ 9.87537769e-01 -1.48482866e-01 -5.21727172e-02 4.70761703e+02] [ 1.48431574e-01 9.88910649e-01 -4.87806834e-03 3.61860465e+01] [ 5.23184652e-02 -2.92680179e-03 9.98626162e-01 1.96199148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.685099893 meters 0.027492362988080762 Centerline is valid? [True, True] Translation: X:470.82, Y:36.19, Z:19.62 [[ 9.87533334e-01 -1.48638265e-01 -5.18129304e-02 4.70821576e+02] [ 1.48587880e-01 9.88887340e-01 -4.84461077e-03 3.61891079e+01] [ 5.19572454e-02 -2.91455886e-03 9.98645057e-01 1.96225679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.745099893 meters 0.028634385276462934 Centerline is valid? [True, True] Translation: X:470.88, Y:36.19, Z:19.63 [[ 9.87447216e-01 -1.49497815e-01 -5.09744983e-02 4.70881334e+02] [ 1.49450132e-01 9.88757772e-01 -4.76729109e-03 3.61941162e+01] [ 5.11141309e-02 -2.91069716e-03 9.98688577e-01 1.96264047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.805099893 meters 0.029356332971755827 Centerline is valid? [True, True] Translation: X:470.94, Y:36.20, Z:19.63 [[ 9.87251834e-01 -1.51192042e-01 -4.97471839e-02 4.70941020e+02] [ 1.51148686e-01 9.88500083e-01 -4.65410578e-03 3.62004775e+01] [ 4.98787592e-02 -2.92444701e-03 9.98750998e-01 1.96299806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.8650998929999 meters 0.026264922250087915 Centerline is valid? [True, True] Translation: X:471.00, Y:36.21, Z:19.63 [[ 9.87008352e-01 -1.52854579e-01 -4.94973759e-02 4.71001781e+02] [ 1.52813723e-01 9.88244160e-01 -4.63104430e-03 3.62112665e+01] [ 4.96233690e-02 -2.99299889e-03 9.98763517e-01 1.96329897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.9250998929999 meters 0.029387350637973007 Centerline is valid? [True, True] Translation: X:471.06, Y:36.21, Z:19.63 [[ 9.86357985e-01 -1.56730154e-01 -5.03347149e-02 4.71061660e+02] [ 1.56693059e-01 9.87636133e-01 -4.70676510e-03 3.62136567e+01] [ 5.04500752e-02 -3.24454510e-03 9.98721314e-01 1.96345697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.9850998929999 meters 0.031375993494889405 Centerline is valid? [True, True] Translation: X:471.12, Y:36.22, Z:19.64 [[ 9.85787873e-01 -1.60180363e-01 -5.06410921e-02 4.71122488e+02] [ 1.60147412e-01 9.87081757e-01 -4.73405665e-03 3.62191766e+01] [ 5.07452011e-02 -3.44326421e-03 9.98705697e-01 1.96372513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.04509989299993 meters 0.03189712606957292 Centerline is valid? [True, True] Translation: X:471.18, Y:36.23, Z:19.64 [[ 9.85655937e-01 -1.60957450e-01 -5.07451679e-02 4.71183611e+02] [ 1.60925463e-01 9.86955169e-01 -4.74232035e-03 3.62261371e+01] [ 5.08465176e-02 -3.49189343e-03 9.98700375e-01 1.96403370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.10509989299993 meters 0.03216453716993824 Centerline is valid? [True, True] Translation: X:471.24, Y:36.24, Z:19.64 [[ 9.86128542e-01 -1.58356113e-01 -4.97377078e-02 4.71243656e+02] [ 1.58322168e-01 9.87376575e-01 -4.64652965e-03 3.62356558e+01] [ 4.98456539e-02 -3.29250620e-03 9.98751506e-01 1.96438513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.16509989299993 meters 0.02990035339311258 Centerline is valid? [True, True] Translation: X:471.30, Y:36.25, Z:19.65 [[ 9.86842012e-01 -1.54297738e-01 -4.83223737e-02 4.71303435e+02] [ 1.54260885e-01 9.88019842e-01 -4.51353762e-03 3.62475780e+01] [ 4.84398926e-02 -3.00010355e-03 9.98821594e-01 1.96480473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.22509989299994 meters 0.026474644722291014 Centerline is valid? [True, True] Translation: X:471.36, Y:36.26, Z:19.65 [[ 9.88010819e-01 -1.46922641e-01 -4.74168682e-02 4.71362444e+02] [ 1.46878696e-01 9.89144598e-01 -4.42871759e-03 3.62633710e+01] [ 4.75528179e-02 -2.58890688e-03 9.98865370e-01 1.96519916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.28509989299994 meters 0.02476770597886837 Centerline is valid? [True, True] Translation: X:471.42, Y:36.27, Z:19.65 [[ 9.88921458e-01 -1.40744057e-01 -4.71747767e-02 4.71422171e+02] [ 1.40693542e-01 9.90043389e-01 -4.40618268e-03 3.62745713e+01] [ 4.73252199e-02 -2.27981784e-03 9.98876932e-01 1.96545962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.34509989299994 meters 0.02361782550531794 Centerline is valid? [True, True] Translation: X:471.48, Y:36.28, Z:19.66 [[ 9.89492492e-01 -1.36579475e-01 -4.74410789e-02 4.71482630e+02] [ 1.36523616e-01 9.90626907e-01 -4.43095719e-03 3.62832345e+01] [ 4.76015870e-02 -2.09242878e-03 9.98864210e-01 1.96565720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.40509989299994 meters 0.02207920990228874 Centerline is valid? [True, True] Translation: X:471.54, Y:36.29, Z:19.66 [[ 9.90109612e-01 -1.31607852e-01 -4.86038090e-02 4.71542925e+02] [ 1.31543287e-01 9.91300037e-01 -4.53865021e-03 3.62927778e+01] [ 4.87782797e-02 -1.89974360e-03 9.98807825e-01 1.96583043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.46509989299994 meters 0.01701376315578708 Centerline is valid? [True, True] Translation: X:471.60, Y:36.31, Z:19.66 [[ 9.91330443e-01 -1.21630192e-01 -4.96995835e-02 4.71602119e+02] [ 1.21550197e-01 9.92574440e-01 -4.64004787e-03 3.63095804e+01] [ 4.98949062e-02 -1.44117347e-03 9.98753434e-01 1.96611504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.52509989299995 meters 0.01464520728853931 Centerline is valid? [True, True] Translation: X:471.66, Y:36.32, Z:19.66 [[ 9.92492612e-01 -1.11483624e-01 -5.02972885e-02 4.71662187e+02] [ 1.11388672e-01 9.93765825e-01 -4.69570236e-03 3.63226205e+01] [ 5.05072202e-02 -9.42098286e-04 9.98723252e-01 1.96643594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.58509989299995 meters 0.013765113088874643 Centerline is valid? [True, True] Translation: X:471.72, Y:36.33, Z:19.67 [[ 9.93026421e-01 -1.06701984e-01 -5.01319649e-02 4.71723222e+02] [ 1.06601618e-01 9.94290803e-01 -4.67920160e-03 3.63312960e+01] [ 5.03450317e-02 -6.97577759e-04 9.98731641e-01 1.96674274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.64509989299995 meters 0.01326675885361097 Centerline is valid? [True, True] Translation: X:471.78, Y:36.34, Z:19.67 [[ 9.93466646e-01 -1.02720756e-01 -4.97239318e-02 4.71783854e+02] [ 1.02617117e-01 9.94710110e-01 -4.63944397e-03 3.63383057e+01] [ 4.99374649e-02 -4.93393713e-04 9.98752225e-01 1.96700308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.70509989299995 meters 0.013310066920973912 Centerline is valid? [True, True] Translation: X:471.84, Y:36.34, Z:19.67 [[ 9.93457147e-01 -1.03003087e-01 -4.93280965e-02 4.71844907e+02] [ 1.02901491e-01 9.94680908e-01 -4.60148677e-03 3.63424082e+01] [ 4.95396832e-02 -5.04554754e-04 9.98772029e-01 1.96724378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.76509989299996 meters 0.013733652636036382 Centerline is valid? [True, True] Translation: X:471.91, Y:36.34, Z:19.68 [[ 9.93152257e-01 -1.06570864e-01 -4.78669628e-02 4.71906333e+02] [ 1.06479420e-01 9.94304888e-01 -4.46350600e-03 3.63429767e+01] [ 4.80700348e-02 -6.63905398e-04 9.98843747e-01 1.96751227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.82509989299996 meters 0.01482941601525131 Centerline is valid? [True, True] Translation: X:471.97, Y:36.34, Z:19.68 [[ 9.92614123e-01 -1.11497109e-01 -4.78079207e-02 4.71967547e+02] [ 1.11411680e-01 9.93764348e-01 -4.45626797e-03 3.63433214e+01] [ 4.80066681e-02 -9.03006215e-04 9.98846607e-01 1.96774816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.88509989299996 meters 0.016843362971227866 Centerline is valid? [True, True] Translation: X:472.03, Y:36.34, Z:19.68 [[ 9.91425599e-01 -1.21657289e-01 -4.76947142e-02 4.72028678e+02] [ 1.21584066e-01 9.92571188e-01 -4.44418653e-03 3.63404470e+01] [ 4.78810668e-02 -1.39283698e-03 9.98852073e-01 1.96791611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.94509989299996 meters 0.02125110886857649 Centerline is valid? [True, True] Translation: X:472.09, Y:36.33, Z:19.68 [[ 9.90006604e-01 -1.32553380e-01 -4.81302914e-02 4.72089370e+02] [ 1.32491657e-01 9.91173975e-01 -4.48459249e-03 3.63340515e+01] [ 4.82999402e-02 -1.93708588e-03 9.98830998e-01 1.96798150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.00509989299997 meters 0.02606366590472471 Centerline is valid? [True, True] Translation: X:472.15, Y:36.33, Z:19.68 [[ 9.89029753e-01 -1.39520101e-01 -4.85210206e-02 4.72149558e+02] [ 1.39465707e-01 9.90216579e-01 -4.52141643e-03 3.63304368e+01] [ 4.86771475e-02 -2.29520306e-03 9.98811928e-01 1.96806778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.06509989299997 meters 0.028481281244097004 Centerline is valid? [True, True] Translation: X:472.21, Y:36.33, Z:19.68 [[ 9.87827724e-01 -1.48147976e-01 -4.74190420e-02 4.72210484e+02] [ 1.48105891e-01 9.88961635e-01 -4.41931458e-03 3.63300487e+01] [ 4.75503258e-02 -2.65751799e-03 9.98865308e-01 1.96833654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.12509989299997 meters 0.0302855662323546 Centerline is valid? [True, True] Translation: X:472.27, Y:36.33, Z:19.69 [[ 9.87159133e-01 -1.52546064e-01 -4.73977166e-02 4.72271458e+02] [ 1.52509069e-01 9.88292200e-01 -4.41718987e-03 3.63319392e+01] [ 4.75166185e-02 -2.86811233e-03 9.98866330e-01 1.96857703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.185099893 meters 0.03541054584095947 Centerline is valid? [True, True] Translation: X:472.33, Y:36.33, Z:19.69 [[ 9.86421526e-01 -1.57192604e-01 -4.75716117e-02 4.72330915e+02] [ 1.57160711e-01 9.87563089e-01 -4.43342629e-03 3.63298538e+01] [ 4.76768696e-02 -3.10316120e-03 9.98857991e-01 1.96873578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.245099893 meters 0.0325717679930116 Centerline is valid? [True, True] Translation: X:472.39, Y:36.34, Z:19.69 [[ 9.86168337e-01 -1.58841495e-01 -4.73433366e-02 4.72391697e+02] [ 1.58811742e-01 9.87299019e-01 -4.41330348e-03 3.63397002e+01] [ 4.74430455e-02 -3.16641761e-03 9.98868926e-01 1.96907123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.305099893 meters 0.03442914017156299 Centerline is valid? [True, True] Translation: X:472.45, Y:36.34, Z:19.69 [[ 9.86061169e-01 -1.59259813e-01 -4.81630814e-02 4.72452902e+02] [ 1.59229611e-01 9.87231376e-01 -4.48785064e-03 3.63437205e+01] [ 4.82628394e-02 -3.24369345e-03 9.98829403e-01 1.96929870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.3650998929999 meters 0.034221161363172756 Centerline is valid? [True, True] Translation: X:472.51, Y:36.35, Z:19.70 [[ 9.86556053e-01 -1.56153971e-01 -4.81984679e-02 4.72513620e+02] [ 1.56120147e-01 9.87727873e-01 -4.48880547e-03 3.63519626e+01] [ 4.83079150e-02 -3.09629371e-03 9.98827692e-01 1.96957811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.4250998929999 meters 0.03333745820454123 Centerline is valid? [True, True] Translation: X:472.57, Y:36.36, Z:19.70 [[ 9.87164647e-01 -1.52266644e-01 -4.81749760e-02 4.72573140e+02] [ 1.52228274e-01 9.88335180e-01 -4.48595930e-03 3.63609080e+01] [ 4.82960856e-02 -2.90521301e-03 9.98828838e-01 1.96985363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.4850998929999 meters 0.03303209483147778 Centerline is valid? [True, True] Translation: X:472.63, Y:36.37, Z:19.70 [[ 9.87555251e-01 -1.49806591e-01 -4.78812317e-02 4.72633658e+02] [ 1.49765788e-01 9.88711447e-01 -4.45896248e-03 3.63681927e+01] [ 4.80087039e-02 -2.76749859e-03 9.98843083e-01 1.97008762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.54509989299993 meters 0.02964676959425224 Centerline is valid? [True, True] Translation: X:472.69, Y:36.38, Z:19.70 [[ 9.88837707e-01 -1.41122446e-01 -4.77958608e-02 4.72693083e+02] [ 1.41071703e-01 9.89989379e-01 -4.45023487e-03 3.63839637e+01] [ 4.79454225e-02 -2.34208343e-03 9.98847211e-01 1.97041599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.60509989299993 meters 0.027259719945094095 Centerline is valid? [True, True] Translation: X:472.75, Y:36.40, Z:19.71 [[ 9.89733388e-01 -1.35020070e-01 -4.68764416e-02 4.72752633e+02] [ 1.34964449e-01 9.90840831e-01 -4.36417224e-03 3.63968734e+01] [ 4.70363431e-02 -2.00728612e-03 9.98891162e-01 1.97083365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.66509989299993 meters 0.023897247165719268 Centerline is valid? [True, True] Translation: X:472.81, Y:36.41, Z:19.71 [[ 9.90920326e-01 -1.26350282e-01 -4.59621011e-02 4.72811389e+02] [ 1.26287491e-01 9.91984455e-01 -4.27904516e-03 3.64123722e+01] [ 4.61343484e-02 -1.56424559e-03 9.98934019e-01 1.97127352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.72509989299994 meters 0.017543904648719785 Centerline is valid? [True, True] Translation: X:472.87, Y:36.43, Z:19.72 [[ 9.91572622e-01 -1.21015742e-01 -4.62485194e-02 4.72871850e+02] [ 1.20946378e-01 9.92649705e-01 -4.30551553e-03 3.64305170e+01] [ 4.64296142e-02 -1.32435959e-03 9.98920686e-01 1.97162464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.78509989299994 meters 0.016266103423941757 Centerline is valid? [True, True] Translation: X:472.93, Y:36.44, Z:19.72 [[ 9.92063204e-01 -1.16455731e-01 -4.74200563e-02 4.72933039e+02] [ 1.16377730e-01 9.93195227e-01 -4.41191327e-03 3.64411357e+01] [ 4.76111662e-02 -1.14174168e-03 9.98865293e-01 1.97185692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.84509989299994 meters 0.015398007641277724 Centerline is valid? [True, True] Translation: X:472.99, Y:36.45, Z:19.72 [[ 9.92631971e-01 -1.11048723e-01 -4.84762937e-02 4.72992408e+02] [ 1.10960922e-01 9.93814551e-01 -4.50690630e-03 3.64504637e+01] [ 4.86769322e-02 -9.05274984e-04 9.98814165e-01 1.97210974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.90509989299994 meters 0.01481307891996216 Centerline is valid? [True, True] Translation: X:473.05, Y:36.46, Z:19.72 [[ 9.92982916e-01 -1.07999884e-01 -4.81762866e-02 4.73052834e+02] [ 1.07909768e-01 9.94150620e-01 -4.47513124e-03 3.64577222e+01] [ 4.83777989e-02 -7.54963055e-04 9.98828823e-01 1.97249314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.96509989299994 meters 0.01451614708868288 Centerline is valid? [True, True] Translation: X:473.11, Y:36.46, Z:19.73 [[ 9.93195237e-01 -1.06073524e-01 -4.80794105e-02 4.73113748e+02] [ 1.05981598e-01 9.94358069e-01 -4.46440750e-03 3.64642512e+01] [ 4.82817053e-02 -6.61504503e-04 9.98833539e-01 1.97285123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.02509989299995 meters 0.013941995694658463 Centerline is valid? [True, True] Translation: X:473.17, Y:36.47, Z:19.73 [[ 9.93539135e-01 -1.02697184e-01 -4.83039927e-02 4.73174659e+02] [ 1.02600492e-01 9.94712540e-01 -4.48352848e-03 3.64706254e+01] [ 4.85090330e-02 -5.01452426e-04 9.98822618e-01 1.97321998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.08509989299995 meters 0.01374420221464185 Centerline is valid? [True, True] Translation: X:473.24, Y:36.48, Z:19.74 [[ 9.93747596e-01 -1.00633503e-01 -4.83592221e-02 4.73235333e+02] [ 1.00534233e-01 9.94923482e-01 -4.48689654e-03 3.64754560e+01] [ 4.85652578e-02 -4.02914654e-04 9.98819930e-01 1.97352762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.14509989299995 meters 0.013793570482084403 Centerline is valid? [True, True] Translation: X:473.30, Y:36.48, Z:19.74 [[ 9.93777596e-01 -1.00154003e-01 -4.87367029e-02 4.73296068e+02] [ 1.00052681e-01 9.94971873e-01 -4.52026314e-03 3.64785168e+01] [ 4.89443710e-02 -3.84101553e-04 9.98801432e-01 1.97378679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.20509989299995 meters 0.0138934798550938 Centerline is valid? [True, True] Translation: X:473.36, Y:36.48, Z:19.74 [[ 9.93588687e-01 -1.01751910e-01 -4.92754583e-02 4.73357149e+02] [ 1.01650349e-01 9.94809695e-01 -4.56920493e-03 3.64792461e+01] [ 4.94846290e-02 -4.68957210e-04 9.98774775e-01 1.97415139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.26509989299996 meters 0.014083092689015681 Centerline is valid? [True, True] Translation: X:473.42, Y:36.48, Z:19.74 [[ 9.93300533e-01 -1.04254798e-01 -4.98496482e-02 4.73418405e+02] [ 1.04154095e-01 9.94550438e-01 -4.62062314e-03 3.64805363e+01] [ 5.00597116e-02 -6.02377577e-04 9.98746045e-01 1.97440802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.32509989299996 meters 0.014944451282957771 Centerline is valid? [True, True] Translation: X:473.48, Y:36.48, Z:19.75 [[ 9.92902536e-01 -1.07434258e-01 -5.10140567e-02 4.73478538e+02] [ 1.07333057e-01 9.94211883e-01 -4.72716361e-03 3.64786121e+01] [ 5.12266407e-02 -7.81881892e-04 9.98686748e-01 1.97459710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.38509989299996 meters 0.014562164724863153 Centerline is valid? [True, True] Translation: X:473.54, Y:36.48, Z:19.75 [[ 9.92724143e-01 -1.08894140e-01 -5.13891321e-02 4.73539335e+02] [ 1.08793378e-01 9.94052977e-01 -4.76231681e-03 3.64817508e+01] [ 5.16021082e-02 -8.63130405e-04 9.98667351e-01 1.97495583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.44509989299996 meters 0.015110337577935373 Centerline is valid? [True, True] Translation: X:473.60, Y:36.48, Z:19.75 [[ 9.92661984e-01 -1.09593542e-01 -5.11022689e-02 4.73598763e+02] [ 1.09494907e-01 9.93976083e-01 -4.73419018e-03 3.64818664e+01] [ 5.13132697e-02 -8.95987571e-04 9.98682204e-01 1.97513301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.50509989299997 meters 0.015565174088853806 Centerline is valid? [True, True] Translation: X:473.66, Y:36.48, Z:19.75 [[ 9.92516663e-01 -1.10599162e-01 -5.17542108e-02 4.73658682e+02] [ 1.10499341e-01 9.93864631e-01 -4.79493541e-03 3.64803409e+01] [ 5.19669954e-02 -9.59752893e-04 9.98648342e-01 1.97536228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.56509989299997 meters 0.015160419722175762 Centerline is valid? [True, True] Translation: X:473.72, Y:36.48, Z:19.76 [[ 9.92365142e-01 -1.11537658e-01 -5.26381648e-02 4.73718010e+02] [ 1.11435616e-01 9.93759680e-01 -4.87871629e-03 3.64812843e+01] [ 5.28538464e-02 -1.02429832e-03 9.98601733e-01 1.97570310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.62509989299997 meters 0.015203042958448796 Centerline is valid? [True, True] Translation: X:473.78, Y:36.48, Z:19.76 [[ 9.92286857e-01 -1.11740791e-01 -5.36729795e-02 4.73776481e+02] [ 1.11634747e-01 9.93736832e-01 -4.97918415e-03 3.64829706e+01] [ 5.38931946e-02 -1.05099047e-03 9.98546153e-01 1.97582066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.685099893 meters 0.015403653785681808 Centerline is valid? [True, True] Translation: X:473.83, Y:36.48, Z:19.76 [[ 9.92279219e-01 -1.11093280e-01 -5.51383159e-02 4.73833651e+02] [ 1.10979616e-01 9.93809449e-01 -5.12864097e-03 3.64847118e+01] [ 5.53667369e-02 -1.03018528e-03 9.98465554e-01 1.97594275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.745099893 meters 0.014529731035639228 Centerline is valid? [True, True] Translation: X:473.89, Y:36.49, Z:19.76 [[ 9.92644025e-01 -1.07646696e-01 -5.54078361e-02 4.73892783e+02] [ 1.07525991e-01 9.94188864e-01 -5.16377606e-03 3.64882648e+01] [ 5.56417170e-02 -8.31991055e-04 9.98450453e-01 1.97626219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.805099893 meters 0.013962945118147621 Centerline is valid? [True, True] Translation: X:473.95, Y:36.49, Z:19.77 [[ 9.93015237e-01 -1.04266806e-01 -5.52193036e-02 4.73951558e+02] [ 1.04141210e-01 9.94549161e-01 -5.15501246e-03 3.64936879e+01] [ 5.54558088e-02 -6.31599177e-04 9.98460943e-01 1.97660795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.8650998929999 meters 0.013665181469844837 Centerline is valid? [True, True] Translation: X:474.01, Y:36.50, Z:19.77 [[ 9.93558967e-01 -9.92568594e-02 -5.46685914e-02 4.74009428e+02] [ 9.91255471e-02 9.95061788e-01 -5.11503635e-03 3.64978491e+01] [ 5.49063288e-02 -3.36963807e-04 9.98491453e-01 1.97681442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.9250998929999 meters 0.01327104973585655 Centerline is valid? [True, True] Translation: X:474.07, Y:36.50, Z:19.77 [[ 9.93742955e-01 -9.75014113e-02 -5.44831502e-02 4.74068136e+02] [ 9.73679805e-02 9.95235360e-01 -5.10446670e-03 3.65024188e+01] [ 5.47212503e-02 -2.32386478e-04 9.98501643e-01 1.97724581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.9850998929999 meters 0.013178095773891327 Centerline is valid? [True, True] Translation: X:474.13, Y:36.50, Z:19.78 [[ 9.93758401e-01 -9.76998416e-02 -5.38421862e-02 4.74126434e+02] [ 9.75690817e-02 9.95215901e-01 -5.05813910e-03 3.65049130e+01] [ 5.40787792e-02 -2.26764433e-04 9.98536646e-01 1.97761443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.04509989299993 meters 0.0135612025418242 Centerline is valid? [True, True] Translation: X:474.18, Y:36.50, Z:19.78 [[ 9.93429527e-01 -1.00825643e-01 -5.41476160e-02 4.74184801e+02] [ 1.00697309e-01 9.94904036e-01 -5.10011103e-03 3.65019338e+01] [ 5.43859037e-02 -3.85918345e-04 9.98519917e-01 1.97768714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.10509989299993 meters 0.013936653761448347 Centerline is valid? [True, True] Translation: X:474.24, Y:36.50, Z:19.78 [[ 9.93027488e-01 -1.04569918e-01 -5.44200444e-02 4.74244293e+02] [ 1.04445533e-01 9.94517364e-01 -5.13256471e-03 3.65009822e+01] [ 5.46583910e-02 -5.87152697e-04 9.98504940e-01 1.97791195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.16509989299993 meters 0.01462045709865282 Centerline is valid? [True, True] Translation: X:474.30, Y:36.50, Z:19.78 [[ 9.92387220e-01 -1.10523493e-01 -5.43338108e-02 4.74303384e+02] [ 1.10407686e-01 9.93873104e-01 -5.13769741e-03 3.64980864e+01] [ 5.45687494e-02 -9.00285081e-04 9.98509610e-01 1.97821577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.22509989299994 meters 0.015120943980405331 Centerline is valid? [True, True] Translation: X:474.36, Y:36.50, Z:19.78 [[ 9.92020088e-01 -1.13798796e-01 -5.42768706e-02 4.74362327e+02] [ 1.13687384e-01 9.93503245e-01 -5.14593517e-03 3.64986412e+01] [ 5.45098483e-02 -1.06572434e-03 9.98512664e-01 1.97849984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.28509989299994 meters 0.015268622138252651 Centerline is valid? [True, True] Translation: X:474.42, Y:36.50, Z:19.79 [[ 9.91831122e-01 -1.15755911e-01 -5.35872630e-02 4.74421243e+02] [ 1.15649440e-01 9.93277030e-01 -5.09400325e-03 3.64996954e+01] [ 5.38166584e-02 -1.14494598e-03 9.98550177e-01 1.97880392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.34509989299994 meters 0.014731782724643446 Centerline is valid? [True, True] Translation: X:474.48, Y:36.50, Z:19.79 [[ 9.91955150e-01 -1.14839649e-01 -5.32619523e-02 4.74480107e+02] [ 1.14732416e-01 9.93383460e-01 -5.07672821e-03 3.65044389e+01] [ 5.34925521e-02 -1.07498578e-03 9.98567670e-01 1.97909630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.40509989299994 meters 0.01569413312084945 Centerline is valid? [True, True] Translation: X:474.54, Y:36.51, Z:19.79 [[ 9.92071843e-01 -1.13984163e-01 -5.29251329e-02 4.74538083e+02] [ 1.13876435e-01 9.93482053e-01 -5.05648840e-03 3.65070444e+01] [ 5.31565293e-02 -1.01052569e-03 9.98585681e-01 1.97922501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.46509989299994 meters 0.014542445629653658 Centerline is valid? [True, True] Translation: X:474.60, Y:36.51, Z:19.80 [[ 9.92369451e-01 -1.12045722e-01 -5.14648258e-02 4.74596914e+02] [ 1.11940944e-01 9.93702667e-01 -4.92296628e-03 3.65118718e+01] [ 5.16923320e-02 -8.75619841e-04 9.98662674e-01 1.97968570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.52509989299995 meters 0.014326762275210014 Centerline is valid? [True, True] Translation: X:474.66, Y:36.52, Z:19.80 [[ 9.92427595e-01 -1.11948892e-01 -5.05461656e-02 4.74655893e+02] [ 1.11847092e-01 9.93713608e-01 -4.84699886e-03 3.65153892e+01] [ 5.07710287e-02 -8.43146214e-04 9.98709964e-01 1.98003284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.58509989299995 meters 0.014779175841379093 Centerline is valid? [True, True] Translation: X:474.71, Y:36.52, Z:19.80 [[ 9.92342719e-01 -1.12660158e-01 -5.06321692e-02 4.74714067e+02] [ 1.12558349e-01 9.93633198e-01 -4.86676740e-03 3.65154633e+01] [ 5.08580950e-02 -8.69572164e-04 9.98705511e-01 1.98023513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.64509989299995 meters 0.0152680785515391 Centerline is valid? [True, True] Translation: X:474.77, Y:36.52, Z:19.80 [[ 9.92086983e-01 -1.14370857e-01 -5.17950214e-02 4.74772695e+02] [ 1.14266315e-01 9.93437648e-01 -4.98487128e-03 3.65169032e+01] [ 5.20252482e-02 -9.73000331e-04 9.98645296e-01 1.98036542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.70509989299995 meters 0.016182281691402227 Centerline is valid? [True, True] Translation: X:474.83, Y:36.52, Z:19.81 [[ 9.91622985e-01 -1.18201174e-01 -5.20801089e-02 4.74832177e+02] [ 1.18100070e-01 9.92988983e-01 -5.02532996e-03 3.65155556e+01] [ 5.23089742e-02 -1.16743181e-03 9.98630266e-01 1.98051672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.76509989299996 meters 0.01653698378190059 Centerline is valid? [True, True] Translation: X:474.89, Y:36.52, Z:19.81 [[ 9.91285019e-01 -1.21118586e-01 -5.18102313e-02 4.74890453e+02] [ 1.21021920e-01 9.92637189e-01 -5.01052831e-03 3.65174069e+01] [ 5.20356305e-02 -1.30331202e-03 9.98644378e-01 1.98078377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.82509989299996 meters 0.017823841633714563 Centerline is valid? [True, True] Translation: X:474.95, Y:36.52, Z:19.81 [[ 9.91024450e-01 -1.23787374e-01 -5.04700429e-02 4.74948604e+02] [ 1.23698852e-01 9.92307776e-01 -4.88580180e-03 3.65171047e+01] [ 5.06866166e-02 -1.40113733e-03 9.98713624e-01 1.98108935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.88509989299996 meters 0.018008126353586403 Centerline is valid? [True, True] Translation: X:475.01, Y:36.52, Z:19.81 [[ 9.90974145e-01 -1.24445125e-01 -4.98362883e-02 4.75006330e+02] [ 1.24359242e-01 9.92225492e-01 -4.83245906e-03 3.65206513e+01] [ 5.00502117e-02 -1.40876106e-03 9.98745709e-01 1.98136183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.94509989299996 meters 0.01698714081860743 Centerline is valid? [True, True] Translation: X:475.06, Y:36.53, Z:19.82 [[ 9.90936137e-01 -1.24924720e-01 -4.93901484e-02 4.75064338e+02] [ 1.24840270e-01 9.92165227e-01 -4.80315850e-03 3.65268665e+01] [ 4.96032210e-02 -1.40625613e-03 9.98768013e-01 1.98164719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.00509989299997 meters 0.018060975968983702 Centerline is valid? [True, True] Translation: X:475.12, Y:36.53, Z:19.82 [[ 9.90704532e-01 -1.26719102e-01 -4.94651376e-02 4.75122652e+02] [ 1.26635980e-01 9.91937530e-01 -4.82346528e-03 3.65280042e+01] [ 4.96775516e-02 -1.48543727e-03 9.98764204e-01 1.98181239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.06509989299997 meters 0.01844523682302884 Centerline is valid? [True, True] Translation: X:475.18, Y:36.53, Z:19.82 [[ 9.90313333e-01 -1.29793941e-01 -4.93258090e-02 4.75181714e+02] [ 1.29714811e-01 9.91539650e-01 -4.81556196e-03 3.65312152e+01] [ 4.95335261e-02 -1.62937279e-03 9.98771132e-01 1.98202872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.12509989299997 meters 0.02054153805605703 Centerline is valid? [True, True] Translation: X:475.24, Y:36.53, Z:19.82 [[ 9.89616625e-01 -1.35334541e-01 -4.84096919e-02 4.75241689e+02] [ 1.35264419e-01 9.90798214e-01 -4.73673140e-03 3.65310487e+01] [ 4.86052796e-02 -1.86056068e-03 9.98816332e-01 1.98225092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.185099893 meters 0.021610885777613786 Centerline is valid? [True, True] Translation: X:475.30, Y:36.53, Z:19.82 [[ 9.89272589e-01 -1.37923830e-01 -4.81327451e-02 4.75301078e+02] [ 1.37857507e-01 9.90440869e-01 -4.71081817e-03 3.65340957e+01] [ 4.83223720e-02 -1.97517696e-03 9.98829839e-01 1.98246279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.245099893 meters 0.021415606520032465 Centerline is valid? [True, True] Translation: X:475.36, Y:36.54, Z:19.83 [[ 9.89014747e-01 -1.39903714e-01 -4.77156231e-02 4.75359786e+02] [ 1.39840689e-01 9.90162989e-01 -4.67300691e-03 3.65397703e+01] [ 4.79000150e-02 -2.05091286e-03 9.98850030e-01 1.98271950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.305099893 meters 0.024385828237926156 Centerline is valid? [True, True] Translation: X:475.42, Y:36.54, Z:19.83 [[ 9.88968058e-01 -1.40317567e-01 -4.74674721e-02 4.75418104e+02] [ 1.40255137e-01 9.90104430e-01 -4.65989989e-03 3.65420240e+01] [ 4.76516202e-02 -2.04906467e-03 9.98861915e-01 1.98285370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.3650998929999 meters 0.022524318566068974 Centerline is valid? [True, True] Translation: X:475.48, Y:36.55, Z:19.83 [[ 9.89005622e-01 -1.40319842e-01 -4.66714309e-02 4.75475785e+02] [ 1.40259259e-01 9.90104188e-01 -4.58668774e-03 3.65520300e+01] [ 4.68531825e-02 -2.00984034e-03 9.98899765e-01 1.98315823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.4250998929999 meters 0.02253529522251251 Centerline is valid? [True, True] Translation: X:475.53, Y:36.56, Z:19.83 [[ 9.88988521e-01 -1.40693846e-01 -4.59014929e-02 4.75532813e+02] [ 1.40635115e-01 9.90051166e-01 -4.52254659e-03 3.65586829e+01] [ 4.60811211e-02 -1.98261508e-03 9.98935733e-01 1.98341259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.4850998929999 meters 0.0222440178929985 Centerline is valid? [True, True] Translation: X:475.59, Y:36.57, Z:19.84 [[ 9.88844225e-01 -1.42017491e-01 -4.49236042e-02 4.75590735e+02] [ 1.41962052e-01 9.89862151e-01 -4.43827090e-03 3.65657987e+01] [ 4.50984875e-02 -1.98868850e-03 9.98980566e-01 1.98366211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.54509989299993 meters 0.02348592802977543 Centerline is valid? [True, True] Translation: X:475.65, Y:36.57, Z:19.84 [[ 9.88604829e-01 -1.43692920e-01 -4.48646486e-02 4.75649172e+02] [ 1.43639141e-01 9.89620185e-01 -4.43702625e-03 3.65704100e+01] [ 4.50365311e-02 -2.05785400e-03 9.98983221e-01 1.98390621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.60509989299993 meters 0.024443466662687582 Centerline is valid? [True, True] Translation: X:475.71, Y:36.58, Z:19.84 [[ 9.88270267e-01 -1.45830965e-01 -4.53344186e-02 4.75708414e+02] [ 1.45777806e-01 9.89307148e-01 -4.49426409e-03 3.65754230e+01] [ 4.55050672e-02 -2.16720451e-03 9.98961757e-01 1.98410381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.66509989299993 meters 0.025897291556419146 Centerline is valid? [True, True] Translation: X:475.77, Y:36.58, Z:19.84 [[ 9.87809883e-01 -1.48891753e-01 -4.54189494e-02 4.75767381e+02] [ 1.48841543e-01 9.88850801e-01 -4.50434348e-03 3.65798958e+01] [ 4.55832241e-02 -2.31079148e-03 9.98957872e-01 1.98434980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.72509989299994 meters 0.024890949561177253 Centerline is valid? [True, True] Translation: X:475.83, Y:36.59, Z:19.85 [[ 9.87572988e-01 -1.50597530e-01 -4.49441697e-02 4.75825117e+02] [ 1.50550010e-01 9.88592335e-01 -4.45977128e-03 3.65884311e+01] [ 4.51030922e-02 -2.36199554e-03 9.98979545e-01 1.98464837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.78509989299994 meters 0.02521864471710718 Centerline is valid? [True, True] Translation: X:475.88, Y:36.60, Z:19.85 [[ 9.87609745e-01 -1.50556318e-01 -4.42694844e-02 4.75883088e+02] [ 1.50509975e-01 9.88598711e-01 -4.39723844e-03 3.65966170e+01] [ 4.44267872e-02 -2.32024347e-03 9.99009948e-01 1.98498371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.84509989299994 meters 0.024378462782831796 Centerline is valid? [True, True] Translation: X:475.94, Y:36.61, Z:19.85 [[ 9.87886976e-01 -1.48641136e-01 -4.45548584e-02 4.75941364e+02] [ 1.48591762e-01 9.88888672e-01 -4.43654944e-03 3.66062755e+01] [ 4.47192485e-02 -2.23767548e-03 9.98997088e-01 1.98522248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.90509989299994 meters 0.02306862509794396 Centerline is valid? [True, True] Translation: X:476.00, Y:36.62, Z:19.85 [[ 9.88640863e-01 -1.43312819e-01 -4.52844367e-02 4.76000972e+02] [ 1.43256094e-01 9.89675366e-01 -4.51231586e-03 3.66189987e+01] [ 4.54635642e-02 -2.02621169e-03 9.98963943e-01 1.98545188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.96509989299994 meters 0.02223458795993904 Centerline is valid? [True, True] Translation: X:476.06, Y:36.63, Z:19.86 [[ 9.89210575e-01 -1.38938707e-01 -4.64593777e-02 4.76058766e+02] [ 1.38874166e-01 9.90299213e-01 -4.62981336e-03 3.66293791e+01] [ 4.66519454e-02 -1.87214701e-03 9.98909451e-01 1.98567230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.02509989299995 meters 0.01874005447881638 Centerline is valid? [True, True] Translation: X:476.12, Y:36.65, Z:19.86 [[ 9.90043141e-01 -1.32702722e-01 -4.69528088e-02 4.76117471e+02] [ 1.32629688e-01 9.91154605e-01 -4.68131839e-03 3.66454275e+01] [ 4.71587163e-02 -1.59262923e-03 9.98886139e-01 1.98597500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.08509989299995 meters 0.0169056098431839 Centerline is valid? [True, True] Translation: X:476.18, Y:36.66, Z:19.86 [[ 9.90547404e-01 -1.28773480e-01 -4.72570696e-02 4.76176682e+02] [ 1.28694981e-01 9.91673027e-01 -4.71269206e-03 3.66572001e+01] [ 4.74704310e-02 -1.41360277e-03 9.98871643e-01 1.98634263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.14509989299995 meters 0.01707111192496592 Centerline is valid? [True, True] Translation: X:476.23, Y:36.67, Z:19.87 [[ 9.91030708e-01 -1.24655417e-01 -4.81576805e-02 4.76233712e+02] [ 1.24568886e-01 9.92199324e-01 -4.80565950e-03 3.66665359e+01] [ 4.83810695e-02 -1.23639248e-03 9.98828185e-01 1.98654083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.20509989299995 meters 0.016355848894353195 Centerline is valid? [True, True] Translation: X:476.29, Y:36.68, Z:19.87 [[ 9.91140712e-01 -1.23578618e-01 -4.86663661e-02 4.76291920e+02] [ 1.23488612e-01 9.92334072e-01 -4.86336429e-03 3.66758107e+01] [ 4.88943011e-02 -1.18946365e-03 9.98803250e-01 1.98678602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.26509989299996 meters 0.017204206072285684 Centerline is valid? [True, True] Translation: X:476.35, Y:36.68, Z:19.87 [[ 9.91157909e-01 -1.23407251e-01 -4.87509061e-02 4.76349468e+02] [ 1.23316183e-01 9.92355419e-01 -4.88286624e-03 3.66810171e+01] [ 4.89808069e-02 -1.17208415e-03 9.98799032e-01 1.98699776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.32509989299996 meters 0.016077119736625928 Centerline is valid? [True, True] Translation: X:476.41, Y:36.69, Z:19.87 [[ 9.91238226e-01 -1.23180502e-01 -4.76795970e-02 4.76407612e+02] [ 1.23092888e-01 9.92383639e-01 -4.78062082e-03 3.66923469e+01] [ 4.79053312e-02 -1.13028521e-03 9.98851241e-01 1.98738769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.38509989299996 meters 0.01620036458639857 Centerline is valid? [True, True] Translation: X:476.46, Y:36.70, Z:19.88 [[ 9.91254235e-01 -1.23463872e-01 -4.66016457e-02 4.76464626e+02] [ 1.23379945e-01 9.92348451e-01 -4.68415349e-03 3.67001229e+01] [ 4.68233946e-02 -1.10652149e-03 9.98902570e-01 1.98769977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.44509989299996 meters 0.015908301307781727 Centerline is valid? [True, True] Translation: X:476.52, Y:36.71, Z:19.88 [[ 9.91380439e-01 -1.23094517e-01 -4.48616166e-02 4.76522612e+02] [ 1.23015811e-01 9.92394411e-01 -4.52150779e-03 3.67088495e+01] [ 4.50769903e-02 -1.03615375e-03 9.98982978e-01 1.98801696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.50509989299997 meters 0.015428060620024307 Centerline is valid? [True, True] Translation: X:476.58, Y:36.72, Z:19.88 [[ 9.91626079e-01 -1.21410689e-01 -4.40132174e-02 4.76581551e+02] [ 1.21332813e-01 9.92601923e-01 -4.44642330e-03 3.67174480e+01] [ 4.42274475e-02 -9.31058183e-04 9.99021054e-01 1.98826450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.56509989299997 meters 0.014898291957322266 Centerline is valid? [True, True] Translation: X:476.64, Y:36.73, Z:19.88 [[ 9.91863596e-01 -1.19349051e-01 -4.42991076e-02 4.76640440e+02] [ 1.19268034e-01 9.92852000e-01 -4.47691484e-03 3.67273939e+01] [ 4.45167731e-02 -8.42978618e-04 9.99008281e-01 1.98838771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.62509989299997 meters 0.014742165349300259 Centerline is valid? [True, True] Translation: X:476.70, Y:36.73, Z:19.88 [[ 9.92024950e-01 -1.17625391e-01 -4.52853801e-02 4.76699709e+02] [ 1.17538853e-01 9.93057731e-01 -4.57827617e-03 3.67345605e+01] [ 4.55095183e-02 -7.81027445e-04 9.98963600e-01 1.98846379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.685099893 meters 0.014595124403825953 Centerline is valid? [True, True] Translation: X:476.76, Y:36.74, Z:19.89 [[ 9.92337674e-01 -1.14656374e-01 -4.60418942e-02 4.76757502e+02] [ 1.14563605e-01 9.93404998e-01 -4.65736021e-03 3.67420019e+01] [ 4.62722439e-02 -6.53051386e-04 9.98928653e-01 1.98853045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.745099893 meters 0.013877506612043091 Centerline is valid? [True, True] Translation: X:476.82, Y:36.75, Z:19.89 [[ 9.92651667e-01 -1.11972051e-01 -4.58795012e-02 4.76816298e+02] [ 1.11876582e-01 9.93711223e-01 -4.65148587e-03 3.67518087e+01] [ 4.61118117e-02 -5.15536575e-04 9.98936152e-01 1.98885816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.805099893 meters 0.013674794717543995 Centerline is valid? [True, True] Translation: X:476.87, Y:36.76, Z:19.89 [[ 9.93063412e-01 -1.08031924e-01 -4.64129540e-02 4.76874243e+02] [ 1.07929832e-01 9.94147369e-01 -4.70742333e-03 3.67593660e+01] [ 4.66498681e-02 -3.34572474e-04 9.98911246e-01 1.98904344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.8650998929999 meters 0.013568653720463413 Centerline is valid? [True, True] Translation: X:476.93, Y:36.77, Z:19.89 [[ 9.93280008e-01 -1.05886088e-01 -4.67221851e-02 4.76931301e+02] [ 1.05780108e-01 9.94378239e-01 -4.74196579e-03 3.67661552e+01] [ 4.69616323e-02 -2.32177982e-04 9.98896667e-01 1.98923868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.9250998929999 meters 0.013584359411354434 Centerline is valid? [True, True] Translation: X:476.99, Y:36.77, Z:19.90 [[ 9.93416259e-01 -1.04612852e-01 -4.66935601e-02 4.76988711e+02] [ 1.04505358e-01 9.94513008e-01 -4.74413772e-03 3.67734366e+01] [ 4.69336507e-02 -1.66823660e-04 9.98897995e-01 1.98952756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.9850998929999 meters 0.01344419031288597 Centerline is valid? [True, True] Translation: X:477.05, Y:36.78, Z:19.90 [[ 9.93431006e-01 -1.04698390e-01 -4.61853268e-02 4.77045385e+02] [ 1.04592728e-01 9.94504008e-01 -4.70515663e-03 3.67789181e+01] [ 4.64241149e-02 -1.56400839e-04 9.98921807e-01 1.98979450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.04509989299993 meters 0.013523811927005932 Centerline is valid? [True, True] Translation: X:477.10, Y:36.78, Z:19.90 [[ 9.93228811e-01 -1.06692724e-01 -4.59694543e-02 4.77102738e+02] [ 1.06589737e-01 9.94292012e-01 -4.69280310e-03 3.67835155e+01] [ 4.62077491e-02 -2.38844791e-04 9.98931823e-01 1.99009512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.10509989299993 meters 0.014594719344690442 Centerline is valid? [True, True] Translation: X:477.16, Y:36.78, Z:19.90 [[ 9.92500684e-01 -1.13041357e-01 -4.65192826e-02 4.77161043e+02] [ 1.12942257e-01 9.93590143e-01 -4.76170769e-03 3.67837302e+01] [ 4.67593705e-02 -5.27994617e-04 9.98906043e-01 1.99028043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.16509989299993 meters 0.015956983490569426 Centerline is valid? [True, True] Translation: X:477.22, Y:36.78, Z:19.91 [[ 9.91335083e-01 -1.22855685e-01 -4.64890645e-02 4.77221069e+02] [ 1.22767300e-01 9.92424057e-01 -4.76252786e-03 3.67840761e+01] [ 4.67219696e-02 -9.86075965e-04 9.98907446e-01 1.99059275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.22509989299994 meters 0.017710407406829227 Centerline is valid? [True, True] Translation: X:477.28, Y:36.78, Z:19.91 [[ 9.90356338e-01 -1.30354616e-01 -4.69254537e-02 4.77281186e+02] [ 1.30272887e-01 9.91466515e-01 -4.80885934e-03 3.67846336e+01] [ 4.71518730e-02 -1.35062998e-03 9.98886819e-01 1.99083411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.28509989299994 meters 0.021003161414379638 Centerline is valid? [True, True] Translation: X:477.34, Y:36.78, Z:19.91 [[ 9.88660938e-01 -1.42113254e-01 -4.85115643e-02 4.77342212e+02] [ 1.42039960e-01 9.89848435e-01 -4.97245900e-03 3.67843545e+01] [ 4.87257484e-02 -1.97450466e-03 9.98810244e-01 1.99111424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.34509989299994 meters 0.025008965310464547 Centerline is valid? [True, True] Translation: X:477.40, Y:36.78, Z:19.91 [[ 9.87545601e-01 -1.49448326e-01 -4.91821440e-02 4.77401991e+02] [ 1.49382033e-01 9.88766702e-01 -5.04165393e-03 3.67840981e+01] [ 4.93831330e-02 -2.36806549e-03 9.98777101e-01 1.99137982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.40509989299994 meters 0.02834451813961668 Centerline is valid? [True, True] Translation: X:477.46, Y:36.79, Z:19.92 [[ 9.86541676e-01 -1.55874953e-01 -4.93813895e-02 4.77462747e+02] [ 1.55816132e-01 9.87773105e-01 -5.06220112e-03 3.67861321e+01] [ 4.95666788e-02 -2.70034470e-03 9.98767166e-01 1.99173923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.46509989299994 meters 0.02781066805184176 Centerline is valid? [True, True] Translation: X:477.52, Y:36.80, Z:19.92 [[ 9.85707986e-01 -1.60981223e-01 -4.96468792e-02 4.77522084e+02] [ 1.60928214e-01 9.86952992e-01 -5.08940753e-03 3.67956616e+01] [ 4.98184350e-02 -2.97291397e-03 9.98753866e-01 1.99225003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.52509989299995 meters 0.028200509026805903 Centerline is valid? [True, True] Translation: X:477.58, Y:36.80, Z:19.93 [[ 9.85631858e-01 -1.61322423e-01 -5.00491315e-02 4.77581378e+02] [ 1.61268973e-01 9.86897153e-01 -5.13100712e-03 3.68046310e+01] [ 5.02210919e-02 -3.01408798e-03 9.98733577e-01 1.99255868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.58509989299995 meters 0.027229198986078115 Centerline is valid? [True, True] Translation: X:477.64, Y:36.82, Z:19.93 [[ 9.86278278e-01 -1.57010824e-01 -5.10172387e-02 4.77640226e+02] [ 1.56949457e-01 9.87592778e-01 -5.23186775e-03 3.68179726e+01] [ 5.12057163e-02 -2.84705039e-03 9.98684069e-01 1.99283363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.64509989299995 meters 0.02533884749188822 Centerline is valid? [True, True] Translation: X:477.70, Y:36.83, Z:19.93 [[ 9.86945777e-01 -1.52628028e-01 -5.14073798e-02 4.77699394e+02] [ 1.52559776e-01 9.88280182e-01 -5.27218644e-03 3.68315712e+01] [ 5.16095781e-02 -2.63933618e-03 9.98663850e-01 1.99315398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.70509989299995 meters 0.02495029239497172 Centerline is valid? [True, True] Translation: X:477.76, Y:36.84, Z:19.93 [[ 9.87670025e-01 -1.47850812e-01 -5.14592868e-02 4.77757553e+02] [ 1.47775915e-01 9.89006784e-01 -5.27824283e-03 3.68430670e+01] [ 5.16739763e-02 -2.39128097e-03 9.98661145e-01 1.99342527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.76509989299996 meters 0.02264488243551316 Centerline is valid? [True, True] Translation: X:477.82, Y:36.86, Z:19.94 [[ 9.88653473e-01 -1.41660965e-01 -4.99648023e-02 4.77816625e+02] [ 1.41582410e-01 9.89913201e-01 -5.12597844e-03 3.68603781e+01] [ 5.01869684e-02 -2.00632072e-03 9.98737825e-01 1.99384917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.82509989299996 meters 0.021938181808910658 Centerline is valid? [True, True] Translation: X:477.88, Y:36.87, Z:19.94 [[ 9.89149382e-01 -1.38477788e-01 -4.90652837e-02 4.77876061e+02] [ 1.38398113e-01 9.90363883e-01 -5.03394682e-03 3.68712143e+01] [ 4.92895747e-02 -1.81121729e-03 9.98782888e-01 1.99411009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.88509989299996 meters 0.018896478499258497 Centerline is valid? [True, True] Translation: X:477.94, Y:36.89, Z:19.94 [[ 9.89431034e-01 -1.36733006e-01 -4.82733245e-02 4.77935697e+02] [ 1.36653786e-01 9.90606485e-01 -4.95316960e-03 3.68873845e+01] [ 4.84971301e-02 -1.69591281e-03 9.98821882e-01 1.99438028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.94509989299996 meters 0.019802661367375848 Centerline is valid? [True, True] Translation: X:478.00, Y:36.89, Z:19.95 [[ 9.89561646e-01 -1.35696133e-01 -4.85212145e-02 4.77996101e+02] [ 1.35614941e-01 9.90749120e-01 -4.97679550e-03 3.68948924e+01] [ 4.87476825e-02 -1.65535571e-03 9.98809753e-01 1.99455338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.00509989299997 meters 0.018742776731003743 Centerline is valid? [True, True] Translation: X:478.06, Y:36.91, Z:19.95 [[ 9.89718284e-01 -1.34498029e-01 -4.86620787e-02 4.78057317e+02] [ 1.34415019e-01 9.90912565e-01 -4.98920628e-03 3.69058375e+01] [ 4.88909036e-02 -1.60300554e-03 9.98802838e-01 1.99479869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.06509989299997 meters 0.017893895106107543 Centerline is valid? [True, True] Translation: X:478.12, Y:36.92, Z:19.95 [[ 9.90135243e-01 -1.31791258e-01 -4.75737954e-02 4.78118316e+02] [ 1.31708957e-01 9.91276446e-01 -4.87430189e-03 3.69165565e+01] [ 4.78011732e-02 -1.43967690e-03 9.98855833e-01 1.99505166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.12509989299997 meters 0.016732814128003624 Centerline is valid? [True, True] Translation: X:478.18, Y:36.93, Z:19.95 [[ 9.90674240e-01 -1.28007345e-01 -4.66762184e-02 4.78179154e+02] [ 1.27924041e-01 9.91772450e-01 -4.77988252e-03 3.69264510e+01] [ 4.69040476e-02 -1.23570398e-03 9.98898635e-01 1.99535490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.185099893 meters 0.016185352608158208 Centerline is valid? [True, True] Translation: X:478.24, Y:36.94, Z:19.96 [[ 9.91239388e-01 -1.23701058e-01 -4.62874005e-02 4.78238819e+02] [ 1.23614519e-01 9.92319000e-01 -4.73843115e-03 3.69352533e+01] [ 4.65180160e-02 -1.02487517e-03 9.98916925e-01 1.99559068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.245099893 meters 0.015084450500682724 Centerline is valid? [True, True] Translation: X:478.30, Y:36.94, Z:19.96 [[ 9.91789289e-01 -1.19253430e-01 -4.61803595e-02 4.78299789e+02] [ 1.19162515e-01 9.92863513e-01 -4.72653901e-03 3.69447175e+01] [ 4.64144500e-02 -8.15237019e-04 9.98921936e-01 1.99577754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.305099893 meters 0.014755541041725447 Centerline is valid? [True, True] Translation: X:478.36, Y:36.95, Z:19.96 [[ 9.92146868e-01 -1.16487185e-01 -4.55557682e-02 4.78361532e+02] [ 1.16395881e-01 9.93191963e-01 -4.66081445e-03 3.69514545e+01] [ 4.57885480e-02 -6.78291306e-04 9.98950924e-01 1.99602020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.3650998929999 meters 0.014810860839268811 Centerline is valid? [True, True] Translation: X:478.42, Y:36.96, Z:19.96 [[ 9.92197677e-01 -1.16275115e-01 -4.49874196e-02 4.78423854e+02] [ 1.16186004e-01 9.93216823e-01 -4.59943665e-03 3.69556987e+01] [ 4.52170620e-02 -6.63358181e-04 9.98976965e-01 1.99624286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.4250998929999 meters 0.015260402126848547 Centerline is valid? [True, True] Translation: X:478.49, Y:36.96, Z:19.96 [[ 9.91812235e-01 -1.19287239e-01 -4.55965403e-02 4.78485217e+02] [ 1.19199024e-01 9.92859452e-01 -4.65851729e-03 3.69590315e+01] [ 4.58266576e-02 -8.14688652e-04 9.98949075e-01 1.99646880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.4850998929999 meters 0.017368830793011988 Centerline is valid? [True, True] Translation: X:478.55, Y:36.96, Z:19.97 [[ 9.90910358e-01 -1.26337919e-01 -4.62102973e-02 4.78545719e+02] [ 1.26255049e-01 9.91986587e-01 -4.71941665e-03 3.69572882e+01] [ 4.64362364e-02 -1.15776451e-03 9.98920585e-01 1.99653573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.54509989299993 meters 0.018314675117422213 Centerline is valid? [True, True] Translation: X:478.61, Y:36.96, Z:19.97 [[ 9.90310631e-01 -1.31209248e-01 -4.54861336e-02 4.78607054e+02] [ 1.31134206e-01 9.91353754e-01 -4.64278331e-03 3.69589226e+01] [ 4.57020253e-02 -1.36699035e-03 9.98954181e-01 1.99667260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.60509989299993 meters 0.02012720646731827 Centerline is valid? [True, True] Translation: X:478.67, Y:36.96, Z:19.97 [[ 9.89766326e-01 -1.35421078e-01 -4.49861196e-02 4.78667908e+02] [ 1.35352088e-01 9.90786931e-01 -4.59019576e-03 3.69599662e+01] [ 4.51932687e-02 -1.54574402e-03 9.98977066e-01 1.99687746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.66509989299993 meters 0.022306141676393637 Centerline is valid? [True, True] Translation: X:478.73, Y:36.96, Z:19.97 [[ 9.89036534e-01 -1.41005672e-01 -4.38649724e-02 4.78729244e+02] [ 1.40945590e-01 9.90007230e-01 -4.47503492e-03 3.69608353e+01] [ 4.40576451e-02 -1.75660138e-03 9.99027446e-01 1.99708433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.72509989299994 meters 0.027211837573730278 Centerline is valid? [True, True] Translation: X:478.79, Y:36.96, Z:19.97 [[ 9.88168351e-01 -1.47539625e-01 -4.18971274e-02 4.78789490e+02] [ 1.47490695e-01 9.89054211e-01 -4.27356791e-03 3.69580710e+01] [ 4.20690508e-02 -1.95643188e-03 9.99112790e-01 1.99728848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.78509989299994 meters 0.0261804890080419 Centerline is valid? [True, True] Translation: X:478.85, Y:36.96, Z:19.98 [[ 9.87508173e-01 -1.52093463e-01 -4.11726419e-02 4.78849916e+02] [ 1.52050174e-01 9.88363856e-01 -4.19919530e-03 3.69645290e+01] [ 4.13322213e-02 -2.11356770e-03 9.99143223e-01 1.99751345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.84509989299994 meters 0.028186464077341926 Centerline is valid? [True, True] Translation: X:478.91, Y:36.97, Z:19.98 [[ 9.86937161e-01 -1.55952495e-01 -4.04210250e-02 4.78911063e+02] [ 1.55914024e-01 9.87762030e-01 -4.12184205e-03 3.69677778e+01] [ 4.05691652e-02 -2.23420558e-03 9.99174235e-01 1.99771497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.90509989299994 meters 0.027876257779488038 Centerline is valid? [True, True] Translation: X:478.97, Y:36.98, Z:19.98 [[ 9.86473204e-01 -1.58681591e-01 -4.11189892e-02 4.78971710e+02] [ 1.58644173e-01 9.87326922e-01 -4.19226430e-03 3.69752286e+01] [ 4.12631202e-02 -2.38773162e-03 9.99145462e-01 1.99782031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.96509989299994 meters 0.02930808783123189 Centerline is valid? [True, True] Translation: X:479.03, Y:36.98, Z:19.98 [[ 9.86613332e-01 -1.57757354e-01 -4.13128331e-02 4.79032587e+02] [ 1.57718806e-01 9.87475085e-01 -4.21128307e-03 3.69803304e+01] [ 4.14597543e-02 -2.36090269e-03 9.99137385e-01 1.99798434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.02509989299995 meters 0.028249088156135957 Centerline is valid? [True, True] Translation: X:479.09, Y:36.99, Z:19.98 [[ 9.87391991e-01 -1.52776093e-01 -4.14309326e-02 4.79091952e+02] [ 1.52733045e-01 9.88258468e-01 -4.22104072e-03 3.69928273e+01] [ 4.15893441e-02 -2.16005070e-03 9.99132454e-01 1.99821661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.08509989299995 meters 0.02546957120342433 Centerline is valid? [True, True] Translation: X:479.15, Y:37.01, Z:19.99 [[ 9.88377297e-01 -1.46304191e-01 -4.12965308e-02 4.79151621e+02] [ 1.46255787e-01 9.89237860e-01 -4.20725155e-03 3.70076563e+01] [ 4.14676302e-02 -1.88150471e-03 9.99138076e-01 1.99852675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.14509989299995 meters 0.020030631467424245 Centerline is valid? [True, True] Translation: X:479.21, Y:37.03, Z:19.99 [[ 9.89627267e-01 -1.38043084e-01 -3.97741006e-02 4.79210864e+02] [ 1.37991545e-01 9.90425121e-01 -4.05143508e-03 3.70269287e+01] [ 3.99525410e-02 -1.47907897e-03 9.99200484e-01 1.99888072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.20509989299995 meters 0.017472682760290945 Centerline is valid? [True, True] Translation: X:479.27, Y:37.04, Z:19.99 [[ 9.91361392e-01 -1.25649920e-01 -3.76123531e-02 4.79268415e+02] [ 1.25594914e-01 9.92074211e-01 -3.83107891e-03 3.70448092e+01] [ 3.77956203e-02 -9.25936550e-04 9.99285061e-01 1.99926022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.26509989299996 meters 0.015839077220095754 Centerline is valid? [True, True] Translation: X:479.33, Y:37.06, Z:20.00 [[ 9.92180044e-01 -1.19259769e-01 -3.68221154e-02 4.79328694e+02] [ 1.19202614e-01 9.92862862e-01 -3.75156994e-03 3.70588147e+01] [ 3.70067222e-02 -6.67059576e-04 9.99314794e-01 1.99952773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.32509989299996 meters 0.015302345065322093 Centerline is valid? [True, True] Translation: X:479.39, Y:37.07, Z:20.00 [[ 9.92785309e-01 -1.14193471e-01 -3.65674859e-02 4.79388793e+02] [ 1.14133713e-01 9.93458416e-01 -3.72436735e-03 3.70702195e+01] [ 3.67535751e-02 -4.76085762e-04 9.99324246e-01 1.99972507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.38509989299996 meters 0.015102684131309442 Centerline is valid? [True, True] Translation: X:479.45, Y:37.08, Z:20.00 [[ 9.92870161e-01 -1.13240907e-01 -3.72201530e-02 4.79450225e+02] [ 1.13178403e-01 9.93567458e-01 -3.78884427e-03 3.70785414e+01] [ 3.74097850e-02 -4.50687049e-04 9.99299907e-01 1.99988072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.44509989299996 meters 0.015356432782300505 Centerline is valid? [True, True] Translation: X:479.51, Y:37.09, Z:20.00 [[ 9.92910823e-01 -1.12551400e-01 -3.82135969e-02 4.79511474e+02] [ 1.12485114e-01 9.93645807e-01 -3.88708789e-03 3.70855564e+01] [ 3.84082775e-02 -4.38929175e-04 9.99262033e-01 2.00012813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.50509989299997 meters 0.01505129988750456 Centerline is valid? [True, True] Translation: X:479.57, Y:37.09, Z:20.00 [[ 9.93012975e-01 -1.11434368e-01 -3.88280041e-02 4.79572888e+02] [ 1.11365190e-01 9.93771713e-01 -3.94674506e-03 3.70942049e+01] [ 3.90259751e-02 -4.04918982e-04 9.99238114e-01 2.00025246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.56509989299997 meters 0.014943609873159342 Centerline is valid? [True, True] Translation: X:479.63, Y:37.10, Z:20.00 [[ 9.93120042e-01 -1.10295150e-01 -3.93390536e-02 4.79633224e+02] [ 1.10223363e-01 9.93898810e-01 -3.99572077e-03 3.71007881e+01] [ 3.95397472e-02 -3.67852402e-04 9.99217931e-01 2.00041956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.62509989299997 meters 0.014811585558560957 Centerline is valid? [True, True] Translation: X:479.70, Y:37.11, Z:20.01 [[ 9.93259521e-01 -1.08995800e-01 -3.94390622e-02 4.79695006e+02] [ 1.08922707e-01 9.94042159e-01 -4.00377269e-03 3.71074924e+01] [ 3.96404850e-02 -3.19024077e-04 9.99213956e-01 2.00054835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.685099893 meters 0.01480990737389257 Centerline is valid? [True, True] Translation: X:479.76, Y:37.11, Z:20.01 [[ 9.93298097e-01 -1.08863179e-01 -3.88290831e-02 4.79757150e+02] [ 1.08792334e-01 9.94056694e-01 -3.93915370e-03 3.71131603e+01] [ 3.90271388e-02 -3.11552708e-04 9.99238102e-01 2.00078636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.745099893 meters 0.014855617445696837 Centerline is valid? [True, True] Translation: X:479.82, Y:37.12, Z:20.01 [[ 9.93122628e-01 -1.10723835e-01 -3.80483609e-02 4.79819052e+02] [ 1.10657275e-01 9.93851140e-01 -3.85733962e-03 3.71171048e+01] [ 3.82415063e-02 -3.79516680e-04 9.99268454e-01 2.00105219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.805099893 meters 0.015364100672249472 Centerline is valid? [True, True] Translation: X:479.88, Y:37.12, Z:20.01 [[ 9.92783896e-01 -1.13877840e-01 -3.75762286e-02 4.79881180e+02] [ 1.13815281e-01 9.93494635e-01 -3.80678966e-03 3.71194307e+01] [ 3.77652905e-02 -4.97429543e-04 9.99286513e-01 2.00130422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.8650998929999 meters 0.016086201355361297 Centerline is valid? [True, True] Translation: X:479.94, Y:37.12, Z:20.01 [[ 9.92208866e-01 -1.18660865e-01 -3.79626769e-02 4.79943501e+02] [ 1.18600614e-01 9.92934602e-01 -3.84318510e-03 3.71204209e+01] [ 3.81504911e-02 -6.89154462e-04 9.99271767e-01 2.00146006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.9250998929999 meters 0.01752788717659969 Centerline is valid? [True, True] Translation: X:480.01, Y:37.12, Z:20.02 [[ 9.91143997e-01 -1.27010486e-01 -3.87545342e-02 4.80005481e+02] [ 1.26954181e-01 9.91900835e-01 -3.92037550e-03 3.71194876e+01] [ 3.89385836e-02 -1.03439352e-03 9.99241070e-01 2.00157147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.9850998929999 meters 0.02074409629240535 Centerline is valid? [True, True] Translation: X:480.07, Y:37.12, Z:20.02 [[ 9.90501201e-01 -1.31762049e-01 -3.93208985e-02 4.80065719e+02] [ 1.31707885e-01 9.91280598e-01 -3.97610834e-03 3.71174399e+01] [ 3.95019439e-02 -1.24053229e-03 9.99218724e-01 2.00175943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.04509989299993 meters 0.023081534602500647 Centerline is valid? [True, True] Translation: X:480.13, Y:37.12, Z:20.02 [[ 9.89746650e-01 -1.37405021e-01 -3.90055074e-02 4.80127303e+02] [ 1.37356092e-01 9.90513880e-01 -3.94426428e-03 3.71168854e+01] [ 3.91774582e-02 -1.45382173e-03 9.99231211e-01 2.00195950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.10509989299993 meters 0.0216635426824125 Centerline is valid? [True, True] Translation: X:480.19, Y:37.12, Z:20.02 [[ 9.89545896e-01 -1.38741262e-01 -3.93672638e-02 4.80188578e+02] [ 1.38692500e-01 9.90327495e-01 -3.98024759e-03 3.71244316e+01] [ 3.95387083e-02 -1.52130658e-03 9.99216881e-01 2.00213220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.16509989299993 meters 0.02147581879309992 Centerline is valid? [True, True] Translation: X:480.25, Y:37.13, Z:20.02 [[ 9.89308411e-01 -1.40506599e-01 -3.90738347e-02 4.80250418e+02] [ 1.40460016e-01 9.90078478e-01 -3.94852428e-03 3.71300741e+01] [ 3.92409565e-02 -1.58200319e-03 9.99228525e-01 2.00234069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.22509989299994 meters 0.02296794794341185 Centerline is valid? [True, True] Translation: X:480.31, Y:37.13, Z:20.03 [[ 9.89185543e-01 -1.41418390e-01 -3.88947330e-02 4.80311162e+02] [ 1.41373045e-01 9.89948603e-01 -3.92766848e-03 3.71336021e+01] [ 3.90592311e-02 -1.61347395e-03 9.99235594e-01 2.00259206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.28509989299994 meters 0.023402807384150865 Centerline is valid? [True, True] Translation: X:480.37, Y:37.14, Z:20.03 [[ 9.89285135e-01 -1.40523118e-01 -3.96001839e-02 4.80372319e+02] [ 1.40475570e-01 9.90076087e-01 -3.99456808e-03 3.71388787e+01] [ 3.97685243e-02 -1.61109158e-03 9.99207620e-01 2.00276824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.34509989299994 meters 0.02230180820115133 Centerline is valid? [True, True] Translation: X:480.43, Y:37.15, Z:20.03 [[ 9.89553821e-01 -1.38188203e-01 -4.10762259e-02 4.80433180e+02] [ 1.38135250e-01 9.90404729e-01 -4.13828547e-03 3.71483867e+01] [ 4.12539506e-02 -1.57901856e-03 9.99147446e-01 2.00294589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.40509989299994 meters 0.02124279478772759 Centerline is valid? [True, True] Translation: X:480.49, Y:37.16, Z:20.03 [[ 9.89816967e-01 -1.36155135e-01 -4.15228918e-02 4.80494570e+02] [ 1.36099301e-01 9.90686375e-01 -4.18179288e-03 3.71581566e+01] [ 4.17055358e-02 -1.51202699e-03 9.99128802e-01 2.00318106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.46509989299994 meters 0.02088027078547335 Centerline is valid? [True, True] Translation: X:480.56, Y:37.17, Z:20.03 [[ 9.90096038e-01 -1.34060760e-01 -4.16839096e-02 4.80556212e+02] [ 1.34002764e-01 9.90972079e-01 -4.19500056e-03 3.71663399e+01] [ 4.18699755e-02 -1.43230567e-03 9.99122041e-01 2.00343025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.52509989299995 meters 0.0202114244411336 Centerline is valid? [True, True] Translation: X:480.62, Y:37.18, Z:20.04 [[ 9.90439245e-01 -1.31230736e-01 -4.25275942e-02 4.80616910e+02] [ 1.31167894e-01 9.91350943e-01 -4.27684521e-03 3.71755119e+01] [ 4.27210241e-02 -1.34229965e-03 9.99086139e-01 2.00359556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.58509989299995 meters 0.018470091062159636 Centerline is valid? [True, True] Translation: X:480.68, Y:37.19, Z:20.04 [[ 9.90747778e-01 -1.28937149e-01 -4.23562469e-02 4.80678782e+02] [ 1.28872784e-01 9.91651993e-01 -4.25809027e-03 3.71870828e+01] [ 4.25516827e-02 -1.23987398e-03 9.99093498e-01 2.00386706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.64509989299995 meters 0.017046876899346336 Centerline is valid? [True, True] Translation: X:480.74, Y:37.20, Z:20.04 [[ 9.91200369e-01 -1.25036693e-01 -4.34471390e-02 4.80739024e+02] [ 1.24965397e-01 9.92151504e-01 -4.36380019e-03 3.71997336e+01] [ 4.36517795e-02 -1.10398863e-03 9.99046197e-01 2.00413619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.70509989299995 meters 0.01668708851641766 Centerline is valid? [True, True] Translation: X:480.80, Y:37.21, Z:20.04 [[ 9.91600999e-01 -1.21843091e-01 -4.33787923e-02 4.80799983e+02] [ 1.21769039e-01 9.92548907e-01 -4.35527172e-03 3.72082307e+01] [ 4.35862327e-02 -9.63502050e-04 9.99049204e-01 2.00442136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.76509989299996 meters 0.01602540011684005 Centerline is valid? [True, True] Translation: X:480.86, Y:37.22, Z:20.05 [[ 9.91753107e-01 -1.20382278e-01 -4.39759160e-02 4.80861911e+02] [ 1.20304883e-01 9.92727188e-01 -4.41194218e-03 3.72181839e+01] [ 4.41872071e-02 -9.14960060e-04 9.99022849e-01 2.00474159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.82509989299996 meters 0.016624350136920207 Centerline is valid? [True, True] Translation: X:480.92, Y:37.23, Z:20.05 [[ 9.91580646e-01 -1.21784777e-01 -4.40033107e-02 4.80923496e+02] [ 1.21708843e-01 9.92556046e-01 -4.41065916e-03 3.72259743e+01] [ 4.42129032e-02 -9.82067781e-04 9.99021649e-01 2.00508813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.88509989299996 meters 0.018388734612063178 Centerline is valid? [True, True] Translation: X:480.98, Y:37.23, Z:20.05 [[ 9.90934543e-01 -1.26257609e-01 -4.59102042e-02 4.80983405e+02] [ 1.26179906e-01 9.91996718e-01 -4.59824469e-03 3.72295065e+01] [ 4.61233352e-02 -1.23638573e-03 9.98934988e-01 2.00529783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.94509989299996 meters 0.018764109714841642 Centerline is valid? [True, True] Translation: X:481.05, Y:37.24, Z:20.06 [[ 9.90573865e-01 -1.28866717e-01 -4.64412166e-02 4.81045023e+02] [ 1.28790261e-01 9.91660966e-01 -4.64730685e-03 3.72364535e+01] [ 4.66528249e-02 -1.37767567e-03 9.98910214e-01 2.00558477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.00509989299997 meters 0.019935171454088504 Centerline is valid? [True, True] Translation: X:481.11, Y:37.24, Z:20.06 [[ 9.90247832e-01 -1.30969196e-01 -4.75005385e-02 4.81105977e+02] [ 1.30891787e-01 9.91385282e-01 -4.74993202e-03 3.72424264e+01] [ 4.77134295e-02 -1.51382050e-03 9.98859919e-01 2.00594074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.06509989299997 meters 0.02009799948689232 Centerline is valid? [True, True] Translation: X:481.17, Y:37.25, Z:20.06 [[ 9.89814028e-01 -1.33913359e-01 -4.83259920e-02 4.81166998e+02] [ 1.33836865e-01 9.90991607e-01 -4.82985595e-03 3.72513035e+01] [ 4.85374347e-02 -1.68714010e-03 9.98819939e-01 2.00631940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.12509989299997 meters 0.021778751665488028 Centerline is valid? [True, True] Translation: X:481.23, Y:37.26, Z:20.07 [[ 9.89430334e-01 -1.36169056e-01 -4.98558078e-02 4.81227871e+02] [ 1.36090657e-01 9.90683873e-01 -4.97964669e-03 3.72560866e+01] [ 5.00694186e-02 -1.85789613e-03 9.98744012e-01 2.00651336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.185099893 meters 0.023046324550384967 Centerline is valid? [True, True] Translation: X:481.29, Y:37.26, Z:20.07 [[ 9.88880557e-01 -1.39941733e-01 -5.03145650e-02 4.81288953e+02] [ 1.39866972e-01 9.90157572e-01 -5.02117020e-03 3.72617967e+01] [ 5.05220188e-02 -2.07200826e-03 9.98720798e-01 2.00673552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.245099893 meters 0.020926747638664544 Centerline is valid? [True, True] Translation: X:481.35, Y:37.27, Z:20.07 [[ 9.88590991e-01 -1.41617322e-01 -5.13067911e-02 4.81349908e+02] [ 1.41541948e-01 9.89919029e-01 -5.11798557e-03 3.72731745e+01] [ 5.15143642e-02 -2.20246873e-03 9.98669825e-01 2.00711282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.305099893 meters 0.021984122562549377 Centerline is valid? [True, True] Translation: X:481.41, Y:37.28, Z:20.07 [[ 9.88515780e-01 -1.41687488e-01 -5.25472044e-02 4.81410563e+02] [ 1.41608725e-01 9.89908851e-01 -5.23794272e-03 3.72801346e+01] [ 5.27590937e-02 -2.26335356e-03 9.98604704e-01 2.00729076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.3650998929999 meters 0.02296316127016795 Centerline is valid? [True, True] Translation: X:481.47, Y:37.29, Z:20.07 [[ 9.88776926e-01 -1.39525670e-01 -5.34113992e-02 4.81470335e+02] [ 1.39441286e-01 9.90216042e-01 -5.32153989e-03 3.72886800e+01] [ 5.36313157e-02 -2.18593832e-03 9.98558413e-01 2.00742585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.4250998929999 meters 0.020699046184552972 Centerline is valid? [True, True] Translation: X:481.53, Y:37.30, Z:20.08 [[ 9.88997683e-01 -1.37892839e-01 -5.35644266e-02 4.81531885e+02] [ 1.37805667e-01 9.90444917e-01 -5.33518438e-03 3.73002507e+01] [ 5.37882978e-02 -2.10499656e-03 9.98550143e-01 2.00779698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.4850998929999 meters 0.01953206276748807 Centerline is valid? [True, True] Translation: X:481.59, Y:37.31, Z:20.08 [[ 9.89348627e-01 -1.35642649e-01 -5.28239070e-02 4.81592169e+02] [ 1.35554849e-01 9.90755891e-01 -5.25803398e-03 3.73103160e+01] [ 5.30488107e-02 -1.95850803e-03 9.98590000e-01 2.00814352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.54509989299993 meters 0.018509002549343477 Centerline is valid? [True, True] Translation: X:481.65, Y:37.32, Z:20.08 [[ 9.90227016e-01 -1.29001025e-01 -5.30018085e-02 4.81650697e+02] [ 1.28903200e-01 9.91643154e-01 -5.27440266e-03 3.73219078e+01] [ 5.32392839e-02 -1.60924669e-03 9.98580487e-01 2.00833668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.60509989299993 meters 0.01629724124931289 Centerline is valid? [True, True] Translation: X:481.71, Y:37.34, Z:20.09 [[ 9.91051111e-01 -1.22507959e-01 -5.30046833e-02 4.81710846e+02] [ 1.22400812e-01 9.92466731e-01 -5.27523874e-03 3.73350906e+01] [ 5.32516436e-02 -1.25978508e-03 9.98580330e-01 2.00869154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.66509989299993 meters 0.013833254668209083 Centerline is valid? [True, True] Translation: X:481.77, Y:37.35, Z:20.09 [[ 9.92323716e-01 -1.11734935e-01 -5.29995060e-02 4.81770643e+02] [ 1.11612492e-01 9.93737812e-01 -5.27377438e-03 3.73504898e+01] [ 5.32568780e-02 -6.82115541e-04 9.98580612e-01 2.00912432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.72509989299994 meters 0.013194059687274553 Centerline is valid? [True, True] Translation: X:481.83, Y:37.36, Z:20.09 [[ 9.92997085e-01 -1.05983006e-01 -5.21957088e-02 4.81830833e+02] [ 1.05856365e-01 9.94367873e-01 -5.19266925e-03 3.73602703e+01] [ 5.24520706e-02 -3.68942552e-04 9.98623375e-01 2.00948750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.78509989299994 meters 0.01305467250463534 Centerline is valid? [True, True] Translation: X:481.89, Y:37.37, Z:20.10 [[ 9.93306700e-01 -1.02888322e-01 -5.24956383e-02 4.81892781e+02] [ 1.02756020e-01 9.94692892e-01 -5.22022098e-03 3.73679494e+01] [ 5.27541380e-02 -2.08962390e-04 9.98607509e-01 2.00970404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.84509989299994 meters 0.012947056224944799 Centerline is valid? [True, True] Translation: X:481.96, Y:37.37, Z:20.10 [[ 9.93230958e-01 -1.03313466e-01 -5.30904068e-02 4.81955169e+02] [ 1.03178961e-01 9.94648818e-01 -5.27551546e-03 3.73719845e+01] [ 5.33513422e-02 -2.38007723e-04 9.98575775e-01 2.00989893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.90509989299994 meters 0.013343245779593286 Centerline is valid? [True, True] Translation: X:482.02, Y:37.37, Z:20.10 [[ 9.92619164e-01 -1.09039695e-01 -5.30805095e-02 4.82016840e+02] [ 1.08913600e-01 9.94037245e-01 -5.27106267e-03 3.73715753e+01] [ 5.33387585e-02 -5.49031582e-04 9.98576324e-01 2.01006829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.96509989299994 meters 0.014091240704843815 Centerline is valid? [True, True] Translation: X:482.08, Y:37.37, Z:20.10 [[ 9.92052821e-01 -1.14569748e-01 -5.20093548e-02 4.82078356e+02] [ 1.14456379e-01 9.93414859e-01 -5.16285283e-03 3.73725284e+01] [ 5.22583726e-02 -8.30979716e-04 9.98633252e-01 2.01034294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.02509989299995 meters 0.014416853091859753 Centerline is valid? [True, True] Translation: X:482.14, Y:37.38, Z:20.11 [[ 9.91747274e-01 -1.17535444e-01 -5.12129325e-02 4.82140262e+02] [ 1.17429582e-01 9.93068210e-01 -5.08162846e-03 3.73764757e+01] [ 5.14552066e-02 -9.74222073e-04 9.98674828e-01 2.01064408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.08509989299995 meters 0.01596232474107442 Centerline is valid? [True, True] Translation: X:482.20, Y:37.38, Z:20.11 [[ 9.90971857e-01 -1.24048201e-01 -5.08608138e-02 4.82201938e+02] [ 1.23952524e-01 9.92275333e-01 -5.04331382e-03 3.73763384e+01] [ 5.10935450e-02 -1.30654420e-03 9.98693017e-01 2.01092813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.14509989299995 meters 0.018148993206333553 Centerline is valid? [True, True] Translation: X:482.26, Y:37.37, Z:20.11 [[ 9.89598491e-01 -1.34571425e-01 -5.08464139e-02 4.82263016e+02] [ 1.34489730e-01 9.90902169e-01 -5.04033872e-03 3.73739991e+01] [ 5.10621074e-02 -1.85040887e-03 9.98693765e-01 2.01116905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.20509989299995 meters 0.021180092401020898 Centerline is valid? [True, True] Translation: X:482.32, Y:37.37, Z:20.11 [[ 9.88299868e-01 -1.44350006e-01 -4.92589691e-02 4.82324773e+02] [ 1.44285451e-01 9.89524062e-01 -4.88260391e-03 3.73717744e+01] [ 4.94477391e-02 -2.28187577e-03 9.98774106e-01 2.01149771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.26509989299996 meters 0.023768246370925703 Centerline is valid? [True, True] Translation: X:482.39, Y:37.37, Z:20.12 [[ 9.87687006e-01 -1.48898834e-01 -4.79949561e-02 4.82385685e+02] [ 1.48842971e-01 9.88849408e-01 -4.75581268e-03 3.73723013e+01] [ 4.81679189e-02 -2.44645747e-03 9.98836256e-01 2.01182368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.32509989299996 meters 0.02372282312605672 Centerline is valid? [True, True] Translation: X:482.45, Y:37.38, Z:20.12 [[ 9.87255928e-01 -1.52235250e-01 -4.63698322e-02 4.82446477e+02] [ 1.52186809e-01 9.88341070e-01 -4.59395190e-03 3.73775417e+01] [ 4.65285710e-02 -2.52147055e-03 9.98913777e-01 2.01218760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.38509989299996 meters 0.025692893523588674 Centerline is valid? [True, True] Translation: X:482.51, Y:37.38, Z:20.12 [[ 9.86992209e-01 -1.54156824e-01 -4.56295177e-02 4.82507565e+02] [ 1.54112007e-01 9.88043047e-01 -4.51962262e-03 3.73799328e+01] [ 4.57806583e-02 -2.57122422e-03 9.98948207e-01 2.01246469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.44509989299996 meters 0.02815620192381346 Centerline is valid? [True, True] Translation: X:482.57, Y:37.38, Z:20.13 [[ 9.87006008e-01 -1.53898175e-01 -4.62005585e-02 4.82568679e+02] [ 1.53852068e-01 9.88083308e-01 -4.57358879e-03 3.73828004e+01] [ 4.63538676e-02 -2.59389186e-03 9.98921714e-01 2.01267177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.50509989299997 meters 0.024138924794323995 Centerline is valid? [True, True] Translation: X:482.63, Y:37.40, Z:20.13 [[ 9.87638324e-01 -1.49904721e-01 -4.58161054e-02 4.82628113e+02] [ 1.49855197e-01 9.88697562e-01 -4.53326388e-03 3.73953772e+01] [ 4.59778294e-02 -2.38855635e-03 9.98939605e-01 2.01287809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.56509989299997 meters 0.024214062162792916 Centerline is valid? [True, True] Translation: X:482.69, Y:37.40, Z:20.13 [[ 9.88093794e-01 -1.46607913e-01 -4.66559135e-02 4.82687430e+02] [ 1.46552893e-01 9.89192064e-01 -4.61635849e-03 3.74032914e+01] [ 4.68284541e-02 -2.27616391e-03 9.98900353e-01 2.01303864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.62509989299997 meters 0.021504066839277986 Centerline is valid? [True, True] Translation: X:482.75, Y:37.41, Z:20.13 [[ 9.88621962e-01 -1.42898066e-01 -4.69761591e-02 4.82747012e+02] [ 1.42838110e-01 9.89735152e-01 -4.64804511e-03 3.74148181e+01] [ 4.71581526e-02 -2.11482628e-03 9.98885197e-01 2.01321356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.685099893 meters 0.019796665076078166 Centerline is valid? [True, True] Translation: X:482.81, Y:37.43, Z:20.13 [[ 9.89590437e-01 -1.36010047e-01 -4.70322586e-02 4.82806498e+02] [ 1.35942178e-01 9.90705843e-01 -4.65358657e-03 3.74261241e+01] [ 4.72280680e-02 -1.78852291e-03 9.98882531e-01 2.01335962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.745099893 meters 0.01821207596283366 Centerline is valid? [True, True] Translation: X:482.87, Y:37.44, Z:20.14 [[ 9.90423857e-01 -1.30481761e-01 -4.51120193e-02 4.82866709e+02] [ 1.30413597e-01 9.91449631e-01 -4.46345900e-03 3.74364124e+01] [ 4.53086949e-02 -1.46250444e-03 9.98971963e-01 2.01370457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.805099893 meters 0.015258324124633729 Centerline is valid? [True, True] Translation: X:482.93, Y:37.45, Z:20.14 [[ 9.91734975e-01 -1.20814101e-01 -4.31936668e-02 4.82926159e+02] [ 1.20742473e-01 9.92674668e-01 -4.27293646e-03 3.74513786e+01] [ 4.33934898e-02 -9.77689634e-04 9.99057581e-01 2.01404423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.8650998929999 meters 0.01385134708665636 Centerline is valid? [True, True] Translation: X:482.99, Y:37.46, Z:20.14 [[ 9.92529606e-01 -1.14528037e-01 -4.20512860e-02 4.82987148e+02] [ 1.14454513e-01 9.93419781e-01 -4.15980086e-03 3.74633575e+01] [ 4.22509931e-02 -6.84233934e-04 9.99106794e-01 2.01426257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.9250998929999 meters 0.01300797822097767 Centerline is valid? [True, True] Translation: X:483.05, Y:37.47, Z:20.14 [[ 9.93064796e-01 -1.09571211e-01 -4.26199483e-02 4.83048140e+02] [ 1.09491218e-01 9.93978831e-01 -4.21375682e-03 3.74745907e+01] [ 4.28250328e-02 -4.81976495e-04 9.99082471e-01 2.01445205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.9850998929999 meters 0.012184491820079135 Centerline is valid? [True, True] Translation: X:483.11, Y:37.49, Z:20.15 [[ 9.93680030e-01 -1.03581383e-01 -4.32538391e-02 4.83109327e+02] [ 1.03493450e-01 9.94620955e-01 -4.27337861e-03 3.74865736e+01] [ 4.34638172e-02 -2.30118036e-04 9.99054975e-01 2.01454344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.04509989299993 meters 0.011977397695013822 Centerline is valid? [True, True] Translation: X:483.17, Y:37.50, Z:20.15 [[ 9.94338134e-01 -9.75416804e-02 -4.21579921e-02 4.83171196e+02] [ 9.74528434e-02 9.95231440e-01 -4.16216667e-03 3.74975137e+01] [ 4.23629440e-02 3.01848305e-05 9.99102287e-01 2.01477047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.10509989299993 meters 0.01213281923451689 Centerline is valid? [True, True] Translation: X:483.23, Y:37.51, Z:20.15 [[ 9.94632368e-01 -9.46196524e-02 -4.18756987e-02 4.83232034e+02] [ 9.45295723e-02 9.95513485e-01 -4.13050095e-03 3.75062430e+01] [ 4.20786493e-02 1.49838057e-04 9.99114290e-01 2.01498051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.16509989299993 meters 0.012147266719965391 Centerline is valid? [True, True] Translation: X:483.29, Y:37.51, Z:20.15 [[ 9.94788911e-01 -9.31311037e-02 -4.14924199e-02 4.83293481e+02] [ 9.30414637e-02 9.95653832e-01 -4.09048350e-03 3.75122356e+01] [ 4.16930382e-02 2.08652141e-04 9.99130445e-01 2.01515665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.22509989299994 meters 0.012209524176054636 Centerline is valid? [True, True] Translation: X:483.36, Y:37.52, Z:20.15 [[ 9.94718418e-01 -9.40063469e-02 -4.12077093e-02 4.83355948e+02] [ 9.39188092e-02 9.95571584e-01 -4.05939536e-03 3.75170156e+01] [ 4.14068334e-02 1.67776340e-04 9.99142355e-01 2.01532642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.28509989299994 meters 0.012125625223596207 Centerline is valid? [True, True] Translation: X:483.42, Y:37.52, Z:20.15 [[ 9.94341364e-01 -9.77206778e-02 -4.16643852e-02 4.83418343e+02] [ 9.76345754e-02 9.95213881e-01 -4.10130083e-03 3.75193867e+01] [ 4.18657563e-02 1.02085131e-05 9.99123245e-01 2.01549106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.34509989299994 meters 0.012708846164051655 Centerline is valid? [True, True] Translation: X:483.48, Y:37.52, Z:20.16 [[ 9.93332425e-01 -1.07009698e-01 -4.28907636e-02 4.83480903e+02] [ 1.06927234e-01 9.94257898e-01 -4.21884086e-03 3.75171608e+01] [ 4.30959374e-02 -3.95479292e-04 9.99070860e-01 2.01560388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.40509989299994 meters 0.014149849760522533 Centerline is valid? [True, True] Translation: X:483.54, Y:37.52, Z:20.16 [[ 9.92446361e-01 -1.14578303e-01 -4.38409858e-02 4.83543458e+02] [ 1.14499659e-01 9.93413942e-01 -4.30908244e-03 3.75160193e+01] [ 4.40459738e-02 -7.43244716e-04 9.99029229e-01 2.01572656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.46509989299994 meters 0.015518716367689115 Centerline is valid? [True, True] Translation: X:483.60, Y:37.52, Z:20.16 [[ 9.91526260e-01 -1.21997186e-01 -4.46358905e-02 4.83604729e+02] [ 1.21923305e-01 9.92529842e-01 -4.38411769e-03 3.75161946e+01] [ 4.48373034e-02 -1.09518748e-03 9.98993702e-01 2.01589884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.52509989299995 meters 0.017380166869679664 Centerline is valid? [True, True] Translation: X:483.67, Y:37.52, Z:20.16 [[ 9.90398896e-01 -1.30752445e-01 -4.48756552e-02 4.83666169e+02] [ 1.30686772e-01 9.91413913e-01 -4.40682688e-03 3.75151455e+01] [ 4.50665523e-02 -1.50013803e-03 9.98982860e-01 2.01610439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.58509989299995 meters 0.020166642109777602 Centerline is valid? [True, True] Translation: X:483.73, Y:37.52, Z:20.16 [[ 9.89868602e-01 -1.34714811e-01 -4.48561006e-02 4.83726042e+02] [ 1.34653310e-01 9.90882987e-01 -4.40365831e-03 3.75159249e+01] [ 4.50403850e-02 -1.68097931e-03 9.98983753e-01 2.01637330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.64509989299995 meters 0.02132022480989993 Centerline is valid? [True, True] Translation: X:483.79, Y:37.52, Z:20.17 [[ 9.89181522e-01 -1.39725030e-01 -4.46859381e-02 4.83786788e+02] [ 1.39669261e-01 9.90188510e-01 -4.38318341e-03 3.75201352e+01] [ 4.48599429e-02 -1.90548794e-03 9.98991469e-01 2.01666527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.70509989299995 meters 0.02309222485889833 Centerline is valid? [True, True] Translation: X:483.85, Y:37.52, Z:20.17 [[ 9.88668753e-01 -1.43321348e-01 -4.46440230e-02 4.83848010e+02] [ 1.43269379e-01 9.89674046e-01 -4.37820855e-03 3.75235299e+01] [ 4.48105216e-02 -2.06752344e-03 9.98993365e-01 2.01686870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.76509989299996 meters 0.024336570983566546 Centerline is valid? [True, True] Translation: X:483.91, Y:37.53, Z:20.17 [[ 9.87875133e-01 -1.48341081e-01 -4.58000642e-02 4.83908480e+02] [ 1.48291833e-01 9.88933452e-01 -4.49001319e-03 3.75282346e+01] [ 4.59592690e-02 -2.35620308e-03 9.98940536e-01 2.01712099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.82509989299996 meters 0.028135448358927513 Centerline is valid? [True, True] Translation: X:483.97, Y:37.53, Z:20.17 [[ 9.87504933e-01 -1.50530039e-01 -4.66338351e-02 4.83969033e+02] [ 1.50481427e-01 9.88602267e-01 -4.57148994e-03 3.75304088e+01] [ 4.67904616e-02 -2.50315720e-03 9.98901590e-01 2.01736069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.88509989299996 meters 0.027064683470879 Centerline is valid? [True, True] Translation: X:484.03, Y:37.54, Z:20.18 [[ 9.87382719e-01 -1.51158102e-01 -4.71867925e-02 4.84030867e+02] [ 1.51109101e-01 9.88506274e-01 -4.62454797e-03 3.75387584e+01] [ 4.73434783e-02 -2.56415503e-03 9.98875378e-01 2.01764074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.94509989299996 meters 0.027875697174655725 Centerline is valid? [True, True] Translation: X:484.09, Y:37.55, Z:20.18 [[ 9.87272881e-01 -1.51689917e-01 -4.77747602e-02 4.84092960e+02] [ 1.51640475e-01 9.88424644e-01 -4.67870428e-03 3.75459911e+01] [ 4.79314626e-02 -2.62542946e-03 9.98847177e-01 2.01788290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.00509989299997 meters 0.027236628614948855 Centerline is valid? [True, True] Translation: X:484.15, Y:37.55, Z:20.18 [[ 9.87320883e-01 -1.51000044e-01 -4.89536486e-02 4.84154254e+02] [ 1.50947465e-01 9.88530178e-01 -4.79058739e-03 3.75544139e+01] [ 4.91155379e-02 -2.65958216e-03 9.98789563e-01 2.01809269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.06509989299997 meters 0.026311325952005887 Centerline is valid? [True, True] Translation: X:484.22, Y:37.56, Z:20.18 [[ 9.87550722e-01 -1.49066071e-01 -5.02282592e-02 4.84215100e+02] [ 1.49008397e-01 9.88823731e-01 -4.91194195e-03 3.75646732e+01] [ 5.03990985e-02 -2.63364058e-03 9.98725685e-01 2.01828516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.12509989299997 meters 0.025818851845876564 Centerline is valid? [True, True] Translation: X:484.28, Y:37.57, Z:20.19 [[ 9.87868272e-01 -1.47024474e-01 -5.00008122e-02 4.84275779e+02] [ 1.46964804e-01 9.89129645e-01 -4.88790531e-03 3.75743119e+01] [ 5.01759273e-02 -2.51975298e-03 9.98737216e-01 2.01857329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.185099893 meters 0.02494220779078174 Centerline is valid? [True, True] Translation: X:484.33, Y:37.59, Z:20.19 [[ 9.88648903e-01 -1.42090578e-01 -4.88222716e-02 4.84334419e+02] [ 1.42027750e-01 9.89851177e-01 -4.77130296e-03 3.75860278e+01] [ 4.90047402e-02 -2.21697397e-03 9.98796086e-01 2.01895756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.245099893 meters 0.02301019908714013 Centerline is valid? [True, True] Translation: X:484.39, Y:37.60, Z:20.19 [[ 9.89289033e-01 -1.37993623e-01 -4.75916832e-02 4.84394180e+02] [ 1.37929175e-01 9.90431173e-01 -4.65135784e-03 3.75982636e+01] [ 4.77781443e-02 -1.96274429e-03 9.98856044e-01 2.01933291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.305099893 meters 0.02181600686881397 Centerline is valid? [True, True] Translation: X:484.45, Y:37.61, Z:20.20 [[ 9.89844286e-01 -1.34332581e-01 -4.65085720e-02 4.84454466e+02] [ 1.34267038e-01 9.90934765e-01 -4.54462337e-03 3.76094236e+01] [ 4.66974518e-02 -1.74609874e-03 9.98907553e-01 2.01968362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.3650998929999 meters 0.020648138499430913 Centerline is valid? [True, True] Translation: X:484.51, Y:37.62, Z:20.20 [[ 9.90509301e-01 -1.29218926e-01 -4.68379441e-02 4.84513464e+02] [ 1.29146810e-01 9.91614929e-01 -4.57533897e-03 3.76203511e+01] [ 4.70364250e-02 -1.51705526e-03 9.98892023e-01 2.01981545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.4250998929999 meters 0.017703329414132357 Centerline is valid? [True, True] Translation: X:484.57, Y:37.63, Z:20.20 [[ 9.90955215e-01 -1.25344631e-01 -4.79216517e-02 4.84574297e+02] [ 1.25264629e-01 9.92112323e-01 -4.68087429e-03 3.76331389e+01] [ 4.81303837e-02 -1.36435115e-03 9.98840130e-01 2.01998007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.4850998929999 meters 0.015273683741564624 Centerline is valid? [True, True] Translation: X:484.63, Y:37.65, Z:20.20 [[ 9.91840586e-01 -1.17658959e-01 -4.90776992e-02 4.84633570e+02] [ 1.17565756e-01 9.93053541e-01 -4.79151374e-03 3.76477850e+01] [ 4.93005475e-02 -1.01743904e-03 9.98783470e-01 2.02019402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.54509989299993 meters 0.013734795286678654 Centerline is valid? [True, True] Translation: X:484.69, Y:37.66, Z:20.20 [[ 9.92519578e-01 -1.11424700e-01 -4.98941169e-02 4.84694328e+02] [ 1.11320524e-01 9.93772619e-01 -4.87063570e-03 3.76608190e+01] [ 5.01261163e-02 -7.20037935e-04 9.98742637e-01 2.02049997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.60509989299993 meters 0.012956230692550724 Centerline is valid? [True, True] Translation: X:484.76, Y:37.67, Z:20.21 [[ 9.93148129e-01 -1.05548292e-01 -5.01632496e-02 4.84755442e+02] [ 1.05435679e-01 9.94414086e-01 -4.89324399e-03 3.76715988e+01] [ 5.03995155e-02 -4.29280185e-04 9.98729045e-01 2.02079259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.66509989299993 meters 0.012705602943308353 Centerline is valid? [True, True] Translation: X:484.82, Y:37.68, Z:20.21 [[ 9.93888380e-01 -9.83658684e-02 -5.01003453e-02 4.84815829e+02] [ 9.82445914e-02 9.95150316e-01 -4.88354607e-03 3.76830907e+01] [ 5.03377487e-02 -6.83882545e-05 9.98732250e-01 2.02105802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.72509989299994 meters 0.012733730775473554 Centerline is valid? [True, True] Translation: X:484.88, Y:37.69, Z:20.21 [[ 9.94209547e-01 -9.52074878e-02 -4.98288119e-02 4.84876680e+02] [ 9.50836931e-02 9.95457446e-01 -4.85436399e-03 3.76915206e+01] [ 5.00646336e-02 8.83475705e-05 9.98745976e-01 2.02130489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.78509989299994 meters 0.01281643203718614 Centerline is valid? [True, True] Translation: X:484.94, Y:37.70, Z:20.22 [[ 9.94234905e-01 -9.44800791e-02 -5.06997893e-02 4.84938471e+02] [ 9.43511196e-02 9.95526745e-01 -4.93629500e-03 3.76996601e+01] [ 5.09393778e-02 1.24254907e-04 9.98701739e-01 2.02158632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.84509989299994 meters 0.01272715658424828 Centerline is valid? [True, True] Translation: X:485.00, Y:37.70, Z:20.22 [[ 9.93973242e-01 -9.67872929e-02 -5.14724635e-02 4.85000569e+02] [ 9.66576513e-02 9.95305089e-01 -5.00784644e-03 3.77039176e+01] [ 5.17155008e-02 2.45793246e-06 9.98661858e-01 2.02187989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.90509989299994 meters 0.012864370535252061 Centerline is valid? [True, True] Translation: X:485.06, Y:37.70, Z:20.22 [[ 9.93176550e-01 -1.04541945e-01 -5.16848447e-02 4.85062956e+02] [ 1.04421907e-01 9.94520395e-01 -5.02482988e-03 3.77045029e+01] [ 5.19269377e-02 -4.06486826e-04 9.98650804e-01 2.02229209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.96509989299994 meters 0.01362383171112092 Centerline is valid? [True, True] Translation: X:485.13, Y:37.71, Z:20.23 [[ 9.92466408e-01 -1.11049685e-01 -5.17532284e-02 4.85125304e+02] [ 1.10938359e-01 9.93814572e-01 -5.02771488e-03 3.77050762e+01] [ 5.19914386e-02 -7.51580099e-04 9.98647248e-01 2.02254683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.02509989299995 meters 0.015719714655253954 Centerline is valid? [True, True] Translation: X:485.19, Y:37.70, Z:20.23 [[ 9.91448134e-01 -1.20231171e-01 -5.07450827e-02 4.85186949e+02] [ 1.20136302e-01 9.92745182e-01 -4.92665582e-03 3.77027657e+01] [ 5.09692740e-02 -1.21180285e-03 9.98699487e-01 2.02278859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.08509989299995 meters 0.016917729174987 Centerline is valid? [True, True] Translation: X:485.25, Y:37.70, Z:20.23 [[ 9.90865403e-01 -1.25342723e-01 -4.97489231e-02 4.85247943e+02] [ 1.25258016e-01 9.92112448e-01 -4.82906372e-03 3.77043444e+01] [ 4.99618139e-02 -1.44649925e-03 9.98750081e-01 2.02305889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.14509989299995 meters 0.01804026240866106 Centerline is valid? [True, True] Translation: X:485.31, Y:37.71, Z:20.23 [[ 9.90359801e-01 -1.29037577e-01 -5.03663366e-02 4.85308986e+02] [ 1.28955585e-01 9.91638325e-01 -4.88776806e-03 3.77070878e+01] [ 5.05758954e-02 -1.65437143e-03 9.98718850e-01 2.02328972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.20509989299995 meters 0.019040362076926623 Centerline is valid? [True, True] Translation: X:485.37, Y:37.71, Z:20.24 [[ 9.89650563e-01 -1.34376284e-01 -5.03465693e-02 4.85370085e+02] [ 1.34301368e-01 9.90928501e-01 -4.88344029e-03 3.77107666e+01] [ 5.05460690e-02 -1.92871372e-03 9.98719868e-01 2.02351634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.26509989299996 meters 0.01967052273598046 Centerline is valid? [True, True] Translation: X:485.43, Y:37.71, Z:20.24 [[ 9.89204148e-01 -1.37651416e-01 -5.02716657e-02 4.85431475e+02] [ 1.37580997e-01 9.90478522e-01 -4.87508710e-03 3.77145608e+01] [ 5.04640677e-02 -2.09396949e-03 9.98723682e-01 2.02371249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.32509989299996 meters 0.022602989218511473 Centerline is valid? [True, True] Translation: X:485.49, Y:37.71, Z:20.24 [[ 9.88533570e-01 -1.42244815e-01 -5.06734088e-02 4.85491489e+02] [ 1.42179392e-01 9.89828720e-01 -4.91186999e-03 3.77148713e+01] [ 5.08566834e-02 -2.34916608e-03 9.98703199e-01 2.02375218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.38509989299996 meters 0.02307786613498799 Centerline is valid? [True, True] Translation: X:485.55, Y:37.72, Z:20.24 [[ 9.88185973e-01 -1.44438894e-01 -5.12434298e-02 4.85553162e+02] [ 1.44375116e-01 9.89510581e-01 -4.96355249e-03 3.77210991e+01] [ 5.14228460e-02 -2.49336317e-03 9.98673858e-01 2.02394218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.44509989299996 meters 0.02442869869039829 Centerline is valid? [True, True] Translation: X:485.61, Y:37.73, Z:20.24 [[ 9.87933160e-01 -1.46148073e-01 -5.12719431e-02 4.85614661e+02] [ 1.46086703e-01 9.89259342e-01 -4.96271940e-03 3.77268061e+01] [ 5.14465406e-02 -2.58731408e-03 9.98672398e-01 2.02419578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.50509989299997 meters 0.025906603396649765 Centerline is valid? [True, True] Translation: X:485.68, Y:37.73, Z:20.24 [[ 9.87869521e-01 -1.46782470e-01 -5.06825049e-02 4.85675225e+02] [ 1.46723473e-01 9.89165398e-01 -4.90293106e-03 3.77335952e+01] [ 5.08530444e-02 -2.59285698e-03 9.98702781e-01 2.02444539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.56509989299997 meters 0.027474060912477075 Centerline is valid? [True, True] Translation: X:485.74, Y:37.74, Z:20.25 [[ 9.87894429e-01 -1.47010544e-01 -4.95226928e-02 4.85735484e+02] [ 1.46954630e-01 9.89131645e-01 -4.78813065e-03 3.77407169e+01] [ 4.96883682e-02 -2.54742141e-03 9.98761521e-01 2.02473005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.62509989299997 meters 0.027300807454615234 Centerline is valid? [True, True] Translation: X:485.80, Y:37.75, Z:20.25 [[ 9.88056476e-01 -1.46365324e-01 -4.81829008e-02 4.85796611e+02] [ 1.46311753e-01 9.89227574e-01 -4.65599390e-03 3.77495528e+01] [ 4.83453302e-02 -2.44933977e-03 9.98827678e-01 2.02508101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.685099893 meters 0.027904330784832482 Centerline is valid? [True, True] Translation: X:485.86, Y:37.76, Z:20.25 [[ 9.88281468e-01 -1.45359481e-01 -4.65871353e-02 4.85858456e+02] [ 1.45308431e-01 9.89376178e-01 -4.49863177e-03 3.77570594e+01] [ 4.67461207e-02 -2.32358912e-03 9.98904100e-01 