+ python -m lidar_slam --no-model /working/a0cbbdfb-dfc8-4cbe-b397-d4750ceff92a Lidar SLAM 0.0.8 ===================================================== The recording path: /working/a0cbbdfb-dfc8-4cbe-b397-d4750ceff92a 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 0.015898227 Adjusted end_distance from 9.223372036854776e+18 to 397.625898227 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.015898227 meters 0.6403944012889861 Centerline is valid? [0, False] SLAMing on 0.075898227 meters 0.6290201542362319 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.00 [[ 9.99999684e-01 4.47859051e-04 -6.56557851e-04 5.49078636e-03] [-4.47588261e-04 9.99999815e-01 4.12527398e-04 -7.86986006e-04] [ 6.56742483e-04 -4.12233400e-04 9.99999699e-01 -2.87109620e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.13589822699999998 meters 0.5675346681073977 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.01 [[ 9.99998615e-01 1.10872766e-03 -1.24107626e-03 1.16041985e-02] [-1.10758996e-03 9.99998966e-01 9.17019568e-04 -1.31329209e-03] [ 1.24209170e-03 -9.15643695e-04 9.99998809e-01 -6.90214760e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.19589822699999998 meters 0.6528034089060144 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.01 [[ 0.99999626 0.00185479 -0.00200919 0.01868209] [-0.00185182 0.99999719 0.00148079 -0.00234686] [ 0.00201194 -0.00147707 0.99999689 -0.01087294] [ 0. 0. 0. 1. ]] SLAMing on 0.255898227 meters 0.6993387960390051 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.01 [[ 0.99999299 0.00249886 -0.00278681 0.02507507] [-0.00249283 0.99999454 0.00216739 -0.00536748] [ 0.00279221 -0.00216043 0.99999377 -0.01419653] [ 0. 0. 0. 1. ]] SLAMing on 0.315898227 meters 0.7500615001118262 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.02 [[ 0.99999067 0.00283824 -0.00325698 0.02877851] [-0.00283014 0.99999289 0.0024916 -0.00664573] [ 0.00326402 -0.00248236 0.99999159 -0.01583425] [ 0. 0. 0. 1. ]] SLAMing on 0.375898227 meters 0.7567142961133565 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.02 [[ 0.99998818 0.00320145 -0.00365984 0.03187906] [-0.00319097 0.9999908 0.0028674 -0.00862867] [ 0.00366898 -0.00285569 0.99998919 -0.01705939] [ 0. 0. 0. 1. ]] SLAMing on 0.43589822699999997 meters 0.7463019661206216 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.00, Z:-0.02 [[ 0.99997893 0.00409322 -0.00503884 0.04293528] [-0.00407918 0.99998778 0.00279389 -0.00481003] [ 0.00505022 -0.00277328 0.9999834 -0.02166726] [ 0. 0. 0. 1. ]] SLAMing on 0.49589822699999997 meters 0.7654553992498715 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.00, Z:-0.03 [[ 0.99997105 0.00473673 -0.00595548 0.05088056] [-0.00472028 0.99998501 0.00277411 -0.00207942] [ 0.00596853 -0.00274591 0.99997842 -0.02568673] [ 0. 0. 0. 1. ]] SLAMing on 0.555898227 meters 0.5601222858944938 Centerline is valid? [False, False] Translation: X:0.06, Y:0.01, Z:-0.03 [[ 9.99977078e-01 7.06500949e-04 -6.73382964e-03 5.74980410e-02] [-7.22799074e-04 9.99996815e-01 -2.41820896e-03 6.80392299e-03] [ 6.73209973e-03 2.42302074e-03 9.99974404e-01 -2.81882387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.615898227 meters 0.6245627665501672 Centerline is valid? [False, False] Translation: X:0.07, Y:0.01, Z:-0.04 [[ 0.999958 0.00434245 -0.00807155 0.07085352] [-0.00433072 0.99998954 0.00147008 0.00746995] [ 0.00807785 -0.00143507 0.99996634 -0.03624132] [ 0. 0. 0. 1. ]] SLAMing on 0.6758982269999999 meters 0.6107901029311089 Centerline is valid? [False, False] Translation: X:0.08, Y:0.01, Z:-0.04 [[ 0.99994741 0.00500574 -0.00895094 0.07823428] [-0.00499069 0.9999861 0.00170349 0.00816415] [ 0.00895934 -0.00165873 0.99995849 -0.03975736] [ 0. 0. 0. 1. ]] SLAMing on 0.735898227 meters 0.5631748496190168 Centerline is valid? [False, False] Translation: X:0.08, Y:0.01, Z:-0.04 [[ 0.99993928 0.00537193 -0.00962227 0.08480647] [-0.005358 0.99998456 0.00147237 0.01308077] [ 0.00963003 -0.00142072 0.99995262 -0.04295406] [ 0. 0. 0. 1. ]] SLAMing on 0.795898227 meters 0.5537862510095851 Centerline is valid? [False, False] Translation: X:0.09, Y:0.01, Z:-0.04 [[ 0.99993391 0.00554882 -0.01006876 0.08828383] [-0.005534 0.99998356 0.00149893 0.01375801] [ 0.01007692 -0.00144311 0.99994819 -0.0441369 ] [ 0. 0. 0. 1. ]] SLAMing on 0.855898227 meters 0.7471446965405386 Centerline is valid? [False, False] Translation: X:0.10, Y:0.02, Z:-0.05 [[ 0.99992251 0.00592508 -0.01094874 0.09565248] [-0.00591091 0.99998165 0.00132638 0.01773547] [ 0.01095639 -0.00126156 0.99993918 -0.04715224] [ 0. 0. 0. 1. ]] SLAMing on 0.9158982269999999 meters 0.5566195936488676 Centerline is valid? [False, False] Translation: X:0.10, Y:0.02, Z:-0.05 [[ 9.99916329e-01 5.95462033e-03 -1.14837782e-02 9.95516911e-02] [-5.94429172e-03 9.99981897e-01 9.33331786e-04 2.20173590e-02] [ 1.14891279e-02 -8.64990766e-04 9.99933624e-01 -4.82463509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.975898227 meters 0.5569118261021871 Centerline is valid? [False, False] Translation: X:0.13, Y:0.03, Z:-0.06 [[ 0.99994435 0.00994404 -0.00352285 0.12816944] [-0.00995501 0.99994561 -0.0031114 0.02633648] [ 0.00349172 0.0031463 0.99998895 -0.06249693] [ 0. 0. 0. 1. ]] SLAMing on 1.0358982270000001 meters 0.5553870484207676 Centerline is valid? [False, False] Translation: X:0.17, Y:0.03, Z:-0.05 [[ 0.99989017 0.01042282 -0.01053606 0.16945914] [-0.01040543 0.99994441 0.00170422 0.02836475] [ 0.01055324 -0.0015944 0.99994304 -0.05358319] [ 0. 0. 0. 1. ]] SLAMing on 1.0958982270000002 meters 0.5541108633341367 Centerline is valid? [False, False] Translation: X:0.17, Y:0.03, Z:-0.05 [[ 0.99988377 0.01049445 -0.01105981 0.1733474 ] [-0.01048148 0.99994431 0.00123008 0.03305763] [ 0.0110721 -0.00111402 0.99993808 -0.05471614] [ 0. 0. 0. 1. ]] SLAMing on 1.155898227 meters 0.551423291346654 Centerline is valid? [False, False] Translation: X:0.18, Y:0.04, Z:-0.06 [[ 9.99879779e-01 1.04504284e-02 -1.14549694e-02 1.76014330e-01] [-1.04422438e-02 9.99945179e-01 7.74075735e-04 3.71625192e-02] [ 1.14624309e-02 -6.54367091e-04 9.99934090e-01 -5.51768127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.215898227 meters 0.5573161270565887 Centerline is valid? [False, False] Translation: X:0.22, Y:0.04, Z:-0.07 [[ 0.99995913 0.0076351 -0.00484258 0.21867019] [-0.00761454 0.99996198 0.00424981 0.04057418] [ 0.00487485 -0.00421276 0.99997924 -0.06567298] [ 0. 0. 0. 1. ]] SLAMing on 1.275898227 meters 0.555987296123715 Centerline is valid? [False, False] Translation: X:0.22, Y:0.04, Z:-0.07 [[ 9.99981367e-01 3.18365442e-03 -5.20872599e-03 2.20891554e-01] [-3.18656692e-03 9.99994771e-01 -5.50955288e-04 4.49706765e-02] [ 5.20694471e-03 5.67542976e-04 9.99986283e-01 -6.56888672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.335898227 meters 0.556528506115093 Centerline is valid? [False, False] Translation: X:0.22, Y:0.04, Z:-0.07 [[ 9.99980800e-01 3.13411778e-03 -5.34581663e-03 2.21377371e-01] [-3.13633150e-03 9.99994999e-01 -4.05770301e-04 4.36589882e-02] [ 5.34451817e-03 4.22528763e-04 9.99985629e-01 -6.51075514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.395898227 meters 0.5602598107479971 Centerline is valid? [False, False] Translation: X:0.22, Y:0.04, Z:-0.06 [[ 9.99980301e-01 2.81165351e-03 -5.61187980e-03 2.22480890e-01] [-2.81441287e-03 9.99995922e-01 -4.83862414e-04 4.40059486e-02] [ 5.61049646e-03 4.99647029e-04 9.99984136e-01 -6.45923830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.455898227 meters 0.5554982852368534 Centerline is valid? [False, False] Translation: X:0.22, Y:0.04, Z:-0.06 [[ 9.99980116e-01 2.58736013e-03 -5.75087185e-03 2.23311316e-01] [-2.58846274e-03 9.99996633e-01 -1.84295887e-04 4.14047528e-02] [ 5.75037565e-03 1.99178140e-04 9.99983447e-01 -6.45013562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.515898227 meters 0.5475543808885646 Centerline is valid? [False, False] Translation: X:0.21, Y:0.04, Z:-0.07 [[ 9.99992320e-01 -7.12698495e-04 -3.85392208e-03 2.10933301e-01] [ 7.12846905e-04 9.99999745e-01 3.71353466e-05 4.15062879e-02] [ 3.85389464e-03 -3.98823179e-05 9.99992573e-01 -6.83985493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5758982270000002 meters 0.5497117738633666 Centerline is valid? [False, False] Translation: X:0.21, Y:0.04, Z:-0.07 [[ 9.99991664e-01 -8.47300685e-04 -3.99431506e-03 2.12149783e-01] [ 8.47457809e-04 9.99999640e-01 3.76444734e-05 4.17337539e-02] [ 3.99428172e-03 -4.10291730e-05 9.99992022e-01 -6.91287360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.635898227 meters 0.6576783580361879 Centerline is valid? [False, False] Translation: X:0.21, Y:0.04, Z:-0.07 [[ 9.99990368e-01 -1.57216776e-03 -4.09788164e-03 2.11536001e-01] [ 1.57062924e-03 9.99998695e-01 -3.78632868e-04 4.30704289e-02] [ 4.09847156e-03 3.72192968e-04 9.99991532e-01 -6.70792398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.695898227 meters 0.6821818247920778 Centerline is valid? [False, False] Translation: X:0.21, Y:0.04, Z:-0.07 [[ 9.99988655e-01 -2.15615264e-03 -4.24734923e-03 2.11604481e-01] [ 2.15368177e-03 9.99997509e-01 -5.86232692e-04 4.31815205e-02] [ 4.24860266e-03 5.77078603e-04 9.99990808e-01 -6.57323087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.755898227 meters 0.6746888847626697 Centerline is valid? [False, False] Translation: X:0.21, Y:0.04, Z:-0.06 [[ 9.99987852e-01 -2.37139386e-03 -4.32115084e-03 2.11467169e-01] [ 2.36870469e-03 9.99996998e-01 -6.27339479e-04 4.29272475e-02] [ 4.32262554e-03 6.17096328e-04 9.99990467e-01 -6.46859209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.815898227 meters 0.7004537039630878 Centerline is valid? [False, False] Translation: X:0.21, Y:0.04, Z:-0.06 [[ 9.99986612e-01 -2.51502516e-03 -4.52220515e-03 2.12075170e-01] [ 2.51120442e-03 9.99996485e-01 -8.50363375e-04 4.44182810e-02] [ 4.52432794e-03 8.38995809e-04 9.99989413e-01 -6.38107232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.875898227 meters 0.5824739130748445 Centerline is valid? [False, False] Translation: X:0.21, Y:0.04, Z:-0.06 [[ 9.99986080e-01 -3.19452861e-03 -4.19926136e-03 2.08479193e-01] [ 3.19049754e-03 9.99994443e-01 -9.66295359e-04 4.22835509e-02] [ 4.20232489e-03 9.52884175e-04 9.99990716e-01 -6.07772984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.935898227 meters 0.5947586289485332 Centerline is valid? [False, False] Translation: X:0.21, Y:0.04, Z:-0.06 [[ 9.99985643e-01 -3.38281335e-03 -4.15583671e-03 2.08053972e-01] [ 3.37948276e-03 9.99993963e-01 -8.08186714e-04 4.07270260e-02] [ 4.15854556e-03 7.94130532e-04 9.99991038e-01 -6.02363462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.995898227 meters 0.6043905133202718 Centerline is valid? [False, False] Translation: X:0.21, Y:0.04, Z:-0.06 [[ 9.99985482e-01 -3.45095067e-03 -4.13850685e-03 2.08153000e-01] [ 3.44707886e-03 9.99993615e-01 -9.42324784e-04 4.18317800e-02] [ 4.14173234e-03 9.28045344e-04 9.99990992e-01 -6.04996360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.055898227 meters 0.6244380459487223 Centerline is valid? [False, False] Translation: X:0.21, Y:0.05, Z:-0.06 [[ 0.99998434 -0.00359419 -0.00428972 0.20852183] [ 0.00358807 0.99999253 -0.00143516 0.04535423] [ 0.00429485 0.00141975 0.99998977 -0.05988902] [ 0. 0. 0. 1. ]] SLAMing on 2.115898227 meters 0.6370769700835253 Centerline is valid? [False, False] Translation: X:0.19, Y:0.05, Z:-0.06 [[ 0.99997687 -0.00644897 -0.00216286 0.1936631 ] [ 0.00644568 0.99997806 -0.00152525 0.05032452] [ 0.00217265 0.00151128 0.9999965 -0.061305 ] [ 0. 0. 0. 1. ]] SLAMing on 2.1758982270000002 meters 0.6578686798033981 Centerline is valid? [False, False] Translation: X:0.21, Y:0.05, Z:-0.06 [[ 0.99998217 -0.00412941 -0.00431389 0.2084246 ] [ 0.00412204 0.99999003 -0.00171582 0.0459188 ] [ 0.00432094 0.00169801 0.99998922 -0.05984241] [ 0. 0. 0. 1. ]] SLAMing on 2.235898227 meters 0.6578815490540982 Centerline is valid? [False, False] Translation: X:0.19, Y:0.05, Z:-0.06 [[ 0.99996587 -0.0081197 -0.00152653 0.18943682] [ 0.00811801 0.99996643 -0.00111157 0.04516943] [ 0.00153551 0.00109914 0.99999822 -0.06070636] [ 0. 0. 0. 1. ]] SLAMing on 2.295898227 meters 0.6761105000432913 Centerline is valid? [False, False] Translation: X:0.19, Y:0.04, Z:-0.06 [[ 0.99995753 -0.00915284 -0.00107903 0.18539065] [ 0.00915172 0.99995758 -0.00103653 0.04064734] [ 0.00108847 0.00102661 0.99999888 -0.05634941] [ 0. 0. 0. 1. ]] SLAMing on 2.355898227 meters 0.7054391452760342 Centerline is valid? [False, False] Translation: X:0.19, Y:0.04, Z:-0.06 [[ 9.99957806e-01 -9.12436637e-03 -1.06410444e-03 1.85310314e-01] [ 9.12375305e-03 9.99958210e-01 -5.79809144e-04 3.74320552e-02] [ 1.06935036e-03 5.70076053e-04 9.99999266e-01 -5.62816931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.415898227 meters 0.7148701335922591 Centerline is valid? [False, False] Translation: X:0.16, Y:0.04, Z:-0.05 [[ 0.99996982 -0.00285392 0.00722628 0.1554312 ] [ 0.00292456 0.99994786 -0.00978404 0.04094931] [-0.00719798 0.00980488 0.99992602 -0.04578803] [ 0. 0. 0. 1. ]] SLAMing on 2.475898227 meters 0.7180746023154249 Centerline is valid? [False, False] Translation: X:0.13, Y:0.04, Z:-0.04 [[ 0.9999509 -0.00180166 0.00974398 0.13092818] [ 0.00184035 0.99999045 -0.00396372 0.03968649] [-0.00973675 0.00398146 0.99994467 -0.04216451] [ 0. 0. 0. 1. ]] SLAMing on 2.535898227 meters 0.7353616717767346 Centerline is valid? [False, False] Translation: X:0.12, Y:0.04, Z:-0.05 [[ 9.99986066e-01 3.32122409e-04 5.26852679e-03 1.22728260e-01] [-3.60619326e-04 9.99985307e-01 5.40886923e-03 3.95425787e-02] [-5.26665297e-03 -5.41069380e-03 9.99971493e-01 -4.93158846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.595898227 meters 0.7806536760723376 Centerline is valid? [False, False] Translation: X:0.13, Y:0.04, Z:-0.04 [[ 0.99999234 0.00220701 0.00323356 0.13221619] [-0.00221782 0.99999195 0.00334328 0.04388256] [-0.00322615 -0.00335042 0.99998918 -0.04235613] [ 0. 0. 0. 1. ]] SLAMing on 2.655898227 meters 0.7916907709994352 Centerline is valid? [False, False] Translation: X:0.13, Y:0.04, Z:-0.04 [[ 0.99997281 0.00660037 0.00328929 0.13228328] [-0.0066253 0.99994898 0.00762545 0.044507 ] [-0.00323879 -0.00764703 0.99996552 -0.04287162] [ 0. 0. 0. 1. ]] SLAMing on 2.715898227 meters 0.7935589704057742 Centerline is valid? [False, False] Translation: X:0.12, Y:0.05, Z:-0.05 [[ 0.99995737 0.00727947 0.00568116 0.11597472] [-0.00735189 0.99989062 0.01283378 0.04631904] [-0.00558712 -0.012875 0.9999015 -0.04750716] [ 0. 0. 0. 1. ]] SLAMing on 2.775898227 meters 0.8036948261894092 Centerline is valid? [False, False] Translation: X:0.12, Y:0.05, Z:-0.05 [[ 0.99995733 0.00742118 0.005501 0.11631279] [-0.00748666 0.99990022 0.01197937 0.05218689] [-0.00541155 -0.01202005 0.99991311 -0.04708125] [ 0. 0. 0. 1. ]] SLAMing on 2.835898227 meters 0.8041639066773493 Centerline is valid? [False, False] Translation: X:0.09, Y:0.06, Z:-0.04 [[ 9.99961713e-01 9.53517985e-04 8.69842920e-03 9.20825620e-02] [-1.02815338e-03 9.99962663e-01 8.57989782e-03 6.00962864e-02] [-8.68992334e-03 -8.58851264e-03 9.99925359e-01 -3.98436433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.895898227 meters 0.8100688398770565 Centerline is valid? [False, False] Translation: X:0.09, Y:0.06, Z:-0.04 [[ 0.99995683 -0.00345323 0.00862595 0.09166734] [ 0.00341628 0.99998494 0.00429441 0.05912482] [-0.00864065 -0.00426476 0.99995357 -0.03835247] [ 0. 0. 0. 1. ]] SLAMing on 2.955898227 meters 0.8061782398180158 Centerline is valid? [False, False] Translation: X:0.07, Y:0.06, Z:-0.03 [[ 0.99999206 -0.00180612 0.00355141 0.07325693] [ 0.00182979 0.99997606 -0.00667366 0.06085426] [-0.00353927 0.0066801 0.99997142 -0.0306937 ] [ 0. 0. 0. 1. ]] SLAMing on 3.015898227 meters 0.7969533866270664 Centerline is valid? [False, False] Translation: X:0.06, Y:0.06, Z:-0.03 [[ 9.99999628e-01 -8.45283033e-04 -1.69186371e-04 5.66441599e-02] [ 8.45514766e-04 9.99998698e-01 1.37433675e-03 5.72537211e-02] [ 1.68024448e-04 -1.37447929e-03 9.99999041e-01 -3.09636369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.075898227 meters 0.795546837849498 Centerline is valid? [False, False] Translation: X:0.05, Y:0.05, Z:-0.03 [[ 9.99995857e-01 2.83966378e-03 4.71698969e-04 5.28467163e-02] [-2.84218860e-03 9.99981158e-01 5.44106005e-03 5.37877517e-02] [-4.56239300e-04 -5.44237816e-03 9.99985086e-01 -2.81786251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.135898227 meters 0.7898547729509945 Centerline is valid? [False, False] Translation: X:0.05, Y:0.05, Z:-0.03 [[ 9.99995316e-01 3.00374448e-03 5.88427759e-04 5.27560467e-02] [-3.00719855e-03 9.99977718e-01 5.95980462e-03 5.07768934e-02] [-5.70512918e-04 -5.96154623e-03 9.99982067e-01 -2.88969309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.195898227 meters 0.7741469112341446 Centerline is valid? [False, False] Translation: X:0.05, Y:0.05, Z:-0.03 [[ 9.99995289e-01 3.01284985e-03 5.86482996e-04 5.23571282e-02] [-3.01625046e-03 9.99978126e-01 5.88644904e-03 5.09185401e-02] [-5.68735180e-04 -5.88819029e-03 9.99982503e-01 -2.82120940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.255898227 meters 0.7722109127521078 Centerline is valid? [False, False] Translation: X:0.05, Y:0.05, Z:-0.03 [[ 9.99995286e-01 2.99430866e-03 6.79923086e-04 5.16231362e-02] [-2.99811912e-03 9.99979407e-01 5.67414714e-03 5.18063469e-02] [-6.62918937e-04 -5.67615888e-03 9.99983671e-01 -2.72485985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.315898227 meters 0.7691909279636692 Centerline is valid? [False, False] Translation: X:0.05, Y:0.05, Z:-0.03 [[ 9.99994130e-01 3.34242500e-03 7.53188465e-04 5.20344355e-02] [-3.34687725e-03 9.99976461e-01 5.98957522e-03 5.10853423e-02] [-7.33151030e-04 -5.99206090e-03 9.99981779e-01 -2.87893958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.375898227 meters 0.7658409721242746 Centerline is valid? [False, False] Translation: X:0.05, Y:0.05, Z:-0.02 [[ 0.99992198 0.00439572 -0.01169263 0.04681402] [-0.00428421 0.99994527 0.00954447 0.04870821] [ 0.01173395 -0.00949363 0.99988609 -0.0241348 ] [ 0. 0. 0. 1. ]] SLAMing on 3.435898227 meters 0.4966489102003958 Centerline is valid? [False, False] Translation: X:0.02, Y:0.05, Z:-0.02 [[ 9.99974047e-01 7.20297394e-03 1.48317648e-04 1.56808227e-02] [-7.20305086e-03 9.99973920e-01 5.24803628e-04 4.66215902e-02] [-1.44533633e-04 -5.25858348e-04 9.99999851e-01 -1.84881579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.495898227 meters 0.729430627851467 Centerline is valid? [False, False] Translation: X:0.01, Y:0.04, Z:-0.02 [[ 9.99979828e-01 6.27845212e-03 9.61246187e-04 1.12622685e-02] [-6.27852393e-03 9.99980287e-01 7.17070341e-05 4.25923980e-02] [-9.60777029e-04 -7.77407949e-05 9.99999535e-01 -1.51265437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.555898227 meters 0.7285298077131683 Centerline is valid? [False, False] Translation: X:0.01, Y:0.04, Z:-0.02 [[ 9.99997173e-01 2.18299302e-03 9.43087961e-04 1.14905945e-02] [-2.17959390e-03 9.99991179e-01 -3.59036413e-03 3.94558925e-02] [-9.50917382e-04 3.58829843e-03 9.99993110e-01 -1.53972937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6158982269999997 meters 0.6537131272563483 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.02 [[ 0.99999599 0.00251661 0.00129506 0.01170246] [-0.0025143 0.99999525 -0.00178177 0.03022134] [-0.00129954 0.00177851 0.99999757 -0.01748582] [ 0. 0. 0. 1. ]] SLAMing on 3.675898227 meters 0.616105089501064 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.02 [[ 0.99999527 0.00277264 0.00133046 0.01204841] [-0.00277125 0.99999562 -0.00104389 0.0268112 ] [-0.00133335 0.0010402 0.99999857 -0.01840832] [ 0. 0. 0. 1. ]] SLAMing on 3.735898227 meters 0.6158243434639932 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.02 [[ 9.99994484e-01 2.87998921e-03 1.65485786e-03 1.12072993e-02] [-2.87888087e-03 9.99995630e-01 -6.71740753e-04 2.47358251e-02] [-1.65678523e-03 6.66972909e-04 9.99998405e-01 -1.83470933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.795898227 meters 0.5374546509136412 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.02 [[ 9.99993947e-01 3.03441375e-03 1.70254310e-03 1.13757030e-02] [-3.03364959e-03 9.99995297e-01 -4.51239382e-04 2.40962233e-02] [-1.70390434e-03 4.46071732e-04 9.99998449e-01 -1.89171648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.855898227 meters 0.6025175621252918 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.02 [[ 0.99999763 -0.00135201 0.0017047 0.01088418] [ 0.00136048 0.99998668 -0.004978 0.02481114] [-0.00169795 0.00498031 0.99998616 -0.01781487] [ 0. 0. 0. 1. ]] SLAMing on 3.915898227 meters 0.5215175209836042 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.02 [[ 0.99999826 -0.00112393 0.00149054 0.01179452] [ 0.00113038 0.99998998 -0.00433081 0.02218733] [-0.00148566 0.00433249 0.99998951 -0.01827631] [ 0. 0. 0. 1. ]] SLAMing on 3.975898227 meters 0.5058825010754678 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.02 [[ 9.99999645e-01 -2.53373612e-05 8.41705438e-04 1.61667210e-02] [ 2.71607775e-05 9.99997653e-01 -2.16639466e-03 1.56042893e-02] [-8.41648572e-04 2.16641676e-03 9.99997299e-01 -2.36414097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.035898227 meters 0.45422738277579466 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.03 [[ 9.99999638e-01 8.49943812e-04 -2.91063935e-05 2.02657301e-02] [-8.49948765e-04 9.99999624e-01 -1.70579697e-04 9.07182185e-03] [ 2.89613994e-05 1.70604375e-04 9.99999985e-01 -2.74811891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.095898227 meters 0.02967352639658281 Centerline is valid? [False, True] Translation: X:0.02, Y:0.00, Z:-0.03 [[ 9.99995162e-01 -3.11045462e-03 1.86163872e-05 2.04612032e-02] [ 3.11050075e-03 9.99989030e-01 -3.50217480e-03 4.39623429e-03] [-7.72282720e-06 3.50221576e-03 9.99993867e-01 -2.78455397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.155898227 meters 0.05293881866326167 Centerline is valid? [True, True] Translation: X:0.07, Y:0.05, Z:-0.02 [[ 0.99998221 0.00369492 -0.0046831 0.071029 ] [-0.0037552 0.99990938 -0.01292803 0.04551371] [ 0.00463491 0.01294538 0.99990546 -0.02104824] [ 0. 0. 0. 1. ]] SLAMing on 4.215898227 meters 0.045426835318471 Centerline is valid? [True, True] Translation: X:0.14, Y:0.02, Z:-0.06 [[ 0.99995131 0.00439927 0.00883358 0.13625029] [-0.00468091 0.9994731 0.03211883 0.02180653] [-0.00868763 -0.03215861 0.99944502 -0.06010281] [ 0. 0. 0. 1. ]] SLAMing on 4.275898227 meters 0.047005183494432785 Centerline is valid? [True, True] Translation: X:0.20, Y:0.04, Z:-0.03 [[ 9.99876033e-01 9.65753833e-03 1.24358432e-02 1.96143161e-01] [-9.66609622e-03 9.99953085e-01 6.28240241e-04 3.94488871e-02] [-1.24291925e-02 -7.48368416e-04 9.99922475e-01 -2.66293575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.335898227 meters 0.06471765585750347 Centerline is valid? [True, True] Translation: X:0.25, Y:0.07, Z:-0.03 [[ 9.99814029e-01 1.50117909e-02 1.21058960e-02 2.54634757e-01] [-1.50202925e-02 9.99887002e-01 6.11647552e-04 6.58648870e-02] [-1.20953462e-02 -7.93367903e-04 9.99926534e-01 -2.53198878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.395898227 meters 0.06309707398148119 Centerline is valid? [True, True] Translation: X:0.32, Y:0.07, Z:-0.02 [[ 9.99672135e-01 2.08773980e-02 1.48242216e-02 3.15580842e-01] [-2.08907874e-02 9.99781483e-01 7.48917201e-04 6.61997538e-02] [-1.48053468e-02 -1.05836132e-03 9.99889835e-01 -2.34301785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.455898227 meters 0.07083061087663202 Centerline is valid? [True, True] Translation: X:0.37, Y:0.08, Z:-0.02 [[ 9.99602477e-01 2.21801730e-02 1.74048435e-02 3.73779369e-01] [-2.21988303e-02 9.99753189e-01 8.79466708e-04 8.07600448e-02] [-1.73810410e-02 -1.26548427e-03 9.99848137e-01 -1.96005725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.515898227 meters 0.05954304479969544 Centerline is valid? [True, True] Translation: X:0.43, Y:0.07, Z:-0.03 [[ 9.99669035e-01 2.11114305e-02 1.47013209e-02 4.33947607e-01] [-2.11246309e-02 9.99776574e-01 7.43178653e-04 6.60369580e-02] [-1.46823466e-02 -1.05349266e-03 9.99891654e-01 -2.73460061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.575898227 meters 0.058713179735972995 Centerline is valid? [True, True] Translation: X:0.49, Y:0.07, Z:-0.03 [[ 9.99733762e-01 1.86907407e-02 1.35300126e-02 4.94597070e-01] [-1.87017038e-02 9.99824874e-01 6.84203096e-04 6.51769113e-02] [-1.35148549e-02 -9.37055223e-04 9.99908231e-01 -3.03611350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.635898227 meters 0.04903007740958886 Centerline is valid? [True, True] Translation: X:0.56, Y:0.05, Z:-0.03 [[ 9.99802990e-01 1.39465499e-02 1.41235810e-02 5.56169631e-01] [-1.39580253e-02 9.99902327e-01 7.14252341e-04 4.88862314e-02] [-1.41122402e-02 -9.11248928e-04 9.99900002e-01 -3.23356350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.695898227 meters 0.04731513878847244 Centerline is valid? [True, True] Translation: X:0.62, Y:0.05, Z:-0.03 [[ 9.99825157e-01 1.25643092e-02 1.38489846e-02 6.15796392e-01] [-1.25752122e-02 9.99920684e-01 7.00479391e-04 4.54893807e-02] [-1.38390851e-02 -8.74510838e-04 9.99903853e-01 -2.96692778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.755898227 meters 0.05125642104190301 Centerline is valid? [True, True] Translation: X:0.68, Y:0.04, Z:-0.03 [[ 9.99849066e-01 9.74243823e-03 1.43850926e-02 6.75185941e-01] [-9.75391591e-03 9.99952164e-01 7.27942077e-04 4.28414343e-02] [-1.43773125e-02 -8.68143189e-04 9.99896264e-01 -2.87275750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.815898227 meters 0.046310113272783775 Centerline is valid? [True, True] Translation: X:0.74, Y:0.03, Z:-0.03 [[ 9.99876981e-01 7.53096089e-03 1.37589031e-02 7.35925131e-01] [-7.54125531e-03 9.99971322e-01 6.96471526e-04 3.30565454e-02] [-1.37532634e-02 -8.00145248e-04 9.99905099e-01 -2.74089483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8758982269999995 meters 0.04524720006480129 Centerline is valid? [True, True] Translation: X:0.80, Y:0.03, Z:-0.03 [[ 9.99878727e-01 6.78726995e-03 1.40165653e-02 7.95989036e-01] [-6.79788404e-03 9.99976642e-01 7.09747607e-04 3.21662358e-02] [-1.40114206e-02 -8.04944519e-04 9.99901511e-01 -2.59962226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.935898227 meters 0.043287188302402524 Centerline is valid? [True, True] Translation: X:0.86, Y:0.02, Z:-0.03 [[ 9.99874379e-01 3.11400105e-03 1.55412082e-02 8.57276414e-01] [-3.12661234e-03 9.99994802e-01 7.87243037e-04 1.64976748e-02] [-1.55386759e-02 -8.35735476e-04 9.99878918e-01 -2.54703922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.995898227 meters 0.04210754047076121 Centerline is valid? [True, True] Translation: X:0.92, Y:0.01, Z:-0.03 [[ 9.99890154e-01 1.34879766e-03 1.47600790e-02 9.19725621e-01] [-1.35997880e-03 9.99998796e-01 7.47514482e-04 8.56714002e-03] [-1.47590530e-02 -7.67505765e-04 9.99890785e-01 -2.67157939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.055898227 meters 0.040863406433246686 Centerline is valid? [True, True] Translation: X:0.98, Y:-0.01, Z:-0.03 [[ 9.99912433e-01 -2.27500161e-03 1.30365091e-02 9.80569191e-01] [ 2.26659110e-03 9.99997214e-01 6.59888577e-04 -5.74270689e-03] [-1.30379740e-02 -6.30282357e-04 9.99914803e-01 -3.15193466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.115898227 meters 0.04116132260309444 Centerline is valid? [True, True] Translation: X:1.04, Y:-0.02, Z:-0.03 [[ 9.99909017e-01 -4.30464118e-03 1.27839240e-02 1.04226031e+00] [ 4.29672014e-03 9.99990560e-01 6.47010545e-04 -1.80636800e-02] [-1.27865885e-02 -5.92022734e-04 9.99918073e-01 -3.45701602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.175898227 meters 0.04077100975440238 Centerline is valid? [True, True] Translation: X:1.10, Y:-0.02, Z:-0.04 [[ 9.99915383e-01 -6.05296302e-03 1.15147277e-02 1.10392137e+00] [ 6.04665549e-03 9.99981549e-01 5.82515238e-04 -2.49906317e-02] [-1.15180412e-02 -5.12840356e-04 9.99933534e-01 -3.68144769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.235898227 meters 0.03840440728330438 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.03, Z:-0.04 [[ 9.99890964e-01 -9.08143227e-03 1.16442279e-02 1.16515627e+00] [ 9.07519011e-03 9.99958646e-01 5.88801001e-04 -3.32152894e-02] [-1.16490935e-02 -4.83063218e-04 9.99932030e-01 -3.70003533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2958982269999995 meters 0.038330003330470305 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.04, Z:-0.03 [[ 9.99877164e-01 -9.60638185e-03 1.23844000e-02 1.22826794e+00] [ 9.59936533e-03 9.99953729e-01 6.25881630e-04 -3.66885390e-02] [-1.23898394e-02 -5.06922369e-04 9.99923114e-01 -3.25613990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.355898227 meters 0.03969481972652863 Centerline is valid? [True, True] Translation: X:1.29, Y:-0.04, Z:-0.04 [[ 9.99889066e-01 -9.43399069e-03 1.15262955e-02 1.29130840e+00] [ 9.42791230e-03 9.99955387e-01 5.81573912e-04 -3.57543590e-02] [-1.15312679e-02 -4.72840492e-04 9.99933401e-01 -3.60076161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.415898227 meters 0.037306343663449704 Centerline is valid? [True, True] Translation: X:1.35, Y:-0.04, Z:-0.04 [[ 9.99868854e-01 -1.15814949e-02 1.13200475e-02 1.35258064e+00] [ 1.15757777e-02 9.99932836e-01 5.70442653e-04 -3.87355225e-02] [-1.13258937e-02 -4.39329489e-04 9.99935763e-01 -3.77599331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.475898227 meters 0.02994123757830928 Centerline is valid? [True, True] Translation: X:1.41, Y:-0.05, Z:-0.04 [[ 9.99745971e-01 -2.10552833e-02 8.04167267e-03 1.41336033e+00] [ 2.10527056e-02 9.99778285e-01 4.05068270e-04 -5.26795003e-02] [-8.04841854e-03 -2.35666404e-04 9.99967583e-01 -4.14112915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.535898227 meters 0.01751478065803335 Centerline is valid? [True, True] Translation: X:1.48, Y:-0.08, Z:-0.04 [[ 9.99443968e-01 -3.24759096e-02 7.55451752e-03 1.47539099e+00] [ 3.24739605e-02 9.99472509e-01 3.80555864e-04 -7.64621780e-02] [-7.56289148e-03 -1.35019159e-04 9.99971392e-01 -4.25963033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.595898227 meters 0.017932769480808058 Centerline is valid? [True, True] Translation: X:1.54, Y:-0.08, Z:-0.04 [[ 9.99289712e-01 -3.60248076e-02 1.10582505e-02 1.53766639e+00] [ 3.60208516e-02 9.99350883e-01 5.56767630e-04 -8.21969725e-02] [-1.10711299e-02 -1.58044563e-04 9.99938701e-01 -3.79793585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.655898227 meters 0.013883713599434857 Centerline is valid? [True, True] Translation: X:1.60, Y:-0.09, Z:-0.04 [[ 9.99229157e-01 -3.81076856e-02 9.42848778e-03 1.60076991e+00] [ 3.81049161e-02 9.99273632e-01 4.73269531e-04 -8.92821618e-02] [-9.43967443e-03 -1.13632979e-04 9.99955439e-01 -4.02523281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.715898227 meters 0.013568677188967015 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.09, Z:-0.04 [[ 9.99152811e-01 -3.98815956e-02 1.01547782e-02 1.66196404e+00] [ 3.98784819e-02 9.99204407e-01 5.09012512e-04 -9.12124504e-02] [-1.01669994e-02 -1.03624143e-04 9.99948309e-01 -4.19102982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.775898227 meters 0.01267863555083847 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.09, Z:-0.04 [[ 9.99047665e-01 -4.17731338e-02 1.26003582e-02 1.72296764e+00] [ 4.17685207e-02 9.99127116e-01 6.29166699e-04 -9.12047945e-02] [-1.26156419e-02 -1.02269198e-04 9.99920414e-01 -3.92746508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8358982269999995 meters 0.014036426821153563 Centerline is valid? [True, True] Translation: X:1.78, Y:-0.09, Z:-0.05 [[ 9.99036813e-01 -4.26638385e-02 1.02588564e-02 1.78415649e+00] [ 4.26608411e-02 9.99089481e-01 5.10932025e-04 -8.92839248e-02] [-1.02713138e-02 -7.27884596e-05 9.99947246e-01 -4.58958512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.895898227 meters 0.015195916159563023 Centerline is valid? [True, True] Translation: X:1.85, Y:-0.09, Z:-0.05 [[ 9.98910137e-01 -4.56736199e-02 9.61549675e-03 1.84656838e+00] [ 4.56711339e-02 9.98956415e-01 4.78076553e-04 -9.30917720e-02] [-9.62729765e-03 -3.84048750e-05 9.99953656e-01 -4.94065695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.955898227 meters 0.011289940721073618 Centerline is valid? [True, True] Translation: X:1.91, Y:-0.10, Z:-0.04 [[ 9.98531862e-01 -5.26973924e-02 1.25341349e-02 1.90958768e+00] [ 5.26937552e-02 9.98610526e-01 6.20486781e-04 -1.00639488e-01] [-1.25494171e-02 4.08948128e-05 9.99921252e-01 -4.28165963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.015898227 meters 0.014611899001941457 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.11, Z:-0.05 [[ 9.98264183e-01 -5.80766150e-02 9.78406206e-03 1.97265065e+00] [ 5.80746707e-02 9.98312125e-01 4.82953955e-04 -1.07227301e-01] [-9.79559612e-03 8.60905473e-05 9.99952018e-01 -4.63378564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.075898227 meters 0.015608503967820833 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.11, Z:-0.05 [[ 9.98223880e-01 -5.90905470e-02 7.57580602e-03 2.03461929e+00] [ 5.90894165e-02 9.98252624e-01 3.73165534e-04 -1.06104397e-01] [-7.58461879e-03 7.51472103e-05 9.99971234e-01 -5.09247210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.135898227 meters 0.014756984348075599 Centerline is valid? [True, True] Translation: X:2.10, Y:-0.10, Z:-0.05 [[ 9.98289563e-01 -5.78391858e-02 8.51924323e-03 2.09694377e+00] [ 5.78377227e-02 9.98325910e-01 4.18218900e-04 -1.00555632e-01] [-8.52917069e-03 7.52300650e-05 9.99963623e-01 -4.94147835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.195898227 meters 0.012423191337320625 Centerline is valid? [True, True] Translation: X:2.16, Y:-0.09, Z:-0.05 [[ 9.98294449e-01 -5.80925944e-02 5.78299286e-03 2.15838572e+00] [ 5.80919261e-02 9.98311198e-01 2.83601565e-04 -9.17143396e-02] [-5.78970168e-03 5.28273265e-05 9.99983238e-01 -5.43968420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.255898227 meters 0.015077061566988858 Centerline is valid? [True, True] Translation: X:2.22, Y:-0.09, Z:-0.06 [[ 9.98066080e-01 -6.18721267e-02 5.99504196e-03 2.22007170e+00] [ 6.18714829e-02 9.98084082e-01 2.92957146e-04 -9.17578738e-02] [-6.00168183e-03 7.85315456e-05 9.99981987e-01 -5.65834675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.315898227 meters 0.017621318093376987 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.09, Z:-0.05 [[ 9.97628682e-01 -6.77648743e-02 1.20388952e-02 2.28172518e+00] [ 6.77627465e-02 9.97701292e-01 5.85035144e-04 -9.11826925e-02] [-1.20508661e-02 2.32140761e-04 9.99927359e-01 -5.12077719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3758982269999995 meters 0.019733389027005558 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.09, Z:-0.05 [[ 9.97439476e-01 -7.04338683e-02 1.23920186e-02 2.34384717e+00] [ 7.04318243e-02 9.97516414e-01 6.01821817e-04 -9.20195454e-02] [-1.24036305e-02 2.72511636e-04 9.99923035e-01 -5.24146284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.435898227 meters 0.01971388196379613 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.09, Z:-0.05 [[ 9.97449200e-01 -7.06586016e-02 1.01220541e-02 2.40553162e+00] [ 7.06572538e-02 9.97500532e-01 4.91148811e-04 -8.71704935e-02] [-1.01314582e-02 2.25300554e-04 9.99948650e-01 -5.33933456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.495898227 meters 0.019458660680686395 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.08, Z:-0.05 [[ 9.97526791e-01 -6.94577778e-02 1.07665218e-02 2.46783096e+00] [ 6.94562050e-02 9.97584866e-01 5.20370901e-04 -8.31425951e-02] [-1.07766630e-02 2.28717831e-04 9.99941904e-01 -5.36149006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.555898227 meters 0.02200497693130016 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.08, Z:-0.05 [[ 9.97527173e-01 -6.95243116e-02 1.02912246e-02 2.52941732e+00] [ 6.95228951e-02 9.97580233e-01 4.95761675e-04 -7.96243637e-02] [-1.03007897e-02 2.20939984e-04 9.99946921e-01 -5.36003931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.615898227 meters 0.021510124091406617 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.08, Z:-0.06 [[ 9.97386896e-01 -7.17791134e-02 8.19383809e-03 2.59190978e+00] [ 7.17783022e-02 9.97420533e-01 3.93412538e-04 -7.88773059e-02] [-8.20094116e-03 1.95755277e-04 9.99966353e-01 -5.81118307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.675898227 meters 0.025373055227042623 Centerline is valid? [True, True] Translation: X:2.65, Y:-0.08, Z:-0.06 [[ 9.97158762e-01 -7.49424662e-02 7.61775305e-03 2.65327314e+00] [ 7.49418601e-02 9.97187838e-01 3.65376513e-04 -7.61462702e-02] [-7.62371291e-03 2.06550192e-04 9.99970918e-01 -6.09889593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.735898227 meters 0.02466249871679395 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.07, Z:-0.06 [[ 9.97167935e-01 -7.48356320e-02 7.46581876e-03 2.71636480e+00] [ 7.48350452e-02 9.97195862e-01 3.58317728e-04 -7.14736582e-02] [-7.47169851e-03 2.01401935e-04 9.99972066e-01 -6.15201367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7958982269999995 meters 0.02423739593902495 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.06, Z:-0.06 [[ 9.97172292e-01 -7.46465982e-02 8.67782354e-03 2.77928394e+00] [ 7.46458147e-02 9.97210023e-01 4.14601908e-04 -6.48796544e-02] [-8.68456123e-03 2.34333672e-04 9.99962261e-01 -6.06825283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.855898227 meters 0.024856415789143264 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.07, Z:-0.06 [[ 9.97240804e-01 -7.36469349e-02 9.32244244e-03 2.84050267e+00] [ 7.36460052e-02 9.97284347e-01 4.43444137e-04 -6.56161489e-02] [-9.32978422e-03 2.44340056e-04 9.99956447e-01 -5.96782705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.915898227 meters 0.025094613641994928 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.06, Z:-0.06 [[ 9.97265046e-01 -7.32633217e-02 9.74237899e-03 2.90403389e+00] [ 7.32623033e-02 9.97312600e-01 4.61851830e-04 -6.43322230e-02] [-9.75003412e-03 2.53160438e-04 9.99952435e-01 -5.94989821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.975898227 meters 0.0242263766801822 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.06, Z:-0.06 [[ 9.97146905e-01 -7.48039103e-02 1.01205181e-02 2.96599344e+00] [ 7.48029097e-02 9.97198223e-01 4.77892426e-04 -6.35001954e-02] [-1.01279109e-02 2.80515248e-04 9.99948672e-01 -5.77344675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.035898227 meters 0.026222347395353836 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.07, Z:-0.06 [[ 9.97196253e-01 -7.39559728e-02 1.14081884e-02 3.02731257e+00] [ 7.39546671e-02 9.97261460e-01 5.36853943e-04 -6.69170048e-02] [-1.14166502e-02 3.08340037e-04 9.99934780e-01 -5.68711479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.095898227 meters 0.028319583832713293 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.07, Z:-0.06 [[ 9.97346952e-01 -7.18043350e-02 1.19663882e-02 3.08897410e+00] [ 7.18027588e-02 9.97418693e-01 5.61849761e-04 -6.94103706e-02] [-1.19758425e-02 2.98860539e-04 9.99928242e-01 -5.57196803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.155898227 meters 0.025139793763030906 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.07, Z:-0.06 [[ 9.97637651e-01 -6.75789516e-02 1.23370734e-02 3.14908267e+00] [ 6.75769726e-02 9.97713896e-01 5.77680453e-04 -6.65389494e-02] [-1.23479086e-02 2.57386302e-04 9.99923729e-01 -5.72998283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.215898226999999 meters 0.013972758970940607 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.05, Z:-0.06 [[ 9.98341840e-01 -5.61104683e-02 1.28524531e-02 3.20865257e+00] [ 5.61073729e-02 9.98424559e-01 6.01572129e-04 -4.83991366e-02] [-1.28659593e-02 1.20542751e-04 9.99917223e-01 -5.67704454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.275898227 meters 0.014394339623988197 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.03, Z:-0.06 [[ 9.98854287e-01 -4.62170822e-02 1.24134867e-02 3.27005233e+00] [ 4.62134360e-02 9.98931420e-01 5.80563703e-04 -3.19676120e-02] [-1.24270538e-02 -6.22867158e-06 9.99922781e-01 -5.96417816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3358982269999995 meters 0.015470131203097792 Centerline is valid? [True, True] Translation: X:3.33, Y:-0.01, Z:-0.06 [[ 9.99407262e-01 -3.30314013e-02 9.69795539e-03 3.33001831e+00] [ 3.30285668e-02 9.99454306e-01 4.52341265e-04 -1.12800385e-02] [-9.70760473e-03 -1.31763578e-04 9.99952871e-01 -6.37662811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.395898227 meters 0.026826168574874156 Centerline is valid? [True, True] Translation: X:3.39, Y:0.01, Z:-0.06 [[ 9.99619086e-01 -2.58056916e-02 9.78516436e-03 3.38950491e+00] [ 2.58024630e-02 9.99666957e-01 4.56060986e-04 1.25030025e-02] [-9.79367445e-03 -2.03405924e-04 9.99952020e-01 -6.46393828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.455898227 meters 0.02333424904725913 Centerline is valid? [True, True] Translation: X:3.45, Y:0.02, Z:-0.07 [[ 9.99750673e-01 -2.02498812e-02 9.40921465e-03 3.45004510e+00] [ 2.02466511e-02 9.99794919e-01 4.38430922e-04 2.23088500e-02] [-9.41616318e-03 -2.47816524e-04 9.99955636e-01 -6.50963371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.515898227 meters 0.024497046663230174 Centerline is valid? [True, True] Translation: X:3.51, Y:0.03, Z:-0.07 [[ 9.99779255e-01 -1.84524362e-02 1.00473139e-02 3.51131171e+00] [ 1.84486639e-02 9.99829699e-01 4.68011573e-04 3.45734514e-02] [-1.00542388e-02 -2.82548745e-04 9.99949415e-01 -6.51703899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.575898227 meters 0.02798943415364142 Centerline is valid? [True, True] Translation: X:3.57, Y:0.05, Z:-0.06 [[ 9.99779095e-01 -1.70352405e-02 1.23110426e-02 3.57157041e+00] [ 1.70294945e-02 9.99854824e-01 5.71415773e-04 4.84459734e-02] [-1.23189895e-02 -3.61638712e-04 9.99924053e-01 -6.35557695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.635898227 meters 0.028582855397548342 Centerline is valid? [True, True] Translation: X:3.63, Y:0.06, Z:-0.07 [[ 9.99806407e-01 -1.52607533e-02 1.24200855e-02 3.63308205e+00] [ 1.52547768e-02 9.99883473e-01 5.75796922e-04 6.35188738e-02] [-1.24274253e-02 -3.86219820e-04 9.99922702e-01 -6.52007286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.695898227 meters 0.02906800976703331 Centerline is valid? [True, True] Translation: X:3.69, Y:0.08, Z:-0.06 [[ 9.99791119e-01 -1.55713357e-02 1.32382689e-02 3.69328954e+00] [ 1.55646042e-02 9.99878677e-01 6.11371956e-04 8.10977429e-02] [-1.32461826e-02 -4.05195836e-04 9.99912183e-01 -6.32392623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.755898226999999 meters 0.030390311642899324 Centerline is valid? [True, True] Translation: X:3.76, Y:0.09, Z:-0.07 [[ 9.99811878e-01 -1.51075286e-02 1.21643329e-02 3.75638947e+00] [ 1.51018335e-02 9.99885804e-01 5.59907476e-04 9.10272720e-02] [-1.21714026e-02 -3.76098416e-04 9.99925855e-01 -6.57277653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.815898227 meters 0.0307571980257742 Centerline is valid? [True, True] Translation: X:3.82, Y:0.10, Z:-0.07 [[ 9.99847761e-01 -1.34736895e-02 1.10867183e-02 3.81873697e+00] [ 1.34688794e-02 9.99909161e-01 5.08414263e-04 9.77071582e-02] [-1.10925614e-02 -3.59011191e-04 9.99938411e-01 -6.95407514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8758982269999995 meters 0.03407774325084414 Centerline is valid? [True, True] Translation: X:3.88, Y:0.11, Z:-0.07 [[ 9.99857404e-01 -1.20521584e-02 1.18286946e-02 3.87985800e+00] [ 1.20466080e-02 9.99927291e-01 5.40373522e-04 1.06851089e-01] [-1.18343472e-02 -3.97800820e-04 9.99929893e-01 -6.93325257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.935898227 meters 0.03448391980925399 Centerline is valid? [True, True] Translation: X:3.94, Y:0.12, Z:-0.07 [[ 9.99900328e-01 -6.14214290e-03 1.27125183e-02 3.94009175e+00] [ 6.13527587e-03 9.99981011e-01 5.79107453e-04 1.16514772e-01] [-1.27158338e-02 -5.01054926e-04 9.99919025e-01 -6.68212112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.995898227 meters 0.036490392123863416 Centerline is valid? [True, True] Translation: X:4.00, Y:0.12, Z:-0.06 [[ 9.99885444e-01 -2.08422991e-03 1.49918028e-02 4.00060075e+00] [ 2.07422470e-03 9.99997616e-01 6.82897067e-04 1.24901314e-01] [-1.49931904e-02 -6.51722469e-04 9.99887383e-01 -6.49645258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.055898226999998 meters 0.036904030032469705 Centerline is valid? [True, True] Translation: X:4.06, Y:0.13, Z:-0.07 [[ 9.99887695e-01 -1.39325695e-03 1.49216410e-02 4.06218008e+00] [ 1.38327157e-03 9.99998812e-01 6.79488111e-04 1.28285605e-01] [-1.49225700e-02 -6.58771120e-04 9.99888435e-01 -6.86940653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.115898226999999 meters 0.03471157302370831 Centerline is valid? [True, True] Translation: X:4.12, Y:0.13, Z:-0.07 [[ 9.99902080e-01 -7.71419506e-03 1.16756897e-02 4.12159513e+00] [ 7.70851499e-03 9.99970148e-01 5.31411528e-04 1.26070847e-01] [-1.16794405e-02 -4.41357264e-04 9.99931696e-01 -7.31278048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.175898227 meters 0.02796684302355589 Centerline is valid? [True, True] Translation: X:4.18, Y:0.12, Z:-0.07 [[ 9.99807073e-01 -1.58565745e-02 1.15924479e-02 4.18310417e+00] [ 1.58515205e-02 9.99874217e-01 5.27733752e-04 1.16616060e-01] [-1.15993579e-02 -3.43874012e-04 9.99932666e-01 -7.28616489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.235898226999998 meters 0.026551445763437705 Centerline is valid? [True, True] Translation: X:4.25, Y:0.12, Z:-0.07 [[ 9.99802548e-01 -1.56722584e-02 1.22166406e-02 4.24596710e+00] [ 1.56666386e-02 9.99877116e-01 5.55586092e-04 1.19268959e-01] [-1.22238467e-02 -3.64082697e-04 9.99925220e-01 -6.96149609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.295898226999999 meters 0.027874703931571362 Centerline is valid? [True, True] Translation: X:4.31, Y:0.12, Z:-0.07 [[ 9.99808378e-01 -1.50063659e-02 1.25704150e-02 4.30666526e+00] [ 1.50003928e-02 9.99887326e-01 5.69325105e-04 1.22585543e-01] [-1.25775421e-02 -3.80654848e-04 9.99920827e-01 -7.18738526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.355898226999999 meters 0.026734700862283398 Centerline is valid? [True, True] Translation: X:4.37, Y:0.12, Z:-0.07 [[ 9.99759714e-01 -1.73415212e-02 1.34084082e-02 4.36871897e+00] [ 1.73349555e-02 9.99849555e-01 6.05744886e-04 1.21990508e-01] [-1.34168955e-02 -3.73165175e-04 9.99909920e-01 -7.25358628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.415898227 meters 0.02554631983101435 Centerline is valid? [True, True] Translation: X:4.43, Y:0.12, Z:-0.07 [[ 9.99736933e-01 -1.93985002e-02 1.22377888e-02 4.43039161e+00] [ 1.93931900e-02 9.99811782e-01 5.52452990e-04 1.23665112e-01] [-1.22462022e-02 -3.14977894e-04 9.99924963e-01 -7.24864987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.475898226999998 meters 0.02595776706915694 Centerline is valid? [True, True] Translation: X:4.49, Y:0.13, Z:-0.07 [[ 9.99742089e-01 -1.80810181e-02 1.37416412e-02 4.49279083e+00] [ 1.80742121e-02 9.99836456e-01 6.19321911e-04 1.27905028e-01] [-1.37505918e-02 -3.70792844e-04 9.99905387e-01 -6.95655652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.535898226999999 meters 0.026331716770133035 Centerline is valid? [True, True] Translation: X:4.55, Y:0.13, Z:-0.07 [[ 9.99764596e-01 -1.60221022e-02 1.46303050e-02 4.55454948e+00] [ 1.60142032e-02 9.99871549e-01 6.56906553e-04 1.29758251e-01] [-1.46389507e-02 -4.22459237e-04 9.99892756e-01 -6.98706533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.595898227 meters 0.03137177693212403 Centerline is valid? [True, True] Translation: X:4.61, Y:0.14, Z:-0.07 [[ 9.99825586e-01 -1.26496654e-02 1.37398186e-02 4.61400118e+00] [ 1.26424007e-02 9.99919892e-01 6.15464398e-04 1.38204835e-01] [-1.37465034e-02 -4.41652760e-04 9.99905415e-01 -7.08821303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.655898227 meters 0.03116660287982087 Centerline is valid? [True, True] Translation: X:4.68, Y:0.14, Z:-0.07 [[ 9.99822916e-01 -1.17348745e-02 1.47115332e-02 4.67638986e+00] [ 1.17264585e-02 9.99931026e-01 6.58203263e-04 1.39598463e-01] [-1.47182424e-02 -4.85572522e-04 9.99891563e-01 -7.09119042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.715898226999998 meters 0.030645830560163737 Centerline is valid? [True, True] Translation: X:4.74, Y:0.14, Z:-0.07 [[ 9.99830375e-01 -1.08710101e-02 1.48674705e-02 4.73827436e+00] [ 1.08623555e-02 9.99940783e-01 6.62751256e-04 1.38334954e-01] [-1.48737948e-02 -5.01143087e-04 9.99889253e-01 -7.40067457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.775898226999999 meters 0.03005898138488129 Centerline is valid? [True, True] Translation: X:4.80, Y:0.14, Z:-0.08 [[ 9.99858846e-01 -1.27432651e-02 1.09497957e-02 4.80011621e+00] [ 1.27386959e-02 9.99918741e-01 4.86927132e-04 1.39509896e-01] [-1.09551110e-02 -3.47372282e-04 9.99939931e-01 -8.01039811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.835898227 meters 0.02389219833335823 Centerline is valid? [True, True] Translation: X:4.86, Y:0.14, Z:-0.08 [[ 9.99759821e-01 -1.91510823e-02 1.06553605e-02 4.85968476e+00] [ 1.91471229e-02 9.99816565e-01 4.73486804e-04 1.36410278e-01] [-1.06624737e-02 -2.69353586e-04 9.99943118e-01 -7.84431046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.895898226999998 meters 0.01913115816542408 Centerline is valid? [True, True] Translation: X:4.92, Y:0.13, Z:-0.08 [[ 9.99594006e-01 -2.54364123e-02 1.28379270e-02 4.92039210e+00] [ 2.54311812e-02 9.99676412e-01 5.70587083e-04 1.32841513e-01] [-1.28482865e-02 -2.43871781e-04 9.99917428e-01 -7.53659708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.955898226999999 meters 0.015455060820477448 Centerline is valid? [True, True] Translation: X:4.98, Y:0.13, Z:-0.08 [[ 9.99454778e-01 -3.07503414e-02 1.20234143e-02 4.98205821e+00] [ 3.07461379e-02 9.99527083e-01 5.34335779e-04 1.30778712e-01] [-1.20341592e-02 -1.64370893e-04 9.99927573e-01 -7.75815708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.015898227 meters 0.015122161594092803 Centerline is valid? [True, True] Translation: X:5.04, Y:0.13, Z:-0.08 [[ 9.99356378e-01 -3.42869376e-02 1.05468396e-02 5.04412307e+00] [ 3.42839034e-02 9.99412024e-01 4.68404248e-04 1.33106467e-01] [-1.05566985e-02 -1.06515942e-04 9.99944271e-01 -7.95927352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.075898227 meters 0.013088464927758127 Centerline is valid? [True, True] Translation: X:5.11, Y:0.14, Z:-0.08 [[ 9.99286264e-01 -3.66628959e-02 9.09920029e-03 5.10612559e+00] [ 3.66607478e-02 9.99327688e-01 4.02818746e-04 1.37055626e-01] [-9.10785129e-03 -6.89477530e-05 9.99958520e-01 -8.26809735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.135898226999998 meters 0.010725862504554306 Centerline is valid? [True, True] Translation: X:5.17, Y:0.14, Z:-0.08 [[ 9.98850683e-01 -4.63995381e-02 1.20164824e-02 5.16744491e+00] [ 4.63965253e-02 9.98922961e-01 5.29527274e-04 1.35970484e-01] [-1.20281100e-02 2.86043508e-05 9.99927659e-01 -7.84348696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.195898226999999 meters 0.015392839026361928 Centerline is valid? [True, True] Translation: X:5.23, Y:0.14, Z:-0.08 [[ 9.98543286e-01 -5.22690477e-02 1.33885045e-02 5.22965159e+00] [ 5.22658648e-02 9.98633033e-01 5.87763865e-04 1.37400687e-01] [-1.34009247e-02 1.12854104e-04 9.99910197e-01 -7.80275860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.255898227 meters 0.014349610937346833 Centerline is valid? [True, True] Translation: X:5.29, Y:0.14, Z:-0.08 [[ 9.98381553e-01 -5.58203180e-02 1.08796125e-02 5.29066426e+00] [ 5.58184430e-02 9.98440822e-01 4.76147536e-04 1.40836327e-01] [-1.08892280e-02 1.31906116e-04 9.99940702e-01 -8.01458314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.315898226999998 meters 0.013255483894068712 Centerline is valid? [True, True] Translation: X:5.35, Y:0.15, Z:-0.08 [[ 9.98473853e-01 -5.40258649e-02 1.14529715e-02 5.35243938e+00] [ 5.40236900e-02 9.98539529e-01 4.99412545e-04 1.48299570e-01] [-1.14632259e-02 1.20081412e-04 9.99934288e-01 -7.81864794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.375898226999999 meters 0.014170297763514842 Centerline is valid? [True, True] Translation: X:5.41, Y:0.16, Z:-0.08 [[ 9.98743457e-01 -4.83560625e-02 1.31604904e-02 5.41436063e+00] [ 4.83527298e-02 9.98830159e-01 5.71486324e-04 1.59688202e-01] [-1.31727295e-02 6.55774086e-05 9.99913234e-01 -7.81910856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.435898227 meters 0.010274219209639002 Centerline is valid? [True, True] Translation: X:5.48, Y:0.17, Z:-0.08 [[ 9.99092855e-01 -4.03980319e-02 1.34709653e-02 5.47539155e+00] [ 4.03938469e-02 9.99183666e-01 5.82714601e-04 1.73422186e-01] [-1.34835090e-02 -3.80418856e-05 9.99909093e-01 -7.56125316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.495898227 meters 0.011183713206121128 Centerline is valid? [True, True] Translation: X:5.54, Y:0.18, Z:-0.07 [[ 9.99217064e-01 -3.67006176e-02 1.47757767e-02 5.53724615e+00] [ 3.66952151e-02 9.99326301e-01 6.36674994e-04 1.79695338e-01] [-1.47891886e-02 -9.39762143e-05 9.99890630e-01 -7.46526553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.555898226999998 meters 0.012052832441862634 Centerline is valid? [True, True] Translation: X:5.60, Y:0.18, Z:-0.07 [[ 9.99340784e-01 -3.22291305e-02 1.67117015e-02 5.59950661e+00] [ 3.22216442e-02 9.99480491e-01 7.17100107e-04 1.84194420e-01] [-1.67261312e-02 -1.78148881e-04 9.99860093e-01 -7.42581338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.615898226999999 meters 0.013648552666616763 Centerline is valid? [True, True] Translation: X:5.66, Y:0.19, Z:-0.07 [[ 9.99401703e-01 -2.99357099e-02 1.73230894e-02 5.66061936e+00] [ 2.99273709e-02 9.99551802e-01 7.40475198e-04 1.89560116e-01] [-1.73374919e-02 -2.21597653e-04 9.99849670e-01 -7.30956165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.675898227 meters 0.015588898723006998 Centerline is valid? [True, True] Translation: X:5.72, Y:0.19, Z:-0.08 [[ 9.99416999e-01 -2.90889406e-02 1.78744669e-02 5.72275784e+00] [ 2.90799784e-02 9.99576798e-01 7.61158258e-04 1.89272183e-01] [-1.78890436e-02 -2.40925391e-04 9.99839949e-01 -7.54351272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.735898226999998 meters 0.014329748238843872 Centerline is valid? [True, True] Translation: X:5.78, Y:0.19, Z:-0.08 [[ 9.99457547e-01 -2.89701046e-02 1.56634851e-02 5.78369227e+00] [ 2.89632390e-02 9.99580256e-01 6.65035404e-04 1.90296302e-01] [-1.56761766e-02 -2.11009392e-04 9.99877099e-01 -7.82975327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.795898226999999 meters 0.014128547378668819 Centerline is valid? [True, True] Translation: X:5.84, Y:0.19, Z:-0.08 [[ 9.99490352e-01 -2.94144470e-02 1.24026736e-02 5.84454637e+00] [ 2.94101904e-02 9.99567289e-01 5.25486228e-04 1.91478939e-01] [-1.24127637e-02 -1.60453424e-04 9.99922946e-01 -8.24854038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.855898226999999 meters 0.01515737998678451 Centerline is valid? [True, True] Translation: X:5.91, Y:0.19, Z:-0.08 [[ 9.99483575e-01 -2.95764728e-02 1.25624280e-02 5.90772803e+00] [ 2.95721437e-02 9.99562508e-01 5.30258729e-04 1.90367725e-01] [-1.25726152e-02 -1.58486963e-04 9.99920949e-01 -8.44815801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.915898227 meters 0.015668968129303972 Centerline is valid? [True, True] Translation: X:5.97, Y:0.20, Z:-0.08 [[ 9.99570081e-01 -2.66932767e-02 1.21294321e-02 5.96972583e+00] [ 2.66890552e-02 9.99643654e-01 5.09802701e-04 1.95230709e-01] [-1.21387181e-02 -1.85860444e-04 9.99926306e-01 -8.49202947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.975898226999998 meters 0.016469786585941015 Centerline is valid? [True, True] Translation: X:6.03, Y:0.20, Z:-0.09 [[ 9.99638260e-01 -2.46590985e-02 1.07367143e-02 6.03129483e+00] [ 2.46556905e-02 9.99695901e-01 4.49677162e-04 1.99081963e-01] [-1.07445379e-02 -1.84793391e-04 9.99942259e-01 -8.74089173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.035898226999999 meters 0.018108255850728606 Centerline is valid? [True, True] Translation: X:6.09, Y:0.20, Z:-0.09 [[ 9.99674720e-01 -2.24877252e-02 1.20314919e-02 6.09361401e+00] [ 2.24833131e-02 9.99747092e-01 5.01856366e-04 2.01770494e-01] [-1.20397346e-02 -2.31185322e-04 9.99927493e-01 -8.55367124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.095898227 meters 0.02228709023417645 Centerline is valid? [True, True] Translation: X:6.15, Y:0.21, Z:-0.08 [[ 9.99742330e-01 -1.89932171e-02 1.24310515e-02 6.15451058e+00] [ 1.89882597e-02 9.99819573e-01 5.16709750e-04 2.10597597e-01] [-1.24386226e-02 -2.80532575e-04 9.99922598e-01 -8.27137665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.155898226999998 meters 0.024538441697770447 Centerline is valid? [True, True] Translation: X:6.22, Y:0.22, Z:-0.08 [[ 9.99771071e-01 -1.65779891e-02 1.35268690e-02 6.21550803e+00] [ 1.65719127e-02 9.99862519e-01 5.61177086e-04 2.15535012e-01] [-1.35343125e-02 -3.36882523e-04 9.99908350e-01 -8.39576685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.215898226999998 meters 0.027381973352493358 Centerline is valid? [True, True] Translation: X:6.28, Y:0.22, Z:-0.08 [[ 9.99825204e-01 -1.18232471e-02 1.44835092e-02 6.27604329e+00] [ 1.18158070e-02 9.99930011e-01 5.99158624e-04 2.23790977e-01] [-1.44895795e-02 -4.27919545e-04 9.99894929e-01 -8.21285331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.275898226999999 meters 0.02852709898107694 Centerline is valid? [True, True] Translation: X:6.34, Y:0.23, Z:-0.08 [[ 9.99850479e-01 -9.33404767e-03 1.45565869e-02 6.33775961e+00] [ 9.32627589e-03 9.99956328e-01 6.01694229e-04 2.27403150e-01] [-1.45615674e-02 -4.65845517e-04 9.99893866e-01 -8.15723773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.335898227 meters 0.02798999309352496 Centerline is valid? [True, True] Translation: X:6.40, Y:0.23, Z:-0.08 [[ 9.99832248e-01 -1.14335196e-02 1.43091041e-02 6.39835930e+00] [ 1.14262366e-02 9.99934544e-01 5.90633003e-04 2.27670572e-01] [-1.43149205e-02 -4.27034715e-04 9.99897445e-01 -8.29328483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.395898226999998 meters 0.027122145491167954 Centerline is valid? [True, True] Translation: X:6.46, Y:0.23, Z:-0.08 [[ 9.99808198e-01 -1.12855591e-02 1.60063314e-02 6.46176903e+00] [ 1.12764476e-02 9.99936201e-01 6.59389084e-04 2.25676265e-01] [-1.60127518e-02 -4.78768054e-04 9.99871673e-01 -8.24926181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.455898226999999 meters 0.03315309872242133 Centerline is valid? [True, True] Translation: X:6.52, Y:0.23, Z:-0.08 [[ 9.99896651e-01 -5.29468830e-03 1.33661034e-02 6.52067635e+00] [ 5.28782329e-03 9.99985869e-01 5.48901448e-04 2.32416619e-01] [-1.33688208e-02 -4.78167127e-04 9.99910519e-01 -8.24781852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.515898227 meters 0.036804083032262576 Centerline is valid? [True, True] Translation: X:6.58, Y:0.24, Z:-0.09 [[ 9.99942335e-01 2.07455601e-03 1.05367545e-02 6.58166799e+00] [-2.07922731e-03 9.99997745e-01 4.32398640e-04 2.38807453e-01] [-1.05358337e-02 -4.54282013e-04 9.99944393e-01 -8.71763888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.575898226999998 meters 0.038203646661185225 Centerline is valid? [True, True] Translation: X:6.64, Y:0.24, Z:-0.09 [[ 9.99918467e-01 5.62481564e-03 1.14638857e-02 6.64248519e+00] [-5.63057528e-03 9.99984038e-01 4.70202419e-04 2.42323650e-01] [-1.14610579e-02 -5.34712353e-04 9.99934177e-01 -8.83074511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.635898226999998 meters 0.047436273857510085 Centerline is valid? [True, True] Translation: X:6.70, Y:0.26, Z:-0.09 [[ 9.99827021e-01 1.40823833e-02 1.21497102e-02 6.70108782e+00] [-1.40894735e-02 9.99900614e-01 4.98173227e-04 2.58886075e-01] [-1.21414872e-02 -6.69270073e-04 9.99926065e-01 -8.72813127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.695898226999999 meters 0.05050375257308206 Centerline is valid? [True, True] Translation: X:6.76, Y:0.26, Z:-0.09 [[ 9.99804835e-01 1.58643028e-02 1.17735229e-02 6.76073377e+00] [-1.58710828e-02 9.99873930e-01 4.82655549e-04 2.63949753e-01] [-1.17643816e-02 -6.69419907e-04 9.99930573e-01 -8.95283374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.755898227 meters 0.050354654297001596 Centerline is valid? [True, True] Translation: X:6.82, Y:0.26, Z:-0.09 [[ 9.99791214e-01 1.44210547e-02 1.44762487e-02 6.81874472e+00] [-1.44311627e-02 9.99895689e-01 5.94026295e-04 2.63117132e-01] [-1.44661722e-02 -8.02811371e-04 9.99895037e-01 -8.81706372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.815898226999998 meters 0.04340270437964072 Centerline is valid? [True, True] Translation: X:6.88, Y:0.25, Z:-0.09 [[ 9.99807079e-01 1.28143910e-02 1.48860850e-02 6.87898702e+00] [-1.28249130e-02 9.99917570e-01 6.11585099e-04 2.53237698e-01] [-1.48770208e-02 -8.02379857e-04 9.99889009e-01 -8.81365520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.875898226999999 meters 0.041118031499946625 Centerline is valid? [True, True] Translation: X:6.94, Y:0.24, Z:-0.09 [[ 9.99870792e-01 1.02878488e-02 1.23515359e-02 6.93972290e+00] [-1.02949036e-02 9.99946877e-01 5.07726190e-04 2.42529174e-01] [-1.23456563e-02 -6.34818459e-04 9.99923588e-01 -9.34608145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.935898227 meters 0.04324252852094155 Centerline is valid? [True, True] Translation: X:7.00, Y:0.24, Z:-0.09 [[ 9.99870700e-01 8.62156042e-03 1.35739305e-02 6.99896562e+00] [-8.62993298e-03 9.99962606e-01 5.58357367e-04 2.41764800e-01] [-1.35686090e-02 -6.75427283e-04 9.99907714e-01 -9.20817976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.995898227 meters 0.04260065155295459 Centerline is valid? [True, True] Translation: X:7.06, Y:0.24, Z:-0.09 [[ 9.99870197e-01 8.64961569e-03 1.35931273e-02 7.05784464e+00] [-8.65802033e-03 9.99962362e-01 5.59574018e-04 2.39071068e-01] [-1.35877756e-02 -6.77190957e-04 9.99907453e-01 -9.08163284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.055898226999998 meters 0.046794461023764056 Centerline is valid? [True, True] Translation: X:7.12, Y:0.24, Z:-0.09 [[ 9.99871397e-01 1.05094480e-02 1.21136788e-02 7.11669643e+00] [-1.05162650e-02 9.99944578e-01 4.99193972e-04 2.37194050e-01] [-1.21077612e-02 -6.26520431e-04 9.99926502e-01 -9.47571466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.115898226999999 meters 0.04601570038840779 Centerline is valid? [True, True] Translation: X:7.18, Y:0.23, Z:-0.09 [[ 9.99859322e-01 1.14551614e-02 1.22521367e-02 7.17588111e+00] [-1.14622123e-02 9.99934179e-01 5.05415651e-04 2.31613139e-01] [-1.22455406e-02 -6.45781143e-04 9.99924812e-01 -9.37461315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.175898227 meters 0.04682189249185265 Centerline is valid? [True, True] Translation: X:7.23, Y:0.23, Z:-0.10 [[ 9.99848437e-01 1.09955301e-02 1.34982094e-02 7.23487708e+00] [-1.10040561e-02 9.99939298e-01 5.57523062e-04 2.28317615e-01] [-1.34912598e-02 -7.05973615e-04 9.99908740e-01 -9.50232967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.235898226999998 meters 0.04486419817940971 Centerline is valid? [True, True] Translation: X:7.29, Y:0.22, Z:-0.09 [[ 9.99847883e-01 1.05560860e-02 1.38845535e-02 7.29380978e+00] [-1.05650744e-02 9.99944023e-01 5.74172597e-04 2.23811111e-01] [-1.38777153e-02 -7.20776597e-04 9.99903440e-01 -9.34489841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.295898226999999 meters 0.04619690897978096 Centerline is valid? [True, True] Translation: X:7.35, Y:0.22, Z:-0.10 [[ 9.99847347e-01 1.11081607e-02 1.34867319e-02 7.35319439e+00] [-1.11167002e-02 9.99938052e-01 5.58369027e-04 2.18358582e-01] [-1.34796940e-02 -7.08211746e-04 9.99908894e-01 -9.53473307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.355898226999999 meters 0.044331271006081634 Centerline is valid? [True, True] Translation: X:7.41, Y:0.21, Z:-0.09 [[ 9.99823380e-01 1.09728396e-02 1.52579890e-02 7.41232508e+00] [-1.09837663e-02 9.99939477e-01 6.32516524e-04 2.13498060e-01] [-1.52501251e-02 -7.99994995e-04 9.99883390e-01 -9.33844612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.415898227 meters 0.048163195167431436 Centerline is valid? [True, True] Translation: X:7.47, Y:0.22, Z:-0.09 [[ 9.99808553e-01 1.14181018e-02 1.58897856e-02 7.47024509e+00] [-1.14300224e-02 9.99934458e-01 6.59588106e-04 2.17560419e-01] [-1.58812129e-02 -8.41082435e-04 9.99873532e-01 -9.09814236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.475898226999998 meters 0.050700602612159765 Centerline is valid? [True, True] Translation: X:7.53, Y:0.22, Z:-0.09 [[ 9.99806460e-01 1.34881578e-02 1.43217655e-02 7.52926158e+00] [-1.34980638e-02 9.99908720e-01 5.95232229e-04 2.19371494e-01] [-1.43124297e-02 -7.88433132e-04 9.99897261e-01 -9.48226864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.535898226999999 meters 0.051436918537822826 Centerline is valid? [True, True] Translation: X:7.59, Y:0.22, Z:-0.10 [[ 9.99885878e-01 1.10299927e-02 1.03232783e-02 7.58823893e+00] [-1.10350118e-02 9.99939020e-01 4.29358414e-04 2.19521948e-01] [-1.03179130e-02 -5.43226913e-04 9.99946621e-01 -1.01740458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.595898227 meters 0.048611747976738555 Centerline is valid? [True, True] Translation: X:7.65, Y:0.22, Z:-0.10 [[ 9.99919971e-01 7.23003907e-03 1.03815800e-02 7.64855396e+00] [-7.23491324e-03 9.99973734e-01 4.32022153e-04 2.18947307e-01] [-1.03781838e-02 -5.07097410e-04 9.99946017e-01 -1.00138224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.655898226999998 meters 0.03590377690316897 Centerline is valid? [True, True] Translation: X:7.71, Y:0.20, Z:-0.10 [[ 9.99910298e-01 9.77492221e-04 1.33581860e-02 7.70970582e+00] [-9.85005845e-04 9.99999360e-01 5.55905689e-04 2.04158447e-01] [-1.33576340e-02 -5.69013714e-04 9.99910621e-01 -9.86484312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.715898226999998 meters 0.026263314827608318 Centerline is valid? [True, True] Translation: X:7.77, Y:0.19, Z:-0.09 [[ 9.99805147e-01 -1.15075400e-02 1.60388648e-02 7.77040997e+00] [ 1.14983125e-02 9.99933669e-01 6.67422048e-04 1.94246276e-01] [-1.60454813e-02 -4.82872118e-04 9.99871146e-01 -9.33418110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.775898226999999 meters 0.021757507872330235 Centerline is valid? [True, True] Translation: X:7.83, Y:0.19, Z:-0.10 [[ 9.99746682e-01 -1.77596131e-02 1.38263605e-02 7.83098023e+00] [ 1.77533535e-02 9.99842231e-01 5.75345457e-04 1.89089220e-01] [-1.38343970e-02 -3.29735446e-04 9.99904246e-01 -9.72407665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.835898227 meters 0.018302636346767213 Centerline is valid? [True, True] Translation: X:7.89, Y:0.19, Z:-0.10 [[ 9.99623441e-01 -2.44048901e-02 1.25450114e-02 7.89213539e+00] [ 2.44002609e-02 9.99702133e-01 5.21951522e-04 1.87716473e-01] [-1.25540128e-02 -2.15653427e-04 9.99921172e-01 -9.84440570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.895898226999998 meters 0.015304899569293462 Centerline is valid? [True, True] Translation: X:7.95, Y:0.19, Z:-0.10 [[ 9.99521675e-01 -2.77413619e-02 1.36688925e-02 7.95478510e+00] [ 2.77361884e-02 9.99615117e-01 5.67949037e-04 1.88529347e-01] [-1.36793873e-02 -1.88554395e-04 9.99906415e-01 -9.89577395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.955898226999999 meters 0.01258941925037608 Centerline is valid? [True, True] Translation: X:8.02, Y:0.19, Z:-0.10 [[ 9.99303727e-01 -3.44152976e-02 1.44100122e-02 8.01599025e+00] [ 3.44102686e-02 9.99407613e-01 5.96862348e-04 1.86306900e-01] [-1.44220171e-02 -1.00594377e-04 9.99895992e-01 -9.92817686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.015898227 meters 0.009514558365689435 Centerline is valid? [True, True] Translation: X:8.08, Y:0.19, Z:-0.10 [[ 9.99174163e-01 -3.85055841e-02 1.29735156e-02 8.07857448e+00] [ 3.85018620e-02 9.99258384e-01 5.36632137e-04 1.87013974e-01] [-1.29845575e-02 -3.66844603e-05 9.99915696e-01 -1.00890891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.075898226999998 meters 0.011293382433646401 Centerline is valid? [True, True] Translation: X:8.14, Y:0.18, Z:-0.10 [[ 9.98888196e-01 -4.57194968e-02 1.14934125e-02 8.14096210e+00] [ 4.57170732e-02 9.98954316e-01 4.73651550e-04 1.82956175e-01] [-1.15030492e-02 5.23202398e-05 9.99933836e-01 -1.04798998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.135898226999998 meters 0.012314645063029987 Centerline is valid? [True, True] Translation: X:8.20, Y:0.19, Z:-0.11 [[ 9.98785038e-01 -4.80083273e-02 1.11196846e-02 8.20279517e+00] [ 4.80062217e-02 9.98846932e-01 4.56352470e-04 1.85499172e-01] [-1.11287716e-02 7.80160262e-05 9.99938070e-01 -1.05708525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.195898226999999 meters 0.01508843594633126 Centerline is valid? [True, True] Translation: X:8.26, Y:0.19, Z:-0.10 [[ 9.98592472e-01 -5.13719824e-02 1.31906785e-02 8.26491265e+00] [ 5.13693453e-02 9.98679578e-01 5.38881922e-04 1.86900406e-01] [-1.32009447e-02 1.39473089e-04 9.99912854e-01 -1.02319604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.255898227 meters 0.0208513256871809 Centerline is valid? [True, True] Translation: X:8.33, Y:0.18, Z:-0.10 [[ 9.98299985e-01 -5.67909139e-02 1.31122580e-02 8.32610065e+00] [ 5.67887977e-02 9.98386071e-01 5.33965219e-04 1.81731751e-01] [-1.31214202e-02 2.11571899e-04 9.99913888e-01 -1.00841400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.315898226999998 meters 0.02507810634905776 Centerline is valid? [True, True] Translation: X:8.39, Y:0.17, Z:-0.11 [[ 9.97651900e-01 -6.73726202e-02 1.23132250e-02 8.38798822e+00] [ 6.73715624e-02 9.97727829e-01 5.01160042e-04 1.65786034e-01] [-1.23190117e-02 3.29577935e-04 9.99924064e-01 -1.05248873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.375898226999999 meters 0.030160537479685837 Centerline is valid? [True, True] Translation: X:8.45, Y:0.16, Z:-0.11 [[ 9.97239849e-01 -7.32233127e-02 1.22894330e-02 8.44935844e+00] [ 7.32227053e-02 9.97315489e-01 4.99972474e-04 1.56452271e-01] [-1.22930515e-02 4.01273056e-04 9.99924357e-01 -1.06334640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.435898227 meters 0.029740191339269747 Centerline is valid? [True, True] Translation: X:8.51, Y:0.15, Z:-0.11 [[ 9.97102044e-01 -7.51651631e-02 1.17350852e-02 8.51199043e+00] [ 7.51647454e-02 9.97171015e-01 4.77267058e-04 1.50521976e-01] [-1.17377606e-02 4.06180729e-04 9.99931028e-01 -1.07096785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.495898227 meters 0.032350550172387756 Centerline is valid? [True, True] Translation: X:8.57, Y:0.15, Z:-0.11 [[ 9.97217436e-01 -7.35572236e-02 1.21127912e-02 8.57410207e+00] [ 7.35566701e-02 9.97290918e-01 4.91797607e-04 1.47121686e-01] [-1.21161519e-02 4.00547439e-04 9.99926517e-01 -1.06623042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.555898226999998 meters 0.02606286104307826 Centerline is valid? [True, True] Translation: X:8.63, Y:0.16, Z:-0.10 [[ 9.97462234e-01 -6.98841392e-02 1.36124534e-02 8.63438322e+00] [ 6.98831229e-02 9.97555034e-01 5.50884433e-04 1.55220164e-01] [-1.36176695e-02 4.01794339e-04 9.99907195e-01 -1.04101222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.615898226999999 meters 0.022920448034916326 Centerline is valid? [True, True] Translation: X:8.70, Y:0.16, Z:-0.11 [[ 9.97740290e-01 -6.59174098e-02 1.30080464e-02 8.69529307e+00] [ 6.59161454e-02 9.97825027e-01 5.26383842e-04 1.58241753e-01] [-1.30144521e-02 3.32245913e-04 9.99915253e-01 -1.07056057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.675898227 meters 0.026855738289074678 Centerline is valid? [True, True] Translation: X:8.76, Y:0.16, Z:-0.11 [[ 9.97827518e-01 -6.46367105e-02 1.27412827e-02 8.75652800e+00] [ 6.46354001e-02 9.97908813e-01 5.15035333e-04 1.57655617e-01] [-1.27479285e-02 3.09621479e-04 9.99918694e-01 -1.06020167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.735898226999998 meters 0.024741329833418126 Centerline is valid? [True, True] Translation: X:8.82, Y:0.17, Z:-0.11 [[ 9.97850787e-01 -6.45869394e-02 1.10604737e-02 8.81961221e+00] [ 6.45859656e-02 9.97912047e-01 4.45584522e-04 1.68934905e-01] [-1.10661589e-02 2.69724510e-04 9.99938732e-01 -1.09014290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.795898226999999 meters 0.03119852525860609 Centerline is valid? [True, True] Translation: X:8.88, Y:0.17, Z:-0.11 [[ 9.97350397e-01 -7.19538966e-02 1.07155407e-02 8.87949929e+00] [ 7.19534261e-02 9.97407900e-01 4.29921714e-04 1.66498827e-01] [-1.07186995e-02 3.42237274e-04 9.99942495e-01 -1.11656926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.855898226999999 meters 0.035569060479553764 Centerline is valid? [True, True] Translation: X:8.94, Y:0.16, Z:-0.11 [[ 9.96789542e-01 -7.94132674e-02 1.02050427e-02 8.94054252e+00] [ 7.94132332e-02 9.96841698e-01 4.09210480e-04 1.63572330e-01] [-1.02053088e-02 4.02518706e-04 9.99947843e-01 -1.13103059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.915898227 meters 0.04239526132974549 Centerline is valid? [True, True] Translation: X:9.00, Y:0.16, Z:-0.11 [[ 9.96310092e-01 -8.51091245e-02 1.10742053e-02 9.00046033e+00] [ 8.51094369e-02 9.96371510e-01 4.43920191e-04 1.58680876e-01] [-1.10718043e-02 5.00237208e-04 9.99938581e-01 -1.11943565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.975898226999998 meters 0.04109010342953836 Centerline is valid? [True, True] Translation: X:9.06, Y:0.17, Z:-0.11 [[ 9.96017075e-01 -8.85464415e-02 1.04648780e-02 9.06127449e+00] [ 8.85469148e-02 9.96071919e-01 4.19006124e-04 1.65346974e-01] [-1.04608727e-02 5.09295410e-04 9.99945154e-01 -1.11753436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.035898226999999 meters 0.04263754784518265 Centerline is valid? [True, True] Translation: X:9.12, Y:0.17, Z:-0.12 [[ 9.95854856e-01 -9.05303340e-02 8.79570793e-03 9.12263677e+00] [ 9.05307460e-02 9.95893599e-01 3.52121801e-04 1.65371903e-01] [-8.79146693e-03 4.45619795e-04 9.99961255e-01 -1.17085018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.095898227 meters 0.05037610208568365 Centerline is valid? [True, True] Translation: X:9.18, Y:0.16, Z:-0.12 [[ 9.95546025e-01 -9.37415556e-02 1.00315722e-02 9.18327412e+00] [ 9.37422566e-02 9.95596418e-01 4.01334634e-04 1.58078192e-01] [-1.00250191e-02 5.40835119e-04 9.99949602e-01 -1.17991109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.155898226999998 meters 0.05120102662932839 Centerline is valid? [True, True] Translation: X:9.24, Y:0.16, Z:-0.12 [[ 9.95421873e-01 -9.52185761e-02 8.28957599e-03 9.24451215e+00] [ 9.52191061e-02 9.95456283e-01 3.31608122e-04 1.56948344e-01] [-8.28348576e-03 4.59236037e-04 9.99965586e-01 -1.18758739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.215898226999998 meters 0.05075370053319785 Centerline is valid? [True, True] Translation: X:9.31, Y:0.16, Z:-0.12 [[ 9.95497139e-01 -9.45718277e-02 6.45107083e-03 9.30714972e+00] [ 9.45721349e-02 9.95517978e-01 2.58084960e-04 1.57570116e-01] [-6.44656455e-03 3.53168702e-04 9.99979158e-01 -1.20812274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.275898226999999 meters 0.048177273064684056 Centerline is valid? [True, True] Translation: X:9.37, Y:0.16, Z:-0.12 [[ 9.95688519e-01 -9.24088973e-02 8.06035765e-03 9.36829221e+00] [ 9.24093117e-02 9.95721053e-01 3.21797873e-04 1.60783769e-01] [-8.05560479e-03 4.24441655e-04 9.99967463e-01 -1.20633498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.335898227 meters 0.03966399301013227 Centerline is valid? [True, True] Translation: X:9.43, Y:0.18, Z:-0.12 [[ 9.96146521e-01 -8.71273302e-02 1.00467447e-02 9.42903118e+00] [ 8.71277075e-02 9.96197070e-01 4.00962170e-04 1.76100214e-01] [-1.00434723e-02 4.75932759e-04 9.99949450e-01 -1.15914927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.395898226999998 meters 0.04292024047732597 Centerline is valid? [True, True] Translation: X:9.49, Y:0.18, Z:-0.12 [[ 9.96469326e-01 -8.34297040e-02 9.40037913e-03 9.48841975e+00] [ 8.34298709e-02 9.96513580e-01 3.75071039e-04 1.76413168e-01] [-9.39889753e-03 4.10525632e-04 9.99955745e-01 -1.18781423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.455898226999999 meters 0.04749247684981379 Centerline is valid? [True, True] Translation: X:9.55, Y:0.18, Z:-0.12 [[ 9.96240761e-01 -8.59917186e-02 1.04771648e-02 9.54879872e+00] [ 8.59920726e-02 9.96295734e-01 4.17533941e-04 1.76369534e-01] [-1.04742591e-02 4.84988787e-04 9.99945026e-01 -1.19260847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.515898227 meters 0.04257743779414133 Centerline is valid? [True, True] Translation: X:9.61, Y:0.19, Z:-0.12 [[ 9.95882986e-01 -8.96549642e-02 1.33815512e-02 9.60896287e+00] [ 8.96558763e-02 9.95972660e-01 5.32931004e-04 1.87226837e-01] [-1.33754391e-02 6.68997784e-04 9.99910321e-01 -1.15742857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.575898226999998 meters 0.05134223626345192 Centerline is valid? [True, True] Translation: X:9.67, Y:0.18, Z:-0.12 [[ 9.95764838e-01 -9.10494209e-02 1.27432531e-02 9.67009600e+00] [ 9.10503645e-02 9.95846160e-01 5.07307910e-04 1.81438017e-01] [-1.27365097e-02 6.55118457e-04 9.99918673e-01 -1.17111585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.635898226999998 meters 0.044154839019249464 Centerline is valid? [True, True] Translation: X:9.73, Y:0.20, Z:-0.12 [[ 9.95954457e-01 -8.91720040e-02 1.10938122e-02 9.73111962e+00] [ 8.91726055e-02 9.96016090e-01 4.41404440e-04 2.00962682e-01] [-1.10889764e-02 5.49645422e-04 9.99938364e-01 -1.19107304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.695898226999999 meters 0.044051608795792827 Centerline is valid? [True, True] Translation: X:9.79, Y:0.21, Z:-0.12 [[ 9.95781825e-01 -9.12117031e-02 9.94894554e-03 9.79178018e+00] [ 9.12122914e-02 9.95831392e-01 3.95549337e-04 2.11541113e-01] [-9.94355101e-03 5.13585279e-04 9.99950430e-01 -1.21959532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.755898227 meters 0.05432426895206789 Centerline is valid? [True, True] Translation: X:9.85, Y:0.21, Z:-0.13 [[ 9.95580358e-01 -9.37598689e-02 5.37008356e-03 9.85183342e+00] [ 9.37600767e-02 9.95594798e-01 2.13587872e-04 2.05931772e-01] [-5.36645323e-03 2.90855557e-04 9.99985558e-01 -1.30383247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.815898226999998 meters 0.05338264516502869 Centerline is valid? [True, True] Translation: X:9.91, Y:0.22, Z:-0.13 [[ 9.94884490e-01 -1.00853253e-01 5.78556353e-03 9.91218289e+00] [ 1.00853615e-01 9.94901249e-01 2.29862683e-04 2.16515866e-01] [-5.77924679e-03 3.54808178e-04 9.99983237e-01 -1.28298708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.875898226999999 meters 0.06578763771912124 Centerline is valid? [True, True] Translation: X:9.97, Y:0.20, Z:-0.13 [[ 9.94371173e-01 -1.05655451e-01 7.93064392e-03 9.97250389e+00] [ 1.05656285e-01 9.94402660e-01 3.14852683e-04 2.04631643e-01] [-7.91951931e-03 5.24841946e-04 9.99968502e-01 -1.27533024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.935898227 meters 0.055365589247825184 Centerline is valid? [True, True] Translation: X:10.03, Y:0.22, Z:-0.13 [[ 9.93907969e-01 -1.09802223e-01 9.50894292e-03 1.00323584e+01] [ 1.09803616e-01 9.93953230e-01 3.77111622e-04 2.24071096e-01] [-9.49285222e-03 6.69302067e-04 9.99954718e-01 -1.26095407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.995898226999998 meters 0.06497176921931086 Centerline is valid? [True, True] Translation: X:10.09, Y:0.22, Z:-0.12 [[ 9.93386737e-01 -1.14299739e-01 1.08793781e-02 1.00931913e+01] [ 1.14301831e-01 9.93445975e-01 4.31351463e-04 2.15004377e-01] [-1.08573777e-02 8.15034009e-04 9.99940725e-01 -1.23743622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.055898226999998 meters 0.06722605018051958 Centerline is valid? [True, True] Translation: X:10.15, Y:0.21, Z:-0.12 [[ 9.93239590e-01 -1.15611103e-01 1.04494022e-02 1.01529422e+01] [ 1.15613106e-01 9.93294235e-01 4.14183555e-04 2.13326928e-01] [-1.04272152e-02 7.96704339e-04 9.99945318e-01 -1.24795980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.115898226999999 meters 0.059677646918260586 Centerline is valid? [True, True] Translation: X:10.21, Y:0.23, Z:-0.13 [[ 9.93860834e-01 -1.10441562e-01 6.58061405e-03 1.02135350e+01] [ 1.10442245e-01 9.93882509e-01 2.60584082e-04 2.27768176e-01] [-6.56913652e-03 4.67793479e-04 9.99978314e-01 -1.29847208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.175898227 meters 0.05901749399873408 Centerline is valid? [True, True] Translation: X:10.27, Y:0.23, Z:-0.13 [[ 9.94207092e-01 -1.07176254e-01 8.09375164e-03 1.02734997e+01] [ 1.07177181e-01 9.94239885e-01 3.20266139e-04 2.29990000e-01] [-8.08145563e-03 5.49054622e-04 9.99967194e-01 -1.27828536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.235898226999998 meters 0.05823024931499102 Centerline is valid? [True, True] Translation: X:10.33, Y:0.24, Z:-0.13 [[ 9.94496818e-01 -1.04318116e-01 9.68556367e-03 1.03328060e+01] [ 1.04319310e-01 9.94543782e-01 3.83297093e-04 2.35508764e-01] [-9.67270196e-03 6.29203577e-04 9.99953020e-01 -1.27079132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.295898226999999 meters 0.053518915935886195 Centerline is valid? [True, True] Translation: X:10.39, Y:0.25, Z:-0.13 [[ 9.94609250e-01 -1.03274081e-01 9.32220622e-03 1.03939312e+01] [ 1.03275141e-01 9.94652758e-01 3.68939980e-04 2.46856015e-01] [-9.31046007e-03 5.95801042e-04 9.99956479e-01 -1.27117772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.355898226999999 meters 0.05074180832118811 Centerline is valid? [True, True] Translation: X:10.46, Y:0.25, Z:-0.13 [[ 9.94712035e-01 -1.02235538e-01 9.79092977e-03 1.04562662e+01] [ 1.02236659e-01 9.94760029e-01 3.87273400e-04 2.54368357e-01] [-9.77921869e-03 6.15766439e-04 9.99951993e-01 -1.25375884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.415898226999998 meters 0.05616466965843041 Centerline is valid? [True, True] Translation: X:10.52, Y:0.25, Z:-0.13 [[ 9.94798194e-01 -1.01423949e-01 9.47293005e-03 1.05180327e+01] [ 1.01424976e-01 9.94843121e-01 3.73181145e-04 2.48537713e-01] [-9.46192880e-03 5.89551772e-04 9.99955061e-01 -1.28317719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.475898226999998 meters 0.05005746450369143 Centerline is valid? [True, True] Translation: X:10.58, Y:0.26, Z:-0.13 [[ 9.95208862e-01 -9.74003063e-02 8.51473234e-03 1.05790345e+01] [ 9.74009959e-02 9.95245163e-01 3.34634167e-04 2.58133688e-01] [-8.50683964e-03 4.96312521e-04 9.99963693e-01 -1.31312612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.535898226999999 meters 0.045629372469091635 Centerline is valid? [True, True] Translation: X:10.64, Y:0.27, Z:-0.13 [[ 9.95416177e-01 -9.52050137e-02 9.09069407e-03 1.06397875e+01] [ 9.52057101e-02 9.95457556e-01 3.57108853e-04 2.68964727e-01] [-9.08339865e-03 5.10014055e-04 9.99958615e-01 -1.25698453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.595898227 meters 0.04461376554237714 Centerline is valid? [True, True] Translation: X:10.70, Y:0.27, Z:-0.13 [[ 9.95746231e-01 -9.15351101e-02 1.05245948e-02 1.06998244e+01] [ 9.15358404e-02 9.95801697e-01 4.13305655e-04 2.72768437e-01] [-1.05182413e-02 5.51830083e-04 9.99944530e-01 -1.26651005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.655898226999998 meters 0.04116118363445412 Centerline is valid? [True, True] Translation: X:10.76, Y:0.28, Z:-0.13 [[ 9.96395978e-01 -8.42391005e-02 9.94126877e-03 1.07594626e+01] [ 8.42393893e-02 9.96445469e-01 3.90424324e-04 2.84622125e-01] [-9.93882122e-03 4.48429185e-04 9.99950508e-01 -1.28144282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.715898226999998 meters 0.03426990512269859 Centerline is valid? [True, True] Translation: X:10.82, Y:0.30, Z:-0.12 [[ 9.97059947e-01 -7.58012514e-02 1.12086161e-02 1.08200475e+01] [ 7.58010858e-02 9.97122862e-01 4.40206583e-04 3.04519266e-01] [-1.12097356e-02 4.10712917e-04 9.99937085e-01 -1.24852847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.775898226999999 meters 0.028578261840342394 Centerline is valid? [True, True] Translation: X:10.88, Y:0.32, Z:-0.12 [[ 9.97441159e-01 -7.02888323e-02 1.30619704e-02 1.08798828e+01] [ 7.02881378e-02 9.97526599e-01 5.12796909e-04 3.21064522e-01] [-1.30657068e-02 4.06616835e-04 9.99914557e-01 -1.22436854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.835898227 meters 0.02615989951247765 Centerline is valid? [True, True] Translation: X:10.94, Y:0.34, Z:-0.13 [[ 9.97689823e-01 -6.70018810e-02 1.12145290e-02 1.09403730e+01] [ 6.70011627e-02 9.97752800e-01 4.40169944e-04 3.36598140e-01] [-1.12188200e-02 3.12233410e-04 9.99937018e-01 -1.28044163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.895898226999998 meters 0.027171314997709743 Centerline is valid? [True, True] Translation: X:11.00, Y:0.34, Z:-0.13 [[ 9.97666385e-01 -6.75422438e-02 9.99146567e-03 1.10014359e+01] [ 6.75417028e-02 9.97716375e-01 3.91955578e-04 3.42787905e-01] [-9.99512246e-03 2.83799699e-04 9.99950007e-01 -1.30420109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.955898226999999 meters 0.030736346181361916 Centerline is valid? [True, True] Translation: X:11.06, Y:0.35, Z:-0.13 [[ 9.97564016e-01 -6.89077673e-02 1.08514439e-02 1.10626654e+01] [ 6.89072283e-02 9.97622982e-01 4.23985591e-04 3.46153044e-01] [-1.08548657e-02 3.24790155e-04 9.99941031e-01 -1.28080796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.015898227 meters 0.02649375445621588 Centerline is valid? [True, True] Translation: X:11.12, Y:0.36, Z:-0.13 [[ 9.97664514e-01 -6.73958465e-02 1.11048443e-02 1.11241793e+01] [ 6.73952069e-02 9.97726265e-01 4.32229405e-04 3.62594408e-01] [-1.11087253e-02 3.17193339e-04 9.99938246e-01 -1.29941193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.075898226999998 meters 0.024610234644349346 Centerline is valid? [True, True] Translation: X:11.19, Y:0.37, Z:-0.13 [[ 9.97808188e-01 -6.51873133e-02 1.13768760e-02 1.11854054e+01] [ 6.51865177e-02 9.97873000e-01 4.41136140e-04 3.73042384e-01] [-1.13814339e-02 3.01449678e-04 9.99935184e-01 -1.30860012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.135898226999998 meters 0.02888226443602911 Centerline is valid? [True, True] Translation: X:11.25, Y:0.37, Z:-0.13 [[ 9.97756045e-01 -6.63018100e-02 9.32440187e-03 1.12465630e+01] [ 6.63013251e-02 9.97799581e-01 3.61451615e-04 3.72837461e-01] [-9.32784918e-03 2.57579666e-04 9.99956461e-01 -1.34032480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.195898226999999 meters 0.026728906015471014 Centerline is valid? [True, True] Translation: X:11.31, Y:0.38, Z:-0.13 [[ 9.97720663e-01 -6.70163704e-02 7.89211390e-03 1.13085800e+01] [ 6.70160528e-02 9.97751851e-01 3.04996190e-04 3.77245039e-01] [-7.89481099e-03 2.24597321e-04 9.99968810e-01 -1.34880136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.255898227 meters 0.022337050565627327 Centerline is valid? [True, True] Translation: X:11.37, Y:0.39, Z:-0.14 [[ 9.98058981e-01 -6.14554334e-02 1.00747304e-02 1.13691349e+01] [ 6.14546531e-02 9.98109801e-01 3.87305724e-04 3.85592775e-01] [-1.00794892e-02 2.32585105e-04 9.99949174e-01 -1.35496706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.315898226999998 meters 0.017423824909547737 Centerline is valid? [True, True] Translation: X:11.43, Y:0.39, Z:-0.13 [[ 9.98432779e-01 -5.47665198e-02 1.15158129e-02 1.14282378e+01] [ 5.47650567e-02 9.98499170e-01 4.42589978e-04 3.93579705e-01] [-1.15227687e-02 1.88767802e-04 9.99933593e-01 -1.32804865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.375898226999999 meters 0.014459101867044763 Centerline is valid? [True, True] Translation: X:11.49, Y:0.40, Z:-0.13 [[ 9.98761332e-01 -4.85314123e-02 1.09774592e-02 1.14881051e+01] [ 4.85297051e-02 9.98821651e-01 4.21997808e-04 4.00721346e-01] [-1.09850041e-02 1.11257766e-04 9.99939657e-01 -1.31287490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.435898227 meters 0.01048126585190082 Centerline is valid? [True, True] Translation: X:11.55, Y:0.41, Z:-0.13 [[ 9.99057544e-01 -4.09138230e-02 1.44942644e-02 1.15506025e+01] [ 4.09100575e-02 9.99162678e-01 5.56319875e-04 4.07313798e-01] [-1.45048892e-02 3.71656220e-05 9.99894798e-01 -1.29730876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.495898226999998 meters 0.011938793248952445 Centerline is valid? [True, True] Translation: X:11.61, Y:0.41, Z:-0.12 [[ 9.99026198e-01 -3.97538898e-02 1.91385461e-02 1.16134059e+01] [ 3.97471788e-02 9.99209501e-01 7.31059548e-04 4.05384631e-01] [-1.91524796e-02 3.03555739e-05 9.99816574e-01 -1.23385680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.555898226999998 meters 0.010869971183503814 Centerline is valid? [True, True] Translation: X:11.68, Y:0.40, Z:-0.13 [[ 9.99043136e-01 -4.06755778e-02 1.60720337e-02 1.16760491e+01] [ 4.06710011e-02 9.99172405e-01 6.11650241e-04 3.98409786e-01] [-1.60836118e-02 4.26007240e-05 9.99870649e-01 -1.29699055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.615898226999999 meters 0.011382683748782518 Centerline is valid? [True, True] Translation: X:11.74, Y:0.39, Z:-0.13 [[ 9.99109952e-01 -3.99720875e-02 1.34735569e-02 1.17381673e+01] [ 3.99688322e-02 9.99200796e-01 5.10902188e-04 3.93369494e-01] [-1.34832106e-02 2.80748750e-05 9.99909097e-01 -1.33224802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.675898227 meters 0.0108681829881789 Centerline is valid? [True, True] Translation: X:11.80, Y:0.39, Z:-0.13 [[ 9.99407235e-01 -3.19151868e-02 1.29073610e-02 1.18003950e+01] [ 3.19115528e-02 9.99490578e-01 4.87455003e-04 3.91585992e-01] [-1.29163429e-02 -7.52721254e-05 9.99916578e-01 -1.33259978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.735898226999998 meters 0.017721120941050085 Centerline is valid? [True, True] Translation: X:11.86, Y:0.40, Z:-0.13 [[ 9.99632829e-01 -2.37780318e-02 1.29927704e-02 1.18601762e+01] [ 2.37736845e-02 9.99717246e-01 4.88967233e-04 3.99642533e-01] [-1.30007234e-02 -1.79901673e-04 9.99915471e-01 -1.31389017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.795898226999999 meters 0.025694332301185736 Centerline is valid? [True, True] Translation: X:11.92, Y:0.41, Z:-0.13 [[ 9.99840286e-01 -1.03226090e-02 1.45892300e-02 1.19211625e+01] [ 1.03157025e-02 9.99946641e-01 5.48570406e-04 4.13207110e-01] [-1.45941142e-02 -3.97984635e-04 9.99893421e-01 -1.29640708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.855898226999999 meters 0.03014642962329297 Centerline is valid? [True, True] Translation: X:11.98, Y:0.42, Z:-0.13 [[ 9.99894623e-01 -4.96557292e-03 1.36413487e-02 1.19814811e+01] [ 4.95904018e-03 9.99987572e-01 5.12676578e-04 4.19964580e-01] [-1.36437249e-02 -4.44974557e-04 9.99906821e-01 -1.33289738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.915898226999998 meters 0.03183667781204304 Centerline is valid? [True, True] Translation: X:12.04, Y:0.42, Z:-0.14 [[ 9.99950600e-01 -3.67146448e-03 9.23678584e-03 1.20430610e+01] [ 3.66841516e-03 9.99993211e-01 3.47049166e-04 4.24865028e-01] [-9.23799731e-03 -3.13147657e-04 9.99957280e-01 -1.40217360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.975898226999998 meters 0.03153725063030384 Centerline is valid? [True, True] Translation: X:12.10, Y:0.43, Z:-0.14 [[ 9.99934086e-01 -4.50402503e-03 1.05611232e-02 1.21041729e+01] [ 4.50009034e-03 9.99989796e-01 3.96298141e-04 4.30735639e-01] [-1.05628003e-02 -3.48746011e-04 9.99944151e-01 -1.37794550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.035898227 meters 0.02911047599807219 Centerline is valid? [True, True] Translation: X:12.17, Y:0.43, Z:-0.14 [[ 9.99916946e-01 -5.12858416e-03 1.18236874e-02 1.21659606e+01] [ 5.12371757e-03 9.99986776e-01 4.41851623e-04 4.33588492e-01] [-1.18257971e-02 -3.81233690e-04 9.99930000e-01 -1.36826401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.095898227 meters 0.0318292803350652 Centerline is valid? [True, True] Translation: X:12.23, Y:0.44, Z:-0.14 [[ 9.99929040e-01 -4.83423256e-03 1.08878316e-02 1.22282119e+01] [ 4.83009451e-03 9.99988252e-01 4.06325345e-04 4.43645402e-01] [-1.08896680e-02 -3.53707256e-04 9.99940643e-01 -1.39932075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.155898227 meters 0.03070958349190749 Centerline is valid? [True, True] Translation: X:12.29, Y:0.45, Z:-0.14 [[ 9.99916373e-01 -5.07925972e-03 1.18932277e-02 1.22891442e+01] [ 5.07435833e-03 9.99987028e-01 4.42256274e-04 4.51821525e-01] [-1.18953197e-02 -3.81868790e-04 9.99929175e-01 -1.36970337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.215898227 meters 0.02875511828325876 Centerline is valid? [True, True] Translation: X:12.35, Y:0.45, Z:-0.14 [[ 9.99878079e-01 -9.86371282e-03 1.21051018e-02 1.23496556e+01] [ 9.85900410e-03 9.99951298e-01 4.48600684e-04 4.48405975e-01] [-1.21089371e-02 -3.29201743e-04 9.99926630e-01 -1.36579401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.275898227 meters 0.02573505463477319 Centerline is valid? [True, True] Translation: X:12.41, Y:0.44, Z:-0.14 [[ 9.99852023e-01 -1.24197403e-02 1.19030399e-02 1.24117214e+01] [ 1.24153697e-02 9.99922829e-01 4.41015574e-04 4.44380587e-01] [-1.19075986e-02 -2.93169674e-04 9.99929059e-01 -1.37803135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.335898227 meters 0.02350555548769373 Centerline is valid? [True, True] Translation: X:12.47, Y:0.44, Z:-0.14 [[ 9.99799103e-01 -1.64928650e-02 1.13902816e-02 1.24723835e+01] [ 1.64891325e-02 9.99863956e-01 4.21533504e-04 4.35688501e-01] [-1.13956844e-02 -2.33632956e-04 9.99935040e-01 -1.42325523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.395898227 meters 0.026030627820745007 Centerline is valid? [True, True] Translation: X:12.53, Y:0.44, Z:-0.14 [[ 9.99866227e-01 -1.15021031e-02 1.16287962e-02 1.25339577e+01] [ 1.14978771e-02 9.99933805e-01 4.30204239e-04 4.36697590e-01] [-1.16329747e-02 -2.96440220e-04 9.99932291e-01 -1.39057587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.455898227 meters 0.04043689487335877 Centerline is valid? [True, True] Translation: X:12.59, Y:0.45, Z:-0.14 [[ 9.99939877e-01 2.91511174e-04 1.09616730e-02 1.25928483e+01] [-2.95971837e-04 9.99999874e-01 4.05312655e-04 4.50564214e-01] [-1.09615534e-02 -4.08532633e-04 9.99939837e-01 -1.42001633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.515898227 meters 0.04618567386265879 Centerline is valid? [True, True] Translation: X:12.65, Y:0.46, Z:-0.14 [[ 9.99876946e-01 6.11790543e-03 1.44452417e-02 1.26533074e+01] [-6.12626042e-03 9.99981092e-01 5.34211022e-04 4.55661771e-01] [-1.44417003e-02 -6.22640597e-04 9.99895519e-01 -1.37700785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.575898227 meters 0.04859286753384905 Centerline is valid? [True, True] Translation: X:12.71, Y:0.46, Z:-0.13 [[ 9.99845590e-01 7.89896922e-03 1.56972168e-02 1.27137017e+01] [-7.90905231e-03 9.99968555e-01 5.80373256e-04 4.57839788e-01] [-1.56921389e-02 -7.04433750e-04 9.99876623e-01 -1.34953239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.635898227000002 meters 0.04524354268461039 Centerline is valid? [True, True] Translation: X:12.77, Y:0.45, Z:-0.14 [[ 9.99911971e-01 3.92193154e-03 1.26755329e-02 1.27748630e+01] [-3.92818595e-03 9.99992175e-01 4.68563991e-04 4.48144216e-01] [-1.26735960e-02 -5.18314593e-04 9.99919552e-01 -1.41798326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.695898227 meters 0.040416286802945366 Centerline is valid? [True, True] Translation: X:12.84, Y:0.44, Z:-0.14 [[ 9.99937362e-01 -1.68896355e-03 1.10643616e-02 1.28355185e+01] [ 1.68454114e-03 9.99998498e-01 4.09005630e-04 4.38874138e-01] [-1.10650358e-02 -3.90341638e-04 9.99938704e-01 -1.43550089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.755898227 meters 0.028237404538868447 Centerline is valid? [True, True] Translation: X:12.90, Y:0.41, Z:-0.14 [[ 9.99805198e-01 -1.45093425e-02 1.33807965e-02 1.28963014e+01] [ 1.45040208e-02 9.99894689e-01 4.94680400e-04 4.10911420e-01] [-1.33865648e-02 -3.00508686e-04 9.99910351e-01 -1.42323815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.815898227 meters 0.017603084181195255 Centerline is valid? [True, True] Translation: X:12.96, Y:0.39, Z:-0.14 [[ 9.99608400e-01 -2.47181151e-02 1.31171947e-02 1.29582208e+01] [ 2.47138785e-02 9.99694448e-01 4.85008554e-04 3.89451712e-01] [-1.31251752e-02 -1.60641871e-04 9.99913848e-01 -1.41673166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.875898227 meters 0.010885899081733805 Centerline is valid? [True, True] Translation: X:13.02, Y:0.37, Z:-0.14 [[ 9.99413418e-01 -3.20978165e-02 1.19393996e-02 1.30199643e+01] [ 3.20948348e-02 9.99484731e-01 4.41311368e-04 3.70244069e-01] [-1.19474127e-02 -5.78594447e-05 9.99928625e-01 -1.44611787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.935898227 meters 0.011125867294139396 Centerline is valid? [True, True] Translation: X:13.08, Y:0.36, Z:-0.14 [[ 9.99388352e-01 -3.27725309e-02 1.22017453e-02 1.30826051e+01] [ 3.27694748e-02 9.99462835e-01 4.50364741e-04 3.64526742e-01] [-1.22099505e-02 -5.02444919e-05 9.99925455e-01 -1.41781486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.995898227 meters 0.012019841500030552 Centerline is valid? [True, True] Translation: X:13.15, Y:0.37, Z:-0.14 [[ 9.99449310e-01 -3.10576066e-02 1.16833886e-02 1.31453316e+01] [ 3.10547104e-02 9.99517594e-01 4.29270190e-04 3.66456364e-01] [-1.16910846e-02 -6.62095460e-05 9.99931655e-01 -1.43131017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.055898227 meters 0.014903761998637237 Centerline is valid? [True, True] Translation: X:13.21, Y:0.36, Z:-0.14 [[ 9.99331030e-01 -3.41413386e-02 1.31096289e-02 1.32083899e+01] [ 3.41379879e-02 9.99417014e-01 4.79346318e-04 3.57169871e-01] [-1.31183517e-02 -3.14892965e-05 9.99913950e-01 -1.43590708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.115898227 meters 0.01299834550615447 Centerline is valid? [True, True] Translation: X:13.27, Y:0.35, Z:-0.15 [[ 9.99113961e-01 -4.03755299e-02 1.18789574e-02 1.32722939e+01] [ 4.03732410e-02 9.99184575e-01 4.32520078e-04 3.47939407e-01] [-1.18867342e-02 4.74551607e-05 9.99929349e-01 -1.45723826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.175898227 meters 0.012666141508027787 Centerline is valid? [True, True] Translation: X:13.33, Y:0.34, Z:-0.15 [[ 9.98958668e-01 -4.37918651e-02 1.28005125e-02 1.33342269e+01] [ 4.37895175e-02 9.99040671e-01 4.63751322e-04 3.41250283e-01] [-1.28085412e-02 9.72598655e-05 9.99917963e-01 -1.45080108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.235898227 meters 0.013032324006302028 Centerline is valid? [True, True] Translation: X:13.40, Y:0.34, Z:-0.14 [[ 9.98923215e-01 -4.43249696e-02 1.37006601e-02 1.33966859e+01] [ 4.43223518e-02 9.99017159e-01 4.94800777e-04 3.42508032e-01] [-1.37091266e-02 1.12977496e-04 9.99906019e-01 -1.43420394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.295898227000002 meters 0.011748383671569091 Centerline is valid? [True, True] Translation: X:13.46, Y:0.35, Z:-0.15 [[ 9.99046368e-01 -4.24834304e-02 1.00753213e-02 1.34590399e+01] [ 4.24819332e-02 9.99097169e-01 3.62661587e-04 3.46880472e-01] [-1.00816321e-02 6.57033869e-05 9.99949177e-01 -1.53963473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.355898227 meters 0.012588618894990774 Centerline is valid? [True, True] Translation: X:13.52, Y:0.35, Z:-0.15 [[ 9.99018216e-01 -4.35501984e-02 8.12308146e-03 1.35201671e+01] [ 4.35492692e-02 9.99051238e-01 2.91321885e-04 3.51390441e-01] [-8.12806172e-03 6.27183919e-05 9.99966965e-01 -1.53867567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.415898227 meters 0.013359735740497354 Centerline is valid? [True, True] Translation: X:13.58, Y:0.36, Z:-0.15 [[ 9.98910909e-01 -4.58811064e-02 8.48061676e-03 1.35826738e+01] [ 4.58801891e-02 9.98946904e-01 3.02781758e-04 3.57171017e-01] [-8.48557782e-03 8.66403004e-05 9.99963993e-01 -1.53060577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.475898227000002 meters 0.02174040568900002 Centerline is valid? [True, True] Translation: X:13.64, Y:0.35, Z:-0.16 [[ 9.98444133e-01 -5.50444623e-02 8.91179842e-03 1.36427354e+01] [ 5.50438294e-02 9.98483889e-01 3.16463296e-04 3.50370741e-01] [-8.91570670e-03 1.74568591e-04 9.99960239e-01 -1.56761144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.535898227 meters 0.02429073597256206 Centerline is valid? [True, True] Translation: X:13.70, Y:0.36, Z:-0.15 [[ 9.98135534e-01 -6.04803818e-02 8.22068263e-03 1.37035677e+01] [ 6.04800304e-02 9.98169365e-01 2.91563094e-04 3.60496147e-01] [-8.22326741e-03 2.06167651e-04 9.99966167e-01 -1.54133089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.595898227 meters 0.025502547622483718 Centerline is valid? [True, True] Translation: X:13.77, Y:0.37, Z:-0.16 [[ 9.98025442e-01 -6.23666507e-02 7.45769350e-03 1.37652463e+01] [ 6.23664150e-02 9.98053285e-01 2.64387394e-04 3.66258168e-01] [-7.45966445e-03 2.01244261e-04 9.99972156e-01 -1.58412375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.655898227 meters 0.0282190037933286 Centerline is valid? [True, True] Translation: X:13.83, Y:0.37, Z:-0.16 [[ 9.97821169e-01 -6.54720593e-02 8.14399755e-03 1.38263373e+01] [ 6.54718854e-02 9.97854373e-01 2.88238199e-04 3.68377560e-01] [-8.14539511e-03 2.45592697e-04 9.99966796e-01 -1.56702610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.715898227 meters 0.035800279924609414 Centerline is valid? [True, True] Translation: X:13.89, Y:0.36, Z:-0.15 [[ 9.97309865e-01 -7.25892320e-02 1.01900202e-02 1.38867635e+01] [ 7.25893323e-02 9.97361850e-01 3.60505861e-04 3.63061209e-01] [-1.01893063e-02 3.80150711e-04 9.99948015e-01 -1.54348211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.775898227 meters 0.04038290451084013 Centerline is valid? [True, True] Translation: X:13.95, Y:0.36, Z:-0.16 [[ 9.96966536e-01 -7.74601964e-02 7.59241011e-03 1.39480353e+01] [ 7.74603942e-02 9.96995394e-01 2.68453032e-04 3.57588817e-01] [-7.59039233e-03 3.20472390e-04 9.99971141e-01 -1.60643270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.835898227 meters 0.04089724446966878 Centerline is valid? [True, True] Translation: X:14.01, Y:0.36, Z:-0.16 [[ 9.97058215e-01 -7.64875286e-02 4.95717486e-03 1.40091584e+01] [ 7.64875977e-02 9.97070517e-01 1.75906212e-04 3.61697726e-01] [-4.95610754e-03 2.03773663e-04 9.99987698e-01 -1.60927607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.895898227 meters 0.036982398075183776 Centerline is valid? [True, True] Translation: X:14.07, Y:0.37, Z:-0.15 [[ 9.97352867e-01 -7.21541764e-02 9.00187310e-03 1.40695480e+01] [ 7.21542513e-02 9.97393435e-01 3.16862230e-04 3.70896396e-01] [-9.00127206e-03 3.33499961e-04 9.99959432e-01 -1.54695305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.955898227 meters 0.03709976244231306 Centerline is valid? [True, True] Translation: X:14.13, Y:0.38, Z:-0.16 [[ 9.97447813e-01 -7.06092825e-02 1.05919826e-02 1.41309595e+01] [ 7.06093012e-02 9.97503979e-01 3.72661909e-04 3.78164682e-01] [-1.05918582e-02 3.76181686e-04 9.99943834e-01 -1.55041111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.015898227 meters 0.04172257366948945 Centerline is valid? [True, True] Translation: X:14.19, Y:0.38, Z:-0.16 [[ 9.97150122e-01 -7.47909195e-02 9.89710178e-03 1.41922104e+01] [ 7.47911554e-02 9.97199159e-01 3.46800273e-04 3.76503985e-01] [-9.89531908e-03 3.94403743e-04 9.99950962e-01 -1.57633932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.075898227 meters 0.048324101717988496 Centerline is valid? [True, True] Translation: X:14.25, Y:0.38, Z:-0.16 [[ 9.96674486e-01 -8.10935639e-02 7.98767886e-03 1.42529765e+01] [ 8.10939198e-02 9.96706425e-01 2.79851146e-04 3.75211192e-01] [-7.98406497e-03 3.68831691e-04 9.99968059e-01 -1.59946631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.135898227000002 meters 0.055345277457800955 Centerline is valid? [True, True] Translation: X:14.31, Y:0.37, Z:-0.16 [[ 9.96136880e-01 -8.74346199e-02 8.15491814e-03 1.43140551e+01] [ 8.74352032e-02 9.96170168e-01 2.85653416e-04 3.73010375e-01] [-8.14866217e-03 4.28477022e-04 9.99966707e-01 -1.60264961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.195898227 meters 0.058770418292591955 Centerline is valid? [True, True] Translation: X:14.37, Y:0.37, Z:-0.16 [[ 9.95997887e-01 -8.87829112e-02 1.02861017e-02 1.43749748e+01] [ 8.87839120e-02 9.96050846e-01 3.60202524e-04 3.73968695e-01] [-1.02774601e-02 5.54479392e-04 9.99947032e-01 -1.57248358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.255898227 meters 0.0635143001958126 Centerline is valid? [True, True] Translation: X:14.43, Y:0.37, Z:-0.16 [[ 9.95694377e-01 -9.18431094e-02 1.25519639e-02 1.44346522e+01] [ 9.18448474e-02 9.95773233e-01 4.39124363e-04 3.73312403e-01] [-1.25392403e-02 7.15599555e-04 9.99921125e-01 -1.56040687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.315898227 meters 0.06450021195289424 Centerline is valid? [True, True] Translation: X:14.50, Y:0.38, Z:-0.16 [[ 9.95740076e-01 -9.14486917e-02 1.17829707e-02 1.44956127e+01] [ 9.14502011e-02 9.95809566e-01 4.11758825e-04 3.77241302e-01] [-1.17712497e-02 6.67550274e-04 9.99930494e-01 -1.56148730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.375898227 meters 0.06395332565636552 Centerline is valid? [True, True] Translation: X:14.56, Y:0.38, Z:-0.16 [[ 9.95800569e-01 -9.11828470e-02 8.18020760e-03 1.45579819e+01] [ 9.11835708e-02 9.95834060e-01 2.85201505e-04 3.81661675e-01] [-8.17213483e-03 4.61896718e-04 9.99966501e-01 -1.61560210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.435898227 meters 0.06637724834960353 Centerline is valid? [True, True] Translation: X:14.62, Y:0.38, Z:-0.17 [[ 9.95909249e-01 -9.01035170e-02 6.79149888e-03 1.46196918e+01] [ 9.01039959e-02 9.95932334e-01 2.36054798e-04 3.82505982e-01] [-6.78514270e-03 3.76852030e-04 9.99976910e-01 -1.65553719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.495898227 meters 0.04927537554768983 Centerline is valid? [True, True] Translation: X:14.68, Y:0.41, Z:-0.16 [[ 9.95871100e-01 -9.01945627e-02 1.02807547e-02 1.46808666e+01] [ 9.01956872e-02 9.95923999e-01 3.55164607e-04 4.08505280e-01] [-1.02708842e-02 5.73581567e-04 9.99947089e-01 -1.58189846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.555898227 meters 0.05140378311362087 Centerline is valid? [True, True] Translation: X:14.74, Y:0.41, Z:-0.16 [[ 9.95672972e-01 -9.23103031e-02 1.06836519e-02 1.47418233e+01] [ 9.23116564e-02 9.95730095e-01 3.67444579e-04 4.08743016e-01] [-1.06719527e-02 6.20370968e-04 9.99942861e-01 -1.60160080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.615898227 meters 0.055333350466502285 Centerline is valid? [True, True] Translation: X:14.80, Y:0.41, Z:-0.17 [[ 9.95378931e-01 -9.56396208e-02 8.59340112e-03 1.48028339e+01] [ 9.56406205e-02 9.95415885e-01 2.95484439e-04 4.06537112e-01] [-8.58226800e-03 5.27759230e-04 9.99963032e-01 -1.66359846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.675898227 meters 0.05598506171532302 Centerline is valid? [True, True] Translation: X:14.86, Y:0.41, Z:-0.17 [[ 9.95254409e-01 -9.68205076e-02 9.71859736e-03 1.48641807e+01] [ 9.68218439e-02 9.95301672e-01 3.34012860e-04 4.08305035e-01] [-9.70527550e-03 6.08544744e-04 9.99952718e-01 -1.65069832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.735898227 meters 0.05715330397168823 Centerline is valid? [True, True] Translation: X:14.93, Y:0.41, Z:-0.17 [[ 9.95244654e-01 -9.68552226e-02 1.03510388e-02 1.49269947e+01] [ 9.68567434e-02 9.95298269e-01 3.55449902e-04 4.07598666e-01] [-1.03367981e-02 6.48808290e-04 9.99946363e-01 -1.65569463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.795898227 meters 0.05697018637895488 Centerline is valid? [True, True] Translation: X:14.99, Y:0.41, Z:-0.17 [[ 9.95507409e-01 -9.40990444e-02 1.05056860e-02 1.49863906e+01] [ 9.41004744e-02 9.95562641e-01 3.59211533e-04 4.11408798e-01] [-1.04928700e-02 6.30992295e-04 9.99944749e-01 -1.65087442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.855898227 meters 0.05851612065568981 Centerline is valid? [True, True] Translation: X:15.05, Y:0.41, Z:-0.17 [[ 9.95602213e-01 -9.30711232e-02 1.06771010e-02 1.50482607e+01] [ 9.30725423e-02 9.95659263e-01 3.64975799e-04 4.08419897e-01] [-1.06647232e-02 6.30374221e-04 9.99942932e-01 -1.65870019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.915898227 meters 0.059632427004453654 Centerline is valid? [True, True] Translation: X:15.11, Y:0.41, Z:-0.17 [[ 9.95610672e-01 -9.32657245e-02 7.80348384e-03 1.51105901e+01] [ 9.32664945e-02 9.95641145e-01 2.65965407e-04 4.05763171e-01] [-7.79427505e-03 4.63005586e-04 9.99969517e-01 -1.69462058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.975898227000002 meters 0.052970419849039496 Centerline is valid? [True, True] Translation: X:15.17, Y:0.41, Z:-0.17 [[ 9.95439013e-01 -9.47727552e-02 1.09222701e-02 1.51714725e+01] [ 9.47743770e-02 9.95498709e-01 3.70180531e-04 4.12380895e-01] [-1.09081888e-02 6.66659199e-04 9.99940282e-01 -1.66607908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.035898227 meters 0.055405408391228456 Centerline is valid? [True, True] Translation: X:15.23, Y:0.41, Z:-0.17 [[ 9.95370569e-01 -9.55478880e-02 1.03938210e-02 1.52323946e+01] [ 9.55493999e-02 9.95424627e-01 3.52153074e-04 4.06323344e-01] [-1.03799129e-02 6.42600558e-04 9.99945921e-01 -1.69395134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.095898227 meters 0.05212054956708088 Centerline is valid? [True, True] Translation: X:15.29, Y:0.41, Z:-0.17 [[ 9.95875972e-01 -9.04769185e-02 6.70639523e-03 1.52935897e+01] [ 9.04774340e-02 9.95898480e-01 2.27110747e-04 4.09175844e-01] [-6.69943710e-03 3.80603296e-04 9.99977486e-01 -1.73689131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.155898227 meters 0.049415318130854334 Centerline is valid? [True, True] Translation: X:15.35, Y:0.41, Z:-0.17 [[ 9.96221177e-01 -8.64238424e-02 8.61892330e-03 1.53545592e+01] [ 8.64245435e-02 9.96258357e-01 2.91759405e-04 4.13537528e-01] [-8.61188933e-03 4.54229614e-04 9.99962814e-01 -1.70416636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.215898227 meters 0.04313539838265849 Centerline is valid? [True, True] Translation: X:15.42, Y:0.43, Z:-0.17 [[ 9.96510525e-01 -8.30427398e-02 8.40695953e-03 1.54153492e+01] [ 8.30432880e-02 9.96545900e-01 2.84456866e-04 4.25801621e-01] [-8.40154313e-03 4.14677301e-04 9.99964620e-01 -1.71699678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.275898227 meters 0.0489975047922915 Centerline is valid? [True, True] Translation: X:15.48, Y:0.42, Z:-0.17 [[ 9.96180520e-01 -8.64196082e-02 1.24909004e-02 1.54751374e+01] [ 8.64210848e-02 9.96258610e-01 4.22513079e-04 4.20709695e-01] [-1.24806805e-02 6.58577862e-04 9.99921896e-01 -1.67419036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.335898227 meters 0.05809114337532948 Centerline is valid? [True, True] Translation: X:15.54, Y:0.41, Z:-0.17 [[ 9.95287325e-01 -9.57266600e-02 1.54773073e-02 1.55359625e+01] [ 9.57300492e-02 9.95407195e-01 5.23443916e-04 4.10341353e-01] [-1.54563306e-02 9.60666297e-04 9.99880082e-01 -1.65236443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.395898227 meters 0.06588436783468761 Centerline is valid? [True, True] Translation: X:15.60, Y:0.40, Z:-0.17 [[ 9.94126769e-01 -1.07371240e-01 1.35419290e-02 1.55976955e+01] [ 1.07374912e-01 9.94218496e-01 4.57742501e-04 3.99798704e-01] [-1.35127847e-02 9.99009368e-04 9.99908199e-01 -1.69763697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.455898227 meters 0.06784345127445261 Centerline is valid? [True, True] Translation: X:15.66, Y:0.40, Z:-0.17 [[ 9.94066619e-01 -1.07895094e-01 1.37915104e-02 1.56590330e+01] [ 1.07898962e-01 9.94161756e-01 4.65464103e-04 4.00060107e-01] [-1.37612134e-02 1.02538733e-03 9.99904784e-01 -1.69434967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.515898227 meters 0.0690362686980012 Centerline is valid? [True, True] Translation: X:15.72, Y:0.40, Z:-0.17 [[ 9.94777256e-01 -1.01298125e-01 1.25260354e-02 1.57185618e+01] [ 1.01300812e-01 9.94855752e-01 4.21438926e-04 4.03169282e-01] [-1.25042893e-02 8.49659691e-04 9.99921457e-01 -1.69760057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.575898227 meters 0.058638690823555654 Centerline is valid? [True, True] Translation: X:15.78, Y:0.42, Z:-0.17 [[ 9.95420500e-01 -9.48735122e-02 1.17066145e-02 1.57786907e+01] [ 9.48754174e-02 9.95489076e-01 3.93757443e-04 4.20900371e-01] [-1.16911640e-02 7.18715706e-04 9.99931398e-01 -1.71752604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.635898227000002 meters 0.041718336979062756 Centerline is valid? [True, True] Translation: X:15.84, Y:0.45, Z:-0.17 [[ 9.96545836e-01 -8.22626410e-02 1.13690294e-02 1.58381443e+01] [ 8.22636194e-02 9.96610531e-01 3.82354188e-04 4.49775330e-01] [-1.13619479e-02 5.54224031e-04 9.99935297e-01 -1.71786591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.695898227 meters 0.03850471018312244 Centerline is valid? [True, True] Translation: X:15.90, Y:0.46, Z:-0.17 [[ 9.97568197e-01 -6.87378425e-02 1.15239144e-02 1.58971165e+01] [ 6.87379478e-02 9.97634675e-01 3.87409915e-04 4.62261271e-01] [-1.15232863e-02 4.05662417e-04 9.99933522e-01 -1.73830156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.755898227 meters 0.025402308933199173 Centerline is valid? [True, True] Translation: X:15.96, Y:0.49, Z:-0.17 [[ 9.98134444e-01 -5.93386904e-02 1.43719237e-02 1.59566347e+01] [ 5.93378792e-02 9.98237839e-01 4.83236105e-04 4.86432505e-01] [-1.43752726e-02 3.70464869e-04 9.99896602e-01 -1.70637736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.815898227 meters 0.024396267190445946 Centerline is valid? [True, True] Translation: X:16.02, Y:0.50, Z:-0.17 [[ 9.98472519e-01 -5.29570871e-02 1.57535655e-02 1.60161659e+01] [ 5.29553183e-02 9.98596742e-01 5.29696513e-04 4.95296739e-01] [-1.57595104e-02 3.05347663e-04 9.99875765e-01 -1.66966322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.875898227 meters 0.016814044827275713 Centerline is valid? [True, True] Translation: X:16.08, Y:0.51, Z:-0.18 [[ 9.98794544e-01 -4.76031081e-02 1.19750984e-02 1.60774240e+01] [ 4.76017024e-02 9.98866315e-01 4.02546474e-04 5.11011353e-01] [-1.19806849e-02 1.67973848e-04 9.99928215e-01 -1.75871090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.935898227 meters 0.01728026456678586 Centerline is valid? [True, True] Translation: X:16.14, Y:0.52, Z:-0.18 [[ 9.98980560e-01 -4.35671955e-02 1.18211390e-02 1.61391506e+01] [ 4.35655526e-02 9.99050492e-01 3.96573036e-04 5.16771885e-01] [-1.18271923e-02 1.18825701e-04 9.99930049e-01 -1.76059173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.995898227 meters 0.014913646354217377 Centerline is valid? [True, True] Translation: X:16.20, Y:0.54, Z:-0.17 [[ 9.99272773e-01 -3.49111603e-02 1.53341388e-02 1.62011601e+01] [ 3.49074129e-02 9.99390419e-01 5.12048191e-04 5.37896068e-01] [-1.53426676e-02 2.35992979e-05 9.99882294e-01 -1.69141040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.055898227 meters 0.013071418070762182 Centerline is valid? [True, True] Translation: X:16.26, Y:0.54, Z:-0.17 [[ 9.99396677e-01 -3.18424624e-02 1.38686471e-02 1.62635120e+01] [ 3.18391177e-02 9.99492900e-01 4.61953079e-04 5.43618787e-01] [-1.38763241e-02 -2.01088833e-05 9.99903719e-01 -1.73878375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.115898227 meters 0.014576982749490744 Centerline is valid? [True, True] Translation: X:16.32, Y:0.54, Z:-0.18 [[ 9.99326484e-01 -3.49780980e-02 1.10955401e-02 1.63249530e+01] [ 3.49761667e-02 9.99388079e-01 3.68123185e-04 5.40063079e-01] [-1.11016267e-02 2.02042112e-05 9.99938375e-01 -1.79723442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.175898227 meters 0.01650486838498067 Centerline is valid? [True, True] Translation: X:16.39, Y:0.53, Z:-0.18 [[ 9.99049097e-01 -4.18341737e-02 1.22801772e-02 1.63876338e+01] [ 4.18323505e-02 9.99124562e-01 4.05410994e-04 5.30961221e-01] [-1.22863867e-02 1.08683188e-04 9.99924514e-01 -1.77664853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.235898227 meters 0.017571307296312424 Centerline is valid? [True, True] Translation: X:16.45, Y:0.52, Z:-0.17 [[ 9.98805143e-01 -4.60557105e-02 1.63449750e-02 1.64501952e+01] [ 4.60530851e-02 9.98938849e-01 5.37178432e-04 5.24514184e-01] [-1.63523707e-02 2.16199945e-04 9.99866268e-01 -1.70675964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.295898227 meters 0.01825393244188362 Centerline is valid? [True, True] Translation: X:16.51, Y:0.53, Z:-0.17 [[ 9.98919754e-01 -4.37861103e-02 1.55596010e-02 1.65113760e+01] [ 4.37834757e-02 9.99040914e-01 5.10095300e-04 5.25274287e-01] [-1.55670130e-02 1.71709138e-04 9.99878812e-01 -1.71376595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.355898227 meters 0.013048352264604475 Centerline is valid? [True, True] Translation: X:16.57, Y:0.53, Z:-0.17 [[ 9.99190333e-01 -3.71684966e-02 1.54007120e-02 1.65731963e+01] [ 3.71651651e-02 9.99309010e-01 5.02563053e-04 5.30335153e-01] [-1.54087498e-02 7.02138606e-05 9.99881276e-01 -1.74595075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.415898227 meters 0.015165858952267032 Centerline is valid? [True, True] Translation: X:16.64, Y:0.54, Z:-0.17 [[ 9.99492420e-01 -2.74030499e-02 1.62473096e-02 1.66356861e+01] [ 2.73980972e-02 9.99624463e-01 5.27379278e-04 5.41811979e-01] [-1.62556599e-02 -8.19662239e-05 9.99867865e-01 -1.70481342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.475898227000002 meters 0.014835262317544687 Centerline is valid? [True, True] Translation: X:16.70, Y:0.55, Z:-0.17 [[ 9.99623372e-01 -2.28508362e-02 1.51971315e-02 1.66977803e+01] [ 2.28460157e-02 9.99738875e-01 4.90746330e-04 5.48003909e-01] [-1.52043771e-02 -1.43367596e-04 9.99884396e-01 -1.73703162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.535898227 meters 0.01779204949674336 Centerline is valid? [True, True] Translation: X:16.76, Y:0.55, Z:-0.18 [[ 9.99735334e-01 -1.71126857e-02 1.53758592e-02 1.67592623e+01] [ 1.71071109e-02 9.99853541e-01 4.94028401e-04 5.54759594e-01] [-1.53820614e-02 -2.30861119e-04 9.99881662e-01 -1.75334565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.595898227 meters 0.017959823457029987 Centerline is valid? [True, True] Translation: X:16.82, Y:0.56, Z:-0.18 [[ 9.99769084e-01 -1.49583808e-02 1.54280863e-02 1.68210359e+01] [ 1.49525494e-02 9.99888083e-01 4.93264019e-04 5.59079539e-01] [-1.54337381e-02 -2.62460894e-04 9.99880858e-01 -1.75493051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.655898227 meters 0.01819951016504531 Centerline is valid? [True, True] Translation: X:16.88, Y:0.56, Z:-0.18 [[ 9.99733959e-01 -1.66288354e-02 1.59841315e-02 1.68832082e+01] [ 1.66228315e-02 9.99861702e-01 5.08412154e-04 5.58430553e-01] [-1.59903753e-02 -2.42575370e-04 9.99872116e-01 -1.76487287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.715898227 meters 0.016230474550120378 Centerline is valid? [True, True] Translation: X:16.95, Y:0.56, Z:-0.18 [[ 9.99722892e-01 -1.85322919e-02 1.45152655e-02 1.69455156e+01] [ 1.85275745e-02 9.99828244e-01 4.59417718e-04 5.57181801e-01] [-1.45212865e-02 -1.90357747e-04 9.99894542e-01 -1.78386151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.775898227 meters 0.0169984664780742 Centerline is valid? [True, True] Translation: X:17.01, Y:0.56, Z:-0.18 [[ 9.99795203e-01 -1.74364685e-02 1.02723858e-02 1.70084404e+01] [ 1.74340609e-02 9.99847963e-01 3.23889388e-04 5.57561250e-01] [-1.02764715e-02 -1.44733657e-04 9.99947185e-01 -1.84784687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.835898227 meters 0.018904833646176403 Centerline is valid? [True, True] Translation: X:17.07, Y:0.56, Z:-0.18 [[ 9.99835305e-01 -1.41429237e-02 1.13727847e-02 1.70708069e+01] [ 1.41397861e-02 9.99899965e-01 3.56247078e-04 5.60565401e-01] [-1.13766854e-02 -1.95379663e-04 9.99935264e-01 -1.83495644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.895898227 meters 0.021328345863206203 Centerline is valid? [True, True] Translation: X:17.13, Y:0.56, Z:-0.18 [[ 9.99843819e-01 -1.00182753e-02 1.45592411e-02 1.71324890e+01] [ 1.00127377e-02 9.99949769e-01 4.53192851e-04 5.64204071e-01] [-1.45630500e-02 -3.07344209e-04 9.99893906e-01 -1.77712005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.955898227 meters 0.02205129404827178 Centerline is valid? [True, True] Translation: X:17.19, Y:0.56, Z:-0.18 [[ 9.99886914e-01 -8.75853245e-03 1.22248453e-02 1.71938139e+01] [ 8.75455493e-03 9.99961606e-01 3.78840137e-04 5.64591617e-01] [-1.22276940e-02 -2.71774216e-04 9.99925202e-01 -1.82607454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.015898227 meters 0.02242392579559667 Centerline is valid? [True, True] Translation: X:17.26, Y:0.56, Z:-0.19 [[ 9.99907968e-01 -7.21053248e-03 1.14919040e-02 1.72561272e+01] [ 7.20693329e-03 9.99973967e-01 3.54574963e-04 5.63998762e-01] [-1.14941615e-02 -2.71720945e-04 9.99933903e-01 -1.85146094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.075898227 meters 0.02692851348300312 Centerline is valid? [True, True] Translation: X:17.32, Y:0.57, Z:-0.18 [[ 9.99893676e-01 -6.67682827e-03 1.29636656e-02 1.73179123e+01] [ 6.67676786e-03 9.99977709e-01 4.79399744e-05 5.74286575e-01] [-1.29636967e-02 3.86205083e-05 9.99915967e-01 -1.80541581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.135898227 meters 0.032320546163364494 Centerline is valid? [True, True] Translation: X:17.38, Y:0.58, Z:-0.18 [[ 9.99874842e-01 3.33569707e-03 1.54652327e-02 1.73784552e+01] [-3.34794325e-03 9.99994102e-01 7.66030210e-04 5.80840518e-01] [-1.54625862e-02 -8.17711056e-04 9.99880113e-01 -1.81746247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.195898227 meters 0.032725175179119666 Centerline is valid? [True, True] Translation: X:17.44, Y:0.58, Z:-0.18 [[ 9.99858098e-01 4.94331679e-03 1.61042799e-02 1.74409014e+01] [-4.95187782e-03 9.99987618e-01 4.91766955e-04 5.81548860e-01] [-1.61016495e-02 -5.71443598e-04 9.99870197e-01 -1.82809287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.255898227 meters 0.03235341583893265 Centerline is valid? [True, True] Translation: X:17.50, Y:0.58, Z:-0.18 [[ 9.99824691e-01 6.06662071e-03 1.77139544e-02 1.75035128e+01] [-6.07712189e-03 9.99981389e-01 5.39050163e-04 5.83661985e-01] [-1.77103545e-02 -6.46605523e-04 9.99842950e-01 -1.77295971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.315898227 meters 0.03304936076018935 Centerline is valid? [True, True] Translation: X:17.55, Y:0.58, Z:-0.19 [[ 9.99852277e-01 5.27752898e-04 1.71798258e-02 1.75526751e+01] [-7.85693969e-04 9.99887021e-01 1.50108990e-02 5.80538157e-01] [-1.71699628e-02 -1.50221796e-02 9.99739729e-01 -1.93427995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.375898227 meters 0.03205900255258242 Centerline is valid? [True, True] Translation: X:17.62, Y:0.58, Z:-0.19 [[ 9.99840977e-01 -8.07173486e-04 1.78148770e-02 1.76159009e+01] [ 6.52604245e-04 9.99962111e-01 8.68052228e-03 5.81181717e-01] [-1.78212087e-02 -8.66751581e-03 9.99803620e-01 -1.93915891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.435898227 meters 0.041714069073743164 Centerline is valid? [True, True] Translation: X:17.67, Y:0.60, Z:-0.19 [[ 9.99816509e-01 2.61229575e-03 1.89769635e-02 1.76665845e+01] [-2.71555301e-03 9.99981638e-01 5.41746023e-03 5.98228184e-01] [-1.89624630e-02 -5.46799912e-03 9.99805244e-01 -1.88751404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.495898227 meters 0.03840063851354055 Centerline is valid? [True, True] Translation: X:17.73, Y:0.61, Z:-0.18 [[ 9.99932676e-01 -4.80150162e-05 1.16034569e-02 1.77341588e+01] [ 1.85493227e-04 9.99929802e-01 -1.18472533e-02 6.08038113e-01] [-1.16020735e-02 1.18486081e-02 9.99862492e-01 -1.76663148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.555898227 meters 0.03379568741793877 Centerline is valid? [True, True] Translation: X:17.79, Y:0.59, Z:-0.20 [[ 9.99912308e-01 -2.37293846e-03 1.30286170e-02 1.77897353e+01] [ 2.20787155e-03 9.99917303e-01 1.26693635e-02 5.90200164e-01] [-1.30576032e-02 -1.26394870e-02 9.99834858e-01 -2.04352474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.615898227 meters 0.02750651177809089 Centerline is valid? [True, True] Translation: X:17.86, Y:0.60, Z:-0.18 [[ 9.99871099e-01 -1.19722779e-02 1.06981663e-02 1.78609175e+01] [ 1.21516467e-02 9.99783988e-01 -1.68616410e-02 5.95911959e-01] [-1.04939831e-02 1.69894679e-02 9.99800597e-01 -1.75039862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.675898227 meters 0.023101327234764442 Centerline is valid? [True, True] Translation: X:17.93, Y:0.58, Z:-0.18 [[ 9.99764981e-01 -1.24878816e-02 1.77210336e-02 1.79253734e+01] [ 1.25648566e-02 9.99912074e-01 -4.23903515e-03 5.84335516e-01] [-1.76665389e-02 4.46070115e-03 9.99833984e-01 -1.84810498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.735898227 meters 0.020943893985722144 Centerline is valid? [True, True] Translation: X:17.99, Y:0.58, Z:-0.19 [[ 9.99723211e-01 -1.52864819e-02 1.78836692e-02 1.79873901e+01] [ 1.52791433e-02 9.99883117e-01 5.46919859e-04 5.81003000e-01] [-1.78899394e-02 -2.73521331e-04 9.99839925e-01 -1.89951390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.795898227 meters 0.019943352346643944 Centerline is valid? [True, True] Translation: X:18.05, Y:0.58, Z:-0.19 [[ 9.99668730e-01 -1.80213171e-02 1.83755931e-02 1.80490453e+01] [ 1.80140849e-02 9.99837577e-01 5.59035948e-04 5.82905641e-01] [-1.83826830e-02 -2.27831262e-04 9.99830998e-01 -1.88525262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.855898227 meters 0.018881314300473257 Centerline is valid? [True, True] Translation: X:18.11, Y:0.58, Z:-0.19 [[ 9.99589751e-01 -2.12312775e-02 1.92239851e-02 1.81115727e+01] [ 2.12240139e-02 9.99774576e-01 5.81808575e-04 5.81825942e-01] [-1.92320041e-02 -1.73559761e-04 9.99815033e-01 -1.89733248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.915898227 meters 0.02355889132411147 Centerline is valid? [True, True] Translation: X:18.17, Y:0.56, Z:-0.22 [[ 0.99880705 -0.04510533 0.01870794 18.17156367] [ 0.04451411 0.99853081 0.03089851 0.55738944] [-0.02007414 -0.03002888 0.99934743 -0.21788998] [ 0. 0. 0. 1. ]] SLAMing on 21.975898227000002 meters 0.01951300749136466 Centerline is valid? [True, True] Translation: X:18.24, Y:0.57, Z:-0.16 [[ 0.99904904 -0.03654393 0.02378146 18.23546065] [ 0.03724444 0.99886439 -0.02971178 0.57237089] [-0.02266867 0.03056925 0.99927556 -0.16198958] [ 0. 0. 0. 1. ]] SLAMing on 22.035898227 meters 0.03059612459866858 Centerline is valid? [True, True] Translation: X:18.26, Y:0.50, Z:-0.29 [[ 0.99836902 -0.03736843 0.04316143 18.25824064] [ 0.03319018 0.9950409 0.09376579 0.49730079] [-0.04645126 -0.09218032 0.99465827 -0.28781499] [ 0. 0. 0. 1. ]] SLAMing on 22.095898227 meters 0.026200372888711194 Centerline is valid? [True, True] Translation: X:18.36, Y:0.60, Z:-0.15 [[ 0.9984409 -0.05066926 0.02341783 18.36094466] [ 0.05205277 0.99666604 -0.06282766 0.60216665] [-0.02015632 0.06394867 0.99774961 -0.14552593] [ 0. 0. 0. 1. ]] SLAMing on 22.155898227 meters 0.02604157922408506 Centerline is valid? [True, True] Translation: X:18.38, Y:0.52, Z:-0.28 [[ 0.99835458 -0.0330434 0.04686441 18.3834271 ] [ 0.02946686 0.99674389 0.07505542 0.51719428] [-0.0491919 -0.07355097 0.99607751 -0.28021159] [ 0. 0. 0. 1. ]] SLAMing on 22.215898227 meters 0.034471260979477114 Centerline is valid? [True, True] Translation: X:18.45, Y:0.54, Z:-0.20 [[ 9.98549572e-01 -3.62357339e-02 3.98211478e-02 1.84479908e+01] [ 3.68472655e-02 9.99212319e-01 -1.47316049e-02 5.44495896e-01] [-3.92559710e-02 1.61775382e-02 9.99098221e-01 -2.03693278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.275898227 meters 0.028332803279860114 Centerline is valid? [True, True] Translation: X:18.54, Y:0.59, Z:-0.16 [[ 0.99803416 -0.05801423 0.02371019 18.54205691] [ 0.05912252 0.99704373 -0.04907462 0.58904911] [-0.02079307 0.05037995 0.99851365 -0.16207159] [ 0. 0. 0. 1. ]] SLAMing on 22.335898227 meters 0.02618206165811121 Centerline is valid? [True, True] Translation: X:18.58, Y:0.57, Z:-0.21 [[ 9.98523319e-01 -4.66116769e-02 2.79021866e-02 1.85843950e+01] [ 4.66495808e-02 9.98911064e-01 -7.08708805e-04 5.68367468e-01] [-2.78387688e-02 2.00928758e-03 9.99610407e-01 -2.05585273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.395898227 meters 0.02188068073785061 Centerline is valid? [True, True] Translation: X:18.65, Y:0.58, Z:-0.21 [[ 9.98724311e-01 -4.38348948e-02 2.50649569e-02 1.86459170e+01] [ 4.38289190e-02 9.99038740e-01 7.87998309e-04 5.77969883e-01] [-2.50754048e-02 3.11576897e-04 9.99685514e-01 -2.10532508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.455898227 meters 0.043693467378277714 Centerline is valid? [True, True] Translation: X:18.68, Y:0.50, Z:-0.35 [[ 0.99685596 -0.0508279 0.06078418 18.67659743] [ 0.04343161 0.99213986 0.11735497 0.49988657] [-0.06627132 -0.11434605 0.99122807 -0.34817751] [ 0. 0. 0. 1. ]] SLAMing on 22.515898227 meters 0.056439444011830174 Centerline is valid? [True, True] Translation: X:18.74, Y:0.54, Z:-0.24 [[ 9.97600384e-01 -4.50883718e-02 5.25405815e-02 1.87364048e+01] [ 4.55585607e-02 9.98931331e-01 -7.78541802e-03 5.42314110e-01] [-5.21334012e-02 1.01604093e-02 9.98588441e-01 -2.44950412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.575898227 meters 0.03147504995109838 Centerline is valid? [True, True] Translation: X:18.83, Y:0.62, Z:-0.13 [[ 0.99796227 -0.05513051 0.03212364 18.83471746] [ 0.05799063 0.99366929 -0.09622068 0.62141448] [-0.02661558 0.09788748 0.99484152 -0.13046645] [ 0. 0. 0. 1. ]] SLAMing on 22.635898227 meters 0.06987501047985038 Centerline is valid? [True, True] Translation: X:18.86, Y:0.49, Z:-0.32 [[ 0.9968385 -0.06103823 0.05086586 18.86467861] [ 0.05617809 0.99416907 0.09204278 0.48831872] [-0.05618739 -0.08889424 0.99445502 -0.3174666 ] [ 0. 0. 0. 1. ]] SLAMing on 22.695898227 meters 0.032728015076722475 Centerline is valid? [True, True] Translation: X:18.96, Y:0.63, Z:-0.14 [[ 0.99788408 -0.05517791 0.03439133 18.96057364] [ 0.05791787 0.99473409 -0.0845554 0.62764967] [-0.02954464 0.08636836 0.9958251 -0.13821982] [ 0. 0. 0. 1. ]] SLAMing on 22.755898227 meters 0.03138271761747898 Centerline is valid? [True, True] Translation: X:19.02, Y:0.60, Z:-0.22 [[ 9.97984048e-01 -5.59151716e-02 3.00222013e-02 1.90222822e+01] [ 5.59129120e-02 9.98435230e-01 9.15419841e-04 5.99969595e-01] [-3.00264093e-02 7.65054298e-04 9.99548813e-01 -2.18259356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.815898227 meters 0.03789703340977047 Centerline is valid? [True, True] Translation: X:19.08, Y:0.60, Z:-0.22 [[ 9.97582284e-01 -6.14300948e-02 3.24950887e-02 1.90825376e+01] [ 6.14304624e-02 9.98110877e-01 9.87991329e-04 5.96434125e-01] [-3.24943939e-02 1.01058568e-03 9.99471407e-01 -2.15145492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.875898227 meters 0.03858194480421323 Centerline is valid? [True, True] Translation: X:19.14, Y:0.59, Z:-0.22 [[ 9.97051708e-01 -6.94545942e-02 3.26182703e-02 1.91439676e+01] [ 6.94592605e-02 9.97584296e-01 9.91412692e-04 5.94777686e-01] [-3.26083324e-02 1.27715122e-03 9.99467391e-01 -2.19140170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.935898227 meters 0.0494489941477573 Centerline is valid? [True, True] Translation: X:19.21, Y:0.58, Z:-0.23 [[ 9.96026255e-01 -8.34265473e-02 3.11722788e-02 1.92052651e+01] [ 8.34376441e-02 9.96512550e-01 9.46905753e-04 5.76356342e-01] [-3.11425641e-02 1.65779851e-03 9.99513578e-01 -2.25213576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.995898227 meters 0.09631485382513756 Centerline is valid? [True, True] Translation: X:19.30, Y:0.55, Z:-0.22 [[ 9.91772383e-01 -1.26496760e-01 1.96496631e-02 1.92966673e+01] [ 1.26645309e-01 9.91926744e-01 -6.50394316e-03 5.48315171e-01] [-1.86682986e-02 8.93896886e-03 9.99785772e-01 -2.19927604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.055898227 meters 0.06956664251208743 Centerline is valid? [True, True] Translation: X:19.33, Y:0.54, Z:-0.23 [[ 9.95508109e-01 -9.02262724e-02 2.86849280e-02 1.93269294e+01] [ 9.00694157e-02 9.95912840e-01 6.71675206e-03 5.38262480e-01] [-2.91737156e-02 -4.10294644e-03 9.99565936e-01 -2.29667136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.115898227 meters 0.05143717973841693 Centerline is valid? [True, True] Translation: X:19.39, Y:0.56, Z:-0.23 [[ 9.95946396e-01 -8.48734060e-02 2.97872765e-02 1.93875506e+01] [ 8.48843565e-02 9.96390404e-01 8.98987182e-04 5.62910879e-01] [-2.97560566e-02 1.63313075e-03 9.99555856e-01 -2.26737260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.175898227 meters 0.04005217998725957 Centerline is valid? [True, True] Translation: X:19.45, Y:0.58, Z:-0.23 [[ 9.96868314e-01 -7.31617254e-02 3.00154254e-02 1.94484242e+01] [ 7.31675570e-02 9.97319251e-01 9.05467789e-04 5.76242108e-01] [-3.00012072e-02 1.29352320e-03 9.99549025e-01 -2.27380255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.235898227 meters 0.05088628214241282 Centerline is valid? [True, True] Translation: X:19.52, Y:0.56, Z:-0.23 [[ 9.97120010e-01 -6.88134233e-02 3.18810130e-02 1.95214550e+01] [ 6.85286798e-02 9.97599618e-01 9.94092881e-03 5.62229262e-01] [-3.24885557e-02 -7.72753530e-03 9.99442234e-01 -2.32323905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.295898227 meters 0.03547955181750294 Centerline is valid? [True, True] Translation: X:19.58, Y:0.58, Z:-0.24 [[ 9.97280699e-01 -6.57972048e-02 3.31954001e-02 1.95812171e+01] [ 6.52963605e-02 9.97738372e-01 1.59538973e-02 5.82074029e-01] [-3.41700463e-02 -1.37429751e-02 9.99321539e-01 -2.40880033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.355898227 meters 0.03541194190841569 Centerline is valid? [True, True] Translation: X:19.63, Y:0.60, Z:-0.21 [[ 0.99737908 -0.0655821 0.03056087 19.63324207] [ 0.06634444 0.99749259 -0.02463618 0.60006044] [-0.02886855 0.02659916 0.99922925 -0.21108164] [ 0. 0. 0. 1. ]] SLAMing on 23.415898227 meters 0.03764556739244885 Centerline is valid? [True, True] Translation: X:19.70, Y:0.57, Z:-0.26 [[ 0.99699208 -0.06932326 0.03465668 19.69905998] [ 0.06800679 0.99696766 0.03782283 0.57359201] [-0.03717359 -0.03535217 0.99868331 -0.26218148] [ 0. 0. 0. 1. ]] SLAMing on 23.475898227000002 meters 0.04264446356045581 Centerline is valid? [True, True] Translation: X:19.76, Y:0.60, Z:-0.21 [[ 0.9969798 -0.07201505 0.02907076 19.75637032] [ 0.0730467 0.99667355 -0.03613884 0.60134914] [-0.02637152 0.03815322 0.99892386 -0.20576005] [ 0. 0. 0. 1. ]] SLAMing on 23.535898227 meters 0.045644834756598085 Centerline is valid? [True, True] Translation: X:19.82, Y:0.58, Z:-0.24 [[ 9.96532253e-01 -7.86282217e-02 2.72226264e-02 1.98170021e+01] [ 7.86350362e-02 9.96903133e-01 8.21768764e-04 5.84121863e-01] [-2.72029358e-02 1.32173314e-03 9.99629058e-01 -2.40363104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.595898227 meters 0.04399174568844488 Centerline is valid? [True, True] Translation: X:19.88, Y:0.59, Z:-0.24 [[ 9.96271633e-01 -8.21739455e-02 2.62731082e-02 1.98775614e+01] [ 8.21815289e-02 9.96617062e-01 7.92831263e-04 5.86455451e-01] [-2.62493780e-02 1.36928891e-03 9.99654488e-01 -2.41908069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.655898227 meters 0.07897064747623946 Centerline is valid? [True, True] Translation: X:19.96, Y:0.53, Z:-0.27 [[ 9.95043468e-01 -8.55421087e-02 5.07054706e-02 1.99575457e+01] [ 8.44759947e-02 9.96164345e-01 2.28123704e-02 5.30930831e-01] [-5.24624002e-02 -1.84159051e-02 9.98453079e-01 -2.71684721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.715898227 meters 0.04099771483002838 Centerline is valid? [True, True] Translation: X:19.99, Y:0.57, Z:-0.28 [[ 9.96507201e-01 -7.08621583e-02 4.41809146e-02 1.99947532e+01] [ 7.05141793e-02 9.97466604e-01 9.38751312e-03 5.65862263e-01] [-4.47342063e-02 -6.23934349e-03 9.98979440e-01 -2.78206522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.775898227 meters 0.047126539344105545 Centerline is valid? [True, True] Translation: X:20.07, Y:0.58, Z:-0.24 [[ 0.99654633 -0.07508925 0.03545431 20.07014136] [ 0.07648441 0.99627667 -0.03978609 0.57912631] [-0.03233479 0.04236039 0.99857902 -0.24190391] [ 0. 0. 0. 1. ]] SLAMing on 23.835898227 meters 0.04778594647030685 Centerline is valid? [True, True] Translation: X:20.13, Y:0.56, Z:-0.28 [[ 9.96561722e-01 -7.51419753e-02 3.49058399e-02 2.01320158e+01] [ 7.51587665e-02 9.97171232e-01 8.32705702e-04 5.55731924e-01] [-3.48696706e-02 1.79363724e-03 9.99390259e-01 -2.78846870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.895898227 meters 0.04168962912448597 Centerline is valid? [True, True] Translation: X:20.19, Y:0.55, Z:-0.30 [[ 9.96926020e-01 -6.83119448e-02 3.83665192e-02 2.01866241e+01] [ 6.75095307e-02 9.97479652e-01 2.18358921e-02 5.48288711e-01] [-3.97614745e-02 -1.91786633e-02 9.99025127e-01 -2.96157313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.955898227 meters 0.0448458246117418 Centerline is valid? [True, True] Translation: X:20.25, Y:0.56, Z:-0.27 [[ 9.96798220e-01 -7.35179209e-02 3.14392199e-02 2.02545359e+01] [ 7.41578514e-02 9.97051996e-01 -1.96959246e-02 5.63640333e-01] [-2.98985335e-02 2.19643276e-02 9.99311586e-01 -2.69021717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.015898227 meters 0.04555225579227518 Centerline is valid? [True, True] Translation: X:20.30, Y:0.53, Z:-0.31 [[ 0.99704051 -0.06527282 0.04061631 20.30072064] [ 0.06403183 0.99746187 0.03114057 0.53184958] [-0.04254586 -0.02844767 0.99868943 -0.30840659] [ 0. 0. 0. 1. ]] SLAMing on 24.075898227 meters 0.04860726825146105 Centerline is valid? [True, True] Translation: X:20.38, Y:0.56, Z:-0.26 [[ 0.99638255 -0.07664138 0.03671399 20.37593193] [ 0.07769106 0.99658224 -0.02807036 0.55776196] [-0.03443716 0.03082116 0.9989315 -0.26145918] [ 0. 0. 0. 1. ]] SLAMing on 24.135898227 meters 0.05971446519625603 Centerline is valid? [True, True] Translation: X:20.44, Y:0.53, Z:-0.29 [[ 9.96038370e-01 -8.23323226e-02 3.35999071e-02 2.04362253e+01] [ 8.23525234e-02 9.96602953e-01 7.84605696e-04 5.29760296e-01] [-3.35503651e-02 1.98553976e-03 9.99435056e-01 -2.88745636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.195898227 meters 0.05863015656242524 Centerline is valid? [True, True] Translation: X:20.50, Y:0.53, Z:-0.29 [[ 9.95795749e-01 -8.62219667e-02 3.09289160e-02 2.04974165e+01] [ 8.62409555e-02 9.96274047e-01 7.22002225e-04 5.33477516e-01] [-3.08759288e-02 1.94837253e-03 9.99521326e-01 -2.93506681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.255898227 meters 0.06203121573241621 Centerline is valid? [True, True] Translation: X:20.56, Y:0.53, Z:-0.29 [[ 9.95474707e-01 -8.91175502e-02 3.29874151e-02 2.05572414e+01] [ 8.91407533e-02 9.96018742e-01 7.69533567e-04 5.26512675e-01] [-3.29246626e-02 2.17447183e-03 9.99455471e-01 -2.92661216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.315898227 meters 0.06619386090279437 Centerline is valid? [True, True] Translation: X:20.62, Y:0.52, Z:-0.30 [[ 9.95203511e-01 -9.25234196e-02 3.17708868e-02 2.06180365e+01] [ 9.25466623e-02 9.95708073e-01 7.41326552e-04 5.18899939e-01] [-3.17031186e-02 2.20251875e-03 9.99494903e-01 -2.96046963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.375898227 meters 0.07070996178806824 Centerline is valid? [True, True] Translation: X:20.68, Y:0.51, Z:-0.30 [[ 9.95223766e-01 -9.32571119e-02 2.88577001e-02 2.06791675e+01] [ 9.32766082e-02 9.95640006e-01 6.72757111e-04 5.09628067e-01] [-2.87946201e-02 2.02220452e-03 9.99583303e-01 -3.01789355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.435898227 meters 0.047032831551367074 Centerline is valid? [True, True] Translation: X:20.74, Y:0.53, Z:-0.31 [[ 9.96214096e-01 -8.25435950e-02 2.72769273e-02 2.07355210e+01] [ 8.24844586e-02 9.96586927e-01 3.28803068e-03 5.31819648e-01] [-2.74552351e-02 -1.02565992e-03 9.99622508e-01 -3.05293342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.495898227 meters 0.05168215207879117 Centerline is valid? [True, True] Translation: X:20.80, Y:0.53, Z:-0.30 [[ 9.96278748e-01 -8.21256045e-02 2.61541868e-02 2.07996375e+01] [ 8.22016651e-02 9.96614009e-01 -1.84460035e-03 5.30870665e-01] [-2.59141400e-02 3.98765383e-03 9.99656219e-01 -3.03332469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.555898227 meters 0.04933231847757397 Centerline is valid? [True, True] Translation: X:20.86, Y:0.53, Z:-0.31 [[ 9.96528005e-01 -7.82174005e-02 2.85302222e-02 2.08607980e+01] [ 7.82304515e-02 9.96935083e-01 6.60172143e-04 5.26131940e-01] [-2.84944164e-02 1.57405214e-03 9.99592712e-01 -3.05387118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.615898227 meters 0.059806234448625366 Centerline is valid? [True, True] Translation: X:20.92, Y:0.51, Z:-0.31 [[ 9.96485692e-01 -7.90202020e-02 2.77862167e-02 2.09221481e+01] [ 7.90328955e-02 9.96871801e-01 6.42821771e-04 5.08128728e-01] [-2.77500918e-02 1.55546247e-03 9.99613682e-01 -3.09778545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.675898227 meters 0.05053127915604083 Centerline is valid? [True, True] Translation: X:20.98, Y:0.51, Z:-0.31 [[ 9.96454368e-01 -7.97327119e-02 2.68586630e-02 2.09837557e+01] [ 7.97449302e-02 9.96815111e-01 6.17605914e-04 5.12566303e-01] [-2.68223646e-02 1.52642610e-03 9.99639050e-01 -3.12192647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.735898227 meters 0.04618217598086627 Centerline is valid? [True, True] Translation: X:21.02, Y:0.49, Z:-0.33 [[ 0.99706864 -0.06888004 0.03331154 21.01744925] [ 0.06785548 0.99721442 0.03096835 0.49106085] [-0.03535185 -0.0286172 0.99896512 -0.33272485] [ 0. 0. 0. 1. ]] SLAMing on 24.795898227 meters 0.05511041943254493 Centerline is valid? [True, True] Translation: X:21.11, Y:0.51, Z:-0.29 [[ 0.99630368 -0.07924314 0.03315881 21.10655937] [ 0.08017088 0.99639754 -0.027651 0.50584541] [-0.0308482 0.03020717 0.99906752 -0.28792002] [ 0. 0. 0. 1. ]] SLAMing on 24.855898227 meters 0.048811323574578826 Centerline is valid? [True, True] Translation: X:21.17, Y:0.50, Z:-0.31 [[ 9.96061626e-01 -8.25968687e-02 3.22334456e-02 2.11674788e+01] [ 8.26162759e-02 9.96581164e-01 7.31581189e-04 4.98187729e-01] [-3.21836710e-02 1.93430728e-03 9.99480100e-01 -3.11216582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.915898227 meters 0.060661230454688464 Centerline is valid? [True, True] Translation: X:21.23, Y:0.47, Z:-0.32 [[ 9.95582073e-01 -8.89719906e-02 3.00053373e-02 2.12280276e+01] [ 8.89917061e-02 9.96032135e-01 6.80363327e-04 4.72923481e-01] [-2.99468135e-02 1.99286863e-03 9.99549507e-01 -3.16767797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.975898227000002 meters 0.06533562617115617 Centerline is valid? [True, True] Translation: X:21.29, Y:0.46, Z:-0.32 [[ 9.95291547e-01 -9.30442009e-02 2.71572085e-02 2.12886487e+01] [ 9.30618734e-02 9.95660137e-01 6.15156929e-04 4.61289205e-01] [-2.70965868e-02 1.91504021e-03 9.99630986e-01 -3.20702224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.035898227 meters 0.06767955384452445 Centerline is valid? [True, True] Translation: X:21.35, Y:0.45, Z:-0.32 [[ 9.95690600e-01 -8.89732542e-02 2.61531811e-02 2.13483507e+01] [ 8.89882522e-02 9.96032500e-01 5.92149162e-04 4.51772759e-01] [-2.61021038e-02 1.73772852e-03 9.99657772e-01 -3.24073333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.095898227 meters 0.04948108135903149 Centerline is valid? [True, True] Translation: X:21.41, Y:0.47, Z:-0.32 [[ 9.96680355e-01 -7.65593068e-02 2.76937112e-02 2.14083984e+01] [ 7.65713361e-02 9.97063908e-01 6.27403876e-04 4.74942114e-01] [-2.76604335e-02 1.49522335e-03 9.99616259e-01 -3.22539213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.155898227 meters 0.038617362367306174 Centerline is valid? [True, True] Translation: X:21.47, Y:0.49, Z:-0.33 [[ 9.97472917e-01 -6.58936073e-02 2.65671228e-02 2.14690905e+01] [ 6.59009088e-02 9.97825991e-01 6.01579723e-04 4.91970735e-01] [-2.65490059e-02 1.15073806e-03 9.99646851e-01 -3.25184710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.215898227 meters 0.03320261889466923 Centerline is valid? [True, True] Translation: X:21.53, Y:0.51, Z:-0.33 [[ 9.98012312e-01 -5.66744933e-02 2.75576977e-02 2.15287093e+01] [ 5.66788471e-02 9.98392267e-01 6.23730020e-04 5.05915934e-01] [-2.75487419e-02 9.39448297e-04 9.99620020e-01 -3.25076269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.275898227 meters 0.03143605255781655 Centerline is valid? [True, True] Translation: X:21.59, Y:0.51, Z:-0.32 [[ 9.97955505e-01 -5.64316017e-02 3.00047461e-02 2.15913267e+01] [ 5.64366499e-02 9.98405951e-01 6.79276539e-04 5.13873775e-01] [-2.99952497e-02 1.01547959e-03 9.99549525e-01 -3.23582254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.335898227 meters 0.03409879119757867 Centerline is valid? [True, True] Translation: X:21.65, Y:0.52, Z:-0.33 [[ 9.97811056e-01 -5.89812007e-02 2.99050829e-02 2.16527026e+01] [ 5.89874099e-02 9.98258498e-01 6.75302249e-04 5.16286210e-01] [-2.98928333e-02 1.09019933e-03 9.99552515e-01 -3.25894419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.395898227 meters 0.03573361724161877 Centerline is valid? [True, True] Translation: X:21.71, Y:0.52, Z:-0.33 [[ 9.97815739e-01 -5.92292127e-02 2.92515287e-02 2.17138258e+01] [ 5.92352781e-02 9.98243831e-01 6.59909616e-04 5.15953268e-01] [-2.92392440e-02 1.07425424e-03 9.99571865e-01 -3.28201439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.455898227 meters 0.03206276546749547 Centerline is valid? [True, True] Translation: X:21.77, Y:0.52, Z:-0.33 [[ 9.98057315e-01 -5.44335787e-02 3.03081090e-02 2.17740024e+01] [ 5.44379649e-02 9.98516922e-01 6.81016916e-04 5.19821368e-01] [-3.03002300e-02 9.70217863e-04 9.99540372e-01 -3.27585373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.515898227 meters 0.023198048828462513 Centerline is valid? [True, True] Translation: X:21.83, Y:0.53, Z:-0.33 [[ 9.98608507e-01 -4.35111382e-02 2.97964869e-02 2.18346237e+01] [ 4.35105140e-02 9.99052745e-01 6.69630631e-04 5.34712728e-01] [-2.97973984e-02 6.27761616e-04 9.99555762e-01 -3.28588756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.575898227 meters 0.01592384228855778 Centerline is valid? [True, True] Translation: X:21.89, Y:0.55, Z:-0.33 [[ 9.99029866e-01 -3.48602236e-02 2.69089390e-02 2.18949753e+01] [ 3.48565826e-02 9.99392142e-01 6.04500840e-04 5.50654219e-01] [-2.69136552e-02 3.34039263e-04 9.99637706e-01 -3.33250955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.635898227 meters 0.012030310481892199 Centerline is valid? [True, True] Translation: X:21.95, Y:0.57, Z:-0.33 [[ 9.99279705e-01 -2.54265164e-02 2.81702473e-02 2.19548229e+01] [ 2.54187872e-02 9.99676690e-01 6.32493843e-04 5.69562843e-01] [-2.81772217e-02 8.40152622e-05 9.99602940e-01 -3.31822801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.695898227 meters 0.015306467023592112 Centerline is valid? [True, True] Translation: X:22.02, Y:0.57, Z:-0.33 [[ 9.99260455e-01 -2.45013050e-02 2.96349472e-02 2.20175128e+01] [ 2.44923545e-02 9.99699796e-01 6.65037428e-04 5.74484278e-01] [-2.96423449e-02 6.12840284e-05 9.99560567e-01 -3.33729919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.755898227 meters 0.012899595984953233 Centerline is valid? [True, True] Translation: X:22.08, Y:0.57, Z:-0.34 [[ 9.99195647e-01 -2.77861359e-02 2.89134805e-02 2.20792163e+01] [ 2.77791407e-02 9.99613878e-01 6.43663656e-04 5.70869887e-01] [-2.89202013e-02 1.60045721e-04 9.99581711e-01 -3.35545949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.815898227 meters 0.015243904673880253 Centerline is valid? [True, True] Translation: X:22.14, Y:0.56, Z:-0.34 [[ 9.99062734e-01 -3.17327859e-02 2.94394781e-02 2.21409383e+01] [ 3.17273764e-02 9.99496348e-01 6.50967784e-04 5.64046100e-01] [-2.94453079e-02 2.83679749e-04 9.99566353e-01 -3.36563715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.875898227 meters 0.017117485117330095 Centerline is valid? [True, True] Translation: X:22.20, Y:0.56, Z:-0.33 [[ 9.98940319e-01 -3.39847454e-02 3.10366750e-02 2.22036293e+01] [ 3.39799666e-02 9.99422282e-01 6.81550728e-04 5.59076524e-01] [-3.10419069e-02 3.73796681e-04 9.99518014e-01 -3.34056149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.935898227 meters 0.016318343153175367 Centerline is valid? [True, True] Translation: X:22.26, Y:0.56, Z:-0.34 [[ 9.99010282e-01 -3.24755520e-02 3.03939984e-02 2.22647463e+01] [ 3.24704103e-02 9.99472477e-01 6.62848987e-04 5.55923737e-01] [-3.03994912e-02 3.24712644e-04 9.99537776e-01 -3.37639182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.995898227 meters 0.013973834192673253 Centerline is valid? [True, True] Translation: X:22.33, Y:0.56, Z:-0.34 [[ 9.99186983e-01 -2.61321330e-02 3.06999109e-02 2.23269235e+01] [ 2.61240289e-02 9.99658488e-01 6.65115745e-04 5.56407585e-01] [-3.07068074e-02 1.37430363e-04 9.99528425e-01 -3.40703631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.055898227 meters 0.01206961052034992 Centerline is valid? [True, True] Translation: X:22.39, Y:0.56, Z:-0.34 [[ 9.99345521e-01 -1.91731261e-02 3.06744387e-02 2.23890467e+01] [ 1.91619004e-02 9.99816176e-01 6.59908409e-04 5.62874369e-01] [-3.06814525e-02 -7.16959741e-05 9.99529211e-01 -3.41430699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.115898227 meters 0.015764726608535767 Centerline is valid? [True, True] Translation: X:22.45, Y:0.57, Z:-0.34 [[ 9.99411449e-01 -1.16286836e-02 3.22727256e-02 2.24502486e+01] [ 1.16124891e-02 9.99932335e-01 6.89193723e-04 5.67068021e-01] [-3.22785563e-02 -3.14021424e-04 9.99478862e-01 -3.41074733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.175898227 meters 0.013664186423735913 Centerline is valid? [True, True] Translation: X:22.51, Y:0.56, Z:-0.34 [[ 9.99378444e-01 -1.44542997e-02 3.21527380e-02 2.25124426e+01] [ 1.44398327e-02 9.99895508e-01 6.82114138e-04 5.55965129e-01] [-3.21592378e-02 -2.17410008e-04 9.99482734e-01 -3.44533370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.235898227 meters 0.011824220777864224 Centerline is valid? [True, True] Translation: X:22.57, Y:0.54, Z:-0.35 [[ 9.99371082e-01 -1.98936969e-02 2.93543936e-02 2.25743782e+01] [ 1.98841029e-02 9.99802100e-01 6.18731381e-04 5.42147677e-01] [-2.93608932e-02 -3.46564669e-05 9.99568875e-01 -3.50776478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.295898227 meters 0.013723827547299979 Centerline is valid? [True, True] Translation: X:22.64, Y:0.52, Z:-0.36 [[ 9.99258479e-01 -2.72953524e-02 2.71561488e-02 2.26371326e+01] [ 2.72899743e-02 9.99627398e-01 5.68707109e-04 5.23090970e-01] [-2.71615534e-02 1.72805201e-04 9.99631042e-01 -3.56823017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.355898227 meters 0.01899557393184735 Centerline is valid? [True, True] Translation: X:22.70, Y:0.50, Z:-0.36 [[ 9.99078112e-01 -3.40495226e-02 2.61448937e-02 2.26987467e+01] [ 3.40469492e-02 9.99420087e-01 5.43705967e-04 4.99561218e-01] [-2.61482448e-02 3.46949133e-04 9.99658016e-01 -3.60230593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.415898227 meters 0.01610645255311087 Centerline is valid? [True, True] Translation: X:22.76, Y:0.50, Z:-0.36 [[ 9.99170865e-01 -3.21866459e-02 2.49319413e-02 2.27608615e+01] [ 3.21838041e-02 9.99481834e-01 5.15345747e-04 4.95639273e-01] [-2.49356096e-02 2.87486256e-04 9.99689018e-01 -3.62684716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.475898227 meters 0.013215684189158304 Centerline is valid? [True, True] Translation: X:22.82, Y:0.50, Z:-0.37 [[ 9.99362823e-01 -2.64839810e-02 2.39279477e-02 2.28231008e+01] [ 2.64798159e-02 9.99649228e-01 4.90956725e-04 4.97804485e-01] [-2.39325570e-02 1.42963753e-04 9.99713565e-01 -3.67258712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.535898227 meters 0.012041004137679404 Centerline is valid? [True, True] Translation: X:22.89, Y:0.51, Z:-0.36 [[ 9.99513025e-01 -1.76696964e-02 2.57195266e-02 2.28850535e+01] [ 1.76620805e-02 9.99843876e-01 5.23269401e-04 5.05375692e-01] [-2.57247572e-02 -6.87542329e-05 9.99669061e-01 -3.64544216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.595898227 meters 0.013358661642624918 Centerline is valid? [True, True] Translation: X:22.95, Y:0.51, Z:-0.36 [[ 9.99469506e-01 -1.32316288e-02 2.97595565e-02 2.29476042e+01] [ 1.32196291e-02 9.99912437e-01 5.99944347e-04 5.10902257e-01] [-2.97648889e-02 -2.06215781e-04 9.99556906e-01 -3.59949796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.655898227 meters 0.01644404245392524 Centerline is valid? [True, True] Translation: X:23.01, Y:0.52, Z:-0.36 [[ 9.99542671e-01 -7.87050965e-03 2.91976642e-02 2.30094216e+01] [ 7.85680668e-03 9.99968964e-01 5.84014177e-04 5.17559806e-01] [-2.92013546e-02 -3.54346688e-04 9.99573487e-01 -3.63554405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.715898227 meters 0.02551839621746128 Centerline is valid? [True, True] Translation: X:23.07, Y:0.54, Z:-0.37 [[ 9.99606059e-01 -2.93273312e-03 2.79128399e-02 2.30698562e+01] [ 2.91840600e-03 9.99995588e-01 5.54005340e-04 5.35369830e-01] [-2.79143415e-02 -4.72326095e-04 9.99610207e-01 -3.67234229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.775898227 meters 0.021151789397203455 Centerline is valid? [True, True] Translation: X:23.13, Y:0.53, Z:-0.36 [[ 9.99480257e-01 1.01617507e-03 3.22208392e-02 2.31318851e+01] [-1.03721748e-03 9.99999260e-01 6.36360790e-04 5.33193581e-01] [-3.22201687e-02 -6.69450064e-04 9.99480571e-01 -3.61133888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.835898227 meters 0.02122006367944731 Centerline is valid? [True, True] Translation: X:23.20, Y:0.54, Z:-0.36 [[ 9.99449796e-01 1.37367907e-03 3.31393856e-02 2.31954306e+01] [-1.39595322e-03 9.99998815e-01 6.49007681e-04 5.37375091e-01] [-3.31384549e-02 -6.94911626e-04 9.99450529e-01 -3.61464261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.895898227 meters 0.018311194806183487 Centerline is valid? [True, True] Translation: X:23.26, Y:0.53, Z:-0.37 [[ 9.99567813e-01 -2.96917735e-03 2.92467308e-02 2.32567801e+01] [ 2.95383777e-03 9.99995476e-01 5.67679116e-04 5.34981579e-01] [-2.92482840e-02 -4.81043675e-04 9.99572062e-01 -3.69511759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.955898227 meters 0.016151867132046888 Centerline is valid? [True, True] Translation: X:23.32, Y:0.53, Z:-0.37 [[ 9.99527455e-01 -6.31668674e-03 3.00826426e-02 2.33192191e+01] [ 6.30199708e-03 9.99979972e-01 5.83097958e-04 5.29540454e-01] [-3.00857233e-02 -3.93241692e-04 9.99547245e-01 -3.70226820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.015898227 meters 0.01413958570078411 Centerline is valid? [True, True] Translation: X:23.38, Y:0.52, Z:-0.37 [[ 9.99483820e-01 -1.05341166e-02 3.03500584e-02 2.33802875e+01] [ 1.05212652e-02 9.99944480e-01 5.83110138e-04 5.20751242e-01] [-3.03545159e-02 -2.63488136e-04 9.99539161e-01 -3.71592112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.075898227 meters 0.014591458860806409 Centerline is valid? [True, True] Translation: X:23.44, Y:0.51, Z:-0.38 [[ 9.99576224e-01 -9.13960059e-03 2.76376629e-02 2.34424989e+01] [ 9.12851763e-03 9.99958195e-01 5.27154860e-04 5.14828691e-01] [-2.76413255e-02 -2.74640572e-04 9.99617868e-01 -3.77070112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.135898227 meters 0.021272006680700364 Centerline is valid? [True, True] Translation: X:23.50, Y:0.52, Z:-0.38 [[ 9.99599975e-01 -2.33927588e-03 2.81854260e-02 2.35031668e+01] [ 2.32518977e-03 9.99997155e-01 5.32529972e-04 5.21710214e-01] [-2.81865915e-02 -4.66780483e-04 9.99602570e-01 -3.78858893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.195898227 meters 0.029813846624818882 Centerline is valid? [True, True] Translation: X:23.56, Y:0.54, Z:-0.38 [[ 9.99577505e-01 1.07772278e-02 2.69937496e-02 2.35632059e+01] [-1.07949173e-02 9.99941603e-01 5.09675755e-04 5.38791107e-01] [-2.69866804e-02 -8.00855714e-04 9.99635472e-01 -3.81614312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.255898227 meters 0.034174357243002405 Centerline is valid? [True, True] Translation: X:23.62, Y:0.55, Z:-0.38 [[ 9.99538039e-01 1.41170805e-02 2.69149988e-02 2.36226256e+01] [-1.41358754e-02 9.99899954e-01 5.08156431e-04 5.47276211e-01] [-2.69051324e-02 -8.88388751e-04 9.99637597e-01 -3.84218538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.315898227 meters 0.0294150135467524 Centerline is valid? [True, True] Translation: X:23.68, Y:0.55, Z:-0.38 [[ 9.99504598e-01 1.10476742e-02 2.94704516e-02 2.36846360e+01] [-1.10688770e-02 9.99938583e-01 5.56413652e-04 5.45203200e-01] [-2.94624946e-02 -8.82342807e-04 9.99565497e-01 -3.81016920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.375898227 meters 0.02491420568510167 Centerline is valid? [True, True] Translation: X:23.74, Y:0.54, Z:-0.39 [[ 9.99623376e-01 4.19979245e-03 2.71195063e-02 2.37442553e+01] [-4.21520037e-03 9.99990985e-01 5.11006361e-04 5.35234808e-01] [-2.71171158e-02 -6.25128057e-04 9.99632068e-01 -3.88433936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.435898227 meters 0.018983280904115524 Centerline is valid? [True, True] Translation: X:23.81, Y:0.53, Z:-0.38 [[ 9.99614238e-01 -9.94980442e-04 2.77558104e-02 2.38097061e+01] [ 1.18217230e-03 9.99976664e-01 -6.72864653e-03 5.27487006e-01] [-2.77484678e-02 6.75886302e-03 9.99592087e-01 -3.82228808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.495898227 meters 0.01688605670569692 Centerline is valid? [True, True] Translation: X:23.87, Y:0.51, Z:-0.39 [[ 9.99447778e-01 -7.50811421e-03 3.23692188e-02 2.38666186e+01] [ 7.26718377e-03 9.99945058e-01 7.55443095e-03 5.05794271e-01] [-3.24241599e-02 -7.31502617e-03 9.99447429e-01 -3.88956624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.555898227 meters 0.014950439583713638 Centerline is valid? [True, True] Translation: X:23.93, Y:0.50, Z:-0.39 [[ 9.99463846e-01 -9.78243149e-03 3.12461966e-02 2.39278844e+01] [ 9.76895625e-03 9.99952112e-01 5.83893334e-04 4.96680157e-01] [-3.12504122e-02 -2.78337549e-04 9.99511548e-01 -3.87697045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.615898227 meters 0.019601189088523787 Centerline is valid? [True, True] Translation: X:23.99, Y:0.49, Z:-0.39 [[ 9.99542192e-01 -1.85838349e-03 3.01985600e-02 2.39894981e+01] [ 1.84231246e-03 9.99998146e-01 5.59994163e-04 4.94068100e-01] [-3.01995447e-02 -5.04102610e-04 9.99543763e-01 -3.88481819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.675898227 meters 0.035593911426525425 Centerline is valid? [True, True] Translation: X:24.05, Y:0.51, Z:-0.39 [[ 9.99474001e-01 1.38124623e-02 2.93417334e-02 2.40484284e+01] [-1.38343604e-02 9.99904153e-01 5.43428676e-04 5.14614739e-01] [-2.93314149e-02 -9.49066949e-04 9.99569291e-01 -3.91759581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.735898227 meters 0.037248217833884094 Centerline is valid? [True, True] Translation: X:24.11, Y:0.52, Z:-0.39 [[ 9.99412262e-01 1.87817864e-02 2.86770868e-02 2.41090030e+01] [-1.88047405e-02 9.99823034e-01 5.30930295e-04 5.18435009e-01] [-2.86620401e-02 -1.06988342e-03 9.99588587e-01 -3.94526152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.795898227 meters 0.04404304405751659 Centerline is valid? [True, True] Translation: X:24.17, Y:0.53, Z:-0.40 [[ 9.99311144e-01 2.55212575e-02 2.69425738e-02 2.41692305e+01] [-2.55439603e-02 9.99673575e-01 4.98744682e-04 5.29807019e-01] [-2.69210505e-02 -1.18662115e-03 9.99636859e-01 -3.99659618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.855898227 meters 0.045482006788976514 Centerline is valid? [True, True] Translation: X:24.23, Y:0.54, Z:-0.40 [[ 9.99372219e-01 2.47670625e-02 2.53330104e-02 2.42268425e+01] [-2.47868835e-02 9.99692648e-01 4.68654548e-04 5.36689397e-01] [-2.53136171e-02 -1.09628671e-03 9.99678958e-01 -4.04343321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.915898227 meters 0.036911319541072914 Centerline is valid? [True, True] Translation: X:24.29, Y:0.53, Z:-0.40 [[ 9.99445570e-01 1.98297465e-02 2.67457288e-02 2.42879839e+01] [-1.98501269e-02 9.99802843e-01 4.96693542e-04 5.27429488e-01] [-2.67306064e-02 -1.02732427e-03 9.99642146e-01 -4.02759289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.975898227 meters 0.031057393490333728 Centerline is valid? [True, True] Translation: X:24.35, Y:0.52, Z:-0.39 [[ 9.99535286e-01 8.72329255e-03 2.92081632e-02 2.43515032e+01] [-8.41517754e-03 9.99907821e-01 -1.06552935e-02 5.23623391e-01] [-2.92984200e-02 1.04045500e-02 9.99516557e-01 -3.90725923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.035898227 meters 0.0226994425961413 Centerline is valid? [True, True] Translation: X:24.41, Y:0.50, Z:-0.42 [[ 9.99677247e-01 1.24956401e-03 2.53740221e-02 2.44077954e+01] [-1.54711979e-03 9.99930232e-01 1.17105445e-02 4.96358773e-01] [-2.53576188e-02 -1.17460215e-02 9.99609435e-01 -4.18051552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.095898227 meters 0.017530013243539318 Centerline is valid? [True, True] Translation: X:24.47, Y:0.49, Z:-0.41 [[ 9.99587440e-01 -5.18946957e-03 2.82492509e-02 2.44684390e+01] [ 5.17679624e-03 9.99986464e-01 5.21742117e-04 4.85675492e-01] [-2.82515761e-02 -3.75286251e-04 9.99600774e-01 -4.08830075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.155898227 meters 0.01945743911574468 Centerline is valid? [True, True] Translation: X:24.53, Y:0.48, Z:-0.40 [[ 9.99498125e-01 -1.10924772e-03 3.16586181e-02 2.45309583e+01] [ 1.09128619e-03 9.99999234e-01 5.84623409e-04 4.82765375e-01] [-3.16592423e-02 -5.49781388e-04 9.99498569e-01 -3.97750452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.215898227 meters 0.026461702990695554 Centerline is valid? [True, True] Translation: X:24.59, Y:0.49, Z:-0.42 [[ 9.99740501e-01 6.58053459e-03 2.18088642e-02 2.45904202e+01] [-6.59086121e-03 9.99978199e-01 4.01660582e-04 4.88922925e-01] [-2.18057457e-02 -5.45295549e-04 9.99762078e-01 -4.15935634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.275898227 meters 0.03278826377479009 Centerline is valid? [True, True] Translation: X:24.65, Y:0.49, Z:-0.42 [[ 9.99500203e-01 1.43244448e-02 2.81807439e-02 2.46505512e+01] [-1.43447755e-02 9.99896974e-01 5.19400596e-04 4.94484480e-01] [-2.81704004e-02 -9.23387447e-04 9.99602709e-01 -4.16321732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.335898227 meters 0.034204173566344705 Centerline is valid? [True, True] Translation: X:24.71, Y:0.49, Z:-0.39 [[ 9.99148177e-01 1.57184872e-02 3.81555977e-02 2.47132789e+01] [-1.57567666e-02 9.99875608e-01 7.02719377e-04 4.92382971e-01] [-3.81398058e-02 -1.30332963e-03 9.99271563e-01 -3.94036037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.395898227 meters 0.039066340164301334 Centerline is valid? [True, True] Translation: X:24.77, Y:0.49, Z:-0.42 [[ 9.99580549e-01 1.69466772e-02 2.34848213e-02 2.47740268e+01] [-1.69615126e-02 9.99856050e-01 4.32635767e-04 4.94516829e-01] [-2.34741089e-02 -8.30792389e-04 9.99724100e-01 -4.17923441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.455898227 meters 0.0423927836023961 Centerline is valid? [True, True] Translation: X:24.83, Y:0.50, Z:-0.42 [[ 9.99474095e-01 1.96296204e-02 2.58110630e-02 2.48337896e+01] [-1.96483032e-02 9.99806843e-01 4.70389848e-04 4.99696876e-01] [-2.57968438e-02 -9.77286060e-04 9.99666728e-01 -4.21652228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.515898227 meters 0.04067366250132383 Centerline is valid? [True, True] Translation: X:24.89, Y:0.49, Z:-0.41 [[ 9.99094968e-01 2.20712480e-02 3.63607729e-02 2.48944445e+01] [-2.21099730e-02 9.99755325e-01 6.63216000e-04 4.92865119e-01] [-3.63372383e-02 -1.46655147e-03 9.99338508e-01 -4.11167949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.575898227 meters 0.04099219317520011 Centerline is valid? [True, True] Translation: X:24.96, Y:0.49, Z:-0.42 [[ 9.99317156e-01 2.42760287e-02 2.78549027e-02 2.49563768e+01] [-2.42996130e-02 9.99704592e-01 5.08449413e-04 4.89316096e-01] [-2.78343310e-02 -1.18496558e-03 9.99611848e-01 -4.22321635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.635898227 meters 0.04278733274730376 Centerline is valid? [True, True] Translation: X:25.01, Y:0.49, Z:-0.43 [[ 9.99489838e-01 2.38635837e-02 2.12271839e-02 2.50142883e+01] [-2.38771541e-02 9.99714826e-01 3.86038041e-04 4.92961211e-01] [-2.12119182e-02 -8.92685839e-04 9.99774603e-01 -4.33189250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.695898227 meters 0.041375332242776584 Centerline is valid? [True, True] Translation: X:25.07, Y:0.50, Z:-0.42 [[ 9.99270328e-01 2.00555282e-02 3.25051975e-02 2.50745407e+01] [-2.00854053e-02 9.99798092e-01 5.92849433e-04 4.96052071e-01] [-3.24867445e-02 -1.24529691e-03 9.99471391e-01 -4.15741894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.755898227 meters 0.02981527250978214 Centerline is valid? [True, True] Translation: X:25.14, Y:0.47, Z:-0.43 [[ 9.99516308e-01 1.20434783e-02 2.86723670e-02 2.51351506e+01] [-1.20634404e-02 9.99927097e-01 5.23331107e-04 4.71065793e-01] [-2.86639739e-02 -8.68965365e-04 9.99588726e-01 -4.28918862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.815898226999998 meters 0.026666818290862315 Centerline is valid? [True, True] Translation: X:25.19, Y:0.47, Z:-0.43 [[ 9.99537607e-01 6.90916856e-03 2.96114231e-02 2.51946856e+01] [-6.92820342e-03 9.99975854e-01 5.40269171e-04 4.65588298e-01] [-2.96069753e-02 -7.45173317e-04 9.99561340e-01 -4.26023537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.875898227 meters 0.02684082441963359 Centerline is valid? [True, True] Translation: X:25.26, Y:0.46, Z:-0.44 [[ 9.99732839e-01 7.19108011e-03 2.19667570e-02 2.52563550e+01] [-7.20165636e-03 9.99973987e-01 4.02395276e-04 4.57989969e-01] [-2.19632919e-02 -5.60484807e-04 9.99758621e-01 -4.39906142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.935898227 meters 0.03059201758929667 Centerline is valid? [True, True] Translation: X:25.32, Y:0.46, Z:-0.44 [[ 9.99658562e-01 1.06141779e-02 2.38767557e-02 2.53174341e+01] [-1.06275233e-02 9.99943433e-01 4.32099421e-04 4.61425024e-01] [-2.38708187e-02 -6.85702662e-04 9.99714816e-01 -4.40327193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.995898227 meters 0.037734346588802266 Centerline is valid? [True, True] Translation: X:25.38, Y:0.47, Z:-0.42 [[ 9.99139091e-01 1.91910037e-02 3.67801935e-02 2.53784995e+01] [-1.92284273e-02 9.99814896e-01 6.63999067e-04 4.65440389e-01] [-3.67606426e-02 -1.37065270e-03 9.99323159e-01 -4.21100548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.055898227 meters 0.04054118619279028 Centerline is valid? [True, True] Translation: X:25.44, Y:0.46, Z:-0.44 [[ 9.99488492e-01 2.21020706e-02 2.31139145e-02 2.54392018e+01] [-2.21176266e-02 9.99755288e-01 4.17552342e-04 4.63952892e-01] [-2.30990295e-02 -9.28563690e-04 9.99732751e-01 -4.38949943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.115898227 meters 0.04678556503998793 Centerline is valid? [True, True] Translation: X:25.50, Y:0.47, Z:-0.45 [[ 9.99447144e-01 2.52915758e-02 2.15810916e-02 2.54977373e+01] [-2.53058582e-02 9.99679680e-01 3.88920034e-04 4.72673622e-01] [-2.15643423e-02 -9.34833061e-04 9.99767025e-01 -4.47294310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.175898227 meters 0.045179609577187536 Centerline is valid? [True, True] Translation: X:25.56, Y:0.47, Z:-0.44 [[ 9.99250817e-01 2.48860713e-02 2.96392850e-02 2.55566210e+01] [-2.49128488e-02 9.99689484e-01 5.34450346e-04 4.67405052e-01] [-2.96167812e-02 -1.27244897e-03 9.99560517e-01 -4.38757852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.235898227 meters 0.03892021268271728 Centerline is valid? [True, True] Translation: X:25.62, Y:0.46, Z:-0.44 [[ 9.99519326e-01 1.86423375e-02 2.47705466e-02 2.56173626e+01] [-1.86591522e-02 9.99825803e-01 4.47838636e-04 4.57821119e-01] [-2.47578829e-02 -9.09820771e-04 9.99693063e-01 -4.44593905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.295898227 meters 0.038289956700943775 Centerline is valid? [True, True] Translation: X:25.68, Y:0.46, Z:-0.44 [[ 9.99497680e-01 1.77325396e-02 2.62668023e-02 2.56771212e+01] [-1.77511347e-02 9.99842323e-01 4.74908078e-04 4.55618736e-01] [-2.62542393e-02 -9.40935067e-04 9.99654855e-01 -4.43755777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.355898227 meters 0.043952818419360766 Centerline is valid? [True, True] Translation: X:25.74, Y:0.46, Z:-0.44 [[ 9.99257983e-01 2.56690348e-02 2.87155891e-02 2.57368977e+01] [-2.56945417e-02 9.99669706e-01 5.19559886e-04 4.61253293e-01] [-2.86927679e-02 -1.25700827e-03 9.99587487e-01 -4.42403324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.415898227 meters 0.05418818858809233 Centerline is valid? [True, True] Translation: X:25.80, Y:0.47, Z:-0.45 [[ 9.99215084e-01 3.06282125e-02 2.51222785e-02 2.57958817e+01] [-3.06493019e-02 9.99530096e-01 4.54759897e-04 4.73810125e-01] [-2.50965450e-02 -1.22438325e-03 9.99684282e-01 -4.53344350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.475898227 meters 0.04822839624958593 Centerline is valid? [True, True] Translation: X:25.85, Y:0.47, Z:-0.44 [[ 9.99092546e-01 2.97047264e-02 3.05239782e-02 2.58548873e+01] [-2.97354408e-02 9.99557651e-01 5.52704663e-04 4.66603146e-01] [-3.04940580e-02 -1.45984706e-03 9.99533882e-01 -4.43439590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.535898227 meters 0.051338886903489526 Centerline is valid? [True, True] Translation: X:25.91, Y:0.46, Z:-0.46 [[ 9.99326011e-01 2.59065776e-02 2.60071770e-02 2.59136357e+01] [-2.59276184e-02 9.99663711e-01 4.72100380e-04 4.64240534e-01] [-2.59862006e-02 -1.14608635e-03 9.99661645e-01 -4.56076753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.595898227 meters 0.044015156053563355 Centerline is valid? [True, True] Translation: X:25.97, Y:0.46, Z:-0.46 [[ 9.99360998e-01 2.53880299e-02 2.51603402e-02 2.59725929e+01] [-2.54075636e-02 9.99677071e-01 4.56937308e-04 4.55343834e-01] [-2.51406145e-02 -1.09590827e-03 9.99683324e-01 -4.56320261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.655898227 meters 0.04545354884774505 Centerline is valid? [True, True] Translation: X:26.03, Y:0.46, Z:-0.45 [[ 9.99285195e-01 2.59596912e-02 2.74807930e-02 2.60312271e+01] [-2.59832521e-02 9.99662253e-01 5.00557945e-04 4.57402890e-01] [-2.74585171e-02 -1.21424051e-03 9.99622206e-01 -4.54808376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.715898227 meters 0.04797858172970175 Centerline is valid? [True, True] Translation: X:26.09, Y:0.46, Z:-0.46 [[ 9.99297423e-01 2.53856095e-02 2.75723086e-02 2.60902520e+01] [-2.54091472e-02 9.99677009e-01 5.03590335e-04 4.57277903e-01] [-2.75506191e-02 -1.20382537e-03 9.99619685e-01 -4.55451009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.775898227 meters 0.0459266081361349 Centerline is valid? [True, True] Translation: X:26.15, Y:0.45, Z:-0.47 [[ 9.99471724e-01 2.49418400e-02 2.08369470e-02 2.61492616e+01] [-2.49551962e-02 9.99688498e-01 3.81170180e-04 4.53948280e-01] [-2.08209492e-02 -9.00958917e-04 9.99782815e-01 -4.68529023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.835898227 meters 0.048130525931177434 Centerline is valid? [True, True] Translation: X:26.21, Y:0.46, Z:-0.46 [[ 9.99379564e-01 2.39141928e-02 2.58572556e-02 2.62078125e+01] [-2.39344380e-02 9.99713418e-01 4.73708604e-04 4.57465652e-01] [-2.58385171e-02 -1.09229358e-03 9.99665533e-01 -4.62193144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.895898227 meters 0.03813899610511638 Centerline is valid? [True, True] Translation: X:26.27, Y:0.44, Z:-0.46 [[ 9.99342008e-01 2.20020759e-02 2.88350295e-02 2.62694772e+01] [-2.19655163e-02 9.99757474e-01 -1.58406792e-03 4.41222970e-01] [-2.88628890e-02 9.49649310e-04 9.99582929e-01 -4.59134015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.955898227 meters 0.041850948623252705 Centerline is valid? [True, True] Translation: X:26.33, Y:0.44, Z:-0.48 [[ 9.99547573e-01 2.14225484e-02 2.11121476e-02 2.63291440e+01] [-2.14780647e-02 9.99766424e-01 2.40633426e-03 4.43864745e-01] [-2.10556665e-02 -2.85869364e-03 9.99774218e-01 -4.75289086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.015898227 meters 0.0514659263070505 Centerline is valid? [True, True] Translation: X:26.39, Y:0.46, Z:-0.47 [[ 9.99381776e-01 2.79367809e-02 2.13448454e-02 2.63882185e+01] [-2.79514427e-02 9.99609206e-01 3.88808038e-04 4.63345583e-01] [-2.13256420e-02 -9.85186893e-04 9.99772097e-01 -4.74468899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.075898227 meters 0.05897753877533534 Centerline is valid? [True, True] Translation: X:26.45, Y:0.48, Z:-0.47 [[ 9.98909914e-01 3.90558462e-02 2.55660900e-02 2.64479876e+01] [-3.90805203e-02 9.99235956e-01 4.65981560e-04 4.77237018e-01] [-2.55283571e-02 -1.46460970e-03 9.99673025e-01 -4.72387278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.135898227 meters 0.05931519155755121 Centerline is valid? [True, True] Translation: X:26.51, Y:0.48, Z:-0.48 [[ 9.98921982e-01 3.99014293e-02 2.37223524e-02 2.65069979e+01] [-3.99229057e-02 9.99202670e-01 4.32226051e-04 4.82729421e-01] [-2.36861914e-02 -1.37882534e-03 9.99718492e-01 -4.76181811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.195898227 meters 0.059380740873625305 Centerline is valid? [True, True] Translation: X:26.57, Y:0.49, Z:-0.47 [[ 9.99033995e-01 3.55292756e-02 2.58601474e-02 2.65663215e+01] [-3.55533677e-02 9.99367668e-01 4.72299874e-04 4.87318118e-01] [-2.58270147e-02 -1.39125896e-03 9.99665459e-01 -4.74244893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.255898227 meters 0.055455836317429764 Centerline is valid? [True, True] Translation: X:26.63, Y:0.48, Z:-0.47 [[ 9.99048008e-01 3.17366073e-02 2.99310182e-02 2.66266383e+01] [-3.17672085e-02 9.99495145e-01 5.47306535e-04 4.81958287e-01] [-2.98985377e-02 -1.49761040e-03 9.99551817e-01 -4.73335165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.315898226999998 meters 0.049807518117673165 Centerline is valid? [True, True] Translation: X:26.69, Y:0.48, Z:-0.48 [[ 9.99189466e-01 2.97812611e-02 2.70829744e-02 2.66867013e+01] [-2.98055974e-02 9.99555592e-01 4.95250713e-04 4.77654137e-01] [-2.70561893e-02 -1.30207353e-03 9.99633066e-01 -4.80176627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.375898227 meters 0.040266646938558116 Centerline is valid? [True, True] Translation: X:26.75, Y:0.46, Z:-0.48 [[ 9.99299421e-01 2.18489438e-02 3.03857060e-02 2.67471689e+01] [-2.18759336e-02 9.99760538e-01 5.56050865e-04 4.64259254e-01] [-3.03662807e-02 -1.22037700e-03 9.99538093e-01 -4.76828156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.435898227 meters 0.035529296088839396 Centerline is valid? [True, True] Translation: X:26.81, Y:0.45, Z:-0.48 [[ 9.99372866e-01 1.40092322e-02 3.25210131e-02 2.68074493e+01] [-1.40360081e-02 9.99901313e-01 5.95182222e-04 4.52788879e-01] [-3.25094657e-02 -1.05127417e-03 9.99470875e-01 -4.76261615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.495898227 meters 0.030818070089563235 Centerline is valid? [True, True] Translation: X:26.87, Y:0.44, Z:-0.48 [[ 9.99452661e-01 1.03266530e-02 3.14283077e-02 2.68685545e+01] [-1.03498406e-02 9.99946274e-01 5.75197136e-04 4.41298109e-01] [-3.14206793e-02 -9.00160282e-04 9.99505843e-01 -4.78717999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.555898227 meters 0.026942431495019955 Centerline is valid? [True, True] Translation: X:26.93, Y:0.43, Z:-0.48 [[ 9.99468131e-01 7.74701574e-03 3.16771057e-02 2.69301149e+01] [-7.76926501e-03 9.99969651e-01 5.79350665e-04 4.29284701e-01] [-3.16716561e-02 -8.25150355e-04 9.99497987e-01 -4.79278702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.615898227 meters 0.030998085734337905 Centerline is valid? [True, True] Translation: X:26.99, Y:0.42, Z:-0.48 [[ 9.99502608e-01 9.37444921e-03 3.01107501e-02 2.69909880e+01] [-9.39526824e-03 9.99955712e-01 5.50005138e-04 4.18634964e-01] [-3.01042605e-02 -8.32630144e-04 9.99546417e-01 -4.84350612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.675898227 meters 0.03212886670853959 Centerline is valid? [True, True] Translation: X:27.05, Y:0.41, Z:-0.49 [[ 9.99521838e-01 1.25952172e-02 2.82392686e-02 2.70525879e+01] [-1.26147936e-02 9.99920298e-01 5.15184426e-04 4.14451598e-01] [-2.82305290e-02 -8.71170630e-04 9.99601060e-01 -4.87092107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.735898227 meters 0.039570386682959736 Centerline is valid? [True, True] Translation: X:27.11, Y:0.41, Z:-0.49 [[ 9.99404879e-01 1.64592341e-02 3.03147047e-02 2.71127619e+01] [-1.64835471e-02 9.99863985e-01 5.52274631e-04 4.12289840e-01] [-3.03014915e-02 -1.05163982e-03 9.99540251e-01 -4.87564790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.795898227 meters 0.03574063286352115 Centerline is valid? [True, True] Translation: X:27.17, Y:0.40, Z:-0.49 [[ 9.99414590e-01 1.69201557e-02 2.97352693e-02 2.71747296e+01] [-1.69437520e-02 9.99856298e-01 5.41740261e-04 3.98722561e-01] [-2.97218300e-02 -1.04525015e-03 9.99557662e-01 -4.92014616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.855898227 meters 0.02922028523011631 Centerline is valid? [True, True] Translation: X:27.24, Y:0.37, Z:-0.49 [[ 9.99516486e-01 9.39649052e-03 2.96394930e-02 2.72359806e+01] [-9.41648031e-03 9.99955521e-01 5.34919238e-04 3.74074506e-01] [-2.96331483e-02 -8.13760299e-04 9.99560511e-01 -4.91890916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.915898227 meters 0.02027343184372375 Centerline is valid? [True, True] Translation: X:27.30, Y:0.35, Z:-0.49 [[ 9.99467310e-01 -8.38121438e-04 3.26250441e-02 2.72972437e+01] [ 8.19347250e-04 9.99999491e-01 5.88818173e-04 3.46384692e-01] [-3.26255210e-02 -5.61773275e-04 9.99467488e-01 -4.88259467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.975898227 meters 0.017150875964694206 Centerline is valid? [True, True] Translation: X:27.36, Y:0.33, Z:-0.49 [[ 9.99540409e-01 -4.69196627e-03 2.99492339e-02 2.73591985e+01] [ 4.67787575e-03 9.99988913e-01 5.40528554e-04 3.30446989e-01] [-2.99514380e-02 -4.00181338e-04 9.99551275e-01 -4.94673176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.035898227 meters 0.016778406466743015 Centerline is valid? [True, True] Translation: X:27.42, Y:0.32, Z:-0.50 [[ 9.99549199e-01 -6.22948666e-03 2.93699286e-02 2.74206259e+01] [ 6.21662867e-03 9.99980537e-01 5.29085370e-04 3.16791865e-01] [-2.93726529e-02 -3.46264918e-04 9.99568471e-01 -4.96057904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.095898227 meters 0.016597502790892497 Centerline is valid? [True, True] Translation: X:27.48, Y:0.31, Z:-0.49 [[ 9.99534975e-01 -5.91886978e-03 2.99132130e-02 2.74836027e+01] [ 5.90553346e-03 9.99982420e-01 5.34161301e-04 3.12074177e-01] [-2.99158487e-02 -3.57259422e-04 9.99552357e-01 -4.93250832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.155898227 meters 0.01649822611565397 Centerline is valid? [True, True] Translation: X:27.55, Y:0.31, Z:-0.50 [[ 9.99623558e-01 -5.13405104e-03 2.69515254e-02 2.75452579e+01] [ 5.12298802e-03 9.99986762e-01 4.79511360e-04 3.07031029e-01] [-2.69536305e-02 -3.41258509e-04 9.99636627e-01 -5.01515663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.215898227 meters 0.016023976221192 Centerline is valid? [True, True] Translation: X:27.61, Y:0.31, Z:-0.50 [[ 9.99556447e-01 -6.21624848e-03 2.91250372e-02 2.76064206e+01] [ 6.20383050e-03 9.99980623e-01 5.16711864e-04 3.06587840e-01] [-2.91276848e-02 -3.35795881e-04 9.99575643e-01 -5.00968504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.275898227 meters 0.013328288943693856 Centerline is valid? [True, True] Translation: X:27.67, Y:0.30, Z:-0.50 [[ 9.99528884e-01 -1.00082104e-02 2.90145623e-02 2.76686113e+01] [ 9.99761562e-03 9.99949892e-01 5.10201742e-04 3.02551400e-01] [-2.90182146e-02 -2.19884937e-04 9.99578859e-01 -5.03827123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.335898227 meters 0.011881344686370435 Centerline is valid? [True, True] Translation: X:27.73, Y:0.30, Z:-0.51 [[ 9.99595741e-01 -1.48573783e-02 2.42407421e-02 2.77298116e+01] [ 1.48514900e-02 9.99889621e-01 4.22933219e-04 3.02090600e-01] [-2.42443501e-02 -6.27511047e-05 9.99706061e-01 -5.13853240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.395898227 meters 0.011716517921749383 Centerline is valid? [True, True] Translation: X:27.79, Y:0.30, Z:-0.51 [[ 9.99397370e-01 -2.03243539e-02 2.81392599e-02 2.77918818e+01] [ 2.03187275e-02 9.99793435e-01 4.85896643e-04 2.99480947e-01] [-2.81433228e-02 8.61501267e-05 9.99603895e-01 -5.09732218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.455898227 meters 0.018868542437918367 Centerline is valid? [True, True] Translation: X:27.85, Y:0.29, Z:-0.51 [[ 9.99092223e-01 -3.27077767e-02 2.72934352e-02 2.78529768e+01] [ 3.27072314e-02 9.99464866e-01 4.66527743e-04 2.85063704e-01] [-2.72940887e-02 4.26588462e-04 9.99627356e-01 -5.13123712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.515898227 meters 0.02240222516421194 Centerline is valid? [True, True] Translation: X:27.91, Y:0.28, Z:-0.52 [[ 9.99041994e-01 -3.67878805e-02 2.37011681e-02 2.79138560e+01] [ 3.67886189e-02 9.99322988e-01 4.05023350e-04 2.79112965e-01] [-2.37000220e-02 4.67297903e-04 9.99719006e-01 -5.21429410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.575898227 meters 0.030582380023580092 Centerline is valid? [True, True] Translation: X:27.97, Y:0.26, Z:-0.53 [[ 9.98717110e-01 -4.54443606e-02 2.23370785e-02 2.79732930e+01] [ 4.54471932e-02 9.98966670e-01 3.81074132e-04 2.64181847e-01] [-2.23313146e-02 6.34572268e-04 9.99750424e-01 -5.28022379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.635898227 meters 0.03990946593444426 Centerline is valid? [True, True] Translation: X:28.03, Y:0.26, Z:-0.52 [[ 9.98381965e-01 -5.08685055e-02 2.54135415e-02 2.80341895e+01] [ 5.08739633e-02 9.98704988e-01 4.32162535e-04 2.57640809e-01] [-2.54026141e-02 8.61424298e-04 9.99676930e-01 -5.21435787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.695898227 meters 0.02558407056258117 Centerline is valid? [True, True] Translation: X:28.09, Y:0.28, Z:-0.52 [[ 9.98945967e-01 -3.94690355e-02 2.34339350e-02 2.80946964e+01] [ 3.94705432e-02 9.99220655e-01 3.98379526e-04 2.78857283e-01] [-2.34313955e-02 5.26990522e-04 9.99725308e-01 -5.21990601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.755898227 meters 0.02214712638507155 Centerline is valid? [True, True] Translation: X:28.15, Y:0.29, Z:-0.53 [[ 9.99202477e-01 -3.11495174e-02 2.49823578e-02 2.81543085e+01] [ 3.11486402e-02 9.99514673e-01 4.24350664e-04 2.93290530e-01] [-2.49834515e-02 3.54154241e-04 9.99687802e-01 -5.27346124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.815898226999998 meters 0.01763196477924539 Centerline is valid? [True, True] Translation: X:28.22, Y:0.30, Z:-0.52 [[ 9.99164813e-01 -3.01478604e-02 2.75822805e-02 2.82169999e+01] [ 3.01464012e-02 9.99545384e-01 4.68827958e-04 3.01954890e-01] [-2.75838753e-02 3.63070094e-04 9.99619427e-01 -5.22139115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.875898227 meters 0.02281975257610882 Centerline is valid? [True, True] Translation: X:28.28, Y:0.29, Z:-0.53 [[ 9.99030711e-01 -3.65363343e-02 2.45506368e-02 2.82778313e+01] [ 3.65371397e-02 9.99332209e-01 4.15916412e-04 2.93955313e-01] [-2.45494382e-02 4.81496778e-04 9.99698501e-01 -5.28402536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.935898227 meters 0.030046792272794505 Centerline is valid? [True, True] Translation: X:28.34, Y:0.28, Z:-0.52 [[ 9.98555890e-01 -4.47151441e-02 2.97773608e-02 2.83391985e+01] [ 4.47199928e-02 9.98999434e-01 5.03451552e-04 2.82994183e-01] [-2.97700785e-02 8.28918849e-04 9.99556429e-01 -5.21592825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.995898227 meters 0.0350317155133556 Centerline is valid? [True, True] Translation: X:28.40, Y:0.27, Z:-0.53 [[ 9.98416091e-01 -4.84634351e-02 2.85763102e-02 2.83988772e+01] [ 4.84694357e-02 9.98824549e-01 4.83063756e-04 2.74647015e-01] [-2.85661311e-02 9.02779003e-04 9.99591497e-01 -5.25024297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.055898227 meters 0.03235068773462525 Centerline is valid? [True, True] Translation: X:28.46, Y:0.28, Z:-0.53 [[ 9.98545478e-01 -4.72050423e-02 2.60501847e-02 2.84607545e+01] [ 4.72095842e-02 9.98884909e-01 4.40980248e-04 2.77930332e-01] [-2.60419528e-02 7.89479553e-04 9.99660539e-01 -5.30826227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.115898227 meters 0.028869353861692183 Centerline is valid? [True, True] Translation: X:28.52, Y:0.28, Z:-0.53 [[ 9.98721694e-01 -4.29112701e-02 2.67132940e-02 2.85219689e+01] [ 4.29146435e-02 9.99078642e-01 4.47270887e-04 2.83470837e-01] [-2.67078745e-02 6.99692351e-04 9.99643036e-01 -5.30641663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.175898227 meters 0.025063262550325156 Centerline is valid? [True, True] Translation: X:28.58, Y:0.29, Z:-0.53 [[ 9.98872585e-01 -3.86754946e-02 2.75275213e-02 2.85833550e+01] [ 3.86774770e-02 9.99251640e-01 4.60630414e-04 2.93384599e-01] [-2.75247359e-02 6.04583979e-04 9.99620940e-01 -5.30024254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.235898227 meters 0.028820204173594637 Centerline is valid? [True, True] Translation: X:28.64, Y:0.29, Z:-0.53 [[ 9.98678127e-01 -4.18923767e-02 2.97830061e-02 2.86431717e+01] [ 4.18961601e-02 9.99121847e-01 4.97265073e-04 2.89435314e-01] [-2.97776837e-02 7.51185842e-04 9.99556264e-01 -5.29721782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.295898227 meters 0.03155753355046572 Centerline is valid? [True, True] Translation: X:28.70, Y:0.29, Z:-0.53 [[ 9.98560422e-01 -4.55782488e-02 2.82790797e-02 2.87046827e+01] [ 4.55831347e-02 9.98960437e-01 4.72191491e-04 2.86503622e-01] [-2.82712035e-02 8.17537366e-04 9.99599955e-01 -5.33106842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.355898227 meters 0.033277842964402 Centerline is valid? [True, True] Translation: X:28.77, Y:0.29, Z:-0.53 [[ 9.98539597e-01 -4.71816624e-02 2.63166149e-02 2.87666497e+01] [ 4.71864618e-02 9.98886002e-01 4.38947283e-04 2.86003804e-01] [-2.63080085e-02 8.03481700e-04 9.99653562e-01 -5.34752237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.415898227 meters 0.034003375848304755 Centerline is valid? [True, True] Translation: X:28.83, Y:0.28, Z:-0.54 [[ 9.98592398e-01 -4.52053398e-02 2.77434621e-02 2.88268975e+01] [ 4.52099515e-02 9.98977401e-01 4.61331943e-04 2.84985364e-01] [-2.77359463e-02 7.93598003e-04 9.99614970e-01 -5.36018981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.475898227 meters 0.029643336195046742 Centerline is valid? [True, True] Translation: X:28.89, Y:0.29, Z:-0.54 [[ 9.98690594e-01 -4.33264319e-02 2.72014389e-02 2.88886126e+01] [ 4.33301660e-02 9.99060705e-01 4.52417953e-04 2.91783197e-01] [-2.71954904e-02 7.26817309e-04 9.99629870e-01 -5.39485193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.535898227 meters 0.032792686836416514 Centerline is valid? [True, True] Translation: X:28.95, Y:0.29, Z:-0.54 [[ 9.98517608e-01 -4.60708600e-02 2.89838399e-02 2.89487379e+01] [ 4.60764034e-02 9.98937805e-01 4.76941944e-04 2.91443875e-01] [-2.89750265e-02 8.59236169e-04 9.99579766e-01 -5.35679280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.595898227 meters 0.035258651321130645 Centerline is valid? [True, True] Translation: X:29.01, Y:0.29, Z:-0.54 [[ 9.98433715e-01 -4.72307919e-02 2.99894895e-02 2.90097018e+01] [ 4.72372501e-02 9.98883576e-01 4.93480212e-04 2.89814840e-01] [-2.99793160e-02 9.23913735e-04 9.99550092e-01 -5.38654109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.655898227 meters 0.035744485244597016 Centerline is valid? [True, True] Translation: X:29.07, Y:0.29, Z:-0.54 [[ 9.98429723e-01 -4.78472331e-02 2.91329836e-02 2.90717214e+01] [ 4.78536544e-02 9.98854244e-01 4.77153488e-04 2.93606979e-01] [-2.91224348e-02 9.17715504e-04 9.99575431e-01 -5.41033505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.715898227 meters 0.03770344760911137 Centerline is valid? [True, True] Translation: X:29.13, Y:0.30, Z:-0.55 [[ 9.98267028e-01 -5.23515361e-02 2.68748617e-02 2.91323496e+01] [ 5.23587437e-02 9.98628245e-01 4.35914604e-04 2.98902335e-01] [-2.68608168e-02 9.71974823e-04 9.99638711e-01 -5.46384390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.775898227 meters 0.044337169847860125 Centerline is valid? [True, True] Translation: X:29.19, Y:0.30, Z:-0.55 [[ 9.98021296e-01 -5.75190962e-02 2.53977608e-02 2.91930542e+01] [ 5.75272096e-02 9.98343854e-01 4.11682298e-04 2.95622660e-01] [-2.53793780e-02 1.05019461e-03 9.99677340e-01 -5.53760142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.835898227 meters 0.047182586680669186 Centerline is valid? [True, True] Translation: X:29.25, Y:0.30, Z:-0.55 [[ 9.97592899e-01 -6.45439286e-02 2.53473829e-02 2.92542138e+01] [ 6.45542737e-02 9.97914113e-01 4.10781826e-04 2.97859281e-01] [-2.53210246e-02 1.22648886e-03 9.99678619e-01 -5.54270017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.895898226999996 meters 0.0494511667336039 Centerline is valid? [True, True] Translation: X:29.32, Y:0.30, Z:-0.56 [[ 9.97457761e-01 -6.67617738e-02 2.49174776e-02 2.93156203e+01] [ 6.67724694e-02 9.97768147e-01 4.03471160e-04 3.00250078e-01] [-2.48888019e-02 1.26135607e-03 9.99689430e-01 -5.57365674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.955898227 meters 0.06066761316054214 Centerline is valid? [True, True] Translation: X:29.38, Y:0.29, Z:-0.56 [[ 9.97237764e-01 -7.09936643e-02 2.18344052e-02 2.93754884e+01] [ 7.10028988e-02 9.97476047e-01 3.52999620e-04 2.92301198e-01] [-2.18043569e-02 1.19828151e-03 9.99761539e-01 -5.64542508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.015898227 meters 0.060014467953169344 Centerline is valid? [True, True] Translation: X:29.44, Y:0.30, Z:-0.56 [[ 9.96787178e-01 -7.63004437e-02 2.43631605e-02 2.94364004e+01] [ 7.63135263e-02 9.97083793e-01 3.93680012e-04 2.97343637e-01] [-2.43221504e-02 1.46682350e-03 9.99703097e-01 -5.60585039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.075898227 meters 0.06684326308153649 Centerline is valid? [True, True] Translation: X:29.50, Y:0.29, Z:-0.56 [[ 9.96313484e-01 -8.15227651e-02 2.67110616e-02 2.94960375e+01] [ 8.15403630e-02 9.96669947e-01 4.31538747e-04 2.94741111e-01] [-2.66572926e-02 1.74808179e-03 9.99643103e-01 -5.57278764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.135898227 meters 0.061083630693328055 Centerline is valid? [True, True] Translation: X:29.56, Y:0.30, Z:-0.56 [[ 9.96490186e-01 -8.03087107e-02 2.36182030e-02 2.95567148e+01] [ 8.03221370e-02 9.96768884e-01 3.81175036e-04 3.04826258e-01] [-2.35725015e-02 1.51722736e-03 9.99720979e-01 -5.64561701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.195898227 meters 0.06689964170343182 Centerline is valid? [True, True] Translation: X:29.62, Y:0.30, Z:-0.56 [[ 9.96499560e-01 -7.92009613e-02 2.67550760e-02 2.96174234e+01] [ 7.92178156e-02 9.96857237e-01 4.31061176e-04 3.01544546e-01] [-2.67051316e-02 1.68992640e-03 9.99641926e-01 -5.60514378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.255898227 meters 0.06412378020036595 Centerline is valid? [True, True] Translation: X:29.68, Y:0.31, Z:-0.56 [[ 9.96298945e-01 -8.11983742e-02 2.81999156e-02 2.96779785e+01] [ 8.12179055e-02 9.96696266e-01 4.53999035e-04 3.09860008e-01] [-2.81436145e-02 1.83801932e-03 9.99602200e-01 -5.60009383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.315898227 meters 0.06521514287902595 Centerline is valid? [True, True] Translation: X:29.74, Y:0.31, Z:-0.57 [[ 9.96016689e-01 -8.49145389e-02 2.72080022e-02 2.97392101e+01] [ 8.49341065e-02 9.96386474e-01 4.37756048e-04 3.07465266e-01] [-2.71468573e-02 1.87487503e-03 9.99629698e-01 -5.66580556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.375898227 meters 0.06850632055142686 Centerline is valid? [True, True] Translation: X:29.80, Y:0.30, Z:-0.56 [[ 9.95735226e-01 -8.78969171e-02 2.80266298e-02 2.98003959e+01] [ 8.79188712e-02 9.96127537e-01 4.50373641e-04 2.95765668e-01] [-2.79576842e-02 2.01561676e-03 9.99607075e-01 -5.64705902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.435898227 meters 0.06759575211072597 Centerline is valid? [True, True] Translation: X:29.86, Y:0.29, Z:-0.57 [[ 9.95972506e-01 -8.57523786e-02 2.61781605e-02 2.98610992e+01] [ 8.57708010e-02 9.96314806e-01 4.20382798e-04 2.92016604e-01] [-2.61177377e-02 1.82663208e-03 9.99657205e-01 -5.68385527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.495898227 meters 0.06724458024469594 Centerline is valid? [True, True] Translation: X:29.92, Y:0.29, Z:-0.57 [[ 9.96121070e-01 -8.40965161e-02 2.58957564e-02 2.99218097e+01] [ 8.41139933e-02 9.96456052e-01 4.15566826e-04 2.92053742e-01] [-2.58389309e-02 1.76424061e-03 9.99664562e-01 -5.69828388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.555898227 meters 0.06612794299928003 Centerline is valid? [True, True] Translation: X:29.98, Y:0.29, Z:-0.57 [[ 9.96403950e-01 -8.06489296e-02 2.59791881e-02 2.99810156e+01] [ 8.06653641e-02 9.96741153e-01 4.16472265e-04 2.93517005e-01] [-2.59281139e-02 1.68064606e-03 9.99662397e-01 -5.70357042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.615898227 meters 0.06341368051622506 Centerline is valid? [True, True] Translation: X:30.04, Y:0.30, Z:-0.58 [[ 9.96725509e-01 -7.66269594e-02 2.58179748e-02 3.00415275e+01] [ 7.66418366e-02 9.97058603e-01 4.14265688e-04 3.00060787e-01] [-2.57737778e-02 1.56582782e-03 9.99666575e-01 -5.75612208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.675898227 meters 0.05483249579191563 Centerline is valid? [True, True] Translation: X:30.10, Y:0.31, Z:-0.58 [[ 9.97152844e-01 -7.16996890e-02 2.33529357e-02 3.01022377e+01] [ 7.17105152e-02 9.97425417e-01 3.74598962e-04 3.11578337e-01] [-2.33196703e-02 1.30111863e-03 9.99727213e-01 -5.79948478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.735898227 meters 0.057236941095450314 Centerline is valid? [True, True] Translation: X:30.16, Y:0.31, Z:-0.58 [[ 9.97363464e-01 -6.88566792e-02 2.29102133e-02 3.01618586e+01] [ 6.88663578e-02 9.97625827e-01 3.67187765e-04 3.10709889e-01] [-2.28811038e-02 1.21152329e-03 9.99737459e-01 -5.82034462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.795898227 meters 0.05006496022669049 Centerline is valid? [True, True] Translation: X:30.22, Y:0.33, Z:-0.58 [[ 9.97730276e-01 -6.23584320e-02 2.54110492e-02 3.02219849e+01] [ 6.23682364e-02 9.98053123e-01 4.07306715e-04 3.27152123e-01] [-2.53869760e-02 1.17846008e-03 9.99677004e-01 -5.79442567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.855898227 meters 0.04318381558870071 Centerline is valid? [True, True] Translation: X:30.28, Y:0.34, Z:-0.58 [[ 9.97932695e-01 -5.84623020e-02 2.66926083e-02 3.02819459e+01] [ 5.84717344e-02 9.98288973e-01 4.27680796e-04 3.43982674e-01] [-2.66719397e-02 1.13396645e-03 9.99643597e-01 -5.80704910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.915898227 meters 0.044323523496711426 Centerline is valid? [True, True] Translation: X:30.34, Y:0.35, Z:-0.59 [[ 9.97912465e-01 -6.01678302e-02 2.34636899e-02 3.03427011e+01] [ 6.01755899e-02 9.98187736e-01 3.75853964e-04 3.47477005e-01] [-2.34437818e-02 1.03687203e-03 9.99724619e-01 -5.85994365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.975898227 meters 0.052969018160383484 Centerline is valid? [True, True] Translation: X:30.40, Y:0.34, Z:-0.59 [[ 9.97224557e-01 -7.03980612e-02 2.42342043e-02 3.04034867e+01] [ 7.04093577e-02 9.97518106e-01 3.87888936e-04 3.39689181e-01] [-2.42013642e-02 1.31950239e-03 9.99706233e-01 -5.88286057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.035898227 meters 0.05883323034237257 Centerline is valid? [True, True] Translation: X:30.46, Y:0.33, Z:-0.59 [[ 9.96531880e-01 -7.89684639e-02 2.62334317e-02 3.04642150e+01] [ 7.89846654e-02 9.96875743e-01 4.19653558e-04 3.32148183e-01] [-2.61846111e-02 1.65384067e-03 9.99655756e-01 -5.86969739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.095898227 meters 0.06758309852502306 Centerline is valid? [True, True] Translation: X:30.53, Y:0.32, Z:-0.59 [[ 9.95653703e-01 -8.92904786e-02 2.64747973e-02 3.05254739e+01] [ 8.93106151e-02 9.96003732e-01 4.23247623e-04 3.18954055e-01] [-2.64067890e-02 1.94307237e-03 9.99649392e-01 -5.89675914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.155898227 meters 0.07138493673965349 Centerline is valid? [True, True] Translation: X:30.59, Y:0.31, Z:-0.59 [[ 9.95329456e-01 -9.25874198e-02 2.73284325e-02 3.05860992e+01] [ 9.26101174e-02 9.95702353e-01 4.36685933e-04 3.13558035e-01] [-2.72514161e-02 2.09624297e-03 9.99626413e-01 -5.92437351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.215898227 meters 0.0746957694263768 Centerline is valid? [True, True] Translation: X:30.65, Y:0.31, Z:-0.60 [[ 9.95387247e-01 -9.23311104e-02 2.60613516e-02 3.06478526e+01] [ 9.23516518e-02 9.95726367e-01 4.16892089e-04 3.06636404e-01] [-2.59884671e-02 1.99183980e-03 9.99660258e-01 -5.96413443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.275898227 meters 0.06767334360675188 Centerline is valid? [True, True] Translation: X:30.71, Y:0.31, Z:-0.59 [[ 9.95883321e-01 -8.62240677e-02 2.79610706e-02 3.07086942e+01] [ 8.62454722e-02 9.96273819e-01 4.41825542e-04 3.13814115e-01] [-2.78949786e-02 1.97150905e-03 9.99608915e-01 -5.91772488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.335898227 meters 0.055851842468660165 Centerline is valid? [True, True] Translation: X:30.77, Y:0.33, Z:-0.59 [[ 9.97231389e-01 -6.90130339e-02 2.76903768e-02 3.07684465e+01] [ 6.90274159e-02 9.97614667e-01 4.37297517e-04 3.34806886e-01] [-2.76545053e-02 1.47530835e-03 9.99616452e-01 -5.93543163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.395898226999996 meters 0.039327274078444274 Centerline is valid? [True, True] Translation: X:30.83, Y:0.37, Z:-0.59 [[ 9.98292877e-01 -5.17008929e-02 2.71725927e-02 3.08290822e+01] [ 5.17083409e-02 9.98662137e-01 4.28956051e-04 3.66977800e-01] [-2.71584169e-02 9.76825913e-04 9.99630665e-01 -5.94431861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.455898227 meters 0.0313813431965952 Centerline is valid? [True, True] Translation: X:30.89, Y:0.39, Z:-0.60 [[ 9.98730625e-01 -4.25207266e-02 2.70023284e-02 3.08894661e+01] [ 4.25247331e-02 9.99095324e-01 4.26103395e-04 3.92577881e-01] [-2.69960183e-02 7.22704301e-04 9.99635280e-01 -5.97057928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.515898227 meters 0.02028434351440108 Centerline is valid? [True, True] Translation: X:30.95, Y:0.42, Z:-0.60 [[ 9.99164382e-01 -3.16762615e-02 2.58292980e-02 3.09483010e+01] [ 3.16763135e-02 9.99498097e-01 4.07244166e-04 4.19419884e-01] [-2.58292342e-02 4.11273077e-04 9.99666285e-01 -5.99036101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.575898227 meters 0.016353211704666172 Centerline is valid? [True, True] Translation: X:31.01, Y:0.44, Z:-0.60 [[ 9.99255839e-01 -2.75361138e-02 2.70098199e-02 3.10097076e+01] [ 2.75346469e-02 9.99620759e-01 4.26298355e-04 4.35889511e-01] [-2.70113153e-02 3.17724735e-04 9.99635077e-01 -5.98983021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.635898227 meters 0.014991428079439515 Centerline is valid? [True, True] Translation: X:31.07, Y:0.45, Z:-0.60 [[ 9.99260857e-01 -2.59766959e-02 2.83363973e-02 3.10715991e+01] [ 2.59744680e-02 9.99662507e-01 4.46768586e-04 4.48763621e-01] [-2.83384395e-02 2.89584482e-04 9.99598344e-01 -5.99168843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.695898227 meters 0.014950314090726821 Centerline is valid? [True, True] Translation: X:31.13, Y:0.46, Z:-0.61 [[ 9.99318516e-01 -2.61280336e-02 2.60735340e-02 3.11337050e+01] [ 2.61262993e-02 9.99658567e-01 4.07234701e-04 4.56930164e-01] [-2.60752719e-02 2.74247775e-04 9.99659945e-01 -6.06322929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.755898227 meters 0.013805989161507807 Centerline is valid? [True, True] Translation: X:31.20, Y:0.46, Z:-0.61 [[ 9.99349101e-01 -2.42188491e-02 2.67361330e-02 3.11958923e+01] [ 2.42164644e-02 9.99706653e-01 4.13024207e-04 4.60243873e-01] [-2.67382930e-02 2.34699243e-04 9.99642440e-01 -6.07737002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.815898227 meters 0.011607855593540037 Centerline is valid? [True, True] Translation: X:31.26, Y:0.47, Z:-0.60 [[ 9.99344186e-01 -1.87047175e-02 3.10053342e-02 3.12579602e+01] [ 1.86990427e-02 9.99825046e-01 4.72995710e-04 4.66531106e-01] [-3.10087570e-02 1.07084555e-04 9.99519107e-01 -6.02555692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.875898227 meters 0.011227135780621818 Centerline is valid? [True, True] Translation: X:31.32, Y:0.47, Z:-0.61 [[ 9.99472891e-01 -1.29421602e-02 2.97731565e-02 3.13194495e+01] [ 1.29345152e-02 9.99916245e-01 4.49363435e-04 4.74201960e-01] [-2.97764786e-02 -6.40252258e-05 9.99556580e-01 -6.07585286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.935898227 meters 0.012219022378472066 Centerline is valid? [True, True] Translation: X:31.38, Y:0.48, Z:-0.62 [[ 9.99606517e-01 -9.63192035e-03 2.63445929e-02 3.13812548e+01] [ 9.62489479e-03 9.99953602e-01 3.93473049e-04 4.78603633e-01] [-2.63471604e-02 -1.39754289e-04 9.99652844e-01 -6.15048307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.995898227 meters 0.014723141148801107 Centerline is valid? [True, True] Translation: X:31.44, Y:0.49, Z:-0.61 [[ 9.99568513e-01 -4.61490313e-03 2.90084667e-02 3.14419956e+01] [ 4.60443000e-03 9.99989308e-01 4.27824838e-04 4.85731944e-01] [-2.90101309e-02 -2.94072783e-04 9.99579074e-01 -6.09995344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.055898227 meters 0.017139613004512836 Centerline is valid? [True, True] Translation: X:31.50, Y:0.49, Z:-0.61 [[ 9.99549689e-01 -2.02661058e-03 2.99384695e-02 3.15034890e+01] [ 2.01437164e-03 9.99997875e-01 4.38957887e-04 4.91634142e-01] [-2.99392954e-02 -3.78453016e-04 9.99551647e-01 -6.08865512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.115898227 meters 0.016895268567670277 Centerline is valid? [True, True] Translation: X:31.57, Y:0.49, Z:-0.61 [[ 9.99483350e-01 -8.69461470e-04 3.21290801e-02 3.15654753e+01] [ 8.54936958e-04 9.99999526e-01 4.65802423e-04 4.88317190e-01] [-3.21294699e-02 -4.38093428e-04 9.99483619e-01 -6.10355786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.175898227 meters 0.015813290278497073 Centerline is valid? [True, True] Translation: X:31.63, Y:0.48, Z:-0.61 [[ 9.99472260e-01 -1.97763287e-03 3.24236088e-02 3.16281010e+01] [ 1.96360048e-03 9.99997964e-01 4.64619168e-04 4.84052822e-01] [-3.24244616e-02 -4.00706956e-04 9.99474109e-01 -6.10248627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.235898227 meters 0.013415414487692458 Centerline is valid? [True, True] Translation: X:31.69, Y:0.47, Z:-0.62 [[ 9.99517152e-01 -5.84283831e-03 3.05176049e-02 3.16903172e+01] [ 5.83235718e-03 9.99982898e-01 4.32450328e-04 4.68432354e-01] [-3.05196098e-02 -2.54251948e-04 9.99534136e-01 -6.17542369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.295898227 meters 0.012735657079072545 Centerline is valid? [True, True] Translation: X:31.75, Y:0.46, Z:-0.62 [[ 9.99551335e-01 -7.15481449e-03 2.90849918e-02 3.17523761e+01] [ 7.14598585e-03 9.99974384e-01 4.07478570e-04 4.58456322e-01] [-2.90871622e-02 -1.99454809e-04 9.99576859e-01 -6.21534491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.355898227 meters 0.013306051645059627 Centerline is valid? [True, True] Translation: X:31.82, Y:0.45, Z:-0.62 [[ 9.99556695e-01 -5.88690552e-03 2.91848736e-02 3.18153299e+01] [ 5.87761871e-03 9.99982645e-01 4.03983950e-04 4.51401059e-01] [-2.91867453e-02 -2.32267303e-04 9.99573949e-01 -6.22685319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.415898227 meters 0.01493283683568014 Centerline is valid? [True, True] Translation: X:31.88, Y:0.45, Z:-0.62 [[ 9.99578409e-01 -3.20953742e-03 2.88565960e-02 3.18776809e+01] [ 3.19950450e-03 9.99994804e-01 3.93848753e-04 4.45269429e-01] [-2.88577101e-02 -3.01355902e-04 9.99583484e-01 -6.24031807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.475898227 meters 0.020912411495371392 Centerline is valid? [True, True] Translation: X:31.94, Y:0.44, Z:-0.62 [[ 9.99514110e-01 3.49232568e-03 3.09733249e-02 3.19377805e+01] [-3.50705211e-03 9.99993762e-01 4.21142214e-04 4.44623297e-01] [-3.09716609e-02 -5.29562650e-04 9.99520123e-01 -6.21696757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.535898227 meters 0.029912376352854746 Centerline is valid? [True, True] Translation: X:32.00, Y:0.45, Z:-0.63 [[ 9.99483388e-01 8.99263946e-03 3.08559590e-02 3.19991008e+01] [-9.00981975e-03 9.99959323e-01 4.17796049e-04 4.45287408e-01] [-3.08509468e-02 -6.95586840e-04 9.99523754e-01 -6.27620539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.595898227 meters 0.030147232283797242 Centerline is valid? [True, True] Translation: X:32.06, Y:0.44, Z:-0.63 [[ 9.99518238e-01 1.44860399e-02 2.74489654e-02 3.20598364e+01] [-1.45016878e-02 9.99894776e-01 3.71082816e-04 4.40735872e-01] [-2.74407016e-02 -7.68960370e-04 9.99623137e-01 -6.32030070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.655898227 meters 0.033198143616964854 Centerline is valid? [True, True] Translation: X:32.12, Y:0.43, Z:-0.63 [[ 9.99386350e-01 1.77132391e-02 3.02186019e-02 3.21213087e+01] [-1.77336673e-02 9.99842663e-01 4.08122741e-04 4.34482071e-01] [-3.02066182e-02 -9.43758930e-04 9.99543230e-01 -6.29980112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.715898227 meters 0.034877858054968375 Centerline is valid? [True, True] Translation: X:32.18, Y:0.43, Z:-0.63 [[ 9.99328973e-01 2.00227065e-02 3.06707398e-02 3.21830930e+01] [-2.00448108e-02 9.99798997e-01 4.13369570e-04 4.30211923e-01] [-3.06562982e-02 -1.02788137e-03 9.99529457e-01 -6.32061602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.775898227 meters 0.03947567938848268 Centerline is valid? [True, True] Translation: X:32.24, Y:0.43, Z:-0.63 [[ 9.99252720e-01 2.43521360e-02 3.00162407e-02 3.22441626e+01] [-2.43751176e-02 9.99702803e-01 3.99915441e-04 4.30193283e-01] [-2.99975812e-02 -1.13126599e-03 9.99549331e-01 -6.34603281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.835898227 meters 0.04496314967650659 Centerline is valid? [True, True] Translation: X:32.30, Y:0.43, Z:-0.63 [[ 9.99101141e-01 2.83286329e-02 3.15341000e-02 3.23036363e+01] [-2.83559628e-02 9.99597801e-01 4.19724471e-04 4.31365744e-01] [-3.15095268e-02 -1.31352697e-03 9.99502588e-01 -6.34212997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.895898226999996 meters 0.053947285444142665 Centerline is valid? [True, True] Translation: X:32.36, Y:0.44, Z:-0.63 [[ 9.98897928e-01 3.45075372e-02 3.18144465e-02 3.23630117e+01] [-3.45384577e-02 9.99403280e-01 4.22700785e-04 4.35784379e-01] [-3.17808758e-02 -1.52105685e-03 9.99493703e-01 -6.33895205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.955898227 meters 0.05978571494042729 Centerline is valid? [True, True] Translation: X:32.42, Y:0.43, Z:-0.64 [[ 9.98656003e-01 4.06703857e-02 3.21264408e-02 3.24228180e+01] [-4.07051057e-02 9.99171112e-01 4.27175027e-04 4.33057946e-01] [-3.20824382e-02 -1.73431107e-03 9.99483721e-01 -6.35740145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.015898227 meters 0.05639682550294586 Centerline is valid? [True, True] Translation: X:32.48, Y:0.42, Z:-0.64 [[ 9.98588741e-01 4.28311471e-02 3.14009582e-02 3.24827542e+01] [-4.28653919e-02 9.99080769e-01 4.17893416e-04 4.21805953e-01] [-3.13541946e-02 -1.76331804e-03 9.99506781e-01 -6.39394040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.075898226999996 meters 0.0604705253459581 Centerline is valid? [True, True] Translation: X:32.54, Y:0.42, Z:-0.64 [[ 9.98573344e-01 4.47511750e-02 2.91308975e-02 3.25408264e+01] [-4.47814679e-02 9.98996732e-01 3.87993508e-04 4.15454923e-01] [-2.90843082e-02 -1.69196433e-03 9.99575530e-01 -6.44793150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.135898227 meters 0.06381704153522394 Centerline is valid? [True, True] Translation: X:32.60, Y:0.41, Z:-0.65 [[ 9.98542383e-01 4.58803352e-02 2.84271828e-02 3.25993310e+01] [-4.59096767e-02 9.98945523e-01 3.80007123e-04 4.10850746e-01] [-2.83797722e-02 -1.68453599e-03 9.99595794e-01 -6.48110228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.195898227 meters 0.06306166715790472 Centerline is valid? [True, True] Translation: X:32.66, Y:0.40, Z:-0.65 [[ 9.98564509e-01 4.43908554e-02 2.99728602e-02 3.26597710e+01] [-4.44228424e-02 9.99012737e-01 4.01823622e-04 4.04244267e-01] [-2.99254318e-02 -1.73272645e-03 9.99550632e-01 -6.47454026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.255898227 meters 0.06187450920800467 Centerline is valid? [True, True] Translation: X:32.72, Y:0.39, Z:-0.65 [[ 9.98643888e-01 4.25686754e-02 2.99715369e-02 3.27201110e+01] [-4.25998525e-02 9.99092133e-01 4.02169225e-04 3.94760177e-01] [-2.99272069e-02 -1.67840689e-03 9.99550672e-01 -6.51869280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.315898227 meters 0.056062039273868235 Centerline is valid? [True, True] Translation: X:32.78, Y:0.38, Z:-0.66 [[ 9.98722907e-01 4.16196453e-02 2.86419433e-02 3.27791604e+01] [-4.16477352e-02 9.99132283e-01 3.84609464e-04 3.81544106e-01] [-2.86010829e-02 -1.57699035e-03 9.99589661e-01 -6.55743397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.375898227 meters 0.064018328268662 Centerline is valid? [True, True] Translation: X:32.84, Y:0.39, Z:-0.66 [[ 9.98859084e-01 3.87148459e-02 2.79587295e-02 3.28382127e+01] [-3.87405161e-02 9.99249233e-01 3.76853343e-04 3.85103619e-01] [-2.79231492e-02 -1.45955899e-03 9.99609007e-01 -6.56229655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.435898227 meters 0.05621411637882707 Centerline is valid? [True, True] Translation: X:32.90, Y:0.37, Z:-0.66 [[ 9.98866666e-01 3.83538834e-02 2.81844516e-02 3.28974410e+01] [-3.83798455e-02 9.99263150e-01 3.80563128e-04 3.65380649e-01] [-2.81490878e-02 -1.46184672e-03 9.99602667e-01 -6.57515658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.495898227 meters 0.05756363854608638 Centerline is valid? [True, True] Translation: X:32.96, Y:0.36, Z:-0.66 [[ 9.98772969e-01 4.02517220e-02 2.88505666e-02 3.29572278e+01] [-4.02797581e-02 9.99188365e-01 3.91024039e-04 3.62141782e-01] [-2.88114111e-02 -1.55263808e-03 9.99583659e-01 -6.56163127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.555898227 meters 0.06883070429970316 Centerline is valid? [True, True] Translation: X:33.02, Y:0.36, Z:-0.65 [[ 9.98514292e-01 4.47482571e-02 3.10934405e-02 3.30170944e+01] [-4.47830219e-02 9.98996648e-01 4.22228591e-04 3.64779215e-01] [-3.10433488e-02 -1.81405951e-03 9.99516393e-01 -6.54017813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.615898227 meters 0.0625194605234649 Centerline is valid? [True, True] Translation: X:33.08, Y:0.35, Z:-0.65 [[ 9.98357730e-01 4.74221625e-02 3.21400392e-02 3.30775671e+01] [-4.74607010e-02 9.98873010e-01 4.36823537e-04 3.52171013e-01] [-3.20831026e-02 -1.96149494e-03 9.99483280e-01 -6.54733577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.675898227 meters 0.06919159565201023 Centerline is valid? [True, True] Translation: X:33.14, Y:0.35, Z:-0.66 [[ 9.98307533e-01 4.84779224e-02 3.21241420e-02 3.31361464e+01] [-4.85169820e-02 9.98822262e-01 4.37067700e-04 3.54350705e-01] [-3.20651201e-02 -1.99489440e-03 9.99483791e-01 -6.57062189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.735898227 meters 0.06884487083449657 Centerline is valid? [True, True] Translation: X:33.20, Y:0.35, Z:-0.66 [[ 9.98136968e-01 5.18596093e-02 3.21430143e-02 3.31970380e+01] [-5.19004962e-02 9.98652165e-01 4.38441589e-04 3.45749731e-01] [-3.20769535e-02 -2.10586315e-03 9.99483184e-01 -6.60564375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.795898227 meters 0.07680626738938721 Centerline is valid? [True, True] Translation: X:33.26, Y:0.35, Z:-0.67 [[ 9.98152258e-01 5.30381073e-02 2.96484400e-02 3.32552362e+01] [-5.30734077e-02 9.98590532e-01 4.04406478e-04 3.51731640e-01] [-2.95852025e-02 -1.97720298e-03 9.99560307e-01 -6.65913907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.855898227 meters 0.0785169186771968 Centerline is valid? [True, True] Translation: X:33.31, Y:0.35, Z:-0.67 [[ 9.98301860e-01 5.07514211e-02 2.85952724e-02 3.33140566e+01] [-5.07833521e-02 9.98709617e-01 3.91060177e-04 3.47587887e-01] [-2.85385266e-02 -1.84255989e-03 9.99590995e-01 -6.72359526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.915898227 meters 0.06297882976478492 Centerline is valid? [True, True] Translation: X:33.38, Y:0.32, Z:-0.67 [[ 9.98583806e-01 4.33084721e-02 3.08991546e-02 3.33754885e+01] [-4.33422309e-02 9.99060194e-01 4.23292258e-04 3.20547577e-01] [-3.08517833e-02 -1.76193109e-03 9.99522417e-01 -6.66490747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.975898227 meters 0.057693557506034776 Centerline is valid? [True, True] Translation: X:33.44, Y:0.30, Z:-0.67 [[ 9.98832442e-01 3.89745300e-02 2.85436415e-02 3.34365634e+01] [-3.90015644e-02 9.99239073e-01 3.90788835e-04 3.03009581e-01] [-2.85066910e-02 -1.50357924e-03 9.99592471e-01 -6.71229411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.035898227 meters 0.06281530029469905 Centerline is valid? [True, True] Translation: X:33.50, Y:0.29, Z:-0.67 [[ 9.98810170e-01 3.83881911e-02 3.00764188e-02 3.34970181e+01] [-3.84179379e-02 9.99261674e-01 4.11584238e-04 2.92720925e-01] [-3.00384126e-02 -1.56656851e-03 9.99547517e-01 -6.70728098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.095898227 meters 0.06540790764748679 Centerline is valid? [True, True] Translation: X:33.56, Y:0.28, Z:-0.68 [[ 9.98685613e-01 4.33975396e-02 2.72708557e-02 3.35575748e+01] [-4.34238475e-02 9.99056670e-01 3.72936948e-04 2.79336502e-01] [-2.72289457e-02 -1.55665224e-03 9.99628011e-01 -6.77261103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.155898227 meters 0.06835412176013365 Centerline is valid? [True, True] Translation: X:33.62, Y:0.28, Z:-0.68 [[ 9.98322573e-01 5.09536561e-02 2.74911695e-02 3.36182948e+01] [-5.09832208e-02 9.98699440e-01 3.75119443e-04 2.77236589e-01] [-2.74363019e-02 -1.77607858e-03 9.99621976e-01 -6.76619258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.215898227 meters 0.0786177146892124 Centerline is valid? [True, True] Translation: X:33.68, Y:0.28, Z:-0.68 [[ 9.97706999e-01 6.01590316e-02 3.10102446e-02 3.36785593e+01] [-6.02010752e-02 9.98186181e-01 4.23089152e-04 2.80865651e-01] [-3.09285450e-02 -2.28896907e-03 9.99518977e-01 -6.76465947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.275898227 meters 0.0791184407059591 Centerline is valid? [True, True] Translation: X:33.74, Y:0.28, Z:-0.68 [[ 9.97587809e-01 6.17672826e-02 3.16759420e-02 3.37387196e+01] [-6.18119636e-02 9.98087719e-01 4.32353365e-04 2.79533353e-01] [-3.15886634e-02 -2.38926262e-03 9.99498098e-01 -6.76427819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.335898227 meters 0.07803740448294703 Centerline is valid? [True, True] Translation: X:33.80, Y:0.27, Z:-0.68 [[ 9.97613540e-01 6.13849134e-02 3.16088052e-02 3.37977387e+01] [-6.14292283e-02 9.98111348e-01 4.31878807e-04 2.70173569e-01] [-3.15225963e-02 -2.37255266e-03 9.99500224e-01 -6.79553833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.395898226999996 meters 0.08073265446964002 Centerline is valid? [True, True] Translation: X:33.86, Y:0.27, Z:-0.68 [[ 9.97755753e-01 5.94241190e-02 3.08582344e-02 3.38565007e+01] [-5.94654641e-02 9.98230274e-01 4.23045345e-04 2.67186415e-01] [-3.07784847e-02 -2.25709516e-03 9.99523682e-01 -6.81523413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.455898227 meters 0.07890156909317142 Centerline is valid? [True, True] Translation: X:33.92, Y:0.26, Z:-0.68 [[ 9.98016222e-01 5.51682871e-02 3.03328346e-02 3.39163025e+01] [-5.52063008e-02 9.98474882e-01 4.16538633e-04 2.55760131e-01] [-3.02635937e-02 -2.09027590e-03 9.99539767e-01 -6.83647851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.515898227 meters 0.07583882933530124 Centerline is valid? [True, True] Translation: X:33.98, Y:0.24, Z:-0.68 [[ 9.98175435e-01 5.20186651e-02 3.06571372e-02 3.39766241e+01] [-5.20560231e-02 9.98644077e-01 4.21163091e-04 2.44268655e-01] [-3.05936601e-02 -2.01628329e-03 9.99529871e-01 -6.84052589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.575898226999996 meters 0.05878944556389751 Centerline is valid? [True, True] Translation: X:34.04, Y:0.21, Z:-0.68 [[ 9.98595239e-01 4.28440747e-02 3.11758480e-02 3.40375817e+01] [-4.28782471e-02 9.99080213e-01 4.28093261e-04 2.07867212e-01] [-3.11288316e-02 -1.76425761e-03 9.99513823e-01 -6.84461507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.635898227 meters 0.05602174219920505 Centerline is valid? [True, True] Translation: X:34.10, Y:0.19, Z:-0.69 [[ 9.98844462e-01 3.64598446e-02 3.13116583e-02 3.40972965e+01] [-3.64911841e-02 9.99333883e-01 4.29843353e-04 1.88616009e-01] [-3.12751290e-02 -1.57194614e-03 9.99509577e-01 -6.85622199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.695898227 meters 0.0548482761258122 Centerline is valid? [True, True] Translation: X:34.16, Y:0.18, Z:-0.69 [[ 9.98815805e-01 3.83602140e-02 2.99245830e-02 3.41583717e+01] [-3.83896909e-02 9.99262760e-01 4.10924543e-04 1.76708174e-01] [-2.98867583e-02 -1.55923342e-03 9.99552075e-01 -6.89399260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.755898227 meters 0.07195713730782957 Centerline is valid? [True, True] Translation: X:34.22, Y:0.19, Z:-0.69 [[ 9.98340112e-01 5.01670497e-02 2.82893626e-02 3.42174076e+01] [-5.01980856e-02 9.98739206e-01 3.87528818e-04 1.86908749e-01] [-2.82342544e-02 -1.80695741e-03 9.99599701e-01 -6.93820647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.815898227 meters 0.07461029554246741 Centerline is valid? [True, True] Translation: X:34.28, Y:0.18, Z:-0.69 [[ 9.97826558e-01 5.91588756e-02 2.90239108e-02 3.42780891e+01] [-5.91953122e-02 9.98246341e-01 3.97036359e-04 1.84706248e-01] [-2.89495245e-02 -2.11425288e-03 9.99578639e-01 -6.94118180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.875898227 meters 0.09356928501046945 Centerline is valid? [True, True] Translation: X:34.34, Y:0.20, Z:-0.70 [[ 9.97198419e-01 6.87728511e-02 2.94212326e-02 3.43370587e+01] [-6.88144451e-02 9.97629395e-01 4.02360785e-04 2.01211039e-01] [-2.93238150e-02 -2.42583934e-03 9.99567021e-01 -6.96616311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.935898227 meters 0.08678927387424112 Centerline is valid? [True, True] Translation: X:34.40, Y:0.19, Z:-0.70 [[ 9.96970357e-01 7.21018306e-02 2.91793405e-02 3.43971746e+01] [-7.21441532e-02 9.97394136e-01 3.98884050e-04 1.89915267e-01] [-2.90745428e-02 -2.50279438e-03 9.99574113e-01 -6.98934578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.995898227 meters 0.09302162925763942 Centerline is valid? [True, True] Translation: X:34.46, Y:0.19, Z:-0.70 [[ 9.96848935e-01 7.43973051e-02 2.75180418e-02 3.44566520e+01] [-7.44358123e-02 9.97225736e-01 3.76220944e-04 1.90275487e-01] [-2.74137097e-02 -2.42336324e-03 9.99621236e-01 -7.02154876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.055898227 meters 0.11301267398396894 Centerline is valid? [True, False] Translation: X:34.46, Y:0.18, Z:-0.71 [[ 9.97538436e-01 6.33127644e-02 3.01423624e-02 3.44572343e+01] [-6.36342732e-02 9.97924888e-01 9.82836459e-03 1.81486634e-01] [-2.94575527e-02 -1.17222588e-02 9.99497294e-01 -7.05370082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.115898227 meters 0.0903466039505642 Centerline is valid? [False, True] Translation: X:34.45, Y:0.18, Z:-0.70 [[ 9.98313839e-01 5.00991330e-02 2.93181642e-02 3.44535339e+01] [-5.05953532e-02 9.98583995e-01 1.64351654e-02 1.78571470e-01] [-2.84532620e-02 -1.78908159e-02 9.99435006e-01 -7.02315132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.175898227 meters 0.08924267557665438 Centerline is valid? [True, True] Translation: X:34.51, Y:0.18, Z:-0.71 [[ 9.98432961e-01 4.89998348e-02 2.70303417e-02 3.45139265e+01] [-4.90428538e-02 9.98796242e-01 9.30468625e-04 1.79749462e-01] [-2.69522109e-02 -2.25465564e-03 9.99634181e-01 -7.07883500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.235898227 meters 0.09123779223620086 Centerline is valid? [True, True] Translation: X:34.57, Y:0.18, Z:-0.71 [[ 9.98349463e-01 5.03131221e-02 2.76936715e-02 3.45745834e+01] [-5.03587823e-02 9.98730737e-01 9.53348363e-04 1.80032483e-01] [-2.76105550e-02 -2.34639440e-03 9.99616002e-01 -7.08606257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.295898227 meters 0.0883361993049269 Centerline is valid? [True, True] Translation: X:34.63, Y:0.17, Z:-0.71 [[ 9.98535742e-01 4.48364264e-02 3.02666087e-02 3.46345023e+01] [-4.48884431e-02 9.98991463e-01 1.04100070e-03 1.72030459e-01] [-3.01894090e-02 -2.39809735e-03 9.99541319e-01 -7.06913909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.355898227 meters 0.0755039439914609 Centerline is valid? [True, True] Translation: X:34.70, Y:0.14, Z:-0.71 [[ 9.98949522e-01 3.52081746e-02 2.93297896e-02 3.46961591e+01] [-3.52529028e-02 9.99377914e-01 1.00915392e-03 1.44804743e-01] [-2.92760135e-02 -2.04205405e-03 9.99569280e-01 -7.13481531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.415898227 meters 0.07415599809940242 Centerline is valid? [True, True] Translation: X:34.76, Y:0.14, Z:-0.72 [[ 9.99073368e-01 3.25055890e-02 2.82098007e-02 3.47565461e+01] [-3.25458917e-02 9.99469771e-01 9.70586307e-04 1.36525405e-01] [-2.81632935e-02 -1.88780005e-03 9.99601553e-01 -7.16856013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.475898227 meters 0.07509281566645984 Centerline is valid? [True, True] Translation: X:34.82, Y:0.13, Z:-0.72 [[ 9.99167434e-01 3.23083110e-02 2.49120980e-02 3.48187716e+01] [-3.23396941e-02 9.99476567e-01 8.57793501e-04 1.27214042e-01] [-2.48713443e-02 -1.66272896e-03 9.99689278e-01 -7.22925620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.535898227 meters 0.06857404555665224 Centerline is valid? [True, True] Translation: X:34.88, Y:0.11, Z:-0.73 [[ 9.99080174e-01 3.46298718e-02 2.52898783e-02 3.48806998e+01] [-3.46628373e-02 9.99398688e-01 8.66162402e-04 1.09903502e-01] [-2.52446761e-02 -1.74198462e-03 9.99679785e-01 -7.25388289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.595898227 meters 0.07511910166763838 Centerline is valid? [True, True] Translation: X:34.94, Y:0.12, Z:-0.72 [[ 9.98954398e-01 3.58496428e-02 2.83709908e-02 3.49403480e+01] [-3.58916016e-02 9.99355217e-01 9.70909395e-04 1.16224896e-01] [-2.83178909e-02 -1.98817451e-03 9.99596991e-01 -7.22716500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.655898227 meters 0.07420844649355406 Centerline is valid? [True, True] Translation: X:35.00, Y:0.11, Z:-0.73 [[ 9.99091682e-01 3.29223460e-02 2.70541933e-02 3.50000133e+01] [-3.29594298e-02 9.99456262e-01 9.25820974e-04 1.06161914e-01] [-2.70090027e-02 -1.81667082e-03 9.99633540e-01 -7.26869039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.715898227 meters 0.07006733516923111 Centerline is valid? [True, True] Translation: X:35.06, Y:0.09, Z:-0.72 [[ 9.99112162e-01 2.74246571e-02 3.19808820e-02 3.50608401e+01] [-2.74736937e-02 9.99621927e-01 1.09480658e-03 9.40345641e-02] [-3.19387662e-02 -1.97246752e-03 9.99487881e-01 -7.19861134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.775898227 meters 0.05621080155250008 Centerline is valid? [True, True] Translation: X:35.12, Y:0.06, Z:-0.72 [[ 9.99237607e-01 1.97926595e-02 3.36519872e-02 3.51232698e+01] [-1.98426420e-02 9.99802452e-01 1.15192698e-03 5.59472583e-02] [-3.36225396e-02 -1.81879309e-03 9.99432948e-01 -7.20911487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.835898227 meters 0.06177324294364947 Centerline is valid? [True, True] Translation: X:35.19, Y:0.04, Z:-0.72 [[ 9.99242847e-01 2.00184758e-02 3.33615445e-02 3.51861710e+01] [-2.00676888e-02 9.99797973e-01 1.14092336e-03 4.49829290e-02] [-3.33319650e-02 -1.80954860e-03 9.99442698e-01 -7.21807238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.895898226999996 meters 0.0651228973245425 Centerline is valid? [True, True] Translation: X:35.25, Y:0.04, Z:-0.72 [[ 9.99143502e-01 2.59210105e-02 3.22546616e-02 3.52472650e+01] [-2.59699105e-02 9.99662122e-01 1.09797869e-03 4.26172444e-02] [-3.22153027e-02 -1.93468895e-03 9.99479080e-01 -7.19702878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.955898227 meters 0.06622385178709868 Centerline is valid? [True, True] Translation: X:35.31, Y:0.03, Z:-0.73 [[ 9.98990780e-01 3.40977992e-02 2.92362952e-02 3.53081916e+01] [-3.41414555e-02 9.99416515e-01 9.95189016e-04 2.89267314e-02] [-2.91853025e-02 -1.99235432e-03 9.99572033e-01 -7.25198524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.015898227 meters 0.08246034308535381 Centerline is valid? [True, True] Translation: X:35.37, Y:0.04, Z:-0.73 [[ 9.98782639e-01 3.95909427e-02 2.94244265e-02 3.53676823e+01] [-3.96375331e-02 9.99213622e-01 1.00157363e-03 4.12233355e-02] [-2.93616345e-02 -2.16666603e-03 9.99566506e-01 -7.27078464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.075898226999996 meters 0.08329340028763459 Centerline is valid? [True, True] Translation: X:35.43, Y:0.03, Z:-0.74 [[ 9.98672293e-01 4.37981378e-02 2.71177786e-02 3.54288622e+01] [-4.38392559e-02 9.99038171e-01 9.23333838e-04 3.34993769e-02] [-2.70512556e-02 -2.11093116e-03 9.99631819e-01 -7.35410527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.135898227 meters 0.08278852349622987 Centerline is valid? [True, True] Translation: X:35.49, Y:0.03, Z:-0.74 [[ 9.98625550e-01 4.45125281e-02 2.76703175e-02 3.54910155e+01] [-4.45556087e-02 9.99006462e-01 9.42020198e-04 3.29169913e-02] [-2.76008943e-02 -2.17359328e-03 9.99616660e-01 -7.37151108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.195898227 meters 0.08300869698304573 Centerline is valid? [True, True] Translation: X:35.55, Y:0.03, Z:-0.73 [[ 9.98410253e-01 4.68512790e-02 3.13356870e-02 3.55516338e+01] [-4.69075147e-02 9.98898673e-01 1.06151123e-03 2.50191366e-02] [-3.12514430e-02 -2.52970289e-03 9.99508353e-01 -7.33088773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.255898227 meters 0.08005238385560386 Centerline is valid? [True, True] Translation: X:35.61, Y:0.02, Z:-0.74 [[ 9.98367696e-01 4.83637352e-02 3.03791333e-02 3.56124542e+01] [-4.84172814e-02 9.98826666e-01 1.02903912e-03 1.93618900e-02] [-3.02937202e-02 -2.49823446e-03 9.99537918e-01 -7.37963062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.315898227 meters 0.08479681691246749 Centerline is valid? [True, True] Translation: X:35.67, Y:0.03, Z:-0.74 [[ 9.98265005e-01 5.12182732e-02 2.90459811e-02 3.56735941e+01] [-5.12684106e-02 9.98684426e-01 9.83558448e-04 2.66594772e-02] [-2.89573928e-02 -2.47099326e-03 9.99577593e-01 -7.43021791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.375898227 meters 0.09239892690148348 Centerline is valid? [True, True] Translation: X:35.73, Y:0.04, Z:-0.75 [[ 9.98132891e-01 5.43307495e-02 2.79088133e-02 3.57331798e+01] [-5.43782288e-02 9.98519963e-01 9.44531235e-04 3.66077803e-02] [-2.78161901e-02 -2.46039953e-03 9.99610027e-01 -7.46375500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.435898227 meters 0.0807897594428706 Centerline is valid? [True, True] Translation: X:35.79, Y:0.02, Z:-0.75 [[ 9.98417156e-01 4.89231708e-02 2.77435827e-02 3.57944737e+01] [-4.89679786e-02 9.98799909e-01 9.37564688e-04 2.17308577e-02] [-2.76644192e-02 -2.29462783e-03 9.99614633e-01 -7.47046847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.495898227 meters 0.07030498164028406 Centerline is valid? [True, True] Translation: X:35.86, Y:0.00, Z:-0.75 [[ 9.98927303e-01 3.56715576e-02 2.95259906e-02 3.58562765e+01] [-3.57165462e-02 9.99361463e-01 9.97534836e-04 1.58367318e-03] [-2.94715535e-02 -2.05103119e-03 9.99563515e-01 -7.45228741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.555898227 meters 0.06868063372442029 Centerline is valid? [True, True] Translation: X:35.92, Y:-0.00, Z:-0.74 [[ 9.99007050e-01 3.12394172e-02 3.17649777e-02 3.59163047e+01] [-3.12892548e-02 9.99509795e-01 1.07296299e-03 -4.97926203e-03] [-3.17158877e-02 -2.06580008e-03 9.99494790e-01 -7.43993201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.615898227 meters 0.0643976048274845 Centerline is valid? [True, True] Translation: X:35.98, Y:-0.02, Z:-0.75 [[ 9.99084579e-01 3.12102602e-02 2.92561821e-02 3.59792418e+01] [-3.12525211e-02 9.99511032e-01 9.88252368e-04 -2.12799203e-02] [-2.92110331e-02 -1.90167715e-03 9.99571458e-01 -7.53089565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.675898227 meters 0.06944665830625525 Centerline is valid? [True, True] Translation: X:36.04, Y:-0.02, Z:-0.75 [[ 9.99019122e-01 3.22271697e-02 3.03678181e-02 3.60403877e+01] [-3.22730130e-02 9.99478570e-01 1.02054173e-03 -1.89073377e-02] [-3.03190943e-02 -1.99960169e-03 9.99538270e-01 -7.49991932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.735898227 meters 0.06986344325566278 Centerline is valid? [True, True] Translation: X:36.10, Y:-0.03, Z:-0.75 [[ 9.98816828e-01 3.61786623e-02 3.24969022e-02 3.61015366e+01] [-3.62330874e-02 9.99342775e-01 1.08726316e-03 -2.88216150e-02] [-3.24362087e-02 -2.26343984e-03 9.99471245e-01 -7.48526908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.795898227 meters 0.0737852166095025 Centerline is valid? [True, True] Translation: X:36.16, Y:-0.03, Z:-0.76 [[ 9.98745748e-01 4.14105111e-02 2.81442946e-02 3.61620392e+01] [-4.14533870e-02 9.99139995e-01 9.41437203e-04 -3.24370713e-02] [-2.80811050e-02 -2.10693274e-03 9.99603428e-01 -7.57467541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.855898227 meters 0.08323069166130295 Centerline is valid? [True, True] Translation: X:36.22, Y:-0.02, Z:-0.76 [[ 9.98609628e-01 4.42441305e-02 2.86577846e-02 3.62212575e+01] [-4.42897433e-02 9.99018268e-01 9.58535594e-04 -2.45699346e-02] [-2.85872407e-02 -2.22644880e-03 9.99588822e-01 -7.62532803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.915898227 meters 0.07989397367970613 Centerline is valid? [True, True] Translation: X:36.28, Y:-0.04, Z:-0.77 [[ 9.98757665e-01 4.12818423e-02 2.79094318e-02 3.62826676e+01] [-4.13239477e-02 9.99145365e-01 9.33309293e-04 -3.65505869e-02] [-2.78470507e-02 -2.08547771e-03 9.99610020e-01 -7.66142488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.975898227 meters 0.06303844758330446 Centerline is valid? [True, True] Translation: X:36.34, Y:-0.06, Z:-0.76 [[ 9.99105258e-01 2.91448953e-02 3.06473406e-02 3.63444211e+01] [-2.91899766e-02 9.99573357e-01 1.02450141e-03 -6.30363522e-02] [-3.06044061e-02 -1.91817990e-03 9.99529735e-01 -7.62417017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.035898227 meters 0.06107156844494561 Centerline is valid? [True, True] Translation: X:36.40, Y:-0.08, Z:-0.76 [[ 9.99298272e-01 1.95352575e-02 3.19583836e-02 3.64049992e+01] [-1.95793743e-02 9.99807735e-01 1.06805696e-03 -8.16376269e-02] [-3.19313744e-02 -1.69303263e-03 9.99488630e-01 -7.64443367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.095898227 meters 0.04846289039570497 Centerline is valid? [True, True] Translation: X:36.47, Y:-0.11, Z:-0.77 [[ 9.99551876e-01 9.18835023e-03 2.84889832e-02 3.64661538e+01] [-9.21920907e-03 9.99957049e-01 9.52021938e-04 -1.05804915e-01] [-2.84790121e-02 -1.21424121e-03 9.99593653e-01 -7.70103427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.155898227 meters 0.04082326072122478 Centerline is valid? [True, True] Translation: X:36.53, Y:-0.12, Z:-0.76 [[ 9.99513513e-01 5.87678893e-03 3.06300735e-02 3.65278571e+01] [-5.91090265e-03 9.99982007e-01 1.02330422e-03 -1.18068606e-01] [-3.06235086e-02 -1.20385777e-03 9.99530265e-01 -7.63584024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.215898227 meters 0.04456720008288055 Centerline is valid? [True, True] Translation: X:36.59, Y:-0.12, Z:-0.76 [[ 9.99410758e-01 9.71303953e-03 3.29210264e-02 3.65888641e+01] [-9.75451463e-03 9.99951819e-01 1.09945888e-03 -1.21879589e-01] [-3.29087611e-02 -1.41993967e-03 9.99457351e-01 -7.61111316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.275898227 meters 0.051477485121220905 Centerline is valid? [True, True] Translation: X:36.65, Y:-0.12, Z:-0.77 [[ 9.99327258e-01 1.68577207e-02 3.25706617e-02 3.66490508e+01] [-1.69020988e-02 9.99856558e-01 1.08765002e-03 -1.17880895e-01] [-3.25476544e-02 -1.63743086e-03 9.99468843e-01 -7.65288718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.335898227 meters 0.05999515246359957 Centerline is valid? [True, True] Translation: X:36.71, Y:-0.11, Z:-0.76 [[ 9.99205838e-01 2.10119377e-02 3.38554558e-02 3.67086165e+01] [-2.10622514e-02 9.99777527e-01 1.13014041e-03 -1.10993905e-01] [-3.38241775e-02 -1.84231501e-03 9.99426101e-01 -7.64908611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.395898226999996 meters 0.0606576974892587 Centerline is valid? [True, True] Translation: X:36.77, Y:-0.12, Z:-0.77 [[ 9.99116501e-01 2.76474160e-02 3.16518188e-02 3.67693570e+01] [-2.76946624e-02 9.99615872e-01 1.05517860e-03 -1.17456812e-01] [-3.16104875e-02 -1.93083278e-03 9.99498399e-01 -7.74247013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.455898227 meters 0.06827739420881548 Centerline is valid? [True, True] Translation: X:36.83, Y:-0.10, Z:-0.78 [[ 9.98842916e-01 3.80376909e-02 2.94272435e-02 3.68282499e+01] [-3.80830108e-02 9.99274098e-01 9.80937564e-04 -1.03106198e-01] [-2.93685696e-02 -2.10048057e-03 9.99566444e-01 -7.76479655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.515898227 meters 0.07551207485170132 Centerline is valid? [True, True] Translation: X:36.89, Y:-0.09, Z:-0.78 [[ 9.98685705e-01 4.38870180e-02 2.64724756e-02 3.68879555e+01] [-4.39257204e-02 9.99034410e-01 8.81970697e-04 -9.09760296e-02] [-2.64082070e-02 -2.04363409e-03 9.99649154e-01 -7.83360270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.575898226999996 meters 0.07729787268251287 Centerline is valid? [True, True] Translation: X:36.95, Y:-0.09, Z:-0.78 [[ 9.98558245e-01 4.49336886e-02 2.93665572e-02 3.69504999e+01] [-4.49817619e-02 9.98987329e-01 9.78107003e-04 -9.00713694e-02] [-2.92928686e-02 -2.29765630e-03 9.99568231e-01 -7.81172988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.635898227 meters 0.07927348532999254 Centerline is valid? [True, True] Translation: X:37.01, Y:-0.09, Z:-0.78 [[ 9.98636558e-01 4.14351300e-02 3.17514645e-02 3.70102852e+01] [-4.14895294e-02 9.99138381e-01 1.05608185e-03 -9.02956675e-02] [-3.16803479e-02 -2.37199527e-03 9.99495237e-01 -7.79417895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.695898227 meters 0.07118921764258566 Centerline is valid? [True, True] Translation: X:37.07, Y:-0.11, Z:-0.78 [[ 9.98804726e-01 3.62318190e-02 3.28081354e-02 3.70718181e+01] [-3.62871027e-02 9.99340811e-01 1.09101962e-03 -1.10651488e-01] [-3.27469790e-02 -2.28022773e-03 9.99461073e-01 -7.79881454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.755898227 meters 0.07239442381160653 Centerline is valid? [True, True] Translation: X:37.13, Y:-0.12, Z:-0.79 [[ 9.98998931e-01 3.39820578e-02 2.90921920e-02 3.71320253e+01] [-3.40245693e-02 9.99420529e-01 9.67344466e-04 -1.17804182e-01] [-2.90424615e-02 -1.95622539e-03 9.99576265e-01 -7.86619567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.815898227 meters 0.07900900794350553 Centerline is valid? [True, True] Translation: X:37.19, Y:-0.12, Z:-0.79 [[ 9.98984372e-01 3.47617056e-02 2.86679061e-02 3.71928284e+01] [-3.48033123e-02 9.99393726e-01 9.53489286e-04 -1.18698911e-01] [-2.86173806e-02 -1.95025898e-03 9.99588536e-01 -7.91208262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.875898227 meters 0.08141271449342566 Centerline is valid? [True, True] Translation: X:37.25, Y:-0.12, Z:-0.79 [[ 9.98771513e-01 3.91973407e-02 3.03155577e-02 3.72535667e+01] [-3.92457683e-02 9.99229084e-01 1.00385784e-03 -1.18908835e-01] [-3.02528384e-02 -2.19238197e-03 9.99539874e-01 -7.87001356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.935898227 meters 0.07517380555674735 Centerline is valid? [True, True] Translation: X:37.31, Y:-0.13, Z:-0.79 [[ 9.98604242e-01 4.51299522e-02 2.74381946e-02 3.73141406e+01] [-4.51718437e-02 9.98978818e-01 9.08528855e-04 -1.30404080e-01] [-2.73691734e-02 -2.14669461e-03 9.99623089e-01 -7.93984678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.995898227 meters 0.0803823545338149 Centerline is valid? [True, True] Translation: X:37.38, Y:-0.13, Z:-0.79 [[ 9.98336262e-01 4.93047986e-02 2.98955654e-02 3.73750529e+01] [-4.93563833e-02 9.98780741e-01 9.89575440e-04 -1.27311281e-01] [-2.98103241e-02 -2.46346603e-03 9.99552538e-01 -7.91341038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.055898227 meters 0.07690886312451709 Centerline is valid? [True, True] Translation: X:37.44, Y:-0.13, Z:-0.79 [[ 9.98290520e-01 4.96236130e-02 3.08793676e-02 3.74372615e+01] [-4.96787912e-02 9.98764724e-01 1.02178627e-03 -1.32602467e-01] [-3.07905183e-02 -2.55408920e-03 9.99522596e-01 -7.91233911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.115898227 meters 0.08493422928265218 Centerline is valid? [True, True] Translation: X:37.50, Y:-0.13, Z:-0.80 [[ 9.98404259e-01 4.75177328e-02 3.05122914e-02 3.74966003e+01] [-4.75704858e-02 9.98867378e-01 1.00492066e-03 -1.29134889e-01] [-3.04299809e-02 -2.45480160e-03 9.99533886e-01 -7.96167143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.175898227 meters 0.07603565545202894 Centerline is valid? [True, True] Translation: X:37.56, Y:-0.14, Z:-0.80 [[ 9.98627091e-01 4.38986471e-02 2.85804356e-02 3.75581360e+01] [-4.39434613e-02 9.99033576e-01 9.41501107e-04 -1.44860294e-01] [-2.85114842e-02 -2.19613178e-03 9.99591053e-01 -7.98429204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.235898227 meters 0.07594974325557977 Centerline is valid? [True, True] Translation: X:37.62, Y:-0.15, Z:-0.80 [[ 9.98512150e-01 4.50715904e-02 3.06926435e-02 3.76191776e+01] [-4.51238165e-02 9.98980891e-01 1.01071511e-03 -1.48948356e-01] [-3.06158098e-02 -2.39418053e-03 9.99528359e-01 -7.96009060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.295898227 meters 0.08084503687916836 Centerline is valid? [True, True] Translation: X:37.68, Y:-0.15, Z:-0.80 [[ 9.98245119e-01 5.08320535e-02 3.03773722e-02 3.76798542e+01] [-5.08858322e-02 9.98703977e-01 9.99415987e-04 -1.46084849e-01] [-3.02872000e-02 -2.54343999e-03 9.99538001e-01 -7.98888174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.355898227 meters 0.08524327107616157 Centerline is valid? [True, True] Translation: X:37.74, Y:-0.14, Z:-0.81 [[ 9.98076977e-01 5.60298496e-02 2.65142338e-02 3.77402650e+01] [-5.60726328e-02 9.98426311e-01 8.72278466e-04 -1.43233848e-01] [-2.64236350e-02 -2.35732395e-03 9.99648055e-01 -8.06599447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.415898227 meters 0.07432102207078281 Centerline is valid? [True, True] Translation: X:37.80, Y:-0.16, Z:-0.81 [[ 9.97996650e-01 5.67176522e-02 2.80320428e-02 3.78032959e+01] [-5.67657501e-02 9.98387099e-01 9.22377073e-04 -1.56895306e-01] [-2.79345148e-02 -2.51178916e-03 9.99606600e-01 -8.07339660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.475898227 meters 0.08410199198073237 Centerline is valid? [True, True] Translation: X:37.86, Y:-0.14, Z:-0.81 [[ 9.98131503e-01 5.49295900e-02 2.67627038e-02 3.78627165e+01] [-5.49726652e-02 9.98487476e-01 8.75892401e-04 -1.44823024e-01] [-2.66741121e-02 -2.34547295e-03 9.99641431e-01 -8.10501357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.535898227 meters 0.09211444859104216 Centerline is valid? [True, True] Translation: X:37.92, Y:-0.13, Z:-0.81 [[ 9.98155528e-01 5.52096820e-02 2.52474162e-02 3.79236399e+01] [-5.52481194e-02 9.98472314e-01 8.26888026e-04 -1.30795588e-01] [-2.51631939e-02 -2.22023512e-03 9.99680891e-01 -8.14765875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.595898227 meters 0.09602073434122922 Centerline is valid? [True, True] Translation: X:37.98, Y:-0.13, Z:-0.82 [[ 9.97980510e-01 5.76416161e-02 2.66897909e-02 3.79841477e+01] [-5.76853158e-02 9.98334437e-01 8.69642032e-04 -1.26422141e-01] [-2.65952098e-02 -2.40749481e-03 9.99643386e-01 -8.17870717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.655898227 meters 0.08361413302130437 Centerline is valid? [True, True] Translation: X:38.05, Y:-0.13, Z:-0.81 [[ 9.97929241e-01 5.81906729e-02 2.74057734e-02 3.80460988e+01] [-5.82369552e-02 9.98302389e-01 8.92977655e-04 -1.30551406e-01] [-2.73072861e-02 -2.48715731e-03 9.99623992e-01 -8.14078179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.715898227 meters 0.08356165299789525 Centerline is valid? [True, True] Translation: X:38.11, Y:-0.13, Z:-0.81 [[ 9.98493751e-01 4.68428982e-02 2.85652240e-02 3.81053177e+01] [-4.68884396e-02 9.98899703e-01 9.26189207e-04 -1.28095381e-01] [-2.84904084e-02 -2.26417291e-03 9.99591502e-01 -8.14574850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.775898227 meters 0.07598035225416473 Centerline is valid? [True, True] Translation: X:38.17, Y:-0.14, Z:-0.81 [[ 9.98860107e-01 3.63904525e-02 3.08904627e-02 3.81656603e+01] [-3.64387429e-02 9.99335387e-01 1.00159599e-03 -1.38712304e-01] [-3.08334839e-02 -2.12606391e-03 9.99522274e-01 -8.11402704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.835898227 meters 0.07611918061910136 Centerline is valid? [True, True] Translation: X:38.23, Y:-0.14, Z:-0.81 [[ 9.98949435e-01 3.23488825e-02 3.24588404e-02 3.82253822e+01] [-3.24000748e-02 9.99474426e-01 1.05227716e-03 -1.36802170e-01] [-3.24077408e-02 -2.10284053e-03 9.99472519e-01 -8.10961360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.895898226999996 meters 0.07058251886792377 Centerline is valid? [True, True] Translation: X:38.29, Y:-0.14, Z:-0.82 [[ 9.98909087e-01 3.49253436e-02 3.09976869e-02 3.82859302e+01] [-3.49732637e-02 9.99387743e-01 1.00493091e-03 -1.44939598e-01] [-3.09436108e-02 -2.08792490e-03 9.99518951e-01 -8.18388084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.955898227 meters 0.06833777978080308 Centerline is valid? [True, True] Translation: X:38.35, Y:-0.14, Z:-0.82 [[ 9.98845787e-01 3.79306023e-02 2.94679987e-02 3.83465913e+01] [-3.79752053e-02 9.99278225e-01 9.55233959e-04 -1.38667437e-01] [-2.94104969e-02 -2.07318472e-03 9.99565268e-01 -8.20006471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.015898227 meters 0.0680112234719384 Centerline is valid? [True, True] Translation: X:38.41, Y:-0.14, Z:-0.82 [[ 9.98886951e-01 3.74231007e-02 2.87118411e-02 3.84086498e+01] [-3.74652336e-02 9.99297498e-01 9.30696100e-04 -1.37082460e-01] [-2.86568415e-02 -2.00535602e-03 9.99587297e-01 -8.23259586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.075898226999996 meters 0.06889646262205767 Centerline is valid? [True, True] Translation: X:38.47, Y:-0.13, Z:-0.82 [[ 9.98846310e-01 3.74453008e-02 3.00648977e-02 3.84705542e+01] [-3.74913594e-02 9.99296482e-01 9.69525533e-04 -1.28708582e-01] [-3.00074423e-02 -2.09558089e-03 9.99547479e-01 -8.23798625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.135898227 meters 0.06536839372460859 Centerline is valid? [True, True] Translation: X:38.53, Y:-0.12, Z:-0.83 [[ 9.98831916e-01 3.85657748e-02 2.91115831e-02 3.85326984e+01] [-3.86092997e-02 9.99253946e-01 9.34274630e-04 -1.21530335e-01] [-2.90538333e-02 -2.05716116e-03 9.99575731e-01 -8.27332114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.195898227 meters 0.0626191007667667 Centerline is valid? [True, True] Translation: X:38.59, Y:-0.12, Z:-0.83 [[ 9.99062067e-01 3.32178782e-02 2.77769626e-02 3.85921908e+01] [-3.32554079e-02 9.99446490e-01 8.90119195e-04 -1.17464864e-01] [-2.77320199e-02 -1.81301854e-03 9.99613749e-01 -8.31995842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.255898226999996 meters 0.05502017059849001 Centerline is valid? [True, True] Translation: X:38.65, Y:-0.13, Z:-0.83 [[ 9.99289261e-01 2.41658961e-02 2.89306578e-02 3.86532711e+01] [-2.42028381e-02 9.99706638e-01 9.27370595e-04 -1.29128704e-01] [-2.88997599e-02 -1.62691550e-03 9.99580991e-01 -8.34992862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.315898227 meters 0.053098605246531566 Centerline is valid? [True, True] Translation: X:38.71, Y:-0.14, Z:-0.83 [[ 9.99418984e-01 1.47717062e-02 3.07162988e-02 3.87135289e+01] [-1.48089246e-02 9.99889857e-01 9.84533364e-04 -1.37988339e-01] [-3.06983724e-02 -1.43883669e-03 9.99527658e-01 -8.31826256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.375898227 meters 0.0560810523475781 Centerline is valid? [True, True] Translation: X:38.77, Y:-0.12, Z:-0.83 [[ 9.99347991e-01 1.97420793e-02 3.02298427e-02 3.87733837e+01] [-1.97803970e-02 9.99803879e-01 9.68994207e-04 -1.24790853e-01] [-3.02047841e-02 -1.56632070e-03 9.99542504e-01 -8.34515066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.435898227 meters 0.06518686996537466 Centerline is valid? [True, True] Translation: X:38.83, Y:-0.11, Z:-0.83 [[ 9.98934801e-01 3.51459592e-02 2.99002485e-02 3.88331374e+01] [-3.51903105e-02 9.99380170e-01 9.58224684e-04 -1.06938398e-01] [-2.98480377e-02 -2.00940301e-03 9.99552428e-01 -8.31684936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.495898227 meters 0.07840448915227564 Centerline is valid? [True, True] Translation: X:38.89, Y:-0.08, Z:-0.83 [[ 9.98666493e-01 3.99772629e-02 3.26658011e-02 3.88922189e+01] [-4.00327663e-02 9.99197819e-01 1.04661302e-03 -8.36145198e-02] [-3.25977565e-02 -2.35291974e-03 9.99465782e-01 -8.29757398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.555898227 meters 0.07585489985579891 Centerline is valid? [True, True] Translation: X:38.95, Y:-0.08, Z:-0.83 [[ 9.98724908e-01 3.83446744e-02 3.28366168e-02 3.89529545e+01] [-3.83998896e-02 9.99261898e-01 1.05230470e-03 -8.10389201e-02] [-3.27720297e-02 -2.31188538e-03 9.99460179e-01 -8.34624884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.615898227 meters 0.06239610388116686 Centerline is valid? [True, True] Translation: X:39.01, Y:-0.09, Z:-0.84 [[ 9.99023225e-01 3.24054203e-02 3.00413797e-02 3.90135739e+01] [-3.24489486e-02 9.99472931e-01 9.62433621e-04 -9.42670880e-02] [-2.99943577e-02 -1.93630472e-03 9.99548193e-01 -8.40113216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.675898227 meters 0.05831238302498914 Centerline is valid? [True, True] Translation: X:39.07, Y:-0.09, Z:-0.84 [[ 9.99225060e-01 2.43316143e-02 3.09394848e-02 3.90735769e+01] [-2.43739298e-02 9.99702420e-01 9.91215181e-04 -9.29062916e-02] [-3.09061600e-02 -1.74456388e-03 9.99520768e-01 -8.40844144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.735898227 meters 0.053577265896679355 Centerline is valid? [True, True] Translation: X:39.13, Y:-0.09, Z:-0.84 [[ 9.99301320e-01 2.14913857e-02 3.05776355e-02 3.91343475e+01] [-2.15313847e-02 9.99767693e-01 9.79408851e-04 -9.38880191e-02] [-3.05494832e-02 -1.63710339e-03 9.99531915e-01 -8.41898964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.795898227 meters 0.05217231456985665 Centerline is valid? [True, True] Translation: X:39.19, Y:-0.09, Z:-0.85 [[ 9.99300887e-01 2.36809133e-02 2.89300998e-02 3.91947404e+01] [-2.37176218e-02 9.99718268e-01 9.26330905e-04 -8.77397643e-02] [-2.89000129e-02 -1.61183646e-03 9.99581008e-01 -8.45659380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.855898227 meters 0.06397104920749055 Centerline is valid? [True, True] Translation: X:39.25, Y:-0.07, Z:-0.85 [[ 9.99228059e-01 2.74730798e-02 2.80805385e-02 3.92535338e+01] [-2.75091453e-02 9.99621148e-01 8.98778911e-04 -6.72316153e-02] [-2.80452079e-02 -1.67055672e-03 9.99605260e-01 -8.48871945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.915898227 meters 0.07050546028983368 Centerline is valid? [True, True] Translation: X:39.31, Y:-0.05, Z:-0.85 [[ 9.99091311e-01 3.09956600e-02 2.92544108e-02 3.93124845e+01] [-3.10363162e-02 9.99517819e-01 9.36591228e-04 -5.18668866e-02] [-2.92112746e-02 -1.84368930e-03 9.99571559e-01 -8.47854680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.975898227 meters 0.06669044775801743 Centerline is valid? [True, True] Translation: X:39.37, Y:-0.05, Z:-0.85 [[ 9.99010612e-01 3.23223621e-02 3.05460582e-02 3.93740652e+01] [-3.23673165e-02 9.99475562e-01 9.78246393e-04 -5.29949903e-02] [-3.04984195e-02 -1.96597246e-03 9.99532882e-01 -8.48203469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.035898227 meters 0.06733839269359933 Centerline is valid? [True, True] Translation: X:39.43, Y:-0.05, Z:-0.85 [[ 9.98859951e-01 3.62547942e-02 3.10546091e-02 3.94348614e+01] [-3.63030134e-02 9.99340338e-01 9.90121226e-04 -4.69019095e-02] [-3.09982269e-02 -2.11636833e-03 9.99517199e-01 -8.48436132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.095898227 meters 0.07201640422594424 Centerline is valid? [True, True] Translation: X:39.49, Y:-0.04, Z:-0.85 [[ 9.98778890e-01 3.81801473e-02 3.13529292e-02 3.94945125e+01] [-3.82302192e-02 9.99268459e-01 9.98917845e-04 -3.61701436e-02] [-3.12918544e-02 -2.19632741e-03 9.99507877e-01 -8.50907677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.155898227 meters 0.08083472883924823 Centerline is valid? [True, True] Translation: X:39.55, Y:-0.02, Z:-0.85 [[ 9.98613865e-01 4.12066552e-02 3.27469161e-02 3.95539224e+01] [-4.12628993e-02 9.99147779e-01 1.04331267e-03 -2.07508422e-02] [-3.26760170e-02 -2.39309919e-03 9.99463131e-01 -8.50981024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.215898227 meters 0.0839418659694999 Centerline is valid? [True, True] Translation: X:39.61, Y:-0.01, Z:-0.86 [[ 9.98606455e-01 4.26319277e-02 3.11073381e-02 3.96141603e+01] [-4.26833599e-02 9.99088159e-01 9.90910627e-04 -1.25353777e-02] [-3.10367287e-02 -2.31729545e-03 9.99515558e-01 -8.56195466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.275898227 meters 0.0748794250010791 Centerline is valid? [True, True] Translation: X:39.68, Y:-0.02, Z:-0.86 [[ 9.98599344e-01 4.29032108e-02 3.09623029e-02 3.96772533e+01] [-4.29542747e-02 9.99076553e-01 9.85666610e-04 -2.21813015e-02] [-3.08914226e-02 -2.31424929e-03 9.99520067e-01 -8.58353513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.335898227 meters 0.08608001349447532 Centerline is valid? [True, True] Translation: X:39.74, Y:-0.01, Z:-0.86 [[ 9.98589815e-01 4.19280437e-02 3.25640960e-02 3.97374964e+01] [-4.19838305e-02 9.99117758e-01 1.03096896e-03 -5.57877027e-03] [-3.24921401e-02 -2.39668059e-03 