2.02541034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.745099893 meters 0.025099550488128817 Centerline is valid? [True, True] Translation: X:485.92, Y:37.77, Z:20.26 [[ 9.88431743e-01 -1.44553264e-01 -4.59025419e-02 4.85919824e+02] [ 1.44502980e-01 9.89494451e-01 -4.42938855e-03 3.77705101e+01] [ 4.60605931e-02 -2.25490584e-03 9.98936103e-01 2.02578011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.8050998929999 meters 0.023550421734033964 Centerline is valid? [True, True] Translation: X:485.98, Y:37.78, Z:20.26 [[ 9.88451368e-01 -1.44386253e-01 -4.60054599e-02 4.85982483e+02] [ 1.44335723e-01 9.89518834e-01 -4.43585932e-03 3.77797383e+01] [ 4.61637461e-02 -2.25560011e-03 9.98931339e-01 2.02605056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.8650998929999 meters 0.025856671865215505 Centerline is valid? [True, True] Translation: X:486.04, Y:37.79, Z:20.26 [[ 9.88304574e-01 -1.45122262e-01 -4.68358630e-02 4.86043346e+02] [ 1.45070949e-01 9.89410972e-01 -4.51096817e-03 3.77851563e+01] [ 4.69945587e-02 -2.33631264e-03 9.98892413e-01 2.02622107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.9250998929999 meters 0.024318671867485344 Centerline is valid? [True, True] Translation: X:486.11, Y:37.79, Z:20.26 [[ 9.88206307e-01 -1.45476571e-01 -4.78002269e-02 4.86105343e+02] [ 1.45423671e-01 9.89358775e-01 -4.60110440e-03 3.77946224e+01] [ 4.79609268e-02 -2.40444406e-03 9.98846319e-01 2.02641483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.9850998929999 meters 0.02489186559695525 Centerline is valid? [True, True] Translation: X:486.17, Y:37.80, Z:20.27 [[ 9.88360160e-01 -1.44395585e-01 -4.78968682e-02 4.86166922e+02] [ 1.44341373e-01 9.89517228e-01 -4.60691716e-03 3.78012123e+01] [ 4.80599948e-02 -2.36020633e-03 9.98841662e-01 2.02657877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.04509989299993 meters 0.02296303796134396 Centerline is valid? [True, True] Translation: X:486.23, Y:37.81, Z:20.27 [[ 9.88708161e-01 -1.42230017e-01 -4.71889273e-02 4.86227410e+02] [ 1.42175084e-01 9.89831134e-01 -4.53566805e-03 3.78113433e+01] [ 4.73541776e-02 -2.22463767e-03 9.98875684e-01 2.02690817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.10509989299993 meters 0.022193911199094165 Centerline is valid? [True, True] Translation: X:486.29, Y:37.82, Z:20.27 [[ 9.89091246e-01 -1.39822564e-01 -4.63482184e-02 4.86287973e+02] [ 1.39767010e-01 9.90174405e-01 -4.45318768e-03 3.78194223e+01] [ 4.65154757e-02 -2.07334296e-03 9.98915418e-01 2.02724037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.16509989299993 meters 0.022755167204508434 Centerline is valid? [True, True] Translation: X:486.35, Y:37.82, Z:20.28 [[ 9.89169955e-01 -1.39332083e-01 -4.61450954e-02 4.86350235e+02] [ 1.39276569e-01 9.90243605e-01 -4.43182929e-03 3.78246258e+01] [ 4.63123816e-02 -2.04309817e-03 9.98924917e-01 2.02750314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.22509989299994 meters 0.024623151560944363 Centerline is valid? [True, True] Translation: X:486.41, Y:37.83, Z:20.28 [[ 9.88997721e-01 -1.40364171e-01 -4.67055342e-02 4.86411403e+02] [ 1.40308604e-01 9.90097674e-01 -4.48233159e-03 3.78253101e+01] [ 4.68721995e-02 -2.12017257e-03 9.98898644e-01 2.02759136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.28509989299994 meters 0.025201760392554198 Centerline is valid? [True, True] Translation: X:486.47, Y:37.83, Z:20.28 [[ 9.88688230e-01 -1.42338974e-01 -4.72778998e-02 4.86473551e+02] [ 1.42284414e-01 9.89815429e-01 -4.53461728e-03 3.78284495e+01] [ 4.74418474e-02 -2.24358553e-03 9.98871482e-01 2.02783714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.34509989299994 meters 0.022304522744555893 Centerline is valid? [True, True] Translation: X:486.54, Y:37.84, Z:20.28 [[ 9.88350427e-01 -1.44540553e-01 -4.76598539e-02 4.86535213e+02] [ 1.44487823e-01 9.89496035e-01 -4.56783982e-03 3.78369964e+01] [ 4.78194746e-02 -2.37164211e-03 9.98853179e-01 2.02817232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.40509989299994 meters 0.02378162304975901 Centerline is valid? [True, True] Translation: X:486.60, Y:37.84, Z:20.28 [[ 9.88014022e-01 -1.46538794e-01 -4.85249817e-02 4.86597239e+02] [ 1.46486710e-01 9.89201722e-01 -4.64717918e-03 3.78383485e+01] [ 4.86819875e-02 -2.51678671e-03 9.98811158e-01 2.02838553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.46509989299994 meters 0.026299599874951233 Centerline is valid? [True, True] Translation: X:486.66, Y:37.84, Z:20.29 [[ 9.87490809e-01 -1.50093567e-01 -4.83096532e-02 4.86657162e+02] [ 1.50046293e-01 9.88668158e-01 -4.62422872e-03 3.78370240e+01] [ 4.84562828e-02 -2.68230099e-03 9.98821703e-01 2.02864766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.52509989299995 meters 0.027604988621161078 Centerline is valid? [True, True] Translation: X:486.72, Y:37.84, Z:20.29 [[ 9.87136654e-01 -1.52541283e-01 -4.78788406e-02 4.86718103e+02] [ 1.52497720e-01 9.88293197e-01 -4.58288094e-03 3.78385624e+01] [ 4.80174110e-02 -2.77748429e-03 9.98842637e-01 2.02901954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.58509989299995 meters 0.028591582752994834 Centerline is valid? [True, True] Translation: X:486.78, Y:37.84, Z:20.29 [[ 9.87049409e-01 -1.53408922e-01 -4.68952701e-02 4.86780590e+02] [ 1.53368156e-01 9.88158930e-01 -4.48762429e-03 3.78409603e+01] [ 4.70284215e-02 -2.76273419e-03 9.98889731e-01 2.02938148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.64509989299995 meters 0.02929878357853721 Centerline is valid? [True, True] Translation: X:486.84, Y:37.84, Z:20.30 [[ 9.86986621e-01 -1.54042559e-01 -4.61335129e-02 4.86842747e+02] [ 1.54003946e-01 9.88060385e-01 -4.41144179e-03 3.78430166e+01] [ 4.62622463e-02 -2.75070901e-03 9.98925542e-01 2.02969357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.70509989299995 meters 0.03094395974558592 Centerline is valid? [True, True] Translation: X:486.91, Y:37.84, Z:20.30 [[ 9.86717913e-01 -1.55675519e-01 -4.63992726e-02 4.86905497e+02] [ 1.55638415e-01 9.87804144e-01 -4.43349425e-03 3.78420576e+01] [ 4.65235803e-02 -2.84690105e-03 9.98913135e-01 2.02989461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.76509989299996 meters 0.03189500673085363 Centerline is valid? [True, True] Translation: X:486.97, Y:37.84, Z:20.30 [[ 9.86463658e-01 -1.56987248e-01 -4.73756819e-02 4.86967368e+02] [ 1.56950233e-01 9.87596154e-01 -4.52344405e-03 3.78435282e+01] [ 4.74981642e-02 -2.97341115e-03 9.98866900e-01 2.03000186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.82509989299996 meters 0.029619251142931458 Centerline is valid? [True, True] Translation: X:487.03, Y:37.85, Z:20.30 [[ 9.86271480e-01 -1.57789483e-01 -4.86933881e-02 4.87029686e+02] [ 1.57751494e-01 9.87467912e-01 -4.64645738e-03 3.78477049e+01] [ 4.88163204e-02 -3.09878634e-03 9.98802966e-01 2.03012599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.88509989299996 meters 0.032707520076519316 Centerline is valid? [True, True] Translation: X:487.09, Y:37.85, Z:20.30 [[ 9.86451036e-01 -1.56694526e-01 -4.85919613e-02 4.87091304e+02] [ 1.56655539e-01 9.87642432e-01 -4.63335590e-03 3.78467214e+01] [ 4.87175044e-02 -3.04162117e-03 9.98807966e-01 2.03030999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.94509989299996 meters 0.027861447091619543 Centerline is valid? [True, True] Translation: X:487.15, Y:37.86, Z:20.31 [[ 9.86864621e-01 -1.54240444e-01 -4.80427394e-02 4.87151700e+02] [ 1.54199555e-01 9.88029116e-01 -4.57852078e-03 3.78559331e+01] [ 4.81738185e-02 -2.88978885e-03 9.98834787e-01 2.03068610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.00509989299997 meters 0.029330909286078302 Centerline is valid? [True, True] Translation: X:487.21, Y:37.86, Z:20.31 [[ 9.87070968e-01 -1.52763804e-01 -4.85193205e-02 4.87213360e+02] [ 1.52720423e-01 9.88258625e-01 -4.62190124e-03 3.78580803e+01] [ 4.86556962e-02 -2.84774660e-03 9.98811551e-01 2.03089970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.06509989299997 meters 0.02810183005588327 Centerline is valid? [True, True] Translation: X:487.28, Y:37.86, Z:20.31 [[ 9.87266696e-01 -1.51326912e-01 -4.90371006e-02 4.87275920e+02] [ 1.51281026e-01 9.88479776e-01 -4.66733885e-03 3.78630527e+01] [ 4.91784762e-02 -2.81047470e-03 9.98786053e-01 2.03112124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.12509989299997 meters 0.026059137864762077 Centerline is valid? [True, True] Translation: X:487.34, Y:37.87, Z:20.31 [[ 9.87686132e-01 -1.48671108e-01 -4.87135138e-02 4.87337336e+02] [ 1.48622863e-01 9.88883105e-01 -4.63128539e-03 3.78674827e+01] [ 4.88605091e-02 -2.66568554e-03 9.98802055e-01 2.03143201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.185099893 meters 0.024062610255800906 Centerline is valid? [True, True] Translation: X:487.40, Y:37.87, Z:20.32 [[ 9.88320367e-01 -1.44526047e-01 -4.83226119e-02 4.87397519e+02] [ 1.44473742e-01 9.89497980e-01 -4.59184379e-03 3.78720818e+01] [ 4.84787679e-02 -2.44313582e-03 9.98821225e-01 2.03175685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.245099893 meters 0.023962590891841978 Centerline is valid? [True, True] Translation: X:487.46, Y:37.88, Z:20.32 [[ 9.88755126e-01 -1.41574099e-01 -4.81671551e-02 4.87458077e+02] [ 1.41518647e-01 9.89925010e-01 -4.57684029e-03 3.78757202e+01] [ 4.83298335e-02 -2.29117631e-03 9.98828803e-01 2.03200276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.3050998929999 meters 0.02309015120307918 Centerline is valid? [True, True] Translation: X:487.52, Y:37.88, Z:20.32 [[ 9.89509116e-01 -1.36319336e-01 -4.78408625e-02 4.87517795e+02] [ 1.36258574e-01 9.90662884e-01 -4.54434888e-03 3.78781894e+01] [ 4.80136494e-02 -2.02205304e-03 9.98844633e-01 2.03228030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.3650998929999 meters 0.02227284346528106 Centerline is valid? [True, True] Translation: X:487.58, Y:37.88, Z:20.33 [[ 9.89960625e-01 -1.33201076e-01 -4.72803793e-02 4.87579394e+02] [ 1.33138184e-01 9.91087309e-01 -4.49098620e-03 3.78828326e+01] [ 4.74571881e-02 -1.84892435e-03 9.98871562e-01 2.03258849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.4250998929999 meters 0.0191734935577754 Centerline is valid? [True, True] Translation: X:487.64, Y:37.89, Z:20.33 [[ 9.90604456e-01 -1.28496128e-01 -4.68140746e-02 4.87639892e+02] [ 1.28429330e-01 9.91708704e-01 -4.44442855e-03 3.78900312e+01] [ 4.69970172e-02 -1.60962951e-03 9.98893733e-01 2.03292449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.4850998929999 meters 0.01740095316269486 Centerline is valid? [True, True] Translation: X:487.70, Y:37.90, Z:20.33 [[ 9.90945464e-01 -1.25813497e-01 -4.68833817e-02 4.87702098e+02] [ 1.25743560e-01 9.92052799e-01 -4.44978876e-03 3.78970513e+01] [ 4.70706335e-02 -1.48578533e-03 9.98890458e-01 2.03318348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.54509989299993 meters 0.017590560292203756 Centerline is valid? [True, True] Translation: X:487.76, Y:37.90, Z:20.33 [[ 9.91144321e-01 -1.24248463e-01 -4.68535501e-02 4.87763203e+02] [ 1.24177063e-01 9.92250129e-01 -4.44283855e-03 3.79005719e+01] [ 4.70424570e-02 -1.41464206e-03 9.98891889e-01 2.03341013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.60509989299993 meters 0.017892494037844247 Centerline is valid? [True, True] Translation: X:487.83, Y:37.90, Z:20.34 [[ 9.91045411e-01 -1.25002992e-01 -4.69387379e-02 4.87825328e+02] [ 1.24932303e-01 9.92155297e-01 -4.44824356e-03 3.79019296e+01] [ 4.71265612e-02 -1.45575326e-03 9.98887866e-01 2.03356886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.66509989299993 meters 0.019471107833378947 Centerline is valid? [True, True] Translation: X:487.89, Y:37.90, Z:20.34 [[ 9.90782170e-01 -1.26844148e-01 -4.75526413e-02 4.87887089e+02] [ 1.26773877e-01 9.91921422e-01 -4.50302270e-03 3.79021880e+01] [ 4.77396657e-02 -1.56691811e-03 9.98858583e-01 2.03372687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.72509989299994 meters 0.02109627829851924 Centerline is valid? [True, True] Translation: X:487.95, Y:37.90, Z:20.34 [[ 9.90410463e-01 -1.29407020e-01 -4.83832427e-02 4.87947317e+02] [ 1.29337464e-01 9.91590064e-01 -4.57881169e-03 3.79025679e+01] [ 4.85688731e-02 -1.72286290e-03 9.98818350e-01 2.03391079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.78509989299994 meters 0.020171463010509712 Centerline is valid? [True, True] Translation: X:488.01, Y:37.91, Z:20.34 [[ 9.90151118e-01 -1.31295366e-01 -4.86033992e-02 4.88009352e+02] [ 1.31227648e-01 9.91341609e-01 -4.59549227e-03 3.79076994e+01] [ 4.87859388e-02 -1.82787797e-03 9.98807585e-01 2.03422418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.84509989299994 meters 0.021404383349258073 Centerline is valid? [True, True] Translation: X:488.07, Y:37.91, Z:20.35 [[ 9.89940553e-01 -1.33205871e-01 -4.76854028e-02 4.88071592e+02] [ 1.33143061e-01 9.91086589e-01 -4.50529029e-03 3.79099567e+01] [ 4.78604944e-02 -1.88901095e-03 9.98852244e-01 2.03454050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.90509989299994 meters 0.023415960633347072 Centerline is valid? [True, True] Translation: X:488.13, Y:37.91, Z:20.35 [[ 9.89596056e-01 -1.36298710e-01 -4.60685077e-02 4.88133386e+02] [ 1.36243570e-01 9.90665822e-01 -4.34947066e-03 3.79101368e+01] [ 4.62313233e-02 -1.97231894e-03 9.98928814e-01 2.03491721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.96509989299994 meters 0.02477103302182559 Centerline is valid? [True, True] Translation: X:488.19, Y:37.91, Z:20.35 [[ 9.89347493e-01 -1.38524399e-01 -4.47496161e-02 4.88194780e+02] [ 1.38474710e-01 9.90356965e-01 -4.22341086e-03 3.79126703e+01] [ 4.49031394e-02 -2.01826918e-03 9.98989307e-01 2.03532514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.02509989299995 meters 0.02333615288766376 Centerline is valid? [True, True] Translation: X:488.26, Y:37.92, Z:20.35 [[ 9.88772389e-01 -1.42328125e-01 -4.55177692e-02 4.88255234e+02] [ 1.42280805e-01 9.89817019e-01 -4.29434423e-03 3.79187946e+01] [ 4.56654686e-02 -2.23017586e-03 9.98954299e-01 2.03548149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.08509989299995 meters 0.025705370471200095 Centerline is valid? [True, True] Translation: X:488.32, Y:37.92, Z:20.36 [[ 9.88302190e-01 -1.45006379e-01 -4.72433215e-02 4.88315760e+02] [ 1.44958498e-01 9.89427701e-01 -4.45624163e-03 3.79204640e+01] [ 4.73900344e-02 -2.44420754e-03 9.98873471e-01 2.03557026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.14509989299995 meters 0.027985984711622783 Centerline is valid? [True, True] Translation: X:488.38, Y:37.92, Z:20.36 [[ 9.87799814e-01 -1.47829501e-01 -4.89690219e-02 4.88376092e+02] [ 1.47781567e-01 9.89009243e-01 -4.61800624e-03 3.79233952e+01] [ 4.91134929e-02 -2.67505307e-03 9.98789622e-01 2.03567665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.20509989299995 meters 0.027270094900614848 Centerline is valid? [True, True] Translation: X:488.44, Y:37.93, Z:20.36 [[ 9.87692085e-01 -1.48605483e-01 -4.87929945e-02 4.88437398e+02] [ 1.48558924e-01 9.88892861e-01 -4.59958238e-03 3.79313089e+01] [ 4.89345671e-02 -2.70566367e-03 9.98798322e-01 2.03596288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.26509989299996 meters 0.025567133933067438 Centerline is valid? [True, True] Translation: X:488.50, Y:37.94, Z:20.36 [[ 9.87749658e-01 -1.48243601e-01 -4.87283046e-02 4.88498410e+02] [ 1.48196900e-01 9.88947224e-01 -4.58994505e-03 3.79422046e+01] [ 4.88701515e-02 -2.68766703e-03 9.98801524e-01 2.03629916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.32509989299996 meters 0.029455627145854976 Centerline is valid? [True, True] Translation: X:488.56, Y:37.94, Z:20.37 [[ 9.87979868e-01 -1.47003222e-01 -4.78103815e-02 4.88559765e+02] [ 1.46956976e-01 9.89132648e-01 -4.50010760e-03 3.79442498e+01] [ 4.79523396e-02 -2.58005339e-03 9.98846293e-01 2.03655636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.38509989299996 meters 0.02503778009186654 Centerline is valid? [True, True] Translation: X:488.62, Y:37.96, Z:20.37 [[ 9.88226045e-01 -1.45857794e-01 -4.62037696e-02 4.88621072e+02] [ 1.45813471e-01 9.89302553e-01 -4.34634823e-03 3.79581253e+01] [ 4.63434560e-02 -2.44195752e-03 9.98922580e-01 2.03698164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.44509989299996 meters 0.025809685417737527 Centerline is valid? [True, True] Translation: X:488.68, Y:37.97, Z:20.37 [[ 9.88279842e-01 -1.45604802e-01 -4.58497043e-02 4.88682995e+02] [ 1.45561039e-01 9.89339886e-01 -4.30968329e-03 3.79661571e+01] [ 4.59884518e-02 -2.41475747e-03 9.98939053e-01 2.03732409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.50509989299997 meters 0.025195882816828902 Centerline is valid? [True, True] Translation: X:488.74, Y:37.98, Z:20.38 [[ 9.87888248e-01 -1.47929881e-01 -4.68354631e-02 4.88743225e+02] [ 1.47886972e-01 9.88994485e-01 -4.39913337e-03 3.79750559e+01] [ 4.69707780e-02 -2.58050264e-03 9.98892931e-01 2.03751447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.56509989299997 meters 0.02861046265874887 Centerline is valid? [True, True] Translation: X:488.80, Y:37.98, Z:20.38 [[ 9.87460310e-01 -1.50397037e-01 -4.79882061e-02 4.88803201e+02] [ 1.50354931e-01 9.88621811e-01 -4.50661060e-03 3.79764111e+01] [ 4.81199681e-02 -2.76516434e-03 9.98837736e-01 2.03764515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.62509989299997 meters 0.031251715769478355 Centerline is valid? [True, True] Translation: X:488.86, Y:37.98, Z:20.38 [[ 9.87068035e-01 -1.52853965e-01 -4.82945091e-02 4.88863607e+02] [ 1.52814254e-01 9.88244522e-01 -4.53526116e-03 3.79794030e+01] [ 4.84200167e-02 -2.90347805e-03 9.98822843e-01 2.03782548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.685099893 meters 0.030683542528131234 Centerline is valid? [True, True] Translation: X:488.92, Y:37.99, Z:20.38 [[ 9.86763081e-01 -1.54838188e-01 -4.82053669e-02 4.88924179e+02] [ 1.54801026e-01 9.87935301e-01 -4.52592247e-03 3.79885183e+01] [ 4.83245693e-02 -2.99622707e-03 9.98827192e-01 2.03810914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.745099893 meters 0.030871081859884627 Centerline is valid? [True, True] Translation: X:488.99, Y:38.00, Z:20.38 [[ 9.86866485e-01 -1.53971379e-01 -4.88605766e-02 4.88985510e+02] [ 1.53932244e-01 9.88070766e-01 -4.58541401e-03 3.79959671e+01] [ 4.89837298e-02 -2.99602680e-03 9.98795083e-01 2.03834132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.8050998929999 meters 0.02776096559828603 Centerline is valid? [True, True] Translation: X:489.05, Y:38.01, Z:20.39 [[ 9.87496979e-01 -1.49955097e-01 -4.86126052e-02 4.89045648e+02] [ 1.49911659e-01 9.88688884e-01 -4.55904492e-03 3.80092051e+01] [ 4.87463944e-02 -2.78555320e-03 9.98807304e-01 2.03861175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.8650998929999 meters 0.026029656298357164 Centerline is valid? [True, True] Translation: X:489.11, Y:38.02, Z:20.39 [[ 9.88068463e-01 -1.46233380e-01 -4.83374623e-02 4.89105861e+02] [ 1.46186035e-01 9.89246734e-01 -4.53235319e-03 3.80205013e+01] [ 4.84804580e-02 -2.58798671e-03 9.98820778e-01 2.03892695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.9250998929999 meters 0.025220232589728706 Centerline is valid? [True, True] Translation: X:489.17, Y:38.03, Z:20.39 [[ 9.88724944e-01 -1.42160998e-01 -4.70450295e-02 4.89166100e+02] [ 1.42111601e-01 9.89840817e-01 -4.41011349e-03 3.80308682e+01] [ 4.71940366e-02 -2.32525525e-03 9.98883034e-01 2.03927167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.9850998929999 meters 0.025937952117461086 Centerline is valid? [True, True] Translation: X:489.23, Y:38.04, Z:20.40 [[ 9.88816582e-01 -1.42163389e-01 -4.50703615e-02 4.89227851e+02] [ 1.42118094e-01 9.89840697e-01 -4.22405017e-03 3.80367641e+01] [ 4.52129833e-02 -2.22850302e-03 9.98974885e-01 2.03965163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.04509989299993 meters 0.02687773325684428 Centerline is valid? [True, True] Translation: X:489.29, Y:38.04, Z:20.40 [[ 9.88610199e-01 -1.43524532e-01 -4.52833648e-02 4.89289526e+02] [ 1.43480380e-01 9.89644076e-01 -4.24076229e-03 3.80414404e+01] [ 4.54230672e-02 -2.30481353e-03 9.98965181e-01 2.03990142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.10509989299993 meters 0.02588219183414097 Centerline is valid? [True, True] Translation: X:489.35, Y:38.05, Z:20.40 [[ 9.88388360e-01 -1.44903221e-01 -4.57330009e-02 4.89351223e+02] [ 1.44859810e-01 9.89442934e-01 -4.27958053e-03 3.80486300e+01] [ 4.58703197e-02 -2.39498626e-03 9.98944532e-01 2.04009989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.16509989299993 meters 0.02694566606879199 Centerline is valid? [True, True] Translation: X:489.41, Y:38.05, Z:20.40 [[ 9.87986246e-01 -1.46971249e-01 -4.77768691e-02 4.89412704e+02] [ 1.46926448e-01 9.89137332e-01 -4.46743319e-03 3.80527287e+01] [ 4.79144691e-02 -2.60592310e-03 9.98848043e-01 2.04017398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.22509989299994 meters 0.02615498971237519 Centerline is valid? [True, True] Translation: X:489.47, Y:38.06, Z:20.40 [[ 9.87875594e-01 -1.47554050e-01 -4.82660757e-02 4.89474400e+02] [ 1.47509117e-01 9.89050408e-01 -4.51117020e-03 3.80598851e+01] [ 4.84032233e-02 -2.66321130e-03 9.98824327e-01 2.04041192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.28509989299994 meters 0.025712227943548424 Centerline is valid? [True, True] Translation: X:489.54, Y:38.07, Z:20.41 [[ 9.87850794e-01 -1.47725852e-01 -4.82481151e-02 4.89536452e+02] [ 1.47681330e-01 9.89024732e-01 -4.50592668e-03 3.80677996e+01] [ 4.83842210e-02 -2.67416256e-03 9.98825218e-01 2.04075330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.34509989299994 meters 0.026506705070943094 Centerline is valid? [True, True] Translation: X:489.60, Y:38.07, Z:20.41 [[ 9.87994826e-01 -1.47050703e-01 -4.73530887e-02 4.89598874e+02] [ 1.47007212e-01 9.89125550e-01 -4.41877871e-03 3.80730038e+01] [ 4.74879344e-02 -2.59551504e-03 9.98868439e-01 2.04103685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.40509989299994 meters 0.02740256543555479 Centerline is valid? [True, True] Translation: X:489.66, Y:38.08, Z:20.41 [[ 9.88312493e-01 -1.45249665e-01 -4.62704021e-02 4.89658732e+02] [ 1.45206348e-01 9.89391988e-01 -4.31393098e-03 3.80780077e+01] [ 4.64061622e-02 -2.45524422e-03 9.98919636e-01 2.04131912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.46509989299994 meters 0.027107277926983486 Centerline is valid? [True, True] Translation: X:489.72, Y:38.09, Z:20.42 [[ 9.88546957e-01 -1.43818731e-01 -4.57283966e-02 4.89720257e+02] [ 1.43774942e-01 9.89601232e-01 -4.26237710e-03 3.80850723e+01] [ 4.58658873e-02 -2.36103766e-03 9.98944816e-01 2.04165931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.52509989299995 meters 0.02772279351494863 Centerline is valid? [True, True] Translation: X:489.78, Y:38.09, Z:20.42 [[ 9.88761563e-01 -1.42179606e-01 -4.62118079e-02 4.89781440e+02] [ 1.42133271e-01 9.89838174e-01 -4.30379990e-03 3.80904234e+01] [ 4.63541241e-02 -2.31280350e-03 9.98922392e-01 2.04183779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.58509989299995 meters 0.025111402387397244 Centerline is valid? [True, True] Translation: X:489.84, Y:38.10, Z:20.42 [[ 9.88697930e-01 -1.42108231e-01 -4.77666661e-02 4.89842802e+02] [ 1.42058957e-01 9.89848231e-01 -4.44208830e-03 3.80999325e+01] [ 4.79130073e-02 -2.39379928e-03 9.98848644e-01 2.04201326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.64509989299995 meters 0.023303521433916934 Centerline is valid? [True, True] Translation: X:489.90, Y:38.11, Z:20.42 [[ 9.88629405e-01 -1.42370502e-01 -4.83997958e-02 4.89904323e+02] [ 1.42320402e-01 9.89810425e-01 -4.49739002e-03 3.81078521e+01] [ 4.85469181e-02 -2.44202637e-03 9.98817918e-01 2.04224511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.70509989299995 meters 0.025099933132134922 Centerline is valid? [True, True] Translation: X:489.97, Y:38.11, Z:20.42 [[ 9.88421554e-01 -1.43238448e-01 -5.00557463e-02 4.89965066e+02] [ 1.43186152e-01 9.89684861e-01 -4.64771087e-03 3.81111123e+01] [ 5.02051452e-02 -2.57339212e-03 9.98735611e-01 2.04234435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.76509989299996 meters 0.024683021789090778 Centerline is valid? [True, True] Translation: X:490.03, Y:38.12, Z:20.43 [[ 9.88450458e-01 -1.42732054e-01 -5.09239851e-02 4.90027147e+02] [ 1.42677375e-01 9.89757966e-01 -4.72607993e-03 3.81182551e+01] [ 5.10769830e-02 -2.59420465e-03 9.98691350e-01 2.04262063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.82509989299996 meters 0.02308008595681796 Centerline is valid? [True, True] Translation: X:490.09, Y:38.13, Z:20.43 [[ 9.88625342e-01 -1.41531663e-01 -5.08794804e-02 4.90089128e+02] [ 1.41475709e-01 9.89930486e-01 -4.71775168e-03 3.81277242e+01] [ 5.10348600e-02 -2.53412171e-03 9.98693657e-01 2.04297436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.88509989299996 meters 0.023600456095319484 Centerline is valid? [True, True] Translation: X:490.15, Y:38.13, Z:20.43 [[ 9.89146967e-01 -1.38282447e-01 -4.96612836e-02 4.90148770e+02] [ 1.38225307e-01 9.90390129e-01 -4.59971657e-03 3.81348487e+01] [ 4.98201052e-02 -2.31465047e-03 9.98755525e-01 2.04336898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.94509989299996 meters 0.022051824389508774 Centerline is valid? [True, True] Translation: X:490.21, Y:38.14, Z:20.44 [[ 9.89461575e-01 -1.36352986e-01 -4.87201707e-02 4.90209784e+02] [ 1.36295675e-01 9.90657928e-01 -4.51216566e-03 3.81445033e+01] [ 4.88802706e-02 -2.17573402e-03 9.98802275e-01 2.04379219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.00509989299997 meters 0.022835827056202605 Centerline is valid? [True, True] Translation: X:490.27, Y:38.15, Z:20.44 [[ 9.89822421e-01 -1.33998540e-01 -4.79162500e-02 4.90269751e+02] [ 1.33940466e-01 9.90979455e-01 -4.43531404e-03 3.81505214e+01] [ 4.80783449e-02 -2.02775156e-03 9.98841509e-01 2.04408884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.06509989299997 meters 0.02390205389506798 Centerline is valid? [True, True] Translation: X:490.33, Y:38.15, Z:20.44 [[ 9.89967789e-01 -1.32783214e-01 -4.82948789e-02 4.90330858e+02] [ 1.32722830e-01 9.91143116e-01 -4.46924420e-03 3.81545172e+01] [ 4.84605774e-02 -1.98542521e-03 9.98823123e-01 2.04426294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.12509989299997 meters 0.0199349603096814 Centerline is valid? [True, True] Translation: X:490.39, Y:38.17, Z:20.45 [[ 9.90289407e-01 -1.29886565e-01 -4.95617789e-02 4.90391843e+02] [ 1.29819494e-01 9.91527049e-01 -4.58364786e-03 3.81670675e+01] [ 4.97371987e-02 -1.89494711e-03 9.98760542e-01 2.04451661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.185099893 meters 0.01926556833176087 Centerline is valid? [True, True] Translation: X:490.45, Y:38.17, Z:20.45 [[ 9.90598472e-01 -1.27308112e-01 -5.00730589e-02 4.90452432e+02] [ 1.27236531e-01 9.91861609e-01 -4.62754042e-03 3.81744172e+01] [ 5.02546682e-02 -1.78708784e-03 9.98734837e-01 2.04477172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.245099893 meters 0.018784813691005306 Centerline is valid? [True, True] Translation: X:490.51, Y:38.18, Z:20.45 [[ 9.91009339e-01 -1.24132766e-01 -4.99153991e-02 4.90513394e+02] [ 1.24057705e-01 9.92264291e-01 -4.61113286e-03 3.81816939e+01] [ 5.01016608e-02 -1.62271414e-03 9.98742805e-01 2.04502886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.3050998929999 meters 0.017517484911927204 Centerline is valid? [True, True] Translation: X:490.58, Y:38.19, Z:20.45 [[ 9.91186701e-01 -1.22801630e-01 -4.96858492e-02 4.90575009e+02] [ 1.22725693e-01 9.92430026e-01 -4.58781994e-03 3.81895696e+01] [ 4.98731204e-02 -1.55034419e-03 9.98754358e-01 2.04536878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.3650998929999 meters 0.019692801661047574 Centerline is valid? [True, True] Translation: X:490.64, Y:38.19, Z:20.46 [[ 9.91053077e-01 -1.23888523e-01 -4.96531231e-02 4.90636438e+02] [ 1.23814225e-01 9.92294840e-01 -4.58124267e-03 3.81911401e+01] [ 4.98381012e-02 -1.60750833e-03 9.98756016e-01 2.04552101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.4250998929999 meters 0.0211418426055736 Centerline is valid? [True, True] Translation: X:490.70, Y:38.19, Z:20.46 [[ 9.90728347e-01 -1.26497926e-01 -4.95541896e-02 4.90698735e+02] [ 1.26427323e-01 9.91965349e-01 -4.56927130e-03 3.81933450e+01] [ 4.97340423e-02 -1.73809693e-03 9.98760984e-01 2.04571448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.4850998929999 meters 0.022724168136234277 Centerline is valid? [True, True] Translation: X:490.76, Y:38.19, Z:20.46 [[ 9.89807648e-01 -1.33346075e-01 -4.99964446e-02 4.90759125e+02] [ 1.33283065e-01 9.91067303e-01 -4.60707506e-03 3.81945341e+01] [ 5.01641769e-02 -2.10356127e-03 9.98738770e-01 2.04593124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.54509989299993 meters 0.022694134819191112 Centerline is valid? [True, True] Translation: X:490.82, Y:38.20, Z:20.46 [[ 9.89024515e-01 -1.39046059e-01 -4.99670074e-02 4.90819896e+02] [ 1.38990382e-01 9.90283028e-01 -4.60417616e-03 3.81985481e+01] [ 5.01216720e-02 -2.39129035e-03 9.98740256e-01 2.04624690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.60509989299993 meters 0.028529825642531804 Centerline is valid? [True, True] Translation: X:490.88, Y:38.19, Z:20.46 [[ 9.87694716e-01 -1.48336762e-01 -4.95515137e-02 4.90879888e+02] [ 1.48293663e-01 9.88932832e-01 -4.56549407e-03 3.81931353e+01] [ 4.96803494e-02 -2.83886109e-03 9.98761134e-01 2.04649517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.66509989299993 meters 0.03248635105685878 Centerline is valid? [True, True] Translation: X:490.94, Y:38.19, Z:20.47 [[ 9.86953314e-01 -1.53417328e-01 -4.88495624e-02 4.90939993e+02] [ 1.53381681e-01 9.88156775e-01 -4.49979476e-03 3.81917141e+01] [ 4.89613725e-02 -3.05154067e-03 9.98796011e-01 2.04677528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.72509989299994 meters 0.03138482591745019 Centerline is valid? [True, True] Translation: X:491.00, Y:38.20, Z:20.47 [[ 9.86410049e-01 -1.57064872e-01 -4.82269796e-02 4.91000242e+02] [ 1.57034437e-01 9.87583133e-01 -4.44297927e-03 3.81974077e+01] [ 4.83259876e-02 -3.19069721e-03 9.98826521e-01 2.04710417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.78509989299994 meters 0.030582296684342963 Centerline is valid? [True, True] Translation: X:491.06, Y:38.20, Z:20.47 [[ 9.86105525e-01 -1.59003177e-01 -4.81028337e-02 4.91061104e+02] [ 1.58975229e-01 9.87272629e-01 -4.43077924e-03 3.82026208e+01] [ 4.81951191e-02 -3.27794310e-03 9.98832561e-01 2.04735199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.84509989299994 meters 0.031393043903267026 Centerline is valid? [True, True] Translation: X:491.12, Y:38.21, Z:20.47 [[ 9.85866200e-01 -1.59895448e-01 -5.00128129e-02 4.91123024e+02] [ 1.59866497e-01 9.87127906e-01 -4.60448941e-03 3.82057521e+01] [ 5.01052802e-02 -3.45596271e-03 9.98737962e-01 2.04745624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.90509989299994 meters 0.033992206738337305 Centerline is valid? [True, True] Translation: X:491.18, Y:38.21, Z:20.48 [[ 9.85548542e-01 -1.61485572e-01 -5.11515500e-02 4.91183505e+02] [ 1.61457591e-01 9.86868431e-01 -4.70599734e-03 3.82062910e+01] [ 5.12398005e-02 -3.62081722e-03 9.98679815e-01 2.04760938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.96509989299994 meters 0.035756475453669195 Centerline is valid? [True, True] Translation: X:491.24, Y:38.21, Z:20.48 [[ 9.85113098e-01 -1.63869501e-01 -5.19516271e-02 4.91244338e+02] [ 1.63843986e-01 9.86474689e-01 -4.77865299e-03 3.82067676e+01] [ 5.20320407e-02 -3.80444800e-03 9.98638169e-01 2.04779514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.02509989299995 meters 0.0342834868680922 Centerline is valid? [True, True] Translation: X:491.31, Y:38.21, Z:20.48 [[ 9.84985723e-01 -1.64470427e-01 -5.24652655e-02 4.91305710e+02] [ 1.64445325e-01 9.86374401e-01 -4.82455474e-03 3.82125597e+01] [ 5.25438914e-02 -3.87555008e-03 9.98611095e-01 2.04809278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.08509989299995 meters 0.03289761381538659 Centerline is valid? [True, True] Translation: X:491.37, Y:38.22, Z:20.48 [[ 9.85170449e-01 -1.63455387e-01 -5.21682225e-02 4.91367889e+02] [ 1.63429313e-01 9.86543398e-01 -4.79418238e-03 3.82184844e+01] [ 5.22498504e-02 -3.80272993e-03 9.98626803e-01 2.04839797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.14509989299995 meters 0.033718156071395874 Centerline is valid? [True, True] Translation: X:491.43, Y:38.22, Z:20.49 [[ 9.85519500e-01 -1.61524438e-01 -5.15865473e-02 4.91428016e+02] [ 1.61496476e-01 9.86861918e-01 -4.73748787e-03 3.82208782e+01] [ 5.16740190e-02 -3.66215890e-03 9.98657291e-01 2.04874391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.20509989299995 meters 0.033529904928944115 Centerline is valid? [True, True] Translation: X:491.49, Y:38.23, Z:20.49 [[ 9.85596407e-01 -1.61118545e-01 -5.13861571e-02 4.91489881e+02] [ 1.61090325e-01 9.86928392e-01 -4.71762342e-03 3.82251576e+01] [ 5.14745540e-02 -3.62814007e-03 9.98667716e-01 2.04907029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.26509989299996 meters 0.03329660054839634 Centerline is valid? [True, True] Translation: X:491.55, Y:38.23, Z:20.49 [[ 9.85485222e-01 -1.61723755e-01 -5.16169031e-02 4.91551582e+02] [ 1.61696294e-01 9.86829208e-01 -4.73521258e-03 3.82276245e+01] [ 5.17028640e-02 -3.67977992e-03 9.98655733e-01 2.04938733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.32509989299996 meters 0.03350808181917863 Centerline is valid? [True, True] Translation: X:491.61, Y:38.23, Z:20.50 [[ 9.85431117e-01 -1.62131048e-01 -5.13715575e-02 4.91613941e+02] [ 1.62104551e-01 9.86762349e-01 -4.70972114e-03 3.82305785e+01] [ 5.14551107e-02 -3.68645747e-03 9.98668504e-01 2.04970056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.38509989299996 meters 0.03710900944717269 Centerline is valid? [True, True] Translation: X:491.67, Y:38.23, Z:20.50 [[ 9.85025755e-01 -1.64664120e-01 -5.10880577e-02 4.91674292e+02] [ 1.64641453e-01 9.86342376e-01 -4.68069092e-03 3.82269469e+01] [ 5.11610581e-02 -3.80061096e-03 9.98683184e-01 2.04994793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.44509989299996 meters 0.039695940671613236 Centerline is valid? [True, True] Translation: X:491.74, Y:38.23, Z:20.50 [[ 9.84669162e-01 -1.66868782e-01 -5.08079733e-02 4.91735409e+02] [ 1.66849285e-01 9.85971424e-01 -4.65487186e-03 3.82262884e+01] [ 5.08719626e-02 -3.89376525e-03 9.98697593e-01 2.05019371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.50509989299997 meters 0.03570128208646709 Centerline is valid? [True, True] Translation: X:491.80, Y:38.24, Z:20.51 [[ 9.84464586e-01 -1.68036347e-01 -5.09241115e-02 4.91796993e+02] [ 1.68018385e-01 9.85772828e-01 -4.66410729e-03 3.82355241e+01] [ 5.09833450e-02 -3.96453851e-03 9.98691635e-01 2.05055075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.56509989299997 meters 0.03916558688523919 Centerline is valid? [True, True] Translation: X:491.86, Y:38.23, Z:20.51 [[ 9.83871321e-01 -1.71721994e-01 -5.00877209e-02 4.91858351e+02] [ 1.71709506e-01 9.85136959e-01 -4.58445259e-03 3.82310346e+01] [ 5.01305164e-02 -4.09002636e-03 9.98734301e-01 2.05082679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.62509989299997 meters 0.03764736296822099 Centerline is valid? [True, True] Translation: X:491.92, Y:38.24, Z:20.51 [[ 9.83486769e-01 -1.74142754e-01 -4.92755213e-02 4.91919037e+02] [ 1.74133691e-01 9.84711693e-01 -4.50984368e-03 3.82355287e+01] [ 4.93075386e-02 -4.14515680e-03 9.98775042e-01 2.05118854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.685099893 meters 0.03671217383169702 Centerline is valid? [True, True] Translation: X:491.98, Y:38.24, Z:20.52 [[ 9.82827990e-01 -1.77861585e-01 -4.91365328e-02 4.91979146e+02] [ 1.77857219e-01 9.84046032e-01 -4.49632783e-03 3.82378936e+01] [ 4.91523341e-02 -4.32017022e-03 9.98781950e-01 2.05153213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.745099893 meters 0.037813404697991236 Centerline is valid? [True, True] Translation: X:492.04, Y:38.24, Z:20.52 [[ 9.82519151e-01 -1.79494273e-01 -4.93753300e-02 4.92040672e+02] [ 1.79491930e-01 9.83749072e-01 -4.51775877e-03 3.82391732e+01] [ 4.93838469e-02 -4.42368878e-03 9.98770077e-01 2.05173791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.8050998929999 meters 0.0405587486837607 Centerline is valid? [True, True] Translation: X:492.10, Y:38.24, Z:20.52 [[ 9.82120367e-01 -1.81264482e-01 -5.08209912e-02 4.92101912e+02] [ 1.81264448e-01 9.83423405e-01 -4.64824660e-03 3.82379448e+01] [ 5.08211143e-02 -4.64690126e-03 9.98696961e-01 2.05192240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.8650998929999 meters 0.043491535749786966 Centerline is valid? [True, True] Translation: X:492.16, Y:38.24, Z:20.52 [[ 9.82007700e-01 -1.81578651e-01 -5.18658927e-02 4.92162005e+02] [ 1.81579144e-01 9.83364900e-01 -4.74210782e-03 3.82382286e+01] [ 5.18641639e-02 -4.76097802e-03 9.98642800e-01 2.05211810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.9250998929999 meters 0.03875814790128685 Centerline is valid? [True, True] Translation: X:492.22, Y:38.25, Z:20.52 [[ 9.82158525e-01 -1.80886152e-01 -5.14279302e-02 4.92222604e+02] [ 1.80885908e-01 9.83492866e-01 -4.69791726e-03 3.82483816e+01] [ 5.14287907e-02 -4.68848835e-03 9.98665659e-01 2.05248587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.9850998929999 meters 0.03644033488901087 Centerline is valid? [True, True] Translation: X:492.28, Y:38.25, Z:20.53 [[ 9.82695013e-01 -1.78369097e-01 -4.99497406e-02 4.92282875e+02] [ 1.78365717e-01 9.83953691e-01 -4.56120540e-03 3.82546305e+01] [ 4.99618098e-02 -4.42704749e-03 9.98741317e-01 2.05285501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.04509989299993 meters 0.0382830852359053 Centerline is valid? [True, True] Translation: X:492.34, Y:38.26, Z:20.53 [[ 9.83583226e-01 -1.73549159e-01 -4.94441826e-02 4.92342259e+02] [ 1.73539829e-01 9.84816505e-01 -4.51440797e-03 3.82567603e+01] [ 4.94769188e-02 -4.14023902e-03 9.98766686e-01 2.05310150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.10509989299993 meters 0.03582276659213584 Centerline is valid? [True, True] Translation: X:492.40, Y:38.26, Z:20.53 [[ 9.84212064e-01 -1.70003181e-01 -4.92496852e-02 4.92402049e+02] [ 1.69989473e-01 9.85435615e-01 -4.49747231e-03 3.82647970e+01] [ 4.92969785e-02 -3.94546153e-03 9.98776372e-01 2.05336443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.16509989299993 meters 0.03321477975643995 Centerline is valid? [True, True] Translation: X:492.46, Y:38.27, Z:20.54 [[ 9.85227094e-01 -1.64051827e-01 -4.91382961e-02 4.92462432e+02] [ 1.64030830e-01 9.86445008e-01 -4.48709665e-03 3.82722739e+01] [ 4.92083433e-02 -3.63938628e-03 9.98781905e-01 2.05359236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.22509989299994 meters 0.03476763213893308 Centerline is valid? [True, True] Translation: X:492.52, Y:38.28, Z:20.54 [[ 9.86046331e-01 -1.59003885e-01 -4.92990552e-02 4.92521642e+02] [ 1.58976500e-01 9.87272106e-01 -4.50121589e-03 3.82752578e+01] [ 4.93872929e-02 -3.39898386e-03 9.98773919e-01 2.05382466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.28509989299994 meters 0.03162404576863128 Centerline is valid? [True, True] Translation: X:492.58, Y:38.29, Z:20.54 [[ 9.87484256e-01 -1.49460834e-01 -5.03617321e-02 4.92580715e+02] [ 1.49419846e-01 9.88763146e-01 -4.59911161e-03 3.82855681e+01] [ 5.04832117e-02 -2.98349192e-03 9.98720453e-01 2.05409582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.34509989299994 meters 0.026395183180648547 Centerline is valid? [True, True] Translation: X:492.64, Y:38.30, Z:20.54 [[ 9.88618442e-01 -1.41629440e-01 -5.07412878e-02 4.92639991e+02] [ 1.41577533e-01 9.89916324e-01 -4.63398832e-03 3.82981197e+01] [ 5.08859383e-02 -2.60258002e-03 9.98701080e-01 2.05443176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.40509989299994 meters 0.021190949338332255 Centerline is valid? [True, True] Translation: X:492.70, Y:38.31, Z:20.55 [[ 9.90109475e-01 -1.31180111e-01 -4.97494419e-02 4.92699299e+02] [ 1.31117035e-01 9.91356485e-01 -4.54346600e-03 3.83113964e+01] [ 4.99154443e-02 -2.02447059e-03 9.98751395e-01 2.05499596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.46509989299994 meters 0.018566623820192377 Centerline is valid? [True, True] Translation: X:492.76, Y:38.32, Z:20.55 [[ 9.90871602e-01 -1.25339902e-01 -4.96324124e-02 4.92759377e+02] [ 1.25269828e-01 9.92112357e-01 -4.53233474e-03 3.83207780e+01] [ 4.98090120e-02 -1.72648198e-03 9.98757269e-01 2.05543487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.52509989299995 meters 0.018369686459644662 Centerline is valid? [True, True] Translation: X:492.82, Y:38.33, Z:20.56 [[ 9.91442292e-01 -1.20679557e-01 -4.97858043e-02 4.92818612e+02] [ 1.20603212e-01 9.92690386e-01 -4.54571112e-03 3.83253307e+01] [ 4.99704636e-02 -1.49751763e-03 9.98749573e-01 2.05573721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.58509989299995 meters 0.016868282316826244 Centerline is valid? [True, True] Translation: X:492.88, Y:38.33, Z:20.56 [[ 9.91823507e-01 -1.16884549e-01 -5.12262834e-02 4.92878197e+02] [ 1.16798607e-01 9.93144601e-01 -4.67835709e-03 3.83300961e+01] [ 5.14219345e-02 -1.34305403e-03 9.98676114e-01 2.05595676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.64509989299995 meters 0.016272904081511313 Centerline is valid? [True, True] Translation: X:492.94, Y:38.33, Z:20.56 [[ 9.91842315e-01 -1.16122839e-01 -5.25766965e-02 4.92937439e+02] [ 1.16031133e-01 9.93233961e-01 -4.80363547e-03 3.83333249e+01] [ 5.27787723e-02 -1.33608477e-03 9.98605335e-01 2.05626089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.70509989299995 meters 0.016586045063462534 Centerline is valid? [True, True] Translation: X:493.00, Y:38.34, Z:20.57 [[ 9.91664365e-01 -1.17486476e-01 -5.29028820e-02 4.92995795e+02] [ 1.17395333e-01 9.93073477e-01 -4.83782779e-03 3.83352924e+01] [ 5.31048283e-02 -1.41305005e-03 9.98587943e-01 2.05652053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.76509989299996 meters 0.018695946574315205 Centerline is valid? [True, True] Translation: X:493.05, Y:38.33, Z:20.57 [[ 9.91412410e-01 -1.19533084e-01 -5.30403076e-02 4.93053926e+02] [ 1.19443733e-01 9.92829063e-01 -4.86273163e-03 3.83341981e+01] [ 5.32412162e-02 -1.51435983e-03 9.98580532e-01 2.05668757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.82509989299996 meters 0.017825507656110223 Centerline is valid? [True, True] Translation: X:493.11, Y:38.34, Z:20.57 [[ 9.91071032e-01 -1.22463036e-01 -5.27353282e-02 4.93112732e+02] [ 1.22378391e-01 9.92471698e-01 -4.84341868e-03 3.83376885e+01] [ 5.29314604e-02 -1.65349264e-03 9.98596779e-01 2.05708892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.88509989299996 meters 0.0194696571092799 Centerline is valid? [True, True] Translation: X:493.17, Y:38.34, Z:20.57 [[ 9.90938533e-01 -1.23743492e-01 -5.22338180e-02 4.93170254e+02] [ 1.23661616e-01 9.92312793e-01 -4.80894582e-03 3.83385091e+01] [ 5.24273616e-02 -1.69394864e-03 9.98623303e-01 2.05729083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.94509989299996 meters 0.01890671376775627 Centerline is valid? [True, True] Translation: X:493.23, Y:38.34, Z:20.58 [[ 9.90746970e-01 -1.25078636e-01 -5.26856263e-02 4.93228780e+02] [ 1.24996874e-01 9.92145246e-01 -4.85710734e-03 3.83422753e+01] [ 5.28793141e-02 -1.77337423e-03 9.98599336e-01 2.05754612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.00509989299997 meters 0.020105703236227727 Centerline is valid? [True, True] Translation: X:493.29, Y:38.34, Z:20.58 [[ 9.90631960e-01 -1.25933215e-01 -5.28123616e-02 4.93286540e+02] [ 1.25851629e-01 9.92037068e-01 -4.88089990e-03 3.83439075e+01] [ 5.30064878e-02 -1.81134629e-03 9.98592525e-01 2.05771337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.06509989299997 meters 0.019868288916701907 Centerline is valid? [True, True] Translation: X:493.35, Y:38.35, Z:20.58 [[ 9.90513540e-01 -1.26875454e-01 -5.27782666e-02 4.93345037e+02] [ 1.26794867e-01 9.91916926e-01 -4.88605721e-03 3.83470660e+01] [ 5.29715767e-02 -1.85230746e-03 9.98594303e-01 2.05807788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.12509989299997 meters 0.018815778780549436 Centerline is valid? [True, True] Translation: X:493.40, Y:38.35, Z:20.58 [[ 9.90632411e-01 -1.26123623e-01 -5.23474822e-02 4.93403665e+02] [ 1.26042609e-01 9.92012927e-01 -4.85926396e-03 3.83528482e+01] [ 5.25422470e-02 -1.78426889e-03 9.98617108e-01 2.05840738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.185099893 meters 0.018216546163095374 Centerline is valid? [True, True] Translation: X:493.46, Y:38.36, Z:20.59 [[ 9.91205417e-01 -1.21595397e-01 -5.22147555e-02 4.93462025e+02] [ 1.21507929e-01 9.92578572e-01 -4.85816499e-03 3.83585207e+01] [ 5.24179779e-02 -1.52906737e-03 9.98624062e-01 2.05863566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.245099893 meters 0.016054152824782474 Centerline is valid? [True, True] Translation: X:493.52, Y:38.37, Z:20.59 [[ 9.91654676e-01 -1.17684268e-01 -5.26442500e-02 4.93519807e+02] [ 1.17589687e-01 9.93050172e-01 -4.90119308e-03 3.83681501e+01] [ 5.28551748e-02 -1.33012984e-03 9.98601302e-01 2.05898940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.3050998929999 meters 0.015042158445077574 Centerline is valid? [True, True] Translation: X:493.58, Y:38.38, Z:20.59 [[ 9.92209638e-01 -1.12541088e-01 -5.34278828e-02 4.93577960e+02] [ 1.12436004e-01 9.93646498e-01 -4.97813633e-03 3.83761937e+01] [ 5.36486735e-02 -1.06786281e-03 9.98559302e-01 2.05921538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.3650998929999 meters 0.014931445968549001 Centerline is valid? [True, True] Translation: X:493.64, Y:38.38, Z:20.60 [[ 9.92517226e-01 -1.10206169e-01 -5.25752504e-02 4.93635478e+02] [ 1.10100929e-01 9.93908320e-01 -4.90268498e-03 3.83805765e+01] [ 5.27952850e-02 -9.22584625e-04 9.98604930e-01 2.05951425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.4250998929999 meters 0.014647696298128775 Centerline is valid? [True, True] Translation: X:493.69, Y:38.39, Z:20.60 [[ 9.92529453e-01 -1.10438481e-01 -5.18519675e-02 4.93692752e+02] [ 1.10336088e-01 9.93882540e-01 -4.84187959e-03 3.83861904e+01] [ 5.20694950e-02 -9.15435127e-04 9.98643044e-01 2.05987292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.4850998929999 meters 0.014944650105304625 Centerline is valid? [True, True] Translation: X:493.75, Y:38.39, Z:20.60 [[ 9.92448815e-01 -1.11717493e-01 -5.06413999e-02 4.93750678e+02] [ 1.11620756e-01 9.93739558e-01 -4.74325896e-03 3.83891386e+01] [ 5.08542673e-02 -9.45189595e-04 9.98705637e-01 2.06016653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.54509989299993 meters 0.01605222032119019 Centerline is valid? [True, True] Translation: X:493.81, Y:38.39, Z:20.60 [[ 9.91939328e-01 -1.16447354e-01 -4.99638148e-02 4.93809677e+02] [ 1.16358482e-01 9.93196191e-01 -4.69367141e-03 3.83885714e+01] [ 5.01704362e-02 -1.15787638e-03 9.98740000e-01 2.06032964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.60509989299993 meters 0.017890530888264946 Centerline is valid? [True, True] Translation: X:493.87, Y:38.39, Z:20.61 [[ 9.91181177e-01 -1.22578328e-01 -5.03430949e-02 4.93870548e+02] [ 1.22495462e-01 9.92457755e-01 -4.73979515e-03 3.83872133e+01] [ 5.05443911e-02 -1.46880495e-03 9.98720735e-01 2.06052704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.66509989299993 meters 0.01990403510019239 Centerline is valid? [True, True] Translation: X:493.93, Y:38.39, Z:20.61 [[ 9.90544113e-01 -1.27710464e-01 -5.01238230e-02 4.93930241e+02] [ 1.27634853e-01 9.91809997e-01 -4.71958439e-03 3.83872559e+01] [ 5.03160490e-02 -1.72259022e-03 9.98731860e-01 2.06075866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.72509989299994 meters 0.02281415161897011 Centerline is valid? [True, True] Translation: X:493.99, Y:38.39, Z:20.61 [[ 9.89789747e-01 -1.33506175e-01 -4.99235297e-02 4.93990628e+02] [ 1.33438402e-01 9.91045950e-01 -4.70304004e-03 3.83864383e+01] [ 5.01043968e-02 -2.00669520e-03 9.98741970e-01 2.06099221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.78509989299994 meters 0.024763319295192616 Centerline is valid? [True, True] Translation: X:494.05, Y:38.39, Z:20.61 [[ 9.88580524e-01 -1.42060136e-01 -5.02738995e-02 4.94051209e+02] [ 1.42002390e-01 9.89854981e-01 -4.73676916e-03 3.83870997e+01] [ 5.04367759e-02 -2.45633614e-03 9.98724235e-01 2.06129494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.84509989299994 meters 0.025601587851400674 Centerline is valid? [True, True] Translation: X:494.11, Y:38.39, Z:20.62 [[ 9.87834979e-01 -1.47197731e-01 -5.01486044e-02 4.94111253e+02] [ 1.47146866e-01 9.89103369e-01 -4.72495443e-03 3.83905297e+01] [ 5.02976561e-02 -2.71173473e-03 9.98730590e-01 2.06157115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.90509989299994 meters 0.027158626016339157 Centerline is valid? [True, True] Translation: X:494.17, Y:38.39, Z:20.62 [[ 9.86981190e-01 -1.52652828e-01 -5.06482412e-02 4.94172039e+02] [ 1.52608082e-01 9.88275265e-01 -4.77228293e-03 3.83940086e+01] [ 5.07829065e-02 -3.01917746e-03 9.98705152e-01 2.06184800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.96509989299994 meters 0.029045902378638747 Centerline is valid? [True, True] Translation: X:494.23, Y:38.40, Z:20.62 [[ 9.86661368e-01 -1.54494292e-01 -5.12918936e-02 4.94231637e+02] [ 1.54450862e-01 9.87988649e-01 -4.83329524e-03 3.83979132e+01] [ 5.14225252e-02 -3.15325146e-03 9.98672009e-01 2.06210002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.02509989299995 meters 0.029424667278523494 Centerline is valid? [True, True] Translation: X:494.29, Y:38.41, Z:20.62 [[ 9.86514704e-01 -1.55237029e-01 -5.18671653e-02 4.94289491e+02] [ 1.55193490e-01 9.87871988e-01 -4.89044144e-03 3.84055401e+01] [ 5.19972973e-02 -3.22495399e-03 9.98642018e-01 2.06236940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.08509989299995 meters 0.028601811644485286 Centerline is valid? [True, True] Translation: X:494.35, Y:38.41, Z:20.63 [[ 9.86612990e-01 -1.54739855e-01 -5.14818965e-02 4.94348105e+02] [ 1.54695868e-01 9.87950175e-01 -4.86218480e-03 3.84141042e+01] [ 5.16139224e-02 -3.16694197e-03 9.98662092e-01 2.06267935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.14509989299995 meters 0.02790256703726195 Centerline is valid? [True, True] Translation: X:494.41, Y:38.42, Z:20.63 [[ 9.86829043e-01 -1.53496153e-01 -5.10624298e-02 4.94406871e+02] [ 1.53450599e-01 9.88144493e-01 -4.83468269e-03 3.84230136e+01] [ 5.11991640e-02 -3.06455514e-03 9.98683761e-01 2.06295345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.20509989299995 meters 0.026412551524234485 Centerline is valid? [True, True] Translation: X:494.47, Y:38.44, Z:20.63 [[ 9.87344138e-01 -1.49813591e-01 -5.20330697e-02 4.94466118e+02] [ 1.49760653e-01 9.88709954e-01 -4.93696054e-03 3.84363818e+01] [ 5.21852378e-02 -2.91802746e-03 9.98633159e-01 2.06315539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.26509989299996 meters 0.02520383004155686 Centerline is valid? [True, True] Translation: X:494.52, Y:38.45, Z:20.64 [[ 9.87951107e-01 -1.46038743e-01 -5.12376457e-02 4.94524450e+02] [ 1.45982292e-01 9.89275253e-01 -4.86259183e-03 3.84508478e+01] [ 5.13982617e-02 -2.67578599e-03 9.98674651e-01 2.06359885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.32509989299996 meters 0.02654326140123187 Centerline is valid? [True, True] Translation: X:494.58, Y:38.46, Z:20.64 [[ 9.88144618e-01 -1.44228679e-01 -5.26146553e-02 4.94582725e+02] [ 1.44166484e-01 9.89540838e-01 -4.99542629e-03 3.84591774e+01] [ 5.27848338e-02 -2.64906625e-03 9.98602395e-01 2.06372422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.38509989299996 meters 0.022729535350949442 Centerline is valid? [True, True] Translation: X:494.64, Y:38.47, Z:20.64 [[ 9.88266185e-01 -1.42893507e-01 -5.39573357e-02 4.94641654e+02] [ 1.42825942e-01 9.89734547e-01 -5.12612417e-03 3.84747184e+01] [ 5.41359291e-02 -2.64053211e-03 9.98530084e-01 2.06397347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.44509989299996 meters 0.021193645618126217 Centerline is valid? [True, True] Translation: X:494.70, Y:38.49, Z:20.64 [[ 9.88946083e-01 -1.38834113e-01 -5.20647041e-02 4.94700799e+02] [ 1.38765420e-01 9.90312910e-01 -4.94952085e-03 3.84888952e+01] [ 5.22475109e-02 -2.32997129e-03 9.98631448e-01 2.06433805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.50509989299997 meters 0.02108947503512469 Centerline is valid? [True, True] Translation: X:494.76, Y:38.50, Z:20.65 [[ 9.89503969e-01 -1.34486926e-01 -5.28692974e-02 4.94760081e+02] [ 1.34409861e-01 9.90913074e-01 -5.02677208e-03 3.84992218e+01] [ 5.30649132e-02 -2.13214402e-03 9.98588789e-01 2.06458348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.56509989299997 meters 0.018796894098438557 Centerline is valid? [True, True] Translation: X:494.82, Y:38.52, Z:20.65 [[ 9.90565848e-01 -1.25770977e-01 -5.44147238e-02 4.94817910e+02] [ 1.25676189e-01 9.92057824e-01 -5.17397488e-03 3.85151981e+01] [ 5.46332883e-02 -1.71347231e-03 9.98505016e-01 2.06473917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.62509989299997 meters 0.016604106245407292 Centerline is valid? [True, True] Translation: X:494.88, Y:38.53, Z:20.65 [[ 9.91301757e-01 -1.19716375e-01 -5.46700699e-02 4.94876386e+02] [ 1.19611422e-01 9.92807168e-01 -5.19959666e-03 3.85299290e+01] [ 5.48993141e-02 -1.38479552e-03 9.98490935e-01 2.06509531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.685099893 meters 0.014435888117822432 Centerline is valid? [True, True] Translation: X:494.93, Y:38.55, Z:20.66 [[ 9.92231206e-01 -1.12263042e-01 -5.36119773e-02 4.94934840e+02] [ 1.12151126e-01 9.93678069e-01 -5.10101991e-03 3.85453950e+01] [ 5.38457020e-02 -9.51252468e-04 9.98548815e-01 2.06558624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.745099893 meters 0.01369301388825893 Centerline is valid? [True, True] Translation: X:494.99, Y:38.56, Z:20.66 [[ 9.92662095e-01 -1.09273393e-01 -5.17811733e-02 4.94994282e+02] [ 1.09164823e-01 9.94011443e-01 -4.92884642e-03 3.85550141e+01] [ 5.20096706e-02 -7.60003598e-04 9.98646292e-01 2.06594468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.8050998929999 meters 0.013869905901785566 Centerline is valid? [True, True] Translation: X:495.05, Y:38.56, Z:20.66 [[ 9.92778742e-01 -1.08943859e-01 -5.02155762e-02 4.95053346e+02] [ 1.08841329e-01 9.94047643e-01 -4.77997278e-03 3.85617318e+01] [ 5.04374238e-02 -7.20074670e-04 9.98726964e-01 2.06615402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.8650998929999 meters 0.01451082656000885 Centerline is valid? [True, True] Translation: X:495.11, Y:38.57, Z:20.66 [[ 9.92438000e-01 -1.11753519e-01 -5.07736763e-02 4.95113694e+02] [ 1.11652330e-01 9.93735574e-01 -4.83384923e-03 3.85666775e+01] [ 5.09958081e-02 -8.71703604e-04 9.98698487e-01 2.06633072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.9250998929999 meters 0.016590330710374215 Centerline is valid? [True, True] Translation: X:495.17, Y:38.57, Z:20.66 [[ 9.91543634e-01 -1.19288315e-01 -5.11030255e-02 4.95174144e+02] [ 1.19195787e-01 9.92858848e-01 -4.86536994e-03 3.85669789e+01] [ 5.13184728e-02 -1.26703873e-03 9.98681535e-01 2.06638373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.9850998929999 meters 0.018074494176058515 Centerline is valid? [True, True] Translation: X:495.23, Y:38.57, Z:20.67 [[ 9.90980278e-01 -1.24725196e-01 -4.90072787e-02 4.95234740e+02] [ 1.24646703e-01 9.92190215e-01 -4.66655366e-03 3.85686945e+01] [ 4.92065793e-02 -1.48413306e-03 9.98787520e-01 2.06663599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.04509989299993 meters 0.020369459211091265 Centerline is valid? [True, True] Translation: X:495.30, Y:38.57, Z:20.67 [[ 9.90286859e-01 -1.31161933e-01 -4.61354925e-02 4.95295755e+02] [ 1.31099341e-01 9.91359503e-01 -4.39302018e-03 3.85688533e+01] [ 4.63130560e-02 -1.69798251e-03 9.98925532e-01 2.06700247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.10509989299993 meters 0.022306421489748485 Centerline is valid? [True, True] Translation: X:495.36, Y:38.57, Z:20.67 [[ 9.89878808e-01 -1.34330736e-01 -4.57733448e-02 4.95357299e+02] [ 1.34272543e-01 9.90934859e-01 -4.35765575e-03 3.85704787e+01] [ 4.59437701e-02 -1.83255234e-03 9.98942347e-01 2.06709901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.16509989299993 meters 0.021354785834931115 Centerline is valid? [True, True] Translation: X:495.42, Y:38.58, Z:20.67 [[ 9.89738437e-01 -1.35314593e-01 -4.59106507e-02 4.95418583e+02] [ 1.35257185e-01 9.90800891e-01 -4.36902632e-03 3.85772040e+01] [ 4.60795066e-02 -1.88555210e-03 9.98935996e-01 2.06725115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.22509989299994 meters 0.023023712155500562 Centerline is valid? [True, True] Translation: X:495.48, Y:38.58, Z:20.67 [[ 9.89499392e-01 -1.37042764e-01 -4.59372919e-02 4.95479223e+02] [ 1.36987276e-01 9.90563173e-01 -4.36875721e-03 3.85797808e+01] [ 4.61024962e-02 -1.96994188e-03 9.98934772e-01 2.06742100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.28509989299994 meters 0.022242265343927353 Centerline is valid? [True, True] Translation: X:495.54, Y:38.59, Z:20.68 [[ 9.88693387e-01 -1.42312030e-01 -4.72511610e-02 4.95538931e+02] [ 1.42259578e-01 9.89819210e-01 -4.48829515e-03 3.85870830e+01] [ 4.74088453e-02 -2.28438250e-03 9.98872956e-01 2.06765662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.34509989299994 meters 0.025217957037647898 Centerline is valid? [True, True] Translation: X:495.60, Y:38.59, Z:20.68 [[ 9.88452730e-01 -1.43747568e-01 -4.79357673e-02 4.95599974e+02] [ 1.43695309e-01 9.89611506e-01 -4.55248055e-03 3.85882034e+01] [ 4.80921949e-02 -2.38823309e-03 9.98840046e-01 2.06783430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.40509989299994 meters 0.027817096368252445 Centerline is valid? [True, True] Translation: X:495.66, Y:38.59, Z:20.68 [[ 9.88164794e-01 -1.45515313e-01 -4.85348702e-02 4.95659947e+02] [ 1.45464076e-01 9.89352817e-01 -4.60507562e-03 3.85901889e+01] [ 4.86882196e-02 -2.50950643e-03 9.98810873e-01 2.06803174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.46509989299994 meters 0.024323221879538406 Centerline is valid? [True, True] Translation: X:495.72, Y:38.60, Z:20.68 [[ 9.87947698e-01 -1.47015866e-01 -4.84322250e-02 4.95720779e+02] [ 1.46966654e-01 9.89130774e-01 -4.59509135e-03 3.86010280e+01] [ 4.85813556e-02 -2.57821212e-03 9.98815901e-01 2.06835842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.52509989299995 meters 0.027284884920443987 Centerline is valid? [True, True] Translation: X:495.78, Y:38.60, Z:20.69 [[ 9.87450449e-01 -1.50324190e-01 -4.84174393e-02 4.95780803e+02] [ 1.50279044e-01 9.88632956e-01 -4.59214092e-03 3.86041148e+01] [ 4.85573860e-02 -2.74161485e-03 9.98816632e-01 2.06867270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.58509989299995 meters 0.027939053644870232 Centerline is valid? [True, True] Translation: X:495.84, Y:38.61, Z:20.69 [[ 9.87307701e-01 -1.51447783e-01 -4.78233363e-02 4.95842619e+02] [ 1.51405070e-01 9.88461398e-01 -4.53535774e-03 3.86114832e+01] [ 4.79583917e-02 -2.76290196e-03 9.98845513e-01 2.06908540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.64509989299995 meters 0.026296295935044036 Centerline is valid? [True, True] Translation: X:495.90, Y:38.62, Z:20.69 [[ 9.87351489e-01 -1.51523221e-01 -4.66663765e-02 4.95903699e+02] [ 1.51482787e-01 9.88450003e-01 -4.42231971e-03 3.86205449e+01] [ 4.67974642e-02 -2.70276882e-03 9.98900742e-01 2.06943240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.70509989299995 meters 0.0270443665027484 Centerline is valid? [True, True] Translation: X:495.97, Y:38.63, Z:20.70 [[ 9.87480759e-01 -1.50907654e-01 -4.59198208e-02 4.95965212e+02] [ 1.50867992e-01 9.88544355e-01 -4.34821910e-03 3.86266116e+01] [ 4.60499591e-02 -2.63404847e-03 9.98935665e-01 2.06975808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.76509989299996 meters 0.027018709382454483 Centerline is valid? [True, True] Translation: X:496.03, Y:38.63, Z:20.70 [[ 9.87923952e-01 -1.47993722e-01 -4.58707160e-02 4.96025477e+02] [ 1.47951159e-01 9.88985144e-01 -4.34043777e-03 3.86349434e+01] [ 4.60078143e-02 -2.49860318e-03 9.98937955e-01 2.07001424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.82509989299996 meters 0.026075929225356457 Centerline is valid? [True, True] Translation: X:496.09, Y:38.64, Z:20.70 [[ 9.88520447e-01 -1.43869918e-01 -4.61386223e-02 4.96086047e+02] [ 1.43822415e-01 9.89593886e-01 -4.36495773e-03 3.86443078e+01] [ 4.62864847e-02 -2.32091811e-03 9.98925510e-01 2.07025499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.88509989299996 meters 0.022921102900540075 Centerline is valid? [True, True] Translation: X:496.15, Y:38.66, Z:20.70 [[ 9.89791796e-01 -1.34546564e-01 -4.70044921e-02 4.96145748e+02] [ 1.34486803e-01 9.90905411e-01 -4.44604627e-03 3.86583042e+01] [ 4.71752057e-02 -1.92082372e-03 9.98884783e-01 2.07043608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.94509989299996 meters 0.01926461243526225 Centerline is valid? [True, True] Translation: X:496.20, Y:38.67, Z:20.71 [[ 9.90753366e-01 -1.26899939e-01 -4.80018089e-02 4.96205000e+02] [ 1.26828679e-01 9.91914249e-01 -4.53977256e-03 3.86727483e+01] [ 4.81897750e-02 -1.59021106e-03 9.98836932e-01 2.07067941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.00509989299997 meters 0.014944387162617812 Centerline is valid? [True, True] Translation: X:496.26, Y:38.69, Z:20.71 [[ 9.92252845e-01 -1.14284377e-01 -4.87172824e-02 4.96264290e+02] [ 1.14195772e-01 9.93447582e-01 -4.60735401e-03 3.86901414e+01] [ 4.89246150e-02 -9.91647573e-04 9.98801982e-01 2.07090846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.06509989299997 meters 0.013194615633829421 Centerline is valid? [True, True] Translation: X:496.32, Y:38.70, Z:20.71 [[ 9.93199968e-01 -1.05606807e-01 -4.90002731e-02 4.96324577e+02] [ 1.05506620e-01 9.94407804e-01 -4.63386942e-03 3.87024010e+01] [ 4.92156221e-02 -5.67494253e-04 9.98788016e-01 2.07113820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.12509989299997 meters 0.012268705912057818 Centerline is valid? [True, True] Translation: X:496.38, Y:38.72, Z:20.72 [[ 9.94255612e-01 -9.52873392e-02 -4.87452696e-02 4.96384812e+02] [ 9.51758719e-02 9.95449808e-01 -4.60801041e-03 3.87170914e+01] [ 4.89625543e-02 -5.78333351e-05 9.98800613e-01 2.07154356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.185099893 meters 0.012255948308693412 Centerline is valid? [True, True] Translation: X:496.45, Y:38.73, Z:20.72 [[ 9.94603387e-01 -9.15549764e-02 -4.88035681e-02 4.96445340e+02] [ 9.14388373e-02 9.95800015e-01 -4.61174484e-03 3.87251817e+01] [ 4.90208221e-02 1.24315513e-04 9.98797749e-01 2.07181308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.245099893 meters 0.012258341566596085 Centerline is valid? [True, True] Translation: X:496.51, Y:38.73, Z:20.72 [[ 9.94650443e-01 -9.11068981e-02 -4.86829524e-02 4.96506425e+02] [ 9.09908827e-02 9.95841108e-01 -4.59858398e-03 3.87301830e+01] [ 4.88994480e-02 1.44278787e-04 9.98803696e-01 2.07204520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.3050998929999 meters 0.01221372213644447 Centerline is valid? [True, True] Translation: X:496.57, Y:38.73, Z:20.72 [[ 9.94224091e-01 -9.53658584e-02 -4.92322059e-02 4.96566920e+02] [ 9.52525074e-02 9.95442288e-01 -4.64879941e-03 3.87308878e+01] [ 4.94511564e-02 -6.75426916e-05 9.98776541e-01 2.07230230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.3650998929999 meters 0.012575404583012323 Centerline is valid? [True, True] Translation: X:496.63, Y:38.73, Z:20.73 [[ 9.93554862e-01 -1.02294327e-01 -4.88324329e-02 4.96627747e+02] [ 1.02191204e-01 9.94754092e-01 -4.61031021e-03 3.87282698e+01] [ 4.90478711e-02 -4.09648988e-04 9.98796345e-01 2.07262346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.4250998929999 meters 0.013150106961348058 Centerline is valid? [True, True] Translation: X:496.69, Y:38.73, Z:20.73 [[ 9.93027845e-01 -1.07157893e-01 -4.91211166e-02 4.96689288e+02] [ 1.07059503e-01 9.94241801e-01 -4.63730191e-03 3.87284502e+01] [ 4.93351910e-02 -6.53912389e-04 9.98782064e-01 2.07288935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.4850998929999 meters 0.014054285142360547 Centerline is valid? [True, True] Translation: X:496.75, Y:38.73, Z:20.73 [[ 9.92423241e-01 -1.12190637e-01 -5.00936374e-02 4.96750669e+02] [ 1.12094797e-01 9.93686272e-01 -4.72742781e-03 3.87266488e+01] [ 5.03077330e-02 -9.23626871e-04 9.98733337e-01 2.07312631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.54509989299993 meters 0.01477191022959251 Centerline is valid? [True, True] Translation: X:496.81, Y:38.73, Z:20.73 [[ 9.92234918e-01 -1.13698966e-01 -5.04223438e-02 4.96810640e+02] [ 1.13603848e-01 9.93514736e-01 -4.75768728e-03 3.87276350e+01] [ 5.06362857e-02 -1.00742884e-03 9.98716652e-01 2.07336207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.60509989299993 meters 0.014900585287946976 Centerline is valid? [True, True] Translation: X:496.87, Y:38.73, Z:20.74 [[ 9.92178838e-01 -1.14121898e-01 -5.05702141e-02 4.96871294e+02] [ 1.14026770e-01 9.93466218e-01 -4.77163984e-03 3.87300329e+01] [ 5.07843480e-02 -1.03203810e-03 9.98709109e-01 2.07363582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.66509989299993 meters 0.014100124503747178 Centerline is valid? [True, True] Translation: X:496.93, Y:38.73, Z:20.74 [[ 9.92363809e-01 -1.12507437e-01 -5.05583501e-02 4.96931806e+02] [ 1.12410259e-01 9.93650429e-01 -4.77052038e-03 3.87330127e+01] [ 5.07740453e-02 -9.49185469e-04 9.98709715e-01 2.07399141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.72509989299994 meters 0.013774671955985265 Centerline is valid? [True, True] Translation: X:496.99, Y:38.74, Z:20.74 [[ 9.92497956e-01 -1.11142841e-01 -5.09418932e-02 4.96992612e+02] [ 1.11042396e-01 9.93804047e-01 -4.80654144e-03 3.87371446e+01] [ 5.11604723e-02 -8.86227328e-04 9.98690052e-01 2.07428086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.78509989299994 meters 0.013864232307001094 Centerline is valid? [True, True] Translation: X:497.05, Y:38.74, Z:20.74 [[ 9.92542105e-01 -1.10013663e-01 -5.25086983e-02 4.97053502e+02] [ 1.09905405e-01 9.93929708e-01 -4.95357782e-03 3.87393259e+01] [ 5.27349164e-02 -8.54355207e-04 9.98608181e-01 2.07441630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.84509989299994 meters 0.01483373363031908 Centerline is valid? [True, True] Translation: X:497.11, Y:38.74, Z:20.75 [[ 9.92334710e-01 -1.11675132e-01 -5.29196488e-02 4.97112250e+02] [ 1.11567499e-01 9.93744315e-01 -4.99295106e-03 3.87392188e+01] [ 5.31461887e-02 -9.49434256e-04 9.98586291e-01 2.07461483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.90509989299994 meters 0.015748153707282296 Centerline is valid? [True, True] Translation: X:497.17, Y:38.74, Z:20.75 [[ 9.91992389e-01 -1.14914034e-01 -5.24009959e-02 4.97170908e+02] [ 1.14812756e-01 9.93374823e-01 -4.94890984e-03 3.87406208e+01] [ 5.26225292e-02 -1.10702186e-03 9.98613861e-01 2.07493688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.96509989299994 meters 0.0165756678295383 Centerline is valid? [True, True] Translation: X:497.23, Y:38.74, Z:20.75 [[ 9.91587255e-01 -1.18857307e-01 -5.12606716e-02 4.97230026e+02] [ 1.18765003e-01 9.92910527e-01 -4.85377549e-03 3.87420557e+01] [ 5.14741671e-02 -1.27503192e-03 9.98673512e-01 2.07526951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.02509989299995 meters 0.01858380936191492 Centerline is valid? [True, True] Translation: X:497.29, Y:38.74, Z:20.76 [[ 9.90803655e-01 -1.25927754e-01 -4.95006832e-02 4.97290745e+02] [ 1.25849973e-01 9.92038164e-01 -4.69741572e-03 3.87405081e+01] [ 4.96981019e-02 -1.57544296e-03 9.98763043e-01 2.07557173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.08509989299995 meters 0.0224075337343446 Centerline is valid? [True, True] Translation: X:497.35, Y:38.74, Z:20.76 [[ 9.89742558e-01 -1.34097006e-01 -4.92713090e-02 4.97350767e+02] [ 1.34029991e-01 9.90966241e-01 -4.67656862e-03 3.87368592e+01] [ 4.94533177e-02 -1.97523409e-03 9.98774483e-01 2.07579887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.14509989299995 meters 0.02457214800046808 Centerline is valid? [True, True] Translation: X:497.41, Y:38.74, Z:20.76 [[ 9.89067735e-01 -1.39305665e-01 -4.83626565e-02 4.97411383e+02] [ 1.39247306e-01 9.90246998e-01 -4.59029736e-03 3.87377509e+01] [ 4.85304298e-02 -2.19425460e-03 9.98819294e-01 2.07604090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.20509989299995 meters 0.02479935500626071 Centerline is valid? [True, True] Translation: X:497.47, Y:38.74, Z:20.76 [[ 9.88384085e-01 -1.44480103e-01 -4.71423399e-02 4.97471737e+02] [ 1.44430514e-01 9.89504828e-01 -4.47449379e-03 3.87421526e+01] [ 4.72940482e-02 -2.38627392e-03 9.98878160e-01 2.07636268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.26509989299996 meters 0.030748490001443553 Centerline is valid? [True, True] Translation: X:497.53, Y:38.74, Z:20.77 [[ 9.87870793e-01 -1.48293793e-01 -4.60461390e-02 4.97531047e+02] [ 1.48250594e-01 9.88940169e-01 -4.37076624e-03 3.87387602e+01] [ 4.61850340e-02 -2.50861516e-03 9.98929752e-01 2.07657306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.32509989299996 meters 0.03287221061524125 Centerline is valid? [True, True] Translation: X:497.59, Y:38.74, Z:20.77 [[ 9.87442134e-01 -1.51216632e-01 -4.57336016e-02 4.97591172e+02] [ 1.51177067e-01 9.88497160e-01 -4.34265594e-03 3.87416285e+01] [ 4.58642171e-02 -2.62575031e-03 9.98944232e-01 2.07680868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.38509989299996 meters 0.030117759856401367 Centerline is valid? [True, True] Translation: X:497.65, Y:38.75, Z:20.77 [[ 9.86884503e-01 -1.54532931e-01 -4.66749555e-02 4.97650437e+02] [ 1.54495377e-01 9.87983567e-01 -4.43285571e-03 3.87502994e+01] [ 4.67991112e-02 -2.83634824e-03 9.98900294e-01 2.07690264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.44509989299996 meters 0.03262238932671998 Centerline is valid? [True, True] Translation: X:497.71, Y:38.75, Z:20.77 [[ 9.86523768e-01 -1.56694945e-01 -4.70908696e-02 4.97709920e+02] [ 1.56659130e-01 9.87642601e-01 -4.47321166e-03 3.87526875e+01] [ 4.72098786e-02 -2.96428506e-03 9.98880594e-01 2.07697788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.50509989299997 meters 0.033670464000001225 Centerline is valid? [True, True] Translation: X:497.77, Y:38.76, Z:20.77 [[ 9.86105622e-01 -1.59184306e-01 -4.74979847e-02 4.97769575e+02] [ 1.59150701e-01 9.87243987e-01 -4.51278168e-03 3.87584564e+01] [ 4.76104638e-02 -3.10925817e-03 9.98861140e-01 2.07714476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.56509989299997 meters 0.03521931474187387 Centerline is valid? [True, True] Translation: X:497.83, Y:38.76, Z:20.77 [[ 9.86048811e-01 -1.59825770e-01 -4.65130765e-02 4.97829259e+02] [ 1.59794210e-01 9.87140453e-01 -4.42009170e-03 3.87633283e+01] [ 4.66213839e-02 -3.07409414e-03 9.98907902e-01 2.07741125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.62509989299997 meters 0.03269752756059819 Centerline is valid? [True, True] Translation: X:497.89, Y:38.78, Z:20.78 [[ 9.86327583e-01 -1.58721208e-01 -4.43336949e-02 4.97889308e+02] [ 1.58691361e-01 9.87319245e-01 -4.21432917e-03 3.87757379e+01] [ 4.44404136e-02 -2.87866525e-03 9.99007889e-01 2.07778791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.685099893 meters 0.032771549578829835 Centerline is valid? [True, True] Translation: X:497.95, Y:38.78, Z:20.78 [[ 9.86706068e-01 -1.56712401e-01 -4.30390444e-02 4.97948928e+02] [ 1.56682398e-01 9.87640569e-01 -4.09053953e-03 3.87840569e+01] [ 4.31481446e-02 -2.70730049e-03 9.99065017e-01 2.07813737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.745099893 meters 0.029212614119116014 Centerline is valid? [True, True] Translation: X:498.01, Y:38.80, Z:20.78 [[ 9.87276969e-01 -1.53562218e-01 -4.12653866e-02 4.98008587e+02] [ 1.53531891e-01 9.88135910e-01 -3.92197648e-03 3.87987529e+01] [ 4.13780777e-02 -2.46347579e-03 9.99140524e-01 2.07844216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.8050998929999 meters 0.025569160607355267 Centerline is valid? [True, True] Translation: X:498.07, Y:38.81, Z:20.79 [[ 9.87574700e-01 -1.51641875e-01 -4.12426267e-02 4.98069059e+02] [ 1.51609943e-01 9.88432631e-01 -3.91908087e-03 3.88117810e+01] [ 4.13598548e-02 -2.38240717e-03 9.99141475e-01 2.07866801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.8650998929999 meters 0.027273700578423637 Centerline is valid? [True, True] Translation: X:498.13, Y:38.82, Z:20.79 [[ 9.87792293e-01 -1.50030972e-01 -4.19176848e-02 4.98129265e+02] [ 1.49996610e-01 9.88678494e-01 -3.98162493e-03 3.88177684e+01] [ 4.20404805e-02 -2.35449218e-03 9.99113134e-01 2.07886162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.9250998929999 meters 0.02566153285476102 Centerline is valid? [True, True] Translation: X:498.19, Y:38.83, Z:20.79 [[ 9.88063050e-01 -1.47859173e-01 -4.32327840e-02 4.98189534e+02] [ 1.47820587e-01 9.89005671e-01 -4.10569721e-03 3.88301621e+01] [ 4.33645335e-02 -2.33400780e-03 9.99056590e-01 2.07896366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.9850998929999 meters 0.024968312942897856 Centerline is valid? [True, True] Translation: X:498.25, Y:38.84, Z:20.79 [[ 9.88309789e-01 -1.46095930e-01 -4.35860174e-02 4.98250617e+02] [ 1.46055075e-01 9.89267808e-01 -4.13757327e-03 3.88394276e+01] [ 4.37227265e-02 -2.27675486e-03 9.99041110e-01 2.07913014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.04509989299993 meters 0.023726681366136333 Centerline is valid? [True, True] Translation: X:498.31, Y:38.85, Z:20.79 [[ 9.88893364e-01 -1.42071534e-01 -4.36531042e-02 4.98310656e+02] [ 1.42026770e-01 9.89854155e-01 -4.14102521e-03 3.88514188e+01] [ 4.37985284e-02 -2.10487702e-03 9.99038167e-01 2.07936260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.10509989299993 meters 0.023642610050763 Centerline is valid? [True, True] Translation: X:498.37, Y:38.86, Z:20.80 [[ 9.89414905e-01 -1.38539218e-01 -4.31860066e-02 4.98369508e+02] [ 1.38492080e-01 9.90355071e-01 -4.09599059e-03 3.88607797e+01] [ 4.33369360e-02 -1.92828574e-03 9.99058653e-01 2.07961471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.16509989299993 meters 0.018765537027913 Centerline is valid? [True, True] Translation: X:498.43, Y:38.88, Z:20.80 [[ 9.90339217e-01 -1.32158746e-01 -4.19797803e-02 4.98428595e+02] [ 1.32108448e-01 9.91227269e-01 -3.98230867e-03 3.88793249e+01] [ 4.21377999e-02 -1.60204715e-03 9.99110524e-01 2.07990986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.22509989299994 meters 0.017834706682232183 Centerline is valid? [True, True] Translation: X:498.49, Y:38.89, Z:20.80 [[ 9.90856814e-01 -1.28397668e-01 -4.14344328e-02 4.98489419e+02] [ 1.28345400e-01 9.91721741e-01 -3.93018604e-03 3.88895272e+01] [ 4.15960546e-02 -1.42366723e-03 9.99133495e-01 2.08020072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.28509989299994 meters 0.016009160424405085 Centerline is valid? [True, True] Translation: X:498.55, Y:38.90, Z:20.80 [[ 9.91597397e-01 -1.22495699e-01 -4.15861351e-02 4.98549422e+02] [ 1.22437958e-01 9.92468340e-01 -3.94223612e-03 3.89017762e+01] [ 4.17558294e-02 -1.18261040e-03 9.99127145e-01 2.08038195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.34509989299994 meters 0.015116174544458317 Centerline is valid? [True, True] Translation: X:498.61, Y:38.91, Z:20.81 [[ 9.91994416e-01 -1.19050646e-01 -4.21191567e-02 4.98610400e+02] [ 1.18988346e-01 9.92887626e-01 -3.99196393e-03 3.89114301e+01] [ 4.22948354e-02 -1.05168286e-03 9.99104620e-01 2.08059744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.40509989299994 meters 0.014507632845460897 Centerline is valid? [True, True] Translation: X:498.67, Y:38.92, Z:20.81 [[ 9.92540391e-01 -1.14395334e-01 -4.21578059e-02 4.98670280e+02] [ 1.14328790e-01 9.93434938e-01 -3.99400900e-03 3.89201517e+01] [ 4.23379333e-02 -8.55635710e-04 9.99102981e-01 2.08078668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.46509989299994 meters 0.013713186891367862 Centerline is valid? [True, True] Translation: X:498.73, Y:38.93, Z:20.81 [[ 9.92874031e-01 -1.11425876e-01 -4.22543794e-02 4.98732270e+02] [ 1.11356538e-01 9.93772476e-01 -3.99849402e-03 3.89279207e+01] [ 4.24367749e-02 -7.35300542e-04 9.99098884e-01 2.08103598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.52509989299995 meters 0.013175929319550675 Centerline is valid? [True, True] Translation: X:498.79, Y:38.94, Z:20.81 [[ 9.93213274e-01 -1.08401532e-01 -4.21485598e-02 4.98793624e+02] [ 1.08329949e-01 9.94107006e-01 -3.98541008e-03 3.89355851e+01] [ 4.23322031e-02 -6.07589125e-04 9.99103406e-01 2.08128796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.58509989299995 meters 0.012753367431170217 Centerline is valid? [True, True] Translation: X:498.86, Y:38.94, Z:20.82 [[ 9.93593490e-01 -1.05045644e-01 -4.16819913e-02 4.98855280e+02] [ 1.04972811e-01 9.94467294e-01 -3.93829651e-03 3.89424255e+01] [ 4.18650780e-02 -4.62410022e-04 9.99123166e-01 2.08154117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.64509989299995 meters 0.01239931050156344 Centerline is valid? [True, True] Translation: X:498.92, Y:38.95, Z:20.82 [[ 9.93636587e-01 -1.04677089e-01 -4.15817283e-02 4.98916927e+02] [ 1.04604407e-01 9.94506162e-01 -3.92585047e-03 3.89470186e+01] [ 4.17642316e-02 -4.48763388e-04 9.99127393e-01 2.08172157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.70509989299995 meters 0.012809879868984653 Centerline is valid? [True, True] Translation: X:498.98, Y:38.95, Z:20.82 [[ 9.93401487e-01 -1.06478801e-01 -4.26116260e-02 4.98978209e+02] [ 1.06404268e-01 9.94314826e-01 -4.01986181e-03 3.89494403e+01] [ 4.27974016e-02 -5.40722157e-04 9.99083625e-01 2.08189295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.76509989299996 meters 0.013917070205973934 Centerline is valid? [True, True] Translation: X:499.04, Y:38.95, Z:20.82 [[ 9.92821344e-01 -1.11413497e-01 -4.35064538e-02 4.99040591e+02] [ 1.11340639e-01 9.93773836e-01 -4.10181699e-03 3.89491197e+01] [ 4.36925733e-02 -7.71664911e-04 9.99044726e-01 2.08208789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.82509989299996 meters 0.01635971579611978 Centerline is valid? [True, True] Translation: X:499.10, Y:38.95, Z:20.82 [[ 9.92466982e-01 -1.14634034e-01 -4.32241559e-02 4.99101972e+02] [ 1.14565302e-01 9.93407373e-01 -4.07216291e-03 3.89467582e+01] [ 4.34060036e-02 -9.10501221e-04 9.99057100e-01 2.08229849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.88509989299996 meters 0.01537904041590846 Centerline is valid? [True, True] Translation: X:499.16, Y:38.95, Z:20.82 [[ 9.92043638e-01 -1.17869238e-01 -4.42296737e-02 4.99163579e+02] [ 1.17800591e-01 9.93028539e-01 -4.16440403e-03 3.89498954e+01] [ 4.44121833e-02 -1.07901117e-03 9.99012709e-01 2.08242310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.94509989299996 meters 0.015415247824897125 Centerline is valid? [True, True] Translation: X:499.23, Y:38.95, Z:20.83 [[ 9.91898139e-01 -1.19059976e-01 -4.43035546e-02 4.99226013e+02] [ 1.18992471e-01 9.92886412e-01 -4.16719136e-03 3.89538052e+01] [ 4.44845431e-02 -1.13836008e-03 9.99009424e-01 2.08265973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.00509989299997 meters 0.015837411915908647 Centerline is valid? [True, True] Translation: X:499.29, Y:38.96, Z:20.83 [[ 9.91808149e-01 -1.19650948e-01 -4.47241106e-02 4.99288390e+02] [ 1.19582905e-01 9.92815320e-01 -4.20343358e-03 3.89560559e+01] [ 4.49057270e-02 -1.17923938e-03 9.98990533e-01 2.08291409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.06509989299997 meters 0.017706824572799477 Centerline is valid? [True, True] Translation: X:499.35, Y:38.96, Z:20.83 [[ 9.91693238e-01 -1.20738073e-01 -4.43490629e-02 4.99349722e+02] [ 1.20672393e-01 9.92683649e-01 -4.16501991e-03 3.89562589e+01] [ 4.45274661e-02 -1.22128548e-03 9.99007414e-01 2.08317170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.12509989299997 meters 0.016397057176297015 Centerline is valid? [True, True] Translation: X:499.41, Y:38.96, Z:20.83 [[ 9.91588225e-01 -1.21727853e-01 -4.39900106e-02 4.99411866e+02] [ 1.21664310e-01 9.92562717e-01 -4.12890199e-03 3.89632227e+01] [ 4.41654468e-02 -1.25784370e-03 9.99023439e-01 2.08349997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.185099893 meters 0.018773787799210344 Centerline is valid? [True, True] Translation: X:499.47, Y:38.96, Z:20.84 [[ 9.90841802e-01 -1.27697928e-01 -4.38835210e-02 4.99472156e+02] [ 1.27640670e-01 9.91811937e-01 -4.11584063e-03 3.89610086e+01] [ 4.40497843e-02 -1.52317509e-03 9.99028176e-01 2.08382214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.245099893 meters 0.021216998042206787 Centerline is valid? [True, True] Translation: X:499.53, Y:38.96, Z:20.84 [[ 9.90079619e-01 -1.33031667e-01 -4.52208275e-02 4.99533636e+02] [ 1.32976418e-01 9.91110127e-01 -4.24120610e-03 3.89602489e+01] [ 4.53830349e-02 -1.81417196e-03 9.98968012e-01 2.08402264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.3050998929999 meters 0.02345529455642101 Centerline is valid? [True, True] Translation: X:499.60, Y:38.96, Z:20.84 [[ 9.88917636e-01 -1.40821682e-01 -4.70230152e-02 4.99595204e+02] [ 1.40770761e-01 9.90032399e-01 -4.40931679e-03 3.89593575e+01] [ 4.71752359e-02 -2.25901448e-03 9.98884074e-01 2.08421404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.3650998929999 meters 0.030391331941304996 Centerline is valid? [True, True] Translation: X:499.66, Y:38.95, Z:20.84 [[ 9.88230509e-01 -1.45295702e-01 -4.78499656e-02 4.99655169e+02] [ 1.45248252e-01 9.89385073e-01 -4.48578670e-03 3.89539581e+01] [ 4.79938073e-02 -2.51713257e-03 9.98844462e-01 2.08441768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.4250998929999 meters 0.026419130640194497 Centerline is valid? [True, True] Translation: X:499.72, Y:38.96, Z:20.85 [[ 9.87611709e-01 -1.49308132e-01 -4.82720819e-02 4.99715930e+02] [ 1.49264604e-01 9.88786932e-01 -4.52559261e-03 3.89630618e+01] [ 4.84065116e-02 -2.73578493e-03 9.98823971e-01 2.08477478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.4850998929999 meters 0.02772666444425374 Centerline is valid? [True, True] Translation: X:499.78, Y:38.97, Z:20.85 [[ 9.87460232e-01 -1.50450567e-01 -4.78217134e-02 4.99776756e+02] [ 1.50409255e-01 9.88613660e-01 -4.48180495e-03 3.89664096e+01] [ 4.79514892e-02 -2.76722412e-03 9.98845833e-01 2.08512487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.54509989299993 meters 0.027145517743749344 Centerline is valid? [True, True] Translation: X:499.84, Y:38.97, Z:20.85 [[ 9.87676113e-01 -1.48953746e-01 -4.80486910e-02 4.99837182e+02] [ 1.48910319e-01 9.88840456e-01 -4.50220482e-03 3.89729761e+01] [ 4.81831097e-02 -2.70822575e-03 9.98834848e-01 2.08542727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.60509989299993 meters 0.02595448275566504 Centerline is valid? [True, True] Translation: X:499.90, Y:38.98, Z:20.86 [[ 9.87959316e-01 -1.46879125e-01 -4.86097962e-02 4.99897460e+02] [ 1.46832214e-01 9.89150930e-01 -4.55399951e-03 3.89806032e+01] [ 4.87513126e-02 -2.63831776e-03 9.98807463e-01 2.08569337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.66509989299993 meters 0.026051263591655556 Centerline is valid? [True, True] Translation: X:499.96, Y:38.99, Z:20.86 [[ 9.88311452e-01 -1.44675102e-01 -4.80581806e-02 4.99957963e+02] [ 1.44626662e-01 9.89476053e-01 -4.50210248e-03 3.89871365e+01] [ 4.82037610e-02 -2.50101480e-03 9.98834392e-01 2.08598750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.72509989299994 meters 0.0235423377517296 Centerline is valid? [True, True] Translation: X:500.02, Y:39.00, Z:20.86 [[ 9.88687234e-01 -1.41692091e-01 -4.92026984e-02 5.00019031e+02] [ 1.41637692e-01 9.89907839e-01 -4.60815389e-03 3.89980908e+01] [ 4.93590758e-02 -2.41293370e-03 9.98778183e-01 2.08625684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.78509989299994 meters 0.02161960685987875 Centerline is valid? [True, True] Translation: X:500.08, Y:39.01, Z:20.86 [[ 9.89073163e-01 -1.38473159e-01 -5.05911344e-02 5.00079433e+02] [ 1.38411576e-01 9.90363473e-01 -4.73567846e-03 3.90082151e+01] [ 5.07593760e-02 -2.31846618e-03 9.98708221e-01 2.08642708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.84509989299994 meters 0.01926824334429049 Centerline is valid? [True, True] Translation: X:500.14, Y:39.02, Z:20.87 [[ 9.89551912e-01 -1.34682775e-01 -5.14544792e-02 5.00139554e+02] [ 1.34614009e-01 9.90886411e-01 -4.81553549e-03 3.90191122e+01] [ 5.16341139e-02 -2.16127138e-03 9.98663731e-01 2.08671858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.90509989299994 meters 0.016096895122139073 Centerline is valid? [True, True] Translation: X:500.20, Y:39.03, Z:20.87 [[ 9.90769290e-01 -1.25274560e-01 -5.17928467e-02 5.00198810e+02] [ 1.25192088e-01 9.92120685e-01 -4.84635883e-03 3.90336116e+01] [ 5.19918800e-02 -1.68243110e-03 9.98646090e-01 2.08706505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.96509989299994 meters 0.015280454839482345 Centerline is valid? [True, True] Translation: X:500.26, Y:39.04, Z:20.87 [[ 9.91694551e-01 -1.17862826e-01 -5.14807839e-02 5.00258255e+02] [ 1.17771376e-01 9.93029053e-01 -4.81691084e-03 3.90429385e+01] [ 5.16896489e-02 -1.28605853e-03 9.98662368e-01 2.08730937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.02509989299995 meters 0.01354196519045506 Centerline is valid? [True, True] Translation: X:500.32, Y:39.05, Z:20.88 [[ 9.92440736e-01 -1.11503726e-01 -5.12669994e-02 5.00318215e+02] [ 1.11404562e-01 9.93763561e-01 -4.79673864e-03 3.90536940e+01] [ 5.14821301e-02 -9.50898795e-04 9.98673463e-01 2.08757319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.08509989299995 meters 0.012272683776539893 Centerline is valid? [True, True] Translation: X:500.38, Y:39.06, Z:20.88 [[ 9.93013222e-01 -1.05935683e-01 -5.19843441e-02 5.00377988e+02] [ 1.05826136e-01 9.94372757e-01 -4.86309805e-03 3.90640214e+01] [ 5.22069912e-02 -6.72181599e-04 9.98636059e-01 2.08782595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.14509989299995 meters 0.011999954586136872 Centerline is valid? [True, True] Translation: X:500.44, Y:39.07, Z:20.88 [[ 9.93074705e-01 -1.05385635e-01 -5.19278259e-02 5.00437981e+02] [ 1.05275575e-01 9.94431222e-01 -4.85781080e-03 3.90700127e+01] [ 5.21505948e-02 -6.42562698e-04 9.98639025e-01 2.08805855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.20509989299995 meters 0.012474410745115868 Centerline is valid? [True, True] Translation: X:500.50, Y:39.07, Z:20.88 [[ 9.92695360e-01 -1.08876943e-01 -5.19782079e-02 5.00497573e+02] [ 1.08771430e-01 9.94054892e-01 -4.86289171e-03 3.90722966e+01] [ 5.21986486e-02 -8.26373955e-04 9.98636379e-01 2.08832050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.26509989299996 meters 0.013316505413668755 Centerline is valid? [True, True] Translation: X:500.56, Y:39.07, Z:20.89 [[ 9.92149286e-01 -1.13935018e-01 -5.15616697e-02 5.00558237e+02] [ 1.13837932e-01 9.93487615e-01 -4.82542282e-03 3.90738806e+01] [ 5.17756649e-02 -1.08213404e-03 9.98658154e-01 2.08859700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.32509989299996 meters 0.014497598265073679 Centerline is valid? [True, True] Translation: X:500.62, Y:39.08, Z:20.89 [[ 9.91726806e-01 -1.17302742e-01 -5.21345271e-02 5.00618946e+02] [ 1.17208131e-01 9.93095388e-01 -4.87903394e-03 3.90756127e+01] [ 5.23468824e-02 -1.27192175e-03 9.98628152e-01 2.08879923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.38509989299996 meters 0.016980937593074046 Centerline is valid? [True, True] Translation: X:500.68, Y:39.07, Z:20.89 [[ 9.91157304e-01 -1.22337628e-01 -5.13877744e-02 5.00678181e+02] [ 1.22252444e-01 9.92487385e-01 -4.80948920e-03 3.90741498e+01] [ 5.15900993e-02 -1.51532069e-03 9.98667195e-01 2.08902799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.44509989299996 meters 0.017648451690019572 Centerline is valid? [True, True] Translation: X:500.74, Y:39.08, Z:20.89 [[ 9.90857747e-01 -1.25057558e-01 -5.06115884e-02 5.00738589e+02] [ 1.24978396e-01 9.92148149e-01 -4.73830919e-03 3.90768852e+01] [ 5.08067551e-02 -1.63036477e-03 9.98707172e-01 2.08936926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.50509989299997 meters 0.016685856260121333 Centerline is valid? [True, True] Translation: X:500.80, Y:39.08, Z:20.90 [[ 9.90554068e-01 -1.27899920e-01 -4.94393375e-02 5.00799236e+02] [ 1.27827922e-01 9.91785562e-01 -4.62841987e-03 3.90816430e+01] [ 4.96251956e-02 -1.73502766e-03 9.98766404e-01 2.08977362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.56509989299997 meters 0.018207396225938 Centerline is valid? [True, True] Translation: X:500.86, Y:39.08, Z:20.90 [[ 9.90290980e-01 -1.29697232e-01 -5.00240325e-02 5.00859298e+02] [ 1.29625886e-01 9.91551921e-01 -4.68161816e-03 3.90826978e+01] [ 5.02086185e-02 -1.84824531e-03 9.98737042e-01 2.08987444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.62509989299997 meters 0.021081057442085435 Centerline is valid? [True, True] Translation: X:500.92, Y:39.08, Z:20.90 [[ 9.89902289e-01 -1.32379961e-01 -5.06853490e-02 5.00919359e+02] [ 1.32310415e-01 9.91196998e-01 -4.73978735e-03 3.90821839e+01] [ 5.08666186e-02 -2.01427320e-03 9.98703424e-01 2.08994659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.685099893 meters 0.022338631637355163 Centerline is valid? [True, True] Translation: X:500.98, Y:39.08, Z:20.90 [[ 9.89111457e-01 -1.38062793e-01 -5.09626500e-02 5.00979421e+02] [ 1.37999958e-01 9.90420765e-01 -4.76658152e-03 3.90833700e+01] [ 5.11325544e-02 -2.31816319e-03 9.98689185e-01 2.09009380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.7450998929999 meters 0.023982551510509317 Centerline is valid? [True, True] Translation: X:501.04, Y:39.09, Z:20.90 [[ 9.88435043e-01 -1.42868676e-01 -5.08400174e-02 5.01039466e+02] [ 1.42812443e-01 9.89738344e-01 -4.75577350e-03 3.90856947e+01] [ 5.09977657e-02 -2.55981390e-03 9.98695487e-01 2.09031938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.8050998929999 meters 0.027458366255958145 Centerline is valid? [True, True] Translation: X:501.10, Y:39.09, Z:20.90 [[ 9.87498697e-01 -1.49282730e-01 -5.06062316e-02 5.01100441e+02] [ 1.49235359e-01 9.88790367e-01 -4.73464788e-03 3.90858518e+01] [ 5.07457555e-02 -2.87678055e-03 9.98707461e-01 2.09047724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.8650998929999 meters 0.028253205171502316 Centerline is valid? [True, True] Translation: X:501.16, Y:39.09, Z:20.91 [[ 9.87044699e-01 -1.52499219e-01 -4.98673349e-02 5.01160832e+02] [ 1.52457308e-01 9.88299045e-01 -4.66548617e-03 3.90907989e+01] [ 4.99953224e-02 -2.99759624e-03 9.98744954e-01 2.09076602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.9250998929999 meters 0.027013627903520347 Centerline is valid? [True, True] Translation: X:501.22, Y:39.10, Z:20.91 [[ 9.86729392e-01 -1.55039862e-01 -4.82467509e-02 5.01220874e+02] [ 1.55003655e-01 9.87903585e-01 -4.51374833e-03 3.90990436e+01] [ 4.83629491e-02 -3.02457457e-03 9.98825249e-01 2.09107905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.9850998929999 meters 0.03140343880462306 Centerline is valid? [True, True] Translation: X:501.28, Y:39.10, Z:20.91 [[ 9.86630315e-01 -1.55774448e-01 -4.79055604e-02 5.01281174e+02] [ 1.55739654e-01 9.87787974e-01 -4.48094647e-03 3.90997640e+01] [ 4.80185534e-02 -3.03975777e-03 9.98841819e-01 2.09129317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.04509989299993 meters 0.029408528387351144 Centerline is valid? [True, True] Translation: X:501.34, Y:39.11, Z:20.92 [[ 9.86693076e-01 -1.55530353e-01 -4.74034122e-02 5.01341561e+02] [ 1.55496049e-01 9.87826567e-01 -4.43301918e-03 3.91082804e+01] [ 4.75158190e-02 -2.99701398e-03 9.98865989e-01 2.09162037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.10509989299993 meters 0.02847916583795666 Centerline is valid? [True, True] Translation: X:501.40, Y:39.12, Z:20.92 [[ 9.87019421e-01 -1.54128383e-01 -4.51342836e-02 5.01402862e+02] [ 1.54095893e-01 9.88046889e-01 -4.21919027e-03 3.91175211e+01] [ 4.52450855e-02 -2.79058500e-03 9.98972019e-01 2.09192711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.16509989299993 meters 0.02825279202763674 Centerline is valid? [True, True] Translation: X:501.46, Y:39.13, Z:20.92 [[ 9.87630455e-01 -1.50734673e-01 -4.31873027e-02 5.01463004e+02] [ 1.50701786e-01 9.88571035e-01 -4.03495401e-03 3.91271300e+01] [ 4.33019240e-02 -2.52336017e-03 9.99058845e-01 2.09223695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.22509989299994 meters 0.02912226041745653 Centerline is valid? [True, True] Translation: X:501.52, Y:39.13, Z:20.92 [[ 9.88143795e-01 -1.47287563e-01 -4.33383703e-02 5.01522485e+02] [ 1.47251180e-01 9.89090846e-01 -4.04814874e-03 3.91341489e+01] [ 4.34618273e-02 -2.38147312e-03 9.99052250e-01 2.09238878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.28509989299994 meters 0.02224370205367149 Centerline is valid? [True, True] Translation: X:501.58, Y:39.15, Z:20.93 [[ 9.88767161e-01 -1.43314153e-01 -4.24329354e-02 5.01581932e+02] [ 1.43275625e-01 9.89674889e-01 -3.96356240e-03 3.91514422e+01] [ 4.25628453e-02 -2.16056499e-03 9.99091455e-01 2.09255493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.34509989299994 meters 0.020115286880362675 Centerline is valid? [True, True] Translation: X:501.64, Y:39.16, Z:20.93 [[ 9.89939479e-01 -1.34814373e-01 -4.29524555e-02 5.01641978e+02] [ 1.34766942e-01 9.90869205e-01 -4.01127634e-03 3.91642040e+01] [ 4.31010431e-02 -1.81765027e-03 9.99069065e-01 2.09263066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.40509989299994 meters 0.018147840473538526 Centerline is valid? [True, True] Translation: X:501.70, Y:39.18, Z:20.93 [[ 9.90900151e-01 -1.27625122e-01 -4.27635353e-02 5.01701821e+02] [ 1.27571450e-01 9.91821346e-01 -3.99291375e-03 3.91764868e+01] [ 4.29233832e-02 -1.49882738e-03 9.99077243e-01 2.09283230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.46509989299994 meters 0.015398598695980452 Centerline is valid? [True, True] Translation: X:501.76, Y:39.19, Z:20.93 [[ 9.92403062e-01 -1.15466995e-01 -4.24680580e-02 5.01760051e+02] [ 1.15402938e-01 9.93310848e-01 -3.96508873e-03 3.91910168e+01] [ 4.26418196e-02 -9.65972485e-04 9.99089957e-01 2.09299368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.52509989299995 meters 0.013050628016257816 Centerline is valid? [True, True] Translation: X:501.82, Y:39.20, Z:20.93 [[ 9.93310933e-01 -1.07443442e-01 -4.23000961e-02 5.01821009e+02] [ 1.07372583e-01 9.94211006e-01 -3.95017059e-03 3.92047885e+01] [ 4.24796410e-02 -6.18122925e-04 9.99097141e-01 2.09328694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.58509989299995 meters 0.01214748822483847 Centerline is valid? [True, True] Translation: X:501.88, Y:39.22, Z:20.94 [[ 9.94290459e-01 -9.88170463e-02 -4.02700292e-02 5.01880216e+02] [ 9.87458355e-02 9.95105589e-01 -3.75845373e-03 3.92167846e+01] [ 4.04443304e-02 -2.39503000e-04 9.99181765e-01 2.09364845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.64509989299995 meters 0.011996134910633718 Centerline is valid? [True, True] Translation: X:501.94, Y:39.22, Z:20.94 [[ 9.94554491e-01 -9.64973298e-02 -3.93653395e-02 5.01941499e+02] [ 9.64274886e-02 9.95333233e-01 -3.67347071e-03 3.92246087e+01] [ 3.95361108e-02 -1.42434028e-04 9.99218132e-01 2.09395644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.70509989299995 meters 0.012179096931852195 Centerline is valid? [True, True] Translation: X:502.00, Y:39.23, Z:20.94 [[ 9.94499549e-01 -9.70893839e-02 -3.92975622e-02 5.02003819e+02] [ 9.70203583e-02 9.95275652e-01 -3.66428022e-03 3.92291525e+01] [ 3.94676696e-02 -1.68538535e-04 9.99220834e-01 2.09421276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.76509989299996 meters 0.013101606088211561 Centerline is valid? [True, True] Translation: X:502.07, Y:39.23, Z:20.94 [[ 9.93771932e-01 -1.04407705e-01 -3.89407074e-02 5.02066550e+02] [ 1.04345648e-01 9.94534475e-01 -3.62823245e-03 3.92287456e+01] [ 3.91066914e-02 -4.57657774e-04 9.99234936e-01 2.09445469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.82509989299996 meters 0.014528222632457859 Centerline is valid? [True, True] Translation: X:502.13, Y:39.23, Z:20.95 [[ 9.92893558e-01 -1.12330438e-01 -3.92970107e-02 5.02127676e+02] [ 1.12273554e-01 9.93670602e-01 -3.65843396e-03 3.92283923e+01] [ 3.94592378e-02 -7.79579538e-04 9.99220877e-01 2.09468192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.88509989299996 meters 0.018657580653976793 Centerline is valid? [True, True] Translation: X:502.19, Y:39.22, Z:20.95 [[ 9.91307217e-01 -1.25405987e-01 -3.97912061e-02 5.02188756e+02] [ 1.25358199e-01 9.92104634e-01 -3.70367643e-03 3.92223127e+01] [ 3.99415032e-02 -1.31667276e-03 9.99201152e-01 2.09487522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.94509989299996 meters 0.021383041883804164 Centerline is valid? [True, True] Translation: X:502.25, Y:39.22, Z:20.95 [[ 9.89750814e-01 -1.36997698e-01 -4.03107607e-02 5.02249739e+02] [ 1.36958238e-01 9.90569717e-01 -3.75192655e-03 3.92205558e+01] [ 4.04446241e-02 -1.80741841e-03 9.99180147e-01 2.09508342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.00509989299997 meters 0.02481603126390166 Centerline is valid? [True, True] Translation: X:502.31, Y:39.22, Z:20.95 [[ 9.88873412e-01 -1.43005104e-01 -4.09745680e-02 5.02309171e+02] [ 1.42969491e-01 9.89719750e-01 -3.81327547e-03 3.92191967e+01] [ 4.10986571e-02 -2.08726643e-03 9.99152913e-01 2.09530045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.06509989299997 meters 0.02789698931073566 Centerline is valid? [True, True] Translation: X:502.37, Y:39.22, Z:20.96 [[ 9.87897892e-01 -1.49540372e-01 -4.11756174e-02 5.02370095e+02] [ 1.49510033e-01 9.88752780e-01 -3.83265729e-03 3.92186904e+01] [ 4.12856432e-02 -2.36989384e-03 9.99144574e-01 2.09560514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.12509989299997 meters 0.027428567625650987 Centerline is valid? [True, True] Translation: X:502.43, Y:39.22, Z:20.96 [[ 9.87423900e-01 -1.52623279e-01 -4.12331941e-02 5.02431199e+02] [ 1.52595600e-01 9.88281268e-01 -3.83634364e-03 3.92240695e+01] [ 4.13355087e-02 -2.50390660e-03 9.99142185e-01 2.09594293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.185099893 meters 0.02984824045708309 Centerline is valid? [True, True] Translation: X:502.49, Y:39.23, Z:20.96 [[ 9.86816829e-01 -1.56218924e-01 -4.22870350e-02 5.02492133e+02] [ 1.56193168e-01 9.87718699e-01 -3.93279140e-03 3.92261426e+01] [ 4.23820716e-02 -2.72400123e-03 9.99097763e-01 2.09623867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.2450998929999 meters 0.033518816641568944 Centerline is valid? [True, True] Translation: X:502.55, Y:39.23, Z:20.96 [[ 9.86505122e-01 -1.57826085e-01 -4.35726016e-02 5.02552987e+02] [ 1.57800338e-01 9.87462728e-01 -4.05151466e-03 3.92269141e+01] [ 4.36657547e-02 -2.87893128e-03 9.99042048e-01 2.09646792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.3050998929999 meters 0.03237364976985957 Centerline is valid? [True, True] Translation: X:502.61, Y:39.23, Z:20.97 [[ 9.86291209e-01 -1.58374126e-01 -4.63388287e-02 5.02614770e+02] [ 1.58345705e-01 9.87374341e-01 -4.30677998e-03 3.92349497e+01] [ 4.64358530e-02 -3.08981529e-03 9.98916495e-01 2.09660266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.3650998929999 meters 0.029878166166667594 Centerline is valid? [True, True] Translation: X:502.68, Y:39.25, Z:20.97 [[ 9.86440174e-01 -1.57036913e-01 -4.76989627e-02 5.02676504e+02] [ 1.57005423e-01 9.87587807e-01 -4.42953210e-03 3.92458678e+01] [ 4.78025140e-02 -3.11952738e-03 9.98851935e-01 2.09691977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.4250998929999 meters 0.031006858022909877 Centerline is valid? [True, True] Translation: X:502.74, Y:39.25, Z:20.97 [[ 9.87152889e-01 -1.52281357e-01 -4.83690219e-02 5.02735317e+02] [ 1.52243475e-01 9.88332830e-01 -4.48794978e-03 3.92535264e+01] [ 4.84881233e-02 -2.93357541e-03 9.98819451e-01 2.09727220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.4850998929999 meters 0.02921456948992726 Centerline is valid? [True, True] Translation: X:502.79, Y:39.26, Z:20.98 [[ 9.87947774e-01 -1.46746778e-01 -4.92400136e-02 5.02794706e+02] [ 1.46700634e-01 9.89170382e-01 -4.56949217e-03 3.92640924e+01] [ 4.93773213e-02 -2.70912158e-03 9.98776522e-01 2.09756722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.54509989299993 meters 0.022512149971613587 Centerline is valid? [True, True] Translation: X:502.85, Y:39.28, Z:20.98 [[ 9.89033154e-01 -1.38921819e-01 -5.01412938e-02 5.02853890e+02] [ 1.38863945e-01 9.90300537e-01 -4.65299093e-03 3.92827096e+01] [ 5.03013522e-02 -2.36085557e-03 9.98731295e-01 2.09798031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.60509989299993 meters 0.019985331779406187 Centerline is valid? [True, True] Translation: X:502.91, Y:39.30, Z:20.98 [[ 9.90891472e-01 -1.25179059e-01 -4.96416535e-02 5.02912280e+02] [ 1.25105123e-01 9.92132800e-01 -4.60603184e-03 3.92969605e+01] [ 4.98276914e-02 -1.64634750e-03 9.98756472e-01 2.09831714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.66509989299993 meters 0.016258192954791507 Centerline is valid? [True, True] Translation: X:502.97, Y:39.31, Z:20.99 [[ 9.92036586e-01 -1.15884814e-01 -4.93368175e-02 5.02971706e+02] [ 1.15800260e-01 9.93261969e-01 -4.57838805e-03 3.93114764e+01] [ 4.95349501e-02 -1.17128786e-03 9.98771704e-01 2.09871129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.72509989299994 meters 0.013686748229356041 Centerline is valid? [True, True] Translation: X:503.03, Y:39.33, Z:20.99 [[ 9.93427421e-01 -1.03008664e-01 -4.99116591e-02 5.03030975e+02] [ 1.02905879e-01 9.94680315e-01 -4.63155165e-03 3.93256374e+01] [ 5.01232348e-02 -5.35092728e-04 9.98742897e-01 2.09900147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.78509989299994 meters 0.013220145429354888 Centerline is valid? [True, True] Translation: X:503.09, Y:39.34, Z:20.99 [[ 9.94103163e-01 -9.57759685e-02 -5.08514055e-02 5.03091281e+02] [ 9.56598203e-02 9.95402900e-01 -4.71858873e-03 3.93352985e+01] [ 5.10695639e-02 -1.73672325e-04 9.98695083e-01 2.09924845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.84509989299994 meters 0.013552308572394945 Centerline is valid? [True, True] Translation: X:503.15, Y:39.34, Z:20.99 [[ 9.94916779e-01 -8.64613355e-02 -5.16240225e-02 5.03150319e+02] [ 8.63291192e-02 9.96255159e-01 -4.78967562e-03 3.93442330e+01] [ 5.18448205e-02 3.08672244e-04 9.98655105e-01 2.09937724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.90509989299994 meters 0.013989343772649274 Centerline is valid? [True, True] Translation: X:503.21, Y:39.35, Z:21.00 [[ 9.95286999e-01 -8.20887065e-02 -5.16258974e-02 5.03208375e+02] [ 8.19504311e-02 9.96624881e-01 -4.79311124e-03 3.93506094e+01] [ 5.18451142e-02 5.39756755e-04 9.98654992e-01 2.09960064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.96509989299994 meters 0.014598318814960301 Centerline is valid? [True, True] Translation: X:503.27, Y:39.36, Z:21.00 [[ 9.95464504e-01 -7.98600981e-02 -5.16989886e-02 5.03265541e+02] [ 7.97178252e-02 9.96805858e-01 -4.81147267e-03 3.93555942e+01] [ 5.19180993e-02 6.68319325e-04 9.98651122e-01 2.09968786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.02509989299995 meters 0.014496134705208372 Centerline is valid? [True, True] Translation: X:503.32, Y:39.36, Z:21.00 [[ 9.95423244e-01 -8.06008178e-02 -5.13427107e-02 5.03323514e+02] [ 8.04611532e-02 9.96746261e-01 -4.78474247e-03 3.93579987e+01] [ 5.15613091e-02 6.31750164e-04 9.98669631e-01 2.09986781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.08509989299995 meters 0.014146247635826305 Centerline is valid? [True, True] Translation: X:503.38, Y:39.35, Z:21.00 [[ 9.95140866e-01 -8.54084567e-02 -4.89903233e-02 5.03381420e+02] [ 8.52865364e-02 9.96345951e-01 -4.57748185e-03 3.93548610e+01] [ 4.92022659e-02 3.77024265e-04 9.98788764e-01 2.10015628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.14509989299995 meters 0.013614741143220813 Centerline is valid? [True, True] Translation: X:503.44, Y:39.35, Z:21.01 [[ 9.94769468e-01 -9.06161507e-02 -4.71425450e-02 5.03440876e+02] [ 9.05088714e-02 9.95885886e-01 -4.40968470e-03 3.93519374e+01] [ 4.73481839e-02 1.19801161e-04 9.98878439e-01 2.10053757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.20509989299995 meters 0.013621719924319908 Centerline is valid? [True, True] Translation: X:503.50, Y:39.35, Z:21.01 [[ 9.94347108e-01 -9.57182949e-02 -4.59547340e-02 5.03501300e+02] [ 9.56213188e-02 9.95408457e-01 -4.30898817e-03 3.93485815e+01] [ 4.61561799e-02 -1.09622350e-04 9.98934230e-01 2.10082809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.26509989299996 meters 0.01399584183789687 Centerline is valid? [True, True] Translation: X:503.56, Y:39.34, Z:21.01 [[ 9.93683153e-01 -1.02450016e-01 -4.58015885e-02 5.03561670e+02] [ 1.02360753e-01 9.94738065e-01 -4.29626032e-03 3.93418298e+01] [ 4.60007355e-02 -4.19163567e-04 9.98941318e-01 2.10109131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.32509989299996 meters 0.014425108758004552 Centerline is valid? [True, True] Translation: X:503.62, Y:39.34, Z:21.01 [[ 9.93382163e-01 -1.04898691e-01 -4.67775984e-02 5.03622032e+02] [ 1.04808216e-01 9.94482765e-01 -4.38946733e-03 3.93396356e+01] [ 4.69799648e-02 -5.42258078e-04 9.98895685e-01 2.10125608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.38509989299996 meters 0.014484479965319529 Centerline is valid? [True, True] Translation: X:503.68, Y:39.34, Z:21.01 [[ 9.93341822e-01 -1.04613844e-01 -4.82490283e-02 5.03680881e+02] [ 1.04517189e-01 9.94512769e-01 -4.52875491e-03 3.93367049e+01] [ 4.84580451e-02 -5.44251167e-04 9.98825071e-01 2.10135983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.44509989299996 meters 0.014050128223286018 Centerline is valid? [True, True] Translation: X:503.74, Y:39.34, Z:21.02 [[ 9.93565569e-01 -1.02106399e-01 -4.90075814e-02 5.03739192e+02] [ 1.02003401e-01 9.94773393e-01 -4.60461913e-03 3.93394671e+01] [ 4.92215991e-02 -4.23948952e-04 9.98787792e-01 2.10154127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.50509989299997 meters 0.013744550306141693 Centerline is valid? [True, True] Translation: X:503.80, Y:39.34, Z:21.02 [[ 9.94067105e-01 -9.64312104e-02 -5.03151356e-02 5.03797379e+02] [ 9.63147907e-02 9.95339642e-01 -4.73895831e-03 3.93424427e+01] [ 5.05376326e-02 -1.35249194e-04 9.98722148e-01 2.10164343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.56509989299997 meters 0.01391651471049766 Centerline is valid? [True, True] Translation: X:503.86, Y:39.35, Z:21.02 [[ 9.94633514e-01 -8.99674427e-02 -5.10884789e-02 5.03856073e+02] [ 8.98385823e-02 9.95944686e-01 -4.81775384e-03 3.93471112e+01] [ 5.13147400e-02 2.02182918e-04 9.98682510e-01 2.10182418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.62509989299997 meters 0.014030036140180165 Centerline is valid? [True, True] Translation: X:503.91, Y:39.35, Z:21.02 [[ 9.95081791e-01 -8.56321219e-02 -4.97932545e-02 5.03914562e+02] [ 8.55036987e-02 9.96326732e-01 -4.70743644e-03 3.93510175e+01] [ 5.00134583e-02 4.26776858e-04 9.98748453e-01 2.10222989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.685099893 meters 0.014997264833395516 Centerline is valid? [True, True] Translation: X:503.97, Y:39.35, Z:21.03 [[ 9.95548937e-01 -8.03292405e-02 -4.92902299e-02 5.03972283e+02] [ 8.01963513e-02 9.96768141e-01 -4.67101660e-03 3.93531963e+01] [ 4.95061500e-02 6.97329018e-04 9.98773575e-01 2.10253609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.7450998929999 meters 0.015008239227756874 Centerline is valid? [True, True] Translation: X:504.03, Y:39.35, Z:21.03 [[ 9.95648431e-01 -7.93056934e-02 -4.89367796e-02 5.04030845e+02] [ 7.91731998e-02 9.96850062e-01 -4.64299421e-03 3.93535806e+01] [ 4.91508477e-02 7.48308466e-04 9.98791086e-01 2.10285717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.8050998929999 meters 0.014627726511527656 Centerline is valid? [True, True] Translation: X:504.09, Y:39.35, Z:21.03 [[ 9.95472699e-01 -8.12364289e-02 -4.93431632e-02 5.04090071e+02] [ 8.11034734e-02 9.96694634e-01 -4.69404932e-03 3.93488948e+01] [ 4.95613938e-02 6.70896023e-04 9.98770854e-01 2.10311643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.8650998929999 meters 0.0142855645061391 Centerline is valid? [True, True] Translation: X:504.15, Y:39.35, Z:21.03 [[ 9.95231874e-01 -8.41114373e-02 -4.93840338e-02 5.04149122e+02] [ 8.39811758e-02 9.96456208e-01 -4.71044668e-03 3.93468560e+01] [ 4.96052295e-02 5.40657447e-04 9.98768756e-01 2.10340376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.9250998929999 meters 0.013793630844931746 Centerline is valid? [True, True] Translation: X:504.21, Y:39.34, Z:21.04 [[ 9.94777458e-01 -8.92389797e-02 -4.95400270e-02 5.04209053e+02] [ 8.91136154e-02 9.96010198e-01 -4.73795009e-03 3.93409528e+01] [ 4.97651819e-02 2.98515033e-04 9.98760901e-01 2.10369194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.9850998929999 meters 0.013594927605871563 Centerline is valid? [True, True] Translation: X:504.27, Y:39.34, Z:21.04 [[ 9.94364647e-01 -9.33557942e-02 -5.02358866e-02 5.04267460e+02] [ 9.32315432e-02 9.95632806e-01 -4.81609616e-03 3.93390304e+01] [ 5.04661073e-02 1.05386520e-04 9.98725769e-01 2.10393806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.04509989299993 meters 0.013509602971953225 Centerline is valid? [True, True] Translation: X:504.33, Y:39.34, Z:21.04 [[ 9.93955843e-01 -9.81775742e-02 -4.91217390e-02 5.04325582e+02] [ 9.80643693e-02 9.95168904e-01 -4.71514275e-03 3.93371271e+01] [ 4.93473484e-02 -1.30448668e-04 9.98781669e-01 2.10427493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.10509989299993 meters 0.014323137784448362 Centerline is valid? [True, True] Translation: X:504.38, Y:39.33, Z:21.04 [[ 9.93209213e-01 -1.05599058e-01 -4.88292823e-02 5.04383917e+02] [ 1.05495512e-01 9.94408671e-01 -4.70014746e-03 3.93313307e+01] [ 4.90525929e-02 -4.83040379e-04 9.98796080e-01 2.10439783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.16509989299993 meters 0.015606655190641876 Centerline is valid? [True, True] Translation: X:504.44, Y:39.33, Z:21.05 [[ 9.92476105e-01 -1.12377923e-01 -4.86043606e-02 5.04443203e+02] [ 1.12283179e-01 9.93665209e-01 -4.68395451e-03 3.93294139e+01] [ 4.88228352e-02 -8.08739197e-04 9.98807127e-01 2.10464345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.22509989299994 meters 0.01839667907799899 Centerline is valid? [True, True] Translation: X:504.50, Y:39.32, Z:21.05 [[ 9.90750888e-01 -1.26544618e-01 -4.89809832e-02 5.04504711e+02] [ 1.26465161e-01 9.91959771e-01 -4.73039977e-03 3.93234267e+01] [ 4.91857715e-02 -1.50774016e-03 9.98788509e-01 2.10484273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.28509989299994 meters 0.02272194243962881 Centerline is valid? [True, True] Translation: X:504.57, Y:39.32, Z:21.05 [[ 9.89273118e-01 -1.37766035e-01 -4.85717799e-02 5.04566162e+02] [ 1.37701380e-01 9.90462683e-01 -4.69085418e-03 3.93189518e+01] [ 4.87547758e-02 -2.04786517e-03 9.98808679e-01 2.10508152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.34509989299994 meters 0.027369003064012555 Centerline is valid? [True, True] Translation: X:504.63, Y:39.31, Z:21.05 [[ 9.87243239e-01 -1.52057445e-01 -4.72156914e-02 5.04626705e+02] [ 1.52012609e-01 9.88368036e-01 -4.55988175e-03 3.93148776e+01] [ 4.73598442e-02 -2.67566800e-03 9.98874309e-01 2.10541825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.40509989299994 meters 0.030394202882294 Centerline is valid? [True, True] Translation: X:504.69, Y:39.32, Z:21.06 [[ 9.86393165e-01 -1.57589318e-01 -4.68415498e-02 5.04687625e+02] [ 1.57551373e-01 9.87500429e-01 -4.52421988e-03 3.93165218e+01] [ 4.69690193e-02 -2.91729091e-03 9.98892087e-01 2.10574883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.46509989299994 meters 0.02795482363529671 Centerline is valid? [True, True] Translation: X:504.75, Y:39.33, Z:21.06 [[ 9.86148189e-01 -1.59304794e-01 -4.61923375e-02 5.04745800e+02] [ 1.59269712e-01 9.87225022e-01 -4.46266718e-03 3.93274542e+01] [ 4.63131557e-02 -2.95618912e-03 9.98922596e-01 2.10603867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.52509989299995 meters 0.030344427116720283 Centerline is valid? [True, True] Translation: X:504.80, Y:39.33, Z:21.06 [[ 9.86532066e-01 -1.57060258e-01 -4.56788627e-02 5.04804279e+02] [ 1.57023044e-01 9.87585029e-01 -4.42417157e-03 3.93334221e+01] [ 4.58066225e-02 -2.80804696e-03 9.98946379e-01 2.10627220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.58509989299995 meters 0.026172520553028628 Centerline is valid? [True, True] Translation: X:504.86, Y:39.35, Z:21.07 [[ 9.87379311e-01 -1.51769758e-01 -4.52552521e-02 5.04863296e+02] [ 1.51727586e-01 9.88412620e-01 -4.38545543e-03 3.93511742e+01] [ 4.53964418e-02 -2.53636218e-03 9.98965830e-01 2.10656778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.64509989299995 meters 0.025806552687565907 Centerline is valid? [True, True] Translation: X:504.92, Y:39.36, Z:21.07 [[ 9.87958338e-01 -1.47801603e-01 -4.57494113e-02 5.04921304e+02] [ 1.47754250e-01 9.89014168e-01 -4.43362112e-03 3.93615062e+01] [ 4.59021123e-02 -2.37943702e-03 9.98943109e-01 2.10675327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.70509989299995 meters 0.02413485739073217 Centerline is valid? [True, True] Translation: X:504.98, Y:39.38, Z:21.07 [[ 9.88521848e-01 -1.43708942e-01 -4.66078870e-02 5.04979600e+02] [ 1.43655178e-01 9.89617488e-01 -4.51854509e-03 3.93765058e+01] [ 4.67733354e-02 -2.22878377e-03 9.98903042e-01 2.10688895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.76509989299996 meters 0.02281211699079057 Centerline is valid? [True, True] Translation: X:505.04, Y:39.39, Z:21.07 [[ 9.88697194e-01 -1.42333998e-01 -4.71051143e-02 5.05037669e+02] [ 1.42277387e-01 9.89816278e-01 -4.56965930e-03 3.93891337e+01] [ 4.72758268e-02 -2.18398326e-03 9.98879485e-01 2.10710676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.82509989299996 meters 0.023696373596930824 Centerline is valid? [True, True] Translation: X:505.09, Y:39.40, Z:21.07 [[ 9.88963029e-01 -1.40635388e-01 -4.66241921e-02 5.05094510e+02] [ 1.40577514e-01 9.90059293e-01 -4.53430571e-03 3.93997517e+01] [ 4.67983984e-02 -2.07005230e-03 9.98902210e-01 2.10731966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.88509989299996 meters 0.022473485178911377 Centerline is valid? [True, True] Translation: X:505.15, Y:39.41, Z:21.08 [[ 9.89026440e-01 -1.40376695e-01 -4.60552341e-02 5.05153034e+02] [ 1.40319658e-01 9.90096095e-01 -4.48518265e-03 3.94093668e+01] [ 4.62287225e-02 -2.02649046e-03 9.98928826e-01 2.10758890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.94509989299996 meters 0.022492722255032353 Centerline is valid? [True, True] Translation: X:505.21, Y:39.42, Z:21.08 [[ 9.89351301e-01 -1.38054253e-01 -4.60980008e-02 5.05210697e+02] [ 1.37994119e-01 9.90422827e-01 -4.49958258e-03 3.94187931e+01] [ 4.62776988e-02 -1.90958515e-03 9.98926788e-01 2.10779820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.00509989299997 meters 0.01938392809439057 Centerline is valid? [True, True] Translation: X:505.27, Y:39.44, Z:21.08 [[ 9.90102055e-01 -1.32698923e-01 -4.57046731e-02 5.05269633e+02] [ 1.32633973e-01 9.91155033e-01 -4.46423170e-03 3.94356482e+01] [ 4.58928155e-02 -1.64194738e-03 9.98945020e-01 2.10814496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.06509989299997 meters 0.017887514551848775 Centerline is valid? [True, True] Translation: X:505.33, Y:39.45, Z:21.08 [[ 9.91052588e-01 -1.25417010e-01 -4.56655368e-02 5.05327490e+02] [ 1.25344405e-01 9.92103259e-01 -4.46128266e-03 3.94496165e+01] [ 4.58644487e-02 -1.30255384e-03 9.98946823e-01 2.10842411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.12509989299997 meters 0.016648054725387322 Centerline is valid? [True, True] Translation: X:505.39, Y:39.46, Z:21.09 [[ 9.91601875e-01 -1.21230011e-01 -4.50444952e-02 5.05385356e+02] [ 1.21154990e-01 9.92623842e-01 -4.40194092e-03 3.94612900e+01] [ 4.52458872e-02 -1.09239251e-03 9.98975283e-01 2.10874996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.185099893 meters 0.015491196581103463 Centerline is valid? [True, True] Translation: X:505.44, Y:39.47, Z:21.09 [[ 9.92062915e-01 -1.17397776e-01 -4.50436959e-02 5.05442922e+02] [ 1.17318663e-01 9.93084551e-01 -4.40510598e-03 3.94735137e+01] [ 4.52493482e-02 -9.14323910e-04 9.98975305e-01 2.10899956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.2450998929999 meters 0.015712724242908538 Centerline is valid? [True, True] Translation: X:505.50, Y:39.48, Z:21.09 [[ 9.92161942e-01 -1.16495716e-01 -4.52043085e-02 5.05500197e+02] [ 1.16414942e-01 9.93190811e-01 -4.42434650e-03 3.94797220e+01] [ 4.54119213e-02 -8.72788749e-04 9.98967965e-01 2.10922302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.3050998929999 meters 0.015452934355373999 Centerline is valid? [True, True] Translation: X:505.56, Y:39.49, Z:21.09 [[ 9.92014794e-01 -1.17860906e-01 -4.48938280e-02 5.05558332e+02] [ 1.17782346e-01 9.93029685e-01 -4.40035439e-03 3.94865876e+01] [ 4.50995336e-02 -9.22483735e-04 9.98982072e-01 2.10945626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.3650998929999 meters 0.017174703192779823 Centerline is valid? [True, True] Translation: X:505.62, Y:39.49, Z:21.10 [[ 9.91526152e-01 -1.21701155e-01 -4.54391794e-02 5.05616379e+02] [ 1.21624194e-01 9.92566179e-01 -4.46488758e-03 3.94890313e+01] [ 4.56447746e-02 -1.09945077e-03 9.98957129e-01 2.10964274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.4250998929999 meters 0.01767288932989156 Centerline is valid? [True, True] Translation: X:505.68, Y:39.49, Z:21.10 [[ 9.90919017e-01 -1.26284971e-01 -4.61693495e-02 5.05675881e+02] [ 1.26210330e-01 9.91993116e-01 -4.53993227e-03 3.94934796e+01] [ 4.63730021e-02 -1.32834362e-03 9.98923310e-01 2.10990572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.4850998929999 meters 0.01934242279320343 Centerline is valid? [True, True] Translation: X:505.74, Y:39.50, Z:21.10 [[ 9.89917652e-01 -1.33940358e-01 -4.60762659e-02 5.05735916e+02] [ 1.33874216e-01 9.90987968e-01 -4.53234591e-03 3.94951992e+01] [ 4.62680891e-02 -1.68177475e-03 9.98927643e-01 2.11014806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.54509989299993 meters 0.020796472700195637 Centerline is valid? [True, True] Translation: X:505.80, Y:39.50, Z:21.10 [[ 9.89232470e-01 -1.38944992e-01 -4.59718416e-02 5.05796456e+02] [ 1.38884511e-01 9.90298257e-01 -4.52266678e-03 3.94981415e+01] [ 4.61542365e-02 -1.91080791e-03 9.98932498e-01 2.11038536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.60509989299993 meters 0.025988775543986296 Centerline is valid? [True, True] Translation: X:505.86, Y:39.50, Z:21.11 [[ 9.88338496e-01 -1.45154522e-01 -4.60128508e-02 5.05855982e+02] [ 1.45100635e-01 9.89406546e-01 -4.52679142e-03 3.94962219e+01] [ 4.61825001e-02 -2.20249165e-03 9.98930591e-01 2.11058302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.66509989299993 meters 0.024645841622144646 Centerline is valid? [True, True] Translation: X:505.92, Y:39.50, Z:21.11 [[ 9.87766432e-01 -1.48996581e-01 -4.60162493e-02 5.05915828e+02] [ 1.48946795e-01 9.88834844e-01 -4.52809797e-03 3.95035263e+01] [ 4.61771418e-02 -2.38126969e-03 9.98930429e-01 2.11081899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.72509989299994 meters 0.029018888364924993 Centerline is valid? [True, True] Translation: X:505.98, Y:39.50, Z:21.11 [[ 9.86889496e-01 -1.54314937e-01 -4.72865955e-02 5.05975342e+02] [ 1.54268402e-01 9.88018016e-01 -4.65399964e-03 3.95030130e+01] [ 4.74381900e-02 -2.70184419e-03 9.98870521e-01 2.11092247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.78509989299994 meters 0.02799395065108846 Centerline is valid? [True, True] Translation: X:506.03, Y:39.51, Z:21.11 [[ 9.86465585e-01 -1.56673890e-01 -4.83626128e-02 5.06034683e+02] [ 1.56627987e-01 9.87646195e-01 -4.76096845e-03 3.95114820e+01] [ 4.85110700e-02 -2.87840717e-03 9.98818497e-01 2.11117806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.84509989299994 meters 0.02995453772254529 Centerline is valid? [True, True] Translation: X:506.09, Y:39.52, Z:21.11 [[ 9.86243136e-01 -1.57987991e-01 -4.86237804e-02 5.06092486e+02] [ 1.57943076e-01 9.87436606e-01 -4.78883211e-03 3.95165445e+01] [ 4.87694786e-02 -2.95683665e-03 9.98805684e-01 2.11141254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.90509989299994 meters 0.030987132055381627 Centerline is valid? [True, True] Translation: X:506.15, Y:39.52, Z:21.12 [[ 9.86543417e-01 -1.56312358e-01 -4.79430122e-02 5.06150102e+02] [ 1.56266520e-01 9.87703620e-01 -4.72593463e-03 3.95246834e+01] [ 4.80922087e-02 -2.82954796e-03 9.98838892e-01 2.11169464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.96509989299994 meters 0.02572651859401476 Centerline is valid? [True, True] Translation: X:506.21, Y:39.54, Z:21.12 [[ 9.87053096e-01 -1.52871421e-01 -4.85439426e-02 5.06208218e+02] [ 1.52820122e-01 9.88242420e-01 -4.78841225e-03 3.95430396e+01] [ 4.87051947e-02 -2.69207408e-03 9.98809570e-01 2.11199226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.02509989299995 meters 0.02826506827589899 Centerline is valid? [True, True] Translation: X:506.27, Y:39.55, Z:21.12 [[ 9.87246007e-01 -1.51292445e-01 -4.95572248e-02 5.06265879e+02] [ 1.51236889e-01 9.88485450e-01 -4.89064255e-03 3.95483299e+01] [ 4.97265129e-02 -2.66661315e-03 9.98759312e-01 2.11212023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.08509989299995 meters 0.02468725921307674 Centerline is valid? [True, True] Translation: X:506.32, Y:39.56, Z:21.12 [[ 9.87397944e-01 -1.50156016e-01 -4.99847001e-02 5.06324076e+02] [ 1.50097839e-01 9.88658821e-01 -4.93695314e-03 3.95617828e+01] [ 5.01591279e-02 -2.62785809e-03 9.98737782e-01 2.11240956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.14509989299995 meters 0.025550201497177332 Centerline is valid? [True, True] Translation: X:506.38, Y:39.57, Z:21.13 [[ 9.87624323e-01 -1.48988201e-01 -4.89970637e-02 5.06381925e+02] [ 1.48930772e-01 9.88835774e-01 -4.84130526e-03 3.95701212e+01] [ 4.91713468e-02 -2.51577969e-03 9.98787189e-01 2.11273660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.20509989299995 meters 0.026659120367169165 Centerline is valid? [True, True] Translation: X:506.44, Y:39.58, Z:21.13 [[ 9.87795435e-01 -1.47981741e-01 -4.85961257e-02 5.06439637e+02] [ 1.47923894e-01 9.88987077e-01 -4.80454633e-03 3.95770888e+01] [ 4.87719254e-02 -2.44261922e-03 9.98806955e-01 2.11298567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.26509989299996 meters 0.02252168996744666 Centerline is valid? [True, True] Translation: X:506.50, Y:39.59, Z:21.13 [[ 9.88357353e-01 -1.44107552e-01 -4.88134790e-02 5.06498888e+02] [ 1.44044297e-01 9.89559455e-01 -4.82963347e-03 3.95937421e+01] [ 4.89998263e-02 -2.25789949e-03 9.98796235e-01 2.11329657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.32509989299996 meters 0.022034558277819652 Centerline is valid? [True, True] Translation: X:506.56, Y:39.60, Z:21.14 [[ 9.88908963e-01 -1.40221705e-01 -4.89585082e-02 5.06557960e+02] [ 1.40153358e-01 9.90117962e-01 -4.84321265e-03 3.96033741e+01] [ 4.91538219e-02 -2.07220294e-03 9.98789071e-01 2.11353042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.38509989299996 meters 0.020912664608048658 Centerline is valid? [True, True] Translation: X:506.62, Y:39.62, Z:21.14 [[ 9.89936121e-01 -1.32910921e-01 -4.85917966e-02 5.06616708e+02] [ 1.32834789e-01 9.91126536e-01 -4.80707725e-03 3.96155417e+01] [ 4.87995321e-02 -1.69598164e-03 9.98807153e-01 2.11380351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.44509989299996 meters 0.01787390699033088 Centerline is valid? [True, True] Translation: X:506.68, Y:39.63, Z:21.14 [[ 9.90586211e-01 -1.28138168e-01 -4.81619050e-02 5.06676478e+02] [ 1.28057703e-01 9.91755270e-01 -4.76535299e-03 3.96298825e+01] [ 4.83754467e-02 -1.44700995e-03 9.98828175e-01 2.11409312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.50509989299997 meters 0.01631390628396971 Centerline is valid? [True, True] Translation: X:506.74, Y:39.64, Z:21.14 [[ 9.91242993e-01 -1.23022132e-01 -4.79883725e-02 5.06736469e+02] [ 1.22936279e-01 9.92403210e-01 -4.74768733e-03 3.96412855e+01] [ 4.82078856e-02 -1.19340014e-03 9.98836611e-01 2.11432940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.56509989299997 meters 0.014962046285178969 Centerline is valid? [True, True] Translation: X:506.80, Y:39.65, Z:21.14 [[ 9.92208683e-01 -1.14884717e-01 -4.82019820e-02 5.06795113e+02] [ 1.14788527e-01 9.93378507e-01 -4.76817061e-03 3.96537686e+01] [ 4.84306028e-02 -8.02014219e-04 9.98826228e-01 2.11447351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.62509989299997 meters 0.014131494493228024 Centerline is valid? [True, True] Translation: X:506.86, Y:39.66, Z:21.15 [[ 9.92783408e-01 -1.10101998e-01 -4.75253154e-02 5.06855059e+02] [ 1.10002977e-01 9.93920136e-01 -4.70197329e-03 3.96646377e+01] [ 4.77540646e-02 -5.59885121e-04 9.98858967e-01 2.11480274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.685099893 meters 0.013725778400446894 Centerline is valid? [True, True] Translation: X:506.91, Y:39.67, Z:21.15 [[ 9.93462615e-01 -1.04314261e-01 -4.63742197e-02 5.06914620e+02] [ 1.04213675e-01 9.94544348e-01 -4.58808827e-03 3.96742746e+01] [ 4.65998211e-02 -2.74733680e-04 9.98913600e-01 2.11510726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.7450998929999 meters 0.013711292144240456 Centerline is valid? [True, True] Translation: X:506.97, Y:39.68, Z:21.15 [[ 9.93622786e-01 -1.02898573e-01 -4.61047014e-02 5.06974843e+02] [ 1.02797630e-01 9.94691832e-01 -4.56142317e-03 3.96813708e+01] [ 4.63293339e-02 -2.07120044e-04 9.98926198e-01 2.11538922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.8050998929999 meters 0.01381756816477937 Centerline is valid? [True, True] Translation: X:507.04, Y:39.69, Z:21.16 [[ 9.93816371e-01 -1.00599869e-01 -4.69966777e-02 5.07035010e+02] [ 1.00492410e-01 9.94926960e-01 -4.64967189e-03 3.96884123e+01] [ 4.72260181e-02 -1.01889381e-04 9.98884224e-01 2.11558072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.8650998929999 meters 0.013828800308360912 Centerline is valid? [True, True] Translation: X:507.09, Y:39.69, Z:21.16 [[ 9.93790322e-01 -1.00738233e-01 -4.72504425e-02 5.07093847e+02] [ 1.00629762e-01 9.94912959e-01 -4.67487613e-03 3.96931524e+01] [ 4.74810163e-02 -1.08954121e-04 9.98872135e-01 2.11577432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.9250998929999 meters 0.013979311500145966 Centerline is valid? [True, True] Translation: X:507.15, Y:39.70, Z:21.16 [[ 9.93682779e-01 -1.01947262e-01 -4.69179196e-02 5.07153748e+02] [ 1.01841616e-01 9.94789791e-01 -4.64290085e-03 3.96967504e+01] [ 4.71467985e-02 -1.64626145e-04 9.98887958e-01 2.11601297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.9850998929999 meters 0.014151628289743487 Centerline is valid? [True, True] Translation: X:507.21, Y:39.70, Z:21.16 [[ 9.93306715e-01 -1.05990316e-01 -4.59110406e-02 5.07213791e+02] [ 1.05893399e-01 9.94367101e-01 -4.54484702e-03 3.96979149e+01] [ 4.61341382e-02 -3.47249081e-04 9.98935193e-01 2.11631862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.04509989299993 meters 0.01514004373689575 Centerline is valid? [True, True] Translation: X:507.27, Y:39.70, Z:21.17 [[ 9.92616924e-01 -1.12586512e-01 -4.51211758e-02 5.07273919e+02] [ 1.12499638e-01 9.93641719e-01 -4.46821033e-03 3.96960862e+01] [ 4.53373429e-02 -6.40894750e-04 9.98971528e-01 2.11656744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.10509989299993 meters 0.016846198373496647 Centerline is valid? [True, True] Translation: X:507.33, Y:39.69, Z:21.17 [[ 9.91969518e-01 -1.18389514e-01 -4.45016736e-02 5.07333317e+02] [ 1.18310778e-01 9.92966831e-01 -4.40827155e-03 3.96940194e+01] [ 4.47105790e-02 -8.92156613e-04 9.98999584e-01 2.11680012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.16509989299993 meters 0.018410313588298352 Centerline is valid? [True, True] Translation: X:507.39, Y:39.69, Z:21.17 [[ 9.90915142e-01 -1.27317877e-01 -4.33282758e-02 5.07394313e+02] [ 1.27251768e-01 9.91861164e-01 -4.29173625e-03 3.96913589e+01] [ 4.35220488e-02 -1.26085326e-03 9.99051671e-01 2.11713039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.22509989299994 meters 0.019920897657527685 Centerline is valid? [True, True] Translation: X:507.46, Y:39.69, Z:21.17 [[ 9.90130972e-01 -1.33391748e-01 -4.29802278e-02 5.07455532e+02] [ 1.33332407e-01 9.91062231e-01 -4.25724843e-03 3.96913165e+01] [ 4.31639622e-02 -1.51542370e-03 9.99066853e-01 2.11737203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.28509989299994 meters 0.023102165828019057 Centerline is valid? [True, True] Translation: X:507.52, Y:39.69, Z:21.18 [[ 9.88856226e-01 -1.42438011e-01 -4.32986926e-02 5.07516610e+02] [ 1.42386451e-01 9.89801853e-01 -4.28832564e-03 3.96865531e+01] [ 4.34679467e-02 -1.92460965e-03 9.99052968e-01 2.11758700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.34509989299994 meters 0.02443912773198242 Centerline is valid? [True, True] Translation: X:507.58, Y:39.69, Z:21.18 [[ 9.88077173e-01 -1.47754017e-01 -4.32695217e-02 5.07577210e+02] [ 1.47707608e-01 9.89021788e-01 -4.28539587e-03 3.96868219e+01] [ 4.34276842e-02 -2.15693571e-03 9.99054245e-01 2.11782145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.40509989299994 meters 0.025399778801159616 Centerline is valid? [True, True] Translation: X:507.64, Y:39.69, Z:21.18 [[ 9.87287623e-01 -1.52996821e-01 -4.30711381e-02 5.07637996e+02] [ 1.52955801e-01 9.88223824e-01 -4.26582132e-03 3.96894467e+01] [ 4.32165819e-02 -2.37638786e-03 9.99062901e-01 2.11814935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.46509989299994 meters 0.02797328176442396 Centerline is valid? [True, True] Translation: X:507.70, Y:39.69, Z:21.18 [[ 9.86458457e-01 -1.57915800e-01 -4.42979957e-02 5.07699077e+02] [ 1.57877356e-01 9.87448983e-01 -4.38716898e-03 3.96895420e+01] [ 4.44348141e-02 -2.66589049e-03 9.99008729e-01 2.11834009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.52509989299995 meters 0.0323039880906112 Centerline is valid? [True, True] Translation: X:507.76, Y:39.69, Z:21.19 [[ 9.86187978e-01 -1.59399622e-01 -4.50003507e-02 5.07757757e+02] [ 1.59361474e-01 9.87210239e-01 -4.45706742e-03 3.96878673e+01] [ 4.51352618e-02 -2.77581590e-03 9.98977028e-01 2.11853740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.58509989299995 meters 0.030085435430175445 Centerline is valid? [True, True] Translation: X:507.82, Y:39.70, Z:21.19 [[ 9.86175991e-01 -1.59498221e-01 -4.49136188e-02 5.07816940e+02] [ 1.59460179e-01 9.87194324e-01 -4.45162623e-03 3.96960139e+01] [ 4.50484961e-02 -2.77184680e-03 9.98980956e-01 2.11878021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.64509989299995 meters 0.026984268191723997 Centerline is valid? [True, True] Translation: X:507.88, Y:39.71, Z:21.19 [[ 9.86680404e-01 -1.56249030e-01 -4.52550654e-02 5.07876028e+02] [ 1.56206931e-01 9.87714160e-01 -4.48706045e-03 3.97073125e+01] [ 4.54001678e-02 -2.64186024e-03 9.98965387e-01 2.11909012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.70509989299995 meters 0.025488807639345135 Centerline is valid? [True, True] Translation: X:507.94, Y:39.72, Z:21.19 [[ 9.87209401e-01 -1.53065715e-01 -4.45924500e-02 5.07935868e+02] [ 1.53021566e-01 9.88212955e-01 -4.42212534e-03 3.97162469e+01] [ 4.47437126e-02 -2.45804284e-03 9.98995475e-01 2.11938475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.76509989299996 meters 0.0258865679025023 Centerline is valid? [True, True] Translation: X:507.99, Y:39.72, Z:21.20 [[ 9.87819867e-01 -1.49183686e-01 -4.42282480e-02 5.07994426e+02] [ 1.49136372e-01 9.88806910e-01 -4.38607365e-03 3.97226584e+01] [ 4.43875279e-02 -2.26338976e-03 9.99011824e-01 2.11963497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.82509989299996 meters 0.022314499832878393 Centerline is valid? [True, True] Translation: X:508.05, Y:39.74, Z:21.20 [[ 9.88640014e-01 -1.43695467e-01 -4.40742021e-02 5.08053965e+02] [ 1.43642990e-01 9.89619916e-01 -4.37190165e-03 3.97375172e+01] [ 4.42449306e-02 -2.00871328e-03 9.99018694e-01 2.11992753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.88509989299996 meters 0.021474349964300424 Centerline is valid? [True, True] Translation: X:508.11, Y:39.75, Z:21.20 [[ 9.89117920e-01 -1.40398476e-01 -4.39773715e-02 5.08114484e+02] [ 1.40342990e-01 9.90093338e-01 -4.36199954e-03 3.97469842e+01] [ 4.41541206e-02 -1.85738391e-03 9.99023005e-01 2.12017674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.94509989299996 meters 0.019654225085299463 Centerline is valid? [True, True] Translation: X:508.17, Y:39.76, Z:21.20 [[ 9.89818616e-01 -1.35115432e-01 -4.47540873e-02 5.08174148e+02] [ 1.35052614e-01 9.90828489e-01 -4.43820083e-03 3.97592374e+01] [ 4.49432941e-02 -1.65114266e-03 9.98988175e-01 2.12037509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.00509989299997 meters 0.01907703110270455 Centerline is valid? [True, True] Translation: X:508.23, Y:39.77, Z:21.21 [[ 9.90377388e-01 -1.30839927e-01 -4.50948216e-02 5.08232826e+02] [ 1.30771755e-01 9.91402419e-01 -4.47127155e-03 3.97689909e+01] [ 4.52921361e-02 -1.46888272e-03 9.98972705e-01 2.12059433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.06509989299997 meters 0.016688206569308424 Centerline is valid? [True, True] Translation: X:508.29, Y:39.78, Z:21.21 [[ 9.91397717e-01 -1.22711559e-01 -4.55240541e-02 5.08292039e+02] [ 1.22633480e-01 9.92441760e-01 -4.51459847e-03 3.97834108e+01] [ 4.57339658e-02 -1.10701058e-03 9.98953041e-01 2.12091825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.12509989299997 meters 0.015664728688099636 Centerline is valid? [True, True] Translation: X:508.35, Y:39.79, Z:21.21 [[ 9.92169095e-01 -1.16339568e-01 -4.54487820e-02 5.08351384e+02] [ 1.16255064e-01 9.93209165e-01 -4.50713377e-03 3.97936837e+01] [ 4.56645048e-02 -8.11812240e-04 9.98956503e-01 2.12113815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.185099893 meters 0.013837116927148714 Centerline is valid? [True, True] Translation: X:508.41, Y:39.81, Z:21.21 [[ 9.93250050e-01 -1.06754573e-01 -4.53629707e-02 5.08411036e+02] [ 1.06660388e-01 9.94285333e-01 -4.49860725e-03 3.98077267e+01] [ 4.55839834e-02 -3.70190190e-04 9.98960441e-01 2.12144731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.2450998929999 meters 0.013590564144495821 Centerline is valid? [True, True] Translation: X:508.47, Y:39.82, Z:21.22 [[ 9.93781629e-01 -1.01800597e-01 -4.51077923e-02 5.08470465e+02] [ 1.01702375e-01 9.94804814e-01 -4.47310743e-03 3.98173116e+01] [ 4.53288139e-02 -1.42277606e-04 9.98972111e-01 2.12178019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.3050998929999 meters 0.013517371660406481 Centerline is valid? [True, True] Translation: X:508.53, Y:39.82, Z:21.22 [[ 9.94026353e-01 -9.94067421e-02 -4.50545224e-02 5.08529358e+02] [ 9.93062913e-02 9.95046883e-01 -4.46788375e-03 3.98238949e+01] [ 4.52754998e-02 -3.30033411e-05 9.98974538e-01 2.12200129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.3650998929999 meters 0.013600794475107397 Centerline is valid? [True, True] Translation: X:508.59, Y:39.83, Z:21.22 [[ 9.93823870e-01 -1.01017095e-01 -4.59310570e-02 5.08589385e+02] [ 1.00914371e-01 9.94884684e-01 -4.55572505e-03 3.98268110e+01] [ 4.61563113e-02 -1.07515447e-04 9.98934224e-01 2.12218732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.4250998929999 meters 0.013994338966782512 Centerline is valid? [True, True] Translation: X:508.65, Y:39.83, Z:21.22 [[ 9.93029447e-01 -1.08313578e-01 -4.64831842e-02 5.08649092e+02] [ 1.08216272e-01 9.94116676e-01 -4.61218979e-03 3.98257053e+01] [ 4.67092713e-02 -4.50196637e-04 9.98908425e-01 2.12239666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.4850998929999 meters 0.014799333269421894 Centerline is valid? [True, True] Translation: X:508.71, Y:39.83, Z:21.23 [[ 9.92408688e-01 -1.14178182e-01 -4.56983393e-02 5.08708412e+02] [ 1.14090263e-01 9.93460032e-01 -4.53608765e-03 3.98257194e+01] [ 4.59173959e-02 -7.12082766e-04 9.98944986e-01 2.12267236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.54509989299993 meters 0.016068036912587343 Centerline is valid? [True, True] Translation: X:508.77, Y:39.82, Z:21.23 [[ 9.91455726e-01 -1.22439017e-01 -4.49914570e-02 5.08768905e+02] [ 1.22362150e-01 9.92475457e-01 -4.46896630e-03 3.98244737e+01] [ 4.52000927e-02 -1.07446917e-03 9.98977376e-01 2.12294908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.60509989299993 meters 0.01794619337654829 Centerline is valid? [True, True] Translation: X:508.83, Y:39.82, Z:21.23 [[ 9.90961246e-01 -1.26378422e-01 -4.49922590e-02 5.08828809e+02] [ 1.26305568e-01 9.91981312e-01 -4.46988025e-03 3.98246663e+01] [ 4.51963766e-02 -1.25329474e-03 9.98977335e-01 2.12318260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.66509989299993 meters 0.01875229967548093 Centerline is valid? [True, True] Translation: X:508.89, Y:39.83, Z:21.23 [[ 9.90453891e-01 -1.30237366e-01 -4.51588186e-02 5.08888896e+02] [ 1.30167938e-01 9.91481806e-01 -4.48724734e-03 3.98274414e+01] [ 4.53585543e-02 -1.43381871e-03 9.98969742e-01 2.12344137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.72509989299994 meters 0.02086507682747034 Centerline is valid? [True, True] Translation: X:508.95, Y:39.83, Z:21.24 [[ 9.89865252e-01 -1.34723163e-01 -4.49049315e-02 5.08948749e+02] [ 1.34659086e-01 9.90881938e-01 -4.46272849e-03 3.98271749e+01] [ 4.50967185e-02 -1.62935719e-03 9.98981297e-01 2.12363620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.78509989299994 meters 0.02346175674450224 Centerline is valid? [True, True] Translation: X:509.01, Y:39.83, Z:21.24 [[ 9.88519765e-01 -1.44062472e-01 -4.55486350e-02 5.09009995e+02] [ 1.44006390e-01 9.89566401e-01 -4.52745098e-03 3.98253713e+01] [ 4.57256346e-02 -2.08381974e-03 9.98951863e-01 2.12382519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.84509989299994 meters 0.027080156847163975 Centerline is valid? [True, True] Translation: X:509.07, Y:39.82, Z:21.24 [[ 9.87413093e-01 -1.51094884e-01 -4.67516800e-02 5.09070944e+02] [ 1.51043655e-01 9.88516171e-01 -4.64697733e-03 3.98246009e+01] [ 4.69169262e-02 -2.47305835e-03 9.98895733e-01 2.12396047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.90509989299994 meters 0.029650852336725375 Centerline is valid? [True, True] Translation: X:509.13, Y:39.83, Z:21.24 [[ 9.85980595e-01 -1.59473954e-01 -4.90950524e-02 5.09131055e+02] [ 1.59427794e-01 9.87197531e-01 -4.87996724e-03 3.98260380e+01] [ 4.92447422e-02 -3.01556291e-03 9.98782189e-01 2.12399149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.96509989299994 meters 0.0322885625899865 Centerline is valid? [True, True] Translation: X:509.19, Y:39.83, Z:21.24 [[ 9.85499922e-01 -1.62070084e-01 -5.02313714e-02 5.09189801e+02] [ 1.62025075e-01 9.86774005e-01 -4.99384723e-03 3.98288729e+01] [ 5.03763648e-02 -3.21730564e-03 9.98725123e-01 2.12413774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.02509989299995 meters 0.030352473225043558 Centerline is valid? [True, True] Translation: X:509.25, Y:39.84, Z:21.24 [[ 9.85321577e-01 -1.63023344e-01 -5.06436540e-02 5.09247943e+02] [ 1.62978654e-01 9.86616729e-01 -5.03860943e-03 3.98411841e+01] [ 5.07872872e-02 -3.28918400e-03 9.98704077e-01 2.12447235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.08509989299995 meters 0.03179672325554114 Centerline is valid? [True, True] Translation: X:509.31, Y:39.85, Z:21.25 [[ 9.85563042e-01 -1.61691164e-01 -5.02141184e-02 5.09305658e+02] [ 1.61644940e-01 9.86836279e-01 -5.00711051e-03 3.98486228e+01] [ 5.03627193e-02 -3.18203512e-03 9.98725924e-01 2.12476918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.14509989299995 meters 0.02973225147467382 Centerline is valid? [True, True] Translation: X:509.36, Y:39.86, Z:21.25 [[ 9.86073600e-01 -1.58717417e-01 -4.96753140e-02 5.09364892e+02] [ 1.58668264e-01 9.87319510e-01 -4.95649924e-03 3.98611002e+01] [ 4.98320894e-02 -2.99442280e-03 9.98753121e-01 2.12511439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.20509989299995 meters 0.025297765930019856 Centerline is valid? [True, True] Translation: X:509.42, Y:39.88, Z:21.26 [[ 9.87146907e-01 -1.52299630e-01 -4.84335356e-02 5.09423896e+02] [ 1.52245162e-01 9.88330941e-01 -4.83335020e-03 3.98794699e+01] [ 4.86044793e-02 -2.60254476e-03 9.98814713e-01 2.12556118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.26509989299996 meters 0.024740280554665053 Centerline is valid? [True, True] Translation: X:509.48, Y:39.89, Z:21.26 [[ 9.87933560e-01 -1.47257273e-01 -4.79851611e-02 5.09482315e+02] [ 1.47197863e-01 9.89095474e-01 -4.78883880e-03 3.98901676e+01] [ 4.81670970e-02 -2.33225863e-03 9.98836569e-01 2.12583430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.32509989299996 meters 0.022557784301622898 Centerline is valid? [True, True] Translation: X:509.54, Y:39.90, Z:21.26 [[ 9.88883032e-01 -1.40587083e-01 -4.84316025e-02 5.09542166e+02] [ 1.40518536e-01 9.90066246e-01 -4.83422750e-03 3.99039035e+01] [ 4.86301249e-02 -2.02505235e-03 9.98814803e-01 2.12598066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.38509989299996 meters 0.020233790648041462 Centerline is valid? [True, True] Translation: X:509.60, Y:39.92, Z:21.26 [[ 9.89709277e-01 -1.33945865e-01 -5.03393708e-02 5.09601764e+02] [ 1.33863198e-01 9.90987079e-01 -5.02532413e-03 3.99186632e+01] [ 5.05587874e-02 -1.76497927e-03 9.98719527e-01 2.12607896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.44509989299996 meters 0.019096547749924697 Centerline is valid? [True, True] Translation: X:509.66, Y:39.93, Z:21.26 [[ 9.90335732e-01 -1.28950692e-01 -5.10573798e-02 5.09661150e+02] [ 1.28859003e-01 9.91649825e-01 -5.09732392e-03 3.99303961e+01] [ 5.12883452e-02 -1.53114105e-03 9.98682713e-01 2.12624954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.50509989299997 meters 0.014855610232638795 Centerline is valid? [True, True] Translation: X:509.72, Y:39.95, Z:21.27 [[ 9.91522549e-01 -1.19261494e-01 -5.15725763e-02 5.09720535e+02] [ 1.19154811e-01 9.92862335e-01 -5.14931059e-03 3.99507540e+01] [ 5.18185830e-02 -1.03946302e-03 9.98655974e-01 2.12659221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.56509989299997 meters 0.013843450947351748 Centerline is valid? [True, True] Translation: X:509.78, Y:39.96, Z:21.27 [[ 9.92501586e-01 -1.11099095e-01 -5.09665816e-02 5.09780613e+02] [ 1.10984186e-01 9.93809148e-01 -5.08797129e-03 3.99643764e+01] [ 5.12163241e-02 -6.06664973e-04 9.98687399e-01 2.12687025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.62509989299997 meters 0.013145513884599051 Centerline is valid? [True, True] Translation: X:509.84, Y:39.98, Z:21.27 [[ 9.93448502e-01 -1.02770632e-01 -4.99827186e-02 5.09839982e+02] [ 1.02649589e-01 9.94705065e-01 -4.98947641e-03 3.99787670e+01] [ 5.02308350e-02 -1.73917656e-04 9.98737620e-01 2.12720561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.685099893 meters 0.013255976354048129 Centerline is valid? [True, True] Translation: X:509.90, Y:39.99, Z:21.28 [[ 9.94425539e-01 -9.34162647e-02 -4.89004001e-02 5.09898946e+02] [ 9.32890968e-02 9.95627097e-01 -4.88143501e-03 3.99942231e+01] [ 4.91425688e-02 2.92349486e-04 9.98791731e-01 2.12758437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.7450998929999 meters 0.013458140608472783 Centerline is valid? [True, True] Translation: X:509.96, Y:40.00, Z:21.28 [[ 9.94752699e-01 -9.02497192e-02 -4.81877215e-02 5.09958641e+02] [ 9.01225194e-02 9.95919069e-01 -4.81029257e-03 4.00026869e+01] [ 4.84251983e-02 4.42252645e-04 9.98826714e-01 2.12783977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.8050998929999 meters 0.013310395889297005 Centerline is valid? [True, True] Translation: X:510.02, Y:40.01, Z:21.28 [[ 9.94585111e-01 -9.23624760e-02 -4.76406400e-02 5.10017451e+02] [ 9.22405665e-02 9.95725394e-01 -4.75578770e-03 4.00082152e+01] [ 4.78762513e-02 3.35636012e-04 9.98853218e-01 2.12806915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.8650998929999 meters 0.01300081118406564 Centerline is valid? [True, True] Translation: X:510.08, Y:40.01, Z:21.28 [[ 9.94033558e-01 -9.77638758e-02 -4.83684799e-02 5.10077393e+02] [ 9.76445479e-02 9.95209635e-01 -4.82946400e-03 4.00095709e+01] [ 4.86089244e-02 7.77309245e-05 9.98817885e-01 2.12825599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.9250998929999 meters 0.012982641407487536 Centerline is valid? [True, True] Translation: X:510.14, Y:40.01, Z:21.28 [[ 9.93626409e-01 -1.01668242e-01 -4.86839497e-02 5.10138197e+02] [ 1.01551957e-01 9.94818353e-01 -4.86251295e-03 4.00114836e+01] [ 4.89260498e-02 -1.12429103e-04 9.98802397e-01 2.12849689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.9850998929999 meters 0.013116711061252406 Centerline is valid? [True, True] Translation: X:510.20, Y:40.01, Z:21.29 [[ 9.93254386e-01 -1.05351509e-01 -4.84436101e-02 5.10197730e+02] [ 1.05240746e-01 9.94435002e-01 -4.83852794e-03 4.00115723e+01] [ 4.86837677e-02 -2.92352566e-04 9.98814200e-01 2.12870999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.04509989299993 meters 0.013084193921970766 Centerline is valid? [True, True] Translation: X:510.26, Y:40.01, Z:21.29 [[ 9.93147665e-01 -1.06629031e-01 -4.78326785e-02 5.10258813e+02] [ 1.06522531e-01 9.94298812e-01 -4.77740843e-03 4.00145115e+01] [ 4.80693859e-02 -3.50585959e-04 9.98843937e-01 2.12900763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.10509989299993 meters 0.01330203468782833 Centerline is valid? [True, True] Translation: X:510.32, Y:40.02, Z:21.29 [[ 9.93076749e-01 -1.07093684e-01 -4.82650238e-02 5.10318429e+02] [ 1.06985867e-01 9.94248862e-01 -4.81914789e-03 4.00155399e+01] [ 4.85035453e-02 -3.77891721e-04 9.98822939e-01 2.12915296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.16509989299993 meters 0.013390589606980374 Centerline is valid? [True, True] Translation: X:510.38, Y:40.02, Z:21.29 [[ 9.92960801e-01 -1.07964579e-01 -4.87082797e-02 5.10379069e+02] [ 1.07855781e-01 9.94154651e-01 -4.86417382e-03 4.00187464e+01] [ 4.89487213e-02 -4.23535625e-04 9.98801203e-01 2.12938669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.22509989299994 meters 0.01344001841293749 Centerline is valid? [True, True] Translation: X:510.44, Y:40.02, Z:21.30 [[ 9.92664257e-01 -1.10246748e-01 -4.96319125e-02 5.10439495e+02] [ 1.10136632e-01 9.93904098e-01 -4.95641093e-03 4.00218495e+01] [ 4.98757894e-02 -5.46239714e-04 9.98755279e-01 2.12966487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.28509989299994 meters 0.014720621969513847 Centerline is valid? [True, True] Translation: X:510.50, Y:40.02, Z:21.30 [[ 9.91942770e-01 -1.16421129e-01 -4.99565989e-02 5.10498571e+02] [ 1.16317363e-01 9.93199566e-01 -4.98928492e-03 4.00188291e+01] [ 5.01977306e-02 -8.61734726e-04 9.98738927e-01 2.12979031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.34509989299994 meters 0.015857954780756755 Centerline is valid? [True, True] Translation: X:510.56, Y:40.02, Z:21.30 [[ 9.91311138e-01 -1.21966677e-01 -4.92580618e-02 5.10558564e+02] [ 1.21872502e-01 9.92533559e-01 -4.92205939e-03 4.00189367e+01] [ 4.94906067e-02 -1.12391094e-03 9.98773957e-01 2.13006906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.40509989299994 meters 0.01756120904930506 Centerline is valid? [True, True] Translation: X:510.62, Y:40.02, Z:21.30 [[ 9.90100017e-01 -1.31681737e-01 -4.85991473e-02 5.10619156e+02] [ 1.31601663e-01 9.91290777e-01 -4.85775612e-03 4.00183649e+01] [ 4.88155642e-02 -1.58606420e-03 9.98806550e-01 2.13029856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.46509989299994 meters 0.02162190791308484 Centerline is valid? [True, True] Translation: X:510.68, Y:40.01, Z:21.30 [[ 9.88534932e-01 -1.42711561e-01 -4.93163060e-02 5.10679283e+02] [ 1.42642759e-01 9.89761961e-01 -4.92990080e-03 4.00142099e+01] [ 4.95149576e-02 -2.16123480e-03 9.98771044e-01 2.13039259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.52509989299995 meters 0.025902828417640352 Centerline is valid? [True, True] Translation: X:510.74, Y:40.01, Z:21.31 [[ 9.87364264e-01 -1.50697187e-01 -4.90119182e-02 5.10738887e+02] [ 1.50638976e-01 9.88576696e-01 -4.90055985e-03 4.00123441e+01] [ 4.91905407e-02 -2.54446749e-03 9.98786172e-01 2.13057203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.58509989299995 meters 0.026728147006883047 Centerline is valid? [True, True] Translation: X:510.80, Y:40.02, Z:21.31 [[ 9.86825801e-01 -1.54262060e-01 -4.87653060e-02 5.10798426e+02] [ 1.54208691e-01 9.88026260e-01 -4.87747970e-03 4.00169558e+01] [ 4.89338130e-02 -2.70681117e-03 9.98798356e-01 2.13087614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.64509989299995 meters 0.031420436873935295 Centerline is valid? [True, True] Translation: X:510.86, Y:40.02, Z:21.31 [[ 9.85914303e-01 -1.60303057e-01 -4.77065818e-02 5.10857959e+02] [ 1.60258974e-01 9.87063466e-01 -4.77243227e-03 4.00174516e+01] [ 4.78544595e-02 -2.94019862e-03 9.98849992e-01 2.13119225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.70509989299995 meters 0.031544046567316956 Centerline is valid? [True, True] Translation: X:510.92, Y:40.02, Z:21.32 [[ 9.85875015e-01 -1.60811193e-01 -4.67997430e-02 5.10917179e+02] [ 1.60769296e-01 9.86980905e-01 -4.68259887e-03 4.00248188e+01] [ 4.69434671e-02 -2.90750453e-03 9.98893316e-01 2.13150645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.76509989299996 meters 0.03077937596761601 Centerline is valid? [True, True] Translation: X:510.98, Y:40.03, Z:21.32 [[ 9.85954052e-01 -1.60669299e-01 -4.56068463e-02 5.10976904e+02] [ 1.60629291e-01 9.87004252e-01 -4.56468939e-03 4.00337350e+01] [ 4.57475567e-02 -2.82522141e-03 9.98949037e-01 2.13189790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.82509989299996 meters 0.03118521290146513 Centerline is valid? [True, True] Translation: X:511.04, Y:40.04, Z:21.32 [[ 9.85716476e-01 -1.61099968e-01 -4.90900130e-02 5.11037077e+02] [ 1.61054156e-01 9.86933340e-01 -4.91331192e-03 4.00409871e+01] [ 4.92401049e-02 -3.06301812e-03 9.98782274e-01 2.13180332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.88509989299996 meters 0.026874215696327718 Centerline is valid? [True, True] Translation: X:511.10, Y:40.05, Z:21.32 [[ 9.85997876e-01 -1.58834120e-01 -5.07928333e-02 5.11097019e+02] [ 1.58782093e-01 9.87300564e-01 -5.08357589e-03 4.00544068e+01] [ 5.09552383e-02 -3.05259739e-03 9.98696273e-01 2.13191713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.94509989299996 meters 0.025240549640376787 Centerline is valid? [True, True] Translation: X:511.16, Y:40.07, Z:21.32 [[ 9.87206251e-01 -1.51613173e-01 -4.93686438e-02 5.11156787e+02] [ 1.51555053e-01 9.88436472e-01 -4.94026413e-03 4.00667516e+01] [ 4.95467772e-02 -2.60500777e-03 9.98768407e-01 2.13230257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.00509989299997 meters 0.023194301836472996 Centerline is valid? [True, True] Translation: X:511.22, Y:40.08, Z:21.33 [[ 9.88236007e-01 -1.44908213e-01 -4.88999451e-02 5.11215911e+02] [ 1.44843003e-01 9.89442550e-01 -4.89327569e-03 4.00786941e+01] [ 4.90927622e-02 -2.24710365e-03 9.98791696e-01 2.13265089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.06509989299997 meters 0.018773267054722913 Centerline is valid? [True, True] Translation: X:511.28, Y:40.10, Z:21.33 [[ 9.89650843e-01 -1.35006472e-01 -4.86257374e-02 5.11275277e+02] [ 1.34930054e-01 9.90843179e-01 -4.86573498e-03 4.00955535e+01] [ 4.88373860e-02 -1.74569467e-03 9.98805217e-01 2.13298118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.12509989299997 meters 0.016834086735256878 Centerline is valid? [True, True] Translation: X:511.33, Y:40.11, Z:21.33 [[ 9.90527727e-01 -1.28916896e-01 -4.72785038e-02 5.11334751e+02] [ 1.28837756e-01 9.91654404e-01 -4.73022293e-03 4.01062495e+01] [ 4.74937422e-02 -1.40583938e-03 9.98870546e-01 2.13330932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.185099893 meters 0.01475325532023186 Centerline is valid? [True, True] Translation: X:511.39, Y:40.12, Z:21.34 [[ 9.91938590e-01 -1.17915226e-01 -4.64093992e-02 5.11393770e+02] [ 1.17826922e-01 9.93023291e-01 -4.64333520e-03 4.01177609e+01] [ 4.66331342e-02 -8.62373278e-04 9.98911711e-01 2.13364288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.2450998929999 meters 0.013444291611987647 Centerline is valid? [True, True] Translation: X:511.45, Y:40.13, Z:21.34 [[ 9.93020096e-01 -1.08968118e-01 -4.51335545e-02 5.11454129e+02] [ 1.08875339e-01 9.94045152e-01 -4.51614664e-03 4.01291171e+01] [ 4.53569071e-02 -4.29306686e-04 9.98970754e-01 2.13398961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.3050998929999 meters 0.01314503802732814 Centerline is valid? [True, True] Translation: X:511.51, Y:40.14, Z:21.34 [[ 9.94395424e-01 -9.67647546e-02 -4.25948601e-02 5.11514423e+02] [ 9.66709821e-02 9.95307273e-01 -4.26064904e-03 4.01414679e+01] [ 4.28072547e-02 1.19082954e-04 9.99083342e-01 2.13448984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.3650998929999 meters 0.013480701642436971 Centerline is valid? [True, True] Translation: X:511.57, Y:40.15, Z:21.35 [[ 9.94923575e-01 -9.12587396e-02 -4.24137102e-02 5.11574842e+02] [ 9.11608240e-02 9.95827153e-01 -4.24103105e-03 4.01480737e+01] [ 4.26237554e-02 3.53033005e-04 9.99091132e-01 2.13472775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.4250998929999 meters 0.013663401428260518 Centerline is valid? [True, True] Translation: X:511.64, Y:40.15, Z:21.35 [[ 9.95022640e-01 -9.01149027e-02 -4.25352755e-02 5.11636693e+02] [ 9.00154140e-02 9.95931294e-01 -4.25239423e-03 4.01495366e+01] [ 4.27454161e-02 4.02398101e-04 9.99085916e-01 2.13494859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.4850998929999 meters 0.013528642994048505 Centerline is valid? [True, True] Translation: X:511.70, Y:40.15, Z:21.35 [[ 9.94660474e-01 -9.42916995e-02 -4.19477807e-02 5.11696298e+02] [ 9.41987172e-02 9.95544589e-01 -4.19212634e-03 4.01496895e+01] [ 4.21561688e-02 2.18315243e-04 9.99111010e-01 2.13527157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.54509989299993 meters 0.013986566021728973 Centerline is valid? [True, True] Translation: X:511.76, Y:40.14, Z:21.35 [[ 9.93347431e-01 -1.06584252e-01 -4.35967731e-02 5.11757576e+02] [ 1.06495648e-01 9.94303625e-01 -4.35650904e-03 4.01405507e+01] [ 4.38127648e-02 -3.15339522e-04 9.99039710e-01 2.13546843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.60509989299993 meters 0.01637272518056331 Centerline is valid? [True, True] Translation: X:511.82, Y:40.13, Z:21.36 [[ 9.91551978e-01 -1.21943063e-01 -4.42104624e-02 5.11819440e+02] [ 1.21867172e-01 9.92536586e-01 -4.41787749e-03 4.01290664e+01] [ 4.44192309e-02 -1.00724886e-03 9.99012471e-01 2.13567896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.66509989299993 meters 0.02002249599241341 Centerline is valid? [True, True] Translation: X:511.88, Y:40.12, Z:21.36 [[ 9.90173116e-01 -1.32978429e-01 -4.32890077e-02 5.11880448e+02] [ 1.32916153e-01 9.91117842e-01 -4.32657246e-03 4.01179735e+01] [ 4.34798487e-02 -1.46975262e-03 9.99053223e-01 2.13595141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.72509989299994 meters 0.022091432142382236 Centerline is valid? [True, True] Translation: X:511.94, Y:40.11, Z:21.36 [[ 9.89788225e-01 -1.35967488e-01 -4.28031827e-02 5.11939566e+02] [ 1.35909354e-01 9.90712036e-01 -4.27885145e-03 4.01101757e+01] [ 4.29874130e-02 -1.58219613e-03 9.99074361e-01 2.13623481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.78509989299994 meters 0.01934950157858686 Centerline is valid? [True, True] Translation: X:512.00, Y:40.11, Z:21.37 [[ 9.90741733e-01 -1.28752143e-01 -4.30546632e-02 5.11999854e+02] [ 1.28686386e-01 9.91675987e-01 -4.30697460e-03 4.01126181e+01] [ 4.32508079e-02 -1.27344953e-03 9.99063434e-01 2.13651461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.84509989299994 meters 0.01934950157858686 Centerline is valid? [True, True] Translation: X:512.06, Y:40.12, Z:21.37 [[ 9.90710386e-01 -1.28993143e-01 -4.30546145e-02 5.12057805e+02] [ 1.28927592e-01 9.91644655e-01 -4.30746149e-03 4.01184682e+01] [ 4.32505113e-02 -1.28348092e-03 9.99063434e-01 2.13675947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.90509989299994 meters 0.01865831203805753 Centerline is valid? [True, True] Translation: X:512.12, Y:40.12, Z:21.37 [[ 9.90981007e-01 -1.26823616e-01 -4.32713935e-02 5.12116364e+02] [ 1.26754872e-01 9.91924578e-01 -4.33984100e-03 4.01240859e+01] [ 4.34723530e-02 -1.18415992e-03 9.99053929e-01 2.13697619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.96509989299994 meters 0.017289700693807496 Centerline is valid? [True, True] Translation: X:512.17, Y:40.13, Z:21.37 [[ 9.91645196e-01 -1.21138003e-01 -4.43327137e-02 5.12174831e+02] [ 1.21059691e-01 9.92635224e-01 -4.45692847e-03 4.01295131e+01] [ 4.45461166e-02 -9.47212909e-04 9.99006880e-01 2.13715141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.02509989299995 meters 0.014574374904107828 Centerline is valid? [True, True] Translation: X:512.23, Y:40.14, Z:21.37 [[ 9.92657965e-01 -1.11843638e-01 -4.60561049e-02 5.12234223e+02] [ 1.11749003e-01 9.93725666e-01 -4.63250955e-03 4.01382731e+01] [ 4.62852503e-02 -5.48226314e-04 9.98928113e-01 2.13737600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.08509989299995 meters 0.013729279654962375 Centerline is valid? [True, True] Translation: X:512.29, Y:40.14, Z:21.38 [[ 9.93352304e-01 -1.04284908e-01 -4.87427836e-02 5.12293062e+02] [ 1.04169685e-01 9.94547443e-01 -4.90517751e-03 4.01445923e+01] [ 4.89885468e-02 -2.04951053e-04 9.98799319e-01 2.13753796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.14509989299995 meters 0.01358966383718842 Centerline is valid? [True, True] Translation: X:512.35, Y:40.15, Z:21.38 [[ 9.93637561e-01 -1.01131321e-01 -4.95666454e-02 5.12351032e+02] [ 1.01007632e-01 9.94873085e-01 -5.00038030e-03 4.01499748e+01] [ 4.98182165e-02 -3.80437825e-05 9.98758301e-01 2.13780662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.20509989299995 meters 0.013451767180659277 Centerline is valid? [True, True] Translation: X:512.41, Y:40.15, Z:21.38 [[ 9.93610689e-01 -1.01025644e-01 -5.03151952e-02 5.12408875e+02] [ 1.00897298e-01 9.94883822e-01 -5.09082533e-03 4.01514712e+01] [ 5.05720777e-02 -1.83687693e-05 9.98720414e-01 2.13808806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.26509989299996 meters 0.01340704833411968 Centerline is valid? [True, True] Translation: X:512.47, Y:40.15, Z:21.38 [[ 9.93317535e-01 -1.03744543e-01 -5.05701946e-02 5.12466578e+02] [ 1.03617654e-01 9.94603966e-01 -5.13152196e-03 4.01529555e+01] [ 5.08296835e-02 -1.42734165e-04 9.98707326e-01 2.13842230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.32509989299996 meters 0.013706182913731099 Centerline is valid? [True, True] Translation: X:512.52, Y:40.15, Z:21.39 [[ 9.92662560e-01 -1.09909709e-01 -5.04073186e-02 5.12524715e+02] [ 1.09790915e-01 9.93941477e-01 -5.12797359e-03 4.01499455e+01] [ 5.06655388e-02 -4.43918237e-04 9.98715578e-01 2.13879454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.38509989299996 meters 0.014325071909639537 Centerline is valid? [True, True] Translation: X:512.58, Y:40.15, Z:21.39 [[ 9.92015435e-01 -1.15473123e-01 -5.07083272e-02 5.12583380e+02] [ 1.15359930e-01 9.93310338e-01 -5.16318568e-03 4.01494290e+01] [ 5.09653149e-02 -7.27749180e-04 9.98700159e-01 2.13916094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.44509989299996 meters 0.015989199043777262 Centerline is valid? [True, True] Translation: X:512.64, Y:40.15, Z:21.39 [[ 9.91182174e-01 -1.22259510e-01 -5.10931412e-02 5.12642607e+02] [ 1.22153358e-01 9.92497579e-01 -5.20690779e-03 4.01471305e+01] [ 5.13464130e-02 -1.08020458e-03 9.98680319e-01 2.13940533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.50509989299997 meters 0.017454952480111932 Centerline is valid? [True, True] Translation: X:512.70, Y:40.15, Z:21.40 [[ 9.90166253e-01 -1.29867582e-01 -5.20115712e-02 5.12703477e+02] [ 1.29767878e-01 9.91530215e-01 -5.30377677e-03 4.01467139e+01] [ 5.22598330e-02 -1.49781045e-03 9.98632398e-01 2.13966286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.56509989299997 meters 0.020901478640778213 Centerline is valid? [True, True] Translation: X:512.76, Y:40.14, Z:21.40 [[ 9.88589625e-01 -1.41107393e-01 -5.27186655e-02 5.12764072e+02] [ 1.41020876e-01 9.89992026e-01 -5.37606719e-03 4.01431564e+01] [ 5.29496612e-02 -2.11970812e-03 9.98594933e-01 2.13990930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.62509989299997 meters 0.023661334351220465 Centerline is valid? [True, True] Translation: X:512.82, Y:40.14, Z:21.40 [[ 9.87675319e-01 -1.47230507e-01 -5.31097244e-02 5.12824715e+02] [ 1.47151481e-01 9.89099136e-01 -5.41673316e-03 4.01436765e+01] [ 5.33282909e-02 -2.46520098e-03 9.98573991e-01 2.14012668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.685099893 meters 0.023782321727452975 Centerline is valid? [True, True] Translation: X:512.88, Y:40.15, Z:21.40 [[ 9.86938090e-01 -1.52125137e-01 -5.30202802e-02 5.12884494e+02] [ 1.52053387e-01 9.88357486e-01 -5.40808402e-03 4.01491927e+01] [ 5.32256963e-02 -2.72446909e-03 9.98578791e-01 2.14045802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.7450998929999 meters 0.024362747039905413 Centerline is valid? [True, True] Translation: X:512.94, Y:40.16, Z:21.41 [[ 9.86266181e-01 -1.56582607e-01 -5.25443369e-02 5.12944591e+02] [ 1.56518397e-01 9.87660498e-01 -5.36030777e-03 4.01558413e+01] [ 5.27352969e-02 -2.93746512e-03 9.98604206e-01 2.14080083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.8050998929999 meters 0.025916707613173193 Centerline is valid? [True, True] Translation: X:513.00, Y:40.16, Z:21.41 [[ 9.85902387e-01 -1.58691184e-01 -5.30432930e-02 5.13004100e+02] [ 1.58628766e-01 9.87323467e-01 -5.41162881e-03 4.01616447e+01] [ 5.32296657e-02 -3.07885436e-03 9.98577550e-01 2.14101934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.8650998929999 meters 0.028907443270497938 Centerline is valid? [True, True] Translation: X:513.06, Y:40.17, Z:21.41 [[ 9.85587874e-01 -1.60637784e-01 -5.30287173e-02 5.13062395e+02] [ 1.60578078e-01 9.87008301e-01 -5.41253682e-03 4.01651268e+01] [ 5.32092421e-02 -3.18071882e-03 9.98578319e-01 2.14117977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.9250998929999 meters 0.030114636081832513 Centerline is valid? [True, True] Translation: X:513.12, Y:40.17, Z:21.41 [[ 9.85135670e-01 -1.63361950e-01 -5.31091859e-02 5.13121772e+02] [ 1.63305825e-01 9.86560585e-01 -5.42406952e-03 4.01718120e+01] [ 5.32815160e-02 -3.32959504e-03 9.98573980e-01 2.14143104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.9850998929999 meters 0.02868893560269272 Centerline is valid? [True, True] Translation: X:513.18, Y:40.18, Z:21.42 [[ 9.84835670e-01 -1.64982645e-01 -5.36603200e-02 5.13180066e+02] [ 1.64927668e-01 9.86290431e-01 -5.48178440e-03 4.01823541e+01] [ 5.38290595e-02 -3.45141462e-03 9.98544200e-01 2.14168944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.0450998929999 meters 0.031167745589753444 Centerline is valid? [True, True] Translation: X:513.24, Y:40.19, Z:21.42 [[ 9.84483893e-01 -1.66631853e-01 -5.50026353e-02 5.13238286e+02] [ 1.66576484e-01 9.86012509e-01 -5.62202536e-03 4.01896935e+01] [ 5.51700949e-02 -3.62735218e-03 9.98470382e-01 2.14183442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.1050998929999 meters 0.029308190291449605 Centerline is valid? [True, True] Translation: X:513.30, Y:40.20, Z:21.42 [[ 9.84764989e-01 -1.65012011e-01 -5.48539217e-02 5.13296304e+02] [ 1.64954140e-01 9.86285270e-01 -5.61224039e-03 4.02047234e+01] [ 5.50277021e-02 -3.52164365e-03 9.98478618e-01 2.14220443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.1650998929999 meters 0.02663284673049114 Centerline is valid? [True, True] Translation: X:513.35, Y:40.22, Z:21.43 [[ 9.85387882e-01 -1.61405548e-01 -5.43964173e-02 5.13354933e+02] [ 1.61342610e-01 9.86882706e-01 -5.57557667e-03 4.02198844e+01] [ 5.45828125e-02 -3.28235426e-03 9.98503852e-01 2.14262167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.2250998929999 meters 0.025276043037807977 Centerline is valid? [True, True] Translation: X:513.41, Y:40.24, Z:21.43 [[ 9.86639984e-01 -1.53746202e-01 -5.38855087e-02 5.13413280e+02] [ 1.53672993e-01 9.88106317e-01 -5.52418873e-03 4.02361924e+01] [ 5.40939346e-02 -2.83036192e-03 9.98531840e-01 2.14296390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.2850998929999 meters 0.023449145785703535 Centerline is valid? [True, True] Translation: X:513.47, Y:40.25, Z:21.43 [[ 9.87487377e-01 -1.48412293e-01 -5.33148337e-02 5.13472213e+02] [ 1.48332825e-01 9.88922388e-01 -5.46653740e-03 4.02501365e+01] [ 5.35355340e-02 -2.51020319e-03 9.98562790e-01 2.14327355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.3450998929999 meters 0.022103792325628927 Centerline is valid? [True, True] Translation: X:513.53, Y:40.27, Z:21.43 [[ 9.88358568e-01 -1.42211919e-01 -5.40657985e-02 5.13530128e+02] [ 1.42120908e-01 9.89833779e-01 -5.54406032e-03 4.02651484e+01] [ 5.43045851e-02 -2.20436084e-03 9.98521984e-01 2.14347248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4050998929999 meters 0.020483440054894175 Centerline is valid? [True, True] Translation: X:513.59, Y:40.28, Z:21.44 [[ 9.88565787e-01 -1.40428307e-01 -5.49324591e-02 5.13587975e+02] [ 1.40331375e-01 9.90088545e-01 -5.63715020e-03 4.02777453e+01] [ 5.51796140e-02 -2.13605369e-03 9.98474160e-01 2.14376624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4650998929999 meters 0.019759111124586354 Centerline is valid? [True, True] Translation: X:513.65, Y:40.29, Z:21.44 [[ 9.88672002e-01 -1.39792954e-01 -5.46406710e-02 5.13646235e+02] [ 1.39695326e-01 9.90178580e-01 -5.62092687e-03 4.02891659e+01] [ 5.48897880e-02 -2.07579332e-03 9.98490261e-01 2.14403852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5250998929998 meters 0.018727715802692602 Centerline is valid? [True, True] Translation: X:513.70, Y:40.30, Z:21.44 [[ 9.88744833e-01 -1.39554678e-01 -5.39272405e-02 5.13704443e+02] [ 1.39458492e-01 9.90212302e-01 -5.56110100e-03 4.03000163e+01] [ 5.41754946e-02 -2.02210179e-03 9.98529382e-01 2.14442522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5850998929999 meters 0.018354141043785712 Centerline is valid? [True, True] Translation: X:513.76, Y:40.31, Z:21.45 [[ 9.89302140e-01 -1.35964961e-01 -5.28659083e-02 5.13762635e+02] [ 1.35866824e-01 9.90712050e-01 -5.46260466e-03 4.03115778e+01] [ 5.31176153e-02 -1.77855658e-03 9.98586679e-01 2.14471802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.6450998929998 meters 0.017241096460167808 Centerline is valid? [True, True] Translation: X:513.82, Y:40.32, Z:21.45 [[ 9.89885690e-01 -1.31948920e-01 -5.21133688e-02 5.13821475e+02] [ 1.31847900e-01 9.91255323e-01 -5.38669888e-03 4.03224648e+01] [ 5.23684233e-02 -1.53882212e-03 9.98626647e-01 2.14499697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7050998929999 meters 0.014958174363775289 Centerline is valid? [True, True] Translation: X:513.88, Y:40.34, Z:21.45 [[ 9.90767165e-01 -1.25073330e-01 -5.23171858e-02 5.13880322e+02] [ 1.24961849e-01 9.92146801e-01 -5.40944174e-03 4.03361705e+01] [ 5.25829054e-02 -1.17815505e-03 9.98615867e-01 2.14522372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7650998929998 meters 0.013182769206428406 Centerline is valid? [True, True] Translation: X:513.94, Y:40.35, Z:21.46 [[ 9.91146509e-01 -1.22517137e-01 -5.11678524e-02 5.13938623e+02] [ 1.22407044e-01 9.92465875e-01 -5.29168295e-03 4.03480624e+01] [ 5.14306692e-02 -1.01847246e-03 9.98676048e-01 2.14562137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.8250998929999 meters 0.013460294221095799 Centerline is valid? [True, True] Translation: X:514.00, Y:40.35, Z:21.46 [[ 9.91311007e-01 -1.21408065e-01 -5.06218175e-02 5.13997121e+02] [ 1.21298761e-01 9.92602227e-01 -5.23725474e-03 4.03548143e+01] [ 5.08831738e-02 -9.48615462e-04 9.98704162e-01 2.14578432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.8850998929998 meters 0.013404671883276775 Centerline is valid? [True, True] Translation: X:514.06, Y:40.36, Z:21.46 [[ 9.91275288e-01 -1.21630077e-01 -5.07880580e-02 5.14056816e+02] [ 1.21520209e-01 9.92575036e-01 -5.25710211e-03 4.03609470e+01] [ 5.10503802e-02 -9.60539990e-04 9.98695617e-01 2.14601607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.9450998929999 meters 0.013655218342006236 Centerline is valid? [True, True] Translation: X:514.12, Y:40.37, Z:21.46 [[ 9.91147069e-01 -1.22518504e-01 -5.11537349e-02 5.14115390e+02] [ 1.22408028e-01 9.92465716e-01 -5.29886187e-03 4.03665265e+01] [ 5.14175368e-02 -1.00967642e-03 9.98676733e-01 2.14620658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.0050998929999 meters 0.01409759771497692 Centerline is valid? [True, True] Translation: X:514.17, Y:40.37, Z:21.46 [[ 9.90961235e-01 -1.23865384e-01 -5.15091884e-02 5.14173733e+02] [ 1.23754506e-01 9.92298450e-01 -5.34877035e-03 4.03712144e+01] [ 5.17750152e-02 -1.07407008e-03 9.98658197e-01 2.14640147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.0650998929999 meters 0.01483912992193634 Centerline is valid? [True, True] Translation: X:514.23, Y:40.37, Z:21.47 [[ 9.90951506e-01 -1.23889125e-01 -5.16391090e-02 5.14231034e+02] [ 1.23777128e-01 9.92295494e-01 -5.37362896e-03 4.03748941e+01] [ 5.19069894e-02 -1.06673487e-03 9.98651354e-01 2.14651523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1250998929999 meters 0.013649332763028025 Centerline is valid? [True, True] Translation: X:514.29, Y:40.38, Z:21.47 [[ 9.91200502e-01 -1.22463549e-01 -5.02418496e-02 5.14289397e+02] [ 1.22355414e-01 9.92472548e-01 -5.23393346e-03 4.03823826e+01] [ 5.05046226e-02 -9.59484861e-04 9.98723366e-01 2.14695226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1850998929999 meters 0.012889425785584777 Centerline is valid? [True, True] Translation: X:514.35, Y:40.39, Z:21.47 [[ 9.91581723e-01 -1.19924747e-01 -4.88235814e-02 5.14347888e+02] [ 1.19818970e-01 9.92782667e-01 -5.09814957e-03 4.03893995e+01] [ 4.90825996e-02 -7.94759295e-04 9.98794407e-01 2.14735254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.2450998929999 meters 0.012437334465745391 Centerline is valid? [True, True] Translation: X:514.41, Y:40.40, Z:21.48 [[ 9.91750295e-01 -1.18576339e-01 -4.86929585e-02 5.14407518e+02] [ 1.18468976e-01 9.92944681e-01 -5.09526816e-03 4.03960427e+01] [ 4.89535924e-02 -7.15371219e-04 9.98800798e-01 2.14767370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3050998929999 meters 0.012806205901679212 Centerline is valid? [True, True] Translation: X:514.47, Y:40.40, Z:21.48 [[ 9.91737926e-01 -1.18288530e-01 -4.96357637e-02 5.14465768e+02] [ 1.18176502e-01 9.92979011e-01 -5.19602775e-03 4.03997587e+01] [ 4.99019020e-02 -7.12683120e-04 9.98753870e-01 2.14777391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3650998929999 meters 0.01245971364719787 Centerline is valid? [True, True] Translation: X:514.52, Y:40.41, Z:21.48 [[ 9.91647884e-01 -1.18828770e-01 -5.01417703e-02 5.14524348e+02] [ 1.18714881e-01 9.92914484e-01 -5.25404171e-03 4.04062333e+01] [ 5.04108213e-02 -7.42414935e-04 9.98728290e-01 2.14804728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4250998929999 meters 0.012991018302866945 Centerline is valid? [True, True] Translation: X:514.58, Y:40.41, Z:21.48 [[ 9.91394550e-01 -1.20754370e-01 -5.05492689e-02 5.14581820e+02] [ 1.20640532e-01 9.92682066e-01 -5.30831988e-03 4.04099443e+01] [ 5.08203555e-02 -8.35651280e-04 9.98707461e-01 2.14824981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4850998929999 meters 0.01357362340164791 Centerline is valid? [True, True] Translation: X:514.64, Y:40.41, Z:21.49 [[ 9.90774699e-01 -1.25826825e-01 -5.03299674e-02 5.14641282e+02] [ 1.25720301e-01 9.92051626e-01 -5.28934850e-03 4.04125926e+01] [ 5.05954679e-02 -1.08694600e-03 9.98718638e-01 2.14858605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.5450998929999 meters 0.016216888565182264 Centerline is valid? [True, True] Translation: X:514.70, Y:40.41, Z:21.49 [[ 9.90133015e-01 -1.30779009e-01 -5.03335235e-02 5.14699820e+02] [ 1.30678745e-01 9.91410642e-01 -5.29193361e-03 4.04122514e+01] [ 5.05932647e-02 -1.33780349e-03 9.98718445e-01 2.14877429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.6050998929999 meters 0.017917241350440923 Centerline is valid? [True, True] Translation: X:514.76, Y:40.41, Z:21.49 [[ 9.89313817e-01 -1.36822532e-01 -5.03762399e-02 5.14760174e+02] [ 1.36729743e-01 9.90594210e-01 -5.29980087e-03 4.04149249e+01] [ 5.06275437e-02 -1.64476409e-03 9.98716249e-01 2.14908918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.6650998929999 meters 0.019870458702942337 Centerline is valid? [True, True] Translation: X:514.82, Y:40.42, Z:21.49 [[ 9.87807953e-01 -1.47340709e-01 -5.02609461e-02 5.14820194e+02] [ 1.47261868e-01 9.89083401e-01 -5.28849784e-03 4.04159100e+01] [ 5.04914785e-02 -2.17750057e-03 9.98722118e-01 2.14942422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.7250998929999 meters 0.02378167993586854 Centerline is valid? [True, True] Translation: X:514.88, Y:40.41, Z:21.50 [[ 9.86147738e-01 -1.58066699e-01 -5.02748108e-02 5.14881119e+02] [ 1.58001662e-01 9.87424674e-01 -5.29046996e-03 4.04149915e+01] [ 5.04788358e-02 -2.72631867e-03 9.98721410e-01 2.14966027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.7850998929999 meters 0.026609193020862988 Centerline is valid? [True, True] Translation: X:514.94, Y:40.42, Z:21.50 [[ 9.85213127e-01 -1.63638659e-01 -5.07689252e-02 5.14941716e+02] [ 1.63579674e-01 9.86515658e-01 -5.34297276e-03 4.04170463e+01] [ 5.09586565e-02 -3.04079732e-03 9.98696134e-01 2.14989076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.8450998929999 meters 0.031009842794951108 Centerline is valid? [True, True] Translation: X:515.00, Y:40.42, Z:21.50 [[ 9.84432094e-01 -1.68061343e-01 -5.14668562e-02 5.15000874e+02] [ 1.68006741e-01 9.85770966e-01 -5.41639545e-03 4.04183810e+01] [ 5.16448193e-02 -3.31470526e-03 9.98660015e-01 2.15010719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9050998929999 meters 0.03205714758068117 Centerline is valid? [True, True] Translation: X:515.06, Y:40.42, Z:21.50 [[ 9.84401477e-01 -1.68283325e-01 -5.13269383e-02 5.15058056e+02] [ 1.68229184e-01 9.85733095e-01 -5.40430399e-03 4.04249537e+01] [ 5.15041160e-02 -3.31468410e-03 9.98667281e-01 2.15040877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9650998929999 meters 0.030425276697469358 Centerline is valid? [True, True] Translation: X:515.12, Y:40.44, Z:21.51 [[ 9.85288698e-01 -1.63236296e-01 -5.05973637e-02 5.15117641e+02] [ 1.63176460e-01 9.86582453e-01 -5.33907216e-03 4.04387007e+01] [ 5.07900016e-02 -2.99577126e-03 9.98704862e-01 2.15080340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0250998929998 meters 0.025734608233873434 Centerline is valid? [True, True] Translation: X:515.18, Y:40.46, Z:21.51 [[ 9.86268733e-01 -1.57257909e-01 -5.04374471e-02 5.15176974e+02] [ 1.57190684e-01 9.87553932e-01 -5.32163093e-03 4.04559612e+01] [ 5.06465678e-02 -2.67973861e-03 9.98713044e-01 2.15116246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0850998929999 meters 0.021323308140956822 Centerline is valid? [True, True] Translation: X:515.24, Y:40.48, Z:21.51 [[ 9.87941505e-01 -1.46469999e-01 -5.01808892e-02 5.15235612e+02] [ 1.46389548e-01 9.89212852e-01 -5.29475478e-03 4.04750944e+01] [ 5.04151032e-02 -2.11504966e-03 9.98726111e-01 2.15142679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.1450998929998 meters 0.01976754613151694 Centerline is valid? [True, True] Translation: X:515.29, Y:40.49, Z:21.52 [[ 9.88954533e-01 -1.39541339e-01 -4.99714625e-02 5.15294138e+02] [ 1.39452708e-01 9.90214693e-01 -5.27293377e-03 4.04883989e+01] [ 5.02182686e-02 -1.75396404e-03 9.98736727e-01 2.15167106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2050998929999 meters 0.016122155496291316 Centerline is valid? [True, True] Translation: X:515.35, Y:40.51, Z:21.52 [[ 9.90143280e-01 -1.30692314e-01 -5.03567604e-02 5.15352957e+02] [ 1.30590828e-01 9.91422106e-01 -5.31446469e-03 4.05070989e+01] [ 5.06193651e-02 -1.31404950e-03 9.98717154e-01 2.15195127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2650998929998 meters 0.01547527940211177 Centerline is valid? [True, True] Translation: X:515.41, Y:40.52, Z:21.52 [[ 9.90672354e-01 -1.26701593e-01 -5.01497047e-02 5.15411429e+02] [ 1.26595831e-01 9.91940262e-01 -5.29259265e-03 4.05183091e+01] [ 5.04160912e-02 -1.10551831e-03 9.98727688e-01 2.15217356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.3250998929999 meters 0.014142492740679474 Centerline is valid? [True, True] Translation: X:515.47, Y:40.53, Z:21.52 [[ 9.90998022e-01 -1.23718815e-01 -5.11524648e-02 5.15471169e+02] [ 1.23604779e-01 9.92316839e-01 -5.39900146e-03 4.05323669e+01] [ 5.14274102e-02 -9.72289304e-04 9.98676262e-01 2.15243042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.3850998929998 meters 0.014248032152889837 Centerline is valid? [True, True] Translation: X:515.53, Y:40.54, Z:21.53 [[ 9.90918720e-01 -1.23968019e-01 -5.20770676e-02 5.15530742e+02] [ 1.23850205e-01 9.92285706e-01 -5.49581713e-03 4.05405049e+01] [ 5.23566353e-02 -1.00384744e-03 9.98627946e-01 2.15256174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.4450998929999 meters 0.015413553136615939 Centerline is valid? [True, True] Translation: X:515.59, Y:40.55, Z:21.53 [[ 9.90606971e-01 -1.26429758e-01 -5.20897862e-02 5.15589956e+02] [ 1.26315276e-01 9.91974914e-01 -5.49734489e-03 4.05468701e+01] [ 5.23667892e-02 -1.13402755e-03 9.98627274e-01 2.15272856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.5050998929999 meters 0.015734262484761258 Centerline is valid? [True, True] Translation: X:515.65, Y:40.55, Z:21.53 [[ 9.90402427e-01 -1.28222661e-01 -5.15943897e-02 5.15650337e+02] [ 1.28112737e-01 9.91744660e-01 -5.44580620e-03 4.05542340e+01] [ 5.18667362e-02 -1.21635880e-03 9.98653274e-01 2.15304545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.5650998929999 meters 0.016310913186456638 Centerline is valid? [True, True] Translation: X:515.71, Y:40.56, Z:21.53 [[ 9.90184658e-01 -1.30207204e-01 -5.07979064e-02 5.15710651e+02] [ 1.30103265e-01 9.91485952e-01 -5.36157506e-03 4.05622256e+01] [ 5.10635263e-02 -1.30002413e-03 9.98694561e-01 2.15342289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.6250998929999 meters 0.01635976779286417 Centerline is valid? [True, True] Translation: X:515.77, Y:40.57, Z:21.54 [[ 9.90121337e-01 -1.30924654e-01 -5.01843927e-02 5.15771794e+02] [ 1.30824184e-01 9.91391440e-01 -5.29577582e-03 4.05699111e+01] [ 5.04457250e-02 -1.32187162e-03 9.98725929e-01 2.15377151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.6850998929999 meters 0.017804320869344806 Centerline is valid? [True, True] Translation: X:515.83, Y:40.57, Z:21.54 [[ 9.89988168e-01 -1.32622470e-01 -4.83188147e-02 5.15832245e+02] [ 1.32531462e-01 9.91165696e-01 -5.09663840e-03 4.05749281e+01] [ 4.85678804e-02 -1.35815143e-03 9.98818961e-01 2.15412857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.7450998929999 meters 0.017050452051068008 Centerline is valid? [True, True] Translation: X:515.89, Y:40.58, Z:21.55 [[ 9.89946080e-01 -1.33519076e-01 -4.66842056e-02 5.15893482e+02] [ 1.33435371e-01 9.91045310e-01 -4.91883196e-03 4.05840682e+01] [ 4.69229209e-02 -1.35994585e-03 9.98897587e-01 2.15450686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8050998929999 meters 0.016914398885283545 Centerline is valid? [True, True] Translation: X:515.95, Y:40.59, Z:21.55 [[ 9.89897999e-01 -1.34261195e-01 -4.55618573e-02 5.15954776e+02] [ 1.34182401e-01 9.90945038e-01 -4.79731257e-03 4.05931572e+01] [ 4.57933893e-02 -1.36474929e-03 9.98950000e-01 2.15491370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8650998929999 meters 0.0183967388288382 Centerline is valid? [True, True] Translation: X:516.02, Y:40.60, Z:21.55 [[ 9.89942224e-01 -1.34270255e-01 -4.45633538e-02 5.16015400e+02] [ 1.34195029e-01 9.90943847e-01 -4.68900206e-03 4.05987525e+01] [ 4.47893747e-02 -1.33833945e-03 9.98995556e-01 