9.99469117e-01 -8.57088819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.395898226999996 meters 0.08696909392368293 Centerline is valid? [True, True] Translation: X:39.80, Y:-0.00, Z:-0.86 [[ 9.98665924e-01 4.09156766e-02 3.15004817e-02 3.97988732e+01] [-4.09673542e-02 9.99159989e-01 9.96609441e-04 -3.09003210e-03] [-3.14332440e-02 -2.28577128e-03 9.99503240e-01 -8.60816902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.455898227 meters 0.07376489392191009 Centerline is valid? [True, True] Translation: X:39.86, Y:-0.02, Z:-0.86 [[ 9.98621560e-01 4.07668558e-02 3.30611949e-02 3.98614240e+01] [-4.08236623e-02 9.99165821e-01 1.04474283e-03 -2.24505814e-02] [-3.29910250e-02 -2.39298177e-03 9.99452783e-01 -8.59538397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.515898227 meters 0.07325738398771221 Centerline is valid? [True, True] Translation: X:39.92, Y:-0.03, Z:-0.86 [[ 9.98781105e-01 3.71703757e-02 3.24756592e-02 3.99212664e+01] [-3.72231479e-02 9.99306456e-01 1.02169865e-03 -2.83670742e-02] [-3.24151590e-02 -2.22929957e-03 9.99472004e-01 -8.62177155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.575898226999996 meters 0.07440703206026542 Centerline is valid? [True, True] Translation: X:39.98, Y:-0.04, Z:-0.87 [[ 9.98851359e-01 3.70095085e-02 3.04345163e-02 3.99834999e+01] [-3.70557730e-02 9.99312740e-01 9.57330315e-04 -3.53395592e-02] [-3.03781696e-02 -2.08400522e-03 9.99536304e-01 -8.67385753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.635898227 meters 0.07857377574489843 Centerline is valid? [True, True] Translation: X:40.04, Y:-0.04, Z:-0.87 [[ 9.98727795e-01 3.99498209e-02 3.07701575e-02 4.00427419e+01] [-3.99983580e-02 9.99199281e-01 9.63259133e-04 -3.60490311e-02] [-3.07070373e-02 -2.19278945e-03 9.99526022e-01 -8.68371209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.695898227 meters 0.09069272263188323 Centerline is valid? [True, True] Translation: X:40.10, Y:-0.02, Z:-0.87 [[ 9.98293563e-01 4.97190985e-02 3.06263575e-02 4.01026817e+01] [-4.97717153e-02 9.98760161e-01 9.57611429e-04 -2.34126431e-02] [-3.05407742e-02 -2.48030367e-03 9.99530444e-01 -8.71411152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.755898226999996 meters 0.0918963661881608 Centerline is valid? [True, True] Translation: X:40.16, Y:-0.02, Z:-0.88 [[ 9.97643866e-01 6.28492169e-02 2.75080299e-02 4.01632268e+01] [-6.28966033e-02 9.98019678e-01 8.59940315e-04 -1.81097927e-02] [-2.73995086e-02 -2.58807583e-03 9.99621213e-01 -8.78056113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.815898227 meters 0.0977930680627933 Centerline is valid? [True, True] Translation: X:40.22, Y:-0.01, Z:-0.88 [[ 9.97340058e-01 6.75180651e-02 2.74612430e-02 4.02233902e+01] [-6.75670375e-02 9.97714367e-01 8.58284577e-04 -5.23287072e-03] [-2.73405270e-02 -2.71147643e-03 9.99622500e-01 -8.80317710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.875898227 meters 0.10255629514425957 Centerline is valid? [True, False] Translation: X:40.23, Y:0.00, Z:-0.88 [[ 9.98067613e-01 5.67600857e-02 2.52850447e-02 4.02252732e+01] [-5.70136965e-02 9.98328916e-01 9.42411221e-03 9.47293019e-04] [-2.47078778e-02 -1.08474950e-02 9.99635860e-01 -8.78415502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.935898227 meters 0.0934486298042758 Centerline is valid? [False, True] Translation: X:40.20, Y:0.01, Z:-0.88 [[ 9.98676055e-01 4.02530854e-02 3.20285109e-02 4.02004663e+01] [-4.09150069e-02 9.98956664e-01 2.02866065e-02 5.09737895e-03] [-3.11784959e-02 -2.15701949e-02 9.99281056e-01 -8.76397495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.995898227 meters 0.08884725091704411 Centerline is valid? [True, True] Translation: X:40.26, Y:0.02, Z:-0.88 [[ 9.98897355e-01 3.36488072e-02 3.27388429e-02 4.02608913e+01] [-3.37240818e-02 9.99429650e-01 1.74961905e-03 1.70579051e-02] [-3.26612977e-02 -2.85177726e-03 9.99462409e-01 -8.81371308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.055898227 meters 0.08018102955128073 Centerline is valid? [True, True] Translation: X:40.32, Y:0.01, Z:-0.89 [[ 9.99088390e-01 2.93988744e-02 3.09531172e-02 4.03218957e+01] [-2.94641265e-02 9.99564470e-01 1.65400017e-03 1.25102298e-02] [-3.08910104e-02 -2.56449893e-03 9.99519469e-01 -8.87523656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.115898227 meters 0.07775128393927287 Centerline is valid? [True, True] Translation: X:40.38, Y:0.01, Z:-0.89 [[ 9.99102085e-01 2.81332209e-02 3.16787783e-02 4.03831036e+01] [-2.82009354e-02 9.99600841e-01 1.69268184e-03 1.40024180e-02] [-3.16185129e-02 -2.58453313e-03 9.99496668e-01 -8.87304107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.175898227 meters 0.07938908692035271 Centerline is valid? [True, True] Translation: X:40.44, Y:0.02, Z:-0.89 [[ 9.99093466e-01 2.76912371e-02 3.23333003e-02 4.04435516e+01] [-2.77615185e-02 9.99613084e-01 1.72666551e-03 2.14410894e-02] [-3.22729765e-02 -2.62272174e-03 9.99475651e-01 -8.88380183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.235898227 meters 0.08098359488030206 Centerline is valid? [True, True] Translation: X:40.50, Y:0.03, Z:-0.89 [[ 9.99124558e-01 2.93942015e-02 2.97673912e-02 4.05042983e+01] [-2.94544423e-02 9.99564864e-01 1.58715910e-03 2.75445549e-02] [-2.97077850e-02 -2.46255154e-03 9.99555593e-01 -8.94784045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.295898227 meters 0.08646241144131059 Centerline is valid? [True, True] Translation: X:40.56, Y:0.04, Z:-0.90 [[ 9.99188264e-01 3.24834384e-02 2.38251783e-02 4.05641316e+01] [-3.25228902e-02 9.99470184e-01 1.27017447e-03 3.96330872e-02] [-2.37712957e-02 -2.04400709e-03 9.99715333e-01 -9.04851372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.355898227 meters 0.08530107257998831 Centerline is valid? [True, True] Translation: X:40.62, Y:0.04, Z:-0.90 [[ 9.98934742e-01 3.65823870e-02 2.81266909e-02 4.06239449e+01] [-3.66657591e-02 9.99324572e-01 2.45398004e-03 4.47919094e-02] [-2.80179209e-02 -3.48265239e-03 9.99601354e-01 -9.00375297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.415898227 meters 0.09768191253474878 Centerline is valid? [True, True] Translation: X:40.68, Y:0.07, Z:-0.90 [[ 9.98829976e-01 3.92969715e-02 2.81855868e-02 4.06826251e+01] [-3.93270502e-02 9.99226260e-01 5.13409817e-04 7.14939005e-02] [-2.81436031e-02 -1.62126510e-03 9.99602576e-01 -8.99171815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.475898227 meters 0.08918957021020266 Centerline is valid? [True, True] Translation: X:40.74, Y:0.07, Z:-0.90 [[ 9.98826871e-01 3.83657814e-02 2.95457126e-02 4.07441269e+01] [-3.84289719e-02 9.99260095e-01 1.57367416e-03 7.26475949e-02] [-2.94634764e-02 -2.70723939e-03 9.99562191e-01 -9.00193759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.535898227 meters 0.08242412588797828 Centerline is valid? [True, True] Translation: X:40.80, Y:0.07, Z:-0.90 [[ 9.98961031e-01 3.32424128e-02 3.11737043e-02 4.08046528e+01] [-3.33102659e-02 9.99443681e-01 1.65967320e-03 7.38412620e-02] [-3.11011903e-02 -2.69635324e-03 9.99512604e-01 -8.99371619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.595898227 meters 0.08430127271189262 Centerline is valid? [True, True] Translation: X:40.86, Y:0.08, Z:-0.90 [[ 9.99062395e-01 2.94199624e-02 3.17615606e-02 4.08645603e+01] [-2.94884771e-02 9.99563690e-01 1.69079627e-03 8.00902401e-02] [-3.16979595e-02 -2.62581102e-03 9.99494044e-01 -8.99697524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.655898227 meters 0.07804298466175653 Centerline is valid? [True, True] Translation: X:40.93, Y:0.07, Z:-0.90 [[ 9.99190718e-01 2.45971331e-02 3.18259391e-02 4.09251524e+01] [-2.46634994e-02 9.99694374e-01 1.69434475e-03 7.14913509e-02] [-3.17745362e-02 -2.47791257e-03 9.99491990e-01 -9.02656369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.715898227 meters 0.07819785610974286 Centerline is valid? [True, True] Translation: X:40.99, Y:0.07, Z:-0.91 [[ 9.99234221e-01 2.36322342e-02 3.11847665e-02 4.09865416e+01] [-2.36954839e-02 9.99717844e-01 1.66017534e-03 7.41937027e-02] [-3.11367339e-02 -2.39784214e-03 9.99512258e-01 -9.06923185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.775898227 meters 0.08544911965730367 Centerline is valid? [True, True] Translation: X:41.05, Y:0.08, Z:-0.91 [[ 9.99312389e-01 2.45888220e-02 2.77513822e-02 4.10471724e+01] [-2.46392583e-02 9.99695316e-01 1.47689580e-03 8.33075573e-02] [-2.77066117e-02 -2.15965374e-03 9.99613765e-01 -9.13331032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.835898227 meters 0.08099883782747364 Centerline is valid? [True, True] Translation: X:41.11, Y:0.08, Z:-0.91 [[ 9.99188025e-01 3.04638543e-02 2.63674979e-02 4.11077850e+01] [-3.05113622e-02 9.99533438e-01 1.40122259e-03 7.93552899e-02] [-2.63125091e-02 -2.20459311e-03 9.99651335e-01 -9.14580154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.895898226999996 meters 0.08082604284076306 Centerline is valid? [True, True] Translation: X:41.17, Y:0.08, Z:-0.92 [[ 9.99128450e-01 3.23422122e-02 2.63879225e-02 4.11682693e+01] [-3.23904397e-02 9.99474309e-01 1.40214257e-03 8.26630153e-02] [-2.63287022e-02 -2.25563694e-03 9.99650795e-01 -9.16013111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.955898227 meters 0.0834758364406313 Centerline is valid? [True, True] Translation: X:41.23, Y:0.10, Z:-0.92 [[ 9.99062681e-01 3.36660419e-02 2.72095050e-02 4.12283034e+01] [-3.37178012e-02 9.99430348e-01 1.44555587e-03 9.55664346e-02] [-2.71453389e-02 -2.36164560e-03 9.99628708e-01 -9.18797349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.015898227 meters 0.08259231802950665 Centerline is valid? [True, True] Translation: X:41.29, Y:0.10, Z:-0.92 [[ 9.98999254e-01 3.27308948e-02 3.04824439e-02 4.12892331e+01] [-3.27954173e-02 9.99460774e-01 1.61902820e-03 1.01694809e-01] [-3.04130147e-02 -2.61709243e-03 9.99533991e-01 -9.15023157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.075898226999996 meters 0.08068551634427222 Centerline is valid? [True, True] Translation: X:41.35, Y:0.11, Z:-0.92 [[ 9.99189592e-01 2.73090924e-02 2.95698034e-02 4.13483430e+01] [-2.73674307e-02 9.99624209e-01 1.56991407e-03 1.05246437e-01] [-2.95158184e-02 -2.37789135e-03 9.99561485e-01 -9.16842055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.135898227 meters 0.07290897098611611 Centerline is valid? [True, True] Translation: X:41.41, Y:0.10, Z:-0.91 [[ 9.99172119e-01 2.28557644e-02 3.36554800e-02 4.14095148e+01] [-2.29288519e-02 9.99735502e-01 1.78724271e-03 1.00101883e-01] [-3.36057294e-02 -2.55744461e-03 9.99431896e-01 -9.14045759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.195898227 meters 0.07468150592581678 Centerline is valid? [True, True] Translation: X:41.47, Y:0.11, Z:-0.91 [[ 9.99156260e-01 2.19516383e-02 3.47115670e-02 4.14699366e+01] [-2.20288358e-02 9.99755637e-01 1.84304880e-03 1.05609435e-01] [-3.46626268e-02 -2.60614916e-03 9.99395673e-01 -9.14977331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.255898226999996 meters 0.07735275559340087 Centerline is valid? [True, True] Translation: X:41.53, Y:0.11, Z:-0.92 [[ 9.99221647e-01 2.33131719e-02 3.18213025e-02 4.15310037e+01] [-2.33787069e-02 9.99725254e-01 1.68890831e-03 1.10249721e-01] [-3.17731859e-02 -2.43153464e-03 9.99492147e-01 -9.20533643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.315898227 meters 0.07226195892969478 Centerline is valid? [True, True] Translation: X:41.59, Y:0.11, Z:-0.92 [[ 9.99178705e-01 2.56802452e-02 3.13438993e-02 4.15913091e+01] [-2.57449642e-02 9.99667160e-01 1.66291360e-03 1.08080009e-01] [-3.12907628e-02 -2.46849543e-03 9.99507276e-01 -9.23770469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.375898227 meters 0.08120600219152756 Centerline is valid? [True, True] Translation: X:41.65, Y:0.12, Z:-0.93 [[ 9.99103005e-01 3.14691992e-02 2.83350396e-02 4.16502556e+01] [-3.15243932e-02 9.99501852e-01 1.50319652e-03 1.20997750e-01] [-2.82736202e-02 -2.39509309e-03 9.99597352e-01 -9.29653173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.435898227 meters 0.09156032667270343 Centerline is valid? [True, True] Translation: X:41.71, Y:0.14, Z:-0.93 [[ 9.99090459e-01 3.34422703e-02 2.64550478e-02 4.17090825e+01] [-3.34910489e-02 9.99438033e-01 1.40277637e-03 1.36511831e-01] [-2.63932689e-02 -2.28750779e-03 9.99649020e-01 -9.34250939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.495898227 meters 0.08488797954507611 Centerline is valid? [True, True] Translation: X:41.77, Y:0.13, Z:-0.94 [[ 9.99188072e-01 3.32297980e-02 2.27810600e-02 4.17711539e+01] [-3.32659254e-02 9.99445805e-01 1.20862047e-03 1.30552760e-01] [-2.27282727e-02 -1.96547220e-03 9.99739747e-01 -9.42870317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.555898227 meters 0.0859192608894772 Centerline is valid? [True, True] Translation: X:41.83, Y:0.14, Z:-0.94 [[ 9.99058750e-01 3.55311233e-02 2.48828082e-02 4.18313148e+01] [-3.55748096e-02 9.99366151e-01 1.31508111e-03 1.37624982e-01] [-2.48203100e-02 -2.19904446e-03 9.99689510e-01 -9.40799646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.615898227 meters 0.09204586556394424 Centerline is valid? [True, True] Translation: X:41.89, Y:0.15, Z:-0.94 [[ 9.98733973e-01 4.26902121e-02 2.66082117e-02 4.18916361e+01] [-4.27426865e-02 9.99085124e-01 1.40622795e-03 1.54924521e-01] [-2.65238364e-02 -2.54175408e-03 9.99644950e-01 -9.38527280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.675898227 meters 0.10346666927252361 Centerline is valid? [True, False] Translation: X:41.89, Y:0.17, Z:-0.94 [[ 9.98937180e-01 3.77853154e-02 2.63965852e-02 4.18917421e+01] [-3.81691385e-02 9.99170520e-01 1.41911666e-02 1.66308859e-01] [-2.58384721e-02 -1.51836189e-02 9.99550815e-01 -9.39137725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.735898227 meters 0.10065562146802158 Centerline is valid? [False, False] Translation: X:41.85, Y:0.18, Z:-0.94 [[ 9.99111439e-01 3.24093717e-02 2.69437572e-02 4.18496115e+01] [-3.26140118e-02 9.99442156e-01 7.19052943e-03 1.84236414e-01] [-2.66956862e-02 -8.06288421e-03 9.99611089e-01 -9.40480613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.795898227 meters 0.09257561580151986 Centerline is valid? [False, True] Translation: X:41.89, Y:0.20, Z:-0.94 [[ 9.99542215e-01 1.85314004e-02 2.39154158e-02 4.18880631e+01] [-1.87130879e-02 9.99797541e-01 7.39576251e-03 2.00526132e-01] [-2.37735201e-02 -7.83990812e-03 9.99686629e-01 -9.37297800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.855898227 meters 0.08390555372070096 Centerline is valid? [True, True] Translation: X:41.95, Y:0.20, Z:-0.94 [[ 9.99659983e-01 1.05272371e-02 2.38557085e-02 4.19486011e+01] [-1.05733706e-02 9.99942465e-01 1.80854201e-03 2.03088751e-01] [-2.38352970e-02 -2.06016233e-03 9.99713776e-01 -9.40486536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.915898227 meters 0.07702951755522922 Centerline is valid? [True, True] Translation: X:42.01, Y:0.20, Z:-0.94 [[ 9.99695617e-01 2.16402735e-03 2.45762199e-02 4.20091704e+01] [-2.21047848e-03 9.99995821e-01 1.86307511e-03 2.04139949e-01] [-2.45720855e-02 -1.91683322e-03 9.99696223e-01 -9.40128029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.975898227 meters 0.07653346439328255 Centerline is valid? [True, True] Translation: X:42.07, Y:0.21, Z:-0.94 [[ 9.99744127e-01 2.29523948e-03 2.25035919e-02 4.20715547e+01] [-2.33421864e-03 9.99995820e-01 1.70601623e-03 2.13228251e-01] [-2.24995821e-02 -1.75810801e-03 9.99745306e-01 -9.43036985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.035898227 meters 0.08539506569737877 Centerline is valid? [True, True] Translation: X:42.13, Y:0.24, Z:-0.95 [[ 9.99726931e-01 1.08009497e-02 2.07220159e-02 4.21301182e+01] [-1.08357317e-02 9.99940064e-01 1.56695565e-03 2.40073977e-01] [-2.07038493e-02 -1.79106597e-03 9.99784048e-01 -9.47884099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.095898227 meters 0.09778091694162733 Centerline is valid? [True, True] Translation: X:42.19, Y:0.27, Z:-0.95 [[ 9.99623730e-01 1.86134392e-02 2.01478926e-02 4.21874543e+01] [-1.86478927e-02 9.99824952e-01 1.52349017e-03 2.72074511e-01] [-2.01160083e-02 -1.89863266e-03 9.99795850e-01 -9.49938306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.155898227 meters 0.09391140869265692 Centerline is valid? [True, True] Translation: X:42.25, Y:0.28, Z:-0.95 [[ 9.99509575e-01 2.05291435e-02 2.36466533e-02 4.22476538e+01] [-2.05771310e-02 9.99786670e-01 1.78780009e-03 2.80872489e-01] [-2.36049067e-02 -2.27350359e-03 9.99718780e-01 -9.45437109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.215898227 meters 0.0952048501698785 Centerline is valid? [True, True] Translation: X:42.31, Y:0.30, Z:-0.95 [[ 9.99455832e-01 2.35217823e-02 2.31250215e-02 4.23072462e+01] [-2.35684671e-02 9.99720696e-01 1.74829268e-03 3.00417946e-01] [-2.30774396e-02 -2.29236262e-03 9.99731052e-01 -9.49280659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.275898227 meters 0.10137799810256476 Centerline is valid? [True, False] Translation: X:42.31, Y:0.31, Z:-0.95 [[ 9.99692282e-01 1.85136267e-02 1.65102345e-02 4.23072185e+01] [-1.87433623e-02 9.99728114e-01 1.38702729e-02 3.05643824e-01] [-1.62489565e-02 -1.41754621e-02 9.99767487e-01 -9.45124425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.335898227 meters 0.09280796373817587 Centerline is valid? [False, True] Translation: X:42.28, Y:0.32, Z:-0.94 [[ 9.99819886e-01 1.47953420e-02 1.18867087e-02 4.22840863e+01] [-1.47892600e-02 9.99890453e-01 -5.99402357e-04 3.20021656e-01] [-1.18942749e-02 4.23498770e-04 9.99929171e-01 -9.39583902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.395898226999996 meters 0.08463771160149974 Centerline is valid? [True, True] Translation: X:42.34, Y:0.32, Z:-0.94 [[ 9.99909118e-01 8.50291978e-03 1.04620858e-02 4.23449712e+01] [-8.51243478e-03 9.99963394e-01 8.65279777e-04 3.21908091e-01] [-1.04543454e-02 -9.54258962e-04 9.99944897e-01 -9.43001655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.455898227 meters 0.08191902704396682 Centerline is valid? [True, True] Translation: X:42.41, Y:0.33, Z:-0.94 [[ 9.99919000e-01 6.97865185e-03 1.06438825e-02 4.24056877e+01] [-6.98841423e-03 9.99975193e-01 8.80264771e-04 3.28018129e-01] [-1.06374754e-02 -9.54577329e-04 9.99942965e-01 -9.42633223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.515898227 meters 0.10049675588388739 Centerline is valid? [True, False] Translation: X:42.41, Y:0.33, Z:-0.94 [[ 9.99883779e-01 1.08625925e-02 1.06972743e-02 4.24054141e+01] [-1.09084542e-02 9.99931519e-01 4.23825345e-03 3.32462782e-01] [-1.06505033e-02 -4.35445160e-03 9.99933801e-01 -9.42216805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.575898226999996 meters 0.10031878003548403 Centerline is valid? [False, False] Translation: X:42.41, Y:0.34, Z:-0.94 [[ 9.99886357e-01 1.05423355e-02 1.07764767e-02 4.24050600e+01] [-1.05801491e-02 9.99938050e-01 3.45793392e-03 3.36006164e-01] [-1.07393544e-02 -3.57155768e-03 9.99935953e-01 -9.42000642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.635898227 meters 0.10149081088828081 Centerline is valid? [False, False] Translation: X:42.38, Y:0.34, Z:-0.94 [[ 9.99961975e-01 5.09641543e-03 7.07636611e-03 4.23846503e+01] [-5.15723903e-03 9.99949687e-01 8.60383751e-03 3.36035542e-01] [-7.03216135e-03 -8.64000486e-03 9.99937948e-01 -9.39035732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.695898227 meters 0.08470428925261837 Centerline is valid? [False, True] Translation: X:42.37, Y:0.34, Z:-0.94 [[ 9.99987459e-01 4.66965826e-03 1.80980411e-03 4.23685395e+01] [-4.66644721e-03 9.99987538e-01 -1.77443147e-03 3.37109209e-01] [-1.81806754e-03 1.76596386e-03 9.99996788e-01 -9.38979546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.755898226999996 meters 0.10175118482874938 Centerline is valid? [True, False] Translation: X:42.41, Y:0.34, Z:-0.94 [[ 9.99985339e-01 4.98994775e-03 2.10278709e-03 4.24096500e+01] [-4.98391741e-03 9.99983481e-01 -2.86333070e-03 3.40643417e-01] [-2.11704022e-03 2.85280860e-03 9.99993690e-01 -9.37455152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.815898227 meters 0.08890158460263907 Centerline is valid? [False, True] Translation: X:42.39, Y:0.34, Z:-0.93 [[ 9.99991402e-01 3.34352273e-03 -2.45293352e-03 4.23897804e+01] [-3.32836642e-03 9.99975506e-01 6.15713062e-03 3.36807463e-01] [ 2.47345994e-03 -6.14891342e-03 9.99978036e-01 -9.34286094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.875898227 meters 0.09759417413014147 Centerline is valid? [True, True] Translation: X:42.45, Y:0.36, Z:-0.94 [[ 9.99954119e-01 7.53962427e-03 -5.90887160e-03 4.24475722e+01] [-7.54276728e-03 9.99971423e-01 -5.09810256e-04 3.56191157e-01] [ 5.90485897e-03 5.54356109e-04 9.99982413e-01 -9.42122873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.935898227 meters 0.099017937211142 Centerline is valid? [True, True] Translation: X:42.51, Y:0.37, Z:-0.94 [[ 9.99910573e-01 1.05203344e-02 -8.25637491e-03 4.25068543e+01] [-1.05265724e-02 9.99944340e-01 -7.12446693e-04 3.65418808e-01] [ 8.24842019e-03 7.99294310e-04 9.99965662e-01 -9.44904210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.995898227 meters 0.0902507368832152 Centerline is valid? [True, True] Translation: X:42.57, Y:0.36, Z:-0.94 [[ 9.99918955e-01 1.13714404e-02 -5.72475535e-03 4.25666832e+01] [-1.13744539e-02 9.99935187e-01 -4.94123339e-04 3.62011583e-01] [ 5.71876541e-03 5.59199259e-04 9.99983491e-01 -9.39897667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.055898227 meters 0.09650091699754329 Centerline is valid? [True, True] Translation: X:42.62, Y:0.38, Z:-0.94 [[ 9.99904152e-01 1.15984687e-02 -7.56062918e-03 4.26237511e+01] [-1.16037336e-02 9.99932461e-01 -6.52856200e-04 3.80657535e-01] [ 7.55254642e-03 7.40525151e-04 9.99971205e-01 -9.44899136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.115898227 meters 0.09730120694763694 Centerline is valid? [True, True] Translation: X:42.68, Y:0.39, Z:-0.95 [[ 9.99936734e-01 9.38794143e-03 -6.19638331e-03 4.26838345e+01] [-9.39143607e-03 9.99955756e-01 -5.35124306e-04 3.88567908e-01] [ 6.19108544e-03 5.93283388e-04 9.99980659e-01 -9.46733303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.175898227 meters 0.09371408496275987 Centerline is valid? [True, True] Translation: X:42.74, Y:0.40, Z:-0.94 [[ 9.99978440e-01 5.96123595e-03 -2.75392108e-03 4.27438347e+01] [-5.96191336e-03 9.99982199e-01 -2.37833750e-04 3.98451390e-01] [ 2.75245428e-03 2.54247261e-04 9.99996180e-01 -9.35891093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.235898227 meters 0.0973413526692995 Centerline is valid? [True, True] Translation: X:42.80, Y:0.42, Z:-0.94 [[ 9.99982489e-01 5.04040906e-03 -3.10098257e-03 4.28012258e+01] [-5.04126367e-03 9.99987257e-01 -2.67839433e-04 4.16783168e-01] [ 3.09959303e-03 2.83467614e-04 9.99995156e-01 -9.38812550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.295898227 meters 0.08547195916674362 Centerline is valid? [True, True] Translation: X:42.86, Y:0.41, Z:-0.93 [[ 9.99997992e-01 1.86470328e-03 -7.34292075e-04 4.28626496e+01] [-1.86475038e-03 9.99998259e-01 -6.34611384e-05 4.14431418e-01] [ 7.34172461e-04 6.48302824e-05 9.99999728e-01 -9.34750508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.355898227 meters 0.08890507754141813 Centerline is valid? [True, True] Translation: X:42.92, Y:0.43, Z:-0.93 [[ 9.99999518e-01 9.29147498e-04 3.17621606e-04 4.29214062e+01] [-9.29156226e-04 9.99999568e-01 2.73341780e-05 4.28126117e-01] [-3.17596071e-04 -2.76292849e-05 9.99999949e-01 -9.32469764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.415898227 meters 0.09557075425058767 Centerline is valid? [True, True] Translation: X:42.98, Y:0.45, Z:-0.93 [[ 9.99999598e-01 -8.38294011e-04 -3.17814022e-04 4.29792178e+01] [ 8.38285332e-04 9.99999648e-01 -2.74409660e-05 4.49681397e-01] [ 3.17836914e-04 2.71745362e-05 9.99999949e-01 -9.34996403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.475898227 meters 0.08819166112199024 Centerline is valid? [True, True] Translation: X:43.04, Y:0.45, Z:-0.94 [[ 9.99987546e-01 -4.46054185e-03 -2.23881696e-03 4.30401582e+01] [ 4.46012011e-03 9.99990035e-01 -1.93335953e-04 4.48226460e-01] [ 2.23965703e-03 1.83348153e-04 9.99997475e-01 -9.37914580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.535898227 meters 0.0816966514028414 Centerline is valid? [True, True] Translation: X:43.10, Y:0.45, Z:-0.94 [[ 9.99966977e-01 -7.48609809e-03 -3.16291946e-03 4.31002094e+01] [ 7.48527140e-03 9.99971948e-01 -2.73127214e-04 4.48940294e-01] [ 3.16487539e-03 2.49442884e-04 9.99994961e-01 -9.37384593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.595898227 meters 0.07335365777866085 Centerline is valid? [True, True] Translation: X:43.16, Y:0.44, Z:-0.93 [[ 9.99973215e-01 -7.28990975e-03 -6.52498272e-04 4.31600560e+01] [ 7.28987456e-03 9.99973427e-01 -5.62850331e-05 4.43964080e-01] [ 6.52891246e-04 5.15268950e-05 9.99999786e-01 -9.33219580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.655898227 meters 0.07850416498014791 Centerline is valid? [True, True] Translation: X:43.22, Y:0.46, Z:-0.93 [[ 9.99980778e-01 -6.14594442e-03 -8.19225606e-04 4.32190288e+01] [ 6.14588850e-03 9.99981111e-01 -7.07635320e-05 4.55010701e-01] [ 8.19645041e-04 6.57273026e-05 9.99999662e-01 -9.33811139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.715898227 meters 0.08579213629194093 Centerline is valid? [True, True] Translation: X:43.28, Y:0.47, Z:-0.94 [[ 9.99983492e-01 -5.46660792e-03 -1.76985875e-03 4.32774837e+01] [ 5.46634575e-03 9.99985048e-01 -1.52935225e-04 4.68961712e-01] [ 1.77066833e-03 1.43258041e-04 9.99998422e-01 -9.35709796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.775898227 meters 0.08780684240596186 Centerline is valid? [True, True] Translation: X:43.34, Y:0.48, Z:-0.94 [[ 9.99973977e-01 -5.72441596e-03 -4.39059992e-03 4.33367091e+01] [ 5.72280445e-03 9.99983553e-01 -3.79512113e-04 4.80553075e-01] [ 4.39270019e-03 3.54375692e-04 9.99990289e-01 -9.38944325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.835898227 meters 0.08945329225531713 Centerline is valid? [True, True] Translation: X:43.40, Y:0.49, Z:-0.94 [[ 9.99994852e-01 -1.49327284e-03 -2.84003768e-03 4.33961122e+01] [ 1.49258152e-03 9.99998856e-01 -2.45523436e-04 4.93360185e-01] [ 2.84040107e-03 2.41283185e-04 9.99995937e-01 -9.35174319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.895898226999996 meters 0.0854027257833061 Centerline is valid? [True, True] Translation: X:43.46, Y:0.50, Z:-0.93 [[ 9.99998499e-01 -4.12708350e-04 -1.68259870e-03 4.34554322e+01] [ 4.12464245e-04 9.99999904e-01 -1.45420246e-04 4.95453023e-01] [ 1.68265856e-03 1.44726016e-04 9.99998574e-01 -9.33213133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.955898227 meters 0.0783222807031105 Centerline is valid? [True, True] Translation: X:43.52, Y:0.49, Z:-0.94 [[ 9.99981314e-01 -5.46834783e-03 -2.73279919e-03 4.35160694e+01] [ 5.46772208e-03 9.99985024e-01 -2.36398624e-04 4.93498045e-01] [ 2.73405097e-03 2.21452020e-04 9.99996238e-01 -9.36929993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.015898227 meters 0.08275107112374601 Centerline is valid? [True, True] Translation: X:43.57, Y:0.50, Z:-0.94 [[ 9.99953994e-01 -9.02184975e-03 -3.25827635e-03 4.35745970e+01] [ 9.02097893e-03 9.99959270e-01 -2.81860557e-04 5.04533730e-01] [ 3.26068654e-03 2.52454748e-04 9.99994652e-01 -9.36999435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.075898226999996 meters 0.09221866817118313 Centerline is valid? [True, True] Translation: X:43.63, Y:0.53, Z:-0.94 [[ 9.99982055e-01 -5.24237719e-03 -2.89962471e-03 4.36320070e+01] [ 5.24167159e-03 9.99986231e-01 -2.50888202e-04 5.28692242e-01] [ 2.90090004e-03 2.35684819e-04 9.99995765e-01 -9.37172902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.135898227 meters 0.08983004006529961 Centerline is valid? [True, True] Translation: X:43.69, Y:0.54, Z:-0.94 [[ 9.99990452e-01 3.48038229e-03 -2.64242952e-03 4.36916257e+01] [-3.48099864e-03 9.99993915e-01 -2.28685059e-04 5.38130252e-01] [ 2.64161753e-03 2.37881169e-04 9.99996483e-01 -9.37326627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.195898227 meters 0.10058036211918342 Centerline is valid? [True, False] Translation: X:43.73, Y:0.55, Z:-0.94 [[ 9.99982782e-01 5.06296033e-03 -2.96671953e-03 4.37348744e+01] [-5.06814479e-03 9.99985638e-01 -1.74263401e-03 5.52018821e-01] [ 2.95785404e-03 1.75763977e-03 9.99994081e-01 -9.38110348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.255898226999996 meters 0.09890995937857933 Centerline is valid? [False, True] Translation: X:43.72, Y:0.55, Z:-0.94 [[ 9.99971967e-01 3.18216455e-03 -6.77782564e-03 4.37164536e+01] [-3.13589549e-03 9.99971784e-01 6.82625736e-03 5.51919028e-01] [ 6.79935667e-03 -6.80481145e-03 9.99953731e-01 -9.37553973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.315898227 meters 0.0851455101806259 Centerline is valid? [True, True] Translation: X:43.78, Y:0.55, Z:-0.93 [[ 9.99990761e-01 -2.03781682e-03 -3.78499025e-03 4.37776504e+01] [ 2.03653313e-03 9.99997867e-01 -3.42975176e-04 5.50319446e-01] [ 3.78568110e-03 3.35263749e-04 9.99992778e-01 -9.31903683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.375898227 meters 0.0831935869705589 Centerline is valid? [True, True] Translation: X:43.84, Y:0.55, Z:-0.94 [[ 9.99960135e-01 -5.94830951e-03 -6.65931277e-03 4.38376031e+01] [ 5.94442205e-03 9.99982150e-01 -6.03403551e-04 5.54944906e-01] [ 6.66278313e-03 5.63793730e-04 9.99977644e-01 -9.36089859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.435898227 meters 0.07821927241744005 Centerline is valid? [True, True] Translation: X:43.90, Y:0.56, Z:-0.94 [[ 9.99931262e-01 -9.57768964e-03 -6.76306915e-03 4.38980672e+01] [ 9.57376262e-03 9.99953983e-01 -6.12792948e-04 5.59448115e-01] [ 6.76862707e-03 5.48002808e-04 9.99976942e-01 -9.35059467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.495898227 meters 0.09317536949884765 Centerline is valid? [True, True] Translation: X:43.95, Y:0.60, Z:-0.93 [[ 9.99975377e-01 -4.26149950e-03 -5.57531406e-03 4.39543002e+01] [ 4.25874865e-03 9.99990804e-01 -5.05177115e-04 5.95242494e-01] [ 5.57741560e-03 4.81420815e-04 9.99984330e-01 -9.31720392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.555898227 meters 0.09065986341470234 Centerline is valid? [True, True] Translation: X:44.01, Y:0.61, Z:-0.93 [[ 9.99972510e-01 1.98282797e-03 -7.14480654e-03 4.40140254e+01] [-1.98750470e-03 9.99997815e-01 -6.47522192e-04 6.07801450e-01] [ 7.14350701e-03 6.61704728e-04 9.99974266e-01 -9.34832943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.615898227 meters 0.09827537135425962 Centerline is valid? [True, True] Translation: X:44.07, Y:0.64, Z:-0.93 [[ 9.99961608e-01 5.74799163e-03 -6.61386429e-03 4.40710629e+01] [-5.75208104e-03 9.99983277e-01 -5.99452451e-04 6.37296729e-01] [ 6.61030804e-03 6.37472920e-04 9.99977948e-01 -9.34365335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.675898227 meters 0.09313979897014876 Centerline is valid? [True, True] Translation: X:44.13, Y:0.64, Z:-0.93 [[ 9.99970100e-01 4.31188163e-03 -6.41917819e-03 4.41315201e+01] [-4.31570506e-03 9.99990518e-01 -5.81893087e-04 6.40112216e-01] [ 6.41660827e-03 6.09578968e-04 9.99979228e-01 -9.33534341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.735898227 meters 0.09039356178525526 Centerline is valid? [True, True] Translation: X:44.19, Y:0.65, Z:-0.93 [[ 9.99977330e-01 -1.95968689e-03 -6.44204368e-03 4.41897633e+01] [ 1.95596467e-03 9.99997917e-01 -5.84050228e-04 6.53011125e-01] [ 6.44317481e-03 5.71436577e-04 9.99979079e-01 -9.33981269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.795898227 meters 0.09058827897152065 Centerline is valid? [True, True] Translation: X:44.25, Y:0.67, Z:-0.93 [[ 9.99972301e-01 -4.19428138e-03 -6.14863030e-03 4.42480737e+01] [ 4.19093189e-03 9.99991063e-01 -5.57537386e-04 6.67383869e-01] [ 6.15091381e-03 5.31753452e-04 9.99980942e-01 -9.32962273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.855898227 meters 0.09711765893174085 Centerline is valid? [True, True] Translation: X:44.31, Y:0.69, Z:-0.93 [[ 9.99970775e-01 -7.61876257e-04 -7.60713390e-03 4.43053082e+01] [ 7.56649942e-04 9.99999476e-01 -6.89882479e-04 6.94214571e-01] [ 7.60765552e-03 6.84106380e-04 9.99970827e-01 -9.33769674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.915898227 meters 0.10179340696207517 Centerline is valid? [True, False] Translation: X:44.31, Y:0.71, Z:-0.94 [[ 9.99969149e-01 2.16409139e-03 -7.55095888e-03 4.43059852e+01] [-2.16069401e-03 9.99997561e-01 4.58056168e-04 7.07112289e-01] [ 7.55193174e-03 -4.41726725e-04 9.99971386e-01 -9.35301726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.975898227 meters 0.09034052444702671 Centerline is valid? [False, True] Translation: X:44.30, Y:0.72, Z:-0.93 [[ 9.99972550e-01 1.17311627e-03 -7.31599253e-03 4.43042243e+01] [-1.18552389e-03 9.99997866e-01 -1.69185264e-03 7.16246848e-01] [ 7.31399217e-03 1.70047948e-03 9.99971807e-01 -9.33674561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.035898227 meters 0.08900891806627832 Centerline is valid? [True, True] Translation: X:44.36, Y:0.73, Z:-0.93 [[ 9.99927760e-01 -1.13550257e-02 -3.94185560e-03 4.43626959e+01] [ 1.13536974e-02 9.99935480e-01 -3.59183059e-04 7.28757372e-01] [ 3.94567980e-03 3.14402476e-04 9.99992166e-01 -9.27015477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.095898227 meters 0.0763772202754301 Centerline is valid? [True, True] Translation: X:44.42, Y:0.72, Z:-0.93 [[ 9.99789272e-01 -1.87849444e-02 -8.27874549e-03 4.44245903e+01] [ 1.87793379e-02 9.99823368e-01 -7.54440165e-04 7.21383487e-01] [ 8.29145531e-03 5.98811824e-04 9.99965446e-01 -9.33910772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.155898227 meters 0.06982005834133485 Centerline is valid? [True, True] Translation: X:44.49, Y:0.72, Z:-0.94 [[ 9.99715805e-01 -2.20180892e-02 -9.13853566e-03 4.44852992e+01] [ 2.20113922e-02 9.99757373e-01 -8.32772230e-04 7.20818595e-01] [ 9.15465446e-03 6.31383667e-04 9.99957896e-01 -9.35286122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.215898227 meters 0.07839206395168374 Centerline is valid? [True, True] Translation: X:44.54, Y:0.74, Z:-0.94 [[ 9.99754330e-01 -1.95845417e-02 -1.03790584e-02 4.45431683e+01] [ 1.95757717e-02 9.99807929e-01 -9.45901449e-04 7.38535650e-01] [ 1.03955899e-02 7.42490992e-04 9.99945689e-01 -9.35575217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.275898227 meters 0.08174245026859595 Centerline is valid? [True, True] Translation: X:44.60, Y:0.75, Z:-0.93 [[ 9.99803167e-01 -1.77363120e-02 -8.89100759e-03 4.46019374e+01] [ 1.77298026e-02 9.99842486e-01 -8.10421105e-04 7.50936244e-01] [ 8.90398101e-03 6.52625778e-04 9.99960146e-01 -9.33877056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.335898227 meters 0.08070162331998948 Centerline is valid? [True, True] Translation: X:44.66, Y:0.76, Z:-0.93 [[ 9.99856564e-01 -1.45734649e-02 -8.62930274e-03 4.46616588e+01] [ 1.45672149e-02 9.99893583e-01 -7.86684411e-04 7.60429656e-01] [ 8.63984916e-03 6.60866664e-04 9.99962457e-01 -9.33953453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.395898226999996 meters 0.07952909575347283 Centerline is valid? [True, True] Translation: X:44.72, Y:0.77, Z:-0.94 [[ 9.99855845e-01 -1.37118063e-02 -1.00138102e-02 4.47207839e+01] [ 1.37033456e-02 9.99905688e-01 -9.13027450e-04 7.70515464e-01] [ 1.00253850e-02 7.75673130e-04 9.99949444e-01 -9.36091686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.455898227 meters 0.08342569927254183 Centerline is valid? [True, True] Translation: X:44.78, Y:0.78, Z:-0.94 [[ 9.99844391e-01 -1.52114823e-02 -8.93332811e-03 4.47786150e+01] [ 1.52048067e-02 9.99884068e-01 -8.14712695e-04 7.84475540e-01] [ 8.94468544e-03 6.78756391e-04 9.99959765e-01 -9.35715834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.515898227 meters 0.07670937266026728 Centerline is valid? [True, True] Translation: X:44.84, Y:0.79, Z:-0.93 [[ 9.99718904e-01 -2.19794188e-02 -8.88916365e-03 4.48379132e+01] [ 2.19730738e-02 9.99758234e-01 -8.10844319e-04 7.89594113e-01] [ 8.90483644e-03 6.15294145e-04 9.99960162e-01 -9.33563088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.575898226999996 meters 0.06397994265329686 Centerline is valid? [True, True] Translation: X:44.90, Y:0.78, Z:-0.93 [[ 9.99668654e-01 -2.48062619e-02 -6.87251315e-03 4.48997136e+01] [ 2.48261302e-02 9.99687804e-01 2.82090023e-03 7.82416591e-01] [ 6.80039159e-03 -2.99058344e-03 9.99972405e-01 -9.31702042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.635898227 meters 0.07534653571351965 Centerline is valid? [True, True] Translation: X:44.96, Y:0.81, Z:-0.93 [[ 9.99675933e-01 -2.45362997e-02 -6.78221423e-03 4.49577510e+01] [ 2.45091481e-02 9.99691370e-01 -4.05791128e-03 8.12219778e-01] [ 6.87968716e-03 3.89036995e-03 9.99968767e-01 -9.28012250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.695898227 meters 0.08053112815265119 Centerline is valid? [True, True] Translation: X:45.02, Y:0.83, Z:-0.93 [[ 9.99730868e-01 -2.15431042e-02 -8.60734199e-03 4.50161568e+01] [ 2.15371315e-02 9.99767740e-01 -7.85998228e-04 8.31676901e-01] [ 8.62227569e-03 6.00409234e-04 9.99962647e-01 -9.31464397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.755898226999996 meters 0.07901613323299556 Centerline is valid? [True, True] Translation: X:45.08, Y:0.84, Z:-0.94 [[ 9.99700313e-01 -2.15189533e-02 -1.16713219e-02 4.50757745e+01] [ 2.15079688e-02 9.99768109e-01 -1.06587292e-03 8.42400303e-01] [ 1.16915519e-02 8.14527064e-04 9.99931320e-01 -9.35694691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.815898227 meters 0.06887907691907286 Centerline is valid? [True, True] Translation: X:45.14, Y:0.85, Z:-0.93 [[ 9.99632472e-01 -2.46021936e-02 -1.13865246e-02 4.51361389e+01] [ 2.45919376e-02 9.99697032e-01 -1.03987483e-03 8.46858778e-01] [ 1.14086580e-02 7.59475947e-04 9.99934631e-01 -9.34083686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.875898227 meters 0.06882177474366026 Centerline is valid? [True, True] Translation: X:45.20, Y:0.86, Z:-0.93 [[ 9.99598515e-01 -2.66659593e-02 -9.57790179e-03 4.51954216e+01] [ 2.66587970e-02 9.99644208e-01 -8.74712836e-04 8.58867713e-01] [ 9.59781911e-03 6.19026312e-04 9.99953748e-01 -9.31184389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.935898227 meters 0.06658584560359274 Centerline is valid? [True, True] Translation: X:45.26, Y:0.87, Z:-0.93 [[ 9.99581617e-01 -2.81611971e-02 -6.59827823e-03 4.52553451e+01] [ 2.81578305e-02 9.99603308e-01 -6.02595306e-04 8.65837809e-01] [ 6.61263055e-03 4.16549991e-04 9.99978050e-01 -9.26144167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.995898227 meters 0.06633789422903824 Centerline is valid? [True, True] Translation: X:45.31, Y:0.87, Z:-0.92 [[ 9.99509444e-01 -3.07985198e-02 -5.68530428e-03 4.53147570e+01] [ 3.07960629e-02 9.99525554e-01 -5.19216470e-04 8.71017681e-01] [ 5.69859801e-03 3.43876777e-04 9.99983704e-01 -9.23487363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.055898227 meters 0.06594197788653723 Centerline is valid? [True, True] Translation: X:45.38, Y:0.87, Z:-0.93 [[ 9.99485991e-01 -3.07349895e-02 -9.11664983e-03 4.53776837e+01] [ 3.07286702e-02 9.99527416e-01 -8.32453728e-04 8.69581145e-01] [ 9.13792690e-03 5.51883314e-04 9.99958096e-01 -9.29712401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.115898227 meters 0.07185398238209538 Centerline is valid? [True, True] Translation: X:45.44, Y:0.88, Z:-0.93 [[ 9.99649121e-01 -2.48807160e-02 -9.08758084e-03 4.54379361e+01] [ 2.48741987e-02 9.99690245e-01 -8.29498568e-04 8.79677506e-01] [ 9.10540444e-03 6.03161223e-04 9.99958363e-01 -9.28052929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.175898227 meters 0.08134166088278182 Centerline is valid? [True, True] Translation: X:45.50, Y:0.89, Z:-0.92 [[ 9.99826104e-01 -1.69047676e-02 -7.87342747e-03 4.54959804e+01] [ 1.68996297e-02 9.99856933e-01 -7.18647546e-04 8.94950506e-01] [ 7.88444961e-03 5.85464568e-04 9.99968746e-01 -9.23995106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.235898227 meters 0.10201492078531657 Centerline is valid? [True, False] Translation: X:45.50, Y:0.89, Z:-0.93 [[ 9.99988040e-01 -2.76707369e-03 -4.03279688e-03 4.54997258e+01] [ 2.74394521e-03 9.99979822e-01 -5.72938993e-03 8.93823271e-01] [ 4.04856915e-03 5.71825563e-03 9.99975455e-01 -9.30161070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.295898227 meters 0.09411396828971927 Centerline is valid? [False, True] Translation: X:45.50, Y:0.89, Z:-0.93 [[ 9.99987986e-01 -2.49457161e-03 -4.21969939e-03 4.55005914e+01] [ 2.47315629e-03 9.99984075e-01 -5.07270936e-03 8.90894157e-01] [ 4.23228643e-03 5.06221244e-03 9.99978231e-01 -9.30755517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.355898227 meters 0.08117692188104948 Centerline is valid? [True, True] Translation: X:45.56, Y:0.87, Z:-0.93 [[ 9.99962552e-01 -8.09823749e-03 -3.05173851e-03 4.55626019e+01] [ 8.09747504e-03 9.99967181e-01 -2.62115012e-04 8.74527205e-01] [ 3.05376102e-03 2.37393820e-04 9.99995309e-01 -9.27171780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.415898227 meters 0.08063409407342269 Centerline is valid? [True, True] Translation: X:45.62, Y:0.87, Z:-0.92 [[ 9.99901317e-01 -1.36088435e-02 3.48650960e-03 4.56220054e+01] [ 1.36078816e-02 9.99907364e-01 2.99458424e-04 8.74844910e-01] [-3.49026191e-03 -2.51984863e-04 9.99993877e-01 -9.19268679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.475898227 meters 0.07852672301727344 Centerline is valid? [True, True] Translation: X:45.68, Y:0.87, Z:-0.92 [[ 9.99945821e-01 -1.03844421e-02 7.20594970e-04 4.56832840e+01] [ 1.03844001e-02 9.99946079e-01 6.19337873e-05 8.74981671e-01] [-7.21199262e-04 -5.44474852e-05 9.99999738e-01 -9.23301582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.535898227 meters 0.08511802353450053 Centerline is valid? [True, True] Translation: X:45.74, Y:0.89, Z:-0.93 [[ 9.99985587e-01 -5.25680945e-03 -1.09154731e-03 4.57428476e+01] [ 5.25671024e-03 9.99986179e-01 -9.37338403e-05 8.90635794e-01] [ 1.09202497e-03 8.79945413e-05 9.99999400e-01 -9.25566006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.595898227 meters 0.09466855231482217 Centerline is valid? [True, True] Translation: X:45.80, Y:0.91, Z:-0.92 [[ 9.99998635e-01 -1.60844355e-03 -3.78930307e-04 4.58008757e+01] [ 1.60843132e-03 9.99998706e-01 -3.25723783e-05 9.11408629e-01] [ 3.78982207e-04 3.19628504e-05 9.99999928e-01 -9.24960560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.655898227 meters 0.09218508247025624 Centerline is valid? [True, True] Translation: X:45.86, Y:0.92, Z:-0.93 [[ 9.99998289e-01 6.16683855e-04 -1.74424147e-03 4.58610754e+01] [-6.16946090e-04 9.99999798e-01 -1.49809657e-04 9.17874929e-01] [ 1.74414873e-03 1.50885503e-04 9.99998468e-01 -9.27746440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.715898227 meters 0.0903155741857423 Centerline is valid? [True, True] Translation: X:45.92, Y:0.93, Z:-0.93 [[ 9.99993996e-01 1.62473546e-03 -3.06083471e-03 4.59200838e+01] [-1.62554790e-03 9.99998644e-01 -2.62960452e-04 9.31331616e-01] [ 3.06040332e-03 2.67934407e-04 9.99995281e-01 -9.29375709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.775898227 meters 0.09052230934768139 Centerline is valid? [True, True] Translation: X:45.98, Y:0.95, Z:-0.93 [[ 9.99997186e-01 -1.33938452e-03 -1.95787596e-03 4.59778088e+01] [ 1.33905751e-03 9.99999089e-01 -1.68322599e-04 9.48479441e-01] [ 1.95809963e-03 1.65700417e-04 9.99998069e-01 -9.27600842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.835898227 meters 0.09035845064662158 Centerline is valid? [True, True] Translation: X:46.04, Y:0.96, Z:-0.93 [[ 9.99984296e-01 -4.77854423e-03 -2.92802733e-03 4.60365047e+01] [ 4.77782764e-03 9.99988554e-01 -2.51682642e-04 9.60278713e-01] [ 2.92919650e-03 2.37689079e-04 9.99995682e-01 -9.30429939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.895898226999996 meters 0.08121389380098545 Centerline is valid? [True, True] Translation: X:46.10, Y:0.96, Z:-0.93 [[ 9.99942996e-01 -1.06283482e-02 -1.02127268e-03 4.60969112e+01] [ 1.06282641e-02 9.99943515e-01 -8.77787401e-05 9.62166486e-01] [ 1.02214794e-03 7.69193806e-05 9.99999475e-01 -9.27567536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.955898227 meters 0.08367332415245739 Centerline is valid? [True, True] Translation: X:46.16, Y:0.98, Z:-0.93 [[ 9.99885214e-01 -1.51453107e-02 4.21244848e-04 4.61559621e+01] [ 1.51452968e-02 9.99885303e-01 3.62169505e-05 9.75252722e-01] [-4.21745049e-04 -2.98329151e-05 9.99999911e-01 -9.26100063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.015898227 meters 0.0763265390607383 Centerline is valid? [True, True] Translation: X:46.22, Y:0.97, Z:-0.93 [[ 9.99860083e-01 -1.67027339e-02 9.12814480e-04 4.62173879e+01] [ 1.67026692e-02 9.99860498e-01 7.84710904e-05 9.73115026e-01] [-9.13997822e-04 -6.32136727e-05 9.99999580e-01 -9.26042979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.075898226999996 meters 0.07241413529361876 Centerline is valid? [True, True] Translation: X:46.28, Y:0.97, Z:-0.93 [[ 9.99857316e-01 -1.68814911e-02 -6.03042339e-04 4.62792972e+01] [ 1.68814630e-02 9.99857497e-01 -5.16575866e-05 9.74448354e-01] [ 6.03828461e-04 4.14699790e-05 9.99999817e-01 -9.28832879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.135898227 meters 0.0747223944520546 Centerline is valid? [True, True] Translation: X:46.34, Y:0.98, Z:-0.93 [[ 9.99871821e-01 -1.59669536e-02 -1.18265742e-03 4.63396778e+01] [ 1.59668448e-02 9.99872517e-01 -1.01423827e-04 9.82946602e-01] [ 1.18412608e-03 8.25275192e-05 9.99999296e-01 -9.30104139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.195898227 meters 0.07235042912863106 Centerline is valid? [True, True] Translation: X:46.40, Y:0.98, Z:-0.93 [[ 9.99880950e-01 -1.53913826e-02 1.09135544e-03 4.64024384e+01] [ 1.53912894e-02 9.99881543e-01 9.37599219e-05 9.84097707e-01] [-1.09266925e-03 -7.69513924e-05 9.99999400e-01 -9.26388621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.255898226999996 meters 0.08351903585953364 Centerline is valid? [True, True] Translation: X:46.46, Y:1.00, Z:-0.93 [[ 9.99885570e-01 -1.50579236e-02 1.45145995e-03 4.64623010e+01] [ 1.50577585e-02 9.99886618e-01 1.24617207e-04 1.00096380e+00] [-1.45317185e-03 -1.02747214e-04 9.99998939e-01 -9.26495634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.315898227 meters 0.0717037385786584 Centerline is valid? [True, True] Translation: X:46.52, Y:0.99, Z:-0.93 [[ 9.99865023e-01 -1.63621656e-02 1.48829071e-03 4.65248899e+01] [ 1.63619937e-02 9.99866125e-01 1.27593908e-04 9.88991008e-01] [-1.49017918e-03 -1.03225282e-04 9.99998884e-01 -9.26547233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.375898227 meters 0.06863720632029251 Centerline is valid? [True, True] Translation: X:46.59, Y:0.99, Z:-0.93 [[ 9.99784884e-01 -2.07392575e-02 2.60781266e-04 4.65856256e+01] [ 2.07392523e-02 9.99784918e-01 2.23429853e-05 9.85868701e-01] [-2.61188554e-04 -1.69297705e-05 9.99999966e-01 -9.27116779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.435898226999996 meters 0.06783285734505759 Centerline is valid? [True, True] Translation: X:46.65, Y:0.99, Z:-0.93 [[ 9.99759897e-01 -2.19010599e-02 -7.01307155e-04 4.66473836e+01] [ 2.19010232e-02 9.99760142e-01 -5.99715947e-05 9.86842359e-01] [ 7.02452382e-04 4.45978511e-05 9.99999752e-01 -9.28835230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.495898227 meters 0.06847944800058842 Centerline is valid? [True, True] Translation: X:46.71, Y:0.99, Z:-0.93 [[ 9.99749068e-01 -2.23500509e-02 -1.50878656e-03 4.67102936e+01] [ 2.23498816e-02 9.99750202e-01 -1.28979788e-04 9.87081606e-01] [ 1.51129237e-03 9.52262217e-05 9.99998853e-01 -9.30210859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.555898227 meters 0.0753111058963592 Centerline is valid? [True, True] Translation: X:46.77, Y:1.00, Z:-0.93 [[ 9.99768682e-01 -2.15060725e-02 2.67928834e-04 4.67706964e+01] [ 2.15060671e-02 9.99768718e-01 2.30953609e-05 9.98156892e-01] [-2.68363557e-04 -1.73279231e-05 9.99999964e-01 -9.26777848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.615898227 meters 0.07319596637009709 Centerline is valid? [True, True] Translation: X:46.83, Y:1.00, Z:-0.93 [[ 9.99869978e-01 -1.60315259e-02 -1.73685069e-03 4.68313638e+01] [ 1.60312919e-02 9.99871480e-01 -1.48531900e-04 9.99932894e-01] [ 1.73900867e-03 1.20668627e-04 9.99998481e-01 -9.30705195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.675898227 meters 0.07400921043389262 Centerline is valid? [True, True] Translation: X:46.89, Y:1.01, Z:-0.93 [[ 9.99957504e-01 -8.63157282e-03 -3.23813550e-03 4.68911533e+01] [ 8.63072113e-03 9.99962716e-01 -2.76899814e-04 1.00826160e+00] [ 3.24040485e-03 2.48940602e-04 9.99994719e-01 -9.33543616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.735898227 meters 0.08588875867575856 Centerline is valid? [True, True] Translation: X:46.95, Y:1.03, Z:-0.93 [[ 9.99984725e-01 -5.03331202e-03 -2.28381089e-03 4.69488105e+01] [ 5.03287899e-03 9.99987316e-01 -1.95318695e-04 1.03170736e+00] [ 2.28476502e-03 1.83821568e-04 9.99997373e-01 -9.31591163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.795898227 meters 0.08450452297299524 Centerline is valid? [True, True] Translation: X:47.01, Y:1.04, Z:-0.93 [[ 9.99994079e-01 -3.15415375e-03 -1.37625536e-03 4.70093460e+01] [ 3.15399474e-03 9.99995019e-01 -1.17696593e-04 1.03571549e+00] [ 1.37661974e-03 1.13355194e-04 9.99999046e-01 -9.29567892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.855898227 meters 0.07533481276989747 Centerline is valid? [True, True] Translation: X:47.07, Y:1.03, Z:-0.92 [[ 9.99958998e-01 -8.88293223e-03 1.75940913e-03 4.70705702e+01] [ 8.88268116e-03 9.99960537e-01 1.50462227e-04 1.02764782e+00] [-1.76067624e-03 -1.34827787e-04 9.99998441e-01 -9.24274135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.915898227 meters 0.0826209862210056 Centerline is valid? [True, True] Translation: X:47.13, Y:1.04, Z:-0.93 [[ 9.99914667e-01 -1.30473542e-02 6.52496088e-04 4.71295333e+01] [ 1.30473205e-02 9.99914879e-01 5.57999180e-05 1.03738763e+00] [-6.53168587e-04 -4.72818309e-05 9.99999786e-01 -9.26244273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.975898227 meters 0.08337542401011967 Centerline is valid? [True, True] Translation: X:47.19, Y:1.04, Z:-0.93 [[ 9.99902259e-01 -1.39717015e-02 5.13194306e-04 4.71904723e+01] [ 1.39716807e-02 9.99902390e-01 4.39389510e-05 1.03708136e+00] [-5.13758115e-04 -3.67644694e-05 9.99999867e-01 -9.26224701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.035898227 meters 0.08522048061212185 Centerline is valid? [True, True] Translation: X:47.25, Y:1.04, Z:-0.93 [[ 9.99942502e-01 -1.04355888e-02 -2.46788689e-03 4.72517887e+01] [ 1.04350998e-02 9.99945531e-01 -2.10902101e-04 1.04100748e+00] [ 2.46995336e-03 1.85137329e-04 9.99996933e-01 -9.30282537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.095898227 meters 0.08624572496068661 Centerline is valid? [True, True] Translation: X:47.31, Y:1.04, Z:-0.93 [[ 9.99947984e-01 -9.80944256e-03 -2.79362343e-03 4.73132440e+01] [ 9.80881383e-03 9.99951864e-01 -2.38671441e-04 1.04352805e+00] [ 2.79583019e-03 2.11256894e-04 9.99996069e-01 -9.31301758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.155898227 meters 0.07705120494932007 Centerline is valid? [True, True] Translation: X:47.38, Y:1.03, Z:-0.93 [[ 9.99900093e-01 -1.41352341e-02 7.07062482e-06 4.73752935e+01] [ 1.41352341e-02 9.99900093e-01 6.30575475e-07 1.03346799e+00] [-7.07883174e-06 -5.30567539e-07 1.00000000e+00 -9.26584718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.215898227 meters 0.06826657141753688 Centerline is valid? [True, True] Translation: X:47.44, Y:1.02, Z:-0.93 [[ 9.99625668e-01 -2.73591408e-02 4.13313949e-05 4.74362640e+01] [ 2.73591406e-02 9.99625669e-01 3.51991319e-06 1.01935737e+00] [-4.14122250e-05 -2.38780413e-06 9.99999999e-01 -9.28106347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.275898227 meters 0.0474796274944517 Centerline is valid? [True, True] Translation: X:47.50, Y:0.99, Z:-0.92 [[ 9.99155375e-01 -4.10240009e-02 2.35946419e-03 4.74999342e+01] [ 4.10236390e-02 9.99158156e-01 2.01620691e-04 9.88238874e-01] [-2.36574917e-03 -1.04656591e-04 9.99997196e-01 -9.23159139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.335898227 meters 0.03120273712374841 Centerline is valid? [True, True] Translation: X:47.56, Y:0.96, Z:-0.93 [[ 9.98341692e-01 -5.75598902e-02 8.51032328e-04 4.75632802e+01] [ 5.75598491e-02 9.98342055e-01 7.27205195e-05 9.57932829e-01] [-8.53807149e-04 -2.36146341e-05 9.99999635e-01 -9.25494616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.395898226999996 meters 0.029938971176311256 Centerline is valid? [True, True] Translation: X:47.62, Y:0.95, Z:-0.93 [[ 9.98201679e-01 -5.99449453e-02 -1.02937478e-04 4.76246337e+01] [ 5.99449448e-02 9.98201685e-01 -8.72724044e-06 9.52941174e-01] [ 1.03275518e-04 2.54096460e-06 9.99999995e-01 -9.26937041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.455898227 meters 0.03665371851517933 Centerline is valid? [True, True] Translation: X:47.68, Y:0.96, Z:-0.92 [[ 9.98610889e-01 -5.26721628e-02 1.39136457e-03 4.76845776e+01] [ 5.26720483e-02 9.98611857e-01 1.18844069e-04 9.60451527e-01] [-1.39569293e-03 -4.53929599e-05 9.99999025e-01 -9.21458481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.515898227 meters 0.041756584305094574 Centerline is valid? [True, True] Translation: X:47.74, Y:0.97, Z:-0.92 [[ 9.98792984e-01 -4.91036529e-02 1.18567680e-03 4.77436172e+01] [ 4.91035671e-02 9.98793687e-01 1.01339473e-04 9.69449563e-01] [-1.18922265e-03 -4.29961938e-05 9.99999292e-01 -9.22246028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.575898226999996 meters 0.04287074846477652 Centerline is valid? [True, True] Translation: X:47.81, Y:0.97, Z:-0.93 [[ 9.98980504e-01 -4.51364920e-02 -8.05740853e-04 4.78051196e+01] [ 4.51364512e-02 9.98980829e-01 -6.87397613e-05 9.65427184e-01] [ 8.08022337e-04 3.23013987e-05 9.99999673e-01 -9.27593287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.635898227 meters 0.048103461521913186 Centerline is valid? [True, True] Translation: X:47.87, Y:0.97, Z:-0.93 [[ 9.98892676e-01 -4.69895922e-02 -2.32374077e-03 4.78656357e+01] [ 4.69892579e-02 9.98895375e-01 -1.98275442e-04 9.65165927e-01] [ 2.33049079e-03 8.88650323e-05 9.99997280e-01 -9.30752961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.695898227 meters 0.044708971794838626 Centerline is valid? [True, True] Translation: X:47.93, Y:0.96, Z:-0.93 [[ 9.98992097e-01 -4.47753778e-02 -3.15511262e-03 4.79279054e+01] [ 4.47747508e-02 9.98997072e-01 -2.69115913e-04 9.60019247e-01] [ 3.16399804e-03 1.27575289e-04 9.99994986e-01 -9.31544520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.755898226999996 meters 0.059640401467871265 Centerline is valid? [True, True] Translation: X:47.98, Y:0.99, Z:-0.93 [[ 9.99496807e-01 -3.13630460e-02 -4.74256656e-03 4.79849065e+01] [ 3.13614788e-02 9.99508026e-01 -4.04471908e-04 9.88578055e-01] [ 4.75291881e-03 2.55534480e-04 9.99988672e-01 -9.33949258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.815898227 meters 0.0785210753396037 Centerline is valid? [True, True] Translation: X:48.04, Y:1.03, Z:-0.94 [[ 9.99830325e-01 -1.69883545e-02 -7.12151959e-03 4.80408989e+01] [ 1.69844572e-02 9.99855569e-01 -6.07371752e-04 1.02953013e+00] [ 7.13080927e-03 4.86313551e-04 9.99974457e-01 -9.38309346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.875898227 meters 0.08140919638837493 Centerline is valid? [True, True] Translation: X:48.10, Y:1.05, Z:-0.94 [[ 9.99897395e-01 -1.34360015e-02 -4.96729404e-03 4.80997364e+01] [ 1.34340619e-02 9.99909669e-01 -4.23654324e-04 1.04859742e+00] [ 4.97253756e-03 3.56879919e-04 9.99987573e-01 -9.36396740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.935898226999996 meters 0.06956711527043857 Centerline is valid? [True, True] Translation: X:48.16, Y:1.06, Z:-0.93 [[ 9.99796234e-01 -2.01676474e-02 -8.69596590e-04 4.81601038e+01] [ 2.01675905e-02 9.99796611e-01 -7.41314503e-05 1.05588558e+00] [ 8.70914781e-04 5.65786769e-05 9.99999619e-01 -9.28578207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.995898227 meters 0.0633566480474734 Centerline is valid? [True, True] Translation: X:48.22, Y:1.06, Z:-0.93 [[ 9.99569904e-01 -2.93236436e-02 3.62965428e-04 4.82195128e+01] [ 2.93236343e-02 9.99569969e-01 3.09281256e-05 1.06214234e+00] [-3.63716267e-04 -2.02713581e-05 9.99999934e-01 -9.26878186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.055898227 meters 0.054670688190271155 Centerline is valid? [True, True] Translation: X:48.28, Y:1.06, Z:-0.93 [[ 9.99324841e-01 -3.67083718e-02 -1.53538838e-03 4.82805900e+01] [ 3.67082139e-02 9.99326018e-01 -1.30949806e-04 1.05852690e+00] [ 1.53916051e-03 7.45000293e-05 9.99998813e-01 -9.31480497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.115898227 meters 0.05118011895689614 Centerline is valid? [True, True] Translation: X:48.34, Y:1.05, Z:-0.93 [[ 9.99205125e-01 -3.98629525e-02 2.51465581e-04 4.83416588e+01] [ 3.98629483e-02 9.99205157e-01 2.14767604e-05 1.05481590e+00] [-2.52121832e-04 -1.14355296e-05 9.99999968e-01 -9.30648279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.175898227 meters 0.05293330982637945 Centerline is valid? [True, True] Translation: X:48.40, Y:1.06, Z:-0.93 [[ 9.99305148e-01 -3.72567976e-02 1.07344950e-03 4.84015006e+01] [ 3.72567207e-02 9.99305723e-01 9.15849361e-05 1.06241383e+00] [-1.07611639e-03 -5.15280900e-05 9.99999420e-01 -9.25923020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.235898227 meters 0.06043013588644016 Centerline is valid? [True, True] Translation: X:48.46, Y:1.08, Z:-0.93 [[ 9.99514550e-01 -3.11437140e-02 -8.56956704e-04 4.84606936e+01] [ 3.11436627e-02 9.99514916e-01 -7.30598833e-05 1.07579294e+00] [ 8.58816364e-04 4.63356457e-05 9.99999630e-01 -9.30571761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.295898227 meters 0.06114982793320104 Centerline is valid? [True, True] Translation: X:48.52, Y:1.08, Z:-0.93 [[ 9.99668687e-01 -2.54771726e-02 -3.66467585e-03 4.85206065e+01] [ 2.54761979e-02 9.99675380e-01 -3.12418154e-04 1.08166310e+00] [ 3.67144576e-03 2.18952639e-04 9.99993236e-01 -9.33943258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.355898227 meters 0.06565529806159688 Centerline is valid? [True, True] Translation: X:48.58, Y:1.09, Z:-0.94 [[ 9.99705082e-01 -2.36458246e-02 -5.53394434e-03 4.85802533e+01] [ 2.36435740e-02 9.99720340e-01 -4.71772751e-04 1.09086281e+00] [ 5.54355218e-03 3.40791394e-04 9.99984576e-01 -9.37151310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.415898227 meters 0.06596417198007462 Centerline is valid? [True, True] Translation: X:48.64, Y:1.09, Z:-0.93 [[ 9.99703272e-01 -2.41235367e-02 -3.37987484e-03 4.86419975e+01] [ 2.41227006e-02 9.99708964e-01 -2.87918707e-04 1.09348903e+00] [ 3.38583679e-03 2.06301564e-04 9.99994247e-01 -9.32398059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.475898227 meters 0.0625178145197677 Centerline is valid? [True, True] Translation: X:48.70, Y:1.09, Z:-0.93 [[ 9.99677213e-01 -2.49310057e-02 -4.89037250e-03 4.87035534e+01] [ 2.49292652e-02 9.99689131e-01 -4.16545097e-04 1.09321375e+00] [ 4.89923712e-03 2.94497248e-04 9.99987955e-01 -9.34392519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.535898227 meters 0.06521376624295551 Centerline is valid? [True, True] Translation: X:48.76, Y:1.10, Z:-0.94 [[ 9.99647565e-01 -2.60896333e-02 -4.90689620e-03 4.87641305e+01] [ 2.60878955e-02 9.99659566e-01 -4.17832429e-04 1.09805967e+00] [ 4.91612682e-03 2.89674575e-04 9.99987874e-01 -9.35959870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.595898227 meters 0.060501438499027886 Centerline is valid? [True, True] Translation: X:48.83, Y:1.10, Z:-0.93 [[ 9.99614224e-01 -2.77079943e-02 -1.91570407e-03 4.88255078e+01] [ 2.77077324e-02 9.99616054e-01 -1.63131728e-04 1.09633683e+00] [ 1.91948860e-03 1.09988980e-04 9.99998152e-01 -9.29059894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.655898227 meters 0.05702081527947403 Centerline is valid? [True, True] Translation: X:48.89, Y:1.09, Z:-0.93 [[ 9.99496928e-01 -3.16410710e-02 -2.17553957e-03 4.88860814e+01] [ 3.16407425e-02 9.99499289e-01 -1.85270952e-04 1.09348718e+00] [ 2.18031242e-03 1.16342060e-04 9.99997616e-01 -9.31490893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.715898227 meters 0.05088263096347973 Centerline is valid? [True, True] Translation: X:48.95, Y:1.09, Z:-0.93 [[ 9.99231367e-01 -3.92003281e-02 9.63993675e-05 4.89459343e+01] [ 3.92003275e-02 9.99231372e-01 8.18067641e-06 1.08842842e+00] [-9.66459574e-05 -4.39550170e-06 9.99999995e-01 -9.28008147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.775898227 meters 0.04599871989362658 Centerline is valid? [True, True] Translation: X:49.01, Y:1.08, Z:-0.92 [[ 9.98996195e-01 -4.47015691e-02 2.89359248e-03 4.90074806e+01] [ 4.47010425e-02 9.99000378e-01 2.46452845e-04 1.08469124e+00] [-2.90171681e-03 -1.16858854e-04 9.99995783e-01 -9.22920280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.835898227 meters 0.04594367587959699 Centerline is valid? [True, True] Translation: X:49.07, Y:1.09, Z:-0.92 [[ 9.98999241e-01 -4.47140859e-02 1.07981914e-03 4.90690600e+01] [ 4.47140125e-02 9.98999824e-01 9.20418642e-05 1.08891528e+00] [-1.08285470e-03 -4.36667059e-05 9.99999413e-01 -9.24992245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.895898226999996 meters 0.052844900948859234 Centerline is valid? [True, True] Translation: X:49.13, Y:1.10, Z:-0.93 [[ 9.99264577e-01 -3.83331833e-02 9.33427177e-04 4.91296253e+01] [ 3.83331257e-02 9.99265012e-01 7.94902706e-05 1.10021878e+00] [-9.35788235e-04 -4.36506304e-05 9.99999561e-01 -9.26314957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.955898227 meters 0.05511433157073528 Centerline is valid? [True, True] Translation: X:49.19, Y:1.11, Z:-0.93 [[ 9.99503538e-01 -3.15064629e-02 1.44200789e-04 4.91900540e+01] [ 3.15064614e-02 9.99503548e-01 1.22722265e-05 1.10815318e+00] [-1.44515854e-04 -7.72287719e-06 9.99999990e-01 -9.27157141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.015898227 meters 0.06649479793128753 Centerline is valid? [True, True] Translation: X:49.25, Y:1.12, Z:-0.93 [[ 9.99597733e-01 -2.83096718e-02 -1.71299502e-03 4.92487884e+01] [ 2.83094634e-02 9.99599196e-01 -1.45817963e-04 1.12342167e+00] [ 1.71643650e-03 9.72653354e-05 9.99998522e-01 -9.31648038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.075898226999996 meters 0.06840041221627564 Centerline is valid? [True, True] Translation: X:49.31, Y:1.13, Z:-0.93 [[ 9.99674331e-01 -2.54413066e-02 -1.99311158e-03 4.93087414e+01] [ 2.54410188e-02 9.99676311e-01 -1.69621156e-04 1.13105109e+00] [ 1.99678181e-03 1.18859127e-04 9.99997999e-01 -9.31520617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.135898227 meters 0.07244860959760659 Centerline is valid? [True, True] Translation: X:49.37, Y:1.14, Z:-0.94 [[ 9.99747510e-01 -2.18488292e-02 -5.24841766e-03 4.93687290e+01] [ 2.18467844e-02 9.99761231e-01 -4.46626215e-04 1.14224171e+00] [ 5.25692276e-03 3.31852398e-04 9.99986127e-01 -9.37952030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.195898227 meters 0.07771149287571463 Centerline is valid? [True, True] Translation: X:49.43, Y:1.15, Z:-0.94 [[ 9.99759729e-01 -2.13870534e-02 -4.80403638e-03 4.94288542e+01] [ 2.13853353e-02 9.99771224e-01 -4.08739731e-04 1.15165696e+00] [ 4.81167907e-03 3.05905594e-04 9.99988377e-01 -9.38541179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.255898226999996 meters 0.06338857222888297 Centerline is valid? [True, True] Translation: X:49.49, Y:1.14, Z:-0.93 [[ 9.99775810e-01 -2.08626133e-02 -3.61677429e-03 4.94915549e+01] [ 2.08616365e-02 9.99782325e-01 -3.07589657e-04 1.13820574e+00] [ 3.62240414e-03 2.32068867e-04 9.99993412e-01 -9.33645622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.315898227 meters 0.07481272649110565 Centerline is valid? [True, True] Translation: X:49.55, Y:1.16, Z:-0.93 [[ 9.99819150e-01 -1.89271292e-02 -1.85236569e-03 4.95492800e+01] [ 1.89268696e-02 9.99820858e-01 -1.57569121e-04 1.16315969e+00] [ 1.85501619e-03 1.22481141e-04 9.99998272e-01 -9.31720120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.375898227 meters 0.0773530630934038 Centerline is valid? [True, True] Translation: X:49.61, Y:1.17, Z:-0.93 [[ 9.99821733e-01 -1.88690599e-02 -6.79258611e-04 4.96111820e+01] [ 1.88690251e-02 9.99821962e-01 -5.76255767e-05 1.16913539e+00] [ 6.80225017e-04 4.47983562e-05 9.99999768e-01 -9.32241946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.435898226999996 meters 0.06239751482438539 Centerline is valid? [True, True] Translation: X:49.67, Y:1.16, Z:-0.93 [[ 9.99691798e-01 -2.47897879e-02 -1.33251965e-03 4.96731388e+01] [ 2.47896588e-02 9.99692683e-01 -1.13272015e-04 1.15689361e+00] [ 1.33491813e-03 8.02043968e-05 9.99999106e-01 -9.31006425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.495898227 meters 0.06349892190959412 Centerline is valid? [True, True] Translation: X:49.73, Y:1.16, Z:-0.93 [[ 9.99596167e-01 -2.83390464e-02 -2.09804653e-03 4.97321266e+01] [ 2.83387342e-02 9.99598361e-01 -1.78417180e-04 1.16227333e+00] [ 2.10226005e-03 1.18889146e-04 9.99997783e-01 -9.32368166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.555898227 meters 0.0627172968334216 Centerline is valid? [True, True] Translation: X:49.79, Y:1.16, Z:-0.93 [[ 9.99621823e-01 -2.74873335e-02 8.11045434e-04 4.97944950e+01] [ 2.74872865e-02 9.99622151e-01 6.90474068e-05 1.16499859e+00] [-8.12636910e-04 -4.67278565e-05 9.99999669e-01 -9.27545512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.615898227 meters 0.06443465874244798 Centerline is valid? [True, True] Translation: X:49.86, Y:1.17, Z:-0.93 [[ 9.99628343e-01 -2.72156759e-02 1.57572429e-03 4.98557577e+01] [ 2.72154985e-02 9.99629581e-01 1.33938408e-04 1.16888186e+00] [-1.57878583e-03 -9.10045067e-05 9.99998750e-01 -9.26927811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.675898227 meters 0.06410019640862202 Centerline is valid? [True, True] Translation: X:49.92, Y:1.17, Z:-0.93 [[ 9.99638174e-01 -2.68896011e-02 -6.86315183e-04 4.99184428e+01] [ 2.68895675e-02 9.99638409e-01 -5.81373943e-05 1.16837548e+00] [ 6.87630309e-04 3.96616402e-05 9.99999763e-01 -9.30414584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.735898227 meters 0.06682191311611616 Centerline is valid? [True, True] Translation: X:49.98, Y:1.17, Z:-0.93 [[ 9.99783101e-01 -2.06454504e-02 -2.74152693e-03 4.99782385e+01] [ 2.06448896e-02 9.99786844e-01 -2.32687381e-04 1.17414686e+00] [ 2.74574649e-03 1.76038391e-04 9.99996215e-01 -9.31393444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.795898227 meters 0.07534678852557018 Centerline is valid? [True, True] Translation: X:50.04, Y:1.19, Z:-0.93 [[ 9.99905561e-01 -1.33804480e-02 -3.13579952e-03 5.00380201e+01] [ 1.33796789e-02 9.99910453e-01 -2.66125767e-04 1.18958560e+00] [ 3.13907960e-03 2.24144644e-04 9.99995048e-01 -9.32976070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.855898227 meters 0.07681922502766547 Centerline is valid? [True, True] Translation: X:50.10, Y:1.20, Z:-0.94 [[ 9.99913658e-01 -1.25416818e-02 -3.92203765e-03 5.00985742e+01] [ 1.25404727e-02 9.99921310e-01 -3.32724804e-04 1.19815663e+00] [ 3.92590196e-03 2.83511870e-04 9.99992253e-01 -9.35106937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.915898227 meters 0.07468952289907675 Centerline is valid? [True, True] Translation: X:50.16, Y:1.20, Z:-0.93 [[ 9.99880043e-01 -1.51616127e-02 -3.16639643e-03 5.01586505e+01] [ 1.51608375e-02 9.99885032e-01 -2.68664714e-04 1.20232811e+00] [ 3.17010578e-03 2.20627264e-04 9.99994951e-01 -9.33265555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.975898227 meters 0.07354195976767673 Centerline is valid? [True, True] Translation: X:50.22, Y:1.21, Z:-0.93 [[ 9.99885010e-01 -1.51455587e-02 -7.60455453e-04 5.02193564e+01] [ 1.51455140e-02 9.99885298e-01 -6.44426058e-05 1.20862652e+00] [ 7.61344247e-04 5.29177068e-05 9.99999709e-01 -9.29575670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.035898227 meters 0.07682657613109337 Centerline is valid? [True, True] Translation: X:50.28, Y:1.22, Z:-0.93 [[ 9.99927416e-01 -1.13724890e-02 -3.97863924e-03 5.02789034e+01] [ 1.13712362e-02 9.99935288e-01 -3.37359072e-04 1.22392387e+00] [ 3.98221839e-03 2.92092539e-04 9.99992028e-01 -9.34582720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.095898227 meters 0.08127517427587579 Centerline is valid? [True, True] Translation: X:50.34, Y:1.24, Z:-0.93 [[ 9.99964319e-01 -7.84280787e-03 -3.13866391e-03 5.03377857e+01] [ 7.84201083e-03 9.99969216e-01 -2.66169339e-04 1.24459546e+00] [ 3.14065480e-03 2.41546406e-04 9.99995039e-01 -9.33668765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.155898227 meters 0.08691566281752848 Centerline is valid? [True, True] Translation: X:50.40, Y:1.26, Z:-0.93 [[ 9.99971292e-01 -7.37886521e-03 -1.72244861e-03 5.03962562e+01] [ 7.37862457e-03 9.99972767e-01 -1.46019414e-04 1.26472106e+00] [ 1.72347916e-03 1.33305921e-04 9.99998506e-01 -9.32659412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.215898227 meters 0.07415300860680095 Centerline is valid? [True, True] Translation: X:50.46, Y:1.26, Z:-0.94 [[ 9.99911710e-01 -1.28251648e-02 -3.47676918e-03 5.04570660e+01] [ 1.28242169e-02 9.99917723e-01 -2.94784196e-04 1.26305430e+00] [ 3.48026378e-03 2.50171328e-04 9.99993913e-01 -9.37036152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.275898227 meters 0.07069705486625306 Centerline is valid? [True, True] Translation: X:50.52, Y:1.27, Z:-0.94 [[ 9.99811959e-01 -1.91211435e-02 -3.22941051e-03 5.05165498e+01] [ 1.91203585e-02 9.99817152e-01 -2.73791204e-04 1.26980713e+00] [ 3.23405522e-03 2.11992234e-04 9.99994748e-01 -9.36820574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.335898227 meters 0.06249313117687688 Centerline is valid? [True, True] Translation: X:50.58, Y:1.27, Z:-0.93 [[ 9.99628512e-01 -2.71702053e-02 -2.14876335e-03 5.05770671e+01] [ 2.71698762e-02 9.99630814e-01 -1.82192583e-04 1.26927533e+00] [ 2.15292026e-03 1.23743266e-04 9.99997675e-01 -9.34612408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.395898226999996 meters 0.06044327354850833 Centerline is valid? [True, True] Translation: X:50.64, Y:1.27, Z:-0.93 [[ 9.99411085e-01 -3.42826099e-02 -1.47814278e-03 5.06363545e+01] [ 3.42824619e-02 9.99412176e-01 -1.25374946e-04 1.27265361e+00] [ 1.48157207e-03 7.46267377e-05 9.99998900e-01 -9.34959098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.455898227 meters 0.045272177215479804 Centerline is valid? [True, True] Translation: X:50.70, Y:1.25, Z:-0.93 [[ 9.98928768e-01 -4.62649149e-02 -9.34926454e-04 5.06994693e+01] [ 4.62648609e-02 9.98929205e-01 -7.92642345e-05 1.25103611e+00] [ 9.37592493e-04 3.59250818e-05 9.99999560e-01 -9.32308905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.515898227 meters 0.035649997102229075 Centerline is valid? [True, True] Translation: X:50.76, Y:1.23, Z:-0.93 [[ 9.98526276e-01 -5.41884539e-02 -2.98108836e-03 5.07620155e+01] [ 5.41879405e-02 9.98530722e-01 -2.52782696e-04 1.23157022e+00] [ 2.99040622e-03 9.08711255e-05 9.99995525e-01 -9.33376308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.575898226999996 meters 0.040251377294778415 Centerline is valid? [True, True] Translation: X:50.82, Y:1.23, Z:-0.93 [[ 9.98826012e-01 -4.84414260e-02 -1.58601443e-04 5.08225249e+01] [ 4.84414245e-02 9.98826025e-01 -1.34410125e-05 1.23278549e+00] [ 1.59066350e-04 5.74235310e-06 9.99999987e-01 -9.27881677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.635898227 meters 0.048317163270655314 Centerline is valid? [True, True] Translation: X:50.88, Y:1.24, Z:-0.93 [[ 9.99158654e-01 -4.09791653e-02 -1.64099066e-03 5.08825882e+01] [ 4.09789919e-02 9.99159999e-01 -1.39163309e-04 1.23975135e+00] [ 1.64531502e-03 7.18000813e-05 9.99998644e-01 -9.30327069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.695898227 meters 0.053000332321551026 Centerline is valid? [True, True] Translation: X:50.94, Y:1.25, Z:-0.93 [[ 9.99288094e-01 -3.75979427e-02 -3.11448960e-03 5.09427332e+01] [ 3.75973018e-02 9.99292937e-01 -2.64078339e-04 1.24877619e+00] [ 3.12221626e-03 1.46793934e-04 9.99995115e-01 -9.32043429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.755898226999996 meters 0.04821944888782018 Centerline is valid? [True, True] Translation: X:51.00, Y:1.25, Z:-0.93 [[ 9.99330271e-01 -3.65902954e-02 -4.00049180e-04 5.10042728e+01] [ 3.65902848e-02 9.99330351e-01 -3.38436969e-05 1.24633181e+00] [ 4.01019639e-04 1.91831173e-05 9.99999919e-01 -9.27008179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.815898227 meters 0.046521408272206195 Centerline is valid? [True, True] Translation: X:51.06, Y:1.25, Z:-0.93 [[ 9.99112432e-01 -4.21199769e-02 -5.05782837e-04 5.10636087e+01] [ 4.21199605e-02 9.99112560e-01 -4.29162597e-05 1.24852352e+00] [ 5.07141617e-04 2.15746154e-05 9.99999871e-01 -9.28971138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.875898227 meters 0.0361906537283239 Centerline is valid? [True, True] Translation: X:51.12, Y:1.23, Z:-0.93 [[ 9.98399182e-01 -5.65602607e-02 9.95145278e-05 5.11247853e+01] [ 5.65602602e-02 9.98399187e-01 8.45207142e-06 1.23267293e+00] [-9.98332750e-05 -2.80997362e-06 9.99999995e-01 -9.29332706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.935898226999996 meters 0.0182534889286653 Centerline is valid? [True, True] Translation: X:51.19, Y:1.20, Z:-0.92 [[ 9.97495178e-01 -7.06949832e-02 2.36397759e-03 5.11881379e+01] [ 7.06947068e-02 9.97497979e-01 2.00408860e-04 1.20244746e+00] [-2.37223077e-03 -3.27861693e-05 9.99997186e-01 -9.24054610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.995898227 meters 0.017196227502575434 Centerline is valid? [True, True] Translation: X:51.25, Y:1.20, Z:-0.92 [[ 9.97355077e-01 -7.26645761e-02 1.64583410e-03 5.12485249e+01] [ 7.26644448e-02 9.97356435e-01 1.39524551e-04 1.20030602e+00] [-1.65162173e-03 -1.95618979e-05 9.99998636e-01 -9.23616819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.055898227 meters 0.02420775921101223 Centerline is valid? [True, True] Translation: X:51.31, Y:1.21, Z:-0.93 [[ 9.97807652e-01 -6.61799256e-02 -3.26285042e-04 5.13080105e+01] [ 6.61799201e-02 9.97807706e-01 -2.76890283e-05 1.20845531e+00] [ 3.27402187e-04 6.03480638e-06 9.99999946e-01 -9.26493111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.115898227 meters 0.03191469293902384 Centerline is valid? [True, True] Translation: X:51.37, Y:1.22, Z:-0.93 [[ 9.98339541e-01 -5.75697460e-02 -1.97125336e-03 5.13673577e+01] [ 5.75695283e-02 9.98341485e-01 -1.67091095e-04 1.22232845e+00] [ 1.97760340e-03 5.33295213e-05 9.99998043e-01 -9.29630523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.175898227 meters 0.04589220565567597 Centerline is valid? [True, True] Translation: X:51.43, Y:1.25, Z:-0.93 [[ 9.98938216e-01 -4.59080027e-02 -3.85941251e-03 5.14253120e+01] [ 4.59070807e-02 9.98945661e-01 -3.27206320e-04 1.24565664e+00] [ 3.87036477e-03 1.49684536e-04 9.99992499e-01 -9.31918663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.235898227 meters 0.05339561162795623 Centerline is valid? [True, True] Translation: X:51.48, Y:1.26, Z:-0.93 [[ 9.99211580e-01 -3.97012436e-02 -1.73255190e-04 5.14841239e+01] [ 3.97012416e-02 9.99211595e-01 -1.46907051e-05 1.26048751e+00] [ 1.73701834e-04 7.80067645e-06 9.99999985e-01 -9.25309181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.295898227 meters 0.05423342799528316 Centerline is valid? [True, True] Translation: X:51.55, Y:1.27, Z:-0.93 [[ 9.99278402e-01 -3.79672697e-02 -1.07816839e-03 5.15451051e+01] [ 3.79671932e-02 9.99278982e-01 -9.13154963e-05 1.26629599e+00] [ 1.08085801e-03 5.03145755e-05 9.99999415e-01 -9.27341795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.355898227 meters 0.05182984277970763 Centerline is valid? [True, True] Translation: X:51.61, Y:1.27, Z:-0.93 [[ 9.99352730e-01 -3.59021536e-02 -2.27069171e-03 5.16066259e+01] [ 3.59018090e-02 9.99355304e-01 -1.92326210e-04 1.26754114e+00] [ 2.27613273e-03 1.10679783e-04 9.99997403e-01 -9.28295005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.415898227 meters 0.05866587438962561 Centerline is valid? [True, True] Translation: X:51.67, Y:1.28, Z:-0.93 [[ 9.99501843e-01 -3.15123707e-02 -1.74235282e-03 5.16655417e+01] [ 3.15121611e-02 9.99503358e-01 -1.47608274e-04 1.28245944e+00] [ 1.74613898e-03 9.26294395e-05 9.99998471e-01 -9.25571650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.475898227 meters 0.06758877767252389 Centerline is valid? [True, True] Translation: X:51.72, Y:1.30, Z:-0.93 [[ 9.99710354e-01 -2.37526250e-02 -3.87557538e-03 5.17238578e+01] [ 2.37515298e-02 9.99717839e-01 -3.28368945e-04 1.30184567e+00] [ 3.88228147e-03 2.36222990e-04 9.99992436e-01 -9.29595298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.535898227 meters 0.06968871587800436 Centerline is valid? [True, True] Translation: X:51.78, Y:1.32, Z:-0.93 [[ 9.99710789e-01 -2.36272836e-02 -4.48222730e-03 5.17834188e+01] [ 2.36258179e-02 9.99720799e-01 -3.79678965e-04 1.31537119e+00] [ 4.48994664e-03 2.73672872e-04 9.99989883e-01 -9.29844171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.595898227 meters 0.06358565147323628 Centerline is valid? [True, True] Translation: X:51.84, Y:1.32, Z:-0.92 [[ 9.99553916e-01 -2.98326272e-02 -1.40804974e-03 5.18439081e+01] [ 2.98324887e-02 9.99554905e-01 -1.19268252e-04 1.31705865e+00] [ 1.41098111e-03 7.72094203e-05 9.99999002e-01 -9.24561630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.655898227 meters 0.052306639462247735 Centerline is valid? [True, True] Translation: X:51.90, Y:1.31, Z:-0.93 [[ 9.99128523e-01 -4.17071723e-02 -1.64527475e-03 5.19046224e+01] [ 4.17069992e-02 9.99129875e-01 -1.39427282e-04 1.30540661e+00] [ 1.64965827e-03 7.06863016e-05 9.99998637e-01 -9.26846233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.715898227 meters 0.042479817305914436 Centerline is valid? [True, True] Translation: X:51.97, Y:1.30, Z:-0.93 [[ 9.98821414e-01 -4.84845808e-02 -2.24248770e-03 5.19657658e+01] [ 4.84842763e-02 9.98823928e-01 -1.89996997e-04 1.29820854e+00] [ 2.24906230e-03 8.10476757e-05 9.99997468e-01 -9.25443812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.775898227 meters 0.049146773137478075 Centerline is valid? [True, True] Translation: X:52.03, Y:1.31, Z:-0.92 [[ 9.99120223e-01 -4.19296153e-02 8.29349774e-04 5.20261094e+01] [ 4.19295714e-02 9.99120566e-01 7.02624901e-05 1.30689203e+00] [-8.31566495e-04 -3.54263941e-05 9.99999654e-01 -9.21584106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.835898227 meters 0.06011627269562918 Centerline is valid? [True, True] Translation: X:52.08, Y:1.33, Z:-0.92 [[ 9.99510399e-01 -3.12767259e-02 -8.53115884e-04 5.20836718e+01] [ 3.12766756e-02 9.99510762e-01 -7.22257828e-05 1.32987841e+00] [ 8.54957494e-04 4.55077923e-05 9.99999633e-01 -9.22649817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.895898226999996 meters 0.07695471825160813 Centerline is valid? [True, True] Translation: X:52.14, Y:1.36, Z:-0.94 [[ 9.99813928e-01 -1.76374281e-02 -7.81219511e-03 5.21410681e+01] [ 1.76327944e-02 9.99844311e-01 -6.61616587e-04 1.36201309e+00] [ 7.82264805e-03 5.23742648e-04 9.99969265e-01 -9.36622335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.955898227 meters 0.08647355308269171 Centerline is valid? [True, True] Translation: X:52.20, Y:1.38, Z:-0.93 [[ 9.99911319e-01 -1.29815070e-02 -2.97234598e-03 5.21982575e+01] [ 1.29808156e-02 9.99915714e-01 -2.51787992e-04 1.38409085e+00] [ 2.97536404e-03 2.13182189e-04 9.99995551e-01 -9.31826247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.015898227 meters 0.07623677158295795 Centerline is valid? [True, True] Translation: X:52.26, Y:1.38, Z:-0.92 [[ 9.99934865e-01 -1.13498699e-02 -1.20295765e-03 5.22590815e+01] [ 1.13497555e-02 9.99935584e-01 -1.01894427e-04 1.38154843e+00] [ 1.20403664e-03 8.82345153e-05 9.99999271e-01 -9.24709675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.075898226999996 meters 0.08314429953619583 Centerline is valid? [True, True] Translation: X:52.32, Y:1.40, Z:-0.92 [[ 9.99947693e-01 -1.02170006e-02 4.72964056e-04 5.23183702e+01] [ 1.02169828e-02 9.99947804e-01 4.00874585e-05 1.39972563e+00] [-4.73348943e-04 -3.52530961e-05 9.99999887e-01 -9.22524571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.135898227 meters 0.08152864111261163 Centerline is valid? [True, True] Translation: X:52.38, Y:1.41, Z:-0.92 [[ 9.99938432e-01 -1.10953860e-02 1.54419481e-04 5.23797867e+01] [ 1.10953841e-02 9.99938444e-01 1.31655452e-05 1.40652210e+00] [-1.54556053e-04 -1.14513912e-05 9.99999988e-01 -9.21572879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.195898227 meters 0.07931322899372532 Centerline is valid? [True, True] Translation: X:52.44, Y:1.41, Z:-0.92 [[ 9.99917073e-01 -1.28772952e-02 -1.48714717e-04 5.24404092e+01] [ 1.28772934e-02 9.99917084e-01 -1.25569630e-05 1.41272745e+00] [ 1.48864086e-04 1.06408786e-05 9.99999989e-01 -9.21902476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.255898226999996 meters 0.07549451972828307 Centerline is valid? [True, True] Translation: X:52.50, Y:1.42, Z:-0.92 [[ 9.99905944e-01 -1.33732209e-02 -3.04290683e-03 5.25025434e+01] [ 1.33724995e-02 9.99910551e-01 -2.57291826e-04 1.41703232e+00] [ 3.04607546e-03 2.16576357e-04 9.99995337e-01 -9.24725036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.315898227 meters 0.07788996736597643 Centerline is valid? [True, True] Translation: X:52.56, Y:1.43, Z:-0.92 [[ 9.99897883e-01 -1.42163712e-02 -1.45545766e-03 5.25621683e+01] [ 1.42162071e-02 9.99898937e-01 -1.23028236e-04 1.43268236e+00] [ 1.45705958e-03 1.02324586e-04 9.99998933e-01 -9.21865297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.375898227 meters 0.07339662046710642 Centerline is valid? [True, True] Translation: X:52.62, Y:1.43, Z:-0.93 [[ 9.99895906e-01 -1.42349246e-02 -2.35459943e-03 5.26236633e+01] [ 1.42344953e-02 9.99898665e-01 -1.99012393e-04 1.43310071e+00] [ 2.35719376e-03 1.65475143e-04 9.99997208e-01 -9.25567989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.435898226999996 meters 0.08044627935119227 Centerline is valid? [True, True] Translation: X:52.68, Y:1.45, Z:-0.93 [[ 9.99866130e-01 -1.56749759e-02 -4.69215058e-03 5.26828842e+01] [ 1.56732864e-02 9.99877088e-01 -3.96622837e-04 1.44936562e+00] [ 4.69779091e-03 3.23028322e-04 9.99988913e-01 -9.30496699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.495898227 meters 0.07665799899411493 Centerline is valid? [True, True] Translation: X:52.74, Y:1.45, Z:-0.93 [[ 9.99872288e-01 -1.56535244e-02 -3.22085075e-03 5.27446236e+01] [ 1.56527286e-02 9.99877452e-01 -2.72139175e-04 1.44984435e+00] [ 3.22471597e-03 2.21689317e-04 9.99994776e-01 -9.28526669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.555898227 meters 0.07771062827870599 Centerline is valid? [True, True] Translation: X:52.80, Y:1.46, Z:-0.93 [[ 9.99914686e-01 -1.20638056e-02 -5.00857840e-03 5.28042812e+01] [ 1.20618367e-02 9.99927164e-01 -4.23135453e-04 1.46218418e+00] [ 5.01331822e-03 3.62686699e-04 9.99987367e-01 -9.31673332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.615898226999995 meters 0.08103145133491382 Centerline is valid? [True, True] Translation: X:52.86, Y:1.47, Z:-0.93 [[ 9.99939057e-01 -9.85864568e-03 -4.96874898e-03 5.28639674e+01] [ 9.85668054e-03 9.99951334e-01 -4.19832382e-04 1.47475555e+00] [ 4.97264614e-03 3.70831425e-04 9.99987568e-01 -9.31936323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.675898227 meters 0.08385753569239138 Centerline is valid? [True, True] Translation: X:52.92, Y:1.49, Z:-0.93 [[ 9.99934958e-01 -1.09222531e-02 -3.28378721e-03 5.29229702e+01] [ 1.09214005e-02 9.99940321e-01 -2.77459939e-04 1.49071357e+00] [ 3.28662172e-03 2.41578337e-04 9.99994570e-01 -9.28268850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.735898227 meters 0.07247271925408572 Centerline is valid? [True, True] Translation: X:52.98, Y:1.48, Z:-0.93 [[ 9.99811803e-01 -1.91720271e-02 -2.96528031e-03 5.29848317e+01] [ 1.91713680e-02 9.99816181e-01 -2.50526157e-04 1.48150349e+00] [ 2.96953833e-03 1.93630528e-04 9.99995572e-01 -9.25572313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.795898227 meters 0.06071624787131383 Centerline is valid? [True, True] Translation: X:53.05, Y:1.47, Z:-0.92 [[ 9.99593922e-01 -2.83575548e-02 -2.79986436e-03 5.30472343e+01] [ 2.83570032e-02 9.99597831e-01 -2.36540421e-04 1.46743730e+00] [ 2.80544605e-03 1.57048605e-04 9.99996052e-01 -9.24804929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.855898227 meters 0.05897533075609986 Centerline is valid? [True, True] Translation: X:53.11, Y:1.47, Z:-0.92 [[ 9.99469707e-01 -3.25413686e-02 -1.16817619e-03 5.31069154e+01] [ 3.25412753e-02 9.99470388e-01 -9.87424817e-05 1.46655382e+00] [ 1.17077073e-03 6.06761761e-05 9.99999313e-01 -9.22647599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.915898227 meters 0.06139962127822905 Centerline is valid? [True, True] Translation: X:53.17, Y:1.47, Z:-0.92 [[ 9.99466144e-01 -3.26702319e-02 -2.87982818e-04 5.31677415e+01] [ 3.26702263e-02 9.99466185e-01 -2.42303980e-05 1.46997944e+00] [ 2.88620702e-04 1.48089986e-05 9.99999958e-01 -9.22126947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.975898227 meters 0.05999404641189607 Centerline is valid? [True, True] Translation: X:53.23, Y:1.47, Z:-0.92 [[ 9.99569668e-01 -2.93087077e-02 -1.21605219e-03 5.32286890e+01] [ 2.93086044e-02 9.99570405e-01 -1.02696068e-04 1.46802888e+00] [ 1.21853967e-03 6.70110819e-05 9.99999255e-01 -9.23460090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.035898227 meters 0.07467983991337165 Centerline is valid? [True, True] Translation: X:53.29, Y:1.49, Z:-0.93 [[ 9.99799147e-01 -1.98774180e-02 -2.56020659e-03 5.32867212e+01] [ 1.98769293e-02 9.99802411e-01 -2.16192266e-04 1.48825721e+00] [ 2.56399806e-03 1.65259798e-04 9.99996699e-01 -9.25375318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.095898227 meters 0.08586724005769403 Centerline is valid? [True, True] Translation: X:53.35, Y:1.51, Z:-0.92 [[ 9.99946985e-01 -1.01321713e-02 -1.83496801e-03 5.33461116e+01] [ 1.01319039e-02 9.99948659e-01 -1.54944461e-04 1.50826250e+00] [ 1.83644372e-03 1.36344526e-04 9.99998304e-01 -9.24764311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.155898227 meters 0.08270153184360164 Centerline is valid? [True, True] Translation: X:53.41, Y:1.51, Z:-0.93 [[ 9.99971324e-01 -6.78317421e-03 -3.36746658e-03 5.34069287e+01] [ 6.78225484e-03 9.99976960e-01 -2.84359252e-04 1.50895980e+00] [ 3.36931785e-03 2.61512081e-04 9.99994290e-01 -9.27481542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.215898227 meters 0.07957644613102305 Centerline is valid? [True, True] Translation: X:53.47, Y:1.51, Z:-0.92 [[ 9.99966482e-01 -7.82077477e-03 -2.42298418e-03 5.34671062e+01] [ 7.82030181e-03 9.99969400e-01 -2.04608096e-04 1.51261564e+00] [ 2.42451023e-03 1.85652771e-04 9.99997044e-01 -9.24148396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.275898227 meters 0.06944413916337858 Centerline is valid? [True, True] Translation: X:53.53, Y:1.50, Z:-0.93 [[ 9.99834261e-01 -1.81179472e-02 -1.78642927e-03 5.35285200e+01] [ 1.81177065e-02 9.99835850e-01 -1.50837362e-04 1.50020661e+00] [ 1.78886889e-03 1.18446361e-04 9.99998393e-01 -9.25757891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.335898227 meters 0.06597670486660484 Centerline is valid? [True, True] Translation: X:53.59, Y:1.50, Z:-0.93 [[ 9.99640860e-01 -2.65685501e-02 -3.50189104e-03 5.35888989e+01] [ 2.65676768e-02 9.99646973e-01 -2.95669642e-04 1.49549381e+00] [ 3.50851029e-03 2.02526346e-04 9.99993825e-01 -9.30200506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.395898226999996 meters 0.053723974565638884 Centerline is valid? [True, True] Translation: X:53.65, Y:1.48, Z:-0.93 [[ 9.99417926e-01 -3.39226427e-02 -3.61430248e-03 5.36514951e+01] [ 3.39217604e-02 9.99424445e-01 -3.05151277e-04 1.47809423e+00] [ 3.62257379e-03 1.82370154e-04 9.99993422e-01 -9.29919398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.455898227 meters 0.05876793497991365 Centerline is valid? [True, True] Translation: X:53.71, Y:1.49, Z:-0.93 [[ 9.99390414e-01 -3.48213154e-02 -2.50541674e-03 5.37117070e+01] [ 3.48208944e-02 9.99393546e-01 -2.11473840e-04 1.48556325e+00] [ 2.51126112e-03 1.24104076e-04 9.99996839e-01 -9.28740584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.515898227 meters 0.05261034262162895 Centerline is valid? [True, True] Translation: X:53.77, Y:1.47, Z:-0.92 [[ 9.99433106e-01 -3.36658182e-02 -2.82735167e-04 5.37737670e+01] [ 3.36658128e-02 9.99433146e-01 -2.38318798e-05 1.47440706e+00] [ 2.83377217e-04 1.42998604e-05 9.99999960e-01 -9.24051303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.575898226999996 meters 0.058897606661976284 Centerline is valid? [True, True] Translation: X:53.83, Y:1.48, Z:-0.92 [[ 9.99587700e-01 -2.87058046e-02 6.37905959e-04 5.38335436e+01] [ 2.87057761e-02 9.99587903e-01 5.38580610e-05 1.48073002e+00] [-6.39189118e-04 -3.55242697e-05 9.99999795e-01 -9.22590960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.635898227 meters 0.06597637070305276 Centerline is valid? [True, True] Translation: X:53.89, Y:1.49, Z:-0.93 [[ 9.99758080e-01 -2.19166265e-02 -1.85564890e-03 5.38932855e+01] [ 2.19163734e-02 9.99759795e-01 -1.56612469e-04 1.49356533e+00] [ 1.85863558e-03 1.15905487e-04 9.99998266e-01 -9.25268168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.695898227 meters 0.07658883973049968 Centerline is valid? [True, True] Translation: X:53.95, Y:1.51, Z:-0.93 [[ 9.99939486e-01 -1.06077394e-02 -2.91565480e-03 5.39524327e+01] [ 1.06070667e-02 9.99943713e-01 -2.46066185e-04 1.51034341e+00] [ 2.91810090e-03 2.15124750e-04 9.99995719e-01 -9.26428688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.755898226999996 meters 0.08076578668483585 Centerline is valid? [True, True] Translation: X:54.01, Y:1.52, Z:-0.93 [[ 9.99990740e-01 -3.98316535e-03 -1.62907725e-03 5.40121207e+01] [ 3.98294658e-03 9.99992059e-01 -1.37509689e-04 1.51975979e+00] [ 1.62961204e-03 1.31019888e-04 9.99998664e-01 -9.26522436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.815898227 meters 0.08783637511109611 Centerline is valid? [True, True] Translation: X:54.07, Y:1.53, Z:-0.93 [[ 9.99985228e-01 -4.15750571e-03 -3.50138211e-03 5.40714362e+01] [ 4.15649714e-03 9.99991318e-01 -2.95278187e-04 1.53472158e+00] [ 3.50257933e-03 2.80720341e-04 9.99993827e-01 -9.31587099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.875898227 meters 0.07314869299308463 Centerline is valid? [True, True] Translation: X:54.13, Y:1.53, Z:-0.93 [[ 9.99927533e-01 -1.15392680e-02 -3.43128281e-03 5.41324683e+01] [ 1.15383422e-02 9.99933389e-01 -2.89478337e-04 1.52510657e+00] [ 3.43439462e-03 2.49866044e-04 9.99994071e-01 -9.31070556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.935898226999996 meters 0.06800944091063986 Centerline is valid? [True, True] Translation: X:54.19, Y:1.52, Z:-0.93 [[ 9.99812330e-01 -1.93192457e-02 -1.43943922e-03 5.41923588e+01] [ 1.93190908e-02 9.99813362e-01 -1.21431129e-04 1.52492630e+00] [ 1.44151652e-03 9.35996826e-05 9.99998957e-01 -9.26574875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.995898227 meters 0.057076870010955134 Centerline is valid? [True, True] Translation: X:54.25, Y:1.52, Z:-0.93 [[ 9.99499334e-01 -3.15649619e-02 -2.17595676e-03 5.42536432e+01] [ 3.15646369e-02 9.99501696e-01 -1.83543335e-04 1.51717340e+00] [ 2.18066601e-03 1.14768156e-04 9.99997616e-01 -9.26789341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.055898227 meters 0.04893411379857202 Centerline is valid? [True, True] Translation: X:54.31, Y:1.51, Z:-0.92 [[ 9.99113498e-01 -4.20790469e-02 -1.25414803e-03 5.43136840e+01] [ 4.20789471e-02 9.99114283e-01 -1.05852501e-04 1.51196343e+00] [ 1.25749138e-03 5.29854340e-05 9.99999208e-01 -9.22992386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.115898226999995 meters 0.0380889912872407 Centerline is valid? [True, True] Translation: X:54.38, Y:1.50, Z:-0.92 [[ 9.98817019e-01 -4.86267537e-02 -3.24456759e-05 5.43752015e+01] [ 4.86267537e-02 9.98817020e-01 -2.73975787e-06 1.49961252e+00] [ 3.25405188e-05 1.15878890e-06 9.99999999e-01 -9.20511078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.175898227 meters 0.03760574224833008 Centerline is valid? [True, True] Translation: X:54.44, Y:1.50, Z:-0.92 [[ 9.98677649e-01 -5.14005073e-02 9.70280687e-04 5.44356898e+01] [ 5.14004520e-02 9.98678120e-01 8.19065314e-05 1.50336587e+00] [-9.73208130e-04 -3.19253563e-05 9.99999526e-01 -9.19710372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.235898227 meters 0.03698598250114419 Centerline is valid? [True, True] Translation: X:54.50, Y:1.51, Z:-0.92 [[ 9.98610170e-01 -5.26810522e-02 1.56039282e-03 5.44954863e+01] [ 5.26809108e-02 9.98611388e-01 1.31628084e-04 1.50760456e+00] [-1.56516034e-03 -4.92422290e-05 9.99998774e-01 -9.18992487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.295898227 meters 0.03176655189017446 Centerline is valid? [True, True] Translation: X:54.56, Y:1.51, Z:-0.92 [[ 9.98539281e-01 -5.40035126e-02 1.71027372e-03 5.45571390e+01] [ 5.40033447e-02 9.98540744e-01 1.44260283e-04 1.51052016e+00] [-1.71556856e-03 -5.16890580e-05 9.99998527e-01 -9.19758112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.355898227 meters 0.03307368970682153 Centerline is valid? [True, True] Translation: X:54.62, Y:1.52, Z:-0.92 [[ 9.98459492e-01 -5.54665855e-02 1.44951457e-03 5.46178754e+01] [ 5.54664664e-02 9.98460543e-01 1.22253727e-04 1.51739226e+00] [-1.45406410e-03 -4.16659426e-05 9.99998942e-01 -9.19887142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.415898227 meters 0.028783013887281893 Centerline is valid? [True, True] Translation: X:54.68, Y:1.52, Z:-0.92 [[ 9.98264466e-01 -5.88224723e-02 2.82371640e-03 5.46796512e+01] [ 5.88220344e-02 9.98268457e-01 2.37955148e-04 1.51516430e+00] [-2.83282412e-03 -7.14454253e-05 9.99995985e-01 -9.16794596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.475898227 meters 0.030390927882192678 Centerline is valid? [True, True] Translation: X:54.74, Y:1.53, Z:-0.92 [[ 9.98343242e-01 -5.75171720e-02 1.59570449e-03 5.47415968e+01] [ 5.75170305e-02 9.98344516e-01 1.34484978e-04 1.52529549e+00] [-1.60079803e-03 -4.24819853e-05 9.99998718e-01 -9.18789967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.535898227 meters 0.034074916318767405 Centerline is valid? [True, True] Translation: X:54.80, Y:1.54, Z:-0.93 [[ 9.98553192e-01 -5.37352764e-02 -2.01077547e-03 5.48017392e+01] [ 5.37350445e-02 9.98555214e-01 -1.69178941e-04 1.53617527e+00] [ 2.01696121e-03 6.08850624e-05 9.99997964e-01 -9.25003047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.595898227 meters 0.04103051625348372 Centerline is valid? [True, True] Translation: X:54.86, Y:1.55, Z:-0.93 [[ 9.98854998e-01 -4.77408859e-02 -3.08224594e-03 5.48602734e+01] [ 4.77403122e-02 9.98859748e-01 -2.59493446e-04 1.55148279e+00] [ 3.09111985e-03 1.12048942e-04 9.99995216e-01 -9.27132161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.655898227 meters 0.04787838263225132 Centerline is valid? [True, True] Translation: X:54.92, Y:1.57, Z:-0.92 [[ 9.99172194e-01 -4.06712701e-02 8.80292647e-04 5.49201624e+01] [ 4.06712206e-02 9.99172581e-01 7.41325966e-05 1.57085290e+00] [-8.82579342e-04 -3.82686528e-05 9.99999610e-01 -9.20665531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.715898227 meters 0.05256959981378933 Centerline is valid? [True, True] Translation: X:54.98, Y:1.59, Z:-0.92 [[ 9.99356276e-01 -3.58717949e-02 4.98380735e-04 5.49800762e+01] [ 3.58717784e-02 9.99356400e-01 4.19462842e-05 1.58535205e+00] [-4.99564666e-04 -2.40414791e-05 9.99999875e-01 -9.22865620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.775898227 meters 0.056688596957648545 Centerline is valid? [True, True] Translation: X:55.04, Y:1.60, Z:-0.93 [[ 9.99543543e-01 -3.01839329e-02 -1.27868243e-03 5.50399617e+01] [ 3.01838200e-02 9.99544359e-01 -1.07536663e-04 1.60241120e+00] [ 1.28134569e-03 6.88920571e-05 9.99999177e-01 -9.26797633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.835898227 meters 0.0627429227527171 Centerline is valid? [True, True] Translation: X:55.10, Y:1.62, Z:-0.93 [[ 9.99534613e-01 -3.04296699e-02 -2.14285855e-03 5.50994746e+01] [ 3.04293535e-02 9.99536904e-01 -1.80132248e-04 1.61922828e+00] [ 2.14734757e-03 1.14842616e-04 9.99997688e-01 -9.28146167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.895898226999996 meters 0.05752025438844131 Centerline is valid? [True, True] Translation: X:55.16, Y:1.62, Z:-0.93 [[ 9.99382431e-01 -3.51149694e-02 -1.30186354e-03 5.51601740e+01] [ 3.51148565e-02 9.99383277e-01 -1.09498537e-04 1.61909923e+00] [ 1.30490569e-03 6.37161623e-05 9.99999147e-01 -9.26470751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.955898227 meters 0.04853473995756839 Centerline is valid? [True, True] Translation: X:55.22, Y:1.61, Z:-0.93 [[ 9.99055950e-01 -4.34378307e-02 -6.03240702e-04 5.52213208e+01] [ 4.34378080e-02 9.99056132e-01 -5.07356185e-05 1.61020227e+00] [ 6.04875167e-04 2.44842678e-05 9.99999817e-01 -9.25059676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.015898227 meters 0.04041750991345963 Centerline is valid? [True, True] Translation: X:55.28, Y:1.60, Z:-0.92 [[ 9.98862877e-01 -4.76173657e-02 2.35363383e-03 5.52827296e+01] [ 4.76170312e-02 9.98865646e-01 1.97960797e-04 1.60356634e+00] [-2.36039035e-03 -8.56626360e-05 9.99997211e-01 -9.18853483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.075898226999996 meters 0.03876469520588583 Centerline is valid? [True, True] Translation: X:55.35, Y:1.60, Z:-0.92 [[ 9.98780388e-01 -4.93400933e-02 1.81451694e-03 5.53450478e+01] [ 4.93398973e-02 9.98782034e-01 1.52623451e-04 1.59961296e+00] [-1.81983737e-03 -6.29092298e-05 9.99998342e-01 -9.20828588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.135898227 meters 0.0406084893420551 Centerline is valid? [True, True] Translation: X:55.41, Y:1.60, Z:-0.92 [[ 9.98906456e-01 -4.67513039e-02 4.56267262e-04 5.54063138e+01] [ 4.67512912e-02 9.98906560e-01 3.84073814e-05 1.60227091e+00] [-4.57563956e-04 -1.70342976e-05 9.99999895e-01 -9.23612792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.195898227 meters 0.04543211985018556 Centerline is valid? [True, True] Translation: X:55.47, Y:1.61, Z:-0.92 [[ 9.99113388e-01 -4.20770890e-02 1.39854500e-03 5.54663079e+01] [ 4.20769657e-02 9.99114365e-01 1.17531854e-04 1.60999450e+00] [-1.40225180e-03 -5.85811189e-05 9.99999015e-01 -9.21260251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.255898226999996 meters 0.059497978721269565 Centerline is valid? [True, True] Translation: X:55.52, Y:1.63, Z:-0.92 [[ 9.99502630e-01 -3.14758158e-02 1.94038878e-03 5.55248817e+01] [ 3.14755584e-02 9.99504509e-01 1.63051687e-04 1.62854847e+00] [-1.94455952e-03 -1.01895769e-04 9.99998104e-01 -9.20659436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.315898227 meters 0.06379664753288468 Centerline is valid? [True, True] Translation: X:55.59, Y:1.64, Z:-0.92 [[ 9.99765420e-01 -2.16371234e-02 9.69106631e-04 5.55851301e+01] [ 2.16370545e-02 9.99765888e-01 8.14372598e-05 1.63570912e+00] [-9.70641820e-04 -6.04495433e-05 9.99999527e-01 -9.24466559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.375898227 meters 0.07218470761309333 Centerline is valid? [True, True] Translation: X:55.64, Y:1.65, Z:-0.93 [[ 9.99815926e-01 -1.91671514e-02 -8.56604252e-04 5.56441688e+01] [ 1.91670967e-02 9.99816292e-01 -7.20048316e-05 1.64598314e+00] [ 8.57827014e-04 5.55729608e-05 9.99999631e-01 -9.26878053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.435898226999996 meters 0.06260114268279554 Centerline is valid? [True, True] Translation: X:55.71, Y:1.64, Z:-0.93 [[ 9.99783294e-01 -2.07812382e-02 -1.22700711e-03 5.57066851e+01] [ 2.07811274e-02 9.99784044e-01 -1.03009253e-04 1.63626012e+00] [ 1.22888279e-03 7.74883396e-05 9.99999242e-01 -9.28339380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.495898227 meters 0.06040650765000622 Centerline is valid? [True, True] Translation: X:55.77, Y:1.63, Z:-0.93 [[ 9.99644219e-01 -2.66685367e-02 4.73505560e-04 5.57668202e+01] [ 2.66685208e-02 9.99644331e-01 3.97598341e-05 1.63373074e+00] [-4.74397486e-04 -2.71179954e-05 9.99999887e-01 -9.25680972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.555898227 meters 0.05281353718172316 Centerline is valid? [True, True] Translation: X:55.83, Y:1.62, Z:-0.92 [[ 9.99478762e-01 -3.22806611e-02 4.03757000e-04 5.58281286e+01] [ 3.22806500e-02 9.99478843e-01 3.39183499e-05 1.62459309e+00] [-4.04641486e-04 -2.08671320e-05 9.99999918e-01 -9.24316575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.615898226999995 meters 0.05509695805672968 Centerline is valid? [True, True] Translation: X:55.89, Y:1.63, Z:-0.92 [[ 9.99500118e-01 -3.16149575e-02 8.95747585e-05 5.58893386e+01] [ 3.16149570e-02 9.99500122e-01 7.62049252e-06 1.62909853e+00] [-8.97709036e-05 -4.78478104e-06 9.99999996e-01 -9.23927665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.675898227 meters 0.06890911298426801 Centerline is valid? [True, True] Translation: X:55.95, Y:1.65, Z:-0.92 [[ 9.99746966e-01 -2.24554385e-02 1.32556323e-03 5.59477108e+01] [ 2.24553106e-02 9.99747842e-01 1.11340414e-04 1.64897725e+00] [-1.32772917e-03 -8.15463073e-05 9.99999115e-01 -9.21229867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.735898227 meters 0.07538378809032482 Centerline is valid? [True, True] Translation: X:56.01, Y:1.66, Z:-0.92 [[ 9.99878016e-01 -1.50171543e-02 4.29406115e-03 5.60073498e+01] [ 1.50157438e-02 9.99887192e-01 3.60528544e-04 1.66044502e+00] [-4.29899086e-03 -2.96006043e-04 9.99990715e-01 -9.18579525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.795898227 meters 0.07368715186099657 Centerline is valid? [True, True] Translation: X:56.07, Y:1.66, Z:-0.92 [[ 9.99891218e-01 -1.42459235e-02 3.82182334e-03 5.60695165e+01] [ 1.42448008e-02 9.99898486e-01 3.20831524e-04 1.65837305e+00] [-3.82600591e-03 -2.66355511e-04 9.99992645e-01 -9.19826661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.855898227 meters 0.07358543306188967 Centerline is valid? [True, True] Translation: X:56.13, Y:1.65, Z:-0.92 [[ 9.99826814e-01 -1.84548381e-02 2.40016264e-03 5.61297704e+01] [ 1.84544075e-02 9.99829683e-01 2.01424335e-04 1.65090312e+00] [-2.40347111e-03 -1.57095872e-04 9.99997099e-01 -9.21750465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.915898227 meters 0.06148289124126397 Centerline is valid? [True, True] Translation: X:56.19, Y:1.63, Z:-0.92 [[ 9.99717606e-01 -2.36535031e-02 2.28484597e-03 5.61929199e+01] [ 2.36531264e-02 9.99720207e-01 1.91782881e-04 1.62590585e+00] [-2.28874302e-03 -1.37684973e-04 9.99997371e-01 -9.21887466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.975898227 meters 0.06586123876927177 Centerline is valid? [True, True] Translation: X:56.25, Y:1.63, Z:-0.92 [[ 9.99716776e-01 -2.37338552e-02 1.75263198e-03 5.62542580e+01] [ 2.37336336e-02 9.99718307e-01 1.47120934e-04 1.62966994e+00] [-1.75563002e-03 -1.05482940e-04 9.99998453e-01 -9.22576879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.035898227 meters 0.07188800867018891 Centerline is valid? [True, True] Translation: X:56.31, Y:1.64, Z:-0.92 [[ 9.99840658e-01 -1.78508994e-02 -6.35744208e-05 5.63141942e+01] [ 1.78508991e-02 9.99840660e-01 -5.32561073e-06 1.63516042e+00] [ 6.36593578e-05 4.18990156e-06 9.99999998e-01 -9.24975593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.095898227 meters 0.08272678088060292 Centerline is valid? [True, True] Translation: X:56.37, Y:1.65, Z:-0.93 [[ 9.99946929e-01 -9.82394686e-03 -3.10309109e-03 5.63728946e+01] [ 9.82318618e-03 9.99951717e-01 -2.60280416e-04 1.64763921e+00] [ 3.10549825e-03 2.29784361e-04 9.99995152e-01 -9.31844590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.155898227 meters 0.08234963026828031 Centerline is valid? [True, True] Translation: X:56.43, Y:1.65, Z:-0.93 [[ 9.99968992e-01 -7.66798265e-03 -1.79379378e-03 5.64332800e+01] [ 7.66772492e-03 9.99970591e-01 -1.50514616e-04 1.64996431e+00] [ 1.79489517e-03 1.36755631e-04 9.99998380e-01 -9.28800988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.215898227 meters 0.07970258468765565 Centerline is valid? [True, True] Translation: X:56.49, Y:1.65, Z:-0.92 [[ 9.99975292e-01 -6.49961852e-03 2.67760667e-03 5.64940034e+01] [ 6.49904019e-03 9.99978856e-01 2.24630439e-04 1.64740448e+00] [-2.67901006e-03 -2.07223016e-04 9.99996390e-01 -9.20910119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.275898227 meters 0.08392933064397287 Centerline is valid? [True, True] Translation: X:56.55, Y:1.66, Z:-0.92 [[ 9.99991711e-01 -2.83798529e-03 2.91970832e-03 5.65535206e+01] [ 2.83728213e-03 9.99995945e-01 2.44943553e-04 1.65507330e+00] [-2.92039163e-03 -2.36657486e-04 9.99995708e-01 -9.20518655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.335898227 meters 0.09036244059168076 Centerline is valid? [True, True] Translation: X:56.61, Y:1.67, Z:-0.93 [[ 9.99998414e-01 -1.52075794e-03 9.26902277e-04 5.66126659e+01] [ 1.52068645e-03 9.99998841e-01 7.78296698e-05 1.66516381e+00] [-9.27019563e-04 -7.64200186e-05 9.99999567e-01 -9.25770539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.395898226999996 meters 0.08880073833374795 Centerline is valid? [True, True] Translation: X:56.67, Y:1.66, Z:-0.93 [[ 9.99997968e-01 -1.79350977e-03 9.20957846e-04 5.66743803e+01] [ 1.79343936e-03 9.99998389e-01 7.72771735e-05 1.66268831e+00] [-9.21094960e-04 -7.56253344e-05 9.99999573e-01 -9.25292238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.455898227 meters 0.08926796063600875 Centerline is valid? [True, True] Translation: X:56.74, Y:1.66, Z:-0.93 [[ 9.99999705e-01 -6.21860852e-04 -4.51188593e-04 5.67356826e+01] [ 6.21843863e-04 9.99999806e-01 -3.77936297e-05 1.66355803e+00] [ 4.51212007e-04 3.75130497e-05 9.99999898e-01 -9.27497009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.515898227 meters 0.08616907545609294 Centerline is valid? [True, True] Translation: X:56.80, Y:1.67, Z:-0.93 [[ 9.99995996e-01 2.73084840e-03 -7.42191828e-04 5.67956332e+01] [-2.73089536e-03 9.99996269e-01 -6.22643160e-05 1.66572851e+00] [ 7.42019025e-04 6.42909149e-05 9.99999723e-01 -9.28772689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.575898226999996 meters 0.10351424816604056 Centerline is valid? [True, False] Translation: X:56.81, Y:1.67, Z:-0.92 [[ 9.99984551e-01 2.41929318e-03 -5.00446885e-03 5.68111401e+01] [-2.38235180e-03 9.99969970e-01 7.37451514e-03 1.66603049e+00] [ 5.02215968e-03 -7.36247881e-03 9.99960285e-01 -9.20018175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.635898227 meters 0.09286928715756448 Centerline is valid? [False, True] Translation: X:56.77, Y:1.66, Z:-0.92 [[ 9.99987350e-01 -1.90799921e-03 -4.65393152e-03 5.67684462e+01] [ 1.92345299e-03 9.99992644e-01 3.31837470e-03 1.66408550e+00] [ 4.64756583e-03 -3.32728434e-03 9.99983665e-01 -9.21303570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.695898227 meters 0.08715738696405173 Centerline is valid? [True, True] Translation: X:56.83, Y:1.66, Z:-0.92 [[ 9.99985467e-01 -4.50689376e-03 -2.95871928e-03 5.68288253e+01] [ 4.50613019e-03 9.99989812e-01 -2.64690166e-04 1.66404880e+00] [ 2.95988207e-03 2.51353945e-04 9.99995588e-01 -9.20156370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.755898226999996 meters 0.08422401568907124 Centerline is valid? [True, True] Translation: X:56.89, Y:1.66, Z:-0.92 [[ 9.99956235e-01 -8.72873991e-03 -3.36710757e-03 5.68900545e+01] [ 8.72777475e-03 9.99961867e-01 -3.01231757e-04 1.66044381e+00] [ 3.36960855e-03 2.71831217e-04 9.99994286e-01 -9.21505338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.815898227 meters 0.09014114634471618 Centerline is valid? [True, True] Translation: X:56.95, Y:1.67, Z:-0.93 [[ 9.99957459e-01 -7.35137579e-03 -5.57104132e-03 5.69489333e+01] [ 7.34871174e-03 9.99972874e-01 -4.98515111e-04 1.66784702e+00] [ 5.57455497e-03 4.57553927e-04 9.99984357e-01 -9.25429965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.875898227 meters 0.09399377430671377 Centerline is valid? [True, True] Translation: X:57.01, Y:1.68, Z:-0.93 [[ 9.99978657e-01 -3.01772388e-03 -5.79465434e-03 5.70087262e+01] [ 3.01476921e-03 9.99995321e-01 -5.18562236e-04 1.67688731e+00] [ 5.79619211e-03 5.01081623e-04 9.99983076e-01 -9.26212746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.935898226999996 meters 0.09397200038548567 Centerline is valid? [True, True] Translation: X:57.07, Y:1.69, Z:-0.92 [[ 9.99962461e-01 6.71917386e-03 -5.47085133e-03 5.70685569e+01] [-6.72195217e-03 9.99977288e-01 -4.89610708e-04 1.68808317e+00] [ 5.46743729e-03 5.26367129e-04 9.99984915e-01 -9.24235734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.995898227 meters 0.09861252442739303 Centerline is valid? [True, True] Translation: X:57.13, Y:1.70, Z:-0.92 [[ 9.99944858e-01 9.58602157e-03 -4.28826855e-03 5.71269657e+01] [-9.58775482e-03 9.99953963e-01 -3.83809850e-04 1.70225990e+00] [ 4.28439192e-03 4.24903553e-04 9.99990732e-01 -9.22920121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.055898227 meters 0.10554039725620114 Centerline is valid? [True, False] Translation: X:57.11, Y:1.71, Z:-0.93 [[ 9.99989461e-01 4.07794758e-03 2.10889101e-03 5.71058064e+01] [-4.07731812e-03 9.99991642e-01 -3.02692687e-04 1.71285428e+00] [-2.11010775e-03 2.94090877e-04 9.99997730e-01 -9.28325439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.115898226999995 meters 0.09468253745142288 Centerline is valid? [False, True] Translation: X:57.11, Y:1.72, Z:-0.93 [[ 9.99992001e-01 3.46100564e-03 2.00495051e-03 5.71062845e+01] [-3.45754726e-03 9.99992533e-01 -1.72582587e-03 1.71913103e+00] [-2.01090863e-03 1.71887985e-03 9.99996501e-01 -9.28791902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.175898227 meters 0.11083456427984294 Centerline is valid? [True, False] Translation: X:57.11, Y:1.72, Z:-0.93 [[ 9.99992892e-01 3.20320165e-03 1.98896191e-03 5.71060012e+01] [-3.19853100e-03 9.99992130e-01 -2.34704117e-03 1.72192468e+00] [-1.99646430e-03 2.34066273e-03 9.99995268e-01 -9.28154249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.235898227 meters 0.09202566478919613 Centerline is valid? [False, True] Translation: X:57.08, Y:1.73, Z:-0.93 [[ 9.99970404e-01 4.21115482e-04 7.68198628e-03 5.70835660e+01] [-4.33073316e-04 9.99998697e-01 1.55500997e-03 1.73121314e+00] [-7.68132143e-03 -1.55829082e-03 9.99969284e-01 -9.32997029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.295898227 meters 0.0965792952159383 Centerline is valid? [True, True] Translation: X:57.14, Y:1.75, Z:-0.93 [[ 9.99961386e-01 -1.76145366e-03 8.60954669e-03 5.71416387e+01] [ 1.75469075e-03 9.99998146e-01 7.93002621e-04 1.75163367e+00] [-8.61092756e-03 -7.77864908e-04 9.99962623e-01 -9.31194553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.355898227 meters 0.08684153577621945 Centerline is valid? [True, True] Translation: X:57.20, Y:1.75, Z:-0.93 [[ 9.99948896e-01 -7.82508749e-03 6.40108273e-03 5.72022087e+01] [ 7.82147192e-03 9.99969238e-01 5.89675216e-04 1.74969394e+00] [-6.40550008e-03 -5.39579192e-04 9.99979339e-01 -9.34312261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.415898227 meters 0.08958017997040761 Centerline is valid? [True, True] Translation: X:57.26, Y:1.76, Z:-0.94 [[ 9.99900198e-01 -1.25870988e-02 6.41549906e-03 5.72612993e+01] [ 1.25835645e-02 9.99920649e-01 5.90962950e-04 1.76084780e+00] [-6.42242849e-03 -5.10174124e-04 9.99979246e-01 -9.38129110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.475898227 meters 0.08318731588100142 Centerline is valid? [True, True] Translation: X:57.32, Y:1.76, Z:-0.94 [[ 9.99861838e-01 -1.52316897e-02 6.65581420e-03 5.73227297e+01] [ 1.52279439e-02 9.99883860e-01 6.13103185e-04 1.75705617e+00] [-6.66437979e-03 -5.11664113e-04 9.99977662e-01 -9.36189487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.535898227 meters 0.07792105370374623 Centerline is valid? [True, True] Translation: X:57.38, Y:1.76, Z:-0.94 [[ 9.99881515e-01 -1.46472327e-02 4.73444984e-03 5.73844643e+01] [ 1.46453302e-02 9.99892656e-01 4.36269116e-04 1.75834231e+00] [-4.74033176e-03 -3.66879843e-04 9.99988697e-01 -9.39833368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.595898227 meters 0.08401098128647416 Centerline is valid? [True, True] Translation: X:57.45, Y:1.77, Z:-0.94 [[ 9.99905728e-01 -1.29079274e-02 4.68191835e-03 5.74452675e+01] [ 1.29060490e-02 9.99916621e-01 4.31210178e-04 1.76635412e+00] [-4.68709400e-03 -3.70744460e-04 9.99988947e-01 -9.43033481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.655898227 meters 0.08024425653164392 Centerline is valid? [True, True] Translation: X:57.51, Y:1.77, Z:-0.94 [[ 9.99915617e-01 -1.18473642e-02 5.32896645e-03 5.75064251e+01] [ 1.18449165e-02 9.99929726e-01 4.90648377e-04 1.77191212e+00] [-5.33440486e-03 -4.27485812e-04 9.99985681e-01 -9.39363609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.715898227 meters 0.08067557065217278 Centerline is valid? [True, True] Translation: X:57.57, Y:1.78, Z:-0.94 [[ 9.99928169e-01 -1.07037848e-02 5.39317475e-03 5.75668852e+01] [ 1.07012622e-02 9.99942617e-01 4.96384481e-04 1.78072980e+00] [-5.39817847e-03 -4.38635048e-04 9.99985334e-01 -9.38750372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.775898227 meters 0.09094301611006102 Centerline is valid? [True, True] Translation: X:57.63, Y:1.80, Z:-0.94 [[ 9.99945458e-01 -8.78264297e-03 5.65200990e-03 5.76251228e+01] [ 8.77984203e-03 9.99961321e-01 5.20187639e-04 1.80324069e+00] [-5.65635991e-03 -4.70535513e-04 9.99983892e-01 -9.38624120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.835898227 meters 0.09016615190787512 Centerline is valid? [True, True] Translation: X:57.69, Y:1.82, Z:-0.94 [[ 9.99957564e-01 -6.29144345e-03 6.72965668e-03 5.76851918e+01] [ 6.28741854e-03 9.99980042e-01 6.19074177e-04 1.81508597e+00] [-6.73341725e-03 -5.76735738e-04 9.99977164e-01 -9.38227092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.895898226999996 meters 0.0973144103873405 Centerline is valid? [True, True] Translation: X:57.74, Y:1.83, Z:-0.94 [[ 9.99954733e-01 -5.30935782e-03 7.89577824e-03 5.77438129e+01] [ 5.30378681e-03 9.99985671e-01 7.26340559e-04 1.83459381e+00] [-7.89952150e-03 -6.84430155e-04 9.99968564e-01 -9.36858305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.955898227 meters 0.08557631340202275 Centerline is valid? [True, True] Translation: X:57.81, Y:1.83, Z:-0.94 [[ 9.99942712e-01 -7.09813617e-03 8.01176917e-03 5.78060924e+01] [ 7.09245801e-03 9.99974577e-01 7.36916502e-04 1.82510363e+00] [-8.01679621e-03 -6.80051149e-04 9.99967634e-01 -9.37218980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.015898227 meters 0.08001719664265924 Centerline is valid? [True, True] Translation: X:57.87, Y:1.82, Z:-0.94 [[ 9.99926114e-01 -7.74306554e-03 9.37082152e-03 5.78684641e+01] [ 7.73532694e-03 9.99969711e-01 8.61781789e-04 1.82104493e+00] [-9.37721052e-03 -7.89231747e-04 9.99955722e-01 -9.36545777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.075898226999996 meters 0.08515647909118178 Centerline is valid? [True, True] Translation: X:57.93, Y:1.83, Z:-0.94 [[ 9.99963433e-01 -5.22430723e-03 6.77050905e-03 5.79273368e+01] [ 5.22021207e-03 9.99986181e-01 6.22382844e-04 1.83272644e+00] [-6.77366700e-03 -5.87016592e-04 9.99976886e-01 -9.41444261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.135898227 meters 0.09396360077053585 Centerline is valid? [True, True] Translation: X:57.99, Y:1.85, Z:-0.94 [[ 9.99962925e-01 -3.97350390e-03 7.63936417e-03 5.79858527e+01] [ 3.96825320e-03 9.99991880e-01 7.02356699e-04 1.84845099e+00] [-7.64209296e-03 -6.72015728e-04 9.99970573e-01 -9.39028009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.195898227 meters 0.08902421574582108 Centerline is valid? [True, True] Translation: X:58.05, Y:1.85, Z:-0.94 [[ 9.99964337e-01 -5.52450283e-03 6.38792091e-03 5.80473594e+01] [ 5.52086275e-03 9.99984587e-01 5.87330901e-04 1.84728672e+00] [-6.39106717e-03 -5.52043121e-04 9.99979425e-01 -9.41286234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.255898226999996 meters 0.08570865559533275 Centerline is valid? [True, True] Translation: X:58.11, Y:1.85, Z:-0.94 [[ 9.99966320e-01 -6.68051184e-03 4.76764760e-03 5.81089315e+01] [ 6.67849711e-03 9.99977602e-01 4.38378931e-04 1.84853614e+00] [-4.77046941e-03 -4.06523446e-04 9.99988539e-01 -9.44944792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.315898227 meters 0.0870407782680207 Centerline is valid? [True, True] Translation: X:58.17, Y:1.85, Z:-0.94 [[ 9.99948412e-01 -7.05494457e-03 7.30758975e-03 5.81695530e+01] [ 7.05022319e-03 9.99974921e-01 6.71651854e-04 1.85411679e+00] [-7.31214495e-03 -6.20097067e-04 9.99973074e-01 -9.40554689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.375898227 meters 0.08628253473867795 Centerline is valid? [True, True] Translation: X:58.23, Y:1.86, Z:-0.94 [[ 9.99969488e-01 -5.04800534e-03 5.96160489e-03 5.82300189e+01] [ 5.04482918e-03 9.99987125e-01 5.47686616e-04 1.85945236e+00] [-5.96429286e-03 -5.17594627e-04 9.99982079e-01 -9.43265614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.435898226999996 meters 0.10294528334395017 Centerline is valid? [True, False] Translation: X:58.23, Y:1.86, Z:-0.94 [[ 9.99969417e-01 -5.05416908e-03 5.96830373e-03 5.82302299e+01] [ 5.05108091e-03 9.99987101e-01 5.32389912e-04 1.85951552e+00] [-5.97091753e-03 -5.02227245e-04 9.99982048e-01 -9.43768730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.495898227 meters 0.07923530424024897 Centerline is valid? [False, True] Translation: X:58.23, Y:1.86, Z:-0.94 [[ 9.99970781e-01 -4.91021145e-03 5.85883901e-03 5.82299308e+01] [ 4.90495546e-03 9.99987556e-01 9.11136045e-04 1.85794801e+00] [-5.86323997e-03 -8.82372079e-04 9.99982422e-01 -9.42292218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.555898227 meters 0.07697086803758955 Centerline is valid? [True, True] Translation: X:58.29, Y:1.86, Z:-0.95 [[ 9.99944576e-01 -9.33238471e-03 4.87362320e-03 5.82906677e+01] [ 9.33041752e-03 9.99956380e-01 4.26220725e-04 1.85509325e+00] [-4.87738827e-03 -3.80724162e-04 9.99988033e-01 -9.45007771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.615898226999995 meters 0.07814061879617361 Centerline is valid? [True, True] Translation: X:58.35, Y:1.86, Z:-0.95 [[ 9.99928274e-01 -1.06631648e-02 5.45372372e-03 5.83508301e+01] [ 1.06607212e-02 9.99943059e-01 4.76926327e-04 1.85978760e+00] [-5.45849872e-03 -4.18751491e-04 9.99985015e-01 -9.46076674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.675898227 meters 0.08478216701301962 Centerline is valid? [True, True] Translation: X:58.41, Y:1.87, Z:-0.94 [[ 9.99941852e-01 -8.63993103e-03 6.45326376e-03 5.84093087e+01] [ 8.63646840e-03 9.99962546e-01 5.64246090e-04 1.87085846e+00] [-6.45789710e-03 -5.08479872e-04 9.99979018e-01 -9.42743922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.735898227 meters 0.08269995940070952 Centerline is valid? [True, True] Translation: X:58.47, Y:1.87, Z:-0.94 [[ 9.99974327e-01 -5.02300683e-03 5.11021336e-03 5.84704081e+01] [ 5.02078834e-03 9.99987296e-01 4.46864376e-04 1.86972939e+00] [-5.11239305e-03 -4.21195604e-04 9.99986843e-01 -9.44550591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.795898227 meters 0.0923514167409273 Centerline is valid? [True, True] Translation: X:58.53, Y:1.88, Z:-0.95 [[ 9.99982629e-01 -4.02989762e-03 4.30141942e-03 5.85292622e+01] [ 4.02831680e-03 9.99991816e-01 3.76111886e-04 1.88499593e+00] [-4.30289991e-03 -3.58777872e-04 9.99990678e-01 -9.47129270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.855898227 meters 0.08754820440960517 Centerline is valid? [True, True] Translation: X:58.59, Y:1.88, Z:-0.95 [[ 9.99979763e-01 -4.99002158e-03 3.94620320e-03 5.85906901e+01] [ 4.98869828e-03 9.99987497e-01 3.45107807e-04 1.88332509e+00] [-3.94787595e-03 -3.25414406e-04 9.99992154e-01 -9.46049784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.915898227 meters 0.08338088889761912 Centerline is valid? [True, True] Translation: X:58.65, Y:1.88, Z:-0.95 [[ 9.99979412e-01 -5.20228768e-03 3.75651123e-03 5.86527986e+01] [ 5.20109010e-03 9.99986420e-01 3.28499764e-04 1.88251988e+00] [-3.75816916e-03 -3.08955047e-04 9.99992890e-01 -9.45917969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.975898227 meters 0.08750788182292238 Centerline is valid? [True, True] Translation: X:58.71, Y:1.89, Z:-0.95 [[ 9.99985760e-01 -4.27377466e-03 3.19601286e-03 5.87129159e+01] [ 4.27290358e-03 9.99990832e-01 2.79331933e-04 1.89117987e+00] [-3.19717736e-03 -2.65671701e-04 9.99994854e-01 -9.46988260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.03589822699999 meters 0.08162065572585685 Centerline is valid? [True, True] Translation: X:58.77, Y:1.89, Z:-0.95 [[ 9.99993971e-01 -3.43796367e-03 4.88609974e-04 5.87746969e+01] [ 3.43794316e-03 9.99994089e-01 4.28141657e-05 1.89208960e+00] [-4.88754279e-04 -4.11340943e-05 9.99999880e-01 -9.52708783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.09589822699999 meters 0.08312186839371477 Centerline is valid? [True, True] Translation: X:58.84, Y:1.90, Z:-0.95 [[ 9.99995496e-01 -2.97672712e-03 -3.84115452e-04 5.88354800e+01] [ 2.97671452e-03 9.99995569e-01 -3.33754318e-05 1.90137235e+00] [ 3.84213100e-04 3.22318794e-05 9.99999926e-01 -9.54054274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.155898227 meters 0.09007149034468899 Centerline is valid? [True, True] Translation: X:58.89, Y:1.93, Z:-0.95 [[ 9.99997505e-01 -1.71582773e-03 1.43005104e-03 5.88937093e+01] [ 1.71565097e-03 9.99998520e-01 1.24823676e-04 1.92588855e+00] [-1.43026310e-03 -1.22369896e-04 9.99998970e-01 -9.51241583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.215898227 meters 0.0899401021654391 Centerline is valid? [True, True] Translation: X:58.95, Y:1.94, Z:-0.95 [[ 9.99997373e-01 -1.70173191e-03 1.53577372e-03 5.89538232e+01] [ 1.70152786e-03 9.99998543e-01 1.34163350e-04 1.93744301e+00] [-1.53599979e-03 -1.31549836e-04 9.99998812e-01 -9.52157940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27589822699998 meters 0.10150327784070025 Centerline is valid? [True, False] Translation: X:58.92, Y:1.94, Z:-0.96 [[ 9.99999119e-01 -1.32678013e-03 2.90126777e-05 5.89165450e+01] [ 1.32678019e-03 9.99999120e-01 -2.15674946e-06 1.93732327e+00] [-2.90097907e-05 2.19524101e-06 1.00000000e+00 -9.56178545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33589822699999 meters 0.09280631417736754 Centerline is valid? [False, True] Translation: X:58.92, Y:1.94, Z:-0.95 [[ 9.99998350e-01 -1.80098203e-03 2.35897755e-04 5.89153280e+01] [ 1.80125866e-03 9.99997684e-01 -1.17774484e-03 1.94252389e+00] [-2.33776112e-04 1.17816781e-03 9.99999279e-01 -9.54899058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.39589822699999 meters 0.08827358934805975 Centerline is valid? [True, True] Translation: X:58.98, Y:1.95, Z:-0.95 [[ 9.99994690e-01 -1.06340663e-03 3.08041425e-03 5.89758756e+01] [ 1.06258469e-03 9.99999399e-01 2.68451656e-04 1.94554899e+00] [-3.08069788e-03 -2.65177029e-04 9.99995219e-01 -9.50035974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.45589822699999 meters 0.09761646718052638 Centerline is valid? [True, True] Translation: X:59.03, Y:1.97, Z:-0.95 [[ 9.99991319e-01 4.04693560e-03 9.91604968e-04 5.90336754e+01] [-4.04702325e-03 9.99991807e-01 8.64074983e-05 1.96894438e+00] [-9.91247158e-04 -9.04197966e-05 9.99999505e-01 -9.54446719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.515898227 meters 0.09649028149931307 Centerline is valid? [True, True] Translation: X:59.09, Y:1.97, Z:-0.96 [[ 9.99984033e-01 5.24116372e-03 2.11272814e-03 5.90939680e+01] [-5.24156434e-03 9.99986246e-01 1.84126777e-04 1.97360862e+00] [-2.11173404e-03 -1.95197837e-04 9.99997751e-01 -9.55094445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.575898227 meters 0.09728584427097442 Centerline is valid? [True, True] Translation: X:59.15, Y:1.98, Z:-0.96 [[ 9.99996350e-01 1.12766944e-03 2.45518319e-03 5.91528772e+01] [-1.12819812e-03 9.99999341e-01 2.13958699e-04 1.98033498e+00] [-2.45494030e-03 -2.16727851e-04 9.99996963e-01 -9.57042423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.635898227 meters 0.0939946301296058 Centerline is valid? [True, True] Translation: X:59.21, Y:1.98, Z:-0.96 [[ 9.99994450e-01 -3.31186127e-03 3.62294009e-04 5.92131928e+01] [ 3.31185004e-03 9.99994515e-01 3.15888471e-05 1.98016947e+00] [-3.62396640e-04 -3.03888083e-05 9.99999934e-01 -9.58151056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69589822699999 meters 0.0923798654028894 Centerline is valid? [True, True] Translation: X:59.27, Y:1.98, Z:-0.96 [[ 9.99978571e-01 -6.38211989e-03 1.45808381e-03 5.92724189e+01] [ 6.38194136e-03 9.99979627e-01 1.27058113e-04 1.98307176e+00] [-1.45886501e-03 -1.17749985e-04 9.99998929e-01 -9.56160237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.75589822699999 meters 0.09041484036327752 Centerline is valid? [True, True] Translation: X:59.33, Y:1.98, Z:-0.96 [[ 9.99945840e-01 -1.03699395e-02 8.83516134e-04 5.93337582e+01] [ 1.03698754e-02 9.99946228e-01 7.70376050e-05 1.98000718e+00] [-8.84267501e-04 -6.78714804e-05 9.99999607e-01 -9.57920867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.81589822699999 meters 0.0897011845036366 Centerline is valid? [True, True] Translation: X:59.40, Y:1.98, Z:-0.96 [[ 9.99931724e-01 -1.15814103e-02 -1.55489910e-03 5.93955624e+01] [ 1.15812138e-02 9.99932926e-01 -1.35356263e-04 1.98046923e+00] [ 1.55636242e-03 1.17339402e-04 9.99998782e-01 -9.60762350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.875898227 meters 0.09263289993390299 Centerline is valid? [True, True] Translation: X:59.46, Y:1.99, Z:-0.96 [[ 9.99941028e-01 -1.06478985e-02 -2.13605013e-03 5.94562549e+01] [ 1.06475252e-02 9.99943296e-01 -1.86051278e-04 1.98696879e+00] [ 2.13791007e-03 1.63296659e-04 9.99997701e-01 -9.63107252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.935898227 meters 0.08726716855945307 Centerline is valid? [True, True] Translation: X:59.52, Y:1.98, Z:-0.96 [[ 9.99987017e-01 -4.94653797e-03 -1.22407897e-03 5.95175007e+01] [ 4.94641106e-03 9.99987761e-01 -1.06683451e-04 1.98031228e+00] [ 1.22459170e-03 1.00627268e-04 9.99999245e-01 -9.64175990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.995898227 meters 0.08980055249111 Centerline is valid? [True, True] Translation: X:59.58, Y:1.99, Z:-0.96 [[ 9.99999269e-01 1.01173506e-03 -6.61839973e-04 5.95778582e+01] [-1.01177343e-03 9.99999486e-01 -5.76495565e-05 1.98791172e+00] [ 6.61781308e-04 5.83191464e-05 9.99999779e-01 -9.60957132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05589822699999 meters 0.10430647847192809 Centerline is valid? [True, False] Translation: X:59.54, Y:1.98, Z:-0.96 [[ 9.99989089e-01 4.61330935e-03 -7.34484755e-04 5.95369490e+01] [-4.61070580e-03 9.99983218e-01 3.50782189e-03 1.98354488e+00] [ 7.50655097e-04 -3.50439712e-03 9.99993578e-01 -9.63834685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.11589822699999 meters 0.09683448418777633 Centerline is valid? [False, True] Translation: X:59.54, Y:1.99, Z:-0.96 [[ 9.99990091e-01 4.40425058e-03 -6.48936785e-04 5.95369437e+01] [-4.40231674e-03 9.99985953e-01 2.95189707e-03 1.98596386e+00] [ 6.61928563e-04 -2.94901099e-03 9.99995433e-01 -9.64472654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.17589822699999 meters 0.10562356615305889 Centerline is valid? [True, False] Translation: X:59.54, Y:1.99, Z:-0.97 [[ 9.99995517e-01 2.51617907e-03 -1.62312466e-03 5.95426224e+01] [-2.51496520e-03 9.99996557e-01 7.49464659e-04 1.98953106e+00] [ 1.62500486e-03 -7.45379197e-04 9.99998402e-01 -9.68318996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.23589822699999 meters 0.09121335478531091 Centerline is valid? [False, True] Translation: X:59.54, Y:1.99, Z:-0.97 [[ 9.99994915e-01 2.67238620e-03 -1.74042107e-03 5.95425654e+01] [-2.67020277e-03 9.99995647e-01 1.25565473e-03 1.98740728e+00] [ 1.74376909e-03 -1.25100107e-03 9.99997697e-01 -9.67304967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.295898227 meters 0.08932447976456445 Centerline is valid? [True, True] Translation: X:59.60, Y:1.99, Z:-0.97 [[ 9.99997866e-01 -9.95183008e-04 -1.81058471e-03 5.96033454e+01] [ 9.94893729e-04 9.99999492e-01 -1.60664651e-04 1.99155251e+00] [ 1.81074368e-03 1.58862969e-04 9.99998348e-01 -9.66972452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.355898227 meters 0.08761542209128002 Centerline is valid? [True, True] Translation: X:59.66, Y:2.00, Z:-0.97 [[ 9.99981257e-01 -4.38195643e-03 -4.27600845e-03 5.96636822e+01] [ 4.38037389e-03 9.99990334e-01 -3.79392173e-04 1.99938163e+00] [ 4.27762960e-03 3.60654546e-04 9.99990786e-01 -9.70096347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41589822699999 meters 0.08202936594115638 Centerline is valid? [True, True] Translation: X:59.72, Y:2.00, Z:-0.97 [[ 9.99976233e-01 -6.47996177e-03 -2.35454141e-03 5.97236524e+01] [ 6.47948768e-03 9.99978986e-01 -2.08920987e-04 2.00285084e+00] [ 2.35584573e-03 1.93659799e-04 9.99997206e-01 -9.66620641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47589822699999 meters 0.07952515559864348 Centerline is valid? [True, True] Translation: X:59.78, Y:2.01, Z:-0.97 [[ 9.99962706e-01 -7.99368735e-03 -3.26931871e-03 5.97841695e+01] [ 7.99278137e-03 9.99968015e-01 -2.90088745e-04 2.00555449e+00] [ 3.27153302e-03 2.63946977e-04 9.99994614e-01 -9.67772201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.53589822699999 meters 0.08789644825085907 Centerline is valid? [True, True] Translation: X:59.84, Y:2.03, Z:-0.97 [[ 9.99939505e-01 -1.07469977e-02 -2.34264563e-03 5.98423282e+01] [ 1.07465400e-02 9.99942233e-01 -2.07896550e-04 2.02500518e+00] [ 2.34474457e-03 1.82708639e-04 9.99997234e-01 -9.66216828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.59589822699999 meters 0.07738399214048232 Centerline is valid? [True, True] Translation: X:59.90, Y:2.02, Z:-0.97 [[ 9.99935793e-01 -1.08833578e-02 -3.15627175e-03 5.99043767e+01] [ 1.08825279e-02 9.99940744e-01 -2.80014933e-04 2.01718011e+00] [ 3.15913222e-03 2.45648739e-04 9.99994980e-01 -9.67687740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.655898227 meters 0.082309607610866 Centerline is valid? [True, True] Translation: X:59.96, Y:2.03, Z:-0.97 [[ 9.99911331e-01 -1.30977429e-02 -2.40401302e-03 5.99631076e+01] [ 1.30972677e-02 9.99914204e-01 -2.13301205e-04 2.02913317e+00] [ 2.40660053e-03 1.81796290e-04 9.99997088e-01 -9.67394892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.715898227 meters 0.08251452975866372 Centerline is valid? [True, True] Translation: X:60.02, Y:2.03, Z:-0.97 [[ 9.99862402e-01 -1.63168727e-02 -2.98953420e-03 6.00222226e+01] [ 1.63161521e-02 9.99866848e-01 -2.65290006e-04 2.03289781e+00] [ 2.99346484e-03 2.16475808e-04 9.99995496e-01 -9.68566887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77589822699998 meters 0.0761300103445086 Centerline is valid? [True, True] Translation: X:60.08, Y:2.03, Z:-0.97 [[ 9.99828506e-01 -1.84234926e-02 -1.88001097e-03 6.00834407e+01] [ 1.84232113e-02 9.99830264e-01 -1.66805805e-04 2.02819090e+00] [ 1.88276501e-03 1.32141359e-04 9.99998219e-01 -9.66728447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83589822699999 meters 0.07545431672288398 Centerline is valid? [True, True] Translation: X:60.15, Y:2.03, Z:-0.96 [[ 9.99809428e-01 -1.95195434e-02 -3.08162533e-04 6.01454487e+01] [ 1.95195359e-02 9.99809475e-01 -2.73232816e-05 2.03095358e+00] [ 3.08637158e-04 2.13028849e-05 9.99999952e-01 -9.63311531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.89589822699999 meters 0.07683762875725682 Centerline is valid? [True, True] Translation: X:60.21, Y:2.04, Z:-0.97 [[ 9.99800319e-01 -1.98581287e-02 -2.23102871e-03 6.02053309e+01] [ 1.98577365e-02 9.99802796e-01 -1.97845982e-04 2.03533822e+00] [ 2.23451759e-03 1.53503296e-04 9.99997492e-01 -9.66252960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.95589822699999 meters 0.07163163026573814 Centerline is valid? [True, True] Translation: X:60.27, Y:2.03, Z:-0.96 [[ 9.99781432e-01 -2.08186923e-02 -1.91558365e-03 6.02675434e+01] [ 2.08184050e-02 9.99783259e-01 -1.69797739e-04 2.03209886e+00] [ 1.91870343e-03 1.29881231e-04 9.99998151e-01 -9.64039124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.015898227 meters 0.07534016622143051 Centerline is valid? [True, True] Translation: X:60.33, Y:2.04, Z:-0.96 [[ 9.99755655e-01 -2.21032416e-02 -2.76405186e-04 6.03279840e+01] [ 2.21032356e-02 9.99755693e-01 -2.44897089e-05 2.03659438e+00] [ 2.76878961e-04 1.83742760e-05 9.99999962e-01 -9.64073433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.075898227 meters 0.0692735601313966 Centerline is valid? [True, True] Translation: X:60.39, Y:2.03, Z:-0.96 [[ 9.99671217e-01 -2.56143226e-02 -1.16794653e-03 6.03894804e+01] [ 2.56142191e-02 9.99671897e-01 -1.03498791e-04 2.02635801e+00] [ 1.17021438e-03 7.35487241e-05 9.99999313e-01 -9.62647251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.135898227 meters 0.07186719877654696 Centerline is valid? [True, True] Translation: X:60.45, Y:2.02, Z:-0.96 [[ 9.99734694e-01 -2.30168071e-02 -8.76657418e-04 6.04499771e+01] [ 2.30167477e-02 9.99735077e-01 -7.76836269e-05 2.02484218e+00] [ 8.78213200e-04 5.74852143e-05 9.99999613e-01 -9.61308833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19589822699999 meters 0.0786128772075011 Centerline is valid? [True, True] Translation: X:60.51, Y:2.04, Z:-0.96 [[ 9.99857804e-01 -1.68609655e-02 2.80671583e-04 6.05093785e+01] [ 1.68609591e-02 9.99857844e-01 2.48714830e-05 2.03721420e+00] [-2.81051041e-04 -2.01355543e-05 9.99999960e-01 -9.60234688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.25589822699999 meters 0.09019625307378734 Centerline is valid? [True, True] Translation: X:60.57, Y:2.06, Z:-0.96 [[ 9.99992560e-01 -3.66793731e-03 -1.19401779e-03 6.05686057e+01] [ 3.66781358e-03 9.99993268e-01 -1.05801321e-04 2.05690821e+00] [ 1.19439782e-03 1.01421099e-04 9.99999282e-01 -9.64371305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.31589822699999 meters 0.0932593769736282 Centerline is valid? [True, True] Translation: X:60.63, Y:2.07, Z:-0.96 [[ 9.99993343e-01 3.22139483e-03 -1.71393179e-03 6.06281160e+01] [-3.22165985e-03 9.99994799e-01 -1.51890482e-04 2.06532842e+00] [ 1.71343357e-03 1.57411176e-04 9.99998520e-01 -9.62683457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.375898227 meters 0.10143922261106637 Centerline is valid? [True, False] Translation: X:60.63, Y:2.07, Z:-0.96 [[ 9.99993346e-01 3.21277652e-03 -1.72794614e-03 6.06283892e+01] [-3.21307576e-03 9.99994824e-01 -1.70428913e-04 2.06539117e+00] [ 1.72738964e-03 1.75979801e-04 9.99998493e-01 -9.63190901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.435898227 meters 0.10807419748786735 Centerline is valid? [False, False] Translation: X:60.63, Y:2.07, Z:-0.96 [[ 9.99994704e-01 2.82952695e-03 -1.60831136e-03 6.06279256e+01] [-2.83128746e-03 9.99995394e-01 -1.09341018e-03 2.06952527e+00] [ 1.60521012e-03 1.09795798e-03 9.99998109e-01 -9.63021162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.495898227 meters 0.09374310600150254 Centerline is valid? [False, True] Translation: X:60.63, Y:2.08, Z:-0.96 [[ 9.99996486e-01 2.15090432e-03 -1.54949834e-03 6.06277881e+01] [-2.15569303e-03 9.99992885e-01 -3.09547651e-03 2.07797222e+00] [ 1.54282924e-03 3.09880588e-03 9.99994009e-01 -9.63493263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55589822699999 meters 0.09831165637870404 Centerline is valid? [True, True] Translation: X:60.69, Y:2.09, Z:-0.97 [[ 9.99984716e-01 4.06346291e-03 -3.74905377e-03 6.06858613e+01] [-4.06482015e-03 9.99991676e-01 -3.54473941e-04 2.09391159e+00] [ 3.74758217e-03 3.69707753e-04 9.99992909e-01 -9.69536186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.61589822699999 meters 0.100242309543076 Centerline is valid? [True, False] Translation: X:60.71, Y:2.10, Z:-0.97 [[ 9.99996520e-01 -1.22276589e-03 -2.33774476e-03 6.07051766e+01] [ 1.23319126e-03 9.99989279e-01 4.46335792e-03 2.10052073e+00] [ 2.33226206e-03 -4.46622527e-03 9.99987307e-01 -9.68675785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.67589822699999 meters 0.08980747694237735 Centerline is valid? [False, True] Translation: X:60.66, Y:2.10, Z:-0.97 [[ 9.99992009e-01 -3.37951790e-03 -2.13580915e-03 6.06622652e+01] [ 3.38335380e-03 9.99992666e-01 1.79493991e-03 2.10050745e+00] [ 2.12972745e-03 -1.80215177e-03 9.99996108e-01 -9.69071850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.73589822699999 meters 0.09678808546531628 Centerline is valid? [True, True] Translation: X:60.72, Y:2.11, Z:-0.97 [[ 9.99967492e-01 -7.88858313e-03 -1.66880665e-03 6.07209394e+01] [ 7.88833445e-03 9.99968875e-01 -1.55545858e-04 2.11466423e+00] [ 1.66998175e-03 1.42376697e-04 9.99998595e-01 -9.72261260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.795898227 meters 0.08025190357485439 Centerline is valid? [True, True] Translation: X:60.78, Y:2.10, Z:-0.97 [[ 9.99962440e-01 -8.50798032e-03 -1.65316799e-03 6.07839825e+01] [ 8.50773736e-03 9.99963797e-01 -1.53942798e-04 2.10293102e+00] [ 1.65441788e-03 1.39872296e-04 9.99998622e-01 -9.67487767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.855898227 meters 0.09358268212233833 Centerline is valid? [True, True] Translation: X:60.84, Y:2.13, Z:-0.97 [[ 9.99955670e-01 -9.37548271e-03 -8.70949062e-04 6.08419929e+01] [ 9.37541561e-03 9.99956047e-01 -8.10939710e-05 2.12723197e+00] [ 8.71671076e-04 7.29248666e-05 9.99999617e-01 -9.66830305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91589822699999 meters 0.08486294679172185 Centerline is valid? [True, True] Translation: X:60.90, Y:2.12, Z:-0.96 [[ 9.99958078e-01 -9.15377029e-03 -2.27207341e-04 6.09043014e+01] [ 9.15376574e-03 9.99958103e-01 -2.10910563e-05 2.12283990e+00] [ 2.27390885e-04 1.90103693e-05 9.99999974e-01 -9.64501882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97589822699999 meters 0.08763258553296273 Centerline is valid? [True, True] Translation: X:60.96, Y:2.13, Z:-0.96 [[ 9.99974348e-01 -6.99834805e-03 1.52524369e-03 6.09643266e+01] [ 6.99813947e-03 9.99975503e-01 1.42045583e-04 2.13439382e+00] [-1.52620041e-03 -1.31368071e-04 9.99998827e-01 -9.62349458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.03589822699999 meters 0.09130569417568977 Centerline is valid? [True, True] Translation: X:61.02, Y:2.15, Z:-0.96 [[ 9.99996361e-01 -2.64611722e-03 5.26323149e-04 6.10229105e+01] [ 2.64609179e-03 9.99996498e-01 4.90181714e-05 2.15433636e+00] [-5.26451013e-04 -4.76252936e-05 9.99999860e-01 -9.63169059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.09589822699999 meters 0.09698165680573341 Centerline is valid? [True, True] Translation: X:61.08, Y:2.17, Z:-0.97 [[ 9.99996250e-01 -7.69915172e-04 -2.62821268e-03 6.10810239e+01] [ 7.69274449e-04 9.99999674e-01 -2.44788815e-04 2.17488912e+00] [ 2.62840029e-03 2.42766080e-04 9.99996516e-01 -9.69116877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.155898227 meters 0.09948969059394348 Centerline is valid? [True, True] Translation: X:61.14, Y:2.19, Z:-0.97 [[ 9.99987328e-01 -5.01569577e-03 -4.32995495e-04 6.11393501e+01] [ 5.01567876e-03 9.99987421e-01 -4.03677254e-05 2.19215285e+00] [ 4.33192520e-04 3.81954475e-05 9.99999905e-01 -9.66424982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.215898227 meters 0.09077109935580312 Centerline is valid? [True, True] Translation: X:61.20, Y:2.19, Z:-0.97 [[ 9.99923084e-01 -1.23904712e-02 -5.49356613e-04 6.12006419e+01] [ 1.23904449e-02 9.99923234e-01 -5.11390479e-05 2.19110950e+00] [ 5.49948078e-04 4.43283417e-05 9.99999848e-01 -9.66612991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27589822699998 meters 0.08404190419084274 Centerline is valid? [True, True] Translation: X:61.26, Y:2.19, Z:-0.97 [[ 9.99896396e-01 -1.42637129e-02 -1.93488175e-03 6.12616396e+01] [ 1.42633908e-02 9.99898256e-01 -1.80145210e-04 2.19472214e+00] [ 1.93725442e-03 1.52528571e-04 9.99998112e-01 -9.66884630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33589822699999 meters 0.08406906610730039 Centerline is valid? [True, True] Translation: X:61.32, Y:2.20, Z:-0.97 [[ 9.99919900e-01 -1.23860722e-02 -2.60359489e-03 6.13220291e+01] [ 1.23854827e-02 9.99923268e-01 -2.42387614e-04 2.20193085e+00] [ 2.60639734e-03 2.10121420e-04 9.99996581e-01 -9.68018635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.39589822699999 meters 0.09328631502091754 Centerline is valid? [True, True] Translation: X:61.38, Y:2.22, Z:-0.97 [[ 9.99960169e-01 -8.31735369e-03 -3.23747875e-03 6.13794766e+01] [ 8.31642132e-03 9.99965373e-01 -3.01351435e-04 2.22388630e+00] [ 3.23987309e-03 2.74415195e-04 9.99994714e-01 -9.69726784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.45589822699999 meters 0.09565091782208777 Centerline is valid? [True, True] Translation: X:61.44, Y:2.23, Z:-0.97 [[ 9.99974883e-01 -6.49371789e-03 -2.83977878e-03 6.14396393e+01] [ 6.49299314e-03 9.99978885e-01 -2.64359646e-04 2.23363816e+00] [ 2.84143549e-03 2.45914343e-04 9.99995933e-01 -9.67478015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.515898227 meters 0.08454889917843925 Centerline is valid? [True, True] Translation: X:61.50, Y:2.22, Z:-0.96 [[ 9.99955936e-01 -9.11371583e-03 2.25091797e-03 6.15010512e+01] [ 9.11294135e-03 9.99958414e-01 3.54090594e-04 2.22237157e+00] [-2.25405145e-03 -3.33562508e-04 9.99997404e-01 -9.64411055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.575898227 meters 0.07793165590996678 Centerline is valid? [True, True] Translation: X:61.56, Y:2.21, Z:-0.96 [[ 9.99880248e-01 -1.51903829e-02 2.95665684e-03 6.15622416e+01] [ 1.51900467e-02 9.99884615e-01 1.36155420e-04 2.21484179e+00] [-2.95838394e-03 -9.12273595e-05 9.99995620e-01 -9.62268468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.635898227 meters 0.07808927156690937 Centerline is valid? [True, True] Translation: X:61.62, Y:2.22, Z:-0.97 [[ 9.99830041e-01 -1.84220909e-02 7.17531049e-04 6.16220777e+01] [ 1.84220477e-02 9.99830297e-01 6.67664863e-05 2.21558127e+00] [-7.18639260e-04 -5.35367476e-05 9.99999740e-01 -9.65378211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69589822699999 meters 0.07632658678778752 Centerline is valid? [True, True] Translation: X:61.68, Y:2.21, Z:-0.97 [[ 9.99830299e-01 -1.83729222e-02 -1.34483802e-03 6.16844955e+01] [ 1.83727706e-02 9.99831199e-01 -1.25002614e-04 2.21234259e+00] [ 1.34690767e-03 1.00273000e-04 9.99999088e-01 -9.66375400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.75589822699999 meters 0.07278475055115444 Centerline is valid? [True, True] Translation: X:61.75, Y:2.21, Z:-0.97 [[ 9.99887204e-01 -1.49654048e-02 -1.27089736e-03 6.17465916e+01] [ 1.49652666e-02 9.99888007e-01 -1.18185122e-04 2.20735637e+00] [ 1.27252372e-03 9.91524739e-05 9.99999185e-01 -9.66090335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.81589822699999 meters 0.08215348679029254 Centerline is valid? [True, True] Translation: X:61.81, Y:2.22, Z:-0.97 [[ 9.99927339e-01 -1.20509898e-02 -2.99551318e-04 6.18054090e+01] [ 1.20509820e-02 9.99927384e-01 -2.79010590e-05 2.21874775e+00] [ 2.99865801e-04 2.42891441e-05 9.99999955e-01 -9.66243460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.875898227 meters 0.08534082921109921 Centerline is valid? [True, True] Translation: X:61.87, Y:2.21, Z:-0.97 [[ 9.99939531e-01 -1.08575901e-02 -1.74584974e-03 6.18658935e+01] [ 1.08573233e-02 9.99941044e-01 -1.62243864e-04 2.21439942e+00] [ 1.74750839e-03 1.43278798e-04 9.99998463e-01 -9.70067027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.935898227 meters 0.08302258382906058 Centerline is valid? [True, True] Translation: X:61.93, Y:2.21, Z:-0.97 [[ 9.99928561e-01 -1.19403406e-02 -5.49316400e-04 6.19275633e+01] [ 1.19403143e-02 9.99928711e-01 -5.10800396e-05 2.20857174e+00] [ 5.49887152e-04 4.45173800e-05 9.99999848e-01 -9.69452280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.995898227 meters 0.08661300873416278 Centerline is valid? [True, True] Translation: X:61.99, Y:2.21, Z:-0.96 [[ 9.99928138e-01 -1.18207285e-02 1.99722151e-03 6.19883614e+01] [ 1.18203809e-02 9.99930120e-01 1.85749731e-04 2.20756795e+00] [-1.99927764e-03 -1.62128464e-04 9.99997988e-01 -9.64384296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05589822699999 meters 0.08557432769333653 Centerline is valid? [True, True] Translation: X:62.05, Y:2.21, Z:-0.97 [[ 9.99977143e-01 -6.73487434e-03 -5.95475521e-04 6.20495403e+01] [ 6.73484255e-03 9.99977319e-01 -5.53728037e-05 2.20767076e+00] [ 5.95834944e-04 5.13611042e-05 9.99999821e-01 -9.69364510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.11589822699999 meters 0.09922742062152619 Centerline is valid? [True, True] Translation: X:62.11, Y:2.23, Z:-0.97 [[ 9.99995819e-01 2.07873360e-03 -2.01010083e-03 6.21066807e+01] [-2.07911325e-03 9.99997821e-01 -1.86803271e-04 2.23110650e+00] [ 2.00970814e-03 1.90981717e-04 9.99997962e-01 -9.70624551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.17589822699999 meters 0.09933793554437356 Centerline is valid? [True, True] Translation: X:62.17, Y:2.24, Z:-0.97 [[ 9.99998092e-01 1.95221299e-03 -6.90843595e-05 6.21655691e+01] [-1.95221345e-03 9.99998094e-01 -6.48968884e-06 2.23969277e+00] [ 6.90715586e-05 6.62454387e-06 9.99999998e-01 -9.65226768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.23589822699999 meters 0.09886884493745392 Centerline is valid? [True, True] Translation: X:62.22, Y:2.25, Z:-0.97 [[ 9.99996099e-01 -1.14381150e-03 -2.54842701e-03 6.22247145e+01] [ 1.14321110e-03 9.99999318e-01 -2.37041954e-04 2.24560346e+00] [ 2.54869641e-03 2.34127639e-04 9.99996725e-01 -9.69792120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.295898227 meters 0.09111049404028221 Centerline is valid? [True, True] Translation: X:62.29, Y:2.24, Z:-0.97 [[ 9.99986479e-01 -3.87274805e-03 -3.47026142e-03 6.22857341e+01] [ 3.87165074e-03 9.99992453e-01 -3.22866027e-04 2.24043026e+00] [ 3.47148561e-03 3.09426021e-04 9.99993927e-01 -9.74238683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.355898227 meters 0.0831515733524641 Centerline is valid? [True, True] Translation: X:62.35, Y:2.24, Z:-0.97 [[ 9.99977672e-01 -6.66834225e-03 -4.35346825e-04 6.23459887e+01] [ 6.66832524e-03 9.99977766e-01 -4.05203230e-05 2.24219586e+00] [ 4.35607349e-04 3.76163840e-05 9.99999904e-01 -9.68023240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41589822699999 meters 0.09480169722542883 Centerline is valid? [True, True] Translation: X:62.40, Y:2.26, Z:-0.97 [[ 9.99971173e-01 -7.45292440e-03 -1.45160765e-03 6.24044247e+01] [ 7.45273624e-03 9.99972219e-01 -1.34989297e-04 2.26440786e+00] [ 1.45257339e-03 1.24166956e-04 9.99998937e-01 -9.67620677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47589822699999 meters 0.08893035800056122 Centerline is valid? [True, True] Translation: X:62.46, Y:2.27, Z:-0.97 [[ 9.99975447e-01 -3.32815104e-03 -6.16670936e-03 6.24647330e+01] [ 3.32467626e-03 9.99994309e-01 -5.73639110e-04 2.26955716e+00] [ 6.16858342e-03 5.53122713e-04 9.99980821e-01 -9.74878577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.53589822699999 meters 0.0933817089870969 Centerline is valid? [True, True] Translation: X:62.52, Y:2.29, Z:-0.98 [[ 9.99972561e-01 7.04318386e-04 -7.37433014e-03 6.25237149e+01] [-7.09396251e-04 9.99999513e-01 -6.85993544e-04 2.28632171e+00] [ 7.37384339e-03 6.91206043e-04 9.99972574e-01 -9.80380597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.59589822699999 meters 0.10258379492081654 Centerline is valid? [True, False] Translation: X:62.51, Y:2.29, Z:-0.97 [[ 9.99987351e-01 1.14511310e-03 -4.89757311e-03 6.25110659e+01] [-1.14700269e-03 9.99999269e-01 -3.83032057e-04 2.28728065e+00] [ 4.89713092e-03 3.88644742e-04 9.99987933e-01 -9.70723745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.655898227 meters 0.09331060926525492 Centerline is valid? [False, True] Translation: X:62.53, Y:2.29, Z:-0.97 [[ 9.99991268e-01 -3.95345243e-03 -1.35417240e-03 6.25287630e+01] [ 3.96036792e-03 9.99978933e-01 5.14276621e-03 2.28750941e+00] [ 1.33381219e-03 -5.14808433e-03 9.99985859e-01 -9.70262597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.715898227 meters 0.09224595057672734 Centerline is valid? [True, True] Translation: X:62.59, Y:2.29, Z:-0.99 [[ 9.99870501e-01 -8.72631995e-03 -1.35215314e-02 6.25886236e+01] [ 8.70942199e-03 9.99961217e-01 -1.30809046e-03 2.29132503e+00] [ 1.35324218e-02 1.19015634e-03 9.99907724e-01 -9.88278837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77589822699998 meters 0.0925588859432248 Centerline is valid? [True, True] Translation: X:62.65, Y:2.30, Z:-0.99 [[ 9.99897744e-01 -7.96868642e-03 -1.18744012e-02 6.26475052e+01] [ 7.95559824e-03 9.99967694e-01 -1.14904688e-03 2.29749449e+00] [ 1.18831740e-02 1.05446141e-03 9.99928837e-01 -9.87506724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83589822699999 meters 0.1010024297051339 Centerline is valid? [True, False] Translation: X:62.66, Y:2.30, Z:-0.98 [[ 9.99981754e-01 -2.25536501e-03 -5.60392913e-03 6.26566085e+01] [ 2.22444660e-03 9.99982305e-01 -5.51739444e-03 2.29965121e+00] [ 5.61627371e-03 5.50482813e-03 9.99969077e-01 -9.81924848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.89589822699999 meters 0.10244791382056852 Centerline is valid? [False, False] Translation: X:62.66, Y:2.30, Z:-0.99 [[ 9.99975233e-01 2.98032165e-06 -7.03803561e-03 6.26638012e+01] [-2.95456544e-05 9.99992876e-01 -3.77443703e-03 2.30415098e+00] [ 7.03797423e-03 3.77455149e-03 9.99968109e-01 -9.86846998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.95589822699999 meters 0.09727572885865907 Centerline is valid? [False, True] Translation: X:62.63, Y:2.31, Z:-0.99 [[ 9.99964332e-01 1.07250021e-03 -8.37757509e-03 6.26271823e+01] [-1.10194429e-03 9.99993230e-01 -3.51080455e-03 2.30510419e+00] [ 8.37375303e-03 3.51991095e-03 9.99958744e-01 -9.92715615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.015898227 meters 0.10027295025710067 Centerline is valid? [True, False] Translation: X:62.68, Y:2.31, Z:-0.99 [[ 9.99996020e-01 -2.04766104e-03 -1.94113550e-03 6.26844726e+01] [ 2.05176937e-03 9.99995655e-01 2.11683182e-03 2.31328364e+00] [ 1.93679251e-03 -2.12080616e-03 9.99995875e-01 -9.92186900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.075898227 meters 0.10651069867262612 Centerline is valid? [False, False] Translation: X:62.68, Y:2.32, Z:-0.99 [[ 9.99992098e-01 -3.87085760e-03 -9.06153953e-04 6.26784863e+01] [ 3.87097175e-03 9.99992500e-01 1.24256879e-04 2.31647254e+00] [ 9.05666176e-04 -1.27763593e-04 9.99999582e-01 -9.87889572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.135898227 meters 0.09800996452430892 Centerline is valid? [False, True] Translation: X:62.66, Y:2.32, Z:-0.99 [[ 9.99969742e-01 -5.26244136e-03 -5.72902217e-03 6.26604274e+01] [ 5.19411099e-03 9.99915972e-01 -1.18773034e-02 2.31902673e+00] [ 5.79104439e-03 1.18471869e-02 9.99913050e-01 -9.85842134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19589822699999 meters 0.08821859504189031 Centerline is valid? [True, True] Translation: X:62.72, Y:2.31, Z:-0.98 [[ 9.99967659e-01 -7.37821644e-03 -3.20057207e-03 6.27222846e+01] [ 7.37730145e-03 9.99972743e-01 -2.97594461e-04 2.31105998e+00] [ 3.20268055e-03 2.73973252e-04 9.99994834e-01 -9.80122807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.25589822699999 meters 0.0755673087746138 Centerline is valid? [True, True] Translation: X:62.78, Y:2.30, Z:-0.97 [[ 9.99947271e-01 -1.02690537e-02 2.87334779e-05 6.27843885e+01] [ 1.02690536e-02 9.99947272e-01 2.67090471e-06 2.29854568e+00] [-2.87593906e-05 -2.37569825e-06 1.00000000e+00 -9.73676431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.31589822699999 meters 0.08291626905628645 Centerline is valid? [True, True] Translation: X:62.84, Y:2.31, Z:-0.98 [[ 9.99923022e-01 -1.18533240e-02 -3.66730536e-03 6.28430106e+01] [ 1.18521523e-02 9.99929703e-01 -3.41051030e-04 2.30902388e+00] [ 3.67109014e-03 2.97559315e-04 9.99993217e-01 -9.81632381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.375898227 meters 0.08000302584897898 Centerline is valid? [True, True] Translation: X:62.90, Y:2.31, Z:-0.98 [[ 9.99944300e-01 -1.01604808e-02 -2.85671207e-03 6.29035390e+01] [ 1.01597631e-02 9.99948353e-01 -2.65658425e-04 2.31111839e+00] [ 2.85926374e-03 2.36620110e-04 9.99995884e-01 -9.81147678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.435898227 meters 0.08445155533724387 Centerline is valid? [True, True] Translation: X:62.96, Y:2.32, Z:-0.98 [[ 9.99980616e-01 -6.16785219e-03 -8.51284295e-04 6.29629322e+01] [ 6.16778702e-03 9.99980976e-01 -7.91645863e-05 2.32458940e+00] [ 8.51756375e-04 7.39125116e-05 9.99999635e-01 -9.75023701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.495898227 meters 0.09119698772297652 Centerline is valid? [True, True] Translation: X:63.02, Y:2.34, Z:-0.99 [[ 9.99966357e-01 -2.84914873e-03 -7.69196886e-03 6.30210259e+01] [ 2.84373119e-03 9.99995701e-01 -7.15156581e-04 2.33984503e+00] [ 7.69397337e-03 6.93258630e-04 9.99970161e-01 -9.87483379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55589822699999 meters 0.08826481694439715 Centerline is valid? [True, True] Translation: X:63.08, Y:2.34, Z:-0.99 [[ 9.99973039e-01 -3.75202374e-03 -6.31216872e-03 6.30810540e+01] [ 3.74839272e-03 9.99992802e-01 -5.86972303e-04 2.34412608e+00] [ 6.31432562e-03 5.63295990e-04 9.99979906e-01 -9.85597899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.61589822699999 meters 0.09742748817005617 Centerline is valid? [True, True] Translation: X:63.14, Y:2.36, Z:-0.98 [[ 9.99978925e-01 -4.55888614e-03 -4.62224402e-03 6.31382302e+01] [ 4.55694678e-03 9.99989525e-01 -4.30017597e-04 2.36349196e+00] [ 4.62415600e-03 4.08945215e-04 9.99989225e-01 -9.82994464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.67589822699999 meters 0.08864528458872367 Centerline is valid? [True, True] Translation: X:63.20, Y:2.36, Z:-0.99 [[ 9.99950715e-01 -6.47231460e-03 -7.52836296e-03 6.31988892e+01] [ 6.46722333e-03 9.99978842e-01 -7.00426478e-04 2.35931199e+00] [ 7.53273706e-03 6.51704353e-04 9.99971416e-01 -9.87049863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.73589822699999 meters 0.09059956420854422 Centerline is valid? [True, True] Translation: X:63.26, Y:2.37, Z:-0.97 [[ 9.99982250e-01 -5.95665911e-03 -1.36390496e-04 6.32565557e+01] [ 5.95665742e-03 9.99982259e-01 -1.27411789e-05 2.36718152e+00] [ 1.36463971e-04 1.19285213e-05 9.99999991e-01 -9.74658898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.795898227 meters 0.09286604792222386 Centerline is valid? [True, True] Translation: X:63.32, Y:2.38, Z:-0.97 [[ 9.99992515e-01 -3.71948808e-03 -1.06528654e-03 6.33162357e+01] [ 3.71938454e-03 9.99993078e-01 -9.91579871e-05 2.37896699e+00] [ 1.06564798e-03 9.51950346e-05 9.99999428e-01 -9.74033979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.855898227 meters 0.09810949777150654 Centerline is valid? [True, True] Translation: X:63.38, Y:2.39, Z:-0.99 [[ 9.99974631e-01 -2.80869709e-03 -6.54582115e-03 6.33752014e+01] [ 2.80476828e-03 9.99995881e-01 -6.09303417e-04 2.39356760e+00] [ 6.54750554e-03 5.90928448e-04 9.99978390e-01 -9.85405000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91589822699999 meters 0.09979097797783472 Centerline is valid? [True, True] Translation: X:63.43, Y:2.40, Z:-0.98 [[ 9.99989432e-01 -3.90240723e-03 -2.43040978e-03 6.34340155e+01] [ 3.90186864e-03 9.99992362e-01 -2.26307327e-04 2.40003548e+00] [ 2.43127436e-03 2.16821796e-04 9.99997021e-01 -9.80923584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97589822699999 meters 0.0937403453320112 Centerline is valid? [True, True] Translation: X:63.50, Y:2.40, Z:-0.97 [[ 9.99976239e-01 -6.89058228e-03 2.00976823e-04 6.34953927e+01] [ 6.89057865e-03 9.99976260e-01 1.87154473e-05 2.39811859e+00] [-2.01101013e-04 -1.73301560e-05 9.99999980e-01 -9.74554189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.03589822699999 meters 0.09749064810226071 Centerline is valid? [True, True] Translation: X:63.55, Y:2.41, Z:-0.98 [[ 9.99965727e-01 -8.14925303e-03 -1.46120008e-03 6.35540116e+01] [ 8.14906303e-03 9.99966787e-01 -1.35934948e-04 2.40963336e+00] [ 1.46225932e-03 1.24022877e-04 9.99998923e-01 -9.76980983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.09589822699999 meters 0.09384064573852387 Centerline is valid? [True, True] Translation: X:63.61, Y:2.41, Z:-0.97 [[ 9.99987478e-01 -5.00306052e-03 1.10857528e-04 6.36145587e+01] [ 5.00305940e-03 9.99987485e-01 1.03178044e-05 2.41219921e+00] [-1.10907761e-04 -9.76304840e-06 9.99999994e-01 -9.74100084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.155898227 meters 0.10665325501704812 Centerline is valid? [True, False] Translation: X:63.64, Y:2.41, Z:-0.97 [[ 9.99980993e-01 1.62596003e-03 -5.94721393e-03 6.36390581e+01] [-1.63480862e-03 9.99997564e-01 -1.48329580e-03 2.41233550e+00] [ 5.94478766e-03 1.49299017e-03 9.99981215e-01 -9.70653889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.215898227 meters 0.09923301298496766 Centerline is valid? [False, True] Translation: X:63.60, Y:2.41, Z:-0.97 [[ 9.99978212e-01 1.43323031e-03 -6.44378238e-03 6.35992250e+01] [-1.44488269e-03 9.99997329e-01 -1.80402145e-03 2.40790224e+00] [ 6.44117959e-03 1.81329265e-03 9.99977611e-01 -9.73833791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27589822699998 meters 0.10774145424448864 Centerline is valid? [True, False] Translation: X:63.60, Y:2.41, Z:-0.97 [[ 9.99978267e-01 1.68284145e-03 -6.37443833e-03 6.35988460e+01] [-1.69038162e-03 9.99997878e-01 -1.17767430e-03 2.40515504e+00] [ 6.37244296e-03 1.18842394e-03 9.99978990e-01 -9.73345085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33589822699999 meters 0.10676646971889678 Centerline is valid? [False, False] Translation: X:63.60, Y:2.40, Z:-0.97 [[ 9.99977547e-01 2.07851429e-03 -6.37069787e-03 6.35987919e+01] [-2.07992039e-03 9.99997814e-01 -2.14095863e-04 2.40088182e+00] [ 6.37023895e-03 2.27341600e-04 9.99979684e-01 -9.73130670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.39589822699999 meters 0.09188112606527885 Centerline is valid? [False, True] Translation: X:63.60, Y:2.40, Z:-0.97 [[ 9.99976134e-01 2.35092229e-03 -6.49656771e-03 6.35995745e+01] [-2.34807911e-03 9.99997144e-01 4.45236408e-04 2.39793169e+00] [ 6.49759587e-03 -4.29971327e-04 9.99978798e-01 -9.73919125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.45589822699999 meters 0.09424937284464145 Centerline is valid? [True, True] Translation: X:63.66, Y:2.41, Z:-0.98 [[ 9.99941423e-01 5.81373662e-03 -9.12967420e-03 6.36593179e+01] [-5.82130497e-03 9.99982734e-01 -8.02627700e-04 2.40678779e+00] [ 9.12485030e-03 8.55727302e-04 9.99958002e-01 -9.76936844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.515898227 meters 0.09741874948968489 Centerline is valid? [True, True] Translation: X:63.72, Y:2.42, Z:-0.98 [[ 9.99940770e-01 7.04392184e-03 -8.29701467e-03 6.37181516e+01] [-7.05021586e-03 9.99974881e-01 -7.29584097e-04 2.41527575e+00] [ 8.29166712e-03 7.88036627e-04 9.99965313e-01 -9.76465565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.575898227 meters 0.09887609399018438 Centerline is valid? [True, True] Translation: X:63.78, Y:2.42, Z:-0.97 [[ 9.99957220e-01 7.91525635e-03 -4.78603708e-03 6.37769745e+01] [-7.91736105e-03 9.99968569e-01 -4.20970472e-04 2.42214971e+00] [ 4.78255456e-03 4.58845246e-04 9.99988458e-01 -9.70235716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63589822699998 meters 0.12662533705137494 Centerline is valid? [True, False] Translation: X:63.80, Y:2.43, Z:-0.97 [[ 9.99977062e-01 5.82176134e-03 -3.46150463e-03 6.37993262e+01] [-5.79481526e-03 9.99953222e-01 7.74422726e-03 2.42548764e+00] [ 3.50642775e-03 -7.72399085e-03 9.99964022e-01 -9.72683705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69589822699999 meters 0.10272800033802527 Centerline is valid? [False, False] Translation: X:63.80, Y:2.43, Z:-0.97 [[ 9.99993386e-01 9.98832131e-04 -3.49723351e-03 6.37995751e+01] [-9.91111513e-04 9.99997070e-01 2.20867343e-03 2.43069639e+00] [ 3.49942935e-03 -2.20519267e-03 9.99991446e-01 -9.73355087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.75589822699999 meters 0.10126415765252096 Centerline is valid? [False, False] Translation: X:63.79, Y:2.43, Z:-0.97 [[ 9.99996452e-01 -1.00700880e-03 -2.46607780e-03 6.37929407e+01] [ 1.00752081e-03 9.99999471e-01 2.06389160e-04 2.43225753e+00] [ 2.46586866e-03 -2.08873052e-04 9.99996938e-01 -9.68170254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.81589822699999 meters 0.09628155455183941 Centerline is valid? [False, True] Translation: X:63.79, Y:2.43, Z:-0.97 [[ 9.99996667e-01 -7.65370251e-04 -2.46580914e-03 6.37925669e+01] [ 7.67398017e-04 9.99999368e-01 8.21512209e-04 2.42957685e+00] [ 2.46517882e-03 -8.23401728e-04 9.99996622e-01 -9.67215494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.875898227 meters 0.09033667975221514 Centerline is valid? [True, True] Translation: X:63.85, Y:2.42, Z:-0.97 [[ 9.99976640e-01 -4.24431480e-03 -5.35770620e-03 6.38544893e+01] [ 4.24178860e-03 9.99990887e-01 -4.82781672e-04 2.42280224e+00] [ 5.35970645e-03 4.60044137e-04 9.99985531e-01 -9.73464547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.935898227 meters 0.08653243560186595 Centerline is valid? [True, True] Translation: X:63.91, Y:2.42, Z:-0.98 [[ 9.99945400e-01 -7.09852762e-03 -7.66860449e-03 6.39148049e+01] [ 7.09343487e-03 9.99974602e-01 -6.91099706e-04 2.42042827e+00] [ 7.67331552e-03 6.36665226e-04 9.99970357e-01 -9.76734518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.995898227 meters 0.08542472968447168 Centerline is valid? [True, True] Translation: X:63.97, Y:2.42, Z:-0.97 [[ 9.99949165e-01 -6.36926643e-03 -7.81664857e-03 6.39747439e+01] [ 6.36395163e-03 9.99979502e-01 -7.04619006e-04 2.42111198e+00] [ 7.82097625e-03 6.54838414e-04 9.99969201e-01 -9.74298218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05589822699999 meters 0.0971005446693301 Centerline is valid? [True, True] Translation: X:64.03, Y:2.44, Z:-0.97 [[ 9.99994528e-01 -2.13029213e-04 -3.30128003e-03 6.40327081e+01] [ 2.12047893e-04 9.99999933e-01 -2.97601543e-04 2.43881849e+00] [ 3.30134321e-03 2.96899885e-04 9.99994506e-01 -9.67587764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.11589822699999 meters 0.09660922055194485 Centerline is valid? [True, True] Translation: X:64.09, Y:2.45, Z:-0.97 [[ 9.99969520e-01 4.14751497e-03 -6.61491904e-03 6.40927603e+01] [-4.15154974e-03 9.99991204e-01 -5.96336069e-04 2.44605851e+00] [ 6.61238754e-03 6.23780058e-04 9.99977943e-01 -9.72802794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.17589822699999 meters 0.10921920535297226 Centerline is valid? [True, False] Translation: X:64.09, Y:2.45, Z:-0.97 [[ 9.99973092e-01 3.53609874e-03 -6.42743144e-03 6.40925480e+01] [-3.55266415e-03 9.99990393e-01 -2.56771060e-03 2.45422406e+00] [ 6.41829001e-03 2.59047601e-03 9.99976047e-01 -9.73921566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.23589822699999 meters 0.10508246178308257 Centerline is valid? [False, False] Translation: X:64.07, Y:2.46, Z:-0.98 [[ 9.99999921e-01 -3.84462372e-05 -3.95134268e-04 6.40662547e+01] [ 3.89013455e-05 9.99999336e-01 1.15183808e-03 2.46027787e+00] [ 3.95089722e-04 -1.15185336e-03 9.99999259e-01 -9.75596079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.295898227 meters 0.11539071339947374 Centerline is valid? [False, False] Translation: X:64.11, Y:2.47, Z:-0.98 [[ 9.99997785e-01 -9.44630269e-04 -1.88088185e-03 6.41124150e+01] [ 9.45298159e-04 9.99999490e-01 3.54236821e-04 2.46645887e+00] [ 1.88054627e-03 -3.56014031e-04 9.99998168e-01 -9.76434931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.355898227 meters 0.09179557272192708 Centerline is valid? [False, True] Translation: X:64.07, Y:2.46, Z:-0.98 [[ 9.99991033e-01 -3.02458687e-03 -2.96424598e-03 6.40735307e+01] [ 3.02049636e-03 9.99994481e-01 -1.38345782e-03 2.46115294e+00] [ 2.96841401e-03 1.37449192e-03 9.99994650e-01 -9.78644469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41589822699999 meters 0.07956756335084175 Centerline is valid? [True, True] Translation: X:64.13, Y:2.45, Z:-0.97 [[ 9.99988772e-01 -4.70262488e-03 5.83302163e-04 6.41342645e+01] [ 4.70281191e-03 9.99988891e-01 -3.19681921e-04 2.44970484e+00] [-5.81792339e-04 3.22421492e-04 9.99999779e-01 -9.73889011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47589822699999 meters 0.08596550232650815 Centerline is valid? [True, True] Translation: X:64.20, Y:2.46, Z:-0.98 [[ 9.99989296e-01 -4.30173076e-03 -1.70358251e-03 6.41951897e+01] [ 4.30177126e-03 9.99990747e-01 2.01096316e-05 2.46224839e+00] [ 1.70348024e-03 -2.74378386e-05 9.99998549e-01 -9.75148244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.53589822699999 meters 0.0876194522940325 Centerline is valid? [True, True] Translation: X:64.26, Y:2.47, Z:-0.98 [[ 9.99989580e-01 -3.85152020e-03 -2.45050907e-03 6.42554337e+01] [ 3.85097694e-03 9.99992559e-01 -2.26373521e-04 2.46886534e+00] [ 2.45136272e-03 2.16934308e-04 9.99996972e-01 -9.76964039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.59589822699999 meters 0.08485219786621995 Centerline is valid? [True, True] Translation: X:64.32, Y:2.46, Z:-0.97 [[ 9.99986226e-01 -5.23719724e-03 3.46128083e-04 6.43164028e+01] [ 5.23718649e-03 9.99986285e-01 3.19489427e-05 2.46457272e+00] [-3.46290658e-04 -3.01357653e-05 9.99999940e-01 -9.74300084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.655898227 meters 0.09150228372392281 Centerline is valid? [True, True] Translation: X:64.38, Y:2.47, Z:-0.98 [[ 9.99979166e-01 -6.45482242e-03 -4.73100211e-05 6.43760120e+01] [ 6.45482222e-03 9.99979167e-01 -4.34088903e-06 2.47357081e+00] [ 4.73370552e-05 4.03542082e-06 9.99999999e-01 -9.75784181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.715898227 meters 0.08903917311654318 Centerline is valid? [True, True] Translation: X:64.44, Y:2.47, Z:-0.97 [[ 9.99960611e-01 -8.73228353e-03 1.58877086e-03 6.44375583e+01] [ 8.73206127e-03 9.99961864e-01 1.46778535e-04 2.47023157e+00] [-1.58999198e-03 -1.32899509e-04 9.99998727e-01 -9.72225421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77589822699998 meters 0.08962373675141616 Centerline is valid? [True, True] Translation: X:64.50, Y:2.47, Z:-0.97 [[ 9.99943437e-01 -1.05925634e-02 9.58854974e-04 6.44976404e+01] [ 1.05924833e-02 9.99943894e-01 8.85652880e-05 2.47194038e+00] [-9.59739310e-04 -7.84036232e-05 9.99999536e-01 -9.74546773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83589822699999 meters 0.08741299622307802 Centerline is valid? [True, True] Translation: X:64.56, Y:2.47, Z:-0.97 [[ 9.99923433e-01 -1.23391330e-02 9.35007488e-04 6.45590243e+01] [ 1.23390575e-02 9.99923867e-01 8.63808982e-05 2.47065871e+00] [-9.36002169e-04 -7.48371730e-05 9.99999559e-01 -9.74779845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.89589822699999 meters 0.09629672804457523 Centerline is valid? [True, True] Translation: X:64.62, Y:2.48, Z:-0.97 [[ 9.99917198e-01 -1.28510096e-02 6.70286660e-04 6.46182112e+01] [ 1.28509710e-02 9.99917421e-01 6.19247043e-05 2.48389463e+00] [-6.71027103e-04 -5.33057423e-05 9.99999773e-01 -9.74136426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.95589822699999 meters 0.0845824041189987 Centerline is valid? [True, True] Translation: X:64.68, Y:2.47, Z:-0.98 [[ 9.99943710e-01 -1.01157119e-02 -3.20145459e-03 6.46803252e+01] [ 1.01148170e-02 9.99948800e-01 -2.95602573e-04 2.47164918e+00] [ 3.20428091e-03 2.63203806e-04 9.99994832e-01 -9.79220615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.015898227 meters 0.0883584561175057 Centerline is valid? [True, True] Translation: X:64.74, Y:2.48, Z:-0.98 [[ 9.99971372e-01 -7.31253245e-03 -1.94449371e-03 6.47400633e+01] [ 7.31219703e-03 9.99973249e-01 -1.79548198e-04 2.48080357e+00] [ 1.94575464e-03 1.65324537e-04 9.99998093e-01 -9.78697890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.075898227 meters 0.08885152043691798 Centerline is valid? [True, True] Translation: X:64.80, Y:2.49, Z:-0.98 [[ 9.99968946e-01 -7.84526097e-03 7.47467439e-04 6.48000444e+01] [ 7.84521154e-03 9.99969223e-01 6.90392900e-05 2.48791404e+00] [-7.47986066e-04 -6.31731059e-05 9.99999718e-01 -9.76067602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13589822699998 meters 0.08550795284866085 Centerline is valid? [True, True] Translation: X:64.86, Y:2.49, Z:-0.98 [[ 9.99918759e-01 -1.25831391e-02 -2.03450932e-03 6.48605712e+01] [ 1.25827828e-02 9.99920816e-01 -1.87836206e-04 2.48735886e+00] [ 2.03671179e-03 1.62221157e-04 9.99997913e-01 -9.81739297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19589822699999 meters 0.085498997593852 Centerline is valid? [True, True] Translation: X:64.92, Y:2.49, Z:-0.98 [[ 9.99875304e-01 -1.55454639e-02 -2.77772163e-03 6.49196667e+01] [ 1.55448109e-02 9.99879139e-01 -2.56518341e-04 2.49164499e+00] [ 2.78137361e-03 2.13307197e-04 9.99996109e-01 -9.82878632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.25589822699999 meters 0.084777197757259 Centerline is valid? [True, True] Translation: X:64.98, Y:2.50, Z:-0.98 [[ 9.99852525e-01 -1.71627659e-02 -6.06726538e-04 6.49807514e+01] [ 1.71627351e-02 9.99852708e-01 -5.59887325e-05 2.49508438e+00] [ 6.07598093e-04 4.55673887e-05 9.99999814e-01 -9.78833253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.31589822699999 meters 0.08163760305372804 Centerline is valid? [True, True] Translation: X:65.04, Y:2.49, Z:-0.98 [[ 9.99854282e-01 -1.70619556e-02 -5.52230953e-04 6.50421806e+01] [ 1.70619301e-02 9.99854433e-01 -5.09153454e-05 2.49477011e+00] [ 5.53019282e-04 4.14858002e-05 9.99999846e-01 -9.78830225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.375898227 meters 0.08227617032440301 Centerline is valid? [True, True] Translation: X:65.10, Y:2.50, Z:-0.98 [[ 9.99900165e-01 -1.41293154e-02 -1.48085964e-04 6.51026423e+01] [ 1.41293135e-02 9.99900176e-01 -1.36702226e-05 2.49831098e+00] [ 1.48264332e-04 1.15765048e-05 9.99999989e-01 -9.78564411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.435898227 meters 0.07480461483769862 Centerline is valid? [True, True] Translation: X:65.16, Y:2.49, Z:-0.98 [[ 9.99850618e-01 -1.72798264e-02 -3.85554900e-04 6.51638804e+01] [ 1.72798140e-02 9.99850692e-01 -3.55894811e-05 2.49149101e+00] [ 3.86112313e-04 2.89218478e-05 9.99999925e-01 -9.77850781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.495898227 meters 0.07813929366577746 Centerline is valid? [True, True] Translation: X:65.22, Y:2.50, Z:-0.98 [[ 9.99810432e-01 -1.94457701e-02 9.81115817e-04 6.52231961e+01] [ 1.94456905e-02 9.99810911e-01 9.05577827e-05 2.49824249e+00] [-9.82691264e-04 -7.14621413e-05 9.99999515e-01 -9.76026000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55589822699999 meters 0.07919239738447056 Centerline is valid? [True, True] Translation: X:65.28, Y:2.50, Z:-0.98 [[ 9.99837150e-01 -1.80249708e-02 8.79902005e-04 6.52837564e+01] [ 1.80249062e-02 9.99837535e-01 8.12387985e-05 2.50359639e+00] [-8.81223379e-04 -6.53654176e-05 9.99999610e-01 -9.77343225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.61589822699999 meters 0.08811775084133047 Centerline is valid? [True, True] Translation: X:65.34, Y:2.52, Z:-0.98 [[ 9.99927747e-01 -1.19538065e-02 1.26772601e-03 6.53416643e+01] [ 1.19536677e-02 9.99928546e-01 1.17020915e-04 2.52089142e+00] [-1.26903427e-03 -1.01858484e-04 9.99999190e-01 -9.76303369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.67589822699999 meters 0.08716549915598999 Centerline is valid? [True, True] Translation: X:65.40, Y:2.53, Z:-0.97 [[ 9.99937299e-01 -1.07818797e-02 3.02465476e-03 6.54026944e+01] [ 1.07810845e-02 9.99941843e-01 2.79108555e-04 2.52501221e+00] [-3.02748817e-03 -2.46481996e-04 9.99995387e-01 -9.74724015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.73589822699999 meters 0.08914273710550857 Centerline is valid? [True, True] Translation: X:65.46, Y:2.53, Z:-0.98 [[ 9.99871184e-01 -1.59920457e-02 1.36741726e-03 6.54627923e+01] [ 1.59918880e-02 9.99872114e-01 1.26174620e-04 2.52656661e+00] [-1.36926017e-03 -1.04290783e-04 9.99999057e-01 -9.79215120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.795898227 meters 0.07207573409486817 Centerline is valid? [True, True] Translation: X:65.53, Y:2.50, Z:-0.98 [[ 9.99789726e-01 -2.04844807e-02 9.43447624e-04 6.55261938e+01] [ 2.04844076e-02 9.99790169e-01 8.70655150e-05 2.50174768e+00] [-9.45033151e-04 -6.77212416e-05 9.99999551e-01 -9.79410057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.855898227 meters 0.07411954261832109 Centerline is valid? [True, True] Translation: X:65.59, Y:2.51, Z:-0.98 [[ 9.99842673e-01 -1.76922883e-02 -1.26974431e-03 6.55864181e+01] [ 1.76921537e-02 9.99843475e-01 -1.17126317e-04 2.50540266e+00] [ 1.27161780e-03 9.46433783e-05 9.99999187e-01 -9.82264164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91589822699999 meters 0.08627466775041472 Centerline is valid? [True, True] Translation: X:65.64, Y:2.53, Z:-0.99 [[ 9.99963475e-01 -7.36950408e-03 -4.32886302e-03 6.56440078e+01] [ 7.36784447e-03 9.99972777e-01 -3.99204559e-04 2.52594202e+00] [ 4.33168712e-03 3.67295589e-04 9.99990551e-01 -9.87709422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97589822699999 meters 0.09125080042694418 Centerline is valid? [True, True] Translation: X:65.70, Y:2.53, Z:-0.98 [[ 9.99996595e-01 -2.26008796e-03 -1.30480911e-03 6.57037228e+01] [ 2.25993285e-03 9.99997439e-01 -1.20337516e-04 2.53499810e+00] [ 1.30507774e-03 1.17388325e-04 9.99999141e-01 -9.84649978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.03589822699999 meters 0.08785441310206704 Centerline is valid? [True, True] Translation: X:65.76, Y:2.54, Z:-0.98 [[ 9.99998557e-01 -6.54238353e-04 -1.56786738e-03 6.57638921e+01] [ 6.54012296e-04 9.99999776e-01 -1.44689579e-04 2.54089806e+00] [ 1.56796169e-03 1.43663965e-04 9.99998760e-01 -9.84655797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.09589822699999 meters 0.09690430646447114 Centerline is valid? [True, True] Translation: X:65.82, Y:2.56, Z:-0.99 [[ 9.99999322e-01 -4.89731940e-04 -1.05619623e-03 6.58218791e+01] [ 4.89629257e-04 9.99999875e-01 -9.74763810e-05 2.56097734e+00] [ 1.05624383e-03 9.69591703e-05 9.99999437e-01 -9.85666813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.155898227 meters 0.08638123263440164 Centerline is valid? [True, True] Translation: X:65.88, Y:2.55, Z:-0.98 [[ 9.99994135e-01 -3.29178534e-03 -9.45831239e-04 6.58829668e+01] [ 3.29170425e-03 9.99994579e-01 -8.72700732e-05 2.55475495e+00] [ 9.46113386e-04 8.41561646e-05 9.99999549e-01 -9.83532403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.215898227 meters 0.08625170955486047 Centerline is valid? [True, True] Translation: X:65.94, Y:2.56, Z:-0.98 [[ 9.99979182e-01 -6.45201709e-03 8.41048805e-05 6.59422846e+01] [ 6.45201646e-03 9.99979185e-01 7.78157125e-06 2.56281309e+00] [-8.41533368e-05 -7.23876318e-06 9.99999996e-01 -9.83716201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27589822699998 meters 0.08827354041064767 Centerline is valid? [True, True] Translation: X:66.00, Y:2.57, Z:-0.98 [[ 9.99944803e-01 -1.05026375e-02 2.92739618e-04 6.60007212e+01] [ 1.05026300e-02 9.99944845e-01 2.69916572e-05 2.57424305e+00] [-2.93006955e-04 -2.39156315e-05 9.99999957e-01 -9.84587540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33589822699999 meters 0.07555136389784196 Centerline is valid? [True, True] Translation: X:66.06, Y:2.57, Z:-0.98 [[ 9.99909586e-01 -1.33973504e-02 -1.15344983e-03 6.60617152e+01] [ 1.33972365e-02 9.99910247e-01 -1.06420782e-04 2.57026136e+00] [ 1.15477206e-03 9.09581202e-05 9.99999329e-01 -9.84730459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.39589822699999 meters 0.07681855906018846 Centerline is valid? [True, True] Translation: X:66.12, Y:2.58, Z:-0.98 [[ 9.99901619e-01 -1.40267310e-02 5.63129562e-05 6.61225655e+01] [ 1.40267307e-02 9.99901621e-01 5.25444750e-06 2.58175075e+00] [-5.63811189e-05 -4.46404389e-06 9.99999998e-01 -9.82807013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.45589822699999 meters 0.08311580294823714 Centerline is valid? [True, True] Translation: X:66.18, Y:2.60, Z:-0.98 [[ 9.99900081e-01 -1.40964939e-02 1.05676936e-03 6.61830413e+01] [ 1.40963987e-02 9.99900636e-01 9.75248415e-05 2.59670963e+00] [-1.05803911e-03 -8.26184548e-05 9.99999437e-01 -9.80519282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.515898227 meters 0.0797311910294918 Centerline is valid? [True, True] Translation: X:66.25, Y:2.60, Z:-0.99 [[ 9.99900111e-01 -1.41145624e-02 -7.40212709e-04 6.62453487e+01] [ 1.41145158e-02 9.99900383e-01 -6.80942941e-05 2.59679862e+00] [ 7.41100092e-04 5.76397482e-05 9.99999724e-01 -9.85191575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.575898227 meters 0.084528285594921 Centerline is valid? [True, True] Translation: X:66.30, Y:2.61, Z:-0.98 [[ 9.99889994e-01 -1.47939564e-02 -1.06694979e-03 6.63049362e+01] [ 1.47938599e-02 9.99890560e-01 -9.82802714e-05 2.60753358e+00] [ 1.06828698e-03 8.24851542e-05 9.99999426e-01 -9.84982997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63589822699998 meters 0.08925354997091055 Centerline is valid? [True, True] Translation: X:66.36, Y:2.62, Z:-0.99 [[ 9.99934869e-01 -1.06841016e-02 -4.01344820e-03 6.63647051e+01] [ 1.06827029e-02 9.99942870e-01 -3.69774473e-04 2.61923519e+00] [ 4.01716962e-03 3.26875914e-04 9.99991878e-01 -9.89065994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69589822699999 meters 0.09206779718473874 Centerline is valid? [True, True] Translation: X:66.42, Y:2.63, Z:-0.99 [[ 9.99983061e-01 -4.86299027e-03 -3.19820288e-03 6.64241040e+01] [ 4.86207224e-03 9.99988137e-01 -2.94759804e-04 2.63134632e+00] [ 3.19959835e-03 2.79204918e-04 9.99994842e-01 -9.89268598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.75589822699999 meters 0.09612787257721907 Centerline is valid? [True, True] Translation: X:66.48, Y:2.65, Z:-0.99 [[ 9.99996583e-01 -2.55513347e-03 -5.52729116e-04 6.64835963e+01] [ 2.55510570e-03 9.99996734e-01 -5.09366464e-05 2.64688739e+00] [ 5.52857461e-04 4.95241910e-05 9.99999846e-01 -9.85476252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.81589822699999 meters 0.0944976978991259 Centerline is valid? [True, True] Translation: X:66.54, Y:2.66, Z:-0.99 [[ 9.99975137e-01 -6.97776343e-03 -1.01787351e-03 6.65422329e+01] [ 6.97767154e-03 9.99975651e-01 -9.38027738e-05 2.65697422e+00] [ 1.01850326e-03 8.66980546e-05 9.99999478e-01 -9.86658035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.875898227 meters 0.0880241067138601 Centerline is valid? [True, True] Translation: X:66.60, Y:2.65, Z:-0.99 [[ 9.99903880e-01 -1.38256978e-02 -1.03971994e-03 6.66031034e+01] [ 1.38256056e-02 9.99904417e-01 -9.58000340e-05 2.65428205e+00] [ 1.04094506e-03 8.14160679e-05 9.99999455e-01 -9.86871874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.935898227 meters 0.08239298676941895 Centerline is valid? [True, True] Translation: X:66.66, Y:2.66, Z:-0.98 [[ 9.99759761e-01 -2.18808466e-02 1.28441391e-03 6.66628637e+01] [ 2.18807125e-02 9.99760582e-01 1.18357561e-04 2.65563539e+00] [-1.28669616e-03 -9.02252353e-05 9.99999168e-01 -9.80731326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.995898227 meters 0.08501435290545191 Centerline is valid? [True, True] Translation: X:66.72, Y:2.67, Z:-0.98 [[ 9.99777906e-01 -2.10679695e-02 -5.29311139e-04 6.67234203e+01] [ 2.10679467e-02 9.99778045e-01 -4.86755702e-05 2.67142781e+00] [ 5.30219151e-04 3.75132608e-05 9.99999859e-01 -9.83774384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05589822699999 meters 0.08825115592340874 Centerline is valid? [True, True] Translation: X:66.78, Y:2.69, Z:-0.98 [[ 9.99824816e-01 -1.86050097e-02 2.04704330e-03 6.67826707e+01] [ 1.86046624e-02 9.99826901e-01 1.88567058e-04 2.68518087e+00] [-2.05019725e-03 -1.50449475e-04 9.99997887e-01 -9.78886829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.11589822699999 meters 0.08932276684556352 Centerline is valid? [True, True] Translation: X:66.84, Y:2.69, Z:-0.98 [[ 9.99806589e-01 -1.96653965e-02 2.38762249e-04 6.68422880e+01] [ 1.96653918e-02 9.99806617e-01 2.20179932e-05 2.69397061e+00] [-2.39149069e-04 -1.73183815e-05 9.99999971e-01 -9.82795718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.17589822699999 meters 0.0862175862387311 Centerline is valid? [True, True] Translation: X:66.90, Y:2.70, Z:-0.99 [[ 9.99709051e-01 -2.40973558e-02 -1.06305897e-03 6.69022435e+01] [ 2.40972653e-02 9.99709614e-01 -9.79285936e-05 2.69709074e+00] [ 1.06511009e-03 7.22832874e-05 9.99999430e-01 -9.86078393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.23589822699999 meters 0.06773360471977266 Centerline is valid? [True, True] Translation: X:66.96, Y:2.68, Z:-0.99 [[ 9.99625035e-01 -2.73590924e-02 -1.12678659e-03 6.69646288e+01] [ 2.73589927e-02 9.99625667e-01 -1.03785970e-04 2.67510479e+00] [ 1.12920429e-03 7.29193080e-05 9.99999360e-01 -9.86533829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.295898227 meters 0.066634054448216 Centerline is valid? [True, True] Translation: X:67.03, Y:2.67, Z:-0.99 [[ 9.99599521e-01 -2.82559376e-02 -1.54890685e-03 6.70267772e+01] [ 2.82557506e-02 9.99600716e-01 -1.42520486e-04 2.67267606e+00] [ 1.55231545e-03 9.86978837e-05 9.99998790e-01 -9.85894916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.355898227 meters 0.07761550254072458 Centerline is valid? [True, True] Translation: X:67.08, Y:2.69, Z:-0.99 [[ 9.99745716e-01 -2.22759188e-02 -3.50523367e-03 6.70846195e+01] [ 2.22749236e-02 9.99751831e-01 -3.22705157e-04 2.69255407e+00] [ 3.51155234e-03 2.44544286e-04 9.99993805e-01 -9.87697911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41589822699999 meters 0.08450535396033869 Centerline is valid? [True, True] Translation: X:67.14, Y:2.71, Z:-0.99 [[ 9.99949330e-01 -9.24188216e-03 -3.99053260e-03 6.71438345e+01] [ 9.24048908e-03 9.99957238e-01 -3.67392505e-04 2.70689950e+00] [ 3.99375736e-03 3.30499417e-04 9.99991970e-01 -9.89465487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47589822699999 meters 0.095224969821072 Centerline is valid? [True, True] Translation: X:67.20, Y:2.73, Z:-0.98 [[ 9.99981752e-01 -5.98789325e-03 -8.01051932e-04 6.72016617e+01] [ 5.98783606e-03 9.99982070e-01 -7.37837567e-05 2.72588491e+00] [ 8.01479379e-04 6.89858427e-05 9.99999676e-01 -9.84307031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.53589822699999 meters 0.08198104368564348 Centerline is valid? [True, True] Translation: X:67.26, Y:2.71, Z:-0.99 [[ 9.99953496e-01 -9.09141444e-03 -3.21744901e-03 6.72636066e+01] [ 9.09050805e-03 9.99958637e-01 -2.96223819e-04 2.71138989e+00] [ 3.22000902e-03 2.66961797e-04 9.99994780e-01 -9.87942906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.59589822699999 meters 0.07945033047667753 Centerline is valid? [True, True] Translation: X:67.32, Y:2.71, Z:-0.98 [[ 9.99906735e-01 -1.36275787e-02 9.00305034e-04 6.73244612e+01] [ 1.36275096e-02 9.99907138e-01 8.28940661e-05 2.71230839e+00] [-9.01351075e-04 -7.06174195e-05 9.99999591e-01 -9.83085985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.655898227 meters 0.07783806714293467 Centerline is valid? [True, True] Translation: X:67.39, Y:2.71, Z:-0.99 [[ 9.99903451e-01 -1.37960721e-02 -1.66067840e-03 6.73867202e+01] [ 1.37958374e-02 9.99904821e-01 -1.52699544e-04 2.71427511e+00] [ 1.66262700e-03 1.29774352e-04 9.99998609e-01 -9.86241405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.715898227 meters 0.07869927544587617 Centerline is valid? [True, True] Translation: X:67.45, Y:2.72, Z:-0.99 [[ 9.99933240e-01 -1.14934033e-02 -1.19023046e-03 6.74468904e+01] [ 1.14932810e-02 9.99933944e-01 -1.09518639e-04 2.71756042e+00] [ 1.19141058e-03 9.58316749e-05 9.99999286e-01 -9.85039246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77589822699998 meters 0.08341050240383209 Centerline is valid? [True, True] Translation: X:67.51, Y:2.73, Z:-0.99 [[ 9.99963086e-01 -8.56505762e-03 -6.82594030e-04 6.75054292e+01] [ 8.56501671e-03 9.99963318e-01 -6.28433100e-05 2.72799849e+00] [ 6.83107248e-04 5.69945610e-05 9.99999765e-01 -9.85092941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83589822699999 meters 0.08638939960142158 Centerline is valid? [True, True] Translation: X:67.57, Y:2.74, Z:-0.99 [[ 9.99979042e-01 -6.06252244e-03 -2.27183059e-03 6.75652979e+01] [ 6.06206300e-03 9.99981604e-01 -2.09065754e-04 2.73586016e+00] [ 2.27305626e-03 1.95289392e-04 9.99997398e-01 -9.90119338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.89589822699999 meters 0.09039516163401887 Centerline is valid? [True, True] Translation: X:67.63, Y:2.74, Z:-0.99 [[ 9.99995895e-01 -2.13307570e-03 -1.91284392e-03 6.76255734e+01] [ 2.13274289e-03 9.99997710e-01 -1.76007590e-04 2.74435903e+00] [ 1.91321498e-03 1.71927264e-04 9.99998155e-01 -9.89696284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.95589822699999 meters 0.08876244906357444 Centerline is valid? [True, True] Translation: X:67.69, Y:2.75, Z:-0.99 [[ 9.99990728e-01 -3.30284585e-03 -2.76326701e-03 6.76854043e+01] [ 3.30215553e-03 9.99994516e-01 -2.54342147e-04 2.74768667e+00] [ 2.76409191e-03 2.45215052e-04 9.99996150e-01 -9.89262989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.015898227 meters 0.08974148410714824 Centerline is valid? [True, True] Translation: X:67.75, Y:2.75, Z:-0.99 [[ 9.99975312e-01 -6.96434697e-03 -9.34195743e-04 6.77451216e+01] [ 6.96426962e-03 9.99975745e-01 -8.60250208e-05 2.74740981e+00] [ 9.34772193e-04 7.95169060e-05 9.99999560e-01 -9.87540994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.075898227 meters 0.08321879841603678 Centerline is valid? [True, True] Translation: X:67.81, Y:2.74, Z:-0.98 [[ 9.99963598e-01 -8.52353906e-03 -3.90524077e-04 6.78063437e+01] [ 8.52352566e-03 9.99963673e-01 -3.59467629e-05 2.74166348e+00] [ 3.90816285e-04 3.26168123e-05 9.99999923e-01 -9.84877022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13589822699998 meters 0.09011284178228732 Centerline is valid? [True, True] Translation: X:67.87, Y:2.75, Z:-0.98 [[ 9.99976792e-01 -6.78666281e-03 5.97259880e-04 6.78658898e+01] [ 6.78663116e-03 9.99976969e-01 5.49963450e-05 2.75250924e+00] [-5.97619366e-04 -5.09416861e-05 9.99999820e-01 -9.83663048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19589822699999 meters 0.09354421960141954 Centerline is valid? [True, True] Translation: X:67.93, Y:2.76, Z:-0.98 [[ 9.99997244e-01 -2.19028999e-03 8.44978344e-04 6.79263359e+01] [ 2.19022505e-03 9.99997598e-01 7.77735703e-05 2.76045194e+00] [-8.45146662e-04 -7.59226632e-05 9.99999640e-01 -9.84331592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.25589822699999 meters 0.09344210564535059 Centerline is valid? [True, True] Translation: X:67.99, Y:2.76, Z:-0.99 [[ 9.99999635e-01 -6.63675198e-04 -5.38184561e-04 6.79871585e+01] [ 6.63648658e-04 9.99999779e-01 -4.94911851e-05 2.76293625e+00] [ 5.38217288e-04 4.91340015e-05 9.99999854e-01 -9.85947829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.31589822699999 meters 0.09333816494098876 Centerline is valid? [True, True] Translation: X:68.05, Y:2.77, Z:-0.99 [[ 9.99990567e-01 -4.33645513e-03 2.46388801e-04 6.80464879e+01] [ 4.33644967e-03 9.99990597e-01 2.26822476e-05 2.76572128e+00] [-2.46484845e-04 -2.16135810e-05 9.99999969e-01 -9.86163300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.375898227 meters 0.0952198066996791 Centerline is valid? [True, True] Translation: X:68.11, Y:2.77, Z:-0.98 [[ 9.99981180e-01 -5.87376121e-03 1.77150864e-03 6.81057258e+01] [ 5.87348159e-03 9.99982738e-01 1.63007483e-04 2.77187523e+00] [-1.77243552e-03 -1.52599491e-04 9.99998418e-01 -9.84275824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.435898227 meters 0.08279426543715873 Centerline is valid? [True, True] Translation: X:68.17, Y:2.76, Z:-0.99 [[ 9.99961731e-01 -8.74245006e-03 3.24863939e-04 6.81673665e+01] [ 8.74244081e-03 9.99961784e-01 2.98913467e-05 2.75925156e+00] [-3.25112848e-04 -2.70500990e-05 9.99999947e-01 -9.85502150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.495898227 meters 0.09194575244345703 Centerline is valid? [True, True] Translation: X:68.23, Y:2.78, Z:-1.00 [[ 9.99959438e-01 -7.48308680e-03 -5.01263049e-03 6.82261474e+01] [ 7.48086844e-03 9.99971912e-01 -4.61157624e-04 2.77893674e+00] [ 5.01594057e-03 4.23640089e-04 9.99987330e-01 -9.95674026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55589822699999 meters 0.09105632876711586 Centerline is valid? [True, True] Translation: X:68.29, Y:2.78, Z:-1.00 [[ 9.99954196e-01 -7.47986221e-03 -5.97147699e-03 6.82855867e+01] [ 7.47671255e-03 9.99971898e-01 -5.49601095e-04 2.78465673e+00] [ 5.97542012e-03 5.04928904e-04 9.99982020e-01 -9.97167757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.61589822699999 meters 0.0880551527224348 Centerline is valid? [True, True] Translation: X:68.35, Y:2.79, Z:-0.99 [[ 9.99948764e-01 -9.64373291e-03 -3.07709538e-03 6.83453359e+01] [ 9.64290681e-03 9.99953466e-01 -2.83189828e-04 2.79041367e+00] [ 3.07968319e-03 2.53503175e-04 9.99995226e-01 -9.91983389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.67589822699999 meters 0.10306932207619078 Centerline is valid? [True, False] Translation: X:68.35, Y:2.79, Z:-0.99 [[ 9.99949575e-01 -9.54797400e-03 -3.11173967e-03 6.83454689e+01] [ 9.54787106e-03 9.99954417e-01 -4.79355657e-05 2.78937056e+00] [ 3.11205552e-03 1.82226594e-05 9.99995157e-01 -9.92021249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.73589822699999 meters 0.08419873503956088 Centerline is valid? [False, True] Translation: X:68.37, Y:2.79, Z:-0.99 [[ 9.99951945e-01 -3.40991342e-03 -9.19128047e-03 6.83684705e+01] [ 3.38971519e-03 9.99991808e-01 -2.21222645e-03 2.79093974e+00] [ 9.19874867e-03 2.18096432e-03 9.99955312e-01 -9.87458604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.795898227 meters 0.08834626348720662 Centerline is valid? [True, True] Translation: X:68.43, Y:2.80, Z:-0.99 [[ 9.99958123e-01 -4.99380326e-03 -7.66903284e-03 6.84269854e+01] [ 4.98913016e-03 9.99987357e-01 -6.28356935e-04 2.80134661e+00] [ 7.67207377e-03 5.90068818e-04 9.99970395e-01 -9.85351123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.855898227 meters 0.0841929663924976 Centerline is valid? [True, True] Translation: X:68.49, Y:2.80, Z:-0.98 [[ 9.99967692e-01 -7.10308566e-03 -3.76313986e-03 6.84872790e+01] [ 7.10197524e-03 9.99974733e-01 -3.08359698e-04 2.80252946e+00] [ 3.76523509e-03 2.81624010e-04 9.99992872e-01 -9.77181630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91589822699999 meters 0.0815498328808732 Centerline is valid? [True, True] Translation: X:68.55, Y:2.80, Z:-0.98 [[ 9.99971317e-01 -5.37544877e-03 -5.33574664e-03 6.85475527e+01] [ 5.37319164e-03 9.99985469e-01 -4.37265999e-04 2.80260515e+00] [ 5.33801960e-03 4.08583467e-04 9.99985669e-01 -9.80902017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97589822699999 meters 0.09678796334954133 Centerline is valid? [True, True] Translation: X:68.60, Y:2.83, Z:-0.98 [[ 9.99992330e-01 -1.66105052e-03 -3.54693655e-03 6.86048162e+01] [ 1.66002973e-03 9.99998580e-01 -2.90718426e-04 2.82853522e+00] [ 3.54741441e-03 2.84828176e-04 9.99993667e-01 -9.78128704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03589822699999 meters 0.09913289155580694 Centerline is valid? [True, True] Translation: X:68.67, Y:2.84, Z:-0.98 [[ 9.99986629e-01 2.90373430e-03 -4.27900383e-03 6.86650157e+01] [-2.90526171e-03 9.99995718e-01 -3.50781339e-04 2.83772425e+00] [ 4.27796693e-03 3.63208275e-04 9.99990783e-01 -9.79123681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.09589822699999 meters 0.09479307680818637 Centerline is valid? [True, True] Translation: X:68.73, Y:2.84, Z:-0.99 [[ 9.99940557e-01 9.17971138e-03 -5.88346423e-03 6.87258234e+01] [-9.18270679e-03 9.99957722e-01 -4.82310471e-04 2.83802765e+00] [ 5.87878802e-03 5.36307928e-04 9.99982576e-01 -9.85455566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.155898227 meters 0.10272721845883023 Centerline is valid? [True, False] Translation: X:68.73, Y:2.84, Z:-0.99 [[ 9.99943773e-01 8.79747666e-03 -5.92080688e-03 6.87261819e+01] [-8.80656092e-03 9.99960081e-01 -1.50997509e-03 2.84240525e+00] [ 5.90728656e-03 1.56203213e-03 9.99981332e-01 -9.86184379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.215898227 meters 0.09261940951510271 Centerline is valid? [False, True] Translation: X:68.75, Y:2.85, Z:-0.98 [[ 9.99954369e-01 4.10946704e-03 -8.62398038e-03 6.87483677e+01] [-4.08386690e-03 9.99987209e-01 2.98399626e-03 2.84908188e+00] [ 8.63613270e-03 -2.94864091e-03 9.99958360e-01 -9.83684687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27589822699998 meters 0.08953057278602752 Centerline is valid? [True, True] Translation: X:68.81, Y:2.86, Z:-0.97 [[ 9.99992740e-01 6.91847560e-05 -3.80995606e-03 6.88079926e+01] [-7.04813965e-05 9.99999940e-01 -3.40196287e-04 2.85704776e+00] [ 3.80993229e-03 3.40462348e-04 9.99992684e-01 -9.74877304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33589822699999 meters 0.08770140622458521 Centerline is valid? [True, True] Translation: X:68.87, Y:2.86, Z:-0.97 [[ 9.99987290e-01 -4.51611047e-03 -2.24173325e-03 6.88689714e+01] [ 4.51567298e-03 9.99989784e-01 -2.00178229e-04 2.85859657e+00] [ 2.24261437e-03 1.90052750e-04 9.99997467e-01 -9.72462325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39589822699999 meters 0.08781104456621382 Centerline is valid? [True, True] Translation: X:68.93, Y:2.87, Z:-0.98 [[ 9.99909558e-01 -1.27460451e-02 -4.29120114e-03 6.89286035e+01] [ 1.27445173e-02 9.99918712e-01 -3.83195134e-04 2.86509935e+00] [ 4.29573654e-03 3.28471190e-04 9.99990719e-01 -9.76590538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.45589822699999 meters 0.07212871409496324 Centerline is valid? [True, True] Translation: X:68.99, Y:2.85, Z:-0.98 [[ 9.99823719e-01 -1.79899473e-02 -5.37523156e-03 6.89900436e+01] [ 1.79876254e-02 9.99838094e-01 -4.79999914e-04 2.85319753e+00] [ 5.38299646e-03 3.83227648e-04 9.99985438e-01 -9.75432081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.515898227 meters 0.07509445639164855 Centerline is valid? [True, True] Translation: X:69.05, Y:2.86, Z:-0.97 [[ 9.99781476e-01 -2.08903399e-02 -7.70302294e-04 6.90485605e+01] [ 2.08902931e-02 9.99781772e-01 -6.88034598e-05 2.86472143e+00] [ 7.71571520e-04 5.26965839e-05 9.99999701e-01 -9.68576973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.575898227 meters 0.06264660210921927 Centerline is valid? [True, True] Translation: X:69.11, Y:2.85, Z:-0.97 [[ 9.99566408e-01 -2.92896887e-02 3.01816356e-03 6.91100853e+01] [ 2.92890079e-02 9.99570949e-01 2.69545681e-04 2.85440554e+00] [-3.02476352e-03 -1.81029792e-04 9.99995409e-01 -9.65621222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63589822699998 meters 0.05592662610894115 Centerline is valid? [True, True] Translation: X:69.17, Y:2.85, Z:-0.97 [[ 9.99386534e-01 -3.48233817e-02 3.72664931e-03 6.91708721e+01] [ 3.48223821e-02 9.99393462e-01 3.32787258e-04 2.85212932e+00] [-3.73597773e-03 -2.02812298e-04 9.99993001e-01 -9.66918659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69589822699999 meters 0.05893249361198279 Centerline is valid? [True, True] Translation: X:69.23, Y:2.86, Z:-0.97 [[ 9.99266419e-01 -3.82750765e-02 -1.28116660e-03 6.92295862e+01] [ 3.82749612e-02 9.99267239e-01 -1.14424059e-04 2.86207591e+00] [ 1.28460740e-03 6.53035178e-05 9.99999173e-01 -9.72960098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.75589822699999 meters 0.05702862775008954 Centerline is valid? [True, True] Translation: X:69.29, Y:2.86, Z:-0.98 [[ 9.99200715e-01 -3.99077454e-02 -2.30262509e-03 6.92909710e+01] [ 3.99073774e-02 9.99203362e-01 -2.05574919e-04 2.86355133e+00] [ 2.30899476e-03 1.13518877e-04 9.99997328e-01 -9.75584651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.81589822699999 meters 0.04469801497895374 Centerline is valid? [True, True] Translation: X:69.35, Y:2.85, Z:-0.97 [[ 9.98772495e-01 -4.95322044e-02 2.52695498e-04 6.93529409e+01] [ 4.95322003e-02 9.98772527e-01 2.25613766e-05 2.85020018e+00] [-2.53502836e-04 -1.00171184e-05 9.99999968e-01 -9.71548792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.875898227 meters 0.03607988859889915 Centerline is valid? [True, True] Translation: X:69.42, Y:2.84, Z:-0.97 [[ 9.98299083e-01 -5.82895554e-02 -1.12616186e-03 6.94155070e+01] [ 5.82894790e-02 9.98299718e-01 -1.00531993e-04 2.83809807e+00] [ 1.13010704e-03 3.47176082e-05 9.99999361e-01 -9.72551748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.935898227 meters 0.026257134142498702 Centerline is valid? [True, True] Translation: X:69.48, Y:2.82, Z:-0.98 [[ 9.97650194e-01 -6.84207194e-02 -3.56308119e-03 6.94767683e+01] [ 6.84200193e-02 9.97656554e-01 -3.18151616e-04 2.82131670e+00] [ 3.57649947e-03 7.36179372e-05 9.99993602e-01 -9.76188065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.995898227 meters 0.02178251479602874 Centerline is valid? [True, True] Translation: X:69.54, Y:2.81, Z:-0.97 [[ 9.97319322e-01 -7.30740222e-02 -3.78905071e-03 6.95373001e+01] [ 7.30732637e-02 9.97326518e-01 -3.38422479e-04 2.81253498e+00] [ 3.80365064e-03 6.06369760e-05 9.99992764e-01 -9.74353085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05589822699999 meters 0.0183930360296149 Centerline is valid? [True, True] Translation: X:69.60, Y:2.81, Z:-0.97 [[ 9.97219172e-01 -7.44674690e-02 -2.91888224e-03 6.95970154e+01] [ 7.44670231e-02 9.97223442e-01 -2.61310741e-04 2.80687360e+00] [ 2.93023695e-03 4.32236092e-05 9.99995706e-01 -9.71908415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.11589822699999 meters 0.01834485399977122 Centerline is valid? [True, True] Translation: X:69.66, Y:2.80, Z:-0.98 [[ 9.96805399e-01 -7.97794246e-02 -3.77361542e-03 6.96565012e+01] [ 7.97787170e-02 9.96812541e-01 -3.37914304e-04 2.79577796e+00] [ 3.78854579e-03 3.57806061e-05 9.99992823e-01 -9.76734074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.17589822699999 meters 0.0229540292808172 Centerline is valid? [True, True] Translation: X:69.72, Y:2.79, Z:-0.97 [[ 9.96462531e-01 -8.40300711e-02 -1.17077199e-03 6.97152697e+01] [ 8.40300058e-02 9.96463219e-01 -1.04929022e-04 2.78703966e+00] [ 1.17544842e-03 6.17786140e-06 9.99999309e-01 -9.73193402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.23589822699999 meters 0.011320856268543842 Centerline is valid? [True, True] Translation: X:69.77, Y:2.79, Z:-0.97 [[ 9.96400499e-01 -8.47686587e-02 5.66156386e-04 6.97732688e+01] [ 8.47686436e-02 9.96400660e-01 5.07226504e-05 2.78803277e+00] [-5.68418288e-04 -2.54776527e-06 9.99999838e-01 -9.68292162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.295898227 meters 0.026734983745293768 Centerline is valid? [True, True] Translation: X:69.83, Y:2.79, Z:-0.97 [[ 9.96769383e-01 -8.02838861e-02 2.30121119e-03 6.98320791e+01] [ 8.02836224e-02 9.96772039e-01 2.06921283e-04 2.79307929e+00] [-2.31039541e-03 -2.15032297e-05 9.99997331e-01 -9.68069449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.355898227 meters 0.018100285019373254 Centerline is valid? [True, True] Translation: X:69.89, Y:2.80, Z:-0.97 [[ 9.97044975e-01 -7.67987865e-02 1.80668081e-03 6.98893713e+01] [ 7.67986179e-02 9.97046612e-01 1.62608177e-04 2.80455085e+00] [-1.81383309e-03 -2.33770763e-05 9.99998355e-01 -9.67328406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41589822699999 meters 0.016443471594400662 Centerline is valid? [True, True] Translation: X:69.95, Y:2.81, Z:-0.97 [[ 9.96955769e-01 -7.79673111e-02 -5.41548598e-04 6.99486040e+01] [ 7.79672960e-02 9.96955916e-01 -4.89439298e-05 2.80646838e+00] [ 5.43716105e-04 6.57185334e-06 9.99999852e-01 -9.71870695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47589822699999 meters 0.010467880287269677 Centerline is valid? [True, True] Translation: X:70.01, Y:2.80, Z:-0.97 [[ 9.96208521e-01 -8.69903719e-02 -1.12110920e-03 7.00090619e+01] [ 8.69903129e-02 9.96209152e-01 -1.01392516e-04 2.79538340e+00] [ 1.12567942e-03 3.48244899e-06 9.99999366e-01 -9.73258880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53589822699999 meters 0.010836058675770144 Centerline is valid? [True, True] Translation: X:70.07, Y:2.79, Z:-0.98 [[ 9.95659369e-01 -9.30212820e-02 -3.07603730e-03 7.00682515e+01] [ 9.30208665e-02 9.95664121e-01 -2.78162024e-04 2.78735250e+00] [ 3.08857496e-03 -9.18103002e-06 9.99995230e-01 -9.78270683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.59589822699999 meters 0.013035194970146454 Centerline is valid? [True, True] Translation: X:70.13, Y:2.78, Z:-0.98 [[ 9.95217102e-01 -9.75436430e-02 -5.30639758e-03 7.01279837e+01] [ 9.75424659e-02 9.95231248e-01 -4.80794742e-04 2.78137871e+00] [ 5.32799116e-03 -3.91039555e-05 9.99985805e-01 -9.81400171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.655898227 meters 0.01707180090865082 Centerline is valid? [True, True] Translation: X:70.19, Y:2.78, Z:-0.98 [[ 9.95439207e-01 -9.51077836e-02 -7.43609133e-03 7.01858038e+01] [ 9.51053933e-02 9.95466980e-01 -6.75204386e-04 2.78476883e+00] [ 7.46660057e-03 -3.50874725e-05 9.99972124e-01 -9.84342692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.715898227 meters 0.010541129776257187 Centerline is valid? [True, True] Translation: X:70.24, Y:2.80, Z:-0.98 [[ 9.96003839e-01 -8.91003992e-02 -6.12146211e-03 7.02428666e+01] [ 8.90986639e-02 9.96022650e-01 -5.56150693e-04 2.79736193e+00] [ 6.14666816e-03 8.51413041e-06 9.99981109e-01 -9.80705533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77589822699998 meters 0.013627478760942347 Centerline is valid? [True, True] Translation: X:70.30, Y:2.81, Z:-0.98 [[ 9.96610211e-01 -8.21747598e-02 -3.92385247e-03 7.03010384e+01] [ 8.21739901e-02 9.96617935e-01 -3.57250867e-04 2.81069162e+00] [ 3.93993875e-03 3.36012473e-05 9.99992238e-01 -9.78455963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83589822699999 meters 0.014563113180970262 Centerline is valid? [True, True] Translation: X:70.36, Y:2.82, Z:-0.97 [[ 9.96673715e-01 -8.14887630e-02 -1.04256159e-03 7.03576897e+01] [ 8.14887082e-02 9.96674260e-01 -9.50330212e-05 2.81681040e+00] [ 1.04683843e-03 9.75991703e-06 9.99999452e-01 -9.73285830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89589822699999 meters 0.011045486133883337 Centerline is valid? [True, True] Translation: X:70.42, Y:2.82, Z:-0.97 [[ 9.96241444e-01 -8.66191818e-02 -3.20840577e-04 7.04168650e+01] [ 8.66191768e-02 9.96241495e-01 -2.93849094e-05 2.81627079e+00] [ 3.22179993e-04 1.48351788e-06 9.99999948e-01 -9.71981601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.95589822699999 meters 0.025576062498331047 Centerline is valid? [True, True] Translation: X:70.48, Y:2.81, Z:-0.98 [[ 9.95608303e-01 -9.36116737e-02 -9.80518484e-04 7.04756221e+01] [ 9.36116309e-02 9.95608786e-01 -8.95938201e-05 2.81247740e+00] [ 9.84599845e-04 -2.58758314e-06 9.99999515e-01 -9.75293681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.015898227 meters 0.01223003041986303 Centerline is valid? [True, True] Translation: X:70.53, Y:2.81, Z:-0.97 [[ 9.95184164e-01 -9.80205608e-02 -6.69948336e-04 7.05343883e+01] [ 9.80205416e-02 9.95184390e-01 -6.14113105e-05 2.81471265e+00] [ 6.72741697e-04 -4.55313504e-06 9.99999774e-01 -9.74649663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.075898227 meters 0.014148233223897076 Centerline is valid? [True, True] Translation: X:70.59, Y:2.82, Z:-0.97 [[ 9.94936035e-01 -1.00509877e-01 2.24764292e-04 7.05911962e+01] [ 1.00509875e-01 9.94936061e-01 2.05306553e-05 2.82298122e+00] [-2.25689633e-04 2.16434203e-06 9.99999975e-01 -9.74269769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13589822699998 meters 0.014727031106297668 Centerline is valid? [True, True] Translation: X:70.65, Y:2.83, Z:-0.97 [[ 9.94801460e-01 -1.01833302e-01 1.83765282e-04 7.06493828e+01] [ 1.01833300e-01 9.94801477e-01 1.67682182e-05 2.83390367e+00] [-1.84517537e-04 2.03237715e-06 9.99999983e-01 -9.74796737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19589822699999 meters 0.019299353261509465 Centerline is valid? [True, True] Translation: X:70.71, Y:2.84, Z:-0.98 [[ 9.94348722e-01 -1.06142732e-01 -2.08296764e-03 7.07061166e+01] [ 1.06142564e-01 9.94350904e-01 -1.91503314e-04 2.84433607e+00] [ 2.09152744e-03 -3.06704498e-05 9.99997812e-01 -9.78931092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.25589822699999 meters 0.020824005202742003 Centerline is valid? [True, True] Translation: X:70.76, Y:2.85, Z:-0.98 [[ 9.94147582e-01 -1.07984908e-01 -3.13780645e-03 7.07637198e+01] [ 1.07984534e-01 9.94152532e-01 -2.88721200e-04 2.85494649e+00] [ 3.15063576e-03 -5.18030851e-05 9.99995035e-01 -9.79949543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.31589822699999 meters 0.029102831398254602 Centerline is valid? [True, True] Translation: X:70.82, Y:2.86, Z:-0.99 [[ 9.93538726e-01 -1.13302814e-01 -6.57820964e-03 7.08227308e+01] [ 1.13301288e-01 9.93560492e-01 -6.05344671e-04 2.86019148e+00] [ 6.60443647e-03 -1.43886251e-04 9.99978180e-01 -9.86547674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.375898227 meters 0.03379339804393618 Centerline is valid? [True, True] Translation: X:70.88, Y:2.86, Z:-0.98 [[ 9.92596101e-01 -1.21301045e-01 -6.24786342e-03 7.08828647e+01] [ 1.21299827e-01 9.92615747e-01 -5.74953193e-04 2.86418944e+00] [ 6.27147004e-03 -1.87168455e-04 9.99980317e-01 -9.84437131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.435898227 meters 0.04470214699629008 Centerline is valid? [True, True] Translation: X:70.94, Y:2.86, Z:-0.98 [[ 9.91465962e-01 -1.30257194e-01 -5.32067370e-03 7.09424759e+01] [ 1.30256439e-01 9.91480217e-01 -4.89642011e-04 2.85992127e+00] [ 5.33912211e-03 -2.07588623e-04 9.99985725e-01 -9.80597202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.495898227 meters 0.046505925787253405 Centerline is valid? [True, True] Translation: X:71.00, Y:2.87, Z:-0.98 [[ 9.91113935e-01 -1.32932286e-01 -4.70904412e-03 7.10018326e+01] [ 1.32931724e-01 9.91125102e-01 -4.33475864e-04 2.86540585e+00] [ 4.72487478e-03 -1.96357385e-04 9.99988818e-01 -9.80233069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55589822699999 meters 0.044652084173817295 Centerline is valid? [True, True] Translation: X:71.06, Y:2.87, Z:-0.98 [[ 9.91310711e-01 -1.31492584e-01 -3.57427784e-03 7.10603866e+01] [ 1.31492251e-01 9.91317144e-01 -3.29202717e-04 2.87383776e+00] [ 3.58653061e-03 -1.43647658e-04 9.99993558e-01 -9.77122501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.61589822699999 meters 0.03922034303029552 Centerline is valid? [True, True] Translation: X:71.12, Y:2.89, Z:-0.98 [[ 9.92216643e-01 -1.24477469e-01 -3.39027983e-03 7.11181593e+01] [ 1.24477127e-01 9.92222428e-01 -3.12352088e-04 2.88790857e+00] [ 3.40279249e-03 -1.12091353e-04 9.99994204e-01 -9.76758766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.67589822699999 meters 0.03462782421417751 Centerline is valid? [True, True] Translation: X:71.18, Y:2.90, Z:-0.97 [[ 9.92725461e-01 -1.20387127e-01 -1.76020995e-03 7.11773050e+01] [ 1.20387028e-01 9.92727020e-01 -1.62188589e-04 2.89915125e+00] [ 1.76693340e-03 -5.08977037e-05 9.99998438e-01 -9.73646833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.73589822699999 meters 0.027961567906359352 Centerline is valid? [True, True] Translation: X:71.24, Y:2.91, Z:-0.97 [[ 9.93115626e-01 -1.17131659e-01 1.23574888e-03 7.12357991e+01] [ 1.17131608e-01 9.93116395e-01 1.13875178e-04 2.91295655e+00] [-1.24058086e-03 3.16540343e-05 9.99999230e-01 -9.70326754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.795898227 meters 0.03178174116550967 Centerline is valid? [True, True] Translation: X:71.30, Y:2.91, Z:-0.97 [[ 9.92653181e-01 -1.20982535e-01 1.69955875e-03 7.12952801e+01] [ 1.20982444e-01 9.92654635e-01 1.56675633e-04 2.91012242e+00] [-1.70602988e-03 5.00922055e-05 9.99998543e-01 -9.70521822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.855898227 meters 0.045425797928410075 Centerline is valid? [True, True] Translation: X:71.36, Y:2.89, Z:-0.97 [[ 9.91284826e-01 -1.31733865e-01 7.62709340e-04 7.13569084e+01] [ 1.31733850e-01 9.91285119e-01 7.03230971e-05 2.88923985e+00] [-7.65326352e-04 3.07644184e-05 9.99999707e-01 -9.72272693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91589822699999 meters 0.04785438160454925 Centerline is valid? [True, True] Translation: X:71.42, Y:2.89, Z:-0.97 [[ 9.90424964e-01 -1.38051617e-01 -3.76154659e-04 7.14178060e+01] [ 1.38051614e-01 9.90425035e-01 -3.46850289e-05 2.88725865e+00] [ 3.77341316e-04 -1.75758393e-05 9.99999929e-01 -9.72980864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97589822699999 meters 0.05722696409745019 Centerline is valid? [True, True] Translation: X:71.48, Y:2.88, Z:-0.98 [[ 9.89858503e-01 -1.42035718e-01 -2.44910449e-03 7.14787483e+01] [ 1.42035592e-01 9.89861525e-01 -2.25876006e-04 2.87856839e+00] [ 2.45635677e-03 -1.24274723e-04 9.99996975e-01 -9.75911556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03589822699999 meters 0.05611354378417031 Centerline is valid? [True, True] Translation: X:71.54, Y:2.89, Z:-0.98 [[ 9.90153025e-01 -1.39911138e-01 -4.67549142e-03 7.15371098e+01] [ 1.39910657e-01 9.90164038e-01 -4.31315662e-04 2.88788397e+00] [ 4.68984933e-03 -2.27082572e-04 9.99988977e-01 -9.79636721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.09589822699999 meters 0.037561666706751276 Centerline is valid? [True, True] Translation: X:71.59, Y:2.93, Z:-0.97 [[ 9.91463632e-01 -1.30334255e-01 -3.58440750e-03 7.15946589e+01] [ 1.30333910e-01 9.91470102e-01 -3.30621385e-04 2.92580471e+00] [ 3.59692416e-03 -1.39370767e-04 9.99993521e-01 -9.74851685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.155898227 meters 0.03969488948929151 Centerline is valid? [True, True] Translation: X:71.65, Y:2.93, Z:-0.98 [[ 9.91845328e-01 -1.27384673e-01 -3.99882134e-03 7.16533024e+01] [ 1.27384219e-01 9.91853379e-01 -3.68965249e-04 2.93298045e+00] [ 4.01324498e-03 -1.43430277e-04 9.99991937e-01 -9.75759629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.215898227 meters 0.03864444649996972 Centerline is valid? [True, True] Translation: X:71.71, Y:2.95, Z:-0.98 [[ 9.92088627e-01 -1.25374001e-01 -6.44323359e-03 7.17091881e+01] [ 1.25372777e-01 9.92109527e-01 -5.95058574e-04 2.95467200e+00] [ 6.46699830e-03 -2.17455244e-04 9.99979065e-01 -9.81825489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27589822699998 meters 0.03791135648745078 Centerline is valid? [True, True] Translation: X:71.77, Y:2.97, Z:-0.98 [[ 9.91799760e-01 -1.27660413e-01 -6.00460195e-03 7.17673824e+01] [ 1.27659391e-01 9.91817913e-01 -5.54745115e-04 2.96950039e+00] [ 6.02629076e-03 -2.16347757e-04 9.99981818e-01 -9.81593619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33589822699999 meters 0.05103248948687844 Centerline is valid? [True, True] Translation: X:71.83, Y:2.97, Z:-0.98 [[ 9.90670843e-01 -1.36191881e-01 -4.80124391e-03 7.18267225e+01] [ 1.36191327e-01 9.90682455e-01 -4.43657900e-04 2.96798213e+00] [ 4.81693070e-03 -2.14368831e-04 9.99988376e-01 -9.78896929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39589822699999 meters 0.051349104855765645 Centerline is valid? [True, True] Translation: X:71.89, Y:2.98, Z:-0.98 [[ 9.89675274e-01 -1.43182284e-01 -6.45641723e-03 7.18868467e+01] [ 1.43181431e-01 9.89696278e-01 -5.96540651e-04 2.97868619e+00] [ 6.47530615e-03 -3.34057526e-04 9.99978979e-01 -9.80907744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.45589822699999 meters 0.0638622432911659 Centerline is valid? [True, True] Translation: X:71.95, Y:2.97, Z:-0.98 [[ 9.88668789e-01 -1.50047115e-01 -4.45962705e-03 7.19468130e+01] [ 1.50046777e-01 9.88678813e-01 -4.12052146e-04 2.97472630e+00] [ 4.47096601e-03 -2.61769571e-04 9.99989971e-01 -9.78998712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.515898227 meters 0.06310197530168996 Centerline is valid? [True, True] Translation: X:72.01, Y:2.98, Z:-0.97 [[ 9.88377009e-01 -1.52019126e-01 -1.03639316e-03 7.20052588e+01] [ 1.52019109e-01 9.88377550e-01 -9.58405390e-05 2.98484687e+00] [ 1.03891733e-03 -6.28249801e-05 9.99999458e-01 -9.71594491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.575898227 meters 0.06389687351991823 Centerline is valid? [True, True] Translation: X:72.06, Y:2.99, Z:-0.97 [[ 9.88134990e-01 -1.53585205e-01 -9.09418923e-04 7.20644439e+01] [ 1.53585192e-01 9.88135406e-01 -8.41075660e-05 2.99304411e+00] [ 9.11546715e-04 -5.65636514e-05 9.99999583e-01 -9.73210506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63589822699998 meters 0.07001168218119527 Centerline is valid? [True, True] Translation: X:72.12, Y:2.99, Z:-0.97 [[ 9.88252492e-01 -1.52822286e-01 -1.53649647e-03 7.21227624e+01] [ 1.52822249e-01 9.88253682e-01 -1.42246574e-04 2.99359925e+00] [ 1.54018674e-03 -9.42353140e-05 9.99998809e-01 -9.74829516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69589822699999 meters 0.0595788061362668 Centerline is valid? [True, True] Translation: X:72.18, Y:3.02, Z:-0.97 [[ 9.88564870e-01 -1.50794754e-01 -6.62676506e-04 7.21806144e+01] [ 1.50794747e-01 9.88565092e-01 -6.13447960e-05 3.02239985e+00] [ 6.64349335e-04 -3.92848255e-05 9.99999779e-01 -9.72658613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.75589822699999 meters 0.06618215624061087 Centerline is valid? [True, True] Translation: X:72.24, Y:3.02, Z:-0.98 [[ 9.88246134e-01 -1.52861147e-01 -1.74604247e-03 7.22397182e+01] [ 1.52861099e-01 9.88247670e-01 -1.61637412e-04 3.02199357e+00] [ 1.75023049e-03 -1.07164424e-04 9.99998463e-01 -9.75477220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.81589822699999 meters 0.06384285381614008 Centerline is valid? [True, True] Translation: X:72.30, Y:3.03, Z:-0.98 [[ 9.87915687e-01 -1.54960255e-01 -3.14890338e-03 7.22990232e+01] [ 1.54960110e-01 9.87920685e-01 -2.91539060e-04 3.03205105e+00] [ 3.15604375e-03 -1.99938403e-04 9.99995000e-01 -9.78085324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.875898227 meters 0.05960218581599051 Centerline is valid? [True, True] Translation: X:72.36, Y:3.05, Z:-0.98 [[ 9.88386765e-01 -1.51905342e-01 -4.04587856e-03 7.23583781e+01] [ 1.51905076e-01 9.88395016e-01 -3.74588216e-04 3.04777782e+00] [ 4.05582815e-03 -2.44351455e-04 9.99991745e-01 -9.76137572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.935898227 meters 0.06318713840110553 Centerline is valid? [True, True] Translation: X:72.42, Y:3.06, Z:-0.98 [[ 9.89279422e-01 -1.45958641e-01 -4.72241227e-03 7.24166690e+01] [ 1.45958211e-01 9.89290660e-01 -4.37300241e-04 3.05790569e+00] [ 4.73566610e-03 -2.56662719e-04 9.99988754e-01 -9.78310949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.995898227 meters 0.04776400518728564 Centerline is valid? [True, True] Translation: X:72.47, Y:3.09, Z:-0.97 [[ 9.90705642e-01 -1.35987674e-01 -3.11180614e-03 7.24743475e+01] [ 1.35987439e-01 9.90710520e-01 -2.88169803e-04 3.09343092e+00] [ 3.12208662e-03 -1.37675098e-04 9.99995117e-01 -9.74617851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05589822699999 meters 0.04178734721663106 Centerline is valid? [True, True] Translation: X:72.53, Y:3.12, Z:-0.97 [[ 9.90923897e-01 -1.34397569e-01 -2.66887355e-03 7.25313490e+01] [ 1.34397390e-01 9.90927485e-01 -2.47308441e-04 3.11624218e+00] [ 2.67789781e-03 -1.13625795e-04 9.99996408e-01 -9.74990752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.11589822699999 meters 0.05136043963090501 Centerline is valid? [True, True] Translation: X:72.59, Y:3.12, Z:-0.98 [[ 9.89961687e-01 -1.41306220e-01 -2.89997723e-03 7.25897244e+01] [ 1.41306038e-01 9.89965924e-01 -2.68711796e-04 3.12340822e+00] [ 2.90884928e-03 -1.43769910e-04 9.99995759e-01 -9.75475945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.17589822699999 meters 0.07210938301434106 Centerline is valid? [True, True] Translation: X:72.65, Y:3.12, Z:-0.98 [[ 9.87762702e-01 -1.55945995e-01 -2.38559906e-03 7.26491040e+01] [ 1.55945914e-01 9.87765571e-01 -2.21042022e-04 3.12171247e+00] [ 2.39088323e-03 -1.53687362e-04 9.99997130e-01 -9.78400814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.23589822699999 meters 0.07268607530796468 Centerline is valid? [True, True] Translation: X:72.71, Y:3.13, Z:-0.97 [[ 9.86411325e-01 -1.64285533e-01 -1.72087516e-03 7.27087039e+01] [ 1.64285503e-01 9.86412818e-01 -1.59476390e-04 3.13087410e+00] [ 1.72369298e-03 -1.25405525e-04 9.99998507e-01 -9.74613953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.295898227 meters 0.0835061175051082 Centerline is valid? [True, True] Translation: X:72.77, Y:3.13, Z:-0.98 [[ 9.84514699e-01 -1.75298277e-01 -1.14954670e-03 7.27693505e+01] [ 1.75298271e-01 9.84515365e-01 -1.06532959e-04 3.12955301e+00] [ 1.15042144e-03 -9.66302855e-05 9.99999334e-01 -9.75187847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.355898227 meters 0.08915636657784277 Centerline is valid? [True, True] Translation: X:72.83, Y:3.13, Z:-0.98 [[ 9.83514412e-01 -1.80821245e-01 -1.75474080e-03 7.28295996e+01] [ 1.80821240e-01 9.83515965e-01 -1.62632805e-04 3.13294214e+00] [ 1.75522305e-03 -1.57342699e-04 9.99998447e-01 -9.78625607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41589822699999 meters 0.0808719123978047 Centerline is valid? [True, True] Translation: X:72.89, Y:3.15, Z:-0.98 [[ 9.84083851e-01 -1.77604631e-01 -5.96405983e-03 7.28880357e+01] [ 1.77604518e-01 9.84101788e-01 -5.52875310e-04 3.15153098e+00] [ 5.96743516e-03 -5.15168307e-04 9.99982062e-01 -9.80593482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47589822699999 meters 0.07679142528975899 Centerline is valid? [True, True] Translation: X:72.95, Y:3.16, Z:-0.97 [[ 9.85710451e-01 -1.68420537e-01 -3.07071799e-03 7.29461096e+01] [ 1.68420463e-01 9.85715206e-01 -2.84716710e-04 3.16491853e+00] [ 3.07480556e-03 -2.36523508e-04 9.99995245e-01 -9.74699090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53589822699999 meters 0.07458642341820963 Centerline is valid? [True, True] Translation: X:73.01, Y:3.17, Z:-0.97 [[ 9.86203442e-01 -1.65531668e-01 -1.42742349e-03 7.30056314e+01] [ 1.65531649e-01 9.86204470e-01 -1.32380179e-04 3.17330589e+00] [ 1.42964454e-03 -1.05729975e-04 9.99998972e-01 -9.73609906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.59589822699999 meters 0.08030761016708327 Centerline is valid? [True, True] Translation: X:73.07, Y:3.17, Z:-0.98 [[ 9.85809930e-01 -1.67845434e-01 -2.58691951e-03 7.30653519e+01] [ 1.67845379e-01 9.85813304e-01 -2.39934573e-04 3.16876347e+00] [ 2.59049160e-03 -1.97672603e-04 9.99996625e-01 -9.77388937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.655898227 meters 0.07711113464723568 Centerline is valid? [True, True] Translation: X:73.13, Y:3.18, Z:-0.98 [[ 9.84889364e-01 -1.73153679e-01 -3.27770602e-03 7.31253886e+01] [ 1.73153620e-01 9.84894782e-01 -3.03989947e-04 3.17520272e+00] [ 3.28083254e-03 -2.68150196e-04 9.99994582e-01 -9.76219615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.715898227 meters 0.07879049753793294 Centerline is valid? [True, True] Translation: X:73.18, Y:3.18, Z:-0.97 [[ 9.84955889e-01 -1.72798744e-01 -1.57842188e-03 7.31836979e+01] [ 1.72798730e-01 9.84957145e-01 -1.46740666e-04 3.17695009e+00] [ 1.58003451e-03 -1.28216213e-04 9.99998744e-01 -9.73382317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77589822699998 meters 0.08028819461742542 Centerline is valid? [True, True] Translation: X:73.24, Y:3.18, Z:-0.97 [[ 9.85018289e-01 -1.72449762e-01 -2.24219917e-04 7.32422856e+01] [ 1.72449762e-01 9.85018314e-01 -2.09613279e-05 3.18055800e+00] [ 2.24475501e-04 -1.80193799e-05 9.99999975e-01 -9.73199960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83589822699999 meters 0.07937101659197708 Centerline is valid? [True, True] Translation: X:73.30, Y:3.19, Z:-0.97 [[ 9.85204603e-01 -1.71377462e-01 -1.28654503e-03 7.33019293e+01] [ 1.71377450e-01 9.85205438e-01 -1.19758365e-04 3.18884314e+00] [ 1.28803505e-03 -1.02498315e-04 9.99999165e-01 -9.74985652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.89589822699999 meters 0.08759853208967865 Centerline is valid? [True, True] Translation: X:73.36, Y:3.19, Z:-0.98 [[ 9.85292077e-01 -1.70856495e-01 -2.75350042e-03 7.33605441e+01] [ 1.70856442e-01 9.85295900e-01 -2.56484351e-04 3.18596192e+00] [ 2.75683469e-03 -2.17741283e-04 9.99996176e-01 -9.76948082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.95589822699999 meters 0.09106517925049684 Centerline is valid? [True, True] Translation: X:73.42, Y:3.19, Z:-0.98 [[ 9.85024866e-01 -1.72382119e-01 -3.22761217e-03 7.34205598e+01] [ 1.72382054e-01 9.85030120e-01 -3.00650149e-04 3.19192908e+00] [ 3.23112191e-03 -2.60234541e-04 9.99994746e-01 -9.79425788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.015898227 meters 0.0899630310965483 Centerline is valid? [True, True] Translation: X:73.48, Y:3.20, Z:-0.98 [[ 9.84651348e-01 -1.74511979e-01 -2.70041794e-03 7.34804401e+01] [ 1.74511941e-01 9.84655025e-01 -2.51548265e-04 3.20140862e+00] [ 2.70287828e-03 -2.23567837e-04 9.99996322e-01 -9.78435396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.075898227 meters 0.08468364615378458 Centerline is valid? [True, True] Translation: X:73.54, Y:3.21, Z:-0.98 [[ 9.83968181e-01 -1.78298094e-01 -4.05077494e-03 7.35398904e+01] [ 1.78298040e-01 9.83976456e-01 -3.77356899e-04 3.21480619e+00] [ 4.05314919e-03 -3.50938052e-04 9.99991724e-01 -9.80847603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13589822699998 meters 0.0883262603636484 Centerline is valid? [True, True] Translation: X:73.60, Y:3.22, Z:-0.99 [[ 9.83041669e-01 -1.83294295e-01 -5.68142082e-03 7.35997964e+01] [ 1.83294272e-01 9.83057948e-01 -5.29320303e-04 3.21666541e+00] [ 5.68218728e-03 -5.21027976e-04 9.99983721e-01 -9.85295268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19589822699999 meters 0.09350598195258404 Centerline is valid? [True, True] Translation: X:73.66, Y:3.22, Z:-0.99 [[ 9.82628594e-01 -1.85436308e-01 -7.37714739e-03 7.36590501e+01] [ 1.85436329e-01 9.82656041e-01 -6.87107697e-04 3.21643723e+00] [ 7.37661316e-03 -6.92819460e-04 9.99972552e-01 -9.88757269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25589822699999 meters 0.08790025748671808 Centerline is valid? [True, True] Translation: X:73.72, Y:3.23, Z:-0.99 [[ 9.83287142e-01 -1.81969310e-01 -5.79361311e-03 7.37179247e+01] [ 1.81969263e-01 9.83304071e-01 -5.39643783e-04 3.23191618e+00] [ 5.79508196e-03 -5.23634716e-04 9.99983071e-01 -9.85055334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.31589822699999 meters 0.08605091285874614 Centerline is valid? [True, True] Translation: X:73.78, Y:3.25, Z:-0.98 [[ 9.84438980e-01 -1.75675316e-01 -4.25191578e-03 7.37765216e+01] [ 1.75675233e-01 9.84448097e-01 -3.96051440e-04 3.24901162e+00] [ 4.25536686e-03 -3.57067819e-04 9.99990882e-01 -9.82882801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.375898227 meters 0.08715211467464798 Centerline is valid? [True, True] Translation: X:73.83, Y:3.26, Z:-0.98 [[ 9.85019092e-01 -1.72400341e-01 -3.93826679e-03 7.38347871e+01] [ 1.72400243e-01 9.85026914e-01 -3.66896123e-04 3.26235477e+00] [ 3.94255180e-03 -3.17558465e-04 9.99992178e-01 -9.84912316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.435898227 meters 0.08251786003306927 Centerline is valid? [True, True] Translation: X:73.89, Y:3.28, Z:-0.98 [[ 9.84948050e-01 -1.72811744e-01 -3.66618866e-03 7.38919135e+01] [ 1.72811659e-01 9.84954828e-01 -3.42212577e-04 3.28081695e+00] [ 3.67016858e-03 -2.96498537e-04 9.99993221e-01 -9.84238775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.495898227 meters 0.08605394870962231 Centerline is valid? [True, True] Translation: X:73.95, Y:3.29, Z:-0.98 [[ 9.83987462e-01 -1.78220657e-01 -2.46434451e-03 7.39517615e+01] [ 1.78220635e-01 9.83990524e-01 -2.29994412e-04 3.28880838e+00] [ 2.46588140e-03 -2.12885427e-04 9.99996937e-01 -9.82115419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55589822699999 meters 0.10007369125430146 Centerline is valid? [True, False] Translation: X:73.97, Y:3.29, Z:-0.98 [[ 9.86103668e-01 -1.65884091e-01 9.05673399e-03 7.39738451e+01] [ 1.65954834e-01 9.86103206e-01 -7.71102858e-03 3.29233205e+00] [-7.65173746e-03 9.10688236e-03 9.99929255e-01 -9.84410232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.61589822699999 meters 0.10532210758782841 Centerline is valid? [False, False] Translation: X:73.98, Y:3.30, Z:-0.99 [[ 9.88219463e-01 -1.52715402e-01 1.00149650e-02 7.39764124e+01] [ 1.52840677e-01 9.88162225e-01 -1.32342162e-02 3.29517700e+00] [-7.87534145e-03 1.46090040e-02 9.99862269e-01 -9.87558445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.67589822699999 meters 0.09648587537658007 Centerline is valid? [False, True] Translation: X:73.94, Y:3.29, Z:-0.99 [[ 9.90643739e-01 -1.36418506e-01 3.86960521e-03 7.39376289e+01] [ 1.36464718e-01 9.90502003e-01 -1.68274657e-02 3.29140114e+00] [-1.53727398e-03 1.71980881e-02 9.99850920e-01 -9.86387339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.73589822699999 meters 0.10663653666546273 Centerline is valid? [True, False] Translation: X:73.98, Y:3.29, Z:-0.99 [[ 9.92513307e-01 -1.21894049e-01 7.69264029e-03 7.39783264e+01] [ 1.22009171e-01 9.92385434e-01 -1.68793735e-02 3.29016120e+00] [-5.57656898e-03 1.76915754e-02 9.99827940e-01 -9.89010090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.795898227 meters 0.09701669167216906 Centerline is valid? [False, True] Translation: X:73.98, Y:3.29, Z:-0.99 [[ 9.94427298e-01 -1.05157586e-01 7.49876594e-03 7.39810241e+01] [ 1.05281346e-01 9.94267530e-01 -1.86525457e-02 3.28756217e+00] [-5.49432282e-03 1.93380808e-02 9.99797905e-01 -9.92110500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.855898227 meters 0.09470748643558949 Centerline is valid? [True, True] Translation: X:74.04, Y:3.29, Z:-1.00 [[ 9.94605550e-01 -1.03496741e-01 6.94444563e-03 7.40418310e+01] [ 1.03499026e-01 9.94629554e-01 3.04802331e-05 3.28526176e+00] [-6.91030547e-03 6.88427551e-04 9.99975887e-01 -9.95279556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91589822699999 meters 0.09668913590339365 Centerline is valid? [True, True] Translation: X:74.10, Y:3.29, Z:-1.00 [[ 9.95007445e-01 -9.96093527e-02 6.17746176e-03 7.41009805e+01] [ 9.96110870e-02 9.95026447e-01 2.70510479e-05 3.28587546e+00] [-6.14943237e-03 5.88427687e-04 9.99980919e-01 -9.97677017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97589822699999 meters 0.08863823865609177 Centerline is valid? [True, True] Translation: X:74.16, Y:3.30, Z:-1.00 [[ 9.95253444e-01 -9.71086160e-02 6.36381031e-03 7.41612199e+01] [ 9.71104050e-02 9.95273615e-01 2.79954907e-05 3.29873762e+00] [-6.33645109e-03 5.90129588e-04 9.99979750e-01 -9.96784909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03589822699999 meters 0.08356972923199991 Centerline is valid? [True, True] Translation: X:74.22, Y:3.31, Z:-1.00 [[ 9.95278263e-01 -9.69264099e-02 5.14292546e-03 7.42231490e+01] [ 9.69275745e-02 9.95291437e-01 2.29018560e-05 3.30501258e+00] [-5.12092947e-03 4.75697571e-04 9.99986775e-01 -9.98332951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.09589822699999 meters 0.10241469652025557 Centerline is valid? [True, False] Translation: X:74.22, Y:3.30, Z:-1.00 [[ 9.96193985e-01 -8.70419353e-02 4.60926027e-03 7.42241991e+01] [ 8.70811778e-02 9.96159326e-01 -9.13594952e-03 3.30361729e+00] [-3.79634688e-03 9.50255777e-03 9.99947643e-01 -9.97559338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.155898227 meters 0.093015199363067 Centerline is valid? [False, True] Translation: X:74.23, Y:3.30, Z:-1.00 [[ 9.97264082e-01 -7.38356177e-02 3.55699514e-03 7.42253604e+01] [ 7.38803982e-02 9.97157884e-01 -1.47594244e-02 3.30172728e+00] [-2.45711453e-03 1.49818361e-02 9.99884747e-01 -9.97665908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.215898227 meters 0.09725104312099794 Centerline is valid? [True, True] Translation: X:74.29, Y:3.29, Z:-1.00 [[ 9.97543013e-01 -6.99820910e-02 3.23179433e-03 7.42850739e+01] [ 6.99826718e-02 9.97548205e-01 -6.68660961e-05 3.28964760e+00] [-3.21919120e-03 2.92871409e-04 9.99994776e-01 -1.00093954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27589822699998 meters 0.08974447211891626 Centerline is valid? [True, True] Translation: X:74.35, Y:3.30, Z:-1.00 [[ 9.98014323e-01 -6.27780635e-02 5.13078806e-03 7.43457817e+01] [ 6.27794332e-02 9.98027420e-01 -1.06184338e-04 3.30311417e+00] [-5.11400112e-03 4.28081457e-04 9.99986832e-01 -9.97741396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33589822699999 meters 0.07698873455176362 Centerline is valid? [True, True] Translation: X:74.41, Y:3.33, Z:-1.00 [[ 9.98373916e-01 -5.66677353e-02 6.18799777e-03 7.44068400e+01] [ 5.66696112e-02 9.98392978e-01 -1.28100799e-04 3.32719945e+00] [-6.17079434e-03 4.78563924e-04 9.99980846e-01 -9.98044912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39589822699999 meters 0.07789674135393838 Centerline is valid? [True, True] Translation: X:74.47, Y:3.33, Z:-1.00 [[ 9.98285466e-01 -5.82114404e-02 6.12830027e-03 7.44678652e+01] [ 5.82133093e-02 9.98304159e-01 -1.26884144e-04 3.33205416e+00] [-6.11052154e-03 4.83415236e-04 9.99981214e-01 -9.99075077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.45589822699999 meters 0.0981530306272245 Centerline is valid? [True, True] Translation: X:74.53, Y:3.31, Z:-1.00 [[ 9.98029937e-01 -6.23090360e-02 7.33687095e-03 7.45272855e+01] [ 6.23118255e-02 9.98056718e-01 -1.52008370e-04 3.31157005e+00] [-7.31314185e-03 6.08882726e-04 9.99973073e-01 -9.99737896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.515898227 meters 0.08219975734730106 Centerline is valid? [True, True] Translation: X:74.59, Y:3.34, Z:-1.00 [[ 9.97871491e-01 -6.49627795e-02 5.68542060e-03 7.45886886e+01] [ 6.49644974e-02 9.97887569e-01 -1.17820769e-04 3.33517283e+00] [-5.66575658e-03 4.86920478e-04 9.99983831e-01 -1.00245143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.575898227 meters 0.0935769270521315 Centerline is valid? [True, True] Translation: X:74.65, Y:3.32, Z:-1.01 [[ 9.97777001e-01 -6.65598558e-02 3.29265432e-03 7.46477083e+01] [ 6.65604406e-02 9.97782393e-01 -6.82122315e-05 3.32444024e+00] [-3.28081231e-03 2.87221118e-04 9.99994577e-01 -1.00778759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63589822699998 meters 0.08461924576217987 Centerline is valid? [True, True] Translation: X:74.71, Y:3.34, Z:-1.00 [[ 9.97824728e-01 -6.57038170e-02 5.36849109e-03 7.47093992e+01] [ 6.57053602e-02 9.97839062e-01 -1.11409904e-04 3.33724415e+00] [-5.34957005e-03 4.63906198e-04 9.99985583e-01 -1.00451366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69589822699999 meters 0.08054947682351639 Centerline is valid? [True, True] Translation: X:74.77, Y:3.35, Z:-1.00 [[ 9.97971773e-01 -6.34108820e-02 5.60359058e-03 7.47699719e+01] [ 6.34125287e-02 9.97987394e-01 -1.16518755e-04 3.34676497e+00] [-5.58492420e-03 4.71620277e-04 9.99984293e-01 -1.00496310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75589822699999 meters 0.0834173998571921 Centerline is valid? [True, True] Translation: X:74.83, Y:3.34, Z:-1.01 [[ 9.98044806e-01 -6.23600871e-02 4.21713822e-03 7.48308020e+01] [ 6.23610100e-02 9.98053654e-01 -8.75650094e-05 3.34415021e+00] [-4.20346965e-03 3.50378802e-04 9.99991104e-01 -1.00824338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.81589822699999 meters 0.07971522651672476 Centerline is valid? [True, True] Translation: X:74.89, Y:3.35, Z:-1.01 [[ 9.98074620e-01 -6.17347513e-02 5.98936703e-03 7.48924555e+01] [ 6.17366029e-02 9.98092469e-01 -1.24590414e-04 3.35065997e+00] [-5.97025057e-03 4.94113704e-04 9.99982056e-01 -1.00531388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.875898227 meters 0.08639900511506676 Centerline is valid? [True, True] Translation: X:74.95, Y:3.34, Z:-1.01 [[ 9.97844772e-01 -6.52680588e-02 6.77437609e-03 7.49523640e+01] [ 6.52705101e-02 9.97867597e-01 -1.41171411e-04 3.33967947e+00] [-6.75071640e-03 5.83034138e-04 9.99977044e-01 -1.00575691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.935898227 meters 0.09558186833191915 Centerline is valid? [True, True] Translation: X:75.01, Y:3.32, Z:-1.00 [[ 9.97513877e-01 -6.99280718e-02 8.72520380e-03 7.50114086e+01] [ 6.99323150e-02 9.97551722e-01 -1.81804157e-04 3.32402671e+00] [-8.69112886e-03 7.91525870e-04 9.99961918e-01 -1.00313453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.995898227 meters 0.09661370356821784 Centerline is valid? [True, True] Translation: X:75.07, Y:3.32, Z:-1.00 [[ 9.97329614e-01 -7.24231565e-02 9.40887599e-03 7.50724695e+01] [ 7.24282032e-02 9.97373609e-01 -1.96297852e-04 3.31912560e+00] [-9.36994810e-03 8.77241643e-04 9.99955716e-01 -1.00273278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05589822699999 meters 0.10119994098687045 Centerline is valid? [True, False] Translation: X:75.07, Y:3.31, Z:-1.00 [[ 9.97917389e-01 -6.37670131e-02 9.72895461e-03 7.50743160e+01] [ 6.38632205e-02 9.97909347e-01 -9.92088637e-03 3.31307581e+00] [-9.07598945e-03 1.05215474e-02 9.99903457e-01 -1.00384782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.11589822699999 meters 0.09905101079361121 Centerline is valid? [False, True] Translation: X:75.07, Y:3.31, Z:-1.00 [[ 9.98676747e-01 -5.09857004e-02 6.72402436e-03 7.50732734e+01] [ 5.10836972e-02 9.98576999e-01 -1.53112040e-02 3.30741146e+00] [-5.93380361e-03 1.56344315e-02 9.99860167e-01 -1.00022344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.17589822699999 meters 0.0898789497668875 Centerline is valid? [True, True] Translation: X:75.13, Y:3.31, Z:-1.00 [[ 9.98815583e-01 -4.77899911e-02 9.14042450e-03 7.51340172e+01] [ 4.77957533e-02 9.98857045e-01 -4.12881998e-04 3.30826187e+00] [-9.11024577e-03 8.49266448e-04 9.99958140e-01 -9.99905213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.23589822699999 meters 0.0909462136311696 Centerline is valid? [True, True] Translation: X:75.19, Y:3.30, Z:-1.01 [[ 9.99210090e-01 -3.92958206e-02 5.91892102e-03 7.51934193e+01] [ 3.92980891e-02 9.99227496e-01 -2.67394897e-04 3.30141734e+00] [-5.90384113e-03 4.99785964e-04 9.99982447e-01 -1.00540043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.295898227 meters 0.07939152065067107 Centerline is valid? [True, True] Translation: X:75.25, Y:3.31, Z:-1.01 [[ 9.99376817e-01 -3.50798003e-02 3.92246471e-03 7.52548448e+01] [ 3.50807643e-02 9.99384465e-01 -1.77208553e-04 3.30901607e+00] [-3.91383386e-03 3.14701180e-04 9.99992291e-01 -1.00811352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.355898227 meters 0.08227637623614102 Centerline is valid? [True, True] Translation: X:75.31, Y:3.30, Z:-1.01 [[ 9.99583136e-01 -2.88157090e-02 1.79122554e-03 7.53146011e+01] [ 2.88159000e-02 9.99584732e-01 -8.08952431e-05 3.29934455e+00] [-1.78815065e-03 1.32477297e-04 9.99998392e-01 -1.01171627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41589822699999 meters 0.06483977550236812 Centerline is valid? [True, True] Translation: X:75.38, Y:3.32, Z:-1.01 [[ 9.99675575e-01 -2.53951203e-02 1.95766965e-03 7.53760995e+01] [ 2.53953421e-02 9.99677482e-01 -8.84773917e-05 3.32089269e+00] [-1.95479137e-03 1.38164378e-04 9.99998080e-01 -1.00952675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47589822699999 meters 0.0668435771737172 Centerline is valid? [True, True] Translation: X:75.44, Y:3.32, Z:-1.01 [[ 9.99811412e-01 -1.90737315e-02 3.65143633e-03 7.54362064e+01] [ 1.90744608e-02 9.99818052e-01 -1.64994315e-04 3.32054618e+00] [-3.64762491e-03 2.34612378e-04 9.99993320e-01 -1.00666946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53589822699999 meters 0.06543730038841498 Centerline is valid? [True, True] Translation: X:75.50, Y:3.33, Z:-1.01 [[ 9.99853840e-01 -1.62762891e-02 5.23262228e-03 7.54967597e+01] [ 1.62777488e-02 9.99867481e-01 -2.36496359e-04 3.32670665e+00] [-5.22807957e-03 3.21637104e-04 9.99986282e-01 -1.00611042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.59589822699999 meters 0.06882012319555081 Centerline is valid? [True, True] Translation: X:75.56, Y:3.33, Z:-1.01 [[ 9.99836835e-01 -1.77099500e-02 3.55812224e-03 7.55566893e+01] [ 1.77106340e-02 9.99843141e-01 -1.60820248e-04 3.32789812e+00] [-3.55471600e-03 2.23810608e-04 9.99993657e-01 -1.01009290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.655898227 meters 0.0721900175831245 Centerline is valid? [True, True] Translation: X:75.62, Y:3.33, Z:-1.01 [[ 9.99782298e-01 -2.05496733e-02 3.61491119e-03 7.56176700e+01] [ 2.05503977e-02 9.99788805e-01 -1.63378381e-04 3.32684536e+00] [-3.61079036e-03 2.37630676e-04 9.99993453e-01 -1.01042418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.715898227 meters 0.077187109385972 Centerline is valid? [True, True] Translation: X:75.68, Y:3.33, Z:-1.01 [[ 9.99676202e-01 -2.48428957e-02 5.50645561e-03 7.56786486e+01] [ 2.48446415e-02 9.99691293e-01 -2.48865772e-04 3.32875720e+00] [-5.49857319e-03 3.85591105e-04 9.99984808e-01 -1.00632802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77589822699998 meters 0.07374009288540527 Centerline is valid? [True, True] Translation: X:75.74, Y:3.34, Z:-1.01 [[ 9.99575894e-01 -2.85702439e-02 5.63677313e-03 7.57405045e+01] [ 2.85721325e-02 9.99591701e-01 -2.54783863e-04 3.33970183e+00] [-5.62719240e-03 4.15730436e-04 9.99984081e-01 -1.00843633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83589822699999 meters 0.07801971698662602 Centerline is valid? [True, True] Translation: X:75.80, Y:3.34, Z:-1.01 [[ 9.99545274e-01 -2.97449489e-02 4.94803124e-03 7.58005753e+01] [ 2.97464191e-02 9.99557452e-01 -2.23791441e-04 3.33741719e+00] [-4.93918484e-03 3.70875888e-04 9.99987733e-01 -1.00994097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89589822699999 meters 0.07238274665340369 Centerline is valid? [True, True] Translation: X:75.86, Y:3.35, Z:-1.01 [[ 9.99450788e-01 -3.26578402e-02 5.62025217e-03 7.58619094e+01] [ 3.26597828e-02 9.99466495e-01 -2.54189543e-04 3.34696891e+00] [-5.60895245e-03 4.37606154e-04 9.99984174e-01 -1.00859890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.95589822699999 meters 0.08816067101966386 Centerline is valid? [True, True] Translation: X:75.92, Y:3.33, Z:-1.01 [[ 9.99281120e-01 -3.77588585e-02 3.39302143e-03 7.59205907e+01] [ 3.77595959e-02 9.99286840e-01 -1.53508437e-04 3.32638153e+00] [-3.38480536e-03 2.81517201e-04 9.99994232e-01 -1.01486058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.015898227 meters 0.08123482507972901 Centerline is valid? [True, True] Translation: X:75.98, Y:3.33, Z:-1.02 [[ 9.99128197e-01 -4.17313734e-02 1.15686453e-03 7.59818027e+01] [ 4.17314617e-02 9.99128862e-01 -5.22987923e-05 3.33343456e+00] [-1.15367424e-03 1.00530846e-04 9.99999329e-01 -1.01782787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.075898227 meters 0.08229592955190715 Centerline is valid? [True, True] Translation: X:76.04, Y:3.33, Z:-1.02 [[ 9.99122899e-01 -4.18733954e-02 2.28328835e-04 7.60437383e+01] [ 4.18733987e-02 9.99122925e-01 -9.96133213e-06 3.33147827e+00] [-2.27711458e-04 1.95134994e-05 9.99999974e-01 -1.01869360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13589822699998 meters 0.07842305529070905 Centerline is valid? [True, True] Translation: X:76.11, Y:3.34, Z:-1.02 [[ 9.99270862e-01 -3.81726816e-02 7.68096257e-04 7.61050420e+01] [ 3.81727195e-02 9.99271156e-01 -3.47165757e-05 3.33698347e+00] [-7.66211210e-04 6.40115856e-05 9.99999704e-01 -1.01878933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19589822699999 meters 0.07609935933948132 Centerline is valid? [True, True] Translation: X:76.16, Y:3.35, Z:-1.01 [[ 9.99479122e-01 -3.20532246e-02 3.75167905e-03 7.61647842e+01] [ 3.20540868e-02 9.99486121e-01 -1.69905396e-04 3.34505509e+00] [-3.74430513e-03 2.90073542e-04 9.99992948e-01 -1.01448265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25589822699999 meters 0.07502870778085712 Centerline is valid? [True, True] Translation: X:76.23, Y:3.35, Z:-1.01 [[ 9.99497377e-01 -3.13530787e-02 4.68811144e-03 7.62262513e+01] [ 3.13544166e-02 9.99508307e-01 -2.12142765e-04 3.34804516e+00] [-4.67915500e-03 3.59029136e-04 9.99988988e-01 -1.01343870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.31589822699999 meters 0.07699486012771778 Centerline is valid? [True, True] Translation: X:76.29, Y:3.36, Z:-1.01 [[ 9.99454244e-01 -3.24465583e-02 6.19967236e-03 7.62881367e+01] [ 3.24489202e-02 9.99473356e-01 -2.80742193e-04 3.35526101e+00] [-6.18729822e-03 4.81761650e-04 9.99980742e-01 -1.01243253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.375898227 meters 0.07069082777222281 Centerline is valid? [True, True] Translation: X:76.35, Y:3.36, Z:-1.01 [[ 9.99471565e-01 -3.19587124e-02 5.93557924e-03 7.63497405e+01] [ 3.19743469e-02 9.99485416e-01 -2.55806454e-03 3.36321210e+00] [-5.85077244e-03 2.74649903e-03 9.99979112e-01 -1.01005701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.435898227 meters 0.08099288406925428 Centerline is valid? [True, True] Translation: X:76.41, Y:3.35, Z:-1.01 [[ 9.99383378e-01 -3.45512510e-02 6.25091670e-03 7.64092143e+01] [ 3.45397376e-02 9.99401441e-01 1.94056498e-03 3.34690286e+00] [-6.31422411e-03 -1.72346336e-03 9.99978580e-01 -1.01256007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49589822699998 meters 0.08519403033459143 Centerline is valid? [True, True] Translation: X:76.47, Y:3.34, Z:-1.01 [[ 9.99230933e-01 -3.85338020e-02 7.25870197e-03 7.64698198e+01] [ 3.85372035e-02 9.99257112e-01 -3.29278251e-04 3.34153832e+00] [-7.24062123e-03 6.08755089e-04 9.99973601e-01 -1.01046067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55589822699999 meters 0.08446772381438154 Centerline is valid? [True, True] Translation: X:76.53, Y:3.34, Z:-1.02 [[ 9.99213286e-01 -3.93619477e-02 4.84213259e-03 7.65312190e+01] [ 3.93634706e-02 9.99224934e-01 -2.19588196e-04 3.33762489e+00] [-4.82973620e-03 4.10018587e-04 9.99988253e-01 -1.01549072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.61589822699999 meters 0.08356279397552199 Centerline is valid? [True, True] Translation: X:76.59, Y:3.33, Z:-1.01 [[ 9.99174005e-01 -4.00742373e-02 6.73523443e-03 7.65929619e+01] [ 4.00772010e-02 9.99196540e-01 -3.05580092e-04 3.33399144e+00] [-6.71757705e-03 5.75257028e-04 9.99977271e-01 -1.01268224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.67589822699999 meters 0.08733970638956544 Centerline is valid? [True, True] Translation: X:76.65, Y:3.32, Z:-1.01 [[ 9.99165709e-01 -4.03762625e-02 6.13542430e-03 7.66531671e+01] [ 4.03787306e-02 9.99184408e-01 -2.78877500e-04 3.32338544e+00] [-6.11916026e-03 5.26385480e-04 9.99981139e-01 -1.01458709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.73589822699999 meters 0.08337112259313456 Centerline is valid? [True, True] Translation: X:76.71, Y:3.32, Z:-1.02 [[ 9.99229114e-01 -3.89521051e-02 4.88987253e-03 7.67139963e+01] [ 3.89536564e-02 9.99240994e-01 -2.22370387e-04 3.32414952e+00] [-4.87749929e-03 4.12677379e-04 9.99988020e-01 -1.01662022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.795898227 meters 0.07098413257096443 Centerline is valid? [True, True] Translation: X:76.78, Y:3.34, Z:-1.02 [[ 9.99609332e-01 -2.76677581e-02 3.95957964e-03 7.67757105e+01] [ 2.76686875e-02 9.99617132e-01 -1.80125455e-04 3.34226870e+00] [-3.95307997e-03 2.89611458e-04 9.99992145e-01 -1.01609933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.855898227 meters 0.07241015057829589 Centerline is valid? [True, True] Translation: X:76.84, Y:3.34, Z:-1.01 [[ 9.99727997e-01 -2.26210510e-02 5.67627601e-03 7.68351673e+01] [ 2.26228805e-02 9.99744037e-01 -2.58286963e-04 3.34012332e+00] [-5.66898036e-03 3.86630422e-04 9.99983856e-01 -1.01452785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91589822699999 meters 0.05774966920746649 Centerline is valid? [True, True] Translation: X:76.90, Y:3.36, Z:-1.00 [[ 9.99882315e-01 -9.77374786e-03 1.18249632e-02 7.68973277e+01] [ 9.78079079e-03 9.99952022e-01 -5.37912762e-04 3.36374968e+00] [-1.18191385e-02 6.53506949e-04 9.99929938e-01 -1.00450650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97589822699999 meters 0.04905264669429704 Centerline is valid? [True, True] Translation: X:76.96, Y:3.38, Z:-1.01 [[ 9.99917509e-01 -3.74936396e-03 1.22848064e-02 7.69586223e+01] [ 3.75651326e-03 9.99992788e-01 -5.58939376e-04 3.37732390e+00] [-1.22826222e-02 6.05041307e-04 9.99924383e-01 -1.00532162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.03589822699999 meters 0.04436097748740816 Centerline is valid? [True, True] Translation: X:77.02, Y:3.39, Z:-1.01 [[ 9.99944526e-01 4.08479622e-03 9.70870152e-03 7.70193297e+01] [-4.08069887e-03 9.99991576e-01 -4.41801001e-04 3.39022705e+00] [-9.71042440e-03 4.02158206e-04 9.99952772e-01 -1.01166822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.09589822699999 meters 0.03938345204304006 Centerline is valid? [True, True] Translation: X:77.08, Y:3.39, Z:-1.01 [[ 9.99899531e-01 8.87485217e-03 1.10528158e-02 7.70793068e+01] [-8.86983386e-03 9.99960536e-01 -5.02968573e-04 3.39445641e+00] [-1.10568433e-02 4.04881401e-04 9.99938789e-01 -1.00710471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.155898227 meters 0.034784360632442834 Centerline is valid? [True, True] Translation: X:77.14, Y:3.40, Z:-1.01 [[ 9.99809583e-01 1.56947197e-02 1.15962855e-02 7.71389975e+01] [-1.56896554e-02 9.99876771e-01 -5.27569151e-04 3.39981106e+00] [-1.16031365e-02 3.45526969e-04 9.99932622e-01 -1.00883690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.215898227 meters 0.02835351662475602 Centerline is valid? [True, True] Translation: X:77.20, Y:3.40, Z:-1.01 [[ 9.99725015e-01 2.14632232e-02 9.44581869e-03 7.71991425e+01] [-2.14601212e-02 9.99769613e-01 -4.29652642e-04 3.40383210e+00] [-9.45286422e-03 2.26826081e-04 9.99955295e-01 -1.01440354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27589822699998 meters 0.02483503231209228 Centerline is valid? [True, True] Translation: X:77.26, Y:3.40, Z:-1.02 [[ 9.99702873e-01 2.28770930e-02 8.41449808e-03 7.72576442e+01] [-2.28746816e-02 9.99738267e-01 -3.82717748e-04 3.40463042e+00] [-8.42105120e-03 1.90125068e-04 9.99964524e-01 -1.01574975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33589822699999 meters 0.02297840890406363 Centerline is valid? [True, True] Translation: X:77.32, Y:3.40, Z:-1.02 [[ 9.99652695e-01 2.50907595e-02 8.05871492e-03 7.73164362e+01] [-2.50886225e-02 9.99685164e-01 -3.66179431e-04 3.39848433e+00] [-8.06536547e-03 1.63870198e-04 9.99967461e-01 -1.01813522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39589822699999 meters 0.02348999617156928 Centerline is valid? [True, True] Translation: X:77.37, Y:3.39, Z:-1.02 [[ 9.99635078e-01 2.59302970e-02 7.57175718e-03 7.73737440e+01] [-2.59284370e-02 9.99663742e-01 -3.43732530e-04 3.39231049e+00] [-7.57812420e-03 1.47283265e-04 9.99971275e-01 -1.01977173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.45589822699999 meters 0.02239605200100353 Centerline is valid? [True, True] Translation: X:77.43, Y:3.39, Z:-1.02 [[ 9.99595333e-01 2.67228991e-02 9.74969507e-03 7.74328686e+01] [-2.67198594e-02 9.99642863e-01 -4.41924145e-04 3.38916360e+00] [-9.75802258e-03 1.81234832e-04 9.99952373e-01 -1.01610316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.515898227 meters 0.02122468687229174 Centerline is valid? [True, True] Translation: X:77.49, Y:3.38, Z:-1.01 [[ 9.99578693e-01 2.66241773e-02 1.15580883e-02 7.74912138e+01] [-2.66199056e-02 9.99645491e-01 -5.23292744e-04 3.38385770e+00] [-1.15679231e-02 2.15397058e-04 9.99933066e-01 -1.01393507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.575898227 meters 0.024565915016187823 Centerline is valid? [True, True] Translation: X:77.55, Y:3.37, Z:-1.01 [[ 9.99611715e-01 2.48366877e-02 1.26316498e-02 7.75488077e+01] [-2.48314516e-02 9.99691489e-01 -5.71215135e-04 3.37171766e+00] [-1.26419399e-02 2.57331141e-04 9.99920054e-01 -1.01222511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63589822699998 meters 0.0230060433964594 Centerline is valid? [True, True] Translation: X:77.61, Y:3.37, Z:-1.01 [[ 9.99588350e-01 2.51045090e-02 1.38886260e-02 7.76075223e+01] [-2.50982158e-02 9.99684793e-01 -6.27260465e-04 3.36710030e+00] [-1.38999953e-02 2.78422521e-04 9.99903352e-01 -1.01191014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69589822699999 meters 0.023567131730495506 Centerline is valid? [True, True] Translation: X:77.66, Y:3.36, Z:-1.01 [[ 9.99580104e-01 2.53095873e-02 1.41081851e-02 7.76645955e+01] [-2.53031243e-02 9.99679622e-01 -6.36444018e-04 3.35723365e+00] [-1.41197733e-02 2.79195615e-04 9.99900272e-01 -1.01194086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.75589822699999 meters 0.022872013573443692 Centerline is valid? [True, True] Translation: X:77.72, Y:3.35, Z:-1.01 [[ 9.99572650e-01 2.56127435e-02 1.40891841e-02 7.77230095e+01] [-2.56063385e-02 9.99671902e-01 -6.34838241e-04 3.34861616e+00] [-1.41008214e-02 2.73794525e-04 9.99900541e-01 -1.01313281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.81589822699999 meters 0.02057487832152801 Centerline is valid? [True, True] Translation: X:77.78, Y:3.34, Z:-1.01 [[ 9.99500912e-01 2.78566166e-02 1.48974985e-02 7.77816536e+01] [-2.78497153e-02 9.99611897e-01 -6.70546719e-04 3.33963724e+00] [-1.49103959e-02 2.55320966e-04 9.99888801e-01 -1.01247569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.875898227 meters 0.018628778167773707 Centerline is valid? [True, True] Translation: X:77.84, Y:3.33, Z:-1.02 [[ 9.99448836e-01 3.02077619e-02 1.37664843e-02 7.78402531e+01] [-3.02021002e-02 9.99543621e-01 -6.19024220e-04 3.33305513e+00] [-1.37789009e-02 2.02906297e-04 9.99905046e-01 -1.01525101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.935898227 meters 0.01733793873775415 Centerline is valid? [True, True] Translation: X:77.90, Y:3.32, Z:-1.02 [[ 9.99419514e-01 3.10535847e-02 1.40110684e-02 7.78991054e+01] [-3.10478126e-02 9.99517702e-01 -6.29352678e-04 3.32480413e+00] [-1.40238546e-02 1.93974321e-04 9.99901642e-01 -1.01535207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99589822699998 meters 0.02327088738144282 Centerline is valid? [True, True] Translation: X:77.96, Y:3.32, Z:-1.01 [[ 9.99442908e-01 2.92209372e-02 1.61248684e-02 7.79572969e+01] [-2.92130646e-02 9.99572945e-01 -7.23603829e-04 3.31541627e+00] [-1.61391266e-02 2.52143893e-04 9.99869724e-01 -1.01407055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05589822699999 meters 0.02358855829750161 Centerline is valid? [True, True] Translation: X:78.02, Y:3.31, Z:-1.02 [[ 9.99557067e-01 2.57160385e-02 1.49785108e-02 7.80155415e+01] [-2.57088591e-02 9.99669247e-01 -6.71696990e-04 3.30629720e+00] [-1.49908300e-02 2.86319049e-04 9.99887590e-01 -1.01552131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11589822699999 meters 0.03347063925634344 Centerline is valid? [True, True] Translation: X:78.07, Y:3.29, Z:-1.02 [[ 9.99742214e-01 1.65143528e-02 1.55814619e-02 7.80743765e+01] [-1.65054705e-02 9.99863531e-01 -6.98486040e-04 3.28616878e+00] [-1.55908705e-02 4.41126621e-04 9.99878358e-01 -1.01526285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.17589822699999 meters 0.03362223251140495 Centerline is valid? [True, True] Translation: X:78.14, Y:3.28, Z:-1.02 [[ 9.99787038e-01 1.40492719e-02 1.51161290e-02 7.81356177e+01] [-1.40406277e-02 9.99901196e-01 -6.77832169e-04 3.27733769e+00] [-1.51241585e-02 4.65447878e-04 9.99885515e-01 -1.01529231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.23589822699999 meters 0.027506948688084898 Centerline is valid? [True, True] Translation: X:78.20, Y:3.28, Z:-1.02 [[ 9.99670136e-01 2.07744037e-02 1.51011039e-02 7.81966997e+01] [-2.07665402e-02 9.99784123e-01 -6.77356504e-04 3.28200286e+00] [-1.51119156e-02 3.63535388e-04 9.99885742e-01 -1.01550121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.295898227 meters 0.013756556020633366 Centerline is valid? [True, True] Translation: X:78.26, Y:3.30, Z:-1.02 [[ 9.99183470e-01 3.76716753e-02 1.46026923e-02 7.82563503e+01] [-3.76661281e-02 9.99290165e-01 -6.54816564e-04 3.30091506e+00] [-1.46169948e-02 1.04255010e-04 9.99893161e-01 -1.01574121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.355898227 meters 0.011792310717411677 Centerline is valid? [True, True] Translation: X:78.32, Y:3.31, Z:-1.01 [[ 9.98709619e-01 4.84716181e-02 1.51525005e-02 7.83161041e+01] [-4.84668962e-02 9.98824559e-01 -6.78901057e-04 3.31456094e+00] [-1.51675971e-02 -5.63696548e-05 9.99884964e-01 -1.01424696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41589822699999 meters 0.01680759309334404 Centerline is valid? [True, True] Translation: X:78.38, Y:3.32, Z:-1.02 [[ 9.98299919e-01 5.64665415e-02 1.44499312e-02 7.83756565e+01] [-5.64630926e-02 9.98404478e-01 -6.46859041e-04 3.32280671e+00] [-1.44634019e-02 -1.70128475e-04 9.99895385e-01 -1.01699269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47589822699999 meters 0.01725758292927773 Centerline is valid? [True, True] Translation: X:78.43, Y:3.32, Z:-1.02 [[ 9.98169224e-01 5.85011961e-02 1.53561157e-02 7.84347034e+01] [-5.84975517e-02 9.98287316e-01 -6.86783749e-04 3.31900818e+00] [-1.53699932e-02 -2.12768773e-04 9.99881852e-01 -1.01935914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.53589822699999 meters 0.018345462209030525 Centerline is valid? [True, True] Translation: X:78.49, Y:3.32, Z:-1.02 [[ 9.98173258e-01 5.84609703e-02 1.52467238e-02 7.84920221e+01] [-5.84573921e-02 9.98289672e-01 -6.80630426e-04 3.31606193e+00] [-1.52604372e-02 -2.11896624e-04 9.99883530e-01 -1.01860697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.59589822699999 meters 0.015757103246167484 Centerline is valid? [True, True] Translation: X:78.55, Y:3.30, Z:-1.02 [[ 9.98318358e-01 5.51517296e-02 1.78533559e-02 7.85504176e+01] [-5.51463237e-02 9.98477967e-01 -7.95340145e-04 3.30153138e+00] [-1.78700469e-02 -1.90544279e-04 9.99840300e-01 -1.01695840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.655898227 meters 0.014304249849870488 Centerline is valid? [True, True] Translation: X:78.61, Y:3.29, Z:-1.01 [[ 9.98481381e-01 5.15145644e-02 1.95238882e-02 7.86080348e+01] [-5.15074252e-02 9.98672234e-01 -8.68682624e-04 3.28784785e+00] [-1.95427149e-02 -1.38261786e-04 9.99809013e-01 -1.01388988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.715898227 meters 0.01382165653919173 Centerline is valid? [True, True] Translation: X:78.67, Y:3.27, Z:-1.02 [[ 9.98532937e-01 5.10820938e-02 1.79608667e-02 7.86658561e+01] [-5.10759978e-02 9.98694450e-01 -7.98264938e-04 3.27303479e+00] [-1.79781949e-02 -1.20275353e-04 9.99838372e-01 -1.01779108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77589822699998 meters 0.014832455498225398 Centerline is valid? [True, True] Translation: X:78.72, Y:3.27, Z:-1.02 [[ 9.98398205e-01 5.40311105e-02 1.67828164e-02 7.87249025e+01] [-5.40262170e-02 9.98539239e-01 -7.45159098e-04 3.27036856e+00] [-1.67985625e-02 -1.62746573e-04 9.99858881e-01 -1.02123004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83589822699999 meters 0.028704254464302168 Centerline is valid? [True, True] Translation: X:78.78, Y:3.28, Z:-1.02 [[ 9.97550879e-01 6.77431509e-02 1.74100503e-02 7.87848090e+01] [-6.77399794e-02 9.97702710e-01 -7.72499606e-04 3.28402936e+00] [-1.74223859e-02 -4.08748785e-04 9.99848135e-01 -1.01879448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.89589822699999 meters 0.03706096897273681 Centerline is valid? [True, True] Translation: X:78.85, Y:3.29, Z:-1.02 [[ 9.97052281e-01 7.49773530e-02 1.62832729e-02 7.88454847e+01] [-7.49755438e-02 9.97185111e-01 -7.22408864e-04 3.29100464e+00] [-1.62916016e-02 -5.00567834e-04 9.99867158e-01 -1.02069774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.95589822699999 meters 0.03507838333603765 Centerline is valid? [True, True] Translation: X:78.90, Y:3.28, Z:-1.03 [[ 9.96986221e-01 7.60800631e-02 1.51756339e-02 7.89037649e+01] [-7.60786243e-02 9.97101595e-01 -6.72929514e-04 3.28166668e+00] [-1.51828453e-02 -4.83639895e-04 9.99884617e-01 -1.02682706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.015898227 meters 0.03700037299324906 Centerline is valid? [True, True] Translation: X:78.96, Y:3.27, Z:-1.03 [[ 9.97269277e-01 7.22168983e-02 1.54501779e-02 7.89622102e+01] [-7.22149538e-02 9.97388857e-01 -6.84443217e-04 3.27368904e+00] [-1.54592636e-02 -4.33159688e-04 9.99880405e-01 -1.02802656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.075898227 meters 0.029679057645471588 Centerline is valid? [True, True] Translation: X:79.02, Y:3.25, Z:-1.02 [[ 9.97646092e-01 6.67346426e-02 1.57722347e-02 7.90204032e+01] [-6.67319388e-02 9.97770696e-01 -6.98241027e-04 3.25433395e+00] [-1.57836705e-02 -3.55914371e-04 9.99875367e-01 -1.02498561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13589822699998 meters 0.02695764223577072 Centerline is valid? [True, True] Translation: X:79.08, Y:3.24, Z:-1.02 [[ 9.97623707e-01 6.63793137e-02 1.84587512e-02 7.90783139e+01] [-6.63755624e-02 9.97794377e-01 -8.16484736e-04 3.23807964e+00] [-1.84722359e-02 -4.10665464e-04 9.99829289e-01 -1.02197718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19589822699999 meters 0.033317230271252156 Centerline is valid? [True, True] Translation: X:79.14, Y:3.24, Z:-1.02 [[ 9.97466420e-01 6.87327990e-02 1.83451325e-02 7.91367561e+01] [-6.87295048e-02 9.97635002e-01 -8.10733030e-04 3.23872841e+00] [-1.83574703e-02 -4.52172901e-04 9.99831385e-01 -1.02170082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.25589822699999 meters 0.03111716986961131 Centerline is valid? [True, True] Translation: X:79.20, Y:3.22, Z:-1.02 [[ 9.97422872e-01 6.92749784e-02 1.86705952e-02 7.91950543e+01] [-6.92716755e-02 9.97597492e-01 -8.24351353e-04 3.22368816e+00] [-1.86828459e-02 -4.71116518e-04 9.99825349e-01 -1.02385704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.31589822699999 meters 0.02467485571226146 Centerline is valid? [True, True] Translation: X:79.25, Y:3.20, Z:-1.03 [[ 9.97680281e-01 6.55561308e-02 1.83425678e-02 7.92545430e+01] [-6.55523237e-02 9.97848805e-01 -8.09373632e-04 3.20441018e+00] [-1.83561688e-02 -3.94901831e-04 9.99831433e-01 -1.02620011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.375898227 meters 0.02192596016251735 Centerline is valid? [True, True] Translation: X:79.31, Y:3.19, Z:-1.02 [[ 9.98003510e-01 5.96995818e-02 2.06144310e-02 7.93127052e+01] [-5.96935356e-02 9.98216337e-01 -9.09066335e-04 3.18658901e+00] [-2.06319326e-02 -3.23296876e-04 9.99787087e-01 -1.02281309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.435898227 meters 0.017576704136690314 Centerline is valid? [True, True] Translation: X:79.37, Y:3.17, Z:-1.03 [[ 9.98212980e-01 5.61136970e-02 2.05450593e-02 7.93713318e+01] [-5.61069543e-02 9.98424354e-01 -9.04915622e-04 3.16984320e+00] [-2.05634657e-02 -2.49422183e-04 9.99788518e-01 -1.02574643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49589822699998 meters 0.016522529417145257 Centerline is valid? [True, True] Translation: X:79.43, Y:3.15, Z:-1.03 [[ 9.98453720e-01 5.29055370e-02 1.70637731e-02 7.94299747e+01] [-5.29004285e-02 9.98599510e-01 -7.50926060e-04 3.15357160e+00] [-1.70796036e-02 -1.52915991e-04 9.99854121e-01 -1.03401433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55589822699999 meters 0.015154958655543336 Centerline is valid? [True, True] Translation: X:79.49, Y:3.15, Z:-1.03 [[ 9.98385475e-01 5.37139839e-02 1.84729874e-02 7.94887515e+01] [-5.37081482e-02 9.98556345e-01 -8.12234627e-04 3.14570483e+00] [-1.84899471e-02 -1.81226691e-04 9.99829030e-01 -1.03147751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61589822699999 meters 0.018585746056682808 Centerline is valid? [True, True] Translation: X:79.55, Y:3.15, Z:-1.03 [[ 9.98228913e-01 5.66521519e-02 1.81540684e-02 7.95463598e+01] [-5.66470217e-02 9.98393950e-01 -7.97107596e-04 3.14911889e+00] [-1.81700699e-02 -2.32678058e-04 9.99834884e-01 -1.03065399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.67589822699999 meters 0.02139312102221253 Centerline is valid? [True, True] Translation: X:79.60, Y:3.15, Z:-1.03 [[ 9.98075144e-01 5.90597600e-02 1.89195985e-02 7.96043414e+01] [-5.90546436e-02 9.98254407e-01 -8.29498175e-04 3.15249412e+00] [-1.89355626e-02 -2.89388639e-04 9.99820664e-01 -1.03138816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.73589822699999 meters 0.019205992659982084 Centerline is valid? [True, True] Translation: X:79.66, Y:3.15, Z:-1.03 [[ 9.98224107e-01 5.67549165e-02 1.80972732e-02 7.96627752e+01] [-5.67498726e-02 9.98388113e-01 -7.92554969e-04 3.14743379e+00] [-1.81130838e-02 -2.35870473e-04 9.99835917e-01 -1.03356163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.795898227 meters 0.0136854779863588 Centerline is valid? [True, True] Translation: X:79.72, Y:3.14, Z:-1.04 [[ 9.98566520e-01 5.14494929e-02 1.47598906e-02 7.97216890e+01] [-5.14455650e-02 9.98675591e-01 -6.45938434e-04 3.13760744e+00] [-1.47735757e-02 -1.14318418e-04 9.99890858e-01 -1.04206314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.855898227 meters 0.012373547741020764 Centerline is valid? [True, True] Translation: X:79.78, Y:3.13, Z:-1.04 [[ 9.98695073e-01 4.86596219e-02 1.55045853e-02 7.97792644e+01] [-4.86549612e-02 9.98815416e-01 -6.77894956e-04 3.13260368e+00] [-1.55192049e-02 -7.73646427e-05 9.99879567e-01 -1.04152148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91589822699999 meters 0.02141236648612958 Centerline is valid? [True, True] Translation: X:79.84, Y:3.13, Z:-1.04 [[ 9.98815510e-01 4.58635609e-02 1.62515090e-02 7.98368269e+01] [-4.58580859e-02 9.98947713e-01 -7.09582099e-04 3.12749143e+00] [-1.62669517e-02 -3.65214891e-05 9.99867684e-01 -1.04205636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97589822699999 meters 0.011562797286741939 Centerline is valid? [True, True] Translation: X:79.90, Y:3.12, Z:-1.04 [[ 9.98806253e-01 4.62279293e-02 1.57812227e-02 7.98959108e+01] [-4.62228250e-02 9.98930917e-01 -6.88228523e-04 3.12238209e+00] [-1.57961666e-02 -4.20457433e-05 9.99875232e-01 -1.04401782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03589822699999 meters 0.014145129832848316 Centerline is valid? [True, True] Translation: X:79.95, Y:3.13, Z:-1.04 [[ 9.98543594e-01 5.14820239e-02 1.61335848e-02 7.99535357e+01] [-5.14773902e-02 9.98673913e-01 -7.02635305e-04 3.12639117e+00] [-1.61483633e-02 -1.28902857e-04 9.99869598e-01 -1.04336511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.09589822699999 meters 0.018815037142879916 Centerline is valid? [True, True] Translation: X:80.01, Y:3.13, Z:-1.04 [[ 9.98194420e-01 5.76507142e-02 1.68610657e-02 8.00129763e+01] [-5.76465483e-02 9.98336786e-01 -7.33401415e-04 3.13250496e+00] [-1.68753032e-02 -2.39905037e-04 9.99857573e-01 -1.04224566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.155898227 meters 0.021624628267361775 Centerline is valid? [True, True] Translation: X:80.07, Y:3.13, Z:-1.04 [[ 9.97943787e-01 6.12476769e-02 1.88923209e-02 8.00723119e+01] [-6.12431044e-02 9.98122542e-01 -8.21042473e-04 3.13474358e+00] [-1.89071383e-02 -3.37670146e-04 9.99821187e-01 -1.04111879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.215898227 meters 0.01973096810082042 Centerline is valid? [True, True] Translation: X:80.13, Y:3.13, Z:-1.04 [[ 9.98080944e-01 5.87741936e-02 1.94941908e-02 8.01314713e+01] [-5.87688674e-02 9.98271258e-01 -8.46483861e-04 3.12896021e+00] [-1.95102418e-02 -3.00792104e-04 9.99809612e-01 -1.04262776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27589822699998 meters 0.023715751506411982 Centerline is valid? [True, True] Translation: X:80.19, Y:3.11, Z:-1.05 [[ 9.98587883e-01 4.97753861e-02 1.85647789e-02 8.01896197e+01] [-4.97690099e-02 9.98760430e-01 -8.05595916e-04 3.11280991e+00] [-1.85818654e-02 -1.19492346e-04 9.99827335e-01 -1.04598307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33589822699999 meters 0.011946161045795623 Centerline is valid? [True, True] Translation: X:80.25, Y:3.10, Z:-1.05 [[ 9.98867431e-01 4.40951158e-02 1.78738708e-02 8.02493533e+01] [-4.40883014e-02 9.99027337e-01 -7.75310160e-04 3.10055568e+00] [-1.78906729e-02 -1.35965326e-05 9.99839949e-01 -1.04745750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.39589822699999 meters 0.01420961999087256 Centerline is valid? [True, True] Translation: X:80.31, Y:3.09, Z:-1.05 [[ 9.99157330e-01 3.72083232e-02 1.73254512e-02 8.03086488e+01] [-3.72008853e-02 9.99307525e-01 -7.51500464e-04 3.08885809e+00] [-1.73414158e-02 1.06345073e-04 9.99849621e-01 -1.04766896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.45589822699999 meters 0.015478997172803738 Centerline is valid? [True, True] Translation: X:80.37, Y:3.08, Z:-1.05 [[ 9.99283771e-01 3.41726539e-02 1.62534664e-02 8.03686020e+01] [-3.41657055e-02 9.99415933e-01 -7.05066858e-04 3.08384672e+00] [-1.62680673e-02 1.49250720e-04 9.99867655e-01 -1.05261206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.515898227 meters 0.019537262648741532 Centerline is valid? [True, True] Translation: X:80.43, Y:3.08, Z:-1.06 [[ 9.99446954e-01 2.97833533e-02 1.47897614e-02 8.04283661e+01] [-2.97771150e-02 9.99556357e-01 -6.41877984e-04 3.07631720e+00] [-1.48023173e-02 2.01126570e-04 9.99890419e-01 -1.05580498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.575898227 meters 0.022170575392041637 Centerline is valid? [True, True] Translation: X:80.49, Y:3.07, Z:-1.06 [[ 9.99623266e-01 2.50744015e-02 1.11624672e-02 8.04898640e+01] [-2.50705504e-02 9.99685567e-01 -4.84814366e-04 3.07332010e+00] [-1.11711138e-02 2.04782522e-04 9.99937580e-01 -1.06354008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63589822699998 meters 0.025422009603799856 Centerline is valid? [True, True] Translation: X:80.55, Y:3.07, Z:-1.07 [[ 9.99706120e-01 2.18841104e-02 1.04287440e-02 8.05506433e+01] [-2.18805727e-02 9.99760489e-01 -4.53219509e-04 3.06748392e+00] [-1.04361645e-02 2.24899427e-04 9.99945516e-01 -1.06664205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69589822699999 meters 0.02710880728398125 Centerline is valid? [True, True] Translation: X:80.61, Y:3.06, Z:-1.07 [[ 9.99740193e-01 2.02827247e-02 1.03999117e-02 8.06112098e+01] [-2.02791163e-02 9.99794255e-01 -4.52314790e-04 3.06417396e+00] [-1.04069462e-02 2.41296256e-04 9.99945817e-01 -1.06747370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75589822699999 meters 0.02973226825885878 Centerline is valid? [True, True] Translation: X:80.67, Y:3.07, Z:-1.07 [[ 9.99817921e-01 1.72335928e-02 8.19320195e-03 8.06720508e+01] [-1.72312510e-02 9.99851467e-01 -3.56339161e-04 3.06501826e+00] [-8.19812599e-03 2.15095160e-04 9.99966372e-01 -1.07162449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.81589822699999 meters 0.0340083210901456 Centerline is valid? [True, True] Translation: X:80.73, Y:3.06, Z:-1.07 [[ 9.99854737e-01 1.45807364e-02 8.82650371e-03 8.07326220e+01] [-1.45779141e-02 9.99893663e-01 -3.84006113e-04 3.06281565e+00] [-8.83116422e-03 2.55278318e-04 9.99960972e-01 -1.07159506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.875898227 meters 0.035993783916775164 Centerline is valid? [True, True] Translation: X:80.79, Y:3.07, Z:-1.07 [[ 9.99865680e-01 1.30404487e-02 9.92815548e-03 8.07940277e+01] [-1.30367983e-02 9.99914924e-01 -4.32313785e-04 3.06666681e+00] [-9.93294840e-03 3.02824356e-04 9.99950621e-01 -1.07185148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.935898227 meters 0.03322659537684674 Centerline is valid? [True, True] Translation: X:80.86, Y:3.07, Z:-1.07 [[ 9.99846331e-01 1.32274771e-02 1.15042903e-02 8.08567492e+01] [-1.32225794e-02 9.99912452e-01 -5.01691465e-04 3.07060398e+00] [-1.15099193e-02 3.49497979e-04 9.99933698e-01 -1.07063526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99589822699998 meters 0.030907602741347778 Centerline is valid? [True, True] Translation: X:80.92, Y:3.08, Z:-1.07 [[ 9.99830587e-01 1.53347793e-02 1.01804166e-02 8.09185999e+01] [-1.53310405e-02 9.99882374e-01 -4.45194492e-04 3.08151557e+00] [-1.01860460e-02 2.89042692e-04 9.99948079e-01 -1.07374198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05589822699999 meters 0.029844780684341654 Centerline is valid? [True, True] Translation: X:80.98, Y:3.08, Z:-1.08 [[ 9.99813050e-01 1.71379706e-02 8.95296737e-03 8.09794693e+01] [-1.71351496e-02 9.99853106e-01 -3.91707443e-04 3.08342212e+00] [-8.95836530e-03 2.38223778e-04 9.99959845e-01 -1.07696060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11589822699999 meters 0.033763314070682164 Centerline is valid? [True, True] Translation: X:81.04, Y:3.09, Z:-1.08 [[ 9.99746353e-01 1.97722881e-02 1.07835739e-02 8.10401349e+01] [-1.97683464e-02 9.99804476e-01 -4.72007011e-04 3.09153265e+00] [-1.07907981e-02 2.58713864e-04 9.99941744e-01 -1.07633331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.17589822699999 meters 0.026069304125176676 Centerline is valid? [True, True] Translation: X:81.10, Y:3.10, Z:-1.08 [[ 9.99737976e-01 2.08534738e-02 9.43992407e-03 8.11011246e+01] [-2.08505022e-02 9.99782519e-01 -4.13111254e-04 3.09635850e+00] [-9.44648587e-03 2.16175851e-04 9.99955358e-01 -1.07755049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.23589822699999 meters 0.026689273332482562 Centerline is valid? [True, True] Translation: X:81.16, Y:3.10, Z:-1.08 [[ 9.99767443e-01 2.02682558e-02 7.36601482e-03 8.11620334e+01] [-2.02664306e-02 9.99794563e-01 -3.22352552e-04 3.09676064e+00] [-7.37103509e-03 1.72994758e-04 9.99972819e-01 -1.08230487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.295898227 meters 0.03369528713129622 Centerline is valid? [True, True] Translation: X:81.22, Y:3.09, Z:-1.08 [[ 9.99849891e-01 1.51657474e-02 8.37822777e-03 8.12212632e+01] [-1.51632071e-02 9.99884965e-01 -3.66648045e-04 3.08968898e+00] [-8.38282447e-03 2.39552205e-04 9.99964835e-01 -1.08055419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.355898227 meters 0.034252318762226695 Centerline is valid? [True, True] Translation: X:81.28, Y:3.09, Z:-1.08 [[ 9.99893403e-01 1.11666461e-02 9.40682815e-03 8.12818407e+01] [-1.11632679e-02 9.99937604e-01 -4.11555510e-04 3.09160127e+00] [-9.41083690e-03 3.06500697e-04 9.99955670e-01 -1.08114287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41589822699999 meters 0.03418734563507175 Centerline is valid? [True, True] Translation: X:81.34, Y:3.09, Z:-1.08 [[ 9.99921209e-01 9.91105458e-03 7.70364061e-03 8.13436862e+01] [-9.90875243e-03 9.99950850e-01 -3.36949804e-04 3.09391395e+00] [-7.70660151e-03 2.60589788e-04 9.99970270e-01 -1.08482807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47589822699999 meters 0.03967305897382985 Centerline is valid? [True, True] Translation: X:81.40, Y:3.09, Z:-1.09 [[ 9.99968848e-01 5.75317717e-03 5.40407944e-03 8.14032128e+01] [-5.75197922e-03 9.99983429e-01 -2.37189971e-04 3.09195071e+00] [-5.40535448e-03 2.06098429e-04 9.99985370e-01 -1.08901575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53589822699999 meters 0.04372201963523524 Centerline is valid? [True, True] Translation: X:81.46, Y:3.09, Z:-1.09 [[ 9.99976889e-01 6.68938060e-04 6.76569450e-03 8.14639358e+01] [-6.66942156e-04 9.99999733e-01 -2.97255364e-04 3.08639801e+00] [-6.76589154e-03 2.92736167e-04 9.99977068e-01 -1.08696634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.59589822699999 meters 0.0555858578506142 Centerline is valid? [True, True] Translation: X:81.52, Y:3.07, Z:-1.09 [[ 9.99955499e-01 -7.17365128e-03 6.12684152e-03 8.15229372e+01] [ 7.17543513e-03 9.99974220e-01 -2.69222241e-04 3.06901194e+00] [-6.12475226e-03 3.13173014e-04 9.99981194e-01 -1.09013369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.655898227 meters 0.05373272409562466 Centerline is valid? [True, True] Translation: X:81.58, Y:3.07, Z:-1.09 [[ 9.99956952e-01 -7.17112819e-03 5.88809515e-03 8.15846760e+01] [ 7.17277462e-03 9.99974242e-01 -2.58550690e-04 3.06648127e+00] [-5.88608938e-03 3.00773539e-04 9.99982632e-01 -1.09078779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.715898227 meters 0.048862605005184016 Centerline is valid? [True, True] Translation: X:81.65, Y:3.07, Z:-1.09 [[ 9.99983163e-01 -4.24458298e-03 3.95695148e-03 8.16460582e+01] [ 4.24530447e-03 9.99990974e-01 -1.73954505e-04 3.06968294e+00] [-3.95617740e-03 1.90750040e-04 9.99992156e-01 -1.09336895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77589822699998 meters 0.04678747828128521 Centerline is valid? [True, True] Translation: X:81.71, Y:3.07, Z:-1.10 [[ 9.99997194e-01 2.70919723e-04 2.35331582e-03 8.17051814e+01] [-2.70676714e-04 9.99999958e-01 -1.03580522e-04 3.07006150e+00] [-2.35334378e-03 1.02943244e-04 9.99997226e-01 -1.09658970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83589822699999 meters 0.04117520982370041 Centerline is valid? [True, True] Translation: X:81.77, Y:3.08, Z:-1.09 [[ 9.99983214e-01 3.97618770e-03 4.21452158e-03 8.17657570e+01] [-3.97544176e-03 9.99992081e-01 -1.85357613e-04 3.07617399e+00] [-4.21522522e-03 1.68599916e-04 9.99991102e-01 -1.09333253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89589822699999 meters 0.037672220622024 Centerline is valid? [True, True] Translation: X:81.83, Y:3.08, Z:-1.09 [[ 9.99951463e-01 8.55501150e-03 4.88713942e-03 8.18262415e+01] [-8.55406342e-03 9.99963390e-01 -2.14865493e-04 3.08030245e+00] [-4.88879868e-03 1.73050163e-04 9.99988035e-01 -1.09405878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.95589822699999 meters 0.03928591119218429 Centerline is valid? [True, True] Translation: X:81.89, Y:3.08, Z:-1.10 [[ 9.99942408e-01 9.38915098e-03 5.19849417e-03 8.18854215e+01] [-9.38808965e-03 9.99955905e-01 -2.28525698e-04 3.07805042e+00] [-5.20041061e-03 1.79708608e-04 9.99986462e-01 -1.09534732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.015898227 meters 0.041078265464956056 Centerline is valid? [True, True] Translation: X:81.95, Y:3.08, Z:-1.09 [[ 9.99965261e-01 5.01473912e-03 6.65795023e-03 8.19460156e+01] [-5.01290004e-03 9.99987392e-01 -2.92882573e-04 3.08068208e+00] [-6.65933502e-03 2.59496760e-04 9.99977793e-01 -1.09468711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.075898227 meters 0.05037565203164078 Centerline is valid? [True, True] Translation: X:82.01, Y:3.08, Z:-1.10 [[ 9.99990415e-01 -3.29377893e-03 2.88459694e-03 8.20061229e+01] [ 3.29415863e-03 9.99994566e-01 -1.26890411e-04 3.07709064e+00] [-2.88416332e-03 1.36391515e-04 9.99995831e-01 -1.10083185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13589822699998 meters 0.0532018950824123 Centerline is valid? [True, True] Translation: X:82.07, Y:3.08, Z:-1.10 [[ 9.99959569e-01 -8.74188027e-03 2.10703646e-03 8.20662093e+01] [ 8.74209507e-03 9.99961783e-01 -9.27559709e-05 3.07712150e+00] [-2.10614508e-03 1.11172134e-04 9.99997776e-01 -1.10233029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19589822699999 meters 0.05933225813940016 Centerline is valid? [True, True] Translation: X:82.13, Y:3.07, Z:-1.10 [[ 9.99850380e-01 -1.66525438e-02 4.68084227e-03 8.21261626e+01] [ 1.66536896e-02 9.99861296e-01 -2.05903479e-04 3.07451536e+00] [-4.67676420e-03 2.83825966e-04 9.99989024e-01 -1.09869891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25589822699999 meters 0.07076411540573845 Centerline is valid? [True, True] Translation: X:82.19, Y:3.06, Z:-1.10 [[ 9.99768383e-01 -2.10154615e-02 4.64013587e-03 8.21856939e+01] [ 2.10166342e-02 9.99779105e-01 -2.04108810e-04 3.06355854e+00] [-4.63482145e-03 3.01581574e-04 9.99989214e-01 -1.09902148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.31589822699999 meters 0.06310758896360659 Centerline is valid? [True, True] Translation: X:82.25, Y:3.08, Z:-1.10 [[ 9.99678812e-01 -2.47465020e-02 5.46660438e-03 8.22478375e+01] [ 2.47481848e-02 9.99693688e-01 -2.40384050e-04 3.07679201e+00] [-5.45898123e-03 3.75595376e-04 9.99985029e-01 -1.09923652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.375898227 meters 0.07438716370738069 Centerline is valid? [True, True] Translation: X:82.31, Y:3.07, Z:-1.10 [[ 9.99694039e-01 -2.43956238e-02 4.08430236e-03 8.23085219e+01] [ 2.43965601e-02 9.99702344e-01 -1.79569002e-04 3.06554484e+00] [-4.07870595e-03 2.79156989e-04 9.99991643e-01 -1.10082222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.435898227 meters 0.0635150429682298 Centerline is valid? [True, True] Translation: X:82.37, Y:3.09, Z:-1.10 [[ 9.99765165e-01 -2.11162189e-02 4.87039908e-03 8.23698650e+01] [ 2.11175133e-02 9.99776977e-01 -2.14473479e-04 3.08525495e+00] [-4.86478400e-03 3.17273831e-04 9.99988117e-01 -1.09802501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49589822699998 meters 0.06710144052483037 Centerline is valid? [True, True] Translation: X:82.43, Y:3.08, Z:-1.10 [[ 9.99808709e-01 -1.88620304e-02 5.17389805e-03 8.24292754e+01] [ 1.88634609e-02 9.99822043e-01 -2.27833827e-04 3.08152465e+00] [-5.16867991e-03 3.25387868e-04 9.99986589e-01 -1.10028058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55589822699999 meters 0.06050302278064182 Centerline is valid? [True, True] Translation: X:82.49, Y:3.09, Z:-1.10 [[ 9.99855763e-01 -1.65646813e-02 3.75025984e-03 8.24900430e+01] [ 1.65654168e-02 9.99862770e-01 -1.65143581e-04 3.08965529e+00] [-3.74700964e-03 2.27244379e-04 9.99992954e-01 -1.10406634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61589822699999 meters 0.061249072982723765 Centerline is valid? [True, True] Translation: X:82.55, Y:3.09, Z:-1.10 [[ 9.99883809e-01 -1.44954536e-02 4.71712970e-03 8.25493657e+01] [ 1.44965945e-02 9.99894897e-01 -2.07759733e-04 3.08705458e+00] [-4.71362235e-03 2.76117910e-04 9.99988853e-01 -1.10273890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.67589822699999 meters 0.059836358907786005 Centerline is valid? [True, True] Translation: X:82.61, Y:3.09, Z:-1.10 [[ 9.99931944e-01 -1.08818901e-02 4.20616287e-03 8.26101255e+01] [ 1.08827650e-02 9.99940764e-01 -1.85173204e-04 3.09186547e+00] [-4.20389868e-03 2.30935284e-04 9.99991137e-01 -1.10179493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.73589822699999 meters 0.050662560927911555 Centerline is valid? [True, True] Translation: X:82.67, Y:3.10, Z:-1.10 [[ 9.99982110e-01 -2.31671085e-03 5.51468140e-03 8.26716129e+01] [ 2.31808474e-03 9.99997284e-01 -2.42754623e-04 3.10319910e+00] [-5.51410403e-03 2.55533779e-04 9.99984765e-01 -1.10260262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.795898227 meters 0.046474400826738003 Centerline is valid? [True, True] Translation: X:82.73, Y:3.11, Z:-1.10 [[ 9.99973772e-01 -7.96450114e-06 7.24261409e-03 8.27322103e+01] [ 1.02744983e-05 9.99999949e-01 -3.18908074e-04 3.10754034e+00] [-7.24261118e-03 3.18974124e-04 9.99973721e-01 -1.10125948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.855898227 meters 0.04965302989565783 Centerline is valid? [True, True] Translation: X:82.79, Y:3.11, Z:-1.10 [[ 9.99974421e-01 -1.19193748e-03 7.05235927e-03 8.27938765e+01] [ 1.19415583e-03 9.99999239e-01 -3.10352399e-04 3.10837747e+00] [-7.05198398e-03 3.18766077e-04 9.99975084e-01 -1.10287654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91589822699999 meters 0.05439560949571507 Centerline is valid? [True, True] Translation: X:82.85, Y:3.10, Z:-1.11 [[ 9.99978292e-01 -3.21878907e-03 5.74940548e-03 8.28538665e+01] [ 3.22030175e-03 9.99994783e-01 -2.53863538e-04 3.10469172e+00] [-5.74855835e-03 2.72372847e-04 9.99983440e-01 -1.10708152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97589822699999 meters 0.056452500987309466 Centerline is valid? [True, True] Translation: X:82.92, Y:3.11, Z:-1.11 [[ 9.99952374e-01 -8.33522691e-03 5.07684277e-03 8.29153839e+01] [ 8.33647375e-03 9.99965226e-01 -2.24481336e-04 3.10825954e+00] [-5.07479513e-03 2.66793611e-04 9.99987088e-01 -1.10854346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03589822699999 meters 0.06160688314664656 Centerline is valid? [True, True] Translation: X:82.97, Y:3.10, Z:-1.11 [[ 9.99908532e-01 -1.25459734e-02 5.05240442e-03 8.29747499e+01] [ 1.25472627e-02 9.99921255e-01 -2.23571648e-04 3.10341143e+00] [-5.04920164e-03 2.86945044e-04 9.99987212e-01 -1.10905864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.09589822699999 meters 0.06560678016093312 Centerline is valid? [True, True] Translation: X:83.04, Y:3.11, Z:-1.11 [[ 9.99885898e-01 -1.48659053e-02 2.68251279e-03 8.30352260e+01] [ 1.48662770e-02 9.99889484e-01 -1.18663965e-04 3.10641198e+00] [-2.68045228e-03 1.58529403e-04 9.99996395e-01 -1.11422718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.155898227 meters 0.06730641597266229 Centerline is valid? [True, True] Translation: X:83.10, Y:3.10, Z:-1.12 [[ 9.99890549e-01 -1.46433748e-02 2.11237664e-03 8.30965771e+01] [ 1.46436044e-02 9.99892772e-01 -9.32647303e-05 3.10326349e+00] [-2.11078442e-03 1.24187330e-04 9.99997765e-01 -1.11515356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.215898227 meters 0.06002588895550785 Centerline is valid? [True, True] Translation: X:83.16, Y:3.12, Z:-1.11 [[ 9.99907718e-01 -1.33952893e-02 2.26298920e-03 8.31587970e+01] [ 1.33955500e-02 9.99910271e-01 -1.00067677e-04 3.11756220e+00] [-2.26144571e-03 1.30372427e-04 9.99997434e-01 -1.11302730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27589822699998 meters 0.05142878771328147 Centerline is valid? [True, True] Translation: X:83.22, Y:3.13, Z:-1.11 [[ 9.99941331e-01 -1.01340064e-02 3.82586533e-03 8.32197857e+01] [ 1.01347288e-02 9.99948628e-01 -1.69485493e-04 3.13106414e+00] [-3.82395122e-03 2.08249657e-04 9.99992667e-01 -1.11095701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33589822699999 meters 0.04927671593508714 Centerline is valid? [True, True] Translation: X:83.28, Y:3.14, Z:-1.12 [[ 9.99974308e-01 -7.15695892e-03 -4.01610495e-04 8.32805807e+01] [ 7.15696664e-03 9.99974388e-01 1.77918049e-05 3.13759705e+00] [ 4.01472874e-04 -2.06656607e-05 9.99999919e-01 -1.11585120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39589822699999 meters 0.052899727407999204 Centerline is valid? [True, True] Translation: X:83.34, Y:3.13, Z:-1.12 [[ 9.99975533e-01 -6.82536381e-03 -1.53247327e-03 8.33415797e+01] [ 6.82547637e-03 9.99976704e-01 6.82296244e-05 3.13373740e+00] [ 1.53197188e-03 -7.86878151e-05 9.99998823e-01 -1.11820412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.45589822699999 meters 0.048948934210136755 Centerline is valid? [True, True] Translation: X:83.40, Y:3.14, Z:-1.11 [[ 9.99979623e-01 -6.01110060e-03 2.14941148e-03 8.34031813e+01] [ 6.01131898e-03 9.99981927e-01 -9.51540350e-05 3.14031276e+00] [-2.14880066e-03 1.08072894e-04 9.99997685e-01 -1.11355302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.515898227 meters 0.048272653618657985 Centerline is valid? [True, True] Translation: X:83.47, Y:3.14, Z:-1.11 [[ 9.99970859e-01 -7.02422204e-03 2.99031084e-03 8.34655925e+01] [ 7.02464929e-03 9.99975318e-01 -1.32400112e-04 3.14190596e+00] [-2.98930702e-03 1.53402138e-04 9.99995520e-01 -1.11238566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.575898227 meters 0.05389183881734903 Centerline is valid? [True, True] Translation: X:83.53, Y:3.14, Z:-1.12 [[ 9.99931556e-01 -1.16872699e-02 5.39229218e-04 8.35255142e+01] [ 1.16872845e-02 9.99931701e-01 -2.38850407e-05 3.13501651e+00] [-5.38913238e-04 3.01855312e-05 9.99999854e-01 -1.11650926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63589822699998 meters 0.06322059288660413 Centerline is valid? [True, True] Translation: X:83.58, Y:3.12, Z:-1.12 [[ 9.99832691e-01 -1.82913065e-02 1.33010194e-04 8.35843549e+01] [ 1.82913074e-02 9.99832700e-01 -5.88629641e-06 3.11797780e+00] [-1.32880274e-04 8.31824193e-06 9.99999991e-01 -1.11747378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69589822699999 meters 0.06922444785933243 Centerline is valid? [True, True] Translation: X:83.64, Y:3.11, Z:-1.12 [[ 9.99767829e-01 -2.14842753e-02 1.64716141e-03 8.36429108e+01] [ 2.14844251e-02 9.99769180e-01 -7.32942320e-05 3.10542890e+00] [-1.64520654e-03 1.08665531e-04 9.99998641e-01 -1.11613626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75589822699999 meters 0.06828944760924019 Centerline is valid? [True, True] Translation: X:83.70, Y:3.10, Z:-1.12 [[ 9.99757541e-01 -2.18786563e-02 2.48653512e-03 8.37045671e+01] [ 2.18789977e-02 9.99760620e-01 -1.10199483e-04 3.10140465e+00] [-2.48352888e-03 1.64575661e-04 9.99996902e-01 -1.11522010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.81589822699999 meters 0.059557285338797644 Centerline is valid? [True, True] Translation: X:83.77, Y:3.11, Z:-1.12 [[ 9.99810568e-01 -1.94625193e-02 1.96154875e-04 8.37657890e+01] [ 1.94625214e-02 9.99810587e-01 -8.59039914e-06 3.10751568e+00] [-1.95950530e-04 1.24064403e-05 9.99999981e-01 -1.11600484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.875898227 meters 0.06565559790113926 Centerline is valid? [True, True] Translation: X:83.82, Y:3.10, Z:-1.12 [[ 9.99857388e-01 -1.68644083e-02 8.91902673e-04 8.38244444e+01] [ 1.68644504e-02 9.99857784e-01 -3.97025552e-05 3.09554936e+00] [-8.91106271e-04 5.47383415e-05 9.99999601e-01 -1.11674829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.935898227 meters 0.060487247435869265 Centerline is valid? [True, True] Translation: X:83.89, Y:3.10, Z:-1.12 [[ 9.99868439e-01 -1.59560388e-02 2.91704738e-03 8.38856874e+01] [ 1.59564842e-02 9.99872679e-01 -1.29499962e-04 3.09597145e+00] [-2.91460967e-03 1.76028746e-04 9.99995737e-01 -1.11522025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99589822699998 meters 0.07007490770356584 Centerline is valid? [True, True] Translation: X:83.94, Y:3.08, Z:-1.12 [[ 9.99828050e-01 -1.85432979e-02 -1.32331905e-04 8.39446457e+01] [ 1.85432988e-02 9.99828058e-01 5.80497848e-06 3.07991510e+00] [ 1.32201508e-04 -8.25785037e-06 9.99999991e-01 -1.12039531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05589822699999 meters 0.06593509828827313 Centerline is valid? [True, True] Translation: X:84.01, Y:3.08, Z:-1.12 [[ 9.99798259e-01 -1.98953646e-02 -2.75959648e-03 8.40053654e+01] [ 1.98957789e-02 9.99802052e-01 1.22782538e-04 3.07802449e+00] [ 2.75660742e-03 -1.77662089e-04 9.99996185e-01 -1.12421782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11589822699999 meters 0.06042799032077573 Centerline is valid? [True, True] Translation: X:84.07, Y:3.08, Z:-1.12 [[ 9.99822690e-01 -1.87642924e-02 -1.57816649e-03 8.40669985e+01] [ 1.87644268e-02 9.99823930e-01 7.03906423e-05 3.08039954e+00] [ 1.57656779e-03 -9.99915509e-05 9.99998752e-01 -1.12170459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.17589822699999 meters 0.07055510249041604 Centerline is valid? [True, True] Translation: X:84.13, Y:3.07, Z:-1.13 [[ 9.99871492e-01 -1.53690167e-02 -4.55996178e-03 8.41261054e+01] [ 1.53701005e-02 9.99881852e-01 2.02713556e-04 3.06579906e+00] [ 4.55630752e-03 -2.72774577e-04 9.99989583e-01 -1.13087711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.23589822699999 meters 0.06667219015190375 Centerline is valid? [True, True] Translation: X:84.19, Y:3.07, Z:-1.13 [[ 9.99873831e-01 -1.52218707e-02 -4.54058622e-03 8.41884573e+01] [ 1.52229466e-02 9.99884104e-01 2.02485606e-04 3.06867027e+00] [ 4.53697778e-03 -2.71581160e-04 9.99989671e-01 -1.13081893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.295898227 meters 0.06398647224103038 Centerline is valid? [True, True] Translation: X:84.25, Y:3.07, Z:-1.12 [[ 9.99845064e-01 -1.75574214e-02 -1.25863621e-03 8.42501360e+01] [ 1.75575061e-02 9.99845854e-01 5.62415319e-05 3.06971271e+00] [ 1.25745474e-03 -7.83313310e-05 9.99999206e-01 -1.12283806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.355898227 meters 0.06306990053693896 Centerline is valid? [True, True] Translation: X:84.31, Y:3.07, Z:-1.12 [[ 9.99810037e-01 -1.93753160e-02 -2.11812515e-03 8.43108296e+01] [ 1.93755597e-02 9.99812272e-01 9.45981621e-05 3.06903898e+00] [ 2.11589465e-03 -1.35620052e-04 9.99997752e-01 -1.12357020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41589822699999 meters 0.06190275275636529 Centerline is valid? [True, True] Translation: X:84.37, Y:3.07, Z:-1.12 [[ 9.99757383e-01 -2.20239285e-02 -3.48326957e-04 8.43714045e+01] [ 2.20239353e-02 9.99757444e-01 1.55886735e-05 3.06859506e+00] [ 3.47899144e-04 -2.32564218e-05 9.99999939e-01 -1.12133713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47589822699999 meters 0.0637005291073581 Centerline is valid? [True, True] Translation: X:84.43, Y:3.06, Z:-1.12 [[ 9.99738632e-01 -2.28573714e-02 4.55919269e-04 8.44327791e+01] [ 2.28573829e-02 9.99738736e-01 -2.00515784e-05 3.06298929e+00] [-4.55341827e-04 3.04674589e-05 9.99999896e-01 -1.12158461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.53589822699999 meters 0.07017777306047097 Centerline is valid? [True, True] Translation: X:84.49, Y:3.05, Z:-1.12 [[ 9.99666965e-01 -2.58001361e-02 -5.58868057e-04 8.44918888e+01] [ 2.58001540e-02 9.99667120e-01 2.49598741e-05 3.05252680e+00] [ 5.58038053e-04 -3.93704435e-05 9.99999844e-01 -1.12360383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.59589822699999 meters 0.07439494720663416 Centerline is valid? [True, True] Translation: X:84.55, Y:3.04, Z:-1.13 [[ 9.99568648e-01 -2.93189203e-02 -1.70868402e-03 8.45521112e+01] [ 2.93190933e-02 9.99570100e-01 7.63029373e-05 3.03927091e+00] [ 1.70571234e-03 -1.26367090e-04 9.99998537e-01 -1.12565654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.655898227 meters 0.07358938884510266 Centerline is valid? [True, True] Translation: X:84.61, Y:3.03, Z:-1.12 [[ 9.99363827e-01 -3.56641756e-02 -8.66740866e-05 8.46126930e+01] [ 3.56641761e-02 9.99363831e-01 3.89646160e-06 3.02962746e+00] [ 8.64799832e-05 -6.98514266e-06 9.99999996e-01 -1.12312173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.715898227 meters 0.08165936647501947 Centerline is valid? [True, True] Translation: X:84.67, Y:3.01, Z:-1.12 [[ 9.99196330e-01 -4.00835711e-02 -2.39722217e-05 8.46716420e+01] [ 4.00835712e-02 9.99196331e-01 1.13505239e-06 3.00968910e+00] [ 2.39074590e-05 -2.09503244e-06 1.00000000e+00 -1.12389046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77589822699998 meters 0.08278464605098612 Centerline is valid? [True, True] Translation: X:84.73, Y:3.00, Z:-1.13 [[ 9.99130985e-01 -4.16789133e-02 -3.78170963e-04 8.47323540e+01] [ 4.16789227e-02 9.99131056e-01 1.69724281e-05 2.99621034e+00] [ 3.77134961e-04 -3.27194371e-05 9.99999928e-01 -1.12696595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83589822699999 meters 0.07260430877152652 Centerline is valid? [True, True] Translation: X:84.79, Y:3.00, Z:-1.12 [[ 9.99426481e-01 -3.38255241e-02 1.59483796e-03 8.47933089e+01] [ 3.38256804e-02 9.99427745e-01 -7.11452929e-05 2.99885286e+00] [-1.59151878e-03 1.25050969e-04 9.99998726e-01 -1.12247437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89589822699999 meters 0.07639304567124401 Centerline is valid? [True, True] Translation: X:84.85, Y:2.99, Z:-1.12 [[ 9.99628500e-01 -2.72096664e-02 1.58006719e-03 8.48527066e+01] [ 2.72098117e-02 9.99629742e-01 -7.05293299e-05 2.98946365e+00] [-1.57756307e-03 1.13496459e-04 9.99998749e-01 -1.12352907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.95589822699999 meters 0.07025200636163326 Centerline is valid? [True, True] Translation: X:84.91, Y:2.99, Z:-1.12 [[ 9.99750074e-01 -2.22365849e-02 2.30733818e-03 8.49129280e+01] [ 2.22368816e-02 9.99752725e-01 -1.03014964e-04 2.98537064e+00] [-2.30447693e-03 1.54297224e-04 9.99997333e-01 -1.12394498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.015898227 meters 0.057571071493095004 Centerline is valid? [True, True] Translation: X:84.98, Y:2.99, Z:-1.13 [[ 9.99741671e-01 -2.26760628e-02 1.54535373e-03 8.49756733e+01] [ 2.26761959e-02 9.99742860e-01 -6.86760993e-05 2.99088614e+00] [-1.54339905e-03 1.03701102e-04 9.99998804e-01 -1.12555243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.075898227 meters 0.07455167810165376 Centerline is valid? [True, True] Translation: X:85.03, Y:2.96, Z:-1.14 [[ 9.99659085e-01 -2.57248434e-02 -4.46612127e-03 8.50338936e+01] [ 2.57259936e-02 9.99669012e-01 2.00270157e-04 2.95561203e+00] [ 4.45949111e-03 -3.15097289e-04 9.99990007e-01 -1.13703397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13589822699998 meters 0.06926193659241993 Centerline is valid? [True, True] Translation: X:85.10, Y:2.95, Z:-1.14 [[ 9.99644820e-01 -2.62254054e-02 -4.73939642e-03 8.50956222e+01] [ 2.62267062e-02 9.99655998e-01 2.12525242e-04 2.95379842e+00] [ 4.73219250e-03 -3.36748515e-04 9.99988746e-01 -1.13635363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19589822699999 meters 0.06463848134414472 Centerline is valid? [True, True] Translation: X:85.16, Y:2.95, Z:-1.13 [[ 9.99776757e-01 -2.10948264e-02 -1.20205050e-03 8.51558878e+01] [ 2.10949063e-02 9.99777476e-01 5.38263035e-05 2.95388944e+00] [ 1.20064756e-03 -7.91714298e-05 9.99999276e-01 -1.13046614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25589822699999 meters 0.05644702265434221 Centerline is valid? [True, True] Translation: X:85.22, Y:2.96, Z:-1.13 [[ 9.99868632e-01 -1.61544465e-02 -1.32380128e-03 8.52168659e+01] [ 1.61545392e-02 9.99869505e-01 5.93819995e-05 2.95919975e+00] [ 1.32266924e-03 -8.07595983e-05 9.99999122e-01 -1.13116071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.31589822699999 meters 0.06515388414775865 Centerline is valid? [True, True] Translation: X:85.28, Y:2.94, Z:-1.14 [[ 9.99891529e-01 -1.45990190e-02 -1.94898778e-03 8.52767529e+01] [ 1.45992172e-02 9.99893422e-01 8.75367365e-05 2.94043742e+00] [ 1.94750211e-03 -1.15980937e-04 9.99998097e-01 -1.13598148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.375898227 meters 0.05765760312917043 Centerline is valid? [True, True] Translation: X:85.34, Y:2.94, Z:-1.13 [[ 9.99855872e-01 -1.67105889e-02 -2.99850562e-03 8.53377586e+01] [ 1.67110672e-02 9.99860351e-01 1.34511385e-04 2.94433616e+00] [ 2.99583912e-03 -1.84600227e-04 9.99995495e-01 -1.13471497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.435898227 meters 0.0769411011082018 Centerline is valid? [True, True] Translation: X:85.40, Y:2.91, Z:-1.14 [[ 9.99835803e-01 -1.80424827e-02 -1.68379910e-03 8.53965496e+01] [ 1.80426355e-02 9.99837216e-01 7.55955704e-05 2.91248369e+00] [ 1.68216107e-03 -1.05963331e-04 9.99998580e-01 -1.13679817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49589822699998 meters 0.05877580364262716 Centerline is valid? [True, True] Translation: X:85.46, Y:2.93, Z:-1.13 [[ 9.99903574e-01 -1.38824722e-02 3.46637957e-04 8.54583992e+01] [ 1.38824784e-02 9.99903634e-01 -1.54610570e-05 2.93356315e+00] [-3.46389915e-04 2.02717601e-05 9.99999940e-01 -1.13137508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55589822699999 meters 0.05403446409986794 Centerline is valid? [True, True] Translation: X:85.52, Y:2.94, Z:-1.13 [[ 9.99957697e-01 -9.17392414e-03 6.65670844e-04 8.55196134e+01] [ 9.17394598e-03 9.99957918e-01 -2.97750930e-05 2.94034903e+00] [-6.65369677e-04 3.58806618e-05 9.99999778e-01 -1.13167752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61589822699999 meters 0.05889143483580472 Centerline is valid? [True, True] Translation: X:85.58, Y:2.93, Z:-1.13 [[ 9.99945768e-01 -1.03995560e-02 5.57653709e-04 8.55801886e+01] [ 1.03995714e-02 9.99945923e-01 -2.47603440e-05 2.93008223e+00] [-5.57366056e-04 3.05583607e-05 9.99999844e-01 -1.13263774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.67589822699999 meters 0.06130795961931947 Centerline is valid? [True, True] Translation: X:85.64, Y:2.92, Z:-1.13 [[ 9.99898324e-01 -1.41183689e-02 2.00323306e-03 8.56403067e+01] [ 1.41185773e-02 9.99900324e-01 -8.99179851e-05 2.91953137e+00] [-2.00176389e-03 1.18191643e-04 9.99997989e-01 -1.13178262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.73589822699999 meters 0.06577413544394849 Centerline is valid? [True, True] Translation: X:85.70, Y:2.90, Z:-1.13 [[ 9.99748312e-01 -2.24226421e-02 7.33012601e-04 8.57000698e+01] [ 2.24226722e-02 9.99748580e-01 -3.28907021e-05 2.90452605e+00] [-7.32090811e-04 4.93185252e-05 9.99999731e-01 -1.13252322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.795898227 meters 0.07406105169644701 Centerline is valid? [True, True] Translation: X:85.76, Y:2.89, Z:-1.14 [[ 9.99666497e-01 -2.57418647e-02 -2.06188195e-03 8.57597632e+01] [ 2.57421106e-02 9.99668613e-01 9.28230227e-05 2.88743919e+00] [ 2.05880923e-03 -1.45869259e-04 9.99997870e-01 -1.13825301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.855898227 meters 0.07676242258399771 Centerline is valid? [True, True] Translation: X:85.82, Y:2.88, Z:-1.14 [[ 9.99638136e-01 -2.68840377e-02 -9.19345389e-04 8.58198561e+01] [ 2.68840873e-02 9.99638557e-01 4.15963836e-05 2.87669203e+00] [ 9.17894819e-04 -6.62970930e-05 9.99999577e-01 -1.13813995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91589822699999 meters 0.07113304172803815 Centerline is valid? [True, True] Translation: X:85.88, Y:2.88, Z:-1.14 [[ 9.99793161e-01 -2.03323136e-02 -4.82431504e-04 8.58802515e+01] [ 2.03323264e-02 9.99793277e-01 2.16701099e-05 2.87538595e+00] [ 4.81891170e-04 -3.14745825e-05 9.99999883e-01 -1.13659817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97589822699999 meters 0.060110903971007594 Centerline is valid? [True, True] Translation: X:85.94, Y:2.88, Z:-1.14 [[ 9.99886879e-01 -1.48113163e-02 -2.61794600e-03 8.59415162e+01] [ 1.48116752e-02 9.99890294e-01 1.17771998e-04 2.88468231e+00] [ 2.61591444e-03 -1.56534842e-04 9.99996566e-01 -1.13991113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03589822699999 meters 0.05533977795447608 Centerline is valid? [True, True] Translation: X:86.00, Y:2.89, Z:-1.14 [[ 9.99939534e-01 -1.09071031e-02 -1.40111798e-03 8.60027394e+01] [ 1.09072021e-02 9.99940513e-01 6.30207473e-05 2.88744630e+00] [ 1.40034726e-03 -7.82992137e-05 9.99999016e-01 -1.13757689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.09589822699999 meters 0.05195098236794665 Centerline is valid? [True, True] Translation: X:86.06, Y:2.89, Z:-1.14 [[ 9.99997964e-01 -2.01167371e-03 1.57801029e-04 8.60624261e+01] [ 2.01167487e-03 9.99997977e-01 -7.20586016e-06 2.89168280e+00] [-1.57786214e-04 7.52328985e-06 9.99999988e-01 -1.13585367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.155898227 meters 0.04232914564549175 Centerline is valid? [True, True] Translation: X:86.12, Y:2.90, Z:-1.13 [[ 9.99998055e-01 1.73664614e-03 9.35293776e-04 8.61231364e+01] [-1.73660761e-03 9.99998491e-01 -4.20158050e-05 2.90182813e+00] [-9.35365331e-04 4.03914850e-05 9.99999562e-01 -1.13431333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.215898227 meters 0.04348270208655255 Centerline is valid? [True, True] Translation: X:86.18, Y:2.90, Z:-1.14 [[ 9.99997991e-01 1.36372491e-03 1.46876971e-03 8.61832223e+01] [-1.36362941e-03 9.99999068e-01 -6.60248853e-05 2.89632819e+00] [-1.46885838e-03 6.40218951e-05 9.99998919e-01 -1.13509563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27589822699998 meters 0.0471773592882152 Centerline is valid? [True, True] Translation: X:86.24, Y:2.89, Z:-1.14 [[ 9.99998588e-01 -1.65792199e-03 2.75147358e-04 8.62425330e+01] [ 1.65792536e-03 9.99998626e-01 -1.20388993e-05 2.88709342e+00] [-2.75127020e-04 1.24950561e-05 9.99999962e-01 -1.13756056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33589822699999 meters 0.049456772037817745 Centerline is valid? [True, True] Translation: X:86.30, Y:2.88, Z:-1.14 [[ 9.99979019e-01 -6.29021647e-03 -1.54723746e-03 8.63035000e+01] [ 6.29033196e-03 9.99980213e-01 6.97878406e-05 2.88176117e+00] [ 1.54676787e-03 -7.95190137e-05 9.99998801e-01 -1.13895354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.39589822699999 meters 0.06212942841520743 Centerline is valid? [True, True] Translation: X:86.36, Y:2.86, Z:-1.14 [[ 9.99973357e-01 -7.12572173e-03 -1.58389593e-03 8.63627300e+01] [ 7.12584375e-03 9.99974608e-01 7.14083901e-05 2.86319231e+00] [ 1.58334687e-03 -8.26930825e-05 9.99998743e-01 -1.14196252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.45589822699999 meters 0.0526017868789182 Centerline is valid? [True, True] Translation: X:86.43, Y:2.87, Z:-1.14 [[ 9.99970932e-01 -7.54677476e-03 -1.08684501e-03 8.64251428e+01] [ 7.54683263e-03 9.99971521e-01 4.91503341e-05 2.87477224e+00] [ 1.08644313e-03 -5.73511428e-05 9.99999408e-01 -1.13878538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.515898227 meters 0.05480863454769564 Centerline is valid? [True, True] Translation: X:86.49, Y:2.87, Z:-1.14 [[ 9.99957445e-01 -8.72420900e-03 -2.99955643e-03 8.64862985e+01] [ 8.72465423e-03 9.99961930e-01 1.35376793e-04 2.87062655e+00] [ 2.99826118e-03 -1.61541125e-04 9.99995492e-01 -1.14170353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.575898227 meters 0.05526692834093799 Centerline is valid? [True, True] Translation: X:86.55, Y:2.87, Z:-1.14 [[ 9.99926576e-01 -1.17278951e-02 -3.04936496e-03 8.65465758e+01] [ 1.17283686e-02 9.99931211e-01 1.37462421e-04 2.86714808e+00] [ 3.04754305e-03 -1.73216404e-04 9.99995341e-01 -1.14283415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63589822699998 meters 0.07105008739000161 Centerline is valid? [True, True] Translation: X:86.61, Y:2.85, Z:-1.14 [[ 9.99929431e-01 -1.17872110e-02 -1.48159848e-03 8.66064428e+01] [ 1.17873230e-02 9.99930525e-01 6.68906608e-05 2.84618142e+00] [ 1.48070709e-03 -8.43500202e-05 9.99998900e-01 -1.14367104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69589822699999 meters 0.05988979084659543 Centerline is valid? [True, True] Translation: X:86.67, Y:2.85, Z:-1.14 [[ 9.99956976e-01 -9.24132348e-03 8.03129912e-04 8.66678767e+01] [ 9.24135551e-03 9.99957297e-01 -3.61817404e-05 2.85383440e+00] [-8.02761248e-04 4.36021927e-05 9.99999677e-01 -1.13726189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75589822699999 meters 0.05254907843796342 Centerline is valid? [True, True] Translation: X:86.73, Y:2.86, Z:-1.13 [[ 9.99981820e-01 -4.15384758e-03 4.37093599e-03 8.67289877e+01] [ 4.15474840e-03 9.99991350e-01 -1.97031448e-04 2.85933723e+00] [-4.37007974e-03 2.15188005e-04 9.99990428e-01 -1.13116404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.81589822699999 meters 0.04584223409357893 Centerline is valid? [True, True] Translation: X:86.79, Y:2.86, Z:-1.13 [[ 9.99990219e-01 -4.63350536e-04 4.39857548e-03 8.67902423e+01] [ 4.64227488e-04 9.99999873e-01 -1.98352799e-04 2.86366082e+00] [-4.39848302e-03 2.00392799e-04 9.99990307e-01 -1.13014467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.875898227 meters 0.04997224039177326 Centerline is valid? [True, True] Translation: X:86.85, Y:2.85, Z:-1.13 [[ 9.99994915e-01 1.49920038e-03 2.81463000e-03 8.68504327e+01] [-1.49884938e-03 9.99998869e-01 -1.26810741e-04 2.85392501e+00] [-2.81481693e-03 1.22591389e-04 9.99996031e-01 -1.13378352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.935898227 meters 0.049652605039560066 Centerline is valid? [True, True] Translation: X:86.91, Y:2.85, Z:-1.14 [[ 9.99992826e-01 2.86344554e-03 2.47961803e-03 8.69118989e+01] [-2.86317721e-03 9.99995895e-01 -1.11758804e-04 2.85163033e+00] [-2.47992786e-03 1.04658417e-04 9.99996919e-01 -1.13522909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99589822699998 meters 0.04913300606345729 Centerline is valid? [True, True] Translation: X:86.97, Y:2.85, Z:-1.14 [[ 9.99992549e-01 2.83135855e-03 2.62396347e-03 8.69724578e+01] [-2.83105745e-03 9.99995986e-01 -1.18457066e-04 2.84586027e+00] [-2.62428833e-03 1.11027592e-04 9.99996550e-01 -1.13500189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05589822699999 meters 0.0515696964980146 Centerline is valid? [True, True] Translation: X:87.03, Y:2.83, Z:-1.14 [[ 9.99999335e-01 2.82820560e-04 1.11822831e-03 8.70325652e+01] [-2.82764374e-04 9.99999959e-01 -5.04033315e-05 2.83131696e+00] [-1.11824252e-03 5.00871028e-05 9.99999374e-01 -1.13860023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.11589822699999 meters 0.04664587604838311 Centerline is valid? [True, True] Translation: X:87.09, Y:2.83, Z:-1.14 [[ 9.99998570e-01 4.05077824e-04 1.64192321e-03 8.70930550e+01] [-4.04956635e-04 9.99999915e-01 -7.41414767e-05 2.82943383e+00] [-1.64195310e-03 7.34764630e-05 9.99998649e-01 -1.13729116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.17589822699999 meters 0.044466104178820146 Centerline is valid? [True, True] Translation: X:87.15, Y:2.83, Z:-1.14 [[ 9.99997311e-01 2.29643138e-03 3.21768584e-04 8.71544477e+01] [-2.29642688e-03 9.99997363e-01 -1.43449842e-05 2.82573208e+00] [-3.21800677e-04 1.36060276e-05 9.99999948e-01 -1.13920362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.23589822699999 meters 0.041953815385857005 Centerline is valid? [True, True] Translation: X:87.21, Y:2.82, Z:-1.14 [[ 9.99979523e-01 6.17854408e-03 -1.66737310e-03 8.72136728e+01] [-6.17842725e-03 9.99980911e-01 7.52129137e-05 2.82288707e+00] [ 1.66780598e-03 -6.49096301e-05 9.99998607e-01 -1.14099785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.295898227 meters 0.0412206112898632 Centerline is valid? [True, True] Translation: X:87.27, Y:2.82, Z:-1.14 [[ 9.99969723e-01 7.75236222e-03 -6.74283629e-04 8.72720707e+01] [-7.75234365e-03 9.99969950e-01 3.01509355e-05 2.81881551e+00] [ 6.74497108e-04 -2.49227442e-05 9.99999772e-01 -1.14049616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.355898227 meters 0.0513561534323028 Centerline is valid? [True, True] Translation: X:87.33, Y:2.80, Z:-1.14 [[ 9.99979821e-01 6.31227148e-03 7.15477097e-04 8.73302837e+01] [-6.31224981e-03 9.99980077e-01 -3.25457232e-05 2.80444785e+00] [-7.15668280e-04 2.80287963e-05 9.99999744e-01 -1.14299514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41589822699999 meters 0.0457402284634416 Centerline is valid? [True, True] Translation: X:87.39, Y:2.81, Z:-1.14 [[ 9.99993696e-01 3.44533371e-03 8.58313572e-04 8.73907323e+01] [-3.44530168e-03 9.99994064e-01 -3.87933814e-05 2.80600908e+00] [-8.58442134e-04 3.58359877e-05 9.99999631e-01 -1.14099772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47589822699999 meters 0.051533164627345945 Centerline is valid? [True, True] Translation: X:87.45, Y:2.80, Z:-1.14 [[ 9.99999911e-01 1.39666019e-04 -3.97176103e-04 8.74496131e+01] [-1.39658947e-04 9.99999990e-01 1.78345668e-05 2.79838933e+00] [ 3.97178590e-04 -1.77790960e-05 9.99999921e-01 -1.14310210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53589822699999 meters 0.05346312387075373 Centerline is valid? [True, True] Translation: X:87.51, Y:2.80, Z:-1.15 [[ 9.99998830e-01 -1.06541301e-03 -1.09809678e-03 8.75102133e+01] [ 1.06546801e-03 9.99999431e-01 4.95015239e-05 2.79716875e+00] [ 1.09804341e-03 -5.06714530e-05 9.99999396e-01 -1.14530231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.59589822699999 meters 0.050252943727100104 Centerline is valid? [True, True] Translation: X:87.57, Y:2.80, Z:-1.15 [[ 9.99995961e-01 -2.16960813e-03 -1.83619362e-03 8.75712874e+01] [ 2.16976377e-03 9.99997643e-01 8.27744733e-05 2.80068875e+00] [ 1.83600970e-03 -8.67582453e-05 9.99998311e-01 -1.14561983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.655898227 meters 0.05322023713899139 Centerline is valid? [True, True] Translation: X:87.63, Y:2.80, Z:-1.15 [[ 9.99977097e-01 -5.63094116e-03 -3.75482644e-03 8.76315614e+01] [ 5.63161630e-03 9.99984128e-01 1.69256735e-04 2.80116428e+00] [ 3.75381376e-03 -1.90398601e-04 9.99992936e-01 -1.14865958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.715898227 meters 0.05588382883386621 Centerline is valid? [True, True] Translation: X:87.69, Y:2.80, Z:-1.15 [[ 9.99942585e-01 -1.05057152e-02 -2.11131127e-03 8.76921084e+01] [ 1.05059395e-02 9.99944807e-01 9.51823953e-05 2.79583715e+00] [ 2.11019478e-03 -1.17358239e-04 9.99997767e-01 -1.14614352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77589822699998 meters 0.06482687226193445 Centerline is valid? [True, True] Translation: X:87.75, Y:2.78, Z:-1.15 [[ 9.99854088e-01 -1.70227022e-02 -1.42461294e-03 8.77508571e+01] [ 1.70228108e-02 9.99855099e-01 6.41319474e-05 2.78216718e+00] [ 1.42331481e-03 -8.83735062e-05 9.99998983e-01 -1.14554520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83589822699999 meters 0.07042489208178947 Centerline is valid? [True, True] Translation: X:87.81, Y:2.77, Z:-1.15 [[ 9.99702878e-01 -2.40805291e-02 -3.77926431e-03 8.78110934e+01] [ 2.40813444e-02 9.99709988e-01 1.70387521e-04 2.76947502e+00] [ 3.77406525e-03 -2.61346660e-04 9.99992844e-01 -1.14933451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.89589822699999 meters 0.06364138940227712 Centerline is valid? [True, True] Translation: X:87.87, Y:2.77, Z:-1.14 [[ 9.99645674e-01 -2.65953559e-02 -1.10193585e-03 8.78722634e+01] [ 2.65954269e-02 9.99646278e-01 4.97804733e-05 2.77379733e+00] [ 1.10022214e-03 -7.90692891e-05 9.99999392e-01 -1.14378066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.95589822699999 meters 0.08023924592331318 Centerline is valid? [True, True] Translation: X:87.93, Y:2.75, Z:-1.14 [[ 9.99575024e-01 -2.91454711e-02 5.59080942e-04 8.79310919e+01] [ 2.91454897e-02 9.99575180e-01 -2.51006541e-05 2.75035450e+00] [-5.58111863e-04 4.13846747e-05 9.99999843e-01 -1.14278346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.015898227 meters 0.07368377595897671 Centerline is valid? [True, True] Translation: X:87.99, Y:2.75, Z:-1.15 [[ 9.99579698e-01 -2.89901225e-02 4.14320668e-07 8.79928532e+01] [ 2.89901225e-02 9.99579698e-01 3.56679794e-07 2.74800200e+00] [-4.24486718e-07 -3.44518674e-07 1.00000000e+00 -1.14522530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.075898227 meters 0.07271614011695325 Centerline is valid? [True, True] Translation: X:88.05, Y:2.74, Z:-1.14 [[ 9.99592270e-01 -2.85401452e-02 8.68296122e-04 8.80549149e+01] [ 2.85401897e-02 9.99592645e-01 -3.88615180e-05 2.73963307e+00] [-8.66833304e-04 6.36270090e-05 9.99999622e-01 -1.14404712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13589822699998 meters 0.0821598466066761 Centerline is valid? [True, True] Translation: X:88.11, Y:2.72, Z:-1.15 [[ 9.99514498e-01 -3.11445760e-02 -8.85374869e-04 8.81130287e+01] [ 3.11446234e-02 9.99514888e-01 3.98204863e-05 2.71801712e+00] [ 8.83705170e-04 -6.73758202e-05 9.99999607e-01 -1.14820637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19589822699999 meters 0.07750543908083768 Centerline is valid? [True, True] Translation: X:88.17, Y:2.71, Z:-1.15 [[ 9.99442240e-01 -3.31925958e-02 -3.66874766e-03 8.81735228e+01] [ 3.31934265e-02 9.99448933e-01 1.65742329e-04 2.71033836e+00] [ 3.66122452e-03 -2.87428190e-04 9.99993256e-01 -1.15119991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25589822699999 meters 0.07630928983686433 Centerline is valid? [True, True] Translation: X:88.23, Y:2.70, Z:-1.15 [[ 9.99538504e-01 -2.99728201e-02 -4.94046088e-03 8.82338690e+01] [ 2.99742876e-02 9.99550645e-01 2.23231604e-04 2.70382525e+00] [ 4.93154997e-03 -3.71215379e-04 9.99987771e-01 -1.15213475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.31589822699999 meters 0.0777385594566161 Centerline is valid? [True, True] Translation: X:88.29, Y:2.70, Z:-1.16 [[ 9.99608305e-01 -2.73948313e-02 -5.72353661e-03 8.82935390e+01] [ 2.73967577e-02 9.99624605e-01 2.58426741e-04 2.69719163e+00] [ 5.71430846e-03 -4.15131862e-04 9.99983587e-01 -1.15516472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.375898227 meters 0.06717459285445344 Centerline is valid? [True, True] Translation: X:88.35, Y:2.70, Z:-1.15 [[ 9.99767334e-01 -2.09409137e-02 -5.17257149e-03 8.83547577e+01] [ 2.09424021e-02 9.99780657e-01 2.33740382e-04 2.70425559e+00] [ 5.16654218e-03 -3.42012070e-04 9.99986595e-01 -1.15121823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.435898227 meters 0.06889162100134452 Centerline is valid? [True, True] Translation: X:88.41, Y:2.70, Z:-1.15 [[ 9.99811317e-01 -1.89957604e-02 -4.06095182e-03 8.84148104e+01] [ 1.89966616e-02 9.99819530e-01 1.83453400e-04 2.70053565e+00] [ 4.05673410e-03 -2.60563313e-04 9.99991737e-01 -1.14998436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49589822699998 meters 0.06671367495975858 Centerline is valid? [True, True] Translation: X:88.48, Y:2.70, Z:-1.15 [[ 9.99839387e-01 -1.76941377e-02 -2.84905156e-03 8.84756166e+01] [ 1.76945760e-02 9.99843430e-01 1.28705836e-04 2.70478259e+00] [ 2.84632815e-03 -1.79097923e-04 9.99995933e-01 -1.14900376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55589822699999 meters 0.06787637952470987 Centerline is valid? [True, True] Translation: X:88.54, Y:2.71, Z:-1.15 [[ 9.99813477e-01 -1.91400642e-02 -2.58248734e-03 8.85368603e+01] [ 1.91404297e-02 9.99816798e-01 1.16912448e-04 2.70617709e+00] [ 2.57977651e-03 -1.66320558e-04 9.99996659e-01 -1.14732969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61589822699999 meters 0.07738442536403498 Centerline is valid? [True, True] Translation: X:88.60, Y:2.69, Z:-1.15 [[ 9.99679055e-01 -2.49388545e-02 -4.45431740e-03 8.85958306e+01] [ 2.49399974e-02 9.99688930e-01 2.01220531e-04 2.69180810e+00] [ 4.44791358e-03 -3.12246615e-04 9.99990059e-01 -1.15178161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.67589822699999 meters 0.08851927414088205 Centerline is valid? [True, True] Translation: X:88.65, Y:2.67, Z:-1.16 [[ 9.99445463e-01 -3.28909230e-02 -5.19173243e-03 8.86549930e+01] [ 3.28925828e-02 9.99458865e-01 2.34631410e-04 2.67285424e+00] [ 5.18120575e-03 -4.05270787e-04 9.99986495e-01 -1.15696976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.73589822699999 meters 0.0856905142113154 Centerline is valid? [True, True] Translation: X:88.72, Y:2.67, Z:-1.15 [[ 9.99176843e-01 -4.05421094e-02 -1.40483304e-03 8.87153040e+01] [ 4.05422384e-02 9.99177823e-01 6.34111528e-05 2.67072581e+00] [ 1.40110719e-03 -1.20314031e-04 9.99999011e-01 -1.14754594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.795898227 meters 0.08051931085622137 Centerline is valid? [True, True] Translation: X:88.78, Y:2.67, Z:-1.15 [[ 9.99188366e-01 -4.02228477e-02 -2.17533151e-03 8.87772791e+01] [ 4.02231574e-02 9.99190716e-01 9.87718664e-05 2.67186438e+00] [ 2.16959816e-03 -1.86190401e-04 9.99997629e-01 -1.14646674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.855898227 meters 0.08168959056014599 Centerline is valid? [True, True] Translation: X:88.84, Y:2.67, Z:-1.15 [[ 9.99315736e-01 -3.68570220e-02 -3.10147084e-03 8.88370375e+01] [ 3.68576336e-02 9.99320517e-01 1.40265412e-04 2.66813493e+00] [ 3.09419368e-03 -2.54482310e-04 9.99995181e-01 -1.14880850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91589822699999 meters 0.0789859355290624 Centerline is valid? [True, True] Translation: X:88.90, Y:2.67, Z:-1.15 [[ 9.99608598e-01 -2.79448200e-02 -1.31813517e-03 8.88967725e+01] [ 2.79449227e-02 9.99609463e-01 5.95091446e-05 2.67378476e+00] [ 1.31595742e-03 -9.63210381e-05 9.99999129e-01 -1.14748186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97589822699999 meters 0.0751730335782916 Centerline is valid? [True, True] Translation: X:88.96, Y:2.68, Z:-1.15 [[ 9.99783243e-01 -2.08151806e-02 -4.40852894e-04 8.89570103e+01] [ 2.08151914e-02 9.99783340e-01 1.98496465e-05 2.68228774e+00] [ 4.40344205e-04 -2.90217813e-05 9.99999903e-01 -1.14584897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03589822699999 meters 0.0600558055417586 Centerline is valid? [True, True] Translation: X:89.02, Y:2.71, Z:-1.14 [[ 9.99889032e-01 -1.48888500e-02 -4.95624564e-04 8.90183341e+01] [ 1.48888629e-02 9.99889154e-01 2.24336652e-05 2.70576421e+00] [ 4.95235615e-04 -2.98104619e-05 9.99999877e-01 -1.14329046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.09589822699999 meters 0.05571381428997359 Centerline is valid? [True, True] Translation: X:89.08, Y:2.71, Z:-1.14 [[ 9.99956826e-01 -9.12691480e-03 1.74499668e-03 8.90794704e+01] [ 9.12706631e-03 9.99958344e-01 -7.88779132e-05 2.71270602e+00] [-1.74420408e-03 9.48012082e-05 9.99998474e-01 -1.14152519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.155898227 meters 0.04926937037452865 Centerline is valid? [True, True] Translation: X:89.14, Y:2.72, Z:-1.14 [[ 9.99969147e-01 -5.92173325e-03 5.16115756e-03 8.91400927e+01] [ 5.92301628e-03 9.99982432e-01 -2.33345560e-04 2.72031331e+00] [-5.15968508e-03 2.63907981e-04 9.99986654e-01 -1.13630485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.215898227 meters 0.04463671042932239 Centerline is valid? [True, True] Translation: X:89.20, Y:2.72, Z:-1.13 [[ 9.99975354e-01 -2.30452064e-03 6.63171343e-03 8.92011456e+01] [ 2.30655974e-03 9.99997295e-01 -2.99846086e-04 2.72492551e+00] [-6.63100449e-03 3.15135139e-04 9.99977965e-01 -1.13324569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27589822699998 meters 0.04814727572046091 Centerline is valid? [True, True] Translation: X:89.26, Y:2.72, Z:-1.14 [[ 9.99987973e-01 2.51474901e-03 4.21059995e-03 8.92608404e+01] [-2.51396960e-03 9.99996822e-01 -1.90388810e-04 2.71689951e+00] [-4.21106535e-03 1.79801200e-04 9.99991117e-01 -1.13914368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33589822699999 meters 0.04695399977973659 Centerline is valid? [True, True] Translation: X:89.32, Y:2.71, Z:-1.14 [[ 9.99984115e-01 3.70374871e-03 4.24867536e-03 8.93221321e+01] [-3.70296623e-03 9.99993126e-01 -1.92021424e-04 2.71276178e+00] [-4.24935735e-03 1.76285672e-04 9.99990956e-01 -1.14080469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39589822699999 meters 0.0453599539690737 Centerline is valid? [True, True] Translation: X:89.38, Y:2.71, Z:-1.14 [[ 9.99975953e-01 5.45481312e-03 4.28242137e-03 8.93834192e+01] [-5.45403378e-03 9.99985108e-01 -1.93642740e-04 2.70892265e+00] [-4.28341388e-03 1.70281612e-04 9.99990812e-01 -1.14130477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.45589822699999 meters 0.0367079334876375 Centerline is valid? [True, True] Translation: X:89.44, Y:2.71, Z:-1.15 [[ 9.99935179e-01 1.13494490e-02 9.09943847e-04 8.94439184e+01] [-1.13494162e-02 9.99935592e-01 -4.11839321e-05 2.71383830e+00] [-9.10352654e-04 3.08539310e-05 9.99999585e-01 -1.14535781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.515898227 meters 0.03063931866201279 Centerline is valid? [True, True] Translation: X:89.50, Y:2.72, Z:-1.15 [[ 9.99848936e-01 1.73660745e-02 7.24540837e-04 8.95044366e+01] [-1.73660552e-02 9.99849198e-01 -3.28156903e-05 2.71593158e+00] [-7.25001455e-04 2.02283168e-05 9.99999737e-01 -1.14635183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.575898227 meters 0.02538951935256821 Centerline is valid? [True, True] Translation: X:89.57, Y:2.72, Z:-1.15 [[ 9.99725887e-01 2.33260238e-02 2.01190261e-03 8.95652863e+01] [-2.33258877e-02 9.99727910e-01 -9.10742317e-05 2.71617923e+00] [-2.01347959e-03 4.41198526e-05 9.99997972e-01 -1.14651194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63589822699998 meters 0.017570047311236348 Centerline is valid? [True, True] Translation: X:89.63, Y:2.72, Z:-1.14 [[ 9.99547720e-01 2.98746281e-02 3.44400348e-03 8.96254695e+01] [-2.98742681e-02 9.99553652e-01 -1.55917422e-04 2.71757836e+00] [-3.44712423e-03 5.29598202e-05 9.99994057e-01 -1.14412813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69589822699999 meters 0.015529243612424817 Centerline is valid? [True, True] Translation: X:89.68, Y:2.72, Z:-1.15 [[ 9.99425524e-01 3.38447387e-02 1.77629683e-03 8.96828411e+01] [-3.38446487e-02 9.99427103e-01 -8.07584432e-05 2.71571372e+00] [-1.77801244e-03 2.05939074e-05 9.99998419e-01 -1.14798505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75589822699999 meters 0.013573076485152215 Centerline is valid? [True, True] Translation: X:89.74, Y:2.71, Z:-1.15 [[ 9.99319837e-01 3.68696323e-02 7.02497923e-04 8.97415887e+01] [-3.68696189e-02 9.99320084e-01 -3.20937882e-05 2.71190923e+00] [-7.03203570e-04 6.17112848e-06 9.99999753e-01 -1.15178469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.81589822699999 meters 0.010602286659931607 Centerline is valid? [True, True] Translation: X:89.80, Y:2.71, Z:-1.15 [[ 9.99077758e-01 4.28770703e-02 2.27813030e-03 8.98004843e+01] [-4.28769467e-02 9.99080356e-01 -1.03109014e-04 2.71127504e+00] [-2.28045624e-03 5.33465106e-06 9.99997400e-01 -1.14893880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.875898227 meters 0.01041337916198969 Centerline is valid? [True, True] Translation: X:89.86, Y:2.71, Z:-1.15 [[ 9.98924266e-01 4.62201876e-02 3.74246111e-03 8.98597669e+01] [-4.62198790e-02 9.98931276e-01 -1.68957797e-04 2.71032665e+00] [-3.74627072e-03 -4.20005625e-06 9.99992983e-01 -1.14755056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.935898227 meters 0.012561045250634976 Centerline is valid? [True, True] Translation: X:89.92, Y:2.71, Z:-1.15 [[ 9.98691962e-01 5.10895642e-02 2.05481827e-03 8.99174460e+01] [-5.10894811e-02 9.98694075e-01 -9.29198135e-05 2.71144382e+00] [-2.05688207e-03 -1.21813286e-05 9.99997885e-01 -1.15091452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99589822699998 meters 0.01455064852889345 Centerline is valid? [True, True] Translation: X:89.98, Y:2.71, Z:-1.15 [[ 9.98502050e-01 5.46446578e-02 2.75993080e-03 8.99766603e+01] [-5.46445226e-02 9.98505864e-01 -1.24413554e-04 2.71221395e+00] [-2.76260563e-03 -2.65879127e-05 9.99996184e-01 -1.14972570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05589822699999 meters 0.016431401516785626 Centerline is valid? [True, True] Translation: X:90.03, Y:2.71, Z:-1.15 [[ 9.98368963e-01 5.68387402e-02 5.36395289e-03 9.00342801e+01] [-5.68382642e-02 9.98383370e-01 -2.41273091e-04 2.71229763e+00] [-5.36899502e-03 -6.39982054e-05 9.99985585e-01 -1.14605250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11589822699999 meters 0.015253863435579969 Centerline is valid? [True, True] Translation: X:90.09, Y:2.70, Z:-1.15 [[ 9.98453678e-01 5.53191926e-02 5.48082408e-03 9.00928208e+01] [-5.53186761e-02 9.98468719e-01 -2.45912958e-04 2.70318603e+00] [-5.48603510e-03 -5.76592342e-05 9.99984950e-01 -1.14644085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.17589822699999 meters 0.013471742029311801 Centerline is valid? [True, True] Translation: X:90.15, Y:2.69, Z:-1.14 [[ 9.98558002e-01 5.32501884e-02 6.80693379e-03 9.01513504e+01] [-5.32493464e-02 9.98581201e-01 -3.04995581e-04 2.69449506e+00] [-6.81351719e-03 -5.79089981e-05 9.99976786e-01 -1.14415560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.23589822699999 meters 0.014053967186760816 Centerline is valid? [True, True] Translation: X:90.21, Y:2.69, Z:-1.14 [[ 9.98534231e-01 5.35609135e-02 7.78574616e-03 9.02087868e+01] [-5.35598248e-02 9.98564582e-01 -3.48425334e-04 2.69181065e+00] [-7.79323233e-03 -6.90885767e-05 9.99969630e-01 -1.14244682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.295898227 meters 0.01609234693565463 Centerline is valid? [True, True] Translation: X:90.27, Y:2.69, Z:-1.14 [[ 9.98381264e-01 5.61790032e-02 8.87534788e-03 9.02677667e+01] [-5.61776971e-02 9.98420707e-01 -3.96596831e-04 2.68734072e+00] [-8.88361152e-03 -1.02641759e-04 9.99960535e-01 -1.14082690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.355898227 meters 0.01834005769585988 Centerline is valid? [True, True] Translation: X:90.33, Y:2.68, Z:-1.14 [[ 9.98209694e-01 5.90755748e-02 9.35321125e-03 9.03257064e+01] [-5.90742557e-02 9.98253504e-01 -4.17475628e-04 2.67562256e+00] [-9.36153852e-03 -1.35805774e-04 9.99956171e-01 -1.14172673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41589822699999 meters 0.025120414170982572 Centerline is valid? [True, True] Translation: X:90.38, Y:2.67, Z:-1.14 [[ 9.98142891e-01 6.03794478e-02 8.06793143e-03 9.03835693e+01] [-6.03785123e-02 9.98175489e-01 -3.59693837e-04 2.66955775e+00] [-8.07492951e-03 -1.28103850e-04 9.99967389e-01 -1.14493509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47589822699999 meters 0.021619335692188102 Centerline is valid? [True, True] Translation: X:90.44, Y:2.66, Z:-1.15 [[ 9.98100327e-01 6.13424980e-02 5.73016028e-03 9.04414511e+01] [-6.13420433e-02 9.98116771e-01 -2.55240645e-04 2.65594515e+00] [-5.73502617e-03 -9.67439685e-05 9.99983550e-01 -1.14984854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.53589822699999 meters 0.02247211383357684 Centerline is valid? [True, True] Translation: X:90.50, Y:2.65, Z:-1.15 [[ 9.98065378e-01 6.19986360e-02 4.65517843e-03 9.04998798e+01] [-6.19983437e-02 9.98076231e-01 -2.07210752e-04 2.64605446e+00] [-4.65906973e-03 -8.18034744e-05 9.99989143e-01 -1.15233327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.59589822699999 meters 0.025744166381756604 Centerline is valid? [True, True] Translation: X:90.56, Y:2.63, Z:-1.15 [[ 9.97903021e-01 6.45821922e-02 4.32446441e-03 9.05579411e+01] [-6.45819650e-02 9.97912387e-01 -1.92312394e-04 2.63424449e+00] [-4.32785656e-03 -8.73732896e-05 9.99990631e-01 -1.15370200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.655898227 meters 0.027779103018308292 Centerline is valid? [True, True] Translation: X:90.62, Y:2.63, Z:-1.16 [[ 9.97780713e-01 6.65558490e-02 1.99208694e-03 9.06168029e+01] [-6.65558047e-02 9.97782700e-01 -8.86332158e-05 2.62595953e+00] [-1.99356895e-03 -4.41484363e-05 9.99998012e-01 -1.15737177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.715898227 meters 0.03207451405359576 Centerline is valid? [True, True] Translation: X:90.67, Y:2.62, Z:-1.16 [[ 9.97716007e-01 6.75427044e-02 8.67643383e-04 9.06746400e+01] [-6.75426960e-02 9.97716384e-01 -3.89174948e-05 2.62104716e+00] [-8.68290611e-04 -1.97743658e-05 9.99999623e-01 -1.16148017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77589822699998 meters 0.02882266839155088 Centerline is valid? [True, True] Translation: X:90.73, Y:2.60, Z:-1.16 [[ 9.97761954e-01 6.67722279e-02 3.54293651e-03 9.07327408e+01] [-6.67720907e-02 9.97768241e-01 -1.57129783e-04 2.60480756e+00] [-3.54552144e-03 -7.97911586e-05 9.99993711e-01 -1.15526279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83589822699999 meters 0.022305324314665705 Centerline is valid? [True, True] Translation: X:90.79, Y:2.59, Z:-1.16 [[ 9.98040235e-01 6.25327318e-02 2.31214046e-03 9.07910312e+01] [-6.25326619e-02 9.98042913e-01 -1.02581022e-04 2.58740096e+00] [-2.31403007e-03 -4.22043103e-05 9.99997322e-01 -1.15815669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.89589822699999 meters 0.018328738029035962 Centerline is valid? [True, True] Translation: X:90.85, Y:2.57, Z:-1.16 [[ 9.98337180e-01 5.76386127e-02 8.15155097e-04 9.08489390e+01] [-5.76386022e-02 9.98337513e-01 -3.63868306e-05 2.57265925e+00] [-8.15897198e-04 -1.06580745e-05 9.99999667e-01 -1.16101880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.95589822699999 meters 0.011787460166438347 Centerline is valid? [True, True] Translation: X:90.91, Y:2.55, Z:-1.16 [[ 9.98838724e-01 4.81363200e-02 2.02430329e-03 9.09073851e+01] [-4.81362374e-02 9.98840775e-01 -8.95108309e-05 2.54891593e+00] [-2.02626539e-03 -8.03545961e-06 9.99997947e-01 -1.15963474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.015898227 meters 0.011000328744838405 Centerline is valid? [True, True] Translation: X:90.96, Y:2.53, Z:-1.16 [[ 9.99138227e-01 4.14073196e-02 2.87015746e-03 9.09643363e+01] [-4.14071258e-02 9.99142349e-01 -1.26950444e-04 2.53445334e+00] [-2.87295255e-03 7.99607024e-06 9.99995873e-01 -1.15963265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.075898227 meters 0.01196718489993889 Centerline is valid? [True, True] Translation: X:91.02, Y:2.53, Z:-1.16 [[ 9.99253329e-01 3.84503624e-02 3.78868976e-03 9.10230466e+01] [-3.84500050e-02 9.99260511e-01 -1.67146176e-04 2.53167860e+00] [-3.79231489e-03 2.13462331e-05 9.99992809e-01 -1.15855091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13589822699998 meters 0.011466705761843025 Centerline is valid? [True, True] Translation: X:91.08, Y:2.53, Z:-1.16 [[ 9.99197854e-01 3.97888213e-02 4.52750737e-03 9.10806086e+01] [-3.97883258e-02 9.99208111e-01 -1.99493034e-04 2.53299084e+00] [-4.53185968e-03 1.91910733e-05 9.99989731e-01 -1.15724731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19589822699999 meters 0.010918996810924753 Centerline is valid? [True, True] Translation: X:91.14, Y:2.53, Z:-1.16 [[ 9.99139989e-01 4.12143960e-02 4.54498183e-03 9.11387986e+01] [-4.12139127e-02 9.99150326e-01 -1.99973136e-04 2.53444519e+00] [-4.54936185e-03 1.24846726e-05 9.99989652e-01 -1.15769444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25589822699999 meters 0.014914448824332224 Centerline is valid? [True, True] Translation: X:91.20, Y:2.53, Z:-1.16 [[ 9.99244213e-01 3.87040135e-02 3.60577645e-03 9.11979640e+01] [-3.87036935e-02 9.99250719e-01 -1.58485472e-04 2.53088072e+00] [-3.60920874e-03 1.88088239e-05 9.99993487e-01 -1.16087968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.31589822699999 meters 0.015019603163141044 Centerline is valid? [True, True] Translation: X:91.26, Y:2.52, Z:-1.16 [[ 9.99412143e-01 3.40555039e-02 3.94845872e-03 9.12578038e+01] [-3.40550852e-02 9.99419942e-01 -1.73221907e-04 2.52434258e+00] [-3.95206755e-03 3.86549793e-05 9.99992190e-01 -1.15955407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.375898227 meters 0.016267827219951052 Centerline is valid? [True, True] Translation: X:91.32, Y:2.52, Z:-1.16 [[ 9.99489916e-01 3.17707532e-02 3.24458520e-03 9.13170048e+01] [-3.17704585e-02 9.99495181e-01 -1.42362566e-04 2.52293044e+00] [-3.24747024e-03 3.92079894e-05 9.99994726e-01 -1.16029111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.435898227 meters 0.0190876114737931 Centerline is valid? [True, True] Translation: X:91.38, Y:2.52, Z:-1.16 [[ 9.99557787e-01 2.95290904e-02 3.50187260e-03 9.13757418e+01] [-2.95287338e-02 9.99563920e-01 -1.53500888e-04 2.52053282e+00] [-3.50487824e-03 5.00271446e-05 9.99993857e-01 -1.16055129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49589822699998 meters 0.02379847506339425 Centerline is valid? [True, True] Translation: X:91.44, Y:2.51, Z:-1.16 [[ 9.99679029e-01 2.46827250e-02 5.70983869e-03 9.14354120e+01] [-2.46817005e-02 9.99695329e-01 -2.49834304e-04 2.51336384e+00] [-5.71426566e-03 1.08825586e-04 9.99983668e-01 -1.15756357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55589822699999 meters 0.031312099308188 Centerline is valid? [True, True] Translation: X:91.50, Y:2.51, Z:-1.16 [[ 9.99834052e-01 1.74543834e-02 5.21656226e-03 9.14958294e+01] [-1.74534304e-02 9.99847651e-01 -2.28152838e-04 2.50630956e+00] [-5.21974979e-03 1.37068071e-04 9.99986368e-01 -1.15941942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61589822699999 meters 0.03655018224544563 Centerline is valid? [True, True] Translation: X:91.56, Y:2.49, Z:-1.16 [[ 9.99953277e-01 8.43064235e-03 4.72952190e-03 9.15553071e+01] [-8.42975818e-03 9.99964448e-01 -2.06849903e-04 2.48786526e+00] [-4.73109763e-03 1.66971513e-04 9.99988794e-01 -1.16035248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.67589822699999 meters 0.04124957541395877 Centerline is valid? [True, True] Translation: X:91.62, Y:2.48, Z:-1.16 [[ 9.99979718e-01 5.17632128e-03 3.71061153e-03 9.16152524e+01] [-5.17575466e-03 9.99986593e-01 -1.62287643e-04 2.47698108e+00] [-3.71140183e-03 1.43079137e-04 9.99993102e-01 -1.16098909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.73589822699999 meters 0.043956100510967114 Centerline is valid? [True, True] Translation: X:91.68, Y:2.47, Z:-1.16 [[ 9.99989827e-01 3.64907661e-03 2.65149026e-03 9.16767188e+01] [-3.64878399e-03 9.99993337e-01 -1.15188882e-04 2.46705931e+00] [-2.65189292e-03 1.05512995e-04 9.99996478e-01 -1.16248031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.795898227 meters 0.04127604699324918 Centerline is valid? [True, True] Translation: X:91.74, Y:2.47, Z:-1.16 [[ 9.99971301e-01 5.87369381e-03 4.78504293e-03 9.17379123e+01] [-5.87275586e-03 9.99982733e-01 -2.10043569e-04 2.46643446e+00] [-4.78619404e-03 1.81936152e-04 9.99988530e-01 -1.15992133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.855898227 meters 0.03651441960409635 Centerline is valid? [True, True] Translation: X:91.80, Y:2.47, Z:-1.16 [[ 9.99936883e-01 1.02172377e-02 4.67314117e-03 9.17985501e+01] [-1.02163896e-02 9.99947790e-01 -2.05321337e-04 2.47091049e+00] [-4.67499501e-03 1.57565747e-04 9.99989060e-01 -1.16080543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91589822699999 meters 0.03868939051629715 Centerline is valid? [True, True] Translation: X:91.86, Y:2.47, Z:-1.17 [[ 9.99908038e-01 1.31220670e-02 3.42446826e-03 9.18597810e+01] [-1.31216289e-02 9.99913896e-01 -1.50343806e-04 2.47384974e+00] [-3.42614622e-03 1.05395379e-04 9.99994125e-01 -1.16562173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97589822699999 meters 0.03624615767224581 Centerline is valid? [True, True] Translation: X:91.92, Y:2.47, Z:-1.16 [[ 9.99925816e-01 1.15873096e-02 3.75465313e-03 9.19202304e+01] [-1.15867714e-02 9.99932857e-01 -1.65052757e-04 2.46843601e+00] [-3.75631355e-03 1.21536205e-04 9.99992938e-01 -1.16470448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.03589822699999 meters 0.04196179219621517 Centerline is valid? [True, True] Translation: X:91.98, Y:2.46, Z:-1.16 [[ 9.99958741e-01 6.32196725e-03 6.52293494e-03 9.19805093e+01] [-6.32023110e-03 9.99979986e-01 -2.86741560e-04 2.46128794e+00] [-6.52461716e-03 2.45503274e-04 9.99978684e-01 -1.16089190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.09589822699999 meters 0.045046016750255956 Centerline is valid? [True, True] Translation: X:92.04, Y:2.45, Z:-1.16 [[ 9.99975431e-01 3.48723408e-03 6.08076827e-03 9.20414975e+01] [-3.48567321e-03 9.99993889e-01 -2.67269665e-04 2.45496423e+00] [-6.08166314e-03 2.46067528e-04 9.99981476e-01 -1.16251945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.155898227 meters 0.0511052641596748 Centerline is valid? [True, True] Translation: X:92.10, Y:2.44, Z:-1.17 [[ 9.99988278e-01 -3.37841647e-03 3.46849541e-03 9.21016616e+01] [ 3.37896584e-03 9.99994280e-01 -1.52540802e-04 2.44392400e+00] [-3.46796022e-03 1.64258941e-04 9.99993973e-01 -1.16820742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.215898227 meters 0.06311629547823286 Centerline is valid? [True, True] Translation: X:92.16, Y:2.43, Z:-1.18 [[ 9.99952787e-01 -9.69549405e-03 6.48698569e-04 9.21605339e+01] [ 9.69551453e-03 9.99952997e-01 -2.84354008e-05 2.42700543e+00] [-6.48392383e-04 3.47235247e-05 9.99999789e-01 -1.17554618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27589822699998 meters 0.05781807607463854 Centerline is valid? [True, True] Translation: X:92.22, Y:2.43, Z:-1.17 [[ 9.99922116e-01 -1.24242979e-02 -1.18293147e-03 9.22214423e+01] [ 1.24243682e-02 9.99922813e-01 5.20736504e-05 2.42758087e+00] [ 1.18219319e-03 -6.67667708e-05 9.99999299e-01 -1.17413053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33589822699999 meters 0.055785833246656015 Centerline is valid? [True, True] Translation: X:92.28, Y:2.43, Z:-1.17 [[ 9.99960356e-01 -8.81086398e-03 -1.28666265e-03 9.22819156e+01] [ 8.81094408e-03 9.99961181e-01 5.65987893e-05 2.42888839e+00] [ 1.28611402e-03 -6.79332581e-05 9.99999171e-01 -1.17475003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.39589822699999 meters 0.050508807192184195 Centerline is valid? [True, True] Translation: X:92.34, Y:2.44, Z:-1.17 [[ 9.99994660e-01 -2.85975800e-03 1.58163707e-03 9.23416689e+01] [ 2.85987177e-03 9.99995908e-01 -6.96742939e-05 2.43668205e+00] [-1.58143134e-03 7.41972010e-05 9.99998747e-01 -1.17214103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.45589822699999 meters 0.05204805247290424 Centerline is valid? [True, True] Translation: X:92.40, Y:2.43, Z:-1.17 [[ 9.99985883e-01 -4.03910214e-03 3.45244023e-03 9.24022854e+01] [ 4.03965030e-03 9.99991829e-01 -1.51817471e-04 2.43241715e+00] [-3.45179881e-03 1.65761979e-04 9.99994029e-01 -1.17019801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.515898227 meters 0.06493009129215012 Centerline is valid? [True, True] Translation: X:92.46, Y:2.41, Z:-1.17 [[ 9.99919539e-01 -1.25775779e-02 1.64941369e-03 9.24610632e+01] [ 1.25777147e-02 9.99920895e-01 -7.25782848e-05 2.41060008e+00] [-1.64837035e-03 9.33182999e-05 9.99998637e-01 -1.17399782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.575898227 meters 0.06378693350290056 Centerline is valid? [True, True] Translation: X:92.52, Y:2.41, Z:-1.17 [[ 9.99828540e-01 -1.84373965e-02 1.71856331e-03 9.25220488e+01] [ 1.84375536e-02 9.99830011e-01 -7.56047398e-05 2.40770288e+00] [-1.71687722e-03 1.07277880e-04 9.99998520e-01 -1.17389904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63589822699998 meters 0.06425443917004378 Centerline is valid? [True, True] Translation: X:92.58, Y:2.40, Z:-1.17 [[ 9.99783350e-01 -2.06379646e-02 2.70677289e-03 9.25834082e+01] [ 2.06383620e-02 9.99786999e-01 -1.18974971e-04 2.40327273e+00] [-2.70374095e-03 1.74812554e-04 9.99996330e-01 -1.17345066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69589822699999 meters 0.06983969323573551 Centerline is valid? [True, True] Translation: X:92.64, Y:2.39, Z:-1.17 [[ 9.99751242e-01 -2.18645777e-02 4.40389635e-03 9.26430711e+01] [ 2.18656428e-02 9.99760899e-01 -1.93844063e-04 2.38732488e+00] [-4.39860506e-03 2.90089868e-04 9.99990284e-01 -1.17041871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.75589822699999 meters 0.06512215674361177 Centerline is valid? [True, True] Translation: X:92.70, Y:2.39, Z:-1.17 [[ 9.99728434e-01 -2.29845427e-02 3.84299889e-03 9.27040118e+01] [ 2.29853622e-02 9.99735787e-01 -1.69187053e-04 2.38705731e+00] [-3.83809484e-03 2.57473829e-04 9.99992601e-01 -1.17253864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.81589822699999 meters 0.0685641627813182 Centerline is valid? [True, True] Translation: X:92.76, Y:2.38, Z:-1.18 [[ 9.99718170e-01 -2.36766555e-02 1.73083037e-03 9.27632334e+01] [ 2.36768228e-02 9.99719662e-01 -7.62436124e-05 2.37514236e+00] [-1.72853995e-03 1.17202689e-04 9.99998499e-01 -1.17708488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.875898227 meters 0.06994126418240026 Centerline is valid? [True, True] Translation: X:92.82, Y:2.36, Z:-1.18 [[ 9.99686777e-01 -2.49786991e-02 1.55309759e-03 9.28239569e+01] [ 2.49788353e-02 9.99687978e-01 -6.83360368e-05 2.36481407e+00] [-1.55090604e-03 1.07109201e-04 9.99998792e-01 -1.17710052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.935898227 meters 0.06326652653025806 Centerline is valid? [True, True] Translation: X:92.88, Y:2.37, Z:-1.17 [[ 9.99717355e-01 -2.35976864e-02 2.89135053e-03 9.28845934e+01] [ 2.35981531e-02 9.99721517e-01 -1.27398575e-04 2.36775035e+00] [-2.88753903e-03 1.95593099e-04 9.99995812e-01 -1.17426443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99589822699998 meters 0.06902772515852791 Centerline is valid? [True, True] Translation: X:92.94, Y:2.36, Z:-1.18 [[ 9.99786029e-01 -2.06839904e-02 2.62851173e-04 9.29441227e+01] [ 2.06839942e-02 9.99786063e-01 -1.16529288e-05 2.35783779e+00] [-2.62553911e-04 1.70872476e-05 9.99999965e-01 -1.18034510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05589822699999 meters 0.062425784260293854 Centerline is valid? [True, True] Translation: X:93.01, Y:2.37, Z:-1.18 [[ 9.99879397e-01 -1.54330702e-02 -1.73568024e-03 9.30053081e+01] [ 1.54332262e-02 9.99880898e-01 7.64890142e-05 2.36700197e+00] [ 1.73429305e-03 -1.03266935e-04 9.99998491e-01 -1.18435376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.11589822699999 meters 0.06524531959004454 Centerline is valid? [True, True] Translation: X:93.06, Y:2.36, Z:-1.18 [[ 9.99890493e-01 -1.47560065e-02 1.12390125e-03 9.30643898e+01] [ 1.47560716e-02 9.99891122e-01 -4.95964274e-05 2.36195941e+00] [-1.12304704e-03 6.61753635e-05 9.99999367e-01 -1.17960308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.17589822699999 meters 0.06353407040013923 Centerline is valid? [True, True] Translation: X:93.13, Y:2.36, Z:-1.18 [[ 9.99869525e-01 -1.60936540e-02 1.38836384e-03 9.31260900e+01] [ 1.60937542e-02 9.99870485e-01 -6.09909814e-05 2.36399729e+00] [-1.38720246e-03 8.33270100e-05 9.99999034e-01 -1.17911738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.23589822699999 meters 0.07024676291032467 Centerline is valid? [True, True] Translation: X:93.19, Y:2.36, Z:-1.18 [[ 9.99835812e-01 -1.80196044e-02 1.90843957e-03 9.31856214e+01] [ 1.80197977e-02 9.99837627e-01 -8.40997874e-05 2.35600599e+00] [-1.90661425e-03 1.18475674e-04 9.99998175e-01 -1.18181366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.295898227 meters 0.06736501048582917 Centerline is valid? [True, True] Translation: X:93.25, Y:2.36, Z:-1.18 [[ 9.99784763e-01 -2.06973809e-02 1.43023825e-03 9.32459283e+01] [ 2.06974922e-02 9.99785782e-01 -6.30107803e-05 2.35685074e+00] [-1.42862771e-03 9.25995630e-05 9.99998975e-01 -1.18130730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35589822699998 meters 0.07303434231821021 Centerline is valid? [True, True] Translation: X:93.31, Y:2.34, Z:-1.18 [[ 9.99682319e-01 -2.51617132e-02 1.46574003e-03 9.33055025e+01] [ 2.51618348e-02 9.99683389e-01 -6.46052231e-05 2.34304632e+00] [-1.46365038e-03 1.01465408e-04 9.99998924e-01 -1.18260713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41589822699999 meters 0.07854529074236755 Centerline is valid? [True, True] Translation: X:93.37, Y:2.33, Z:-1.18 [[ 9.99538840e-01 -3.02848924e-02 2.22082656e-03 9.33654164e+01] [ 3.02851842e-02 9.99541294e-01 -9.78561511e-05 2.33415476e+00] [-2.21684429e-03 1.65069165e-04 9.99997529e-01 -1.18336026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47589822699999 meters 0.07989432639447722 Centerline is valid? [True, True] Translation: X:93.43, Y:2.33, Z:-1.18 [[ 9.99419728e-01 -3.40603358e-02 3.17013681e-04 9.34256748e+01] [ 3.40603419e-02 9.99419778e-01 -1.39555005e-05 2.32791305e+00] [-3.16354414e-04 2.47449969e-05 9.99999950e-01 -1.18486305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.53589822699999 meters 0.07226136415447365 Centerline is valid? [True, True] Translation: X:93.49, Y:2.33, Z:-1.18 [[ 9.99460633e-01 -3.28369510e-02 4.22351526e-04 9.34864793e+01] [ 3.28369617e-02 9.99460721e-01 -1.86138265e-05 2.33196531e+00] [-4.21512539e-04 3.24725277e-05 9.99999911e-01 -1.18302065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.59589822699999 meters 0.07475864741268123 Centerline is valid? [True, True] Translation: X:93.55, Y:2.34, Z:-1.18 [[ 9.99586339e-01 -2.87078263e-02 1.73530221e-03 9.35464054e+01] [ 2.87080023e-02 9.99587837e-01 -7.65511069e-05 2.33511952e+00] [-1.73238937e-03 1.26336500e-04 9.99998491e-01 -1.18381704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.655898227 meters 0.06483013413603073 Centerline is valid? [True, True] Translation: X:93.61, Y:2.35, Z:-1.18 [[ 9.99666932e-01 -2.55207593e-02 3.83604846e-03 9.36074272e+01] [ 2.55215949e-02 9.99674257e-01 -1.69022306e-04 2.34986300e+00] [-3.83048531e-03 2.66868085e-04 9.99992628e-01 -1.17906235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.715898227 meters 0.07322878443486137 Centerline is valid? [True, True] Translation: X:93.67, Y:2.34, Z:-1.18 [[ 9.99692104e-01 -2.42837103e-02 5.09895986e-03 9.36677493e+01] [ 2.42851702e-02 9.99705047e-01 -2.24583885e-04 2.34236467e+00] [-5.09200217e-03 3.48343845e-04 9.99986975e-01 -1.18006067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77589822699998 meters 0.07749604246707935 Centerline is valid? [True, True] Translation: X:93.73, Y:2.33, Z:-1.18 [[ 9.99555233e-01 -2.96292365e-02 3.38303652e-03 9.37275789e+01] [ 2.96299099e-02 9.99560927e-01 -1.49117731e-04 2.33455841e+00] [-3.37713287e-03 2.49290476e-04 9.99994266e-01 -1.18321772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83589822699999 meters 0.08948343521739081 Centerline is valid? [True, True] Translation: X:93.79, Y:2.32, Z:-1.18 [[ 9.99414971e-01 -3.40831248e-02 2.83843612e-03 9.37863361e+01] [ 3.40836169e-02 9.99418977e-01 -1.25192391e-04 2.31527573e+00] [-2.83251997e-03 2.21863320e-04 9.99995964e-01 -1.18394004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.89589822699999 meters 0.07983655807110411 Centerline is valid? [True, True] Translation: X:93.85, Y:2.32, Z:-1.18 [[ 9.99376630e-01 -3.51280784e-02 3.51710078e-03 9.38474554e+01] [ 3.51288398e-02 9.99382780e-01 -1.54910317e-04 2.32325040e+00] [-3.50948825e-03 2.78365421e-04 9.99993803e-01 -1.18226822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.95589822699999 meters 0.0732907609171812 Centerline is valid? [True, True] Translation: X:93.91, Y:2.32, Z:-1.19 [[ 9.99553201e-01 -2.98869553e-02 4.09213223e-04 9.39084094e+01] [ 2.98869652e-02 9.99553285e-01 -1.81221844e-05 2.32486770e+00] [-4.08488804e-04 3.03442288e-05 9.99999916e-01 -1.18927467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.015898227 meters 0.08106229187713279 Centerline is valid? [True, True] Translation: X:93.97, Y:2.31, Z:-1.19 [[ 9.99621899e-01 -2.74722986e-02 -1.15391627e-03 9.39671463e+01] [ 2.74723754e-02 9.99622562e-01 5.07484884e-05 2.31124564e+00] [ 1.15208656e-03 -8.24301212e-05 9.99999333e-01 -1.19356117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.075898227 meters 0.0646418492553331 Centerline is valid? [True, True] Translation: X:94.03, Y:2.33, Z:-1.19 [[ 9.99749008e-01 -2.22867277e-02 -2.28523007e-03 9.40285498e+01] [ 2.22870159e-02 9.99751609e-01 1.00712982e-04 2.32948284e+00] [ 2.28241788e-03 -1.51618663e-04 9.99997384e-01 -1.19220434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13589822699998 meters 0.0586325303774334 Centerline is valid? [True, True] Translation: X:94.09, Y:2.33, Z:-1.19 [[ 9.99860574e-01 -1.65978572e-02 -1.82835219e-03 9.40891810e+01] [ 1.65980322e-02 9.99862240e-01 8.05652172e-05 2.33483925e+00] [ 1.82676310e-03 -1.10901033e-04 9.99998325e-01 -1.19062822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19589822699999 meters 0.0566695888361378 Centerline is valid? [True, True] Translation: X:94.15, Y:2.34, Z:-1.19 [[ 9.99957856e-01 -9.02561826e-03 -1.68065337e-03 9.41488277e+01] [ 9.02575540e-03 9.99959264e-01 7.40318133e-05 2.33624286e+00] [ 1.67991672e-03 -8.91978595e-05 9.99998585e-01 -1.19231424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.25589822699999 meters 0.05104051853596515 Centerline is valid? [True, True] Translation: X:94.21, Y:2.34, Z:-1.19 [[ 9.99987067e-01 -5.07961468e-03 2.52069651e-04 9.42091974e+01] [ 5.07961764e-03 9.99987099e-01 -1.11258542e-05 2.34021177e+00] [-2.52009884e-04 1.24061277e-05 9.99999968e-01 -1.18875113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.31589822699999 meters 0.050247201450733886 Centerline is valid? [True, True] Translation: X:94.27, Y:2.34, Z:-1.18 [[ 9.99986721e-01 1.70223198e-03 4.86407661e-03 9.42687912e+01] [-1.70120939e-03 9.99998530e-01 -2.14363624e-04 2.34046881e+00] [-4.86443435e-03 2.06085965e-04 9.99988147e-01 -1.18361994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.375898227 meters 0.042528987474968756 Centerline is valid? [True, True] Translation: X:94.33, Y:2.34, Z:-1.18 [[ 9.99958747e-01 5.12771756e-03 7.49733225e-03 9.43300046e+01] [-5.12538445e-03 9.99986811e-01 -3.30372832e-04 2.34440079e+00] [-7.49892742e-03 2.91932493e-04 9.99971840e-01 -1.17817716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.435898227 meters 0.036143255982263374 Centerline is valid? [True, True] Translation: X:94.39, Y:2.35, Z:-1.18 [[ 9.99898971e-01 1.21107517e-02 7.44166824e-03 9.43910703e+01] [-1.21086456e-02 9.99926634e-01 -3.28005721e-04 2.34932800e+00] [-7.44509467e-03 2.37864059e-04 9.99972257e-01 -1.18011699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49589822699998 meters 0.027281859089697717 Centerline is valid? [True, True] Translation: X:94.45, Y:2.36, Z:-1.18 [[ 9.99802431e-01 1.83986350e-02 7.52261812e-03 9.44517712e+01] [-1.83966600e-02 9.99830712e-01 -3.31660167e-04 2.36048015e+00] [-7.52744673e-03 1.93203594e-04 9.99971650e-01 -1.18020172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55589822699999 meters 0.02311484847430737 Centerline is valid? [True, True] Translation: X:94.51, Y:2.37, Z:-1.18 [[ 9.99659240e-01 2.50473479e-02 7.35083247e-03 9.45116073e+01] [-2.50456414e-02 9.99686256e-01 -3.24136348e-04 2.36878459e+00] [-7.35664495e-03 1.39919582e-04 9.99972930e-01 -1.18153897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.61589822699999 meters 0.019967872984664136 Centerline is valid? [True, True] Translation: X:94.57, Y:2.38, Z:-1.18 [[ 9.99553647e-01 2.91886999e-02 6.36611873e-03 9.45719478e+01] [-2.91875045e-02 9.99573915e-01 -2.80628922e-04 2.37640129e+00] [-6.37159742e-03 9.46925431e-05 9.99979697e-01 -1.18487894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.67589822699999 meters 0.020043745118131208 Centerline is valid? [True, True] Translation: X:94.63, Y:2.37, Z:-1.19 [[ 9.99625927e-01 2.69788672e-02 4.48850494e-03 9.46321551e+01] [-2.69782507e-02 9.99636001e-01 -1.97860636e-04 2.37474307e+00] [-4.49220919e-03 7.66946105e-05 9.99989907e-01 -1.18780023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.73589822699999 meters 0.02728548797296737 Centerline is valid? [True, True] Translation: X:94.69, Y:2.36, Z:-1.19 [[ 9.99798666e-01 1.97934754e-02 3.29326650e-03 9.46911748e+01] [-1.97931046e-02 9.99804087e-01 -1.45176425e-04 2.35647273e+00] [-3.29549485e-03 7.99632282e-05 9.99994567e-01 -1.19047178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.795898227 meters 0.029699156828766136 Centerline is valid? [True, True] Translation: X:94.75, Y:2.35, Z:-1.19 [[ 9.99849149e-01 1.71102081e-02 2.98667181e-03 9.47506800e+01] [-1.71098909e-02 9.99853606e-01 -1.31718476e-04 2.34667777e+00] [-2.98848831e-03 8.05969772e-05 9.99995531e-01 -1.18967372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85589822699998 meters 0.027674399073412393 Centerline is valid? [True, True] Translation: X:94.81, Y:2.34, Z:-1.19 [[ 9.99809682e-01 1.92339409e-02 3.26433188e-03 9.48104775e+01] [-1.92335733e-02 9.99815007e-01 -1.43975145e-04 2.34311144e+00] [-3.26649721e-03 8.11629778e-05 9.99994662e-01 -1.18879189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91589822699999 meters 0.016762936418412245 Centerline is valid? [True, True] Translation: X:94.87, Y:2.35, Z:-1.19 [[ 9.99480162e-01 3.20349234e-02 3.62889014e-03 9.48699463e+01] [-3.20345537e-02 9.99486749e-01 -1.59971217e-04 2.35039231e+00] [-3.63215227e-03 4.36381818e-05 9.99993403e-01 -1.18825526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97589822699999 meters 0.015495220066419648 Centerline is valid? [True, True] Translation: X:94.93, Y:2.36, Z:-1.19 [[ 9.99065542e-01 4.30141406e-02 4.22213444e-03 9.49293622e+01] [-4.30137385e-02 9.99074464e-01 -1.86032867e-04 2.35947613e+00] [-4.22622874e-03 4.24924015e-06 9.99991069e-01 -1.18946416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.03589822699999 meters 0.016313946307962544 Centerline is valid? [True, True] Translation: X:94.99, Y:2.37, Z:-1.19 [[ 9.98519123e-01 5.42202123e-02 4.44177317e-03 9.49880712e+01] [-5.42198791e-02 9.98529001e-01 -1.95480647e-04 2.37195850e+00] [-4.44583833e-03 -4.56412402e-05 9.99990116e-01 -1.18844081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.09589822699999 meters 0.022108615436663807 Centerline is valid? [True, True] Translation: X:95.05, Y:2.37, Z:-1.19 [[ 9.98086724e-01 6.16387138e-02 4.85391683e-03 9.50476508e+01] [-6.16384049e-02 9.98098523e-01 -2.13356074e-04 2.37389865e+00] [-4.85783821e-03 -8.62398254e-05 9.99988197e-01 -1.18896290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.155898227 meters 0.020351219346415553 Centerline is valid? [True, True] Translation: X:95.11, Y:2.36, Z:-1.19 [[ 9.98146581e-01 6.05546286e-02 6.04473885e-03 9.51058796e+01] [-6.05541321e-02 9.98164880e-01 -2.65295788e-04 2.36391780e+00] [-6.04971092e-03 -1.01229831e-04 9.99981695e-01 -1.18824522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.215898227 meters 0.0193429039616683 Centerline is valid? [True, True] Translation: X:95.16, Y:2.35, Z:-1.19 [[ 9.98248447e-01 5.86625163e-02 7.66471514e-03 9.51636413e+01] [-5.86616660e-02 9.98277865e-01 -3.35907797e-04 2.35436991e+00] [-7.67122067e-03 -1.14305523e-04 9.99970569e-01 -1.18523700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27589822699998 meters 0.0203121738050112 Centerline is valid? [True, True] Translation: X:95.22, Y:2.35, Z:-1.18 [[ 9.98190018e-01 5.96950220e-02 7.29325488e-03 9.52221161e+01] [-5.96942828e-02 9.98216655e-01 -3.19187989e-04 2.34592885e+00] [-7.29930242e-03 -1.16755355e-04 9.99973353e-01 -1.18481143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33589822699999 meters 0.024365157868650962 Centerline is valid? [True, True] Translation: X:95.28, Y:2.35, Z:-1.19 [[ 9.97935514e-01 6.40118205e-02 5.21508181e-03 9.52816761e+01] [-6.40115023e-02 9.97949135e-01 -2.28082137e-04 2.34894245e+00] [-5.21898633e-03 -1.06213956e-04 9.99986375e-01 -1.18793733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.39589822699999 meters 0.032456537696035785 Centerline is valid? [True, True] Translation: X:95.34, Y:2.36, Z:-1.19 [[ 9.97512489e-01 7.03763547e-02 4.00040903e-03 9.53413962e+01] [-7.03762193e-02 9.97520505e-01 -1.74785339e-04 2.35817289e+00] [-4.00279079e-03 -1.07183104e-04 9.99991983e-01 -1.19019710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.45589822699999 meters 0.03904879933730747 Centerline is valid? [True, True] Translation: X:95.40, Y:2.37, Z:-1.19 [[ 9.97016958e-01 7.69916237e-02 5.42907312e-03 9.54019948e+01] [-7.69914736e-02 9.97031723e-01 -2.36934735e-04 2.36502882e+00] [-5.43120012e-03 -1.81764392e-04 9.99985234e-01 -1.18777318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.515898227 meters 0.04191180280355824 Centerline is valid? [True, True] Translation: X:95.46, Y:2.36, Z:-1.19 [[ 9.96822562e-01 7.95055485e-02 4.86291485e-03 9.54610713e+01] [-7.95054574e-02 9.96834408e-01 -2.12347199e-04 2.36455592e+00] [-4.86440363e-03 -1.74955790e-04 9.99988153e-01 -1.19063065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.575898227 meters 0.04255982726299036 Centerline is valid? [True, True] Translation: X:95.52, Y:2.37, Z:-1.19 [[ 9.96835934e-01 7.93706289e-02 4.29236653e-03 9.55182350e+01] [-7.93705564e-02 9.96845163e-01 -1.87504229e-04 2.36814984e+00] [-4.29370714e-03 -1.53776566e-04 9.99990770e-01 -1.19036454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63589822699998 meters 0.04526230307269573 Centerline is valid? [True, True] Translation: X:95.58, Y:2.37, Z:-1.19 [[ 9.96798505e-01 7.98388709e-02 4.30049965e-03 9.55764893e+01] [-7.98388046e-02 9.96807770e-01 -1.87379894e-04 2.37173262e+00] [-4.30173167e-03 -1.56566753e-04 9.99990735e-01 -1.19015403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69589822699999 meters 0.0444338225284953 Centerline is valid? [True, True] Translation: X:95.64, Y:2.37, Z:-1.19 [[ 9.96430978e-01 8.43166937e-02 4.00022665e-03 9.56364933e+01] [-8.43166740e-02 9.96438994e-01 -1.73868767e-04 2.37256918e+00] [-4.00064186e-03 -1.64037582e-04 9.99991984e-01 -1.19066474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.75589822699999 meters 0.050090856854532365 Centerline is valid? [True, True] Translation: X:95.70, Y:2.38, Z:-1.19 [[ 9.96030099e-01 8.89774861e-02 2.65490258e-03 9.56970572e+01] [-8.89774940e-02 9.96033630e-01 -1.15382644e-04 2.38064975e+00] [-2.65463871e-03 -1.21301992e-04 9.99996469e-01 -1.19420193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.81589822699999 meters 0.05034984670056235 Centerline is valid? [True, True] Translation: X:95.76, Y:2.38, Z:-1.20 [[ 9.95976277e-01 8.96111710e-02 1.04596426e-03 9.57562658e+01] [-8.96111722e-02 9.95976825e-01 -4.58024002e-05 2.38113427e+00] [-1.04586057e-03 -4.81119791e-05 9.99999452e-01 -1.19727655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.875898227 meters 0.04487339982020223 Centerline is valid? [True, True] Translation: X:95.81, Y:2.37, Z:-1.20 [[ 9.96548645e-01 8.29812819e-02 2.21491351e-03 9.58146109e+01] [-8.29812724e-02 9.96551102e-01 -9.63332062e-05 2.37336661e+00] [-2.21526835e-03 -8.77956152e-05 9.99997542e-01 -1.19627634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.935898227 meters 0.041701603941181574 Centerline is valid? [True, True] Translation: X:95.87, Y:2.37, Z:-1.19 [[ 9.96748926e-01 8.04885526e-02 3.62924943e-03 9.58747990e+01] [-8.04885121e-02 9.96755524e-01 -1.57452597e-04 2.36724887e+00] [-3.63014755e-03 -1.35172180e-04 9.99993402e-01 -1.19412297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99589822699998 meters 0.03812848484953616 Centerline is valid? [True, True] Translation: X:95.93, Y:2.36, Z:-1.19 [[ 9.96951095e-01 7.79155724e-02 4.20440826e-03 9.59348636e+01] [-7.79154954e-02 9.96959950e-01 -1.82338992e-04 2.36100031e+00] [-4.20583370e-03 -1.45805495e-04 9.99991145e-01 -1.19315081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05589822699999 meters 0.03936469056738694 Centerline is valid? [True, True] Translation: X:95.99, Y:2.36, Z:-1.20 [[ 9.96858160e-01 7.91650421e-02 2.58923853e-03 9.59939721e+01] [-7.91650166e-02 9.96861519e-01 -1.12510036e-04 2.35955001e+00] [-2.59001912e-03 -9.28205638e-05 9.99996642e-01 -1.19566455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.11589822699999 meters 0.04572563633858528 Centerline is valid? [True, True] Translation: X:96.05, Y:2.36, Z:-1.19 [[ 9.96732056e-01 8.06637353e-02 4.30935290e-03 9.60520022e+01] [-8.06636800e-02 9.96741359e-01 -1.86927747e-04 2.36446910e+00] [-4.31038855e-03 -1.61291386e-04 9.99990697e-01 -1.19429581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.17589822699999 meters 0.04758102200589256 Centerline is valid? [True, True] Translation: X:96.11, Y:2.36, Z:-1.19 [[ 9.96543113e-01 8.28563857e-02 6.05337408e-03 9.61111590e+01] [-8.28563227e-02 9.96561469e-01 -2.61611004e-04 2.36448185e+00] [-6.05423551e-03 -2.40853672e-04 9.99981644e-01 -1.19205926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.23589822699999 meters 0.04926659314516124 Centerline is valid? [True, True] Translation: X:96.17, Y:2.36, Z:-1.20 [[ 9.96245989e-01 8.64331985e-02 4.81988668e-03 9.61714682e+01] [-8.64332012e-02 9.96257627e-01 -2.08113912e-04 2.36491982e+00] [-4.81983682e-03 -2.09265585e-04 9.99988363e-01 -1.19517978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.295898227 meters 0.04860404197933993 Centerline is valid? [True, True] Translation: X:96.23, Y:2.36, Z:-1.20 [[ 9.96178790e-01 8.72338954e-02 4.25033483e-03 9.62296793e+01] [-8.72339042e-02 9.96187840e-01 -1.83680343e-04 2.36095194e+00] [-4.25015502e-03 -1.87794839e-04 9.99990950e-01 -1.19646721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35589822699998 meters 0.05080088452620188 Centerline is valid? [True, True] Translation: X:96.29, Y:2.35, Z:-1.20 [[ 9.96381020e-01 8.47915150e-02 5.93824352e-03 9.62887888e+01] [-8.47914926e-02 9.96398684e-01 -2.55974927e-04 2.34942048e+00] [-5.93856253e-03 -2.48463973e-04 9.99982336e-01 -1.19688304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41589822699999 meters 0.04198514418901125 Centerline is valid? [True, True] Translation: X:96.35, Y:2.34, Z:-1.20 [[ 9.96643503e-01 8.17269087e-02 4.73711787e-03 9.63484561e+01] [-8.17268605e-02 9.96654744e-01 -2.04081611e-04 2.33588413e+00] [-4.73794996e-03 -1.83753160e-04 9.99988759e-01 -1.19840886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47589822699999 meters 0.04021615696333711 Centerline is valid? [True, True] Translation: X:96.41, Y:2.32, Z:-1.20 [[ 9.97051497e-01 7.67228381e-02 1.38479051e-03 9.64069177e+01] [-7.67228290e-02 9.97052458e-01 -5.97417629e-05 2.32244220e+00] [-1.38529234e-03 -4.66794312e-05 9.99999039e-01 -1.20375258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.53589822699999 meters 0.042464586961557554 Centerline is valid? [True, True] Translation: X:96.46, Y:2.32, Z:-1.20 [[ 9.96983997e-01 7.76069796e-02 2.57975979e-04 9.64646967e+01] [-7.76069792e-02 9.96984030e-01 -1.15772289e-05 2.31675404e+00] [-2.58096405e-04 -8.47842447e-06 9.99999967e-01 -1.20405766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.59589822699999 meters 0.047408317093292185 Centerline is valid? [True, True] Translation: X:96.52, Y:2.32, Z:-1.20 [[ 9.96655677e-01 8.17107043e-02 9.06910055e-04 9.65247602e+01] [-8.17107025e-02 9.96656089e-01 -3.90687889e-05 2.31528489e+00] [-9.07069766e-04 -3.51661274e-05 9.99999588e-01 -1.20265522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.655898227 meters 0.04942935419370452 Centerline is valid? [True, True] Translation: X:96.58, Y:2.31, Z:-1.20 [[ 9.96012283e-01 8.90824842e-02 4.88292856e-03 9.65849104e+01] [-8.90825235e-02 9.96024227e-01 -2.09871518e-04 2.31009091e+00] [-4.88221102e-03 -2.25948988e-04 9.99988056e-01 -1.19761374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.715898227 meters 0.05265609665971097 Centerline is valid? [True, True] Translation: X:96.64, Y:2.31, Z:-1.20 [[ 9.95811765e-01 9.12044400e-02 6.37805296e-03 9.66430320e+01] [-9.12045506e-02 9.95832142e-01 -2.74113893e-04 2.30733040e+00] [-6.37647055e-03 -3.08741615e-04 9.99979622e-01 -1.19533870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77589822699998 meters 0.05677031967000424 Centerline is valid? [True, True] Translation: X:96.70, Y:2.31, Z:-1.20 [[ 9.95691790e-01 9.25287344e-02 6.02426350e-03 9.67011403e+01] [-9.25288592e-02 9.95709969e-01 -2.58602692e-04 2.30645086e+00] [-6.02234740e-03 -2.99929652e-04 9.99981821e-01 -1.19602574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83589822699999 meters 0.0604229171529604 Centerline is valid? [True, True] Translation: X:96.76, Y:2.31, Z:-1.20 [[ 9.95453280e-01 9.51461493e-02 4.46963740e-03 9.67612476e+01] [-9.51462455e-02 9.95463287e-01 -1.91607403e-04 2.30628970e+00] [-4.46759064e-03 -2.34532999e-04 9.99989993e-01 -1.19903365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89589822699999 meters 0.061451842143422204 Centerline is valid? [True, True] Translation: X:96.82, Y:2.30, Z:-1.20 [[ 9.95503675e-01 9.46642518e-02 3.33350892e-03 9.68196052e+01] [-9.46643021e-02 9.95509241e-01 -1.43062916e-04 2.30309160e+00] [-3.33208188e-03 -1.73144637e-04 9.99994434e-01 -1.20242475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.95589822699999 meters 0.06449500771104197 Centerline is valid? [True, True] Translation: X:96.88, Y:2.31, Z:-1.20 [[ 9.95577669e-01 9.38726826e-02 3.60886734e-03 9.68778210e+01] [-9.38727368e-02 9.95584193e-01 -1.54730927e-04 2.30628429e+00] [-3.60745628e-03 -1.84727598e-04 9.99993476e-01 -1.20189181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.015898227 meters 0.0582400962393307 Centerline is valid? [True, True] Translation: X:96.94, Y:2.30, Z:-1.20 [[ 9.95749986e-01 9.19382793e-02 5.41466855e-03 9.69371632e+01] [-9.19383764e-02 9.95764672e-01 -2.31502318e-04 2.30213489e+00] [-5.41301957e-03 -2.67297405e-04 9.99985314e-01 -1.19683835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.075898227 meters 0.05678997460168728 Centerline is valid? [True, True] Translation: X:97.00, Y:2.31, Z:-1.20 [[ 9.95962779e-01 8.96820254e-02 3.90847426e-03 9.69972664e+01] [-8.96820587e-02 9.95970432e-01 -1.67094480e-04 2.30606277e+00] [-3.90771017e-03 -1.84100135e-04 9.99992348e-01 -1.19936354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13589822699998 meters 0.053006761772861705 Centerline is valid? [True, True] Translation: X:97.06, Y:2.30, Z:-1.20 [[ 9.96115275e-01 8.80571604e-02 5.43428013e-04 9.70560678e+01] [-8.80571606e-02 9.96115423e-01 -2.35625976e-05 2.30292549e+00] [-5.43391880e-04 -2.43816644e-05 9.99999852e-01 -1.20489545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19589822699999 meters 0.04905149007276274 Centerline is valid? [True, True] Translation: X:97.12, Y:2.30, Z:-1.21 [[ 9.96494736e-01 8.36552863e-02 1.85135227e-04 9.71166697e+01] [-8.36552863e-02 9.96494753e-01 -7.91168586e-06 2.29826819e+00] [-1.85148137e-04 -7.60358712e-06 9.99999983e-01 -1.20603278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25589822699999 meters 0.04062193089737056 Centerline is valid? [True, True] Translation: X:97.18, Y:2.28, Z:-1.20 [[ 9.97158919e-01 7.52791213e-02 2.67286843e-03 9.71762318e+01] [-7.52790858e-02 9.97162497e-01 -1.14012465e-04 2.28212103e+00] [-2.67386692e-03 -8.75225450e-05 9.99996421e-01 -1.20415625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.31589822699999 meters 0.03995787864898807 Centerline is valid? [True, True] Translation: X:97.23, Y:2.28, Z:-1.21 [[ 9.97402533e-01 7.19963728e-02 2.16995127e-03 9.72349929e+01] [-7.19963413e-02 9.97404892e-01 -9.27348348e-05 2.28204258e+00] [-2.17099658e-03 -6.37345932e-05 9.99997641e-01 -1.20556770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.375898227 meters 0.03191623455900063 Centerline is valid? [True, True] Translation: X:97.29, Y:2.27, Z:-1.20 [[ 9.97634336e-01 6.87335825e-02 1.19402916e-03 9.72939489e+01] [-6.87335706e-02 9.97635050e-01 -5.10327168e-05 2.26928844e+00] [-1.19471300e-03 -3.11578971e-05 9.99999286e-01 -1.20444611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.435898227 meters 0.03072607743684114 Centerline is valid? [True, True] Translation: X:97.35, Y:2.26, Z:-1.20 [[ 9.97870165e-01 6.51939287e-02 2.21041575e-03 9.73528760e+01] [-6.51938798e-02 9.97872612e-01 -9.42514691e-05 2.26212094e+00] [-2.21185796e-03 -5.00548498e-05 9.99997553e-01 -1.20450473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49589822699998 meters 0.02616973742912563 Centerline is valid? [True, True] Translation: X:97.41, Y:2.25, Z:-1.20 [[ 9.97926730e-01 6.42850311e-02 3.11057959e-03 9.74112341e+01] [-6.42849299e-02 9.97931576e-01 -1.32612950e-04 2.24919521e+00] [-3.11267062e-03 -6.76253834e-05 9.99995153e-01 -1.20248555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55589822699999 meters 0.027630737353168906 Centerline is valid? [True, True] Translation: X:97.47, Y:2.25, Z:-1.20 [[ 9.97850170e-01 6.55015838e-02 2.14010661e-03 9.74698985e+01] [-6.55015386e-02 9.97852464e-01 -9.12589143e-05 2.24568529e+00] [-2.14148825e-03 -4.91175523e-05 9.99997706e-01 -1.20377070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.61589822699999 meters 0.03634120637914995 Centerline is valid? [True, True] Translation: X:97.53, Y:2.25, Z:-1.20 [[ 9.97304281e-01 7.33166650e-02 2.97296204e-03 9.75296252e+01] [-7.33166142e-02 9.97308708e-01 -1.26208968e-04 2.25101765e+00] [-2.97421415e-03 -9.20987672e-05 9.99995573e-01 -1.20211933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.67589822699999 meters 0.045604298995762405 Centerline is valid? [True, True] Translation: X:97.59, Y:2.26, Z:-1.20 [[ 9.96650155e-01 8.17024144e-02 3.63109374e-03 9.75906479e+01] [-8.17023942e-02 9.96656759e-01 -1.54148645e-04 2.25951606e+00] [-3.63154844e-03 -1.43036781e-04 9.99993396e-01 -1.20195499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.73589822699999 meters 0.054203208432291594 Centerline is valid? [True, True] Translation: X:97.65, Y:2.27, Z:-1.20 [[ 9.96008815e-01 8.91857239e-02 3.51371934e-03 9.76509718e+01] [-8.91857512e-02 9.96015000e-01 -1.49223936e-04 2.26594092e+00] [-3.51302581e-03 -1.64745343e-04 9.99993816e-01 -1.20301426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.795898227 meters 0.06011066471794154 Centerline is valid? [True, True] Translation: X:97.71, Y:2.26, Z:-1.21 [[ 9.95630268e-01 9.33368210e-02 2.93395292e-03 9.77107780e+01] [-9.33368583e-02 9.95634579e-01 -1.24534531e-04 2.26393432e+00] [-2.93276864e-03 -1.49855599e-04 9.99995688e-01 -1.20608037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85589822699998 meters 0.05874062952271979 Centerline is valid? [True, True] Translation: X:97.77, Y:2.25, Z:-1.21 [[ 9.95633212e-01 9.33119597e-02 2.71761949e-03 9.77695823e+01] [-9.33119909e-02 9.95636911e-01 -1.15612695e-04 2.25480507e+00] [-2.71655032e-03 -1.38478646e-04 9.99996301e-01 -1.20691205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91589822699999 meters 0.053926673894979384 Centerline is valid? [True, True] Translation: X:97.83, Y:2.25, Z:-1.21 [[ 9.95769428e-01 9.18690406e-02 1.82369121e-03 9.78284115e+01] [-9.18690521e-02 9.95771094e-01 -7.76290240e-05 2.24852145e+00] [-1.82311069e-03 -9.02401737e-05 9.99998334e-01 -1.20728549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97589822699999 meters 0.05850437135322057 Centerline is valid? [True, True] Translation: X:97.89, Y:2.25, Z:-1.21 [[ 9.96002780e-01 8.93165475e-02 1.00785234e-03 9.78877016e+01] [-8.93165498e-02 9.96003289e-01 -4.28545031e-05 2.25016778e+00] [-1.00765186e-03 -4.73346897e-05 9.99999491e-01 -1.21117505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03589822699999 meters 0.055606393760391705 Centerline is valid? [True, True] Translation: X:97.95, Y:2.24, Z:-1.22 [[ 9.96312182e-01 8.57877351e-02 -1.58133119e-03 9.79474761e+01] [-8.57877369e-02 9.96313434e-01 6.68184830e-05 2.23938895e+00] [ 1.58123371e-03 6.90867554e-05 9.99998747e-01 -1.21553708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.09589822699999 meters 0.05059917375255798 Centerline is valid? [True, True] Translation: X:98.01, Y:2.23, Z:-1.21 [[ 9.96344803e-01 8.54137830e-02 -1.23289303e-03 9.80057407e+01] [-8.54137842e-02 9.96345564e-01 5.17211058e-05 2.22983194e+00] [ 1.23280520e-03 5.37740043e-05 9.99999239e-01 -1.21223967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.155898227 meters 0.05858332620642697 Centerline is valid? [True, True] Translation: X:98.07, Y:2.24, Z:-1.21 [[ 9.96044319e-01 8.88539541e-02 8.30439291e-04 9.80653189e+01] [-8.88539556e-02 9.96044664e-01 -3.51787215e-05 2.23842319e+00] [-8.30280393e-04 -3.87482502e-05 9.99999655e-01 -1.20898311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.215898227 meters 0.05791802312403149 Centerline is valid? [True, True] Translation: X:98.13, Y:2.23, Z:-1.21 [[ 9.95690395e-01 9.27134391e-02 2.20331722e-03 9.81257238e+01] [-9.27134594e-02 9.95692827e-01 -9.31133407e-05 2.23493881e+00] [-2.20246001e-03 -1.11565102e-04 9.99997568e-01 -1.20617695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27589822699998 meters 0.07368457737012771 Centerline is valid? [True, True] Translation: X:98.19, Y:2.25, Z:-1.21 [[ 9.95251431e-01 9.73161922e-02 2.03649771e-03 9.81857954e+01] [-9.73162191e-02 9.95253508e-01 -8.61155606e-05 2.25048400e+00] [-2.03521193e-03 -1.12477622e-04 9.99997923e-01 -1.20833701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33589822699999 meters 0.05952486444205502 Centerline is valid? [True, True] Translation: X:98.25, Y:2.23, Z:-1.20 [[ 9.95033102e-01 9.94728397e-02 3.77881883e-03 9.82451927e+01] [-9.94729482e-02 9.95040254e-01 -1.59680054e-04 2.22830461e+00] [-3.77596068e-03 -2.17003310e-04 9.99992847e-01 -1.20337980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39589822699999 meters 0.06556630798403247 Centerline is valid? [True, True] Translation: X:98.30, Y:2.23, Z:-1.20 [[ 9.94785094e-01 1.01883303e-01 4.73382373e-03 9.83047869e+01] [-1.01883501e-01 9.94796317e-01 -1.99994399e-04 2.23281551e+00] [-4.72956651e-03 -2.83347089e-04 9.99988775e-01 -1.20456434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.45589822699999 meters 0.07113876705219314 Centerline is valid? [True, True] Translation: X:98.36, Y:2.24, Z:-1.21 [[ 9.94435023e-01 1.05280219e-01 3.88087096e-03 9.83640107e+01] [-1.05280377e-01 9.94442565e-01 -1.63897244e-04 2.23627729e+00] [-3.87655841e-03 -2.45594400e-04 9.99992456e-01 -1.20589589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.515898227 meters 0.06952011344645893 Centerline is valid? [True, True] Translation: X:98.42, Y:2.23, Z:-1.21 [[ 9.94070663e-01 1.08688500e-01 3.21362312e-03 9.84244705e+01] [-1.08688627e-01 9.94075834e-01 -1.35579324e-04 2.23335985e+00] [-3.20932099e-03 -2.14508857e-04 9.99994827e-01 -1.20650122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.575898227 meters 0.07517653626848886 Centerline is valid? [True, True] Translation: X:98.48, Y:2.24, Z:-1.21 [[ 9.93642653e-01 1.12569095e-01 1.57384154e-03 9.84846039e+01] [-1.12569131e-01 9.93643893e-01 -6.64551963e-05 2.24075081e+00] [-1.57131884e-03 -1.11133257e-04 9.99998759e-01 -1.21021965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63589822699998 meters 0.07148755020178503 Centerline is valid? [True, True] Translation: X:98.54, Y:2.24, Z:-1.21 [[ 9.93838851e-01 1.10830157e-01 1.00673533e-03 9.85447221e+01] [-1.10830171e-01 9.93839359e-01 -4.25394772e-05 2.23554610e+00] [-1.00524785e-03 -6.92992631e-05 9.99999492e-01 -1.21139403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69589822699999 meters 0.07262672010569357 Centerline is valid? [True, True] Translation: X:98.60, Y:2.23, Z:-1.21 [[ 9.94417485e-01 1.05517132e-01 2.39112817e-05 9.86043705e+01] [-1.05517132e-01 9.94417485e-01 -1.12727160e-06 2.23353335e+00] [-2.38967430e-05 -1.40207128e-06 1.00000000e+00 -1.21447265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75589822699999 meters 0.06781091860804121 Centerline is valid? [True, True] Translation: X:98.66, Y:2.22, Z:-1.22 [[ 9.95247269e-01 9.73566704e-02 -2.13376569e-03 9.86631405e+01] [-9.73567009e-02 9.95249549e-01 8.98020394e-05 2.22103539e+00] [ 2.13237216e-03 1.18361153e-04 9.99997719e-01 -1.22027402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.81589822699999 meters 0.05858092333596471 Centerline is valid? [True, True] Translation: X:98.72, Y:2.21, Z:-1.22 [[ 9.95279876e-01 9.70264240e-02 -1.96019495e-03 9.87217925e+01] [-9.70264500e-02 9.95281800e-01 8.20888405e-05 2.20558580e+00] [ 1.95891115e-03 1.08489387e-04 9.99998075e-01 -1.21653672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.875898227 meters 0.06804352075343797 Centerline is valid? [True, True] Translation: X:98.78, Y:2.22, Z:-1.22 [[ 9.94844276e-01 1.01386695e-01 -2.36756668e-03 9.87818539e+01] [-1.01386744e-01 9.94847083e-01 9.95673542e-05 2.21567366e+00] [ 2.36546161e-03 1.40985864e-04 9.99997192e-01 -1.21799503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.935898227 meters 0.0752910116195453 Centerline is valid? [True, True] Translation: X:98.84, Y:2.23, Z:-1.22 [[ 9.93729612e-01 1.11755694e-01 -3.48180118e-03 9.88423127e+01] [-1.11755864e-01 9.93735682e-01 1.46416454e-04 2.22737251e+00] [ 3.47635294e-03 2.43613332e-04 9.99993928e-01 -1.22016015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99589822699998 meters 0.07511899371567413 Centerline is valid? [True, True] Translation: X:98.90, Y:2.23, Z:-1.22 [[ 9.93316129e-01 1.15418242e-01 -1.30287049e-03 9.89024590e+01] [-1.15418269e-01 9.93316979e-01 5.47000488e-05 2.22836950e+00] [ 1.30047677e-03 9.60406168e-05 9.99999150e-01 -1.21668329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05589822699999 meters 0.07418513399585541 Centerline is valid? [True, True] Translation: X:98.96, Y:2.23, Z:-1.21 [[ 9.93276041e-01 1.15770052e-01 -3.44417951e-05 9.89612281e+01] [-1.15770052e-01 9.93276042e-01 1.04420177e-06 2.22952981e+00] [ 3.43310972e-05 2.95014780e-06 9.99999999e-01 -1.21406149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11589822699999 meters 0.0834574764558279 Centerline is valid? [True, True] Translation: X:99.02, Y:2.24, Z:-1.21 [[ 9.93084053e-01 1.17399764e-01 1.16601010e-03 9.90209575e+01] [-1.17399787e-01 9.93084733e-01 -4.90208094e-05 2.24307776e+00] [-1.16370186e-03 -8.82075535e-05 9.99999319e-01 -1.21368210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.17589822699999 meters 0.0841354909592485 Centerline is valid? [True, True] Translation: X:99.08, Y:2.25, Z:-1.21 [[ 9.92788963e-01 1.19859419e-01 1.94794086e-03 9.90815419e+01] [-1.19859488e-01 9.92790862e-01 -8.18377018e-05 2.24599955e+00] [-1.94370691e-03 -1.52231627e-04 9.99998099e-01 -1.21342491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.23589822699999 meters 0.08000450086653195 Centerline is valid? [True, True] Translation: X:99.14, Y:2.24, Z:-1.21 [[ 9.92872578e-01 1.19166618e-01 1.83328120e-03 9.91402704e+01] [-1.19166678e-01 9.92874260e-01 -7.73104961e-05 2.24441358e+00] [-1.82943055e-03 -1.41706558e-04 9.99998317e-01 -1.21423361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.295898227 meters 0.08539170721925604 Centerline is valid? [True, True] Translation: X:99.20, Y:2.26, Z:-1.21 [[ 9.93153531e-01 1.16775831e-01 3.07721014e-03 9.92008376e+01] [-1.16775989e-01 9.93158271e-01 -1.29177340e-04 2.26020628e+00] [-3.07124149e-03 -2.31051324e-04 9.99995257e-01 -1.21262520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35589822699998 meters 0.07969908763079585 Centerline is valid? [True, True] Translation: X:99.26, Y:2.25, Z:-1.21 [[ 9.93480944e-01 1.13994230e-01 9.63978984e-04 9.92605558e+01] [-1.13994244e-01 9.93481409e-01 -4.04500663e-05 2.25347380e+00] [-9.62306273e-04 -6.97016857e-05 9.99999535e-01 -1.21495593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41589822699999 meters 0.07991675283578985 Centerline is valid? [True, True] Translation: X:99.32, Y:2.25, Z:-1.22 [[ 9.93922214e-01 1.10082228e-01 7.32243448e-04 9.93194660e+01] [-1.10082235e-01 9.93922482e-01 -3.09427643e-05 2.25164252e+00] [-7.31199474e-04 -4.98522945e-05 9.99999731e-01 -1.21627089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47589822699999 meters 0.06900233759080833 Centerline is valid? [True, True] Translation: X:99.38, Y:2.24, Z:-1.22 [[ 9.94299605e-01 1.06615049e-01 1.23584625e-03 9.93787582e+01] [-1.06615066e-01 9.94300370e-01 -5.19076333e-05 2.23618992e+00] [-1.23433651e-03 -8.01480900e-05 9.99999235e-01 -1.21537279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53589822699999 meters 0.06763984297019295 Centerline is valid? [True, True] Translation: X:99.44, Y:2.23, Z:-1.22 [[ 9.94531551e-01 1.04435982e-01 -3.46142506e-04 9.94385056e+01] [-1.04435984e-01 9.94531611e-01 1.42569538e-05 2.23139748e+00] [ 3.45738603e-04 2.19707428e-05 9.99999940e-01 -1.21980058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.59589822699999 meters 0.06459604458962477 Centerline is valid? [True, True] Translation: X:99.50, Y:2.22, Z:-1.22 [[ 9.94977993e-01 1.00092863e-01 -4.61154673e-04 9.94977800e+01] [-1.00092865e-01 9.94978099e-01 1.91323625e-05 2.22049900e+00] [ 4.60753813e-04 2.71220129e-05 9.99999893e-01 -1.22064954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.655898227 meters 0.062522461497295 Centerline is valid? [True, True] Translation: X:99.56, Y:2.21, Z:-1.22 [[ 9.95152312e-01 9.83454723e-02 -2.08705742e-04 9.95571600e+01] [-9.83454726e-02 9.95152334e-01 8.52898815e-06 2.21165747e+00] [ 2.08532793e-04 1.20376225e-05 9.99999978e-01 -1.21999946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.715898227 meters 0.05847922400511337 Centerline is valid? [True, True] Translation: X:99.62, Y:2.20, Z:-1.22 [[ 9.95176134e-01 9.81039012e-02 -2.95953091e-04 9.96161366e+01] [-9.81039020e-02 9.95176178e-01 1.19524517e-05 2.20285367e+00] [ 2.95698048e-04 1.71393584e-05 9.99999956e-01 -1.21931158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77589822699998 meters 0.0639057103472236 Centerline is valid? [True, True] Translation: X:99.68, Y:2.20, Z:-1.22 [[ 9.94756167e-01 1.02251177e-01 2.20585073e-03 9.96756523e+01] [-1.02251223e-01 9.94758603e-01 -9.21336992e-05 2.20475561e+00] [-2.20370977e-03 -1.33900370e-04 9.99997563e-01 -1.21668628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83589822699999 meters 0.07263844261193092 Centerline is valid? [True, True] Translation: X:99.74, Y:2.21, Z:-1.21 [[ 9.94070154e-01 1.08684753e-01 3.48625390e-03 9.97354682e+01] [-1.08684908e-01 9.94076239e-01 -1.45600242e-04 2.21408447e+00] [-3.48142670e-03 -2.34166329e-04 9.99993912e-01 -1.21456138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89589822699999 meters 0.08023819814814542 Centerline is valid? [True, True] Translation: X:99.80, Y:2.22, Z:-1.22 [[ 9.93358316e-01 1.15018157e-01 3.17492451e-03 9.97964413e+01] [-1.15018318e-01 9.93363362e-01 -1.32580128e-04 2.22473959e+00] [-3.16910281e-03 -2.33474903e-04 9.99994951e-01 -1.21621203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.95589822699999 meters 0.07762644086192722 Centerline is valid? [True, True] Translation: X:99.86, Y:2.22, Z:-1.22 [[ 9.93242876e-01 1.16022730e-01 2.70481149e-03 9.98555661e+01] [-1.16022850e-01 9.93246538e-01 -1.13161797e-04 2.22479484e+00] [-2.69967399e-03 -2.01422788e-04 9.99996336e-01 -1.21793308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.015898227 meters 0.07433000444827714 Centerline is valid? [True, True] Translation: X:99.92, Y:2.22, Z:-1.22 [[ 9.93762521e-01 1.11464056e-01 3.43750935e-03 9.99161938e+01] [-1.11464223e-01 9.93768437e-01 -1.43453565e-04 2.22193621e+00] [-3.43207821e-03 -2.40600534e-04 9.99994081e-01 -1.21706720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.075898227 meters 0.07443041887948164 Centerline is valid? [True, True] Translation: X:99.98, Y:2.22, Z:-1.22 [[ 9.94336202e-01 1.06229062e-01 3.30210203e-03 9.99759543e+01] [-1.06229188e-01 9.94341662e-01 -1.37850044e-04 2.22082529e+00] [-3.29806131e-03 -2.13710328e-04 9.99994539e-01 -1.21977313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13589822699998 meters 0.07010061432219453 Centerline is valid? [True, True] Translation: X:100.04, Y:2.22, Z:-1.22 [[ 9.94770897e-01 1.02086651e-01 3.02958977e-03 1.00036103e+02] [-1.02086737e-01 9.94775493e-01 -1.26485453e-04 2.21646288e+00] [-3.02667413e-03 -1.83456887e-04 9.99995403e-01 -1.22069782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19589822699999 meters 0.06558208193228299 Centerline is valid? [True, True] Translation: X:100.10, Y:2.21, Z:-1.22 [[ 9.94927119e-01 1.00581640e-01 1.83358801e-03 1.00096100e+02] [-1.00581669e-01 9.94928802e-01 -7.65091387e-05 2.20898599e+00] [-1.83198494e-03 -1.08304326e-04 9.99998316e-01 -1.22229988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.25589822699999 meters 0.07086275420868596 Centerline is valid? [True, True] Translation: X:100.15, Y:2.21, Z:-1.23 [[ 9.94909585e-01 1.00764181e-01 1.22394357e-03 1.00153670e+02] [-1.00764194e-01 9.94910335e-01 -5.16266364e-05 2.21082936e+00] [-1.22291622e-03 -7.19658511e-05 9.99999250e-01 -1.22532792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.31589822699999 meters 0.06979053203090849 Centerline is valid? [True, True] Translation: X:100.21, Y:2.20, Z:-1.23 [[ 9.94392200e-01 1.05753573e-01 5.78495247e-04 1.00213496e+02] [-1.05753577e-01 9.94392367e-01 -2.41397561e-05 2.20446209e+00] [-5.77804123e-04 -3.71735565e-05 9.99999832e-01 -1.22609259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.375898227 meters 0.07394306494748704 Centerline is valid? [True, True] Translation: X:100.27, Y:2.21, Z:-1.23 [[ 9.93769556e-01 1.11448677e-01 -1.12303145e-03 1.00273758e+02] [-1.11448695e-01 9.93770188e-01 4.66854987e-05 2.20617899e+00] [ 1.12123822e-03 7.87657622e-05 9.99999368e-01 -1.22840298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.435898227 meters 0.08472929181012875 Centerline is valid? [True, True] Translation: X:100.33, Y:2.22, Z:-1.23 [[ 9.93097746e-01 1.17289178e-01 -3.40697920e-04 1.00333230e+02] [-1.17289180e-01 9.93097804e-01 1.43258314e-05 2.21589119e+00] [ 3.40026621e-04 2.57332288e-05 9.99999942e-01 -1.22920402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49589822699998 meters 0.09282602652639713 Centerline is valid? [True, True] Translation: X:100.39, Y:2.22, Z:-1.23 [[ 9.92401057e-01 1.23037448e-01 1.38903289e-03 1.00393164e+02] [-1.23037486e-01 9.92402022e-01 -5.78251060e-05 2.21894955e+00] [-1.38559370e-03 -1.13517419e-04 9.99999034e-01 -1.22796551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55589822699999 meters 0.0880664049948596 Centerline is valid? [True, True] Translation: X:100.45, Y:2.21, Z:-1.23 [[ 9.92105463e-01 1.25400738e-01 1.18511868e-03 1.00453665e+02] [-1.25400768e-01 9.92106166e-01 -4.92958025e-05 2.20904306e+00] [-1.18194528e-03 -9.97081579e-05 9.99999297e-01 -1.22611211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.61589822699999 meters 0.09267526246638834 Centerline is valid? [True, True] Translation: X:100.51, Y:2.21, Z:-1.22 [[ 9.91900155e-01 1.26975126e-01 3.37647648e-03 1.00513040e+02] [-1.26975378e-01 9.91905859e-01 -1.40519845e-04 2.21081070e+00] [-3.36698932e-03 -2.89347720e-04 9.99994290e-01 -1.22215822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.67589822699999 meters 0.09551288910635274 Centerline is valid? [True, True] Translation: X:100.57, Y:2.21, Z:-1.22 [[ 9.91960257e-01 1.26424133e-01 5.63799585e-03 1.00570637e+02] [-1.26424828e-01 9.91976163e-01 -2.34466504e-04 2.21137033e+00] [-5.62239971e-03 -4.80201199e-04 9.99984079e-01 -1.22030965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.73589822699999 meters 0.08914029534984687 Centerline is valid? [True, True] Translation: X:100.63, Y:2.20, Z:-1.22 [[ 9.92209391e-01 1.24379205e-01 7.09486237e-03 1.00630474e+02] [-1.24380257e-01 9.92234582e-01 -2.94460864e-04 2.20069800e+00] [-7.07639261e-03 -5.90293971e-04 9.99974788e-01 -1.21952823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.795898227 meters 0.09070556960663494 Centerline is valid? [True, True] Translation: X:100.69, Y:2.20, Z:-1.22 [[ 9.92709761e-01 1.20404844e-01 5.47759340e-03 1.00690094e+02] [-1.20405411e-01 9.92724778e-01 -2.27356005e-04 2.19737392e+00] [-5.46511746e-03 -4.33833358e-04 9.99984972e-01 -1.22254832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85589822699998 meters 0.0861383047118396 Centerline is valid? [True, True] Translation: X:100.75, Y:2.19, Z:-1.22 [[ 9.92884159e-01 1.18958810e-01 5.46334050e-03 1.00749933e+02] [-1.18959353e-01 9.92899099e-01 -2.26670350e-04 2.18725150e+00] [-5.45151030e-03 -4.24858051e-04 9.99985050e-01 -1.22268815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91589822699999 meters 0.07999879220236147 Centerline is valid? [True, True] Translation: X:100.81, Y:2.18, Z:-1.22 [[ 9.93029765e-01 1.17766051e-01 4.80038406e-03 1.00808858e+02] [-1.17766454e-01 9.93041299e-01 -1.99616368e-04 2.17602467e+00] [-4.79048766e-03 -3.67099214e-04 9.99988458e-01 -1.22382667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97589822699999 meters 0.08331245549776066 Centerline is valid? [True, True] Translation: X:100.87, Y:2.18, Z:-1.23 [[ 9.93296057e-01 1.15578956e-01 2.10891926e-03 1.00867958e+02] [-1.15579030e-01 9.93298284e-01 -8.72586854e-05 2.17530130e+00] [-2.10487115e-03 -1.57073134e-04 9.99997772e-01 -1.22860944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03589822699999 meters 0.09227490125566118 Centerline is valid? [True, True] Translation: X:100.93, Y:2.18, Z:-1.23 [[ 9.93306027e-01 1.15512378e-01 -1.63179239e-04 1.00925742e+02] [-1.15512379e-01 9.93306041e-01 6.01647202e-06 2.18288617e+00] [ 1.62781900e-04 1.28730241e-05 9.99999987e-01 -1.23319842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.09589822699999 meters 0.077367677872375 Centerline is valid? [True, True] Translation: X:100.99, Y:2.16, Z:-1.23 [[ 9.93025763e-01 1.17890659e-01 -1.27508279e-03 1.00985214e+02] [-1.17890688e-01 9.93026577e-01 5.25274244e-05 2.16057993e+00] [ 1.27238359e-03 9.81593017e-05 9.99999186e-01 -1.23249270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.155898227 meters 0.0876177408721672 Centerline is valid? [True, True] Translation: X:101.04, Y:2.17, Z:-1.23 [[ 9.92335090e-01 1.23575815e-01 -2.95089455e-04 1.01044807e+02] [-1.23575817e-01 9.92335134e-01 1.22586614e-05 2.17353488e+00] [ 2.94342508e-04 2.43012207e-05 9.99999956e-01 -1.23121858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.215898227 meters 0.08916834788209302 Centerline is valid? [True, True] Translation: X:101.11, Y:2.18, Z:-1.23 [[ 9.92158072e-01 1.24985248e-01 1.02408428e-03 1.01105125e+02] [-1.24985271e-01 9.92158596e-01 -4.22998646e-05 2.17526903e+00] [-1.02134088e-03 -8.60272985e-05 9.99999475e-01 -1.23164695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27589822699998 meters 0.08781808295290312 Centerline is valid? [True, True] Translation: X:101.16, Y:2.17, Z:-1.23 [[ 9.92321911e-01 1.23651071e-01 2.76355102e-03 1.01164557e+02] [-1.23651230e-01 9.92325733e-01 -1.14015748e-04 2.17156763e+00] [-2.75644096e-03 -2.28576158e-04 9.99996175e-01 -1.22911160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33589822699999 meters 0.09025649573875194 Centerline is valid? [True, True] Translation: X:101.22, Y:2.17, Z:-1.23 [[ 9.92507764e-01 1.22110016e-01 4.18127681e-03 1.01223337e+02] [-1.22110366e-01 9.92516513e-01 -1.72355304e-04 2.17242365e+00] [-4.17103259e-03 -3.39513264e-04 9.99991244e-01 -1.22588959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39589822699999 meters 0.08466532080854236 Centerline is valid? [True, True] Translation: X:101.28, Y:2.16, Z:-1.22 [[ 9.92401342e-01 1.22890590e-01 6.12207455e-03 1.01282274e+02] [-1.22891358e-01 9.92420098e-01 -2.52012621e-04 2.16411134e+00] [-6.10663981e-03 -5.02252390e-04 9.99981228e-01 -1.22309653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.45589822699999 meters 0.0900617285002216 Centerline is valid? [True, True] Translation: X:101.34, Y:2.17, Z:-1.23 [[ 9.92306632e-01 1.23717020e-01 4.65273771e-03 1.01340971e+02] [-1.23717472e-01 9.92317465e-01 -1.91473893e-04 2.17078007e+00] [-4.64068147e-03 -3.85624136e-04 9.99989158e-01 -1.22607592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.515898227 meters 0.09188516120678865 Centerline is valid? [True, True] Translation: X:101.40, Y:2.17, Z:-1.23 [[ 9.92149556e-01 1.24988486e-01 4.13977370e-03 1.01401609e+02] [-1.24988857e-01 9.92158131e-01 -1.70017202e-04 2.16844221e+00] [-4.12856033e-03 -3.48743092e-04 9.99991417e-01 -1.22739487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.575898227 meters 0.0863370870678489 Centerline is valid? [True, True] Translation: X:101.46, Y:2.16, Z:-1.23 [[ 9.92298955e-01 1.23822578e-01 3.27919894e-03 1.01460785e+02] [-1.23822804e-01 9.92304336e-01 -1.34793110e-04 2.15638417e+00] [-3.27065376e-03 -2.72284546e-04 9.99994614e-01 -1.22782480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63589822699998 meters 0.09176505629247446 Centerline is valid? [True, True] Translation: X:101.52, Y:2.16, Z:-1.23 [[ 9.92328114e-01 1.23585835e-01 3.38468333e-03 1.01519086e+02] [-1.23586074e-01 9.92333847e-01 -1.39214669e-04 2.15994933e+00] [-3.37594079e-03 -2.80153094e-04 9.99994262e-01 -1.22861489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69589822699999 meters 0.08571446508346434 Centerline is valid? [True, True] Translation: X:101.58, Y:2.15, Z:-1.23 [[ 9.92142652e-01 1.24986446e-01 5.59873820e-03 1.01578929e+02] [-1.24987127e-01 9.92158337e-01 -2.29504080e-04 2.14787020e+00] [-5.58351968e-03 -4.72069418e-04 9.99984301e-01 -1.22653402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75589822699999 meters 0.10533745350320929 Centerline is valid? [True, False] Translation: X:101.58, Y:2.15, Z:-1.23 [[ 9.93302638e-01 1.15315011e-01 7.23302740e-03 1.01578676e+02] [-1.15377131e-01 9.93282285e-01 8.85544963e-03 2.14785455e+00] [-6.16327171e-03 -9.63066744e-03 9.99934630e-01 -1.22853803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.81589822699999 meters 0.10506485381093428 Centerline is valid? [False, False] Translation: X:101.58, Y:2.15, Z:-1.23 [[ 9.94774249e-01 1.01694055e-01 9.08366058e-03 1.01581345e+02] [-1.01810846e-01 9.94712409e-01 1.34823773e-02 2.14923452e+00] [-7.66455227e-03 -1.43367370e-02 9.99867848e-01 -1.23330944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.875898227 meters 0.10322832676150182 Centerline is valid? [False, False] Translation: X:101.62, Y:2.15, Z:-1.24 [[ 9.96048973e-01 8.76562568e-02 1.42416081e-02 1.01623793e+02] [-8.78917695e-02 9.95987508e-01 1.68499207e-02 2.14984420e+00] [-1.27074628e-02 -1.80350663e-02 9.99756599e-01 -1.23840986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.935898227 meters 0.1022221280795429 Centerline is valid? [False, False] Translation: X:101.62, Y:2.15, Z:-1.23 [[ 9.97309989e-01 7.25670460e-02 1.03348942e-02 1.01619632e+02] [-7.27571436e-02 9.97161203e-01 1.93889936e-02 2.15281744e+00] [-8.89855356e-03 -2.00887744e-02 9.99758599e-01 -1.23392454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99589822699998 meters 0.09119162049544617 Centerline is valid? [False, True] Translation: X:101.62, Y:2.16, Z:-1.24 [[ 9.98305978e-01 5.72812656e-02 1.01995363e-02 1.01620440e+02] [-5.75014270e-02 9.98085310e-01 2.27881537e-02 2.15525447e+00] [-8.87467305e-03 -2.33360380e-02 9.99688286e-01 -1.23589205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05589822699999 meters 0.08959688000348143 Centerline is valid? [True, True] Translation: X:101.68, Y:2.17, Z:-1.24 [[ 9.98432488e-01 5.54437808e-02 7.65205452e-03 1.01680266e+02] [-5.54472748e-02 9.98461586e-01 2.45061043e-04 2.16811815e+00] [-7.62669539e-03 -6.68962476e-04 9.99970693e-01 -1.23803348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11589822699999 meters 0.08940574959796499 Centerline is valid? [True, True] Translation: X:101.74, Y:2.17, Z:-1.24 [[ 9.98525426e-01 5.34066308e-02 9.73167543e-03 1.01740555e+02] [-5.34121871e-02 9.98572502e-01 3.11764652e-04 2.16876851e+00] [-9.70113318e-03 -8.31095001e-04 9.99952598e-01 -1.23637717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.17589822699999 meters 0.08501881905402497 Centerline is valid? [True, True] Translation: X:101.80, Y:2.17, Z:-1.23 [[ 9.98646597e-01 5.02909108e-02 1.32589090e-02 1.01800318e+02] [-5.03009521e-02 9.98734016e-01 4.24724485e-04 2.16666351e+00] [-1.32207636e-02 -1.09108541e-03 9.99912007e-01 -1.23097933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.23589822699999 meters 0.08166842777550995 Centerline is valid? [True, True] Translation: X:101.86, Y:2.16, Z:-1.23 [[ 9.99059579e-01 4.10546777e-02 1.39452947e-02 1.01859716e+02] [-4.10648959e-02 9.99156381e-01 4.47063621e-04 2.15752681e+00] [-1.39151761e-02 -1.01930527e-03 9.99902660e-01 -1.23288621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.295898227 meters 0.06898724778822625 Centerline is valid? [True, True] Translation: X:101.92, Y:2.14, Z:-1.23 [[ 9.99339246e-01 3.33047909e-02 1.45555106e-02 1.01920543e+02] [-3.33151068e-02 9.99444789e-01 4.66765519e-04 2.13874382e+00] [-1.45318837e-02 -9.51375491e-04 9.99893954e-01 -1.23228819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35589822699998 meters 0.06689987450884285 Centerline is valid? [True, True] Translation: X:101.98, Y:2.13, Z:-1.23 [[ 9.99589790e-01 2.47664472e-02 1.43831311e-02 1.01980395e+02] [-2.47756378e-02 9.99692930e-01 4.61130373e-04 2.13040236e+00] [-1.43672939e-02 -8.17292460e-04 9.99896451e-01 -1.23349505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41589822699999 meters 0.05423790041096986 Centerline is valid? [True, True] Translation: X:102.04, Y:2.10, Z:-1.24 [[ 9.99772594e-01 1.63090707e-02 1.37394949e-02 1.02041599e+02] [-1.63166627e-02 9.99866777e-01 4.40643346e-04 2.10101134e+00] [-1.37304780e-02 -6.64725845e-04 9.99905512e-01 -1.23511574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47589822699999 meters 0.048573731434963935 Centerline is valid? [True, True] Translation: X:102.10, Y:2.09, Z:-1.23 [[ 9.99749533e-01 1.56356176e-02 1.60124329e-02 1.02104481e+02] [-1.56458459e-02 9.99877464e-01 5.13689487e-04 2.08588360e+00] [-1.60024390e-02 -7.64088883e-04 9.99871661e-01 -1.23149032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53589822699999 meters 0.04813382428680647 Centerline is valid? [True, True] Translation: X:102.17, Y:2.08, Z:-1.23 [[ 9.99721969e-01 1.64184938e-02 1.69238793e-02 1.02167352e+02] [-1.64299791e-02 9.99864873e-01 5.39823299e-04 2.07816776e+00] [-1.69127293e-02 -8.17732195e-04 9.99856635e-01 -1.22925002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.59589822699999 meters 0.046872726594729186 Centerline is valid? [True, True] Translation: X:102.23, Y:2.06, Z:-1.24 [[ 9.99840440e-01 1.28952508e-02 1.23615342e-02 1.02227979e+02] [-1.29010815e-02 9.99916701e-01 3.92057152e-04 2.06398073e+00] [-1.23554488e-02 -5.51471756e-04 9.99923516e-01 -1.23741341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.655898227 meters 0.047275016583921976 Centerline is valid? [True, True] Translation: X:102.29, Y:2.06, Z:-1.24 [[ 9.99870840e-01 9.02174234e-03 1.33007876e-02 1.02287727e+02] [-9.02815050e-03 9.99959156e-01 4.21822044e-04 2.05991750e+00] [-1.32964388e-02 -5.41849073e-04 9.99911452e-01 -1.23893522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.715898227 meters 0.03860906230353079 Centerline is valid? [True, True] Translation: X:102.35, Y:2.04, Z:-1.23 [[ 9.99864275e-01 3.86205576e-03 1.60161131e-02 1.02348781e+02] [-3.87068885e-03 9.99992380e-01 5.08061819e-04 2.04312220e+00] [-1.60140289e-02 -5.69986253e-04 9.99871605e-01 -1.23472858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77589822699998 meters 0.03224745216429907 Centerline is valid? [True, True] Translation: X:102.41, Y:2.02, Z:-1.23 [[ 9.99844366e-01 -3.55232160e-03 1.72807406e-02 1.02409075e+02] [ 3.54337842e-03 9.99993572e-01 5.48113797e-04 2.02179289e+00] [-1.72825766e-02 -4.86796289e-04 9.99850527e-01 -1.23052973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83589822699999 meters 0.030022617035205142 Centerline is valid? [True, True] Translation: X:102.47, Y:2.01, Z:-1.23 [[ 9.99831410e-01 -6.15718982e-03 1.72985614e-02 1.02471169e+02] [ 6.14861374e-03 9.99980946e-01 5.48910087e-04 2.01167170e+00] [-1.73016116e-02 -4.42455374e-04 9.99850218e-01 -1.22998316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.89589822699999 meters 0.027659188090116485 Centerline is valid? [True, True] Translation: X:102.53, Y:2.00, Z:-1.24 [[ 9.99839727e-01 -8.95727460e-03 1.55012052e-02 1.02533289e+02] [ 8.95073174e-03 9.99959821e-01 4.91414940e-04 1.99997872e+00] [-1.55049841e-02 -3.52589050e-04 9.99879728e-01 -1.23529378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.95589822699999 meters 0.022631311022829607 Centerline is valid? [True, True] Translation: X:102.60, Y:1.98, Z:-1.24 [[ 9.99812961e-01 -1.38893340e-02 1.34584268e-02 1.02595440e+02] [ 1.38848564e-02 9.99903510e-01 4.26085605e-04 1.97821504e+00] [-1.34630462e-02 -2.39137587e-04 9.99909340e-01 -1.24331717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.015898227 meters 0.02033749973431565 Centerline is valid? [True, True] Translation: X:102.66, Y:1.96, Z:-1.24 [[ 9.99763877e-01 -1.62236552e-02 1.44562587e-02 1.02658433e+02] [ 1.62187404e-02 9.99868363e-01 4.57155491e-04 1.96455042e+00] [-1.44617725e-02 -2.22585238e-04 9.99895398e-01 -1.24015096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.075898227 meters 0.01927305581041448 Centerline is valid? [True, True] Translation: X:102.72, Y:1.95, Z:-1.24 [[ 9.99756474e-01 -1.75313511e-02 1.34031267e-02 1.02720529e+02] [ 1.75272515e-02 9.99846296e-01 4.23282303e-04 1.95406419e+00] [-1.34084873e-02 -1.88259252e-04 9.99910084e-01 -1.24015821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13589822699998 meters 0.02014022159976726 Centerline is valid? [True, True] Translation: X:102.78, Y:1.95, Z:-1.25 [[ 9.99784361e-01 -1.71543550e-02 1.17030113e-02 1.02782308e+02] [ 1.71512097e-02 9.99852839e-01 3.69078068e-04 1.94505752e+00] [-1.17076204e-02 -1.68277679e-04 9.99931449e-01 -1.24658927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19589822699999 meters 0.01741262502630988 Centerline is valid? [True, True] Translation: X:102.84, Y:1.94, Z:-1.25 [[ 9.99705238e-01 -1.97683224e-02 1.40943577e-02 1.02843914e+02] [ 1.97640292e-02 9.99804574e-01 4.43839478e-04 1.93558768e+00] [-1.41003772e-02 -1.65147354e-04 9.99900571e-01 -1.24556238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.25589822699999 meters 0.01330693478852798 Centerline is valid? [True, True] Translation: X:102.91, Y:1.93, Z:-1.24 [[ 9.99594381e-01 -2.38819499e-02 1.55153519e-02 1.02906638e+02] [ 2.38772481e-02 9.99714779e-01 4.88241434e-04 1.92629405e+00] [-1.55225867e-02 -1.17579489e-04 9.99879510e-01 -1.24293904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.31589822699999 meters 0.010973315817793858 Centerline is valid? [True, True] Translation: X:102.97, Y:1.92, Z:-1.25 [[ 9.99478214e-01 -2.91375591e-02 1.39392188e-02 1.02968362e+02] [ 2.91342839e-02 9.99575411e-01 4.38011757e-04 1.91749935e+00] [-1.39460630e-02 -3.16740498e-05 9.99902748e-01 -1.24624816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.375898227 meters 0.013092922862903388 Centerline is valid? [True, True] Translation: X:103.03, Y:1.91, Z:-1.26 [[ 9.99263296e-01 -3.66340809e-02 1.14371871e-02 1.03030429e+02] [ 3.66577718e-02 9.99326131e-01 -1.86859435e-03 1.90578129e+00] [-1.13610257e-02 2.28647955e-03 9.99932847e-01 -1.25552012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.435898227 meters 0.017456667961112834 Centerline is valid? [True, True] Translation: X:103.09, Y:1.90, Z:-1.25 [[ 9.99017095e-01 -4.24752733e-02 1.26765760e-02 1.03088795e+02] [ 4.24452497e-02 9.99095337e-01 2.62826328e-03 1.89708450e+00] [-1.27767442e-02 -2.08761951e-03 9.99916195e-01 -1.25300477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49589822699998 meters 0.019995886373002196 Centerline is valid? [True, True] Translation: X:103.15, Y:1.90, Z:-1.25 [[ 9.98820847e-01 -4.56773285e-02 1.64467947e-02 1.03147264e+02] [ 4.56750200e-02 9.98956218e-01 5.16160739e-04 1.89591695e+00] [-1.64532046e-02 2.35655568e-04 9.99864609e-01 -1.24726880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55589822699999 meters 0.021359709036669627 Centerline is valid? [True, True] Translation: X:103.21, Y:1.90, Z:-1.25 [[ 9.98746963e-01 -4.72214207e-02 1.65722991e-02 1.03206442e+02] [ 4.72192749e-02 9.98884412e-01 5.20967667e-04 1.89577748e+00] [-1.65784121e-02 2.62217071e-04 9.99862534e-01 -1.24759683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.61589822699999 meters 0.02278431995293812 Centerline is valid? [True, True] Translation: X:103.27, Y:1.90, Z:-1.25 [[ 9.98577560e-01 -5.08591974e-02 1.60062335e-02 1.03265921e+02] [ 5.08576192e-02 9.98705786e-01 5.05892734e-04 1.89587759e+00] [-1.60112473e-02 3.08865794e-04 9.99871764e-01 -1.24812856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.67589822699999 meters 0.025142135910077322 Centerline is valid? [True, True] Translation: X:103.32, Y:1.90, Z:-1.25 [[ 9.98629540e-01 -4.99423778e-02 1.56460984e-02 1.03324008e+02] [ 4.99407536e-02 9.98752059e-01 4.94751982e-04 1.89831683e+00] [-1.56512821e-02 2.87304002e-04 9.99877470e-01 -1.24813310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.73589822699999 meters 0.018437907241392278 Centerline is valid? [True, True] Translation: X:103.38, Y:1.91, Z:-1.25 [[ 9.98847977e-01 -4.53315854e-02 1.57405960e-02 1.03382103e+02] [ 4.53293443e-02 9.98971972e-01 4.99310449e-04 1.91472186e+00] [-1.57470487e-02 2.14775662e-04 9.99875984e-01 -1.24707925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.795898227 meters 0.017911503214445953 Centerline is valid? [True, True] Translation: X:103.44, Y:1.93, Z:-1.26 [[ 9.99045367e-01 -4.15988576e-02 1.33375215e-02 1.03440004e+02] [ 4.15969086e-02 9.99134384e-01 4.23624198e-04 1.92506571e+00] [-1.33435986e-02 1.31579871e-04 9.99910962e-01 -1.25531317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85589822699998 meters 0.017483553618973944 Centerline is valid? [True, True] Translation: X:103.50, Y:1.93, Z:-1.26 [[ 9.98980942e-01 -4.36063330e-02 1.16432734e-02 1.03499141e+02] [ 4.36049782e-02 9.99048782e-01 3.70314422e-04 1.93158634e+00] [-1.16483462e-02 1.37767634e-04 9.99932146e-01 -1.25884735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91589822699999 meters 0.02189233583682382 Centerline is valid? [True, True] Translation: X:103.56, Y:1.93, Z:-1.25 [[ 9.98630415e-01 -4.97206286e-02 1.62835066e-02 1.03559234e+02] [ 4.97187821e-02 9.98763122e-01 5.18451808e-04 1.92957171e+00] [-1.62891436e-02 2.91854371e-04 9.99867281e-01 -1.25041267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97589822699999 meters 0.03760067677976871 Centerline is valid? [True, True] Translation: X:103.62, Y:1.93, Z:-1.26 [[ 9.98604752e-01 -5.08485222e-02 1.42469929e-02 1.03617301e+02] [ 5.08472197e-02 9.98706340e-01 4.53867645e-04 1.93299935e+00] [-1.42516406e-02 2.71185592e-04 9.99898403e-01 -1.25722032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03589822699999 meters 0.02104791124028104 Centerline is valid? [True, True] Translation: X:103.68, Y:1.94, Z:-1.26 [[ 9.98818586e-01 -4.75660740e-02 9.94487057e-03 1.03675864e+02] [ 4.75652848e-02 9.98868081e-01 3.15996310e-04 1.94498406e+00] [-9.94864449e-03 1.57407613e-04 9.99950499e-01 -1.26431868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.09589822699999 meters 0.016394203229920492 Centerline is valid? [True, True] Translation: X:103.73, Y:1.96, Z:-1.26 [[ 9.98943657e-01 -4.37607893e-02 1.40201105e-02 1.03734489e+02] [ 4.37587965e-02 9.99042024e-01 4.49021227e-04 1.96365438e+00] [-1.40263291e-02 1.64956255e-04 9.99901613e-01 -1.25943133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.155898227 meters 0.017468209687956822 Centerline is valid? [True, True] Translation: X:103.79, Y:1.97, Z:-1.26 [[ 9.98874146e-01 -4.49851496e-02 1.50591324e-02 1.03794611e+02] [ 4.49829444e-02 9.98987637e-01 4.85296725e-04 1.97256620e+00] [-1.50657182e-02 1.92653764e-04 9.99886487e-01 -1.25812934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.215898227 meters 0.020503814606529926 Centerline is valid? [True, True] Translation: X:103.85, Y:1.98, Z:-1.26 [[ 9.98784692e-01 -4.74318054e-02 1.33926249e-02 1.03853906e+02] [ 4.74302818e-02 9.98874458e-01 4.31541697e-04 1.97837610e+00] [-1.33980198e-02 2.04198734e-04 9.99910222e-01 -1.26256249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27589822699998 meters 0.0265517848802399 Centerline is valid? [True, True] Translation: X:103.91, Y:1.99, Z:-1.26 [[ 9.98415935e-01 -5.42507388e-02 1.49157240e-02 1.03913623e+02] [ 5.42496063e-02 9.98527290e-01 4.80822575e-04 1.98902098e+00] [-1.49198424e-02 3.29111231e-04 9.99888639e-01 -1.25779326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33589822699999 meters 0.028438547640871788 Centerline is valid? [True, True] Translation: X:103.97, Y:2.00, Z:-1.25 [[ 9.98163350e-01 -5.78704617e-02 1.79146928e-02 1.03973941e+02] [ 5.78694062e-02 9.98323995e-01 5.77747259e-04 1.99827437e+00] [-1.79181022e-02 4.60026493e-04 9.99839352e-01 -1.25268723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.39589822699999 meters 0.03409473286243222 Centerline is valid? [True, True] Translation: X:104.03, Y:2.01, Z:-1.26 [[ 9.97874056e-01 -6.33823632e-02 1.51672001e-02 1.04033958e+02] [ 6.33822426e-02 9.97989204e-01 4.89128000e-04 2.00618495e+00] [-1.51677041e-02 4.73243016e-04 9.99884852e-01 -1.25745765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.45589822699999 meters 0.03568720943588502 Centerline is valid? [True, True] Translation: X:104.09, Y:2.02, Z:-1.26 [[ 9.97779519e-01 -6.52558212e-02 1.33307971e-02 1.04093779e+02] [ 6.52558945e-02 9.97868470e-01 4.29946889e-04 2.01723734e+00] [-1.33304386e-02 4.40920887e-04 9.99911049e-01 -1.26110346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.515898227 meters 0.035010362954199126 Centerline is valid? [True, True] Translation: X:104.15, Y:2.03, Z:-1.26 [[ 9.97820414e-01 -6.42164139e-02 1.51879247e-02 1.04152848e+02] [ 6.42163866e-02 9.97935878e-01 4.89982773e-04 2.03470783e+00] [-1.51880399e-02 4.86398832e-04 9.99884537e-01 -1.25890286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.575898227 meters 0.038240692959059686 Centerline is valid? [True, True] Translation: X:104.21, Y:2.04, Z:-1.26 [[ 9.97819252e-01 -6.44759122e-02 1.41279122e-02 1.04212085e+02] [ 6.44759096e-02 9.97919160e-01 4.56135867e-04 2.03909423e+00] [-1.41279241e-02 4.55768841e-04 9.99900092e-01 -1.26169380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63589822699998 meters 0.04020228970366191 Centerline is valid? [True, True] Translation: X:104.27, Y:2.04, Z:-1.27 [[ 9.97660954e-01 -6.70672754e-02 1.32136741e-02 1.04271206e+02] [ 6.70674996e-02 9.97748349e-01 4.26660683e-04 2.04305101e+00] [-1.32125365e-02 4.60545379e-04 9.99912605e-01 -1.26601395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69589822699999 meters 0.043308359994235296 Centerline is valid? [True, True] Translation: X:104.33, Y:2.05, Z:-1.27 [[ 9.97219644e-01 -7.35019913e-02 1.22653603e-02 1.04331339e+02] [ 7.35026631e-02 9.97294942e-01 3.96612996e-04 2.04515800e+00] [-1.22613336e-02 5.06026374e-04 9.99924699e-01 -1.27061161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.75589822699999 meters 0.049683188405302434 Centerline is valid? [True, True] Translation: X:104.39, Y:2.04, Z:-1.28 [[ 9.97122341e-01 -7.50412261e-02 1.07634686e-02 1.04389691e+02] [ 7.50418366e-02 9.97180326e-01 3.47709125e-04 2.04356653e+00] [-1.07592116e-02 4.61001915e-04 9.99942012e-01 -1.27630232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.81589822699999 meters 0.045155641124179274 Centerline is valid? [True, True] Translation: X:104.45, Y:2.05, Z:-1.28 [[ 9.97064933e-01 -7.60514402e-02 8.81463106e-03 1.04448698e+02] [ 7.60518856e-02 9.97103821e-01 2.85126486e-04 2.04773261e+00] [-8.81078659e-03 3.86079693e-04 9.99961110e-01 -1.27798041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.875898227 meters 0.05057514404115308 Centerline is valid? [True, True] Translation: X:104.51, Y:2.04, Z:-1.28 [[ 9.96944006e-01 -7.74386875e-02 1.02906695e-02 1.04506343e+02] [ 7.74393687e-02 9.96997008e-01 3.32853358e-04 2.04150689e+00] [-1.02855424e-02 4.65066786e-04 9.99946994e-01 -1.27698825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.935898227 meters 0.048168326677809216 Centerline is valid? [True, True] Translation: X:104.56, Y:2.05, Z:-1.27 [[ 9.96822714e-01 -7.87566891e-02 1.19105347e-02 1.04564776e+02] [ 7.87576813e-02 9.96893715e-01 3.86438520e-04 2.04643059e+00] [-1.19039718e-02 5.52835401e-04 9.99928992e-01 -1.27240454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99589822699998 meters 0.050124731594950254 Centerline is valid? [True, True] Translation: X:104.62, Y:2.05, Z:-1.28 [[ 9.96743568e-01 -8.00126772e-02 1.00115586e-02 1.04624017e+02] [ 8.00134194e-02 9.96793733e-01 3.27027486e-04 2.04655914e+00] [-1.00056252e-02 4.75096495e-04 9.99949830e-01 -1.27508219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05589822699999 meters 0.06047219970082862 Centerline is valid? [True, True] Translation: X:104.68, Y:2.04, Z:-1.28 [[ 9.96619616e-01 -8.17141444e-02 8.49345690e-03 1.04683124e+02] [ 8.17147383e-02 9.96655720e-01 2.77649014e-04 2.03603075e+00] [-8.48774026e-03 4.17330154e-04 9.99963891e-01 -1.28215587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.11589822699999 meters 0.05984879014688154 Centerline is valid? [True, True] Translation: X:104.74, Y:2.04, Z:-1.28 [[ 9.96224445e-01 -8.63251789e-02 9.20971622e-03 1.04743622e+02] [ 8.63260675e-02 9.96266891e-01 3.01737167e-04 2.03683822e+00] [-9.20138286e-03 4.94440643e-04 9.99957544e-01 -1.28324794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.17589822699999 meters 0.06349007610188102 Centerline is valid? [True, True] Translation: X:104.80, Y:2.03, Z:-1.29 [[ 9.95951960e-01 -8.95993232e-02 7.18706478e-03 1.04804487e+02] [ 8.95999494e-02 9.95977808e-01 2.35458326e-04 2.03187032e+00] [-7.17925393e-03 4.09455459e-04 9.99974145e-01 -1.28715465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.23589822699999 meters 0.062365360204260104 Centerline is valid? [True, True] Translation: X:104.86, Y:2.03, Z:-1.29 [[ 9.96122712e-01 -8.76632572e-02 7.39567408e-03 1.04864699e+02] [ 8.76638679e-02 9.96150083e-01 2.42181141e-04 2.03417240e+00] [-7.38843173e-03 4.07091260e-04 9.99972622e-01 -1.28719519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.295898227 meters 0.05255204974763546 Centerline is valid? [True, True] Translation: X:104.92, Y:2.05, Z:-1.28 [[ 9.96450412e-01 -8.33256810e-02 1.19752709e-02 1.04924323e+02] [ 8.33269675e-02 9.96522184e-01 3.92350946e-04 2.05070433e+00] [-1.19663161e-02 6.06904751e-04 9.99928217e-01 -1.27948785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35589822699998 meters 0.05163077283472497 Centerline is valid? [True, True] Translation: X:104.98, Y:2.06, Z:-1.28 [[ 9.96740051e-01 -7.91538585e-02 1.56185094e-02 1.04984154e+02] [ 7.91555285e-02 9.96862147e-01 5.12197896e-04 2.05801237e+00] [-1.56100432e-02 7.25763207e-04 9.99877892e-01 -1.27510488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41589822699999 meters 0.04900384202673115 Centerline is valid? [True, True] Translation: X:105.04, Y:2.07, Z:-1.28 [[ 9.97027157e-01 -7.57550969e-02 1.40717393e-02 1.05044196e+02] [ 7.57561149e-02 9.97126270e-01 4.61449094e-04 2.07259987e+00] [-1.40662580e-02 6.05943020e-04 9.99900882e-01 -1.27698834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47589822699999 meters 0.04986247889343343 Centerline is valid? [True, True] Translation: X:105.10, Y:2.08, Z:-1.28 [[ 9.96993151e-01 -7.62118211e-02 1.40147962e-02 1.05102336e+02] [ 7.62128749e-02 9.97091463e-01 4.59651384e-04 2.07649408e+00] [-1.40090645e-02 6.09838624e-04 9.99901682e-01 -1.27796672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.53589822699999 meters 0.05728137659844471 Centerline is valid? [True, True] Translation: X:105.16, Y:2.08, Z:-1.28 [[ 9.96896052e-01 -7.76459409e-02 1.30141816e-02 1.05161907e+02] [ 7.76469607e-02 9.96980826e-01 4.27658660e-04 2.08194860e+00] [-1.30080955e-02 5.84180420e-04 9.99915220e-01 -1.28300551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.59589822699999 meters 0.055435180399575894 Centerline is valid? [True, True] Translation: X:105.22, Y:2.09, Z:-1.28 [[ 9.96752765e-01 -7.97533189e-02 1.11055250e-02 1.05221608e+02] [ 7.97541890e-02 9.96814494e-01 3.65203041e-04 2.08960930e+00] [-1.10992744e-02 5.21694996e-04 9.99938265e-01 -1.28472094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.655898227 meters 0.06383222290597158 Centerline is valid? [True, True] Translation: X:105.28, Y:2.09, Z:-1.29 [[ 9.96236684e-01 -8.62707539e-02 8.35626863e-03 1.05280808e+02] [ 8.62714737e-02 9.96271628e-01 2.74946846e-04 2.09239816e+00] [-8.34883322e-03 4.46995476e-04 9.99965048e-01 -1.29133085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.715898227 meters 0.05694754534849222 Centerline is valid? [True, True] Translation: X:105.34, Y:2.11, Z:-1.29 [[ 9.95874970e-01 -9.03696937e-02 8.14637957e-03 1.05340856e+02] [ 9.03705149e-02 9.95908178e-01 2.67992835e-04 2.10916560e+00] [-8.13726446e-03 4.69305160e-04 9.99966782e-01 -1.29068363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77589822699998 meters 0.06381982148264129 Centerline is valid? [True, True] Translation: X:105.40, Y:2.11, Z:-1.29 [[ 9.95728636e-01 -9.15552147e-02 1.19216631e-02 1.05398533e+02] [ 9.15570610e-02 9.95799754e-01 3.91959181e-04 2.11018546e+00] [-1.19074751e-02 7.01227452e-04 9.99928858e-01 -1.28803005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83589822699999 meters 0.05955799080133553 Centerline is valid? [True, True] Translation: X:105.46, Y:2.12, Z:-1.29 [[ 9.95862070e-01 -9.00797318e-02 1.20157799e-02 1.05457897e+02] [ 9.00814893e-02 9.95934319e-01 3.95977317e-04 2.12487639e+00] [-1.20025971e-02 6.88060555e-04 9.99927730e-01 -1.28727916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.89589822699999 meters 0.057799998657124596 Centerline is valid? [True, True] Translation: X:105.52, Y:2.14, Z:-1.29 [[ 9.95983835e-01 -8.90376235e-02 9.40750426e-03 1.05517300e+02] [ 8.90386532e-02 9.96028123e-01 3.10150738e-04 2.13908835e+00] [-9.39775390e-03 5.28726387e-04 9.99955700e-01 -1.29087110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.95589822699999 meters 0.0661507255952178 Centerline is valid? [True, True] Translation: X:105.58, Y:2.13, Z:-1.29 [[ 9.95676139e-01 -9.20887984e-02 1.21934503e-02 1.05576677e+02] [ 9.20907506e-02 9.95750537e-01 4.02473172e-04 2.13385985e+00] [-1.21786979e-02 7.22171055e-04 9.99925576e-01 -1.28834812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.015898227 meters 0.07269779574461978 Centerline is valid? [True, True] Translation: X:105.64, Y:2.13, Z:-1.29 [[ 9.94917789e-01 -1.00013221e-01 1.16597284e-02 1.05636915e+02] [ 1.00015546e-01 9.94985800e-01 3.85028544e-04 2.12908465e+00] [-1.16397722e-02 7.83082355e-04 9.99931949e-01 -1.29009852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.075898227 meters 0.08598738278385812 Centerline is valid? [True, True] Translation: X:105.70, Y:2.11, Z:-1.30 [[ 9.93323394e-01 -1.15180814e-01 6.48187905e-03 1.05698212e+02] [ 1.15181853e-01 9.93344399e-01 2.14049023e-04 2.10835197e+00] [-6.46339259e-03 5.33974935e-04 9.99978969e-01 -1.29908168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13589822699998 meters 0.08950269908153702 Centerline is valid? [True, True] Translation: X:105.76, Y:2.10, Z:-1.30 [[ 9.92511221e-01 -1.21800701e-01 9.27714275e-03 1.05758724e+02] [ 1.21803116e-01 9.92554234e-01 3.06389209e-04 2.10066823e+00] [-9.24538574e-03 8.25890164e-04 9.99956919e-01 -1.29502675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19589822699999 meters 0.09054039301649346 Centerline is valid? [True, True] Translation: X:105.82, Y:2.09, Z:-1.29 [[ 9.92160354e-01 -1.24481681e-01 1.10517951e-02 1.05819626e+02] [ 1.24485272e-01 9.92221388e-01 3.65079551e-04 2.09198407e+00] [-1.10112732e-02 1.01356827e-03 9.99938860e-01 -1.29397815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.25589822699999 meters 0.08985635430504305 Centerline is valid? [True, True] Translation: X:105.88, Y:2.09, Z:-1.29 [[ 9.92331656e-01 -1.23023945e-01 1.19580088e-02 1.05879999e+02] [ 1.23028045e-01 9.92403116e-01 3.94938179e-04 2.08628828e+00] [-1.19157521e-02 1.07926079e-03 9.99928422e-01 -1.29496145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.31589822699999 meters 0.08883153689214522 Centerline is valid? [True, True] Translation: X:105.94, Y:2.08, Z:-1.30 [[ 9.92489526e-01 -1.21788039e-01 1.14984613e-02 1.05940084e+02] [ 1.21791747e-01 9.92555604e-01 3.79783616e-04 2.08159786e+00] [-1.14591153e-02 1.02348643e-03 9.99933818e-01 -1.29606107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.375898227 meters 0.0963997137481742 Centerline is valid? [True, True] Translation: X:106.00, Y:2.06, Z:-1.30 [[ 9.92381828e-01 -1.22905141e-01 8.52256708e-03 1.05999998e+02] [ 1.22907218e-01 9.92418126e-01 2.81655310e-04 2.06058899e+00] [-8.49256694e-03 7.67975397e-04 9.99963643e-01 -1.30218425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.435898227 meters 0.09562727164042717 Centerline is valid? [True, True] Translation: X:106.06, Y:2.05, Z:-1.30 [[ 9.92302008e-01 -1.23439116e-01 9.97542625e-03 1.06059377e+02] [ 1.23441995e-01 9.92351735e-01 3.28934164e-04 2.05475793e+00] [-9.93973488e-03 9.04984487e-04 9.99950190e-01 -1.29934322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49589822699998 meters 0.10032844002134553 Centerline is valid? [True, False] Translation: X:106.08, Y:2.05, Z:-1.30 [[ 9.93673114e-01 -1.10840396e-01 1.81148740e-02 1.06079595e+02] [ 1.11047051e-01 9.93756164e-01 -1.08277212e-02 2.04599057e+00] [-1.68016188e-02 1.27708188e-02 9.99777281e-01 -1.30098839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55589822699999 meters 0.09603547124183258 Centerline is valid? [False, True] Translation: X:106.06, Y:2.03, Z:-1.31 [[ 9.95239636e-01 -9.41826804e-02 2.50537438e-02 1.06060097e+02] [ 9.46438790e-02 9.95350158e-01 -1.79052591e-02 2.02991441e+00] [-2.32508826e-02 2.01912071e-02 9.99525743e-01 -1.30522211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.61589822699999 meters 0.08784114807673109 Centerline is valid? [True, True] Translation: X:106.12, Y:2.03, Z:-1.31 [[ 9.95265245e-01 -9.41130151e-02 2.42864660e-02 1.06118977e+02] [ 9.41394816e-02 9.95559016e-01 5.37956027e-05 2.02644443e+00] [-2.41836731e-02 2.23277443e-03 9.99705039e-01 -1.30670225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.67589822699999 meters 0.09543977260954623 Centerline is valid? [True, True] Translation: X:106.18, Y:2.01, Z:-1.31 [[ 9.95444872e-01 -9.24065613e-02 2.34634762e-02 1.06178277e+02] [ 9.24307643e-02 9.95719112e-01 5.32267152e-05 2.00840925e+00] [-2.33679502e-02 2.11576278e-03 9.99724693e-01 -1.30968326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.73589822699999 meters 0.09415711280873414 Centerline is valid? [True, True] Translation: X:106.24, Y:2.01, Z:-1.31 [[ 9.95726438e-01 -8.96778202e-02 2.20623959e-02 1.06238649e+02] [ 8.96985467e-02 9.95968959e-01 5.03540655e-05 2.00528935e+00] [-2.19779771e-02 1.92882597e-03 9.99756594e-01 -1.31272065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.795898227 meters 0.08766857744987971 Centerline is valid? [True, True] Translation: X:106.30, Y:2.01, Z:-1.31 [[ 9.96096122e-01 -8.55408461e-02 2.18009045e-02 1.06299190e+02] [ 8.55600845e-02 9.96333011e-01 5.04752276e-05 2.00973024e+00] [-2.17252785e-02 1.81500905e-03 9.99762331e-01 -1.31425151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85589822699998 meters 0.08406229456549784 Centerline is valid? [True, True] Translation: X:106.36, Y:2.01, Z:-1.31 [[ 9.96902858e-01 -7.45858394e-02 2.49327974e-02 1.06359136e+02] [ 7.46075947e-02 9.97212968e-01 5.78292910e-05 2.01200515e+00] [-2.48676221e-02 1.80252586e-03 9.99689128e-01 -1.31168790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91589822699999 meters 0.06417695329304783 Centerline is valid? [True, True] Translation: X:106.42, Y:2.04, Z:-1.31 [[ 9.97595256e-01 -6.52759371e-02 2.32971468e-02 1.06419690e+02] [ 6.52923981e-02 9.97866173e-01 5.42120783e-05 2.04207493e+00] [-2.32509735e-02 1.46704487e-03 9.99728583e-01 -1.31422854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97589822699999 meters 0.05381921881710056 Centerline is valid? [True, True] Translation: X:106.48, Y:2.06, Z:-1.32 [[ 9.98280220e-01 -5.39938522e-02 2.28312544e-02 1.06480524e+02] [ 5.40067183e-02 9.98540571e-01 5.31438694e-05 2.06405206e+00] [-2.28008032e-02 1.17998865e-03 9.99739332e-01 -1.31872526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.03589822699999 meters 0.05844278712174801 Centerline is valid? [True, True] Translation: X:106.54, Y:2.06, Z:-1.32 [[ 9.98321127e-01 -5.31975788e-02 2.29116623e-02 1.06540500e+02] [ 5.32103265e-02 9.98583326e-01 5.33365961e-05 2.06262668e+00] [-2.28820413e-02 1.16588998e-03 9.99737492e-01 -1.32198781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.09589822699999 meters 0.0621619131674365 Centerline is valid? [True, True] Translation: X:106.60, Y:2.06, Z:-1.32 [[ 9.98109965e-01 -5.67845169e-02 2.34950503e-02 1.06601218e+02] [ 5.67989211e-02 9.98385637e-01 5.43476183e-05 2.06126920e+00] [-2.34602068e-02 1.28024861e-03 9.99723952e-01 -1.32191796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.155898227 meters 0.06856232870508816 Centerline is valid? [True, True] Translation: X:106.66, Y:2.06, Z:-1.32 [[ 9.97539533e-01 -6.57467369e-02 2.43361385e-02 1.06661618e+02] [ 6.57648486e-02 9.97835147e-01 5.62368599e-05 2.06169614e+00] [-2.42871517e-02 1.54436397e-03 9.99703831e-01 -1.32255663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21589822699998 meters 0.06830012710684519 Centerline is valid? [True, True] Translation: X:106.72, Y:2.07, Z:-1.33 [[ 9.97292579e-01 -6.99631293e-02 2.26422527e-02 1.06721722e+02] [ 6.99798904e-02 9.97548401e-01 5.22204194e-05 2.06753991e+00] [-2.25903965e-02 1.53242333e-03 9.99743630e-01 -1.32681205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27589822699998 meters 0.07952558638448362 Centerline is valid? [True, True] Translation: X:106.78, Y:2.06, Z:-1.33 [[ 9.97023671e-01 -7.38264220e-02 2.22139513e-02 1.06780845e+02] [ 7.38435043e-02 9.97269840e-01 5.14251778e-05 2.05728838e+00] [-2.21571002e-02 1.58908389e-03 9.99753238e-01 -1.32938361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33589822699999 meters 0.07927300729022987 Centerline is valid? [True, True] Translation: X:106.84, Y:2.06, Z:-1.33 [[ 9.96907346e-01 -7.52789061e-02 2.25572713e-02 1.06840376e+02] [ 7.52968948e-02 9.97161158e-01 5.20298521e-05 2.05953035e+00] [-2.24971516e-02 1.64662355e-03 9.99745551e-01 -1.33038845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.39589822699999 meters 0.0929133160609112 Centerline is valid? [True, True] Translation: X:106.90, Y:2.04, Z:-1.33 [[ 9.96381487e-01 -8.20338747e-02 2.22345441e-02 1.06899608e+02] [ 8.20530083e-02 9.96627965e-01 5.19530166e-05 2.04404960e+00] [-2.21638303e-02 1.77264621e-03 9.99752781e-01 -1.33475060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.45589822699999 meters 0.08837412139008531 Centerline is valid? [True, True] Translation: X:106.96, Y:2.05, Z:-1.34 [[ 9.96013108e-01 -8.65598550e-02 2.15703639e-02 1.06959838e+02] [ 8.65789166e-02 9.96244994e-01 5.03650403e-05 2.04827427e+00] [-2.14937267e-02 1.81737450e-03 9.99767331e-01 -1.33677670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.515898227 meters 0.08407333090249118 Centerline is valid? [True, True] Translation: X:107.02, Y:2.05, Z:-1.34 [[ 9.95833361e-01 -8.82805791e-02 2.28573017e-02 1.07019914e+02] [ 8.83024357e-02 9.96093709e-01 5.32931422e-05 2.05351692e+00] [-2.27727192e-02 1.96528433e-03 9.99738736e-01 -1.33611959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.575898227 meters 0.08124822200335749 Centerline is valid? [True, True] Translation: X:107.08, Y:2.06, Z:-1.34 [[ 9.95930822e-01 -8.69787801e-02 2.35900172e-02 1.07080361e+02] [ 8.70016917e-02 9.96208162e-01 5.52911499e-05 2.05855399e+00] [-2.35053768e-02 1.99730524e-03 9.99721715e-01 -1.33531445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63589822699998 meters 0.08137770646091716 Centerline is valid? [True, True] Translation: X:107.14, Y:2.06, Z:-1.34 [[ 9.96519648e-01 -8.01988499e-02 2.27318410e-02 1.07140219e+02] [ 8.02183638e-02 9.96777313e-01 5.36052783e-05 2.05907827e+00] [-2.26628824e-02 1.77009237e-03 9.99741597e-01 -1.33825016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69589822699999 meters 0.08123928762553285 Centerline is valid? [True, True] Translation: X:107.20, Y:2.07, Z:-1.34 [[ 9.96920682e-01 -7.38561698e-02 2.63518394e-02 1.07199422e+02] [ 7.38801918e-02 9.97267122e-01 6.21855011e-05 2.06530799e+00] [-2.62844158e-02 1.88488494e-03 9.99652728e-01 -1.33656502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.75589822699999 meters 0.07938007921530169 Centerline is valid? [True, True] Translation: X:107.26, Y:2.07, Z:-1.34 [[ 9.97213967e-01 -7.07655566e-02 2.35910835e-02 1.07259659e+02] [ 7.07839385e-02 9.97491670e-01 5.59975061e-05 2.07314392e+00] [-2.35358719e-02 1.61402831e-03 9.99721690e-01 -1.34198928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.81589822699999 meters 0.07567370327871474 Centerline is valid? [True, True] Translation: X:107.32, Y:2.08, Z:-1.35 [[ 9.97299654e-01 -7.03468629e-02 2.10883471e-02 1.07319999e+02] [ 7.03614560e-02 9.97521560e-01 5.01080601e-05 2.08336801e+00] [-2.10396059e-02 1.43383406e-03 9.99777615e-01 -1.34604862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.875898227 meters 0.06985991250735545 Centerline is valid? [True, True] Translation: X:107.38, Y:2.10, Z:-1.34 [[ 9.97028599e-01 -7.23376129e-02 2.64809965e-02 1.07381643e+02] [ 7.23613246e-02 9.97378481e-01 6.30059225e-05 2.09770929e+00] [-2.64161337e-02 1.85338127e-03 9.99649315e-01 -1.33807834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.935898227 meters 0.07071679811695332 Centerline is valid? [True, True] Translation: X:107.44, Y:2.10, Z:-1.34 [[ 9.97115217e-01 -7.11848256e-02 2.63431928e-02 1.07441625e+02] [ 7.12079081e-02 9.97461493e-01 6.20148935e-05 2.10204472e+00] [-2.62807350e-02 1.81400766e-03 9.99652956e-01 -1.34005463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99589822699998 meters 0.06692319569867193 Centerline is valid? [True, True] Translation: X:107.50, Y:2.11, Z:-1.34 [[ 9.97430026e-01 -6.76290445e-02 2.36570416e-02 1.07502483e+02] [ 6.76466678e-02 9.97709339e-01 5.54456798e-05 2.11250714e+00] [-2.36066010e-02 1.54501685e-03 9.99720131e-01 -1.34447670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05589822699999 meters 0.06744894400862914 Centerline is valid? [True, True] Translation: X:107.56, Y:2.12, Z:-1.35 [[ 9.97814671e-01 -6.09121098e-02 2.56046291e-02 1.07562503e+02] [ 6.09305610e-02 9.98142006e-01 5.96665405e-05 2.12478559e+00] [-2.55606903e-02 1.50056827e-03 9.99672146e-01 -1.34722202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.11589822699999 meters 0.06069672840165134 Centerline is valid? [True, True] Translation: X:107.62, Y:2.14, Z:-1.34 [[ 9.97912066e-01 -5.85022630e-02 2.73677502e-02 1.07623167e+02] [ 5.85224445e-02 9.98286091e-01 6.36487276e-05 2.13680410e+00] [-2.73245679e-02 1.53811181e-03 9.99625431e-01 -1.34462266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.17589822699999 meters 0.05890418857004123 Centerline is valid? [True, True] Translation: X:107.68, Y:2.15, Z:-1.35 [[ 9.98155267e-01 -5.53588062e-02 2.49292008e-02 1.07682389e+02] [ 5.53745811e-02 9.98465649e-01 5.76274353e-05 2.14955943e+00] [-2.48941408e-02 1.32292292e-03 9.99689218e-01 -1.35067368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.23589822699999 meters 0.059181691546664715 Centerline is valid? [True, True] Translation: X:107.74, Y:2.15, Z:-1.35 [[ 9.98268972e-01 -5.30726887e-02 2.53446120e-02 1.07742469e+02] [ 5.30882535e-02 9.98589823e-01 5.88099642e-05 2.15479902e+00] [-2.53119928e-02 1.28679302e-03 9.99678772e-01 -1.35178036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.295898227 meters 0.05601079664524576 Centerline is valid? [True, True] Translation: X:107.80, Y:2.17, Z:-1.35 [[ 9.98312414e-01 -5.17243438e-02 2.63991799e-02 1.07804245e+02] [ 5.17407581e-02 9.98660548e-01 6.13804425e-05 2.16520917e+00] [-2.63669943e-02 1.30463672e-03 9.99651479e-01 -1.35177127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35589822699998 meters 0.05360854531568127 Centerline is valid? [True, True] Translation: X:107.87, Y:2.17, Z:-1.36 [[ 9.98412457e-01 -5.07109049e-02 2.45147009e-02 1.07866694e+02] [ 5.07247690e-02 9.98712669e-01 5.63711475e-05 2.17127871e+00] [-2.44860010e-02 1.18722089e-03 9.99699468e-01 -1.35610147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41589822699999 meters 0.04532751952196798 Centerline is valid? [True, True] Translation: X:107.93, Y:2.18, Z:-1.36 [[ 9.98706426e-01 -4.52834320e-02 2.31275705e-02 1.07926716e+02] [ 4.52943560e-02 9.98973683e-01 5.15583179e-05 2.18445901e+00] [-2.31061690e-02 9.96056788e-04 9.99732521e-01 -1.36010326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47589822699999 meters 0.04167565831893225 Centerline is valid? [True, True] Translation: X:107.99, Y:2.19, Z:-1.36 [[ 9.98891348e-01 -4.01483933e-02 2.45801155e-02 1.07986803e+02] [ 4.01591804e-02 9.99193293e-01 5.48199405e-05 2.18812692e+00] [-2.45624875e-02 9.32358129e-04 9.99697862e-01 -1.35972198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.53589822699999 meters 0.040893391323410626 Centerline is valid? [True, True] Translation: X:108.05, Y:2.20, Z:-1.36 [[ 9.99117468e-01 -3.42439725e-02 2.43235664e-02 1.08047240e+02] [ 3.42527877e-02 9.99413200e-01 5.42538665e-05 2.19683263e+00] [-2.43111512e-02 7.78943968e-04 9.99704137e-01 -1.36264338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.59589822699999 meters 0.026113107963592876 Centerline is valid? [True, True] Translation: X:108.11, Y:2.21, Z:-1.36 [[ 9.99372966e-01 -2.54094520e-02 2.46583503e-02 1.08108236e+02] [ 2.54158229e-02 9.99676964e-01 5.50540886e-05 2.20557783e+00] [-2.46517837e-02 5.71692697e-04 9.99695935e-01 -1.36181530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.655898227 meters 0.020548516730603757 Centerline is valid? [True, True] Translation: X:108.17, Y:2.21, Z:-1.36 [[ 9.99436473e-01 -1.96993441e-02 2.71785243e-02 1.08168814e+02] [ 1.97049845e-02 9.99805836e-01 6.03075759e-05 2.21129906e+00] [-2.71744353e-02 4.75278809e-04 9.99630594e-01 -1.36043240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71589822699998 meters 0.016932020208667437 Centerline is valid? [True, True] Translation: X:108.23, Y:2.21, Z:-1.36 [[ 9.99540608e-01 -1.44223726e-02 2.66564835e-02 1.08229568e+02] [ 1.44259201e-02 9.99895939e-01 5.92313919e-05 2.21308388e+00] [-2.66545639e-02 3.25340120e-04 9.99644651e-01 -1.36416046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77589822699998 meters 0.013475395414285246 Centerline is valid? [True, True] Translation: X:108.29, Y:2.21, Z:-1.37 [[ 9.99644286e-01 -9.48735166e-03 2.49257089e-02 1.08291943e+02] [ 9.48893003e-03 9.99954978e-01 5.49566732e-05 2.21127295e+00] [-2.49251081e-02 1.81581184e-04 9.99689305e-01 -1.36847659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83589822699999 meters 0.012599316719640024 Centerline is valid? [True, True] Translation: X:108.35, Y:2.21, Z:-1.37 [[ 9.99667228e-01 -6.82965226e-03 2.48754874e-02 1.08353189e+02] [ 6.83043351e-03 9.99976671e-01 5.35624975e-05 2.21004308e+00] [-2.48752729e-02 1.16365689e-04 9.99690556e-01 -1.37058890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.89589822699999 meters 0.012077046077456563 Centerline is valid? [True, True] Translation: X:108.42, Y:2.22, Z:-1.37 [[ 9.99623434e-01 1.97265511e-03 2.73696858e-02 1.08415867e+02] [-1.97497835e-03 9.99998048e-01 5.78514034e-05 2.21553676e+00] [-2.73695182e-02 -1.11884155e-04 9.99625378e-01 -1.36842377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.95589822699999 meters 0.015620178566779748 Centerline is valid? [True, True] Translation: X:108.48, Y:2.22, Z:-1.37 [[ 9.99546839e-01 7.30368835e-03 2.92022790e-02 1.08477022e+02] [-7.30856292e-03 9.99973290e-01 6.01905704e-05 2.22012713e+00] [-2.92010594e-02 -2.73589988e-04 9.99573521e-01 -1.36893869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.015898227 meters 0.017228544901361116 Centerline is valid? [True, True] Translation: X:108.54, Y:2.22, Z:-1.37 [[ 9.99517406e-01 1.01503105e-02 2.93585740e-02 1.08539205e+02] [-1.01564361e-02 9.99948420e-01 5.95277948e-05 2.22006694e+00] [-2.93564555e-02 -3.57677547e-04 9.99568942e-01 -1.37126002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.075898227 meters 0.0199305652439568 Centerline is valid? [True, True] Translation: X:108.60, Y:2.22, Z:-1.38 [[ 9.99607550e-01 1.28863842e-02 2.48734410e-02 1.08601307e+02] [-1.28915415e-02 9.99916900e-01 4.69897016e-05 2.21871291e+00] [-2.48707685e-02 -3.67628256e-04 9.99690607e-01 -1.37967994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13589822699998 meters 0.023815643992057347 Centerline is valid? [True, True] Translation: X:108.66, Y:2.22, Z:-1.38 [[ 9.99582303e-01 1.57080697e-02 2.42585393e-02 1.08662197e+02] [-1.57137079e-02 9.99876531e-01 4.18051676e-05 2.22132075e+00] [-2.42548875e-02 -4.22979307e-04 9.99705717e-01 -1.38318860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19589822699999 meters 0.026832342977399865 Centerline is valid? [True, True] Translation: X:108.72, Y:2.22, Z:-1.38 [[ 9.99475361e-01 1.93347624e-02 2.59840255e-02 1.08724023e+02] [-1.93423429e-02 9.99812919e-01 4.04045153e-05 2.22427495e+00] [-2.59783831e-02 -5.42975247e-04 9.99662357e-01 -1.38346427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.25589822699999 meters 0.028667960630258643 Centerline is valid? [True, True] Translation: X:108.79, Y:2.23, Z:-1.38 [[ 9.99373912e-01 2.28366265e-02 2.70235518e-02 1.08786149e+02] [-2.28459799e-02 9.99738996e-01 3.73826553e-05 2.22631564e+00] [-2.70156448e-02 -6.54738770e-04 9.99634796e-01 -1.38407184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.31589822699999 meters 0.028801583289340727 Centerline is valid? [True, True] Translation: X:108.85, Y:2.22, Z:-1.39 [[ 9.99356303e-01 2.39352749e-02 2.67223240e-02 1.08848041e+02] [-2.39447898e-02 9.99713282e-01 3.60898590e-05 2.22444073e+00] [-2.67137984e-02 -6.75927059e-04 9.99642894e-01 -1.38617590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.375898227 meters 0.024275494339898222 Centerline is valid? [True, True] Translation: X:108.91, Y:2.21, Z:-1.39 [[ 9.99458223e-01 1.74757366e-02 2.78901136e-02 1.08908227e+02] [-1.74834365e-02 9.99847153e-01 3.22304166e-05 2.21231411e+00] [-2.78852874e-02 -5.19827984e-04 9.99610995e-01 -1.38701124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.435898227 meters 0.024586458179596975 Centerline is valid? [True, True] Translation: X:108.97, Y:2.20, Z:-1.39 [[ 9.99470543e-01 1.41934926e-02 2.92775962e-02 1.08970553e+02] [-1.42005744e-02 9.99899166e-01 3.39658717e-05 2.19906569e+00] [-2.92741620e-02 -4.49706573e-04 9.99571319e-01 -1.38806689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49589822699998 meters 0.020207569278571185 Centerline is valid? [True, True] Translation: X:109.03, Y:2.19, Z:-1.39 [[ 9.99478363e-01 1.35015005e-02 2.93378845e-02 1.09032041e+02] [-1.35081657e-02 9.99908760e-01 2.90001062e-05 2.19393375e+00] [-2.93348162e-02 -4.25285985e-04 9.99569551e-01 -1.38679318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55589822699999 meters 0.02123687120309472 Centerline is valid? [True, True] Translation: X:109.09, Y:2.19, Z:-1.39 [[ 9.99510851e-01 1.55374654e-02 2.71412125e-02 1.09093643e+02] [-1.55438140e-02 9.99879187e-01 2.29314869e-05 2.18526413e+00] [-2.71375772e-02 -4.44798228e-04 9.99631609e-01 -1.39182805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.61589822699999 meters 0.02339585925132038 Centerline is valid? [True, True] Translation: X:109.16, Y:2.18, Z:-1.39 [[ 9.99412815e-01 1.86773520e-02 2.87259629e-02 1.09155621e+02] [-1.86856227e-02 9.99825408e-01 1.94870340e-05 2.17937251e+00] [-2.87205836e-02 -5.56238097e-04 9.99587324e-01 -1.39034328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.67589822699999 meters 0.03353402398465933 Centerline is valid? [True, True] Translation: X:109.22, Y:2.18, Z:-1.39 [[ 9.99197610e-01 2.85696854e-02 2.80697278e-02 1.09215649e+02] [-2.85813414e-02 9.99591470e-01 1.40428564e-05 2.18373360e+00] [-2.80578593e-02 -8.16302063e-04 9.99605967e-01 -1.39266850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.73589822699999 meters 0.04413247216769788 Centerline is valid? [True, True] Translation: X:109.27, Y:2.20, Z:-1.40 [[ 9.98971266e-01 3.72861969e-02 2.58098578e-02 1.09274981e+02] [-3.72989338e-02 9.99304153e-01 1.20788630e-05 2.19501008e+00] [-2.57914477e-02 -9.74746613e-04 9.99666870e-01 -1.39934830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.795898227 meters 0.05487191422164323 Centerline is valid? [True, True] Translation: X:109.34, Y:2.21, Z:-1.41 [[ 9.98620247e-01 4.64451115e-02 2.45041461e-02 1.09335785e+02] [-4.64593515e-02 9.98920181e-01 1.18312290e-05 2.20575995e+00] [-2.44771366e-02 -1.15026164e-03 9.99699728e-01 -1.40558967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85589822699998 meters 0.06102716015758709 Centerline is valid? [True, True] Translation: X:109.40, Y:2.22, Z:-1.41 [[ 9.98244040e-01 5.39275524e-02 2.45082708e-02 1.09396399e+02] [-5.39440447e-02 9.98543960e-01 1.18068014e-05 2.21829846e+00] [-2.44719491e-02 -1.33386133e-03 9.99699627e-01 -1.40565796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91589822699999 meters 0.05711462611596853 Centerline is valid? [True, True] Translation: X:109.46, Y:2.22, Z:-1.41 [[ 9.98466675e-01 5.01003174e-02 2.35426759e-02 1.09457033e+02] [-5.01144724e-02 9.98743480e-01 1.12662759e-05 2.21516839e+00] [-2.35125296e-02 -1.19107778e-03 9.99722833e-01 -1.41005380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97589822699999 meters 0.04851474964462973 Centerline is valid? [True, True] Translation: X:109.52, Y:2.20, Z:-1.41 [[ 9.98697297e-01 4.49595996e-02 2.41317813e-02 1.09517715e+02] [-4.49729740e-02 9.98988204e-01 1.15179817e-05 2.20298658e+00] [-2.41068470e-02 -1.09678095e-03 9.99708786e-01 -1.41091613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.03589822699999 meters 0.04832530039919363 Centerline is valid? [True, True] Translation: X:109.58, Y:2.20, Z:-1.41 [[ 9.98811461e-01 4.14075156e-02 2.57115406e-02 1.09577223e+02] [-4.14215237e-02 9.99141760e-01 1.22372303e-05 2.20104791e+00] [-2.56889672e-02 -1.07723388e-03 9.99669404e-01 -1.40994988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.09589822699999 meters 0.04856427737677042 Centerline is valid? [True, True] Translation: X:109.64, Y:2.20, Z:-1.41 [[ 9.98674182e-01 4.42443706e-02 2.63118700e-02 1.09638737e+02] [-4.42600360e-02 9.99020044e-01 1.30053902e-05 2.20086241e+00] [-2.62855101e-02 -1.17755246e-03 9.99653783e-01 -1.40935761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.155898227 meters 0.0560046216438458 Centerline is valid? [True, True] Translation: X:109.70, Y:2.21, Z:-1.41 [[ 9.98355334e-01 5.01399439e-02 2.77959298e-02 1.09699140e+02] [-5.01596854e-02 9.98741211e-01 1.29953450e-05 2.21162900e+00] [-2.77602890e-02 -1.40720907e-03 9.99613618e-01 -1.40991306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21589822699998 meters 0.06523510272848385 Centerline is valid? [True, True] Translation: X:109.76, Y:2.22, Z:-1.41 [[ 9.97977013e-01 5.63012090e-02 2.95305828e-02 1.09759249e+02] [-5.63261733e-02 9.98412421e-01 1.35418046e-05 2.22277156e+00] [-2.94829382e-02 -1.67685913e-03 9.99563877e-01 -1.40833817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27589822699998 meters 0.058795191195566004 Centerline is valid? [True, True] Translation: X:109.82, Y:2.21, Z:-1.41 [[ 9.97959976e-01 5.69729394e-02 2.88091997e-02 1.09821788e+02] [-5.69969826e-02 9.98374351e-01 1.34016642e-05 2.21431484e+00] [-2.87616026e-02 -1.65541178e-03 9.99584929e-01 -1.41081857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33589822699999 meters 0.06677934039498426 Centerline is valid? [True, True] Translation: X:109.88, Y:2.23, Z:-1.41 [[ 9.97843135e-01 5.84425461e-02 2.98922591e-02 1.09883163e+02] [-5.84689319e-02 9.98289229e-01 8.63466120e-06 2.22587965e+00] [-2.98406156e-02 -1.75638450e-03 9.99553127e-01 -1.41036425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.39589822699999 meters 0.0742574905764967 Centerline is valid? [True, True] Translation: X:109.94, Y:2.24, Z:-1.41 [[ 9.97480973e-01 6.43573241e-02 2.98302507e-02 1.09943467e+02] [-6.43860943e-02 9.97925063e-01 3.93259270e-06 2.23664617e+00] [-2.97681017e-02 -1.92457602e-03 9.99554979e-01 -1.41322748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.45589822699999 meters 0.07744170065352197 Centerline is valid? [True, True] Translation: X:110.00, Y:2.25, Z:-1.42 [[ 9.97159931e-01 6.99660629e-02 2.78715178e-02 1.10003615e+02] [-6.99933550e-02 9.97547458e-01 3.61719977e-06 2.24688642e+00] [-2.78029087e-02 -1.95442797e-03 9.99611514e-01 -1.41584757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.515898227 meters 0.07520120531559737 Centerline is valid? [True, True] Translation: X:110.06, Y:2.25, Z:-1.42 [[ 9.96974647e-01 7.36775685e-02 2.47622506e-02 1.10063733e+02] [-7.37002418e-02 9.97280439e-01 3.01867388e-06 2.25015710e+00] [-2.46946858e-02 -1.82799340e-03 9.99693368e-01 -1.42266145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.575898227 meters 0.07656431171641437 Centerline is valid? [True, True] Translation: X:110.12, Y:2.26, Z:-1.43 [[ 9.97034420e-01 7.26147177e-02 2.54846829e-02 1.10122622e+02] [-7.26383897e-02 9.97358343e-01 3.14551744e-06 2.25501181e+00] [-2.54171327e-02 -1.85430252e-03 9.99675213e-01 -1.42569834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63589822699998 meters 0.07732475756079756 Centerline is valid? [True, True] Translation: X:110.18, Y:2.26, Z:-1.43 [[ 9.97186106e-01 7.05876808e-02 2.52438115e-02 1.10181520e+02] [-7.06102767e-02 9.97503979e-01 3.73606993e-06 2.26020977e+00] [-2.51805387e-02 -1.78619807e-03 9.99681324e-01 -1.42781514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69589822699999 meters 0.06371298265478867 Centerline is valid? [True, True] Translation: X:110.24, Y:2.24, Z:-1.43 [[ 9.97072077e-01 7.09890898e-02 2.84222332e-02 1.10239476e+02] [-7.11692101e-02 9.97449773e-01 5.37539047e-03 2.24186874e+00] [-2.79681560e-02 -7.38243962e-03 9.99581553e-01 -1.42824925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.75589822699999 meters 0.07559005440877904 Centerline is valid? [True, True] Translation: X:110.30, Y:2.26, Z:-1.43 [[ 9.97311612e-01 6.86063577e-02 2.57432585e-02 1.10302690e+02] [-6.84956177e-02 9.97638072e-01 -5.16016849e-03 2.26463453e+00] [-2.60364752e-02 3.38299557e-03 9.99655269e-01 -1.43061986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.81589822699999 meters 0.0782345745092384 Centerline is valid? [True, True] Translation: X:110.36, Y:2.27, Z:-1.44 [[ 9.97266599e-01 6.98402717e-02 2.41177762e-02 1.10362582e+02] [-6.98606090e-02 9.97556763e-01 6.85500549e-07 2.26544428e+00] [-2.40588029e-02 -1.68556616e-03 9.99709124e-01 -1.43583617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.875898227 meters 0.08032498019222363 Centerline is valid? [True, True] Translation: X:110.42, Y:2.27, Z:-1.43 [[ 9.97104973e-01 7.12623588e-02 2.65207339e-02 1.10422227e+02] [-7.12874567e-02 9.97455813e-01 8.91190304e-07 2.26921208e+00] [-2.64531967e-02 -1.89148428e-03 9.99648263e-01 -1.43302551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.935898227 meters 0.08386614465022732 Centerline is valid? [True, True] Translation: X:110.48, Y:2.27, Z:-1.44 [[ 9.97007739e-01 7.34353913e-02 2.41414789e-02 1.10482282e+02] [-7.34568341e-02 9.97298397e-01 1.41062502e-06 2.27217654e+00] [-2.40761546e-02 -1.77476302e-03 9.99708552e-01 -1.43933712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99589822699998 meters 0.07678256092924506 Centerline is valid? [True, True] Translation: X:110.54, Y:2.26, Z:-1.44 [[ 9.97045162e-01 7.25091202e-02 2.53647789e-02 1.10542217e+02] [-7.25324948e-02 9.97366050e-01 1.50834195e-06 2.26143328e+00] [-2.52978599e-02 -1.84127458e-03 9.99678262e-01 -1.43937456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05589822699999 meters 0.07267823215964789 Centerline is valid? [True, True] Translation: X:110.60, Y:2.25, Z:-1.44 [[ 9.97453190e-01 6.52307846e-02 2.88457759e-02 1.10601892e+02] [-6.52580126e-02 9.97868424e-01 2.51494711e-06 2.25193714e+00] [-2.87841249e-02 -1.88492655e-03 9.99583874e-01 -1.43590757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.11589822699999 meters 0.0657030692660336 Centerline is valid? [True, True] Translation: X:110.66, Y:2.24, Z:-1.44 [[ 9.97870825e-01 5.90731867e-02 2.76437333e-02 1.10661911e+02] [-5.90958430e-02 9.98252313e-01 2.61516476e-06 2.23848653e+00] [-2.75952662e-02 -1.63623932e-03 9.99617839e-01 -1.43903842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.17589822699999 meters 0.05864819317657259 Centerline is valid? [True, True] Translation: X:110.72, Y:2.23, Z:-1.44 [[ 9.98016314e-01 5.64647051e-02 2.78419468e-02 1.10722331e+02] [-5.64866759e-02 9.98403353e-01 2.62852175e-06 2.22643922e+00] [-2.77973446e-02 -1.57532233e-03 9.99612338e-01 -1.44113314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.23589822699999 meters 0.061022149920140566 Centerline is valid? [True, True] Translation: X:110.78, Y:2.22, Z:-1.44 [[ 9.98211250e-01 5.26440213e-02 2.83356260e-02 1.10781765e+02] [-5.26652433e-02 9.98612223e-01 2.65450219e-06 2.22310116e+00] [-2.82961628e-02 -1.49495239e-03 9.99598466e-01 -1.44217128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.295898227 meters 0.050565319958825336 Centerline is valid? [True, True] Translation: X:110.84, Y:2.20, Z:-1.45 [[ 9.98377846e-01 5.01624673e-02 2.69333031e-02 1.10842619e+02] [-5.01807493e-02 9.98740153e-01 2.90332127e-06 2.20044695e+00] [-2.68992256e-02 -1.35443194e-03 9.99637233e-01 -1.44648100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35589822699998 meters 0.057128500656041296 Centerline is valid? [True, True] Translation: X:110.90, Y:2.20, Z:-1.45 [[ 9.98323626e-01 5.19185011e-02 2.55813934e-02 1.10902485e+02] [-5.19355588e-02 9.98650438e-01 2.40445894e-06 2.20145366e+00] [-2.55467449e-02 -1.33098439e-03 9.99672743e-01 -1.45112152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41589822699999 meters 0.06242522616155057 Centerline is valid? [True, True] Translation: X:110.96, Y:2.20, Z:-1.45 [[ 9.98049580e-01 5.60185264e-02 2.75492312e-02 1.10961833e+02] [-5.60398670e-02 9.98428532e-01 2.56464090e-06 2.19866848e+00] [-2.75057947e-02 -1.54641489e-03 9.99620448e-01 -1.44943928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47589822699999 meters 0.06477885567451375 Centerline is valid? [True, True] Translation: X:111.02, Y:2.20, Z:-1.45 [[ 9.97966905e-01 5.71182804e-02 2.82764561e-02 1.11022867e+02] [-5.71412192e-02 9.98366106e-01 3.20295628e-06 2.19529137e+00] [-2.82300724e-02 -1.61894762e-03 9.99600141e-01 -1.45001267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.53589822699999 meters 0.06365745374790614 Centerline is valid? [True, True] Translation: X:111.08, Y:2.19, Z:-1.45 [[ 9.98058840e-01 5.57673975e-02 2.77227219e-02 1.11083897e+02] [-5.57888066e-02 9.98442592e-01 -1.20255122e-06 2.18584082e+00] [-2.76796134e-02 -1.54541735e-03 9.99615651e-01 -1.45301103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.59589822699999 meters 0.0566572062206355 Centerline is valid? [True, True] Translation: X:111.14, Y:2.16, Z:-1.46 [[ 9.98244611e-01 5.32950686e-02 2.58327662e-02 1.11144770e+02] [-5.33128161e-02 9.98577861e-01 -1.71186087e-06 2.16481015e+00] [-2.57961197e-02 -1.37550866e-03 9.99666278e-01 -1.45670600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.655898227 meters 0.05432949331887372 Centerline is valid? [True, True] Translation: X:111.21, Y:2.16, Z:-1.46 [[ 9.98208852e-01 5.36734529e-02 2.64243876e-02 1.11206747e+02] [-5.36921619e-02 9.98557536e-01 -1.49753420e-06 2.15591025e+00] [-2.63863518e-02 -1.41728765e-03 9.99650815e-01 -1.45752064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71589822699998 meters 0.073449122984438 Centerline is valid? [True, True] Translation: X:111.27, Y:2.18, Z:-1.46 [[ 9.97840706e-01 5.95660695e-02 2.76732534e-02 1.11265899e+02] [-5.95886985e-02 9.98223015e-01 -6.95754684e-06 2.17672889e+00] [-2.76244929e-02 -1.64207063e-03 9.99617022e-01 -1.45749948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77589822699998 meters 0.06484710703640165 Centerline is valid? [True, True] Translation: X:111.33, Y:2.17, Z:-1.46 [[ 9.97565735e-01 6.41131137e-02 2.74246855e-02 1.11327116e+02] [-6.41370602e-02 9.97941099e-01 -6.47397115e-06 2.16630347e+00] [-2.73686358e-02 -1.75248049e-03 9.99623873e-01 -1.45843999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83589822699999 meters 0.07080924134176816 Centerline is valid? [True, True] Translation: X:111.39, Y:2.17, Z:-1.46 [[ 9.97325663e-01 6.71205983e-02 2.89196840e-02 1.11387197e+02] [-6.71484671e-02 9.97742995e-01 -7.51512092e-06 2.17188350e+00] [-2.88549165e-02 -1.93441742e-03 9.99581738e-01 -1.46111362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.89589822699999 meters 0.08086417005074306 Centerline is valid? [True, True] Translation: X:111.45, Y:2.19, Z:-1.46 [[ 9.97223038e-01 6.84542915e-02 2.93295586e-02 1.11448247e+02] [-6.84835319e-02 9.97652247e-01 -7.56951920e-06 2.19061277e+00] [-2.92612182e-02 -2.00104326e-03 9.99569796e-01 -1.46118405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.95589822699999 meters 0.07379362892587683 Centerline is valid? [True, True] Translation: X:111.51, Y:2.19, Z:-1.47 [[ 9.97294385e-01 6.85097419e-02 2.66519365e-02 1.11511260e+02] [-6.85338090e-02 9.97648794e-01 -1.04504557e-05 2.18589135e+00] [-2.65899883e-02 -1.81613654e-03 9.99644774e-01 -1.46695672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.015898227 meters 0.0699710143677498 Centerline is valid? [True, True] Translation: X:111.57, Y:2.18, Z:-1.47 [[ 9.97241278e-01 6.96055669e-02 2.57856075e-02 1.11573519e+02] [-6.96283260e-02 9.97573003e-01 -1.52623239e-05 2.18406216e+00] [-2.57240882e-02 -1.78018846e-03 9.99667496e-01 -1.46840432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.075898227 meters 0.07904599524882838 Centerline is valid? [True, True] Translation: X:111.63, Y:2.20, Z:-1.47 [[ 9.97087565e-01 7.23042585e-02 2.42586428e-02 1.11633330e+02] [-7.23251610e-02 9.97381106e-01 -1.57718014e-05 2.19954317e+00] [-2.41962524e-02 -1.73878438e-03 9.99705716e-01 -1.47254568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13589822699998 meters 0.07552978992832136 Centerline is valid? [True, True] Translation: X:111.69, Y:2.20, Z:-1.48 [[ 9.96994737e-01 7.38145817e-02 2.35138724e-02 1.11694358e+02] [-7.38346497e-02 9.97270497e-01 -1.47788461e-05 2.20179171e+00] [-2.34507821e-02 -1.72140410e-03 9.99723511e-01 -1.47540674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19589822699999 meters 0.08037579539865439 Centerline is valid? [True, True] Translation: X:111.75, Y:2.21, Z:-1.48 [[ 9.97204853e-01 7.06251890e-02 2.43836750e-02 1.11753550e+02] [-7.06457940e-02 9.97501464e-01 -1.64362779e-05 2.20826713e+00] [-2.43239123e-02 -1.70621374e-03 9.99702674e-01 -1.47750217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.25589822699999 meters 0.06938732291875174 Centerline is valid? [True, True] Translation: X:111.81, Y:2.19, Z:-1.47 [[ 9.97552438e-01 6.40903281e-02 2.79564455e-02 1.11814322e+02] [-6.41148745e-02 9.97942525e-01 -1.84028104e-05 2.19059868e+00] [-2.79001052e-02 -1.77406622e-03 9.99609142e-01 -1.47322645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.31589822699999 meters 0.06504933578860114 Centerline is valid? [True, True] Translation: X:111.88, Y:2.18, Z:-1.47 [[ 9.97540154e-01 6.36593634e-02 2.93449447e-02 1.11876306e+02] [-6.36862211e-02 9.97969972e-01 -1.94352262e-05 2.18420947e+00] [-2.92866109e-02 -1.84948122e-03 9.99569344e-01 -1.47262902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.375898227 meters 0.06955567058419891 Centerline is valid? [True, True] Translation: X:111.94, Y:2.19, Z:-1.47 [[ 9.97351237e-01 6.64401211e-02 2.96010162e-02 1.11935841e+02] [-6.64685198e-02 9.97788522e-01 -2.46542996e-05 2.19007040e+00] [-2.95371922e-02 -1.94294673e-03 9.99561794e-01 -1.47445749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.435898227 meters 0.07683546997354587 Centerline is valid? [True, True] Translation: X:112.00, Y:2.20, Z:-1.48 [[ 9.96802666e-01 7.55194287e-02 2.61009835e-02 1.11995643e+02] [-7.55446061e-02 9.97142423e-01 -2.15080004e-05 2.20063796e+00] [-2.60280222e-02 -1.95034928e-03 9.99659311e-01 -1.48019457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49589822699998 meters 0.08850605521451062 Centerline is valid? [True, True] Translation: X:112.06, Y:2.22, Z:-1.48 [[ 9.96453151e-01 7.99948125e-02 2.61141372e-02 1.12055666e+02] [-8.00215479e-02 9.96793134e-01 -2.12998094e-05 2.21640137e+00] [-2.60320965e-02 -2.06846942e-03 9.99658968e-01 -1.48221567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55589822699999 meters 0.09249176885085071 Centerline is valid? [True, True] Translation: X:112.11, Y:2.22, Z:-1.48 [[ 9.96384687e-01 8.04789736e-02 2.72156403e-02 1.12114582e+02] [-8.05081894e-02 9.96753947e-01 -2.23247502e-05 2.22278110e+00] [-2.71290936e-02 -2.16883789e-03 9.99629586e-01 -1.48294191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.61589822699999 meters 0.08416268039210992 Centerline is valid? [True, True] Translation: X:112.18, Y:2.21, Z:-1.49 [[ 9.96661656e-01 7.72106466e-02 2.65341039e-02 1.12175060e+02] [-7.72372826e-02 9.97012739e-01 -2.11123811e-05 2.21148677e+00] [-2.64564697e-02 -2.02838018e-03 9.99647908e-01 -1.48676605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.67589822699999 meters 0.08211556218690107 Centerline is valid? [True, True] Translation: X:112.24, Y:2.21, Z:-1.49 [[ 9.96802423e-01 7.55914906e-02 2.59008864e-02 1.12235793e+02] [-7.56163283e-02 9.97136987e-01 -2.05352185e-05 2.20901502e+00] [-2.58282842e-02 -1.93806038e-03 9.99664516e-01 -1.48905638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.73589822699999 meters 0.08206532408120218 Centerline is valid? [True, True] Translation: X:112.30, Y:2.21, Z:-1.50 [[ 9.96856107e-01 7.56043826e-02 2.37040029e-02 1.12297329e+02] [-7.56251836e-02 9.97136315e-01 -1.89623348e-05 2.20809507e+00] [-2.36375557e-02 -1.77371685e-03 9.99719020e-01 -1.49503948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.795898227 meters 0.08627654936161885 Centerline is valid? [True, True] Translation: X:112.36, Y:2.21, Z:-1.50 [[ 9.96709132e-01 7.77573521e-02 2.29063536e-02 1.12357156e+02] [-7.77773244e-02 9.96970756e-01 -1.90617551e-05 2.21406615e+00] [-2.28384469e-02 -1.76259587e-03 9.99737615e-01 -1.49688926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85589822699998 meters 0.07551513162663172 Centerline is valid? [True, True] Translation: X:112.42, Y:2.20, Z:-1.49 [[ 9.96546551e-01 7.92210265e-02 2.48797402e-02 1.12418018e+02] [-7.92450524e-02 9.96855166e-01 -2.03296371e-05 2.19960206e+00] [-2.48031080e-02 -1.95133688e-03 9.99690451e-01 -1.49356871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91589822699999 meters 0.08112734230348985 Centerline is valid? [True, True] Translation: X:112.48, Y:2.21, Z:-1.49 [[ 9.96425735e-01 8.06373819e-02 2.51667923e-02 1.12477661e+02] [-8.06624122e-02 9.96741478e-01 -2.06569857e-05 2.20522303e+00] [-2.50864515e-02 -2.00943102e-03 9.99683266e-01 -1.49477177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97589822699999 meters 0.09100052218970286 Centerline is valid? [True, True] Translation: X:112.54, Y:2.22, Z:-1.49 [[ 9.96077295e-01 8.43011313e-02 2.68950052e-02 1.12536740e+02] [-8.43309978e-02 9.96437796e-01 -2.38461717e-05 2.21870717e+00] [-2.68012100e-02 -2.24432999e-03 9.99638264e-01 -1.49413010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.03589822699999 meters 0.08689198832990956 Centerline is valid? [True, True] Translation: X:112.60, Y:2.22, Z:-1.50 [[ 9.95882707e-01 8.64875815e-02 2.71575553e-02 1.12597129e+02] [-8.65188293e-02 9.96250215e-01 -2.45143718e-05 2.21501077e+00] [-2.70578406e-02 -2.32522646e-03 9.99631165e-01 -1.49710156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.09589822699999 meters 0.10202132805786164 Centerline is valid? [True, False] Translation: X:112.60, Y:2.22, Z:-1.50 [[ 9.96629038e-01 7.69233525e-02 2.85194329e-02 1.12597495e+02] [-7.72262622e-02 9.96966651e-01 9.67474915e-03 2.21718885e+00] [-2.76887094e-02 -1.18445851e-02 9.99546418e-01 -1.49887292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.155898227 meters 0.08572365271984585 Centerline is valid? [False, True] Translation: X:112.55, Y:2.23, Z:-1.49 [[ 9.97648166e-01 6.34066618e-02 2.60332766e-02 1.12552438e+02] [-6.37685813e-02 9.97875885e-01 1.33148607e-02 2.22812803e+00] [-2.51337281e-02 -1.49436515e-02 9.99572400e-01 -1.49376000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21589822699998 meters 0.08744108590468062 Centerline is valid? [True, True] Translation: X:112.61, Y:2.24, Z:-1.49 [[ 9.97698818e-01 6.18420167e-02 2.77962965e-02 1.12611409e+02] [-6.18821985e-02 9.98083288e-01 5.86873324e-04 2.24235968e+00] [-2.77067256e-02 -2.30561876e-03 9.99613436e-01 -1.49239532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27589822699998 meters 0.08573246077785086 Centerline is valid? [True, True] Translation: X:112.67, Y:2.25, Z:-1.50 [[ 9.97997944e-01 5.75703355e-02 2.61870396e-02 1.12671660e+02] [-5.76045499e-02 9.98339326e-01 5.53418243e-04 2.24596495e+00] [-2.61116910e-02 -2.06080290e-03 9.99656907e-01 -1.49946655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33589822699999 meters 0.08059320741769015 Centerline is valid? [True, True] Translation: X:112.73, Y:2.24, Z:-1.50 [[ 9.98514598e-01 4.86810857e-02 2.44693477e-02 1.12731507e+02] [-4.87083005e-02 9.98812912e-01 5.17060765e-04 2.24239920e+00] [-2.44151293e-02 -1.70815306e-03 9.99700447e-01 -1.50338526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.39589822699999 meters 0.06823693253102418 Centerline is valid? [True, True] Translation: X:112.79, Y:2.23, Z:-1.50 [[ 9.98717204e-01 4.36693344e-02 2.56307426e-02 1.12792773e+02] [-4.36975478e-02 9.99044659e-01 5.41436238e-04 2.23166883e+00] [-2.55826123e-02 -1.66074228e-03 9.99671332e-01 -1.50085935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.45589822699999 meters 0.06766112906283392 Centerline is valid? [True, True] Translation: X:112.85, Y:2.23, Z:-1.50 [[ 9.98886762e-01 3.99320436e-02 2.51131262e-02 1.12851855e+02] [-3.99579467e-02 9.99201222e-01 5.30290487e-04 2.23061633e+00] [-2.50718908e-02 -1.53316911e-03 9.99684475e-01 -1.50463913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.515898227 meters 0.0665681852312619 Centerline is valid? [True, True] Translation: X:112.91, Y:2.23, Z:-1.51 [[ 9.98959613e-01 3.86357033e-02 2.42275478e-02 1.12913463e+02] [-3.86594445e-02 9.99252313e-01 5.12134645e-04 2.22764006e+00] [-2.41896465e-02 -1.44822536e-03 9.99706339e-01 -1.50826815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.575898227 meters 0.06928101844502506 Centerline is valid? [True, True] Translation: X:112.97, Y:2.23, Z:-1.51 [[ 9.98893135e-01 4.05066321e-02 2.39105975e-02 1.12974887e+02] [-4.05302686e-02 9.99178184e-01 5.04546060e-04 2.22773606e+00] [-2.38705099e-02 -1.47309054e-03 9.99713973e-01 -1.50975275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63589822699998 meters 0.07220582107897171 Centerline is valid? [True, True] Translation: X:113.04, Y:2.23, Z:-1.51 [[ 9.98737251e-01 4.35803712e-02 2.49930886e-02 1.13035079e+02] [-4.36071379e-02 9.99048618e-01 5.26681113e-04 2.22711022e+00] [-2.49463576e-02 -1.61589311e-03 9.99687485e-01 -1.51086555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69589822699999 meters 0.07176246142005277 Centerline is valid? [True, True] Translation: X:113.10, Y:2.22, Z:-1.51 [[ 9.98671520e-01 4.39971676e-02 2.68224772e-02 1.13097927e+02] [-4.40281584e-02 9.99030130e-01 5.65637279e-04 2.22235674e+00] [-2.67715765e-02 -1.74583012e-03 9.99640053e-01 -1.50972816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.75589822699999 meters 0.06975615770797826 Centerline is valid? [True, True] Translation: X:113.16, Y:2.22, Z:-1.51 [[ 9.98716323e-01 4.35943432e-02 2.57922305e-02 1.13159791e+02] [-4.36227624e-02 9.99047928e-01 5.39950729e-04 2.21648303e+00] [-2.57441357e-02 -1.66438595e-03 9.99667179e-01 -1.51250107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.81589822699999 meters 0.07507297664726667 Centerline is valid? [True, True] Translation: X:113.22, Y:2.22, Z:-1.52 [[ 9.98733269e-01 4.50323518e-02 2.24487313e-02 1.13219046e+02] [-4.50541456e-02 9.98984438e-01 4.65746691e-04 2.22326895e+00] [-2.24049596e-02 -1.47656513e-03 9.99747887e-01 -1.52055724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.875898227 meters 0.07511208517878595 Centerline is valid? [True, True] Translation: X:113.28, Y:2.22, Z:-1.52 [[ 9.98586355e-01 4.67597733e-02 2.52747845e-02 1.13280054e+02] [-4.67879562e-02 9.98904706e-01 5.24515292e-04 2.22491699e+00] [-2.52225750e-02 -1.70632932e-03 9.99680404e-01 -1.51956770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.935898227 meters 0.06851989998979734 Centerline is valid? [True, True] Translation: X:113.34, Y:2.22, Z:-1.51 [[ 9.98468820e-01 4.81295358e-02 2.72683606e-02 1.13341465e+02] [-4.81628253e-02 9.98839338e-01 5.64967756e-04 2.21981635e+00] [-2.72095196e-02 -1.87742398e-03 9.99627989e-01 -1.51469025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99589822699998 meters 0.07025329699399704 Centerline is valid? [True, True] Translation: X:113.40, Y:2.22, Z:-1.52 [[ 9.98501429e-01 4.91082405e-02 2.41511409e-02 1.13403199e+02] [-4.91346275e-02 9.98792040e-01 5.00017478e-04 2.22062481e+00] [-2.40974123e-02 -1.68592548e-03 9.99708194e-01 -1.52184596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05589822699999 meters 0.07510993133049225 Centerline is valid? [True, True] Translation: X:113.46, Y:2.23, Z:-1.52 [[ 9.98477314e-01 4.91925919e-02 2.49628054e-02 1.13464106e+02] [-4.92207836e-02 9.98787789e-01 5.15794010e-04 2.22946784e+00] [-2.49071720e-02 -1.74369746e-03 9.99688248e-01 -1.52237365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.11589822699999 meters 0.07508423796811396 Centerline is valid? [True, True] Translation: X:113.53, Y:2.23, Z:-1.53 [[ 9.98393543e-01 5.05519270e-02 2.55897454e-02 1.13525296e+02] [-5.05819264e-02 9.98719777e-01 5.25971825e-04 2.22571257e+00] [-2.55303960e-02 -1.81950549e-03 9.99672390e-01 -1.52540901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.17589822699999 meters 0.07770363749941295 Centerline is valid? [True, True] Translation: X:113.59, Y:2.24, Z:-1.53 [[ 9.98128207e-01 5.67146219e-02 2.28808670e-02 1.13585725e+02] [-5.67401998e-02 9.98388867e-01 4.69687333e-04 2.23839743e+00] [-2.28173648e-02 -1.76707314e-03 9.99738088e-01 -1.52914704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.23589822699999 meters 0.08829348221048369 Centerline is valid? [True, True] Translation: X:113.64, Y:2.26, Z:-1.53 [[ 9.97934807e-01 6.03148346e-02 2.20961871e-02 1.13644767e+02] [-6.03395693e-02 9.98177805e-01 4.53798378e-04 2.25831594e+00] [-2.20285527e-02 -1.78613561e-03 9.99755746e-01 -1.53226671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.295898227 meters 0.08093464357868188 Centerline is valid? [True, True] Translation: X:113.71, Y:2.25, Z:-1.53 [[ 9.97929480e-01 6.05310404e-02 2.17427209e-02 1.13706385e+02] [-6.05550154e-02 9.98164762e-01 4.45368736e-04 2.25403000e+00] [-2.16758592e-02 -1.76107739e-03 9.99763500e-01 -1.53356897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35589822699998 meters 0.08214213051936949 Centerline is valid? [True, True] Translation: X:113.77, Y:2.26, Z:-1.53 [[ 9.98039940e-01 5.76532395e-02 2.43389065e-02 1.13765735e+02] [-5.76824128e-02 9.98334859e-01 4.97682932e-04 2.26218523e+00] [-2.42696858e-02 -1.90063430e-03 9.99703641e-01 -1.53298202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41589822699999 meters 0.08501016116721734 Centerline is valid? [True, True] Translation: X:113.83, Y:2.27, Z:-1.53 [[ 9.98127493e-01 5.59856975e-02 2.46395869e-02 1.13825461e+02] [-5.60151007e-02 9.98429794e-01 5.04212175e-04 2.27121789e+00] [-2.45726690e-02 -1.88345698e-03 9.99696272e-01 -1.53427830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47589822699999 meters 0.08135748547449849 Centerline is valid? [True, True] Translation: X:113.89, Y:2.27, Z:-1.54 [[ 9.98293432e-01 5.35598098e-02 2.32716802e-02 1.13885541e+02] [-5.35853827e-02 9.98563158e-01 4.76233576e-04 2.26985538e+00] [-2.32127354e-02 -1.72244274e-03 9.99729064e-01 -1.53834855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.53589822699999 meters 0.07598055230435058 Centerline is valid? [True, True] Translation: X:113.95, Y:2.26, Z:-1.54 [[ 9.98511649e-01 4.90914100e-02 2.37596429e-02 1.13946621e+02] [-4.91168081e-02 9.98792923e-01 4.86212578e-04 2.26080535e+00] [-2.37070943e-02 -1.65248675e-03 9.99717582e-01 -1.53845405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.59589822699999 meters 0.07333456847375215 Centerline is valid? [True, True] Translation: X:114.01, Y:2.26, Z:-1.54 [[ 9.98647594e-01 4.55956869e-02 2.49802991e-02 1.14006962e+02] [-4.56226673e-02 9.98958613e-01 5.10918086e-04 2.25506760e+00] [-2.49309893e-02 -1.64989499e-03 9.99687813e-01 -1.53947686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.655898227 meters 0.06562244030139416 Centerline is valid? [True, True] Translation: X:114.07, Y:2.24, Z:-1.54 [[ 9.98650557e-01 4.49526502e-02 2.60062308e-02 1.14069290e+02] [-4.49816885e-02 9.98987670e-01 5.32373947e-04 2.24351284e+00] [-2.59559723e-02 -1.70145971e-03 9.99661639e-01 -1.54005654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71589822699998 meters 0.07973260656425996 Centerline is valid? [True, True] Translation: X:114.13, Y:2.26, Z:-1.55 [[ 9.98525137e-01 4.82572526e-02 2.48754500e-02 1.14128509e+02] [-4.82847195e-02 9.98833485e-01 5.04368771e-04 2.25691149e+00] [-2.48220930e-02 -1.70472902e-03 9.99690431e-01 -1.54575323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77589822699998 meters 0.07025828734827003 Centerline is valid? [True, True] Translation: X:114.19, Y:2.25, Z:-1.54 [[ 9.98333418e-01 5.15649583e-02 2.59121727e-02 1.14189130e+02] [-5.15958800e-02 9.98667907e-01 5.25711390e-04 2.24695852e+00] [-2.58505470e-02 -1.86179660e-03 9.99664085e-01 -1.54256814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83589822699999 meters 0.07756531250163282 Centerline is valid? [True, True] Translation: X:114.25, Y:2.25, Z:-1.55 [[ 9.98475254e-01 4.91010919e-02 2.52239865e-02 1.14248128e+02] [-4.91296064e-02 9.98792281e-01 5.11603748e-04 2.25034491e+00] [-2.51684027e-02 -1.75006821e-03 9.99681694e-01 -1.54821037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.89589822699999 meters 0.07895988072214064 Centerline is valid? [True, True] Translation: X:114.31, Y:2.25, Z:-1.55 [[ 9.98653313e-01 4.57801169e-02 2.44077936e-02 1.14307313e+02] [-4.58058396e-02 9.98950239e-01 4.95530651e-04 2.25208979e+00] [-2.43594858e-02 -1.61288280e-03 9.99701963e-01 -1.54959184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.95589822699999 meters 0.07486578445294415 Centerline is valid? [True, True] Translation: X:114.37, Y:2.24, Z:-1.55 [[ 9.98742125e-01 4.35591818e-02 2.48347537e-02 1.14368472e+02] [-4.35851394e-02 9.99049589e-01 5.04621083e-04 2.24210089e+00] [-2.47891696e-02 -1.58641254e-03 9.99691443e-01 -1.55193393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.015898227 meters 0.06208025268389873 Centerline is valid? [True, True] Translation: X:114.43, Y:2.22, Z:-1.55 [[ 9.98917427e-01 3.91490393e-02 2.51262053e-02 1.14429269e+02] [-3.91742123e-02 9.99232266e-01 5.10229545e-04 2.22456538e+00] [-2.50869400e-02 -1.49397649e-03 9.99684157e-01 -1.54982188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.075898227 meters 0.06439188982477555 Centerline is valid? [True, True] Translation: X:114.49, Y:2.22, Z:-1.55 [[ 9.98939022e-01 3.94116279e-02 2.38234002e-02 1.14489873e+02] [-3.94343386e-02 9.99222047e-01 4.84068381e-04 2.22468038e+00] [-2.37857888e-02 -1.42301482e-03 9.99716065e-01 -1.55365235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13589822699998 meters 0.0711054674607261 Centerline is valid? [True, True] Translation: X:114.55, Y:2.23, Z:-1.56 [[ 9.98903500e-01 4.03185359e-02 2.37952508e-02 1.14551217e+02] [-4.03414124e-02 9.99185838e-01 4.81941803e-04 2.23035138e+00] [-2.37564464e-02 -1.44134738e-03 9.99716737e-01 -1.55706121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19589822699999 meters 0.06482704691835069 Centerline is valid? [True, True] Translation: X:114.61, Y:2.22, Z:-1.55 [[ 9.98820523e-01 4.03527435e-02 2.70040365e-02 1.14613486e+02] [-4.03820961e-02 9.99184163e-01 5.42295877e-04 2.21779668e+00] [-2.69601224e-02 -1.63213585e-03 9.99635177e-01 -1.55265857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.25589822699999 meters 0.06899539966963607 Centerline is valid? [True, True] Translation: X:114.67, Y:2.22, Z:-1.56 [[ 9.98760416e-01 4.23673389e-02 2.61273818e-02 1.14673244e+02] [-4.23953838e-02 9.99100776e-01 5.20143380e-04 2.21920578e+00] [-2.60818503e-02 -1.62717900e-03 9.99658486e-01 -1.55512699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.31589822699999 meters 0.07331708549672433 Centerline is valid? [True, True] Translation: X:114.73, Y:2.22, Z:-1.56 [[ 9.98569733e-01 4.72619560e-02 2.49959213e-02 1.14733849e+02] [-4.72891174e-02 9.98881121e-01 4.96309747e-04 2.22342905e+00] [-2.49444973e-02 -1.67763495e-03 9.99687430e-01 -1.55901433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.375898227 meters 0.07688881840153862 Centerline is valid? [True, True] Translation: X:114.79, Y:2.23, Z:-1.56 [[ 9.98271789e-01 5.34301498e-02 2.44674152e-02 1.14794436e+02] [-5.34580165e-02 9.98569980e-01 4.85793457e-04 2.22829003e+00] [-2.44064702e-02 -1.79293339e-03 9.99700510e-01 -1.56171176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.435898227 meters 0.08229105506453281 Centerline is valid? [True, True] Translation: X:114.85, Y:2.23, Z:-1.56 [[ 9.98379501e-01 5.10927017e-02 2.50580851e-02 1.14853731e+02] [-5.11211987e-02 9.98692333e-01 4.97537371e-04 2.23425120e+00] [-2.49998970e-02 -1.77773046e-03 9.99685873e-01 -1.56388635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49589822699998 meters 0.07009023750263552 Centerline is valid? [True, True] Translation: X:114.91, Y:2.22, Z:-1.56 [[ 9.98709596e-01 4.36928471e-02 2.58858500e-02 1.14914885e+02] [-4.37207912e-02 9.99043657e-01 5.14258660e-04 2.21575647e+00] [-2.58386249e-02 -1.64534490e-03 9.99664773e-01 -1.56298368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55589822699999 meters 0.06881280127077735 Centerline is valid? [True, True] Translation: X:114.98, Y:2.22, Z:-1.56 [[ 9.98766894e-01 4.20170757e-02 2.64434526e-02 1.14975903e+02] [-4.20456488e-02 9.99115553e-01 5.25208261e-04 2.21544010e+00] [-2.63979970e-02 -1.63639274e-03 9.99650173e-01 -1.56235356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61589822699999 meters 0.0689644870066223 Centerline is valid? [True, True] Translation: X:115.04, Y:2.22, Z:-1.56 [[ 9.98735739e-01 4.21684288e-02 2.73632635e-02 1.15039246e+02] [-4.21990841e-02 9.99109074e-01 5.43560690e-04 2.21900263e+00] [-2.73159637e-02 -1.69757814e-03 9.99625408e-01 -1.56259584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.67589822699999 meters 0.06517820676492697 Centerline is valid? [True, True] Translation: X:115.10, Y:2.22, Z:-1.57 [[ 9.98900930e-01 3.82547319e-02 2.70833534e-02 1.15099549e+02] [-3.82831840e-02 9.99266788e-01 5.32616598e-04 2.21586229e+00] [-2.70431205e-02 -1.56886822e-03 9.99633037e-01 -1.56734314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.73589822699999 meters 0.05367285718479253 Centerline is valid? [True, True] Translation: X:115.16, Y:2.20, Z:-1.57 [[ 9.99144672e-01 3.12938820e-02 2.70299334e-02 1.15160451e+02] [-3.13196828e-02 9.99509277e-01 5.31588579e-04 2.19927866e+00] [-2.70000337e-02 -1.37770284e-03 9.99634483e-01 -1.56995821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.795898227 meters 0.04941328216085106 Centerline is valid? [True, True] Translation: X:115.22, Y:2.19, Z:-1.57 [[ 9.99302131e-01 2.28182044e-02 2.95732947e-02 1.15220554e+02] [-2.28453873e-02 9.99738841e-01 5.81573319e-04 2.19120793e+00] [-2.95523009e-02 -1.25678083e-03 9.99562445e-01 -1.56546007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85589822699998 meters 0.050094814970894165 Centerline is valid? [True, True] Translation: X:115.28, Y:2.19, Z:-1.57 [[ 9.99359892e-01 2.04585361e-02 2.93471526e-02 1.15281659e+02] [-2.04842904e-02 9.99790008e-01 5.77169467e-04 2.18828097e+00] [-2.93291819e-02 -1.17795561e-03 9.99569113e-01 -1.56738092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91589822699999 meters 0.04667951015900696 Centerline is valid? [True, True] Translation: X:115.34, Y:2.18, Z:-1.57 [[ 9.99359496e-01 2.18073472e-02 2.83731720e-02 1.15344302e+02] [-2.18319455e-02 9.99761499e-01 5.57424790e-04 2.17861061e+00] [-2.83542490e-02 -1.17650930e-03 9.99597245e-01 -1.57169248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97589822699999 meters 0.054623673003553336 Centerline is valid? [True, True] Translation: X:115.40, Y:2.18, Z:-1.58 [[ 9.99230040e-01 2.82924656e-02 2.71820488e-02 1.15403651e+02] [-2.83174007e-02 9.99598840e-01 5.32762751e-04 2.18055858e+00] [-2.71560713e-02 -1.30207751e-03 9.99630358e-01 -1.57601137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03589822699999 meters 0.05682944125917122 Centerline is valid? [True, True] Translation: X:115.46, Y:2.18, Z:-1.58 [[ 9.99068835e-01 3.45997656e-02 2.57743915e-02 1.15463773e+02] [-3.46242572e-02 9.99400273e-01 5.04418241e-04 2.18119385e+00] [-2.57414812e-02 -1.39636770e-03 9.99667658e-01 -1.58034292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.09589822699999 meters 0.061722609514935765 Centerline is valid? [True, True] Translation: X:115.52, Y:2.18, Z:-1.58 [[ 9.98878270e-01 3.93162468e-02 2.63900361e-02 1.15524725e+02] [-3.93435602e-02 9.99225609e-01 5.16357296e-04 2.18362972e+00] [-2.63492987e-02 -1.55405605e-03 9.99651589e-01 -1.58177311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.155898227 meters 0.06553534632536726 Centerline is valid? [True, True] Translation: X:115.58, Y:2.18, Z:-1.58 [[ 9.98757859e-01 4.14386183e-02 2.76691318e-02 1.15584608e+02] [-4.14694395e-02 9.99139626e-01 5.40779604e-04 2.18028341e+00] [-2.76229169e-02 -1.68753127e-03 9.99616990e-01 -1.58179733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21589822699998 meters 0.06287108022777582 Centerline is valid? [True, True] Translation: X:115.65, Y:2.17, Z:-1.58 [[ 9.98768979e-01 4.07456931e-02 2.82898274e-02 1.15646589e+02] [-4.07776430e-02 9.99168093e-01 5.53149485e-04 2.17237022e+00] [-2.82437545e-02 -1.70606103e-03 9.99599610e-01 -1.58323912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27589822699998 meters 0.06735754713584291 Centerline is valid? [True, True] Translation: X:115.71, Y:2.17, Z:-1.59 [[ 9.98728173e-01 4.24899299e-02 2.71411395e-02 1.15706471e+02] [-4.25198508e-02 9.99095484e-01 5.25986435e-04 2.17471657e+00] [-2.70942408e-02 -1.67935467e-03 9.99631473e-01 -1.58621159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33589822699999 meters 0.07380390997828488 Centerline is valid? [True, True] Translation: X:115.77, Y:2.18, Z:-1.59 [[ 9.98527756e-01 4.85378162e-02 2.42157108e-02 1.15767035e+02] [-4.85634030e-02 9.98819992e-01 4.69309256e-04 2.18396328e+00] [-2.41643569e-02 -1.64461564e-03 9.99706647e-01 -1.59233618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.39589822699999 meters 0.07913781627208938 Centerline is valid? [True, True] Translation: X:115.83, Y:2.19, Z:-1.59 [[ 9.98333180e-01 5.14661967e-02 2.61168787e-02 1.15826219e+02] [-5.14969557e-02 9.98673023e-01 5.06082125e-04 2.19371153e+00] [-2.60561761e-02 -1.85017832e-03 9.99658768e-01 -1.59150590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.45589822699999 meters 0.07178093465652036 Centerline is valid? [True, True] Translation: X:115.89, Y:2.19, Z:-1.59 [[ 9.98125626e-01 5.43429492e-02 2.81439010e-02 1.15886874e+02] [-5.43798018e-02 9.98520175e-01 5.45147837e-04 2.18810020e+00] [-2.80726280e-02 -2.07458578e-03 9.99603733e-01 -1.58963321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.515898227 meters 0.07737795207545349 Centerline is valid? [True, True] Translation: X:115.95, Y:2.20, Z:-1.59 [[ 9.97967583e-01 5.76083603e-02 2.72393213e-02 1.15946447e+02] [-5.76440904e-02 9.98337058e-01 5.27642467e-04 2.20147399e+00] [-2.71636272e-02 -2.09675598e-03 9.99628802e-01 -1.59264297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.575898227 meters 0.08356096300497314 Centerline is valid? [True, True] Translation: X:116.01, Y:2.22, Z:-1.60 [[ 9.97953198e-01 5.89133494e-02 2.48723177e-02 1.16005731e+02] [-5.89435219e-02 9.98261203e-01 4.81060481e-04 2.22109971e+00] [-2.48007289e-02 -1.94613785e-03 9.99690520e-01 -1.59922521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63589822699998 meters 0.08192147979981347 Centerline is valid? [True, True] Translation: X:116.07, Y:2.23, Z:-1.60 [[ 9.98192960e-01 5.49148666e-02 2.43961335e-02 1.16066594e+02] [-5.49427085e-02 9.98489397e-01 4.71913623e-04 2.22516199e+00] [-2.43333656e-02 -1.81145051e-03 9.99702259e-01 -1.60274041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69589822699999 meters 0.0699507580269072 Centerline is valid? [True, True] Translation: X:116.13, Y:2.21, Z:-1.60 [[ 9.98586399e-01 4.64124482e-02 2.59053915e-02 1.16127799e+02] [-4.64409863e-02 9.98920910e-01 5.00752902e-04 2.21270690e+00] [-2.58541961e-02 -1.70311697e-03 9.99664274e-01 -1.60160823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.75589822699999 meters 0.06624160197926689 Centerline is valid? [True, True] Translation: X:116.19, Y:2.21, Z:-1.61 [[ 9.99080000e-01 3.49393592e-02 2.48675614e-02 1.16187331e+02] [-3.49621103e-02 9.99388523e-01 4.80568201e-04 2.20882930e+00] [-2.48355647e-02 -1.34954850e-03 9.99690639e-01 -1.60606722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.81589822699999 meters 0.05750456684078869 Centerline is valid? [True, True] Translation: X:116.25, Y:2.20, Z:-1.61 [[ 9.99125869e-01 3.38400537e-02 2.45427898e-02 1.16249200e+02] [-3.38618869e-02 9.99426409e-01 4.74427610e-04 2.20071532e+00] [-2.45126576e-02 -1.30507807e-03 9.99698668e-01 -1.60779605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.875898227 meters 0.05497819044449086 Centerline is valid? [True, True] Translation: X:116.31, Y:2.20, Z:-1.61 [[ 9.99099317e-01 3.40749569e-02 2.52873706e-02 1.16312223e+02] [-3.40982047e-02 9.99418368e-01 4.88593304e-04 2.19898995e+00] [-2.52560139e-02 -1.35040718e-03 9.99680104e-01 -1.60753422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.935898227 meters 0.058908343013114414 Centerline is valid? [True, True] Translation: X:116.37, Y:2.20, Z:-1.61 [[ 9.99029352e-01 3.52578589e-02 2.64052525e-02 1.16373371e+02] [-3.52834764e-02 9.99377217e-01 5.04735478e-04 2.20392192e+00] [-2.63710119e-02 -1.43591466e-03 9.99651193e-01 -1.60684671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99589822699998 meters 0.05829770125775555 Centerline is valid? [True, True] Translation: X:116.43, Y:2.20, Z:-1.61 [[ 9.98869027e-01 3.93498884e-02 2.66880835e-02 1.16434301e+02] [-3.93773895e-02 9.99224282e-01 5.05496397e-04 2.20017357e+00] [-2.66474898e-02 -1.55583175e-03 9.99643682e-01 -1.60643806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05589822699999 meters 0.06777902661840184 Centerline is valid? [True, True] Translation: X:116.49, Y:2.21, Z:-1.61 [[ 9.98664305e-01 4.30033243e-02 2.86412239e-02 1.16493334e+02] [-4.30364969e-02 9.99073353e-01 5.42497283e-04 2.21188530e+00] [-2.85913544e-02 -1.77439061e-03 9.99589609e-01 -1.60595469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.11589822699999 meters 0.06447431174041864 Centerline is valid? [True, True] Translation: X:116.55, Y:2.21, Z:-1.61 [[ 9.98505480e-01 4.65901645e-02 2.85685704e-02 1.16553703e+02] [-4.66246392e-02 9.98912333e-01 5.41424188e-04 2.20762760e+00] [-2.85122723e-02 -1.87261430e-03 9.99591688e-01 -1.60742582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.17589822699999 meters 0.0702015899865536 Centerline is valid? [True, True] Translation: X:116.61, Y:2.21, Z:-1.61 [[ 9.98365157e-01 5.14231331e-02 2.49534502e-02 1.16614501e+02] [-5.14509336e-02 9.98675412e-01 4.72914352e-04 2.21320666e+00] [-2.48960785e-02 -1.75601952e-03 9.99688502e-01 -1.61472506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.23589822699999 meters 0.07890653908378513 Centerline is valid? [True, True] Translation: X:116.67, Y:2.22, Z:-1.61 [[ 9.98175655e-01 5.37516121e-02 2.74977420e-02 1.16673713e+02] [-5.37862420e-02 9.98552337e-01 5.20749425e-04 2.22418377e+00] [-2.74299434e-02 -1.99879960e-03 9.99621730e-01 -1.61316103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.295898227 meters 0.07372622268251214 Centerline is valid? [True, True] Translation: X:116.73, Y:2.22, Z:-1.61 [[ 9.98014882e-01 5.54875677e-02 2.97896717e-02 1.16734515e+02] [-5.55289622e-02 9.98456918e-01 5.63448192e-04 2.21764046e+00] [-2.97124394e-02 -2.21651924e-03 9.99556030e-01 -1.61143313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35589822699998 meters 0.08033896116453036 Centerline is valid? [True, True] Translation: X:116.79, Y:2.23, Z:-1.62 [[ 9.98050847e-01 5.66080845e-02 2.62684599e-02 1.16794189e+02] [-5.66406451e-02 9.98394507e-01 4.96535591e-04 2.22561503e+00] [-2.61981781e-02 -1.98343028e-03 9.99654801e-01 -1.62017994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41589822699999 meters 0.07855103297874788 Centerline is valid? [True, True] Translation: X:116.86, Y:2.22, Z:-1.62 [[ 9.98131941e-01 5.57666032e-02 2.49542479e-02 1.16855637e+02] [-5.57957273e-02 9.98442094e-01 4.71804685e-04 2.22303186e+00] [-2.48890606e-02 -1.86326374e-03 9.99688483e-01 -1.62340885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47589822699999 meters 0.07656798136167157 Centerline is valid? [True, True] Translation: X:116.92, Y:2.22, Z:-1.62 [[ 9.98274180e-01 5.26973363e-02 2.59162540e-02 1.16916253e+02] [-5.27277029e-02 9.98608807e-01 4.89275860e-04 2.21841516e+00] [-2.58544160e-02 -1.85493600e-03 9.99663998e-01 -1.62303549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.53589822699999 meters 0.07653740030507697 Centerline is valid? [True, True] Translation: X:116.98, Y:2.21, Z:-1.63 [[ 9.98463549e-01 4.97384535e-02 2.44259529e-02 1.16976371e+02] [-4.97645461e-02 9.98760871e-01 4.61156736e-04 2.21181710e+00] [-2.43727487e-02 -1.67599465e-03 9.99701536e-01 -1.62808344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.59589822699999 meters 0.07378278280738883 Centerline is valid? [True, True] Translation: X:117.04, Y:2.20, Z:-1.63 [[ 9.98476949e-01 5.02064291e-02 2.28713191e-02 1.17038231e+02] [-5.02294504e-02 9.98737611e-01 4.32830096e-04 2.20449221e+00] [-2.28207157e-02 -1.58098466e-03 9.99738323e-01 -1.63125447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.655898227 meters 0.07305680996632312 Centerline is valid? [True, True] Translation: X:117.10, Y:2.20, Z:-1.63 [[ 9.98434867e-01 5.03430035e-02 2.43597694e-02 1.17100183e+02] [-5.03690658e-02 9.98730568e-01 4.57105040e-04 2.19876385e+00] [-2.43058343e-02 -1.68336844e-03 9.99703152e-01 -1.62891363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71589822699998 meters 0.07709710058222694 Centerline is valid? [True, True] Translation: X:117.16, Y:2.20, Z:-1.63 [[ 9.98349188e-01 5.11367504e-02 2.61521039e-02 1.17161517e+02] [-5.11669342e-02 9.98689996e-01 4.85854544e-04 2.20007740e+00] [-2.60929996e-02 -1.82317547e-03 9.99657857e-01 -1.62916468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77589822699998 meters 0.08180913854925197 Centerline is valid? [True, True] Translation: X:117.22, Y:2.20, Z:-1.64 [[ 9.98336901e-01 5.20879579e-02 2.47037999e-02 1.17223860e+02] [-5.21151271e-02 9.98640979e-01 4.56818658e-04 2.19902505e+00] [-2.46464322e-02 -1.74350059e-03 9.99694710e-01 -1.63500613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83589822699999 meters 0.06721564861894876 Centerline is valid? [True, True] Translation: X:117.29, Y:2.18, Z:-1.64 [[ 9.98403013e-01 5.14348255e-02 2.33641112e-02 1.17286351e+02] [-5.14589443e-02 9.98675017e-01 4.31851881e-04 2.18100515e+00] [-2.33109420e-02 -1.63345472e-03 9.99726929e-01 -1.63593654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.89589822699999 meters 0.06927228890167493 Centerline is valid? [True, True] Translation: X:117.35, Y:2.18, Z:-1.64 [[ 9.98479924e-01 4.96739143e-02 2.38818537e-02 1.17346265e+02] [-4.96984913e-02 9.98764171e-01 4.36312591e-04 2.17938589e+00] [-2.38306665e-02 -1.62254146e-03 9.99714693e-01 -1.63706952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.95589822699999 meters 0.06539138469240671 Centerline is valid? [True, True] Translation: X:117.41, Y:2.17, Z:-1.64 [[ 9.98578981e-01 4.68903702e-02 2.53241346e-02 1.17407022e+02] [-4.69171156e-02 9.98898679e-01 4.62666027e-04 2.17019285e+00] [-2.52745500e-02 -1.65014392e-03 9.99679186e-01 -1.63642935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.015898227 meters 0.0624426784571334 Centerline is valid? [True, True] Translation: X:117.47, Y:2.16, Z:-1.63 [[ 9.98652070e-01 4.34081144e-02 2.84566234e-02 1.17467563e+02] [-4.34404805e-02 9.99055882e-01 5.19868846e-04 2.16339593e+00] [-2.84071904e-02 -1.75533749e-03 9.99594893e-01 -1.63346179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.075898227 meters 0.06382365777699976 Centerline is valid? [True, True] Translation: X:117.53, Y:2.16, Z:-1.63 [[ 9.98689223e-01 4.11514966e-02 3.04366503e-02 1.17527522e+02] [-4.11874826e-02 9.99151281e-01 5.56054583e-04 2.16176763e+00] [-3.03879356e-02 -1.80893472e-03 9.99536543e-01 -1.63234976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13589822699998 meters 0.06348454576057612 Centerline is valid? [True, True] Translation: X:117.59, Y:2.16, Z:-1.64 [[ 9.98799588e-01 4.26628800e-02 2.40678407e-02 1.17588406e+02] [-4.26858154e-02 9.99088448e-01 4.39767558e-04 2.15907448e+00] [-2.40271399e-02 -1.46659506e-03 9.99710231e-01 -1.64478148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19589822699999 meters 0.06310688996142531 Centerline is valid? [True, True] Translation: X:117.65, Y:2.16, Z:-1.65 [[ 9.98674668e-01 4.69649964e-02 2.10522382e-02 1.17649524e+02] [-4.69834907e-02 9.98895592e-01 3.84478875e-04 2.15762533e+00] [-2.10109309e-02 -1.37307695e-03 9.99778303e-01 -1.64964874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25589822699999 meters 0.07811473400705322 Centerline is valid? [True, True] Translation: X:117.71, Y:2.17, Z:-1.65 [[ 9.98382171e-01 5.23991857e-02 2.20763582e-02 1.17708868e+02] [-5.24208347e-02 9.98625002e-01 4.02687878e-04 2.17318046e+00] [-2.20249028e-02 -1.55929752e-03 9.99756206e-01 -1.65000748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.31589822699999 meters 0.08324697920503178 Centerline is valid? [True, True] Translation: X:117.77, Y:2.19, Z:-1.65 [[ 9.97922807e-01 5.96311042e-02 2.43762756e-02 1.17767829e+02] [-5.96596547e-02 9.98218677e-01 4.45028701e-04 2.19416077e+00] [-2.43063161e-02 -1.89838448e-03 9.99702755e-01 -1.64939594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.375898227 meters 0.09195861951050498 Centerline is valid? [True, True] Translation: X:117.83, Y:2.21, Z:-1.66 [[ 9.97832953e-01 6.15190966e-02 2.33409057e-02 1.17827345e+02] [-6.15457804e-02 9.98104171e-01 4.25901021e-04 2.21404900e+00] [-2.32704543e-02 -1.86151233e-03 9.99727473e-01 -1.65523231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.435898227 meters 0.09452010909670644 Centerline is valid? [True, True] Translation: X:117.89, Y:2.23, Z:-1.66 [[ 9.97980642e-01 5.95131460e-02 2.21996509e-02 1.17886528e+02] [-5.95367788e-02 9.98226031e-01 4.04562098e-04 2.22701172e+00] [-2.21361926e-02 -1.72544085e-03 9.99753476e-01 -1.65922402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49589822699998 meters 0.07430192371280009 Centerline is valid? [True, True] Translation: X:117.95, Y:2.21, Z:-1.66 [[ 9.98343288e-01 5.36027765e-02 2.09146456e-02 1.17947474e+02] [-5.36224637e-02 9.98561208e-01 3.81238947e-04 2.20854616e+00] [-2.08641183e-02 -1.50210217e-03 9.99781192e-01 -1.65959739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55589822699999 meters 0.06731128710133852 Centerline is valid? [True, True] Translation: X:118.01, Y:2.20, Z:-1.66 [[ 9.98781954e-01 4.43557732e-02 2.16142218e-02 1.18007265e+02] [-4.43746456e-02 9.99014883e-01 3.94075152e-04 2.20436164e+00] [-2.15754498e-02 -1.35271858e-03 9.99766308e-01 -1.65992780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.61589822699999 meters 0.049310820108985395 Centerline is valid? [True, True] Translation: X:118.07, Y:2.18, Z:-1.66 [[ 9.99240596e-01 2.99277319e-02 2.49512081e-02 1.18068382e+02] [-2.99483939e-02 9.99551343e-01 4.54739590e-04 2.18249108e+00] [-2.49264042e-02 -1.20164287e-03 9.99688567e-01 -1.65509243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.67589822699999 meters 0.04971642404621697 Centerline is valid? [True, True] Translation: X:118.13, Y:2.18, Z:-1.66 [[ 9.99346070e-01 2.55994664e-02 2.55362390e-02 1.18128268e+02] [-2.56196940e-02 9.99671654e-01 4.65206884e-04 2.18325476e+00] [-2.55159452e-02 -1.11913330e-03 9.99673789e-01 -1.65686220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.73589822699999 meters 0.046523130007389175 Centerline is valid? [True, True] Translation: X:118.19, Y:2.18, Z:-1.66 [[ 9.99264159e-01 2.72221553e-02 2.70202729e-02 1.18190298e+02] [-2.72454087e-02 9.99628654e-01 4.92739544e-04 2.17999114e+00] [-2.69968256e-02 -1.22855535e-03 9.99634764e-01 -1.65650367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.795898227 meters 0.05631262141660747 Centerline is valid? [True, True] Translation: X:118.25, Y:2.19, Z:-1.66 [[ 9.99100804e-01 3.18977159e-02 2.79306292e-02 1.18249113e+02] [-3.19243461e-02 9.99490159e-01 5.07926501e-04 2.19179657e+00] [-2.79001873e-02 -1.39913685e-03 9.99609735e-01 -1.65761183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85589822699998 meters 0.05417663396901215 Centerline is valid? [True, True] Translation: X:118.31, Y:2.19, Z:-1.66 [[ 9.98841511e-01 3.87510543e-02 2.85305465e-02 1.18310251e+02] [-3.87815951e-02 9.99247577e-01 5.17686237e-04 2.18740430e+00] [-2.84890185e-02 -1.62354660e-03 9.99592787e-01 -1.65852447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91589822699999 meters 0.07295046816018753 Centerline is valid? [True, True] Translation: X:118.37, Y:2.21, Z:-1.66 [[ 9.98492651e-01 4.70113593e-02 2.83259383e-02 1.18369504e+02] [-4.70447601e-02 9.98892650e-01 5.13521371e-04 2.21047088e+00] [-2.82704302e-02 -1.84533429e-03 9.99598608e-01 -1.66039836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97589822699999 meters 0.07774555266030769 Centerline is valid? [True, True] Translation: X:118.43, Y:2.22, Z:-1.66 [[ 9.98042052e-01 5.62562440e-02 2.73367588e-02 1.18429992e+02] [-5.62908106e-02 9.98414292e-01 4.95965141e-04 2.21540670e+00] [-2.72655096e-02 -2.03380238e-03 9.99626158e-01 -1.66391058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.03589822699999 meters 0.07968799639164435 Centerline is valid? [True, True] Translation: X:118.49, Y:2.22, Z:-1.67 [[ 9.97981262e-01 5.71349409e-02 2.77308457e-02 1.18491802e+02] [-5.71708535e-02 9.98364282e-01 5.03274959e-04 2.21787193e+00] [-2.76567312e-02 -2.08765509e-03 9.99615299e-01 -1.66670976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.09589822699999 meters 0.08311688569604951 Centerline is valid? [True, True] Translation: X:118.55, Y:2.22, Z:-1.67 [[ 9.98224128e-01 5.36425925e-02 2.59048743e-02 1.18551075e+02] [-5.36727256e-02 9.98558470e-01 4.68816353e-04 2.22193442e+00] [-2.58423831e-02 -1.85836901e-03 9.99664303e-01 -1.67224618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.155898227 meters 0.06041873890172341 Centerline is valid? [True, True] Translation: X:118.61, Y:2.19, Z:-1.67 [[ 9.98704244e-01 4.41639725e-02 2.52858997e-02 1.18612207e+02] [-4.41896664e-02 9.99023055e-01 4.57991206e-04 2.18860655e+00] [-2.52409700e-02 -1.57477323e-03 9.99680156e-01 -1.67362617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21589822699998 meters 0.0630243096085231 Centerline is valid? [True, True] Translation: X:118.67, Y:2.19, Z:-1.67 [[ 9.98809216e-01 4.03672390e-02 2.73977406e-02 1.18671606e+02] [-4.03959776e-02 9.99183626e-01 4.96042863e-04 2.18708703e+00] [-2.73553499e-02 -1.60221070e-03 9.99624488e-01 -1.67256689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27589822699998 meters 0.05874608507377481 Centerline is valid? [True, True] Translation: X:118.73, Y:2.18, Z:-1.67 [[ 9.98879497e-01 3.83914571e-02 2.76739326e-02 1.18732924e+02] [-3.84200337e-02 9.99261552e-01 5.01442474e-04 2.17629848e+00] [-2.76342457e-02 -1.56411403e-03 9.99616878e-01 -1.67249053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33589822699999 meters 0.062082855851273995 Centerline is valid? [True, True] Translation: X:118.79, Y:2.17, Z:-1.68 [[ 9.98858647e-01 4.04558296e-02 2.53915216e-02 1.18792755e+02] [-4.04805415e-02 9.99180221e-01 4.59764552e-04 2.17263706e+00] [-2.53521060e-02 -1.48710234e-03 9.99677478e-01 -1.67785670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.39589822699999 meters 0.06729089995337453 Centerline is valid? [True, True] Translation: X:118.85, Y:2.17, Z:-1.68 [[ 9.98609686e-01 4.60230808e-02 2.57015709e-02 1.18853473e+02] [-4.60502368e-02 9.98939017e-01 4.65397395e-04 2.17440199e+00] [-2.56528829e-02 -1.64831377e-03 9.99669552e-01 -1.67868744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.45589822699999 meters 0.07750578532294142 Centerline is valid? [True, True] Translation: X:118.91, Y:2.18, Z:-1.68 [[ 9.98170421e-01 5.44008815e-02 2.63885236e-02 1.18913820e+02] [-5.44324178e-02 9.98517343e-01 4.77698241e-04 2.18192189e+00] [-2.63234112e-02 -1.91321540e-03 9.99651648e-01 -1.67937268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.515898227 meters 0.07452201918600516 Centerline is valid? [True, True] Translation: X:118.98, Y:2.18, Z:-1.68 [[ 9.98095973e-01 5.55930039e-02 2.67179263e-02 1.18975677e+02] [-5.56257689e-02 9.98451571e-01 4.84086852e-04 2.17586806e+00] [-2.66496437e-02 -1.96937033e-03 9.99642895e-01 -1.68098924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.575898227 meters 0.07330502348410625 Centerline is valid? [True, True] Translation: X:119.04, Y:2.17, Z:-1.68 [[ 9.98274645e-01 5.10309937e-02 2.90442993e-02 1.19035623e+02] [-5.10676526e-02 9.98695060e-01 5.21320869e-04 2.16732658e+00] [-2.89797947e-02 -2.00364559e-03 9.99577989e-01 -1.68133792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63589822699998 meters 0.06273720059668887 Centerline is valid? [True, True] Translation: X:119.10, Y:2.15, Z:-1.69 [[ 9.98644619e-01 4.35870173e-02 2.84446315e-02 1.19096755e+02] [-4.36191753e-02 9.99048100e-01 5.10740045e-04 2.14727910e+00] [-2.83952934e-02 -1.75077916e-03 9.99595239e-01 -1.68520263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69589822699999 meters 0.06074030279684798 Centerline is valid? [True, True] Translation: X:119.16, Y:2.13, Z:-1.69 [[ 9.98988258e-01 3.59130883e-02 2.70686207e-02 1.19157584e+02] [-3.59393941e-02 9.99353853e-01 4.85785114e-04 2.13267075e+00] [-2.70336843e-02 -1.45812345e-03 9.99633460e-01 -1.69080430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.75589822699999 meters 0.0525080835984642 Centerline is valid? [True, True] Translation: X:119.22, Y:2.12, Z:-1.69 [[ 9.99212183e-01 3.11446625e-02 2.45972131e-02 1.19218662e+02] [-3.11649362e-02 9.99514158e-01 4.41218809e-04 2.11601029e+00] [-2.45715212e-02 -1.20744179e-03 9.99697345e-01 -1.69407050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.81589822699999 meters 0.05817171453422875 Centerline is valid? [True, True] Translation: X:119.28, Y:2.12, Z:-1.69 [[ 9.99156703e-01 3.27204640e-02 2.48043151e-02 1.19279530e+02] [-3.27415666e-02 9.99463752e-01 4.45003688e-04 2.11627934e+00] [-2.47764531e-02 -1.25676055e-03 9.99692227e-01 -1.69422707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.875898227 meters 0.05739036940483812 Centerline is valid? [True, True] Translation: X:119.34, Y:2.11, Z:-1.69 [[ 9.98939107e-01 3.82239819e-02 2.56824274e-02 1.19340385e+02] [-3.82483561e-02 9.99268159e-01 4.58313494e-04 2.11196122e+00] [-2.56461133e-02 -1.44013790e-03 9.99670047e-01 -1.69384436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.935898227 meters 0.07648049834642508 Centerline is valid? [True, True] Translation: X:119.40, Y:2.13, Z:-1.70 [[ 9.98463590e-01 5.00877690e-02 2.36996816e-02 1.19399390e+02] [-5.01118434e-02 9.98743523e-01 4.22628557e-04 2.13446917e+00] [-2.36487350e-02 -1.60961396e-03 9.99719034e-01 -1.70053599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99589822699998 meters 0.07752329789690275 Centerline is valid? [True, True] Translation: X:119.46, Y:2.14, Z:-1.70 [[ 9.98301278e-01 5.33859906e-02 2.33343824e-02 1.19460241e+02] [-5.34102233e-02 9.98572569e-01 4.16057040e-04 2.13781757e+00] [-2.32788625e-02 -1.66164485e-03 9.99727630e-01 -1.70300651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.055898227 meters 0.06589894688936805 Centerline is valid? [True, True] Translation: X:119.52, Y:2.12, Z:-1.70 [[ 9.98548443e-01 4.67358665e-02 2.67724703e-02 1.19520953e+02] [-4.67653714e-02 9.98905788e-01 4.76656869e-04 2.12360068e+00] [-2.67208985e-02 -1.72798949e-03 9.99641440e-01 -1.69858735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.115898227 meters 0.06241758009632334 Centerline is valid? [True, True] Translation: X:119.58, Y:2.11, Z:-1.70 [[ 9.98784213e-01 3.90194871e-02 3.01260039e-02 1.19581571e+02] [-3.90533556e-02 9.99236983e-01 5.36429382e-04 2.11384782e+00] [-3.00820861e-02 -1.71229874e-03 9.99545965e-01 -1.69752951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.175898227 meters 0.05289050290927465 Centerline is valid? [True, True] Translation: X:119.64, Y:2.10, Z:-1.70 [[ 9.99008605e-01 3.32051251e-02 2.96517722e-02 1.19642818e+02] [-3.32353833e-02 9.99447413e-01 5.28044984e-04 2.10142338e+00] [-2.96178532e-02 -1.51300950e-03 9.99560150e-01 -1.69885527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.235898227 meters 0.05150701024233126 Centerline is valid? [True, True] Translation: X:119.70, Y:2.09, Z:-1.71 [[ 9.99171363e-01 3.16407539e-02 2.56017474e-02 1.19703991e+02] [-3.16627895e-02 9.99498504e-01 4.55685751e-04 2.09197388e+00] [-2.55744900e-02 -1.26593089e-03 9.99672118e-01 -1.70585641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.295898227 meters 0.05933882571784342 Centerline is valid? [True, True] Translation: X:119.76, Y:2.10, Z:-1.71 [[ 9.99105507e-01 3.37518155e-02 2.54755015e-02 1.19764431e+02] [-3.37743022e-02 9.99429383e-01 4.52797534e-04 2.09719906e+00] [-2.54456820e-02 -1.31280980e-03 