2.15517487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9250998929999 meters 0.016377248736645277 Centerline is valid? [True, True] Translation: X:516.08, Y:40.61, Z:21.56 [[ 9.90062935e-01 -1.33758247e-01 -4.34064058e-02 5.16076967e+02] [ 1.33686488e-01 9.91013161e-01 -4.56492297e-03 4.06109702e+01] [ 4.36269155e-02 -1.28328891e-03 9.99047069e-01 2.15555256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9850998929999 meters 0.016597355238748487 Centerline is valid? [True, True] Translation: X:516.14, Y:40.62, Z:21.56 [[ 9.90143656e-01 -1.33547340e-01 -4.21977393e-02 5.16138424e+02] [ 1.33479460e-01 9.91041657e-01 -4.43473725e-03 4.06183410e+01] [ 4.24119649e-02 -1.24150453e-03 9.99099436e-01 2.15588394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.0450998929999 meters 0.017508579400575867 Centerline is valid? [True, True] Translation: X:516.20, Y:40.63, Z:21.56 [[ 9.90235222e-01 -1.33414541e-01 -4.04322328e-02 5.16199874e+02] [ 1.33352224e-01 9.91059611e-01 -4.24645865e-03 4.06251846e+01] [ 4.06372922e-02 -1.18673523e-03 9.99173259e-01 2.15630057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.1050998929999 meters 0.018026709583692593 Centerline is valid? [True, True] Translation: X:516.26, Y:40.63, Z:21.57 [[ 9.90142630e-01 -1.34462930e-01 -3.92083194e-02 5.16261552e+02] [ 1.34405419e-01 9.90917899e-01 -4.11107831e-03 4.06319273e+01] [ 3.94050131e-02 -1.19925673e-03 9.99222601e-01 2.15658486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.1650998929999 meters 0.017411310417662862 Centerline is valid? [True, True] Translation: X:516.32, Y:40.64, Z:21.57 [[ 9.89881224e-01 -1.36654619e-01 -3.82188058e-02 5.16323043e+02] [ 1.36601708e-01 9.90617957e-01 -4.00467733e-03 4.06402417e+01] [ 3.84074929e-02 -1.25659925e-03 9.99261370e-01 2.15686413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.2250998929999 meters 0.017538043333217256 Centerline is valid? [True, True] Translation: X:516.38, Y:40.65, Z:21.57 [[ 9.89539722e-01 -1.39255666e-01 -3.76695910e-02 5.16384782e+02] [ 1.39206249e-01 9.90255554e-01 -3.94439069e-03 4.06473050e+01] [ 3.78518005e-02 -1.34071119e-03 9.99282464e-01 2.15707625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.2850998929999 meters 0.01901532744345827 Centerline is valid? [True, True] Translation: X:516.45, Y:40.65, Z:21.57 [[ 9.89393608e-01 -1.40345208e-01 -3.74634588e-02 5.16445330e+02] [ 1.40297207e-01 9.90101674e-01 -3.92024018e-03 4.06517934e+01] [ 3.76428202e-02 -1.37735804e-03 9.99290309e-01 2.15736505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.3450998929999 meters 0.020023409018563355 Centerline is valid? [True, True] Translation: X:516.51, Y:40.66, Z:21.58 [[ 9.89095826e-01 -1.42475097e-01 -3.72866368e-02 5.16506962e+02] [ 1.42429247e-01 9.89797315e-01 -3.89668715e-03 4.06572587e+01] [ 3.74613939e-02 -1.45651061e-03 9.99297014e-01 2.15759136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4050998929999 meters 0.020077243594733098 Centerline is valid? [True, True] Translation: X:516.57, Y:40.66, Z:21.58 [[ 9.88861876e-01 -1.44102828e-01 -3.72366023e-02 5.16568910e+02] [ 1.44058354e-01 9.89561553e-01 -3.88875633e-03 4.06644404e+01] [ 3.74082908e-02 -1.51880077e-03 9.99298911e-01 2.15770339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4650998929999 meters 0.020282072823316538 Centerline is valid? [True, True] Translation: X:516.63, Y:40.67, Z:21.58 [[ 9.88872173e-01 -1.43835842e-01 -3.79878334e-02 5.16631297e+02] [ 1.43789466e-01 9.89600360e-01 -3.96441956e-03 4.06707783e+01] [ 3.81629993e-02 -1.54194610e-03 9.99270338e-01 2.15781761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5250998929998 meters 0.019061371995992796 Centerline is valid? [True, True] Translation: X:516.69, Y:40.68, Z:21.58 [[ 9.89046973e-01 -1.42573071e-01 -3.81969259e-02 5.16693157e+02] [ 1.42525379e-01 9.89783135e-01 -3.98267476e-03 4.06788516e+01] [ 3.83744952e-02 -1.50497893e-03 9.99262294e-01 2.15788942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5850998929999 meters 0.020619141325005426 Centerline is valid? [True, True] Translation: X:516.75, Y:40.68, Z:21.58 [[ 9.89214506e-01 -1.41314438e-01 -3.85342813e-02 5.16754215e+02] [ 1.41265061e-01 9.89963668e-01 -4.01490162e-03 4.06825027e+01] [ 3.87149020e-02 -1.47194867e-03 9.99249213e-01 2.15808454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.6450998929998 meters 0.020309646837988752 Centerline is valid? [True, True] Translation: X:516.82, Y:40.69, Z:21.58 [[ 9.89447167e-01 -1.39458554e-01 -3.93143243e-02 5.16816422e+02] [ 1.39405781e-01 9.90226877e-01 -4.09401233e-03 4.06889437e+01] [ 3.95010456e-02 -1.42983519e-03 9.99218506e-01 2.15817850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7050998929999 meters 0.019511284815491758 Centerline is valid? [True, True] Translation: X:516.88, Y:40.70, Z:21.58 [[ 9.89471322e-01 -1.38833524e-01 -4.08871143e-02 5.16878219e+02] [ 1.38776035e-01 9.90314652e-01 -4.25479122e-03 4.06955023e+01] [ 4.10818160e-02 -1.46415769e-03 9.99154713e-01 2.15825480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7650998929998 meters 0.01875614961826687 Centerline is valid? [True, True] Translation: X:516.94, Y:40.70, Z:21.58 [[ 9.89222633e-01 -1.40163015e-01 -4.23427871e-02 5.16939977e+02] [ 1.40102709e-01 9.90127185e-01 -4.40313836e-03 4.06999983e+01] [ 4.25419018e-02 -1.57665505e-03 9.99093439e-01 2.15822954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.8250998929999 meters 0.023993277234098352 Centerline is valid? [True, True] Translation: X:517.00, Y:40.70, Z:21.58 [[ 9.88970152e-01 -1.41578050e-01 -4.35166014e-02 5.17001743e+02] [ 1.41515862e-01 9.89925660e-01 -4.52196203e-03 4.06961917e+01] [ 4.37184109e-02 -1.68620390e-03 9.99042470e-01 2.15829307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.8850998929998 meters 0.018495885657981603 Centerline is valid? [True, True] Translation: X:517.06, Y:40.71, Z:21.58 [[ 9.88964334e-01 -1.41323584e-01 -4.44656095e-02 5.17063410e+02] [ 1.41258511e-01 9.89961972e-01 -4.61806541e-03 4.07074465e+01] [ 4.46719041e-02 -1.71404381e-03 9.99000242e-01 2.15847357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.9450998929999 meters 0.018235225735530283 Centerline is valid? [True, True] Translation: X:517.13, Y:40.71, Z:21.59 [[ 9.89294234e-01 -1.38871668e-01 -4.48506242e-02 5.17125149e+02] [ 1.38803095e-01 9.90309060e-01 -4.65475664e-03 4.07124586e+01] [ 4.50623933e-02 -1.62048157e-03 9.98982860e-01 2.15868618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.0050998929999 meters 0.016929622632390028 Centerline is valid? [True, True] Translation: X:517.18, Y:40.72, Z:21.59 [[ 9.90161877e-01 -1.32569246e-01 -4.47755851e-02 5.17184657e+02] [ 1.32494567e-01 9.91172849e-01 -4.64467856e-03 4.07178998e+01] [ 4.49960858e-02 -1.33353811e-03 9.98986273e-01 2.15889546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.0650998929999 meters 0.0144130361996422 Centerline is valid? [True, True] Translation: X:517.25, Y:40.73, Z:21.59 [[ 9.90746217e-01 -1.28175222e-01 -4.46435518e-02 5.17245240e+02] [ 1.28096530e-01 9.91750893e-01 -4.63087537e-03 4.07261336e+01] [ 4.48688459e-02 -1.13066181e-03 9.98992246e-01 2.15914875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.1250998929999 meters 0.013676708763640065 Centerline is valid? [True, True] Translation: X:517.31, Y:40.73, Z:21.59 [[ 9.91342191e-01 -1.23345256e-01 -4.50178618e-02 5.17305362e+02] [ 1.23260334e-01 9.92363391e-01 -4.66806978e-03 4.07290871e+01] [ 4.52498623e-02 -9.21262159e-04 9.98975276e-01 2.15927353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.1850998929999 meters 0.014004644428288826 Centerline is valid? [True, True] Translation: X:517.37, Y:40.73, Z:21.59 [[ 9.91435653e-01 -1.22094770e-01 -4.63488248e-02 5.17366238e+02] [ 1.22003426e-01 9.92518047e-01 -4.80520716e-03 4.07314910e+01] [ 4.65887358e-02 -8.90661738e-04 9.98913758e-01 2.15938370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.2450998929999 meters 0.013320505354487448 Centerline is valid? [True, True] Translation: X:517.43, Y:40.73, Z:21.60 [[ 9.91319912e-01 -1.22516896e-01 -4.76911218e-02 5.17427729e+02] [ 1.22420719e-01 9.92465985e-01 -4.94339115e-03 4.07338449e+01] [ 4.79374651e-02 -9.37899336e-04 9.98849899e-01 2.15955952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3050998929999 meters 0.013726692766392707 Centerline is valid? [True, True] Translation: X:517.49, Y:40.74, Z:21.60 [[ 9.91075115e-01 -1.24328268e-01 -4.80894819e-02 5.17488679e+02] [ 1.24232681e-01 9.92240601e-01 -4.98314702e-03 4.07355460e+01] [ 4.83358824e-02 -1.03561224e-03 9.98830601e-01 2.15980028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3650998929999 meters 0.014184296109357487 Centerline is valid? [True, True] Translation: X:517.55, Y:40.74, Z:21.60 [[ 9.90594023e-01 -1.27926215e-01 -4.85630093e-02 5.17549367e+02] [ 1.27833052e-01 9.91782934e-01 -5.03221506e-03 4.07357032e+01] [ 4.88077160e-02 -1.22307554e-03 9.98807444e-01 2.16010788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4250998929999 meters 0.01558462115852336 Centerline is valid? [True, True] Translation: X:517.61, Y:40.74, Z:21.60 [[ 9.90328387e-01 -1.30113287e-01 -4.81686476e-02 5.17609314e+02] [ 1.30024209e-01 9.91498255e-01 -4.99146786e-03 4.07364737e+01] [ 4.84085864e-02 -1.31989799e-03 9.98826745e-01 2.16036536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4850998929999 meters 0.016196323596735552 Centerline is valid? [True, True] Translation: X:517.67, Y:40.74, Z:21.61 [[ 9.89932447e-01 -1.33286713e-01 -4.76277490e-02 5.17669766e+02] [ 1.33203254e-01 9.91076449e-01 -4.93617658e-03 4.07375721e+01] [ 4.78606671e-02 -1.45768979e-03 9.98852958e-01 2.16071142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.5450998929999 meters 0.017869134212721717 Centerline is valid? [True, True] Translation: X:517.73, Y:40.74, Z:21.61 [[ 9.89548513e-01 -1.36129427e-01 -4.75659449e-02 5.17729690e+02] [ 1.36049457e-01 9.90689781e-01 -4.92987554e-03 4.07389570e+01] [ 4.77941966e-02 -1.59296997e-03 9.98855934e-01 2.16102981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.6050998929999 meters 0.01978968374424796 Centerline is valid? [True, True] Translation: X:517.79, Y:40.74, Z:21.61 [[ 9.88633839e-01 -1.42793269e-01 -4.70448074e-02 5.17790535e+02] [ 1.42722530e-01 9.89750725e-01 -4.87660043e-03 4.07389790e+01] [ 4.72589779e-02 -1.89318171e-03 9.98880876e-01 2.16145084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.6650998929999 meters 0.022967671381121702 Centerline is valid? [True, True] Translation: X:517.85, Y:40.74, Z:21.62 [[ 9.87182813e-01 -1.52303351e-01 -4.76841949e-02 5.17850933e+02] [ 1.52241724e-01 9.88330929e-01 -4.94291340e-03 4.07368640e+01] [ 4.78805869e-02 -2.37996487e-03 9.98850232e-01 2.16177266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.7250998929999 meters 0.02708221710291682 Centerline is valid? [True, True] Translation: X:517.91, Y:40.73, Z:21.62 [[ 9.86082142e-01 -1.59045511e-01 -4.84410411e-02 5.17910430e+02] [ 1.58989966e-01 9.87267424e-01 -5.02230780e-03 4.07347138e+01] [ 4.86230374e-02 -2.74923147e-03 9.98813417e-01 2.16199070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.7850998929999 meters 0.027603041195150745 Centerline is valid? [True, True] Translation: X:517.97, Y:40.74, Z:21.62 [[ 9.85143327e-01 -1.64424079e-01 -4.95716324e-02 5.17971014e+02] [ 1.64372613e-01 9.86384922e-01 -5.14104177e-03 4.07382039e+01] [ 4.97420218e-02 -3.08355574e-03 9.98757339e-01 2.16225657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.8450998929999 meters 0.03087606010714833 Centerline is valid? [True, True] Translation: X:518.03, Y:40.74, Z:21.62 [[ 9.84055203e-01 -1.70214567e-01 -5.15980433e-02 5.18031511e+02] [ 1.70166717e-01 9.85400757e-01 -5.35136171e-03 4.07374284e+01] [ 5.17556306e-02 -3.51423429e-03 9.98653596e-01 2.16240364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9050998929999 meters 0.030628932463892092 Centerline is valid? [True, True] Translation: X:518.09, Y:40.74, Z:21.63 [[ 9.83727802e-01 -1.71632350e-01 -5.31220083e-02 5.18090407e+02] [ 1.71583620e-01 9.85154147e-01 -5.51076939e-03 4.07427434e+01] [ 5.32791931e-02 -3.69376944e-03 9.98572823e-01 2.16259998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9650998929999 meters 0.03129750329038676 Centerline is valid? [True, True] Translation: X:518.15, Y:40.75, Z:21.63 [[ 9.84130895e-01 -1.68936467e-01 -5.42849181e-02 5.18149239e+02] [ 1.68881352e-01 9.85620284e-01 -5.63422242e-03 4.07488066e+01] [ 5.44561420e-02 -3.62289799e-03 9.98509591e-01 2.16288801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0250998929998 meters 0.02720683954134849 Centerline is valid? [True, True] Translation: X:518.21, Y:40.76, Z:21.63 [[ 9.85005163e-01 -1.63815777e-01 -5.41222696e-02 5.18208472e+02] [ 1.63753207e-01 9.86485335e-01 -5.61888890e-03 4.07628616e+01] [ 5.43112879e-02 -3.32806064e-03 9.98518507e-01 2.16332102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0850998929999 meters 0.02234607361667955 Centerline is valid? [True, True] Translation: X:518.27, Y:40.78, Z:21.64 [[ 9.86953808e-01 -1.52118953e-01 -5.27447240e-02 5.18267351e+02] [ 1.52042847e-01 9.88358734e-01 -5.47598174e-03 4.07810482e+01] [ 5.29637092e-02 -2.61491696e-03 9.98593014e-01 2.16380870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.1450998929998 meters 0.020060324020937974 Centerline is valid? [True, True] Translation: X:518.33, Y:40.80, Z:21.64 [[ 9.88849996e-01 -1.39728241e-01 -5.14946951e-02 5.18325474e+02] [ 1.39638907e-01 9.90188060e-01 -5.34624268e-03 4.07953038e+01] [ 5.17364533e-02 -1.90403089e-03 9.98658958e-01 2.16409964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2050998929999 meters 0.017145440112688176 Centerline is valid? [True, True] Translation: X:518.38, Y:40.81, Z:21.64 [[ 9.89283713e-01 -1.36702886e-01 -5.12840810e-02 5.18384094e+02] [ 1.36610181e-01 9.90610570e-01 -5.32516677e-03 4.08074774e+01] [ 5.15305183e-02 -1.73782683e-03 9.98669908e-01 2.16448182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2650998929998 meters 0.015365945278220612 Centerline is valid? [True, True] Translation: X:518.44, Y:40.82, Z:21.65 [[ 9.89959744e-01 -1.31465372e-01 -5.19284164e-02 5.18443346e+02] [ 1.31363014e-01 9.91319656e-01 -5.39418041e-03 4.08190122e+01] [ 5.21868078e-02 -1.48145184e-03 9.98636241e-01 2.16476884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.3250998929999 meters 0.0144788959385091 Centerline is valid? [True, True] Translation: X:518.50, Y:40.83, Z:21.65 [[ 9.90812622e-01 -1.24155504e-01 -5.36261012e-02 5.18501535e+02] [ 1.24035491e-01 9.92262130e-01 -5.57330412e-03 4.08299231e+01] [ 5.39031058e-02 -1.12943972e-03 9.98545532e-01 2.16480880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.3850998929998 meters 0.01290802960880747 Centerline is valid? [True, True] Translation: X:518.56, Y:40.84, Z:21.65 [[ 9.91190195e-01 -1.20763099e-01 -5.43899971e-02 5.18558954e+02] [ 1.20634275e-01 9.92680898e-01 -5.65748093e-03 4.08414808e+01] [ 5.46751261e-02 -9.53658253e-04 9.98503741e-01 2.16512671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.4450998929999 meters 0.01213592326091255 Centerline is valid? [True, True] Translation: X:518.62, Y:40.85, Z:21.65 [[ 9.91680232e-01 -1.16812262e-01 -5.40852331e-02 5.18617025e+02] [ 1.16678250e-01 9.93153755e-01 -5.63965081e-03 4.08516712e+01] [ 5.43737326e-02 -7.17840144e-04 9.98520396e-01 2.16549677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.5050998929999 meters 0.01182379657447923 Centerline is valid? [True, True] Translation: X:518.68, Y:40.86, Z:21.66 [[ 9.91994634e-01 -1.14387607e-01 -5.34987940e-02 5.18675373e+02] [ 1.14252230e-01 9.93436035e-01 -5.59211167e-03 4.08597291e+01] [ 5.37872981e-02 -5.65011752e-04 9.98552256e-01 2.16577706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.5650998929999 meters 0.011415293034842537 Centerline is valid? [True, True] Translation: X:518.73, Y:40.87, Z:21.66 [[ 9.92354010e-01 -1.11466977e-01 -5.29965261e-02 5.18733383e+02] [ 1.11329257e-01 9.93768062e-01 -5.55295148e-03 4.08688011e+01] [ 5.32852258e-02 -3.89570221e-04 9.98579257e-01 2.16607853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.6250998929999 meters 0.011217480014552542 Centerline is valid? [True, True] Translation: X:518.79, Y:40.88, Z:21.66 [[ 9.92334996e-01 -1.12145797e-01 -5.19092963e-02 5.18791257e+02] [ 1.12013930e-01 9.93691681e-01 -5.45187960e-03 4.08750587e+01] [ 5.21932413e-02 -4.04473350e-04 9.98636922e-01 2.16642346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.6850998929999 meters 0.011537176874406257 Centerline is valid? [True, True] Translation: X:518.85, Y:40.88, Z:21.67 [[ 9.92013360e-01 -1.15026841e-01 -5.17524791e-02 5.18849572e+02] [ 1.14899008e-01 9.93362236e-01 -5.44842253e-03 4.08783948e+01] [ 5.20356732e-02 -5.41400549e-04 9.98645080e-01 2.16666514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.7450998929999 meters 0.0131697817091241 Centerline is valid? [True, True] Translation: X:518.91, Y:40.88, Z:21.67 [[ 9.91131581e-01 -1.22232346e-01 -5.21290968e-02 5.18907962e+02] [ 1.22112003e-01 9.92501091e-01 -5.49931250e-03 4.08778356e+01] [ 5.24103793e-02 -9.15046138e-04 9.98625212e-01 2.16674715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8050998929999 meters 0.014740845516084454 Centerline is valid? [True, True] Translation: X:518.97, Y:40.88, Z:21.67 [[ 9.90479361e-01 -1.27352650e-01 -5.22679363e-02 5.18968021e+02] [ 1.27238598e-01 9.91856793e-01 -5.51745761e-03 4.08796809e+01] [ 5.25449705e-02 -1.18557102e-03 9.98617855e-01 2.16693925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8650998929999 meters 0.016121636646899407 Centerline is valid? [True, True] Translation: X:519.03, Y:40.88, Z:21.67 [[ 9.89733288e-01 -1.33021724e-01 -5.22803882e-02 5.19027535e+02] [ 1.32915404e-01 9.91112010e-01 -5.52078306e-03 4.08815821e+01] [ 5.25501047e-02 -1.48476613e-03 9.98617185e-01 2.16721948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9250998929999 meters 0.016376446062352494 Centerline is valid? [True, True] Translation: X:519.09, Y:40.89, Z:21.67 [[ 9.89531470e-01 -1.34944227e-01 -5.11617618e-02 5.19086728e+02] [ 1.34844845e-01 9.90851983e-01 -5.40516786e-03 4.08866912e+01] [ 5.14231294e-02 -1.55031613e-03 9.98675752e-01 2.16748938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9850998929999 meters 0.016388599874761378 Centerline is valid? [True, True] Translation: X:519.15, Y:40.89, Z:21.68 [[ 9.89581505e-01 -1.35318366e-01 -4.91669064e-02 5.19145624e+02] [ 1.35226960e-01 9.90801024e-01 -5.19612019e-03 4.08935287e+01] [ 4.94177517e-02 -1.50670684e-03 9.98777060e-01 2.16786024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.0450998929999 meters 0.016595382227689935 Centerline is valid? [True, True] Translation: X:519.20, Y:40.90, Z:21.68 [[ 9.89702125e-01 -1.34972136e-01 -4.76678712e-02 5.19204534e+02] [ 1.34885739e-01 9.90848345e-01 -5.03936281e-03 4.08999770e+01] [ 4.79118048e-02 -1.44224793e-03 9.98850529e-01 2.16814261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.1050998929999 meters 0.017077396100498677 Centerline is valid? [True, True] Translation: X:519.27, Y:40.91, Z:21.68 [[ 9.89633005e-01 -1.35672076e-01 -4.71126591e-02 5.19265040e+02] [ 1.35588402e-01 9.90752726e-01 -4.98213649e-03 4.09059005e+01] [ 4.73529323e-02 -1.45744345e-03 9.98877157e-01 2.16831543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.1650998929999 meters 0.017337792166016497 Centerline is valid? [True, True] Translation: X:519.33, Y:40.91, Z:21.68 [[ 9.89329984e-01 -1.37785360e-01 -4.73431899e-02 5.19325273e+02] [ 1.37703280e-01 9.90460873e-01 -5.00651498e-03 4.09120186e+01] [ 4.75814017e-02 -1.56621715e-03 9.98866136e-01 2.16842599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.2250998929999 meters 0.018746592799552937 Centerline is valid? [True, True] Translation: X:519.39, Y:40.92, Z:21.68 [[ 9.88951597e-01 -1.40096091e-01 -4.84543396e-02 5.19386021e+02] [ 1.40012881e-01 9.90136424e-01 -5.12401842e-03 4.09159354e+01] [ 4.86942614e-02 -1.71682546e-03 9.98812255e-01 2.16848332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.2850998929999 meters 0.017953994083635814 Centerline is valid? [True, True] Translation: X:519.45, Y:40.92, Z:21.69 [[ 9.88697678e-01 -1.42010953e-01 -4.80602917e-02 5.19446251e+02] [ 1.41931353e-01 9.89863456e-01 -5.08223238e-03 4.09239218e+01] [ 4.82948592e-02 -1.79647088e-03 9.98831507e-01 2.16864405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.3450998929999 meters 0.018624296891636236 Centerline is valid? [True, True] Translation: X:519.51, Y:40.93, Z:21.69 [[ 9.89078847e-01 -1.39408916e-01 -4.78350245e-02 5.19505388e+02] [ 1.39327053e-01 9.90233503e-01 -5.05775655e-03 4.09319959e+01] [ 4.80729402e-02 -1.66219300e-03 9.98842445e-01 2.16885309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4050998929999 meters 0.0150615362293607 Centerline is valid? [True, True] Translation: X:519.57, Y:40.95, Z:21.69 [[ 9.89739502e-01 -1.35240441e-01 -4.61057700e-02 5.19565516e+02] [ 1.35159846e-01 9.90811811e-01 -4.87548031e-03 4.09468258e+01] [ 4.63415036e-02 -1.40619332e-03 9.98924666e-01 2.16925984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4650998929999 meters 0.013868909459946595 Centerline is valid? [True, True] Translation: X:519.62, Y:40.96, Z:21.70 [[ 9.90789131e-01 -1.27873014e-01 -4.45577244e-02 5.19623936e+02] [ 1.27790370e-01 9.91790016e-01 -4.71004103e-03 4.09583231e+01] [ 4.47941933e-02 -1.02739064e-03 9.98995708e-01 2.16956956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5250998929998 meters 0.013716560401806702 Centerline is valid? [True, True] Translation: X:519.68, Y:40.97, Z:21.70 [[ 9.91329163e-01 -1.23958759e-01 -4.35972009e-02 5.19684155e+02] [ 1.23875992e-01 9.92287019e-01 -4.60541478e-03 4.09666759e+01] [ 4.38318180e-02 -8.35164536e-04 9.99038575e-01 2.16985068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5850998929999 meters 0.013047001140703255 Centerline is valid? [True, True] Translation: X:519.74, Y:40.98, Z:21.70 [[ 9.91733695e-01 -1.21094387e-01 -4.24314380e-02 5.19744792e+02] [ 1.21013432e-01 9.92640757e-01 -4.48076950e-03 4.09764465e+01] [ 4.26617708e-02 -6.91043853e-04 9.99089333e-01 2.17012659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.6450998929998 meters 0.012178953862435012 Centerline is valid? [True, True] Translation: X:519.81, Y:40.99, Z:21.70 [[ 9.91677351e-01 -1.21557148e-01 -4.24251201e-02 5.19806810e+02] [ 1.21476704e-01 9.92584179e-01 -4.47861103e-03 4.09851744e+01] [ 4.26549102e-02 -7.12326653e-04 9.99089611e-01 2.17033790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7050998929999 meters 0.013608847034419143 Centerline is valid? [True, True] Translation: X:519.87, Y:40.99, Z:21.70 [[ 9.91313406e-01 -1.24332467e-01 -4.28855392e-02 5.19868238e+02] [ 1.24253000e-01 9.92240256e-01 -4.52401261e-03 4.09877506e+01] [ 4.31152400e-02 -8.43942544e-04 9.99069749e-01 2.17043804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7650998929998 meters 0.014120421209601185 Centerline is valid? [True, True] Translation: X:519.93, Y:40.99, Z:21.71 [[ 9.90841392e-01 -1.27688162e-01 -4.39211801e-02 5.19929947e+02] [ 1.27608213e-01 9.91813844e-01 -4.63075507e-03 4.09928756e+01] [ 4.41529270e-02 -1.01635948e-03 9.99024267e-01 2.17057966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.8250998929999 meters 0.013773372499531408 Centerline is valid? [True, True] Translation: X:519.99, Y:41.00, Z:21.71 [[ 9.90648295e-01 -1.29315595e-01 -4.35135968e-02 5.19991152e+02] [ 1.29238826e-01 9.91602898e-01 -4.58467976e-03 4.10000821e+01] [ 4.37410792e-02 -1.08184100e-03 9.99042315e-01 2.17078397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.8850998929998 meters 0.015243182011146912 Centerline is valid? [True, True] Translation: X:520.05, Y:41.00, Z:21.71 [[ 9.90647162e-01 -1.29624282e-01 -4.26115677e-02 5.20052035e+02] [ 1.29551050e-01 9.91562600e-01 -4.48727634e-03 4.10041821e+01] [ 4.28336968e-02 -1.07506576e-03 9.99081638e-01 2.17108724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.9450998929999 meters 0.014814860424940374 Centerline is valid? [True, True] Translation: X:520.11, Y:41.01, Z:21.71 [[ 9.90777773e-01 -1.29219066e-01 -4.07656359e-02 5.20113704e+02] [ 1.29151788e-01 9.91615553e-01 -4.29073626e-03 4.10119094e+01] [ 4.09782835e-02 -1.01378865e-03 9.99159523e-01 2.17142816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.0050998929999 meters 0.014920982537739493 Centerline is valid? [True, True] Translation: X:520.18, Y:41.02, Z:21.72 [[ 9.90799059e-01 -1.29150745e-01 -4.04636850e-02 5.20175515e+02] [ 1.29084522e-01 9.91624461e-01 -4.25603310e-03 4.10178967e+01] [ 4.06744497e-02 -1.00636184e-03 9.99171945e-01 2.17170253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.0650998929999 meters 0.014659312865816591 Centerline is valid? [True, True] Translation: X:520.24, Y:41.02, Z:21.72 [[ 9.90616111e-01 -1.30380959e-01 -4.09942273e-02 5.20237567e+02] [ 1.30314165e-01 9.91463389e-01 -4.30881973e-03 4.10242715e+01] [ 4.12060636e-02 -1.07374224e-03 9.99150093e-01 2.17186476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.1250998929999 meters 0.01543974847051813 Centerline is valid? [True, True] Translation: X:520.30, Y:41.03, Z:21.72 [[ 9.90326984e-01 -1.32391978e-01 -4.15310600e-02 5.20299736e+02] [ 1.32325319e-01 9.91196742e-01 -4.36211483e-03 4.10286825e+01] [ 4.17429604e-02 -1.17569076e-03 9.99127691e-01 2.17198758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.1850998929999 meters 0.016272843265554355 Centerline is valid? [True, True] Translation: X:520.36, Y:41.03, Z:21.72 [[ 9.89947156e-01 -1.34949655e-01 -4.23464154e-02 5.20362077e+02] [ 1.34882825e-01 9.90851588e-01 -4.44455918e-03 4.10326910e+01] [ 4.25588047e-02 -1.31192541e-03 9.99093102e-01 2.17216509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.2450998929999 meters 0.017134294006529244 Centerline is valid? [True, True] Translation: X:520.42, Y:41.04, Z:21.72 [[ 9.89545832e-01 -1.37515587e-01 -4.34569943e-02 5.20424349e+02] [ 1.37447819e-01 9.90498523e-01 -4.55782577e-03 4.10369668e+01] [ 4.36708608e-02 -1.46289158e-03 9.99044902e-01 2.17235638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3050998929999 meters 0.017889666625685505 Centerline is valid? [True, True] Translation: X:520.49, Y:41.04, Z:21.73 [[ 9.89616515e-01 -1.36792374e-01 -4.41248089e-02 5.20485078e+02] [ 1.36721941e-01 9.90598670e-01 -4.62445251e-03 4.10421027e+01] [ 4.43425668e-02 -1.45639493e-03 9.99015323e-01 2.17255705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3650998929999 meters 0.016812364529943526 Centerline is valid? [True, True] Translation: X:520.55, Y:41.05, Z:21.73 [[ 9.90215931e-01 -1.32428162e-01 -4.39908078e-02 5.20545548e+02] [ 1.32354075e-01 9.91191802e-01 -4.60539503e-03 4.10517717e+01] [ 4.42132121e-02 -1.26202716e-03 9.99021321e-01 2.17285782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4250998929999 meters 0.015442478411629676 Centerline is valid? [True, True] Translation: X:520.61, Y:41.06, Z:21.73 [[ 9.90783531e-01 -1.28399033e-01 -4.31472180e-02 5.20605988e+02] [ 1.28324008e-01 9.91722017e-01 -4.51556464e-03 4.10617198e+01] [ 4.33698402e-02 -1.06287686e-03 9.99058520e-01 2.17321730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4850998929999 meters 0.014753269987605351 Centerline is valid? [True, True] Translation: X:520.67, Y:41.07, Z:21.74 [[ 9.91277541e-01 -1.24780726e-01 -4.24099900e-02 5.20666652e+02] [ 1.24704997e-01 9.92183943e-01 -4.43691107e-03 4.10703135e+01] [ 4.26321521e-02 -8.90527396e-04 9.99090440e-01 2.17352902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.5450998929999 meters 0.013440288798555324 Centerline is valid? [True, True] Translation: X:520.73, Y:41.08, Z:21.74 [[ 9.91632819e-01 -1.21934168e-01 -4.23840906e-02 5.20726935e+02] [ 1.21855997e-01 9.92537892e-01 -4.43269985e-03 4.10792224e+01] [ 4.26083135e-02 -7.69144973e-04 9.99091557e-01 2.17379746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.6050998929999 meters 0.013315852785104403 Centerline is valid? [True, True] Translation: X:520.79, Y:41.09, Z:21.74 [[ 9.91636170e-01 -1.21736619e-01 -4.28707546e-02 5.20788383e+02] [ 1.21656528e-01 9.92562140e-01 -4.48196220e-03 4.10854864e+01] [ 4.30975068e-02 -7.71031329e-04 9.99070573e-01 2.17405515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.6650998929999 meters 0.013570514381251661 Centerline is valid? [True, True] Translation: X:520.85, Y:41.09, Z:21.74 [[ 9.91426023e-01 -1.23069286e-01 -4.39134669e-02 5.20850552e+02] [ 1.22986706e-01 9.92397715e-01 -4.58761286e-03 4.10897032e+01] [ 4.41442184e-02 -8.52493873e-04 9.99024805e-01 2.17428976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.7250998929999 meters 0.014424377660728701 Centerline is valid? [True, True] Translation: X:520.91, Y:41.09, Z:21.74 [[ 9.91251894e-01 -1.24065423e-01 -4.50272620e-02 5.20911275e+02] [ 1.23979776e-01 9.92273611e-01 -4.70064944e-03 4.10920726e+01] [ 4.52625519e-02 -9.22942200e-04 9.98974699e-01 2.17444920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.7850998929999 meters 0.014128984476477875 Centerline is valid? [True, True] Translation: X:520.97, Y:41.10, Z:21.75 [[ 9.91213741e-01 -1.24422579e-01 -4.48814176e-02 5.20972554e+02] [ 1.24337932e-01 9.92228876e-01 -4.68365553e-03 4.10988411e+01] [ 4.51153910e-02 -9.37958906e-04 9.98981342e-01 2.17476124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.8450998929999 meters 0.01491301916613624 Centerline is valid? [True, True] Translation: X:521.03, Y:41.10, Z:21.75 [[ 9.91014455e-01 -1.25358275e-01 -4.66438908e-02 5.21032603e+02] [ 1.25268038e-01 9.92111011e-01 -4.86425645e-03 4.11023999e+01] [ 4.68856925e-02 -1.02244024e-03 9.98899738e-01 2.17481154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9050998929999 meters 0.015072924927841798 Centerline is valid? [True, True] Translation: X:521.09, Y:41.11, Z:21.75 [[ 9.90914684e-01 -1.26782348e-01 -4.48812402e-02 5.21092866e+02] [ 1.26700297e-01 9.91930005e-01 -4.67970310e-03 4.11080234e+01] [ 4.51123525e-02 -1.04927992e-03 9.98981369e-01 2.17518970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9650998929999 meters 0.017017890323830935 Centerline is valid? [True, True] Translation: X:521.15, Y:41.11, Z:21.76 [[ 9.90618686e-01 -1.29568761e-01 -4.34344899e-02 5.21152922e+02] [ 1.29494597e-01 9.91569786e-01 -4.52870423e-03 4.11093316e+01] [ 4.36551065e-02 -1.13831272e-03 9.99046013e-01 2.17553874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0250998929998 meters 0.0166330560252103 Centerline is valid? [True, True] Translation: X:521.21, Y:41.12, Z:21.76 [[ 9.90370906e-01 -1.31224951e-01 -4.41076090e-02 5.21214272e+02] [ 1.31150281e-01 9.91351850e-01 -4.59501452e-03 4.11156464e+01] [ 4.43291403e-02 -1.23395662e-03 9.99016218e-01 2.17573159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0850998929999 meters 0.017449487681866833 Centerline is valid? [True, True] Translation: X:521.27, Y:41.12, Z:21.76 [[ 9.90121329e-01 -1.32954849e-01 -4.45282105e-02 5.21274960e+02] [ 1.32880565e-01 9.91121209e-01 -4.63726126e-03 4.11200003e+01] [ 4.47494002e-02 -1.32548250e-03 9.98997364e-01 2.17589360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.1450998929998 meters 0.018514733933591786 Centerline is valid? [True, True] Translation: X:521.33, Y:41.12, Z:21.76 [[ 9.89991523e-01 -1.33873352e-01 -4.46621650e-02 5.21334866e+02] [ 1.33799595e-01 9.90997499e-01 -4.65030653e-03 4.11234592e+01] [ 4.48826459e-02 -1.37201552e-03 9.98991324e-01 2.17611778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2050998929999 meters 0.018956354690294556 Centerline is valid? [True, True] Translation: X:521.40, Y:41.13, Z:21.76 [[ 9.89754039e-01 -1.35383259e-01 -4.53686541e-02 5.21395523e+02] [ 1.35308841e-01 9.90792221e-01 -4.72148174e-03 4.11291246e+01] [ 4.55901192e-02 -1.46567440e-03 9.98959155e-01 2.17635846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2650998929998 meters 0.019103065321766664 Centerline is valid? [True, True] Translation: X:521.46, Y:41.14, Z:21.77 [[ 9.89655377e-01 -1.36224751e-01 -4.50005804e-02 5.21456071e+02] [ 1.36152476e-01 9.90676832e-01 -4.68160096e-03 4.11356595e+01] [ 4.52187824e-02 -1.49376887e-03 9.98975991e-01 2.17669512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.3250998929999 meters 0.01863464539640782 Centerline is valid? [True, True] Translation: X:521.52, Y:41.14, Z:21.77 [[ 9.89424433e-01 -1.37856348e-01 -4.51100732e-02 5.21517193e+02] [ 1.37785486e-01 9.90450983e-01 -4.69138510e-03 4.11438402e+01] [ 4.53260536e-02 -1.57374233e-03 9.98971007e-01 2.17707482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.3850998929998 meters 0.01940007452322077 Centerline is valid? [True, True] Translation: X:521.58, Y:41.15, Z:21.77 [[ 9.89167584e-01 -1.39497289e-01 -4.56946106e-02 5.21577700e+02] [ 1.39426400e-01 9.90221042e-01 -4.75056210e-03 4.11495690e+01] [ 4.59104554e-02 -1.67193302e-03 9.98944160e-01 2.17734695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.4450998929999 meters 0.02095981136653485 Centerline is valid? [True, True] Translation: X:521.64, Y:41.16, Z:21.78 [[ 9.88786854e-01 -1.41862195e-01 -4.66441330e-02 5.21638609e+02] [ 1.41791000e-01 9.89884744e-01 -4.84832984e-03 4.11553256e+01] [ 4.68601104e-02 -1.81975345e-03 9.98899804e-01 2.17767867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.5050998929999 meters 0.022053250673040026 Centerline is valid? [True, True] Translation: X:521.70, Y:41.16, Z:21.78 [[ 9.88623915e-01 -1.43000968e-01 -4.66205755e-02 5.21699420e+02] [ 1.42931186e-01 9.89720774e-01 -4.84421786e-03 4.11612057e+01] [ 4.68340799e-02 -1.87442450e-03 9.98900924e-01 2.17796211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.5650998929999 meters 0.0215747001280354 Centerline is valid? [True, True] Translation: X:521.76, Y:41.17, Z:21.78 [[ 9.88578546e-01 -1.43157616e-01 -4.70994263e-02 5.21760157e+02] [ 1.43086650e-01 9.89698073e-01 -4.89229333e-03 4.11711319e+01] [ 4.73145805e-02 -1.90288292e-03 9.98878226e-01 2.17823075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.6250998929999 meters 0.019730426099936117 Centerline is valid? [True, True] Translation: X:521.82, Y:41.18, Z:21.79 [[ 9.89002437e-01 -1.40224827e-01 -4.70231614e-02 5.21820376e+02] [ 1.40150861e-01 9.90118122e-01 -4.88268786e-03 4.11841381e+01] [ 4.72431583e-02 -1.76134635e-03 9.98881866e-01 2.17856984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.6850998929999 meters 0.018596369297054553 Centerline is valid? [True, True] Translation: X:521.88, Y:41.20, Z:21.79 [[ 9.89688786e-01 -1.35467875e-01 -4.65248435e-02 5.21880231e+02] [ 1.35390292e-01 9.90780574e-01 -4.82934371e-03 4.11954687e+01] [ 4.67501321e-02 -1.51946485e-03 9.98905459e-01 2.17885164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.7450998929999 meters 0.015969260961957728 Centerline is valid? [True, True] Translation: X:521.94, Y:41.21, Z:21.79 [[ 9.91126473e-01 -1.24910010e-01 -4.54511223e-02 5.21939148e+02] [ 1.24824899e-01 9.92167573e-01 -4.71714763e-03 4.12125172e+01] [ 4.56843487e-02 -9.98141867e-04 9.98955426e-01 2.17923791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8050998929999 meters 0.014068365256943135 Centerline is valid? [True, True] Translation: X:522.00, Y:41.23, Z:21.80 [[ 9.92408097e-01 -1.14191146e-01 -4.56787781e-02 5.21998769e+02] [ 1.14093826e-01 9.93458668e-01 -4.74064977e-03 4.12293646e+01] [ 4.59213183e-02 -5.07007336e-04 9.98944931e-01 2.17950668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8650998929999 meters 0.013556464069455675 Centerline is valid? [True, True] Translation: X:522.06, Y:41.24, Z:21.80 [[ 9.92968279e-01 -1.09032080e-01 -4.61085954e-02 5.22060002e+02] [ 1.08927407e-01 9.94038194e-01 -4.78418541e-03 4.12400027e+01] [ 4.63553346e-02 -2.71945398e-04 9.98924977e-01 2.17974107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9250998929999 meters 0.013602254773687 Centerline is valid? [True, True] Translation: X:522.12, Y:41.25, Z:21.80 [[ 9.93213065e-01 -1.06461324e-01 -4.68379600e-02 5.22121979e+02] [ 1.06350619e-01 9.94316832e-01 -4.85636903e-03 4.12478322e+01] [ 4.70887874e-02 -1.57836866e-04 9.98890695e-01 2.17992606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9850998929999 meters 0.013661412762066434 Centerline is valid? [True, True] Translation: X:522.18, Y:41.25, Z:21.80 [[ 9.93273533e-01 -1.05831240e-01 -4.69833753e-02 5.22182256e+02] [ 1.05719303e-01 9.94384096e-01 -4.86802150e-03 4.12540201e+01] [ 4.72347099e-02 -1.31772769e-04 9.98883809e-01 2.18014702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.0450998929999 meters 0.01369939413262847 Centerline is valid? [True, True] Translation: X:522.24, Y:41.26, Z:21.80 [[ 9.93163206e-01 -1.06935838e-01 -4.68142380e-02 5.22244589e+02] [ 1.06826066e-01 9.94265906e-01 -4.84766371e-03 4.12596283e+01] [ 4.70641897e-02 -1.86459619e-04 9.98891850e-01 2.18046240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.1050998929999 meters 0.013832530546611417 Centerline is valid? [True, True] Translation: X:522.31, Y:41.26, Z:21.81 [[ 9.92895173e-01 -1.09593143e-01 -4.63521193e-02 5.22305853e+02] [ 1.09488578e-01 9.93976481e-01 -4.79644406e-03 4.12624613e+01] [ 4.65985738e-02 -3.12661493e-04 9.98913647e-01 2.18073357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.1650998929999 meters 0.014550592815904746 Centerline is valid? [True, True] Translation: X:522.37, Y:41.26, Z:21.81 [[ 9.92147820e-01 -1.16574455e-01 -4.53111333e-02 5.22367781e+02] [ 1.16481916e-01 9.93181757e-01 -4.68632602e-03 4.12616121e+01] [ 4.55484969e-02 -6.28399478e-04 9.98961931e-01 2.18103519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.2250998929999 meters 0.015472093631647602 Centerline is valid? [True, True] Translation: X:522.43, Y:41.26, Z:21.81 [[ 9.91463356e-01 -1.22533359e-01 -4.45644472e-02 5.22429598e+02] [ 1.22449928e-01 9.92463997e-01 -4.60750741e-03 4.12621379e+01] [ 4.47931827e-02 -8.88738595e-04 9.98995886e-01 2.18126576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.2850998929999 meters 0.01885053479417407 Centerline is valid? [True, True] Translation: X:522.49, Y:41.26, Z:21.81 [[ 9.90240384e-01 -1.32233507e-01 -4.40259145e-02 5.22490591e+02] [ 1.32161712e-01 9.91217724e-01 -4.55030082e-03 4.12564152e+01] [ 4.42409690e-02 -1.31264860e-03 9.99020027e-01 2.18145521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.3450998929999 meters 0.01973897745332008 Centerline is valid? [True, True] Translation: X:522.55, Y:41.26, Z:21.82 [[ 9.89444252e-01 -1.38193307e-01 -4.36197375e-02 5.22551673e+02] [ 1.38128619e-01 9.90404040e-01 -4.50808029e-03 4.12581874e+01] [ 4.38241507e-02 -1.56463997e-03 9.99038035e-01 2.18171947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4050998929998 meters 0.02161351623413587 Centerline is valid? [True, True] Translation: X:522.61, Y:41.26, Z:21.82 [[ 9.88485262e-01 -1.44402522e-01 -4.52194498e-02 5.22612628e+02] [ 1.44339518e-01 9.89517191e-01 -4.67257482e-03 4.12577957e+01] [ 4.54201545e-02 -1.90818224e-03 9.98966150e-01 2.18187522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4650998929999 meters 0.024511707549947307 Centerline is valid? [True, True] Translation: X:522.67, Y:41.26, Z:21.82 [[ 9.87723362e-01 -1.49321155e-01 -4.58884821e-02 5.22672995e+02] [ 1.49261596e-01 9.88786377e-01 -4.74103199e-03 4.12566836e+01] [ 4.60818423e-02 -2.16656001e-03 9.98935318e-01 2.18208627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5250998929998 meters 0.026777657784046137 Centerline is valid? [True, True] Translation: X:522.73, Y:41.26, Z:21.82 [[ 9.87325231e-01 -1.51711216e-01 -4.66111037e-02 5.22733040e+02] [ 1.51652510e-01 9.88422148e-01 -4.81378025e-03 4.12584275e+01] [ 4.68017517e-02 -2.31592420e-03 9.98901513e-01 2.18237308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5850998929999 meters 0.026050023117381346 Centerline is valid? [True, True] Translation: X:522.79, Y:41.27, Z:21.83 [[ 9.86954913e-01 -1.53865131e-01 -4.73869307e-02 5.22793344e+02] [ 1.53807080e-01 9.88088793e-01 -4.89077495e-03 4.12654148e+01] [ 4.75750148e-02 -2.46147105e-03 9.98864635e-01 2.18264390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.6450998929998 meters 0.027684801970477395 Centerline is valid? [True, True] Translation: X:522.85, Y:41.27, Z:21.83 [[ 9.86648686e-01 -1.55193793e-01 -4.93888322e-02 5.22853522e+02] [ 1.55132434e-01 9.87880536e-01 -5.09660151e-03 4.12703885e+01] [ 4.95812269e-02 -2.63325456e-03 9.98766623e-01 2.18283548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7050998929999 meters 0.025024621539804424 Centerline is valid? [True, True] Translation: X:522.91, Y:41.28, Z:21.83 [[ 9.86671749e-01 -1.54851943e-01 -4.99973564e-02 5.22914190e+02] [ 1.54788642e-01 9.87934138e-01 -5.15909262e-03 4.12816263e+01] [ 5.01929907e-02 -2.64869195e-03 9.98736025e-01 2.18320057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7650998929998 meters 0.024627218885650507 Centerline is valid? [True, True] Translation: X:522.97, Y:41.29, Z:21.84 [[ 9.87043206e-01 -1.52535619e-01 -4.97854939e-02 5.22974272e+02] [ 1.52469999e-01 9.88294756e-01 -5.13554272e-03 4.12917369e+01] [ 4.99860958e-02 -2.52179167e-03 9.98746730e-01 2.18357110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.8250998929999 meters 0.022977128173865505 Centerline is valid? [True, True] Translation: X:523.03, Y:41.30, Z:21.84 [[ 9.87389298e-01 -1.50575377e-01 -4.88817992e-02 5.23034904e+02] [ 1.50509771e-01 9.88595668e-01 -5.04130385e-03 4.13027981e+01] [ 4.90834311e-02 -2.37945894e-03 9.98791848e-01 2.18394807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.8850998929998 meters 0.02409396150409198 Centerline is valid? [True, True] Translation: X:523.09, Y:41.31, Z:21.84 [[ 9.88082432e-01 -1.46218621e-01 -4.80959615e-02 5.23094101e+02] [ 1.46150031e-01 9.89250009e-01 -4.95871421e-03 4.13110507e+01] [ 4.83039867e-02 -2.12960786e-03 9.98830411e-01 2.18421218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.9450998929999 meters 0.021479291838295556 Centerline is valid? [True, True] Translation: X:523.15, Y:41.33, Z:21.85 [[ 9.88894634e-01 -1.40816654e-01 -4.75191909e-02 5.23153375e+02] [ 1.40743477e-01 9.90033975e-01 -4.89912331e-03 4.13259866e+01] [ 4.77354916e-02 -1.84329942e-03 9.98858311e-01 2.18456367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.0050998929999 meters 0.020557298161175967 Centerline is valid? [True, True] Translation: X:523.21, Y:41.34, Z:21.85 [[ 9.89523401e-01 -1.36426197e-01 -4.72369823e-02 5.23213293e+02] [ 1.36348938e-01 9.90648908e-01 -4.86902291e-03 4.13373425e+01] [ 4.74595272e-02 -1.62270026e-03 9.98871844e-01 2.18481265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.0650998929999 meters 0.018295385200000958 Centerline is valid? [True, True] Translation: X:523.27, Y:41.35, Z:21.85 [[ 9.90462127e-01 -1.29756271e-01 -4.63474340e-02 5.23272686e+02] [ 1.29674634e-01 9.91545094e-01 -4.77652462e-03 4.13523027e+01] [ 4.65753549e-02 -1.27911982e-03 9.98913960e-01 2.18512244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1250998929999 meters 0.017194804872248302 Centerline is valid? [True, True] Translation: X:523.33, Y:41.36, Z:21.85 [[ 9.91025197e-01 -1.25660080e-01 -4.55917085e-02 5.23333048e+02] [ 1.25576792e-01 9.92072780e-01 -4.69777589e-03 4.13632658e+01] [ 4.58206159e-02 -1.06964622e-03 9.98949111e-01 2.18542643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1850998929999 meters 0.015518467309966477 Centerline is valid? [True, True] Translation: X:523.39, Y:41.38, Z:21.86 [[ 9.91783683e-01 -1.19728425e-01 -4.50580762e-02 5.23393623e+02] [ 1.19641032e-01 9.92806368e-01 -4.64112117e-03 4.13763438e+01] [ 4.52896191e-02 -7.87806481e-04 9.98973588e-01 2.18572291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.2450998929999 meters 0.0147792114733841 Centerline is valid? [True, True] Translation: X:523.45, Y:41.39, Z:21.86 [[ 9.92189563e-01 -1.15912936e-01 -4.60875464e-02 5.23454871e+02] [ 1.15817523e-01 9.93259177e-01 -4.74423787e-03 4.13863686e+01] [ 4.63267969e-02 -6.30562164e-04 9.98926139e-01 2.18587288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3050998929999 meters 0.014195610272164684 Centerline is valid? [True, True] Translation: X:523.52, Y:41.40, Z:21.86 [[ 9.92607738e-01 -1.12057046e-01 -4.66164977e-02 5.23516966e+02] [ 1.11955344e-01 9.93701669e-01 -4.79515180e-03 4.13954350e+01] [ 4.68602221e-02 -4.59261245e-04 9.98901351e-01 2.18603640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3650998929999 meters 0.014067055275889674 Centerline is valid? [True, True] Translation: X:523.58, Y:41.40, Z:21.86 [[ 9.92761717e-01 -1.10746012e-01 -4.64703627e-02 5.23578412e+02] [ 1.10643707e-01 9.93848661e-01 -4.77593430e-03 4.14011273e+01] [ 4.67134234e-02 -4.00288447e-04 9.98908252e-01 2.18628114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4250998929999 meters 0.014126392298623223 Centerline is valid? [True, True] Translation: X:523.64, Y:41.40, Z:21.87 [[ 9.92602510e-01 -1.12599427e-01 -4.54051399e-02 5.23640317e+02] [ 1.12503847e-01 9.93640347e-01 -4.66318208e-03 4.14038471e+01] [ 4.56414506e-02 -4.79566691e-04 9.98957771e-01 2.18655593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4850998929999 meters 0.014566183024002918 Centerline is valid? [True, True] Translation: X:523.70, Y:41.41, Z:21.87 [[ 9.92270630e-01 -1.15551415e-01 -4.52423233e-02 5.23702953e+02] [ 1.15459736e-01 9.93301309e-01 -4.64314215e-03 4.14064440e+01] [ 4.54757806e-02 -6.16413118e-04 9.98965251e-01 2.18679534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.5450998929999 meters 0.015582241297257429 Centerline is valid? [True, True] Translation: X:523.76, Y:41.41, Z:21.87 [[ 9.91558132e-01 -1.21225705e-01 -4.60086835e-02 5.23764919e+02] [ 1.21137143e-01 9.92624566e-01 -4.71853280e-03 4.14055762e+01] [ 4.62413569e-02 -8.94660888e-04 9.98929896e-01 2.18696991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.6050998929999 meters 0.016772338494199644 Centerline is valid? [True, True] Translation: X:523.83, Y:41.41, Z:21.87 [[ 9.91178093e-01 -1.24391922e-01 -4.57453591e-02 5.23825639e+02] [ 1.24307811e-01 9.92232620e-01 -4.68995506e-03 4.14059044e+01] [ 4.59734301e-02 -1.03792473e-03 9.98942124e-01 2.18717546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.6650998929999 meters 0.017382058442619606 Centerline is valid? [True, True] Translation: X:523.89, Y:41.41, Z:21.87 [[ 9.90716069e-01 -1.28126557e-01 -4.54450859e-02 5.23886624e+02] [ 1.28047506e-01 9.91757095e-01 -4.65836483e-03 4.14075258e+01] [ 4.56673467e-02 -1.20401303e-03 9.98955977e-01 2.18745066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.7250998929999 meters 0.018095444150141107 Centerline is valid? [True, True] Translation: X:523.95, Y:41.41, Z:21.88 [[ 9.90563436e-01 -1.29411924e-01 -4.51290739e-02 5.23947859e+02] [ 1.29335341e-01 9.91590126e-01 -4.62510645e-03 4.14099358e+01] [ 4.53480880e-02 -1.25532283e-03 9.98970458e-01 2.18763286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.7850998929999 meters 0.018989368214066736 Centerline is valid? [True, True] Translation: X:524.01, Y:41.41, Z:21.88 [[ 9.90418972e-01 -1.30656503e-01 -4.47117224e-02 5.24008108e+02] [ 1.30582664e-01 9.91426842e-01 -4.58081075e-03 4.14110637e+01] [ 4.49269145e-02 -1.30165397e-03 9.98989428e-01 2.18782878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.8450998929999 meters 0.01921851122174875 Centerline is valid? [True, True] Translation: X:524.07, Y:41.41, Z:21.88 [[ 9.90426459e-01 -1.30793731e-01 -4.41410056e-02 5.24068842e+02] [ 1.30721940e-01 9.91408761e-01 -4.52148312e-03 4.14148299e+01] [ 4.43531613e-02 -1.29200136e-03 9.99015079e-01 2.18806985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9050998929998 meters 0.019249620161006113 Centerline is valid? [True, True] Translation: X:524.13, Y:41.42, Z:21.88 [[ 9.90539899e-01 -1.29988164e-01 -4.39748376e-02 5.24130050e+02] [ 1.29916228e-01 9.91514753e-01 -4.50200972e-03 4.14192648e+01] [ 4.41869082e-02 -1.25362476e-03 9.99022495e-01 2.18826300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9650998929999 meters 0.01781469453524417 Centerline is valid? [True, True] Translation: X:524.19, Y:41.43, Z:21.89 [[ 9.90706015e-01 -1.28769901e-01 -4.38167245e-02 5.24191183e+02] [ 1.28697357e-01 9.91673778e-01 -4.48431358e-03 4.14266575e+01] [ 4.40293413e-02 -1.19646022e-03 9.99029522e-01 2.18851085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0250998929998 meters 0.017713925414331706 Centerline is valid? [True, True] Translation: X:524.25, Y:41.43, Z:21.89 [[ 9.90831760e-01 -1.27409036e-01 -4.49373096e-02 5.24251936e+02] [ 1.27331410e-01 9.91849573e-01 -4.59735405e-03 4.14312272e+01] [ 4.51567958e-02 -1.16672659e-03 9.98979230e-01 2.18866922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0850998929999 meters 0.018153249754570385 Centerline is valid? [True, True] Translation: X:524.31, Y:41.44, Z:21.89 [[ 9.90747775e-01 -1.27929966e-01 -4.53074993e-02 5.24311897e+02] [ 1.27851668e-01 9.91782476e-01 -4.63374087e-03 4.14355746e+01] [ 4.55279781e-02 -1.20177089e-03 9.98962341e-01 2.18886782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.1450998929998 meters 0.01948068482002491 Centerline is valid? [True, True] Translation: X:524.37, Y:41.44, Z:21.89 [[ 9.90410046e-01 -1.30278588e-01 -4.59938107e-02 5.24371010e+02] [ 1.30200432e-01 9.91476536e-01 -4.70383425e-03 4.14377324e+01] [ 4.62145930e-02 -1.32968932e-03 9.98930650e-01 2.18912368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2050998929999 meters 0.020667139718013993 Centerline is valid? [True, True] Translation: X:524.43, Y:41.44, Z:21.89 [[ 9.90074976e-01 -1.32415197e-01 -4.70930709e-02 5.24430086e+02] [ 1.32335707e-01 9.91193256e-01 -4.81553356e-03 4.14416226e+01] [ 4.73159841e-02 -1.46435554e-03 9.98878898e-01 2.18931307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2650998929998 meters 0.019019430495490326 Centerline is valid? [True, True] Translation: X:524.49, Y:41.45, Z:21.90 [[ 9.89624167e-01 -1.35749963e-01 -4.70739354e-02 5.24490024e+02] [ 1.35674207e-01 9.90741803e-01 -4.81560975e-03 4.14511814e+01] [ 4.72918345e-02 -1.62107505e-03 9.98879800e-01 2.18974108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.3250998929999 meters 0.021280546785358435 Centerline is valid? [True, True] Translation: X:524.55, Y:41.45, Z:21.90 [[ 9.89363734e-01 -1.37942782e-01 -4.61648198e-02 5.24550282e+02] [ 1.37872350e-01 9.90438752e-01 -4.72164737e-03 4.14548452e+01] [ 4.63747436e-02 -1.69342552e-03 9.98922677e-01 2.19012543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.3850998929998 meters 0.022134605186260956 Centerline is valid? [True, True] Translation: X:524.61, Y:41.46, Z:21.91 [[ 9.88963876e-01 -1.41046228e-01 -4.53477072e-02 5.24610931e+02] [ 1.40981617e-01 9.90001359e-01 -4.63598619e-03 4.14613986e+01] [ 4.55481801e-02 -1.80837021e-03 9.98960506e-01 2.19055347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.4450998929999 meters 0.024969033921428727 Centerline is valid? [True, True] Translation: X:524.67, Y:41.47, Z:21.91 [[ 9.88640345e-01 -1.43354615e-01 -4.51632885e-02 5.24670683e+02] [ 1.43293010e-01 9.89669547e-01 -4.61538423e-03 4.14653287e+01] [ 4.53583679e-02 -1.90862850e-03 9.98968956e-01 2.19085519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.5050998929999 meters 0.02345636383274131 Centerline is valid? [True, True] Translation: X:524.73, Y:41.48, Z:21.91 [[ 9.88031618e-01 -1.47413378e-01 -4.54182542e-02 5.24730616e+02] [ 1.47355505e-01 9.89072719e-01 -4.63806262e-03 4.14769166e+01] [ 4.56056687e-02 -2.11007728e-03 9.98957292e-01 2.19115320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.5650998929999 meters 0.0258673801059603 Centerline is valid? [True, True] Translation: X:524.79, Y:41.48, Z:21.91 [[ 9.87304620e-01 -1.52034128e-01 -4.59914287e-02 5.24791573e+02] [ 1.51979822e-01 9.88372442e-01 -4.69569366e-03 4.14830383e+01] [ 4.61705664e-02 -2.35368912e-03 9.98930798e-01 2.19132342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6250998929999 meters 0.02762797346975635 Centerline is valid? [True, True] Translation: X:524.85, Y:41.49, Z:21.91 [[ 9.86921644e-01 -1.54249642e-01 -4.68264441e-02 5.24852515e+02] [ 1.54195903e-01 9.88028735e-01 -4.77944035e-03 4.14892562e+01] [ 4.70030993e-02 -2.50351270e-03 9.98891606e-01 2.19148639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6850998929999 meters 0.027981586700887663 Centerline is valid? [True, True] Translation: X:524.91, Y:41.50, Z:21.92 [[ 9.86582222e-01 -1.56185056e-01 -4.75578366e-02 5.24913217e+02] [ 1.56131949e-01 9.87724288e-01 -4.85237605e-03 4.15005961e+01] [ 4.77318990e-02 -2.63802977e-03 9.98856700e-01 2.19173392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.7450998929999 meters 0.026725821038514515 Centerline is valid? [True, True] Translation: X:524.97, Y:41.51, Z:21.92 [[ 9.86668575e-01 -1.55631353e-01 -4.75815535e-02 5.24974146e+02] [ 1.55577643e-01 9.87811747e-01 -4.85287646e-03 4.15119684e+01] [ 4.77568772e-02 -2.61444525e-03 9.98855568e-01 2.19196733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8050998929999 meters 0.026400781688414483 Centerline is valid? [True, True] Translation: X:525.03, Y:41.52, Z:21.92 [[ 9.86905612e-01 -1.53697140e-01 -4.89336456e-02 5.25034617e+02] [ 1.53638134e-01 9.88114594e-01 -4.98738516e-03 4.15235068e+01] [ 4.91185962e-02 -2.59599558e-03 9.98789580e-01 2.19208896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8650998929999 meters 0.026076120534252643 Centerline is valid? [True, True] Translation: X:525.10, Y:41.54, Z:21.92 [[ 9.87287789e-01 -1.51191735e-01 -4.90293880e-02 5.25095636e+02] [ 1.51129511e-01 9.88501350e-01 -4.99523528e-03 4.15355823e+01] [ 4.92208545e-02 -2.47805261e-03 9.98784845e-01 2.19234002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9250998929999 meters 0.02622635832440284 Centerline is valid? [True, True] Translation: X:525.16, Y:41.54, Z:21.93 [[ 9.87632193e-01 -1.49046469e-01 -4.86600520e-02 5.25156172e+02] [ 1.48982703e-01 9.88827387e-01 -4.95513880e-03 4.15449417e+01] [ 4.88549380e-02 -2.35565145e-03 9.98803107e-01 2.19263561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9850998929999 meters 0.022805165832710618 Centerline is valid? [True, True] Translation: X:525.22, Y:41.56, Z:21.93 [[ 9.88292949e-01 -1.44891869e-01 -4.77848592e-02 5.25215423e+02] [ 1.44825603e-01 9.89445239e-01 -4.86446048e-03 4.15603215e+01] [ 4.79853222e-02 -2.11295905e-03 9.98845806e-01 2.19300186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.0450998929999 meters 0.020726710876834212 Centerline is valid? [True, True] Translation: X:525.28, Y:41.57, Z:21.93 [[ 9.88791554e-01 -1.41403930e-01 -4.79185930e-02 5.25275855e+02] [ 1.41333252e-01 9.89950062e-01 -4.87709349e-03 4.15724811e+01] [ 4.81266544e-02 -1.95006173e-03 9.98839338e-01 2.19330046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.1050998929999 meters 0.018115100114452585 Centerline is valid? [True, True] Translation: X:525.34, Y:41.59, Z:21.93 [[ 9.89621051e-01 -1.35126780e-01 -4.88971171e-02 5.25335307e+02] [ 1.35045617e-01 9.90826892e-01 -4.97498272e-03 4.15860990e+01] [ 4.91208320e-02 -1.67999372e-03 9.98791430e-01 2.19347365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.1650998929999 meters 0.017429174981950596 Centerline is valid? [True, True] Translation: X:525.39, Y:41.60, Z:21.93 [[ 9.90409396e-01 -1.28435887e-01 -5.09259383e-02 5.25394646e+02] [ 1.28339052e-01 9.91716819e-01 -5.18059478e-03 4.15952568e+01] [ 5.11694839e-02 -1.40487687e-03 9.98688996e-01 2.19348291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.2250998929999 meters 0.015114201994746753 Centerline is valid? [True, True] Translation: X:525.46, Y:41.61, Z:21.94 [[ 9.90989162e-01 -1.23521559e-01 -5.17967608e-02 5.25455507e+02] [ 1.23414704e-01 9.92341198e-01 -5.26862131e-03 4.16068844e+01] [ 5.20508479e-02 -1.17133527e-03 9.98643749e-01 2.19377459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.2850998929999 meters 0.014040761520103799 Centerline is valid? [True, True] Translation: X:525.52, Y:41.62, Z:21.94 [[ 9.91578273e-01 -1.18097074e-01 -5.31564567e-02 5.25516049e+02] [ 1.17976894e-01 9.93001636e-01 -5.40409989e-03 4.16158370e+01] [ 5.34226569e-02 -9.12645635e-04 9.98571573e-01 2.19404341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.3450998929999 meters 0.01333414013850124 Centerline is valid? [True, True] Translation: X:525.58, Y:41.62, Z:21.94 [[ 9.92363778e-01 -1.10922673e-01 -5.39471295e-02 5.25575824e+02] [ 1.10788388e-01 9.93828895e-01 -5.48267395e-03 4.16236799e+01] [ 5.42223690e-02 -5.35908481e-04 9.98528741e-01 2.19422242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4050998929998 meters 0.013055457103385676 Centerline is valid? [True, True] Translation: X:525.64, Y:41.63, Z:21.94 [[ 9.92570471e-01 -1.08712703e-01 -5.46388861e-02 5.25636247e+02] [ 1.08571645e-01 9.94073121e-01 -5.55220584e-03 4.16260383e+01] [ 5.49186434e-02 -4.21278204e-04 9.98490744e-01 2.19446315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4650998929999 meters 0.013089006350521595 Centerline is valid? [True, True] Translation: X:525.70, Y:41.63, Z:21.95 [[ 9.92475400e-01 -1.09328778e-01 -5.51343657e-02 5.25696731e+02] [ 1.09186099e-01 9.94005537e-01 -5.60255468e-03 4.16282094e+01] [ 5.54163852e-02 -4.59508625e-04 9.98463226e-01 2.19474427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5250998929998 meters 0.013223581042940247 Centerline is valid? [True, True] Translation: X:525.76, Y:41.63, Z:21.95 [[ 9.92147703e-01 -1.12146425e-01 -5.53725144e-02 5.25757300e+02] [ 1.12006893e-01 9.93691499e-01 -5.62675449e-03 4.16271224e+01] [ 5.56542173e-02 -6.19531772e-04 9.98449911e-01 2.19506462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5850998929999 meters 0.013580022250883471 Centerline is valid? [True, True] Translation: X:525.82, Y:41.63, Z:21.95 [[ 9.91894028e-01 -1.14621997e-01 -5.48455551e-02 5.25817583e+02] [ 1.14488876e-01 9.93408896e-01 -5.57344363e-03 4.16265811e+01] [ 5.51229016e-02 -7.50940534e-04 9.98479295e-01 2.19537675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.6450998929998 meters 0.014259867746670136 Centerline is valid? [True, True] Translation: X:525.88, Y:41.62, Z:21.96 [[ 9.91588163e-01 -1.17630593e-01 -5.39996094e-02 5.25877100e+02] [ 1.17505929e-01 9.93057012e-01 -5.48887760e-03 4.16230779e+01] [ 5.42703507e-02 -9.02568187e-04 9.98525871e-01 2.19571266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7050998929999 meters 0.014713221641307811 Centerline is valid? [True, True] Translation: X:525.94, Y:41.62, Z:21.96 [[ 9.91370213e-01 -1.19468328e-01 -5.39668356e-02 5.25937266e+02] [ 1.19346390e-01 9.92837509e-01 -5.48821004e-03 4.16212967e+01] [ 5.42359659e-02 -9.99899031e-04 9.98527646e-01 2.19587968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7650998929998 meters 0.01499001907613178 Centerline is valid? [True, True] Translation: X:526.00, Y:41.62, Z:21.96 [[ 9.91329848e-01 -1.20080631e-01 -5.33458107e-02 5.25996025e+02] [ 1.19962140e-01 9.92763621e-01 -5.42932989e-03 4.16223940e+01] [ 5.36117376e-02 -1.01722082e-03 9.98561339e-01 2.19604617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.8250998929999 meters 0.015259202719420672 Centerline is valid? [True, True] Translation: X:526.05, Y:41.63, Z:21.96 [[ 9.91308135e-01 -1.20371733e-01 -5.30926293e-02 5.26054868e+02] [ 1.20254094e-01 9.92728369e-01 -5.41642823e-03 4.16259926e+01] [ 5.33585442e-02 -1.01525665e-03 9.98574902e-01 2.19627130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.8850998929998 meters 0.01384925623409571 Centerline is valid? [True, True] Translation: X:526.12, Y:41.63, Z:21.97 [[ 9.91494198e-01 -1.19397037e-01 -5.18034988e-02 5.26115192e+02] [ 1.19283203e-01 9.92846153e-01 -5.29472634e-03 4.16305610e+01] [ 5.20650791e-02 -9.29596819e-04 9.98643261e-01 2.19670455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.9450998929999 meters 0.013840804529578827 Centerline is valid? [True, True] Translation: X:526.17, Y:41.63, Z:21.97 [[ 9.91747730e-01 -1.17568237e-01 -5.11287513e-02 5.26173644e+02] [ 1.17454895e-01 9.93064466e-01 -5.22627312e-03 4.16344753e+01] [ 5.13885898e-02 -8.22177595e-04 9.98678395e-01 2.19695444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.0050998929999 meters 0.01315301331979872 Centerline is valid? [True, True] Translation: X:526.23, Y:41.64, Z:21.97 [[ 9.92366670e-01 -1.13039575e-01 -4.92995534e-02 5.26233147e+02] [ 1.12928492e-01 9.93590326e-01 -5.04176991e-03 4.16388939e+01] [ 4.95534789e-02 -5.64039807e-04 9.98771312e-01 2.19722255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.0650998929999 meters 0.012631315446543346 Centerline is valid? [True, True] Translation: X:526.29, Y:41.64, Z:21.98 [[ 9.93008149e-01 -1.07708130e-01 -4.83091478e-02 5.26292361e+02] [ 1.07595076e-01 9.94182516e-01 -4.94219213e-03 4.16443558e+01] [ 4.85604244e-02 -2.90189344e-04 9.98820205e-01 2.19750351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1250998929999 meters 0.01250812926444066 Centerline is valid? [True, True] Translation: X:526.35, Y:41.65, Z:21.98 [[ 9.93385788e-01 -1.04373448e-01 -4.78629349e-02 5.26351522e+02] [ 1.04258519e-01 9.94538168e-01 -4.89827979e-03 4.16495161e+01] [ 4.81127660e-02 -1.24237200e-04 9.98841903e-01 2.19774289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1850998929999 meters 0.012484079168636007 Centerline is valid? [True, True] Translation: X:526.41, Y:41.65, Z:21.98 [[ 9.93659041e-01 -1.01948228e-01 -4.74159234e-02 5.26410487e+02] [ 1.01832538e-01 9.94789706e-01 -4.85545250e-03 4.16545167e+01] [ 4.76638773e-02 -3.81953509e-06 9.98863431e-01 2.19798913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.2450998929999 meters 0.012528846679907413 Centerline is valid? [True, True] Translation: X:526.47, Y:41.66, Z:21.98 [[ 9.93933970e-01 -9.96949764e-02 -4.64346235e-02 5.26469322e+02] [ 9.95810334e-02 9.95018039e-01 -4.76644429e-03 4.16571418e+01] [ 4.66784786e-02 1.13523107e-04 9.98909959e-01 2.19822655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3050998929999 meters 0.012488540211483105 Centerline is valid? [True, True] Translation: X:526.53, Y:41.66, Z:21.99 [[ 9.93960752e-01 -9.99798707e-02 -4.52332699e-02 5.26527740e+02] [ 9.98715390e-02 9.94989454e-01 -4.65424864e-03 4.16592015e+01] [ 4.54719577e-02 1.08624192e-04 9.98965610e-01 2.19852850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3650998929999 meters 0.012430327223053825 Centerline is valid? [True, True] Translation: X:526.59, Y:41.66, Z:21.99 [[ 9.93882491e-01 -1.01548140e-01 -4.34231352e-02 5.26586130e+02] [ 1.01449338e-01 9.94830625e-01 -4.47868329e-03 4.16614081e+01] [ 4.36534667e-02 4.60365794e-05 9.99046732e-01 2.19881797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4250998929999 meters 0.012615930219602473 Centerline is valid? [True, True] Translation: X:526.65, Y:41.66, Z:21.99 [[ 9.93368571e-01 -1.07060758e-01 -4.19151026e-02 5.26646387e+02] [ 1.06973174e-01 9.94252464e-01 -4.33338410e-03 4.16596259e+01] [ 4.21381294e-02 -1.79143974e-04 9.99111779e-01 2.19903563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4850998929999 meters 0.013272593484369353 Centerline is valid? [True, True] Translation: X:526.71, Y:41.66, Z:21.99 [[ 9.92654708e-01 -1.13492083e-01 -4.19067728e-02 5.26705270e+02] [ 1.13410192e-01 9.93538799e-01 -4.33406374e-03 4.16577325e+01] [ 4.21278866e-02 -4.50426358e-04 9.99112125e-01 2.19922331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.5450998929999 meters 0.016123155488689065 Centerline is valid? [True, True] Translation: X:526.77, Y:41.65, Z:21.99 [[ 9.91164473e-01 -1.25821847e-01 -4.19743971e-02 5.26766099e+02] [ 1.25750599e-01 9.92052376e-01 -4.34397609e-03 4.16503326e+01] [ 4.21873674e-02 -9.72710801e-04 9.99109243e-01 2.19946202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.6050998929999 meters 0.020716319992404034 Centerline is valid? [True, True] Translation: X:526.83, Y:41.64, Z:22.00 [[ 9.89763923e-01 -1.36755360e-01 -4.08086729e-02 5.26826701e+02] [ 1.36697254e-01 9.90603865e-01 -4.22403616e-03 4.16428890e+01] [ 4.10028887e-02 -1.39763492e-03 9.99158050e-01 2.19971499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.6650998929999 meters 0.020586292265155213 Centerline is valid? [True, True] Translation: X:526.89, Y:41.65, Z:22.00 [[ 9.88994047e-01 -1.42028198e-01 -4.14580062e-02 5.26886576e+02] [ 1.41972820e-01 9.89861252e-01 -4.29197933e-03 4.16454164e+01] [ 4.16472560e-02 -1.64116804e-03 9.99131029e-01 2.19988031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.7250998929999 meters 0.020211707651763455 Centerline is valid? [True, True] Translation: X:526.95, Y:41.65, Z:22.00 [[ 9.88963743e-01 -1.42185194e-01 -4.16423499e-02 5.26945625e+02] [ 1.42129429e-01 9.89838691e-01 -4.31182507e-03 4.16516373e+01] [ 4.18322868e-02 -1.65436474e-03 9.99123277e-01 2.20008042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.7850998929999 meters 0.018644737753583964 Centerline is valid? [True, True] Translation: X:527.01, Y:41.66, Z:22.00 [[ 9.89142293e-01 -1.41040425e-01 -4.12931373e-02 5.27005398e+02] [ 1.40984531e-01 9.90002559e-01 -4.27719456e-03 4.16611479e+01] [ 4.14835689e-02 -1.59093957e-03 9.99137920e-01 2.20037030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.8450998929999 meters 0.019675432650329967 Centerline is valid? [True, True] Translation: X:527.06, Y:41.67, Z:22.01 [[ 9.89256243e-01 -1.39822875e-01 -4.26807816e-02 5.27064221e+02] [ 1.39762029e-01 9.90175252e-01 -4.42096228e-03 4.16672918e+01] [ 4.28796054e-02 -1.59168811e-03 9.99078979e-01 2.20055264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9050998929998 meters 0.019737171015855832 Centerline is valid? [True, True] Translation: X:527.12, Y:41.67, Z:22.01 [[ 9.89184937e-01 -1.40224258e-01 -4.30153141e-02 5.27123310e+02] [ 1.40162764e-01 9.90118444e-01 -4.45723415e-03 4.16746848e+01] [ 4.32152682e-02 -1.62011643e-03 9.99064470e-01 2.20073719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9650998929999 meters 0.02170904887472028 Centerline is valid? [True, True] Translation: X:527.18, Y:41.68, Z:22.01 [[ 9.88644011e-01 -1.43668919e-01 -4.40710957e-02 5.27181705e+02] [ 1.43607705e-01 9.89624149e-01 -4.56839544e-03 4.16811734e+01] [ 4.42701570e-02 -1.81243211e-03 9.99017952e-01 2.20093974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0250998929998 meters 0.023472864667243847 Centerline is valid? [True, True] Translation: X:527.24, Y:41.69, Z:22.01 [[ 9.88049331e-01 -1.47427708e-01 -4.49843379e-02 5.27241326e+02] [ 1.47367657e-01 9.89070774e-01 -4.66657147e-03 4.16867674e+01] [ 4.51806759e-02 -2.01843365e-03 9.98976793e-01 2.20115628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0850998929999 meters 0.026574849059688287 Centerline is valid? [True, True] Translation: X:527.30, Y:41.69, Z:22.01 [[ 9.87120989e-01 -1.53166128e-01 -4.61767352e-02 5.27301981e+02] [ 1.53109067e-01 9.88197682e-01 -4.79114425e-03 4.16917919e+01] [ 4.63655837e-02 -2.34063778e-03 9.98921796e-01 2.20129426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.1450998929998 meters 0.025133584987861012 Centerline is valid? [True, True] Translation: X:527.36, Y:41.70, Z:22.02 [[ 9.86766584e-01 -1.55520863e-01 -4.58799475e-02 5.27360133e+02] [ 1.55467054e-01 9.87829606e-01 -4.76065566e-03 4.17032997e+01] [ 4.60619518e-02 -2.43516436e-03 9.98935617e-01 2.20166322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2050998929999 meters 0.029107185986062982 Centerline is valid? [True, True] Translation: X:527.42, Y:41.71, Z:22.02 [[ 9.86730115e-01 -1.56044561e-01 -4.48750974e-02 5.27418439e+02] [ 1.55993513e-01 9.87747093e-01 -4.65881622e-03 4.17107501e+01] [ 4.50522299e-02 -2.40322981e-03 9.98981742e-01 2.20205870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2650998929998 meters 0.028812084072685568 Centerline is valid? [True, True] Translation: X:527.48, Y:41.72, Z:22.02 [[ 9.86960747e-01 -1.54536403e-01 -4.50220300e-02 5.27476849e+02] [ 1.54483320e-01 9.87984326e-01 -4.67708489e-03 4.17223665e+01] [ 4.52038398e-02 -2.33905345e-03 9.98975046e-01 2.20235570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.3250998929999 meters 0.022906618835439926 Centerline is valid? [True, True] Translation: X:527.53, Y:41.75, Z:22.03 [[ 9.87855217e-01 -1.48661416e-01 -4.51868674e-02 5.27534987e+02] [ 1.48601379e-01 9.88885992e-01 -4.70367957e-03 4.17454857e+01] [ 4.53839159e-02 -2.06827639e-03 9.98967478e-01 2.20263468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.3850998929998 meters 0.020368035744872313 Centerline is valid? [True, True] Translation: X:527.59, Y:41.76, Z:22.03 [[ 9.88681263e-01 -1.42851078e-01 -4.58577194e-02 5.27594227e+02] [ 1.42783012e-01 9.89742505e-01 -4.77336088e-03 4.17623656e+01] [ 4.60692138e-02 -1.82837083e-03 9.98936577e-01 2.20291469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.4450998929999 meters 0.017775312913729524 Centerline is valid? [True, True] Translation: X:527.65, Y:41.78, Z:22.03 [[ 9.90075089e-01 -1.32699895e-01 -4.62823423e-02 5.27653426e+02] [ 1.32619511e-01 9.91155318e-01 -4.81678732e-03 4.17822091e+01] [ 4.65121769e-02 -1.36896048e-03 9.98916785e-01 2.20315919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.5050998929999 meters 0.01677890468790011 Centerline is valid? [True, True] Translation: X:527.71, Y:41.80, Z:22.03 [[ 9.90747745e-01 -1.27269191e-01 -4.71323625e-02 5.27712561e+02] [ 1.27179699e-01 9.91867565e-01 -4.90496754e-03 4.17958758e+01] [ 4.73733128e-02 -1.13469414e-03 9.98876610e-01 2.20335376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.5650998929999 meters 0.015549522548461273 Centerline is valid? [True, True] Translation: X:527.77, Y:41.81, Z:22.03 [[ 9.91395008e-01 -1.21407272e-01 -4.89511244e-02 5.27772234e+02] [ 1.21303640e-01 9.92602380e-01 -5.09332768e-03 4.18121191e+01] [ 4.92073696e-02 -8.88449940e-04 9.98788188e-01 2.20341596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6250998929999 meters 0.014442272020266524 Centerline is valid? [True, True] Translation: X:527.83, Y:41.83, Z:22.04 [[ 9.91777134e-01 -1.18396451e-01 -4.85839192e-02 5.27832008e+02] [ 1.18290806e-01 9.92966133e-01 -5.05414217e-03 4.18263452e+01] [ 4.88405789e-02 -7.34448314e-04 9.98806317e-01 2.20376938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6850998929999 meters 0.014373887755961722 Centerline is valid? [True, True] Translation: X:527.89, Y:41.84, Z:22.04 [[ 9.91889687e-01 -1.17411730e-01 -4.86758041e-02 5.27891430e+02] [ 1.17304581e-01 9.93083084e-01 -5.06204202e-03 4.18361473e+01] [ 4.89334608e-02 -6.88907535e-04 9.98801803e-01 2.20398491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.7450998929999 meters 0.014492332560597919 Centerline is valid? [True, True] Translation: X:527.95, Y:41.84, Z:22.04 [[ 9.91854266e-01 -1.17613669e-01 -4.89095091e-02 5.27952348e+02] [ 1.17505783e-01 9.93059178e-01 -5.08533354e-03 4.18439530e+01] [ 4.91681416e-02 -7.03240382e-04 9.98790268e-01 2.20424663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8050998929999 meters 0.01452337478155374 Centerline is valid? [True, True] Translation: X:528.01, Y:41.85, Z:22.04 [[ 9.91750444e-01 -1.18144028e-01 -4.97297338e-02 5.28012956e+02] [ 1.18033248e-01 9.92996191e-01 -5.16881029e-03 4.18520621e+01] [ 4.99921003e-02 -7.43592104e-04 9.98749336e-01 2.20445460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8650998929999 meters 0.01457544331935135 Centerline is valid? [True, True] Translation: X:528.07, Y:41.86, Z:22.05 [[ 9.91442499e-01 -1.20310559e-01 -5.06669506e-02 5.28073660e+02] [ 1.20198482e-01 9.92735922e-01 -5.26438031e-03 4.18595403e+01] [ 5.09322625e-02 -8.70760174e-04 9.98701730e-01 2.20465967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9250998929999 meters 0.01518856457487739 Centerline is valid? [True, True] Translation: X:528.13, Y:41.87, Z:22.05 [[ 9.90940346e-01 -1.24322119e-01 -5.08059142e-02 5.28134541e+02] [ 1.24214785e-01 9.92241322e-01 -5.27696883e-03 4.18653117e+01] [ 5.10677714e-02 -1.08168439e-03 9.98694604e-01 2.20489741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9850998929999 meters 0.01627995217496333 Centerline is valid? [True, True] Translation: X:528.19, Y:41.87, Z:22.05 [[ 9.90620136e-01 -1.27196556e-01 -4.99277716e-02 5.28194951e+02] [ 1.27096638e-01 9.91876792e-01 -5.18396591e-03 4.18708806e+01] [ 5.01815806e-02 -1.21031088e-03 9.98739377e-01 2.20523163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.0450998929999 meters 0.016967269672714683 Centerline is valid? [True, True] Translation: X:528.26, Y:41.88, Z:22.06 [[ 9.90091746e-01 -1.31378583e-01 -4.95782435e-02 5.28255417e+02] [ 1.31285375e-01 9.91331261e-01 -5.14602892e-03 4.18764116e+01] [ 4.98245406e-02 -1.41385751e-03 9.98756986e-01 2.20558007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.1050998929999 meters 0.01799793047784928 Centerline is valid? [True, True] Translation: X:528.32, Y:41.88, Z:22.06 [[ 9.89819714e-01 -1.33495587e-01 -4.93544446e-02 5.28317636e+02] [ 1.33405910e-01 9.91048250e-01 -5.12149602e-03 4.18809476e+01] [ 4.95963331e-02 -1.51481685e-03 9.98768196e-01 2.20583810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.1650998929999 meters 0.01734825031199585 Centerline is valid? [True, True] Translation: X:528.38, Y:41.89, Z:22.06 [[ 9.89618169e-01 -1.35215082e-01 -4.87109892e-02 5.28378821e+02] [ 1.35129972e-01 9.90815005e-01 -5.05136490e-03 4.18888015e+01] [ 4.89465997e-02 -1.58339213e-03 9.98800142e-01 2.20616008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.2250998929999 meters 0.018649996702377866 Centerline is valid? [True, True] Translation: X:528.44, Y:41.89, Z:22.06 [[ 9.89528933e-01 -1.36130891e-01 -4.79673965e-02 5.28439326e+02] [ 1.36049556e-01 9.90689558e-01 -4.97172047e-03 4.18928976e+01] [ 4.81976036e-02 -1.60628174e-03 9.98836529e-01 2.20648585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.2850998929999 meters 0.01985493641369014 Centerline is valid? [True, True] Translation: X:528.50, Y:41.90, Z:22.06 [[ 9.89418105e-01 -1.35756878e-01 -5.12043394e-02 5.28500362e+02] [ 1.35663805e-01 9.90740727e-01 -5.30507547e-03 4.18967304e+01] [ 5.14504250e-02 -1.69763781e-03 9.98674107e-01 2.20636222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.3450998929999 meters 0.017586431024344512 Centerline is valid? [True, True] Translation: X:528.56, Y:41.91, Z:22.07 [[ 9.89590498e-01 -1.34549514e-01 -5.10595208e-02 5.28561226e+02] [ 1.34455512e-01 9.90905526e-01 -5.28716253e-03 4.19080347e+01] [ 5.13065465e-02 -1.63310821e-03 9.98681617e-01 2.20667130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4050998929998 meters 0.018694868916031736 Centerline is valid? [True, True] Translation: X:528.62, Y:41.91, Z:22.07 [[ 9.89700780e-01 -1.33396435e-01 -5.19399342e-02 5.28622667e+02] [ 1.33297769e-01 9.91061460e-01 -5.37465330e-03 4.19122936e+01] [ 5.21926266e-02 -1.60417881e-03 9.98635748e-01 2.20680540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4650998929999 meters 0.016744461511851508 Centerline is valid? [True, True] Translation: X:528.68, Y:41.92, Z:22.07 [[ 9.89953845e-01 -1.31663676e-01 -5.15369820e-02 5.28683217e+02] [ 1.31564326e-01 9.91293304e-01 -5.33034952e-03 4.19223013e+01] [ 5.17900786e-02 -1.50362830e-03 9.98656861e-01 2.20723799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5250998929998 meters 0.0165514089135017 Centerline is valid? [True, True] Translation: X:528.74, Y:41.93, Z:22.08 [[ 9.90395464e-01 -1.28689076e-01 -5.05563794e-02 5.28743270e+02] [ 1.28589714e-01 9.91684107e-01 -5.22669207e-03 4.19302066e+01] [ 5.08085761e-02 -1.32453824e-03 9.98707532e-01 2.20761553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5850998929999 meters 0.016319264830858618 Centerline is valid? [True, True] Translation: X:528.81, Y:41.94, Z:22.08 [[ 9.90537955e-01 -1.27796687e-01 -5.00256511e-02 5.28805210e+02] [ 1.27698467e-01 9.91799574e-01 -5.16776783e-03 4.19369086e+01] [ 5.02758430e-02 -1.26932879e-03 9.98734564e-01 2.20789317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.6450998929998 meters 0.015999400910866587 Centerline is valid? [True, True] Translation: X:528.87, Y:41.94, Z:22.08 [[ 9.90666894e-01 -1.26918302e-01 -4.97076453e-02 5.28866813e+02] [ 1.26820401e-01 9.91912423e-01 -5.13136845e-03 4.19432724e+01] [ 4.99568954e-02 -1.22046665e-03 9.98750629e-01 2.20819493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7050998929999 meters 0.016364429038270012 Centerline is valid? [True, True] Translation: X:528.93, Y:41.95, Z:22.09 [[ 9.90631761e-01 -1.27741037e-01 -4.82798250e-02 5.28929073e+02] [ 1.27649821e-01 9.91806794e-01 -4.98058905e-03 4.19479534e+01] [ 4.85204840e-02 -1.22898131e-03 9.98821432e-01 2.20859142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7650998929998 meters 0.017155765964997956 Centerline is valid? [True, True] Translation: X:528.99, Y:41.95, Z:22.09 [[ 9.90364150e-01 -1.29989537e-01 -4.77657976e-02 5.28991409e+02] [ 1.29903027e-01 9.91514476e-01 -4.92417448e-03 4.19516840e+01] [ 4.80005710e-02 -1.32819580e-03 9.98846425e-01 2.20886397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.8250998929999 meters 0.01766618501784499 Centerline is valid? [True, True] Translation: X:529.05, Y:41.96, Z:22.09 [[ 9.89896073e-01 -1.33266282e-01 -4.84341025e-02 5.29053110e+02] [ 1.33181414e-01 9.91079116e-01 -4.98967411e-03 4.19558778e+01] [ 4.86669828e-02 -1.51126343e-03 9.98813917e-01 2.20903022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.8850998929998 meters 0.01987797296280565 Centerline is valid? [True, True] Translation: X:529.11, Y:41.96, Z:22.09 [[ 9.89388917e-01 -1.36718933e-01 -4.91681142e-02 5.29113733e+02] [ 1.36635849e-01 9.90608405e-01 -5.06284037e-03 4.19569614e+01] [ 4.93985333e-02 -1.70900885e-03 9.98777685e-01 2.20912942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.9450998929999 meters 0.019621258902650457 Centerline is valid? [True, True] Translation: X:529.18, Y:41.96, Z:22.10 [[ 9.89524663e-01 -1.36085402e-01 -4.81840718e-02 5.29175569e+02] [ 1.36004918e-01 9.90695744e-01 -4.96032820e-03 4.19638513e+01] [ 4.84107831e-02 -1.64490362e-03 9.98826156e-01 2.20960174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.0050998929999 meters 0.019117649846139805 Centerline is valid? [True, True] Translation: X:529.24, Y:41.97, Z:22.10 [[ 9.89796610e-01 -1.34155926e-01 -4.80089392e-02 5.29237522e+02] [ 1.34073923e-01 9.90959026e-01 -4.93890683e-03 4.19713847e+01] [ 4.82374752e-02 -1.54823356e-03 9.98834696e-01 2.20995210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.0650998929999 meters 0.01732973509742238 Centerline is valid? [True, True] Translation: X:529.30, Y:41.98, Z:22.10 [[ 9.90219825e-01 -1.31205386e-01 -4.74325353e-02 5.29298050e+02] [ 1.31122108e-01 9.91354232e-01 -4.87649223e-03 4.19804289e+01] [ 4.76622666e-02 -1.39065473e-03 9.98862540e-01 2.21023229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1250998929999 meters 0.016789392979722137 Centerline is valid? [True, True] Translation: X:529.36, Y:41.99, Z:22.10 [[ 9.90333669e-01 -1.29961120e-01 -4.84699077e-02 5.29359720e+02] [ 1.29872770e-01 9.91518155e-01 -4.98110948e-03 4.19873817e+01] [ 4.87061440e-02 -1.36196073e-03 9.98812223e-01 2.21040338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1850998929999 meters 0.016618802300796324 Centerline is valid? [True, True] Translation: X:529.42, Y:41.99, Z:22.11 [[ 9.89899663e-01 -1.32844606e-01 -4.95072433e-02 5.29421312e+02] [ 1.32756208e-01 9.91135682e-01 -5.08417463e-03 4.19927300e+01] [ 4.97438006e-02 -1.53957114e-03 9.98760824e-01 2.21063555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.2450998929999 meters 0.017445016078215334 Centerline is valid? [True, True] Translation: X:529.48, Y:42.00, Z:22.11 [[ 9.89574204e-01 -1.34829974e-01 -5.06337166e-02 5.29483473e+02] [ 1.34740257e-01 9.90867325e-01 -5.19679060e-03 4.19977300e+01] [ 5.08719785e-02 -1.67979007e-03 9.98703770e-01 2.21084595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3050998929999 meters 0.02056403929813705 Centerline is valid? [True, True] Translation: X:529.54, Y:42.00, Z:22.11 [[ 9.89467450e-01 -1.35477336e-01 -5.09907441e-02 5.29544846e+02] [ 1.35387394e-01 9.90778937e-01 -5.22980138e-03 4.19989652e+01] [ 5.12290749e-02 -1.72878572e-03 9.98685433e-01 2.21091035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3650998929999 meters 0.02130918165186091 Centerline is valid? [True, True] Translation: X:529.61, Y:42.01, Z:22.11 [[ 9.89309276e-01 -1.36552047e-01 -5.11927256e-02 5.29606056e+02] [ 1.36462962e-01 9.90631273e-01 -5.24789160e-03 4.20051840e+01] [ 5.14297253e-02 -1.79412316e-03 9.98675004e-01 2.21115061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4250998929999 meters 0.018292654382713085 Centerline is valid? [True, True] Translation: X:529.67, Y:42.02, Z:22.12 [[ 9.89404119e-01 -1.36334006e-01 -4.99252279e-02 5.29667463e+02] [ 1.36249100e-01 9.90661400e-01 -5.11596897e-03 4.20173222e+01] [ 5.01564768e-02 -1.74050662e-03 9.98739855e-01 2.21158209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4850998929999 meters 0.01854868577369477 Centerline is valid? [True, True] Translation: X:529.73, Y:42.03, Z:22.12 [[ 9.89593830e-01 -1.35682105e-01 -4.79000863e-02 5.29729447e+02] [ 1.35603358e-01 9.90751064e-01 -4.90487640e-03 4.20266154e+01] [ 4.81225654e-02 -1.64157713e-03 9.98840089e-01 2.21199953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.5450998929999 meters 0.01822278491255688 Centerline is valid? [True, True] Translation: X:529.79, Y:42.04, Z:22.12 [[ 9.89653343e-01 -1.35661116e-01 -4.67153377e-02 5.29790774e+02] [ 1.35586406e-01 9.90753999e-01 -4.77902413e-03 4.20357555e+01] [ 4.69317354e-02 -1.60438754e-03 9.98896811e-01 2.21237688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.6050998929999 meters 0.019401066629693427 Centerline is valid? [True, True] Translation: X:529.85, Y:42.04, Z:22.13 [[ 9.89387427e-01 -1.37718635e-01 -4.63259873e-02 5.29851971e+02] [ 1.37647568e-01 9.90469948e-01 -4.73590846e-03 4.20421464e+01] [ 4.65367211e-02 -1.69101120e-03 9.98915149e-01 2.21268363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.6650998929999 meters 0.02017565035738406 Centerline is valid? [True, True] Translation: X:529.91, Y:42.05, Z:22.13 [[ 9.88877845e-01 -1.41204119e-01 -4.67119387e-02 5.29913223e+02] [ 1.41135858e-01 9.89978732e-01 -4.77289220e-03 4.20482822e+01] [ 4.69177779e-02 -1.87292221e-03 9.98896999e-01 2.21290645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.7250998929999 meters 0.024197828874474313 Centerline is valid? [True, True] Translation: X:529.97, Y:42.05, Z:22.13 [[ 9.87818074e-01 -1.47820540e-01 -4.86265372e-02 5.29972598e+02] [ 1.47754656e-01 9.89011575e-01 -4.96653901e-03 4.20492327e+01] [ 4.88263646e-02 -2.27876027e-03 9.98804682e-01 2.21299534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.7850998929999 meters 0.026164604141069775 Centerline is valid? [True, True] Translation: X:530.03, Y:42.05, Z:22.13 [[ 9.87096181e-01 -1.52101922e-01 -5.00613102e-02 5.30033633e+02] [ 1.52037711e-01 9.88361481e-01 -5.11046474e-03 4.20533819e+01] [ 5.02559822e-02 -2.56668679e-03 9.98733072e-01 2.21318711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.8450998929999 meters 0.02579510762740279 Centerline is valid? [True, True] Translation: X:530.09, Y:42.06, Z:22.13 [[ 9.86559811e-01 -1.55113962e-01 -5.13750800e-02 5.30093723e+02] [ 1.55050454e-01 9.87892636e-01 -5.24367239e-03 4.20610006e+01] [ 5.15664300e-02 -2.79253302e-03 9.98665662e-01 2.21337980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9050998929998 meters 0.025638579169632955 Centerline is valid? [True, True] Translation: X:530.16, Y:42.07, Z:22.14 [[ 9.86461287e-01 -1.55195815e-01 -5.29942365e-02 5.30155680e+02] [ 1.55128447e-01 9.87879510e-01 -5.40733371e-03 4.20701125e+01] [ 5.31911159e-02 -2.88678826e-03 9.98580178e-01 2.21364281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9650998929999 meters 0.025534311018259082 Centerline is valid? [True, True] Translation: X:530.22, Y:42.08, Z:22.14 [[ 9.86916826e-01 -1.52173896e-01 -5.32755507e-02 5.30215831e+02] [ 1.52101609e-01 9.88349932e-01 -5.43256223e-03 4.20797370e+01] [ 5.34815811e-02 -2.74180989e-03 9.98565072e-01 2.21397574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0250998929998 meters 0.021942242151531673 Centerline is valid? [True, True] Translation: X:530.28, Y:42.10, Z:22.14 [[ 9.88286378e-01 -1.43485279e-01 -5.19808579e-02 5.30275336e+02] [ 1.43404546e-01 9.89649967e-01 -5.29891242e-03 4.20963089e+01] [ 5.22031702e-02 -2.21744838e-03 9.98634023e-01 2.21443565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0850998929999 meters 0.01743624188427617 Centerline is valid? [True, True] Translation: X:530.33, Y:42.11, Z:22.15 [[ 9.89360012e-01 -1.36467565e-01 -5.04318330e-02 5.30334226e+02] [ 1.36382499e-01 9.90642918e-01 -5.14031792e-03 4.21122174e+01] [ 5.06614249e-02 -1.79239443e-03 9.98714277e-01 2.21486830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.1450998929998 meters 0.014463488389842526 Centerline is valid? [True, True] Translation: X:530.39, Y:42.13, Z:22.15 [[ 9.90704743e-01 -1.26492079e-01 -5.00386459e-02 5.30392932e+02] [ 1.26395620e-01 9.91966802e-01 -5.10012895e-03 4.21281722e+01] [ 5.02818014e-02 -1.27194371e-03 9.98734260e-01 2.21523513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2050998929999 meters 0.013770901371311988 Centerline is valid? [True, True] Translation: X:530.45, Y:42.14, Z:22.15 [[ 9.91362397e-01 -1.20734656e-01 -5.12224578e-02 5.30452618e+02] [ 1.20625907e-01 9.92684308e-01 -5.22055686e-03 4.21379932e+01] [ 5.14780322e-02 -1.00329169e-03 9.98673623e-01 2.21538454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2650998929998 meters 0.01257816713359671 Centerline is valid? [True, True] Translation: X:530.51, Y:42.15, Z:22.16 [[ 9.92096484e-01 -1.13741519e-01 -5.29852127e-02 5.30513044e+02] [ 1.13615247e-01 9.93510154e-01 -5.39899317e-03 4.21496852e+01] [ 5.32554365e-02 -6.63605883e-04 9.98580702e-01 2.21553383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.3250998929999 meters 0.012101111322481914 Centerline is valid? [True, True] Translation: X:530.57, Y:42.16, Z:22.16 [[ 9.92760394e-01 -1.07668123e-01 -5.32388490e-02 5.30574006e+02] [ 1.07532075e-01 9.94186833e-01 -5.42169146e-03 4.21588477e+01] [ 5.35131060e-02 -3.42443343e-04 9.98567088e-01 2.21569461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.3850998929998 meters 0.011849539236960804 Centerline is valid? [True, True] Translation: X:530.64, Y:42.17, Z:22.16 [[ 9.93113171e-01 -1.04567159e-01 -5.28387923e-02 5.30636002e+02] [ 1.04429112e-01 9.94517811e-01 -5.37437249e-03 4.21667858e+01] [ 5.31111029e-02 -1.80548048e-04 9.98588593e-01 2.21592996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.4450998929999 meters 0.011801212614697514 Centerline is valid? [True, True] Translation: X:530.70, Y:42.17, Z:22.16 [[ 9.93330848e-01 -1.02659539e-01 -5.24866169e-02 5.30697899e+02] [ 1.02520863e-01 9.94716549e-01 -5.33480700e-03 4.21737643e+01] [ 5.27569752e-02 -8.17449168e-05 9.98607378e-01 2.21616871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.5050998929999 meters 0.011837867726365942 Centerline is valid? [True, True] Translation: X:530.76, Y:42.18, Z:22.16 [[ 9.93233848e-01 -1.03751372e-01 -5.21744851e-02 5.30758890e+02] [ 1.03616036e-01 9.94603254e-01 -5.29948789e-03 4.21778831e+01] [ 5.24427417e-02 -1.42482556e-04 9.98623922e-01 2.21629317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.5650998929999 meters 0.01210588849706636 Centerline is valid? [True, True] Translation: X:530.82, Y:42.18, Z:22.17 [[ 9.92804238e-01 -1.08282887e-01 -5.11327731e-02 5.30820585e+02] [ 1.08159038e-01 9.94120050e-01 -5.19114341e-03 4.21785021e+01] [ 5.13942270e-02 -3.76682364e-04 9.98678372e-01 2.21658149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6250998929999 meters 0.012238703709565967 Centerline is valid? [True, True] Translation: X:530.88, Y:42.18, Z:22.17 [[ 9.92394429e-01 -1.12655573e-01 -4.96187285e-02 5.30882446e+02] [ 1.12544513e-01 9.93633925e-01 -5.03543433e-03 4.21809232e+01] [ 4.98701216e-02 -5.87178647e-04 9.98755539e-01 2.21701635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6850998929999 meters 0.01395404078164113 Centerline is valid? [True, True] Translation: X:530.94, Y:42.18, Z:22.17 [[ 9.91605430e-01 -1.19786806e-01 -4.86805076e-02 5.30943831e+02] [ 1.19688648e-01 9.92799201e-01 -4.93692350e-03 4.21777089e+01] [ 4.89213473e-02 -9.31023990e-04 9.98802200e-01 2.21724906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.7450998929999 meters 0.01469773940358855 Centerline is valid? [True, True] Translation: X:531.01, Y:42.18, Z:22.17 [[ 9.91064720e-01 -1.24328161e-01 -4.83035184e-02 5.31006479e+02] [ 1.24237000e-01 9.92240490e-01 -4.89669200e-03 4.21788342e+01] [ 4.85375035e-02 -1.14814553e-03 9.98820701e-01 2.21747298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8050998929999 meters 0.01628049677268324 Centerline is valid? [True, True] Translation: X:531.07, Y:42.18, Z:22.18 [[ 9.90444143e-01 -1.29292732e-01 -4.79978011e-02 5.31067646e+02] [ 1.29208692e-01 9.91605501e-01 -4.86255876e-03 4.21775373e+01] [ 4.82235771e-02 -1.38564025e-03 9.98835605e-01 2.21769867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8650998929999 meters 0.01724281086147604 Centerline is valid? [True, True] Translation: X:531.13, Y:42.18, Z:22.18 [[ 9.90058501e-01 -1.32034491e-01 -4.84877126e-02 5.31129509e+02] [ 1.31952079e-01 9.91243932e-01 -4.91074637e-03 4.21785452e+01] [ 4.87115388e-02 -1.53612829e-03 9.98811707e-01 2.21787721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9250998929999 meters 0.01715235181295565 Centerline is valid? [True, True] Translation: X:531.19, Y:42.18, Z:22.18 [[ 9.89861789e-01 -1.33345133e-01 -4.89153734e-02 5.31191809e+02] [ 1.33263094e-01 9.91068339e-01 -4.94924306e-03 4.21831508e+01] [ 4.91384354e-02 -1.61954744e-03 9.98790664e-01 2.21812210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9850998929999 meters 0.0168302759663154 Centerline is valid? [True, True] Translation: X:531.25, Y:42.19, Z:22.18 [[ 9.89669821e-01 -1.34967956e-01 -4.83455950e-02 5.31253951e+02] [ 1.34889922e-01 9.90848533e-01 -4.88806100e-03 4.21882479e+01] [ 4.85628935e-02 -1.68376710e-03 9.98818707e-01 