9.99675344e-01 -1.70815604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.355898227 meters 0.060772825944037115 Centerline is valid? [True, True] Translation: X:119.82, Y:2.09, Z:-1.71 [[ 9.98917248e-01 3.73780609e-02 2.76986042e-02 1.19824809e+02] [-3.74060249e-02 9.99300029e-01 4.91942396e-04 2.09391609e+00] [-2.76608281e-02 -1.52750442e-03 9.99616199e-01 -1.70571052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.415898227 meters 0.06770452124462639 Centerline is valid? [True, True] Translation: X:119.89, Y:2.10, Z:-1.71 [[ 9.98572302e-01 4.53912094e-02 2.81601651e-02 1.19885155e+02] [-4.54232856e-02 9.98967705e-01 5.00091412e-04 2.09860794e+00] [-2.81083957e-02 -1.77850465e-03 9.99603299e-01 -1.70781425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.47589822700002 meters 0.07762588295272725 Centerline is valid? [True, True] Translation: X:119.94, Y:2.11, Z:-1.71 [[ 9.98354269e-01 5.03384836e-02 2.74734483e-02 1.19943989e+02] [-5.03708728e-02 9.98730463e-01 4.87701828e-04 2.11145791e+00] [-2.74140196e-02 -1.87076077e-03 9.99622415e-01 -1.71059938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.535898227 meters 0.07986085468746422 Centerline is valid? [True, True] Translation: X:120.00, Y:2.12, Z:-1.72 [[ 9.98245752e-01 5.31382588e-02 2.61102214e-02 1.20004575e+02] [-5.31684717e-02 9.98585449e-01 4.63764717e-04 2.11530448e+00] [-2.60486435e-02 -1.85119173e-03 9.99658962e-01 -1.71567384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.595898227 meters 0.07581717486761368 Centerline is valid? [True, True] Translation: X:120.07, Y:2.11, Z:-1.72 [[ 9.98350772e-01 5.28349331e-02 2.24545336e-02 1.20066626e+02] [-5.28572237e-02 9.98602000e-01 3.99926090e-04 2.10980555e+00] [-2.24020121e-02 -1.58615082e-03 9.99747785e-01 -1.72362589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.655898227 meters 0.08363670639148009 Centerline is valid? [True, True] Translation: X:120.13, Y:2.12, Z:-1.73 [[ 9.98349209e-01 5.31148669e-02 2.18556183e-02 1.20127028e+02] [-5.31359725e-02 9.98587212e-01 3.85682167e-04 2.11983256e+00] [-2.18042555e-02 -1.54636502e-03 9.99761063e-01 -1.72685248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.715898227 meters 0.0773028728347613 Centerline is valid? [True, True] Translation: X:120.19, Y:2.11, Z:-1.73 [[ 9.98277631e-01 5.42638789e-02 2.22980376e-02 1.20188813e+02] [-5.42860542e-02 9.98525349e-01 3.89944006e-04 2.11344991e+00] [-2.22439959e-02 -1.59974486e-03 9.99751292e-01 -1.72697429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.775898227 meters 0.07651921450647478 Centerline is valid? [True, True] Translation: X:120.25, Y:2.12, Z:-1.73 [[ 9.98038133e-01 5.80461505e-02 2.34633800e-02 1.20250155e+02] [-5.80717307e-02 9.98312329e-01 4.09742889e-04 2.11604072e+00] [-2.33999975e-02 -1.77149811e-03 9.99724613e-01 -1.72665648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.835898227 meters 0.0780435741448608 Centerline is valid? [True, True] Translation: X:120.31, Y:2.12, Z:-1.73 [[ 9.97986047e-01 5.85361814e-02 2.44410800e-02 1.20312433e+02] [-5.85640906e-02 9.98283559e-01 4.27058171e-04 2.11853989e+00] [-2.43741300e-02 -1.85756772e-03 9.99701181e-01 -1.72829019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.895898227 meters 0.07317102958592094 Centerline is valid? [True, True] Translation: X:120.37, Y:2.12, Z:-1.73 [[ 9.98135538e-01 5.58377625e-02 2.46493807e-02 1.20372762e+02] [-5.58652128e-02 9.98438229e-01 4.25873884e-04 2.11863286e+00] [-2.45871042e-02 -1.80212276e-03 9.99696067e-01 -1.72836627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.955898227 meters 0.06812876851136539 Centerline is valid? [True, True] Translation: X:120.43, Y:2.11, Z:-1.73 [[ 9.98535778e-01 4.74928726e-02 2.58983840e-02 1.20432259e+02] [-4.75203810e-02 9.98870168e-01 4.47403772e-04 2.11234290e+00] [-2.58478747e-02 -1.67744975e-03 9.99664480e-01 -1.72964354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.015898227 meters 0.060698687085104126 Centerline is valid? [True, True] Translation: X:120.49, Y:2.10, Z:-1.73 [[ 9.98821954e-01 4.00279455e-02 2.74311626e-02 1.20493121e+02] [-4.00560144e-02 9.99197323e-01 4.74298695e-04 2.10067294e+00] [-2.73901590e-02 -1.57252299e-03 9.99623582e-01 -1.72846055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.075898227 meters 0.05402111154697394 Centerline is valid? [True, True] Translation: X:120.55, Y:2.09, Z:-1.73 [[ 9.99029932e-01 3.18536780e-02 3.04062151e-02 1.20553425e+02] [-3.18843844e-02 9.99491426e-01 5.25430037e-04 2.08753730e+00] [-3.03740144e-02 -1.49440378e-03 9.99537486e-01 -1.72579415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.135898227 meters 0.050342232457546106 Centerline is valid? [True, True] Translation: X:120.61, Y:2.08, Z:-1.72 [[ 9.99123232e-01 2.64824366e-02 3.24260393e-02 1.20613266e+02] [-2.65145335e-02 9.99648271e-01 5.60179609e-04 2.07745674e+00] [-3.23997992e-02 -1.41944977e-03 9.99473981e-01 -1.72439127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.19589822700001 meters 0.048885504252433626 Centerline is valid? [True, True] Translation: X:120.67, Y:2.07, Z:-1.73 [[ 9.99272755e-01 2.44793088e-02 2.92356885e-02 1.20673894e+02] [-2.45045515e-02 9.99699591e-01 5.05397635e-04 2.06968403e+00] [-2.92145340e-02 -1.22143752e-03 9.99572418e-01 -1.73144139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.25589822700002 meters 0.04850568079471529 Centerline is valid? [True, True] Translation: X:120.74, Y:2.06, Z:-1.73 [[ 9.99275552e-01 2.34757163e-02 2.99543469e-02 1.20736477e+02] [-2.35017446e-02 9.99723662e-01 5.17112371e-04 2.06499102e+00] [-2.99339298e-02 -1.22071716e-03 9.99551134e-01 -1.73150908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.315898227 meters 0.042096884965264994 Centerline is valid? [True, True] Translation: X:120.80, Y:2.05, Z:-1.73 [[ 9.99270093e-01 2.00994677e-02 3.24852779e-02 1.20798033e+02] [-2.01281410e-02 9.99797254e-01 5.55840685e-04 2.05139160e+00] [-3.24675195e-02 -1.20930323e-03 9.99472060e-01 -1.72857426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.375898227 meters 0.04443859268048098 Centerline is valid? [True, True] Translation: X:120.86, Y:2.05, Z:-1.73 [[ 9.99309999e-01 1.83089974e-02 3.23157364e-02 1.20858305e+02] [-1.83364208e-02 9.99831721e-01 5.52433146e-04 2.05064966e+00] [-3.23001839e-02 -1.14460691e-03 9.99477558e-01 -1.73079684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.435898227 meters 0.04732036455387617 Centerline is valid? [True, True] Translation: X:120.92, Y:2.06, Z:-1.74 [[ 9.99339993e-01 2.04305264e-02 3.00361802e-02 1.20919626e+02] [-2.04551152e-02 9.99790641e-01 5.11571374e-04 2.05572995e+00] [-3.00194402e-02 -1.12562726e-03 9.99548681e-01 -1.73739238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.495898227 meters 0.050720898741100674 Centerline is valid? [True, True] Translation: X:120.98, Y:2.06, Z:-1.75 [[ 9.99381749e-01 2.28820587e-02 2.66932743e-02 1.20980629e+02] [-2.29022542e-02 9.99737607e-01 4.51060193e-04 2.06271845e+00] [-2.66759489e-02 -1.06211748e-03 9.99643569e-01 -1.74588195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.555898227 meters 0.053819622442354484 Centerline is valid? [True, True] Translation: X:121.04, Y:2.07, Z:-1.75 [[ 9.99365305e-01 2.42608140e-02 2.60844865e-02 1.21041155e+02] [-2.42805533e-02 9.99705087e-01 4.40237448e-04 2.07016543e+00] [-2.60661134e-02 -1.07330380e-03 9.99659645e-01 -1.74859248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.615898227 meters 0.053637973808507516 Centerline is valid? [True, True] Translation: X:121.10, Y:2.07, Z:-1.75 [[ 9.99409330e-01 2.34718142e-02 2.51011105e-02 1.21102648e+02] [-2.34898459e-02 9.99723986e-01 4.23707809e-04 2.07264198e+00] [-2.50842371e-02 -1.01307876e-03 9.99684828e-01 -1.75263570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.675898227 meters 0.03876590237155851 Centerline is valid? [True, True] Translation: X:121.16, Y:2.06, Z:-1.76 [[ 9.99501138e-01 2.10388672e-02 2.35550582e-02 1.21163913e+02] [-2.10539797e-02 9.99778263e-01 3.93736734e-04 2.05560190e+00] [-2.35415514e-02 -8.89468031e-04 9.99722464e-01 -1.75566526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.735898227 meters 0.03791741484793417 Centerline is valid? [True, True] Translation: X:121.22, Y:2.05, Z:-1.76 [[ 9.99562260e-01 1.87403605e-02 2.28929640e-02 1.21224160e+02] [-1.87540191e-02 9.99824055e-01 3.82062906e-04 2.05369480e+00] [-2.28817761e-02 -8.11230745e-04 9.99737849e-01 -1.75858431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.795898227 meters 0.03878878408776099 Centerline is valid? [True, True] Translation: X:121.29, Y:2.05, Z:-1.76 [[ 9.99521486e-01 2.00555989e-02 2.35493661e-02 1.21286686e+02] [-2.00704322e-02 9.99798491e-01 3.93668046e-04 2.05498028e+00] [-2.35367255e-02 -8.66125626e-04 9.99722598e-01 -1.75745776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.855898227 meters 0.0575980897203256 Centerline is valid? [True, True] Translation: X:121.35, Y:2.08, Z:-1.76 [[ 9.99392034e-01 2.35053167e-02 2.57499881e-02 1.21346325e+02] [-2.35240588e-02 9.99723181e-01 4.25126002e-04 2.08110834e+00] [-2.57328673e-02 -1.03061177e-03 9.99668324e-01 -1.75741148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.915898227 meters 0.04595918183309342 Centerline is valid? [True, True] Translation: X:121.41, Y:2.07, Z:-1.75 [[ 9.99239597e-01 2.74905686e-02 2.76495353e-02 1.21407761e+02] [-2.75137019e-02 9.99621322e-01 4.56494520e-04 2.06744789e+00] [-2.76265158e-02 -1.21688847e-03 9.99617574e-01 -1.75398254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.97589822700002 meters 0.04908989036610619 Centerline is valid? [True, True] Translation: X:121.47, Y:2.07, Z:-1.76 [[ 9.99112609e-01 3.15691888e-02 2.78815649e-02 1.21468032e+02] [-3.15942935e-02 9.99500670e-01 4.60222180e-04 2.07343064e+00] [-2.78531140e-02 -1.34071213e-03 9.99611128e-01 -1.75639457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.035898227 meters 0.055238662026041566 Centerline is valid? [True, True] Translation: X:121.53, Y:2.08, Z:-1.76 [[ 9.99012797e-01 3.36897715e-02 2.89556562e-02 1.21529451e+02] [-3.37177358e-02 9.99431281e-01 4.77905775e-04 2.07608264e+00] [-2.89230881e-02 -1.45375315e-03 9.99580583e-01 -1.75752482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.095898227 meters 0.05345304111967705 Centerline is valid? [True, True] Translation: X:121.59, Y:2.08, Z:-1.76 [[ 9.98846653e-01 3.67344171e-02 3.09183882e-02 1.21590191e+02] [-3.67677342e-02 9.99323708e-01 5.09544023e-04 2.08035045e+00] [-3.08787605e-02 -1.64575542e-03 9.99521782e-01 -1.75520364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.155898227 meters 0.06312432402460545 Centerline is valid? [True, True] Translation: X:121.65, Y:2.09, Z:-1.76 [[ 9.98700410e-01 4.03713428e-02 3.11070025e-02 1.21649070e+02] [-4.04068150e-02 9.99183180e-01 5.12299443e-04 2.09401776e+00] [-3.10609114e-02 -1.76856856e-03 9.99515929e-01 -1.75623923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.215898227 meters 0.0605954982493082 Centerline is valid? [True, True] Translation: X:121.71, Y:2.09, Z:-1.76 [[ 9.98501044e-01 4.55384046e-02 3.03631310e-02 1.21709909e+02] [-4.55745459e-02 9.98960816e-01 4.98954115e-04 2.09135674e+00] [-3.03088566e-02 -1.88199211e-03 9.99538809e-01 -1.76020375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.275898227 meters 0.07683187326326606 Centerline is valid? [True, True] Translation: X:121.77, Y:2.11, Z:-1.77 [[ 9.98359539e-01 4.93946485e-02 2.89551250e-02 1.21769697e+02] [-4.94291266e-02 9.98777520e-01 4.75754556e-04 2.11402375e+00] [-2.88962282e-02 -1.90620064e-03 9.99580599e-01 -1.76518684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.335898227 meters 0.06711138610802372 Centerline is valid? [True, True] Translation: X:121.83, Y:2.10, Z:-1.77 [[ 9.98306786e-01 5.16047582e-02 2.68423185e-02 1.21830305e+02] [-5.16351635e-02 9.98665918e-01 4.40382495e-04 2.10461971e+00] [-2.67837828e-02 -1.82564434e-03 9.99639583e-01 -1.76962308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.395898227 meters 0.07022073139527045 Centerline is valid? [True, True] Translation: X:121.89, Y:2.12, Z:-1.78 [[ 9.98369707e-01 5.17955737e-02 2.39822279e-02 1.21891015e+02] [-5.18199064e-02 9.98656368e-01 3.93845074e-04 2.11554058e+00] [-2.39296052e-02 -1.63595979e-03 9.99712307e-01 -1.77714420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.455898227 meters 0.07002039574641503 Centerline is valid? [True, True] Translation: X:121.95, Y:2.12, Z:-1.78 [[ 9.98433859e-01 5.12213994e-02 2.24988348e-02 1.21953496e+02] [-5.12425847e-02 9.98686169e-01 3.65731239e-04 2.11951239e+00] [-2.24505419e-02 -1.51805690e-03 9.99746802e-01 -1.78041787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.515898227 meters 0.07206130812678045 Centerline is valid? [True, True] Translation: X:122.02, Y:2.13, Z:-1.78 [[ 9.98448088e-01 5.13214562e-02 2.16223099e-02 1.22015170e+02] [-5.13410405e-02 9.98681117e-01 3.51233802e-04 2.13068826e+00] [-2.15757668e-02 -1.46080060e-03 9.99766149e-01 -1.78357059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.575898227 meters 0.08440701155297776 Centerline is valid? [True, True] Translation: X:122.08, Y:2.16, Z:-1.79 [[ 9.98446065e-01 5.18499356e-02 2.04215611e-02 1.22075891e+02] [-5.18674446e-02 9.98653924e-01 3.28294155e-04 2.15636624e+00] [-2.03770501e-02 -1.38699819e-03 9.99791404e-01 -1.79020482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.635898227 meters 0.06744548428863223 Centerline is valid? [True, True] Translation: X:122.14, Y:2.14, Z:-1.79 [[ 9.98529602e-01 5.02999994e-02 2.02124799e-02 1.22137405e+02] [-5.03167540e-02 9.98733258e-01 3.20890957e-04 2.14029416e+00] [-2.01707350e-02 -1.33744550e-03 9.99795655e-01 -1.78973359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.69589822700001 meters 0.06361849559284384 Centerline is valid? [True, True] Translation: X:122.20, Y:2.15, Z:-1.78 [[ 9.98673489e-01 4.57513087e-02 2.36237241e-02 1.22197306e+02] [-4.57729124e-02 9.98951801e-01 3.74280014e-04 2.14558894e+00] [-2.35818379e-02 -1.45511018e-03 9.99720851e-01 -1.78458721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.75589822700002 meters 0.05587838285406503 Centerline is valid? [True, True] Translation: X:122.26, Y:2.14, Z:-1.78 [[ 9.98916796e-01 3.82077126e-02 2.65594814e-02 1.22257849e+02] [-3.82323559e-02 9.99268788e-01 4.20482054e-04 2.13822510e+00] [-2.65239951e-02 -1.43545813e-03 9.99647146e-01 -1.78040559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.815898227 meters 0.05194671620576854 Centerline is valid? [True, True] Translation: X:122.32, Y:2.12, Z:-1.78 [[ 9.99162470e-01 2.81564393e-02 2.96913189e-02 1.22318774e+02] [-2.81828146e-02 9.99602675e-01 4.70123345e-04 2.12306971e+00] [-2.96662848e-02 -1.30651454e-03 9.99559005e-01 -1.77890685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.875898227 meters 0.04480136646306224 Centerline is valid? [True, True] Translation: X:122.38, Y:2.12, Z:-1.78 [[ 9.99139834e-01 2.75395879e-02 3.10026381e-02 1.22381483e+02] [-2.75680375e-02 9.99619809e-01 4.90500584e-04 2.11933102e+00] [-3.09773430e-02 -1.34476056e-03 9.99519182e-01 -1.77871384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.935898227 meters 0.04312507961389141 Centerline is valid? [True, True] Translation: X:122.44, Y:2.11, Z:-1.78 [[ 9.99090664e-01 2.90682940e-02 3.11910145e-02 1.22443644e+02] [-2.90977489e-02 9.99576450e-01 4.90753558e-04 2.11474932e+00] [-3.11635382e-02 -1.39789561e-03 9.99513321e-01 -1.77967904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.995898227 meters 0.05008247270288349 Centerline is valid? [True, True] Translation: X:122.50, Y:2.12, Z:-1.79 [[ 9.99035821e-01 3.36136820e-02 2.82409083e-02 1.22502932e+02] [-3.36396000e-02 9.99433930e-01 4.43013709e-04 2.11922219e+00] [-2.82100307e-02 -1.39259942e-03 9.99601048e-01 -1.78518114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.055898227 meters 0.0520720892786878 Centerline is valid? [True, True] Translation: X:122.56, Y:2.12, Z:-1.79 [[ 9.98991478e-01 3.54059874e-02 2.76123678e-02 1.22564222e+02] [-3.54314556e-02 9.99372015e-01 4.33472303e-04 2.12111727e+00] [-2.75796801e-02 -1.41138152e-03 9.99618612e-01 -1.78892760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.115898227 meters 0.0551954320270239 Centerline is valid? [True, True] Translation: X:122.62, Y:2.12, Z:-1.79 [[ 9.98956396e-01 3.66934659e-02 2.71975663e-02 1.22624820e+02] [-3.67186371e-02 9.99325552e-01 4.26482775e-04 2.12266453e+00] [-2.71635739e-02 -1.42469526e-03 9.99629987e-01 -1.79073517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.175898227 meters 0.05344508163110976 Centerline is valid? [True, True] Translation: X:122.69, Y:2.12, Z:-1.79 [[ 9.99013686e-01 3.49540543e-02 2.73837504e-02 1.22686093e+02] [-3.49788550e-02 9.99387961e-01 4.27033397e-04 2.11644936e+00] [-2.73520639e-02 -1.38446444e-03 9.99624904e-01 -1.79218458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.235898227 meters 0.04864650836330608 Centerline is valid? [True, True] Translation: X:122.75, Y:2.11, Z:-1.80 [[ 9.99222787e-01 3.04356215e-02 2.50498525e-02 1.22746557e+02] [-3.04549410e-02 9.99536065e-01 3.90008253e-04 2.10611360e+00] [-2.50263608e-02 -1.15259691e-03 9.99686127e-01 -1.79762728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.295898227 meters 0.041383336948983745 Centerline is valid? [True, True] Translation: X:122.81, Y:2.09, Z:-1.80 [[ 9.99425295e-01 2.44707124e-02 2.34577034e-02 1.22807348e+02] [-2.44860131e-02 9.99700106e-01 3.65216274e-04 2.09039701e+00] [-2.34417315e-02 -9.39392016e-04 9.99724764e-01 -1.80203098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.355898227 meters 0.047045374623921735 Centerline is valid? [True, True] Translation: X:122.87, Y:2.09, Z:-1.80 [[ 9.99366532e-01 2.53076423e-02 2.50211464e-02 1.22868355e+02] [-2.53253318e-02 9.99679186e-01 3.90299521e-04 2.09472348e+00] [-2.50032418e-02 -1.02372112e-03 9.99686846e-01 -1.80160127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.415898227 meters 0.055133236944842706 Centerline is valid? [True, True] Translation: X:122.93, Y:2.10, Z:-1.80 [[ 9.99181408e-01 3.25219267e-02 2.40590361e-02 1.22928527e+02] [-3.25402639e-02 9.99470357e-01 3.70964510e-04 2.10434856e+00] [-2.40342289e-02 -1.15354823e-03 9.99710471e-01 -1.80440452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.47589822700002 meters 0.054695019517617564 Centerline is valid? [True, True] Translation: X:122.99, Y:2.10, Z:-1.81 [[ 9.98969328e-01 3.84077444e-02 2.41893878e-02 1.22989203e+02] [-3.84280003e-02 9.99261302e-01 3.72932463e-04 2.10315905e+00] [-2.41571956e-02 -1.30209789e-03 9.99707324e-01 -1.80541465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.535898227 meters 0.06256770326225083 Centerline is valid? [True, True] Translation: X:123.05, Y:2.11, Z:-1.80 [[ 9.98780720e-01 4.13717187e-02 2.69342495e-02 1.23049026e+02] [-4.13979090e-02 9.99142653e-01 4.15256226e-04 2.11313391e+00] [-2.68939777e-02 -1.52977152e-03 9.99637121e-01 -1.80323990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.595898227 meters 0.05955955330082894 Centerline is valid? [True, True] Translation: X:123.11, Y:2.11, Z:-1.80 [[ 9.98682618e-01 4.24994859e-02 2.87545114e-02 1.23111419e+02] [-4.25297788e-02 9.99095102e-01 4.42459099e-04 2.10883366e+00] [-2.87096872e-02 -1.66479922e-03 9.99586406e-01 -1.80217161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.655898227 meters 0.060500198904591254 Centerline is valid? [True, True] Translation: X:123.17, Y:2.11, Z:-1.81 [[ 9.98639932e-01 4.39941947e-02 2.79785019e-02 1.23172921e+02] [-4.40234282e-02 9.99030407e-01 4.29441347e-04 2.10740995e+00] [-2.79324812e-02 -1.66056685e-03 9.99608433e-01 -1.80555081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.715898227 meters 0.06128864200309386 Centerline is valid? [True, True] Translation: X:123.23, Y:2.11, Z:-1.81 [[ 9.98525039e-01 4.65325322e-02 2.79726648e-02 1.23233759e+02] [-4.65626221e-02 9.98915283e-01 4.24931602e-04 2.10918134e+00] [-2.79225493e-02 -1.72678547e-03 9.99608598e-01 -1.80735001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.775898227 meters 0.06591992620305917 Centerline is valid? [True, True] Translation: X:123.29, Y:2.12, Z:-1.81 [[ 9.98328402e-01 5.06496929e-02 2.78390150e-02 1.23294245e+02] [-5.06810848e-02 9.98714799e-01 4.22737157e-04 2.11788869e+00] [-2.77818248e-02 -1.83294199e-03 9.99612330e-01 -1.80919451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.835898227 meters 0.06999481739916122 Centerline is valid? [True, True] Translation: X:123.35, Y:2.13, Z:-1.81 [[ 9.98076050e-01 5.64878928e-02 2.55600464e-02 1.23354371e+02] [-5.65162528e-02 9.98401604e-01 3.87932871e-04 2.12870729e+00] [-2.54972778e-02 -1.83174455e-03 9.99673213e-01 -1.81377901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.895898227 meters 0.07654021844628951 Centerline is valid? [True, True] Translation: X:123.41, Y:2.14, Z:-1.82 [[ 9.98164473e-01 5.53549350e-02 2.45665679e-02 1.23414345e+02] [-5.53807906e-02 9.98465237e-01 3.72839038e-04 2.13914480e+00] [-2.45082256e-02 -1.73267064e-03 9.99698127e-01 -1.81930383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.955898227 meters 0.07942333991530706 Centerline is valid? [True, True] Translation: X:123.47, Y:2.14, Z:-1.82 [[ 9.98419370e-01 5.03910949e-02 2.48897281e-02 1.23474264e+02] [-5.04160903e-02 9.98728229e-01 3.77350021e-04 2.14112517e+00] [-2.48390589e-02 -1.63159635e-03 9.99690132e-01 -1.82085434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.015898227 meters 0.056581651125175776 Centerline is valid? [True, True] Translation: X:123.54, Y:2.11, Z:-1.82 [[ 9.98605935e-01 4.59180715e-02 2.60329981e-02 1.23535242e+02] [-4.59439103e-02 9.98943943e-01 3.94962802e-04 2.10868290e+00] [-2.59873698e-02 -1.59046993e-03 9.99661006e-01 -1.81871900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.075898227 meters 0.06550758963837229 Centerline is valid? [True, True] Translation: X:123.59, Y:2.12, Z:-1.82 [[ 9.98549243e-01 4.83156303e-02 2.37699292e-02 1.23594348e+02] [-4.83378467e-02 9.98830978e-01 3.60620593e-04 2.12165025e+00] [-2.37247180e-02 -1.50908461e-03 9.99717390e-01 -1.82428259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.135898227 meters 0.07141572139061685 Centerline is valid? [True, True] Translation: X:123.65, Y:2.13, Z:-1.83 [[ 9.98274302e-01 5.39732332e-02 2.31367148e-02 1.23654299e+02] [-5.39957968e-02 9.98541101e-01 3.51160106e-04 2.13154899e+00] [-2.30840074e-02 -1.59983946e-03 9.99732249e-01 -1.82651089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.19589822700001 meters 0.07579989035952331 Centerline is valid? [True, True] Translation: X:123.71, Y:2.14, Z:-1.83 [[ 9.97913291e-01 6.00514344e-02 2.37252622e-02 1.23714378e+02] [-6.00768761e-02 9.98193688e-01 3.60393592e-04 2.14005603e+00] [-2.36607648e-02 -1.78498120e-03 9.99718451e-01 -1.82601529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.25589822700002 meters 0.08474739117480307 Centerline is valid? [True, True] Translation: X:123.77, Y:2.16, Z:-1.82 [[ 9.97350730e-01 6.71354964e-02 2.80061962e-02 1.23774134e+02] [-6.71737192e-02 9.97741204e-01 4.25150168e-04 2.15763641e+00] [-2.79143932e-02 -2.30530419e-03 9.99607659e-01 -1.82223928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.315898227 meters 0.08243237235987533 Centerline is valid? [True, True] Translation: X:123.84, Y:2.16, Z:-1.82 [[ 9.97277113e-01 6.79989778e-02 2.85394308e-02 1.23835747e+02] [-6.80390179e-02 9.97682567e-01 4.33103890e-04 2.15868702e+00] [-2.84438419e-02 -2.37371944e-03 9.99592574e-01 -1.82408560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.375898227 meters 0.09021734649099176 Centerline is valid? [True, True] Translation: X:123.90, Y:2.17, Z:-1.83 [[ 9.97412973e-01 6.65172840e-02 2.72545783e-02 1.23895623e+02] [-6.65531899e-02 9.97782794e-01 4.11437150e-04 2.17220004e+00] [-2.71667816e-02 -2.22425187e-03 9.99628440e-01 -1.82915628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.435898227 meters 0.08033636025469856 Centerline is valid? [True, True] Translation: X:123.96, Y:2.17, Z:-1.83 [[ 9.97405686e-01 6.73584434e-02 2.53916782e-02 1.23957836e+02] [-6.73898823e-02 9.97726644e-01 3.83515882e-04 2.16554312e+00] [-2.53081209e-02 -2.09366313e-03 9.99677506e-01 -1.83333548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.495898227 meters 0.0918394979208407 Centerline is valid? [True, True] Translation: X:124.02, Y:2.18, Z:-1.84 [[ 9.97354772e-01 6.81457913e-02 2.52905121e-02 1.24019007e+02] [-6.81772056e-02 9.97673155e-01 3.80962070e-04 2.18323657e+00] [-2.52057041e-02 -2.10419078e-03 9.99680071e-01 -1.83584403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.555898227 meters 0.08999647313493067 Centerline is valid? [True, True] Translation: X:124.08, Y:2.18, Z:-1.84 [[ 9.97331217e-01 6.82030099e-02 2.60536545e-02 1.24081069e+02] [-6.82363220e-02 9.97669109e-01 3.90650849e-04 2.18426121e+00] [-2.59662827e-02 -2.16741384e-03 9.99660470e-01 -1.83683668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.615898227 meters 0.08393493725904753 Centerline is valid? [True, True] Translation: X:124.14, Y:2.17, Z:-1.84 [[ 9.97533593e-01 6.48534230e-02 2.68470376e-02 1.24142376e+02] [-6.48874650e-02 9.97892509e-01 3.97850220e-04 2.17110412e+00] [-2.67646557e-02 -2.13890517e-03 9.99639474e-01 -1.83865054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.675898227 meters 0.0803279693627987 Centerline is valid? [True, True] Translation: X:124.20, Y:2.17, Z:-1.84 [[ 9.97783564e-01 6.15251153e-02 2.53499464e-02 1.24202847e+02] [-6.15543914e-02 9.98103660e-01 3.75434306e-04 2.16554376e+00] [-2.52787757e-02 -1.93500270e-03 9.99678568e-01 -1.84259331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.735898227 meters 0.07436738213251515 Centerline is valid? [True, True] Translation: X:124.26, Y:2.16, Z:-1.85 [[ 9.97994307e-01 5.85484263e-02 2.40716821e-02 1.24263783e+02] [-5.85739596e-02 9.98283008e-01 3.56396676e-04 2.16274409e+00] [-2.40094847e-02 -1.76565559e-03 9.99710172e-01 -1.84597579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.795898227 meters 0.07291900486270221 Centerline is valid? [True, True] Translation: X:124.33, Y:2.16, Z:-1.85 [[ 9.98097608e-01 5.75473466e-02 2.21239239e-02 1.24325025e+02] [-5.75686663e-02 9.98341495e-01 3.27432265e-04 2.16145099e+00] [-2.20683884e-02 -1.60045415e-03 9.99755182e-01 -1.85026804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.855898227 meters 0.08132964327359625 Centerline is valid? [True, True] Translation: X:124.38, Y:2.17, Z:-1.85 [[ 9.98009148e-01 5.96177295e-02 2.05782870e-02 1.24384682e+02] [-5.96366009e-02 9.98220108e-01 3.04054538e-04 2.17412492e+00] [-2.05235328e-02 -1.53066830e-03 9.99788198e-01 -1.85437735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.915898227 meters 0.08239666237997911 Centerline is valid? [True, True] Translation: X:124.44, Y:2.18, Z:-1.85 [[ 9.97465190e-01 6.74754115e-02 2.25890296e-02 1.24444982e+02] [-6.75001436e-02 9.97719209e-01 3.33320872e-04 2.17977973e+00] [-2.25150177e-02 -1.85723871e-03 9.99744780e-01 -1.85059548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.97589822700002 meters 0.08863969313973462 Centerline is valid? [True, True] Translation: X:124.50, Y:2.19, Z:-1.85 [[ 9.97120318e-01 7.20563614e-02 2.36421818e-02 1.24504933e+02] [-7.20847275e-02 9.97398451e-01 3.48663120e-04 2.19454642e+00] [-2.35555521e-02 -2.05189931e-03 9.99720424e-01 -1.85143662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.035898227 meters 0.09880864196766553 Centerline is valid? [True, True] Translation: X:124.57, Y:2.21, Z:-1.85 [[ 9.96998629e-01 7.34659466e-02 2.44230936e-02 1.24565093e+02] [-7.34966454e-02 9.97295399e-01 3.60487894e-04 2.21471291e+00] [-2.43305553e-02 -2.15442138e-03 9.99701647e-01 -1.85218097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.095898227 meters 0.09069461136019753 Centerline is valid? [True, True] Translation: X:124.63, Y:2.21, Z:-1.85 [[ 9.97150562e-01 7.00168249e-02 2.80784609e-02 1.24626297e+02] [-7.00560384e-02 9.97542972e-01 4.14074191e-04 2.20936770e+00] [-2.79804791e-02 -2.37996005e-03 9.99605637e-01 -1.84587680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.155898227 meters 0.08682746891272934 Centerline is valid? [True, True] Translation: X:124.69, Y:2.21, Z:-1.84 [[ 9.97422748e-01 6.52662384e-02 2.98023358e-02 1.24686701e+02] [-6.53083035e-02 9.97865037e-01 4.39230394e-04 2.20650042e+00] [-2.97100420e-02 -2.38443838e-03 9.99555715e-01 -1.84492122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.215898227 meters 0.08475632515582303 Centerline is valid? [True, True] Translation: X:124.75, Y:2.21, Z:-1.85 [[ 9.97652137e-01 6.17871980e-02 2.95390701e-02 1.24747541e+02] [-6.18270081e-02 9.98086786e-01 4.35384515e-04 2.20501676e+00] [-2.94556544e-02 -2.26067462e-03 9.99563532e-01 -1.84818915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.275898227 meters 0.09373002496044504 Centerline is valid? [True, True] Translation: X:124.81, Y:2.22, Z:-1.85 [[ 9.97270113e-01 6.76311272e-02 2.96370257e-02 1.24807077e+02] [-6.76737559e-02 9.97707408e-01 4.36532725e-04 2.21818250e+00] [-2.95395569e-02 -2.44098988e-03 9.99560632e-01 -1.84883237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.335898227 meters 0.10342324213608105 Centerline is valid? [True, False] Translation: X:124.81, Y:2.22, Z:-1.85 [[ 9.97667546e-01 6.06927015e-02 3.12388319e-02 1.24808836e+02] [-6.10980593e-02 9.98057347e-01 1.21884907e-02 2.22196379e+00] [-3.04383932e-02 -1.40686936e-02 9.99437630e-01 -1.85145301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.395898227 meters 0.11840469840606878 Centerline is valid? [False, False] Translation: X:124.81, Y:2.23, Z:-1.86 [[ 9.97754767e-01 5.95421393e-02 3.06620002e-02 1.24812539e+02] [-5.98356902e-02 9.98169923e-01 8.74608547e-03 2.23424558e+00] [-3.00851257e-02 -1.05611304e-02 9.99491545e-01 -1.85653992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.455898227 meters 0.12173261683966816 Centerline is valid? [False, False] Translation: X:124.81, Y:2.24, Z:-1.85 [[ 9.98388123e-01 4.88319367e-02 2.89240065e-02 1.24811923e+02] [-4.93151148e-02 9.98651332e-01 1.62337920e-02 2.24155265e+00] [-2.80922701e-02 -1.76340158e-02 9.99449782e-01 -1.85464185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.515898227 meters 0.09770475930263003 Centerline is valid? [False, True] Translation: X:124.81, Y:2.25, Z:-1.85 [[ 9.99069678e-01 3.42650435e-02 2.61855820e-02 1.24811877e+02] [-3.47953061e-02 9.99192914e-01 2.00700731e-02 2.24717399e+00] [-2.54767461e-02 -2.09625368e-02 9.99455606e-01 -1.85279544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.575898227 meters 0.0863098520544604 Centerline is valid? [True, True] Translation: X:124.87, Y:2.25, Z:-1.86 [[ 9.99411705e-01 2.30718873e-02 2.53758209e-02 1.24872518e+02] [-2.31202904e-02 9.99731385e-01 1.61567158e-03 2.24568472e+00] [-2.53317280e-02 -2.20141744e-03 9.99676676e-01 -1.85991668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.635898227 meters 0.07714073749587581 Centerline is valid? [True, True] Translation: X:124.93, Y:2.24, Z:-1.86 [[ 9.99482159e-01 1.72402708e-02 2.71696005e-02 1.24934349e+02] [-1.72936201e-02 9.99848958e-01 1.72979895e-03 2.23765055e+00] [-2.71356746e-02 -2.19876394e-03 9.99629342e-01 -1.85768218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.69589822700001 meters 0.09045278290588595 Centerline is valid? [True, True] Translation: X:124.99, Y:2.26, Z:-1.85 [[ 9.99416136e-01 1.66210722e-02 2.98517408e-02 1.24993200e+02] [-1.66851967e-02 9.99858987e-01 1.90027183e-03 2.26133615e+00] [-2.98159468e-02 -2.39724450e-03 9.99552531e-01 -1.85465275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.75589822700002 meters 0.09604566036471318 Centerline is valid? [True, True] Translation: X:125.05, Y:2.28, Z:-1.86 [[ 9.99236212e-01 2.59198315e-02 2.92430193e-02 1.25052857e+02] [-2.59853078e-02 9.99660592e-01 1.86117837e-03 2.28085582e+00] [-2.91848526e-02 -2.61964568e-03 9.99570599e-01 -1.85899424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.815898227 meters 0.09226320798102516 Centerline is valid? [True, True] Translation: X:125.11, Y:2.28, Z:-1.86 [[ 9.99029859e-01 3.17843873e-02 3.04810199e-02 1.25113198e+02] [-3.18582236e-02 9.99490516e-01 1.93966394e-03 2.28472063e+00] [-3.04038393e-02 -2.90885334e-03 9.99533464e-01 -1.85950185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.875898227 meters 0.10661455221390626 Centerline is valid? [True, False] Translation: X:125.11, Y:2.29, Z:-1.86 [[ 9.99324370e-01 2.50509745e-02 2.68933589e-02 1.25113750e+02] [-2.54343577e-02 9.99578325e-01 1.40094947e-02 2.28796058e+00] [-2.65310672e-02 -1.46840448e-02 9.99540135e-01 -1.85742622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.935898227 meters 0.09591857629491934 Centerline is valid? [False, True] Translation: X:125.11, Y:2.29, Z:-1.86 [[ 9.99433839e-01 2.03077794e-02 2.68252866e-02 1.25114130e+02] [-2.05377544e-02 9.99754413e-01 8.32552655e-03 2.29382682e+00] [-2.66496257e-02 -8.87174411e-03 9.99605467e-01 -1.85848893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.995898227 meters 0.08654865012592314 Centerline is valid? [True, True] Translation: X:125.17, Y:2.29, Z:-1.86 [[ 9.99492389e-01 1.65552172e-02 2.72192886e-02 1.25174935e+02] [-1.66157141e-02 9.99859953e-01 1.99788648e-03 2.29078522e+00] [-2.71824012e-02 -2.44914024e-03 9.99627490e-01 -1.85891472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.055898227 meters 0.08352812103060635 Centerline is valid? [True, True] Translation: X:125.24, Y:2.29, Z:-1.86 [[ 9.99544689e-01 1.34843519e-02 2.69923376e-02 1.25235630e+02] [-1.35427326e-02 9.99906330e-01 1.98121764e-03 2.29431791e+00] [-2.69630938e-02 -2.34586558e-03 9.99633677e-01 -1.86144695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.115898227 meters 0.0801105488495345 Centerline is valid? [True, True] Translation: X:125.30, Y:2.30, Z:-1.87 [[ 9.99660992e-01 7.79119437e-03 2.48434784e-02 1.25295771e+02] [-7.83889689e-03 9.99967613e-01 1.82331171e-03 2.29652764e+00] [-2.48284680e-02 -2.01743906e-03 9.99689690e-01 -1.86811141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.175898227 meters 0.07880966346746686 Centerline is valid? [True, True] Translation: X:125.36, Y:2.30, Z:-1.87 [[ 9.99685767e-01 3.46742888e-03 2.48262818e-02 1.25355434e+02] [-3.51373429e-03 9.99992167e-01 1.82179680e-03 2.30473952e+00] [-2.48197704e-02 -1.90845728e-03 9.99690120e-01 -1.86779994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.235898227 meters 0.07625213083985746 Centerline is valid? [True, True] Translation: X:125.42, Y:2.31, Z:-1.87 [[ 9.99674105e-01 -4.69523132e-04 2.55237687e-02 1.25416170e+02] [ 4.21846827e-04 9.99998156e-01 1.87327026e-03 2.30757048e+00] [-2.55246011e-02 -1.86189265e-03 9.99672460e-01 -1.86882119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.295898227 meters 0.07244631355003217 Centerline is valid? [True, True] Translation: X:125.48, Y:2.31, Z:-1.87 [[ 9.99621439e-01 -5.24216881e-03 2.70092209e-02 1.25476013e+02] [ 5.19052158e-03 9.99984565e-01 1.98196204e-03 2.30987492e+00] [-2.70191938e-02 -1.84101980e-03 9.99633220e-01 -1.86852595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.355898227 meters 0.06526493383940182 Centerline is valid? [True, True] Translation: X:125.54, Y:2.31, Z:-1.87 [[ 9.99490331e-01 -1.46831252e-02 2.83457848e-02 1.25536161e+02] [ 1.46300186e-02 9.99890812e-01 2.08002089e-03 2.30992463e+00] [-2.83732310e-02 -1.66426141e-03 9.99596013e-01 -1.86900409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.415898227 meters 0.059941008119648025 Centerline is valid? [True, True] Translation: X:125.60, Y:2.31, Z:-1.87 [[ 9.99414822e-01 -1.81302279e-02 2.90053273e-02 1.25597141e+02] [ 1.80760650e-02 9.99834349e-01 2.12848118e-03 2.30801241e+00] [-2.90391123e-02 -1.60293346e-03 9.99576991e-01 -1.86986168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.47589822700002 meters 0.05573603770998534 Centerline is valid? [True, True] Translation: X:125.66, Y:2.31, Z:-1.87 [[ 9.99221874e-01 -2.53167812e-02 3.02441151e-02 1.25656802e+02] [ 2.52611732e-02 9.99678422e-01 2.21937592e-03 2.30715126e+00] [-3.02905767e-02 -1.45364714e-03 9.99540078e-01 -1.86948562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.535898227 meters 0.04691695420831265 Centerline is valid? [True, True] Translation: X:125.72, Y:2.30, Z:-1.87 [[ 9.98954161e-01 -3.34658673e-02 3.11547632e-02 1.25717705e+02] [ 3.34108013e-02 9.99439088e-01 2.28654784e-03 2.29892288e+00] [-3.12138094e-02 -1.24325088e-03 9.99511957e-01 -1.86848958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.595898227 meters 0.03416351868629167 Centerline is valid? [True, True] Translation: X:125.78, Y:2.28, Z:-1.87 [[ 9.98532829e-01 -4.30341501e-02 3.28671805e-02 1.25779707e+02] [ 4.29780392e-02 9.99073105e-01 2.41209913e-03 2.28410094e+00] [-3.29405187e-02 -9.95993196e-04 9.99456818e-01 -1.86724670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.655898227 meters 0.031420476143940446 Centerline is valid? [True, True] Translation: X:125.84, Y:2.28, Z:-1.87 [[ 9.98445648e-01 -4.50674692e-02 3.27904024e-02 1.25841118e+02] [ 4.50127250e-02 9.98983516e-01 2.40617422e-03 2.28328481e+00] [-3.28655117e-02 -9.26448818e-04 9.99459354e-01 -1.86921593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.715898227 meters 0.03329598093388294 Centerline is valid? [True, True] Translation: X:125.90, Y:2.29, Z:-1.87 [[ 9.98559770e-01 -4.32418094e-02 3.17573997e-02 1.25903220e+02] [ 4.31895634e-02 9.99064179e-01 2.32961003e-03 2.28935926e+00] [-3.18284171e-02 -9.54666626e-04 9.99492892e-01 -1.87327686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.775898227 meters 0.03726668033094578 Centerline is valid? [True, True] Translation: X:125.96, Y:2.30, Z:-1.88 [[ 9.98826504e-01 -3.97433324e-02 2.76782046e-02 1.25963664e+02] [ 3.97023414e-02 9.99209491e-01 2.02918020e-03 2.30014990e+00] [-2.77369711e-02 -9.27909439e-04 9.99614826e-01 -1.88142664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.835898227 meters 0.045062430017581444 Centerline is valid? [True, True] Translation: X:126.02, Y:2.32, Z:-1.89 [[ 9.99114075e-01 -3.37469325e-02 2.51437974e-02 1.26021686e+02] [ 3.37112194e-02 9.99429916e-01 1.84300468e-03 2.31993395e+00] [-2.51916591e-02 -9.93743850e-04 9.99682146e-01 -1.88860405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.895898227 meters 0.04709883827204993 Centerline is valid? [True, True] Translation: X:126.08, Y:2.33, Z:-1.89 [[ 9.99112140e-01 -3.31381639e-02 2.60152442e-02 1.26082651e+02] [ 3.30997630e-02 9.99450236e-01 1.90544967e-03 2.33266651e+00] [-2.60640851e-02 -1.04265949e-03 9.99659730e-01 -1.88976556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.955898227 meters 0.04249147495525021 Centerline is valid? [True, True] Translation: X:126.14, Y:2.34, Z:-1.89 [[ 9.98966733e-01 -3.66502622e-02 2.68742357e-02 1.26143351e+02] [ 3.66105890e-02 9.99327672e-01 1.96696760e-03 2.34087226e+00] [-2.69282573e-02 -9.81053595e-04 9.99636887e-01 -1.88966407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.015898227 meters 0.036891429504086116 Centerline is valid? [True, True] Translation: X:126.20, Y:2.34, Z:-1.89 [[ 9.98689816e-01 -4.33994742e-02 2.71134128e-02 1.26203274e+02] [ 4.33615876e-02 9.99057474e-01 1.98400470e-03 2.34400908e+00] [-2.71739624e-02 -8.05724669e-04 9.99630395e-01 -1.89016866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.075898227 meters 0.018912022466339138 Centerline is valid? [True, True] Translation: X:126.27, Y:2.33, Z:-1.89 [[ 9.97977965e-01 -5.80133668e-02 2.59698168e-02 1.26265371e+02] [ 5.79835488e-02 9.98315730e-01 1.90038452e-03 2.33289327e+00] [-2.60363243e-02 -3.90719739e-04 9.99660921e-01 -1.89255778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.135898227 meters 0.011618359534104714 Centerline is valid? [True, True] Translation: X:126.33, Y:2.33, Z:-1.89 [[ 9.97320149e-01 -6.76899090e-02 2.77596101e-02 1.26326291e+02] [ 6.76595939e-02 9.97706397e-01 2.03096925e-03 2.32911223e+00] [-2.78334167e-02 -1.47322608e-04 9.99612565e-01 -1.88970306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.19589822700001 meters 0.010453000071758258 Centerline is valid? [True, True] Translation: X:126.39, Y:2.33, Z:-1.89 [[ 9.96713233e-01 -7.51892008e-02 3.01548388e-02 1.26385056e+02] [ 7.51568462e-02 9.97169283e-01 2.20655663e-03 2.32690896e+00] [-3.02353882e-02 6.70383805e-05 9.99542804e-01 -1.88786034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.25589822700002 meters 0.014045384952090113 Centerline is valid? [True, True] Translation: X:126.44, Y:2.32, Z:-1.89 [[ 9.96118310e-01 -8.19315632e-02 3.21796897e-02 1.26444359e+02] [ 8.18980384e-02 9.96637917e-01 2.36071015e-03 2.32343776e+00] [-3.22649156e-02 2.83906861e-04 9.99479312e-01 -1.88708008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.315898227 meters 0.01598790148430576 Centerline is valid? [True, True] Translation: X:126.50, Y:2.32, Z:-1.89 [[ 9.95836711e-01 -8.50386711e-02 3.28278910e-02 1.26503504e+02] [ 8.50052837e-02 9.96377576e-01 2.41389134e-03 2.32355163e+00] [-3.29142486e-02 3.86702583e-04 9.99458105e-01 -1.88735504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.375898227 meters 0.016951031577319108 Centerline is valid? [True, True] Translation: X:126.56, Y:2.33, Z:-1.89 [[ 9.95704630e-01 -8.63914393e-02 3.32987782e-02 1.26561776e+02] [ 8.63576589e-02 9.96261177e-01 2.45402835e-03 2.32623261e+00] [-3.33862870e-02 4.32117135e-04 9.99442429e-01 -1.88940231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.435898227 meters 0.016724266054091382 Centerline is valid? [True, True] Translation: X:126.62, Y:2.33, Z:-1.90 [[ 9.95941207e-01 -8.48545073e-02 3.00137378e-02 1.26619791e+02] [ 8.48263163e-02 9.96393294e-01 2.21359145e-03 2.32853271e+00] [-3.00933203e-02 3.41347879e-04 9.99547035e-01 -1.89668225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.495898227 meters 0.013296762935106553 Centerline is valid? [True, True] Translation: X:126.68, Y:2.34, Z:-1.90 [[ 9.96263210e-01 -8.16525542e-02 2.81509759e-02 1.26678338e+02] [ 8.16264112e-02 9.96660829e-01 2.07850589e-03 2.33907416e+00] [-2.82266903e-02 2.27124185e-04 9.99601522e-01 -1.90040721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.555898227 meters 0.010927934583107276 Centerline is valid? [True, True] Translation: X:126.74, Y:2.35, Z:-1.90 [[ 9.96586514e-01 -7.76230282e-02 2.81066650e-02 1.26736549e+02] [ 7.75952404e-02 9.96982775e-01 2.07964336e-03 2.35014736e+00] [-2.81832891e-02 1.08398902e-04 9.99602766e-01 -1.90204733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.615898227 meters 0.010282240256401185 Centerline is valid? [True, True] Translation: X:126.79, Y:2.36, Z:-1.91 [[ 9.96822750e-01 -7.48787035e-02 2.71584983e-02 1.26794191e+02] [ 7.48516231e-02 9.97192649e-01 2.01380576e-03 2.35970791e+00] [-2.72330461e-02 2.54502852e-05 9.99629111e-01 -1.90587117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.675898227 meters 0.010554863763479798 Centerline is valid? [True, True] Translation: X:126.85, Y:2.37, Z:-1.91 [[ 9.96972707e-01 -7.39133455e-02 2.41296338e-02 1.26851509e+02] [ 7.38915684e-02 9.97264668e-01 1.79410014e-03 2.36581208e+00] [-2.41962392e-02 -5.69238420e-06 9.99707228e-01 -1.91368384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.735898227 meters 0.010721521088433892 Centerline is valid? [True, True] Translation: X:126.91, Y:2.36, Z:-1.92 [[ 9.96882804e-01 -7.55579250e-02 2.27084617e-02 1.26910568e+02] [ 7.55390560e-02 9.97141414e-01 1.68880479e-03 2.36394905e+00] [-2.27711502e-02 3.18353011e-05 9.99740703e-01 -1.91564125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.795898227 meters 0.010831090267439775 Centerline is valid? [True, True] Translation: X:126.97, Y:2.36, Z:-1.91 [[ 9.96758303e-01 -7.65204027e-02 2.48498283e-02 1.26968299e+02] [ 7.64979742e-02 9.97068014e-01 1.85333612e-03 2.36486484e+00] [-2.49187870e-02 5.36333588e-05 9.99689477e-01 -1.91491751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.855898227 meters 0.010348498653923567 Centerline is valid? [True, True] Translation: X:127.03, Y:2.37, Z:-1.91 [[ 9.96903678e-01 -7.42493708e-02 2.58860571e-02 1.27025821e+02] [ 7.42242173e-02 9.97239706e-01 1.93252430e-03 2.37207963e+00] [-2.59580927e-02 -5.16825366e-06 9.99663032e-01 -1.91477358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.915898227 meters 0.01550142427584664 Centerline is valid? [True, True] Translation: X:127.08, Y:2.39, Z:-1.91 [[ 9.97567434e-01 -6.37036641e-02 2.83029483e-02 1.27083301e+02] [ 6.36691762e-02 9.97968810e-01 2.11897169e-03 2.39143071e+00] [-2.83804459e-02 -3.11791748e-04 9.99597145e-01 -1.91179438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.97589822700002 meters 0.026331980475285264 Centerline is valid? [True, True] Translation: X:127.14, Y:2.41, Z:-1.91 [[ 9.98157771e-01 -5.30119354e-02 2.95093045e-02 1.27140883e+02] [ 5.29696107e-02 9.98593669e-01 2.21470957e-03 2.41312788e+00] [-2.95852107e-02 -6.47533197e-04 9.99562052e-01 -1.91093339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.035898227 meters 0.03281486728757919 Centerline is valid? [True, True] Translation: X:127.20, Y:2.43, Z:-1.91 [[ 9.98637513e-01 -4.28265995e-02 2.98160935e-02 1.27200877e+02] [ 4.27788374e-02 9.99082059e-01 2.23823332e-03 2.42943574e+00] [-2.98845800e-02 -9.59685944e-04 9.99552895e-01 -1.91216417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.095898227 meters 0.040395965050624934 Centerline is valid? [True, True] Translation: X:127.26, Y:2.45, Z:-1.91 [[ 9.98752013e-01 -3.98485788e-02 3.01082445e-02 1.27259958e+02] [ 3.97985432e-02 9.99205169e-01 2.25954127e-03 2.44812188e+00] [-3.01743530e-02 -1.05845712e-03 9.99544090e-01 -1.91468285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.155898227 meters 0.037555497217666614 Centerline is valid? [True, True] Translation: X:127.32, Y:2.45, Z:-1.91 [[ 9.98709475e-01 -3.95305259e-02 3.18860766e-02 1.27322511e+02] [ 3.94742571e-02 9.99217723e-01 2.39250234e-03 2.45123416e+00] [-3.19557097e-02 -1.13073557e-03 9.99488646e-01 -1.91420565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.215898227 meters 0.04071713381150627 Centerline is valid? [True, True] Translation: X:127.39, Y:2.45, Z:-1.92 [[ 9.98599647e-01 -4.11225540e-02 3.32818239e-02 1.27385117e+02] [ 4.10621902e-02 9.99153476e-01 2.49548023e-03 2.45251988e+00] [-3.33562706e-02 -1.12536110e-03 9.99442891e-01 -1.91699746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.275898227 meters 0.03455481571834114 Centerline is valid? [True, True] Translation: X:127.45, Y:2.45, Z:-1.92 [[ 9.98633748e-01 -4.39828316e-02 2.82160750e-02 1.27445885e+02] [ 4.39406430e-02 9.99031907e-01 2.11379747e-03 2.45497218e+00] [-2.82817301e-02 -8.71077008e-04 9.99599612e-01 -1.92484098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.335898227 meters 0.03626119991091868 Centerline is valid? [True, True] Translation: X:127.51, Y:2.46, Z:-1.93 [[ 9.98604464e-01 -4.53088607e-02 2.71335855e-02 1.27507229e+02] [ 4.52703521e-02 9.98972705e-01 2.03214811e-03 2.46098394e+00] [-2.71977856e-02 -8.00965203e-04 9.99629751e-01 -1.92918302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.395898227 meters 0.031011103287995917 Centerline is valid? [True, True] Translation: X:127.57, Y:2.46, Z:-1.93 [[ 9.98537760e-01 -4.78172265e-02 2.52161687e-02 1.27568757e+02] [ 4.77847987e-02 9.98855871e-01 1.88734374e-03 2.45529088e+00] [-2.52775657e-02 -6.79634448e-04 9.99680240e-01 -1.93411240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.455898227 meters 0.03165920132189833 Centerline is valid? [True, True] Translation: X:127.63, Y:2.45, Z:-1.94 [[ 9.98595885e-01 -4.74956288e-02 2.34610968e-02 1.27629721e+02] [ 4.74674840e-02 9.98871241e-01 1.75539443e-03 2.45498055e+00] [-2.35179884e-02 -6.39290422e-04 9.99723209e-01 -1.93822725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.515898227 meters 0.03565412703622016 Centerline is valid? [True, True] Translation: X:127.69, Y:2.46, Z:-1.94 [[ 9.98775113e-01 -4.35396649e-02 2.35068429e-02 1.27690575e+02] [ 4.35103220e-02 9.99051430e-01 1.75853968e-03 2.46115405e+00] [-2.35611112e-02 -7.33595366e-04 9.99722129e-01 -1.93885611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.575898227 meters 0.04402168103554243 Centerline is valid? [True, True] Translation: X:127.75, Y:2.47, Z:-1.94 [[ 9.99081954e-01 -3.41165271e-02 2.59096914e-02 1.27750324e+02] [ 3.40777222e-02 9.99417307e-01 1.93789788e-03 2.47066407e+00] [-2.59607084e-02 -1.05317553e-03 9.99662409e-01 -1.93649078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.635898227 meters 0.049341455353026406 Centerline is valid? [True, True] Translation: X:127.81, Y:2.48, Z:-1.94 [[ 9.99207448e-01 -2.93768635e-02 2.68603000e-02 1.27811069e+02] [ 2.93334483e-02 9.99567663e-01 2.00901345e-03 2.47647585e+00] [-2.69077058e-02 -1.21951598e-03 9.99637178e-01 -1.93662814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.69589822700001 meters 0.047105753438670864 Centerline is valid? [True, True] Translation: X:127.87, Y:2.47, Z:-1.94 [[ 9.99247658e-01 -2.73789802e-02 2.74683298e-02 1.27873107e+02] [ 2.73328232e-02 9.99624277e-01 2.05450091e-03 2.47157498e+00] [-2.75142594e-02 -1.30216823e-03 9.99620563e-01 -1.93716051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.75589822700002 meters 0.05440497343630711 Centerline is valid? [True, True] Translation: X:127.93, Y:2.47, Z:-1.94 [[ 9.99316165e-01 -2.29186019e-02 2.90162182e-02 1.27932403e+02] [ 2.28652415e-02 9.99736202e-01 2.16949623e-03 2.47444488e+00] [-2.90582856e-02 -1.50454981e-03 9.99576587e-01 -1.93686194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.815898227 meters 0.06569680225142573 Centerline is valid? [True, True] Translation: X:127.99, Y:2.49, Z:-1.94 [[ 9.99455817e-01 -1.72863861e-02 2.80935944e-02 1.27991373e+02] [ 1.72341524e-02 9.99849275e-01 2.10036170e-03 2.48751880e+00] [-2.81256676e-02 -1.61504944e-03 9.99603090e-01 -1.94088823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.875898227 meters 0.06609736133507395 Centerline is valid? [True, True] Translation: X:128.05, Y:2.49, Z:-1.94 [[ 9.99493802e-01 -1.07796635e-02 2.99322423e-02 1.28052048e+02] [ 1.07174588e-02 9.99940062e-01 2.23784423e-03 2.48661169e+00] [-2.99545714e-02 -1.91591386e-03 9.99549425e-01 -1.93940350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.935898227 meters 0.06544592839662527 Centerline is valid? [True, True] Translation: X:128.11, Y:2.49, Z:-1.94 [[ 9.99507890e-01 -4.85734637e-03 3.09900710e-02 1.28113034e+02] [ 4.78783335e-03 9.99985854e-01 2.31688555e-03 2.48554696e+00] [-3.10008865e-02 -2.16737009e-03 9.99517007e-01 -1.94140120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.995898227 meters 0.0759871484730359 Centerline is valid? [True, True] Translation: X:128.17, Y:2.50, Z:-1.95 [[ 9.99564748e-01 -3.30930605e-03 2.93148841e-02 1.28171557e+02] [ 3.24644624e-03 9.99992329e-01 2.19163210e-03 2.50187043e+00] [-2.93219120e-02 -2.09550899e-03 9.99567824e-01 -1.94723372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.055898227 meters 0.07309531544748732 Centerline is valid? [True, True] Translation: X:128.23, Y:2.50, Z:-1.95 [[ 9.99626815e-01 -1.80077672e-03 2.72578090e-02 1.28232692e+02] [ 1.74591596e-03 9.99996403e-01 2.03632750e-03 2.50017752e+00] [-2.72613779e-02 -1.98797773e-03 9.99626363e-01 -1.95153596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.115898227 meters 0.07840475569188163 Centerline is valid? [True, True] Translation: X:128.29, Y:2.51, Z:-1.95 [[ 9.99656339e-01 1.33498256e-03 2.61805524e-02 1.28292163e+02] [-1.38665445e-03 9.99997126e-01 1.95561916e-03 2.51084702e+00] [-2.61778665e-02 -1.99125047e-03 9.99655318e-01 -1.95438059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.175898227 meters 0.086742333229437 Centerline is valid? [True, True] Translation: X:128.35, Y:2.53, Z:-1.96 [[ 9.99664929e-01 3.67764836e-03 2.56223495e-02 1.28350603e+02] [-3.72788355e-03 9.99991221e-01 1.91311000e-03 2.52617068e+00] [-2.56150888e-02 -2.00798611e-03 9.99669863e-01 -1.95790805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.235898227 meters 0.07973070588086702 Centerline is valid? [True, True] Translation: X:128.41, Y:2.52, Z:-1.96 [[ 9.99625209e-01 4.05787293e-03 2.70735323e-02 1.28413313e+02] [-4.11412407e-03 9.99989492e-01 2.02233816e-03 2.52150411e+00] [-2.70650414e-02 -2.13296407e-03 9.99631399e-01 -1.95732666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.295898227 meters 0.07842298515769457 Centerline is valid? [True, True] Translation: X:128.47, Y:2.52, Z:-1.95 [[ 9.99550699e-01 1.76534657e-03 2.99212979e-02 1.28473912e+02] [-1.83287456e-03 9.99995835e-01 2.22957665e-03 2.52217733e+00] [-2.99172373e-02 -2.28341689e-03 9.99549771e-01 -1.95472465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.355898227 meters 0.07020003917991346 Centerline is valid? [True, True] Translation: X:128.54, Y:2.51, Z:-1.96 [[ 9.99540861e-01 -5.87168636e-03 2.97252614e-02 1.28535291e+02] [ 5.80840018e-03 9.99980678e-01 2.21493731e-03 2.51219746e+00] [-2.97376925e-02 -2.04126413e-03 9.99555653e-01 -1.95730419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.415898227 meters 0.06952195498587953 Centerline is valid? [True, True] Translation: X:128.59, Y:2.51, Z:-1.96 [[ 9.99515210e-01 -1.04332031e-02 2.93341748e-02 1.28594608e+02] [ 1.03735279e-02 9.99943805e-01 2.18577225e-03 2.51319049e+00] [-2.93553309e-02 -1.88041373e-03 9.99567271e-01 -1.96083451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.47589822700002 meters 0.06780874186819282 Centerline is valid? [True, True] Translation: X:128.66, Y:2.51, Z:-1.96 [[ 9.99459223e-01 -1.15970819e-02 3.07696315e-02 1.28656673e+02] [ 1.15319578e-02 9.99930875e-01 2.29312939e-03 2.51266819e+00] [-3.07940982e-02 -1.93705523e-03 9.99523872e-01 -1.96007364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.535898227 meters 0.07247368169525059 Centerline is valid? [True, True] Translation: X:128.72, Y:2.52, Z:-1.96 [[ 9.99417623e-01 -8.87973159e-03 3.29479156e-02 1.28716122e+02] [ 8.80363875e-03 9.99958236e-01 2.45384329e-03 2.52338326e+00] [-3.29683290e-02 -2.16235269e-03 9.99454058e-01 -1.95765283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.595898227 meters 0.06578326171671339 Centerline is valid? [True, True] Translation: X:128.78, Y:2.52, Z:-1.97 [[ 9.99491548e-01 -7.16766572e-03 3.10688075e-02 1.28777600e+02] [ 7.09919466e-03 9.99972124e-01 2.31360181e-03 2.51783977e+00] [-3.10845246e-02 -2.09186194e-03 9.99514570e-01 -1.96552945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.655898227 meters 0.07485364386041418 Centerline is valid? [True, True] Translation: X:128.84, Y:2.54, Z:-1.97 [[ 9.99534259e-01 -6.94522450e-03 2.97158007e-02 1.28837444e+02] [ 6.88250148e-03 9.99973868e-01 2.21252614e-03 2.53816667e+00] [-2.97303907e-02 -2.00697663e-03 9.99555939e-01 -1.96851931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.715898227 meters 0.07044715384788679 Centerline is valid? [True, True] Translation: X:128.90, Y:2.54, Z:-1.97 [[ 9.99558718e-01 -8.21281218e-03 2.85467872e-02 1.28898853e+02] [ 8.15547242e-03 9.99964487e-01 2.12447560e-03 2.53811818e+00] [-2.85632213e-02 -1.89072557e-03 9.99590200e-01 -1.97186710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.775898227 meters 0.06696245866533278 Centerline is valid? [True, True] Translation: X:128.96, Y:2.54, Z:-1.97 [[ 9.99587062e-01 -7.14331997e-03 2.78330351e-02 1.28961118e+02] [ 7.08841549e-03 9.99972733e-01 2.07080460e-03 2.54076701e+00] [-2.78470686e-02 -1.87265737e-03 9.99610441e-01 -1.97496523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.835898227 meters 0.07341484584507348 Centerline is valid? [True, True] Translation: X:129.02, Y:2.56, Z:-1.98 [[ 9.99607928e-01 -5.29084621e-03 2.74953957e-02 1.29020221e+02] [ 5.23660812e-03 9.99984199e-01 2.04425560e-03 2.55688612e+00] [-2.75057771e-02 -1.89947149e-03 9.99619840e-01 -1.97912951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.895898227 meters 0.0771482859482177 Centerline is valid? [True, True] Translation: X:129.08, Y:2.57, Z:-1.98 [[ 9.99648817e-01 -5.35212436e-03 2.59537501e-02 1.29080134e+02] [ 5.30380293e-03 9.99984072e-01 1.93030986e-03 2.56808924e+00] [-2.59636679e-02 -1.79197839e-03 9.99661281e-01 -1.98438919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.955898227 meters 0.06994723445976238 Centerline is valid? [True, True] Translation: X:129.14, Y:2.56, Z:-1.99 [[ 9.99638247e-01 -7.99858076e-03 2.56787391e-02 1.29140787e+02] [ 7.95226098e-03 9.99966565e-01 1.90543253e-03 2.56232316e+00] [-2.56931213e-02 -1.70053920e-03 9.99668431e-01 -1.98595005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.015898227 meters 0.07020871038579243 Centerline is valid? [True, True] Translation: X:129.20, Y:2.57, Z:-1.98 [[ 9.99569581e-01 -7.74936050e-03 2.82948809e-02 1.29202872e+02] [ 7.69301729e-03 9.99968204e-01 2.09960365e-03 2.56587670e+00] [-2.83102518e-02 -1.88102694e-03 9.99597415e-01 -1.98405786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.075898227 meters 0.07421301546987616 Centerline is valid? [True, True] Translation: X:129.26, Y:2.57, Z:-1.98 [[ 9.99525807e-01 -2.78697035e-03 3.06658389e-02 1.29263202e+02] [ 2.71850747e-03 9.99993719e-01 2.27401173e-03 2.57427647e+00] [-3.06719839e-02 -2.18956810e-03 9.99527106e-01 -1.98352153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.135898227 meters 0.08685590793799496 Centerline is valid? [True, True] Translation: X:129.32, Y:2.59, Z:-1.99 [[ 9.99518263e-01 4.60502989e-03 3.06926074e-02 1.29321741e+02] [-4.67707557e-03 9.99986472e-01 2.27595038e-03 2.59426638e+00] [-3.06817114e-02 -2.41840561e-03 9.99526280e-01 -1.98563862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.19589822700001 meters 0.09082831258064712 Centerline is valid? [True, True] Translation: X:129.38, Y:2.60, Z:-1.99 [[ 9.99525807e-01 1.13200778e-02 2.86359216e-02 1.29381321e+02] [-1.13855313e-02 9.99932928e-01 2.12368932e-03 2.60340211e+00] [-2.86099605e-02 -2.44871746e-03 9.99587652e-01 -1.98999068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.25589822700002 meters 0.09638832615997867 Centerline is valid? [True, True] Translation: X:129.44, Y:2.61, Z:-1.99 [[ 9.99493679e-01 1.38791126e-02 2.86313713e-02 1.29440403e+02] [-1.39455824e-02 9.99900501e-01 2.12318694e-03 2.61337343e+00] [-2.85990546e-02 -2.52139307e-03 9.99587783e-01 -1.99234433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.315898227 meters 0.10523910207990211 Centerline is valid? [True, False] Translation: X:129.44, Y:2.62, Z:-1.99 [[ 9.99493283e-01 1.36479487e-02 2.87560583e-02 1.29440239e+02] [-1.36946149e-02 9.99905207e-01 1.42650238e-03 2.61632860e+00] [-2.87338636e-02 -1.81958269e-03 9.99585441e-01 -1.99278077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.375898227 meters 0.09290009783864406 Centerline is valid? [False, True] Translation: X:129.40, Y:2.62, Z:-2.00 [[ 9.99537285e-01 1.36332192e-02 2.71910089e-02 1.29404001e+02] [-1.37003894e-02 9.99903533e-01 2.28553442e-03 2.61767262e+00] [-2.71572266e-02 -2.65700428e-03 9.99627643e-01 -1.99718755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.435898227 meters 0.11354272467631474 Centerline is valid? [True, False] Translation: X:129.40, Y:2.62, Z:-2.00 [[ 9.99540383e-01 1.31904722e-02 2.72953046e-02 1.29404218e+02] [-1.32216481e-02 9.99912127e-01 9.62001871e-04 2.62319173e+00] [-2.72802168e-02 -1.32244863e-03 9.99626951e-01 -1.99863262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.495898227 meters 0.1253488332568555 Centerline is valid? [False, False] Translation: X:129.38, Y:2.63, Z:-2.00 [[ 9.99545780e-01 1.95397852e-02 2.29440550e-02 1.29384014e+02] [-1.94666631e-02 9.99804705e-01 -3.40603256e-03 2.63358726e+00] [-2.30061273e-02 2.95784128e-03 9.99730948e-01 -1.99569564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.555898227 meters 0.11116739375076902 Centerline is valid? [False, False] Translation: X:129.38, Y:2.64, Z:-2.00 [[ 9.99464102e-01 2.32185336e-02 2.30739999e-02 1.29383863e+02] [-2.32152561e-02 9.99730406e-01 -4.09940556e-04 2.63962674e+00] [-2.30772975e-02 -1.25947948e-04 9.99733676e-01 -1.99563761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.615898227 meters 0.09840499384959442 Centerline is valid? [False, True] Translation: X:129.36, Y:2.65, Z:-1.99 [[ 9.99623265e-01 1.90470892e-02 1.97620037e-02 1.29359715e+02] [-1.91551794e-02 9.99802503e-01 5.29478308e-03 2.64542309e+00] [-1.96572506e-02 -5.67133307e-03 9.99790692e-01 -1.98925363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.675898227 meters 0.09448192535801951 Centerline is valid? [True, True] Translation: X:129.42, Y:2.66, Z:-1.99 [[ 9.99740078e-01 9.62111162e-03 2.06690958e-02 1.29418493e+02] [-9.66242488e-03 9.99951513e-01 1.89985485e-03 2.65631193e+00] [-2.06498149e-02 -2.09907462e-03 9.99784566e-01 -1.98806469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.735898227 meters 0.09505922756397713 Centerline is valid? [True, True] Translation: X:129.48, Y:2.67, Z:-1.99 [[ 9.99796212e-01 1.24319530e-03 2.01491683e-02 1.29476944e+02] [-1.28077104e-03 9.99997465e-01 1.85208071e-03 2.66655527e+00] [-2.01468148e-02 -1.87750974e-03 9.99795269e-01 -1.98944286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.795898227 meters 0.08387270793329385 Centerline is valid? [True, True] Translation: X:129.54, Y:2.66, Z:-1.99 [[ 9.99754912e-01 -6.12166777e-03 2.12753694e-02 1.29537970e+02] [ 6.08142701e-03 9.99979596e-01 1.95561091e-03 2.66097448e+00] [-2.12869069e-02 -1.82574701e-03 9.99771741e-01 -1.98985086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.855898227 meters 0.08987532236147765 Centerline is valid? [True, True] Translation: X:129.60, Y:2.68, Z:-1.99 [[ 9.99669241e-01 -1.31526238e-02 2.21001586e-02 1.29596151e+02] [ 1.31109069e-02 9.99911985e-01 2.03147212e-03 2.67900071e+00] [-2.21249326e-02 -1.74104707e-03 9.99753698e-01 -1.98993147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.915898227 meters 0.07227223577441175 Centerline is valid? [True, True] Translation: X:129.66, Y:2.66, Z:-1.99 [[ 9.99674672e-01 -1.56220541e-02 2.01618853e-02 1.29658277e+02] [ 1.55878289e-02 9.99876784e-01 1.85356997e-03 2.66445496e+00] [-2.01883576e-02 -1.53868694e-03 9.99795010e-01 -1.99398259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.97589822700002 meters 0.0779442239165232 Centerline is valid? [True, True] Translation: X:129.72, Y:2.68, Z:-1.99 [[ 9.99596177e-01 -1.97642401e-02 2.04170716e-02 1.29716754e+02] [ 1.97300028e-02 9.99803583e-01 1.87698944e-03 2.67940177e+00] [-2.04501586e-02 -1.47340259e-03 9.99789788e-01 -1.99486641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.035898227 meters 0.0684490353336088 Centerline is valid? [True, True] Translation: X:129.78, Y:2.67, Z:-1.99 [[ 9.99466966e-01 -2.42522688e-02 2.18542983e-02 1.29777842e+02] [ 2.42141075e-02 9.99704777e-01 2.00914255e-03 2.67478181e+00] [-2.18965726e-02 -1.47888928e-03 9.99759147e-01 -1.99354573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.095898227 meters 0.07122937592005746 Centerline is valid? [True, True] Translation: X:129.84, Y:2.69, Z:-2.00 [[ 9.99535437e-01 -2.29716551e-02 2.00303169e-02 1.29838429e+02] [ 2.29393412e-02 9.99735163e-01 1.84155722e-03 2.68511755e+00] [-2.00673157e-02 -1.38121943e-03 9.99797677e-01 -1.99621712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.155898227 meters 0.07518035011526138 Centerline is valid? [True, True] Translation: X:129.90, Y:2.70, Z:-2.00 [[ 9.99668183e-01 -1.77317096e-02 1.86844851e-02 1.29897974e+02] [ 1.77026914e-02 9.99841820e-01 1.71733131e-03 2.69982594e+00] [-1.87119808e-02 -1.38599580e-03 9.99823955e-01 -1.99984817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.215898227 meters 0.08608988422709188 Centerline is valid? [True, True] Translation: X:129.96, Y:2.72, Z:-2.00 [[ 9.99764642e-01 -9.00442388e-03 1.97377937e-02 1.29956066e+02] [ 8.97035106e-03 9.99958120e-01 1.81413148e-03 2.72211679e+00] [-1.97533023e-02 -1.63664957e-03 9.99803545e-01 -2.00052207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.275898227 meters 0.09849403726734897 Centerline is valid? [True, True] Translation: X:130.01, Y:2.74, Z:-2.00 [[ 9.99782015e-01 -4.44721097e-03 2.03996452e-02 1.30014193e+02] [ 4.40988040e-03 9.99988519e-01 1.87458213e-03 2.74455064e+00] [-2.04077476e-02 -1.78421351e-03 9.99790148e-01 -2.00107256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.335898227 meters 0.0941023062405098 Centerline is valid? [True, True] Translation: X:130.07, Y:2.75, Z:-2.01 [[ 9.99819052e-01 -1.49785016e-04 1.90221174e-02 1.30074507e+02] [ 1.16557225e-04 9.99998466e-01 1.74789438e-03 2.74607870e+00] [-1.90223500e-02 -1.74536093e-03 9.99817535e-01 -2.00528916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.395898227 meters 0.09879036726639144 Centerline is valid? [True, True] Translation: X:130.13, Y:2.76, Z:-2.01 [[ 9.99823130e-01 1.72952476e-03 1.87274437e-02 1.30133550e+02] [-1.76205732e-03 9.99996967e-01 1.72079860e-03 2.75870816e+00] [-1.87244108e-02 -1.75349307e-03 9.99823145e-01 -2.00737909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.455898227 meters 0.09087779282502427 Centerline is valid? [True, True] Translation: X:130.20, Y:2.76, Z:-2.01 [[ 9.99838460e-01 2.28013807e-03 1.78284590e-02 1.30195933e+02] [-2.30970862e-03 9.99995991e-01 1.63819998e-03 2.75584584e+00] [-1.78246522e-02 -1.67911390e-03 9.99839718e-01 -2.01041131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.515898227 meters 0.09476401392189297 Centerline is valid? [True, True] Translation: X:130.26, Y:2.77, Z:-2.01 [[ 9.99796463e-01 -3.50761113e-04 2.01720095e-02 1.30255086e+02] [ 3.13459610e-04 9.99998235e-01 1.85230352e-03 2.76751307e+00] [-2.01726236e-02 -1.84560339e-03 9.99794808e-01 -2.00976147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.575898227 meters 0.08975736156680476 Centerline is valid? [True, True] Translation: X:130.32, Y:2.77, Z:-2.01 [[ 9.99751506e-01 -4.68491278e-03 2.17939915e-02 1.30315937e+02] [ 4.64239094e-03 9.99987221e-01 2.00126626e-03 2.76715373e+00] [-2.18030888e-02 -1.89959273e-03 9.99760480e-01 -2.00925598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.635898227 meters 0.0855226299759489 Centerline is valid? [True, True] Translation: X:130.38, Y:2.77, Z:-2.01 [[ 9.99709511e-01 -9.74050223e-03 2.20457767e-02 1.30376424e+02] [ 9.69821188e-03 9.99950922e-01 2.02440254e-03 2.76995883e+00] [-2.20644134e-02 -1.81000986e-03 9.99754913e-01 -2.00951220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.69589822700001 meters 0.07679428333482821 Centerline is valid? [True, True] Translation: X:130.44, Y:2.77, Z:-2.01 [[ 9.99563310e-01 -1.82356950e-02 2.32518691e-02 1.30437690e+02] [ 1.81909365e-02 9.99832252e-01 2.13502397e-03 2.76747007e+00] [-2.32869023e-02 -1.71111835e-03 9.99727359e-01 -2.00922479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.755898227 meters 0.07517573586031842 Centerline is valid? [True, True] Translation: X:130.50, Y:2.77, Z:-2.01 [[ 9.99441220e-01 -2.44891367e-02 2.27493040e-02 1.30497327e+02] [ 2.44479081e-02 9.99698923e-01 2.08870172e-03 2.77320187e+00] [-2.27936052e-02 -1.53136170e-03 9.99739019e-01 -2.01085375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.815898227 meters 0.06372239983462034 Centerline is valid? [True, True] Translation: X:130.56, Y:2.77, Z:-2.01 [[ 9.99226002e-01 -3.17556600e-02 2.32158417e-02 1.30559067e+02] [ 3.17146787e-02 9.99494690e-01 2.13138917e-03 2.76739236e+00] [-2.32717942e-02 -1.39345652e-03 9.99728204e-01 -2.01047560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.875898227 meters 0.05518078779296414 Centerline is valid? [True, True] Translation: X:130.62, Y:2.77, Z:-2.01 [[ 9.98787760e-01 -4.14494805e-02 2.65509000e-02 1.30619985e+02] [ 4.13992944e-02 9.99139709e-01 2.43733183e-03 2.76584251e+00] [-2.66290847e-02 -1.33518867e-03 9.99644491e-01 -2.00749851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.935898227 meters 0.054157184458369215 Centerline is valid? [True, True] Translation: X:130.68, Y:2.76, Z:-2.01 [[ 9.98542612e-01 -4.80718985e-02 2.45304786e-02 1.30680881e+02] [ 4.80310569e-02 9.98843305e-01 2.25176794e-03 2.76491056e+00] [-2.46103510e-02 -1.07026143e-03 9.99696547e-01 -2.01365316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.995898227 meters 0.04398761183668248 Centerline is valid? [True, True] Translation: X:130.74, Y:2.77, Z:-2.02 [[ 9.98346476e-01 -5.34307044e-02 2.12008068e-02 1.30741941e+02] [ 5.34014097e-02 9.98571231e-01 1.94591729e-03 2.76516013e+00] [-2.12744875e-02 -8.10546701e-04 9.99773344e-01 -2.01795322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.055898227 meters 0.034498354559124415 Centerline is valid? [True, True] Translation: X:130.80, Y:2.76, Z:-2.02 [[ 9.97839115e-01 -6.16053458e-02 2.28447139e-02 1.30803699e+02] [ 6.15734706e-02 9.98100351e-01 2.09675838e-03 2.75739187e+00] [-2.29304885e-02 -6.85599215e-04 9.99736827e-01 -2.01568819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.115898227 meters 0.034803342404738556 Centerline is valid? [True, True] Translation: X:130.86, Y:2.76, Z:-2.02 [[ 9.97714047e-01 -6.34494587e-02 2.32560898e-02 1.30864013e+02] [ 6.34169314e-02 9.97984838e-01 2.13426136e-03 2.76246949e+00] [-2.33446428e-02 -6.54552685e-04 9.99727262e-01 -2.01630378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.175898227 meters 0.02977812132183713 Centerline is valid? [True, True] Translation: X:130.93, Y:2.76, Z:-2.02 [[ 9.97629999e-01 -6.57447844e-02 2.02979734e-02 1.30925271e+02] [ 6.57204861e-02 9.97836334e-01 1.86255446e-03 2.75812861e+00] [-2.03765086e-02 -5.24147521e-04 9.99792240e-01 -2.02258489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.235898227 meters 0.03541626569389717 Centerline is valid? [True, True] Translation: X:130.98, Y:2.77, Z:-2.03 [[ 9.97846794e-01 -6.27074933e-02 1.92235827e-02 1.30983822e+02] [ 6.26851371e-02 9.98031794e-01 1.76392241e-03 2.77027862e+00] [-1.92963579e-02 -5.55091398e-04 9.99813654e-01 -2.02572907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.295898227 meters 0.03987454163360313 Centerline is valid? [True, True] Translation: X:131.04, Y:2.78, Z:-2.03 [[ 9.98357956e-01 -5.42342446e-02 1.84401365e-02 1.31042910e+02] [ 5.42122256e-02 9.98528002e-01 1.69224384e-03 2.78267708e+00] [-1.85047702e-02 -6.89784261e-04 9.99828534e-01 -2.02612312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.355898227 meters 0.05440925963327473 Centerline is valid? [True, True] Translation: X:131.10, Y:2.81, Z:-2.03 [[ 9.98973282e-01 -4.08187449e-02 1.96522966e-02 1.31100135e+02] [ 4.07911375e-02 9.99166067e-01 1.80377512e-03 2.81279322e+00] [-1.97095358e-02 -1.00028362e-03 9.99805248e-01 -2.02684773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.415898227 meters 0.05771918524195929 Centerline is valid? [True, True] Translation: X:131.16, Y:2.83, Z:-2.03 [[ 9.99114066e-01 -3.65811226e-02 2.08063714e-02 1.31159226e+02] [ 3.65492637e-02 9.99330028e-01 1.90954927e-03 2.82568047e+00] [-2.08622852e-02 -1.14739998e-03 9.99781700e-01 -2.02687153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.47589822700002 meters 0.05890048559687543 Centerline is valid? [True, True] Translation: X:131.22, Y:2.83, Z:-2.03 [[ 9.99064381e-01 -3.73298438e-02 2.18367964e-02 1.31220437e+02] [ 3.72949223e-02 9.99302292e-01 2.00441656e-03 2.83432884e+00] [-2.18963853e-02 -1.18813957e-03 9.99759539e-01 -2.02730277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.535898227 meters 0.05127813809347322 Centerline is valid? [True, True] Translation: X:131.28, Y:2.83, Z:-2.03 [[ 9.98903728e-01 -4.12981443e-02 2.20409997e-02 1.31281334e+02] [ 4.12635538e-02 9.99146251e-01 2.02206496e-03 2.83094249e+00] [-2.21056897e-02 -1.11035825e-03 9.99755023e-01 -2.02718215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.595898227 meters 0.058035206602179264 Centerline is valid? [True, True] Translation: X:131.34, Y:2.85, Z:-2.03 [[ 9.99033689e-01 -3.88322277e-02 2.05851176e-02 1.31339697e+02] [ 3.88015347e-02 9.99245152e-01 1.88849646e-03 2.84893443e+00] [-2.06429135e-02 -1.08793742e-03 9.99786320e-01 -2.02967463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.655898227 meters 0.06514135339230964 Centerline is valid? [True, True] Translation: X:131.40, Y:2.87, Z:-2.03 [[ 9.99245576e-01 -3.24999533e-02 2.12610579e-02 1.31398306e+02] [ 3.24657821e-02 9.99470944e-01 1.95051155e-03 2.86950680e+00] [-2.13132011e-02 -1.25878317e-03 9.99772055e-01 -2.02965559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.715898227 meters 0.07234736369742337 Centerline is valid? [True, True] Translation: X:131.46, Y:2.89, Z:-2.03 [[ 9.99432966e-01 -2.54305791e-02 2.20688105e-02 1.31457086e+02] [ 2.53920457e-02 9.99675520e-01 2.02456980e-03 2.89162493e+00] [-2.21131356e-02 -1.46304955e-03 9.99754404e-01 -2.03207952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.775898227 meters 0.06831063130828154 Centerline is valid? [True, True] Translation: X:131.52, Y:2.89, Z:-2.03 [[ 9.99448716e-01 -2.51955128e-02 2.16206059e-02 1.31518690e+02] [ 2.51584751e-02 9.99681508e-01 1.98341649e-03 2.89456453e+00] [-2.16636931e-02 -1.43838159e-03 9.99764280e-01 -2.03471229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.835898227 meters 0.06410468863192438 Centerline is valid? [True, True] Translation: X:131.58, Y:2.90, Z:-2.04 [[ 9.99389605e-01 -2.84952195e-02 2.02098995e-02 1.31579394e+02] [ 2.84635455e-02 9.99593113e-01 1.85323224e-03 2.89589510e+00] [-2.02544846e-02 -1.27685565e-03 9.99794042e-01 -2.03864080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.895898227 meters 0.05757196242095964 Centerline is valid? [True, True] Translation: X:131.64, Y:2.89, Z:-2.04 [[ 9.99244573e-01 -3.43169190e-02 1.82382337e-02 1.31640120e+02] [ 3.42920899e-02 9.99410454e-01 1.67246652e-03 2.89396913e+00] [-1.82848753e-02 -1.04577594e-03 9.99832271e-01 -2.04254382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.955898227 meters 0.06343677124552327 Centerline is valid? [True, True] Translation: X:131.70, Y:2.91, Z:-2.04 [[ 9.99234211e-01 -3.42394704e-02 1.89380809e-02 1.31699965e+02] [ 3.42126860e-02 9.99413066e-01 1.73659626e-03 2.90919178e+00] [-1.89864256e-02 -1.08734378e-03 9.99819150e-01 -2.04385721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.015898227 meters 0.06585142333588447 Centerline is valid? [True, True] Translation: X:131.76, Y:2.92, Z:-2.04 [[ 9.99265795e-01 -3.28524354e-02 1.97126704e-02 1.31760420e+02] [ 3.28231615e-02 9.99459542e-01 1.80683111e-03 2.92041063e+00] [-1.97613753e-02 -1.15847236e-03 9.99804054e-01 -2.04399532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.075898227 meters 0.0625610342305072 Centerline is valid? [True, True] Translation: X:131.82, Y:2.93, Z:-2.04 [[ 9.99307539e-01 -3.17831682e-02 1.93461042e-02 1.31822460e+02] [ 3.17547801e-02 9.99494117e-01 1.77288944e-03 2.92649273e+00] [-1.93926654e-02 -1.15733050e-03 9.99811275e-01 -2.04422736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.135898227 meters 0.05894391589024212 Centerline is valid? [True, True] Translation: X:131.88, Y:2.93, Z:-2.04 [[ 9.99291383e-01 -3.17799736e-02 2.01683988e-02 1.31884794e+02] [ 3.17491402e-02 9.99494162e-01 1.84724198e-03 2.92973283e+00] [-2.02169021e-02 -1.20560367e-03 9.99794891e-01 -2.04359723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.19589822700001 meters 0.06115955643421469 Centerline is valid? [True, True] Translation: X:131.95, Y:2.94, Z:-2.04 [[ 9.99243130e-01 -3.25140094e-02 2.13542919e-02 1.31945848e+02] [ 3.24796333e-02 9.99470486e-01 1.95475194e-03 2.93802053e+00] [-2.14065413e-02 -1.25969288e-03 9.99770060e-01 -2.04405499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.255898227 meters 0.06273086805520575 Centerline is valid? [True, True] Translation: X:132.01, Y:2.94, Z:-2.04 [[ 9.99213129e-01 -3.34033381e-02 2.13854852e-02 1.32006698e+02] [ 3.33690869e-02 9.99441182e-01 1.95655843e-03 2.94280792e+00] [-2.14388902e-02 -1.24140476e-03 9.99769390e-01 -2.04426071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.315898227 meters 0.06519234206224211 Centerline is valid? [True, True] Translation: X:132.07, Y:2.95, Z:-2.04 [[ 9.99239485e-01 -3.22728913e-02 2.18840783e-02 1.32067908e+02] [ 3.22367702e-02 9.99478256e-01 2.00142913e-03 2.94899803e+00] [-2.19372523e-02 -1.29443501e-03 9.99758512e-01 -2.04453807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.375898227 meters 0.07060137014754332 Centerline is valid? [True, True] Translation: X:132.13, Y:2.96, Z:-2.04 [[ 9.99423673e-01 -2.48696877e-02 2.31045750e-02 1.32127945e+02] [ 2.48274927e-02 9.99689521e-01 2.11136841e-03 2.95964586e+00] [-2.31499106e-02 -1.53652290e-03 9.99730824e-01 -2.04460047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.435898227 meters 0.0723206887511257 Centerline is valid? [True, True] Translation: X:132.19, Y:2.97, Z:-2.05 [[ 9.99596671e-01 -1.82563660e-02 2.17531875e-02 1.32187661e+02] [ 1.82174088e-02 9.99832073e-01 1.98771110e-03 2.97002525e+00] [-2.17858229e-02 -1.59062269e-03 9.99761395e-01 -2.04848696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.495898227 meters 0.07830216509859139 Centerline is valid? [True, True] Translation: X:132.25, Y:2.99, Z:-2.05 [[ 9.99720812e-01 -1.21577399e-02 2.02605007e-02 1.32246542e+02] [ 1.21226987e-02 9.99924803e-01 1.85146217e-03 2.98753911e+00] [-2.02814868e-02 -1.60533332e-03 9.99793021e-01 -2.05230277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.555898227 meters 0.08597172957817252 Centerline is valid? [True, True] Translation: X:132.31, Y:3.01, Z:-2.06 [[ 9.99741718e-01 -1.14344495e-02 1.96405352e-02 1.32305879e+02] [ 1.14013802e-02 9.99933391e-01 1.79487996e-03 3.00864761e+00] [-1.96597504e-02 -1.57048716e-03 9.99805495e-01 -2.05540157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.615898227 meters 0.08920190993324885 Centerline is valid? [True, True] Translation: X:132.37, Y:3.02, Z:-2.06 [[ 9.99645235e-01 -1.91678825e-02 1.84931260e-02 1.32365065e+02] [ 1.91398947e-02 9.99815388e-01 1.68924223e-03 3.01740654e+00] [-1.85220911e-02 -1.33468646e-03 9.99827561e-01 -2.06064841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.675898227 meters 0.0673186108783434 Centerline is valid? [True, True] Translation: X:132.43, Y:3.00, Z:-2.06 [[ 9.99413065e-01 -2.90303009e-02 1.81869959e-02 1.32428177e+02] [ 2.90048559e-02 9.99577890e-01 1.66134786e-03 2.99847256e+00] [-1.82275485e-02 -1.13286156e-03 9.99833223e-01 -2.06043408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.735898227 meters 0.05445065912929617 Centerline is valid? [True, True] Translation: X:132.49, Y:2.98, Z:-2.06 [[ 9.98840395e-01 -4.30445641e-02 2.15645593e-02 1.32489278e+02] [ 4.30120473e-02 9.99072612e-01 1.96965423e-03 2.98442789e+00] [-2.16293434e-02 -1.03983436e-03 9.99765518e-01 -2.05552039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.795898227 meters 0.04759961169268765 Centerline is valid? [True, True] Translation: X:132.55, Y:2.98, Z:-2.06 [[ 9.98548137e-01 -4.96304252e-02 2.09389549e-02 1.32550671e+02] [ 4.96012116e-02 9.98767271e-01 1.91255979e-03 2.97865616e+00] [-2.10080640e-02 -8.71185484e-04 9.99778927e-01 -2.05629252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.855898227 meters 0.042597695080396826 Centerline is valid? [True, True] Translation: X:132.61, Y:2.98, Z:-2.06 [[ 9.98401236e-01 -5.24397557e-02 2.10960450e-02 1.32612115e+02] [ 5.24107326e-02 9.98623754e-01 1.92668894e-03 2.97739811e+00] [-2.11680467e-02 -8.17949446e-04 9.99775597e-01 -2.05679283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.915898227 meters 0.043398699253835764 Centerline is valid? [True, True] Translation: X:132.67, Y:2.99, Z:-2.05 [[ 9.98294992e-01 -5.25724086e-02 2.53623717e-02 1.32672972e+02] [ 5.25305094e-02 9.98616634e-01 2.31591943e-03 2.98535342e+00] [-2.54490397e-02 -9.79672464e-04 9.99675641e-01 -2.05074354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.97589822700002 meters 0.045313951114793846 Centerline is valid? [True, True] Translation: X:132.73, Y:3.00, Z:-2.05 [[ 9.98263828e-01 -5.38474762e-02 2.38700450e-02 1.32732591e+02] [ 5.38107474e-02 9.98548775e-01 2.17882707e-03 2.99537516e+00] [-2.39527286e-02 -8.90579291e-04 9.99712696e-01 -2.05488198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.035898227 meters 0.04021078030671972 Centerline is valid? [True, True] Translation: X:132.79, Y:3.00, Z:-2.06 [[ 9.98197407e-01 -5.52296436e-02 2.34866585e-02 1.32793902e+02] [ 5.51945038e-02 9.98473323e-01 2.14229011e-03 2.99581913e+00] [-2.35691199e-02 -8.42093972e-04 9.99721855e-01 -2.05724081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.095898227 meters 0.036062928375700666 Centerline is valid? [True, True] Translation: X:132.85, Y:3.00, Z:-2.06 [[ 9.97958188e-01 -5.92277014e-02 2.39067768e-02 1.32853953e+02] [ 5.91924517e-02 9.98244209e-01 2.18005372e-03 3.00167861e+00] [-2.39939210e-02 -7.60501732e-04 9.99711815e-01 -2.05775378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.155898227 meters 0.031366355178939084 Centerline is valid? [True, True] Translation: X:132.92, Y:3.00, Z:-2.06 [[ 9.97772147e-01 -6.24547112e-02 2.34553208e-02 1.32915954e+02] [ 6.24216714e-02 9.98047574e-01 2.13887150e-03 3.00452553e+00] [-2.35431086e-02 -6.69986083e-04 9.99722598e-01 -2.06057623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.215898227 meters 0.026816064331666254 Centerline is valid? [True, True] Translation: X:132.98, Y:3.00, Z:-2.06 [[ 9.97509526e-01 -6.69093333e-02 2.23133871e-02 1.32976699e+02] [ 6.68805642e-02 9.97758915e-01 2.03393597e-03 3.00477455e+00] [-2.23994702e-02 -5.36538588e-04 9.99748956e-01 -2.06341352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.275898227 meters 0.026207598533109448 Centerline is valid? [True, True] Translation: X:133.04, Y:3.01, Z:-2.07 [[ 9.97407034e-01 -6.91402655e-02 1.99707865e-02 1.33036743e+02] [ 6.91176645e-02 9.97606853e-01 1.82055776e-03 3.01007704e+00] [-2.00488673e-02 -4.35502995e-04 9.99798906e-01 -2.06774293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.335898227 meters 0.03009388795279541 Centerline is valid? [True, True] Translation: X:133.10, Y:3.02, Z:-2.07 [[ 9.97511359e-01 -6.73756249e-02 2.07753279e-02 1.33097065e+02] [ 6.73508077e-02 9.97727561e-01 1.89273756e-03 3.02055151e+00] [-2.08556416e-02 -4.88792103e-04 9.99782378e-01 -2.06852807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.395898227 meters 0.029692496496280783 Centerline is valid? [True, True] Translation: X:133.16, Y:3.03, Z:-2.06 [[ 9.97742234e-01 -6.31536666e-02 2.28484109e-02 1.33158100e+02] [ 6.31225556e-02 9.98003613e-01 2.08101242e-03 3.03045765e+00] [-2.29342202e-02 -6.34063898e-04 9.99736775e-01 -2.06471670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.455898227 meters 0.03723332022319307 Centerline is valid? [True, True] Translation: X:133.22, Y:3.05, Z:-2.07 [[ 9.98190605e-01 -5.56374700e-02 2.28032558e-02 1.33217130e+02] [ 5.56045350e-02 9.98450712e-01 2.07632898e-03 3.05089280e+00] [-2.28834487e-02 -8.04607639e-04 9.99737816e-01 -2.06698571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.515898227 meters 0.046085115672232654 Centerline is valid? [True, True] Translation: X:133.28, Y:3.07, Z:-2.07 [[ 9.98329501e-01 -5.33379968e-02 2.22095818e-02 1.33276111e+02] [ 5.33061860e-02 9.98576167e-01 2.02229636e-03 3.07201043e+00] [-2.22858243e-02 -8.35010021e-04 9.99751291e-01 -2.06953570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.575898227 meters 0.040866756558547726 Centerline is valid? [True, True] Translation: X:133.34, Y:3.08, Z:-2.07 [[ 9.98398267e-01 -5.19955697e-02 2.23015781e-02 1.33338278e+02] [ 5.19632034e-02 9.98646939e-01 2.02875073e-03 3.07674089e+00] [-2.23768887e-02 -8.66639777e-04 9.99749230e-01 -2.06953564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.635898227 meters 0.04962630323359994 Centerline is valid? [True, True] Translation: X:133.40, Y:3.10, Z:-2.07 [[ 9.98656294e-01 -4.66269481e-02 2.26171025e-02 1.33395637e+02] [ 4.65923108e-02 9.98911872e-01 2.05630167e-03 3.10418288e+00] [-2.26883713e-02 -9.99755534e-04 9.99742086e-01 -2.06888911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.69589822700001 meters 0.05594286664349856 Centerline is valid? [True, True] Translation: X:133.46, Y:3.13, Z:-2.07 [[ 9.98888433e-01 -4.15456123e-02 2.22679076e-02 1.33455109e+02] [ 4.15107710e-02 9.99136005e-01 2.02480152e-03 3.12699222e+00] [-2.23327899e-02 -1.09819280e-03 9.99749989e-01 -2.07163371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.755898227 meters 0.05876832743294145 Centerline is valid? [True, True] Translation: X:133.52, Y:3.14, Z:-2.08 [[ 9.99014529e-01 -3.89401761e-02 2.12986740e-02 1.33515239e+02] [ 3.89077193e-02 9.99240932e-01 1.93631800e-03 3.14415404e+00] [-2.13579075e-02 -1.10572699e-03 9.99771282e-01 -2.07556652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.815898227 meters 0.05673850977014523 Centerline is valid? [True, True] Translation: X:133.57, Y:3.16, Z:-2.08 [[ 9.98945808e-01 -4.11565735e-02 2.03324415e-02 1.33574718e+02] [ 4.11274636e-02 9.99152199e-01 1.84796279e-03 3.15630983e+00] [-2.03912595e-02 -1.00979293e-03 9.99791567e-01 -2.07921115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.875898227 meters 0.05269290827289693 Centerline is valid? [True, True] Translation: X:133.64, Y:3.16, Z:-2.08 [[ 9.98844819e-01 -4.35539536e-02 2.02997500e-02 1.33635039e+02] [ 4.35254310e-02 9.99050616e-01 1.84499155e-03 3.16226373e+00] [-2.03608344e-02 -9.59304878e-04 9.99792236e-01 -2.08010380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.935898227 meters 0.05055370091348637 Centerline is valid? [True, True] Translation: X:133.70, Y:3.17, Z:-2.08 [[ 9.98738628e-01 -4.65637085e-02 1.87875828e-02 1.33695512e+02] [ 4.65398080e-02 9.98914977e-01 1.70760498e-03 3.16850341e+00] [-1.88467102e-02 -8.31080560e-04 9.99822040e-01 -2.08419837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.995898227 meters 0.05041388528429801 Centerline is valid? [True, True] Translation: X:133.75, Y:3.18, Z:-2.09 [[ 9.98534397e-01 -5.10161390e-02 1.80668818e-02 1.33754348e+02] [ 5.09947702e-02 9.98697571e-01 1.64178846e-03 3.17527896e+00] [-1.81271087e-02 -7.18065763e-04 9.99835433e-01 -2.08833578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.055898227 meters 0.04723303702305001 Centerline is valid? [True, True] Translation: X:133.82, Y:3.18, Z:-2.09 [[ 9.98386521e-01 -5.38392041e-02 1.80470081e-02 1.33815478e+02] [ 5.38183372e-02 9.98549396e-01 1.64028414e-03 3.17616741e+00] [-1.81091406e-02 -6.66377613e-04 9.99835794e-01 -2.09092519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.115898227 meters 0.04638128424261073 Centerline is valid? [True, True] Translation: X:133.88, Y:3.18, Z:-2.09 [[ 9.98460025e-01 -5.28017565e-02 1.70162306e-02 1.33878027e+02] [ 5.27830552e-02 9.98604805e-01 1.54658708e-03 3.17864855e+00] [-1.70741521e-02 -6.46036734e-04 9.99854017e-01 -2.09186825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.175898227 meters 0.048188899167847424 Centerline is valid? [True, True] Translation: X:133.94, Y:3.19, Z:-2.09 [[ 9.98640555e-01 -4.91518308e-02 1.73533918e-02 1.33938561e+02] [ 4.91318485e-02 9.98791058e-01 1.57621471e-03 3.18678393e+00] [-1.74098864e-02 -7.21467717e-04 9.99848176e-01 -2.09193533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.235898227 meters 0.06012087923389467 Centerline is valid? [True, True] Translation: X:134.00, Y:3.21, Z:-2.09 [[ 9.98930573e-01 -4.19466694e-02 1.94470172e-02 1.33997246e+02] [ 4.19202169e-02 9.99119400e-01 1.76607370e-03 3.20501571e+00] [-1.95039730e-02 -9.48961834e-04 9.99809329e-01 -2.09105707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.295898227 meters 0.06636623180508319 Centerline is valid? [True, True] Translation: X:134.06, Y:3.22, Z:-2.09 [[ 9.99127488e-01 -3.68368123e-02 1.96802488e-02 1.34057310e+02] [ 3.68087309e-02 9.99320731e-01 1.78734141e-03 3.21736269e+00] [-1.97327206e-02 -1.06137696e-03 9.99804728e-01 -2.09150641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.355898227 meters 0.0647374606053093 Centerline is valid? [True, True] Translation: X:134.12, Y:3.21, Z:-2.09 [[ 9.99316658e-01 -3.15000737e-02 1.93381046e-02 1.34118883e+02] [ 3.14719738e-02 9.99503093e-01 1.75577533e-03 3.21424222e+00] [-1.93838024e-02 -1.14596721e-03 9.99811460e-01 -2.09457836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.415898227 meters 0.06339825297056997 Centerline is valid? [True, True] Translation: X:134.18, Y:3.22, Z:-2.09 [[ 9.99399895e-01 -2.81600718e-02 2.01707860e-02 1.34178719e+02] [ 2.81288256e-02 9.99602629e-01 1.83118331e-03 3.22333325e+00] [-2.02143369e-02 -1.26270389e-03 9.99794872e-01 -2.09287163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.47589822700002 meters 0.07782616353899173 Centerline is valid? [True, True] Translation: X:134.24, Y:3.25, Z:-2.09 [[ 9.99487060e-01 -2.41037057e-02 2.10862187e-02 1.34236399e+02] [ 2.40686608e-02 9.99708475e-01 1.91423287e-03 3.24834865e+00] [-2.11262117e-02 -1.40573394e-03 9.99775828e-01 -2.09305085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.535898227 meters 0.07783900988912505 Centerline is valid? [True, True] Translation: X:134.30, Y:3.26, Z:-2.10 [[ 9.99621947e-01 -1.69956078e-02 2.16127604e-02 1.34296588e+02] [ 1.69571347e-02 9.99854292e-01 1.96214725e-03 3.25813334e+00] [-2.16429591e-02 -1.59491497e-03 9.99764492e-01 -2.09515915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.595898227 meters 0.10144009292775104 Centerline is valid? [True, False] Translation: X:134.32, Y:3.26, Z:-2.09 [[ 9.99785512e-01 -9.22335805e-03 1.85434379e-02 1.34318063e+02] [ 9.23880749e-03 9.99957042e-01 -7.47652329e-04 3.26220527e+00] [-1.85357455e-02 9.18811219e-04 9.99827776e-01 -2.09101978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.655898227 meters 0.08474186533600578 Centerline is valid? [False, True] Translation: X:134.30, Y:3.27, Z:-2.09 [[ 9.99891478e-01 -4.44990418e-03 1.40438943e-02 1.34300110e+02] [ 4.54395720e-03 9.99967416e-01 -6.67228704e-03 3.26530172e+00] [-1.40137456e-02 6.73537780e-03 9.99879118e-01 -2.08927921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.715898227 meters 0.07845526401211592 Centerline is valid? [True, True] Translation: X:134.36, Y:3.26, Z:-2.09 [[ 9.99904654e-01 -6.36994725e-03 1.22518201e-02 1.34361569e+02] [ 6.35798581e-03 9.99979273e-01 1.01500121e-03 3.26252124e+00] [-1.22580316e-02 -9.37007534e-04 9.99924428e-01 -2.09334800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.775898227 meters 0.07546244452939062 Centerline is valid? [True, True] Translation: X:134.42, Y:3.27, Z:-2.09 [[ 9.99877833e-01 -8.17928701e-03 1.33198151e-02 1.34421948e+02] [ 8.16531200e-03 9.99966055e-01 1.10323476e-03 3.26935580e+00] [-1.33283866e-02 -9.94339538e-04 9.99910679e-01 -2.09243807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.835898227 meters 0.08385089756889749 Centerline is valid? [True, True] Translation: X:134.48, Y:3.29, Z:-2.09 [[ 9.99891645e-01 -6.74119773e-03 1.30864089e-02 1.34480078e+02] [ 6.72758865e-03 9.99976782e-01 1.08368446e-03 3.28937643e+00] [-1.30934104e-02 -9.95527064e-04 9.99913782e-01 -2.09471058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.895898227 meters 0.08597133159848465 Centerline is valid? [True, True] Translation: X:134.54, Y:3.30, Z:-2.10 [[ 9.99909521e-01 -4.25635139e-03 1.27605827e-02 1.34539916e+02] [ 4.24321031e-03 9.99990439e-01 1.05671496e-03 3.30108905e+00] [-1.27649584e-02 -1.00247352e-03 9.99918022e-01 -2.09739336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.955898227 meters 0.08516745995148886 Centerline is valid? [True, True] Translation: X:134.60, Y:3.31, Z:-2.09 [[ 9.99901244e-01 -1.25033955e-03 1.39978044e-02 1.34600243e+02] [ 1.23423334e-03 9.99998566e-01 1.15920337e-03 3.31432674e+00] [-1.39992338e-02 -1.14181234e-03 9.99901354e-01 -2.09460212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.015898227 meters 0.09011344248673223 Centerline is valid? [True, True] Translation: X:134.66, Y:3.33, Z:-2.09 [[ 9.99875406e-01 5.86694911e-04 1.57742927e-02 1.34659189e+02] [-6.07371047e-04 9.99998963e-01 1.30599003e-03 3.33453261e+00] [-1.57735102e-02 -1.31540816e-03 9.99874725e-01 -2.09471932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.075898227 meters 0.08788097403760986 Centerline is valid? [True, True] Translation: X:134.72, Y:3.34, Z:-2.09 [[ 9.99857694e-01 1.09946717e-03 1.68339990e-02 1.34720974e+02] [-1.12308467e-03 9.99998398e-01 1.39357516e-03 3.34385265e+00] [-1.68324398e-02 -1.41228285e-03 9.99857327e-01 -2.09472104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.135898227 meters 0.08708241466501358 Centerline is valid? [True, True] Translation: X:134.78, Y:3.36, Z:-2.09 [[ 9.99861775e-01 1.36014022e-03 1.65704772e-02 1.34783178e+02] [-1.38305093e-03 9.99998103e-01 1.37124147e-03 3.35819387e+00] [-1.65685807e-02 -1.39396974e-03 9.99861760e-01 -2.09423205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.19589822700001 meters 0.09199612860227678 Centerline is valid? [True, True] Translation: X:134.84, Y:3.39, Z:-2.09 [[ 9.99849875e-01 2.60710170e-03 1.71297891e-02 1.34841145e+02] [-2.63170512e-03 9.99995537e-01 1.41390933e-03 3.38672990e+00] [-1.71260265e-02 -1.45877762e-03 9.99852275e-01 -2.09311360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.255898227 meters 0.09356003889502398 Centerline is valid? [True, True] Translation: X:134.90, Y:3.40, Z:-2.10 [[ 9.99860878e-01 3.11257403e-03 1.63870856e-02 1.34901653e+02] [-3.13516229e-03 9.99994170e-01 1.35290916e-03 3.40286380e+00] [-1.63827791e-02 -1.40409711e-03 9.99864807e-01 -2.09618057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.315898227 meters 0.09184248159878715 Centerline is valid? [True, True] Translation: X:134.96, Y:3.42, Z:-2.10 [[ 9.99874297e-01 1.09361660e-03 1.58175319e-02 1.34961853e+02] [-1.11436880e-03 9.99998530e-01 1.30322029e-03 3.41561052e+00] [-1.58160834e-02 -1.32068303e-03 9.99874046e-01 -2.09820975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.375898227 meters 0.0814132368519399 Centerline is valid? [True, True] Translation: X:135.02, Y:3.42, Z:-2.10 [[ 9.99919175e-01 -1.83687258e-03 1.25805326e-02 1.35021897e+02] [ 1.82397624e-03 9.99997799e-01 1.03650015e-03 3.41986673e+00] [-1.25824088e-02 -1.01346979e-03 9.99920325e-01 -2.10211556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.435898227 meters 0.0821210095524057 Centerline is valid? [True, True] Translation: X:135.08, Y:3.43, Z:-2.10 [[ 9.99919634e-01 -3.74364035e-03 1.21124375e-02 1.35080742e+02] [ 3.73182584e-03 9.99992539e-01 9.97857629e-04 3.43247567e+00] [-1.21160828e-02 -9.52575927e-04 9.99926144e-01 -2.10483822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.495898227 meters 0.07975361085323333 Centerline is valid? [True, True] Translation: X:135.14, Y:3.44, Z:-2.10 [[ 9.99902691e-01 -4.64084046e-03 1.31556663e-02 1.35141785e+02] [ 4.62697848e-03 9.99988708e-01 1.08393007e-03 3.44166022e+00] [-1.31605480e-02 -1.02295361e-03 9.99912873e-01 -2.10447696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.555898227 meters 0.08478824064768624 Centerline is valid? [True, True] Translation: X:135.20, Y:3.46, Z:-2.10 [[ 9.99900621e-01 -2.87677738e-03 1.38011875e-02 1.35200551e+02] [ 2.86136030e-03 9.99995260e-01 1.13669970e-03 3.46346951e+00] [-1.38043922e-02 -1.09709657e-03 9.99904113e-01 -2.10475754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.615898227 meters 0.0863417573144941 Centerline is valid? [True, True] Translation: X:135.26, Y:3.48, Z:-2.10 [[ 9.99891995e-01 -5.76090657e-04 1.46855613e-02 1.35259828e+02] [ 5.58391030e-04 9.99999113e-01 1.20931198e-03 3.47939671e+00] [-1.46862450e-02 -1.20098108e-03 9.99891430e-01 -2.10425782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.675898227 meters 0.0895802654782 Centerline is valid? [True, True] Translation: X:135.32, Y:3.50, Z:-2.10 [[ 9.99861128e-01 4.19244071e-03 1.61291213e-02 1.35318868e+02] [-4.21440678e-03 9.99990237e-01 1.32814053e-03 3.49981708e+00] [-1.61233957e-02 -1.39593077e-03 9.99869035e-01 -2.10327066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.735898227 meters 0.08542171158621195 Centerline is valid? [True, True] Translation: X:135.38, Y:3.51, Z:-2.10 [[ 9.99850328e-01 6.28311205e-03 1.61196539e-02 1.35378806e+02] [-6.30532152e-03 9.99979240e-01 1.32733499e-03 3.50854895e+00] [-1.61109794e-02 -1.42877592e-03 9.99869189e-01 -2.10442250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.795898227 meters 0.09019443268455232 Centerline is valid? [True, True] Translation: X:135.44, Y:3.53, Z:-2.11 [[ 9.99852089e-01 4.40689331e-03 1.66246456e-02 1.35437006e+02] [-4.43025823e-03 9.99989249e-01 1.36887224e-03 3.52811699e+00] [-1.66184344e-02 -1.44232125e-03 9.99860864e-01 -2.10577123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.855898227 meters 0.08392362312688618 Centerline is valid? [True, True] Translation: X:135.50, Y:3.53, Z:-2.11 [[ 9.99871125e-01 -1.20696265e-03 1.60086680e-02 1.35497507e+02] [ 1.18601130e-03 9.99998428e-01 1.31817978e-03 3.53243617e+00] [-1.60102338e-02 -1.29902344e-03 9.99870984e-01 -2.10767307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.915898227 meters 0.08303757612845392 Centerline is valid? [True, True] Translation: X:135.56, Y:3.54, Z:-2.11 [[ 9.99886970e-01 -5.18141928e-03 1.41138172e-02 1.35556234e+02] [ 5.16553062e-03 9.99985983e-01 1.16197430e-03 3.54138281e+00] [-1.41196400e-02 -1.08893761e-03 9.99899720e-01 -2.11174755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.97589822700002 meters 0.07807074792304103 Centerline is valid? [True, True] Translation: X:135.62, Y:3.54, Z:-2.11 [[ 9.99830217e-01 -9.89662178e-03 1.55432902e-02 1.35616773e+02] [ 9.87791338e-03 9.99950393e-01 1.27994516e-03 3.54437132e+00] [-1.55551863e-02 -1.12619258e-03 9.99878377e-01 -2.11161667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.035898227 meters 0.0682904043867579 Centerline is valid? [True, True] Translation: X:135.68, Y:3.54, Z:-2.11 [[ 9.99640572e-01 -2.01058607e-02 1.77336315e-02 1.35678312e+02] [ 2.00831077e-02 9.99797248e-01 1.46021999e-03 3.53625893e+00] [-1.77593949e-02 -1.10354872e-03 9.99841681e-01 -2.10981712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.095898227 meters 0.06061340603582537 Centerline is valid? [True, True] Translation: X:135.74, Y:3.53, Z:-2.11 [[ 9.99518779e-01 -2.69011561e-02 1.54447119e-02 1.35739455e+02] [ 2.68847082e-02 9.99637732e-01 1.27162800e-03 3.52693751e+00] [-1.54733250e-02 -8.55789488e-04 9.99879915e-01 -2.11490550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.155898227 meters 0.05988230153271938 Centerline is valid? [True, True] Translation: X:135.80, Y:3.53, Z:-2.12 [[ 9.99421049e-01 -3.05451552e-02 1.49853318e-02 1.35799529e+02] [ 3.05300803e-02 9.99533087e-01 1.23376006e-03 3.52625210e+00] [-1.50160203e-02 -7.75542391e-04 9.99886952e-01 -2.11698049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.215898227 meters 0.06263146398355361 Centerline is valid? [True, True] Translation: X:135.86, Y:3.53, Z:-2.12 [[ 9.99429432e-01 -3.04118215e-02 1.46945883e-02 1.35861260e+02] [ 3.03973068e-02 9.99537163e-01 1.21015198e-03 3.52664886e+00] [-1.47245901e-02 -7.62785598e-04 9.99891296e-01 -2.11927499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.275898227 meters 0.0598104843911109 Centerline is valid? [True, True] Translation: X:135.92, Y:3.52, Z:-2.12 [[ 9.99512485e-01 -2.78460642e-02 1.41204931e-02 1.35923506e+02] [ 2.78324136e-02 9.99611928e-01 1.16235358e-03 3.52029842e+00] [-1.41473803e-02 -7.68779508e-04 9.99899625e-01 -2.12086405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.335898227 meters 0.06349737070224643 Centerline is valid? [True, True] Translation: X:135.98, Y:3.52, Z:-2.12 [[ 9.99605718e-01 -2.41497196e-02 1.43247871e-02 1.35983996e+02] [ 2.41352992e-02 9.99708006e-01 1.17872391e-03 3.52161563e+00] [-1.43490702e-02 -8.32526135e-04 9.99896700e-01 -2.12153350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.395898227 meters 0.07320287550687643 Centerline is valid? [True, True] Translation: X:136.04, Y:3.53, Z:-2.12 [[ 9.99782203e-01 -1.48362786e-02 1.46776060e-02 1.36044041e+02] [ 1.48201397e-02 9.99889446e-01 1.20772774e-03 3.53176140e+00] [-1.46939015e-02 -9.89940528e-04 9.99891549e-01 -2.12091668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.455898227 meters 0.08619193542787353 Centerline is valid? [True, True] Translation: X:136.10, Y:3.55, Z:-2.12 [[ 9.99865836e-01 -7.27377349e-03 1.46766018e-02 1.36102254e+02] [ 7.25682631e-03 9.99972940e-01 1.20763342e-03 3.54981662e+00] [-1.46849887e-02 -1.10096585e-03 9.99891564e-01 -2.12210996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.515898227 meters 0.0839481406346046 Centerline is valid? [True, True] Translation: X:136.16, Y:3.55, Z:-2.12 [[ 9.99889471e-01 -1.40935384e-03 1.48006803e-02 1.36162949e+02] [ 1.39148347e-03 9.99998291e-01 1.21763050e-03 3.54978712e+00] [-1.48023711e-02 -1.19690101e-03 9.99889723e-01 -2.12269127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.575898227 meters 0.08626970982028313 Centerline is valid? [True, True] Translation: X:136.22, Y:3.55, Z:-2.13 [[ 9.99898292e-01 2.34240413e-03 1.40683530e-02 1.36223099e+02] [-2.35891791e-03 9.99996548e-01 1.15734541e-03 3.55367302e+00] [-1.40655935e-02 -1.19041379e-03 9.99900366e-01 -2.12655748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.635898227 meters 0.0884103034363896 Centerline is valid? [True, True] Translation: X:136.29, Y:3.56, Z:-2.13 [[ 9.99885433e-01 2.64131850e-03 1.49045001e-02 1.36285487e+02] [-2.65989543e-03 9.99995710e-01 1.22671125e-03 3.55925369e+00] [-1.49011960e-02 -1.26621512e-03 9.99888169e-01 -2.12584109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.69589822700001 meters 0.09094193840730291 Centerline is valid? [True, True] Translation: X:136.35, Y:3.57, Z:-2.13 [[ 9.99878807e-01 4.35758269e-03 1.49460232e-02 1.36346210e+02] [-4.37640172e-03 9.99989671e-01 1.22665672e-03 3.56670643e+00] [-1.49405236e-02 -1.29191786e-03 9.99887550e-01 -2.12590189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.755898227 meters 0.09195729651730393 Centerline is valid? [True, True] Translation: X:136.41, Y:3.57, Z:-2.13 [[ 9.99850501e-01 9.34585529e-03 1.45475533e-02 1.36406496e+02] [-9.36420190e-03 9.99955443e-01 1.19354064e-03 3.57381554e+00] [-1.45357504e-02 -1.32958843e-03 9.99893466e-01 -2.12825582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.815898227 meters 0.09755532077085506 Centerline is valid? [True, True] Translation: X:136.47, Y:3.59, Z:-2.13 [[ 9.99838073e-01 1.13301003e-02 1.39805958e-02 1.36465006e+02] [-1.13472355e-02 9.99934960e-01 1.14692332e-03 3.58647356e+00] [-1.39666917e-02 -1.30537871e-03 9.99901609e-01 -2.13011479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.875898227 meters 0.09827098961174982 Centerline is valid? [True, True] Translation: X:136.53, Y:3.59, Z:-2.13 [[ 9.99800061e-01 1.46914141e-02 1.35647107e-02 1.36525356e+02] [-1.47078541e-02 9.99891214e-01 1.11299875e-03 3.59471570e+00] [-1.35468835e-02 -1.31228400e-03 9.99907376e-01 -2.13088196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.935898227 meters 0.10403562999511796 Centerline is valid? [True, False] Translation: X:136.52, Y:3.60, Z:-2.13 [[ 9.99804224e-01 1.41178163e-02 1.38636335e-02 1.36524136e+02] [-1.41116183e-02 9.99900278e-01 -5.44796013e-04 3.60175740e+00] [-1.38699423e-02 3.49051051e-04 9.99903747e-01 -2.13002130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.995898227 meters 0.11280819920907736 Centerline is valid? [False, False] Translation: X:136.52, Y:3.61, Z:-2.13 [[ 9.99808672e-01 1.37247468e-02 1.39373712e-02 1.36523793e+02] [-1.37045828e-02 9.99904900e-01 -1.54123791e-03 3.60617611e+00] [-1.39571988e-02 1.34993717e-03 9.99901682e-01 -2.12981597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.055898227 meters 0.11540485787147403 Centerline is valid? [False, False] Translation: X:136.54, Y:3.61, Z:-2.13 [[ 9.99882915e-01 8.07299134e-03 1.29993239e-02 1.36544930e+02] [-8.11654542e-03 9.99961611e-01 3.30122382e-03 3.61073678e+00] [-1.29721741e-02 -3.40634690e-03 9.99910056e-01 -2.12911514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.115898227 meters 0.09451988793931604 Centerline is valid? [False, True] Translation: X:136.53, Y:3.61, Z:-2.13 [[ 9.99965325e-01 -1.04887025e-03 8.26124056e-03 1.36525182e+02] [ 1.01832077e-03 9.99992632e-01 3.70126830e-03 3.60962275e+00] [-8.26506183e-03 -3.69272737e-03 9.99959025e-01 -2.12594526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.175898227 meters 0.08489022000590987 Centerline is valid? [True, True] Translation: X:136.59, Y:3.60, Z:-2.13 [[ 9.99946519e-01 -5.85261541e-03 8.52681945e-03 1.36586575e+02] [ 5.84613449e-03 9.99982603e-01 7.84790604e-04 3.60077269e+00] [-8.53126419e-03 -7.34899699e-04 9.99963338e-01 -2.12575708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.235898227 meters 0.08663225813621048 Centerline is valid? [True, True] Translation: X:136.65, Y:3.61, Z:-2.13 [[ 9.99938177e-01 -8.00039145e-03 7.72241788e-03 1.36645163e+02] [ 7.99513979e-03 9.99967786e-01 7.10686111e-04 3.60900152e+00] [-7.72785488e-03 -6.48900364e-04 9.99969929e-01 -2.12582254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.295898227 meters 0.08775445272569968 Centerline is valid? [True, True] Translation: X:136.71, Y:3.61, Z:-2.13 [[ 9.99933015e-01 -8.83144253e-03 7.48138453e-03 1.36706934e+02] [ 8.82653356e-03 9.99960808e-01 6.88923151e-04 3.61298045e+00] [-7.48717551e-03 -6.22842312e-04 9.99971777e-01 -2.12827516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.355898227 meters 0.09180110510727951 Centerline is valid? [True, True] Translation: X:136.77, Y:3.62, Z:-2.13 [[ 9.99909564e-01 -1.07348916e-02 8.10102365e-03 1.36765947e+02] [ 1.07292026e-02 9.99942163e-01 7.45392866e-04 3.62185155e+00] [-8.10855682e-03 -6.58407932e-04 9.99966908e-01 -2.12661287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.415898227 meters 0.09952521460714235 Centerline is valid? [True, True] Translation: X:136.83, Y:3.64, Z:-2.13 [[ 9.99902287e-01 -1.11890429e-02 8.37979003e-03 1.36825868e+02] [ 1.11829705e-02 9.99937171e-01 7.71150924e-04 3.63701334e+00] [-8.38789198e-03 -6.77364628e-04 9.99964592e-01 -2.12675503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.47589822700002 meters 0.08880653234258627 Centerline is valid? [True, True] Translation: X:136.89, Y:3.63, Z:-2.13 [[ 9.99939784e-01 -8.00525415e-03 7.50623538e-03 1.36887449e+02] [ 8.00029465e-03 9.99967759e-01 6.90512476e-04 3.63033249e+00] [-7.51152110e-03 -6.30418802e-04 9.99971589e-01 -2.12731002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.535898227 meters 0.09870024703767129 Centerline is valid? [True, True] Translation: X:136.95, Y:3.65, Z:-2.13 [[ 9.99960818e-01 -4.72264133e-03 7.48726549e-03 1.36945890e+02] [ 4.71761750e-03 9.99988635e-01 6.88502779e-04 3.65188040e+00] [-7.49043194e-03 -6.53153747e-04 9.99971733e-01 -2.12846269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.595898227 meters 0.09723373580249342 Centerline is valid? [True, True] Translation: X:137.01, Y:3.66, Z:-2.13 [[ 9.99961152e-01 -3.90259375e-03 7.90342494e-03 1.37007354e+02] [ 3.89696963e-03 9.99992143e-01 7.26880596e-04 3.65661196e+00] [-7.90619956e-03 -6.96052951e-04 9.99968503e-01 -2.12978302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.655898227 meters 0.09096029419682815 Centerline is valid? [True, True] Translation: X:137.07, Y:3.65, Z:-2.13 [[ 9.99937282e-01 -8.14497335e-03 7.68712888e-03 1.37069077e+02] [ 8.13978235e-03 9.99966622e-01 7.06330366e-04 3.65004605e+00] [-7.69262535e-03 -6.43714510e-04 9.99970204e-01 -2.13270703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.715898227 meters 0.08447579484496147 Centerline is valid? [True, True] Translation: X:137.13, Y:3.64, Z:-2.13 [[ 9.99928315e-01 -9.63964705e-03 7.10224311e-03 1.37130240e+02] [ 9.63525367e-03 9.99953367e-01 6.52547719e-04 3.64477651e+00] [-7.10820224e-03 -5.84069027e-04 9.99974566e-01 -2.13364845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.775898227 meters 0.08571253013355548 Centerline is valid? [True, True] Translation: X:137.19, Y:3.65, Z:-2.13 [[ 9.99933038e-01 -8.82699865e-03 7.48358840e-03 1.37191599e+02] [ 8.82209713e-03 9.99960848e-01 6.87728908e-04 3.65090843e+00] [-7.48936599e-03 -6.21661912e-04 9.99971761e-01 -2.13435955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.835898227 meters 0.0946881367750128 Centerline is valid? [True, True] Translation: X:137.25, Y:3.67, Z:-2.13 [[ 9.99957056e-01 -6.09735010e-03 6.97911874e-03 1.37249623e+02] [ 6.09302417e-03 9.99981232e-01 6.40933824e-04 3.66894478e+00] [-6.98289575e-03 -5.98382361e-04 9.99975440e-01 -2.13428910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.895898227 meters 0.09841380059469476 Centerline is valid? [True, True] Translation: X:137.31, Y:3.68, Z:-2.14 [[ 9.99988488e-01 -1.19128289e-03 4.64812368e-03 1.37309255e+02] [ 1.18931124e-03 9.99999202e-01 4.26922667e-04 3.67587492e+00] [-4.64862855e-03 -4.21389686e-04 9.99989106e-01 -2.13954710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.955898227 meters 0.09439644093865553 Centerline is valid? [True, True] Translation: X:137.37, Y:3.67, Z:-2.14 [[ 9.99971225e-01 -2.06381700e-03 7.30004341e-03 1.37371920e+02] [ 2.05897534e-03 9.99997655e-01 6.70691539e-04 3.67275479e+00] [-7.30141047e-03 -6.55641630e-04 9.99973129e-01 -2.13603133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.015898227 meters 0.09384955079927534 Centerline is valid? [True, True] Translation: X:137.43, Y:3.67, Z:-2.14 [[ 9.99951922e-01 -5.11982236e-03 8.36313452e-03 1.37432019e+02] [ 5.11357776e-03 9.99986631e-01 7.67893685e-04 3.67281789e+00] [-8.36695419e-03 -7.25091227e-04 9.99964734e-01 -2.13508274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.075898227 meters 0.08494511696537288 Centerline is valid? [True, True] Translation: X:137.49, Y:3.66, Z:-2.14 [[ 9.99930230e-01 -7.61954059e-03 9.02653180e-03 1.37493793e+02] [ 7.61236688e-03 9.99970682e-01 8.28827259e-04 3.66072419e+00] [-9.03258244e-03 -7.60056160e-04 9.99958917e-01 -2.13514503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.135898227 meters 0.08644247861238821 Centerline is valid? [True, True] Translation: X:137.55, Y:3.66, Z:-2.13 [[ 9.99888062e-01 -9.41803392e-03 1.16260294e-02 1.37553987e+02] [ 9.40625448e-03 9.99955190e-01 1.06746147e-03 3.66414639e+00] [-1.16355618e-02 -9.57984584e-04 9.99931846e-01 -2.13166805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.19589822700001 meters 0.08245788745183037 Centerline is valid? [True, True] Translation: X:137.61, Y:3.66, Z:-2.13 [[ 9.99848975e-01 -1.21789873e-02 1.23975422e-02 1.37614777e+02] [ 1.21658034e-02 9.99925346e-01 1.13829939e-03 3.65987858e+00] [-1.24104800e-02 -9.87301419e-04 9.99922500e-01 -2.13177829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.255898227 meters 0.0780360018722464 Centerline is valid? [True, True] Translation: X:137.68, Y:3.65, Z:-2.14 [[ 9.99765671e-01 -1.97979703e-02 8.75457670e-03 1.37675708e+02] [ 1.97916865e-02 9.99803802e-01 8.03826675e-04 3.65097773e+00] [-8.76877321e-03 -6.30370478e-04 9.99961355e-01 -2.13902953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.315898227 meters 0.07165501028499327 Centerline is valid? [True, True] Translation: X:137.74, Y:3.64, Z:-2.14 [[ 9.99664820e-01 -2.45252038e-02 8.29226722e-03 1.37737848e+02] [ 2.45197281e-02 9.99699056e-01 7.61372864e-04 3.64252371e+00] [-8.30844454e-03 -5.57793530e-04 9.99965329e-01 -2.13985154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.375898227 meters 0.0779865115526913 Centerline is valid? [True, True] Translation: X:137.80, Y:3.65, Z:-2.14 [[ 9.99690263e-01 -2.37270982e-02 7.51015189e-03 1.37798742e+02] [ 2.37225841e-02 9.99718342e-01 6.89590550e-04 3.64886597e+00] [-7.52439857e-03 -5.11216749e-04 9.99971561e-01 -2.14273582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.435898227 meters 0.08004340163328565 Centerline is valid? [True, True] Translation: X:137.86, Y:3.66, Z:-2.14 [[ 9.99774932e-01 -2.04776482e-02 5.54543261e-03 1.37858913e+02] [ 2.04751388e-02 9.99790233e-01 5.08920491e-04 3.65687828e+00] [-5.55469086e-03 -3.95262447e-04 9.99984494e-01 -2.14450208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.495898227 meters 0.08047396250025508 Centerline is valid? [True, True] Translation: X:137.92, Y:3.66, Z:-2.14 [[ 9.99812606e-01 -1.81697789e-02 6.67926344e-03 1.37919178e+02] [ 1.81660876e-02 9.99834795e-01 6.12910897e-04 3.66245685e+00] [-6.68929645e-03 -4.91459956e-04 9.99977506e-01 -2.14312226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.555898227 meters 0.07681188672704363 Centerline is valid? [True, True] Translation: X:137.98, Y:3.66, Z:-2.14 [[ 9.99769373e-01 -2.03341237e-02 6.90833388e-03 1.37981024e+02] [ 2.03302262e-02 9.99793119e-01 6.33945715e-04 3.65939498e+00] [-6.91979541e-03 -4.93351519e-04 9.99975936e-01 -2.14395059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.615898227 meters 0.07847735622423052 Centerline is valid? [True, True] Translation: X:138.04, Y:3.66, Z:-2.14 [[ 9.99686543e-01 -2.39459304e-02 7.30811237e-03 1.38040686e+02] [ 2.39416661e-02 9.99713132e-01 6.70440234e-04 3.66250044e+00] [-7.32207022e-03 -4.95261693e-04 9.99973071e-01 -2.14492587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.675898227 meters 0.07131115130451422 Centerline is valid? [True, True] Translation: X:138.10, Y:3.65, Z:-2.14 [[ 9.99631129e-01 -2.59776499e-02 7.92259565e-03 1.38102294e+02] [ 2.59727007e-02 9.99662388e-01 7.26967996e-04 3.65174743e+00] [-7.93880581e-03 -5.20928633e-04 9.99968351e-01 -2.14418218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.735898227 meters 0.07681117094607542 Centerline is valid? [True, True] Translation: X:138.16, Y:3.66, Z:-2.15 [[ 9.99706330e-01 -2.31592575e-02 7.13455097e-03 1.38161139e+02] [ 2.31551721e-02 9.99731669e-01 6.54697206e-04 3.65900984e+00] [-7.14779885e-03 -4.89303185e-04 9.99974334e-01 -2.14617948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.795898227 meters 0.07935241624077108 Centerline is valid? [True, True] Translation: X:138.22, Y:3.67, Z:-2.15 [[ 9.99757613e-01 -2.10783972e-02 6.35735061e-03 1.38221287e+02] [ 2.10751115e-02 9.99777725e-01 5.83396419e-04 3.66588855e+00] [-6.36823459e-03 -4.49273139e-04 9.99979622e-01 -2.14757622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.855898227 meters 0.08234362038527658 Centerline is valid? [True, True] Translation: X:138.28, Y:3.67, Z:-2.15 [[ 9.99840773e-01 -1.66038168e-02 6.53779840e-03 1.38281749e+02] [ 1.66002485e-02 9.99862027e-01 5.99696211e-04 3.67127482e+00] [-6.54685360e-03 -4.91071645e-04 9.99978449e-01 -2.14696122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.915898227 meters 0.08647947845618137 Centerline is valid? [True, True] Translation: X:138.34, Y:3.68, Z:-2.15 [[ 9.99870695e-01 -1.38791594e-02 8.12174918e-03 1.38342174e+02] [ 1.38735631e-02 9.99903480e-01 7.44988430e-04 3.67762668e+00] [-8.13130508e-03 -6.32214500e-04 9.99966741e-01 -2.14519496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.97589822700002 meters 0.08645658342732163 Centerline is valid? [True, True] Translation: X:138.40, Y:3.68, Z:-2.15 [[ 9.99909973e-01 -1.09397578e-02 7.76964710e-03 1.38402847e+02] [ 1.09345474e-02 9.99939962e-01 7.12766528e-04 3.67964166e+00] [-7.77697812e-03 -6.27744785e-04 9.99969562e-01 -2.14512876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.035898227 meters 0.0865752795714985 Centerline is valid? [True, True] Translation: X:138.46, Y:3.68, Z:-2.15 [[ 9.99932537e-01 -8.79746346e-03 7.58461950e-03 1.38463039e+02] [ 8.79243932e-03 9.99961104e-01 6.95501380e-04 3.68468841e+00] [-7.59044313e-03 -6.28767153e-04 9.99970994e-01 -2.14599723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.095898227 meters 0.09924495151946888 Centerline is valid? [True, True] Translation: X:138.52, Y:3.71, Z:-2.15 [[ 9.99930361e-01 -8.99547220e-03 7.63908124e-03 1.38522960e+02] [ 8.99038059e-03 9.99959340e-01 7.00600086e-04 3.70509332e+00] [-7.64507286e-03 -6.31873049e-04 9.99970576e-01 -2.14823219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.155898227 meters 0.08695375238964237 Centerline is valid? [True, True] Translation: X:138.59, Y:3.69, Z:-2.15 [[ 9.99896766e-01 -1.09545781e-02 9.29811199e-03 1.38585676e+02] [ 1.09471232e-02 9.99939715e-01 8.52276722e-04 3.69143574e+00] [-9.30688779e-03 -7.50401160e-04 9.99956408e-01 -2.14633053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.215898227 meters 0.09130849510897338 Centerline is valid? [True, True] Translation: X:138.64, Y:3.70, Z:-2.15 [[ 9.99888582e-01 -1.24809283e-02 8.18845202e-03 1.38644686e+02] [ 1.24751981e-02 9.99921900e-01 7.50505668e-04 3.70085789e+00] [-8.19717951e-03 -6.48269487e-04 9.99966192e-01 -2.14928928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.275898227 meters 0.08350208638474452 Centerline is valid? [True, True] Translation: X:138.71, Y:3.69, Z:-2.15 [[ 9.99858702e-01 -1.49029938e-02 7.77663503e-03 1.38706031e+02] [ 1.48978982e-02 9.99888766e-01 7.12765242e-04 3.69304846e+00] [-7.78639234e-03 -5.96809013e-04 9.99969507e-01 -2.15084716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.335898227 meters 0.07604179075971002 Centerline is valid? [True, True] Translation: X:138.77, Y:3.68, Z:-2.15 [[ 9.99805647e-01 -1.80465179e-02 7.93666000e-03 1.38767786e+02] [ 1.80413091e-02 9.99836978e-01 7.27416612e-04 3.68217782e+00] [-7.94849349e-03 -5.84087501e-04 9.99968240e-01 -2.15281781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.395898227 meters 0.09724103868571128 Centerline is valid? [True, True] Translation: X:138.83, Y:3.71, Z:-2.16 [[ 9.99812559e-01 -1.84789451e-02 5.77714816e-03 1.38826193e+02] [ 1.84761897e-02 9.99829160e-01 5.29961452e-04 3.71080002e+00] [-5.78595432e-03 -4.23122430e-04 9.99983172e-01 -2.16040425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.455898227 meters 0.07435955984856499 Centerline is valid? [True, True] Translation: X:138.89, Y:3.68, Z:-2.16 [[ 9.99803659e-01 -1.90960801e-02 5.28995181e-03 1.38891740e+02] [ 1.90937810e-02 9.99817580e-01 4.84771749e-04 3.68170441e+00] [-5.29824406e-03 -3.83671387e-04 9.99985891e-01 -2.15884940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.515898227 meters 0.0721079294909999 Centerline is valid? [True, True] Translation: X:138.95, Y:3.68, Z:-2.16 [[ 9.99755494e-01 -2.12700131e-02 6.04475153e-03 1.38952776e+02] [ 2.12670551e-02 9.99773678e-01 5.53217962e-04 3.68068309e+00] [-6.05515042e-03 -4.24528633e-04 9.99981577e-01 -2.15822477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.575898227 meters 0.07712930981494112 Centerline is valid? [True, True] Translation: X:139.01, Y:3.69, Z:-2.16 [[ 9.99703057e-01 -2.34658558e-02 6.56890985e-03 1.39011561e+02] [ 2.34624111e-02 9.99724539e-01 6.00982137e-04 3.68998676e+00] [-6.58120293e-03 -4.46681217e-04 9.99978244e-01 -2.15831345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.635898227 meters 0.07384887000513947 Centerline is valid? [True, True] Translation: X:139.07, Y:3.69, Z:-2.16 [[ 9.99657900e-01 -2.54004714e-02 6.23685622e-03 1.39072727e+02] [ 2.53974024e-02 9.99677271e-01 5.70792685e-04 3.68791502e+00] [-6.24934181e-03 -4.12197469e-04 9.99980388e-01 -2.15932941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.69589822700001 meters 0.06901573879399235 Centerline is valid? [True, True] Translation: X:139.13, Y:3.69, Z:-2.16 [[ 9.99622543e-01 -2.66660059e-02 6.61033157e-03 1.39134818e+02] [ 2.66625857e-02 9.99644307e-01 6.05003875e-04 3.68592937e+00] [-6.62411336e-03 -4.28526980e-04 9.99977969e-01 -2.15855123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.755898227 meters 0.07071359188493206 Centerline is valid? [True, True] Translation: X:139.20, Y:3.69, Z:-2.16 [[ 9.99577163e-01 -2.83002969e-02 6.67752053e-03 1.39195273e+02] [ 2.82968452e-02 9.99599377e-01 6.10850102e-04 3.69114655e+00] [-6.69213260e-03 -4.21639047e-04 9.99977519e-01 -2.15925419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.815898227 meters 0.06107810535507168 Centerline is valid? [True, True] Translation: X:139.26, Y:3.68, Z:-2.16 [[ 9.99459477e-01 -3.18353807e-02 8.20135118e-03 1.39257539e+02] [ 3.18302947e-02 9.99493006e-01 7.49959856e-04 3.67964824e+00] [-8.22106841e-03 -4.88503061e-04 9.99966087e-01 -2.15686586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.875898227 meters 0.06609303107859717 Centerline is valid? [True, True] Translation: X:139.32, Y:3.69, Z:-2.16 [[ 9.99419374e-01 -3.29324623e-02 8.73885630e-03 1.39316998e+02] [ 3.29267292e-02 9.99457449e-01 7.99156092e-04 3.68995178e+00] [-8.76043321e-03 -5.10950127e-04 9.99961496e-01 -2.15741896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.935898227 meters 0.0624334282840445 Centerline is valid? [True, True] Translation: X:139.38, Y:3.69, Z:-2.16 [[ 9.99481681e-01 -3.15167244e-02 6.56248807e-03 1.39378498e+02] [ 3.15134642e-02 9.99503148e-01 5.99623504e-04 3.68952729e+00] [-6.57812565e-03 -3.92505974e-04 9.99978287e-01 -2.16129020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.995898227 meters 0.07290906406838041 Centerline is valid? [True, True] Translation: X:139.44, Y:3.71, Z:-2.17 [[ 9.99606573e-01 -2.77305270e-02 4.20924085e-03 1.39436673e+02] [ 2.77291515e-02 9.99615399e-01 3.84818698e-04 3.70677665e+00] [-4.21829320e-03 -2.67948623e-04 9.99991067e-01 -2.16549945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.055898227 meters 0.0744891088546817 Centerline is valid? [True, True] Translation: X:139.50, Y:3.71, Z:-2.16 [[ 9.99672625e-01 -2.49389473e-02 5.71758820e-03 1.39496350e+02] [ 2.49363685e-02 9.99688904e-01 5.21883065e-04 3.71473082e+00] [-5.72882469e-03 -3.79136328e-04 9.99983518e-01 -2.16367189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.115898227 meters 0.07878930667439081 Centerline is valid? [True, True] Translation: X:139.56, Y:3.73, Z:-2.16 [[ 9.99760222e-01 -2.05035341e-02 7.68786777e-03 1.39555785e+02] [ 2.04987414e-02 9.99789632e-01 7.01700076e-04 3.72861425e+00] [-7.70063783e-03 -5.43940210e-04 9.99970202e-01 -2.16154338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.175898227 meters 0.08271939737927272 Centerline is valid? [True, True] Translation: X:139.62, Y:3.75, Z:-2.17 [[ 9.99860086e-01 -1.60215198e-02 4.80824901e-03 1.39615180e+02] [ 1.60195935e-02 9.99871582e-01 4.38875300e-04 3.74560918e+00] [-4.81466299e-03 -3.61787701e-04 9.99988344e-01 -2.16707793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.235898227 meters 0.07930431736058355 Centerline is valid? [True, True] Translation: X:139.68, Y:3.75, Z:-2.17 [[ 9.99795715e-01 -1.94128340e-02 5.62754935e-03 1.39675819e+02] [ 1.94102486e-02 9.99811471e-01 5.13661347e-04 3.74943681e+00] [-5.63646002e-03 -4.04324282e-04 9.99984033e-01 -2.16711113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.295898227 meters 0.07079058225345 Centerline is valid? [True, True] Translation: X:139.74, Y:3.74, Z:-2.17 [[ 9.99607750e-01 -2.73069730e-02 6.21892952e-03 1.39737320e+02] [ 2.73039686e-02 9.99627016e-01 5.67511890e-04 3.74298296e+00] [-6.23210699e-03 -3.97487827e-04 9.99980501e-01 -2.16673910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.355898227 meters 0.05957789298614785 Centerline is valid? [True, True] Translation: X:139.80, Y:3.73, Z:-2.17 [[ 9.99252630e-01 -3.84781871e-02 3.68921839e-03 1.39799539e+02] [ 3.84772055e-02 9.99259421e-01 3.36701652e-04 3.73235494e+00] [-3.69944191e-03 -1.94499197e-04 9.99993138e-01 -2.17235959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.415898227 meters 0.05586825158340488 Centerline is valid? [True, True] Translation: X:139.86, Y:3.73, Z:-2.17 [[ 9.99108104e-01 -4.20291648e-02 4.06762689e-03 1.39860652e+02] [ 4.20280011e-02 9.99116364e-01 3.71166987e-04 3.73277384e+00] [-4.07963243e-03 -1.99881717e-04 9.99991658e-01 -2.17178325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.47589822700002 meters 0.0556707398823407 Centerline is valid? [True, True] Translation: X:139.92, Y:3.74, Z:-2.17 [[ 9.99173699e-01 -4.03630360e-02 4.76909392e-03 1.39921280e+02] [ 4.03614172e-02 9.99185051e-01 4.35233045e-04 3.73748289e+00] [-4.78277468e-03 -2.42386023e-04 9.99988533e-01 -2.16953172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.535898227 meters 0.0602194084862386 Centerline is valid? [True, True] Translation: X:139.98, Y:3.75, Z:-2.17 [[ 9.99250966e-01 -3.79743926e-02 7.44665318e-03 1.39981065e+02] [ 3.79703804e-02 9.99278634e-01 6.79485336e-04 3.74565717e+00] [-7.46708446e-03 -3.96224124e-04 9.99972042e-01 -2.16650704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.595898227 meters 0.06071354915283258 Centerline is valid? [True, True] Translation: X:140.04, Y:3.75, Z:-2.16 [[ 9.99256564e-01 -3.75063705e-02 8.92137201e-03 1.40042963e+02] [ 3.75005955e-02 9.99296274e-01 8.13783958e-04 3.74994645e+00] [-8.94561589e-03 -4.78622199e-04 9.99959873e-01 -2.16494176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.655898227 meters 0.06407823599152485 Centerline is valid? [True, True] Translation: X:140.10, Y:3.76, Z:-2.17 [[ 9.99324536e-01 -3.57992868e-02 8.29959253e-03 1.40102300e+02] [ 3.57942342e-02 9.99358895e-01 7.56569109e-04 3.75666517e+00] [-8.32135625e-03 -4.58980515e-04 9.99965272e-01 -2.16621104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.715898227 meters 0.06738267525708994 Centerline is valid? [True, True] Translation: X:140.16, Y:3.76, Z:-2.17 [[ 9.99429665e-01 -3.29676231e-02 7.31304525e-03 1.40162031e+02] [ 3.29636246e-02 9.99456330e-01 6.66647868e-04 3.76391350e+00] [-7.33104716e-03 -4.25203177e-04 9.99973037e-01 -2.16800634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.775898227 meters 0.07426887475190005 Centerline is valid? [True, True] Translation: X:140.22, Y:3.78, Z:-2.17 [[ 9.99546408e-01 -2.90327646e-02 8.00476179e-03 1.40221291e+02] [ 2.90278478e-02 9.99578337e-01 7.29759382e-04 3.77571210e+00] [-8.02257341e-03 -4.97067362e-04 9.99967695e-01 -2.16826789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.835898227 meters 0.0680237294893412 Centerline is valid? [True, True] Translation: X:140.28, Y:3.77, Z:-2.17 [[ 9.99722910e-01 -2.23812623e-02 7.29256972e-03 1.40282690e+02] [ 2.23770071e-02 9.99749383e-01 6.64582406e-04 3.77055271e+00] [-7.30561627e-03 -5.01212373e-04 9.99973188e-01 -2.16873713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.895898227 meters 0.08266094398236701 Centerline is valid? [True, True] Translation: X:140.34, Y:3.79, Z:-2.17 [[ 9.99846278e-01 -1.65786531e-02 5.70694794e-03 1.40339987e+02] [ 1.65759522e-02 9.99862474e-01 5.20250765e-04 3.79429441e+00] [-5.71478814e-03 -4.25572695e-04 9.99983580e-01 -2.17237399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.955898227 meters 0.0962836421772327 Centerline is valid? [True, True] Translation: X:140.40, Y:3.82, Z:-2.17 [[ 9.99926314e-01 -1.09418520e-02 5.25759563e-03 1.40397835e+02] [ 1.09394842e-02 9.99940047e-01 4.78905203e-04 3.81701233e+00] [-5.26252053e-03 -4.21354530e-04 9.99986064e-01 -2.17466576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.015898227 meters 0.08922941847900041 Centerline is valid? [True, True] Translation: X:140.46, Y:3.81, Z:-2.17 [[ 9.99945990e-01 -7.76734147e-03 6.90543968e-03 1.40459205e+02] [ 7.76318110e-03 9.99969668e-01 6.29077334e-04 3.81357886e+00] [-6.91011649e-03 -5.75435179e-04 9.99975959e-01 -2.17235540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.075898227 meters 0.08250044478297887 Centerline is valid? [True, True] Translation: X:140.52, Y:3.81, Z:-2.17 [[ 9.99954246e-01 -7.58042503e-03 5.83466393e-03 1.40521769e+02] [ 7.57745055e-03 9.99971149e-01 5.31731945e-04 3.80887859e+00] [-5.83852636e-03 -4.87495739e-04 9.99982837e-01 -2.17391941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.135898227 meters 0.08293377932974012 Centerline is valid? [True, True] Translation: X:140.58, Y:3.82, Z:-2.17 [[ 9.99962892e-01 -5.84515013e-03 6.32845692e-03 1.40582309e+02] [ 5.84161977e-03 9.99982772e-01 5.76196494e-04 3.81596235e+00] [-6.33171585e-03 -5.39206673e-04 9.99979809e-01 -2.17392075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.19589822700001 meters 0.10514144465551557 Centerline is valid? [True, False] Translation: X:140.60, Y:3.83, Z:-2.17 [[ 9.99952031e-01 3.05542893e-03 9.30586785e-03 1.40597863e+02] [-3.03489633e-03 9.99992931e-01 -2.21973709e-03 3.82561631e+00] [-9.31258432e-03 2.19138827e-03 9.99954236e-01 -2.17087703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.255898227 meters 0.1029521470753943 Centerline is valid? [False, False] Translation: X:140.58, Y:3.83, Z:-2.17 [[ 9.99942728e-01 9.72050069e-03 4.47794467e-03 1.40579176e+02] [-9.69152457e-03 9.99932248e-01 -6.44773303e-03 3.83242586e+00] [-4.54031648e-03 6.40396565e-03 9.99969187e-01 -2.16863152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.315898227 meters 0.10739176224473641 Centerline is valid? [False, False] Translation: X:140.58, Y:3.84, Z:-2.17 [[ 9.99960047e-01 5.97935905e-03 6.64472849e-03 1.40579294e+02] [-6.03681999e-03 9.99944266e-01 8.66145319e-03 3.83837739e+00] [-6.59256822e-03 -8.70122017e-03 9.99940412e-01 -2.17132993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.375898227 meters 0.10143518916017079 Centerline is valid? [False, False] Translation: X:140.58, Y:3.85, Z:-2.17 [[ 9.99976132e-01 -3.38164040e-05 6.90893588e-03 1.40576713e+02] [ 3.10344278e-05 9.99999918e-01 4.02770296e-04 3.85356385e+00] [-6.90894894e-03 -4.02546268e-04 9.99976052e-01 -2.16882268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.435898227 meters 0.09664359164623493 Centerline is valid? [False, True] Translation: X:140.60, Y:3.86, Z:-2.17 [[ 9.99976604e-01 -5.60042423e-03 3.92758858e-03 1.40599166e+02] [ 5.58333005e-03 9.99974952e-01 4.34987792e-03 3.86076680e+00] [-3.95185137e-03 -4.32784713e-03 9.99982826e-01 -2.16594523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.495898227 meters 0.08442156729579993 Centerline is valid? [True, True] Translation: X:140.66, Y:3.86, Z:-2.17 [[ 9.99743768e-01 -2.21365808e-02 4.72969815e-03 1.40659168e+02] [ 2.21346565e-02 9.99754893e-01 4.58817956e-04 3.85738784e+00] [-4.73869553e-03 -3.54010148e-04 9.99988710e-01 -2.16581488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.555898227 meters 0.07237625073574035 Centerline is valid? [True, True] Translation: X:140.72, Y:3.85, Z:-2.17 [[ 9.99433474e-01 -3.32103037e-02 5.45950654e-03 1.40720433e+02] [ 3.32079041e-02 9.99448325e-01 5.29607436e-04 3.84907568e+00] [-5.47408309e-03 -3.48008629e-04 9.99984957e-01 -2.16528846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.615898227 meters 0.06027789329995664 Centerline is valid? [True, True] Translation: X:140.78, Y:3.84, Z:-2.16 [[ 9.99083781e-01 -4.23964495e-02 5.84292672e-03 1.40782109e+02] [ 4.23938577e-02 9.99100816e-01 5.66774492e-04 3.83829868e+00] [-5.86170208e-03 -3.18550998e-04 9.99982769e-01 -2.16430061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.675898227 meters 0.061125948488146904 Centerline is valid? [True, True] Translation: X:140.84, Y:3.84, Z:-2.17 [[ 9.98747790e-01 -4.99007686e-02 3.57291219e-03 1.40841683e+02] [ 4.98998474e-02 9.98754167e-01 3.46556163e-04 3.83674249e+00] [-3.58575435e-03 -1.67834429e-04 9.99993557e-01 -2.17191257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.735898227 meters 0.053760878843470083 Centerline is valid? [True, True] Translation: X:140.90, Y:3.83, Z:-2.17 [[ 9.98666247e-01 -5.15377985e-02 3.09560198e-03 1.40904584e+02] [ 5.15371143e-02 9.98671035e-01 3.00463116e-04 3.82802941e+00] [-3.10697324e-03 -1.40523979e-04 9.99995163e-01 -2.17122309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.795898227 meters 0.057265882477985204 Centerline is valid? [True, True] Translation: X:140.97, Y:3.83, Z:-2.17 [[ 9.98692347e-01 -5.09602093e-02 4.08085693e-03 1.40966980e+02] [ 5.09590161e-02 9.98700667e-01 3.95909150e-04 3.82576244e+00] [-4.09573015e-03 -1.87434984e-04 9.99991595e-01 -2.17233035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.855898227 meters 0.05071015747538007 Centerline is valid? [True, True] Translation: X:141.03, Y:3.81, Z:-2.17 [[ 9.98741915e-01 -4.99009624e-02 4.94778101e-03 1.41030941e+02] [ 4.98991970e-02 9.98754144e-01 4.79699366e-04 3.81221949e+00] [-4.96555425e-03 -2.32205564e-04 9.99987645e-01 -2.16880549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.915898227 meters 0.05351641455314988 Centerline is valid? [True, True] Translation: X:141.09, Y:3.81, Z:-2.17 [[ 9.98779784e-01 -4.91263216e-02 5.05455498e-03 1.41092732e+02] [ 4.91244708e-02 9.98792544e-01 4.89748104e-04 3.80860401e+00] [-5.07251135e-03 -2.40848167e-04 9.99987106e-01 -2.17007451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.97589822700002 meters 0.05560371089328377 Centerline is valid? [True, True] Translation: X:141.16, Y:3.80, Z:-2.17 [[ 9.98881376e-01 -4.70001505e-02 5.19450956e-03 1.41155046e+02] [ 4.69981684e-02 9.98894849e-01 5.03066699e-04 3.80377478e+00] [-5.21241306e-03 -2.58371521e-04 9.99986382e-01 -2.17021885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.035898227 meters 0.06504640912027158 Centerline is valid? [True, True] Translation: X:141.21, Y:3.80, Z:-2.17 [[ 9.99239745e-01 -3.85128161e-02 6.05757253e-03 1.41214602e+02] [ 3.85099663e-02 9.99258044e-01 5.86443336e-04 3.80446282e+00] [-6.07566367e-03 -3.52720576e-04 9.99981481e-01 -2.16913627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.095898227 meters 0.0732796907430143 Centerline is valid? [True, True] Translation: X:141.27, Y:3.81, Z:-2.17 [[ 9.99489637e-01 -3.15080751e-02 5.26374782e-03 1.41274786e+02] [ 3.15058270e-02 9.99503438e-01 5.09500584e-04 3.81198083e+00] [-5.27718743e-03 -3.43401825e-04 9.99986017e-01 -2.17210359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.155898227 meters 0.08960953295703743 Centerline is valid? [True, True] Translation: X:141.33, Y:3.83, Z:-2.17 [[ 9.99736186e-01 -2.24123766e-02 5.02436816e-03 1.41332768e+02] [ 2.24102137e-02 9.99748741e-01 4.86373233e-04 3.82658597e+00] [-5.03400652e-03 -3.73647756e-04 9.99987260e-01 -2.17487066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.215898227 meters 0.08699635960151574 Centerline is valid? [True, True] Translation: X:141.39, Y:3.82, Z:-2.17 [[ 9.99841052e-01 -1.72471690e-02 4.51718506e-03 1.41393820e+02] [ 1.72453689e-02 9.99851192e-01 4.37146263e-04 3.82428917e+00] [-4.52405240e-03 -3.59176257e-04 9.99989702e-01 -2.17425171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.275898227 meters 0.08272073695779716 Centerline is valid? [True, True] Translation: X:141.46, Y:3.82, Z:-2.18 [[ 9.99918400e-01 -1.23544652e-02 3.24954893e-03 1.41455221e+02] [ 1.23535081e-02 9.99923643e-01 3.14469091e-04 3.82250830e+00] [-3.25318590e-03 -2.74300102e-04 9.99994671e-01 -2.17548665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.335898227 meters 0.09270769475070598 Centerline is valid? [True, True] Translation: X:141.51, Y:3.84, Z:-2.18 [[ 9.99976596e-01 -6.05644092e-03 3.18234676e-03 1.41513008e+02] [ 6.05549150e-03 9.99981618e-01 3.07889049e-04 3.83991151e+00] [-3.18415298e-03 -2.88611169e-04 9.99994889e-01 -2.17789733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.395898227 meters 0.0980149233443584 Centerline is valid? [True, True] Translation: X:141.57, Y:3.85, Z:-2.18 [[ 9.99990251e-01 -3.17396341e-03 3.06977443e-03 1.41571794e+02] [ 3.17306550e-03 9.99994922e-01 2.97327361e-04 3.85155842e+00] [-3.07070255e-03 -2.87583867e-04 9.99995244e-01 -2.17754657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.455898227 meters 0.09601412349732853 Centerline is valid? [True, True] Translation: X:141.63, Y:3.85, Z:-2.18 [[ 9.99981709e-01 -3.49907941e-03 4.93345556e-03 1.41633259e+02] [ 3.49676679e-03 9.99993772e-01 4.77310856e-04 3.85201191e+00] [-4.93509498e-03 -4.60050982e-04 9.99987717e-01 -2.17609459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.515898227 meters 0.09510830466872257 Centerline is valid? [True, True] Translation: X:141.69, Y:3.86, Z:-2.17 [[ 9.99960526e-01 -5.63961699e-03 6.86593420e-03 1.41693476e+02] [ 5.63518972e-03 9.99983902e-01 6.63991421e-04 3.85524483e+00] [-6.86956833e-03 -6.25274369e-04 9.99976209e-01 -2.17392239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.575898227 meters 0.09641132810962418 Centerline is valid? [True, True] Translation: X:141.75, Y:3.86, Z:-2.17 [[ 9.99949628e-01 -7.05850622e-03 7.13579519e-03 1.41753924e+02] [ 7.05375978e-03 9.99974884e-01 6.90108717e-04 3.86196783e+00] [-7.14048710e-03 -6.39739769e-04 9.99974302e-01 -2.17363985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.635898227 meters 0.09162483990305614 Centerline is valid? [True, True] Translation: X:141.82, Y:3.86, Z:-2.18 [[ 9.99912719e-01 -1.12898750e-02 6.86250116e-03 1.41815363e+02] [ 1.12855847e-02 9.99936096e-01 6.63581789e-04 3.85692169e+00] [-6.86955437e-03 -5.86076532e-04 9.99976233e-01 -2.17550502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.69589822700001 meters 0.08640981720439062 Centerline is valid? [True, True] Translation: X:141.88, Y:3.85, Z:-2.17 [[ 9.99852865e-01 -1.51186036e-02 8.10408099e-03 1.41876566e+02] [ 1.51127453e-02 9.99885489e-01 7.83639761e-04 3.85043832e+00] [-8.11500052e-03 -6.61049549e-04 9.99966854e-01 -2.17435525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.755898227 meters 0.08315552036244082 Centerline is valid? [True, True] Translation: X:141.94, Y:3.84, Z:-2.17 [[ 9.99762831e-01 -1.96685418e-02 9.35045025e-03 1.41937994e+02] [ 1.96609413e-02 9.99806296e-01 9.04092081e-04 3.84403935e+00] [-9.36642120e-03 -7.20039005e-04 9.99955875e-01 -2.17340518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.815898227 meters 0.07662065701837263 Centerline is valid? [True, True] Translation: X:142.00, Y:3.83, Z:-2.18 [[ 9.99678147e-01 -2.40878227e-02 7.96108292e-03 1.41999811e+02] [ 2.40824525e-02 9.99709679e-01 7.69741239e-04 3.83032704e+00] [-7.97731304e-03 -5.77771095e-04 9.99968014e-01 -2.17675078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.875898227 meters 0.08334198237267985 Centerline is valid? [True, True] Translation: X:142.06, Y:3.83, Z:-2.18 [[ 9.99697463e-01 -2.35713174e-02 7.02673832e-03 1.42060275e+02] [ 2.35671205e-02 9.99722026e-01 6.79489778e-04 3.83447475e+00] [-7.04080153e-03 -5.13684219e-04 9.99975081e-01 -2.18081187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.935898227 meters 0.08936895745148547 Centerline is valid? [True, True] Translation: X:142.12, Y:3.85, Z:-2.18 [[ 9.99765697e-01 -2.07025049e-02 6.32113673e-03 1.42118421e+02] [ 2.06990531e-02 9.99785565e-01 6.11020703e-04 3.84637940e+00] [-6.33243092e-03 -4.80035994e-04 9.99979835e-01 -2.18062183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.995898227 meters 0.08041599075828693 Centerline is valid? [True, True] Translation: X:142.18, Y:3.84, Z:-2.18 [[ 9.99859482e-01 -1.61147355e-02 4.61865825e-03 1.42179913e+02] [ 1.61128433e-02 9.99870080e-01 4.46604528e-04 3.83595502e+00] [-4.62525511e-03 -3.72122055e-04 9.99989234e-01 -2.18331384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.055898227 meters 0.10008765785280477 Centerline is valid? [True, False] Translation: X:142.18, Y:3.84, Z:-2.19 [[ 9.99966893e-01 -3.05829110e-03 7.54051413e-03 1.42181746e+02] [ 3.09951926e-03 9.99980280e-01 -5.46194310e-03 3.83565502e+00] [-7.52366122e-03 5.48513424e-03 9.99956653e-01 -2.18596233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.115898227 meters 0.09329473033067086 Centerline is valid? [False, True] Translation: X:142.18, Y:3.84, Z:-2.19 [[ 9.99970950e-01 1.25386611e-03 7.51849910e-03 1.42181853e+02] [-1.24557632e-03 9.99998611e-01 -1.10716603e-03 3.83557895e+00] [-7.51987690e-03 1.09776900e-03 9.99971123e-01 -2.18607005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.175898227 meters 0.09524860114118969 Centerline is valid? [True, True] Translation: X:142.24, Y:3.85, Z:-2.18 [[ 9.99939717e-01 6.31706492e-03 8.98094087e-03 1.42241493e+02] [-6.32434458e-03 9.99979695e-01 7.82398805e-04 3.84768728e+00] [-8.97581605e-03 -8.39150205e-04 9.99959364e-01 -2.18472775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.235898227 meters 0.09279029333025696 Centerline is valid? [True, True] Translation: X:142.30, Y:3.85, Z:-2.19 [[ 9.99924887e-01 8.14491370e-03 9.15862335e-03 1.42301875e+02] [-8.15256139e-03 9.99966449e-01 7.98001084e-04 3.85158616e+00] [-9.15181642e-03 -8.72607383e-04 9.99957741e-01 -2.18500781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.295898227 meters 0.09857642972675415 Centerline is valid? [True, True] Translation: X:142.36, Y:3.86, Z:-2.18 [[ 9.99918141e-01 6.62785824e-03 1.09445594e-02 1.42361280e+02] [-6.63868908e-03 9.99977509e-01 9.53575606e-04 3.86315573e+00] [-1.09379931e-02 -1.02615507e-03 9.99939652e-01 -2.18479631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.355898227 meters 0.08716227752747177 Centerline is valid? [True, True] Translation: X:142.42, Y:3.85, Z:-2.18 [[ 9.99896029e-01 3.58708015e-03 1.39664996e-02 1.42423004e+02] [-3.60442438e-03 9.99992764e-01 1.21687166e-03 3.85252407e+00] [-1.39620335e-02 -1.26708633e-03 9.99901723e-01 -2.18123780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.415898227 meters 0.09424934578877901 Centerline is valid? [True, True] Translation: X:142.48, Y:3.87, Z:-2.18 [[ 9.99889346e-01 2.59145794e-03 1.46485592e-02 1.42482917e+02] [-2.61043147e-03 9.99995778e-01 1.27627650e-03 3.86638850e+00] [-1.46451900e-02 -1.31437434e-03 9.99891890e-01 -2.18033729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.47589822700002 meters 0.09802507983196311 Centerline is valid? [True, True] Translation: X:142.54, Y:3.88, Z:-2.18 [[ 9.99877877e-01 6.11007167e-03 1.43839286e-02 1.42542891e+02] [-6.12872234e-03 9.99980434e-01 1.25290919e-03 3.87926456e+00] [-1.43759918e-02 -1.34091129e-03 9.99895761e-01 -2.18193606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.535898227 meters 0.09188973536822363 Centerline is valid? [True, True] Translation: X:142.60, Y:3.88, Z:-2.18 [[ 9.99865774e-01 7.13616125e-03 1.47481850e-02 1.42604653e+02] [-7.15587766e-03 9.99973571e-01 1.28453115e-03 3.87986679e+00] [-1.47386286e-02 -1.38989494e-03 9.99890415e-01 -2.18238868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.595898227 meters 0.09170913413135759 Centerline is valid? [True, True] Translation: X:142.66, Y:3.89, Z:-2.19 [[ 9.99912411e-01 5.31303616e-03 1.21219234e-02 1.42664785e+02] [-5.32621953e-03 9.99985259e-01 1.05554023e-03 3.88648206e+00] [-1.21161365e-02 -1.12001180e-03 9.99925970e-01 -2.18783709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.655898227 meters 0.09109643665780154 Centerline is valid? [True, True] Translation: X:142.72, Y:3.89, Z:-2.19 [[ 9.99938882e-01 -1.25589886e-04 1.10551824e-02 1.42723984e+02] [ 1.14954998e-04 9.99999530e-01 9.62612356e-04 3.89179342e+00] [-1.10552981e-02 -9.61282675e-04 9.99938426e-01 -2.19074017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.715898227 meters 0.08714152510835421 Centerline is valid? [True, True] Translation: X:142.78, Y:3.89, Z:-2.19 [[ 9.99925254e-01 -2.94827172e-03 1.18656601e-02 1.42784829e+02] [ 2.93621760e-03 9.99995156e-01 1.03317536e-03 3.89205608e+00] [-1.18686487e-02 -9.98257973e-04 9.99929067e-01 -2.19050454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.775898227 meters 0.08676578879659694 Centerline is valid? [True, True] Translation: X:142.85, Y:3.90, Z:-2.19 [[ 9.99935445e-01 -4.34585203e-03 1.04985086e-02 1.42845024e+02] [ 4.33649262e-03 9.99990180e-01 9.14098891e-04 3.90087636e+00] [-1.05023781e-02 -8.68513176e-04 9.99944471e-01 -2.19370559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.835898227 meters 0.0875058534762899 Centerline is valid? [True, True] Translation: X:142.91, Y:3.91, Z:-2.20 [[ 9.99945372e-01 -5.20898824e-03 9.06200250e-03 1.42905879e+02] [ 5.20205053e-03 9.99986158e-01 7.88985361e-04 3.90866449e+00] [-9.06598688e-03 -7.41801265e-04 9.99958628e-01 -2.19688588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.895898227 meters 0.08890009848054369 Centerline is valid? [True, True] Translation: X:142.97, Y:3.92, Z:-2.20 [[ 9.99924250e-01 -7.85414859e-03 9.47664358e-03 1.42965111e+02] [ 7.84668286e-03 9.99968874e-01 8.24727711e-04 3.91538102e+00] [-9.48282615e-03 -7.50305021e-04 9.99954756e-01 -2.19707874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.955898227 meters 0.08249350430254913 Centerline is valid? [True, True] Translation: X:143.03, Y:3.91, Z:-2.20 [[ 9.99867718e-01 -1.29821380e-02 9.79848185e-03 1.43026819e+02] [ 1.29743997e-02 9.99915465e-01 8.52905369e-04 3.90925720e+00] [-9.80872608e-03 -7.25663125e-04 9.99951630e-01 -2.19672660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.015898227 meters 0.07998218363888802 Centerline is valid? [True, True] Translation: X:143.09, Y:3.91, Z:-2.19 [[ 9.99842951e-01 -1.35080670e-02 1.14719485e-02 1.43089462e+02] [ 1.34974936e-02 9.99908406e-01 9.98608016e-04 3.90849255e+00] [-1.14843870e-02 -8.43608635e-04 9.99933696e-01 -2.19379801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.075898227 meters 0.09581679286128192 Centerline is valid? [True, True] Translation: X:143.15, Y:3.93, Z:-2.19 [[ 9.99851495e-01 -5.90135518e-03 1.61914468e-02 1.43147100e+02] [ 5.87931352e-03 9.99981725e-01 1.40857818e-03 3.93343124e+00] [-1.61994634e-02 -1.31317441e-03 9.99867918e-01 -2.18554848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.135898227 meters 0.08318621148684893 Centerline is valid? [True, True] Translation: X:143.21, Y:3.92, Z:-2.19 [[ 9.99860573e-01 8.29666770e-04 1.66776984e-02 1.43208803e+02] [-8.53981668e-04 9.99998583e-01 1.45086002e-03 3.92424062e+00] [-1.66764711e-02 -1.46490019e-03 9.99859865e-01 -2.18706792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.19589822700001 meters 0.10989394555520698 Centerline is valid? [True, False] Translation: X:143.19, Y:3.93, Z:-2.19 [[ 9.99895060e-01 5.51995010e-03 1.33939726e-02 1.43189638e+02] [-5.45883007e-03 9.99974541e-01 -4.59552557e-03 3.92710745e+00] [-1.34189987e-02 4.52192789e-03 9.99899736e-01 -2.18621636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.255898227 meters 0.09519912305768449 Centerline is valid? [False, True] Translation: X:143.19, Y:3.93, Z:-2.19 [[ 9.99897499e-01 5.30120483e-03 1.32999809e-02 1.43190103e+02] [-5.23320745e-03 9.99973085e-01 -5.14219593e-03 3.92951841e+00] [-1.33268827e-02 5.07206729e-03 9.99898329e-01 -2.18666640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.315898227 meters 0.09074582052737393 Centerline is valid? [True, True] Translation: X:143.25, Y:3.93, Z:-2.19 [[ 9.99934125e-01 2.26574355e-03 1.12522271e-02 1.43250672e+02] [-2.27658607e-03 9.99996956e-01 9.50874129e-04 3.92752549e+00] [-1.12500384e-02 -9.76428153e-04 9.99936240e-01 -2.19097147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.375898227 meters 0.08856096705322992 Centerline is valid? [True, True] Translation: X:143.31, Y:3.93, Z:-2.19 [[ 9.99941151e-01 2.23105906e-04 1.08463715e-02 1.43311472e+02] [-2.33060275e-04 9.99999553e-01 9.16504973e-04 3.93081435e+00] [-1.08461622e-02 -9.18978896e-04 9.99940756e-01 -2.19300223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.435898227 meters 0.09112978422235146 Centerline is valid? [True, True] Translation: X:143.37, Y:3.94, Z:-2.19 [[ 9.99943539e-01 4.45462905e-04 1.06169483e-02 1.43372729e+02] [-4.55013502e-04 9.99999494e-01 8.97162928e-04 3.93934192e+00] [-1.06165432e-02 -9.01943128e-04 9.99943236e-01 -2.19440976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.495898227 meters 0.09083844362716834 Centerline is valid? [True, True] Translation: X:143.43, Y:3.95, Z:-2.20 [[ 9.99965733e-01 7.99263264e-04 8.23977289e-03 1.43434196e+02] [-8.05025552e-04 9.99999434e-01 6.96033086e-04 3.94578409e+00] [-8.23921191e-03 -7.02642463e-04 9.99965810e-01 -2.19858816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.555898227 meters 0.09049849006243794 Centerline is valid? [True, True] Translation: X:143.49, Y:3.96, Z:-2.20 [[ 9.99978044e-01 2.75959903e-03 6.02460171e-03 1.43494096e+02] [-2.76271240e-03 9.99996054e-01 5.08515106e-04 3.95517758e+00] [-6.02317464e-03 -5.25148183e-04 9.99981723e-01 -2.20293102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.615898227 meters 0.091208949141417 Centerline is valid? [True, True] Translation: X:143.56, Y:3.97, Z:-2.20 [[ 9.99965429e-01 3.55871943e-03 7.51505490e-03 1.43555150e+02] [-3.56358900e-03 9.99993449e-01 6.34685055e-04 3.96542840e+00] [-7.51274700e-03 -6.61443681e-04 9.99971560e-01 -2.20155289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.675898227 meters 0.08988880353702448 Centerline is valid? [True, True] Translation: X:143.62, Y:3.97, Z:-2.20 [[ 9.99952937e-01 1.63836183e-03 9.56244805e-03 1.43615012e+02] [-1.64614653e-03 9.99998320e-01 8.06276418e-04 3.97351405e+00] [-9.56111102e-03 -8.21979662e-04 9.99953954e-01 -2.19815029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.735898227 meters 0.08602869860668132 Centerline is valid? [True, True] Translation: X:143.68, Y:3.98, Z:-2.20 [[ 9.99952864e-01 -2.25286944e-03 9.44428721e-03 1.43675657e+02] [ 2.24544835e-03 9.99997162e-01 7.96305277e-04 3.97557717e+00] [-9.44605437e-03 -7.75061083e-04 9.99955085e-01 -2.19905149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.795898227 meters 0.08291929656035461 Centerline is valid? [True, True] Translation: X:143.74, Y:3.98, Z:-2.20 [[ 9.99930759e-01 -6.03488742e-03 1.01023556e-02 1.43735921e+02] [ 6.02658874e-03 9.99981477e-01 8.51701217e-04 3.97856804e+00] [-1.01073084e-02 -7.90759502e-04 9.99948607e-01 -2.19986100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.855898227 meters 0.08219319684559971 Centerline is valid? [True, True] Translation: X:143.80, Y:3.99, Z:-2.19 [[ 9.99876771e-01 -8.34294735e-03 1.32980144e-02 1.43795627e+02] [ 8.32877018e-03 9.99964687e-01 1.12113692e-03 3.98631476e+00] [-1.33068984e-02 -1.01024266e-03 9.99910949e-01 -2.19442837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.915898227 meters 0.08355259152814994 Centerline is valid? [True, True] Translation: X:143.86, Y:4.00, Z:-2.19 [[ 9.99884426e-01 -7.52586913e-03 1.32097043e-02 1.43856761e+02] [ 7.51181004e-03 9.99971166e-01 1.11359429e-03 3.99681334e+00] [-1.32177041e-02 -1.01423680e-03 9.99912128e-01 -2.19456748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.97589822700002 meters 0.09064592221816258 Centerline is valid? [True, True] Translation: X:143.92, Y:4.01, Z:-2.19 [[ 9.99885558e-01 -5.54570865e-03 1.40753898e-02 1.43915602e+02] [ 5.52956492e-03 9.99984009e-01 1.18560536e-03 4.01421170e+00] [-1.40817397e-02 -1.10763889e-03 9.99900234e-01 -2.19314174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.035898227 meters 0.08524750378702993 Centerline is valid? [True, True] Translation: X:143.98, Y:4.02, Z:-2.19 [[ 9.99896365e-01 -1.48296660e-03 1.43199101e-02 1.43975718e+02] [ 1.46584642e-03 9.99998198e-01 1.20597301e-03 4.02020254e+00] [-1.43216727e-02 -1.18485724e-03 9.99896738e-01 -2.19439007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.095898227 meters 0.09915609043363871 Centerline is valid? [True, True] Translation: X:144.03, Y:4.05, Z:-2.20 [[ 9.99927518e-01 3.49082292e-04 1.20348532e-02 1.44033453e+02] [-3.61305870e-04 9.99999421e-01 1.01352226e-03 4.04885887e+00] [-1.20344924e-02 -1.01779706e-03 9.99927065e-01 -2.19881531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.155898227 meters 0.09017863403568271 Centerline is valid? [True, True] Translation: X:144.09, Y:4.05, Z:-2.21 [[ 9.99967562e-01 1.72823116e-03 7.86694760e-03 1.44094545e+02] [-1.73349768e-03 9.99998278e-01 6.62678727e-04 4.05299234e+00] [-7.86578879e-03 -6.76294566e-04 9.99968836e-01 -2.20565651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.215898227 meters 0.08574154537492298 Centerline is valid? [True, True] Translation: X:144.16, Y:4.06, Z:-2.21 [[ 9.99967861e-01 2.40262228e-03 7.64880363e-03 1.44156430e+02] [-2.40762400e-03 9.99996894e-01 6.44781202e-04 4.05893506e+00] [-7.64723070e-03 -6.63175922e-04 9.99970540e-01 -2.20592981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.275898227 meters 0.08601277619817414 Centerline is valid? [True, True] Translation: X:144.22, Y:4.07, Z:-2.21 [[ 9.99960753e-01 3.10647134e-03 8.29706760e-03 1.44217912e+02] [-3.11236410e-03 9.99994913e-01 6.97403968e-04 4.07161899e+00] [-8.29485893e-03 -7.23200092e-04 9.99965336e-01 -2.20596377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.335898227 meters 0.10468586720712428 Centerline is valid? [True, False] Translation: X:144.22, Y:4.08, Z:-2.21 [[ 9.99941553e-01 6.99688472e-03 8.24218230e-03 1.44218148e+02] [-7.03027845e-03 9.99967168e-01 4.02958189e-03 4.07605237e+00] [-8.21371718e-03 -4.08729121e-03 9.99957914e-01 -2.20609103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.395898227 meters 0.10513721612571812 Centerline is valid? [False, False] Translation: X:144.22, Y:4.08, Z:-2.21 [[ 9.99962920e-01 2.16195572e-03 8.33579819e-03 1.44217705e+02] [-2.14632817e-03 9.99995923e-01 -1.88324191e-03 4.08276606e+00] [-8.33983570e-03 1.86528072e-03 9.99963483e-01 -2.20599609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.455898227 meters 0.09522122913060044 Centerline is valid? [False, True] Translation: X:144.22, Y:4.09, Z:-2.21 [[ 9.99962582e-01 1.59514662e-03 8.50234295e-03 1.44217094e+02] [-1.56557913e-03 9.99992708e-01 -3.48309247e-03 4.08967538e+00] [-8.50783700e-03 3.46965105e-03 9.99957788e-01 -2.20586361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.515898227 meters 0.0975584922579311 Centerline is valid? [True, True] Translation: X:144.28, Y:4.11, Z:-2.21 [[ 9.99955198e-01 4.63606553e-03 8.25283653e-03 1.44276069e+02] [-4.64221816e-03 9.99988961e-01 7.26517073e-04 4.10873724e+00] [-8.24937724e-03 -7.64795991e-04 9.99965681e-01 -2.20860764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.575898227 meters 0.08941284755742197 Centerline is valid? [True, True] Translation: X:144.34, Y:4.11, Z:-2.20 [[ 9.99943971e-01 2.41419626e-03 1.03066312e-02 1.44337005e+02] [-2.42367547e-03 9.99996651e-01 9.07328326e-04 4.11237412e+00] [-1.03044062e-02 -9.32257418e-04 9.99946474e-01 -2.20429289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.635898227 meters 0.08561600206483796 Centerline is valid? [True, True] Translation: X:144.40, Y:4.11, Z:-2.21 [[ 9.99942842e-01 -3.36755350e-03 1.01475575e-02 1.44397311e+02] [ 3.35866012e-03 9.99993961e-01 8.93319806e-04 4.11409439e+00] [-1.01505045e-02 -8.59186549e-04 9.99948113e-01 -2.20681991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.69589822700001 meters 0.08331573107992005 Centerline is valid? [True, True] Translation: X:144.46, Y:4.12, Z:-2.21 [[ 9.99886919e-01 -1.04770547e-02 1.07879457e-02 1.44456813e+02] [ 1.04674141e-02 9.99944764e-01 9.49714595e-04 4.12005430e+00] [-1.07973000e-02 -8.36685305e-04 9.99941357e-01 -2.20634508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.755898227 meters 0.0762209740442415 Centerline is valid? [True, True] Translation: X:144.52, Y:4.12, Z:-2.20 [[ 9.99740633e-01 -1.89862146e-02 1.25773562e-02 1.44517944e+02] [ 1.89737778e-02 9.99819368e-01 1.10741889e-03 4.11643874e+00] [-1.25961101e-02 -8.68491696e-04 9.99920289e-01 -2.20275595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.815898227 meters 0.06747084653604253 Centerline is valid? [True, True] Translation: X:144.58, Y:4.11, Z:-2.21 [[ 9.99699187e-01 -2.19471081e-02 1.09480623e-02 1.44579677e+02] [ 2.19378624e-02 9.99758871e-01 9.63901464e-04 4.11011567e+00] [-1.09665772e-02 -7.23434425e-04 9.99939604e-01 -2.20578010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.875898227 meters 0.07327036263320967 Centerline is valid? [True, True] Translation: X:144.64, Y:4.12, Z:-2.21 [[ 9.99654057e-01 -2.40995007e-02 1.05347138e-02 1.44638092e+02] [ 2.40910593e-02 9.99709338e-01 9.27479443e-04 4.12262302e+00] [-1.05540035e-02 -6.73366173e-04 9.99944078e-01 -2.20832896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.935898227 meters 0.07047651121797038 Centerline is valid? [True, True] Translation: X:144.70, Y:4.13, Z:-2.21 [[ 9.99618300e-01 -2.58436017e-02 9.76533050e-03 1.44699208e+02] [ 2.58364296e-02 9.99665814e-01 8.59910909e-04 4.12596756e+00] [-9.78429026e-03 -6.07281408e-04 9.99951948e-01 -2.21104908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.995898227 meters 0.0715393535204525 Centerline is valid? [True, True] Translation: X:144.76, Y:4.13, Z:-2.21 [[ 9.99659125e-01 -2.47555836e-02 8.29430215e-03 1.44760479e+02] [ 2.47503709e-02 9.99693396e-01 7.30542972e-04 4.13370818e+00] [-8.30984410e-03 -5.25006893e-04 9.99965335e-01 -2.21454180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.055898227 meters 0.07677630857932635 Centerline is valid? [True, True] Translation: X:144.82, Y:4.15, Z:-2.22 [[ 9.99740507e-01 -2.12638069e-02 8.17127888e-03 1.44820013e+02] [ 2.12586384e-02 9.99773751e-01 7.18867327e-04 4.15041680e+00] [-8.18471599e-03 -5.44970523e-04 9.99966356e-01 -2.21509554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.115898227 meters 0.07990685691673916 Centerline is valid? [True, True] Translation: X:144.88, Y:4.16, Z:-2.22 [[ 9.99799359e-01 -1.81148828e-02 8.54938206e-03 1.44879835e+02] [ 1.81091108e-02 9.99835734e-01 7.52069600e-04 4.16353312e+00] [-8.56160134e-03 -5.97096997e-04 9.99963171e-01 -2.21597777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.175898227 meters 0.08428319083353882 Centerline is valid? [True, True] Translation: X:144.94, Y:4.18, Z:-2.22 [[ 9.99850577e-01 -1.51640212e-02 8.29910647e-03 1.44938856e+02] [ 1.51584816e-02 9.99884837e-01 7.29990067e-04 4.17872248e+00] [-8.30922031e-03 -6.04079137e-04 9.99965295e-01 -2.21788410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.235898227 meters 0.08592115827264986 Centerline is valid? [True, True] Translation: X:145.00, Y:4.19, Z:-2.22 [[ 9.99839992e-01 -1.49714317e-02 9.79016745e-03 1.44999543e+02] [ 1.49637112e-02 9.99887666e-01 8.61373604e-04 4.19140059e+00] [-9.80196368e-03 -7.14738539e-04 9.99951704e-01 -2.21671526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.295898227 meters 0.07896975949476795 Centerline is valid? [True, True] Translation: X:145.06, Y:4.19, Z:-2.22 [[ 9.99785757e-01 -1.77731264e-02 1.06092285e-02 1.45060371e+02] [ 1.77642218e-02 9.99841768e-01 9.32981942e-04 4.18692428e+00] [-1.06241318e-02 -7.44317370e-04 9.99943285e-01 -2.21790431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.355898227 meters 0.06976547403434043 Centerline is valid? [True, True] Translation: X:145.12, Y:4.18, Z:-2.22 [[ 9.99797384e-01 -1.90924592e-02 6.37725056e-03 1.45122037e+02] [ 1.90892676e-02 9.99817626e-01 5.60964527e-04 4.18235559e+00] [-6.38679771e-03 -4.39113824e-04 9.99979508e-01 -2.22137678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.415898227 meters 0.07048936601833605 Centerline is valid? [True, True] Translation: X:145.18, Y:4.19, Z:-2.22 [[ 9.99820087e-01 -1.77522175e-02 6.68225808e-03 1.45182473e+02] [ 1.77486852e-02 9.99842307e-01 5.87544538e-04 4.18990508e+00] [-6.69163455e-03 -4.68837536e-04 9.99977501e-01 -2.22144137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.47589822700002 meters 0.08650161201989827 Centerline is valid? [True, True] Translation: X:145.24, Y:4.22, Z:-2.22 [[ 9.99856984e-01 -1.37277910e-02 9.87717683e-03 1.45240216e+02] [ 1.37198803e-02 9.99905501e-01 8.68226377e-04 4.21556385e+00] [-9.88816227e-03 -7.32588523e-04 9.99950843e-01 -2.21955330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.535898227 meters 0.08039064250229408 Centerline is valid? [True, True] Translation: X:145.30, Y:4.22, Z:-2.22 [[ 9.99897739e-01 -9.88325687e-03 1.03360114e-02 1.45300557e+02] [ 9.87438939e-03 9.99950834e-01 9.08602980e-04 4.21649293e+00] [-1.03444832e-02 -8.06448264e-04 9.99946169e-01 -2.21718620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.595898227 meters 0.08518488260362808 Centerline is valid? [True, True] Translation: X:145.36, Y:4.23, Z:-2.22 [[ 9.99941936e-01 -7.86395038e-03 7.36763708e-03 1.45359786e+02] [ 7.85939017e-03 9.99968905e-01 6.47700143e-04 4.22786203e+00] [-7.37250146e-03 -5.89757401e-04 9.99972649e-01 -2.22399819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.655898227 meters 0.0871753390298143 Centerline is valid? [True, True] Translation: X:145.42, Y:4.24, Z:-2.22 [[ 9.99927548e-01 -8.19719640e-03 8.81508090e-03 1.45420935e+02] [ 8.19068002e-03 9.99966155e-01 7.75079009e-04 4.23589654e+00] [-8.82113603e-03 -7.02821345e-04 9.99960846e-01 -2.22269261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.715898227 meters 0.09237220719286593 Centerline is valid? [True, True] Translation: X:145.48, Y:4.25, Z:-2.22 [[ 9.99915568e-01 -6.21032613e-03 1.14144277e-02 1.45480111e+02] [ 6.19927993e-03 9.99980281e-01 1.00286788e-03 4.24860588e+00] [-1.14204307e-02 -9.32021971e-04 9.99934350e-01 -2.21891030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.775898227 meters 0.09721286097779304 Centerline is valid? [True, True] Translation: X:145.54, Y:4.26, Z:-2.22 [[ 9.99940479e-01 -1.75807352e-03 1.07678905e-02 1.45539600e+02] [ 1.74798586e-03 9.99998025e-01 9.46167485e-04 4.26179231e+00] [-1.07695327e-02 -9.27289048e-04 9.99941577e-01 -2.22065221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.835898227 meters 0.1044575967675012 Centerline is valid? [True, False] Translation: X:145.58, Y:4.27, Z:-2.22 [[ 9.99938844e-01 8.66120225e-05 1.10589920e-02 1.45580655e+02] [-1.08136285e-04 9.99998101e-01 1.94573013e-03 4.27061458e+00] [-1.10588025e-02 -1.94680701e-03 9.99936954e-01 -2.22006960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.895898227 meters 0.10279423876057742 Centerline is valid? [False, False] Translation: X:145.56, Y:4.28, Z:-2.22 [[ 9.99947377e-01 7.53792235e-03 6.95870231e-03 1.45558788e+02] [-7.52689047e-03 9.99970376e-01 -1.61016588e-03 4.27656177e+00] [-6.97063347e-03 1.55770376e-03 9.99974492e-01 -2.21561630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.955898227 meters 0.11499363108180106 Centerline is valid? [False, False] Translation: X:145.60, Y:4.29, Z:-2.22 [[ 9.99922906e-01 1.05591053e-02 6.53353671e-03 1.45602272e+02] [-1.05650581e-02 9.99943803e-01 8.77273763e-04 4.28504965e+00] [-6.52390632e-03 -9.46233326e-04 9.99978271e-01 -2.21568767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.015898227 meters 0.10874280536312189 Centerline is valid? [False, False] Translation: X:145.60, Y:4.29, Z:-2.22 [[ 9.99926706e-01 1.01285443e-02 6.63293631e-03 1.45601866e+02] [-1.01275047e-02 9.99948697e-01 -1.90298031e-04 4.28981158e+00] [-6.63452346e-03 1.23108989e-04 9.99977984e-01 -2.21549761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.075898227 meters 0.11731646131178758 Centerline is valid? [False, False] Translation: X:145.59, Y:4.30, Z:-2.22 [[ 9.99952077e-01 3.96939791e-03 8.94918815e-03 1.45585417e+02] [-3.98727943e-03 9.99990088e-01 1.98116093e-03 4.29826757e+00] [-8.94123544e-03 -2.01674890e-03 9.99957993e-01 -2.22370901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.135898227 meters 0.10675922819500504 Centerline is valid? [False, False] Translation: X:145.57, Y:4.31, Z:-2.22 [[ 9.99987476e-01 -2.06047462e-03 4.56088346e-03 1.45568533e+02] [ 2.03714322e-03 9.99984847e-01 5.11429269e-03 4.30534646e+00] [-4.57135222e-03 -5.10493747e-03 9.99976521e-01 -2.22365085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.19589822700001 meters 0.09418138768874916 Centerline is valid? [False, True] Translation: X:145.57, Y:4.31, Z:-2.22 [[ 9.99987836e-01 -2.18190039e-03 4.42351845e-03 1.45568374e+02] [ 2.16063809e-03 9.99986118e-01 4.80574423e-03 4.30667616e+00] [-4.43394270e-03 -4.79612815e-03 9.99978668e-01 -2.22252103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.255898227 meters 0.08719977556776472 Centerline is valid? [True, True] Translation: X:145.63, Y:4.30, Z:-2.22 [[ 9.99921946e-01 -1.09422529e-02 6.03066117e-03 1.45629449e+02] [ 1.09390668e-02 9.99940009e-01 5.61058873e-04 4.30483976e+00] [-6.03643864e-03 -4.95045274e-04 9.99981658e-01 -2.22104378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.315898227 meters 0.068484701773064 Centerline is valid? [True, True] Translation: X:145.69, Y:4.29, Z:-2.22 [[ 9.99656425e-01 -2.59209030e-02 3.89095588e-03 1.45691964e+02] [ 2.59196895e-02 9.99663963e-01 3.61985666e-04 4.28520728e+00] [-3.89903137e-03 -2.61008928e-04 9.99992365e-01 -2.22382938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.375898227 meters 0.0679795409347136 Centerline is valid? [True, True] Translation: X:145.75, Y:4.29, Z:-2.22 [[ 9.99441582e-01 -3.29681719e-02 5.44277846e-03 1.45752157e+02] [ 3.29659016e-02 9.99456349e-01 5.06328439e-04 4.28585761e+00] [-5.45651221e-03 -3.26619597e-04 9.99985060e-01 -2.22227985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.435898227 meters 0.06457043791907771 Centerline is valid? [True, True] Translation: X:145.81, Y:4.28, Z:-2.22 [[ 9.99297627e-01 -3.66466447e-02 7.82789346e-03 1.45813264e+02] [ 3.66420611e-02 9.99328189e-01 7.28213847e-04 4.28074944e+00] [-7.84932119e-03 -4.40872219e-04 9.99969096e-01 -2.21826389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.495898227 meters 0.05899078417491107 Centerline is valid? [True, True] Translation: X:145.88, Y:4.27, Z:-2.22 [[ 9.99313302e-01 -3.69252794e-02 3.07388345e-03 1.45876792e+02] [ 3.69245736e-02 9.99318014e-01 2.86064946e-04 4.26762513e+00] [-3.08235013e-03 -1.72366670e-04 9.99995235e-01 -2.22452774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.555898227 meters 0.06391402913068917 Centerline is valid? [True, True] Translation: X:145.94, Y:4.27, Z:-2.23 [[ 9.99470252e-01 -3.25426257e-02 -4.40033751e-04 1.45937637e+02] [ 3.25426109e-02 9.99470348e-01 -4.07964306e-05 4.27290731e+00] [ 4.41128310e-04 2.64549716e-05 9.99999902e-01 -2.23122693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.615898227 meters 0.07035608397369926 Centerline is valid? [True, True] Translation: X:146.00, Y:4.28, Z:-2.23 [[ 9.99685446e-01 -2.50720526e-02 6.33679561e-04 1.45997345e+02] [ 2.50720203e-02 9.99685646e-01 5.88877132e-05 4.28208904e+00] [-6.34956797e-04 -4.29815630e-05 9.99999797e-01 -2.23056208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.675898227 meters 0.08665995748862737 Centerline is valid? [True, True] Translation: X:146.05, Y:4.30, Z:-2.23 [[ 9.99871322e-01 -1.59182760e-02 1.98674647e-03 1.46054679e+02] [ 1.59179401e-02 9.99873284e-01 1.84744322e-04 4.30341619e+00] [-1.98943552e-03 -1.53095638e-04 9.99998009e-01 -2.22893227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.735898227 meters 0.08368378805868047 Centerline is valid? [True, True] Translation: X:146.12, Y:4.30, Z:-2.23 [[ 9.99913119e-01 -1.31544624e-02 8.44838195e-04 1.46115657e+02] [ 1.31544008e-02 9.99913474e-01 7.85315128e-05 4.30159785e+00] [-8.45798134e-04 -6.74113497e-05 9.99999640e-01 -2.23014043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.795898227 meters 0.08912907095616725 Centerline is valid? [True, True] Translation: X:146.18, Y:4.31, Z:-2.23 [[ 9.99928372e-01 -1.19443414e-02 -7.63843994e-04 1.46175432e+02] [ 1.19442907e-02 9.99928662e-01 -7.09205994e-05 4.31135954e+00] [ 7.64636603e-04 6.17919448e-05 9.99999706e-01 -2.23348730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.855898227 meters 0.09144305256734397 Centerline is valid? [True, True] Translation: X:146.24, Y:4.32, Z:-2.23 [[ 9.99949588e-01 -9.78257406e-03 2.26351962e-03 1.46236061e+02] [ 9.78212277e-03 9.99952132e-01 2.10358634e-04 4.31735997e+00] [-2.26546912e-03 -1.88206003e-04 9.99997416e-01 -2.23036032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.915898227 meters 0.09725422858137112 Centerline is valid? [True, True] Translation: X:146.30, Y:4.33, Z:-2.23 [[ 9.99963727e-01 -7.38044751e-03 4.25129231e-03 1.46295087e+02] [ 7.37883418e-03 9.99972698e-01 3.95051379e-04 4.32998288e+00] [-4.25409189e-03 -3.63667469e-04 9.99990885e-01 -2.22672317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.97589822700002 meters 0.0905303586317424 Centerline is valid? [True, True] Translation: X:146.36, Y:4.33, Z:-2.23 [[ 9.99983131e-01 -4.88765086e-03 3.13837893e-03 1.46356465e+02] [ 4.88675933e-03 9.99988017e-01 2.91677102e-04 4.32527204e+00] [-3.13976694e-03 -2.76335679e-04 9.99995033e-01 -2.22781066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.035898227 meters 0.09762666355955024 Centerline is valid? [True, True] Translation: X:146.42, Y:4.34, Z:-2.23 [[ 9.99987241e-01 -2.51504470e-03 4.38096817e-03 1.46415463e+02] [ 2.51328496e-03 9.99996759e-01 4.07136959e-04 4.33819851e+00] [-4.38197794e-03 -3.96121142e-04 9.99990321e-01 -2.22674742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.095898227 meters 0.09179765520880544 Centerline is valid? [True, True] Translation: X:146.48, Y:4.34, Z:-2.23 [[ 9.99975083e-01 -3.57756369e-03 6.08567123e-03 1.46477934e+02] [ 3.57418725e-03 9.99993453e-01 5.65602105e-04 4.33593626e+00] [-6.08765486e-03 -5.43836684e-04 9.99981322e-01 -2.22501837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.155898227 meters 0.08382678633439564 Centerline is valid? [True, True] Translation: X:146.54, Y:4.33, Z:-2.23 [[ 9.99928453e-01 -1.02309490e-02 6.19815021e-03 1.46539470e+02] [ 1.02275750e-02 9.99947531e-01 5.75796302e-04 4.32673530e+00] [-6.20371594e-03 -5.12363059e-04 9.99980626e-01 -2.22576347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.215898227 meters 0.07915930093108232 Centerline is valid? [True, True] Translation: X:146.60, Y:4.32, Z:-2.23 [[ 9.99878775e-01 -1.52169039e-02 3.29861570e-03 1.46600502e+02] [ 1.52159753e-02 9.99884183e-01 3.06431999e-04 4.31988402e+00] [-3.30289662e-03 -2.56203196e-04 9.99994513e-01 -2.23105845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.275898227 meters 0.0801035464815969 Centerline is valid? [True, True] Translation: X:146.66, Y:4.32, Z:-2.23 [[ 9.99860106e-01 -1.66086872e-02 1.97979847e-03 1.46660675e+02] [ 1.66083553e-02 9.99862055e-01 1.83945994e-04 4.32410245e+00] [-1.98258047e-03 -1.51039065e-04 9.99998023e-01 -2.23343819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.335898227 meters 0.07866502351152102 Centerline is valid? [True, True] Translation: X:146.72, Y:4.32, Z:-2.23 [[ 9.99890600e-01 -1.46769006e-02 1.83767275e-03 1.46722102e+02] [ 1.46766114e-02 9.99892278e-01 1.70724116e-04 4.32382688e+00] [-1.83998050e-03 -1.43734630e-04 9.99998297e-01 -2.23275762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.395898227 meters 0.08487814355543921 Centerline is valid? [True, True] Translation: X:146.78, Y:4.34, Z:-2.23 [[ 9.99919106e-01 -1.25220170e-02 2.23183698e-03 1.46780320e+02] [ 1.25215853e-02 9.99921580e-01 2.07313938e-04 4.33727793e+00] [-2.23425795e-03 -1.79351030e-04 9.99997488e-01 -2.23219334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.455898227 meters 0.0879907585629881 Centerline is valid? [True, True] Translation: X:146.84, Y:4.35, Z:-2.24 [[ 9.99928747e-01 -1.19280259e-02 4.72042824e-04 1.46840343e+02] [ 1.19280063e-02 9.99928858e-01 4.42330301e-05 4.34694146e+00] [-4.72536855e-04 -3.85993486e-05 9.99999888e-01 -2.23507903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.515898227 meters 0.08495320960532994 Centerline is valid? [True, True] Translation: X:146.90, Y:4.35, Z:-2.24 [[ 9.99883302e-01 -1.52665103e-02 -5.62680795e-04 1.46901080e+02] [ 1.52664834e-02 9.99883459e-01 -5.21348096e-05 4.35012038e+00] [ 5.63411136e-04 4.35385685e-05 9.99999840e-01 -2.23715893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.575898227 meters 0.07833356062359181 Centerline is valid? [True, True] Translation: X:146.96, Y:4.35, Z:-2.23 [[ 9.99857952e-01 -1.66996469e-02 2.27981992e-03 1.46962473e+02] [ 1.66992078e-02 9.99860536e-01 2.11510727e-04 4.34919633e+00] [-2.28303412e-03 -1.73409496e-04 9.99997379e-01 -2.23124482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.635898227 meters 0.07772705461042465 Centerline is valid? [True, True] Translation: X:147.02, Y:4.36, Z:-2.23 [[ 9.99870653e-01 -1.57693772e-02 3.16288707e-03 1.47024244e+02] [ 1.57685274e-02 9.99875626e-01 2.93456708e-04 4.35813637e+00] [-3.16712132e-03 -2.43544679e-04 9.99994955e-01 -2.22860667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.69589822700001 meters 0.07838064379393314 Centerline is valid? [True, True] Translation: X:147.08, Y:4.37, Z:-2.23 [[ 9.99908433e-01 -1.35081326e-02 8.09759306e-04 1.47083939e+02] [ 1.35080762e-02 9.99908759e-01 7.50743308e-05 4.36920439e+00] [-8.10699537e-04 -6.41291661e-05 9.99999669e-01 -2.23322399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.755898227 meters 0.08680709421576299 Centerline is valid? [True, True] Translation: X:147.14, Y:4.39, Z:-2.23 [[ 9.99896498e-01 -1.41478442e-02 2.61394924e-03 1.47143291e+02] [ 1.41472587e-02 9.99899893e-01 2.42335032e-04 4.38547948e+00] [-2.61711609e-03 -2.05329733e-04 9.99996554e-01 -2.23290823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.815898227 meters 0.08399149966179648 Centerline is valid? [True, True] Translation: X:147.20, Y:4.38, Z:-2.23 [[ 9.99842444e-01 -1.71934379e-02 4.41273863e-03 1.47203877e+02] [ 1.71917993e-02 9.99852126e-01 4.08986703e-04 4.38407302e+00] [-4.41911799e-03 -3.33059348e-04 9.99990180e-01 -2.22875932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.875898227 meters 0.07396532887237019 Centerline is valid? [True, True] Translation: X:147.27, Y:4.38, Z:-2.23 [[ 9.99858474e-01 -1.66249611e-02 2.57739100e-03 1.47267329e+02] [ 1.66243999e-02 9.99861777e-01 2.39023213e-04 4.37624664e+00] [-2.58100849e-03 -1.96141807e-04 9.99996650e-01 -2.23037855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.935898227 meters 0.08287620104426786 Centerline is valid? [True, True] Translation: X:147.33, Y:4.39, Z:-2.23 [[ 9.99921077e-01 -1.23933970e-02 2.05982370e-03 1.47325391e+02] [ 1.23930301e-02 9.99923185e-01 1.90770462e-04 4.39424858e+00] [-2.06202977e-03 -1.65227949e-04 9.99997860e-01 -2.23282073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.995898227 meters 0.08366208702055038 Centerline is valid? [True, True] Translation: X:147.39, Y:4.40, Z:-2.23 [[ 9.99979796e-01 -6.27074143e-03 1.04182183e-03 1.47385306e+02] [ 6.27064423e-03 9.99980335e-01 9.65399616e-05 4.40254658e+00] [-1.04240672e-03 -9.00051170e-05 9.99999453e-01 -2.23435455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.055898227 meters 0.09752499435077992 Centerline is valid? [True, True] Translation: X:147.44, Y:4.43, Z:-2.23 [[ 9.99987509e-01 -4.77757310e-03 1.46872612e-03 1.47443077e+02] [ 4.77737836e-03 9.99988579e-01 1.36066381e-04 4.42707338e+00] [-1.46935941e-03 -1.29048021e-04 9.99998912e-01 -2.23413902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.115898227 meters 0.10450541577742194 Centerline is valid? [True, False] Translation: X:147.42, Y:4.43, Z:-2.23 [[ 9.99996157e-01 -2.67518345e-03 -7.27899985e-04 1.47421296e+02] [ 2.66880855e-03 9.99959266e-01 -8.62231425e-03 4.42823563e+00] [ 7.50936607e-04 8.62033849e-03 9.99962562e-01 -2.23146016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.175898227 meters 0.08553993799962832 Centerline is valid? [False, True] Translation: X:147.40, Y:4.43, Z:-2.23 [[ 9.99975433e-01 -4.15451014e-03 -5.64570100e-03 1.47402086e+02] [ 4.15334730e-03 9.99991351e-01 -2.17679161e-04 4.42582359e+00] [ 5.64655652e-03 1.94225256e-04 9.99984039e-01 -2.22926999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.235898227 meters 0.09306620893686902 Centerline is valid? [True, True] Translation: X:147.46, Y:4.44, Z:-2.23 [[ 9.99970200e-01 -5.27381651e-03 -5.63786125e-03 1.47460222e+02] [ 5.27106422e-03 9.99985981e-01 -5.02927309e-04 4.43975675e+00] [ 5.64043456e-03 4.73194794e-04 9.99983981e-01 -2.23134077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.295898227 meters 0.08354287883969999 Centerline is valid? [True, True] Translation: X:147.52, Y:4.44, Z:-2.23 [[ 9.99954105e-01 -6.05235349e-03 -7.42679531e-03 1.47520078e+02] [ 6.04759727e-03 9.99981494e-01 -6.62704351e-04 4.43691215e+00] [ 7.43066879e-03 6.17759669e-04 9.99972201e-01 -2.23045836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.355898227 meters 0.08773868708817358 Centerline is valid? [True, True] Translation: X:147.58, Y:4.45, Z:-2.23 [[ 9.99921020e-01 -9.94409176e-03 -7.68560386e-03 1.47579035e+02] [ 9.93911197e-03 9.99950371e-01 -6.85860780e-04 4.44725838e+00] [ 7.69204269e-03 6.09418533e-04 9.99970230e-01 -2.23218812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.415898227 meters 0.08450992645980632 Centerline is valid? [True, True] Translation: X:147.64, Y:4.45, Z:-2.23 [[ 9.99896456e-01 -1.30595484e-02 -6.04356016e-03 1.47639358e+02] [ 1.30565253e-02 9.99914614e-01 -5.39403768e-04 4.44674952e+00] [ 6.05008850e-03 4.60440020e-04 9.99981592e-01 -2.22870710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.47589822700002 meters 0.07812790683011497 Centerline is valid? [True, True] Translation: X:147.70, Y:4.44, Z:-2.23 [[ 9.99876859e-01 -1.42330488e-02 -6.60967405e-03 1.47700600e+02] [ 1.42294576e-02 9.99898582e-01 -5.90027413e-04 4.43941277e+00] [ 6.61740160e-03 4.95902680e-04 9.99977982e-01 -2.22932199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.535898227 meters 0.08103923735774927 Centerline is valid? [True, True] Translation: X:147.76, Y:4.45, Z:-2.23 [[ 9.99888354e-01 -1.33327491e-02 -6.74660336e-03 1.47760328e+02] [ 1.33289867e-02 9.99910984e-01 -6.02332385e-04 4.44554280e+00] [ 6.75403355e-03 5.12339750e-04 9.99977060e-01 -2.23098856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.595898227 meters 0.07904070010930288 Centerline is valid? [True, True] Translation: X:147.82, Y:4.45, Z:-2.23 [[ 9.99924639e-01 -1.05614165e-02 -6.25875956e-03 1.47819985e+02] [ 1.05581244e-02 9.99944105e-01 -5.58816117e-04 4.45317872e+00] [ 6.26431162e-03 4.92693242e-04 9.99980258e-01 -2.22709854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.655898227 meters 0.09429066887142627 Centerline is valid? [True, True] Translation: X:147.88, Y:4.49, Z:-2.23 [[ 9.99952560e-01 -3.88090683e-03 -8.93404899e-03 1.47876752e+02] [ 3.87393366e-03 9.99992178e-01 -7.97689073e-04 4.48517611e+00] [ 8.93707487e-03 7.63041317e-04 9.99959772e-01 -2.23162916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.715898227 meters 0.09609801538167628 Centerline is valid? [True, True] Translation: X:147.94, Y:4.50, Z:-2.23 [[ 9.99954032e-01 -2.88866893e-03 -9.14276420e-03 1.47935703e+02] [ 2.88132347e-03 9.99995516e-01 -8.16488117e-04 4.49704700e+00] [ 9.14508176e-03 7.90107323e-04 9.99957871e-01 -2.23242228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.775898227 meters 0.08666270124839653 Centerline is valid? [True, True] Translation: X:148.00, Y:4.50, Z:-2.22 [[ 9.99941016e-01 -9.79525975e-03 -4.69235844e-03 1.47996351e+02] [ 9.79340036e-03 9.99951956e-01 -4.19073186e-04 4.49669222e+00] [ 4.69623793e-03 3.73094322e-04 9.99988903e-01 -2.22399340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.835898227 meters 0.07959604237283593 Centerline is valid? [True, True] Translation: X:148.06, Y:4.49, Z:-2.23 [[ 9.99837494e-01 -1.68287112e-02 -6.46382631e-03 1.48056921e+02] [ 1.68253290e-02 9.99858277e-01 -5.77279222e-04 4.49430523e+00] [ 6.47262511e-03 4.68429406e-04 9.99978943e-01 -2.22780858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.895898227 meters 0.06937950749402604 Centerline is valid? [True, True] Translation: X:148.12, Y:4.48, Z:-2.23 [[ 9.99702277e-01 -2.22419604e-02 -1.00325716e-02 1.48118984e+02] [ 2.22340836e-02 9.99752391e-01 -8.95986562e-04 4.48436873e+00] [ 1.00500159e-02 6.72654771e-04 9.99949271e-01 -2.23407824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.955898227 meters 0.07222125861751191 Centerline is valid? [True, True] Translation: X:148.18, Y:4.49, Z:-2.23 [[ 9.99737704e-01 -2.16328479e-02 -7.51948546e-03 1.48178092e+02] [ 2.16284055e-02 9.99765853e-01 -6.71613027e-04 4.48787617e+00] [ 7.53225369e-03 5.08802385e-04 9.99971503e-01 -2.22822169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.015898227 meters 0.08066408775403397 Centerline is valid? [True, True] Translation: X:148.24, Y:4.50, Z:-2.23 [[ 9.99787356e-01 -1.91767777e-02 -7.58248857e-03 1.48236913e+02] [ 1.91721897e-02 9.99815967e-01 -6.77318325e-04 4.50146013e+00] [ 7.59408193e-03 5.31801388e-04 9.99971023e-01 -2.22792975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.075898227 meters 0.07274344926176687 Centerline is valid? [True, True] Translation: X:148.30, Y:4.49, Z:-2.23 [[ 9.99830734e-01 -1.60457966e-02 -9.00195322e-03 1.48298064e+02] [ 1.60392034e-02 9.99871040e-01 -8.04133737e-04 4.49469606e+00] [ 9.01369530e-03 6.59613466e-04 9.99959158e-01 -2.23024799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.135898227 meters 0.08900784880543802 Centerline is valid? [True, True] Translation: X:148.36, Y:4.52, Z:-2.22 [[ 9.99947922e-01 -9.67801201e-03 -3.23878970e-03 1.48356019e+02] [ 9.67712533e-03 9.99953134e-01 -2.89329882e-04 4.51812529e+00] [ 3.24143805e-03 2.57972641e-04 9.99994713e-01 -2.22156263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.19589822700001 meters 0.09008839084351646 Centerline is valid? [True, True] Translation: X:148.42, Y:4.53, Z:-2.22 [[ 9.99971714e-01 -7.00111284e-03 -2.74859935e-03 1.48416368e+02] [ 7.00046415e-03 9.99975466e-01 -2.45557476e-04 4.52560176e+00] [ 2.75025109e-03 2.26309059e-04 9.99996192e-01 -2.22016703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.255898227 meters 0.09053535477265118 Centerline is valid? [True, True] Translation: X:148.48, Y:4.53, Z:-2.23 [[ 9.99976914e-01 -2.03009006e-03 -6.48468823e-03 1.48475871e+02] [ 2.02637531e-03 9.99997779e-01 -5.79369035e-04 4.53400916e+00] [ 6.48585000e-03 5.66215247e-04 9.99978806e-01 -2.22693646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.315898227 meters 0.09285068053348149 Centerline is valid? [True, True] Translation: X:148.54, Y:4.55, Z:-2.23 [[ 9.99964916e-01 1.40395589e-05 -8.37650719e-03 1.48535860e+02] [-2.03095241e-05 9.99999720e-01 -7.48433251e-04 4.54570277e+00] [ 8.37649433e-03 7.48577116e-04 9.99964636e-01 -2.23178102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.375898227 meters 0.09191670838263441 Centerline is valid? [True, True] Translation: X:148.60, Y:4.55, Z:-2.23 [[ 9.99972692e-01 -4.20477899e-03 -6.07736952e-03 1.48595301e+02] [ 4.20155586e-03 9.99991026e-01 -5.43020170e-04 4.55357334e+00] [ 6.07959826e-03 5.17470934e-04 9.99981385e-01 -2.22916392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.435898227 meters 0.08728003107532568 Centerline is valid? [True, True] Translation: X:148.65, Y:4.55, Z:-2.23 [[ 9.99900349e-01 -1.19461116e-02 -7.52219640e-03 1.48654947e+02] [ 1.19413912e-02 9.99928473e-01 -6.72142832e-04 4.55068959e+00] [ 7.52968786e-03 5.82250362e-04 9.99971482e-01 -2.23243758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.495898227 meters 0.07494927679175803 Centerline is valid? [True, True] Translation: X:148.72, Y:4.54, Z:-2.23 [[ 9.99704940e-01 -2.29705274e-02 -7.89858498e-03 1.48716645e+02] [ 2.29656649e-02 9.99736005e-01 -7.05782545e-04 4.53628717e+00] [ 7.91271199e-03 5.24178041e-04 9.99968557e-01 -2.23346335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.555898227 meters 0.06995321518076181 Centerline is valid? [True, True] Translation: X:148.78, Y:4.53, Z:-2.23 [[ 9.99642875e-01 -2.57014713e-02 -7.31821241e-03 1.48777580e+02] [ 2.56973699e-02 9.99669554e-01 -6.53929700e-04 4.53401486e+00] [ 7.33260109e-03 4.65637354e-04 9.99973008e-01 -2.23247461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.615898227 meters 0.06355297149624038 Centerline is valid? [True, True] Translation: X:148.84, Y:4.53, Z:-2.23 [[ 9.99598301e-01 -2.69363766e-02 -8.81297810e-03 1.48839054e+02] [ 2.69304771e-02 9.99636999e-01 -7.87415712e-04 4.53016128e+00] [ 8.83098911e-03 5.49761702e-04 9.99960855e-01 -2.23392608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.675898227 meters 0.0701790638415639 Centerline is valid? [True, True] Translation: X:148.90, Y:4.54, Z:-2.24 [[ 9.99550926e-01 -2.85695057e-02 -9.04039362e-03 1.48897986e+02] [ 2.85633638e-02 9.99591657e-01 -8.07794945e-04 4.53969774e+00] [ 9.05978035e-03 5.49208134e-04 9.99958809e-01 -2.23606521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.735898227 meters 0.06351192562103002 Centerline is valid? [True, True] Translation: X:148.96, Y:4.53, Z:-2.23 [[ 9.99523153e-01 -3.00945517e-02 -6.91268168e-03 1.48959027e+02] [ 3.00909969e-02 9.99546973e-01 -6.17694365e-04 4.53390618e+00] [ 6.92813928e-03 4.09390336e-04 9.99975916e-01 -2.23209630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.795898227 meters 0.07372846579929389 Centerline is valid? [True, True] Translation: X:149.02, Y:4.55, Z:-2.23 [[ 9.99547724e-01 -2.93540602e-02 -6.53353943e-03 1.49017545e+02] [ 2.93508707e-02 9.99569000e-01 -5.83546845e-04 4.55066933e+00] [ 6.54785294e-03 3.91517850e-04 9.99978486e-01 -2.23156803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.855898227 meters 0.06558303718347076 Centerline is valid? [True, True] Translation: X:149.08, Y:4.55, Z:-2.23 [[ 9.99712301e-01 -2.33924450e-02 -5.30175882e-03 1.49078732e+02] [ 2.33902618e-02 9.99726298e-01 -4.73425911e-04 4.54521455e+00] [ 5.31138231e-03 3.49280180e-04 9.99985834e-01 -2.22764642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.915898227 meters 0.08676171088232189 Centerline is valid? [True, True] Translation: X:149.14, Y:4.58, Z:-2.22 [[ 9.99831197e-01 -1.81000120e-02 -3.15705574e-03 1.49135292e+02] [ 1.80992117e-02 9.99836156e-01 -2.81893256e-04 4.57962995e+00] [ 3.16164074e-03 2.24705451e-04 9.99994977e-01 -2.22430833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.97589822700002 meters 0.07545801295680442 Centerline is valid? [True, True] Translation: X:149.20, Y:4.57, Z:-2.23 [[ 9.99884562e-01 -1.47168864e-02 -3.77828148e-03 1.49196672e+02] [ 1.47157162e-02 9.99891661e-01 -3.37322776e-04 4.57302617e+00] [ 3.78283649e-03 2.81683718e-04 9.99992805e-01 -2.22595177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.035898227 meters 0.07911382348401348 Centerline is valid? [True, True] Translation: X:149.26, Y:4.59, Z:-2.23 [[ 9.99905749e-01 -1.28963313e-02 -4.70927486e-03 1.49255839e+02] [ 1.28944934e-02 9.99916774e-01 -4.20406437e-04 4.58973649e+00] [ 4.71430463e-03 3.59643100e-04 9.99988823e-01 -2.22588649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.095898227 meters 0.08130623372286831 Centerline is valid? [True, True] Translation: X:149.32, Y:4.60, Z:-2.23 [[ 9.99908915e-01 -1.27560371e-02 -4.40974943e-03 1.49316211e+02] [ 1.27544246e-02 9.99918582e-01 -3.93589185e-04 4.60141055e+00] [ 4.41441104e-03 3.37309518e-04 9.99990200e-01 -2.22536991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.155898227 meters 0.08256667851512597 Centerline is valid? [True, True] Translation: X:149.38, Y:4.61, Z:-2.23 [[ 9.99904470e-01 -1.23465122e-02 -6.21410632e-03 1.49375182e+02] [ 1.23433043e-02 9.99923665e-01 -5.54319074e-04 4.61346576e+00] [ 6.22047588e-03 4.77563515e-04 9.99980539e-01 -2.22577055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.215898227 meters 0.09038354335003927 Centerline is valid? [True, True] Translation: X:149.43, Y:4.64, Z:-2.23 [[ 9.99935960e-01 -8.86019399e-03 -7.04074353e-03 1.49433161e+02] [ 8.85599052e-03 9.99960588e-01 -6.27974861e-04 4.63565152e+00] [ 7.04603002e-03 5.65581888e-04 9.99975016e-01 -2.22745484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.275898227 meters 0.09307919715579983 Centerline is valid? [True, True] Translation: X:149.49, Y:4.65, Z:-2.23 [[ 9.99966552e-01 -5.57671420e-03 -5.98288840e-03 1.49492729e+02] [ 5.57362034e-03 9.99984325e-01 -5.33667464e-04 4.65140199e+00] [ 5.98577073e-03 5.00303265e-04 9.99981960e-01 -2.22507297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.335898227 meters 0.09801660486615249 Centerline is valid? [True, True] Translation: X:149.55, Y:4.67, Z:-2.23 [[ 9.99972858e-01 -2.28884390e-03 -7.00312843e-03 1.49551867e+02] [ 2.28452475e-03 9.99997195e-01 -6.24682276e-04 4.67223086e+00] [ 7.00453859e-03 6.08666501e-04 9.99975283e-01 -2.22545574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.395898227 meters 0.0998643464984075 Centerline is valid? [True, True] Translation: X:149.61, Y:4.69, Z:-2.22 [[ 9.99992022e-01 1.23266824e-04 -3.99260303e-03 1.49610848e+02] [-1.24689740e-04 9.99999929e-01 -3.56141148e-04 4.69445016e+00] [ 3.99255884e-03 3.56636143e-04 9.99991966e-01 -2.22077908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.455898227 meters 0.09165934266173342 Centerline is valid? [True, True] Translation: X:149.67, Y:4.70, Z:-2.22 [[ 9.99991178e-01 -1.56107101e-03 -3.89957997e-03 1.49671327e+02] [ 1.55972624e-03 9.99998723e-01 -3.47865899e-04 4.69749297e+00] [ 3.90011804e-03 3.41780553e-04 9.99992336e-01 -2.22170417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.515898227 meters 0.08912420824768646 Centerline is valid? [True, True] Translation: X:149.73, Y:4.71, Z:-2.23 [[ 9.99965177e-01 -5.42932123e-03 -6.33775900e-03 1.49731593e+02] [ 5.42584587e-03 9.99985120e-01 -5.65423220e-04 4.70638668e+00] [ 6.34073456e-03 5.31015827e-04 9.99979756e-01 -2.22696981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.575898227 meters 0.09073547775325166 Centerline is valid? [True, True] Translation: X:149.79, Y:4.72, Z:-2.23 [[ 9.99873842e-01 -1.51037401e-02 -4.91700053e-03 1.49790093e+02] [ 1.51017643e-02 9.99885866e-01 -4.38719544e-04 4.72027870e+00] [ 4.92306563e-03 3.64408813e-04 9.99987815e-01 -2.22661754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.635898227 meters 0.07166809876130648 Centerline is valid? [True, True] Translation: X:149.85, Y:4.70, Z:-2.23 [[ 9.99740855e-01 -2.21264722e-02 -5.35180294e-03 1.49853059e+02] [ 2.21242316e-02 9.99755115e-01 -4.77513078e-04 4.70216693e+00] [ 5.36105805e-03 3.58984806e-04 9.99985565e-01 -2.22673395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.69589822700001 meters 0.08062131059226131 Centerline is valid? [True, True] Translation: X:149.91, Y:4.72, Z:-2.23 [[ 9.99622142e-01 -2.67889009e-02 -6.15864667e-03 1.49911069e+02] [ 2.67860216e-02 9.99641039e-01 -5.49534553e-04 4.71983179e+00] [ 6.17115738e-03 3.84361263e-04 9.99980884e-01 -2.22993647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.755898227 meters 0.06873694002932629 Centerline is valid? [True, True] Translation: X:149.97, Y:4.71, Z:-2.23 [[ 9.99537912e-01 -3.00635720e-02 -4.48832132e-03 1.49972834e+02] [ 3.00620756e-02 9.99547953e-01 -4.00511313e-04 4.71062169e+00] [ 4.49833319e-03 2.65397986e-04 9.99989847e-01 -2.22564826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.815898227 meters 0.061646853653464055 Centerline is valid? [True, True] Translation: X:150.03, Y:4.70, Z:-2.23 [[ 9.99471111e-01 -3.14624739e-02 -8.22264223e-03 1.50034639e+02] [ 3.14574999e-02 9.99504821e-01 -7.33587609e-04 4.70483236e+00] [ 8.24165103e-03 4.74535855e-04 9.99965924e-01 -2.23058543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.875898227 meters 0.05934287386830074 Centerline is valid? [True, True] Translation: X:150.10, Y:4.71, Z:-2.23 [[ 9.99409570e-01 -3.35806340e-02 -7.26994189e-03 1.50095200e+02] [ 3.35768020e-02 9.99435930e-01 -6.48548023e-04 4.70697849e+00] [ 7.28761978e-03 4.04063701e-04 9.99973363e-01 -2.22732612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.935898227 meters 0.05473885328216665 Centerline is valid? [True, True] Translation: X:150.16, Y:4.70, Z:-2.22 [[ 9.99368654e-01 -3.51751024e-02 -5.00055351e-03 1.50156816e+02] [ 3.51733097e-02 9.99381128e-01 -4.46021728e-04 4.70413565e+00] [ 5.01314767e-03 2.69854116e-04 9.99987398e-01 -2.22209528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.995898227 meters 0.0599424102220425 Centerline is valid? [True, True] Translation: X:150.22, Y:4.71, Z:-2.22 [[ 9.99462676e-01 -3.23767958e-02 -5.10910850e-03 1.50216770e+02] [ 3.23748886e-02 9.99475692e-01 -4.55579904e-04 4.71157926e+00] [ 5.12117998e-03 2.89928291e-04 9.99986845e-01 -2.22185073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.055898227 meters 0.06582905255660093 Centerline is valid? [True, True] Translation: X:150.28, Y:4.72, Z:-2.22 [[ 9.99523136e-01 -3.04752794e-02 -4.97565071e-03 1.50276234e+02] [ 3.04734475e-02 9.99535478e-01 -4.43597593e-04 4.72478581e+00] [ 4.98685817e-03 2.91760827e-04 9.99987523e-01 -2.22174363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.115898227 meters 0.07208229812707886 Centerline is valid? [True, True] Translation: X:150.34, Y:4.74, Z:-2.22 [[ 9.99647299e-01 -2.61819013e-02 -4.44809835e-03 1.50335285e+02] [ 2.61803953e-02 9.99657156e-01 -3.96482499e-04 4.73993015e+00] [ 4.45695401e-03 2.79889687e-04 9.99990029e-01 -2.22042638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.175898227 meters 0.08573910791200465 Centerline is valid? [True, True] Translation: X:150.39, Y:4.77, Z:-2.22 [[ 9.99808091e-01 -1.86526015e-02 -5.98851400e-03 1.50392400e+02] [ 1.86497373e-02 9.99825936e-01 -5.33762445e-04 4.76555984e+00] [ 5.99742768e-03 4.21975798e-04 9.99981926e-01 -2.22400129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.235898227 meters 0.07758263654293135 Centerline is valid? [True, True] Translation: X:150.45, Y:4.76, Z:-2.22 [[ 9.99858892e-01 -1.58794218e-02 -5.48089308e-03 1.50452951e+02] [ 1.58769812e-02 9.99873833e-01 -4.88507022e-04 4.76329740e+00] [ 5.48795878e-03 4.01418054e-04 9.99984860e-01 -2.22251235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.295898227 meters 0.07991203551035504 Centerline is valid? [True, True] Translation: X:150.51, Y:4.77, Z:-2.22 [[ 9.99849161e-01 -1.69428773e-02 -3.82015366e-03 1.50512517e+02] [ 1.69416996e-02 9.99856421e-01 -3.40452949e-04 4.77284087e+00] [ 3.82537342e-03 2.75681700e-04 9.99992645e-01 -2.22073847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.355898227 meters 0.0757449599832868 Centerline is valid? [True, True] Translation: X:150.57, Y:4.77, Z:-2.22 [[ 9.99762245e-01 -2.13289667e-02 -4.53089029e-03 1.50573317e+02] [ 2.13273549e-02 9.99772465e-01 -4.03767914e-04 4.76987117e+00] [ 4.53847131e-03 3.07040011e-04 9.99989654e-01 -2.22270119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.415898227 meters 0.0771398133579641 Centerline is valid? [True, True] Translation: X:150.63, Y:4.77, Z:-2.23 [[ 9.99722967e-01 -2.23930494e-02 -7.24846896e-03 1.50633373e+02] [ 2.23889524e-02 9.99749127e-01 -6.45886358e-04 4.77417338e+00] [ 7.26111388e-03 4.83421800e-04 9.99973521e-01 -2.22580122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.47589822700002 meters 0.08079853407077185 Centerline is valid? [True, True] Translation: X:150.69, Y:4.78, Z:-2.22 [[ 9.99776581e-01 -1.99849139e-02 -6.88410360e-03 1.50693449e+02] [ 1.99811619e-02 9.99800168e-01 -6.13384836e-04 4.77783104e+00] [ 6.89498638e-03 4.75695406e-04 9.99976116e-01 -2.22455094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.535898227 meters 0.07513431265717468 Centerline is valid? [True, True] Translation: X:150.75, Y:4.77, Z:-2.22 [[ 9.99830204e-01 -1.73712644e-02 -6.14829792e-03 1.50754285e+02] [ 1.73682225e-02 9.99849011e-01 -5.47808860e-04 4.77315533e+00] [ 6.15688573e-03 4.40930838e-04 9.99980949e-01 -2.22238987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.595898227 meters 0.08285781287256326 Centerline is valid? [True, True] Translation: X:150.81, Y:4.79, Z:-2.22 [[ 9.99886471e-01 -1.35937924e-02 -6.50025718e-03 1.50812721e+02] [ 1.35903141e-02 9.99907480e-01 -5.78986019e-04 4.78704402e+00] [ 6.50752639e-03 4.90579751e-04 9.99978705e-01 -2.22269457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.655898227 meters 0.09737060977667444 Centerline is valid? [True, True] Translation: X:150.87, Y:4.81, Z:-2.22 [[ 9.99933341e-01 -8.73539424e-03 -7.55022230e-03 1.50870593e+02] [ 8.73056443e-03 9.99961662e-01 -6.72414440e-04 4.81237688e+00] [ 7.55580665e-03 6.06451915e-04 9.99971271e-01 -2.22443180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.715898227 meters 0.09968046871418876 Centerline is valid? [True, True] Translation: X:150.93, Y:4.82, Z:-2.22 [[ 9.99937424e-01 -7.93143717e-03 -7.88925683e-03 1.50929231e+02] [ 7.92613797e-03 9.99968341e-01 -7.02738337e-04 4.82399085e+00] [ 7.89458078e-03 6.40163025e-04 9.99968632e-01 -2.22476402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.775898227 meters 0.0817934397654597 Centerline is valid? [True, True] Translation: X:150.99, Y:4.81, Z:-2.22 [[ 9.99934361e-01 -9.70870652e-03 -6.08405288e-03 1.50991094e+02] [ 9.70558719e-03 9.99952753e-01 -5.42022696e-04 4.80815004e+00] [ 6.08902776e-03 4.82937812e-04 9.99981345e-01 -2.22053262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.835898227 meters 0.07428943384554998 Centerline is valid? [True, True] Translation: X:151.05, Y:4.80, Z:-2.21 [[ 9.99852630e-01 -1.71477515e-02 -8.20788738e-04 1.51052712e+02] [ 1.71476972e-02 9.99852965e-01 -7.31191856e-05 4.80262922e+00] [ 8.21921883e-04 5.90337733e-05 9.99999660e-01 -2.21275513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.895898227 meters 0.06932530780463317 Centerline is valid? [True, True] Translation: X:151.11, Y:4.80, Z:-2.22 [[ 9.99761856e-01 -2.17182468e-02 -2.13302009e-03 1.51114410e+02] [ 2.17178905e-02 9.99764121e-01 -1.90049097e-04 4.79676490e+00] [ 2.13664449e-03 1.43679141e-04 9.99997707e-01 -2.21583322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.955898227 meters 0.07022148534431433 Centerline is valid? [True, True] Translation: X:151.18, Y:4.80, Z:-2.22 [[ 9.99727171e-01 -2.27158224e-02 -5.43834541e-03 1.51176043e+02] [ 2.27135220e-02 9.99741897e-01 -4.84400260e-04 4.79693309e+00] [ 5.44794530e-03 3.60744123e-04 9.99985095e-01 -2.22027626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.015898227 meters 0.07135967350418501 Centerline is valid? [True, True] Translation: X:151.24, Y:4.80, Z:-2.22 [[ 9.99748524e-01 -2.17506582e-02 -5.45870969e-03 1.51237313e+02] [ 2.17483269e-02 9.99763359e-01 -4.86081448e-04 4.80030613e+00] [ 5.46799053e-03 3.67241407e-04 9.99984983e-01 -2.22023801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.075898227 meters 0.07268774123626907 Centerline is valid? [True, True] Translation: X:151.30, Y:4.80, Z:-2.22 [[ 9.99762737e-01 -2.09369247e-02 -6.00949302e-03 1.51298384e+02] [ 2.09340854e-02 9.99780715e-01 -5.34976870e-04 4.80276161e+00] [ 6.01937600e-03 4.09046700e-04 9.99981800e-01 -2.22110526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.135898227 meters 0.0708597782078334 Centerline is valid? [True, True] Translation: X:151.36, Y:4.80, Z:-2.22 [[ 9.99692565e-01 -2.42828048e-02 -5.01209274e-03 1.51359271e+02] [ 2.42808719e-02 9.99705077e-01 -4.46146800e-04 4.79753746e+00] [ 5.02144825e-03 3.24311657e-04 9.99987340e-01 -2.21917245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.19589822700001 meters 0.06905584331951567 Centerline is valid? [True, True] Translation: X:151.42, Y:4.79, Z:-2.22 [[ 9.99535392e-01 -3.01319933e-02 -4.58939045e-03 1.51419261e+02] [ 3.01304339e-02 9.99545892e-01 -4.08546975e-04 4.79282195e+00] [ 4.59961670e-03 2.70076835e-04 9.99989385e-01 -2.21879383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.255898227 meters 0.0629263678097264 Centerline is valid? [True, True] Translation: X:151.48, Y:4.78, Z:-2.22 [[ 9.99329113e-01 -3.62702897e-02 -5.07838634e-03 1.51481083e+02] [ 3.62684593e-02 9.99341981e-01 -4.52091155e-04 4.78042988e+00] [ 5.09144214e-03 2.67602605e-04 9.99987003e-01 -2.21985297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.315898227 meters 0.05309525328290273 Centerline is valid? [True, True] Translation: X:151.54, Y:4.75, Z:-2.23 [[ 9.99083326e-01 -4.18659011e-02 -8.93055847e-03 1.51544327e+02] [ 4.18604635e-02 9.99123150e-01 -7.95017092e-04 4.75393976e+00] [ 8.95601182e-03 4.20451003e-04 9.99959806e-01 -2.22647898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.375898227 meters 0.05444012890101651 Centerline is valid? [True, True] Translation: X:151.61, Y:4.75, Z:-2.23 [[ 9.99142233e-01 -4.01317830e-02 -1.02097495e-02 1.51605628e+02] [ 4.01245857e-02 9.99194271e-01 -9.08895285e-04 4.74822756e+00] [ 1.02379988e-02 4.98453694e-04 9.99947466e-01 -2.22814041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.435898227 meters 0.05658603651086807 Centerline is valid? [True, True] Translation: X:151.67, Y:4.75, Z:-2.22 [[ 9.99339189e-01 -3.53261260e-02 -8.55865359e-03 1.51666398e+02] [ 3.53208923e-02 9.99375732e-01 -7.61937664e-04 4.74512320e+00] [ 8.58022700e-03 4.59134886e-04 9.99963084e-01 -2.22414090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.495898227 meters 0.06808566752904617 Centerline is valid? [True, True] Translation: X:151.73, Y:4.75, Z:-2.22 [[ 9.99646959e-01 -2.59275123e-02 -5.80701826e-03 1.51725759e+02] [ 2.59249445e-02 9.99663758e-01 -5.17039501e-04 4.74907524e+00] [ 5.81847125e-03 3.66310339e-04 9.99983005e-01 -2.22069297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.555898227 meters 0.06915916008217783 Centerline is valid? [True, True] Translation: X:151.79, Y:4.75, Z:-2.22 [[ 9.99774067e-01 -2.08677173e-02 -4.04401245e-03 1.51786088e+02] [ 2.08664306e-02 9.99782207e-01 -3.60111388e-04 4.74642213e+00] [ 4.05064640e-03 2.75645922e-04 9.99991758e-01 -2.21939977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.615898227 meters 0.07763507938992427 Centerline is valid? [True, True] Translation: X:151.85, Y:4.76, Z:-2.22 [[ 9.99827101e-01 -1.80408298e-02 -4.50506971e-03 1.51845475e+02] [ 1.80392042e-02 9.99837200e-01 -4.01216288e-04 4.75530501e+00] [ 4.51157456e-03 3.19879046e-04 9.99989772e-01 -2.22063391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.675898227 meters 0.08037566055724762 Centerline is valid? [True, True] Translation: X:151.91, Y:4.76, Z:-2.22 [[ 9.99830144e-01 -1.72299423e-02 -6.54303437e-03 1.51905921e+02] [ 1.72264958e-02 9.99851443e-01 -5.82743989e-04 4.75638248e+00] [ 6.55210301e-03 4.69931453e-04 9.99978424e-01 -2.22332523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.735898227 meters 0.08624621078938124 Centerline is valid? [True, True] Translation: X:151.97, Y:4.77, Z:-2.22 [[ 9.99839239e-01 -1.68836436e-02 -6.03644158e-03 1.51965003e+02] [ 1.68807036e-02 9.99857366e-01 -5.37670834e-04 4.76732893e+00] [ 6.04465842e-03 4.35685017e-04 9.99981636e-01 -2.22241562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.795898227 meters 0.08245692544025317 Centerline is valid? [True, True] Translation: X:152.03, Y:4.77, Z:-2.22 [[ 9.99862321e-01 -1.60033887e-02 -4.38528931e-03 1.52025845e+02] [ 1.60018286e-02 9.99871886e-01 -3.90618018e-04 4.76680074e+00] [ 4.39097871e-03 3.20391590e-04 9.99990308e-01 -2.21910486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.855898227 meters 0.0754228999756894 Centerline is valid? [True, True] Translation: X:152.09, Y:4.76, Z:-2.22 [[ 9.99848300e-01 -1.66239064e-02 -5.19826360e-03 1.52087167e+02] [ 1.66217225e-02 9.99861742e-01 -4.63033401e-04 4.75980618e+00] [ 5.20524232e-03 3.76559064e-04 9.99986382e-01 -2.22117399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.915898227 meters 0.08137427081079948 Centerline is valid? [True, True] Translation: X:152.15, Y:4.77, Z:-2.23 [[ 9.99808042e-01 -1.74792391e-02 -8.85184846e-03 1.52146137e+02] [ 1.74729391e-02 9.99847026e-01 -7.88556854e-04 4.77137892e+00] [ 8.86427772e-03 6.33737675e-04 9.99960511e-01 -2.22685854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.97589822700002 meters 0.07167422218054777 Centerline is valid? [True, True] Translation: X:152.21, Y:4.76, Z:-2.22 [[ 9.99810019e-01 -1.76548376e-02 -8.26027701e-03 1.52206217e+02] [ 1.76493486e-02 9.99843967e-01 -7.36945494e-04 4.76438644e+00] [ 8.27199878e-03 5.91016980e-04 9.99965612e-01 -2.22264847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.035898227 meters 0.0854193926107436 Centerline is valid? [True, True] Translation: X:152.26, Y:4.79, Z:-2.22 [[ 9.99814379e-01 -1.79097986e-02 -7.10260314e-03 1.52263443e+02] [ 1.79057433e-02 9.99839478e-01 -6.34143273e-04 4.78668083e+00] [ 7.11282039e-03 5.06848174e-04 9.99974575e-01 -2.22276830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.095898227 meters 0.07353127007676945 Centerline is valid? [True, True] Translation: X:152.33, Y:4.77, Z:-2.22 [[ 9.99792510e-01 -1.99033394e-02 -4.33520665e-03 1.52325333e+02] [ 1.99018469e-02 9.99801864e-01 -3.87131963e-04 4.77361076e+00] [ 4.34205290e-03 3.00773018e-04 9.99990528e-01 -2.21775974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.155898227 meters 0.06646105942458073 Centerline is valid? [True, True] Translation: X:152.39, Y:4.77, Z:-2.21 [[ 9.99753634e-01 -2.21428395e-02 -1.53820868e-03 1.52386382e+02] [ 2.21426543e-02 9.99754812e-01 -1.37364824e-04 4.76703973e+00] [ 1.54087318e-03 1.03270959e-04 9.99998808e-01 -2.21299278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.215898227 meters 0.07034739345281328 Centerline is valid? [True, True] Translation: X:152.45, Y:4.77, Z:-2.21 [[ 9.99708514e-01 -2.41005197e-02 -1.43245525e-03 1.52445889e+02] [ 2.41003610e-02 9.99709536e-01 -1.27938851e-04 4.77472882e+00] [ 1.43512256e-03 9.33788696e-05 9.99998966e-01 -2.21248712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.275898227 meters 0.0659455527149942 Centerline is valid? [True, True] Translation: X:152.51, Y:4.77, Z:-2.21 [[ 9.99668077e-01 -2.56758032e-02 -2.11849373e-03 1.52507555e+02] [ 2.56754596e-02 9.99670313e-01 -1.89210775e-04 4.77134238e+00] [ 2.12265343e-03 1.34754672e-04 9.99997738e-01 -2.21433282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.335898227 meters 0.06375054336111634 Centerline is valid? [True, True] Translation: X:152.57, Y:4.77, Z:-2.22 [[ 9.99603821e-01 -2.80611731e-02 -2.18425839e-03 1.52568426e+02] [ 2.80608136e-02 9.99606199e-01 -1.95059619e-04 4.76962321e+00] [ 2.18887183e-03 1.33690273e-04 9.99997595e-01 -2.21519391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.395898227 meters 0.05928954525123489 Centerline is valid? [True, True] Translation: X:152.63, Y:4.77, Z:-2.22 [[ 9.99529074e-01 -3.04524982e-02 -3.77835030e-03 1.52629656e+02] [ 3.04514397e-02 9.99536190e-01 -3.37394592e-04 4.76608064e+00] [ 3.78687237e-03 2.22179498e-04 9.99992805e-01 -2.21704652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.455898227 meters 0.06888789537800735 Centerline is valid? [True, True] Translation: X:152.69, Y:4.78, Z:-2.22 [[ 9.99505432e-01 -3.09564741e-02 -5.53057949e-03 1.52688034e+02] [ 3.09542137e-02 9.99520682e-01 -4.93869425e-04 4.78151297e+00] [ 5.54321704e-03 3.22430434e-04 9.99984584e-01 -2.22019092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.515898227 meters 0.06358249733133513 Centerline is valid? [True, True] Translation: X:152.75, Y:4.78, Z:-2.22 [[ 9.99626530e-01 -2.62509183e-02 -7.59543603e-03 1.52748642e+02] [ 2.62465187e-02 9.99655271e-01 -6.78352269e-04 4.77665621e+00] [ 7.61062503e-03 4.78745170e-04 9.99970924e-01 -2.22262110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.575898227 meters 0.07261457216155413 Centerline is valid? [True, True] Translation: X:152.81, Y:4.79, Z:-2.22 [[ 9.99710794e-01 -2.30593181e-02 -6.82613054e-03 1.52807381e+02] [ 2.30556900e-02 9.99733996e-01 -6.09725284e-04 4.78961550e+00] [ 6.83837462e-03 4.52167798e-04 9.99976516e-01 -2.22347089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.635898227 meters 0.07763835875213296 Centerline is valid? [True, True] Translation: X:152.87, Y:4.80, Z:-2.22 [[ 9.99794169e-01 -1.91235614e-02 -6.77555789e-03 1.52866648e+02] [ 1.91198964e-02 9.99817015e-01 -6.05283230e-04 4.79767703e+00] [ 6.78589323e-03 4.75610679e-04 9.99976862e-01 -2.22115813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.69589822700001 meters 0.08024910626516157 Centerline is valid? [True, True] Translation: X:152.93, Y:4.80, Z:-2.22 [[ 9.99869354e-01 -1.46550879e-02 -6.81934432e-03 1.52926557e+02] [ 1.46512715e-02 9.99892479e-01 -6.09265315e-04 4.80019513e+00] [ 6.82753993e-03 5.09273652e-04 9.99976562e-01 -2.22048877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.755898227 meters 0.08513732684687088 Centerline is valid? [True, True] Translation: X:152.99, Y:4.81, Z:-2.21 [[ 9.99948844e-01 -9.51407389e-03 -3.43392497e-03 1.52986876e+02] [ 9.51307600e-03 9.99954703e-01 -3.06815356e-04 4.80527726e+00] [ 3.43668848e-03 2.74132471e-04 9.99994057e-01 -2.21490028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.815898227 meters 0.08720425944999481 Centerline is valid? [True, True] Translation: X:153.05, Y:4.81, Z:-2.21 [[ 9.99964484e-01 -8.42502642e-03 2.20652716e-04 1.53046817e+02] [ 8.42502226e-03 9.99964509e-01 1.97411281e-05 4.80700706e+00] [-2.20811204e-04 -1.78814230e-05 9.99999975e-01 -2.20961071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.875898227 meters 0.087832060472378 Centerline is valid? [True, True] Translation: X:153.11, Y:4.81, Z:-2.21 [[ 9.99962750e-01 -8.63120819e-03 1.30649547e-05 1.53108926e+02] [ 8.63120818e-03 9.99962750e-01 1.12125515e-06 4.80534515e+00] [-1.30741459e-05 -1.00844704e-06 1.00000000e+00 -2.21003657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.935898227 meters 0.08887803341578938 Centerline is valid? [True, True] Translation: X:153.17, Y:4.80, Z:-2.21 [[ 9.99954640e-01 -9.50678738e-03 -5.81811752e-04 1.53170509e+02] [ 9.50675872e-03 9.99954808e-01 -5.19948199e-05 4.80162643e+00] [ 5.82279763e-04 4.64613175e-05 9.99999829e-01 -2.21148302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.995898227 meters 0.08876930773291396 Centerline is valid? [True, True] Translation: X:153.23, Y:4.80, Z:-2.21 [[ 9.99949326e-01 -1.00476848e-02 -6.24389638e-04 1.53231728e+02] [ 1.00476519e-02 9.99949520e-01 -5.57911525e-05 4.80104326e+00] [ 6.24918690e-04 4.95146756e-05 9.99999804e-01 -2.21155952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.055898227 meters 0.09280764139175715 Centerline is valid? [True, True] Translation: X:153.29, Y:4.81, Z:-2.22 [[ 9.99955954e-01 -8.97902030e-03 -2.73271976e-03 1.53291676e+02] [ 8.97838661e-03 9.99959664e-01 -2.44069940e-04 4.80633134e+00] [ 2.73480104e-03 2.19523776e-04 9.99996236e-01 -2.21583245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.115898227 meters 0.0960505149828715 Centerline is valid? [True, True] Translation: X:153.35, Y:4.81, Z:-2.22 [[ 9.99951372e-01 -7.58077490e-03 -6.30764196e-03 1.53352013e+02] [ 7.57737097e-03 9.99971133e-01 -5.63374793e-04 4.80640212e+00] [ 6.31173069e-03 5.15552054e-04 9.99979948e-01 -2.22371745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.175898227 meters 0.08551473244367382 Centerline is valid? [True, True] Translation: X:153.41, Y:4.79, Z:-2.22 [[ 9.99928480e-01 -9.79188155e-03 -6.86688359e-03 1.53413604e+02] [ 9.78789870e-03 9.99951909e-01 -6.13375858e-04 4.79043879e+00] [ 6.87255946e-03 5.46119628e-04 9.99976235e-01 -2.22330994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.235898227 meters 0.08313693457482406 Centerline is valid? [True, True] Translation: X:153.47, Y:4.79, Z:-2.22 [[ 9.99892912e-01 -1.33951158e-02 -5.89371231e-03 1.53474571e+02] [ 1.33922440e-02 9.99910181e-01 -5.26452619e-04 4.78655102e+00] [ 5.90023484e-03 4.47466208e-04 9.99982493e-01 -2.22050255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.295898227 meters 0.07676101085051736 Centerline is valid? [True, True] Translation: X:153.54, Y:4.78, Z:-2.22 [[ 9.99848728e-01 -1.63228355e-02 -6.00725389e-03 1.53535676e+02] [ 1.63199046e-02 9.99866677e-01 -5.36601607e-04 4.77839184e+00] [ 6.01521184e-03 4.38482623e-04 9.99981812e-01 -2.22074634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.355898227 meters 0.07398781994132415 Centerline is valid? [True, True] Translation: X:153.60, Y:4.77, Z:-2.22 [[ 9.99830986e-01 -1.75653153e-02 -5.42766166e-03 1.53596011e+02] [ 1.75629404e-02 9.99845642e-01 -4.84912812e-04 4.77157134e+00] [ 5.43534150e-03 3.89505157e-04 9.99985153e-01 -2.21975204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.415898227 meters 0.07869179341394217 Centerline is valid? [True, True] Translation: X:153.65, Y:4.78, Z:-2.22 [[ 9.99855694e-01 -1.65335959e-02 -3.90279367e-03 1.53654942e+02] [ 1.65323598e-02 9.99863270e-01 -3.48779288e-04 4.77609209e+00] [ 3.90802661e-03 2.84206568e-04 9.99992323e-01 -2.21925299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.47589822700002 meters 0.08013927273719036 Centerline is valid? [True, True] Translation: X:153.71, Y:4.78, Z:-2.22 [[ 9.99889889e-01 -1.43897949e-02 -3.62552487e-03 1.53713814e+02] [ 1.43887139e-02 9.99896425e-01 -3.24075008e-04 4.78336246e+00] [ 3.62981273e-03 2.71872684e-04 9.99993375e-01 -2.21763026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.535898227 meters 0.0835645546317387 Centerline is valid? [True, True] Translation: X:153.77, Y:4.79, Z:-2.22 [[ 9.99933927e-01 -1.12575558e-02 -2.32573672e-03 1.53773912e+02] [ 1.12571025e-02 9.99936615e-01 -2.07899469e-04 4.78990123e+00] [ 2.32792974e-03 1.81704676e-04 9.99997274e-01 -2.21564645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.595898227 meters 0.0900259201602816 Centerline is valid? [True, True] Translation: X:153.83, Y:4.80, Z:-2.21 [[ 9.99954838e-01 -9.44739917e-03 -1.03412588e-03 1.53831939e+02] [ 9.44730861e-03 9.99955369e-01 -9.24237588e-05 4.80184411e+00] [ 1.03495289e-03 8.26498784e-05 9.99999461e-01 -2.21276037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.655898227 meters 0.09093920757747272 Centerline is valid? [True, True] Translation: X:153.89, Y:4.81, Z:-2.21 [[ 9.99958433e-01 -9.00419594e-03 -1.43410609e-03 1.53892593e+02] [ 9.00402123e-03 9.99959455e-01 -1.28234626e-04 4.80708032e+00] [ 1.43520259e-03 1.15316574e-04 9.99998963e-01 -2.21316339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.715898227 meters 0.09060213881773653 Centerline is valid? [True, True] Translation: X:153.95, Y:4.81, Z:-2.22 [[ 9.99931352e-01 -1.14421491e-02 -2.52344888e-03 1.53952569e+02] [ 1.14416159e-02 9.99934517e-01 -2.25641547e-04 4.80899021e+00] [ 2.52586546e-03 1.96753724e-04 9.99996791e-01 -2.21524475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.775898227 meters 0.08783566425063707 Centerline is valid? [True, True] Translation: X:154.01, Y:4.81, Z:-2.22 [[ 9.99877838e-01 -1.51536129e-02 -3.83099380e-03 1.54013923e+02] [ 1.51524110e-02 9.99885137e-01 -3.42550200e-04 4.80610687e+00] [ 3.83574464e-03 2.84459561e-04 9.99992603e-01 -2.21784739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.835898227 meters 0.07928143091840574 Centerline is valid? [True, True] Translation: X:154.07, Y:4.80, Z:-2.22 [[ 9.99888682e-01 -1.38881075e-02 -5.45372311e-03 1.54074268e+02] [ 1.38856528e-02 9.99903471e-01 -4.87709485e-04 4.79996395e+00] [ 5.45997003e-03 4.11926689e-04 9.99985009e-01 -2.21902062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.895898227 meters 0.09377938106299494 Centerline is valid? [True, True] Translation: X:154.13, Y:4.82, Z:-2.22 [[ 9.99910882e-01 -1.19666112e-02 -5.91840911e-03 1.54131106e+02] [ 1.19636860e-02 9.99928292e-01 -5.29404555e-04 4.82407064e+00] [ 5.92431989e-03 4.58551387e-04 9.99982346e-01 -2.22047928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.955898227 meters 0.08404075756095528 Centerline is valid? [True, True] Translation: X:154.19, Y:4.82, Z:-2.22 [[ 9.99955787e-01 -7.20661829e-03 -6.04056475e-03 1.54192383e+02] [ 7.20348447e-03 9.99973909e-01 -5.40392513e-04 4.81930761e+00] [ 6.04430155e-03 4.96855506e-04 9.99981610e-01 -2.22042781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.015898227 meters 0.0853748334753641 Centerline is valid? [True, True] Translation: X:154.25, Y:4.83, Z:-2.22 [[ 9.99956273e-01 -6.37475950e-03 -6.84214805e-03 1.54251074e+02] [ 6.37071766e-03 9.99979519e-01 -6.12358505e-04 4.82867926e+00] [ 6.84591156e-03 5.68742335e-04 9.99976405e-01 -2.22206471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.075898227 meters 0.07888093364370298 Centerline is valid? [True, True] Translation: X:154.31, Y:4.83, Z:-2.22 [[ 9.99951490e-01 -7.51692171e-03 -6.36509730e-03 1.54311700e+02] [ 7.51344589e-03 9.99971611e-01 -5.69812013e-04 4.82819226e+00] [ 6.36919983e-03 5.21960557e-04 9.99979580e-01 -2.22121093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.135898227 meters 0.08028416206556284 Centerline is valid? [True, True] Translation: X:154.37, Y:4.84, Z:-2.22 [[ 9.99908908e-01 -1.18345221e-02 -6.49000699e-03 1.54370052e+02] [ 1.18309983e-02 9.99929842e-01 -5.81079402e-04 4.84007344e+00] [ 6.49642846e-03 5.04243209e-04 9.99978771e-01 -2.22131520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.19589822700001 meters 0.08745235223265826 Centerline is valid? [True, True] Translation: X:154.43, Y:4.86, Z:-2.22 [[ 9.99887358e-01 -1.33285937e-02 -6.90071320e-03 1.54428167e+02] [ 1.33246442e-02 9.99911032e-01 -6.17993647e-04 4.85646106e+00] [ 6.90833625e-03 5.25974486e-04 9.99975999e-01 -2.22237766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.255898227 meters 0.08054918857789456 Centerline is valid? [True, True] Translation: X:154.49, Y:4.85, Z:-2.22 [[ 9.99892036e-01 -1.36834408e-02 -5.35543037e-03 1.54487464e+02] [ 1.36810641e-02 9.99906295e-01 -4.80180792e-04 4.85416285e+00] [ 5.36149906e-03 4.06860963e-04 9.99985544e-01 -2.21853450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.315898227 meters 0.07714426872644199 Centerline is valid? [True, True] Translation: X:154.55, Y:4.86, Z:-2.22 [[ 9.99927035e-01 -1.16281547e-02 -3.27258814e-03 1.54548114e+02] [ 1.16272556e-02 9.99932358e-01 -2.93627519e-04 4.85620126e+00] [ 3.27578113e-03 2.55554876e-04 9.99994602e-01 -2.21539780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.375898227 meters 0.07938669637338205 Centerline is valid? [True, True] Translation: X:154.61, Y:4.86, Z:-2.22 [[ 9.99924736e-01 -1.19229518e-02 -2.89232630e-03 1.54607241e+02] [ 1.19222507e-02 9.99928894e-01 -2.59529690e-04 4.86233302e+00] [ 2.89521500e-03 2.25027117e-04 9.99995784e-01 -2.21774895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.435898227 meters 0.07735043204666583 Centerline is valid? [True, True] Translation: X:154.67, Y:4.86, Z:-2.22 [[ 9.99887958e-01 -1.47816221e-02 -2.36100560e-03 1.54668133e+02] [ 1.47811627e-02 9.99890730e-01 -2.11893548e-04 4.86233338e+00] [ 2.36387974e-03 1.76971399e-04 9.99997190e-01 -2.21779826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.495898227 meters 0.070369423249827 Centerline is valid? [True, True] Translation: X:154.73, Y:4.85, Z:-2.22 [[ 9.99752864e-01 -2.19261038e-02 -3.66830884e-03 1.54728696e+02] [ 2.19250426e-02 9.99759563e-01 -3.29247416e-04 4.85317022e+00] [ 3.67464595e-03 2.48738220e-04 9.99993218e-01 -2.21746829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.555898227 meters 0.06773606581774946 Centerline is valid? [True, True] Translation: X:154.79, Y:4.85, Z:-2.22 [[ 9.99664633e-01 -2.55609195e-02 -4.15465192e-03 1.54789125e+02] [ 2.55595893e-02 9.99673231e-01 -3.72966109e-04 4.84961039e+00] [ 4.16282767e-03 2.66649832e-04 9.99991300e-01 -2.21862273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.615898227 meters 0.06988205039429794 Centerline is valid? [True, True] Translation: X:154.85, Y:4.85, Z:-2.22 [[ 9.99662581e-01 -2.55043271e-02 -4.92475273e-03 1.54846429e+02] [ 2.55024557e-02 9.99674662e-01 -4.42432784e-04 4.85266979e+00] [ 4.93443447e-03 3.16690210e-04 9.99987775e-01 -2.22000475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.675898227 meters 0.0695431673023169 Centerline is valid? [True, True] Translation: X:154.91, Y:4.85, Z:-2.22 [[ 9.99699319e-01 -2.38407674e-02 -5.73500827e-03 1.54907340e+02] [ 2.38382009e-02 9.99715697e-01 -5.15460670e-04 4.85336721e+00] [ 5.74566677e-03 3.78593401e-04 9.99983422e-01 -2.22099964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.735898227 meters 0.0717814924279373 Centerline is valid? [True, True] Translation: X:154.97, Y:4.86, Z:-2.22 [[ 9.99766072e-01 -2.00764933e-02 -8.04589925e-03 1.54967301e+02] [ 2.00713200e-02 9.99798289e-01 -7.23209904e-04 4.85854228e+00] [ 8.05879582e-03 5.61548906e-04 9.99967370e-01 -2.22395187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.795898227 meters 0.07889000322464236 Centerline is valid? [True, True] Translation: X:155.03, Y:4.87, Z:-2.22 [[ 9.99801051e-01 -1.81779445e-02 -8.21095758e-03 1.55025452e+02] [ 1.81724924e-02 9.99834594e-01 -7.38126859e-04 4.87065876e+00] [ 8.22301707e-03 5.88766446e-04 9.99966017e-01 -2.22458236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.855898227 meters 0.07777107778308674 Centerline is valid? [True, True] Translation: X:155.08, Y:4.87, Z:-2.22 [[ 9.99834762e-01 -1.68920523e-02 -6.71614767e-03 1.55084926e+02] [ 1.68883741e-02 9.99857199e-01 -6.04012644e-04 4.87301121e+00] [ 6.72539161e-03 4.90488024e-04 9.99977264e-01 -2.22173211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.915898227 meters 0.07637117763790442 Centerline is valid? [True, True] Translation: X:155.14, Y:4.87, Z:-2.22 [[ 9.99851219e-01 -1.65952433e-02 -4.70500698e-03 1.55144077e+02] [ 1.65934338e-02 9.99862230e-01 -4.23377443e-04 4.86676334e+00] [ 4.71138482e-03 3.45242230e-04 9.99988842e-01 -2.21999467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.97589822700002 meters 0.07442049272143841 Centerline is valid? [True, True] Translation: X:155.20, Y:4.87, Z:-2.22 [[ 9.99817272e-01 -1.87571710e-02 -3.68666375e-03 1.55203553e+02] [ 1.87560742e-02 9.99824034e-01 -3.31864776e-04 4.87049584e+00] [ 3.69223987e-03 2.62656796e-04 9.99993149e-01 -2.21625684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.035898227 meters 0.06939814088227327 Centerline is valid? [True, True] Translation: X:155.26, Y:4.86, Z:-2.21 [[ 9.99762983e-01 -2.16996492e-02 -1.76176422e-03 1.55264523e+02] [ 2.16994032e-02 9.99764528e-01 -1.58605049e-04 4.86279014e+00] [ 1.76479104e-03 1.20338224e-04 9.99998436e-01 -2.21267027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.095898227 meters 0.07105043238742786 Centerline is valid? [True, True] Translation: X:155.32, Y:4.86, Z:-2.21 [[ 9.99741164e-01 -2.27111574e-02 -1.34445024e-03 1.55322661e+02] [ 2.27110152e-02 9.99742064e-01 -1.20999630e-04 4.86094636e+00] [ 1.34685150e-03 9.04344811e-05 9.99999089e-01 -2.21251160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.155898227 meters 0.07193561124733153 Centerline is valid? [True, True] Translation: X:155.38, Y:4.86, Z:-2.22 [[ 9.99745894e-01 -2.23042247e-02 -3.26627070e-03 1.55381338e+02] [ 2.23033817e-02 9.99751205e-01 -2.94318584e-04 4.86042790e+00] [ 3.27202262e-03 2.21394914e-04 9.99994622e-01 -2.21596475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.215898227 meters 0.07198145691189918 Centerline is valid? [True, True] Translation: X:155.44, Y:4.86, Z:-2.22 [[ 9.99724783e-01 -2.31799111e-02 -3.61239931e-03 1.55440697e+02] [ 2.31788848e-02 9.99731281e-01 -3.25709107e-04 4.85750782e+00] [ 3.61897850e-03 2.41888079e-04 9.99993422e-01 -2.21617232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.275898227 meters 0.06540644650173866 Centerline is valid? [True, True] Translation: X:155.50, Y:4.84, Z:-2.21 [[ 9.99632481e-01 -2.70049878e-02 -2.37366791e-03 1.55503066e+02] [ 2.70045552e-02 9.99635288e-01 -2.14089691e-04 4.83921865e+00] [ 2.37858370e-03 1.49911162e-04 9.99997160e-01 -2.21397163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.335898227 meters 0.06396409714008573 Centerline is valid? [True, True] Translation: X:155.56, Y:4.83, Z:-2.21 [[ 9.99567638e-01 -2.92653911e-02 -2.84131820e-03 1.55563767e+02] [ 2.92647802e-02 9.99571662e-01 -2.56351138e-04 4.83288553e+00] [ 2.84760337e-03 1.73089749e-04 9.99995931e-01 -2.21386390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.395898227 meters 0.066859665216716 Centerline is valid? [True, True] Translation: X:155.62, Y:4.83, Z:-2.22 [[ 9.99663344e-01 -2.51315084e-02 -6.45029883e-03 1.55624648e+02] [ 2.51282733e-02 9.99684066e-01 -5.82100844e-04 4.83357919e+00] [ 6.46289003e-03 4.19820004e-04 9.99979027e-01 -2.21806612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.455898227 meters 0.0711712724735556 Centerline is valid? [True, True] Translation: X:155.68, Y:4.84, Z:-2.22 [[ 9.99759052e-01 -2.03842033e-02 -8.14387746e-03 1.55684735e+02] [ 2.03788891e-02 9.99792059e-01 -7.34994076e-04 4.84062328e+00] [ 8.15716628e-03 5.68853804e-04 9.99966568e-01 -2.22075755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.515898227 meters 0.07555940256361933 Centerline is valid? [True, True] Translation: X:155.74, Y:4.85, Z:-2.22 [[ 9.99815518e-01 -1.83086730e-02 -5.80712967e-03 1.55744851e+02] [ 1.83059358e-02 9.99832295e-01 -5.24166926e-04 4.84654813e+00] [ 5.81575258e-03 4.17765284e-04 9.99983001e-01 -2.21893402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.575898227 meters 0.07325430234116556 Centerline is valid? [True, True] Translation: X:155.81, Y:4.85, Z:-2.21 [[ 9.99803036e-01 -1.94729538e-02 -3.83312326e-03 1.55805179e+02] [ 1.94717696e-02 9.99810347e-01 -3.46028998e-04 4.84520809e+00] [ 3.83913451e-03 2.71323149e-04 9.99992594e-01 -2.21471513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.635898227 meters 0.07333136959504817 Centerline is valid? [True, True] Translation: X:155.86, Y:4.85, Z:-2.22 [[ 9.99787594e-01 -2.00260577e-02 -4.87069408e-03 1.55864293e+02] [ 2.00241497e-02 9.99799400e-01 -4.40179468e-04 4.84707260e+00] [ 4.87853208e-03 3.42554463e-04 9.99988041e-01 -2.21695913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.69589822700001 meters 0.07134852757590947 Centerline is valid? [True, True] Translation: X:155.92, Y:4.84, Z:-2.22 [[ 9.99810689e-01 -1.89713535e-02 -4.32125255e-03 1.55924670e+02] [ 1.89698404e-02 9.99819980e-01 -3.90864785e-04 4.84330085e+00] [ 4.32788988e-03 3.08817319e-04 9.99990587e-01 -2.21569473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.755898227 meters 0.0822244456837963 Centerline is valid? [True, True] Translation: X:155.98, Y:4.85, Z:-2.22 [[ 9.99852981e-01 -1.65543482e-02 -4.46868274e-03 1.55983944e+02] [ 1.65527058e-02 9.99862913e-01 -4.04281519e-04 4.85129205e+00] [ 4.47476276e-03 3.30253292e-04 9.99989934e-01 -2.21596407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.815898227 meters 0.07581573255939826 Centerline is valid? [True, True] Translation: X:156.04, Y:4.84, Z:-2.22 [[ 9.99865151e-01 -1.56519808e-02 -4.96945252e-03 1.56044883e+02] [ 1.56499381e-02 9.99877431e-01 -4.49684924e-04 4.84319684e+00] [ 4.97588188e-03 3.71852660e-04 9.99987551e-01 -2.21794455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.875898227 meters 0.07804092584866722 Centerline is valid? [True, True] Translation: X:156.10, Y:4.85, Z:-2.22 [[ 9.99894626e-01 -1.32392291e-02 -5.95482040e-03 1.56104987e+02] [ 1.32362530e-02 9.99912252e-01 -5.38910990e-04 4.84540941e+00] [ 5.96143264e-03 4.60034693e-04 9.99982125e-01 -2.21716551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.935898227 meters 0.08825094038804579 Centerline is valid? [True, True] Translation: X:156.16, Y:4.86, Z:-2.22 [[ 9.99921369e-01 -1.05461426e-02 -6.78489020e-03 1.56163821e+02] [ 1.05422173e-02 9.99944241e-01 -6.14043260e-04 4.85781642e+00] [ 6.79098767e-03 5.42467191e-04 9.99976794e-01 -2.21820683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.995898227 meters 0.08909927393405255 Centerline is valid? [True, True] Translation: X:156.22, Y:4.86, Z:-2.22 [[ 9.99946846e-01 -7.44961839e-03 -7.12795251e-03 1.56224452e+02] [ 7.44520794e-03 9.99972076e-01 -6.45090141e-04 4.85844037e+00] [ 7.13255914e-03 5.91986763e-04 9.99974388e-01 -2.21869353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.055898227 meters 0.08604211720787762 Centerline is valid? [True, True] Translation: X:156.29, Y:4.85, Z:-2.22 [[ 9.99968055e-01 -4.95907557e-03 -6.26863728e-03 1.56285498e+02] [ 4.95561577e-03 9.99987560e-01 -5.67333948e-04 4.85307684e+00] [ 6.27137275e-03 5.36250867e-04 9.99980191e-01 -2.21611506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.115898227 meters 0.09062691822494381 Centerline is valid? [True, True] Translation: X:156.35, Y:4.85, Z:-2.22 [[ 9.99969837e-01 -6.32369844e-03 -4.50959619e-03 1.56345200e+02] [ 6.32192143e-03 9.99979933e-01 -4.08195817e-04 4.85432130e+00] [ 4.51208700e-03 3.79674191e-04 9.99989748e-01 -2.21564802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.175898227 meters 0.08003663871039772 Centerline is valid? [True, True] Translation: X:156.41, Y:4.84, Z:-2.21 [[ 9.99958657e-01 -8.66945099e-03 -2.74321730e-03 1.56406947e+02] [ 8.66880212e-03 9.99962394e-01 -2.48337461e-04 4.84474070e+00] [ 2.74526709e-03 2.24546786e-04 9.99996207e-01 -2.20994076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.235898227 meters 0.09373082185463864 Centerline is valid? [True, True] Translation: X:156.46, Y:4.86, Z:-2.22 [[ 9.99956388e-01 -7.84665421e-03 -5.06480840e-03 1.56464335e+02] [ 7.84443109e-03 9.99969127e-01 -4.58652710e-04 4.85605915e+00] [ 5.06825092e-03 4.18902167e-04 9.99987069e-01 -2.21564663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.295898227 meters 0.09429710594068241 Centerline is valid? [True, True] Translation: X:156.52, Y:4.86, Z:-2.21 [[ 9.99977042e-01 -4.71528865e-03 -4.86640839e-03 1.56523718e+02] [ 4.71319892e-03 9.99988796e-01 -4.40798895e-04 4.86346739e+00] [ 4.86843236e-03 4.17852424e-04 9.99988062e-01 -2.21484379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.355898227 meters 0.09978599369793124 Centerline is valid? [True, True] Translation: X:156.58, Y:4.88, Z:-2.21 [[ 9.99994281e-01 -5.97345935e-04 -3.32875043e-03 1.56583517e+02] [ 5.96345482e-04 9.99999777e-01 -3.01533743e-04 4.87617533e+00] [ 3.32892980e-03 2.99546934e-04 9.99994414e-01 -2.21146894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.415898227 meters 0.10630324745855681 Centerline is valid? [True, False] Translation: X:156.56, Y:4.88, Z:-2.21 [[ 9.99988812e-01 3.87103117e-03 -2.71850652e-03 1.56562047e+02] [-3.88514194e-03 9.99978908e-01 -5.20467696e-03 4.87532374e+00] [ 2.69830171e-03 5.21518051e-03 9.99982760e-01 -2.21324313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.47589822700002 meters 0.10708845200760089 Centerline is valid? [False, False] Translation: X:156.56, Y:4.88, Z:-2.21 [[ 9.99988778e-01 3.88615365e-03 -2.70971445e-03 1.56561990e+02] [-3.90012734e-03 9.99979026e-01 -5.17081446e-03 4.87517697e+00] [ 2.68956303e-03 5.18132466e-03 9.99982960e-01 -2.21317824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.535898227 meters 0.10441257026842081 Centerline is valid? [False, False] Translation: X:156.58, Y:4.88, Z:-2.20 [[ 9.99981356e-01 -1.21851807e-03 -5.98360759e-03 1.56578894e+02] [ 1.20465846e-03 9.99996585e-01 -2.31932120e-03 4.87619130e+00] [ 5.98641328e-03 2.31206975e-03 9.99979408e-01 -2.20488818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.595898227 meters 0.10225221366061198 Centerline is valid? [False, False] Translation: X:156.58, Y:4.87, Z:-2.20 [[ 9.99981040e-01 -9.96142550e-04 -6.07685416e-03 1.56578802e+02] [ 9.85467027e-04 9.99997967e-01 -1.75949290e-03 4.87383021e+00] [ 6.07859451e-03 1.75347100e-03 9.99979988e-01 -2.20406926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.655898227 meters 0.07897558231808298 Centerline is valid? [False, True] Translation: X:156.58, Y:4.87, Z:-2.20 [[ 9.99980622e-01 -9.86776178e-04 -6.14663907e-03 1.56578938e+02] [ 9.76109950e-04 9.99998013e-01 -1.73805261e-03 4.87374649e+00] [ 6.14834192e-03 1.73201914e-03 9.99979599e-01 -2.20392544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.715898227 meters 0.08643786424497589 Centerline is valid? [True, True] Translation: X:156.64, Y:4.89, Z:-2.20 [[ 9.99977406e-01 -8.45274311e-05 -6.72162554e-03 1.56636901e+02] [ 8.08375412e-05 9.99999846e-01 -5.49227750e-04 4.88837326e+00] [ 6.72167093e-03 5.48671981e-04 9.99977259e-01 -2.20348269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.775898227 meters 0.08065126163180546 Centerline is valid? [True, True] Translation: X:156.70, Y:4.89, Z:-2.20 [[ 9.99970832e-01 1.22206708e-03 -7.53940279e-03 1.56697861e+02] [-1.22674884e-03 9.99999058e-01 -6.16379135e-04 4.88801354e+00] [ 7.53864243e-03 6.25610110e-04 9.99971388e-01 -2.20357161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.835898227 meters 0.09099616264055342 Centerline is valid? [True, True] Translation: X:156.75, Y:4.91, Z:-2.20 [[ 9.99982746e-01 2.27459316e-03 -5.41603042e-03 1.56754561e+02] [-2.27702434e-03 9.99997310e-01 -4.42761908e-04 4.90856585e+00] [ 5.41500875e-03 4.55086701e-04 9.99985235e-01 -2.19967753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.895898227 meters 0.08145095164784986 Centerline is valid? [True, True] Translation: X:156.82, Y:4.90, Z:-2.20 [[ 9.99983629e-01 1.10946388e-03 -5.61339202e-03 1.56815485e+02] [-1.11205879e-03 9.99999276e-01 -4.59171634e-04 4.90247439e+00] [ 5.61287853e-03 4.65406539e-04 9.99984139e-01 -2.19920690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.955898227 meters 0.08838107582891659 Centerline is valid? [True, True] Translation: X:156.87, Y:4.92, Z:-2.20 [[ 9.99976555e-01 -4.93071347e-04 -6.82986841e-03 1.56873191e+02] [ 4.89266203e-04 9.99999724e-01 -5.58792423e-04 4.91583896e+00] [ 6.83014205e-03 5.55437699e-04 9.99976520e-01 -2.20091188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.015898227 meters 0.08354826063643686 Centerline is valid? [True, True] Translation: X:156.93, Y:4.91, Z:-2.20 [[ 9.99969594e-01 1.49821514e-03 -7.65287105e-03 1.56933686e+02] [-1.50305233e-03 9.99998674e-01 -6.26362546e-04 4.91231248e+00] [ 7.65192248e-03 6.37846167e-04 9.99970520e-01 -2.19946627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.075898227 meters 0.08074114704891011 Centerline is valid? [True, True] Translation: X:156.99, Y:4.91, Z:-2.20 [[ 9.99939201e-01 5.41747493e-03 -9.60439863e-03 1.56994748e+02] [-5.42527378e-03 9.99984974e-01 -7.86140618e-04 4.91198287e+00] [ 9.59999542e-03 8.38199314e-04 9.99953568e-01 -2.20139934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.135898227 meters 0.0964565831434675 Centerline is valid? [True, True] Translation: X:157.05, Y:4.93, Z:-2.20 [[ 9.99913700e-01 8.57432365e-03 -9.95359280e-03 1.57052210e+02] [-8.58285618e-03 9.99962835e-01 -8.14831029e-04 4.93474971e+00] [ 9.94623624e-03 9.00190965e-04 9.99950130e-01 -2.20245631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.19589822700001 meters 0.08803170172073 Centerline is valid? [True, True] Translation: X:157.11, Y:4.92, Z:-2.20 [[ 9.99927565e-01 7.52999722e-03 -9.38954346e-03 1.57112895e+02] [-7.53754631e-03 9.99971297e-01 -7.68860108e-04 4.92290225e+00] [ 9.38348444e-03 8.39578535e-04 9.99955622e-01 -2.20091066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.255898227 meters 0.09456400640147909 Centerline is valid? [True, True] Translation: X:157.17, Y:4.93, Z:-2.20 [[ 9.99942522e-01 5.07290971e-03 -9.44551720e-03 1.57172411e+02] [-5.08044166e-03 9.99986795e-01 -7.73585982e-04 4.92999283e+00] [ 9.44146814e-03 8.21528917e-04 9.99955091e-01 -2.20042588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.315898227 meters 0.09817644885820277 Centerline is valid? [True, True] Translation: X:157.23, Y:4.93, Z:-2.20 [[ 9.99956605e-01 4.38396099e-03 -8.22001234e-03 1.57230410e+02] [-4.38964301e-03 9.99990139e-01 -6.73327447e-04 4.93405609e+00] [ 8.21697944e-03 7.09381148e-04 9.99965988e-01 -2.19881198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.375898227 meters 0.08678579643901956 Centerline is valid? [True, True] Translation: X:157.29, Y:4.92, Z:-2.20 [[ 9.99938015e-01 7.31078056e-03 -8.39758103e-03 1.57291960e+02] [-7.31681555e-03 9.99972995e-01 -6.88159766e-04 4.91812094e+00] [ 8.39232327e-03 7.49560662e-04 9.99964503e-01 -2.19795387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.435898227 meters 0.10691284994430458 Centerline is valid? [True, False] Translation: X:157.31, Y:4.91, Z:-2.20 [[ 9.99946843e-01 7.05961896e-03 -7.51482666e-03 1.57312409e+02] [-6.99211936e-03 9.99935315e-01 8.97088275e-03 4.91418197e+00] [ 7.57767157e-03 -8.91786132e-03 9.99931523e-01 -2.19648874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.495898227 meters 0.09212029212859739 Centerline is valid? [False, True] Translation: X:157.31, Y:4.91, Z:-2.20 [[ 9.99968681e-01 2.67873448e-03 -7.44722464e-03 1.57312365e+02] [-2.64440092e-03 9.99985848e-01 4.61627932e-03 4.91420666e+00] [ 7.45948504e-03 -4.59644129e-03 9.99961614e-01 -2.19694023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.555898227 meters 0.093303838046967 Centerline is valid? [True, True] Translation: X:157.37, Y:4.92, Z:-2.20 [[ 9.99985052e-01 -4.15142350e-04 -5.45187676e-03 1.57372241e+02] [ 4.12483934e-04 9.99999795e-01 -4.88730267e-04 4.91676127e+00] [ 5.45207854e-03 4.86474150e-04 9.99985019e-01 -2.19661373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.615898227 meters 0.09038160386887534 Centerline is valid? [True, True] Translation: X:157.43, Y:4.91, Z:-2.20 [[ 9.99971314e-01 -5.30030214e-03 -5.41085084e-03 1.57431960e+02] [ 5.29775444e-03 9.99985849e-01 -4.85074598e-04 4.91341489e+00] [ 5.41334532e-03 4.56395324e-04 9.99985244e-01 -2.19756677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.675898227 meters 0.08639779074521967 Centerline is valid? [True, True] Translation: X:157.49, Y:4.91, Z:-2.20 [[ 9.99934024e-01 -1.01932733e-02 -5.29581174e-03 1.57493195e+02] [ 1.01909009e-02 9.99947959e-01 -4.74770555e-04 4.90826772e+00] [ 5.30037561e-03 4.20770139e-04 9.99985864e-01 -2.19799463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.735898227 meters 0.08419169803607028 Centerline is valid? [True, True] Translation: X:157.55, Y:4.91, Z:-2.20 [[ 9.99912724e-01 -1.21882811e-02 -5.09795974e-03 1.57554243e+02] [ 1.21861084e-02 9.99925642e-01 -4.57031817e-04 4.90772167e+00] [ 5.10315110e-03 3.94867640e-04 9.99986901e-01 -2.19700145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.795898227 meters 0.07137578706405362 Centerline is valid? [True, True] Translation: X:157.62, Y:4.89, Z:-2.20 [[ 9.99863852e-01 -1.50840768e-02 -6.68944015e-03 1.57616642e+02] [ 1.50804002e-02 9.99886104e-01 -5.99726278e-04 4.88565512e+00] [ 6.69772457e-03 4.98765192e-04 9.99977446e-01 -2.19904411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.855898227 meters 0.08601322364641602 Centerline is valid? [True, True] Translation: X:157.67, Y:4.90, Z:-2.20 [[ 9.99853938e-01 -1.54902541e-02 -7.22187754e-03 1.57673211e+02] [ 1.54859779e-02 9.99879875e-01 -6.47660883e-04 4.90064730e+00] [ 7.23104244e-03 5.35728448e-04 9.99973712e-01 -2.20034315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.915898227 meters 0.08807611513077715 Centerline is valid? [True, True] Translation: X:157.73, Y:4.90, Z:-2.20 [[ 9.99866966e-01 -1.50307440e-02 -6.33457798e-03 1.57732257e+02] [ 1.50274414e-02 9.99886920e-01 -5.68645813e-04 4.89851539e+00] [ 6.34240883e-03 4.73377664e-04 9.99979775e-01 -2.19828550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.975898227 meters 0.09184558395626431 Centerline is valid? [True, True] Translation: X:157.79, Y:4.89, Z:-2.19 [[ 9.99901488e-01 -1.36773469e-02 -3.15340410e-03 1.57792094e+02] [ 1.36765208e-02 9.99906432e-01 -2.83361162e-04 4.89498201e+00] [ 3.15698467e-03 2.40205650e-04 9.99994988e-01 -2.19247736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.035898227 meters 0.09541305753340656 Centerline is valid? [True, True] Translation: X:157.85, Y:4.90, Z:-2.19 [[ 9.99920859e-01 -1.21504087e-02 -3.26246329e-03 1.57852979e+02] [ 1.21495165e-02 9.99926149e-01 -2.93179012e-04 4.89529479e+00] [ 3.26578460e-03 2.53518458e-04 9.99994635e-01 -2.19200747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.095898227 meters 0.09873874237417778 Centerline is valid? [True, True] Translation: X:157.91, Y:4.90, Z:-2.19 [[ 9.99940250e-01 -1.00941751e-02 -4.19580620e-03 1.57913939e+02] [ 1.00926813e-02 9.99948997e-01 -3.77054124e-04 4.89605662e+00] [ 4.19939825e-03 3.34684660e-04 9.99991126e-01 -2.19267226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.155898227 meters 0.07841560060641249 Centerline is valid? [True, True] Translation: X:157.98, Y:4.87, Z:-2.19 [[ 9.99968254e-01 -7.25997389e-03 -3.28400882e-03 1.57977004e+02] [ 7.25904357e-03 9.99973609e-01 -2.95118373e-04 4.86535704e+00] [ 3.28606471e-03 2.71270241e-04 9.99994564e-01 -2.19045847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.215898227 meters 0.08224478191835949 Centerline is valid? [True, True] Translation: X:158.04, Y:4.87, Z:-2.19 [[ 9.99976976e-01 -5.64982586e-03 -3.75865844e-03 1.58035533e+02] [ 5.64859571e-03 9.99983989e-01 -3.37818444e-04 4.87040575e+00] [ 3.76050688e-03 3.16579524e-04 9.99992879e-01 -2.19105300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.275898227 meters 0.08129176443019386 Centerline is valid? [True, True] Translation: X:158.10, Y:4.87, Z:-2.19 [[ 9.99982441e-01 -3.37733758e-03 -4.86932576e-03 1.58095764e+02] [ 3.37524571e-03 9.99994208e-01 -4.37756028e-04 4.87041098e+00] [ 4.87077601e-03 4.21313171e-04 9.99988049e-01 -2.19246452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.335898227 meters 0.08624016140464359 Centerline is valid? [True, True] Translation: X:158.15, Y:4.88, Z:-2.19 [[ 9.99989758e-01 -2.26391862e-04 -4.52015816e-03 1.58154397e+02] [ 2.24557316e-04 9.99999892e-01 -4.06362183e-04 4.88119397e+00] [ 4.52024967e-03 4.05342986e-04 9.99989701e-01 -2.19304056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.395898227 meters 0.1008358495850361 Centerline is valid? [True, False] Translation: X:158.19, Y:4.89, Z:-2.19 [[ 9.99990821e-01 8.22499412e-04 -4.20492272e-03 1.58194858e+02] [-8.35059768e-04 9.99995193e-01 -2.98617740e-03 4.88501681e+00] [ 4.20244637e-03 2.98966135e-03 9.99986701e-01 -2.19196057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.455898227 meters 0.08785874584626202 Centerline is valid? [False, True] Translation: X:158.19, Y:4.88, Z:-2.19 [[ 9.99990656e-01 8.72665928e-04 -4.23383652e-03 1.58194932e+02] [-8.84816355e-04 9.99995493e-01 -2.86881472e-03 4.88448957e+00] [ 4.23131392e-03 2.87253408e-03 9.99986922e-01 -2.19193634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.515898227 meters 0.07816266288966345 Centerline is valid? [True, True] Translation: X:158.26, Y:4.88, Z:-2.19 [[ 9.99982212e-01 -3.26796564e-03 -4.98965644e-03 1.58256546e+02] [ 3.26585709e-03 9.99994574e-01 -4.30673218e-04 4.87654229e+00] [ 4.99103679e-03 4.14370052e-04 9.99987459e-01 -2.19349569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.575898227 meters 0.08236386577183995 Centerline is valid? [True, True] Translation: X:158.32, Y:4.88, Z:-2.19 [[ 9.99963887e-01 -7.50143106e-03 -3.99410756e-03 1.58315957e+02] [ 7.50011350e-03 9.99971814e-01 -3.44752465e-04 4.88242868e+00] [ 3.99658112e-03 3.14783755e-04 9.99991964e-01 -2.19400019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.635898227 meters 0.08366089139698912 Centerline is valid? [True, True] Translation: X:158.38, Y:4.89, Z:-2.19 [[ 9.99927826e-01 -1.16421611e-02 -2.96697486e-03 1.58375530e+02] [ 1.16414521e-02 9.99932203e-01 -2.56122603e-04 4.88765917e+00] [ 2.96975553e-03 2.21564222e-04 9.99995566e-01 -2.19111809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.69589822700001 meters 0.07247507299197281 Centerline is valid? [True, True] Translation: X:158.44, Y:4.87, Z:-2.19 [[ 9.99857794e-01 -1.58829480e-02 -5.66783662e-03 1.58437918e+02] [ 1.58804279e-02 9.99873778e-01 -4.89371130e-04 4.87049210e+00] [ 5.67489387e-03 3.99293868e-04 9.99983818e-01 -2.19247802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.755898227 meters 0.07024358041425785 Centerline is valid? [True, True] Translation: X:158.50, Y:4.87, Z:-2.19 [[ 9.99881166e-01 -1.43888615e-02 -5.53297287e-03 1.58498397e+02] [ 1.43864370e-02 9.99896396e-01 -4.77746107e-04 4.86956855e+00] [ 5.53927386e-03 3.98089569e-04 9.99984579e-01 -2.19191026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.815898227 meters 0.08106035841513012 Centerline is valid? [True, True] Translation: X:158.56, Y:4.89, Z:-2.19 [[ 9.99974464e-01 -5.55708891e-03 -4.49335134e-03 1.58556755e+02] [ 5.55540111e-03 9.99984493e-01 -3.88015379e-04 4.88637949e+00] [ 4.49543790e-03 3.63043102e-04 9.99989830e-01 -2.18711066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.875898227 meters 0.08521133768851355 Centerline is valid? [True, True] Translation: X:158.62, Y:4.90, Z:-2.19 [[ 9.99977929e-01 -1.12268194e-03 -6.54829809e-03 1.58616770e+02] [ 1.11900299e-03 9.99999214e-01 -5.65454623e-04 4.89819785e+00] [ 6.54892777e-03 5.58114578e-04 9.99978400e-01 -2.18886332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.935898227 meters 0.08701402233547363 Centerline is valid? [True, True] Translation: X:158.68, Y:4.91, Z:-2.19 [[ 9.99974865e-01 -1.76542462e-03 -6.86681957e-03 1.58675077e+02] [ 1.76139322e-03 9.99998273e-01 -5.93086443e-04 4.90624509e+00] [ 6.86785476e-03 5.80976366e-04 9.99976247e-01 -2.18964387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.995898227 meters 0.0825167369595923 Centerline is valid? [True, True] Translation: X:158.74, Y:4.90, Z:-2.19 [[ 9.99960825e-01 -7.90207563e-03 -3.98819583e-03 1.58736110e+02] [ 7.90076385e-03 9.99968729e-01 -3.44561440e-04 4.90367541e+00] [ 3.99079387e-03 3.13038148e-04 9.99991988e-01 -2.18505984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.055898227 meters 0.07304912152217587 Centerline is valid? [True, True] Translation: X:158.80, Y:4.89, Z:-2.18 [[ 9.99804386e-01 -1.96921630e-02 -1.84593313e-03 1.58797455e+02] [ 1.96919020e-02 9.99806083e-01 -1.59481273e-04 4.89259627e+00] [ 1.84871570e-03 1.23100142e-04 9.99998284e-01 -2.18209770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.115898227 meters 0.07021749805184271 Centerline is valid? [True, True] Translation: X:158.86, Y:4.89, Z:-2.18 [[ 9.99733484e-01 -2.30196294e-02 -1.74832332e-03 1.58857467e+02] [ 2.30194003e-02 9.99735007e-01 -1.51021588e-04 4.89051569e+00] [ 1.75133648e-03 1.10735984e-04 9.99998460e-01 -2.18164290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.175898227 meters 0.06807887125499353 Centerline is valid? [True, True] Translation: X:158.92, Y:4.89, Z:-2.18 [[ 9.99811864e-01 -1.92436297e-02 -2.43307528e-03 1.58918115e+02] [ 1.92431747e-02 9.99814811e-01 -2.10260017e-04 4.89071116e+00] [ 2.43667087e-03 1.63400367e-04 9.99997018e-01 -2.18331250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.235898227 meters 0.08181237588262984 Centerline is valid? [True, True] Translation: X:158.98, Y:4.91, Z:-2.18 [[ 9.99882647e-01 -1.51351282e-02 -2.37049574e-03 1.58975695e+02] [ 1.51346849e-02 9.99885443e-01 -2.04845031e-04 4.91254522e+00] [ 2.37332454e-03 1.68944286e-04 9.99997169e-01 -2.18311091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.295898227 meters 0.09023000845960953 Centerline is valid? [True, True] Translation: X:159.03, Y:4.92, Z:-2.18 [[ 9.99914591e-01 -1.30678533e-02 -2.03505565e-04 1.59034087e+02] [ 1.30678500e-02 9.99914612e-01 -1.75912680e-05 4.92313992e+00] [ 2.03718068e-04 1.49303853e-05 9.99999979e-01 -2.17975538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.355898227 meters 0.08627347795711879 Centerline is valid? [True, True] Translation: X:159.09, Y:4.93, Z:-2.18 [[ 9.99894978e-01 -1.44721362e-02 -7.67637568e-04 1.59093174e+02] [ 1.44720896e-02 9.99895272e-01 -6.62714206e-05 4.92742210e+00] [ 7.68516264e-04 5.51551411e-05 9.99999703e-01 -2.18107785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.415898227 meters 0.06578839130582645 Centerline is valid? [True, True] Translation: X:159.16, Y:4.90, Z:-2.18 [[ 9.99841083e-01 -1.77492669e-02 -1.66485686e-03 1.59155273e+02] [ 1.77490518e-02 9.99842463e-01 -1.43867001e-04 4.90277134e+00] [ 1.66714812e-03 1.14294507e-04 9.99998604e-01 -2.18295034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.475898227 meters 0.06084803669235355 Centerline is valid? [True, True] Translation: X:159.22, Y:4.90, Z:-2.18 [[ 9.99765513e-01 -2.14232261e-02 -3.15650609e-03 1.59216227e+02] [ 2.14224709e-02 9.99770475e-01 -2.72877625e-04 4.89751117e+00] [ 3.16162752e-03 2.05193479e-04 9.99994981e-01 -2.18306469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.535898227 meters 0.06422536101237675 Centerline is valid? [True, True] Translation: X:159.28, Y:4.90, Z:-2.19 [[ 9.99696537e-01 -2.39968248e-02 -5.56658381e-03 1.59275819e+02] [ 2.39945146e-02 9.99711974e-01 -4.81428227e-04 4.90136985e+00] [ 5.57653324e-03 3.47714655e-04 9.99984391e-01 -2.18568239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.595898227 meters 0.06535078913245723 Centerline is valid? [True, True] Translation: X:159.33, Y:4.91, Z:-2.18 [[ 9.99713843e-01 -2.32908041e-02 -5.45624876e-03 1.59334238e+02] [ 2.32885726e-02 9.99728673e-01 -4.72173404e-04 4.90676208e+00] [ 5.46576563e-03 3.44970043e-04 9.99985003e-01 -2.18463978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.655898227 meters 0.06748711863915348 Centerline is valid? [True, True] Translation: X:159.39, Y:4.92, Z:-2.18 [[ 9.99792501e-01 -1.96855507e-02 -5.23767601e-03 1.59394166e+02] [ 1.96834420e-02 9.99806159e-01 -4.53850848e-04 4.91516209e+00] [ 5.24559504e-03 3.50661183e-04 9.99986180e-01 -2.18495146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.715898227 meters 0.07396612225423461 Centerline is valid? [True, True] Translation: X:159.45, Y:4.93, Z:-2.19 [[ 9.99864795e-01 -1.51693378e-02 -6.34689724e-03 1.59452334e+02] [ 1.51661505e-02 9.99884836e-01 -5.50003399e-04 4.92914061e+00] [ 6.35450949e-03 4.53671037e-04 9.99979707e-01 -2.18729718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.775898227 meters 0.06802004533234235 Centerline is valid? [True, True] Translation: X:159.51, Y:4.93, Z:-2.19 [[ 9.99858287e-01 -1.54570737e-02 -6.66972459e-03 1.59511505e+02] [ 1.54535570e-02 9.99880419e-01 -5.78483924e-04 4.92683794e+00] [ 6.67786869e-03 4.75330976e-04 9.99977590e-01 -2.18776555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.835898227 meters 0.06942606887993007 Centerline is valid? [True, True] Translation: X:159.57, Y:4.93, Z:-2.19 [[ 9.99850172e-01 -1.64679739e-02 -5.33276730e-03 1.59569417e+02] [ 1.64657370e-02 9.99864323e-01 -4.63096682e-04 4.93415131e+00] [ 5.33967003e-03 3.75219353e-04 9.99985673e-01 -2.18558359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.895898227 meters 0.06410091258538769 Centerline is valid? [True, True] Translation: X:159.63, Y:4.93, Z:-2.18 [[ 9.99845196e-01 -1.73004510e-02 -3.20593559e-03 1.59628926e+02] [ 1.72996466e-02 9.99850311e-01 -2.78475412e-04 4.93146462e+00] [ 3.21027345e-03 2.22970750e-04 9.99994822e-01 -2.18299191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.955898227 meters 0.06395079575883676 Centerline is valid? [True, True] Translation: X:159.69, Y:4.93, Z:-2.18 [[ 9.99831292e-01 -1.81048062e-02 -3.09911267e-03 1.59687884e+02] [ 1.81040579e-02 9.99836072e-01 -2.69334982e-04 