2.21837605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.0450998929999 meters 0.01802416633043548 Centerline is valid? [True, True] Translation: X:531.31, Y:42.19, Z:22.19 [[ 9.89522048e-01 -1.35977355e-01 -4.85414730e-02 5.31314905e+02] [ 1.35900091e-01 9.90710410e-01 -4.90393891e-03 4.21918271e+01] [ 4.87573673e-02 -1.74423495e-03 9.98809129e-01 2.21860917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.1050998929999 meters 0.01799105983543116 Centerline is valid? [True, True] Translation: X:531.38, Y:42.20, Z:22.19 [[ 9.89280874e-01 -1.37728925e-01 -4.85190318e-02 5.31376386e+02] [ 1.37654091e-01 9.90468261e-01 -4.89641534e-03 4.21984219e+01] [ 4.87309391e-02 -1.83491320e-03 9.98810257e-01 2.21890884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.1650998929999 meters 0.0187096518397405 Centerline is valid? [True, True] Translation: X:531.44, Y:42.20, Z:22.19 [[ 9.89063134e-01 -1.39253099e-01 -4.86075296e-02 5.31438430e+02] [ 1.39180006e-01 9.90254967e-01 -4.90170098e-03 4.22040482e+01] [ 4.88164246e-02 -1.91710452e-03 9.98805928e-01 2.21917376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.2250998929999 meters 0.020675348683855226 Centerline is valid? [True, True] Translation: X:531.50, Y:42.21, Z:22.20 [[ 9.88737527e-01 -1.41917715e-01 -4.75127754e-02 5.31499628e+02] [ 1.41851107e-01 9.89876426e-01 -4.78793960e-03 4.22079051e+01] [ 4.77112698e-02 -2.00572421e-03 9.98859155e-01 2.21954143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.2850998929999 meters 0.020953442510993806 Centerline is valid? [True, True] Translation: X:531.56, Y:42.21, Z:22.20 [[ 9.88559463e-01 -1.43320992e-01 -4.70029878e-02 5.31561518e+02] [ 1.43257512e-01 9.89674126e-01 -4.73390802e-03 4.22134617e+01] [ 4.71961093e-02 -2.05378154e-03 9.98883531e-01 2.21983762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.3450998929999 meters 0.020959948723405092 Centerline is valid? [True, True] Translation: X:531.62, Y:42.22, Z:22.20 [[ 9.88554457e-01 -1.43559867e-01 -4.63750975e-02 5.31623210e+02] [ 1.43498491e-01 9.89639530e-01 -4.66730501e-03 4.22205481e+01] [ 4.65646674e-02 -2.04087134e-03 9.98913193e-01 2.22019956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4050998929998 meters 0.018900397588913605 Centerline is valid? [True, True] Translation: X:531.68, Y:42.23, Z:22.20 [[ 9.88739851e-01 -1.42352638e-01 -4.61436076e-02 5.31684970e+02] [ 1.42290718e-01 9.89814031e-01 -4.64061581e-03 4.22304416e+01] [ 4.63341942e-02 -1.97744529e-03 9.98924037e-01 2.22047647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4650998929999 meters 0.021348925971228373 Centerline is valid? [True, True] Translation: X:531.75, Y:42.23, Z:22.21 [[ 9.89281072e-01 -1.38457469e-01 -4.63949290e-02 5.31745318e+02] [ 1.38390750e-01 9.90366730e-01 -4.66260832e-03 4.22340418e+01] [ 4.65935671e-02 -1.80799886e-03 9.98912294e-01 2.22065280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5250998929998 meters 0.018150457580478018 Centerline is valid? [True, True] Translation: X:531.81, Y:42.25, Z:22.21 [[ 9.89538362e-01 -1.36686667e-01 -4.61582559e-02 5.31806713e+02] [ 1.36618755e-01 9.90612844e-01 -4.63771251e-03 4.22454768e+01] [ 4.63588746e-02 -1.71688902e-03 9.98923374e-01 2.22101198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5850998929999 meters 0.01807160305188985 Centerline is valid? [True, True] Translation: X:531.87, Y:42.25, Z:22.21 [[ 9.90369193e-01 -1.30560634e-01 -4.60736617e-02 5.31865764e+02] [ 1.30486491e-01 9.91439295e-01 -4.62611015e-03 4.22536792e+01] [ 4.62832265e-02 -1.43043347e-03 9.98927333e-01 2.22126794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.6450998929998 meters 0.01511797574423369 Centerline is valid? [True, True] Translation: X:531.93, Y:42.27, Z:22.22 [[ 9.90975582e-01 -1.25504204e-01 -4.70753771e-02 5.31926750e+02] [ 1.25421115e-01 9.92092337e-01 -4.72639591e-03 4.22664983e+01] [ 4.72963034e-02 -1.22050335e-03 9.98880158e-01 2.22154200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7050998929999 meters 0.013121126907302716 Centerline is valid? [True, True] Translation: X:531.99, Y:42.28, Z:22.22 [[ 9.91961094e-01 -1.17053126e-01 -4.80807051e-02 5.31986973e+02] [ 1.16956642e-01 9.93125302e-01 -4.82484686e-03 4.22789639e+01] [ 4.83149281e-02 -8.37297444e-04 9.98831801e-01 2.22175803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7650998929998 meters 0.012269651705352684 Centerline is valid? [True, True] Translation: X:532.05, Y:42.29, Z:22.22 [[ 9.92585640e-01 -1.11144286e-01 -4.92005570e-02 5.32048298e+02] [ 1.11036062e-01 9.93804121e-01 -4.93589297e-03 4.22890200e+01] [ 4.94443126e-02 -5.63739598e-04 9.98776723e-01 2.22198495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.8250998929999 meters 0.011432807883325439 Centerline is valid? [True, True] Translation: X:532.11, Y:42.30, Z:22.22 [[ 9.93387768e-01 -1.02976271e-01 -5.07605115e-02 5.32109050e+02] [ 1.02850600e-01 9.94683799e-01 -5.08860389e-03 4.23009492e+01] [ 5.10146639e-02 -1.65792204e-04 9.98697891e-01 2.22222710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.8850998929998 meters 0.011274970049771616 Centerline is valid? [True, True] Translation: X:532.17, Y:42.31, Z:22.23 [[ 9.93879923e-01 -9.78109381e-02 -5.13392565e-02 5.32170541e+02] [ 9.76756861e-02 9.95205010e-01 -5.14289215e-03 4.23097393e+01] [ 5.15961164e-02 9.68201492e-05 9.98668029e-01 2.22264474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.9450998929999 meters 0.011235466845172796 Centerline is valid? [True, True] Translation: X:532.23, Y:42.32, Z:22.23 [[ 9.93976233e-01 -9.66106134e-02 -5.17459026e-02 5.32231303e+02] [ 9.64717630e-02 9.95322242e-01 -5.18017314e-03 4.23151640e+01] [ 5.20043075e-02 1.56950531e-04 9.98646848e-01 2.22296370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.0050998929999 meters 0.011054597195571714 Centerline is valid? [True, True] Translation: X:532.29, Y:42.32, Z:22.23 [[ 9.93781930e-01 -9.82584586e-02 -5.23712877e-02 5.32292438e+02] [ 9.81186174e-02 9.95160927e-01 -5.24084508e-03 4.23190791e+01] [ 5.26328165e-02 6.96587963e-05 9.98613930e-01 2.22322288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.0650998929999 meters 0.010940151563442854 Centerline is valid? [True, True] Translation: X:532.35, Y:42.32, Z:22.23 [[ 9.93359889e-01 -1.01951472e-01 -5.33106852e-02 5.32353587e+02] [ 1.01811983e-01 9.94789365e-01 -5.33289008e-03 4.23215031e+01] [ 5.35765987e-02 -1.30187460e-04 9.98563734e-01 2.22346017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1250998929999 meters 0.011663336909489262 Centerline is valid? [True, True] Translation: X:532.41, Y:42.32, Z:22.24 [[ 9.92433061e-01 -1.10335666e-01 -5.38763364e-02 5.32414850e+02] [ 1.10205648e-01 9.93894206e-01 -5.38733999e-03 4.23192211e+01] [ 5.41417943e-02 -5.90902246e-04 9.98533083e-01 2.22363156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1850998929999 meters 0.012840851374904639 Centerline is valid? [True, True] Translation: X:532.48, Y:42.32, Z:22.24 [[ 9.91676759e-01 -1.17169051e-01 -5.33724650e-02 5.32475826e+02] [ 1.17051443e-01 9.93111523e-01 -5.33493668e-03 4.23195466e+01] [ 5.36298995e-02 -9.56791351e-04 9.98560423e-01 2.22399472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.2450998929999 meters 0.014722874824957367 Centerline is valid? [True, True] Translation: X:532.54, Y:42.32, Z:22.24 [[ 9.90511423e-01 -1.27101665e-01 -5.22712921e-02 5.32536959e+02] [ 1.27002673e-01 9.91888615e-01 -5.22459647e-03 4.23186331e+01] [ 5.25113545e-02 -1.46357132e-03 9.98619255e-01 2.22440370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3050998929999 meters 0.016605777421005448 Centerline is valid? [True, True] Translation: X:532.60, Y:42.32, Z:22.25 [[ 9.89746104e-01 -1.32761349e-01 -5.26979457e-02 5.32598702e+02] [ 1.32668816e-01 9.91146436e-01 -5.26575148e-03 4.23190372e+01] [ 5.29304693e-02 -1.77961703e-03 9.98596614e-01 2.22461816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3650998929999 meters 0.01980558606753089 Centerline is valid? [True, True] Translation: X:532.66, Y:42.32, Z:22.25 [[ 9.88853300e-01 -1.39102428e-01 -5.31005166e-02 5.32658893e+02] [ 1.39017693e-01 9.90275693e-01 -5.30407006e-03 4.23171773e+01] [ 5.33219599e-02 -2.13696410e-03 9.98575086e-01 2.22475307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4250998929999 meters 0.02124246818732621 Centerline is valid? [True, True] Translation: X:532.72, Y:42.32, Z:22.25 [[ 9.88400953e-01 -1.41976625e-01 -5.39091330e-02 5.32720062e+02] [ 1.41893649e-01 9.89867271e-01 -5.38307160e-03 4.23204119e+01] [ 5.41271568e-02 -2.32873051e-03 9.98531335e-01 2.22500575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4850998929999 meters 0.02268524753285465 Centerline is valid? [True, True] Translation: X:532.78, Y:42.32, Z:22.25 [[ 9.88021307e-01 -1.44568538e-01 -5.39799558e-02 5.32780791e+02] [ 1.44489294e-01 9.89491692e-01 -5.38842528e-03 4.23241923e+01] [ 5.41917146e-02 -2.47564670e-03 9.98527480e-01 2.22527757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.5450998929999 meters 0.022815754699006204 Centerline is valid? [True, True] Translation: X:532.84, Y:42.33, Z:22.26 [[ 9.88076136e-01 -1.44146320e-01 -5.41053411e-02 5.32842052e+02] [ 1.44066140e-01 9.89553329e-01 -5.39975798e-03 4.23303449e+01] [ 5.43184756e-02 -2.45937564e-03 9.98520633e-01 2.22551525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.6050998929999 meters 0.022638015097485913 Centerline is valid? [True, True] Translation: X:532.90, Y:42.34, Z:22.26 [[ 9.88390377e-01 -1.42020703e-01 -5.39868823e-02 5.32902832e+02] [ 1.41937814e-01 9.89860923e-01 -5.38602584e-03 4.23387377e+01] [ 5.42044323e-02 -2.33928395e-03 9.98527119e-01 2.22583430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.6650998929999 meters 0.021377796495786357 Centerline is valid? [True, True] Translation: X:532.96, Y:42.35, Z:22.26 [[ 9.89087194e-01 -1.37205808e-01 -5.36757682e-02 5.32961846e+02] [ 1.37116873e-01 9.90540410e-01 -5.35351985e-03 4.23499868e+01] [ 5.39025514e-02 -2.06475554e-03 9.98544066e-01 2.22614694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.7250998929999 meters 0.017134271625360582 Centerline is valid? [True, True] Translation: X:533.02, Y:42.36, Z:22.27 [[ 9.89518345e-01 -1.33941668e-01 -5.39729035e-02 5.33021778e+02] [ 1.33846922e-01 9.90987401e-01 -5.38270543e-03 4.23644346e+01] [ 5.42074359e-02 -1.89782123e-03 9.98527893e-01 2.22652977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.7850998929999 meters 0.01940328188461826 Centerline is valid? [True, True] Translation: X:533.08, Y:42.37, Z:22.27 [[ 9.90132295e-01 -1.29494354e-01 -5.35653794e-02 5.33082557e+02] [ 1.29394639e-01 9.91578797e-01 -5.34010286e-03 4.23701982e+01] [ 5.38058077e-02 -1.64366463e-03 9.98550066e-01 2.22660007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.8450998929999 meters 0.016006975469117356 Centerline is valid? [True, True] Translation: X:533.14, Y:42.38, Z:22.27 [[ 9.90622157e-01 -1.26105064e-01 -5.25856892e-02 5.33143105e+02] [ 1.26004303e-01 9.92015854e-01 -5.24037260e-03 4.23846904e+01] [ 5.28266749e-02 -1.43479390e-03 9.98602666e-01 2.22713199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9050998929998 meters 0.014115981742472451 Centerline is valid? [True, True] Translation: X:533.20, Y:42.40, Z:22.28 [[ 9.90885477e-01 -1.24448804e-01 -5.15603131e-02 5.33204058e+02] [ 1.24349845e-01 9.92225148e-01 -5.13529964e-03 4.23960827e+01] [ 5.17985212e-02 -1.32302308e-03 9.98656679e-01 2.22761499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9650998929999 meters 0.01443064860454039 Centerline is valid? [True, True] Translation: X:533.27, Y:42.40, Z:22.28 [[ 9.91007260e-01 -1.24073861e-01 -5.01027659e-02 5.33265418e+02] [ 1.23980122e-01 9.92272172e-01 -4.98652236e-03 4.24023320e+01] [ 5.03342774e-02 -1.27006715e-03 9.98731619e-01 2.22784127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0250998929998 meters 0.01392208526559691 Centerline is valid? [True, True] Translation: X:533.33, Y:42.41, Z:22.28 [[ 9.90896168e-01 -1.24945492e-01 -5.01339051e-02 5.33326850e+02] [ 1.24852935e-01 9.92162731e-01 -4.98595855e-03 4.24100712e+01] [ 5.03639653e-02 -1.31879799e-03 9.98730060e-01 2.22810055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0850998929999 meters 0.01667708784339983 Centerline is valid? [True, True] Translation: X:533.39, Y:42.41, Z:22.28 [[ 9.90378056e-01 -1.28971678e-01 -5.01758185e-02 5.33388292e+02] [ 1.28884304e-01 9.91647100e-01 -4.98653966e-03 4.24127602e+01] [ 5.03998273e-02 -1.52831601e-03 9.98727952e-01 2.22826126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.1450998929998 meters 0.01913357078931462 Centerline is valid? [True, True] Translation: X:533.45, Y:42.42, Z:22.28 [[ 9.89746319e-01 -1.33806640e-01 -4.99800651e-02 5.33449178e+02] [ 1.33726218e-01 9.91005878e-01 -4.96466264e-03 4.24150250e+01] [ 5.01948431e-02 -1.76988851e-03 9.98737876e-01 2.22841375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2050998929999 meters 0.020125196670440246 Centerline is valid? [True, True] Translation: X:533.51, Y:42.42, Z:22.29 [[ 9.88285989e-01 -1.44272994e-01 -4.97604881e-02 5.33509626e+02] [ 1.44206536e-01 9.89535270e-01 -4.94201873e-03 4.24189904e+01] [ 4.99527579e-02 -2.29165976e-03 9.98748953e-01 2.22861614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2650998929998 meters 0.024314743472157535 Centerline is valid? [True, True] Translation: X:533.57, Y:42.42, Z:22.29 [[ 9.87245083e-01 -1.51454262e-01 -4.90790479e-02 5.33569550e+02] [ 1.51398469e-01 9.88460798e-01 -4.87391670e-03 4.24199121e+01] [ 4.92508903e-02 -2.61874240e-03 9.98783005e-01 2.22880960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.3250998929999 meters 0.026768115843356963 Centerline is valid? [True, True] Translation: X:533.63, Y:42.42, Z:22.29 [[ 9.86298654e-01 -1.57693988e-01 -4.84517398e-02 5.33630290e+02] [ 1.57647081e-01 9.87483793e-01 -4.81208513e-03 4.24244928e+01] [ 4.86041447e-02 -2.89212226e-03 9.98813933e-01 2.22903652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.3850998929998 meters 0.029141722482197215 Centerline is valid? [True, True] Translation: X:533.69, Y:42.43, Z:22.29 [[ 9.86112514e-01 -1.59188171e-01 -4.73417014e-02 5.33691412e+02] [ 1.59145165e-01 9.87244003e-01 -4.70046323e-03 4.24294609e+01] [ 4.74860689e-02 -2.89901727e-03 9.98867693e-01 2.22930054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.4450998929999 meters 0.028270448449866564 Centerline is valid? [True, True] Translation: X:533.75, Y:42.44, Z:22.30 [[ 9.86247081e-01 -1.58824436e-01 -4.57328565e-02 5.33753025e+02] [ 1.58784025e-01 9.87302911e-01 -4.53824812e-03 4.24392151e+01] [ 4.58729670e-02 -2.78581305e-03 9.98943397e-01 2.22964282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.5050998929999 meters 0.02849521966341267 Centerline is valid? [True, True] Translation: X:533.81, Y:42.45, Z:22.30 [[ 9.86512700e-01 -1.57421573e-01 -4.48457521e-02 5.33813509e+02] [ 1.57381408e-01 9.87527881e-01 -4.44712484e-03 4.24480239e+01] [ 4.49865039e-02 -2.67074248e-03 9.98984025e-01 2.22991898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.5650998929999 meters 0.025276866348560596 Centerline is valid? [True, True] Translation: X:533.87, Y:42.46, Z:22.30 [[ 9.86779218e-01 -1.55829207e-01 -4.45424952e-02 5.33874394e+02] [ 1.55788041e-01 9.87780639e-01 -4.41539663e-03 4.24612829e+01] [ 4.46862622e-02 -2.58216644e-03 9.98997733e-01 2.23011321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6250998929999 meters 0.025057051904866005 Centerline is valid? [True, True] Translation: X:533.93, Y:42.47, Z:22.30 [[ 9.87314939e-01 -1.52429500e-01 -4.44348872e-02 5.33934393e+02] [ 1.52385206e-01 9.88311372e-01 -4.40235005e-03 4.24726287e+01] [ 4.45865524e-02 -2.42471345e-03 9.99002583e-01 2.23026145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6850998929999 meters 0.024289980038576738 Centerline is valid? [True, True] Translation: X:533.99, Y:42.49, Z:22.30 [[ 9.88150186e-01 -1.47143966e-01 -4.36790853e-02 5.33993067e+02] [ 1.47096046e-01 9.89112750e-01 -4.32674771e-03 4.24850236e+01] [ 4.38401950e-02 -2.14954417e-03 9.99036244e-01 2.23043868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.7450998929999 meters 0.019259344991122952 Centerline is valid? [True, True] Translation: X:534.05, Y:42.50, Z:22.31 [[ 9.88978024e-01 -1.41821356e-01 -4.25343595e-02 5.34052715e+02] [ 1.41770972e-01 9.89890516e-01 -4.21398348e-03 4.25032282e+01] [ 4.27019919e-02 -1.86260044e-03 9.99086118e-01 2.23073334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8050998929999 meters 0.016659423835050462 Centerline is valid? [True, True] Translation: X:534.11, Y:42.52, Z:22.31 [[ 9.90399533e-01 -1.32118647e-01 -4.06623590e-02 5.34112087e+02] [ 1.32064456e-01 9.91232947e-01 -4.02780110e-03 4.25206057e+01] [ 4.08380176e-02 -1.38092001e-03 9.99164826e-01 2.23102802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8650998929999 meters 0.014979012937801846 Centerline is valid? [True, True] Translation: X:534.17, Y:42.54, Z:22.31 [[ 9.91784457e-01 -1.21656530e-01 -3.95383425e-02 5.34170511e+02] [ 1.21597010e-01 9.92571828e-01 -3.91569416e-03 4.25362008e+01] [ 3.97210147e-02 -9.24219615e-04 9.99210382e-01 2.23125987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9250998929999 meters 0.013230505217281594 Centerline is valid? [True, True] Translation: X:534.23, Y:42.55, Z:22.31 [[ 9.92529344e-01 -1.15477146e-01 -3.93767685e-02 5.34231094e+02] [ 1.15413215e-01 9.93309909e-01 -3.90054505e-03 4.25501557e+01] [ 3.95637582e-02 -6.73194025e-04 9.99216821e-01 2.23143949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9850998929999 meters 0.012603394719979047 Centerline is valid? [True, True] Translation: X:534.29, Y:42.56, Z:22.32 [[ 9.93275380e-01 -1.09028207e-01 -3.89470043e-02 5.34291312e+02] [ 1.08960770e-01 9.94038570e-01 -3.85633737e-03 4.25632300e+01] [ 3.91352740e-02 -4.13290602e-04 9.99233836e-01 2.23161958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.0450998929999 meters 0.012562872749119672 Centerline is valid? [True, True] Translation: X:534.35, Y:42.57, Z:22.32 [[ 9.93502710e-01 -1.07230725e-01 -3.81305237e-02 5.34353253e+02] [ 1.07165126e-01 9.94234104e-01 -3.76604769e-03 4.25716743e+01] [ 3.83145031e-02 -3.44683776e-04 9.99265670e-01 2.23189940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.1050998929999 meters 0.01262616199917335 Centerline is valid? [True, True] Translation: X:534.41, Y:42.58, Z:22.32 [[ 9.93561013e-01 -1.07453755e-01 -3.59194118e-02 5.34414390e+02] [ 1.07395777e-01 9.94210027e-01 -3.54528255e-03 4.25802992e+01] [ 3.60923933e-02 -3.35138604e-04 9.99348401e-01 2.23220032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.1650998929999 meters 0.013508376981957868 Centerline is valid? [True, True] Translation: X:534.48, Y:42.58, Z:22.32 [[ 9.93237894e-01 -1.10681821e-01 -3.50431273e-02 5.34475177e+02] [ 1.10628720e-01 9.93855793e-01 -3.45667323e-03 4.25847826e+01] [ 3.52104060e-02 -4.43477469e-04 9.99379823e-01 2.23238034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.2250998929999 meters 0.013777946742804704 Centerline is valid? [True, True] Translation: X:534.54, Y:42.59, Z:22.32 [[ 9.92798431e-01 -1.14465614e-01 -3.53397629e-02 5.34536893e+02] [ 1.14414153e-01 9.93427038e-01 -3.48174409e-03 4.25893211e+01] [ 3.55060159e-02 -5.86698959e-04 9.99369290e-01 2.23248155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.2850998929999 meters 0.01532551595151579 Centerline is valid? [True, True] Translation: X:534.60, Y:42.59, Z:22.33 [[ 9.91770155e-01 -1.23186812e-01 -3.48850911e-02 5.34598298e+02] [ 1.23142400e-01 9.92383094e-01 -3.42704798e-03 4.25903855e+01] [ 3.50415418e-02 -8.96989942e-04 9.99385454e-01 2.23257886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.3450998929999 meters 0.018870649981472913 Centerline is valid? [True, True] Translation: X:534.66, Y:42.59, Z:22.33 [[ 9.90367312e-01 -1.33922842e-01 -3.51747040e-02 5.34658689e+02] [ 1.33884474e-01 9.90990925e-01 -3.45461300e-03 4.25882216e+01] [ 3.53204640e-02 -1.28801093e-03 9.99375208e-01 2.23268758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4050998929998 meters 0.022992465592092094 Centerline is valid? [True, True] Translation: X:534.72, Y:42.59, Z:22.33 [[ 9.89546591e-01 -1.39900694e-01 -3.50048570e-02 5.34719040e+02] [ 1.39866408e-01 9.90164413e-01 -3.43842759e-03 4.25859902e+01] [ 3.51416021e-02 -1.49351929e-03 9.99381227e-01 2.23286576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4650998929999 meters 0.02172069694173916 Centerline is valid? [True, True] Translation: X:534.78, Y:42.59, Z:22.33 [[ 9.89291282e-01 -1.41660470e-01 -3.51435595e-02 5.34781136e+02] [ 1.41626988e-01 9.89914074e-01 -3.45292346e-03 4.25902213e+01] [ 3.52782469e-02 -1.56132939e-03 9.99376309e-01 2.23297734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5250998929998 meters 0.022551521019342585 Centerline is valid? [True, True] Translation: X:534.84, Y:42.59, Z:22.33 [[ 9.89323237e-01 -1.41777176e-01 -3.37455976e-02 5.34843358e+02] [ 1.41746453e-01 9.89897452e-01 -3.31318278e-03 4.25947447e+01] [ 3.38744148e-02 -1.50551007e-03 9.99424963e-01 2.23336930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5850998929999 meters 0.0220707199861557 Centerline is valid? [True, True] Translation: X:534.91, Y:42.60, Z:22.34 [[ 9.89469989e-01 -1.40904537e-01 -3.30915869e-02 5.34905666e+02] [ 1.40874585e-01 9.90022126e-01 -3.24661061e-03 4.25993303e+01] [ 3.32188654e-02 -1.44933981e-03 9.99447050e-01 2.23356412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.6450998929998 meters 0.021220288122735298 Centerline is valid? [True, True] Translation: X:534.97, Y:42.60, Z:22.34 [[ 9.89527482e-01 -1.40203756e-01 -3.43259374e-02 5.34968238e+02] [ 1.40171194e-01 9.90121564e-01 -3.36520483e-03 4.26040408e+01] [ 3.44586652e-02 -1.48154497e-03 9.99405026e-01 2.23356041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7050998929999 meters 0.022119786677997615 Centerline is valid? [True, True] Translation: X:535.03, Y:42.61, Z:22.33 [[ 9.89616717e-01 -1.38637396e-01 -3.79265870e-02 5.35030151e+02] [ 1.38596624e-01 9.90341949e-01 -3.71488723e-03 4.26074217e+01] [ 3.80753124e-02 -1.58018241e-03 9.99273623e-01 2.23349041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7650998929998 meters 0.021950299576183562 Centerline is valid? [True, True] Translation: X:535.09, Y:42.61, Z:22.34 [[ 9.90081590e-01 -1.34694412e-01 -3.99482196e-02 5.35089461e+02] [ 1.34646424e-01 9.90886027e-01 -3.90166967e-03 4.26138611e+01] [ 4.01096657e-02 -1.51591360e-03 9.99194134e-01 2.23359414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.8250998929999 meters 0.018491744353942987 Centerline is valid? [True, True] Translation: X:535.15, Y:42.63, Z:22.34 [[ 9.90656029e-01 -1.30293126e-01 -4.03030223e-02 5.35150502e+02] [ 1.30240640e-01 9.91474599e-01 -3.93640510e-03 4.26255313e+01] [ 4.04723094e-02 -1.34946799e-03 9.99179749e-01 2.23383761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.8850998929998 meters 0.016435150494645237 Centerline is valid? [True, True] Translation: X:535.21, Y:42.64, Z:22.34 [[ 9.91776674e-01 -1.21377792e-01 -4.05766047e-02 5.35209840e+02] [ 1.21317226e-01 9.92605885e-01 -3.96081579e-03 4.26373774e+01] [ 4.07573317e-02 -9.94396406e-04 9.99168580e-01 2.23415222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.9450998929999 meters 0.014795657332495292 Centerline is valid? [True, True] Translation: X:535.27, Y:42.65, Z:22.34 [[ 9.92598541e-01 -1.14336513e-01 -4.09304143e-02 5.35270057e+02] [ 1.14268907e-01 9.93441823e-01 -3.99516084e-03 4.26485836e+01] [ 4.11187781e-02 -7.11482896e-04 9.99154012e-01 2.23443438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.0050998929999 meters 0.013019223133479484 Centerline is valid? [True, True] Translation: X:535.33, Y:42.66, Z:22.35 [[ 9.93842777e-01 -1.02761614e-01 -4.14316957e-02 5.35330312e+02] [ 1.02682340e-01 9.94705984e-01 -4.04258265e-03 4.26620711e+01] [ 4.16277779e-02 -2.36611884e-04 9.99133160e-01 2.23468070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.0650998929999 meters 0.012829388499308605 Centerline is valid? [True, True] Translation: X:535.39, Y:42.67, Z:22.35 [[ 9.94651941e-01 -9.45572492e-02 -4.15504819e-02 5.35392004e+02] [ 9.44704206e-02 9.95519420e-01 -4.05267765e-03 4.26727187e+01] [ 4.17475217e-02 1.05712188e-04 9.99128187e-01 2.23497862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1250998929999 meters 0.013862791457476122 Centerline is valid? [True, True] Translation: X:535.45, Y:42.68, Z:22.35 [[ 9.95684086e-01 -8.30509474e-02 -4.14215037e-02 5.35452746e+02] [ 8.29548215e-02 9.96545132e-01 -4.03707358e-03 4.26836045e+01] [ 4.16136806e-02 5.83536470e-04 9.99133605e-01 2.23530732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1850998929999 meters 0.01544406284907292 Centerline is valid? [True, True] Translation: X:535.51, Y:42.69, Z:22.36 [[ 9.96117876e-01 -7.70513293e-02 -4.25707595e-02 5.35513372e+02] [ 7.69444179e-02 9.97026761e-01 -4.14667457e-03 4.26924650e+01] [ 4.27636932e-02 8.54994353e-04 9.99084849e-01 2.23551156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.2450998929999 meters 0.01595364574655105 Centerline is valid? [True, True] Translation: X:535.58, Y:42.69, Z:22.36 [[ 9.96283995e-01 -7.33385130e-02 -4.51626340e-02 5.35575087e+02] [ 7.32144800e-02 9.97306527e-01 -4.39662272e-03 4.26944957e+01] [ 4.53634315e-02 1.07372609e-03 9.98969973e-01 2.23554389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3050998929999 meters 0.015722299460729082 Centerline is valid? [True, True] Translation: X:535.64, Y:42.69, Z:22.36 [[ 9.95913475e-01 -7.63417228e-02 -4.82523791e-02 5.35635611e+02] [ 7.62037270e-02 9.97081212e-01 -4.69570387e-03 4.26934109e+01] [ 4.84700187e-02 9.99503634e-04 9.98824138e-01 2.23551549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3650998929999 meters 0.015039840075861243 Centerline is valid? [True, True] Translation: X:535.70, Y:42.70, Z:22.36 [[ 9.95695917e-01 -7.86989626e-02 -4.89501236e-02 5.35696227e+02] [ 7.85598257e-02 9.96898023e-01 -4.76285999e-03 4.26956000e+01] [ 4.91731136e-02 8.96847061e-04 9.98789868e-01 2.23574521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4250998929999 meters 0.013515469968298681 Centerline is valid? [True, True] Translation: X:535.76, Y:42.69, Z:22.36 [[ 9.94907251e-01 -8.80233525e-02 -4.91065337e-02 5.35757263e+02] [ 8.78946642e-02 9.96118315e-01 -4.77807873e-03 4.26894793e+01] [ 4.93365001e-02 4.37542882e-04 9.98782118e-01 2.23606443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4850998929999 meters 0.012850937437133765 Centerline is valid? [True, True] Translation: X:535.82, Y:42.69, Z:22.37 [[ 9.94313458e-01 -9.53141061e-02 -4.74970392e-02 5.35819047e+02] [ 9.52020383e-02 9.95447244e-01 -4.62126305e-03 4.26861740e+01] [ 4.77212683e-02 7.31690995e-05 9.98860689e-01 2.23651086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.5450998929999 meters 0.013295058223050106 Centerline is valid? [True, True] Translation: X:535.88, Y:42.68, Z:22.37 [[ 9.93307549e-01 -1.05871541e-01 -4.61663228e-02 5.35880945e+02] [ 1.05777148e-01 9.94379725e-01 -4.48972175e-03 4.26768582e+01] [ 4.63821891e-02 -4.23667465e-04 9.98923677e-01 2.23681604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.6050998929999 meters 0.014542806455835559 Centerline is valid? [True, True] Translation: X:535.94, Y:42.67, Z:22.37 [[ 9.92321114e-01 -1.14930187e-01 -4.57149770e-02 5.35943154e+02] [ 1.14847478e-01 9.93373213e-01 -4.44037902e-03 4.26699415e+01] [ 4.59223671e-02 -8.43967966e-04 9.98944655e-01 2.23705612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.6650998929999 meters 0.015622039540668705 Centerline is valid? [True, True] Translation: X:536.01, Y:42.67, Z:22.37 [[ 9.91773276e-01 -1.19323662e-01 -4.63425659e-02 5.36006017e+02] [ 1.19243541e-01 9.92854840e-01 -4.49948850e-03 4.26680670e+01] [ 4.65483362e-02 -1.06357921e-03 9.98915472e-01 2.23728373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.7250998929999 meters 0.01703837794790544 Centerline is valid? [True, True] Translation: X:536.07, Y:42.67, Z:22.37 [[ 9.91265139e-01 -1.22790960e-01 -4.81228016e-02 5.36067493e+02] [ 1.22708810e-01 9.92431735e-01 -4.66888330e-03 4.26665582e+01] [ 4.83318922e-02 -1.27699047e-03 9.98830515e-01 2.23736327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.7850998929999 meters 0.018734011133238672 Centerline is valid? [True, True] Translation: X:536.13, Y:42.66, Z:22.37 [[ 9.90429431e-01 -1.27964974e-01 -5.17156354e-02 5.36129339e+02] [ 1.27877277e-01 9.91777321e-01 -5.01472615e-03 4.26644069e+01] [ 5.19321037e-02 -1.64652228e-03 9.98649261e-01 2.23733795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.8450998929999 meters 0.020972735275026393 Centerline is valid? [True, True] Translation: X:536.19, Y:42.66, Z:22.37 [[ 9.89555527e-01 -1.33439161e-01 -5.45330098e-02 5.36190457e+02] [ 1.33350025e-01 9.91054905e-01 -5.28634484e-03 4.26625711e+01] [ 5.47506123e-02 -2.04084650e-03 9.98497975e-01 2.23738200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9050998929998 meters 0.02419581357927688 Centerline is valid? [True, True] Translation: X:536.25, Y:42.66, Z:22.37 [[ 9.89137479e-01 -1.36296255e-01 -5.50488709e-02 5.36248887e+02] [ 1.36209783e-01 9.90665639e-01 -5.33734233e-03 4.26614220e+01] [ 5.52624847e-02 -2.21882945e-03 9.98469396e-01 2.23749574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9650998929999 meters 0.020449373949311418 Centerline is valid? [True, True] Translation: X:536.31, Y:42.67, Z:22.38 [[ 9.88836829e-01 -1.38595285e-01 -5.47089734e-02 5.36309108e+02] [ 1.38513228e-01 9.90346363e-01 -5.30727899e-03 4.26725176e+01] [ 5.49163967e-02 -2.32988355e-03 9.98488238e-01 2.23814344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0250998929998 meters 0.022496242726619552 Centerline is valid? [True, True] Translation: X:536.37, Y:42.68, Z:22.38 [[ 9.88792533e-01 -1.39316692e-01 -5.36673566e-02 5.36369478e+02] [ 1.39238881e-01 9.90245145e-01 -5.20450453e-03 4.26758803e+01] [ 5.38689136e-02 -2.32640746e-03 9.98545306e-01 2.23847657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0850998929999 meters 0.0218247630863659 Centerline is valid? [True, True] Translation: X:536.43, Y:42.68, Z:22.39 [[ 9.88635135e-01 -1.40579581e-01 -5.32724256e-02 5.36430668e+02] [ 1.40504801e-01 9.90066525e-01 -5.16503369e-03 4.26829901e+01] [ 5.34693435e-02 -2.37869779e-03 9.98566658e-01 2.23887663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.1450998929998 meters 0.022966083712858278 Centerline is valid? [True, True] Translation: X:536.49, Y:42.69, Z:22.39 [[ 9.88400035e-01 -1.42706740e-01 -5.19630402e-02 5.36491805e+02] [ 1.42638617e-01 9.89762023e-01 -5.03622808e-03 4.26869866e+01] [ 5.21497475e-02 -2.43412816e-03 9.98636310e-01 2.23929198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2050998929999 meters 0.023097007720917856 Centerline is valid? [True, True] Translation: X:536.55, Y:42.69, Z:22.40 [[ 9.88649455e-01 -1.41518964e-01 -5.04443976e-02 5.36552610e+02] [ 1.41453310e-01 9.89932864e-01 -4.88726175e-03 4.26933043e+01] [ 5.06282073e-02 -2.30373836e-03 9.98714913e-01 2.23968079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2650998929998 meters 0.019978498288171734 Centerline is valid? [True, True] Translation: X:536.61, Y:42.71, Z:22.40 [[ 9.89217785e-01 -1.37628644e-01 -5.00652549e-02 5.36612865e+02] [ 1.37559083e-01 9.90481694e-01 -4.84888583e-03 4.27054638e+01] [ 5.02560640e-02 -2.09032646e-03 9.98734178e-01 2.24001440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.3250998929999 meters 0.017195569908226398 Centerline is valid? [True, True] Translation: X:536.67, Y:42.72, Z:22.40 [[ 9.90560514e-01 -1.27711730e-01 -4.97954068e-02 5.36672670e+02] [ 1.27630440e-01 9.91810073e-01 -4.82183812e-03 4.27204096e+01] [ 5.00033913e-02 -1.57908724e-03 9.98747800e-01 2.24038172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.3850998929998 meters 0.015695390824196895 Centerline is valid? [True, True] Translation: X:536.73, Y:42.73, Z:22.41 [[ 9.91493832e-01 -1.20441551e-01 -4.93336962e-02 5.36732335e+02] [ 1.20352803e-01 9.92719693e-01 -4.77640304e-03 4.27314721e+01] [ 4.95498091e-02 -1.20167445e-03 9.98770931e-01 2.24071623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.4450998929999 meters 0.014146044162335338 Centerline is valid? [True, True] Translation: X:536.79, Y:42.74, Z:22.41 [[ 9.92560017e-01 -1.12215011e-01 -4.72483272e-02 5.36792017e+02] [ 1.12124293e-01 9.93683661e-01 -4.57439189e-03 4.27439132e+01] [ 4.74632061e-02 -7.57326780e-04 9.98872700e-01 2.24113341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.5050998929999 meters 0.013713613440005904 Centerline is valid? [True, True] Translation: X:536.85, Y:42.75, Z:22.41 [[ 9.92877635e-01 -1.09796856e-01 -4.62455740e-02 5.36853678e+02] [ 1.09707381e-01 9.93953849e-01 -4.47616048e-03 4.27513049e+01] [ 4.64574346e-02 -6.29201177e-04 9.98920072e-01 2.24144103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.5650998929999 meters 0.0138770892286306 Centerline is valid? [True, True] Translation: X:536.92, Y:42.76, Z:22.42 [[ 9.92734166e-01 -1.11382305e-01 -4.55286571e-02 5.36915813e+02] [ 1.11297401e-01 9.93777389e-01 -4.40345855e-03 4.27560756e+01] [ 4.57358174e-02 -6.95757455e-04 9.98953328e-01 2.24170798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6250998929999 meters 0.014932422298950133 Centerline is valid? [True, True] Translation: X:536.98, Y:42.76, Z:22.42 [[ 9.92168327e-01 -1.16885470e-01 -4.40431345e-02 5.36977768e+02] [ 1.16811571e-01 9.93144973e-01 -4.25662998e-03 4.27558652e+01] [ 4.42387558e-02 -9.21454301e-04 9.99020562e-01 2.24198764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6850998929999 meters 0.016196635288718272 Centerline is valid? [True, True] Translation: X:537.04, Y:42.76, Z:22.42 [[ 9.91545332e-01 -1.22346145e-01 -4.32351084e-02 5.37039456e+02] [ 1.22280217e-01 9.92486830e-01 -4.17621126e-03 4.27570557e+01] [ 4.34212191e-02 -1.14589569e-03 9.99056197e-01 2.24230417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.7450998929999 meters 0.018485394055354345 Centerline is valid? [True, True] Translation: X:537.10, Y:42.76, Z:22.43 [[ 9.90330417e-01 -1.32259279e-01 -4.18706041e-02 5.37100239e+02] [ 1.32206346e-01 9.91213971e-01 -4.04291956e-03 4.27553191e+01] [ 4.20374414e-02 -1.53173335e-03 9.99114862e-01 2.24254518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8050998929999 meters 0.023716684670096425 Centerline is valid? [True, True] Translation: X:537.16, Y:42.75, Z:22.43 [[ 9.88975683e-01 -1.42369881e-01 -4.07174976e-02 5.37161024e+02] [ 1.42328363e-01 9.89811689e-01 -3.93153584e-03 4.27480513e+01] [ 4.08623874e-02 -1.90706145e-03 9.99162964e-01 2.24268557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8650998929999 meters 0.026240244842403452 Centerline is valid? [True, True] Translation: X:537.22, Y:42.75, Z:22.43 [[ 9.88322781e-01 -1.46910524e-01 -4.04398079e-02 5.37222177e+02] [ 1.46873488e-01 9.89147591e-01 -3.90151779e-03 4.27478218e+01] [ 4.05741126e-02 -2.08357672e-03 9.99174359e-01 2.24290379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9250998929999 meters 0.0284985374814587 Centerline is valid? [True, True] Translation: X:537.28, Y:42.75, Z:22.43 [[ 9.88022574e-01 -1.48999594e-01 -4.01312029e-02 5.37282941e+02] [ 1.48964865e-01 9.88834912e-01 -3.87108472e-03 4.27512998e+01] [ 4.02599246e-02 -2.15342011e-03 9.99186920e-01 2.24317050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9850998929999 meters 0.028523031148569508 Centerline is valid? [True, True] Translation: X:537.34, Y:42.76, Z:22.43 [[ 9.88450477e-01 -1.46185962e-01 -3.99414469e-02 5.37342931e+02] [ 1.46149325e-01 9.89255044e-01 -3.85139374e-03 4.27593699e+01] [ 4.00752975e-02 -2.03050352e-03 9.99194599e-01 2.24346892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.0450998929999 meters 0.02244374792935742 Centerline is valid? [True, True] Translation: X:537.40, Y:42.77, Z:22.44 [[ 9.89381875e-01 -1.40092924e-01 -3.86972547e-02 5.37402004e+02] [ 1.40053935e-01 9.90136850e-01 -3.73001443e-03 4.27741674e+01] [ 3.88381265e-02 -1.72929413e-03 9.99244019e-01 2.24366639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.1050998929999 meters 0.023761249545886928 Centerline is valid? [True, True] Translation: X:537.46, Y:42.78, Z:22.44 [[ 9.89985046e-01 -1.35895498e-01 -3.82363970e-02 5.37461360e+02] [ 1.35854313e-01 9.90721971e-01 -3.68543444e-03 4.27785399e+01] [ 3.83824725e-02 -1.54605445e-03 9.99261925e-01 2.24389679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.1650998929999 meters 0.01864458994797819 Centerline is valid? [True, True] Translation: X:537.52, Y:42.79, Z:22.44 [[ 9.90684264e-01 -1.30510927e-01 -3.88791436e-02 5.37521208e+02] [ 1.30464171e-01 9.91445940e-01 -3.74820787e-03 4.27933659e+01] [ 3.90357511e-02 -1.35904468e-03 9.99236890e-01 2.24395001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.2250998929999 meters 0.018192316037956166 Centerline is valid? [True, True] Translation: X:537.58, Y:42.80, Z:22.44 [[ 9.90893921e-01 -1.28856535e-01 -3.90541947e-02 5.37583568e+02] [ 1.28808095e-01 9.91662394e-01 -3.76455911e-03 4.28002567e+01] [ 3.92136642e-02 -1.30021769e-03 9.99230003e-01 2.24415304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.2850998929999 meters 0.017516347211391614 Centerline is valid? [True, True] Translation: X:537.64, Y:42.81, Z:22.44 [[ 9.91374096e-01 -1.24610926e-01 -4.06142752e-02 5.37644342e+02] [ 1.24555143e-01 9.92204979e-01 -3.91091667e-03 4.28074375e+01] [ 4.07850290e-02 -1.18153536e-03 9.99167246e-01 2.24427157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.3450998929999 meters 0.017489220492954406 Centerline is valid? [True, True] Translation: X:537.71, Y:42.81, Z:22.44 [[ 9.91710584e-01 -1.21874101e-01 -4.07040636e-02 5.37705622e+02] [ 1.21815828e-01 9.92544988e-01 -3.91809139e-03 4.28141298e+01] [ 4.08781282e-02 -1.07278651e-03 9.99163564e-01 2.24449577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4050998929998 meters 0.015845799772296977 Centerline is valid? [True, True] Translation: X:537.77, Y:42.82, Z:22.45 [[ 9.92232125e-01 -1.17769955e-01 -4.00705417e-02 5.37766293e+02] [ 1.17710255e-01 9.93040503e-01 -3.85419627e-03 4.28243962e+01] [ 4.02455794e-02 -8.92456311e-04 9.99189420e-01 2.24478142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4650998929999 meters 0.01572629808693759 Centerline is valid? [True, True] Translation: X:537.83, Y:42.83, Z:22.45 [[ 9.92662366e-01 -1.14383187e-01 -3.92162420e-02 5.37827399e+02] [ 1.14323418e-01 9.93436429e-01 -3.77064631e-03 4.28302855e+01] [ 3.93901420e-02 -7.40356141e-04 9.99223633e-01 2.24505222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5250998929998 meters 0.014516469637350876 Centerline is valid? [True, True] Translation: X:537.89, Y:42.84, Z:22.45 [[ 9.93330428e-01 -1.08441554e-01 -3.91802205e-02 5.37888055e+02] [ 1.08377359e-01 9.94102697e-01 -3.76499660e-03 4.28401291e+01] [ 3.93574450e-02 -5.06363133e-04 9.99225067e-01 2.24526135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5850998929999 meters 0.014012924411203673 Centerline is valid? [True, True] Translation: X:537.95, Y:42.85, Z:22.46 [[ 9.93943693e-01 -1.03173564e-01 -3.78305440e-02 5.37949476e+02] [ 1.03109945e-01 9.94663326e-01 -3.63411179e-03 4.28486431e+01] [ 3.80035990e-02 -2.88602829e-04 9.99277561e-01 2.24576048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.6450998929998 meters 0.01385191635656348 Centerline is valid? [True, True] Translation: X:538.01, Y:42.85, Z:22.46 [[ 9.93946437e-01 -1.01634301e-01 -4.17246912e-02 5.38011676e+02] [ 1.01555692e-01 9.94821795e-01 -4.00482292e-03 4.28541107e+01] [ 4.19156596e-02 -2.56800400e-04 9.99121120e-01 2.24569286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7050998929999 meters 0.013969402135988187 Centerline is valid? [True, True] Translation: X:538.07, Y:42.86, Z:22.46 [[ 9.93952145e-01 -1.01593497e-01 -4.16880589e-02 5.38072366e+02] [ 1.01515119e-01 9.94825962e-01 -3.99823658e-03 4.28574770e+01] [ 4.18785581e-02 -2.57912425e-04 9.99122675e-01 2.24597610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7650998929998 meters 0.014242118976662431 Centerline is valid? [True, True] Translation: X:538.13, Y:42.86, Z:22.46 [[ 9.93771296e-01 -1.03290394e-01 -4.18294898e-02 5.38133773e+02] [ 1.03213080e-01 9.94651187e-01 -4.00951599e-03 4.28598796e+01] [ 4.20198962e-02 -3.32808587e-04 9.99116719e-01 2.24621977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.8250998929999 meters 0.014427875225989994 Centerline is valid? [True, True] Translation: X:538.20, Y:42.86, Z:22.46 [[ 9.93280702e-01 -1.07657517e-01 -4.24653479e-02 5.38195775e+02] [ 1.07582028e-01 9.94187899e-01 -4.06562491e-03 4.28616703e+01] [ 4.26562301e-02 -5.30201462e-04 9.99089668e-01 2.24648632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.8850998929998 meters 0.015472209301113886 Centerline is valid? [True, True] Translation: X:538.26, Y:42.86, Z:22.47 [[ 9.92659116e-01 -1.12730645e-01 -4.38141637e-02 5.38256351e+02] [ 1.12655360e-01 9.93625282e-01 -4.19153155e-03 4.28614529e+01] [ 4.40073748e-02 -7.75138408e-04 9.99030905e-01 2.24667806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.9450998929999 meters 0.01563693296861354 Centerline is valid? [True, True] Translation: X:538.32, Y:42.86, Z:22.47 [[ 9.92309135e-01 -1.15883608e-01 -4.35151663e-02 5.38317838e+02] [ 1.15812411e-01 9.93262383e-01 -4.16211098e-03 4.28649674e+01] [ 4.37042982e-02 -9.09495581e-04 9.99044097e-01 2.24706248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.0050998929999 meters 0.017293492321087522 Centerline is valid? [True, True] Translation: X:538.38, Y:42.86, Z:22.47 [[ 9.91970256e-01 -1.18837582e-01 -4.32740180e-02 5.38378728e+02] [ 1.18770047e-01 9.92913167e-01 -4.13749037e-03 4.28648802e+01] [ 4.34590316e-02 -1.03538978e-03 9.99054673e-01 2.24735711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.0650998929999 meters 0.01771242421651808 Centerline is valid? [True, True] Translation: X:538.44, Y:42.87, Z:22.48 [[ 9.91430508e-01 -1.23352484e-01 -4.30082903e-02 5.38440340e+02] [ 1.23290051e-01 9.92362162e-01 -4.11128863e-03 4.28662625e+01] [ 4.31869377e-02 -1.22643734e-03 9.99066256e-01 2.24769721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1250998929999 meters 0.018522438240884776 Centerline is valid? [True, True] Translation: X:538.50, Y:42.87, Z:22.48 [[ 9.91161756e-01 -1.25662265e-01 -4.25131617e-02 5.38502137e+02] [ 1.25603449e-01 9.92072210e-01 -4.06242005e-03 4.28681594e+01] [ 4.26866192e-02 -1.31328434e-03 9.99087648e-01 2.24791676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1850998929999 meters 0.019041392613437458 Centerline is valid? [True, True] Translation: X:538.56, Y:42.87, Z:22.48 [[ 9.90741321e-01 -1.28472284e-01 -4.38919889e-02 5.38564605e+02] [ 1.28412453e-01 9.91711990e-01 -4.19167564e-03 4.28702969e+01] [ 4.40667259e-02 -1.48341170e-03 9.99027489e-01 2.24809331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.2450998929999 meters 0.019607017932024635 Centerline is valid? [True, True] Translation: X:538.63, Y:42.87, Z:22.48 [[ 9.90442327e-01 -1.30277882e-01 -4.52953766e-02 5.38625924e+02] [ 1.30216198e-01 9.91476202e-01 -4.32242163e-03 4.28734424e+01] [ 4.54724039e-02 -1.61708238e-03 9.98964286e-01 2.24816500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3050998929999 meters 0.02055137042181696 Centerline is valid? [True, True] Translation: X:538.69, Y:42.88, Z:22.48 [[ 9.90137866e-01 -1.32340469e-01 -4.59674524e-02 5.38686815e+02] [ 1.32279233e-01 9.91202793e-01 -4.38493875e-03 4.28760765e+01] [ 4.61433721e-02 -1.73884547e-03 9.98933314e-01 2.24838116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3650998929999 meters 0.021351247110290336 Centerline is valid? [True, True] Translation: X:538.75, Y:42.88, Z:22.49 [[ 9.89672976e-01 -1.35104164e-01 -4.78984822e-02 5.38747459e+02] [ 1.35040949e-01 9.90829487e-01 -4.56824862e-03 4.28802902e+01] [ 4.80764180e-02 -1.94718428e-03 9.98841762e-01 2.24852222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4250998929999 meters 0.023945667546326217 Centerline is valid? [True, True] Translation: X:538.81, Y:42.88, Z:22.49 [[ 9.88983952e-01 -1.38929541e-01 -5.10815486e-02 5.38806430e+02] [ 1.38862759e-01 9.90299654e-01 -4.87135374e-03 4.28819794e+01] [ 5.12628148e-02 -2.27563409e-03 9.98682605e-01 2.24852668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4850998929999 meters 0.02300543910756204 Centerline is valid? [True, True] Translation: X:538.87, Y:42.89, Z:22.49 [[ 9.88201663e-01 -1.43897211e-01 -5.24506048e-02 5.38865938e+02] [ 1.43833695e-01 9.89589225e-01 -5.00344199e-03 4.28901824e+01] [ 5.26245347e-02 -2.59975459e-03 9.98610985e-01 2.24889855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.5450998929999 meters 0.026150817639649628 Centerline is valid? [True, True] Translation: X:538.93, Y:42.89, Z:22.49 [[ 9.87272724e-01 -1.50008066e-01 -5.28218576e-02 5.38926196e+02] [ 1.49952356e-01 9.88680384e-01 -5.03886209e-03 4.28945673e+01] [ 5.29798044e-02 -2.94603087e-03 9.98591238e-01 2.24925266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.6050998929999 meters 0.026480734538933876 Centerline is valid? [True, True] Translation: X:538.99, Y:42.90, Z:22.50 [[ 9.87160341e-01 -1.50904709e-01 -5.23663043e-02 5.38986072e+02] [ 1.50851211e-01 9.88543857e-01 -4.99538818e-03 4.29002376e+01] [ 5.25202160e-02 -2.96827132e-03 9.98615450e-01 2.24951246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.6650998929999 meters 0.026480734538933876 Centerline is valid? [True, True] Translation: X:539.05, Y:42.91, Z:22.50 [[ 9.87165795e-01 -1.50869015e-01 -5.23663407e-02 5.39046690e+02] [ 1.50815487e-01 9.88549310e-01 -4.99500628e-03 4.29059900e+01] [ 5.25203016e-02 -2.96675582e-03 9.98615450e-01 2.24976843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.7250998929999 meters 0.02841205184238667 Centerline is valid? [True, True] Translation: X:539.11, Y:42.91, Z:22.50 [[ 9.86935213e-01 -1.52866625e-01 -5.08987328e-02 5.39106679e+02] [ 1.52818773e-01 9.88242311e-01 -4.85353402e-03 4.29121717e+01] [ 5.10422247e-02 -2.98815827e-03 9.98692026e-01 2.25018694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.7850998929999 meters 0.03011017591720543 Centerline is valid? [True, True] Translation: X:539.17, Y:42.92, Z:22.50 [[ 9.86928554e-01 -1.52826753e-01 -5.11469798e-02 5.39166566e+02] [ 1.52778389e-01 9.88248440e-01 -4.87704073e-03 4.29183458e+01] [ 5.12912652e-02 -3.00086241e-03 9.98679228e-01 2.25049988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.8450998929999 meters 0.03037225390256172 Centerline is valid? [True, True] Translation: X:539.23, Y:42.93, Z:22.51 [[ 9.86954910e-01 -1.51688866e-01 -5.39489821e-02 5.39226815e+02] [ 1.51633416e-01 9.88423417e-01 -5.14344072e-03 4.29280330e+01] [ 5.41046400e-02 -3.10412437e-03 9.98530446e-01 2.25061908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9050998929998 meters 0.028660776215694416 Centerline is valid? [True, True] Translation: X:539.29, Y:42.94, Z:22.51 [[ 9.87059143e-01 -1.50387574e-01 -5.56581155e-02 5.39286220e+02] [ 1.50326500e-01 9.88622165e-01 -5.30638774e-03 4.29393207e+01] [ 5.58228615e-02 -3.12917114e-03 9.98435785e-01 2.25087731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9650998929999 meters 0.0234202941781953 Centerline is valid? [True, True] Translation: X:539.35, Y:42.96, Z:22.51 [[ 9.87672237e-01 -1.46226581e-01 -5.58689532e-02 5.39345480e+02] [ 1.46158422e-01 9.89246858e-01 -5.32622920e-03 4.29584049e+01] [ 5.60470228e-02 -2.90514933e-03 9.98423904e-01 2.25141074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0250998929998 meters 0.021528001067680443 Centerline is valid? [True, True] Translation: X:539.41, Y:42.97, Z:22.52 [[ 9.88659553e-01 -1.39238113e-01 -5.62586513e-02 5.39405278e+02] [ 1.39157755e-01 9.90255705e-01 -5.36258332e-03 4.29732628e+01] [ 5.64571264e-02 -2.52705839e-03 9.98401826e-01 2.25168456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0850998929999 meters 0.01874385173187619 Centerline is valid? [True, True] Translation: X:539.47, Y:42.99, Z:22.52 [[ 9.89922949e-01 -1.30083687e-01 -5.59534509e-02 5.39465004e+02] [ 1.29989608e-01 9.91501013e-01 -5.33319292e-03 4.29891682e+01] [ 5.61716647e-02 -1.99391711e-03 9.98419135e-01 2.25197332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.1450998929998 meters 0.018928064596213018 Centerline is valid? [True, True] Translation: X:539.52, Y:43.00, Z:22.52 [[ 9.90359979e-01 -1.26852701e-01 -5.56372499e-02 5.39524947e+02] [ 1.26754646e-01 9.91919930e-01 -5.30210142e-03 4.29969050e+01] [ 5.58602829e-02 -1.80129084e-03 9.98436971e-01 2.25218237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2050998929999 meters 0.015153610333369209 Centerline is valid? [True, True] Translation: X:539.58, Y:43.01, Z:22.53 [[ 9.91259788e-01 -1.19206259e-01 -5.65145961e-02 5.39584239e+02] [ 1.19092721e-01 9.92868535e-01 -5.38477931e-03 4.30143245e+01] [ 5.67534636e-02 -1.39276182e-03 9.98387252e-01 2.25252494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2650998929998 meters 0.014419951305907288 Centerline is valid? [True, True] Translation: X:539.65, Y:43.02, Z:22.53 [[ 9.91581578e-01 -1.16455329e-01 -5.66050438e-02 5.39645052e+02] [ 1.16337007e-01 9.93195159e-01 -5.39238062e-03 4.30232141e+01] [ 5.68478269e-02 -1.23827608e-03 9.98382087e-01 2.25279154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.3250998929999 meters 0.013933820017903342 Centerline is valid? [True, True] Translation: X:539.70, Y:43.03, Z:22.53 [[ 9.91843833e-01 -1.14279815e-01 -5.64440880e-02 5.39704600e+02] [ 1.14158730e-01 9.93447979e-01 -5.37556733e-03 4.30314012e+01] [ 5.66885840e-02 -1.11186208e-03 9.98391290e-01 2.25300507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.3850998929998 meters 0.013123816817494896 Centerline is valid? [True, True] Translation: X:539.76, Y:43.04, Z:22.53 [[ 9.92094756e-01 -1.11758585e-01 -5.70790052e-02 5.39764666e+02] [ 1.11630591e-01 9.93734905e-01 -5.43603495e-03 4.30405552e+01] [ 5.73289233e-02 -9.78701296e-04 9.98354865e-01 2.25324720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.4450998929999 meters 0.011835675206664856 Centerline is valid? [True, True] Translation: X:539.82, Y:43.05, Z:22.53 [[ 9.92823453e-01 -1.04823525e-01 -5.75640470e-02 5.39824480e+02] [ 1.04681691e-01 9.94490668e-01 -5.48222890e-03 4.30524130e+01] [ 5.78215742e-02 -5.83016364e-04 9.98326763e-01 2.25348855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.5050998929999 meters 0.01138740278467354 Centerline is valid? [True, True] Translation: X:539.88, Y:43.06, Z:22.54 [[ 9.93424192e-01 -9.93483027e-02 -5.69059735e-02 5.39882823e+02] [ 9.92006701e-02 9.95052686e-01 -5.42034176e-03 4.30611771e+01] [ 5.71629435e-02 -2.60412075e-04 9.98364828e-01 2.25363491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.5650998929999 meters 0.010682773780910206 Centerline is valid? [True, True] Translation: X:539.94, Y:43.07, Z:22.54 [[ 9.94312110e-01 -9.15555821e-02 -5.44151025e-02 5.39941322e+02] [ 9.14087911e-02 9.95799951e-01 -5.18562274e-03 4.30698260e+01] [ 5.46613291e-02 1.82108751e-04 9.98504935e-01 2.25435467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6250998929999 meters 0.010708146120269756 Centerline is valid? [True, True] Translation: X:540.00, Y:43.07, Z:22.54 [[ 9.94188726e-01 -9.23062864e-02 -5.53924730e-02 5.40000704e+02] [ 9.21552212e-02 9.95730651e-01 -5.28080225e-03 4.30728268e+01] [ 5.56434345e-02 1.45408459e-04 9.98450693e-01 2.25447280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6850998929999 meters 0.010397277863064167 Centerline is valid? [True, True] Translation: X:540.06, Y:43.08, Z:22.55 [[ 9.94012377e-01 -9.39883194e-02 -5.57278153e-02 5.40059979e+02] [ 9.38379438e-02 9.95573299e-01 -5.31482496e-03 4.30762844e+01] [ 5.59806564e-02 5.36181896e-05 9.98431852e-01 2.25476022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.7450998929999 meters 0.010859703950665727 Centerline is valid? [True, True] Translation: X:540.12, Y:43.07, Z:22.55 [[ 9.93205225e-01 -1.01711135e-01 -5.65528608e-02 5.40119330e+02] [ 1.01568631e-01 9.94813901e-01 -5.39594665e-03 4.30727687e+01] [ 5.68083999e-02 -3.84714258e-04 9.98385025e-01 2.25475378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8050998929999 meters 0.011781489709969652 Centerline is valid? [True, True] Translation: X:540.18, Y:43.07, Z:22.55 [[ 9.92410323e-01 -1.09352651e-01 -5.62472010e-02 5.40178576e+02] [ 1.09223600e-01 9.94002686e-01 -5.37271542e-03 4.30713034e+01] [ 5.64973896e-02 -8.11583545e-04 9.98402417e-01 2.25499783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8650998929999 meters 0.014097067169361738 Centerline is valid? [True, True] Translation: X:540.24, Y:43.07, Z:22.55 [[ 9.91107124e-01 -1.20513231e-01 -5.64201205e-02 5.40238965e+02] [ 1.20400806e-01 9.92710675e-01 -5.40010741e-03 4.30680196e+01] [ 5.66596403e-02 -1.44094304e-03 9.98392512e-01 2.25527898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9250998929999 meters 0.01764443966843627 Centerline is valid? [True, True] Translation: X:540.30, Y:43.06, Z:22.56 [[ 9.89788923e-01 -1.30942610e-01 -5.63198069e-02 5.40300126e+02] [ 1.30847350e-01 9.91387866e-01 -5.39166378e-03 4.30647414e+01] [ 5.65407717e-02 -2.03268836e-03 9.98398222e-01 2.25551232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9850998929999 meters 0.02158780148490182 Centerline is valid? [True, True] Translation: X:540.36, Y:43.06, Z:22.56 [[ 9.88583910e-01 -1.39937357e-01 -5.58514873e-02 5.40361054e+02] [ 1.39857967e-01 9.90157138e-01 -5.34698232e-03 4.30630301e+01] [ 5.60499914e-02 -2.52533479e-03 9.98424770e-01 2.25577122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.0450998929999 meters 0.024810404770253595 Centerline is valid? [True, True] Translation: X:540.42, Y:43.06, Z:22.56 [[ 9.87906072e-01 -1.45038794e-01 -5.48209838e-02 5.40420974e+02] [ 1.44970118e-01 9.89422113e-01 -5.24854460e-03 4.30634950e+01] [ 5.50023362e-02 -2.76233541e-03 9.98482405e-01 2.25604213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.1050998929999 meters 0.02748411277162142 Centerline is valid? [True, True] Translation: X:540.48, Y:43.07, Z:22.56 [[ 9.87321028e-01 -1.49504124e-01 -5.33451480e-02 5.40481514e+02] [ 1.49445624e-01 9.88756759e-01 -5.10647888e-03 4.30655405e+01] [ 5.35088153e-02 -2.93046497e-03 9.98563077e-01 2.25636316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.1650998929999 meters 0.029995125516111807 Centerline is valid? [True, True] Translation: X:540.54, Y:43.07, Z:22.57 [[ 9.86686848e-01 -1.53437480e-01 -5.39073541e-02 5.40542179e+02] [ 1.53383596e-01 9.88153250e-01 -5.16010241e-03 4.30682771e+01] [ 5.40604803e-02 -3.17709864e-03 9.98532609e-01 2.25651923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.2250998929999 meters 0.031394526842118776 Centerline is valid? [True, True] Translation: X:540.60, Y:43.07, Z:22.57 [[ 9.86482052e-01 -1.54415651e-01 -5.48540605e-02 5.40602878e+02] [ 1.54361391e-01 9.88000504e-01 -5.25028050e-03 4.30729178e+01] [ 5.50065649e-02 -3.28804159e-03 9.98480579e-01 2.25666271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.2850998929999 meters 0.03266548152668395 Centerline is valid? [True, True] Translation: X:540.66, Y:43.08, Z:22.57 [[ 9.86431471e-01 -1.54815655e-01 -5.46357634e-02 5.40663431e+02] [ 1.54762476e-01 9.87937871e-01 -5.22866710e-03 4.30779128e+01] [ 5.47862193e-02 -3.29784424e-03 9.98492661e-01 2.25683465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.3450998929999 meters 0.026972382108448607 Centerline is valid? [True, True] Translation: X:540.72, Y:43.09, Z:22.57 [[ 9.86641825e-01 -1.53428069e-01 -5.47515919e-02 5.40723892e+02] [ 1.53372562e-01 9.88154546e-01 -5.23928063e-03 4.30920728e+01] [ 5.49068871e-02 -3.22809852e-03 9.98486261e-01 2.25722570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4050998929998 meters 0.021969459189607996 Centerline is valid? [True, True] Translation: X:540.78, Y:43.11, Z:22.58 [[ 9.87658364e-01 -1.46569917e-01 -5.52106435e-02 5.40782661e+02] [ 1.46502877e-01 9.89196144e-01 -5.28169043e-03 4.31083304e+01] [ 5.53882926e-02 -2.87201237e-03 9.98460760e-01 2.25760251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4650998929999 meters 0.016926736869950817 Centerline is valid? [True, True] Translation: X:540.84, Y:43.13, Z:22.58 [[ 9.89638311e-01 -1.33127369e-01 -5.37877000e-02 5.40841649e+02] [ 1.33043900e-01 9.91096788e-01 -5.14554883e-03 4.31266434e+01] [ 5.39938301e-02 -2.06389314e-03 9.98539136e-01 2.25802996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5250998929998 meters 0.013832132154301065 Centerline is valid? [True, True] Translation: X:540.90, Y:43.14, Z:22.58 [[ 9.91204673e-01 -1.21643690e-01 -5.21163096e-02 5.40901583e+02] [ 1.21549480e-01 9.92572854e-01 -4.98524596e-03 4.31412020e+01] [ 5.23356579e-02 -1.39331123e-03 9.98628578e-01 2.25839588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5850998929999 meters 0.010266291175162041 Centerline is valid? [True, True] Translation: X:540.96, Y:43.16, Z:22.59 [[ 9.93430120e-01 -1.03072767e-01 -4.97252504e-02 5.40959876e+02] [ 1.02963749e-01 9.94673740e-01 -4.75583902e-03 4.31606368e+01] [ 4.99505982e-02 -3.95304441e-04 9.98751611e-01 2.25878825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.6450998929998 meters 0.010172211748176835 Centerline is valid? [True, True] Translation: X:541.02, Y:43.18, Z:22.59 [[ 9.94956117e-01 -8.78327924e-02 -4.84533297e-02 5.41020964e+02] [ 8.77112189e-02 9.96135167e-01 -4.63372862e-03 4.31776202e+01] [ 4.86730590e-02 3.60456029e-04 9.98814699e-01 2.25915786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7050998929999 meters 0.010839034930002774 Centerline is valid? [True, True] Translation: X:541.08, Y:43.19, Z:22.59 [[ 9.95462069e-01 -8.16620537e-02 -4.88526250e-02 5.41081606e+02] [ 8.15312041e-02 9.96659856e-01 -4.66852334e-03 4.31860781e+01] [ 4.90706914e-02 6.64324566e-04 9.98795087e-01 2.25928934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7650998929998 meters 0.01245292196934657 Centerline is valid? [True, True] Translation: X:541.14, Y:43.19, Z:22.59 [[ 9.95612151e-01 -7.94601552e-02 -4.94219345e-02 5.41140715e+02] [ 7.93235956e-02 9.96837737e-01 -4.72149957e-03 4.31939161e+01] [ 4.96408204e-02 7.80456805e-04 9.98766830e-01 2.25931358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.8250998929999 meters 0.011163791888099593 Centerline is valid? [True, True] Translation: X:541.20, Y:43.20, Z:22.60 [[ 9.95500440e-01 -8.16444352e-02 -4.80942941e-02 5.41200544e+02] [ 8.15176192e-02 9.96661306e-01 -4.59563168e-03 4.31958013e+01] [ 4.83089297e-02 6.54421004e-04 9.98832228e-01 2.25969566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.8850998929998 meters 0.010122741489693337 Centerline is valid? [True, True] Translation: X:541.26, Y:43.19, Z:22.60 [[ 9.94998087e-01 -8.86448370e-02 -4.60532235e-02 5.41260433e+02] [ 8.85359789e-02 9.96063252e-01 -4.40218751e-03 4.31946092e+01] [ 4.62621548e-02 3.02800923e-04 9.98929287e-01 2.26006228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.9450998929999 meters 0.00986251122508202 Centerline is valid? [True, True] Translation: X:541.32, Y:43.19, Z:22.60 [[ 9.94231539e-01 -9.73306684e-02 -4.50598321e-02 5.41321311e+02] [ 9.72353034e-02 9.95252094e-01 -4.30863310e-03 4.31916097e+01] [ 4.52652544e-02 -9.76275333e-05 9.98974998e-01 2.26032336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.0050998929999 meters 0.010379365008866815 Centerline is valid? [True, True] Translation: X:541.38, Y:43.19, Z:22.61 [[ 9.93601357e-01 -1.03805671e-01 -4.45053454e-02 5.41383503e+02] [ 1.03719169e-01 9.94597522e-01 -4.25469469e-03 4.31912914e+01] [ 4.47065677e-02 -3.88587009e-04 9.99000086e-01 2.26062163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.0650998929999 meters 0.01072200756719433 Centerline is valid? [True, True] Translation: X:541.45, Y:43.19, Z:22.61 [[ 9.93278018e-01 -1.06950758e-01 -4.42754415e-02 5.41445471e+02] [ 1.06868409e-01 9.94264177e-01 -4.22956563e-03 4.31942147e+01] [ 4.44738406e-02 -5.30511434e-04 9.99010408e-01 2.26087885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1250998929999 meters 0.012068492586676118 Centerline is valid? [True, True] Translation: X:541.51, Y:43.19, Z:22.61 [[ 9.92627261e-01 -1.13146501e-01 -4.34625114e-02 5.41508172e+02] [ 1.13073216e-01 9.93577997e-01 -4.14878501e-03 4.31930962e+01] [ 4.36528155e-02 -7.96248838e-04 9.99046444e-01 2.26111360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1850998929999 meters 0.014981367157566056 Centerline is valid? [True, True] Translation: X:541.57, Y:43.19, Z:22.61 [[ 9.91515855e-01 -1.22399283e-01 -4.37575772e-02 5.41569619e+02] [ 1.22334128e-01 9.92480196e-01 -4.17384974e-03 4.31873821e+01] [ 4.39394050e-02 -1.21460685e-03 9.99033460e-01 2.26125240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.2450998929999 meters 0.015662436202059607 Centerline is valid? [True, True] Translation: X:541.63, Y:43.19, Z:22.61 [[ 9.91293203e-01 -1.23635693e-01 -4.52990292e-02 5.41631923e+02] [ 1.23567202e-01 9.92326804e-01 -4.31985040e-03 4.31903489e+01] [ 4.54855286e-02 -1.31523594e-03 9.98964132e-01 2.26137848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3050998929999 meters 0.014930723085363756 Centerline is valid? [True, True] Translation: X:541.69, Y:43.20, Z:22.62 [[ 9.91433816e-01 -1.22395482e-01 -4.55887478e-02 5.41693725e+02] [ 1.22324954e-01 9.92480596e-01 -4.34416911e-03 4.31956359e+01] [ 4.57776542e-02 -1.26968532e-03 9.98950847e-01 2.26153872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3650998929999 meters 0.013622905959135633 Centerline is valid? [True, True] Translation: X:541.75, Y:43.20, Z:22.62 [[ 9.92232967e-01 -1.15859894e-01 -4.52793944e-02 5.41754235e+02] [ 1.15783661e-01 9.93265098e-01 -4.31152758e-03 4.32025679e+01] [ 4.54739752e-02 -9.64574258e-04 9.98965058e-01 2.26174858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4250998929999 meters 0.01121283321076988 Centerline is valid? [True, True] Translation: X:541.82, Y:43.21, Z:22.62 [[ 9.93309789e-01 -1.05812871e-01 -4.62525511e-02 5.41815069e+02] [ 1.05722511e-01 9.94385926e-01 -4.40243899e-03 4.32142520e+01] [ 4.64587205e-02 -5.16950119e-04 9.98920077e-01 2.26191590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4850998929999 meters 0.01052831395088709 Centerline is valid? [True, True] Translation: X:541.88, Y:43.22, Z:22.62 [[ 9.93965287e-01 -9.92837021e-02 -4.66449891e-02 5.41875718e+02] [ 9.91847291e-02 9.95059144e-01 -4.43730210e-03 4.32233077e+01] [ 4.68550747e-02 -2.15946350e-04 9.98901675e-01 2.26211126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.5450998929999 meters 0.010542480117697803 Centerline is valid? [True, True] Translation: X:541.94, Y:43.23, Z:22.62 [[ 9.94567736e-01 -9.27182909e-02 -4.73110665e-02 5.41936210e+02] [ 9.26091159e-02 9.95692377e-01 -4.49909005e-03 4.32303176e+01] [ 4.75244162e-02 9.32137631e-05 9.98870072e-01 2.26222970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.6050998929999 meters 0.010678107557326207 Centerline is valid? [True, True] Translation: X:542.00, Y:43.23, Z:22.63 [[ 9.94646945e-01 -9.18299733e-02 -4.73783825e-02 5.41996860e+02] [ 9.17194799e-02 9.95774692e-01 -4.50549153e-03 4.32336707e+01] [ 4.75919335e-02 1.35852780e-04 9.98866853e-01 2.26251340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.6650998929999 meters 0.010643857218239261 Centerline is valid? [True, True] Translation: X:542.06, Y:43.24, Z:22.63 [[ 9.94471147e-01 -9.36322692e-02 -4.75408933e-02 5.42056731e+02] [ 9.35230690e-02 9.95606848e-01 -4.52105053e-03 4.32364079e+01] [ 4.77553551e-02 4.98840648e-05 9.98859061e-01 2.26276530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.7250998929999 meters 0.010894288392431216 Centerline is valid? [True, True] Translation: X:542.12, Y:43.23, Z:22.63 [[ 9.93857338e-01 -9.98349827e-02 -4.77552889e-02 5.42117168e+02] [ 9.97319097e-02 9.95003977e-01 -4.54220803e-03 4.32349279e+01] [ 4.79701736e-02 -2.48419380e-04 9.98848738e-01 2.26300846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.7850998929999 meters 0.011530148209566275 Centerline is valid? [True, True] Translation: X:542.18, Y:43.23, Z:22.63 [[ 9.93263694e-01 -1.05707875e-01 -4.74666126e-02 5.42176999e+02] [ 1.05612733e-01 9.94397087e-01 -4.51496066e-03 4.32342842e+01] [ 4.76779281e-02 -5.28532156e-04 9.98862621e-01 2.26324747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.8450998929999 meters 0.013752089255245327 Centerline is valid? [True, True] Translation: X:542.24, Y:43.23, Z:22.64 [[ 9.92157063e-01 -1.16080195e-01 -4.63654106e-02 5.42236800e+02] [ 1.16000642e-01 9.93239340e-01 -4.41189778e-03 4.32283749e+01] [ 4.65640838e-02 -1.00112187e-03 9.98914803e-01 2.26357752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9050998929998 meters 0.01607938122153692 Centerline is valid? [True, True] Translation: X:542.30, Y:43.23, Z:22.64 [[ 9.91253032e-01 -1.23807932e-01 -4.57058350e-02 5.42297702e+02] [ 1.23738755e-01 9.92305292e-01 -4.35064225e-03 4.32259530e+01] [ 4.58927860e-02 -1.34299581e-03 9.98945468e-01 2.26387607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9650998929999 meters 0.021081017265022782 Centerline is valid? [True, True] Translation: X:542.36, Y:43.22, Z:22.64 [[ 9.89725533e-01 -1.35373565e-01 -4.60148687e-02 5.42358357e+02] [ 1.35315905e-01 9.90792824e-01 -4.38012460e-03 4.32185958e+01] [ 4.61841548e-02 -1.89142244e-03 9.98931152e-01 2.26407624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0250998929998 meters 0.022277313700910965 Centerline is valid? [True, True] Translation: X:542.42, Y:43.22, Z:22.64 [[ 9.88659056e-01 -1.42654029e-01 -4.69371797e-02 5.42419075e+02] [ 1.42602179e-01 9.89769999e-01 -4.46857186e-03 4.32197227e+01] [ 4.70944721e-02 -2.27545007e-03 9.98887848e-01 2.26426961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0850998929999 meters 0.02552648320837736 Centerline is valid? [True, True] Translation: X:542.48, Y:43.22, Z:22.65 [[ 9.87307185e-01 -1.51637059e-01 -4.72305590e-02 5.42479722e+02] [ 1.51594794e-01 9.88432497e-01 -4.49640333e-03 4.32179315e+01] [ 4.73660407e-02 -2.72057554e-03 9.98873894e-01 2.26452971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.1450998929998 meters 0.02665723677388254 Centerline is valid? [True, True] Translation: X:542.54, Y:43.22, Z:22.65 [[ 9.86853721e-01 -1.54510677e-01 -4.73939268e-02 5.42540690e+02] [ 1.54471412e-01 9.87986955e-01 -4.51207558e-03 4.32222768e+01] [ 4.75217453e-02 -2.86824823e-03 9.98866086e-01 2.26483855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2050998929999 meters 0.029194348016622712 Centerline is valid? [True, True] Translation: X:542.60, Y:43.23, Z:22.65 [[ 9.86964026e-01 -1.53615969e-01 -4.80015083e-02 5.42600488e+02] [ 1.53574716e-01 9.88126478e-01 -4.56830687e-03 4.32260835e+01] [ 4.81333263e-02 -2.86306349e-03 9.98836816e-01 2.26506522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2650998929998 meters 0.025364768241346806 Centerline is valid? [True, True] Translation: X:542.66, Y:43.24, Z:22.65 [[ 9.87489239e-01 -1.49535270e-01 -5.00420435e-02 5.42660669e+02] [ 1.49485227e-01 9.88752490e-01 -4.76235397e-03 4.32384417e+01] [ 5.01913350e-02 -2.77777293e-03 9.98735758e-01 2.26519314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.3250998929999 meters 0.022491839371373144 Centerline is valid? [True, True] Translation: X:542.72, Y:43.25, Z:22.66 [[ 9.88066062e-01 -1.45532028e-01 -5.04567815e-02 5.42720749e+02] [ 1.45475994e-01 9.89350133e-01 -4.80091588e-03 4.32499140e+01] [ 5.06181105e-02 -2.59662838e-03 9.98714706e-01 2.26550418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.3850998929998 meters 0.021674188070544213 Centerline is valid? [True, True] Translation: X:542.78, Y:43.26, Z:22.66 [[ 9.89289697e-01 -1.36990481e-01 -5.03934924e-02 5.42779018e+02] [ 1.36923548e-01 9.90570016e-01 -4.79441120e-03 4.32619035e+01] [ 5.05750713e-02 -2.15699418e-03 9.98717933e-01 2.26586546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.4450998929999 meters 0.017115578007167048 Centerline is valid? [True, True] Translation: X:542.84, Y:43.28, Z:22.66 [[ 9.90665616e-01 -1.26674896e-01 -5.03498469e-02 5.42837997e+02] [ 1.26594723e-01 9.91942953e-01 -4.79109903e-03 4.32800462e+01] [ 5.05510878e-02 -1.62764787e-03 9.98720150e-01 2.26631773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.5050998929999 meters 0.014295061225318201 Centerline is valid? [True, True] Translation: X:542.90, Y:43.29, Z:22.67 [[ 9.91562441e-01 -1.19419018e-01 -5.04284041e-02 5.42897754e+02] [ 1.19329222e-01 9.92843145e-01 -4.79845986e-03 4.32942252e+01] [ 5.06405227e-02 -1.25960966e-03 9.98716151e-01 2.26669225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.5650998929999 meters 0.012383806882038297 Centerline is valid? [True, True] Translation: X:542.96, Y:43.31, Z:22.67 [[ 9.92667730e-01 -1.09332936e-01 -5.15469367e-02 5.42956588e+02] [ 1.09225554e-01 9.94004893e-01 -4.90409624e-03 4.33090781e+01] [ 5.17740865e-02 -7.62104630e-04 9.98658532e-01 2.26696512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6250998929999 meters 0.01149041253380385 Centerline is valid? [True, True] Translation: X:543.02, Y:43.32, Z:22.67 [[ 9.93226072e-01 -1.03769042e-01 -5.22872354e-02 5.43016764e+02] [ 1.03650854e-01 9.94601305e-01 -4.97433459e-03 4.33205812e+01] [ 5.25211345e-02 -4.78977787e-04 9.98619698e-01 2.26725870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6850998929999 meters 0.01113346364754234 Centerline is valid? [True, True] Translation: X:543.08, Y:43.33, Z:22.68 [[ 9.93697395e-01 -9.88589280e-02 -5.28431686e-02 5.43076513e+02] [ 9.87313121e-02 9.95101433e-01 -5.02644676e-03 4.33306901e+01] [ 5.30812220e-02 -2.22508326e-04 9.98590173e-01 2.26753709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.7450998929999 meters 0.010974495446593237 Centerline is valid? [True, True] Translation: X:543.13, Y:43.34, Z:22.68 [[ 9.94240951e-01 -9.37534052e-02 -5.19156165e-02 5.43134585e+02] [ 9.36232451e-02 9.95595448e-01 -4.93876988e-03 4.33401107e+01] [ 5.21499780e-02 4.98187706e-05 9.98639263e-01 2.26773960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8050998929999 meters 0.010893985623472262 Centerline is valid? [True, True] Translation: X:543.19, Y:43.35, Z:22.68 [[ 9.94400007e-01 -9.30940504e-02 -5.00212276e-02 5.43193039e+02] [ 9.29721709e-02 9.95657316e-01 -4.76287485e-03 4.33465982e+01] [ 5.02473965e-02 8.56206708e-05 9.98736798e-01 2.26815030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8650998929999 meters 0.010857249546032694 Centerline is valid? [True, True] Translation: X:543.25, Y:43.35, Z:22.68 [[ 9.94202809e-01 -9.57509913e-02 -4.89134072e-02 5.43251654e+02] [ 9.56371286e-02 9.95405318e-01 -4.66833019e-03 4.33498584e+01] [ 4.91356629e-02 -3.66708299e-05 9.98792113e-01 2.26840140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9250998929999 meters 0.011341381254154842 Centerline is valid? [True, True] Translation: X:543.31, Y:43.35, Z:22.69 [[ 9.93477477e-01 -1.03409822e-01 -4.80511281e-02 5.43311278e+02] [ 1.03308768e-01 9.94638751e-01 -4.58848982e-03 4.33485847e+01] [ 4.82680089e-02 -4.05541565e-04 9.98834338e-01 2.26860573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9850998929999 meters 0.011687499482227259 Centerline is valid? [True, True] Translation: X:543.37, Y:43.35, Z:22.69 [[ 9.93142363e-01 -1.06700592e-01 -4.77831657e-02 5.43372372e+02] [ 1.06604406e-01 9.94291038e-01 -4.56417578e-03 4.33517759e+01] [ 4.79973737e-02 -5.61019654e-04 9.98847304e-01 2.26883902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.0450998929999 meters 0.014014578028607253 Centerline is valid? [True, True] Translation: X:543.43, Y:43.35, Z:22.69 [[ 9.91885344e-01 -1.18001640e-01 -4.73188938e-02 5.43433050e+02] [ 1.17920219e-01 9.93012793e-01 -4.51830361e-03 4.33494350e+01] [ 4.75214342e-02 -1.09821520e-03 9.98869615e-01 2.26908232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.1050998929999 meters 0.015326784145534478 Centerline is valid? [True, True] Translation: X:543.49, Y:43.35, Z:22.69 [[ 9.90966850e-01 -1.25316829e-01 -4.77534802e-02 5.43493822e+02] [ 1.25242393e-01 9.92115696e-01 -4.55952720e-03 4.33501015e+01] [ 4.79483627e-02 -1.46241983e-03 9.98848745e-01 2.26927274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.1650998929999 meters 0.01888909355099608 Centerline is valid? [True, True] Translation: X:543.55, Y:43.35, Z:22.69 [[ 9.89847580e-01 -1.33656294e-01 -4.83504324e-02 5.43553540e+02] [ 1.33589938e-01 9.91025944e-01 -4.61583486e-03 4.33471543e+01] [ 4.85334683e-02 -1.89015832e-03 9.98819768e-01 2.26938359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.2250998929999 meters 0.02387410580443422 Centerline is valid? [True, True] Translation: X:543.61, Y:43.35, Z:22.70 [[ 9.89290878e-01 -1.37929328e-01 -4.77394973e-02 5.43614187e+02] [ 1.37869576e-01 9.90439905e-01 -4.55798329e-03 4.33454037e+01] [ 4.79117827e-02 -2.07265297e-03 9.98849421e-01 2.26956620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.2850998929999 meters 0.022980514542671852 Centerline is valid? [True, True] Translation: X:543.68, Y:43.35, Z:22.70 [[ 9.89120493e-01 -1.39208625e-01 -4.75563794e-02 5.43675395e+02] [ 1.39150872e-01 9.90260790e-01 -4.53910652e-03 4.33528983e+01] [ 4.77251006e-02 -2.12778840e-03 9.98858242e-01 2.26980324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.3450998929999 meters 0.021871519639518264 Centerline is valid? [True, True] Translation: X:543.74, Y:43.36, Z:22.70 [[ 9.88953229e-01 -1.40151764e-01 -4.82596466e-02 5.43736493e+02] [ 1.40093501e-01 9.90127573e-01 -4.60437976e-03 4.33611948e+01] [ 4.84285187e-02 -2.20734662e-03 9.98824212e-01 2.26997491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4050998929998 meters 0.02350694267917703 Centerline is valid? [True, True] Translation: X:543.80, Y:43.37, Z:22.70 [[ 9.88761109e-01 -1.41374746e-01 -4.86276623e-02 5.43796224e+02] [ 1.41317179e-01 9.89953510e-01 -4.63718994e-03 4.33655568e+01] [ 4.87947065e-02 -2.28685098e-03 9.98806211e-01 2.27017162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4650998929999 meters 0.023090942023026223 Centerline is valid? [True, True] Translation: X:543.86, Y:43.37, Z:22.70 [[ 9.88092929e-01 -1.45701585e-01 -4.94308821e-02 5.43856176e+02] [ 1.45647503e-01 9.89325319e-01 -4.71364556e-03 4.33740245e+01] [ 4.95900089e-02 -2.54196470e-03 9.98766424e-01 2.27036123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5250998929998 meters 0.028674205388691254 Centerline is valid? [True, True] Translation: X:543.92, Y:43.37, Z:22.70 [[ 9.87521737e-01 -1.49116927e-01 -5.06454533e-02 5.43917120e+02] [ 1.49064678e-01 9.88815659e-01 -4.82851586e-03 4.33728385e+01] [ 5.07990307e-02 -2.78118384e-03 9.98705023e-01 2.27040732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5850998929999 meters 0.025683597650837685 Centerline is valid? [True, True] Translation: X:543.98, Y:43.38, Z:22.71 [[ 9.86804045e-01 -1.53427275e-01 -5.17479290e-02 5.43976652e+02] [ 1.53378671e-01 9.88155175e-01 -4.93280726e-03 4.33848898e+01] [ 5.18918110e-02 -3.06931441e-03 9.98647996e-01 2.27069231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.6450998929998 meters 0.025520403920829948 Centerline is valid? [True, True] Translation: X:544.04, Y:43.39, Z:22.71 [[ 9.86850761e-01 -1.53157822e-01 -5.16551823e-02 5.44038426e+02] [ 1.53109072e-01 9.88197033e-01 -4.92304928e-03 4.33936956e+01] [ 5.17995014e-02 -3.05056208e-03 9.98652845e-01 2.27101642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7050998929999 meters 0.024785962305925578 Centerline is valid? [True, True] Translation: X:544.10, Y:43.41, Z:22.71 [[ 9.87826341e-01 -1.47120554e-01 -5.05436654e-02 5.44096754e+02] [ 1.47066143e-01 9.89114944e-01 -4.81422896e-03 4.34060441e+01] [ 5.07017668e-02 -2.67763976e-03 9.98710249e-01 2.27149171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7650998929998 meters 0.018632057927469973 Centerline is valid? [True, True] Translation: X:544.16, Y:43.43, Z:22.72 [[ 9.89534808e-01 -1.35904900e-01 -4.84842484e-02 5.44155317e+02] [ 1.35841347e-01 9.90719837e-01 -4.61879000e-03 4.34271273e+01] [ 4.86620229e-02 -2.01571216e-03 9.98813268e-01 2.27207249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.8250998929999 meters 0.017630369071142616 Centerline is valid? [True, True] Translation: X:544.21, Y:43.44, Z:22.72 [[ 9.90614670e-01 -1.27869855e-01 -4.82895003e-02 5.44213903e+02] [ 1.27797284e-01 9.91789642e-01 -4.60001695e-03 4.34383272e+01] [ 4.84812297e-02 -1.61442272e-03 9.98822789e-01 2.27239311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.8850998929998 meters 0.01454221016152422 Centerline is valid? [True, True] Translation: X:544.27, Y:43.45, Z:22.73 [[ 9.91925437e-01 -1.16676743e-01 -4.97037705e-02 5.44273217e+02] [ 1.16585770e-01 9.93169338e-01 -4.73549467e-03 4.34544844e+01] [ 4.99167829e-02 -1.09749476e-03 9.98752777e-01 2.27260981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.9450998929999 meters 0.013417730970695575 Centerline is valid? [True, True] Translation: X:544.33, Y:43.47, Z:22.73 [[ 9.92569692e-01 -1.10340370e-01 -5.12875063e-02 5.44332626e+02] [ 1.10235060e-01 9.93893534e-01 -4.88619271e-03 4.34654030e+01] [ 5.15134652e-02 -8.03794560e-04 9.98671977e-01 2.27277130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.0050998929999 meters 0.01151473320860353 Centerline is valid? [True, True] Translation: X:544.39, Y:43.48, Z:22.73 [[ 9.93354455e-01 -1.01785847e-01 -5.37267869e-02 5.44392836e+02] [ 1.01657829e-01 9.94806262e-01 -5.11737696e-03 4.34804680e+01] [ 5.39686206e-02 -3.78379329e-04 9.98542560e-01 2.27310285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.0650998929999 meters 0.01127504128498372 Centerline is valid? [True, True] Translation: X:544.45, Y:43.49, Z:22.73 [[ 9.93856562e-01 -9.61757270e-02 -5.47664424e-02 5.44453058e+02] [ 9.60342997e-02 9.95364367e-01 -5.21437320e-03 4.34905656e+01] [ 5.50140614e-02 -7.71179254e-05 9.98485577e-01 2.27345141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1250998929999 meters 0.011622843464451795 Centerline is valid? [True, True] Translation: X:544.51, Y:43.50, Z:22.74 [[ 9.94315074e-01 -9.11395968e-02 -5.50554868e-02 5.44512071e+02] [ 9.09890274e-02 9.95838106e-01 -5.24056640e-03 4.34998412e+01] [ 5.53039748e-02 2.01328973e-04 9.98469544e-01 2.27360239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1850998929999 meters 0.012130002419014484 Centerline is valid? [True, True] Translation: X:544.57, Y:43.51, Z:22.74 [[ 9.94847318e-01 -8.54222026e-02 -5.46064229e-02 5.44570664e+02] [ 8.52654043e-02 9.96344710e-01 -5.19903795e-03 4.35089075e+01] [ 5.48509339e-02 5.16210237e-04 9.98494421e-01 2.27402913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.2450998929999 meters 0.012051719715093617 Centerline is valid? [True, True] Translation: X:544.63, Y:43.51, Z:22.74 [[ 9.95030021e-01 -8.41160219e-02 -5.32893304e-02 5.44628958e+02] [ 8.39645956e-02 9.96455800e-01 -5.07802484e-03 4.35130538e+01] [ 5.35276056e-02 5.78370087e-04 9.98566203e-01 2.27446481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3050998929999 meters 0.012119045965554314 Centerline is valid? [True, True] Translation: X:544.69, Y:43.52, Z:22.75 [[ 9.94945334e-01 -8.53734180e-02 -5.28692979e-02 5.44686287e+02] [ 8.52255036e-02 9.96348890e-01 -5.05006138e-03 4.35157511e+01] [ 5.31074072e-02 5.18722474e-04 9.98588671e-01 2.27468904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3650998929999 meters 0.011550264926092768 Centerline is valid? [True, True] Translation: X:544.75, Y:43.51, Z:22.75 [[ 9.94514148e-01 -9.02133697e-02 -5.29448575e-02 5.44745430e+02] [ 9.00714368e-02 9.95922424e-01 -5.06564231e-03 4.35142735e+01] [ 5.31859596e-02 2.69033557e-04 9.98584589e-01 2.27494351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4250998929999 meters 0.011359270166092079 Centerline is valid? [True, True] Translation: X:544.80, Y:43.51, Z:22.75 [[ 9.94053428e-01 -9.50429973e-02 -5.31470665e-02 5.44804036e+02] [ 9.49062672e-02 9.95473168e-01 -5.09629986e-03 4.35132205e+01] [ 5.33908462e-02 2.20046557e-05 9.98573691e-01 2.27505629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4850998929999 meters 0.011741500242731627 Centerline is valid? [True, True] Translation: X:544.86, Y:43.51, Z:22.75 [[ 9.93267804e-01 -1.02556611e-01 -5.38628870e-02 5.44863827e+02] [ 1.02427042e-01 9.94727095e-01 -5.16787267e-03 4.35092604e+01] [ 5.41088726e-02 -3.83934661e-04 9.98534968e-01 2.27516575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.5450998929999 meters 0.012688878200498814 Centerline is valid? [True, True] Translation: X:544.92, Y:43.51, Z:22.75 [[ 9.92617549e-01 -1.09148807e-01 -5.28861032e-02 5.44922473e+02] [ 1.09033069e-01 9.94025156e-01 -5.07737566e-03 4.35054207e+01] [ 5.31243065e-02 -7.26441942e-04 9.98587643e-01 2.27533760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.6050998929999 meters 0.013030406693892353 Centerline is valid? [True, True] Translation: X:544.98, Y:43.51, Z:22.76 [[ 9.92277325e-01 -1.12241894e-01 -5.27964726e-02 5.44983433e+02] [ 1.12130723e-01 9.93680517e-01 -5.07249702e-03 4.35071172e+01] [ 5.30321729e-02 -8.86782846e-04 9.98592410e-01 2.27558598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.6650998929999 meters 0.013631125632163413 Centerline is valid? [True, True] Translation: X:545.04, Y:43.51, Z:22.76 [[ 9.91928726e-01 -1.15422396e-01 -5.24887862e-02 5.45043669e+02] [ 1.15316963e-01 9.93315945e-01 -5.04293561e-03 4.35087496e+01] [ 5.27200159e-02 -1.05061474e-03 9.98608780e-01 2.27585113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.7250998929999 meters 0.015750405506193513 Centerline is valid? [True, True] Translation: X:545.10, Y:43.51, Z:22.76 [[ 9.91211689e-01 -1.21765396e-01 -5.16969681e-02 5.45103201e+02] [ 1.21671713e-01 9.92557969e-01 -4.96722061e-03 4.35065013e+01] [ 5.19170733e-02 -1.36649153e-03 9.98650464e-01 2.27597927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.7850998929999 meters 0.01699117767643458 Centerline is valid? [True, True] Translation: X:545.16, Y:43.51, Z:22.76 [[ 9.90289396e-01 -1.29047932e-01 -5.17063127e-02 5.45163650e+02] [ 1.28964026e-01 9.91636819e-01 -4.96985112e-03 4.35063924e+01] [ 5.19152325e-02 -1.74666341e-03 9.98649968e-01 2.27613313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.8450998929999 meters 0.019057061269231356 Centerline is valid? [True, True] Translation: X:545.22, Y:43.51, Z:22.76 [[ 9.89980100e-01 -1.31317547e-01 -5.19143851e-02 5.45222924e+02] [ 1.31236012e-01 9.91338589e-01 -4.99111399e-03 4.35075089e+01] [ 5.21201541e-02 -1.87193336e-03 9.98639067e-01 2.27626121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9050998929998 meters 0.021088181201216204 Centerline is valid? [True, True] Translation: X:545.28, Y:43.51, Z:22.76 [[ 9.89439613e-01 -1.35268230e-01 -5.20745456e-02 5.45282826e+02] [ 1.35191550e-01 9.90806823e-01 -5.00841703e-03 4.35083253e+01] [ 5.22732948e-02 -2.08451232e-03 9.98630641e-01 2.27641964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9650998929999 meters 0.02048787958616636 Centerline is valid? [True, True] Translation: X:545.34, Y:43.51, Z:22.77 [[ 9.89132865e-01 -1.37606303e-01 -5.17752870e-02 5.45342483e+02] [ 1.37533609e-01 9.90484575e-01 -4.98129842e-03 4.35144847e+01] [ 5.19680812e-02 -2.19367610e-03 9.98646337e-01 2.27673401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0250998929998 meters 0.020621241325316828 Centerline is valid? [True, True] Translation: X:545.40, Y:43.52, Z:22.77 [[ 9.89128561e-01 -1.37875913e-01 -5.11363177e-02 5.45402720e+02] [ 1.37805321e-01 9.90447112e-01 -4.92058133e-03 4.35199277e+01] [ 5.13262478e-02 -2.17976915e-03 9.98679561e-01 2.27703531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0850998929999 meters 0.02119409598916556 Centerline is valid? [True, True] Translation: X:545.46, Y:43.53, Z:22.77 [[ 9.89596032e-01 -1.34724386e-01 -5.04879448e-02 5.45462409e+02] [ 1.34651478e-01 9.90881112e-01 -4.85819179e-03 4.35252686e+01] [ 5.06820678e-02 -1.99062909e-03 9.98712854e-01 2.27725834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.1450998929998 meters 0.021183025362026698 Centerline is valid? [True, True] Translation: X:545.52, Y:43.53, Z:22.77 [[ 9.90037853e-01 -1.31480728e-01 -5.03772649e-02 5.45521955e+02] [ 1.31403948e-01 9.91317055e-01 -4.84754164e-03 4.35323131e+01] [ 5.05772002e-02 -1.82052176e-03 9.98718495e-01 2.27744561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2050998929999 meters 0.01710007477410643 Centerline is valid? [True, True] Translation: X:545.58, Y:43.55, Z:22.78 [[ 9.90698421e-01 -1.26520394e-01 -5.00921927e-02 5.45581285e+02] [ 1.26438146e-01 9.91962782e-01 -4.82011063e-03 4.35467671e+01] [ 5.02994331e-02 -1.55828799e-03 9.98732967e-01 2.27778625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2650998929998 meters 0.01629391899860079 Centerline is valid? [True, True] Translation: X:545.64, Y:43.55, Z:22.78 [[ 9.91085849e-01 -1.23404389e-01 -5.02015562e-02 5.45642059e+02] [ 1.23317805e-01 9.92355474e-01 -4.83032295e-03 4.35549482e+01] [ 5.04138722e-02 -1.40348099e-03 9.98727426e-01 2.27801702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.3250998929999 meters 0.015892758011999915 Centerline is valid? [True, True] Translation: X:545.70, Y:43.56, Z:22.78 [[ 9.91556839e-01 -1.19907472e-01 -4.93683345e-02 5.45702535e+02] [ 1.19819491e-01 9.92784338e-01 -4.74849107e-03 4.35633219e+01] [ 4.95814889e-02 -1.20688989e-03 9.98769352e-01 2.27836258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.3850998929998 meters 0.016032737987918218 Centerline is valid? [True, True] Translation: X:545.76, Y:43.57, Z:22.79 [[ 9.91746075e-01 -1.19032795e-01 -4.76541432e-02 5.45762129e+02] [ 1.18949845e-01 9.92889688e-01 -4.58288185e-03 4.35698094e+01] [ 4.78608206e-02 -1.12339784e-03 9.98853383e-01 2.27867206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.4450998929999 meters 0.01637297046602692 Centerline is valid? [True, True] Translation: X:545.82, Y:43.58, Z:22.79 [[ 9.91679661e-01 -1.20288534e-01 -4.58488693e-02 5.45822830e+02] [ 1.20213097e-01 9.92738319e-01 -4.40912497e-03 4.35754745e+01] [ 4.60462966e-02 -1.13919504e-03 9.98938657e-01 2.27901132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.5050998929999 meters 0.016953422971395554 Centerline is valid? [True, True] Translation: X:545.88, Y:43.58, Z:22.79 [[ 9.90945084e-01 -1.26183826e-01 -4.58855456e-02 5.45883328e+02] [ 1.26114648e-01 9.92005866e-01 -4.41108149e-03 4.35797823e+01] [ 4.60753375e-02 -1.41569994e-03 9.98936965e-01 2.27919823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.5650998929999 meters 0.01940188830024815 Centerline is valid? [True, True] Translation: X:545.94, Y:43.58, Z:22.79 [[ 9.90176777e-01 -1.32084872e-01 -4.58643290e-02 5.45943783e+02] [ 1.32022112e-01 9.91236970e-01 -4.40818641e-03 4.35811888e+01] [ 4.60446732e-02 -1.69022177e-03 9.98937952e-01 2.27942007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6250998929999 meters 0.02320853669874688 Centerline is valid? [True, True] Translation: X:546.00, Y:43.58, Z:22.80 [[ 9.88799847e-01 -1.41786993e-01 -4.65973338e-02 5.46004794e+02] [ 1.41732984e-01 9.89894798e-01 -4.47779732e-03 4.35810767e+01] [ 4.67613517e-02 -2.17673386e-03 9.98903718e-01 2.27968877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6850998929999 meters 0.025974262959031966 Centerline is valid? [True, True] Translation: X:546.07, Y:43.58, Z:22.80 [[ 9.88070924e-01 -1.46708144e-01 -4.68248821e-02 5.46065518e+02] [ 1.46659140e-01 9.89176857e-01 -4.49908133e-03 4.35833687e+01] [ 4.69781416e-02 -2.42188552e-03 9.98892982e-01 2.28002064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.7450998929999 meters 0.025900536584767545 Centerline is valid? [True, True] Translation: X:546.13, Y:43.59, Z:22.80 [[ 9.87634283e-01 -1.50078048e-01 -4.53332338e-02 5.46125767e+02] [ 1.50035674e-01 9.88670991e-01 -4.35523536e-03 4.35908679e+01] [ 4.54732785e-02 -2.50022255e-03 9.98962427e-01 2.28043478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8050998929999 meters 0.02947923909393885 Centerline is valid? [True, True] Translation: X:546.19, Y:43.59, Z:22.81 [[ 9.87685563e-01 -1.50006932e-01 -4.44426543e-02 5.46186511e+02] [ 1.49966174e-01 9.88681913e-01 -4.26877750e-03 4.35938528e+01] [ 4.45799947e-02 -2.44868492e-03 9.99002817e-01 2.28068066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8650998929999 meters 0.026973521260141037 Centerline is valid? [True, True] Translation: X:546.25, Y:43.61, Z:22.81 [[ 9.87998337e-01 -1.47954553e-01 -4.43704491e-02 5.46247040e+02] [ 1.47911969e-01 9.88991358e-01 -4.25946884e-03 4.36063487e+01] [ 4.45121986e-02 -2.35457239e-03 9.99006066e-01 2.28095052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9250998929999 meters 0.023970072680444793 Centerline is valid? [True, True] Translation: X:546.31, Y:43.62, Z:22.81 [[ 9.88216727e-01 -1.46529652e-01 -4.42352875e-02 5.46308119e+02] [ 1.46485979e-01 9.89203639e-01 -4.24481085e-03 4.36188388e+01] [ 4.43796981e-02 -2.28505630e-03 9.99012123e-01 2.28125467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9850998929999 meters 0.02373541272855511 Centerline is valid? [True, True] Translation: X:546.37, Y:43.63, Z:22.82 [[ 9.88598544e-01 -1.43913127e-01 -4.42936820e-02 5.46369120e+02] [ 1.43866864e-01 9.89587938e-01 -4.24715559e-03 4.36302432e+01] [ 4.44437149e-02 -2.17366127e-03 9.99009525e-01 2.28155653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.0450998929999 meters 0.02278974731643991 Centerline is valid? [True, True] Translation: X:546.43, Y:43.64, Z:22.82 [[ 9.88996539e-01 -1.41057194e-01 -4.45949949e-02 5.46430184e+02] [ 1.41007515e-01 9.89999302e-01 -4.27356681e-03 4.36411245e+01] [ 4.47518312e-02 -2.06168661e-03 9.98996008e-01 2.28181179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.1050998929999 meters 0.021178698775151647 Centerline is valid? [True, True] Translation: X:546.49, Y:43.66, Z:22.82 [[ 9.89794124e-01 -1.34849047e-01 -4.60795780e-02 5.46489356e+02] [ 1.34789401e-01 9.90864440e-01 -4.41342085e-03 4.36551685e+01] [ 4.62537608e-02 -1.84266070e-03 9.98928023e-01 