4.93403535e+00] [ 3.10348089e-03 2.13183028e-04 9.99995161e-01 -2.18216615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.015898227 meters 0.07093284054982896 Centerline is valid? [True, True] Translation: X:159.75, Y:4.95, Z:-2.18 [[ 9.99817068e-01 -1.87353538e-02 -3.84937790e-03 1.59745396e+02] [ 1.87342032e-02 9.99824443e-01 -3.34748167e-04 4.94529198e+00] [ 3.85497374e-03 2.62571903e-04 9.99992535e-01 -2.18222852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.075898227 meters 0.06736318729525062 Centerline is valid? [True, True] Translation: X:159.81, Y:4.94, Z:-2.18 [[ 9.99789096e-01 -2.03630975e-02 -2.66611175e-03 1.59806090e+02] [ 2.03625502e-02 9.99792635e-01 -2.32277306e-04 4.94460606e+00] [ 2.67028878e-03 1.77939484e-04 9.99996419e-01 -2.17976702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.135898227 meters 0.06037399978815903 Centerline is valid? [True, True] Translation: X:159.87, Y:4.94, Z:-2.18 [[ 9.99716051e-01 -2.36604503e-02 -2.82862726e-03 1.59866892e+02] [ 2.36598472e-02 9.99720036e-01 -2.46481061e-04 4.93894269e+00] [ 2.83366720e-03 1.79486184e-04 9.99995969e-01 -2.17955605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.19589822700001 meters 0.0583336384336227 Centerline is valid? [True, True] Translation: X:159.93, Y:4.94, Z:-2.18 [[ 9.99552486e-01 -2.97639759e-02 -2.98901507e-03 1.59927045e+02] [ 2.97633297e-02 9.99556940e-01 -2.60450954e-04 4.93644635e+00] [ 2.99544282e-03 1.71371358e-04 9.99995499e-01 -2.17973698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.255898227 meters 0.04308721787706277 Centerline is valid? [True, True] Translation: X:159.99, Y:4.91, Z:-2.18 [[ 9.99140008e-01 -4.12106487e-02 -4.57462906e-03 1.59989503e+02] [ 4.12092543e-02 9.99150458e-01 -3.98700620e-04 4.91116723e+00] [ 4.58717343e-03 2.09840689e-04 9.99989457e-01 -2.18194274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.315898227 meters 0.038988131632932785 Centerline is valid? [True, True] Translation: X:160.05, Y:4.90, Z:-2.18 [[ 9.98906532e-01 -4.63267440e-02 -6.29069445e-03 1.60051187e+02] [ 4.63242082e-02 9.98926307e-01 -5.48297900e-04 4.90364876e+00] [ 6.30934103e-03 2.56286914e-04 9.99980063e-01 -2.18302978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.375898227 meters 0.04139723909404693 Centerline is valid? [True, True] Translation: X:160.11, Y:4.91, Z:-2.18 [[ 9.98851414e-01 -4.74649300e-02 -6.55231162e-03 1.60109101e+02] [ 4.74622020e-02 9.98872871e-01 -5.71299957e-04 4.90519048e+00] [ 6.57204304e-03 2.59656632e-04 9.99978370e-01 -2.18459672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.435898227 meters 0.05045093876269742 Centerline is valid? [True, True] Translation: X:160.17, Y:4.91, Z:-2.18 [[ 9.99003268e-01 -4.41605385e-02 -6.50510648e-03 1.60167698e+02] [ 4.41577780e-02 9.99024408e-01 -5.67440943e-04 4.90990153e+00] [ 6.52381865e-03 2.79624309e-04 9.99978681e-01 -2.18446151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.495898227 meters 0.04629443147126452 Centerline is valid? [True, True] Translation: X:160.23, Y:4.90, Z:-2.18 [[ 9.99091785e-01 -4.22265363e-02 -5.70304991e-03 1.60228265e+02] [ 4.22243827e-02 9.99108029e-01 -4.97554830e-04 4.90182116e+00] [ 5.71897298e-03 2.56295181e-04 9.99983614e-01 -2.18237949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.555898227 meters 0.04742621747058764 Centerline is valid? [True, True] Translation: X:160.29, Y:4.90, Z:-2.18 [[ 9.99118010e-01 -4.18879740e-02 -2.93265666e-03 1.60287063e+02] [ 4.18874035e-02 9.99122305e-01 -2.55739195e-04 4.90074588e+00] [ 2.94079508e-03 1.32672263e-04 9.99995667e-01 -2.17829843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.615898227 meters 0.04328251169462736 Centerline is valid? [True, True] Translation: X:160.35, Y:4.89, Z:-2.18 [[ 9.99039516e-01 -4.37320706e-02 -2.74799543e-03 1.60348395e+02] [ 4.37315751e-02 9.99043288e-01 -2.40181277e-04 4.88806222e+00] [ 2.75587001e-03 1.19776418e-04 9.99996195e-01 -2.17564518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.675898227 meters 0.04781394370323989 Centerline is valid? [True, True] Translation: X:160.41, Y:4.89, Z:-2.18 [[ 9.99006863e-01 -4.44404382e-02 -3.21480079e-03 1.60406327e+02] [ 4.44397633e-02 9.99012026e-01 -2.81088231e-04 4.89157049e+00] [ 3.22411633e-03 1.37944086e-04 9.99994793e-01 -2.17628512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.735898227 meters 0.04293783140632966 Centerline is valid? [True, True] Translation: X:160.47, Y:4.88, Z:-2.17 [[ 9.98947244e-01 -4.58162686e-02 -2.29620794e-03 1.60466744e+02] [ 4.58159278e-02 9.98949879e-01 -2.00804854e-04 4.88265831e+00] [ 2.30299677e-03 9.53905590e-05 9.99997344e-01 -2.17451483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.795898227 meters 0.04458861981810725 Centerline is valid? [True, True] Translation: X:160.53, Y:4.88, Z:-2.17 [[ 9.98816906e-01 -4.86287226e-02 -1.87860479e-04 1.60525401e+02] [ 4.86287203e-02 9.98816924e-01 -1.63727608e-05 4.88390060e+00] [ 1.88434413e-04 7.21797557e-06 9.99999982e-01 -2.17183182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.855898227 meters 0.036104525144366746 Centerline is valid? [True, True] Translation: X:160.59, Y:4.87, Z:-2.18 [[ 9.98554425e-01 -5.37369328e-02 -1.18380946e-03 1.60587110e+02] [ 5.37368476e-02 9.98555126e-01 -1.03694674e-04 4.87123397e+00] [ 1.18767123e-03 3.99305873e-05 9.99999294e-01 -2.17634182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.915898227 meters 0.03169705044345162 Centerline is valid? [True, True] Translation: X:160.65, Y:4.87, Z:-2.18 [[ 9.98410933e-01 -5.63000553e-02 -2.43157430e-03 1.60647307e+02] [ 5.62997034e-02 9.98413891e-01 -2.12985913e-04 4.86562657e+00] [ 2.43970868e-03 7.57505521e-05 9.99997021e-01 -2.17805869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.975898227 meters 0.02953660944345944 Centerline is valid? [True, True] Translation: X:160.71, Y:4.87, Z:-2.18 [[ 9.98315671e-01 -5.79798305e-02 -2.03986319e-03 1.60706210e+02] [ 5.79795868e-02 9.98317753e-01 -1.78438792e-04 4.86944552e+00] [ 2.04677749e-03 5.98678175e-05 9.99997904e-01 -2.17770223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.035898227 meters 0.029582133876004522 Centerline is valid? [True, True] Translation: X:160.76, Y:4.87, Z:-2.18 [[ 9.98304249e-01 -5.82102808e-02 -4.36581385e-04 1.60763601e+02] [ 5.82102699e-02 9.98304344e-01 -3.76680504e-05 4.87417781e+00] [ 4.38033761e-04 1.21906545e-05 9.99999904e-01 -2.17519753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.095898227 meters 0.03281203684783519 Centerline is valid? [True, True] Translation: X:160.82, Y:4.88, Z:-2.17 [[ 9.98455012e-01 -5.55623004e-02 -6.47208268e-04 1.60821621e+02] [ 5.55622753e-02 9.98455222e-01 -5.68270467e-05 4.88297688e+00] [ 6.49365916e-04 2.07788857e-05 9.99999789e-01 -2.17468617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.155898227 meters 0.035701515245664936 Centerline is valid? [True, True] Translation: X:160.88, Y:4.89, Z:-2.17 [[ 9.98734854e-01 -5.02860836e-02 -2.70778910e-05 1.60881293e+02] [ 5.02860835e-02 9.98734855e-01 -2.36933849e-06 4.89380985e+00] [ 2.71627783e-05 1.00469984e-06 1.00000000e+00 -2.17198377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.215898227 meters 0.04075559191831983 Centerline is valid? [True, True] Translation: X:160.94, Y:4.91, Z:-2.17 [[ 9.98881032e-01 -4.72856718e-02 -8.65108991e-04 1.60939252e+02] [ 4.72856236e-02 9.98881406e-01 -7.61253170e-05 4.90717417e+00] [ 8.67740922e-04 3.51329172e-05 9.99999623e-01 -2.17307631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.275898227 meters 0.04463675947149325 Centerline is valid? [True, True] Translation: X:161.00, Y:4.92, Z:-2.17 [[ 9.99072028e-01 -4.30622792e-02 -8.50669515e-04 1.60998803e+02] [ 4.30622310e-02 9.99072389e-01 -7.48717271e-05 4.91579732e+00] [ 8.53104572e-04 3.81705211e-05 9.99999635e-01 -2.17247720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.335898227 meters 0.04410052221637599 Centerline is valid? [True, True] Translation: X:161.06, Y:4.92, Z:-2.17 [[ 9.99181799e-01 -4.04441704e-02 4.53227642e-05 1.61058828e+02] [ 4.04441703e-02 9.99181800e-01 4.03670421e-06 4.92078247e+00] [-4.54489423e-05 -2.20035978e-06 9.99999999e-01 -2.17250255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.395898227 meters 0.047344563604603485 Centerline is valid? [True, True] Translation: X:161.12, Y:4.93, Z:-2.17 [[ 9.99305512e-01 -3.72345355e-02 1.44302798e-03 1.61118511e+02] [ 3.72343907e-02 9.99306552e-01 1.27078740e-04 4.92755372e+00] [-1.44675903e-03 -7.32602180e-05 9.99998951e-01 -2.17028356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.455898227 meters 0.04678277979716918 Centerline is valid? [True, True] Translation: X:161.18, Y:4.93, Z:-2.17 [[ 9.99372723e-01 -3.53917164e-02 1.25969148e-03 1.61178566e+02] [ 3.53916045e-02 9.99373515e-01 1.11035475e-04 4.92900828e+00] [-1.26283204e-03 -6.63833221e-05 9.99999200e-01 -2.17169222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.515898227 meters 0.05507013839718931 Centerline is valid? [True, True] Translation: X:161.24, Y:4.93, Z:-2.17 [[ 9.99367190e-01 -3.55476345e-02 1.25869536e-03 1.61235917e+02] [ 3.55475217e-02 9.99367981e-01 1.11834050e-04 4.93462705e+00] [-1.26187528e-03 -6.70197790e-05 9.99999202e-01 -2.17202982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.575898227 meters 0.05245347829912743 Centerline is valid? [True, True] Translation: X:161.29, Y:4.94, Z:-2.17 [[ 9.99379642e-01 -3.51363346e-02 2.40202083e-03 1.61293355e+02] [ 3.51359254e-02 9.99382520e-01 2.12367283e-04 4.94271029e+00] [-2.40799944e-03 -1.27838315e-04 9.99997093e-01 -2.16965213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.635898227 meters 0.05400395690136648 Centerline is valid? [True, True] Translation: X:161.35, Y:4.95, Z:-2.17 [[ 9.99412122e-01 -3.41442539e-02 3.09525584e-03 1.61352674e+02] [ 3.41435700e-02 9.99416901e-01 2.73520236e-04 4.94966749e+00] [-3.10279014e-03 -1.67676355e-04 9.99995172e-01 -2.16810917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.69589822700001 meters 0.0531895934562556 Centerline is valid? [True, True] Translation: X:161.41, Y:4.96, Z:-2.17 [[ 9.99441442e-01 -3.33626738e-02 1.93272256e-03 1.61411288e+02] [ 3.33624040e-02 9.99443305e-01 1.71676486e-04 4.95764670e+00] [-1.93737421e-03 -1.07100324e-04 9.99998118e-01 -2.17059042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.755898227 meters 0.05477580403377774 Centerline is valid? [True, True] Translation: X:161.47, Y:4.97, Z:-2.17 [[ 9.99437480e-01 -3.34312210e-02 2.66009498e-03 1.61468892e+02] [ 3.34307109e-02 9.99441010e-01 2.35977446e-04 4.96815935e+00] [-2.66649703e-03 -1.46915837e-04 9.99996434e-01 -2.16843264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.815898227 meters 0.04977473175254516 Centerline is valid? [True, True] Translation: X:161.53, Y:4.97, Z:-2.17 [[ 9.99345361e-01 -3.61219207e-02 2.01394348e-03 1.61529232e+02] [ 3.61216342e-02 9.99347385e-01 1.78446661e-04 4.97076084e+00] [-2.01907499e-03 -1.05582913e-04 9.99997956e-01 -2.16979754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.875898227 meters 0.0513099775616005 Centerline is valid? [True, True] Translation: X:161.59, Y:4.98, Z:-2.17 [[ 9.99063878e-01 -4.32550363e-02 6.07986093e-04 1.61587328e+02] [ 4.32550115e-02 9.99064063e-01 5.39262367e-05 4.98425130e+00] [-6.09749637e-04 -2.75773097e-05 9.99999814e-01 -2.17286700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.935898227 meters 0.04902188668831505 Centerline is valid? [True, True] Translation: X:161.65, Y:4.98, Z:-2.17 [[ 9.98813709e-01 -4.86168415e-02 2.75254423e-03 1.61647928e+02] [ 4.86163533e-02 9.98817496e-01 2.44055609e-04 4.98305371e+00] [-2.76115454e-03 -1.09947426e-04 9.99996182e-01 -2.16934250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.995898227 meters 0.03998583999130312 Centerline is valid? [True, True] Translation: X:161.71, Y:4.99, Z:-2.16 [[ 9.98582588e-01 -5.29403653e-02 5.48927935e-03 1.61707028e+02] [ 5.29384886e-02 9.98597656e-01 4.86716897e-04 4.98936225e+00] [-5.50734846e-03 -1.95432867e-04 9.99984815e-01 -2.16469963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.055898227 meters 0.03154128461429334 Centerline is valid? [True, True] Translation: X:161.77, Y:4.99, Z:-2.17 [[ 9.98312302e-01 -5.77625622e-02 6.00288268e-03 1.61767597e+02] [ 5.77604052e-02 9.98330332e-01 5.32226361e-04 4.99334331e+00] [-6.02360262e-03 -1.84599187e-04 9.99981841e-01 -2.16538573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.115898227 meters 0.0331380988463347 Centerline is valid? [True, True] Translation: X:161.83, Y:5.00, Z:-2.16 [[ 9.98091636e-01 -6.13294475e-02 7.19620277e-03 1.61825970e+02] [ 6.13264386e-02 9.98117558e-01 6.38254767e-04 5.00304402e+00] [-7.22180015e-03 -1.95719257e-04 9.99973903e-01 -2.16168512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.175898227 meters 0.026851879754686815 Centerline is valid? [True, True] Translation: X:161.88, Y:5.01, Z:-2.16 [[ 9.97870103e-01 -6.47354557e-02 8.03606908e-03 1.61884866e+02] [ 6.47318100e-02 9.97902442e-01 7.13208238e-04 5.00712738e+00] [-8.06538282e-03 -1.91499881e-04 9.99967456e-01 -2.16067393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.235898227 meters 0.019367704251679763 Centerline is valid? [True, True] Translation: X:161.94, Y:5.01, Z:-2.16 [[ 9.97278826e-01 -7.33882099e-02 7.00815849e-03 1.61943933e+02] [ 7.33856506e-02 9.97303444e-01 6.21995794e-04 5.01157960e+00] [-7.03490775e-03 -1.06004965e-04 9.99975249e-01 -2.16251247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.295898227 meters 0.012848984934777947 Centerline is valid? [True, True] Translation: X:162.00, Y:5.01, Z:-2.16 [[ 9.96642891e-01 -8.15885917e-02 6.80072587e-03 1.62004661e+02] [ 8.15863719e-02 9.96666092e-01 6.03652382e-04 5.00819895e+00] [-6.82730403e-03 -4.67793049e-05 9.99976693e-01 -2.16497979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.355898227 meters 0.011235250655276774 Centerline is valid? [True, True] Translation: X:162.06, Y:5.00, Z:-2.16 [[ 9.95965610e-01 -8.94278905e-02 7.42678195e-03 1.62062743e+02] [ 8.94254563e-02 9.95993299e-01 6.59852999e-04 5.00348889e+00] [-7.45603432e-03 6.95247096e-06 9.99972203e-01 -2.16280966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.415898227 meters 0.011968257153195773 Centerline is valid? [True, True] Translation: X:162.12, Y:5.01, Z:-2.16 [[ 9.95571389e-01 -9.36249919e-02 8.48354565e-03 1.62121361e+02] [ 9.36219526e-02 9.95607533e-01 7.55551726e-04 5.00654465e+00] [-8.51702048e-03 4.20404279e-05 9.99963729e-01 -2.16285981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.475898227 meters 0.01191651802136639 Centerline is valid? [True, True] Translation: X:162.18, Y:5.02, Z:-2.16 [[ 9.95735943e-01 -9.17425178e-02 9.65622240e-03 1.62178692e+02] [ 9.17384911e-02 9.95782762e-01 8.60044178e-04 5.01861961e+00] [-9.69440243e-03 2.94703726e-05 9.99953008e-01 -2.16086448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.535898227 meters 0.012038604819357665 Centerline is valid? [True, True] Translation: X:162.24, Y:5.03, Z:-2.16 [[ 9.95902487e-01 -8.98155021e-02 1.05552202e-02 1.62235852e+02] [ 8.98105764e-02 9.95958421e-01 9.40695441e-04 5.03346111e+00] [-1.05970495e-02 1.11294813e-05 9.99943850e-01 -2.15964351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.595898227 meters 0.02441727548741351 Centerline is valid? [True, True] Translation: X:162.29, Y:5.05, Z:-2.16 [[ 9.95801029e-01 -9.09343621e-02 1.05475820e-02 1.62292895e+02] [ 9.09294794e-02 9.95856888e-01 9.42555335e-04 5.05055585e+00] [-1.05895929e-02 2.04885672e-05 9.99943928e-01 -2.16095701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.655898227 meters 0.02744268259312036 Centerline is valid? [True, True] Translation: X:162.35, Y:5.06, Z:-2.16 [[ 9.95524229e-01 -9.39917424e-02 9.85203479e-03 1.62349932e+02] [ 9.39876131e-02 9.95572976e-01 8.82327577e-04 5.06033243e+00] [-9.89135110e-03 4.75907537e-05 9.99951078e-01 -2.16180329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.715898227 meters 0.013910908662955473 Centerline is valid? [True, True] Translation: X:162.41, Y:5.07, Z:-2.17 [[ 9.95150051e-01 -9.79341962e-02 9.23412485e-03 1.62408243e+02] [ 9.79307241e-02 9.95192889e-01 8.28510836e-04 5.07440702e+00] [-9.27087493e-03 7.98119318e-05 9.99957021e-01 -2.16588435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.775898227 meters 0.015231835287461831 Centerline is valid? [True, True] Translation: X:162.47, Y:5.08, Z:-2.17 [[ 9.94970294e-01 -9.98606770e-02 7.87140696e-03 1.62465038e+02] [ 9.98582066e-02 9.95001426e-01 7.07222909e-04 5.08405195e+00] [-7.90268491e-03 8.23587963e-05 9.99968770e-01 -2.16732354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.835898227 meters 0.01589922343317911 Centerline is valid? [True, True] Translation: X:162.52, Y:5.10, Z:-2.17 [[ 9.94830714e-01 -1.01286071e-01 7.27885351e-03 1.62523340e+02] [ 1.01283987e-01 9.94857339e-01 6.55385183e-04 5.09573287e+00] [-7.30780222e-03 8.52339921e-05 9.99973294e-01 -2.16996411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.895898227 meters 0.014310852488433211 Centerline is valid? [True, True] Translation: X:162.58, Y:5.11, Z:-2.17 [[ 9.95025435e-01 -9.94565458e-02 5.72535575e-03 1.62580816e+02] [ 9.94552195e-02 9.95041905e-01 5.16616737e-04 5.11156905e+00] [-5.74834981e-03 5.53697196e-05 9.99983477e-01 -2.17336111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.955898227 meters 0.011534776504646587 Centerline is valid? [True, True] Translation: X:162.64, Y:5.13, Z:-2.17 [[ 9.95537783e-01 -9.41873602e-02 5.76751980e-03 1.62638755e+02] [ 9.41859207e-02 9.95554489e-01 5.21291208e-04 5.12970156e+00] [-5.79097927e-03 2.42540690e-05 9.99983232e-01 -2.17362692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.015898227 meters 0.017645964982877023 Centerline is valid? [True, True] Translation: X:162.70, Y:5.15, Z:-2.17 [[ 9.96305053e-01 -8.56722391e-02 6.04217805e-03 1.62695159e+02] [ 8.56704949e-02 9.96323375e-01 5.47387272e-04 5.15293172e+00] [-6.06685912e-03 -2.77283216e-05 9.99981596e-01 -2.17148944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.075898227 meters 0.023170782182317166 Centerline is valid? [True, True] Translation: X:162.75, Y:5.19, Z:-2.17 [[ 9.97397811e-01 -7.17715742e-02 6.81521552e-03 1.62751591e+02] [ 7.17690347e-02 9.97421087e-01 6.16773948e-04 5.19001037e+00] [-6.84190651e-03 -1.26047547e-04 9.99976586e-01 -2.16999773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.135898227 meters 0.03057815471631618 Centerline is valid? [True, True] Translation: X:162.81, Y:5.22, Z:-2.17 [[ 9.97937511e-01 -6.37127803e-02 7.83616603e-03 1.62809784e+02] [ 6.37091750e-02 9.97968255e-01 7.09102663e-04 5.21562168e+00] [-7.86542384e-03 -2.08404474e-04 9.99969045e-01 -2.16964162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.19589822700001 meters 0.03489795070812173 Centerline is valid? [True, True] Translation: X:162.87, Y:5.24, Z:-2.17 [[ 9.98229508e-01 -5.88412549e-02 8.69231767e-03 1.62868052e+02] [ 5.88366325e-02 9.98267315e-01 7.86771049e-04 5.23596205e+00] [-8.72355121e-03 -2.73951377e-04 9.99961912e-01 -2.16861560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.255898227 meters 0.03325744855800345 Centerline is valid? [True, True] Translation: X:162.93, Y:5.25, Z:-2.17 [[ 9.98146998e-01 -5.99973604e-02 1.01433493e-02 1.62925777e+02] [ 5.99911027e-02 9.98198488e-01 9.20337927e-04 5.25313216e+00] [-1.01802937e-02 -3.10121832e-04 9.99948131e-01 -2.16832358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.315898227 meters 0.029500705952907196 Centerline is valid? [True, True] Translation: X:162.99, Y:5.26, Z:-2.17 [[ 9.97883657e-01 -6.39671929e-02 1.16792617e-02 1.62985404e+02] [ 6.39591748e-02 9.97951954e-01 1.05913397e-03 5.26030668e+00] [-1.17230918e-02 -3.09896537e-04 9.99931234e-01 -2.16731147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.375898227 meters 0.026504616930915794 Centerline is valid? [True, True] Translation: X:163.04, Y:5.27, Z:-2.17 [[ 9.97678042e-01 -6.73726104e-02 9.97279904e-03 1.63044728e+02] [ 6.73669306e-02 9.97727858e-01 9.04747307e-04 5.27078795e+00] [-1.00110946e-02 -2.30809661e-04 9.99949861e-01 -2.17131644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.435898227 meters 0.025546851832498753 Centerline is valid? [True, True] Translation: X:163.10, Y:5.28, Z:-2.17 [[ 9.97615156e-01 -6.83348362e-02 9.71340056e-03 1.63103574e+02] [ 6.83294727e-02 9.97662419e-01 8.83356760e-04 5.27774668e+00] [-9.75105874e-03 -2.17538554e-04 9.99952434e-01 -2.17217101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.495898227 meters 0.02555253274391774 Centerline is valid? [True, True] Translation: X:163.16, Y:5.29, Z:-2.17 [[ 9.97586058e-01 -6.88722875e-02 8.86936424e-03 1.63160409e+02] [ 6.88678356e-02 9.97625466e-01 8.06749831e-04 5.28794551e+00] [-8.90386633e-03 -1.93988465e-04 9.99960341e-01 -2.17353453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.555898227 meters 0.035968535623803075 Centerline is valid? [True, True] Translation: X:163.22, Y:5.30, Z:-2.18 [[ 9.97759423e-01 -6.66411591e-02 5.92366476e-03 1.63218062e+02] [ 6.66391251e-02 9.97776997e-01 5.40313030e-04 5.30003651e+00] [-5.94650352e-03 -1.44354580e-04 9.99982309e-01 -2.17859486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.615898227 meters 0.03206135012649764 Centerline is valid? [True, True] Translation: X:163.27, Y:5.32, Z:-2.18 [[ 9.97964879e-01 -6.34956593e-02 5.86525763e-03 1.63274763e+02] [ 6.34936115e-02 9.97982102e-01 5.34870714e-04 5.31683334e+00] [-5.88738411e-03 -1.61375798e-04 9.99982656e-01 -2.17868664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.675898227 meters 0.03362158430416905 Centerline is valid? [True, True] Translation: X:163.33, Y:5.33, Z:-2.18 [[ 9.98061197e-01 -6.19248971e-02 6.25729625e-03 1.63332792e+02] [ 6.19225269e-02 9.98080795e-01 5.72011745e-04 5.32707922e+00] [-6.28070898e-03 -1.83435132e-04 9.99980259e-01 -2.18000791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.735898227 meters 0.035637072766015444 Centerline is valid? [True, True] Translation: X:163.39, Y:5.33, Z:-2.18 [[ 9.98132463e-01 -6.08729388e-02 5.10598211e-03 1.63390655e+02] [ 6.08713468e-02 9.98145511e-01 4.66758960e-04 5.33346941e+00] [-5.12492611e-03 -1.55079263e-04 9.99986855e-01 -2.18248417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.795898227 meters 0.032975080794675544 Centerline is valid? [True, True] Translation: X:163.45, Y:5.33, Z:-2.18 [[ 9.98177206e-01 -6.01892680e-02 4.41780675e-03 1.63449279e+02] [ 6.01880683e-02 9.98186973e-01 4.04148226e-04 5.33290727e+00] [-4.43412254e-03 -1.37512293e-04 9.99990160e-01 -2.18484876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.855898227 meters 0.03553934943155413 Centerline is valid? [True, True] Translation: X:163.51, Y:5.34, Z:-2.18 [[ 9.98291974e-01 -5.82416128e-02 4.58784659e-03 1.63508005e+02] [ 5.82402981e-02 9.98302505e-01 4.19759856e-04 5.33991419e+00] [-4.60450623e-03 -1.51845343e-04 9.99989388e-01 -2.18428569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.915898227 meters 0.0408825707389211 Centerline is valid? [True, True] Translation: X:163.57, Y:5.35, Z:-2.19 [[ 9.98645954e-01 -5.18315004e-02 4.44464305e-03 1.63567168e+02] [ 5.18302035e-02 9.98655829e-01 4.06554238e-04 5.35146227e+00] [-4.45974100e-03 -1.75636991e-04 9.99990040e-01 -2.18555752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.975898227 meters 0.0471988334657277 Centerline is valid? [True, True] Translation: X:163.63, Y:5.37, Z:-2.19 [[ 9.98855162e-01 -4.77522051e-02 2.84454629e-03 1.63625683e+02] [ 4.77516570e-02 9.98859205e-01 2.60316617e-04 5.36565744e+00] [-2.85373194e-03 -1.24186798e-04 9.99995920e-01 -2.18885510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.035898227 meters 0.0529898671931593 Centerline is valid? [True, True] Translation: X:163.68, Y:5.37, Z:-2.19 [[ 9.98946567e-01 -4.58825837e-02 7.37632559e-04 1.63684751e+02] [ 4.58825462e-02 9.98946839e-01 6.76512766e-05 5.36928646e+00] [-7.39959729e-04 -3.37355506e-05 9.99999726e-01 -2.19270025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.095898227 meters 0.05410861669914884 Centerline is valid? [True, True] Translation: X:163.74, Y:5.38, Z:-2.19 [[ 9.98863707e-01 -4.76433172e-02 1.18688781e-03 1.63741672e+02] [ 4.76432214e-02 9.98864411e-01 1.08928094e-04 5.38398416e+00] [-1.19072969e-03 -5.22571613e-05 9.99999290e-01 -2.19095182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.155898227 meters 0.04178230358692872 Centerline is valid? [True, True] Translation: X:163.80, Y:5.39, Z:-2.19 [[ 9.98721393e-01 -5.04302584e-02 3.51692483e-03 1.63801798e+02] [ 5.04294360e-02 9.98727575e-01 3.22171244e-04 5.38536207e+00] [-3.52869699e-03 -1.44402778e-04 9.99993764e-01 -2.18872375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.215898227 meters 0.04123038908174102 Centerline is valid? [True, True] Translation: X:163.86, Y:5.39, Z:-2.19 [[ 9.98562984e-01 -5.33845028e-02 4.69701394e-03 1.63860463e+02] [ 5.33830679e-02 9.98574015e-01 4.30412940e-04 5.39354692e+00] [-4.71329345e-03 -1.79053415e-04 9.99988876e-01 -2.18764145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.275898227 meters 0.04302515193775923 Centerline is valid? [True, True] Translation: X:163.92, Y:5.40, Z:-2.19 [[ 9.98400331e-01 -5.64048584e-02 3.90783877e-03 1.63919170e+02] [ 5.64038879e-02 9.98407969e-01 3.58198442e-04 5.40442790e+00] [-3.92182150e-03 -1.37208144e-04 9.99992300e-01 -2.18888701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.335898227 meters 0.04038365453019567 Centerline is valid? [True, True] Translation: X:163.98, Y:5.41, Z:-2.19 [[ 9.98385854e-01 -5.66839526e-02 3.55193672e-03 1.63977091e+02] [ 5.66831481e-02 9.98392164e-01 3.26834478e-04 5.40910982e+00] [-3.56475206e-03 -1.24971964e-04 9.99993638e-01 -2.18904112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.395898227 meters 0.039834596835560024 Centerline is valid? [True, True] Translation: X:164.04, Y:5.42, Z:-2.19 [[ 9.98503652e-01 -5.46420247e-02 2.16957328e-03 1.64035851e+02] [ 5.46417202e-02 9.98506005e-01 1.99414583e-04 5.41866008e+00] [-2.17722837e-03 -8.05669731e-05 9.99997627e-01 -2.19206733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.455898227 meters 0.043776765870144264 Centerline is valid? [True, True] Translation: X:164.10, Y:5.44, Z:-2.19 [[ 9.98743832e-01 -5.00676078e-02 1.99839454e-03 1.64095141e+02] [ 5.00673405e-02 9.98745827e-01 1.83567307e-04 5.43842606e+00] [-2.00507898e-03 -8.32824160e-05 9.99997986e-01 -2.19371048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.515898227 meters 0.04609090441269444 Centerline is valid? [True, True] Translation: X:164.15, Y:5.45, Z:-2.19 [[ 9.98882381e-01 -4.71811449e-02 2.81565473e-03 1.64154136e+02] [ 4.71806027e-02 9.98886342e-01 2.58706306e-04 5.45258767e+00] [-2.82472512e-03 -1.25572884e-04 9.99996003e-01 -2.19282516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.575898227 meters 0.05084881368198468 Centerline is valid? [True, True] Translation: X:164.21, Y:5.47, Z:-2.19 [[ 9.98964938e-01 -4.54376159e-02 2.11537499e-03 1.64211498e+02] [ 4.54373056e-02 9.98967173e-01 1.94539708e-04 5.46987411e+00] [-2.12202960e-03 -9.82214077e-05 9.99997744e-01 -2.19350064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.635898227 meters 0.04954324604314408 Centerline is valid? [True, True] Translation: X:164.27, Y:5.48, Z:-2.20 [[ 9.98929576e-01 -4.62533003e-02 5.78156939e-04 1.64269709e+02] [ 4.62532768e-02 9.98929743e-01 5.38538159e-05 5.48160123e+00] [-5.80029079e-04 -2.70545165e-05 9.99999831e-01 -2.19764409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.69589822700001 meters 0.04841735364418921 Centerline is valid? [True, True] Translation: X:164.33, Y:5.49, Z:-2.20 [[ 9.98847469e-01 -4.79944328e-02 -5.16823174e-04 1.64328395e+02] [ 4.79944149e-02 9.98847603e-01 -4.70703289e-05 5.48898995e+00] [ 5.18486702e-04 2.22114531e-05 9.99999865e-01 -2.19858028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.755898227 meters 0.048804006397182326 Centerline is valid? [True, True] Translation: X:164.39, Y:5.50, Z:-2.20 [[ 9.98819845e-01 -4.85079974e-02 -2.42739574e-03 1.64386792e+02] [ 4.85075970e-02 9.98822789e-01 -2.23577134e-04 5.49643516e+00] [ 2.43538346e-03 1.05566144e-04 9.99997029e-01 -2.20004670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.815898227 meters 0.04764020235151766 Centerline is valid? [True, True] Translation: X:164.45, Y:5.50, Z:-2.20 [[ 9.98918606e-01 -4.63816337e-02 -3.21899200e-03 1.64445361e+02] [ 4.63809160e-02 9.98923782e-01 -2.97291397e-04 5.50396480e+00] [ 3.22931652e-03 1.47670110e-04 9.99994775e-01 -2.20188430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.875898227 meters 0.0648454450666542 Centerline is valid? [True, True] Translation: X:164.50, Y:5.53, Z:-2.20 [[ 9.99221293e-01 -3.92785039e-02 -3.74256323e-03 1.64502137e+02] [ 3.92774834e-02 9.99228282e-01 -3.45807100e-04 5.53428713e+00] [ 3.75325781e-03 1.98539352e-04 9.99992937e-01 -2.20241451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.935898227 meters 0.056816794375643555 Centerline is valid? [True, True] Translation: X:164.56, Y:5.54, Z:-2.20 [[ 9.99427111e-01 -3.34102284e-02 -5.40429140e-03 1.64561876e+02] [ 3.34080150e-02 9.99441672e-01 -4.99353780e-04 5.54275337e+00] [ 5.41795756e-03 3.18521058e-04 9.99985272e-01 -2.20422533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.995898227 meters 0.06400993779032467 Centerline is valid? [True, True] Translation: X:164.62, Y:5.57, Z:-2.21 [[ 9.99592711e-01 -2.78339423e-02 -6.29952069e-03 1.64619573e+02] [ 2.78308240e-02 9.99612478e-01 -5.82145100e-04 5.56642207e+00] [ 6.31328288e-03 4.06587147e-04 9.99979988e-01 -2.20584471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.055898227 meters 0.0691817185962358 Centerline is valid? [True, True] Translation: X:164.68, Y:5.59, Z:-2.20 [[ 9.99699580e-01 -2.41820495e-02 -3.99734593e-03 1.64676279e+02] [ 2.41807647e-02 9.99707534e-01 -3.69435562e-04 5.59463916e+00] [ 4.00511056e-03 2.72665694e-04 9.99991942e-01 -2.20293709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.115898227 meters 0.08027378874951294 Centerline is valid? [True, True] Translation: X:164.73, Y:5.63, Z:-2.20 [[ 9.99674345e-01 -2.54388917e-02 -2.01655651e-03 1.64732819e+02] [ 2.54385674e-02 9.99676370e-01 -1.86296182e-04 5.62607651e+00] [ 2.02064306e-03 1.34937205e-04 9.99997949e-01 -2.19877404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.175898227 meters 0.06663852665530806 Centerline is valid? [True, True] Translation: X:164.79, Y:5.63, Z:-2.20 [[ 9.99569910e-01 -2.91487646e-02 -3.21628469e-03 1.64793378e+02] [ 2.91479585e-02 9.99575064e-01 -2.97256743e-04 5.62715331e+00] [ 3.22358264e-03 2.03380763e-04 9.99994784e-01 -2.20040101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.235898227 meters 0.05596206194517073 Centerline is valid? [True, True] Translation: X:164.85, Y:5.63, Z:-2.20 [[ 9.99287332e-01 -3.73482421e-02 -5.47146554e-03 1.64853576e+02] [ 3.73460305e-02 9.99302266e-01 -5.05857330e-04 5.63081901e+00] [ 5.48654080e-03 3.01159302e-04 9.99984903e-01 -2.20428240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.295898227 meters 0.05044461256091406 Centerline is valid? [True, True] Translation: X:164.91, Y:5.64, Z:-2.20 [[ 9.99049912e-01 -4.33550214e-02 -4.42902290e-03 1.64914192e+02] [ 4.33536310e-02 9.99059705e-01 -4.09491256e-04 5.63508071e+00] [ 4.44261182e-03 2.17087979e-04 9.99990108e-01 -2.20234778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.355898227 meters 0.04760222272566661 Centerline is valid? [True, True] Translation: X:164.97, Y:5.64, Z:-2.20 [[ 9.98912967e-01 -4.63800316e-02 -4.66667109e-03 1.64974218e+02] [ 4.63785210e-02 9.98923844e-01 -4.31474596e-04 5.63950625e+00] [ 4.68166084e-03 2.14572265e-04 9.99989018e-01 -2.20266721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.415898227 meters 0.04774622208833676 Centerline is valid? [True, True] Translation: X:165.03, Y:5.65, Z:-2.20 [[ 9.98688430e-01 -5.08516377e-02 -5.96078405e-03 1.65033011e+02] [ 5.08492519e-02 9.98706188e-01 -5.51214135e-04 5.65150899e+00] [ 5.98110206e-03 2.47389769e-04 9.99982082e-01 -2.20366508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.475898227 meters 0.05114151031667945 Centerline is valid? [True, True] Translation: X:165.09, Y:5.66, Z:-2.20 [[ 9.98795766e-01 -4.88306262e-02 -4.75268805e-03 1.65092227e+02] [ 4.88290864e-02 9.98807052e-01 -4.39559931e-04 5.66096939e+00] [ 4.76848233e-03 2.06961183e-04 9.99988609e-01 -2.20118694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.535898227 meters 0.052283931885449664 Centerline is valid? [True, True] Translation: X:165.15, Y:5.68, Z:-2.20 [[ 9.99019461e-01 -4.38725002e-02 -5.94303689e-03 1.65151136e+02] [ 4.38700042e-02 9.99037097e-01 -5.49775514e-04 5.67875412e+00] [ 5.96143435e-03 2.88515385e-04 9.99982189e-01 -2.20192264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.595898227 meters 0.06819941336177221 Centerline is valid? [True, True] Translation: X:165.21, Y:5.71, Z:-2.21 [[ 9.99431595e-01 -3.26975078e-02 -8.20736367e-03 1.65209231e+02] [ 3.26923711e-02 9.99465173e-01 -7.59289058e-04 5.70802665e+00] [ 8.22780101e-03 4.90539296e-04 9.99966031e-01 -2.20699572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.655898227 meters 0.08011800566464163 Centerline is valid? [True, True] Translation: X:165.27, Y:5.74, Z:-2.21 [[ 9.99598356e-01 -2.68513450e-02 -9.06261813e-03 1.65265443e+02] [ 2.68448423e-02 9.99639261e-01 -8.38435736e-04 5.74325669e+00] [ 9.08186201e-03 5.94814429e-04 9.99958582e-01 -2.20924365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.715898227 meters 0.07380520864023059 Centerline is valid? [True, True] Translation: X:165.33, Y:5.75, Z:-2.21 [[ 9.99667891e-01 -2.43848335e-02 -8.33591594e-03 1.65325885e+02] [ 2.43792463e-02 9.99702485e-01 -7.71225254e-04 5.74876497e+00] [ 8.35224207e-03 5.67745775e-04 9.99964958e-01 -2.20740542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.775898227 meters 0.0729452961740128 Centerline is valid? [True, True] Translation: X:165.38, Y:5.77, Z:-2.21 [[ 9.99599722e-01 -2.64726917e-02 -9.97963103e-03 1.65384540e+02] [ 2.64647865e-02 9.99649320e-01 -9.23388183e-04 5.76591592e+00] [ 1.00005759e-02 6.58909767e-04 9.99949776e-01 -2.21009188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.835898227 meters 0.06966083408119884 Centerline is valid? [True, True] Translation: X:165.44, Y:5.78, Z:-2.21 [[ 9.99572279e-01 -2.70027010e-02 -1.12300413e-02 1.65442595e+02] [ 2.69927100e-02 9.99635089e-01 -1.04030661e-03 5.77553680e+00] [ 1.12540344e-02 7.36732395e-04 9.99936400e-01 -2.21223159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.895898227 meters 0.07130923252367259 Centerline is valid? [True, True] Translation: X:165.50, Y:5.79, Z:-2.21 [[ 9.99612988e-01 -2.55115489e-02 -1.10921442e-02 1.65501203e+02] [ 2.55017016e-02 9.99674250e-01 -1.02832776e-03 5.79067644e+00] [ 1.11147651e-02 7.45061229e-04 9.99937952e-01 -2.21087711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.955898227 meters 0.07950790987743135 Centerline is valid? [True, True] Translation: X:165.56, Y:5.82, Z:-2.21 [[ 9.99668222e-01 -2.31210155e-02 -1.13518281e-02 1.65558528e+02] [ 2.31105460e-02 9.99732362e-01 -1.05260789e-03 5.82009371e+00] [ 1.13731272e-02 7.89911717e-04 9.99935012e-01 -2.21192719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.015898227 meters 0.08618306401917686 Centerline is valid? [True, True] Translation: X:165.62, Y:5.84, Z:-2.21 [[ 9.99592582e-01 -2.59811729e-02 -1.18173426e-02 1.65616520e+02] [ 2.59700250e-02 9.99662121e-01 -1.09585072e-03 5.84445823e+00] [ 1.18418212e-02 7.88507571e-04 9.99929572e-01 -2.21498456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.075898227 meters 0.0694543840517736 Centerline is valid? [True, True] Translation: X:165.68, Y:5.84, Z:-2.21 [[ 9.99433529e-01 -3.15423555e-02 -1.17345941e-02 1.65677613e+02] [ 3.15317446e-02 9.99502159e-01 -1.08820280e-03 5.83630554e+00] [ 1.17630767e-02 7.17574138e-04 9.99930555e-01 -2.21305817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.135898227 meters 0.056817831289315036 Centerline is valid? [True, True] Translation: X:165.74, Y:5.83, Z:-2.21 [[ 9.99055837e-01 -4.20285722e-02 -1.10015207e-02 1.65738463e+02] [ 4.20198789e-02 9.99116254e-01 -1.02025619e-03 5.83472196e+00] [ 1.10346781e-02 5.57010334e-04 9.99938961e-01 -2.21108228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.19589822700001 meters 0.04654013789273556 Centerline is valid? [True, True] Translation: X:165.80, Y:5.83, Z:-2.21 [[ 9.98748927e-01 -4.87996855e-02 -1.09165353e-02 1.65799426e+02] [ 4.87915292e-02 9.98808471e-01 -1.01239208e-03 5.83089651e+00] [ 1.09529323e-02 4.78491057e-04 9.99939900e-01 -2.20984340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.255898227 meters 0.047392672575199135 Centerline is valid? [True, True] Translation: X:165.86, Y:5.84, Z:-2.21 [[ 9.98516094e-01 -5.31889693e-02 -1.16851728e-02 1.65858531e+02] [ 5.31799225e-02 9.98584359e-01 -1.08378851e-03 5.83964099e+00] [ 1.17262763e-02 4.60763687e-04 9.99931139e-01 -2.21104618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.315898227 meters 0.041101489560407024 Centerline is valid? [True, True] Translation: X:165.92, Y:5.84, Z:-2.21 [[ 9.98336570e-01 -5.66527869e-02 -1.07030554e-02 1.65918871e+02] [ 5.66453943e-02 9.98393867e-01 -9.92829293e-04 5.83827063e+00] [ 1.07421114e-02 3.84898998e-04 9.99942228e-01 -2.20794741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.375898227 meters 0.04130060754278164 Centerline is valid? [True, True] Translation: X:165.98, Y:5.84, Z:-2.20 [[ 9.98350783e-01 -5.67238293e-02 -8.83862482e-03 1.65976921e+02] [ 5.67187823e-02 9.98389857e-01 -8.20831860e-04 5.84434388e+00] [ 8.87095409e-03 3.18162093e-04 9.99960602e-01 -2.20491738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.435898227 meters 0.04483657208453751 Centerline is valid? [True, True] Translation: X:166.04, Y:5.86, Z:-2.20 [[ 9.98511851e-01 -5.38377591e-02 -8.69360579e-03 1.66036070e+02] [ 5.38327604e-02 9.98549639e-01 -8.08147615e-04 5.85523196e+00] [ 8.72450577e-03 3.38944174e-04 9.99961883e-01 -2.20422644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.495898227 meters 0.052420699602088325 Centerline is valid? [True, True] Translation: X:166.10, Y:5.87, Z:-2.21 [[ 9.98821099e-01 -4.76013253e-02 -9.51449465e-03 1.66095306e+02] [ 4.75950549e-02 9.98866322e-01 -8.84501227e-04 5.87026818e+00] [ 9.54581171e-03 4.30615592e-04 9.99954345e-01 -2.20604993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.555898227 meters 0.058802012568377075 Centerline is valid? [True, True] Translation: X:166.15, Y:5.88, Z:-2.20 [[ 9.99037258e-01 -4.29517924e-02 -8.92746925e-03 1.66154045e+02] [ 4.29460863e-02 9.99077046e-01 -8.29980397e-04 5.88350254e+00] [ 8.95487876e-03 4.45781476e-04 9.99959805e-01 -2.20482764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.615898227 meters 0.06368297785640002 Centerline is valid? [True, True] Translation: X:166.21, Y:5.90, Z:-2.20 [[ 9.99291712e-01 -3.69050660e-02 -7.35455928e-03 1.66213264e+02] [ 3.69010295e-02 9.99318691e-01 -6.83827375e-04 5.89570883e+00] [ 7.37478525e-03 4.11952219e-04 9.99972721e-01 -2.20262836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.675898227 meters 0.0728164304850755 Centerline is valid? [True, True] Translation: X:166.27, Y:5.91, Z:-2.20 [[ 9.99427027e-01 -3.29296668e-02 -7.82659125e-03 1.66270903e+02] [ 3.29249741e-02 9.99457561e-01 -7.27711642e-04 5.91331231e+00] [ 7.84630911e-03 4.69604368e-04 9.99969107e-01 -2.20415298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.735898227 meters 0.07156001544581536 Centerline is valid? [True, True] Translation: X:166.33, Y:5.92, Z:-2.21 [[ 9.99468304e-01 -3.08673130e-02 -1.05032355e-02 1.66330970e+02] [ 3.08587481e-02 9.99523278e-01 -9.76576094e-04 5.91686873e+00] [ 1.05283726e-02 6.51940154e-04 9.99944363e-01 -2.20820819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.795898227 meters 0.06497847583704358 Centerline is valid? [True, True] Translation: X:166.39, Y:5.91, Z:-2.21 [[ 9.99421427e-01 -3.26641530e-02 -9.47969653e-03 1.66391601e+02] [ 3.26572557e-02 9.99466221e-01 -8.81512980e-04 5.91339109e+00] [ 9.50343034e-03 5.71422086e-04 9.99954678e-01 -2.20559256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.855898227 meters 0.0669876549593807 Centerline is valid? [True, True] Translation: X:166.45, Y:5.92, Z:-2.20 [[ 9.99339873e-01 -3.53044501e-02 -8.56815536e-03 1.66451195e+02] [ 3.52989112e-02 9.99376482e-01 -7.96858292e-04 5.91803290e+00] [ 8.59094560e-03 4.93885709e-04 9.99962975e-01 -2.20298459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.915898227 meters 0.06040678351701383 Centerline is valid? [True, True] Translation: X:166.51, Y:5.92, Z:-2.20 [[ 9.99180078e-01 -3.93613964e-02 -9.47907724e-03 1.66512317e+02] [ 3.93547991e-02 9.99224911e-01 -8.81588703e-04 5.91952319e+00] [ 9.50643068e-03 5.07818688e-04 9.99954684e-01 -2.20445762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.975898227 meters 0.05703029653245641 Centerline is valid? [True, True] Translation: X:166.57, Y:5.92, Z:-2.20 [[ 9.99095701e-01 -4.16307910e-02 -8.64050297e-03 1.66572212e+02] [ 4.16253933e-02 9.99132964e-01 -8.03672453e-04 5.91897816e+00] [ 8.66646886e-03 4.43281359e-04 9.99962347e-01 -2.20316619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.035898227 meters 0.05241458303898627 Centerline is valid? [True, True] Translation: X:166.63, Y:5.92, Z:-2.20 [[ 9.98967207e-01 -4.44394492e-02 -9.46859682e-03 1.66632440e+02] [ 4.44330909e-02 9.99011974e-01 -8.80925177e-04 5.91613964e+00] [ 9.49838943e-03 4.59296341e-04 9.99954784e-01 -2.20304591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.095898227 meters 0.051478546397551186 Centerline is valid? [True, True] Translation: X:166.69, Y:5.92, Z:-2.21 [[ 9.98667757e-01 -5.04272839e-02 -1.09453672e-02 1.66691617e+02] [ 5.04191427e-02 9.98727627e-01 -1.01864443e-03 5.91594985e+00] [ 1.09828081e-02 4.65431317e-04 9.99939579e-01 -2.20651054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.155898227 meters 0.04913517827294787 Centerline is valid? [True, True] Translation: X:166.75, Y:5.92, Z:-2.21 [[ 9.98522127e-01 -5.32894374e-02 -1.06676301e-02 1.66752190e+02] [ 5.32818651e-02 9.98579019e-01 -9.92991348e-04 5.91530743e+00] [ 1.07053875e-02 4.23132606e-04 9.99942606e-01 -2.20511087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.215898227 meters 0.04901396565729353 Centerline is valid? [True, True] Translation: X:166.81, Y:5.91, Z:-2.20 [[ 9.98509689e-01 -5.34477789e-02 -1.10334060e-02 1.66810148e+02] [ 5.34396727e-02 9.98570550e-01 -1.02842786e-03 5.91459435e+00] [ 1.10726014e-02 4.37273583e-04 9.99938601e-01 -2.20334833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.275898227 meters 0.04825088711454524 Centerline is valid? [True, True] Translation: X:166.87, Y:5.93, Z:-2.21 [[ 9.98923972e-01 -4.45336823e-02 -1.29479171e-02 1.66868987e+02] [ 4.45217594e-02 9.99007685e-01 -1.20777033e-03 5.92943569e+00] [ 1.29888551e-02 6.30006691e-04 9.99915443e-01 -2.20516675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.335898227 meters 0.05687524401597781 Centerline is valid? [True, True] Translation: X:166.93, Y:5.95, Z:-2.20 [[ 9.99059281e-01 -4.17752462e-02 -1.16354001e-02 1.66926726e+02] [ 4.17654309e-02 9.99126854e-01 -1.08539543e-03 5.94716774e+00] [ 1.16705834e-02 5.98416880e-04 9.99931717e-01 -2.20454869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.395898227 meters 0.057922984735663444 Centerline is valid? [True, True] Translation: X:166.99, Y:5.96, Z:-2.20 [[ 9.99172779e-01 -4.01165023e-02 -6.66511139e-03 1.66985029e+02] [ 4.01132441e-02 9.99194946e-01 -6.21857373e-04 5.95796308e+00] [ 6.68469236e-03 3.53983719e-04 9.99977595e-01 -2.19624429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.455898227 meters 0.053890797595534196 Centerline is valid? [True, True] Translation: X:167.04, Y:5.96, Z:-2.20 [[ 9.99111628e-01 -4.16940843e-02 -6.12848793e-03 1.67044697e+02] [ 4.16913581e-02 9.99130374e-01 -5.71968641e-04 5.95766095e+00] [ 6.14700614e-03 3.15955535e-04 9.99981057e-01 -2.19594251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.515898227 meters 0.05346317453306493 Centerline is valid? [True, True] Translation: X:167.10, Y:5.96, Z:-2.20 [[ 9.99006002e-01 -4.42330877e-02 -5.51744875e-03 1.67103930e+02] [ 4.42309161e-02 9.99021201e-01 -5.15062017e-04 5.96053413e+00] [ 5.53483106e-03 2.70508234e-04 9.99984646e-01 -2.19552534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.575898227 meters 0.052803336712677666 Centerline is valid? [True, True] Translation: X:167.16, Y:5.96, Z:-2.19 [[ 9.98952844e-01 -4.54463093e-02 -5.27707366e-03 1.67162718e+02] [ 4.54443388e-02 9.98966751e-01 -4.92772767e-04 5.96038584e+00] [ 5.29401583e-03 2.52443634e-04 9.99985955e-01 -2.19409605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.635898227 meters 0.05147353747305423 Centerline is valid? [True, True] Translation: X:167.22, Y:5.96, Z:-2.20 [[ 9.99000966e-01 -4.42565332e-02 -6.19907566e-03 1.67222843e+02] [ 4.42537895e-02 9.99020153e-01 -5.79137882e-04 5.96077577e+00] [ 6.21863215e-03 3.04226715e-04 9.99980618e-01 -2.19502349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.69589822700001 meters 0.053189046590239396 Centerline is valid? [True, True] Translation: X:167.28, Y:5.97, Z:-2.20 [[ 9.99102853e-01 -4.18951655e-02 -6.18748855e-03 1.67283189e+02] [ 4.18923863e-02 9.99121961e-01 -5.78149406e-04 5.96578638e+00] [ 6.20627736e-03 3.18422060e-04 9.99980690e-01 -2.19509699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.755898227 meters 0.05986810678803359 Centerline is valid? [True, True] Translation: X:167.34, Y:5.97, Z:-2.19 [[ 9.99280735e-01 -3.76161322e-02 -4.79985572e-03 1.67341792e+02] [ 3.76144106e-02 9.99292227e-01 -4.48472443e-04 5.97436237e+00] [ 4.81332831e-03 2.67606128e-04 9.99988380e-01 -2.19277944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.815898227 meters 0.062427340253960364 Centerline is valid? [True, True] Translation: X:167.40, Y:5.98, Z:-2.20 [[ 9.99319834e-01 -3.61351725e-02 -7.35649176e-03 1.67401353e+02] [ 3.61310889e-02 9.99346823e-01 -6.87292926e-04 5.98053320e+00] [ 7.37652212e-03 4.21027395e-04 9.99972704e-01 -2.19660013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.875898227 meters 0.065103094749698 Centerline is valid? [True, True] Translation: X:167.46, Y:5.99, Z:-2.20 [[ 9.99392541e-01 -3.38366005e-02 -8.34460860e-03 1.67461439e+02] [ 3.38312650e-02 9.99427255e-01 -7.79763408e-04 5.98651699e+00] [ 8.36621381e-03 4.96981070e-04 9.99964879e-01 -2.19819864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.935898227 meters 0.06830494764777542 Centerline is valid? [True, True] Translation: X:167.52, Y:6.00, Z:-2.20 [[ 9.99591918e-01 -2.73296098e-02 -8.31203844e-03 1.67520981e+02] [ 2.73240912e-02 9.99626326e-01 -7.76782695e-04 5.99708647e+00] [ 8.33016161e-03 5.49346807e-04 9.99965153e-01 -2.19687307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.995898227 meters 0.07289214244693877 Centerline is valid? [True, True] Translation: X:167.58, Y:6.01, Z:-2.20 [[ 9.99711749e-01 -2.23673842e-02 -8.72457420e-03 1.67580566e+02] [ 2.23611159e-02 9.99749626e-01 -8.15372894e-04 6.01235126e+00] [ 8.74062756e-03 6.20046648e-04 9.99961608e-01 -2.19845442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.055898227 meters 0.07840123679489137 Centerline is valid? [True, True] Translation: X:167.64, Y:6.03, Z:-2.20 [[ 9.99781690e-01 -1.87655460e-02 -9.18835398e-03 1.67638276e+02] [ 1.87584409e-02 9.99823676e-01 -8.58851491e-04 6.02988283e+00] [ 9.20285067e-03 6.86304801e-04 9.99957417e-01 -2.19873378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.115898227 meters 0.0822676987428652 Centerline is valid? [True, True] Translation: X:167.70, Y:6.04, Z:-2.20 [[ 9.99743419e-01 -2.05264835e-02 -9.57911595e-03 1.67696174e+02] [ 2.05188394e-02 9.99789065e-01 -8.95596910e-04 6.04175577e+00] [ 9.59547884e-03 6.98814775e-04 9.99953718e-01 -2.20000405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.175898227 meters 0.07542590136329395 Centerline is valid? [True, True] Translation: X:167.76, Y:6.04, Z:-2.20 [[ 9.99643526e-01 -2.49153910e-02 -9.59392148e-03 1.67757283e+02] [ 2.49079233e-02 9.99689347e-01 -8.97099692e-04 6.04056190e+00] [ 9.61329269e-03 6.57815240e-04 9.99953575e-01 -2.19971768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.235898227 meters 0.065016299656635 Centerline is valid? [True, True] Translation: X:167.82, Y:6.04, Z:-2.20 [[ 9.99426090e-01 -3.25432747e-02 -9.40352261e-03 1.67817875e+02] [ 3.25364358e-02 9.99470163e-01 -8.79379904e-04 6.03632787e+00] [ 9.42715818e-03 5.72918109e-04 9.99955399e-01 -2.19946286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.295898227 meters 0.05912607234867798 Centerline is valid? [True, True] Translation: X:167.88, Y:6.04, Z:-2.20 [[ 9.99230033e-01 -3.81792487e-02 -9.03805835e-03 1.67879077e+02] [ 3.81731603e-02 9.99270782e-01 -8.45252963e-04 6.03585008e+00] [ 9.06373875e-03 4.99590895e-04 9.99958799e-01 -2.19880167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.355898227 meters 0.05403791537330951 Centerline is valid? [True, True] Translation: X:167.94, Y:6.03, Z:-2.20 [[ 9.99008160e-01 -4.35683624e-02 -9.19209801e-03 1.67939465e+02] [ 4.35622915e-02 9.99050343e-01 -8.59720862e-04 6.03439357e+00] [ 9.22082530e-03 4.58439303e-04 9.99957382e-01 -2.19878604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.415898227 meters 0.0475564573232713 Centerline is valid? [True, True] Translation: X:168.00, Y:6.03, Z:-2.20 [[ 9.98665831e-01 -5.09727530e-02 -8.26653941e-03 1.68000360e+02] [ 5.09680958e-02 9.98699983e-01 -7.73204384e-04 6.02727154e+00] [ 8.29520513e-03 3.50843026e-04 9.99965533e-01 -2.19705472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.475898227 meters 0.045184067364588694 Centerline is valid? [True, True] Translation: X:168.06, Y:6.03, Z:-2.20 [[ 9.98596602e-01 -5.22943592e-02 -8.37419835e-03 1.68059508e+02] [ 5.22896245e-02 9.98631654e-01 -7.83489928e-04 6.02749191e+00] [ 8.40371166e-03 3.44506692e-04 9.99964629e-01 -2.19663328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.535898227 meters 0.04783369205347972 Centerline is valid? [True, True] Translation: X:168.12, Y:6.04, Z:-2.20 [[ 9.98721282e-01 -4.98796690e-02 -8.23528209e-03 1.68118831e+02] [ 4.98750058e-02 9.98755170e-01 -7.70775236e-04 6.03510083e+00] [ 8.26347657e-03 3.59054890e-04 9.99965792e-01 -2.19625030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.595898227 meters 0.052549969028436776 Centerline is valid? [True, True] Translation: X:168.18, Y:6.05, Z:-2.19 [[ 9.98898737e-01 -4.61701330e-02 -8.34463187e-03 1.68177771e+02] [ 4.61652150e-02 9.98933513e-01 -7.81119295e-04 6.04761048e+00] [ 8.37179681e-03 3.95027353e-04 9.99964878e-01 -2.19493185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.655898227 meters 0.053221656220366925 Centerline is valid? [True, True] Translation: X:168.24, Y:6.06, Z:-2.20 [[ 9.99118896e-01 -4.04945188e-02 -1.10284284e-02 1.68238039e+02] [ 4.04855835e-02 9.99179589e-01 -1.03235280e-03 6.05578645e+00] [ 1.10611852e-02 5.84950829e-04 9.99938652e-01 -2.19836396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.715898227 meters 0.05826581705951451 Centerline is valid? [True, True] Translation: X:168.29, Y:6.07, Z:-2.20 [[ 9.99150264e-01 -3.97584220e-02 -1.08635910e-02 1.68294857e+02] [ 3.97497040e-02 9.99209150e-01 -1.01733145e-03 6.06822844e+00] [ 1.08954470e-02 5.84642457e-04 9.99940472e-01 -2.20049164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.775898227 meters 0.058089060738224715 Centerline is valid? [True, True] Translation: X:168.35, Y:6.08, Z:-2.20 [[ 9.99070538e-01 -4.14774604e-02 -1.17337502e-02 1.68352922e+02] [ 4.14674017e-02 9.99139253e-01 -1.09934378e-03 6.07517821e+00] [ 1.17692484e-02 6.11753846e-04 9.99930553e-01 -2.20212450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.835898227 meters 0.054330629598773474 Centerline is valid? [True, True] Translation: X:168.41, Y:6.08, Z:-2.20 [[ 9.98926547e-01 -4.47229695e-02 -1.20669069e-02 1.68413065e+02] [ 4.47125657e-02 9.98999253e-01 -1.13072123e-03 6.07588003e+00] [ 1.21054001e-02 5.89965085e-04 9.99926553e-01 -2.20209249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.895898227 meters 0.04742031123018974 Centerline is valid? [True, True] Translation: X:168.47, Y:6.07, Z:-2.20 [[ 9.98867366e-01 -4.59568669e-02 -1.23268976e-02 1.68472435e+02] [ 4.59460984e-02 9.98943252e-01 -1.15550495e-03 6.07108516e+00] [ 1.23669746e-02 5.87823336e-04 9.99923353e-01 -2.19997070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.955898227 meters 0.05176843959338183 Centerline is valid? [True, True] Translation: X:168.53, Y:6.08, Z:-2.20 [[ 9.98852690e-01 -4.65233805e-02 -1.13524368e-02 1.68529339e+02] [ 4.65142767e-02 9.98917058e-01 -1.06478944e-03 6.07973238e+00] [ 1.13896804e-02 5.35517408e-04 9.99934992e-01 -2.19991356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.015898227 meters 0.051371348908299454 Centerline is valid? [True, True] Translation: X:168.59, Y:6.08, Z:-2.20 [[ 9.98826197e-01 -4.74869692e-02 -9.55071194e-03 1.68588894e+02] [ 4.74805598e-02 9.98871760e-01 -8.96845339e-04 6.07932357e+00] [ 9.58252490e-03 4.42319470e-04 9.99953989e-01 -2.19676772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.075898227 meters 0.05113761762642373 Centerline is valid? [True, True] Translation: X:168.65, Y:6.07, Z:-2.20 [[ 9.98742325e-01 -4.89458025e-02 -1.08663112e-02 1.68649366e+02] [ 4.89375728e-02 9.98801316e-01 -1.02212279e-03 6.06951082e+00] [ 1.09033146e-02 4.89066397e-04 9.99940437e-01 -2.19745798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.135898227 meters 0.05560115757758892 Centerline is valid? [True, True] Translation: X:168.71, Y:6.08, Z:-2.20 [[ 9.98701823e-01 -4.95476520e-02 -1.18193990e-02 1.68706470e+02] [ 4.95379440e-02 9.98771622e-01 -1.11289101e-03 6.07653396e+00] [ 1.18600215e-02 5.25937559e-04 9.99929529e-01 -2.20039282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.19589822700001 meters 0.043632345047760604 Centerline is valid? [True, True] Translation: X:168.77, Y:6.06, Z:-2.20 [[ 9.98663234e-01 -5.00698465e-02 -1.28357155e-02 1.68766871e+02] [ 5.00584157e-02 9.98745558e-01 -1.21048241e-03 6.05907908e+00] [ 1.28802225e-02 5.66328691e-04 9.99916886e-01 -2.20015995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.255898227 meters 0.04939759900914355 Centerline is valid? [True, True] Translation: X:168.82, Y:6.06, Z:-2.20 [[ 9.98743327e-01 -4.87092192e-02 -1.17974161e-02 1.68824625e+02] [ 4.86994536e-02 9.98812857e-01 -1.11381363e-03 6.05814945e+00] [ 1.18376639e-02 5.37886212e-04 9.99929788e-01 -2.19851618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.315898227 meters 0.055613121895456884 Centerline is valid? [True, True] Translation: X:168.88, Y:6.06, Z:-2.20 [[ 9.98916800e-01 -4.53061469e-02 -1.06103978e-02 1.68883580e+02] [ 4.52980517e-02 9.98973014e-01 -1.00215774e-03 6.06425240e+00] [ 1.06449049e-02 5.20441859e-04 9.99943206e-01 -2.19728378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.375898227 meters 0.060582398175809175 Centerline is valid? [True, True] Translation: X:168.94, Y:6.07, Z:-2.20 [[ 9.99091601e-01 -4.12457999e-02 -1.07124240e-02 1.68943222e+02] [ 4.12373136e-02 9.99148868e-01 -1.01196068e-03 6.06872896e+00] [ 1.07450454e-02 5.69289827e-04 9.99942108e-01 -2.19750879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.435898227 meters 0.06029720270705416 Centerline is valid? [True, True] Translation: X:169.00, Y:6.07, Z:-2.20 [[ 9.99256925e-01 -3.67272038e-02 -1.16923060e-02 1.69004236e+02] [ 3.67167851e-02 9.99325101e-01 -1.10456659e-03 6.06635074e+00] [ 1.17249825e-02 6.74441927e-04 9.99931033e-01 -2.19863298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.495898227 meters 0.060489329138373876 Centerline is valid? [True, True] Translation: X:169.06, Y:6.07, Z:-2.20 [[ 9.99309742e-01 -3.54000722e-02 -1.12638880e-02 1.69064426e+02] [ 3.53903171e-02 9.99373000e-01 -1.06426165e-03 6.06704022e+00] [ 1.12945005e-02 6.64894467e-04 9.99935994e-01 -2.19853964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.555898227 meters 0.06445538902412726 Centerline is valid? [True, True] Translation: X:169.12, Y:6.07, Z:-2.20 [[ 9.99283924e-01 -3.57857418e-02 -1.22890042e-02 1.69123026e+02] [ 3.57741387e-02 9.99359224e-01 -1.16278610e-03 6.06722487e+00] [ 1.23227408e-02 7.22324912e-04 9.99923811e-01 -2.19837676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.615898227 meters 0.05878071325250299 Centerline is valid? [True, True] Translation: X:169.18, Y:6.06, Z:-2.20 [[ 9.99256328e-01 -3.71064199e-02 -1.04835823e-02 1.69183496e+02] [ 3.70980400e-02 9.99311138e-01 -9.92745796e-04 6.06211607e+00] [ 1.05131978e-02 6.03087164e-04 9.99944553e-01 -2.19675877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.675898227 meters 0.05938879976953077 Centerline is valid? [True, True] Translation: X:169.24, Y:6.06, Z:-2.20 [[ 9.99219972e-01 -3.80738437e-02 -1.04800243e-02 1.69241941e+02] [ 3.80655183e-02 9.99274752e-01 -9.92804862e-04 6.06465379e+00] [ 1.05102236e-02 5.93102889e-04 9.99944590e-01 -2.19695883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.735898227 meters 0.05842530421125693 Centerline is valid? [True, True] Translation: X:169.30, Y:6.07, Z:-2.20 [[ 9.99155270e-01 -3.90686574e-02 -1.27431256e-02 1.69301289e+02] [ 3.90564074e-02 9.99236276e-01 -1.20884926e-03 6.06631014e+00] [ 1.27806215e-02 7.10127407e-04 9.99918072e-01 -2.20010108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.795898227 meters 0.05669084398910018 Centerline is valid? [True, True] Translation: X:169.36, Y:6.07, Z:-2.20 [[ 9.99056156e-01 -4.16541351e-02 -1.23178542e-02 1.69361249e+02] [ 4.16428762e-02 9.99131875e-01 -1.16922489e-03 6.06716146e+00] [ 1.23558639e-02 6.55170447e-04 9.99923449e-01 -2.20084056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.855898227 meters 0.05381340762347729 Centerline is valid? [True, True] Translation: X:169.42, Y:6.07, Z:-2.20 [[ 9.98951280e-01 -4.39996096e-02 -1.26639056e-02 1.69420979e+02] [ 4.39878939e-02 9.99031341e-01 -1.20232011e-03 6.06711011e+00] [ 1.27045402e-02 6.44000678e-04 9.99919087e-01 -2.19990822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.915898227 meters 0.05308772466521468 Centerline is valid? [True, True] Translation: X:169.48, Y:6.07, Z:-2.20 [[ 9.98863108e-01 -4.56255881e-02 -1.38129288e-02 1.69480390e+02] [ 4.56117824e-02 9.98958378e-01 -1.31303006e-03 6.06974643e+00] [ 1.38584487e-02 6.81504981e-04 9.99903735e-01 -2.19902849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.975898227 meters 0.049824033050177824 Centerline is valid? [True, True] Translation: X:169.54, Y:6.08, Z:-2.20 [[ 9.98826630e-01 -4.65062051e-02 -1.35105827e-02 1.69538839e+02] [ 4.64930479e-02 9.98917785e-01 -1.28647659e-03 6.07623018e+00] [ 1.35557905e-02 6.56818905e-04 9.99907900e-01 -2.19891883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.035898227 meters 0.049391084406920235 Centerline is valid? [True, True] Translation: X:169.60, Y:6.08, Z:-2.20 [[ 9.98747239e-01 -4.87269046e-02 -1.13859771e-02 1.69597059e+02] [ 4.87176949e-02 9.98811999e-01 -1.08498949e-03 6.08262680e+00] [ 1.14253188e-02 5.28931698e-04 9.99934589e-01 -2.19615026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.095898227 meters 0.04616082954995747 Centerline is valid? [True, True] Translation: X:169.66, Y:6.08, Z:-2.19 [[ 9.98609265e-01 -5.17069314e-02 -1.02921883e-02 1.69657167e+02] [ 5.16995621e-02 9.98662202e-01 -9.80960915e-04 6.08383322e+00] [ 1.03291419e-02 4.47495032e-04 9.99946553e-01 -2.19360884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.155898227 meters 0.04219222095764777 Centerline is valid? [True, True] Translation: X:169.72, Y:6.08, Z:-2.19 [[ 9.98285614e-01 -5.78989808e-02 -8.57562384e-03 1.69716898e+02] [ 5.78940916e-02 9.98322396e-01 -8.17479722e-04 6.08416673e+00] [ 8.60856858e-03 3.19600294e-04 9.99962895e-01 -2.19203363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.215898227 meters 0.03221278589963644 Centerline is valid? [True, True] Translation: X:169.78, Y:6.08, Z:-2.19 [[ 9.97735557e-01 -6.69964281e-02 -5.93610362e-03 1.69778477e+02] [ 6.69942459e-02 9.97753201e-01 -5.65922453e-04 6.07516629e+00] [ 5.96068117e-03 1.66956168e-04 9.99982221e-01 -2.18768068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.275898227 meters 0.03352768382878442 Centerline is valid? [True, True] Translation: X:169.84, Y:6.08, Z:-2.19 [[ 9.97495274e-01 -7.04696027e-02 -6.10033232e-03 1.69836603e+02] [ 7.04673625e-02 9.97513916e-01 -5.81663488e-04 6.08289956e+00] [ 6.12615598e-03 1.50332251e-04 9.99981224e-01 -2.18810409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.335898227 meters 0.028943274677877696 Centerline is valid? [True, True] Translation: X:169.90, Y:6.09, Z:-2.19 [[ 9.97416300e-01 -7.14037868e-02 -7.88817202e-03 1.69895946e+02] [ 7.14000638e-02 9.97447474e-01 -7.52936445e-04 6.08500299e+00] [ 7.92179977e-03 1.87775098e-04 9.99968604e-01 -2.19074846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.395898227 meters 0.023981457406666018 Centerline is valid? [True, True] Translation: X:169.96, Y:6.09, Z:-2.19 [[ 9.97148127e-01 -7.51166890e-02 -7.28667961e-03 1.69955797e+02] [ 7.51136064e-02 9.97174740e-01 -6.96186363e-04 6.08668694e+00] [ 7.31838806e-03 1.46872143e-04 9.99973209e-01 -2.18903096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.455898227 meters 0.018335118554315306 Centerline is valid? [True, True] Translation: X:170.02, Y:6.09, Z:-2.19 [[ 9.96564600e-01 -8.24000397e-02 -8.32049295e-03 1.70015380e+02] [ 8.23962722e-02 9.96599329e-01 -7.95166430e-04 6.08584751e+00] [ 8.35771944e-03 1.06857114e-04 9.99965068e-01 -2.19113112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.515898227 meters 0.015725656228214334 Centerline is valid? [True, True] Translation: X:170.08, Y:6.07, Z:-2.20 [[ 9.95496201e-01 -9.41020183e-02 -1.14945403e-02 1.70075681e+02] [ 9.40955924e-02 9.95562560e-01 -1.09978708e-03 6.07358271e+00] [ 1.15470261e-02 1.32482865e-05 9.99933331e-01 -2.19613224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.575898227 meters 0.0230735632457136 Centerline is valid? [True, True] Translation: X:170.14, Y:6.04, Z:-2.20 [[ 9.93810702e-01 -1.10636221e-01 -9.99574115e-03 1.70137125e+02] [ 1.10632188e-01 9.93860957e-01 -9.57196337e-04 6.04381883e+00] [ 1.00402775e-02 -1.54578748e-04 9.99949583e-01 -2.19599209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.635898227 meters 0.02631164296722389 Centerline is valid? [True, True] Translation: X:170.20, Y:6.04, Z:-2.20 [[ 9.93155377e-01 -1.16312255e-01 -1.06703641e-02 1.70197261e+02] [ 1.16307982e-01 9.93212670e-01 -1.02223755e-03 6.03899225e+00] [ 1.07168396e-02 -2.25807801e-04 9.99942548e-01 -2.19549472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.69589822700001 meters 0.028201053114122618 Centerline is valid? [True, True] Translation: X:170.26, Y:6.04, Z:-2.20 [[ 9.93070079e-01 -1.16709860e-01 -1.38067446e-02 1.70255697e+02] [ 1.16702734e-01 9.93166008e-01 -1.32348087e-03 6.03777295e+00] [ 1.38668527e-02 -2.96975580e-04 9.99903806e-01 -2.20024253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.755898227 meters 0.026698745978741972 Centerline is valid? [True, True] Translation: X:170.31, Y:6.04, Z:-2.21 [[ 9.93266944e-01 -1.14525937e-01 -1.74524615e-02 1.70314165e+02] [ 1.14514166e-01 9.93420202e-01 -1.67561143e-03 6.04149608e+00] [ 1.75295288e-02 -3.34224635e-04 9.99846290e-01 -2.20635789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.815898227 meters 0.027113843558471372 Centerline is valid? [True, True] Translation: X:170.37, Y:6.04, Z:-2.21 [[ 9.93531793e-01 -1.12320379e-01 -1.66945839e-02 1.70372492e+02] [ 1.12309276e-01 9.93672005e-01 -1.60409945e-03 6.04495152e+00] [ 1.67691137e-02 -2.81232835e-04 9.99859349e-01 -2.20721862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.875898227 meters 0.024385360529592056 Centerline is valid? [True, True] Translation: X:170.43, Y:6.05, Z:-2.20 [[ 9.93798075e-01 -1.10301581e-01 -1.41048939e-02 1.70430367e+02] [ 1.10293444e-01 9.93898143e-01 -1.35585763e-03 6.05279628e+00] [ 1.41683811e-02 -2.08228614e-04 9.99899602e-01 -2.20200130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.935898227 meters 0.01749354463756506 Centerline is valid? [True, True] Translation: X:170.49, Y:6.07, Z:-2.20 [[ 9.94186985e-01 -1.06919280e-01 -1.26691077e-02 1.70487969e+02] [ 1.06912433e-01 9.94267694e-01 -1.21840674e-03 6.06739412e+00] [ 1.27267557e-02 -1.43161008e-04 9.99919001e-01 -2.19670698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.995898227 meters 0.014639611594207819 Centerline is valid? [True, True] Translation: X:170.55, Y:6.08, Z:-2.20 [[ 9.94480741e-01 -1.04162911e-01 -1.25755418e-02 1.70546510e+02] [ 1.04155924e-01 9.94560243e-01 -1.21107336e-03 6.07630168e+00] [ 1.26332828e-02 -1.05428041e-04 9.99920191e-01 -2.19607630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.055898227 meters 0.02721161876268185 Centerline is valid? [True, True] Translation: X:170.60, Y:6.08, Z:-2.20 [[ 9.94579578e-01 -1.03078523e-01 -1.36484499e-02 1.70603133e+02] [ 1.03070170e-01 9.94673217e-01 -1.31595455e-03 6.08249092e+00] [ 1.37113942e-02 -9.79265275e-05 9.99905990e-01 -2.19665238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.115898227 meters 0.011895685432948704 Centerline is valid? [True, True] Translation: X:170.66, Y:6.10, Z:-2.20 [[ 9.95276483e-01 -9.59382076e-02 -1.48520448e-02 1.70660853e+02] [ 9.59274870e-02 9.95387292e-01 -1.43420269e-03 6.09759467e+00] [ 1.49211314e-02 2.70888128e-06 9.99888674e-01 -2.19794168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.175898227 meters 0.012841371738265831 Centerline is valid? [True, True] Translation: X:170.72, Y:6.11, Z:-2.19 [[ 9.95829424e-01 -9.03917728e-02 -1.23727929e-02 1.70717509e+02] [ 9.03838775e-02 9.95906282e-01 -1.19695964e-03 6.11293831e+00] [ 1.24303375e-02 7.36666358e-05 9.99922738e-01 -2.19383944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.235898227 meters 0.014886076175662889 Centerline is valid? [True, True] Translation: X:170.77, Y:6.12, Z:-2.19 [[ 9.96106727e-01 -8.75875387e-02 -9.99056061e-03 1.70774641e+02] [ 8.75822402e-02 9.96156823e-01 -9.67468553e-04 6.12426830e+00] [ 1.00369033e-02 8.87062550e-05 9.99949625e-01 -2.19109095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.295898227 meters 0.01323764580650909 Centerline is valid? [True, True] Translation: X:170.83, Y:6.13, Z:-2.19 [[ 9.95935761e-01 -8.96863916e-02 -8.26509624e-03 1.70833060e+02] [ 8.96828302e-02 9.95970054e-01 -8.01260487e-04 6.12696291e+00] [ 8.30365051e-03 5.67667498e-05 9.99965522e-01 -2.18802789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.355898227 meters 0.010985522520184981 Centerline is valid? [True, True] Translation: X:170.89, Y:6.13, Z:-2.19 [[ 9.95450799e-01 -9.48393045e-02 -9.12208752e-03 1.70892322e+02] [ 9.48351686e-02 9.95492595e-01 -8.85866987e-04 6.12603687e+00] [ 9.16498559e-03 1.67422924e-05 9.99958000e-01 -2.18955058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.415898227 meters 0.014430071045220712 Centerline is valid? [True, True] Translation: X:170.95, Y:6.12, Z:-2.19 [[ 9.94894351e-01 -1.00320850e-01 -1.09980898e-02 1.70952043e+02] [ 1.00315152e-01 9.94955137e-01 -1.06994628e-03 6.12319126e+00] [ 1.10499439e-02 -3.87915400e-05 9.99938947e-01 -2.19141451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.475898227 meters 0.01648406206766319 Centerline is valid? [True, True] Translation: X:171.01, Y:6.12, Z:-2.19 [[ 9.94115898e-01 -1.07813264e-01 -1.04824603e-02 1.71011226e+02] [ 1.07808493e-01 9.94171156e-01 -1.02078296e-03 6.11856747e+00] [ 1.05314136e-02 -1.15321683e-04 9.99944536e-01 -2.18930747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.535898227 meters 0.028796296335907162 Centerline is valid? [True, True] Translation: X:171.07, Y:6.12, Z:-2.19 [[ 9.93536191e-01 -1.13157673e-01 -9.00992105e-03 1.71070975e+02] [ 1.13154365e-01 9.93577032e-01 -8.77713459e-04 6.11890743e+00] [ 9.05137063e-03 -1.47471808e-04 9.99959025e-01 -2.18639821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.595898227 meters 0.025758709296797095 Centerline is valid? [True, True] Translation: X:171.13, Y:6.12, Z:-2.19 [[ 9.92983605e-01 -1.17687654e-01 -1.15401692e-02 1.71130868e+02] [ 1.17682529e-01 9.93050632e-01 -1.12450664e-03 6.11786148e+00] [ 1.15923129e-02 -2.41459641e-04 9.99932778e-01 -2.19016278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.655898227 meters 0.027251851118410154 Centerline is valid? [True, True] Translation: X:171.19, Y:6.12, Z:-2.19 [[ 9.92814904e-01 -1.19056591e-01 -1.20039079e-02 1.71189162e+02] [ 1.19051128e-01 9.92887434e-01 -1.17115268e-03 6.12324906e+00] [ 1.20579628e-02 -2.66340950e-04 9.99927265e-01 -2.19002838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.715898227 meters 0.03435671480648599 Centerline is valid? [True, True] Translation: X:171.25, Y:6.13, Z:-2.19 [[ 9.92869478e-01 -1.18773549e-01 -1.01510745e-02 1.71247667e+02] [ 1.18769612e-01 9.92921344e-01 -9.91961217e-04 6.13483446e+00] [ 1.01970373e-02 -2.20751166e-04 9.99947984e-01 -2.18522986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.775898227 meters 0.026068534368370647 Centerline is valid? [True, True] Translation: X:171.30, Y:6.14, Z:-2.19 [[ 9.92875053e-01 -1.18517921e-01 -1.23544191e-02 1.71304803e+02] [ 1.18512053e-01 9.92951878e-01 -1.20858248e-03 6.14032346e+00] [ 1.24105823e-02 -2.64176165e-04 9.99922951e-01 -2.18859340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.835898227 meters 0.02924772389496288 Centerline is valid? [True, True] Translation: X:171.36, Y:6.14, Z:-2.19 [[ 9.92551207e-01 -1.21167030e-01 -1.26748739e-02 1.71363275e+02] [ 1.21161062e-01 9.92632086e-01 -1.24050089e-03 6.14310405e+00] [ 1.27317943e-02 -3.04440528e-04 9.99918901e-01 -2.18972119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.895898227 meters 0.0325235979729446 Centerline is valid? [True, True] Translation: X:171.42, Y:6.15, Z:-2.19 [[ 9.92188767e-01 -1.24266943e-01 -1.09168850e-02 1.71422719e+02] [ 1.24262700e-01 9.92248779e-01 -1.06873688e-03 6.14531161e+00] [ 1.09650745e-02 -2.96172873e-04 9.99939838e-01 -2.18713760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.955898227 meters 0.045375589717912265 Centerline is valid? [True, True] Translation: X:171.48, Y:6.13, Z:-2.19 [[ 9.91314000e-01 -1.30994681e-01 -1.17024482e-02 1.71483554e+02] [ 1.30990271e-01 9.91382992e-01 -1.14584455e-03 6.13253073e+00] [ 1.17517077e-02 -3.97015123e-04 9.99930867e-01 -2.18969426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.015898227 meters 0.0478685950481849 Centerline is valid? [True, True] Translation: X:171.54, Y:6.14, Z:-2.19 [[ 9.90701280e-01 -1.35453370e-01 -1.27812096e-02 1.71544211e+02] [ 1.35448478e-01 9.90783601e-01 -1.25161631e-03 6.13513099e+00] [ 1.28329485e-02 -4.91217499e-04 9.99917534e-01 -2.19034117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.075898227 meters 0.049300917440076114 Centerline is valid? [True, True] Translation: X:171.60, Y:6.15, Z:-2.19 [[ 9.90630446e-01 -1.35974952e-01 -1.27330730e-02 1.71602585e+02] [ 1.35970121e-01 9.90712152e-01 -1.24841197e-03 6.14556097e+00] [ 1.27845629e-02 -4.94602571e-04 9.99918152e-01 -2.18886462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.135898227 meters 0.04577213022064872 Centerline is valid? [True, True] Translation: X:171.66, Y:6.15, Z:-2.19 [[ 9.91060251e-01 -1.33042064e-01 -9.96931082e-03 1.71661408e+02] [ 1.33038947e-01 9.91110328e-01 -9.78101049e-04 6.15242199e+00] [ 1.00108155e-02 -3.56949546e-04 9.99949827e-01 -2.18512368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.19589822700001 meters 0.05030863987202148 Centerline is valid? [True, True] Translation: X:171.72, Y:6.16, Z:-2.18 [[ 9.91061308e-01 -1.33151712e-01 -8.25261901e-03 1.71719762e+02] [ 1.33149574e-01 9.91095623e-01 -8.10451759e-04 6.16225934e+00] [ 8.28704762e-03 -2.95625322e-04 9.99965618e-01 -2.18167001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.255898227 meters 0.05095651741473066 Centerline is valid? [True, True] Translation: X:171.78, Y:6.16, Z:-2.19 [[ 9.90655279e-01 -1.36028001e-01 -9.92474662e-03 1.71779391e+02] [ 1.36025043e-01 9.90704919e-01 -9.75578398e-04 6.15924287e+00] [ 9.96520127e-03 -3.83552199e-04 9.99950273e-01 -2.18528081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.315898227 meters 0.05213313129914203 Centerline is valid? [True, True] Translation: X:171.84, Y:6.16, Z:-2.19 [[ 9.89638229e-01 -1.43013402e-01 -1.27805517e-02 1.71839349e+02] [ 1.43009076e-01 9.89720579e-01 -1.25651738e-03 6.16323089e+00] [ 1.28288739e-02 -5.84237263e-04 9.99917536e-01 -2.18910854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.375898227 meters 0.05457127348903105 Centerline is valid? [True, True] Translation: X:171.90, Y:6.16, Z:-2.19 [[ 9.89335397e-01 -1.45236346e-01 -1.10397845e-02 1.71898927e+02] [ 1.45233253e-01 9.89396848e-01 -1.08566950e-03 6.16410548e+00] [ 1.10804066e-02 -5.29252546e-04 9.99938470e-01 -2.18585860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.435898227 meters 0.05598747548109179 Centerline is valid? [True, True] Translation: X:171.96, Y:6.17, Z:-2.18 [[ 9.89597619e-01 -1.43490232e-01 -1.03492436e-02 1.71957896e+02] [ 1.43487415e-01 9.89651618e-01 -1.01804684e-03 6.16765748e+00] [ 1.03882254e-02 -4.77529473e-04 9.99945927e-01 -2.18372513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.495898227 meters 0.050494764790983755 Centerline is valid? [True, True] Translation: X:172.02, Y:6.18, Z:-2.19 [[ 9.90186264e-01 -1.39110980e-01 -1.33902382e-02 1.72016911e+02] [ 1.39105861e-01 9.90276640e-01 -1.31747171e-03 6.18388809e+00] [ 1.34433149e-02 -5.58118219e-04 9.99909479e-01 -2.18877231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.555898227 meters 0.055925798422038764 Centerline is valid? [True, True] Translation: X:172.08, Y:6.19, Z:-2.19 [[ 9.90242528e-01 -1.38730856e-01 -1.31713914e-02 1.72075368e+02] [ 1.38725848e-01 9.90329973e-01 -1.29750308e-03 6.19253331e+00] [ 1.32240274e-02 -5.42369723e-04 9.99912412e-01 -2.18717033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.615898227 meters 0.053287902847095225 Centerline is valid? [True, True] Translation: X:172.14, Y:6.20, Z:-2.19 [[ 9.89507468e-01 -1.43846960e-01 -1.35285895e-02 1.72135512e+02] [ 1.43842143e-01 9.89599747e-01 -1.33351229e-03 6.19911236e+00] [ 1.35797105e-02 -6.26460942e-04 9.99907595e-01 -2.18779416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.675898227 meters 0.060998723583292044 Centerline is valid? [True, True] Translation: X:172.20, Y:6.20, Z:-2.19 [[ 9.88808705e-01 -1.48542406e-01 -1.38744147e-02 1.72195555e+02] [ 1.48537797e-01 9.88905785e-01 -1.36785083e-03 6.19558355e+00] [ 1.39236729e-02 -7.08332193e-04 9.99902810e-01 -2.18860994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.735898227 meters 0.06936883232966226 Centerline is valid? [True, True] Translation: X:172.26, Y:6.19, Z:-2.19 [[ 9.88368278e-01 -1.51501237e-01 -1.32484675e-02 1.72255217e+02] [ 1.51497297e-01 9.88456809e-01 -1.30633372e-03 6.19060293e+00] [ 1.32934491e-02 -7.15968202e-04 9.99911382e-01 -2.18751071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.795898227 meters 0.06849266839982535 Centerline is valid? [True, True] Translation: X:172.31, Y:6.20, Z:-2.19 [[ 9.87895171e-01 -1.54485044e-01 -1.40535781e-02 1.72314630e+02] [ 1.54480908e-01 9.87994802e-01 -1.38589288e-03 6.19735964e+00] [ 1.40989618e-02 -8.01892631e-04 9.99900283e-01 -2.18744263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.855898227 meters 0.0726229377706485 Centerline is valid? [True, True] Translation: X:172.38, Y:6.19, Z:-2.19 [[ 9.87426722e-01 -1.57474542e-01 -1.37926790e-02 1.72375333e+02] [ 1.57470847e-01 9.87522699e-01 -1.36032546e-03 6.19459218e+00] [ 1.38348002e-02 -8.28723128e-04 9.99903951e-01 -2.18687864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.915898227 meters 0.0790120440813425 Centerline is valid? [True, True] Translation: X:172.43, Y:6.19, Z:-2.18 [[ 9.87422432e-01 -1.57722260e-01 -1.09831404e-02 1.72434068e+02] [ 1.57719927e-01 9.87483291e-01 -1.08366956e-03 6.18853018e+00] [ 1.10165864e-02 -6.62220471e-04 9.99939096e-01 -2.18215079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.975898227 meters 0.0652911125023175 Centerline is valid? [True, True] Translation: X:172.49, Y:6.21, Z:-2.18 [[ 9.87759021e-01 -1.55623737e-01 -1.06474612e-02 1.72491926e+02] [ 1.55621420e-01 9.87816212e-01 -1.05084859e-03 6.21174354e+00] [ 1.06812718e-02 -6.18987848e-04 9.99942762e-01 -2.17987506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.035898227 meters 0.0598346534603611 Centerline is valid? [True, True] Translation: X:172.55, Y:6.22, Z:-2.18 [[ 9.88700730e-01 -1.49515499e-01 -1.07695358e-02 1.72551340e+02] [ 1.49512765e-01 9.88759224e-01 -1.06307037e-03 6.22487091e+00] [ 1.08074233e-02 -5.59124621e-04 9.99941442e-01 -2.17931497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.095898227 meters 0.05283990186300226 Centerline is valid? [True, True] Translation: X:172.61, Y:6.24, Z:-2.18 [[ 9.89730718e-01 -1.42573245e-01 -1.02944815e-02 1.72609888e+02] [ 1.42570371e-01 9.89784146e-01 -1.01631066e-03 6.24227955e+00] [ 1.03342133e-02 -4.61814169e-04 9.99946494e-01 -2.17799347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.155898227 meters 0.059116802602777414 Centerline is valid? [True, True] Translation: X:172.67, Y:6.25, Z:-2.18 [[ 9.89814232e-01 -1.41996317e-01 -1.02387561e-02 1.72666899e+02] [ 1.41993439e-01 9.89867082e-01 -1.01121604e-03 6.25023700e+00] [ 1.02785966e-02 -4.52920160e-04 9.99947071e-01 -2.17905547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.215898227 meters 0.05660367796346506 Centerline is valid? [True, True] Translation: X:172.73, Y:6.26, Z:-2.18 [[ 9.89380632e-01 -1.44932265e-01 -1.09819426e-02 1.72726884e+02] [ 1.44929130e-01 9.89441443e-01 -1.08494658e-03 6.25554667e+00] [ 1.10232330e-02 -5.18178261e-04 9.99939108e-01 -2.17990091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.275898227 meters 0.05575115830929289 Centerline is valid? [True, True] Translation: X:172.79, Y:6.26, Z:-2.18 [[ 9.88945744e-01 -1.47705858e-01 -1.30113455e-02 1.72786436e+02] [ 1.47701695e-01 9.89031120e-01 -1.28564300e-03 6.26432957e+00] [ 1.30585226e-02 -6.50366616e-04 9.99914522e-01 -2.18140282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.335898227 meters 0.06449946715541852 Centerline is valid? [True, True] Translation: X:172.85, Y:6.27, Z:-2.18 [[ 9.88418813e-01 -1.51203007e-01 -1.28802645e-02 1.72846834e+02] [ 1.51199221e-01 9.88502491e-01 -1.27285151e-03 6.26839652e+00] [ 1.29246325e-02 -6.89375577e-04 9.99916236e-01 -2.18125677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.395898227 meters 0.06550658134903106 Centerline is valid? [True, True] Translation: X:172.91, Y:6.27, Z:-2.18 [[ 9.87293005e-01 -1.58462371e-01 -1.19247296e-02 1.72907272e+02] [ 1.58459651e-01 9.87364750e-01 -1.17861031e-03 6.26525819e+00] [ 1.19608230e-02 -7.25954769e-04 9.99928203e-01 -2.17893857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.455898227 meters 0.0722038843323464 Centerline is valid? [True, True] Translation: X:172.97, Y:6.26, Z:-2.18 [[ 9.86399198e-01 -1.63830957e-01 -1.32679956e-02 1.72966745e+02] [ 1.63828069e-01 9.86488035e-01 -1.31162313e-03 6.26066398e+00] [ 1.33036033e-02 -8.79886093e-04 9.99911116e-01 -2.18149274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.515898227 meters 0.07569711531342703 Centerline is valid? [True, True] Translation: X:173.03, Y:6.26, Z:-2.18 [[ 9.85666934e-01 -1.68202747e-01 -1.29819568e-02 1.73027587e+02] [ 1.68200358e-01 9.85751993e-01 -1.28344578e-03 6.25841805e+00] [ 1.30128689e-02 -9.18519720e-04 9.99914907e-01 -2.18136291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.575898227 meters 0.07577674449531198 Centerline is valid? [True, True] Translation: X:173.09, Y:6.26, Z:-2.18 [[ 9.85453427e-01 -1.69359930e-01 -1.40981310e-02 1.73087045e+02] [ 1.69357225e-01 9.85553746e-01 -1.39417828e-03 6.25989032e+00] [ 1.41305837e-02 -1.01372257e-03 9.99899644e-01 -2.18137712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.635898227 meters 0.0755689089111606 Centerline is valid? [True, True] Translation: X:173.15, Y:6.26, Z:-2.18 [[ 9.86186817e-01 -1.65045654e-01 -1.39818913e-02 1.73145949e+02] [ 1.65042557e-01 9.86285477e-01 -1.38304756e-03 6.26334513e+00] [ 1.40184023e-02 -9.43663824e-04 9.99901292e-01 -2.18179338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.69589822700001 meters 0.06771266648665168 Centerline is valid? [True, True] Translation: X:173.21, Y:6.28, Z:-2.18 [[ 9.87217251e-01 -1.58899050e-01 -1.23770467e-02 1.73205231e+02] [ 1.58896137e-01 9.87294545e-01 -1.22462423e-03 6.27874043e+00] [ 1.24143823e-02 -7.57694745e-04 9.99922652e-01 -2.17928544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.755898227 meters 0.05922199604375397 Centerline is valid? [True, True] Translation: X:173.26, Y:6.30, Z:-2.18 [[ 9.88487238e-01 -1.50859226e-01 -1.15962925e-02 1.73263447e+02] [ 1.50856114e-01 9.88555065e-01 -1.14763417e-03 6.29593454e+00] [ 1.16367049e-02 -6.14949893e-04 9.99932102e-01 -2.17878133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.815898227 meters 0.06189800401087928 Centerline is valid? [True, True] Translation: X:173.32, Y:6.30, Z:-2.18 [[ 9.88602381e-01 -1.49925592e-01 -1.36985004e-02 1.73321434e+02] [ 1.49921151e-01 9.88697026e-01 -1.35635868e-03 6.29954746e+00] [ 1.37470194e-02 -7.12795514e-04 9.99905251e-01 -2.18265562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.875898227 meters 0.05746384665361646 Centerline is valid? [True, True] Translation: X:173.38, Y:6.31, Z:-2.18 [[ 9.88423357e-01 -1.51000235e-01 -1.47714874e-02 1.73379041e+02] [ 1.50995159e-01 9.88533417e-01 -1.46472455e-03 6.31221906e+00] [ 1.48232827e-02 -7.82655132e-04 9.99889823e-01 -2.18272649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.935898227 meters 0.05932375124566002 Centerline is valid? [True, True] Translation: X:173.44, Y:6.31, Z:-2.18 [[ 9.88445823e-01 -1.51055202e-01 -1.25371786e-02 1.73437160e+02] [ 1.51051536e-01 9.88525106e-01 -1.24427736e-03 6.31432635e+00] [ 1.25812704e-02 -6.63859333e-04 9.99920632e-01 -2.17948296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.995898227 meters 0.05994330523509313 Centerline is valid? [True, True] Translation: X:173.50, Y:6.33, Z:-2.18 [[ 9.88732831e-01 -1.49174012e-01 -1.24299286e-02 1.73495962e+02] [ 1.49170255e-01 9.88810757e-01 -1.23407736e-03 6.32541535e+00] [ 1.24749394e-02 -6.34002812e-04 9.99921984e-01 -2.17816006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.055898227 meters 0.05780189315390752 Centerline is valid? [True, True] Translation: X:173.56, Y:6.33, Z:-2.18 [[ 9.89218881e-01 -1.45840633e-01 -1.32859353e-02 1.73555097e+02] [ 1.45836037e-01 9.89307894e-01 -1.31937343e-03 6.33097997e+00] [ 1.33362990e-02 -6.32419041e-04 9.99910868e-01 -2.18075938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.115898227 meters 0.04830233737477276 Centerline is valid? [True, True] Translation: X:173.61, Y:6.35, Z:-2.18 [[ 9.89919112e-01 -1.41048970e-01 -1.28584624e-02 1.73612949e+02] [ 1.41044257e-01 9.90002468e-01 -1.27715626e-03 6.35181817e+00] [ 1.29100511e-02 -5.49330890e-04 9.99916511e-01 -2.17865163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.175898227 meters 0.05235168107432571 Centerline is valid? [True, True] Translation: X:173.67, Y:6.35, Z:-2.18 [[ 9.89926710e-01 -1.41090226e-01 -1.17752742e-02 1.73670550e+02] [ 1.41086270e-01 9.89996614e-01 -1.17010372e-03 6.35248230e+00] [ 1.18225718e-02 -5.03012596e-04 9.99929984e-01 -2.17824236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.235898227 meters 0.05145692011503681 Centerline is valid? [True, True] Translation: X:173.73, Y:6.36, Z:-2.18 [[ 9.89731042e-01 -1.42456535e-01 -1.17728711e-02 1.73728456e+02] [ 1.42452666e-01 9.89800923e-01 -1.17080561e-03 6.35903807e+00] [ 1.18195876e-02 -5.18294227e-04 9.99930012e-01 -2.17658351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.295898227 meters 0.0511173701559847 Centerline is valid? [True, True] Translation: X:173.79, Y:6.37, Z:-2.18 [[ 9.89924408e-01 -1.41023130e-01 -1.27335637e-02 1.73786717e+02] [ 1.41018476e-01 9.90006153e-01 -1.26714468e-03 6.36943880e+00] [ 1.27850031e-02 -5.41290298e-04 9.99918122e-01 -2.17666476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.355898227 meters 0.04699254554278312 Centerline is valid? [True, True] Translation: X:173.84, Y:6.39, Z:-2.18 [[ 9.90572607e-01 -1.36367803e-01 -1.30281480e-02 1.73844296e+02] [ 1.36362523e-01 9.90658155e-01 -1.29685110e-03 6.38547431e+00] [ 1.30832898e-02 -4.91925955e-04 9.99914289e-01 -2.17560608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.415898227 meters 0.03738232335889924 Centerline is valid? [True, True] Translation: X:173.90, Y:6.41, Z:-2.17 [[ 9.91800664e-01 -1.27288794e-01 -1.13580721e-02 1.73901385e+02] [ 1.27284183e-01 9.91865645e-01 -1.13083120e-03 6.41102342e+00] [ 1.14096237e-02 -3.24143797e-04 9.99934856e-01 -2.17143046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.475898227 meters 0.03179182666263967 Centerline is valid? [True, True] Translation: X:173.96, Y:6.43, Z:-2.17 [[ 9.92432241e-01 -1.22367168e-01 -1.02236722e-02 1.73959324e+02] [ 1.22363169e-01 9.92484871e-01 -1.01810232e-03 6.43078210e+00] [ 1.02714223e-02 -2.40603364e-04 9.99947219e-01 -2.16912571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.535898227 meters 0.024986840157319706 Centerline is valid? [True, True] Translation: X:174.02, Y:6.45, Z:-2.16 [[ 9.93195607e-01 -1.16211289e-01 -7.57780967e-03 1.74016544e+02] [ 1.16208912e-01 9.93224506e-01 -7.54768195e-04 6.45373689e+00] [ 7.61417885e-03 -1.30976558e-04 9.99971003e-01 -2.16433158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.595898227 meters 0.0218057900339765 Centerline is valid? [True, True] Translation: X:174.07, Y:6.47, Z:-2.16 [[ 9.93515630e-01 -1.13448364e-01 -7.49414984e-03 1.74074282e+02] [ 1.13445956e-01 9.93543888e-01 -7.47064905e-04 6.47015794e+00] [ 7.53052006e-03 -1.07960330e-04 9.99971639e-01 -2.16362782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.655898227 meters 0.027489444093889856 Centerline is valid? [True, True] Translation: X:174.13, Y:6.49, Z:-2.16 [[ 9.93886364e-01 -1.10159497e-01 -7.40144833e-03 1.74131257e+02] [ 1.10157048e-01 9.93913919e-01 -7.38953701e-04 6.48900141e+00] [ 7.43780528e-03 -8.08856930e-05 9.99972336e-01 -2.16289105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.715898227 meters 0.014034637290557624 Centerline is valid? [True, True] Translation: X:174.19, Y:6.51, Z:-2.16 [[ 9.94375238e-01 -1.05708482e-01 -6.60329171e-03 1.74186972e+02] [ 1.05706430e-01 9.94397162e-01 -6.60021634e-04 6.51169633e+00] [ 6.63606441e-03 -4.17012210e-05 9.99977980e-01 -2.16128940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.775898227 meters 0.013085198076736505 Centerline is valid? [True, True] Translation: X:174.24, Y:6.53, Z:-2.16 [[ 9.94519739e-01 -1.04331001e-01 -6.74765675e-03 1.74243306e+02] [ 1.04328822e-01 9.94542629e-01 -6.74999211e-04 6.52572883e+00] [ 6.78125563e-03 -3.26750438e-05 9.99977006e-01 -2.16212775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.835898227 meters 0.013415370100202053 Centerline is valid? [True, True] Translation: X:174.30, Y:6.53, Z:-2.16 [[ 9.94463224e-01 -1.04875611e-01 -6.63346831e-03 1.74300504e+02] [ 1.04873512e-01 9.94485347e-01 -6.64350335e-04 6.53320991e+00] [ 6.66656118e-03 -3.50031458e-05 9.99977778e-01 -2.16152540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.895898227 meters 0.014655343762563132 Centerline is valid? [True, True] Translation: X:174.36, Y:6.54, Z:-2.16 [[ 9.94314761e-01 -1.06202177e-01 -7.69768828e-03 1.74358030e+02] [ 1.06199384e-01 9.94344555e-01 -7.71921639e-04 6.54038681e+00] [ 7.73613419e-03 -4.99566719e-05 9.99970074e-01 -2.16326009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.955898227 meters 0.014500330369493981 Centerline is valid? [True, True] Translation: X:174.42, Y:6.55, Z:-2.17 [[ 9.94334124e-01 -1.05874118e-01 -9.50372078e-03 1.74416067e+02] [ 1.05869834e-01 9.94379539e-01 -9.54111512e-04 6.54865658e+00] [ 9.55132120e-03 -5.74517078e-05 9.99954383e-01 -2.16662403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.015898227 meters 0.012857678207916098 Centerline is valid? [True, True] Translation: X:174.47, Y:6.56, Z:-2.17 [[ 9.94581323e-01 -1.03527216e-01 -9.49253639e-03 1.74474482e+02] [ 1.03522823e-01 9.94626621e-01 -9.54331540e-04 6.56057493e+00] [ 9.54032868e-03 -3.35338409e-05 9.99954489e-01 -2.16608834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.075898227 meters 0.01311455005123379 Centerline is valid? [True, True] Translation: X:174.53, Y:6.59, Z:-2.16 [[ 9.95369245e-01 -9.57869133e-02 -8.05808289e-03 1.74530624e+02] [ 9.57834843e-02 9.95401862e-01 -8.11269891e-04 6.58619433e+00] [ 8.09873974e-03 3.56818434e-05 9.99967204e-01 -2.16411597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.135898227 meters 0.016309868142948696 Centerline is valid? [True, True] Translation: X:174.59, Y:6.60, Z:-2.16 [[ 9.95686907e-01 -9.24456204e-02 -7.83519819e-03 1.74587985e+02] [ 9.24422654e-02 9.95717733e-01 -7.90049895e-04 6.59965119e+00] [ 7.87468243e-03 6.23388654e-05 9.99968992e-01 -2.16336365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.19589822700001 meters 0.01841381963818855 Centerline is valid? [True, True] Translation: X:174.65, Y:6.61, Z:-2.17 [[ 9.95778807e-01 -9.11191318e-02 -1.10395499e-02 1.74646623e+02] [ 9.11123693e-02 9.95839994e-01 -1.11501419e-03 6.60790188e+00] [ 1.10952244e-02 1.04467954e-04 9.99938441e-01 -2.17041377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.255898227 meters 0.02879789673330281 Centerline is valid? [True, True] Translation: X:174.71, Y:6.61, Z:-2.17 [[ 9.95766314e-01 -9.10924192e-02 -1.23133480e-02 1.74705133e+02] [ 9.10839808e-02 9.95842436e-01 -1.24554149e-03 6.61316148e+00] [ 1.23756139e-02 1.18719508e-04 9.99923412e-01 -2.17158264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.315898227 meters 0.016309489776112806 Centerline is valid? [True, True] Translation: X:174.76, Y:6.61, Z:-2.16 [[ 9.95933292e-01 -8.93301790e-02 -1.17045485e-02 1.74764012e+02] [ 8.93224103e-02 9.96002059e-01 -1.18586462e-03 6.61287235e+00] [ 1.17636879e-02 1.35563573e-04 9.99930796e-01 -2.16467122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.375898227 meters 0.035532112543245925 Centerline is valid? [True, True] Translation: X:174.82, Y:6.64, Z:-2.17 [[ 9.96495822e-01 -8.28393123e-02 -1.15639928e-02 1.74819773e+02] [ 8.28312795e-02 9.96562895e-01 -1.17268392e-03 6.63922663e+00] [ 1.16213905e-02 2.10714308e-04 9.99932447e-01 -2.17001807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.435898227 meters 0.025607314907675618 Centerline is valid? [True, True] Translation: X:174.88, Y:6.64, Z:-2.16 [[ 9.96801455e-01 -7.91694858e-02 -1.09111319e-02 1.74879938e+02] [ 7.91621108e-02 9.96861141e-01 -1.10683187e-03 6.63636205e+00] [ 1.09645107e-02 2.39543383e-04 9.99939859e-01 -2.16484173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.495898227 meters 0.027684945596585787 Centerline is valid? [True, True] Translation: X:174.94, Y:6.64, Z:-2.16 [[ 9.96953981e-01 -7.72178147e-02 -1.09621216e-02 1.74938331e+02] [ 7.72102386e-02 9.97014212e-01 -1.11328297e-03 6.64465085e+00] [ 1.10153563e-02 2.63503868e-04 9.99939294e-01 -2.16343810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.555898227 meters 0.038849381728659205 Centerline is valid? [True, True] Translation: X:175.00, Y:6.65, Z:-2.16 [[ 9.97009156e-01 -7.65929541e-02 -1.03083959e-02 1.74997128e+02] [ 7.65862035e-02 9.97062412e-01 -1.04860485e-03 6.64988456e+00] [ 1.03584298e-02 2.55987734e-04 9.99946317e-01 -2.16216784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.615898227 meters 0.02895407847885856 Centerline is valid? [True, True] Translation: X:175.05, Y:6.66, Z:-2.16 [[ 9.96980394e-01 -7.69136848e-02 -1.06948390e-02 1.75054074e+02] [ 7.69064234e-02 9.97037720e-01 -1.08918579e-03 6.65556105e+00] [ 1.07469312e-02 2.63395065e-04 9.99942215e-01 -2.16410529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.675898227 meters 0.027927782492119763 Centerline is valid? [True, True] Translation: X:175.11, Y:6.66, Z:-2.16 [[ 9.96906723e-01 -7.79573391e-02 -9.98189365e-03 1.75112800e+02] [ 7.79510528e-02 9.96956668e-01 -1.01788968e-03 6.66039461e+00] [ 1.00308674e-02 2.36641946e-04 9.99949662e-01 -2.16010872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.735898227 meters 0.028472085966114006 Centerline is valid? [True, True] Translation: X:175.17, Y:6.67, Z:-2.16 [[ 9.96865615e-01 -7.84308553e-02 -1.03704397e-02 1.75169828e+02] [ 7.84240759e-02 9.96919526e-01 -1.05939944e-03 6.66799839e+00] [ 1.04215835e-02 2.42786726e-04 9.99945664e-01 -2.15919392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.795898227 meters 0.02839021195953956 Centerline is valid? [True, True] Translation: X:175.23, Y:6.68, Z:-2.16 [[ 9.96907507e-01 -7.78079713e-02 -1.10155368e-02 1.75227939e+02] [ 7.78002624e-02 9.96968329e-01 -1.12726528e-03 6.67627178e+00] [ 1.10698516e-02 2.66767565e-04 9.99938692e-01 -2.16016338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.855898227 meters 0.028570918068962864 Centerline is valid? [True, True] Translation: X:175.29, Y:6.68, Z:-2.15 [[ 9.96867980e-01 -7.87106203e-02 -7.67260785e-03 1.75285163e+02] [ 7.87069019e-02 9.96897490e-01 -7.85846995e-04 6.68482824e+00] [ 7.71065802e-03 1.79498512e-04 9.99970256e-01 -2.15460826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.915898227 meters 0.023521476434128254 Centerline is valid? [True, True] Translation: X:175.35, Y:6.68, Z:-2.15 [[ 9.96519165e-01 -8.30389124e-02 -7.35478740e-03 1.75345720e+02] [ 8.30356116e-02 9.96546296e-01 -7.53558139e-04 6.68439001e+00] [ 7.39196079e-03 1.40225858e-04 9.99972669e-01 -2.15491636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.975898227 meters 0.01860326296523506 Centerline is valid? [True, True] Translation: X:175.41, Y:6.68, Z:-2.16 [[ 9.96036185e-01 -8.84555772e-02 -9.35572921e-03 1.75405338e+02] [ 8.84504663e-02 9.96080114e-01 -9.59465514e-04 6.68323553e+00] [ 9.40392589e-03 1.28143759e-04 9.99955774e-01 -2.15796540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.035898227 meters 0.015803348854655886 Centerline is valid? [True, True] Translation: X:175.46, Y:6.69, Z:-2.16 [[ 9.95670278e-01 -9.22908046e-02 -1.10952540e-02 1.75463651e+02] [ 9.22838330e-02 9.95732090e-01 -1.13977177e-03 6.68851257e+00] [ 1.11530909e-02 1.10924303e-04 9.99937796e-01 -2.15862625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.095898227 meters 0.014008307989829155 Centerline is valid? [True, True] Translation: X:175.52, Y:6.69, Z:-2.16 [[ 9.95418497e-01 -9.50596857e-02 -1.02796558e-02 1.75522235e+02] [ 9.50538319e-02 9.95471572e-01 -1.05764335e-03 6.69315531e+00] [ 1.03336443e-02 7.56770854e-05 9.99946604e-01 -2.15818590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.155898227 meters 0.013797260623932169 Centerline is valid? [True, True] Translation: X:175.58, Y:6.69, Z:-2.16 [[ 9.94843787e-01 -1.01031986e-01 -8.85307772e-03 1.75580191e+02] [ 1.01027873e-01 9.94883178e-01 -9.11716843e-04 6.69470613e+00] [ 8.89989066e-03 1.26082211e-05 9.99960395e-01 -2.15652166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.215898227 meters 0.02992408280220339 Centerline is valid? [True, True] Translation: X:175.64, Y:6.70, Z:-2.16 [[ 9.94663509e-01 -1.02594125e-01 -1.09064083e-02 1.75638470e+02] [ 1.02587961e-01 9.94723301e-01 -1.12458726e-03 6.70166631e+00] [ 1.09642345e-02 -2.80280648e-07 9.99939891e-01 -2.15990854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.275898227 meters 0.012045420575183681 Centerline is valid? [True, True] Translation: X:175.70, Y:6.71, Z:-2.16 [[ 9.94380118e-01 -1.05224851e-01 -1.16580941e-02 1.75696761e+02] [ 1.05217965e-01 9.94448455e-01 -1.20407280e-03 6.71039730e+00] [ 1.17200720e-02 -2.93348884e-05 9.99931317e-01 -2.15897464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.335898227 meters 0.019324062466844545 Centerline is valid? [True, True] Translation: X:175.76, Y:6.72, Z:-2.16 [[ 9.93883689e-01 -1.09720450e-01 -1.25154395e-02 1.75755740e+02] [ 1.09712844e-01 9.93962482e-01 -1.29478167e-03 6.71618061e+00] [ 1.25819413e-02 -8.62420794e-05 9.99920841e-01 -2.16007060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.395898227 meters 0.02541872760712942 Centerline is valid? [True, True] Translation: X:175.81, Y:6.72, Z:-2.16 [[ 9.93354929e-01 -1.14401032e-01 -1.25852314e-02 1.75814644e+02] [ 1.14393690e-01 9.93434640e-01 -1.30413878e-03 6.71808516e+00] [ 1.26517997e-02 -1.44198367e-04 9.99919952e-01 -2.16002161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.455898227 meters 0.024885105869086793 Centerline is valid? [True, True] Translation: X:175.88, Y:6.72, Z:-2.16 [[ 9.92417736e-01 -1.22434487e-01 -1.08089408e-02 1.75875392e+02] [ 1.22429539e-01 9.92476575e-01 -1.12073138e-03 6.71717324e+00] [ 1.08648368e-02 -2.11099951e-04 9.99940954e-01 -2.15730015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.515898227 meters 0.031188456308868434 Centerline is valid? [True, True] Translation: X:175.94, Y:6.72, Z:-2.16 [[ 9.91688558e-01 -1.28206848e-01 -1.08078067e-02 1.75936273e+02] [ 1.28202243e-01 9.91747412e-01 -1.12066180e-03 6.71652561e+00] [ 1.08622909e-02 -2.74237584e-04 9.99940966e-01 -2.15792294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.575898227 meters 0.037995828617627535 Centerline is valid? [True, True] Translation: X:176.00, Y:6.71, Z:-2.16 [[ 9.91063284e-01 -1.32868165e-01 -1.18159671e-02 1.75996452e+02] [ 1.32862991e-01 9.91133656e-01 -1.22529194e-03 6.71483310e+00] [ 1.18740049e-02 -3.55562873e-04 9.99929438e-01 -2.15953553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.635898227 meters 0.04047157882261212 Centerline is valid? [True, True] Translation: X:176.06, Y:6.72, Z:-2.16 [[ 9.90539838e-01 -1.36647628e-01 -1.25799750e-02 1.76056433e+02] [ 1.36642066e-01 9.90619626e-01 -1.30467075e-03 6.72130822e+00] [ 1.26402503e-02 -4.26625417e-04 9.99920018e-01 -2.15805860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.69589822700001 meters 0.04241455734643596 Centerline is valid? [True, True] Translation: X:176.11, Y:6.73, Z:-2.16 [[ 9.90600737e-01 -1.36182592e-01 -1.28250652e-02 1.76114304e+02] [ 1.36176762e-01 9.90683662e-01 -1.33090770e-03 6.72775438e+00] [ 1.28868291e-02 -4.28077702e-04 9.99916870e-01 -2.15868563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.755898227 meters 0.03776526779677887 Centerline is valid? [True, True] Translation: X:176.17, Y:6.74, Z:-2.16 [[ 9.90610910e-01 -1.36080296e-01 -1.31216611e-02 1.76170770e+02] [ 1.36074155e-01 9.90697716e-01 -1.36383215e-03 6.74143354e+00] [ 1.31851904e-02 -4.34491946e-04 9.99912977e-01 -2.15761804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.815898227 meters 0.043255740286532535 Centerline is valid? [True, True] Translation: X:176.23, Y:6.75, Z:-2.16 [[ 9.90450719e-01 -1.37279543e-01 -1.27161601e-02 1.76228649e+02] [ 1.37273858e-01 9.90532250e-01 -1.32296296e-03 6.74695646e+00] [ 1.27773824e-02 -4.35266745e-04 9.99918271e-01 -2.15837250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.875898227 meters 0.04356900469857867 Centerline is valid? [True, True] Translation: X:176.29, Y:6.75, Z:-2.16 [[ 9.90341067e-01 -1.38191585e-01 -1.12985181e-02 1.76286418e+02] [ 1.38187149e-01 9.90405436e-01 -1.17611118e-03 6.75005168e+00] [ 1.13526424e-02 -3.96558804e-04 9.99935478e-01 -2.15607281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.935898227 meters 0.040771280532233126 Centerline is valid? [True, True] Translation: X:176.34, Y:6.76, Z:-2.16 [[ 9.90328218e-01 -1.38079814e-01 -1.35641141e-02 1.76343919e+02] [ 1.38073384e-01 9.90420992e-01 -1.41383150e-03 6.76161787e+00] [ 1.36294050e-02 -4.72685910e-04 9.99907004e-01 -2.15829218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.995898227 meters 0.04682234622458973 Centerline is valid? [True, True] Translation: X:176.40, Y:6.77, Z:-2.16 [[ 9.90054053e-01 -1.39917849e-01 -1.46958175e-02 1.76401853e+02] [ 1.39910485e-01 9.90162969e-01 -1.53310451e-03 6.76601212e+00] [ 1.47657630e-02 -5.38242610e-04 9.99890835e-01 -2.16044058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.055898227 meters 0.04546964416760343 Centerline is valid? [True, True] Translation: X:176.46, Y:6.77, Z:-2.16 [[ 9.89735602e-01 -1.42371175e-01 -1.24050689e-02 1.76460618e+02] [ 1.42366114e-01 9.89813221e-01 -1.29461506e-03 6.77360956e+00] [ 1.24630171e-02 -4.84734847e-04 9.99922216e-01 -2.15554362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.115898227 meters 0.04787628259196084 Centerline is valid? [True, True] Translation: X:176.52, Y:6.78, Z:-2.16 [[ 9.89617287e-01 -1.43159767e-01 -1.27634940e-02 1.76517907e+02] [ 1.43154466e-01 9.89699461e-01 -1.33268647e-03 6.77848049e+00] [ 1.28228102e-02 -5.08301604e-04 9.99917655e-01 -2.15624243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.175898227 meters 0.047777388708138926 Centerline is valid? [True, True] Translation: X:176.58, Y:6.79, Z:-2.16 [[ 9.89449554e-01 -1.44354550e-01 -1.23022197e-02 1.76576420e+02] [ 1.44349698e-01 9.89525902e-01 -1.28612603e-03 6.78809043e+00] [ 1.23590232e-02 -5.03264870e-04 9.99923498e-01 -2.15509315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.235898227 meters 0.052628380878516005 Centerline is valid? [True, True] Translation: X:176.63, Y:6.79, Z:-2.15 [[ 9.89133256e-01 -1.46611664e-01 -1.09736457e-02 1.76634804e+02] [ 1.46607933e-01 9.89194013e-01 -1.14805962e-03 6.79389153e+00] [ 1.10233835e-02 -4.73239556e-04 9.99939129e-01 -2.15366441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.295898227 meters 0.05771895510964655 Centerline is valid? [True, True] Translation: X:176.69, Y:6.80, Z:-2.16 [[ 9.88792745e-01 -1.48736583e-01 -1.28971704e-02 1.76693551e+02] [ 1.48731606e-01 9.88876680e-01 -1.34951953e-03 6.79845146e+00] [ 1.29544340e-02 -5.83821750e-04 9.99915917e-01 -2.15666498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.355898227 meters 0.06071577798184674 Centerline is valid? [True, True] Translation: X:176.75, Y:6.81, Z:-2.16 [[ 9.88439628e-01 -1.50972040e-01 -1.39479024e-02 1.76752878e+02] [ 1.50966439e-01 9.88537811e-01 -1.45962010e-03 6.80802208e+00] [ 1.40083908e-02 -6.62918821e-04 9.99901658e-01 -2.15870863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.415898227 meters 0.05684015570116707 Centerline is valid? [True, True] Translation: X:176.81, Y:6.83, Z:-2.15 [[ 9.87631260e-01 -1.56256046e-01 -1.29823719e-02 1.76811131e+02] [ 1.56251647e-01 9.87716344e-01 -1.35874246e-03 6.82916794e+00] [ 1.30352127e-02 -6.86580469e-04 9.99914802e-01 -2.15465097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.475898227 meters 0.0710173980392725 Centerline is valid? [True, True] Translation: X:176.87, Y:6.82, Z:-2.16 [[ 9.86684203e-01 -1.62153456e-01 -1.26704702e-02 1.76871649e+02] [ 1.62149747e-01 9.86765271e-01 -1.32634616e-03 6.82220832e+00] [ 1.27178516e-02 -7.45828739e-04 9.99918847e-01 -2.15603654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.535898227 meters 0.08919364379983366 Centerline is valid? [True, True] Translation: X:176.93, Y:6.81, Z:-2.16 [[ 9.85167466e-01 -1.71097146e-01 -1.30702264e-02 1.76932027e+02] [ 1.71093980e-01 9.85253763e-01 -1.36831196e-03 6.81145562e+00] [ 1.31116040e-02 -8.88220619e-04 9.99913645e-01 -2.15689639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.595898227 meters 0.09722908604680255 Centerline is valid? [True, True] Translation: X:176.99, Y:6.81, Z:-2.16 [[ 9.84138811e-01 -1.76857957e-01 -1.38587456e-02 1.76992770e+02] [ 1.76854963e-01 9.84235854e-01 -1.45102600e-03 6.80940263e+00] [ 1.38968998e-02 -1.02297693e-03 9.99902910e-01 -2.15853880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.655898227 meters 0.0857489647894107 Centerline is valid? [True, True] Translation: X:177.05, Y:6.83, Z:-2.16 [[ 9.83245552e-01 -1.81727979e-01 -1.42522202e-02 1.77051076e+02] [ 1.81725319e-01 9.83348199e-01 -1.49236347e-03 6.83109604e+00] [ 1.42860992e-02 -1.12262951e-03 9.99897318e-01 -2.15533180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.715898227 meters 0.08453487615370196 Centerline is valid? [True, True] Translation: X:177.11, Y:6.84, Z:-2.15 [[ 9.83644766e-01 -1.79606765e-01 -1.35788121e-02 1.77111111e+02] [ 1.79604148e-01 9.83737937e-01 -1.42197843e-03 6.83851219e+00] [ 1.36133895e-02 -1.04008933e-03 9.99906793e-01 -2.15381008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.775898227 meters 0.06951579483068285 Centerline is valid? [True, True] Translation: X:177.17, Y:6.86, Z:-2.15 [[ 9.84165783e-01 -1.76693974e-01 -1.40339557e-02 1.77169329e+02] [ 1.76690878e-01 9.84265296e-01 -1.46997095e-03 6.86317090e+00] [ 1.40728705e-02 -1.03297684e-03 9.99900439e-01 -2.15209656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.835898227 meters 0.08393400471771016 Centerline is valid? [True, True] Translation: X:177.23, Y:6.85, Z:-2.16 [[ 9.84785951e-01 -1.73175852e-01 -1.43789562e-02 1.77229778e+02] [ 1.73172224e-01 9.84890406e-01 -1.50655078e-03 6.84941123e+00] [ 1.44225942e-02 -1.00640577e-03 9.99895482e-01 -2.15667389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.895898227 meters 0.06809633135003913 Centerline is valid? [True, True] Translation: X:177.29, Y:6.88, Z:-2.15 [[ 9.85158991e-01 -1.71188900e-01 -1.24949365e-02 1.77287939e+02] [ 1.71185998e-01 9.85237859e-01 -1.30935171e-03 6.87520987e+00] [ 1.25346310e-02 -8.49038568e-04 9.99921078e-01 -2.15150332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.955898227 meters 0.0730378320462032 Centerline is valid? [True, True] Translation: X:177.35, Y:6.87, Z:-2.15 [[ 9.85300243e-01 -1.70282420e-01 -1.36867723e-02 1.77346839e+02] [ 1.70278842e-01 9.85394874e-01 -1.43487945e-03 6.86889989e+00] [ 1.37312100e-02 -9.16780676e-04 9.99905302e-01 -2.15328800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.015898227 meters 0.0793683013745589 Centerline is valid? [True, True] Translation: X:177.41, Y:6.86, Z:-2.16 [[ 9.85491509e-01 -1.68961996e-01 -1.60726386e-02 1.77405366e+02] [ 1.68956867e-01 9.85622003e-01 -1.68627357e-03 6.86495397e+00] [ 1.61264624e-02 -1.05377438e-03 9.99869405e-01 -2.15833301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.075898227 meters 0.06904549426984508 Centerline is valid? [True, True] Translation: X:177.46, Y:6.88, Z:-2.16 [[ 9.85538025e-01 -1.68706545e-01 -1.59029392e-02 1.77462361e+02] [ 1.68701454e-01 9.85665779e-01 -1.67078018e-03 6.88201979e+00] [ 1.59568545e-02 -1.03623157e-03 9.99872144e-01 -2.15547643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.135898227 meters 0.07457140375622441 Centerline is valid? [True, True] Translation: X:177.52, Y:6.88, Z:-2.16 [[ 9.85380009e-01 -1.69654662e-01 -1.56055530e-02 1.77521620e+02] [ 1.69649862e-01 9.85503035e-01 -1.64059675e-03 6.87740217e+00] [ 1.56576548e-02 -1.03086867e-03 9.99876880e-01 -2.15621953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.19589822700001 meters 0.06747336435674137 Centerline is valid? [True, True] Translation: X:177.58, Y:6.89, Z:-2.15 [[ 9.85472694e-01 -1.69038065e-01 -1.64225778e-02 1.77579663e+02] [ 1.69032626e-01 9.85608940e-01 -1.72875314e-03 6.88850863e+00] [ 1.64784646e-02 -1.07231245e-03 9.99863646e-01 -2.15440501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.255898227 meters 0.06968443542614138 Centerline is valid? [True, True] Translation: X:177.64, Y:6.89, Z:-2.16 [[ 9.85451426e-01 -1.69103679e-01 -1.70127377e-02 1.77636221e+02] [ 1.69097806e-01 9.85597644e-01 -1.79354067e-03 6.89104271e+00] [ 1.70710085e-02 -1.10936941e-03 9.99853664e-01 -2.15510751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.315898227 meters 0.07277588442261262 Centerline is valid? [True, True] Translation: X:177.69, Y:6.89, Z:-2.16 [[ 9.85341595e-01 -1.69674611e-01 -1.76767451e-02 1.77694206e+02] [ 1.69668335e-01 9.85499456e-01 -1.86513621e-03 6.88899992e+00] [ 1.77368889e-02 -1.16138762e-03 9.99842014e-01 -2.15638447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.375898227 meters 0.06797432351434186 Centerline is valid? [True, True] Translation: X:177.75, Y:6.90, Z:-2.15 [[ 9.85265807e-01 -1.70395514e-01 -1.47193466e-02 1.77751770e+02] [ 1.70391208e-01 9.85375267e-01 -1.55541641e-03 6.89992141e+00] [ 1.47691160e-02 -9.75548638e-04 9.99890455e-01 -2.14939607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.435898227 meters 0.07586497533513777 Centerline is valid? [True, True] Translation: X:177.81, Y:6.90, Z:-2.15 [[ 9.84984730e-01 -1.72175888e-01 -1.26706531e-02 1.77810988e+02] [ 1.72172829e-01 9.85065846e-01 -1.34000753e-03 6.89576821e+00] [ 1.27121446e-02 -8.61655242e-04 9.99918826e-01 -2.14587115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.495898227 meters 0.07670353349027653 Centerline is valid? [True, True] Translation: X:177.87, Y:6.90, Z:-2.15 [[ 9.84795686e-01 -1.73119893e-01 -1.43861139e-02 1.77870483e+02] [ 1.73116045e-01 9.84900258e-01 -1.52188648e-03 6.90087501e+00] [ 1.44323562e-02 -9.91719901e-04 9.99895356e-01 -2.14713696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.555898227 meters 0.07737726857944036 Centerline is valid? [True, True] Translation: X:177.93, Y:6.91, Z:-2.15 [[ 9.84629005e-01 -1.74110955e-01 -1.38237833e-02 1.77928485e+02] [ 1.74107475e-01 9.84725568e-01 -1.46409217e-03 6.91129158e+00] [ 1.38675473e-02 -9.65236390e-04 9.99903375e-01 -2.14528412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.615898227 meters 0.07568563957629613 Centerline is valid? [True, True] Translation: X:177.99, Y:6.92, Z:-2.14 [[ 9.84471655e-01 -1.75046459e-01 -1.32022140e-02 1.77987323e+02] [ 1.75043357e-01 9.84559732e-01 -1.39909445e-03 6.92200297e+00] [ 1.32432748e-02 -9.33591032e-04 9.99911868e-01 -2.14332917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.675898227 meters 0.07638188950481642 Centerline is valid? [True, True] Translation: X:178.05, Y:6.93, Z:-2.14 [[ 9.84382099e-01 -1.75601312e-01 -1.24924621e-02 1.78046153e+02] [ 1.75598561e-01 9.84460964e-01 -1.32537174e-03 6.92741480e+00] [ 1.25310783e-02 -8.88986156e-04 9.99921088e-01 -2.14192535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.735898227 meters 0.07888468420751314 Centerline is valid? [True, True] Translation: X:178.10, Y:6.93, Z:-2.14 [[ 9.84292980e-01 -1.76158576e-01 -1.16398692e-02 1.78103171e+02] [ 1.76156211e-01 9.84361448e-01 -1.23619256e-03 6.93493431e+00] [ 1.16756045e-02 -8.33659600e-04 9.99931490e-01 -2.14032569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.795898227 meters 0.07728070991955212 Centerline is valid? [True, True] Translation: X:178.16, Y:6.94, Z:-2.14 [[ 9.84540187e-01 -1.74677874e-01 -1.29715089e-02 1.78162678e+02] [ 1.74674801e-01 9.84625215e-01 -1.37827194e-03 6.94418418e+00] [ 1.30128283e-02 -9.08831612e-04 9.99914917e-01 -2.14202878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.855898227 meters 0.0767226986040534 Centerline is valid? [True, True] Translation: X:178.22, Y:6.95, Z:-2.14 [[ 9.84790582e-01 -1.73152292e-01 -1.43455211e-02 1.78221654e+02] [ 1.73148366e-01 9.84894572e-01 -1.52463739e-03 6.95215168e+00] [ 1.43928203e-02 -9.82454999e-04 9.99895935e-01 -2.14306120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.915898227 meters 0.07531581798652115 Centerline is valid? [True, True] Translation: X:178.28, Y:6.96, Z:-2.14 [[ 9.84850640e-01 -1.72819950e-01 -1.42296155e-02 1.78279675e+02] [ 1.72816028e-01 9.84952957e-01 -1.51408563e-03 6.95921521e+00] [ 1.42771661e-02 -9.67957432e-04 9.99897608e-01 -2.14418755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.975898227 meters 0.0779461745375177 Centerline is valid? [True, True] Translation: X:178.34, Y:6.96, Z:-2.15 [[ 9.84714324e-01 -1.73505852e-01 -1.52780755e-02 1.78338215e+02] [ 1.73501395e-01 9.84832280e-01 -1.62683348e-03 6.96059861e+00] [ 1.53286071e-02 -1.04880118e-03 9.99881960e-01 -2.14612032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.035898227 meters 0.07887977291850881 Centerline is valid? [True, True] Translation: X:178.40, Y:6.97, Z:-2.15 [[ 9.84530973e-01 -1.74352170e-01 -1.73229255e-02 1.78397002e+02] [ 1.74346556e-01 9.84682625e-01 -1.84542654e-03 6.96666243e+00] [ 1.73793379e-02 -1.20331281e-03 9.99848244e-01 -2.14850850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.095898227 meters 0.08306514866713456 Centerline is valid? [True, True] Translation: X:178.45, Y:6.97, Z:-2.15 [[ 9.84509651e-01 -1.74549826e-01 -1.65259031e-02 1.78453792e+02] [ 1.74544724e-01 9.84647671e-01 -1.76170292e-03 6.96840846e+00] [ 1.65796970e-02 -1.15009567e-03 9.99861886e-01 -2.14746638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.155898227 meters 0.0886338304643504 Centerline is valid? [True, True] Translation: X:178.51, Y:6.97, Z:-2.15 [[ 9.84163776e-01 -1.76509741e-01 -1.63086988e-02 1.78514538e+02] [ 1.76505036e-01 9.84298201e-01 -1.73885857e-03 6.96995214e+00] [ 1.63595483e-02 -1.16724584e-03 9.99865492e-01 -2.14781071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.215898227 meters 0.09125068344406101 Centerline is valid? [True, True] Translation: X:178.58, Y:6.97, Z:-2.15 [[ 9.83033085e-01 -1.82722002e-01 -1.60817656e-02 1.78575762e+02] [ 1.82718252e-01 9.83163822e-01 -1.71467557e-03 6.96622449e+00] [ 1.61243191e-02 -1.25284928e-03 9.99869210e-01 -2.14535445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.275898227 meters 0.08892729853410877 Centerline is valid? [True, True] Translation: X:178.64, Y:6.97, Z:-2.14 [[ 9.82277421e-01 -1.86781821e-01 -1.56083233e-02 1.78635276e+02] [ 1.86778794e-01 9.82400586e-01 -1.66439576e-03 6.97288154e+00] [ 1.56445049e-02 -1.28040544e-03 9.99876797e-01 -2.14303095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.335898227 meters 0.08937557595760888 Centerline is valid? [True, True] Translation: X:178.70, Y:6.97, Z:-2.14 [[ 9.81944545e-01 -1.88524566e-01 -1.56012171e-02 1.78695369e+02] [ 1.88521757e-01 9.82067604e-01 -1.66383993e-03 6.97402744e+00] [ 1.56351246e-02 -1.30737031e-03 9.99876909e-01 -2.14188579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.395898227 meters 0.08927541654527163 Centerline is valid? [True, True] Translation: X:178.76, Y:6.98, Z:-2.14 [[ 9.82394379e-01 -1.86284298e-01 -1.41224870e-02 1.78755662e+02] [ 1.86281763e-01 9.82495209e-01 -1.50634155e-03 6.97556304e+00] [ 1.41558835e-02 -1.15094029e-03 9.99899138e-01 -2.13920298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.455898227 meters 0.08555659040558461 Centerline is valid? [True, True] Translation: X:178.82, Y:6.99, Z:-2.14 [[ 9.82948997e-01 -1.83339048e-01 -1.40734572e-02 1.78815262e+02] [ 1.83336228e-01 9.83049121e-01 -1.50124661e-03 6.98634404e+00] [ 1.41101369e-02 -1.10452571e-03 9.99899837e-01 -2.13891683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.515898227 meters 0.08326693385164245 Centerline is valid? [True, True] Translation: X:178.87, Y:6.99, Z:-2.14 [[ 9.82963050e-01 -1.83187246e-01 -1.50357741e-02 1.78873400e+02] [ 1.83183983e-01 9.83077337e-01 -1.60574721e-03 6.99366156e+00] [ 1.50754812e-02 -1.17592281e-03 9.99885667e-01 -2.14028051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.575898227 meters 0.08800582417022522 Centerline is valid? [True, True] Translation: X:178.93, Y:6.99, Z:-2.14 [[ 9.82835585e-01 -1.83931734e-01 -1.42593540e-02 1.78931913e+02] [ 1.83928859e-01 9.82938377e-01 -1.52404266e-03 6.99242723e+00] [ 1.42963861e-02 -1.12482336e-03 9.99897169e-01 -2.13943184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.635898227 meters 0.08568164568313706 Centerline is valid? [True, True] Translation: X:178.99, Y:7.00, Z:-2.14 [[ 9.83078706e-01 -1.82560880e-01 -1.50925054e-02 1.78991186e+02] [ 1.82557491e-01 9.83193856e-01 -1.61366102e-03 7.00155996e+00] [ 1.51334499e-02 -1.16889412e-03 9.99884800e-01 -2.13915398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.69589822700001 meters 0.07938310959213364 Centerline is valid? [True, True] Translation: X:179.05, Y:7.02, Z:-2.14 [[ 9.83709226e-01 -1.79109745e-01 -1.53576888e-02 1.79049747e+02] [ 1.79105812e-01 9.83828446e-01 -1.64235782e-03 7.01709695e+00] [ 1.54034933e-02 -1.13504878e-03 9.99880715e-01 -2.13875401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.755898227 meters 0.07748565095367826 Centerline is valid? [True, True] Translation: X:179.11, Y:7.03, Z:-2.14 [[ 9.84299304e-01 -1.75882638e-01 -1.48384058e-02 1.79108836e+02] [ 1.75878597e-01 9.84410585e-01 -1.58710421e-03 7.02767852e+00] [ 1.48862278e-02 -1.04757243e-03 9.99888645e-01 -2.13797698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.815898227 meters 0.06657262981429164 Centerline is valid? [True, True] Translation: X:179.17, Y:7.06, Z:-2.14 [[ 9.85466245e-01 -1.69220098e-01 -1.48606277e-02 1.79166419e+02] [ 1.69215285e-01 9.85577830e-01 -1.58980358e-03 7.05699298e+00] [ 1.49153319e-02 -9.47947584e-04 9.99888311e-01 -2.13644210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.875898227 meters 0.06131863611205961 Centerline is valid? [True, True] Translation: X:179.23, Y:7.07, Z:-2.14 [[ 9.86179578e-01 -1.64904514e-01 -1.60106332e-02 1.79225189e+02] [ 1.64898358e-01 9.86309078e-01 -1.71301221e-03 7.07397288e+00] [ 1.60739163e-02 -9.50789469e-04 9.99870354e-01 -2.13741004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.935898227 meters 0.06328704119021718 Centerline is valid? [True, True] Translation: X:179.28, Y:7.09, Z:-2.14 [[ 9.86785560e-01 -1.61157480e-01 -1.68084885e-02 1.79283199e+02] [ 1.61150147e-01 9.86928262e-01 -1.79873503e-03 7.08507237e+00] [ 1.68786519e-02 -9.33724634e-04 9.99857109e-01 -2.13999531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.995898227 meters 0.06665765352752952 Centerline is valid? [True, True] Translation: X:179.34, Y:7.09, Z:-2.13 [[ 9.86673527e-01 -1.62088731e-01 -1.42335783e-02 1.79341042e+02] [ 1.62083555e-01 9.86775860e-01 -1.52415358e-03 7.09176984e+00] [ 1.42923996e-02 -8.03186996e-04 9.99897536e-01 -2.13480067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.055898227 meters 0.06843368646155613 Centerline is valid? [True, True] Translation: X:179.40, Y:7.10, Z:-2.13 [[ 9.86155633e-01 -1.65344773e-01 -1.25767182e-02 1.79400711e+02] [ 1.65340991e-01 9.86235541e-01 -1.34715563e-03 7.10002504e+00] [ 1.26263517e-02 -7.50941935e-04 9.99920002e-01 -2.13050475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.115898227 meters 0.07765576594564856 Centerline is valid? [True, True] Translation: X:179.46, Y:7.10, Z:-2.13 [[ 9.85973676e-01 -1.66491505e-01 -1.16828336e-02 1.79458903e+02] [ 1.66488317e-01 9.86042633e-01 -1.25180959e-03 7.10184096e+00] [ 1.17281876e-02 -7.10803995e-04 9.99930970e-01 -2.13075846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.175898227 meters 0.06682412618119345 Centerline is valid? [True, True] Translation: X:179.52, Y:7.12, Z:-2.12 [[ 9.86482944e-01 -1.63611950e-01 -9.08468422e-03 1.79517184e+02] [ 1.63609898e-01 9.86524634e-01 -9.73619393e-04 7.12287441e+00] [ 9.12156054e-03 -5.25885334e-04 9.99958259e-01 -2.12347627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.235898227 meters 0.06516979849663622 Centerline is valid? [True, True] Translation: X:179.58, Y:7.13, Z:-2.12 [[ 9.87350839e-01 -1.58261155e-01 -9.57741430e-03 1.79575008e+02] [ 1.58258621e-01 9.87397162e-01 -1.02664462e-03 7.13373429e+00] [ 9.61918966e-03 -5.02049948e-04 9.99953608e-01 -2.12301374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.295898227 meters 0.053517746667428416 Centerline is valid? [True, True] Translation: X:179.63, Y:7.16, Z:-2.12 [[ 9.88833895e-01 -1.48714138e-01 -9.57249634e-03 1.79633145e+02] [ 1.48711158e-01 9.88880143e-01 -1.02632081e-03 7.15663343e+00] [ 9.61867997e-03 -4.08676216e-04 9.99953656e-01 -2.12286248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.355898227 meters 0.04458185999673628 Centerline is valid? [True, True] Translation: X:179.69, Y:7.17, Z:-2.12 [[ 9.89876428e-01 -1.41719526e-01 -7.76098574e-03 1.79691447e+02] [ 1.41717352e-01 9.89906814e-01 -8.32173206e-04 7.17491065e+00] [ 7.80058785e-03 -2.76117703e-04 9.99969537e-01 -2.11816725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.415898227 meters 0.03244189318742274 Centerline is valid? [True, True] Translation: X:179.75, Y:7.20, Z:-2.12 [[ 9.90965779e-01 -1.33704341e-01 -1.04868984e-02 1.79749505e+02] [ 1.33699921e-01 9.91021224e-01 -1.12453830e-03 7.19946211e+00] [ 1.05430945e-02 -2.87718517e-04 9.99944379e-01 -2.12036614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.475898227 meters 0.019299384447597635 Centerline is valid? [True, True] Translation: X:179.81, Y:7.23, Z:-2.12 [[ 9.92669451e-01 -1.20302639e-01 -1.16032697e-02 1.79806448e+02] [ 1.20296309e-01 9.92737251e-01 -1.24443067e-03 7.23014389e+00] [ 1.16687063e-02 -1.60522214e-04 9.99931905e-01 -2.12231262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.535898227 meters 0.0164042247879933 Centerline is valid? [True, True] Translation: X:179.86, Y:7.24, Z:-2.12 [[ 9.93034402e-01 -1.17248734e-01 -1.16366233e-02 1.79863810e+02] [ 1.17242143e-01 9.93102572e-01 -1.24936832e-03 7.24391965e+00] [ 1.17028474e-02 -1.23636928e-04 9.99931512e-01 -2.12169816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.595898227 meters 0.014559776732180417 Centerline is valid? [True, True] Translation: X:179.92, Y:7.26, Z:-2.13 [[ 9.93353793e-01 -1.14311153e-01 -1.34611530e-02 1.79920465e+02] [ 1.14302041e-01 9.93444991e-01 -1.44686134e-03 7.26148598e+00] [ 1.35383074e-02 -1.01392061e-04 9.99908348e-01 -2.12525319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.655898227 meters 0.01580671701628476 Centerline is valid? [True, True] Translation: X:179.98, Y:7.27, Z:-2.12 [[ 9.93033424e-01 -1.17077034e-01 -1.33261843e-02 1.79978674e+02] [ 1.17068327e-01 9.93122827e-01 -1.43430951e-03 7.26782808e+00] [ 1.34024626e-02 -1.35756820e-04 9.99910174e-01 -2.12362713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.715898227 meters 0.024330095521262186 Centerline is valid? [True, True] Translation: X:180.04, Y:7.27, Z:-2.12 [[ 9.92499123e-01 -1.21576227e-01 -1.28340062e-02 1.80036098e+02] [ 1.21568512e-01 9.92582080e-01 -1.38252653e-03 7.27185547e+00] [ 1.29068869e-02 -1.88054658e-04 9.99916685e-01 -2.12335701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.775898227 meters 0.024659036512879456 Centerline is valid? [True, True] Translation: X:180.09, Y:7.28, Z:-2.12 [[ 9.91911075e-01 -1.26384592e-01 -1.18048496e-02 1.80094545e+02] [ 1.26378398e-01 9.91981291e-01 -1.27216164e-03 7.27942173e+00] [ 1.18709716e-02 -2.30006757e-04 9.99929511e-01 -2.12153101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.835898227 meters 0.02590175974404961 Centerline is valid? [True, True] Translation: X:180.15, Y:7.29, Z:-2.12 [[ 9.91707063e-01 -1.28017569e-01 -1.13403391e-02 1.80152577e+02] [ 1.28011945e-01 9.91771872e-01 -1.22347021e-03 7.28987768e+00] [ 1.14036550e-02 -2.38374810e-04 9.99934948e-01 -2.11971112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.895898227 meters 0.02776448209154838 Centerline is valid? [True, True] Translation: X:180.21, Y:7.30, Z:-2.12 [[ 9.91535822e-01 -1.29392255e-01 -1.06938253e-02 1.80210187e+02] [ 1.29387314e-01 9.91593459e-01 -1.15546589e-03 7.30275863e+00] [ 1.07534356e-02 -2.37959511e-04 9.99942152e-01 -2.11782431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.955898227 meters 0.030289261146980946 Centerline is valid? [True, True] Translation: X:180.27, Y:7.31, Z:-2.12 [[ 9.91106528e-01 -1.32700476e-01 -9.92134400e-03 1.80269451e+02] [ 1.32696381e-01 9.91156153e-01 -1.07275269e-03 7.30825604e+00] [ 9.97595595e-03 -2.53314255e-04 9.99950207e-01 -2.11555052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.015898227 meters 0.03341870049876027 Centerline is valid? [True, True] Translation: X:180.33, Y:7.31, Z:-2.11 [[ 9.90611009e-01 -1.36369905e-01 -9.64773847e-03 1.80328876e+02] [ 1.36366204e-01 9.90657948e-01 -1.04339547e-03 7.31368948e+00] [ 9.69989653e-03 -2.82026437e-04 9.99952915e-01 -2.11388949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.075898227 meters 0.03406580604878972 Centerline is valid? [True, True] Translation: X:180.38, Y:7.33, Z:-2.11 [[ 9.90624485e-01 -1.36225320e-01 -1.02855231e-02 1.80384858e+02] [ 1.36221100e-01 9.90677835e-01 -1.11299427e-03 7.32785637e+00] [ 1.03412578e-02 -2.98545901e-04 9.99946483e-01 -2.11227769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.135898227 meters 0.031009352852540997 Centerline is valid? [True, True] Translation: X:180.44, Y:7.35, Z:-2.11 [[ 9.91056768e-01 -1.33057690e-01 -1.01060888e-02 1.80443386e+02] [ 1.33053448e-01 9.91108260e-01 -1.09397048e-03 7.34604266e+00] [ 1.01617893e-02 -2.60463112e-04 9.99948334e-01 -2.11157554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.19589822700001 meters 0.029272620640369142 Centerline is valid? [True, True] Translation: X:180.50, Y:7.37, Z:-2.11 [[ 9.91286819e-01 -1.31480102e-01 -7.96403568e-03 1.80500343e+02] [ 1.31477415e-01 9.91318791e-01 -8.62318810e-04 7.36631075e+00] [ 8.00827599e-03 -1.92285556e-04 9.99967915e-01 -2.10882747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.255898227 meters 0.032832030725209446 Centerline is valid? [True, True] Translation: X:180.56, Y:7.37, Z:-2.11 [[ 9.90699277e-01 -1.35883314e-01 -7.11812202e-03 1.80559551e+02] [ 1.35881279e-01 9.90724827e-01 -7.70928067e-04 7.37446714e+00] [ 7.15685647e-03 -2.03461647e-04 9.99974369e-01 -2.10761266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.315898227 meters 0.045527350891526014 Centerline is valid? [True, True] Translation: X:180.62, Y:7.37, Z:-2.11 [[ 9.89076770e-01 -1.47112733e-01 -9.21878990e-03 1.80619504e+02] [ 1.47109806e-01 9.89119663e-01 -9.98515811e-04 7.37150490e+00] [ 9.26538075e-03 -3.68565604e-04 9.99957008e-01 -2.11172568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.375898227 meters 0.05197889620027651 Centerline is valid? [True, True] Translation: X:180.68, Y:7.38, Z:-2.12 [[ 9.88200449e-01 -1.52716018e-01 -1.17341880e-02 1.80680052e+02] [ 1.52711669e-01 9.88269969e-01 -1.27097212e-03 7.37611873e+00] [ 1.17906434e-02 -5.35972217e-04 9.99930344e-01 -2.11550281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.435898227 meters 0.05532775321993633 Centerline is valid? [True, True] Translation: X:180.74, Y:7.39, Z:-2.12 [[ 9.87835274e-01 -1.54912634e-01 -1.35480012e-02 1.80739752e+02] [ 1.54907043e-01 9.87927960e-01 -1.46742809e-03 7.38635277e+00] [ 1.36117724e-02 -6.49103591e-04 9.99907145e-01 -2.11726155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.495898227 meters 0.05865725915186163 Centerline is valid? [True, True] Translation: X:180.80, Y:7.40, Z:-2.11 [[ 9.87580888e-01 -1.56653525e-01 -1.19859773e-02 1.80796724e+02] [ 1.56649272e-01 9.87653441e-01 -1.29860270e-03 7.40009920e+00] [ 1.20414224e-02 -5.95119414e-04 9.99927322e-01 -2.11436613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.555898227 meters 0.061778140012051785 Centerline is valid? [True, True] Translation: X:180.86, Y:7.41, Z:-2.11 [[ 9.87259071e-01 -1.58730713e-01 -1.11394359e-02 1.80855692e+02] [ 1.58727169e-01 9.87321745e-01 -1.20720803e-03 7.41031481e+00] [ 1.11898283e-02 -5.76304049e-04 9.99937226e-01 -2.11339842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.615898227 meters 0.06282103680016926 Centerline is valid? [True, True] Translation: X:180.91, Y:7.43, Z:-2.11 [[ 9.87134907e-01 -1.59457672e-01 -1.17441632e-02 1.80912666e+02] [ 1.59453769e-01 9.87204575e-01 -1.27403785e-03 7.42809646e+00] [ 1.17970468e-02 -6.15003849e-04 9.99930223e-01 -2.11329039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.675898227 meters 0.05706700427437682 Centerline is valid? [True, True] Translation: X:180.97, Y:7.45, Z:-2.11 [[ 9.87104617e-01 -1.59564472e-01 -1.27927519e-02 1.80969825e+02] [ 1.59559822e-01 9.87187283e-01 -1.38989121e-03 7.44796209e+00] [ 1.28506192e-02 -6.69241181e-04 9.99917203e-01 -2.11387488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.735898227 meters 0.06664512644289486 Centerline is valid? [True, True] Translation: X:181.03, Y:7.45, Z:-2.12 [[ 9.86910790e-01 -1.60701327e-01 -1.34972438e-02 1.81028877e+02] [ 1.60696241e-01 9.87002819e-01 -1.46754733e-03 7.44703880e+00] [ 1.35576545e-02 -7.20618056e-04 9.99907831e-01 -2.11664113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.795898227 meters 0.07112436204225339 Centerline is valid? [True, True] Translation: X:181.09, Y:7.45, Z:-2.11 [[ 9.86546071e-01 -1.63039060e-01 -1.20463794e-02 1.81088054e+02] [ 1.63035180e-01 9.86619387e-01 -1.31002787e-03 7.45109420e+00] [ 1.20987771e-02 -6.71580787e-04 9.99926582e-01 -2.11401392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.855898227 meters 0.06271337543345 Centerline is valid? [True, True] Translation: X:181.15, Y:7.47, Z:-2.11 [[ 9.86378266e-01 -1.63982094e-01 -1.29533735e-02 1.81145854e+02] [ 1.63977686e-01 9.86463042e-01 -1.40890472e-03 7.47154400e+00] [ 1.30090594e-02 -7.34351218e-04 9.99915109e-01 -2.11382820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.915898227 meters 0.05836261831538414 Centerline is valid? [True, True] Translation: X:181.20, Y:7.49, Z:-2.11 [[ 9.86691110e-01 -1.62114184e-01 -1.26350974e-02 1.81204435e+02] [ 1.62109833e-01 9.86771763e-01 -1.37457719e-03 7.48543252e+00] [ 1.26907958e-02 -6.91990435e-04 9.99919229e-01 -2.11350640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.975898227 meters 0.06818338990862309 Centerline is valid? [True, True] Translation: X:181.26, Y:7.48, Z:-2.11 [[ 9.86877354e-01 -1.61079248e-01 -1.12500895e-02 1.81263129e+02] [ 1.61075726e-01 9.86941291e-01 -1.22440478e-03 7.47966090e+00] [ 1.13004040e-02 -6.03778981e-04 9.99935966e-01 -2.11318542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.035898227 meters 0.058410127315613944 Centerline is valid? [True, True] Translation: X:181.32, Y:7.50, Z:-2.12 [[ 9.86897471e-01 -1.60775349e-01 -1.35892926e-02 1.81319256e+02] [ 1.60770154e-01 9.86990762e-01 -1.48103921e-03 7.50257187e+00] [ 1.36506209e-02 -7.23118817e-04 9.99906564e-01 -2.11521165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.095898227 meters 0.06355567013197944 Centerline is valid? [True, True] Translation: X:181.38, Y:7.50, Z:-2.12 [[ 9.86750037e-01 -1.61731680e-01 -1.29316598e-02 1.81377089e+02] [ 1.61727041e-01 9.86834522e-01 -1.41056832e-03 7.50287349e+00] [ 1.29895419e-02 -6.99520726e-04 9.99915388e-01 -2.11506856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.155898227 meters 0.06011712726451755 Centerline is valid? [True, True] Translation: X:181.44, Y:7.52, Z:-2.11 [[ 9.86518606e-01 -1.63383655e-01 -9.31781813e-03 1.81435241e+02] [ 1.63381317e-01 9.86562472e-01 -1.01672291e-03 7.51592106e+00] [ 9.35872559e-03 -5.19341333e-04 9.99956071e-01 -2.10757203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.215898227 meters 0.06140167838416534 Centerline is valid? [True, True] Translation: X:181.49, Y:7.52, Z:-2.11 [[ 9.86180431e-01 -1.65369838e-01 -1.00485965e-02 1.81494841e+02] [ 1.65367220e-01 9.86231454e-01 -1.09668133e-03 7.52431313e+00] [ 1.00915999e-02 -5.80182790e-04 9.99948910e-01 -2.10755253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.275898227 meters 0.06803662497213726 Centerline is valid? [True, True] Translation: X:181.55, Y:7.53, Z:-2.11 [[ 9.85941700e-01 -1.66616510e-01 -1.25659078e-02 1.81552996e+02] [ 1.66612509e-01 9.86021495e-01 -1.37194112e-03 7.52786448e+00] [ 1.26188432e-02 -7.40983461e-04 9.99920105e-01 -2.11238503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.335898227 meters 0.06556349308686953 Centerline is valid? [True, True] Translation: X:181.61, Y:7.55, Z:-2.11 [[ 9.85901073e-01 -1.67058993e-01 -9.50615063e-03 1.81609103e+02] [ 1.67056712e-01 9.85946741e-01 -1.03904552e-03 7.54623701e+00] [ 9.54614013e-03 -5.63670174e-04 9.99954276e-01 -2.10764357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.395898227 meters 0.06674018035538844 Centerline is valid? [True, True] Translation: X:181.67, Y:7.56, Z:-2.11 [[ 9.85429967e-01 -1.69878918e-01 -8.30257245e-03 1.81669035e+02] [ 1.69877273e-01 9.85464808e-01 -9.08137523e-04 7.55707234e+00] [ 8.33616638e-03 -5.15512439e-04 9.99965121e-01 -2.10585704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.455898227 meters 0.0766028918115132 Centerline is valid? [True, True] Translation: X:181.73, Y:7.56, Z:-2.11 [[ 9.84369590e-01 -1.75820841e-01 -1.01755770e-02 1.81729119e+02] [ 1.75818685e-01 9.84421938e-01 -1.11309490e-03 7.55521662e+00] [ 1.02127665e-02 -6.93359789e-04 9.99947608e-01 -2.11076752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.515898227 meters 0.0769669750163781 Centerline is valid? [True, True] Translation: X:181.79, Y:7.56, Z:-2.11 [[ 9.83812925e-01 -1.78841332e-01 -1.13095993e-02 1.81789076e+02] [ 1.78838866e-01 9.83877599e-01 -1.23718937e-03 7.56321198e+00] [ 1.13485219e-02 -8.05433010e-04 9.99935279e-01 -2.11163311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.575898227 meters 0.08917734669616775 Centerline is valid? [True, True] Translation: X:181.85, Y:7.56, Z:-2.11 [[ 9.82736277e-01 -1.84591037e-01 -1.24723690e-02 1.81848868e+02] [ 1.84588496e-01 9.82814950e-01 -1.36456489e-03 7.55908158e+00] [ 1.25099172e-02 -9.61248413e-04 9.99921286e-01 -2.11472581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.635898227 meters 0.07889640380683023 Centerline is valid? [True, True] Translation: X:181.90, Y:7.58, Z:-2.12 [[ 9.82662234e-01 -1.84863723e-01 -1.41541027e-02 1.81904973e+02] [ 1.84860455e-01 9.82763557e-01 -1.55029856e-03 7.58339427e+00] [ 1.41967302e-02 -1.09311400e-03 9.99898624e-01 -2.11593506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.69589822700001 meters 0.08499138480153418 Centerline is valid? [True, True] Translation: X:181.96, Y:7.59, Z:-2.12 [[ 9.82995891e-01 -1.83107254e-01 -1.38134405e-02 1.81964475e+02] [ 1.83103956e-01 9.83092391e-01 -1.51383220e-03 7.58626874e+00] [ 1.38570819e-02 -1.04120477e-03 9.99903444e-01 -2.11621815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.755898227 meters 0.07738427644610117 Centerline is valid? [True, True] Translation: X:182.02, Y:7.60, Z:-2.11 [[ 9.83147066e-01 -1.82349845e-01 -1.30529569e-02 1.82021769e+02] [ 1.82346828e-01 9.83233231e-01 -1.43099085e-03 7.60263301e+00] [ 1.30950420e-02 -9.73290827e-04 9.99913783e-01 -2.11414904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.815898227 meters 0.0750080606342985 Centerline is valid? [True, True] Translation: X:182.08, Y:7.61, Z:-2.12 [[ 9.83034646e-01 -1.82888992e-01 -1.39463774e-02 1.82080309e+02] [ 1.82885576e-01 9.83133014e-01 -1.53076075e-03 7.61167927e+00] [ 1.39911033e-02 -1.04580041e-03 9.99901573e-01 -2.11592766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.875898227 meters 0.08950006881343707 Centerline is valid? [True, True] Translation: X:182.14, Y:7.60, Z:-2.12 [[ 9.82515851e-01 -1.85819222e-01 -1.15679971e-02 1.82141560e+02] [ 1.85817066e-01 9.82583536e-01 -1.27027129e-03 7.59886437e+00] [ 1.16025643e-02 -9.01469605e-04 9.99932282e-01 -2.11559524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.935898227 meters 0.08553211138650196 Centerline is valid? [True, True] Translation: X:182.20, Y:7.60, Z:-2.11 [[ 9.81833701e-01 -1.89347627e-01 -1.22498614e-02 1.82201478e+02] [ 1.89345482e-01 9.81909608e-01 -1.34524557e-03 7.60389257e+00] [ 1.22829757e-02 -9.98648467e-04 9.99924063e-01 -2.11420404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.995898227 meters 0.09484597391500897 Centerline is valid? [True, True] Translation: X:182.26, Y:7.59, Z:-2.12 [[ 9.81083330e-01 -1.93157996e-01 -1.28642499e-02 1.82262348e+02] [ 1.93155954e-01 9.81167051e-01 -1.41280361e-03 7.59492045e+00] [ 1.28948724e-02 -1.09872839e-03 9.99916254e-01 -2.11608954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.055898227 meters 0.10182367802846011 Centerline is valid? [True, False] Translation: X:182.26, Y:7.59, Z:-2.11 [[ 9.83240311e-01 -1.81962554e-01 -1.13190081e-02 1.82258643e+02] [ 1.81886727e-01 9.83291563e-01 -7.41081728e-03 7.58564555e+00] [ 1.24783764e-02 5.22783697e-03 9.99908476e-01 -2.11302578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.115898227 meters 0.09181848863877913 Centerline is valid? [False, True] Translation: X:182.24, Y:7.57, Z:-2.12 [[ 9.86308199e-01 -1.64860502e-01 -4.14149123e-03 1.82243060e+02] [ 1.64799236e-01 9.86250508e-01 -1.22941647e-02 7.57456381e+00] [ 6.11137000e-03 1.14433209e-02 9.99915847e-01 -2.11672918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.175898227 meters 0.09171799224752146 Centerline is valid? [True, True] Translation: X:182.30, Y:7.57, Z:-2.12 [[ 9.86699176e-01 -1.62511159e-01 -3.85487266e-03 1.82303278e+02] [ 1.62499559e-01 9.86703573e-01 -3.15477216e-03 7.57040335e+00] [ 4.31630231e-03 2.48639598e-03 9.99987594e-01 -2.11526179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.235898227 meters 0.09532190169955468 Centerline is valid? [True, True] Translation: X:182.36, Y:7.56, Z:-2.11 [[ 9.87095256e-01 -1.60116826e-01 -2.35767273e-03 1.82363675e+02] [ 1.60122952e-01 9.87093411e-01 2.69034996e-03 7.56227259e+00] [ 1.89647293e-03 -3.03314920e-03 9.99993602e-01 -2.11355524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.295898227 meters 0.10065993454635012 Centerline is valid? [True, False] Translation: X:182.35, Y:7.55, Z:-2.12 [[ 9.89323407e-01 -1.45622031e-01 5.78105778e-03 1.82346509e+02] [ 1.45656554e-01 9.89316525e-01 -6.08130651e-03 7.55181147e+00] [-4.83372378e-03 6.85842783e-03 9.99964798e-01 -2.11787752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.355898227 meters 0.1057539881913508 Centerline is valid? [False, False] Translation: X:182.35, Y:7.54, Z:-2.12 [[ 9.90899057e-01 -1.34421080e-01 7.07333228e-03 1.82348049e+02] [ 1.34500534e-01 9.90837071e-01 -1.23087346e-02 7.54293547e+00] [-5.35396644e-03 1.31480805e-02 9.99899226e-01 -2.11958656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.415898227 meters 0.10554892442438096 Centerline is valid? [False, False] Translation: X:182.35, Y:7.53, Z:-2.12 [[ 9.92790726e-01 -1.19749888e-01 5.15160322e-03 1.82348502e+02] [ 1.19813153e-01 9.92690113e-01 -1.45308994e-02 7.53066753e+00] [-3.37387202e-03 1.50433719e-02 9.99881150e-01 -2.11867491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.475898227 meters 0.10196804758137432 Centerline is valid? [False, False] Translation: X:182.33, Y:7.52, Z:-2.12 [[ 9.95049410e-01 -9.88749476e-02 1.00207953e-02 1.82328410e+02] [ 9.90542899e-02 9.94894043e-01 -1.93414111e-02 7.52168614e+00] [-8.05724854e-03 2.02382624e-02 9.99762719e-01 -2.12178864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.535898227 meters 0.0807841604551013 Centerline is valid? [False, True] Translation: X:182.33, Y:7.51, Z:-2.12 [[ 9.96691854e-01 -8.09786561e-02 6.91409659e-03 1.82330352e+02] [ 8.10992075e-02 9.96516626e-01 -1.94302114e-02 7.51439236e+00] [-5.31657979e-03 1.99266612e-02 9.99787308e-01 -2.12163694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.595898227 meters 0.08585974201741717 Centerline is valid? [True, True] Translation: X:182.39, Y:7.49, Z:-2.12 [[ 9.97418744e-01 -7.12046534e-02 9.25989539e-03 1.82389718e+02] [ 7.12074316e-02 9.97461528e-01 2.97416185e-05 7.49367032e+00] [-9.23850715e-03 6.29708519e-04 9.99957126e-01 -2.11943469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.655898227 meters 0.07421762240939753 Centerline is valid? [True, True] Translation: X:182.45, Y:7.51, Z:-2.12 [[ 9.97690174e-01 -6.73637825e-02 8.74285924e-03 1.82449373e+02] [ 6.73661125e-02 9.97728323e-01 2.80437402e-05 7.50613923e+00] [-8.72488741e-03 5.60993475e-04 9.99961780e-01 -2.12071023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.715898227 meters 0.06780986718404244 Centerline is valid? [True, True] Translation: X:182.51, Y:7.51, Z:-2.12 [[ 9.97783560e-01 -6.59967022e-02 8.50893239e-03 1.82509047e+02] [ 6.59988586e-02 9.97819698e-01 2.74196678e-05 7.51124580e+00] [-8.49218995e-03 5.34220932e-04 9.99963798e-01 -2.12220666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.775898227 meters 0.0760227508261622 Centerline is valid? [True, True] Translation: X:182.57, Y:7.49, Z:-2.13 [[ 9.97652628e-01 -6.81233873e-02 6.95978781e-03 1.82568236e+02] [ 6.81248808e-02 9.97676801e-01 2.25271817e-05 7.49310835e+00] [-6.94515347e-03 4.51660413e-04 9.99975780e-01 -2.12734565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.835898227 meters 0.07218327515579126 Centerline is valid? [True, True] Translation: X:182.63, Y:7.49, Z:-2.13 [[ 9.97546316e-01 -6.98905615e-02 4.08117817e-03 1.82628458e+02] [ 6.98910894e-02 9.97554628e-01 1.32832534e-05 7.49345422e+00] [-4.07212655e-03 2.71987328e-04 9.99991672e-01 -2.13161634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.895898227 meters 0.07174049824014807 Centerline is valid? [True, True] Translation: X:182.69, Y:7.49, Z:-2.13 [[ 9.97572470e-01 -6.94920364e-02 4.47484924e-03 1.82687233e+02] [ 6.94926735e-02 9.97582462e-01 1.31363108e-05 7.49136205e+00] [-4.46494399e-03 2.97864815e-04 9.99989988e-01 -2.13126770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.955898227 meters 0.07629279102742251 Centerline is valid? [True, True] Translation: X:182.75, Y:7.49, Z:-2.13 [[ 9.97883673e-01 -6.43860094e-02 9.08942518e-03 1.82746402e+02] [ 6.43883850e-02 9.97924914e-01 3.13284288e-05 7.48924314e+00] [-9.07258096e-03 5.53991281e-04 9.99958690e-01 -2.12512301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.015898227 meters 0.0638122138022281 Centerline is valid? [True, True] Translation: X:182.81, Y:7.51, Z:-2.12 [[ 9.98035770e-01 -6.16220143e-02 1.12840049e-02 1.82806417e+02] [ 6.16254970e-02 9.98099342e-01 3.91282161e-05 7.51493184e+00] [-1.12649690e-02 6.56331052e-04 9.99936333e-01 -2.12303015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.075898227 meters 0.0636031043996179 Centerline is valid? [True, True] Translation: X:182.87, Y:7.52, Z:-2.12 [[ 9.98067806e-01 -6.10489607e-02 1.15619389e-02 1.82866161e+02] [ 6.10525785e-02 9.98134551e-01 4.01219772e-05 7.51781740e+00] [-1.15428201e-02 6.65841727e-04 9.99933158e-01 -2.12320281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.135898227 meters 0.07613600005688598 Centerline is valid? [True, True] Translation: X:182.93, Y:7.51, Z:-2.13 [[ 9.97672091e-01 -6.73744608e-02 1.05394489e-02 1.82925838e+02] [ 6.73778173e-02 9.97727532e-01 3.66842514e-05 7.51209473e+00] [-1.05179699e-02 6.73526206e-04 9.99944458e-01 -2.12605971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.19589822700001 meters 0.0760423584698834 Centerline is valid? [True, True] Translation: X:182.99, Y:7.52, Z:-2.13 [[ 9.97181882e-01 -7.44337097e-02 9.37638485e-03 1.82985652e+02] [ 7.44366759e-02 9.97225742e-01 3.27198466e-05 7.51702245e+00] [-9.35280780e-03 6.65319282e-04 9.99956040e-01 -2.12836345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.255898227 meters 0.07998397953759183 Centerline is valid? [True, True] Translation: X:183.05, Y:7.52, Z:-2.13 [[ 9.96875109e-01 -7.83772844e-02 9.84980952e-03 1.83046190e+02] [ 7.83807479e-02 9.96923496e-01 3.44891180e-05 7.52200168e+00] [-9.82220971e-03 7.37654094e-04 9.99951489e-01 -2.12916745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.315898227 meters 0.07606531597848483 Centerline is valid? [True, True] Translation: X:183.11, Y:7.53, Z:-2.13 [[ 9.97067623e-01 -7.59085140e-02 9.69803062e-03 1.83106185e+02] [ 7.59117544e-02 9.97114539e-01 3.40669661e-05 7.53453646e+00] [-9.67263331e-03 7.02227450e-04 9.99952972e-01 -2.13056960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.375898227 meters 0.07443867608790536 Centerline is valid? [True, True] Translation: X:183.17, Y:7.54, Z:-2.13 [[ 9.97192416e-01 -7.42862378e-02 9.42551020e-03 1.83166251e+02] [ 7.42892268e-02 9.97236737e-01 3.30817661e-05 7.54020177e+00] [-9.40192256e-03 6.67224979e-04 9.99955578e-01 -2.13219095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.435898227 meters 0.07358692215307587 Centerline is valid? [True, True] Translation: X:183.23, Y:7.55, Z:-2.14 [[ 9.97457656e-01 -7.08625999e-02 7.53101387e-03 1.83225501e+02] [ 7.08644108e-02 9.97485957e-01 2.64465792e-05 7.55107438e+00] [-7.51395465e-03 5.07301518e-04 9.99971641e-01 -2.13654811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.495898227 meters 0.07144011549708189 Centerline is valid? [True, True] Translation: X:183.29, Y:7.56, Z:-2.14 [[ 9.97505937e-01 -7.02898346e-02 6.42227706e-03 1.83286289e+02] [ 7.02911383e-02 9.97526519e-01 2.27612674e-05 7.55940866e+00] [-6.40799156e-03 4.28724666e-04 9.99979377e-01 -2.13789741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.555898227 meters 0.07465185904986729 Centerline is valid? [True, True] Translation: X:183.35, Y:7.56, Z:-2.14 [[ 9.97367824e-01 -7.21822497e-02 6.86634016e-03 1.83346435e+02] [ 7.21837853e-02 9.97391348e-01 2.42489923e-05 7.56041146e+00] [-6.85017862e-03 4.71453259e-04 9.99976426e-01 -2.13712754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.615898227 meters 0.08238965971715793 Centerline is valid? [True, True] Translation: X:183.41, Y:7.56, Z:-2.14 [[ 9.97067755e-01 -7.62335266e-02 6.65890488e-03 1.83405530e+02] [ 7.62350601e-02 9.97089873e-01 2.35970668e-05 7.55561549e+00] [-6.64132551e-03 4.84114139e-04 9.99977829e-01 -2.13761408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.675898227 meters 0.0734197774077067 Centerline is valid? [True, True] Translation: X:183.47, Y:7.57, Z:-2.14 [[ 9.97136069e-01 -7.53977094e-02 5.90296611e-03 1.83466577e+02] [ 7.53988986e-02 9.97153451e-01 2.11440301e-05 7.56965304e+00] [-5.88775724e-03 4.23993668e-04 9.99982577e-01 -2.13694976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.735898227 meters 0.07224219997251728 Centerline is valid? [True, True] Translation: X:183.53, Y:7.57, Z:-2.14 [[ 9.97391978e-01 -7.19881482e-02 5.19128549e-03 1.83526031e+02] [ 7.19890234e-02 9.97405424e-01 1.83232369e-05 7.57459136e+00] [-5.17913536e-03 3.55440123e-04 9.99986525e-01 -2.13775324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.795898227 meters 0.06463891638045248 Centerline is valid? [True, True] Translation: X:183.59, Y:7.59, Z:-2.13 [[ 9.97790228e-01 -6.57800006e-02 9.36232269e-03 1.83587170e+02] [ 6.57825712e-02 9.97833980e-01 3.34377029e-05 7.58840714e+00] [-9.34424324e-03 5.82513846e-04 9.99956172e-01 -2.13095800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.855898227 meters 0.07180885625148598 Centerline is valid? [True, True] Translation: X:183.65, Y:7.59, Z:-2.13 [[ 9.97859153e-01 -6.46223365e-02 1.00530731e-02 1.83647854e+02] [ 6.46252423e-02 9.97909604e-01 3.58762038e-05 7.58611333e+00] [-1.00343766e-02 6.13882885e-04 9.99949466e-01 -2.13212901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.915898227 meters 0.06833495859779785 Centerline is valid? [True, True] Translation: X:183.71, Y:7.59, Z:-2.13 [[ 9.97919314e-01 -6.37791913e-02 9.44759004e-03 1.83708998e+02] [ 6.37817218e-02 9.97963873e-01 3.35163986e-05 7.58868209e+00] [-9.43049119e-03 5.69136898e-04 9.99955370e-01 -2.13257288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.975898227 meters 0.06797804443850461 Centerline is valid? [True, True] Translation: X:183.77, Y:7.59, Z:-2.13 [[ 9.98032888e-01 -6.17960631e-02 1.05640970e-02 1.83769428e+02] [ 6.17991202e-02 9.98088607e-01 3.71177646e-05 7.58727543e+00] [-1.05461986e-02 6.15807152e-04 9.99944198e-01 -2.13031640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.035898227 meters 0.05802355555009309 Centerline is valid? [True, True] Translation: X:183.83, Y:7.60, Z:-2.13 [[ 9.98315761e-01 -5.72178023e-02 9.57940212e-03 1.83829903e+02] [ 5.72201058e-02 9.98361587e-01 3.36535670e-05 7.59930252e+00] [-9.56563269e-03 5.14537517e-04 9.99954116e-01 -2.13151702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.095898227 meters 0.05206906251839003 Centerline is valid? [True, True] Translation: X:183.89, Y:7.61, Z:-2.13 [[ 9.98710188e-01 -4.97871854e-02 9.95969745e-03 1.83889909e+02] [ 4.97893067e-02 9.98759743e-01 3.50027991e-05 7.60554521e+00] [-9.94908756e-03 4.60928779e-04 9.99950400e-01 -2.13276135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.155898227 meters 0.038143274527374656 Centerline is valid? [True, True] Translation: X:183.95, Y:7.62, Z:-2.13 [[ 9.99226312e-01 -3.76709984e-02 1.12992763e-02 1.83950398e+02] [ 3.76729547e-02 9.99290121e-01 3.97339573e-05 7.61997814e+00] [-1.12927521e-02 3.85973911e-04 9.99936160e-01 -2.13213779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.215898227 meters 0.03176335524724463 Centerline is valid? [True, True] Translation: X:184.01, Y:7.62, Z:-2.14 [[ 9.99421780e-01 -3.21847015e-02 1.09659030e-02 1.84011102e+02] [ 3.21862151e-02 9.99481889e-01 3.84764739e-05 7.62480077e+00] [-1.09614598e-02 3.14496687e-04 9.99939872e-01 -2.13537615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.275898227 meters 0.027711472089336144 Centerline is valid? [True, True] Translation: X:184.07, Y:7.62, Z:-2.14 [[ 9.99579963e-01 -2.73246854e-02 9.65707462e-03 1.84071200e+02] [ 2.73256329e-02 9.99626585e-01 3.38365390e-05 7.62406496e+00] [-9.65439310e-03 2.30063350e-04 9.99953369e-01 -2.13828838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.335898227 meters 0.029603248534046788 Centerline is valid? [True, True] Translation: X:184.13, Y:7.62, Z:-2.14 [[ 9.99712337e-01 -2.28410690e-02 7.31637900e-03 1.84131240e+02] [ 2.28414923e-02 9.99739099e-01 2.57196680e-05 7.62458945e+00] [-7.31505761e-03 1.41404745e-04 9.99973235e-01 -2.14447313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.395898227 meters 0.017685941269266987 Centerline is valid? [True, True] Translation: X:184.19, Y:7.63, Z:-2.14 [[ 9.99845039e-01 -1.60822254e-02 7.15957901e-03 1.84192351e+02] [ 1.60824574e-02 9.99870669e-01 2.51720459e-05 7.63106967e+00] [-7.15905788e-03 8.99754796e-05 9.99974370e-01 -2.14402474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.455898227 meters 0.011047892618137722 Centerline is valid? [True, True] Translation: X:184.25, Y:7.65, Z:-2.14 [[ 9.99952133e-01 -3.62425188e-03 9.08828759e-03 1.84254067e+02] [ 3.62411326e-03 9.99993432e-01 3.17209624e-05 7.64862330e+00] [-9.08834286e-03 1.21753953e-06 9.99958700e-01 -2.14113448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.515898227 meters 0.013932114166145376 Centerline is valid? [True, True] Translation: X:184.32, Y:7.66, Z:-2.14 [[ 9.99962757e-01 3.75877261e-03 7.76890804e-03 1.84316039e+02] [-3.75909579e-03 9.99992934e-01 2.69969858e-05 7.66161793e+00] [-7.76875168e-03 -5.62000498e-05 9.99969821e-01 -2.14483494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.575898227 meters 0.018617291524455015 Centerline is valid? [True, True] Translation: X:184.38, Y:7.67, Z:-2.15 [[ 9.99931356e-01 8.81053726e-03 7.72384302e-03 1.84376654e+02] [-8.81100340e-03 9.99961182e-01 2.63249300e-05 7.67313795e+00] [-7.72331125e-03 -9.43779301e-05 9.99970170e-01 -2.14624721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.635898227 meters 0.016778847904104718 Centerline is valid? [True, True] Translation: X:184.44, Y:7.67, Z:-2.15 [[ 9.99944610e-01 6.90592717e-03 7.94263708e-03 1.84438809e+02] [-6.90636567e-03 9.99976150e-01 2.77822772e-05 7.67146344e+00] [-7.94225579e-03 -8.26354944e-05 9.99968456e-01 -2.14750865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.69589822700001 meters 0.013383787309180365 Centerline is valid? [True, True] Translation: X:184.50, Y:7.67, Z:-2.15 [[ 9.99958002e-01 2.83581018e-03 8.71511268e-03 1.84500641e+02] [-2.83616939e-03 9.99995978e-01 2.88587227e-05 7.66518587e+00] [-8.71499579e-03 -5.35750465e-05 9.99962022e-01 -2.14798009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.755898227 meters 0.021679422948059964 Centerline is valid? [True, True] Translation: X:184.56, Y:7.66, Z:-2.14 [[ 9.99937230e-01 1.46012671e-03 1.11087286e-02 1.84562564e+02] [-1.46059903e-03 9.99998933e-01 3.44052238e-05 7.66110958e+00] [-1.11086665e-02 -5.06284624e-05 9.99938296e-01 -2.14465534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.815898227 meters 0.013728663676981686 Centerline is valid? [True, True] Translation: X:184.62, Y:7.66, Z:-2.14 [[ 9.99933173e-01 4.01648243e-03 1.08405256e-02 1.84623947e+02] [-4.01705977e-03 9.99991931e-01 3.14840938e-05 7.66494387e+00] [-1.08403116e-02 -7.50290289e-05 9.99941239e-01 -2.14468313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.875898227 meters 0.026517726591160463 Centerline is valid? [True, True] Translation: X:184.69, Y:7.67, Z:-2.15 [[ 9.99903935e-01 8.98852165e-03 1.05512177e-02 1.84686457e+02] [-8.98933650e-03 9.99959595e-01 2.98044490e-05 7.67083443e+00] [-1.05505235e-02 -1.24650032e-04 9.99944334e-01 -2.14703535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.935898227 meters 0.026680500887408753 Centerline is valid? [True, True] Translation: X:184.75, Y:7.68, Z:-2.15 [[ 9.99811758e-01 1.63752276e-02 1.04067138e-02 1.84746449e+02] [-1.63764132e-02 9.99865897e-01 2.87193560e-05 7.68162248e+00] [-1.04048480e-02 -1.99138596e-04 9.99945848e-01 -2.14820882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.995898227 meters 0.02658190486826109 Centerline is valid? [True, True] Translation: X:184.81, Y:7.68, Z:-2.15 [[ 9.99776196e-01 1.82226873e-02 1.07466653e-02 1.84807457e+02] [-1.82240593e-02 9.99833928e-01 2.97469959e-05 7.68046387e+00] [-1.07443385e-02 -2.25588204e-04 9.99942252e-01 -2.14819018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.055898227 meters 0.027311525850007796 Centerline is valid? [True, True] Translation: X:184.87, Y:7.68, Z:-2.15 [[ 9.99801555e-01 1.80895131e-02 8.34383027e-03 1.84868162e+02] [-1.80903411e-02 9.99836356e-01 2.37707184e-05 7.67615214e+00] [-8.34203486e-03 -1.74708737e-04 9.99965189e-01 -2.15313144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.115898227 meters 0.02799967001172508 Centerline is valid? [True, True] Translation: X:184.93, Y:7.67, Z:-2.16 [[ 9.99776990e-01 2.00726869e-02 6.56180571e-03 1.84928926e+02] [-2.00732310e-02 9.99798512e-01 1.70594952e-05 7.67293530e+00] [-6.56014116e-03 -1.48772332e-04 9.99978471e-01 -2.15574964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.175898227 meters 0.03296443870460258 Centerline is valid? [True, True] Translation: X:184.99, Y:7.68, Z:-2.16 [[ 9.99700732e-01 2.35010614e-02 6.79310915e-03 1.84988648e+02] [-2.35017218e-02 9.99723796e-01 1.73882725e-05 7.67557539e+00] [-6.79082422e-03 -1.77032830e-04 9.99976926e-01 -2.15698207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.235898227 meters 0.04038953893807787 Centerline is valid? [True, True] Translation: X:185.05, Y:7.68, Z:-2.16 [[ 9.99536145e-01 2.98243993e-02 6.16439964e-03 1.85049451e+02] [-2.98250641e-02 9.99555134e-01 1.59269714e-05 7.68159928e+00] [-6.16118230e-03 -1.99773198e-04 9.99981000e-01 -2.15885684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.295898227 meters 0.043062345527938084 Centerline is valid? [True, True] Translation: X:185.11, Y:7.68, Z:-2.16 [[ 9.99495290e-01 3.11449030e-02 6.25785204e-03 1.85107781e+02] [-3.11456125e-02 9.99514858e-01 1.59327647e-05 7.68430946e+00] [-6.25431987e-03 -2.10829358e-04 9.99980419e-01 -2.15989743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.355898227 meters 0.044261312727622903 Centerline is valid? [True, True] Translation: X:185.17, Y:7.69, Z:-2.16 [[ 9.99426699e-01 3.29233664e-02 7.89465470e-03 1.85167492e+02] [-3.29245542e-02 9.99457840e-01 2.04994521e-05 7.68570039e+00] [-7.88969962e-03 -2.80415686e-04 9.99968837e-01 -2.15790689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.415898227 meters 0.04197312895310061 Centerline is valid? [True, True] Translation: X:185.23, Y:7.68, Z:-2.16 [[ 9.99396804e-01 3.38687844e-02 7.67687586e-03 1.85226992e+02] [-3.38699366e-02 9.99426249e-01 2.00952096e-05 7.67759233e+00] [-7.67179064e-03 -2.80098387e-04 9.99970532e-01 -2.15796880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.475898227 meters 0.041960522951399515 Centerline is valid? [True, True] Translation: X:185.29, Y:7.67, Z:-2.16 [[ 9.99413900e-01 3.31956388e-02 8.36102377e-03 1.85286054e+02] [-3.31969834e-02 9.99448828e-01 2.20466919e-05 7.67281673e+00] [-8.35568355e-03 -2.99594538e-04 9.99965046e-01 -2.15845297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.535898227 meters 0.045022628733841864 Centerline is valid? [True, True] Translation: X:185.35, Y:7.67, Z:-2.16 [[ 9.99401512e-01 3.27912899e-02 1.10158857e-02 1.85345269e+02] [-3.27936062e-02 9.99462145e-01 2.96505262e-05 7.67266672e+00] [-1.10089885e-02 -3.90883399e-04 9.99939323e-01 -2.15605029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.595898227 meters 0.04432897425776345 Centerline is valid? [True, True] Translation: X:185.41, Y:7.67, Z:-2.16 [[ 9.99312798e-01 3.53384985e-02 1.11857665e-02 1.85405428e+02] [-3.53410495e-02 9.99375310e-01 3.04158397e-05 7.66507969e+00] [-1.11777040e-02 -4.25711667e-04 9.99937437e-01 -2.15587271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.655898227 meters 0.054062370857399636 Centerline is valid? [True, True] Translation: X:185.46, Y:7.68, Z:-2.16 [[ 9.99206942e-01 3.87044007e-02 9.35180107e-03 1.85464622e+02] [-3.87063311e-02 9.99250629e-01 2.54516081e-05 7.67539102e+00] [-9.34380801e-03 -3.87405332e-04 9.99956271e-01 -2.16003022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.715898227 meters 0.05375211464439325 Centerline is valid? [True, True] Translation: X:185.53, Y:7.67, Z:-2.16 [[ 9.99021951e-01 4.33712469e-02 8.60681110e-03 1.85525523e+02] [-4.33730575e-02 9.99058946e-01 2.37365943e-05 7.67063610e+00] [-8.59768214e-03 -3.97017092e-04 9.99962960e-01 -2.16167993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.775898227 meters 0.062426291063533014 Centerline is valid? [True, True] Translation: X:185.58, Y:7.68, Z:-2.16 [[ 9.98916102e-01 4.58851949e-02 7.82110091e-03 1.85584341e+02] [-4.58867657e-02 9.98946647e-01 2.14142587e-05 7.67983871e+00] [-7.81187993e-03 -3.80276073e-04 9.99969414e-01 -2.16473165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.835898227 meters 0.05192467214478758 Centerline is valid? [True, True] Translation: X:185.64, Y:7.66, Z:-2.17 [[ 9.98891444e-01 4.66474093e-02 6.31687181e-03 1.85644273e+02] [-4.66484496e-02 9.98911368e-01 1.73653611e-05 7.66331891e+00] [-6.30918501e-03 -3.12018387e-04 9.99980048e-01 -2.16582766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.895898227 meters 0.056998263673615934 Centerline is valid? [True, True] Translation: X:185.70, Y:7.66, Z:-2.17 [[ 9.98961922e-01 4.51132098e-02 6.31487430e-03 1.85702724e+02] [-4.51142192e-02 9.98981835e-01 1.74165607e-05 7.66185270e+00] [-6.30765900e-03 -3.02289104e-04 9.99980061e-01 -2.16935731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.955898227 meters 0.053024823178799786 Centerline is valid? [True, True] Translation: X:185.76, Y:7.65, Z:-2.17 [[ 9.99052997e-01 4.30693609e-02 6.17564576e-03 1.85762652e+02] [-4.30702899e-02 9.99072044e-01 1.74528992e-05 7.65158898e+00] [-6.16916335e-03 -2.83423225e-04 9.99980930e-01 -2.17044759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.015898227 meters 0.04631004649584523 Centerline is valid? [True, True] Translation: X:185.82, Y:7.63, Z:-2.17 [[ 9.99153923e-01 4.04037678e-02 7.67948950e-03 1.85822366e+02] [-4.04051261e-02 9.99183379e-01 2.17471254e-05 7.63364581e+00] [-7.67233960e-03 -3.32019467e-04 9.99970512e-01 -2.16812719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.075898227 meters 0.05045175738152236 Centerline is valid? [True, True] Translation: X:185.88, Y:7.63, Z:-2.17 [[ 9.99148851e-01 4.03449920e-02 8.59394436e-03 1.85881074e+02] [-4.03466924e-02 9.99185740e-01 2.45178553e-05 7.63371043e+00] [-8.58595748e-03 -3.71234217e-04 9.99963071e-01 -2.16749977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.135898227 meters 0.05005782029541182 Centerline is valid? [True, True] Translation: X:185.94, Y:7.63, Z:-2.17 [[ 9.99111771e-01 4.12786331e-02 8.47009824e-03 1.85940641e+02] [-4.12803216e-02 9.99147604e-01 2.45436942e-05 7.62917177e+00] [-8.46186523e-03 -3.74170273e-04 9.99964128e-01 -2.16732736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.19589822700001 meters 0.05173681252169918 Centerline is valid? [True, True] Translation: X:186.00, Y:7.62, Z:-2.17 [[ 9.99062521e-01 4.23138395e-02 9.14431881e-03 1.86000712e+02] [-4.23158537e-02 9.99104283e-01 2.68054110e-05 7.62442317e+00] [-9.13499384e-03 -4.13729938e-04 9.99958189e-01 -2.16618943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.255898227 meters 0.05683602900040127 Centerline is valid? [True, True] Translation: X:186.06, Y:7.63, Z:-2.16 [[ 9.99016071e-01 4.25554641e-02 1.24868606e-02 1.86059397e+02] [-4.25592411e-02 9.99093944e-01 3.67858672e-05 7.62703636e+00] [-1.24739814e-02 -5.68180984e-04 9.99922035e-01 -2.16131497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.315898227 meters 0.059031251852427066 Centerline is valid? [True, True] Translation: X:186.12, Y:7.62, Z:-2.16 [[ 9.98951256e-01 4.40208098e-02 1.25919287e-02 1.86120391e+02] [-4.40247722e-02 9.99030439e-01 3.75295277e-05 7.62389194e+00] [-1.25780680e-02 -5.91846961e-04 9.99920718e-01 -2.16187316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.375898227 meters 0.0539137467634835 Centerline is valid? [True, True] Translation: X:186.18, Y:7.61, Z:-2.17 [[ 9.98806824e-01 4.78182911e-02 9.91660417e-03 1.86181403e+02] [-4.78209313e-02 9.98855924e-01 2.91572254e-05 7.61347195e+00] [-9.90386457e-03 -5.03343682e-04 9.99950829e-01 -2.16636199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.435898227 meters 0.06519639769285648 Centerline is valid? [True, True] Translation: X:186.24, Y:7.62, Z:-2.17 [[ 9.98480181e-01 5.44932502e-02 8.23487290e-03 1.86240786e+02] [-5.44952970e-02 9.98514027e-01 2.42029206e-05 7.62171370e+00] [-8.22131721e-03 -4.72927981e-04 9.99966093e-01 -2.17103129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.495898227 meters 0.06547503832635145 Centerline is valid? [True, True] Translation: X:186.30, Y:7.62, Z:-2.17 [[ 9.98364504e-01 5.66082778e-02 7.98871100e-03 1.86300693e+02] [-5.66102706e-02 9.98396353e-01 2.33680546e-05 7.62060167e+00] [-7.97457710e-03 -4.75572928e-04 9.99968089e-01 -2.17197820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.555898227 meters 0.06596423064023452 Centerline is valid? [True, True] Translation: X:186.36, Y:7.62, Z:-2.17 [[ 9.98395363e-01 5.60116737e-02 8.33010009e-03 1.86360338e+02] [-5.60138200e-02 9.98429993e-01 2.43993457e-05 7.61945659e+00] [-8.31565513e-03 -4.90960921e-04 9.99965304e-01 -2.17285243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.615898227 meters 0.0596584453536141 Centerline is valid? [True, True] Translation: X:186.42, Y:7.61, Z:-2.17 [[ 9.98412530e-01 5.55695856e-02 9.18921204e-03 1.86419858e+02] [-5.55721811e-02 9.98454672e-01 2.71569998e-05 7.60784738e+00] [-9.17350259e-03 -5.37778445e-04 9.99957778e-01 -2.17091230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.675898227 meters 0.0661337255104322 Centerline is valid? [True, True] Translation: X:186.48, Y:7.61, Z:-2.17 [[ 9.98416172e-01 5.56391910e-02 8.33230122e-03 1.86478711e+02] [-5.56413282e-02 9.98450821e-01 2.47213651e-05 7.61252912e+00] [-8.31801752e-03 -4.88302518e-04 9.99965285e-01 -2.17337653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.735898227 meters 0.06491861156137317 Centerline is valid? [True, True] Translation: X:186.54, Y:7.61, Z:-2.18 [[ 9.98492068e-01 5.44762283e-02 6.77724084e-03 1.86538196e+02] [-5.44776172e-02 9.98514992e-01 2.03531453e-05 7.60677215e+00] [-6.76606782e-03 -3.89530386e-04 9.99977034e-01 -2.17601443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.795898227 meters 0.061874912450497824 Centerline is valid? [True, True] Translation: X:186.60, Y:7.60, Z:-2.17 [[ 9.98502243e-01 5.38746334e-02 9.52866426e-03 1.86598334e+02] [-5.38773546e-02 9.98547560e-01 2.89302391e-05 7.59687167e+00] [-9.51326584e-03 -5.42266132e-04 9.99954601e-01 -2.17193922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.855898227 meters 0.05971859339599845 Centerline is valid? [True, True] Translation: X:186.66, Y:7.59, Z:-2.17 [[ 9.98387933e-01 5.59470683e-02 9.56352030e-03 1.86658410e+02] [-5.59499083e-02 9.98433577e-01 2.94664249e-05 7.59177430e+00] [-9.54689122e-03 -5.64497007e-04 9.99954268e-01 -2.17195527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.915898227 meters 0.0673870977825466 Centerline is valid? [True, True] Translation: X:186.72, Y:7.60, Z:-2.18 [[ 9.98287608e-01 5.79419260e-02 8.03653531e-03 1.86717256e+02] [-5.79439951e-02 9.98319835e-01 2.46634611e-05 7.60225722e+00] [-8.02160355e-03 -4.90290190e-04 9.99967706e-01 -2.17618795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.975898227 meters 0.0704257385801502 Centerline is valid? [True, True] Translation: X:186.78, Y:7.61, Z:-2.18 [[ 9.98213289e-01 5.93497736e-02 6.91616073e-03 1.86776843e+02] [-5.93513411e-02 9.98237155e-01 2.14372336e-05 7.60596362e+00] [-6.90269632e-03 -4.31882346e-04 9.99976083e-01 -2.17882936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.035898227 meters 0.06491931641243671 Centerline is valid? [True, True] Translation: X:186.84, Y:7.59, Z:-2.18 [[ 9.98433459e-01 5.52606674e-02 8.76850590e-03 1.86837374e+02] [-5.52630314e-02 9.98471831e-01 2.73518899e-05 7.59235599e+00] [-8.75359466e-03 -5.11883259e-04 9.99961556e-01 -2.17662535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.095898227 meters 0.056725955089118575 Centerline is valid? [True, True] Translation: X:186.90, Y:7.58, Z:-2.18 [[ 9.98699772e-01 4.99661791e-02 1.01067249e-02 1.86898095e+02] [-4.99690510e-02 9.98750766e-01 3.16831061e-05 7.58375951e+00] [-1.00925161e-02 -5.36665360e-04 9.99948925e-01 -2.17570263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.155898227 meters 0.05622543866784614 Centerline is valid? [True, True] Translation: X:186.96, Y:7.58, Z:-2.18 [[ 9.98835263e-01 4.72296110e-02 9.87326427e-03 1.86957701e+02] [-4.72322169e-02 9.98883936e-01 3.08003025e-05 7.58110040e+00] [-9.86079039e-03 -4.97100588e-04 9.99951258e-01 -2.17732370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.215898227 meters 0.05106214931750634 Centerline is valid? [True, True] Translation: X:187.02, Y:7.57, Z:-2.18 [[ 9.99072823e-01 4.21514215e-02 8.76083648e-03 1.87018726e+02] [-4.21532789e-02 9.99111155e-01 2.73937680e-05 7.56679702e+00] [-8.75189477e-03 -3.96666353e-04 9.99961623e-01 -2.17933638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.275898227 meters 0.05372665742478779 Centerline is valid? [True, True] Translation: X:187.08, Y:7.57, Z:-2.18 [[ 9.99032370e-01 4.30768557e-02 8.87176347e-03 1.87079426e+02] [-4.30787960e-02 9.99071677e-01 2.76441799e-05 7.56534829e+00] [-8.86233679e-03 -4.09802320e-04 9.99960645e-01 -2.17912199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.335898227 meters 0.05556139626032585 Centerline is valid? [True, True] Translation: X:187.14, Y:7.56, Z:-2.18 [[ 9.98876391e-01 4.63433403e-02 9.91214580e-03 1.87140034e+02] [-4.63459214e-02 9.98925450e-01 3.07279391e-05 7.56229833e+00] [-9.90007066e-03 -4.90080943e-04 9.99950873e-01 -2.17826032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.395898227 meters 0.06496662490135101 Centerline is valid? [True, True] Translation: X:187.20, Y:7.57, Z:-2.18 [[ 9.98509150e-01 5.40648871e-02 7.51436544e-03 1.87200595e+02] [-5.40665878e-02 9.98537332e-01 2.32136877e-05 7.56561721e+00] [-7.50211937e-03 -4.29455178e-04 9.99971766e-01 -2.18262656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.455898227 meters 0.07320812425572994 Centerline is valid? [True, True] Translation: X:187.26, Y:7.57, Z:-2.19 [[ 9.98096757e-01 6.13796056e-02 5.95047946e-03 1.87261345e+02] [-6.13808017e-02 9.98114421e-01 1.84192500e-05 7.56642889e+00] [-5.93812880e-03 -3.83629394e-04 9.99982296e-01 -2.18635458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.515898227 meters 0.081558139117538 Centerline is valid? [True, True] Translation: X:187.32, Y:7.57, Z:-2.18 [[ 9.97885514e-01 6.46035426e-02 7.13319515e-03 1.87320882e+02] [-6.46053425e-02 9.97910892e-01 2.19586203e-05 7.57356064e+00] [-7.11687453e-03 -4.82754705e-04 9.99974558e-01 -2.18479567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.575898227 meters 0.08434641691318584 Centerline is valid? [True, True] Translation: X:187.38, Y:7.57, Z:-2.19 [[ 9.97766882e-01 6.64908453e-02 6.34172402e-03 1.87380124e+02] [-6.64923068e-02 9.97786938e-01 1.96625690e-05 7.57347644e+00] [-6.32638201e-03 -4.41294520e-04 9.99979891e-01 -2.18669873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.635898227 meters 0.07256123930124847 Centerline is valid? [True, True] Translation: X:187.44, Y:7.55, Z:-2.19 [[ 9.97811496e-01 6.57372396e-02 7.12977402e-03 1.87441139e+02] [-6.57390684e-02 9.97836848e-01 2.22086813e-05 7.54839543e+00] [-7.11289129e-03 -4.90864780e-04 9.99974583e-01 -2.18595771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.69589822700001 meters 0.07149241839259274 Centerline is valid? [True, True] Translation: X:187.50, Y:7.55, Z:-2.18 [[ 9.97757297e-01 6.64343035e-02 8.17674961e-03 1.87500803e+02] [-6.64367308e-02 9.97790639e-01 2.52922777e-05 7.54781039e+00] [-8.15700394e-03 -5.68472067e-04 9.99966570e-01 -2.18379883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.755898227 meters 0.0779968028766043 Centerline is valid? [True, True] Translation: X:187.56, Y:7.56, Z:-2.19 [[ 9.97494515e-01 7.05155413e-02 5.67901590e-03 1.87560132e+02] [-7.05167786e-02 9.97510593e-01 1.76802214e-05 7.55735273e+00] [-5.66363179e-03 -4.18101831e-04 9.99983874e-01 -2.18863271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.815898227 meters 0.07946410784164604 Centerline is valid? [True, True] Translation: X:187.62, Y:7.56, Z:-2.19 [[ 9.97414418e-01 7.16392779e-02 5.68270006e-03 1.87620754e+02] [-7.16405336e-02 9.97430516e-01 1.74484438e-05 7.56186174e+00] [-5.66684846e-03 -4.24514994e-04 9.99983853e-01 -2.19052922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.875898227 meters 0.07967062801619819 Centerline is valid? [True, True] Translation: X:187.68, Y:7.56, Z:-2.19 [[ 9.97543310e-01 6.96901980e-02 7.11488524e-03 1.87680192e+02] [-6.96921162e-02 9.97568548e-01 2.17362279e-05 7.56460276e+00] [-7.09607094e-03 -5.17534238e-04 9.99974689e-01 -2.18970393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.935898227 meters 0.07607250583437455 Centerline is valid? [True, True] Translation: X:187.74, Y:7.56, Z:-2.19 [[ 9.97925511e-01 6.40932365e-02 6.06061096e-03 1.87740678e+02] [-6.40945267e-02 9.97943832e-01 1.86945246e-05 7.55990539e+00] [-6.04695114e-03 -4.07107735e-04 9.99981634e-01 -2.19285126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.995898227 meters 0.07572673596765828 Centerline is valid? [True, True] Translation: X:187.80, Y:7.56, Z:-2.20 [[ 9.98000008e-01 6.29942668e-02 5.26359451e-03 1.87800321e+02] [-6.29952242e-02 9.98013828e-01 1.61365576e-05 7.56310308e+00] [-5.25212359e-03 -3.47685601e-04 9.99986147e-01 -2.19635898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.055898227 meters 0.07952037288269992 Centerline is valid? [True, True] Translation: X:187.86, Y:7.57, Z:-2.19 [[ 9.97826708e-01 6.54625780e-02 7.51743277e-03 1.87860268e+02] [-6.54646018e-02 9.97854892e-01 2.32033491e-05 7.57042766e+00] [-7.49978812e-03 -5.15278664e-04 9.99971743e-01 -2.19194061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.115898227 meters 0.08445532736355861 Centerline is valid? [True, True] Translation: X:187.92, Y:7.58, Z:-2.19 [[ 9.97544133e-01 6.93331641e-02 9.93049153e-03 1.87920131e+02] [-6.93368882e-02 9.97593301e-01 3.08146669e-05 7.57860356e+00] [-9.90445535e-03 -7.19288371e-04 9.99950691e-01 -2.18812970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.175898227 meters 0.09091480385143433 Centerline is valid? [True, True] Translation: X:187.98, Y:7.59, Z:-2.19 [[ 9.97229682e-01 7.38205606e-02 9.13705106e-03 1.87979543e+02] [-7.38239019e-02 9.97271292e-01 2.84958058e-05 7.58980783e+00] [-9.11001514e-03 -7.02949624e-04 9.99958256e-01 -2.19103652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.235898227 meters 0.09282847789285212 Centerline is valid? [True, True] Translation: X:188.04, Y:7.60, Z:-2.19 [[ 9.96877212e-01 7.85150105e-02 8.43899495e-03 1.88040232e+02] [-7.85180275e-02 9.96912694e-01 2.62761179e-05 7.59687651e+00] [-8.41087812e-03 -6.88807301e-04 9.99964391e-01 -2.19234027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.295898227 meters 0.09232490755419781 Centerline is valid? [True, True] Translation: X:188.10, Y:7.60, Z:-2.19 [[ 9.96477226e-01 8.34257981e-02 8.55999679e-03 1.88100671e+02] [-8.34290823e-02 9.96513717e-01 2.66803461e-05 7.60187424e+00] [-8.52792839e-03 -7.40739034e-04 9.99963362e-01 -2.19213373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.355898227 meters 0.10555033924202695 Centerline is valid? [True, False] Translation: X:188.10, Y:7.61, Z:-2.19 [[ 9.97105389e-01 7.55745220e-02 8.32674184e-03 1.88102165e+02] [-7.56558215e-02 9.97084605e-01 9.92403888e-03 7.61104364e+00] [-7.55246161e-03 -1.05252791e-02 9.99916086e-01 -2.19349768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.415898227 meters 0.09899710841993503 Centerline is valid? [False, True] Translation: X:188.10, Y:7.62, Z:-2.19 [[ 9.98018021e-01 6.24986810e-02 7.34469425e-03 1.88101723e+02] [-6.26033200e-02 9.97925697e-01 1.50042552e-02 7.61825280e+00] [-6.39171296e-03 -1.54343193e-02 9.99860454e-01 -2.19301941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.475898227 meters 0.08748969938881729 Centerline is valid? [True, True] Translation: X:188.16, Y:7.62, Z:-2.19 [[ 9.98181408e-01 5.94934399e-02 9.71634643e-03 1.88162823e+02] [-5.94989449e-02 9.98228330e-01 2.78241588e-04 7.61578860e+00] [-9.68257872e-03 -8.55847941e-04 9.99952756e-01 -2.18847326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.535898227 meters 0.09043130641071112 Centerline is valid? [True, True] Translation: X:188.22, Y:7.63, Z:-2.19 [[ 9.98447284e-01 5.45002930e-02 1.15212374e-02 1.88221952e+02] [-5.45077021e-02 9.98513296e-01 3.29815576e-04 7.63021293e+00] [-1.14861336e-02 -9.57299639e-04 9.99933574e-01 -2.18733761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.595898227 meters 0.08130238459293927 Centerline is valid? [True, True] Translation: X:188.28, Y:7.63, Z:-2.19 [[ 9.98626608e-01 5.13892237e-02 1.02002552e-02 1.88282710e+02] [-5.13948703e-02 9.98678368e-01 2.92047082e-04 7.62973761e+00] [-1.01717661e-02 -8.15886778e-04 9.99947933e-01 -2.19010716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.655898227 meters 0.08610776488787476 Centerline is valid? [True, True] Translation: X:188.34, Y:7.64, Z:-2.19 [[ 9.98740582e-01 4.94201746e-02 8.65427482e-03 1.88341681e+02] [-4.94241647e-02 9.98777848e-01 2.47661222e-04 7.64295164e+00] [-8.63145853e-03 -6.75079617e-04 9.99962520e-01 -2.19387701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.715898227 meters 0.08257742653362046 Centerline is valid? [True, True] Translation: X:188.40, Y:7.64, Z:-2.20 [[ 9.98905488e-01 4.61236336e-02 7.77403886e-03 1.88402025e+02] [-4.61267549e-02 9.98935570e-01 2.22587355e-04 7.64279255e+00] [-7.75549740e-03 -5.80934916e-04 9.99969757e-01 -2.19590358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.775898227 meters 0.0723647173382234 Centerline is valid? [True, True] Translation: X:188.46, Y:7.63, Z:-2.20 [[ 9.99081132e-01 4.19254843e-02 8.89641336e-03 1.88463109e+02] [-4.19294089e-02 9.99120543e-01 2.55013095e-04 7.63361764e+00] [-8.87789780e-03 -6.27800126e-04 9.99960394e-01 -2.19553649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.835898227 meters 0.07779446020757368 Centerline is valid? [True, True] Translation: X:188.52, Y:7.64, Z:-2.19 [[ 9.99072105e-01 4.18082200e-02 1.03441248e-02 1.88522412e+02] [-4.18135193e-02 9.99125388e-01 2.96464645e-04 7.64176065e+00] [-1.03226831e-02 -7.28713820e-04 9.99946454e-01 -2.19438497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.895898227 meters 0.08527341615513816 Centerline is valid? [True, True] Translation: X:188.58, Y:7.65, Z:-2.20 [[ 9.98914241e-01 4.55180679e-02 9.92196794e-03 1.88581349e+02] [-4.55231261e-02 9.98963245e-01 2.84436648e-04 7.65360580e+00] [-9.89873428e-03 -7.35806816e-04 9.99950736e-01 -2.19533989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.955898227 meters 0.08345567948107166 Centerline is valid? [True, True] Translation: X:188.64, Y:7.65, Z:-2.20 [[ 9.98848027e-01 4.70534189e-02 9.41246565e-03 1.88641937e+02] [-4.70580414e-02 9.98892120e-01 2.70113038e-04 7.65381710e+00] [-9.38932802e-03 -7.12734073e-04 9.99955665e-01 -2.19752054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.015898227 meters 0.08024641263217774 Centerline is valid? [True, True] Translation: X:188.70, Y:7.65, Z:-2.20 [[ 9.98928582e-01 4.52938439e-02 9.49505614e-03 1.88701884e+02] [-4.52984683e-02 9.98973460e-01 2.72430554e-04 7.65301111e+00] [-9.47296966e-03 -7.02250167e-04 9.99954884e-01 -2.19829166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.075898227 meters 0.07906244799401353 Centerline is valid? [True, True] Translation: X:188.76, Y:7.65, Z:-2.20 [[ 9.99038725e-01 4.26689095e-02 1.00493468e-02 1.88761016e+02] [-4.26739588e-02 9.99089010e-01 2.88458497e-04 7.65336034e+00] [-1.00278837e-02 -7.17026620e-04 9.99949462e-01 -2.19852840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.135898227 meters 0.07324232275808407 Centerline is valid? [True, True] Translation: X:188.82, Y:7.64, Z:-2.20 [[ 9.99106899e-01 4.09716899e-02 1.03307791e-02 1.88821848e+02] [-4.09769374e-02 9.99160049e-01 2.96707021e-04 7.64440377e+00] [-1.03099451e-02 -7.19765718e-04 9.99946592e-01 -2.19931077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.195898227 meters 0.06772607336770797 Centerline is valid? [True, True] Translation: X:188.88, Y:7.64, Z:-2.20 [[ 9.99236557e-01 3.74876518e-02 1.09990260e-02 1.88882403e+02] [-3.74933900e-02 9.99296826e-01 3.15897926e-04 7.64026816e+00] [-1.09794495e-02 -7.28047528e-04 9.99939459e-01 -2.19914568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.255898227 meters 0.06932836676290491 Centerline is valid? [True, True] Translation: X:188.94, Y:7.64, Z:-2.20 [[ 9.99250652e-01 3.73764943e-02 1.00564671e-02 1.88942456e+02] [-3.73812862e-02 9.99301034e-01 2.88881176e-04 7.64065765e+00] [-1.00386406e-02 -6.64588377e-04 9.99949391e-01 -2.20112171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.315898227 meters 0.07599960546668469 Centerline is valid? [True, True] Translation: X:189.00, Y:7.64, Z:-2.20 [[ 9.99153120e-01 4.01535885e-02 8.98514115e-03 1.89001965e+02] [-4.01575245e-02 9.99193328e-01 2.57999525e-04 7.64372102e+00] [-8.96753348e-03 -6.18602056e-04 9.99959600e-01 -2.20425363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.375898227 meters 0.07829716422314513 Centerline is valid? [True, True] Translation: X:189.06, Y:7.64, Z:-2.21 [[ 9.99053237e-01 4.25701136e-02 8.96741862e-03 1.89062144e+02] [-4.25741300e-02 9.99093278e-01 2.57381925e-04 7.64105862e+00] [-8.94833089e-03 -6.38918291e-04 9.99959759e-01 -2.20501697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.435898227 meters 0.07958893109110816 Centerline is valid? [True, True] Translation: X:189.12, Y:7.64, Z:-2.20 [[ 9.99000929e-01 4.35468283e-02 1.00408074e-02 1.89122123e+02] [-4.35519122e-02 9.99051124e-01 2.88124425e-04 7.64199819e+00] [-1.00187330e-02 -7.25132932e-04 9.99949548e-01 -2.20376987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.495898227 meters 0.07021217658430615 Centerline is valid? [True, True] Translation: X:189.18, Y:7.63, Z:-2.20 [[ 9.98982270e-01 4.36429251e-02 1.13894463e-02 1.89183761e+02] [-4.36494755e-02 9.99046854e-01 3.27070456e-04 7.62983793e+00] [-1.13643162e-02 -8.23880945e-04 9.99935085e-01 -2.20213249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.555898227 meters 0.07350000436027736 Centerline is valid? [True, True] Translation: X:189.24, Y:7.63, Z:-2.20 [[ 9.99210421e-01 3.80290032e-02 1.15034544e-02 1.89243150e+02] [-3.80353109e-02 9.99276341e-01 3.29969935e-04 7.63137284e+00] [-1.14825814e-02 -7.67246862e-04 9.99933779e-01 -2.20308657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.615898227 meters 0.06614685669215943 Centerline is valid? [True, True] Translation: X:189.30, Y:7.62, Z:-2.20 [[ 9.99439002e-01 3.08116557e-02 1.31272272e-02 1.89303806e+02] [-3.08192523e-02 9.99524903e-01 3.76743162e-04 7.62075256e+00] [-1.31093824e-02 -7.81103136e-04 9.99913763e-01 -2.20017116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.675898227 meters 0.056125233073848195 Centerline is valid? [True, True] Translation: X:189.36, Y:7.61, Z:-2.20 [[ 9.99668443e-01 2.09178578e-02 1.50149245e-02 1.89364968e+02] [-2.09266820e-02 9.99780920e-01 4.30804489e-04 7.60746122e+00] [-1.50026235e-02 -7.44874202e-04 9.99887177e-01 -2.19749956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.735898227 meters 0.05124203163952005 Centerline is valid? [True, True] Translation: X:189.43, Y:7.60, Z:-2.20 [[ 9.99765011e-01 1.55349135e-02 1.51191581e-02 1.89425420e+02] [-1.55432456e-02 9.99879102e-01 4.33736448e-04 7.60296894e+00] [-1.51105922e-02 -6.68635313e-04 9.99885605e-01 -2.19839362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.795898227 meters 0.04944445411531471 Centerline is valid? [True, True] Translation: X:189.49, Y:7.60, Z:-2.20 [[ 9.99851978e-01 1.01665824e-02 1.38803153e-02 1.89486598e+02] [-1.01730873e-02 9.99948174e-01 3.98119060e-04 7.59845765e+00] [-1.38755484e-02 -5.39265790e-04 9.99903585e-01 -2.20209835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.855898227 meters 0.041189719850484086 Centerline is valid? [True, True] Translation: X:189.55, Y:7.59, Z:-2.20 [[ 9.99870561e-01 7.29146934e-03 1.43420852e-02 1.89547693e+02] [-7.29811665e-03 9.99973284e-01 4.11198647e-04 7.59469300e+00] [-1.43387038e-02 -5.15815633e-04 9.99897062e-01 -2.20164383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.915898227 meters 0.03416668730328135 Centerline is valid? [True, True] Translation: X:189.61, Y:7.59, Z:-2.20 [[ 9.99916262e-01 4.83303539e-04 1.29319261e-02 1.89608481e+02] [-4.88137155e-04 9.99999812e-01 3.70620061e-04 7.58870407e+00] [-1.29317446e-02 -3.76901580e-04 9.99916310e-01 -2.20473573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.975898227 meters 0.03377611513149057 Centerline is valid? [True, True] Translation: X:189.67, Y:7.59, Z:-2.21 [[ 9.99941018e-01 -3.93483440e-03 1.01231122e-02 1.89668101e+02] [ 3.93209922e-03 9.99992227e-01 2.90080408e-04 7.58618994e+00] [-1.01241749e-02 -2.50258217e-04 9.99948718e-01 -2.21134749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.035898227 meters 0.027484641337574993 Centerline is valid? [True, True] Translation: X:189.73, Y:7.58, Z:-2.21 [[ 9.99943181e-01 -6.14259994e-03 8.71226797e-03 1.89729958e+02] [ 6.14064896e-03 9.99981115e-01 2.50666994e-04 7.58474320e+00] [-8.71364318e-03 -1.97153772e-04 9.99962016e-01 -2.21449392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.095898227 meters 0.023696431795826266 Centerline is valid? [True, True] Translation: X:189.79, Y:7.58, Z:-2.21 [[ 9.99899795e-01 -9.14097984e-03 1.08093702e-02 1.89791229e+02] [ 9.13818168e-03 9.99958198e-01 3.08227416e-04 7.58382632e+00] [-1.08117358e-02 -2.09418541e-04 9.99941530e-01 -2.21093749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.155898227 meters 0.021771947183350352 Centerline is valid? [True, True] Translation: X:189.85, Y:7.58, Z:-2.21 [[ 9.99875339e-01 -1.15474305e-02 1.07686454e-02 1.89853658e+02] [ 1.15447948e-02 9.99933310e-01 3.06886709e-04 7.58281756e+00] [-1.07714710e-02 -1.82526651e-04 9.99941969e-01 -2.21071431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.215898227 meters 0.018731601494874746 Centerline is valid? [True, True] Translation: X:189.92, Y:7.58, Z:-2.22 [[ 9.99853868e-01 -1.51517796e-02 7.91619988e-03 1.89916216e+02] [ 1.51504698e-02 9.99885200e-01 2.25398425e-04 7.57749831e+00] [-7.91870629e-03 -1.05431339e-04 9.99968641e-01 -2.21722857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.275898227 meters 0.022221386611726127 Centerline is valid? [True, True] Translation: X:189.98, Y:7.58, Z:-2.22 [[ 9.99838216e-01 -1.52249842e-02 9.57813738e-03 1.89978622e+02] [ 1.52230757e-02 9.99884085e-01 2.72132850e-04 7.57958729e+00] [-9.58117035e-03 -1.26280112e-04 9.99954092e-01 -2.21548906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.335898227 meters 0.0212064776171621 Centerline is valid? [True, True] Translation: X:190.04, Y:7.59, Z:-2.21 [[ 9.99834885e-01 -1.29039443e-02 1.27942095e-02 1.90040059e+02] [ 1.29003597e-02 9.99916721e-01 3.62663731e-04 7.58737413e+00] [-1.27978239e-02 -1.97553944e-04 9.99918085e-01 -2.21041656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.395898227 meters 0.024739592487364157 Centerline is valid? [True, True] Translation: X:190.10, Y:7.60, Z:-2.21 [[ 9.99877610e-01 -1.03721327e-02 1.17125498e-02 1.90101135e+02] [ 1.03689586e-02 9.99946186e-01 3.31696032e-04 7.59512337e+00] [-1.17153599e-02 -2.10208493e-04 9.99931351e-01 -2.21185305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.455898227 meters 0.02369149853050954 Centerline is valid? [True, True] Translation: X:190.16, Y:7.60, Z:-2.22 [[ 9.99893097e-01 -1.10347498e-02 9.59320075e-03 1.90163590e+02] [ 1.10326558e-02 9.99939102e-01 2.71178143e-04 7.59739837e+00] [-9.59560892e-03 -1.65310672e-04 9.99953947e-01 -2.21696592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.515898227 meters 0.017022097320828707 Centerline is valid? [True, True] Translation: X:190.23, Y:7.59, Z:-2.22 [[ 9.99797869e-01 -1.64608120e-02 1.15439669e-02 1.90225365e+02] [ 1.64581487e-02 9.99864502e-01 3.25678201e-04 7.59049240e+00] [-1.15477637e-02 -1.35620047e-04 9.99933313e-01 -2.21760122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.575898227 meters 0.013251810138527553 Centerline is valid? [True, True] Translation: X:190.29, Y:7.59, Z:-2.22 [[ 9.99694679e-01 -2.09201017e-02 1.31490701e-02 1.90288255e+02] [ 2.09170412e-02 9.99781146e-01 3.70251101e-04 7.58686486e+00] [-1.31539381e-02 -9.50984148e-05 9.99913479e-01 -2.21529992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.635898227 meters 0.012238321598881831 Centerline is valid? [True, True] Translation: X:190.35, Y:7.59, Z:-2.22 [[ 9.99694233e-01 -2.26114790e-02 1.00080609e-02 1.90350549e+02] [ 2.26097953e-02 9.99744326e-01 2.81368655e-04 7.58838170e+00] [-1.00118642e-02 -5.50024141e-05 9.99949879e-01 -2.22062780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.695898227 meters 0.013548789451295081 Centerline is valid? [True, True] Translation: X:190.41, Y:7.60, Z:-2.22 [[ 9.99739134e-01 -2.03592692e-02 1.03519656e-02 1.90412319e+02] [ 2.03573523e-02 9.99792725e-01 2.90524456e-04 7.59684039e+00] [-1.03557348e-02 -7.97100566e-05 9.99946375e-01 -2.22128943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.755898227 meters 0.01609164163902628 Centerline is valid? [True, True] Translation: X:190.47, Y:7.61, Z:-2.22 [[ 9.99794914e-01 -1.72634563e-02 1.05878827e-02 1.90472843e+02] [ 1.72612823e-02 9.99850969e-01 2.96686313e-04 7.60656425e+00] [-1.05914266e-02 -1.13865035e-04 9.99943903e-01 -2.22205186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.815898227 meters 0.01673719873776305 Centerline is valid? [True, True] Translation: X:190.53, Y:7.61, Z:-2.23 [[ 9.99822043e-01 -1.71811582e-02 7.79041381e-03 1.90533559e+02] [ 1.71799825e-02 9.99852389e-01 2.17808773e-04 7.60949708e+00] [-7.79300607e-03 -8.39308393e-05 9.99969631e-01 -2.22873441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.875898227 meters 0.015989576951274634 Centerline is valid? [True, True] Translation: X:190.60, Y:7.61, Z:-2.23 [[ 9.99812549e-01 -1.83833336e-02 6.07614558e-03 1.90595908e+02] [ 1.83826407e-02 9.99831011e-01 1.69866978e-04 7.61019928e+00] [-6.07824150e-03 -5.81395355e-05 9.99981526e-01 -2.23278785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.935898227 meters 0.013499611856010204 Centerline is valid? [True, True] Translation: X:190.66, Y:7.61, Z:-2.23 [[ 9.99737197e-01 -2.12088052e-02 8.70188596e-03 1.90656408e+02] [ 2.12074988e-02 9.99775066e-01 2.42389531e-04 7.60864873e+00] [-8.70506940e-03 -5.77805942e-05 9.99962108e-01 -2.22723329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.995898227 meters 0.01284623347362355 Centerline is valid? [True, True] Translation: X:190.72, Y:7.61, Z:-2.23 [[ 9.99729386e-01 -2.14949682e-02 8.89498190e-03 1.90718355e+02] [ 2.14936137e-02 9.99768955e-01 2.47855015e-04 7.60831297e+00] [-8.89825440e-03 -5.66026377e-05 9.99960408e-01 -2.22678220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.055898227 meters 0.014138373364009783 Centerline is valid? [True, True] Translation: X:190.78, Y:7.61, Z:-2.23 [[ 9.99769665e-01 -2.01229004e-02 7.46235838e-03 1.90779709e+02] [ 2.01219114e-02 9.99797512e-01 2.07596035e-04 7.61004007e+00] [-7.46502478e-03 -5.73913042e-05 9.99972135e-01 -2.23068842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.115898227 meters 0.022900155985899305 Centerline is valid? [True, True] Translation: X:190.84, Y:7.62, Z:-2.23 [[ 9.99814988e-01 -1.62214321e-02 1.03370505e-02 1.90840768e+02] [ 1.62193318e-02 9.99868417e-01 2.86991508e-04 7.61882973e+00] [-1.03403457e-02 -1.19278360e-04 9.99946530e-01 -2.22667683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.175898227 meters 0.02236756559093918 Centerline is valid? [True, True] Translation: X:190.90, Y:7.63, Z:-2.22 [[ 9.99854146e-01 -1.05581028e-02 1.34243334e-02 1.90901569e+02] [ 1.05540584e-02 9.99944235e-01 3.72083862e-04 7.62698995e+00] [-1.34275133e-02 -2.30348393e-04 9.99909820e-01 -2.22071791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.235898227 meters 0.030247061782308928 Centerline is valid? [True, True] Translation: X:190.96, Y:7.64, Z:-2.22 [[ 9.99911807e-01 -3.42548340e-03 1.28313854e-02 1.90961730e+02] [ 3.42120687e-03 9.99994085e-01 3.55222449e-04 7.64039171e+00] [-1.28325263e-02 -3.11292297e-04 9.99917611e-01 -2.22475656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.295898227 meters 0.038385828924081926 Centerline is valid? [True, True] Translation: X:191.02, Y:7.65, Z:-2.23 [[ 9.99929480e-01 -1.45555002e-03 1.17863204e-02 1.91023243e+02] [ 1.45180659e-03 9.99998893e-01 3.26158283e-04 7.64540901e+00] [-1.17867821e-02 -3.09023824e-04 9.99930486e-01 -2.22897687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.355898227 meters 0.03630917020997113 Centerline is valid? [True, True] Translation: X:191.08, Y:7.65, Z:-2.23 [[ 9.99908244e-01 7.94996266e-04 1.35229773e-02 1.91084119e+02] [-8.00115751e-04 9.99999610e-01 3.73170708e-04 7.65219579e+00] [-1.35226754e-02 -3.83956415e-04 9.99908491e-01 -2.22559677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.415898227 meters 0.03214244389067911 Centerline is valid? [True, True] Translation: X:191.15, Y:7.65, Z:-2.23 [[ 9.99892968e-01 2.71991157e-03 1.43755099e-02 1.91146246e+02] [-2.72588809e-03 9.99996206e-01 3.96165237e-04 7.64976838e+00] [-1.43743778e-02 -4.35308865e-04 9.99896589e-01 -2.22660624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.475898227 meters 0.041136813095779295 Centerline is valid? [True, True] Translation: X:191.21, Y:7.66, Z:-2.23 [[ 9.99906524e-01 4.57576343e-03 1.28843245e-02 1.91206750e+02] [-4.58071138e-03 9.99989446e-01 3.54543401e-04 7.66400817e+00] [-1.28825662e-02 -4.13529632e-04 9.99916931e-01 -2.23161875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.535898227 meters 0.03772012798473653 Centerline is valid? [True, True] Translation: X:191.27, Y:7.66, Z:-2.24 [[ 9.99925519e-01 7.01417057e-03 9.98789974e-03 1.91267928e+02] [-7.01725794e-03 9.99975341e-01 2.74099228e-04 7.65804027e+00] [-9.98573087e-03 -3.44166482e-04 9.99950082e-01 -2.23748760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.595898227 meters 0.042301875160109054 Centerline is valid? [True, True] Translation: X:191.33, Y:7.66, Z:-2.24 [[ 9.99913980e-01 9.12016711e-03 9.42627956e-03 1.91328394e+02] [-9.12300708e-03 9.99958351e-01 2.58325549e-04 7.66252304e+00] [-9.42353100e-03 -3.44299343e-04 9.99955538e-01 -2.23853459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.655898227 meters 0.04687752492178847 Centerline is valid? [True, True] Translation: X:191.39, Y:7.66, Z:-2.24 [[ 9.99927416e-01 9.76688138e-03 7.05484665e-03 1.91390146e+02] [-9.76849386e-03 9.99952268e-01 1.94141037e-04 7.66209805e+00] [-7.05261376e-03 -2.63042171e-04 9.99975095e-01 -2.24418873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.715898227 meters 0.047187017094963674 Centerline is valid? [True, True] Translation: X:191.45, Y:7.66, Z:-2.24 [[ 9.99884623e-01 1.33239666e-02 7.29463501e-03 1.91451444e+02] [-1.33257697e-02 9.99911188e-01 1.98629610e-04 7.66157651e+00] [-7.29134063e-03 -2.95813319e-04 9.99973374e-01 -2.24374112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.775898227 meters 0.05553464775102053 Centerline is valid? [True, True] Translation: X:191.51, Y:7.66, Z:-2.24 [[ 9.99779519e-01 1.82947876e-02 1.03060691e-02 1.91512065e+02] [-1.82986481e-02 9.99832526e-01 2.80407437e-04 7.65958676e+00] [-1.02992131e-02 -4.68932744e-04 9.99946852e-01 -2.23887419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.835898227 meters 0.05429989563456321 Centerline is valid? [True, True] Translation: X:191.57, Y:7.66, Z:-2.24 [[ 9.99742920e-01 2.05926209e-02 9.48884802e-03 1.91573266e+02] [-2.05959969e-02 9.99787847e-01 2.58198791e-04 7.65976615e+00] [-9.48151794e-03 -4.53564698e-04 9.99954947e-01 -2.23988075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.895898227 meters 0.05623282853231847 Centerline is valid? [True, True] Translation: X:191.63, Y:7.66, Z:-2.24 [[ 9.99717042e-01 2.18320204e-02 9.44447338e-03 1.91634914e+02] [-2.18354250e-02 9.99761546e-01 2.57514283e-04 7.65836064e+00] [-9.43659924e-03 -4.63665508e-04 9.99955367e-01 -2.24148214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.955898227 meters 0.05643335556775152 Centerline is valid? [True, True] Translation: X:191.70, Y:7.65, Z:-2.24 [[ 9.99657511e-01 2.27864151e-02 1.28701282e-02 1.91697473e+02] [-2.27927826e-02 9.99740150e-01 3.48267885e-04 7.65232658e+00] [-1.28588482e-02 -6.41494642e-04 9.99917116e-01 -2.23546984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.015898227 meters 0.060257399337863726 Centerline is valid? [True, True] Translation: X:191.76, Y:7.66, Z:-2.24 [[ 9.99568425e-01 2.67634533e-02 1.21111724e-02 1.91757981e+02] [-2.67693574e-02 9.99641584e-01 3.25616946e-04 7.65567844e+00] [-1.20981169e-02 -6.49684720e-04 9.99926604e-01 -2.23696106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.075898227 meters 0.0647631564642109 Centerline is valid? [True, True] Translation: X:191.82, Y:7.66, Z:-2.24 [[ 9.99336920e-01 3.44508977e-02 1.17837448e-02 1.91818347e+02] [-3.44570190e-02 9.99406130e-01 3.16781697e-04 7.66467978e+00] [-1.17658334e-02 -7.22604365e-04 9.99930519e-01 -2.23844490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.135898227 meters 0.0751186278050031 Centerline is valid? [True, True] Translation: X:191.88, Y:7.68, Z:-2.24 [[ 9.99273464e-01 3.56432032e-02 1.34946736e-02 1.91879071e+02] [-3.56513412e-02 9.99364223e-01 3.62895170e-04 7.67794256e+00] [-1.34731593e-02 -8.43734727e-04 9.99908877e-01 -2.23828279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.195898227 meters 0.0640711450663734 Centerline is valid? [True, True] Translation: X:191.94, Y:7.67, Z:-2.24 [[ 9.99374360e-01 3.37470561e-02 1.05841723e-02 1.91940102e+02] [-3.37519391e-02 9.99430201e-01 2.83012007e-04 7.66649268e+00] [-1.05685906e-02 -6.40071281e-04 9.99943946e-01 -2.24274364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.255898227 meters 0.06289553268103036 Centerline is valid? [True, True] Translation: X:192.00, Y:7.66, Z:-2.25 [[ 9.99603573e-01 2.74442192e-02 6.28586314e-03 1.91999618e+02] [-2.74458161e-02 9.99623279e-01 1.67924325e-04 7.65895987e+00] [-6.27888657e-03 -3.40378400e-04 9.99980230e-01 -2.25109818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.315898227 meters 0.060073289013692285 Centerline is valid? [True, True] Translation: X:192.06, Y:7.66, Z:-2.24 [[ 9.99598961e-01 2.65089639e-02 9.95948450e-03 1.92060000e+02] [-2.65129312e-02 9.99648435e-01 2.66508376e-04 7.65826089e+00] [-9.94891823e-03 -5.30456624e-04 9.99950368e-01 -2.24434152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.375898227 meters 0.06627694708562346 Centerline is valid? [True, True] Translation: X:192.12, Y:7.66, Z:-2.25 [[ 9.99564017e-01 2.88496708e-02 6.28270837e-03 1.92119716e+02] [-2.88512915e-02 9.99583701e-01 1.67451175e-04 7.66210333e+00] [-6.27526197e-03 -3.48642419e-04 9.99980250e-01 -2.25182506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.435898227 meters 0.06297295058315232 Centerline is valid? [True, True] Translation: X:192.18, Y:7.66, Z:-2.25 [[ 9.99400678e-01 3.40190022e-02 6.40248174e-03 1.92179907e+02] [-3.40207913e-02 9.99421111e-01 1.70698776e-04 7.65810008e+00] [-6.39296841e-03 -3.88413967e-04 9.99979489e-01 -2.25007764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.495898227 meters 0.0781970738919136 Centerline is valid? [True, True] Translation: X:192.24, Y:7.68, Z:-2.25 [[ 9.98943889e-01 4.51415337e-02 8.56439733e-03 1.92239043e+02] [-4.51451435e-02 9.98980412e-01 2.28534753e-04 7.67878156e+00] [-8.54534877e-03 -6.14934341e-04 9.99963299e-01 -2.24718758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.555898227 meters 0.08370397574439281 Centerline is valid? [True, True] Translation: X:192.30, Y:7.69, Z:-2.25 [[ 9.98636190e-01 5.17168731e-02 7.15019804e-03 1.92299526e+02] [-5.17195558e-02 9.98661630e-01 1.90670077e-04 7.68911928e+00] [-7.13076756e-03 -5.60215105e-04 9.99974419e-01 -2.25039813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.615898227 meters 0.08435822170343524 Centerline is valid? [True, True] Translation: X:192.36, Y:7.70, Z:-2.25 [[ 9.98423360e-01 5.53738305e-02 9.19416153e-03 1.92360048e+02] [-5.53784199e-02 9.98465408e-01 2.45138269e-04 7.69681437e+00] [-9.16647800e-03 -7.53909912e-04 9.99957703e-01 -2.24980391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.675898227 meters 0.08241617529768237 Centerline is valid? [True, True] Translation: X:192.42, Y:7.70, Z:-2.25 [[ 9.98575654e-01 5.24318655e-02 9.87738877e-03 1.92421034e+02] [-5.24370203e-02 9.98624198e-01 2.63444505e-04 7.69713354e+00] [-9.84998656e-03 -7.81010104e-04 9.99951183e-01 -2.25028980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.735898227 meters 0.07885585878839475 Centerline is valid? [True, True] Translation: X:192.48, Y:7.70, Z:-2.25 [[ 9.98930897e-01 4.56037941e-02 7.57348801e-03 1.92480832e+02] [-4.56066289e-02 9.98959456e-01 2.01933434e-04 7.70439063e+00] [-7.55639853e-03 -5.47118803e-04 9.99971300e-01 -2.25434551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.795898227 meters 0.076596676451726 Centerline is valid? [True, True] Translation: X:192.54, Y:7.71, Z:-2.25 [[ 9.99083579e-01 4.19189694e-02 8.64880502e-03 1.92540280e+02] [-4.19225280e-02 9.99120838e-01 2.30492382e-04 7.70878550e+00] [-8.63153931e-03 -5.92860924e-04 9.99962572e-01 -2.25414772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.855898227 meters 0.07132426764288839 Centerline is valid? [True, True] Translation: X:192.60, Y:7.71, Z:-2.25 [[ 9.99211954e-01 3.85744977e-02 9.35307306e-03 1.92601273e+02] [-3.85785155e-02 9.99255541e-01 2.49470465e-04 7.70741059e+00] [-9.33648688e-03 -6.10101545e-04 9.99956228e-01 -2.25281179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.915898227 meters 0.07073301437590622 Centerline is valid? [True, True] Translation: X:192.66, Y:7.71, Z:-2.25 [[ 9.99271672e-01 3.70853496e-02 8.98904245e-03 1.92663146e+02] [-3.70890018e-02 9.99311937e-01 2.39876785e-04 7.70981257e+00] [-8.97396151e-03 -5.73096687e-04 9.99959569e-01 -2.25370446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.975898227 meters 0.0653560628148578 Centerline is valid? [True, True] Translation: X:192.72, Y:7.71, Z:-2.26 [[ 9.99386576e-01 3.40021888e-02 8.38584797e-03 1.92724120e+02] [-3.40052554e-02 9.99421629e-01 2.23335638e-04 7.70741901e+00] [-8.37340394e-03 -5.08361541e-04 9.99964813e-01 -2.25560551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.035898227 meters 0.06671277601821411 Centerline is valid? [True, True] Translation: X:192.78, Y:7.71, Z:-2.26 [[ 9.99395441e-01 3.34653932e-02 9.42441531e-03 1.92784290e+02] [-3.34692431e-02 9.99439716e-01 2.51030654e-04 7.71254229e+00] [-9.41073413e-03 -5.66306938e-04 9.99955558e-01 -2.25568936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.095898227 meters 0.06919837586683127 Centerline is valid? [True, True] Translation: X:192.84, Y:7.72, Z:-2.26 [[ 9.99325918e-01 3.58835030e-02 7.75138663e-03 1.92844533e+02] [-3.58861788e-02 9.99355862e-01 2.06352679e-04 7.71958919e+00] [-7.73898901e-03 -4.84381227e-04 9.99969936e-01 -2.25770233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.155898227 meters 0.07283264213857141 Centerline is valid? [True, True] Translation: X:192.91, Y:7.73, Z:-2.26 [[ 9.99222441e-01 3.91929571e-02 4.29239137e-03 1.92905023e+02] [-3.91938080e-02 9.99231621e-01 1.14264279e-04 7.72735383e+00] [-4.28461483e-03 -2.82410595e-04 9.99990781e-01 -2.26325238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.215898227 meters 0.07697403540377049 Centerline is valid? [True, True] Translation: X:192.97, Y:7.74, Z:-2.26 [[ 9.99035889e-01 4.35995027e-02 5.13573981e-03 1.92965388e+02] [-4.36007783e-02 9.99049025e-01 1.36613546e-04 7.73814434e+00] [-5.12489957e-03 -3.60404088e-04 9.99986803e-01 -2.26352033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.275898227 meters 0.0793308912137366 Centerline is valid? [True, True] Translation: X:193.03, Y:7.75, Z:-2.26 [[ 9.98942835e-01 4.54020966e-02 7.20147029e-03 1.93025191e+02] [-4.54046520e-02 9.98968659e-01 1.91670894e-04 7.74552588e+00] [-7.18534085e-03 -5.18448519e-04 9.99974051e-01 -2.26031753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.335898227 meters 0.07934410267281594 Centerline is valid? [True, True] Translation: X:193.08, Y:7.75, Z:-2.26 [[ 9.98957164e-01 4.52728324e-02 5.91221530e-03 1.93084527e+02] [-4.52745519e-02 9.98974569e-01 1.57247472e-04 7.75434070e+00] [-5.89903370e-03 -4.24756387e-04 9.99982510e-01 -2.26321787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.395898227 meters 0.07962088254789426 Centerline is valid? [True, True] Translation: X:193.14, Y:7.76, Z:-2.26 [[ 9.98954508e-01 4.50380454e-02 7.83995441e-03 1.93143860e+02] [-4.50410640e-02 9.98985114e-01 2.08803189e-04 7.76255064e+00] [-7.82259367e-03 -5.61704775e-04 9.99969245e-01 -2.26063453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.455898227 meters 0.08223238859903562 Centerline is valid? [True, True] Translation: X:193.20, Y:7.78, Z:-2.25 [[ 9.98827474e-01 4.69422585e-02 1.18364096e-02 1.93204138e+02] [-4.69492780e-02 9.98897225e-01 3.15726265e-04 7.77522517e+00] [-1.18085357e-02 -8.71066951e-04 9.99929897e-01 -2.25407938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.515898227 meters 0.07929616549345926 Centerline is valid? [True, True] Translation: X:193.26, Y:7.79, Z:-2.25 [[ 9.98640155e-01 5.09187286e-02 1.11858401e-02 1.93264421e+02] [-5.09252457e-02 9.98702423e-01 2.98376555e-04 7.78692650e+00] [-1.11561326e-02 -8.67612463e-04 9.99937392e-01 -2.25447857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.575898227 meters 0.08540979148020313 Centerline is valid? [True, True] Translation: X:193.32, Y:7.80, Z:-2.26 [[ 9.98645897e-01 5.10808343e-02 9.85497324e-03 1.93323018e+02] [-5.10858990e-02 9.98694228e-01 2.62713587e-04 7.80443670e+00] [-9.82868527e-03 -7.65808014e-04 9.99951404e-01 -2.25827567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.635898227 meters 0.08255042833749204 Centerline is valid? [True, True] Translation: X:193.38, Y:7.81, Z:-2.25 [[ 9.98779464e-01 4.76239768e-02 1.30972978e-02 1.93382898e+02] [-4.76326355e-02 9.98864861e-01 3.49781533e-04 7.80943503e+00] [-1.30657726e-02 -9.73213426e-04 9.99914166e-01 -2.25355691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.695898227 meters 0.07827701573503938 Centerline is valid? [True, True] Translation: X:193.44, Y:7.81, Z:-2.25 [[ 9.98891416e-01 4.53168149e-02 1.27407207e-02 1.93443169e+02] [-4.53248252e-02 9.98972244e-01 3.40521685e-04 7.80845474e+00] [-1.27121950e-02 -9.17615127e-04 9.99918776e-01 -2.25407497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.755898227 meters 0.08931399973328669 Centerline is valid? [True, True] Translation: X:193.50, Y:7.83, Z:-2.26 [[ 9.98888280e-01 4.62765338e-02 8.98253427e-03 1.93501202e+02] [-4.62805524e-02 9.98928452e-01 2.39924983e-04 7.82775858e+00] [-8.96180616e-03 -6.55374902e-04 9.99959627e-01 -2.26232742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.815898227 meters 0.08228938260266162 Centerline is valid? [True, True] Translation: X:193.56, Y:7.82, Z:-2.26 [[ 9.98826080e-01 4.77815815e-02 7.96124302e-03 1.93562003e+02] [-4.77847891e-02 9.98857632e-01 2.13073791e-04 7.82094758e+00] [-7.94196734e-03 -5.93249979e-04 9.99968286e-01 -2.26348925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.875898227 meters 0.08000056976433759 Centerline is valid? [True, True] Translation: X:193.62, Y:7.82, Z:-2.27 [[ 9.98775871e-01 4.91216873e-02 5.81542787e-03 1.93621906e+02] [-4.91234208e-02 9.98792704e-01 1.55546602e-04 7.81960572e+00] [-5.80076622e-03 -4.41029904e-04 9.99983078e-01 -2.26729861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.935898227 meters 0.080727016026816 Centerline is valid? [True, True] Translation: X:193.68, Y:7.82, Z:-2.27 [[ 9.98771006e-01 4.92956250e-02 5.13983989e-03 1.93680662e+02] [-4.92969801e-02 9.98784155e-01 1.37204357e-04 7.82253849e+00] [-5.12682707e-03 -3.90414319e-04 9.99986782e-01 -2.27066803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.995898227 meters 0.08199797682559426 Centerline is valid? [True, True] Translation: X:193.74, Y:7.83, Z:-2.27 [[ 9.98762546e-01 4.92441803e-02 6.95607905e-03 1.93739610e+02] [-4.92466649e-02 9.98786630e-01 1.86249379e-04 7.82803806e+00] [-6.93846705e-03 -5.28582598e-04 9.99975789e-01 -2.26964079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.055898227 meters 0.08378890698794758 Centerline is valid? [True, True] Translation: X:193.80, Y:7.84, Z:-2.27 [[ 9.98728617e-01 4.98628613e-02 7.40577569e-03 1.93798445e+02] [-4.98656974e-02 9.98755912e-01 1.98678602e-04 7.83687685e+00] [-7.38665557e-03 -5.67720174e-04 9.99972557e-01 -2.26878794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.115898227 meters 0.08496458532615603 Centerline is valid? [True, True] Translation: X:193.86, Y:7.84, Z:-2.27 [[ 9.98764417e-01 4.93331545e-02 5.98997388e-03 1.93856668e+02] [-4.93350012e-02 9.98782274e-01 1.60851499e-04 7.84446626e+00] [-5.97474443e-03 -4.56168123e-04 9.99982047e-01 -2.27148024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.175898227 meters 0.08337937712669417 Centerline is valid? [True, True] Translation: X:193.92, Y:7.85, Z:-2.26 [[ 9.98705891e-01 4.97417821e-02 1.05971256e-02 1.93915452e+02] [-4.97475957e-02 9.98761781e-01 2.85548139e-04 7.85248094e+00] [-1.05698004e-02 -8.12360129e-04 9.99943808e-01 -2.26450616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.235898227 meters 0.08878389504067911 Centerline is valid? [True, True] Translation: X:193.97, Y:7.87, Z:-2.26 [[ 9.98576809e-01 5.16085239e-02 1.34504985e-02 1.93974448e+02] [-5.16180695e-02 9.98666833e-01 3.63255806e-04 7.86627134e+00] [-1.34138196e-02 -1.05702759e-03 9.99909472e-01 -2.26019507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.295898227 meters 0.08649806711995783 Centerline is valid? [True, True] Translation: X:194.03, Y:7.87, Z:-2.26 [[ 9.98519880e-01 5.32344724e-02 1.11418273e-02 1.94034143e+02] [-5.32411236e-02 9.98581640e-01 3.00985659e-04 7.87069867e+00] [-1.11100014e-02 -8.93743569e-04 9.99937883e-01 -2.26405055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.355898227 meters 0.08131447566787281 Centerline is valid? [True, True] Translation: X:194.09, Y:7.87, Z:-2.27 [[ 9.98547038e-01 5.33929787e-02 7.28032418e-03 1.94093255e+02] [-5.33958210e-02 9.98573406e-01 1.96452454e-04 7.87221060e+00] [-7.25944893e-03 -5.84905903e-04 9.99973479e-01 -2.27144813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.415898227 meters 0.09317772880570455 Centerline is valid? [True, True] Translation: X:194.15, Y:7.89, Z:-2.27 [[ 9.98703676e-01 5.01744607e-02 8.57264767e-03 1.94151483e+02] [-5.01782891e-02 9.98740249e-01 2.31944941e-04 7.89206464e+00] [-8.55021056e-03 -6.61805058e-04 9.99963227e-01 -2.27253280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.475898227 meters 0.06878231371883672 Centerline is valid? [True, True] Translation: X:194.21, Y:7.86, Z:-2.27 [[ 9.99114315e-01 4.08919314e-02 9.92149328e-03 1.94212938e+02] [-4.08966089e-02 9.99163348e-01 2.68937473e-04 7.86318197e+00] [-9.90219506e-03 -6.74454709e-04 9.99950745e-01 -2.27044787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.535898227 meters 0.06785586342654332 Centerline is valid? [True, True] Translation: X:194.27, Y:7.86, Z:-2.28 [[ 9.99352081e-01 3.53983376e-02 6.50973517e-03 1.94271824e+02] [-3.54002340e-02 9.99373200e-01 1.76292604e-04 7.86153511e+00] [-6.49941440e-03 -4.06624528e-04 9.99978796e-01 -2.27758029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.595898227 meters 0.0748164428073678 Centerline is valid? [True, True] Translation: X:194.33, Y:7.86, Z:-2.28 [[ 9.99500856e-01 3.11659108e-02 5.16964193e-03 1.94330732e+02] [-3.11670505e-02 9.99514180e-01 1.40023421e-04 7.86409690e+00] [-5.16276646e-03 -3.01076021e-04 9.99986628e-01 -2.28468802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.655898227 meters 0.05751529670803114 Centerline is valid? [True, True] Translation: X:194.39, Y:7.84, Z:-2.28 [[ 9.99592875e-01 2.74328831e-02 7.84359578e-03 1.94392300e+02] [-2.74353970e-02 9.99623556e-01 2.13068591e-04 7.83559794e+00] [-7.83479801e-03 -4.28174009e-04 9.99969216e-01 -2.27681257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.715898227 meters 0.058779431487785805 Centerline is valid? [True, True] Translation: X:194.45, Y:7.83, Z:-2.28 [[ 9.99613038e-01 2.64357932e-02 8.65578167e-03 1.94451695e+02] [-2.64388172e-02 9.99650406e-01 2.35099652e-04 7.82848897e+00] [-8.64654062e-03 -4.63857307e-04 9.99962510e-01 -2.27610741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.775898227 meters 0.059964270069614356 Centerline is valid? [True, True] Translation: X:194.51, Y:7.82, Z:-2.28 [[ 9.99610141e-01 2.65756875e-02 8.56152466e-03 1.94512845e+02] [-2.65786526e-02 9.99646698e-01 2.32705989e-04 7.82093598e+00] [-8.55231553e-03 -4.60169056e-04 9.99963322e-01 -2.27661242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.835898227 meters 0.05897949369507521 Centerline is valid? [True, True] Translation: X:194.57, Y:7.81, Z:-2.28 [[ 9.99533680e-01 2.91622135e-02 9.05470132e-03 1.94573658e+02] [-2.91656358e-02 9.99574562e-01 2.46110747e-04 7.81244936e+00] [-9.04367197e-03 -5.10082102e-04 9.99958975e-01 -2.27584305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.895898227 meters 0.06993908676464243 Centerline is valid? [True, True] Translation: X:194.63, Y:7.82, Z:-2.28 [[ 9.99371055e-01 3.41017628e-02 9.72437039e-03 1.94633368e+02] [-3.41059452e-02 9.99418188e-01 2.64531990e-04 7.82200611e+00] [-9.70969163e-03 -5.96024457e-04 9.99952682e-01 -2.27515385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.955898227 meters 0.07479388792329524 Centerline is valid? [True, True] Translation: X:194.69, Y:7.82, Z:-2.28 [[ 9.99123441e-01 4.07104596e-02 9.74719374e-03 1.94693604e+02] [-4.07149679e-02 9.99170767e-01 2.64455730e-04 7.82414255e+00] [-9.72834493e-03 -6.61080600e-04 9.99952460e-01 -2.27655625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.015898227 meters 0.0799108522793327 Centerline is valid? [True, True] Translation: X:194.75, Y:7.83, Z:-2.27 [[ 9.98922296e-01 4.45977203e-02 1.28565299e-02 1.94752971e+02] [-4.46058833e-02 9.99004601e-01 3.48735432e-04 7.82896520e+00] [-1.28281797e-02 -9.21836468e-04 9.99917291e-01 -2.27358593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.075898227 meters 0.08120606860476416 Centerline is valid? [True, True] Translation: X:194.81, Y:7.83, Z:-2.28 [[ 9.98858600e-01 4.61842368e-02 1.21866198e-02 1.94813025e+02] [-4.61916900e-02 9.98932539e-01 3.30680750e-04 7.83090525e+00] [-1.21583388e-02 -8.93223873e-04 9.99925686e-01 -2.27518380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.135898227 meters 0.08125313603210799 Centerline is valid? [True, True] Translation: X:194.87, Y:7.83, Z:-2.28 [[ 9.98777227e-01 4.85563750e-02 9.29130365e-03 1.94873224e+02] [-4.85608104e-02 9.98820196e-01 2.52233792e-04 7.83188956e+00] [-9.26809418e-03 -7.03118603e-04 9.99956803e-01 -2.28076200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.195898227 meters 0.07954290775364145 Centerline is valid? [True, True] Translation: X:194.93, Y:7.83, Z:-2.28 [[ 9.98635443e-01 5.11530029e-02 1.05176712e-02 1.94933232e+02] [-5.11588299e-02 9.98690489e-01 2.85549652e-04 7.83267985e+00] [-1.04892915e-02 -8.23231757e-04 9.99944647e-01 -2.27947350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.255898227 meters 0.08857506711405759 Centerline is valid? [True, True] Translation: X:194.99, Y:7.85, Z:-2.28 [[ 9.98449846e-01 5.46247125e-02 1.06792225e-02 1.94991712e+02] [-5.46309171e-02 9.98506574e-01 2.89935851e-04 7.84558313e+00] [-1.06474362e-02 -8.72902123e-04 9.99942933e-01 -2.28127110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.315898227 meters 0.08909448497804077 Centerline is valid? [True, True] Translation: X:195.05, Y:7.85, Z:-2.29 [[ 9.98536390e-01 5.33941871e-02 8.61039785e-03 1.95051989e+02] [-5.33981739e-02 9.98573272e-01 2.33627193e-04 7.84673928e+00] [-8.58563882e-03 -6.93064776e-04 9.99962903e-01 -2.28637241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.375898227 meters 0.07876869013795457 Centerline is valid? [True, True] Translation: X:195.11, Y:7.83, Z:-2.29 [[ 9.98702046e-01 5.00869859e-02 9.24756425e-03 1.95112612e+02] [-5.00914449e-02 9.98744604e-01 2.51049695e-04 7.83158509e+00] [-9.22338058e-03 -7.13947700e-04 9.99957209e-01 -2.28611300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.435898227 meters 0.08089979586518002 Centerline is valid? [True, True] Translation: X:195.17, Y:7.83, Z:-2.29 [[ 9.98798074e-01 4.79675707e-02 1.00756781e-02 1.95172359e+02] [-4.79727575e-02 9.98848607e-01 2.73589241e-04 7.83328352e+00] [-1.00509536e-02 -7.56618467e-04 9.99949202e-01 -2.28507428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.495898227 meters 0.0860968650779998 Centerline is valid? [True, True] Translation: X:195.23, Y:7.84, Z:-2.29 [[ 9.98633227e-01 5.12159038e-02 1.04215791e-02 1.95231458e+02] [-5.12216307e-02 9.98687271e-01 2.83176886e-04 7.84243347e+00] [-1.03933953e-02 -8.16600125e-04 9.99945654e-01 -2.28691678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.555898227 meters 0.08752258028621489 Centerline is valid? [True, True] Translation: X:195.29, Y:7.85, Z:-2.29 [[ 9.98555131e-01 5.31098591e-02 8.18494230e-03 1.95291288e+02] [-5.31134550e-02 9.98588459e-01 2.22426386e-04 7.84654563e+00] [-8.16157588e-03 -6.56835573e-04 9.99966478e-01 -2.29261991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.615898227 meters 0.09020886566797462 Centerline is valid? [True, True] Translation: X:195.35, Y:7.85, Z:-2.29 [[ 9.98611970e-01 5.17319832e-02 9.89622489e-03 1.95349871e+02] [-5.17371722e-02 9.98660699e-01 2.68879915e-04 7.85158087e+00] [-9.86906118e-03 -7.80509393e-04 9.99950995e-01 -2.29166893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.675898227 meters 0.080030230634144 Centerline is valid? [True, True] Translation: X:195.41, Y:7.84, Z:-2.29 [[ 9.98844017e-01 4.66080651e-02 1.17608936e-02 1.95411119e+02] [-4.66150473e-02 9.98912877e-01 3.20102398e-04 7.83928259e+00] [-1.17331887e-02 -8.67966975e-04 9.99930787e-01 -2.29088840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.735898227 meters 0.0784266743958686 Centerline is valid? [True, True] Translation: X:195.47, Y:7.84, Z:-2.29 [[ 9.98907592e-01 4.54650820e-02 1.07957788e-02 1.95471400e+02] [-4.54708993e-02 9.98965621e-01 2.93884694e-04 7.83926740e+00] [-1.07712503e-02 -7.84457421e-04 9.99941681e-01 -2.29235133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.795898227 meters 0.08808327927432963 Centerline is valid? [True, True] Translation: X:195.53, Y:7.85, Z:-2.29 [[ 9.98856967e-01 4.63708438e-02 1.15975916e-02 1.95530785e+02] [-4.63776179e-02 9.98923929e-01 3.15683558e-04 7.85412913e+00] [-1.15704733e-02 -8.53191395e-04 9.99932696e-01 -2.29261703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.855898227 meters 0.09310857523150663 Centerline is valid? [True, True] Translation: X:195.59, Y:7.86, Z:-2.30 [[ 9.98711480e-01 4.96282622e-02 1.06025773e-02 1.95591071e+02] [-4.96341077e-02 9.98767426e-01 2.88749819e-04 7.86162567e+00] [-1.05751787e-02 -8.14627223e-04 9.99943749e-01 -2.29517008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.915898227 meters 0.08041169883673699 Centerline is valid? [True, True] Translation: X:195.65, Y:7.85, Z:-2.30 [[ 9.98715912e-01 4.95646647e-02 1.04819598e-02 1.95650890e+02] [-4.95703735e-02 9.98770593e-01 2.85369348e-04 7.84543830e+00] [-1.04549290e-02 -8.04597572e-04 9.99945022e-01 -2.29620216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.975898227 meters 0.0798030784897799 Centerline is valid? [True, True] Translation: X:195.71, Y:7.84, Z:-2.29 [[ 9.98780905e-01 4.75687484e-02 1.31878344e-02 1.95711241e+02] [-4.75776178e-02 9.98867479e-01 3.59448850e-04 7.84368460e+00] [-1.31558004e-02 -9.86456395e-04 9.99912972e-01 -2.29235998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.035898227 meters 0.09159761405689601 Centerline is valid? [True, True] Translation: X:195.77, Y:7.85, Z:-2.29 [[ 9.98957888e-01 4.34357231e-02 1.40169827e-02 1.95770726e+02] [-4.34453390e-02 9.99055732e-01 3.82100463e-04 7.85278175e+00] [-1.39871501e-02 -9.90674837e-04 9.99901684e-01 -2.29200516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.095898227 meters 0.07749075032919761 Centerline is valid? [True, True] Translation: X:195.83, Y:7.83, Z:-2.30 [[ 9.99026419e-01 4.23842164e-02 1.22389290e-02 1.95832966e+02] [-4.23914678e-02 9.99101022e-01 3.33548931e-04 7.83356369e+00] [-1.22137893e-02 -8.52050360e-04 9.99925046e-01 -2.29541053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.155898227 meters 0.07829543951136687 Centerline is valid? [True, True] Translation: X:195.89, Y:7.83, Z:-2.29 [[ 9.98992141e-01 4.24139913e-02 1.46886432e-02 1.95894560e+02] [-4.24244309e-02 9.99099599e-01 3.99720475e-04 7.82722256e+00] [-1.46584638e-02 -1.02247494e-03 9.99892036e-01 -2.29185123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.215898227 meters 0.07928142090714885 Centerline is valid? [True, True] Translation: X:195.96, Y:7.82, Z:-2.30 [[ 9.99003070e-01 4.25551971e-02 1.34877864e-02 1.95956539e+02] [-4.25640094e-02 9.99093675e-01 3.66839593e-04 7.82405952e+00] [-1.34599512e-02 -9.40568148e-04 9.99908968e-01 -2.29527249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.275898227 meters 0.07794014019416254 Centerline is valid? [True, True] Translation: X:196.02, Y:7.82, Z:-2.30 [[ 9.99106639e-01 4.05410423e-02 1.19309890e-02 1.96017444e+02] [-4.05477717e-02 9.99177549e-01 3.22572124e-04 7.81726802e+00] [-1.19080989e-02 -8.06058967e-04 9.99928771e-01 -2.29896394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.335898227 meters 0.07477350750203116 Centerline is valid? [True, True] Translation: X:196.08, Y:7.80, Z:-2.29 [[ 9.99243418e-01 3.61244735e-02 1.44088123e-02 1.96078100e+02] [-3.61338287e-02 9.99346884e-01 3.89375268e-04 7.80181240e+00] [-1.43853357e-02 -9.09726230e-04 9.99896112e-01 -2.29438311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.395898227 meters 0.07520908928172727 Centerline is valid? [True, True] Translation: X:196.14, Y:7.79, Z:-2.29 [[ 9.99302963e-01 3.42876394e-02 1.47630147e-02 1.96138272e+02] [-3.42972608e-02 9.99411596e-01 3.98965186e-04 7.79440289e+00] [-1.47406485e-02 -9.05018056e-04 9.99890941e-01 -2.29451669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.455898227 meters 0.07676427787282526 Centerline is valid? [True, True] Translation: X:196.20, Y:7.79, Z:-2.30 [[ 9.99250620e-01 3.68906400e-02 1.17166508e-02 1.96198950e+02] [-3.68968783e-02 9.99319028e-01 3.16643440e-04 7.78636833e+00] [-1.16969909e-02 -7.48713993e-04 9.99931308e-01 -2.30102509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.515898227 meters 0.08081206507235147 Centerline is valid? [True, True] Translation: X:196.26, Y:7.79, Z:-2.30 [[ 9.99080159e-01 4.14373711e-02 1.10354182e-02 1.96259109e+02] [-4.14431808e-02 9.99140818e-01 2.98203900e-04 7.78649347e+00] [-1.10135799e-02 -7.55272430e-04 9.99939063e-01 -2.30293440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.575898227 meters 0.08060678844367175 Centerline is valid? [True, True] Translation: X:196.32, Y:7.78, Z:-2.30 [[ 9.98854020e-01 4.64976539e-02 1.13408956e-02 1.96319492e+02] [-4.65041142e-02 9.98918051e-01 3.06465579e-04 7.78061307e+00] [-1.13143754e-02 -8.33512681e-04 9.99935643e-01 -2.30231289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.635898227 meters 0.08784586924978298 Centerline is valid? [True, True] Translation: X:196.38, Y:7.79, Z:-2.30 [[ 9.98746476e-01 4.87783229e-02 1.12317583e-02 1.96378954e+02] [-4.87848029e-02 9.98809267e-01 3.03514105e-04 7.78752321e+00] [-1.12035794e-02 -8.51072759e-04 9.99936876e-01 -2.30412818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.695898227 meters 0.08711573681976392 Centerline is valid? [True, True] Translation: X:196.44, Y:7.79, Z:-2.31 [[ 9.98682004e-01 5.01226660e-02 1.10441584e-02 1.96440422e+02] [-5.01290120e-02 9.98742706e-01 2.98358221e-04 7.78652905e+00] [-1.10153181e-02 -8.51597735e-04 9.99938967e-01 -2.30538521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.755898227 meters 0.09574494803928177 Centerline is valid? [True, True] Translation: X:196.50, Y:7.80, Z:-2.30 [[ 9.98398584e-01 5.52908910e-02 1.19659525e-02 1.96499731e+02] [-5.52987051e-02 9.98469804e-01 3.22905354e-04 7.79675775e+00] [-1.19297885e-02 -9.84089927e-04 9.99928353e-01 -2.30480499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.815898227 meters 0.09085983059166916 Centerline is valid? [True, True] Translation: X:196.56, Y:7.79, Z:-2.30 [[ 9.98194572e-01 5.87021592e-02 1.27142758e-02 1.96560520e+02] [-5.87112577e-02 9.98274947e-01 3.43225641e-04 7.79270214e+00] [-1.26721949e-02 -1.08907710e-03 9.99919111e-01 -2.30370832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.875898227 meters 0.09407485479200961 Centerline is valid? [True, True] Translation: X:196.62, Y:7.80, Z:-2.31 [[ 9.98001401e-01 6.20033210e-02 1.21979982e-02 1.96620778e+02] [-6.20119395e-02 9.98075353e-01 3.29229138e-04 7.79946011e+00] [-1.21541080e-02 -1.08499267e-03 9.99925547e-01 -2.30591379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.935898227 meters 0.09344266816200804 Centerline is valid? [True, True] Translation: X:196.68, Y:7.80, Z:-2.31 [[ 9.98137291e-01 5.95339272e-02 1.33288966e-02 1.96681367e+02] [-5.95440008e-02 9.98225617e-01 3.59852866e-04 7.80067829e+00] [-1.32838226e-02 -1.15283840e-03 9.99911102e-01 -2.30633204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.995898227 meters 0.08566918550251656 Centerline is valid? [True, True] Translation: X:196.74, Y:7.79, Z:-2.31 [[ 9.98485790e-01 5.31651643e-02 1.41277156e-02 1.96742128e+02] [-5.31758485e-02 9.98585091e-01 3.81427256e-04 7.78940832e+00] [-1.40874475e-02 -1.13210296e-03 9.99900126e-01 -2.30615280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.055898227 meters 0.07670822875794009 Centerline is valid? [True, True] Translation: X:196.80, Y:7.77, Z:-2.31 [[ 9.98869179e-01 4.54871372e-02 1.38305606e-02 1.96802859e+02] [-4.54966440e-02 9.98964422e-01 3.73356165e-04 7.77383471e+00] [-1.37992551e-02 -1.00217806e-03 9.99904284e-01 -2.30624689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.115898227 meters 0.07917748056285104 Centerline is valid? [True, True] Translation: X:196.87, Y:7.78, Z:-2.31 [[ 9.98842682e-01 4.62270362e-02 1.32799561e-02 1.96865369e+02] [-4.62358680e-02 9.98930486e-01 3.58634978e-04 7.77604908e+00] [-1.32491743e-02 -9.72230220e-04 9.99911753e-01 -2.30735222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.175898227 meters 0.07430383381687625 Centerline is valid? [True, True] Translation: X:196.93, Y:7.77, Z:-2.31 [[ 9.98722082e-01 4.82840887e-02 1.49281310e-02 1.96926909e+02] [-4.82954398e-02 9.98833014e-01 4.00614351e-04 7.76848315e+00] [-1.48913668e-02 -1.12106305e-03 9.99888489e-01 -2.30658933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.235898227 meters 0.07267491458898705 Centerline is valid? [True, True] Translation: X:196.99, Y:7.77, Z:-2.31 [[ 9.98792177e-01 4.67813882e-02 1.50229371e-02 1.96987718e+02] [-4.67927124e-02 9.98904540e-01 4.02985309e-04 7.76564824e+00] [-1.49876279e-02 -1.10546255e-03 9.99887068e-01 -2.30817895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.295898227 meters 0.07301674765675693 Centerline is valid? [True, True] Translation: X:197.05, Y:7.76, Z:-2.31 [[ 9.98831672e-01 4.60992408e-02 1.44965643e-02 1.97049397e+02] [-4.61612616e-02 9.98926100e-01 3.97302691e-03 7.76319939e+00] [-1.42978429e-02 -4.63756480e-03 9.99887026e-01 -2.31165751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.355898227 meters 0.08624896640826318 Centerline is valid? [True, True] Translation: X:197.11, Y:7.79, Z:-2.31 [[ 9.99005553e-01 4.28335908e-02 1.23769151e-02 1.97108961e+02] [-4.27965372e-02 9.99078544e-01 -3.24339199e-03 7.78679657e+00] [-1.25044364e-02 2.71047750e-03 9.99918143e-01 -2.31431100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.415898227 meters 0.07343536191132691 Centerline is valid? [True, True] Translation: X:197.17, Y:7.77, Z:-2.31 [[ 9.99057732e-01 4.11949724e-02 1.36609673e-02 1.97170615e+02] [-4.12037913e-02 9.99150697e-01 3.64605573e-04 7.77188717e+00] [-1.36343451e-02 -9.27145661e-04 9.99906618e-01 -2.31336919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.475898227 meters 0.07103415807278446 Centerline is valid? [True, True] Translation: X:197.23, Y:7.77, Z:-2.32 [[ 9.99181125e-01 3.91718144e-02 1.01315064e-02 1.97231830e+02] [-3.91765604e-02 9.99232267e-01 2.70323103e-04 7.77116002e+00] [-1.01131390e-02 -6.67019314e-04 9.99948638e-01 -2.31969216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.535898227 meters 0.0737629499313206 Centerline is valid? [True, True] Translation: X:197.29, Y:7.78, Z:-2.32 [[ 9.99232227e-01 3.81338188e-02 8.98712465e-03 1.97292394e+02] [-3.81375111e-02 9.99272472e-01 2.39761728e-04 7.77677939e+00] [-8.97144323e-03 -5.82324212e-04 9.99959586e-01 -2.32169297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.595898227 meters 0.06881641044478179 Centerline is valid? [True, True] Translation: X:197.35, Y:7.77, Z:-2.32 [[ 9.99215706e-01 3.79621599e-02 1.12626393e-02 1.97354707e+02] [-3.79679486e-02 9.99278912e-01 3.00526798e-04 7.77028537e+00] [-1.12431093e-02 -7.27910406e-04 9.99936529e-01 -2.31831608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.655898227 meters 0.06552137590085157 Centerline is valid? [True, True] Translation: X:197.41, Y:7.76, Z:-2.32 [[ 9.98965076e-01 4.28107402e-02 1.53628626e-02 1.97414180e+02] [-4.28985781e-02 9.99064654e-01 5.43414150e-03 7.76143313e+00] [-1.51158533e-02 -6.08756254e-03 9.99867217e-01 -2.31629407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.715898227 meters 0.07855270081001291 Centerline is valid? [True, True] Translation: X:197.48, Y:7.78, Z:-2.32 [[ 9.98959098e-01 4.39340369e-02 1.22687140e-02 1.97477250e+02] [-4.38788922e-02 9.99025668e-01 -4.72844575e-03 7.78020625e+00] [-1.24644999e-02 4.18518632e-03 9.99913556e-01 -2.31814641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.775898227 meters 0.08607464644173275 Centerline is valid? [True, True] Translation: X:197.54, Y:7.79, Z:-2.32 [[ 9.98844641e-01 4.60691967e-02 1.36752740e-02 1.97536833e+02] [-4.60784186e-02 9.98937761e-01 3.59864217e-04 7.78576537e+00] [-1.36441690e-02 -9.89583446e-04 9.99906424e-01 -2.31621872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.835898227 meters 0.08844229538837543 Centerline is valid? [True, True] Translation: X:197.60, Y:7.79, Z:-2.32 [[ 9.98742084e-01 4.79202206e-02 1.47614750e-02 1.97597927e+02] [-4.79311630e-02 9.98850566e-01 3.88188460e-04 7.78892583e+00] [-1.47259056e-02 -1.09523482e-03 9.99890968e-01 -2.31590848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.895898227 meters 0.09032073792862758 Centerline is valid? [True, True] Translation: X:197.66, Y:7.79, Z:-2.32 [[ 9.98588219e-01 5.14689531e-02 1.31345057e-02 1.97658544e+02] [-5.14779179e-02 9.98674073e-01 3.45144319e-04 7.79252436e+00] [-1.30993261e-02 -1.02079406e-03 9.99913679e-01 -2.31977519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.955898227 meters 0.09093381102227355 Centerline is valid? [True, True] Translation: X:197.72, Y:7.80, Z:-2.32 [[ 9.98534579e-01 5.26469948e-02 1.25295263e-02 1.97719894e+02] [-5.26552439e-02 9.98612696e-01 3.29173021e-04 7.79690835e+00] [-1.24948141e-02 -9.88435909e-04 9.99921448e-01 -2.32075569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.015898227 meters 0.08382986655870708 Centerline is valid? [True, True] Translation: X:197.78, Y:7.79, Z:-2.32 [[ 9.98527988e-01 5.31699731e-02 1.07149953e-02 1.97782362e+02] [-5.31760387e-02 9.98585114e-01 2.81781427e-04 7.79404349e+00] [-1.06848525e-02 -8.51147647e-04 9.99942553e-01 -2.32359266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.075898227 meters 0.08312415043493153 Centerline is valid? [True, True] Translation: X:197.84, Y:7.80, Z:-2.32 [[ 9.98626781e-01 5.11893983e-02 1.11444275e-02 1.97842757e+02] [-5.11958116e-02 9.98688592e-01 2.90761860e-04 7.79585224e+00] [-1.11149287e-02 -8.60910589e-04 9.99937857e-01 -2.32365180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.135898227 meters 0.08128081854113059 Centerline is valid? [True, True] Translation: X:197.90, Y:7.79, Z:-2.32 [[ 9.98665283e-01 4.93723661e-02 1.51664900e-02 1.97900353e+02] [-4.95481638e-02 9.98706187e-01 1.14425678e-02 7.78845904e+00] [-1.45819208e-02 -1.21787670e-02 9.99819506e-01 -2.32391720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.195898227 meters 0.07089196410880395 Centerline is valid? [True, True] Translation: X:197.97, Y:7.78, Z:-2.32 [[ 9.99095694e-01 4.07782244e-02 1.20386783e-02 1.97965273e+02] [-4.06567600e-02 9.99121438e-01 -1.01675820e-02 7.78335561e+00] [-1.24427175e-02 9.66893370e-03 9.99875838e-01 -2.32420902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.255898227 meters 0.07155141492622577 Centerline is valid? [True, True] Translation: X:198.03, Y:7.78, Z:-2.33 [[ 9.99119790e-01 4.02438671e-02 1.18353854e-02 1.98027839e+02] [-4.02502922e-02 9.99189582e-01 3.05077973e-04 7.77731413e+00] [-1.18135163e-02 -7.81187162e-04 9.99929913e-01 -2.32534269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.315898227 meters 0.0724873513728321 Centerline is valid? [True, True] Translation: X:198.09, Y:7.77, Z:-2.33 [[ 9.98977616e-01 4.36448807e-02 1.17833099e-02 1.98089185e+02] [-4.36514583e-02 9.99046775e-01 3.01486938e-04 7.77024819e+00] [-1.17589194e-02 -8.15537364e-04 9.99930529e-01 -2.32604477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.375898227 meters 0.08400184770556247 Centerline is valid? [True, True] Translation: X:198.15, Y:7.78, Z:-2.33 [[ 9.98819840e-01 4.72254857e-02 1.13437506e-02 1.98149179e+02] [-4.72318091e-02 9.98883913e-01 2.90026271e-04 7.78295212e+00] [-1.13173933e-02 -8.25469854e-04 9.99935616e-01 -2.32793551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.435898227 meters 0.09077130540526059 Centerline is valid? [True, True] Translation: X:198.21, Y:7.79, Z:-2.33 [[ 9.98440323e-01 5.47446567e-02 1.09519275e-02 1.98209044e+02] [-5.47509992e-02 9.98500000e-01 2.79912809e-04 7.78744426e+00] [-1.09201759e-02 -8.79105208e-04 9.99939987e-01 -2.33020997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.495898227 meters 0.08874114216679185 Centerline is valid? [True, True] Translation: X:198.27, Y:7.79, Z:-2.33 [[ 9.98262878e-01 5.80166899e-02 1.02610930e-02 1.98270074e+02] [-5.80224298e-02 9.98315245e-01 2.62323754e-04 7.78782773e+00] [-1.02285865e-02 -8.57241617e-04 9.99947319e-01 -2.33175297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.555898227 meters 0.08922692999112522 Centerline is valid? [True, True] Translation: X:198.33, Y:7.79, Z:-2.33 [[ 9.98282591e-01 5.78502937e-02 9.23105479e-03 1.98332367e+02] [-5.78549368e-02 9.98324972e-01 2.36519418e-04 7.78973122e+00] [-9.20190980e-03 -7.70175308e-04 9.99957365e-01 -2.33470785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.615898227 meters 0.08732226052002727 Centerline is valid? [True, True] Translation: X:198.39, Y:7.79, Z:-2.33 [[ 9.98387545e-01 5.58201764e-02 1.03159281e-02 1.98393271e+02] [-5.58258414e-02 9.98440487e-01 2.61788583e-04 7.78849245e+00] [-1.02852272e-02 -8.37261827e-04 9.99946755e-01 -2.33384031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.675898227 meters 0.0920643597567644 Centerline is valid? [True, True] Translation: X:198.45, Y:7.80, Z:-2.33 [[ 9.98476172e-01 5.41576618e-02 1.05963317e-02 1.98453189e+02] [-5.41635456e-02 9.98532042e-01 2.68875101e-04 7.79789697e+00] [-1.05662151e-02 -8.42400280e-04 9.99943821e-01 -2.33385787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.735898227 meters 0.09262918644292469 Centerline is valid? [True, True] Translation: X:198.52, Y:7.80, Z:-2.33 [[ 9.98424439e-01 5.50074423e-02 1.10824611e-02 1.98515034e+02] [-5.50139320e-02 9.98485547e-01 2.81355521e-04 7.80445321e+00] [-1.10502005e-02 -8.90601987e-04 9.99938548e-01 -2.33306829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.795898227 meters 0.08570696664025007 Centerline is valid? [True, True] Translation: X:198.58, Y:7.80, Z:-2.33 [[ 9.98316710e-01 5.64919587e-02 1.31303068e-02 1.98576620e+02] [-5.65011869e-02 9.98402477e-01 3.32630132e-04 7.80170982e+00] [-1.30905399e-02 -1.07394813e-03 9.99913738e-01 -2.33051187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.855898227 meters 0.0942596195446474 Centerline is valid? [True, True] Translation: X:198.64, Y:7.82, Z:-2.33 [[ 9.98244138e-01 5.79274155e-02 1.23715949e-02 1.98636484e+02] [-5.79357139e-02 9.98320267e-01 3.13123276e-04 7.81977347e+00] [-1.23326755e-02 -1.02933066e-03 9.99923420e-01 -2.33395917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.915898227 meters 0.09072428708633228 Centerline is valid? [True, True] Translation: X:198.70, Y:7.82, Z:-2.34 [[ 9.98378791e-01 5.62262746e-02 8.85418281e-03 1.98697098e+02] [-5.62304580e-02 9.98417791e-01 2.24042905e-04 7.82170130e+00] [-8.82757655e-03 -7.21554439e-04 9.99960776e-01 -2.34174467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.975898227 meters 0.08300355045984467 Centerline is valid? [True, True] Translation: X:198.76, Y:7.82, Z:-2.34 [[ 9.98523258e-01 5.33433013e-02 1.02856791e-02 1.98757450e+02] [-5.33487931e-02 9.98575905e-01 2.60101219e-04 7.81526084e+00] [-1.02571566e-02 -8.08445681e-04 9.99947067e-01 -2.33999918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.035898227 meters 0.08326581124983802 Centerline is valid? [True, True] Translation: X:198.82, Y:7.82, Z:-2.34 [[ 9.98650190e-01 5.08017342e-02 1.08158470e-02 1.98816603e+02] [-5.08076573e-02 9.98708420e-01 2.73386136e-04 7.81834829e+00] [-1.07879890e-02 -8.22544965e-04 9.99941470e-01 -2.34028404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.095898227 meters 0.08127558872044376 Centerline is valid? [True, True] Translation: X:198.88, Y:7.81, Z:-2.34 [[ 9.98760251e-01 4.87814802e-02 9.91600827e-03 1.98878030e+02] [-4.87863616e-02 9.98809205e-01 2.50840700e-04 7.81481399e+00] [-9.89196396e-03 -7.34295686e-04 9.99950804e-01 -2.34253188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.155898227 meters 0.08325130354245816 Centerline is valid? [True, True] Translation: X:198.94, Y:7.82, Z:-2.34 [[ 9.98743833e-01 4.92124891e-02 9.42795500e-03 1.98939962e+02] [-4.92169268e-02 9.98788084e-01 2.39119692e-04 7.81525447e+00] [-9.40476143e-03 -7.02834289e-04 9.99955527e-01 -2.34434206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.215898227 meters 0.08082390066520062 Centerline is valid? [True, True] Translation: X:199.00, Y:7.81, Z:-2.34 [[ 9.98670888e-01 5.00406229e-02 1.23447611e-02 1.99002196e+02] [-5.00482623e-02 9.98746752e-01 3.10486940e-04 7.80890662e+00] [-1.23137531e-02 -9.27908108e-04 9.99923752e-01 -2.33972436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.275898227 meters 0.08953940698284156 Centerline is valid? [True, True] Translation: X:199.06, Y:7.82, Z:-2.34 [[ 9.98615985e-01 5.08901244e-02 1.32781726e-02 1.99062684e+02] [-5.08990053e-02 9.98703751e-01 3.31536026e-04 7.81770125e+00] [-1.32440888e-02 -1.00692295e-03 9.99911786e-01 -2.33892046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.335898227 meters 0.08169789741605608 Centerline is valid? [True, True] Translation: X:199.12, Y:7.81, Z:-2.34 [[ 9.98514705e-01 5.28556477e-02 1.32160712e-02 1.99123389e+02] [-5.28646127e-02 9.98601634e-01 3.29668589e-04 7.80614888e+00] [-1.31801654e-02 -1.02784142e-03 9.99912610e-01 -2.33977444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.395898227 meters 0.08951316057143398 Centerline is valid? [True, True] Translation: X:199.18, Y:7.82, Z:-2.34 [[ 9.98154910e-01 5.91196363e-02 1.38435947e-02 1.99183927e+02] [-5.91300704e-02 9.98250227e-01 3.45263017e-04 7.81622317e+00] [-1.37989597e-02 -1.16319870e-03 9.99904113e-01 -2.34055154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.455898227 meters 0.09156279316804734 Centerline is valid? [True, True] Translation: X:199.24, Y:7.82, Z:-2.34 [[ 9.97859392e-01 6.42858203e-02 1.19986596e-02 1.99243736e+02] [-6.42940280e-02 9.97930954e-01 2.99182897e-04 7.81959431e+00] [-1.19546006e-02 -1.06998462e-03 9.99927969e-01 -2.34438677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.515898227 meters 0.09631289220646057 Centerline is valid? [True, True] Translation: X:199.30, Y:7.84, Z:-2.35 [[ 9.97378077e-01 7.14979502e-02 1.11809935e-02 1.99304106e+02] [-7.15055277e-02 9.97440164e-01 2.78907951e-04 7.83915195e+00] [-1.11324306e-02 -1.07767951e-03 9.99937452e-01 -2.34665668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.575898227 meters 0.10246178991573207 Centerline is valid? [True, False] Translation: X:199.33, Y:7.85, Z:-2.35 [[ 9.97914601e-01 6.14203001e-02 1.98493468e-02 1.99327831e+02] [-6.16891515e-02 9.98007748e-01 1.32281194e-02 7.84664696e+00] [-1.89973268e-02 -1.44250229e-02 9.99715470e-01 -2.35015785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.635898227 meters 0.097114892988807 Centerline is valid? [False, True] Translation: X:199.31, Y:7.86, Z:-2.35 [[ 9.98817283e-01 4.28301488e-02 2.30133294e-02 1.99309965e+02] [-4.33184697e-02 9.98837275e-01 2.11567411e-02 7.85590511e+00] [-2.20804249e-02 -2.21286209e-02 9.99511270e-01 -2.35442581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.695898227 meters 0.0844305384456992 Centerline is valid? [True, True] Translation: X:199.37, Y:7.86, Z:-2.36 [[ 9.99138556e-01 3.42018936e-02 2.35026976e-02 1.99370856e+02] [-3.42369491e-02 9.99413149e-01 1.09066885e-03 7.85561378e+00] [-2.34516020e-02 -1.89438996e-03 9.99723179e-01 -2.35514886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.755898227 meters 0.07881683121893991 Centerline is valid? [True, True] Translation: X:199.43, Y:7.86, Z:-2.35 [[ 9.99314305e-01 2.63328809e-02 2.60288227e-02 1.99430220e+02] [-2.63732220e-02 9.99651437e-01 1.20772977e-03 7.85581702e+00] [-2.59879470e-02 -1.89336555e-03 9.99660463e-01 -2.35309486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.815898227 meters 0.07037367449277813 Centerline is valid? [True, True] Translation: X:199.49, Y:7.85, Z:-2.36 [[ 9.99415952e-01 2.20922163e-02 2.60708611e-02 1.99491304e+02] [-2.21312534e-02 9.99754342e-01 1.20972288e-03 7.85148547e+00] [-2.60377311e-02 -1.78599718e-03 9.99659365e-01 -2.35567556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.875898227 meters 0.07323181339790813 Centerline is valid? [True, True] Translation: X:199.55, Y:7.86, Z:-2.36 [[ 9.99483840e-01 2.26816092e-02 2.27508007e-02 1.99551603e+02] [-2.27114832e-02 9.99741504e-01 1.05554028e-03 7.85842862e+00] [-2.27209784e-02 -1.57169988e-03 9.99740610e-01 -2.36264054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.935898227 meters 0.07491686287692247 Centerline is valid? [True, True] Translation: X:199.61, Y:7.86, Z:-2.36 [[ 9.99451773e-01 2.30433986e-02 2.37730058e-02 1.99612615e+02] [-2.30761221e-02 9.99733102e-01 1.10304884e-03 7.86299584e+00] [-2.37412429e-02 -1.65103290e-03 9.99716774e-01 -2.36304576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.995898227 meters 0.07313299069464013 Centerline is valid? [True, True] Translation: X:199.67, Y:7.86, Z:-2.36 [[ 9.99414069e-01 1.95924458e-02 2.80651982e-02 1.99673085e+02] [-1.96365598e-02 9.99806343e-01 1.29707156e-03 7.85894667e+00] [-2.80343503e-02 -1.84741551e-03 9.99605253e-01 -2.35859042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.055898227 meters 0.07169705900433263 Centerline is valid? [True, True] Translation: X:199.73, Y:7.85, Z:-2.36 [[ 9.99426929e-01 1.79418923e-02 2.87037038e-02 1.99733961e+02] [-1.79873605e-02 9.99837334e-01 1.32660957e-03 7.85352658e+00] [-2.86752328e-02 -1.84215320e-03 9.99587083e-01 -2.35886010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.115898227 meters 0.07716915701695225 Centerline is valid? [True, True] Translation: X:199.79, Y:7.86, Z:-2.36 [[ 9.99357161e-01 2.10981264e-02 2.89850456e-02 1.99792923e+02] [-2.11458120e-02 9.99775505e-01 1.33961115e-03 7.86063802e+00] [-2.89502753e-02 -1.95166232e-03 9.99578948e-01 -2.35886629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.175898227 meters 0.08314221198361872 Centerline is valid? [True, True] Translation: X:199.85, Y:7.87, Z:-2.36 [[ 9.99286852e-01 2.60834218e-02 2.73028022e-02 1.99853457e+02] [-2.61275970e-02 9.99657819e-01 1.26242038e-03 7.86931036e+00] [-2.72605315e-02 -1.97487670e-03 9.99626412e-01 -2.36302644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.235898227 meters 0.0931383315733949 Centerline is valid? [True, True] Translation: X:199.91, Y:7.88, Z:-2.37 [[ 9.99064870e-01 3.40052685e-02 2.67025749e-02 1.99912713e+02] [-3.40503323e-02 9.99419357e-01 1.23460853e-03 7.88448970e+00] [-2.66450870e-02 -2.14268556e-03 9.99642660e-01 -2.36645484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.295898227 meters 0.1004634686157339 Centerline is valid? [True, False] Translation: X:199.89, Y:7.88, Z:-2.36 [[ 9.99185486e-01 3.28445297e-02 2.34435838e-02 1.99892140e+02] [-3.31124881e-02 9.99389605e-01 1.11346455e-02 7.88292542e+00] [-2.30635618e-02 -1.19018516e-02 9.99663152e-01 -2.36280722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.355898227 meters 0.1055181733644855 Centerline is valid? [False, False] Translation: X:199.89, Y:7.89, Z:-2.36 [[ 9.99326351e-01 2.81751360e-02 2.35160989e-02 1.99891812e+02] [-2.83089323e-02 9.99584765e-01 5.37611928e-03 7.88891121e+00] [-2.33548613e-02 -6.03821331e-03 9.99709003e-01 -2.36338002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.415898227 meters 0.11125035549222372 Centerline is valid? [False, False] Translation: X:199.86, Y:7.90, Z:-2.37 [[ 9.99433899e-01 2.55463596e-02 2.18921099e-02 1.99855581e+02] [-2.55938194e-02 9.99670637e-01 1.89041568e-03 7.89728662e+00] [-2.18366062e-02 -2.44964822e-03 9.99758552e-01 -2.36814816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.475898227 meters 0.11250972651653916 Centerline is valid? [False, False] Translation: X:199.86, Y:7.90, Z:-2.36 [[ 9.99719204e-01 1.71626660e-02 1.63388145e-02 1.99855519e+02] [-1.73580830e-02 9.99778584e-01 1.18945576e-02 7.89960564e+00] [-1.61310545e-02 -1.21748281e-02 9.99795760e-01 -2.36424777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.535898227 meters 0.11253288351260894 Centerline is valid? [False, False] Translation: X:199.86, Y:7.90, Z:-2.36 [[ 9.99786704e-01 1.26523820e-02 1.63237344e-02 1.99855370e+02] [-1.27663051e-02 9.99894743e-01 6.89375401e-03 7.90253039e+00] [-1.62347938e-02 -7.10067738e-03 9.99842994e-01 -2.36426342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.595898227 meters 0.10925477948106639 Centerline is valid? [False, False] Translation: X:199.84, Y:7.90, Z:-2.36 [[ 9.99890138e-01 6.41138797e-03 1.33643854e-02 1.99836677e+02] [-6.56593022e-03 9.99911715e-01 1.15521157e-02 7.90216222e+00] [-1.32891404e-02 -1.16385962e-02 9.99843959e-01 -2.36389049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.655898227 meters 0.08308384260005178 Centerline is valid? [False, True] Translation: X:199.84, Y:7.90, Z:-2.36 [[ 9.99908892e-01 1.97296135e-03 1.33534476e-02 1.99836624e+02] [-2.06416719e-03 9.99974614e-01 6.81980119e-03 7.90393085e+00] [-1.33396534e-02 -6.84674360e-03 9.99887582e-01 -2.36387203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.715898227 meters 0.0809650120365928 Centerline is valid? [True, True] Translation: X:199.90, Y:7.90, Z:-2.36 [[ 9.99868921e-01 -3.07817028e-03 1.58954466e-02 1.99897747e+02] [ 3.05931524e-03 9.99994588e-01 1.21037140e-03 7.90330477e+00] [-1.58990863e-02 -1.16158357e-03 9.99872927e-01 -2.36188346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.775898227 meters 0.07852935353825866 Centerline is valid? [True, True] Translation: X:199.96, Y:7.90, Z:-2.37 [[ 9.99882401e-01 -8.95464889e-03 1.24497985e-02 1.99957848e+02] [ 8.94353614e-03 9.99959556e-01 9.47994478e-04 7.90419436e+00] [-1.24577840e-02 -8.36537772e-04 9.99922049e-01 -2.36879365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.835898227 meters 0.07308484741665039 Centerline is valid? [True, True] Translation: X:200.02, Y:7.90, Z:-2.37 [[ 9.99879611e-01 -1.09570869e-02 1.09866148e-02 2.00019777e+02] [ 1.09485531e-02 9.99939713e-01 8.36586840e-04 7.89786998e+00] [-1.09951190e-02 -7.16198588e-04 9.99939295e-01 -2.37191033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.895898227 meters 0.06357096463088982 Centerline is valid? [True, True] Translation: X:200.08, Y:7.89, Z:-2.37 [[ 9.99846351e-01 -1.19955765e-02 1.27820434e-02 2.00082087e+02] [ 1.19841124e-02 9.99927714e-01 9.73110578e-04 7.88607476e+00] [-1.27927925e-02 -8.19779615e-04 9.99917833e-01 -2.36916089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.955898227 meters 0.07275966275012519 Centerline is valid? [True, True] Translation: X:200.14, Y:7.90, Z:-2.37 [[ 9.99876779e-01 -8.80570359e-03 1.29956018e-02 2.00140582e+02] [ 8.79359047e-03 9.99960847e-01 9.88942172e-04 7.89946380e+00] [-1.30038013e-02 -8.74542314e-04 9.99915065e-01 -2.36888342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.015898227 meters 0.08077500663305126 Centerline is valid? [True, True] Translation: X:200.20, Y:7.92, Z:-2.37 [[ 9.99904843e-01 -6.85789114e-04 1.37780305e-02 2.00199697e+02] [ 6.71403964e-04 9.99999225e-01 1.04866268e-03 7.91542852e+00] [-1.37787390e-02 -1.03931227e-03 9.99904529e-01 -2.36838450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.075898227 meters 0.09147051348462096 Centerline is valid? [True, True] Translation: X:200.26, Y:7.94, Z:-2.37 [[ 9.99866116e-01 6.31137581e-03 1.50968754e-02 2.00258009e+02] [-6.32943876e-03 9.99979309e-01 1.14898806e-03 7.93767527e+00] [-1.50893113e-02 -1.24438898e-03 9.99885376e-01 -2.36729226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.135898227 meters 0.09499867035727189 Centerline is valid? [True, True] Translation: X:200.32, Y:7.95, Z:-2.37 [[ 9.99828849e-01 1.23043234e-02 1.38158180e-02 2.00317944e+02] [-1.23200174e-02 9.99923553e-01 1.05140599e-03 7.95139734e+00] [-1.38018250e-02 -1.22143716e-03 9.99904004e-01 -2.37076770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.195898227 meters 0.10064759223831228 Centerline is valid? [True, False] Translation: X:200.32, Y:7.96, Z:-2.37 [[ 9.99835278e-01 1.17200307e-02 1.38585074e-02 2.00318247e+02] [-1.17134088e-02 9.99931239e-01 -5.58894506e-04 7.95828778e+00] [-1.38641048e-02 3.96472081e-04 9.99903810e-01 -2.37178583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.255898227 meters 0.09339915446409475 Centerline is valid? [False, True] Translation: X:200.30, Y:7.96, Z:-2.37 [[ 9.99913613e-01 5.75706042e-03 1.18162409e-02 2.00298900e+02] [-5.80684608e-03 9.99974390e-01 4.18334891e-03 7.96007875e+00] [-1.17918545e-02 -4.25160262e-03 9.99921435e-01 -2.37164662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.315898227 meters 0.08803133865337853 Centerline is valid? [True, True] Translation: X:200.36, Y:7.96, Z:-2.37 [[ 9.99920967e-01 2.42340620e-03 1.23364064e-02 2.00359231e+02] [-2.43623100e-03 9.99996507e-01 1.02466770e-03 7.96288780e+00] [-1.23338801e-02 -1.05464105e-03 9.99923379e-01 -2.37101495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.375898227 meters 0.09253548965148545 Centerline is valid? [True, True] Translation: X:200.42, Y:7.98, Z:-2.37 [[ 9.99916419e-01 4.27150475e-03 1.22027981e-02 2.00417621e+02] [-4.28418968e-03 9.99990309e-01 1.01355868e-03 7.97779274e+00] [-1.21983504e-02 -1.06575307e-03 9.99925029e-01 -2.37110459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.435898227 meters 0.09695475785496571 Centerline is valid? [True, True] Translation: X:200.48, Y:8.00, Z:-2.37 [[ 9.99902745e-01 8.51637279e-03 1.10441006e-02 2.00476596e+02] [-8.52702139e-03 9.99963223e-01 9.17458669e-04 7.99519563e+00] [-1.10358811e-02 -1.01154272e-03 9.99938591e-01 -2.37331209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.495898227 meters 0.11428220299735434 Centerline is valid? [True, False] Translation: X:200.48, Y:8.00, Z:-2.37 [[ 9.99904351e-01 7.83736655e-03 1.13957797e-02 2.00475618e+02] [-7.82358352e-03 9.99968610e-01 -1.25356295e-03 8.00439921e+00] [-1.14052466e-02 1.16428721e-03 9.99934280e-01 -2.37318998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.555898227 meters 0.10700380928920283 Centerline is valid? [False, False] Translation: X:200.48, Y:8.01, Z:-2.37 [[ 9.99906420e-01 7.42723460e-03 1.14885383e-02 2.00475351e+02] [-7.40147425e-03 9.99970002e-01 -2.28316098e-03 8.00900620e+00] [-1.15051513e-02 2.19791520e-03 9.99931398e-01 -2.37323512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.615898227 meters 0.10868200488798463 Centerline is valid? [False, False] Translation: X:200.46, Y:8.01, Z:-2.37 [[ 9.99963268e-01 3.58061851e-03 7.78733806e-03 2.00458222e+02] [-3.61325211e-03 9.99984733e-01 4.18057392e-03 8.01186117e+00] [-7.77225013e-03 -4.20855798e-03 9.99960939e-01 -2.37377561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.675898227 meters 0.0942848108707338 Centerline is valid? [False, True] Translation: X:200.46, Y:8.02, Z:-2.37 [[ 9.99964838e-01 3.04163484e-03 7.81477167e-03 2.00458161e+02] [-3.06442337e-03 9.99991083e-01 2.90576676e-03 8.01756843e+00] [-7.80586370e-03 -2.92961235e-03 9.99965242e-01 -2.37390508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.735898227 meters 0.10859119796083722 Centerline is valid? [True, False] Translation: X:200.46, Y:8.02, Z:-2.37 [[ 9.99966173e-01 2.55844258e-03 7.81709608e-03 2.00458140e+02] [-2.57184857e-03 9.99995239e-01 1.70538670e-03 8.02290867e+00] [-7.81269573e-03 -1.72543340e-03 9.99967992e-01 -2.37394832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.795898227 meters 0.11198251612053436 Centerline is valid? [False, False] Translation: X:200.50, Y:8.04, Z:-2.37 [[ 9.99969509e-01 1.75212922e-03 7.60997967e-03 2.00499981e+02] [-1.73611052e-03 9.99996265e-01 -2.11105576e-03 8.03816058e+00] [-7.61365009e-03 2.09777963e-03 9.99968815e-01 -2.37378515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.855898227 meters 0.09924862764572877 Centerline is valid? [False, True] Translation: X:200.50, Y:8.04, Z:-2.37 [[ 9.99969646e-01 1.27888988e-03 7.68584920e-03 2.00499733e+02] [-1.25397955e-03 9.99993949e-01 -3.24500928e-03 8.04324820e+00] [-7.68995270e-03 3.23527288e-03 9.99965198e-01 -2.37382083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.915898227 meters 0.09641943875329517 Centerline is valid? [True, True] Translation: X:200.56, Y:8.05, Z:-2.37 [[ 9.99973432e-01 -2.09235741e-03 6.98260660e-03 2.00560287e+02] [ 2.08795547e-03 9.99997617e-01 6.37644865e-04 8.05243621e+00] [-6.98392414e-03 -6.23048553e-04 9.99975418e-01 -2.37438569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.975898227 meters 0.11042704444689136 Centerline is valid? [True, False] Translation: X:200.54, Y:8.06, Z:-2.37 [[ 9.99993863e-01 -9.30896253e-04 3.37741610e-03 2.00538513e+02] [ 9.60945895e-04 9.99959874e-01 -8.90654190e-03 8.05796913e+00] [-3.36898951e-03 8.90973275e-03 9.99954632e-01 -2.37049882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.035898227 meters 0.09208938637165168 Centerline is valid? [False, True] Translation: X:200.54, Y:8.06, Z:-2.37 [[ 9.99989891e-01 3.13811293e-03 3.22039815e-03 2.00538874e+02] [-3.12126812e-03 9.99981492e-01 -5.22242532e-03 8.06065717e+00] [-3.23672711e-03 5.21232080e-03 9.99981177e-01 -2.37035931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.095898227 meters 0.07449763188373439 Centerline is valid? [True, True] Translation: X:200.60, Y:8.04, Z:-2.37 [[ 9.99993309e-01 -8.75606041e-04 3.55186263e-03 2.00600786e+02] [ 8.74610588e-04 9.99999578e-01 2.81805852e-04 8.04456519e+00] [-3.55210789e-03 -2.78697470e-04 9.99993652e-01 -2.36939498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.155898227 meters 0.0780922367751023 Centerline is valid? [True, True] Translation: X:200.66, Y:8.06, Z:-2.37 [[ 9.99976401e-01 -4.75261415e-03 4.96085253e-03 2.00659675e+02] [ 4.75071964e-03 9.99988638e-01 3.93604422e-04 8.05743009e+00] [-4.96266682e-03 -3.70027513e-04 9.99987617e-01 -2.36811293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.215898227 meters 0.08093509568743879 Centerline is valid? [True, True] Translation: X:200.72, Y:8.07, Z:-2.37 [[ 9.99936011e-01 -1.00375916e-02 5.21737089e-03 2.00718764e+02] [ 1.00355677e-02 9.99949557e-01 4.13964479e-04 8.06755027e+00] [-5.22126291e-03 -3.61578711e-04 9.99986304e-01 -2.36886011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.275898227 meters 0.07362349697391771 Centerline is valid? [True, True] Translation: X:200.78, Y:8.06, Z:-2.37 [[ 9.99911519e-01 -1.20873742e-02 5.55429595e-03 2.00779948e+02] [ 1.20851118e-02 9.99926875e-01 4.40715257e-04 8.06254404e+00] [-5.55921688e-03 -3.73551974e-04 9.99984478e-01 -2.36892455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.335898227 meters 0.06899271249250866 Centerline is valid? [True, True] Translation: X:200.84, Y:8.06, Z:-2.37 [[ 9.99923598e-01 -1.17494763e-02 3.84020112e-03 2.00842209e+02] [ 1.17483921e-02 9.99930939e-01 3.04782511e-04 8.05952550e+00] [-3.84351695e-03 -2.59643037e-04 9.99992580e-01 -2.37084331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.395898227 meters 0.0827167312724405 Centerline is valid? [True, True] Translation: X:200.90, Y:8.08, Z:-2.37 [[ 9.99937887e-01 -1.05956905e-02 3.45738200e-03 2.00901347e+02] [ 1.05948056e-02 9.99943836e-01 2.74155293e-04 8.08076284e+00] [-3.46009268e-03 -2.37507975e-04 9.99993986e-01 -2.37299591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.455898227 meters 0.08070520222848752 Centerline is valid? [True, True] Translation: X:200.96, Y:8.08, Z:-2.37 [[ 9.99963281e-01 -7.92793008e-03 3.25349031e-03 2.00961854e+02] [ 7.92713265e-03 9.99968547e-01 2.57921914e-04 8.08071434e+00] [-3.25543276e-03 -2.32121594e-04 9.99994674e-01 -2.37367904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.515898227 meters 0.08528921980091479 Centerline is valid? [True, True] Translation: X:201.02, Y:8.09, Z:-2.37 [[ 9.99978442e-01 -5.14220462e-03 4.08336446e-03 2.01021127e+02] [ 5.14092541e-03 9.99986733e-01 3.23707558e-04 8.08893635e+00] [-4.08497486e-03 -3.02708308e-04 9.99991611e-01 -2.37313436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.575898227 meters 0.08339328183133415 Centerline is valid? [True, True] Translation: X:201.08, Y:8.09, Z:-2.37 [[ 9.99982386e-01 -4.05553768e-03 4.33358636e-03 2.01082773e+02] [ 4.05408669e-03 9.99991723e-01 3.43555844e-04 8.08987419e+00] [-4.33494380e-03 -3.25981058e-04 9.99990551e-01 -2.37330189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.635898227 meters 0.0896413515706762 Centerline is valid? [True, True] Translation: X:201.14, Y:8.10, Z:-2.37 [[ 9.99982102e-01 -4.13435683e-03 4.32476993e-03 2.01142898e+02] [ 4.13291279e-03 9.99991401e-01 3.42782965e-04 8.10089292e+00] [-4.32614993e-03 -3.24902933e-04 9.99990589e-01 -2.37304163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.695898227 meters 0.0807682252689006 Centerline is valid? [True, True] Translation: X:201.21, Y:8.09, Z:-2.37 [[ 9.99977993e-01 -4.05425647e-03 5.25142301e-03 2.01205955e+02] [ 4.05212731e-03 9.99991704e-01 4.16020855e-04 8.09164218e+00] [-5.25306610e-03 -3.94732264e-04 9.99986125e-01 -2.37095983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.755898227 meters 0.0816702931086201 Centerline is valid? [True, True] Translation: X:201.27, Y:8.09, Z:-2.37 [[ 9.99977197e-01 -3.38718604e-03 5.84230619e-03 2.01268339e+02] [ 3.38454123e-03 9.99994165e-01 4.62526290e-04 8.09455246e+00] [-5.84383877e-03 -4.42742217e-04 9.99982827e-01 -2.37136722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.815898227 meters 0.07314849871880963 Centerline is valid? [True, True] Translation: X:201.33, Y:8.09, Z:-2.37 [[ 9.99973654e-01 -4.06127704e-03 6.01644210e-03 2.01331081e+02] [ 4.05848610e-03 9.99991651e-01 4.76022291e-04 8.09053764e+00] [-6.01832512e-03 -4.51592103e-04 9.99981788e-01 -2.37065750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.875898227 meters 0.07977975733526835 Centerline is valid? [True, True] Translation: X:201.39, Y:8.10, Z:-2.37 [[ 9.99968678e-01 -6.61637399e-03 4.34350543e-03 2.01389968e+02] [ 6.61494443e-03 9.99978062e-01 3.43410435e-04 8.10339060e+00] [-4.34568228e-03 -3.14667632e-04 9.99990508e-01 -2.37397023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.935898227 meters 0.07612601141075487 Centerline is valid? [True, True] Translation: X:201.45, Y:8.11, Z:-2.37 [[ 9.99937016e-01 -1.05569771e-02 3.80986942e-03 2.01451016e+02] [ 1.05559054e-02 9.99944239e-01 3.01307233e-04 8.10541034e+00] [-3.81283788e-03 -2.61071634e-04 9.99992697e-01 -2.37473919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.995898227 meters 0.0739296018286236 Centerline is valid? [True, True] Translation: X:201.51, Y:8.11, Z:-2.37 [[ 9.99920655e-01 -1.16309783e-02 4.83780922e-03 2.01512550e+02] [ 1.16292629e-02 9.99932305e-01 3.82573924e-04 8.10907761e+00] [-4.84193143e-03 -3.26283413e-04 9.99988225e-01 -2.37317251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.055898227 meters 0.08221382427243534 Centerline is valid? [True, True] Translation: X:201.57, Y:8.13, Z:-2.37 [[ 9.99926078e-01 -1.08781232e-02 5.43175947e-03 2.01572647e+02] [ 1.08759508e-02 9.99940763e-01 4.29327114e-04 8.12669030e+00] [-5.43610798e-03 -3.70219829e-04 9.99985156e-01 -2.37209701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.115898227 meters 0.07344335675012896 Centerline is valid? [True, True] Translation: X:201.63, Y:8.12, Z:-2.38 [[ 9.99922716e-01 -1.22165477e-02 2.30608270e-03 2.01634567e+02] [ 1.22161596e-02 9.99925363e-01 1.82323557e-04 8.12460848e+00] [-2.30813795e-03 -1.54137992e-04 9.99997324e-01 -2.37759711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.175898227 meters 0.06421180505594488 Centerline is valid? [True, True] Translation: X:201.70, Y:8.12, Z:-2.37 [[ 9.99865492e-01 -1.58951792e-02 4.04240776e-03 2.01695067e+02] [ 1.58940180e-02 9.99873631e-01 3.19218090e-04 8.12282869e+00] [-4.04697095e-03 -2.54925051e-04 9.99991778e-01 -2.37493771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.235898227 meters 0.06095229527967866 Centerline is valid? [True, True] Translation: X:201.76, Y:8.13, Z:-2.37 [[ 9.99800032e-01 -1.93682236e-02 4.97670259e-03 2.01755301e+02] [ 1.93665067e-02 9.99812374e-01 3.92957814e-04 8.12557910e+00] [-4.98337973e-03 -2.96497891e-04 9.99987539e-01 -2.37453534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.295898227 meters 0.05606264038378709 Centerline is valid? [True, True] Translation: X:201.82, Y:8.13, Z:-2.38 [[ 9.99672344e-01 -2.52674077e-02 4.09430655e-03 2.01816178e+02] [ 2.52662948e-02 9.99680704e-01 3.23308209e-04 8.12509395e+00] [-4.10116842e-03 -2.19754319e-04 9.99991566e-01 -2.37622132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.355898227 meters 0.055704313332829644 Centerline is valid? [True, True] Translation: X:201.88, Y:8.13, Z:-2.38 [[ 9.99487590e-01 -3.18662759e-02 3.01616164e-03 2.01875368e+02] [ 3.18657022e-02 9.99492131e-01 2.38077930e-04 8.13028919e+00] [-3.02221648e-03 -1.41843828e-04 9.99995423e-01 -2.37840609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.415898227 meters 0.04895392025094374 Centerline is valid? [True, True] Translation: X:201.94, Y:8.13, Z:-2.38 [[ 9.99470084e-01 -3.23652312e-02 3.47019764e-03 2.01936847e+02] [ 3.23644742e-02 9.99476096e-01 2.74089655e-04 8.12943756e+00] [-3.47725056e-03 -1.61633288e-04 9.99993941e-01 -2.37706249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.475898227 meters 0.058104386897587304 Centerline is valid? [True, True] Translation: X:201.99, Y:8.15, Z:-2.38 [[ 9.99635662e-01 -2.68426080e-02 2.83145240e-03 2.01994983e+02] [ 2.68420818e-02 9.99639661e-01 2.23684182e-04 8.15140446e+00] [-2.83643638e-03 -1.47600609e-04 9.99995966e-01 -2.37836943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.535898227 meters 0.05692504888797054 Centerline is valid? [True, True] Translation: X:202.06, Y:8.16, Z:-2.38 [[ 9.99703572e-01 -2.40797237e-02 3.59644723e-03 2.02055580e+02] [ 2.40788582e-02 9.99710022e-01 2.83762400e-04 8.15572283e+00] [-3.60223726e-03 -1.97079942e-04 9.99993493e-01 -2.37630964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.595898227 meters 0.05840037867302426 Centerline is valid? [True, True] Translation: X:202.12, Y:8.16, Z:-2.37 [[ 9.99692701e-01 -2.41942208e-02 5.39847574e-03 2.02116696e+02] [ 2.41922727e-02 9.99707233e-01 4.25864863e-04 8.16016086e+00] [-5.40719872e-03 -2.95132598e-04 9.99985337e-01 -2.37421482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.655898227 meters 0.06389307082753849 Centerline is valid? [True, True] Translation: X:202.18, Y:8.17, Z:-2.38 [[ 9.99651098e-01 -2.57742866e-02 5.77661940e-03 2.02176780e+02] [ 2.57720838e-02 9.99667741e-01 4.55452727e-04 8.16621120e+00] [-5.78643903e-03 -3.06418299e-04 9.99983211e-01 -2.37632810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.715898227 meters 0.05831106400623302 Centerline is valid? [True, True] Translation: X:202.24, Y:8.16, Z:-2.38 [[ 9.99645456e-01 -2.60038463e-02 5.72387961e-03 2.02239116e+02] [ 2.60016875e-02 9.99661797e-01 4.51254270e-04 8.16463527e+00] [-5.73367812e-03 -3.02263751e-04 9.99983517e-01 -2.37583587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.775898227 meters 0.061471742946142424 Centerline is valid? [True, True] Translation: X:202.30, Y:8.17, Z:-2.38 [[ 9.99702920e-01 -2.41284842e-02 3.44786413e-03 2.02298654e+02] [ 2.41276900e-02 9.99708848e-01 2.71758688e-04 8.16969496e+00] [-3.45341741e-03 -1.88488957e-04 9.99994019e-01 -2.37898514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.835898227 meters 0.06435561573840724 Centerline is valid? [True, True] Translation: X:202.36, Y:8.18, Z:-2.38 [[ 9.99757797e-01 -2.18975982e-02 2.20060577e-03 2.02359414e+02] [ 2.18972696e-02 9.99760211e-01 1.73333007e-04 8.17749330e+00] [-2.20387366e-03 -1.25103767e-04 9.99997564e-01 -2.38162963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.895898227 meters 0.06055248549521828 Centerline is valid? [True, True] Translation: X:202.42, Y:8.18, Z:-2.38 [[ 9.99795129e-01 -1.99543062e-02 3.39493409e-03 2.02420571e+02] [ 1.99535131e-02 9.99800873e-01 2.67327323e-04 8.17935141e+00] [-3.39959240e-03 -1.99531693e-04 9.99994201e-01 -2.37867391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.955898227 meters 0.06162585721626051 Centerline is valid? [True, True] Translation: X:202.48, Y:8.19, Z:-2.38 [[ 9.99773987e-01 -2.09230560e-02 3.76829558e-03 2.02480518e+02] [ 2.09220859e-02 9.99781065e-01 2.96672455e-04 8.18898742e+00] [-3.77367786e-03 -2.17764799e-04 9.99992856e-01 -2.37885005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.015898227 meters 0.057359161184053 Centerline is valid? [True, True] Translation: X:202.54, Y:8.19, Z:-2.38 [[ 9.99636658e-01 -2.67337723e-02 3.44344435e-03 2.02540513e+02] [ 2.67329969e-02 9.99642573e-01 2.71023007e-04 8.19030356e+00] [-3.44945903e-03 -1.78870946e-04 9.99994035e-01 -2.37947284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.075898227 meters 0.05044998082245939 Centerline is valid? [True, True] Translation: X:202.60, Y:8.19, Z:-2.38 [[ 9.99406415e-01 -3.40728209e-02 5.08523147e-03 2.02601577e+02] [ 3.40712245e-02 9.99419327e-01 4.00260000e-04 8.18919992e+00] [-5.09591660e-03 -2.26762348e-04 9.99986990e-01 -2.37578001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.135898227 meters 0.04280527628760556 Centerline is valid? [True, True] Translation: X:202.66, Y:8.19, Z:-2.37 [[ 9.99067413e-01 -4.23750068e-02 8.28630316e-03 2.02661548e+02] [ 4.23710531e-02 9.99101731e-01 6.52188051e-04 8.18747799e+00] [-8.30649631e-03 -3.00480438e-04 9.99965455e-01 -2.36992496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.195898227 meters 0.04030677037753458 Centerline is valid? [True, True] Translation: X:202.72, Y:8.19, Z:-2.37 [[ 9.98963691e-01 -4.46541281e-02 8.80646169e-03 2.02722990e+02] [ 4.46497512e-02 9.99002462e-01 6.93096352e-04 8.19266046e+00] [-8.82862652e-03 -2.99171767e-04 9.99960982e-01 -2.36962015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.255898227 meters 0.041926477465032704 Centerline is valid? [True, True] Translation: X:202.78, Y:8.20, Z:-2.37 [[ 9.98963225e-01 -4.47638727e-02 8.28678538e-03 2.02783226e+02] [ 4.47600032e-02 9.98997556e-01 6.51921010e-04 8.20400442e+00] [-8.30766085e-03 -2.80328575e-04 9.99965451e-01 -2.37108263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.315898227 meters 0.034360400634808164 Centerline is valid? [True, True] Translation: X:202.85, Y:8.20, Z:-2.37 [[ 9.98942852e-01 -4.53685045e-02 7.40788859e-03 2.02845909e+02] [ 4.53654307e-02 9.98970289e-01 5.82531601e-04 8.19995707e+00] [-7.42668919e-03 -2.45853723e-04 9.99972392e-01 -2.37273332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.375898227 meters 0.038571572233851804 Centerline is valid? [True, True] Translation: X:202.91, Y:8.21, Z:-2.38 [[ 9.98906207e-01 -4.64265666e-02 5.56452805e-03 2.02906860e+02] [ 4.64248497e-02 9.98921690e-01 4.37376708e-04 8.21079743e+00] [-5.57883367e-03 -1.78565929e-04 9.99984422e-01 -2.37680194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.435898227 meters 0.04018920441305198 Centerline is valid? [True, True] Translation: X:202.97, Y:8.22, Z:-2.38 [[ 9.99026699e-01 -4.37866130e-02 5.32798893e-03 2.02968097e+02] [ 4.37850030e-02 9.99040889e-01 4.18503041e-04 8.21809448e+00] [-5.34120363e-03 -1.84809700e-04 9.99985719e-01 -2.37646365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.495898227 meters 0.04346941676614335 Centerline is valid? [True, True] Translation: X:203.03, Y:8.23, Z:-2.38 [[ 9.99213835e-01 -3.94009946e-02 4.39011417e-03 2.03028475e+02] [ 3.93998596e-02 9.99223465e-01 3.44741816e-04 8.23025086e+00] [-4.40028827e-03 -1.71500910e-04 9.99990304e-01 -2.37830310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.555898227 meters 0.04907522713054149 Centerline is valid? [True, True] Translation: X:203.09, Y:8.25, Z:-2.38 [[ 9.99394755e-01 -3.46873286e-02 2.62906750e-03 2.03087670e+02] [ 3.46869054e-02 9.99398207e-01 2.06399668e-04 8.24527849e+00] [-2.63464480e-03 -1.15080530e-04 9.99996523e-01 -2.38216430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.615898227 meters 0.05731385576413929 Centerline is valid? [True, True] Translation: X:203.15, Y:8.27, Z:-2.38 [[ 9.99594193e-01 -2.84616909e-02 1.17534362e-03 2.03146028e+02] [ 2.84616021e-02 9.99594882e-01 9.22387474e-05 8.26650735e+00] [-1.17749274e-03 -5.87491539e-05 9.99999305e-01 -2.38376549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.675898227 meters 0.05826456187067784 Centerline is valid? [True, True] Translation: X:203.21, Y:8.28, Z:-2.38 [[ 9.99651065e-01 -2.63289329e-02 2.12952802e-03 2.03206939e+02] [ 2.63286361e-02 9.99653327e-01 1.67284228e-04 8.27520260e+00] [-2.13319419e-03 -1.11158288e-04 9.99997719e-01 -2.38124200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.735898227 meters 0.0572922586492168 Centerline is valid? [True, True] Translation: X:203.27, Y:8.28, Z:-2.38 [[ 9.99624141e-01 -2.70463986e-02 4.47991274e-03 2.03268211e+02] [ 2.70450936e-02 9.99634153e-01 3.51643724e-04 8.27771963e+00] [-4.48778448e-03 -2.30351896e-04 9.99989903e-01 -2.37814838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.795898227 meters 0.05014768128589344 Centerline is valid? [True, True] Translation: X:203.33, Y:8.27, Z:-2.37 [[ 9.99504134e-01 -3.07346430e-02 6.84605216e-03 2.03329495e+02] [ 3.07316832e-02 9.99527526e-01 5.37134933e-04 8.26803592e+00] [-6.85932623e-03 -3.26477880e-04 9.99976421e-01 -2.37477931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.855898227 meters 0.05698662977676074 Centerline is valid? [True, True] Translation: X:203.39, Y:8.27, Z:-2.38 [[ 9.99570594e-01 -2.87271048e-02 5.77771386e-03 2.03388972e+02] [ 2.87249631e-02 9.99587250e-01 4.53340632e-04 8.27365485e+00] [-5.78835227e-03 -2.87181348e-04 9.99983206e-01 -2.37591538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.915898227 meters 0.06218514111382055 Centerline is valid? [True, True] Translation: X:203.45, Y:8.28, Z:-2.38 [[ 9.99734641e-01 -2.25672452e-02 4.62248811e-03 2.03449180e+02] [ 2.25658100e-02 9.99745294e-01 3.62416692e-04 8.28231458e+00] [-4.62948948e-03 -2.58010333e-04 9.99989251e-01 -2.37765860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.975898227 meters 0.07100200692410381 Centerline is valid? [True, True] Translation: X:203.51, Y:8.30, Z:-2.38 [[ 9.99902862e-01 -1.36324886e-02 2.90217739e-03 2.03509185e+02] [ 1.36318854e-02 9.99907056e-01 2.27526131e-04 8.29745573e+00] [-2.90500940e-03 -1.87941880e-04 9.99995763e-01 -2.38112245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.035898227 meters 0.08402248765813847 Centerline is valid? [True, True] Translation: X:203.57, Y:8.32, Z:-2.38 [[ 9.99992744e-01 -2.59928916e-03 2.78485124e-03 2.03566904e+02] [ 2.59869094e-03 9.99996600e-01 2.18406887e-04 8.31888163e+00] [-2.78540948e-03 -2.11168334e-04 9.99996098e-01 -2.38120780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.095898227 meters 0.0839316141661538 Centerline is valid? [True, True] Translation: X:203.63, Y:8.33, Z:-2.38 [[ 9.99994535e-01 -3.35442375e-04 3.28909122e-03 2.03626930e+02] [ 3.34596362e-04 9.99999911e-01 2.57764775e-04 8.32544985e+00] [-3.28917739e-03 -2.56662848e-04 9.99994558e-01 -2.38082629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.155898227 meters 0.08510049469845363 Centerline is valid? [True, True] Translation: X:203.69, Y:8.33, Z:-2.38 [[ 9.99997357e-01 -1.16848531e-03 1.97999174e-03 2.03687135e+02] [ 1.16818016e-03 9.99999306e-01 1.55266725e-04 8.33324405e+00] [-1.98017179e-03 -1.52953327e-04 9.99998028e-01 -2.38424045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.215898227 meters 0.08622134905415411 Centerline is valid? [True, True] Translation: X:203.75, Y:8.34, Z:-2.39 [[ 9.99988230e-01 -4.65651787e-03 1.36271319e-03 2.03746199e+02] [ 4.65637678e-03 9.99989153e-01 1.06694690e-04 8.33860592e+00] [-1.36319524e-03 -1.00348128e-04 9.99999066e-01 -2.38553184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.275898227 meters 0.08539867674838013 Centerline is valid? [True, True] Translation: X:203.81, Y:8.35, Z:-2.38 [[ 9.99980208e-01 -5.67467008e-03 2.71711264e-03 2.03806047e+02] [ 5.67411232e-03 9.99983879e-01 2.12940833e-04 8.34812722e+00] [-2.71827720e-03 -1.97519416e-04 9.99996286e-01 -2.38352701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.335898227 meters 0.0865131678558726 Centerline is valid? [True, True] Translation: X:203.87, Y:8.36, Z:-2.39 [[ 9.99987172e-01 -4.82029661e-03 1.55569805e-03 2.03867061e+02] [ 4.82011263e-03 9.99988376e-01 1.21988799e-04 8.35632451e+00] [-1.55626799e-03 -1.14488594e-04 9.99998782e-01 -2.38529194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.395898227 meters 0.0889875324514279 Centerline is valid? [True, True] Translation: X:203.93, Y:8.37, Z:-2.39 [[ 9.99994533e-01 -3.24011191e-03 6.59929215e-04 2.03927508e+02] [ 3.24007841e-03 9.99994750e-01 5.18161787e-05 8.36898693e+00] [-6.60093640e-04 -4.96776730e-05 9.99999781e-01 -2.38728672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.455898227 meters 0.08857939268039959 Centerline is valid? [True, True] Translation: X:203.99, Y:8.38, Z:-2.38 [[ 9.99985142e-01 -4.74684442e-03 2.68025505e-03 2.03988356e+02] [ 4.74629877e-03 9.99988714e-01 2.09902670e-04 8.37524178e+00] [-2.68122118e-03 -1.97178260e-04 9.99996386e-01 -2.38488575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.515898227 meters 0.0729514122129982 Centerline is valid? [True, True] Translation: X:204.05, Y:8.36, Z:-2.39 [[ 9.99920525e-01 -1.24749506e-02 1.82191954e-03 2.04050207e+02] [ 1.24747113e-02 9.99922178e-01 1.42643106e-04 8.36034375e+00] [-1.82355722e-03 -1.19903849e-04 9.99998330e-01 -2.38625269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.575898227 meters 0.06139365231737167 Centerline is valid? [True, True] Translation: X:204.11, Y:8.35, Z:-2.39 [[ 9.99823621e-01 -1.87704285e-02 6.30338586e-04 2.04112061e+02] [ 1.87704011e-02 9.99823819e-01 4.93674969e-05 8.34729664e+00] [-6.31154181e-04 -3.75270814e-05 9.99999800e-01 -2.38799273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.635898227 meters 0.051951088788246516 Centerline is valid? [True, True] Translation: X:204.17, Y:8.34, Z:-2.39 [[ 9.99703870e-01 -2.42896925e-02 1.47778117e-03 2.04173971e+02] [ 2.42895478e-02 9.99704959e-01 1.15738058e-04 8.33656920e+00] [-1.48015641e-03 -7.98091476e-05 9.99998901e-01 -2.38711450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.695898227 meters 0.05832596815950775 Centerline is valid? [True, True] Translation: X:204.23, Y:8.34, Z:-2.39 [[ 9.99625739e-01 -2.72974989e-02 1.79669670e-03 2.04233770e+02] [ 2.72972902e-02 9.99627350e-01 1.40629767e-04 8.34301804e+00] [-1.79986600e-03 -9.15321835e-05 9.99998376e-01 -2.38703301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.755898227 meters 0.0563770647592186 Centerline is valid? [True, True] Translation: X:204.29, Y:8.34, Z:-2.39 [[ 9.99714084e-01 -2.38875698e-02 1.06503964e-03 2.04294536e+02] [ 2.38874945e-02 9.99714650e-01 8.33880126e-05 8.34105184e+00] [-1.06672767e-03 -5.79230421e-05 9.99999429e-01 -2.38761458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.815898227 meters 0.07351941234828711 Centerline is valid? [True, True] Translation: X:204.35, Y:8.36, Z:-2.39 [[ 9.99824753e-01 -1.87157196e-02 4.30691845e-04 2.04352383e+02] [ 1.87157068e-02 9.99824845e-01 3.38044934e-05 8.36452085e+00] [-4.31249083e-04 -2.57378670e-05 9.99999907e-01 -2.39174072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.875898227 meters 0.07276017664179896 Centerline is valid? [True, True] Translation: X:204.41, Y:8.37, Z:-2.39 [[ 9.99917387e-01 -1.27045198e-02 1.95289421e-03 2.04412803e+02] [ 1.27042455e-02 9.99919286e-01 1.52828898e-04 8.36669782e+00] [-1.95467820e-03 -1.28006225e-04 9.99998081e-01 -2.38948511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.935898227 meters 0.0732957572879474 Centerline is valid? [True, True] Translation: X:204.47, Y:8.37, Z:-2.39 [[ 9.99947758e-01 -1.00222913e-02 2.00869547e-03 2.04473165e+02] [ 1.00219957e-02 9.99949766e-01 1.57186578e-04 8.36674633e+00] [-2.01016993e-03 -1.37047229e-04 9.99997970e-01 -2.38963659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.995898227 meters 0.079568022899916 Centerline is valid? [True, True] Translation: X:204.53, Y:8.38, Z:-2.39 [[ 9.99973755e-01 -7.20054192e-03 8.01463082e-04 2.04532033e+02] [ 7.20049400e-03 9.99974074e-01 6.26552770e-05 8.38272788e+00] [-8.01893455e-04 -5.68827025e-05 9.99999677e-01 -2.39159861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.055898227 meters 0.08448674802794749 Centerline is valid? [True, True] Translation: X:204.59, Y:8.40, Z:-2.39 [[ 9.99995361e-01 -3.04028739e-03 -1.88626470e-04 2.04591404e+02] [ 3.04028465e-03 9.99995378e-01 -1.47648406e-05 8.39672112e+00] [ 1.88670487e-04 1.41912939e-05 9.99999982e-01 -2.39407330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.115898227 meters 0.0841987717526399 Centerline is valid? [True, True] Translation: X:204.65, Y:8.40, Z:-2.39 [[ 9.99997940e-01 -2.02604005e-03 -1.25690033e-04 2.04652178e+02] [ 2.02603885e-03 9.99997948e-01 -9.66334874e-06 8.40275358e+00] [ 1.25709353e-04 9.40867594e-06 9.99999992e-01 -2.39295113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.175898227 meters 0.0840509296165842 Centerline is valid? [True, True] Translation: X:204.71, Y:8.41, Z:-2.39 [[ 9.99994328e-01 -3.30689520e-03 -6.39550393e-04 2.04712246e+02] [ 3.30686388e-03 9.99994531e-01 -5.00317725e-05 8.40854792e+00] [ 6.39712346e-04 4.79165826e-05 9.99999794e-01 -2.39293196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.235898227 meters 0.07656822421240812 Centerline is valid? [True, True] Translation: X:204.77, Y:8.40, Z:-2.39 [[ 9.99993433e-01 -3.61726018e-03 -2.24354181e-04 2.04773321e+02] [ 3.61725633e-03 9.99993458e-01 -1.75511382e-05 8.40368602e+00] [ 2.24416200e-04 1.67394763e-05 9.99999975e-01 -2.39177952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.295898227 meters 0.07408569153323355 Centerline is valid? [True, True] Translation: X:204.83, Y:8.40, Z:-2.39 [[ 9.99988360e-01 -4.38340882e-03 2.01642736e-03 2.04834142e+02] [ 4.38309959e-03 9.99990382e-01 1.57744309e-04 8.40409912e+00] [-2.01709942e-03 -1.48904271e-04 9.99997955e-01 -2.38945912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.355898227 meters 0.08083695070562885 Centerline is valid? [True, True] Translation: X:204.89, Y:8.41, Z:-2.39 [[ 9.99985426e-01 -3.74380259e-03 3.89006184e-03 2.04894220e+02] [ 3.74264669e-03 9.99992950e-01 3.04380181e-04 8.41383818e+00] [-3.89117396e-03 -2.89816618e-04 9.99992387e-01 -2.38603546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.415898227 meters 0.08552528308540672 Centerline is valid? [True, True] Translation: X:204.96, Y:8.42, Z:-2.39 [[ 9.99986824e-01 -2.91585459e-03 4.22487965e-03 2.04955423e+02] [ 2.91448418e-03 9.99995698e-01 3.30487777e-04 8.41976809e+00] [-4.22582513e-03 -3.18170078e-04 9.99991021e-01 -2.38543536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.475898227 meters 0.08352194508938278 Centerline is valid? [True, True] Translation: X:205.02, Y:8.42, Z:-2.39 [[ 9.99994297e-01 -1.65888345e-03 2.94164323e-03 2.05016545e+02] [ 1.65821390e-03 9.99998599e-01 2.30034026e-04 8.42300208e+00] [-2.94202071e-03 -2.25154841e-04 9.99995647e-01 -2.38760736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.535898227 meters 0.08508550142727053 Centerline is valid? [True, True] Translation: X:205.08, Y:8.42, Z:-2.39 [[ 9.99996637e-01 -1.80465762e-03 1.86257461e-03 2.05077518e+02] [ 1.80438932e-03 9.99998361e-01 1.45715676e-04 8.42481135e+00] [-1.86283452e-03 -1.42354376e-04 9.99998255e-01 -2.39078050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.595898227 meters 0.0866764390340137 Centerline is valid? [True, True] Translation: X:205.14, Y:8.43, Z:-2.39 [[ 9.99986567e-01 -4.96937576e-03 1.47315424e-03 2.05137680e+02] [ 4.96921160e-03 9.99987647e-01 1.15070077e-04 8.42618519e+00] [-1.47370786e-03 -1.07748116e-04 9.99998908e-01 -2.39189398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.655898227 meters 0.06700112590679166 Centerline is valid? [True, True] Translation: X:205.20, Y:8.40, Z:-2.39 [[ 9.99967827e-01 -7.93627198e-03 1.16676902e-03 2.05200285e+02] [ 7.93617101e-03 9.99968504e-01 9.11441141e-05 8.39994975e+00] [-1.16745561e-03 -8.18815033e-05 9.99999315e-01 -2.39106185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.715898227 meters 0.0834393377811071 Centerline is valid? [True, True] Translation: X:205.26, Y:8.41, Z:-2.40 [[ 9.99951841e-01 -9.81316574e-03 -1.29149931e-04 2.05259066e+02] [ 9.81316452e-03 9.99951850e-01 -1.00885003e-05 8.41497606e+00] [ 1.29242713e-04 8.82064492e-06 9.99999992e-01 -2.39548133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.775898227 meters 0.07587897221478705 Centerline is valid? [True, True] Translation: X:205.32, Y:8.40, Z:-2.39 [[ 9.99953147e-01 -9.67892801e-03 1.47143405e-04 2.05321726e+02] [ 9.67892640e-03 9.99953158e-01 1.16398572e-05 8.39981879e+00] [-1.47249174e-04 -1.02151217e-05 9.99999989e-01 -2.39422136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.835898227 meters 0.07422429418209067 Centerline is valid? [True, True] Translation: X:205.38, Y:8.39, Z:-2.39 [[ 9.99964012e-01 -8.41188073e-03 1.10190095e-03 2.05383675e+02] [ 8.41179085e-03 9.99964617e-01 8.61753946e-05 8.39478748e+00] [-1.10258685e-03 -7.69033330e-05 9.99999389e-01 -2.39297787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.895898227 meters 0.07694744687326828 Centerline is valid? [True, True] Translation: X:205.44, Y:8.40, Z:-2.39 [[ 9.99970962e-01 -7.53579509e-03 1.13474976e-03 2.05443687e+02] [ 7.53569939e-03 9.99971602e-01 8.85879723e-05 8.39505456e+00] [-1.13538512e-03 -8.00342668e-05 9.99999352e-01 -2.39300614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.955898227 meters 0.07116273353108654 Centerline is valid? [True, True] Translation: X:205.51, Y:8.38, Z:-2.39 [[ 9.99968771e-01 -6.83384104e-03 3.96931795e-03 2.05506542e+02] [ 6.83266432e-03 9.99976609e-01 3.09938320e-04 8.37896391e+00] [-3.97134318e-03 -2.82807624e-04 9.99992074e-01 -2.38979770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.015898227 meters 0.07493089925075992 Centerline is valid? [True, True] Translation: X:205.57, Y:8.37, Z:-2.39 [[ 9.99979495e-01 -5.17283141e-03 3.77506288e-03 2.05567993e+02] [ 5.17175571e-03 9.99986583e-01 2.94655084e-04 8.37475617e+00] [-3.77653643e-03 -2.75125339e-04 9.99992831e-01 -2.39063767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.075898227 meters 0.07455741955737705 Centerline is valid? [True, True] Translation: X:205.63, Y:8.37, Z:-2.39 [[ 9.99996390e-01 -1.96461609e-03 1.83308225e-03 2.05628664e+02] [ 1.96435712e-03 9.99998060e-01 1.43069702e-04 8.37472314e+00] [-1.83335977e-03 -1.39468357e-04 9.99998310e-01 -2.39379959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.135898227 meters 0.08776333905365233 Centerline is valid? [True, True] Translation: X:205.69, Y:8.38, Z:-2.40 [[ 9.99986582e-01 5.16916412e-03 -3.38549832e-04 2.05687656e+02] [-5.16917335e-03 9.99986639e-01 -2.63868540e-05 8.38488360e+00] [ 3.38408911e-04 2.81365227e-05 9.99999942e-01 -2.39798439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.195898227 meters 0.09198111370296269 Centerline is valid? [True, True] Translation: X:205.75, Y:8.39, Z:-2.40 [[ 9.99954170e-01 9.54924905e-03 6.85288341e-04 2.05747791e+02] [-9.54928791e-03 9.99954403e-01 5.34630006e-05 8.38954833e+00] [-6.84746562e-04 -6.00045661e-05 9.99999764e-01 -2.39685116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.255898227 meters 0.0977239492425136 Centerline is valid? [True, True] Translation: X:205.81, Y:8.40, Z:-2.40 [[ 9.99915323e-01 1.28680228e-02 1.93930040e-03 2.05807021e+02] [-1.28683402e-02 9.99917188e-01 1.51283753e-04 8.39833451e+00] [-1.93719308e-03 -1.76226520e-04 9.99998108e-01 -2.39608117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.315898227 meters 0.08949918385874885 Centerline is valid? [True, True] Translation: X:205.87, Y:8.39, Z:-2.40 [[ 9.99895478e-01 1.41993883e-02 2.72218742e-03 2.05868920e+02] [-1.42000191e-02 9.99899152e-01 2.12522281e-04 8.38898984e+00] [-2.71889520e-03 -2.51155181e-04 9.99996272e-01 -2.39517895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.375898227 meters 0.09736100347094744 Centerline is valid? [True, True] Translation: X:205.93, Y:8.40, Z:-2.40 [[ 9.99879150e-01 1.55012454e-02 1.18176753e-03 2.05927726e+02] [-1.55013654e-02 9.99879842e-01 9.24503016e-05 8.40255227e+00] [-1.18019244e-03 -1.10758139e-04 9.99999297e-01 -2.39784104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.435898227 meters 0.0997307550622819 Centerline is valid? [True, True] Translation: X:205.99, Y:8.42, Z:-2.40 [[ 9.99799096e-01 2.00408399e-02 -3.63335023e-04 2.05986917e+02] [-2.00408515e-02 9.99799162e-01 -2.83832419e-05 8.41550152e+00] [ 3.62693228e-04 3.56590829e-05 9.99999934e-01 -2.40046445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.495898227 meters 0.10214840718020293 Centerline is valid? [True, False] Translation: X:205.99, Y:8.42, Z:-2.40 [[ 9.99883804e-01 1.42009408e-02 -5.54189237e-03 2.05985746e+02] [-1.41347548e-02 9.99830415e-01 1.18046505e-02 8.41871616e+00] [ 5.70858969e-03 -1.17249455e-02 9.99914965e-01 -2.39680756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.555898227 meters 0.11399472968963757 Centerline is valid? [False, False] Translation: X:206.02, Y:8.43, Z:-2.39 [[ 9.99941229e-01 9.87911746e-03 -4.46551665e-03 2.06023551e+02] [-9.85718830e-03 9.99939380e-01 4.90639850e-03 8.43120622e+00] [ 4.51371684e-03 -4.86209271e-03 9.99977993e-01 -2.39392951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.615898227 meters 0.09526961549497338 Centerline is valid? [False, True] Translation: X:206.01, Y:8.44, Z:-2.40 [[ 9.99998511e-01 -1.30207192e-03 -1.13259589e-03 2.06005014e+02] [ 1.30466461e-03 9.99996524e-01 2.29144177e-03 8.43987278e+00] [ 1.12960833e-03 -2.29291602e-03 9.99996733e-01 -2.40147329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.675898227 meters 0.08727834789980146 Centerline is valid? [True, True] Translation: X:206.06, Y:8.44, Z:-2.40 [[ 9.99957125e-01 -9.25978617e-03 6.59228996e-05 2.06064846e+02] [ 9.25978580e-03 9.99957127e-01 5.99275868e-06 8.44244156e+00] [-6.59755650e-05 -5.38206981e-06 9.99999998e-01 -2.40104313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.735898227 meters 0.07948666797751461 Centerline is valid? [True, True] Translation: X:206.13, Y:8.44, Z:-2.40 [[ 9.99849039e-01 -1.73624788e-02 6.66032118e-04 2.06126269e+02] [ 1.73624423e-02 9.99849260e-01 6.05687639e-05 8.43880691e+00] [-6.66983344e-04 -4.89956762e-05 9.99999776e-01 -2.40099151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.795898227 meters 0.06835743353359276 Centerline is valid? [True, True] Translation: X:206.19, Y:8.43, Z:-2.40 [[ 9.99638982e-01 -2.68499350e-02 -9.93060343e-04 2.06187766e+02] [ 2.68498586e-02 9.99639473e-01 -9.01752242e-05 8.42993264e+00] [ 9.95123518e-04 6.34791396e-05 9.99999503e-01 -2.40296958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.855898227 meters 0.0672364526071909 Centerline is valid? [True, True] Translation: X:206.25, Y:8.43, Z:-2.40 [[ 9.99545578e-01 -3.01257517e-02 -1.03724073e-03 2.06247123e+02] [ 3.01256700e-02 9.99546115e-01 -9.43050241e-05 8.43215898e+00] [ 1.03961095e-03 6.30145980e-05 9.99999458e-01 -2.40306911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.915898227 meters 0.06655912899774472 Centerline is valid? [True, True] Translation: X:206.31, Y:8.43, Z:-2.40 [[ 9.99566362e-01 -2.94361490e-02 7.75551672e-04 2.06307191e+02] [ 2.94361032e-02 9.99566662e-01 7.03574018e-05 8.42912773e+00] [-7.77286647e-04 -4.74976731e-05 9.99999697e-01 -2.39943837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.975898227 meters 0.06353168579394385 Centerline is valid? [True, True] Translation: X:206.37, Y:8.43, Z:-2.40 [[ 9.99672999e-01 -2.53682184e-02 3.21688729e-03 2.06367624e+02] [ 2.53674085e-02 9.99678153e-01 2.92338405e-04 8.43109101e+00] [-3.22326805e-03 -2.10638716e-04 9.99994783e-01 -2.39592215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.035898227 meters 0.06884150314613588 Centerline is valid? [True, True] Translation: X:206.43, Y:8.44, Z:-2.40 [[ 9.99772029e-01 -2.09851949e-02 3.93839726e-03 2.06427386e+02] [ 2.09839470e-02 9.99779749e-01 3.57903433e-04 8.44154383e+00] [-3.94504050e-03 -2.75178722e-04 9.99992180e-01 -2.39524974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.095898227 meters 0.07409996119868106 Centerline is valid? [True, True] Translation: X:206.49, Y:8.45, Z:-2.40 [[ 9.99870653e-01 -1.60740517e-02 5.50204022e-04 2.06487116e+02] [ 1.60740266e-02 9.99870803e-01 5.00153656e-05 8.45028939e+00] [-5.50936887e-04 -4.11649021e-05 9.99999847e-01 -2.40121487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.155898227 meters 0.08049792715598808 Centerline is valid? [True, True] Translation: X:206.55, Y:8.46, Z:-2.40 [[ 9.99893373e-01 -1.46012768e-02 -2.10913649e-04 2.06546422e+02] [ 1.46012731e-02 9.99893396e-01 -1.91024939e-05 8.46356139e+00] [ 2.11170085e-04 1.60208493e-05 9.99999978e-01 -2.40225434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.215898227 meters 0.0889687629119492 Centerline is valid? [True, True] Translation: X:206.60, Y:8.48, Z:-2.40 [[ 9.99936333e-01 -1.11985988e-02 1.38579940e-03 2.06604365e+02] [ 1.11984351e-02 9.99937288e-01 1.25831010e-04 8.48113857e+00] [-1.38712162e-03 -1.10304214e-04 9.99999032e-01 -2.40004526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.275898227 meters 0.0838030688276968 Centerline is valid? [True, True] Translation: X:206.67, Y:8.48, Z:-2.40 [[ 9.99978773e-01 -6.16798624e-03 2.09999925e-03 2.06665321e+02] [ 6.16759894e-03 9.99980962e-01 1.90852553e-04 8.48276956e+00] [-2.10113645e-03 -1.77896549e-04 9.99997777e-01 -2.39924154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.335898227 meters 0.09806315004222649 Centerline is valid? [True, True] Translation: X:206.72, Y:8.51, Z:-2.40 [[ 9.99980670e-01 -6.18138037e-03 6.71182264e-04 2.06724697e+02] [ 6.18134071e-03 9.99980893e-01 6.11500924e-05 8.51023835e+00] [-6.71547432e-04 -5.70001041e-05 9.99999773e-01 -2.40243460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.395898227 meters 0.08282469149605416 Centerline is valid? [True, True] Translation: X:206.79, Y:8.50, Z:-2.40 [[ 9.99947074e-01 -1.02108001e-02 1.26016034e-03 2.06786816e+02] [ 1.02106639e-02 9.99947863e-01 1.14492670e-04 8.49780518e+00] [-1.26126370e-03 -1.01619537e-04 9.99999199e-01 -2.40095485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.455898227 meters 0.08318003067346522 Centerline is valid? [True, True] Translation: X:206.85, Y:8.50, Z:-2.40 [[ 9.99905453e-01 -1.34224649e-02 2.98689090e-03 2.06846066e+02] [ 1.34217140e-02 9.99909888e-01 2.71289407e-04 8.50422582e+00] [-2.99026312e-03 -2.31174562e-04 9.99995502e-01 -2.39838543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.515898227 meters 0.08154029645873541 Centerline is valid? [True, True] Translation: X:206.91, Y:8.51, Z:-2.40 [[ 9.99902909e-01 -1.37589718e-02 2.20540763e-03 2.06907472e+02] [ 1.37585630e-02 9.99905326e-01 2.00423689e-04 8.50952024e+00] [-2.20795646e-03 -1.70060990e-04 9.99997548e-01 -2.39962311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.575898227 meters 0.08210930687379095 Centerline is valid? [True, True] Translation: X:206.97, Y:8.52, Z:-2.40 [[ 9.99919434e-01 -1.23241967e-02 3.03978720e-03 2.06967925e+02] [ 1.23234139e-02 9.99924026e-01 2.76112259e-04 8.51899307e+00] [-3.04295911e-03 -2.38629458e-04 9.99995342e-01 -2.39878139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.635898227 meters 0.07715420654451596 Centerline is valid? [True, True] Translation: X:207.03, Y:8.52, Z:-2.40 [[ 9.99930167e-01 -1.11260277e-02 3.98409597e-03 2.07029610e+02] [ 1.11246737e-02 9.99938053e-01 3.61835739e-04 8.52107255e+00] [-3.98787497e-03 -3.17488703e-04 9.99991998e-01 -2.39784824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.695898227 meters 0.09198069526992764 Centerline is valid? [True, True] Translation: X:207.09, Y:8.55, Z:-2.40 [[ 9.99918903e-01 -1.24518304e-02 2.67212256e-03 2.07087620e+02] [ 1.24512262e-02 9.99922451e-01 2.42629208e-04 8.54972336e+00] [-2.67493652e-03 -2.09338329e-04 9.99996400e-01 -2.40112708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.755898227 meters 0.08165357577677364 Centerline is valid? [True, True] Translation: X:207.15, Y:8.54, Z:-2.40 [[ 9.99902403e-01 -1.36539285e-02 2.95866830e-03 2.07149232e+02] [ 1.36531931e-02 9.99906755e-01 2.68605153e-04 8.54442499e+00] [-2.96205994e-03 -2.28183669e-04 9.99995587e-01 -2.40104263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.815898227 meters 0.07728497043425038 Centerline is valid? [True, True] Translation: X:207.21, Y:8.55, Z:-2.40 [[ 9.99893446e-01 -1.44885635e-02 1.78270238e-03 2.07210948e+02] [ 1.44882977e-02 9.99895026e-01 1.61926792e-04 8.54728176e+00] [-1.78486133e-03 -1.36081215e-04 9.99998398e-01 -2.40257634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.875898227 meters 0.08039615135924963 Centerline is valid? [True, True] Translation: X:207.27, Y:8.56, Z:-2.40 [[ 9.99900735e-01 -1.40732488e-02 6.81621664e-04 2.07270475e+02] [ 1.40732098e-02 9.99900966e-01 6.18957100e-05 8.55814568e+00] [-6.82425234e-04 -5.22969612e-05 9.99999766e-01 -2.40458339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.935898227 meters 0.08376418735237458 Centerline is valid? [True, True] Translation: X:207.33, Y:8.57, Z:-2.40 [[ 9.99923091e-01 -1.22570883e-02 1.89074982e-03 2.07330754e+02] [ 1.22567856e-02 9.99924868e-01 1.71558163e-04 8.57010402e+00] [-1.89271057e-03 -1.48370453e-04 9.99998198e-01 -2.40303087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.995898227 meters 0.08187712477491155 Centerline is valid? [True, True] Translation: X:207.39, Y:8.58, Z:-2.40 [[ 9.99971283e-01 -6.72584821e-03 3.49232551e-03 2.07390929e+02] [ 6.72478261e-03 9.99977338e-01 3.16781214e-04 8.57936355e+00] [-3.49437699e-03 -2.93286987e-04 9.99993852e-01 -2.40031767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.055898227 meters 0.09485039104963303 Centerline is valid? [True, True] Translation: X:207.45, Y:8.61, Z:-2.40 [[ 9.99994406e-01 -2.69202906e-03 1.98504291e-03 2.07448490e+02] [ 2.69167680e-03 9.99996361e-01 1.80107637e-04 8.60746015e+00] [-1.98552054e-03 -1.74763536e-04 9.99998014e-01 -2.40362792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.115898227 meters 0.09675032539954552 Centerline is valid? [True, True] Translation: X:207.51, Y:8.62, Z:-2.40 [[ 9.99998002e-01 8.57876966e-05 1.99705052e-03 2.07508130e+02] [-8.61495994e-05 9.99999980e-01 1.81133328e-04 8.62216856e+00] [-1.99703494e-03 -1.81305011e-04 9.99997989e-01 -2.40455575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.175898227 meters 0.08948096832995127 Centerline is valid? [True, True] Translation: X:207.57, Y:8.63, Z:-2.40 [[ 9.99992403e-01 -2.03495064e-04 3.89274612e-03 2.07568466e+02] [ 2.02122123e-04 9.99999917e-01 3.53082329e-04 8.63301952e+00] [-3.89281765e-03 -3.52292837e-04 9.99992361e-01 -2.40116190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.235898227 meters 0.09995415112154801 Centerline is valid? [True, True] Translation: X:207.63, Y:8.66, Z:-2.40 [[ 9.99985220e-01 -3.33412918e-03 4.29460358e-03 2.07625745e+02] [ 3.33248740e-03 9.99994371e-01 3.89388386e-04 8.66006811e+00] [-4.29587768e-03 -3.75070918e-04 9.99990702e-01 -2.40126729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.295898227 meters 0.0826330656118289 Centerline is valid? [True, True] Translation: X:207.69, Y:8.65, Z:-2.40 [[ 9.99963336e-01 -6.89541802e-03 5.07733651e-03 2.07687461e+02] [ 6.89316842e-03 9.99976136e-01 4.60434809e-04 8.65442473e+00] [-5.08039024e-03 -4.25418992e-04 9.99987004e-01 -2.40070813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.355898227 meters 0.0876909335462483 Centerline is valid? [True, True] Translation: X:207.75, Y:8.67, Z:-2.40 [[ 9.99954386e-01 -8.62621333e-03 4.10060679e-03 2.07746244e+02] [ 8.62476063e-03 9.99962737e-01 3.71816417e-04 8.67281889e+00] [-4.10366136e-03 -3.36432705e-04 9.99991523e-01 -2.40229087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.415898227 meters 0.09512797097148933 Centerline is valid? [True, True] Translation: X:207.80, Y:8.69, Z:-2.41 [[ 9.99943700e-01 -1.03013313e-02 2.54541063e-03 2.07804201e+02] [ 1.03007769e-02 9.99946919e-01 2.30801320e-04 8.69353766e+00] [-2.54765308e-03 -2.04568619e-04 9.99996734e-01 -2.40544368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.475898227 meters 0.08306448193599912 Centerline is valid? [True, True] Translation: X:207.87, Y:8.69, Z:-2.40 [[ 9.99902546e-01 -1.36687226e-02 2.83980567e-03 2.07865068e+02] [ 1.36680461e-02 9.99906555e-01 2.57492714e-04 8.69126571e+00] [-2.84305990e-03 -2.18653026e-04 9.99995935e-01 -2.40465156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.535898227 meters 0.07472422508120198 Centerline is valid? [True, True] Translation: X:207.93, Y:8.69, Z:-2.40 [[ 9.99861447e-01 -1.63669089e-02 3.03499376e-03 2.07925553e+02] [ 1.63661485e-02 9.99866028e-01 2.75197357e-04 8.69161126e+00] [-3.03909129e-03 -2.25488069e-04 9.99995357e-01 -2.40492249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.595898227 meters 0.07527327664177093 Centerline is valid? [True, True] Translation: X:207.98, Y:8.70, Z:-2.40 [[ 9.99784376e-01 -2.03360157e-02 4.20095606e-03 2.07984779e+02] [ 2.03345938e-02 9.99793158e-01 3.80917766e-04 8.70345723e+00] [-4.20783347e-03 -2.95410896e-04 9.99991103e-01 -2.40410605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.655898227 meters 0.07273207611382158 Centerline is valid? [True, True] Translation: X:208.05, Y:8.71, Z:-2.40 [[ 9.99733069e-01 -2.24840347e-02 5.31585200e-03 2.08045559e+02] [ 2.24817881e-02 9.99747136e-01 4.82014261e-04 8.70797223e+00] [-5.32534544e-03 -3.62375738e-04 9.99985755e-01 -2.40267438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.715898227 meters 0.0687448527439772 Centerline is valid? [True, True] Translation: X:208.11, Y:8.71, Z:-2.41 [[ 9.99726269e-01 -2.33459522e-02 1.53405932e-03 2.08107202e+02] [ 2.33457661e-02 9.99727441e-01 1.39162850e-04 8.71065620e+00] [-1.53689009e-03 -1.03310967e-04 9.99998814e-01 -2.40846652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.775898227 meters 0.07459040960025999 Centerline is valid? [True, True] Translation: X:208.17, Y:8.72, Z:-2.41 [[ 9.99683444e-01 -2.51591085e-02 1.73973818e-04 2.08166194e+02] [ 2.51591062e-02 9.99683459e-01 1.57680811e-05 8.72484275e+00] [-1.74315459e-04 -1.13860639e-05 9.99999985e-01 -2.41229185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.835898227 meters 0.06974039010627783 Centerline is valid? [True, True] Translation: X:208.23, Y:8.72, Z:-2.41 [[ 9.99591879e-01 -2.85657204e-02 -2.72579589e-04 2.08227433e+02] [ 2.85657147e-02 9.99591916e-01 -2.47061900e-05 8.72316806e+00] [ 2.73174103e-04 1.69096762e-05 9.99999963e-01 -2.41350182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.895898227 meters 0.06154213579346116 Centerline is valid? [True, True] Translation: X:208.29, Y:8.71, Z:-2.41 [[ 9.99339612e-01 -3.63364419e-02 5.12661619e-05 2.08289246e+02] [ 3.63364417e-02 9.99339613e-01 4.63771433e-06 8.71047765e+00] [-5.14008245e-05 -2.77182174e-06 9.99999999e-01 -2.41448836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.955898227 meters 0.05689684223122198 Centerline is valid? [True, True] Translation: X:208.35, Y:8.71, Z:-2.41 [[ 9.99199305e-01 -3.99626696e-02 1.93246387e-03 2.08350896e+02] [ 3.99624054e-02 9.99201169e-01 1.75161740e-04 8.70500495e+00] [-1.93792009e-03 -9.77955836e-05 9.99998117e-01 -2.41113328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.015898227 meters 0.06053160938935552 Centerline is valid? [True, True] Translation: X:208.41, Y:8.71, Z:-2.41 [[ 9.99314175e-01 -3.69900607e-02 1.70731986e-03 2.08411611e+02] [ 3.69898501e-02 9.99315629e-01 1.54752323e-04 8.70989245e+00] [-1.71187572e-03 -9.14926843e-05 9.99998531e-01 -2.41004251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.075898227 meters 0.06578726494043312 Centerline is valid? [True, True] Translation: X:208.47, Y:8.72, Z:-2.41 [[ 9.99414961e-01 -3.41960363e-02 6.06148937e-04 2.08470530e+02] [ 3.41960092e-02 9.99415144e-01 5.50164135e-05 8.72027830e+00] [-6.07675771e-04 -3.42563522e-05 9.99999815e-01 -2.41206657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.135898227 meters 0.07332784332811655 Centerline is valid? [True, True] Translation: X:208.53, Y:8.74, Z:-2.41 [[ 9.99581982e-01 -2.89094666e-02 3.23378328e-04 2.08528844e+02] [ 2.89094587e-02 9.99582034e-01 2.92490901e-05 8.73506411e+00] [-3.24088743e-04 -1.98881710e-05 9.99999947e-01 -2.41363405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.195898227 meters 0.07339867802926328 Centerline is valid? [True, True] Translation: X:208.59, Y:8.74, Z:-2.41 [[ 9.99694456e-01 -2.46392032e-02 1.97571672e-03 2.08590008e+02] [ 2.46388972e-02 9.99696400e-01 1.79097022e-04 8.73857199e+00] [-1.97952970e-03 -1.30362819e-04 9.99998032e-01 -2.41025090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.255898227 meters 0.07893285548917858 Centerline is valid? [True, True] Translation: X:208.65, Y:8.75, Z:-2.41 [[ 9.99708344e-01 -2.39916416e-02 2.76184665e-03 2.08650360e+02] [ 2.39910412e-02 9.99712142e-01 2.50323386e-04 8.74951744e+00] [-2.76705730e-03 -1.83990801e-04 9.99996155e-01 -2.40980936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.315898227 meters 0.0717635792111318 Centerline is valid? [True, True] Translation: X:208.71, Y:8.74, Z:-2.41 [[ 9.99692616e-01 -2.46006749e-02 3.07910880e-03 2.08712894e+02] [ 2.45999320e-02 9.99697337e-01 2.78930073e-04 8.74148779e+00] [-3.08503873e-03 -2.03098467e-04 9.99995221e-01 -2.40982000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.375898227 meters 0.0719680468400809 Centerline is valid? [True, True] Translation: X:208.77, Y:8.74, Z:-2.41 [[ 9.99652028e-01 -2.62417830e-02 2.68182502e-03 2.08772428e+02] [ 2.62412257e-02 9.99655610e-01 2.42809431e-04 8.74281916e+00] [-2.68727318e-03 -1.72350565e-04 9.99996374e-01 -2.41087450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.435898227 meters 0.07074891016226245 Centerline is valid? [True, True] Translation: X:208.83, Y:8.74, Z:-2.41 [[ 9.99611508e-01 -2.77607576e-02 2.48467178e-03 2.08834787e+02] [ 2.77602835e-02 9.99614584e-01 2.25098546e-04 8.74080442e+00] [-2.48996305e-03 -1.56035904e-04 9.99996888e-01 -2.41054406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.495898227 meters 0.06766446975137971 Centerline is valid? [True, True] Translation: X:208.90, Y:8.73, Z:-2.41 [[ 9.99636016e-01 -2.69071498e-02 1.95965740e-03 2.08896823e+02] [ 2.69068533e-02 9.99637929e-01 1.77478526e-04 8.73491098e+00] [-1.96372330e-03 -1.24685712e-04 9.99998064e-01 -2.41057496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.555898227 meters 0.07363948399576135 Centerline is valid? [True, True] Translation: X:208.96, Y:8.74, Z:-2.41 [[ 9.99720916e-01 -2.35677414e-02 1.62837855e-03 2.08955845e+02] [ 2.35675325e-02 9.99722236e-01 1.47342485e-04 8.74491728e+00] [-1.63139877e-03 -1.08924499e-04 9.99998663e-01 -2.41077144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.615898227 meters 0.08355260001848965 Centerline is valid? [True, True] Translation: X:209.02, Y:8.76, Z:-2.41 [[ 9.99869683e-01 -1.61175451e-02 9.17156546e-04 2.09015357e+02] [ 1.61174757e-02 9.99870102e-01 8.30307939e-05 8.75981406e+00] [-9.18375662e-04 -6.82377253e-05 9.99999576e-01 -2.41170817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.675898227 meters 0.0864085813501793 Centerline is valid? [True, True] Translation: X:209.07, Y:8.77, Z:-2.41 [[ 9.99946668e-01 -1.03272387e-02 -9.12525411e-05 2.09074750e+02] [ 1.03272380e-02 9.99946673e-01 -8.30346573e-06 8.77318974e+00] [ 9.13334267e-05 7.36063618e-06 9.99999996e-01 -2.41210141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.735898227 meters 0.08425988916751272 Centerline is valid? [True, True] Translation: X:209.13, Y:8.78, Z:-2.41 [[ 9.99982921e-01 -5.84133050e-03 1.91520560e-04 2.09134578e+02] [ 5.84132729e-03 9.99982939e-01 1.73449092e-05 8.78019695e+00] [-1.91618610e-04 -1.62258787e-05 9.99999982e-01 -2.41049541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.795898227 meters 0.09308149371623958 Centerline is valid? [True, True] Translation: X:209.19, Y:8.80, Z:-2.41 [[ 9.99989450e-01 -4.18171604e-03 1.90107298e-03 2.09192777e+02] [ 4.18139640e-03 9.99991243e-01 1.72080474e-04 8.80341769e+00] [-1.90177593e-03 -1.64129519e-04 9.99998178e-01 -2.40853733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.855898227 meters 0.09651687354880743 Centerline is valid? [True, True] Translation: X:209.25, Y:8.82, Z:-2.41 [[ 9.99980814e-01 -5.31077894e-03 3.18863067e-03 2.09252227e+02] [ 5.30988533e-03 9.99985861e-01 2.88648326e-04 8.81537341e+00] [-3.19011853e-03 -2.71711525e-04 9.99994875e-01 -2.40758338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.915898227 meters 0.09316332086595122 Centerline is valid? [True, True] Translation: X:209.31, Y:8.82, Z:-2.40 [[ 9.99964252e-01 -6.97005210e-03 4.78685118e-03 2.09312927e+02] [ 6.96805745e-03 9.99975629e-01 4.33244336e-04 8.82483537e+00] [-4.78975426e-03 -3.99873794e-04 9.99988449e-01 -2.40415660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.975898227 meters 0.08562810127203575 Centerline is valid? [True, True] Translation: X:209.37, Y:8.83, Z:-2.41 [[ 9.99960903e-01 -7.70652273e-03 4.33623152e-03 2.09374993e+02] [ 7.70489294e-03 9.99970240e-01 3.92434667e-04 8.82620812e+00] [-4.33912678e-03 -3.59009124e-04 9.99990522e-01 -2.40550353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.035898227 meters 0.0856906202630481 Centerline is valid? [True, True] Translation: X:209.44, Y:8.84, Z:-2.41 [[ 9.99966497e-01 -7.72967966e-03 2.69382117e-03 2.09435905e+02] [ 7.72905076e-03 9.99970101e-01 2.43795416e-04 8.83944015e+00] [-2.69562509e-03 -2.22966568e-04 9.99996342e-01 -2.40788679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.095898227 meters 0.09490893912826957 Centerline is valid? [True, True] Translation: X:209.49, Y:8.86, Z:-2.41 [[ 9.99947984e-01 -9.85379220e-03 2.63297699e-03 2.09493688e+02] [ 9.85319937e-03 9.99951428e-01 2.38031865e-04 8.86148686e+00] [-2.63519461e-03 -2.12076236e-04 9.99996505e-01 -2.40900160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.155898227 meters 0.07752408523607546 Centerline is valid? [True, True] Translation: X:209.56, Y:8.85, Z:-2.41 [[ 9.99904727e-01 -1.35962334e-02 2.38319926e-03 2.09555936e+02] [ 1.35957581e-02 9.99907550e-01 2.15519886e-04 8.85132555e+00] [-2.38590919e-03 -1.83097952e-04 9.99997137e-01 -2.40931900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.215898227 meters 0.08553284853157747 Centerline is valid? [True, True] Translation: X:209.62, Y:8.87, Z:-2.41 [[ 9.99898703e-01 -1.39833838e-02 2.65510761e-03 2.09615237e+02] [ 1.39827951e-02 9.99902207e-01 2.40139003e-04 8.87102462e+00] [-2.65820592e-03 -2.02988851e-04 9.99996446e-01 -2.41024170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.275898227 meters 0.08499737535566272 Centerline is valid? [True, True] Translation: X:209.68, Y:8.88, Z:-2.41 [[ 9.99904324e-01 -1.37987368e-02 9.67965088e-04 2.09676602e+02] [ 1.37986583e-02 9.99904790e-01 8.76703428e-05 8.88147951e+00] [-9.69082668e-04 -7.43053354e-05 9.99999528e-01 -2.41232585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.335898227 meters 0.08959250705593116 Centerline is valid? [True, True] Translation: X:209.74, Y:8.90, Z:-2.42 [[ 9.99897926e-01 -1.42009535e-02 -1.57195467e-03 2.09736898e+02] [ 1.42007482e-02 9.99899154e-01 -1.41688206e-04 8.89943493e+00] [ 1.57380825e-03 1.19350811e-04 9.99998754e-01 -2.41742477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.395898227 meters 0.08237818320731013 Centerline is valid? [True, True] Translation: X:209.80, Y:8.90, Z:-2.41 [[ 9.99886993e-01 -1.50131076e-02 7.79276462e-04 2.09798392e+02] [ 1.50130572e-02 9.99887295e-01 7.04568819e-05 8.89916684e+00] [-7.80246410e-04 -5.87495977e-05 9.99999694e-01 -2.41231088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.455898227 meters 0.07515101799098073 Centerline is valid? [True, True] Translation: X:209.86, Y:8.90, Z:-2.41 [[ 9.99847074e-01 -1.69645202e-02 4.24659586e-03 2.09860175e+02] [ 1.69630444e-02 9.99856044e-01 3.83307282e-04 8.89728204e+00] [-4.25248716e-03 -3.11213470e-04 9.99990910e-01 -2.40675891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.515898227 meters 0.07850069014873272 Centerline is valid? [True, True] Translation: X:209.92, Y:8.91, Z:-2.41 [[ 9.99813466e-01 -1.87261013e-02 4.72935880e-03 2.09918960e+02] [ 1.87242908e-02 9.99824594e-01 4.26809514e-04 8.90650256e+00] [-4.73652172e-03 -3.38176010e-04 9.99988725e-01 -2.40725966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.575898227 meters 0.07683554666047451 Centerline is valid? [True, True] Translation: X:209.98, Y:8.91, Z:-2.41 [[ 9.99781747e-01 -2.02907058e-02 4.97443553e-03 2.09979640e+02] [ 2.02887218e-02 9.99794062e-01 4.48992776e-04 8.90942544e+00] [-4.98252149e-03 -3.47969844e-04 9.99987527e-01 -2.40764317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.635898227 meters 0.074711434996589 Centerline is valid? [True, True] Translation: X:210.04, Y:8.91, Z:-2.41 [[ 9.99798329e-01 -1.97065395e-02 3.86709507e-03 2.10041893e+02] [ 1.97053361e-02 9.99805770e-01 3.49048357e-04 8.91232728e+00] [-3.87322250e-03 -2.72775556e-04 9.99992462e-01 -2.40975125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.695898227 meters 0.07850124483493509 Centerline is valid? [True, True] Translation: X:210.10, Y:8.92, Z:-2.41 [[ 9.99813197e-01 -1.88618040e-02 4.21938944e-03 2.10102448e+02] [ 1.88603648e-02 9.99822055e-01 3.80640540e-04 8.92266338e+00] [-4.22581819e-03 -3.00990212e-04 9.99991026e-01 -2.40932646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.755898227 meters 0.0700465585626632 Centerline is valid? [True, True] Translation: X:210.16, Y:8.92, Z:-2.41 [[ 9.99714032e-01 -2.36262564e-02 3.69511230e-03 2.10163663e+02] [ 2.36251861e-02 9.99720831e-01 3.33050326e-04 8.91574309e+00] [-3.70194947e-03 -2.45657369e-04 9.99993118e-01 -2.41103291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.815898227 meters 0.06186606525199218 Centerline is valid? [True, True] Translation: X:210.23, Y:8.91, Z:-2.41 [[ 9.99507150e-01 -3.12631526e-02 2.84113686e-03 2.10225042e+02] [ 3.12625506e-02 9.99511174e-01 2.56079988e-04 8.90669737e+00] [-2.84775391e-03 -1.67132594e-04 9.99995931e-01 -2.41226809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.875898227 meters 0.05550745153066932 Centerline is valid? [True, True] Translation: X:210.29, Y:8.90, Z:-2.41 [[ 9.99113231e-01 -4.19516014e-02 3.57975379e-03 2.10285683e+02] [ 4.19507140e-02 9.99119629e-01 3.22647404e-04 8.89540115e+00] [-3.59013786e-03 -1.72188063e-04 9.99993541e-01 -2.41037536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.935898227 meters 0.05222673075258611 Centerline is valid? [True, True] Translation: X:210.35, Y:8.89, Z:-2.41 [[ 9.99000966e-01 -4.45866905e-02 3.01603225e-03 2.10346563e+02] [ 4.45860724e-02 9.99005510e-01 2.71890119e-04 8.89334803e+00] [-3.02515551e-03 -1.37145460e-04 9.99995415e-01 -2.41122960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.995898227 meters 0.046838268603529354 Centerline is valid? [True, True] Translation: X:210.41, Y:8.88, Z:-2.42 [[ 9.98888619e-01 -4.71218754e-02 1.02719097e-03 2.10408874e+02] [ 4.71218049e-02 9.98889146e-01 9.26939441e-05 8.88350726e+00] [-1.03041782e-03 -4.41878334e-05 9.99999468e-01 -2.41530531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.055898227 meters 0.04701321239214066 Centerline is valid? [True, True] Translation: X:210.47, Y:8.88, Z:-2.42 [[ 9.98821715e-01 -4.85301994e-02 -4.51207048e-05 2.10470102e+02] [ 4.85301993e-02 9.98821716e-01 -3.78391628e-06 8.87634315e+00] [ 4.52511740e-05 1.58974096e-06 9.99999999e-01 -2.41712712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.115898227 meters 0.047563225638664955 Centerline is valid? [True, True] Translation: X:210.53, Y:8.87, Z:-2.42 [[ 9.98848445e-01 -4.79750241e-02 -4.26111557e-04 2.10531493e+02] [ 4.79750121e-02 9.98848535e-01 -3.83799430e-05 8.87290107e+00] [ 4.27462183e-04 1.78930393e-05 9.99999908e-01 -2.41836219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.175898227 meters 0.05016262626408542 Centerline is valid? [True, True] Translation: X:210.59, Y:8.87, Z:-2.42 [[ 9.98979392e-01 -4.51614708e-02 7.84668656e-04 2.10592235e+02] [ 4.51614292e-02 9.98979700e-01 7.05962961e-05 8.87114409e+00] [-7.87056291e-04 -3.50874870e-05 9.99999690e-01 -2.41684870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.235898227 meters 0.051195769342304166 Centerline is valid? [True, True] Translation: X:210.65, Y:8.86, Z:-2.41 [[ 9.99240923e-01 -3.88839495e-02 2.36975052e-03 2.10653776e+02] [ 3.88835523e-02 9.99243726e-01 2.13455829e-04 8.86286452e+00] [-2.37625834e-03 -1.21149481e-04 9.99997169e-01 -2.41395206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.295898227 meters 0.0676365920010466 Centerline is valid? [True, True] Translation: X:210.71, Y:8.88, Z:-2.42 [[ 9.99443802e-01 -3.33084999e-02 1.62167809e-03 2.10711620e+02] [ 3.33083066e-02 9.99445114e-01 1.46038983e-04 8.87960297e+00] [-1.62564258e-03 -9.19424053e-05 9.99998674e-01 -2.41607277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.355898227 meters 0.06773912043276759 Centerline is valid? [True, True] Translation: X:210.77, Y:8.87, Z:-2.42 [[ 9.99740015e-01 -2.27855016e-02 8.51017004e-04 2.10773287e+02] [ 2.27854445e-02 9.99740375e-01 7.66604336e-05 8.87235473e+00] [-8.52542805e-04 -5.72497023e-05 9.99999635e-01 -2.41704578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.415898227 meters 0.07702035294615386 Centerline is valid? [True, True] Translation: X:210.83, Y:8.88, Z:-2.42 [[ 9.99862310e-01 -1.64813892e-02 1.93003087e-03 2.10831552e+02] [ 1.64810839e-02 9.99864163e-01 1.74023304e-04 8.88292399e+00] [-1.93263684e-03 -1.42190342e-04 9.99998122e-01 -2.41651884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.475898227 meters 0.08447382869139888 Centerline is valid? [True, True] Translation: X:210.89, Y:8.89, Z:-2.41 [[ 9.99926375e-01 -1.17600948e-02 2.99064254e-03 2.10890515e+02] [ 1.17593410e-02 9.99930820e-01 2.69501303e-04 8.89164716e+00] [-2.99360501e-03 -2.34313476e-04 9.99995492e-01 -2.41490008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.535898227 meters 0.08676678023734705 Centerline is valid? [True, True] Translation: X:210.95, Y:8.89, Z:-2.41 [[ 9.99949185e-01 -8.92734214e-03 4.68296400e-03 2.10951135e+02] [ 8.92546348e-03 9.99960078e-01 4.21914986e-04 8.89105575e+00] [-4.68654363e-03 -3.80095923e-04 9.99988946e-01 -2.41234370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.595898227 meters 0.08556514772706585 Centerline is valid? [True, True] Translation: X:211.01, Y:8.89, Z:-2.41 [[ 9.99951591e-01 -8.94693450e-03 4.09491286e-03 2.11013555e+02] [ 8.94549799e-03 9.99959920e-01 3.68985114e-04 8.88968887e+00] [-4.09805002e-03 -3.32336217e-04 9.99991548e-01 -2.41401858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.655898227 meters 0.08783823837139883 Centerline is valid? [True, True] Translation: X:211.07, Y:8.90, Z:-2.41 [[ 9.99973681e-01 -6.54867283e-03 3.12277929e-03 2.11074176e+02] [ 6.54782636e-03 9.99978523e-01 2.81211859e-04 8.89521456e+00] [-3.12455379e-03 -2.60757041e-04 9.99995085e-01 -2.41497703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.715898227 meters 0.10258733798268463 Centerline is valid? [True, False] Translation: X:211.14, Y:8.90, Z:-2.41 [[ 9.99996448e-01 1.98877744e-03 1.77426745e-03 2.11136546e+02] [-1.98408390e-03 9.99994538e-01 -2.64318727e-03 8.90202758e+00] [-1.77951447e-03 2.63965759e-03 9.99994933e-01 -2.41157909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.775898227 meters 0.09232445059687949 Centerline is valid? [False, True] Translation: X:211.10, Y:8.90, Z:-2.41 [[ 9.99997084e-01 2.22976285e-03 9.27070099e-04 2.11097654e+02] [-2.22776758e-03 9.99995212e-01 -2.14772958e-03 8.90076040e+00] [-9.31854588e-04 2.14565802e-03 9.99997264e-01 -2.41489324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.835898227 meters 0.0846539471170228 Centerline is valid? [True, True] Translation: X:211.16, Y:8.90, Z:-2.42 [[ 9.99999762e-01 6.83066539e-04 9.31287011e-05 2.11159275e+02] [-6.83067334e-04 9.99999767e-01 8.50067311e-06 8.89791535e+00] [-9.31228729e-05 -8.56428426e-06 9.99999996e-01 -2.41665115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.895898227 meters 0.09060347816418511 Centerline is valid? [True, True] Translation: X:211.22, Y:8.91, Z:-2.42 [[ 9.99991618e-01 -4.00140084e-03 8.67912095e-04 2.11217493e+02] [ 4.00133399e-03 9.99991992e-01 7.87403149e-05 8.91111533e+00] [-8.68220216e-04 -7.52668487e-05 9.99999620e-01 -2.41737498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.955898227 meters 0.07976071338072217 Centerline is valid? [True, True] Translation: X:211.28, Y:8.90, Z:-2.42 [[ 9.99914731e-01 -1.28567039e-02 2.28837333e-03 2.11279207e+02] [ 1.28562620e-02 9.99917333e-01 2.07745393e-04 8.89784467e+00] [-2.29085508e-03 -1.78307751e-04 9.99997360e-01 -2.41587604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.015898227 meters 0.07595973231463285 Centerline is valid? [True, True] Translation: X:211.34, Y:8.89, Z:-2.42 [[ 9.99858815e-01 -1.67395507e-02 1.46222235e-03 2.11340222e+02] [ 1.67393744e-02 9.99859878e-01 1.32740189e-04 8.89498159e+00] [-1.46423947e-03 -1.08244760e-04 9.99998922e-01 -2.41739319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.075898227 meters 0.0763919706220134 Centerline is valid? [True, True] Translation: X:211.40, Y:8.90, Z:-2.42 [[ 9.99875550e-01 -1.57476678e-02 9.46444702e-04 2.11400789e+02] [ 1.57475935e-02 9.99875995e-01 8.59210652e-05 8.89939075e+00] [-9.47680395e-04 -7.10061459e-05 9.99999548e-01 -2.41850401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.135898227 meters 0.09418437683282005 Centerline is valid? [True, True] Translation: X:211.46, Y:8.93, Z:-2.42 [[ 9.99961639e-01 -8.75612191e-03 -2.27269399e-04 2.11457991e+02] [ 8.75611745e-03 9.99961664e-01 -2.06113586e-05 8.92833853e+00] [ 2.27441162e-04 1.86205704e-05 9.99999974e-01 -2.42181972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.195898227 meters 0.08948614024187805 Centerline is valid? [True, True] Translation: X:211.52, Y:8.93, Z:-2.42 [[ 9.99977487e-01 -6.71000471e-03 3.04270856e-05 2.11519066e+02] [ 6.71000463e-03 9.99977488e-01 2.75975704e-06 8.92662732e+00] [-3.04449186e-05 -2.55552903e-06 1.00000000e+00 -2.42143919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.255898227 meters 0.08698607308030173 Centerline is valid? [True, True] Translation: X:211.58, Y:8.93, Z:-2.42 [[ 9.99950314e-01 -9.96834095e-03 5.06389271e-05 2.11580249e+02] [ 9.96834073e-03 9.99950315e-01 4.63181156e-06 8.92576779e+00] [-5.06825825e-05 -4.12679534e-06 9.99999999e-01 -2.42087006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.315898227 meters 0.07898315761733216 Centerline is valid? [True, True] Translation: X:211.64, Y:8.92, Z:-2.42 [[ 9.99740250e-01 -2.26808975e-02 2.23826839e-03 2.11640963e+02] [ 2.26804992e-02 9.99742744e-01 2.03164819e-04 8.91515057e+00] [-2.24230055e-03 -1.52347002e-04 9.99997474e-01 -2.41599951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.375898227 meters 0.07080108986915533 Centerline is valid? [True, True] Translation: X:211.70, Y:8.90, Z:-2.41 [[ 9.99482040e-01 -3.19121140e-02 4.15559001e-03 2.11701845e+02] [ 3.19108206e-02 9.99490649e-01 3.77205003e-04 8.90348256e+00] [-4.16551076e-03 -2.44401339e-04 9.99991294e-01 -2.41205007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.435898227 meters 0.049222268444012895 Centerline is valid? [True, True] Translation: X:211.77, Y:8.87, Z:-2.42 [[ 9.99117018e-01 -4.19897496e-02 1.43009823e-03 2.11765524e+02] [ 4.19896067e-02 9.99118039e-01 1.29793058e-04 8.87170717e+00] [-1.43428692e-03 -6.96291910e-05 9.99998969e-01 -2.41519870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.495898227 meters 0.05170856190245416 Centerline is valid? [True, True] Translation: X:211.83, Y:8.87, Z:-2.42 [[ 9.98909340e-01 -4.66742823e-02 1.28149877e-03 2.11825154e+02] [ 4.66741715e-02 9.98910160e-01 1.16295606e-04 8.87142722e+00] [-1.28553016e-03 -5.63558736e-05 9.99999172e-01 -2.41627407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.555898227 meters 0.04291929865882984 Centerline is valid? [True, True] Translation: X:211.89, Y:8.87, Z:-2.41 [[ 9.98707745e-01 -5.07272270e-02 3.09667583e-03 2.11886006e+02] [ 5.07265987e-02 9.98712538e-01 2.81154748e-04 8.86561131e+00] [-3.10695118e-03 -1.23707592e-04 9.99995166e-01 -2.41394182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.615898227 meters 0.0446714507120944 Centerline is valid? [True, True] Translation: X:211.94, Y:8.87, Z:-2.41 [[ 9.98445981e-01 -5.56011459e-02 3.75977061e-03 2.11944814e+02] [ 5.56002542e-02 9.98453051e-01 3.41368508e-04 8.86952329e+00] [-3.77293491e-03 -1.31793814e-04 9.99992874e-01 -2.41389306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.675898227 meters 0.03628510487478961 Centerline is valid? [True, True] Translation: X:212.01, Y:8.86, Z:-2.41 [[ 9.98283371e-01 -5.84431188e-02 3.83564663e-03 2.12005662e+02] [ 5.84422114e-02 9.98290733e-01 3.48313957e-04 8.86225693e+00] [-3.84944704e-03 -1.23552360e-04 9.99992583e-01 -2.41495569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.735898227 meters 0.040183075686386745 Centerline is valid? [True, True] Translation: X:212.07, Y:8.86, Z:-2.42 [[ 9.98103792e-01 -6.14478062e-02 3.60394425e-03 2.12065995e+02] [ 6.14470246e-02 9.98110293e-01 3.27312970e-04 8.86286643e+00] [-3.61724651e-03 -1.05240666e-04 9.99993452e-01 -2.41631018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.795898227 meters 0.03007977892082954 Centerline is valid? [True, True] Translation: X:212.13, Y:8.86, Z:-2.42 [[ 9.97862795e-01 -6.53424829e-02 4.49308607e-04 2.12126148e+02] [ 6.53424711e-02 9.97862896e-01 4.07318136e-05 8.85933975e+00] [-4.51009905e-04 -1.12858268e-05 9.99999898e-01 -2.42025794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.855898227 meters 0.026921828268498087 Centerline is valid? [True, True] Translation: X:212.19, Y:8.86, Z:-2.42 [[ 9.97795639e-01 -6.63546596e-02 -9.59988409e-04 2.12185125e+02] [ 6.63546056e-02 9.97796101e-01 -8.80530870e-05 8.85873012e+00] [ 9.63715424e-04 2.41593340e-05 9.99999535e-01 -2.42208597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.915898227 meters 0.027120335826393654 Centerline is valid? [True, True] Translation: X:212.24, Y:8.86, Z:-2.42 [[ 9.97689327e-01 -6.78792301e-02 -2.90132308e-03 2.12242965e+02] [ 6.78787472e-02 9.97693543e-01 -2.64684604e-04 8.86062905e+00] [ 2.91259789e-03 6.71348281e-05 9.99995756e-01 -2.42490099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.975898227 meters 0.028317722186805942 Centerline is valid? [True, True] Translation: X:212.30, Y:8.86, Z:-2.42 [[ 9.97742903e-01 -6.71422923e-02 -1.00608083e-03 2.12300469e+02] [ 6.71422336e-02 9.97743410e-01 -9.21036937e-05 8.86195697e+00] [ 1.00999458e-03 2.43452923e-05 9.99999490e-01 -2.42007268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.035898227 meters 0.031867330911529324 Centerline is valid? [True, True] Translation: X:212.36, Y:8.87, Z:-2.42 [[ 9.97973252e-01 -6.36338092e-02 3.54549682e-04 2.12359572e+02] [ 6.36338018e-02 9.97973315e-01 3.22110713e-05 8.86850435e+00] [-3.55880835e-04 -9.58444334e-06 9.99999937e-01 -2.41694171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.095898227 meters 0.0379746581080916 Centerline is valid? [True, True] Translation: X:212.42, Y:8.88, Z:-2.42 [[ 9.98298916e-01 -5.83024772e-02 -3.08395856e-04 2.12418806e+02] [ 5.83024713e-02 9.98298964e-01 -2.81617635e-05 8.87933295e+00] [ 3.09513164e-04 1.01336175e-05 9.99999952e-01 -2.41778722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.155898227 meters 0.044869313267535155 Centerline is valid? [True, True] Translation: X:212.48, Y:8.89, Z:-2.42 [[ 9.98654202e-01 -5.18603676e-02 -5.36583004e-04 2.12478732e+02] [ 5.18603488e-02 9.98654346e-01 -4.89569680e-05 8.88958873e+00] [ 5.38399875e-04 2.10637001e-05 9.99999855e-01 -2.41890206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.215898227 meters 0.04194940928197882 Centerline is valid? [True, True] Translation: X:212.54, Y:8.89, Z:-2.42 [[ 9.98654208e-01 -5.18469117e-02 1.29263146e-03 2.12537691e+02] [ 5.18468030e-02 9.98655043e-01 1.17441474e-04 8.88667036e+00] [-1.29698190e-03 -5.02646137e-05 9.99999158e-01 -2.41649160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.275898227 meters 0.04044085013048511 Centerline is valid? [True, True] Translation: X:212.60, Y:8.88, Z:-2.42 [[ 9.98420490e-01 -5.61240119e-02 2.57287547e-03 2.12598017e+02] [ 5.61235918e-02 9.98423801e-01 2.35231060e-04 8.88104544e+00] [-2.58202222e-03 -9.04604977e-05 9.99996662e-01 -2.41574093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.335898227 meters 0.035962529931134274 Centerline is valid? [True, True] Translation: X:212.66, Y:8.87, Z:-2.42 [[ 9.98262380e-01 -5.88787150e-02 2.34889081e-03 2.12658945e+02] [ 5.88783724e-02 9.98265141e-01 2.14789420e-04 8.87329760e+00] [-2.35746234e-03 -7.61173295e-05 9.99997218e-01 -2.41647352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.395898227 meters 0.04385615490406704 Centerline is valid? [True, True] Translation: X:212.72, Y:8.88, Z:-2.41 [[ 9.98251072e-01 -5.90093763e-02 3.56236930e-03 2.12715074e+02] [ 5.90085890e-02 9.98257422e-01 3.25795415e-04 8.88067440e+00] [-3.57538658e-03 -1.15015236e-04 9.99993602e-01 -2.41411235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.455898227 meters 0.039710601177825655 Centerline is valid? [True, True] Translation: X:212.78, Y:8.87, Z:-2.42 [[ 9.98510241e-01 -5.45617062e-02 -5.65349988e-04 2.12776218e+02] [ 5.45616856e-02 9.98510400e-01 -5.17888617e-05 8.87270913e+00] [ 5.67333532e-04 2.08652604e-05 9.99999839e-01 -2.42000912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.515898227 meters 0.05567792445774676 Centerline is valid? [True, True] Translation: X:212.83, Y:8.89, Z:-2.43 [[ 9.98717440e-01 -5.05305945e-02 -3.18350227e-03 2.12833825e+02] [ 5.05299218e-02 9.98722505e-01 -2.91447270e-04 8.89461764e+00] [ 3.19416237e-03 1.30211350e-04 9.99994890e-01 -2.42716442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.575898227 meters 0.052306370275158325 Centerline is valid? [True, True] Translation: X:212.89, Y:8.88, Z:-2.42 [[ 9.98818217e-01 -4.85073725e-02 -3.03393210e-03 2.12894464e+02] [ 4.85067514e-02 9.98822816e-01 -2.78004487e-04 8.88353321e+00] [ 3.04384587e-03 1.30509756e-04 9.99995359e-01 -2.42322481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.635898227 meters 0.04646599820272181 Centerline is valid? [True, True] Translation: X:212.95, Y:8.88, Z:-2.43 [[ 9.98861108e-01 -4.74000068e-02 -5.45223030e-03 2.12953931e+02] [ 4.73979832e-02 9.98875959e-01 -4.99835960e-04 8.88456632e+00] [ 5.46979400e-03 2.40841980e-04 9.99985012e-01 -2.42562179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.695898227 meters 0.048196221367760056 Centerline is valid? [True, True] Translation: X:213.01, Y:8.89, Z:-2.43 [[ 9.98855605e-01 -4.73406163e-02 -6.80781435e-03 2.13011948e+02] [ 4.73374574e-02 9.98878759e-01 -6.24487254e-04 8.88885217e+00] [ 6.82974476e-03 3.01507972e-04 9.99976632e-01 -2.42850236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.755898227 meters 0.04667157620876438 Centerline is valid? [True, True] Translation: X:213.07, Y:8.89, Z:-2.42 [[ 9.98797099e-01 -4.88539520e-02 -4.20079737e-03 2.13071757e+02] [ 4.88527624e-02 9.98805917e-01 -3.85391341e-04 8.89016514e+00] [ 4.21460915e-03 1.79707198e-04 9.99991102e-01 -2.42400151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.815898227 meters 0.04324887222624973 Centerline is valid? [True, True] Translation: X:213.13, Y:8.89, Z:-2.42 [[ 9.98615302e-01 -5.25159102e-02 -3.09164708e-03 2.13132482e+02] [ 5.25152835e-02 9.98620080e-01 -2.83590550e-04 8.88629946e+00] [ 3.10227387e-03 1.20839140e-04 9.99995181e-01 -2.42176533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.875898227 meters 0.03773648520390856 Centerline is valid? [True, True] Translation: X:213.19, Y:8.88, Z:-2.42 [[ 9.98268632e-01 -5.87452173e-02 -2.95600834e-03 2.13193284e+02] [ 5.87446714e-02 9.98273004e-01 -2.71250816e-04 8.87651259e+00] [ 2.96683801e-03 9.71314424e-05 9.99995594e-01 -2.42320506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.935898227 meters 0.03676700873618757 Centerline is valid? [True, True] Translation: X:213.25, Y:8.87, Z:-2.42 [[ 9.98205941e-01 -5.98714805e-02 -5.53020208e-04 2.13252799e+02] [ 5.98714611e-02 9.98206094e-01 -5.14531727e-05 8.87466693e+00] [ 5.55108719e-04 1.82507348e-05 9.99999846e-01 -2.41928203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.995898227 meters 0.04295258736333212 Centerline is valid? [True, True] Translation: X:213.31, Y:8.88, Z:-2.42 [[ 9.98370987e-01 -5.70556032e-02 1.76910238e-04 2.13312316e+02] [ 5.70556013e-02 9.98371002e-01 1.61739635e-05 8.88121689e+00] [-1.77544867e-04 -6.05389590e-06 9.99999984e-01 -2.41759774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.055898227 meters 0.0547936500672232 Centerline is valid? [True, True] Translation: X:213.37, Y:8.90, Z:-2.42 [[ 9.98891460e-01 -4.70417215e-02 -1.71079128e-03 2.13370694e+02] [ 4.70415210e-02 9.98892922e-01 -1.57286938e-04 8.89784093e+00] [ 1.71629635e-03 7.66343548e-05 9.99998524e-01 -2.42076875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.115898227 meters 0.05969723180530185 Centerline is valid? [True, True] Translation: X:213.43, Y:8.91, Z:-2.42 [[ 9.99153296e-01 -4.11261852e-02 -1.15228841e-03 2.13430278e+02] [ 4.11260902e-02 9.99153959e-01 -1.05967401e-04 8.91083396e+00] [ 1.15567156e-03 5.84885609e-05 9.99999331e-01 -2.42011828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.175898227 meters 0.06320526342625085 Centerline is valid? [True, True] Translation: X:213.49, Y:8.92, Z:-2.42 [[ 9.99239819e-01 -3.89804011e-02 5.58984084e-04 2.13489659e+02] [ 3.89803785e-02 9.99239975e-01 5.13524059e-05 8.91917761e+00] [-5.60560980e-04 -2.95239576e-05 9.99999842e-01 -2.41732180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.235898227 meters 0.06627162685951622 Centerline is valid? [True, True] Translation: X:213.55, Y:8.92, Z:-2.42 [[ 9.99141007e-01 -4.13614140e-02 -2.54580269e-03 2.13549263e+02] [ 4.13609511e-02 9.99144242e-01 -2.34221470e-04 8.91615141e+00] [ 2.55331183e-03 1.28723455e-04 9.99996732e-01 -2.42481365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.295898227 meters 0.06410203495102164 Centerline is valid? [True, True] Translation: X:213.61, Y:8.91, Z:-2.43 [[ 9.99063940e-01 -4.29633345e-02 -5.03936436e-03 2.13608446e+02] [ 4.29615400e-02 9.99076619e-01 -4.63853274e-04 8.91471107e+00] [ 5.05463979e-03 2.46920225e-04 9.99987195e-01 -2.43098369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.355898227 meters 0.06747926646384336 Centerline is valid? [True, True] Translation: X:213.67, Y:8.92, Z:-2.43 [[ 9.99266529e-01 -3.80901541e-02 -3.94254308e-03 2.13669071e+02] [ 3.80890185e-02 9.99274284e-01 -3.62757148e-04 8.91762454e+00] [ 3.95349939e-03 2.12323480e-04 9.99992162e-01 -2.42738734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.415898227 meters 0.07695352277128385 Centerline is valid? [True, True] Translation: X:213.73, Y:8.93, Z:-2.42 [[ 9.99509880e-01 -3.11857434e-02 -2.72934500e-03 2.13727284e+02] [ 3.11851737e-02 9.99513593e-01 -2.51050159e-04 8.93186982e+00] [ 2.73584661e-03 1.65812017e-04 9.99996244e-01 -2.42497671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.475898227 meters 0.0734103918435462 Centerline is valid? [True, True] Translation: X:213.79, Y:8.93, Z:-2.43 [[ 9.99719301e-01 -2.34081268e-02 -3.65776612e-03 2.13787553e+02] [ 2.34070514e-02 9.99725961e-01 -3.36535074e-04 8.93337615e+00] [ 3.66464140e-03 2.50823089e-04 9.99993254e-01 -2.42562527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.535898227 meters 0.07202824101806138 Centerline is valid? [True, True] Translation: X:213.85, Y:8.94, Z:-2.43 [[ 9.99875825e-01 -1.49465054e-02 -4.99369068e-03 2.13847939e+02] [ 1.49443959e-02 9.99888221e-01 -4.59476356e-04 8.93963783e+00] [ 5.00000006e-03 3.84791610e-04 9.99987426e-01 -2.42576679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.595898227 meters 0.1022705952878393 Centerline is valid? [True, False] Translation: X:213.85, Y:8.94, Z:-2.43 [[ 9.99977759e-01 -6.61969047e-03 8.12785601e-04 2.13848775e+02] [ 6.62790015e-03 9.99922364e-01 -1.05516143e-02 8.94388494e+00] [-7.42874079e-04 1.05567667e-02 9.99944000e-01 -2.43010869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.655898227 meters 0.08109344954505757 Centerline is valid? [False, True] Translation: X:213.85, Y:8.95, Z:-2.43 [[ 9.99996895e-01 -2.36758422e-03 7.77964346e-04 2.13848294e+02] [ 2.37258539e-03 9.99976114e-01 -6.49175572e-03 8.94529037e+00] [-7.62575984e-04 6.49358135e-03 9.99978626e-01 -2.42907137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.715898227 meters 0.07447861910397288 Centerline is valid? [True, True] Translation: X:213.91, Y:8.95, Z:-2.43 [[ 9.99988853e-01 -4.70059050e-03 -4.45304711e-04 2.13908507e+02] [ 4.70057561e-03 9.99988952e-01 -3.44874884e-05 8.94952836e+00] [ 4.45461903e-04 3.23939156e-05 9.99999900e-01 -2.42981924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.775898227 meters 0.06983898346810213 Centerline is valid? [True, True] Translation: X:213.97, Y:8.95, Z:-2.43 [[ 9.99983817e-01 -5.56265723e-03 -1.19259876e-03 2.13968590e+02] [ 5.56255097e-03 9.99984525e-01 -9.24035412e-05 8.95048230e+00] [ 1.19309431e-03 8.57681545e-05 9.99999285e-01 -2.43116528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.835898227 meters 0.08525772228288032 Centerline is valid? [True, True] Translation: X:214.03, Y:8.98, Z:-2.44 [[ 9.99963810e-01 -8.37822301e-03 -1.47801252e-03 2.14025811e+02] [ 8.37806283e-03 9.99964897e-01 -1.14534761e-04 8.97967233e+00] [ 1.47892023e-03 1.02147734e-04 9.99998901e-01 -2.43590044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.895898227 meters 0.07277509633787362 Centerline is valid? [True, True] Translation: X:214.09, Y:8.97, Z:-2.44 [[ 9.99936673e-01 -1.10634907e-02 -2.06158684e-03 2.14087492e+02] [ 1.10631849e-02 9.99938788e-01 -1.59673161e-04 8.96866992e+00] [ 2.06322719e-03 1.36855332e-04 9.99997862e-01 -2.43661303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.955898227 meters 0.07213149282191275 Centerline is valid? [True, True] Translation: X:214.15, Y:8.97, Z:-2.44 [[ 9.99900684e-01 -1.37260751e-02 -3.19653869e-03 2.14146498e+02] [ 1.37253532e-02 9.99905772e-01 -2.47672750e-04 8.97153168e+00] [ 3.19963706e-03 2.03774530e-04 9.99994860e-01 -2.43906734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.015898227 meters 0.06387636741117549 Centerline is valid? [True, True] Translation: X:214.21, Y:8.96, Z:-2.44 [[ 9.99872336e-01 -1.58003327e-02 -2.37931033e-03 2.14207911e+02] [ 1.57999385e-02 9.99875156e-01 -1.84388124e-04 8.96079287e+00] [ 2.38192668e-03 1.46771627e-04 9.99997152e-01 -2.43648030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.075898227 meters 0.06421358030943479 Centerline is valid? [True, True] Translation: X:214.27, Y:8.96, Z:-2.44 [[ 9.99878754e-01 -1.54535574e-02 -1.91449679e-03 2.14266657e+02] [ 1.54532994e-02 9.99880579e-01 -1.49453036e-04 8.96194784e+00] [ 1.91657774e-03 1.19849623e-04 9.99998156e-01 -2.43624595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.135898227 meters 0.06729716610911826 Centerline is valid? [True, True] Translation: X:214.33, Y:8.97, Z:-2.44 [[ 9.99903007e-01 -1.37015358e-02 -2.49877090e-03 2.14326830e+02] [ 1.37010934e-02 9.99906117e-01 -1.94076506e-04 8.96623330e+00] [ 2.50119545e-03 1.59821789e-04 9.99996859e-01 -2.43712283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.195898227 meters 0.07357419680116181 Centerline is valid? [True, True] Translation: X:214.39, Y:8.97, Z:-2.44 [[ 9.99945215e-01 -1.02661814e-02 -2.04272952e-03 2.14387138e+02] [ 1.02658787e-02 9.99947292e-01 -1.58604704e-04 8.97013717e+00] [ 2.04425012e-03 1.37625601e-04 9.99997901e-01 -2.43617178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.255898227 meters 0.0765036911983774 Centerline is valid? [True, True] Translation: X:214.45, Y:8.98, Z:-2.43 [[ 9.99986839e-01 -5.12964919e-03 -9.38295474e-05 2.14446203e+02] [ 5.12964853e-03 9.99986843e-01 -7.27827720e-06 8.98269844e+00] [ 9.38656479e-05 6.79686881e-06 9.99999996e-01 -2.43322302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.315898227 meters 0.08549983266832199 Centerline is valid? [True, True] Translation: X:214.50, Y:9.00, Z:-2.43 [[ 9.99999240e-01 -8.27724799e-04 9.13672030e-04 2.14504577e+02] [ 8.27660342e-04 9.99999655e-01 7.09227449e-05 9.00008829e+00] [-9.13730419e-04 -7.01664809e-05 9.99999580e-01 -2.43251178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.375898227 meters 0.08305537260981659 Centerline is valid? [True, True] Translation: X:214.56, Y:9.00, Z:-2.43 [[ 9.99992944e-01 3.27513755e-03 1.83990296e-03 2.14564460e+02] [-3.27540588e-03 9.99994626e-01 1.42846528e-04 9.00495861e+00] [-1.83942523e-03 -1.48871949e-04 9.99998297e-01 -2.43187137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.435898227 meters 0.08522441903332613 Centerline is valid? [True, True] Translation: X:214.62, Y:9.02, Z:-2.43 [[ 9.99986726e-01 4.75618099e-03 1.98176093e-03 2.14624558e+02] [-4.75649531e-03 9.99988676e-01 1.53925702e-04 9.01749440e+00] [-1.98100639e-03 -1.63349895e-04 9.99998024e-01 -2.43169058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.495898227 meters 0.08392905179776634 Centerline is valid? [True, True] Translation: X:214.68, Y:9.02, Z:-2.43 [[ 9.99993872e-01 9.66555698e-04 3.36480078e-03 2.14683878e+02] [-9.67440189e-04 9.99999498e-01 2.61248083e-04 9.02281905e+00] [-3.36454658e-03 -2.64501726e-04 9.99994305e-01 -2.43046582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.555898227 meters 0.08012469905204132 Centerline is valid? [True, True] Translation: X:214.74, Y:9.02, Z:-2.43 [[ 9.99986847e-01 -4.50396650e-03 2.45360070e-03 2.14743723e+02] [ 4.50351263e-03 9.99989841e-01 1.90474209e-04 9.02216558e+00] [-2.45443366e-03 -1.79421882e-04 9.99996972e-01 -2.43214074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.615898227 meters 0.06752640823738383 Centerline is valid? [True, True] Translation: X:214.81, Y:9.01, Z:-2.43 [[ 9.99966439e-01 -8.16014972e-03 7.29280851e-04 2.14805831e+02] [ 8.16011054e-03 9.99966704e-01 5.66796422e-05 9.00781712e+00] [-7.29719083e-04 -5.07267276e-05 9.99999732e-01 -2.43371944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.675898227 meters 0.07314567091240246 Centerline is valid? [True, True] Translation: X:214.86, Y:9.02, Z:-2.44 [[ 9.99976001e-01 -6.70801176e-03 -1.73217834e-03 2.14864338e+02] [ 6.70778852e-03 9.99977493e-01 -1.34654289e-04 9.02029730e+00] [ 1.73304262e-03 1.23031971e-04 9.99998491e-01 -2.43767000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.735898227 meters 0.07496797363247504 Centerline is valid? [True, True] Translation: X:214.92, Y:9.02, Z:-2.44 [[ 9.99984262e-01 -4.15955178e-03 -3.76488775e-03 2.14924284e+02] [ 4.15847978e-03 9.99991311e-01 -2.92519330e-04 9.02356969e+00] [ 3.76607178e-03 2.76858516e-04 9.99992870e-01 -2.44100552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.795898227 meters 0.07315824943769203 Centerline is valid? [True, True] Translation: X:214.98, Y:9.02, Z:-2.44 [[ 9.99984030e-01 -5.50564024e-03 -1.27613544e-03 2.14984908e+02] [ 5.50551810e-03 9.99984840e-01 -9.92043299e-05 9.02049353e+00] [ 1.27666228e-03 9.21769588e-05 9.99999181e-01 -2.43697975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.855898227 meters 0.07289862438302815 Centerline is valid? [True, True] Translation: X:215.05, Y:9.02, Z:-2.44 [[ 9.99954745e-01 -9.51343509e-03 -4.16446965e-05 2.15045366e+02] [ 9.51343496e-03 9.99954746e-01 -3.24566436e-06 9.01733918e+00] [ 4.16736894e-05 2.84933337e-06 9.99999999e-01 -2.43728219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.915898227 meters 0.06423971265172318 Centerline is valid? [True, True] Translation: X:215.11, Y:9.00, Z:-2.43 [[ 9.99897354e-01 -1.41308252e-02 2.36683396e-03 2.15107423e+02] [ 1.41304295e-02 9.99900144e-01 1.83859469e-04 8.99512261e+00] [-2.36919570e-03 -1.50396216e-04 9.99997182e-01 -2.43347870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.975898227 meters 0.06231402581937394 Centerline is valid? [True, True] Translation: X:215.17, Y:8.99, Z:-2.43 [[ 9.99919327e-01 -1.23344125e-02 3.03359679e-03 2.15168178e+02] [ 1.23337539e-02 9.99923909e-01 2.35701546e-04 8.98886833e+00] [-3.03627320e-03 -1.98266895e-04 9.99995371e-01 -2.43098707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.035898227 meters 0.07644651037084489 Centerline is valid? [True, True] Translation: X:215.23, Y:9.00, Z:-2.44 [[ 9.99998631e-01 -1.58620144e-03 -4.70584343e-04 2.15226282e+02] [ 1.58618446e-03 9.99998741e-01 -3.64600737e-05 9.00148933e+00] [ 4.70641584e-04 3.57135903e-05 9.99999889e-01 -2.43596704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.095898227 meters 0.08182918714412682 Centerline is valid? [True, True] Translation: X:215.29, Y:9.01, Z:-2.43 [[ 9.99985852e-01 4.89848963e-03 2.07356741e-03 2.15285942e+02] [-4.89883413e-03 9.99987988e-01 1.61093395e-04 9.00744757e+00] [-2.07275339e-03 -1.71249179e-04 9.99997837e-01 -2.43302018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.155898227 meters 0.0813160819111018 Centerline is valid? [True, True] Translation: X:215.35, Y:9.00, Z:-2.43 [[ 9.99989392e-01 3.94495397e-03 2.37770055e-03 2.15348138e+02] [-3.94540448e-03 9.99992200e-01 1.84813960e-04 9.00150225e+00] [-2.37695292e-03 -1.94192990e-04 9.99997156e-01 -2.43295935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.215898227 meters 0.07952691177124298 Centerline is valid? [True, True] Translation: X:215.41, Y:9.00, Z:-2.44 [[ 9.99996541e-01 -2.22046275e-03 1.40972983e-03 2.15408442e+02] [ 2.22031055e-03 9.99997529e-01 1.09524623e-04 8.99825574e+00] [-1.40996954e-03 -1.06394206e-04 9.99999000e-01 -2.43612959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.275898227 meters 0.07137966244548576 Centerline is valid? [True, True] Translation: X:215.47, Y:8.98, Z:-2.44 [[ 9.99918967e-01 -1.25806901e-02 1.94565547e-03 2.15468830e+02] [ 1.25804198e-02 9.99920852e-01 1.51088734e-04 8.98404713e+00] [-1.94740227e-03 -1.26599329e-04 9.99998096e-01 -2.43569814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.335898227 meters 0.05329453957553763 Centerline is valid? [True, True] Translation: X:215.53, Y:8.96, Z:-2.44 [[ 9.99810365e-01 -1.94462812e-02 1.03692494e-03 2.15531639e+02] [ 1.94462081e-02 9.99810901e-01 8.05417179e-05 8.96127140e+00] [-1.03829510e-03 -6.03621862e-05 9.99999459e-01 -2.43554440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.395898227 meters 0.05843342165681703 Centerline is valid? [True, True] Translation: X:215.59, Y:8.97, Z:-2.44 [[ 9.99651861e-01 -2.63531744e-02 1.29146966e-03 2.15590453e+02] [ 2.63530668e-02 9.99652693e-01 1.00279389e-04 8.97095735e+00] [-1.29366380e-03 -6.62102915e-05 9.99999161e-01 -2.43610571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.455898227 meters 0.04427165632986076 Centerline is valid? [True, True] Translation: X:215.65, Y:8.96, Z:-2.43 [[ 9.99420924e-01 -3.37469744e-02 4.35408536e-03 2.15652163e+02] [ 3.37458201e-02 9.99430390e-01 3.38329836e-04 8.95801478e+00] [-4.36302284e-03 -1.91201736e-04 9.99990464e-01 -2.43175786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.515898227 meters 0.05068279302085327 Centerline is valid? [True, True] Translation: X:215.71, Y:8.97, Z:-2.43 [[ 9.99335818e-01 -3.61693088e-02 4.43890149e-03 2.15709672e+02] [ 3.61681329e-02 9.99345660e-01 3.44925396e-04 8.97455752e+00] [-4.44847265e-03 -1.84149524e-04 9.99990089e-01 -2.43112121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.575898227 meters 0.04582938763492781 Centerline is valid? [True, True] Translation: X:215.77, Y:8.98, Z:-2.43 [[ 9.99320201e-01 -3.65544915e-02 4.78586391e-03 2.15767961e+02] [ 3.65531286e-02 9.99331642e-01 3.71963714e-04 8.97965459e+00] [-4.79626219e-03 -1.96772555e-04 9.99988479e-01 -2.43024546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.635898227 meters 0.045606860437675235 Centerline is valid? [True, True] Translation: X:215.83, Y:9.00, Z:-2.43 [[ 9.99372843e-01 -3.50439657e-02 5.08341626e-03 2.15825783e+02] [ 3.50424042e-02 9.99385748e-01 3.95943141e-04 8.99820629e+00] [-5.09416918e-03 -2.17559695e-04 9.99987001e-01 -2.42986299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.695898227 meters 0.048821628609467774 Centerline is valid? [True, True] Translation: X:215.88, Y:9.01, Z:-2.43 [[ 9.99364206e-01 -3.53571676e-02 4.58849063e-03 2.15882261e+02] [ 3.53558981e-02 9.99374721e-01 3.57525212e-04 9.01217096e+00] [-4.59826263e-03 -1.95067693e-04 9.99989409e-01 -2.43128593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.755898227 meters 0.043856762359419474 Centerline is valid? [True, True] Translation: X:215.94, Y:9.02, Z:-2.43 [[ 9.99235054e-01 -3.88860453e-02 4.14517356e-03 2.15942152e+02] [ 3.88850385e-02 9.99243639e-01 3.23225037e-04 9.01955545e+00] [-4.15460725e-03 -1.61792554e-04 9.99991356e-01 -2.43396633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.815898227 meters 0.029872991988353796 Centerline is valid? [True, True] Translation: X:216.00, Y:9.02, Z:-2.44 [[ 9.98733540e-01 -5.02987840e-02 1.16158697e-03 2.16003025e+02] [ 5.02987127e-02 9.98734215e-01 9.05689927e-05 9.01555182e+00] [-1.16467217e-03 -3.20279612e-05 9.99999321e-01 -2.43841409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.875898227 meters 0.02417616687458649 Centerline is valid? [True, True] Translation: X:216.06, Y:9.02, Z:-2.44 [[ 9.98369536e-01 -5.70545025e-02 1.74730786e-03 2.16061981e+02] [ 5.70543514e-02 9.98371064e-01 1.36262360e-04 9.01772262e+00] [-1.75223599e-03 -3.63486728e-05 9.99998464e-01 -2.43762990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.935898227 meters 0.028433644654007283 Centerline is valid? [True, True] Translation: X:216.12, Y:9.03, Z:-2.43 [[ 9.98126816e-01 -6.11163667e-02 2.76562003e-03 2.16121152e+02] [ 6.11160034e-02 9.98130647e-01 2.15738401e-04 9.02577229e+00] [-2.77363526e-03 -4.63106395e-05 9.99996152e-01 -2.43498914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.995898227 meters 0.019644502343195595 Centerline is valid? [True, True] Translation: X:216.18, Y:9.04, Z:-2.43 [[ 9.98072051e-01 -6.20144585e-02 2.52743021e-03 2.16178975e+02] [ 6.20141588e-02 9.98075250e-01 1.96844528e-04 9.03529503e+00] [-2.53477274e-03 -3.97285636e-05 9.99996787e-01 -2.43482138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.055898227 meters 0.03050778055382864 Centerline is valid? [True, True] Translation: X:216.24, Y:9.04, Z:-2.44 [[ 9.97817551e-01 -6.59919763e-02 2.27915115e-03 2.16236657e+02] [ 6.59917416e-02 9.97820153e-01 1.78105869e-04 9.03906966e+00] [-2.28593651e-03 -2.73120083e-05 9.99997387e-01 -2.43649384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.115898227 meters 0.010199772553085703 Centerline is valid? [True, True] Translation: X:216.30, Y:9.03, Z:-2.43 [[ 9.97049110e-01 -7.65998765e-02 5.05275551e-03 2.16295059e+02] [ 7.65988558e-02 9.97061913e-01 3.95507914e-04 9.03118406e+00] [-5.06820593e-03 -7.30552327e-06 9.99987157e-01 -2.43148612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.175898227 meters 0.022587802416961546 Centerline is valid? [True, True] Translation: X:216.35, Y:9.03, Z:-2.43 [[ 9.96595742e-01 -8.21721686e-02 6.68297700e-03 2.16354239e+02] [ 8.21705028e-02 9.96618149e-01 5.23921808e-04 9.02959072e+00] [-6.70342795e-03 2.70053373e-05 9.99977531e-01 -2.42991450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.235898227 meters 0.011793176669504284 Centerline is valid? [True, True] Translation: X:216.41, Y:9.03, Z:-2.43 [[ 9.96498871e-01 -8.34896155e-02 4.41405985e-03 2.16411389e+02] [ 8.34888995e-02 9.96508647e-01 3.46548600e-04 9.03426462e+00] [-4.42758202e-03 2.31897108e-05 9.99990198e-01 -2.43342952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.295898227 meters 0.011044018559289487 Centerline is valid? [True, True] Translation: X:216.47, Y:9.04, Z:-2.43 [[ 9.96587806e-01 -8.24039588e-02 4.72579134e-03 2.16469414e+02] [ 8.24031247e-02 9.96599010e-01 3.71271633e-04 9.04272074e+00] [-4.74031323e-03 1.94151907e-05 9.99988764e-01 -2.43285592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.355898227 meters 0.010388940558647688 Centerline is valid? [True, True] Translation: X:216.53, Y:9.05, Z:-2.43 [[ 9.96676231e-01 -8.13094123e-02 5.02688154e-03 2.16527236e+02] [ 8.13084500e-02 9.96688908e-01 3.95852449e-04 9.05198642e+00] [-5.04242360e-03 1.41912189e-05 9.99987287e-01 -2.43238193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.41589822699999 meters 0.017873777331799876 Centerline is valid? [True, True] Translation: X:216.58, Y:9.06, Z:-2.44 [[ 9.96533234e-01 -8.31322366e-02 3.24718710e-03 2.16584738e+02] [ 8.31318431e-02 9.96538525e-01 2.56196001e-04 9.05628528e+00] [-3.25724519e-03 1.46368192e-05 9.99994695e-01 -2.43724130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.475898227 meters 0.011968626024006692 Centerline is valid? [True, True] Translation: X:216.64, Y:9.06, Z:-2.43 [[ 9.96423587e-01 -8.43365224e-02 5.23322505e-03 2.16642167e+02] [ 8.43355129e-02 9.96437329e-01 4.13666212e-04 9.06040479e+00] [-5.24946796e-03 2.91599482e-05 9.99986221e-01 -2.43363224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.535898227 meters 0.010869272694047631 Centerline is valid? [True, True] Translation: X:216.70, Y:9.08, Z:-2.44 [[ 9.96572050e-01 -8.26394522e-02 3.85617946e-03 2.16699717e+02] [ 8.26388910e-02 9.96579510e-01 3.04929624e-04 9.07597226e+00] [-3.86818866e-03 1.47860533e-05 9.99992518e-01 -2.43588856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.595898227 meters 0.010715194913744489 Centerline is valid? [True, True] Translation: X:216.76, Y:9.09, Z:-2.44 [[ 9.96618699e-01 -8.21339890e-02 2.27531715e-03 2.16756536e+02] [ 8.21337924e-02 9.96621296e-01 1.79890440e-04 9.08760389e+00] [-2.28240465e-03 7.59825038e-06 9.99997395e-01 -2.43962976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.655898227 meters 0.012097267072339303 Centerline is valid? [True, True] Translation: X:216.82, Y:9.09, Z:-2.44 [[ 9.96360909e-01 -8.51309193e-02 4.20294316e-03 2.16815059e+02] [ 8.51302681e-02 9.96369774e-01 3.33925880e-04 9.09373821e+00] [-4.21611294e-03 2.50869844e-05 9.99991112e-01 -2.43735243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.715898227 meters 0.01980141540454879 Centerline is valid? [True, True] Translation: X:216.87, Y:9.09, Z:-2.44 [[ 9.95571889e-01 -9.39180699e-02 4.00114583e-03 2.16873464e+02] [ 9.39175477e-02 9.95579928e-01 3.18627983e-04 9.09230826e+00] [-4.01338540e-03 5.85607407e-05 9.99991945e-01 -2.43838680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.775898227 meters 0.02704723743576855 Centerline is valid? [True, True] Translation: X:216.93, Y:9.09, Z:-2.44 [[ 9.94815927e-01 -1.01670347e-01 2.10068117e-03 2.16934005e+02] [ 1.01670220e-01 9.94818143e-01 1.67396264e-04 9.09028156e+00] [-2.10681498e-03 4.70482473e-05 9.99997780e-01 -2.44269634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.835898227 meters 0.040666369308208127 Centerline is valid? [True, True] Translation: X:216.99, Y:9.09, Z:-2.44 [[ 9.94172400e-01 -1.07764735e-01 2.82871923e-03 2.16994854e+02] [ 1.07764530e-01 9.94176421e-01 2.25493055e-04 9.09007343e+00] [-2.83654616e-03 8.06566262e-05 9.99995974e-01 -2.44163729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.895898227 meters 0.0363082275011407 Centerline is valid? [True, True] Translation: X:217.06, Y:9.09, Z:-2.44 [[ 9.93737623e-01 -1.11673121e-01 3.82757946e-03 2.17055151e+02] [ 1.11672773e-01 9.93744987e-01 3.05102590e-04 9.09048105e+00] [-3.83770965e-03 1.24244490e-04 9.99992628e-01 -2.43995508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.955898227 meters 0.051487461798038925 Centerline is valid? [True, True] Translation: X:217.11, Y:9.09, Z:-2.44 [[ 9.93446686e-01 -1.14235870e-01 3.72117447e-03 2.17114118e+02] [ 1.14235560e-01 9.93453647e-01 2.96615790e-04 9.08531002e+00] [-3.73069851e-03 1.30418474e-04 9.99993032e-01 -2.44077351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.015898227 meters 0.042425724862046224 Centerline is valid? [True, True] Translation: X:217.17, Y:9.09, Z:-2.44 [[ 9.93423505e-01 -1.14416371e-01 4.31672277e-03 2.17171839e+02] [ 1.14415954e-01 9.93432872e-01 3.44233163e-04 9.09471374e+00] [-4.32776021e-03 1.51932638e-04 9.99990624e-01 -2.43829220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.075898227 meters 0.041564372775289606 Centerline is valid? [True, True] Translation: X:217.23, Y:9.11, Z:-2.44 [[ 9.93375465e-01 -1.14777705e-01 5.59140840e-03 2.17229701e+02] [ 1.14777004e-01 9.93391181e-01 4.47188296e-04 9.10558076e+00] [-5.60578304e-03 1.97539223e-04 9.99984268e-01 -2.43710383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.135898227 meters 0.044759581196366395 Centerline is valid? [True, True] Translation: X:217.29, Y:9.11, Z:-2.44 [[ 9.93135231e-01 -1.16866821e-01 4.95565865e-03 2.17287912e+02] [ 1.16866292e-01 9.93147578e-01 3.97079157e-04 9.11278275e+00] [-4.96810577e-03 1.84796152e-04 9.99987642e-01 -2.43988414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.195898227 meters 0.04637202609486242 Centerline is valid? [True, True] Translation: X:217.35, Y:9.12, Z:-2.44 [[ 9.92950274e-01 -1.18440523e-01 4.64722009e-03 2.17346374e+02] [ 1.18440075e-01 9.92961132e-01 3.72463033e-04 9.12053923e+00] [-4.65862364e-03 1.80579825e-04 9.99989132e-01 -2.44166470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.255898227 meters 0.04386106671058136 Centerline is valid? [True, True] Translation: X:217.40, Y:9.14, Z:-2.44 [[ 9.92855637e-01 -1.19160530e-01 6.20106185e-03 2.17404397e+02] [ 1.19159738e-01 9.92874971e-01 4.98288839e-04 9.13648981e+00] [-6.21625547e-03 2.44188025e-04 9.99980649e-01 -2.43970607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.315898227 meters 0.049114062206033086 Centerline is valid? [True, True] Translation: X:217.46, Y:9.14, Z:-2.44 [[ 9.92749652e-01 -1.20065772e-01 5.68675179e-03 2.17462310e+02] [ 1.20065116e-01 9.92765913e-01 4.57782732e-04 9.13939928e+00] [-5.70057737e-03 2.28316865e-04 9.99983726e-01 -2.44144046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.375898227 meters 0.04658005543011776 Centerline is valid? [True, True] Translation: X:217.52, Y:9.15, Z:-2.45 [[ 9.92410810e-01 -1.22904552e-01 3.90589703e-03 2.17521225e+02] [ 1.22904263e-01 9.92418482e-01 3.14618306e-04 9.15256411e+00] [-3.91495242e-03 1.67820789e-04 9.99992322e-01 -2.44583471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.435898227 meters 0.0560920113968658 Centerline is valid? [True, True] Translation: X:217.58, Y:9.15, Z:-2.45 [[ 9.91581322e-01 -1.29452322e-01 2.92877638e-03 2.17580716e+02] [ 1.29452189e-01 9.91585637e-01 2.35908797e-04 9.14761253e+00] [-2.93467153e-03 1.45213756e-04 9.99995683e-01 -2.44814481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.495898227 meters 0.060555122901262734 Centerline is valid? [True, True] Translation: X:217.64, Y:9.15, Z:-2.45 [[ 9.91255331e-01 -1.31941332e-01 2.08641701e-03 2.17640158e+02] [ 1.31941269e-01 9.91257521e-01 1.68070652e-04 9.14713089e+00] [-2.09035202e-03 1.08683580e-04 9.99997809e-01 -2.44986130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.555898227 meters 0.06001177029339171 Centerline is valid? [True, True] Translation: X:217.70, Y:9.15, Z:-2.45 [[ 9.91158935e-01 -1.32666073e-01 1.91797522e-03 2.17698278e+02] [ 1.32666022e-01 9.91160786e-01 1.54426840e-04 9.15298750e+00] [-1.92150903e-03 1.01388600e-04 9.99998149e-01 -2.45029806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.615898227 meters 0.06366463894816803 Centerline is valid? [True, True] Translation: X:217.76, Y:9.15, Z:-2.45 [[ 9.90894130e-01 -1.34622448e-01 2.37051849e-03 2.17757088e+02] [ 1.34622375e-01 9.90896957e-01 1.91136812e-04 9.15290055e+00] [-2.37467086e-03 1.29728483e-04 9.99997172e-01 -2.44925268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.675898227 meters 0.06536397434782477 Centerline is valid? [True, True] Translation: X:217.82, Y:9.15, Z:-2.45 [[ 9.90864574e-01 -1.34839289e-01 2.40038156e-03 2.17815133e+02] [ 1.34839215e-01 9.90867473e-01 1.93236315e-04 9.15403817e+00] [-2.40451586e-03 1.32194546e-04 9.99997100e-01 -2.44988620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.735898227 meters 0.058172082426437545 Centerline is valid? [True, True] Translation: X:217.87, Y:9.17, Z:-2.45 [[ 9.91298093e-01 -1.31574945e-01 4.01558729e-03 2.17874720e+02] [ 1.31574706e-01 9.91306205e-01 3.24795748e-04 9.16548832e+00] [-4.02341158e-03 2.06380311e-04 9.99991885e-01 -2.44593332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.795898227 meters 0.052970742913767514 Centerline is valid? [True, True] Translation: X:217.93, Y:9.18, Z:-2.45 [[ 9.91591235e-01 -1.29380728e-01 2.72938928e-03 2.17934016e+02] [ 1.29380609e-01 9.91594983e-01 2.20759921e-04 9.17908353e+00] [-2.73501080e-03 1.34226445e-04 9.99996251e-01 -2.44794052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.855898227 meters 0.05570189750565386 Centerline is valid? [True, True] Translation: X:217.99, Y:9.18, Z:-2.45 [[ 9.91801899e-01 -1.27777913e-01 1.34112302e-03 2.17992230e+02] [ 1.27777883e-01 9.91802803e-01 1.08327933e-04 9.18242788e+00] [-1.34397148e-03 6.39260101e-05 9.99999095e-01 -2.45122900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.91589822699999 meters 0.05280604338823254 Centerline is valid? [True, True] Translation: X:218.05, Y:9.19, Z:-2.45 [[ 9.91831656e-01 -1.27512457e-01 3.24629055e-03 2.18050013e+02] [ 1.27512280e-01 9.91836957e-01 2.62490971e-04 9.19418320e+00] [-3.25326181e-03 1.53595054e-04 9.99994696e-01 -2.44668207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.975898227 meters 0.05353160385873624 Centerline is valid? [True, True] Translation: X:218.11, Y:9.20, Z:-2.45 [[ 9.91861233e-01 -1.27277012e-01 3.44323792e-03 2.18107251e+02] [ 1.27276808e-01 9.91867197e-01 2.79213067e-04 9.20332256e+00] [-3.45077215e-03 1.61303715e-04 9.99994033e-01 -2.44581481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.035898227 meters 0.05386524816981505 Centerline is valid? [True, True] Translation: X:218.16, Y:9.22, Z:-2.45 [[ 9.91927242e-01 -1.26767323e-01 3.22379102e-03 2.18164418e+02] [ 1.26767141e-01 9.91932469e-01 2.61589020e-04 9.21731494e+00] [-3.23094392e-03 1.49193495e-04 9.99994769e-01 -2.44688448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.095898227 meters 0.05732693906220849 Centerline is valid? [True, True] Translation: X:218.22, Y:9.22, Z:-2.45 [[ 9.91650921e-01 -1.28891472e-01 3.92937765e-03 2.18223592e+02] [ 1.28891217e-01 9.91658687e-01 3.19160046e-04 9.22300858e+00] [-3.93773849e-03 1.89966914e-04 9.99992229e-01 -2.44533244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.155898227 meters 0.06425655986528783 Centerline is valid? [True, True] Translation: X:218.28, Y:9.22, Z:-2.45 [[ 9.90986859e-01 -1.33892486e-01 4.22461916e-03 2.18283336e+02] [ 1.33892235e-01 9.90995838e-01 3.43317963e-04 9.22249258e+00] [-4.23254770e-03 2.25420113e-04 9.99991017e-01 -2.44500506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.215898227 meters 0.0770877362583106 Centerline is valid? [True, True] Translation: X:218.34, Y:9.22, Z:-2.45 [[ 9.89826578e-01 -1.42238777e-01 3.38765695e-03 2.18343705e+02] [ 1.42238664e-01 9.89832353e-01 2.75325807e-04 9.21723939e+00] [-3.39237445e-03 2.09330998e-04 9.99994224e-01 -2.44653380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.275898227 meters 0.07986153192211798 Centerline is valid? [True, True] Translation: X:218.40, Y:9.22, Z:-2.45 [[ 9.89345586e-01 -1.45546452e-01 3.39746079e-03 2.18404298e+02] [ 1.45546358e-01 9.89351394e-01 2.76175201e-04 9.21593796e+00] [-3.40147889e-03 2.21255328e-04 9.99994190e-01 -2.44658206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.335898227 meters 0.0848155303969674 Centerline is valid? [True, True] Translation: X:218.46, Y:9.21, Z:-2.45 [[ 9.88891827e-01 -1.48596958e-01 3.44946745e-03 2.18463598e+02] [ 1.48596879e-01 9.88897815e-01 2.80429126e-04 9.21422137e+00] [-3.45284174e-03 2.35266027e-04 9.99994011e-01 -2.44732380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.395898227 meters 0.09025634611032625 Centerline is valid? [True, True] Translation: X:218.52, Y:9.22, Z:-2.45 [[ 9.88677577e-01 -1.50008654e-01 3.74872941e-03 2.18523171e+02] [ 1.50008572e-01 9.88684649e-01 3.04704627e-04 9.21613813e+00] [-3.75201955e-03 2.61086912e-04 9.99992927e-01 -2.44806541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.455898227 meters 0.08969909582685574 Centerline is valid? [True, True] Translation: X:218.58, Y:9.22, Z:-2.45 [[ 9.88751173e-01 -1.49557351e-01 1.92776832e-03 2.18581444e+02] [ 1.49557328e-01 9.88753044e-01 1.56500704e-04 9.21645976e+00] [-1.92949262e-03 1.33571625e-04 9.99998130e-01 -2.45125662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.515898227 meters 0.06898822219815479 Centerline is valid? [True, True] Translation: X:218.64, Y:9.25, Z:-2.45 [[ 9.88809868e-01 -1.49178367e-01 -9.27189563e-04 2.18637721e+02] [ 1.49178361e-01 9.88810301e-01 -7.64894475e-05 9.24728031e+00] [ 9.28225162e-04 -6.26830985e-05 9.99999567e-01 -2.45438799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.575898227 meters 0.08832148343519321 Centerline is valid? [True, True] Translation: X:218.70, Y:9.23, Z:-2.46 [[ 9.89035804e-01 -1.47667551e-01 -1.57236725e-03 2.18698069e+02] [ 1.47667533e-01 9.89037049e-01 -1.28407896e-04 9.22633563e+00] [ 1.57409115e-03 -1.05187586e-04 9.99998756e-01 -2.45845251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.635898227 meters 0.09182929631976205 Centerline is valid? [True, True] Translation: X:218.76, Y:9.23, Z:-2.46 [[ 9.89153100e-01 -1.46882248e-01 -1.32292662e-03 2.18755903e+02] [ 1.46882234e-01 9.89153981e-01 -1.08267101e-04 9.23019682e+00] [ 1.32448065e-03 -8.72216798e-05 9.99999119e-01 -2.45895280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.695898227 meters 0.09120287886380571 Centerline is valid? [True, True] Translation: X:218.81, Y:9.23, Z:-2.46 [[ 9.89062064e-01 -1.47497384e-01 -8.68821944e-04 2.18814826e+02] [ 1.47497378e-01 9.89062444e-01 -7.17918836e-05 9.23073395e+00] [ 8.69908270e-04 -5.71423297e-05 9.99999620e-01 -2.45727132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.755898227 meters 0.0756823556707265 Centerline is valid? [True, True] Translation: X:218.87, Y:9.25, Z:-2.45 [[ 9.88857521e-01 -1.48862211e-01 9.19318237e-04 2.18872890e+02] [ 1.48862205e-01 9.88857946e-01 7.50893542e-05 9.25437096e+00] [-9.20253111e-04 6.25990672e-05 9.99999575e-01 -2.45253038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.815898227 meters 0.07797264154618405 Centerline is valid? [True, True] Translation: X:218.93, Y:9.26, Z:-2.45 [[ 9.88448215e-01 -1.51481925e-01 4.83251594e-03 2.18933439e+02] [ 1.51481793e-01 9.88459969e-01 3.95327443e-04 9.25863336e+00] [-4.83663352e-03 3.41277476e-04 9.99988245e-01 -2.44790341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.875898227 meters 0.07381947208751301 Centerline is valid? [True, True] Translation: X:218.99, Y:9.26, Z:-2.45 [[ 9.88310241e-01 -1.52423690e-01 3.14424067e-03 2.18991999e+02] [ 1.52423640e-01 9.88315217e-01 2.56940563e-04 9.26399434e+00] [-3.14666473e-03 2.25319618e-04 9.99995024e-01 -2.45032168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.935898227 meters 0.06969028677806441 Centerline is valid? [True, True] Translation: X:219.05, Y:9.27, Z:-2.45 [[ 9.88450554e-01 -1.51534875e-01 1.63808945e-03 2.19050533e+02] [ 1.51534860e-01 9.88451905e-01 1.34133409e-04 9.27357122e+00] [-1.63949853e-03 1.15643413e-04 9.99998649e-01 -2.45223332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.995898227 meters 0.07314642167376585 Centerline is valid? [True, True] Translation: X:219.11, Y:9.28, Z:-2.45 [[ 9.89298315e-01 -1.45883365e-01 2.62434343e-03 2.19109628e+02] [ 1.45883305e-01 9.89301782e-01 2.15234185e-04 9.27707356e+00] [-2.62766672e-03 1.69917076e-04 9.99996533e-01 -2.45054501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.055898227 meters 0.0705720330282932 Centerline is valid? [True, True] Translation: X:219.17, Y:9.29, Z:-2.45 [[ 9.89650094e-01 -1.43472057e-01 2.90874197e-03 2.19168840e+02] [ 1.43471973e-01 9.89654352e-01 2.38662125e-04 9.28802407e+00] [-2.91289050e-03 1.81130954e-04 9.99995741e-01 -2.45046328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.115898227 meters 0.0705558674479094 Centerline is valid? [True, True] Translation: X:219.23, Y:9.29, Z:-2.45 [[ 9.89396394e-01 -1.45216187e-01 2.65220426e-03 2.19229208e+02] [ 1.45216124e-01 9.89399934e-01 2.17653377e-04 9.29468713e+00] [-2.65569752e-03 1.69797356e-04 9.99996459e-01 -2.45295846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.175898227 meters 0.0724304183892411 Centerline is valid? [True, True] Translation: X:219.29, Y:9.30, Z:-2.45 [[ 9.88919577e-01 -1.48444411e-01 1.52565140e-03 2.19289964e+02] [ 1.48444394e-01 9.88920748e-01 1.25189516e-04 9.29561637e+00] [-1.52733201e-03 1.02672034e-04 9.99998828e-01 -2.45480297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.235898227 meters 0.06995163490799611 Centerline is valid? [True, True] Translation: X:219.35, Y:9.30, Z:-2.46 [[ 9.88678150e-01 -1.50051593e-01 -1.87138665e-04 2.19349911e+02] [ 1.50051593e-01 9.88678168e-01 -1.54215342e-05 9.30240861e+00] [ 1.87333938e-04 -1.28335208e-05 9.99999982e-01 -2.45593019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.295898227 meters 0.0689446155686535 Centerline is valid? [True, True] Translation: X:219.41, Y:9.31, Z:-2.46 [[ 9.89497025e-01 -1.44551732e-01 -6.59663347e-04 2.19408246e+02] [ 1.44551728e-01 9.89497244e-01 -5.42277867e-05 9.30979689e+00] [ 6.60573784e-04 -4.16972432e-05 9.99999781e-01 -2.45592146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.355898227 meters 0.06447916565568619 Centerline is valid? [True, True] Translation: X:219.47, Y:9.32, Z:-2.45 [[ 9.90206933e-01 -1.39600568e-01 1.38228263e-03 2.19467294e+02] [ 1.39600546e-01 9.90207895e-01 1.13408908e-04 9.32236329e+00] [-1.38457912e-03 8.06691222e-05 9.99999038e-01 -2.45362125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.41589822699999 meters 0.06254142560879102 Centerline is valid? [True, True] Translation: X:219.53, Y:9.33, Z:-2.46 [[ 9.90556604e-01 -1.37103478e-01 4.99930304e-04 2.19527095e+02] [ 1.37103475e-01 9.90556730e-01 4.09981116e-05 9.33209541e+00] [-5.00830311e-04 2.79312319e-05 9.99999874e-01 -2.45606826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.475898227 meters 0.059831062189456316 Centerline is valid? [True, True] Translation: X:219.59, Y:9.34, Z:-2.46 [[ 9.90647617e-01 -1.36439244e-01 -1.27739385e-03 2.19585019e+02] [ 1.36439221e-01 9.90648438e-01 -1.05964329e-04 9.34280700e+00] [ 1.27990591e-03 -6.93133112e-05 9.99999179e-01 -2.45855416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.535898227 meters 0.060666669374451386 Centerline is valid? [True, True] Translation: X:219.64, Y:9.35, Z:-2.46 [[ 9.90704302e-01 -1.36032614e-01 -3.37120745e-04 2.19642289e+02] [ 1.36032612e-01 9.90704359e-01 -2.80613724e-05 9.34879362e+00] [ 3.37804254e-04 -1.80588933e-05 9.99999943e-01 -2.45788091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.595898227 meters 0.06080423371874326 Centerline is valid? [True, True] Translation: X:219.70, Y:9.36, Z:-2.45 [[ 9.90567298e-01 -1.37015091e-01 1.81457548e-03 2.19700136e+02] [ 1.37015047e-01 9.90568955e-01 1.49241626e-04 9.35785863e+00] [-1.81791049e-03 1.00790270e-04 9.99998343e-01 -2.45365158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.655898227 meters 0.06431964983381917 Centerline is valid? [True, True] Translation: X:219.76, Y:9.36, Z:-2.45 [[ 9.90296253e-01 -1.38956309e-01 2.11562725e-03 2.19758815e+02] [ 1.38956253e-01 9.90298505e-01 1.74280712e-04 9.36119987e+00] [-2.11931991e-03 1.21390100e-04 9.99997747e-01 -2.45417513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.715898227 meters 0.06637524027012956 Centerline is valid? [True, True] Translation: X:219.82, Y:9.37, Z:-2.45 [[ 9.89907467e-01 -1.41691819e-01 2.57573870e-03 2.19818582e+02] [ 1.41691745e-01 9.89910806e-01 2.12293949e-04 9.36549336e+00] [-2.57983189e-03 1.54809544e-04 9.99996660e-01 -2.45434238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.775898227 meters 0.06468332329085223 Centerline is valid? [True, True] Translation: X:219.88, Y:9.38, Z:-2.45 [[ 9.89492487e-01 -1.44560849e-01 2.60367251e-03 2.19877957e+02] [ 1.44560783e-01 9.89495899e-01 2.14645704e-04 9.37533377e+00] [-2.60735263e-03 1.63998625e-04 9.99996587e-01 -2.45213044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.835898227 meters 0.07507869615019457 Centerline is valid? [True, True] Translation: X:219.94, Y:9.37, Z:-2.46 [[ 9.89383861e-01 -1.45325409e-01 3.18241213e-04 2.19936272e+02] [ 1.45325408e-01 9.89383912e-01 2.59562373e-05 9.37263875e+00] [-3.18634837e-04 2.05678520e-05 9.99999949e-01 -2.45581160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.895898227 meters 0.07442692685351332 Centerline is valid? [True, True] Translation: X:219.99, Y:9.39, Z:-2.45 [[ 9.89462337e-01 -1.44768663e-01 2.51368982e-03 2.19994782e+02] [ 1.44768603e-01 9.89465517e-01 2.07044844e-04 9.38688527e+00] [-2.51718300e-03 1.59040287e-04 9.99996819e-01 -2.45213397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.955898227 meters 0.06834527281040824 Centerline is valid? [True, True] Translation: X:220.05, Y:9.41, Z:-2.45 [[ 9.89652436e-01 -1.43371892e-01 5.70583995e-03 2.20052478e+02] [ 1.43371547e-01 9.89668822e-01 4.71657672e-04 9.41068116e+00] [-5.71451436e-03 3.51277934e-04 9.99983610e-01 -2.44742524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.015898227 meters 0.0639746855176022 Centerline is valid? [True, True] Translation: X:220.11, Y:9.43, Z:-2.45 [[ 9.90021455e-01 -1.40820086e-01 5.21743068e-03 2.20111060e+02] [ 1.40819761e-01 9.90035155e-01 4.31395263e-04 9.42656405e+00] [-5.22618892e-03 3.07626778e-04 9.99986296e-01 -2.44878967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.075898227 meters 0.06914476055946966 Centerline is valid? [True, True] Translation: X:220.17, Y:9.43, Z:-2.46 [[ 9.89483342e-01 -1.44636780e-01 1.70819066e-03 2.20170340e+02] [ 1.44636751e-01 9.89484811e-01 1.41248223e-04 9.43342569e+00] [-1.71065840e-03 1.07304383e-04 9.99998531e-01 -2.45562851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.135898227 meters 0.07595950347352493 Centerline is valid? [True, True] Translation: X:220.23, Y:9.44, Z:-2.45 [[ 9.87951947e-01 -1.54741166e-01 2.47434346e-03 2.20230531e+02] [ 1.54741136e-01 9.87955029e-01 2.04623437e-04 9.43520401e+00] [-2.47620373e-03 1.80724594e-04 9.99996918e-01 -2.45457416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.195898227 meters 0.08866605359225907 Centerline is valid? [True, True] Translation: X:220.29, Y:9.43, Z:-2.45 [[ 9.87154838e-01 -1.59740010e-01 2.90764583e-03 2.20291161e+02] [ 1.59739990e-01 9.87159094e-01 2.40501415e-04 9.42564252e+00] [-2.90872672e-03 2.27055181e-04 9.99995744e-01 -2.45472964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.255898227 meters 0.09288397966567737 Centerline is valid? [True, True] Translation: X:220.35, Y:9.43, Z:-2.46 [[ 9.86724256e-01 -1.62375351e-01 3.08043169e-03 2.20351419e+02] [ 1.62375341e-01 9.86729033e-01 2.54831771e-04 9.42663084e+00] [-3.08092977e-03 2.48737456e-04 9.99995223e-01 -2.45502416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.315898227 meters 0.0890021652120353 Centerline is valid? [True, True] Translation: X:220.41, Y:9.44, Z:-2.46 [[ 9.86623092e-01 -1.63015186e-01 9.60834025e-04 2.20409972e+02] [ 1.63015186e-01 9.86623557e-01 7.92985768e-05 9.43535754e+00] [-9.60908356e-04 7.83927300e-05 9.99999535e-01 -2.45986243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.375898227 meters 0.09168429453166602 Centerline is valid? [True, True] Translation: X:220.47, Y:9.44, Z:-2.46 [[ 9.86555288e-01 -1.63423377e-01 1.20979293e-03 2.20467456e+02] [ 1.63423377e-01 9.86556025e-01 9.98877028e-05 9.43512114e+00] [-1.20985249e-03 9.91637039e-05 9.99999263e-01 -2.46084511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.435898227 meters 0.093027690287023 Centerline is valid? [True, True] Translation: X:220.53, Y:9.43, Z:-2.46 [[ 9.86500348e-01 -1.63746815e-01 2.01109106e-03 2.20526251e+02] [ 1.63746814e-01 9.86502384e-01 1.66136956e-04 9.43307316e+00] [-2.01115052e-03 1.65415588e-04 9.99997964e-01 -2.46074902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.495898227 meters 0.09463819599496781 Centerline is valid? [True, True] Translation: X:220.59, Y:9.43, Z:-2.46 [[ 9.86712057e-01 -1.62472030e-01 1.46831991e-03 2.20585254e+02] [ 1.62472028e-01 9.86713142e-01 1.21756053e-04 9.43089144e+00] [-1.46859250e-03 1.18422748e-04 9.99998915e-01 -2.46228736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.555898227 meters 0.09179769341399593 Centerline is valid? [True, True] Translation: X:220.64, Y:9.44, Z:-2.46 [[ 9.87200000e-01 -1.59471020e-01 2.27011615e-03 2.20644526e+02] [ 1.59471006e-01 9.87202595e-01 1.88450781e-04 9.43677040e+00] [-2.27111699e-03 1.75979094e-04 9.99997406e-01 -2.46085359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.615898227 meters 0.08185980672772313 Centerline is valid? [True, True] Translation: X:220.70, Y:9.45, Z:-2.46 [[ 9.88736828e-01 -1.49622397e-01 3.55294934e-03 2.20702380e+02] [ 1.49622298e-01 9.88743182e-01 2.95062722e-04 9.45060770e+00] [-3.55710243e-03 2.39861068e-04 9.99993645e-01 -2.45759030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.675898227 meters 0.06785167138749851 Centerline is valid? [True, True] Translation: X:220.76, Y:9.47, Z:-2.46 [[ 9.89530414e-01 -1.44284057e-01 3.41631445e-03 2.20760596e+02] [ 1.44283934e-01 9.89536288e-01 2.83787947e-04 9.47466489e+00] [-3.42151319e-03 2.12102482e-04 9.99994124e-01 -2.45796358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.735898227 meters 0.06656331078916597 Centerline is valid? [True, True] Translation: X:220.82, Y:9.49, Z:-2.46 [[ 9.89872730e-01 -1.41901186e-01 4.00393028e-03 2.20820288e+02] [ 1.41900997e-01 9.89880799e-01 3.32627624e-04 9.48673274e+00] [-4.01061395e-03 2.38902685e-04 9.99991929e-01 -2.45708173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.795898227 meters 0.07016852786758154 Centerline is valid? [True, True] Translation: X:220.88, Y:9.49, Z:-2.46 [[ 9.89549173e-01 -1.44160980e-01 3.16945194e-03 2.20879275e+02] [ 1.44160873e-01 9.89554230e-01 2.63304136e-04 9.49173698e+00] [-3.17430276e-03 1.96358569e-04 9.99994943e-01 -2.45828122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.855898227 meters 0.07833877960159205 Centerline is valid? [True, True] Translation: X:220.94, Y:9.49, Z:-2.46 [[ 9.88671092e-01 -1.50092236e-01 1.33866519e-03 2.20939470e+02] [ 1.50092222e-01 9.88671994e-01 1.11253330e-04 9.49324614e+00] [-1.34019904e-03 9.09302805e-05 9.99999098e-01 -2.46218906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.91589822699999 meters 0.08226168461632656 Centerline is valid? [True, True] Translation: X:221.00, Y:9.50, Z:-2.46 [[ 9.88328727e-01 -1.52319071e-01 2.28658028e-03 2.20998329e+02] [ 1.52319037e-01 9.88331359e-01 1.89985856e-04 9.49607505e+00] [-2.28883746e-03 1.60521227e-04 9.99997368e-01 -2.46003733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.975898227 meters 0.08247999301502199 Centerline is valid? [True, True] Translation: X:221.06, Y:9.51, Z:-2.46 [[ 9.88284610e-01 -1.52579804e-01 3.59620667e-03 2.21055457e+02] [ 1.52579723e-01 9.88291121e-01 2.98712625e-04 9.50508623e+00] [-3.59967663e-03 2.53495126e-04 9.99993489e-01 -2.45810913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.035898227 meters 0.08101857362306511 Centerline is valid? [True, True] Translation: X:221.11, Y:9.52, Z:-2.46 [[ 9.88771127e-01 -1.49365977e-01 4.63279283e-03 2.21113894e+02] [ 1.49365801e-01 9.88781932e-01 3.85962733e-04 9.51610380e+00] [-4.63847154e-03 3.10352006e-04 9.99989194e-01 -2.45758743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.095898227 meters 0.07715752277835916 Centerline is valid? [True, True] Translation: X:221.17, Y:9.53, Z:-2.46 [[ 9.89431711e-01 -1.44969485e-01 2.95583115e-03 2.21173249e+02] [ 1.44969394e-01 9.89436109e-01 2.46286096e-04 9.52839035e+00] [-2.96031004e-03 1.84821777e-04 9.99995601e-01 -2.46082557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.155898227 meters 0.06563343881627588 Centerline is valid? [True, True] Translation: X:221.23, Y:9.55, Z:-2.46 [[ 9.91026684e-01 -1.33602382e-01 4.06398736e-03 2.21230618e+02] [ 1.33602113e-01 9.91034995e-01 3.38710799e-04 9.55363913e+00] [-4.07280626e-03 2.07285859e-04 9.99991685e-01 -2.45827213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.215898227 meters 0.05641906702749244 Centerline is valid? [True, True] Translation: X:221.29, Y:9.58, Z:-2.45 [[ 9.92169074e-01 -1.24703992e-01 7.03154167e-03 2.21289159e+02] [ 1.24702964e-01 9.92193946e-01 5.86162649e-04 9.57930057e+00] [-7.04974990e-03 2.95281632e-04 9.99975107e-01 -2.45462643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.275898227 meters 0.04598002248049087 Centerline is valid? [True, True] Translation: X:221.35, Y:9.60, Z:-2.45 [[ 9.93181432e-01 -1.16322383e-01 7.72959014e-03 2.21346444e+02] [ 1.16320886e-01 9.93211476e-01 6.44465091e-04 9.60348952e+00] [-7.75208335e-03 2.59042016e-04 9.99969919e-01 -2.45349556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.335898227 meters 0.03589343211687413 Centerline is valid? [True, True] Translation: X:221.40, Y:9.63, Z:-2.46 [[ 9.93414933e-01 -1.14410926e-01 6.07540574e-03 2.21404123e+02] [ 1.14409965e-01 9.93433492e-01 5.06680890e-04 9.62613633e+00] [-6.09348137e-03 1.91742597e-04 9.99981416e-01 -2.45743388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.395898227 meters 0.035056275272205915 Centerline is valid? [True, True] Translation: X:221.46, Y:9.63, Z:-2.46 [[ 9.93552974e-01 -1.13239219e-01 5.41920563e-03 2.21462313e+02] [ 1.13238435e-01 9.93567739e-01 4.52364167e-04 9.63475306e+00] [-5.43557325e-03 1.64214602e-04 9.99985214e-01 -2.45839315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.455898227 meters 0.03343614246754135 Centerline is valid? [True, True] Translation: X:221.52, Y:9.65, Z:-2.46 [[ 9.93906541e-01 -1.10060356e-01 6.04199748e-03 2.21520064e+02] [ 1.10059316e-01 9.93924892e-01 5.05308776e-04 9.64706324e+00] [-6.06090616e-03 1.62748414e-04 9.99981619e-01 -2.45786882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.515898227 meters 0.03318277247849442 Centerline is valid? [True, True] Translation: X:221.58, Y:9.66, Z:-2.46 [[ 9.94423860e-01 -1.05336762e-01 5.03522919e-03 2.21577564e+02] [ 1.05335979e-01 9.94436601e-01 4.21255390e-04 9.66162361e+00] [-5.05158988e-03 1.11484385e-04 9.99987234e-01 -2.46019837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.575898227 meters 0.024332097938411477 Centerline is valid? [True, True] Translation: X:221.64, Y:9.68, Z:-2.47 [[ 9.94604005e-01 -1.03741785e-01 7.17442634e-04 2.21635015e+02] [ 1.03741770e-01 9.94604264e-01 5.93192826e-05 9.68477432e+00] [-7.19725391e-04 1.54295724e-05 9.99999741e-01 -2.46746724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.635898227 meters 0.026758130706448793 Centerline is valid? [True, True] Translation: X:221.69, Y:9.69, Z:-2.47 [[ 9.94409870e-01 -1.05576598e-01 1.61011128e-03 2.21692113e+02] [ 1.05576519e-01 9.94411173e-01 1.34783674e-04 9.68933213e+00] [-1.61534264e-03 3.59597277e-05 9.99998695e-01 -2.46601401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.695898227 meters 0.030803221270482656 Centerline is valid? [True, True] Translation: X:221.75, Y:9.69, Z:-2.46 [[ 9.93931654e-01 -1.09956601e-01 3.06820639e-03 2.21752158e+02] [ 1.09956330e-01 9.93936386e-01 2.57478073e-04 9.68990215e+00] [-3.07791338e-03 8.14531072e-05 9.99995260e-01 -2.46378762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.755898227 meters 0.03685391531554223 Centerline is valid? [True, True] Translation: X:221.81, Y:9.69, Z:-2.46 [[ 9.93124141e-01 -1.16987444e-01 4.28709439e-03 2.21813080e+02] [ 1.16986979e-01 9.93133383e-01 3.59931681e-04 9.68593033e+00] [-4.29976404e-03 1.44077380e-04 9.99990746e-01 -2.46270931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.815898227 meters 0.05747394036897999 Centerline is valid? [True, True] Translation: X:221.87, Y:9.66, Z:-2.46 [[ 9.92557220e-01 -1.21701021e-01 4.36184730e-03 2.21874763e+02] [ 1.21700585e-01 9.92566790e-01 3.66195898e-04 9.66268318e+00] [-4.37399119e-03 1.67368986e-04 9.99990420e-01 -2.46281044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.875898227 meters 0.048619034386474864 Centerline is valid? [True, True] Translation: X:221.93, Y:9.68, Z:-2.46 [[ 9.91928584e-01 -1.26741479e-01 3.77905352e-03 2.21933697e+02] [ 1.26741188e-01 9.91935769e-01 3.17325752e-04 9.67736023e+00] [-3.78879670e-03 1.64197248e-04 9.99992809e-01 -2.46262076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.935898227 meters 0.050903055569884566 Centerline is valid? [True, True] Translation: X:221.99, Y:9.68, Z:-2.46 [[ 9.91716926e-01 -1.28393007e-01 3.57415635e-03 2.21993652e+02] [ 1.28392757e-01 9.91723353e-01 3.00142259e-04 9.67996054e+00] [-3.58311049e-03 1.61239630e-04 9.99993568e-01 -2.46280467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.995898227 meters 0.07208747741731107 Centerline is valid? [True, True] Translation: X:222.05, Y:9.66, Z:-2.46 [[ 9.91503491e-01 -1.30023759e-01 3.82755377e-03 2.22054659e+02] [ 1.30023484e-01 9.91510862e-01 3.21486116e-04 9.65757781e+00] [-3.83686197e-03 1.78917270e-04 9.99992623e-01 -2.46339260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.055898227 meters 0.05460555416303889 Centerline is valid? [True, True] Translation: X:222.11, Y:9.68, Z:-2.46 [[ 9.90909080e-01 -1.34436188e-01 5.10940952e-03 2.22113032e+02] [ 1.34435756e-01 9.90922218e-01 4.29482151e-04 9.68118881e+00] [-5.12076536e-03 2.61309570e-04 9.99986855e-01 -2.46194770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.115898227 meters 0.06100025517959637 Centerline is valid? [True, True] Translation: X:222.17, Y:9.67, Z:-2.47 [[ 9.90109949e-01 -1.40276267e-01 2.20395110e-03 2.22173908e+02] [ 1.40276201e-01 9.90112394e-01 1.85228944e-04 9.66962782e+00] [-2.20814253e-03 1.25764868e-04 9.99997554e-01 -2.46857504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.175898227 meters 0.06303318584256516 Centerline is valid? [True, True] Translation: X:222.23, Y:9.67, Z:-2.47 [[ 9.89916105e-01 -1.41654556e-01 3.03742785e-04 2.22233379e+02] [ 1.41654555e-01 9.89916151e-01 2.53682923e-05 9.66594178e+00] [-3.04273423e-04 1.79140680e-05 9.99999954e-01 -2.47146304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.235898227 meters 0.056897754788081525 Centerline is valid? [True, True] Translation: X:222.29, Y:9.67, Z:-2.47 [[ 9.90170267e-01 -1.39867227e-01 -3.76502052e-05 2.22293234e+02] [ 1.39867227e-01 9.90170268e-01 -3.22827802e-06 9.67272188e+00] [ 3.77316440e-05 -2.06948489e-06 9.99999999e-01 -2.47132326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.295898227 meters 0.05994076798939548 Centerline is valid? [True, True] Translation: X:222.35, Y:9.66, Z:-2.48 [[ 9.90744854e-01 -1.35732516e-01 -1.14833123e-03 2.22353219e+02] [ 1.35732495e-01 9.90745518e-01 -9.67341850e-05 9.66391524e+00] [ 1.15083399e-03 -6.00269661e-05 9.99999336e-01 -2.47513544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.355898227 meters 0.05470309655398356 Centerline is valid? [True, True] Translation: X:222.41, Y:9.67, Z:-2.47 [[ 9.90858175e-01 -1.34907635e-01 -8.69325827e-05 2.22411652e+02] [ 1.34907634e-01 9.90858179e-01 -7.56009847e-06 9.66873253e+00] [ 8.71577756e-05 -4.23688371e-06 9.99999996e-01 -2.47294084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.41589822699999 meters 0.05323774748574718 Centerline is valid? [True, True] Translation: X:222.47, Y:9.67, Z:-2.48 [[ 9.90890106e-01 -1.34655262e-01 -2.18153771e-03 2.22470874e+02] [ 1.34655180e-01 9.90892501e-01 -1.84884388e-04 9.66765436e+00] [ 2.18656502e-03 -1.10555243e-04 9.99997603e-01 -2.47581244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.475898227 meters 0.05326616324432751 Centerline is valid? [True, True] Translation: X:222.53, Y:9.67, Z:-2.48 [[ 9.90970267e-01 -1.34047529e-01 -3.03138457e-03 2.22530154e+02] [ 1.34047368e-01 9.90974892e-01 -2.57076529e-04 9.66911979e+00] [ 3.03848647e-03 -1.51593925e-04 9.99995372e-01 -2.47664119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.535898227 meters 0.0579552418261529 Centerline is valid? [True, True] Translation: X:222.59, Y:9.66, Z:-2.47 [[ 9.90902848e-01 -1.34578858e-01 2.78600664e-04 2.22588514e+02] [ 1.34578857e-01 9.90902887e-01 2.32639139e-05 9.66415401e+00] [-2.79197034e-04 1.44414805e-05 9.99999961e-01 -2.47198183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.595898227 meters 0.05535495038276719 Centerline is valid? [True, True] Translation: X:222.65, Y:9.67, Z:-2.47 [[ 9.90963422e-01 -1.34125323e-01 1.37640774e-03 2.22646710e+02] [ 1.34125291e-01 9.90964375e-01 1.15816630e-04 9.66951072e+00] [-1.37950498e-03 6.98410445e-05 9.99999046e-01 -2.47084463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.655898227 meters 0.05164275736738549 Centerline is valid? [True, True] Translation: X:222.70, Y:9.68, Z:-2.47 [[ 9.90923225e-01 -1.34416277e-01 1.85118799e-03 2.22703920e+02] [ 1.34416219e-01 9.90924950e-01 1.56259103e-04 9.67740256e+00] [-1.85539213e-03 9.39889162e-05 9.99998274e-01 -2.47024746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.715898227 meters 0.05784416086416861 Centerline is valid? [True, True] Translation: X:222.76, Y:9.67, Z:-2.47 [[ 9.90721013e-01 -1.35900970e-01 1.67330237e-03 2.22763385e+02] [ 1.35900924e-01 9.90722423e-01 1.42008609e-04 9.67380896e+00] [-1.67707728e-03 8.67124239e-05 9.99998590e-01 -2.47144236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.775898227 meters 0.061915635582212684 Centerline is valid? [True, True] Translation: X:222.82, Y:9.67, Z:-2.47 [[ 9.90693864e-01 -1.36099277e-01 1.62926454e-03 2.22821565e+02] [ 1.36099233e-01 9.90695200e-01 1.38252217e-04 9.67384458e+00] [-1.63292059e-03 8.47760317e-05 9.99998663e-01 -2.47239069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.835898227 meters 0.05316108067785469 Centerline is valid? [True, True] Translation: X:222.88, Y:9.69, Z:-2.47 [[ 9.91066199e-01 -1.33367565e-01 9.39538097e-04 2.22879917e+02] [ 1.33367549e-01 9.91066643e-01 7.98434458e-05 9.69261121e+00] [-9.41793394e-04 4.61737527e-05 9.99999555e-01 -2.47235010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.895898227 meters 0.05568903294702543 Centerline is valid? [True, True] Translation: X:222.94, Y:9.70, Z:-2.47 [[ 9.91366169e-01 -1.31111678e-01 1.68753489e-03 2.22938795e+02] [ 1.31111623e-01 9.91367602e-01 1.43437590e-04 9.69751146e+00] [-1.69177376e-03 7.90562640e-05 9.99998566e-01 -2.47159877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.955898227 meters 0.04842539104493502 Centerline is valid? [True, True] Translation: X:223.00, Y:9.72, Z:-2.47 [[ 9.91860469e-01 -1.27320691e-01 1.50055348e-03 2.22998102e+02] [ 1.27320643e-01 9.91861602e-01 1.27631910e-04 9.71751255e+00] [-1.50459156e-03 6.44583887e-05 9.99998866e-01 -2.47172761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.015898227 meters 0.04438312132777855 Centerline is valid? [True, True] Translation: X:223.06, Y:9.73, Z:-2.47 [[ 9.91917727e-01 -1.26882708e-01 4.40355992e-05 2.23056165e+02] [ 1.26882708e-01 9.91917728e-01 2.88998050e-06 9.73183525e+00] [-4.40463800e-05 2.72073318e-06 9.99999999e-01 -2.47412004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.075898227 meters 0.05073603243498494 Centerline is valid? [True, True] Translation: X:223.11, Y:9.73, Z:-2.48 [[ 9.91629923e-01 -1.29106266e-01 -1.29121667e-03 2.23114812e+02] [ 1.29106232e-01 9.91630762e-01 -1.10298086e-04 9.73317841e+00] [ 1.29465034e-03 -5.73292365e-05 9.99999160e-01 -2.47805382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.135898227 meters 0.05322933604349031 Centerline is valid? [True, True] Translation: X:223.17, Y:9.74, Z:-2.48 [[ 9.91219132e-01 -1.32226440e-01 -8.95117865e-04 2.23174979e+02] [ 1.32226424e-01 9.91219535e-01 -7.64056031e-05 9.73652417e+00] [ 8.97361155e-04 -4.26235392e-05 9.99999596e-01 -2.47788847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.195898227 meters 0.061572840667761294 Centerline is valid? [True, True] Translation: X:223.24, Y:9.74, Z:-2.48 [[ 9.90628231e-01 -1.36580054e-01 -1.26374952e-03 2.23235289e+02] [ 1.36580027e-01 9.90629035e-01 -1.07791407e-04 9.73830253e+00] [ 1.26662912e-03 -6.58217332e-05 9.99999196e-01 -2.47945431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.255898227 meters 0.05716857645710014 Centerline is valid? [True, True] Translation: X:223.29, Y:9.74, Z:-2.48 [[ 9.90521914e-01 -1.37341207e-01 -1.93133541e-03 2.23293401e+02] [ 1.37341145e-01 9.90523792e-01 -1.65139669e-04 9.74302684e+00] [ 1.93571415e-03 -1.01677355e-04 9.99998121e-01 -2.48024329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.315898227 meters 0.0660338143614154 Centerline is valid? [True, True] Translation: X:223.35, Y:9.74, Z:-2.48 [[ 9.90241821e-01 -1.39325669e-01 -3.08113695e-03 2.23353056e+02] [ 1.39325523e-01 9.90246600e-01 -2.63032435e-04 9.73714811e+00] [ 3.08773256e-03 -1.68815298e-04 9.99995219e-01 -2.48382301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.375898227 meters 0.06578373343240285 Centerline is valid? [True, True] Translation: X:223.41, Y:9.74, Z:-2.48 [[ 9.90172830e-01 -1.39844817e-01 -1.09296648e-03 2.23410634e+02] [ 1.39844798e-01 9.90173431e-01 -9.43929387e-05 9.74278668e+00] [ 1.09542673e-03 -5.93803531e-05 9.99999398e-01 -2.47919779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.435898227 meters 0.054364260647266786 Centerline is valid? [True, True] Translation: X:223.47, Y:9.77, Z:-2.47 [[ 9.91037710e-01 -1.33569074e-01 1.88684203e-03 2.23469391e+02] [ 1.33569009e-01 9.91039502e-01 1.61377709e-04 9.76666621e+00] [-1.89149006e-03 9.20922244e-05 9.99998207e-01 -2.47149887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.495898227 meters 0.04383570190064109 Centerline is valid? [True, True] Translation: X:223.53, Y:9.79, Z:-2.47 [[ 9.92111756e-01 -1.25355096e-01 6.02193943e-04 2.23527993e+02] [ 1.25355088e-01 9.92111939e-01 5.14933439e-05 9.79226984e+00] [-6.03898754e-04 2.44009226e-05 9.99999817e-01 -2.47390902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.555898227 meters 0.047350777370198646 Centerline is valid? [True, True] Translation: X:223.59, Y:9.80, Z:-2.48 [[ 9.92409361e-01 -1.22977952e-01 2.87823270e-04 2.23587070e+02] [ 1.22977950e-01 9.92409403e-01 2.45097230e-05 9.79555658e+00] [-2.88652675e-04 1.10722373e-05 9.99999958e-01 -2.47530947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.615898227 meters 0.03561896373505854 Centerline is valid? [True, True] Translation: X:223.65, Y:9.82, Z:-2.47 [[ 9.93024158e-01 -1.17902446e-01 1.42667129e-03 2.23645446e+02] [ 1.17902392e-01 9.93025182e-01 1.22066707e-04 9.81981092e+00] [-1.43111248e-03 4.69927686e-05 9.99998975e-01 -2.47178580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.675898227 meters 0.03279498621715711 Centerline is valid? [True, True] Translation: X:223.70, Y:9.83, Z:-2.47 [[ 9.93566605e-01 -1.13243270e-01 1.16747058e-03 2.23703099e+02] [ 1.13243231e-01 9.93567290e-01 9.97630801e-05 9.83256217e+00] [-1.17125807e-03 3.30868752e-05 9.99999314e-01 -2.47319556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.735898227 meters 0.026966575752084977 Centerline is valid? [True, True] Translation: X:223.76, Y:9.85, Z:-2.47 [[ 9.94208504e-01 -1.07444740e-01 2.25376736e-03 2.23761706e+02] [ 1.07444578e-01 9.94211057e-01 1.92922357e-04 9.85029654e+00] [-2.26144892e-03 5.03500352e-05 9.99997442e-01 -2.47099287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.795898227 meters 0.02083591046353704 Centerline is valid? [True, True] Translation: X:223.82, Y:9.87, Z:-2.47 [[ 9.94784336e-01 -1.01870910e-01 5.14222743e-03 2.23820249e+02] [ 1.01869995e-01 9.94797623e-01 4.40257223e-04 9.87057061e+00] [-5.16032503e-03 8.58776942e-05 9.99986682e-01 -2.46706815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.855898227 meters 0.01955611178182521 Centerline is valid? [True, True] Translation: X:223.88, Y:9.88, Z:-2.47 [[ 9.94905466e-01 -1.00738297e-01 3.86123354e-03 2.23878065e+02] [ 1.00737772e-01 9.94912957e-01 3.30494335e-04 9.88149323e+00] [-3.87488472e-03 6.01614453e-05 9.99992491e-01 -2.46948722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.91589822699999 meters 0.020548004520338663 Centerline is valid? [True, True] Translation: X:223.94, Y:9.89, Z:-2.47 [[ 9.94822257e-01 -1.01576823e-01 3.29023696e-03 2.23936090e+02] [ 1.01576445e-01 9.94827697e-01 2.82234963e-04 9.88789979e+00] [-3.30188739e-03 5.34369494e-05 9.99994547e-01 -2.47049730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.975898227 meters 0.022940345442941906 Centerline is valid? [True, True] Translation: X:223.99, Y:9.89, Z:-2.47 [[ 9.94606012e-01 -1.03717480e-01 1.25094070e-03 2.23994850e+02] [ 1.03717428e-01 9.94606799e-01 1.06795691e-04 9.88991207e+00] [-1.25527070e-03 2.35247163e-05 9.99999212e-01 -2.47455709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.035898227 meters 0.02481864891823698 Centerline is valid? [True, True] Translation: X:224.05, Y:9.89, Z:-2.48 [[ 9.94429454e-01 -1.05400879e-01 -8.46382926e-04 2.24054094e+02] [ 1.05400854e-01 9.94429814e-01 -7.37782218e-05 9.88990963e+00] [ 8.49444705e-04 -1.58422466e-05 9.99999639e-01 -2.47853992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.095898227 meters 0.030874914327812596 Centerline is valid? [True, True] Translation: X:224.11, Y:9.90, Z:-2.48 [[ 9.94310263e-01 -1.06522618e-01 -1.81001986e-04 2.24112480e+02] [ 1.06522617e-01 9.94310279e-01 -1.65002359e-05 9.89546024e+00] [ 1.81729783e-04 -2.87445122e-06 9.99999983e-01 -2.47683897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.155898227 meters 0.02519262345210044 Centerline is valid? [True, True] Translation: X:224.17, Y:9.89, Z:-2.48 [[ 9.94490219e-01 -1.04828723e-01 3.79104833e-04 2.24170557e+02] [ 1.04828718e-01 9.94490291e-01 3.24589819e-05 9.89160105e+00] [-3.80418710e-04 7.46093376e-06 9.99999928e-01 -2.47672420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.215898227 meters 0.022450095647680697 Centerline is valid? [True, True] Translation: X:224.23, Y:9.90, Z:-2.48 [[ 9.94613871e-01 -1.03647383e-01 6.84313304e-04 2.24229461e+02] [ 1.03647367e-01 9.94614106e-01 5.84269910e-05 9.89565298e+00] [-6.86683470e-04 1.28149765e-05 9.99999764e-01 -2.47644123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.275898227 meters 0.0225023856776553 Centerline is valid? [True, True] Translation: X:224.29, Y:9.89, Z:-2.48 [[ 9.94630575e-01 -1.03477599e-01 1.55101621e-03 2.24288907e+02] [ 1.03477516e-01 9.94631784e-01 1.33734852e-04 9.89320026e+00] [-1.55652858e-03 2.74785317e-05 9.99998788e-01 -2.47581395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.335898227 meters 0.032041606732894475 Centerline is valid? [True, True] Translation: X:224.35, Y:9.89, Z:-2.48 [[ 9.94489103e-01 -1.04839517e-01 3.15640868e-04 2.24347526e+02] [ 1.04839513e-01 9.94489153e-01 2.65698516e-05 9.89405341e+00] [-3.16686990e-04 6.66820714e-06 9.99999950e-01 -2.47887429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.395898227 meters 0.022391476957154353 Centerline is valid? [True, True] Translation: X:224.41, Y:9.89, Z:-2.48 [[ 9.94524489e-01 -1.04503724e-01 -1.11643655e-04 2.24405891e+02] [ 1.04503723e-01 9.94524495e-01 -1.00159899e-05 9.89164132e+00] [ 1.12079058e-04 -1.70603041e-06 9.99999994e-01 -2.47849326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.455898227 meters 0.021859701839292704 Centerline is valid? [True, True] Translation: X:224.46, Y:9.89, Z:-2.48 [[ 9.94757864e-01 -1.02232061e-01 2.32320787e-03 2.24464392e+02] [ 1.02231868e-01 9.94760576e-01 2.01920917e-04 9.89028496e+00] [-2.33167839e-03 3.66434599e-05 9.99997281e-01 -2.47512076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.515898227 meters 0.019983544756191265 Centerline is valid? [True, True] Translation: X:224.52, Y:9.89, Z:-2.47 [[ 9.94764413e-01 -1.02132376e-01 3.56923866e-03 2.24522766e+02] [ 1.02131920e-01 9.94770815e-01 3.10395232e-04 9.89379505e+00] [-3.58227585e-03 5.57630653e-05 9.99993582e-01 -2.47282555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.575898227 meters 0.020222347974006707 Centerline is valid? [True, True] Translation: X:224.58, Y:9.89, Z:-2.47 [[ 9.94609984e-01 -1.03577292e-01 4.76694758e-03 2.24581968e+02] [ 1.03576488e-01 9.94621404e-01 4.15784046e-04 9.89208266e+00] [-4.78437388e-03 8.02007268e-05 9.99988552e-01 -2.47251206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.635898227 meters 0.0228443127297196 Centerline is valid? [True, True] Translation: X:224.64, Y:9.89, Z:-2.47 [[ 9.94427463e-01 -1.05207147e-01 6.74365397e-03 2.24639733e+02] [ 1.05205568e-01 9.94450321e-01 5.89579956e-04 9.89096631e+00] [-6.76825688e-03 1.23175443e-04 9.99977088e-01 -2.46984038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.695898227 meters 0.024373621081441928 Centerline is valid? [True, True] Translation: X:224.70, Y:9.89, Z:-2.47 [[ 9.94285887e-01 -1.06562357e-01 6.32759200e-03 2.24698514e+02] [ 1.06560989e-01 9.94306014e-01 5.53843786e-04 9.89332316e+00] [-6.35058167e-03 1.23595400e-04 9.99979827e-01 -2.47127373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.755898227 meters 0.025816335150911102 Centerline is valid? [True, True] Translation: X:224.76, Y:9.89, Z:-2.48 [[ 9.94131014e-01 -1.08124529e-01 3.55142173e-03 2.24757754e+02] [ 1.08124108e-01 9.94137355e-01 3.11065474e-04 9.89320064e+00] [-3.56423481e-03 7.47544703e-05 9.99993645e-01 -2.47626011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.815898227 meters 0.02515720235592415 Centerline is valid? [True, True] Translation: X:224.82, Y:9.90, Z:-2.48 [[ 9.94132456e-01 -1.08119555e-01 3.28963619e-03 2.24815210e+02] [ 1.08119192e-01 9.94137896e-01 2.88567709e-04 9.89863823e+00] [-3.30155182e-03 6.87982817e-05 9.99994547e-01 -2.47604842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.875898227 meters 0.028596122459103895 Centerline is valid? [True, True] Translation: X:224.87, Y:9.91, Z:-2.48 [[ 9.94364793e-01 -1.06011242e-01 5.24687235e-04 2.24873340e+02] [ 1.06011233e-01 9.94364931e-01 4.54039925e-05 9.91282570e+00] [-5.26543920e-04 1.04746091e-05 9.99999861e-01 -2.48043211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.935898227 meters 0.02248447567403032 Centerline is valid? [True, True] Translation: X:224.93, Y:9.92, Z:-2.48 [[ 9.94390354e-01 -1.05758929e-01 -1.69510786e-03 2.24930752e+02] [ 1.05758827e-01 9.94391798e-01 -1.49886005e-04 9.92287208e+00] [ 1.70145313e-03 -3.02274220e-05 9.99998552e-01 -2.48462462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.995898227 meters 0.026491186798698135 Centerline is valid? [True, True] Translation: X:224.99, Y:9.92, Z:-2.48 [[ 9.93853506e-01 -1.10679921e-01 2.27217955e-03 2.24990743e+02] [ 1.10679752e-01 9.93856102e-01 2.00434771e-04 9.92499009e+00] [-2.28040362e-03 5.22814683e-05 9.99997399e-01 -2.47831681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.055898227 meters 0.03757605336485914 Centerline is valid? [True, True] Translation: X:225.05, Y:9.92, Z:-2.48 [[ 9.93066070e-01 -1.17538197e-01 2.13372909e-03 2.25051041e+02] [ 1.17538063e-01 9.93068360e-01 1.88336532e-04 9.91759193e+00] [-2.14107559e-03 6.37637645e-05 9.99997706e-01 -2.47951241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.115898227 meters 0.04223015604639967 Centerline is valid? [True, True] Translation: X:225.11, Y:9.92, Z:-2.48 [[ 9.91987979e-01 -1.26324035e-01 1.44477071e-03 2.25111126e+02] [ 1.26323983e-01 9.91989030e-01 1.27483228e-04 9.92028564e+00] [-1.44930089e-03 5.60473610e-05 9.99998948e-01 -2.48016261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.175898227 meters 0.05167474652670191 Centerline is valid? [True, True] Translation: X:225.17, Y:9.92, Z:-2.47 [[ 9.91606687e-01 -1.29186462e-01 5.19963778e-03 2.25169348e+02] [ 1.29185828e-01 9.91620296e-01 4.59024469e-04 9.92448889e+00] [-5.21536610e-03 2.16547781e-04 9.99986376e-01 -2.47467482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.235898227 meters 0.0502809438070232 Centerline is valid? [True, True] Translation: X:225.23, Y:9.93, Z:-2.47 [[ 9.91588571e-01 -1.29283383e-01 6.15739358e-03 2.25225812e+02] [ 1.29282494e-01 9.91607655e-01 5.44004342e-04 9.92757770e+00] [-6.17604933e-03 2.56614708e-04 9.99980895e-01 -2.47262049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.295898227 meters 0.05472883985911613 Centerline is valid? [True, True] Translation: X:225.28, Y:9.94, Z:-2.48 [[ 9.91358330e-01 -1.31114532e-01 4.20002833e-03 2.25283853e+02] [ 1.31114134e-01 9.91367211e-01 3.71320022e-04 9.94290768e+00] [-4.21245582e-03 1.82571879e-04 9.99991111e-01 -2.47862895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.355898227 meters 0.04849083637802472 Centerline is valid? [True, True] Translation: X:225.34, Y:9.96, Z:-2.48 [[ 9.91223857e-01 -1.32103404e-01 4.89443667e-03 2.25341565e+02] [ 1.32102874e-01 9.91235917e-01 4.32888661e-04 9.95880359e+00] [-4.90872749e-03 2.17479583e-04 9.99987928e-01 -2.47584033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.41589822699999 meters 0.05385196315257786 Centerline is valid? [True, True] Translation: X:225.40, Y:9.96, Z:-2.48 [[ 9.91269796e-01 -1.31748071e-01 5.16114453e-03 2.25398963e+02] [ 1.31747472e-01 9.91283206e-01 4.57360107e-04 9.96483360e+00] [-5.17641221e-03 2.26600483e-04 9.99986577e-01 -2.47583745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.475898227 meters 0.044796335601842596 Centerline is valid? [True, True] Translation: X:225.46, Y:9.99, Z:-2.48 [[ 9.91556284e-01 -1.29586341e-01 4.84940804e-03 2.25456383e+02] [ 1.29585786e-01 9.91568121e-01 4.30006548e-04 9.99092005e+00] [-4.86424140e-03 2.02038656e-04 9.99988149e-01 -2.47640819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.535898227 meters 0.049186593328150785 Centerline is valid? [True, True] Translation: X:225.51, Y:10.01, Z:-2.48 [[ 9.91685102e-01 -1.28670561e-01 2.13193308e-03 2.25513524e+02] [ 1.28670452e-01 9.91687390e-01 1.88612113e-04 1.00056846e+01] [-2.13847998e-03 8.72729700e-05 9.99997710e-01 -2.48166263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.595898227 meters 0.05124193520679564 Centerline is valid? [True, True] Translation: X:225.57, Y:10.02, Z:-2.48 [[ 9.91277610e-01 -1.31782685e-01 1.42257721e-03 2.25572431e+02] [ 1.31782639e-01 9.91278629e-01 1.26358261e-04 1.00180367e+01] [-1.42682222e-03 6.22148648e-05 9.99998980e-01 -2.48376792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.655898227 meters 0.06039923356087073 Centerline is valid? [True, True] Translation: X:225.63, Y:10.02, Z:-2.48 [[ 9.90255397e-01 -1.39262178e-01 5.41757763e-04 2.25632297e+02] [ 1.39262173e-01 9.90255545e-01 4.81296791e-05 1.00247542e+01] [-5.43181273e-04 2.77856886e-05 9.99999852e-01 -2.48423548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.715898227 meters 0.05576971968439932 Centerline is valid? [True, True] Translation: X:225.69, Y:10.04, Z:-2.48 [[ 9.89459115e-01 -1.44812017e-01 3.73608700e-04 2.25691425e+02] [ 1.44812014e-01 9.89459185e-01 3.31685129e-05 1.00433460e+01] [-3.74473760e-04 2.12841411e-05 9.99999930e-01 -2.48295604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.775898227 meters 0.060095907032977625 Centerline is valid? [True, True] Translation: X:225.75, Y:10.05, Z:-2.48 [[ 9.88851847e-01 -1.48894565e-01 1.55984016e-03 2.25751375e+02] [ 1.48894531e-01 9.88853073e-01 1.38611816e-04 1.00484231e+01] [-1.56309128e-03 9.51851175e-05 9.99998774e-01 -2.48074554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.835898227 meters 0.06311551667688314 Centerline is valid? [True, True] Translation: X:225.81, Y:10.06, Z:-2.48 [[ 9.88427154e-01 -1.51691528e-01 1.20044200e-03 2.25811166e+02] [ 1.51691510e-01 9.88427880e-01 1.06694976e-04 1.00580996e+01] [-1.20273507e-03 7.66366488e-05 9.99999274e-01 -2.48149584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.895898227 meters 0.06835004544321592 Centerline is valid? [True, True] Translation: X:225.87, Y:10.06, Z:-2.48 [[ 9.88365199e-01 -1.52099406e-01 6.23855141e-05 2.25868903e+02] [ 1.52099406e-01 9.88365201e-01 5.25191633e-06 1.00598246e+01] [-6.24584846e-05 4.29798832e-06 9.99999998e-01 -2.48397410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.955898227 meters 0.0684563295524042 Centerline is valid? [True, True] Translation: X:225.93, Y:10.07, Z:-2.48 [[ 9.88196716e-01 -1.53185644e-01 1.18671589e-03 2.25928316e+02] [ 1.53185628e-01 9.88197426e-01 1.05487156e-04 1.00672898e+01] [-1.18886871e-03 7.75457575e-05 9.99999290e-01 -2.48202917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.015898227 meters 0.07881726264581429 Centerline is valid? [True, True] Translation: X:225.99, Y:10.06, Z:-2.48 [[ 9.87902578e-01 -1.55047332e-01 2.96990765e-03 2.25988359e+02] [ 1.55047235e-01 9.87907022e-01 2.64241099e-04 1.00582234e+01] [-2.97496250e-03 1.99431507e-04 9.99995555e-01 -2.48030494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.075898227 meters 0.07891683837732735 Centerline is valid? [True, True] Translation: X:226.05, Y:10.07, Z:-2.48 [[ 9.87423596e-01 -1.58064714e-01 3.19200533e-03 2.26047915e+02] [ 1.58064617e-01 9.87428730e-01 2.84121200e-04 1.00662488e+01] [-3.19678730e-03 2.23995122e-04 9.99994865e-01 -2.48030784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.135898227 meters 0.0754729395697222 Centerline is valid? [True, True] Translation: X:226.11, Y:10.07, Z:-2.48 [[ 9.87327151e-01 -1.58681739e-01 2.28099953e-03 2.26106085e+02] [ 1.58681693e-01 9.87329772e-01 2.02595957e-04 1.00745548e+01] [-2.28424702e-03 1.61924377e-04 9.99997378e-01 -2.47992925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.195898227 meters 0.07327841432968495 Centerline is valid? [True, True] Translation: X:226.16, Y:10.09, Z:-2.48 [[ 9.88388680e-01 -1.51883559e-01 4.38187806e-03 2.26163793e+02] [ 1.51883314e-01 9.88398354e-01 3.90732460e-04 1.00918131e+01] [-4.39038690e-03 2.79338618e-04 9.99990323e-01 -2.47624963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.255898227 meters 0.0795582791797767 Centerline is valid? [True, True] Translation: X:226.22, Y:10.10, Z:-2.48 [[ 9.89145030e-01 -1.46851929e-01 5.15950807e-03 2.26222983e+02] [ 1.46851520e-01 9.89158440e-01 4.60226263e-04 1.00966703e+01] [-5.17115607e-03 3.02451081e-04 9.99986584e-01 -2.47626312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.315898227 meters 0.062132427385210576 Centerline is valid? [True, True] Translation: X:226.28, Y:10.13, Z:-2.48 [[ 9.89298778e-01 -1.45863090e-01 3.44779980e-03 2.26279456e+02] [ 1.45862901e-01 9.89304766e-01 3.07351523e-04 1.01321621e+01] [-3.45575602e-03 1.98843596e-04 9.99994009e-01 -2.47948645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.375898227 meters 0.06519939283182485 Centerline is valid? [True, True] Translation: X:226.34, Y:10.14, Z:-2.49 [[ 9.88642881e-01 -1.50282674e-01 -6.10518119e-04 2.26339528e+02] [ 1.50282669e-01 9.88643068e-01 -5.46013006e-05 1.01410573e+01] [ 6.11790136e-04 -3.77691052e-05 9.99999812e-01 -2.48811327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.435898227 meters 0.0739778193955085 Centerline is valid? [True, True] Translation: X:226.40, Y:10.14, Z:-2.49 [[ 9.87853521e-01 -1.55387738e-01 -2.69072017e-04 2.26399058e+02] [ 1.55387737e-01 9.87853557e-01 -2.40531907e-05 1.01371997e+01] [ 2.69541320e-04 -1.80494626e-05 9.99999964e-01 -2.48893588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.495898227 meters 0.08135751499415313 Centerline is valid? [True, True] Translation: X:226.46, Y:10.13, Z:-2.49 [[ 9.87196675e-01 -1.59489436e-01 -2.41764967e-03 2.26459100e+02] [ 1.59489383e-01 9.87199620e-01 -2.16143645e-04 1.01344601e+01] [ 2.42117547e-03 -1.72213166e-04 9.99997054e-01 -2.49334413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.555898227 meters 0.08269004665467894 Centerline is valid? [True, True] Translation: X:226.52, Y:10.14, Z:-2.49 [[ 9.87180906e-01 -1.59592058e-01 -2.05781870e-03 2.26516175e+02] [ 1.59592018e-01 9.87183040e-01 -1.84475514e-04 1.01372044e+01] [ 2.06088454e-03 -1.46300734e-04 9.99997866e-01 -2.49298763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.615898227 meters 0.08134057103368424 Centerline is valid? [True, True] Translation: X:226.58, Y:10.14, Z:-2.49 [[ 9.87480790e-01 -1.57737343e-01 7.88099117e-04 2.26576232e+02] [ 1.57737336e-01 9.87481102e-01 7.04776720e-05 1.01430812e+01] [-7.89349946e-04 5.47173083e-05 9.99999687e-01 -2.48850650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.675898227 meters 0.07880426128920087 Centerline is valid? [True, True] Translation: X:226.64, Y:10.15, Z:-2.49 [[ 9.88211604e-01 -1.53079168e-01 2.14323250e-03 2.26635146e+02] [ 1.53079111e-01 9.88213919e-01 1.91716864e-04 1.01522882e+01] [-2.14732004e-03 1.38627296e-04 9.99997685e-01 -2.48610082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.735898227 meters 0.07707963392624916 Centerline is valid? [True, True] Translation: X:226.69, Y:10.16, Z:-2.49 [[ 9.88592990e-01 -1.50611241e-01 3.93539652e-04 2.26694445e+02] [ 1.50611239e-01 9.88593068e-01 3.51890976e-05 1.01620490e+01] [-3.94350446e-04 2.44837993e-05 9.99999922e-01 -2.49008198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.795898227 meters 0.07885497705046068 Centerline is valid? [True, True] Translation: X:226.75, Y:10.17, Z:-2.49 [[ 9.88409974e-01 -1.51806263e-01 7.62433313e-04 2.26753303e+02] [ 1.51806256e-01 9.88410267e-01 6.80829726e-05 1.01679581e+01] [-7.63932336e-04 4.84482571e-05 9.99999707e-01 -2.48906434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.855898227 meters 0.07080855787796116 Centerline is valid? [True, True] Translation: X:226.81, Y:10.18, Z:-2.49 [[ 9.87812002e-01 -1.55641895e-01 1.74612715e-03 2.26812185e+02] [ 1.55641861e-01 9.87813538e-01 1.56258197e-04 1.01844979e+01] [-1.74916837e-03 1.17416757e-04 9.99998463e-01 -2.48610303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.91589822699999 meters 0.07385554255438376 Centerline is valid? [True, True] Translation: X:226.87, Y:10.19, Z:-2.48 [[ 9.87509856e-01 -1.57532836e-01 2.77295945e-03 2.26872780e+02] [ 1.57532757e-01 9.87513731e-01 2.48234443e-04 1.01877020e+01] [-2.77744061e-03 1.91697988e-04 9.99996125e-01 -2.48347598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.975898227 meters 0.071773514641415 Centerline is valid? [True, True] Translation: X:226.93, Y:10.20, Z:-2.48 [[ 9.88024478e-01 -1.54249815e-01 3.82446183e-03 2.26932064e+02] [ 1.54249640e-01 9.88031847e-01 3.42357452e-04 1.02007724e+01] [-3.83149866e-03 2.51664318e-04 9.99992628e-01 -2.48093440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.035898227 meters 0.0675839094388212 Centerline is valid? [True, True] Translation: X:226.99, Y:10.22, Z:-2.49 [[ 9.88626274e-01 -1.50383245e-01 1.72345673e-03 2.26990966e+02] [ 1.50383204e-01 9.88627770e-01 1.54269943e-04 1.02207851e+01] [-1.72705680e-03 1.06663626e-04 9.99998503e-01 -2.48519556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.095898227 meters 0.0694471208339495 Centerline is valid? [True, True] Translation: X:227.05, Y:10.23, Z:-2.49 [[ 9.88584321e-01 -1.50663900e-01 1.19541603e-03 2.27049876e+02] [ 1.50663881e-01 9.88585041e-01 1.06425266e-04 1.02261687e+01] [-1.19780485e-03 7.48956698e-05 9.99999280e-01 -2.48715467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.155898227 meters 0.06708171916061258 Centerline is valid? [True, True] Translation: X:227.11, Y:10.24, Z:-2.49 [[ 9.88264685e-01 -1.52739993e-01 1.84601922e-03 2.27108853e+02] [ 1.52739949e-01 9.88266402e-01 1.65529293e-04 1.02386198e+01] [-1.84964172e-03 1.18374127e-04 9.99998282e-01 -2.48610728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.215898227 meters 0.06893763141664157 Centerline is valid? [True, True] Translation: X:227.17, Y:10.25, Z:-2.49 [[ 9.87436397e-01 -1.58016060e-01 5.34868605e-04 2.27168928e+02] [ 1.58016057e-01 9.87436541e-01 4.79709650e-05 1.02479501e+01] [-5.35728988e-04 3.71495510e-05 9.99999856e-01 -2.48745951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.275898227 meters 0.07811317885428895 Centerline is valid? [True, True] Translation: X:227.23, Y:10.24, Z:-2.49 [[ 9.86958291e-01 -1.60971429e-01 1.23727845e-03 2.27228666e+02] [ 1.60971416e-01 9.86959062e-01 1.11091042e-04 1.02438038e+01] [-1.23902566e-03 8.95242388e-05 9.99999228e-01 -2.48773563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.335898227 meters 0.09163777908784161 Centerline is valid? [True, True] Translation: X:227.29, Y:10.23, Z:-2.49 [[ 9.86584188e-01 -1.63234917e-01 2.44996804e-03 2.27289283e+02] [ 1.63234872e-01 9.86587213e-01 2.19694297e-04 1.02335296e+01] [-2.45296892e-03 1.83173301e-04 9.99996975e-01 -2.48616143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.395898227 meters 0.08696044447128279 Centerline is valid? [True, True] Translation: X:227.35, Y:10.25, Z:-2.49 [[ 9.86856875e-01 -1.61588761e-01 1.60635347e-03 2.27347829e+02] [ 1.61588739e-01 9.86858175e-01 1.43976298e-04 1.02475561e+01] [-1.60850801e-03 1.17484633e-04 9.99998699e-01 -2.48651491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.455898227 meters 0.07249004392603343 Centerline is valid? [True, True] Translation: X:227.41, Y:10.28, Z:-2.48 [[ 9.87864571e-01 -1.55292612e-01 2.79173847e-03 2.27405279e+02] [ 1.55292521e-01 9.87868498e-01 2.50392195e-04 1.02785394e+01] [-2.79675455e-03 1.86182528e-04 9.99996072e-01 -2.48452518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.515898227 meters 0.06417475107903871 Centerline is valid? [True, True] Translation: X:227.46, Y:10.30, Z:-2.48 [[ 9.88608685e-01 -1.50491129e-01 2.29944608e-03 2.27463264e+02] [ 1.50491055e-01 9.88611349e-01 2.06234662e-04 1.03023637e+01] [-2.30429498e-03 1.42160689e-04 9.99997335e-01 -2.48498222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.575898227 meters 0.06129109269687523 Centerline is valid? [True, True] Translation: X:227.52, Y:10.32, Z:-2.49 [[ 9.88839768e-01 -1.48979783e-01 9.68185340e-04 2.27522381e+02] [ 1.48979769e-01 9.88840240e-01 8.68142510e-05 1.03187796e+01] [-9.70314193e-04 5.83946449e-05 9.99999528e-01 -2.48808017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.635898227 meters 0.07405051052182848 Centerline is valid? [True, True] Translation: X:227.58, Y:10.32, Z:-2.49 [[ 9.87617320e-01 -1.56876282e-01 1.36436211e-03 2.27581852e+02] [ 1.56876262e-01 9.87618258e-01 1.22364829e-04 1.03175996e+01] [-1.36666507e-03 9.31864034e-05 9.99999062e-01 -2.48828099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.695898227 meters 0.0822263433366246 Centerline is valid? [True, True] Translation: X:227.64, Y:10.32, Z:-2.49 [[ 9.86389757e-01 -1.64423954e-01 -1.07916762e-04 2.27642568e+02] [ 1.64423954e-01 9.86389762e-01 -9.70551806e-06 1.03177290e+01] [ 1.08043809e-04 -8.17067717e-06 9.99999994e-01 -2.49123172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.755898227 meters 0.09114572383467563 Centerline is valid? [True, True] Translation: X:227.70, Y:10.32, Z:-2.49 [[ 9.85088138e-01 -1.72046745e-01 -1.13024386e-03 2.27702858e+02] [ 1.72046741e-01 9.85088782e-01 -1.01490475e-04 1.03211178e+01] [ 1.13085165e-03 -9.44777094e-05 9.99999356e-01 -2.49268842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.815898227 meters 0.0917558929635397 Centerline is valid? [True, True] Translation: X:227.76, Y:10.33, Z:-2.49 [[ 9.85124169e-01 -1.71840930e-01 1.03308987e-03 2.27761230e+02] [ 1.71840927e-01 9.85124707e-01 9.21086638e-05 1.03274617e+01] [-1.03355039e-03 8.67886491e-05 9.99999462e-01 -2.48811074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.875898227 meters 0.08554634848401353 Centerline is valid? [True, True] Translation: X:227.82, Y:10.34, Z:-2.49 [[ 9.85387322e-01 -1.70317784e-01 1.91803128e-03 2.27819631e+02] [ 1.70317769e-01 9.85389176e-01 1.72378284e-04 1.03425540e+01] [-1.91936635e-03 1.56815433e-04 9.99998146e-01 -2.48648078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.935898227 meters 0.07803708559371238 Centerline is valid? [True, True] Translation: X:227.88, Y:10.36, Z:-2.49 [[ 9.86311616e-01 -1.64877063e-01 2.22481410e-03 2.27878539e+02] [ 1.64877029e-01 9.86314111e-01 2.00077912e-04 1.03649583e+01] [-2.22735380e-03 1.69481570e-04 9.99997505e-01 -2.48556657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.995898227 meters 0.06979201425462124 Centerline is valid? [True, True] Translation: X:227.94, Y:10.38, Z:-2.48 [[ 9.87397029e-01 -1.58231742e-01 3.13403797e-03 2.27937134e+02] [ 1.58231640e-01 9.87401979e-01 2.81840573e-04 1.03755960e+01] [-3.13915142e-03 2.17615423e-04 9.99995049e-01 -2.48368622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.055898227 meters 0.06789347431223984 Centerline is valid? [True, True] Translation: X:228.00, Y:10.38, Z:-2.48 [[ 9.88871266e-01 -1.48676658e-01 5.37317963e-03 2.27995909e+02] [ 1.48676219e-01 9.88885812e-01 4.83264734e-04 1.03836721e+01] [-5.38531129e-03 3.20977421e-04 9.99985448e-01 -2.48015163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.115898227 meters 0.05820715414897104 Centerline is valid? [True, True] Translation: X:228.06, Y:10.40, Z:-2.48 [[ 9.89669436e-01 -1.43296225e-01 4.53870794e-03 2.28055503e+02] [ 1.43295855e-01 9.89679812e-01 4.08293599e-04 1.04001332e+01] [-4.55037456e-03 2.46302340e-04 9.99989617e-01 -2.48250753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.175898227 meters 0.05336547514919316 Centerline is valid? [True, True] Translation: X:228.12, Y:10.41, Z:-2.48 [[ 9.90417796e-01 -1.38061089e-01 3.42406855e-03 2.28115010e+02] [ 1.38060848e-01 9.90423701e-01 3.08014765e-04 1.04104236e+01] [-3.43380350e-03 1.67666501e-04 9.99994090e-01 -2.48467775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.235898227 meters 0.04429861426824087 Centerline is valid? [True, True] Translation: X:228.17, Y:10.43, Z:-2.48 [[ 9.91783431e-01 -1.27861616e-01 4.12711904e-03 2.28173032e+02] [ 1.27861177e-01 9.91792005e-01 3.71280676e-04 1.04257432e+01] [-4.14071622e-03 1.59468274e-04 9.99991414e-01 -2.48410954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.295898227 meters 0.03751169699499687 Centerline is valid? [True, True] Translation: X:228.23, Y:10.44, Z:-2.49 [[ 9.92660219e-01 -1.20905610e-01 2.74277393e-03 2.28232529e+02] [ 1.20905389e-01 9.92664005e-01 2.46771171e-04 1.04378120e+01] [-2.75248897e-03 8.66562242e-05 9.99996208e-01 -2.48815101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.355898227 meters 0.027416387374661275 Centerline is valid? [True, True] Translation: X:228.29, Y:10.45, Z:-2.49 [[ 9.93547751e-01 -1.13387822e-01 2.46352997e-03 2.28291859e+02] [ 1.13387621e-01 9.93550803e-01 2.21648217e-04 1.04531763e+01] [-2.47277439e-03 5.91157143e-05 9.99996941e-01 -2.48908494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.41589822699999 meters 0.023175053037230307 Centerline is valid? [True, True] Translation: X:228.35, Y:10.46, Z:-2.49 [[ 9.94032952e-01 -1.09009069e-01 3.93862146e-03 2.28352264e+02] [ 1.09008520e-01 9.94040752e-01 3.54351888e-04 1.04625424e+01] [-3.95377780e-03 7.71058439e-05 9.99992181e-01 -2.48583783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.475898227 meters 0.019925609370090677 Centerline is valid? [True, True] Translation: X:228.41, Y:10.47, Z:-2.49 [[ 9.94607213e-01 -1.03632374e-01 4.10147691e-03 2.28411874e+02] [ 1.03631734e-01 9.94615668e-01 3.68950846e-04 1.04726658e+01] [-4.11762845e-03 5.80819922e-05 9.99991521e-01 -2.48546821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.535898227 meters 0.011007961604331191 Centerline is valid? [True, True] Translation: X:228.47, Y:10.49, Z:-2.48 [[ 9.95572236e-01 -9.38161693e-02 5.86935752e-03 2.28470474e+02] [ 9.38146874e-02 9.95589537e-01 5.27889246e-04 1.04946620e+01] [-5.89299548e-03 2.50800643e-05 9.99982636e-01 -2.48274953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.595898227 meters 0.00969364471531248 Centerline is valid? [True, True] Translation: X:228.53, Y:10.51, Z:-2.48 [[ 9.95883583e-01 -9.04030724e-02 6.57068711e-03 2.28532015e+02] [ 9.04011418e-02 9.95905259e-01 5.90837026e-04 1.05058490e+01] [-6.59719533e-03 5.59272375e-06 9.99978238e-01 -2.48240927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.655898227 meters 0.009619449877296932 Centerline is valid? [True, True] Translation: X:228.59, Y:10.51, Z:-2.49 [[ 9.96059297e-01 -8.85228422e-02 5.43896970e-03 2.28594257e+02] [ 8.85214925e-02 9.96074147e-01 4.88865491e-04 1.05122571e+01] [-5.46089287e-03 -5.47330145e-06 9.99985089e-01 -2.48619518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.715898227 meters 0.010753917737609637 Centerline is valid? [True, True] Translation: X:228.66, Y:10.52, Z:-2.49 [[ 9.96390252e-01 -8.47280548e-02 5.25569822e-03 2.28656357e+02] [ 8.47267430e-02 9.96404113e-01 4.72149683e-04 1.05195830e+01] [-5.27680364e-03 -2.51471494e-05 9.99986077e-01 -2.48709394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.775898227 meters 0.01245991823071093 Centerline is valid? [True, True] Translation: X:228.72, Y:10.53, Z:-2.49 [[ 9.96627781e-01 -8.19115582e-02 4.85418348e-03 2.28718436e+02] [ 8.19104068e-02 9.96639602e-01 4.35867120e-04 1.05275894e+01] [-4.87357404e-03 -3.67891371e-05 9.99988123e-01 -2.48759134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.835898227 meters 0.016931643007324984 Centerline is valid? [True, True] Translation: X:228.78, Y:10.53, Z:-2.49 [[ 9.96919850e-01 -7.83027215e-02 4.41540923e-03 2.28779582e+02] [ 7.83017342e-02 9.96929627e-01 3.96296252e-04 1.05337567e+01] [-4.43288335e-03 -4.93414000e-05 9.99990174e-01 -2.49051392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.895898227 meters 0.018098119946517544 Centerline is valid? [True, True] Translation: X:228.84, Y:10.54, Z:-2.49 [[ 9.96980095e-01 -7.74717647e-02 5.36806144e-03 2.28840966e+02] [ 7.74702957e-02 9.96994544e-01 4.81364142e-04 1.05366574e+01] [-5.38922010e-03 -6.40451608e-05 9.99985476e-01 -2.48921184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.955898227 meters 0.016062347570089425 Centerline is valid? [True, True] Translation: X:228.90, Y:10.53, Z:-2.49 [[ 9.96945169e-01 -7.78783228e-02 5.94104567e-03 2.28903555e+02] [ 7.78765320e-02 9.96962869e-01 5.32521329e-04 1.05332699e+01] [-5.96447381e-03 -6.82265331e-05 9.99982210e-01 -2.48873667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.015898227 meters 0.01647220031184647 Centerline is valid? [True, True] Translation: X:228.96, Y:10.53, Z:-2.49 [[ 9.96958876e-01 -7.77343420e-02 5.51098740e-03 2.28964604e+02] [ 7.77328002e-02 9.96974106e-01 4.93739578e-04 1.05323842e+01] [-5.53269226e-03 -6.38535723e-05 9.99984693e-01 -2.48958696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.075898227 meters 0.01857429868585033 Centerline is valid? [True, True] Translation: X:229.03, Y:10.54, Z:-2.49 [[ 9.97115881e-01 -7.57326563e-02 4.94829294e-03 2.29027028e+02] [ 7.57313894e-02 9.97128156e-01 4.43175844e-04 1.05356843e+01] [-4.96764510e-03 -6.71565725e-05 9.99987659e-01 -2.49050440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.135898227 meters 0.02069473694042657 Centerline is valid? [True, True] Translation: X:229.09, Y:10.54, Z:-2.49 [[ 9.97307169e-01 -7.30953788e-02 5.95625016e-03 2.29088892e+02] [ 7.30934981e-02 9.97324950e-01 5.33130888e-04 1.05393518e+01] [-5.97928630e-03 -9.63320973e-05 9.99982119e-01 -2.48912587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.195898227 meters 0.027205286315216622 Centerline is valid? [True, True] Translation: X:229.15, Y:10.55, Z:-2.49 [[ 9.97631116e-01 -6.84717290e-02 6.61652442e-03 2.29148292e+02] [ 6.84693087e-02 9.97653048e-01 5.91878986e-04 1.05451280e+01] [-6.64152273e-03 -1.37448040e-04 9.99977935e-01 -2.48827093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.255898227 meters 0.026891890699838578 Centerline is valid? [True, True] Translation: X:229.21, Y:10.54, Z:-2.49 [[ 9.97813189e-01 -6.58030500e-02 6.22880361e-03 2.29210984e+02] [ 6.58008552e-02 9.97832620e-01 5.56865143e-04 1.05439241e+01] [-6.25194685e-03 -1.45786779e-04 9.99980446e-01 -2.48969012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.315898227 meters 0.029317991567308233 Centerline is valid? [True, True] Translation: X:229.27, Y:10.55, Z:-2.49 [[ 9.98007602e-01 -6.28684045e-02 5.32818541e-03 2.29273081e+02] [ 6.28667579e-02 9.98021815e-01 4.76124078e-04 1.05463352e+01] [-5.34757844e-03 -1.40209707e-04 9.99985692e-01 -2.49200835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.375898227 meters 0.03661965774905533 Centerline is valid? [True, True] Translation: X:229.33, Y:10.55, Z:-2.49 [[ 9.98343426e-01 -5.72783004e-02 5.44060985e-03 2.29332717e+02] [ 5.72765021e-02 9.98358235e-01 4.85906419e-04 1.05510759e+01] [-5.45950954e-03 -1.73482378e-04 9.99985082e-01 -2.49076112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.435898227 meters 0.04035940445379725 Centerline is valid? [True, True] Translation: X:229.39, Y:10.55, Z:-2.49 [[ 9.98626838e-01 -5.20859152e-02 5.61218545e-03 2.29392891e+02] [ 5.20839204e-02 9.98642586e-01 5.01109733e-04 1.05543163e+01] [-5.63066815e-03 -2.08117008e-04 9.99984126e-01 -2.49159335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.495898227 meters 0.04463306291194047 Centerline is valid? [True, True] Translation: X:229.45, Y:10.56, Z:-2.49 [[ 9.98868166e-01 -4.73056451e-02 4.95604289e-03 2.29453538e+02] [ 4.73040308e-02 9.98880440e-01 4.42500299e-04 1.05585890e+01] [-4.97142706e-03 -2.07558657e-04 9.99987621e-01 -2.49314533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.555898227 meters 0.05165363827812166 Centerline is valid? [True, True] Translation: X:229.51, Y:10.56, Z:-2.50 [[ 9.99067220e-01 -4.29859160e-02 4.11119501e-03 2.29513485e+02] [ 4.29847688e-02 9.99075660e-01 3.67048124e-04 1.05618539e+01] [-4.12317277e-03 -1.89986982e-04 9.99991482e-01 -2.49551179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.615898227 meters 0.052081017544911096 Centerline is valid? [True, True] Translation: X:229.58, Y:10.56, Z:-2.50 [[ 9.99093535e-01 -4.23646491e-02 4.16475035e-03 2.29575902e+02] [ 4.23634660e-02 9.99102196e-01 3.71923826e-04 1.05593265e+01] [-4.17676765e-03 -1.95153430e-04 9.99991258e-01 -2.49592872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.675898227 meters 0.05248149375929734 Centerline is valid? [True, True] Translation: X:229.64, Y:10.56, Z:-2.50 [[ 9.99079262e-01 -4.26472508e-02 4.67338072e-03 2.29638084e+02] [ 4.26457653e-02 9.99090168e-01 4.17106887e-04 1.05554812e+01] [-4.68691719e-03 -2.17422943e-04 9.99988993e-01 -2.49644830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.735898227 meters 0.05156486146959905 Centerline is valid? [True, True] Translation: X:229.70, Y:10.55, Z:-2.50 [[ 9.99044491e-01 -4.34750425e-02 4.47499380e-03 2.29700548e+02] [ 4.34736905e-02 9.99054493e-01 3.99009861e-04 1.05458793e+01] [-4.48810963e-03 -2.04084108e-04 9.99989908e-01 -2.49739837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.795898227 meters 0.05305671692191801 Centerline is valid? [True, True] Translation: X:229.76, Y:10.54, Z:-2.50 [[ 9.99053373e-01 -4.32318140e-02 4.83403254e-03 2.29762994e+02] [ 4.32302341e-02 9.99065044e-01 4.30905515e-04 1.05449452e+01] [-4.84814176e-03 -2.21521250e-04 9.99988223e-01 -2.49644435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.855898227 meters 0.04914473258663141 Centerline is valid? [True, True] Translation: X:229.82, Y:10.54, Z:-2.50 [[ 9.99127229e-01 -4.15184991e-02 4.58198674e-03 2.29824891e+02] [ 4.15170626e-02 9.99137712e-01 4.08221209e-04 1.05362093e+01] [-4.59498448e-03 -2.17634295e-04 9.99989419e-01 -2.49790227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.91589822699999 meters 0.0655785774634408 Centerline is valid? [True, True] Translation: X:229.88, Y:10.55, Z:-2.50 [[ 9.99362373e-01 -3.52720717e-02 5.54338609e-03 2.29883556e+02] [ 3.52698737e-02 9.99377702e-01 4.93801069e-04 1.05532446e+01] [-5.55735384e-03 -2.97971681e-04 9.99984513e-01 -2.49631521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.975898227 meters 0.07046817409541878 Centerline is valid? [True, True] Translation: X:229.94, Y:10.56, Z:-2.50 [[ 9.99558655e-01 -2.92614813e-02 5.12447597e-03 2.29943763e+02] [ 2.92595241e-02 9.99571744e-01 4.56500735e-04 1.05620864e+01] [-5.13563927e-03 -3.06359533e-04 9.99986766e-01 -2.49769260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.035898227 meters 0.07563086968124252 Centerline is valid? [True, True] Translation: X:230.00, Y:10.57, Z:-2.50 [[ 9.99732158e-01 -2.25302211e-02 5.29164274e-03 2.30003574e+02] [ 2.25280402e-02 9.99746100e-01 4.71380284e-04 1.05728401e+01] [-5.30091949e-03 -3.52043688e-04 9.99985888e-01 -2.49823060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.095898227 meters 0.0803118073663117 Centerline is valid? [True, True] Translation: X:230.06, Y:10.59, Z:-2.50 [[ 9.99904302e-01 -1.32000594e-02 4.14074539e-03 2.30063060e+02] [ 1.31986445e-02 9.99912826e-01 3.68849331e-04 1.05878659e+01] [-4.14525326e-03 -3.14161806e-04 9.99991359e-01 -2.50098754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.155898227 meters 0.08898022866367179 Centerline is valid? [True, True] Translation: X:230.12, Y:10.61, Z:-2.50 [[ 9.99926858e-01 -1.16627506e-02 3.20307629e-03 2.30121699e+02] [ 1.16618961e-02 9.99931957e-01 2.85329780e-04 1.06088924e+01] [-3.20618607e-03 -2.47954967e-04 9.99994829e-01 -2.50361849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.215898227 meters 0.08139828984175866 Centerline is valid? [True, True] Translation: X:230.18, Y:10.61, Z:-2.50 [[ 9.99873262e-01 -1.49641046e-02 5.43462287e-03 2.30182909e+02] [ 1.49616936e-02 9.99887950e-01 4.84011736e-04 1.06077785e+01] [-5.44125672e-03 -4.02639231e-04 9.99985115e-01 -2.50050222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.275898227 meters 0.07110636911241448 Centerline is valid? [True, True] Translation: X:230.25, Y:10.60, Z:-2.50 [[ 9.99653111e-01 -2.50372956e-02 8.17262889e-03 2.30245185e+02] [ 2.50321791e-02 9.99686381e-01 7.27761473e-04 1.05971483e+01] [-8.18828698e-03 -5.22930310e-04 9.99966339e-01 -2.49747417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.335898227 meters 0.0655124132562994 Centerline is valid? [True, True] Translation: X:230.31, Y:10.60, Z:-2.50 [[ 9.99532186e-01 -2.98357145e-02 6.72600971e-03 2.30305279e+02] [ 2.98323574e-02 9.99554737e-01 5.98919595e-04 1.05986183e+01] [-6.74088406e-03 -3.97986686e-04 9.99977201e-01 -2.50002940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.395898227 meters 0.06283359319951619 Centerline is valid? [True, True] Translation: X:230.37, Y:10.60, Z:-2.50 [[ 9.99447643e-01 -3.27656485e-02 5.55167631e-03 2.30366152e+02] [ 3.27634063e-02 9.99463013e-01 4.94353151e-04 1.05985234e+01] [-5.56489293e-03 -3.12188265e-04 9.99984467e-01 -2.50159779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.455898227 meters 0.06135631356267227 Centerline is valid? [True, True] Translation: X:230.43, Y:10.60, Z:-2.50 [[ 9.99373508e-01 -3.51548918e-02 4.08956866e-03 2.30427140e+02] [ 3.51536952e-02 9.99381852e-01 3.64149873e-04 1.05975767e+01] [-4.09984235e-03 -2.20158286e-04 9.99991571e-01 -2.50410294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.515898227 meters 0.0615967738838726 Centerline is valid? [True, True] Translation: X:230.49, Y:10.60, Z:-2.50 [[ 9.99387431e-01 -3.46281912e-02 5.06469801e-03 2.30489614e+02] [ 3.46263495e-02 9.99400226e-01 4.50906192e-04 1.05995156e+01] [-5.07727440e-03 -2.75257978e-04 9.99987073e-01 -2.50245934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.575898227 meters 0.05635678404576565 Centerline is valid? [True, True] Translation: X:230.55, Y:10.59, Z:-2.50 [[ 9.99430584e-01 -3.31569841e-02 6.25481377e-03 2.30551460e+02] [ 3.31541484e-02 9.99450095e-01 5.56528782e-04 1.05936769e+01] [-6.26982704e-03 -3.48838862e-04 9.99980284e-01 -2.50048761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.635898227 meters 0.06350646129406273 Centerline is valid? [True, True] Translation: X:230.61, Y:10.60, Z:-2.50 [[ 9.99501833e-01 -3.07507671e-02 7.10468581e-03 2.30611033e+02] [ 3.07470493e-02 9.99526998e-01 6.31949285e-04 1.05992433e+01] [-7.12075820e-03 -4.13186343e-04 9.99974562e-01 -2.50100160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.695898227 meters 0.05892251963427168 Centerline is valid? [True, True] Translation: X:230.67, Y:10.59, Z:-2.50 [[ 9.99510379e-01 -3.08279312e-02 5.35167225e-03 2.30674600e+02] [ 3.08258229e-02 9.99524658e-01 4.76007903e-04 1.05914149e+01] [-5.36380271e-03 -3.10805138e-04 9.99985566e-01 -2.50482444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.755898227 meters 0.05835073586937043 Centerline is valid? [True, True] Translation: X:230.74, Y:10.59, Z:-2.50 [[ 9.99496593e-01 -3.09942364e-02 6.77627901e-03 2.30737882e+02] [ 3.09908629e-02 9.99519486e-01 6.02305952e-04 1.05872555e+01] [-6.79169093e-03 -3.92000013e-04 9.99976859e-01 -2.50304347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.815898227 meters 0.06128444423742923 Centerline is valid? [True, True] Translation: X:230.80, Y:10.58, Z:-2.50 [[ 9.99511350e-01 -2.99454876e-02 8.96268964e-03 2.30800379e+02] [ 2.99395483e-02 9.99551394e-01 7.96143242e-04 1.05810358e+01] [-8.98250982e-03 -5.27415328e-04 9.99959517e-01 -2.50032262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.875898227 meters 0.06743908567822764 Centerline is valid? [True, True] Translation: X:230.86, Y:10.59, Z:-2.50 [[ 9.99571158e-01 -2.81526935e-02 8.05761142e-03 2.30859452e+02] [ 2.81478360e-02 9.99603515e-01 7.15636164e-04 1.05914526e+01] [-8.07456378e-03 -4.88524944e-04 9.99967281e-01 -2.50128847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.935898227 meters 0.07339162326791636 Centerline is valid? [True, True] Translation: X:230.92, Y:10.59, Z:-2.51 [[ 9.99744160e-01 -2.18144281e-02 5.97868029e-03 2.30919713e+02] [ 2.18116409e-02 9.99761957e-01 5.30993273e-04 1.05949747e+01] [-5.98884042e-03 -4.00452597e-04 9.99981987e-01 -2.50588098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.995898227 meters 0.07701596497922532 Centerline is valid? [True, True] Translation: X:230.98, Y:10.60, Z:-2.51 [[ 9.99831258e-01 -1.72704340e-02 6.25995773e-03 2.30979728e+02] [ 1.72672899e-02 9.99850755e-01 5.55953460e-04 1.05996071e+01] [-6.26862502e-03 -4.47767142e-04 9.99980252e-01 -2.50602470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.055898227 meters 0.07342723657088822 Centerline is valid? [True, True] Translation: X:231.04, Y:10.60, Z:-2.51 [[ 9.99908685e-01 -1.29774113e-02 3.76949312e-03 2.31040262e+02] [ 1.29762410e-02 9.99915749e-01 3.34753789e-04 1.05967296e+01] [-3.77351978e-03 -2.85809370e-04 9.99992839e-01 -2.51094525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.115898227 meters 0.0786747781711905 Centerline is valid? [True, True] Translation: X:231.10, Y:10.61, Z:-2.51 [[ 9.99963760e-01 -8.13087735e-03 2.52343875e-03 2.31100439e+02] [ 8.13033750e-03 9.99966923e-01 2.24117959e-04 1.06051359e+01] [-2.52517755e-03 -2.03593428e-04 9.99996791e-01 -2.51413729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.175898227 meters 0.09075321774920556 Centerline is valid? [True, True] Translation: X:231.16, Y:10.63, Z:-2.51 [[ 9.99988155e-01 -3.45869683e-03 3.42448833e-03 2.31157965e+02] [ 3.45767526e-03 9.99993976e-01 3.04189006e-04 1.06252356e+01] [-3.42551980e-03 -2.92344634e-04 9.99994090e-01 -2.51307324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.235898227 meters 0.09540510688174748 Centerline is valid? [True, True] Translation: X:231.22, Y:10.64, Z:-2.51 [[ 9.99993234e-01 2.59340821e-03 2.60873960e-03 2.31217832e+02] [-2.59402112e-03 9.99996609e-01 2.31586903e-04 1.06377263e+01] [-2.60813015e-03 -2.38352462e-04 9.99996570e-01 -2.51468603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.295898227 meters 0.0954446222947001 Centerline is valid? [True, True] Translation: X:231.28, Y:10.64, Z:-2.51 [[ 9.99965651e-01 7.48889266e-03 3.55158102e-03 2.31277960e+02] [-7.49005917e-03 9.99971899e-01 3.15259896e-04 1.06441951e+01] [-3.54912027e-03 -3.41850619e-04 9.99993643e-01 -2.51382886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.355898227 meters 0.09844122897030014 Centerline is valid? [True, True] Translation: X:231.34, Y:10.65, Z:-2.51 [[ 9.99964580e-01 7.18980891e-03 4.37544622e-03 2.31337258e+02] [-7.19157669e-03 9.99974065e-01 3.88423577e-04 1.06547798e+01] [-4.37254005e-03 -4.19876177e-04 9.99990352e-01 -2.51315494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.41589822699999 meters 0.10135419013163466 Centerline is valid? [True, False] Translation: X:231.34, Y:10.66, Z:-2.51 [[ 9.99965369e-01 7.10583752e-03 4.33209037e-03 2.31337344e+02] [-7.10672658e-03 9.99974729e-01 1.89868287e-04 1.06556701e+01] [-4.33063172e-03 -2.20648694e-04 9.99990598e-01 -2.51306882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.475898227 meters 0.10998953618370617 Centerline is valid? [False, False] Translation: X:231.35, Y:10.66, Z:-2.51 [[ 9.99984344e-01 5.50460586e-03 1.00564352e-03 2.31354793e+02] [-5.51173011e-03 9.99958713e-01 7.22444559e-03 1.06589593e+01] [-9.65834276e-04 -7.22987532e-03 9.99973398e-01 -2.50582176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.535898227 meters 0.10109036054936503 Centerline is valid? [False, False] Translation: X:231.35, Y:10.66, Z:-2.51 [[ 9.99999042e-01 7.29043930e-04 1.17657410e-03 2.31354342e+02] [-7.30950793e-04 9.99998419e-01 1.62107599e-03 1.06643536e+01] [-1.17539041e-03 -1.62193446e-03 9.99997994e-01 -2.50615277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.595898227 meters 0.10310544217282376 Centerline is valid? [False, False] Translation: X:231.35, Y:10.67, Z:-2.51 [[ 9.99999252e-01 4.74191071e-04 1.12713888e-03 2.31354520e+02] [-4.75348328e-04 9.99999360e-01 1.02667459e-03 1.06670076e+01] [-1.12665132e-03 -1.02720961e-03 9.99998838e-01 -2.50625321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.655898227 meters 0.09329969050659442 Centerline is valid? [False, True] Translation: X:231.35, Y:10.67, Z:-2.50 [[ 9.99996445e-01 -1.56294782e-03 2.16034304e-03 2.31348330e+02] [ 1.56579829e-03 9.99997905e-01 -1.31839242e-03 1.06715797e+01] [-2.15827794e-03 1.32177040e-03 9.99996797e-01 -2.50156170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.715898227 meters 0.09072840278740872 Centerline is valid? [True, True] Translation: X:231.41, Y:10.68, Z:-2.50 [[ 9.99980484e-01 -6.00697336e-03 1.71696665e-03 2.31408773e+02] [ 6.00671176e-03 9.99981947e-01 1.57477257e-04 1.06759711e+01] [-1.71788162e-03 -1.47160860e-04 9.99998514e-01 -2.50257546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.775898227 meters 0.08188548493773382 Centerline is valid? [True, True] Translation: X:231.47, Y:10.68, Z:-2.50 [[ 9.99964069e-01 -8.47299434e-03 -2.63999501e-04 2.31469373e+02] [ 8.47298824e-03 9.99964103e-01 -2.42132158e-05 1.06754410e+01] [ 2.64195183e-04 2.19754812e-05 9.99999965e-01 -2.50448565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.835898227 meters 0.09240863683318547 Centerline is valid? [True, True] Translation: X:231.53, Y:10.70, Z:-2.51 [[ 9.99959812e-01 -8.79930758e-03 -1.71643850e-03 2.31527862e+02] [ 8.79905029e-03 9.99961275e-01 -1.57391411e-04 1.06966464e+01] [ 1.71775697e-03 1.42282057e-04 9.99998515e-01 -2.50739970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.895898227 meters 0.08010326394870795 Centerline is valid? [True, True] Translation: X:231.59, Y:10.69, Z:-2.51 [[ 9.99940208e-01 -1.06836969e-02 -2.33237637e-03 2.31589193e+02] [ 1.06832269e-02 9.99942910e-01 -2.13879899e-04 1.06890092e+01] [ 2.33452825e-03 1.88949805e-04 9.99997257e-01 -2.50774634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.955898227 meters 0.08265827885698915 Centerline is valid? [True, True] Translation: X:231.65, Y:10.70, Z:-2.50 [[ 9.99875750e-01 -1.57543954e-02 5.32412565e-04 2.31648922e+02] [ 1.57543716e-02 9.99875891e-01 4.88232682e-05 1.06952756e+01] [-5.33115669e-04 -4.04293765e-05 9.99999857e-01 -2.50456576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.015898227 meters 0.06499089806405955 Centerline is valid? [True, True] Translation: X:231.71, Y:10.68, Z:-2.50 [[ 9.99788215e-01 -2.04411523e-02 2.38420369e-03 2.31711500e+02] [ 2.04406888e-02 9.99791043e-01 2.18630132e-04 1.06781322e+01] [-2.38817455e-03 -1.69849064e-04 9.99997134e-01 -2.50058581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.075898227 meters 0.07662401066524846 Centerline is valid? [True, True] Translation: X:231.77, Y:10.69, Z:-2.50 [[ 9.99732989e-01 -2.30661100e-02 1.38007322e-03 2.31769894e+02] [ 2.30659572e-02 9.99733937e-01 1.26542915e-04 1.06927000e+01] [-1.38262488e-03 -9.46764173e-05 9.99999040e-01 -2.50281364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.135898227 meters 0.08340394559558023 Centerline is valid? [True, True] Translation: X:231.83, Y:10.71, Z:-2.50 [[ 9.99781498e-01 -2.09034872e-02 -3.73423656e-05 2.31828505e+02] [ 2.09034871e-02 9.99781498e-01 -3.43620011e-06 1.07057734e+01] [ 3.74060348e-05 2.65486364e-06 9.99999999e-01 -2.50439662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.195898227 meters 0.08289744202044243 Centerline is valid? [True, True] Translation: X:231.89, Y:10.71, Z:-2.50 [[ 9.99822232e-01 -1.88531751e-02 2.48865436e-04 2.31889193e+02] [ 1.88531700e-02 9.99822263e-01 2.28301941e-05 1.07078246e+01] [-2.49251625e-04 -1.81342332e-05 9.99999969e-01 -2.50409898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.255898227 meters 0.07886966702638251 Centerline is valid? [True, True] Translation: X:231.95, Y:10.70, Z:-2.50 [[ 9.99846188e-01 -1.75350131e-02 -3.50689274e-04 2.31950958e+02] [ 1.75350029e-02 9.99846250e-01 -3.21233141e-05 1.07028178e+01] [ 3.51198638e-04 2.59690357e-05 9.99999938e-01 -2.50496745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.315898227 meters 0.07682487405877553 Centerline is valid? [True, True] Translation: X:232.01, Y:10.70, Z:-2.51 [[ 9.99830427e-01 -1.83448598e-02 -1.60722894e-03 2.32011987e+02] [ 1.83446465e-02 9.99831712e-01 -1.47358497e-04 1.06969957e+01] [ 1.60966173e-03 1.17849462e-04 9.99998698e-01 -2.50727872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.375898227 meters 0.07862017910323861 Centerline is valid? [True, True] Translation: X:232.07, Y:10.70, Z:-2.51 [[ 9.99853756e-01 -1.67961278e-02 -3.21814110e-03 2.32071892e+02] [ 1.67952645e-02 9.99858906e-01 -2.95109360e-04 1.06999100e+01] [ 3.22264374e-03 2.41016671e-04 9.99994778e-01 -2.51060521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.435898227 meters 0.08063708073657154 Centerline is valid? [True, True] Translation: X:232.13, Y:10.71, Z:-2.51 [[ 9.99915245e-01 -1.26370140e-02 -3.13182300e-03 2.32131718e+02] [ 1.26361759e-02 9.99920119e-01 -2.87244549e-04 1.07052038e+01] [ 3.13520274e-03 2.47645937e-04 9.99995055e-01 -2.50979632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.495898227 meters 0.09201445074552304 Centerline is valid? [True, True] Translation: X:232.19, Y:10.73, Z:-2.51 [[ 9.99991274e-01 -4.03921862e-03 -1.06579933e-03 2.32189576e+02] [ 4.03911672e-03 9.99991838e-01 -9.77427851e-05 1.07251917e+01] [ 1.06618544e-03 9.34370443e-05 9.99999427e-01 -2.50590273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.555898227 meters 0.09897831779829143 Centerline is valid? [True, True] Translation: X:232.25, Y:10.74, Z:-2.51 [[ 9.99998450e-01 1.75391258e-03 -1.55853382e-04 2.32249207e+02] [-1.75391483e-03 9.99998462e-01 -1.42962285e-05 1.07410267e+01] [ 1.55828068e-04 1.45695599e-05 9.99999988e-01 -2.50510577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.615898227 meters 0.09270338001557826 Centerline is valid? [True, True] Translation: X:232.31, Y:10.74, Z:-2.51 [[ 9.99984389e-01 5.53535872e-03 -7.63193630e-04 2.32309706e+02] [-5.53541374e-03 9.99984677e-01 -6.99989386e-05 1.07410234e+01] [ 7.62794466e-04 7.42224384e-05 9.99999706e-01 -2.50724057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.675898227 meters 0.0969613025515996 Centerline is valid? [True, True] Translation: X:232.37, Y:10.76, Z:-2.51 [[ 9.99977420e-01 6.71788307e-03 -1.72701355e-04 2.32367547e+02] [-6.71788592e-03 9.99977435e-01 -1.58776155e-05 1.07551433e+01] [ 1.72590794e-04 1.70374449e-05 9.99999985e-01 -2.50748252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.735898227 meters 0.09463670423556624 Centerline is valid? [True, True] Translation: X:232.43, Y:10.76, Z:-2.50 [[ 9.99990450e-01 4.01899146e-03 1.71687867e-03 2.32427560e+02] [-4.01926775e-03 9.99991910e-01 1.57502998e-04 1.07600376e+01] [-1.71623178e-03 -1.64402089e-04 9.99998514e-01 -2.50352902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.795898227 meters 0.10623860297917274 Centerline is valid? [True, False] Translation: X:232.45, Y:10.76, Z:-2.50 [[ 9.99998577e-01 -1.09130519e-03 1.28650450e-03 2.32448462e+02] [ 1.08474690e-03 9.99986470e-01 5.08747637e-03 1.07631853e+01] [-1.29203908e-03 -5.08607360e-03 9.99986231e-01 -2.50184320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.855898227 meters 0.09612647798194801 Centerline is valid? [False, True] Translation: X:232.45, Y:10.76, Z:-2.50 [[ 9.99998597e-01 -1.21124747e-03 1.15705771e-03 2.32449201e+02] [ 1.20567169e-03 9.99987717e-01 4.80753177e-03 1.07643958e+01] [-1.16286661e-03 -4.80612999e-03 9.99987774e-01 -2.50260482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.91589822699999 meters 0.09666821159351083 Centerline is valid? [True, True] Translation: X:232.51, Y:10.77, Z:-2.50 [[ 9.99997045e-01 -1.66976356e-03 1.76708002e-03 2.32509538e+02] [ 1.66947477e-03 9.99998593e-01 1.64889079e-04 1.07747468e+01] [-1.76735286e-03 -1.61938496e-04 9.99998425e-01 -2.50335455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.975898227 meters 0.09793299115474692 Centerline is valid? [True, True] Translation: X:232.57, Y:10.78, Z:-2.50 [[ 9.99989436e-01 -2.24497314e-03 4.01092406e-03 2.32570405e+02] [ 2.24349031e-03 9.99997413e-01 3.74158843e-04 1.07835870e+01] [-4.01175366e-03 -3.65156421e-04 9.99991886e-01 -2.49989304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.035898227 meters 0.0953068593995875 Centerline is valid? [True, True] Translation: X:232.63, Y:10.79, Z:-2.50 [[ 9.99979964e-01 -5.64382612e-03 2.86677351e-03 2.32630769e+02] [ 5.64308271e-03 9.99984042e-01 2.67344692e-04 1.07864636e+01] [-2.86823661e-03 -2.51161895e-04 9.99995855e-01 -2.50006253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.095898227 meters 0.09465534466330469 Centerline is valid? [True, True] Translation: X:232.69, Y:10.79, Z:-2.50 [[ 9.99974912e-01 -7.08273853e-03 1.03231220e-04 2.32691280e+02] [ 7.08273757e-03 9.99974917e-01 9.68100219e-06 1.07923312e+01] [-1.03297198e-04 -8.94959968e-06 9.99999995e-01 -2.50472646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.155898227 meters 0.09723212475140618 Centerline is valid? [True, True] Translation: X:232.75, Y:10.80, Z:-2.51 [[ 9.99976252e-01 -6.84160782e-03 8.29867117e-04 2.32751483e+02] [ 6.84154590e-03 9.99976593e-01 7.74281161e-05 1.08020787e+01] [-8.30377426e-04 -7.17487033e-05 9.99999653e-01 -2.50525860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.215898227 meters 0.08676923135956413 Centerline is valid? [True, True] Translation: X:232.81, Y:10.80, Z:-2.50 [[ 9.99973498e-01 -6.08050815e-03 4.00375773e-03 2.32813263e+02] [ 6.07906182e-03 9.99981453e-01 3.73315540e-04 1.07977421e+01] [-4.00595342e-03 -3.48966556e-04 9.99991915e-01 -2.49999446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.275898227 meters 0.08990555638215701 Centerline is valid? [True, True] Translation: X:232.87, Y:10.81, Z:-2.50 [[ 9.99978990e-01 -5.91314009e-03 2.65602010e-03 2.32873300e+02] [ 5.91250300e-03 9.99982490e-01 2.47652290e-04 1.08096999e+01] [-2.65743799e-03 -2.31943360e-04 9.99996442e-01 -2.50131180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.335898227 meters 0.09191669386441716 Centerline is valid? [True, True] Translation: X:232.94, Y:10.82, Z:-2.51 [[ 9.99980234e-01 -6.28187749e-03 2.62351365e-04 2.32935311e+02] [ 6.28187124e-03 9.99980269e-01 2.46598157e-05 1.08185581e+01] [-2.62501099e-04 -2.30112708e-05 9.99999965e-01 -2.50670213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.395898227 meters 0.09810521549728124 Centerline is valid? [True, True] Translation: X:232.99, Y:10.84, Z:-2.51 [[ 9.99969628e-01 -7.74665564e-03 8.56266569e-04 2.32994096e+02] [ 7.74659017e-03 9.99969992e-01 7.97447885e-05 1.08357755e+01] [-8.56858629e-04 -7.31092203e-05 9.99999630e-01 -2.50782007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.455898227 meters 0.09250685397652547 Centerline is valid? [True, True] Translation: X:233.05, Y:10.84, Z:-2.50 [[ 9.99954681e-01 -8.86968533e-03 3.45891970e-03 2.33054867e+02] [ 8.86862374e-03 9.99960621e-01 3.22131951e-04 1.08367745e+01] [-3.46164071e-03 -2.91441495e-04 9.99993966e-01 -2.50376221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.515898227 meters 0.09181586911730615 Centerline is valid? [True, True] Translation: X:233.12, Y:10.84, Z:-2.50 [[ 9.99937094e-01 -1.04990823e-02 3.94692638e-03 2.33115761e+02] [ 1.04977126e-02 9.99944830e-01 3.67590974e-04 1.08442341e+01] [-3.95056800e-03 -3.26134151e-04 9.99992143e-01 -2.50204205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.575898227 meters 0.09956723934798718 Centerline is valid? [True, True] Translation: X:233.17, Y:10.86, Z:-2.50 [[ 9.99861711e-01 -1.64223028e-02 2.62033116e-03 2.33173649e+02] [ 1.64217194e-02 9.99865125e-01 2.43998791e-04 1.08638567e+01] [-2.62398476e-03 -2.00934706e-04 9.99996537e-01 -2.50409687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.635898227 meters 0.0760068520266003 Centerline is valid? [True, True] Translation: X:233.24, Y:10.84, Z:-2.50 [[ 9.99720948e-01 -2.30137760e-02 5.32839985e-03 2.33236870e+02] [ 2.30114566e-02 9.99735078e-01 4.96185765e-04 1.08391244e+01] [-5.33840735e-03 -3.73433061e-04 9.99985681e-01 -2.50165999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.695898227 meters 0.07486700940578603 Centerline is valid? [True, True] Translation: X:233.30, Y:10.85, Z:-2.50 [[ 9.99452535e-01 -3.22500490e-02 7.38672733e-03 2.33296189e+02] [ 3.22458429e-02 9.99479731e-01 6.87826329e-04 1.08456320e+01] [-7.40506667e-03 -4.49258519e-04 9.99972481e-01 -2.49680290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.755898227 meters 0.0514256530662684 Centerline is valid? [True, True] Translation: X:233.36, Y:10.82, Z:-2.50 [[ 9.98844882e-01 -4.74609998e-02 7.50698488e-03 2.33359429e+02] [ 4.74570834e-02 9.98873033e-01 6.99072455e-04 1.08204955e+01] [-7.53170344e-03 -3.42005336e-04 9.99971578e-01 -2.49579514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.815898227 meters 0.04126554986095059 Centerline is valid? [True, True] Translation: X:233.42, Y:10.81, Z:-2.50 [[ 9.98472968e-01 -5.46093585e-02 8.33964070e-03 2.33420770e+02] [ 5.46047742e-02 9.98507744e-01 7.76579339e-04 1.08119026e+01] [-8.36960432e-03 -3.20009281e-04 9.99964923e-01 -2.49553588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.875898227 meters 0.046391334471592674 Centerline is valid? [True, True] Translation: X:233.48, Y:10.82, Z:-2.50 [[ 9.98219963e-01 -5.90039322e-02 8.68570942e-03 2.33479851e+02] [ 5.89991256e-02 9.98257707e-01 8.08811468e-04 1.08227570e+01] [-8.71829942e-03 -2.94922492e-04 9.99961951e-01 -2.49519556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.935898227 meters 0.03822620234149929 Centerline is valid? [True, True] Translation: X:233.54, Y:10.82, Z:-2.50 [[ 9.98151618e-01 -6.04025174e-02 6.69952150e-03 2.33541651e+02] [ 6.03996893e-02 9.98174077e-01 6.23837398e-04 1.08162049e+01] [-6.72497004e-03 -2.18035291e-04 9.99977363e-01 -2.50025308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.995898227 meters 0.03868938477444217 Centerline is valid? [True, True] Translation: X:233.60, Y:10.82, Z:-2.51 [[ 9.98045639e-01 -6.23656648e-02 3.92768025e-03 2.33600965e+02] [ 6.23647081e-02 9.98053360e-01 3.65714111e-04 1.08206839e+01] [-3.94284247e-03 -1.20050741e-04 9.99992220e-01 -2.50591975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.055898227 meters 0.03238694323630037 Centerline is valid? [True, True] Translation: X:233.66, Y:10.82, Z:-2.51 [[ 9.97900804e-01 -6.46919321e-02 2.98998952e-03 2.33661961e+02] [ 6.46913883e-02 9.97905279e-01 2.78323309e-04 1.08159704e+01] [-3.00173160e-03 -8.43124810e-05 9.99995491e-01 -2.51005134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.115898227 meters 0.03092986547679087 Centerline is valid? [True, True] Translation: X:233.72, Y:10.82, Z:-2.51 [[ 9.97774141e-01 -6.64285363e-02 5.83212955e-03 2.33721220e+02] [ 6.64264956e-02 9.97791173e-01 5.43144234e-04 1.08199358e+01] [-5.85532767e-03 -1.54527344e-04 9.99982845e-01 -2.50589842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.175898227 meters 0.02270894283278436 Centerline is valid? [True, True] Translation: X:233.78, Y:10.81, Z:-2.50 [[ 9.97189134e-01 -7.46391961e-02 6.54376347e-03 2.33782937e+02] [ 7.46367979e-02 9.97210598e-01 6.10269955e-04 1.08112221e+01] [-6.57106034e-03 -1.20149017e-04 9.99978403e-01 -2.50475887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.235898227 meters 0.0158158386946105 Centerline is valid? [True, True] Translation: X:233.84, Y:10.80, Z:-2.51 [[ 9.96504833e-01 -8.33938688e-02 4.85591710e-03 2.33843623e+02] [ 8.33926520e-02 9.96516663e-01 4.52873634e-04 1.08009614e+01] [-4.87676919e-03 -4.63429599e-05 9.99988107e-01 -2.50856644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.295898227 meters 0.0099965826035745 Centerline is valid? [True, True] Translation: X:233.90, Y:10.79, Z:-2.51 [[ 9.95646842e-01 -9.29549883e-02 6.83632730e-03 2.33903265e+02] [ 9.29527983e-02 9.95670312e-01 6.38075507e-04 1.07892983e+01] [-6.86604044e-03 1.57888862e-07 9.99976428e-01 -2.50603498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.355898227 meters 0.0147131488615164 Centerline is valid? [True, True] Translation: X:233.96, Y:10.78, Z:-2.50 [[ 9.94671029e-01 -1.02719573e-01 8.84496206e-03 2.33963031e+02] [ 1.02716281e-01 9.94710351e-01 8.26878654e-04 1.07757336e+01] [-8.88311194e-03 8.60493700e-05 9.99960541e-01 -2.50425959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.41589822699999 meters 0.024217223524953493 Centerline is valid? [True, True] Translation: X:234.02, Y:10.76, Z:-2.51 [[ 9.93669336e-01 -1.12166143e-01 6.32505797e-03 2.34023967e+02] [ 1.12164649e-01 9.93689459e-01 5.91550367e-04 1.07577088e+01] [-6.35149536e-03 1.21642447e-04 9.99979822e-01 -2.50803422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.475898227 meters 0.025784086544842134 Centerline is valid? [True, True] Translation: X:234.08, Y:10.76, Z:-2.51 [[ 9.93454441e-01 -1.14086979e-01 5.69515442e-03 2.34082742e+02] [ 1.14085798e-01 9.93470758e-01 5.32877233e-04 1.07573268e+01] [-5.71876373e-03 1.20346983e-04 9.99983640e-01 -2.50943667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.535898227 meters 0.022423411395165894 Centerline is valid? [True, True] Translation: X:234.14, Y:10.77, Z:-2.51 [[ 9.93731242e-01 -1.11571964e-01 7.06506728e-03 2.34141000e+02] [ 1.11570073e-01 9.93756348e-01 6.62405334e-04 1.07678792e+01] [-7.09486133e-03 1.29997200e-04 9.99974823e-01 -2.50713637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.595898227 meters 0.020821294937650954 Centerline is valid? [True, True] Translation: X:234.20, Y:10.78, Z:-2.51 [[ 9.94091184e-01 -1.08301424e-01 7.31568885e-03 2.34197784e+02] [ 1.08299302e-01 9.94118096e-01 6.86866957e-04 1.07779527e+01] [-7.34704734e-03 1.09475605e-04 9.99973004e-01 -2.50707856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.655898227 meters 0.020008469814613822 Centerline is valid? [True, True] Translation: X:234.26, Y:10.79, Z:-2.51 [[ 9.94029287e-01 -1.08938110e-01 6.18586266e-03 2.34255328e+02] [ 1.08936601e-01 9.94048530e-01 5.81277420e-04 1.07861063e+01] [-6.21237095e-03 9.60600753e-05 9.99980698e-01 -2.51153742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.715898227 meters 0.023460696024966452 Centerline is valid? [True, True] Translation: X:234.31, Y:10.79, Z:-2.51 [[ 9.93786265e-01 -1.11154620e-01 5.78876686e-03 2.34313538e+02] [ 1.11153331e-01 9.93803119e-01 5.44879269e-04 1.07872043e+01] [-5.81346041e-03 1.01947188e-04 9.99983096e-01 -2.51348725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.775898227 meters 0.03621655723980813 Centerline is valid? [True, True] Translation: X:234.37, Y:10.78, Z:-2.52 [[ 9.92730024e-01 -1.20182281e-01 6.58171750e-03 2.34374269e+02] [ 1.20180811e-01 9.92751826e-01 6.19842578e-04 1.07845375e+01] [-6.60850616e-03 1.75659808e-04 9.99978148e-01 -2.51543786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.835898227 meters 0.03649183989087847 Centerline is valid? [True, True] Translation: X:234.43, Y:10.78, Z:-2.51 [[ 9.92096716e-01 -1.25265438e-01 7.25779591e-03 2.34434461e+02] [ 1.25263786e-01 9.92123237e-01 6.83553841e-04 1.07829172e+01] [-7.28625364e-03 2.30987475e-04 9.99973428e-01 -2.51252077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.895898227 meters 0.04073090929380698 Centerline is valid? [True, True] Translation: X:234.50, Y:10.78, Z:-2.51 [[ 9.91678830e-01 -1.28602921e-01 5.86399909e-03 2.34495125e+02] [ 1.28601901e-01 9.91696146e-01 5.52347631e-04 1.07847819e+01] [-5.88633882e-03 2.06369977e-04 9.99982654e-01 -2.51474738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.955898227 meters 0.04168394036156167 Centerline is valid? [True, True] Translation: X:234.55, Y:10.79, Z:-2.52 [[ 9.91479243e-01 -1.30136586e-01 5.77747851e-03 2.34552800e+02] [ 1.30135621e-01 9.91496053e-01 5.44250089e-04 1.07933771e+01] [-5.79917399e-03 2.12243087e-04 9.99983162e-01 -2.51628766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.015898227 meters 0.0401117409271359 Centerline is valid? [True, True] Translation: X:234.61, Y:10.81, Z:-2.51 [[ 9.91700341e-01 -1.28354361e-01 7.45594605e-03 2.34610543e+02] [ 1.28352700e-01 9.91728335e-01 7.02851059e-04 1.08058892e+01] [-7.48448696e-03 2.59973170e-04 9.99971957e-01 -2.51363284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.075898227 meters 0.038060212137789075 Centerline is valid? [True, True] Translation: X:234.67, Y:10.82, Z:-2.51 [[ 9.92034050e-01 -1.25747499e-01 7.48393786e-03 2.34669335e+02] [ 1.25745749e-01 9.92062250e-01 7.05799039e-04 1.08224145e+01] [-7.51328470e-03 2.40896691e-04 9.99971746e-01 -2.51189916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.135898227 meters 0.03598493428130694 Centerline is valid? [True, True] Translation: X:234.73, Y:10.85, Z:-2.51 [[ 9.92358382e-01 -1.23215340e-01 6.54381579e-03 2.34726641e+02] [ 1.23213946e-01 9.92379939e-01 6.17310902e-04 1.08460667e+01] [-6.57001369e-03 1.93695718e-04 9.99978398e-01 -2.51402202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.195898227 meters 0.0374005566683573 Centerline is valid? [True, True] Translation: X:234.78, Y:10.86, Z:-2.52 [[ 9.92182487e-01 -1.24637002e-01 6.28723772e-03 2.34783923e+02] [ 1.24635742e-01 9.92202389e-01 5.93293500e-04 1.08612108e+01] [-6.31215861e-03 1.94959117e-04 9.99980059e-01 -2.51553591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.255898227 meters 0.043778594444875016 Centerline is valid? [True, True] Translation: X:234.84, Y:10.88, Z:-2.51 [[ 9.91595751e-01 -1.29168797e-01 7.29992032e-03 2.34841412e+02] [ 1.29167219e-01 9.91622587e-01 6.89226568e-04 1.08768722e+01] [-7.32779244e-03 2.59476269e-04 9.99973118e-01 -2.51490313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.315898227 meters 0.04834756169370338 Centerline is valid? [True, True] Translation: X:234.90, Y:10.89, Z:-2.52 [[ 9.91097869e-01 -1.32985684e-01 6.31044395e-03 2.34900662e+02] [ 1.32984581e-01 9.91117927e-01 5.95906797e-04 1.08883074e+01] [-6.33364120e-03 2.48589790e-04 9.99979911e-01 -2.51759868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.375898227 meters 0.055183681930538256 Centerline is valid? [True, True] Translation: X:234.96, Y:10.90, Z:-2.52 [[ 9.89954373e-01 -1.41283855e-01 5.40486147e-03 2.34960515e+02] [ 1.41283169e-01 9.89969093e-01 5.10437742e-04 1.09006856e+01] [-5.42276242e-03 2.58305879e-04 9.99985263e-01 -2.52053732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.435898227 meters 0.056027043936106094 Centerline is valid? [True, True] Translation: X:235.02, Y:10.91, Z:-2.52 [[ 9.89141087e-01 -1.46852111e-01 5.86245276e-03 2.35020085e+02] [ 1.46851402e-01 9.89158410e-01 5.53664346e-04 1.09149711e+01] [-5.88020123e-03 3.13257253e-04 9.99982662e-01 -2.52076302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.495898227 meters 0.05975395906511465 Centerline is valid? [True, True] Translation: X:235.08, Y:10.92, Z:-2.52 [[ 9.88593164e-01 -1.50514657e-01 5.37525051e-03 2.35080230e+02] [ 1.50514114e-01 9.88607730e-01 5.07685748e-04 1.09238185e+01] [-5.39042835e-03 3.07156409e-04 9.99985424e-01 -2.52175063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.555898227 meters 0.06423543679997022 Centerline is valid? [True, True] Translation: X:235.14, Y:10.93, Z:-2.52 [[ 9.87975079e-01 -1.54525745e-01 5.19975408e-03 2.35140201e+02] [ 1.54525292e-01 9.87988711e-01 4.91124289e-04 1.09323095e+01] [-5.21318967e-03 3.18274959e-04 9.99986361e-01 -2.52338225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.615898227 meters 0.06501262560828658 Centerline is valid? [True, True] Translation: X:235.20, Y:10.94, Z:-2.52 [[ 9.87691036e-01 -1.56307739e-01 5.85725813e-03 2.35200326e+02] [ 1.56307196e-01 9.87708335e-01 5.53222435e-04 1.09415599e+01] [-5.87173563e-03 3.69118754e-04 9.99982693e-01 -2.52231646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.675898227 meters 0.0760172016783339 Centerline is valid? [True, True] Translation: X:235.26, Y:10.94, Z:-2.52 [[ 9.87242873e-01 -1.59094566e-01 6.35841887e-03 2.35260085e+02] [ 1.59093984e-01 9.87263260e-01 6.00557394e-04 1.09363503e+01] [-6.37297876e-03 4.18690180e-04 9.99979605e-01 -2.52084346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.735898227 meters 0.08341286929398876 Centerline is valid? [True, True] Translation: X:235.32, Y:10.94, Z:-2.53 [[ 9.86497342e-01 -1.63739420e-01 3.52074131e-03 2.35319765e+02] [ 1.63739271e-01 9.86503594e-01 3.32533448e-04 1.09387962e+01] [-3.52767279e-03 2.48440251e-04 9.99993747e-01 -2.52551842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.795898227 meters 0.08407991552395128 Centerline is valid? [True, True] Translation: X:235.38, Y:10.95, Z:-2.53 [[ 9.86555850e-01 -1.63409212e-01 2.23236412e-03 2.35377076e+02] [ 1.63409152e-01 9.86558364e-01 2.10711780e-04 1.09478285e+01] [-2.23678974e-03 1.56909789e-04 9.99997486e-01 -2.52634250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.855898227 meters 0.0694103585600087 Centerline is valid? [True, True] Translation: X:235.43, Y:10.98, Z:-2.53 [[ 9.86812787e-01 -1.61844440e-01 2.62706649e-03 2.35433919e+02] [ 1.61844350e-01 9.86816267e-01 2.48222365e-04 1.09788785e+01] [-2.63260536e-03 1.80226864e-04 9.99996518e-01 -2.52503569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.91589822699999 meters 0.0749938277804563 Centerline is valid? [True, True] Translation: X:235.49, Y:10.98, Z:-2.52 [[ 9.87214725e-01 -1.59330261e-01 4.57773792e-03 2.35493246e+02] [ 1.59329960e-01 9.87225292e-01 4.32727658e-04 1.09834032e+01] [-4.58820527e-03 3.02175683e-04 9.99989428e-01 -2.52215698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.975898227 meters 0.0685383572962194 Centerline is valid? [True, True] Translation: X:235.55, Y:11.00, Z:-2.52 [[ 9.87482798e-01 -1.57611155e-01 6.03715933e-03 2.35551557e+02] [ 1.57610598e-01 9.87501176e-01 5.70804704e-04 1.10007861e+01] [-6.05166713e-03 3.87860467e-04 9.99981613e-01 -2.51998493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.035898227 meters 0.06844830038683504 Centerline is valid? [True, True] Translation: X:235.61, Y:11.01, Z:-2.52 [[ 9.87779541e-01 -1.55753058e-01 5.70649224e-03 2.35609414e+02] [ 1.55752529e-01 9.87795960e-01 5.39673043e-04 1.10105442e+01] [-5.72090571e-03 3.55722610e-04 9.99983572e-01 -2.51974891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.095898227 meters 0.06795711658068236 Centerline is valid? [True, True] Translation: X:235.67, Y:11.02, Z:-2.52 [[ 9.87893804e-01 -1.55013417e-01 6.05572724e-03 2.35667922e+02] [ 1.55012805e-01 9.87912295e-01 5.73046543e-04 1.10210894e+01] [-6.07135730e-03 3.72606139e-04 9.99981500e-01 -2.51940744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.155898227 meters 0.06235701671953483 Centerline is valid? [True, True] Translation: X:235.73, Y:11.04, Z:-2.52 [[ 9.87671202e-01 -1.56468109e-01 4.82981278e-03 2.35726593e+02] [ 1.56467735e-01 9.87682965e-01 4.57605511e-04 1.10369862e+01] [-4.84192447e-03 3.03746081e-04 9.99988232e-01 -2.52150984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.215898227 meters 0.07197583538904956 Centerline is valid? [True, True] Translation: X:235.79, Y:11.03, Z:-2.52 [[ 9.87372258e-01 -1.58373717e-01 3.71346623e-03 2.35786705e+02] [ 1.58373509e-01 9.87379212e-01 3.51911053e-04 1.10336027e+01] [-3.72233282e-03 2.40647465e-04 9.99993043e-01 -2.52312398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.275898227 meters 0.06700814682720149 Centerline is valid? [True, True] Translation: X:235.85, Y:11.05, Z:-2.53 [[ 9.87092099e-01 -1.60135467e-01 2.41248511e-03 2.35845494e+02] [ 1.60135384e-01 9.87095034e-01 2.28630075e-04 1.10528820e+01] [-2.41796386e-03 1.60645290e-04 9.99997064e-01 -2.52656064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.335898227 meters 0.06844530214851142 Centerline is valid? [True, True] Translation: X:235.91, Y:11.06, Z:-2.53 [[ 9.86824568e-01 -1.61769044e-01 2.83705475e-03 2.35905968e+02] [ 1.61768936e-01 9.86828627e-01 2.68933701e-04 1.10569943e+01] [-2.84319199e-03 1.93556944e-04 9.99995939e-01 -2.52723566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.395898227 meters 0.07407334623649513 Centerline is valid? [True, True] Translation: X:235.97, Y:11.06, Z:-2.53 [[ 9.86064262e-01 -1.66336663e-01 3.06353176e-03 2.35966049e+02] [ 1.66336559e-01 9.86068996e-01 2.90390481e-04 1.10570713e+01] [-3.06915627e-03 2.23233658e-04 9.99995265e-01 -2.52866017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.455898227 meters 0.08301461292829167 Centerline is valid? [True, True] Translation: X:236.03, Y:11.05, Z:-2.53 [[ 9.84745494e-01 -1.73967357e-01 3.41628717e-03 2.36026635e+02] [ 1.73967274e-01 9.84751381e-01 3.23855642e-04 1.10523234e+01] [-3.42053382e-03 2.75406781e-04 9.99994112e-01 -2.52841273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.515898227 meters 0.08141453353490073 Centerline is valid? [True, True] Translation: X:236.09, Y:11.06, Z:-2.53 [[ 9.84266644e-01 -1.76677576e-01 2.05138933e-03 2.36086034e+02] [ 1.76677552e-01 9.84268767e-01 1.94449815e-04 1.10619422e+01] [-2.05347337e-03 1.71043979e-04 9.99997877e-01 -2.53082178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.575898227 meters 0.08511246163599877 Centerline is valid? [True, True] Translation: X:236.15, Y:11.07, Z:-2.53 [[ 9.84084417e-01 -1.77699136e-01 9.36446274e-04 2.36145061e+02] [ 1.77699131e-01 9.84084860e-01 8.86544423e-05 1.10651173e+01] [-9.37296418e-04 7.91622343e-05 9.99999558e-01 -2.53420215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.635898227 meters 0.08131231380269999 Centerline is valid? [True, True] Translation: X:236.20, Y:11.08, Z:-2.53 [[ 9.83927296e-01 -1.78563351e-01 1.48555512e-03 2.36203815e+02] [ 1.78563340e-01 9.83928409e-01 1.40825729e-04 1.10780937e+01] [-1.48682620e-03 1.26703405e-04 9.99998887e-01 -2.53343918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.695898227 meters 0.09569922211265323 Centerline is valid? [True, True] Translation: X:236.26, Y:11.07, Z:-2.53 [[ 9.83870954e-01 -1.78849822e-01 3.26917728e-03 2.36263167e+02] [ 1.78849771e-01 9.83876345e-01 3.10066118e-04 1.10682519e+01] [-3.27192146e-03 2.79626561e-04 9.99994608e-01 -2.53119854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.755898227 meters 0.08171895991722872 Centerline is valid? [True, True] Translation: X:236.32, Y:11.10, Z:-2.53 [[ 9.84223069e-01 -1.76873212e-01 4.56263606e-03 2.36321272e+02] [ 1.76873091e-01 9.84233571e-01 4.33136454e-04 1.10951383e+01] [-4.56730982e-03 3.80704655e-04 9.99989497e-01 -2.52922659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.815898227 meters 0.07822392190334922 Centerline is valid? [True, True] Translation: X:236.38, Y:11.12, Z:-2.53 [[ 9.85348082e-01 -1.70474750e-01 5.24563564e-03 2.36378985e+02] [ 1.70474500e-01 9.85361962e-01 4.97992860e-04 1.11156099e+01] [-5.25374504e-03 4.03550803e-04 9.99986118e-01 -2.52925194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.875898227 meters 0.0725206821229152 Centerline is valid? [True, True] Translation: X:236.44, Y:11.14, Z:-2.53 [[ 9.85890703e-01 -1.67310713e-01 5.16203745e-03 2.36437485e+02] [ 1.67310428e-01 9.85904144e-01 4.90093371e-04 1.11378937e+01] [-5.17127198e-03 3.80484195e-04 9.99986556e-01 -2.52971064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.935898227 meters 0.07673370768441638 Centerline is valid? [True, True] Translation: X:236.50, Y:11.15, Z:-2.53 [[ 9.86080091e-01 -1.66151765e-01 6.29650561e-03 2.36495942e+02] [ 1.66151316e-01 9.86100087e-01 5.97986798e-04 1.11472312e+01] [-6.30834130e-03 4.56509820e-04 9.99979998e-01 -2.52812250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.995898227 meters 0.07002935584918582 Centerline is valid? [True, True] Translation: X:236.55, Y:11.18, Z:-2.53 [[ 9.85873127e-01 -1.67334647e-01 7.30028889e-03 2.36553010e+02] [ 1.67334074e-01 9.85900008e-01 6.93503693e-04 1.11770263e+01] [-7.31340207e-03 5.37880428e-04 9.99973112e-01 -2.52717859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.055898227 meters 0.08104045231212781 Centerline is valid? [True, True] Translation: X:236.61, Y:11.18, Z:-2.53 [[ 9.85660696e-01 -1.68553753e-01 7.91356466e-03 2.36611737e+02] [ 1.68553117e-01 9.85692285e-01 7.52041150e-04 1.11802077e+01] [-7.92709899e-03 5.92598583e-04 9.99968404e-01 -2.52544351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.115898227 meters 0.08216853223806066 Centerline is valid? [True, True] Translation: X:236.67, Y:11.20, Z:-2.53 [[ 9.85714716e-01 -1.68245893e-01 7.73420622e-03 2.36669006e+02] [ 1.68245270e-01 9.85744890e-01 7.35674126e-04 1.11974383e+01] [-7.74772841e-03 5.76078804e-04 9.99969820e-01 -2.52547571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.175898227 meters 0.076772915531918 Centerline is valid? [True, True] Translation: X:236.73, Y:11.23, Z:-2.53 [[ 9.86248111e-01 -1.65124108e-01 6.97795771e-03 2.36725574e+02] [ 1.65123519e-01 9.86272671e-01 6.64449608e-04 1.12323106e+01] [-6.99188564e-03 4.96912764e-04 9.99975433e-01 -2.52660396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.235898227 meters 0.07063812645982485 Centerline is valid? [True, True] Translation: X:236.79, Y:11.26, Z:-2.53 [[ 9.86343389e-01 -1.64481942e-01 8.50940882e-03 2.36785099e+02] [ 1.64481043e-01 9.86379912e-01 8.10214495e-04 1.12628653e+01] [-8.52677558e-03 6.00486727e-04 9.99963466e-01 -2.52504492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.295898227 meters 0.07109364657824523 Centerline is valid? [True, True] Translation: X:236.84, Y:11.28, Z:-2.52 [[ 9.85985456e-01 -1.66559058e-01 9.52689802e-03 2.36844417e+02] [ 1.66558029e-01 9.86031237e-01 9.06828817e-04 1.12796314e+01] [-9.54485960e-03 6.92661337e-04 9.99954207e-01 -2.52392416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.355898227 meters 0.08569642882213342 Centerline is valid? [True, True] Translation: X:236.90, Y:11.28, Z:-2.53 [[ 9.84958404e-01 -1.72652148e-01 6.94098638e-03 2.36903635e+02] [ 1.72651753e-01 9.84982708e-01 6.60704066e-04 1.12836003e+01] [-6.95082354e-03 5.47607442e-04 9.99975693e-01 -2.52807948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.41589822699999 meters 0.08183336042542477 Centerline is valid? [True, True] Translation: X:236.96, Y:11.31, Z:-2.53 [[ 9.84074113e-01 -1.77690420e-01 4.92498541e-03 2.36962450e+02] [ 1.77690283e-01 9.84086350e-01 4.68852202e-04 1.13077401e+01] [-4.92992146e-03 4.13736736e-04 9.99987762e-01 -2.53115953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.475898227 meters 0.09005673885762235 Centerline is valid? [True, True] Translation: X:237.02, Y:11.31, Z:-2.53 [[ 9.83776853e-01 -1.79323581e-01 5.11436201e-03 2.37022123e+02] [ 1.79323455e-01 9.83790049e-01 4.86856796e-04 1.13104964e+01] [-5.11876335e-03 4.38166618e-04 9.99986803e-01 -2.53037829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.535898227 meters 0.08916301458696972 Centerline is valid? [True, True] Translation: X:237.08, Y:11.32, Z:-2.53 [[ 9.83601083e-01 -1.80272733e-01 5.53628719e-03 2.37081737e+02] [ 1.80272602e-01 9.83616547e-01 5.26836880e-04 1.13242367e+01] [-5.54055802e-03 4.79843572e-04 9.99984536e-01 -2.53068096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.595898227 meters 0.08854032148396651 Centerline is valid? [True, True] Translation: X:237.14, Y:11.34, Z:-2.53 [[ 9.83454082e-01 -1.81098811e-01 4.61403810e-03 2.37141257e+02] [ 1.81098729e-01 9.83464823e-01 4.39033314e-04 1.13424642e+01] [-4.61725257e-03 4.03827332e-04 9.99989259e-01 -2.53308802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.655898227 meters 0.08239011670574678 Centerline is valid? [True, True] Translation: X:237.20, Y:11.36, Z:-2.53 [[ 9.83502223e-01 -1.80832818e-01 4.78208933e-03 2.37202048e+02] [ 1.80832727e-01 9.83513761e-01 4.54972258e-04 1.13619948e+01] [-4.78552458e-03 4.17292029e-04 9.99988462e-01 -2.53322451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.715898227 meters 0.081033666902206 Centerline is valid? [True, True] Translation: X:237.26, Y:11.38, Z:-2.53 [[ 9.83848182e-01 -1.78951535e-01 4.37075104e-03 2.37261691e+02] [ 1.78951442e-01 9.83857819e-01 4.15635424e-04 1.13759846e+01] [-4.37457618e-03 3.73230045e-04 9.99990362e-01 -2.53414765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.775898227 meters 0.0835644459589241 Centerline is valid? [True, True] Translation: X:237.32, Y:11.38, Z:-2.53 [[ 9.84584160e-01 -1.74828115e-01 5.40023979e-03 2.37321183e+02] [ 1.74827911e-01 9.84598872e-01 5.13512017e-04 1.13845378e+01] [-5.40684635e-03 4.38516845e-04 9.99985287e-01 -2.53373983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.835898227 meters 0.07372632149974487 Centerline is valid? [True, True] Translation: X:237.38, Y:11.41, Z:-2.53 [[ 9.85128084e-01 -1.71690822e-01 6.70221493e-03 2.37379648e+02] [ 1.71690435e-01 9.85150744e-01 6.37298157e-04 1.14062003e+01] [-6.71211027e-03 5.22885887e-04 9.99977337e-01 -2.53195109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.895898227 meters 0.078122964842884 Centerline is valid? [True, True] Translation: X:237.44, Y:11.41, Z:-2.53 [[ 9.85588316e-01 -1.69017263e-01 6.98824465e-03 2.37439392e+02] [ 1.69016776e-01 9.85612950e-01 6.64525334e-04 1.14093893e+01] [-7.00002069e-03 5.26182176e-04 9.99975361e-01 -2.53269361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.955898227 meters 0.06845761482551864 Centerline is valid? [True, True] Translation: X:237.50, Y:11.43, Z:-2.53 [[ 9.85817502e-01 -1.67626096e-01 8.08356991e-03 2.37499044e+02] [ 1.67625398e-01 9.85850463e-01 7.68636442e-04 1.14327033e+01] [-8.09803467e-03 5.97276369e-04 9.99967032e-01 -2.53356588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.015898227 meters 0.06898607818825375 Centerline is valid? [True, True] Translation: X:237.56, Y:11.44, Z:-2.53 [[ 9.86100838e-01 -1.65774363e-01 1.11354011e-02 2.37559061e+02] [ 1.65772924e-01 9.86163383e-01 1.05851932e-03 1.14426220e+01] [-1.11568002e-02 8.02141224e-04 9.99937439e-01 -2.52802476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.075898227 meters 0.06577960575402061 Centerline is valid? [True, True] Translation: X:237.62, Y:11.46, Z:-2.53 [[ 9.86680344e-01 -1.62241818e-01 1.18106302e-02 2.37618078e+02] [ 1.62239948e-01 9.86750697e-01 1.12265257e-03 1.14578529e+01] [-1.18362888e-02 8.08456812e-04 9.99929622e-01 -2.52720568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.135898227 meters 0.07058334493208063 Centerline is valid? [True, True] Translation: X:237.68, Y:11.47, Z:-2.53 [[ 9.87198780e-01 -1.59228466e-01 9.21218289e-03 2.37676960e+02] [ 1.59227197e-01 9.87241578e-01 8.75712405e-04 1.14678704e+01] [-9.23408832e-03 6.02327847e-04 9.99957183e-01 -2.53184246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.195898227 meters 0.06637989808738304 Centerline is valid? [True, True] Translation: X:237.74, Y:11.48, Z:-2.53 [[ 9.87083878e-01 -1.59886699e-01 1.00827041e-02 2.37737957e+02] [ 1.59885215e-01 9.87135148e-01 9.58293054e-04 1.14841477e+01] [-1.01062099e-02 6.66159687e-04 9.99948709e-01 -2.53202052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.255898227 meters 0.06994653007207566 Centerline is valid? [True, True] Translation: X:237.80, Y:11.49, Z:-2.53 [[ 9.86953477e-01 -1.60680608e-01 1.02262609e-02 2.37798667e+02] [ 1.60679134e-01 9.87006217e-01 9.70944500e-04 1.14919254e+01] [-1.02493951e-02 6.84869696e-04 9.99947239e-01 -2.53118362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.315898227 meters 0.07062131508148152 Centerline is valid? [True, True] Translation: X:237.86, Y:11.50, Z:-2.53 [[ 9.86985551e-01 -1.60515520e-01 9.71028843e-03 2.37861361e+02] [ 1.60514198e-01 9.87033102e-01 9.20441968e-04 1.15009743e+01] [-9.73212134e-03 6.50176237e-04 9.99952430e-01 -2.53260357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.375898227 meters 0.06798465477614332 Centerline is valid? [True, True] Translation: X:237.92, Y:11.51, Z:-2.53 [[ 9.87050453e-01 -1.60069251e-01 1.04516912e-02 2.37922753e+02] [ 1.60067713e-01 9.87105541e-01 9.88937341e-04 1.15142725e+01] [-1.04752207e-02 6.96847246e-04 9.99944891e-01 -2.53215620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.435898227 meters 0.06965146324854328 Centerline is valid? [True, True] Translation: X:237.98, Y:11.53, Z:-2.53 [[ 9.86975714e-01 -1.60368274e-01 1.26868448e-02 2.37984036e+02] [ 1.60366060e-01 9.87056883e-01 1.19832166e-03 1.15277124e+01] [-1.27148103e-02 8.51824928e-04 9.99918801e-01 -2.53067585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.495898227 meters 0.06446699027734774 Centerline is valid? [True, True] Translation: X:238.05, Y:11.54, Z:-2.53 [[ 9.86893576e-01 -1.60873441e-01 1.26809500e-02 2.38045650e+02] [ 1.60871295e-01 9.86974669e-01 1.19577368e-03 1.15411759e+01] [-1.27081446e-02 8.59899478e-04 9.99918879e-01 -2.53199412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.555898227 meters 0.07213650488642594 Centerline is valid? [True, True] Translation: X:238.11, Y:11.54, Z:-2.53 [[ 9.86554559e-01 -1.62992376e-01 1.19828211e-02 2.38105732e+02] [ 1.62990627e-01 9.86626972e-01 1.12894007e-03 1.15437440e+01] [-1.20065831e-02 8.39326552e-04 9.99927566e-01 -2.53242936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.615898227 meters 0.06900025881684244 Centerline is valid? [True, True] Translation: X:238.16, Y:11.56, Z:-2.54 [[ 9.85242813e-01 -1.70837012e-01 1.05505966e-02 2.38164479e+02] [ 1.70836106e-01 9.85298958e-01 9.93761552e-04 1.15631593e+01] [-1.05652631e-02 8.23326401e-04 9.99943847e-01 -2.53669943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.675898227 meters 0.08691192582059176 Centerline is valid? [True, True] Translation: X:238.23, Y:11.55, Z:-2.54 [[ 9.83745880e-01 -1.79285625e-01 1.00353713e-02 2.38225715e+02] [ 1.79285243e-01 9.83796680e-01 9.45082995e-04 1.15489631e+01] [-1.00422048e-02 8.69472483e-04 9.99949198e-01 -2.53754460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.735898227 meters 0.09861408419137159 Centerline is valid? [True, True] Translation: X:238.29, Y:11.54, Z:-2.54 [[ 9.81595692e-01 -1.90731577e-01 9.55843549e-03 2.38287718e+02] [ 1.90731767e-01 9.81641779e-01 9.00061843e-04 1.15395308e+01] [-9.55462984e-03 9.39600466e-04 9.99953912e-01 -2.53939963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.795898227 meters 0.09206987686803313 Centerline is valid? [True, True] Translation: X:238.35, Y:11.55, Z:-2.54 [[ 9.81074803e-01 -1.93372018e-01 9.97459068e-03 2.38347973e+02] [ 1.93372362e-01 9.81124991e-01 9.39132032e-04 1.15505468e+01] [-9.96792204e-03 1.00745139e-03 9.99949812e-01 -2.53934902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.855898227 meters 0.10025634984937185 Centerline is valid? [True, False] Translation: X:238.35, Y:11.54, Z:-2.54 [[ 9.84064330e-01 -1.77364144e-01 1.26235874e-02 2.38346691e+02] [ 1.77393168e-01 9.84139321e-01 -1.20888640e-03 1.15411448e+01] [-1.22089556e-02 3.42896014e-03 9.99919589e-01 -2.54006127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.91589822699999 meters 0.08953689090032266 Centerline is valid? [False, True] Translation: X:238.32, Y:11.52, Z:-2.54 [[ 9.87347999e-01 -1.58375372e-01 7.82120824e-03 2.38318803e+02] [ 1.58421628e-01 9.87355131e-01 -5.69495213e-03 1.15247878e+01] [-6.82036993e-03 6.86194813e-03 9.99953197e-01 -2.53965629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.975898227 meters 0.10276565642036285 Centerline is valid? [True, False] Translation: X:238.33, Y:11.52, Z:-2.54 [[ 9.89848675e-01 -1.42084529e-01 3.40393724e-03 2.38332505e+02] [ 1.42111355e-01 9.89803132e-01 -9.70174097e-03 1.15154698e+01] [-1.99076044e-03 1.00869936e-02 9.99947143e-01 -2.53982611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.035898227 meters 0.08517885898685686 Centerline is valid? [False, True] Translation: X:238.33, Y:11.50, Z:-2.54 [[ 9.92173762e-01 -1.24838882e-01 2.54563833e-03 2.38331827e+02] [ 1.24858012e-01 9.92126454e-01 -9.77626885e-03 1.15044774e+01] [-1.30513666e-03 1.00176008e-02 9.99948971e-01 -2.53862390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.095898227 meters 0.08298825828248621 Centerline is valid? [True, True] Translation: X:238.39, Y:11.50, Z:-2.54 [[ 9.93088092e-01 -1.17308637e-01 3.83731420e-03 2.38391417e+02] [ 1.17308992e-01 9.93095455e-01 1.32989004e-04 1.14961059e+01] [-3.82642005e-03 3.18081666e-04 9.99992629e-01 -2.53869353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.155898227 meters 0.07395386985521038 Centerline is valid? [True, True] Translation: X:238.45, Y:11.50, Z:-2.54 [[ 9.93495329e-01 -1.13766170e-01 4.92845052e-03 2.38451520e+02] [ 1.13766714e-01 9.93507476e-01 1.70799857e-04 1.15046881e+01] [-4.91588368e-03 3.91004761e-04 9.99987841e-01 -2.53997247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.215898227 meters 0.07537071997170645 Centerline is valid? [True, True] Translation: X:238.51, Y:11.50, Z:-2.54 [[ 9.93613910e-01 -1.12715177e-01 5.16585650e-03 2.38511907e+02] [ 1.12715761e-01 9.93627257e-01 1.78920440e-04 1.14983069e+01] [-5.15310287e-03 4.04495608e-04 9.99986641e-01 -2.54112114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.275898227 meters 0.07864289544150965 Centerline is valid? [True, True] Translation: X:238.57, Y:11.49, Z:-2.54 [[ 9.93437593e-01 -1.14344425e-01 2.66496171e-03 2.38572909e+02] [ 1.14344587e-01 9.93441144e-01 9.22518818e-05 1.14917830e+01] [-2.65803110e-03 2.13077458e-04 9.99996445e-01 -2.54483628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.335898227 meters 0.08387524017689647 Centerline is valid? [True, True] Translation: X:238.63, Y:11.48, Z:-2.55 [[ 9.93131417e-01 -1.17001515e-01 7.96664893e-04 2.38632900e+02] [ 1.17001531e-01 9.93131734e-01 2.76234618e-05 1.14806926e+01] [-7.94425174e-04 6.57772842e-05 9.99999682e-01 -2.54821728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.395898227 meters 0.08465789826767715 Centerline is valid? [True, True] Translation: X:238.69, Y:11.48, Z:-2.55 [[ 9.93235544e-01 -1.16116755e-01 2.31930082e-04 2.38693476e+02] [ 1.16116757e-01 9.93235571e-01 7.76914325e-06 1.14767654e+01] [-2.31263335e-04 1.92143797e-05 9.99999973e-01 -2.54883487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.455898227 meters 0.0785140349801157 Centerline is valid? [True, True] Translation: X:238.75, Y:11.48, Z:-2.55 [[ 9.93509208e-01 -1.13751712e-01 -4.33806295e-05 2.38753716e+02] [ 1.13751712e-01 9.93509209e-01 -1.50000090e-06 1.14814178e+01] [ 4.32696826e-05 -3.44435617e-06 9.99999999e-01 -2.54973225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.515898227 meters 0.07124247557858938 Centerline is valid? [True, True] Translation: X:238.81, Y:11.49, Z:-2.55 [[ 9.93966730e-01 -1.09674060e-01 1.31932875e-03 2.38813949e+02] [ 1.09674096e-01 9.93967600e-01 4.56230810e-05 1.14865313e+01] [-1.31637370e-03 9.93483629e-05 9.99999129e-01 -2.54738039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.575898227 meters 0.07426250053907932 Centerline is valid? [True, True] Translation: X:238.87, Y:11.48, Z:-2.55 [[ 9.94229499e-01 -1.07265547e-01 1.34383109e-03 2.38873464e+02] [ 1.07265581e-01 9.94230402e-01 4.65190626e-05 1.14814832e+01] [-1.34106761e-03 9.78961985e-05 9.99999096e-01 -2.54609928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.635898227 meters 0.06898617681135567 Centerline is valid? [True, True] Translation: X:238.93, Y:11.49, Z:-2.55 [[ 9.94358403e-01 -1.06065675e-01 1.19983962e-03 2.38934594e+02] [ 1.06065702e-01 9.94359123e-01 4.13841978e-05 1.14862619e+01] [-1.19746092e-03 8.61111072e-05 9.99999279e-01 -2.54754472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.695898227 meters 0.07157413394261124 Centerline is valid? [True, True] Translation: X:239.00, Y:11.48, Z:-2.54 [[ 9.94480471e-01 -1.04891029e-01 2.54248883e-03 2.38995291e+02] [ 1.04891146e-01 9.94483705e-01 8.78075122e-05 1.14810925e+01] [-2.53767393e-03 1.79361711e-04 9.99996764e-01 -2.54451036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.755898227 meters 0.07269864196005307 Centerline is valid? [True, True] Translation: X:239.05, Y:11.48, Z:-2.54 [[ 9.94650547e-01 -1.03283503e-01 1.67552384e-03 2.39054635e+02] [ 1.03283551e-01 9.94651952e-01 5.79551377e-05 1.14810369e+01] [-1.67254887e-03 1.15408943e-04 9.99998595e-01 -2.54498122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.815898227 meters 0.06672934964826849 Centerline is valid? [True, True] Translation: X:239.11, Y:11.49, Z:-2.55 [[ 9.94811419e-01 -1.01728300e-01 1.26221835e-03 2.39114953e+02] [ 1.01728326e-01 9.94812216e-01 4.35700302e-05 1.14921018e+01] [-1.26010254e-03 8.50593965e-05 9.99999202e-01 -2.54575395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.875898227 meters 0.06875222124083963 Centerline is valid? [True, True] Translation: X:239.18, Y:11.49, Z:-2.54 [[ 9.94947777e-01 -1.00351506e-01 2.91475991e-03 2.39175737e+02] [ 1.00351641e-01 9.94952028e-01 1.00562818e-04 1.14936287e+01] [-2.91013791e-03 1.92446186e-04 9.99995747e-01 -2.54336154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.935898227 meters 0.06534169434978009 Centerline is valid? [True, True] Translation: X:239.24, Y:11.50, Z:-2.54 [[ 9.94729760e-01 -1.02477559e-01 3.32479110e-03 2.39236379e+02] [ 1.02477745e-01 9.94735291e-01 1.14746659e-04 1.15014868e+01] [-3.31904600e-03 2.26575177e-04 9.99994466e-01 -2.54398101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.995898227 meters 0.07411702996973421 Centerline is valid? [True, True] Translation: X:239.30, Y:11.49, Z:-2.55 [[ 9.93952326e-01 -1.09805102e-01 1.27016736e-03 2.39296100e+02] [ 1.09805135e-01 9.93953133e-01 4.37928050e-05 1.14907912e+01] [-1.26729550e-03 9.59429383e-05 9.99999192e-01 -2.54726279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.055898227 meters 0.0757698687285413 Centerline is valid? [True, True] Translation: X:239.36, Y:11.49, Z:-2.55 [[ 9.93534659e-01 -1.13528519e-01 3.95981136e-04 2.39356720e+02] [ 1.13528523e-01 9.93534737e-01 1.36195773e-05 1.14897351e+01] [-3.94967224e-04 3.14236312e-05 9.99999922e-01 -2.54761303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.115898227 meters 0.07848806552484806 Centerline is valid? [True, True] Translation: X:239.42, Y:11.49, Z:-2.55 [[ 9.93356364e-01 -1.15071411e-01 1.30584117e-03 2.39417727e+02] [ 1.15071451e-01 9.93357216e-01 4.49328906e-05 1.14885249e+01] [-1.30233724e-03 1.05630665e-04 9.99999146e-01 -2.54632695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.175898227 meters 0.07596561150246171 Centerline is valid? [True, True] Translation: X:239.48, Y:11.49, Z:-2.55 [[ 9.93540254e-01 -1.13480011e-01 2.26239337e-04 2.39478226e+02] [ 1.13480012e-01 9.93540279e-01 7.73972273e-06 1.14937345e+01] [-2.25656198e-04 1.79839165e-05 9.99999974e-01 -2.54814208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.235898227 meters 0.08146122681037182 Centerline is valid? [True, True] Translation: X:239.54, Y:11.49, Z:-2.55 [[ 9.93710324e-01 -1.11980575e-01 3.77695820e-04 2.39538459e+02] [ 1.11980578e-01 9.93710395e-01 1.30164432e-05 1.14877001e+01] [-3.76777851e-04 2.93600221e-05 9.99999929e-01 -2.54758467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.295898227 meters 0.08381147464638228 Centerline is valid? [True, True] Translation: X:239.60, Y:11.48, Z:-2.55 [[ 9.93481817e-01 -1.13985963e-01 1.03935374e-03 2.39599475e+02] [ 1.13985987e-01 9.93482357e-01 3.58092368e-05 1.14816190e+01] [-1.03666136e-03 8.28959369e-05 9.99999459e-01 -2.54796509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.355898227 meters 0.083307658096148 Centerline is valid? [True, True] Translation: X:239.66, Y:11.48, Z:-2.55 [[ 9.93425960e-01 -1.14474241e-01 7.13684920e-04 2.39661511e+02] [ 1.14474253e-01 9.93426215e-01 2.43943120e-05 1.14797664e+01] [-7.11785829e-04 5.74646050e-05 9.99999745e-01 -2.54886341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.41589822699999 meters 0.07498978456316693 Centerline is valid? [True, True] Translation: X:239.72, Y:11.49, Z:-2.55 [[ 9.93478549e-01 -1.14017561e-01 6.06672786e-04 2.39723654e+02] [ 1.14017569e-01 9.93478733e-01 2.06762090e-05 1.14902308e+01] [-6.05073962e-04 4.86299861e-05 9.99999816e-01 -2.54960460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.475898227 meters 0.07446936877144239 Centerline is valid? [True, True] Translation: X:239.78, Y:11.49, Z:-2.55 [[ 9.93767875e-01 -1.11464682e-01 -1.01755913e-03 2.39784021e+02] [ 1.11464704e-01 9.93768393e-01 -3.49746775e-05 1.14861889e+01] [ 1.01511654e-03 -7.86652161e-05 9.99999482e-01 -2.55298118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.535898227 meters 0.07880769310081798 Centerline is valid? [True, True] Translation: X:239.84, Y:11.48, Z:-2.56 [[ 9.93923752e-01 -1.10014455e-01 -3.52071329e-03 2.39843848e+02] [ 1.10014713e-01 9.93929951e-01 -1.21010069e-04 1.14790402e+01] [ 3.51265525e-03 -2.67055479e-04 9.99993795e-01 -2.55626434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.595898227 meters 0.07194189085501417 Centerline is valid? [True, True] Translation: X:239.91, Y:11.49, Z:-2.56 [[ 9.93935608e-01 -1.09889749e-01 -4.03123344e-03 2.39905784e+02] [ 1.09890086e-01 9.93943736e-01 -1.38599591e-04 1.14856153e+01] [ 4.02204990e-03 -3.05233520e-04 9.99991865e-01 -2.55621773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.655898227 meters 0.0752697014170858 Centerline is valid? [True, True] Translation: X:239.97, Y:11.48, Z:-2.55 [[ 9.93824728e-01 -1.10920940e-01 -2.99264040e-03 2.39966127e+02] [ 1.10921130e-01 9.93829207e-01 -1.02769838e-04 1.14822234e+01] [ 2.98557276e-03 -2.29811849e-04 9.99995517e-01 -2.55451210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.715898227 meters 0.08786134813702749 Centerline is valid? [True, True] Translation: X:240.03, Y:11.47, Z:-2.55 [[ 9.93773311e-01 -1.11366521e-01 -3.47897658e-03 2.40027374e+02] [ 1.11366782e-01 9.93779365e-01 -1.19429060e-04 1.14681033e+01] [ 3.47063553e-03 -2.68757013e-04 9.99993941e-01 -2.55466164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.775898227 meters 0.0780452309315478 Centerline is valid? [True, True] Translation: X:240.09, Y:11.48, Z:-2.56 [[ 9.93905888e-01 -1.10150522e-01 -4.23659499e-03 2.40088333e+02] [ 1.10150898e-01 9.93914865e-01 -1.45323520e-04 1.14842369e+01] [ 4.22682220e-03 -3.22226838e-04 9.99991015e-01 -2.55508081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.835898227 meters 0.08321365968723841 Centerline is valid? [True, True] Translation: X:240.15, Y:11.48, Z:-2.55 [[ 9.93561712e-01 -1.13245551e-01 -3.25106707e-03 2.40148891e+02] [ 1.13245789e-01 9.93566998e-01 -1.11456849e-04 1.14799769e+01] [ 3.24277494e-03 -2.57430398e-04 9.99994709e-01 -2.55429313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.895898227 meters 0.08646506609134604 Centerline is valid? [True, True] Translation: X:240.21, Y:11.48, Z:-2.55 [[ 9.93030518e-01 -1.17821381e-01 -2.91745682e-03 2.40209661e+02] [ 1.17821592e-01 9.93034774e-01 -9.99971988e-05 1.14760076e+01] [ 2.90891788e-03 -2.44439137e-04 9.99995739e-01 -2.55412137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.955898227 meters 0.08390561253440294 Centerline is valid? [True, True] Translation: X:240.27, Y:11.48, Z:-2.55 [[ 9.92711840e-01 -1.20477371e-01 -2.89944407e-03 2.40270759e+02] [ 1.20477590e-01 9.92716042e-01 -9.93866700e-05 1.14771347e+01] [ 2.89029849e-03 -2.50655711e-04 9.99995792e-01 -2.55408892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.015898227 meters 0.08394923023092364 Centerline is valid? [True, True] Translation: X:240.33, Y:11.47, Z:-2.55 [[ 9.92965391e-01 -1.18373017e-01 -2.74982478e-03 2.40330692e+02] [ 1.18373207e-01 9.92969171e-01 -9.41832858e-05 1.14721719e+01] [ 2.74163999e-03 -2.31984834e-04 9.99996215e-01 -2.55355977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.075898227 meters 0.08755461130831393 Centerline is valid? [True, True] Translation: X:240.39, Y:11.47, Z:-2.55 [[ 9.93270036e-01 -1.15793205e-01 -2.56293642e-03 2.40391037e+02] [ 1.15793361e-01 9.93273321e-01 -8.78197998e-05 1.14655342e+01] [ 2.55586530e-03 -2.09542246e-04 9.99996712e-01 -2.55270831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.135898227 meters 0.07548490390921204 Centerline is valid? [True, True] Translation: X:240.45, Y:11.48, Z:-2.55 [[ 9.93284267e-01 -1.15638105e-01 -3.76734992e-03 2.40453182e+02] [ 1.15638442e-01 9.93291364e-01 -1.29096550e-04 1.14781344e+01] [ 3.75700462e-03 -3.07420903e-04 9.99992895e-01 -2.55481999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.195898227 meters 0.07865940339409644 Centerline is valid? [True, True] Translation: X:240.52, Y:11.47, Z:-2.56 [[ 9.93138163e-01 -1.16758353e-01 -6.63898196e-03 2.40515054e+02] [ 1.16759426e-01 9.93160201e-01 -2.27122227e-04 1.14699891e+01] [ 6.62009108e-03 -5.49599969e-04 9.99977936e-01 -2.55903241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.255898227 meters 0.07999842845976378 Centerline is valid? [True, True] Translation: X:240.58, Y:11.47, Z:-2.56 [[ 9.93204706e-01 -1.16152604e-01 -7.27899475e-03 2.40576450e+02] [ 1.16153879e-01 9.93231199e-01 -2.48805622e-04 1.14694921e+01] [ 7.25862411e-03 -5.98368562e-04 9.99973477e-01 -2.55935258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.315898227 meters 0.07448120163928644 Centerline is valid? [True, True] Translation: X:240.64, Y:11.48, Z:-2.56 [[ 9.93406456e-01 -1.14369088e-01 -7.95771107e-03 2.40637135e+02] [ 1.14370556e-01 9.93438122e-01 -2.71814622e-04 1.14781678e+01] [ 7.93658073e-03 -6.40105437e-04 9.99968300e-01 -2.56033501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.375898227 meters 0.08747652637313776 Centerline is valid? [True, True] Translation: X:240.70, Y:11.46, Z:-2.56 [[ 9.93206824e-01 -1.16077106e-01 -8.14313602e-03 2.40697476e+02] [ 1.16078702e-01 9.93239980e-01 -2.77949007e-04 1.14609324e+01] [ 8.12035178e-03 -6.69183808e-04 9.99966805e-01 -2.56249174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.435898227 meters 0.083085068704924 Centerline is valid? [True, True] Translation: X:240.76, Y:11.46, Z:-2.56 [[ 9.92602629e-01 -1.21146357e-01 -7.97373155e-03 2.40758089e+02] [ 1.21148050e-01 9.92634412e-01 -2.72040418e-04 1.14645044e+01] [ 7.94795704e-03 -6.95973998e-04 9.99968172e-01 -2.56117614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.495898227 meters 0.09033371649670381 Centerline is valid? [True, True] Translation: X:240.82, Y:11.45, Z:-2.56 [[ 9.92427258e-01 -1.22432131e-01 -9.92524687e-03 2.40818474e+02] [ 1.22434819e-01 9.92476499e-01 -3.38632740e-04 1.14544953e+01] [ 9.89203379e-03 -8.79127443e-04 9.99950686e-01 -2.56496259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.555898227 meters 0.08550632956898578 Centerline is valid? [True, True] Translation: X:240.88, Y:11.46, Z:-2.56 [[ 9.92535728e-01 -1.21641921e-01 -8.72195442e-03 2.40879092e+02] [ 1.21643966e-01 9.92573754e-01 -2.97578424e-04 1.14570349e+01] [ 8.69338105e-03 -7.65615913e-04 9.99961919e-01 -2.56229022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.615898227 meters 0.08414567430929007 Centerline is valid? [True, True] Translation: X:240.94, Y:11.46, Z:-2.56 [[ 9.92660452e-01 -1.20619538e-01 -8.72660703e-03 2.40939717e+02] [ 1.20621547e-01 9.92698521e-01 -2.97737164e-04 1.14569201e+01] [ 8.69880282e-03 -7.57064930e-04 9.99961878e-01 -2.56232326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.675898227 meters 0.08907776896792367 Centerline is valid? [True, True] Translation: X:241.00, Y:11.45, Z:-2.56 [[ 9.92982368e-01 -1.17919870e-01 -8.99560497e-03 2.40999490e+02] [ 1.17921893e-01 9.93022826e-01 -3.06977483e-04 1.14470859e+01] [ 8.96903982e-03 -7.55955542e-04 9.99959492e-01 -2.56297122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.735898227 meters 0.07758628294931347 Centerline is valid? [True, True] Translation: X:241.06, Y:11.46, Z:-2.56 [[ 9.93388761e-01 -1.14356301e-01 -1.00700801e-02 2.41059401e+02] [ 1.14358654e-01 9.93439470e-01 -3.43704366e-04 1.14608642e+01] [ 1.00433198e-02 -8.10168755e-04 9.99949236e-01 -2.56291196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.795898227 meters 0.08617944290091621 Centerline is valid? [True, True] Translation: X:241.12, Y:11.45, Z:-2.56 [[ 9.93647019e-01 -1.12025026e-01 -1.07701280e-02 2.41119347e+02] [ 1.12027581e-01 9.93705030e-01 -3.67684551e-04 1.14485184e+01] [ 1.07435202e-02 -8.41202722e-04 9.99941933e-01 -2.56469731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.855898227 meters 0.07884214439335659 Centerline is valid? [True, True] Translation: X:241.18, Y:11.45, Z:-2.56 [[ 9.93315193e-01 -1.15079978e-01 -9.02913630e-03 2.41179922e+02] [ 1.15081899e-01 9.93355959e-01 -3.08281285e-04 1.14518866e+01] [ 9.00462336e-03 -7.32869666e-04 9.99959189e-01 -2.56165798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.91589822699999 meters 0.08477317456199034 Centerline is valid? [True, True] Translation: X:241.24, Y:11.44, Z:-2.56 [[ 9.92644846e-01 -1.20698576e-01 -9.38416586e-03 2.41240435e+02] [ 1.20700900e-01 9.92688869e-01 -3.20459611e-04 1.14398901e+01] [ 9.35423601e-03 -8.14574681e-04 9.99955916e-01 -2.56111382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.975898227 meters 0.08611134656323963 Centerline is valid? [True, True] Translation: X:241.30, Y:11.44, Z:-2.56 [[ 9.92523129e-01 -1.21556966e-01 -1.10337130e-02 2.41300460e+02] [ 1.21560229e-01 9.92583986e-01 -3.76921062e-04 1.14383272e+01] [ 1.09977042e-02 -9.67157813e-04 9.99939056e-01 -2.56251331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.03589822699996 meters 0.0859359856424916 Centerline is valid? [True, True] Translation: X:241.36, Y:11.44, Z:-2.56 [[ 9.92823878e-01 -1.19197475e-01 -9.62858240e-03 2.41360551e+02] [ 1.19199848e-01 9.92870227e-01 -3.29050783e-04 1.14404567e+01] [ 9.59915482e-03 -8.21036085e-04 9.99953590e-01 -2.55955772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.09589822699996 meters 0.08756274862851121 Centerline is valid? [True, True] Translation: X:241.42, Y:11.44, Z:-2.56 [[ 9.92876582e-01 -1.18822667e-01 -8.79017510e-03 2.41419972e+02] [ 1.18824623e-01 9.92915212e-01 -3.01163749e-04 1.14395964e+01] [ 8.76368365e-03 -7.45470811e-04 9.99961320e-01 -2.55884028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.15589822699997 meters 0.09515931550061103 Centerline is valid? [True, True] Translation: X:241.48, Y:11.43, Z:-2.56 [[ 9.92507432e-01 -1.21752126e-01 -1.02672469e-02 2.41479737e+02] [ 1.21754944e-01 9.92560129e-01 -3.52475296e-04 1.14305719e+01] [ 1.02337745e-02 -9.00253717e-04 9.99947228e-01 -2.56279456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.21589822699997 meters 0.10208760283665425 Centerline is valid? [True, False] Translation: X:241.48, Y:11.42, Z:-2.56 [[ 9.93493127e-01 -1.13649717e-01 -7.42620770e-03 2.41480339e+02] [ 1.13577198e-01 9.93483266e-01 -9.55088179e-03 1.14226272e+01] [ 8.46326810e-03 8.64528755e-03 9.99926813e-01 -2.56473017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.27589822699997 meters 0.10788109199120487 Centerline is valid? [False, False] Translation: X:241.48, Y:11.41, Z:-2.56 [[ 9.94794900e-01 -1.01551512e-01 -8.39036373e-03 2.41480359e+02] [ 1.01419172e-01 9.94731792e-01 -1.49269524e-02 1.14139713e+01] [ 9.86201613e-03 1.39983124e-02 9.99853383e-01 -2.56394367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.335898227 meters 0.09919607508518609 Centerline is valid? [False, True] Translation: X:241.52, Y:11.40, Z:-2.56 [[ 9.96129381e-01 -8.77207673e-02 -5.59675330e-03 2.41520622e+02] [ 8.76243099e-02 9.96031024e-01 -1.56262258e-02 1.14043364e+01] [ 6.94528444e-03 1.50753310e-02 9.99862239e-01 -2.56479113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.395898227 meters 0.09583935940173316 Centerline is valid? [True, True] Translation: X:241.58, Y:11.40, Z:-2.57 [[ 9.96725947e-01 -8.06793609e-02 -5.31296142e-03 2.41580392e+02] [ 8.06807996e-02 9.96739989e-01 5.66778112e-05 1.13960623e+01] [ 5.29106838e-03 -4.85146221e-04 9.99985885e-01 -2.56593631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.455898227 meters 0.0802077700817173 Centerline is valid? [True, True] Translation: X:241.64, Y:11.41, Z:-2.57 [[ 9.97472187e-01 -7.08183405e-02 -5.83087499e-03 2.41641347e+02] [ 7.08199060e-02 9.97489116e-01 6.21814800e-05 1.14096628e+01] [ 5.81183075e-03 -4.74966316e-04 9.99982998e-01 -2.56596734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.515898227 meters 0.07593528473666414 Centerline is valid? [True, True] Translation: X:241.70, Y:11.41, Z:-2.57 [[ 9.97733880e-01 -6.70077024e-02 -6.08877421e-03 2.41701579e+02] [ 6.70093386e-02 9.97752346e-01 6.48840662e-05 1.14087883e+01] [ 6.07074102e-03 -4.72741764e-04 9.99981461e-01 -2.56605926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.575898227 meters 0.08607974410065572 Centerline is valid? [True, True] Translation: X:241.76, Y:11.39, Z:-2.57 [[ 9.97691537e-01 -6.76960385e-02 -5.37052137e-03 2.41759986e+02] [ 6.76973195e-02 9.97705903e-01 5.69038531e-05 1.13862610e+01] [ 5.35434871e-03 -4.20342394e-04 9.99985577e-01 -2.56690389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.635898227 meters 0.08201757589554816 Centerline is valid? [True, True] Translation: X:241.82, Y:11.38, Z:-2.57 [[ 9.97528764e-01 -7.00087150e-02 -5.92825995e-03 2.41820164e+02] [ 7.00103170e-02 9.97546265e-01 6.28943642e-05 1.13829584e+01] [ 5.90931042e-03 -4.77778296e-04 9.99982426e-01 -2.56716869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.695898227 meters 0.09449132716234375 Centerline is valid? [True, True] Translation: X:241.88, Y:11.36, Z:-2.57 [[ 9.97260923e-01 -7.36800998e-02 -6.47264335e-03 2.41879357e+02] [ 7.36820860e-02 9.97281778e-01 6.86118296e-05 1.13553965e+01] [ 6.44999394e-03 -5.45341761e-04 9.99979050e-01 -2.56866926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.755898227 meters 0.08820394573062237 Centerline is valid? [True, True] Translation: X:241.94, Y:11.36, Z:-2.57 [[ 9.97215752e-01 -7.43248192e-02 -6.04697808e-03 2.41938524e+02] [ 7.43265573e-02 9.97233954e-01 6.29166170e-05 1.13573510e+01] [ 6.02557560e-03 -5.12192505e-04 9.99981715e-01 -2.56720242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.815898227 meters 0.08689744888668577 Centerline is valid? [True, True] Translation: X:242.00, Y:11.35, Z:-2.57 [[ 9.97509882e-01 -7.03595353e-02 -4.85500216e-03 2.41997782e+02] [ 7.03606097e-02 9.97521620e-01 5.06277341e-05 1.13530979e+01] [ 4.83940747e-03 -3.92102577e-04 9.99988213e-01 -2.56517043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.875898227 meters 0.08472600860605352 Centerline is valid? [True, True] Translation: X:242.06, Y:11.35, Z:-2.57 [[ 9.97605517e-01 -6.88756516e-02 -6.27506606e-03 2.42057857e+02] [ 6.88774168e-02 9.97625129e-01 6.53764985e-05 1.13544394e+01] [ 6.25566074e-03 -4.97430297e-04 9.99980309e-01 -2.56727687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.935898227 meters 0.07799743935607133 Centerline is valid? [True, True] Translation: X:242.12, Y:11.37, Z:-2.57 [[ 9.97584964e-01 -6.91621757e-02 -6.39010814e-03 2.42117195e+02] [ 6.91640098e-02 9.97605300e-01 6.62134738e-05 1.13659492e+01] [ 6.37022628e-03 -5.08019068e-04 9.99979581e-01 -2.56624569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.995898227 meters 0.08137601378065609 Centerline is valid? [True, True] Translation: X:242.18, Y:11.36, Z:-2.56 [[ 9.97518604e-01 -7.02732230e-02 -4.27891871e-03 2.42175579e+02] [ 7.02740549e-02 9.97527722e-01 4.41843786e-05 1.13592398e+01] [ 4.26523505e-03 -3.44771708e-04 9.99990844e-01 -2.56285786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.05589822699994 meters 0.08880819585274441 Centerline is valid? [True, True] Translation: X:242.24, Y:11.35, Z:-2.57 [[ 9.97396608e-01 -7.19228848e-02 -5.20626344e-03 2.42235107e+02] [ 7.19241386e-02 9.97410104e-01 5.37508283e-05 1.13500485e+01] [ 5.18891384e-03 -4.28066907e-04 9.99986446e-01 -2.56579012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.11589822699995 meters 0.08945348439704112 Centerline is valid? [True, True] Translation: X:242.29, Y:11.35, Z:-2.57 [[ 9.97403717e-01 -7.17411902e-02 -6.24709615e-03 2.42294364e+02] [ 7.17429851e-02 9.97423150e-01 6.34080027e-05 1.13493405e+01] [ 6.22644935e-03 -5.11428703e-04 9.99980485e-01 -2.56890334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.17589822699995 meters 0.07908387609048954 Centerline is valid? [True, True] Translation: X:242.35, Y:11.36, Z:-2.57 [[ 9.97462607e-01 -7.09445680e-02 -5.93429973e-03 2.42353271e+02] [ 7.09461728e-02 9.97480144e-01 6.01004133e-05 1.13622836e+01] [ 5.91508235e-03 -4.80963769e-04 9.99982390e-01 -2.56771936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.23589822699995 meters 0.08967830032851809 Centerline is valid? [True, True] Translation: X:242.41, Y:11.35, Z:-2.57 [[ 9.97540927e-01 -6.97015852e-02 -7.33403732e-03 2.42412206e+02] [ 6.97040022e-02 9.97567715e-01 7.41631663e-05 1.13473082e+01] [ 7.31102956e-03 -5.85192547e-04 9.99973103e-01 -2.57236572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.29589822699995 meters 0.0898786514293467 Centerline is valid? [True, True] Translation: X:242.47, Y:11.34, Z:-2.58 [[ 9.97490801e-01 -7.00876538e-02 -9.99109312e-03 2.42471251e+02] [ 7.00921418e-02 9.97540516e-01 9.93180274e-05 1.13387485e+01] [ 9.95955922e-03 -7.99365934e-04 9.99950083e-01 -2.57670144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.35589822699995 meters 0.0903751966806228 Centerline is valid? [True, True] Translation: X:242.53, Y:11.34, Z:-2.58 [[ 9.97426011e-01 -7.10782046e-02 -9.44680071e-03 2.42530638e+02] [ 7.10822609e-02 9.97470452e-01 9.38929606e-05 1.13350255e+01] [ 9.41623084e-03 -7.65151234e-04 9.99955374e-01 -2.57597761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.41589822699996 meters 0.08431832631604362 Centerline is valid? [True, True] Translation: X:242.59, Y:11.33, Z:-2.57 [[ 9.97615926e-01 -6.86416941e-02 -7.12619643e-03 2.42590875e+02] [ 6.86439403e-02 9.97641220e-01 7.08097141e-05 1.13346486e+01] [ 7.10452681e-03 -5.59811101e-04 9.99974606e-01 -2.57070188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.47589822699996 meters 0.07529615608040406 Centerline is valid? [True, True] Translation: X:242.65, Y:11.35, Z:-2.57 [[ 9.97862398e-01 -6.50689433e-02 -6.05531505e-03 2.42651531e+02] [ 6.50704996e-02 9.97880667e-01 6.01474544e-05 1.13463479e+01] [ 6.03856809e-03 -4.54041259e-04 9.99981665e-01 -2.56874877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.53589822699996 meters 0.0713616222771197 Centerline is valid? [True, True] Translation: X:242.71, Y:11.35, Z:-2.57 [[ 9.98053152e-01 -6.21563966e-02 -5.14673939e-03 2.42711810e+02] [ 6.21574823e-02 9.98066353e-01 5.11145955e-05 1.13516773e+01] [ 5.13361032e-03 -3.70923446e-04 9.99986754e-01 -2.56762898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.59589822699996 meters 0.08612825013662932 Centerline is valid? [True, True] Translation: X:242.77, Y:11.33, Z:-2.57 [[ 9.97955091e-01 -6.37640608e-02 -4.44758341e-03 2.42770738e+02] [ 6.37648872e-02 9.97964948e-01 4.41226561e-05 1.13324152e+01] [ 4.43571890e-03 -3.27632084e-04 9.99990108e-01 -2.56891424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.65589822699997 meters 0.08010492443522071 Centerline is valid? [True, True] Translation: X:242.83, Y:11.34, Z:-2.57 [[ 9.97715587e-01 -6.74128732e-02 -4.37176126e-03 2.42831504e+02] [ 6.74137064e-02 9.97725108e-01 4.33413961e-05 1.13385856e+01] [ 4.35889420e-03 -3.37959016e-04 9.99990443e-01 -2.56855636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.71589822699997 meters 0.08205312750411636 Centerline is valid? [True, True] Translation: X:242.89, Y:11.33, Z:-2.57 [[ 9.97387579e-01 -7.20105526e-02 -5.70061289e-03 2.42892087e+02] [ 7.20120439e-02 9.97403761e-01 5.65074973e-05 1.13328168e+01] [ 5.68174360e-03 -4.66872662e-04 9.99983750e-01 -2.57038220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.77589822699997 meters 0.09724782962979943 Centerline is valid? [True, True] Translation: X:242.95, Y:11.31, Z:-2.57 [[ 9.97442215e-01 -7.11396395e-02 -6.94111656e-03 2.42950252e+02] [ 7.11418269e-02 9.97466208e-01 6.84279323e-05 1.13130643e+01] [ 6.91866128e-03 -5.62056621e-04 9.99975908e-01 -2.57423584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.835898227 meters 0.07550475025715597 Centerline is valid? [True, True] Translation: X:243.01, Y:11.34, Z:-2.57 [[ 9.97875334e-01 -6.51034088e-02 -2.52257903e-03 2.43011204e+02] [ 6.51036785e-02 9.97878505e-01 2.48759343e-05 1.13440101e+01] [ 2.51560788e-03 -1.89052255e-04 9.99996818e-01 -2.56630406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.895898227 meters 0.07044208806260444 Centerline is valid? [True, True] Translation: X:243.07, Y:11.35, Z:-2.57 [[ 9.98199405e-01 -5.98900548e-02 -3.33619280e-03 2.43071434e+02] [ 5.98904976e-02 9.98204953e-01 3.28955456e-05 1.13537238e+01] [ 3.32823406e-03 -2.32642561e-04 9.99994434e-01 -2.56705229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.955898227 meters 0.07234886951597687 Centerline is valid? [True, True] Translation: X:243.13, Y:11.36, Z:-2.57 [[ 9.98415658e-01 -5.59242706e-02 -6.21687144e-03 2.43130688e+02] [ 5.59257309e-02 9.98434930e-01 6.11629485e-05 1.13553157e+01] [ 6.20372110e-03 -4.08749125e-04 9.99980673e-01 -2.57286372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.015898227 meters 0.06696676020504573 Centerline is valid? [True, True] Translation: X:243.19, Y:11.37, Z:-2.57 [[ 9.98453033e-01 -5.55409838e-02 -2.59621688e-03 2.43190563e+02] [ 5.55412370e-02 9.98456394e-01 2.54590279e-05 1.13695510e+01] [ 2.59079532e-03 -1.69616741e-04 9.99996629e-01 -2.56655045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.075898227 meters 0.0652056152285843 Centerline is valid? [True, True] Translation: X:243.25, Y:11.38, Z:-2.57 [[ 9.98458621e-01 -5.54726104e-02 -1.78102677e-03 2.43251557e+02] [ 5.54727295e-02 9.98460203e-01 1.74898196e-05 1.13752585e+01] [ 1.77731415e-03 -1.16261278e-04 9.99998414e-01 -2.56513482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.135898227 meters 0.06558849769654733 Centerline is valid? [True, True] Translation: X:243.31, Y:11.38, Z:-2.57 [[ 9.98492754e-01 -5.47596027e-02 -3.68857853e-03 2.43311581e+02] [ 5.47601095e-02 9.98499539e-01 3.64683203e-05 1.13798185e+01] [ 3.68104697e-03 -2.38400318e-04 9.99993197e-01 -2.56837388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.195898227 meters 0.06854682578482292 Centerline is valid? [True, True] Translation: X:243.37, Y:11.38, Z:-2.57 [[ 9.98538162e-01 -5.39071622e-02 -3.94425155e-03 2.43371290e+02] [ 5.39077345e-02 9.98545920e-01 3.88548469e-05 1.13828681e+01] [ 3.93642173e-03 -2.51423712e-04 9.99992221e-01 -2.56767508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.255898227 meters 0.06408394864605298 Centerline is valid? [True, True] Translation: X:243.43, Y:11.39, Z:-2.57 [[ 9.98570504e-01 -5.33431733e-02 -3.38446304e-03 2.43432407e+02] [ 5.33435914e-02 9.98576216e-01 3.33407221e-05 1.13866633e+01] [ 3.37786579e-03 -2.13832475e-04 9.99994272e-01 -2.56697904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.315898227 meters 0.06735219222613226 Centerline is valid? [True, True] Translation: X:243.49, Y:11.38, Z:-2.57 [[ 9.98368171e-01 -5.69070313e-02 -4.75239952e-03 2.43492295e+02] [ 5.69078957e-02 9.98379431e-01 4.67617868e-05 1.13814411e+01] [ 4.74203686e-03 -3.17134536e-04 9.99988706e-01 -2.56965506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.375898227 meters 0.07473740645284799 Centerline is valid? [True, True] Translation: X:243.55, Y:11.37, Z:-2.57 [[ 9.98132412e-01 -6.07058634e-02 -6.81804204e-03 2.43551061e+02] [ 6.07077307e-02 9.98155583e-01 6.70563331e-05 1.13692007e+01] [ 6.80139602e-03 -4.80838960e-04 9.99976755e-01 -2.57223413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.435898227 meters 0.07008108504149764 Centerline is valid? [True, True] Translation: X:243.61, Y:11.37, Z:-2.57 [[ 9.98143267e-01 -6.05029795e-02 -7.02904999e-03 2.43610982e+02] [ 6.05049578e-02 9.98167894e-01 6.89435907e-05 1.13712582e+01] [ 7.01200073e-03 -4.94107954e-04 9.99975294e-01 -2.56978188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.495898227 meters 0.07439567407968564 Centerline is valid? [True, True] Translation: X:243.67, Y:11.36, Z:-2.57 [[ 9.98408349e-01 -5.62351761e-02 -4.28649792e-03 2.43670059e+02] [ 5.62358725e-02 9.98417510e-01 4.19975084e-05 1.13646261e+01] [ 4.27735284e-03 -2.82985613e-04 9.99990812e-01 -2.56653299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.55589822699994 meters 0.06614685469625244 Centerline is valid? [True, True] Translation: X:243.73, Y:11.38, Z:-2.56 [[ 9.98691578e-01 -5.10905613e-02 -2.21055279e-03 2.43730119e+02] [ 5.10907339e-02 9.98694015e-01 2.16522704e-05 1.13752274e+01] [ 2.20655962e-03 -1.34562705e-04 9.99997556e-01 -2.56196698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.61589822699995 meters 0.06722376667636595 Centerline is valid? [True, True] Translation: X:243.79, Y:11.37, Z:-2.56 [[ 9.98681316e-01 -5.13383210e-02 -7.67164076e-05 2.43790682e+02] [ 5.13383212e-02 9.98681319e-01 7.51655957e-07 1.13734450e+01] [ 7.65766544e-05 -4.68915633e-06 9.99999997e-01 -2.55969504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.67589822699995 meters 0.06531684087855506 Centerline is valid? [True, True] Translation: X:243.85, Y:11.37, Z:-2.56 [[ 9.98563518e-01 -5.35727507e-02 -9.28017356e-04 2.43851919e+02] [ 5.35727822e-02 9.98563947e-01 9.14044313e-06 1.13717973e+01] [ 9.26194995e-04 -5.88437847e-05 9.99999569e-01 -2.56093526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.73589822699995 meters 0.07157821641592403 Centerline is valid? [True, True] Translation: X:243.91, Y:11.36, Z:-2.56 [[ 9.98379376e-01 -5.68399934e-02 -2.79942448e-03 2.43911204e+02] [ 5.68402928e-02 9.98383283e-01 2.74412804e-05 1.13638310e+01] [ 2.79333884e-03 -1.86516916e-04 9.99996081e-01 -2.56338045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.79589822699995 meters 0.07297636824924388 Centerline is valid? [True, True] Translation: X:243.97, Y:11.36, Z:-2.56 [[ 9.98329823e-01 -5.77609155e-02 -1.11382838e-03 2.43972025e+02] [ 5.77609635e-02 9.98330442e-01 1.09240864e-05 1.13631613e+01] [ 1.11133779e-03 -7.52416414e-05 9.99999380e-01 -2.56100834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.85589822699995 meters 0.07582577244648021 Centerline is valid? [True, True] Translation: X:244.03, Y:11.36, Z:-2.56 [[ 9.98237040e-01 -5.93519628e-02 -3.95832725e-04 2.44031921e+02] [ 5.93519690e-02 9.98237118e-01 3.88220571e-06 1.13625906e+01] [ 3.94904502e-04 -2.73688132e-05 9.99999922e-01 -2.56131133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.91589822699996 meters 0.07414930704475471 Centerline is valid? [True, True] Translation: X:244.09, Y:11.37, Z:-2.57 [[ 9.98063334e-01 -6.21515708e-02 -2.60054077e-03 2.44092468e+02] [ 6.21518472e-02 9.98066705e-01 2.55137881e-05 1.13678690e+01] [ 2.59392744e-03 -1.87092789e-04 9.99996618e-01 -2.56528338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.97589822699996 meters 0.07958940666536991 Centerline is valid? [True, True] Translation: X:244.15, Y:11.36, Z:-2.57 [[ 9.97751829e-01 -6.68127336e-02 -5.22938274e-03 2.44152591e+02] [ 6.68139147e-02 9.97765452e-01 5.12946117e-05 1.13618117e+01] [ 5.21427030e-03 -4.00574825e-04 9.99986325e-01 -2.56784761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.03589822699996 meters 0.07962260897163939 Centerline is valid? [True, True] Translation: X:244.21, Y:11.36, Z:-2.57 [[ 9.97726527e-01 -6.72365995e-02 -4.58447371e-03 2.44212595e+02] [ 6.72375111e-02 9.97736997e-01 4.48313036e-05 1.13639094e+01] [ 4.57108472e-03 -3.52977982e-04 9.99989490e-01 -2.56737188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.09589822699996 meters 0.07802964795912096 Centerline is valid? [True, True] Translation: X:244.27, Y:11.37, Z:-2.57 [[ 9.97745293e-01 -6.70014890e-02 -3.88974443e-03 2.44273484e+02] [ 6.70021436e-02 9.97752831e-01 3.80676161e-05 1.13680423e+01] [ 3.87845293e-03 -2.98602999e-04 9.99992434e-01 -2.56642655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.15589822699997 meters 0.07598270421990257 Centerline is valid? [True, True] Translation: X:244.33, Y:11.37, Z:-2.57 [[ 9.97704016e-01 -6.75491787e-02 -4.87894555e-03 2.44333955e+02] [ 6.75502151e-02 9.97715874e-01 4.77485937e-05 1.13714415e+01] [ 4.86457605e-03 -3.77212785e-04 9.99988097e-01 -2.56820462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.21589822699997 meters 0.08026295863099568 Centerline is valid? [True, True] Translation: X:244.39, Y:11.36, Z:-2.57 [[ 9.97654597e-01 -6.81766796e-02 -6.10286162e-03 2.44393563e+02] [ 6.81783122e-02 9.97673150e-01 5.96393369e-05 1.13633732e+01] [ 6.08459517e-03 -4.75582264e-04 9.99981376e-01 -2.57106210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.27589822699997 meters 0.07968596000188678 Centerline is valid? [True, True] Translation: X:244.45, Y:11.36, Z:-2.57 [[ 9.97464217e-01 -7.07900992e-02 -7.34151985e-03 2.44453509e+02] [ 7.07925317e-02 9.97491059e-01 7.16659366e-05 1.13599937e+01] [ 7.31802717e-03 -5.91208984e-04 9.99973048e-01 -2.57279342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.335898227 meters 0.09060203157920732 Centerline is valid? [True, True] Translation: X:244.51, Y:11.34, Z:-2.57 [[ 9.97373270e-01 -7.22093441e-02 -5.68953566e-03 2.44511526e+02] [ 7.22108257e-02 9.97389389e-01 5.51482912e-05 1.13429042e+01] [ 5.67070027e-03 -4.65849499e-04 9.99983813e-01 -2.57125725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.395898227 meters 0.0804121009973286 Centerline is valid? [True, True] Translation: X:244.57, Y:11.35, Z:-2.57 [[ 9.97452519e-01 -7.12901426e-02 -2.48744951e-03 2.44571186e+02] [ 7.12904228e-02 9.97455601e-01 2.40567288e-05 1.13513989e+01] [ 2.47940544e-03 -2.01326772e-04 9.99996906e-01 -2.56661981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.455898227 meters 0.08514958104017702 Centerline is valid? [True, True] Translation: X:244.63, Y:11.34, Z:-2.57 [[ 9.97570602e-01 -6.96154229e-02 -2.56664386e-03 2.44629773e+02] [ 6.96157155e-02 9.97573883e-01 2.47321860e-05 1.13445306e+01] [ 2.55869514e-03 -2.03350850e-04 9.99996706e-01 -2.56718837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.515898227 meters 0.07524084365594254 Centerline is valid? [True, True] Translation: X:244.69, Y:11.36, Z:-2.57 [[ 9.97667744e-01 -6.82063772e-02 -2.63880371e-03 2.44691123e+02] [ 6.82066818e-02 9.97671212e-01 2.55062910e-05 1.13579019e+01] [ 2.63091880e-03 -2.05430849e-04 9.99996518e-01 -2.56636253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.575898227 meters 0.07462806628586294 Centerline is valid? [True, True] Translation: X:244.75, Y:11.36, Z:-2.56 [[ 9.97620131e-01 -6.89468259e-02 -6.39482626e-04 2.44751713e+02] [ 6.89468439e-02 9.97620335e-01 6.17852483e-06 1.13600442e+01] [ 6.37534882e-04 -5.02541296e-05 9.99999796e-01 -2.56457992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.635898227 meters 0.09881513393589586 Centerline is valid? [True, True] Translation: X:244.81, Y:11.33, Z:-2.56 [[ 9.97384781e-01 -7.22739434e-02 -2.74853111e-04 2.44810546e+02] [ 7.22739468e-02 9.97384819e-01 2.61532701e-06 1.13301877e+01] [ 2.73945300e-04 -2.24732065e-05 9.99999962e-01 -2.56436076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.695898227 meters 0.08707847066618224 Centerline is valid? [True, True] Translation: X:244.87, Y:11.35, Z:-2.57 [[ 9.96898358e-01 -7.86377535e-02 -3.12519091e-03 2.44870883e+02] [ 7.86382314e-02 9.96903219e-01 3.01232628e-05 1.13461177e+01] [ 3.11314406e-03 -2.75789317e-04 9.99995116e-01 -2.56886873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.755898227 meters 0.08767158114514408 Centerline is valid? [True, True] Translation: X:244.93, Y:11.35, Z:-2.57 [[ 9.96873021e-01 -7.89513345e-02 -3.29640324e-03 2.44930938e+02] [ 7.89518675e-02 9.96878429e-01 3.16648698e-05 1.13465525e+01] [ 3.28361330e-03 -2.91823046e-04 9.99994566e-01 -2.56898455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.815898227 meters 0.0818676407479337 Centerline is valid? [True, True] Translation: X:244.99, Y:11.36, Z:-2.57 [[ 9.97140971e-01 -7.55233509e-02 -2.47115384e-03 2.44991122e+02] [ 7.55236400e-02 9.97144011e-01 2.37286365e-05 1.13579631e+01] [ 2.46230419e-03 -2.10291329e-04 9.99996946e-01 -2.56631155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.875898227 meters 0.08590462139644181 Centerline is valid? [True, True] Translation: X:245.05, Y:11.36, Z:-2.57 [[ 9.97725352e-01 -6.73375906e-02 -3.12571890e-03 2.45050344e+02] [ 6.73380130e-02 9.97730220e-01 2.99830767e-05 1.13620661e+01] [ 3.11660522e-03 -2.40394576e-04 9.99995114e-01 -2.56993583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.935898227 meters 0.07617653608245865 Centerline is valid? [True, True] Translation: X:245.11, Y:11.38, Z:-2.57 [[ 9.97973876e-01 -6.35684366e-02 -2.68265623e-03 2.45111428e+02] [ 6.35687343e-02 9.97977462e-01 2.57677527e-05 1.13831682e+01] [ 2.67559245e-03 -1.96248606e-04 9.99996401e-01 -2.56988249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.995898227 meters 0.07457844802458222 Centerline is valid? [True, True] Translation: X:245.17, Y:11.39, Z:-2.57 [[ 9.97880482e-01 -6.50372131e-02 -2.16921136e-03 2.45172170e+02] [ 6.50374113e-02 9.97882826e-01 2.08721894e-05 1.13894788e+01] [ 2.16326130e-03 -1.61907842e-04 9.99997647e-01 -2.56923910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.05589822699994 meters 0.07952590997760862 Centerline is valid? [True, True] Translation: X:245.23, Y:11.39, Z:-2.57 [[ 9.97642422e-01 -6.85237153e-02 -3.75470824e-03 2.45232177e+02] [ 6.85243334e-02 9.97649445e-01 3.60723018e-05 1.13864895e+01] [ 3.74341079e-03 -2.93276138e-04 9.99992950e-01 -2.57127074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.11589822699995 meters 0.08776825988852881 Centerline is valid? [True, True] Translation: X:245.29, Y:11.38, Z:-2.57 [[ 9.97385693e-01 -7.21736448e-02 -3.57003133e-03 2.45291678e+02] [ 7.21742265e-02 9.97392039e-01 3.42154546e-05 1.13772961e+01] [ 3.55825138e-03 -2.91790255e-04 9.99993627e-01 -2.57162159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.17589822699995 meters 0.08311021077045652 Centerline is valid? [True, True] Translation: X:245.35, Y:11.39, Z:-2.57 [[ 9.97186444e-01 -7.49161715e-02 -2.60058189e-03 2.45351961e+02] [ 7.49164894e-02 9.97189811e-01 2.49044467e-05 1.13851603e+01] [ 2.59140802e-03 -2.19660842e-04 9.99996618e-01 -2.56904975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.23589822699995 meters 0.0947162805433767 Centerline is valid? [True, True] Translation: X:245.41, Y:11.37, Z:-2.57 [[ 9.96858265e-01 -7.90480176e-02 -5.00106482e-03 2.45410956e+02] [ 7.90492443e-02 9.96870711e-01 4.77895751e-05 1.13702511e+01] [ 4.98163738e-03 -4.42969828e-04 9.99987493e-01 -2.57390772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.29589822699995 meters 0.08928898254196199 Centerline is valid? [True, True] Translation: X:245.47, Y:11.37, Z:-2.57 [[ 9.96572641e-01 -8.26426676e-02 -3.62786471e-03 2.45471140e+02] [ 8.26433368e-02 9.96579188e-01 3.46873473e-05 1.13743405e+01] [ 3.61258781e-03 -3.34387306e-04 9.99993419e-01 -2.57136723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.35589822699995 meters 0.0932183872658229 Centerline is valid? [True, True] Translation: X:245.53, Y:11.37, Z:-2.57 [[ 9.96351187e-01 -8.53187595e-02 -2.24065843e-03 2.45531703e+02] [ 8.53190215e-02 9.96353684e-01 2.14290052e-05 1.13659890e+01] [ 2.23065999e-03 -2.12521600e-04 9.99997489e-01 -2.56888347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.41589822699996 meters 0.10077611011651538 Centerline is valid? [True, False] Translation: X:245.53, Y:11.36, Z:-2.57 [[ 9.97719233e-01 -6.75006141e-02 -1.00640109e-05 2.45529196e+02] [ 6.74905705e-02 9.97573329e-01 -1.71019075e-02 1.13624774e+01] [ 1.16442885e-03 1.70622228e-02 9.99853752e-01 -2.56746160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.47589822699996 meters 0.0864181296820176 Centerline is valid? [False, True] Translation: X:245.53, Y:11.36, Z:-2.56 [[ 9.98641002e-01 -5.20198614e-02 -3.17537054e-03 2.45528363e+02] [ 5.19467554e-02 9.98451742e-01 -1.98910316e-02 1.13589252e+01] [ 4.20518295e-03 1.96990495e-02 9.99797111e-01 -2.56481731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.53589822699996 meters 0.08560130993894748 Centerline is valid? [True, True] Translation: X:245.59, Y:11.35, Z:-2.57 [[ 9.98891640e-01 -4.69545760e-02 -3.28019500e-03 2.45587659e+02] [ 4.69552469e-02 9.98896986e-01 1.27794370e-04 1.13481124e+01] [ 3.27057637e-03 -2.81675094e-04 9.99994612e-01 -2.56920457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.59589822699996 meters 0.09045029062663319 Centerline is valid? [True, True] Translation: X:245.65, Y:11.34, Z:-2.57 [[ 9.98951867e-01 -4.56525089e-02 -3.31912134e-03 2.45646983e+02] [ 4.56531887e-02 9.98957341e-01 1.29311411e-04 1.13375033e+01] [ 3.30975723e-03 -2.80704348e-04 9.99994483e-01 -2.56983774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.65589822699997 meters 0.08120045209110917 Centerline is valid? [True, True] Translation: X:245.71, Y:11.34, Z:-2.57 [[ 9.99017628e-01 -4.41296884e-02 -4.04334744e-03 2.45708387e+02] [ 4.41306850e-02 9.99025754e-01 1.57555504e-04 1.13449490e+01] [ 4.03245535e-03 -3.35836418e-04 9.99991813e-01 -2.57032346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.71589822699997 meters 0.08219604691160018 Centerline is valid? [True, True] Translation: X:245.77, Y:11.34, Z:-2.57 [[ 9.99238841e-01 -3.85979046e-02 -5.65156487e-03 2.45768284e+02] [ 3.85997638e-02 9.99254727e-01 2.20224061e-04 1.13409821e+01] [ 5.63885273e-03 -4.38205505e-04 9.99984006e-01 -2.57235514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.77589822699997 meters 0.07831703419738756 Centerline is valid? [True, True] Translation: X:245.83, Y:11.35, Z:-2.57 [[ 9.99432326e-01 -3.34060036e-02 -4.36636995e-03 2.45828986e+02] [ 3.34070640e-02 9.99441814e-01 1.70130990e-04 1.13455038e+01] [ 4.35824931e-03 -3.15902012e-04 9.99990453e-01 -2.56989840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.835898227 meters 0.06925153907031263 Centerline is valid? [True, True] Translation: X:245.89, Y:11.35, Z:-2.57 [[ 9.99562977e-01 -2.91509064e-02 -4.90705186e-03 2.45889661e+02] [ 2.91521946e-02 9.99574966e-01 1.91190796e-04 1.13524690e+01] [ 4.89939281e-03 -3.34158573e-04 9.99987942e-01 -2.57067750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.895898227 meters 0.07290251357328824 Centerline is valid? [True, True] Translation: X:245.95, Y:11.35, Z:-2.57 [[ 9.99587229e-01 -2.84573654e-02 -3.94340362e-03 2.45948820e+02] [ 2.84581917e-02 9.99594972e-01 1.53597460e-04 1.13451395e+01] [ 3.93743545e-03 -2.65756196e-04 9.99992213e-01 -2.56915636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.955898227 meters 0.06499820546417566 Centerline is valid? [True, True] Translation: X:246.01, Y:11.35, Z:-2.57 [[ 9.99665868e-01 -2.55120448e-02 -4.15798521e-03 2.46009937e+02] [ 2.55129382e-02 9.99674479e-01 1.61958222e-04 1.13529887e+01] [ 4.15249981e-03 -2.67986526e-04 9.99991342e-01 -2.56749802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.015898227 meters 0.06543869744451383 Centerline is valid? [True, True] Translation: X:246.07, Y:11.35, Z:-2.57 [[ 9.99773377e-01 -2.10745515e-02 -3.00975369e-03 2.46069140e+02] [ 2.10749995e-02 9.99777891e-01 1.17191933e-04 1.13503164e+01] [ 3.00661543e-03 -1.80595932e-04 9.99995464e-01 -2.56632776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.075898227 meters 0.05583826415245759 Centerline is valid? [True, True] Translation: X:246.13, Y:11.36, Z:-2.56 [[ 9.99873917e-01 -1.58659269e-02 -6.49746931e-04 2.46129855e+02] [ 1.58659467e-02 9.99874128e-01 2.52989924e-05 1.13594799e+01] [ 6.49263753e-04 -3.56046528e-05 9.99999789e-01 -2.56379099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.135898227 meters 0.05420276495076203 Centerline is valid? [True, True] Translation: X:246.19, Y:11.36, Z:-2.56 [[ 9.99917519e-01 -1.28432898e-02 6.73994471e-05 2.46190841e+02] [ 1.28432900e-02 9.99917522e-01 -2.62318282e-06 1.13570406e+01] [-6.73601978e-05 3.48859711e-06 9.99999998e-01 -2.56303911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.195898227 meters 0.05340287964570603 Centerline is valid? [True, True] Translation: X:246.25, Y:11.35, Z:-2.56 [[ 9.99969665e-01 -7.78898989e-03 1.60671593e-05 2.46249993e+02] [ 7.78898991e-03 9.99969665e-01 -6.28731448e-07 1.13535012e+01] [-1.60617748e-05 7.53859317e-07 1.00000000e+00 -2.56293061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.255898227 meters 0.03863085464423506 Centerline is valid? [True, True] Translation: X:246.31, Y:11.37, Z:-2.56 [[ 9.99990581e-01 4.25518447e-03 -8.55210251e-04 2.46311458e+02] [-4.25515755e-03 9.99990946e-01 3.32950191e-05 1.13678533e+01] [ 8.55344184e-04 -2.96556511e-05 9.99999634e-01 -2.56462690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.315898227 meters 0.030651501804674283 Centerline is valid? [True, True] Translation: X:246.37, Y:11.38, Z:-2.57 [[ 9.99926821e-01 1.19379685e-02 -1.95903125e-03 2.46371865e+02] [-1.19378421e-02 9.99928739e-01 7.62293691e-05 1.13750351e+01] [ 1.95980167e-03 -5.28371850e-05 9.99998078e-01 -2.56597295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.375898227 meters 0.02462690807173823 Centerline is valid? [True, True] Translation: X:246.43, Y:11.38, Z:-2.57 [[ 9.99805473e-01 1.94968448e-02 -2.98157360e-03 2.46431464e+02] [-1.94965856e-02 9.99809917e-01 1.15981031e-04 1.13801813e+01] [ 2.98326812e-03 -5.78279644e-05 9.99995548e-01 -2.56937576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.435898227 meters 0.020914230096286686 Centerline is valid? [True, True] Translation: X:246.49, Y:11.38, Z:-2.57 [[ 9.99773130e-01 2.11135678e-02 -2.81189151e-03 2.46490447e+02] [-2.11133440e-02 9.99777083e-01 1.09239617e-04 1.13825813e+01] [ 2.81357112e-03 -4.98464015e-05 9.99996041e-01 -2.56862720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.495898227 meters 0.023891455269620287 Centerline is valid? [True, True] Translation: X:246.55, Y:11.37, Z:-2.57 [[ 9.99817313e-01 1.83732214e-02 -5.26936819e-03 2.46549279e+02] [-1.83723986e-02 9.99831192e-01 2.04520802e-04 1.13728457e+01] [ 5.27223638e-03 -1.07672506e-04 9.99986096e-01 -2.57324096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.55589822699994 meters 0.02857012886569975 Centerline is valid? [True, True] Translation: X:246.61, Y:11.36, Z:-2.57 [[ 9.99866948e-01 1.51572250e-02 -6.02874514e-03 2.46607821e+02] [-1.51560907e-02 9.99885113e-01 2.33787621e-04 1.13609749e+01] [ 6.03159608e-03 -1.42384307e-04 9.99981800e-01 -2.57460306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.61589822699995 meters 0.030225913274244554 Centerline is valid? [True, True] Translation: X:246.67, Y:11.35, Z:-2.57 [[ 9.99902476e-01 1.28271805e-02 -5.52293187e-03 2.46667332e+02] [-1.28261938e-02 9.99917718e-01 2.14049892e-04 1.13544429e+01] [ 5.52522308e-03 -1.43190823e-04 9.99984726e-01 -2.57263168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.67589822699995 meters 0.029776854484425998 Centerline is valid? [True, True] Translation: X:246.73, Y:11.35, Z:-2.57 [[ 9.99915191e-01 1.26052349e-02 -3.27400603e-03 2.46726477e+02] [-1.26048875e-02 9.99920547e-01 1.26730180e-04 1.13510934e+01] [ 3.27534336e-03 -8.54509545e-05 9.99994632e-01 -2.56890449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.73589822699995 meters 0.0280079860110946 Centerline is valid? [True, True] Translation: X:246.79, Y:11.35, Z:-2.57 [[ 9.99906744e-01 1.35538509e-02 -1.67224244e-03 2.46785076e+02] [-1.35537617e-02 9.99908141e-01 6.46450398e-05 1.13519101e+01] [ 1.67296502e-03 -4.19738358e-05 9.99998600e-01 -2.56508954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.79589822699995 meters 0.032653375523633794 Centerline is valid? [True, True] Translation: X:246.84, Y:11.34, Z:-2.56 [[ 9.99944600e-01 1.05141802e-02 -4.98896141e-04 2.46843357e+02] [-1.05141719e-02 9.99944724e-01 1.92635325e-05 1.13440728e+01] [ 4.99071104e-04 -1.40169856e-05 9.99999875e-01 -2.56483057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.85589822699995 meters 0.035937781444558496 Centerline is valid? [True, True] Translation: X:246.90, Y:11.34, Z:-2.56 [[ 9.99986023e-01 5.23401088e-03 7.48249282e-04 2.46903514e+02] [-5.23399072e-03 9.99986302e-01 -2.89017020e-05 1.13398710e+01] [-7.48390305e-04 2.49849682e-05 9.99999720e-01 -2.56386136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.91589822699996 meters 0.04326778344172057 Centerline is valid? [True, True] Translation: X:246.96, Y:11.33, Z:-2.56 [[ 9.99995552e-01 4.50969027e-04 2.94833879e-03 2.46962681e+02] [-4.50635316e-04 9.99999892e-01 -1.13849260e-04 1.13306751e+01] [-2.94838981e-03 1.12520128e-04 9.99995647e-01 -2.56043519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.97589822699996 meters 0.05133792604134693 Centerline is valid? [True, True] Translation: X:247.02, Y:11.32, Z:-2.56 [[ 9.99977547e-01 -6.25015806e-03 2.41699528e-03 2.47021775e+02] [ 6.25040182e-03 9.99980462e-01 -9.33120511e-05 1.13194014e+01] [-2.41636484e-03 1.08417148e-04 9.99997075e-01 -2.56292115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.03589822699996 meters 0.054945691330131156 Centerline is valid? [True, True] Translation: X:247.08, Y:11.31, Z:-2.57 [[ 9.99960312e-01 -8.82783122e-03 1.20164442e-03 2.47082321e+02] [ 8.82789334e-03 9.99961032e-01 -4.64006996e-05 1.13130694e+01] [-1.20118797e-03 5.70068468e-05 9.99999277e-01 -2.56556611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.09589822699996 meters 0.05169430532663077 Centerline is valid? [True, True] Translation: X:247.14, Y:11.31, Z:-2.57 [[ 9.99903824e-01 -1.38274815e-02 -1.06974477e-03 2.47143763e+02] [ 1.38275336e-02 9.99904394e-01 4.13348083e-05 1.13109327e+01] [ 1.06907094e-03 -5.61227646e-05 9.99999427e-01 -2.57022918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.15589822699997 meters 0.057122555215143714 Centerline is valid? [True, True] Translation: X:247.20, Y:11.30, Z:-2.57 [[ 9.99848941e-01 -1.73520163e-02 -1.00112326e-03 2.47202587e+02] [ 1.73520637e-02 9.99849441e-01 3.86666051e-05 1.12980146e+01] [ 1.00030159e-03 -5.60323188e-05 9.99999498e-01 -2.56989771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.21589822699997 meters 0.061741866549930254 Centerline is valid? [True, True] Translation: X:247.26, Y:11.29, Z:-2.57 [[ 9.99870368e-01 -1.59928159e-02 -1.86483299e-03 2.47263197e+02] [ 1.59929781e-02 9.99872102e-01 7.20790019e-05 1.12879763e+01] [ 1.86344174e-03 -1.01893891e-04 9.99998259e-01 -2.57218791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.27589822699997 meters 0.053381753731615265 Centerline is valid? [True, True] Translation: X:247.32, Y:11.30, Z:-2.57 [[ 9.99902314e-01 -1.36213421e-02 -3.13378031e-03 2.47323936e+02] [ 1.36217884e-02 9.99907212e-01 1.21115968e-04 1.12962073e+01] [ 3.13183977e-03 -1.63791829e-04 9.99995082e-01 -2.57438685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.335898227 meters 0.0595464747162722 Centerline is valid? [True, True] Translation: X:247.38, Y:11.29, Z:-2.58 [[ 9.99885445e-01 -1.46411756e-02 -3.83839122e-03 2.47383731e+02] [ 1.46418529e-02 9.99892791e-01 1.48395032e-04 1.12860593e+01] [ 3.83580703e-03 -2.04579192e-04 9.99992622e-01 -2.57671164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.395898227 meters 0.059833514013705076 Centerline is valid? [True, True] Translation: X:247.44, Y:11.28, Z:-2.58 [[ 9.99830076e-01 -1.76471761e-02 -5.32887802e-03 2.47444486e+02] [ 1.76485238e-02 9.99844231e-01 2.06000598e-04 1.12832345e+01] [ 5.32441262e-03 -3.00012425e-04 9.99985780e-01 -2.57893953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.455898227 meters 0.06328021644224352 Centerline is valid? [True, True] Translation: X:247.50, Y:11.28, Z:-2.58 [[ 9.99698399e-01 -2.39703329e-02 -5.34178101e-03 2.47504319e+02] [ 2.39717772e-02 9.99712614e-01 2.06496519e-04 1.12759972e+01] [ 5.33529607e-03 -3.34486223e-04 9.99985711e-01 -2.57805315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.515898227 meters 0.07163697663693742 Centerline is valid? [True, True] Translation: X:247.56, Y:11.26, Z:-2.58 [[ 9.99610906e-01 -2.75789131e-02 -4.17617892e-03 2.47563050e+02] [ 2.75798274e-02 9.99619591e-01 1.61489862e-04 1.12621221e+01] [ 4.17013655e-03 -2.76605321e-04 9.99991267e-01 -2.57654629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.575898227 meters 0.07794302660035539 Centerline is valid? [True, True] Translation: X:247.62, Y:11.25, Z:-2.57 [[ 9.99516929e-01 -3.09283129e-02 -3.05762889e-03 2.47622039e+02] [ 3.09288186e-02 9.99521583e-01 1.18213787e-04 1.12497501e+01] [ 3.05250992e-03 -2.12725531e-04 9.99995318e-01 -2.57494791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.635898227 meters 0.0772873170262376 Centerline is valid? [True, True] Translation: X:247.68, Y:11.25, Z:-2.57 [[ 9.99428534e-01 -3.37755821e-02 1.34735865e-03 2.47682055e+02] [ 3.37756829e-02 9.99429437e-01 -5.20912098e-05 1.12453310e+01] [-1.34483049e-03 9.75694000e-05 9.99999091e-01 -2.56622945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.695898227 meters 0.07333693586032627 Centerline is valid? [True, True] Translation: X:247.74, Y:11.25, Z:-2.57 [[ 9.99434955e-01 -3.36108562e-02 -2.83288457e-04 2.47743764e+02] [ 3.36108607e-02 9.99434995e-01 1.09647573e-05 1.12452932e+01] [ 2.82759863e-04 -2.04801306e-05 9.99999960e-01 -2.56942082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.755898227 meters 0.07181129950598285 Centerline is valid? [True, True] Translation: X:247.80, Y:11.24, Z:-2.57 [[ 9.99465730e-01 -3.25701178e-02 -2.72798051e-03 2.47804713e+02] [ 3.25705267e-02 9.99469434e-01 1.05598464e-04 1.12401951e+01] [ 2.72309378e-03 -1.94393808e-04 9.99996273e-01 -2.57390444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.815898227 meters 0.07345774159725259 Centerline is valid? [True, True] Translation: X:247.86, Y:11.23, Z:-2.57 [[ 9.99501215e-01 -3.15123504e-02 -2.07213223e-03 2.47863730e+02] [ 3.15125840e-02 9.99503352e-01 8.01799662e-05 1.12344371e+01] [ 2.06857645e-03 -1.45438215e-04 9.99997850e-01 -2.57238343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.875898227 meters 0.07440246523540855 Centerline is valid? [True, True] Translation: X:247.92, Y:11.23, Z:-2.57 [[ 9.99605955e-01 -2.79217979e-02 -2.88219713e-03 2.47923235e+02] [ 2.79222350e-02 9.99610092e-01 1.11489943e-04 1.12317640e+01] [ 2.87796034e-03 -1.91923396e-04 9.99995840e-01 -2.57414303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.935898227 meters 0.06917030606468273 Centerline is valid? [True, True] Translation: X:247.98, Y:11.24, Z:-2.58 [[ 9.99653021e-01 -2.61490496e-02 -3.17260917e-03 2.47984612e+02] [ 2.61495703e-02 9.99658034e-01 1.22765919e-04 1.12367743e+01] [ 3.16831404e-03 -2.05685689e-04 9.99994960e-01 -2.57593923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.995898227 meters 0.06763614409456077 Centerline is valid? [True, True] Translation: X:248.04, Y:11.24, Z:-2.57 [[ 9.99645905e-01 -2.65676647e-02 -1.49134801e-03 2.48044840e+02] [ 2.65677802e-02 9.99647013e-01 5.77071779e-05 1.12371175e+01] [ 1.48928844e-03 -9.73085503e-05 9.99998886e-01 -2.57373539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.05589822699994 meters 0.06586314766631508 Centerline is valid? [True, True] Translation: X:248.11, Y:11.24, Z:-2.58 [[ 9.99569846e-01 -2.91079806e-02 -3.58437675e-03 2.48105982e+02] [ 2.91086643e-02 9.99576243e-01 1.38711647e-04 1.12392266e+01] [ 3.57882023e-03 -2.42988399e-04 9.99993566e-01 -2.57618314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.11589822699995 meters 0.07138835824517364 Centerline is valid? [True, True] Translation: X:248.17, Y:11.23, Z:-2.58 [[ 9.99529513e-01 -3.01440605e-02 -5.66473518e-03 2.48165732e+02] [ 3.01457847e-02 9.99545489e-01 2.19217686e-04 1.12298515e+01] [ 5.65555238e-03 -3.89882434e-04 9.99983931e-01 -2.57978000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.17589822699995 meters 0.06976307007655341 Centerline is valid? [True, True] Translation: X:248.22, Y:11.23, Z:-2.58 [[ 9.99617058e-01 -2.72060870e-02 -5.05636347e-03 2.48224830e+02] [ 2.72074229e-02 9.99629790e-01 1.95603755e-04 1.12312788e+01] [ 5.04916994e-03 -3.33099470e-04 9.99987197e-01 -2.57773454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.23589822699995 meters 0.0662315423636161 Centerline is valid? [True, True] Translation: X:248.29, Y:11.23, Z:-2.58 [[ 9.99737520e-01 -2.23080807e-02 -5.21929184e-03 2.48285419e+02] [ 2.23094376e-02 9.99751093e-01 2.01907888e-04 1.12344809e+01] [ 5.21348854e-03 -3.18294357e-04 9.99986359e-01 -2.57831085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.29589822699995 meters 0.05826224213689844 Centerline is valid? [True, True] Translation: X:248.35, Y:11.24, Z:-2.58 [[ 9.99838335e-01 -1.69179516e-02 -6.08989980e-03 2.48346747e+02] [ 1.69196995e-02 9.99856824e-01 2.35598004e-04 1.12440943e+01] [ 6.08504204e-03 -3.38599191e-04 9.99981429e-01 -2.57920189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.35589822699995 meters 0.05090260020678311 Centerline is valid? [True, True] Translation: X:248.41, Y:11.25, Z:-2.58 [[ 9.99950864e-01 -7.97927409e-03 -5.88228850e-03 2.48406763e+02] [ 7.98075062e-03 9.99968127e-01 2.27582309e-04 1.12511741e+01] [ 5.88028508e-03 -2.74516204e-04 9.99982673e-01 -2.57792168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.41589822699996 meters 0.048105076698630934 Centerline is valid? [True, True] Translation: X:248.47, Y:11.25, Z:-2.58 [[ 9.99984482e-01 -9.85141955e-04 -5.48318075e-03 2.48466632e+02] [ 9.86319622e-04 9.99999491e-01 2.12078052e-04 1.12539214e+01] [ 5.48296903e-03 -2.17482929e-04 9.99984945e-01 -2.57773097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.47589822699996 meters 0.03677564339593702 Centerline is valid? [True, True] Translation: X:248.53, Y:11.26, Z:-2.57 [[ 9.99972444e-01 6.96411478e-03 -2.57153575e-03 2.48527571e+02] [-6.96388198e-03 9.99975747e-01 9.94723040e-05 1.12640513e+01] [ 2.57216612e-03 -8.15616915e-05 9.99996689e-01 -2.57274867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.53589822699996 meters 0.027215576691529242 Centerline is valid? [True, True] Translation: X:248.59, Y:11.28, Z:-2.57 [[ 9.99858681e-01 1.67909849e-02 8.24728371e-04 2.48587436e+02] [-1.67909643e-02 9.99859021e-01 -3.18910698e-05 1.12769026e+01] [-8.25147585e-04 1.80385783e-05 9.99999659e-01 -2.56854158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.59589822699996 meters 0.021045100720792295 Centerline is valid? [True, True] Translation: X:248.65, Y:11.28, Z:-2.57 [[ 9.99781324e-01 2.08577871e-02 1.50226515e-03 2.48648097e+02] [-2.08577234e-02 9.99782452e-01 -5.80667379e-05 1.12838115e+01] [-1.50314948e-03 2.67202092e-05 9.99998870e-01 -2.56892430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.65589822699997 meters 0.028872437745528237 Centerline is valid? [True, True] Translation: X:248.71, Y:11.28, Z:-2.57 [[ 9.99795943e-01 2.01916868e-02 6.07090774e-04 2.48705814e+02] [-2.01916763e-02 9.99796127e-01 -2.34445740e-05 1.12788465e+01] [-6.07440391e-04 1.11816096e-05 9.99999815e-01 -2.57100530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.71589822699997 meters 0.022736562535794664 Centerline is valid? [True, True] Translation: X:248.76, Y:11.28, Z:-2.57 [[ 9.99811352e-01 1.94195916e-02 3.74694003e-04 2.48764936e+02] [-1.94195876e-02 9.99811422e-01 -1.44553550e-05 1.12777565e+01] [-3.74904061e-04 7.17622502e-06 9.99999930e-01 -2.57043321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.77589822699997 meters 0.02613537589580429 Centerline is valid? [True, True] Translation: X:248.82, Y:11.27, Z:-2.57 [[ 9.99811276e-01 1.93136529e-02 2.09625770e-03 2.48822205e+02] [-1.93135262e-02 9.99813473e-01 -8.06998244e-05 1.12710532e+01] [-2.09742530e-03 4.01984665e-05 9.99997800e-01 -2.56849525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.835898227 meters 0.02198600474352011 Centerline is valid? [True, True] Translation: X:248.88, Y:11.28, Z:-2.57 [[ 9.99800690e-01 1.98695903e-02 1.94400348e-03 2.48881057e+02] [-1.98694826e-02 9.99802580e-01 -7.47462568e-05 1.12755183e+01] [-1.94510487e-03 3.61050159e-05 9.99998108e-01 -2.56928040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.895898227 meters 0.02214966467384398 Centerline is valid? [True, True] Translation: X:248.94, Y:11.28, Z:-2.57 [[ 9.99797140e-01 2.00651982e-02 1.75093427e-03 2.48940196e+02] [-2.00651112e-02 9.99798673e-01 -6.72430727e-05 1.12756992e+01] [-1.75193100e-03 3.20967409e-05 9.99998465e-01 -2.56901725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.955898227 meters 0.020773539101831797 Centerline is valid? [True, True] Translation: X:249.00, Y:11.28, Z:-2.57 [[ 9.99745193e-01 2.25628652e-02 6.82174909e-04 2.48999067e+02] [-2.25628526e-02 9.99745426e-01 -2.61791758e-05 1.12778270e+01] [-6.82591922e-04 1.07806933e-05 9.99999767e-01 -2.57079128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.015898227 meters 0.01820533044225306 Centerline is valid? [True, True] Translation: X:249.06, Y:11.28, Z:-2.57 [[ 9.99693112e-01 2.47615100e-02 -7.41331676e-04 2.49058592e+02] [-2.47614957e-02 9.99693387e-01 2.84052535e-05 1.12802669e+01] [ 7.41807730e-04 -1.00400551e-05 9.99999725e-01 -2.57440126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.075898227 meters 0.01915453586502945 Centerline is valid? [True, True] Translation: X:249.12, Y:11.28, Z:-2.57 [[ 9.99714389e-01 2.38810405e-02 -9.14502338e-04 2.49116996e+02] [-2.38810184e-02 9.99714807e-01 3.49982113e-05 1.12766271e+01] [ 9.15077322e-04 -1.31489683e-05 9.99999581e-01 -2.57454424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.135898227 meters 0.022222727431589893 Centerline is valid? [True, True] Translation: X:249.17, Y:11.27, Z:-2.57 [[ 9.99780782e-01 2.09287240e-02 -6.13847618e-04 2.49174836e+02] [-2.09287135e-02 9.99780970e-01 2.34608002e-05 1.12686334e+01] [ 6.14204171e-04 -1.06086163e-05 9.99999811e-01 -2.57322972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.195898227 meters 0.022490387114741085 Centerline is valid? [True, True] Translation: X:249.23, Y:11.27, Z:-2.57 [[ 9.99780952e-01 2.09128155e-02 -8.38358958e-04 2.49233688e+02] [-2.09127961e-02 9.99781303e-01 3.20088585e-05 1.12654078e+01] [ 8.38845006e-04 -1.44694171e-05 9.99999648e-01 -2.57310353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.255898227 meters 0.023081869793579846 Centerline is valid? [True, True] Translation: X:249.29, Y:11.26, Z:-2.57 [[ 9.99780221e-01 2.09596720e-02 -4.48196664e-04 2.49291861e+02] [-2.09596665e-02 9.99780322e-01 1.70796246e-05 1.12614397e+01] [ 4.48456188e-04 -7.68181826e-06 9.99999899e-01 -2.57339557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.315898227 meters 0.024507249385045015 Centerline is valid? [True, True] Translation: X:249.35, Y:11.26, Z:-2.57 [[ 9.99802491e-01 1.98718960e-02 2.93599662e-04 2.49349964e+02] [-1.98718935e-02 9.99802534e-01 -1.11958001e-05 1.12552091e+01] [-2.93764168e-04 5.35920760e-06 9.99999957e-01 -2.57287560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.375898227 meters 0.03016143369173752 Centerline is valid? [True, True] Translation: X:249.41, Y:11.25, Z:-2.58 [[ 9.99879235e-01 1.55366621e-02 -3.56977679e-04 2.49409298e+02] [-1.55366582e-02 9.99879299e-01 1.35793891e-05 1.12464824e+01] [ 3.57145569e-04 -8.03150904e-06 9.99999936e-01 -2.57534469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.435898227 meters 0.027783522771941817 Centerline is valid? [True, True] Translation: X:249.47, Y:11.24, Z:-2.57 [[ 9.99913296e-01 1.31603717e-02 -4.53724314e-04 2.49468386e+02] [-1.31603652e-02 9.99913398e-01 1.72420641e-05 1.12446153e+01] [ 4.53911933e-04 -1.12693915e-05 9.99999897e-01 -2.57496737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.495898227 meters 0.030296086923647342 Centerline is valid? [True, True] Translation: X:249.53, Y:11.24, Z:-2.57 [[ 9.99933965e-01 1.14793339e-02 5.39561914e-04 2.49527013e+02] [-1.14793245e-02 9.99934110e-01 -2.05052826e-05 1.12391886e+01] [-5.39761749e-04 1.43101223e-05 9.99999854e-01 -2.57388338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.55589822699994 meters 0.03646507911951815 Centerline is valid? [True, True] Translation: X:249.59, Y:11.23, Z:-2.57 [[ 9.99975777e-01 6.34334933e-03 2.86501548e-03 2.49586648e+02] [-6.34306360e-03 9.99979877e-01 -1.08805465e-04 1.12343717e+01] [-2.86564801e-03 9.06298540e-05 9.99995890e-01 -2.57095145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.61589822699995 meters 0.041821148900368636 Centerline is valid? [True, True] Translation: X:249.65, Y:11.22, Z:-2.57 [[ 9.99994996e-01 2.41593416e-03 2.04227335e-03 2.49646815e+02] [-2.41578075e-03 9.99997079e-01 -7.75783925e-05 1.12242036e+01] [-2.04245481e-03 7.26443197e-05 9.99997912e-01 -2.57199311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.67589822699995 meters 0.041311461548988786 Centerline is valid? [True, True] Translation: X:249.71, Y:11.23, Z:-2.57 [[ 9.99998144e-01 -1.03405051e-03 1.62535105e-03 2.49707835e+02] [ 1.03415226e-03 9.99999463e-01 -6.17592456e-05 1.12266953e+01] [-1.62528632e-03 6.34399915e-05 9.99998677e-01 -2.57299623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.73589822699995 meters 0.0470935184104317 Centerline is valid? [True, True] Translation: X:249.77, Y:11.23, Z:-2.57 [[ 9.99988581e-01 -4.27070458e-03 2.14436980e-03 2.49767980e+02] [ 4.27088911e-03 9.99990876e-01 -8.14846544e-05 1.12267743e+01] [-2.14400224e-03 9.06420896e-05 9.99997698e-01 -2.57100731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.79589822699995 meters 0.04867124650018726 Centerline is valid? [True, True] Translation: X:249.83, Y:11.23, Z:-2.57 [[ 9.99982413e-01 -5.79956714e-03 1.24045206e-03 2.49829369e+02] [ 5.79963009e-03 9.99983181e-01 -4.71581899e-05 1.12263806e+01] [-1.24015770e-03 5.43515236e-05 9.99999230e-01 -2.57373614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.85589822699995 meters 0.04932296763953509 Centerline is valid? [True, True] Translation: X:249.89, Y:11.23, Z:-2.58 [[ 9.99966691e-01 -8.16137350e-03 8.96298668e-05 2.49890256e+02] [ 8.16137384e-03 9.99966695e-01 -3.40591459e-06 1.12277579e+01] [-8.95990848e-05 4.13730400e-06 9.99999996e-01 -2.57565497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.91589822699996 meters 0.05354808408278583 Centerline is valid? [True, True] Translation: X:249.95, Y:11.23, Z:-2.58 [[ 9.99908278e-01 -1.34523611e-02 -1.57148370e-03 2.49951417e+02] [ 1.34524717e-02 9.99909510e-01 5.98036687e-05 1.12252210e+01] [ 1.57053700e-03 -8.09385234e-05 9.99998763e-01 -2.57804330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.97589822699996 meters 0.06117631757817597 Centerline is valid? [True, True] Translation: X:250.01, Y:11.21, Z:-2.58 [[ 9.99837148e-01 -1.79666576e-02 -1.69637340e-03 2.50010811e+02] [ 1.79667930e-02 9.99838582e-01 6.46428538e-05 1.12149548e+01] [ 1.69493816e-03 -9.51107163e-05 9.99998559e-01 -2.57807565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.03589822699996 meters 0.06827853607003745 Centerline is valid? [True, True] Translation: X:250.07, Y:11.20, Z:-2.58 [[ 9.99696849e-01 -2.45901266e-02 -1.23962137e-03 2.50070562e+02] [ 2.45902040e-02 9.99697614e-01 4.72320563e-05 1.12035113e+01] [ 1.23808509e-03 -7.77002804e-05 9.99999231e-01 -2.57791807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.09589822699996 meters 0.06669845704588491 Centerline is valid? [True, True] Translation: X:250.13, Y:11.20, Z:-2.58 [[ 9.99614079e-01 -2.77002614e-02 -2.09483427e-03 2.50130937e+02] [ 2.77004892e-02 9.99616265e-01 7.98207845e-05 1.12016236e+01] [ 2.09181935e-03 -1.37817914e-04 9.99997803e-01 -2.57915345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.15589822699997 meters 0.06833847094551572 Centerline is valid? [True, True] Translation: X:250.19, Y:11.19, Z:-2.57 [[ 9.99599177e-01 -2.83104551e-02 6.06048863e-05 2.50191624e+02] [ 2.83104553e-02 9.99599179e-01 -2.30299596e-06 1.11943123e+01] [-6.05153957e-05 4.01782479e-06 9.99999998e-01 -2.57491482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.21589822699997 meters 0.06547741222606002 Centerline is valid? [True, True] Translation: X:250.25, Y:11.19, Z:-2.57 [[ 9.99630498e-01 -2.71771245e-02 5.21173410e-04 2.50253175e+02] [ 2.71771386e-02 9.99630633e-01 -1.98806189e-05 1.11942791e+01] [-5.20440608e-04 3.40372750e-05 9.99999864e-01 -2.57367440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.27589822699997 meters 0.06589407796886153 Centerline is valid? [True, True] Translation: X:250.32, Y:11.19, Z:-2.58 [[ 9.99635444e-01 -2.69744735e-02 -1.16456723e-03 2.50315259e+02] [ 2.69745436e-02 9.99636120e-01 4.45019515e-05 1.11877239e+01] [ 1.16294305e-03 -7.58993975e-05 9.99999321e-01 -2.57670026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.335898227 meters 0.06637094964621759 Centerline is valid? [True, True] Translation: X:250.38, Y:11.18, Z:-2.58 [[ 9.99501592e-01 -3.15493453e-02 -1.09854734e-03 2.50375455e+02] [ 3.15494104e-02 9.99502193e-01 4.19624243e-05 1.11769325e+01] [ 1.09667659e-03 -7.66000306e-05 9.99999396e-01 -2.57704088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.395898227 meters 0.0797040321464656 Centerline is valid? [True, True] Translation: X:250.43, Y:11.15, Z:-2.58 [[ 9.99395421e-01 -3.47247274e-02 -1.72787678e-03 2.50434756e+02] [ 3.47248932e-02 9.99396907e-01 6.60137592e-05 1.11528213e+01] [ 1.72454240e-03 -1.25974185e-04 9.99998505e-01 -2.57845393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.455898227 meters 0.0742959622722996 Centerline is valid? [True, True] Translation: X:250.50, Y:11.15, Z:-2.58 [[ 9.99375582e-01 -3.52707729e-02 -2.10226310e-03 2.50496141e+02] [ 3.52710196e-02 9.99377781e-01 8.03691407e-05 1.11521481e+01] [ 2.09812035e-03 -1.54467920e-04 9.99997787e-01 -2.57974924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.515898227 meters 0.07481148888390128 Centerline is valid? [True, True] Translation: X:250.56, Y:11.15, Z:-2.58 [[ 9.99530002e-01 -3.05744851e-02 -2.23090287e-03 2.50555492e+02] [ 3.05747513e-02 9.99532479e-01 8.52830637e-05 1.11456219e+01] [ 2.22725239e-03 -1.53452281e-04 9.99997508e-01 -2.57857043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.575898227 meters 0.07023148740856931 Centerline is valid? [True, True] Translation: X:250.62, Y:11.15, Z:-2.58 [[ 9.99589997e-01 -2.86046556e-02 -1.26976971e-03 2.50616496e+02] [ 2.86047402e-02 9.99590800e-01 4.85552936e-05 1.11521437e+01] [ 1.26786121e-03 -8.48568185e-05 9.99999193e-01 -2.57701123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.635898227 meters 0.07288295990356321 Centerline is valid? [True, True] Translation: X:250.68, Y:11.14, Z:-2.58 [[ 9.99602387e-01 -2.81687775e-02 -1.26048500e-03 2.50676567e+02] [ 2.81688606e-02 9.99603178e-01 4.82149113e-05 1.11436657e+01] [ 1.25862665e-03 -8.37021666e-05 9.99999204e-01 -2.57721380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.695898227 meters 0.07393216408950862 Centerline is valid? [True, True] Translation: X:250.74, Y:11.14, Z:-2.58 [[ 9.99655635e-01 -2.61765444e-02 -1.84371117e-03 2.50736957e+02] [ 2.61767188e-02 9.99657328e-01 7.05196282e-05 1.11443487e+01] [ 1.84123342e-03 -1.18757652e-04 9.99998298e-01 -2.57835348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.755898227 meters 0.06873119097547363 Centerline is valid? [True, True] Translation: X:250.80, Y:11.15, Z:-2.58 [[ 9.99718661e-01 -2.36897288e-02 -1.18152150e-03 2.50798248e+02] [ 2.36897987e-02 9.99719356e-01 4.51991481e-05 1.11549690e+01] [ 1.18011916e-03 -7.31764383e-05 9.99999301e-01 -2.57775573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.815898227 meters 0.06536828930138414 Centerline is valid? [True, True] Translation: X:250.86, Y:11.16, Z:-2.58 [[ 9.99777395e-01 -2.10326391e-02 -1.67007800e-03 2.50859623e+02] [ 2.10327751e-02 9.99778785e-01 6.38946980e-05 1.11622108e+01] [ 1.66836468e-03 -9.90068497e-05 9.99998603e-01 -2.57822579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.875898227 meters 0.06516889527799129 Centerline is valid? [True, True] Translation: X:250.92, Y:11.17, Z:-2.58 [[ 9.99797396e-01 -1.99329567e-02 -2.80058629e-03 2.50920978e+02] [ 1.99333348e-02 9.99801306e-01 1.07157292e-04 1.11678750e+01] [ 2.79789387e-03 -1.62960606e-04 9.99996073e-01 -2.58186800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.935898227 meters 0.06797759135655385 Centerline is valid? [True, True] Translation: X:250.98, Y:11.17, Z:-2.58 [[ 9.99765225e-01 -2.16002253e-02 -1.71029545e-03 2.50981799e+02] [ 2.16003688e-02 9.99766683e-01 6.54609653e-05 1.11690271e+01] [ 1.70848244e-03 -1.02388609e-04 9.99998535e-01 -2.58110857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.995898227 meters 0.06577092832447971 Centerline is valid? [True, True] Translation: X:251.04, Y:11.18, Z:-2.58 [[ 9.99714969e-01 -2.38684484e-02 -5.26410775e-04 2.51042906e+02] [ 2.38684623e-02 9.99715107e-01 2.01561433e-05 1.11756647e+01] [ 5.25779708e-04 -3.27150139e-05 9.99999861e-01 -2.57879717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.05589822699994 meters 0.06698238948596824 Centerline is valid? [True, True] Translation: X:251.10, Y:11.18, Z:-2.58 [[ 9.99694235e-01 -2.47127706e-02 -8.46285999e-04 2.51104613e+02] [ 2.47128069e-02 9.99694591e-01 3.24246405e-05 1.11848777e+01] [ 8.45226233e-04 -5.33288287e-05 9.99999641e-01 -2.57893408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.11589822699995 meters 0.07271098929385778 Centerline is valid? [True, True] Translation: X:251.16, Y:11.17, Z:-2.58 [[ 9.99714215e-01 -2.39051243e-02 -1.84290552e-04 2.51164468e+02] [ 2.39051260e-02 9.99714232e-01 7.06466164e-06 1.11747450e+01] [ 1.84069006e-04 -1.14681315e-05 9.99999983e-01 -2.57868082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.17589822699995 meters 0.05961739279992807 Centerline is valid? [True, True] Translation: X:251.23, Y:11.19, Z:-2.58 [[ 9.99761263e-01 -2.18323065e-02 -8.75575371e-04 2.51225622e+02] [ 2.18323443e-02 9.99761645e-01 3.35505569e-05 1.11929149e+01] [ 8.74634188e-04 -5.26584100e-05 9.99999616e-01 -2.57904722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.23589822699995 meters 0.054944903305910245 Centerline is valid? [True, True] Translation: X:251.29, Y:11.20, Z:-2.59 [[ 9.99889989e-01 -1.39790798e-02 -4.95927833e-03 2.51285346e+02] [ 1.39801934e-02 9.99902254e-01 1.89964527e-04 1.12025179e+01] [ 4.95613805e-03 -2.59275299e-04 9.99987685e-01 -2.58531434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.29589822699995 meters 0.04485583413228766 Centerline is valid? [True, True] Translation: X:251.35, Y:11.22, Z:-2.58 [[ 9.99986850e-01 -4.05297969e-03 -3.14230909e-03 2.51346806e+02] [ 4.05337787e-03 9.99991778e-01 1.20356302e-04 1.12221436e+01] [ 3.14179546e-03 -1.33091686e-04 9.99995056e-01 -2.58234765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.35589822699995 meters 0.045557521373170214 Centerline is valid? [True, True] Translation: X:251.41, Y:11.22, Z:-2.58 [[ 9.99988580e-01 -3.42305143e-03 -3.33507388e-03 2.51406314e+02] [ 3.42349632e-03 9.99994132e-01 1.27699749e-04 1.12242023e+01] [ 3.33461719e-03 -1.39115904e-04 9.99994430e-01 -2.58358030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.41589822699996 meters 0.04952010448513214 Centerline is valid? [True, True] Translation: X:251.47, Y:11.22, Z:-2.58 [[ 9.99971398e-01 -7.00548933e-03 -2.85066731e-03 2.51465987e+02] [ 7.00582884e-03 9.99975453e-01 1.09130212e-04 1.12183271e+01] [ 2.84983283e-03 -1.29098378e-04 9.99995931e-01 -2.58289198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.47589822699996 meters 0.05323012555589074 Centerline is valid? [True, True] Translation: X:251.53, Y:11.21, Z:-2.58 [[ 9.99875369e-01 -1.57859495e-02 2.26143386e-04 2.51526476e+02] [ 1.57859519e-02 9.99875394e-01 -8.65745855e-06 1.12086440e+01] [-2.25978541e-04 1.22262682e-05 9.99999974e-01 -2.57818702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.53589822699996 meters 0.0671615650220106 Centerline is valid? [True, True] Translation: X:251.59, Y:11.19, Z:-2.58 [[ 9.99753906e-01 -2.21819809e-02 2.95687611e-04 2.51585225e+02] [ 2.21819852e-02 9.99753949e-01 -1.13201015e-05 1.11855144e+01] [-2.95363754e-04 1.78762539e-05 9.99999956e-01 -2.57799280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.59589822699996 meters 0.06883988353662138 Centerline is valid? [True, True] Translation: X:251.65, Y:11.18, Z:-2.58 [[ 9.99660659e-01 -2.60170708e-02 -1.29608014e-03 2.51645725e+02] [ 2.60171570e-02 9.99661495e-01 4.96646570e-05 1.11777907e+01] [ 1.29434928e-03 -8.33681242e-05 9.99999159e-01 -2.58056196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.65589822699997 meters 0.06700664759251362 Centerline is valid? [True, True] Translation: X:251.71, Y:11.17, Z:-2.58 [[ 9.99642416e-01 -2.67375620e-02 -3.78148821e-04 2.51707222e+02] [ 2.67375694e-02 9.99642487e-01 1.45102910e-05 1.11736023e+01] [ 3.77625658e-04 -2.46158827e-05 9.99999928e-01 -2.57928954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.71589822699997 meters 0.06539232544326325 Centerline is valid? [True, True] Translation: X:251.77, Y:11.17, Z:-2.58 [[ 9.99666663e-01 -2.58175783e-02 -1.21014610e-04 2.51768645e+02] [ 2.58175791e-02 9.99666671e-01 4.64941764e-06 1.11688956e+01] [ 1.20854235e-04 -7.77217207e-06 9.99999993e-01 -2.57871669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.77589822699997 meters 0.06930726797181279 Centerline is valid? [True, True] Translation: X:251.83, Y:11.16, Z:-2.58 [[ 9.99647076e-01 -2.65607748e-02 4.98371433e-04 2.51829395e+02] [ 2.65607876e-02 9.99647200e-01 -1.91310620e-05 1.11572864e+01] [-4.97687472e-04 3.23614479e-05 9.99999876e-01 -2.57902983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.835898227 meters 0.06639003868247834 Centerline is valid? [True, True] Translation: X:251.89, Y:11.16, Z:-2.58 [[ 9.99583971e-01 -2.88385967e-02 -4.69404007e-04 2.51890384e+02] [ 2.88386084e-02 9.99584081e-01 1.80306730e-05 1.11551989e+01] [ 4.68688793e-04 -3.15601300e-05 9.99999890e-01 -2.57980647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.895898227 meters 0.0704331999996913 Centerline is valid? [True, True] Translation: X:251.95, Y:11.14, Z:-2.58 [[ 9.99559077e-01 -2.96233057e-02 -2.02779498e-03 2.51950599e+02] [ 2.96235247e-02 9.99561124e-01 7.80679055e-05 1.11432954e+01] [ 2.02459240e-03 -1.38103918e-04 9.99997941e-01 -2.58221708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.955898227 meters 0.06840217460801584 Centerline is valid? [True, True] Translation: X:252.01, Y:11.14, Z:-2.58 [[ 9.99643254e-01 -2.66520716e-02 -1.74122830e-03 2.52011412e+02] [ 2.66522286e-02 9.99644764e-01 6.70177280e-05 1.11425045e+01] [ 1.73882359e-03 -1.13401434e-04 9.99998482e-01 -2.58170061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.015898227 meters 0.06559725826975979 Centerline is valid? [True, True] Translation: X:252.07, Y:11.14, Z:-2.58 [[ 9.99766665e-01 -2.14583422e-02 -2.48076578e-03 2.52071195e+02] [ 2.14586449e-02 9.99769732e-01 9.54621854e-05 1.11437449e+01] [ 2.47814608e-03 -1.48673783e-04 9.99996918e-01 -2.58264385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.075898227 meters 0.06234175504136994 Centerline is valid? [True, True] Translation: X:252.13, Y:11.15, Z:-2.58 [[ 9.99777611e-01 -2.09367039e-02 -2.52647829e-03 2.52132748e+02] [ 2.09370164e-02 9.99780792e-01 9.72860617e-05 1.11453208e+01] [ 2.52388762e-03 -1.50161344e-04 9.99996804e-01 -2.58310084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.135898227 meters 0.0656204417078762 Centerline is valid? [True, True] Translation: X:252.19, Y:11.14, Z:-2.58 [[ 9.99644050e-01 -2.66773181e-02 -3.07787637e-04 2.52192965e+02] [ 2.66773230e-02 9.99644097e-01 1.18525384e-05 1.11350800e+01] [ 3.07361900e-04 -2.00592697e-05 9.99999953e-01 -2.58020226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.195898227 meters 0.07703269621664323 Centerline is valid? [True, True] Translation: X:252.25, Y:11.11, Z:-2.58 [[ 9.99466643e-01 -3.26406310e-02 -1.00907523e-03 2.52251428e+02] [ 3.26406868e-02 9.99467150e-01 3.88886365e-05 1.11122472e+01] [ 1.00726820e-03 -7.18048036e-05 9.99999490e-01 -2.58161477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.255898227 meters 0.08055805115075071 Centerline is valid? [True, True] Translation: X:252.31, Y:11.10, Z:-2.58 [[ 9.99399562e-01 -3.45259237e-02 -2.91124821e-03 2.52311743e+02] [ 3.45263963e-02 9.99403780e-01 1.12204264e-04 1.11008580e+01] [ 2.90563851e-03 -2.12651801e-04 9.99995756e-01 -2.58303960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.315898227 meters 0.0659986473980477 Centerline is valid? [True, True] Translation: X:252.37, Y:11.12, Z:-2.58 [[ 9.99549586e-01 -2.99472637e-02 -1.94573821e-03 2.52372729e+02] [ 2.99474661e-02 9.99551471e-01 7.50057855e-05 1.11153731e+01] [ 1.94261928e-03 -1.33241931e-04 9.99998104e-01 -2.57995348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.375898227 meters 0.06579488345409251 Centerline is valid? [True, True] Translation: X:252.43, Y:11.12, Z:-2.58 [[ 9.99721980e-01 -2.35764851e-02 -3.34975248e-04 2.52432302e+02] [ 2.35764908e-02 9.99722036e-01 1.29050636e-05 1.11154782e+01] [ 3.34577881e-04 -2.07990166e-05 9.99999944e-01 -2.57857639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.435898227 meters 0.070008995671561 Centerline is valid? [True, True] Translation: X:252.49, Y:11.10, Z:-2.58 [[ 9.99655136e-01 -2.62509570e-02 -7.04285749e-04 2.52492116e+02] [ 2.62509826e-02 9.99655383e-01 2.71418502e-05 1.11048211e+01] [ 7.03330541e-04 -4.56206829e-05 9.99999752e-01 -2.58090426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.495898227 meters 0.0762589781141828 Centerline is valid? [True, True] Translation: X:252.55, Y:11.09, Z:-2.58 [[ 9.99497400e-01 -3.16701802e-02 -1.39504021e-03 2.52552002e+02] [ 3.16702859e-02 9.99498369e-01 5.37633692e-05 1.10915706e+01] [ 1.39263772e-03 -9.79176702e-05 9.99999025e-01 -2.58232343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.55589822699994 meters 0.07624424768652431 Centerline is valid? [True, True] Translation: X:252.61, Y:11.09, Z:-2.58 [[ 9.99294353e-01 -3.74813117e-02 -2.43887707e-03 2.52611776e+02] [ 3.74816520e-02 9.99297312e-01 9.39685376e-05 1.10860254e+01] [ 2.43364124e-03 -1.85315371e-04 9.99997022e-01 -2.58160437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.61589822699995 meters 0.07489729272310724 Centerline is valid? [True, True] Translation: X:252.67, Y:11.08, Z:-2.58 [[ 9.99338393e-01 -3.63422438e-02 -1.42016760e-03 2.52672845e+02] [ 3.63423581e-02 9.99339397e-01 5.47386799e-05 1.10848095e+01] [ 1.41724010e-03 -1.06314704e-04 9.99998990e-01 -2.57949971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.67589822699995 meters 0.07238783020249402 Centerline is valid? [True, True] Translation: X:252.73, Y:11.09, Z:-2.58 [[ 9.99497714e-01 -3.16906607e-02 -1.45480324e-04 2.52733684e+02] [ 3.16906619e-02 9.99497725e-01 5.60851701e-06 1.10907758e+01] [ 1.45229516e-04 -1.02160677e-05 9.99999989e-01 -2.57895903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.73589822699995 meters 0.07106452900102446 Centerline is valid? [True, True] Translation: X:252.80, Y:11.09, Z:-2.58 [[ 9.99519664e-01 -3.09736139e-02 -1.03737120e-03 2.52795211e+02] [ 3.09736721e-02 9.99520200e-01 4.00153327e-05 1.10885814e+01] [ 1.03563405e-03 -7.21273071e-05 9.99999461e-01 -2.58087666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.79589822699995 meters 0.07429848081475345 Centerline is valid? [True, True] Translation: X:252.86, Y:11.08, Z:-2.59 [[ 9.99412585e-01 -3.39382898e-02 -4.76201976e-03 2.52856069e+02] [ 3.39395485e-02 9.99423871e-01 1.83745112e-04 1.10825312e+01] [ 4.75304023e-03 -3.45257978e-04 9.99988645e-01 -2.58754594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.85589822699995 meters 0.08393696225745845 Centerline is valid? [True, True] Translation: X:252.91, Y:11.07, Z:-2.59 [[ 9.99296585e-01 -3.72989271e-02 -3.88901733e-03 2.52914789e+02] [ 3.72997916e-02 9.99304109e-01 1.49971567e-04 1.10674391e+01] [ 3.88071722e-03 -2.94925611e-04 9.99992426e-01 -2.58658524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.91589822699996 meters 0.08495016056312588 Centerline is valid? [True, True] Translation: X:252.98, Y:11.06, Z:-2.58 [[ 9.99190544e-01 -4.02091278e-02 -1.21735890e-03 2.52975534e+02] [ 4.02092147e-02 9.99191281e-01 4.69397605e-05 1.10636647e+01] [ 1.21448699e-03 -9.58508101e-05 9.99999258e-01 -2.58209623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.97589822699996 meters 0.07654123873314152 Centerline is valid? [True, True] Translation: X:253.04, Y:11.07, Z:-2.58 [[ 9.99265395e-01 -3.82917821e-02 -1.55252829e-03 2.53037048e+02] [ 3.82919210e-02 9.99266594e-01 5.98854870e-05 1.10743390e+01] [ 1.54909654e-03 -1.19290786e-04 9.99998793e-01 -2.58221136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.03589822699996 meters 0.0753540130825426 Centerline is valid? [True, True] Translation: X:253.10, Y:11.07, Z:-2.59 [[ 9.99396599e-01 -3.46308481e-02 -2.67247437e-03 2.53097233e+02] [ 3.46312469e-02 9.99400153e-01 1.03076483e-04 1.10746723e+01] [ 2.66730167e-03 -1.95565407e-04 9.99996424e-01 -2.58527516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.09589822699996 meters 0.07845128532024974 Centerline is valid? [True, True] Translation: X:253.16, Y:11.07, Z:-2.59 [[ 9.99452390e-01 -3.29882667e-02 -2.58731186e-03 2.53156586e+02] [ 3.29886349e-02 9.99455722e-01 9.97605750e-05 1.10695951e+01] [ 2.58261271e-03 -1.85057831e-04 9.99996648e-01 -2.58504185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.15589822699997 meters 0.07594421852270984 Centerline is valid? [True, True] Translation: X:253.22, Y:11.07, Z:-2.59 [[ 9.99498121e-01 -3.14806760e-02 -3.53182256e-03 2.53217912e+02] [ 3.14813529e-02 9.99504330e-01 1.36224093e-04 1.10706294e+01] [ 3.52578352e-03 -2.47342278e-04 9.99993754e-01 -2.58669681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.21589822699997 meters 0.07604463881225307 Centerline is valid? [True, True] Translation: X:253.28, Y:11.07, Z:-2.58 [[ 9.99535429e-01 -3.03960227e-02 -2.23803206e-03 2.53278132e+02] [ 3.03962918e-02 9.99537922e-01 8.63201570e-05 1.10675352e+01] [ 2.23437412e-03 -1.54307931e-04 9.99997492e-01 -2.58493888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.27589822699997 meters 0.07601785489348369 Centerline is valid? [True, True] Translation: X:253.34, Y:11.06, Z:-2.58 [[ 9.99573872e-01 -2.91888772e-02 -2.90299729e-04 2.53338796e+02] [ 2.91888816e-02 9.99573914e-01 1.12027430e-05 1.10637480e+01] [ 2.89849041e-04 -1.96714936e-05 9.99999958e-01 -2.58276213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.335898227 meters 0.0685881423582486 Centerline is valid? [True, True] Translation: X:253.40, Y:11.07, Z:-2.58 [[ 9.99556622e-01 -2.97596103e-02 -9.61354770e-04 2.53400789e+02] [ 2.97596598e-02 9.99557083e-01 3.71667589e-05 1.10696737e+01] [ 9.59822901e-04 -6.57598709e-05 9.99999537e-01 -2.58442342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.395898227 meters 0.08079298109046533 Centerline is valid? [True, True] Translation: X:253.46, Y:11.05, Z:-2.59 [[ 9.99428957e-01 -3.36942299e-02 -2.54126170e-03 2.53459108e+02] [ 3.36945880e-02 9.99432171e-01 9.82422632e-05 1.10454997e+01] [ 2.53650850e-03 -1.83812929e-04 9.99996766e-01 -2.58951087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.455898227 meters 0.07940837409954941 Centerline is valid? [True, True] Translation: X:253.52, Y:11.04, Z:-2.59 [[ 9.99292944e-01 -3.73972781e-02 -3.88011443e-03 2.53519273e+02] [ 3.73981407e-02 9.99300434e-01 1.49956579e-04 1.10376858e+01] [ 3.87179207e-03 -2.94959617e-04 9.99992461e-01 -2.59091377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.515898227 meters 0.0783316892652681 Centerline is valid? [True, True] Translation: X:253.58, Y:11.03, Z:-2.59 [[ 9.99142547e-01 -4.12832205e-02 -3.14113204e-03 2.53579262e+02] [ 4.12838048e-02 9.99147453e-01 1.21375390e-04 1.10250053e+01] [ 3.13344331e-03 -2.50949198e-04 9.99995059e-01 -2.59012952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.575898227 meters 0.08197650425699647 Centerline is valid? [True, True] Translation: X:253.64, Y:11.01, Z:-2.59 [[ 9.99102947e-01 -4.23052445e-02 -1.88899984e-03 2.53638234e+02] [ 4.23054575e-02 9.99104721e-01 7.29688138e-05 1.10071865e+01] [ 1.88422169e-03 -1.52818359e-04 9.99998213e-01 -2.58790230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.635898227 meters 0.08716822478275381 Centerline is valid? [True, True] Translation: X:253.70, Y:10.99, Z:-2.59 [[ 9.99151890e-01 -4.11460052e-02 -1.58344764e-03 2.53697203e+02] [ 4.11461534e-02 9.99153137e-01 6.11477334e-05 1.09909293e+01] [ 1.57959069e-03 -1.26248653e-04 9.99998744e-01 -2.58785266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.695898227 meters 0.08185573064430121 Centerline is valid? [True, True] Translation: X:253.76, Y:10.98, Z:-2.59 [[ 9.99286160e-01 -3.77773017e-02 -2.16471463e-04 2.53757519e+02] [ 3.77773044e-02 9.99286183e-01 8.35899567e-06 1.09842485e+01] [ 2.16001161e-04 -1.65307370e-05 9.99999977e-01 -2.58662586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.755898227 meters 0.07627283724700654 Centerline is valid? [True, True] Translation: X:253.82, Y:10.98, Z:-2.59 [[ 9.99267985e-01 -3.82551179e-02 2.02380487e-04 2.53818734e+02] [ 3.82551203e-02 9.99268005e-01 -7.81394488e-06 1.09817883e+01] [-2.01933423e-04 1.55503148e-05 9.99999979e-01 -2.58577975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.815898227 meters 0.08511486326645568 Centerline is valid? [True, True] Translation: X:253.88, Y:10.96, Z:-2.59 [[ 9.99159083e-01 -4.07175487e-02 -4.81756143e-03 2.53877403e+02] [ 4.07189164e-02 9.99170624e-01 1.86096908e-04 1.09564224e+01] [ 4.80598845e-03 -3.82106297e-04 9.99988378e-01 -2.59399915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.875898227 meters 0.0928716122083516 Centerline is valid? [True, True] Translation: X:253.94, Y:10.93, Z:-2.60 [[ 9.99102327e-01 -4.18458526e-02 -6.59271873e-03 2.53935502e+02] [ 4.18484368e-02 9.99123938e-01 2.54450000e-04 1.09348451e+01] [ 6.57629542e-03 -5.30116561e-04 9.99978235e-01 -2.59774747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.935898227 meters 0.0801152345563166 Centerline is valid? [True, True] Translation: X:253.99, Y:10.94, Z:-2.59 [[ 9.99105545e-01 -4.19466946e-02 -5.34649088e-03 2.53994175e+02] [ 4.19483908e-02 9.99119758e-01 2.05454244e-04 1.09374122e+01] [ 5.33316655e-03 -4.29547163e-04 9.99985686e-01 -2.59338363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.995898227 meters 0.0841116888120209 Centerline is valid? [True, True] Translation: X:254.05, Y:10.92, Z:-2.59 [[ 9.99249738e-01 -3.84383660e-02 -4.73842435e-03 2.54052800e+02] [ 3.84396588e-02 9.99260907e-01 1.82027921e-04 1.09224348e+01] [ 4.72792536e-03 -3.64034767e-04 9.99988757e-01 -2.59259857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.05589822699994 meters 0.0753264853473128 Centerline is valid? [True, True] Translation: X:254.11, Y:10.93, Z:-2.59 [[ 9.99568357e-01 -2.92323090e-02 -2.92785352e-03 2.54113413e+02] [ 2.92327633e-02 9.99572625e-01 1.12470453e-04 1.09271853e+01] [ 2.92331446e-03 -1.98011155e-04 9.99995708e-01 -2.58814364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.11589822699995 meters 0.07273815267083404 Centerline is valid? [True, True] Translation: X:254.17, Y:10.93, Z:-2.59 [[ 9.99692354e-01 -2.47926339e-02 -7.23599664e-04 2.54173322e+02] [ 2.47926605e-02 9.99692614e-01 2.77917073e-05 1.09271490e+01] [ 7.22688210e-04 -4.57231181e-05 9.99999738e-01 -2.58556172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.17589822699995 meters 0.06257081193127186 Centerline is valid? [True, True] Translation: X:254.23, Y:10.94, Z:-2.58 [[ 9.99685915e-01 -2.50092605e-02 1.61473250e-03 2.54234143e+02] [ 2.50093932e-02 9.99687214e-01 -6.20207831e-05 1.09371585e+01] [-1.61267634e-03 1.02384783e-04 9.99998694e-01 -2.58284763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.23589822699995 meters 0.07631790774742551 Centerline is valid? [True, True] Translation: X:254.29, Y:10.92, Z:-2.58 [[ 9.99571010e-01 -2.92849495e-02 4.33458812e-04 2.54293130e+02] [ 2.92849594e-02 9.99571103e-01 -1.66478321e-05 1.09160591e+01] [-4.32785372e-04 2.93345141e-05 9.99999906e-01 -2.58466256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.29589822699995 meters 0.08743888593428714 Centerline is valid? [True, True] Translation: X:254.35, Y:10.89, Z:-2.59 [[ 9.99240937e-01 -3.89527199e-02 4.84330373e-04 2.54353068e+02] [ 3.89527335e-02 9.99241054e-01 -1.85991424e-05 1.08944773e+01] [-4.83238305e-04 3.74510164e-05 9.99999883e-01 -2.58607665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.35589822699995 meters 0.08143580764297077 Centerline is valid? [True, True] Translation: X:254.41, Y:10.90, Z:-2.58 [[ 9.99091025e-01 -4.26158727e-02 1.00554047e-03 2.54412988e+02] [ 4.26159330e-02 9.99091528e-01 -3.86050400e-05 1.08964966e+01] [-1.00298178e-03 8.14219942e-05 9.99999494e-01 -2.58432004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.41589822699996 meters 0.07767892342017876 Centerline is valid? [True, True] Translation: X:254.47, Y:10.90, Z:-2.58 [[ 9.99331466e-01 -3.65485826e-02 9.06937188e-04 2.54472247e+02] [ 3.65486292e-02 9.99331875e-01 -3.48026094e-05 1.09020457e+01] [-9.05059255e-04 6.79266536e-05 9.99999588e-01 -2.58261351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.47589822699996 meters 0.07509253384939754 Centerline is valid? [True, True] Translation: X:254.53, Y:10.91, Z:-2.58 [[ 9.99528417e-01 -3.06388950e-02 2.04977409e-03 2.54532500e+02] [ 3.06391204e-02 9.99530509e-01 -7.86388641e-05 1.09096785e+01] [-2.04640233e-03 1.41405054e-04 9.99997896e-01 -2.58284107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.53589822699996 meters 0.07630540880914219 Centerline is valid? [True, True] Translation: X:254.59, Y:10.91, Z:-2.58 [[ 9.99496702e-01 -3.15862951e-02 2.94083231e-03 2.54593297e+02] [ 3.15867633e-02 9.99501007e-01 -1.12890887e-04 1.09094870e+01] [-2.93579905e-03 2.05725444e-04 9.99995669e-01 -2.58183293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.59589822699996 meters 0.07664075266825647 Centerline is valid? [True, True] Translation: X:254.65, Y:10.91, Z:-2.59 [[ 9.99253298e-01 -3.86336398e-02 5.36097696e-04 2.54654451e+02] [ 3.86336564e-02 9.99253441e-01 -2.05817353e-05 1.09109437e+01] [-5.34902320e-04 4.12777811e-05 9.99999856e-01 -2.58668333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.65589822699997 meters 0.08652651828501905 Centerline is valid? [True, True] Translation: X:254.71, Y:10.90, Z:-2.59 [[ 9.99178627e-01 -4.05221592e-02 1.61003560e-04 2.54713548e+02] [ 4.05221607e-02 9.99178640e-01 -6.18335410e-06 1.08974002e+01] [-1.60620755e-04 1.27024874e-05 9.99999987e-01 -2.58757268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.71589822699997 meters 0.09039890247380862 Centerline is valid? [True, True] Translation: X:254.77, Y:10.89, Z:-2.59 [[ 9.99158093e-01 -4.09913115e-02 -1.67879511e-03 2.54772503e+02] [ 4.09914771e-02 9.99159494e-01 6.43829131e-05 1.08945023e+01] [ 1.67474494e-03 -1.33145000e-04 9.99998589e-01 -2.59039752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.77589822699997 meters 0.09006431503052138 Centerline is valid? [True, True] Translation: X:254.83, Y:10.90, Z:-2.59 [[ 9.99152550e-01 -4.09776921e-02 -3.87424991e-03 2.54831636e+02] [ 4.09785719e-02 9.99160015e-01 1.47970518e-04 1.08967143e+01] [ 3.86493210e-03 -3.06606349e-04 9.99992484e-01 -2.59389667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.835898227 meters 0.08318383266462742 Centerline is valid? [True, True] Translation: X:254.89, Y:10.91, Z:-2.59 [[ 9.99132031e-01 -4.15936090e-02 -2.27057803e-03 2.54891105e+02] [ 4.15939120e-02 9.99134595e-01 8.63476931e-05 1.09083355e+01] [ 2.26502154e-03 -1.80714969e-04 9.99997419e-01 -2.59133691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.895898227 meters 0.08724221516137377 Centerline is valid? [True, True] Translation: X:254.95, Y:10.90, Z:-2.59 [[ 9.99079803e-01 -4.28846174e-02 -6.76392771e-04 2.54949103e+02] [ 4.28846446e-02 9.99080030e-01 2.56931889e-05 1.09025715e+01] [ 6.74668667e-04 -5.46764097e-05 9.99999771e-01 -2.58928443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.955898227 meters 0.09370799391793039 Centerline is valid? [True, True] Translation: X:255.01, Y:10.89, Z:-2.59 [[ 9.98921242e-01 -4.64228368e-02 1.12775180e-03 2.55007867e+02] [ 4.64229146e-02 9.98921874e-01 -4.28487795e-05 1.08921678e+01] [-1.12454678e-03 9.51560814e-05 9.99999363e-01 -2.58776149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.015898227 meters 0.09870597635560092 Centerline is valid? [True, True] Translation: X:255.07, Y:10.88, Z:-2.59 [[ 9.98729642e-01 -5.03474323e-02 -2.05862755e-03 2.55068216e+02] [ 5.03476996e-02 9.98731747e-01 7.82044996e-05 1.08801408e+01] [ 2.05207930e-03 -1.81752314e-04 9.99997878e-01 -2.59414024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.075898227 meters 0.09955927912573266 Centerline is valid? [True, True] Translation: X:255.13, Y:10.87, Z:-2.60 [[ 9.98618167e-01 -5.24053481e-02 -3.92896641e-03 2.55128310e+02] [ 5.24063376e-02 9.98625833e-01 1.49257075e-04 1.08729068e+01] [ 3.91574548e-03 -3.54953567e-04 9.99992270e-01 -2.59521676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.135898227 meters 0.09651982936203658 Centerline is valid? [True, True] Translation: X:255.19, Y:10.87, Z:-2.59 [[ 9.98904605e-01 -4.67686030e-02 -1.51279763e-03 2.55187307e+02] [ 4.67687432e-02 9.98905742e-01 5.74460524e-05 1.08710232e+01] [ 1.50845557e-03 -1.28134770e-04 9.99998854e-01 -2.59235143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.195898227 meters 0.0967026502310259 Centerline is valid? [True, True] Translation: X:255.25, Y:10.87, Z:-2.60 [[ 9.99052110e-01 -4.34138568e-02 -3.18097529e-03 2.55246269e+02] [ 4.34144598e-02 9.99057141e-01 1.20734804e-04 1.08678737e+01] [ 3.17273451e-03 -2.58720684e-04 9.99994933e-01 -2.59560975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.255898227 meters 0.09369063774087771 Centerline is valid? [True, True] Translation: X:255.31, Y:10.87, Z:-2.60 [[ 9.99129725e-01 -4.15183372e-02 -4.00241640e-03 2.55306451e+02] [ 4.15192768e-02 9.99137692e-01 1.51908784e-04 1.08683579e+01] [ 3.99265808e-03 -3.17954016e-04 9.99991979e-01 -2.59562572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.315898227 meters 0.08346941116099814 Centerline is valid? [True, True] Translation: X:255.37, Y:10.88, Z:-2.60 [[ 9.99193426e-01 -3.99495863e-02 -4.06557696e-03 2.55366658e+02] [ 3.99505426e-02 9.99201646e-01 1.54258592e-04 1.08780093e+01] [ 4.05616863e-03 -3.16556177e-04 9.99991724e-01 -2.59518110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.375898227 meters 0.07827668437086396 Centerline is valid? [True, True] Translation: X:255.43, Y:10.88, Z:-2.60 [[ 9.99160184e-01 -4.04774822e-02 -6.36393031e-03 2.55425935e+02] [ 4.04798294e-02 9.99180327e-01 2.40393472e-04 1.08820452e+01] [ 6.34898345e-03 -4.97802399e-04 9.99979721e-01 -2.59813612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.435898227 meters 0.08092442516399953 Centerline is valid? [True, True] Translation: X:255.48, Y:10.87, Z:-2.60 [[ 9.99112977e-01 -4.17365152e-02 -5.59671054e-03 2.55484263e+02] [ 4.17383493e-02 9.99128553e-01 2.11247588e-04 1.08720245e+01] [ 5.58301657e-03 -4.44657666e-04 9.99984316e-01 -2.59791561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.495898227 meters 0.08190412212202057 Centerline is valid? [True, True] Translation: X:255.54, Y:10.87, Z:-2.59 [[ 9.98987371e-01 -4.48813602e-02 -3.14576926e-03 2.55544483e+02] [ 4.48819552e-02 9.98992290e-01 1.18744495e-04 1.08650502e+01] [ 3.13726982e-03 -2.59812526e-04 9.99995045e-01 -2.59476395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.55589822699994 meters 0.09742726569073519 Centerline is valid? [True, True] Translation: X:255.60, Y:10.84, Z:-2.60 [[ 9.98850371e-01 -4.77351268e-02 -4.39239915e-03 2.55603161e+02] [ 4.77363138e-02 9.98859959e-01 1.65752742e-04 1.08399607e+01] [ 4.37947941e-03 -3.75239132e-04 9.99990340e-01 -2.59796465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.61589822699995 meters 0.08780189234691546 Centerline is valid? [True, True] Translation: X:255.66, Y:10.85, Z:-2.60 [[ 9.98629511e-01 -5.18072617e-02 -7.42343770e-03 2.55664093e+02] [ 5.18107639e-02 9.98656881e-01 2.80110628e-04 1.08463527e+01] [ 7.39895537e-03 -6.64340717e-04 9.99972407e-01 -2.60124413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.67589822699995 meters 0.09225852281242757 Centerline is valid? [True, True] Translation: X:255.72, Y:10.83, Z:-2.61 [[ 9.98611200e-01 -5.19119815e-02 -8.98982866e-03 2.55721478e+02] [ 5.19171171e-02 9.98651340e-01 3.38687737e-04 1.08300682e+01] [ 8.96012248e-03 -8.04943355e-04 9.99959533e-01 -2.60507887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.73589822699995 meters 0.0914265066460935 Centerline is valid? [True, True] Translation: X:255.78, Y:10.82, Z:-2.60 [[ 9.98684947e-01 -5.06861793e-02 -7.69989918e-03 2.55781448e+02] [ 5.06899101e-02 9.98714398e-01 2.90012931e-04 1.08249362e+01] [ 7.67530053e-03 -6.79938746e-04 9.99970313e-01 -2.60247586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.79589822699995 meters 0.08891270810137857 Centerline is valid? [True, True] Translation: X:255.84, Y:10.81, Z:-2.60 [[ 9.98867270e-01 -4.71232432e-02 -6.60121169e-03 2.55840441e+02] [ 4.71259077e-02 9.98888926e-01 2.48589330e-04 1.08145476e+01] [ 6.58216292e-03 -5.59395838e-04 9.99978181e-01 -2.60042242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.85589822699995 meters 0.08781763893378601 Centerline is valid? [True, True] Translation: X:255.90, Y:10.81, Z:-2.60 [[ 9.98945900e-01 -4.52775676e-02 -7.55184388e-03 2.55900896e+02] [ 4.52810021e-02 9.98974249e-01 2.84350713e-04 1.08099092e+01] [ 7.53122286e-03 -6.26006038e-04 9.99971444e-01 -2.60208655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.91589822699996 meters 0.08726634295795342 Centerline is valid? [True, True] Translation: X:255.96, Y:10.79, Z:-2.59 [[ 9.99104529e-01 -4.22077606e-02 -2.94025721e-03 2.55960165e+02] [ 4.22082679e-02 9.99108828e-01 1.10675679e-04 1.07940177e+01] [ 2.93296556e-03 -2.34679736e-04 9.99995671e-01 -2.59419222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.97589822699996 meters 0.08376726539916302 Centerline is valid? [True, True] Translation: X:256.02, Y:10.79, Z:-2.59 [[ 9.99290518e-01 -3.76464122e-02 -1.09951484e-03 2.56020912e+02] [ 3.76464804e-02 9.99291119e-01 4.13851564e-05 1.07928475e+01] [ 1.09717742e-03 -8.27486584e-05 9.99999395e-01 -2.59097255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.03589822699996 meters 0.08193319043999485 Centerline is valid? [True, True] Translation: X:256.08, Y:10.79, Z:-2.59 [[ 9.99426621e-01 -3.38584971e-02 1.78619042e-04 2.56079910e+02] [ 3.38584989e-02 9.99426637e-01 -6.72486658e-06 1.07894406e+01] [-1.78288935e-04 1.27687833e-05 9.99999984e-01 -2.58983604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.09589822699996 meters 0.08925539742256944 Centerline is valid? [True, True] Translation: X:256.14, Y:10.77, Z:-2.59 [[ 9.99204071e-01 -3.98559999e-02 -1.65068344e-03 2.56139544e+02] [ 3.98561565e-02 9.99205426e-01 6.20808535e-05 1.07716565e+01] [ 1.64689756e-03 -1.27821339e-04 9.99998636e-01 -2.59421328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.15589822699997 meters 0.09138823758304396 Centerline is valid? [True, True] Translation: X:256.20, Y:10.76, Z:-2.60 [[ 9.99045840e-01 -4.34890693e-02 -4.01379184e-03 2.56199277e+02] [ 4.34900242e-02 9.99053850e-01 1.50912159e-04 1.07632032e+01] [ 4.00343116e-03 -3.25328069e-04 9.99991933e-01 -2.59779444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.21589822699997 meters 0.09591519776164845 Centerline is valid? [True, True] Translation: X:256.26, Y:10.75, Z:-2.60 [[ 9.98932800e-01 -4.56051516e-02 -7.30968742e-03 2.56258192e+02] [ 4.56083752e-02 9.98959359e-01 2.74833239e-04 1.07489729e+01] [ 7.28954685e-03 -6.07922903e-04 9.99973246e-01 -2.60382429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.27589822699997 meters 0.0963020522962991 Centerline is valid? [True, True] Translation: X:256.32, Y:10.74, Z:-2.60 [[ 9.99021686e-01 -4.37522334e-02 -6.43534916e-03 2.56318003e+02] [ 4.37546935e-02 9.99042276e-01 2.41930021e-04 1.07417208e+01] [ 6.41860089e-03 -5.23270068e-04 9.99979264e-01 -2.60217037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.335898227 meters 0.08491691940648265 Centerline is valid? [True, True] Translation: X:256.38, Y:10.75, Z:-2.60 [[ 9.99091491e-01 -4.20646603e-02 -6.83793308e-03 2.56378564e+02] [ 4.20673981e-02 9.99114742e-01 2.56985293e-04 1.07507267e+01] [ 6.82106975e-03 -5.44405872e-04 9.99976588e-01 -2.60167569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.395898227 meters 0.09183954656159711 Centerline is valid? [True, True] Translation: X:256.44, Y:10.73, Z:-2.60 [[ 9.99048922e-01 -4.30271301e-02 -7.06516790e-03 2.56436675e+02] [ 4.30300751e-02 9.99073742e-01 2.65281995e-04 1.07305223e+01] [ 7.04720941e-03 -5.69044397e-04 9.99975006e-01 -2.60353516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.455898227 meters 0.08832522914766179 Centerline is valid? [True, True] Translation: X:256.50, Y:10.72, Z:-2.60 [[ 9.98980080e-01 -4.46107632e-02 -6.97711664e-03 2.56496604e+02] [ 4.46136729e-02 9.99004280e-01 2.61879431e-04 1.07217148e+01] [ 6.95848674e-03 -5.72887135e-04 9.99975625e-01 -2.60186167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.515898227 meters 0.08723237159327654 Centerline is valid? [True, True] Translation: X:256.55, Y:10.72, Z:-2.60 [[ 9.98967934e-01 -4.49671920e-02 -6.40450152e-03 2.56554790e+02] [ 4.49696442e-02 9.98988325e-01 2.39326183e-04 1.07154791e+01] [ 6.38726042e-03 -5.27087338e-04 9.99979462e-01 -2.60006065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.575898227 meters 0.08482778091105458 Centerline is valid? [True, True] Translation: X:256.62, Y:10.71, Z:-2.60 [[ 9.99064917e-01 -4.29360464e-02 -5.07815307e-03 2.56615550e+02] [ 4.29375621e-02 9.99077740e-01 1.89785122e-04 1.07142961e+01] [ 5.06532107e-03 -4.07651170e-04 9.99987088e-01 -2.59720122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.635898227 meters 0.080953040284595 Centerline is valid? [True, True] Translation: X:256.68, Y:10.72, Z:-2.60 [[ 9.99217952e-01 -3.93293611e-02 -4.08494042e-03 2.56676328e+02] [ 3.93303118e-02 9.99226252e-01 1.52632698e-04 1.07169176e+01] [ 4.07577676e-03 -3.13175312e-04 9.99991645e-01 -2.59561695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.695898227 meters 0.07112761418275466 Centerline is valid? [True, True] Translation: X:256.74, Y:10.73, Z:-2.60 [[ 9.99325183e-01 -3.63749114e-02 -5.10343212e-03 2.56737684e+02] [ 3.63763572e-02 9.99338143e-01 1.90744255e-04 1.07283368e+01] [ 5.09311607e-03 -3.76259807e-04 9.99986959e-01 -2.59671118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.755898227 meters 0.08040824900886245 Centerline is valid? [True, True] Translation: X:256.80, Y:10.72, Z:-2.60 [[ 9.99322875e-01 -3.63232807e-02 -5.86606974e-03 2.56795541e+02] [ 3.63251879e-02 9.99339999e-01 2.18881384e-04 1.07167706e+01] [ 5.85424764e-03 -4.31819260e-04 9.99982771e-01 -2.60037438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.815898227 meters 0.08655234513191215 Centerline is valid? [True, True] Translation: X:256.86, Y:10.71, Z:-2.60 [[ 9.99064804e-01 -4.26053291e-02 -7.36910007e-03 2.56856122e+02] [ 4.26085093e-02 9.99091807e-01 2.75031885e-04 1.07079593e+01] [ 7.35068968e-03 -5.88761045e-04 9.99972810e-01 -2.60334853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.875898227 meters 0.08897346256793424 Centerline is valid? [True, True] Translation: X:256.92, Y:10.70, Z:-2.60 [[ 9.98871093e-01 -4.68672055e-02 -7.74627786e-03 2.56916679e+02] [ 4.68708468e-02 9.98900916e-01 2.89094065e-04 1.07002649e+01] [ 7.72421502e-03 -6.51842307e-04 9.99969955e-01 -2.60395972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.935898227 meters 0.08956137882023295 Centerline is valid? [True, True] Translation: X:256.98, Y:10.69, Z:-2.60 [[ 9.98716556e-01 -5.01959393e-02 -6.75336487e-03 2.56976200e+02] [ 5.01987820e-02 9.98739215e-01 2.51972084e-04 1.06913316e+01] [ 6.73220235e-03 -5.90659383e-04 9.99977164e-01 -2.60269890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.995898227 meters 0.09170449910141738 Centerline is valid? [True, True] Translation: X:257.03, Y:10.68, Z:-2.61 [[ 9.98761035e-01 -4.90391754e-02 -8.45892599e-03 2.57034577e+02] [ 4.90435916e-02 9.98796589e-01 3.15313548e-04 1.06829101e+01] [ 8.43328371e-03 -7.29778997e-04 9.99964173e-01 -2.60601910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.05589822699994 meters 0.09090771766041414 Centerline is valid? [True, True] Translation: X:257.09, Y:10.68, Z:-2.61 [[ 9.98978719e-01 -4.44900925e-02 -7.88363040e-03 2.57093557e+02] [ 4.44937869e-02 9.99009618e-01 2.93761823e-04 1.06770948e+01] [ 7.86275310e-03 -6.44234381e-04 9.99968881e-01 -2.60566390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.11589822699995 meters 0.08498284211629127 Centerline is valid? [True, True] Translation: X:257.15, Y:10.68, Z:-2.61 [[ 9.99248106e-01 -3.79235779e-02 -8.06383433e-03 2.57154520e+02] [ 3.79272304e-02 9.99280459e-01 3.00452220e-04 1.06789111e+01] [ 8.04663784e-03 -6.06065214e-04 9.99967442e-01 -2.60601332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.17589822699995 meters 0.08247466535399617 Centerline is valid? [True, True] Translation: X:257.21, Y:10.68, Z:-2.61 [[ 9.99273657e-01 -3.68881914e-02 -9.56137474e-03 2.57213596e+02] [ 3.68932658e-02 9.99319149e-01 3.54818059e-04 1.06775884e+01] [ 9.54177626e-03 -7.07310679e-04 9.99954226e-01 -2.60808952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.23589822699995 meters 0.0762534513460403 Centerline is valid? [True, True] Translation: X:257.27, Y:10.68, Z:-2.61 [[ 9.99271094e-01 -3.72093516e-02 -8.52908875e-03 2.57271309e+02] [ 3.72133873e-02 9.99307292e-01 3.14904739e-04 1.06788775e+01] [ 8.51146318e-03 -6.32071486e-04 9.99963577e-01 -2.60509660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.29589822699995 meters 0.07716909665738123 Centerline is valid? [True, True] Translation: X:257.33, Y:10.67, Z:-2.60 [[ 9.99346751e-01 -3.54843081e-02 -6.85090202e-03 2.57330314e+02] [ 3.54868708e-02 9.99370111e-01 2.52819630e-04 1.06722267e+01] [ 6.83761558e-03 -4.95771550e-04 9.99976500e-01 -2.60255955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.35589822699995 meters 0.07867689365388135 Centerline is valid? [True, True] Translation: X:257.39, Y:10.67, Z:-2.60 [[ 9.99566145e-01 -2.85807650e-02 -7.11775243e-03 2.57390134e+02] [ 2.85833567e-02 9.99591378e-01 2.62639456e-04 1.06684240e+01] [ 7.10733752e-03 -4.65974765e-04 9.99974634e-01 -2.60307858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.41589822699996 meters 0.06440745731254621 Centerline is valid? [True, True] Translation: X:257.45, Y:10.69, Z:-2.60 [[ 9.99728294e-01 -2.25233000e-02 -6.00325521e-03 2.57450906e+02] [ 2.25250347e-02 9.99746255e-01 2.21498052e-04 1.06864210e+01] [ 5.99674305e-03 -3.56661402e-04 9.99981956e-01 -2.60004342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.47589822699996 meters 0.06205997324207937 Centerline is valid? [True, True] Translation: X:257.51, Y:10.69, Z:-2.60 [[ 9.99817526e-01 -1.87125504e-02 -3.84137166e-03 2.57510040e+02] [ 1.87132322e-02 9.99824882e-01 1.41615176e-04 1.06917873e+01] [ 3.83804899e-03 -2.13473815e-04 9.99992612e-01 -2.59752827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.53589822699996 meters 0.0639378622122258 Centerline is valid? [True, True] Translation: X:257.57, Y:10.69, Z:-2.60 [[ 9.99772465e-01 -2.08284398e-02 -4.60364963e-03 2.57569917e+02] [ 2.08294412e-02 9.99783029e-01 1.69670713e-04 1.06919901e+01] [ 4.59911679e-03 -2.65523556e-04 9.99989389e-01 -2.59859799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.59589822699996 meters 0.06987883764400694 Centerline is valid? [True, True] Translation: X:257.63, Y:10.69, Z:-2.60 [[ 9.99703030e-01 -2.38711083e-02 -4.90116374e-03 2.57630666e+02] [ 2.38722797e-02 9.99715000e-01 1.80633858e-04 1.06896883e+01] [ 4.89545498e-03 -2.97582166e-04 9.99987973e-01 -2.59755483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.65589822699997 meters 0.06449486542407835 Centerline is valid? [True, True] Translation: X:257.69, Y:10.70, Z:-2.60 [[ 9.99693430e-01 -2.43366139e-02 -4.55791514e-03 2.57689740e+02] [ 2.43376282e-02 9.99703782e-01 1.67199079e-04 1.07013241e+01] [ 4.55249595e-03 -2.78076665e-04 9.99989599e-01 -2.59730065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.71589822699997 meters 0.05995780194894793 Centerline is valid? [True, True] Translation: X:257.75, Y:10.71, Z:-2.60 [[ 9.99683675e-01 -2.43297848e-02 -6.37269793e-03 2.57748423e+02] [ 2.43317597e-02 9.99703912e-01 2.32551721e-04 1.07122396e+01] [ 6.36515311e-03 -3.87537114e-04 9.99979667e-01 -2.60018668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.77589822699997 meters 0.06327435317902151 Centerline is valid? [True, True] Translation: X:257.81, Y:10.71, Z:-2.60 [[ 9.99658427e-01 -2.53479956e-02 -6.36468441e-03 2.57806814e+02] [ 2.53499844e-02 9.99678611e-01 2.31993634e-04 1.07149872e+01] [ 6.35675830e-03 -3.93259042e-04 9.99979718e-01 -2.60124571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.835898227 meters 0.06979678592751891 Centerline is valid? [True, True] Translation: X:257.87, Y:10.71, Z:-2.60 [[ 9.99565830e-01 -2.86258321e-02 -6.97949231e-03 2.57866230e+02] [ 2.86283029e-02 9.99590094e-01 2.54333308e-04 1.07095804e+01] [ 6.96935087e-03 -4.54033904e-04 9.99975611e-01 -2.60258706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.895898227 meters 0.07563488234494387 Centerline is valid? [True, True] Translation: X:257.93, Y:10.71, Z:-2.60 [[ 9.99354004e-01 -3.52739286e-02 -6.87935684e-03 2.57926875e+02] [ 3.52764854e-02 9.99377560e-01 2.50640813e-04 1.07050580e+01] [ 6.86623377e-03 -4.93158431e-04 9.99976306e-01 -2.60213164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.955898227 meters 0.08952108296384513 Centerline is valid? [True, True] Translation: X:257.99, Y:10.68, Z:-2.60 [[ 9.99214812e-01 -3.92241836e-02 -5.58769508e-03 2.57985912e+02] [ 3.92259315e-02 9.99230346e-01 2.03522434e-04 1.06843593e+01] [ 5.57541149e-03 -4.22545176e-04 9.99984368e-01 -2.60121159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.015898227 meters 0.08543953133385833 Centerline is valid? [True, True] Translation: X:258.05, Y:10.69, Z:-2.60 [[ 9.99001409e-01 -4.40695893e-02 -7.35222299e-03 2.58046768e+02] [ 4.40727457e-02 9.99028289e-01 2.67768364e-04 1.06860116e+01] [ 7.33327831e-03 -5.91533628e-04 9.99972936e-01 -2.60287445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.075898227 meters 0.08760596739338294 Centerline is valid? [True, True] Translation: X:258.11, Y:10.67, Z:-2.60 [[ 9.98907172e-01 -4.60385962e-02 -8.05664869e-03 2.58106447e+02] [ 4.60424498e-02 9.98939441e-01 2.93395529e-04 1.06749661e+01] [ 8.03459662e-03 -6.64022741e-04 9.99967502e-01 -2.60421420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.135898227 meters 0.09075517715635616 Centerline is valid? [True, True] Translation: X:258.16, Y:10.66, Z:-2.60 [[ 9.98906464e-01 -4.64308894e-02 -5.48159613e-03 2.58163812e+02] [ 4.64326735e-02 9.98921402e-01 1.98591928e-04 1.06604339e+01] [ 5.46646289e-03 -4.52899925e-04 9.99984956e-01 -2.59874994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.195898227 meters 0.08395956432914994 Centerline is valid? [True, True] Translation: X:258.22, Y:10.66, Z:-2.60 [[ 9.99171871e-01 -4.02083007e-02 -6.23421880e-03 2.58224596e+02] [ 4.02104882e-02 9.99191206e-01 2.25882504e-04 1.06581075e+01] [ 6.22009425e-03 -4.76376426e-04 9.99980542e-01 -2.59995973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.255898227 meters 0.07470372250538124 Centerline is valid? [True, True] Translation: X:258.29, Y:10.66, Z:-2.60 [[ 9.99463830e-01 -3.23135445e-02 -5.28075573e-03 2.58285305e+02] [ 3.23150044e-02 9.99477716e-01 1.91336828e-04 1.06635896e+01] [ 5.27181490e-03 -3.61881883e-04 9.99986038e-01 -2.59912361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.315898227 meters 0.06441863087913678 Centerline is valid? [True, True] Translation: X:258.35, Y:10.67, Z:-2.60 [[ 9.99774022e-01 -2.04470518e-02 -5.81573944e-03 2.58345478e+02] [ 2.04486223e-02 9.99790883e-01 2.10714899e-04 1.06742825e+01] [ 5.81021477e-03 -3.29591141e-04 9.99983066e-01 -2.59983278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.375898227 meters 0.059007945662449934 Centerline is valid? [True, True] Translation: X:258.41, Y:10.68, Z:-2.60 [[ 9.99855863e-01 -1.63275874e-02 -4.65433033e-03 2.58405733e+02] [ 1.63285485e-02 9.99866666e-01 1.68550269e-04 1.06788529e+01] [ 4.65095773e-03 -2.44524433e-04 9.99989154e-01 -2.59839368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.435898227 meters 0.06415747167892233 Centerline is valid? [True, True] Translation: X:258.46, Y:10.67, Z:-2.60 [[ 9.99831109e-01 -1.80217457e-02 -3.60145747e-03 2.58463496e+02] [ 1.80223314e-02 9.99837576e-01 1.30251159e-04 1.06679364e+01] [ 3.59852516e-03 -1.95135820e-04 9.99993506e-01 -2.59768032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.495898227 meters 0.06496049127896751 Centerline is valid? [True, True] Translation: X:258.52, Y:10.66, Z:-2.60 [[ 9.99802345e-01 -1.94089773e-02 -4.30845171e-03 2.58522460e+02] [ 1.94098279e-02 9.99811599e-01 1.55682632e-04 1.06645086e+01] [ 4.30461835e-03 -2.39278167e-04 9.99990706e-01 -2.59869642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.55589822699994 meters 0.0709242079396963 Centerline is valid? [True, True] Translation: X:258.58, Y:10.65, Z:-2.60 [[ 9.99716486e-01 -2.35758965e-02 -3.33533417e-03 2.58581917e+02] [ 2.35764293e-02 9.99722030e-01 1.20506722e-04 1.06541592e+01] [ 3.33156599e-03 -1.99107826e-04 9.99994430e-01 -2.59731230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.61589822699995 meters 0.060807547459143546 Centerline is valid? [True, True] Translation: X:258.64, Y:10.67, Z:-2.60 [[ 9.99671485e-01 -2.52074773e-02 -4.63746112e-03 2.58642225e+02] [ 2.52085243e-02 9.99682201e-01 1.67437942e-04 1.06656030e+01] [ 4.63176665e-03 -2.84286487e-04 9.99989233e-01 -2.59792820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.67589822699995 meters 0.07521143216668119 Centerline is valid? [True, True] Translation: X:258.70, Y:10.65, Z:-2.60 [[ 9.99637963e-01 -2.59000230e-02 -7.28919992e-03 2.58699755e+02] [ 2.59026256e-02 9.99664436e-01 2.62855981e-04 1.06470588e+01] [ 7.27994596e-03 -4.51570233e-04 9.99973399e-01 -2.60390124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.73589822699995 meters 0.0825376220799856 Centerline is valid? [True, True] Translation: X:258.76, Y:10.64, Z:-2.60 [[ 9.99600332e-01 -2.79779714e-02 -4.05073755e-03 2.58758935e+02] [ 2.79787921e-02 9.99608506e-01 1.46054174e-04 1.06434664e+01] [ 4.04506542e-03 -2.59330545e-04 9.99991785e-01 -2.59880094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.79589822699995 meters 0.07413522401680843 Centerline is valid? [True, True] Translation: X:258.82, Y:10.65, Z:-2.60 [[ 9.99545991e-01 -2.95011092e-02 -6.12349310e-03 2.58819227e+02] [ 2.95030126e-02 9.99564667e-01 2.20719107e-04 1.06539588e+01] [ 6.11431588e-03 -4.01280392e-04 9.99981227e-01 -2.60156170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.85589822699995 meters 0.07295028943213189 Centerline is valid? [True, True] Translation: X:258.88, Y:10.66, Z:-2.60 [[ 9.99521355e-01 -3.00484768e-02 -7.35863234e-03 2.58876896e+02] [ 3.00512372e-02 9.99548325e-01 2.64809375e-04 1.06552895e+01] [ 7.34735151e-03 -4.85818631e-04 9.99972890e-01 -2.60181740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.91589822699996 meters 0.07699178625592727 Centerline is valid? [True, True] Translation: X:258.94, Y:10.65, Z:-2.60 [[ 9.99556464e-01 -2.85783037e-02 -8.37592657e-03 2.58935869e+02] [ 2.85818272e-02 9.99591411e-01 3.01241852e-04 1.06533237e+01] [ 8.36389528e-03 -5.40507526e-04 9.99964876e-01 -2.60404131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.97589822699996 meters 0.06996937328491731 Centerline is valid? [True, True] Translation: X:259.00, Y:10.67, Z:-2.60 [[ 9.99610740e-01 -2.69402676e-02 -7.25196894e-03 2.58996704e+02] [ 2.69428654e-02 9.99636941e-01 2.60738344e-04 1.06675460e+01] [ 7.24231169e-03 -4.56025672e-04 9.99973670e-01 -2.60024205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.03589822699996 meters 0.07507940216992141 Centerline is valid? [True, True] Translation: X:259.05, Y:10.67, Z:-2.60 [[ 9.99608679e-01 -2.75802354e-02 -4.67122064e-03 2.59054727e+02] [ 2.75813182e-02 9.99619549e-01 1.67532693e-04 1.06678314e+01] [ 4.66482288e-03 -2.96305557e-04 9.99989076e-01 -2.59639901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.09589822699996 meters 0.06644752898857016 Centerline is valid? [True, True] Translation: X:259.12, Y:10.68, Z:-2.60 [[ 9.99513507e-01 -3.07274101e-02 -5.34566937e-03 2.59115557e+02] [ 3.07288730e-02 9.99527738e-01 1.91727979e-04 1.06805136e+01] [ 5.33725351e-03 -3.55901100e-04 9.99985693e-01 -2.59591400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.15589822699997 meters 0.07298696586734076 Centerline is valid? [True, True] Translation: X:259.17, Y:10.67, Z:-2.60 [[ 9.99339721e-01 -3.60084828e-02 -4.84886859e-03 2.59174465e+02] [ 3.60097480e-02 9.99351424e-01 1.73842115e-04 1.06746947e+01] [ 4.83946394e-03 -3.48333867e-04 9.99988229e-01 -2.59530846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.21589822699997 meters 0.08821985640523425 Centerline is valid? [True, True] Translation: X:259.23, Y:10.65, Z:-2.60 [[ 9.99211738e-01 -3.94583336e-02 -4.35239007e-03 2.59232958e+02] [ 3.94593857e-02 9.99221163e-01 1.56091574e-04 1.06547020e+01] [ 4.34284115e-03 -3.27711171e-04 9.99990516e-01 -2.59651568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.27589822699997 meters 0.07949747656022553 Centerline is valid? [True, True] Translation: X:259.29, Y:10.66, Z:-2.59 [[ 9.99206475e-01 -3.95773923e-02 -4.47786389e-03 2.59291092e+02] [ 3.95785033e-02 9.99216451e-01 1.59727627e-04 1.06646610e+01] [ 4.46803366e-03 -3.36828029e-04 9.99989962e-01 -2.59489415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.335898227 meters 0.0824205477692349 Centerline is valid? [True, True] Translation: X:259.35, Y:10.66, Z:-2.59 [[ 9.99276044e-01 -3.79462804e-02 -2.73265418e-03 2.59350400e+02] [ 3.79466880e-02 9.99279760e-01 9.74367444e-05 1.06620946e+01] [ 2.72698865e-03 -2.01061380e-04 9.99996262e-01 -2.59227568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.395898227 meters 0.08144227458064075 Centerline is valid? [True, True] Translation: X:259.41, Y:10.67, Z:-2.59 [[ 9.99259566e-01 -3.84128159e-02 -2.18513605e-03 2.59409743e+02] [ 3.84130768e-02 9.99261942e-01 7.75314196e-05 1.06674324e+01] [ 2.18054509e-03 -1.61411811e-04 9.99997610e-01 -2.59139456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.455898227 meters 0.08222207148192885 Centerline is valid? [True, True] Translation: X:259.47, Y:10.66, Z:-2.60 [[ 9.99146494e-01 -4.10661497e-02 -4.45596466e-03 2.59469831e+02] [ 4.10672612e-02 9.99156372e-01 1.58189145e-04 1.06581208e+01] [ 4.44570926e-03 -3.41048394e-04 9.99990060e-01 -2.59606975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.515898227 meters 0.08475409039386586 Centerline is valid? [True, True] Translation: X:259.53, Y:10.65, Z:-2.60 [[ 9.99046947e-01 -4.33761563e-02 -4.86897099e-03 2.59530106e+02] [ 4.33775107e-02 9.99058738e-01 1.72846563e-04 1.06516337e+01] [ 4.85689059e-03 -3.83885672e-04 9.99988132e-01 -2.59701298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.575898227 meters 0.08479598207433545 Centerline is valid? [True, True] Translation: X:259.59, Y:10.65, Z:-2.60 [[ 9.99059041e-01 -4.29212682e-02 -6.22872999e-03 2.59589130e+02] [ 4.29234695e-02 9.99078339e-01 2.20095289e-04 1.06512777e+01] [ 6.21354244e-03 -4.87246890e-04 9.99980577e-01 -2.59923928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.635898227 meters 0.08724276448423057 Centerline is valid? [True, True] Translation: X:259.65, Y:10.65, Z:-2.60 [[ 9.99078220e-01 -4.24732528e-02 -6.22351444e-03 2.59646930e+02] [ 4.24754387e-02 9.99097487e-01 2.19413828e-04 1.06491663e+01] [ 6.20857842e-03 -4.83558083e-04 9.99980610e-01 -2.59973725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.695898227 meters 0.08800302121530926 Centerline is valid? [True, True] Translation: X:259.71, Y:10.65, Z:-2.60 [[ 9.99070335e-01 -4.26900568e-02 -6.00201412e-03 2.59705052e+02] [ 4.26920872e-02 9.99088255e-01 2.10525572e-04 1.06500686e+01] [ 5.98755447e-03 -4.66568364e-04 9.99981966e-01 -2.59925300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.755898227 meters 0.08158792335831223 Centerline is valid? [True, True] Translation: X:259.76, Y:10.66, Z:-2.60 [[ 9.99022426e-01 -4.35188719e-02 -7.76526736e-03 2.59764484e+02] [ 4.35222929e-02 9.99052419e-01 2.72037348e-04 1.06605790e+01] [ 7.74607039e-03 -6.09733653e-04 9.99969813e-01 -2.60324814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.815898227 meters 0.07905742161201589 Centerline is valid? [True, True] Translation: X:259.82, Y:10.66, Z:-2.60 [[ 9.98950050e-01 -4.54599870e-02 -5.67333727e-03 2.59824246e+02] [ 4.54618438e-02 9.98966056e-01 1.98692114e-04 1.06617146e+01] [ 5.65843882e-03 -4.56403871e-04 9.99983887e-01 -2.59910981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.875898227 meters 0.085170514978853 Centerline is valid? [True, True] Translation: X:259.88, Y:10.65, Z:-2.60 [[ 9.98888554e-01 -4.66426846e-02 -6.79087896e-03 2.59881957e+02] [ 4.66453700e-02 9.98911484e-01 2.37509827e-04 1.06510438e+01] [ 6.77240889e-03 -5.54008909e-04 9.99976914e-01 -2.60059596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.935898227 meters 0.08481228717162613 Centerline is valid? [True, True] Translation: X:259.94, Y:10.65, Z:-2.60 [[ 9.98861380e-01 -4.71217774e-02 -7.44859247e-03 2.59940949e+02] [ 4.71250124e-02 9.98888966e-01 2.59298511e-04 1.06508762e+01] [ 7.42809822e-03 -6.10018280e-04 9.99972225e-01 -2.60084932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.995898227 meters 0.08905197850610302 Centerline is valid? [True, True] Translation: X:260.00, Y:10.64, Z:-2.60 [[ 9.98793352e-01 -4.89392107e-02 -4.09797079e-03 2.59999491e+02] [ 4.89402048e-02 9.98801700e-01 1.42581823e-04 1.06422850e+01] [ 4.08608235e-03 -3.42965307e-04 9.99991593e-01 -2.59728795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.05589822699994 meters 0.08758125865502517 Centerline is valid? [True, True] Translation: X:260.06, Y:10.64, Z:-2.60 [[ 9.98738794e-01 -5.00925974e-02 -3.39896264e-03 2.60059329e+02] [ 5.00932876e-02 9.98744536e-01 1.18183366e-04 1.06434803e+01] [ 3.38877526e-03 -2.88299526e-04 9.99994217e-01 -2.59659715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.11589822699995 meters 0.09432551982350512 Centerline is valid? [True, True] Translation: X:260.12, Y:10.63, Z:-2.60 [[ 9.98547203e-01 -5.34870028e-02 -6.52872084e-03 2.60117841e+02] [ 5.34896205e-02 9.98568380e-01 2.26875786e-04 1.06285530e+01] [ 6.50723928e-03 -5.75764982e-04 9.99978662e-01 -2.60252024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.17589822699995 meters 0.09927257388730949 Centerline is valid? [True, True] Translation: X:260.18, Y:10.61, Z:-2.60 [[ 9.98295057e-01 -5.81036531e-02 -5.56270455e-03 2.60178165e+02] [ 5.81056243e-02 9.98310422e-01 1.93281802e-04 1.06136440e+01] [ 5.54207555e-03 -5.16176688e-04 9.99984509e-01 -2.60125304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.23589822699995 meters 0.10954628200347738 Centerline is valid? [True, False] Translation: X:260.18, Y:10.60, Z:-2.60 [[ 9.98510138e-01 -5.40801634e-02 -7.26907411e-03 2.60182333e+02] [ 5.39720135e-02 9.98439603e-01 -1.43311514e-02 1.06038674e+01] [ 8.03276247e-03 1.39174734e-02 9.99870881e-01 -2.60243692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.29589822699995 meters 0.1031413879128184 Centerline is valid? [False, False] Translation: X:260.18, Y:10.60, Z:-2.60 [[ 9.99114517e-01 -4.08460112e-02 -1.00888943e-02 2.60183600e+02] [ 4.06460633e-02 9.98987449e-01 -1.92866170e-02 1.05984642e+01] [ 1.08664601e-02 1.88594652e-02 9.99763092e-01 -2.60204379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.35589822699995 meters 0.09911846049292432 Centerline is valid? [False, True] Translation: X:260.19, Y:10.60, Z:-2.60 [[ 9.99602530e-01 -2.59726647e-02 -1.09636716e-02 2.60185467e+02] [ 2.57117082e-02 9.99397661e-01 -2.33071375e-02 1.05955932e+01] [ 1.15624162e-02 2.30159789e-02 9.99668233e-01 -2.60374712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.41589822699996 meters 0.08863497708601559 Centerline is valid? [True, True] Translation: X:260.25, Y:10.59, Z:-2.60 [[ 9.99746090e-01 -2.01766773e-02 -1.00327605e-02 2.60245322e+02] [ 2.01843032e-02 9.99796059e-01 6.59409021e-04 1.05929928e+01] [ 1.00174098e-02 -8.61745871e-04 9.99949453e-01 -2.60202920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.47589822699996 meters 0.08910798194420025 Centerline is valid? [True, True] Translation: X:260.31, Y:10.59, Z:-2.60 [[ 9.99890585e-01 -1.28042437e-02 -7.40734058e-03 2.60305335e+02] [ 1.28081994e-02 9.99917853e-01 4.86831644e-04 1.05931222e+01] [ 7.40049858e-03 -5.81653073e-04 9.99972447e-01 -2.59705690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.53589822699996 meters 0.08791688608628602 Centerline is valid? [True, True] Translation: X:260.36, Y:10.59, Z:-2.60 [[ 9.99895879e-01 -1.20198583e-02 -7.98456007e-03 2.60364720e+02] [ 1.20244238e-02 9.99927567e-01 5.24026107e-04 1.05934437e+01] [ 7.97768300e-03 -6.19981279e-04 9.99967986e-01 -2.59951520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.59589822699996 meters 0.09578528422074764 Centerline is valid? [True, True] Translation: X:260.42, Y:10.58, Z:-2.60 [[ 9.99767229e-01 -1.95793794e-02 -9.06291840e-03 2.60424381e+02] [ 1.95855658e-02 9.99808008e-01 5.94354889e-04 1.05769055e+01] [ 9.04954129e-03 -7.71718925e-04 9.99958754e-01 -2.60232812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.65589822699997 meters 0.10538328001563824 Centerline is valid? [True, False] Translation: X:260.43, Y:10.58, Z:-2.60 [[ 9.99841775e-01 -1.45362168e-02 -1.02529405e-02 2.60427596e+02] [ 1.43976933e-02 9.99805783e-01 -1.34574431e-02 1.05752324e+01] [ 1.04465695e-02 1.33076951e-02 9.99856877e-01 -2.60439684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.71589822699997 meters 0.09134157669887141 Centerline is valid? [False, True] Translation: X:260.43, Y:10.57, Z:-2.60 [[ 9.99937879e-01 -4.95701743e-03 -9.98333909e-03 2.60426451e+02] [ 4.93359118e-03 9.99985022e-01 -2.36979726e-03 1.05650271e+01] [ 9.99493668e-03 2.32039633e-03 9.99947357e-01 -2.60433306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.77589822699997 meters 0.09204893704882032 Centerline is valid? [True, True] Translation: X:260.49, Y:10.55, Z:-2.60 [[ 9.99954700e-01 1.79930120e-04 -9.51658309e-03 2.60485052e+02] [-1.72497570e-04 9.99999679e-01 7.81825309e-04 1.05547323e+01] [ 9.51672071e-03 -7.80148305e-04 9.99954411e-01 -2.60368006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.835898227 meters 0.08226878809235616 Centerline is valid? [True, True] Translation: X:260.55, Y:10.56, Z:-2.60 [[ 9.99912768e-01 7.96265234e-03 -1.05381364e-02 2.60546311e+02] [-7.95396837e-03 9.99967992e-01 8.65707663e-04 1.05618812e+01] [ 1.05446925e-02 -7.81812142e-04 9.99944098e-01 -2.60408360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.895898227 meters 0.07475075396773359 Centerline is valid? [True, True] Translation: X:260.61, Y:10.57, Z:-2.60 [[ 9.99878665e-01 1.08905392e-02 -1.11378387e-02 2.60607299e+02] [-1.08810195e-02 9.99940381e-01 9.14963657e-04 1.05660533e+01] [ 1.11471391e-02 -7.93661600e-04 9.99937554e-01 -2.60473201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.955898227 meters 0.0793253960650041 Centerline is valid? [True, True] Translation: X:260.66, Y:10.55, Z:-2.61 [[ 9.99879548e-01 1.05919314e-02 -1.13445904e-02 2.60664696e+02] [-1.05820411e-02 9.99943575e-01 9.31478967e-04 1.05546815e+01] [ 1.13538164e-02 -8.11317847e-04 9.99935214e-01 -2.60609736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.015898227 meters 0.08691977032171935 Centerline is valid? [True, True] Translation: X:260.72, Y:10.54, Z:-2.60 [[ 9.99935845e-01 5.88917892e-03 -9.67594448e-03 2.60722783e+02] [-5.88176769e-03 9.99982387e-01 7.94221661e-04 1.05378569e+01] [ 9.68045137e-03 -7.37259050e-04 9.99952872e-01 -2.60345550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.075898227 meters 0.09550620534057312 Centerline is valid? [True, True] Translation: X:260.78, Y:10.52, Z:-2.60 [[ 9.99957103e-01 -1.28676593e-03 -9.17260381e-03 2.60782160e+02] [ 1.29372546e-03 9.99998880e-01 7.52836500e-04 1.05171649e+01] [ 9.17162481e-03 -7.64671037e-04 9.99957647e-01 -2.60304707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.135898227 meters 0.09999831149463491 Centerline is valid? [True, True] Translation: X:260.84, Y:10.50, Z:-2.60 [[ 9.99951004e-01 -4.59818961e-03 -8.76622907e-03 2.60841672e+02] [ 4.60467239e-03 9.99989140e-01 7.19476655e-04 1.05022806e+01] [ 8.76282558e-03 -7.59807016e-04 9.99961317e-01 -2.60223741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.195898227 meters 0.09045695232490931 Centerline is valid? [True, True] Translation: X:260.90, Y:10.50, Z:-2.60 [[ 9.99939243e-01 -5.65378749e-03 -9.46279024e-03 2.60901386e+02] [ 5.66138539e-03 9.99983673e-01 7.76329933e-04 1.05041852e+01] [ 9.45824654e-03 -8.29855268e-04 9.99954925e-01 -2.60226344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.255898227 meters 0.09123838369110723 Centerline is valid? [True, True] Translation: X:260.96, Y:10.49, Z:-2.60 [[ 9.99955573e-01 -4.16460922e-03 -8.45618597e-03 2.60960167e+02] [ 4.17062150e-03 9.99991062e-01 6.93481480e-04 1.04943969e+01] [ 8.45322231e-03 -7.28718222e-04 9.99964005e-01 -2.60028104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.315898227 meters 0.08714325514345783 Centerline is valid? [True, True] Translation: X:261.02, Y:10.49, Z:-2.60 [[ 9.99965355e-01 2.59119228e-03 -7.91039077e-03 2.61019945e+02] [-2.58614160e-03 9.99996446e-01 6.48648684e-04 1.04873456e+01] [ 7.91204343e-03 -6.28168821e-04 9.99968502e-01 -2.59983318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.375898227 meters 0.08271360201869621 Centerline is valid? [True, True] Translation: X:261.08, Y:10.48, Z:-2.61 [[ 9.99906163e-01 8.40459175e-03 -1.08179787e-02 2.61079741e+02] [-8.39548406e-03 9.99964364e-01 8.87041153e-04 1.04799508e+01] [ 1.08250485e-02 -7.96135747e-04 9.99941091e-01 -2.60591227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.435898227 meters 0.0766939231073367 Centerline is valid? [True, True] Translation: X:261.14, Y:10.48, Z:-2.61 [[ 9.99874488e-01 1.15451892e-02 -1.08497580e-02 2.61139559e+02] [-1.15362134e-02 9.99933060e-01 8.89507109e-04 1.04770415e+01] [ 1.08593013e-02 -7.64230342e-04 9.99940744e-01 -2.60529641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.495898227 meters 0.07113629358870034 Centerline is valid? [True, True] Translation: X:261.20, Y:10.47, Z:-2.60 [[ 9.99825488e-01 1.57607221e-02 -1.00296590e-02 2.61199955e+02] [-1.57532633e-02 9.99875572e-01 8.22247720e-04 1.04713778e+01] [ 1.00413703e-02 -6.64104368e-04 9.99949364e-01 -2.60240464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.55589822699994 meters 0.06287020455501334 Centerline is valid? [True, True] Translation: X:261.26, Y:10.48, Z:-2.60 [[ 9.99634304e-01 2.51939807e-02 -9.82457255e-03 2.61261082e+02] [-2.51872775e-02 9.99682426e-01 8.05445127e-04 1.04766942e+01] [ 9.84174488e-03 -5.57696344e-04 9.99951413e-01 -2.60048666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.61589822699995 meters 0.053401738552030245 Centerline is valid? [True, True] Translation: X:261.32, Y:10.49, Z:-2.60 [[ 9.99401805e-01 3.35933882e-02 -8.21683707e-03 2.61322659e+02] [-3.35889823e-02 9.99435504e-01 6.73655451e-04 1.04885010e+01] [ 8.23482907e-03 -3.97257279e-04 9.99966014e-01 -2.59745879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.67589822699995 meters 0.05294864677717104 Centerline is valid? [True, True] Translation: X:261.38, Y:10.49, Z:-2.60 [[ 9.99378857e-01 3.45913816e-02 -6.73322604e-03 2.61383136e+02] [-3.45884460e-02 9.99401488e-01 5.51990657e-04 1.04897100e+01] [ 6.74829025e-03 -3.18755967e-04 9.99977179e-01 -2.59573471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.73589822699995 meters 0.06191147844239189 Centerline is valid? [True, True] Translation: X:261.44, Y:10.48, Z:-2.59 [[ 9.99461038e-01 3.23825694e-02 -5.38542442e-03 2.61442377e+02] [-3.23806589e-02 9.99475511e-01 4.41582644e-04 1.04820373e+01] [ 5.39689941e-03 -2.66961057e-04 9.99985401e-01 -2.59422974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.79589822699995 meters 0.06372686832045496 Centerline is valid? [True, True] Translation: X:261.50, Y:10.48, Z:-2.59 [[ 9.99556852e-01 2.92447603e-02 -5.55369510e-03 2.61503142e+02] [-2.92426793e-02 9.99572238e-01 4.55561624e-04 1.04811197e+01] [ 5.56464223e-03 -2.92954818e-04 9.99984474e-01 -2.59499300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.85589822699995 meters 0.07244265332802217 Centerline is valid? [True, True] Translation: X:261.56, Y:10.48, Z:-2.60 [[ 9.99781396e-01 1.94737326e-02 -7.61139063e-03 2.61563506e+02] [-1.94695414e-02 9.99810256e-01 6.24362844e-04 1.04750884e+01] [ 7.62210509e-03 -4.76036071e-04 9.99970838e-01 -2.59826304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.91589822699996 meters 0.08819121845381045 Centerline is valid? [True, True] Translation: X:261.62, Y:10.45, Z:-2.60 [[ 9.99947907e-01 5.78122565e-03 -8.41189121e-03 2.61621087e+02] [-5.77562345e-03 9.99983083e-01 6.90126258e-04 1.04529495e+01] [ 8.41573868e-03 -6.41506391e-04 9.99964381e-01 -2.60033970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.97589822699996 meters 0.09722182142968146 Centerline is valid? [True, True] Translation: X:261.68, Y:10.43, Z:-2.60 [[ 9.99968625e-01 -1.52045572e-03 -7.77409581e-03 2.61679099e+02] [ 1.52546057e-03 9.99998633e-01 6.37896069e-04 1.04344323e+01] [ 7.77311529e-03 -6.49735132e-04 9.99969578e-01 -2.59979047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.03589822699996 meters 0.0896310667596898 Centerline is valid? [True, True] Translation: X:261.74, Y:10.43, Z:-2.60 [[ 9.99880928e-01 -1.04526157e-02 -1.13522353e-02 2.61739052e+02] [ 1.04638593e-02 9.99944818e-01 9.31486217e-04 1.04317618e+01] [ 1.13418724e-02 -1.05016350e-03 9.99935127e-01 -2.60371890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.09589822699996 meters 0.10069569935113068 Centerline is valid? [True, False] Translation: X:261.74, Y:10.42, Z:-2.61 [[ 9.99960781e-01 -7.65632752e-03 -4.45168216e-03 2.61741326e+02] [ 7.60514725e-03 9.99906070e-01 -1.14022917e-02 1.04202545e+01] [ 4.53856369e-03 1.13679888e-02 9.99925082e-01 -2.60900588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.15589822699997 meters 0.09269316677012064 Centerline is valid? [False, True] Translation: X:261.74, Y:10.41, Z:-2.61 [[ 9.99987034e-01 -2.34469417e-03 -4.52037041e-03 2.61740836e+02] [ 2.32207138e-03 9.99984787e-01 -5.00340002e-03 1.04111533e+01] [ 4.53203309e-03 4.99283852e-03 9.99977266e-01 -2.60821051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.21589822699997 meters 0.0973793500456956 Centerline is valid? [True, True] Translation: X:261.80, Y:10.39, Z:-2.61 [[ 9.99942055e-01 1.03543298e-02 -2.94533433e-03 2.61798766e+02] [-1.03536340e-02 9.99946368e-01 2.51358693e-04 1.03933230e+01] [ 2.94777902e-03 -2.20849214e-04 9.99995631e-01 -2.60963696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.27589822699997 meters 0.09349825934777997 Centerline is valid? [True, True] Translation: X:261.86, Y:10.39, Z:-2.61 [[ 9.99915607e-01 1.29497843e-02 -1.04036807e-03 2.61859892e+02] [-1.29496989e-02 9.99916145e-01 8.88475947e-05 1.03916228e+01] [ 1.04143139e-03 -7.53676434e-05 9.99999455e-01 -2.60728023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.335898227 meters 0.07630912109967998 Centerline is valid? [True, True] Translation: X:261.92, Y:10.40, Z:-2.60 [[ 9.99892206e-01 1.46816548e-02 -1.61794573e-04 2.61921913e+02] [-1.46816528e-02 9.99892219e-01 1.38962296e-05 1.04038646e+01] [ 1.61981154e-04 -1.15193199e-05 9.99999987e-01 -2.60477015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.395898227 meters 0.07874017375767182 Centerline is valid? [True, True] Translation: X:261.98, Y:10.39, Z:-2.61 [[ 9.99918033e-01 1.27697163e-02 -9.28308238e-04 2.61981148e+02] [-1.27696481e-02 9.99918462e-01 7.93452900e-05 1.03850491e+01] [ 9.29245762e-04 -6.74846168e-05 9.99999566e-01 -2.60525175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.455898227 meters 0.09056185098733473 Centerline is valid? [True, True] Translation: X:262.04, Y:10.36, Z:-2.60 [[ 9.99894669e-01 1.41334437e-02 3.30093488e-03 2.62038702e+02] [-1.41325898e-02 9.99900090e-01 -2.81852172e-04 1.03569589e+01] [-3.30458862e-03 2.35171726e-04 9.99994512e-01 -2.59790944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.515898227 meters 0.07408286728898224 Centerline is valid? [True, True] Translation: X:262.10, Y:10.37, Z:-2.60 [[ 9.99849106e-01 1.70733173e-02 3.20414268e-03 2.62100010e+02] [-1.70725278e-02 9.99854216e-01 -2.73587839e-04 1.03686966e+01] [-3.20834662e-03 2.18843742e-04 9.99994829e-01 -2.59674091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.575898227 meters 0.07986102876405818 Centerline is valid? [True, True] Translation: X:262.16, Y:10.35, Z:-2.60 [[ 9.99854823e-01 1.68748168e-02 2.36082385e-03 2.62159913e+02] [-1.68743893e-02 9.99857597e-01 -2.00856436e-04 1.03539444e+01] [-2.36387707e-03 1.60989816e-04 9.99997193e-01 -2.59896107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.635898227 meters 0.08116385744227865 Centerline is valid? [True, True] Translation: X:262.22, Y:10.34, Z:-2.60 [[ 9.99931336e-01 1.09262838e-02 4.23544598e-03 2.62219722e+02] [-1.09248468e-02 9.99940256e-01 -3.62279062e-04 1.03427168e+01] [-4.23915130e-03 3.15982589e-04 9.99990965e-01 -2.59606729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.695898227 meters 0.09026351629102762 Centerline is valid? [True, True] Translation: X:262.28, Y:10.32, Z:-2.60 [[ 9.99982772e-01 4.16092809e-03 4.14032675e-03 2.62277558e+02] [-4.15949738e-03 9.99991287e-01 -3.54105876e-04 1.03228696e+01] [-4.14176408e-03 3.36878097e-04 9.99991366e-01 -2.59656784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.755898227 meters 0.09626579068288926 Centerline is valid? [True, True] Translation: X:262.34, Y:10.31, Z:-2.60 [[ 9.99996690e-01 1.55865077e-03 2.04717940e-03 2.62335909e+02] [-1.55829604e-03 9.99998771e-01 -1.74859082e-04 1.03061551e+01] [-2.04744943e-03 1.71668392e-04 9.99997889e-01 -2.60014142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.815898227 meters 0.08983164889029804 Centerline is valid? [True, True] Translation: X:262.40, Y:10.31, Z:-2.60 [[ 9.99989406e-01 4.16085333e-03 1.96843255e-03 2.62396669e+02] [-4.16052968e-03 9.99991331e-01 -1.68486453e-04 1.03083240e+01] [-1.96911653e-03 1.60294946e-04 9.99998048e-01 -2.59995557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.875898227 meters 0.08239293234058374 Centerline is valid? [True, True] Translation: X:262.46, Y:10.31, Z:-2.60 [[ 9.99947306e-01 1.02657700e-02 9.51437541e-06 2.62457608e+02] [-1.02657700e-02 9.99947306e-01 -7.61213452e-07 1.03130796e+01] [-9.52168850e-06 6.63500950e-07 1.00000000e+00 -2.60164636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.935898227 meters 0.08012128728135368 Centerline is valid? [True, True] Translation: X:262.52, Y:10.31, Z:-2.61 [[ 9.99900869e-01 1.39520031e-02 -1.89570109e-03 2.62517991e+02] [-1.39517203e-02 9.99902657e-01 1.62327471e-04 1.03125376e+01] [ 1.89778135e-03 -1.35863088e-04 9.99998190e-01 -2.60516514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.99589822699994 meters 0.08464620829315053 Centerline is valid? [True, True] Translation: X:262.58, Y:10.31, Z:-2.61 [[ 9.99816175e-01 1.91049997e-02 -1.61716694e-03 2.62576900e+02] [-1.91048009e-02 9.99817477e-01 1.38346220e-04 1.03055567e+01] [ 1.61951488e-03 -1.07425136e-04 9.99998683e-01 -2.60746055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.05589822699994 meters 0.06789540356798156 Centerline is valid? [True, True] Translation: X:262.64, Y:10.33, Z:-2.61 [[ 9.99704059e-01 2.41549926e-02 -2.88615161e-03 2.62640048e+02] [-2.41543794e-02 9.99708210e-01 2.47145622e-04 1.03264098e+01] [ 2.89127926e-03 -1.77359280e-04 9.99995805e-01 -2.60736904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.11589822699995 meters 0.06685576102328862 Centerline is valid? [True, True] Translation: X:262.70, Y:10.32, Z:-2.61 [[ 9.99652492e-01 2.58644265e-02 -5.09179149e-03 2.62701983e+02] [-2.58625385e-02 9.99665413e-01 4.36313342e-04 1.03240096e+01] [ 5.10137284e-03 -3.04475066e-04 9.99986942e-01 -2.61202564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.17589822699995 meters 0.06912812751470138 Centerline is valid? [True, True] Translation: X:262.76, Y:10.32, Z:-2.61 [[ 9.99698235e-01 2.42149792e-02 -4.13211753e-03 2.62762590e+02] [-2.42137209e-02 9.99706742e-01 3.54285104e-04 1.03151447e+01] [ 4.13948476e-03 -2.54124252e-04 9.99991400e-01 -2.61150606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.23589822699995 meters 0.07121049227461243 Centerline is valid? [True, True] Translation: X:262.82, Y:10.30, Z:-2.61 [[ 9.99722114e-01 2.31968630e-02 -4.19517816e-03 2.62823592e+02] [-2.31955510e-02 9.99730882e-01 3.61123314e-04 1.03043851e+01] [ 4.20242609e-03 -2.63713494e-04 9.99991135e-01 -2.61335240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.29589822699995 meters 0.06967572249462939 Centerline is valid? [True, True] Translation: X:262.88, Y:10.30, Z:-2.61 [[ 9.99755765e-01 2.19823281e-02 -2.27775775e-03 2.62884637e+02] [-2.19819390e-02 9.99758349e-01 1.95709289e-04 1.02982892e+01] [ 2.28150947e-03 -1.45591958e-04 9.99997387e-01 -2.61130262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.35589822699995 meters 0.06817334408346253 Centerline is valid? [True, True] Translation: X:262.95, Y:10.29, Z:-2.61 [[ 9.99757649e-01 2.19419928e-02 1.78644735e-03 2.62946391e+02] [-2.19417553e-02 9.99759239e-01 -1.52469092e-04 1.02924908e+01] [-1.78936272e-03 1.13234350e-04 9.99998393e-01 -2.60540158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.41589822699996 meters 0.06569784369081892 Centerline is valid? [True, True] Translation: X:263.01, Y:10.29, Z:-2.60 [[ 9.99725273e-01 2.33151353e-02 2.40468334e-03 2.63007635e+02] [-2.33147052e-02 9.99728154e-01 -2.06718480e-04 1.02898241e+01] [-2.40884931e-03 1.50597205e-04 9.99997087e-01 -2.60490109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.47589822699996 meters 0.06670600747658433 Centerline is valid? [True, True] Translation: X:263.07, Y:10.28, Z:-2.61 [[ 9.99681934e-01 2.50895580e-02 2.55838040e-03 2.63067213e+02] [-2.50890766e-02 9.99685195e-01 -2.20113329e-04 1.02830821e+01] [-2.56309756e-03 1.55855917e-04 9.99996703e-01 -2.60600405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.53589822699996 meters 0.07271067363491544 Centerline is valid? [True, True] Translation: X:263.13, Y:10.27, Z:-2.61 [[ 9.99784174e-01 2.07001795e-02 1.76287905e-03 2.63126068e+02] [-2.06999444e-02 9.99785722e-01 -1.51537581e-04 1.02710817e+01] [-1.76563816e-03 1.15013377e-04 9.99998435e-01 -2.60787263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.59589822699996 meters 0.07942714047924773 Centerline is valid? [True, True] Translation: X:263.19, Y:10.26, Z:-2.61 [[ 9.99885874e-01 1.50482974e-02 1.33695769e-03 2.63185053e+02] [-1.50481568e-02 9.99886763e-01 -1.15111028e-04 1.02553014e+01] [-1.33853852e-03 9.49791418e-05 9.99999100e-01 -2.61025175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.65589822699997 meters 0.08486249085950746 Centerline is valid? [True, True] Translation: X:263.24, Y:10.24, Z:-2.61 [[ 9.99972717e-01 7.24760972e-03 1.42707272e-03 2.63243787e+02] [-7.24744182e-03 9.99973729e-01 -1.22788302e-04 1.02368702e+01] [-1.42792515e-03 1.12442325e-04 9.99998974e-01 -2.61002416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.71589822699997 meters 0.08445664760311593 Centerline is valid? [True, True] Translation: X:263.30, Y:10.23, Z:-2.61 [[ 9.99982544e-01 5.80627437e-03 1.09451241e-03 2.63304183e+02] [-5.80617492e-03 9.99983140e-01 -9.40120316e-05 1.02307129e+01] [-1.09503982e-03 8.76554601e-05 9.99999397e-01 -2.60901487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.77589822699997 meters 0.07870053272613192 Centerline is valid? [True, True] Translation: X:263.36, Y:10.24, Z:-2.61 [[ 9.99962444e-01 8.51822638e-03 1.59695672e-03 2.63364980e+02] [-8.51801763e-03 9.99963712e-01 -1.37471998e-04 1.02353292e+01] [-1.59806979e-03 1.23863930e-04 9.99998715e-01 -2.60782571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.835898227 meters 0.09262273362411765 Centerline is valid? [True, True] Translation: X:263.43, Y:10.21, Z:-2.61 [[ 9.99961683e-01 8.70691220e-03 9.06902126e-04 2.63425643e+02] [-8.70684563e-03 9.99962092e-01 -7.73311360e-05 1.02136384e+01] [-9.07541063e-04 6.94319161e-05 9.99999586e-01 -2.61124787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.895898227 meters 0.08728374688913815 Centerline is valid? [True, True] Translation: X:263.49, Y:10.22, Z:-2.61 [[ 9.99988784e-01 4.73566713e-03 7.49661056e-05 2.63486584e+02] [-4.73566666e-03 9.99988787e-01 -6.42851718e-06 1.02169811e+01] [-7.49957083e-05 6.07343059e-06 9.99999997e-01 -2.61248958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.955898227 meters 0.0940271443631925 Centerline is valid? [True, True] Translation: X:263.55, Y:10.20, Z:-2.61 [[ 9.99996915e-01 -2.46434126e-03 -3.10596870e-04 2.63545369e+02] [ 2.46434968e-03 9.99996963e-01 2.67170937e-05 1.01982919e+01] [ 3.10530087e-04 -2.74824306e-05 9.99999951e-01 -2.61301472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.015898227 meters 0.09943658497071979 Centerline is valid? [True, True] Translation: X:263.60, Y:10.18, Z:-2.61 [[ 9.99985962e-01 -5.18838604e-03 -1.07556948e-03 2.63603789e+02] [ 5.18848865e-03 9.99986535e-01 9.26275199e-05 1.01803780e+01] [ 1.07507441e-03 -9.82067996e-05 9.99999417e-01 -2.61375042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.075898227 meters 0.09337007115207578 Centerline is valid? [True, True] Translation: X:263.66, Y:10.18, Z:-2.61 [[ 9.99997828e-01 -9.86107870e-04 -1.83598814e-03 2.63664133e+02] [ 9.86400007e-04 9.99999501e-01 1.58218661e-04 1.01807710e+01] [ 1.83583120e-03 -1.60029336e-04 9.99998302e-01 -2.61419822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.135898227 meters 0.08276200918225902 Centerline is valid? [True, True] Translation: X:263.73, Y:10.19, Z:-2.61 [[ 9.99955131e-01 9.43487887e-03 8.47873777e-04 2.63725944e+02] [-9.43482026e-03 9.99955488e-01 -7.30950422e-05 1.01892648e+01] [-8.48525680e-04 6.50922258e-05 9.99999638e-01 -2.61133429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.195898227 meters 0.0779544773328349 Centerline is valid? [True, True] Translation: X:263.79, Y:10.19, Z:-2.61 [[ 9.99913020e-01 1.29119787e-02 2.68940166e-03 2.63787131e+02] [-1.29114019e-02 9.99916618e-01 -2.31727878e-04 1.01894717e+01] [-2.69216948e-03 1.96983777e-04 9.99996357e-01 -2.61040020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.255898227 meters 0.08179075986945919 Centerline is valid? [True, True] Translation: X:263.85, Y:10.18, Z:-2.61 [[ 9.99930710e-01 1.16028193e-02 1.98719321e-03 2.63846092e+02] [-1.16025022e-02 9.99932674e-01 -1.71008609e-04 1.01786086e+01] [-1.98904360e-03 1.47940347e-04 9.99998011e-01 -2.61318412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.315898227 meters 0.09080486275244108 Centerline is valid? [True, True] Translation: X:263.90, Y:10.15, Z:-2.62 [[ 9.99989987e-01 4.44168574e-03 -5.46076047e-04 2.63903532e+02] [-4.44166057e-03 9.99990135e-01 4.73072642e-05 1.01547885e+01] [ 5.46280784e-04 -4.48813060e-05 9.99999850e-01 -2.61964956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.375898227 meters 0.09125757010378752 Centerline is valid? [True, True] Translation: X:263.96, Y:10.14, Z:-2.62 [[ 9.99998966e-01 -5.28366843e-04 -1.33736469e-03 2.63962760e+02] [ 5.28521609e-04 9.99999854e-01 1.15374148e-04 1.01421519e+01] [ 1.33730354e-03 -1.16080855e-04 9.99999099e-01 -2.62014488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.435898227 meters 0.09316769785360607 Centerline is valid? [True, True] Translation: X:264.02, Y:10.13, Z:-2.62 [[ 9.99998448e-01 -9.15307895e-04 1.50555445e-03 2.64021708e+02] [ 9.15504672e-04 9.99999572e-01 -1.30016578e-04 1.01272529e+01] [-1.50543480e-03 1.31394718e-04 9.99998858e-01 -2.61604192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.49589822699994 meters 0.0899719020714022 Centerline is valid? [True, True] Translation: X:264.08, Y:10.12, Z:-2.61 [[ 9.99982498e-01 4.99654337e-03 3.16829762e-03 2.64080791e+02] [-4.99570240e-03 9.99987484e-01 -2.73291454e-04 1.01183652e+01] [-3.16962347e-03 2.57458799e-04 9.99994944e-01 -2.61316080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.55589822699994 meters 0.08260380682172608 Centerline is valid? [True, True] Translation: X:264.14, Y:10.12, Z:-2.62 [[ 9.99956064e-01 9.29494570e-03 1.21444439e-03 2.64141543e+02] [-9.29482536e-03 9.99956797e-01 -1.04698128e-04 1.01188693e+01] [-1.21536509e-03 9.34054797e-05 9.99999257e-01 -2.61670755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.61589822699995 meters 0.08121583222922783 Centerline is valid? [True, True] Translation: X:264.20, Y:10.11, Z:-2.62 [[ 9.99899047e-01 1.41992597e-02 5.25725675e-04 2.64200296e+02] [-1.41992378e-02 9.99899185e-01 -4.53466831e-05 1.01116310e+01] [-5.26316563e-04 3.78772014e-05 9.99999861e-01 -2.61865683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.67589822699995 meters 0.07997220561410089 Centerline is valid? [True, True] Translation: X:264.26, Y:10.10, Z:-2.62 [[ 9.99871434e-01 1.60049118e-02 9.78747896e-04 2.64260388e+02] [-1.60048369e-02 9.99871911e-01 -8.43403029e-05 1.01027832e+01] [-9.79972389e-04 6.86647591e-05 9.99999517e-01 -2.61795720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.73589822699995 meters 0.07788680688068204 Centerline is valid? [True, True] Translation: X:264.32, Y:10.10, Z:-2.62 [[ 9.99861933e-01 1.66123199e-02 -3.82802375e-04 2.64322526e+02] [-1.66123080e-02 9.99862006e-01 3.42488225e-05 1.00981743e+01] [ 3.83318503e-04 -2.78848629e-05 9.99999926e-01 -2.62004619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.79589822699995 meters 0.0869018915199091 Centerline is valid? [True, True] Translation: X:264.38, Y:10.08, Z:-2.63 [[ 9.99860449e-01 1.64497981e-02 -2.91322741e-03 2.64382306e+02] [-1.64491297e-02 9.99864672e-01 2.53262196e-04 1.00788296e+01] [ 2.91699928e-03 -2.05306797e-04 9.99995724e-01 -2.62718386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.85589822699995 meters 0.0786060378258116 Centerline is valid? [True, True] Translation: X:264.45, Y:10.08, Z:-2.62 [[ 9.99860437e-01 1.65943925e-02 -1.93193926e-03 2.64445350e+02] [-1.65940973e-02 9.99862294e-01 1.68714591e-04 1.00824955e+01] [ 1.93447294e-03 -1.36632257e-04 9.99998120e-01 -2.62404185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.91589822699996 meters 0.07465467437444384 Centerline is valid? [True, True] Translation: X:264.51, Y:10.09, Z:-2.62 [[ 9.99808886e-01 1.95187821e-02 -1.09933627e-03 2.64506965e+02] [-1.95186890e-02 9.99809488e-01 9.53516126e-05 1.00861409e+01] [ 1.10098798e-03 -7.38757868e-05 9.99999391e-01 -2.62200769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.97589822699996 meters 0.06742535898748939 Centerline is valid? [True, True] Translation: X:264.57, Y:10.09, Z:-2.62 [[ 9.99753515e-01 2.21686722e-02 1.20759799e-03 2.64568113e+02] [-2.21685618e-02 9.99754242e-01 -1.04725846e-04 1.00927697e+01] [-1.20962284e-03 7.79293217e-05 9.99999265e-01 -2.61844109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.03589822699996 meters 0.07328955061592947 Centerline is valid? [True, True] Translation: X:264.63, Y:10.08, Z:-2.62 [[ 9.99838517e-01 1.76267575e-02 3.49807140e-03 2.64627334e+02] [-1.76258035e-02 9.99844607e-01 -3.03363546e-04 1.00816638e+01] [-3.50287514e-03 2.41658239e-04 9.99993836e-01 -2.61593565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.09589822699996 meters 0.08549491404353782 Centerline is valid? [True, True] Translation: X:264.68, Y:10.06, Z:-2.62 [[ 9.99960628e-01 8.80075851e-03 1.13510404e-03 2.64684578e+02] [-8.80065250e-03 9.99961269e-01 -9.83479726e-05 1.00575951e+01] [-1.13592561e-03 8.83544443e-05 9.99999351e-01 -2.62039372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.15589822699997 meters 0.08747337537638658 Centerline is valid? [True, True] Translation: X:264.74, Y:10.05, Z:-2.62 [[ 9.99979341e-01 6.00999382e-03 2.27965021e-03 2.64744676e+02] [-6.00955851e-03 9.99981923e-01 -1.97756166e-04 1.00456839e+01] [-2.28079752e-03 1.84052389e-04 9.99997382e-01 -2.61936656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.21589822699997 meters 0.08869488789781697 Centerline is valid? [True, True] Translation: X:264.80, Y:10.03, Z:-2.61 [[ 9.99959776e-01 6.93119442e-03 5.69248124e-03 2.64804505e+02] [-6.92849489e-03 9.99975876e-01 -4.93812408e-04 1.00337469e+01] [-5.69576662e-03 4.54352217e-04 9.99983676e-01 -2.61361465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.27589822699997 meters 0.0854402356763481 Centerline is valid? [True, True] Translation: X:264.86, Y:10.03, Z:-2.62 [[ 9.99940173e-01 9.76704140e-03 4.92489965e-03 2.64864654e+02] [-9.76505428e-03 9.99952229e-01 -4.27370656e-04 1.00301688e+01] [-4.92883853e-03 3.79253175e-04 9.99987781e-01 -2.61547240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.335898227 meters 0.08571866492626351 Centerline is valid? [True, True] Translation: X:264.92, Y:10.02, Z:-2.62 [[ 9.99902252e-01 1.33448236e-02 4.17170319e-03 2.64923361e+02] [-1.33434286e-02 9.99910907e-01 -3.62044887e-04 1.00180343e+01] [-4.17616294e-03 3.06344674e-04 9.99991233e-01 -2.61769350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.395898227 meters 0.0832906090594512 Centerline is valid? [True, True] Translation: X:264.98, Y:10.01, Z:-2.62 [[ 9.99831078e-01 1.79107056e-02 4.12582812e-03 2.64981865e+02] [-1.79093800e-02 9.99839550e-01 -3.58033144e-04 1.00087299e+01] [-4.13157875e-03 2.84081641e-04 9.99991425e-01 -2.61960162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.455898227 meters 0.07751868715607566 Centerline is valid? [True, True] Translation: X:265.04, Y:10.01, Z:-2.62 [[ 9.99803389e-01 1.97252861e-02 2.02399202e-03 2.65042154e+02] [-1.97249709e-02 9.99805428e-01 -1.75571795e-04 1.00053290e+01] [-2.02706142e-03 1.35614092e-04 9.99997936e-01 -2.62409076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.515898227 meters 0.0796858051826265 Centerline is valid? [True, True] Translation: X:265.10, Y:9.99, Z:-2.63 [[ 9.99806155e-01 1.96665279e-02 9.38480601e-04 2.65102157e+02] [-1.96664606e-02 9.99806593e-01 -8.08674927e-05 9.98736847e+00] [-9.39889475e-04 6.23952252e-05 9.99999556e-01 -2.62834534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.575898227 meters 0.07475804834671997 Centerline is valid? [True, True] Translation: X:265.16, Y:9.98, Z:-2.63 [[ 9.99829691e-01 1.84452618e-02 6.01058457e-04 2.65163199e+02] [-1.84452338e-02 9.99829871e-01 -5.20342949e-05 9.97881872e+00] [-6.01915986e-04 4.09387692e-05 9.99999818e-01 -2.62940670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.635898227 meters 0.07356285454629367 Centerline is valid? [True, True] Translation: X:265.22, Y:9.96, Z:-2.63 [[ 9.99831030e-01 1.83814122e-02 1.87648157e-04 2.65224148e+02] [-1.83814097e-02 9.99831048e-01 -1.51232958e-05 9.96166545e+00] [-1.87894441e-04 1.16715028e-05 9.99999982e-01 -2.63071270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.695898227 meters 0.07616106569142637 Centerline is valid? [True, True] Translation: X:265.28, Y:9.95, Z:-2.63 [[ 9.99776912e-01 2.11169068e-02 -4.50981245e-04 2.65282650e+02] [-2.11168913e-02 9.99777013e-01 3.91705475e-05 9.94643811e+00] [ 4.51707843e-04 -2.96384871e-05 9.99999898e-01 -2.63273940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.755898227 meters 0.06062883845466803 Centerline is valid? [True, True] Translation: X:265.34, Y:9.96, Z:-2.63 [[ 9.99547961e-01 2.99936507e-02 2.06280025e-03 2.65344888e+02] [-2.99933440e-02 9.99550082e-01 -1.79492048e-04 9.95729208e+00] [-2.06725579e-03 1.17540633e-04 9.99997856e-01 -2.62734571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.815898227 meters 0.058351248030823595 Centerline is valid? [True, True] Translation: X:265.41, Y:9.96, Z:-2.63 [[ 9.99245739e-01 3.87673564e-02 2.24610338e-03 2.65405046e+02] [-3.87670149e-02 9.99248258e-01 -1.95405745e-04 9.95799198e+00] [-2.25199026e-03 1.08183635e-04 9.99997458e-01 -2.62796599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.875898227 meters 0.05279301379893705 Centerline is valid? [True, True] Translation: X:265.47, Y:9.96, Z:-2.63 [[ 9.99113002e-01 4.20693611e-02 1.83778624e-03 2.65466708e+02] [-4.20691381e-02 9.99114689e-01 -1.59857597e-04 9.96172199e+00] [-1.84288434e-03 8.24017202e-05 9.99998298e-01 -2.62911846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.935898227 meters 0.05123834091081845 Centerline is valid? [True, True] Translation: X:265.53, Y:9.96, Z:-2.63 [[ 9.99107924e-01 4.22293090e-02 2.06430181e-04 2.65528620e+02] [-4.22293064e-02 9.99107945e-01 -1.67979793e-05 9.96155472e+00] [-2.06955401e-04 8.06559090e-06 9.99999979e-01 -2.63234887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.99589822699994 meters 0.055417966878145576 Centerline is valid? [True, True] Translation: X:265.59, Y:9.95, Z:-2.64 [[ 9.99191732e-01 4.01402305e-02 -2.15491650e-03 2.65588080e+02] [-4.01399174e-02 9.99194051e-01 1.88383110e-04 9.95248945e+00] [ 2.16074149e-03 -1.01732676e-04 9.99997660e-01 -2.63720670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.05589822699994 meters 0.054948510511867776 Centerline is valid? [True, True] Translation: X:265.65, Y:9.95, Z:-2.63 [[ 9.99223264e-01 3.94022504e-02 -5.75174194e-04 2.65649614e+02] [-3.94022273e-02 9.99223429e-01 5.13811445e-05 9.94863442e+00] [ 5.76752063e-04 -2.86780907e-05 9.99999833e-01 -2.63454357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.11589822699995 meters 0.0545794075830312 Centerline is valid? [True, True] Translation: X:265.71, Y:9.95, Z:-2.63 [[ 9.99173421e-01 4.06494409e-02 -3.13352360e-04 2.65711411e+02] [-4.06494342e-02 9.99173470e-01 2.76518131e-05 9.94502971e+00] [ 3.14217396e-04 -1.48913606e-05 9.99999951e-01 -2.63437341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.17589822699995 meters 0.04968063450604907 Centerline is valid? [True, True] Translation: X:265.77, Y:9.95, Z:-2.63 [[ 9.98915124e-01 4.65678695e-02 -9.10603226e-05 2.65772520e+02] [-4.65678689e-02 9.98915128e-01 7.95533110e-06 9.95484152e+00] [ 9.13319967e-05 -3.70621538e-06 9.99999996e-01 -2.63428279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.23589822699995 meters 0.041753783525854786 Centerline is valid? [True, True] Translation: X:265.84, Y:9.97, Z:-2.63 [[ 9.98685917e-01 5.11071506e-02 3.80774962e-03 2.65835339e+02] [-5.11062522e-02 9.98693166e-01 -3.32928692e-04 9.97284561e+00] [-3.81978856e-03 1.37891384e-04 9.99992695e-01 -2.62744146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.29589822699995 meters 0.039942503966289455 Centerline is valid? [True, True] Translation: X:265.90, Y:9.98, Z:-2.63 [[ 9.98664824e-01 5.15936595e-02 2.58155032e-03 2.65898516e+02] [-5.15932503e-02 9.98668156e-01 -2.24932731e-04 9.97977558e+00] [-2.58971720e-03 9.14418346e-05 9.99996642e-01 -2.62908703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.35589822699995 meters 0.0436554578117393 Centerline is valid? [True, True] Translation: X:265.96, Y:9.98, Z:-2.63 [[ 9.98915221e-01 4.64661578e-02 3.04597756e-03 2.65960085e+02] [-4.64655598e-02 9.98919857e-01 -2.66833516e-04 9.98371266e+00] [-3.05508620e-03 1.25011008e-04 9.99995325e-01 -2.62850466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.41589822699996 meters 0.05340326176400853 Centerline is valid? [True, True] Translation: X:266.02, Y:9.97, Z:-2.63 [[ 9.99118730e-01 4.16182925e-02 5.44805572e-03 2.66019367e+02] [-4.16163072e-02 9.99133552e-01 -4.77315358e-04 9.97474075e+00] [-5.46320032e-03 2.50166754e-04 9.99985045e-01 -2.62507634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.47589822699996 meters 0.05492431807810844 Centerline is valid? [True, True] Translation: X:266.08, Y:9.98, Z:-2.63 [[ 9.99385312e-01 3.48557309e-02 3.75179567e-03 2.66080873e+02] [-3.48547422e-02 9.99392335e-01 -3.28606479e-04 9.97786446e+00] [-3.76096965e-03 1.97636618e-04 9.99992908e-01 -2.62812178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.53589822699996 meters 0.07026567648220988 Centerline is valid? [True, True] Translation: X:266.14, Y:9.96, Z:-2.63 [[ 9.99549481e-01 2.97830967e-02 3.71506909e-03 2.66139927e+02] [-2.97820921e-02 9.99556362e-01 -3.25454641e-04 9.96341839e+00] [-3.72311399e-03 2.14665487e-04 9.99993046e-01 -2.63043769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.59589822699996 meters 0.06766385977849863 Centerline is valid? [True, True] Translation: X:266.20, Y:9.97, Z:-2.63 [[ 9.99620050e-01 2.73685870e-02 3.27350911e-03 2.66200982e+02] [-2.73677940e-02 9.99625391e-01 -2.86781396e-04 9.96543393e+00] [-3.28013163e-03 1.97083710e-04 9.99994601e-01 -2.63047687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.65589822699997 meters 0.06962090982477714 Centerline is valid? [True, True] Translation: X:266.26, Y:9.96, Z:-2.63 [[ 9.99677016e-01 2.53408936e-02 1.92405940e-03 2.66261899e+02] [-2.53406160e-02 9.99678861e-01 -1.68546961e-04 9.96342567e+00] [-1.92771264e-03 1.19735673e-04 9.99998135e-01 -2.63386335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.71589822699997 meters 0.06913966738976467 Centerline is valid? [True, True] Translation: X:266.32, Y:9.96, Z:-2.64 [[ 9.99656083e-01 2.62057302e-02 9.87475007e-04 2.66324560e+02] [-2.62056578e-02 9.99656569e-01 -8.61865820e-05 9.95977146e+00] [-9.89394460e-04 6.02795089e-05 9.99999509e-01 -2.63801122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.77589822699997 meters 0.0688674355725635 Centerline is valid? [True, True] Translation: X:266.39, Y:9.96, Z:-2.64 [[ 9.99627107e-01 2.73059906e-02 -1.70367251e-04 2.66385982e+02] [-2.73059884e-02 9.99627122e-01 1.51106906e-05 9.95511448e+00] [ 1.70716337e-04 -1.04530097e-05 9.99999985e-01 -2.64004086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.835898227 meters 0.06523854991005419 Centerline is valid? [True, True] Translation: X:266.45, Y:9.95, Z:-2.64 [[ 9.99567727e-01 2.93954953e-02 5.13768631e-04 2.66446635e+02] [-2.93954760e-02 9.99567859e-01 -4.50693875e-05 9.95483826e+00] [-5.14871447e-04 2.99474318e-05 9.99999867e-01 -2.63782466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.895898227 meters 0.06138330632726969 Centerline is valid? [True, True] Translation: X:266.51, Y:9.96, Z:-2.64 [[ 9.99480123e-01 3.22320382e-02 7.60581302e-04 2.66508193e+02] [-3.22319967e-02 9.99480412e-01 -6.66808251e-05 9.95775745e+00] [-7.62335372e-04 4.21311053e-05 9.99999709e-01 -2.63671476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.955898227 meters 0.05858067535860714 Centerline is valid? [True, True] Translation: X:266.57, Y:9.96, Z:-2.63 [[ 9.99352515e-01 3.57679373e-02 3.89938625e-03 2.66568979e+02] [-3.57668741e-02 9.99360102e-01 -3.42090728e-04 9.95991384e+00] [-3.90912692e-03 2.02400372e-04 9.99992339e-01 -2.63254457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.015898227 meters 0.05633139954907468 Centerline is valid? [True, True] Translation: X:266.63, Y:9.96, Z:-2.63 [[ 9.99415353e-01 3.37842679e-02 5.25131076e-03 2.66630122e+02] [-3.37823124e-02 9.99429109e-01 -4.60669251e-04 9.95893258e+00] [-5.26387621e-03 2.82998501e-04 9.99986106e-01 -2.63204137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.075898227 meters 0.0656440011081411 Centerline is valid? [True, True] Translation: X:266.69, Y:9.94, Z:-2.64 [[ 9.99603823e-01 2.79619274e-02 3.21363875e-03 2.66688822e+02] [-2.79611649e-02 9.99608970e-01 -2.81962482e-04 9.94122481e+00] [-3.22026634e-03 1.91993692e-04 9.99994796e-01 -2.63599898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.135898227 meters 0.06779716567936818 Centerline is valid? [True, True] Translation: X:266.75, Y:9.93, Z:-2.63 [[ 9.99660210e-01 2.56447320e-02 4.67040832e-03 2.66749547e+02] [-2.56430965e-02 9.99671078e-01 -4.09734771e-04 9.93037881e+00] [-4.67937966e-03 2.89831816e-04 9.99989010e-01 -2.63435030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.195898227 meters 0.06944285812877685 Centerline is valid? [True, True] Translation: X:266.81, Y:9.92, Z:-2.63 [[ 9.99652121e-01 2.57346431e-02 5.77623279e-03 2.66811337e+02] [-2.57321432e-02 9.99668745e-01 -5.06707185e-04 9.92180187e+00] [-5.78735931e-03 3.57896063e-04 9.99983189e-01 -2.63429839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.255898227 meters 0.0628922215410297 Centerline is valid? [True, True] Translation: X:266.87, Y:9.92, Z:-2.64 [[ 9.99625218e-01 2.70729155e-02 4.05956583e-03 2.66872867e+02] [-2.70716885e-02 9.99633431e-01 -3.56912483e-04 9.92363633e+00] [-4.06774038e-03 2.46879417e-04 9.99991696e-01 -2.63785618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.315898227 meters 0.0594331839710021 Centerline is valid? [True, True] Translation: X:266.93, Y:9.92, Z:-2.64 [[ 9.99505041e-01 3.13264457e-02 2.88567121e-03 2.66933253e+02] [-3.13258430e-02 9.99509193e-01 -2.53831376e-04 9.92228489e+00] [-2.89220654e-03 1.63309656e-04 9.99995804e-01 -2.63996409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.375898227 meters 0.06467611719142324 Centerline is valid? [True, True] Translation: X:266.99, Y:9.91, Z:-2.64 [[ 9.99413957e-01 3.41292066e-02 2.63451954e-03 2.66992628e+02] [-3.41287140e-02 9.99417419e-01 -2.31733755e-04 9.90893087e+00] [-2.64089361e-03 1.41685185e-04 9.99996503e-01 -2.64133108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.435898227 meters 0.056531732059917794 Centerline is valid? [True, True] Translation: X:267.05, Y:9.91, Z:-2.64 [[ 9.99312429e-01 3.69790023e-02 2.68749491e-03 2.67053769e+02] [-3.69784999e-02 9.99316033e-01 -2.36393434e-04 9.91391613e+00] [-2.69439834e-03 1.36851367e-04 9.99996361e-01 -2.64100894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.49589822699994 meters 0.05404847851867644 Centerline is valid? [True, True] Translation: X:267.12, Y:9.91, Z:-2.64 [[ 9.99271752e-01 3.80958256e-02 2.16178956e-03 2.67116062e+02] [-3.80955050e-02 9.99274085e-01 -1.89311441e-04 9.91460066e+00] [-2.16743226e-03 1.06819111e-04 9.99997645e-01 -2.64289603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.55589822699994 meters 0.05864456998463462 Centerline is valid? [True, True] Translation: X:267.18, Y:9.91, Z:-2.64 [[ 9.99318484e-01 3.68633754e-02 1.91301360e-03 2.67176071e+02] [-3.68631209e-02 9.99320310e-01 -1.68151337e-04 9.90551265e+00] [-1.91791197e-03 9.75170877e-05 9.99998156e-01 -2.64437263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.61589822699995 meters 0.06764472155444226 Centerline is valid? [True, True] Translation: X:267.24, Y:9.89, Z:-2.65 [[ 9.99339088e-01 3.62459606e-02 2.76007364e-03 2.67236438e+02] [-3.62454271e-02 9.99342889e-01 -2.43084729e-04 9.89317632e+00] [-2.76707081e-03 1.42884023e-04 9.99996161e-01 -2.64509702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.67589822699995 meters 0.05843885957819159 Centerline is valid? [True, True] Translation: X:267.30, Y:9.91, Z:-2.64 [[ 9.99306016e-01 3.69927019e-02 4.36188948e-03 2.67300111e+02] [-3.69913744e-02 9.99315511e-01 -3.84664450e-04 9.90831086e+00] [-4.37313359e-03 2.23045213e-04 9.99990413e-01 -2.64164559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.73589822699995 meters 0.06245163678173002 Centerline is valid? [True, True] Translation: X:267.36, Y:9.90, Z:-2.64 [[ 9.99303177e-01 3.70490159e-02 4.53110893e-03 2.67362030e+02] [-3.70475805e-02 9.99313423e-01 -4.00334486e-04 9.90472356e+00] [-4.54282997e-03 2.32188900e-04 9.99989654e-01 -2.64298671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.79589822699995 meters 0.06231461533104207 Centerline is valid? [True, True] Translation: X:267.42, Y:9.91, Z:-2.64 [[ 9.99375777e-01 3.48961573e-02 5.50584856e-03 2.67423964e+02] [-3.48939973e-02 9.99390900e-01 -4.87920836e-04 9.90815067e+00] [-5.51952151e-03 2.95495200e-04 9.99984724e-01 -2.64149161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.85589822699995 meters 0.07848576855866876 Centerline is valid? [True, True] Translation: X:267.48, Y:9.89, Z:-2.64 [[ 9.99484751e-01 3.18232257e-02 4.18518338e-03 2.67482391e+02] [-3.18219504e-02 9.99493485e-01 -3.70976929e-04 9.88808251e+00] [-4.19486921e-03 2.37605085e-04 9.99991173e-01 -2.64382090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.91589822699996 meters 0.07017488438446162 Centerline is valid? [True, True] Translation: X:267.54, Y:9.89, Z:-2.64 [[ 9.99535389e-01 3.01679004e-02 4.34796514e-03 2.67544445e+02] [-3.01665083e-02 9.99544813e-01 -3.85422534e-04 9.89422944e+00] [-4.35761340e-03 2.54080535e-04 9.99990473e-01 -2.64381991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.97589822699996 meters 0.07210624917631105 Centerline is valid? [True, True] Translation: X:267.61, Y:9.89, Z:-2.65 [[ 9.99563360e-01 2.93346059e-02 3.54553476e-03 2.67605698e+02] [-2.93336756e-02 9.99569626e-01 -3.14133766e-04 9.88659914e+00] [-3.55322385e-03 2.09993036e-04 9.99993665e-01 -2.64618100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.03589822699996 meters 0.07148408353934221 Centerline is valid? [True, True] Translation: X:267.67, Y:9.88, Z:-2.65 [[ 9.99530941e-01 3.05117066e-02 2.63321999e-03 2.67666913e+02] [-3.05111966e-02 9.99534398e-01 -2.33622759e-04 9.88214358e+00] [-2.63912219e-03 1.53170483e-04 9.99996506e-01 -2.64788174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.09589822699996 meters 0.06857750240620039 Centerline is valid? [True, True] Translation: X:267.73, Y:9.88, Z:-2.65 [[ 9.99392177e-01 3.46909243e-02 3.43758920e-03 2.67727163e+02] [-3.46900792e-02 9.99398071e-01 -3.05197622e-04 9.88163214e+00] [-3.44610761e-03 1.85761875e-04 9.99994045e-01 -2.64705825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.15589822699997 meters 0.06722780734055249 Centerline is valid? [True, True] Translation: X:267.79, Y:9.88, Z:-2.65 [[ 9.99344901e-01 3.60725749e-02 2.92193919e-03 2.67788744e+02] [-3.60719704e-02 9.99349161e-01 -2.59318249e-04 9.87991181e+00] [-2.92939175e-03 1.53748266e-04 9.99995698e-01 -2.64939914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.21589822699997 meters 0.06946109178907964 Centerline is valid? [True, True] Translation: X:267.85, Y:9.87, Z:-2.65 [[ 9.99365851e-01 3.51731531e-02 5.54476421e-03 2.67849868e+02] [-3.51709617e-02 9.99381189e-01 -4.92257533e-04 9.87047831e+00] [-5.55864730e-03 2.96930679e-04 9.99984507e-01 -2.64550339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.27589822699997 meters 0.0590043911107191 Centerline is valid? [True, True] Translation: X:267.91, Y:9.88, Z:-2.65 [[ 9.99364952e-01 3.51750307e-02 5.69296795e-03 2.67912365e+02] [-3.51727188e-02 9.99381121e-01 -5.05738440e-04 9.87644605e+00] [-5.70723405e-03 3.05180111e-04 9.99983667e-01 -2.64562815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.335898227 meters 0.05895488926259762 Centerline is valid? [True, True] Translation: X:267.97, Y:9.87, Z:-2.65 [[ 9.99381117e-01 3.47123405e-02 5.69523282e-03 2.67973960e+02] [-3.47100139e-02 9.99397297e-01 -5.06867067e-04 9.87091102e+00] [-5.70939483e-03 3.08871766e-04 9.99983654e-01 -2.64558818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.395898227 meters 0.06267506015624882 Centerline is valid? [True, True] Translation: X:268.03, Y:9.86, Z:-2.65 [[ 9.99406540e-01 3.41272737e-02 4.67939934e-03 2.68034716e+02] [-3.41256939e-02 9.99417462e-01 -4.17051739e-04 9.86184676e+00] [-4.69090625e-03 2.57116486e-04 9.99988965e-01 -2.64772364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.455898227 meters 0.06062467274061748 Centerline is valid? [True, True] Translation: X:268.10, Y:9.86, Z:-2.65 [[ 9.99345493e-01 3.60264073e-02 3.26871329e-03 2.68095319e+02] [-3.60256444e-02 9.99350823e-01 -2.91996266e-04 9.85512877e+00] [-3.27711089e-03 1.74047650e-04 9.99994615e-01 -2.65046398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.515898227 meters 0.05833221843995836 Centerline is valid? [True, True] Translation: X:268.16, Y:9.85, Z:-2.65 [[ 9.99192871e-01 4.01410506e-02 1.51715481e-03 2.68155172e+02] [-4.01408908e-02 9.99194020e-01 -1.35670414e-04 9.85234041e+00] [-1.52137797e-03 7.46609649e-05 9.99998840e-01 -2.65457765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.575898227 meters 0.05589963903289133 Centerline is valid? [True, True] Translation: X:268.22, Y:9.85, Z:-2.65 [[ 9.99257461e-01 3.83897556e-02 3.27920938e-03 2.68216748e+02] [-3.83890004e-02 9.99262828e-01 -2.92970854e-04 9.84963676e+00] [-3.28803912e-03 1.66867742e-04 9.99994580e-01 -2.65294244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.635898227 meters 0.06352763915166325 Centerline is valid? [True, True] Translation: X:268.27, Y:9.83, Z:-2.65 [[ 9.99377674e-01 3.51747121e-02 2.64665013e-03 2.68274698e+02] [-3.51742084e-02 9.99381168e-01 -2.36635982e-04 9.83249884e+00] [-2.65333590e-03 1.43394893e-04 9.99996470e-01 -2.65453099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.695898227 meters 0.06458269312762178 Centerline is valid? [True, True] Translation: X:268.34, Y:9.82, Z:-2.65 [[ 9.99456713e-01 3.28735311e-02 2.36868331e-03 2.68335703e+02] [-3.28731216e-02 9.99459510e-01 -2.11612156e-04 9.82471249e+00] [-2.37435950e-03 1.33631175e-04 9.99997172e-01 -2.65407916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.755898227 meters 0.06723324335026153 Centerline is valid? [True, True] Translation: X:268.40, Y:9.81, Z:-2.65 [[ 9.99411436e-01 3.42019969e-02 2.64684396e-03 2.68395528e+02] [-3.42014899e-02 9.99414930e-01 -2.36594080e-04 9.81455557e+00] [-2.65338736e-03 1.45928822e-04 9.99996469e-01 -2.65344998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.815898227 meters 0.06498228070445064 Centerline is valid? [True, True] Translation: X:268.46, Y:9.81, Z:-2.65 [[ 9.99406048e-01 3.43558817e-02 2.68789463e-03 2.68458538e+02] [-3.43553614e-02 9.99409652e-01 -2.39530025e-04 9.81240645e+00] [-2.69453711e-03 1.47044164e-04 9.99996359e-01 -2.65334858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.875898227 meters 0.06463614847156175 Centerline is valid? [True, True] Translation: X:268.52, Y:9.81, Z:-2.65 [[ 9.99381847e-01 3.49322282e-02 3.95765460e-03 2.68520923e+02] [-3.49310990e-02 9.99389660e-01 -3.54087495e-04 9.80749859e+00] [-3.96760815e-03 2.15623390e-04 9.99992106e-01 -2.64920762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.935898227 meters 0.06354015984713969 Centerline is valid? [True, True] Translation: X:268.58, Y:9.81, Z:-2.65 [[ 9.99285380e-01 3.73649571e-02 5.70872322e-03 2.68580691e+02] [-3.73626380e-02 9.99301642e-01 -5.12389957e-04 9.80604225e+00] [-5.72388191e-03 2.98730834e-04 9.99983574e-01 -2.64726584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.99589822699994 meters 0.06157962523624534 Centerline is valid? [True, True] Translation: X:268.64, Y:9.81, Z:-2.65 [[ 9.99196483e-01 3.94867672e-02 6.86902449e-03 2.68641540e+02] [-3.94834595e-02 9.99220034e-01 -6.16533510e-04 9.80837543e+00] [-6.88801180e-03 3.44825265e-04 9.99976218e-01 -2.64721124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.05589822699994 meters 0.06490006308184222 Centerline is valid? [True, True] Translation: X:268.70, Y:9.80, Z:-2.64 [[ 9.99233369e-01 3.80094648e-02 9.37837470e-03 2.68701571e+02] [-3.80032338e-02 9.99277262e-01 -8.41785223e-04 9.80425160e+00] [-9.40359239e-03 4.84731319e-04 9.99955668e-01 -2.64354360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.11589822699995 meters 0.07086119293916415 Centerline is valid? [True, True] Translation: X:268.76, Y:9.80, Z:-2.65 [[ 9.99371615e-01 3.50696870e-02 5.14696998e-03 2.68760840e+02] [-3.50677710e-02 9.99384830e-01 -4.62043216e-04 9.79917113e+00] [-5.16000743e-03 2.81260110e-04 9.99986648e-01 -2.65265381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.17589822699995 meters 0.06096340891202309 Centerline is valid? [True, True] Translation: X:268.82, Y:9.81, Z:-2.65 [[ 9.99379430e-01 3.50535191e-02 3.46497700e-03 2.68823866e+02] [-3.50526530e-02 9.99385419e-01 -3.10401021e-04 9.80891498e+00] [-3.47372814e-03 1.88751758e-04 9.99993949e-01 -2.65378270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.23589822699995 meters 0.055041932587481426 Centerline is valid? [True, True] Translation: X:268.88, Y:9.82, Z:-2.64 [[ 9.99084546e-01 4.18464592e-02 8.88498623e-03 2.68884498e+02] [-4.18410051e-02 9.99123962e-01 -7.98934914e-04 9.81853217e+00] [-8.91063524e-03 4.26446772e-04 9.99960209e-01 -2.64418259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.29589822699995 meters 0.043449718490199324 Centerline is valid? [True, True] Translation: X:268.95, Y:9.84, Z:-2.65 [[ 9.98633952e-01 5.17880065e-02 6.94491399e-03 2.68947058e+02] [-5.17849142e-02 9.98658066e-01 -6.24480078e-04 9.84148062e+00] [-6.96793495e-03 2.63985234e-04 9.99975689e-01 -2.64810483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.35589822699995 meters 0.03857295721191827 Centerline is valid? [True, True] Translation: X:269.01, Y:9.85, Z:-2.65 [[ 9.98394837e-01 5.62954741e-02 6.21039320e-03 2.69009322e+02] [-5.62930882e-02 9.98414131e-01 -5.58453605e-04 9.85115062e+00] [-6.23198274e-03 2.07954984e-04 9.99980559e-01 -2.64986378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.41589822699996 meters 0.04342931329226145 Centerline is valid? [True, True] Translation: X:269.07, Y:9.86, Z:-2.65 [[ 9.98249241e-01 5.88354408e-02 6.06997317e-03 2.69070147e+02] [-5.88332081e-02 9.98267677e-01 -5.45890584e-04 9.85715646e+00] [-6.09157573e-03 1.87818866e-04 9.99981429e-01 -2.65131854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.47589822699996 meters 0.037502740549946095 Centerline is valid? [True, True] Translation: X:269.13, Y:9.86, Z:-2.65 [[ 9.98220071e-01 5.93900312e-02 5.43271613e-03 2.69132603e+02] [-5.93882520e-02 9.98234841e-01 -4.88373459e-04 9.85930675e+00] [-5.45213103e-03 1.64864674e-04 9.99985123e-01 -2.65320656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.53589822699996 meters 0.037787584563793844 Centerline is valid? [True, True] Translation: X:269.19, Y:9.86, Z:-2.65 [[ 9.98175700e-01 6.01172148e-02 5.58495145e-03 2.69193560e+02] [-6.01153406e-02 9.98191311e-01 -5.02990460e-04 9.85718853e+00] [-5.60508839e-03 1.66331596e-04 9.99984278e-01 -2.65219260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.59589822699996 meters 0.02500971563950048 Centerline is valid? [True, True] Translation: X:269.26, Y:9.88, Z:-2.65 [[ 9.97558490e-01 6.95393570e-02 6.42944919e-03 2.69256338e+02] [-6.95370609e-02 9.97579200e-01 -5.80244549e-04 9.87658094e+00] [-6.45423461e-03 1.31742876e-04 9.99979163e-01 -2.64946904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.65589822699997 meters 0.014757898120065706 Centerline is valid? [True, True] Translation: X:269.32, Y:9.89, Z:-2.65 [[ 9.96733802e-01 8.06011796e-02 5.01769526e-03 2.69318559e+02] [-8.05999211e-02 9.96746431e-01 -4.52858926e-04 9.89481966e+00] [-5.03787080e-03 4.69539570e-05 9.99987309e-01 -2.65115783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.71589822699997 meters 0.01358717483373705 Centerline is valid? [True, True] Translation: X:269.38, Y:9.93, Z:-2.66 [[ 9.95323832e-01 9.65020270e-02 4.22243375e-03 2.69379345e+02] [-9.65012776e-02 9.95332788e-01 -3.81317547e-04 9.92656231e+00] [-4.23952467e-03 -2.79358093e-05 9.99991013e-01 -2.65520290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.77589822699997 meters 0.014733945025514209 Centerline is valid? [True, True] Translation: X:269.44, Y:9.93, Z:-2.66 [[ 9.95125956e-01 9.85917694e-02 1.99845576e-03 2.69438641e+02] [-9.85916057e-02 9.95127963e-01 -1.80518542e-04 9.93089586e+00] [-2.00651685e-03 -1.73922751e-05 9.99997987e-01 -2.65932011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.835898227 meters 0.011218423814678165 Centerline is valid? [True, True] Translation: X:269.50, Y:9.92, Z:-2.66 [[ 9.95604788e-01 9.35164370e-02 5.07762002e-03 2.69496009e+02] [-9.35153177e-02 9.95617736e-01 -4.57925951e-04 9.92408789e+00] [-5.09819215e-03 -1.89219801e-05 9.99987004e-01 -2.65505937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.895898227 meters 0.010687290078472675 Centerline is valid? [True, True] Translation: X:269.55, Y:9.92, Z:-2.65 [[ 9.95719986e-01 9.22349954e-02 5.86649151e-03 2.69554598e+02] [-9.22334815e-02 9.95737267e-01 -5.28651657e-04 9.91847659e+00] [-5.89024441e-03 -1.46979160e-05 9.99982652e-01 -2.65432910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.955898227 meters 0.010595714543444375 Centerline is valid? [True, True] Translation: X:269.61, Y:9.92, Z:-2.65 [[ 9.95701768e-01 9.23151641e-02 7.47663477e-03 2.69613469e+02] [-9.23127107e-02 9.95729838e-01 -6.73320715e-04 9.91849287e+00] [-7.50686604e-03 -1.97617961e-05 9.99971823e-01 -2.65168720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.015898227 meters 0.011133806677227439 Centerline is valid? [True, True] Translation: X:269.67, Y:9.92, Z:-2.65 [[ 9.95597929e-01 9.34244942e-02 7.52507904e-03 2.69672113e+02] [-9.34220431e-02 9.95626367e-01 -6.77343209e-04 9.91704447e+00] [-7.55544755e-03 -2.86467618e-05 9.99971457e-01 -2.65098871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.075898227 meters 0.013004863273584605 Centerline is valid? [True, True] Translation: X:269.73, Y:9.92, Z:-2.65 [[ 9.95270837e-01 9.66881638e-02 9.34665801e-03 2.69730903e+02] [-9.66845313e-02 9.95314721e-01 -8.40777750e-04 9.91871602e+00] [-9.38415957e-03 -6.68756734e-05 9.99955966e-01 -2.64874880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.135898227 meters 0.01235339199908526 Centerline is valid? [True, True] Translation: X:269.79, Y:9.92, Z:-2.65 [[ 9.95288973e-01 9.65149645e-02 9.20439401e-03 2.69790059e+02] [-9.65114390e-02 9.95331531e-01 -8.27466306e-04 9.91835134e+00] [-9.24128646e-03 -6.47612200e-05 9.99957296e-01 -2.65062035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.195898227 meters 0.010126023333189604 Centerline is valid? [True, True] Translation: X:269.85, Y:9.91, Z:-2.65 [[ 9.95935327e-01 8.96715091e-02 8.47608366e-03 2.69847030e+02] [-8.96682749e-02 9.95971395e-01 -7.61590404e-04 9.90792964e+00] [-8.51022983e-03 -1.54101172e-06 9.99963787e-01 -2.65352155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.255898227 meters 0.011693002810254307 Centerline is valid? [True, True] Translation: X:269.90, Y:9.90, Z:-2.66 [[ 9.96455670e-01 8.37724228e-02 7.63401785e-03 2.69904647e+02] [-8.37696293e-02 9.96484912e-01 -6.85517081e-04 9.89656603e+00] [-7.66461103e-03 4.35885370e-05 9.99970625e-01 -2.65540874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.315898227 meters 0.018727765860083605 Centerline is valid? [True, True] Translation: X:269.96, Y:9.88, Z:-2.66 [[ 9.97164281e-01 7.50416342e-02 5.66999817e-03 2.69961412e+02] [-7.50399532e-02 9.97180398e-01 -5.08934076e-04 9.88064042e+00] [-5.69220228e-03 8.20144843e-05 9.99983796e-01 -2.65828835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.375898227 meters 0.024218658971717242 Centerline is valid? [True, True] Translation: X:270.02, Y:9.87, Z:-2.66 [[ 9.97625141e-01 6.87750723e-02 3.75065687e-03 2.70020568e+02] [-6.87742928e-02 9.97632188e-01 -3.36567567e-04 9.87145916e+00] [-3.76492348e-03 7.78194922e-05 9.99992910e-01 -2.66111238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.435898227 meters 0.02483330888354452 Centerline is valid? [True, True] Translation: X:270.08, Y:9.87, Z:-2.66 [[ 9.97690648e-01 6.78643270e-02 2.79340722e-03 2.70079468e+02] [-6.78638906e-02 9.97694557e-01 -2.50816471e-04 9.87338312e+00] [-2.80398867e-03 6.06657655e-05 9.99996067e-01 -2.66122987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.49589822699994 meters 0.02379066839252527 Centerline is valid? [True, True] Translation: X:270.14, Y:9.88, Z:-2.66 [[ 9.97638559e-01 6.86517786e-02 2.05905066e-03 2.70138859e+02] [-6.86515432e-02 9.97640683e-01 -1.84871867e-04 9.87741090e+00] [-2.06688449e-03 4.30782979e-05 9.99997863e-01 -2.66258692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.55589822699994 meters 0.02597822706047653 Centerline is valid? [True, True] Translation: X:270.20, Y:9.88, Z:-2.66 [[ 9.97695350e-01 6.77832439e-02 3.06915547e-03 2.70196564e+02] [-6.77827178e-02 9.97700069e-01 -2.75221451e-04 9.87872259e+00] [-3.08075202e-03 6.65514632e-05 9.99995252e-01 -2.66247538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.61589822699995 meters 0.03129029783788639 Centerline is valid? [True, True] Translation: X:270.26, Y:9.87, Z:-2.66 [[ 9.97982043e-01 6.33390916e-02 4.47219342e-03 2.70255422e+02] [-6.33379319e-02 9.97992057e-01 -4.00606839e-04 9.87129040e+00] [-4.48858758e-03 1.16538949e-04 9.99989919e-01 -2.66063931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.67589822699995 meters 0.03624145248765424 Centerline is valid? [True, True] Translation: X:270.32, Y:9.86, Z:-2.66 [[ 9.98366142e-01 5.70267339e-02 3.60528466e-03 2.70315655e+02] [-5.70259392e-02 9.98372645e-01 -3.22940739e-04 9.86375695e+00] [-3.61783384e-03 1.16818356e-04 9.99993449e-01 -2.66328260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.73589822699995 meters 0.03965364764704015 Centerline is valid? [True, True] Translation: X:270.37, Y:9.86, Z:-2.66 [[ 9.98496388e-01 5.47574206e-02 2.56669405e-03 2.70374120e+02] [-5.47570100e-02 9.98499683e-01 -2.30053830e-04 9.85946046e+00] [-2.57544035e-03 8.91634262e-05 9.99996680e-01 -2.66417359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.79589822699995 meters 0.03862701628013225 Centerline is valid? [True, True] Translation: X:270.43, Y:9.86, Z:-2.66 [[ 9.98432174e-01 5.57482600e-02 5.03239065e-03 2.70433650e+02] [-5.57466958e-02 9.98444842e-01 -4.50667298e-04 9.86064688e+00] [-5.04968841e-03 1.69421579e-04 9.99987236e-01 -2.66044251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.85589822699995 meters 0.037724059686050276 Centerline is valid? [True, True] Translation: X:270.49, Y:9.86, Z:-2.66 [[ 9.98352249e-01 5.71746199e-02 4.88370366e-03 2.70492769e+02] [-5.71731649e-02 9.98364181e-01 -4.37138366e-04 9.85765778e+00] [-4.90070802e-03 1.57201277e-04 9.99987979e-01 -2.66137192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.91589822699996 meters 0.03822955200674263 Centerline is valid? [True, True] Translation: X:270.55, Y:9.85, Z:-2.67 [[ 9.98411898e-01 5.62792860e-02 2.51484324e-03 2.70551984e+02] [-5.62788975e-02 9.98415062e-01 -2.25041813e-04 9.85195026e+00] [-2.52352256e-03 8.31518191e-05 9.99996812e-01 -2.66673510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.97589822699996 meters 0.04211415281377181 Centerline is valid? [True, True] Translation: X:270.61, Y:9.84, Z:-2.67 [[ 9.98513903e-01 5.44589366e-02 2.05198734e-03 2.70610084e+02] [-5.44586740e-02 9.98516008e-01 -1.83663500e-04 9.84055934e+00] [-2.05894433e-03 7.16420484e-05 9.99997878e-01 -2.66848738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.03589822699996 meters 0.03962119341535485 Centerline is valid? [True, True] Translation: X:270.67, Y:9.84, Z:-2.67 [[ 9.98568084e-01 5.34600706e-02 1.94999273e-03 2.70669538e+02] [-5.34598318e-02 9.98569986e-01 -1.74425557e-04 9.83959092e+00] [-1.95652901e-03 6.99295108e-05 9.99998084e-01 -2.66866172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.09589822699996 meters 0.04084468113891521 Centerline is valid? [True, True] Translation: X:270.73, Y:9.83, Z:-2.67 [[ 9.98667976e-01 5.15383633e-02 2.46399134e-03 2.70729300e+02] [-5.15379764e-02 9.98671011e-01 -2.20301585e-04 9.83424599e+00] [-2.47207071e-03 9.30190103e-05 9.99996940e-01 -2.66832453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.15589822699997 meters 0.04071251520654554 Centerline is valid? [True, True] Translation: X:270.79, Y:9.83, Z:-2.67 [[ 9.98641145e-01 5.20197166e-02 3.13235296e-03 2.70788293e+02] [-5.20190938e-02 9.98646051e-01 -2.80033675e-04 9.83077416e+00] [-3.14267919e-03 1.16710987e-04 9.99995055e-01 -2.66784534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.21589822699997 meters 0.04068643491501193 Centerline is valid? [True, True] Translation: X:270.85, Y:9.83, Z:-2.67 [[ 9.98673505e-01 5.12935186e-02 4.49497728e-03 2.70847559e+02] [-5.12922305e-02 9.98683607e-01 -4.01438224e-04 9.82823865e+00] [-4.50965130e-03 1.70348308e-04 9.99989817e-01 -2.66588281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.27589822699997 meters 0.045423756603438996 Centerline is valid? [True, True] Translation: X:270.91, Y:9.82, Z:-2.67 [[ 9.98925055e-01 4.59583737e-02 6.04670408e-03 2.70907803e+02] [-4.59559466e-02 9.98943322e-01 -5.39793726e-04 9.82184838e+00] [-6.06512270e-03 2.61331467e-04 9.99981573e-01 -2.66552196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.335898227 meters 0.06451459355710551 Centerline is valid? [True, True] Translation: X:270.97, Y:9.79, Z:-2.67 [[ 9.99218446e-01 3.93412633e-02 3.84203519e-03 2.70965192e+02] [-3.93402349e-02 9.99225814e-01 -3.42922437e-04 9.79433966e+00] [-3.85255174e-03 1.91507858e-04 9.99992561e-01 -2.67164956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.395898227 meters 0.06780467730806378 Centerline is valid? [True, True] Translation: X:271.03, Y:9.78, Z:-2.67 [[ 9.99529393e-01 3.05764423e-02 2.46460971e-03 2.71025451e+02] [-3.05759924e-02 9.99532421e-01 -2.20003056e-04 9.78285913e+00] [-2.47018422e-03 1.44541633e-04 9.99996939e-01 -2.67455766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.455898227 meters 0.07142013745157512 Centerline is valid? [True, True] Translation: X:271.08, Y:9.77, Z:-2.68 [[ 9.99677654e-01 2.53429401e-02 1.52428087e-03 2.71084738e+02] [-2.53427619e-02 9.99678811e-01 -1.36109137e-04 9.77092542e+00] [-1.52724069e-03 9.74357758e-05 9.99998829e-01 -2.67571144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.515898227 meters 0.0696621183530841 Centerline is valid? [True, True] Translation: X:271.15, Y:9.76, Z:-2.67 [[ 9.99653475e-01 2.62136013e-02 2.40364965e-03 2.71145223e+02] [-2.62131607e-02 9.99656353e-01 -2.14651445e-04 9.76485513e+00] [-2.40845043e-03 1.51569809e-04 9.99997088e-01 -2.67314872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.575898227 meters 0.059894114625378664 Centerline is valid? [True, True] Translation: X:271.21, Y:9.77, Z:-2.67 [[ 9.99408049e-01 3.40310960e-02 5.04341777e-03 2.71206734e+02] [-3.40292551e-02 9.99420736e-01 -4.50397410e-04 9.77422246e+00] [-5.05582382e-03 2.78507047e-04 9.99987180e-01 -2.66757289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.635898227 meters 0.05416380337582184 Centerline is valid? [True, True] Translation: X:271.27, Y:9.78, Z:-2.67 [[ 9.99193935e-01 3.99672040e-02 3.75525725e-03 2.71268254e+02] [-3.99662253e-02 9.99200975e-01 -3.35336568e-04 9.77832469e+00] [-3.76565917e-03 1.84982808e-04 9.99992893e-01 -2.67026644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.695898227 meters 0.05122286100632067 Centerline is valid? [True, True] Translation: X:271.33, Y:9.78, Z:-2.68 [[ 9.99073182e-01 4.30427906e-02 -3.09382466e-04 2.71328918e+02] [-4.30427841e-02 9.99073230e-01 2.75424087e-05 9.78033206e+00] [ 3.10281241e-04 -1.42001992e-05 9.99999952e-01 -2.67799497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.755898227 meters 0.04967357711364673 Centerline is valid? [True, True] Translation: X:271.39, Y:9.78, Z:-2.68 [[ 9.99192743e-01 4.01219930e-02 -2.02184998e-03 2.71389120e+02] [-4.01217099e-02 9.99194784e-01 1.80380442e-04 9.77583747e+00] [ 2.02745917e-03 -9.91147502e-05 9.99997940e-01 -2.68020782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.815898227 meters 0.05959869818251176 Centerline is valid? [True, True] Translation: X:271.45, Y:9.76, Z:-2.68 [[ 9.99268567e-01 3.81940670e-02 -1.88269183e-03 2.71446089e+02] [-3.81938186e-02 9.99270336e-01 1.67752359e-04 9.75659250e+00] [ 1.88772524e-03 -9.57224690e-05 9.99998214e-01 -2.68256519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.875898227 meters 0.06375771783842472 Centerline is valid? [True, True] Translation: X:271.51, Y:9.74, Z:-2.68 [[ 9.99497316e-01 3.16995711e-02 -5.02468618e-04 2.71505115e+02] [-3.16995525e-02 9.99497442e-01 4.48203406e-05 9.74220067e+00] [ 5.03636884e-04 -2.88697798e-05 9.99999873e-01 -2.68012796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.935898227 meters 0.06474928033687966 Centerline is valid? [True, True] Translation: X:271.56, Y:9.73, Z:-2.68 [[ 9.99653446e-01 2.63161980e-02 6.66854474e-04 2.71564309e+02] [-2.63161641e-02 9.99653668e-01 -5.95484896e-05 9.73176580e+00] [-6.68190611e-04 4.19788010e-05 9.99999776e-01 -2.67800950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.99589822699994 meters 0.08046199998816174 Centerline is valid? [True, True] Translation: X:271.62, Y:9.70, Z:-2.68 [[ 9.99745852e-01 2.25326717e-02 -7.13990202e-04 2.71621568e+02] [-2.25326320e-02 9.99746106e-01 6.36319808e-05 9.70332805e+00] [ 7.15242722e-04 -4.75277304e-05 9.99999743e-01 -2.68321765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.05589822699994 meters 0.08137111718372418 Centerline is valid? [True, True] Translation: X:271.68, Y:9.69, Z:-2.68 [[ 9.99762431e-01 2.17748757e-02 -9.67818618e-04 2.71680521e+02] [-2.17748024e-02 9.99762897e-01 8.61727249e-05 9.69495730e+00] [ 9.69465546e-04 -6.50781938e-05 9.99999528e-01 -2.68406841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.11589822699995 meters 0.07362278619807368 Centerline is valid? [True, True] Translation: X:271.74, Y:9.70, Z:-2.68 [[ 9.99758653e-01 2.19047728e-02 1.67853615e-03 2.71740369e+02] [-2.19045520e-02 9.99760055e-01 -1.49844049e-04 9.69762296e+00] [-1.68141569e-03 1.13040303e-04 9.99998580e-01 -2.67865952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.17589822699995 meters 0.08774401432008078 Centerline is valid? [True, True] Translation: X:271.80, Y:9.67, Z:-2.69 [[ 9.99833055e-01 1.82510090e-02 -8.73745287e-04 2.71797413e+02] [-1.82509479e-02 9.99833435e-01 7.78413061e-05 9.66873169e+00] [ 8.75020433e-04 -6.18816311e-05 9.99999615e-01 -2.68697012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.23589822699995 meters 0.08144382727256037 Centerline is valid? [True, True] Translation: X:271.86, Y:9.66, Z:-2.68 [[ 9.99881900e-01 1.53683202e-02 -4.81950584e-06 2.71857346e+02] [-1.53683202e-02 9.99881900e-01 4.55394668e-07 9.66049312e+00] [ 4.82593531e-06 -3.81273177e-07 1.00000000e+00 -2.68439538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.29589822699995 meters 0.07083492803630939 Centerline is valid? [True, True] Translation: X:271.92, Y:9.66, Z:-2.68 [[ 9.99784187e-01 2.07667846e-02 5.65094121e-04 2.71917780e+02] [-2.07667594e-02 9.99784346e-01 -5.04073885e-05 9.65981510e+00] [-5.66019056e-04 3.86613363e-05 9.99999839e-01 -2.68184934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.35589822699995 meters 0.06951288235230207 Centerline is valid? [True, True] Translation: X:271.98, Y:9.65, Z:-2.68 [[ 9.99613185e-01 2.78113262e-02 -1.06013659e-04 2.71977139e+02] [-2.78113254e-02 9.99613190e-01 9.42853141e-06 9.65192459e+00] [ 1.06234872e-04 -6.47650396e-06 9.99999994e-01 -2.68308463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.41589822699996 meters 0.055047481072886435 Centerline is valid? [True, True] Translation: X:272.04, Y:9.67, Z:-2.68 [[ 9.99255315e-01 3.85668990e-02 1.18763317e-03 2.72038810e+02] [-3.85668003e-02 9.99256019e-01 -1.05882250e-04 9.66508189e+00] [-1.19083314e-03 6.00001891e-05 9.99999289e-01 -2.68048379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.47589822699996 meters 0.0523772620445201 Centerline is valid? [True, True] Translation: X:272.10, Y:9.66, Z:-2.68 [[ 9.99097561e-01 4.24712996e-02 -5.02342222e-04 2.72097748e+02] [-4.24712825e-02 9.99097687e-01 4.46867327e-05 9.66254446e+00] [ 5.03786855e-04 -2.33112872e-05 9.99999873e-01 -2.68449256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.53589822699996 meters 0.05310702327868043 Centerline is valid? [True, True] Translation: X:272.16, Y:9.65, Z:-2.69 [[ 9.99250500e-01 3.86967408e-02 -1.00034639e-03 2.72157830e+02] [-3.86966709e-02 9.99250999e-01 8.91740620e-05 9.65482819e+00] [ 1.00304788e-03 -5.03971508e-05 9.99999496e-01 -2.68512311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.59589822699996 meters 0.059728314763021526 Centerline is valid? [True, True] Translation: X:272.22, Y:9.64, Z:-2.68 [[ 9.99389222e-01 3.49330571e-02 9.29960037e-04 2.72215601e+02] [-3.49329951e-02 9.99389653e-01 -8.28278115e-05 9.63743827e+00] [-9.32285868e-04 5.02909326e-05 9.99999564e-01 -2.68237114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.65589822699997 meters 0.06468997942975907 Centerline is valid? [True, True] Translation: X:272.28, Y:9.62, Z:-2.69 [[ 9.99592409e-01 2.84849017e-02 -1.90402346e-03 2.72275090e+02] [-2.84846298e-02 9.99594216e-01 1.69772302e-04 9.61915842e+00] [ 1.90808679e-03 -1.15467701e-04 9.99998173e-01 -2.68766964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.71589822699997 meters 0.06928244354808435 Centerline is valid? [True, True] Translation: X:272.33, Y:9.60, Z:-2.69 [[ 9.99647859e-01 2.65339298e-02 -3.28825806e-04 2.72333443e+02] [-2.65339216e-02 9.99647913e-01 2.92710348e-05 9.60257797e+00] [ 3.29486706e-04 -2.05356891e-05 9.99999946e-01 -2.68534025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.77589822699997 meters 0.06352705166178996 Centerline is valid? [True, True] Translation: X:272.39, Y:9.60, Z:-2.68 [[ 9.99513431e-01 3.07533718e-02 5.20880707e-03 2.72394337e+02] [-3.07513678e-02 9.99526957e-01 -4.64404739e-04 9.60493161e+00] [-5.22062509e-03 3.04000832e-04 9.99986326e-01 -2.67538022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.835898227 meters 0.06583422807116447 Centerline is valid? [True, True] Translation: X:272.45, Y:9.60, Z:-2.68 [[ 9.99420398e-01 3.37182559e-02 4.68471811e-03 2.72454070e+02] [-3.37166673e-02 9.99431344e-01 -4.17688538e-04 9.59899044e+00] [-4.69613785e-03 2.59493363e-04 9.99988939e-01 -2.67724369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.895898227 meters 0.07139396862482474 Centerline is valid? [True, True] Translation: X:272.51, Y:9.59, Z:-2.68 [[ 9.99438286e-01 3.33151785e-02 3.63475496e-03 2.72514768e+02] [-3.33142216e-02 9.99444875e-01 -3.23521178e-04 9.59044705e+00] [-3.64351539e-03 2.02250419e-04 9.99993342e-01 -2.68037668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.955898227 meters 0.0698430014929626 Centerline is valid? [True, True] Translation: X:272.58, Y:9.59, Z:-2.68 [[ 9.99677013e-01 2.52852516e-02 2.55466130e-03 2.72575637e+02] [-2.52847511e-02 9.99680264e-01 -2.28041601e-04 9.58545178e+00] [-2.55961058e-03 1.63373971e-04 9.99996711e-01 -2.68360300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.015898227 meters 0.07968105794915216 Centerline is valid? [True, True] Translation: X:272.63, Y:9.56, Z:-2.69 [[ 9.99852796e-01 1.71009996e-02 1.39364976e-03 2.72633856e+02] [-1.71008427e-02 9.99853762e-01 -1.24429766e-04 9.56462121e+00] [-1.39557383e-03 1.00578864e-04 9.99999021e-01 -2.68564957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.075898227 meters 0.08681288710595891 Centerline is valid? [True, True] Translation: X:272.69, Y:9.54, Z:-2.69 [[ 9.99927558e-01 1.20275704e-02 4.64736874e-04 2.72691412e+02] [-1.20275524e-02 9.99927666e-01 -4.15584863e-05 9.54108644e+00] [-4.65203105e-04 3.59658286e-05 9.99999891e-01 -2.68721263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.135898227 meters 0.07592889733059036 Centerline is valid? [True, True] Translation: X:272.75, Y:9.55, Z:-2.68 [[ 9.99730984e-01 2.31645887e-02 1.16686029e-03 2.72752238e+02] [-2.31644828e-02 9.99731662e-01 -1.04212235e-04 9.54601355e+00] [-1.16896121e-03 7.71544852e-05 9.99999314e-01 -2.68456042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.195898227 meters 0.06634012666246299 Centerline is valid? [True, True] Translation: X:272.81, Y:9.55, Z:-2.69 [[ 9.99443925e-01 3.33376712e-02 6.64106156e-04 2.72813372e+02] [-3.33376391e-02 9.99444145e-01 -5.92719513e-05 9.55239957e+00] [-6.65712998e-04 3.70992602e-05 9.99999778e-01 -2.68583274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.255898227 meters 0.061643748815882325 Centerline is valid? [True, True] Translation: X:272.87, Y:9.55, Z:-2.68 [[ 9.99209716e-01 3.96674715e-02 2.53694834e-03 2.72873041e+02] [-3.96670237e-02 9.99212928e-01 -2.26584642e-04 9.54785971e+00] [-2.54393962e-03 1.25772386e-04 9.99996756e-01 -2.68472071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.315898227 meters 0.06084701686696849 Centerline is valid? [True, True] Translation: X:272.93, Y:9.53, Z:-2.68 [[ 9.99158661e-01 4.09067987e-02 2.93320957e-03 2.72933126e+02] [-4.09062060e-02 9.99162957e-01 -2.61798499e-04 9.53258396e+00] [-2.94146369e-03 1.41591763e-04 9.99995664e-01 -2.68445200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.375898227 meters 0.04607646638846936 Centerline is valid? [True, True] Translation: X:272.99, Y:9.54, Z:-2.68 [[ 9.98807967e-01 4.87907021e-02 1.45313598e-03 2.72994880e+02] [-4.87905648e-02 9.98809023e-01 -1.29748497e-04 9.53931441e+00] [-1.45773585e-03 5.86945069e-05 9.99998936e-01 -2.68443070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.435898227 meters 0.03399877669788745 Centerline is valid? [True, True] Translation: X:273.06, Y:9.55, Z:-2.68 [[ 9.98115344e-01 6.13328141e-02 2.01142463e-03 2.73055867e+02] [-6.13325765e-02 9.98117369e-01 -1.79657074e-04 9.54754366e+00] [-2.01865673e-03 5.59526272e-05 9.99997961e-01 -2.68353345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.49589822699994 meters 0.014866146764419306 Centerline is valid? [True, True] Translation: X:273.12, Y:9.57, Z:-2.68 [[ 9.96793390e-01 7.99255288e-02 3.85325805e-03 2.73117611e+02] [-7.99247956e-02 9.96800837e-01 -3.44145175e-04 9.56844214e+00] [-3.86843683e-03 3.50707736e-05 9.99992517e-01 -2.68191200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.55589822699994 meters 0.009810785710091583 Centerline is valid? [True, True] Translation: X:273.18, Y:9.57, Z:-2.68 [[ 9.96073334e-01 8.83377562e-02 5.86124586e-03 2.73176930e+02] [-8.83362052e-02 9.96090579e-01 -5.23480767e-04 9.57405088e+00] [-5.88457490e-03 3.66501580e-06 9.99982686e-01 -2.68122103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.61589822699995 meters 0.010491414632990461 Centerline is valid? [True, True] Translation: X:273.23, Y:9.56, Z:-2.68 [[ 9.96278918e-01 8.60754609e-02 4.39685471e-03 2.73234949e+02] [-8.60745665e-02 9.96288620e-01 -3.92578825e-04 9.56201663e+00] [-4.41432772e-03 1.26606434e-05 9.99990257e-01 -2.68449895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.67589822699995 meters 0.010403154448262893 Centerline is valid? [True, True] Translation: X:273.29, Y:9.55, Z:-2.68 [[ 9.96306236e-01 8.56702314e-02 5.87328777e-03 2.73292985e+02] [-8.56686309e-02 9.96323547e-01 -5.24018610e-04 9.55320332e+00] [-5.89658770e-03 1.89264869e-05 9.99982615e-01 -2.68218365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.73589822699995 meters 0.009953337098951194 Centerline is valid? [True, True] Translation: X:273.35, Y:9.55, Z:-2.68 [[ 9.96194291e-01 8.67741250e-02 8.19669107e-03 2.73351558e+02] [-8.67710493e-02 9.96228012e-01 -7.30792360e-04 9.54805099e+00] [-8.22918711e-03 1.67756925e-05 9.99966140e-01 -2.67827461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.79589822699995 meters 0.009769524346561932 Centerline is valid? [True, True] Translation: X:273.41, Y:9.55, Z:-2.68 [[ 9.95981024e-01 8.91349913e-02 8.76084349e-03 2.73410800e+02] [-8.91315725e-02 9.96019555e-01 -7.80688364e-04 9.54521972e+00] [-8.79555808e-03 -3.31695998e-06 9.99961318e-01 -2.67752012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.85589822699995 meters 0.021829847263671598 Centerline is valid? [True, True] Translation: X:273.47, Y:9.55, Z:-2.68 [[ 9.95492969e-01 9.44525543e-02 8.51256586e-03 2.73470476e+02] [-9.44495227e-02 9.95529363e-01 -7.58338177e-04 9.55051602e+00] [-8.54613624e-03 -4.90874593e-05 9.99963480e-01 -2.67790044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.91589822699996 meters 0.01649364943990358 Centerline is valid? [True, True] Translation: X:273.53, Y:9.56, Z:-2.68 [[ 9.94986488e-01 9.97965582e-02 6.52199129e-03 2.73529824e+02] [-9.97948949e-02 9.95007860e-01 -5.80774667e-04 9.55789501e+00] [-6.54739191e-03 -7.29984894e-05 9.99978563e-01 -2.68273893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.97589822699996 meters 0.021178637588160847 Centerline is valid? [True, True] Translation: X:273.59, Y:9.56, Z:-2.69 [[ 9.94569238e-01 1.03969244e-01 4.73573316e-03 2.73589851e+02] [-1.03968415e-01 9.94580510e-01 -4.21640788e-04 9.56467089e+00] [-4.75390558e-03 -7.30157116e-05 9.99988697e-01 -2.68556355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.03589822699996 meters 0.022232099074412093 Centerline is valid? [True, True] Translation: X:273.65, Y:9.56, Z:-2.69 [[ 9.94405807e-01 1.05564609e-01 3.63380588e-03 2.73649085e+02] [-1.05564132e-01 9.94412444e-01 -3.23449913e-04 9.56469855e+00] [-3.64764665e-03 -6.19590913e-05 9.99993345e-01 -2.68771615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.09589822699996 meters 0.02109995659158906 Centerline is valid? [True, True] Translation: X:273.71, Y:9.56, Z:-2.69 [[ 9.94536711e-01 1.04351866e-01 2.72384491e-03 2.73707946e+02] [-1.04351594e-01 9.94540440e-01 -2.42409770e-04 9.56207583e+00] [-2.73426983e-03 -4.31521431e-05 9.99996261e-01 -2.68975941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.15589822699997 meters 0.020420771765211548 Centerline is valid? [True, True] Translation: X:273.77, Y:9.56, Z:-2.69 [[ 9.94697400e-01 1.02816512e-01 2.41815705e-03 2.73765200e+02] [-1.02816293e-01 9.94700339e-01 -2.15182057e-04 9.55707507e+00] [-2.42746591e-03 -3.45849112e-05 9.99997053e-01 -2.69253588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.21589822699997 meters 0.02068025899625556 Centerline is valid? [True, True] Translation: X:273.82, Y:9.55, Z:-2.69 [[ 9.94569082e-01 1.03970249e-01 4.74642074e-03 2.73824116e+02] [-1.03969420e-01 9.94580405e-01 -4.21654497e-04 9.55075840e+00] [-4.76453659e-03 -7.41180865e-05 9.99988647e-01 -2.68812212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.27589822699997 meters 0.026971479420905504 Centerline is valid? [True, True] Translation: X:273.88, Y:9.55, Z:-2.69 [[ 9.94122645e-01 1.08215076e-01 3.10858281e-03 2.73882645e+02] [-1.08214741e-01 9.94127504e-01 -2.76136802e-04 9.55206406e+00] [-3.12020983e-03 -6.18806356e-05 9.99995130e-01 -2.69083052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.335898227 meters 0.03353495918586935 Centerline is valid? [True, True] Translation: X:273.94, Y:9.56, Z:-2.69 [[ 9.93474984e-01 1.14010833e-01 2.99754600e-03 2.73943104e+02] [-1.14010549e-01 9.93479504e-01 -2.65975410e-04 9.55506036e+00] [-3.00832459e-03 -7.75119492e-05 9.99995472e-01 -2.69200273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.395898227 meters 0.0389595208466627 Centerline is valid? [True, True] Translation: X:274.00, Y:9.56, Z:-2.69 [[ 9.92788598e-01 1.19681255e-01 6.87002713e-03 2.74003680e+02] [-1.19679901e-01 9.92812344e-01 -6.09402606e-04 9.55741514e+00] [-6.89358180e-03 -2.17196207e-04 9.99976215e-01 -2.68509963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.455898227 meters 0.04247666053830835 Centerline is valid? [True, True] Translation: X:274.06, Y:9.56, Z:-2.69 [[ 9.92502616e-01 1.22105010e-01 5.37815736e-03 2.74062425e+02] [-1.22104216e-01 9.92517170e-01 -4.77038414e-04 9.55733220e+00] [-5.39616230e-03 -1.83233815e-04 9.99985424e-01 -2.68733445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.515898227 meters 0.0409714376878652 Centerline is valid? [True, True] Translation: X:274.12, Y:9.55, Z:-2.69 [[ 9.92303499e-01 1.23795903e-01 2.88785175e-03 2.74122066e+02] [-1.23795681e-01 9.92307696e-01 -2.56121073e-04 9.55147986e+00] [-2.89734426e-03 -1.03353736e-04 9.99995797e-01 -2.69154292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.575898227 meters 0.04566184554516596 Centerline is valid? [True, True] Translation: X:274.18, Y:9.56, Z:-2.69 [[ 9.91749455e-01 1.28142224e-01 3.54800594e-03 2.74182898e+02] [-1.28141918e-01 9.91755792e-01 -3.14487461e-04 9.55602372e+00] [-3.55905456e-03 -1.42755516e-04 9.99993656e-01 -2.69133919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.635898227 meters 0.050532090962051614 Centerline is valid? [True, True] Translation: X:274.24, Y:9.56, Z:-2.69 [[ 9.91300309e-01 1.31556408e-01 4.07533973e-03 2.74243079e+02] [-1.31556033e-01 9.91308670e-01 -3.61201721e-04 9.56140143e+00] [-4.08743801e-03 -1.78076150e-04 9.99991631e-01 -2.69150060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.695898227 meters 0.0589652824543267 Centerline is valid? [True, True] Translation: X:274.30, Y:9.57, Z:-2.69 [[ 9.91121396e-01 1.32886077e-01 4.43506424e-03 2.74302557e+02] [-1.32885646e-01 9.91131298e-01 -3.93087653e-04 9.57052377e+00] [-4.44796686e-03 -1.99758795e-04 9.99990088e-01 -2.69105648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.755898227 meters 0.05113029045345445 Centerline is valid? [True, True] Translation: X:274.36, Y:9.55, Z:-2.69 [[ 9.91702367e-01 1.28511921e-01 3.33191665e-03 2.74361330e+02] [-1.28511654e-01 9.91707955e-01 -2.95136874e-04 9.55196628e+00] [-3.34221685e-03 -1.35502184e-04 9.99994406e-01 -2.69372632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.815898227 meters 0.04618981904611989 Centerline is valid? [True, True] Translation: X:274.42, Y:9.54, Z:-2.69 [[ 9.92072953e-01 1.25619290e-01 3.32411866e-03 2.74420863e+02] [-1.25619008e-01 9.92078514e-01 -2.94473473e-04 9.54250122e+00] [-3.33477825e-03 -1.25433319e-04 9.99994432e-01 -2.69444979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.875898227 meters 0.04126421795543762 Centerline is valid? [True, True] Translation: X:274.48, Y:9.53, Z:-2.69 [[ 9.92363893e-01 1.23291206e-01 3.63079626e-03 2.74479835e+02] [-1.23290854e-01 9.92370527e-01 -3.21590885e-04 9.52860633e+00] [-3.64274452e-03 -1.28508788e-04 9.99993357e-01 -2.69304850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.935898227 meters 0.045340645989981776 Centerline is valid? [True, True] Translation: X:274.54, Y:9.52, Z:-2.69 [[ 9.91843585e-01 1.27400719e-01 3.91907244e-03 2.74540395e+02] [-1.27400341e-01 9.91851316e-01 -3.47032494e-04 9.52488431e+00] [-3.93134934e-03 -1.55089210e-04 9.99992260e-01 -2.69174892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.99589822699994 meters 0.05032009312675665 Centerline is valid? [True, True] Translation: X:274.60, Y:9.53, Z:-2.69 [[ 9.91075956e-01 1.33253845e-01 3.44413456e-03 2.74601343e+02] [-1.33253588e-01 9.91081928e-01 -3.04974532e-04 9.52524791e+00] [-3.45405855e-03 -1.56690363e-04 9.99994022e-01 -2.69338751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.05589822699994 meters 0.05973069501442841 Centerline is valid? [True, True] Translation: X:274.66, Y:9.54, Z:-2.70 [[ 9.89999832e-01 1.41047113e-01 2.45874287e-03 2.74663016e+02] [-1.41047006e-01 9.90002876e-01 -2.17743762e-04 9.53765011e+00] [-2.46487464e-03 -1.31232032e-04 9.99996954e-01 -2.69511036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.11589822699995 meters 0.07032241900342401 Centerline is valid? [True, True] Translation: X:274.72, Y:9.55, Z:-2.70 [[ 9.89467127e-01 1.44754581e-01 9.57086607e-04 2.74724137e+02] [-1.44754567e-01 9.89467588e-01 -8.47654149e-05 9.55038871e+00] [-9.59276359e-04 -5.46700654e-05 9.99999538e-01 -2.69877232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.17589822699995 meters 0.05840443403020001 Centerline is valid? [True, True] Translation: X:274.78, Y:9.54, Z:-2.70 [[ 9.89822827e-01 1.42301521e-01 1.02393076e-03 2.74782815e+02] [-1.42301503e-01 9.89823355e-01 -9.07360948e-05 9.53520403e+00] [-1.02642247e-03 -5.58942281e-05 9.99999472e-01 -2.69808402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.23589822699995 meters 0.05044205435997799 Centerline is valid? [True, True] Translation: X:274.84, Y:9.52, Z:-2.70 [[ 9.91001081e-01 1.33822536e-01 2.89606809e-03 2.74842018e+02] [-1.33822357e-01 9.91005303e-01 -2.56429878e-04 9.52464574e+00] [-2.90433494e-03 -1.33436371e-04 9.99995774e-01 -2.69526951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.29589822699995 meters 0.049207880482183074 Centerline is valid? [True, True] Translation: X:274.90, Y:9.52, Z:-2.70 [[ 9.91691354e-01 1.28639658e-01 -3.10269851e-04 2.74901729e+02] [-1.28639656e-01 9.91691403e-01 2.73500911e-05 9.52167666e+00] [ 3.11210250e-04 1.27901579e-05 9.99999951e-01 -2.70040645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.35589822699995 meters 0.047357329290962015 Centerline is valid? [True, True] Translation: X:274.96, Y:9.52, Z:-2.70 [[ 9.91684336e-01 1.28693613e-01 3.63044456e-04 2.74959805e+02] [-1.28693609e-01 9.91684402e-01 -3.26177654e-05 9.51752645e+00] [-3.64223223e-04 -1.43749744e-05 9.99999934e-01 -2.69826463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.41589822699996 meters 0.05281537376240614 Centerline is valid? [True, True] Translation: X:275.02, Y:9.53, Z:-2.69 [[ 9.91284863e-01 1.31702528e-01 2.96040366e-03 2.75019950e+02] [-1.31702332e-01 9.91289275e-01 -2.61905967e-04 9.52724759e+00] [-2.96911007e-03 -1.30268645e-04 9.99995584e-01 -2.69307411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.47589822699996 meters 0.05910446638193693 Centerline is valid? [True, True] Translation: X:275.08, Y:9.54, Z:-2.70 [[ 9.90551461e-01 1.37140949e-01 -4.03419575e-04 2.75081706e+02] [-1.37140945e-01 9.90551543e-01 3.56105469e-05 9.53759291e+00] [ 4.04491547e-04 2.00512626e-05 9.99999918e-01 -2.69959890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.53589822699996 meters 0.058026092158291784 Centerline is valid? [True, True] Translation: X:275.14, Y:9.53, Z:-2.70 [[ 9.90258452e-01 1.39227232e-01 -1.99405470e-03 2.75141461e+02] [-1.39227159e-01 9.90260454e-01 1.76175014e-04 9.53413730e+00] [ 1.99916187e-03 1.03167773e-04 9.99997996e-01 -2.70215274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.59589822699996 meters 0.0642737169164503 Centerline is valid? [True, True] Translation: X:275.20, Y:9.54, Z:-2.70 [[ 9.90216080e-01 1.39542483e-01 -9.84355070e-05 2.75199762e+02] [-1.39542483e-01 9.90216085e-01 8.26891600e-06 9.54088563e+00] [ 9.86262874e-05 5.54792141e-06 9.99999995e-01 -2.70026756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.65589822699997 meters 0.05537186294492222 Centerline is valid? [True, True] Translation: X:275.26, Y:9.53, Z:-2.70 [[ 9.90379212e-01 1.38354763e-01 2.64115862e-03 2.75258490e+02] [-1.38354631e-01 9.90382725e-01 -2.33667305e-04 9.53134619e+00] [-2.64808685e-03 -1.33997284e-04 9.99996485e-01 -2.69517785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.71589822699997 meters 0.06412225615786125 Centerline is valid? [True, True] Translation: X:275.32, Y:9.54, Z:-2.70 [[ 9.90451665e-01 1.37829129e-01 2.93768222e-03 2.75317623e+02] [-1.37828964e-01 9.90456011e-01 -2.59522016e-04 9.54060296e+00] [-2.94541471e-03 -1.47853684e-04 9.99995651e-01 -2.69725585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.77589822699997 meters 0.06423493151285027 Centerline is valid? [True, True] Translation: X:275.38, Y:9.54, Z:-2.69 [[ 9.90047939e-01 1.40657754e-01 4.52491478e-03 2.75377866e+02] [-1.40657395e-01 9.90058250e-01 -3.99107978e-04 9.53692003e+00] [-4.53606684e-03 -2.41326696e-04 9.99989683e-01 -2.69460545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.835898227 meters 0.06820184168080534 Centerline is valid? [True, True] Translation: X:275.44, Y:9.54, Z:-2.70 [[ 9.89787961e-01 1.42492874e-01 3.94628860e-03 2.75437561e+02] [-1.42492615e-01 9.89795804e-01 -3.48110498e-04 9.54387622e+00] [-3.95562316e-03 -2.17761403e-04 9.99992153e-01 -2.69608766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.895898227 meters 0.06412011483283092 Centerline is valid? [True, True] Translation: X:275.50, Y:9.54, Z:-2.70 [[ 9.89549722e-01 1.44186801e-01 1.23078878e-03 2.75496804e+02] [-1.44186777e-01 9.89550485e-01 -1.08563658e-04 9.53570454e+00] [-1.23358108e-03 -7.00343303e-05 9.99999237e-01 -2.70116039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.955898227 meters 0.06953286770586346 Centerline is valid? [True, True] Translation: X:275.56, Y:9.54, Z:-2.70 [[ 9.89298585e-01 1.45876386e-01 2.89642581e-03 2.75555400e+02] [-1.45876261e-01 9.89302811e-01 -2.55522709e-04 9.53935389e+00] [-2.90271693e-03 -1.69731513e-04 9.99995773e-01 -2.69933466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.015898227 meters 0.07336209672352001 Centerline is valid? [True, True] Translation: X:275.62, Y:9.54, Z:-2.70 [[ 9.89002820e-01 1.47828488e-01 4.49011085e-03 2.75615309e+02] [-1.47828210e-01 9.89012975e-01 -3.95529123e-04 9.53950372e+00] [-4.49924836e-03 -2.72585632e-04 9.99989841e-01 -2.69683259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.075898227 meters 0.07736353496391594 Centerline is valid? [True, True] Translation: X:275.68, Y:9.54, Z:-2.70 [[ 9.88631747e-01 1.50325003e-01 3.10851822e-03 2.75675406e+02] [-1.50324882e-01 9.88636614e-01 -2.73798670e-04 9.53996609e+00] [-3.11435371e-03 -1.96601578e-04 9.99995131e-01 -2.70011510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.135898227 meters 0.08465452868931585 Centerline is valid? [True, True] Translation: X:275.74, Y:9.55, Z:-2.70 [[ 9.87857176e-01 1.55357512e-01 1.49769474e-03 2.75736696e+02] [-1.55357490e-01 9.87858306e-01 -1.31924805e-04 9.54909452e+00] [-1.50000569e-03 -1.02355230e-04 9.99998870e-01 -2.70475368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.195898227 meters 0.0867154099366426 Centerline is valid? [True, True] Translation: X:275.80, Y:9.55, Z:-2.71 [[ 9.87641392e-01 1.56730559e-01 1.15762770e-04 2.75796862e+02] [-1.56730559e-01 9.87641398e-01 -1.02723205e-05 9.55139947e+00] [-1.15942091e-04 -7.99819473e-06 9.99999993e-01 -2.70805782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.255898227 meters 0.07650060475757309 Centerline is valid? [True, True] Translation: X:275.85, Y:9.54, Z:-2.71 [[ 9.87863968e-01 1.55288397e-01 -3.20856202e-03 2.75854884e+02] [-1.55288296e-01 9.87869154e-01 2.82015681e-04 9.54209305e+00] [ 3.21343321e-03 2.19658999e-04 9.99994813e-01 -2.71234847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.315898227 meters 0.08132245315103645 Centerline is valid? [True, True] Translation: X:275.91, Y:9.55, Z:-2.71 [[ 9.88857083e-01 1.48862541e-01 -1.26986327e-03 2.75914790e+02] [-1.48862520e-01 9.88857896e-01 1.11518251e-04 9.55157587e+00] [ 1.27231521e-03 7.87594334e-05 9.99999188e-01 -2.71144274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.375898227 meters 0.06060969057783526 Centerline is valid? [True, True] Translation: X:275.97, Y:9.52, Z:-2.71 [[ 9.90157366e-01 1.39956470e-01 7.59206448e-04 2.75972842e+02] [-1.39956459e-01 9.90157657e-01 -6.68280422e-05 9.52239505e+00] [-7.61087094e-04 -4.00855682e-05 9.99999710e-01 -2.70565088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.435898227 meters 0.05557694422108322 Centerline is valid? [True, True] Translation: X:276.03, Y:9.51, Z:-2.71 [[ 9.91704888e-01 1.28509140e-01 -2.61081866e-03 2.76031142e+02] [-1.28508980e-01 9.91708319e-01 2.29559816e-04 9.50704166e+00] [ 2.61867112e-03 1.07858051e-04 9.99996565e-01 -2.71437923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.49589822699994 meters 0.04906055901687121 Centerline is valid? [True, True] Translation: X:276.09, Y:9.49, Z:-2.71 [[ 9.92460169e-01 1.22558766e-01 1.47032670e-03 2.76088975e+02] [-1.22558709e-01 9.92461257e-01 -1.29431558e-04 9.48702662e+00] [-1.47510526e-03 -5.17456762e-05 9.99998911e-01 -2.70684145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.55589822699994 meters 0.04514876413575473 Centerline is valid? [True, True] Translation: X:276.15, Y:9.47, Z:-2.70 [[ 9.92238626e-01 1.24250437e-01 4.93343626e-03 2.76146477e+02] [-1.24249811e-01 9.92250873e-01 -4.34208599e-04 9.47214944e+00] [-4.94915704e-03 -1.82139981e-04 9.99987736e-01 -2.69895906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.61589822699995 meters 0.05573548378767385 Centerline is valid? [True, True] Translation: X:276.21, Y:9.48, Z:-2.70 [[ 9.91082508e-01 1.33166634e-01 4.70215326e-03 2.76207397e+02] [-1.33166172e-01 9.91093639e-01 -4.12745466e-04 9.47715996e+00] [-4.71523811e-03 -2.17102936e-04 9.99988860e-01 -2.69932378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.67589822699995 meters 0.06195130762180099 Centerline is valid? [True, True] Translation: X:276.27, Y:9.47, Z:-2.71 [[ 9.89875713e-01 1.41936188e-01 -4.36975829e-04 2.76267336e+02] [-1.41936185e-01 9.89875809e-01 3.82908033e-05 9.47273249e+00] [ 4.37986653e-04 2.41195460e-05 9.99999904e-01 -2.70775481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.73589822699995 meters 0.07098418155746203 Centerline is valid? [True, True] Translation: X:276.33, Y:9.47, Z:-2.71 [[ 9.89204662e-01 1.46540512e-01 1.22497601e-04 2.76327201e+02] [-1.46540512e-01 9.89204670e-01 -1.08056226e-05 9.47261421e+00] [-1.22758660e-04 -7.26188888e-06 9.99999992e-01 -2.70764824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.79589822699995 meters 0.07185911985528062 Centerline is valid? [True, True] Translation: X:276.39, Y:9.46, Z:-2.71 [[ 9.89455035e-01 1.44824184e-01 2.16552117e-03 2.76385084e+02] [-1.44824113e-01 9.89457397e-01 -1.90202130e-04 9.46208937e+00] [-2.17023681e-03 -1.25423228e-04 9.99997637e-01 -2.70551395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.85589822699995 meters 0.06759494122669106 Centerline is valid? [True, True] Translation: X:276.44, Y:9.44, Z:-2.71 [[ 9.89948475e-01 1.41428468e-01 -6.65388381e-05 2.76443767e+02] [-1.41428468e-01 9.89948478e-01 5.80064284e-06 9.44199485e+00] [ 6.66903975e-05 3.66814840e-06 9.99999998e-01 -2.70843873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.91589822699996 meters 0.06240431937937048 Centerline is valid? [True, True] Translation: X:276.50, Y:9.42, Z:-2.71 [[ 9.89834989e-01 1.42175689e-01 -3.57321436e-03 2.76501531e+02] [-1.42175482e-01 9.89841419e-01 3.13162858e-04 9.41860785e+00] [ 3.58143972e-03 1.98043919e-04 9.99993567e-01 -2.71220542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.97589822699996 meters 0.07226876926642992 Centerline is valid? [True, True] Translation: X:276.56, Y:9.42, Z:-2.71 [[ 9.89539707e-01 1.44226643e-01 -3.13736062e-03 2.76560791e+02] [-1.44226493e-01 9.89544664e-01 2.75061857e-04 9.41845693e+00] [ 3.14422971e-03 1.80305891e-04 9.99995041e-01 -2.71375020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.03589822699996 meters 0.06393886925647999 Centerline is valid? [True, True] Translation: X:276.62, Y:9.39, Z:-2.71 [[ 9.89511787e-01 1.44434914e-01 -2.23146137e-03 2.76617709e+02] [-1.44434842e-01 9.89514294e-01 1.94097242e-04 9.38962652e+00] [ 2.23609734e-03 1.30239262e-04 9.99997491e-01 -2.71048557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.09589822699996 meters 0.07853876621995359 Centerline is valid? [True, True] Translation: X:276.68, Y:9.39, Z:-2.71 [[ 9.89186193e-01 1.46665052e-01 -1.93960863e-04 2.76676970e+02] [-1.46665052e-01 9.89186212e-01 1.69254212e-05 9.39140140e+00] [ 1.94345779e-04 1.17048871e-05 9.99999981e-01 -2.71008662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.15589822699997 meters 0.07104192248276725 Centerline is valid? [True, True] Translation: X:276.74, Y:9.37, Z:-2.71 [[ 9.88687097e-01 1.49987868e-01 -1.21003566e-03 2.76735700e+02] [-1.49987850e-01 9.88687834e-01 1.05886669e-04 9.37212706e+00] [ 1.21222925e-03 7.68018638e-05 9.99999262e-01 -2.70970013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.21589822699997 meters 0.07988139239563798 Centerline is valid? [True, True] Translation: X:276.80, Y:9.37, Z:-2.71 [[ 9.87260664e-01 1.59104365e-01 -1.47721902e-03 2.76796194e+02] [-1.59104349e-01 9.87261763e-01 1.29204023e-04 9.37339209e+00] [ 1.47895878e-03 1.07473921e-04 9.99998901e-01 -2.70997809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.27589822699997 meters 0.09101676798153517 Centerline is valid? [True, True] Translation: X:276.86, Y:9.38, Z:-2.71 [[ 9.85929137e-01 1.67141990e-01 -2.70051430e-03 2.76856665e+02] [-1.67141966e-01 9.85932811e-01 2.36296880e-04 9.38237276e+00] [ 2.70202079e-03 2.18397290e-04 9.99996326e-01 -2.71165795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.335898227 meters 0.11113117528423118 Centerline is valid? [True, False] Translation: X:276.86, Y:9.40, Z:-2.72 [[ 9.85522747e-01 1.69241422e-01 1.01122014e-02 2.76861369e+02] [-1.69197728e-01 9.85569257e-01 -5.03672143e-03 9.39643159e+00] [-1.08186967e-02 3.25284205e-03 9.99936185e-01 -2.71906630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.395898227 meters 0.11612063602273737 Centerline is valid? [False, False] Translation: X:276.84, Y:9.41, Z:-2.72 [[ 9.87662294e-01 1.55629608e-01 1.73959060e-02 2.76843383e+02] [-1.55726358e-01 9.87790680e-01 4.34444321e-03 9.40766654e+00] [-1.65073898e-02 -6.99984384e-03 9.99839241e-01 -2.72338913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.455898227 meters 0.11559438335803991 Centerline is valid? [False, False] Translation: X:276.82, Y:9.43, Z:-2.73 [[ 9.90192763e-01 1.37538709e-01 2.45233729e-02 2.76823340e+02] [-1.37783713e-01 9.90425094e-01 8.58961671e-03 9.42740369e+00] [-2.31071591e-02 -1.18842977e-02 9.99662354e-01 -2.72612092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.515898227 meters 0.11489074870012331 Centerline is valid? [False, False] Translation: X:276.80, Y:9.44, Z:-2.73 [[ 9.92371308e-01 1.19034875e-01 3.20918218e-02 2.76804727e+02] [-1.19489763e-01 9.92754923e-01 1.26435308e-02 9.44246464e+00] [-3.03542930e-02 -1.63817214e-02 9.99404951e-01 -2.73015281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.575898227 meters 0.08968293059874807 Centerline is valid? [False, True] Translation: X:276.79, Y:9.46, Z:-2.74 [[ 9.94217218e-01 9.96488884e-02 4.00277790e-02 2.76786796e+02] [-1.00336264e-01 9.94832184e-01 1.55422003e-02 9.45858348e+00] [-3.82721598e-02 -1.94685610e-02 9.99077683e-01 -2.73505313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.635898227 meters 0.09435271430641418 Centerline is valid? [True, True] Translation: X:276.85, Y:9.49, Z:-2.73 [[ 9.94855807e-01 9.19159495e-02 4.25838060e-02 2.76846836e+02] [-9.19809136e-02 9.95760675e-01 -4.35419412e-04 9.48504201e+00] [-4.24433014e-02 -3.48371785e-03 9.99092803e-01 -2.73241092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.695898227 meters 0.07567095669865269 Centerline is valid? [True, True] Translation: X:276.91, Y:9.47, Z:-2.73 [[ 9.95648716e-01 8.30507593e-02 4.22635191e-02 2.76906759e+02] [-8.31068381e-02 9.96540550e-01 -4.31404543e-04 9.47438532e+00] [-4.21531390e-02 -3.08286006e-03 9.99106405e-01 -2.73380671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.755898227 meters 0.07138568122293543 Centerline is valid? [True, True] Translation: X:276.97, Y:9.47, Z:-2.74 [[ 9.96156112e-01 7.71981625e-02 4.13937754e-02 2.76967089e+02] [-7.72469364e-02 9.97011902e-01 -4.22262422e-04 9.47350255e+00] [-4.13026846e-02 -2.77690304e-03 9.99142821e-01 -2.73833861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.815898227 meters 0.06614435892739684 Centerline is valid? [True, True] Translation: X:277.03, Y:9.47, Z:-2.74 [[ 9.96541448e-01 7.10419611e-02 4.31066402e-02 2.77027835e+02] [-7.10891284e-02 9.97469870e-01 -4.39671691e-04 9.46742101e+00] [-4.30288100e-02 -2.62626242e-03 9.99070380e-01 -2.73880872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.875898227 meters 0.06667974420298174 Centerline is valid? [True, True] Translation: X:277.09, Y:9.47, Z:-2.75 [[ 9.96760545e-01 6.93635700e-02 4.07076268e-02 2.77087654e+02] [-6.94042332e-02 9.97588532e-01 -4.15172840e-04 9.47132516e+00] [-4.06382596e-02 -2.41145372e-03 9.99171015e-01 -2.74571388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.935898227 meters 0.06476032600101933 Centerline is valid? [True, True] Translation: X:277.15, Y:9.47, Z:-2.75 [[ 9.96933134e-01 6.74278031e-02 3.97217431e-02 2.77148486e+02] [-6.74649920e-02 9.97721560e-01 -4.04990423e-04 9.46670266e+00] [-3.96585470e-02 -2.27607871e-03 9.99210698e-01 -2.75165405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.99589822699994 meters 0.05488811096273659 Centerline is valid? [True, True] Translation: X:277.21, Y:9.45, Z:-2.75 [[ 9.97242814e-01 6.22596101e-02 4.03795841e-02 2.77208881e+02] [-6.22937976e-02 9.98057770e-01 -4.12228392e-04 9.44928651e+00] [-4.03268228e-02 -2.10430584e-03 9.99184327e-01 -2.75210459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.05589822699994 meters 0.05802873584805446 Centerline is valid? [True, True] Translation: X:277.27, Y:9.45, Z:-2.76 [[ 9.97408686e-01 5.91588561e-02 4.09407173e-02 2.77268382e+02] [-5.91913814e-02 9.98246565e-01 -4.18334387e-04 9.44860728e+00] [-4.08936786e-02 -2.00608726e-03 9.99161490e-01 -2.75643660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.11589822699995 meters 0.05693306319523153 Centerline is valid? [True, True] Translation: X:277.33, Y:9.44, Z:-2.76 [[ 9.97464875e-01 5.76746707e-02 4.16828079e-02 2.77329706e+02] [-5.77071045e-02 9.98333466e-01 -4.25694288e-04 9.44130756e+00] [-4.16378938e-02 -1.98077905e-03 9.99130803e-01 -2.75781566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.17589822699995 meters 0.05500995008665068 Centerline is valid? [True, True] Translation: X:277.39, Y:9.43, Z:-2.76 [[ 9.97446464e-01 5.70504837e-02 4.29626947e-02 2.77392344e+02] [-5.70843426e-02 9.98369263e-01 -4.39303453e-04 9.43202315e+00] [-4.29176963e-02 -2.01431551e-03 9.99076581e-01 -2.75826413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.23589822699995 meters 0.05544620088461606 Centerline is valid? [True, True] Translation: X:277.45, Y:9.42, Z:-2.76 [[ 9.97284792e-01 5.85168474e-02 4.47081936e-02 2.77454198e+02] [-5.85548204e-02 9.98284088e-01 -4.60896237e-04 9.42453947e+00] [-4.46584485e-02 -2.15823544e-03 9.98999982e-01 -2.75749415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.29589822699995 meters 0.058261091051820715 Centerline is valid? [True, True] Translation: X:277.51, Y:9.42, Z:-2.76 [[ 9.97071818e-01 6.17096736e-02 4.51630966e-02 2.77514932e+02] [-6.17513379e-02 9.98091453e-01 -4.73371839e-04 9.42199957e+00] [-4.51061123e-02 -2.31689592e-03 9.98979515e-01 -2.75924503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.35589822699995 meters 0.06571804446610517 Centerline is valid? [True, True] Translation: X:277.57, Y:9.42, Z:-2.77 [[ 9.96972922e-01 6.60272601e-02 4.10535580e-02 2.77574415e+02] [-6.60653364e-02 9.97815207e-01 -4.29992509e-04 9.42319548e+00] [-4.09922557e-02 -2.28352624e-03 9.99156855e-01 -2.76894415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.41589822699996 meters 0.06930839685595683 Centerline is valid? [True, True] Translation: X:277.64, Y:9.42, Z:-2.77 [[ 9.96828314e-01 6.83323502e-02 4.07921737e-02 2.77635223e+02] [-6.83717654e-02 9.97659820e-01 -4.29702685e-04 9.42170240e+00] [-4.07260753e-02 -2.36069313e-03 9.99167560e-01 -2.77264900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.47589822699996 meters 0.07254729847444848 Centerline is valid? [True, True] Translation: X:277.70, Y:9.42, Z:-2.77 [[ 9.96451715e-01 7.32896015e-02 4.13837470e-02 2.77695921e+02] [-7.33344013e-02 9.97307312e-01 -4.36537811e-04 9.41931008e+00] [-4.13043072e-02 -2.59986346e-03 9.99143230e-01 -2.77213415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.53589822699996 meters 0.08231904497990249 Centerline is valid? [True, True] Translation: X:277.76, Y:9.43, Z:-2.77 [[ 9.95880017e-01 8.08956887e-02 4.09741309e-02 2.77756845e+02] [-8.09460129e-02 9.96718394e-01 -4.32084414e-04 9.42917952e+00] [-4.08746237e-02 -2.88638830e-03 9.99160114e-01 -2.77477170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.59589822699996 meters 0.08253953393224132 Centerline is valid? [True, True] Translation: X:277.82, Y:9.43, Z:-2.78 [[ 9.95402692e-01 8.61158660e-02 4.19230038e-02 2.77817092e+02] [-8.61731442e-02 9.96280078e-01 -4.42286975e-04 9.42911913e+00] [-4.18051414e-02 -3.17238341e-03 9.99120747e-01 -2.77520594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.65589822699997 meters 0.10016725048461715 Centerline is valid? [True, False] Translation: X:277.81, Y:9.43, Z:-2.77 [[ 9.96096916e-01 7.67768872e-02 4.35458812e-02 2.77814059e+02] [-7.72633606e-02 9.96964517e-01 9.59822082e-03 9.42971717e+00] [-4.26767769e-02 -1.29252593e-02 9.99005321e-01 -2.77441562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.71589822699997 meters 0.09776055390320906 Centerline is valid? [False, True] Translation: X:277.81, Y:9.43, Z:-2.77 [[ 9.97087451e-01 6.40155161e-02 4.14563513e-02 2.77812731e+02] [-6.47160345e-02 9.97778935e-01 1.57807510e-02 9.43151555e+00] [-4.03540612e-02 -1.84176795e-02 9.99015685e-01 -2.77251659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.77589822699997 meters 0.09087746510365205 Centerline is valid? [True, True] Translation: X:277.87, Y:9.43, Z:-2.77 [[ 9.96799105e-01 6.74341654e-02 4.29438820e-02 2.77873571e+02] [-6.75280836e-02 9.97717100e-01 7.38482110e-04 9.42976362e+00] [-4.27960466e-02 -3.63603636e-03 9.99077213e-01 -2.76976776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.835898227 meters 0.08957071090648533 Centerline is valid? [True, True] Translation: X:277.93, Y:9.42, Z:-2.78 [[ 9.96956426e-01 6.58255914e-02 4.17717092e-02 2.77934157e+02] [-6.59130451e-02 9.97825112e-01 7.18325999e-04 9.42365964e+00] [-4.16335762e-02 -3.46944027e-03 9.99126923e-01 -2.77557500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.895898227 meters 0.08988656578265575 Centerline is valid? [True, True] Translation: X:277.99, Y:9.41, Z:-2.78 [[ 9.97399770e-01 6.08669193e-02 3.85864801e-02 2.77993704e+02] [-6.09378190e-02 9.98141344e-01 6.62876187e-04 9.41423514e+00] [-3.84744139e-02 -3.01252850e-03 9.99255045e-01 -2.78439869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.955898227 meters 0.0816544683385236 Centerline is valid? [True, True] Translation: X:278.06, Y:9.40, Z:-2.78 [[ 9.97423322e-01 5.98443679e-02 3.95647263e-02 2.78056019e+02] [-5.99181258e-02 9.98203063e-01 6.80017663e-04 9.39501195e+00] [-3.94529358e-02 -3.04890973e-03 9.99216778e-01 -2.78486612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.015898227 meters 0.09000352672693841 Centerline is valid? [True, True] Translation: X:278.12, Y:9.40, Z:-2.79 [[ 9.97278268e-01 6.28070841e-02 3.86176974e-02 2.78115939e+02] [-6.28794946e-02 9.98020907e-01 6.62142193e-04 9.40329707e+00] [-3.84996822e-02 -3.08860131e-03 9.99253839e-01 -2.78952663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.075898227 meters 0.09652127314842185 Centerline is valid? [True, True] Translation: X:278.18, Y:9.41, Z:-2.79 [[ 9.97202475e-01 6.45403239e-02 3.77063657e-02 2.78175145e+02] [-6.46105832e-02 9.97910344e-01 6.46486866e-04 9.41023914e+00] [-3.75858479e-02 -3.08090858e-03 9.99288653e-01 -2.79384853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.135898227 meters 0.093462943071587 Centerline is valid? [True, True] Translation: X:278.23, Y:9.41, Z:-2.80 [[ 9.97428859e-01 6.07388887e-02 3.80323258e-02 2.78234802e+02] [-6.08075761e-02 9.98149295e-01 6.50822723e-04 9.40913427e+00] [-3.79224089e-02 -2.96180291e-03 9.99276297e-01 -2.79638741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.195898227 meters 0.07401468228334182 Centerline is valid? [True, True] Translation: X:278.30, Y:9.38, Z:-2.80 [[ 9.98084542e-01 4.84143916e-02 3.85135497e-02 2.78296080e+02] [-4.84757054e-02 9.98824144e-01 6.59221607e-04 9.38162747e+00] [-3.84363475e-02 -2.52493039e-03 9.99257861e-01 -2.79752509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.255898227 meters 0.054098875205530556 Centerline is valid? [True, True] Translation: X:278.36, Y:9.35, Z:-2.80 [[ 9.98688523e-01 3.06827206e-02 4.09854178e-02 2.78357292e+02] [-3.07372730e-02 9.99527252e-01 7.01380431e-04 9.35097312e+00] [-4.09445218e-02 -1.96024056e-03 9.99159499e-01 -2.79611018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.315898227 meters 0.04355280478424831 Centerline is valid? [True, True] Translation: X:278.42, Y:9.33, Z:-2.80 [[ 9.98900249e-01 2.10478923e-02 4.18960492e-02 2.78417881e+02] [-2.10964317e-02 9.99777189e-01 7.16732890e-04 9.33166254e+00] [-4.18716285e-02 -1.59980180e-03 9.99121718e-01 -2.79689628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.375898227 meters 0.03699658462851328 Centerline is valid? [True, True] Translation: X:278.48, Y:9.32, Z:-2.80 [[ 9.99037607e-01 1.44633565e-02 4.14085794e-02 2.78478513e+02] [-1.45051157e-02 9.99894544e-01 7.08182154e-04 9.31658227e+00] [-4.13939700e-02 -1.30813684e-03 9.99142046e-01 -2.80085594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.435898227 meters 0.03974066085809231 Centerline is valid? [True, True] Translation: X:278.54, Y:9.31, Z:-2.81 [[ 9.99067204e-01 1.11901659e-02 4.17073304e-02 2.78538620e+02] [-1.12296861e-02 9.99936691e-01 7.13390329e-04 9.31435253e+00] [-4.16967070e-02 -1.18108511e-03 9.99129616e-01 -2.80554360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.49589822699994 meters 0.03005951138502656 Centerline is valid? [True, True] Translation: X:278.60, Y:9.29, Z:-2.80 [[ 9.99049132e-01 9.08203801e-03 4.26420862e-02 2.78600448e+02] [-9.12141426e-03 9.99958133e-01 7.28933020e-04 9.29390430e+00] [-4.26336807e-02 -1.11719603e-03 9.99090147e-01 -2.80482407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.55589822699994 meters 0.026248879755927372 Centerline is valid? [True, True] Translation: X:278.66, Y:9.28, Z:-2.81 [[ 9.99011894e-01 4.77538970e-03 4.41863249e-02 2.78660944e+02] [-4.81341159e-03 9.99988131e-01 7.54133901e-04 9.27698643e+00] [-4.41821991e-02 -9.66075705e-04 9.99023023e-01 -2.80616806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.61589822699995 meters 0.022727305409754935 Centerline is valid? [True, True] Translation: X:278.72, Y:9.26, Z:-2.81 [[ 9.99030855e-01 9.13902275e-04 4.40058653e-02 2.78722171e+02] [-9.47875200e-04 9.99999269e-01 7.51149056e-04 9.26414039e+00] [-4.40051467e-02 -7.92133152e-04 9.99030990e-01 -2.81016309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.67589822699995 meters 0.018117415502375455 Centerline is valid? [True, True] Translation: X:278.78, Y:9.25, Z:-2.81 [[ 9.99053715e-01 -3.66714650e-03 4.33385122e-02 2.78783320e+02] [ 3.63854767e-03 9.99993108e-01 7.38757694e-04 9.25012113e+00] [-4.33409226e-02 -5.80369376e-04 9.99060172e-01 -2.81425530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.73589822699995 meters 0.016550654364348376 Centerline is valid? [True, True] Translation: X:278.85, Y:9.24, Z:-2.82 [[ 9.99028992e-01 -5.33442551e-03 4.37334772e-02 2.78845308e+02] [ 5.30691833e-03 9.99985641e-01 7.45050316e-04 9.23584074e+00] [-4.37368236e-02 -5.12236874e-04 9.99042956e-01 -2.81652431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.79589822699995 meters 0.01835496656533819 Centerline is valid? [True, True] Translation: X:278.91, Y:9.23, Z:-2.82 [[ 9.99164542e-01 -4.10252023e-03 4.06618597e-02 2.78906013e+02] [ 4.07799578e-03 9.99991450e-01 6.86057302e-04 9.23207161e+00] [-4.06643266e-02 -5.19665238e-04 9.99172729e-01 -2.82494187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.85589822699995 meters 0.019149956030369012 Centerline is valid? [True, True] Translation: X:278.97, Y:9.23, Z:-2.83 [[ 9.99096924e-01 -2.59251855e-03 4.24100824e-02 2.78969547e+02] [ 2.56461438e-03 9.99996458e-01 7.12354743e-04 9.22547998e+00] [-4.24117790e-02 -6.02945926e-04 9.99100034e-01 -2.82622541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.91589822699996 meters 0.01925447678532271 Centerline is valid? [True, True] Translation: X:279.03, Y:9.22, Z:-2.83 [[ 9.99063585e-01 -2.90988249e-03 4.31681171e-02 2.79031167e+02] [ 2.88163990e-03 9.99995591e-01 7.16458657e-04 9.21881828e+00] [-4.31700116e-02 -5.91392786e-04 9.99067565e-01 -2.82845215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.97589822699996 meters 0.016886834629206527 Centerline is valid? [True, True] Translation: X:279.09, Y:9.21, Z:-2.83 [[ 9.99107371e-01 -4.47198329e-03 4.20055023e-02 2.79093506e+02] [ 4.44675974e-03 9.99989872e-01 6.93898755e-04 9.20634222e+00] [-4.20081800e-02 -5.06490984e-04 9.99117138e-01 -2.83403378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.03589822699996 meters 0.019801085267887104 Centerline is valid? [True, True] Translation: X:279.15, Y:9.20, Z:-2.83 [[ 9.99097114e-01 -1.50445595e-03 4.24581402e-02 2.79154654e+02] [ 1.47630908e-03 9.99998669e-01 6.94279187e-04 9.20460392e+00] [-4.24591282e-02 -6.30970994e-04 9.99098005e-01 -2.83444511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.09589822699996 meters 0.025744009576062855 Centerline is valid? [True, True] Translation: X:279.22, Y:9.21, Z:-2.84 [[ 9.99118323e-01 4.52402423e-03 4.17385987e-02 2.79215914e+02] [-4.55618913e-03 9.99989392e-01 6.75533021e-04 9.21366417e+00] [-4.17350998e-02 -8.65106369e-04 9.99128337e-01 -2.83807287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.15589822699997 meters 0.039347866438350795 Centerline is valid? [True, True] Translation: X:279.28, Y:9.23, Z:-2.84 [[ 9.98902407e-01 1.70892290e-02 4.36112367e-02 2.79275839e+02] [-1.71362563e-02 9.99852915e-01 7.04686165e-04 9.23298619e+00] [-4.35927797e-02 -1.45124604e-03 9.99048329e-01 -2.83764545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.21589822699997 meters 0.04200658432240118 Centerline is valid? [True, True] Translation: X:279.34, Y:9.24, Z:-2.84 [[ 9.98857771e-01 2.07060710e-02 4.30628741e-02 2.79336450e+02] [-2.07552788e-02 9.99784344e-01 6.95864941e-04 9.24208346e+00] [-4.30391787e-02 -1.58885206e-03 9.99072122e-01 -2.84117137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.27589822699997 meters 0.04583621582200627 Centerline is valid? [True, True] Translation: X:279.40, Y:9.25, Z:-2.85 [[ 9.98923775e-01 1.92458648e-02 4.22005750e-02 2.79397827e+02] [-1.92918091e-02 9.99813663e-01 6.81701243e-04 9.24858297e+00] [-4.21795916e-02 -1.49509302e-03 9.99108926e-01 -2.84702996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.335898227 meters 0.029688305565282885 Centerline is valid? [True, True] Translation: X:279.46, Y:9.23, Z:-2.85 [[ 9.99055951e-01 1.05313832e-02 4.21461327e-02 2.79459032e+02] [-1.05691414e-02 9.99943918e-01 6.73158967e-04 9.23109355e+00] [-4.21366798e-02 -1.11797191e-03 9.99111230e-01 -2.84778424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.395898227 meters 0.024999354652425594 Centerline is valid? [True, True] Translation: X:279.52, Y:9.23, Z:-2.85 [[ 9.99140799e-01 4.36439423e-03 4.12142652e-02 2.79518856e+02] [-4.39524386e-03 9.99990124e-01 6.57935652e-04 9.22555526e+00] [-4.12109867e-02 -8.38517099e-04 9.99150115e-01 -2.85291303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.455898227 meters 0.01878963453085875 Centerline is valid? [True, True] Translation: X:279.58, Y:9.22, Z:-2.85 [[ 9.99093855e-01 -3.09359076e-03 4.24487655e-02 2.79578855e+02] [ 3.06759007e-03 9.99995065e-01 6.77642948e-04 9.21859232e+00] [-4.24506523e-02 -5.46813494e-04 9.99098415e-01 -2.85394548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.515898227 meters 0.016351665959202545 Centerline is valid? [True, True] Translation: X:279.64, Y:9.22, Z:-2.85 [[ 9.99033289e-01 -5.38849863e-03 4.36285688e-02 2.79640972e+02] [ 5.36318812e-03 9.99985375e-01 6.97165986e-04 9.21629977e+00] [-4.36316874e-02 -4.62503806e-04 9.99047577e-01 -2.85486860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.575898227 meters 0.0235625098290698 Centerline is valid? [True, True] Translation: X:279.70, Y:9.21, Z:-2.86 [[ 9.99076897e-01 -7.51957507e-03 4.22943212e-02 2.79703468e+02] [ 7.49796603e-03 9.99971666e-01 6.69531509e-04 9.21433103e+00] [-4.22981575e-02 -3.51792079e-04 9.99104971e-01 -2.85925653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.635898227 meters 0.011273093180763563 Centerline is valid? [True, True] Translation: X:279.77, Y:9.21, Z:-2.86 [[ 9.99012900e-01 -1.06526213e-02 4.31247888e-02 2.79765330e+02] [ 1.06333811e-02 9.99943236e-01 6.75520955e-04 9.21050644e+00] [-4.31295370e-02 -2.16291832e-04 9.99069465e-01 -2.86016061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.695898227 meters 0.010676042035433826 Centerline is valid? [True, True] Translation: X:279.83, Y:9.20, Z:-2.86 [[ 9.98750914e-01 -1.97218868e-02 4.59092374e-02 2.79827421e+02] [ 1.97100232e-02 9.99805486e-01 7.11118363e-04 9.19821818e+00] [-4.59143320e-02 1.94642020e-04 9.98945362e-01 -2.85827339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.755898227 meters 0.018458742952872968 Centerline is valid? [True, True] Translation: X:279.89, Y:9.19, Z:-2.86 [[ 9.98511601e-01 -2.88407862e-02 4.62903076e-02 2.79888630e+02] [ 2.88388777e-02 9.99583821e-01 7.09205503e-04 9.18629671e+00] [-4.62914966e-02 6.26810596e-04 9.98927777e-01 -2.86157903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.815898227 meters 0.020924649411156442 Centerline is valid? [True, True] Translation: X:279.95, Y:9.18, Z:-2.86 [[ 9.98393109e-01 -3.30315116e-02 4.60447447e-02 2.79950206e+02] [ 3.30344085e-02 9.99453971e-01 6.98224653e-04 9.18371680e+00] [-4.60426663e-02 8.23958224e-04 9.98939134e-01 -2.86407128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.875898227 meters 0.02731496532870788 Centerline is valid? [True, True] Translation: X:280.01, Y:9.18, Z:-2.87 [[ 9.98379372e-01 -3.53520319e-02 4.45966758e-02 2.80011259e+02] [ 3.53571320e-02 9.99374513e-01 6.74679265e-04 9.17592656e+00] [-4.45926324e-02 9.03224693e-04 9.99004845e-01 -2.86999450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.935898227 meters 0.02796032753275579 Centerline is valid? [True, True] Translation: X:280.07, Y:9.18, Z:-2.88 [[ 9.98386263e-01 -3.66170604e-02 4.34057609e-02 2.80073237e+02] [ 3.66231495e-02 9.99328933e-01 6.55176471e-04 9.17507828e+00] [-4.34006234e-02 9.35536484e-04 9.99057311e-01 -2.87510207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.99589822699994 meters 0.03354325655797283 Centerline is valid? [True, True] Translation: X:280.13, Y:9.17, Z:-2.88 [[ 9.98350044e-01 -3.71858114e-02 4.37539105e-02 2.80134745e+02] [ 3.71926243e-02 9.99307898e-01 6.58614786e-04 9.17377122e+00] [-4.37481194e-02 9.69794652e-04 9.99042122e-01 -2.87833320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.05589822699994 meters 0.023374354890106218 Centerline is valid? [True, True] Translation: X:280.20, Y:9.18, Z:-2.88 [[ 9.98554733e-01 -3.34668204e-02 4.20525483e-02 2.80195511e+02] [ 3.34699771e-02 9.99439525e-01 6.29189622e-04 9.18022501e+00] [-4.20500359e-02 7.79217556e-04 9.99115202e-01 -2.88315267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.11589822699995 meters 0.01895370084650359 Centerline is valid? [True, True] Translation: X:280.26, Y:9.19, Z:-2.89 [[ 9.98699524e-01 -2.89639871e-02 4.19565124e-02 2.80256488e+02] [ 2.89631990e-02 9.99580282e-01 6.26777236e-04 9.18541433e+00] [-4.19570565e-02 5.89232692e-04 9.99119241e-01 -2.88627816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.17589822699995 meters 0.010782007376082165 Centerline is valid? [True, True] Translation: X:280.32, Y:9.20, Z:-2.89 [[ 9.98945389e-01 -1.86556060e-02 4.19532962e-02 2.80317967e+02] [ 1.86457681e-02 9.99825957e-01 6.25816408e-04 9.20099157e+00] [-4.19576695e-02 1.57095018e-04 9.99119377e-01 -2.88838256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.23589822699995 meters 0.010373671251683654 Centerline is valid? [True, True] Translation: X:280.38, Y:9.21, Z:-2.89 [[ 9.99049775e-01 -1.14790343e-02 4.20449708e-02 2.80380522e+02] [ 1.14628538e-02 9.99934103e-01 6.25909824e-04 9.21219227e+00] [-4.20493850e-02 -1.43359714e-04 9.99115523e-01 -2.89067809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.29589822699995 meters 0.013780490720439968 Centerline is valid? [True, True] Translation: X:280.44, Y:9.22, Z:-2.89 [[ 9.99059432e-01 -5.81776006e-03 4.29698265e-02 2.80441869e+02] [ 5.79574649e-03 9.99983002e-01 6.36864946e-04 9.22029929e+00] [-4.29728012e-02 -3.87223710e-04 9.99076167e-01 -2.89132255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.35589822699995 meters 0.014033687467941381 Centerline is valid? [True, True] Translation: X:280.51, Y:9.22, Z:-2.89 [[ 9.99039906e-01 -5.29399028e-03 4.34883839e-02 2.80505146e+02] [ 5.27123891e-03 9.99985904e-01 6.37816931e-04 9.22217110e+00] [-4.34911475e-02 -4.07966905e-04 9.99053729e-01 -2.89338703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.41589822699996 meters 0.015076889894036402 Centerline is valid? [True, True] Translation: X:280.57, Y:9.23, Z:-2.89 [[ 9.98995637e-01 -3.94081215e-03 4.46339171e-02 2.80567958e+02] [ 3.91588693e-03 9.99992124e-01 6.45857477e-04 9.22954247e+00] [-4.46361108e-02 -4.70427429e-04 9.99003201e-01 -2.89403887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.47589822699996 meters 0.016887564617009892 Centerline is valid? [True, True] Translation: X:280.63, Y:9.23, Z:-2.90 [[ 9.99030940e-01 -2.07005629e-03 4.39647010e-02 2.80630179e+02] [ 2.04442769e-03 9.99997713e-01 6.27890952e-04 9.23406903e+00] [-4.39659003e-02 -5.37399836e-04 9.99032888e-01 -2.89819121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.53589822699996 meters 0.021581396642216893 Centerline is valid? [True, True] Translation: X:280.69, Y:9.24, Z:-2.90 [[ 9.99018260e-01 2.43544172e-03 4.42333090e-02 2.80691271e+02] [-2.46545929e-03 9.99996766e-01 6.24077226e-04 9.24254592e+00] [-4.42316461e-02 -7.32519967e-04 9.99021033e-01 -2.90092996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.59589822699996 meters 0.023969114186671966 Centerline is valid? [True, True] Translation: X:280.75, Y:9.25, Z:-2.90 [[ 9.98996123e-01 4.97471560e-03 4.45196306e-02 2.80753165e+02] [-5.00749969e-03 9.99987267e-01 6.24904506e-04 9.24628374e+00] [-4.45159550e-02 -8.47209215e-04 9.99008314e-01 -2.90301377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.65589822699997 meters 0.03589012572610191 Centerline is valid? [True, True] Translation: X:280.81, Y:9.25, Z:-2.91 [[ 9.99038055e-01 9.61623709e-03 4.27842615e-02 2.80813945e+02] [-9.65044755e-03 9.99953257e-01 5.93132593e-04 9.25353150e+00] [-4.27765579e-02 -1.00544930e-03 9.99084158e-01 -2.90915899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.71589822699997 meters 0.03529765763882912 Centerline is valid? [True, True] Translation: X:280.87, Y:9.26, Z:-2.91 [[ 9.98989389e-01 1.57127785e-02 4.21106716e-02 2.80874342e+02] [-1.57513073e-02 9.99875770e-01 5.83281638e-04 9.26079166e+00] [-4.20962753e-02 -1.24599030e-03 9.99112782e-01 -2.91256653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.77589822699997 meters 0.0407784674426738 Centerline is valid? [True, True] Translation: X:280.93, Y:9.27, Z:-2.92 [[ 9.98917456e-01 1.89677648e-02 4.24751649e-02 2.80933856e+02] [-1.90099023e-02 9.99819122e-01 5.88328564e-04 9.26823420e+00] [-4.24563228e-02 -1.39514041e-03 9.99097350e-01 -2.91536730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.835898227 meters 0.043142560098136364 Centerline is valid? [True, True] Translation: X:280.99, Y:9.27, Z:-2.92 [[ 9.98900843e-01 2.46447313e-02 3.98715849e-02 2.80993778e+02] [-2.46862714e-02 9.99695096e-01 5.49770955e-04 9.27257135e+00] [-3.98458790e-02 -1.53344744e-03 9.99204661e-01 -2.92127777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.895898227 meters 0.049006380451841663 Centerline is valid? [True, True] Translation: X:281.05, Y:9.28, Z:-2.93 [[ 9.98848768e-01 2.81226846e-02 3.88619701e-02 2.81053697e+02] [-2.81648012e-02 9.99603149e-01 5.36589130e-04 9.28372553e+00] [-3.88314574e-02 -1.63051105e-03 9.99244444e-01 -2.92644473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.955898227 meters 0.059742978410105126 Centerline is valid? [True, True] Translation: X:281.11, Y:9.30, Z:-2.93 [[ 9.98683404e-01 3.15919896e-02 4.04153949e-02 2.81113540e+02] [-3.16402991e-02 9.99499166e-01 5.56083543e-04 9.30215512e+00] [-4.03775857e-02 -1.83410659e-03 9.99182809e-01 -2.92841716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.015898227 meters 0.050738034064587274 Centerline is valid? [True, True] Translation: X:281.18, Y:9.30, Z:-2.93 [[ 9.98688937e-01 3.22132754e-02 3.97833099e-02 2.81176081e+02] [-3.22606298e-02 9.99479340e-01 5.48744522e-04 9.29878953e+00] [-3.97449195e-02 -1.83145972e-03 9.99208180e-01 -2.92916143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.075898227 meters 0.05753792659824557 Centerline is valid? [True, True] Translation: X:281.24, Y:9.31, Z:-2.93 [[ 9.98676303e-01 3.07209791e-02 4.12536558e-02 2.81236381e+02] [-3.07702981e-02 9.99526325e-01 5.60924530e-04 9.31194672e+00] [-4.12168828e-02 -1.82956932e-03 9.99148548e-01 -2.93143345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.135898227 meters 0.04971831005562098 Centerline is valid? [True, True] Translation: X:281.30, Y:9.30, Z:-2.93 [[ 9.98690797e-01 2.73496401e-02 4.32283266e-02 2.81297090e+02] [-2.74006240e-02 9.99624360e-01 5.87220188e-04 9.30420522e+00] [-4.31960280e-02 -1.77093452e-03 9.99065046e-01 -2.93086363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.195898227 meters 0.04547052362169633 Centerline is valid? [True, True] Translation: X:281.36, Y:9.30, Z:-2.93 [[ 9.98771632e-01 2.26991102e-02 4.40451715e-02 2.81357189e+02] [-2.27475129e-02 9.99741063e-01 5.97978395e-04 9.29936800e+00] [-4.40201930e-02 -1.59916197e-03 9.99029362e-01 -2.93194594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.255898227 meters 0.03958835540855569 Centerline is valid? [True, True] Translation: X:281.42, Y:9.29, Z:-2.93 [[ 9.98721756e-01 2.22946638e-02 4.53630057e-02 2.81419901e+02] [-2.23456124e-02 9.99750116e-01 6.16286473e-04 9.29270777e+00] [-4.53379303e-02 -1.62916285e-03 9.98970379e-01 -2.93216289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.315898227 meters 0.049887884765358284 Centerline is valid? [True, True] Translation: X:281.48, Y:9.31, Z:-2.93 [[ 9.98580494e-01 2.56113970e-02 4.67017492e-02 2.81479943e+02] [-2.56686398e-02 9.99670310e-01 6.26312133e-04 9.30918473e+00] [-4.66703114e-02 -1.82419346e-03 9.98908682e-01 -2.93361485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.375898227 meters 0.05344427933637284 Centerline is valid? [True, True] Translation: X:281.54, Y:9.32, Z:-2.94 [[ 9.98539640e-01 3.39896498e-02 4.19915615e-02 2.81539887e+02] [-3.40432848e-02 9.99420201e-01 5.62652607e-04 9.31899614e+00] [-4.19480905e-02 -1.99136162e-03 9.99117807e-01 -2.94476001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.435898227 meters 0.05721874287782388 Centerline is valid? [True, True] Translation: X:281.60, Y:9.33, Z:-2.95 [[ 9.98447722e-01 3.67857998e-02 4.18204583e-02 2.81600730e+02] [-3.68414423e-02 9.99320967e-01 5.60326125e-04 9.32582702e+00] [-4.17714487e-02 -2.10018234e-03 9.99124985e-01 -2.94844507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.49589822699994 meters 0.06555113087911414 Centerline is valid? [True, True] Translation: X:281.66, Y:9.34, Z:-2.95 [[ 9.98499339e-01 3.55309394e-02 4.16728078e-02 2.81660978e+02] [-3.55850795e-02 9.99366495e-01 5.57868616e-04 9.33545272e+00] [-4.16265863e-02 -2.03996162e-03 9.99131155e-01 -2.95384545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.55589822699994 meters 0.05263198024758722 Centerline is valid? [True, True] Translation: X:281.72, Y:9.32, Z:-2.96 [[ 9.98648151e-01 3.47454226e-02 3.86603940e-02 2.81723532e+02] [-3.47914641e-02 9.99394459e-01 5.18577241e-04 9.31624534e+00] [-3.86189653e-02 -1.86292791e-03 9.99252273e-01 -2.96030065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.61589822699995 meters 0.054326959098011475 Centerline is valid? [True, True] Translation: X:281.79, Y:9.32, Z:-2.96 [[ 9.98565057e-01 3.59829844e-02 3.96617048e-02 2.81785745e+02] [-3.60321504e-02 9.99350493e-01 5.25271428e-04 9.31635406e+00] [-3.96170434e-02 -1.95361421e-03 9.99213027e-01 -2.96113362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.67589822699995 meters 0.06308642821056759 Centerline is valid? [True, True] Translation: X:281.85, Y:9.32, Z:-2.97 [[ 9.98517369e-01 3.89646302e-02 3.80107981e-02 2.81845211e+02] [-3.90116491e-02 9.99238633e-01 4.95790773e-04 9.32353248e+00] [-3.79625396e-02 -1.97791961e-03 9.99277205e-01 -2.96732174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.73589822699995 meters 0.0688128338060517 Centerline is valid? [True, True] Translation: X:281.91, Y:9.33, Z:-2.97 [[ 9.98381471e-01 4.20241507e-02 3.83198233e-02 2.81905091e+02] [-4.20742058e-02 9.99114363e-01 5.00391167e-04 9.33114277e+00] [-3.82648574e-02 -2.11185740e-03 9.99265401e-01 -2.97041749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.79589822699995 meters 0.06329841250274096 Centerline is valid? [True, True] Translation: X:281.97, Y:9.33, Z:-2.96 [[ 9.98118263e-01 4.43024392e-02 4.23937036e-02 2.81967013e+02] [-4.43657388e-02 9.99015203e-01 5.53002059e-04 9.32618078e+00] [-4.23274550e-02 -2.43278943e-03 9.99100830e-01 -2.96496222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.85589822699995 meters 0.06353530721405945 Centerline is valid? [True, True] Translation: X:282.03, Y:9.33, Z:-2.97 [[ 9.98118656e-01 4.41738210e-02 4.25184883e-02 2.82028797e+02] [-4.42373684e-02 9.99020895e-01 5.54405476e-04 9.32924288e+00] [-4.24523681e-02 -2.43426848e-03 9.99095526e-01 -2.96775620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.91589822699996 meters 0.06379371759038455 Centerline is valid? [True, True] Translation: X:282.09, Y:9.33, Z:-2.97 [[ 9.98202424e-01 4.18121866e-02 4.29378798e-02 2.82088497e+02] [-4.18744824e-02 9.99122727e-01 5.52054256e-04 9.33111741e+00] [-4.28771289e-02 -2.34906339e-03 9.99077591e-01 -2.97045670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.97589822699996 meters 0.05220067931635177 Centerline is valid? [True, True] Translation: X:282.15, Y:9.31, Z:-2.97 [[ 9.98476757e-01 3.39120945e-02 4.35216731e-02 2.82148799e+02] [-3.39686148e-02 9.99422743e-01 5.59578185e-04 9.31477449e+00] [-4.34775735e-02 -2.03709676e-03 9.99052326e-01 -2.97393774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.03589822699996 meters 0.04805283899947082 Centerline is valid? [True, True] Translation: X:282.21, Y:9.31, Z:-2.98 [[ 9.98664093e-01 2.83857150e-02 4.31773207e-02 2.82208219e+02] [-2.84361790e-02 9.99595456e-01 5.54901108e-04 9.30598915e+00] [-4.31441023e-02 -1.78195783e-03 9.99067271e-01 -2.97811041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.09589822699996 meters 0.04515919948463459 Centerline is valid? [True, True] Translation: X:282.27, Y:9.29, Z:-2.98 [[ 9.98779182e-01 2.62210019e-02 4.18641233e-02 2.82270029e+02] [-2.62665747e-02 9.99654829e-01 5.38808342e-04 9.29397619e+00] [-4.18355449e-02 -1.63777768e-03 9.99123168e-01 -2.98153106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.15589822699997 meters 0.05002141319771124 Centerline is valid? [True, True] Translation: X:282.33, Y:9.29, Z:-2.98 [[ 9.98617968e-01 3.05926951e-02 4.27345311e-02 2.82330282e+02] [-3.06441063e-02 9.99530209e-01 5.48321222e-04 9.29214443e+00] [-4.26976801e-02 -1.85712494e-03 9.99086312e-01 -2.98346626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.21589822699997 meters 0.05261739779320917 Centerline is valid? [True, True] Translation: X:282.39, Y:9.29, Z:-2.99 [[ 9.98517675e-01 3.28139195e-02 4.34246454e-02 2.82390909e+02] [-3.28690992e-02 9.99459510e-01 5.57118098e-04 9.29218629e+00] [-4.33828936e-02 -1.98362125e-03 9.99056550e-01 -2.98507082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.27589822699997 meters 0.06064120614501255 Centerline is valid? [True, True] Translation: X:282.45, Y:9.29, Z:-2.99 [[ 9.98248493e-01 4.03182008e-02 4.32942035e-02 2.82451430e+02] [-4.03800611e-02 9.99184239e-01 5.54910174e-04 9.29452084e+00] [-4.32365128e-02 -2.30216083e-03 9.99062212e-01 -2.98857587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.335898227 meters 0.06702639044656432 Centerline is valid? [True, True] Translation: X:282.51, Y:9.30, Z:-2.99 [[ 9.98098321e-01 4.44667731e-02 4.26901423e-02 2.82511655e+02] [-4.45306938e-02 9.99007867e-01 5.47072062e-04 9.29828494e+00] [-4.26234614e-02 -2.44705336e-03 9.99088211e-01 -2.99411665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.395898227 meters 0.07351916214854137 Centerline is valid? [True, True] Translation: X:282.57, Y:9.30, Z:-3.00 [[ 9.97971569e-01 4.87483174e-02 4.09432405e-02 2.82570797e+02] [-4.88106821e-02 9.98807911e-01 5.24334533e-04 9.30020250e+00] [-4.08688721e-02 -2.52173845e-03 9.99161336e-01 -3.00073530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.455898227 meters 0.07722363094209597 Centerline is valid? [True, True] Translation: X:282.63, Y:9.30, Z:-3.00 [[ 9.97845957e-01 5.14797479e-02 4.06605608e-02 2.82630924e+02] [-5.15435286e-02 9.98670613e-01 5.21151049e-04 9.30169037e+00] [-4.05796784e-02 -2.61581724e-03 9.99172882e-01 -3.00449516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.515898227 meters 0.07662182985200512 Centerline is valid? [True, True] Translation: X:282.69, Y:9.29, Z:-3.00 [[ 9.97809574e-01 5.04276329e-02 4.28148109e-02 2.82692590e+02] [-5.04973960e-02 9.98724042e-01 5.48780052e-04 9.29182823e+00] [-4.27325073e-02 -2.70961445e-03 9.99082875e-01 -3.00383111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.575898227 meters 0.06417980057274264 Centerline is valid? [True, True] Translation: X:282.75, Y:9.27, Z:-3.00 [[ 9.97909700e-01 