2.28197651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.1650998929999 meters 0.01958539203094086 Centerline is valid? [True, True] Translation: X:546.55, Y:43.67, Z:22.82 [[ 9.90976183e-01 -1.25417749e-01 -4.72926293e-02 5.46548142e+02] [ 1.25344204e-01 9.92102977e-01 -4.52927843e-03 4.36698238e+01] [ 4.74872103e-02 -1.43944991e-03 9.98870809e-01 2.28216113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.2250998929999 meters 0.01580377909360883 Centerline is valid? [True, True] Translation: X:546.61, Y:43.69, Z:22.83 [[ 9.91973898e-01 -1.17027445e-01 -4.78786306e-02 5.46607148e+02] [ 1.16942295e-01 9.93128126e-01 -4.58542016e-03 4.36873417e+01] [ 4.80862347e-02 -1.05041982e-03 9.98842636e-01 2.28252105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.2850998929999 meters 0.013407504968506094 Centerline is valid? [True, True] Translation: X:546.67, Y:43.71, Z:22.83 [[ 9.93488915e-01 -1.02999452e-01 -4.86917756e-02 5.46665846e+02] [ 1.02894524e-01 9.94681341e-01 -4.66329648e-03 4.37067899e+01] [ 4.89131177e-02 -3.77183703e-04 9.98802966e-01 2.28294348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.3450998929999 meters 0.013152262804625028 Centerline is valid? [True, True] Translation: X:546.73, Y:43.72, Z:22.83 [[ 9.94284322e-01 -9.51071756e-02 -4.85109482e-02 5.46727211e+02] [ 9.49936548e-02 9.95467039e-01 -4.64548257e-03 4.37196444e+01] [ 4.87328687e-02 1.06982153e-05 9.98811848e-01 2.28332446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4050998929998 meters 0.013433570187362588 Centerline is valid? [True, True] Translation: X:546.79, Y:43.73, Z:22.84 [[ 9.94818750e-01 -8.92518092e-02 -4.86802856e-02 5.46787634e+02] [ 8.91306545e-02 9.96009050e-01 -4.65822050e-03 4.37300339e+01] [ 4.89017596e-02 2.95179376e-04 9.98803550e-01 2.28353739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4650998929999 meters 0.0133025940971341 Centerline is valid? [True, True] Translation: X:546.85, Y:43.74, Z:22.84 [[ 9.94746667e-01 -8.98025890e-02 -4.91382031e-02 5.46848846e+02] [ 8.96799412e-02 9.95959549e-01 -4.69946792e-03 4.37351078e+01] [ 4.93616869e-02 2.68068892e-04 9.98780933e-01 2.28379785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5250998929998 meters 0.01323313097981719 Centerline is valid? [True, True] Translation: X:546.91, Y:43.74, Z:22.84 [[ 9.94394052e-01 -9.32435077e-02 -4.98609738e-02 5.46909716e+02] [ 9.31216368e-02 9.95643329e-01 -4.76674640e-03 4.37389950e+01] [ 5.00882141e-02 9.68887724e-05 9.98744793e-01 2.28405015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5850998929999 meters 0.013582216223068024 Centerline is valid? [True, True] Translation: X:546.97, Y:43.74, Z:22.84 [[ 9.93461533e-01 -1.01894127e-01 -5.14953325e-02 5.46970820e+02] [ 1.01775823e-01 9.94795187e-01 -4.92124371e-03 4.37381924e+01] [ 5.17287547e-02 -3.51913544e-04 9.98661110e-01 2.28422839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.6450998929998 meters 0.014653722216003476 Centerline is valid? [True, True] Translation: X:547.03, Y:43.74, Z:22.85 [[ 9.92235770e-01 -1.13490614e-01 -5.08729565e-02 5.47031990e+02] [ 1.13390411e-01 9.93538619e-01 -4.86085508e-03 4.37352082e+01] [ 5.10959084e-02 -9.45391153e-04 9.98693303e-01 2.28461664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7050998929999 meters 0.017743222603051504 Centerline is valid? [True, True] Translation: X:547.09, Y:43.73, Z:22.85 [[ 9.91439789e-01 -1.20822694e-01 -4.94875792e-02 5.47092918e+02] [ 1.20737045e-01 9.92673268e-01 -4.72740594e-03 4.37311152e+01] [ 4.96961749e-02 -1.28804573e-03 9.98763551e-01 2.28484478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7650998929998 meters 0.01821621707316118 Centerline is valid? [True, True] Translation: X:547.15, Y:43.73, Z:22.85 [[ 9.90754559e-01 -1.26811985e-01 -4.82091770e-02 5.47153817e+02] [ 1.26737868e-01 9.91925562e-01 -4.60345959e-03 4.37338541e+01] [ 4.84036889e-02 -1.54902975e-03 9.98826653e-01 2.28526686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.8250998929999 meters 0.01958791980260664 Centerline is valid? [True, True] Translation: X:547.22, Y:43.74, Z:22.86 [[ 9.90144577e-01 -1.31671905e-01 -4.77098075e-02 5.47215093e+02] [ 1.31604990e-01 9.91291774e-01 -4.55480330e-03 4.37353538e+01] [ 4.78940793e-02 -1.76893497e-03 9.98850854e-01 2.28554976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.8850998929998 meters 0.02189814934389552 Centerline is valid? [True, True] Translation: X:547.28, Y:43.73, Z:22.86 [[ 9.89165204e-01 -1.38912673e-01 -4.74917700e-02 5.47275981e+02] [ 1.38854761e-01 9.90302384e-01 -4.53244248e-03 4.37341375e+01] [ 4.76608268e-02 -2.11112396e-03 9.98861346e-01 2.28576343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.9450998929999 meters 0.02534392174072024 Centerline is valid? [True, True] Translation: X:547.34, Y:43.73, Z:22.86 [[ 9.88418020e-01 -1.44234541e-01 -4.71827870e-02 5.47335721e+02] [ 1.44183424e-01 9.89540734e-01 -4.50288533e-03 4.37323436e+01] [ 4.73387613e-02 -2.35224279e-03 9.98876123e-01 2.28591513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.0050998929999 meters 0.027068578621909294 Centerline is valid? [True, True] Translation: X:547.40, Y:43.73, Z:22.86 [[ 9.87341075e-01 -1.51219563e-01 -4.78565101e-02 5.47396829e+02] [ 1.51175123e-01 9.88496444e-01 -4.56763069e-03 4.37341175e+01] [ 4.79967051e-02 -2.72490442e-03 9.98843777e-01 2.28607361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.0650998929999 meters 0.029338865490050377 Centerline is valid? [True, True] Translation: X:547.46, Y:43.74, Z:22.86 [[ 9.86902354e-01 -1.53666773e-01 -4.90944576e-02 5.47458018e+02] [ 1.53623090e-01 9.88118415e-01 -4.68442822e-03 4.37364628e+01] [ 4.92309786e-02 -2.91896902e-03 9.98783155e-01 2.28614447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1250998929999 meters 0.03022543347486411 Centerline is valid? [True, True] Translation: X:547.52, Y:43.74, Z:22.86 [[ 9.86923700e-01 -1.53318595e-01 -4.97495667e-02 5.47519524e+02] [ 1.53273365e-01 9.88172432e-01 -4.74561199e-03 4.37423130e+01] [ 4.98887408e-02 -2.94172653e-03 9.98750449e-01 2.28624971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1850998929999 meters 0.02761880877836637 Centerline is valid? [True, True] Translation: X:547.58, Y:43.75, Z:22.87 [[ 9.87388381e-01 -1.50369453e-01 -4.95299119e-02 5.47579741e+02] [ 1.50321078e-01 9.88625956e-01 -4.72156116e-03 4.37532409e+01] [ 4.96765351e-02 -2.78337511e-03 9.98761480e-01 2.28651759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.2450998929999 meters 0.023795051541940285 Centerline is valid? [True, True] Translation: X:547.64, Y:43.77, Z:22.87 [[ 9.88568022e-01 -1.42454664e-01 -4.93956885e-02 5.47639096e+02] [ 1.42396729e-01 9.89798467e-01 -4.70802650e-03 4.37691855e+01] [ 4.95624571e-02 -2.37958000e-03 9.98768192e-01 2.28678682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3050998929999 meters 0.0197709250395547 Centerline is valid? [True, True] Translation: X:547.70, Y:43.79, Z:22.87 [[ 9.90185642e-01 -1.31059212e-01 -4.85373853e-02 5.47698813e+02] [ 1.30989594e-01 9.91372949e-01 -4.62617425e-03 4.37871275e+01] [ 4.87249535e-02 -1.77712105e-03 9.98810653e-01 2.28719493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3650998929999 meters 0.017767964512087783 Centerline is valid? [True, True] Translation: X:547.76, Y:43.80, Z:22.87 [[ 9.91339250e-01 -1.22626944e-01 -4.70013095e-02 5.47758583e+02] [ 1.22552221e-01 9.92451959e-01 -4.47910493e-03 4.37996924e+01] [ 4.71958006e-02 -1.31980236e-03 9.98884785e-01 2.28749431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4250998929999 meters 0.014868706669974377 Centerline is valid? [True, True] Translation: X:547.82, Y:43.82, Z:22.88 [[ 9.92962078e-01 -1.09265613e-01 -4.56873783e-02 5.47816353e+02] [ 1.09180860e-01 9.94012366e-01 -4.35387829e-03 4.38166236e+01] [ 4.58895482e-02 -6.64951210e-04 9.98946298e-01 2.28781323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4850998929999 meters 0.013609591399405067 Centerline is valid? [True, True] Translation: X:547.88, Y:43.83, Z:22.88 [[ 9.93877932e-01 -1.00800370e-01 -4.52320848e-02 5.47877055e+02] [ 1.00708505e-01 9.94906635e-01 -4.31101511e-03 4.38312408e+01] [ 4.54362532e-02 -2.70632871e-04 9.98967203e-01 2.28813899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.5450998929999 meters 0.01336965655130328 Centerline is valid? [True, True] Translation: X:547.94, Y:43.84, Z:22.88 [[ 9.94773666e-01 -9.17563858e-02 -4.47897225e-02 5.47938563e+02] [ 9.16572466e-02 9.95781475e-01 -4.26646939e-03 4.38449040e+01] [ 4.49922518e-02 1.38868750e-04 9.98987326e-01 2.28836933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.6050998929999 meters 0.013584822081472065 Centerline is valid? [True, True] Translation: X:548.00, Y:43.85, Z:22.89 [[ 9.95033488e-01 -8.86194809e-02 -4.53315039e-02 5.47999181e+02] [ 8.85148240e-02 9.96065514e-01 -4.31476409e-03 4.38525556e+01] [ 4.55355199e-02 2.80824669e-04 9.98962681e-01 2.28855027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.6650998929999 meters 0.013526374154800284 Centerline is valid? [True, True] Translation: X:548.06, Y:43.86, Z:22.89 [[ 9.95178120e-01 -8.69202318e-02 -4.54464763e-02 5.48060758e+02] [ 8.68133888e-02 9.96215211e-01 -4.32315059e-03 4.38583988e+01] [ 4.56502402e-02 3.56942263e-04 9.98957421e-01 2.28874345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.7250998929999 meters 0.013530949217115465 Centerline is valid? [True, True] Translation: X:548.12, Y:43.86, Z:22.89 [[ 9.95141110e-01 -8.71568274e-02 -4.58023852e-02 5.48121301e+02] [ 8.70487232e-02 9.96194543e-01 -4.35333011e-03 4.38636220e+01] [ 4.60075086e-02 3.45138607e-04 9.98941034e-01 2.28895763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.7850998929999 meters 0.013441626138193566 Centerline is valid? [True, True] Translation: X:548.18, Y:43.87, Z:22.89 [[ 9.95079056e-01 -8.81696472e-02 -4.52082382e-02 5.48183754e+02] [ 8.80656214e-02 9.96105431e-01 -4.29145086e-03 4.38671877e+01] [ 4.54105473e-02 2.89041282e-04 9.98968367e-01 2.28920303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.8450998929999 meters 0.01332694672003743 Centerline is valid? [True, True] Translation: X:548.25, Y:43.87, Z:22.90 [[ 9.95033879e-01 -8.92152104e-02 -4.41387179e-02 5.48245835e+02] [ 8.91172183e-02 9.96012345e-01 -4.18679261e-03 4.38700990e+01] [ 4.43362336e-02 2.32480729e-04 9.99016639e-01 2.28954534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9050998929998 meters 0.013327085894045621 Centerline is valid? [True, True] Translation: X:548.31, Y:43.87, Z:22.90 [[ 9.94826646e-01 -9.20176563e-02 -4.30429373e-02 5.48307078e+02] [ 9.19272247e-02 9.95757370e-01 -4.07980435e-03 4.38700341e+01] [ 4.32357361e-02 1.01880311e-04 9.99064893e-01 2.28989935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9650998929999 meters 0.013263454085498413 Centerline is valid? [True, True] Translation: X:548.37, Y:43.87, Z:22.90 [[ 9.94551220e-01 -9.50679822e-02 -4.27779105e-02 5.48369423e+02] [ 9.49815806e-02 9.95470782e-01 -4.05236554e-03 4.38678725e+01] [ 4.29694103e-02 -3.28284689e-05 9.99076388e-01 2.29012021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0250998929998 meters 0.013285957937956625 Centerline is valid? [True, True] Translation: X:548.43, Y:43.87, Z:22.90 [[ 9.94423755e-01 -9.60117873e-02 -4.36249106e-02 5.48432128e+02] [ 9.59229774e-02 9.95380194e-01 -4.12938581e-03 4.38686523e+01] [ 4.38198416e-02 -7.82719685e-05 9.99039446e-01 2.29024425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0850998929999 meters 0.013243229429440841 Centerline is valid? [True, True] Translation: X:548.49, Y:43.87, Z:22.90 [[ 9.94394485e-01 -9.54662403e-02 -4.54511371e-02 5.48494803e+02] [ 9.53694241e-02 9.95432666e-01 -4.29878928e-03 4.38690666e+01] [ 4.56539358e-02 -5.99564140e-05 9.98957314e-01 2.29035688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.1450998929998 meters 0.013294803622902713 Centerline is valid? [True, True] Translation: X:548.56, Y:43.87, Z:22.91 [[ 9.94515073e-01 -9.35265187e-02 -4.68247731e-02 5.48556315e+02] [ 9.34217650e-02 9.95616789e-01 -4.42540923e-03 4.38724026e+01] [ 4.70334234e-02 2.66832359e-05 9.98893316e-01 2.29053854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2050998929999 meters 0.013435110820153627 Centerline is valid? [True, True] Translation: X:548.62, Y:43.88, Z:22.91 [[ 9.94887127e-01 -8.91118175e-02 -4.75256620e-02 5.48616796e+02] [ 8.89989404e-02 9.96021600e-01 -4.49009991e-03 4.38753508e+01] [ 4.77367068e-02 2.37409050e-04 9.98859925e-01 2.29079199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2650998929998 meters 0.013756606095329851 Centerline is valid? [True, True] Translation: X:548.68, Y:43.88, Z:22.91 [[ 9.95184854e-01 -8.56151781e-02 -4.77194609e-02 5.48677601e+02] [ 8.54973594e-02 9.96328197e-01 -4.50840953e-03 4.38793516e+01] [ 4.79302327e-02 4.06812982e-04 9.98850603e-01 2.29102590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.3250998929999 meters 0.014079524863871973 Centerline is valid? [True, True] Translation: X:548.74, Y:43.88, Z:22.91 [[ 9.95505939e-01 -8.19180174e-02 -4.75117156e-02 5.48737174e+02] [ 8.17970038e-02 9.96638901e-01 -4.48899303e-03 4.38805512e+01] [ 4.77197535e-02 5.82503244e-04 9.98860594e-01 2.29130105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.3850998929998 meters 0.014354631858030029 Centerline is valid? [True, True] Translation: X:548.79, Y:43.88, Z:22.91 [[ 9.95553989e-01 -8.08097481e-02 -4.83946216e-02 5.48794731e+02] [ 8.06827717e-02 9.96729333e-01 -4.57470466e-03 4.38803103e+01] [ 4.86060196e-02 6.49753266e-04 9.98817818e-01 2.29148019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.4450998929999 meters 0.014104530298188235 Centerline is valid? [True, True] Translation: X:548.85, Y:43.88, Z:22.92 [[ 9.95328023e-01 -8.27454367e-02 -4.97525722e-02 5.48853937e+02] [ 8.26133076e-02 9.96570549e-01 -4.70980747e-03 4.38802240e+01] [ 4.99716633e-02 5.77578804e-04 9.98750469e-01 2.29174739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.5050998929999 meters 0.013630728532411408 Centerline is valid? [True, True] Translation: X:548.91, Y:43.88, Z:22.92 [[ 9.94734584e-01 -8.92720569e-02 -5.03349588e-02 5.48912418e+02] [ 8.91445677e-02 9.96007244e-01 -4.77662028e-03 4.38758151e+01] [ 5.05604023e-02 2.64381248e-04 9.98720970e-01 2.29204218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.5650998929999 meters 0.013563764188223621 Centerline is valid? [True, True] Translation: X:548.97, Y:43.87, Z:22.92 [[ 9.93796758e-01 -9.90591127e-02 -5.05499264e-02 5.48970821e+02] [ 9.89428515e-02 9.95081524e-01 -4.80332484e-03 4.38679849e+01] [ 5.07771109e-02 -2.28025201e-04 9.98709984e-01 2.29227687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6250998929999 meters 0.014220666831719563 Centerline is valid? [True, True] Translation: X:549.03, Y:43.86, Z:22.93 [[ 9.93034314e-01 -1.06140285e-01 -5.11575040e-02 5.49029741e+02] [ 1.06029850e-01 9.94350995e-01 -4.87550263e-03 4.38649156e+01] [ 5.13860022e-02 -5.82681063e-04 9.98678697e-01 2.29250817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6850998929999 meters 0.014366821927085922 Centerline is valid? [True, True] Translation: X:549.09, Y:43.87, Z:22.93 [[ 9.92636121e-01 -1.09580626e-01 -5.16296180e-02 5.49088042e+02] [ 1.09472173e-01 9.93977623e-01 -4.93236764e-03 4.38674431e+01] [ 5.18591769e-02 -7.55960213e-04 9.98654121e-01 2.29281317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.7450998929999 meters 0.01674605322541693 Centerline is valid? [True, True] Translation: X:549.15, Y:43.86, Z:22.93 [[ 9.91648089e-01 -1.18187002e-01 -5.16323543e-02 5.49146903e+02] [ 1.18089837e-01 9.92990632e-01 -4.93923439e-03 4.38606117e+01] [ 5.18541974e-02 -1.19927398e-03 9.98653946e-01 2.29304512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8050998929999 meters 0.019006594435726838 Centerline is valid? [True, True] Translation: X:549.21, Y:43.86, Z:22.93 [[ 9.90755483e-01 -1.25414458e-01 -5.17183341e-02 5.49208202e+02] [ 1.25326636e-01 9.92103184e-01 -4.95049681e-03 4.38553480e+01] [ 5.19307878e-02 -1.57695296e-03 9.98649441e-01 2.29334142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8650998929999 meters 0.02026636606737723 Centerline is valid? [True, True] Translation: X:549.27, Y:43.86, Z:22.94 [[ 9.90175904e-01 -1.29974948e-01 -5.15576566e-02 5.49268237e+02] [ 1.29893820e-01 9.91515626e-01 -4.93546304e-03 4.38558046e+01] [ 5.17617087e-02 -1.81004440e-03 9.98657824e-01 2.29367722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9250998929999 meters 0.023365661372419765 Centerline is valid? [True, True] Translation: X:549.33, Y:43.85, Z:22.94 [[ 9.89344110e-01 -1.36322590e-01 -5.11310395e-02 5.49328829e+02] [ 1.36251170e-01 9.90662226e-01 -4.89621062e-03 4.38526164e+01] [ 5.13210536e-02 -2.12262681e-03 9.98679951e-01 2.29390817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9850998929999 meters 0.025610015585703194 Centerline is valid? [True, True] Translation: X:549.39, Y:43.85, Z:22.94 [[ 9.88787984e-01 -1.40140330e-01 -5.15655883e-02 5.49389696e+02] [ 1.40072840e-01 9.90128887e-01 -4.93833604e-03 4.38528760e+01] [ 5.17486386e-02 -2.33997104e-03 9.98657400e-01 2.29408028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.0450998929999 meters 0.02519509532025247 Centerline is valid? [True, True] Translation: X:549.45, Y:43.86, Z:22.94 [[ 9.88266029e-01 -1.43300995e-01 -5.28685284e-02 5.49449963e+02] [ 1.43234560e-01 9.89675818e-01 -5.06311608e-03 4.38583319e+01] [ 5.30482536e-02 -2.56889478e-03 9.98588646e-01 2.29427839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.1050998929999 meters 0.02306377972647941 Centerline is valid? [True, True] Translation: X:549.51, Y:43.87, Z:22.95 [[ 9.88030130e-01 -1.44786916e-01 -5.32279148e-02 5.49507913e+02] [ 1.44721565e-01 9.89459273e-01 -5.10051677e-03 4.38685217e+01] [ 5.34053420e-02 -2.66376288e-03 9.98569364e-01 2.29459974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.1650998929999 meters 0.024192909524477873 Centerline is valid? [True, True] Translation: X:549.57, Y:43.88, Z:22.95 [[ 9.88107929e-01 -1.44255348e-01 -5.32270077e-02 5.49565746e+02] [ 1.44188490e-01 9.89537025e-01 -5.11428192e-03 4.38752733e+01] [ 5.34078573e-02 -2.62125935e-03 9.98569341e-01 2.29483021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.2250998929999 meters 0.02398750886150936 Centerline is valid? [True, True] Translation: X:549.62, Y:43.89, Z:22.95 [[ 9.88848570e-01 -1.39693216e-01 -5.16169721e-02 5.49623711e+02] [ 1.39623616e-01 9.90192178e-01 -4.96960479e-03 4.38866106e+01] [ 5.18049421e-02 -2.29276173e-03 9.98654591e-01 2.29520379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.2850998929999 meters 0.022423882171795032 Centerline is valid? [True, True] Translation: X:549.68, Y:43.90, Z:22.96 [[ 9.89460191e-01 -1.35690821e-01 -5.05621587e-02 5.49682693e+02] [ 1.35618895e-01 9.90749127e-01 -4.86657467e-03 4.38992232e+01] [ 5.07547641e-02 -2.04190218e-03 9.98709059e-01 2.29556279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.3450998929999 meters 0.019053120321811095 Centerline is valid? [True, True] Translation: X:549.74, Y:43.92, Z:22.96 [[ 9.90171487e-01 -1.30468065e-01 -5.03836270e-02 5.49741415e+02] [ 1.30389848e-01 9.91450938e-01 -4.85028655e-03 4.39165189e+01] [ 5.05857018e-02 -1.76689803e-03 9.98718161e-01 2.29583359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4050998929998 meters 0.01940164401157552 Centerline is valid? [True, True] Translation: X:549.80, Y:43.92, Z:22.96 [[ 9.90512815e-01 -1.27713072e-01 -5.07319789e-02 5.49799456e+02] [ 1.27630098e-01 9.91809807e-01 -4.88507928e-03 4.39249676e+01] [ 5.09403627e-02 -1.63619381e-03 9.98700357e-01 2.29592209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4650998929999 meters 0.017742223410878902 Centerline is valid? [True, True] Translation: X:549.86, Y:43.94, Z:22.96 [[ 9.90926994e-01 -1.24824825e-01 -4.98242481e-02 5.49857672e+02] [ 1.24741021e-01 9.92177724e-01 -4.80018991e-03 4.39388447e+01] [ 5.00336920e-02 -1.45848981e-03 9.98746466e-01 2.29627286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5250998929998 meters 0.016964017106468072 Centerline is valid? [True, True] Translation: X:549.92, Y:43.95, Z:22.96 [[ 9.91104857e-01 -1.23485997e-01 -4.96222913e-02 5.49917635e+02] [ 1.23401120e-01 9.92345350e-01 -4.78224435e-03 4.39504320e+01] [ 4.98329902e-02 -1.38374071e-03 9.98756606e-01 2.29647216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5850998929999 meters 0.016913405160341496 Centerline is valid? [True, True] Translation: X:549.98, Y:43.96, Z:22.97 [[ 9.91259770e-01 -1.22227247e-01 -4.96444222e-02 5.49978054e+02] [ 1.22140724e-01 9.92501262e-01 -4.78423463e-03 4.39586360e+01] [ 4.98569155e-02 -1.32118635e-03 9.98755497e-01 2.29664279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.6450998929998 meters 0.016147846853542813 Centerline is valid? [True, True] Translation: X:550.04, Y:43.97, Z:22.97 [[ 9.91594852e-01 -1.19662119e-01 -4.91998633e-02 5.50038321e+02] [ 1.19574029e-01 9.92813970e-01 -4.74050378e-03 4.39690741e+01] [ 4.94135704e-02 -1.18236674e-03 9.98777704e-01 2.29691241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7050998929999 meters 0.015460580222162687 Centerline is valid? [True, True] Translation: X:550.10, Y:43.98, Z:22.97 [[ 9.92279149e-01 -1.14333458e-01 -4.80619531e-02 5.50096861e+02] [ 1.14243179e-01 9.93442025e-01 -4.63022941e-03 4.39810926e+01] [ 4.82761541e-02 -8.96270213e-04 9.98833625e-01 2.29720253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7650998929998 meters 0.014370368536571438 Centerline is valid? [True, True] Translation: X:550.16, Y:43.99, Z:22.98 [[ 9.92781092e-01 -1.10762067e-01 -4.60159525e-02 5.50157423e+02] [ 1.10675451e-01 9.93846712e-01 -4.43368536e-03 4.39932502e+01] [ 4.62238872e-02 -6.91157312e-04 9.98930866e-01 2.29759634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.8250998929999 meters 0.014345334517736178 Centerline is valid? [True, True] Translation: X:550.22, Y:44.00, Z:22.98 [[ 9.92901415e-01 -1.09982687e-01 -4.52834243e-02 5.50218067e+02] [ 1.09898074e-01 9.93933293e-01 -4.36145628e-03 4.40004355e+01] [ 4.54883877e-02 -6.46064993e-04 9.98964659e-01 2.29785189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.8850998929998 meters 0.014611712858321423 Centerline is valid? [True, True] Translation: X:550.28, Y:44.01, Z:22.98 [[ 9.92774997e-01 -1.11064962e-01 -4.54134233e-02 5.50279332e+02] [ 1.10981072e-01 9.93812902e-01 -4.37225428e-03 4.40073991e+01] [ 4.56180503e-02 -6.99365677e-04 9.98958710e-01 2.29808245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.9450998929999 meters 0.015837705220457302 Centerline is valid? [True, True] Translation: X:550.34, Y:44.01, Z:22.98 [[ 9.92339143e-01 -1.14608914e-01 -4.61283117e-02 5.50339851e+02] [ 1.14526298e-01 9.93410301e-01 -4.43866495e-03 4.40105992e+01] [ 4.63330505e-02 -8.78243775e-04 9.98925661e-01 2.29825423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.0050998929999 meters 0.016966914938890725 Centerline is valid? [True, True] Translation: X:550.40, Y:44.01, Z:22.99 [[ 9.91947013e-01 -1.18104997e-01 -4.57420271e-02 5.50400492e+02] [ 1.18027508e-01 9.93000575e-01 -4.40068153e-03 4.40140922e+01] [ 4.59416017e-02 -1.03357456e-03 9.98943592e-01 2.29850760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.0650998929999 meters 0.016698522063763162 Centerline is valid? [True, True] Translation: X:550.46, Y:44.02, Z:22.99 [[ 9.91336087e-01 -1.22975251e-01 -4.61502927e-02 5.50461465e+02] [ 1.22901681e-01 9.92408924e-01 -4.43906660e-03 4.40203793e+01] [ 4.63458576e-02 -1.27134164e-03 9.98924644e-01 2.29877338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1250998929999 meters 0.017727812824945285 Centerline is valid? [True, True] Translation: X:550.52, Y:44.02, Z:22.99 [[ 9.91155509e-01 -1.24410197e-01 -4.61829015e-02 5.50522131e+02] [ 1.24338163e-01 9.92229965e-01 -4.44040755e-03 4.40244755e+01] [ 4.63764907e-02 -1.34116272e-03 9.98923131e-01 2.29905922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1850998929999 meters 0.01678253982968738 Centerline is valid? [True, True] Translation: X:550.58, Y:44.03, Z:22.99 [[ 9.91336605e-01 -1.22899380e-01 -4.63408856e-02 5.50583879e+02] [ 1.22825326e-01 9.92418314e-01 -4.45294815e-03 4.40325931e+01] [ 4.65368082e-02 -1.27746390e-03 9.98915759e-01 2.29932420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.2450998929999 meters 0.015576790289374932 Centerline is valid? [True, True] Translation: X:550.64, Y:44.04, Z:23.00 [[ 9.92025034e-01 -1.17385217e-01 -4.59025448e-02 5.50644969e+02] [ 1.17306811e-01 9.93085941e-01 -4.40750465e-03 4.40432335e+01] [ 4.61025478e-02 -1.01232622e-03 9.98936199e-01 2.29964980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3050998929999 meters 0.014281935308723629 Centerline is valid? [True, True] Translation: X:550.71, Y:44.05, Z:23.00 [[ 9.92955565e-01 -1.09426237e-01 -4.54438681e-02 5.50705876e+02] [ 1.09341178e-01 9.93994714e-01 -4.36076870e-03 4.40548130e+01] [ 4.56481472e-02 -6.38836525e-04 9.98957376e-01 2.30003415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3650998929999 meters 0.013370443889857355 Centerline is valid? [True, True] Translation: X:550.77, Y:44.07, Z:23.00 [[ 9.93946420e-01 -1.00350194e-01 -4.47253135e-02 5.50766399e+02] [ 1.00258719e-01 9.94952155e-01 -4.28943621e-03 4.40663026e+01] [ 4.49299928e-02 -2.20632888e-04 9.98990114e-01 2.30036723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4250998929999 meters 0.013147660330787441 Centerline is valid? [True, True] Translation: X:550.83, Y:44.08, Z:23.01 [[ 9.94500254e-01 -9.47492597e-02 -4.46298365e-02 5.50825700e+02] [ 9.46526076e-02 9.95501169e-01 -4.27867099e-03 4.40756278e+01] [ 4.48344553e-02 3.08089791e-05 9.98994430e-01 2.30063658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4850998929999 meters 0.013309992129622175 Centerline is valid? [True, True] Translation: X:550.89, Y:44.08, Z:23.01 [[ 9.94893112e-01 -9.04821276e-02 -4.47289666e-02 5.50886263e+02] [ 9.03807727e-02 9.95898055e-01 -4.28730484e-03 4.40838249e+01] [ 4.49334153e-02 2.22771497e-04 9.98989959e-01 2.30084018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.5450998929999 meters 0.0134482048668519 Centerline is valid? [True, True] Translation: X:550.95, Y:44.09, Z:23.01 [[ 9.94946791e-01 -8.93002080e-02 -4.58950582e-02 5.50947780e+02] [ 8.91923189e-02 9.96004716e-01 -4.39735522e-03 4.40889056e+01] [ 4.61043791e-02 2.81647801e-04 9.98936588e-01 2.30095030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.6050998929999 meters 0.01342909247752609 Centerline is valid? [True, True] Translation: X:551.01, Y:44.09, Z:23.01 [[ 9.94851686e-01 -9.02452861e-02 -4.61076126e-02 5.51006918e+02] [ 9.01374766e-02 9.95919541e-01 -4.41626290e-03 4.40934870e+01] [ 4.63180193e-02 2.37502736e-04 9.98926716e-01 2.30110238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.6650998929999 meters 0.01316627708426099 Centerline is valid? [True, True] Translation: X:551.07, Y:44.10, Z:23.01 [[ 9.94408110e-01 -9.50283597e-02 -4.60665013e-02 5.51067194e+02] [ 9.49258349e-02 9.95474566e-01 -4.41307851e-03 4.40951873e+01] [ 4.62773980e-02 1.54999611e-05 9.98928627e-01 2.30137760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.7250998929999 meters 0.01377863439975778 Centerline is valid? [True, True] Translation: X:551.13, Y:44.09, Z:23.02 [[ 9.93374376e-01 -1.05837838e-01 -4.47850468e-02 5.51127586e+02] [ 1.05751906e-01 9.94383290e-01 -4.29037238e-03 4.40912956e+01] [ 4.49875859e-02 -4.74158061e-04 9.98987433e-01 2.30170488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.7850998929999 meters 0.016395139378483015 Centerline is valid? [True, True] Translation: X:551.19, Y:44.08, Z:23.02 [[ 9.92047901e-01 -1.18399538e-01 -4.26908780e-02 5.51188916e+02] [ 1.18333031e-01 9.92965539e-01 -4.09048155e-03 4.40845477e+01] [ 4.28748818e-02 -9.93787343e-04 9.99079955e-01 2.30209097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.8450998929999 meters 0.018404662420290333 Centerline is valid? [True, True] Translation: X:551.25, Y:44.08, Z:23.02 [[ 9.91150404e-01 -1.26109963e-01 -4.14385479e-02 5.51249903e+02] [ 1.26054031e-01 9.92015432e-01 -3.97036141e-03 4.40834728e+01] [ 4.16083812e-02 -1.28827069e-03 9.99133166e-01 2.30240846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9050998929998 meters 0.022676967949551957 Centerline is valid? [True, True] Translation: X:551.31, Y:44.08, Z:23.03 [[ 9.89845828e-01 -1.35893557e-01 -4.16914623e-02 5.51310190e+02] [ 1.35845623e-01 9.90721967e-01 -3.99384603e-03 4.40788592e+01] [ 4.18473855e-02 -1.71031083e-03 9.99122551e-01 2.30259627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9650998929999 meters 0.023670964799758748 Centerline is valid? [True, True] Translation: X:551.37, Y:44.08, Z:23.03 [[ 9.88861400e-01 -1.42582151e-01 -4.27020062e-02 5.51370957e+02] [ 1.42538229e-01 9.89780859e-01 -4.08719299e-03 4.40802612e+01] [ 4.28483892e-02 -2.04500097e-03 9.99079493e-01 2.30277194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0250998929998 meters 0.031499961370406296 Centerline is valid? [True, True] Translation: X:551.43, Y:44.07, Z:23.03 [[ 9.87381494e-01 -1.52026804e-01 -4.43354929e-02 5.51431497e+02] [ 1.51988944e-01 9.88373085e-01 -4.24334595e-03 4.40723529e+01] [ 4.44651102e-02 -2.54870346e-03 9.99007687e-01 2.30289428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0850998929999 meters 0.027073766453698696 Centerline is valid? [True, True] Translation: X:551.49, Y:44.08, Z:23.03 [[ 9.86689733e-01 -1.56345934e-01 -4.47137451e-02 5.51491752e+02] [ 1.56311888e-01 9.87698481e-01 -4.27846856e-03 4.40835234e+01] [ 4.48326192e-02 -2.76776890e-03 9.98990678e-01 2.30319419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.1450998929998 meters 0.030418734353088353 Centerline is valid? [True, True] Translation: X:551.55, Y:44.09, Z:23.03 [[ 9.86268409e-01 -1.58493890e-01 -4.64145706e-02 5.51551826e+02] [ 1.58459622e-01 9.87355474e-01 -4.44021672e-03 4.40867441e+01] [ 4.65314276e-02 -2.97558982e-03 9.98912395e-01 2.30337640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2050998929999 meters 0.030692457534909384 Centerline is valid? [True, True] Translation: X:551.61, Y:44.10, Z:23.04 [[ 9.86582832e-01 -1.55924034e-01 -4.83943269e-02 5.51611175e+02] [ 1.55883707e-01 9.87764565e-01 -4.62960869e-03 4.40959664e+01] [ 4.85240685e-02 -2.97639461e-03 9.98817579e-01 2.30350234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2650998929998 meters 0.027766977445723626 Centerline is valid? [True, True] Translation: X:551.67, Y:44.11, Z:23.04 [[ 9.86951129e-01 -1.53495468e-01 -4.86478248e-02 5.51671904e+02] [ 1.53451798e-01 9.88145177e-01 -4.65348287e-03 4.41091597e+01] [ 4.87854020e-02 -2.87233600e-03 9.98805153e-01 2.30377768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.3250998929999 meters 0.025352296322581895 Centerline is valid? [True, True] Translation: X:551.73, Y:44.12, Z:23.04 [[ 9.87388505e-01 -1.50187258e-01 -5.00772199e-02 5.51731888e+02] [ 1.50136874e-01 9.88653628e-01 -4.78769140e-03 4.41242837e+01] [ 5.02280755e-02 -2.79112581e-03 9.98733873e-01 2.30404533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.3850998929998 meters 0.025590763647789665 Centerline is valid? [True, True] Translation: X:551.79, Y:44.13, Z:23.04 [[ 9.87705559e-01 -1.48186450e-01 -4.97845872e-02 5.51792374e+02] [ 1.48134172e-01 9.88955824e-01 -4.75865134e-03 4.41334334e+01] [ 4.99399251e-02 -2.67465221e-03 9.98748642e-01 2.30432620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.4450998929999 meters 0.023227657534805074 Centerline is valid? [True, True] Translation: X:551.85, Y:44.15, Z:23.05 [[ 9.88225664e-01 -1.44933153e-01 -4.90348651e-02 5.51851382e+02] [ 1.44878517e-01 9.89438357e-01 -4.68547618e-03 4.41485317e+01] [ 4.91960572e-02 -2.47379074e-03 9.98786077e-01 2.30470053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.5050998929999 meters 0.023287906210340898 Centerline is valid? [True, True] Translation: X:551.91, Y:44.16, Z:23.05 [[ 9.89009343e-01 -1.39505094e-01 -4.89780383e-02 5.51910239e+02] [ 1.39443939e-01 9.90218907e-01 -4.68013164e-03 4.41612526e+01] [ 4.91518818e-02 -2.20099668e-03 9.98788891e-01 2.30494475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.5650998929999 meters 0.02094063710435513 Centerline is valid? [True, True] Translation: X:551.97, Y:44.18, Z:23.05 [[ 9.89702990e-01 -1.34335888e-01 -4.94151911e-02 5.51970140e+02] [ 1.34267186e-01 9.90933915e-01 -4.72227013e-03 4.41754405e+01] [ 4.96015591e-02 -1.96119378e-03 9.98767160e-01 2.30523395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6250998929999 meters 0.017011774999333214 Centerline is valid? [True, True] Translation: X:552.03, Y:44.20, Z:23.05 [[ 9.90881609e-01 -1.25106325e-01 -5.00204453e-02 5.52029359e+02] [ 1.25024217e-01 9.92142179e-01 -4.77934803e-03 4.41950298e+01] [ 5.02253203e-02 -1.51799892e-03 9.98736759e-01 2.30548601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6850998929999 meters 0.015796074182785284 Centerline is valid? [True, True] Translation: X:552.09, Y:44.21, Z:23.06 [[ 9.91717570e-01 -1.17749418e-01 -5.12965461e-02 5.52088566e+02] [ 1.17653230e-01 9.93042645e-01 -4.90127544e-03 4.42079445e+01] [ 5.15167802e-02 -1.17452336e-03 9.98671438e-01 2.30564834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.7450998929999 meters 0.013247198413984319 Centerline is valid? [True, True] Translation: X:552.15, Y:44.23, Z:23.06 [[ 9.93123353e-01 -1.05277909e-01 -5.12110075e-02 5.52147216e+02] [ 1.05165453e-01 9.94442701e-01 -4.89310241e-03 4.42280847e+01] [ 5.14415482e-02 -5.26174531e-04 9.98675868e-01 2.30603090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8050998929999 meters 0.012818241709900284 Centerline is valid? [True, True] Translation: X:552.21, Y:44.24, Z:23.06 [[ 9.94412646e-01 -9.28805656e-02 -5.01666274e-02 5.52206906e+02] [ 9.27568829e-02 9.95677251e-01 -4.79300479e-03 4.42442866e+01] [ 5.03949466e-02 1.12924599e-04 9.98729361e-01 2.30636431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8650998929999 meters 0.013285848348560437 Centerline is valid? [True, True] Translation: X:552.27, Y:44.26, Z:23.07 [[ 9.94996915e-01 -8.67651788e-02 -4.95271969e-02 5.52266802e+02] [ 8.66371516e-02 9.96228704e-01 -4.72999035e-03 4.42550052e+01] [ 4.97508137e-02 4.15430536e-04 9.98761575e-01 2.30657004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9250998929999 meters 0.013775028445744438 Centerline is valid? [True, True] Translation: X:552.33, Y:44.26, Z:23.07 [[ 9.95364582e-01 -8.29477990e-02 -4.86724871e-02 5.52327173e+02] [ 8.28196962e-02 9.96553717e-01 -4.64626253e-03 4.42623024e+01] [ 4.88901452e-02 5.93684569e-04 9.98803985e-01 2.30682514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9850998929999 meters 0.01357289588303781 Centerline is valid? [True, True] Translation: X:552.39, Y:44.27, Z:23.07 [[ 9.95265160e-01 -8.43963215e-02 -4.82132984e-02 5.52387764e+02] [ 8.42723242e-02 9.96432132e-01 -4.60242850e-03 4.42655645e+01] [ 4.84297077e-02 5.17590021e-04 9.98826459e-01 2.30711174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.0450998929999 meters 0.013087095115484662 Centerline is valid? [True, True] Translation: X:552.45, Y:44.26, Z:23.07 [[ 9.94795535e-01 -8.99676680e-02 -4.78295096e-02 5.52447433e+02] [ 8.98520655e-02 9.95944657e-01 -4.56589664e-03 4.42629848e+01] [ 4.80463276e-02 2.44553363e-04 9.98845078e-01 2.30728042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.1050998929999 meters 0.012849705202007709 Centerline is valid? [True, True] Translation: X:552.51, Y:44.26, Z:23.07 [[ 9.94088841e-01 -9.69485327e-02 -4.88708306e-02 5.52508952e+02] [ 9.68362269e-02 9.95289392e-01 -4.66604487e-03 4.42578928e+01] [ 4.90929855e-02 -9.40037008e-05 9.98794208e-01 2.30741741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.1650998929999 meters 0.013138401198544047 Centerline is valid? [True, True] Translation: X:552.57, Y:44.25, Z:23.08 [[ 9.93609015e-01 -1.01897009e-01 -4.85605181e-02 5.52569766e+02] [ 1.01792029e-01 9.94794897e-01 -4.63641714e-03 4.42548714e+01] [ 4.87801926e-02 -3.36287821e-04 9.98809481e-01 2.30766337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.2250998929999 meters 0.014208548300354345 Centerline is valid? [True, True] Translation: X:552.63, Y:44.25, Z:23.08 [[ 9.92775673e-01 -1.09943851e-01 -4.80501159e-02 5.52631507e+02] [ 1.09850483e-01 9.93937536e-01 -4.58757371e-03 4.42488430e+01] [ 4.82631893e-02 -7.23896862e-04 9.98834391e-01 2.30799030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.2850998929998 meters 0.015051523587718735 Centerline is valid? [True, True] Translation: X:552.69, Y:44.25, Z:23.08 [[ 9.92201348e-01 -1.15015010e-01 -4.80419950e-02 5.52693361e+02] [ 1.14927656e-01 9.93363279e-01 -4.58582376e-03 4.42468902e+01] [ 4.82505922e-02 -9.71293376e-04 9.98834790e-01 2.30827750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.3450998929999 meters 0.017591360728730212 Centerline is valid? [True, True] Translation: X:552.76, Y:44.24, Z:23.08 [[ 9.91158255e-01 -1.23679322e-01 -4.80493469e-02 5.52755008e+02] [ 1.23602172e-01 9.92321259e-01 -4.58500691e-03 4.42386790e+01] [ 4.82474590e-02 -1.39453621e-03 9.98834440e-01 2.30843135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4050998929998 meters 0.019870081608224188 Centerline is valid? [True, True] Translation: X:552.82, Y:44.23, Z:23.09 [[ 9.89721503e-01 -1.34357549e-01 -4.89836317e-02 5.52816698e+02] [ 1.34290405e-01 9.90930996e-01 -4.67418462e-03 4.42330030e+01] [ 4.91674109e-02 -1.95189071e-03 9.98788644e-01 2.30864188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4650998929999 meters 0.02477765783599893 Centerline is valid? [True, True] Translation: X:552.88, Y:44.23, Z:23.09 [[ 9.89273137e-01 -1.37511374e-01 -4.92877558e-02 5.52877214e+02] [ 1.37447290e-01 9.90497916e-01 -4.70335508e-03 4.42287377e+01] [ 4.94661842e-02 -2.12156560e-03 9.98773546e-01 2.30874117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5250998929998 meters 0.023761723662112873 Centerline is valid? [True, True] Translation: X:552.94, Y:44.23, Z:23.09 [[ 9.88413252e-01 -1.43146911e-01 -5.04797585e-02 5.52938163e+02] [ 1.43087021e-01 9.89698389e-01 -4.81696019e-03 4.42313263e+01] [ 5.06492686e-02 -2.46185101e-03 9.98713468e-01 2.30899917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5850998929999 meters 0.026489205185769967 Centerline is valid? [True, True] Translation: X:553.00, Y:44.23, Z:23.09 [[ 9.87725449e-01 -1.47538484e-01 -5.12916391e-02 5.52998790e+02] [ 1.47482580e-01 9.89052546e-01 -4.89389989e-03 4.42282118e+01] [ 5.14521648e-02 -2.73079378e-03 9.98671727e-01 2.30914853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.6450998929998 meters 0.027270799324504026 Centerline is valid? [True, True] Translation: X:553.06, Y:44.23, Z:23.09 [[ 9.87664676e-01 -1.47579101e-01 -5.23344661e-02 5.53058120e+02] [ 1.47520899e-01 9.89046328e-01 -4.99453799e-03 4.42309646e+01] [ 5.24983010e-02 -2.78749875e-03 9.98617123e-01 2.30935502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7050998929999 meters 0.02567068570372399 Centerline is valid? [True, True] Translation: X:553.12, Y:44.24, Z:23.10 [[ 9.87963786e-01 -1.45288904e-01 -5.30913503e-02 5.53117592e+02] [ 1.45225610e-01 9.89385582e-01 -5.06868042e-03 4.42371308e+01] [ 5.32642396e-02 -2.70255106e-03 9.98576796e-01 2.30958923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7650998929998 meters 0.022643120427627186 Centerline is valid? [True, True] Translation: X:553.18, Y:44.25, Z:23.10 [[ 9.88495151e-01 -1.41813368e-01 -5.25956783e-02 5.53176326e+02] [ 1.41746243e-01 9.89890282e-01 -5.02323796e-03 4.42463546e+01] [ 5.27763131e-02 -2.48979345e-03 9.98603255e-01 2.30997923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.8250998929999 meters 0.026084247788357724 Centerline is valid? [True, True] Translation: X:553.24, Y:44.25, Z:23.10 [[ 9.88842530e-01 -1.39412953e-01 -5.24831440e-02 5.53235114e+02] [ 1.39342631e-01 9.90231531e-01 -5.01460105e-03 4.42480500e+01] [ 5.26695644e-02 -2.35448858e-03 9.98609220e-01 2.31019687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.8850998929998 meters 0.019918341307809243 Centerline is valid? [True, True] Translation: X:553.29, Y:44.27, Z:23.11 [[ 9.89546518e-01 -1.34986080e-01 -5.07587109e-02 5.53293876e+02] [ 1.34914372e-01 9.90845381e-01 -4.85210974e-03 4.42654575e+01] [ 5.09490015e-02 -2.04669129e-03 9.98699159e-01 2.31078774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.9450998929999 meters 0.01993783800508261 Centerline is valid? [True, True] Translation: X:553.35, Y:44.27, Z:23.11 [[ 9.89916785e-01 -1.32090957e-01 -5.11540614e-02 5.53353512e+02] [ 1.32014250e-01 9.91235755e-01 -4.89028888e-03 4.42727645e+01] [ 5.13516976e-02 -1.91208598e-03 9.98678801e-01 2.31105277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.0050998929999 meters 0.019063390783192278 Centerline is valid? [True, True] Translation: X:553.41, Y:44.28, Z:23.11 [[ 9.90344527e-01 -1.28204483e-01 -5.27383073e-02 5.53412738e+02] [ 1.28117438e-01 9.91746188e-01 -5.04193723e-03 4.42824903e+01] [ 5.29494141e-02 -1.76344189e-03 9.98595639e-01 2.31128060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.0650998929999 meters 0.018238091391053722 Centerline is valid? [True, True] Translation: X:553.47, Y:44.29, Z:23.12 [[ 9.90462241e-01 -1.26423395e-01 -5.47875453e-02 5.53471749e+02] [ 1.26326666e-01 9.91974861e-01 -5.23909577e-03 4.42920128e+01] [ 5.50102119e-02 -1.73200137e-03 9.98484290e-01 2.31152762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1250998929999 meters 0.018352654450294034 Centerline is valid? [True, True] Translation: X:553.53, Y:44.30, Z:23.12 [[ 9.90377615e-01 -1.26238345e-01 -5.67103227e-02 5.53531283e+02] [ 1.26134285e-01 9.91998342e-01 -5.42505636e-03 4.42985486e+01] [ 5.69413962e-02 -1.78026161e-03 9.98375935e-01 2.31170634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1850998929999 meters 0.01984548667109447 Centerline is valid? [True, True] Translation: X:553.59, Y:44.30, Z:23.12 [[ 9.90276867e-01 -1.26456853e-01 -5.79688773e-02 5.53589019e+02] [ 1.26348324e-01 9.91970421e-01 -5.54840849e-03 4.43033031e+01] [ 5.82050459e-02 -1.82980992e-03 9.98302972e-01 2.31182902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.2450998929999 meters 0.019237507090452924 Centerline is valid? [True, True] Translation: X:553.65, Y:44.31, Z:23.12 [[ 9.90207079e-01 -1.27487254e-01 -5.68941174e-02 5.53646921e+02] [ 1.27383989e-01 9.91838487e-01 -5.45290090e-03 4.43109033e+01] [ 5.71249508e-02 -1.84789856e-03 9.98365327e-01 2.31238670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3050998929999 meters 0.017592518890102857 Centerline is valid? [True, True] Translation: X:553.71, Y:44.32, Z:23.13 [[ 9.89929889e-01 -1.29068449e-01 -5.81390625e-02 5.53705977e+02] [ 1.28962681e-01 9.91633729e-01 -5.58343338e-03 4.43204152e+01] [ 5.83733004e-02 -1.97056177e-03 9.98292880e-01 2.31276680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3650998929999 meters 0.018804300321815726 Centerline is valid? [True, True] Translation: X:553.77, Y:44.33, Z:23.13 [[ 9.89703473e-01 -1.31597819e-01 -5.62943046e-02 5.53765178e+02] [ 1.31502621e-01 9.91301070e-01 -5.40832936e-03 4.43254449e+01] [ 5.65163287e-02 -2.05020626e-03 9.98399570e-01 2.31326974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4250998929999 meters 0.02170145022463284 Centerline is valid? [True, True] Translation: X:553.83, Y:44.33, Z:23.13 [[ 9.89396019e-01 -1.34177457e-01 -5.56051048e-02 5.53825056e+02] [ 1.34088540e-01 9.90954947e-01 -5.34389673e-03 4.43265706e+01] [ 5.58191841e-02 -2.16877714e-03 9.98438538e-01 2.31349135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4850998929999 meters 0.023471774254752352 Centerline is valid? [True, True] Translation: X:553.89, Y:44.33, Z:23.14 [[ 9.88581313e-01 -1.39962689e-01 -5.58339723e-02 5.53885564e+02] [ 1.39882183e-01 9.90153610e-01 -5.36679601e-03 4.43302324e+01] [ 5.60353604e-02 -2.50466370e-03 9.98425643e-01 2.31376269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.5450998929999 meters 0.026786757467913584 Centerline is valid? [True, True] Translation: X:553.94, Y:44.33, Z:23.14 [[ 9.87923534e-01 -1.44510019e-01 -5.58922719e-02 5.53944991e+02] [ 1.44436544e-01 9.89499476e-01 -5.37330876e-03 4.43313464e+01] [ 5.60818707e-02 -2.76446843e-03 9.98422346e-01 2.31389060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.6050998929999 meters 0.02774817484042602 Centerline is valid? [True, True] Translation: X:554.01, Y:44.34, Z:23.14 [[ 9.87097118e-01 -1.50426861e-01 -5.48729284e-02 5.54005246e+02] [ 1.50365060e-01 9.88616460e-01 -5.27681089e-03 4.43358788e+01] [ 5.50420543e-02 -3.04224633e-03 9.98479402e-01 2.31415683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.6650998929999 meters 0.027019734766369104 Centerline is valid? [True, True] Translation: X:554.07, Y:44.34, Z:23.14 [[ 9.86754522e-01 -1.52723007e-01 -5.46918278e-02 5.54065333e+02] [ 1.52665113e-01 9.88263983e-01 -5.25958279e-03 4.43439618e+01] [ 5.48532229e-02 -3.15961700e-03 9.98489429e-01 2.31436290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.7250998929999 meters 0.028384459858607207 Centerline is valid? [True, True] Translation: X:554.12, Y:44.35, Z:23.15 [[ 9.86826568e-01 -1.52507810e-01 -5.39878877e-02 5.54124165e+02] [ 1.52451062e-01 9.88297382e-01 -5.19210549e-03 4.43503844e+01] [ 5.41479247e-02 -3.10680316e-03 9.98528092e-01 2.31464457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.7850998929998 meters 0.029033522620486345 Centerline is valid? [True, True] Translation: X:554.18, Y:44.36, Z:23.15 [[ 9.87169910e-01 -1.50587704e-01 -5.30934385e-02 5.54183047e+02] [ 1.50530001e-01 9.88592250e-01 -5.10702292e-03 4.43583353e+01] [ 5.32568167e-02 -2.95065600e-03 9.98576489e-01 2.31488002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.8450998929999 meters 0.02920945848793058 Centerline is valid? [True, True] Translation: X:554.24, Y:44.37, Z:23.15 [[ 9.87419691e-01 -1.49179476e-01 -5.24198233e-02 5.54243263e+02] [ 1.49121211e-01 9.88806064e-01 -5.04295691e-03 4.43662878e+01] [ 5.25853449e-02 -2.83739258e-03 9.98612403e-01 2.31504407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9050998929998 meters 0.024434746348748287 Centerline is valid? [True, True] Translation: X:554.30, Y:44.38, Z:23.15 [[ 9.87499945e-01 -1.48602406e-01 -5.25469738e-02 5.54304587e+02] [ 1.48543086e-01 9.88893020e-01 -5.05438936e-03 4.43807423e+01] [ 5.27144300e-02 -2.81428044e-03 9.98605662e-01 2.31540780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9650998929999 meters 0.026883415683460664 Centerline is valid? [True, True] Translation: X:554.36, Y:44.39, Z:23.16 [[ 9.87924254e-01 -1.45752469e-01 -5.25536454e-02 5.54364705e+02] [ 1.45689339e-01 9.89317495e-01 -5.05075508e-03 4.43871830e+01] [ 5.27284008e-02 -2.66674240e-03 9.98605330e-01 2.31558372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0250998929998 meters 0.019926190831287157 Centerline is valid? [True, True] Translation: X:554.42, Y:44.41, Z:23.16 [[ 9.89057428e-01 -1.38642263e-01 -5.04353713e-02 5.54422904e+02] [ 1.38575109e-01 9.90340086e-01 -4.84283953e-03 4.44090902e+01] [ 5.06195922e-02 -2.19924063e-03 9.98715585e-01 2.31609322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0850998929999 meters 0.01976924198707732 Centerline is valid? [True, True] Translation: X:554.48, Y:44.42, Z:23.16 [[ 9.89952908e-01 -1.32226228e-01 -5.00945600e-02 5.54481882e+02] [ 1.32151768e-01 9.91217823e-01 -4.81023819e-03 4.44191008e+01] [ 5.02906603e-02 -1.85817540e-03 9.98732896e-01 2.31633258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.1450998929998 meters 0.016040121081298188 Centerline is valid? [True, True] Translation: X:554.54, Y:44.44, Z:23.17 [[ 9.91355044e-01 -1.21809317e-01 -4.87613372e-02 5.54540935e+02] [ 1.21726148e-01 9.92552677e-01 -4.68265949e-03 4.44369447e+01] [ 4.89685874e-02 -1.29335165e-03 9.98799482e-01 2.31664959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2050998929999 meters 0.013186656021684154 Centerline is valid? [True, True] Translation: X:554.60, Y:44.45, Z:23.17 [[ 9.92770684e-01 -1.10088583e-01 -4.78212626e-02 5.54600621e+02] [ 1.09995004e-01 9.93921532e-01 -4.59204071e-03 4.44541413e+01] [ 4.80361139e-02 -7.01256604e-04 9.98845353e-01 2.31684759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2650998929998 meters 0.01251098619990414 Centerline is valid? [True, True] Translation: X:554.66, Y:44.46, Z:23.17 [[ 9.93226807e-01 -1.05795028e-01 -4.80408266e-02 5.54661731e+02] [ 1.05695617e-01 9.94387834e-01 -4.61207969e-03 4.44639754e+01] [ 4.82591486e-02 -4.96863629e-04 9.98834725e-01 2.31703179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.3250998929999 meters 0.01224790453719569 Centerline is valid? [True, True] Translation: X:554.72, Y:44.47, Z:23.17 [[ 9.93531202e-01 -1.02786341e-01 -4.82775266e-02 5.54723769e+02] [ 1.02682567e-01 9.94703394e-01 -4.63129811e-03 4.44724233e+01] [ 4.84978538e-02 -3.55921187e-04 9.98823223e-01 2.31724986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.3850998929998 meters 0.012161421874218375 Centerline is valid? [True, True] Translation: X:554.79, Y:44.48, Z:23.18 [[ 9.93576003e-01 -1.02231774e-01 -4.85323742e-02 5.54785294e+02] [ 1.02126411e-01 9.94760550e-01 -4.65224612e-03 4.44788648e+01] [ 4.87536986e-02 -3.34077102e-04 9.98810776e-01 2.31751580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.4450998929999 meters 0.012066774820094781 Centerline is valid? [True, True] Translation: X:554.85, Y:44.48, Z:23.18 [[ 9.93518030e-01 -1.02616624e-01 -4.89055451e-02 5.54847432e+02] [ 1.02510275e-01 9.94720915e-01 -4.68446317e-03 4.44848275e+01] [ 4.91280724e-02 -3.59222246e-04 9.98792423e-01 2.31782989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.5050998929999 meters 0.012349082818778324 Centerline is valid? [True, True] Translation: X:554.91, Y:44.49, Z:23.18 [[ 9.93237450e-01 -1.05148794e-01 -4.92249887e-02 5.54909976e+02] [ 1.05044338e-01 9.94456379e-01 -4.71140133e-03 4.44880528e+01] [ 4.94475022e-02 -4.91266107e-04 9.98776603e-01 2.31805416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.5650998929999 meters 0.012752097801431616 Centerline is valid? [True, True] Translation: X:554.97, Y:44.49, Z:23.18 [[ 9.92931513e-01 -1.07501458e-01 -5.03035455e-02 5.54971154e+02] [ 1.07395569e-01 9.94204730e-01 -4.81104458e-03 4.44912043e+01] [ 5.05292172e-02 -6.25340141e-04 9.98722387e-01 2.31823829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6250998929999 meters 0.012694576747089431 Centerline is valid? [True, True] Translation: X:555.03, Y:44.50, Z:23.19 [[ 9.92949938e-01 -1.07474774e-01 -4.99959272e-02 5.55033064e+02] [ 1.07370286e-01 9.94207617e-01 -4.77878683e-03 4.44959848e+01] [ 5.02199307e-02 -6.22980925e-04 9.98737989e-01 2.31856205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6850998929999 meters 0.011996068445121293 Centerline is valid? [True, True] Translation: X:555.09, Y:44.50, Z:23.19 [[ 9.93331494e-01 -1.04313501e-01 -4.91043514e-02 5.55094814e+02] [ 1.04209018e-01 9.94544360e-01 -4.69009276e-03 4.45032336e+01] [ 4.93256957e-02 -4.58299415e-04 9.98782642e-01 2.31899908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.7450998929999 meters 0.011654528921304232 Centerline is valid? [True, True] Translation: X:555.16, Y:44.51, Z:23.19 [[ 9.93723859e-01 -1.00675597e-01 -4.87577330e-02 5.55155856e+02] [ 1.00568376e-01 9.94919266e-01 -4.65354631e-03 4.45104609e+01] [ 4.89785065e-02 -2.79146013e-04 9.98799794e-01 2.31930927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8050998929999 meters 0.011181134627329298 Centerline is valid? [True, True] Translation: X:555.22, Y:44.52, Z:23.20 [[ 9.94205035e-01 -9.62990176e-02 -4.77791457e-02 5.55216423e+02] [ 9.61911240e-02 9.95352448e-01 -4.55770027e-03 4.45171919e+01] [ 4.79959917e-02 -6.46411685e-05 9.98847526e-01 2.31959423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8650998929999 meters 0.01117236866755173 Centerline is valid? [True, True] Translation: X:555.28, Y:44.52, Z:23.20 [[ 9.94324137e-01 -9.47606791e-02 -4.83727721e-02 5.55277112e+02] [ 9.46483535e-02 9.95500082e-01 -4.61254253e-03 4.45222569e+01] [ 4.85921863e-02 7.95913302e-06 9.98818702e-01 2.31978766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9250998929999 meters 0.011165382298341752 Centerline is valid? [True, True] Translation: X:555.34, Y:44.53, Z:23.20 [[ 9.94318925e-01 -9.39680888e-02 -4.99987377e-02 5.55337835e+02] [ 9.38471649e-02 9.95575209e-01 -4.76586960e-03 4.45263048e+01] [ 5.02253433e-02 4.65545608e-05 9.98737910e-01 2.31992779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9850998929999 meters 0.011015843842894415 Centerline is valid? [True, True] Translation: X:555.40, Y:44.53, Z:23.20 [[ 9.94252612e-01 -9.43091484e-02 -5.06707878e-02 5.55397626e+02] [ 9.41854583e-02 9.95542959e-01 -4.82863747e-03 4.45298952e+01] [ 5.09003308e-02 2.84340447e-05 9.98703738e-01 2.32013291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.0450998929999 meters 0.010925586237741097 Centerline is valid? [True, True] Translation: X:555.46, Y:44.53, Z:23.20 [[ 9.94227605e-01 -9.47318188e-02 -5.03721256e-02 5.55457680e+02] [ 9.46102486e-02 9.95502829e-01 -4.79774558e-03 4.45336099e+01] [ 5.06000927e-02 4.33176650e-06 9.98718995e-01 2.32044278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.1050998929999 meters 0.01103026319876907 Centerline is valid? [True, True] Translation: X:555.52, Y:44.54, Z:23.21 [[ 9.94217707e-01 -9.47454364e-02 -5.05415998e-02 5.55517451e+02] [ 9.46230719e-02 9.95501533e-01 -4.81373039e-03 4.45373638e+01] [ 5.07703191e-02 3.49455777e-06 9.98710356e-01 2.32068615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.1650998929999 meters 0.010879404268524346 Centerline is valid? [True, True] Translation: X:555.58, Y:44.54, Z:23.21 [[ 9.94166863e-01 -9.55649035e-02 -4.99959679e-02 5.55578131e+02] [ 9.54462412e-02 9.95423200e-01 -4.76101949e-03 4.45406597e+01] [ 5.02221328e-02 -3.86794024e-05 9.98738072e-01 2.32095631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.2250998929999 meters 0.010811725582002035 Centerline is valid? [True, True] Translation: X:555.64, Y:44.54, Z:23.21 [[ 9.93920565e-01 -9.88580564e-02 -4.84664271e-02 5.55638594e+02] [ 9.87504594e-02 9.95101525e-01 -4.61536427e-03 4.45416552e+01] [ 4.86852814e-02 -1.98776478e-04 9.98814149e-01 2.32126733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.2850998929998 meters 0.011063823195520113 Centerline is valid? [True, True] Translation: X:555.70, Y:44.54, Z:23.22 [[ 9.93646266e-01 -1.01998885e-01 -4.75744301e-02 5.55699539e+02] [ 1.01898821e-01 9.94784453e-01 -4.53021695e-03 4.45442333e+01] [ 4.77883805e-02 -3.46345176e-04 9.98857423e-01 2.32157513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.3450998929999 meters 0.011372797828311626 Centerline is valid? [True, True] Translation: X:555.76, Y:44.55, Z:23.22 [[ 9.93321905e-01 -1.05586666e-01 -4.65085872e-02 5.55760922e+02] [ 1.05495042e-01 9.94409974e-01 -4.42710468e-03 4.45460085e+01] [ 4.67160462e-02 -5.08885292e-04 9.98908080e-01 2.32190002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4050998929998 meters 0.011387168195770764 Centerline is valid? [True, True] Translation: X:555.82, Y:44.55, Z:23.22 [[ 9.93130761e-01 -1.07127512e-01 -4.70636455e-02 5.55822899e+02] [ 1.07035507e-01 9.94245115e-01 -4.47801351e-03 4.45493057e+01] [ 4.72725181e-02 -5.90228176e-04 9.98881855e-01 2.32209208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4650998929999 meters 0.011565785345978862 Centerline is valid? [True, True] Translation: X:555.88, Y:44.55, Z:23.22 [[ 9.93170078e-01 -1.06846608e-01 -4.68721437e-02 5.55883573e+02] [ 1.06755196e-01 9.94275348e-01 -4.45643474e-03 4.45529776e+01] [ 4.70799720e-02 -5.77847232e-04 9.98890956e-01 2.32224740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5250998929998 meters 0.010855365492518558 Centerline is valid? [True, True] Translation: X:555.94, Y:44.56, Z:23.23 [[ 9.93530525e-01 -1.03518596e-01 -4.67011421e-02 5.55944349e+02] [ 1.03424289e-01 9.94627429e-01 -4.43772206e-03 4.45610311e+01] [ 4.69096236e-02 -4.21020106e-04 9.98899049e-01 2.32252024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5850998929999 meters 0.010327096773789205 Centerline is valid? [True, True] Translation: X:556.00, Y:44.57, Z:23.23 [[ 9.94411693e-01 -9.46007557e-02 -4.68623683e-02 5.56004827e+02] [ 9.44959717e-02 9.95515292e-01 -4.45132778e-03 4.45714827e+01] [ 4.70733033e-02 -1.85263288e-06 9.98891438e-01 2.32281203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.6450998929998 meters 0.010421575598004123 Centerline is valid? [True, True] Translation: X:556.06, Y:44.58, Z:23.23 [[ 9.94941219e-01 -8.88985519e-02 -4.67869482e-02 5.56064716e+02] [ 8.87878712e-02 9.96040650e-01 -4.44266112e-03 4.45802237e+01] [ 4.69966485e-02 2.66073140e-04 9.98895012e-01 2.32315190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7050998929999 meters 0.010966109371029526 Centerline is valid? [True, True] Translation: X:556.13, Y:44.59, Z:23.23 [[ 9.95395225e-01 -8.41407591e-02 -4.59203558e-02 5.56125016e+02] [ 8.40290811e-02 9.96453762e-01 -4.36037372e-03 4.45868578e+01] [ 4.61243964e-02 4.81649879e-04 9.98935588e-01 2.32343358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7650998929998 meters 0.010842230324743487 Centerline is valid? [True, True] Translation: X:556.18, Y:44.59, Z:23.24 [[ 9.95154048e-01 -8.65428534e-02 -4.66771439e-02 5.56183689e+02] [ 8.64300863e-02 9.96248058e-01 -4.43256183e-03 4.45879836e+01] [ 4.68856205e-02 3.76772264e-04 9.98900194e-01 2.32350067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.8250998929999 meters 0.010186619526041656 Centerline is valid? [True, True] Translation: X:556.24, Y:44.59, Z:23.24 [[ 9.94718745e-01 -9.14050293e-02 -4.66876774e-02 5.56243777e+02] [ 9.12974213e-02 9.95813787e-01 -4.43654602e-03 4.45874446e+01] [ 4.68977554e-02 1.50650942e-04 9.98899684e-01 2.32370343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.8850998929998 meters 0.010500587391796672 Centerline is valid? [True, True] Translation: X:556.30, Y:44.58, Z:23.24 [[ 9.93676261e-01 -1.01805962e-01 -4.73606825e-02 5.56303442e+02] [ 1.01706933e-01 9.94804216e-01 -4.50237391e-03 4.45817801e+01] [ 4.75729751e-02 -3.43007696e-04 9.98867706e-01 2.32393006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.9450998929999 meters 0.011679189810420518 Centerline is valid? [True, True] Translation: X:556.36, Y:44.58, Z:23.24 [[ 9.92671311e-01 -1.11561793e-01 -4.64503419e-02 5.56364580e+02] [ 1.11477065e-01 9.93757183e-01 -4.41866862e-03 4.45771298e+01] [ 4.66533155e-02 -7.91862203e-04 9.98910827e-01 2.32432336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.0050998929999 meters 0.013421733656210542 Centerline is valid? [True, True] Translation: X:556.42, Y:44.58, Z:23.25 [[ 9.92168095e-01 -1.16210923e-01 -4.57983962e-02 5.56424646e+02] [ 1.16133500e-01 9.93224058e-01 -4.35672359e-03 4.45754426e+01] [ 4.59943678e-02 -9.96125913e-04 9.98941202e-01 2.32458132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.0650998929999 meters 0.013715350858804343 Centerline is valid? [True, True] Translation: X:556.49, Y:44.58, Z:23.25 [[ 9.91878376e-01 -1.19002648e-01 -4.48960751e-02 5.56486084e+02] [ 1.18931074e-01 9.92893325e-01 -4.27151915e-03 4.45771733e+01] [ 4.50853353e-02 -1.10271094e-03 9.98982531e-01 2.32484634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1250998929999 meters 0.013347365262134113 Centerline is valid? [True, True] Translation: X:556.55, Y:44.58, Z:23.25 [[ 9.92026062e-01 -1.17280259e-01 -4.61479448e-02 5.56547123e+02] [ 1.17202855e-01 9.93098297e-01 -4.38889686e-03 4.45807368e+01] [ 4.63441763e-02 -1.05477082e-03 9.98924975e-01 2.32493460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1850998929999 meters 0.01309513670673275 Centerline is valid? [True, True] Translation: X:556.61, Y:44.59, Z:23.25 [[ 9.92322887e-01 -1.14432970e-01 -4.69082493e-02 5.56606024e+02] [ 1.14349884e-01 9.93430528e-01 -4.45975324e-03 4.45854949e+01] [ 4.71104297e-02 -9.38437658e-04 9.98889246e-01 2.32508974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.2450998929999 meters 0.010873918422962226 Centerline is valid? [True, True] Translation: X:556.67, Y:44.60, Z:23.25 [[ 9.93074577e-01 -1.07541074e-01 -4.73054090e-02 5.56665717e+02] [ 1.07448720e-01 9.94200452e-01 -4.49826591e-03 4.45955426e+01] [ 4.75148073e-02 -6.15792107e-04 9.98870344e-01 2.32541941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3050998929999 meters 0.010330750378248234 Centerline is valid? [True, True] Translation: X:556.73, Y:44.60, Z:23.26 [[ 9.93366322e-01 -1.04839408e-01 -4.72445651e-02 5.56725652e+02] [ 1.04744237e-01 9.94489046e-01 -4.49248027e-03 4.46027548e+01] [ 4.74551914e-02 -4.85917295e-04 9.98873250e-01 2.32568177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3650998929999 meters 0.00965761880777002 Centerline is valid? [True, True] Translation: X:556.78, Y:44.61, Z:23.26 [[ 9.94189615e-01 -9.67452194e-02 -4.71950333e-02 5.56784529e+02] [ 9.66411168e-02 9.95309174e-01 -4.48796631e-03 4.46114387e+01] [ 4.74078389e-02 -9.90912238e-05 9.98875611e-01 2.32593134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4250998929999 meters 0.009564673172222073 Centerline is valid? [True, True] Translation: X:556.84, Y:44.62, Z:23.26 [[ 9.94414473e-01 -9.40012971e-02 -4.79959669e-02 5.56843320e+02] [ 9.38902835e-02 9.95572074e-01 -4.56725106e-03 4.46178666e+01] [ 4.82127719e-02 3.53856097e-05 9.98837088e-01 2.32612035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4850998929999 meters 0.0095750921014817 Centerline is valid? [True, True] Translation: X:556.90, Y:44.62, Z:23.26 [[ 9.94346758e-01 -9.39003294e-02 -4.95706793e-02 5.56900874e+02] [ 9.37811839e-02 9.95581602e-01 -4.72908740e-03 4.46228376e+01] [ 4.97957191e-02 5.35557392e-05 9.98759422e-01 2.32625991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.5450998929999 meters 0.009552322852872334 Centerline is valid? [True, True] Translation: X:556.96, Y:44.62, Z:23.27 [[ 9.93804715e-01 -9.90247613e-02 -5.04607283e-02 5.56959318e+02] [ 9.89075022e-02 9.95084950e-01 -4.82172063e-03 4.46240382e+01] [ 5.06901810e-02 -1.99095902e-04 9.98714407e-01 2.32650259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.6050998929999 meters 0.009905212223527507 Centerline is valid? [True, True] Translation: X:557.02, Y:44.63, Z:23.27 [[ 9.93303534e-01 -1.04092365e-01 -5.01285278e-02 5.57018120e+02] [ 1.03982454e-01 9.94567536e-01 -4.80262785e-03 4.46254390e+01] [ 5.03561233e-02 -4.42020110e-04 9.98731228e-01 2.32677123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.6650998929999 meters 0.011567547882599737 Centerline is valid? [True, True] Translation: X:557.08, Y:44.62, Z:23.27 [[ 9.92630246e-01 -1.10988135e-01 -4.86500667e-02 5.57076172e+02] [ 1.10892330e-01 9.93821443e-01 -4.67228618e-03 4.46235915e+01] [ 4.88680478e-02 -7.57066693e-04 9.98804956e-01 2.32705304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.7250998929999 meters 0.01221307732937848 Centerline is valid? [True, True] Translation: X:557.14, Y:44.63, Z:23.27 [[ 9.92076929e-01 -1.16401059e-01 -4.72669020e-02 5.57135203e+02] [ 1.16316429e-01 9.93201801e-01 -4.54642563e-03 4.46251841e+01] [ 4.74747810e-02 -9.87513263e-04 9.98871949e-01 2.32737297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.7850998929998 meters 0.013330085087442036 Centerline is valid? [True, True] Translation: X:557.19, Y:44.63, Z:23.28 [[ 9.91951986e-01 -1.17580075e-01 -4.69700222e-02 5.57194262e+02] [ 1.17497338e-01 9.93062874e-01 -4.52818776e-03 4.46268431e+01] [ 4.71766098e-02 -1.02710772e-03 9.98886036e-01 2.32756991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.8450998929999 meters 0.011313181742391067 Centerline is valid? [True, True] Translation: X:557.25, Y:44.64, Z:23.28 [[ 9.92376367e-01 -1.14273361e-01 -4.61599972e-02 5.57252901e+02] [ 1.14189968e-01 9.93448975e-01 -4.44817287e-03 4.46354624e+01] [ 4.63659096e-02 -8.56746976e-04 9.98924155e-01 2.32792019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9050998929998 meters 0.010480199726413697 Centerline is valid? [True, True] Translation: X:557.31, Y:44.64, Z:23.28 [[ 9.92950394e-01 -1.09467222e-01 -4.54581437e-02 5.57312326e+02] [ 1.09381236e-01 9.93990212e-01 -4.38220012e-03 4.46426808e+01] [ 4.56646572e-02 -6.20960591e-04 9.98956632e-01 2.32820791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9650998929999 meters 0.009535841091072837 Centerline is valid? [True, True] Translation: X:557.37, Y:44.65, Z:23.28 [[ 9.93642786e-01 -1.02831820e-01 -4.58217184e-02 5.57370815e+02] [ 1.02737315e-01 9.94698706e-01 -4.41900415e-03 4.46502787e+01] [ 4.60332183e-02 -3.16688700e-04 9.98939859e-01 2.32834827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0250998929998 meters 0.009307470281560513 Centerline is valid? [True, True] Translation: X:557.43, Y:44.66, Z:23.28 [[ 9.93815254e-01 -1.00480286e-01 -4.72752840e-02 5.57429782e+02] [ 1.00376881e-01 9.94939027e-01 -4.56226309e-03 4.46563944e+01] [ 4.74944425e-02 -2.11298893e-04 9.98871480e-01 2.32847415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0850998929999 meters 0.009367910963380167 Centerline is valid? [True, True] Translation: X:557.49, Y:44.66, Z:23.28 [[ 9.93667025e-01 -1.01053473e-01 -4.91328625e-02 5.57487372e+02] [ 1.00942149e-01 9.94880966e-01 -4.74818626e-03 4.46599944e+01] [ 4.93611704e-02 -2.41460597e-04 9.98780965e-01 2.32843708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.1450998929998 meters 0.010091004386988291 Centerline is valid? [True, True] Translation: X:557.55, Y:44.66, Z:23.29 [[ 9.93011027e-01 -1.06642809e-01 -5.05609599e-02 5.57546484e+02] [ 1.06531850e-01 9.94297255e-01 -4.89213949e-03 4.46603846e+01] [ 5.07943351e-02 -5.28404102e-04 9.98708995e-01 2.32861628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2050998929999 meters 0.010923930665987963 Centerline is valid? [True, True] Translation: X:557.61, Y:44.66, Z:23.29 [[ 9.92379750e-01 -1.12342658e-01 -5.06118498e-02 5.57605588e+02] [ 1.12238237e-01 9.93669197e-01 -4.90962582e-03 4.46618811e+01] [ 5.08429966e-02 -8.08371546e-04 9.98706331e-01 2.32895645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2650998929998 meters 0.014024431429197107 Centerline is valid? [True, True] Translation: X:557.67, Y:44.66, Z:23.29 [[ 9.91411780e-01 -1.21136603e-01 -4.92808849e-02 5.57665516e+02] [ 1.21047927e-01 9.92635102e-01 -4.79097475e-03 4.46587059e+01] [ 4.94982986e-02 -1.21552016e-03 9.98773468e-01 2.32925836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.3250998929999 meters 0.016188477842462034 Centerline is valid? [True, True] Translation: X:557.73, Y:44.66, Z:23.30 [[ 9.90792842e-01 -1.26414792e-01 -4.84648882e-02 5.57725181e+02] [ 1.26335279e-01 9.91976405e-01 -4.71269881e-03 4.46588853e+01] [ 4.86717804e-02 -1.45351692e-03 9.98813769e-01 2.32954569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.3850998929998 meters 0.01694493846866997 Centerline is valid? [True, True] Translation: X:557.79, Y:44.66, Z:23.30 [[ 9.90146541e-01 -1.31792772e-01 -4.73338349e-02 5.57785318e+02] [ 1.31722985e-01 9.91275873e-01 -4.60426023e-03 4.46620880e+01] [ 4.75276967e-02 -1.67606169e-03 9.98868514e-01 2.32986999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.4450998929999 meters 0.019852456883995468 Centerline is valid? [True, True] Translation: X:557.84, Y:44.66, Z:23.30 [[ 9.89497183e-01 -1.36613109e-01 -4.72459924e-02 5.57844991e+02] [ 1.36549015e-01 9.90622651e-01 -4.59666645e-03 4.46636299e+01] [ 4.74309151e-02 -1.90300524e-03 9.98872708e-01 2.33011803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.5050998929999 meters 0.021924572791152987 Centerline is valid? [True, True] Translation: X:557.91, Y:44.67, Z:23.30 [[ 9.88542523e-01 -1.43094757e-01 -4.80371815e-02 5.57905013e+02] [ 1.43036088e-01 9.89706435e-01 -4.67443545e-03 4.46668537e+01] [ 4.82115949e-02 -2.25017229e-03 9.98834610e-01 2.33034522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.5650998929999 meters 0.024140907158232864 Centerline is valid? [True, True] Translation: X:557.97, Y:44.67, Z:23.31 [[ 9.87879505e-01 -1.47583425e-01 -4.80959094e-02 5.57965072e+02] [ 1.47529896e-01 9.89046522e-01 -4.68049154e-03 4.46704395e+01] [ 4.82598549e-02 -2.47182287e-03 9.98831756e-01 2.33060620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6250998929999 meters 0.02283021357521911 Centerline is valid? [True, True] Translation: X:558.02, Y:44.68, Z:23.31 [[ 9.87168231e-01 -1.52215437e-01 -4.82632767e-02 5.58024966e+02] [ 1.52167012e-01 9.88343631e-01 -4.69752225e-03 4.46804654e+01] [ 4.84157376e-02 -2.70683385e-03 9.98823603e-01 2.33088265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6850998929999 meters 0.027741831152721483 Centerline is valid? [True, True] Translation: X:558.08, Y:44.68, Z:23.31 [[ 9.86804262e-01 -1.54131215e-01 -4.96076399e-02 5.58083536e+02] [ 1.54082450e-01 9.88046194e-01 -4.82873841e-03 4.46823892e+01] [ 4.97588991e-02 -2.87864706e-03 9.98757110e-01 2.33092677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.7450998929999 meters 0.033507178075679205 Centerline is valid? [True, True] Translation: X:558.14, Y:44.68, Z:23.31 [[ 9.86615976e-01 -1.54954362e-01 -5.07746173e-02 5.58141555e+02] [ 1.54904182e-01 9.87917118e-01 -4.94590238e-03 4.46848300e+01] [ 5.09275028e-02 -2.98549428e-03 9.98697890e-01 2.33094319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8050998929999 meters 0.029085247370421025 Centerline is valid? [True, True] Translation: X:558.20, Y:44.70, Z:23.31 [[ 9.86892541e-01 -1.53341195e-01 -5.02950417e-02 5.58199024e+02] [ 1.53289561e-01 9.88169140e-01 -4.90531841e-03 4.47002283e+01] [ 5.04521955e-02 -2.86868269e-03 9.98722357e-01 2.33136782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8650998929999 meters 0.02265926931275653 Centerline is valid? [True, True] Translation: X:558.26, Y:44.72, Z:23.32 [[ 9.87982811e-01 -1.46584150e-01 -4.90209342e-02 5.58256684e+02] [ 1.46526648e-01 9.89195155e-01 -4.78410211e-03 4.47213308e+01] [ 4.91925441e-02 -2.45626251e-03 9.98786294e-01 2.33189846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9250998929999 meters 0.017907318377859322 Centerline is valid? [True, True] Translation: X:558.32, Y:44.74, Z:23.32 [[ 9.89705728e-01 -1.35361633e-01 -4.64736543e-02 5.58315809e+02] [ 1.35297535e-01 9.90794629e-01 -4.53662324e-03 4.47411058e+01] [ 4.66599318e-02 -1.79784888e-03 9.98909214e-01 2.33239076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9850998929999 meters 0.014966460413212621 Centerline is valid? [True, True] Translation: X:558.37, Y:44.76, Z:23.32 [[ 9.91118267e-01 -1.24004938e-01 -4.80349499e-02 5.58374133e+02] [ 1.23923128e-01 9.92280742e-01 -4.68899700e-03 4.47580482e+01] [ 4.82456145e-02 -1.30529066e-03 9.98834649e-01 2.33245172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.0450998929999 meters 0.013002890199362535 Centerline is valid? [True, True] Translation: X:558.43, Y:44.77, Z:23.33 [[ 9.91836249e-01 -1.17685030e-01 -4.91028415e-02 5.58433901e+02] [ 1.17591765e-01 9.93050449e-01 -4.79393958e-03 4.47712409e+01] [ 4.93257737e-02 -1.01928677e-03 9.98782223e-01 2.33263183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.1050998929999 meters 0.01066050909943384 Centerline is valid? [True, True] Translation: X:558.49, Y:44.79, Z:23.33 [[ 9.92601856e-01 -1.10976378e-01 -4.92523936e-02 5.58493841e+02] [ 1.10874330e-01 9.93822806e-01 -4.80767726e-03 4.47859013e+01] [ 4.94816906e-02 -6.88716780e-04 9.98774793e-01 2.33293507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.1650998929999 meters 0.010178695120396184 Centerline is valid? [True, True] Translation: X:558.55, Y:44.80, Z:23.33 [[ 9.92896591e-01 -1.08040990e-01 -4.98347723e-02 5.58553794e+02] [ 1.07932855e-01 9.94146288e-01 -4.86376852e-03 4.47952074e+01] [ 5.00685403e-02 -5.49590076e-04 9.98745633e-01 2.33314404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.2250998929999 meters 0.009884750298399176 Centerline is valid? [True, True] Translation: X:558.61, Y:44.80, Z:23.33 [[ 9.93078162e-01 -1.05932895e-01 -5.07344725e-02 5.58613272e+02] [ 1.05818069e-01 9.94373178e-01 -4.95157737e-03 4.48043596e+01] [ 5.09735336e-02 -4.51320581e-04 9.98699902e-01 2.33336898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.2850998929998 meters 0.009627992811766364 Centerline is valid? [True, True] Translation: X:558.67, Y:44.81, Z:23.34 [[ 9.93218747e-01 -1.04733567e-01 -5.04717698e-02 5.58673477e+02] [ 1.04618381e-01 9.94500241e-01 -4.92593814e-03 4.48131687e+01] [ 5.07100983e-02 -3.87740719e-04 9.98713340e-01 2.33372956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.3450998929999 meters 0.010028573666143615 Centerline is valid? [True, True] Translation: X:558.73, Y:44.82, Z:23.34 [[ 9.93258413e-01 -1.04934470e-01 -4.92593299e-02 5.58732756e+02] [ 1.04824994e-01 9.94479063e-01 -4.80774262e-03 4.48170159e+01] [ 4.94918701e-02 -3.88278176e-04 9.98774451e-01 2.33388949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4050998929998 meters 0.010088735912566617 Centerline is valid? [True, True] Translation: X:558.79, Y:44.82, Z:23.34 [[ 9.92955844e-01 -1.07935113e-01 -4.88743710e-02 5.58793356e+02] [ 1.07830936e-01 9.94157798e-01 -4.77092693e-03 4.48215813e+01] [ 4.91037876e-02 -5.32849413e-04 9.98793539e-01 2.33427937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4650998929999 meters 0.011579166440960652 Centerline is valid? [True, True] Translation: X:558.85, Y:44.82, Z:23.35 [[ 9.91926558e-01 -1.16765682e-01 -4.94720062e-02 5.58854422e+02] [ 1.16669918e-01 9.93159006e-01 -4.82896035e-03 4.48217791e+01] [ 4.96974254e-02 -9.81920883e-04 9.98763837e-01 2.33452070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5250998929998 meters 0.016477325130704816 Centerline is valid? [True, True] Translation: X:558.92, Y:44.81, Z:23.35 [[ 9.90325325e-01 -1.29370042e-01 -5.01910605e-02 5.58915130e+02] [ 1.29287695e-01 9.91595031e-01 -4.89752602e-03 4.48149551e+01] [ 5.04027993e-02 -1.63894247e-03 9.98727626e-01 2.33456828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5850998929999 meters 0.018617987557672862 Centerline is valid? [True, True] Translation: X:558.98, Y:44.82, Z:23.35 [[ 9.89166828e-01 -1.37843092e-01 -5.04803833e-02 5.58975893e+02] [ 1.37770774e-01 9.90451890e-01 -4.92609171e-03 4.48150364e+01] [ 5.06774188e-02 -2.08199500e-03 9.98712904e-01 2.33480704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.6450998929998 meters 0.02202289738085744 Centerline is valid? [True, True] Translation: X:559.04, Y:44.81, Z:23.35 [[ 9.87761427e-01 -1.47627403e-01 -5.03340161e-02 5.59036590e+02] [ 1.47568147e-01 9.89039693e-01 -4.91193127e-03 4.48140975e+01] [ 5.05074755e-02 -2.57588126e-03 9.98720361e-01 2.33511000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7050998929999 meters 0.02346608656144928 Centerline is valid? [True, True] Translation: X:559.10, Y:44.82, Z:23.35 [[ 9.87094259e-01 -1.52120236e-01 -5.00435655e-02 5.59097196e+02] [ 1.52067387e-01 9.88358060e-01 -4.88408210e-03 4.48173197e+01] [ 5.02039290e-02 -2.78894482e-03 9.98735094e-01 2.33537557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7650998929998 meters 0.02606257162647109 Centerline is valid? [True, True] Translation: X:559.16, Y:44.82, Z:23.36 [[ 9.86676744e-01 -1.55055822e-01 -4.92614945e-02 5.59156960e+02] [ 1.55008314e-01 9.87901473e-01 -4.80652124e-03 4.48197196e+01] [ 4.94107820e-02 -2.89345849e-03 9.98774350e-01 2.33569327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.8250998929999 meters 0.025605272299062943 Centerline is valid? [True, True] Translation: X:559.22, Y:44.83, Z:23.36 [[ 9.86875648e-01 -1.53682883e-01 -4.95784831e-02 5.59217644e+02] [ 1.53633180e-01 9.88116123e-01 -4.83456127e-03 4.48281732e+01] [ 4.97322879e-02 -2.84578926e-03 9.98758530e-01 2.33600182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.8850998929998 meters 0.02375402030119086 Centerline is valid? [True, True] Translation: X:559.28, Y:44.84, Z:23.36 [[ 9.87132604e-01 -1.51968543e-01 -4.97471971e-02 5.59278071e+02] [ 1.51916424e-01 9.88381447e-01 -4.84918286e-03 4.48386206e+01] [ 4.99061299e-02 -2.77062978e-03 9.98750070e-01 2.33630418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.9450998929999 meters 0.02415332487903101 Centerline is valid? [True, True] Translation: X:559.34, Y:44.85, Z:23.36 [[ 9.87336972e-01 -1.50440043e-01 -5.03338643e-02 5.59339133e+02] [ 1.50384808e-01 9.88615373e-01 -4.90441949e-03 4.48460573e+01] [ 5.04986531e-02 -2.72713382e-03 9.98720406e-01 2.33647003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.0050998929999 meters 0.02786107694674507 Centerline is valid? [True, True] Translation: X:559.40, Y:44.85, Z:23.37 [[ 9.86995350e-01 -1.52174217e-01 -5.17994818e-02 5.59399557e+02] [ 1.52118206e-01 9.88349431e-01 -5.04519198e-03 4.48482321e+01] [ 5.19637365e-02 -2.90006323e-03 9.98644762e-01 2.33656053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.0650998929999 meters 0.027620886902099927 Centerline is valid? [True, True] Translation: X:559.46, Y:44.86, Z:23.37 [[ 9.86788671e-01 -1.52566811e-01 -5.45113517e-02 5.59459703e+02] [ 1.52505430e-01 9.88288376e-01 -5.30853239e-03 4.48557900e+01] [ 5.46828411e-02 -3.07487751e-03 9.98499040e-01 2.33654346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1250998929999 meters 0.023208309095930253 Centerline is valid? [True, True] Translation: X:559.52, Y:44.87, Z:23.37 [[ 9.87209403e-01 -1.49987428e-01 -5.40496610e-02 5.59519631e+02] [ 1.49923241e-01 9.88683629e-01 -5.26334425e-03 4.48706777e+01] [ 5.42274505e-02 -2.90727739e-03 9.98524377e-01 2.33693665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1850998929999 meters 0.0214788813097446 Centerline is valid? [True, True] Translation: X:559.58, Y:44.88, Z:23.37 [[ 9.87909296e-01 -1.45587702e-01 -5.32864244e-02 5.59579483e+02] [ 1.45518982e-01 9.89341857e-01 -5.18804463e-03 4.48818061e+01] [ 5.34738056e-02 -2.62886873e-03 9.98565792e-01 2.33729648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.2450998929999 meters 0.017670144328382077 Centerline is valid? [True, True] Translation: X:559.64, Y:44.90, Z:23.38 [[ 9.89286863e-01 -1.36394753e-01 -5.20382040e-02 5.59638522e+02] [ 1.36316550e-01 9.90652379e-01 -5.06577834e-03 4.48992819e+01] [ 5.22427161e-02 -2.08216048e-03 9.98632246e-01 2.33770362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3050998929999 meters 0.015569875701793181 Centerline is valid? [True, True] Translation: X:559.70, Y:44.91, Z:23.38 [[ 9.90572002e-01 -1.26812996e-01 -5.18225071e-02 5.59696933e+02] [ 1.26722323e-01 9.91925401e-01 -5.04504253e-03 4.49128890e+01] [ 5.20438380e-02 -1.56959057e-03 9.98643568e-01 2.33797649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3650998929999 meters 0.01339415506050133 Centerline is valid? [True, True] Translation: X:559.76, Y:44.92, Z:23.38 [[ 9.91405388e-01 -1.20283703e-01 -5.14508306e-02 5.59756500e+02] [ 1.20185498e-01 9.92738812e-01 -5.00964070e-03 4.49243933e+01] [ 5.16798146e-02 -1.21705893e-03 9.98662964e-01 2.33826728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4250998929999 meters 0.011087523519810436 Centerline is valid? [True, True] Translation: X:559.82, Y:44.94, Z:23.39 [[ 9.92500849e-01 -1.10922301e-01 -5.13644555e-02 5.59816624e+02] [ 1.10811897e-01 9.93828815e-01 -5.00105403e-03 4.49376716e+01] [ 5.16022043e-02 -7.28242391e-04 9.98667453e-01 2.33859643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4850998929999 meters 0.010282908353624876 Centerline is valid? [True, True] Translation: X:559.88, Y:44.95, Z:23.39 [[ 9.93180285e-01 -1.05389582e-01 -4.98593694e-02 5.59876932e+02] [ 1.05278631e-01 9.94430919e-01 -4.85361620e-03 4.49473690e+01] [ 5.00932191e-02 -4.28610214e-04 9.98744455e-01 2.33891452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.5450998929999 meters 0.00979945091406638 Centerline is valid? [True, True] Translation: X:559.94, Y:44.96, Z:23.39 [[ 9.93821853e-01 -9.92576204e-02 -4.96593270e-02 5.59937431e+02] [ 9.91399557e-02 9.95061762e-01 -4.83309157e-03 4.49555829e+01] [ 4.98938186e-02 -1.19991453e-04 9.98754521e-01 2.33913288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.6050998929999 meters 0.00985252436333831 Centerline is valid? [True, True] Translation: X:560.00, Y:44.96, Z:23.39 [[ 9.94023950e-01 -9.70835714e-02 -4.99115844e-02 5.59997367e+02] [ 9.69620458e-02 9.95276233e-01 -4.85609490e-03 4.49607736e+01] [ 5.01472607e-02 -1.24546913e-05 9.98741835e-01 2.33925395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.6650998929999 meters 0.009817307843696598 Centerline is valid? [True, True] Translation: X:560.06, Y:44.96, Z:23.40 [[ 9.93971605e-01 -9.83427200e-02 -4.84681141e-02 5.60057469e+02] [ 9.82296219e-02 9.95152603e-01 -4.71565399e-03 4.49635457e+01] [ 4.86969202e-02 -7.37783609e-05 9.98813598e-01 2.33954569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.7250998929999 meters 0.010071065580503318 Centerline is valid? [True, True] Translation: X:560.12, Y:44.96, Z:23.40 [[ 9.93659158e-01 -1.01744194e-01 -4.78497292e-02 5.60117657e+02] [ 1.01637911e-01 9.94810566e-01 -4.65537956e-03 4.49642522e+01] [ 4.80750741e-02 -2.37485985e-04 9.98843697e-01 2.33974607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.7850998929998 meters 0.010990998253874234 Centerline is valid? [True, True] Translation: X:560.18, Y:44.96, Z:23.40 [[ 9.93077236e-01 -1.07553079e-01 -4.72222330e-02 5.60177930e+02] [ 1.07456161e-01 9.94199212e-01 -4.59358362e-03 4.49627570e+01] [ 4.74423609e-02 -5.12536532e-04 9.98873846e-01 2.33991587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.8450998929999 meters 0.013484370179753485 Centerline is valid? [True, True] Translation: X:560.24, Y:44.96, Z:23.40 [[ 9.91869285e-01 -1.18431988e-01 -4.65745141e-02 5.60238900e+02] [ 1.18349676e-01 9.92961644e-01 -4.53066156e-03 4.49579329e+01] [ 4.67832814e-02 -1.01825462e-03 9.98904544e-01 2.34015769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9050998929998 meters 0.017065508635382413 Centerline is valid? [True, True] Translation: X:560.30, Y:44.95, Z:23.40 [[ 9.90673810e-01 -1.28423819e-01 -4.55271774e-02 5.60300220e+02] [ 1.28355660e-01 9.91718309e-01 -4.42949701e-03 4.49518419e+01] [ 4.57189883e-02 -1.45548420e-03 9.98953280e-01 2.34038373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9650998929999 meters 0.018590021167110362 Centerline is valid? [True, True] Translation: X:560.36, Y:44.95, Z:23.41 [[ 9.89739106e-01 -1.36018174e-01 -4.37671003e-02 5.60361207e+02] [ 1.35962594e-01 9.90704821e-01 -4.25809987e-03 4.49503915e+01] [ 4.39394562e-02 -1.73628054e-03 9.99032687e-01 2.34069132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0250998929998 meters 0.020001042416898186 Centerline is valid? [True, True] Translation: X:560.42, Y:44.95, Z:23.41 [[ 9.88976242e-01 -1.41572698e-01 -4.33954283e-02 5.60422047e+02] [ 1.41523402e-01 9.89925909e-01 -4.22161369e-03 4.49511018e+01] [ 4.35559240e-02 -1.96639301e-03 9.99049055e-01 2.34090845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0850998929999 meters 0.020001042416898186 Centerline is valid? [True, True] Translation: X:560.48, Y:44.96, Z:23.41 [[ 9.88986746e-01 -1.41499276e-01 -4.33955119e-02 5.60483460e+02] [ 1.41449948e-01 9.89936411e-01 -4.22075347e-03 4.49570170e+01] [ 4.35560309e-02 -1.96402367e-03 9.99049055e-01 2.34116779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.1450998929998 meters 0.02211999092602553 Centerline is valid? [True, True] Translation: X:560.54, Y:44.96, Z:23.41 [[ 9.88381669e-01 -1.45408542e-01 -4.42496597e-02 5.60544846e+02] [ 1.45361303e-01 9.89369292e-01 -4.30058906e-03 4.49571408e+01] [ 4.44045969e-02 -2.18156480e-03 9.99011247e-01 2.34127411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2050998929999 meters 0.023916677328855378 Centerline is valid? [True, True] Translation: X:560.61, Y:44.96, Z:23.41 [[ 9.88202864e-01 -1.46535451e-01 -4.45248353e-02 5.60605666e+02] [ 1.46488799e-01 9.89202867e-01 -4.32650591e-03 4.49587493e+01] [ 4.46780812e-02 -2.24692413e-03 9.98998909e-01 2.34144234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2650998929998 meters 0.02480862944453107 Centerline is valid? [True, True] Translation: X:560.67, Y:44.96, Z:23.42 [[ 9.88410784e-01 -1.44843442e-01 -4.54367721e-02 5.60665519e+02] [ 1.44793126e-01 9.89452104e-01 -4.41406435e-03 4.49634868e+01] [ 4.55968580e-02 -2.21602348e-03 9.98957464e-01 2.34159161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.3250998929999 meters 0.022040825206530147 Centerline is valid? [True, True] Translation: X:560.73, Y:44.97, Z:23.42 [[ 9.88885586e-01 -1.41507283e-01 -4.56178346e-02 5.60725307e+02] [ 1.41453172e-01 9.89935043e-01 -4.42842890e-03 4.49742160e+01] [ 4.57853480e-02 -2.07357791e-03 9.98949149e-01 2.34183868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.3850998929998 meters 0.01890219696021509 Centerline is valid? [True, True] Translation: X:560.79, Y:44.99, Z:23.42 [[ 9.90022863e-01 -1.33573818e-01 -4.48638533e-02 5.60785120e+02] [ 1.33513344e-01 9.91037446e-01 -4.35523566e-03 4.49869553e+01] [ 4.50435041e-02 -1.67814019e-03 9.98983617e-01 2.34209970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.4450998929999 meters 0.0171340557437605 Centerline is valid? [True, True] Translation: X:560.85, Y:45.00, Z:23.42 [[ 9.90787800e-01 -1.28014643e-01 -4.41790223e-02 5.60845476e+02] [ 1.27950480e-01 9.91771285e-01 -4.28872208e-03 4.49971210e+01] [ 4.43645049e-02 -1.40351361e-03 9.99014425e-01 2.34242339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.5050998929999 meters 0.015389819665118895 Centerline is valid? [True, True] Translation: X:560.91, Y:45.01, Z:23.43 [[ 9.91656930e-01 -1.21270682e-01 -4.37030214e-02 5.60905316e+02] [ 1.21201383e-01 9.92618876e-01 -4.24173339e-03 4.50082542e+01] [ 4.38948419e-02 -1.09052232e-03 9.99035562e-01 2.34280583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.5650998929999 meters 0.014124851771608509 Centerline is valid? [True, True] Translation: X:560.97, Y:45.02, Z:23.43 [[ 9.92005030e-01 -1.18528428e-01 -4.33247212e-02 5.60966553e+02] [ 1.18457746e-01 9.92950194e-01 -4.20419594e-03 4.50173253e+01] [ 4.35176070e-02 -9.61565280e-04 9.99052197e-01 2.34316693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6250998929999 meters 0.014350236363021672 Centerline is valid? [True, True] Translation: X:561.03, Y:45.02, Z:23.44 [[ 9.92050202e-01 -1.18142127e-01 -4.33455152e-02 5.61027508e+02] [ 1.18071111e-01 9.92996244e-01 -4.20387130e-03 4.50222043e+01] [ 4.35385881e-02 -9.47401761e-04 9.99051297e-01 2.34352746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6850998929999 meters 0.014973299108573469 Centerline is valid? [True, True] Translation: X:561.09, Y:45.03, Z:23.44 [[ 9.91555012e-01 -1.21864254e-01 -4.43594594e-02 5.61088895e+02] [ 1.21793668e-01 9.92546124e-01 -4.30058512e-03 4.50264344e+01] [ 4.45528971e-02 -1.13843453e-03 9.99006378e-01 2.34384947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.7450998929999 meters 0.017822503970795926 Centerline is valid? [True, True] Translation: X:561.15, Y:45.03, Z:23.44 [[ 9.91067640e-01 -1.25238616e-01 -4.58281744e-02 5.61148893e+02] [ 1.25166968e-01 9.92125752e-01 -4.44104537e-03 4.50272939e+01] [ 4.60235024e-02 -1.33479729e-03 9.98939465e-01 2.34404815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8050998929999 meters 0.01919307957930042 Centerline is valid? [True, True] Translation: X:561.21, Y:45.03, Z:23.44 [[ 9.90156412e-01 -1.31992612e-01 -4.65642655e-02 5.61209644e+02] [ 1.31926270e-01 9.91249278e-01 -4.50861053e-03 4.50305675e+01] [ 4.67518979e-02 -1.67882023e-03 9.98905121e-01 2.34440583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8650998929999 meters 0.021075199984499672 Centerline is valid? [True, True] Translation: X:561.27, Y:45.03, Z:23.45 [[ 9.89286829e-01 -1.38596457e-01 -4.58540332e-02 5.61270754e+02] [ 1.38539220e-01 9.90346998e-01 -4.43930685e-03 4.50323915e+01] [ 4.60266764e-02 -1.96083418e-03 9.98938286e-01 2.34479237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9250998929999 meters 0.022531460002896485 Centerline is valid? [True, True] Translation: X:561.33, Y:45.04, Z:23.45 [[ 9.88687332e-01 -1.42767507e-01 -4.59869434e-02 5.61331519e+02] [ 1.42714482e-01 9.89753891e-01 -4.45116028e-03 4.50360143e+01] [ 4.61512372e-02 -2.16219703e-03 9.98932124e-01 2.34511601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9850998929999 meters 0.023190694284919166 Centerline is valid? [True, True] Translation: X:561.39, Y:45.04, Z:23.45 [[ 9.88020447e-01 -1.47255055e-01 -4.61686580e-02 5.61392156e+02] [ 1.47206533e-01 9.89095685e-01 -4.46784571e-03 4.50420125e+01] [ 4.63231333e-02 -2.38200519e-03 9.98923667e-01 2.34542071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.0450998929999 meters 0.02407386220093491 Centerline is valid? [True, True] Translation: X:561.45, Y:45.05, Z:23.46 [[ 9.87730261e-01 -1.49007311e-01 -4.67520357e-02 5.61452942e+02] [ 1.48959585e-01 9.88832942e-01 -4.52276077e-03 4.50474637e+01] [ 4.69038774e-02 -2.49689614e-03 9.98896287e-01 2.34563790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.1050998929999 meters 0.02467830783062834 Centerline is valid? [True, True] Translation: X:561.51, Y:45.05, Z:23.46 [[ 9.87698510e-01 -1.48812820e-01 -4.80249638e-02 5.61514367e+02] [ 1.48762320e-01 9.88862076e-01 -4.64409271e-03 4.50539185e+01] [ 4.81811659e-02 -2.55734156e-03 9.98835339e-01 2.34577870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.1650998929999 meters 0.02532119511197592 Centerline is valid? [True, True] Translation: X:561.57, Y:45.06, Z:23.46 [[ 9.87964747e-01 -1.46651523e-01 -4.91832303e-02 5.61574150e+02] [ 1.46595973e-01 9.89185026e-01 -4.75440322e-03 4.50608640e+01] [ 4.93485555e-02 -2.51288075e-03 9.98778457e-01 2.34592117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.2250998929999 meters 0.022877496027454404 Centerline is valid? [True, True] Translation: X:561.63, Y:45.07, Z:23.46 [[ 9.88374563e-01 -1.43532524e-01 -5.01411857e-02 5.61634759e+02] [ 1.43470842e-01 9.89642680e-01 -4.84593500e-03 4.50720723e+01] [ 5.03174067e-02 -2.40419923e-03 9.98730383e-01 2.34612450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.2850998929998 meters 0.020080308154411357 Centerline is valid? [True, True] Translation: X:561.69, Y:45.09, Z:23.46 [[ 9.89304043e-01 -1.36486251e-01 -5.14685666e-02 5.61693870e+02] [ 1.36411824e-01 9.90639736e-01 -4.97264192e-03 4.50864909e+01] [ 5.16655045e-02 -2.10146627e-03 9.98662235e-01 2.34633718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.3450998929999 meters 0.018005435683845283 Centerline is valid? [True, True] Translation: X:561.75, Y:45.10, Z:23.47 [[ 9.90103507e-01 -1.30560574e-01 -5.14682628e-02 5.61753297e+02] [ 1.30478154e-01 9.91438715e-01 -4.97257069e-03 4.50985137e+01] [ 5.16768500e-02 -1.79212425e-03 9.98662251e-01 2.34664881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4050998929998 meters 0.0152772164846653 Centerline is valid? [True, True] Translation: X:561.81, Y:45.11, Z:23.47 [[ 9.91354679e-01 -1.20789371e-01 -5.12428282e-02 5.61812913e+02] [ 1.20694623e-01 9.92677338e-01 -4.95077721e-03 4.51138603e+01] [ 5.14655956e-02 -1.27675768e-03 9.98673952e-01 2.34695869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4650998929999 meters 0.013584467125798024 Centerline is valid? [True, True] Translation: X:561.87, Y:45.13, Z:23.47 [[ 9.92135256e-01 -1.14194162e-01 -5.12574628e-02 5.61872486e+02] [ 1.14090564e-01 9.93458011e-01 -4.95213231e-03 4.51268546e+01] [ 5.14876416e-02 -9.34807785e-04 9.98673194e-01 2.34727283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5250998929998 meters 0.01293405068411959 Centerline is valid? [True, True] Translation: X:561.93, Y:45.14, Z:23.47 [[ 9.93007444e-01 -1.06435574e-01 -5.10655019e-02 5.61931179e+02] [ 1.06322483e-01 9.94319460e-01 -4.93375378e-03 4.51396141e+01] [ 5.13005492e-02 -5.30156755e-04 9.98683119e-01 2.34744526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5850998929999 meters 0.012338387956118496 Centerline is valid? [True, True] Translation: X:561.99, Y:45.15, Z:23.48 [[ 9.93353101e-01 -1.02878881e-01 -5.16289820e-02 5.61990471e+02] [ 1.02758438e-01 9.94693829e-01 -4.98895886e-03 4.51495313e+01] [ 5.18682883e-02 -3.49515772e-04 9.98653873e-01 2.34775707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.6450998929998 meters 0.012079760753797871 Centerline is valid? [True, True] Translation: X:562.05, Y:45.16, Z:23.48 [[ 9.93674289e-01 -9.98550190e-02 -5.13846487e-02 5.62049995e+02] [ 9.97316726e-02 9.95001979e-01 -4.96534869e-03 4.51584907e+01] [ 5.16236421e-02 -1.90737625e-04 9.98666593e-01 2.34810960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7050998929999 meters 0.011988417556932416 Centerline is valid? [True, True] Translation: X:562.11, Y:45.16, Z:23.48 [[ 9.93688413e-01 -9.99783565e-02 -5.08691151e-02 5.62109672e+02] [ 9.98576356e-02 9.94989593e-01 -4.91553218e-03 4.51646991e+01] [ 5.11056869e-02 -1.95162191e-04 9.98693232e-01 2.34835000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7650998929998 meters 0.012182834153704192 Centerline is valid? [True, True] Translation: X:562.17, Y:45.17, Z:23.49 [[ 9.93264838e-01 -1.03817801e-01 -5.14473120e-02 5.62170490e+02] [ 1.03699463e-01 9.94596253e-01 -4.97140391e-03 4.51676867e+01] [ 5.16854239e-02 -3.97137923e-04 9.98663336e-01 2.34854975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.8250998929999 meters 0.012707091286877593 Centerline is valid? [True, True] Translation: X:562.23, Y:45.17, Z:23.49 [[ 9.92767233e-01 -1.08574206e-01 -5.12334114e-02 5.62231435e+02] [ 1.08463177e-01 9.94088140e-01 -4.95073449e-03 4.51698946e+01] [ 5.14680487e-02 -6.42011580e-04 9.98674435e-01 2.34871306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.8850998929998 meters 0.014481688893512227 Centerline is valid? [True, True] Translation: X:562.29, Y:45.17, Z:23.49 [[ 9.91734347e-01 -1.17945075e-01 -5.05167654e-02 5.62292577e+02] [ 1.17849263e-01 9.93019497e-01 -4.88148428e-03 4.51678213e+01] [ 5.07398800e-02 -1.11222796e-03 9.98711283e-01 2.34889935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.9450998929999 meters 0.015598542865327091 Centerline is valid? [True, True] Translation: X:562.35, Y:45.17, Z:23.49 [[ 9.91020157e-01 -1.23938244e-01 -5.01832657e-02 5.62353632e+02] [ 1.23851370e-01 9.92288932e-01 -4.84910195e-03 4.51694288e+01] [ 5.03972883e-02 -1.40970840e-03 9.98728254e-01 2.34911543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.0050998929999 meters 0.016382231573596057 Centerline is valid? [True, True] Translation: X:562.41, Y:45.17, Z:23.49 [[ 9.90681448e-01 -1.26595750e-01 -5.02372771e-02 5.62414633e+02] [ 1.26512154e-01 9.91953185e-01 -4.85322922e-03 4.51728437e+01] [ 5.04474252e-02 -1.54762198e-03 9.98725519e-01 2.34933542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.0650998929999 meters 0.019919749790494108 Centerline is valid? [True, True] Translation: X:562.48, Y:45.17, Z:23.50 [[ 9.89827045e-01 -1.33368759e-01 -4.95499312e-02 5.62475061e+02] [ 1.33295989e-01 9.91064722e-01 -4.78500786e-03 4.51713684e+01] [ 4.97453593e-02 -1.86847690e-03 9.98760185e-01 2.34953449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1250998929999 meters 0.02167985871800157 Centerline is valid? [True, True] Translation: X:562.54, Y:45.17, Z:23.50 [[ 9.88979994e-01 -1.39917577e-01 -4.83905262e-02 5.62535806e+02] [ 1.39856062e-01 9.90160825e-01 -4.67149275e-03 4.51730612e+01] [ 4.85680273e-02 -2.14769557e-03 9.98817568e-01 2.34985335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1850998929999 meters 0.024176803299546586 Centerline is valid? [True, True] Translation: X:562.60, Y:45.18, Z:23.50 [[ 9.88414059e-01 -1.44107119e-01 -4.76527650e-02 5.62597146e+02] [ 1.44052335e-01 9.89559380e-01 -4.59989676e-03 4.51751285e+01] [ 4.78181184e-02 -2.31788944e-03 9.98853370e-01 2.35014657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.2450998929999 meters 0.026309959883237522 Centerline is valid? [True, True] Translation: X:562.66, Y:45.18, Z:23.50 [[ 9.87577974e-01 -1.49780067e-01 -4.74939654e-02 5.62657864e+02] [ 1.49732253e-01 9.88715959e-01 -4.58305490e-03 4.51788031e+01] [ 4.76444919e-02 -2.58525438e-03 9.98861011e-01 2.35046257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3050998929999 meters 0.030733897161760004 Centerline is valid? [True, True] Translation: X:562.72, Y:45.18, Z:23.51 [[ 9.87061050e-01 -1.52957815e-01 -4.81081172e-02 5.62717965e+02] [ 1.52912522e-01 9.88228825e-01 -4.64218961e-03 4.51798442e+01] [ 4.82518873e-02 -2.77420901e-03 9.98831347e-01 2.35060648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3650998929999 meters 0.026747598161078436 Centerline is valid? [True, True] Translation: X:562.78, Y:45.19, Z:23.51 [[ 9.86419926e-01 -1.56681043e-01 -4.92623602e-02 5.62778393e+02] [ 1.56638188e-01 9.87644614e-01 -4.75329480e-03 4.51929340e+01] [ 4.93984559e-02 -3.02762213e-03 9.98774562e-01 2.35086156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4250998929999 meters 0.03143334535956699 Centerline is valid? [True, True] Translation: X:562.84, Y:45.19, Z:23.51 [[ 9.85893207e-01 -1.59627427e-01 -5.03355693e-02 5.62838042e+02] [ 1.59586587e-01 9.87171995e-01 -4.85528197e-03 4.51949297e+01] [ 5.04649006e-02 -3.24609219e-03 9.98720560e-01 2.35097504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4850998929999 meters 0.029636724817212714 Centerline is valid? [True, True] Translation: X:562.90, Y:45.20, Z:23.51 [[ 9.85654524e-01 -1.60873661e-01 -5.10374828e-02 5.62899847e+02] [ 1.60833373e-01 9.86969299e-01 -4.92230806e-03 4.52047324e+01] [ 5.11642983e-02 -3.35683530e-03 9.98684608e-01 2.35122253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.5450998929999 meters 0.028817455757637233 Centerline is valid? [True, True] Translation: X:562.96, Y:45.22, Z:23.51 [[ 9.85930661e-01 -1.59262779e-01 -5.07552771e-02 5.62960184e+02] [ 1.59220982e-01 9.87230849e-01 -4.89170105e-03 4.52152711e+01] [ 5.08862412e-02 -3.25842703e-03 9.98699140e-01 2.35149556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.6050998929999 meters 0.026424221954026397 Centerline is valid? [True, True] Translation: X:563.02, Y:45.23, Z:23.52 [[ 9.87253510e-01 -1.51432018e-01 -4.89780650e-02 5.63019426e+02] [ 1.51383564e-01 9.88463833e-01 -4.71880899e-03 4.52307451e+01] [ 4.91276246e-02 -2.75581329e-03 9.98788707e-01 2.35195497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.6650998929999 meters 0.023981036856921364 Centerline is valid? [True, True] Translation: X:563.08, Y:45.24, Z:23.52 [[ 9.88427401e-01 -1.43882505e-01 -4.80530667e-02 5.63079456e+02] [ 1.43826996e-01 9.89592021e-01 -4.62895901e-03 4.52445016e+01] [ 4.82189576e-02 -2.33593829e-03 9.98834058e-01 2.35231825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.7250998929999 meters 0.0198316211460608 Centerline is valid? [True, True] Translation: X:563.14, Y:45.26, Z:23.53 [[ 9.90120009e-01 -1.31871650e-01 -4.76679753e-02 5.63138213e+02] [ 1.31803141e-01 9.91265278e-01 -4.59135512e-03 4.52625251e+01] [ 4.78570783e-02 -1.73679628e-03 9.98852684e-01 2.35260681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.7850998929998 meters 0.01563858591559921 Centerline is valid? [True, True] Translation: X:563.20, Y:45.28, Z:23.53 [[ 9.91436638e-01 -1.21720426e-01 -4.73025483e-02 5.63196924e+02] [ 1.21641424e-01 9.92563654e-01 -4.55590985e-03 4.52799403e+01] [ 4.75053375e-02 -1.23705341e-03 9.98870218e-01 2.35283691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.8450998929999 meters 0.014047816688311439 Centerline is valid? [True, True] Translation: X:563.26, Y:45.29, Z:23.53 [[ 9.92094642e-01 -1.15832009e-01 -4.82821519e-02 5.63257923e+02] [ 1.15742753e-01 9.93268340e-01 -4.64981135e-03 4.52910492e+01] [ 4.84957298e-02 -9.75256230e-04 9.98822914e-01 2.35301881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9050998929998 meters 0.012388534268308013 Centerline is valid? [True, True] Translation: X:563.32, Y:45.30, Z:23.53 [[ 9.93010032e-01 -1.07282991e-01 -4.92080838e-02 5.63318201e+02] [ 1.07179939e-01 9.94228361e-01 -4.73575087e-03 4.53040612e+01] [ 4.94321381e-02 -5.71471304e-04 9.98777321e-01 2.35318448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9650998929999 meters 0.011603214497280663 Centerline is valid? [True, True] Translation: X:563.38, Y:45.31, Z:23.53 [[ 9.93603422e-01 -1.01723904e-01 -4.90355760e-02 5.63378812e+02] [ 1.01614890e-01 9.94812626e-01 -4.71742182e-03 4.53141177e+01] [ 4.92610846e-02 -2.95498190e-04 9.98785892e-01 2.35344287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0250998929998 meters 0.011308708595963073 Centerline is valid? [True, True] Translation: X:563.44, Y:45.33, Z:23.54 [[ 9.94371019e-01 -9.46682893e-02 -4.75835198e-02 5.63439452e+02] [ 9.45576369e-02 9.95508871e-01 -4.57612406e-03 4.53250622e+01] [ 4.78030299e-02 5.09799550e-05 9.98856780e-01 2.35373724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0850998929999 meters 0.011578171855150065 Centerline is valid? [True, True] Translation: X:563.50, Y:45.33, Z:23.54 [[ 9.94669596e-01 -9.07784351e-02 -4.89047159e-02 5.63500826e+02] [ 9.06569323e-02 9.95871084e-01 -4.70147534e-03 4.53327881e+01] [ 4.91295850e-02 2.42863056e-04 9.98792383e-01 2.35371760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.1450998929998 meters 0.011384681524169915 Centerline is valid? [True, True] Translation: X:563.56, Y:45.34, Z:23.54 [[ 9.94830573e-01 -8.98470607e-02 -4.73247906e-02 5.63562376e+02] [ 8.97323099e-02 9.95955535e-01 -4.54797802e-03 4.53375220e+01] [ 4.75420096e-02 2.77904805e-04 9.98869201e-01 2.35416086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2050998929999 meters 0.01149411597103708 Centerline is valid? [True, True] Translation: X:563.62, Y:45.34, Z:23.54 [[ 9.94695325e-01 -9.19199763e-02 -4.61728029e-02 5.63623694e+02] [ 9.18130731e-02 9.95766382e-01 -4.43524452e-03 4.53395066e+01] [ 4.63850125e-02 1.72450066e-04 9.98923621e-01 2.35444566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2650998929998 meters 0.011438255463914932 Centerline is valid? [True, True] Translation: X:563.69, Y:45.34, Z:23.55 [[ 9.94095133e-01 -9.81412869e-02 -4.62942242e-02 5.63685416e+02] [ 9.80406723e-02 9.95172484e-01 -4.44446773e-03 4.53375181e+01] [ 4.65069239e-02 -1.20493134e-04 9.98917960e-01 2.35455943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.3250998929999 meters 0.011767929012727005 Centerline is valid? [True, True] Translation: X:563.75, Y:45.34, Z:23.55 [[ 9.93662984e-01 -1.02635998e-01 -4.58227759e-02 5.63748017e+02] [ 1.02542279e-01 9.94718927e-01 -4.39743809e-03 4.53372738e+01] [ 4.60321179e-02 -3.29200407e-04 9.98939906e-01 2.35479132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.3850998929998 meters 0.012524850703421788 Centerline is valid? [True, True] Translation: X:563.81, Y:45.33, Z:23.55 [[ 9.93103239e-01 -1.08417528e-01 -4.46273087e-02 5.63810233e+02] [ 1.08334607e-01 9.94105275e-01 -4.27961262e-03 4.53339958e+01] [ 4.48282280e-02 -5.84584776e-04 9.98994539e-01 2.35503196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.4450998929999 meters 0.013313062410316944 Centerline is valid? [True, True] Translation: X:563.87, Y:45.33, Z:23.55 [[ 9.92789077e-01 -1.11410074e-01 -4.42452708e-02 5.63872405e+02] [ 1.11331645e-01 9.93774261e-01 -4.24051874e-03 4.53343754e+01] [ 4.44422478e-02 -7.15958101e-04 9.99011699e-01 2.35524144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.5050998929999 meters 0.01448984101926489 Centerline is valid? [True, True] Translation: X:563.93, Y:45.33, Z:23.55 [[ 9.92325431e-01 -1.15663570e-01 -4.37284623e-02 5.63934460e+02] [ 1.15591228e-01 9.93288040e-01 -4.18780454e-03 4.53329094e+01] [ 4.39193350e-02 -8.98961706e-04 9.99034676e-01 2.35543156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.5650998929999 meters 0.016095947912969703 Centerline is valid? [True, True] Translation: X:564.00, Y:45.33, Z:23.56 [[ 9.91717403e-01 -1.20492825e-01 -4.44755169e-02 5.63996277e+02] [ 1.20423038e-01 9.92713548e-01 -4.25485374e-03 4.53308703e+01] [ 4.46641275e-02 -1.13626438e-03 9.99001414e-01 2.35553137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6250998929999 meters 0.017804512855972062 Centerline is valid? [True, True] Translation: X:564.06, Y:45.33, Z:23.56 [[ 9.91151664e-01 -1.24959124e-01 -4.47615492e-02 5.64057766e+02] [ 1.24893055e-01 9.92160975e-01 -4.28061317e-03 4.53310209e+01] [ 4.49455640e-02 -1.34766979e-03 9.98988528e-01 2.35574285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6850998929999 meters 0.01999531375956894 Centerline is valid? [True, True] Translation: X:564.12, Y:45.33, Z:23.56 [[ 9.90009622e-01 -1.33575529e-01 -4.51500411e-02 5.64118214e+02] [ 1.33517313e-01 9.91037082e-01 -4.31623259e-03 4.53296163e+01] [ 4.53219080e-02 -1.75520039e-03 9.98970892e-01 2.35586760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.7450998929999 meters 0.02236897005139694 Centerline is valid? [True, True] Translation: X:564.18, Y:45.33, Z:23.56 [[ 9.88811939e-01 -1.42402883e-01 -4.44113475e-02 5.64179190e+02] [ 1.42355454e-01 9.89806499e-01 -4.24502572e-03 4.53289352e+01] [ 4.45631442e-02 -2.12466541e-03 9.99004310e-01 2.35612872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8050998929999 meters 0.025505139353110263 Centerline is valid? [True, True] Translation: X:564.24, Y:45.33, Z:23.56 [[ 9.87780382e-01 -1.49026788e-01 -4.56172462e-02 5.64240416e+02] [ 1.48983863e-01 9.88830022e-01 -4.35854651e-03 4.53283842e+01] [ 4.57572427e-02 -2.49094680e-03 9.98949483e-01 2.35628349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8650998929999 meters 0.0263371042506253 Centerline is valid? [True, True] Translation: X:564.30, Y:45.33, Z:23.57 [[ 9.87446719e-01 -1.51010700e-01 -4.63113896e-02 5.64300999e+02] [ 1.50968643e-01 9.88528650e-01 -4.42465915e-03 4.53328491e+01] [ 4.64483063e-02 -2.62245246e-03 9.98917253e-01 2.35653496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9250998929999 meters 0.027631635207215573 Centerline is valid? [True, True] Translation: X:564.36, Y:45.34, Z:23.57 [[ 9.87324083e-01 -1.51734539e-01 -4.65594797e-02 5.64362910e+02] [ 1.51692884e-01 9.88417670e-01 -4.44724796e-03 4.53370293e+01] [ 4.66950136e-02 -2.67186676e-03 9.98905620e-01 2.35675679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9850998929999 meters 0.025168627457536508 Centerline is valid? [True, True] Translation: X:564.42, Y:45.35, Z:23.57 [[ 9.87336907e-01 -1.51660862e-01 -4.65275737e-02 5.64424644e+02] [ 1.51619341e-01 9.88428983e-01 -4.44081783e-03 4.53473948e+01] [ 4.66627006e-02 -2.66989671e-03 9.98907135e-01 2.35706653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.0450998929999 meters 0.026982990827181152 Centerline is valid? [True, True] Translation: X:564.49, Y:45.35, Z:23.57 [[ 9.87492646e-01 -1.50214481e-01 -4.78945064e-02 5.64485349e+02] [ 1.50168964e-01 9.88649796e-01 -4.56771485e-03 4.53544601e+01] [ 4.80370309e-02 -2.68168361e-03 9.98841956e-01 2.35721869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.1050998929999 meters 0.026885745894830965 Centerline is valid? [True, True] Translation: X:564.55, Y:45.36, Z:23.57 [[ 9.87615585e-01 -1.49340079e-01 -4.80936345e-02 5.64546677e+02] [ 1.49293285e-01 9.88782333e-01 -4.58391909e-03 4.53627458e+01] [ 4.82386990e-02 -2.65290673e-03 9.98832313e-01 2.35745031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.1650998929999 meters 0.024412036533023675 Centerline is valid? [True, True] Translation: X:564.61, Y:45.37, Z:23.58 [[ 9.87813345e-01 -1.48422039e-01 -4.68582219e-02 5.64608293e+02] [ 1.48376743e-01 9.88920839e-01 -4.46283916e-03 4.53738295e+01] [ 4.70014558e-02 -2.54421825e-03 9.98891581e-01 2.35775208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.2250998929999 meters 0.026569755306404333 Centerline is valid? [True, True] Translation: X:564.67, Y:45.38, Z:23.58 [[ 9.88414350e-01 -1.44759103e-01 -4.56275576e-02 5.64667371e+02] [ 1.44712400e-01 9.89464230e-01 -4.34258529e-03 4.53813866e+01] [ 4.57754649e-02 -2.31059974e-03 9.98949082e-01 2.35802563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.2850998929998 meters 0.023780259990475994 Centerline is valid? [True, True] Translation: X:564.73, Y:45.40, Z:23.58 [[ 9.89376773e-01 -1.38063301e-01 -4.55206124e-02 5.64726306e+02] [ 1.38009742e-01 9.90421396e-01 -4.33240667e-03 4.53974470e+01] [ 4.56827348e-02 -1.99590545e-03 9.98954005e-01 2.35827254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.3450998929999 meters 0.01988434667841894 Centerline is valid? [True, True] Translation: X:564.79, Y:45.41, Z:23.59 [[ 9.90180468e-01 -1.32527478e-01 -4.44871725e-02 5.64786304e+02] [ 1.32470746e-01 9.91177872e-01 -4.23399875e-03 4.54121207e+01] [ 4.46558221e-02 -1.70082605e-03 9.99000983e-01 2.35854453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4050998929998 meters 0.017176769514013177 Centerline is valid? [True, True] Translation: X:564.85, Y:45.43, Z:23.59 [[ 9.91462960e-01 -1.22858560e-01 -4.36689158e-02 5.64846112e+02] [ 1.22794553e-01 9.92423413e-01 -4.15536945e-03 4.54269227e+01] [ 4.38485771e-02 -1.24241008e-03 9.99037416e-01 2.35882507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4650998929999 meters 0.015394959954040005 Centerline is valid? [True, True] Translation: X:564.91, Y:45.44, Z:23.59 [[ 9.92337525e-01 -1.15727735e-01 -4.32819575e-02 5.64906151e+02] [ 1.15658079e-01 9.93280548e-01 -4.11846925e-03 4.54402622e+01] [ 4.34677476e-02 -9.18996488e-04 9.99054408e-01 2.35913612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5250998929998 meters 0.013348544476437685 Centerline is valid? [True, True] Translation: X:564.97, Y:45.46, Z:23.59 [[ 9.93460891e-01 -1.05869102e-01 -4.27456622e-02 5.64966766e+02] [ 1.05792068e-01 9.94379958e-01 -4.06662716e-03 4.54553788e+01] [ 4.29359599e-02 -4.82116960e-04 9.99077710e-01 2.35939702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5850998929999 meters 0.012815595167660591 Centerline is valid? [True, True] Translation: X:565.03, Y:45.46, Z:23.60 [[ 9.93904088e-01 -1.01550029e-01 -4.29214965e-02 5.65028776e+02] [ 1.01468470e-01 9.94830388e-01 -4.08017962e-03 4.54648074e+01] [ 4.31139514e-02 -2.99871388e-04 9.99070116e-01 2.35958698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.6450998929998 meters 0.012762752443198022 Centerline is valid? [True, True] Translation: X:565.09, Y:45.47, Z:23.60 [[ 9.94060564e-01 -9.91992683e-02 -4.47560178e-02 5.65090341e+02] [ 9.91083964e-02 9.95067566e-01 -4.25029155e-03 4.54736194e+01] [ 4.49568875e-02 -2.10649940e-04 9.98988906e-01 2.35969282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7050998929999 meters 0.012856590286789182 Centerline is valid? [True, True] Translation: X:565.15, Y:45.48, Z:23.60 [[ 9.93805317e-01 -1.01159214e-01 -4.60196240e-02 5.65152566e+02] [ 1.01065397e-01 9.94870201e-01 -4.36680195e-03 4.54801346e+01] [ 4.62252948e-02 -3.11240577e-04 9.98930991e-01 2.35990515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7650998929998 meters 0.013178930111870074 Centerline is valid? [True, True] Translation: X:565.21, Y:45.48, Z:23.60 [[ 9.93409387e-01 -1.05357624e-01 -4.51393445e-02 5.65214662e+02] [ 1.05271841e-01 9.94434272e-01 -4.27999652e-03 4.54840715e+01] [ 4.53390414e-02 -5.00113189e-04 9.98971532e-01 2.36023213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.8250998929999 meters 0.013780236835387644 Centerline is valid? [True, True] Translation: X:565.28, Y:45.49, Z:23.61 [[ 9.93097979e-01 -1.08507334e-01 -4.45259707e-02 5.65275440e+02] [ 1.08427174e-01 9.94095444e-01 -4.21864854e-03 4.54875584e+01] [ 4.47208189e-02 -6.38293822e-04 9.98999320e-01 2.36056384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.8850998929998 meters 0.014930055356450766 Centerline is valid? [True, True] Translation: X:565.34, Y:45.49, Z:23.61 [[ 9.92372251e-01 -1.14574532e-01 -4.54971600e-02 5.65337444e+02] [ 1.14497321e-01 9.93414216e-01 -4.30807447e-03 4.54900557e+01] [ 4.56911211e-02 -9.34089358e-04 9.98955179e-01 2.36084902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.9450998929999 meters 0.01688083455086888 Centerline is valid? [True, True] Translation: X:565.40, Y:45.49, Z:23.61 [[ 9.91803345e-01 -1.19334703e-01 -4.56656707e-02 5.65398881e+02] [ 1.19262102e-01 9.92853404e-01 -4.32084709e-03 4.54904932e+01] [ 4.58549436e-02 -1.16075327e-03 9.98947434e-01 2.36108019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.0050998929999 meters 0.01818486710415731 Centerline is valid? [True, True] Translation: X:565.46, Y:45.49, Z:23.61 [[ 9.90941950e-01 -1.26424003e-01 -4.52882118e-02 5.65460214e+02] [ 1.26360091e-01 9.91975194e-01 -4.28279398e-03 4.54924828e+01] [ 4.54662306e-02 -1.47862234e-03 9.98964782e-01 2.36144378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.0650998929999 meters 0.02084088261408212 Centerline is valid? [True, True] Translation: X:565.52, Y:45.49, Z:23.62 [[ 9.90014443e-01 -1.33029064e-01 -4.66333632e-02 5.65520592e+02] [ 1.32968681e-01 9.91110436e-01 -4.40842016e-03 4.54931179e+01] [ 4.68052610e-02 -1.83637717e-03 9.98902345e-01 2.36168759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1250998929999 meters 0.020825075305392265 Centerline is valid? [True, True] Translation: X:565.58, Y:45.50, Z:23.62 [[ 9.89416715e-01 -1.37059348e-01 -4.76371515e-02 5.65581576e+02] [ 1.37001015e-01 9.90560672e-01 -4.50290478e-03 4.54990977e+01] [ 4.78046540e-02 -2.07108887e-03 9.98854557e-01 2.36196053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1850998929999 meters 0.02482691041284769 Centerline is valid? [True, True] Translation: X:565.64, Y:45.50, Z:23.62 [[ 9.88796237e-01 -1.40959331e-01 -4.91168845e-02 5.65641764e+02] [ 1.40902194e-01 9.90012642e-01 -4.64117760e-03 4.54989354e+01] [ 4.92805539e-02 -2.33149786e-03 9.98782254e-01 2.36208469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.2450998929999 meters 0.023266473102586494 Centerline is valid? [True, True] Translation: X:565.70, Y:45.51, Z:23.62 [[ 9.88640302e-01 -1.41947940e-01 -4.94078571e-02 5.65703066e+02] [ 1.41891384e-01 9.89871226e-01 -4.66811377e-03 4.55084515e+01] [ 4.95700452e-02 -2.39546380e-03 9.98767777e-01 2.36245283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3050998929999 meters 0.022702801226801073 Centerline is valid? [True, True] Translation: X:565.76, Y:45.52, Z:23.63 [[ 9.88776360e-01 -1.40853164e-01 -4.98166229e-02 5.65764914e+02] [ 1.40794467e-01 9.90027676e-01 -4.70304375e-03 4.55179960e+01] [ 4.99822740e-02 -2.36364638e-03 9.98747308e-01 2.36276682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3650998929999 meters 0.0210353516401664 Centerline is valid? [True, True] Translation: X:565.83, Y:45.53, Z:23.63 [[ 9.89071882e-01 -1.38294461e-01 -5.11023887e-02 5.65825142e+02] [ 1.38229471e-01 9.90388496e-01 -4.82091761e-03 4.55298502e+01] [ 5.12779241e-02 -2.29562212e-03 9.98681783e-01 2.36301841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4250998929999 meters 0.02375038336093553 Centerline is valid? [True, True] Translation: X:565.89, Y:45.53, Z:23.63 [[ 9.89399864e-01 -1.35983184e-01 -5.09556951e-02 5.65885381e+02] [ 1.35915639e-01 9.90708764e-01 -4.80451581e-03 4.55339424e+01] [ 5.11355870e-02 -2.17208857e-03 9.98689358e-01 2.36323181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4850998929999 meters 0.019432722712934787 Centerline is valid? [True, True] Translation: X:565.94, Y:45.55, Z:23.64 [[ 9.90029793e-01 -1.31768417e-01 -4.97804565e-02 5.65944501e+02] [ 1.31698855e-01 9.91278681e-01 -4.68924634e-03 4.55486561e+01] [ 4.99641998e-02 -1.91353553e-03 9.98749176e-01 2.36372840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.5450998929999 meters 0.01825327968060221 Centerline is valid? [True, True] Translation: X:566.00, Y:45.56, Z:23.64 [[ 9.90806431e-01 -1.26301625e-01 -4.84821232e-02 5.66004107e+02] [ 1.26229105e-01 9.91990603e-01 -4.56694524e-03 4.55589347e+01] [ 4.86706233e-02 -1.59489633e-03 9.98813610e-01 2.36412768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.6050998929999 meters 0.016998377047215393 Centerline is valid? [True, True] Translation: X:566.07, Y:45.57, Z:23.64 [[ 9.91349485e-01 -1.22161097e-01 -4.79881838e-02 5.66065268e+02] [ 1.22085218e-01 9.92509329e-01 -4.52007961e-03 4.55678275e+01] [ 4.81808980e-02 -1.37766929e-03 9.98837676e-01 2.36442944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.6650998929999 meters 0.015347564631863337 Centerline is valid? [True, True] Translation: X:566.13, Y:45.58, Z:23.65 [[ 9.92169507e-01 -1.15654493e-01 -4.71562139e-02 5.66125258e+02] [ 1.15573983e-01 9.93288954e-01 -4.43947034e-03 4.55765168e+01] [ 4.73531911e-02 -1.04532435e-03 9.98877661e-01 2.36463581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.7250998929999 meters 0.014140488108436435 Centerline is valid? [True, True] Translation: X:566.19, Y:45.58, Z:23.65 [[ 9.92729711e-01 -1.10822044e-01 -4.69701523e-02 5.66186305e+02] [ 1.10736770e-01 9.93839935e-01 -4.42176395e-03 4.55846321e+01] [ 4.71708420e-02 -8.11706494e-04 9.98886506e-01 2.36488119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.7850998929998 meters 0.013100947510488355 Centerline is valid? [True, True] Translation: X:566.25, Y:45.59, Z:23.65 [[ 9.93644530e-01 -1.02026966e-01 -4.75504686e-02 5.66245963e+02] [ 1.01929578e-01 9.94781553e-01 -4.47473144e-03 4.55932692e+01] [ 4.77588723e-02 -4.00506802e-04 9.98858814e-01 2.36500177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.8450998929999 meters 0.012672465653775519 Centerline is valid? [True, True] Translation: X:566.31, Y:45.60, Z:23.65 [[ 9.93879931e-01 -9.94397501e-02 -4.81084118e-02 5.66308214e+02] [ 9.93370977e-02 9.95043545e-01 -4.52589655e-03 4.56004722e+01] [ 4.83200186e-02 -2.80752248e-04 9.98831866e-01 2.36528507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9050998929998 meters 0.012552798720903886 Centerline is valid? [True, True] Translation: X:566.37, Y:45.61, Z:23.66 [[ 9.94575801e-01 -9.21420378e-02 -4.82578488e-02 5.66370572e+02] [ 9.20303666e-02 9.95745871e-01 -4.53559389e-03 4.56064090e+01] [ 4.84704726e-02 6.98044101e-05 9.98824613e-01 2.36550177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9650998929999 meters 0.012653255980296088 Centerline is valid? [True, True] Translation: X:566.43, Y:45.61, Z:23.66 [[ 9.94846749e-01 -8.93832737e-02 -4.78599642e-02 5.66431901e+02] [ 8.92704355e-02 9.95997285e-01 -4.49426499e-03 4.56101907e+01] [ 4.80701065e-02 1.98625071e-04 9.98843944e-01 2.36574372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0250998929998 meters 0.012692962181660187 Centerline is valid? [True, True] Translation: X:566.49, Y:45.61, Z:23.66 [[ 9.94976197e-01 -8.80713919e-02 -4.76003994e-02 5.66493484e+02] [ 8.79583551e-02 9.96114131e-01 -4.46820801e-03 4.56102490e+01] [ 4.78089518e-02 2.58907781e-04 9.98856465e-01 2.36605314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0850998929999 meters 0.012663770767764272 Centerline is valid? [True, True] Translation: X:566.55, Y:45.61, Z:23.66 [[ 9.95019315e-01 -8.83400245e-02 -4.61801067e-02 5.66554514e+02] [ 8.82340009e-02 9.96090349e-01 -4.33326651e-03 4.56108045e+01] [ 4.63823595e-02 2.37028297e-04 9.98923731e-01 2.36635670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.1450998929998 meters 0.012603664675218566 Centerline is valid? [True, True] Translation: X:566.62, Y:45.61, Z:23.67 [[ 9.95008831e-01 -8.93438291e-02 -4.44421775e-02 5.66616443e+02] [ 8.92467094e-02 9.96000827e-01 -4.16864473e-03 4.56070600e+01] [ 4.46368882e-02 1.81520216e-04 9.99003261e-01 2.36663359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2050998929999 meters 0.012643074316837023 Centerline is valid? [True, True] Translation: X:566.68, Y:45.60, Z:23.67 [[ 9.94865026e-01 -9.12567649e-02 -4.37696466e-02 5.66678599e+02] [ 9.11644838e-02 9.95827392e-01 -4.10397661e-03 4.56021633e+01] [ 4.39615286e-02 9.26655648e-05 9.99033220e-01 2.36675449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2650998929998 meters 0.012721711709159582 Centerline is valid? [True, True] Translation: X:566.74, Y:45.60, Z:23.67 [[ 9.94652874e-01 -9.38601674e-02 -4.30804947e-02 5.66739401e+02] [ 9.37732793e-02 9.95585390e-01 -4.03778074e-03 4.55951306e+01] [ 4.32692979e-02 -2.36090404e-05 9.99063445e-01 2.36686939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.3250998929999 meters 0.01289268527536525 Centerline is valid? [True, True] Translation: X:566.80, Y:45.59, Z:23.67 [[ 9.94521022e-01 -9.54987770e-02 -4.25196510e-02 5.66801252e+02] [ 9.54157419e-02 9.95429543e-01 -3.98269476e-03 4.55928535e+01] [ 4.27056592e-02 -9.61703750e-05 9.99087693e-01 2.36712788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.3850998929998 meters 0.013068686667227445 Centerline is valid? [True, True] Translation: X:566.86, Y:45.59, Z:23.67 [[ 9.94454446e-01 -9.59442128e-02 -4.30704515e-02 5.66862748e+02] [ 9.58594991e-02 9.95386706e-01 -4.03266990e-03 4.55880275e+01] [ 4.32586662e-02 -1.18405401e-04 9.99063899e-01 2.36728152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.4450998929999 meters 0.013118745379478772 Centerline is valid? [True, True] Translation: X:566.92, Y:45.59, Z:23.67 [[ 9.94614242e-01 -9.36616522e-02 -4.43847421e-02 5.66923260e+02] [ 9.35695233e-02 9.95604085e-01 -4.15329823e-03 4.55851100e+01] [ 4.45786354e-02 -2.21296003e-05 9.99005878e-01 2.36736867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.5050998929999 meters 0.013322341926001607 Centerline is valid? [True, True] Translation: X:566.98, Y:45.59, Z:23.68 [[ 9.94812429e-01 -9.12858006e-02 -4.48902424e-02 5.66981797e+02] [ 9.11890348e-02 9.95824731e-01 -4.20297619e-03 4.55856088e+01] [ 4.50864856e-02 8.76750729e-05 9.98983084e-01 2.36758525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.5650998929999 meters 0.013728987142576815 Centerline is valid? [True, True] Translation: X:567.04, Y:45.58, Z:23.68 [[ 9.95142697e-01 -8.78382489e-02 -4.44460886e-02 5.67041294e+02] [ 8.77394014e-02 9.96134719e-01 -4.17370193e-03 4.55844099e+01] [ 4.46409026e-02 2.53755789e-04 9.99003066e-01 2.36788172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6250998929999 meters 0.013860044264385465 Centerline is valid? [True, True] Translation: X:567.10, Y:45.58, Z:23.68 [[ 9.95187716e-01 -8.73336585e-02 -4.44324458e-02 5.67099976e+02] [ 8.72338802e-02 9.96179075e-01 -4.18336532e-03 4.55831562e+01] [ 4.46280214e-02 2.87219124e-04 9.99003632e-01 2.36812908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6850998929999 meters 0.014026761854575414 Centerline is valid? [True, True] Translation: X:567.16, Y:45.58, Z:23.68 [[ 9.94960813e-01 -8.95980108e-02 -4.50019619e-02 5.67158489e+02] [ 8.94973895e-02 9.95977990e-01 -4.24984151e-03 4.55775375e+01] [ 4.52017409e-02 2.00867648e-04 9.98977859e-01 2.36827821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.7450998929999 meters 0.013951347563520285 Centerline is valid? [True, True] Translation: X:567.22, Y:45.57, Z:23.68 [[ 9.94613570e-01 -9.32257247e-02 -4.53079466e-02 5.67216955e+02] [ 9.31272697e-02 9.95644998e-01 -4.28358141e-03 4.55742073e+01] [ 4.55099704e-02 4.11028368e-05 9.98963884e-01 2.36848557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8050998929999 meters 0.014383653230266535 Centerline is valid? [True, True] Translation: X:567.28, Y:45.57, Z:23.69 [[ 9.94005838e-01 -9.94692227e-02 -4.53681274e-02 5.67275286e+02] [ 9.93764331e-02 9.95040612e-01 -4.30173237e-03 4.55661650e+01] [ 4.55710193e-02 -2.32575591e-04 9.98961074e-01 2.36874942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8650998929999 meters 0.014742870847042759 Centerline is valid? [True, True] Translation: X:567.33, Y:45.56, Z:23.69 [[ 9.93620465e-01 -1.03477370e-01 -4.48420160e-02 5.67334697e+02] [ 1.03390599e-01 9.94631725e-01 -4.25627735e-03 4.55632560e+01] [ 4.50417201e-02 -4.07118608e-04 9.98985024e-01 2.36907175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9250998929999 meters 0.015915459424821872 Centerline is valid? [True, True] Translation: X:567.39, Y:45.56, Z:23.69 [[ 9.92926792e-01 -1.09918319e-01 -4.48815015e-02 5.67393354e+02] [ 1.09837486e-01 9.93940385e-01 -4.27064083e-03 4.55558244e+01] [ 4.50789585e-02 -6.89237612e-04 9.98983189e-01 2.36930326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9850998929999 meters 0.017217524491497497 Centerline is valid? [True, True] Translation: X:567.45, Y:45.55, Z:23.70 [[ 9.92408340e-01 -1.14486709e-01 -4.49274992e-02 5.67452660e+02] [ 1.14410188e-01 9.93424378e-01 -4.27940472e-03 4.55529205e+01] [ 4.51220079e-02 -8.93246682e-04 9.98981084e-01 2.36955816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.0450998929999 meters 0.017881037161436002 Centerline is valid? [True, True] Translation: X:567.51, Y:45.55, Z:23.70 [[ 9.91720300e-01 -1.20344436e-01 -4.48114283e-02 5.67512791e+02] [ 1.20273822e-01 9.92731536e-01 -4.27849770e-03 4.55508465e+01] [ 4.50006114e-02 -1.14656874e-03 9.98986301e-01 2.36986413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.1050998929999 meters 0.020489023106562025 Centerline is valid? [True, True] Translation: X:567.57, Y:45.55, Z:23.70 [[ 9.90852842e-01 -1.27668110e-01 -4.37206947e-02 5.67572405e+02] [ 1.27607939e-01 9.91815898e-01 -4.17589666e-03 4.55465560e+01] [ 4.38960089e-02 -1.44140865e-03 9.99035066e-01 2.37016733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.1650998929999 meters 0.02317511672807801 Centerline is valid? [True, True] Translation: X:567.63, Y:45.54, Z:23.70 [[ 9.89510771e-01 -1.37169067e-01 -4.53109325e-02 5.67633155e+02] [ 1.37114297e-01 9.90545772e-01 -4.32932315e-03 4.55449325e+01] [ 4.54764019e-02 -1.92886477e-03 9.98963551e-01 2.37030029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.2250998929999 meters 0.02562403356260824 Centerline is valid? [True, True] Translation: X:567.69, Y:45.55, Z:23.70 [[ 9.88727074e-01 -1.42257293e-01 -4.67079885e-02 5.67693274e+02] [ 1.42204751e-01 9.89827203e-01 -4.46285526e-03 4.55462682e+01] [ 4.68677113e-02 -2.22955203e-03 9.98898617e-01 2.37046412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.2850998929998 meters 0.027896500665195962 Centerline is valid? [True, True] Translation: X:567.75, Y:45.55, Z:23.71 [[ 9.88073910e-01 -1.46473077e-01 -4.74930090e-02 5.67753778e+02] [ 1.46423572e-01 9.89211574e-01 -4.53860644e-03 4.55499040e+01] [ 4.76454178e-02 -2.46961741e-03 9.98861259e-01 2.37068683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.3450998929999 meters 0.028733305152228435 Centerline is valid? [True, True] Translation: X:567.81, Y:45.56, Z:23.71 [[ 9.88073828e-01 -1.46158206e-01 -4.84550168e-02 5.67811871e+02] [ 1.46106220e-01 9.89258063e-01 -4.63216931e-03 4.55578879e+01] [ 4.86115457e-02 -2.50265406e-03 9.98814625e-01 2.37092973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4050998929998 meters 0.028519908906843715 Centerline is valid? [True, True] Translation: X:567.87, Y:45.57, Z:23.71 [[ 9.88559684e-01 -1.42810137e-01 -4.85285130e-02 5.67869727e+02] [ 1.42753452e-01 9.89747357e-01 -4.64981159e-03 4.55679414e+01] [ 4.86950077e-02 -2.33099647e-03 9.98810974e-01 2.37121274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4650998929999 meters 0.021834841541955214 Centerline is valid? [True, True] Translation: X:567.93, Y:45.59, Z:23.72 [[ 9.89469688e-01 -1.36266993e-01 -4.87959382e-02 5.67927990e+02] [ 1.36201631e-01 9.90670094e-01 -4.67762973e-03 4.55914281e+01] [ 4.89780832e-02 -2.01771356e-03 9.98797815e-01 2.37166456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5250998929998 meters 0.022098510899582046 Centerline is valid? [True, True] Translation: X:567.99, Y:45.60, Z:23.72 [[ 9.90142420e-01 -1.31526026e-01 -4.81548818e-02 5.67985726e+02] [ 1.31456748e-01 9.91311157e-01 -4.61665736e-03 4.56011491e+01] [ 4.83436822e-02 -1.75913588e-03 9.98829212e-01 2.37190267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5850998929999 meters 0.01962604011245846 Centerline is valid? [True, True] Translation: X:568.04, Y:45.62, Z:23.72 [[ 9.91119333e-01 -1.24613406e-01 -4.64108455e-02 5.68044848e+02] [ 1.24541377e-01 9.92204428e-01 -4.45167473e-03 4.56183759e+01] [ 4.66037848e-02 -1.36792974e-03 9.98912517e-01 2.37227419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.6450998929998 meters 0.01679038037219121 Centerline is valid? [True, True] Translation: X:568.10, Y:45.63, Z:23.73 [[ 9.91852341e-01 -1.18454008e-01 -4.68783710e-02 5.68103396e+02] [ 1.18373631e-01 9.92958943e-01 -4.49681155e-03 4.56344338e+01] [ 4.70809631e-02 -1.08898994e-03 9.98890483e-01 2.37253965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7050998929999 meters 0.015565556009252773 Centerline is valid? [True, True] Translation: X:568.16, Y:45.65, Z:23.73 [[ 9.92521800e-01 -1.12278779e-01 -4.78952192e-02 5.68161293e+02] [ 1.12187629e-01 9.93676414e-01 -4.59558938e-03 4.56475740e+01] [ 4.81083369e-02 -8.12028438e-04 9.98841794e-01 2.37272326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7650998929998 meters 0.015241588721558499 Centerline is valid? [True, True] Translation: X:568.22, Y:45.66, Z:23.73 [[ 9.93075687e-01 -1.06943509e-01 -4.86185714e-02 5.68218018e+02] [ 1.06843009e-01 9.94264942e-01 -4.66873039e-03 4.56579332e+01] [ 4.88390314e-02 -5.58151817e-04 9.98806507e-01 2.37280062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.8250998929999 meters 0.014288961703840584 Centerline is valid? [True, True] Translation: X:568.28, Y:45.67, Z:23.73 [[ 9.93616340e-01 -1.01166253e-01 -4.99195142e-02 5.68275542e+02] [ 1.01052711e-01 9.94869496e-01 -4.79961093e-03 4.56724054e+01] [ 5.01489606e-02 -2.75530382e-04 9.98741711e-01 2.37308891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.8850998929998 meters 0.01417166738172634 Centerline is valid? [True, True] Translation: X:568.33, Y:45.68, Z:23.73 [[ 9.93752219e-01 -9.94168707e-02 -5.07229099e-02 5.68333102e+02] [ 9.92966888e-02 9.95045855e-01 -4.89010550e-03 4.56812820e+01] [ 5.09577802e-02 -1.77063801e-04 9.98700793e-01 2.37330749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.9450998929999 meters 0.014015814676537392 Centerline is valid? [True, True] Translation: X:568.39, Y:45.69, Z:23.74 [[ 9.93610322e-01 -1.00448018e-01 -5.14657580e-02 5.68391122e+02] [ 1.00324914e-01 9.94942284e-01 -4.97633837e-03 4.56893523e+01] [ 5.17053222e-02 -2.18756558e-04 9.98662361e-01 2.37359200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.0050998929999 meters 0.01459347859426159 Centerline is valid? [True, True] Translation: X:568.45, Y:45.69, Z:23.74 [[ 9.92909136e-01 -1.07279999e-01 -5.12098490e-02 5.68448599e+02] [ 1.07166595e-01 9.94228690e-01 -4.96314273e-03 4.56920506e+01] [ 5.14467470e-02 -5.60035377e-04 9.98675582e-01 2.37388168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.0650998929999 meters 0.01546491539573622 Centerline is valid? [True, True] Translation: X:568.51, Y:45.69, Z:23.74 [[ 9.92032665e-01 -1.14945081e-01 -5.15637514e-02 5.68508140e+02] [ 1.14840224e-01 9.93371384e-01 -5.00159903e-03 4.56942872e+01] [ 5.17968643e-02 -9.59843126e-04 9.98657180e-01 2.37421788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.1250998929999 meters 0.019674258397376024 Centerline is valid? [True, True] Translation: X:568.57, Y:45.69, Z:23.74 [[ 9.90322581e-01 -1.28775934e-01 -5.17488559e-02 5.68568150e+02] [ 1.28689058e-01 9.91672281e-01 -5.02125919e-03 4.56897143e+01] [ 5.19645233e-02 -1.68684516e-03 9.98647507e-01 2.37441299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.1850998929999 meters 0.024510400906539907 Centerline is valid? [True, True] Translation: X:568.63, Y:45.69, Z:23.75 [[ 9.88505388e-01 -1.41606666e-01 -5.29589497e-02 5.68628594e+02] [ 1.41533974e-01 9.89920057e-01 -5.13949730e-03 4.56868936e+01] [ 5.31529136e-02 -2.41506985e-03 9.98583464e-01 2.37457813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.2450998929999 meters 0.027763984638045858 Centerline is valid? [True, True] Translation: X:568.69, Y:45.69, Z:23.75 [[ 9.87453866e-01 -1.48774901e-01 -5.29234399e-02 5.68688853e+02] [ 1.48712539e-01 9.88867128e-01 -5.13642687e-03 4.56881460e+01] [ 5.30984214e-02 -2.79839456e-03 9.98585363e-01 2.37482754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3050998929999 meters 0.02842982256334488 Centerline is valid? [True, True] Translation: X:568.75, Y:45.70, Z:23.75 [[ 9.86085058e-01 -1.57712479e-01 -5.25645639e-02 5.68748375e+02] [ 1.57663567e-01 9.87479706e-01 -5.10200835e-03 4.56950121e+01] [ 5.27110905e-02 -3.25650243e-03 9.98604494e-01 2.37525564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3650998929999 meters 0.028820037714860445 Centerline is valid? [True, True] Translation: X:568.81, Y:45.70, Z:23.75 [[ 9.85648639e-01 -1.59900247e-01 -5.41172058e-02 5.68807279e+02] [ 1.59851613e-01 9.87127072e-01 -5.25409890e-03 4.57027168e+01] [ 5.42606906e-02 -3.47202723e-03 9.98520767e-01 2.37535342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4250998929999 meters 0.030951962966834366 Centerline is valid? [True, True] Translation: X:568.87, Y:45.71, Z:23.76 [[ 9.86001540e-01 -1.57953678e-01 -5.34003530e-02 5.68865381e+02] [ 1.57903323e-01 9.87440951e-01 -5.18743646e-03 4.57124793e+01] [ 5.35490700e-02 -3.31727282e-03 9.98559709e-01 2.37561619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4850998929999 meters 0.025441934914476345 Centerline is valid? [True, True] Translation: X:568.92, Y:45.73, Z:23.76 [[ 9.86621106e-01 -1.53993025e-01 -5.35251432e-02 5.68923725e+02] [ 1.53936493e-01 9.88067050e-01 -5.20207094e-03 4.57327283e+01] [ 5.36875129e-02 -3.10699982e-03 9.98552952e-01 2.37597616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.5450998929999 meters 0.026774492251489347 Centerline is valid? [True, True] Translation: X:568.98, Y:45.74, Z:23.76 [[ 9.86841103e-01 -1.52260693e-01 -5.44180004e-02 5.68981177e+02] [ 1.52199532e-01 9.88335626e-01 -5.29078482e-03 4.57408271e+01] [ 5.45888270e-02 -3.06123024e-03 9.98504226e-01 2.37600084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.6050998929999 meters 0.02722277596172702 Centerline is valid? [True, True] Translation: X:569.04, Y:45.75, Z:23.76 [[ 9.86750810e-01 -1.52277998e-01 -5.59843726e-02 5.69038782e+02] [ 1.52212871e-01 9.88332703e-01 -5.45066202e-03 4.57523494e+01] [ 5.61612022e-02 -3.14309690e-03 9.98416767e-01 2.37607818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.6650998929999 meters 0.030762487893441458 Centerline is valid? [True, True] Translation: X:569.10, Y:45.76, Z:23.76 [[ 9.86627292e-01 -1.53078084e-01 -5.59793455e-02 5.69096536e+02] [ 1.53013583e-01 9.88208991e-01 -5.46205026e-03 4.57585597e+01] [ 5.61554127e-02 -3.17659235e-03 9.98416986e-01 2.37617362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.7250998929999 meters 0.02643657350001503 Centerline is valid? [True, True] Translation: X:569.15, Y:45.78, Z:23.77 [[ 9.86962928e-01 -1.51537426e-01 -5.42271804e-02 5.69153803e+02] [ 1.51474220e-01 9.88447012e-01 -5.29764440e-03 4.57777986e+01] [ 5.44034858e-02 -2.98544121e-03 9.98514571e-01 2.37675404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.7850998929998 meters 0.024268469976337848 Centerline is valid? [True, True] Translation: X:569.21, Y:45.79, Z:23.77 [[ 9.87590776e-01 -1.47936645e-01 -5.27181957e-02 5.69213121e+02] [ 1.47871272e-01 9.88993155e-01 -5.15998983e-03 4.57924476e+01] [ 5.29012863e-02 -2.69954831e-03 9.98596098e-01 2.37715990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.8450998929999 meters 0.02304910269474101 Centerline is valid? [True, True] Translation: X:569.27, Y:45.81, Z:23.77 [[ 9.88430524e-01 -1.42679016e-01 -5.14567512e-02 5.69272145e+02] [ 1.42609602e-01 9.89766200e-01 -5.03692586e-03 4.58053912e+01] [ 5.16488168e-02 -2.35957556e-03 9.98662522e-01 2.37747557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9050998929998 meters 0.019546738372090987 Centerline is valid? [True, True] Translation: X:569.33, Y:45.82, Z:23.78 [[ 9.89822188e-01 -1.33035074e-01 -5.05341922e-02 5.69330841e+02] [ 1.32955575e-01 9.91109654e-01 -4.94651561e-03 4.58236870e+01] [ 5.07429858e-02 -1.82263165e-03 9.98710082e-01 2.37775240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9650998929999 meters 0.016661727578007192 Centerline is valid? [True, True] Translation: X:569.39, Y:45.84, Z:23.78 [[ 9.91172993e-01 -1.22622698e-01 -5.03961580e-02 5.69389596e+02] [ 1.22530174e-01 9.92452528e-01 -4.93306232e-03 4.58412872e+01] [ 5.06206998e-02 -1.28553188e-03 9.98717123e-01 2.37800210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0250998929998 meters 0.014857727976926843 Centerline is valid? [True, True] Translation: X:569.45, Y:45.85, Z:23.78 [[ 9.92018094e-01 -1.15969639e-01 -4.95090275e-02 5.69449374e+02] [ 1.15872069e-01 9.93252324e-01 -4.84607960e-03 4.58549563e+01] [ 4.97369547e-02 -9.29314788e-04 9.98761919e-01 2.37823573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0850998929999 meters 0.013793791470134615 Centerline is valid? [True, True] Translation: X:569.51, Y:45.87, Z:23.78 [[ 9.93029786e-01 -1.07210409e-01 -4.89670525e-02 5.69508924e+02] [ 1.07104363e-01 9.94236236e-01 -4.79201489e-03 4.58682556e+01] [ 4.91985718e-02 -4.85971427e-04 9.98788899e-01 2.37839836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.1450998929998 meters 0.01315492325451567 Centerline is valid? [True, True] Translation: X:569.57, Y:45.88, Z:23.79 [[ 9.93464060e-01 -1.03280250e-01 -4.86040215e-02 5.69569311e+02] [ 1.03171155e-01 9.94652253e-01 -4.75473304e-03 4.58800498e+01] [ 4.88351695e-02 -2.90876633e-04 9.98806809e-01 2.37872605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2050998929999 meters 0.013101820560080593 Centerline is valid? [True, True] Translation: X:569.63, Y:45.89, Z:23.79 [[ 9.93396746e-01 -1.02706414e-01 -5.11302120e-02 5.69629708e+02] [ 1.02585019e-01 9.94711674e-01 -4.99987014e-03 4.58893783e+01] [ 5.13733375e-02 -2.78339057e-04 9.98679479e-01 2.37874890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2650998929998 meters 0.01393168667772325 Centerline is valid? [True, True] Translation: X:569.69, Y:45.89, Z:23.79 [[ 9.92329087e-01 -1.12359217e-01 -5.15595722e-02 5.69690319e+02] [ 1.12248869e-01 9.93667343e-01 -5.04011779e-03 4.58925909e+01] [ 5.17993668e-02 -7.86048190e-04 9.98657202e-01 2.37905586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.3250998929999 meters 0.01457477785612204 Centerline is valid? [True, True] Translation: X:569.75, Y:45.90, Z:23.79 [[ 9.91887708e-01 -1.16179687e-01 -5.15854231e-02 5.69751674e+02] [ 1.16074447e-01 9.93227721e-01 -5.04150569e-03 4.58965008e+01] [ 5.18217927e-02 -9.87141931e-04 9.98655860e-01 2.37932723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.3850998929998 meters 0.016307397520481867 Centerline is valid? [True, True] Translation: X:569.81, Y:45.90, Z:23.80 [[ 9.90831280e-01 -1.24704433e-01 -5.19824926e-02 5.69812735e+02] [ 1.24609363e-01 9.92192882e-01 -5.07855980e-03 4.58969429e+01] [ 5.22099780e-02 -1.44550940e-03 9.98635083e-01 2.37955101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.4450998929999 meters 0.021415283489158922 Centerline is valid? [True, True] Translation: X:569.87, Y:45.89, Z:23.80 [[ 9.89009324e-01 -1.38644131e-01 -5.13649889e-02 5.69873418e+02] [ 1.38570077e-01 9.90339921e-01 -5.01743006e-03 4.58918467e+01] [ 5.15644363e-02 -2.15536535e-03 9.98667344e-01 2.37978377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.5050998929999 meters 0.022938527228576224 Centerline is valid? [True, True] Translation: X:569.93, Y:45.89, Z:23.80 [[ 9.87933971e-01 -1.46380599e-01 -5.05884281e-02 5.69933493e+02] [ 1.46318870e-01 9.89225136e-01 -4.94155556e-03 4.58939961e+01] [ 5.07666925e-02 -2.52011104e-03 9.98707361e-01 2.38014607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.5650998929999 meters 0.025571804934235415 Centerline is valid? [True, True] Translation: X:569.99, Y:45.89, Z:23.81 [[ 9.86806097e-01 -1.54146651e-01 -4.95231004e-02 5.69994231e+02] [ 1.54097210e-01 9.88043848e-01 -4.83781142e-03 4.58946090e+01] [ 4.96767271e-02 -2.85738979e-03 9.98761262e-01 2.38050345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.6250998929999 meters 0.028716251744048873 Centerline is valid? [True, True] Translation: X:570.06, Y:45.90, Z:23.81 [[ 9.86563112e-01 -1.55836777e-01 -4.90726552e-02 5.70055426e+02] [ 1.55790413e-01 9.87778511e-01 -4.79175127e-03 4.58960174e+01] [ 4.92196454e-02 -2.91768421e-03 9.98783717e-01 2.38072524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.6850998929999 meters 0.030503737035146684 Centerline is valid? [True, True] Translation: X:570.12, Y:45.90, Z:23.81 [[ 9.86083717e-01 -1.58766828e-01 -4.93152889e-02 5.70116670e+02] [ 1.58723781e-01 9.87311297e-01 -4.81285271e-03 4.58994370e+01] [ 4.94536632e-02 -3.08163342e-03 9.98771665e-01 2.38095419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.7450998929999 meters 0.02844194662686143 Centerline is valid? [True, True] Translation: X:570.18, Y:45.91, Z:23.81 [[ 9.85976414e-01 -1.59086815e-01 -5.04172139e-02 5.70178430e+02] [ 1.59042352e-01 9.87259511e-01 -4.91822585e-03 4.59082508e+01] [ 5.05572988e-02 -3.16921758e-03 9.98716134e-01 2.38121497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8050998929999 meters 0.03117398383901744 Centerline is valid? [True, True] Translation: X:570.24, Y:45.91, Z:23.81 [[ 9.86357682e-01 -1.56340943e-01 -5.15367221e-02 5.70238799e+02] [ 1.56290926e-01 9.87698286e-01 -5.02410080e-03 4.59119943e+01] [ 5.16882047e-02 -3.09916159e-03 9.98658462e-01 2.38138115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8650998929999 meters 0.02657751431744025 Centerline is valid? [True, True] Translation: X:570.30, Y:45.93, Z:23.82 [[ 9.87285204e-01 -1.50092237e-01 -5.23473668e-02 5.70298462e+02] [ 1.50031923e-01 9.88667987e-01 -5.10228856e-03 4.59256124e+01] [ 5.25199797e-02 -2.81636212e-03 9.98615902e-01 2.38169149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9250998929999 meters 0.021844795906402262 Centerline is valid? [True, True] Translation: X:570.36, Y:45.94, Z:23.82 [[ 9.88231505e-01 -1.43547355e-01 -5.28455197e-02 5.70357306e+02] [ 1.43476568e-01 9.89640312e-01 -5.15056550e-03 4.59402785e+01] [ 5.30374066e-02 -2.49214269e-03 9.98589416e-01 2.38203431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9850998929999 meters 0.01841082813651051 Centerline is valid? [True, True] Translation: X:570.42, Y:45.96, Z:23.82 [[ 9.89997267e-01 -1.30855927e-01 -5.27459825e-02 5.70416696e+02] [ 1.30767409e-01 9.91399746e-01 -5.14076179e-03 4.59556519e+01] [ 5.29650528e-02 -1.80811536e-03 9.98594730e-01 2.38238055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.0450998929999 meters 0.01653465537214791 Centerline is valid? [True, True] Translation: X:570.47, Y:45.97, Z:23.83 [[ 9.91103882e-01 -1.22408586e-01 -5.22420667e-02 5.70474966e+02] [ 1.22310034e-01 9.92478883e-01 -5.09144178e-03 4.59675963e+01] [ 5.24723842e-02 -1.34358122e-03 9.98621472e-01 2.38269071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.1050998929999 meters 0.013720924468152772 Centerline is valid? [True, True] Translation: X:570.53, Y:45.98, Z:23.83 [[ 9.92448902e-01 -1.11433366e-01 -5.12618910e-02 5.70534398e+02] [ 1.11323818e-01 9.93771626e-01 -4.99622069e-03 4.59811316e+01] [ 5.14993585e-02 -7.48175688e-04 9.98672747e-01 2.38313855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.1650998929999 meters 0.012610797232146444 Centerline is valid? [True, True] Translation: X:570.59, Y:45.99, Z:23.83 [[ 9.93142382e-01 -1.03521647e-01 -5.43275003e-02 5.70594933e+02] [ 1.03386842e-01 9.94627136e-01 -5.29355128e-03 4.59928298e+01] [ 5.45836031e-02 -3.59498530e-04 9.98509139e-01 2.38323375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.2250998929999 meters 0.012238458443672016 Centerline is valid? [True, True] Translation: X:570.65, Y:46.00, Z:23.84 [[ 9.93828970e-01 -9.74009287e-02 -5.30757631e-02 5.70654541e+02] [ 9.72636185e-02 9.95245225e-01 -5.17010791e-03 4.60012904e+01] [ 5.33269731e-02 -2.41377571e-05 9.98577104e-01 2.38359123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.2850998929998 meters 0.012237611013209512 Centerline is valid? [True, True] Translation: X:570.71, Y:46.01, Z:23.84 [[ 9.94116286e-01 -9.47706603e-02 -5.24531381e-02 5.70714134e+02] [ 9.46328852e-02 9.95499125e-01 -5.10964849e-03 4.60066033e+01] [ 5.27012979e-02 1.15792982e-04 9.98610314e-01 2.38382205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.3450998929999 meters 0.012078831751082918 Centerline is valid? [True, True] Translation: X:570.77, Y:46.01, Z:23.84 [[ 9.94136859e-01 -9.44081304e-02 -5.27163147e-02 5.70773967e+02] [ 9.42683983e-02 9.95533569e-01 -5.13642822e-03 4.60102426e+01] [ 5.29657814e-02 1.36830074e-04 9.98596318e-01 2.38414853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4050998929998 meters 0.011920775079043008 Centerline is valid? [True, True] Translation: X:570.83, Y:46.01, Z:23.84 [[ 9.93719656e-01 -9.85657806e-02 -5.29719923e-02 5.70833397e+02] [ 9.84304874e-02 9.95130534e-01 -5.16325372e-03 4.60100824e+01] [ 5.32229671e-02 -8.32323045e-05 9.98582650e-01 2.38435541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4650998929999 meters 0.011941242448989064 Centerline is valid? [True, True] Translation: X:570.89, Y:46.01, Z:23.85 [[ 9.93406360e-01 -1.02001111e-01 -5.23409637e-02 5.70891779e+02] [ 1.01873678e-01 9.94784250e-01 -5.10381522e-03 4.60105565e+01] [ 5.25885612e-02 -2.62003996e-04 9.98616230e-01 2.38466155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5250998929998 meters 0.01217754203694391 Centerline is valid? [True, True] Translation: X:570.95, Y:46.01, Z:23.85 [[ 9.92873725e-01 -1.06757009e-01 -5.29594830e-02 5.70952910e+02] [ 1.06633181e-01 9.94285006e-01 -5.16640011e-03 4.60103446e+01] [ 5.32083693e-02 -5.17655193e-04 9.98583297e-01 2.38504957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5850998929999 meters 0.012519132309965984 Centerline is valid? [True, True] Translation: X:571.01, Y:46.01, Z:23.85 [[ 9.92615601e-01 -1.08868868e-01 -5.34961575e-02 5.71012541e+02] [ 1.08745569e-01 9.94055916e-01 -5.21896802e-03 4.60123968e+01] [ 5.37463550e-02 -6.37040992e-04 9.98554417e-01 2.38525420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.6450998929998 meters 0.012485543868628332 Centerline is valid? [True, True] Translation: X:571.07, Y:46.01, Z:23.86 [[ 9.92575413e-01 -1.09633823e-01 -5.26732750e-02 5.71073480e+02] [ 1.09515325e-01 9.93971820e-01 -5.13943975e-03 4.60127315e+01] [ 5.29192074e-02 -6.67249306e-04 9.98598574e-01 2.38552621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7050998929999 meters 0.012315152586068329 Centerline is valid? [True, True] Translation: X:571.13, Y:46.02, Z:23.86 [[ 9.92645300e-01 -1.08850168e-01 -5.29806509e-02 5.71133955e+02] [ 1.08729168e-01 9.94057969e-01 -5.16943105e-03 4.60151236e+01] [ 5.32285317e-02 -6.29130636e-04 9.98582159e-01 2.38579499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7650998929998 meters 0.012346773976523015 Centerline is valid? [True, True] Translation: X:571.19, Y:46.02, Z:23.86 [[ 9.92697766e-01 -1.08253280e-01 -5.32200320e-02 5.71193365e+02] [ 1.08130315e-01 9.94123165e-01 -5.19299742e-03 4.60190460e+01] [ 5.34694257e-02 -5.99621870e-04 9.98569307e-01 2.38599494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.8250998929999 meters 0.012066989995740685 Centerline is valid? [True, True] Translation: X:571.25, Y:46.02, Z:23.86 [[ 9.92920504e-01 -1.06292481e-01 -5.30167954e-02 5.71252740e+02] [ 1.06167598e-01 9.94334786e-01 -5.17433467e-03 4.60211343e+01] [ 5.32664368e-02 -4.90962805e-04 9.98580215e-01 2.38617813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.8850998929998 meters 0.011793231628348133 Centerline is valid? [True, True] Translation: X:571.31, Y:46.02, Z:23.86 [[ 9.93124914e-01 -1.03349117e-01 -5.49714995e-02 5.71310947e+02] [ 1.03210073e-01 9.94645084e-01 -5.36998926e-03 4.60244549e+01] [ 5.52321155e-02 -3.40542367e-04 9.98473484e-01 2.38630280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.9450998929999 meters 0.011567040520040947 Centerline is valid? [True, True] Translation: X:571.37, Y:46.03, Z:23.86 [[ 9.93405261e-01 -1.00039102e-01 -5.60193362e-02 5.71368889e+02] [ 9.98886104e-02 9.94983496e-01 -5.48711457e-03 4.60292456e+01] [ 5.62872410e-02 -1.44765168e-04 9.98414606e-01 2.38649265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.0050998929999 meters 0.011335333908282523 Centerline is valid? [True, True] Translation: X:571.43, Y:46.02, Z:23.87 [[ 9.93204002e-01 -1.02420549e-01 -5.52796657e-02 5.71428169e+02] [ 1.02276823e-01 9.94741154e-01 -5.43029793e-03 4.60225349e+01] [ 5.55451326e-02 -2.60434965e-04 9.98456143e-01 2.38676433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.0650998929999 meters 0.011649206145616426 Centerline is valid? [True, True] Translation: X:571.49, Y:46.02, Z:23.87 [[ 9.92780310e-01 -1.05752076e-01 -5.66017256e-02 5.71487502e+02] [ 1.05605879e-01 9.94392429e-01 -5.57627555e-03 4.60237701e+01] [ 5.68740301e-02 -4.41458430e-04 9.98381265e-01 2.38690817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.1250998929999 meters 0.01178424233256249 Centerline is valid? [True, True] Translation: X:571.55, Y:46.03, Z:23.87 [[ 9.92543975e-01 -1.07900897e-01 -5.66908707e-02 5.71545856e+02] [ 1.07756930e-01 9.94161502e-01 -5.59925244e-03 4.60268740e+01] [ 5.69640455e-02 -5.51329889e-04 9.98376078e-01 2.38714136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.1850998929999 meters 0.012866287141464872 Centerline is valid? [True, True] Translation: X:571.60, Y:46.03, Z:23.87 [[ 9.92077479e-01 -1.12156527e-01 -5.65967158e-02 5.71604357e+02] [ 1.12019238e-01 9.93690245e-01 -5.60250494e-03 4.60255457e+01] [ 5.68679618e-02 -7.81802012e-04 9.98381402e-01 2.38727172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.2450998929999 meters 0.013437909260449804 Centerline is valid? [True, True] Translation: X:571.66, Y:46.03, Z:23.88 [[ 9.91404535e-01 -1.18579023e-01 -5.52816654e-02 5.71663553e+02] [ 1.18457652e-01 9.92943990e-01 -5.47875636e-03 4.60256074e+01] [ 5.55412630e-02 -1.11687235e-03 9.98455768e-01 2.38777725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3050998929999 meters 0.014681358260237235 Centerline is valid? [True, True] Translation: X:571.72, Y:46.03, Z:23.88 [[ 9.90888285e-01 -1.23564176e-01 -5.35938468e-02 5.71722628e+02] [ 1.23457101e-01 9.92335667e-01 -5.31671589e-03 4.60269040e+01] [ 5.38400413e-02 -1.34826948e-03 9.98548663e-01 2.38817505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3650998929999 meters 0.014529918127618422 Centerline is valid? [True, True] Translation: X:571.78, Y:46.03, Z:23.88 [[ 9.90822077e-01 -1.24358804e-01 -5.29764113e-02 5.71780051e+02] [ 1.24254580e-01 9.92236380e-01 -5.26930524e-03 4.60309673e+01] [ 5.32204071e-02 -1.36161776e-03 9.98581862e-01 2.38842876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4250998929999 meters 0.014223187424402936 Centerline is valid? [True, True] Translation: X:571.84, Y:46.04, Z:23.89 [[ 9.90998601e-01 -1.23022015e-01 -5.27954229e-02 5.71838866e+02] [ 1.22915805e-01 9.92403129e-01 -5.26640158e-03 4.60360289e+01] [ 5.30422262e-02 -1.27039530e-03 9.98591462e-01 2.38867292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4850998929999 meters 0.01261698171831722 Centerline is valid? [True, True] Translation: X:571.90, Y:46.05, Z:23.89 [[ 9.91695768e-01 -1.17800142e-01 -5.16006723e-02 5.71897393e+02] [ 1.17691059e-01 9.93036862e-01 -5.15804606e-03 4.60458033e+01] [ 5.18489883e-02 -9.57725306e-04 9.98654477e-01 2.38914348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.5450998929999 meters 0.012292204113828156 Centerline is valid? [True, True] Translation: X:571.96, Y:46.05, Z:23.89 [[ 9.91934394e-01 -1.16067941e-01 -5.09351601e-02 5.71955353e+02] [ 1.15959173e-01 9.93240911e-01 -5.09539939e-03 4.60524325e+01] [ 5.11822974e-02 -8.52097163e-04 9.98688964e-01 2.38944970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.6050998929999 meters 0.011893136122219403 Centerline is valid? [True, True] Translation: X:572.01, Y:46.06, Z:23.90 [[ 9.92137396e-01 -1.14351056e-01 -5.08647478e-02 5.72014307e+02] [ 1.14239675e-01 9.93440121e-01 -5.10124237e-03 4.60580603e+01] [ 5.11144137e-02 -7.49638934e-04 9.98692523e-01 2.38969622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.6650998929999 meters 0.012478050916359538 Centerline is valid? [True, True] Translation: X:572.07, Y:46.06, Z:23.90 [[ 9.91869694e-01 -1.15981615e-01 -5.23715149e-02 5.72072458e+02] [ 1.15865188e-01 9.93250999e-01 -5.26405149e-03 4.60596148e+01] [ 5.26285927e-02 -8.46782292e-04 9.98613796e-01 2.38972575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.7250998929999 meters 0.013762204223937619 Centerline is valid? [True, True] Translation: X:572.13, Y:46.06, Z:23.90 [[ 9.91308141e-01 -1.19865447e-01 -5.42258677e-02 5.72131086e+02] [ 1.19746057e-01 9.92789555e-01 -5.45722882e-03 4.60613957e+01] [ 5.44890082e-02 -1.08353846e-03 9.98513783e-01 2.38981226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.7850998929998 meters 0.014340169813861712 Centerline is valid? [True, True] Translation: X:572.19, Y:46.07, Z:23.90 [[ 9.91105856e-01 -1.21342396e-01 -5.46370367e-02 5.72189851e+02] [ 1.21223136e-01 9.92610023e-01 -5.50393677e-03 4.60656180e+01] [ 5.49011311e-02 -1.16828896e-03 9.98491112e-01 2.39006416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.8450998929999 meters 0.01302973759438595 Centerline is valid? [True, True] Translation: X:572.25, Y:46.07, Z:23.91 [[ 9.91192159e-01 -1.21095633e-01 -5.36092534e-02 5.72247726e+02] [ 1.20979759e-01 9.92640213e-01 -5.41337690e-03 4.60732506e+01] [ 5.38702370e-02 -1.11993780e-03 9.98547317e-01 2.39065426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9050998929998 meters 0.013014410026362357 Centerline is valid? [True, True] Translation: X:572.31, Y:46.08, Z:23.91 [[ 9.91341801e-01 -1.20904595e-01 -5.12202381e-02 5.72306220e+02] [ 1.20797917e-01 9.92663579e-01 -5.18472362e-03 4.60795256e+01] [ 5.14713218e-02 -1.04746483e-03 9.98673924e-01 2.39113939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9650998929999 meters 0.013405566006272884 Centerline is valid? [True, True] Translation: X:572.36, Y:46.08, Z:23.91 [[ 9.91279266e-01 -1.22100859e-01 -4.95660788e-02 5.72363684e+02] [ 1.22001835e-01 9.92517130e-01 -5.02974535e-03 4.60847923e+01] [ 4.98093185e-02 -1.06127027e-03 9.98758182e-01 2.39149146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0250998929998 meters 0.013264689574606634 Centerline is valid? [True, True] Translation: X:572.42, Y:46.09, Z:23.92 [[ 9.91205765e-01 -1.22769534e-01 -4.93839314e-02 5.72421779e+02] [ 1.22671378e-01 9.92434623e-01 -5.02510985e-03 4.60909117e+01] [ 4.96272537e-02 -1.07707704e-03 9.98767228e-01 2.39169598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0850998929999 meters 0.012597414115631459 Centerline is valid? [True, True] Translation: X:572.48, Y:46.10, Z:23.92 [[ 9.91110004e-01 -1.23164109e-01 -5.03146291e-02 5.72480122e+02] [ 1.23062065e-01 9.92385702e-01 -5.13285193e-03 4.60990591e+01] [ 5.05637016e-02 -1.10460124e-03 9.98720227e-01 2.39196513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.1450998929998 meters 0.013244691265500035 Centerline is valid? [True, True] Translation: X:572.54, Y:46.10, Z:23.92 [[ 9.90827059e-01 -1.25037481e-01 -5.12578468e-02 5.72538804e+02] [ 1.24933378e-01 9.92151282e-01 -5.24263581e-03 4.61046816e+01] [ 5.15110644e-02 -1.20927051e-03 9.98671692e-01 2.39215121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2050998929999 meters 0.014283541358689096 Centerline is valid? [True, True] Translation: X:572.60, Y:46.11, Z:23.92 [[ 9.90139964e-01 -1.29825406e-01 -5.26138446e-02 5.72597720e+02] [ 1.29721846e-01 9.91535757e-01 -5.39302776e-03 4.61084698e+01] [ 5.28686602e-02 -1.48531275e-03 9.98600370e-01 2.39231727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2650998929998 meters 0.015255166070813841 Centerline is valid? [True, True] Translation: X:572.66, Y:46.11, Z:23.92 [[ 9.89650959e-01 -1.33202126e-01 -5.33682805e-02 5.72656610e+02] [ 1.33100312e-01 9.91087458e-01 -5.47337762e-03 4.61123537e+01] [ 5.36216990e-02 -1.68660140e-03 9.98559897e-01 2.39249262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.3250998929999 meters 0.017093634338529055 Centerline is valid? [True, True] Translation: X:572.71, Y:46.12, Z:23.93 [[ 9.89223775e-01 -1.36257973e-01 -5.35731945e-02 5.72714723e+02] [ 1.36159674e-01 9.90671651e-01 -5.49760396e-03 4.61167395e+01] [ 5.38225374e-02 -1.85614815e-03 9.98548792e-01 2.39265103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.3850998929998 meters 0.01697834148858489 Centerline is valid? [True, True] Translation: X:572.77, Y:46.12, Z:23.93 [[ 9.89071481e-01 -1.37152107e-01 -5.41008876e-02 5.72773119e+02] [ 1.37052855e-01 9.90548143e-01 -5.55802791e-03 4.61245519e+01] [ 5.43518290e-02 -1.91739422e-03 9.98520006e-01 2.39290238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.4450998929999 meters 0.016492562026020636 Centerline is valid? [True, True] Translation: X:572.83, Y:46.13, Z:23.93 [[ 9.89018270e-01 -1.37323317e-01 -5.46366955e-02 5.72830738e+02] [ 1.37221687e-01 9.90524390e-01 -5.62515554e-03 4.61336825e+01] [ 5.48914444e-02 -1.93395791e-03 9.98490455e-01 2.39320110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.5050998929999 meters 0.01710649436726955 Centerline is valid? [True, True] Translation: X:572.89, Y:46.14, Z:23.93 [[ 9.88979932e-01 -1.37803582e-01 -5.41190076e-02 5.72889095e+02] [ 1.37704203e-01 9.90457686e-01 -5.57889164e-03 4.61408025e+01] [ 5.43713783e-02 -1.93500291e-03 9.98518908e-01 2.39348232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.5650998929999 meters 0.017486371770973518 Centerline is valid? [True, True] Translation: X:572.95, Y:46.15, Z:23.94 [[ 9.88731134e-01 -1.40082094e-01 -5.27991704e-02 5.72947305e+02] [ 1.39990034e-01 9.90137879e-01 -5.45619223e-03 4.61490809e+01] [ 5.30427734e-02 -1.99665054e-03 9.98590245e-01 2.39386821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.6250998929999 meters 0.018097012814013054 Centerline is valid? [True, True] Translation: X:573.01, Y:46.16, Z:23.94 [[ 9.88585045e-01 -1.41342468e-01 -5.21719887e-02 5.73006343e+02] [ 1.41253750e-01 9.89958682e-01 -5.40247255e-03 4.61565032e+01] [ 5.24117119e-02 -2.02868550e-03 9.98623501e-01 2.39406609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.6850998929999 meters 0.019865629789286837 Centerline is valid? [True, True] Translation: X:573.06, Y:46.16, Z:23.94 [[ 9.88658614e-01 -1.40806504e-01 -5.22271296e-02 5.73064741e+02] [ 1.40716742e-01 9.90035114e-01 -5.41029346e-03 4.61624786e+01] [ 5.24684967e-02 -2.00029828e-03 9.98620576e-01 2.39422046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.7450998929999 meters 0.01959466342223775 Centerline is valid? [True, True] Translation: X:573.12, Y:46.17, Z:23.94 [[ 9.89034988e-01 -1.37896592e-01 -5.28613578e-02 5.73121468e+02] [ 1.37800314e-01 9.90444875e-01 -5.47926158e-03 4.61736119e+01] [ 5.31118325e-02 -1.86513031e-03 9.98586829e-01 2.39442239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8050998929999 meters 0.016943923678789337 Centerline is valid? [True, True] Translation: X:573.18, Y:46.19, Z:23.95 [[ 9.89406878e-01 -1.35743955e-01 -5.14549096e-02 5.73179801e+02] [ 1.35649624e-01 9.90742495e-01 -5.33737316e-03 4.61879453e+01] [ 5.17030817e-02 -1.69900543e-03 9.98661056e-01 2.39491654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8650998929999 meters 0.017252377439265016 Centerline is valid? [True, True] Translation: X:573.24, Y:46.20, Z:23.95 [[ 9.89427208e-01 -1.35752369e-01 -5.10401268e-02 5.73239131e+02] [ 1.35659470e-01 9.90741368e-01 -5.29617596e-03 4.61960326e+01] [ 5.12865335e-02 -1.68389594e-03 9.98682560e-01 2.39516793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9250998929999 meters 0.01651833604373297 Centerline is valid? [True, True] Translation: X:573.30, Y:46.21, Z:23.95 [[ 9.89059356e-01 -1.38054045e-01 -5.19872156e-02 5.73299259e+02] [ 1.37960769e-01 9.90422996e-01 -5.39578314e-03 4.62071753e+01] [ 5.22342435e-02 -1.83544643e-03 9.98633173e-01 2.39537735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9850998929999 meters 0.0184525897591019 Centerline is valid? [True, True] Translation: X:573.36, Y:46.21, Z:23.95 [[ 9.88477333e-01 -1.41725193e-01 -5.31651294e-02 5.73359788e+02] [ 1.41632980e-01 9.89903863e-01 -5.51724524e-03 4.62120721e+01] [ 5.34102997e-02 -2.07626386e-03 9.98570493e-01 2.39548527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.0450998929999 meters 0.020481719559900757 Centerline is valid? [True, True] Translation: X:573.42, Y:46.22, Z:23.96 [[ 9.87411719e-01 -1.48757292e-01 -5.37528225e-02 5.73419783e+02] [ 1.48673414e-01 9.88870618e-01 -5.57820080e-03 4.62170414e+01] [ 5.39843848e-02 -2.48363479e-03 9.98538691e-01 2.39571661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.1050998929999 meters 0.02394233684891633 Centerline is valid? [True, True] Translation: X:573.48, Y:46.22, Z:23.96 [[ 9.86394663e-01 -1.55589973e-01 -5.30785194e-02 5.73480233e+02] [ 1.55518042e-01 9.87817695e-01 -5.50810637e-03 4.62199069e+01] [ 5.32889069e-02 -2.82150070e-03 9.98575151e-01 2.39601843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.1650998929999 meters 0.024728424961846122 Centerline is valid? [True, True] Translation: X:573.54, Y:46.23, Z:23.96 [[ 9.85951859e-01 -1.58743509e-01 -5.19560450e-02 5.73541154e+02] [ 1.58678966e-01 9.87315512e-01 -5.39122657e-03 4.62269755e+01] [ 5.21528314e-02 -2.92884165e-03 9.98634820e-01 2.39638016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.2250998929999 meters 0.026182570271089497 Centerline is valid? [True, True] Translation: X:573.60, Y:46.23, Z:23.97 [[ 9.85646399e-01 -1.61106982e-01 -5.04550836e-02 5.73601700e+02] [ 1.61049279e-01 9.86932489e-01 -5.23382536e-03 4.62341461e+01] [ 5.06389671e-02 -2.96705370e-03 9.98712617e-01 2.39664524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.2850998929998 meters 0.0258968620861311 Centerline is valid? [True, True] Translation: X:573.66, Y:46.24, Z:23.97 [[ 9.85407540e-01 -1.62557791e-01 -5.04672743e-02 5.73662767e+02] [ 1.62502017e-01 9.86694330e-01 -5.23383952e-03 4.62446567e+01] [ 5.06465748e-02 -3.04356894e-03 9.98712001e-01 2.39687464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.3450998929999 meters 0.029347979504815068 Centerline is valid? [True, True] Translation: X:573.72, Y:46.25, Z:23.97 [[ 9.85193824e-01 -1.63894645e-01 -5.03157473e-02 5.73724036e+02] [ 1.63841082e-01 9.86472960e-01 -5.21533105e-03 4.62497883e+01] [ 5.04898890e-02 -3.10567452e-03 9.98719743e-01 2.39711547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4050998929998 meters 0.028236750880925723 Centerline is valid? [True, True] Translation: X:573.78, Y:46.26, Z:23.97 [[ 9.84699538e-01 -1.66722959e-01 -5.06978769e-02 5.73784609e+02] [ 1.66672445e-01 9.85998331e-01 -5.25230107e-03 4.62609190e+01] [ 5.08637012e-02 -3.27800064e-03 9.98700225e-01 2.39740306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4650998929999 meters 0.029050672427081512 Centerline is valid? [True, True] Translation: X:573.85, Y:46.27, Z:23.98 [[ 9.84527755e-01 -1.67597584e-01 -5.11483145e-02 5.73845997e+02] [ 1.67547450e-01 9.85849783e-01 -5.29689735e-03 4.62673195e+01] [ 5.13123019e-02 -3.35482720e-03 9.98677021e-01 2.39767280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5250998929998 meters 0.03327605274742745 Centerline is valid? [True, True] Translation: X:573.91, Y:46.27, Z:23.98 [[ 9.84170446e-01 -1.69659547e-01 -5.12266605e-02 5.73905832e+02] [ 1.69612156e-01 9.85496625e-01 -5.30270102e-03 4.62714131e+01] [ 5.13833549e-02 -3.46990271e-03 9.98672975e-01 2.39779313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5850998929999 meters 0.027514153238576318 Centerline is valid? [True, True] Translation: X:573.97, Y:46.29, Z:23.98 [[ 9.84071192e-01 -1.70014590e-01 -5.19512174e-02 5.73966955e+02] [ 1.69966383e-01 9.85435192e-01 -5.37693274e-03 4.62884110e+01] [ 5.21087149e-02 -3.53867593e-03 9.98635148e-01 2.39806878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.6450998929998 meters 0.027504386895520594 Centerline is valid? [True, True] Translation: X:574.03, Y:46.30, Z:23.98 [[ 9.84070576e-01 -1.69719032e-01 -5.29202419e-02 5.74028612e+02] [ 1.69668805e-01 9.85485942e-01 -5.47316267e-03 4.62971020e+01] [ 5.30810543e-02 -3.59293588e-03 9.98583743e-01 2.39822823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7050998929999 meters 0.03164997148001463 Centerline is valid? [True, True] Translation: X:574.09, Y:46.30, Z:23.98 [[ 9.84234570e-01 -1.68570475e-01 -5.35378901e-02 5.74089616e+02] [ 1.68517588e-01 9.85683117e-01 -5.53319210e-03 4.63027161e+01] [ 5.37041272e-02 -3.57611715e-03 9.98550489e-01 2.39834905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7650998929998 meters 0.028253383407864287 Centerline is valid? [True, True] Translation: X:574.15, Y:46.32, Z:23.99 [[ 9.84434288e-01 -1.67715066e-01 -5.25432196e-02 5.74150681e+02] [ 1.67663073e-01 9.85829416e-01 -5.42730483e-03 4.63168316e+01] [ 5.27088923e-02 -3.46673268e-03 9.98603903e-01 2.39879806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.8250998929999 meters 0.029285646263905805 Centerline is valid? [True, True] Translation: X:574.21, Y:46.33, Z:23.99 [[ 9.84878154e-01 -1.65866313e-01 -5.00338590e-02 5.74210286e+02] [ 1.65816941e-01 9.86143025e-01 -5.16500083e-03 4.63265154e+01] [ 5.01972407e-02 -3.20956497e-03 9.98734167e-01 2.39915991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.8850998929998 meters 0.02718278573952609 Centerline is valid? [True, True] Translation: X:574.27, Y:46.34, Z:23.99 [[ 9.85186944e-01 -1.64452453e-01 -4.86011963e-02 5.74270147e+02] [ 1.64404200e-01 9.86380301e-01 -5.01610340e-03 4.63404324e+01] [ 4.87641731e-02 -3.04844121e-03 9.98805668e-01 2.39946984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.9450998929999 meters 0.027067527841322644 Centerline is valid? [True, True] Translation: X:574.33, Y:46.35, Z:24.00 [[ 9.85236574e-01 -1.64225239e-01 -4.83628447e-02 5.74331275e+02] [ 1.64177284e-01 9.86418230e-01 -4.98946882e-03 4.63495472e+01] [ 4.85253884e-02 -3.02427335e-03 9.98817371e-01 2.39964332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.0050998929999 meters 0.027342539311476784 Centerline is valid? [True, True] Translation: X:574.39, Y:46.36, Z:24.00 [[ 9.84732338e-01 -1.66877317e-01 -4.95397164e-02 5.74391810e+02] [ 1.66830507e-01 9.85972360e-01 -5.10756255e-03 4.63580339e+01] [ 4.96971274e-02 -3.23515399e-03 9.98759095e-01 2.39976844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.0650998929999 meters 0.030973466934135205 Centerline is valid? [True, True] Translation: X:574.45, Y:46.36, Z:24.00 [[ 9.83943966e-01 -1.71375957e-01 -4.98452987e-02 5.74451552e+02] [ 1.71334340e-01 9.85199544e-01 -5.13840768e-03 4.63605899e+01] [ 4.99881651e-02 -3.48430610e-03 9.98743732e-01 2.39985961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.1250998929999 meters 0.030588903548622228 Centerline is valid? [True, True] Translation: X:574.51, Y:46.37, Z:24.00 [[ 9.83430168e-01 -1.74415312e-01 -4.94409145e-02 5.74512123e+02] [ 1.74378157e-01 9.84665566e-01 -5.09721757e-03 4.63677882e+01] [ 4.95717989e-02 -3.60865804e-03 9.98764043e-01 2.40013664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.1850998929999 meters 0.032622043200958586 Centerline is valid? [True, True] Translation: X:574.57, Y:46.37, Z:24.00 [[ 9.82913721e-01 -1.77355519e-01 -4.92507544e-02 5.74572808e+02] [ 1.77322368e-01 9.84139729e-01 -5.07655696e-03 4.63717130e+01] [ 4.93699795e-02 -3.74344289e-03 9.98773544e-01 2.40032098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.2450998929999 meters 0.03410420398501528 Centerline is valid? [True, True] Translation: X:574.63, Y:46.38, Z:24.01 [[ 9.82894095e-01 -1.77591455e-01 -4.87900962e-02 5.74634501e+02] [ 1.77559308e-01 9.84097262e-01 -5.02702621e-03 4.63779362e+01] [ 4.89069570e-02 -3.72210136e-03 9.98796403e-01 2.40057578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3050998929999 meters 0.03204613120211849 Centerline is valid? [True, True] Translation: X:574.70, Y:46.39, Z:24.01 [[ 9.82778975e-01 -1.78261349e-01 -4.86659720e-02 5.74696106e+02] [ 1.78230356e-01 9.83976033e-01 -5.01064778e-03 4.63877538e+01] [ 4.87793549e-02 -3.74939423e-03 9.98802541e-01 2.40085287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3650998929999 meters 0.03398612023004809 Centerline is valid? [True, True] Translation: X:574.76, Y:46.39, Z:24.01 [[ 9.82559941e-01 -1.79602250e-01 -4.81559395e-02 5.74758187e+02] [ 1.79573675e-01 9.83732051e-01 -4.95454147e-03 4.63913201e+01] [ 4.82623880e-02 -3.77940506e-03 9.98827542e-01 2.40102809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4250998929999 meters 0.03729882283652668 Centerline is valid? [True, True] Translation: X:574.82, Y:46.39, Z:24.01 [[ 9.82471849e-01 -1.80251828e-01 -4.75220381e-02 5.74819909e+02] [ 1.80224913e-01 9.83613292e-01 -4.88593817e-03 4.63926575e+01] [ 4.76240076e-02 -3.76435848e-03 9.98858240e-01 2.40121414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4850998929999 meters 0.03634000155189021 Centerline is valid? [True, True] Translation: X:574.88, Y:46.40, Z:24.01 [[ 9.82575322e-01 -1.79873617e-01 -4.68104535e-02 5.74881257e+02] [ 1.79847197e-01 9.83682799e-01 -4.81014603e-03 4.63997460e+01] [ 4.69118562e-02 -3.69239806e-03 9.98892208e-01 2.40144924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.5450998929999 meters 0.036145220436116954 Centerline is valid? [True, True] Translation: X:574.94, Y:46.41, Z:24.02 [[ 9.83128425e-01 -1.77187272e-01 -4.54221450e-02 5.74941638e+02] [ 1.77159680e-01 9.84171068e-01 -4.66445470e-03 4.64055659e+01] [ 4.55296429e-02 -3.46121465e-03 9.98956992e-01 2.40171473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.6050998929999 meters 0.032940204862317975 Centerline is valid? [True, True] Translation: X:575.00, Y:46.42, Z:24.02 [[ 9.83877826e-01 -1.73479970e-01 -4.34640615e-02 5.75001577e+02] [ 1.73451134e-01 9.84832366e-01 -4.46264895e-03 4.64156469e+01] [ 4.35789947e-02 -3.14818939e-03 9.99045024e-01 2.40207927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.6650998929999 meters 0.028338077914190338 Centerline is valid? [True, True] Translation: X:575.06, Y:46.43, Z:24.02 [[ 9.85572620e-01 -1.63870327e-01 -4.23453269e-02 5.75061590e+02] [ 1.63834119e-01 9.86478322e-01 -4.34766402e-03 4.64287460e+01] [ 4.24852001e-02 -2.65267070e-03 9.99093575e-01 2.40240909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.7250998929999 meters 0.021962623494072533 Centerline is valid? [True, True] Translation: X:575.12, Y:46.44, Z:24.03 [[ 9.87563039e-01 -1.51285149e-01 -4.28024372e-02 5.75120972e+02] [ 1.51236386e-01 9.88487860e-01 -4.39386668e-03 4.64444634e+01] [ 4.29744163e-02 -2.13406558e-03 9.99073894e-01 2.40256413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.7850998929998 meters 0.018364163629273934 Centerline is valid? [True, True] Translation: X:575.18, Y:46.46, Z:24.03 [[ 9.89480996e-01 -1.38268740e-01 -4.25336933e-02 5.75179779e+02] [ 1.38208586e-01 9.90393521e-01 -4.36582208e-03 4.64566913e+01] [ 4.27287510e-02 -1.55862364e-03 9.99085494e-01 2.40283894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.8450998929999 meters 0.015221366161298823 Centerline is valid? [True, True] Translation: X:575.24, Y:46.47, Z:24.03 [[ 9.90594189e-01 -1.30115660e-01 -4.23446293e-02 5.75239735e+02] [ 1.30048565e-01 9.91498096e-01 -4.34710447e-03 4.64682372e+01] [ 4.25502457e-02 -1.20064184e-03 9.99093607e-01 2.40316293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9050998929998 meters 0.012266886971137663 Centerline is valid? [True, True] Translation: X:575.30, Y:46.48, Z:24.03 [[ 9.91869800e-01 -1.19996074e-01 -4.23703028e-02 5.75300072e+02] [ 1.19919673e-01 9.92774070e-01 -4.34949388e-03 4.64798499e+01] [ 4.25860602e-02 -7.66901226e-04 9.99092508e-01 2.40346384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9650998929999 meters 0.011219626415353132 Centerline is valid? [True, True] Translation: X:575.36, Y:46.49, Z:24.04 [[ 9.92526359e-01 -1.13834842e-01 -4.39665156e-02 5.75361161e+02] [ 1.13746568e-01 9.93499550e-01 -4.51246846e-03 4.64880499e+01] [ 4.41943896e-02 -5.22296368e-04 9.99022814e-01 2.40369805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0250998929998 meters 0.011257568650368286 Centerline is valid? [True, True] Translation: X:575.42, Y:46.49, Z:24.04 [[ 9.92607281e-01 -1.12908871e-01 -4.45238527e-02 5.75423223e+02] [ 1.12817493e-01 9.93605227e-01 -4.56789622e-03 4.64938017e+01] [ 4.47548888e-02 -4.88942381e-04 9.98997878e-01 2.40394544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0850998929999 meters 0.012012946731635256 Centerline is valid? [True, True] Translation: X:575.49, Y:46.50, Z:24.04 [[ 9.92150988e-01 -1.16824039e-01 -4.45932846e-02 5.75485624e+02] [ 1.16736472e-01 9.93152403e-01 -4.57174404e-03 4.64956714e+01] [ 4.48220174e-02 -6.69802365e-04 9.98994764e-01 2.40429420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.1450998929998 meters 0.013192430049377936 Centerline is valid? [True, True] Translation: X:575.55, Y:46.50, Z:24.05 [[ 9.91543520e-01 -1.21896450e-01 -4.45275608e-02 5.75547627e+02] [ 1.21814395e-01 9.92542414e-01 -4.56173003e-03 4.64969471e+01] [ 4.47515514e-02 -9.00944046e-04 9.98997741e-01 2.40464387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2050998929999 meters 0.016926482272103756 Centerline is valid? [True, True] Translation: X:575.61, Y:46.49, Z:24.05 [[ 9.90220337e-01 -1.31719514e-01 -4.59744848e-02 5.75608124e+02] [ 1.31642743e-01 9.91286050e-01 -4.70685773e-03 4.64925917e+01] [ 4.61938505e-02 -1.39138105e-03 9.98931525e-01 2.40493973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2650998929998 meters 0.019206255127537923 Centerline is valid? [True, True] Translation: X:575.67, Y:46.49, Z:24.05 [[ 9.89149116e-01 -1.39014940e-01 -4.75276116e-02 5.75669477e+02] [ 1.38941263e-01 9.90288666e-01 -4.86647552e-03 4.64918505e+01] [ 4.77425679e-02 -1.78987642e-03 9.98858070e-01 2.40510039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.3250998929999 meters 0.01981967173903015 Centerline is valid? [True, True] Translation: X:575.73, Y:46.49, Z:24.05 [[ 9.88271616e-01 -1.45031193e-01 -4.78034175e-02 5.75730227e+02] [ 1.44963684e-01 9.89424870e-01 -4.89452233e-03 4.64941387e+01] [ 4.80077486e-02 -2.09264204e-03 9.98844771e-01 2.40548203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.3850998929998 meters 0.0222232721962234 Centerline is valid? [True, True] Translation: X:575.79, Y:46.50, Z:24.06 [[ 9.87679218e-01 -1.49006646e-01 -4.78203107e-02 5.75791006e+02] [ 1.48943750e-01 9.88833550e-01 -4.89590995e-03 4.64953815e+01] [ 4.80158507e-02 -2.28694788e-03 9.98843956e-01 2.40585749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.4450998929999 meters 0.02444798150551761 Centerline is valid? [True, True] Translation: X:575.85, Y:46.50, Z:24.06 [[ 9.87231104e-01 -1.51644552e-01 -4.87716937e-02 5.75851096e+02] [ 1.51582406e-01 9.88432018e-01 -4.99192000e-03 4.64971594e+01] [ 4.89645012e-02 -2.46475201e-03 9.98797478e-01 2.40620842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.5050998929999 meters 0.024041382936585302 Centerline is valid? [True, True] Translation: X:575.91, Y:46.50, Z:24.06 [[ 9.86898151e-01 -1.53537709e-01 -4.95803540e-02 5.75912875e+02] [ 1.53476082e-01 9.88139354e-01 -5.07038310e-03 4.65027085e+01] [ 4.97707940e-02 -2.60544677e-03 9.98757268e-01 2.40643412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.5650998929999 meters 0.024337267409980334 Centerline is valid? [True, True] Translation: X:575.97, Y:46.51, Z:24.07 [[ 9.86807883e-01 -1.53782602e-01 -5.06074467e-02 5.75974328e+02] [ 1.53718928e-01 9.88101082e-01 -5.17127148e-03 4.65083089e+01] [ 5.08005244e-02 -2.67627101e-03 9.98705234e-01 2.40662094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.6250998929999 meters 0.023064865401058614 Centerline is valid? [True, True] Translation: X:576.04, Y:46.52, Z:24.07 [[ 9.86917393e-01 -1.52188078e-01 -5.32245074e-02 5.76036331e+02] [ 1.52115672e-01 9.88347768e-01 -5.43254646e-03 4.65183478e+01] [ 5.34310919e-02 -2.73480713e-03 9.98567794e-01 2.40682231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.6850998929999 meters 0.02341977829308457 Centerline is valid? [True, True] Translation: X:576.10, Y:46.53, Z:24.07 [[ 9.87122684e-01 -1.50518219e-01 -5.41578506e-02 5.76098208e+02] [ 1.50441010e-01 9.88603560e-01 -5.52300060e-03 4.65260864e+01] [ 5.43719561e-02 -2.69568258e-03 9.98517112e-01 2.40707687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.7450998929999 meters 0.022251081486108566 Centerline is valid? [True, True] Translation: X:576.16, Y:46.54, Z:24.07 [[ 9.87543463e-01 -1.47354733e-01 -5.51769099e-02 5.76158967e+02] [ 1.47269885e-01 9.89080362e-01 -5.62300648e-03 4.65378048e+01] [ 5.54029746e-02 -2.57293387e-03 9.98460761e-01 2.40734222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8050998929999 meters 0.020988450094133568 Centerline is valid? [True, True] Translation: X:576.22, Y:46.55, Z:24.08 [[ 9.88087489e-01 -1.43438759e-01 -5.57533532e-02 5.76218674e+02] [ 1.43346070e-01 9.89656331e-01 -5.67889850e-03 4.65508990e+01] [ 5.59912331e-02 -2.38077553e-03 9.98428422e-01 2.40763100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8650998929999 meters 0.02081153174149171 Centerline is valid? [True, True] Translation: X:576.28, Y:46.56, Z:24.08 [[ 9.88847160e-01 -1.38249714e-01 -5.53923416e-02 5.76277902e+02] [ 1.38150134e-01 9.90395232e-01 -5.64138267e-03 4.65635313e+01] [ 5.56402305e-02 -2.07399420e-03 9.98448728e-01 2.40795243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9250998929999 meters 0.016080826346106896 Centerline is valid? [True, True] Translation: X:576.34, Y:46.58, Z:24.09 [[ 9.89355084e-01 -1.34721367e-01 -5.50151929e-02 5.76337344e+02] [ 1.34617720e-01 9.90881770e-01 -5.60247385e-03 4.65807953e+01] [ 5.52683246e-02 -1.86318385e-03 9.98469800e-01 2.40853408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9850998929999 meters 0.016512342945749905 Centerline is valid? [True, True] Translation: X:576.40, Y:46.59, Z:24.09 [[ 9.89722195e-01 -1.32163248e-01 -5.46154901e-02 5.76396848e+02] [ 1.32057311e-01 9.91226489e-01 -5.55997237e-03 4.65910505e+01] [ 5.48711445e-02 -1.70954670e-03 9.98491980e-01 2.40884701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.0450998929999 meters 0.016994353334081322 Centerline is valid? [True, True] Translation: X:576.46, Y:46.60, Z:24.09 [[ 9.89513456e-01 -1.33395117e-01 -5.53973131e-02 5.76458024e+02] [ 1.33288151e-01 9.91061292e-01 -5.63779803e-03 4.66006277e+01] [ 5.56541874e-02 -1.80512839e-03 9.98448473e-01 2.40909448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.1050998929999 meters 0.018273599598970548 Centerline is valid? [True, True] Translation: X:576.52, Y:46.61, Z:24.09 [[ 9.89174928e-01 -1.35467538e-01 -5.64048553e-02 5.76519330e+02] [ 1.35360264e-01 9.90779844e-01 -5.73579972e-03 4.66066265e+01] [ 5.66618084e-02 -1.96126681e-03 9.98391503e-01 2.40926198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.1650998929999 meters 0.017857746827695045 Centerline is valid? [True, True] Translation: X:576.58, Y:46.62, Z:24.10 [[ 9.88696496e-01 -1.38735903e-01 -5.68470653e-02 5.76580086e+02] [ 1.38632599e-01 9.90327037e-01 -5.77603436e-03 4.66165152e+01] [ 5.70985291e-02 -2.17011150e-03 9.98366190e-01 2.40967538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.2250998929999 meters 0.019601488138332263 Centerline is valid? [True, True] Translation: X:576.64, Y:46.62, Z:24.10 [[ 9.88265876e-01 -1.41739711e-01 -5.69246172e-02 5.76641316e+02] [ 1.41641214e-01 9.89901175e-01 -5.78181281e-03 4.66229710e+01] [ 5.71692579e-02 -2.34890359e-03 9.98361737e-01 2.40995142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.2850998929998 meters 0.021145467611073703 Centerline is valid? [True, True] Translation: X:576.70, Y:46.63, Z:24.10 [[ 9.87936075e-01 -1.43988472e-01 -5.70055469e-02 5.76703255e+02] [ 1.43893579e-01 9.89576245e-01 -5.78740533e-03 4.66289092e+01] [ 5.72446547e-02 -2.48514566e-03 9.98357087e-01 2.41020721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.3450998929999 meters 0.021549626695353218 Centerline is valid? [True, True] Translation: X:576.76, Y:46.64, Z:24.11 [[ 9.87526042e-01 -1.46982342e-01 -5.64668671e-02 5.76764247e+02] [ 1.46894311e-01 9.89135601e-01 -5.72918709e-03 4.66367968e+01] [ 5.66954779e-02 -2.63694009e-03 9.98388035e-01 2.41057185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4050998929998 meters 0.021805041335089866 Centerline is valid? [True, True] Translation: X:576.83, Y:46.64, Z:24.11 [[ 9.87319373e-01 -1.48811712e-01 -5.52768461e-02 5.76825405e+02] [ 1.48730333e-01 9.88861901e-01 -5.60620252e-03 4.66437766e+01] [ 5.54954357e-02 -2.68623136e-03 9.98455327e-01 2.41093337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4650998929999 meters 0.023750885516705674 Centerline is valid? [True, True] Translation: X:576.89, Y:46.65, Z:24.11 [[ 9.87075623e-01 -1.50950562e-01 -5.38111685e-02 5.76886656e+02] [ 1.50876764e-01 9.88537530e-01 -5.45463150e-03 4.66485117e+01] [ 5.40177393e-02 -2.73472119e-03 9.98536231e-01 2.41126363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5250998929998 meters 0.02430666447799016 Centerline is valid? [True, True] Translation: X:576.95, Y:46.66, Z:24.12 [[ 9.86791587e-01 -1.52799248e-01 -5.38029160e-02 5.76948409e+02] [ 1.52728381e-01 9.88253172e-01 -5.45062895e-03 4.66554878e+01] [ 5.40037545e-02 -2.83859747e-03 9.98536698e-01 2.41151648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5850998929999 meters 0.025454872004319614 Centerline is valid? [True, True] Translation: X:577.01, Y:46.66, Z:24.12 [[ 9.86691386e-01 -1.53299764e-01 -5.42152312e-02 5.77010226e+02] [ 1.53228777e-01 9.88175500e-01 -5.48843328e-03 4.66602960e+01] [ 5.44155388e-02 -2.89194372e-03 9.98514189e-01 2.41169045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.6450998929998 meters 0.02637778890458551 Centerline is valid? [True, True] Translation: X:577.07, Y:46.67, Z:24.12 [[ 9.86686873e-01 -1.52794380e-01 -5.57036083e-02 5.77073288e+02] [ 1.52718900e-01 9.88253606e-01 -5.63452521e-03 4.66656727e+01] [ 5.59102156e-02 -2.94748172e-03 9.98431450e-01 2.41164422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7050998929999 meters 0.02437064428797937 Centerline is valid? [True, True] Translation: X:577.13, Y:46.68, Z:24.12 [[ 9.87034834e-01 -1.51103936e-01 -5.41279685e-02 5.77133962e+02] [ 1.51030389e-01 9.88513984e-01 -5.47035140e-03 4.66759943e+01] [ 5.43328454e-02 -2.77554073e-03 9.98519022e-01 2.41200501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7650998929998 meters 0.023105506599386108 Centerline is valid? [True, True] Translation: X:577.19, Y:46.69, Z:24.12 [[ 9.87693243e-01 -1.47117282e-01 -5.30901439e-02 5.77194387e+02] [ 1.47040872e-01 9.89115874e-01 -5.36377231e-03 4.66859902e+01] [ 5.33014076e-02 -2.50865939e-03 9.98575318e-01 2.41224161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.8250998929999 meters 0.0225584243528642 Centerline is valid? [True, True] Translation: X:577.26, Y:46.69, Z:24.12 [[ 9.87922407e-01 -1.45599063e-01 -5.30116131e-02 5.77255767e+02] [ 1.45520781e-01 9.89340707e-01 -5.35428367e-03 4.66948712e+01] [ 5.32261254e-02 -2.42467453e-03 9.98579541e-01 2.41246567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.8850998929998 meters 0.023133533143251787 Centerline is valid? [True, True] Translation: X:577.32, Y:46.70, Z:24.13 [[ 9.87953672e-01 -1.45531074e-01 -5.26141545e-02 5.77318170e+02] [ 1.45454084e-01 9.89350753e-01 -5.31000355e-03 4.67014312e+01] [ 5.28266240e-02 -2.40690613e-03 9.98600798e-01 2.41269505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.9450998929999 meters 0.02569516453044094 Centerline is valid? [True, True] Translation: X:577.38, Y:46.70, Z:24.13 [[ 9.87962072e-01 -1.45848224e-01 -5.15678123e-02 5.77379187e+02] [ 1.45774949e-01 9.89304114e-01 -5.19950980e-03 4.67033014e+01] [ 5.17745881e-02 -2.38037674e-03 9.98655960e-01 2.41285867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.0050998929999 meters 0.023715206529819444 Centerline is valid? [True, True] Translation: X:577.44, Y:46.71, Z:24.13 [[ 9.88066212e-01 -1.45365903e-01 -5.09304992e-02 5.77440468e+02] [ 1.45293932e-01 9.89375223e-01 -5.13243924e-03 4.67112618e+01] [ 5.11354557e-02 -2.32870270e-03 9.98689012e-01 2.41309264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.0650998929999 meters 0.021303566152015858 Centerline is valid? [True, True] Translation: X:577.50, Y:46.72, Z:24.13 [[ 9.88005784e-01 -1.45778020e-01 -5.09248416e-02 5.77502184e+02] [ 1.45706796e-01 9.89314526e-01 -5.12825541e-03 4.67206559e+01] [ 5.11282725e-02 -2.35334949e-03 9.98689322e-01 2.41338344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.1250998929999 meters 0.024043921690456393 Centerline is valid? [True, True] Translation: X:577.56, Y:46.72, Z:24.14 [[ 9.87701988e-01 -1.47816198e-01 -5.09426537e-02 5.77563533e+02] [ 1.47747809e-01 9.89011782e-01 -5.12647481e-03 4.67213829e+01] [ 5.11406608e-02 -2.46323612e-03 9.98688423e-01 2.41353624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.1850998929999 meters 0.022265730116124965 Centerline is valid? [True, True] Translation: X:577.63, Y:46.73, Z:24.14 [[ 9.87619553e-01 -1.49041109e-01 -4.89322591e-02 5.77625116e+02] [ 1.48979641e-01 9.88828016e-01 -4.92145343e-03 4.67282230e+01] [ 4.91190876e-02 -2.42938677e-03 9.98789975e-01 2.41393333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.2450998929999 meters 0.02645766506613198 Centerline is valid? [True, True] Translation: X:577.69, Y:46.73, Z:24.14 [[ 9.87681435e-01 -1.48914872e-01 -4.80597932e-02 5.77686607e+02] [ 1.48855589e-01 9.88847148e-01 -4.83033103e-03 4.67280550e+01] [ 4.82430976e-02 -2.38314054e-03 9.98832781e-01 2.41417848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3050998929999 meters 0.024067113765197965 Centerline is valid? [True, True] Translation: X:577.75, Y:46.74, Z:24.15 [[ 9.87949795e-01 -1.47654150e-01 -4.64053304e-02 5.77748307e+02] [ 1.47597607e-01 9.89036509e-01 -4.66151614e-03 4.67364510e+01] [ 4.65848582e-02 -2.24397179e-03 9.98911816e-01 2.41460982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3650998929999 meters 0.022442488009741877 Centerline is valid? [True, True] Translation: X:577.81, Y:46.74, Z:24.15 [[ 9.87999287e-01 -1.47341317e-01 -4.63459385e-02 5.77810215e+02] [ 1.47284730e-01 9.89083194e-01 -4.65223835e-03 4.67438584e+01] [ 4.65254558e-02 -2.22964085e-03 9.98914616e-01 2.41487774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4250998929999 meters 0.022083978639630762 Centerline is valid? [True, True] Translation: X:577.87, Y:46.75, Z:24.15 [[ 9.87766227e-01 -1.48225702e-01 -4.84460784e-02 5.77872395e+02] [ 1.48165112e-01 9.88950699e-01 -4.85937029e-03 4.67483784e+01] [ 4.86310667e-02 -2.37809681e-03 9.98813979e-01 2.41492477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4850998929999 meters 0.026267163282445275 Centerline is valid? [True, True] Translation: X:577.93, Y:46.75, Z:24.15 [[ 9.87552570e-01 -1.49135572e-01 -4.99850303e-02 5.77934136e+02] [ 1.49072418e-01 9.88813589e-01 -5.01010980e-03 4.67463183e+01] [ 5.01730628e-02 -2.50364253e-03 9.98737401e-01 2.41488273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.5450998929999 meters 0.023967041560453945 Centerline is valid? [True, True] Translation: X:578.00, Y:46.75, Z:24.15 [[ 9.87694502e-01 -1.48738369e-01 -4.83370302e-02 5.77995332e+02] [ 1.48678964e-01 9.88873661e-01 -4.84225109e-03 4.67545688e+01] [ 4.85194445e-02 -2.40403482e-03 9.98819345e-01 2.41533811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.6050998929999 meters 0.023779690983134424 Centerline is valid? [True, True] Translation: X:578.06, Y:46.76, Z:24.16 [[ 9.87917893e-01 -1.47702418e-01 -4.69279461e-02 5.78057676e+02] [ 1.47645427e-01 9.89029201e-01 -4.69751706e-03 4.67599801e+01] [ 4.71069437e-02 -2.28793550e-03 9.98887231e-01 2.41572572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.6650998929999 meters 0.02134287653062259 Centerline is valid? [True, True] Translation: X:578.12, Y:46.77, Z:24.16 [[ 9.87977594e-01 -1.47689703e-01 -4.56949254e-02 5.78119881e+02] [ 1.47635910e-01 9.89031226e-01 -4.56849255e-03 4.67684217e+01] [ 4.58684274e-02 -2.23264364e-03 9.98944995e-01 2.41605442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.7250998929999 meters 0.022205630556217302 Centerline is valid? [True, True] Translation: X:578.18, Y:46.77, Z:24.16 [[ 9.88066332e-01 -1.47279752e-01 -4.50954417e-02 5.78182554e+02] [ 1.47227158e-01 9.89092453e-01 -4.50364226e-03 4.67713072e+01] [ 4.52668564e-02 -2.18937643e-03 9.98972531e-01 2.41627068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.7850998929998 meters 0.023749757809172194 Centerline is valid? [True, True] Translation: X:578.24, Y:46.77, Z:24.16 [[ 9.88016389e-01 -1.47386291e-01 -4.58355452e-02 5.78243919e+02] [ 1.47332260e-01 9.89076483e-01 -4.57345564e-03 4.67735104e+01] [ 4.60089245e-02 -2.23440533e-03 9.98938530e-01 2.41641190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.8450998929999 meters 0.023013477295684624 Centerline is valid? [True, True] Translation: X:578.31, Y:46.78, Z:24.17 [[ 9.87903528e-01 -1.47826955e-01 -4.68381247e-02 5.78306191e+02] [ 1.47771156e-01 9.89010550e-01 -4.67081711e-03 4.67788573e+01] [ 4.70138722e-02 -2.30700712e-03 9.98891572e-01 2.41651751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9050998929998 meters 0.023871981042286137 Centerline is valid? [True, True] Translation: X:578.37, Y:46.78, Z:24.17 [[ 9.88014445e-01 -1.46514394e-01 -4.85900035e-02 5.78367390e+02] [ 1.46452933e-01 9.89205789e-01 -4.84200180e-03 4.67822231e+01] [ 4.87749358e-02 -2.33218083e-03 9.98807072e-01 2.41660091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9650998929999 meters 0.02244522021748142 Centerline is valid? [True, True] Translation: X:578.43, Y:46.79, Z:24.17 [[ 9.88318690e-01 -1.44259938e-01 -4.91450643e-02 5.78428652e+02] [ 1.44194417e-01 9.89537272e-01 -4.89464801e-03 4.67898904e+01] [ 4.93369745e-02 -2.24897182e-03 9.98779658e-01 2.41679596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0250998929998 meters 0.018210325707204593 Centerline is valid? [True, True] Translation: X:578.49, Y:46.80, Z:24.17 [[ 9.89174418e-01 -1.38496695e-01 -4.85039770e-02 5.78488338e+02] [ 1.38426069e-01 9.90361000e-01 -4.82845435e-03 4.68033251e+01] [ 4.87051721e-02 -1.93803134e-03 9.98811319e-01 2.41716049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0850998929999 meters 0.01804339345818375 Centerline is valid? [True, True] Translation: X:578.55, Y:46.81, Z:24.17 [[ 9.90146811e-01 -1.31515768e-01 -4.80925781e-02 5.78547438e+02] [ 1.31438143e-01 9.91312817e-01 -4.78677454e-03 4.68109181e+01] [ 4.83043254e-02 -1.58158960e-03 9.98831413e-01 2.41738329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.1450998929998 meters 0.014695260640481085 Centerline is valid? [True, True] Translation: X:578.61, Y:46.82, Z:24.18 [[ 9.90547151e-01 -1.28256354e-01 -4.86482243e-02 5.78607509e+02] [ 1.28172988e-01 9.91740005e-01 -4.84229177e-03 4.68228482e+01] [ 4.88674449e-02 -1.43886995e-03 9.98804236e-01 2.41771572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2050998929999 meters 0.01421376896802743 Centerline is valid? [True, True] Translation: X:578.67, Y:46.83, Z:24.18 [[ 9.90578701e-01 -1.27353619e-01 -5.03477090e-02 5.78669569e+02] [ 1.27263276e-01 9.91856323e-01 -5.00920623e-03 4.68301193e+01] [ 5.05756341e-02 -1.44540138e-03 9.98719188e-01 2.41790616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2650998929998 meters 0.014288614102200847 Centerline is valid? [True, True] Translation: X:578.73, Y:46.84, Z:24.18 [[ 9.90288607e-01 -1.29591207e-01 -5.03447563e-02 5.78731802e+02] [ 1.29503951e-01 9.91566274e-01 -5.00514499e-03 4.68359758e+01] [ 5.05687852e-02 -1.56330679e-03 9.98719357e-01 2.41818654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.3250998929999 meters 0.015985976357333044 Centerline is valid? [True, True] Translation: X:578.79, Y:46.84, Z:24.18 [[ 9.89980827e-01 -1.31786555e-01 -5.06977846e-02 5.78792726e+02] [ 1.31701132e-01 9.91276674e-01 -5.03654650e-03 4.68387425e+01] [ 5.09192804e-02 -1.69087115e-03 9.98701341e-01 2.41839744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.3850998929998 meters 0.0175427776126271 Centerline is valid? [True, True] Translation: X:578.85, Y:46.84, Z:24.19 [[ 9.89555817e-01 -1.34963474e-01 -5.06373976e-02 5.78854491e+02] [ 1.34882557e-01 9.90848838e-01 -5.02755883e-03 4.68429081e+01] [ 5.08525434e-02 -1.85505156e-03 9.98704450e-01 2.41869143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.4450998929999 meters 0.017902856987439 Centerline is valid? [True, True] Translation: X:578.92, Y:46.85, Z:24.19 [[ 9.89238697e-01 -1.37385991e-01 -5.03178832e-02 5.78915803e+02] [ 1.37309424e-01 9.90515626e-01 -4.99175893e-03 4.68487717e+01] [ 5.05264473e-02 -1.97107844e-03 9.98720778e-01 2.41907005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.5050998929999 meters 0.01907450065478837 Centerline is valid? [True, True] Translation: X:578.98, Y:46.85, Z:24.19 [[ 9.89135374e-01 -1.38345514e-01 -4.97165064e-02 5.78977624e+02] [ 1.38272257e-01 9.90382004e-01 -4.92646649e-03 4.68530256e+01] [ 4.99198878e-02 -2.00147127e-03 9.98751220e-01 2.41935819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.5650998929999 meters 0.019042613469703002 Centerline is valid? [True, True] Translation: X:579.04, Y:46.86, Z:24.20 [[ 9.89066757e-01 -1.38950860e-01 -4.93923991e-02 5.79039233e+02] [ 1.38879486e-01 9.90297212e-01 -4.89076863e-03 4.68604016e+01] [ 4.95927316e-02 -2.02229432e-03 9.98767476e-01 2.41969348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.6250998929999 meters 0.018256119822538608 Centerline is valid? [True, True] Translation: X:579.10, Y:46.87, Z:24.20 [[ 9.89171357e-01 -1.37990296e-01 -4.99870388e-02 5.79100467e+02] [ 1.37916156e-01 9.90431558e-01 -4.94594708e-03 4.68682614e+01] [ 5.01912334e-02 -2.00163105e-03 9.98737620e-01 2.41991763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.6850998929999 meters 0.018503698793453878 Centerline is valid? [True, True] Translation: X:579.16, Y:46.87, Z:24.20 [[ 9.89267431e-01 -1.36642606e-01 -5.17566164e-02 5.79162344e+02] [ 1.36561487e-01 9.90618380e-01 -5.11712058e-03 4.68747872e+01] [ 5.19702722e-02 -2.00575979e-03 9.98646618e-01 2.42001659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.7450998929999 meters 0.01935909736734236 Centerline is valid? [True, True] Translation: X:579.22, Y:46.88, Z:24.20 [[ 9.89261346e-01 -1.36074935e-01 -5.33441711e-02 5.79223902e+02] [ 1.35988165e-01 9.90696446e-01 -5.26991350e-03 4.68803322e+01] [ 5.35649839e-02 -2.04085420e-03 9.98562280e-01 2.42012886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8050998929999 meters 0.01954943096972373 Centerline is valid? [True, True] Translation: X:579.29, Y:46.89, Z:24.20 [[ 9.89360929e-01 -1.35435609e-01 -5.31239019e-02 5.79285778e+02] [ 1.35348876e-01 9.90784127e-01 -5.24361671e-03 4.68867581e+01] [ 5.33444912e-02 -2.00243093e-03 9.98574161e-01 2.42042486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8650998929999 meters 0.01811703759849924 Centerline is valid? [True, True] Translation: X:579.35, Y:46.90, Z:24.21 [[ 9.89561985e-01 -1.33262372e-01 -5.48472230e-02 5.79347138e+02] [ 1.33166810e-01 9.91078874e-01 -5.40974419e-03 4.68955366e+01] [ 5.50788393e-02 -1.95055251e-03 9.98480103e-01 2.42064470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9250998929999 meters 0.016369680722596147 Centerline is valid? [True, True] Translation: X:579.41, Y:46.91, Z:24.21 [[ 9.89894586e-01 -1.30523130e-01 -5.54294293e-02 5.79407727e+02] [ 1.30421435e-01 9.91443593e-01 -5.46366206e-03 4.69057830e+01] [ 5.56682868e-02 -1.82073624e-03 9.98447658e-01 2.42094540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9850998929999 meters 0.016058095639524993 Centerline is valid? [True, True] Translation: X:579.47, Y:46.91, Z:24.21 [[ 9.90187128e-01 -1.28418851e-01 -5.51185104e-02 5.79469511e+02] [ 1.28315176e-01 9.91718571e-01 -5.43054856e-03 4.69138076e+01] [ 5.53594352e-02 -1.69528207e-03 9.98465051e-01 2.42128700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.0450998929999 meters 0.015331199978911253 Centerline is valid? [True, True] Translation: X:579.53, Y:46.92, Z:24.22 [[ 9.90585782e-01 -1.25921964e-01 -5.36979346e-02 5.79530000e+02] [ 1.25820081e-01 9.92038987e-01 -5.28724390e-03 4.69223151e+01] [ 5.39362248e-02 -1.51880987e-03 9.98543227e-01 2.42171756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.1050998929999 meters 0.012650816121734607 Centerline is valid? [True, True] Translation: X:579.59, Y:46.93, Z:24.22 [[ 9.91083792e-01 -1.22468717e-01 -5.24817182e-02 5.79590965e+02] [ 1.22366670e-01 9.92471519e-01 -5.16542455e-03 4.69343564e+01] [ 5.27192135e-02 -1.30264453e-03 9.98608526e-01 2.42221437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.1650998929999 meters 0.013222573037108979 Centerline is valid? [True, True] Translation: X:579.65, Y:46.94, Z:24.22 [[ 9.91260441e-01 -1.21084647e-01 -5.23569052e-02 5.79651859e+02] [ 1.20981312e-01 9.92641425e-01 -5.15018298e-03 4.69396607e+01] [ 5.25952411e-02 -1.22903445e-03 9.98615156e-01 2.42243743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.2250998929999 meters 0.011771359205603254 Centerline is valid? [True, True] Translation: X:579.71, Y:46.95, Z:24.23 [[ 9.91806601e-01 -1.16931404e-01 -5.14462113e-02 5.79713057e+02] [ 1.16826196e-01 9.93139496e-01 -5.05777131e-03 4.69490229e+01] [ 5.16846767e-02 -9.93934199e-04 9.98662959e-01 2.42274501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.2850998929998 meters 0.011515597446560413 Centerline is valid? [True, True] Translation: X:579.77, Y:46.96, Z:24.23 [[ 9.92062710e-01 -1.14543837e-01 -5.18776411e-02 5.79774807e+02] [ 1.14433756e-01 9.93417805e-01 -5.09709850e-03 4.69557101e+01] [ 5.21200136e-02 -8.79911979e-04 9.98640441e-01 2.42295645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.3450998929999 meters 0.010995544813003494 Centerline is valid? [True, True] Translation: X:579.84, Y:46.96, Z:24.23 [[ 9.92291216e-01 -1.12568022e-01 -5.18322587e-02 5.79836334e+02] [ 1.12455639e-01 9.93643715e-01 -5.08882878e-03 4.69623297e+01] [ 5.20756375e-02 -7.79229665e-04 9.98642839e-01 2.42322033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4050998929998 meters 0.01107145105116149 Centerline is valid? [True, True] Translation: X:579.90, Y:46.97, Z:24.23 [[ 9.92396343e-01 -1.11759631e-01 -5.15682484e-02 5.79898036e+02] [ 1.11647500e-01 9.93734996e-01 -5.05903347e-03 4.69668910e+01] [ 5.18105689e-02 -7.36899702e-04 9.98656659e-01 2.42348019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4650998929999 meters 0.01151709020163873 Centerline is valid? [True, True] Translation: X:579.96, Y:46.97, Z:24.24 [[ 9.92542579e-01 -1.10691934e-01 -5.10541418e-02 5.79959012e+02] [ 1.10580838e-01 9.93854534e-01 -5.00431128e-03 4.69709117e+01] [ 5.12943272e-02 -6.78617767e-04 9.98683349e-01 2.42367709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5250998929998 meters 0.011228227576375763 Centerline is valid? [True, True] Translation: X:580.02, Y:46.98, Z:24.24 [[ 9.92620872e-01 -1.09993361e-01 -5.10417884e-02 5.80021054e+02] [ 1.09881706e-01 9.93932110e-01 -4.99705167e-03 4.69765320e+01] [ 5.12817150e-02 -6.48381010e-04 9.98684017e-01 2.42400858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5850998929999 meters 0.011428158778041006 Centerline is valid? [True, True] Translation: X:580.08, Y:46.98, Z:24.24 [[ 9.92641862e-01 -1.10303740e-01 -4.99521649e-02 5.80083653e+02] [ 1.10197378e-01 9.93897710e-01 -4.88674955e-03 4.69776638e+01] [ 5.01863691e-02 -6.53805430e-04 9.98739656e-01 2.42422261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.6450998929998 meters 0.011916929129570404 Centerline is valid? [True, True] Translation: X:580.15, Y:46.98, Z:24.25 [[ 9.92406677e-01 -1.13058959e-01 -4.84423302e-02 5.80145725e+02] [ 1.12962380e-01 9.93587980e-01 -4.73559515e-03 4.69778399e+01] [ 4.86671184e-02 -7.72524650e-04 9.98814755e-01 2.42454987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7050998929999 meters 0.0139862972428629 Centerline is valid? [True, True] Translation: X:580.21, Y:46.97, Z:24.25 [[ 9.91798859e-01 -1.18765997e-01 -4.72192932e-02 5.80207955e+02] [ 1.18680864e-01 9.92921738e-01 -4.61239185e-03 4.69728527e+01] [ 4.74328580e-02 -1.02946156e-03 9.98873898e-01 2.42480955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7650998929998 meters 0.01581270546662558 Centerline is valid? [True, True] Translation: X:580.27, Y:46.97, Z:24.25 [[ 9.91329559e-01 -1.23225989e-01 -4.56186455e-02 5.80270282e+02] [ 1.23151460e-01 9.92377903e-01 -4.45138043e-03 4.69701551e+01] [ 4.58194616e-02 -1.20521781e-03 9.98949010e-01 2.42509056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.8250998929999 meters 0.016563133431837334 Centerline is valid? [True, True] Translation: X:580.33, Y:46.97, Z:24.25 [[ 9.90744073e-01 -1.28767468e-01 -4.29548705e-02 5.80331941e+02] [ 1.28706681e-01 9.91673858e-01 -4.18930185e-03 4.69678091e+01] [ 4.31366679e-02 -1.37805283e-03 9.99068230e-01 2.42543225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.8850998929998 meters 0.01790993022050835 Centerline is valid? [True, True] Translation: X:580.39, Y:46.96, Z:24.26 [[ 9.90319314e-01 -1.32538157e-01 -4.12467490e-02 5.80393433e+02] [ 1.32485432e-01 9.91176795e-01 -4.02125238e-03 4.69642574e+01] [ 4.14157899e-02 -1.48226945e-03 9.99140899e-01 2.42569514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.9450998929999 meters 0.019220320451539003 Centerline is valid? [True, True] Translation: X:580.45, Y:46.96, Z:24.26 [[ 9.90186817e-01 -1.33686632e-01 -4.07179556e-02 5.80454948e+02] [ 1.33636305e-01 9.91022500e-01 -3.96759199e-03 4.69624728e+01] [ 4.08828242e-02 -1.51273987e-03 9.99162803e-01 2.42591602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.0050998929999 meters 0.01943785784620641 Centerline is valid? [True, True] Translation: X:580.52, Y:46.96, Z:24.26 [[ 9.90182597e-01 -1.33801825e-01 -4.04412718e-02 5.80516976e+02] [ 1.33752366e-01 9.91006959e-01 -3.93843641e-03 4.69622707e+01] [ 4.06045518e-02 -1.50934458e-03 9.99174155e-01 2.42613708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.0650998929999 meters 0.020048985686732163 Centerline is valid? [True, True] Translation: X:580.58, Y:46.96, Z:24.27 [[ 9.90272807e-01 -1.33516872e-01 -3.91537023e-02 5.80579666e+02] [ 1.33470397e-01 9.91045476e-01 -3.81027966e-03 4.69601389e+01] [ 3.93118362e-02 -1.45264387e-03 9.99225935e-01 2.42657503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.1250998929999 meters 0.019515369058459082 Centerline is valid? [True, True] Translation: X:580.64, Y:46.96, Z:24.27 [[ 9.89986149e-01 -1.34315355e-01 -4.34374260e-02 5.80641744e+02] [ 1.34259073e-01 9.90937264e-01 -4.22371193e-03 4.69600097e+01] [ 4.36110735e-02 -1.65045224e-03 9.99047221e-01 2.42651931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.1850998929999 meters 0.01976244772535852 Centerline is valid? [True, True] Translation: X:580.70, Y:46.96, Z:24.27 [[ 9.90233739e-01 -1.31965325e-01 -4.49699430e-02 5.80703529e+02] [ 1.31902711e-01 9.91253035e-01 -4.36989974e-03 4.69594031e+01] [ 4.51532677e-02 -1.60443524e-03 9.98978783e-01 2.42668154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.2450998929999 meters 0.017397318160554297 Centerline is valid? [True, True] Translation: X:580.77, Y:46.96, Z:24.27 [[ 9.90800538e-01 -1.28031248e-01 -4.38439650e-02 5.80765125e+02] [ 1.27968135e-01 9.91769153e-01 -4.25476188e-03 4.69645951e+01] [ 4.40278345e-02 -1.39501006e-03 9.99029331e-01 2.42721302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3050998929999 meters 0.016983567254137046 Centerline is valid? [True, True] Translation: X:580.83, Y:46.97, Z:24.28 [[ 9.91289614e-01 -1.24168146e-01 -4.38995668e-02 5.80825276e+02] [ 1.24101212e-01 9.92260432e-01 -4.25735712e-03 4.69674424e+01] [ 4.40884312e-02 -1.22771554e-03 9.99026878e-01 2.42753215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3650998929999 meters 0.016199405363357105 Centerline is valid? [True, True] Translation: X:580.89, Y:46.97, Z:24.28 [[ 9.91738315e-01 -1.20615520e-01 -4.36693386e-02 5.80887093e+02] [ 1.20545882e-01 9.92698727e-01 -4.23415423e-03 4.69681765e+01] [ 4.38612015e-02 -1.06498597e-03 9.99037067e-01 2.42780719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4250998929999 meters 0.01608544603917438 Centerline is valid? [True, True] Translation: X:580.95, Y:46.97, Z:24.28 [[ 9.91800491e-01 -1.20325034e-01 -4.30542905e-02 5.80948969e+02] [ 1.20257168e-01 9.92734006e-01 -4.17228346e-03 4.69656823e+01] [ 4.32434884e-02 -1.03951425e-03 9.99064022e-01 2.42815815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4850998929999 meters 0.016433692647382363 Centerline is valid? [True, True] Translation: X:581.01, Y:46.96, Z:24.28 [[ 9.91578894e-01 -1.21964126e-01 -4.35436342e-02 5.81009727e+02] [ 1.21896355e-01 9.92533871e-01 -4.21814942e-03 4.69640155e+01] [ 4.37329947e-02 -1.12518234e-03 9.99042621e-01 2.42835571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.5450998929999 meters 0.018214774809416395 Centerline is valid? [True, True] Translation: X:581.07, Y:46.96, Z:24.29 [[ 9.91006564e-01 -1.26581870e-01 -4.33937892e-02 5.81069904e+02] [ 1.26518982e-01 9.91955280e-01 -4.20366252e-03 4.69574939e+01] [ 4.35768057e-02 -1.32428087e-03 9.99049202e-01 2.42862336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.6050998929999 meters 0.01838549190093906 Centerline is valid? [True, True] Translation: X:581.13, Y:46.96, Z:24.29 [[ 9.90500355e-01 -1.30445438e-01 -4.35090194e-02 5.81130935e+02] [ 1.30385902e-01 9.91454359e-01 -4.21558610e-03 4.69570546e+01] [ 4.36871109e-02 -1.49742321e-03 9.99044140e-01 2.42891745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.6650998929999 meters 0.019863802650598793 Centerline is valid? [True, True] Translation: X:581.19, Y:46.95, Z:24.29 [[ 9.89550596e-01 -1.37281518e-01 -4.40840503e-02 5.81191925e+02] [ 1.37227161e-01 9.90530394e-01 -4.27132498e-03 4.69513674e+01] [ 4.42529657e-02 -1.82283687e-03 9.99018695e-01 2.42908904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.7250998929999 meters 0.02292888472445671 Centerline is valid? [True, True] Translation: X:581.25, Y:46.95, Z:24.29 [[ 9.88711720e-01 -1.43507776e-01 -4.30656718e-02 5.81252069e+02] [ 1.43461768e-01 9.89647062e-01 -4.17311566e-03 4.69456965e+01] [ 4.32186901e-02 -2.05226903e-03 9.99063528e-01 2.42932649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.7850998929998 meters 0.024721552025921238 Centerline is valid? [True, True] Translation: X:581.31, Y:46.94, Z:24.30 [[ 9.87933637e-01 -1.48949219e-01 -4.24412483e-02 5.81313013e+02] [ 1.48909496e-01 9.88842273e-01 -4.11355057e-03 4.69432011e+01] [ 4.25804106e-02 -2.25598992e-03 9.99090496e-01 2.42960511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.8450998929999 meters 0.0275573152857073 Centerline is valid? [True, True] Translation: X:581.37, Y:46.94, Z:24.30 [[ 9.86873865e-01 -1.55724323e-01 -4.27774463e-02 5.81374397e+02] [ 1.55690296e-01 9.87797216e-01 -4.14631927e-03 4.69390927e+01] [ 4.29011251e-02 -2.56813913e-03 9.99076022e-01 2.42975201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9050998929998 meters 0.02955858245032144 Centerline is valid? [True, True] Translation: X:581.44, Y:46.93, Z:24.30 [[ 9.85435076e-01 -1.64721339e-01 -4.22444148e-02 5.81435630e+02] [ 1.64696373e-01 9.86335815e-01 -4.09459721e-03 4.69348865e+01] [ 4.23416468e-02 -2.92254217e-03 9.99098916e-01 2.42988711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9650998929999 meters 0.03303255985324631 Centerline is valid? [True, True] Translation: X:581.50, Y:46.93, Z:24.30 [[ 9.84462307e-01 -1.69471757e-01 -4.59705354e-02 5.81495325e+02] [ 1.69447343e-01 9.85529169e-01 -4.45583534e-03 4.69316417e+01] [ 4.60604418e-02 -3.40298316e-03 9.98932858e-01 2.42977302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0250998929998 meters 0.03560806734275473 Centerline is valid? [True, True] Translation: X:581.55, Y:46.93, Z:24.30 [[ 9.84276340e-01 -1.70430546e-01 -4.64059840e-02 5.81552723e+02] [ 1.70406763e-01 9.85363542e-01 -4.49729188e-03 4.69333853e+01] [ 4.64932406e-02 -3.48131552e-03 9.98912538e-01 2.42991471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0850998929999 meters 0.03560806734275473 Centerline is valid? [True, True] Translation: X:581.61, Y:46.94, Z:24.30 [[ 9.84227514e-01 -1.70712497e-01 -4.64052170e-02 5.81609997e+02] [ 1.70688655e-01 9.85314714e-01 -4.50519258e-03 4.69390314e+01] [ 4.64928358e-02 -3.48670959e-03 9.98912538e-01 2.43015674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.1450998929998 meters 0.03307509576279365 Centerline is valid? [True, True] Translation: X:581.67, Y:46.95, Z:24.30 [[ 9.83894375e-01 -1.72463579e-01 -4.69912097e-02 5.81668777e+02] [ 1.72440527e-01 9.85009308e-01 -4.57460985e-03 4.69479725e+01] [ 4.70757325e-02 -3.60225604e-03 9.98884828e-01 2.43037739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2050998929999 meters 0.032201891239380206 Centerline is valid? [True, True] Translation: X:581.73, Y:46.96, Z:24.31 [[ 9.83226094e-01 -1.75902659e-01 -4.82151658e-02 5.81728800e+02] [ 1.75882382e-01 9.84399987e-01 -4.69618896e-03 4.69551098e+01] [ 4.82890807e-02 -3.86278267e-03 9.98825933e-01 2.43058345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2650998929998 meters 0.03825707044670793 Centerline is valid? [True, True] Translation: X:581.79, Y:46.95, Z:24.31 [[ 9.83137341e-01 -1.76377737e-01 -4.82893618e-02 5.81786980e+02] [ 1.76357914e-01 9.84314865e-01 -4.70452139e-03 4.69526805e+01] [ 4.83617095e-02 -3.89102046e-03 9.98822309e-01 2.43071912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.3250998929999 meters 0.03536359117922193 Centerline is valid? [True, True] Translation: X:581.85, Y:46.96, Z:24.31 [[ 9.82894334e-01 -1.77735624e-01 -4.82573886e-02 5.81845286e+02] [ 1.77717091e-01 9.84070354e-01 -4.70884734e-03 4.69627035e+01] [ 4.83255954e-02 -3.94786335e-03 9.98823834e-01 2.43101314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.3850998929998 meters 0.04012397863012121 Centerline is valid? [True, True] Translation: X:581.90, Y:46.96, Z:24.31 [[ 9.83012383e-01 -1.77265577e-01 -4.75769920e-02 5.81903550e+02] [ 1.77246432e-01 9.84155494e-01 -4.65463924e-03 4.69644314e+01] [ 4.76482654e-02 -3.85728408e-03 9.98856729e-01 2.43135963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.4450998929999 meters 0.036311203523671017 Centerline is valid? [True, True] Translation: X:581.96, Y:46.98, Z:24.32 [[ 9.83038316e-01 -1.77696539e-01 -4.53829177e-02 5.81960546e+02] [ 1.77679055e-01 9.84078422e-01 -4.45125795e-03 4.69765995e+01] [ 4.54513232e-02 -3.68783681e-03 9.98959747e-01 2.43180431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.5050998929999 meters 0.03792441597817231 Centerline is valid? [True, True] Translation: X:582.02, Y:46.98, Z:24.32 [[ 9.83276693e-01 -1.76626636e-01 -4.43844126e-02 5.82017890e+02] [ 1.76608280e-01 9.84271536e-01 -4.36562046e-03 4.69808956e+01] [ 4.44573988e-02 -3.54604190e-03 9.99004988e-01 2.43214430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.5650998929999 meters 0.03529687666250855 Centerline is valid? [True, True] Translation: X:582.08, Y:46.99, Z:24.32 [[ 9.83262971e-01 -1.76691827e-01 -4.44289005e-02 5.82075652e+02] [ 1.76673301e-01 9.84259828e-01 -4.37446183e-03 4.69925236e+01] [ 4.45025136e-02 -3.54815417e-03 9.99002971e-01 2.43243556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.6250998929999 meters 0.03246898869646806 Centerline is valid? [True, True] Translation: X:582.13, Y:47.00, Z:24.33 [[ 9.83239019e-01 -1.76506319e-01 -4.56787696e-02 5.82133219e+02] [ 1.76485986e-01 9.84292822e-01 -4.50966093e-03 4.70034787e+01] [ 4.57572687e-02 -3.62758808e-03 9.98946001e-01 2.43262717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.6850998929999 meters 0.031660760221695235 Centerline is valid? [True, True] Translation: X:582.19, Y:47.01, Z:24.33 [[ 9.83352186e-01 -1.75320590e-01 -4.77615737e-02 5.82191800e+02] [ 1.75296354e-01 9.84504358e-01 -4.72832775e-03 4.70123454e+01] [ 4.78504507e-02 -3.72281830e-03 9.98847573e-01 2.43268029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.7450998929999 meters 0.030834993661746628 Centerline is valid? [True, True] Translation: X:582.25, Y:47.02, Z:24.33 [[ 9.83479827e-01 -1.74451322e-01 -4.83132021e-02 5.82250424e+02] [ 1.74424935e-01 9.84658803e-01 -4.79423213e-03 4.70208847e+01] [ 4.84083799e-02 -3.71199654e-03 9.98820730e-01 2.43290369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8050998929999 meters 0.03175548343781994 Centerline is valid? [True, True] Translation: X:582.31, Y:47.03, Z:24.33 [[ 9.84065289e-01 -1.71344166e-01 -4.75045685e-02 5.82309352e+02] [ 1.71314777e-01 9.85205040e-01 -4.71976346e-03 4.70286694e+01] [ 4.76104442e-02 -3.49367914e-03 9.98859870e-01 2.43324770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8650998929999 meters 0.032858558505180845 Centerline is valid? [True, True] Translation: X:582.37, Y:47.04, Z:24.34 [[ 9.84925908e-01 -1.66741775e-01 -4.60232112e-02 5.82367992e+02] [ 1.66709130e-01 9.85995510e-01 -4.57378035e-03 4.70361275e+01] [ 4.61413198e-02 -3.16765473e-03 9.98929900e-01 2.43354430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9250998929999 meters 0.030035034850186278 Centerline is valid? [True, True] Translation: X:582.43, Y:47.05, Z:24.34 [[ 9.85671176e-01 -1.62795355e-01 -4.41588542e-02 5.82427533e+02] [ 1.62761315e-01 9.86655709e-01 -4.38936211e-03 4.70476514e+01] [ 4.42841534e-02 -2.86088547e-03 9.99014879e-01 2.43385693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9850998929999 meters 0.032111456459958124 Centerline is valid? [True, True] Translation: X:582.48, Y:47.05, Z:24.34 [[ 9.85781908e-01 -1.62263797e-01 -4.36404739e-02 5.82484947e+02] [ 1.62230018e-01 9.86743433e-01 -4.33814480e-03 4.70516829e+01] [ 4.37658748e-02 -2.80333021e-03 9.99037882e-01 2.43408384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.0450998929999 meters 0.029316804291143493 Centerline is valid? [True, True] Translation: X:582.54, Y:47.06, Z:24.34 [[ 9.85374894e-01 -1.64590835e-01 -4.41154759e-02 5.82543288e+02] [ 1.64558466e-01 9.86357565e-01 -4.38925746e-03 4.70619409e+01] [ 4.42360649e-02 -2.93451092e-03 9.99016796e-01 2.43425646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.1050998929999 meters 0.03511311397034783 Centerline is valid? [True, True] Translation: X:582.60, Y:47.06, Z:24.34 [[ 9.84535784e-01 -1.69461017e-01 -4.44100549e-02 5.82602910e+02] [ 1.69433032e-01 9.85531787e-01 -4.42098300e-03 4.70590861e+01] [ 4.45167051e-02 -3.17191430e-03 9.99003605e-01 2.43437399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.1650998929998 meters 0.036173799736655625 Centerline is valid? [True, True] Translation: X:582.66, Y:47.06, Z:24.35 [[ 9.84112844e-01 -1.71965969e-01 -4.41544503e-02 5.82662862e+02] [ 1.71940742e-01 9.85097481e-01 -4.39707247e-03 4.70630676e+01] [ 4.42525846e-02 -3.26473344e-03 9.99015040e-01 2.43458274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.2250998929999 meters 0.03781149534551966 Centerline is valid? [True, True] Translation: X:582.72, Y:47.07, Z:24.35 [[ 9.83622081e-01 -1.74645591e-01 -4.45703788e-02 5.82723404e+02] [ 1.74622587e-01 9.84625434e-01 -4.43924339e-03 4.70662165e+01] [ 4.46604229e-02 -3.41645703e-03 9.98996384e-01 2.43472894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.2850998929998 meters 0.0407536346461705 Centerline is valid? [True, True] Translation: X:582.78, Y:47.07, Z:24.35 [[ 9.83351787e-01 -1.75930003e-01 -4.54741456e-02 5.82782525e+02] [ 1.75907414e-01 9.84396295e-01 -4.52945256e-03 4.70678663e+01] [ 4.55614470e-02 -3.54519410e-03 9.98955247e-01 2.43485174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.3450998929999 meters 0.041880211673164705 Centerline is valid? [True, True] Translation: X:582.84, Y:47.07, Z:24.35 [[ 9.83114554e-01 -1.77114714e-01 -4.60016396e-02 5.82841166e+02] [ 1.77092739e-01 9.84183488e-01 -4.58523759e-03 4.70716063e+01] [ 4.60861671e-02 -3.63874252e-03 9.98930841e-01 2.43506778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4050998929998 meters 0.03897337996191966 Centerline is valid? [True, True] Translation: X:582.90, Y:47.08, Z:24.35 [[ 9.82939810e-01 -1.78389556e-01 -4.47939406e-02 5.82899840e+02] [ 1.78369580e-01 9.83953387e-01 -4.47486352e-03 4.70807115e+01] [ 4.48734185e-02 -3.59135487e-03 9.98986225e-01 2.43545443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4650998929999 meters 0.03705078986855098 Centerline is valid? [True, True] Translation: X:582.96, Y:47.09, Z:24.36 [[ 9.82617723e-01 -1.79806229e-01 -4.61749929e-02 5.82959114e+02] [ 1.79786481e-01 9.83694834e-01 -4.61453025e-03 4.70881975e+01] [ 4.62518233e-02 -3.76732028e-03 9.98922708e-01 2.43557243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5250998929998 meters 0.04534763011190154 Centerline is valid? [True, True] Translation: X:583.02, Y:47.08, Z:24.36 [[ 9.82258670e-01 -1.81434626e-01 -4.74276377e-02 5.83018636e+02] [ 1.81415585e-01 9.83395089e-01 -4.74172836e-03 4.70829946e+01] [ 4.75004197e-02 -3.94650884e-03 9.98863422e-01 2.43555872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5850998929999 meters 0.03515516426715433 Centerline is valid? [True, True] Translation: X:583.08, Y:47.10, Z:24.36 [[ 9.82040702e-01 -1.82441997e-01 -4.80726196e-02 5.83075405e+02] [ 1.82423445e-01 9.83208294e-01 -4.81015354e-03 4.71016705e+01] [ 4.81429723e-02 -4.04580629e-03 9.98832261e-01 2.43584575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.6450998929998 meters 0.03789496761280145 Centerline is valid? [True, True] Translation: X:583.13, Y:47.10, Z:24.36 [[ 9.82058967e-01 -1.82259186e-01 -4.83918827e-02 5.83133460e+02] [ 1.82239947e-01 9.83242143e-01 -4.84664954e-03 4.71041026e+01] [ 4.84642849e-02 -4.05923853e-03 9.98816668e-01 2.43603145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7050998929999 meters 0.0362739462086698 Centerline is valid? [True, True] Translation: X:583.19, Y:47.11, Z:24.36 [[ 9.82399489e-01 -1.80389325e-01 -4.84864518e-02 5.83193022e+02] [ 1.80367557e-01 9.83587273e-01 -4.86010233e-03 4.71129645e+01] [ 4.85673675e-02 -3.97082079e-03 9.98812016e-01 2.43632150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7650998929998 meters 0.031391203488060855 Centerline is valid? [True, True] Translation: X:583.25, Y:47.13, Z:24.37 [[ 9.82608880e-01 -1.79246540e-01 -4.84816069e-02 5.83251236e+02] [ 1.79223276e-01 9.83796411e-01 -4.86205562e-03 4.71259168e+01] [ 4.85675375e-02 -3.91153336e-03 9.98812242e-01 2.43659251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.8250998929999 meters 0.033633548195572446 Centerline is valid? [True, True] Translation: X:583.31, Y:47.13, Z:24.37 [[ 9.82676153e-01 -1.78746674e-01 -4.89612537e-02 5.83308740e+02] [ 1.78721783e-01 9.83887343e-01 -4.92136064e-03 4.71291260e+01] [ 4.90520347e-02 -3.91433883e-03 9.98788554e-01 2.43679540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.8850998929998 meters 0.036986086144026147 Centerline is valid? [True, True] Translation: X:583.37, Y:47.13, Z:24.37 [[ 9.82456382e-01 -1.79864960e-01 -4.92752831e-02 5.83367659e+02] [ 1.79840930e-01 9.83683214e-01 -4.95730005e-03 4.71301093e+01] [ 4.93629134e-02 -3.99138165e-03 9.98772933e-01 2.43698175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.9450998929999 meters 0.03645651862856174 Centerline is valid? [True, True] Translation: X:583.43, Y:47.14, Z:24.37 [[ 9.82248060e-01 -1.80922139e-01 -4.95573249e-02 5.83426444e+02] [ 1.80899034e-01 9.83489021e-01 -4.98841987e-03 4.71364953e+01] [ 4.96416006e-02 -4.06500646e-03 9.98758823e-01 2.43726803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.0050998929999 meters 0.03892741752769485 Centerline is valid? [True, True] Translation: X:583.49, Y:47.14, Z:24.38 [[ 9.81572093e-01 -1.84640118e-01 -4.92367015e-02 5.83487286e+02] [ 1.84621834e-01 9.82797127e-01 -4.95843506e-03 4.71382178e+01] [ 4.93052148e-02 -4.22310867e-03 9.98774830e-01 2.43758499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.0650998929999 meters 0.03949160630127868 Centerline is valid? [True, True] Translation: X:583.55, Y:47.14, Z:24.38 [[ 9.81008353e-01 -1.87582596e-01 -4.93495879e-02 5.83547829e+02] [ 1.87567916e-01 9.82239063e-01 -4.96987126e-03 4.71414796e+01] [ 4.94053544e-02 -4.38091414e-03 9.98769202e-01 2.43783063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.1250998929999 meters 0.035564404167307204 Centerline is valid? [True, True] Translation: X:583.61, Y:47.15, Z:24.38 [[ 9.80889480e-01 -1.88062272e-01 -4.98839624e-02 5.83605758e+02] [ 1.88047766e-01 9.82147023e-01 -5.02616396e-03 4.71513955e+01] [ 4.99386170e-02 -4.45045635e-03 9.98742373e-01 2.43813052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.1850998929999 meters 0.04046317208334572 Centerline is valid? [True, True] Translation: X:583.67, Y:47.15, Z:24.38 [[ 9.81587384e-01 -1.84396060e-01 -4.98427555e-02 5.83665931e+02] [ 1.84376329e-01 9.82842834e-01 -5.03318684e-03 4.71513062e+01] [ 4.99156949e-02 -4.24931158e-03 9.98744395e-01 2.43829661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.2450998929999 meters 0.03520575143396646 Centerline is valid? [True, True] Translation: X:583.72, Y:47.16, Z:24.39 [[ 9.82928136e-01 -1.76896463e-01 -5.05956553e-02 5.83724924e+02] [ 1.76866251e-01 9.84221633e-01 -5.10936593e-03 4.71645682e+01] [ 5.07011673e-02 -3.92652434e-03 9.98706150e-01 2.43858418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3050998929999 meters 0.030372895878627983 Centerline is valid? [True, True] Translation: X:583.78, Y:47.18, Z:24.39 [[ 9.83880297e-01 -1.71269478e-01 -5.14424594e-02 5.83783565e+02] [ 1.71230579e-01 9.85217285e-01 -5.19524725e-03 4.71771313e+01] [ 5.15717875e-02 -3.69702072e-03 9.98662447e-01 2.43882276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3650998929999 meters 0.02563299809550465 Centerline is valid? [True, True] Translation: X:583.84, Y:47.19, Z:24.39 [[ 9.85551695e-01 -1.61446639e-01 -5.12136583e-02 5.83843312e+02] [ 1.61394808e-01 9.86876361e-01 -5.17331899e-03 4.71895292e+01] [ 5.13767637e-02 -3.16704527e-03 9.98674320e-01 2.43916443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4250998929999 meters 0.027747252765173862 Centerline is valid? [True, True] Translation: X:583.90, Y:47.19, Z:24.39 [[ 9.86760003e-01 -1.54041566e-01 -5.07532539e-02 5.83901872e+02] [ 1.53980901e-01 9.88060524e-01 -5.12668426e-03 4.71927215e+01] [ 5.09370092e-02 -2.75622482e-03 9.98698065e-01 2.43933709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4850998929999 meters 0.01934922930002595 Centerline is valid? [True, True] Translation: X:583.96, Y:47.21, Z:24.40 [[ 9.88581489e-01 -1.41865236e-01 -5.08025101e-02 5.83960904e+02] [ 1.41788286e-01 9.89883693e-01 -5.13377838e-03 4.72091110e+01] [ 5.10168810e-02 -2.12804256e-03 9.98695524e-01 2.43968799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.5450998929999 meters 0.015981959992473135 Centerline is valid? [True, True] Translation: X:584.02, Y:47.22, Z:24.40 [[ 9.90046497e-01 -1.30487662e-01 -5.27342727e-02 5.84019415e+02] [ 1.30388592e-01 9.91448643e-01 -5.32948851e-03 4.72178680e+01] [ 5.29787556e-02 -1.59950615e-03 9.98594359e-01 2.43972668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.6050998929999 meters 0.013038968300201542 Centerline is valid? [True, True] Translation: X:584.08, Y:47.23, Z:24.40 [[ 9.90964790e-01 -1.23280715e-01 -5.28265978e-02 5.84078512e+02] [ 1.23170976e-01 9.92371095e-01 -5.34045273e-03 4.72261235e+01] [ 5.30819635e-02 -1.21450298e-03 9.98589420e-01 2.44003601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.6650998929998 meters 0.010650606810442628 Centerline is valid? [True, True] Translation: X:584.14, Y:47.23, Z:24.40 [[ 9.92118304e-01 -1.13867122e-01 -5.23024759e-02 5.84138224e+02] [ 1.13746379e-01 9.93495740e-01 -5.28915889e-03 4.72316349e+01] [ 5.25645483e-02 -7.01745892e-04 9.98617282e-01 2.44032737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.7250998929999 meters 0.009789931645764817 Centerline is valid? [True, True] Translation: X:584.20, Y:47.24, Z:24.41 [[ 9.92719631e-01 -1.08659619e-01 -5.19694354e-02 5.84197155e+02] [ 1.08533103e-01 9.94078926e-01 -5.25878073e-03 4.72355696e+01] [ 5.22331377e-02 -4.19909206e-04 9.98634830e-01 2.44058806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.7850998929998 meters 0.009199185323010183 Centerline is valid? [True, True] Translation: X:584.26, Y:47.24, Z:24.41 [[ 9.93365215e-01 -1.03035635e-01 -5.10804054e-02 5.84255855e+02] [ 1.02905325e-01 9.94677659e-01 -5.18150110e-03 4.72356426e+01] [ 5.13424174e-02 -1.09322795e-04 9.98681102e-01 2.44092436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.8450998929999 meters 0.009222768469225453 Centerline is valid? [True, True] Translation: X:584.31, Y:47.23, Z:24.41 [[ 9.93473368e-01 -1.02256471e-01 -5.05398951e-02 5.84313356e+02] [ 1.02127269e-01 9.94758067e-01 -5.13906168e-03 4.72300086e+01] [ 5.08004706e-02 -5.59805601e-05 9.98708821e-01 2.44107407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9050998929998 meters 0.009239266281180889 Centerline is valid? [True, True] Translation: X:584.37, Y:47.22, Z:24.41 [[ 9.93107185e-01 -1.05681372e-01 -5.06908898e-02 5.84372708e+02] [ 1.05555308e-01 9.94400019e-01 -5.16510000e-03 4.72247998e+01] [ 5.09528767e-02 -2.21194578e-04 9.98701034e-01 2.44129749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9650998929999 meters 0.010736147167523415 Centerline is valid? [True, True] Translation: X:584.43, Y:47.21, Z:24.41 [[ 9.92131885e-01 -1.14585184e-01 -5.04436076e-02 5.84432048e+02] [ 1.14471246e-01 9.93413205e-01 -5.15151383e-03 4.72087116e+01] [ 5.07016331e-02 -6.63361513e-04 9.98713625e-01 2.44142578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0250998929998 meters 0.01502260402291078 Centerline is valid? [True, True] Translation: X:584.49, Y:47.19, Z:24.42 [[ 9.90630867e-01 -1.26782644e-01 -5.07606795e-02 5.84493807e+02] [ 1.26682995e-01 9.91929683e-01 -5.18871829e-03 4.71873810e+01] [ 5.10088642e-02 -1.29041042e-03 9.98697367e-01 2.44157021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0850998929999 meters 0.015937022684182463 Centerline is valid? [True, True] Translation: X:584.56, Y:47.18, Z:24.42 [[ 9.89483197e-01 -1.35411860e-01 -5.08589375e-02 5.84555635e+02] [ 1.35323131e-01 9.90787874e-01 -5.19997093e-03 4.71794342e+01] [ 5.10945562e-02 -1.73710679e-03 9.98692309e-01 2.44190780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.1450998929998 meters 0.020968041511196474 Centerline is valid? [True, True] Translation: X:584.62, Y:47.16, Z:24.42 [[ 9.87853358e-01 -1.46737298e-01 -5.11263990e-02 5.84617543e+02] [ 1.46662754e-01 9.89172742e-01 -5.22706029e-03 4.71604097e+01] [ 5.13398450e-02 -2.33476945e-03 9.98678511e-01 2.44208126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2050998929999 meters 0.02119592639278758 Centerline is valid? [True, True] Translation: X:584.68, Y:47.15, Z:24.42 [[ 9.86971005e-01 -1.52743152e-01 -5.05743505e-02 5.84678925e+02] [ 1.52678025e-01 9.88262454e-01 -5.17137149e-03 4.71545144e+01] [ 5.07706234e-02 -2.61759824e-03 9.98706910e-01 2.44240718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2650998929998 meters 0.024947710576600186 Centerline is valid? [True, True] Translation: X:584.74, Y:47.13, Z:24.43 [[ 9.85855646e-01 -1.60065414e-01 -4.96760353e-02 5.84741212e+02] [ 1.60011805e-01 9.87102029e-01 -5.07999498e-03 4.71349975e+01] [ 4.98484467e-02 -2.94061033e-03 9.98752464e-01 2.44270103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.3250998929999 meters 0.02760502787976925 Centerline is valid? [True, True] Translation: X:584.80, Y:47.13, Z:24.43 [[ 9.85572090e-01 -1.61682315e-01 -5.00648045e-02 5.84800324e+02] [ 1.61629874e-01 9.86838162e-01 -5.12108859e-03 4.71280418e+01] [ 5.02338491e-02 -3.04476606e-03 9.98732842e-01 2.44288571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.3850998929998 meters 0.025890526957601745 Centerline is valid? [True, True] Translation: X:584.86, Y:47.12, Z:24.43 [[ 9.85654712e-01 -1.61336858e-01 -4.95500534e-02 5.84859958e+02] [ 1.61284802e-01 9.86894864e-01 -5.07347958e-03 4.71227260e+01] [ 4.97192324e-02 -2.99097151e-03 9.98758756e-01 2.44319152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.4450998929999 meters 0.03177352439228619 Centerline is valid? [True, True] Translation: X:584.92, Y:47.11, Z:24.43 [[ 9.86004999e-01 -1.59209268e-01 -4.94626171e-02 5.84920110e+02] [ 1.59154171e-01 9.87240693e-01 -5.07576138e-03 4.71131408e+01] [ 4.96396167e-02 -2.86745571e-03 9.98763078e-01 2.44333651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.5050998929999 meters 0.02327405265418614 Centerline is valid? [True, True] Translation: X:584.98, Y:47.12, Z:24.44 [[ 9.86584490e-01 -1.55485695e-01 -4.97518045e-02 5.84979961e+02] [ 1.55425102e-01 9.87834473e-01 -5.10803965e-03 4.71176467e+01] [ 4.99407747e-02 -2.69316660e-03 9.98748550e-01 2.44370460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.5650998929999 meters 0.02179985250938818 Centerline is valid? [True, True] Translation: X:585.04, Y:47.11, Z:24.44 [[ 9.87308211e-01 -1.51050334e-01 -4.90539876e-02 5.85041335e+02] [ 1.50985883e-01 9.88523080e-01 -5.03809399e-03 4.71125497e+01] [ 4.92520047e-02 -2.43230808e-03 9.98783422e-01 2.44402231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.6250998929999 meters 0.02168039100368416 Centerline is valid? [True, True] Translation: X:585.10, Y:47.11, Z:24.44 [[ 9.87739330e-01 -1.48303443e-01 -4.87555553e-02 5.85101634e+02] [ 1.48236396e-01 9.88939274e-01 -5.00825987e-03 4.71106474e+01] [ 4.89590257e-02 -2.28049255e-03 9.98798184e-01 2.44434144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.6850998929999 meters 0.021310743753412898 Centerline is valid? [True, True] Translation: X:585.16, Y:47.10, Z:24.44 [[ 9.88127650e-01 -1.44998111e-01 -5.07867536e-02 5.85162823e+02] [ 1.44920904e-01 9.89429479e-01 -5.21895314e-03 4.71042824e+01] [ 5.10066495e-02 -2.20307031e-03 9.98695884e-01 2.44437261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.7450998929999 meters 0.020317700546400887 Centerline is valid? [True, True] Translation: X:585.22, Y:47.10, Z:24.45 [[ 9.88291347e-01 -1.44407696e-01 -4.92608472e-02 5.85222373e+02] [ 1.44334129e-01 9.89516040e-01 -5.06611247e-03 4.71020811e+01] [ 4.94759841e-02 -2.10322635e-03 9.98773099e-01 2.44481080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8050998929999 meters 0.0195517572809787 Centerline is valid? [True, True] Translation: X:585.28, Y:47.09, Z:24.45 [[ 9.88245764e-01 -1.45440632e-01 -4.70885611e-02 5.85282371e+02] [ 1.45374029e-01 9.89364861e-01 -4.85429843e-03 4.70948468e+01] [ 4.72937799e-02 -2.04821400e-03 9.98878923e-01 2.44521549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8650998929999 meters 0.02027307961803122 Centerline is valid? [True, True] Translation: X:585.34, Y:47.09, Z:24.45 [[ 9.88202720e-01 -1.45640586e-01 -4.73730223e-02 5.85340821e+02] [ 1.45572805e-01 9.89335426e-01 -4.89623319e-03 4.70949816e+01] [ 4.75808994e-02 -2.05775276e-03 9.98865268e-01 2.44543672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9250998929999 meters 0.019158218821864314 Centerline is valid? [True, True] Translation: X:585.40, Y:47.09, Z:24.46 [[ 9.88363702e-01 -1.44525329e-01 -4.74301812e-02 5.85401205e+02] [ 1.44455450e-01 9.89499094e-01 -4.91583356e-03 4.70875148e+01] [ 4.76425838e-02 -1.99291670e-03 9.98862459e-01 2.44566060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9850998929999 meters 0.018206728618358117 Centerline is valid? [True, True] Translation: X:585.46, Y:47.08, Z:24.46 [[ 9.88686931e-01 -1.42477417e-01 -4.68864409e-02 5.85460606e+02] [ 1.42406348e-01 9.89796301e-01 -4.86975977e-03 4.70849861e+01] [ 4.71018566e-02 -1.86225896e-03 9.98888356e-01 2.44601058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.0450998929999 meters 0.018070083873029552 Centerline is valid? [True, True] Translation: X:585.52, Y:47.07, Z:24.46 [[ 9.89362582e-01 -1.37762046e-01 -4.67257957e-02 5.85520365e+02] [ 1.37686054e-01 9.90464015e-01 -4.85640058e-03 4.70746758e+01] [ 4.69492469e-02 -1.62874941e-03 9.98895948e-01 2.44640374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.1050998929999 meters 0.018298715141367144 Centerline is valid? [True, True] Translation: X:585.58, Y:47.07, Z:24.47 [[ 9.89545919e-01 -1.36438140e-01 -4.67280336e-02 5.85579988e+02] [ 1.36360503e-01 9.90647360e-01 -4.86012050e-03 4.70697213e+01] [ 4.69541090e-02 -1.56254578e-03 9.98895825e-01 2.44668162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.1650998929998 meters 0.018433488833633212 Centerline is valid? [True, True] Translation: X:585.64, Y:47.06, Z:24.47 [[ 9.89514279e-01 -1.36847286e-01 -4.61986074e-02 5.85639781e+02] [ 1.36771311e-01 9.90590940e-01 -4.81653208e-03 4.70561389e+01] [ 4.64230513e-02 -1.55261682e-03 9.98920662e-01 2.44702331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.2250998929999 meters 0.019894760444881514 Centerline is valid? [True, True] Translation: X:585.70, Y:47.04, Z:24.47 [[ 9.88516501e-01 -1.43545317e-01 -4.72214984e-02 5.85701582e+02] [ 1.43472983e-01 9.89641928e-01 -4.93532615e-03 4.70394998e+01] [ 4.74408177e-02 -1.89635789e-03 9.98872250e-01 2.44727733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.2850998929998 meters 0.021837027277367655 Centerline is valid? [True, True] Translation: X:585.76, Y:47.03, Z:24.48 [[ 9.87628461e-01 -1.49346788e-01 -4.78075343e-02 5.85763589e+02] [ 1.49279390e-01 9.88782429e-01 -4.99722415e-03 4.70282437e+01] [ 4.80175692e-02 -2.20127878e-03 9.98844066e-01 2.44756322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.3450998929999 meters 0.02434534355162395 Centerline is valid? [True, True] Translation: X:585.83, Y:47.01, Z:24.48 [[ 9.86506757e-01 -1.56897574e-01 -4.67714598e-02 5.85825634e+02] [ 1.56841485e-01 9.87611685e-01 -4.88958123e-03 4.70093843e+01] [ 4.69592036e-02 -2.51210026e-03 9.98893649e-01 2.44792686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4050998929998 meters 0.029404371434560903 Centerline is valid? [True, True] Translation: X:585.89, Y:46.99, Z:24.48 [[ 9.85233006e-01 -1.64731011e-01 -4.66863873e-02 5.85887517e+02] [ 1.64683835e-01 9.86334327e-01 -4.88153025e-03 4.69878645e+01] [ 4.68525258e-02 -2.87904856e-03 9.98897668e-01 2.44815163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4650998929999 meters 0.02773225565827682 Centerline is valid? [True, True] Translation: X:585.95, Y:46.98, Z:24.48 [[ 9.84306160e-01 -1.69880628e-01 -4.77698225e-02 5.85948516e+02] [ 1.69837238e-01 9.85459465e-01 -4.99547594e-03 4.69825467e+01] [ 4.79238583e-02 -3.19601698e-03 9.98845879e-01 2.44837556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5250998929998 meters 0.033518800283215855 Centerline is valid? [True, True] Translation: X:586.01, Y:46.96, Z:24.48 [[ 9.82880974e-01 -1.77664906e-01 -4.87870018e-02 5.86010576e+02] [ 1.77629114e-01 9.84084273e-01 -5.10307552e-03 4.69622433e+01] [ 4.89171587e-02 -3.65027606e-03 9.98796169e-01 2.44845341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5850998929999 meters 0.034774925917032525 Centerline is valid? [True, True] Translation: X:586.07, Y:46.95, Z:24.49 [[ 9.80856459e-01 -1.88299362e-01 -4.96382637e-02 5.86072220e+02] [ 1.88275741e-01 9.82102476e-01 -5.19344354e-03 4.69498321e+01] [ 4.97277838e-02 -4.25165822e-03 9.98753759e-01 2.44868818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.6450998929998 meters 0.03860208618388984 Centerline is valid? [True, True] Translation: X:586.13, Y:46.93, Z:24.49 [[ 9.78755834e-01 -1.99078714e-01 -4.90375728e-02 5.86134598e+02] [ 1.99068976e-01 9.79972044e-01 -5.13185178e-03 4.69341159e+01] [ 4.90770929e-02 -4.73902952e-03 9.98783751e-01 2.44902609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7050998929999 meters 0.03804092962887294 Centerline is valid? [True, True] Translation: X:586.19, Y:46.93, Z:24.49 [[ 9.77085439e-01 -2.07035477e-01 -4.93999571e-02 5.86194848e+02] [ 2.07035578e-01 9.78319748e-01 -5.17098821e-03 4.69321974e+01] [ 4.93995316e-02 -5.17505140e-03 9.98765691e-01 2.44926832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7650998929998 meters 0.043845933126016784 Centerline is valid? [True, True] Translation: X:586.25, Y:46.92, Z:24.49 [[ 9.75570020e-01 -2.13925483e-01 -4.99902360e-02 5.86254671e+02] [ 2.13934426e-01 9.76833999e-01 -5.23448436e-03 4.69240054e+01] [ 4.99519517e-02 -5.58802643e-03 9.98735989e-01 2.44941061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.8250998929999 meters 0.0464941313505293 Centerline is valid? [True, True] Translation: X:586.32, Y:46.92, Z:24.50 [[ 9.73677777e-01 -2.22414627e-01 -4.98329189e-02 5.86315646e+02] [ 2.22434358e-01 9.74933695e-01 -5.21990450e-03 4.69174935e+01] [ 4.97447749e-02 -6.00204829e-03 9.98743928e-01 2.44964325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.8850998929998 meters 0.04898198012366411 Centerline is valid? [True, True] Translation: X:586.38, Y:46.92, Z:24.50 [[ 9.72848298e-01 -2.25975394e-01 -5.00131078e-02 5.86375871e+02] [ 2.25999806e-01 9.74113250e-01 -5.24059768e-03 4.69155956e+01] [ 4.99026771e-02 -6.20464614e-03 9.98734812e-01 2.44984662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.9450998929999 meters 0.04839604075514316 Centerline is valid? [True, True] Translation: X:586.44, Y:46.92, Z:24.50 [[ 9.71740704e-01 -2.30615635e-01 -5.03630112e-02 5.86435959e+02] [ 2.30646424e-01 9.73023308e-01 -5.27906307e-03 4.69173636e+01] [ 5.02218183e-02 -6.48616797e-03 9.98717026e-01 2.45009218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.0050998929999 meters 0.04749190620644009 Centerline is valid? [True, True] Translation: X:586.49, Y:46.92, Z:24.50 [[ 9.71491991e-01 -2.31620814e-01 -5.05481033e-02 5.86494888e+02] [ 2.31653102e-01 9.72784022e-01 -5.29977019e-03 4.69225373e+01] [ 5.03999243e-02 -6.56094066e-03 9.98707566e-01 2.45037807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.0650998929999 meters 0.04237875880412731 Centerline is valid? [True, True] Translation: X:586.55, Y:46.93, Z:24.51 [[ 9.72051671e-01 -2.29447613e-01 -4.96924762e-02 5.86554393e+02] [ 2.29475902e-01 9.73300386e-01 -5.21239853e-03 4.69316878e+01] [ 4.95616787e-02 -6.33650508e-03 9.98750964e-01 2.45070105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.1250998929999 meters 0.04894474892802326 Centerline is valid? [True, True] Translation: X:586.61, Y:46.93, Z:24.51 [[ 9.73487308e-01 -2.23307394e-01 -4.95607537e-02 5.86614511e+02] [ 2.23327619e-01 9.74729570e-01 -5.20003566e-03 4.69272436e+01] [ 4.94695386e-02 -6.00611641e-03 9.98757574e-01 2.45078627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.1850998929999 meters 0.04139460490638783 Centerline is valid? [True, True] Translation: X:586.67, Y:46.94, Z:24.51 [[ 9.74711079e-01 -2.17920469e-01 -4.94871846e-02 5.86673630e+02] [ 2.17933692e-01 9.75949756e-01 -5.19416109e-03 4.69419124e+01] [ 4.94289197e-02 -5.72211847e-03 9.98761252e-01 2.45100180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.2450998929999 meters 0.04273706715220659 Centerline is valid? [True, True] Translation: X:586.73, Y:46.94, Z:24.51 [[ 9.76832851e-01 -2.08281413e-01 -4.91572456e-02 5.86732749e+02] [ 2.08282339e-01 9.78055130e-01 -5.16046573e-03 4.69426866e+01] [ 4.91533253e-02 -5.19767361e-03 9.98777720e-01 2.45124369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3050998929999 meters 0.036944319456364436 Centerline is valid? [True, True] Translation: X:586.79, Y:46.95, Z:24.52 [[ 9.78356836e-01 -2.01351981e-01 -4.76999045e-02 5.86792356e+02] [ 2.01344591e-01 9.79507663e-01 -5.00948930e-03 4.69535429e+01] [ 4.77310926e-02 -4.70304964e-03 9.98849150e-01 2.45154908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3650998929999 meters 0.036484016363762785 Centerline is valid? [True, True] Translation: X:586.85, Y:46.96, Z:24.52 [[ 9.79588436e-01 -1.95543229e-01 -4.65761880e-02 5.86852562e+02] [ 1.95529584e-01 9.80685596e-01 -4.89323660e-03 4.69580586e+01] [ 4.66334360e-02 -4.31366469e-03 9.98902755e-01 2.45178146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4250998929999 meters 0.033479257742156175 Centerline is valid? [True, True] Translation: X:586.91, Y:46.96, Z:24.52 [[ 9.80501136e-01 -1.91062069e-01 -4.59652910e-02 5.86912931e+02] [ 1.91043791e-01 9.81569625e-01 -4.83124979e-03 4.69619256e+01] [ 4.60412020e-02 -4.04433754e-03 9.98931355e-01 2.45192094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4850998929999 meters 0.03859587991164863 Centerline is valid? [True, True] Translation: X:586.97, Y:46.95, Z:24.52 [[ 9.80364962e-01 -1.91606780e-01 -4.65980917e-02 5.86972054e+02] [ 1.91588512e-01 9.81463109e-01 -4.89982420e-03 4.69543285e+01] [ 4.66731475e-02 -4.12404307e-03 9.98901702e-01 2.45207388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.5450998929999 meters 0.0392214169285392 Centerline is valid? [True, True] Translation: X:587.03, Y:46.95, Z:24.52 [[ 9.79877588e-01 -1.93939054e-01 -4.71969881e-02 5.87033086e+02] [ 1.93922817e-01 9.81004217e-01 -4.96657818e-03 4.69486379e+01] [ 4.72636578e-02 -4.28593425e-03 9.98873254e-01 2.45225045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.6050998929999 meters 0.035477500672072476 Centerline is valid? [True, True] Translation: X:587.09, Y:46.95, Z:24.52 [[ 9.79649803e-01 -1.94895636e-01 -4.79786939e-02 5.87092858e+02] [ 1.94879943e-01 9.80814104e-01 -5.04997211e-03 4.69514065e+01] [ 4.80423972e-02 -4.40288093e-03 9.98835593e-01 2.45248322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.6650998929998 meters 0.03477084915939452 Centerline is valid? [True, True] Translation: X:587.15, Y:46.95, Z:24.53 [[ 9.80066111e-01 -1.93099785e-01 -4.67214262e-02 5.87153271e+02] [ 1.93082804e-01 9.81170135e-01 -4.91914238e-03 4.69499555e+01] [ 4.67915533e-02 -4.20001921e-03 9.98895846e-01 2.45284520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.7250998929999 meters 0.031299845849952955 Centerline is valid? [True, True] Translation: X:587.21, Y:46.96, Z:24.53 [[ 9.81418066e-01 -1.86385175e-01 -4.55976564e-02 5.87212334e+02] [ 1.86361760e-01 9.82469459e-01 -4.80164082e-03 4.69584477e+01] [ 4.56932595e-02 -3.78524246e-03 9.98948346e-01 2.45319925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.7850998929998 meters 0.03060574741866384 Centerline is valid? [True, True] Translation: X:587.27, Y:46.96, Z:24.54 [[ 9.82794103e-01 -1.79009076e-01 -4.55137540e-02 5.87272249e+02] [ 1.78977827e-01 9.83841428e-01 -4.79398786e-03 4.69641381e+01] [ 4.56364841e-02 -3.43444978e-03 9.98952209e-01 2.45355737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.8450998929999 meters 0.02934453501379412 Centerline is valid? [True, True] Translation: X:587.33, Y:46.97, Z:24.54 [[ 9.83860936e-01 -1.73111966e-01 -4.52758945e-02 5.87331370e+02] [ 1.73074803e-01 9.84897134e-01 -4.76944813e-03 4.69710831e+01] [ 4.54177473e-02 -3.14364284e-03 9.98963135e-01 2.45383791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9050998929998 meters 0.028942922921686813 Centerline is valid? [True, True] Translation: X:587.39, Y:46.98, Z:24.54 [[ 9.83920388e-01 -1.72840608e-01 -4.50199281e-02 5.87389506e+02] [ 1.72803486e-01 9.84944894e-01 -4.74460667e-03 4.69794773e+01] [ 4.51622090e-02 -3.11128528e-03 9.98974822e-01 2.45392912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9650998929999 meters 0.02984425902151805 Centerline is valid? [True, True] Translation: X:587.45, Y:46.99, Z:24.54 [[ 9.82050666e-01 -1.83558351e-01 -4.33914891e-02 5.87449509e+02] [ 1.83533809e-01 9.83002715e-01 -4.58287579e-03 4.69857523e+01] [ 4.34951767e-02 -3.46318904e-03 9.99047634e-01 2.45420451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0250998929998 meters 0.031161470648428665 Centerline is valid? [True, True] Translation: X:587.51, Y:46.99, Z:24.55 [[ 9.80727302e-01 -1.90931118e-01 -4.14640446e-02 5.87508919e+02] [ 1.90915181e-01 9.81596763e-01 -4.38059020e-03 4.69900150e+01] [ 4.15373630e-02 -3.61995116e-03 9.99130394e-01 2.45456036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0850998929999 meters 0.03421826654529457 Centerline is valid? [True, True] Translation: X:587.57, Y:46.99, Z:24.55 [[ 9.79180626e-01 -1.98258924e-01 -4.35740739e-02 5.87569094e+02] [ 1.98248434e-01 9.80140985e-01 -4.60530322e-03 4.69927546e+01] [ 4.36217782e-02 -4.12906822e-03 9.99039584e-01 2.45473688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.1450998929998 meters 0.0328459415632722 Centerline is valid? [True, True] Translation: X:587.63, Y:47.01, Z:24.55 [[ 9.78931237e-01 -1.98973338e-01 -4.58611356e-02 5.87627285e+02] [ 1.98962392e-01 9.79995127e-01 -4.84945137e-03 4.70050268e+01] [ 4.59086009e-02 -4.37736181e-03 9.98936054e-01 2.45469497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2050998929999 meters 0.0366562638294873 Centerline is valid? [True, True] Translation: X:587.69, Y:47.01, Z:24.55 [[ 9.78711859e-01 -1.99211748e-01 -4.93738460e-02 5.87685114e+02] [ 1.99198773e-01 9.79945133e-01 -5.23317284e-03 4.70077764e+01] [ 4.94261696e-02 -4.71344122e-03 9.98766658e-01 2.45463629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2650998929998 meters 0.03586839711950942 Centerline is valid? [True, True] Translation: X:587.74, Y:47.02, Z:24.55 [[ 9.78664168e-01 -1.99226572e-01 -5.02515665e-02 5.87743219e+02] [ 1.99212769e-01 9.79941744e-01 -5.33387481e-03 4.70152939e+01] [ 5.03062574e-02 -4.79068159e-03 9.98722349e-01 2.45490582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.3250998929999 meters 0.0331638507392202 Centerline is valid? [True, True] Translation: X:587.80, Y:47.02, Z:24.55 [[ 9.78496209e-01 -2.00252299e-01 -4.94387021e-02 5.87801165e+02] [ 2.00239636e-01 9.79732833e-01 -5.25958318e-03 4.70230949e+01] [ 4.94899633e-02 -4.75310552e-03 9.98763311e-01 2.45537293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.3850998929998 meters 0.03686977751575148 Centerline is valid? [True, True] Translation: X:587.86, Y:47.02, Z:24.56 [[ 9.79233465e-01 -1.97353675e-01 -4.64041811e-02 5.87859964e+02] [ 1.97338813e-01 9.80322866e-01 -4.94676015e-03 4.70233816e+01] [ 4.64673411e-02 -4.31331294e-03 9.98910497e-01 2.45579040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.4450998929999 meters 0.029526445190095507 Centerline is valid? [True, True] Translation: X:587.92, Y:47.04, Z:24.56 [[ 9.80079119e-01 -1.93074816e-01 -4.65514340e-02 5.87918682e+02] [ 1.93054984e-01 9.81175381e-01 -4.96436835e-03 4.70380600e+01] [ 4.66336155e-02 -4.12151256e-03 9.98903558e-01 2.45607407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.5050998929999 meters 0.02884148146803919 Centerline is valid? [True, True] Translation: X:587.98, Y:47.05, Z:24.56 [[ 9.81971160e-01 -1.82864338e-01 -4.78881498e-02 5.87978569e+02] [ 1.82831244e-01 9.83131043e-01 -5.10769703e-03 4.70451703e+01] [ 4.80143423e-02 -3.73983884e-03 9.98839645e-01 2.45611045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.5650998929999 meters 0.02610202630125059 Centerline is valid? [True, True] Translation: X:588.04, Y:47.06, Z:24.56 [[ 9.83343557e-01 -1.75133542e-01 -4.86178138e-02 5.88037864e+02] [ 1.75089968e-01 9.84538775e-01 -5.18680728e-03 4.70553115e+01] [ 4.87745068e-02 -3.41207794e-03 9.98803987e-01 2.45631531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.6250998929999 meters 0.0241582568771553 Centerline is valid? [True, True] Translation: X:588.10, Y:47.06, Z:24.57 [[ 9.85072263e-01 -1.65237383e-01 -4.82622472e-02 5.88097568e+02] [ 1.65182541e-01 9.86249565e-01 -5.15016084e-03 4.70632140e+01] [ 4.84496194e-02 -2.89880002e-03 9.98821421e-01 2.45658045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.6850998929999 meters 0.022186219024195483 Centerline is valid? [True, True] Translation: X:588.16, Y:47.07, Z:24.57 [[ 9.86387415e-01 -1.56913966e-01 -4.91718917e-02 5.88157154e+02] [ 1.56846620e-01 9.87609023e-01 -5.24926484e-03 4.70722068e+01] [ 4.93862869e-02 -2.53463625e-03 9.98776537e-01 2.45683055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.7450998929999 meters 0.020399548646225518 Centerline is valid? [True, True] Translation: X:588.22, Y:47.08, Z:24.57 [[ 9.87074990e-01 -1.52546905e-01 -4.91162516e-02 5.88216665e+02] [ 1.52474240e-01 9.88293528e-01 -5.24490973e-03 4.70804292e+01] [ 4.93413684e-02 -2.31184392e-03 9.98779297e-01 2.45710808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8050998929999 meters 0.020381378321766005 Centerline is valid? [True, True] Translation: X:588.28, Y:47.09, Z:24.57 [[ 9.87633145e-01 -1.49121978e-01 -4.84087536e-02 5.88275697e+02] [ 1.49047237e-01 9.88816560e-01 -5.17033466e-03 4.70863423e+01] [ 4.86383877e-02 -2.10879709e-03 9.98814227e-01 2.45740811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8650998929999 meters 0.01836353604882228 Centerline is valid? [True, True] Translation: X:588.33, Y:47.09, Z:24.58 [[ 9.88093916e-01 -1.46115564e-01 -4.81731701e-02 5.88334788e+02] [ 1.46037900e-01 9.89265607e-01 -5.14687948e-03 4.70935605e+01] [ 4.84080996e-02 -1.94950830e-03 9.98825738e-01 2.45779736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9250998929999 meters 0.017632290413605728 Centerline is valid? [True, True] Translation: X:588.39, Y:47.10, Z:24.58 [[ 9.88653173e-01 -1.42441852e-01 -4.76992924e-02 5.88394603e+02] [ 1.42361362e-01 9.89801624e-01 -5.09785648e-03 4.71000031e+01] [ 4.79389852e-02 -1.75052423e-03 9.98848732e-01 2.45813090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9850998929999 meters 0.016008270468547213 Centerline is valid? [True, True] Translation: X:588.45, Y:47.11, Z:24.58 [[ 9.89738897e-01 -1.33910132e-01 -4.98497029e-02 5.88454126e+02] [ 1.33811355e-01 9.90992496e-01 -5.32869347e-03 4.71089031e+01] [ 5.01142476e-02 -1.39644108e-03 9.98742515e-01 2.45823440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.0450998929999 meters 0.015306381644693777 Centerline is valid? [True, True] Translation: X:588.51, Y:47.12, Z:24.58 [[ 9.90320890e-01 -1.28710950e-01 -5.19425228e-02 5.88511376e+02] [ 1.28596446e-01 9.91681452e-01 -5.55450160e-03 4.71178230e+01] [ 5.22253616e-02 -1.17888485e-03 9.98634629e-01 2.45820694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.1050998929999 meters 0.013451549494511519 Centerline is valid? [True, True] Translation: X:588.57, Y:47.13, Z:24.58 [[ 9.91172756e-01 -1.21769413e-01 -5.24287851e-02 5.88570451e+02] [ 1.21642831e-01 9.92558081e-01 -5.61055623e-03 4.71274830e+01] [ 5.27218084e-02 -8.16555379e-04 9.98608904e-01 2.45843089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.1650998929998 meters 0.012355819893740528 Centerline is valid? [True, True] Translation: X:588.63, Y:47.13, Z:24.59 [[ 9.91917580e-01 -1.16253586e-01 -5.08391458e-02 5.88628785e+02] [ 1.16127216e-01 9.93219436e-01 -5.44254930e-03 4.71348264e+01] [ 5.11271436e-02 -5.05248125e-04 9.98692025e-01 2.45885382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.2250998929999 meters 0.011993965181541357 Centerline is valid? [True, True] Translation: X:588.69, Y:47.14, Z:24.59 [[ 9.92285149e-01 -1.12920867e-01 -5.11767551e-02 5.88687397e+02] [ 1.12788100e-01 9.93603929e-01 -5.48415404e-03 4.71417292e+01] [ 5.14687004e-02 -3.30284349e-04 9.98674553e-01 2.45916552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.2850998929998 meters 0.011790521632645132 Centerline is valid? [True, True] Translation: X:588.74, Y:47.15, Z:24.59 [[ 9.92954529e-01 -1.06595472e-01 -5.17562450e-02 5.88744610e+02] [ 1.06450454e-01 9.94302472e-01 -5.55836953e-03 4.71505510e+01] [ 5.20538593e-02 9.73241621e-06 9.98644279e-01 2.45937087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.3450998929999 meters 0.011795123344214174 Centerline is valid? [True, True] Translation: X:588.80, Y:47.16, Z:24.60 [[ 9.93283618e-01 -1.03530424e-01 -5.16633783e-02 5.88802155e+02] [ 1.03381343e-01 9.94626271e-01 -5.55685287e-03 4.71593288e+01] [ 5.19610567e-02 1.78501509e-04 9.98649096e-01 2.45961315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4050998929998 meters 0.012067448275837679 Centerline is valid? [True, True] Translation: X:588.86, Y:47.17, Z:24.60 [[ 9.93480192e-01 -1.01330089e-01 -5.22429029e-02 5.88860244e+02] [ 1.01173823e-01 9.94852811e-01 -5.63396105e-03 4.71664151e+01] [ 5.25448885e-02 3.11614495e-04 9.98618515e-01 2.45983795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4650998929999 meters 0.012186883228837233 Centerline is valid? [True, True] Translation: X:588.92, Y:47.17, Z:24.60 [[ 9.93581495e-01 -1.00109500e-01 -5.26678300e-02 5.88919015e+02] [ 9.99482552e-02 9.94976348e-01 -5.69317985e-03 4.71733865e+01] [ 5.29731865e-02 3.92580436e-04 9.98595858e-01 2.46013231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5250998929998 meters 0.012261486893289356 Centerline is valid? [True, True] Translation: X:588.98, Y:47.18, Z:24.60 [[ 9.93627765e-01 -9.97516586e-02 -5.24735230e-02 5.88976338e+02] [ 9.95903702e-02 9.95012275e-01 -5.68606362e-03 4.71795377e+01] [ 5.27789937e-02 4.23973108e-04 9.98606128e-01 2.46039299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5850998929999 meters 0.012653822686328335 Centerline is valid? [True, True] Translation: X:589.03, Y:47.19, Z:24.61 [[ 9.93719902e-01 -9.87375115e-02 -5.26465501e-02 5.89033901e+02] [ 9.85730307e-02 9.95113391e-01 -5.71808368e-03 4.71868174e+01] [ 5.29538763e-02 4.92643557e-04 9.98596838e-01 2.46064319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.6450998929998 meters 0.012846660782052375 Centerline is valid? [True, True] Translation: X:589.09, Y:47.19, Z:24.61 [[ 9.93781573e-01 -9.79500730e-02 -5.29525183e-02 5.89092694e+02] [ 9.77822040e-02 9.95191181e-01 -5.75791881e-03 4.71928515e+01] [ 5.32618678e-02 5.44299663e-04 9.98580431e-01 2.46093164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7050998929999 meters 0.01290558053947008 Centerline is valid? [True, True] Translation: X:589.15, Y:47.20, Z:24.61 [[ 9.93832889e-01 -9.73968246e-02 -5.30098850e-02 5.89151088e+02] [ 9.72270908e-02 9.95245454e-01 -5.77753471e-03 4.71995115e+01] [ 5.33205606e-02 5.87907114e-04 9.98577274e-01 2.46118717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7650998929998 meters 0.013334882363655334 Centerline is valid? [True, True] Translation: X:589.21, Y:47.21, Z:24.61 [[ 9.93857309e-01 -9.67554341e-02 -5.37218240e-02 5.89208424e+02] [ 9.65795308e-02 9.95307979e-01 -5.86694549e-03 4.72060193e+01] [ 5.40374190e-02 6.42478099e-04 9.98538705e-01 2.46135590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.8250998929999 meters 0.013645830902898393 Centerline is valid? [True, True] Translation: X:589.27, Y:47.21, Z:24.62 [[ 9.94014299e-01 -9.42249857e-02 -5.52921839e-02 5.89266502e+02] [ 9.40344441e-02 9.95550601e-01 -6.04351411e-03 4.72116364e+01] [ 5.56156169e-02 8.07969665e-04 9.98451927e-01 2.46167622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.8850998929998 meters 0.015169437282281307 Centerline is valid? [True, True] Translation: X:589.32, Y:47.22, Z:24.62 [[ 9.94132960e-01 -9.21698082e-02 -5.66072848e-02 5.89324031e+02] [ 9.19664557e-02 9.95742850e-01 -6.19253712e-03 4.72205430e+01] [ 5.69370640e-02 9.50233904e-04 9.98377317e-01 2.46172064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.9450998929999 meters 0.014889484118478362 Centerline is valid? [True, True] Translation: X:589.38, Y:47.23, Z:24.62 [[ 9.94245199e-01 -9.08883839e-02 -5.67079083e-02 5.89382805e+02] [ 9.06817922e-02 9.95860550e-01 -6.21111691e-03 4.72255430e+01] [ 5.70376872e-02 1.03299841e-03 9.98371492e-01 2.46219168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.0050998929999 meters 0.015013124735273492 Centerline is valid? [True, True] Translation: X:589.44, Y:47.23, Z:24.63 [[ 9.94247942e-01 -9.14901437e-02 -5.56828807e-02 5.89441682e+02] [ 9.12911241e-02 9.95805486e-01 -6.11273463e-03 4.72314228e+01] [ 5.60085731e-02 9.94221048e-04 9.98429793e-01 2.46256595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.0650998929999 meters 0.014767617483607038 Centerline is valid? [True, True] Translation: X:589.50, Y:47.24, Z:24.63 [[ 9.94259795e-01 -9.25443002e-02 -5.36936907e-02 5.89500404e+02] [ 9.23600793e-02 9.95708148e-01 -5.90758939e-03 4.72360569e+01] [ 5.40099591e-02 9.14525085e-04 9.98539978e-01 2.46313748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.1250998929999 meters 0.014918273784020827 Centerline is valid? [True, True] Translation: X:589.56, Y:47.24, Z:24.63 [[ 9.94203544e-01 -9.28353531e-02 -5.42301550e-02 5.89558089e+02] [ 9.26470689e-02 9.95681047e-01 -5.98112537e-03 4.72420410e+01] [ 5.45511974e-02 9.22191134e-04 9.98510549e-01 2.46345878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.1850998929999 meters 0.015384316030594702 Centerline is valid? [True, True] Translation: X:589.61, Y:47.25, Z:24.64 [[ 9.94161796e-01 -9.25098806e-02 -5.55359806e-02 5.89614936e+02] [ 9.23111247e-02 9.95711288e-01 -6.13906003e-03 4.72509141e+01] [ 5.58657265e-02 9.76630110e-04 9.98437813e-01 2.46354185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.2450998929999 meters 0.015563100649031221 Centerline is valid? [True, True] Translation: X:589.67, Y:47.26, Z:24.64 [[ 9.94099142e-01 -9.13350040e-02 -5.85219031e-02 5.89672985e+02] [ 9.11118703e-02 9.95819610e-01 -6.47545491e-03 4.72578714e+01] [ 5.88686944e-02 1.10520413e-03 9.98265123e-01 2.46371064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3050998929999 meters 0.016289038436915884 Centerline is valid? [True, True] Translation: X:589.73, Y:47.27, Z:24.64 [[ 9.94214535e-01 -8.88500409e-02 -6.03583361e-02 5.89731404e+02] [ 8.86074398e-02 9.96044163e-01 -6.68938425e-03 4.72665288e+01] [ 6.07139204e-02 1.30248543e-03 9.98154359e-01 2.46387122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3650998929999 meters 0.01704392477504934 Centerline is valid? [True, True] Translation: X:589.79, Y:47.28, Z:24.64 [[ 9.94441541e-01 -8.51647293e-02 -6.19111547e-02 5.89790703e+02] [ 8.49016053e-02 9.96365634e-01 -6.87317753e-03 4.72754138e+01] [ 6.22714992e-02 1.57861684e-03 9.98057998e-01 2.46411316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4250998929999 meters 0.01782327567812929 Centerline is valid? [True, True] Translation: X:589.85, Y:47.28, Z:24.64 [[ 9.94604204e-01 -8.41007744e-02 -6.07415524e-02 5.89849364e+02] [ 8.38451405e-02 9.96455937e-01 -6.74969130e-03 4.72836088e+01] [ 6.10939347e-02 1.62038735e-03 9.98130706e-01 2.46439377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4850998929999 meters 0.018132248174584097 Centerline is valid? [True, True] Translation: X:589.91, Y:47.29, Z:24.65 [[ 9.94738783e-01 -8.37505772e-02 -5.89965713e-02 5.89908000e+02] [ 8.35079474e-02 9.96485450e-01 -6.57051204e-03 4.72918016e+01] [ 5.93395090e-02 1.60926058e-03 9.98236562e-01 2.46478949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.5450998929999 meters 0.01785794333968995 Centerline is valid? [True, True] Translation: X:589.97, Y:47.30, Z:24.65 [[ 9.95042094e-01 -8.21429801e-02 -5.60692645e-02 5.89965946e+02] [ 8.19204966e-02 9.96619215e-01 -6.25886208e-03 4.72981510e+01] [ 5.63938279e-02 1.63460924e-03 9.98407264e-01 2.46542142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.6050998929999 meters 0.01916795956628068 Centerline is valid? [True, True] Translation: X:590.02, Y:47.31, Z:24.66 [[ 9.95180981e-01 -8.07501604e-02 -5.56257664e-02 5.90023013e+02] [ 8.05282462e-02 9.96732901e-01 -6.22306040e-03 4.73067522e+01] [ 5.59465447e-02 1.71362594e-03 9.98432295e-01 2.46561833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.6650998929998 meters 0.02037768705985268 Centerline is valid? [True, True] Translation: X:590.08, Y:47.32, Z:24.66 [[ 9.95254402e-01 -7.92237226e-02 -5.65002383e-02 5.90080474e+02] [ 7.89920154e-02 9.96855176e-01 -6.32611211e-03 4.73155186e+01] [ 5.68237332e-02 1.83302323e-03 9.98382544e-01 2.46567888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.7250998929999 meters 0.021522332534893066 Centerline is valid? [True, True] Translation: X:590.14, Y:47.32, Z:24.66 [[ 9.95299791e-01 -7.63797456e-02 -5.95353713e-02 5.90139429e+02] [ 7.61170448e-02 9.97076572e-01 -6.67126240e-03 4.73240069e+01] [ 5.98708732e-02 2.10824955e-03 9.98203904e-01 2.46558632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.7850998929998 meters 0.020927837804626634 Centerline is valid? [True, True] Translation: X:590.20, Y:47.33, Z:24.66 [[ 9.95255072e-01 -7.58140992e-02 -6.09882251e-02 5.90197574e+02] [ 7.55370304e-02 9.97119543e-01 -6.83914379e-03 4.73296003e+01] [ 6.13310547e-02 2.19982312e-03 9.98115055e-01 2.46574761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.8450998929999 meters 0.021615495238208323 Centerline is valid? [True, True] Translation: X:590.25, Y:47.34, Z:24.66 [[ 9.95234271e-01 -7.66469956e-02 -6.02825321e-02 5.90254973e+02] [ 7.63775035e-02 9.97056019e-01 -6.76546376e-03 4.73363687e+01] [ 6.06236139e-02 2.12899209e-03 9.98158427e-01 2.46596707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9050998929998 meters 0.02160446857519623 Centerline is valid? [True, True] Translation: X:590.31, Y:47.34, Z:24.66 [[ 9.95235363e-01 -7.80958217e-02 -5.83747875e-02 5.90313491e+02] [ 7.78451743e-02 9.96943884e-01 -6.55902178e-03 4.73421254e+01] [ 5.87086196e-02 1.98357491e-03 9.98273191e-01 2.46637618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9650998929999 meters 0.021851090386246417 Centerline is valid? [True, True] Translation: X:590.37, Y:47.35, Z:24.67 [[ 9.95341173e-01 -7.82579595e-02 -5.63173191e-02 5.90372026e+02] [ 7.80241912e-02 9.96931299e-01 -6.34119563e-03 4.73487154e+01] [ 5.66407471e-02 1.91753982e-03 9.98392783e-01 2.46680926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0250998929998 meters 0.023179404468381844 Centerline is valid? [True, True] Translation: X:590.43, Y:47.36, Z:24.67 [[ 9.95521229e-01 -7.54936163e-02 -5.69051479e-02 5.90430548e+02] [ 7.52497824e-02 9.97144057e-01 -6.41866429e-03 4.73579545e+01] [ 5.72271983e-02 2.10781657e-03 9.98358956e-01 2.46702896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0850998929999 meters 0.023283688708149217 Centerline is valid? [True, True] Translation: X:590.49, Y:47.37, Z:24.67 [[ 9.95823068e-01 -6.99935958e-02 -5.86286120e-02 5.90489868e+02] [ 6.97250859e-02 9.97544308e-01 -6.61561252e-03 4.73672718e+01] [ 5.89476887e-02 2.50009455e-03 9.98257942e-01 2.46732396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.1450998929998 meters 0.02429030115542946 Centerline is valid? [True, True] Translation: X:590.55, Y:47.37, Z:24.68 [[ 9.95919426e-01 -6.93326316e-02 -5.77709481e-02 5.90548601e+02] [ 6.90705430e-02 9.97590448e-01 -6.52361542e-03 4.73742517e+01] [ 5.80840454e-02 2.50672458e-03 9.98308549e-01 2.46762427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2050998929999 meters 0.02512176262149788 Centerline is valid? [True, True] Translation: X:590.61, Y:47.38, Z:24.68 [[ 9.95924895e-01 -7.06520874e-02 -5.60525382e-02 5.90607509e+02] [ 7.04066865e-02 9.97498201e-01 -6.34330418e-03 4.73807366e+01] [ 5.63604737e-02 2.37098106e-03 9.98407670e-01 2.46798216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2650998929998 meters 0.025368739041516004 Centerline is valid? [True, True] Translation: X:590.67, Y:47.39, Z:24.68 [[ 9.95848931e-01 -7.30804715e-02 -5.42600318e-02 5.90666403e+02] [ 7.28535195e-02 9.97323680e-01 -6.15158557e-03 4.73855968e+01] [ 5.45643753e-02 2.17301563e-03 9.98507890e-01 2.46834902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.3250998929999 meters 0.024866756172373102 Centerline is valid? [True, True] Translation: X:590.73, Y:47.39, Z:24.69 [[ 9.95847249e-01 -7.42817390e-02 -5.26353500e-02 5.90725134e+02] [ 7.40694362e-02 9.97235184e-01 -5.97544050e-03 4.73907940e+01] [ 5.29336891e-02 2.05195528e-03 9.98595921e-01 2.46869253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.3850998929998 meters 0.023098050955800427 Centerline is valid? [True, True] Translation: X:590.78, Y:47.39, Z:24.69 [[ 9.95602621e-01 -7.84638393e-02 -5.11746684e-02 5.90784592e+02] [ 7.82681075e-02 9.96915354e-01 -5.82071339e-03 4.73926324e+01] [ 5.14735281e-02 1.78977306e-03 9.98672756e-01 2.46888633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.4450998929999 meters 0.02189032590412152 Centerline is valid? [True, True] Translation: X:590.84, Y:47.40, Z:24.69 [[ 9.95387944e-01 -8.22945850e-02 -4.92995085e-02 5.90844695e+02] [ 8.21175549e-02 9.96606866e-01 -5.60906762e-03 4.73954587e+01] [ 4.95938245e-02 1.53484319e-03 9.98768290e-01 2.46923839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.5050998929999 meters 0.02047622582253421 Centerline is valid? [True, True] Translation: X:590.90, Y:47.40, Z:24.70 [[ 9.94894552e-01 -8.88067747e-02 -4.79394117e-02 5.90904714e+02] [ 8.86468910e-02 9.96048177e-01 -5.45516006e-03 4.73977651e+01] [ 4.82344187e-02 1.17762923e-03 9.98835349e-01 2.46950281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.5650998929999 meters 0.020586107876639434 Centerline is valid? [True, True] Translation: X:590.96, Y:47.40, Z:24.70 [[ 9.94769502e-01 -9.03427408e-02 -4.76636773e-02 5.90962331e+02] [ 9.01863928e-02 9.95910128e-01 -5.42504460e-03 4.74047117e+01] [ 4.79588524e-02 1.09805380e-03 9.98848709e-01 2.46971014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.6250998929999 meters 0.019716727271513464 Centerline is valid? [True, True] Translation: X:591.02, Y:47.41, Z:24.70 [[ 9.94525199e-01 -9.31993560e-02 -4.72600136e-02 5.91021057e+02] [ 9.30486294e-02 9.95647008e-01 -5.38411357e-03 4.74083674e+01] [ 4.75560870e-02 9.57157131e-04 9.98868111e-01 2.47000208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.6850998929999 meters 0.018886048121662502 Centerline is valid? [True, True] Translation: X:591.08, Y:47.41, Z:24.70 [[ 9.94101265e-01 -9.87293398e-02 -4.48908971e-02 5.91079812e+02] [ 9.85985283e-02 9.95114100e-01 -5.12434437e-03 4.74128898e+01] [ 4.51774878e-02 6.67940835e-04 9.98978753e-01 2.47027752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.7450998929999 meters 0.018449826573557728 Centerline is valid? [True, True] Translation: X:591.14, Y:47.42, Z:24.71 [[ 9.93899961e-01 -1.01035141e-01 -4.42127581e-02 5.91138525e+02] [ 1.00910374e-01 9.94882701e-01 -5.05051232e-03 4.74191900e+01] [ 4.44967874e-02 5.58178043e-04 9.99009371e-01 2.47050329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8050998929999 meters 0.01878072493712672 Centerline is valid? [True, True] Translation: X:591.20, Y:47.43, Z:24.71 [[ 9.93886199e-01 -1.00824882e-01 -4.49951919e-02 5.91196074e+02] [ 1.00694936e-01 9.94904014e-01 -5.15104936e-03 4.74277228e+01] [ 4.52852510e-02 5.88768913e-04 9.98973923e-01 2.47054261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8650998929999 meters 0.018895220886602136 Centerline is valid? [True, True] Translation: X:591.25, Y:47.44, Z:24.71 [[ 9.93944103e-01 -9.93166317e-02 -4.70247494e-02 5.91254167e+02] [ 9.91727521e-02 9.95055640e-01 -5.38870433e-03 4.74353110e+01] [ 4.73274300e-02 6.92497087e-04 9.98879189e-01 2.47064761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9250998929999 meters 0.019019623901460017 Centerline is valid? [True, True] Translation: X:591.31, Y:47.44, Z:24.71 [[ 9.93886253e-01 -9.95846043e-02 -4.76762198e-02 5.91310550e+02] [ 9.94364511e-02 9.95028852e-01 -5.47511108e-03 4.74428909e+01] [ 4.79844510e-02 7.00883539e-04 9.98847837e-01 2.47075500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9850998929999 meters 0.018828029146568153 Centerline is valid? [True, True] Translation: X:591.37, Y:47.45, Z:24.71 [[ 9.93744015e-01 -9.99503860e-02 -4.98272389e-02 5.91369402e+02] [ 9.97886235e-02 9.94992160e-01 -5.72986179e-03 4.74510316e+01] [ 5.01504140e-02 7.21824277e-04 9.98741415e-01 2.47075371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.0450998929999 meters 0.018928996320403534 Centerline is valid? [True, True] Translation: X:591.43, Y:47.46, Z:24.71 [[ 9.93514385e-01 -1.01596772e-01 -5.10613726e-02 5.91426819e+02] [ 1.01428445e-01 9.94825438e-01 -5.88377804e-03 4.74585554e+01] [ 5.13949252e-02 6.66542489e-04 9.98678185e-01 2.47078727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.1050998929999 meters 0.018075123562562224 Centerline is valid? [True, True] Translation: X:591.49, Y:47.46, Z:24.71 [[ 9.92912503e-01 -1.07252306e-01 -5.12025823e-02 5.91485429e+02] [ 1.07090230e-01 9.94231762e-01 -5.90635566e-03 4.74621430e+01] [ 5.15407039e-02 3.81198050e-04 9.98670822e-01 2.47113114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.1650998929998 meters 0.017863327936401465 Centerline is valid? [True, True] Translation: X:591.54, Y:47.47, Z:24.71 [[ 9.92497375e-01 -1.11238999e-01 -5.07429481e-02 5.91543551e+02] [ 1.11084354e-01 9.93793666e-01 -5.86648076e-03 4.74678208e+01] [ 5.10806018e-02 1.85719133e-04 9.98694517e-01 2.47133200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.2250998929999 meters 0.017715842185259154 Centerline is valid? [True, True] Translation: X:591.60, Y:47.47, Z:24.72 [[ 9.92157990e-01 -1.14236570e-01 -5.07201075e-02 5.91600818e+02] [ 1.14085291e-01 9.93453574e-01 -5.87726491e-03 4.74738839e+01] [ 5.10594707e-02 4.47571110e-05 9.98695614e-01 2.47156030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.2850998929998 meters 0.018456356162858407 Centerline is valid? [True, True] Translation: X:591.66, Y:47.48, Z:24.72 [[ 9.92102662e-01 -1.13848478e-01 -5.26386876e-02 5.91657778e+02] [ 1.13684217e-01 9.93498122e-01 -6.11402744e-03 4.74820796e+01] [ 5.29925099e-02 8.15549217e-05 9.98594906e-01 2.47155690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.3450998929999 meters 0.01808173258115571 Centerline is valid? [True, True] Translation: X:591.72, Y:47.49, Z:24.72 [[ 9.92530839e-01 -1.09475203e-01 -5.38304163e-02 5.91715640e+02] [ 1.09296497e-01 9.93989472e-01 -6.26142074e-03 4.74914176e+01] [ 5.41923373e-02 3.31177237e-04 9.98530461e-01 2.47167412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4050998929998 meters 0.018411034993247546 Centerline is valid? [True, True] Translation: X:591.77, Y:47.50, Z:24.72 [[ 9.92923781e-01 -1.05579705e-01 -5.43625917e-02 5.91774219e+02] [ 1.05390837e-01 9.94410684e-01 -6.33741731e-03 4.74992373e+01] [ 5.47278446e-02 5.63253345e-04 9.98501150e-01 2.47198218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4650998929999 meters 0.019425340667786898 Centerline is valid? [True, True] Translation: X:591.83, Y:47.50, Z:24.73 [[ 9.93271678e-01 -1.04870546e-01 -4.91278217e-02 5.91832554e+02] [ 1.04714872e-01 9.94485726e-01 -5.73899492e-03 4.75015262e+01] [ 4.94587690e-02 5.55967543e-04 9.98776011e-01 2.47291729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 4108.36 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%| | 0/19684 [00:00