4.79657065e-02 4.33072950e-02 2.82753701e+02] [-4.80347337e-02 9.98845512e-01 5.54089017e-04 9.27096212e+00] [-4.32307200e-02 -2.63318519e-03 9.99061645e-01 -3.00466635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.635898227 meters 0.07406221033647464 Centerline is valid? [True, True] Translation: X:282.81, Y:9.28, Z:-3.01 [[ 9.97918285e-01 4.93638115e-02 4.15007316e-02 2.82813299e+02] [-4.94283758e-02 9.98777530e-01 5.30456799e-04 9.27947934e+00] [-4.14238128e-02 -2.58066630e-03 9.99138333e-01 -3.01143399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.695898227 meters 0.07300234737208863 Centerline is valid? [True, True] Translation: X:282.87, Y:9.28, Z:-3.01 [[ 9.97825617e-01 5.23804900e-02 4.00040251e-02 2.82873372e+02] [-5.24428869e-02 9.98623794e-01 5.11255834e-04 9.27799365e+00] [-3.99221915e-02 -2.60807073e-03 9.99199388e-01 -3.01467525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.755898227 meters 0.07139908197871402 Centerline is valid? [True, True] Translation: X:282.93, Y:9.28, Z:-3.02 [[ 9.97750254e-01 5.41463724e-02 3.95297583e-02 2.82933870e+02] [-5.42086965e-02 9.98529500e-01 5.05707802e-04 9.27685772e+00] [-3.94442475e-02 -2.64742676e-03 9.99218266e-01 -3.01791662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.815898227 meters 0.06913711683049421 Centerline is valid? [True, True] Translation: X:283.00, Y:9.27, Z:-3.02 [[ 9.97844749e-01 5.24306595e-02 3.94573479e-02 2.82995025e+02] [-5.24914021e-02 9.98621249e-01 5.04325213e-04 9.27300045e+00] [-3.93765039e-02 -2.57440978e-03 9.99221128e-01 -3.02187674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.875898227 meters 0.07750857250742152 Centerline is valid? [True, True] Translation: X:283.05, Y:9.28, Z:-3.02 [[ 9.97995184e-01 4.83179703e-02 4.08777007e-02 2.83054438e+02] [-4.83797071e-02 9.98828880e-01 5.21812740e-04 9.28323438e+00] [-4.08046151e-02 -2.49841779e-03 9.99164021e-01 -3.02421543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.935898227 meters 0.061815990034929685 Centerline is valid? [True, True] Translation: X:283.12, Y:9.26, Z:-3.02 [[ 9.98116692e-01 4.43191390e-02 4.24132311e-02 2.83116005e+02] [-4.43820381e-02 9.99014485e-01 5.42077329e-04 9.26401462e+00] [-4.23474078e-02 -2.42344207e-03 9.99100007e-01 -3.02176059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.99589822699994 meters 0.06359358680535884 Centerline is valid? [True, True] Translation: X:283.18, Y:9.27, Z:-3.02 [[ 9.98053001e-01 4.53698155e-02 4.27993749e-02 2.83178238e+02] [-4.54348265e-02 9.98967155e-01 5.46958871e-04 9.26806576e+00] [-4.27303544e-02 -2.49047612e-03 9.99083537e-01 -3.02408267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.05589822699994 meters 0.06814923047800835 Centerline is valid? [True, True] Translation: X:283.24, Y:9.28, Z:-3.03 [[ 9.97934809e-01 4.89198089e-02 4.16289396e-02 2.83238325e+02] [-4.89842967e-02 9.98799408e-01 5.29887175e-04 9.27718844e+00] [-4.15530383e-02 -2.56795719e-03 9.99132999e-01 -3.02871464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.11589822699995 meters 0.07604542456210447 Centerline is valid? [True, True] Translation: X:283.30, Y:9.29, Z:-3.04 [[ 9.97923027e-01 5.07855648e-02 3.96290007e-02 2.83297826e+02] [-5.08454546e-02 9.98706406e-01 5.04203479e-04 9.29012468e+00] [-3.95521306e-02 -2.51811082e-03 9.99214335e-01 -3.03509061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.17589822699995 meters 0.07453410809706541 Centerline is valid? [True, True] Translation: X:283.36, Y:9.29, Z:-3.03 [[ 9.97655398e-01 5.41425798e-02 4.18603330e-02 2.83358222e+02] [-5.42123531e-02 9.98529287e-01 5.32608061e-04 9.29284500e+00] [-4.17699317e-02 -2.80070646e-03 9.99123330e-01 -3.03372464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.23589822699995 meters 0.07422689611478205 Centerline is valid? [True, True] Translation: X:283.42, Y:9.30, Z:-3.04 [[ 9.97622957e-01 5.60181225e-02 4.01298659e-02 2.83418654e+02] [-5.60837490e-02 9.98425937e-01 5.10568671e-04 9.30038599e+00] [-4.00380979e-02 -2.75998835e-03 9.99194342e-01 -3.03935526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.29589822699995 meters 0.07109338417605857 Centerline is valid? [True, True] Translation: X:283.48, Y:9.30, Z:-3.04 [[ 9.97669569e-01 5.53077273e-02 3.99560541e-02 2.83481319e+02] [-5.53722160e-02 9.98465653e-01 5.08280339e-04 9.29937574e+00] [-3.98666358e-02 -2.71955109e-03 9.99201309e-01 -3.04166800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.35589822699995 meters 0.07034956375592691 Centerline is valid? [True, True] Translation: X:283.54, Y:9.30, Z:-3.04 [[ 9.97594744e-01 5.30294323e-02 4.46386108e-02 2.83540788e+02] [-5.31075331e-02 9.98588640e-01 5.64696385e-04 9.30090403e+00] [-4.45456641e-02 -2.93398465e-03 9.99003041e-01 -3.03717428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.41589822699996 meters 0.07140820041230282 Centerline is valid? [True, True] Translation: X:283.60, Y:9.30, Z:-3.04 [[ 9.97598263e-01 5.35552770e-02 4.39265125e-02 2.83602354e+02] [-5.36314575e-02 9.98560643e-01 5.56772916e-04 9.30360434e+00] [-4.38334684e-02 -2.91127858e-03 9.99034610e-01 -3.04095590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.47589822699996 meters 0.07754913940863102 Centerline is valid? [True, True] Translation: X:283.66, Y:9.31, Z:-3.05 [[ 9.97665175e-01 5.46457200e-02 4.09639291e-02 2.83661976e+02] [-5.47126030e-02 9.98502012e-01 5.12579397e-04 9.31352490e+00] [-4.08745553e-02 -2.75262580e-03 9.99160495e-01 -3.04916126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.53589822699996 meters 0.0809149830175123 Centerline is valid? [True, True] Translation: X:283.72, Y:9.32, Z:-3.05 [[ 9.97473891e-01 5.76239060e-02 4.15370084e-02 2.83722090e+02] [-5.76952443e-02 9.98334107e-01 5.19756435e-04 9.31900028e+00] [-4.14378617e-02 -2.91493132e-03 9.99136831e-01 -3.05190480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.59589822699996 meters 0.07821750198098985 Centerline is valid? [True, True] Translation: X:283.78, Y:9.32, Z:-3.05 [[ 9.97570268e-01 5.53198704e-02 4.23470469e-02 2.83782614e+02] [-5.53919550e-02 9.98464546e-01 5.29862760e-04 9.31533588e+00] [-4.22527131e-02 -2.87426106e-03 9.99102821e-01 -3.05305281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.65589822699997 meters 0.06761761893296486 Centerline is valid? [True, True] Translation: X:283.84, Y:9.30, Z:-3.05 [[ 9.97778609e-01 5.04086288e-02 4.35524721e-02 2.83843341e+02] [-5.04802188e-02 9.98724912e-01 5.44838998e-04 9.29974879e+00] [-4.34694743e-02 -2.74216702e-03 9.99050992e-01 -3.05396893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.71589822699997 meters 0.06687885846157765 Centerline is valid? [True, True] Translation: X:283.90, Y:9.29, Z:-3.05 [[ 9.97945003e-01 4.52891172e-02 4.53284364e-02 2.83903160e+02] [-4.53613950e-02 9.98970481e-01 5.66669252e-04 9.29260948e+00] [-4.52561060e-02 -2.62166586e-03 9.98971977e-01 -3.05484455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.77589822699997 meters 0.06800134999417809 Centerline is valid? [True, True] Translation: X:283.96, Y:9.29, Z:-3.06 [[ 9.97874552e-01 4.64021646e-02 4.57517001e-02 2.83964723e+02] [-4.64769845e-02 9.98919197e-01 5.72373788e-04 9.28974433e+00] [-4.56756921e-02 -2.69755829e-03 9.98952679e-01 -3.05703970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.835898227 meters 0.07265018548740369 Centerline is valid? [True, True] Translation: X:284.03, Y:9.29, Z:-3.06 [[ 9.97800530e-01 4.99275306e-02 4.36044140e-02 2.84025551e+02] [-4.99985497e-02 9.98749145e-01 5.38957056e-04 9.29106773e+00] [-4.35229624e-02 -2.71792910e-03 9.99048730e-01 -3.06334523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.895898227 meters 0.07494368722248554 Centerline is valid? [True, True] Translation: X:284.09, Y:9.29, Z:-3.07 [[ 9.97810966e-01 5.02490987e-02 4.29919190e-02 2.84086996e+02] [-5.03184290e-02 9.98733084e-01 5.31331520e-04 9.28798557e+00] [-4.29107529e-02 -2.69345424e-03 9.99075279e-01 -3.06844832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.955898227 meters 0.06821501781833211 Centerline is valid? [True, True] Translation: X:284.15, Y:9.27, Z:-3.07 [[ 9.97862049e-01 4.85906213e-02 4.37067734e-02 2.84148114e+02] [-4.86603931e-02 9.98815239e-01 5.33247752e-04 9.27490037e+00] [-4.36290805e-02 -2.65889647e-03 9.99044260e-01 -3.07027365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.015898227 meters 0.06962336462135515 Centerline is valid? [True, True] Translation: X:284.21, Y:9.27, Z:-3.07 [[ 9.97861222e-01 4.82449625e-02 4.41067457e-02 2.84209253e+02] [-4.83156740e-02 9.98831971e-01 5.37935277e-04 9.27474665e+00] [-4.40292751e-02 -2.66783190e-03 9.99026679e-01 -3.07322146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.075898227 meters 0.06589057551617258 Centerline is valid? [True, True] Translation: X:284.27, Y:9.27, Z:-3.08 [[ 9.97822144e-01 4.95936435e-02 4.34906908e-02 2.84270507e+02] [-4.96634868e-02 9.98765869e-01 5.26283709e-04 9.27197219e+00] [-4.34109173e-02 -2.68503689e-03 9.99053694e-01 -3.07674631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.135898227 meters 0.06743046586895643 Centerline is valid? [True, True] Translation: X:284.33, Y:9.27, Z:-3.08 [[ 9.97816267e-01 5.03178948e-02 4.27879238e-02 2.84332270e+02] [-5.03861490e-02 9.98729677e-01 5.17535369e-04 9.27499320e+00] [-4.27075280e-02 -2.67232391e-03 9.99084043e-01 -3.08109439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.195898227 meters 0.06700670435395627 Centerline is valid? [True, True] Translation: X:284.39, Y:9.28, Z:-3.09 [[ 9.97942926e-01 4.96255870e-02 4.05859388e-02 2.84393998e+02] [-4.96861703e-02 9.98764762e-01 4.84763990e-04 9.27642177e+00] [-4.05117488e-02 -2.50032666e-03 9.99175934e-01 -3.08756148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.255898227 meters 0.06982829593178833 Centerline is valid? [True, True] Translation: X:284.45, Y:9.28, Z:-3.09 [[ 9.98013807e-01 4.88086524e-02 3.98265802e-02 2.84454962e+02] [-4.88660862e-02 9.98805229e-01 4.69322421e-04 9.28498206e+00] [-3.97560896e-02 -2.41455936e-03 9.99206497e-01 -3.09279954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.315898227 meters 0.06969617797269956 Centerline is valid? [True, True] Translation: X:284.52, Y:9.29, Z:-3.10 [[ 9.97969294e-01 5.00249905e-02 3.94307963e-02 2.84516408e+02] [-5.00819638e-02 9.98745006e-01 4.57832381e-04 9.28902615e+00] [-3.93584078e-02 -2.43167437e-03 9.99222199e-01 -3.09620457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.375898227 meters 0.07505120126453804 Centerline is valid? [True, True] Translation: X:284.58, Y:9.30, Z:-3.10 [[ 9.97917078e-01 5.30121108e-02 3.67589675e-02 2.84575848e+02] [-5.30636021e-02 9.98591044e-01 4.25900051e-04 9.30281338e+00] [-3.66845979e-02 -2.37557616e-03 9.99324070e-01 -3.10210176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.435898227 meters 0.07215479422734843 Centerline is valid? [True, True] Translation: X:284.64, Y:9.31, Z:-3.10 [[ 9.97709586e-01 5.46295885e-02 3.98897201e-02 2.84637997e+02] [-5.46915171e-02 9.98503192e-01 4.62086088e-04 9.30519639e+00] [-3.98047692e-02 -2.64265703e-03 9.99203982e-01 -3.09972702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.49589822699994 meters 0.07614877985333453 Centerline is valid? [True, True] Translation: X:284.70, Y:9.31, Z:-3.10 [[ 9.97753255e-01 5.34876042e-02 4.03425113e-02 2.84698704e+02] [-5.35499372e-02 9.98565064e-01 4.65296340e-04 9.31434820e+00] [-4.02597348e-02 -2.62458988e-03 9.99185801e-01 -3.10271656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.55589822699994 meters 0.07485537390153009 Centerline is valid? [True, True] Translation: X:284.76, Y:9.31, Z:-3.11 [[ 9.97915746e-01 5.03462525e-02 4.03660476e-02 2.84758537e+02] [-5.04060553e-02 9.98728699e-01 4.64476850e-04 9.31493747e+00] [-4.02913455e-02 -2.49820199e-03 9.99184851e-01 -3.10521769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.61589822699995 meters 0.07624507080835903 Centerline is valid? [True, True] Translation: X:284.82, Y:9.32, Z:-3.11 [[ 9.97765106e-01 5.21958176e-02 4.17179895e-02 2.84819424e+02] [-5.22613107e-02 9.98633329e-01 4.80107708e-04 9.31794602e+00] [-4.16359151e-02 -2.65927153e-03 9.99129310e-01 -3.10541353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.67589822699995 meters 0.07327110758738568 Centerline is valid? [True, True] Translation: X:284.88, Y:9.32, Z:-3.10 [[ 9.97569844e-01 5.42666993e-02 4.36981809e-02 2.84880310e+02] [-5.43405210e-02 9.98522336e-01 5.02394844e-04 9.31575091e+00] [-4.36063464e-02 -2.87575586e-03 9.99044652e-01 -3.10490410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.73589822699995 meters 0.07313584735280967 Centerline is valid? [True, True] Translation: X:284.94, Y:9.32, Z:-3.11 [[ 9.97293567e-01 5.93785382e-02 4.33558624e-02 2.84940373e+02] [-5.94559882e-02 9.98230804e-01 4.97939184e-04 9.31810002e+00] [-4.32495905e-02 -3.07435719e-03 9.99059568e-01 -3.10861751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.79589822699995 meters 0.07876559480249672 Centerline is valid? [True, True] Translation: X:285.00, Y:9.32, Z:-3.12 [[ 9.96940771e-01 6.64730937e-02 4.11147986e-02 2.85000479e+02] [-6.65487227e-02 9.97783065e-01 4.72036412e-04 9.32499418e+00] [-4.09922720e-02 -3.20672967e-03 9.99154318e-01 -3.11572705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.85589822699995 meters 0.08695096824223365 Centerline is valid? [True, True] Translation: X:285.06, Y:9.34, Z:-3.12 [[ 9.96746661e-01 6.79008681e-02 4.34231144e-02 2.85060745e+02] [-6.79865791e-02 9.97686111e-01 4.98412021e-04 9.33858234e+00] [-4.32887955e-02 -3.44897952e-03 9.99056647e-01 -3.11599458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.91589822699996 meters 0.07644936251299568 Centerline is valid? [True, True] Translation: X:285.12, Y:9.33, Z:-3.12 [[ 9.97159911e-01 6.11060452e-02 4.40245637e-02 2.85121506e+02] [-6.11875423e-02 9.98126159e-01 5.04765059e-04 9.32596252e+00] [-4.39112245e-02 -3.19708633e-03 9.99030321e-01 -3.11987118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.97589822699996 meters 0.06093351828149711 Centerline is valid? [True, True] Translation: X:285.18, Y:9.30, Z:-3.13 [[ 9.97978492e-01 4.64644111e-02 4.33588363e-02 2.85181665e+02] [-4.65296876e-02 9.98916784e-01 4.96954466e-04 9.30362116e+00] [-4.32887787e-02 -2.51342298e-03 9.99059440e-01 -3.12594441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.03589822699996 meters 0.04928634755208193 Centerline is valid? [True, True] Translation: X:285.24, Y:9.28, Z:-3.13 [[ 9.98427463e-01 3.38371820e-02 4.46950301e-02 2.85242414e+02] [-3.38939224e-02 9.99425305e-01 5.12071200e-04 9.28433738e+00] [-4.46520170e-02 -2.02615583e-03 9.99000547e-01 -3.12613412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.09589822699996 meters 0.03202736508794006 Centerline is valid? [True, True] Translation: X:285.30, Y:9.25, Z:-3.13 [[ 9.98906410e-01 1.62138905e-02 4.38530853e-02 2.85302811e+02] [-1.62515398e-02 9.99867809e-01 5.02134140e-04 9.25244074e+00] [-4.38391467e-02 -1.21426517e-03 9.99037865e-01 -3.13103434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.15589822699997 meters 0.025586908293905586 Centerline is valid? [True, True] Translation: X:285.36, Y:9.24, Z:-3.13 [[ 9.98973819e-01 9.35140731e-03 4.43154574e-02 2.85362510e+02] [-9.38309213e-03 9.99955849e-01 5.07022683e-04 9.23597870e+00] [-4.43087595e-02 -9.22318405e-04 9.99017459e-01 -3.13362955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.21589822699997 meters 0.025277052617573775 Centerline is valid? [True, True] Translation: X:285.43, Y:9.23, Z:-3.14 [[ 9.98998752e-01 8.92903931e-03 4.38379579e-02 2.85425182e+02] [-8.95966330e-03 9.99959735e-01 5.02137091e-04 9.22571852e+00] [-4.38317091e-02 -8.94407669e-04 9.99038528e-01 -3.13747812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.27589822699997 meters 0.030922999632043213 Centerline is valid? [True, True] Translation: X:285.49, Y:9.23, Z:-3.14 [[ 9.98927283e-01 1.39523546e-02 4.41544545e-02 2.85486070e+02] [-1.39882035e-02 9.99902034e-01 5.03014669e-04 9.22975423e+00] [-4.41431106e-02 -1.12011657e-03 9.99024590e-01 -3.14000568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.335898227 meters 0.041825619004545685 Centerline is valid? [True, True] Translation: X:285.55, Y:9.24, Z:-3.14 [[ 9.98793273e-01 2.28110142e-02 4.34931714e-02 2.85546135e+02] [-2.28541632e-02 9.99738687e-01 4.95046948e-04 9.24165355e+00] [-4.34705135e-02 -1.48844960e-03 9.99053602e-01 -3.14471650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.395898227 meters 0.04748636563399801 Centerline is valid? [True, True] Translation: X:285.61, Y:9.25, Z:-3.15 [[ 9.98768693e-01 2.76291851e-02 4.12034810e-02 2.85606180e+02] [-2.76719553e-02 9.99616949e-01 4.67944082e-04 9.24677578e+00] [-4.11747690e-02 -1.60754878e-03 9.99150666e-01 -3.15158475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.455898227 meters 0.04281085971857534 Centerline is valid? [True, True] Translation: X:285.67, Y:9.24, Z:-3.16 [[ 9.98833233e-01 2.74086019e-02 3.97610397e-02 2.85669246e+02] [-2.74483095e-02 9.99623122e-01 4.52995675e-04 9.24003873e+00] [-3.97336387e-02 -1.54384046e-03 9.99209115e-01 -3.15557579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.515898227 meters 0.048344047790111346 Centerline is valid? [True, True] Translation: X:285.73, Y:9.25, Z:-3.16 [[ 9.98862003e-01 2.68861106e-02 3.93933590e-02 2.85729919e+02] [-2.69243824e-02 9.99637376e-01 4.41227799e-04 9.24899110e+00] [-3.93672111e-02 -1.50136754e-03 9.99223683e-01 -3.16037201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.575898227 meters 0.04163609198419305 Centerline is valid? [True, True] Translation: X:285.79, Y:9.24, Z:-3.16 [[ 9.98793104e-01 2.63279197e-02 4.14629366e-02 2.85792840e+02] [-2.63695442e-02 9.99652159e-01 4.57209105e-04 9.24099419e+00] [-4.14364767e-02 -1.55001604e-03 9.99139938e-01 -3.15819965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.635898227 meters 0.04289457941027191 Centerline is valid? [True, True] Translation: X:285.85, Y:9.24, Z:-3.16 [[ 9.98818047e-01 2.62676360e-02 4.08964558e-02 2.85854465e+02] [-2.63080172e-02 9.99653783e-01 4.49445854e-04 9.24049597e+00] [-4.08704909e-02 -1.52481929e-03 9.99163289e-01 -3.16018462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.695898227 meters 0.04414391874308658 Centerline is valid? [True, True] Translation: X:285.92, Y:9.24, Z:-3.16 [[ 9.98747719e-01 2.90584090e-02 4.07259476e-02 2.85915836e+02] [-2.91004392e-02 9.99576396e-01 4.39464410e-04 9.24083924e+00] [-4.06959258e-02 -1.62405704e-03 9.99170258e-01 -3.16335383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.755898227 meters 0.04963890303736261 Centerline is valid? [True, True] Translation: X:285.98, Y:9.25, Z:-3.16 [[ 9.98384851e-01 3.76549662e-02 4.25416490e-02 2.85976693e+02] [-3.77085665e-02 9.99288674e-01 4.57912222e-04 9.24844198e+00] [-4.24941454e-02 -2.06135723e-03 9.99094589e-01 -3.16217923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.815898227 meters 0.06411919580876276 Centerline is valid? [True, True] Translation: X:286.04, Y:9.27, Z:-3.17 [[ 9.98233152e-01 4.28842520e-02 4.11280230e-02 2.86036666e+02] [-4.29387687e-02 9.99077608e-01 4.42679511e-04 9.26747753e+00] [-4.10711028e-02 -2.20788403e-03 9.99153787e-01 -3.16789457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.875898227 meters 0.06172126432507044 Centerline is valid? [True, True] Translation: X:286.10, Y:9.26, Z:-3.17 [[ 9.98088466e-01 4.57768851e-02 4.15197609e-02 2.86097434e+02] [-4.58348925e-02 9.98948930e-01 4.45744900e-04 9.26231728e+00] [-4.14557159e-02 -2.34794662e-03 9.99137584e-01 -3.16805458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.935898227 meters 0.0620617670764013 Centerline is valid? [True, True] Translation: X:286.16, Y:9.26, Z:-3.17 [[ 9.97956706e-01 4.70264891e-02 4.32541696e-02 2.86159888e+02] [-4.70906097e-02 9.98890514e-01 4.64138214e-04 9.26209229e+00] [-4.31843530e-02 -2.50005507e-03 9.99063993e-01 -3.16660878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.99589822699994 meters 0.07301844891865004 Centerline is valid? [True, True] Translation: X:286.22, Y:9.28, Z:-3.17 [[ 9.97799563e-01 5.10911762e-02 4.22578356e-02 2.86219591e+02] [-5.11559135e-02 9.98690577e-01 4.51319671e-04 9.27696444e+00] [-4.21794438e-02 -2.61206475e-03 9.99106637e-01 -3.17119403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.05589822699994 meters 0.07501633654908622 Centerline is valid? [True, True] Translation: X:286.28, Y:9.28, Z:-3.17 [[ 9.97582945e-01 5.53501984e-02 4.20074297e-02 2.86280591e+02] [-5.54179174e-02 9.98463146e-01 4.48397199e-04 9.28082577e+00] [-4.19180515e-02 -2.77527767e-03 9.99117198e-01 -3.17427061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.11589822699995 meters 0.07250991291570529 Centerline is valid? [True, True] Translation: X:286.34, Y:9.28, Z:-3.18 [[ 9.97563231e-01 5.66075467e-02 4.07821692e-02 2.86341934e+02] [-5.66723936e-02 9.98392734e-01 4.34815567e-04 9.27762482e+00] [-4.06920075e-02 -2.74497916e-03 9.99167967e-01 -3.17861799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.17589822699995 meters 0.07094438982469448 Centerline is valid? [True, True] Translation: X:286.40, Y:9.28, Z:-3.19 [[ 9.97779152e-01 5.45084747e-02 3.82830301e-02 2.86402984e+02] [-5.45640368e-02 9.98510190e-01 4.07253150e-04 9.27571944e+00] [-3.82037969e-02 -2.49522537e-03 9.99266853e-01 -3.18533397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.23589822699995 meters 0.06324741529035006 Centerline is valid? [True, True] Translation: X:286.46, Y:9.27, Z:-3.19 [[ 9.97929086e-01 5.18155065e-02 3.81142152e-02 2.86463465e+02] [-5.18686045e-02 9.98653836e-01 4.04960134e-04 9.26759356e+00] [-3.80419240e-02 -2.38105265e-03 9.99273307e-01 -3.18857395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.29589822699995 meters 0.07051337387444148 Centerline is valid? [True, True] Translation: X:286.52, Y:9.28, Z:-3.19 [[ 9.97915008e-01 5.10753453e-02 3.94581578e-02 2.86523637e+02] [-5.11316767e-02 9.98691832e-01 4.19109366e-04 9.27654911e+00] [-3.93851338e-02 -2.43579729e-03 9.99221136e-01 -3.19123062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.35589822699995 meters 0.07022790506732067 Centerline is valid? [True, True] Translation: X:286.58, Y:9.27, Z:-3.20 [[ 9.98018007e-01 4.96267836e-02 3.86941987e-02 2.86584734e+02] [-4.96798546e-02 9.98765109e-01 4.10645185e-04 9.27435255e+00] [-3.86260366e-02 -2.33215346e-03 9.99251015e-01 -3.19662954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.41589822699996 meters 0.07229030967355854 Centerline is valid? [True, True] Translation: X:286.65, Y:9.28, Z:-3.20 [[ 9.97949494e-01 5.11004478e-02 3.85428548e-02 2.86645878e+02] [-5.11541659e-02 9.98690685e-01 4.08190590e-04 9.27747709e+00] [-3.84715313e-02 -2.37898118e-03 9.99256865e-01 -3.20036335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.47589822699996 meters 0.07614086749048048 Centerline is valid? [True, True] Translation: X:286.71, Y:9.28, Z:-3.20 [[ 9.97746849e-01 5.41519212e-02 3.96080056e-02 2.86706108e+02] [-5.42110038e-02 9.98529415e-01 4.18401808e-04 9.28464720e+00] [-3.95271014e-02 -2.56464883e-03 9.99215207e-01 -3.20225662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.53589822699996 meters 0.07490150630977999 Centerline is valid? [True, True] Translation: X:286.77, Y:9.29, Z:-3.20 [[ 9.97559343e-01 5.67162005e-02 4.07262685e-02 2.86767084e+02] [-5.67807932e-02 9.98386577e-01 4.30129542e-04 9.28757458e+00] [-4.06361644e-02 -2.74154957e-03 9.99170249e-01 -3.20348147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.59589822699996 meters 0.07247701325650785 Centerline is valid? [True, True] Translation: X:286.83, Y:9.29, Z:-3.20 [[ 9.97444474e-01 5.80708129e-02 4.16209376e-02 2.86828952e+02] [-5.81394848e-02 9.98308372e-01 4.40381715e-04 9.28853626e+00] [-4.15249572e-02 -2.85907618e-03 9.99133376e-01 -3.20497805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.65589822699997 meters 0.07496298967901975 Centerline is valid? [True, True] Translation: X:286.89, Y:9.30, Z:-3.20 [[ 9.97020590e-01 6.28626179e-02 4.47016229e-02 2.86889558e+02] [-6.29462894e-02 9.98016808e-01 4.65248777e-04 9.29561185e+00] [-4.45837242e-02 -3.27766390e-03 9.99000275e-01 -3.20436374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.71589822699997 meters 0.08965999637392187 Centerline is valid? [True, True] Translation: X:286.95, Y:9.33, Z:-3.21 [[ 9.96626008e-01 6.88384111e-02 4.46975828e-02 2.86948809e+02] [-6.89280359e-02 9.97621526e-01 4.65180673e-04 9.32512112e+00] [-4.45592485e-02 -3.54452775e-03 9.99000455e-01 -3.20824998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.77589822699997 meters 0.09474961692116261 Centerline is valid? [True, True] Translation: X:287.01, Y:9.34, Z:-3.22 [[ 9.96471533e-01 7.26836821e-02 4.19710081e-02 2.87008681e+02] [-7.27660277e-02 9.97348944e-01 4.35575822e-04 9.33781263e+00] [-4.18280814e-02 -3.48810245e-03 9.99118734e-01 -3.21655804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.835898227 meters 0.0919996729864715 Centerline is valid? [True, True] Translation: X:287.07, Y:9.34, Z:-3.22 [[ 9.96255397e-01 7.63961384e-02 4.04822674e-02 2.87069045e+02] [-7.64757729e-02 9.97071351e-01 4.19949768e-04 9.34481685e+00] [-4.03316265e-02 -3.51428991e-03 9.99180169e-01 -3.22147377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.895898227 meters 0.08926980956072096 Centerline is valid? [True, True] Translation: X:287.13, Y:9.35, Z:-3.22 [[ 9.96319390e-01 7.53745398e-02 4.08209621e-02 2.87130533e+02] [-7.54546696e-02 9.97149143e-01 4.23621806e-04 9.34970708e+00] [-4.06726571e-02 -3.50219483e-03 9.99166387e-01 -3.22347251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.955898227 meters 0.08813771279775379 Centerline is valid? [True, True] Translation: X:287.19, Y:9.35, Z:-3.23 [[ 9.96541970e-01 7.32500730e-02 3.92240736e-02 2.87190513e+02] [-7.33223560e-02 9.97308211e-01 4.05512529e-04 9.35300256e+00] [-3.90887869e-02 -3.28011175e-03 9.99230358e-01 -3.22904091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.015898227 meters 0.0891784664664245 Centerline is valid? [True, True] Translation: X:287.25, Y:9.36, Z:-3.23 [[ 9.96722761e-01 7.06166177e-02 3.94592385e-02 2.87249877e+02] [-7.06877086e-02 9.97498412e-01 4.07611668e-04 9.35516270e+00] [-3.93317435e-02 -3.19555898e-03 9.99221098e-01 -3.23080820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.075898227 meters 0.08808351734090264 Centerline is valid? [True, True] Translation: X:287.31, Y:9.36, Z:-3.23 [[ 9.96694036e-01 7.08911678e-02 3.96918205e-02 2.87312793e+02] [-7.09633988e-02 9.97478835e-01 4.12097577e-04 9.36005034e+00] [-3.95625368e-02 -3.22740168e-03 9.99211884e-01 -3.23147044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.135898227 meters 0.08553088807915635 Centerline is valid? [True, True] Translation: X:287.37, Y:9.36, Z:-3.23 [[ 9.96573253e-01 7.23362620e-02 4.01150321e-02 2.87373488e+02] [-7.24108632e-02 9.97374804e-01 4.07938002e-04 9.35949652e+00] [-3.99802135e-02 -3.31130420e-03 9.99194985e-01 -3.23215789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.195898227 meters 0.09027214916114751 Centerline is valid? [True, True] Translation: X:287.43, Y:9.37, Z:-3.23 [[ 9.96337173e-01 7.52288503e-02 4.06553617e-02 2.87434337e+02] [-7.53078164e-02 9.97160249e-01 4.12190061e-04 9.37475670e+00] [-4.05089020e-02 -3.47234680e-03 9.99173144e-01 -3.23341698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.255898227 meters 0.09286592560547043 Centerline is valid? [True, True] Translation: X:287.50, Y:9.38, Z:-3.23 [[ 9.96231186e-01 7.60251776e-02 4.17563827e-02 2.87495706e+02] [-7.61091798e-02 9.97099400e-01 4.23396660e-04 9.38481307e+00] [-4.16030753e-02 -3.59984499e-03 9.99127732e-01 -3.23468399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.315898227 meters 0.08849224404970767 Centerline is valid? [True, True] Translation: X:287.56, Y:9.39, Z:-3.23 [[ 9.96512003e-01 7.07115336e-02 4.43137350e-02 2.87556558e+02] [-7.08006079e-02 9.97490390e-01 4.41855474e-04 9.38728860e+00] [-4.41712805e-02 -3.57775366e-03 9.99017566e-01 -3.23432399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.375898227 meters 0.08805400220300282 Centerline is valid? [True, True] Translation: X:287.62, Y:9.39, Z:-3.24 [[ 9.96595770e-01 6.90007511e-02 4.51194862e-02 2.87617620e+02] [-6.90913383e-02 9.97610237e-01 4.49470004e-04 9.39190129e+00] [-4.49806476e-02 -3.56530559e-03 9.98981496e-01 -3.23527315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.435898227 meters 0.08752046871483422 Centerline is valid? [True, True] Translation: X:287.68, Y:9.40, Z:-3.24 [[ 9.96514125e-01 7.07211993e-02 4.42505520e-02 2.87678837e+02] [-7.08099912e-02 9.97489725e-01 4.40373725e-04 9.40032028e+00] [-4.41083271e-02 -3.57221983e-03 9.99020368e-01 -3.24009838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.49589822699994 meters 0.09593793689240739 Centerline is valid? [True, True] Translation: X:287.74, Y:9.42, Z:-3.25 [[ 9.96457274e-01 7.31032002e-02 4.15791225e-02 2.87737510e+02] [-7.31835999e-02 9.97318400e-01 4.12797550e-04 9.42088417e+00] [-4.14374471e-02 -3.45424499e-03 9.99135129e-01 -3.24893919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.55589822699994 meters 0.09119213576390812 Centerline is valid? [True, True] Translation: X:287.80, Y:9.42, Z:-3.25 [[ 9.96449634e-01 7.44156183e-02 3.93756706e-02 2.87798540e+02] [-7.44887318e-02 9.97221779e-01 3.90959376e-04 9.42274008e+00] [-3.92371828e-02 -3.32261509e-03 9.99224401e-01 -3.25454230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.61589822699995 meters 0.09984804842977946 Centerline is valid? [True, True] Translation: X:287.86, Y:9.45, Z:-3.26 [[ 9.96428137e-01 7.50386951e-02 3.87319184e-02 2.87859270e+02] [-7.51099100e-02 9.97175187e-01 3.84769423e-04 9.44745235e+00] [-3.85936354e-02 -3.29254599e-03 9.99249564e-01 -3.25976265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.67589822699995 meters 0.08764246865864067 Centerline is valid? [True, True] Translation: X:287.92, Y:9.44, Z:-3.26 [[ 9.96704906e-01 7.09362514e-02 3.93367320e-02 2.87919547e+02] [-7.10062587e-02 9.97475796e-01 3.83675199e-04 9.43789579e+00] [-3.92102215e-02 -3.17556512e-03 9.99225938e-01 -3.26155764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.73589822699995 meters 0.0854823674456024 Centerline is valid? [True, True] Translation: X:287.98, Y:9.44, Z:-3.26 [[ 9.97323659e-01 5.94844714e-02 4.25101960e-02 2.87979510e+02] [-5.95558922e-02 9.98224886e-01 4.14502854e-04 9.43674169e+00] [-4.24100791e-02 -2.94512615e-03 9.99095947e-01 -3.26034680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.79589822699995 meters 0.06787776589874323 Centerline is valid? [True, True] Translation: X:288.04, Y:9.41, Z:-3.26 [[ 9.97701864e-01 5.16561696e-02 4.38478182e-02 2.88040181e+02] [-5.17246361e-02 9.98661294e-01 4.27583887e-04 9.41098082e+00] [-4.37670315e-02 -2.69461368e-03 9.99038130e-01 -3.25994315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.85589822699995 meters 0.06856356074279754 Centerline is valid? [True, True] Translation: X:288.10, Y:9.41, Z:-3.26 [[ 9.97644962e-01 5.17553283e-02 4.50101704e-02 2.88102288e+02] [-5.18275941e-02 9.98655951e-01 4.39268856e-04 9.40997402e+00] [-4.49269400e-02 -2.77100320e-03 9.98986432e-01 -3.26075030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.91589822699996 meters 0.06640491148756647 Centerline is valid? [True, True] Translation: X:288.16, Y:9.40, Z:-3.27 [[ 9.97497596e-01 5.59328694e-02 4.32442004e-02 2.88162966e+02] [-5.60031577e-02 9.98430506e-01 4.14670654e-04 9.40306808e+00] [-4.31531351e-02 -2.83544475e-03 9.99064446e-01 -3.26613127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.97589822699996 meters 0.07521768190729496 Centerline is valid? [True, True] Translation: X:288.22, Y:9.41, Z:-3.27 [[ 9.97442676e-01 5.74816056e-02 4.24732105e-02 2.88222828e+02] [-5.75508015e-02 9.98342496e-01 4.07217364e-04 9.41331746e+00] [-4.23794034e-02 -2.85054328e-03 9.99097523e-01 -3.27138313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.03589822699996 meters 0.07578233806175495 Centerline is valid? [True, True] Translation: X:288.28, Y:9.41, Z:-3.28 [[ 9.97398019e-01 5.90625469e-02 4.13377216e-02 2.88284144e+02] [-5.91293377e-02 9.98250252e-01 3.93876900e-04 9.41061565e+00] [-4.12421276e-02 -2.83712414e-03 9.99145153e-01 -3.27638049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.09589822699996 meters 0.07974838061248021 Centerline is valid? [True, True] Translation: X:288.34, Y:9.41, Z:-3.28 [[ 9.97479554e-01 5.77377202e-02 4.12419119e-02 2.88344917e+02] [-5.78030359e-02 9.98327930e-01 3.92023039e-04 9.40880691e+00] [-4.11503181e-02 -2.77494268e-03 9.99149114e-01 -3.27991272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.15589822699997 meters 0.06535807577455968 Centerline is valid? [True, True] Translation: X:288.41, Y:9.38, Z:-3.28 [[ 9.97619119e-01 5.45619340e-02 4.21792374e-02 2.88405653e+02] [-5.46273836e-02 9.98506730e-01 3.99817253e-04 9.38032508e+00] [-4.20944376e-02 -2.70300672e-03 9.99109980e-01 -3.27956292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.21589822699997 meters 0.06374670809161964 Centerline is valid? [True, True] Translation: X:288.47, Y:9.37, Z:-3.28 [[ 9.97674460e-01 5.33866642e-02 4.23737603e-02 2.88467634e+02] [-5.34516766e-02 9.98570356e-01 4.01955117e-04 9.36880876e+00] [-4.22917218e-02 -2.66596889e-03 9.99101748e-01 -3.28157850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.27589822699997 meters 0.07505783842093502 Centerline is valid? [True, True] Translation: X:288.53, Y:9.37, Z:-3.28 [[ 9.97715938e-01 5.23790266e-02 4.26537656e-02 2.88528165e+02] [-5.24438822e-02 9.98623792e-01 4.02192125e-04 9.36918602e+00] [-4.25739987e-02 -2.63820255e-03 9.99089833e-01 -3.28439466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.335898227 meters 0.074071384971306 Centerline is valid? [True, True] Translation: X:288.59, Y:9.36, Z:-3.29 [[ 9.97657171e-01 5.30923639e-02 4.31435935e-02 2.88590525e+02] [-5.31593916e-02 9.98585957e-01 4.06994462e-04 9.36111949e+00] [-4.30609783e-02 -2.69952812e-03 9.99068799e-01 -3.28621803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.395898227 meters 0.06833857284276681 Centerline is valid? [True, True] Translation: X:288.65, Y:9.35, Z:-3.28 [[ 9.97376249e-01 5.61722846e-02 4.56650124e-02 2.88651785e+02] [-5.62502423e-02 9.98416612e-01 4.22940955e-04 9.34712795e+00] [-4.55689494e-02 -2.99049927e-03 9.98956720e-01 -3.28487592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.455898227 meters 0.06978502309426679 Centerline is valid? [True, True] Translation: X:288.71, Y:9.35, Z:-3.28 [[ 9.97256339e-01 5.62479069e-02 4.81244888e-02 2.88714152e+02] [-5.63345841e-02 9.98411847e-01 4.45603699e-04 9.34517204e+00] [-4.80229954e-02 -3.15545417e-03 9.98841246e-01 -3.28333960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.515898227 meters 0.06735756223957387 Centerline is valid? [True, True] Translation: X:288.77, Y:9.34, Z:-3.29 [[ 9.97420172e-01 5.25119083e-02 4.89438440e-02 2.88773442e+02] [-5.25967035e-02 9.98615736e-01 4.45306610e-04 9.34108327e+00] [-4.88527089e-02 -3.01844264e-03 9.98801433e-01 -3.28517098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.575898227 meters 0.05965903154081456 Centerline is valid? [True, True] Translation: X:288.83, Y:9.33, Z:-3.29 [[ 9.97756223e-01 4.58921160e-02 4.87486673e-02 2.88834519e+02] [-4.59683915e-02 9.98942796e-01 4.44115417e-04 9.32958816e+00] [-4.86767486e-02 -2.68401674e-03 9.98810978e-01 -3.28846353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.635898227 meters 0.0523764225421705 Centerline is valid? [True, True] Translation: X:288.89, Y:9.32, Z:-3.29 [[ 9.98198802e-01 3.50162046e-02 4.87136239e-02 2.88894534e+02] [-3.50794513e-02 9.99384428e-01 4.43749170e-04 9.31729995e+00] [-4.86680987e-02 -2.15179708e-03 9.98812688e-01 -3.29156675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.695898227 meters 0.04271942063195465 Centerline is valid? [True, True] Translation: X:288.96, Y:9.30, Z:-3.30 [[ 9.98524980e-01 2.70013479e-02 4.71040577e-02 2.88955037e+02] [-2.70515750e-02 9.99633947e-01 4.29036595e-04 9.30215531e+00] [-4.70752305e-02 -1.70264270e-03 9.98889896e-01 -3.29691488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.755898227 meters 0.03984415331496686 Centerline is valid? [True, True] Translation: X:289.02, Y:9.30, Z:-3.30 [[ 9.98600642e-01 2.53836442e-02 4.63942721e-02 2.89016178e+02] [-2.54306121e-02 9.99676500e-01 4.22315165e-04 9.29730832e+00] [-4.63685437e-02 -1.60155893e-03 9.98923117e-01 -3.30119947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.815898227 meters 0.039117191042124515 Centerline is valid? [True, True] Translation: X:289.08, Y:9.29, Z:-3.31 [[ 9.98730527e-01 2.50776159e-02 4.36857849e-02 2.89077989e+02] [-2.51189464e-02 9.99684391e-01 3.97322849e-04 9.29374007e+00] [-4.36620334e-02 -1.49415935e-03 9.99045241e-01 -3.30946883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.875898227 meters 0.04307848915714813 Centerline is valid? [True, True] Translation: X:289.14, Y:9.29, Z:-3.32 [[ 9.98855256e-01 2.35208898e-02 4.16526767e-02 2.89140399e+02] [-2.35568239e-02 9.99722430e-01 3.72035184e-04 9.29073592e+00] [-4.16323645e-02 -1.35281407e-03 9.99132081e-01 -3.31692621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.935898227 meters 0.03160924672438627 Centerline is valid? [True, True] Translation: X:289.20, Y:9.28, Z:-3.32 [[ 9.98867250e-01 1.84353395e-02 4.38674681e-02 2.89200874e+02] [-1.84701066e-02 9.99829338e-01 3.87333100e-04 9.27996295e+00] [-4.38528409e-02 -1.19713116e-03 9.99037284e-01 -3.31540439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.99589822699994 meters 0.02341369174069125 Centerline is valid? [True, True] Translation: X:289.26, Y:9.27, Z:-3.32 [[ 9.98994013e-01 1.10086770e-02 4.34715076e-02 2.89261267e+02] [-1.10358059e-02 9.99939030e-01 3.84117673e-04 9.26856679e+00] [-4.34646285e-02 -8.63474374e-04 9.99054593e-01 -3.31861584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.05589822699994 meters 0.020633766358688656 Centerline is valid? [True, True] Translation: X:289.32, Y:9.26, Z:-3.32 [[ 9.98994600e-01 7.45986882e-03 4.42056600e-02 2.89321978e+02] [-7.48444584e-03 9.99971915e-01 3.90485287e-04 9.26368267e+00] [-4.42015055e-02 -7.20947561e-04 9.99022376e-01 -3.32030270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.11589822699995 meters 0.014822269149118262 Centerline is valid? [True, True] Translation: X:289.38, Y:9.25, Z:-3.32 [[ 9.98894224e-01 1.25714341e-03 4.69973301e-02 2.89383294e+02] [-1.27801063e-03 9.99999098e-01 4.13963180e-04 9.25472473e+00] [-4.69967673e-02 -4.73568517e-04 9.98894929e-01 -3.31821513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.17589822699995 meters 0.011484617133493094 Centerline is valid? [True, True] Translation: X:289.45, Y:9.25, Z:-3.32 [[ 9.98933343e-01 -2.93403928e-03 4.60821806e-02 2.89445356e+02] [ 2.91847038e-03 9.99995659e-01 4.05127674e-04 9.24989649e+00] [-4.60831693e-02 -2.70206062e-04 9.98937570e-01 -3.32153862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.23589822699995 meters 0.009443168092576287 Centerline is valid? [True, True] Translation: X:289.51, Y:9.24, Z:-3.32 [[ 9.98850519e-01 -9.13160881e-03 4.70558657e-02 2.89507192e+02] [ 9.12261242e-03 9.99958306e-01 4.05941295e-04 9.24110002e+00] [-4.70576106e-02 2.37977513e-05 9.98892177e-01 -3.32271580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.29589822699995 meters 0.012335211013622316 Centerline is valid? [True, True] Translation: X:289.57, Y:9.23, Z:-3.33 [[ 9.98816626e-01 -1.49739125e-02 4.62723439e-02 2.89567794e+02] [ 1.49718316e-02 9.99887839e-01 3.91566189e-04 9.23300897e+00] [-4.62730173e-02 3.01678922e-04 9.98928785e-01 -3.32743569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.35589822699995 meters 0.013518673198922415 Centerline is valid? [True, True] Translation: X:289.63, Y:9.23, Z:-3.33 [[ 9.98841862e-01 -1.64739951e-02 4.52055486e-02 2.89629701e+02] [ 1.64736966e-02 9.99864228e-01 3.79170491e-04 9.23424261e+00] [-4.52056574e-02 3.65971131e-04 9.98977635e-01 -3.33129934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.41589822699996 meters 0.014272345752460875 Centerline is valid? [True, True] Translation: X:289.69, Y:9.24, Z:-3.33 [[ 9.98776735e-01 -1.62846942e-02 4.66887825e-02 2.89691517e+02] [ 1.62845385e-02 9.99867324e-01 3.83719342e-04 9.23988602e+00] [-4.66888367e-02 3.77055325e-04 9.98909410e-01 -3.33135184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.47589822699996 meters 0.014450295974497462 Centerline is valid? [True, True] Translation: X:289.75, Y:9.25, Z:-3.33 [[ 9.98773492e-01 -1.70437294e-02 4.64868049e-02 2.89753600e+02] [ 1.70447823e-02 9.99854657e-01 3.73772562e-04 9.24733099e+00] [-4.64864188e-02 4.19043343e-04 9.98918834e-01 -3.33408784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.53589822699996 meters 0.014887624379746977 Centerline is valid? [True, True] Translation: X:289.82, Y:9.25, Z:-3.34 [[ 9.98838012e-01 -1.81574758e-02 4.46422702e-02 2.89815426e+02] [ 1.81596450e-02 9.99835036e-01 3.56988183e-04 9.25322980e+00] [-4.46413879e-02 4.54114411e-04 9.99002973e-01 -3.34044034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.59589822699996 meters 0.01677415505246824 Centerline is valid? [True, True] Translation: X:289.88, Y:9.26, Z:-3.34 [[ 9.98863581e-01 -2.07830069e-02 4.28907070e-02 2.89876894e+02] [ 2.07874867e-02 9.99783858e-01 3.41597799e-04 9.26121230e+00] [-4.28885359e-02 5.50380401e-04 9.99079712e-01 -3.34497525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.65589822699997 meters 0.020486296737554945 Centerline is valid? [True, True] Translation: X:289.94, Y:9.26, Z:-3.35 [[ 9.98820604e-01 -2.20192853e-02 4.32730061e-02 2.89937748e+02] [ 2.20253094e-02 9.99757356e-01 3.37614306e-04 9.26227660e+00] [-4.32699402e-02 6.15885223e-04 9.99063228e-01 -3.34904134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.71589822699997 meters 0.020489076056315527 Centerline is valid? [True, True] Translation: X:290.00, Y:9.27, Z:-3.35 [[ 9.98789688e-01 -2.46826546e-02 4.25432214e-02 2.90000122e+02] [ 2.46911988e-02 9.99695073e-01 3.24692553e-04 9.27247814e+00] [-4.25382631e-02 7.26143562e-04 9.99094575e-01 -3.35178847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.77589822699997 meters 0.021948513224363978 Centerline is valid? [True, True] Translation: X:290.06, Y:9.28, Z:-3.36 [[ 9.98759076e-01 -2.47977671e-02 4.31900292e-02 2.90062191e+02] [ 2.48067463e-02 9.99692211e-01 3.28121550e-04 9.27725487e+00] [-4.31848725e-02 7.43689722e-04 9.99066821e-01 -3.35500585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.835898227 meters 0.0258021282506298 Centerline is valid? [True, True] Translation: X:290.12, Y:9.28, Z:-3.36 [[ 9.98693389e-01 -2.56278179e-02 4.42123317e-02 2.90123563e+02] [ 2.56384093e-02 9.99671228e-01 3.27563248e-04 9.27930583e+00] [-4.42061906e-02 8.06398607e-04 9.99022103e-01 -3.35705673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.895898227 meters 0.023843191850212473 Centerline is valid? [True, True] Translation: X:290.19, Y:9.29, Z:-3.36 [[ 9.98659159e-01 -2.65954763e-02 4.44135695e-02 2.90185180e+02] [ 2.66074195e-02 9.99645908e-01 3.22330630e-04 9.28966385e+00] [-4.44064155e-02 8.59832038e-04 9.99013179e-01 -3.35855475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.955898227 meters 0.02729035914097647 Centerline is valid? [True, True] Translation: X:290.25, Y:9.30, Z:-3.36 [[ 9.98574253e-01 -2.62260139e-02 4.64936264e-02 2.90246160e+02] [ 2.62390524e-02 9.99655642e-01 3.29950629e-04 9.29546986e+00] [-4.64862693e-02 8.90468499e-04 9.98918532e-01 -3.35822994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.015898227 meters 0.023973184866458448 Centerline is valid? [True, True] Translation: X:290.31, Y:9.31, Z:-3.36 [[ 9.98460165e-01 -2.72089865e-02 4.83422269e-02 2.90308351e+02] [ 2.72246026e-02 9.99629286e-01 3.35492508e-04 9.30805568e+00] [-4.83334342e-02 9.81122015e-04 9.98830775e-01 -3.35755424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.075898227 meters 0.025663362016914697 Centerline is valid? [True, True] Translation: X:290.37, Y:9.32, Z:-3.37 [[ 9.98507540e-01 -2.96390996e-02 4.58717336e-02 2.90369618e+02] [ 2.96558027e-02 9.99560120e-01 3.16520062e-04 9.31627076e+00] [-4.58609369e-02 1.04431541e-03 9.98947288e-01 -3.36594673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.135898227 meters 0.03155915514711052 Centerline is valid? [True, True] Translation: X:290.43, Y:9.31, Z:-3.37 [[ 9.98474667e-01 -3.38341764e-02 4.36301317e-02 2.90429116e+02] [ 3.38535979e-02 9.99426759e-01 2.93865655e-04 9.31366159e+00] [-4.36150639e-02 1.18361953e-03 9.99047709e-01 -3.37293805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.195898227 meters 0.0414896282059114 Centerline is valid? [True, True] Translation: X:290.49, Y:9.30, Z:-3.38 [[ 9.98099449e-01 -4.29157059e-02 4.42236694e-02 2.90490103e+02] [ 4.29445559e-02 9.99077413e-01 2.97914464e-04 9.30471115e+00] [-4.41956544e-02 1.60181758e-03 9.99021611e-01 -3.37527453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.255898227 meters 0.05080777440639964 Centerline is valid? [True, True] Translation: X:290.55, Y:9.30, Z:-3.38 [[ 9.97743335e-01 -5.16761245e-02 4.28697476e-02 2.90550041e+02] [ 5.17113268e-02 9.98662033e-01 2.88125650e-04 9.29706934e+00] [-4.28272785e-02 1.92937608e-03 9.99080628e-01 -3.38068470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.315898227 meters 0.05491100593983948 Centerline is valid? [True, True] Translation: X:290.61, Y:9.29, Z:-3.39 [[ 9.97635732e-01 -5.49802730e-02 4.12324502e-02 2.90610641e+02] [ 5.50156301e-02 9.98485455e-01 2.77560854e-04 9.29486581e+00] [-4.11852622e-02 1.99152460e-03 9.99149542e-01 -3.38650402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.375898227 meters 0.059029779915276956 Centerline is valid? [True, True] Translation: X:290.67, Y:9.29, Z:-3.39 [[ 9.97453282e-01 -5.80942173e-02 4.13764773e-02 2.90671154e+02] [ 5.81324970e-02 9.98308838e-01 2.78433941e-04 9.29348828e+00] [-4.13226783e-02 2.12759309e-03 9.99143588e-01 -3.38853643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.435898227 meters 0.05829897788049543 Centerline is valid? [True, True] Translation: X:290.73, Y:9.30, Z:-3.39 [[ 9.97270625e-01 -5.90690764e-02 4.42961070e-02 2.90733461e+02] [ 5.91139159e-02 9.98251199e-01 2.98095079e-04 9.29646854e+00] [-4.42362501e-02 2.32123488e-03 9.99018401e-01 -3.38615749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.49589822699994 meters 0.06298941443090902 Centerline is valid? [True, True] Translation: X:290.79, Y:9.29, Z:-3.39 [[ 9.97072302e-01 -6.39149129e-02 4.19727075e-02 2.90794282e+02] [ 6.39595282e-02 9.97952454e-01 2.80423590e-04 9.28793335e+00] [-4.19046897e-02 2.40495198e-03 9.99118718e-01 -3.39261788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.55589822699994 meters 0.06959263160191194 Centerline is valid? [True, True] Translation: X:290.85, Y:9.28, Z:-3.40 [[ 9.96952221e-01 -6.54974426e-02 4.23834057e-02 2.90854290e+02] [ 6.55443830e-02 9.97849615e-01 2.82648859e-04 9.27893768e+00] [-4.23107779e-02 2.49620677e-03 9.99101380e-01 -3.39500774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.61589822699995 meters 0.060877740849375146 Centerline is valid? [True, True] Translation: X:290.92, Y:9.29, Z:-3.39 [[ 9.97010307e-01 -6.07479598e-02 4.77507399e-02 2.90915028e+02] [ 6.08021371e-02 9.98149788e-01 3.18442465e-04 9.29245488e+00] [-4.76817357e-02 2.58585662e-03 9.98859232e-01 -3.38746610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.67589822699995 meters 0.05305331419269392 Centerline is valid? [True, True] Translation: X:290.98, Y:9.31, Z:-3.39 [[ 9.97343243e-01 -5.58265171e-02 4.67958993e-02 2.90975762e+02] [ 5.58731410e-02 9.98437827e-01 3.12139504e-04 9.30680849e+00] [-4.67402216e-02 2.30332365e-03 9.98904423e-01 -3.39098365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.73589822699995 meters 0.052045962764185855 Centerline is valid? [True, True] Translation: X:291.04, Y:9.32, Z:-3.40 [[ 9.97622893e-01 -5.25460853e-02 4.45810672e-02 2.91035288e+02] [ 5.25851383e-02 9.98616400e-01 2.97094300e-04 9.31604701e+00] [-4.45349960e-02 2.04791351e-03 9.99005726e-01 -3.39834070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.79589822699995 meters 0.05181201627839807 Centerline is valid? [True, True] Translation: X:291.10, Y:9.32, Z:-3.40 [[ 9.97525930e-01 -5.44085012e-02 4.45166643e-02 2.91096718e+02] [ 5.44492869e-02 9.98516493e-01 2.96747717e-04 9.32202980e+00] [-4.44667692e-02 2.12788709e-03 9.99008598e-01 -3.40150280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.85589822699995 meters 0.05836423194586855 Centerline is valid? [True, True] Translation: X:291.16, Y:9.32, Z:-3.40 [[ 9.97321366e-01 -5.77218629e-02 4.49252673e-02 2.91156757e+02] [ 5.77668036e-02 9.98330059e-01 2.98348362e-04 9.32436354e+00] [-4.48674660e-02 2.29763990e-03 9.98990306e-01 -3.40410442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.91589822699996 meters 0.05779171150545121 Centerline is valid? [True, True] Translation: X:291.22, Y:9.33, Z:-3.41 [[ 9.97218132e-01 -5.88548213e-02 4.57395685e-02 2.91218730e+02] [ 5.89025971e-02 9.98263689e-01 3.03745057e-04 9.33279798e+00] [-4.56780273e-02 2.39127930e-03 9.98953352e-01 -3.40614126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.97589822699996 meters 0.0611384754786391 Centerline is valid? [True, True] Translation: X:291.28, Y:9.34, Z:-3.41 [[ 9.97109089e-01 -6.13177008e-02 4.48732118e-02 2.91279200e+02] [ 6.13662596e-02 9.98115271e-01 2.95908653e-04 9.34246933e+00] [-4.48067824e-02 2.45864796e-03 9.98992646e-01 -3.41088284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.03589822699996 meters 0.06825161918975467 Centerline is valid? [True, True] Translation: X:291.34, Y:9.34, Z:-3.42 [[ 9.96627936e-01 -6.96225316e-02 4.34218926e-02 2.91340002e+02] [ 6.96758863e-02 9.97569641e-01 2.85320765e-04 9.34252127e+00] [-4.33362265e-02 2.74110020e-03 9.99056784e-01 -3.41802694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.09589822699996 meters 0.07147019422160344 Centerline is valid? [True, True] Translation: X:291.40, Y:9.34, Z:-3.42 [[ 9.96208871e-01 -7.65763886e-02 4.12788373e-02 2.91400603e+02] [ 7.66305589e-02 9.97059519e-01 2.70709549e-04 9.34273477e+00] [-4.11781876e-02 2.89353712e-03 9.99147629e-01 -3.42368659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.15589822699997 meters 0.08662503245578347 Centerline is valid? [True, True] Translation: X:291.46, Y:9.33, Z:-3.43 [[ 9.95746402e-01 -8.22182726e-02 4.15843588e-02 2.91460429e+02] [ 8.22781468e-02 9.96609368e-01 2.72507348e-04 9.32605003e+00] [-4.14657667e-02 3.15013577e-03 9.99134959e-01 -3.42713824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.21589822699997 meters 0.07847814180252043 Centerline is valid? [True, True] Translation: X:291.52, Y:9.34, Z:-3.43 [[ 9.95945289e-01 -7.87363824e-02 4.35150916e-02 2.91521077e+02] [ 7.87986495e-02 9.96890511e-01 2.85158482e-04 9.34098312e+00] [-4.34022342e-02 3.14492820e-03 9.99052729e-01 -3.42617346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.27589822699997 meters 0.07232190247209526 Centerline is valid? [True, True] Translation: X:291.58, Y:9.35, Z:-3.43 [[ 9.96267742e-01 -7.47751460e-02 4.31191865e-02 2.91581577e+02] [ 7.48326045e-02 9.97196070e-01 2.82284248e-04 9.34679894e+00] [-4.30193912e-02 2.94549034e-03 9.99069895e-01 -3.42952797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.335898227 meters 0.06978934855884852 Centerline is valid? [True, True] Translation: X:291.64, Y:9.35, Z:-3.43 [[ 9.96389495e-01 -7.20453730e-02 4.49159135e-02 2.91642367e+02] [ 7.21049880e-02 9.97397004e-01 2.93585687e-04 9.35261576e+00] [-4.48201491e-02 2.94613571e-03 9.98990728e-01 -3.43083520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.395898227 meters 0.06913906478003777 Centerline is valid? [True, True] Translation: X:291.70, Y:9.35, Z:-3.43 [[ 9.96380094e-01 -7.10423228e-02 4.66872270e-02 2.91704383e+02] [ 7.11056443e-02 9.97468743e-01 3.05178678e-04 9.35489054e+00] [-4.65907302e-02 3.01565139e-03 9.98909510e-01 -3.43103505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.455898227 meters 0.06912780523647698 Centerline is valid? [True, True] Translation: X:291.77, Y:9.36, Z:-3.44 [[ 9.96504380e-01 -7.03587252e-02 4.50407622e-02 2.91766742e+02] [ 7.04170202e-02 9.97517598e-01 2.93011629e-04 9.36114665e+00] [-4.49495688e-02 2.87964889e-03 9.98985107e-01 -3.43661889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.515898227 meters 0.06953331549541493 Centerline is valid? [True, True] Translation: X:291.83, Y:9.37, Z:-3.44 [[ 9.96351280e-01 -7.24513027e-02 4.51102552e-02 2.91827651e+02] [ 7.25120331e-02 9.97367495e-01 2.90783081e-04 9.36810601e+00] [-4.50125698e-02 2.98131422e-03 9.98981972e-01 -3.43976770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.575898227 meters 0.06798576818674279 Centerline is valid? [True, True] Translation: X:291.89, Y:9.38, Z:-3.44 [[ 9.96073767e-01 -7.57962860e-02 4.57381098e-02 2.91887912e+02] [ 7.58622542e-02 9.97118264e-01 2.94280646e-04 9.37663561e+00] [-4.56286100e-02 3.17667088e-03 9.98953422e-01 -3.44201562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.635898227 meters 0.07630088046048457 Centerline is valid? [True, True] Translation: X:291.95, Y:9.38, Z:-3.45 [[ 9.95930400e-01 -7.86827627e-02 4.39506767e-02 2.91947583e+02] [ 7.87464670e-02 9.96894635e-01 2.82674858e-04 9.37750065e+00] [-4.38364355e-02 3.17943603e-03 9.99033662e-01 -3.44842626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.695898227 meters 0.08174898895788515 Centerline is valid? [True, True] Translation: X:292.01, Y:9.38, Z:-3.45 [[ 9.95921718e-01 -7.94791232e-02 4.26966088e-02 2.92008736e+02] [ 7.95399591e-02 9.96831640e-01 2.74777340e-04 9.37940827e+00] [-4.25831696e-02 3.12242979e-03 9.99088046e-01 -3.45400359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.755898227 meters 0.08369457247870785 Centerline is valid? [True, True] Translation: X:292.07, Y:9.38, Z:-3.46 [[ 9.95801473e-01 -8.07602209e-02 4.30954041e-02 2.92069831e+02] [ 8.08235354e-02 9.96728389e-01 2.74025666e-04 9.38086021e+00] [-4.29765431e-02 3.21024776e-03 9.99070924e-01 -3.45701663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.815898227 meters 0.08808838737772609 Centerline is valid? [True, True] Translation: X:292.13, Y:9.38, Z:-3.46 [[ 9.95400201e-01 -8.56330426e-02 4.29583677e-02 2.92129828e+02] [ 8.57005084e-02 9.96320907e-01 2.72060899e-04 9.38229556e+00] [-4.28236173e-02 3.41074448e-03 9.99076826e-01 -3.46085883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.875898227 meters 0.09439903615182427 Centerline is valid? [True, True] Translation: X:292.19, Y:9.38, Z:-3.46 [[ 9.95054294e-01 -8.95754555e-02 4.29323786e-02 2.92189465e+02] [ 8.96464667e-02 9.95973613e-01 2.72249850e-04 9.37681465e+00] [-4.27839031e-02 3.57783267e-03 9.99077943e-01 -3.46397433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.935898227 meters 0.09548241971922997 Centerline is valid? [True, True] Translation: X:292.25, Y:9.38, Z:-3.47 [[ 9.95024838e-01 -9.06700249e-02 4.12858226e-02 2.92250147e+02] [ 9.07365974e-02 9.95874892e-01 2.62394403e-04 9.37636264e+00] [-4.11393054e-02 3.48504611e-03 9.99147342e-01 -3.46862023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.99589822699994 meters 0.08346420855709985 Centerline is valid? [True, True] Translation: X:292.31, Y:9.39, Z:-3.47 [[ 9.95291437e-01 -8.84389326e-02 3.96675077e-02 2.92310690e+02] [ 8.84986682e-02 9.96076264e-01 2.50959150e-04 9.39098390e+00] [-3.95340574e-02 3.26074410e-03 9.99212903e-01 -3.47234647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.05589822699994 meters 0.08277175777289618 Centerline is valid? [True, True] Translation: X:292.37, Y:9.39, Z:-3.47 [[ 9.95389413e-01 -8.53761901e-02 4.37129663e-02 2.92370544e+02] [ 8.54458217e-02 9.96342780e-01 2.76446605e-04 9.39100169e+00] [-4.35767003e-02 3.45991830e-03 9.99044093e-01 -3.46908583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.11589822699995 meters 0.07965728764216073 Centerline is valid? [True, True] Translation: X:292.43, Y:9.39, Z:-3.47 [[ 9.95551767e-01 -8.35630096e-02 4.35189915e-02 2.92431499e+02] [ 8.36302983e-02 9.96496813e-01 2.75316456e-04 9.39299284e+00] [-4.33895426e-02 3.36541446e-03 9.99052562e-01 -3.47291645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.17589822699995 meters 0.08410622321447331 Centerline is valid? [True, True] Translation: X:292.49, Y:9.39, Z:-3.48 [[ 9.95505417e-01 -8.47801252e-02 4.22053874e-02 2.92491428e+02] [ 8.48445035e-02 9.96394169e-01 2.66777626e-04 9.38599405e+00] [-4.20758193e-02 3.31531657e-03 9.99108920e-01 -3.47830674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.23589822699995 meters 0.0931027342081517 Centerline is valid? [True, True] Translation: X:292.55, Y:9.37, Z:-3.48 [[ 9.95252719e-01 -8.65874448e-02 4.44369089e-02 2.92551339e+02] [ 8.66607189e-02 9.96237844e-01 2.78445273e-04 9.37388989e+00] [-4.42938402e-02 3.57381105e-03 9.99012154e-01 -3.47663340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.29589822699995 meters 0.08044528185511605 Centerline is valid? [True, True] Translation: X:292.61, Y:9.39, Z:-3.48 [[ 9.95134040e-01 -8.84387069e-02 4.34377354e-02 2.92612261e+02] [ 8.85105410e-02 9.96075203e-01 2.70517118e-04 9.39301548e+00] [-4.32911753e-02 3.57549667e-03 9.99056100e-01 -3.48051847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.35589822699995 meters 0.08703455832777483 Centerline is valid? [True, True] Translation: X:292.67, Y:9.39, Z:-3.48 [[ 9.94747276e-01 -9.22750283e-02 4.43077377e-02 2.92673256e+02] [ 9.23535796e-02 9.95726238e-01 2.75233561e-04 9.38793133e+00] [-4.41437742e-02 3.81819035e-03 9.99017892e-01 -3.48182863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.41589822699996 meters 0.09492457950240563 Centerline is valid? [True, True] Translation: X:292.73, Y:9.37, Z:-3.49 [[ 9.94124751e-01 -9.96903164e-02 4.21642090e-02 2.92732869e+02] [ 9.97680695e-02 9.95010685e-01 2.61424854e-04 9.37259262e+00] [-4.19799000e-02 3.94675281e-03 9.99110660e-01 -3.48890855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.47589822699996 meters 0.11524626598314615 Centerline is valid? [True, False] Translation: X:292.74, Y:9.37, Z:-3.50 [[ 9.94671896e-01 -9.32351204e-02 4.39889943e-02 2.92739115e+02] [ 9.38288502e-02 9.95520449e-01 -1.16268049e-02 9.36600107e+00] [-4.27079168e-02 1.56922928e-02 9.98964357e-01 -3.49577434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.53589822699996 meters 0.11430256412245567 Centerline is valid? [False, False] Translation: X:292.74, Y:9.36, Z:-3.49 [[ 9.95792015e-01 -8.13257860e-02 4.22419227e-02 2.92738454e+02] [ 8.21254068e-02 9.96467477e-01 -1.75494710e-02 9.35776617e+00] [-4.06654777e-02 2.09447582e-02 9.98953270e-01 -3.49421504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.59589822699996 meters 0.10043194680005252 Centerline is valid? [False, False] Translation: X:292.74, Y:9.35, Z:-3.49 [[ 9.97127770e-01 -6.60363252e-02 3.70865703e-02 2.92736478e+02] [ 6.67450982e-02 9.97603898e-01 -1.82086264e-02 9.34532953e+00] [-3.57952763e-02 2.06316738e-02 9.99146152e-01 -3.49049068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.65589822699997 meters 0.09434084989287854 Centerline is valid? [False, True] Translation: X:292.74, Y:9.33, Z:-3.49 [[ 9.98217740e-01 -5.05624720e-02 3.16982788e-02 2.92740125e+02] [ 5.12040066e-02 9.98492626e-01 -1.97642358e-02 9.33495370e+00] [-3.06511690e-02 2.13520896e-02 9.99302053e-01 -3.49104108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.71589822699997 meters 0.0920757629905477 Centerline is valid? [True, True] Translation: X:292.80, Y:9.32, Z:-3.50 [[ 9.98396550e-01 -4.78756444e-02 3.02035023e-02 2.92799946e+02] [ 4.79345319e-02 9.98849724e-01 -1.22823719e-03 9.32216251e+00] [-3.01099573e-02 2.67405852e-03 9.99543016e-01 -3.49648144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.77589822699997 meters 0.08931072764637404 Centerline is valid? [True, True] Translation: X:292.86, Y:9.32, Z:-3.50 [[ 9.98556727e-01 -4.35951493e-02 3.13676022e-02 2.92860779e+02] [ 4.36565685e-02 9.99045783e-01 -1.27552221e-03 9.31554191e+00] [-3.12820641e-02 2.64308315e-03 9.99507102e-01 -3.49809581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.835898227 meters 0.08694394467749102 Centerline is valid? [True, True] Translation: X:292.92, Y:9.31, Z:-3.50 [[ 9.98447544e-01 -4.42173559e-02 3.38722100e-02 2.92922496e+02] [ 4.42893328e-02 9.99017797e-01 -1.37723810e-03 9.31235454e+00] [-3.37780428e-02 2.87527758e-03 9.99425223e-01 -3.49614295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.895898227 meters 0.08803310408472728 Centerline is valid? [True, True] Translation: X:292.98, Y:9.30, Z:-3.50 [[ 9.98384095e-01 -4.47380857e-02 3.50385874e-02 2.92984305e+02] [ 4.48154690e-02 9.98994265e-01 -1.42587110e-03 9.30102744e+00] [-3.49395571e-02 2.99383775e-03 9.99384943e-01 -3.49687138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.955898227 meters 0.08622949794477146 Centerline is valid? [True, True] Translation: X:293.05, Y:9.30, Z:-3.50 [[ 9.98468674e-01 -4.31824633e-02 3.45771977e-02 2.93045107e+02] [ 4.32569532e-02 9.99062987e-01 -1.40878774e-03 9.29674766e+00] [-3.44839634e-02 2.90233465e-03 9.99401037e-01 -3.49993506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.015898227 meters 0.08905430487910933 Centerline is valid? [True, True] Translation: X:293.10, Y:9.29, Z:-3.51 [[ 9.98716651e-01 -4.00611305e-02 3.09864084e-02 2.93103649e+02] [ 4.01194711e-02 9.99194092e-01 -1.26309934e-03 9.28514877e+00] [-3.09108350e-02 2.50463666e-03 9.99519008e-01 -3.50805893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.075898227 meters 0.08301693183258613 Centerline is valid? [True, True] Translation: X:293.16, Y:9.29, Z:-3.51 [[ 9.98788196e-01 -3.66170018e-02 3.28836480e-02 2.93164399e+02] [ 3.66808373e-02 9.99326133e-01 -1.33988933e-03 9.28696672e+00] [-3.28124261e-02 2.54446539e-03 9.99458288e-01 -3.50590500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.135898227 meters 0.08093486961297837 Centerline is valid? [True, True] Translation: X:293.22, Y:9.28, Z:-3.51 [[ 9.98815206e-01 -3.47233096e-02 3.40950902e-02 2.93224899e+02] [ 3.47908507e-02 9.99393649e-01 -1.38951517e-03 9.28373354e+00] [-3.40261680e-02 2.57406607e-03 9.99417627e-01 -3.50632587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.195898227 meters 0.07827690546863172 Centerline is valid? [True, True] Translation: X:293.29, Y:9.28, Z:-3.51 [[ 9.98878843e-01 -3.37902505e-02 3.31553450e-02 2.93286442e+02] [ 3.38536135e-02 9.99425888e-01 -1.35143022e-03 9.28217725e+00] [-3.30906450e-02 2.47234329e-03 9.99449297e-01 -3.51044921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.255898227 meters 0.08333442289911017 Centerline is valid? [True, True] Translation: X:293.35, Y:9.28, Z:-3.51 [[ 9.98902803e-01 -3.37539091e-02 3.24632749e-02 2.93347317e+02] [ 3.38146690e-02 9.99427243e-01 -1.32430744e-03 9.27640394e+00] [-3.23999808e-02 2.42058931e-03 9.99472052e-01 -3.51258660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.315898227 meters 0.07608096355176125 Centerline is valid? [True, True] Translation: X:293.41, Y:9.28, Z:-3.51 [[ 9.98816635e-01 -3.19821564e-02 3.66397471e-02 2.93408703e+02] [ 3.20584373e-02 9.99484876e-01 -1.49615609e-03 9.27977726e+00] [-3.65730228e-02 2.66899863e-03 9.99327419e-01 -3.50877596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.375898227 meters 0.08353055929379219 Centerline is valid? [True, True] Translation: X:293.47, Y:9.27, Z:-3.51 [[ 9.98734915e-01 -3.37570935e-02 3.72696805e-02 2.93468256e+02] [ 3.38372676e-02 9.99426196e-01 -1.52233595e-03 9.26682442e+00] [-3.71969054e-02 2.78151422e-03 9.99304085e-01 -3.51158623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.435898227 meters 0.08817807278220482 Centerline is valid? [True, True] Translation: X:293.53, Y:9.26, Z:-3.52 [[ 9.98554696e-01 -3.98091980e-02 3.61074251e-02 2.93528368e+02] [ 3.98883760e-02 9.99203054e-01 -1.47484900e-03 9.25659140e+00] [-3.60199369e-02 2.91298394e-03 9.99346826e-01 -3.51601094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.49589822699994 meters 0.09541384600077954 Centerline is valid? [True, True] Translation: X:293.59, Y:9.24, Z:-3.52 [[ 9.98496890e-01 -4.27874859e-02 3.42518939e-02 2.93587127e+02] [ 4.28604755e-02 9.99080088e-01 -1.39922964e-03 9.23540244e+00] [-3.41605156e-02 2.86517890e-03 9.99412252e-01 -3.52306411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.55589822699994 meters 0.09850161470329795 Centerline is valid? [True, True] Translation: X:293.65, Y:9.22, Z:-3.52 [[ 9.98437115e-01 -4.26652756e-02 3.60971258e-02 2.93648129e+02] [ 4.27462591e-02 9.99084873e-01 -1.47435939e-03 9.22422106e+00] [-3.60011884e-02 3.01507223e-03 9.99347199e-01 -3.52294118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.61589822699995 meters 0.0838814460626289 Centerline is valid? [True, True] Translation: X:293.71, Y:9.24, Z:-3.52 [[ 9.98471487e-01 -3.90436939e-02 3.91187819e-02 2.93709550e+02] [ 3.91361093e-02 9.99232609e-01 -1.59915717e-03 9.23839569e+00] [-3.90263255e-02 3.12766976e-03 9.99233288e-01 -3.51928458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.67589822699995 meters 0.0821344321993052 Centerline is valid? [True, True] Translation: X:293.77, Y:9.24, Z:-3.52 [[ 9.98585536e-01 -3.72786655e-02 3.79108051e-02 2.93770091e+02] [ 3.73642098e-02 9.99300512e-01 -1.55021503e-03 9.23868738e+00] [-3.78264970e-02 2.96452958e-03 9.99279925e-01 -3.52344307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.73589822699995 meters 0.08362868079516407 Centerline is valid? [True, True] Translation: X:293.83, Y:9.24, Z:-3.53 [[ 9.98893765e-01 -3.27105105e-02 3.37826632e-02 2.93829623e+02] [ 3.27758452e-02 9.99461772e-01 -1.38185273e-03 9.24103316e+00] [-3.37192793e-02 2.48757941e-03 9.99428248e-01 -3.53204877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.79589822699995 meters 0.07656758547317366 Centerline is valid? [True, True] Translation: X:293.89, Y:9.26, Z:-3.53 [[ 9.98913561e-01 -3.23023286e-02 3.35895417e-02 2.93892104e+02] [ 3.23666693e-02 9.99475119e-01 -1.37337735e-03 9.25681029e+00] [-3.35275479e-02 2.45906684e-03 9.99434769e-01 -3.53477594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.85589822699995 meters 0.08752868857931759 Centerline is valid? [True, True] Translation: X:293.95, Y:9.24, Z:-3.54 [[ 9.98811926e-01 -3.47929468e-02 3.41201991e-02 2.93950798e+02] [ 3.48608467e-02 9.99391200e-01 -1.39696086e-03 9.24398056e+00] [-3.40508223e-02 2.58476020e-03 9.99416760e-01 -3.53738763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.91589822699996 meters 0.08101664841925972 Centerline is valid? [True, True] Translation: X:294.01, Y:9.26, Z:-3.54 [[ 9.98757735e-01 -3.62814204e-02 3.41561865e-02 2.94012117e+02] [ 3.63503141e-02 9.99338131e-01 -1.39800413e-03 9.25531235e+00] [-3.40828580e-02 2.63785555e-03 9.99415529e-01 -3.53863935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.97589822699996 meters 0.08275641354539606 Centerline is valid? [True, True] Translation: X:294.07, Y:9.26, Z:-3.54 [[ 9.98849516e-01 -3.43629100e-02 3.34489964e-02 2.94071956e+02] [ 3.44279240e-02 9.99406245e-01 -1.36949617e-03 9.25645516e+00] [-3.33820760e-02 2.51950009e-03 9.99439487e-01 -3.54165021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.03589822699996 meters 0.07969340618574197 Centerline is valid? [True, True] Translation: X:294.13, Y:9.27, Z:-3.54 [[ 9.98904032e-01 -3.28819649e-02 3.33093190e-02 2.94132967e+02] [ 3.29456181e-02 9.99456215e-01 -1.36377738e-03 9.26883193e+00] [-3.32463622e-02 2.45967883e-03 9.99444160e-01 -3.54384507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.09589822699996 meters 0.07391940358970349 Centerline is valid? [True, True] Translation: X:294.20, Y:9.27, Z:-3.54 [[ 9.98862386e-01 -3.26991524e-02 3.47087746e-02 2.94195839e+02] [ 3.27681532e-02 9.99461970e-01 -1.42086306e-03 9.27351676e+00] [-3.46436392e-02 2.55658911e-03 9.99396459e-01 -3.54490124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.15589822699997 meters 0.07464060178780342 Centerline is valid? [True, True] Translation: X:294.26, Y:9.27, Z:-3.55 [[ 9.98935954e-01 -3.24602406e-02 3.27611548e-02 2.94257683e+02] [ 3.25216296e-02 9.99470130e-01 -1.34257311e-03 9.27242861e+00] [-3.27002154e-02 2.40659070e-03 9.99462308e-01 -3.55119132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.21589822699997 meters 0.07422433156944562 Centerline is valid? [True, True] Translation: X:294.32, Y:9.27, Z:-3.55 [[ 9.98967297e-01 -3.05005858e-02 3.36757235e-02 2.94317905e+02] [ 3.05644080e-02 9.99531844e-01 -1.38192492e-03 9.26912509e+00] [-3.36178085e-02 2.40977635e-03 9.99431857e-01 -3.55226835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.27589822699997 meters 0.07279275499285369 Centerline is valid? [True, True] Translation: X:294.38, Y:9.27, Z:-3.56 [[ 9.99099490e-01 -2.62096658e-02 3.33655931e-02 2.94377414e+02] [ 2.62699366e-02 9.99653948e-01 -1.36920578e-03 9.26656326e+00] [-3.33181605e-02 2.24448481e-03 9.99442276e-01 -3.55515564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.335898227 meters 0.06140916945432397 Centerline is valid? [True, True] Translation: X:294.44, Y:9.28, Z:-3.56 [[ 9.99335703e-01 -1.51261687e-02 3.31564659e-02 2.94438017e+02] [ 1.51796068e-02 9.99883857e-01 -1.36055171e-03 9.27649484e+00] [-3.31320351e-02 1.86295001e-03 9.99449247e-01 -3.55742803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.395898227 meters 0.05594925227648363 Centerline is valid? [True, True] Translation: X:294.50, Y:9.28, Z:-3.56 [[ 9.99414949e-01 -8.64323205e-03 3.30915913e-02 2.94498688e+02] [ 8.69292240e-03 9.99961294e-01 -1.35802164e-03 9.28257851e+00] [-3.30785728e-02 1.64488977e-03 9.99451401e-01 -3.55886181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.455898227 meters 0.05221981878894467 Centerline is valid? [True, True] Translation: X:294.56, Y:9.29, Z:-3.56 [[ 9.99381281e-01 -3.59828474e-03 3.49872542e-02 2.94559194e+02] [ 3.65075364e-03 9.99992305e-01 -1.43588833e-03 9.28993609e+00] [-3.49818183e-02 1.56272977e-03 9.99386727e-01 -3.55876954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.515898227 meters 0.05779135656923272 Centerline is valid? [True, True] Translation: X:294.62, Y:9.29, Z:-3.56 [[ 9.99354527e-01 -7.95867173e-03 3.50312424e-02 2.94619875e+02] [ 8.01395250e-03 9.99966854e-01 -1.43791039e-03 9.28673085e+00] [-3.50186374e-02 1.71772097e-03 9.99385183e-01 -3.56017964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.575898227 meters 0.06214016537470772 Centerline is valid? [True, True] Translation: X:294.68, Y:9.28, Z:-3.56 [[ 9.99298569e-01 -1.13122348e-02 3.56987855e-02 2.94680627e+02] [ 1.13717805e-02 9.99934265e-01 -1.46539380e-03 9.28421500e+00] [-3.56798620e-02 1.87032469e-03 9.99361521e-01 -3.56072464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.635898227 meters 0.05699548037488928 Centerline is valid? [True, True] Translation: X:294.74, Y:9.30, Z:-3.56 [[ 9.99286350e-01 -1.03243516e-02 3.63345442e-02 2.94743082e+02] [ 1.03853878e-02 9.99944958e-01 -1.49149981e-03 9.29842293e+00] [-3.63171455e-02 1.86778373e-03 9.99338569e-01 -3.56133190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.695898227 meters 0.0505708034530203 Centerline is valid? [True, True] Translation: X:294.80, Y:9.31, Z:-3.56 [[ 9.99309018e-01 -6.32755128e-03 3.66258044e-02 2.94804386e+02] [ 6.38695915e-03 9.99978470e-01 -1.50524543e-03 9.31431824e+00] [-3.66154913e-02 1.73813285e-03 9.99327916e-01 -3.56287360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.755898227 meters 0.04756448344024519 Centerline is valid? [True, True] Translation: X:294.86, Y:9.32, Z:-3.56 [[ 9.99238279e-01 -2.38868318e-03 3.89506853e-02 2.94864388e+02] [ 2.45289401e-03 9.99995710e-01 -1.60081005e-03 9.32095214e+00] [-3.89466944e-02 1.69513258e-03 9.99239852e-01 -3.56055956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.815898227 meters 0.04225183651199373 Centerline is valid? [True, True] Translation: X:294.93, Y:9.33, Z:-3.56 [[ 9.99261654e-01 2.69306252e-03 3.83261614e-02 2.94925080e+02] [-2.63464103e-03 9.99995289e-01 -1.57474909e-03 9.33317855e+00] [-3.83302218e-02 1.47261071e-03 9.99264042e-01 -3.56376905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.875898227 meters 0.03721738684018071 Centerline is valid? [True, True] Translation: X:294.99, Y:9.35, Z:-3.56 [[ 9.99183818e-01 9.14353705e-03 3.93458104e-02 2.94985300e+02] [-9.08695620e-03 9.99957406e-01 -1.61663956e-03 9.34588721e+00] [-3.93589163e-02 1.25778643e-03 9.99224346e-01 -3.56374985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.935898227 meters 0.029463417442477647 Centerline is valid? [True, True] Translation: X:295.05, Y:9.36, Z:-3.57 [[ 9.99146983e-01 1.41954246e-02 3.87788194e-02 2.95046669e+02] [-1.41442823e-02 9.99898696e-01 -1.59286996e-03 9.35769980e+00] [-3.87975024e-02 1.04301265e-03 9.99246549e-01 -3.56734372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.99589822699994 meters 0.02889051501641332 Centerline is valid? [True, True] Translation: X:295.11, Y:9.36, Z:-3.58 [[ 9.99275605e-01 1.70716799e-02 3.40121026e-02 2.95107720e+02] [-1.70340214e-02 9.99853935e-01 -1.39668702e-03 9.35720603e+00] [-3.40309784e-02 8.16312379e-04 9.99420445e-01 -3.57957455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.05589822699994 meters 0.02570356979950109 Centerline is valid? [True, True] Translation: X:295.17, Y:9.36, Z:-3.58 [[ 9.99213286e-01 2.11032217e-02 3.35777113e-02 2.95168212e+02] [-2.10685980e-02 9.99777074e-01 -1.38467381e-03 9.35942027e+00] [-3.35994470e-02 6.76149168e-04 9.99435150e-01 -3.58171140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.11589822699995 meters 0.01406510281224737 Centerline is valid? [True, True] Translation: X:295.23, Y:9.38, Z:-3.58 [[ 9.98899488e-01 3.20260836e-02 3.42657738e-02 2.95229366e+02] [-3.19964326e-02 9.99486984e-01 -1.41346843e-03 9.37711457e+00] [-3.42934627e-02 3.15530374e-04 9.99411756e-01 -3.58121162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.17589822699995 meters 0.010467274801987192 Centerline is valid? [True, True] Translation: X:295.29, Y:9.40, Z:-3.59 [[ 9.98493887e-01 4.36249961e-02 3.32688785e-02 2.95291606e+02] [-4.36034894e-02 9.99047973e-01 -1.37204573e-03 9.39727443e+00] [-3.32970611e-02 -8.06599126e-05 9.99445496e-01 -3.58689466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.23589822699995 meters 0.012951112241621196 Centerline is valid? [True, True] Translation: X:295.35, Y:9.41, Z:-3.59 [[ 9.98244141e-01 4.87381311e-02 3.36634860e-02 2.95353723e+02] [-4.87189212e-02 9.98811560e-01 -1.39115393e-03 9.40500037e+00] [-3.36912812e-02 -2.51337464e-04 9.99432256e-01 -3.58832086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.29589822699995 meters 0.014831472931470472 Centerline is valid? [True, True] Translation: X:295.42, Y:9.41, Z:-3.59 [[ 9.98094921e-01 5.12275194e-02 3.43841384e-02 2.95416691e+02] [-5.12087709e-02 9.98686952e-01 -1.42626953e-03 9.41328333e+00] [-3.44120547e-02 -3.37217097e-04 9.99407673e-01 -3.58756355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.35589822699995 meters 0.014067081489084662 Centerline is valid? [True, True] Translation: X:295.48, Y:9.41, Z:-3.59 [[ 9.98124109e-01 5.04087794e-02 3.47450513e-02 2.95478489e+02] [-5.03889388e-02 9.98728622e-01 -1.44700120e-03 9.41389858e+00] [-3.47738188e-02 -3.06479479e-04 9.99395161e-01 -3.59025976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.41589822699996 meters 0.010874420109846142 Centerline is valid? [True, True] Translation: X:295.54, Y:9.41, Z:-3.59 [[ 9.98188073e-01 4.61702401e-02 3.85859931e-02 2.95539490e+02] [-4.61423325e-02 9.98933571e-01 -1.61397561e-03 9.40949813e+00] [-3.86193615e-02 -1.69396524e-04 9.99253980e-01 -3.58632386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.47589822699996 meters 0.009721718426951985 Centerline is valid? [True, True] Translation: X:295.60, Y:9.40, Z:-3.59 [[ 9.98355453e-01 4.24470134e-02 3.85310354e-02 2.95601111e+02] [-4.24161907e-02 9.99098719e-01 -1.61743444e-03 9.40399850e+00] [-3.85649634e-02 -1.95652578e-05 9.99256095e-01 -3.58850772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.53589822699996 meters 0.00994446278100575 Centerline is valid? [True, True] Translation: X:295.66, Y:9.40, Z:-3.59 [[ 9.98492130e-01 4.06890602e-02 3.68492495e-02 2.95663874e+02] [-4.06594664e-02 9.99171856e-01 -1.55245068e-03 9.40235518e+00] [-3.68819008e-02 5.18389650e-05 9.99319630e-01 -3.59340646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.59589822699996 meters 0.010108968189430443 Centerline is valid? [True, True] Translation: X:295.73, Y:9.40, Z:-3.60 [[ 9.98509279e-01 4.01043108e-02 3.70251692e-02 2.95726616e+02] [-4.00737768e-02 9.99195495e-01 -1.56673664e-03 9.40295292e+00] [-3.70582152e-02 8.06627079e-05 9.99313105e-01 -3.59518166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.65589822699997 meters 0.010203945823962304 Centerline is valid? [True, True] Translation: X:295.79, Y:9.40, Z:-3.59 [[ 9.98384153e-01 3.98909010e-02 4.04697232e-02 2.95789187e+02] [-3.98539047e-02 9.99204036e-01 -1.72085042e-03 9.40406845e+00] [-4.05061570e-02 1.05193299e-04 9.99179283e-01 -3.59167712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.71589822699997 meters 0.013737137566655488 Centerline is valid? [True, True] Translation: X:295.85, Y:9.40, Z:-3.59 [[ 9.98570114e-01 3.38003346e-02 4.14157670e-02 2.95851422e+02] [-3.37560429e-02 9.99428538e-01 -1.76849116e-03 9.39643886e+00] [-4.14518751e-02 3.67930013e-04 9.99140434e-01 -3.59247034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.77589822699997 meters 0.01750593655302836 Centerline is valid? [True, True] Translation: X:295.91, Y:9.39, Z:-3.60 [[ 9.98877148e-01 2.90265527e-02 3.74419855e-02 2.95912593e+02] [-2.89867968e-02 9.99578507e-01 -1.60432746e-03 9.38960745e+00] [-3.74727721e-02 5.17202810e-04 9.99297515e-01 -3.60120823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.835898227 meters 0.020480828152083522 Centerline is valid? [True, True] Translation: X:295.97, Y:9.38, Z:-3.61 [[ 9.99011774e-01 2.77521826e-02 3.47173007e-02 2.95973451e+02] [-2.77170655e-02 9.99614694e-01 -1.49247551e-03 9.38312981e+00] [-3.47453434e-02 5.28738910e-04 9.99396058e-01 -3.60712210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.895898227 meters 0.01959800294794178 Centerline is valid? [True, True] Translation: X:296.04, Y:9.38, Z:-3.61 [[ 9.99007501e-01 2.73306123e-02 3.51717162e-02 2.96036632e+02] [-2.72941217e-02 9.99626295e-01 -1.51731054e-03 9.38300512e+00] [-3.52000414e-02 5.55823512e-04 9.99380132e-01 -3.60820083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.955898227 meters 0.022501475069455098 Centerline is valid? [True, True] Translation: X:296.10, Y:9.38, Z:-3.61 [[ 9.98957799e-01 2.46259758e-02 3.84301675e-02 2.96097905e+02] [-2.45801010e-02 9.99696476e-01 -1.66581852e-03 9.37667052e+00] [-3.84595254e-02 7.19465003e-04 9.99259900e-01 -3.60565197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.015898227 meters 0.025840196016500377 Centerline is valid? [True, True] Translation: X:296.16, Y:9.37, Z:-3.60 [[ 9.98941767e-01 2.20352582e-02 4.03707043e-02 2.96159171e+02] [-2.19822567e-02 9.99756818e-01 -1.75635433e-03 9.37391540e+00] [-4.03995886e-02 8.67056512e-04 9.99183227e-01 -3.60447906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.075898227 meters 0.031055287272449213 Centerline is valid? [True, True] Translation: X:296.22, Y:9.37, Z:-3.61 [[ 9.99063398e-01 1.70166709e-02 3.97839027e-02 2.96220381e+02] [-1.69609962e-02 9.99854644e-01 -1.73655543e-03 9.37181975e+00] [-3.98076703e-02 1.06015434e-03 9.99206798e-01 -3.60888160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.135898227 meters 0.04095992885620813 Centerline is valid? [True, True] Translation: X:296.28, Y:9.36, Z:-3.62 [[ 9.99278171e-01 8.28083132e-03 3.70751134e-02 2.96280954e+02] [-8.22644955e-03 9.99964851e-01 -1.61911308e-03 9.36363815e+00] [-3.70872179e-02 1.31294781e-03 9.99311170e-01 -3.61605310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.195898227 meters 0.04997712150647439 Centerline is valid? [True, True] Translation: X:296.34, Y:9.35, Z:-3.62 [[ 9.99363134e-01 -3.00287385e-04 3.56824244e-02 2.96341032e+02] [ 3.56135159e-04 9.99998722e-01 -1.55878835e-03 9.35130694e+00] [-3.56819107e-02 1.57050338e-03 9.99361964e-01 -3.62074461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.255898227 meters 0.057253723565505905 Centerline is valid? [True, True] Translation: X:296.40, Y:9.34, Z:-3.62 [[ 9.99328038e-01 -8.83040393e-03 3.55738131e-02 2.96401660e+02] [ 8.89130672e-03 9.99959264e-01 -1.55417372e-03 9.34175931e+00] [-3.55586400e-02 1.86942706e-03 9.99365843e-01 -3.62147924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.315898227 meters 0.05665049397514729 Centerline is valid? [True, True] Translation: X:296.46, Y:9.34, Z:-3.62 [[ 9.99382545e-01 -6.52924536e-03 3.45238598e-02 2.96461497e+02] [ 6.58523723e-03 9.99977179e-01 -1.50837092e-03 9.34382872e+00] [-3.45132234e-02 1.73478738e-03 9.99402736e-01 -3.62499560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.375898227 meters 0.049262242317015384 Centerline is valid? [True, True] Translation: X:296.52, Y:9.36, Z:-3.63 [[ 9.99462291e-01 -1.26593395e-03 3.27647261e-02 2.96522868e+02] [ 1.31353876e-03 9.99998113e-01 -1.43144501e-03 9.35501653e+00] [-3.27628522e-02 1.47371305e-03 9.99462067e-01 -3.62985326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.435898227 meters 0.04488360839541918 Centerline is valid? [True, True] Translation: X:296.58, Y:9.37, Z:-3.63 [[ 9.99376325e-01 4.80664794e-03 3.49836666e-02 2.96583628e+02] [-4.75606997e-03 9.99987521e-01 -1.52883407e-03 9.36697859e+00] [-3.49905786e-02 1.36149581e-03 9.99386715e-01 -3.62920298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.49589822699994 meters 0.041520827748892326 Centerline is valid? [True, True] Translation: X:296.64, Y:9.38, Z:-3.63 [[ 9.99416296e-01 2.20255691e-03 3.40912949e-02 2.96644738e+02] [-2.15301901e-03 9.99996573e-01 -1.48973748e-03 9.37532507e+00] [-3.40944593e-02 1.41546871e-03 9.99417613e-01 -3.63319557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.55589822699994 meters 0.05076855191014486 Centerline is valid? [True, True] Translation: X:296.70, Y:9.36, Z:-3.64 [[ 9.99385029e-01 -1.90534840e-03 3.50133356e-02 2.96703385e+02] [ 1.96013746e-03 9.99996908e-01 -1.53054589e-03 9.36403643e+00] [-3.50103111e-02 1.59823560e-03 9.99385673e-01 -3.63579810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.61589822699995 meters 0.05328907217526494 Centerline is valid? [True, True] Translation: X:296.76, Y:9.36, Z:-3.64 [[ 9.99330476e-01 -7.14673959e-03 3.58820852e-02 2.96764107e+02] [ 7.20763789e-03 9.99972795e-01 -1.56810942e-03 9.36210586e+00] [-3.58699022e-02 1.82568461e-03 9.99354800e-01 -3.63674355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.67589822699995 meters 0.052613501815313886 Centerline is valid? [True, True] Translation: X:296.83, Y:9.37, Z:-3.64 [[ 9.99431872e-01 -7.84449441e-03 3.27780051e-02 2.96825826e+02] [ 7.89567255e-03 9.99967803e-01 -1.43220908e-03 9.36578838e+00] [-3.27657148e-02 1.69019980e-03 9.99461631e-01 -3.64443878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.73589822699995 meters 0.05876531372821396 Centerline is valid? [True, True] Translation: X:296.89, Y:9.36, Z:-3.65 [[ 9.99423136e-01 -7.02196617e-03 3.32278003e-02 2.96886410e+02] [ 7.07417931e-03 9.99973920e-01 -1.45406636e-03 9.35817826e+00] [-3.32167233e-02 1.68828698e-03 9.99446746e-01 -3.64654080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.79589822699995 meters 0.05993252256868378 Centerline is valid? [True, True] Translation: X:296.95, Y:9.36, Z:-3.65 [[ 9.99398274e-01 -9.96036965e-03 3.32247114e-02 2.96947546e+02] [ 1.00143818e-02 9.99948789e-01 -1.45964722e-03 9.35775387e+00] [-3.32084713e-02 1.79149386e-03 9.99446841e-01 -3.64814369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.85589822699995 meters 0.06616610975344107 Centerline is valid? [True, True] Translation: X:297.01, Y:9.34, Z:-3.65 [[ 9.99257393e-01 -1.77008033e-02 3.42249114e-02 2.97007760e+02] [ 1.77626593e-02 9.99841100e-01 -1.50410908e-03 9.34456282e+00] [-3.41928492e-02 2.11091756e-03 9.99413024e-01 -3.64920083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.91589822699996 meters 0.0734735878128935 Centerline is valid? [True, True] Translation: X:297.07, Y:9.33, Z:-3.65 [[ 9.99122527e-01 -2.36898321e-02 3.45393550e-02 2.97066263e+02] [ 2.37564008e-02 9.99716624e-01 -1.51816045e-03 9.33016688e+00] [-3.44936024e-02 2.33735907e-03 9.99402185e-01 -3.64987091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.97589822699996 meters 0.08477655520269595 Centerline is valid? [True, True] Translation: X:297.13, Y:9.30, Z:-3.66 [[ 9.98957342e-01 -3.26889472e-02 3.18694567e-02 2.97125185e+02] [ 3.27502075e-02 9.99462585e-01 -1.40198777e-03 9.30392900e+00] [-3.18065001e-02 2.44425730e-03 9.99491057e-01 -3.65730565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.03589822699996 meters 0.0884864033757077 Centerline is valid? [True, True] Translation: X:297.18, Y:9.29, Z:-3.66 [[ 9.98696074e-01 -3.91586312e-02 3.27529217e-02 2.97184670e+02] [ 3.92267961e-02 9.99229294e-01 -1.44096413e-03 9.28500062e+00] [-3.26712526e-02 2.72387740e-03 9.99462440e-01 -3.65709127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.09589822699996 meters 0.09642901777483628 Centerline is valid? [True, True] Translation: X:297.24, Y:9.26, Z:-3.66 [[ 9.98573607e-01 -4.17963952e-02 3.32236682e-02 2.97243335e+02] [ 4.18679784e-02 9.99122083e-01 -1.46151406e-03 9.26318153e+00] [-3.31334145e-02 2.85043719e-03 9.99446873e-01 -3.65887394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.15589822699997 meters 0.09828297774895267 Centerline is valid? [True, True] Translation: X:297.30, Y:9.25, Z:-3.66 [[ 9.98450888e-01 -4.56311655e-02 3.18374090e-02 2.97303313e+02] [ 4.56988888e-02 9.98954276e-01 -1.40238353e-03 9.24561226e+00] [-3.17401235e-02 2.85514529e-03 9.99492077e-01 -3.66258669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.21589822699997 meters 0.09883673161424153 Centerline is valid? [True, True] Translation: X:297.37, Y:9.23, Z:-3.66 [[ 9.98403374e-01 -4.52850272e-02 3.37634192e-02 2.97365177e+02] [ 4.53609968e-02 9.98969553e-01 -1.48707903e-03 9.22860407e+00] [-3.36612854e-02 3.01624707e-03 9.99428747e-01 -3.66125182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.27589822699997 meters 0.08527422479196345 Centerline is valid? [True, True] Translation: X:297.43, Y:9.23, Z:-3.66 [[ 9.98512015e-01 -4.12889003e-02 3.56227958e-02 2.97426336e+02] [ 4.13710138e-02 9.99142618e-01 -1.57074582e-03 9.23472132e+00] [-3.55273991e-02 3.04215975e-03 9.99364072e-01 -3.66012180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.335898227 meters 0.09229904269697783 Centerline is valid? [True, True] Translation: X:297.49, Y:9.22, Z:-3.66 [[ 9.98538993e-01 -4.13293816e-02 3.48103602e-02 2.97486742e+02] [ 4.14078135e-02 9.99141150e-01 -1.53490374e-03 9.21820900e+00] [-3.47170267e-02 2.97408214e-03 9.99392757e-01 -3.66459121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.395898227 meters 0.09633906917691362 Centerline is valid? [True, True] Translation: X:297.55, Y:9.20, Z:-3.67 [[ 9.98482091e-01 -4.38241401e-02 3.33610322e-02 2.97546487e+02] [ 4.38975954e-02 9.99034951e-01 -1.47223145e-03 9.20150671e+00] [-3.32643179e-02 2.93446583e-03 9.99442282e-01 -3.66973602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.455898227 meters 0.08127822332402897 Centerline is valid? [True, True] Translation: X:297.61, Y:9.21, Z:-3.67 [[ 9.98373208e-01 -4.51665211e-02 3.47983143e-02 2.97608419e+02] [ 4.52472600e-02 9.98974638e-01 -1.53579568e-03 9.21127097e+00] [-3.46932669e-02 3.10782563e-03 9.99393175e-01 -3.66991824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.515898227 meters 0.0931433163053377 Centerline is valid? [True, True] Translation: X:297.67, Y:9.19, Z:-3.67 [[ 9.98278154e-01 -4.64749522e-02 3.57883600e-02 2.97667315e+02] [ 4.65612217e-02 9.98914188e-01 -1.58043947e-03 9.18755661e+00] [-3.56760497e-02 3.24406796e-03 9.99358142e-01 -3.67098645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.575898227 meters 0.09749334921568183 Centerline is valid? [True, True] Translation: X:297.73, Y:9.17, Z:-3.68 [[ 9.98340969e-01 -4.66681327e-02 3.37252856e-02 2.97727514e+02] [ 4.67448305e-02 9.98905753e-01 -1.48888881e-03 9.17216596e+00] [-3.36188982e-02 3.06290146e-03 9.99430032e-01 -3.67688969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.635898227 meters 0.09810250094957898 Centerline is valid? [True, True] Translation: X:297.79, Y:9.16, Z:-3.68 [[ 9.98461428e-01 -4.53714704e-02 3.18779941e-02 2.97787242e+02] [ 4.54394313e-02 9.98966100e-01 -1.41033202e-03 9.16125198e+00] [-3.17810466e-02 2.85668005e-03 9.99490773e-01 -3.68295011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.695898227 meters 0.10108665120377251 Centerline is valid? [True, False] Translation: X:297.79, Y:9.16, Z:-3.68 [[ 9.98916178e-01 -3.67717716e-02 2.85360530e-02 2.97788446e+02] [ 3.71118308e-02 9.99245176e-01 -1.14799607e-02 9.15570136e+00] [-2.80923749e-02 1.25265436e-02 9.99526840e-01 -3.68134719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.755898227 meters 0.10316953808783229 Centerline is valid? [False, False] Translation: X:297.77, Y:9.14, Z:-3.68 [[ 9.98978422e-01 -3.87730573e-02 2.32112538e-02 2.97769295e+02] [ 3.88459005e-02 9.99241578e-01 -2.69547961e-03 9.14138846e+00] [-2.30891379e-02 3.59438802e-03 9.99726949e-01 -3.67862484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.815898227 meters 0.10311522636120062 Centerline is valid? [False, False] Translation: X:297.78, Y:9.13, Z:-3.68 [[ 9.99363079e-01 -3.15504252e-02 1.66735553e-02 2.97775455e+02] [ 3.17616135e-02 9.99416594e-01 -1.25567289e-02 9.13123614e+00] [-1.62676577e-02 1.30783102e-02 9.99782137e-01 -3.67981079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.875898227 meters 0.09092700223607306 Centerline is valid? [False, True] Translation: X:297.77, Y:9.12, Z:-3.67 [[ 9.99755327e-01 -1.97939448e-02 9.87348143e-03 2.97773021e+02] [ 1.99644466e-02 9.99647876e-01 -1.74798503e-02 9.12483216e+00] [-9.52400954e-03 1.76726920e-02 9.99798464e-01 -3.67373591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.935898227 meters 0.07693303368548418 Centerline is valid? [True, True] Translation: X:297.83, Y:9.13, Z:-3.67 [[ 9.99821283e-01 -1.46668145e-02 1.19283700e-02 2.97834378e+02] [ 1.46772522e-02 9.99891973e-01 -7.87962255e-04 9.12922266e+00] [-1.19155245e-02 9.62897128e-04 9.99928544e-01 -3.67257334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.99589822699994 meters 0.07627129184508759 Centerline is valid? [True, True] Translation: X:297.89, Y:9.13, Z:-3.67 [[ 9.99886745e-01 -8.94859204e-03 1.21003811e-02 2.97893798e+02] [ 8.95891899e-03 9.99959548e-01 -7.99503368e-04 9.12536277e+00] [-1.20927372e-02 9.07819155e-04 9.99926468e-01 -3.67370230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.05589822699994 meters 0.07638976360556046 Centerline is valid? [True, True] Translation: X:297.96, Y:9.12, Z:-3.67 [[ 9.99866300e-01 -8.45175359e-03 1.39981888e-02 2.97955764e+02] [ 8.46552358e-03 9.99963739e-01 -9.24735374e-04 9.12411034e+00] [-1.39898655e-02 1.04311373e-03 9.99901593e-01 -3.67154526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.11589822699995 meters 0.08966257049164451 Centerline is valid? [True, True] Translation: X:298.01, Y:9.10, Z:-3.68 [[ 9.99823128e-01 -1.33584886e-02 1.32387185e-02 2.98014017e+02] [ 1.33712429e-02 9.99910218e-01 -8.75358090e-04 9.10387207e+00] [-1.32258364e-02 1.05222138e-03 9.99911981e-01 -3.67574749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.17589822699995 meters 0.08871342460595702 Centerline is valid? [True, True] Translation: X:298.07, Y:9.10, Z:-3.68 [[ 9.99753250e-01 -1.86782147e-02 1.20234632e-02 2.98074372e+02] [ 1.86891152e-02 9.99825027e-01 -7.94873842e-04 9.09940371e+00] [-1.20065126e-02 1.01938559e-03 9.99927400e-01 -3.67759395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.23589822699995 meters 0.10168120226342486 Centerline is valid? [True, False] Translation: X:298.08, Y:9.10, Z:-3.68 [[ 9.99846634e-01 -1.46920727e-02 9.53159500e-03 2.98077458e+02] [ 1.48410068e-02 9.99765854e-01 -1.57474269e-02 9.09615392e+00] [-9.29800088e-03 1.58864702e-02 9.99830569e-01 -3.67869310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.29589822699995 meters 0.09819787008849076 Centerline is valid? [False, True] Translation: X:298.08, Y:9.09, Z:-3.68 [[ 9.99906162e-01 -9.68656977e-03 9.68700271e-03 2.98077044e+02] [ 9.77514696e-03 9.99910461e-01 -9.13876436e-03 9.08664595e+00] [-9.59761206e-03 9.23259867e-03 9.99911319e-01 -3.67933655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.35589822699995 meters 0.10511635509406926 Centerline is valid? [True, False] Translation: X:298.06, Y:9.08, Z:-3.68 [[ 9.99944538e-01 -9.08684321e-03 5.32442914e-03 2.98056209e+02] [ 9.07656909e-03 9.99956905e-01 1.95061648e-03 9.07999401e+00] [-5.34192463e-03 -1.90218075e-03 9.99983923e-01 -3.67589336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.41589822699996 meters 0.09416358084752188 Centerline is valid? [False, True] Translation: X:298.06, Y:9.08, Z:-3.68 [[ 9.99947458e-01 -8.72939692e-03 5.37386517e-03 2.98055959e+02] [ 8.71441437e-03 9.99958094e-01 2.80517066e-03 9.07611195e+00] [-5.39812742e-03 -2.75819318e-03 9.99981626e-01 -3.67573436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.47589822699996 meters 0.08819117006221999 Centerline is valid? [True, True] Translation: X:298.12, Y:9.07, Z:-3.67 [[ 9.99949961e-01 -7.78054309e-03 6.28797588e-03 2.98117292e+02] [ 7.78395518e-03 9.99969570e-01 -5.18345961e-04 9.07371304e+00] [-6.28375152e-03 5.67265346e-04 9.99980096e-01 -3.67391216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.53589822699996 meters 0.08992271313507828 Centerline is valid? [True, True] Translation: X:298.18, Y:9.06, Z:-3.68 [[ 9.99957864e-01 -7.40804513e-03 5.42135637e-03 2.98178459e+02] [ 7.41057614e-03 9.99972441e-01 -4.46919923e-04 9.06296210e+00] [-5.41789616e-03 4.87076465e-04 9.99985204e-01 -3.67593019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.59589822699996 meters 0.09674071984019206 Centerline is valid? [True, True] Translation: X:298.24, Y:9.05, Z:-3.68 [[ 9.99940702e-01 -9.91595102e-03 4.50182322e-03 2.98237027e+02] [ 9.91772122e-03 9.99950749e-01 -3.71063988e-04 9.04547993e+00] [-4.49792205e-03 4.15689812e-04 9.99989798e-01 -3.67918358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.65589822699997 meters 0.10212748013876546 Centerline is valid? [True, False] Translation: X:298.24, Y:9.04, Z:-3.68 [[ 9.99943723e-01 -9.46748908e-03 4.78723646e-03 2.98236178e+02] [ 9.46343569e-03 9.99954843e-01 8.68651697e-04 9.04004049e+00] [-4.79524424e-03 -8.23299108e-04 9.99988164e-01 -3.67903509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.71589822699997 meters 0.09984771773420581 Centerline is valid? [False, True] Translation: X:298.22, Y:9.04, Z:-3.68 [[ 9.99981112e-01 -5.95746380e-03 1.51125406e-03 2.98219417e+02] [ 5.96673654e-03 9.99962933e-01 -6.20734222e-03 9.03846009e+00] [-1.47421802e-03 6.21624223e-03 9.99979592e-01 -3.68034169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.77589822699997 meters 0.09611019197290918 Centerline is valid? [True, True] Translation: X:298.28, Y:9.03, Z:-3.68 [[ 9.99999396e-01 -1.02671075e-03 -3.92467014e-04 2.98279884e+02] [ 1.02672472e-03 9.99999472e-01 3.54019197e-05 9.03202498e+00] [ 3.92430460e-04 -3.58048539e-05 9.99999922e-01 -3.68429268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.835898227 meters 0.08764552723629652 Centerline is valid? [True, True] Translation: X:298.34, Y:9.04, Z:-3.69 [[ 9.99959905e-01 8.83408037e-03 -1.46520424e-03 2.98341568e+02] [-8.83389631e-03 9.99960972e-01 1.32050061e-04 9.03792135e+00] [ 1.46631359e-03 -1.19101304e-04 9.99998918e-01 -3.68507701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.895898227 meters 0.07684071931269533 Centerline is valid? [True, True] Translation: X:298.40, Y:9.05, Z:-3.68 [[ 9.99846869e-01 1.74249318e-02 1.61551076e-03 2.98403036e+02] [-1.74247191e-02 9.99848167e-01 -1.45654921e-04 9.04830001e+00] [-1.61780350e-03 1.17482795e-04 9.99998684e-01 -3.67982184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.955898227 meters 0.0730429286530544 Centerline is valid? [True, True] Translation: X:298.46, Y:9.05, Z:-3.69 [[ 9.99586099e-01 2.87437792e-02 -1.19376765e-03 2.98463483e+02] [-2.87436712e-02 9.99586810e-01 1.07568701e-04 9.05174389e+00] [ 1.19636633e-03 -7.32109135e-05 9.99999282e-01 -3.68590975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.015898227 meters 0.0640645337138912 Centerline is valid? [True, True] Translation: X:298.53, Y:9.06, Z:-3.68 [[ 9.99318722e-01 3.68197623e-02 2.52910990e-03 2.98525192e+02] [-3.68193029e-02 9.99321914e-01 -2.27974113e-04 9.06046605e+00] [-2.53578890e-03 1.34698736e-04 9.99996776e-01 -3.67894126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.075898227 meters 0.05501173195325133 Centerline is valid? [True, True] Translation: X:298.59, Y:9.07, Z:-3.68 [[ 9.99217431e-01 3.93904410e-02 3.59437579e-03 2.98587555e+02] [-3.93895300e-02 9.99223879e-01 -3.23934711e-04 9.07147982e+00] [-3.60434605e-03 1.82100436e-04 9.99993488e-01 -3.67657115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.135898227 meters 0.05148334176971772 Centerline is valid? [True, True] Translation: X:298.65, Y:9.08, Z:-3.67 [[ 9.99051220e-01 4.32163397e-02 5.38584244e-03 2.98648965e+02] [-4.32143490e-02 9.99065706e-01 -4.85508478e-04 9.08007657e+00] [-5.40179238e-03 2.52302162e-04 9.99985378e-01 -3.67362787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.195898227 meters 0.04555573043631348 Centerline is valid? [True, True] Translation: X:298.71, Y:9.09, Z:-3.67 [[ 9.98862380e-01 4.72633896e-02 6.33386434e-03 2.98710670e+02] [-4.72607173e-02 9.98882425e-01 -5.70996412e-04 9.09216499e+00] [-6.35377299e-03 2.71003863e-04 9.99979778e-01 -3.67188662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.255898227 meters 0.04643133819113152 Centerline is valid? [True, True] Translation: X:298.77, Y:9.10, Z:-3.68 [[ 9.98826854e-01 4.81131059e-02 5.48123715e-03 2.98771501e+02] [-4.81111174e-02 9.98841867e-01 -4.94141871e-04 9.09829027e+00] [-5.49866385e-03 2.29853726e-04 9.99984856e-01 -3.67558870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.315898227 meters 0.05817431758115966 Centerline is valid? [True, True] Translation: X:298.83, Y:9.08, Z:-3.68 [[ 9.99276345e-01 3.77220175e-02 4.88223086e-03 2.98831172e+02] [-3.77203161e-02 9.99288239e-01 -4.40138807e-04 9.08437654e+00] [-4.89535880e-03 2.55661007e-04 9.99987985e-01 -3.67813247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.375898227 meters 0.06214102918055041 Centerline is valid? [True, True] Translation: X:298.89, Y:9.07, Z:-3.68 [[ 9.99421594e-01 3.38918870e-02 2.79598081e-03 2.98891510e+02] [-3.38913141e-02 9.99425493e-01 -2.52066990e-04 9.07496978e+00] [-2.80291753e-03 1.57161729e-04 9.99996059e-01 -3.68177664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.435898227 meters 0.0734369433028583 Centerline is valid? [True, True] Translation: X:298.95, Y:9.06, Z:-3.69 [[ 9.99641414e-01 2.67526693e-02 -1.15695740e-03 2.98949807e+02] [-2.67525663e-02 9.99642081e-01 1.04439646e-04 9.05810216e+00] [ 1.15933734e-03 -7.34506163e-05 9.99999325e-01 -3.68841884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.49589822699994 meters 0.06896363675531712 Centerline is valid? [True, True] Translation: X:299.01, Y:9.06, Z:-3.69 [[ 9.99572001e-01 2.92538215e-02 -1.72052107e-04 2.99010452e+02] [-2.92538192e-02 9.99572015e-01 1.54974617e-05 9.06267165e+00] [ 1.72431831e-04 -1.04576475e-05 9.99999985e-01 -3.68778444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.55589822699994 meters 0.0614775018187576 Centerline is valid? [True, True] Translation: X:299.07, Y:9.07, Z:-3.69 [[ 9.99510696e-01 3.12725045e-02 -6.31378022e-04 2.99071873e+02] [-3.12724748e-02 9.99510895e-01 5.68346656e-05 9.07436735e+00] [ 6.32846574e-04 -3.70621029e-05 9.99999799e-01 -3.68738871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.61589822699995 meters 0.06172182977267704 Centerline is valid? [True, True] Translation: X:299.13, Y:9.07, Z:-3.69 [[ 9.99571814e-01 2.92602196e-02 1.68694022e-04 2.99132507e+02] [-2.92602175e-02 9.99571828e-01 -1.52084161e-05 9.07298316e+00] [-1.69066793e-04 1.02658803e-05 9.99999986e-01 -3.68703629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.67589822699995 meters 0.07929557911571039 Centerline is valid? [True, True] Translation: X:299.19, Y:9.05, Z:-3.69 [[ 9.99713100e-01 2.39056659e-02 1.49531371e-03 2.99190291e+02] [-2.39054909e-02 9.99714214e-01 -1.34802326e-04 9.04557288e+00] [-1.49810891e-03 9.90174429e-05 9.99998873e-01 -3.68712305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.73589822699995 meters 0.07590027678061542 Centerline is valid? [True, True] Translation: X:299.25, Y:9.04, Z:-3.68 [[ 9.99842115e-01 1.75044583e-02 3.05599699e-03 2.99250922e+02] [-1.75036975e-02 9.99846761e-01 -2.75523986e-04 9.04286526e+00] [-3.06035159e-03 2.21989239e-04 9.99995292e-01 -3.68372214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.79589822699995 meters 0.0767490690051266 Centerline is valid? [True, True] Translation: X:299.31, Y:9.04, Z:-3.68 [[ 9.99866026e-01 1.59901944e-02 3.49924474e-03 2.99311340e+02] [-1.59891882e-02 9.99872115e-01 -3.15347773e-04 9.03544116e+00] [-3.50383972e-03 2.59355442e-04 9.99993828e-01 -3.68350198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.85589822699995 meters 0.08370588036848474 Centerline is valid? [True, True] Translation: X:299.37, Y:9.02, Z:-3.69 [[ 9.99923939e-01 1.22413297e-02 1.50523214e-03 2.99369504e+02] [-1.22411392e-02 9.99925065e-01 -1.35663402e-04 9.01844091e+00] [-1.50678005e-03 1.17227327e-04 9.99998858e-01 -3.68822852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.91589822699996 meters 0.09033462605310995 Centerline is valid? [True, True] Translation: X:299.43, Y:9.00, Z:-3.69 [[ 9.99987694e-01 4.76748380e-03 1.37231923e-03 2.99428418e+02] [-4.76731843e-03 9.99988629e-01 -1.23747858e-04 8.99741518e+00] [-1.37289359e-03 1.17204052e-04 9.99999051e-01 -3.68952689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.97589822699996 meters 0.09189545111174206 Centerline is valid? [True, True] Translation: X:299.49, Y:8.98, Z:-3.69 [[ 9.99993856e-01 3.48426850e-03 3.84824527e-04 2.99488102e+02] [-3.48425543e-03 9.99993929e-01 -3.46323466e-05 8.98169514e+00] [-3.84942859e-04 3.32913068e-05 9.99999925e-01 -3.69086958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.03589822699996 meters 0.09143058345779921 Centerline is valid? [True, True] Translation: X:299.55, Y:8.97, Z:-3.69 [[ 9.99977439e-01 6.71558770e-03 -1.51104253e-04 2.99547902e+02] [-6.71558571e-03 9.99977450e-01 1.36608979e-05 8.97460108e+00] [ 1.51192587e-04 -1.26458361e-05 9.99999988e-01 -3.69132574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.09589822699996 meters 0.07984427684208927 Centerline is valid? [True, True] Translation: X:299.61, Y:8.99, Z:-3.69 [[ 9.99880442e-01 1.53144809e-02 2.13752492e-03 2.99609152e+02] [-1.53141034e-02 9.99882714e-01 -1.92857728e-04 8.98510864e+00] [-2.14022773e-03 1.60100393e-04 9.99997697e-01 -3.68747505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.15589822699997 meters 0.07329937351548103 Centerline is valid? [True, True] Translation: X:299.67, Y:8.99, Z:-3.69 [[ 9.99783537e-01 2.06687782e-02 2.38348096e-03 2.99670254e+02] [-2.06683240e-02 9.99786364e-01 -2.15020229e-04 8.98941118e+00] [-2.38741597e-03 1.65711128e-04 9.99997136e-01 -3.68870314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.21589822699997 meters 0.083502672466776 Centerline is valid? [True, True] Translation: X:299.73, Y:8.97, Z:-3.69 [[ 9.99849082e-01 1.70844139e-02 3.15217528e-03 2.99728613e+02] [-1.70836025e-02 9.99854024e-01 -2.84152248e-04 8.97213027e+00] [-3.15656972e-03 2.30258854e-04 9.99994992e-01 -3.68831871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.27589822699997 meters 0.07934393395002773 Centerline is valid? [True, True] Translation: X:299.79, Y:8.97, Z:-3.69 [[ 9.99925204e-01 1.20018275e-02 2.35416603e-03 2.99789093e+02] [-1.20013603e-02 9.99927959e-01 -2.12485095e-04 8.97121206e+00] [-2.35654664e-03 1.84216007e-04 9.99997206e-01 -3.68961679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.335898227 meters 0.09437069781251438 Centerline is valid? [True, True] Translation: X:299.85, Y:8.94, Z:-3.69 [[ 9.99997247e-01 -2.33382872e-03 2.43198628e-04 2.99846703e+02] [ 2.33383412e-03 9.99997276e-01 -2.19288251e-05 8.93908058e+00] [-2.43146787e-04 2.24963499e-05 9.99999970e-01 -3.69281218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.395898227 meters 0.09318719410330445 Centerline is valid? [True, True] Translation: X:299.91, Y:8.93, Z:-3.69 [[ 9.99979505e-01 -6.23228247e-03 1.46563250e-03 2.99906750e+02] [ 6.23248298e-03 9.99980569e-01 -1.32279748e-04 8.93116380e+00] [-1.46477962e-03 1.41411566e-04 9.99998917e-01 -3.69011100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.455898227 meters 0.0964116359816343 Centerline is valid? [True, True] Translation: X:299.97, Y:8.92, Z:-3.69 [[ 9.99967220e-01 -6.43637125e-03 4.91251507e-03 2.99966492e+02] [ 6.43862652e-03 9.99979174e-01 -4.43409883e-04 8.91687620e+00] [-4.90955880e-03 4.75025197e-04 9.99987835e-01 -3.68532147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.515898227 meters 0.09654535635031365 Centerline is valid? [True, True] Translation: X:300.03, Y:8.90, Z:-3.69 [[ 9.99974962e-01 -3.34770769e-03 6.23448459e-03 3.00025720e+02] [ 3.35128123e-03 9.99994226e-01 -5.62830836e-04 8.90341889e+00] [-6.23256440e-03 5.83710255e-04 9.99980407e-01 -3.68585773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.575898227 meters 0.09480204077931462 Centerline is valid? [True, True] Translation: X:300.09, Y:8.89, Z:-3.69 [[ 9.99987773e-01 -2.20233226e-03 4.42751500e-03 3.00085994e+02] [ 2.20412327e-03 9.99997491e-01 -3.99679347e-04 8.89024319e+00] [-4.42662367e-03 4.09433249e-04 9.99990119e-01 -3.69045310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.635898227 meters 0.09710904127708318 Centerline is valid? [True, True] Translation: X:300.15, Y:8.87, Z:-3.70 [[ 9.99994551e-01 -2.47767983e-03 2.18130954e-03 3.00147142e+02] [ 2.47811486e-03 9.99996910e-01 -1.96755834e-04 8.87254815e+00] [-2.18081531e-03 2.02160298e-04 9.99997602e-01 -3.69546309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.695898227 meters 0.09653513053200405 Centerline is valid? [True, True] Translation: X:300.21, Y:8.85, Z:-3.70 [[ 9.99995603e-01 -2.91202820e-03 5.61177272e-04 3.00207258e+02] [ 2.91205703e-03 9.99995759e-01 -5.05487242e-05 8.85288453e+00] [-5.61027693e-04 5.21826821e-05 9.99999841e-01 -3.69855996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.755898227 meters 0.09340341393723182 Centerline is valid? [True, True] Translation: X:300.27, Y:8.84, Z:-3.70 [[ 9.99999750e-01 6.70320372e-04 2.26192033e-04 3.00266539e+02] [-6.70315763e-04 9.99999775e-01 -2.04522600e-05 8.83744607e+00] [-2.26205692e-04 2.03006348e-05 9.99999974e-01 -3.69834606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.815898227 meters 0.09216000312402234 Centerline is valid? [True, True] Translation: X:300.33, Y:8.82, Z:-3.70 [[ 9.99977332e-01 6.67234265e-03 -9.03267377e-04 3.00325101e+02] [-6.67227169e-03 9.99977737e-01 8.15578721e-05 8.82432935e+00] [ 9.03791449e-04 -7.55291780e-05 9.99999589e-01 -3.70038131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.875898227 meters 0.09227234001386547 Centerline is valid? [True, True] Translation: X:300.38, Y:8.81, Z:-3.70 [[ 9.99934735e-01 1.13541132e-02 1.26873836e-03 3.00383290e+02] [-1.13539768e-02 9.99935535e-01 -1.14656269e-04 8.80674903e+00] [-1.26995839e-03 1.00243560e-04 9.99999189e-01 -3.69758323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.935898227 meters 0.07873054058011701 Centerline is valid? [True, True] Translation: X:300.44, Y:8.81, Z:-3.70 [[ 9.99866455e-01 1.62816860e-02 1.40657342e-03 3.00444567e+02] [-1.62815232e-02 9.99867439e-01 -1.27104531e-04 8.81393486e+00] [-1.40845644e-03 1.04186399e-04 9.99999003e-01 -3.69684191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.99589822699994 meters 0.07541487052879789 Centerline is valid? [True, True] Translation: X:300.51, Y:8.82, Z:-3.70 [[ 9.99776945e-01 2.10843276e-02 1.22972762e-03 3.00505785e+02] [-2.10842068e-02 9.99777697e-01 -1.11102306e-04 8.81629608e+00] [-1.23179676e-03 8.51496930e-05 9.99999238e-01 -3.69613278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.05589822699994 meters 0.07630149736857811 Centerline is valid? [True, True] Translation: X:300.57, Y:8.81, Z:-3.69 [[ 9.99782054e-01 1.92725484e-02 8.02580355e-03 3.00567086e+02] [-1.92673438e-02 9.99814104e-01 -7.25302740e-04 8.81275233e+00] [-8.03829002e-03 5.70508747e-04 9.99967530e-01 -3.68565254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.11589822699995 meters 0.08915201952964584 Centerline is valid? [True, True] Translation: X:300.62, Y:8.79, Z:-3.68 [[ 9.99832010e-01 1.46358366e-02 1.10337817e-02 3.00624916e+02] [-1.46257157e-02 9.99892541e-01 -9.97408766e-04 8.79138856e+00] [-1.10471939e-02 8.35864258e-04 9.99938629e-01 -3.68218329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.17589822699995 meters 0.07790847995963582 Centerline is valid? [True, True] Translation: X:300.69, Y:8.81, Z:-3.69 [[ 9.99833217e-01 1.68149897e-02 7.12698334e-03 3.00687108e+02] [-1.68108219e-02 9.99858481e-01 -6.44298284e-04 8.80668866e+00] [-7.13680860e-03 5.24380378e-04 9.99974395e-01 -3.68822204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.23589822699995 meters 0.07116495595063928 Centerline is valid? [True, True] Translation: X:300.75, Y:8.82, Z:-3.69 [[ 9.99787027e-01 1.98987422e-02 5.47184372e-03 3.00749114e+02] [-1.98963314e-02 9.99801926e-01 -4.94662635e-04 8.81635386e+00] [-5.48060306e-03 3.85687669e-04 9.99984907e-01 -3.69253502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.29589822699995 meters 0.08159982020984163 Centerline is valid? [True, True] Translation: X:300.81, Y:8.80, Z:-3.70 [[ 9.99773977e-01 2.07318285e-02 4.71027358e-03 3.00809006e+02] [-2.07300530e-02 9.99785019e-01 -4.25475370e-04 8.80188952e+00] [-4.71808184e-03 3.27734982e-04 9.99988816e-01 -3.69603690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.35589822699995 meters 0.07819039684605987 Centerline is valid? [True, True] Translation: X:300.87, Y:8.81, Z:-3.70 [[ 9.99843083e-01 1.76549113e-02 1.45408679e-03 3.00870278e+02] [-1.76547384e-02 9.99844134e-01 -1.31658200e-04 8.80676156e+00] [-1.45618456e-03 1.05966018e-04 9.99998934e-01 -3.70303909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.41589822699996 meters 0.08233179069335551 Centerline is valid? [True, True] Translation: X:300.93, Y:8.80, Z:-3.71 [[ 9.99902035e-01 1.38094854e-02 -2.28445535e-03 3.00930174e+02] [-1.38090485e-02 9.99904629e-01 2.06916624e-04 8.79752355e+00] [ 2.28709489e-03 -1.75350198e-04 9.99997369e-01 -3.71007684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.47589822699996 meters 0.08550376265305448 Centerline is valid? [True, True] Translation: X:300.99, Y:8.79, Z:-3.71 [[ 9.99924151e-01 1.21826459e-02 -1.80970435e-03 3.00990372e+02] [-1.21823690e-02 9.99925779e-01 1.63957354e-04 8.78850709e+00] [ 1.81156746e-03 -1.41898432e-04 9.99998349e-01 -3.70941122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.53589822699996 meters 0.08060180105481966 Centerline is valid? [True, True] Translation: X:301.05, Y:8.79, Z:-3.71 [[ 9.99868865e-01 1.60684728e-02 -2.01408012e-03 3.01051745e+02] [-1.60681375e-02 9.99870882e-01 1.82525425e-04 8.78937215e+00] [ 2.01675297e-03 -1.50138973e-04 9.99997955e-01 -3.70880112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.59589822699996 meters 0.0721805554934334 Centerline is valid? [True, True] Translation: X:301.11, Y:8.80, Z:-3.70 [[ 9.99710507e-01 2.40176862e-02 1.43273601e-03 3.01113083e+02] [-2.40175247e-02 9.99711529e-01 -1.29813310e-04 8.79697889e+00] [-1.43544053e-03 9.53649577e-05 9.99998965e-01 -3.70250798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.65589822699997 meters 0.06911454889037627 Centerline is valid? [True, True] Translation: X:301.17, Y:8.80, Z:-3.70 [[ 9.99609076e-01 2.78109849e-02 2.87133744e-03 3.01174318e+02] [-2.78103522e-02 9.99613184e-01 -2.60053133e-04 8.79866079e+00] [-2.87745909e-03 1.80098566e-04 9.99995844e-01 -3.70038869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.71589822699997 meters 0.07205928521874055 Centerline is valid? [True, True] Translation: X:301.23, Y:8.79, Z:-3.70 [[ 9.99647412e-01 2.64562634e-02 2.26233765e-03 3.01234883e+02] [-2.64558672e-02 9.99649961e-01 -2.04899371e-04 8.79335334e+00] [-2.26696662e-03 1.44975022e-04 9.99997420e-01 -3.70121731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.77589822699997 meters 0.0738328580113425 Centerline is valid? [True, True] Translation: X:301.29, Y:8.78, Z:-3.70 [[ 9.99722318e-01 2.30799871e-02 4.75412474e-03 3.01294288e+02] [-2.30781984e-02 9.99733570e-01 -4.30751369e-04 8.78316974e+00] [-4.76279984e-03 3.20915123e-04 9.99988606e-01 -3.69764107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.835898227 meters 0.0717175609139958 Centerline is valid? [True, True] Translation: X:301.36, Y:8.78, Z:-3.70 [[ 9.99750880e-01 2.18063979e-02 4.76021810e-03 3.01355357e+02] [-2.18045904e-02 9.99762159e-01 -4.31292988e-04 8.78161799e+00] [-4.76849087e-03 3.27390939e-04 9.99988577e-01 -3.69632927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.895898227 meters 0.0673622950322511 Centerline is valid? [True, True] Translation: X:301.42, Y:8.78, Z:-3.70 [[ 9.99704772e-01 2.37948087e-02 4.91681834e-03 3.01416545e+02] [-2.37929039e-02 9.99716810e-01 -4.45540355e-04 8.78464836e+00] [-4.92602749e-03 3.28423433e-04 9.99987813e-01 -3.69633027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.955898227 meters 0.07004370570850672 Centerline is valid? [True, True] Translation: X:301.48, Y:8.78, Z:-3.69 [[ 9.99638001e-01 2.62211448e-02 6.02642741e-03 3.01475798e+02] [-2.62183265e-02 9.99656091e-01 -5.46201725e-04 8.77994062e+00] [-6.03867690e-03 3.88001159e-04 9.99981692e-01 -3.69487798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.015898227 meters 0.0634383569363031 Centerline is valid? [True, True] Translation: X:301.54, Y:8.79, Z:-3.70 [[ 9.99466483e-01 3.21780601e-02 5.59654057e-03 3.01538310e+02] [-3.21757228e-02 9.99482099e-01 -5.07186067e-04 8.79313145e+00] [-5.60996238e-03 3.26842737e-04 9.99984211e-01 -3.69652790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.075898227 meters 0.05729783403065167 Centerline is valid? [True, True] Translation: X:301.60, Y:8.81, Z:-3.70 [[ 9.99238406e-01 3.89041772e-02 3.01201228e-03 3.01600078e+02] [-3.89035306e-02 9.99242934e-01 -2.73010132e-04 8.80836969e+00] [-3.02035323e-03 1.55624297e-04 9.99995427e-01 -3.70044849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.135898227 meters 0.05643852398342946 Centerline is valid? [True, True] Translation: X:301.66, Y:8.82, Z:-3.70 [[ 9.99082789e-01 4.27610055e-02 2.25320437e-03 3.01662107e+02] [-4.27606534e-02 9.99085324e-01 -2.04233096e-04 8.82155345e+00] [-2.25987663e-03 1.07697280e-04 9.99997441e-01 -3.70035717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.195898227 meters 0.06106846225286046 Centerline is valid? [True, True] Translation: X:301.72, Y:8.81, Z:-3.70 [[ 9.98999593e-01 4.46806129e-02 1.85898953e-03 3.01720913e+02] [-4.46803770e-02 9.99001319e-01 -1.68279160e-04 8.81194238e+00] [-1.86465181e-03 8.50504594e-05 9.99998258e-01 -3.70326741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.255898227 meters 0.04576204731620643 Centerline is valid? [True, True] Translation: X:301.78, Y:8.84, Z:-3.70 [[ 9.98797495e-01 4.89847329e-02 2.01501738e-03 3.01784312e+02] [-4.89844637e-02 9.98799524e-01 -1.82738877e-04 8.83738478e+00] [-2.02154982e-03 8.38145865e-05 9.99997953e-01 -3.70011606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.315898227 meters 0.0413824334704621 Centerline is valid? [True, True] Translation: X:301.84, Y:8.85, Z:-3.70 [[ 9.98638603e-01 5.20620422e-02 3.23803498e-03 3.01844990e+02] [-5.20613630e-02 9.98643845e-01 -2.93727865e-04 8.84753449e+00] [-3.24893577e-03 1.24751471e-04 9.99994714e-01 -3.69797494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.375898227 meters 0.044560931041212594 Centerline is valid? [True, True] Translation: X:301.90, Y:8.84, Z:-3.70 [[ 9.98585271e-01 5.29299609e-02 5.08676814e-03 3.01903318e+02] [-5.29282973e-02 9.98598209e-01 -4.61197676e-04 8.84342321e+00] [-5.10404873e-03 1.91311230e-04 9.99986956e-01 -3.69695618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.435898227 meters 0.03872610957344294 Centerline is valid? [True, True] Translation: X:301.96, Y:8.85, Z:-3.69 [[ 9.98411603e-01 5.59975044e-02 6.20886654e-03 3.01963803e+02] [-5.59950859e-02 9.98430886e-01 -5.62805457e-04 8.85187403e+00] [-6.23063982e-03 2.14245483e-04 9.99980566e-01 -3.69476915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.49589822699994 meters 0.0333485651693122 Centerline is valid? [True, True] Translation: X:302.02, Y:8.86, Z:-3.69 [[ 9.98153375e-01 6.03799503e-02 6.64091975e-03 3.02024190e+02] [-6.03772815e-02 9.98175446e-01 -6.01805215e-04 8.85803679e+00] [-6.66514001e-03 1.99733225e-04 9.99977768e-01 -3.69458655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.55589822699994 meters 0.028765020410987684 Centerline is valid? [True, True] Translation: X:302.08, Y:8.86, Z:-3.70 [[ 9.97813643e-01 6.56914003e-02 7.25076339e-03 3.02083616e+02] [-6.56883603e-02 9.97839971e-01 -6.56880889e-04 8.85912536e+00] [-7.27825296e-03 1.79153955e-04 9.99973497e-01 -3.69658075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.61589822699995 meters 0.025549862446211945 Centerline is valid? [True, True] Translation: X:302.14, Y:8.86, Z:-3.70 [[ 9.97548530e-01 6.97817618e-02 5.23789287e-03 3.02142459e+02] [-6.97802320e-02 9.97562276e-01 -4.74476027e-04 8.85695486e+00] [-5.25823411e-03 1.07811483e-04 9.99986170e-01 -3.70096009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.67589822699995 meters 0.020673740380932 Centerline is valid? [True, True] Translation: X:302.20, Y:8.86, Z:-3.71 [[ 9.97300125e-01 7.34089082e-02 1.89569813e-03 3.02201753e+02] [-7.34087140e-02 9.97301926e-01 -1.71889548e-04 8.85655984e+00] [-1.90320162e-03 3.22647050e-05 9.99998188e-01 -3.70656050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.73589822699995 meters 0.017064430137023055 Centerline is valid? [True, True] Translation: X:302.26, Y:8.85, Z:-3.71 [[ 9.96967505e-01 7.78143065e-02 8.53565728e-04 3.02259366e+02] [-7.78142685e-02 9.96967870e-01 -7.76235538e-05 8.85027545e+00] [-8.57017828e-04 1.09685680e-05 9.99999633e-01 -3.70967790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.79589822699995 meters 0.012630503277102434 Centerline is valid? [True, True] Translation: X:302.32, Y:8.85, Z:-3.71 [[ 9.96562811e-01 8.28122522e-02 2.16686773e-03 3.02317981e+02] [-8.28120213e-02 9.96565166e-01 -1.96199409e-04 8.84747106e+00] [-2.17567261e-03 1.60823375e-05 9.99997633e-01 -3.70693792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.85589822699995 meters 0.010217475493825094 Centerline is valid? [True, True] Translation: X:302.38, Y:8.84, Z:-3.71 [[ 9.96208807e-01 8.69459879e-02 2.89968154e-03 3.02375445e+02] [-8.69455926e-02 9.96213027e-01 -2.62351379e-04 8.84382131e+00] [-2.91151092e-03 9.24222411e-06 9.99995762e-01 -3.70622602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.91589822699996 meters 0.011217124207226942 Centerline is valid? [True, True] Translation: X:302.43, Y:8.84, Z:-3.71 [[ 9.95461202e-01 9.51396043e-02 2.33486081e-03 3.02434484e+02] [-9.51393708e-02 9.95463940e-01 -2.11146820e-04 8.84457483e+00] [-2.34435816e-03 -1.19487208e-05 9.99997252e-01 -3.70562405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.97589822699996 meters 0.0167614508019476 Centerline is valid? [True, True] Translation: X:302.49, Y:8.85, Z:-3.70 [[ 9.94826557e-01 1.01325332e-01 7.30056875e-03 3.02493068e+02] [-1.01323223e-01 9.94853341e-01 -6.59098030e-04 8.84615895e+00] [-7.32977854e-03 -8.40289321e-05 9.99973133e-01 -3.69872476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.03589822699996 meters 0.018010498713255167 Centerline is valid? [True, True] Translation: X:302.55, Y:8.84, Z:-3.70 [[ 9.94692800e-01 1.02541125e-01 8.45885144e-03 3.02552086e+02] [-1.02538343e-01 9.94728760e-01 -7.63107133e-04 8.84077508e+00] [-8.49251267e-03 -1.08299437e-04 9.99963932e-01 -3.69624309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.09589822699996 meters 0.02286604142566709 Centerline is valid? [True, True] Translation: X:302.61, Y:8.84, Z:-3.70 [[ 9.94290102e-01 1.06446475e-01 7.50608521e-03 3.02610823e+02] [-1.06444397e-01 9.94318426e-01 -6.76851049e-04 8.84057954e+00] [-7.53548724e-03 -1.25994418e-04 9.99971600e-01 -3.69823362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.15589822699997 meters 0.025694116803683425 Centerline is valid? [True, True] Translation: X:302.67, Y:8.84, Z:-3.70 [[ 9.93854642e-01 1.10470449e-01 7.01640251e-03 3.02670484e+02] [-1.10468735e-01 9.93879398e-01 -6.32469525e-04 8.83648895e+00] [-7.04332710e-03 -1.46510337e-04 9.99975185e-01 -3.70038883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.21589822699997 meters 0.026533669822549674 Centerline is valid? [True, True] Translation: X:302.73, Y:8.83, Z:-3.70 [[ 9.93808872e-01 1.10916304e-01 6.44193713e-03 3.02729090e+02] [-1.10914870e-01 9.93829741e-01 -5.80573182e-04 8.83093253e+00] [-6.46658374e-03 -1.37527838e-04 9.99979082e-01 -3.70178538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.27589822699997 meters 0.03165695311615772 Centerline is valid? [True, True] Translation: X:302.79, Y:8.83, Z:-3.70 [[ 9.93640204e-01 1.12467321e-01 5.49962029e-03 3.02786732e+02] [-1.12466300e-01 9.93655416e-01 -4.95517896e-04 8.82535439e+00] [-5.52045706e-03 -1.26155440e-04 9.99984754e-01 -3.70410243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.335898227 meters 0.029703099932470257 Centerline is valid? [True, True] Translation: X:302.85, Y:8.81, Z:-3.71 [[ 9.93326628e-01 1.15285778e-01 3.37628454e-03 3.02845192e+02] [-1.15285411e-01 9.93332362e-01 -3.03958261e-04 8.81275978e+00] [-3.38881476e-03 -8.73065165e-05 9.99994254e-01 -3.70761101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.395898227 meters 0.033666326649251045 Centerline is valid? [True, True] Translation: X:302.90, Y:8.81, Z:-3.71 [[ 9.92965447e-01 1.18345649e-01 3.73194388e-03 3.02903727e+02] [-1.18345222e-01 9.92972455e-01 -3.35810267e-04 8.80800268e+00] [-3.74545916e-03 -1.08209736e-04 9.99992980e-01 -3.70774826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.455898227 meters 0.034290930115628 Centerline is valid? [True, True] Translation: X:302.96, Y:8.80, Z:-3.71 [[ 9.92978226e-01 1.18231628e-01 3.94025726e-03 3.02961502e+02] [-1.18231152e-01 9.92986037e-01 -3.54435215e-04 8.79899657e+00] [-3.95452589e-03 -1.13914703e-04 9.99992174e-01 -3.70795689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.515898227 meters 0.036425839117710634 Centerline is valid? [True, True] Translation: X:303.02, Y:8.79, Z:-3.71 [[ 9.93115216e-01 1.17040554e-01 4.86581194e-03 3.03019768e+02] [-1.17039814e-01 9.93127127e-01 -4.37478938e-04 8.78556607e+00] [-4.88357261e-03 -1.35026733e-04 9.99988066e-01 -3.70503051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.575898227 meters 0.03547944549895763 Centerline is valid? [True, True] Translation: X:303.08, Y:8.78, Z:-3.70 [[ 9.92758279e-01 1.20002831e-01 5.50645200e-03 3.03079187e+02] [-1.20001933e-01 9.92773535e-01 -4.94392394e-04 8.78124579e+00] [-5.52598830e-03 -1.69972740e-04 9.99984717e-01 -3.70439876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.635898227 meters 0.034699878598155105 Centerline is valid? [True, True] Translation: X:303.14, Y:8.77, Z:-3.71 [[ 9.92902257e-01 1.18868434e-01 3.92472858e-03 3.03137176e+02] [-1.18867968e-01 9.92910007e-01 -3.52419372e-04 8.77363619e+00] [-3.93879382e-03 -1.16606524e-04 9.99992236e-01 -3.70682598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.695898227 meters 0.03018245134372076 Centerline is valid? [True, True] Translation: X:303.20, Y:8.76, Z:-3.71 [[ 9.93395273e-01 1.14616017e-01 5.38524458e-03 3.03196291e+02] [-1.14615081e-01 9.93409860e-01 -4.83136782e-04 8.76281508e+00] [-5.40513028e-03 -1.37284448e-04 9.99985383e-01 -3.70511471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.755898227 meters 0.01737980468064072 Centerline is valid? [True, True] Translation: X:303.25, Y:8.74, Z:-3.70 [[ 9.94738358e-01 1.02005010e-01 9.51716289e-03 3.03254762e+02] [-1.02001513e-01 9.94783878e-01 -8.53413097e-04 8.74094186e+00] [-9.55457261e-03 -1.21842268e-04 9.99954347e-01 -3.69994048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.815898227 meters 0.009717652499760717 Centerline is valid? [True, True] Translation: X:303.31, Y:8.72, Z:-3.70 [[ 9.95872994e-01 9.00627660e-02 1.12105901e-02 3.03311830e+02] [-9.00571587e-02 9.95936091e-01 -1.00501361e-03 8.71800146e+00] [-1.12555456e-02 -8.72798233e-06 9.99936654e-01 -3.69791016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.875898227 meters 0.011694119765543213 Centerline is valid? [True, True] Translation: X:303.37, Y:8.70, Z:-3.71 [[ 9.96493536e-01 8.33716441e-02 7.05702417e-03 3.03369972e+02] [-8.33692548e-02 9.96518523e-01 -6.32578793e-04 8.69882846e+00] [-7.08519444e-03 4.20218318e-05 9.99974899e-01 -3.70589616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.935898227 meters 0.013254131031013083 Centerline is valid? [True, True] Translation: X:303.43, Y:8.69, Z:-3.71 [[ 9.96659840e-01 8.12715487e-02 8.00621205e-03 3.03428697e+02] [-8.12684075e-02 9.96691994e-01 -7.17438798e-04 8.68985069e+00] [-8.03803482e-03 6.43903338e-05 9.99967692e-01 -3.70514501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.99589822699994 meters 0.014199043050852303 Centerline is valid? [True, True] Translation: X:303.49, Y:8.68, Z:-3.71 [[ 9.96756513e-01 7.99256433e-02 9.39922036e-03 3.03487598e+02] [-7.99212583e-02 9.96800825e-01 -8.41814595e-04 8.68048666e+00] [-9.43643318e-03 8.78866618e-05 9.99955472e-01 -3.70531466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.05589822699994 meters 0.017016014682815814 Centerline is valid? [True, True] Translation: X:303.55, Y:8.67, Z:-3.71 [[ 9.96911558e-01 7.82175862e-02 7.02525083e-03 3.03547179e+02] [-7.82150950e-02 9.96936308e-01 -6.29075761e-04 8.67347779e+00] [-7.05293241e-03 7.76522366e-05 9.99975125e-01 -3.71062766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.11589822699995 meters 0.019296273263390937 Centerline is valid? [True, True] Translation: X:303.61, Y:8.66, Z:-3.71 [[ 9.97187239e-01 7.47257092e-02 5.80327767e-03 3.03606606e+02] [-7.47239510e-02 9.97204122e-01 -5.19510725e-04 8.66122056e+00] [-5.82587322e-03 8.44056299e-05 9.99983026e-01 -3.71343878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.17589822699995 meters 0.02751421985473082 Centerline is valid? [True, True] Translation: X:303.67, Y:8.64, Z:-3.72 [[ 9.97834691e-01 6.56409552e-02 4.14658601e-03 3.03665663e+02] [-6.56399791e-02 9.97843302e-01 -3.71195882e-04 8.64177532e+00] [-4.16200873e-03 9.82103093e-05 9.99991334e-01 -3.71679296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.23589822699995 meters 0.034359474381534486 Centerline is valid? [True, True] Translation: X:303.72, Y:8.62, Z:-3.72 [[ 9.98309486e-01 5.79399645e-02 4.59672950e-03 3.03724376e+02] [-5.79386833e-02 9.98320059e-01 -4.11507901e-04 8.62180186e+00] [-4.61285001e-03 1.44483786e-04 9.99989350e-01 -3.71523660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.29589822699995 meters 0.03870921014621672 Centerline is valid? [True, True] Translation: X:303.78, Y:8.61, Z:-3.71 [[ 9.98407232e-01 5.61597871e-02 5.39233039e-03 3.03783645e+02] [-5.61579982e-02 9.98421778e-01 -4.82715280e-04 8.60545729e+00] [-5.41092928e-03 1.79123947e-04 9.99985345e-01 -3.71459934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.35589822699995 meters 0.03690313732288006 Centerline is valid? [True, True] Translation: X:303.84, Y:8.60, Z:-3.72 [[ 9.98477213e-01 5.50237009e-02 3.95561037e-03 3.03844982e+02] [-5.50227312e-02 9.98485039e-01 -3.53621696e-04 8.59833923e+00] [-3.96907535e-03 1.35434719e-04 9.99992114e-01 -3.71662098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.41589822699996 meters 0.03916979248975828 Centerline is valid? [True, True] Translation: X:303.90, Y:8.58, Z:-3.72 [[ 9.98357572e-01 5.71536652e-02 3.95171564e-03 3.03904403e+02] [-5.71527097e-02 9.98365385e-01 -3.54393075e-04 8.58400766e+00] [-3.96551097e-03 1.27959753e-04 9.99992129e-01 -3.71741122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.47589822699996 meters 0.03127326857428072 Centerline is valid? [True, True] Translation: X:303.97, Y:8.59, Z:-3.72 [[ 9.97913126e-01 6.44662756e-02 3.67325055e-03 3.03965262e+02] [-6.44654991e-02 9.97919882e-01 -3.29503693e-04 8.58544457e+00] [-3.68685163e-03 9.20181296e-05 9.99993199e-01 -3.71781375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.53589822699996 meters 0.027268973882814584 Centerline is valid? [True, True] Translation: X:304.02, Y:8.58, Z:-3.72 [[ 9.97617096e-01 6.87749449e-02 5.48965498e-03 3.04024704e+02] [-6.87732758e-02 9.97632194e-01 -4.92460877e-04 8.58148461e+00] [-5.51052551e-03 1.13745834e-04 9.99984810e-01 -3.71592666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.59589822699996 meters 0.023061772397651347 Centerline is valid? [True, True] Translation: X:304.09, Y:8.58, Z:-3.71 [[ 9.97560401e-01 6.94151189e-02 7.40180557e-03 3.04085695e+02] [-6.94121030e-02 9.97587850e-01 -6.63881451e-04 8.57823076e+00] [-7.43003472e-03 1.48486957e-04 9.99972386e-01 -3.71219260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.65589822699997 meters 0.023031794028271806 Centerline is valid? [True, True] Translation: X:304.15, Y:8.57, Z:-3.71 [[ 9.97455643e-01 7.08885065e-02 7.55381784e-03 3.04145112e+02] [-7.08854069e-02 9.97484235e-01 -6.77609233e-04 8.57004524e+00] [-7.58284892e-03 1.40429702e-04 9.99971240e-01 -3.71156751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.71589822699997 meters 0.022253248307670007 Centerline is valid? [True, True] Translation: X:304.21, Y:8.57, Z:-3.71 [[ 9.97383702e-01 7.17965767e-02 8.42625481e-03 3.04205759e+02] [-7.17927513e-02 9.97419285e-01 -7.55969964e-04 8.56653234e+00] [-8.45878510e-03 1.49048106e-04 9.99964213e-01 -3.71036197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.77589822699997 meters 0.022726942081170695 Centerline is valid? [True, True] Translation: X:304.27, Y:8.56, Z:-3.71 [[ 9.97475096e-01 7.06041410e-02 7.64777652e-03 3.04267221e+02] [-7.06009548e-02 9.97504403e-01 -6.86132703e-04 8.56404463e+00] [-7.67713456e-03 1.44459959e-04 9.99970520e-01 -3.71279616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.835898227 meters 0.024897886432532313 Centerline is valid? [True, True] Translation: X:304.33, Y:8.56, Z:-3.72 [[ 9.97582484e-01 6.92603432e-02 5.67392589e-03 3.04327231e+02] [-6.92585671e-02 9.97598612e-01 -5.09156403e-04 8.55632517e+00] [-5.69556495e-03 1.14957532e-04 9.99983774e-01 -3.71734866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.895898227 meters 0.03219017599291158 Centerline is valid? [True, True] Translation: X:304.39, Y:8.54, Z:-3.72 [[ 9.98059417e-01 6.18217307e-02 7.44812328e-03 3.04386344e+02] [-6.18184622e-02 9.98087186e-01 -6.68481769e-04 8.53782481e+00] [-7.47520311e-03 2.06752997e-04 9.99972039e-01 -3.71519941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.955898227 meters 0.038582383253739604 Centerline is valid? [True, True] Translation: X:304.45, Y:8.52, Z:-3.72 [[ 9.98405656e-01 5.59432615e-02 7.51648004e-03 3.04445892e+02] [-5.59397660e-02 9.98433917e-01 -6.74634095e-04 8.52102562e+00] [-7.54244984e-03 2.53088361e-04 9.99971523e-01 -3.71550890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.015898227 meters 0.04079412144642094 Centerline is valid? [True, True] Translation: X:304.51, Y:8.51, Z:-3.72 [[ 9.98598485e-01 5.26431802e-02 5.45535303e-03 3.04506564e+02] [-5.26412899e-02 9.98613366e-01 -4.89611238e-04 8.51126321e+00] [-5.47356315e-03 2.01748220e-04 9.99985000e-01 -3.72012459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.075898227 meters 0.0431771782051364 Centerline is valid? [True, True] Translation: X:304.57, Y:8.50, Z:-3.72 [[ 9.98572012e-01 5.31057440e-02 5.80667127e-03 3.04567451e+02] [-5.31036106e-02 9.98588872e-01 -5.21079174e-04 8.50216189e+00] [-5.82614961e-03 2.11979870e-04 9.99983005e-01 -3.71954125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.135898227 meters 0.03945003815193451 Centerline is valid? [True, True] Translation: X:304.63, Y:8.50, Z:-3.72 [[ 9.98547187e-01 5.37461137e-02 3.85626912e-03 3.04629345e+02] [-5.37451770e-02 9.98554623e-01 -3.46204550e-04 8.50030743e+00] [-3.86930251e-03 1.38445713e-04 9.99992505e-01 -3.72279501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.195898227 meters 0.04276519013487268 Centerline is valid? [True, True] Translation: X:304.69, Y:8.49, Z:-3.73 [[ 9.98615592e-01 5.24964862e-02 3.31944643e-03 3.04689488e+02] [-5.24957828e-02 9.98621101e-01 -2.98736678e-04 8.49033874e+00] [-3.33055187e-03 1.24066165e-04 9.99994446e-01 -3.72508972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.255898227 meters 0.04096744004706129 Centerline is valid? [True, True] Translation: X:304.75, Y:8.49, Z:-3.72 [[ 9.98758738e-01 4.96425239e-02 4.07461029e-03 3.04751045e+02] [-4.96414376e-02 9.98767036e-01 -3.67373082e-04 8.49052263e+00] [-4.08782377e-03 1.64647563e-04 9.99991631e-01 -3.72218628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.315898227 meters 0.04565055832492721 Centerline is valid? [True, True] Translation: X:304.81, Y:8.49, Z:-3.72 [[ 9.98626684e-01 5.20772832e-02 5.71854748e-03 3.04811744e+02] [-5.20751821e-02 9.98643034e-01 -5.15807326e-04 8.48899541e+00] [-5.73764945e-03 2.17304559e-04 9.99983516e-01 -3.71922300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.375898227 meters 0.04346200347038214 Centerline is valid? [True, True] Translation: X:304.87, Y:8.49, Z:-3.71 [[ 9.98561874e-01 5.29331631e-02 8.50085105e-03 3.04874569e+02] [-5.29285472e-02 9.98598007e-01 -7.67206743e-04 8.48923593e+00] [-8.52954360e-03 3.16165707e-04 9.99963573e-01 -3.71464834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.435898227 meters 0.05343952745789079 Centerline is valid? [True, True] Translation: X:304.93, Y:8.48, Z:-3.72 [[ 9.98912468e-01 4.61951957e-02 6.31551612e-03 3.04932842e+02] [-4.61925078e-02 9.98932393e-01 -5.70878257e-04 8.47803642e+00] [-6.33514547e-03 2.78527880e-04 9.99979894e-01 -3.72066078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.49589822699994 meters 0.059544871396081 Centerline is valid? [True, True] Translation: X:304.99, Y:8.47, Z:-3.72 [[ 9.99400516e-01 3.41382912e-02 5.76069230e-03 3.04992535e+02] [-3.41358556e-02 9.99417066e-01 -5.20631019e-04 8.46740308e+00] [-5.77510765e-03 3.23672749e-04 9.99983272e-01 -3.72098357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.55589822699994 meters 0.06721418834741374 Centerline is valid? [True, True] Translation: X:305.05, Y:8.45, Z:-3.72 [[ 9.99582086e-01 2.81462146e-02 6.59116633e-03 3.05050985e+02] [-2.81428962e-02 9.99603733e-01 -5.95689801e-04 8.45293974e+00] [-6.60532088e-03 4.09946345e-04 9.99978101e-01 -3.71946627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.61589822699995 meters 0.06859234132437976 Centerline is valid? [True, True] Translation: X:305.11, Y:8.45, Z:-3.72 [[ 9.99600644e-01 2.79107642e-02 4.42057910e-03 3.05112404e+02] [-2.79092717e-02 9.99610381e-01 -3.98986612e-04 8.44558496e+00] [-4.42999278e-03 2.75452131e-04 9.99990150e-01 -3.72346288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.67589822699995 meters 0.06577452852133842 Centerline is valid? [True, True] Translation: X:305.17, Y:8.44, Z:-3.73 [[ 9.99511015e-01 3.11937449e-02 2.16338239e-03 3.05173301e+02] [-3.11933940e-02 9.99513349e-01 -1.95779777e-04 8.44211197e+00] [-2.16843668e-03 1.28200805e-04 9.99997641e-01 -3.72755705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.73589822699995 meters 0.06327252890898297 Centerline is valid? [True, True] Translation: X:305.23, Y:8.44, Z:-3.72 [[ 9.99318754e-01 3.66873845e-02 4.00790629e-03 3.05233347e+02] [-3.66862233e-02 9.99326768e-01 -3.62885909e-04 8.43872680e+00] [-4.01852137e-03 2.15603749e-04 9.99991902e-01 -3.72448720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.79589822699995 meters 0.06023455552775277 Centerline is valid? [True, True] Translation: X:305.29, Y:8.44, Z:-3.73 [[ 9.99200341e-01 3.98377854e-02 3.41022528e-03 3.05294127e+02] [-3.98369632e-02 9.99206145e-01 -3.08715733e-04 8.43824788e+00] [-3.41981661e-03 1.72615847e-04 9.99994138e-01 -3.72614119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.85589822699995 meters 0.06167607721225703 Centerline is valid? [True, True] Translation: X:305.36, Y:8.43, Z:-3.73 [[ 9.99218295e-01 3.94067583e-02 3.14757901e-03 3.05356352e+02] [-3.94060577e-02 9.99223239e-01 -2.84311038e-04 8.43262439e+00] [-3.15633787e-03 1.60055110e-04 9.99995006e-01 -3.72699030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.91589822699996 meters 0.06374397157121445 Centerline is valid? [True, True] Translation: X:305.42, Y:8.42, Z:-3.73 [[ 9.99290222e-01 3.75171994e-02 3.39294251e-03 3.05417263e+02] [-3.75163706e-02 9.99295966e-01 -3.07621385e-04 8.42493379e+00] [-3.40209485e-03 1.80112154e-04 9.99994197e-01 -3.72694577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.97589822699996 meters 0.06933463587672041 Centerline is valid? [True, True] Translation: X:305.48, Y:8.41, Z:-3.72 [[ 9.99534743e-01 2.99341271e-02 5.85194298e-03 3.05476261e+02] [-2.99315302e-02 9.99551810e-01 -5.30853353e-04 8.41148948e+00] [-5.86521083e-03 3.55448762e-04 9.99982736e-01 -3.72329595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.03589822699996 meters 0.08199757206717535 Centerline is valid? [True, True] Translation: X:305.53, Y:8.39, Z:-3.73 [[ 9.99687195e-01 2.45790772e-02 4.62399846e-03 3.05534080e+02] [-2.45773989e-02 9.99697842e-01 -4.19420910e-04 8.38703992e+00] [-4.63291026e-03 3.05643858e-04 9.99989221e-01 -3.72632062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.09589822699996 meters 0.08052526460270812 Centerline is valid? [True, True] Translation: X:305.59, Y:8.38, Z:-3.73 [[ 9.99726043e-01 2.31268479e-02 3.60379165e-03 3.05594410e+02] [-2.31258191e-02 9.99732509e-01 -3.26895632e-04 8.38094997e+00] [-3.61038773e-03 2.43465443e-04 9.99993453e-01 -3.72794831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.15589822699997 meters 0.07070738277925909 Centerline is valid? [True, True] Translation: X:305.66, Y:8.39, Z:-3.72 [[ 9.99685763e-01 2.45042627e-02 5.28351990e-03 3.05656537e+02] [-2.45020700e-02 9.99699664e-01 -4.79330500e-04 8.38625145e+00] [-5.29367872e-03 3.49722702e-04 9.99985927e-01 -3.72492262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.21589822699997 meters 0.0706341671064782 Centerline is valid? [True, True] Translation: X:305.72, Y:8.38, Z:-3.73 [[ 9.99655919e-01 2.57070532e-02 5.21456679e-03 3.05717124e+02] [-2.57049332e-02 9.99669462e-01 -4.73193965e-04 8.38143735e+00] [-5.22500760e-03 3.38991057e-04 9.99986292e-01 -3.72559056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.27589822699997 meters 0.06839751439200595 Centerline is valid? [True, True] Translation: X:305.78, Y:8.38, Z:-3.73 [[ 9.99616059e-01 2.75419854e-02 3.02896083e-03 3.05777362e+02] [-2.75412781e-02 9.99620629e-01 -2.74961255e-04 8.37848420e+00] [-3.03538471e-03 1.91434233e-04 9.99995375e-01 -3.72926931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.335898227 meters 0.0699647069361144 Centerline is valid? [True, True] Translation: X:305.84, Y:8.37, Z:-3.73 [[ 9.99516452e-01 3.07178840e-02 4.82424459e-03 3.05837010e+02] [-3.07161268e-02 9.99528053e-01 -4.37932196e-04 8.37213686e+00] [-4.83542015e-03 2.89538326e-04 9.99988267e-01 -3.72656385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.395898227 meters 0.06255250075459227 Centerline is valid? [True, True] Translation: X:305.90, Y:8.38, Z:-3.73 [[ 9.99423065e-01 3.34807716e-02 5.70740187e-03 3.05898620e+02] [-3.34783570e-02 9.99439308e-01 -5.18095269e-04 8.38038126e+00] [-5.72154801e-03 3.26721925e-04 9.99983578e-01 -3.72572121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.455898227 meters 0.06646636723613757 Centerline is valid? [True, True] Translation: X:305.96, Y:8.38, Z:-3.73 [[ 9.99431380e-01 3.35831109e-02 3.01513639e-03 3.05959240e+02] [-3.35824394e-02 9.99435914e-01 -2.73063546e-04 8.37644599e+00] [-3.02260592e-03 1.71652641e-04 9.99995417e-01 -3.73158002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.515898227 meters 0.06638923890754724 Centerline is valid? [True, True] Translation: X:306.02, Y:8.38, Z:-3.73 [[ 9.99435808e-01 3.33540220e-02 3.94641476e-03 3.06020804e+02] [-3.33528645e-02 9.99443574e-01 -3.58772561e-04 8.37802239e+00] [-3.95618538e-03 2.26945908e-04 9.99992149e-01 -3.73086440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.575898227 meters 0.06742986395125934 Centerline is valid? [True, True] Translation: X:306.08, Y:8.38, Z:-3.73 [[ 9.99416203e-01 3.37064001e-02 5.57959488e-03 3.06082504e+02] [-3.37040907e-02 9.99431727e-01 -5.07440420e-04 8.37961819e+00] [-5.59352813e-03 3.19089006e-04 9.99984305e-01 -3.73049289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.635898227 meters 0.06203400344531198 Centerline is valid? [True, True] Translation: X:306.15, Y:8.39, Z:-3.74 [[ 9.99406409e-01 3.43160053e-02 3.03982857e-03 3.06145688e+02] [-3.43153245e-02 9.99411018e-01 -2.75840445e-04 8.38558579e+00] [-3.04750391e-03 1.71364005e-04 9.99995342e-01 -3.73563044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.695898227 meters 0.0615794022951856 Centerline is valid? [True, True] Translation: X:306.21, Y:8.39, Z:-3.73 [[ 9.99370199e-01 3.52138673e-02 4.38058324e-03 3.06207627e+02] [-3.52124549e-02 9.99379770e-01 -3.99157748e-04 8.38614623e+00] [-4.39192215e-03 2.44655269e-04 9.99990326e-01 -3.73382439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.755898227 meters 0.06731987491501884 Centerline is valid? [True, True] Translation: X:306.27, Y:8.38, Z:-3.73 [[ 9.99403662e-01 3.41024296e-02 5.41706179e-03 3.06268396e+02] [-3.41002539e-02 9.99418295e-01 -4.93513471e-04 8.37899124e+00] [-5.43074067e-03 3.08495988e-04 9.99985206e-01 -3.73292087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.815898227 meters 0.063147159977049 Centerline is valid? [True, True] Translation: X:306.33, Y:8.38, Z:-3.73 [[ 9.99402708e-01 3.42129006e-02 4.86882897e-03 3.06330242e+02] [-3.42111398e-02 9.99414529e-01 -4.44496842e-04 8.38463264e+00] [-4.88118594e-03 2.77663159e-04 9.99988048e-01 -3.73496993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.875898227 meters 0.062007252681796354 Centerline is valid? [True, True] Translation: X:306.39, Y:8.38, Z:-3.74 [[ 9.99378742e-01 3.51379548e-02 2.73014556e-03 3.06392144e+02] [-3.51374048e-02 9.99382460e-01 -2.49180270e-04 8.38381016e+00] [-2.73721527e-03 1.53095235e-04 9.99996242e-01 -3.74027195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.935898227 meters 0.06356688346968924 Centerline is valid? [True, True] Translation: X:306.45, Y:8.38, Z:-3.74 [[ 9.99375028e-01 3.53331065e-02 1.06105988e-03 3.06452327e+02] [-3.53330235e-02 9.99375589e-01 -9.68697447e-05 8.38152772e+00] [-1.06382005e-03 5.93187501e-05 9.99999432e-01 -3.74429393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.99589822699994 meters 0.06533593957255879 Centerline is valid? [True, True] Translation: X:306.51, Y:8.38, Z:-3.75 [[ 9.99417421e-01 3.41173901e-02 9.06881885e-04 3.06511984e+02] [-3.41173288e-02 9.99417831e-01 -8.29387241e-05 8.37531923e+00] [-9.09183579e-04 5.19500183e-05 9.99999585e-01 -3.74534676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.05589822699994 meters 0.06691725616498048 Centerline is valid? [True, True] Translation: X:306.57, Y:8.37, Z:-3.74 [[ 9.99567735e-01 2.92559805e-02 2.90362856e-03 3.06571659e+02] [-2.92553327e-02 9.99571936e-01 -2.65314894e-04 8.37023731e+00] [-2.91014767e-03 1.80253588e-04 9.99995749e-01 -3.74183009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.11589822699995 meters 0.0709607191880217 Centerline is valid? [True, True] Translation: X:306.63, Y:8.36, Z:-3.74 [[ 9.99622843e-01 2.69519064e-02 5.26941761e-03 3.06632107e+02] [-2.69497418e-02 9.99636674e-01 -4.81371951e-04 8.36374287e+00] [-5.28047698e-03 3.39180954e-04 9.99986001e-01 -3.73751325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.17589822699995 meters 0.07470025757342702 Centerline is valid? [True, True] Translation: X:306.69, Y:8.36, Z:-3.74 [[ 9.99682426e-01 2.43600104e-02 6.45263386e-03 3.06691754e+02] [-2.43567101e-02 9.99703157e-01 -5.89571858e-04 8.36238607e+00] [-6.46508042e-03 4.32219693e-04 9.99979008e-01 -3.73624958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.23589822699995 meters 0.07773287408288737 Centerline is valid? [True, True] Translation: X:306.75, Y:8.36, Z:-3.73 [[ 9.99746737e-01 2.13088367e-02 7.23850490e-03 3.06752618e+02] [-2.13046044e-02 9.99772812e-01 -6.61300365e-04 8.35884858e+00] [-7.25095194e-03 5.06919399e-04 9.99973583e-01 -3.73480744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.29589822699995 meters 0.08590787349057377 Centerline is valid? [True, True] Translation: X:306.81, Y:8.35, Z:-3.74 [[ 9.99851591e-01 1.55904307e-02 7.33041352e-03 3.06811602e+02] [-1.55859373e-02 9.99878308e-01 -6.69711631e-04 8.34975782e+00] [-7.33996256e-03 5.55360874e-04 9.99972908e-01 -3.73579151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.35589822699995 meters 0.08175679148825853 Centerline is valid? [True, True] Translation: X:306.87, Y:8.36, Z:-3.74 [[ 9.99915503e-01 1.16852649e-02 5.69570674e-03 3.06872948e+02] [-1.16824892e-02 9.99931622e-01 -5.20354396e-04 8.35802814e+00] [-5.70139776e-03 4.53770395e-04 9.99983644e-01 -3.73842651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.41589822699996 meters 0.08572801747989608 Centerline is valid? [True, True] Translation: X:306.93, Y:8.35, Z:-3.74 [[ 9.99913564e-01 1.28717332e-02 2.68013857e-03 3.06933054e+02] [-1.28711230e-02 9.99917134e-01 -2.44794930e-04 8.35396473e+00] [-2.68306742e-03 2.10277377e-04 9.99996378e-01 -3.74461453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.47589822699996 meters 0.09084150446557121 Centerline is valid? [True, True] Translation: X:306.99, Y:8.35, Z:-3.75 [[ 9.99896628e-01 1.43232589e-02 1.25625640e-03 3.06992432e+02] [-1.43231260e-02 9.99897412e-01 -1.14782007e-04 8.34595052e+00] [-1.25777158e-03 9.67766232e-05 9.99999204e-01 -3.74865992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.53589822699996 meters 0.08250833058806042 Centerline is valid? [True, True] Translation: X:307.05, Y:8.36, Z:-3.75 [[ 9.99857097e-01 1.68163181e-02 1.73102720e-03 3.07054130e+02] [-1.68160694e-02 9.99858587e-01 -1.58162938e-04 8.35632626e+00] [-1.73344213e-03 1.29031263e-04 9.99998489e-01 -3.74796457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.59589822699996 meters 0.07325028206362222 Centerline is valid? [True, True] Translation: X:307.12, Y:8.37, Z:-3.75 [[ 9.99810968e-01 1.91487394e-02 3.36951699e-03 3.07115642e+02] [-1.91478100e-02 9.99816616e-01 -3.07874050e-04 8.36754410e+00] [-3.37479448e-03 2.43296981e-04 9.99994276e-01 -3.74509450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.65589822699997 meters 0.0725246065933973 Centerline is valid? [True, True] Translation: X:307.18, Y:8.38, Z:-3.74 [[ 9.99746404e-01 2.10130927e-02 8.09796325e-03 3.07177416e+02] [-2.10077856e-02 9.99779038e-01 -7.39885652e-04 8.37550622e+00] [-8.11172119e-03 5.69577745e-04 9.99966937e-01 -3.73644778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.71589822699997 meters 0.08039948865157255 Centerline is valid? [True, True] Translation: X:307.24, Y:8.36, Z:-3.74 [[ 9.99789948e-01 1.81507448e-02 9.51894336e-03 3.07235633e+02] [-1.81432815e-02 9.99835019e-01 -8.69825965e-04 8.36143415e+00] [-9.53316090e-03 6.96938388e-04 9.99954316e-01 -3.73541270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.77589822699997 meters 0.08699315282800212 Centerline is valid? [True, True] Translation: X:307.30, Y:8.35, Z:-3.74 [[ 9.99941208e-01 7.38684418e-03 7.93821033e-03 3.07295767e+02] [-7.38131651e-03 9.99972495e-01 -7.25409526e-04 8.35014549e+00] [-7.94335047e-03 6.66772434e-04 9.99968229e-01 -3.73940430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.835898227 meters 0.09179008817541276 Centerline is valid? [True, True] Translation: X:307.36, Y:8.34, Z:-3.74 [[ 9.99973418e-01 1.50769700e-03 7.13378540e-03 3.07355343e+02] [-1.50308423e-03 9.99998658e-01 -6.51927225e-04 8.33846743e+00] [-7.13475874e-03 6.41187215e-04 9.99974342e-01 -3.74079879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.895898227 meters 0.09824660037609152 Centerline is valid? [True, True] Translation: X:307.42, Y:8.32, Z:-3.74 [[ 9.99980917e-01 1.37288765e-03 6.02334818e-03 3.07415306e+02] [-1.36959783e-03 9.99998911e-01 -5.50268280e-04 8.32161817e+00] [-6.02409707e-03 5.42008214e-04 9.99981708e-01 -3.74330635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.955898227 meters 0.08891097013524024 Centerline is valid? [True, True] Translation: X:307.48, Y:8.33, Z:-3.75 [[ 9.99979751e-01 4.16368836e-03 4.81257702e-03 3.07477119e+02] [-4.16161623e-03 9.99991243e-01 -4.40500670e-04 8.32633245e+00] [-4.81436898e-03 4.20463652e-04 9.99988322e-01 -3.74524240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.015898227 meters 0.08126188489032674 Centerline is valid? [True, True] Translation: X:307.54, Y:8.33, Z:-3.75 [[ 9.99935066e-01 1.11145459e-02 2.51605177e-03 3.07537672e+02] [-1.11140014e-02 9.99938211e-01 -2.30298086e-04 8.32686660e+00] [-2.51845597e-03 2.02319729e-04 9.99996808e-01 -3.74881574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.075898227 meters 0.07502312809408461 Centerline is valid? [True, True] Translation: X:307.60, Y:8.33, Z:-3.75 [[ 9.99834180e-01 1.80443737e-02 2.45223765e-03 3.07597969e+02] [-1.80438771e-02 9.99837171e-01 -2.24491415e-04 8.32635580e+00] [-2.45588916e-03 1.80206316e-04 9.99996968e-01 -3.74975822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.135898227 meters 0.074308938673764 Centerline is valid? [True, True] Translation: X:307.66, Y:8.32, Z:-3.75 [[ 9.99724833e-01 2.33215438e-02 2.52265689e-03 3.07657020e+02] [-2.33210348e-02 9.99728001e-01 -2.30990043e-04 8.31938418e+00] [-2.52735777e-03 1.72095513e-04 9.99996791e-01 -3.75138483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.195898227 meters 0.06696069919532342 Centerline is valid? [True, True] Translation: X:307.72, Y:8.32, Z:-3.75 [[ 9.99641089e-01 2.67437074e-02 1.57055063e-03 3.07717973e+02] [-2.67435144e-02 9.99642318e-01 -1.43767515e-04 8.32193838e+00] [-1.57383375e-03 1.01713872e-04 9.99998756e-01 -3.75283140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.255898227 meters 0.06598264653287887 Centerline is valid? [True, True] Translation: X:307.78, Y:8.31, Z:-3.75 [[ 9.99608554e-01 2.78721693e-02 2.42515797e-03 3.07777180e+02] [-2.78717122e-02 9.99611484e-01 -2.22089784e-04 8.31255665e+00] [-2.43040589e-03 1.54409542e-04 9.99997035e-01 -3.75146124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.315898227 meters 0.06666990664169352 Centerline is valid? [True, True] Translation: X:307.84, Y:8.30, Z:-3.75 [[ 9.99550651e-01 2.95233465e-02 5.18353412e-03 3.07835536e+02] [-2.95212827e-02 9.99564039e-01 -4.74229718e-04 8.29822188e+00] [-5.19527515e-03 3.20992048e-04 9.99986453e-01 -3.74682420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.375898227 meters 0.07385309180242491 Centerline is valid? [True, True] Translation: X:307.89, Y:8.28, Z:-3.75 [[ 9.99459293e-01 3.25616084e-02 4.56753337e-03 3.07893463e+02] [-3.25600361e-02 9.99469694e-01 -4.18193736e-04 8.28137286e+00] [-4.57872824e-03 2.69248564e-04 9.99989481e-01 -3.74767364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.435898227 meters 0.06095682862286237 Centerline is valid? [True, True] Translation: X:307.96, Y:8.29, Z:-3.75 [[ 9.99310568e-01 3.70045647e-02 3.00860660e-03 3.07955748e+02] [-3.70039028e-02 9.99315083e-01 -2.75396874e-04 8.29255965e+00] [-3.01673690e-03 1.63876820e-04 9.99995436e-01 -3.74928683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.49589822699994 meters 0.058418219438869115 Centerline is valid? [True, True] Translation: X:308.02, Y:8.29, Z:-3.75 [[ 9.99265906e-01 3.78356351e-02 6.00949594e-03 3.08016132e+02] [-3.78330088e-02 9.99283924e-01 -5.50151276e-04 8.29309832e+00] [-6.02600800e-03 3.22390101e-04 9.99981791e-01 -3.74553070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.55589822699994 meters 0.06425787359036422 Centerline is valid? [True, True] Translation: X:308.08, Y:8.29, Z:-3.75 [[ 9.99357130e-01 3.54121678e-02 5.59503247e-03 3.08075643e+02] [-3.54098543e-02 9.99372743e-01 -5.12049567e-04 8.28597551e+00] [-5.60965573e-03 3.13601101e-04 9.99984217e-01 -3.74611386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.61589822699995 meters 0.05727893646402908 Centerline is valid? [True, True] Translation: X:308.14, Y:8.29, Z:-3.75 [[ 9.99447002e-01 3.28535994e-02 5.13136427e-03 3.08137150e+02] [-3.28516183e-02 9.99460129e-01 -4.69911437e-04 8.29331503e+00] [-5.14403228e-03 3.01077957e-04 9.99986724e-01 -3.74596628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.67589822699995 meters 0.06793010078793309 Centerline is valid? [True, True] Translation: X:308.20, Y:8.28, Z:-3.74 [[ 9.99607305e-01 2.70795560e-02 7.20641739e-03 3.08195856e+02] [-2.70754992e-02 9.99633174e-01 -6.59933995e-04 8.28077270e+00] [-7.22164461e-03 4.64557494e-04 9.99973816e-01 -3.74422915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.73589822699995 meters 0.0684568683599521 Centerline is valid? [True, True] Translation: X:308.26, Y:8.28, Z:-3.74 [[ 9.99686660e-01 2.41339765e-02 6.64330123e-03 3.08256099e+02] [-2.41304636e-02 9.99708633e-01 -6.08449815e-04 8.27926343e+00] [-6.65604990e-03 4.47953225e-04 9.99977748e-01 -3.74476561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.79589822699995 meters 0.07379942905053666 Centerline is valid? [True, True] Translation: X:308.32, Y:8.27, Z:-3.75 [[ 9.99802142e-01 1.97602706e-02 2.28223019e-03 3.08316292e+02] [-1.97598447e-02 9.99804733e-01 -2.09040099e-04 8.27230691e+00] [-2.28591523e-03 1.63902224e-04 9.99997374e-01 -3.75178238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.85589822699995 meters 0.07726351428422633 Centerline is valid? [True, True] Translation: X:308.38, Y:8.26, Z:-3.75 [[ 9.99880668e-01 1.53584940e-02 1.66317781e-03 3.08376651e+02] [-1.53582617e-02 9.99882043e-01 -1.52332799e-04 8.26333376e+00] [-1.66532123e-03 1.26771101e-04 9.99998605e-01 -3.75462373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.91589822699996 meters 0.07848277361390926 Centerline is valid? [True, True] Translation: X:308.44, Y:8.26, Z:-3.76 [[ 9.99896522e-01 1.42676061e-02 1.83860727e-03 3.08436582e+02] [-1.42673204e-02 9.99898202e-01 -1.68414413e-04 8.25555356e+00] [-1.84082297e-03 1.42164987e-04 9.99998296e-01 -3.75507839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.97589822699996 meters 0.08010010425071303 Centerline is valid? [True, True] Translation: X:308.50, Y:8.25, Z:-3.76 [[ 9.99894372e-01 1.45071168e-02 -8.88084715e-04 3.08496743e+02] [-1.45070502e-02 9.99894764e-01 8.13475878e-05 8.24618905e+00] [ 8.89171375e-04 -6.84555057e-05 9.99999602e-01 -3.75948960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.03589822699996 meters 0.07770298073040972 Centerline is valid? [True, True] Translation: X:308.56, Y:8.24, Z:-3.76 [[ 9.99848351e-01 1.74081021e-02 -4.83074483e-04 3.08556456e+02] [-1.74080828e-02 9.99848467e-01 4.41177233e-05 8.24293866e+00] [ 4.83769287e-04 -3.57016322e-05 9.99999882e-01 -3.75783803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.09589822699996 meters 0.07892197584018092 Centerline is valid? [True, True] Translation: X:308.62, Y:8.24, Z:-3.76 [[ 9.99810909e-01 1.93949245e-02 1.40791198e-03 3.08615921e+02] [-1.93947619e-02 9.99811896e-01 -1.29022062e-04 8.23947792e+00] [-1.41014952e-03 1.01691547e-04 9.99999001e-01 -3.75563435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.15589822699997 meters 0.08015189235839107 Centerline is valid? [True, True] Translation: X:308.68, Y:8.24, Z:-3.76 [[ 9.99856805e-01 1.67959742e-02 2.06489217e-03 3.08676308e+02] [-1.67956193e-02 9.99858926e-01 -1.89081203e-04 8.23659279e+00] [-2.06777667e-03 1.54372985e-04 9.99997850e-01 -3.75571714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.21589822699997 meters 0.08616038726344956 Centerline is valid? [True, True] Translation: X:308.74, Y:8.22, Z:-3.76 [[ 9.99879202e-01 1.53286228e-02 2.57185910e-03 3.08735594e+02] [-1.53280682e-02 9.99882491e-01 -2.35240621e-04 8.22448587e+00] [-2.57516280e-03 1.95790572e-04 9.99996665e-01 -3.75611126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.27589822699997 meters 0.08114025953140687 Centerline is valid? [True, True] Translation: X:308.80, Y:8.23, Z:-3.75 [[ 9.99875805e-01 1.53112197e-02 3.73370650e-03 3.08796341e+02] [-1.53100484e-02 9.99882736e-01 -3.42089087e-04 8.22868116e+00] [-3.73850647e-03 2.84883374e-04 9.99992971e-01 -3.75411211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.335898227 meters 0.07921626051475394 Centerline is valid? [True, True] Translation: X:308.86, Y:8.23, Z:-3.76 [[ 9.99894548e-01 1.43958681e-02 1.91116282e-03 3.08857478e+02] [-1.43955596e-02 9.99896363e-01 -1.75041334e-04 8.22832264e+00] [-1.91348462e-03 1.47510618e-04 9.99998158e-01 -3.75673010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.395898227 meters 0.08479175770566921 Centerline is valid? [True, True] Translation: X:308.92, Y:8.21, Z:-3.76 [[ 9.99884503e-01 1.51649325e-02 1.00311274e-03 3.08915629e+02] [-1.51648478e-02 9.99885003e-01 -9.19911376e-05 8.21437931e+00] [-1.00439242e-03 7.67684608e-05 9.99999493e-01 -3.75839776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.455898227 meters 0.08537030456225171 Centerline is valid? [True, True] Translation: X:308.98, Y:8.21, Z:-3.76 [[ 9.99823946e-01 1.87528490e-02 6.37773800e-04 3.08975133e+02] [-1.87528156e-02 9.99824149e-01 -5.84469144e-05 8.20772520e+00] [-6.38757693e-04 4.64765702e-05 9.99999795e-01 -3.76011631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.515898227 meters 0.07198122971946085 Centerline is valid? [True, True] Translation: X:309.04, Y:8.22, Z:-3.76 [[ 9.99745198e-01 2.25340952e-02 -1.32428552e-03 3.09036625e+02] [-2.25339542e-02 9.99746071e-01 1.21266187e-04 8.22063557e+00] [ 1.32668187e-03 -9.13938989e-05 9.99999116e-01 -3.76211603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.575898227 meters 0.06669482057057652 Centerline is valid? [True, True] Translation: X:309.10, Y:8.22, Z:-3.76 [[ 9.99681670e-01 2.50958193e-02 -2.59974684e-03 3.09097220e+02] [-2.50952844e-02 9.99685035e-01 2.38142306e-04 8.22290836e+00] [ 2.60490439e-03 -1.72825112e-04 9.99996592e-01 -3.76335030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.635898227 meters 0.07355150963207722 Centerline is valid? [True, True] Translation: X:309.16, Y:8.21, Z:-3.77 [[ 9.99689355e-01 2.48428990e-02 -2.00595152e-03 3.09155375e+02] [-2.48425806e-02 9.99691359e-01 1.83518588e-04 8.21141229e+00] [ 2.00989153e-03 -1.33628567e-04 9.99997971e-01 -3.76576683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.695898227 meters 0.07393955767220421 Centerline is valid? [True, True] Translation: X:309.22, Y:8.21, Z:-3.77 [[ 9.99737067e-01 2.28613770e-02 -1.77626240e-03 3.09215185e+02] [-2.28611241e-02 9.99738637e-01 1.62573361e-04 8.20566865e+00] [ 1.77951480e-03 -1.21923260e-04 9.99998409e-01 -3.76532172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.755898227 meters 0.07606526835734517 Centerline is valid? [True, True] Translation: X:309.27, Y:8.20, Z:-3.76 [[ 9.99817131e-01 1.89456924e-02 2.60101411e-03 3.09274633e+02] [-1.89451364e-02 9.99820496e-01 -2.38233057e-04 8.19729968e+00] [-2.60506071e-03 1.88912925e-04 9.99996589e-01 -3.75932837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.815898227 meters 0.08934766156337758 Centerline is valid? [True, True] Translation: X:309.33, Y:8.18, Z:-3.76 [[ 9.99905939e-01 1.24495046e-02 5.75533982e-03 3.09332673e+02] [-1.24466765e-02 9.99922398e-01 -5.26945152e-04 8.17669800e+00] [-5.76145340e-03 4.55260734e-04 9.99983299e-01 -3.75525732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.875898227 meters 0.10174956261417842 Centerline is valid? [True, False] Translation: X:309.33, Y:8.18, Z:-3.75 [[ 9.99998376e-01 2.02652350e-04 -1.79066693e-03 3.09329879e+02] [-1.95590288e-04 9.99992207e-01 3.94311161e-03 8.17883348e+00] [ 1.79145205e-03 -3.94275497e-03 9.99990623e-01 -3.74837365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.935898227 meters 0.08897187631356757 Centerline is valid? [False, True] Translation: X:309.34, Y:8.18, Z:-3.75 [[ 9.99993672e-01 -2.25121985e-03 -2.75452958e-03 3.09336358e+02] [ 2.25588070e-03 9.99996027e-01 1.69013163e-03 8.17810536e+00] [ 2.75071378e-03 -1.69633482e-03 9.99994778e-01 -3.75309255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.99589822699994 meters 0.1043637609095803 Centerline is valid? [True, False] Translation: X:309.34, Y:8.17, Z:-3.75 [[ 9.99994427e-01 -1.75478137e-03 -2.84030998e-03 3.09337166e+02] [ 1.76379717e-03 9.99993405e-01 3.17484705e-03 8.17190934e+00] [ 2.83472009e-03 -3.17983909e-03 9.99990926e-01 -3.75476818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.05589822699994 meters 0.11108941193502843 Centerline is valid? [False, False] Translation: X:309.34, Y:8.16, Z:-3.76 [[ 9.99995656e-01 -1.19711322e-03 -2.69367669e-03 3.09337035e+02] [ 1.21023761e-03 9.99987380e-01 4.87595262e-03 8.16466881e+00] [ 2.68780563e-03 -4.87919143e-03 9.99984484e-01 -3.75578663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.11589822699995 meters 0.11682754980525403 Centerline is valid? [False, False] Translation: X:309.35, Y:8.16, Z:-3.75 [[ 9.99977047e-01 -1.78585031e-04 -6.77303314e-03 3.09353780e+02] [ 1.74239309e-04 9.99999779e-01 -6.42205888e-04 8.15583162e+00] [ 6.77314633e-03 6.41011019e-04 9.99976857e-01 -3.74745725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.17589822699995 meters 0.10321510427600154 Centerline is valid? [False, False] Translation: X:309.35, Y:8.15, Z:-3.75 [[ 9.99976846e-01 2.98884706e-04 -6.79839689e-03 3.09354178e+02] [-2.95572100e-04 9.99999837e-01 4.88262391e-04 8.15097680e+00] [ 6.79854172e-03 -4.86241669e-04 9.99976771e-01 -3.74826764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.23589822699995 meters 0.09739519480214304 Centerline is valid? [False, True] Translation: X:309.35, Y:8.15, Z:-3.75 [[ 9.99976657e-01 6.03652109e-04 -6.80597761e-03 3.09354318e+02] [-5.95504410e-04 9.99999104e-01 1.19910170e-03 8.14781274e+00] [ 6.80669535e-03 -1.19502072e-03 9.99976120e-01 -3.74854372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.29589822699995 meters 0.10349425100268594 Centerline is valid? [True, False] Translation: X:309.35, Y:8.14, Z:-3.74 [[ 9.99981065e-01 -2.52018903e-04 -6.14873759e-03 3.09348434e+02] [ 2.56562748e-04 9.99999695e-01 7.38210607e-04 8.14251948e+00] [ 6.14854967e-03 -7.39774166e-04 9.99980824e-01 -3.74344378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.35589822699995 meters 0.07729562330215153 Centerline is valid? [False, True] Translation: X:309.35, Y:8.14, Z:-3.74 [[ 9.99981510e-01 3.57426201e-04 -6.07051341e-03 3.09348432e+02] [-3.44574402e-04 9.99997698e-01 2.11799997e-03 8.13640998e+00] [ 6.07125646e-03 -2.11586907e-03 9.99979331e-01 -3.74401462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.41589822699996 meters 0.0741942105081071 Centerline is valid? [True, True] Translation: X:309.41, Y:8.13, Z:-3.74 [[ 9.99969500e-01 5.03071558e-03 -5.97426908e-03 3.09408954e+02] [-5.02801657e-03 9.99987251e-01 4.66706384e-04 8.13202296e+00] [ 5.97654078e-03 -4.36653425e-04 9.99982045e-01 -3.74262652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.47589822699996 meters 0.06838981373282957 Centerline is valid? [True, True] Translation: X:309.47, Y:8.13, Z:-3.74 [[ 9.99909429e-01 1.25563627e-02 -4.84475217e-03 3.09469571e+02] [-1.25546757e-02 9.99921115e-01 3.78457320e-04 8.13232132e+00] [ 4.84912204e-03 -3.17598750e-04 9.99988193e-01 -3.73901555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.53589822699996 meters 0.06484077669334394 Centerline is valid? [True, True] Translation: X:309.53, Y:8.13, Z:-3.74 [[ 9.99854819e-01 1.66785979e-02 -3.48787259e-03 3.09529522e+02] [-1.66777487e-02 9.99860880e-01 2.72416911e-04 8.13257579e+00] [ 3.49193089e-03 -2.14207499e-04 9.99993880e-01 -3.73691131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.59589822699996 meters 0.06547271694137309 Centerline is valid? [True, True] Translation: X:309.59, Y:8.13, Z:-3.74 [[ 9.99832855e-01 1.78786848e-02 -3.82294025e-03 3.09589654e+02] [-1.78776735e-02 9.99840137e-01 2.98531525e-04 8.13104835e+00] [ 3.82766646e-03 -2.30136349e-04 9.99992648e-01 -3.73673010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.65589822699997 meters 0.06887277126384282 Centerline is valid? [True, True] Translation: X:309.65, Y:8.12, Z:-3.74 [[ 9.99857569e-01 1.59115127e-02 -5.62714983e-03 3.09649417e+02] [-1.59092910e-02 9.99873343e-01 4.39364986e-04 8.12449486e+00] [ 5.63342807e-03 -3.49778443e-04 9.99984071e-01 -3.73995790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.71589822699997 meters 0.07616198470586304 Centerline is valid? [True, True] Translation: X:309.71, Y:8.11, Z:-3.74 [[ 9.99926102e-01 1.04836005e-02 -6.15506492e-03 3.09708059e+02] [-1.04808404e-02 9.99944959e-01 4.80514243e-04 8.11219999e+00] [ 6.15976366e-03 -4.15968480e-04 9.99980942e-01 -3.74158266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.77589822699997 meters 0.08198157796157664 Centerline is valid? [True, True] Translation: X:309.77, Y:8.10, Z:-3.74 [[ 9.99957596e-01 6.35144378e-03 -6.66823682e-03 3.09766738e+02] [-6.34811365e-03 9.99979715e-01 5.20448566e-04 8.10224398e+00] [ 6.67140716e-03 -4.78095771e-04 9.99977632e-01 -3.74290344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.835898227 meters 0.0801798423943608 Centerline is valid? [True, True] Translation: X:309.83, Y:8.10, Z:-3.74 [[ 9.99964149e-01 4.96170624e-03 -6.86159878e-03 3.09827048e+02] [-4.95814826e-03 9.99987565e-01 5.35448696e-04 8.10136780e+00] [ 6.86417019e-03 -5.01408675e-04 9.99976316e-01 -3.74222288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.895898227 meters 0.07549030818234163 Centerline is valid? [True, True] Translation: X:309.89, Y:8.11, Z:-3.74 [[ 9.99984326e-01 1.14168879e-03 -5.48128831e-03 3.09887559e+02] [-1.13936157e-03 9.99999259e-01 4.27679212e-04 8.10519130e+00] [ 5.48177253e-03 -4.21427340e-04 9.99984886e-01 -3.73966576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.955898227 meters 0.09436174957127993 Centerline is valid? [True, True] Translation: X:309.94, Y:8.08, Z:-3.74 [[ 9.99991011e-01 -9.24022494e-04 -4.13808536e-03 3.09944816e+02] [ 9.25366143e-04 9.99999520e-01 3.22800329e-04 8.07656754e+00] [ 4.13778509e-03 -3.26626672e-04 9.99991386e-01 -3.73772592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.015898227 meters 0.09480638262493585 Centerline is valid? [True, True] Translation: X:310.00, Y:8.08, Z:-3.74 [[ 9.99988089e-01 -1.09134834e-03 -4.75721903e-03 3.10003547e+02] [ 1.09312342e-03 9.99999334e-01 3.70549102e-04 8.07517445e+00] [ 4.75681146e-03 -3.75744915e-04 9.99988616e-01 -3.73704160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.075898227 meters 0.09262264888513087 Centerline is valid? [True, True] Translation: X:310.06, Y:8.08, Z:-3.73 [[ 9.99993493e-01 -1.38710936e-03 -3.33029109e-03 3.10062168e+02] [ 1.38797944e-03 9.99999003e-01 2.58964412e-04 8.07649567e+00] [ 3.32992855e-03 -2.63585102e-04 9.99994421e-01 -3.73391222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.135898227 meters 0.09466171434152018 Centerline is valid? [True, True] Translation: X:310.12, Y:8.07, Z:-3.73 [[ 9.99993201e-01 -1.60058708e-03 -3.32201401e-03 3.10121178e+02] [ 1.60145324e-03 9.99998684e-01 2.58089119e-04 8.07092918e+00] [ 3.32159655e-03 -2.63407414e-04 9.99994449e-01 -3.73333975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.195898227 meters 0.09422604983811818 Centerline is valid? [True, True] Translation: X:310.18, Y:8.07, Z:-3.74 [[ 9.99973118e-01 2.50619119e-04 -7.32810212e-03 3.10180927e+02] [-2.46454979e-04 9.99999808e-01 5.69140119e-04 8.06949630e+00] [ 7.32824335e-03 -5.67318771e-04 9.99972987e-01 -3.73886441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.255898227 meters 0.08480210688827533 Centerline is valid? [True, True] Translation: X:310.24, Y:8.08, Z:-3.74 [[ 9.99974814e-01 2.23898766e-03 -6.73488958e-03 3.10242559e+02] [-2.23551550e-03 9.99997364e-01 5.23031951e-04 8.07940152e+00] [ 6.73604289e-03 -5.07962827e-04 9.99977184e-01 -3.73706414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.315898227 meters 0.07151924056826486 Centerline is valid? [True, True] Translation: X:310.30, Y:8.09, Z:-3.73 [[ 9.99970715e-01 6.17645141e-03 -4.51893787e-03 3.10304615e+02] [-6.17492818e-03 9.99980873e-01 3.50951322e-04 8.09382400e+00] [ 4.52101907e-03 -3.23036927e-04 9.99989728e-01 -3.73272516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.375898227 meters 0.0736931853745342 Centerline is valid? [True, True] Translation: X:310.36, Y:8.09, Z:-3.74 [[ 9.99931447e-01 9.59898034e-03 -6.70525574e-03 3.10363857e+02] [-9.59570377e-03 9.99953825e-01 5.20659308e-04 8.08897130e+00] [ 6.70994393e-03 -4.56281968e-04 9.99977384e-01 -3.73817167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.435898227 meters 0.08850380149236074 Centerline is valid? [True, True] Translation: X:310.42, Y:8.07, Z:-3.74 [[ 9.99924052e-01 1.06023402e-02 -6.28338665e-03 3.10420870e+02] [-1.05994838e-02 9.99943705e-01 4.87714546e-04 8.06799869e+00] [ 6.28820384e-03 -4.21076850e-04 9.99980140e-01 -3.73953702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.49589822699994 meters 0.07269777044345481 Centerline is valid? [True, True] Translation: X:310.48, Y:8.08, Z:-3.74 [[ 9.99931596e-01 1.04160303e-02 -5.32060216e-03 3.10480994e+02] [-1.04139808e-02 9.99945688e-01 4.12767188e-04 8.08426096e+00] [ 5.32461258e-03 -3.57330305e-04 9.99985760e-01 -3.73599901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.55589822699994 meters 0.06605465237594021 Centerline is valid? [True, True] Translation: X:310.54, Y:8.09, Z:-3.74 [[ 9.99924454e-01 1.06678749e-02 -6.10590979e-03 3.10540348e+02] [-1.06651822e-02 9.99943013e-01 4.73400171e-04 8.08981778e+00] [ 6.11061201e-03 -4.08243767e-04 9.99981247e-01 -3.73560111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.61589822699995 meters 0.07295294421678682 Centerline is valid? [True, True] Translation: X:310.60, Y:8.09, Z:-3.73 [[ 9.99886812e-01 1.38510102e-02 -5.87473370e-03 3.10600053e+02] [-1.38485729e-02 9.99904000e-01 4.55357411e-04 8.08954093e+00] [ 5.88047689e-03 -3.73949192e-04 9.99982640e-01 -3.73460510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.67589822699995 meters 0.07928601142262016 Centerline is valid? [True, True] Translation: X:310.66, Y:8.08, Z:-3.74 [[ 9.99885473e-01 1.40392259e-02 -5.65162465e-03 3.10657737e+02] [-1.40369746e-02 9.99901381e-01 4.37808493e-04 8.08228034e+00] [ 5.65721378e-03 -3.58426641e-04 9.99983934e-01 -3.73524918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.73589822699995 meters 0.08303956284999967 Centerline is valid? [True, True] Translation: X:310.72, Y:8.08, Z:-3.74 [[ 9.99967636e-01 4.86782659e-03 -6.40561548e-03 3.10717332e+02] [-4.86474797e-03 9.99988044e-01 4.96106320e-04 8.07658421e+00] [ 6.40795385e-03 -4.64928559e-04 9.99979361e-01 -3.73715990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.79589822699995 meters 0.08880966272382476 Centerline is valid? [True, True] Translation: X:310.78, Y:8.06, Z:-3.74 [[ 9.99888788e-01 -1.12191006e-02 -9.82567968e-03 3.10776355e+02] [ 1.12271154e-02 9.99936684e-01 7.60922604e-04 8.06198900e+00] [ 9.81652070e-03 -8.71152020e-04 9.99951437e-01 -3.74034194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.85589822699995 meters 0.10049401633733926 Centerline is valid? [True, False] Translation: X:310.79, Y:8.06, Z:-3.74 [[ 9.99900939e-01 -1.36095830e-02 -3.59056936e-03 3.10794029e+02] [ 1.35740329e-02 9.99860369e-01 -9.74622379e-03 8.05664283e+00] [ 3.72271004e-03 9.69651981e-03 9.99946058e-01 -3.74281856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.91589822699996 meters 0.11306957871103734 Centerline is valid? [False, False] Translation: X:310.79, Y:8.05, Z:-3.74 [[ 9.99956372e-01 -8.67783749e-03 -3.45685486e-03 3.10793631e+02] [ 8.66426263e-03 9.99954770e-01 -3.92274718e-03 8.05005463e+00] [ 3.49073947e-03 3.89262494e-03 9.99986331e-01 -3.74319350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.97589822699996 meters 0.0953766010536472 Centerline is valid? [False, True] Translation: X:310.79, Y:8.04, Z:-3.74 [[ 9.99987223e-01 -3.75968992e-03 -3.37925605e-03 3.10793555e+02] [ 3.76537278e-03 9.99991505e-01 1.67690252e-03 8.04433440e+00] [ 3.37292271e-03 -1.68960525e-03 9.99992884e-01 -3.74369543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.03589822699996 meters 0.08574979527411128 Centerline is valid? [True, True] Translation: X:310.85, Y:8.05, Z:-3.74 [[ 9.99991839e-01 -6.45560088e-04 -3.98811609e-03 3.10854631e+02] [ 6.46900014e-04 9.99999735e-01 3.34698764e-04 8.04896192e+00] [ 3.98789897e-03 -3.37275945e-04 9.99991991e-01 -3.74440573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.09589822699996 meters 0.07954040225045879 Centerline is valid? [True, True] Translation: X:310.91, Y:8.05, Z:-3.75 [[ 9.99980639e-01 -1.26064576e-03 -6.09364649e-03 3.10914286e+02] [ 1.26378442e-03 9.99999071e-01 5.11248084e-04 8.04572695e+00] [ 6.09299632e-03 -5.18939242e-04 9.99981303e-01 -3.74704925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.15589822699997 meters 0.0935664505245063 Centerline is valid? [True, True] Translation: X:310.97, Y:8.02, Z:-3.75 [[ 9.99978642e-01 -3.08973018e-03 -5.75930937e-03 3.10971196e+02] [ 3.09256355e-03 9.99995101e-01 4.83122843e-04 8.01622691e+00] [ 5.75778843e-03 -5.00923554e-04 9.99983298e-01 -3.74755912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.21589822699997 meters 0.09451651623281902 Centerline is valid? [True, True] Translation: X:311.03, Y:8.01, Z:-3.75 [[ 9.99982336e-01 -2.56943782e-03 -5.35968711e-03 3.11029639e+02] [ 2.57188086e-03 9.99996592e-01 4.48975276e-04 8.00515556e+00] [ 5.35851523e-03 -4.62751822e-04 9.99985536e-01 -3.74673631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.27589822699997 meters 0.0942409777666664 Centerline is valid? [True, True] Translation: X:311.09, Y:7.99, Z:-3.75 [[ 9.99963828e-01 1.73830990e-04 -8.50363590e-03 3.11089392e+02] [-1.67781807e-04 9.99999732e-01 7.12072479e-04 7.99392109e+00] [ 8.50375740e-03 -7.10619967e-04 9.99963590e-01 -3.75160976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.335898227 meters 0.08841585140179894 Centerline is valid? [True, True] Translation: X:311.15, Y:7.99, Z:-3.75 [[ 9.99952425e-01 1.07928362e-03 -9.69443271e-03 3.11148438e+02] [-1.07146761e-03 9.99999097e-01 8.11394311e-04 7.99102803e+00] [ 9.69529967e-03 -8.00968439e-04 9.99952679e-01 -3.75338369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.395898227 meters 0.08746700635588432 Centerline is valid? [True, True] Translation: X:311.21, Y:7.98, Z:-3.75 [[ 9.99981270e-01 3.14365250e-03 -5.25141527e-03 3.11208673e+02] [-3.14138730e-03 9.99994969e-01 4.39542114e-04 7.98062481e+00] [ 5.25277061e-03 -4.23037152e-04 9.99986115e-01 -3.74544818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.455898227 meters 0.07628277976424576 Centerline is valid? [True, True] Translation: X:311.27, Y:7.99, Z:-3.75 [[ 9.99967952e-01 5.86026677e-03 -5.45463012e-03 3.11269972e+02] [-5.85786302e-03 9.99982738e-01 4.56552166e-04 7.98645590e+00] [ 5.45721149e-03 -4.24585058e-04 9.99985019e-01 -3.74587767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.515898227 meters 0.08353269518121689 Centerline is valid? [True, True] Translation: X:311.33, Y:7.97, Z:-3.75 [[ 9.99947325e-01 7.53428400e-03 -6.97003923e-03 3.11327606e+02] [-7.53040093e-03 9.99971476e-01 5.83185188e-04 7.97328427e+00] [ 6.97423430e-03 -5.30667279e-04 9.99975539e-01 -3.74879122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.575898227 meters 0.07769222065711731 Centerline is valid? [True, True] Translation: X:311.39, Y:7.98, Z:-3.75 [[ 9.99959098e-01 6.41422827e-03 -6.37646268e-03 3.11388032e+02] [-6.41095678e-03 9.99979307e-01 5.33364927e-04 7.97879179e+00] [ 6.37975186e-03 -4.92463885e-04 9.99979528e-01 -3.74760646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.635898227 meters 0.08888589493308423 Centerline is valid? [True, True] Translation: X:311.45, Y:7.96, Z:-3.75 [[ 9.99968301e-01 3.60003386e-03 -7.10194626e-03 3.11445937e+02] [-3.59590435e-03 9.99993358e-01 5.94145045e-04 7.96348209e+00] [ 7.10403803e-03 -5.68588292e-04 9.99974604e-01 -3.75019382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.695898227 meters 0.0844854070257564 Centerline is valid? [True, True] Translation: X:311.51, Y:7.97, Z:-3.75 [[ 9.99968634e-01 2.55549871e-04 -7.91612134e-03 3.11506470e+02] [-2.50315464e-04 9.99999749e-01 6.62217493e-04 7.96596596e+00] [ 7.91628858e-03 -6.60215194e-04 9.99968448e-01 -3.75032751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.755898227 meters 0.08902810796797604 Centerline is valid? [True, True] Translation: X:311.57, Y:7.96, Z:-3.75 [[ 9.99967266e-01 -3.30876680e-03 -7.38373387e-03 3.11566561e+02] [ 3.31341726e-03 9.99994320e-01 6.17680378e-04 7.95654399e+00] [ 7.38164817e-03 -6.42125550e-04 9.99972549e-01 -3.74773643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.815898227 meters 0.0976204565398348 Centerline is valid? [True, True] Translation: X:311.63, Y:7.94, Z:-3.75 [[ 9.99940216e-01 -5.83957613e-03 -9.24462906e-03 3.11625580e+02] [ 5.84697308e-03 9.99982607e-01 7.73309934e-04 7.94439130e+00] [ 9.23995247e-03 -8.27316800e-04 9.99956968e-01 -3.75183329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.875898227 meters 0.09962105919575978 Centerline is valid? [True, True] Translation: X:311.69, Y:7.94, Z:-3.75 [[ 9.99936027e-01 -7.91644246e-03 -8.07909871e-03 3.11685971e+02] [ 7.92215891e-03 9.99968391e-01 6.75802211e-04 7.93844645e+00] [ 8.07349339e-03 -7.39762881e-04 9.99967135e-01 -3.75086347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.935898227 meters 0.10376252839052055 Centerline is valid? [True, False] Translation: X:311.69, Y:7.94, Z:-3.75 [[ 9.99936796e-01 -7.88869125e-03 -8.01079573e-03 3.11685558e+02] [ 7.89488163e-03 9.99968560e-01 7.41425670e-04 7.93812149e+00] [ 8.00469499e-03 -8.04623093e-04 9.99967638e-01 -3.75044968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.99589822699994 meters 0.10538227521740662 Centerline is valid? [False, False] Translation: X:311.69, Y:7.94, Z:-3.75 [[ 9.99893777e-01 -1.21223467e-02 -8.09214287e-03 3.11685917e+02] [ 1.20961025e-02 9.99921446e-01 -3.28427876e-03 7.93669049e+00] [ 8.13132036e-03 3.18604650e-03 9.99961865e-01 -3.75038881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.05589822699994 meters 0.09801292378603894 Centerline is valid? [False, True] Translation: X:311.67, Y:7.93, Z:-3.76 [[ 9.99993813e-01 -2.72957061e-03 -2.21895685e-03 3.11668130e+02] [ 2.72856458e-03 9.99996173e-01 -4.56279976e-04 7.92867336e+00] [ 2.22019381e-03 4.50222586e-04 9.99997434e-01 -3.75915288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.11589822699995 meters 0.10668198387357813 Centerline is valid? [True, False] Translation: X:311.69, Y:7.92, Z:-3.76 [[ 9.99995022e-01 2.77027129e-03 -1.51016453e-03 3.11689863e+02] [-2.77696709e-03 9.99986243e-01 -4.44990081e-03 7.92293056e+00] [ 1.49781632e-03 4.45407234e-03 9.99988959e-01 -3.75924479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.17589822699995 meters 0.0884609876747563 Centerline is valid? [False, True] Translation: X:311.69, Y:7.92, Z:-3.76 [[ 9.99993922e-01 3.15923420e-03 -1.47472182e-03 3.11689211e+02] [-3.16444375e-03 9.99988714e-01 -3.54369964e-03 7.91875788e+00] [ 1.46350980e-03 3.54834478e-03 9.99992634e-01 -3.75833312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.23589822699995 meters 0.09236991219656371 Centerline is valid? [True, True] Translation: X:311.75, Y:7.90, Z:-3.76 [[ 9.99994434e-01 2.68026289e-03 -1.98709330e-03 3.11747804e+02] [-2.67991520e-03 9.99996393e-01 1.77616845e-04 7.90186220e+00] [ 1.98756219e-03 -1.72290614e-04 9.99998010e-01 -3.75898241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.29589822699995 meters 0.09272365756712286 Centerline is valid? [True, True] Translation: X:311.81, Y:7.89, Z:-3.77 [[ 9.99988593e-01 1.61462552e-03 -4.49516658e-03 3.11807237e+02] [-1.61283552e-03 9.99998619e-01 4.01801619e-04 7.88829350e+00] [ 4.49580913e-03 -3.94547071e-04 9.99989816e-01 -3.76578289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.35589822699995 meters 0.09919475718236694 Centerline is valid? [True, True] Translation: X:311.86, Y:7.87, Z:-3.77 [[ 9.99990768e-01 1.92112627e-03 -3.84369196e-03 3.11864811e+02] [-1.91982047e-03 9.99998098e-01 3.43385841e-04 7.86980945e+00] [ 3.84434434e-03 -3.36003472e-04 9.99992554e-01 -3.76576228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.41589822699996 meters 0.08720963558174685 Centerline is valid? [True, True] Translation: X:311.93, Y:7.87, Z:-3.76 [[ 9.99978180e-01 4.18865885e-03 -5.10833951e-03 3.11926036e+02] [-4.18638147e-03 9.99991133e-01 4.56427707e-04 7.87389836e+00] [ 5.11020604e-03 -4.35032290e-04 9.99986848e-01 -3.76467461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.47589822699996 meters 0.07901493812306831 Centerline is valid? [True, True] Translation: X:311.99, Y:7.88, Z:-3.77 [[ 9.99933228e-01 9.50264148e-03 -6.57560154e-03 3.11987029e+02] [-9.49898216e-03 9.99954711e-01 5.87506616e-04 7.87808865e+00] [ 6.58088660e-03 -5.25005866e-04 9.99978208e-01 -3.76647398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.53589822699996 meters 0.08546448208251012 Centerline is valid? [True, True] Translation: X:312.05, Y:7.86, Z:-3.77 [[ 9.99871731e-01 1.48523510e-02 -5.99417679e-03 3.12045483e+02] [-1.48494057e-02 9.99889598e-01 5.35571816e-04 7.86092644e+00] [ 6.00146952e-03 -4.46493156e-04 9.99981891e-01 -3.76804682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.59589822699996 meters 0.0648850987188551 Centerline is valid? [True, True] Translation: X:312.11, Y:7.88, Z:-3.76 [[ 9.99634323e-01 2.66191412e-02 -4.75826464e-03 3.12107547e+02] [-2.66174181e-02 9.99645603e-01 4.25088967e-04 7.87922661e+00] [ 4.76789383e-03 -2.98280802e-04 9.99988589e-01 -3.76418001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.65589822699997 meters 0.05646276740014093 Centerline is valid? [True, True] Translation: X:312.17, Y:7.88, Z:-3.76 [[ 9.99294130e-01 3.75005672e-02 -2.22468505e-03 3.12167906e+02] [-3.75002175e-02 9.99296600e-01 1.98742526e-04 7.88493594e+00] [ 2.23057316e-03 -1.15176066e-04 9.99997506e-01 -3.75930451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.71589822699997 meters 0.05505620219863118 Centerline is valid? [True, True] Translation: X:312.23, Y:7.88, Z:-3.76 [[ 9.99219035e-01 3.94727929e-02 -1.79415008e-03 3.12227204e+02] [-3.94725688e-02 9.99220642e-01 1.60204544e-04 7.87869762e+00] [ 1.79907551e-03 -8.92597171e-05 9.99998378e-01 -3.75892443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.77589822699997 meters 0.05622673490701789 Centerline is valid? [True, True] Translation: X:312.29, Y:7.86, Z:-3.76 [[ 9.99254713e-01 3.85961481e-02 5.97013592e-04 3.12286217e+02] [-3.85961231e-02 9.99254891e-01 -5.33219012e-05 7.86313597e+00] [-5.98626772e-04 3.02397510e-05 9.99999820e-01 -3.75612811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.835898227 meters 0.04891147409115748 Centerline is valid? [True, True] Translation: X:312.35, Y:7.86, Z:-3.76 [[ 9.99104635e-01 4.23075214e-02 -4.27953263e-05 3.12347076e+02] [-4.23075213e-02 9.99104636e-01 3.81840080e-06 7.86267546e+00] [ 4.29185560e-05 -2.00441776e-06 9.99999999e-01 -3.75590444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.895898227 meters 0.03616313358164416 Centerline is valid? [True, True] Translation: X:312.41, Y:7.87, Z:-3.76 [[ 9.98324360e-01 5.78196883e-02 -2.31441948e-03 3.12408122e+02] [-5.78193643e-02 9.98327040e-01 2.06706252e-04 7.87167544e+00] [ 2.32249924e-03 -7.25416235e-05 9.99997300e-01 -3.75794950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.955898227 meters 0.0222433566216518 Centerline is valid? [True, True] Translation: X:312.47, Y:7.88, Z:-3.76 [[ 9.97426817e-01 7.16753367e-02 -1.54595531e-03 3.12469896e+02] [-7.16752088e-02 9.97428015e-01 1.38066045e-04 7.88485080e+00] [ 1.55187507e-03 -2.69041058e-05 9.99998795e-01 -3.75655471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.015898227 meters 0.015373618282771463 Centerline is valid? [True, True] Translation: X:312.53, Y:7.89, Z:-3.76 [[ 9.96885512e-01 7.88520977e-02 -1.27418934e-03 3.12530792e+02] [-7.88520167e-02 9.96886326e-01 1.13763295e-04 7.88991576e+00] [ 1.27919240e-03 -1.29365817e-05 9.99999182e-01 -3.75593767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.075898227 meters 0.014463219065282302 Centerline is valid? [True, True] Translation: X:312.59, Y:7.90, Z:-3.76 [[ 9.96190998e-01 8.70971334e-02 -4.19331630e-03 3.12589941e+02] [-8.70963303e-02 9.96199824e-01 3.74114175e-04 7.90079713e+00] [ 4.20996523e-03 -7.46671259e-06 9.99991138e-01 -3.76074938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.135898227 meters 0.022491586959760376 Centerline is valid? [True, True] Translation: X:312.65, Y:7.91, Z:-3.76 [[ 9.95784573e-01 9.15627130e-02 -5.41799050e-03 3.12649652e+02] [-9.15614395e-02 9.95799312e-01 4.83160701e-04 7.90770778e+00] [ 5.43947072e-03 1.49550374e-05 9.99985206e-01 -3.76177452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.195898227 meters 0.012437468912521055 Centerline is valid? [True, True] Translation: X:312.71, Y:7.91, Z:-3.76 [[ 9.95483064e-01 9.48814330e-02 -3.31399208e-03 3.12707329e+02] [-9.48809766e-02 9.95488580e-01 2.95000588e-04 7.91389123e+00] [ 3.32703135e-03 2.07667159e-05 9.99994465e-01 -3.76015735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.255898227 meters 0.02463703631501061 Centerline is valid? [True, True] Translation: X:312.77, Y:7.91, Z:-3.76 [[ 9.95842152e-01 9.09691012e-02 -4.79905148e-03 3.12765240e+02] [-9.09680992e-02 9.95853715e-01 4.27098701e-04 7.90736356e+00] [ 4.81800604e-03 1.12377026e-05 9.99988393e-01 -3.76273379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.315898227 meters 0.011353034212118165 Centerline is valid? [True, True] Translation: X:312.82, Y:7.89, Z:-3.76 [[ 9.96368016e-01 8.50232869e-02 -4.67096370e-03 3.12821791e+02] [-8.50222737e-02 9.96378964e-01 4.15425735e-04 7.89322674e+00] [ 4.68937084e-03 -1.67809610e-05 9.99989005e-01 -3.76321403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.375898227 meters 0.010808961358145127 Centerline is valid? [True, True] Translation: X:312.88, Y:7.89, Z:-3.76 [[ 9.96338186e-01 8.54665886e-02 -2.38337835e-03 3.12880527e+02] [-8.54663264e-02 9.96341037e-01 2.11835820e-04 7.88717539e+00] [ 2.39276254e-03 -7.36152553e-06 9.99997137e-01 -3.75932051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.435898227 meters 0.012569085229747694 Centerline is valid? [True, True] Translation: X:312.94, Y:7.90, Z:-3.76 [[ 9.95497090e-01 9.47824417e-02 -1.35385042e-03 3.12940706e+02] [-9.47823659e-02 9.95498010e-01 1.20235604e-04 7.89645244e+00] [ 1.35915163e-03 8.62695216e-06 9.99999076e-01 -3.75554662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.49589822699994 meters 0.01998266933424533 Centerline is valid? [True, True] Translation: X:313.00, Y:7.90, Z:-3.76 [[ 9.94746736e-01 1.02307029e-01 -3.49315015e-03 3.13000770e+02] [-1.02306570e-01 9.94752869e-01 3.10251447e-04 7.90180208e+00] [ 3.50656203e-03 4.87505964e-05 9.99993851e-01 -3.75962853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.55589822699994 meters 0.02642218350913093 Centerline is valid? [True, True] Translation: X:313.06, Y:7.90, Z:-3.76 [[ 9.94102774e-01 1.08318992e-01 -5.16428464e-03 3.13061101e+02] [-1.08318070e-01 9.94116183e-01 4.58682979e-04 7.90262427e+00] [ 5.18358301e-03 1.03407323e-04 9.99986560e-01 -3.76282950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.61589822699995 meters 0.028059324156629734 Centerline is valid? [True, True] Translation: X:313.12, Y:7.90, Z:-3.76 [[ 9.93977051e-01 1.09493145e-01 -4.56866453e-03 3.13120055e+02] [-1.09492437e-01 9.93987546e-01 4.05510005e-04 7.89915257e+00] [ 4.58559621e-03 9.71665745e-05 9.99989481e-01 -3.76201315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.67589822699995 meters 0.03589046082307689 Centerline is valid? [True, True] Translation: X:313.18, Y:7.90, Z:-3.76 [[ 9.93237932e-01 1.16052466e-01 -3.19944798e-03 3.13180568e+02] [-1.16052153e-01 9.93243081e-01 2.83983368e-04 7.90239638e+00] [ 3.21078653e-03 8.92397730e-05 9.99994841e-01 -3.75875264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.73589822699995 meters 0.04139012424183727 Centerline is valid? [True, True] Translation: X:313.24, Y:7.90, Z:-3.76 [[ 9.92709993e-01 1.20443301e-01 -4.50340631e-03 3.13241600e+02] [-1.20442726e-01 9.92720197e-01 3.99747861e-04 7.90398091e+00] [ 4.51876935e-03 1.45568834e-04 9.99989780e-01 -3.76162520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.79589822699995 meters 0.038491293293215774 Centerline is valid? [True, True] Translation: X:313.30, Y:7.89, Z:-3.76 [[ 9.93070797e-01 1.17512009e-01 -1.14858180e-03 3.13298904e+02] [-1.17511969e-01 9.93071461e-01 1.01858856e-04 7.88754319e+00] [ 1.15259344e-03 3.38190535e-05 9.99999335e-01 -3.75715394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.85589822699995 meters 0.028279155122543993 Centerline is valid? [True, True] Translation: X:313.36, Y:7.86, Z:-3.76 [[ 9.94120484e-01 1.08252985e-01 -2.39895376e-03 3.13355484e+02] [-1.08252787e-01 9.94123377e-01 2.12749810e-04 7.85748101e+00] [ 2.40788681e-03 4.81944850e-05 9.99997100e-01 -3.76012518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.91589822699996 meters 0.02138248901976134 Centerline is valid? [True, True] Translation: X:313.41, Y:7.83, Z:-3.76 [[ 9.94499585e-01 1.04677404e-01 -3.63541446e-03 3.13412461e+02] [-1.04676925e-01 9.94506228e-01 3.22221885e-04 7.83391773e+00] [ 3.64917167e-03 6.00944768e-05 9.99993340e-01 -3.76174779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.97589822699996 meters 0.02290361932327217 Centerline is valid? [True, True] Translation: X:313.47, Y:7.82, Z:-3.76 [[ 9.94338932e-01 1.06251289e-01 -8.67028483e-04 3.13470152e+02] [-1.06251262e-01 9.94339310e-01 7.67454217e-05 7.81620633e+00] [ 8.70274804e-04 1.58119098e-05 9.99999621e-01 -3.75732372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.03589822699996 meters 0.03018046242342517 Centerline is valid? [True, True] Translation: X:313.53, Y:7.81, Z:-3.76 [[ 9.94017487e-01 1.09214216e-01 -1.22112418e-03 3.13529276e+02] [-1.09214166e-01 9.94018236e-01 1.08132665e-04 7.80507972e+00] [ 1.22562933e-03 2.58782988e-05 9.99999249e-01 -3.75800016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.09589822699996 meters 0.03558112880212288 Centerline is valid? [True, True] Translation: X:313.59, Y:7.80, Z:-3.76 [[ 9.92966085e-01 1.18394760e-01 -1.01756998e-03 3.13589775e+02] [-1.18394729e-01 9.92966606e-01 9.01433355e-05 7.79948371e+00] [ 1.02108551e-03 3.09656480e-05 9.99999478e-01 -3.75741906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.15589822699997 meters 0.04426829873362788 Centerline is valid? [True, True] Translation: X:313.65, Y:7.80, Z:-3.76 [[ 9.92035813e-01 1.25949672e-01 -1.27547057e-03 3.13649524e+02] [-1.25949631e-01 9.92036631e-01 1.12968002e-04 7.79539785e+00] [ 1.27954181e-03 4.85767430e-05 9.99999180e-01 -3.75865450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.21589822699997 meters 0.047462053754211586 Centerline is valid? [True, True] Translation: X:313.71, Y:7.79, Z:-3.76 [[ 9.91871010e-01 1.27238822e-01 -1.47704209e-03 3.13706361e+02] [-1.27238768e-01 9.91872108e-01 1.30551672e-04 7.78797510e+00] [ 1.48164809e-03 5.84465972e-05 9.99998901e-01 -3.75994154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.27589822699997 meters 0.045009958632735214 Centerline is valid? [True, True] Translation: X:313.76, Y:7.77, Z:-3.76 [[ 9.91775728e-01 1.27979530e-01 -1.46492471e-03 3.13764062e+02] [-1.27979478e-01 9.91776808e-01 1.29482079e-04 7.77188446e+00] [ 1.46944940e-03 5.90631162e-05 9.99998919e-01 -3.75957402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.335898227 meters 0.047661880774159546 Centerline is valid? [True, True] Translation: X:313.82, Y:7.77, Z:-3.76 [[ 9.91486488e-01 1.30189737e-01 -2.27524774e-03 3.13823090e+02] [-1.30189618e-01 9.91489094e-01 2.01089481e-04 7.76712334e+00] [ 2.28206310e-03 9.68361309e-05 9.99997391e-01 -3.76156476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.395898227 meters 0.049148980990821774 Centerline is valid? [True, True] Translation: X:313.88, Y:7.76, Z:-3.76 [[ 9.91198099e-01 1.32343123e-01 -3.40975421e-03 3.13882839e+02] [-1.32342868e-01 9.91203952e-01 3.01327743e-04 7.76260474e+00] [ 3.41964050e-03 1.52581166e-04 9.99994141e-01 -3.76387875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.455898227 meters 0.050617156903437203 Centerline is valid? [True, True] Translation: X:313.94, Y:7.75, Z:-3.77 [[ 9.91322573e-01 1.31379678e-01 -4.35151374e-03 3.13940089e+02] [-1.31379255e-01 9.91332106e-01 3.84130561e-04 7.75302814e+00] [ 4.36426223e-03 1.90901339e-04 9.99990458e-01 -3.76687232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.515898227 meters 0.04956360449450456 Centerline is valid? [True, True] Translation: X:314.00, Y:7.74, Z:-3.77 [[ 9.91554044e-01 1.29593606e-01 -5.10629786e-03 3.13997970e+02] [-1.29593001e-01 9.91567169e-01 4.50603668e-04 7.73689074e+00] [ 5.12163267e-03 2.14942572e-04 9.99986861e-01 -3.76915522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.575898227 meters 0.053256265717898696 Centerline is valid? [True, True] Translation: X:314.06, Y:7.73, Z:-3.77 [[ 9.91183119e-01 1.32438492e-01 -4.00875556e-03 3.14057997e+02] [-1.32438142e-01 9.91191209e-01 3.53747576e-04 7.73232432e+00] [ 4.02029306e-03 1.80283514e-04 9.99991902e-01 -3.76729484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.635898227 meters 0.06348739205364956 Centerline is valid? [True, True] Translation: X:314.12, Y:7.74, Z:-3.77 [[ 9.90021503e-01 1.40866146e-01 -3.76194515e-03 3.14119336e+02] [-1.40865899e-01 9.90028630e-01 3.31993854e-04 7.73676410e+00] [ 3.77120010e-03 2.01248730e-04 9.99992869e-01 -3.76523107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.695898227 meters 0.07250201020558654 Centerline is valid? [True, True] Translation: X:314.18, Y:7.74, Z:-3.77 [[ 9.88808970e-01 1.49127267e-01 -4.22834366e-03 3.14180046e+02] [-1.49127030e-01 9.88817976e-01 3.73117944e-04 7.74033463e+00] [ 4.23670428e-03 2.61617960e-04 9.99990991e-01 -3.76578980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.755898227 meters 0.07512601838038552 Centerline is valid? [True, True] Translation: X:314.24, Y:7.74, Z:-3.77 [[ 9.88363953e-01 1.52067425e-01 -3.49200784e-03 3.14240989e+02] [-1.52067281e-01 9.88370096e-01 3.08145616e-04 7.73816377e+00] [ 3.49825504e-03 2.26460119e-04 9.99993855e-01 -3.76538381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.815898227 meters 0.07889343412051475 Centerline is valid? [True, True] Translation: X:314.30, Y:7.74, Z:-3.77 [[ 9.88028181e-01 1.54197352e-01 -4.84660893e-03 3.14300301e+02] [-1.54197101e-01 9.88040015e-01 4.27621711e-04 7.73642616e+00] [ 4.85458170e-03 3.24830745e-04 9.99988164e-01 -3.76892265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.875898227 meters 0.08176264214858216 Centerline is valid? [True, True] Translation: X:314.36, Y:7.73, Z:-3.77 [[ 9.88153296e-01 1.53416314e-01 -4.06185683e-03 3.14358744e+02] [-1.53416132e-01 9.88161607e-01 3.58143107e-04 7.73403299e+00] [ 4.06871597e-03 2.69254074e-04 9.99991686e-01 -3.76862538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.935898227 meters 0.07083299934190374 Centerline is valid? [True, True] Translation: X:314.42, Y:7.71, Z:-3.76 [[ 9.88308566e-01 1.52466953e-01 7.75106842e-05 3.14416191e+02] [-1.52466953e-01 9.88308569e-01 -6.90964563e-06 7.71393124e+00] [-7.76579660e-05 -4.98895585e-06 9.99999997e-01 -3.76135055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.99589822699994 meters 0.07673032593618878 Centerline is valid? [True, True] Translation: X:314.48, Y:7.72, Z:-3.77 [[ 9.87492169e-01 1.57656090e-01 -1.94259400e-03 3.14477431e+02] [-1.57656056e-01 9.87494070e-01 1.71226123e-04 7.71837286e+00] [ 1.94529490e-03 1.37177254e-04 9.99998099e-01 -3.76532188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.05589822699994 meters 0.07664640099939213 Centerline is valid? [True, True] Translation: X:314.54, Y:7.72, Z:-3.77 [[ 9.87208317e-01 1.59414247e-01 -2.61469535e-03 3.14537104e+02] [-1.59414193e-01 9.87211762e-01 2.30419743e-04 7.71526886e+00] [ 2.61799019e-03 1.89347261e-04 9.99996555e-01 -3.76751376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.11589822699995 meters 0.07149361445540584 Centerline is valid? [True, True] Translation: X:314.60, Y:7.71, Z:-3.76 [[ 9.87735042e-01 1.56139282e-01 -1.10927969e-04 3.14596605e+02] [-1.56139282e-01 9.87735048e-01 9.73862121e-06 7.70644474e+00] [ 1.11088024e-04 7.70103605e-06 9.99999994e-01 -3.76228867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.17589822699995 meters 0.0724523537800937 Centerline is valid? [True, True] Translation: X:314.66, Y:7.71, Z:-3.76 [[ 9.88413531e-01 1.51784955e-01 1.35962671e-04 3.14655631e+02] [-1.51784955e-01 9.88413541e-01 -1.20213747e-05 7.70620994e+00] [-1.36212009e-04 -8.75499855e-06 9.99999991e-01 -3.76195066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.23589822699995 meters 0.06621744779679264 Centerline is valid? [True, True] Translation: X:314.72, Y:7.70, Z:-3.76 [[ 9.89323679e-01 1.45731434e-01 1.00344155e-03 3.14715547e+02] [-1.45731419e-01 9.89324186e-01 -8.83903283e-05 7.69807623e+00] [-1.00561024e-03 -5.87863158e-05 9.99999493e-01 -3.76124826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.29589822699995 meters 0.0613892390630442 Centerline is valid? [True, True] Translation: X:314.78, Y:7.69, Z:-3.76 [[ 9.89864508e-01 1.42014009e-01 5.27219598e-04 3.14775525e+02] [-1.42014004e-01 9.89864648e-01 -4.64420283e-05 7.69218192e+00] [-5.28471460e-04 -2.89012506e-05 9.99999860e-01 -3.76114070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.35589822699995 meters 0.06382995345628545 Centerline is valid? [True, True] Translation: X:314.84, Y:7.70, Z:-3.76 [[ 9.89633303e-01 1.43611839e-01 -1.25107186e-03 3.14835052e+02] [-1.43611815e-01 9.89634091e-01 1.10092458e-04 7.69541723e+00] [ 1.25391395e-03 7.07175374e-05 9.99999211e-01 -3.76472026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.41589822699996 meters 0.06974687142072575 Centerline is valid? [True, True] Translation: X:314.90, Y:7.71, Z:-3.77 [[ 9.88640517e-01 1.50277876e-01 -2.54734140e-03 3.14896639e+02] [-1.50277795e-01 9.88643785e-01 2.24235396e-04 7.71029750e+00] [ 2.55211086e-03 1.61120649e-04 9.99996730e-01 -3.76732172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.47589822699996 meters 0.07532980903808052 Centerline is valid? [True, True] Translation: X:314.96, Y:7.72, Z:-3.77 [[ 9.87902402e-01 1.55057291e-01 -2.46596120e-03 3.14958138e+02] [-1.55057230e-01 9.87905465e-01 2.17051135e-04 7.71959828e+00] [ 2.46979191e-03 1.67939775e-04 9.99996936e-01 -3.76783610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.53589822699996 meters 0.07579557993690166 Centerline is valid? [True, True] Translation: X:315.02, Y:7.72, Z:-3.77 [[ 9.87400610e-01 1.58236973e-01 -1.04683897e-03 3.15018982e+02] [-1.58236964e-01 9.87401162e-01 9.21360581e-05 7.72114752e+00] [ 1.04822935e-03 7.46734206e-05 9.99999448e-01 -3.76541917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.59589822699996 meters 0.0794412783717307 Centerline is valid? [True, True] Translation: X:315.08, Y:7.73, Z:-3.76 [[ 9.87238387e-01 1.59249276e-01 1.89527566e-04 3.15078449e+02] [-1.59249276e-01 9.87238405e-01 -1.67348604e-05 7.72980649e+00] [-1.89773907e-04 -1.36608311e-05 9.99999982e-01 -3.76213870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.65589822699997 meters 0.08933402752416716 Centerline is valid? [True, True] Translation: X:315.14, Y:7.74, Z:-3.76 [[ 9.87217394e-01 1.59379426e-01 -1.25693520e-04 3.15137823e+02] [-1.59379426e-01 9.87217402e-01 1.09556585e-05 7.74378926e+00] [ 1.25832937e-04 9.21734441e-06 9.99999992e-01 -3.76317296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.71589822699997 meters 0.07892786299986192 Centerline is valid? [True, True] Translation: X:315.20, Y:7.73, Z:-3.76 [[ 9.87143608e-01 1.59830733e-01 -1.27849487e-03 3.15195369e+02] [-1.59830721e-01 9.87144431e-01 1.12244830e-04 7.73329589e+00] [ 1.27999926e-03 9.35409898e-05 9.99999176e-01 -3.76460311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.77589822699997 meters 0.08154729014725812 Centerline is valid? [True, True] Translation: X:315.25, Y:7.73, Z:-3.76 [[ 9.87121731e-01 1.59963165e-01 -1.57314957e-03 3.15254398e+02] [-1.59963148e-01 9.87122977e-01 1.37703033e-04 7.73281663e+00] [ 1.57491950e-03 1.15716301e-04 9.99998753e-01 -3.76410194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.835898227 meters 0.08234661977411242 Centerline is valid? [True, True] Translation: X:315.31, Y:7.74, Z:-3.77 [[ 9.87351758e-01 1.58523361e-01 -2.61722742e-03 3.15313475e+02] [-1.58523307e-01 9.87355209e-01 2.29406185e-04 7.73740055e+00] [ 2.62049937e-03 1.88386946e-04 9.99996549e-01 -3.76834654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.895898227 meters 0.07684075028254429 Centerline is valid? [True, True] Translation: X:315.37, Y:7.73, Z:-3.77 [[ 9.88179149e-01 1.53283622e-01 -2.46983104e-03 3.15373505e+02] [-1.53283557e-01 9.88182222e-01 2.16566015e-04 7.72537038e+00] [ 2.47383914e-03 1.64578467e-04 9.99996927e-01 -3.77046624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.955898227 meters 0.06509883887547276 Centerline is valid? [True, True] Translation: X:315.43, Y:7.70, Z:-3.77 [[ 9.88711665e-01 1.49826192e-01 -1.16408537e-03 3.15432164e+02] [-1.49826176e-01 9.88712348e-01 1.02032896e-04 7.70300411e+00] [ 1.16623278e-03 7.35293436e-05 9.99999317e-01 -3.76948417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.015898227 meters 0.06589526024259602 Centerline is valid? [True, True] Translation: X:315.49, Y:7.69, Z:-3.77 [[ 9.89114143e-01 1.47131537e-01 -2.35014375e-03 3.15490328e+02] [-1.47131462e-01 9.89116925e-01 2.05914500e-04 7.69365172e+00] [ 2.35486348e-03 1.42107142e-04 9.99997217e-01 -3.77313880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.075898227 meters 0.07011888923841088 Centerline is valid? [True, True] Translation: X:315.55, Y:7.69, Z:-3.77 [[ 9.88361052e-01 1.52092483e-01 -3.21045824e-03 3.15550437e+02] [-1.52092368e-01 9.88366244e-01 2.81310448e-04 7.69119339e+00] [ 3.21589375e-03 2.10249905e-04 9.99994807e-01 -3.77367749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.135898227 meters 0.07863304991540941 Centerline is valid? [True, True] Translation: X:315.61, Y:7.70, Z:-3.77 [[ 9.87627056e-01 1.56814129e-01 -1.45845577e-03 3.15610639e+02] [-1.56814110e-01 9.87628128e-01 1.27779174e-04 7.69757038e+00] [ 1.46044952e-03 1.02508274e-04 9.99998928e-01 -3.77133600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.195898227 meters 0.08100187879965753 Centerline is valid? [True, True] Translation: X:315.67, Y:7.70, Z:-3.77 [[ 9.87111248e-01 1.60034390e-01 6.15235995e-04 3.15671346e+02] [-1.60034387e-01 9.87111439e-01 -5.39076088e-05 7.69506584e+00] [-6.15933559e-04 -4.52461081e-05 9.99999809e-01 -3.76758327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.255898227 meters 0.0837637148884271 Centerline is valid? [True, True] Translation: X:315.73, Y:7.69, Z:-3.77 [[ 9.87231736e-01 1.59290578e-01 -1.00655460e-04 3.15729511e+02] [-1.59290578e-01 9.87231742e-01 8.73682512e-06 7.68577029e+00] [ 1.00761959e-04 7.40819533e-06 9.99999995e-01 -3.76853543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.315898227 meters 0.08534966109944529 Centerline is valid? [True, True] Translation: X:315.79, Y:7.68, Z:-3.77 [[ 9.87264511e-01 1.59083995e-01 -1.03296533e-03 3.15787295e+02] [-1.59083987e-01 9.87265049e-01 9.03066809e-05 7.68057764e+00] [ 1.03417691e-03 7.51716618e-05 9.99999462e-01 -3.77235758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.375898227 meters 0.08159999755400371 Centerline is valid? [True, True] Translation: X:315.85, Y:7.67, Z:-3.77 [[ 9.86657164e-01 1.62811627e-01 1.19360784e-04 3.15846916e+02] [-1.62811627e-01 9.86657171e-01 -1.04443651e-05 7.66537111e+00] [-1.19468638e-04 -9.12831584e-06 9.99999993e-01 -3.77006860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.435898227 meters 0.08820510346201531 Centerline is valid? [True, True] Translation: X:315.91, Y:7.67, Z:-3.77 [[ 9.85488387e-01 1.69721018e-01 -2.72295340e-03 3.15907976e+02] [-1.69721003e-01 9.85492123e-01 2.38285005e-04 7.66765113e+00] [ 2.72389110e-03 2.27315278e-04 9.99996264e-01 -3.77393371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.49589822699994 meters 0.09466931501622683 Centerline is valid? [True, True] Translation: X:315.97, Y:7.67, Z:-3.77 [[ 9.84806236e-01 1.73643076e-01 -2.18178425e-03 3.15967943e+02] [-1.73643076e-01 9.84808634e-01 1.90916346e-04 7.67265358e+00] [ 2.18179127e-03 1.90836121e-04 9.99997602e-01 -3.77377487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.55589822699994 meters 0.0974176665655014 Centerline is valid? [True, True] Translation: X:316.03, Y:7.68, Z:-3.77 [[ 9.84297551e-01 1.76517153e-01 -1.59835068e-04 3.16028787e+02] [-1.76517153e-01 9.84297564e-01 1.39880170e-05 7.67559528e+00] [ 1.59794393e-04 1.44452603e-05 9.99999987e-01 -3.77000073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.61589822699995 meters 0.09282218854059165 Centerline is valid? [True, True] Translation: X:316.09, Y:7.67, Z:-3.77 [[ 9.84668755e-01 1.74432375e-01 -8.88886335e-04 3.16088987e+02] [-1.74432376e-01 9.84669153e-01 7.77713557e-05 7.66889430e+00] [ 8.88824797e-04 7.84715313e-05 9.99999602e-01 -3.77114729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.67589822699995 meters 0.07656855602132571 Centerline is valid? [True, True] Translation: X:316.15, Y:7.64, Z:-3.78 [[ 9.86122944e-01 1.65964097e-01 -4.17815939e-03 3.16147024e+02] [-1.65964028e-01 9.86131740e-01 3.65511978e-04 7.64457856e+00] [ 4.18087746e-03 3.32984415e-04 9.99991205e-01 -3.77514513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.73589822699995 meters 0.08678053698086403 Centerline is valid? [True, True] Translation: X:316.21, Y:7.65, Z:-3.78 [[ 9.87228320e-01 1.59281042e-01 -3.12957284e-03 3.16207067e+02] [-1.59280970e-01 9.87233254e-01 2.73721806e-04 7.65347441e+00] [ 3.13321707e-03 2.28255478e-04 9.99995065e-01 -3.77522174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.79589822699995 meters 0.07865892278848839 Centerline is valid? [True, True] Translation: X:316.27, Y:7.64, Z:-3.77 [[ 9.87457699e-01 1.57878492e-01 -1.29410386e-03 3.16266441e+02] [-1.57878479e-01 9.87458542e-01 1.13163267e-04 7.64228961e+00] [ 1.29573996e-03 9.25672099e-05 9.99999156e-01 -3.77085083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.85589822699995 meters 0.07696843597222061 Centerline is valid? [True, True] Translation: X:316.33, Y:7.64, Z:-3.77 [[ 9.87863839e-01 1.55316757e-01 -1.31932772e-03 3.16327062e+02] [-1.55316741e-01 9.87864716e-01 1.15375724e-04 7.63941119e+00] [ 1.32123709e-03 9.09381771e-05 9.99999123e-01 -3.77138106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.91589822699996 meters 0.0683860944382898 Centerline is valid? [True, True] Translation: X:316.39, Y:7.62, Z:-3.78 [[ 9.88931955e-01 1.48337411e-01 -3.09859377e-03 3.16386083e+02] [-1.48337287e-01 9.88936791e-01 2.70928150e-04 7.62440080e+00] [ 3.10450216e-03 1.91707489e-04 9.99995163e-01 -3.77529314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.97589822699996 meters 0.06261352051604334 Centerline is valid? [True, True] Translation: X:316.44, Y:7.61, Z:-3.78 [[ 9.90074807e-01 1.40499415e-01 -3.43379838e-03 3.16444571e+02] [-1.40499216e-01 9.90080744e-01 3.00196148e-04 7.60983349e+00] [ 3.44191504e-03 1.85229338e-04 9.99994059e-01 -3.77555470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.03589822699996 meters 0.05275513173126163 Centerline is valid? [True, True] Translation: X:316.50, Y:7.59, Z:-3.77 [[ 9.91500020e-01 1.30089232e-01 -2.12196353e-03 3.16502792e+02] [-1.30089132e-01 9.91502286e-01 1.85505718e-04 7.58801744e+00] [ 2.12806399e-03 9.21154724e-05 9.99997731e-01 -3.77201465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.09589822699996 meters 0.051376837292180066 Centerline is valid? [True, True] Translation: X:316.56, Y:7.57, Z:-3.77 [[ 9.91753655e-01 1.28112233e-01 -3.45589601e-03 3.16561163e+02] [-1.28111957e-01 9.91759666e-01 3.02017956e-04 7.56994126e+00] [ 3.46611047e-03 1.43214189e-04 9.99993983e-01 -3.77462868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.15589822699997 meters 0.05225141695883414 Centerline is valid? [True, True] Translation: X:316.62, Y:7.56, Z:-3.77 [[ 9.91183306e-01 1.32481934e-01 -2.04733500e-03 3.16620859e+02] [-1.32481847e-01 9.91185416e-01 1.78938747e-04 7.55572467e+00] [ 2.05299475e-03 9.38736233e-05 9.99997888e-01 -3.77348194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.21589822699997 meters 0.054366546474354814 Centerline is valid? [True, True] Translation: X:316.68, Y:7.54, Z:-3.77 [[ 9.90906964e-01 1.34548498e-01 -3.00899784e-04 3.16679561e+02] [-1.34548496e-01 9.90907010e-01 2.62295199e-05 7.54484377e+00] [ 3.01692848e-04 1.44945995e-05 9.99999954e-01 -3.77083422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.27589822699997 meters 0.06310281478337963 Centerline is valid? [True, True] Translation: X:316.74, Y:7.54, Z:-3.77 [[ 9.90284563e-01 1.39054488e-01 -5.77867201e-04 3.16738806e+02] [-1.39054482e-01 9.90284731e-01 5.04615529e-05 7.53791595e+00] [ 5.79269971e-04 3.03837277e-05 9.99999832e-01 -3.77187141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.335898227 meters 0.06494801378907594 Centerline is valid? [True, True] Translation: X:316.80, Y:7.53, Z:-3.77 [[ 9.89615421e-01 1.43736734e-01 -1.03391557e-03 3.16798552e+02] [-1.43736718e-01 9.89615960e-01 9.03212526e-05 7.52800988e+00] [ 1.03616183e-03 5.92283258e-05 9.99999461e-01 -3.77291203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.395898227 meters 0.07889235912361289 Centerline is valid? [True, True] Translation: X:316.86, Y:7.53, Z:-3.77 [[ 9.88232257e-01 1.52953970e-01 -1.44569942e-03 3.16858158e+02] [-1.52953948e-01 9.88233309e-01 1.26348635e-04 7.53309093e+00] [ 1.44801385e-03 9.62636373e-05 9.99998947e-01 -3.77352873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.455898227 meters 0.08793585760009648 Centerline is valid? [True, True] Translation: X:316.92, Y:7.53, Z:-3.78 [[ 9.87422646e-01 1.58070228e-01 -3.21270427e-03 3.16918254e+02] [-1.58070147e-01 9.87427845e-01 2.80700713e-04 7.53493001e+00] [ 3.21668409e-03 2.30662396e-04 9.99994800e-01 -3.77592138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.515898227 meters 0.08004784954916336 Centerline is valid? [True, True] Translation: X:316.98, Y:7.52, Z:-3.77 [[ 9.86721584e-01 1.62401204e-01 -2.52267739e-03 3.16977132e+02] [-1.62401168e-01 9.86724790e-01 2.20376394e-04 7.51648402e+00] [ 2.52497771e-03 1.92235611e-04 9.99996794e-01 -3.77373657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.575898227 meters 0.08199461893191946 Centerline is valid? [True, True] Translation: X:317.04, Y:7.51, Z:-3.77 [[ 9.85893675e-01 1.67372078e-01 -4.99327552e-04 3.17037376e+02] [-1.67372077e-01 9.85893800e-01 4.36139663e-05 7.51291361e+00] [ 4.99583698e-04 4.05747562e-05 9.99999874e-01 -3.76997349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.635898227 meters 0.0895308906792769 Centerline is valid? [True, True] Translation: X:317.10, Y:7.52, Z:-3.77 [[ 9.85370206e-01 1.70404268e-01 -2.81820571e-03 3.17097673e+02] [-1.70404256e-01 9.85374208e-01 2.46165745e-04 7.51930209e+00] [ 2.81893491e-03 2.37669856e-04 9.99995999e-01 -3.77448128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.695898227 meters 0.0887434134640655 Centerline is valid? [True, True] Translation: X:317.16, Y:7.52, Z:-3.78 [[ 9.85261183e-01 1.70982139e-01 -5.05062288e-03 3.17156622e+02] [-1.70982109e-01 9.85274035e-01 4.40952242e-04 7.51503003e+00] [ 5.05164254e-03 4.29113025e-04 9.99987148e-01 -3.77910768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.755898227 meters 0.08983247981783403 Centerline is valid? [True, True] Translation: X:317.22, Y:7.51, Z:-3.78 [[ 9.85349299e-01 1.70491283e-01 -4.41376354e-03 3.17215453e+02] [-1.70491259e-01 9.85359114e-01 3.84421984e-04 7.51421211e+00] [ 4.41468273e-03 3.73718172e-04 9.99990185e-01 -3.77842166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.815898227 meters 0.0843137585936178 Centerline is valid? [True, True] Translation: X:317.27, Y:7.50, Z:-3.77 [[ 9.86046841e-01 1.66461112e-01 -1.52465288e-03 3.17274911e+02] [-1.66461105e-01 9.86048013e-01 1.32873025e-04 7.50380215e+00] [ 1.52549914e-03 1.22776377e-04 9.99998829e-01 -3.77335661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.875898227 meters 0.07680728552086312 Centerline is valid? [True, True] Translation: X:317.33, Y:7.49, Z:-3.77 [[ 9.86849127e-01 1.61638332e-01 -1.35994768e-03 3.17334803e+02] [-1.61638321e-01 9.86850059e-01 1.18549013e-04 7.48947684e+00] [ 1.36122651e-03 1.02829670e-04 9.99999068e-01 -3.77405967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.935898227 meters 0.07390798135330673 Centerline is valid? [True, True] Translation: X:317.39, Y:7.48, Z:-3.77 [[ 9.88123456e-01 1.53655988e-01 -1.36830040e-03 3.17393432e+02] [-1.53655969e-01 9.88124399e-01 1.19242170e-04 7.47951087e+00] [ 1.37037329e-03 9.24215401e-05 9.99999057e-01 -3.77404005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.99589822699994 meters 0.06189497208985627 Centerline is valid? [True, True] Translation: X:317.45, Y:7.46, Z:-3.77 [[ 9.89116506e-01 1.47133612e-01 -4.87680729e-04 3.17452213e+02] [-1.47133608e-01 9.89116626e-01 4.24941876e-05 7.45922711e+00] [ 4.88625440e-04 2.97225229e-05 9.99999880e-01 -3.77113843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.05589822699994 meters 0.058665690596981 Centerline is valid? [True, True] Translation: X:317.51, Y:7.45, Z:-3.77 [[ 9.89704413e-01 1.43123313e-01 -9.44387624e-04 3.17511924e+02] [-1.43123300e-01 9.89704862e-01 8.22887756e-05 7.44749751e+00] [ 9.46442466e-04 5.37223085e-05 9.99999551e-01 -3.77255635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.11589822699995 meters 0.060971849163403036 Centerline is valid? [True, True] Translation: X:317.57, Y:7.44, Z:-3.78 [[ 9.90535305e-01 1.37241609e-01 -2.13337561e-03 3.17570761e+02] [-1.37241526e-01 9.90537596e-01 1.85861593e-04 7.43874963e+00] [ 2.13869669e-03 1.08685255e-04 9.99997707e-01 -3.77580337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.17589822699995 meters 0.05357959320553516 Centerline is valid? [True, True] Translation: X:317.63, Y:7.41, Z:-3.78 [[ 9.90952735e-01 1.34174106e-01 -3.16023956e-03 3.17628755e+02] [-1.34173908e-01 9.90957762e-01 2.75302175e-04 7.41437982e+00] [ 3.16860235e-03 1.51210251e-04 9.99994969e-01 -3.77696953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.23589822699995 meters 0.05386832736658825 Centerline is valid? [True, True] Translation: X:317.69, Y:7.41, Z:-3.77 [[ 9.90834117e-01 1.35072853e-01 -1.75442549e-03 3.17687366e+02] [-1.35072793e-01 9.90835666e-01 1.52684447e-04 7.40566888e+00] [ 1.75897087e-03 8.56901920e-05 9.99998449e-01 -3.77416991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.29589822699995 meters 0.05848075503084603 Centerline is valid? [True, True] Translation: X:317.75, Y:7.40, Z:-3.77 [[ 9.90285082e-01 1.39047968e-01 -1.05736128e-03 3.17747532e+02] [-1.39047949e-01 9.90285645e-01 9.20678822e-05 7.40210514e+00] [ 1.05989155e-03 5.58504674e-05 9.99999437e-01 -3.77215087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.35589822699995 meters 0.05984526072519524 Centerline is valid? [True, True] Translation: X:317.81, Y:7.40, Z:-3.77 [[ 9.89838031e-01 1.42165868e-01 -3.08839909e-03 3.17808006e+02] [-1.42165719e-01 9.89842834e-01 2.68907500e-04 7.39668369e+00] [ 3.09525918e-03 1.72889608e-04 9.99995195e-01 -3.77454229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.41589822699996 meters 0.06320169731593268 Centerline is valid? [True, True] Translation: X:317.87, Y:7.39, Z:-3.77 [[ 9.89394972e-01 1.45249717e-01 -3.29201208e-04 3.17868243e+02] [-1.45249715e-01 9.89395027e-01 2.86563451e-05 7.39281790e+00] [ 3.29872364e-04 1.94639381e-05 9.99999945e-01 -3.77106412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.47589822699996 meters 0.06628343764051753 Centerline is valid? [True, True] Translation: X:317.93, Y:7.39, Z:-3.78 [[ 9.89184124e-01 1.46634513e-01 -3.61774658e-03 3.17927116e+02] [-1.46634339e-01 9.89190715e-01 3.14726091e-04 7.38506249e+00] [ 3.62479104e-03 2.19163827e-04 9.99993406e-01 -3.77676884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.53589822699996 meters 0.07270577701023115 Centerline is valid? [True, True] Translation: X:317.99, Y:7.38, Z:-3.78 [[ 9.89062820e-01 1.47426275e-01 -4.49802992e-03 3.17986233e+02] [-1.47426015e-01 9.89073009e-01 3.91198204e-04 7.38414035e+00] [ 4.50655288e-03 2.76207025e-04 9.99989807e-01 -3.77854429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.59589822699996 meters 0.07651752134820815 Centerline is valid? [True, True] Translation: X:318.04, Y:7.38, Z:-3.78 [[ 9.88817192e-01 1.49111475e-01 -2.51570010e-03 3.18044674e+02] [-1.49111399e-01 9.88820379e-01 2.18642490e-04 7.38089794e+00] [ 2.52017763e-03 1.58922109e-04 9.99996812e-01 -3.77570563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.65589822699997 meters 0.08386387003658251 Centerline is valid? [True, True] Translation: X:318.11, Y:7.38, Z:-3.77 [[ 9.87996933e-01 1.54467648e-01 1.34381054e-03 3.18105058e+02] [-1.54467631e-01 9.87997843e-01 -1.16831512e-04 7.38287676e+00] [-1.34572861e-03 -9.21460557e-05 9.99999090e-01 -3.76774850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.71589822699997 meters 0.07651832966994004 Centerline is valid? [True, True] Translation: X:318.16, Y:7.37, Z:-3.78 [[ 9.87391948e-01 1.58278363e-01 -2.25861408e-03 3.18164561e+02] [-1.58278326e-01 9.87394517e-01 1.96370072e-04 7.36868195e+00] [ 2.26122429e-03 1.63595428e-04 9.99997430e-01 -3.77527367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.77589822699997 meters 0.0691105043438792 Centerline is valid? [True, True] Translation: X:318.22, Y:7.35, Z:-3.78 [[ 9.88438424e-01 1.51581828e-01 -3.52583489e-03 3.18223457e+02] [-1.51581694e-01 9.88444685e-01 3.06516566e-04 7.35074605e+00] [ 3.53155510e-03 2.31479276e-04 9.99993737e-01 -3.77803265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.835898227 meters 0.06834923219559158 Centerline is valid? [True, True] Translation: X:318.28, Y:7.34, Z:-3.78 [[ 9.89447300e-01 1.44860246e-01 -3.09038565e-03 3.18281835e+02] [-1.44860111e-01 9.89452109e-01 2.68594302e-04 7.34023757e+00] [ 3.09669723e-03 1.81913702e-04 9.99995189e-01 -3.77709826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.895898227 meters 0.06250713112756012 Centerline is valid? [True, True] Translation: X:318.34, Y:7.33, Z:-3.78 [[ 9.89760561e-01 1.42699214e-01 -3.31146911e-03 3.18340584e+02] [-1.42699047e-01 9.89766083e-01 2.87779928e-04 7.32581774e+00] [ 3.31864578e-03 1.87710263e-04 9.99994476e-01 -3.77606215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.955898227 meters 0.07014698980712877 Centerline is valid? [True, True] Translation: X:318.40, Y:7.34, Z:-3.78 [[ 9.88571391e-01 1.50742057e-01 -1.85387950e-03 3.18402491e+02] [-1.50742019e-01 9.88573122e-01 1.61130367e-04 7.33620480e+00] [ 1.85698456e-03 1.20168667e-04 9.99998269e-01 -3.77518168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.015898227 meters 0.07146104575992618 Centerline is valid? [True, True] Translation: X:318.46, Y:7.33, Z:-3.78 [[ 9.87989388e-01 1.54501641e-01 -2.49241818e-03 3.18462807e+02] [-1.54501584e-01 9.87992517e-01 2.16577390e-04 7.33390308e+00] [ 2.49595208e-03 1.71106393e-04 9.99996870e-01 -3.77588091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.075898227 meters 0.07288586177921826 Centerline is valid? [True, True] Translation: X:318.52, Y:7.34, Z:-3.78 [[ 9.88081203e-01 1.53899484e-01 -3.23799192e-03 3.18520934e+02] [-1.53899385e-01 9.88086484e-01 2.81101000e-04 7.33684558e+00] [ 3.24267735e-03 2.20574351e-04 9.99994718e-01 -3.77767849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.135898227 meters 0.07425140685483676 Centerline is valid? [True, True] Translation: X:318.58, Y:7.34, Z:-3.77 [[ 9.88311007e-01 1.52447724e-01 -1.02240939e-03 3.18579793e+02] [-1.52447714e-01 9.88311533e-01 8.87321989e-05 7.33777228e+00] [ 1.02398601e-03 6.81689646e-05 9.99999473e-01 -3.77432275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.195898227 meters 0.07189484560828223 Centerline is valid? [True, True] Translation: X:318.64, Y:7.33, Z:-3.77 [[ 9.88165359e-01 1.53392110e-01 -2.88832255e-04 3.18639699e+02] [-1.53392109e-01 9.88165401e-01 2.50309286e-05 7.33488387e+00] [ 2.89253588e-04 1.95698921e-05 9.99999958e-01 -3.77237429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.255898227 meters 0.070189779712256 Centerline is valid? [True, True] Translation: X:318.70, Y:7.33, Z:-3.77 [[ 9.87678960e-01 1.56491467e-01 -8.32287781e-04 3.18699869e+02] [-1.56491462e-01 9.87679309e-01 7.22425043e-05 7.33220045e+00] [ 8.33338756e-04 5.88935299e-05 9.99999651e-01 -3.77259557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.315898227 meters 0.07490335351823493 Centerline is valid? [True, True] Translation: X:318.76, Y:7.34, Z:-3.77 [[ 9.87476399e-01 1.57766748e-01 -1.17517916e-04 3.18758593e+02] [-1.57766748e-01 9.87476406e-01 1.01144139e-05 7.33624008e+00] [ 1.17641888e-04 8.55267441e-06 9.99999993e-01 -3.77194160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.375898227 meters 0.0781190342892578 Centerline is valid? [True, True] Translation: X:318.82, Y:7.35, Z:-3.77 [[ 9.87038363e-01 1.60482881e-01 -7.17137739e-04 3.18819807e+02] [-1.60482878e-01 9.87038622e-01 6.22056355e-05 7.34537256e+00] [ 7.17825586e-04 5.36889798e-05 9.99999741e-01 -3.77435384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.435898227 meters 0.08006064451460448 Centerline is valid? [True, True] Translation: X:318.88, Y:7.35, Z:-3.78 [[ 9.87060514e-01 1.60292430e-01 -4.22827053e-03 3.18878690e+02] [-1.60292323e-01 9.87069520e-01 3.66458269e-04 7.35367262e+00] [ 4.23233744e-03 3.16042818e-04 9.99990994e-01 -3.77995586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.49589822699994 meters 0.07881315729262814 Centerline is valid? [True, True] Translation: X:318.94, Y:7.35, Z:-3.78 [[ 9.87160801e-01 1.59616916e-01 -5.99941134e-03 3.18937736e+02] [-1.59616689e-01 9.87178931e-01 5.19742503e-04 7.35168404e+00] [ 6.00545217e-03 4.44536746e-04 9.99981868e-01 -3.78276159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.55589822699994 meters 0.08218652518657231 Centerline is valid? [True, True] Translation: X:319.00, Y:7.36, Z:-3.78 [[ 9.87003315e-01 1.60649609e-01 -4.01973593e-03 3.18996625e+02] [-1.60649517e-01 9.87011455e-01 3.48028689e-04 7.35832350e+00] [ 4.02343609e-03 3.02263165e-04 9.99991860e-01 -3.77758320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.61589822699995 meters 0.08291217605697528 Centerline is valid? [True, True] Translation: X:319.06, Y:7.36, Z:-3.78 [[ 9.86946238e-01 1.61008294e-01 -3.66783969e-03 3.19055399e+02] [-1.61008222e-01 9.86953014e-01 3.16768114e-04 7.35681945e+00] [ 3.67098774e-03 2.77919250e-04 9.99993223e-01 -3.77514130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.67589822699995 meters 0.0840238577384253 Centerline is valid? [True, True] Translation: X:319.11, Y:7.36, Z:-3.77 [[ 9.87360008e-01 1.58482834e-01 -1.84541719e-03 3.19114792e+02] [-1.58482812e-01 9.87361723e-01 1.59460119e-04 7.35510975e+00] [ 1.84736599e-03 1.35022361e-04 9.99998285e-01 -3.77479666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.73589822699995 meters 0.07614432566123837 Centerline is valid? [True, True] Translation: X:319.17, Y:7.34, Z:-3.77 [[ 9.87977556e-01 1.54595485e-01 7.65235309e-04 3.19173086e+02] [-1.54595480e-01 9.87977851e-01 -6.61461671e-05 7.33513201e+00] [-7.66261434e-04 -5.29509916e-05 9.99999705e-01 -3.77090760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.79589822699995 meters 0.07727900145638267 Centerline is valid? [True, True] Translation: X:319.23, Y:7.32, Z:-3.77 [[ 9.88418143e-01 1.51728779e-01 2.82012459e-03 3.19231748e+02] [-1.51728699e-01 9.88422148e-01 -2.43670553e-04 7.32449867e+00] [-2.82444544e-03 -1.87045439e-04 9.99995994e-01 -3.76679341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.85589822699995 meters 0.08274642352326059 Centerline is valid? [True, True] Translation: X:319.29, Y:7.32, Z:-3.77 [[ 9.87363989e-01 1.58462045e-01 1.46054081e-03 3.19292140e+02] [-1.58462030e-01 9.87365064e-01 -1.26186531e-04 7.32351634e+00] [-1.46208275e-03 -1.06848225e-04 9.99998925e-01 -3.76907041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.91589822699996 meters 0.08791606712329576 Centerline is valid? [True, True] Translation: X:319.35, Y:7.32, Z:-3.77 [[ 9.86772764e-01 1.62109229e-01 3.32138027e-04 3.19351704e+02] [-1.62109228e-01 9.86772820e-01 -2.86919670e-05 7.32469105e+00] [-3.32396010e-04 -2.55301876e-05 9.99999944e-01 -3.77313125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.97589822699996 meters 0.08231886615663338 Centerline is valid? [True, True] Translation: X:319.41, Y:7.30, Z:-3.78 [[ 9.87538403e-01 1.57377453e-01 -4.90456513e-04 3.19410257e+02] [-1.57377451e-01 9.87538524e-01 4.23618584e-05 7.30319262e+00] [ 4.91011502e-04 3.53528338e-05 9.99999879e-01 -3.77603220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.03589822699996 meters 0.06348859608613693 Centerline is valid? [True, True] Translation: X:319.47, Y:7.26, Z:-3.77 [[ 9.88551490e-01 1.50883187e-01 4.64171531e-04 3.19467898e+02] [-1.50883185e-01 9.88551599e-01 -4.01022826e-05 7.26392525e+00] [-4.64908269e-04 -3.03925076e-05 9.99999891e-01 -3.77423912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.09589822699996 meters 0.07890655712612046 Centerline is valid? [True, True] Translation: X:319.53, Y:7.27, Z:-3.78 [[ 9.88481067e-01 1.51314361e-01 -3.02407527e-03 3.19526726e+02] [-1.51314268e-01 9.88485672e-01 2.60931665e-04 7.27498519e+00] [ 3.02873778e-03 1.99659725e-04 9.99995393e-01 -3.78033549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.15589822699997 meters 0.08780105039787954 Centerline is valid? [True, True] Translation: X:319.59, Y:7.28, Z:-3.78 [[ 9.87653692e-01 1.56592357e-01 -4.36111239e-03 3.19585981e+02] [-1.56592213e-01 9.87663271e-01 3.76582060e-04 7.27572937e+00] [ 4.36628040e-03 3.10983578e-04 9.99990419e-01 -3.78290913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.21589822699997 meters 0.09168430118341944 Centerline is valid? [True, True] Translation: X:319.65, Y:7.27, Z:-3.78 [[ 9.87255636e-01 1.59120809e-01 -2.62237099e-03 3.19646280e+02] [-1.59120765e-01 9.87259100e-01 2.26413870e-04 7.27122349e+00] [ 2.62498678e-03 1.93745309e-04 9.99996536e-01 -3.77988641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.27589822699997 meters 0.07744546598718731 Centerline is valid? [True, True] Translation: X:319.70, Y:7.25, Z:-3.78 [[ 9.86858068e-01 1.61582833e-01 -1.46318973e-03 3.19704903e+02] [-1.61582823e-01 9.86859147e-01 1.26326431e-04 7.24524938e+00] [ 1.46437435e-03 1.11760068e-04 9.99998922e-01 -3.77695488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.335898227 meters 0.08112155057916155 Centerline is valid? [True, True] Translation: X:319.77, Y:7.25, Z:-3.78 [[ 9.86254649e-01 1.65222726e-01 -1.79404308e-03 3.19765157e+02] [-1.65222716e-01 9.86256270e-01 1.54857909e-04 7.24653012e+00] [ 1.79497228e-03 1.43687338e-04 9.99998379e-01 -3.77866506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.395898227 meters 0.08433692387244245 Centerline is valid? [True, True] Translation: X:319.82, Y:7.25, Z:-3.78 [[ 9.86346695e-01 1.64666233e-01 -2.28687384e-03 3.19822890e+02] [-1.64666215e-01 9.86349329e-01 1.97189549e-04 7.24650840e+00] [ 2.28812694e-03 1.82073601e-04 9.99997366e-01 -3.78058418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.455898227 meters 0.0782034145404038 Centerline is valid? [True, True] Translation: X:319.88, Y:7.23, Z:-3.78 [[ 9.87132124e-01 1.59891517e-01 -2.20718268e-03 3.19882111e+02] [-1.59891489e-01 9.87134578e-01 1.90403247e-04 7.23156740e+00] [ 2.20923021e-03 1.64956563e-04 9.99997546e-01 -3.78168172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.515898227 meters 0.07148396144380635 Centerline is valid? [True, True] Translation: X:319.94, Y:7.21, Z:-3.78 [[ 9.87964571e-01 1.54665596e-01 -2.13545379e-03 3.19940953e+02] [-1.54665557e-01 9.87966868e-01 1.84210761e-04 7.21389419e+00] [ 2.13824866e-03 1.48287445e-04 9.99997703e-01 -3.78117503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.575898227 meters 0.08165411802452359 Centerline is valid? [True, True] Translation: X:320.00, Y:7.22, Z:-3.78 [[ 9.87839845e-01 1.55470694e-01 -1.14221130e-03 3.19999747e+02] [-1.55470684e-01 9.87840502e-01 9.83919181e-05 7.22032872e+00] [ 1.14361964e-03 8.03849143e-05 9.99999343e-01 -3.78109792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.635898227 meters 0.07952268515992023 Centerline is valid? [True, True] Translation: X:320.06, Y:7.21, Z:-3.78 [[ 9.87401959e-01 1.58222459e-01 -1.73945687e-03 3.20059650e+02] [-1.58222439e-01 9.87403483e-01 1.49957923e-04 7.20736337e+00] [ 1.74127248e-03 1.27152362e-04 9.99998476e-01 -3.77895793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.695898227 meters 0.08413345640240591 Centerline is valid? [True, True] Translation: X:320.12, Y:7.21, Z:-3.78 [[ 9.86706571e-01 1.62466343e-01 -3.85106310e-03 3.20119687e+02] [-1.62466277e-01 9.86714041e-01 3.32012361e-04 7.20863214e+00] [ 3.85383887e-03 2.98069108e-04 9.99992530e-01 -3.78363230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.755898227 meters 0.08527193858306131 Centerline is valid? [True, True] Translation: X:320.18, Y:7.20, Z:-3.78 [[ 9.86769049e-01 1.62108731e-01 -2.75730486e-03 3.20178545e+02] [-1.62108696e-01 9.86772879e-01 2.37514517e-04 7.20320213e+00] [ 2.75933683e-03 2.12611122e-04 9.99996170e-01 -3.78274937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.815898227 meters 0.08231932138964915 Centerline is valid? [True, True] Translation: X:320.24, Y:7.19, Z:-3.78 [[ 9.87336449e-01 1.58601977e-01 -3.48560320e-03 3.20237554e+02] [-1.58601901e-01 9.87342568e-01 3.00232021e-04 7.18725989e+00] [ 3.48910181e-03 2.56393275e-04 9.99993880e-01 -3.78287188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.875898227 meters 0.0857659612825655 Centerline is valid? [True, True] Translation: X:320.30, Y:7.18, Z:-3.78 [[ 9.87210595e-01 1.59363383e-01 -4.30743622e-03 3.20295748e+02] [-1.59363273e-01 9.87219940e-01 3.70866916e-04 7.18081699e+00] [ 4.31148953e-03 3.20323387e-04 9.99990654e-01 -3.78429820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.93589822699994 meters 0.09455853299773888 Centerline is valid? [True, True] Translation: X:320.36, Y:7.19, Z:-3.78 [[ 9.85979004e-01 1.66834338e-01 -3.42155144e-03 3.20355382e+02] [-1.66834313e-01 9.85984901e-01 2.94677622e-04 7.18721072e+00] [ 3.42276041e-03 2.80286235e-04 9.99994103e-01 -3.78293261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.99589822699994 meters 0.10990188458062387 Centerline is valid? [True, False] Translation: X:320.32, Y:7.20, Z:-3.78 [[ 9.87263671e-01 1.58934068e-01 -7.09976408e-03 3.20316559e+02] [-1.58866627e-01 9.87256934e-01 9.22714843e-03 7.20143127e+00] [ 8.47579956e-03 -7.98171285e-03 9.99932224e-01 -3.78362924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.05589822699994 meters 0.11805623623884726 Centerline is valid? [False, False] Translation: X:320.32, Y:7.21, Z:-3.79 [[ 9.87659941e-01 1.56555186e-01 4.27950901e-03 3.20323611e+02] [-1.56553918e-01 9.87669212e-01 -6.31724530e-04 7.21483098e+00] [-4.32563904e-03 -4.60448903e-05 9.99990643e-01 -3.79053850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.11589822699995 meters 0.12009417558097196 Centerline is valid? [False, False] Translation: X:320.30, Y:7.23, Z:-3.79 [[ 9.90207704e-01 1.39157721e-01 1.11280023e-02 3.20302055e+02] [-1.39232113e-01 9.90240288e-01 6.21214838e-03 7.22676604e+00] [-1.01549278e-02 -7.70069245e-03 9.99918785e-01 -3.79212936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.17589822699995 meters 0.10960183567218305 Centerline is valid? [False, False] Translation: X:320.30, Y:7.23, Z:-3.79 [[ 9.93578891e-01 1.12723911e-01 9.71116840e-03 3.20299409e+02] [-1.12853120e-01 9.93513315e-01 1.39809530e-02 7.23389679e+00] [-8.07218739e-03 -1.49871155e-02 9.99855103e-01 -3.79071240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.23589822699995 meters 0.10475990693250097 Centerline is valid? [False, False] Translation: X:320.28, Y:7.24, Z:-3.79 [[ 9.95500922e-01 9.33418615e-02 1.62852783e-02 3.20282256e+02] [-9.36218888e-02 9.95456221e-01 1.73739745e-02 7.23829866e+00] [-1.45895625e-02 -1.88204662e-02 9.99716427e-01 -3.79194100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.29589822699995 meters 0.09427336086618297 Centerline is valid? [False, True] Translation: X:320.30, Y:7.24, Z:-3.79 [[ 9.97297864e-01 7.16040686e-02 1.64264227e-02 3.20301473e+02] [-7.19661445e-02 9.97150422e-01 2.26254438e-02 7.24024617e+00] [-1.47595405e-02 -2.37464531e-02 9.99609055e-01 -3.79116753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.35589822699995 meters 0.07279172766210786 Centerline is valid? [True, True] Translation: X:320.36, Y:7.22, Z:-3.79 [[ 9.97447385e-01 6.95125680e-02 1.63314872e-02 3.20361908e+02] [-6.95218563e-02 9.97580429e-01 1.00587655e-06 7.22189608e+00] [-1.62919021e-02 -1.13639862e-03 9.99866632e-01 -3.79120703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.41589822699996 meters 0.07507240072344411 Centerline is valid? [True, True] Translation: X:320.42, Y:7.23, Z:-3.79 [[ 9.97487938e-01 6.91388363e-02 1.54154269e-02 3.20423089e+02] [-6.91470693e-02 9.97606477e-01 1.08010385e-06 7.22741053e+00] [-1.53784550e-02 -1.06700898e-03 9.99881175e-01 -3.79384508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.47589822699996 meters 0.07524920807627458 Centerline is valid? [True, True] Translation: X:320.48, Y:7.23, Z:-3.79 [[ 9.97492558e-01 6.85254664e-02 1.76877926e-02 3.20484617e+02] [-6.85361779e-02 9.97648632e-01 -5.84866218e-07 7.23030607e+00] [-1.76462422e-02 -1.21167030e-03 9.99843559e-01 -3.79302808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.53589822699996 meters 0.06735867718420337 Centerline is valid? [True, True] Translation: X:320.55, Y:7.22, Z:-3.79 [[ 9.97789451e-01 6.37333392e-02 1.88221254e-02 3.20545115e+02] [-6.37446123e-02 9.97966244e-01 -1.03562893e-06 7.22108967e+00] [-1.87839118e-02 -1.19877574e-03 9.99822848e-01 -3.79194435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.59589822699996 meters 0.05797129186414034 Centerline is valid? [True, True] Translation: X:320.60, Y:7.21, Z:-3.79 [[ 9.98622909e-01 4.90423617e-02 1.86315080e-02 3.20604838e+02] [-4.90508572e-02 9.98796282e-01 -1.01267132e-06 7.20864004e+00] [-1.86091306e-02 -9.12880162e-04 9.99826418e-01 -3.79361388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.65589822699997 meters 0.05322548519066081 Centerline is valid? [True, True] Translation: X:320.66, Y:7.20, Z:-3.80 [[ 9.99237312e-01 3.49961275e-02 1.73223834e-02 3.20664364e+02] [-3.50013616e-02 9.99387265e-01 -1.01960043e-06 7.19971335e+00] [-1.73118051e-02 -6.05288184e-04 9.99849956e-01 -3.79791845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.71589822699997 meters 0.04673618309914238 Centerline is valid? [True, True] Translation: X:320.72, Y:7.19, Z:-3.80 [[ 9.99417126e-01 3.00823849e-02 1.61387084e-02 3.20724723e+02] [-3.00862881e-02 9.99547305e-01 -9.39314492e-07 7.18867556e+00] [-1.61314307e-02 -4.84615062e-04 9.99869763e-01 -3.80150465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.77589822699997 meters 0.04452302269449831 Centerline is valid? [True, True] Translation: X:320.79, Y:7.18, Z:-3.80 [[ 9.99476887e-01 2.81178964e-02 1.59792295e-02 3.20786367e+02] [-2.81214722e-02 9.99604513e-01 -9.21161252e-07 7.18169065e+00] [-1.59729358e-02 -4.48438779e-04 9.99872324e-01 -3.80295751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.835898227 meters 0.045640843331575295 Centerline is valid? [True, True] Translation: X:320.85, Y:7.18, Z:-3.80 [[ 9.99458746e-01 2.85846443e-02 1.62829342e-02 3.20848165e+02] [-2.85884125e-02 9.99591268e-01 -1.34521583e-06 7.18279128e+00] [-1.62763173e-02 -4.64158752e-04 9.99867424e-01 -3.80374430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.895898227 meters 0.03580940072719626 Centerline is valid? [True, True] Translation: X:320.91, Y:7.17, Z:-3.81 [[ 9.99430491e-01 3.08301265e-02 1.37184904e-02 3.20910400e+02] [-3.08329860e-02 9.99524550e-01 -3.06729240e-06 7.17348253e+00] [-1.37120625e-02 -4.19916475e-04 9.99905897e-01 -3.80894141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.955898227 meters 0.03674404436931432 Centerline is valid? [True, True] Translation: X:320.97, Y:7.18, Z:-3.81 [[ 9.99386966e-01 3.15356735e-02 1.52050454e-02 3.20972620e+02] [-3.15392594e-02 9.99502514e-01 -3.96012169e-06 7.17806056e+00] [-1.51976060e-02 -4.75598176e-04 9.99884397e-01 -3.80807178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.015898227 meters 0.033381252765948145 Centerline is valid? [True, True] Translation: X:321.03, Y:7.18, Z:-3.81 [[ 9.99435650e-01 2.93558193e-02 1.63284483e-02 3.21034564e+02] [-2.93596159e-02 9.99568914e-01 -7.20239715e-06 7.17918501e+00] [-1.63216208e-02 -4.72198639e-04 9.99866682e-01 -3.80832570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.075898227 meters 0.0291070596049102 Centerline is valid? [True, True] Translation: X:321.09, Y:7.18, Z:-3.81 [[ 9.99546785e-01 2.48370708e-02 1.70101384e-02 3.21094919e+02] [-2.48405265e-02 9.99691426e-01 -8.13396649e-06 7.17671639e+00] [-1.70050915e-02 -4.14410514e-04 9.99855317e-01 -3.80863875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.135898227 meters 0.021035749873614416 Centerline is valid? [True, True] Translation: X:321.16, Y:7.17, Z:-3.81 [[ 9.99668179e-01 1.74392707e-02 1.89579570e-02 3.21155734e+02] [-1.74422331e-02 9.99847873e-01 -9.08575620e-06 7.16777086e+00] [-1.89552314e-02 -3.21586364e-04 9.99820282e-01 -3.80519747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.195898227 meters 0.020895918361274492 Centerline is valid? [True, True] Translation: X:321.22, Y:7.17, Z:-3.80 [[ 9.99667881e-01 1.53230734e-02 2.07203040e-02 3.21217201e+02] [-1.53261423e-02 9.99882548e-01 -1.06849102e-05 7.16719925e+00] [-2.07180340e-02 -3.06880966e-04 9.99785311e-01 -3.80181259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.255898227 meters 0.021092202752320214 Centerline is valid? [True, True] Translation: X:321.28, Y:7.17, Z:-3.81 [[ 9.99676722e-01 1.61661552e-02 1.96241256e-02 3.21280406e+02] [-1.61690130e-02 9.99869273e-01 -1.30417173e-05 7.16990800e+00] [-1.96217710e-02 -3.04265239e-04 9.99807428e-01 -3.80512398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.315898227 meters 0.016183232929062787 Centerline is valid? [True, True] Translation: X:321.34, Y:7.16, Z:-3.81 [[ 9.99759785e-01 1.21911457e-02 1.82139476e-02 3.21342529e+02] [-1.21928923e-02 9.99925664e-01 -1.51553103e-05 7.16475172e+00] [-1.82127784e-02 -2.06929032e-04 9.99834112e-01 -3.80989183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.375898227 meters 0.019775870600221353 Centerline is valid? [True, True] Translation: X:321.40, Y:7.14, Z:-3.81 [[ 9.99821132e-01 -2.24667731e-03 1.87791352e-02 3.21404370e+02] [ 2.24742672e-03 9.99997474e-01 -1.88021073e-05 7.14237561e+00] [-1.87790455e-02 6.10034744e-05 9.99823656e-01 -3.81125017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.43589822699994 meters 0.02419145024249598 Centerline is valid? [True, True] Translation: X:321.46, Y:7.11, Z:-3.81 [[ 9.99651801e-01 -1.84574729e-02 1.88573272e-02 3.21464463e+02] [ 1.84611654e-02 9.99829578e-01 -2.17372317e-05 7.11148184e+00] [-1.88537123e-02 3.69857899e-04 9.99822185e-01 -3.81236614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.49589822699994 meters 0.030467498328379687 Centerline is valid? [True, True] Translation: X:321.52, Y:7.10, Z:-3.81 [[ 9.99516508e-01 -2.41666134e-02 1.95633536e-02 3.21524994e+02] [ 2.41716818e-02 9.99707822e-01 -2.26189368e-05 7.09649555e+00] [-1.95570910e-02 4.95487158e-04 9.99808619e-01 -3.81263403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.55589822699994 meters 0.027824257342520326 Centerline is valid? [True, True] Translation: X:321.59, Y:7.09, Z:-3.82 [[ 9.99618647e-01 -2.19034884e-02 1.68165845e-02 3.21586672e+02] [ 2.19069157e-02 9.99760015e-01 -1.95981795e-05 7.09070439e+00] [-1.68121195e-02 3.87990205e-04 9.99858591e-01 -3.81871702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.61589822699995 meters 0.021841092488666867 Centerline is valid? [True, True] Translation: X:321.65, Y:7.10, Z:-3.82 [[ 9.99764645e-01 -1.58616497e-02 1.48007513e-02 3.21647182e+02] [ 1.58636517e-02 9.99874164e-01 -1.78630053e-05 7.09529409e+00] [-1.47986055e-02 2.52652764e-04 9.99890463e-01 -3.82289421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.67589822699995 meters 0.013396356507054454 Centerline is valid? [True, True] Translation: X:321.71, Y:7.10, Z:-3.82 [[ 9.99866381e-01 -6.18501709e-03 1.51315806e-02 3.21707190e+02] [ 6.18600165e-03 9.99980866e-01 -1.82622827e-05 7.10383309e+00] [-1.51311781e-02 1.11863825e-04 9.99885511e-01 -3.82322598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.73589822699995 meters 0.011087496502556339 Centerline is valid? [True, True] Translation: X:321.77, Y:7.11, Z:-3.82 [[ 9.99861335e-01 -2.41524005e-03 1.64765520e-02 3.21769003e+02] [ 2.41589507e-03 9.99997082e-01 -1.98503456e-05 7.10725557e+00] [-1.64764560e-02 5.96532139e-05 9.99864252e-01 -3.82232952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.79589822699995 meters 0.01057470021760624 Centerline is valid? [True, True] Translation: X:321.83, Y:7.11, Z:-3.82 [[ 9.99858735e-01 -1.53972957e-03 1.67373837e-02 3.21830744e+02] [ 1.54029601e-03 9.99998814e-01 -2.09520015e-05 7.11151934e+00] [-1.67373315e-02 4.67295670e-05 9.99859920e-01 -3.82310911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.85589822699995 meters 0.01838049936424131 Centerline is valid? [True, True] Translation: X:321.89, Y:7.10, Z:-3.83 [[ 9.99817159e-01 -1.08010086e-02 1.57793131e-02 3.21891799e+02] [ 1.08026753e-02 9.99941649e-01 -2.03980015e-05 7.10184208e+00] [-1.57781720e-02 1.90853068e-04 9.99875499e-01 -3.82633846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.91589822699996 meters 0.026068181430828407 Centerline is valid? [True, True] Translation: X:321.95, Y:7.09, Z:-3.83 [[ 9.99662628e-01 -2.04681765e-02 1.59901343e-02 3.21952880e+02] [ 2.04711454e-02 9.99790444e-01 -2.19993895e-05 7.09132890e+00] [-1.59863332e-02 3.49328331e-04 9.99872149e-01 -3.82614710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.97589822699996 meters 0.039427968704559294 Centerline is valid? [True, True] Translation: X:322.01, Y:7.07, Z:-3.82 [[ 9.99283156e-01 -3.38935367e-02 1.68642566e-02 3.22013339e+02] [ 3.38987531e-02 9.99425272e-01 -2.34730331e-05 7.07280126e+00] [-1.68537686e-02 5.95133477e-04 9.99857788e-01 -3.82492374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.03589822699996 meters 0.046919932351401274 Centerline is valid? [True, True] Translation: X:322.07, Y:7.06, Z:-3.83 [[ 9.99088313e-01 -3.93095252e-02 1.66524708e-02 3.22072488e+02] [ 3.93153632e-02 9.99226852e-01 -2.32272834e-05 7.06183467e+00] [-1.66386829e-02 6.77904045e-04 9.99861338e-01 -3.82682824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.09589822699996 meters 0.04064858343833523 Centerline is valid? [True, True] Translation: X:322.13, Y:7.07, Z:-3.83 [[ 9.99229892e-01 -3.60009209e-02 1.56062876e-02 3.22132821e+02] [ 3.60056429e-02 9.99351586e-01 -2.16106055e-05 7.06878535e+00] [-1.55953903e-02 5.83508382e-04 9.99878214e-01 -3.82873321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.15589822699997 meters 0.03786738211942494 Centerline is valid? [True, True] Translation: X:322.19, Y:7.07, Z:-3.83 [[ 9.99356724e-01 -3.26969389e-02 1.47325422e-02 3.22193614e+02] [ 3.27007879e-02 9.99465186e-01 -2.03710007e-05 7.07336468e+00] [-1.47239969e-02 5.02123633e-04 9.99891470e-01 -3.83070492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.21589822699997 meters 0.03776093100102773 Centerline is valid? [True, True] Translation: X:322.25, Y:7.08, Z:-3.83 [[ 9.99394393e-01 -3.17655383e-02 1.42055528e-02 3.22252691e+02] [ 3.17690261e-02 9.99495237e-01 -1.98751017e-05 7.07572639e+00] [-1.41977510e-02 4.71159642e-04 9.99899096e-01 -3.83312629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.27589822699997 meters 0.040676156365159005 Centerline is valid? [True, True] Translation: X:322.31, Y:7.07, Z:-3.83 [[ 9.99383163e-01 -3.10045230e-02 1.64928381e-02 3.22313539e+02] [ 3.10091170e-02 9.99519101e-01 -2.28225424e-05 7.07491770e+00] [-1.64841991e-02 5.34236811e-04 9.99863984e-01 -3.83057652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.335898227 meters 0.037037116834270696 Centerline is valid? [True, True] Translation: X:322.37, Y:7.08, Z:-3.83 [[ 9.99426537e-01 -2.99665094e-02 1.57672430e-02 3.22374919e+02] [ 2.99705844e-02 9.99550781e-01 -2.21675742e-05 7.08398812e+00] [-1.57594958e-02 4.94708350e-04 9.99875689e-01 -3.83275488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.395898227 meters 0.03928028384747679 Centerline is valid? [True, True] Translation: X:322.44, Y:7.09, Z:-3.83 [[ 9.99360427e-01 -3.21190824e-02 1.57194312e-02 3.22436528e+02] [ 3.21234044e-02 9.99483910e-01 -2.24620434e-05 7.08568706e+00] [-1.57105971e-02 5.27409324e-04 9.99876442e-01 -3.83498230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.455898227 meters 0.042492098318811705 Centerline is valid? [True, True] Translation: X:322.50, Y:7.09, Z:-3.84 [[ 9.99250401e-01 -3.54325428e-02 1.55939464e-02 3.22498007e+02] [ 3.54372045e-02 9.99371905e-01 -2.26385998e-05 7.08503867e+00] [-1.55833498e-02 5.75227497e-04 9.99878407e-01 -3.83541836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.515898227 meters 0.04503755047900254 Centerline is valid? [True, True] Translation: X:322.56, Y:7.09, Z:-3.84 [[ 9.99021221e-01 -4.16169236e-02 1.49877297e-02 3.22558682e+02] [ 4.16219302e-02 9.99133432e-01 -2.21370936e-05 7.09012701e+00] [-1.49738205e-02 6.45933665e-04 9.99887677e-01 -3.83686098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.575898227 meters 0.05429226151957136 Centerline is valid? [True, True] Translation: X:322.62, Y:7.09, Z:-3.84 [[ 9.98759111e-01 -4.69719616e-02 1.65491137e-02 3.22618094e+02] [ 4.69788000e-02 9.98895886e-01 -2.44880609e-05 7.08784309e+00] [-1.65296913e-02 8.01915175e-04 9.99863054e-01 -3.83575046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.635898227 meters 0.057495472717253145 Centerline is valid? [True, True] Translation: X:322.68, Y:7.09, Z:-3.84 [[ 9.98616650e-01 -5.09462399e-02 1.30102333e-02 3.22678859e+02] [ 5.09508003e-02 9.98701164e-01 -1.90978220e-05 7.09264059e+00] [-1.29923622e-02 6.81953202e-04 9.99915363e-01 -3.84199542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.695898227 meters 0.05515844307952702 Centerline is valid? [True, True] Translation: X:322.74, Y:7.10, Z:-3.84 [[ 9.98511317e-01 -5.24552336e-02 1.49532194e-02 3.22738661e+02] [ 5.24614276e-02 9.98622951e-01 -2.20028436e-05 7.09925783e+00] [-1.49314739e-02 8.06437327e-04 9.99888194e-01 -3.83938439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.755898227 meters 0.05723063976849801 Centerline is valid? [True, True] Translation: X:322.80, Y:7.10, Z:-3.83 [[ 9.98538099e-01 -5.04653137e-02 1.93627979e-02 3.22797336e+02] [ 5.04753162e-02 9.98725308e-01 -2.79021092e-05 7.10307545e+00] [-1.93367082e-02 1.00520466e-03 9.99812523e-01 -3.83315020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.815898227 meters 0.05530314048396102 Centerline is valid? [True, True] Translation: X:322.86, Y:7.11, Z:-3.84 [[ 9.98735549e-01 -4.69584300e-02 1.79501564e-02 3.22856327e+02] [ 4.69664535e-02 9.98896467e-01 -2.54558154e-05 7.11409010e+00] [-1.79291525e-02 8.68478816e-04 9.99838883e-01 -3.83804753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.875898227 meters 0.0527189368654843 Centerline is valid? [True, True] Translation: X:322.92, Y:7.12, Z:-3.84 [[ 9.98840877e-01 -4.52801093e-02 1.63283232e-02 3.22916805e+02] [ 4.52865216e-02 9.98974039e-01 -2.29842290e-05 7.12138773e+00] [-1.63105303e-02 7.62410551e-04 9.99866684e-01 -3.84130324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.93589822699994 meters 0.04965796588825433 Centerline is valid? [True, True] Translation: X:322.98, Y:7.13, Z:-3.84 [[ 9.98918432e-01 -4.39122181e-02 1.52867154e-02 3.22977278e+02] [ 4.39176784e-02 9.99035153e-01 -2.15180312e-05 7.13112953e+00] [-1.52710212e-02 6.92851811e-04 9.99883151e-01 -3.84345668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.99589822699994 meters 0.050656412619892746 Centerline is valid? [True, True] Translation: X:323.04, Y:7.13, Z:-3.84 [[ 9.98885698e-01 -4.41480539e-02 1.66826500e-02 3.23038861e+02] [ 4.41545898e-02 9.99024710e-01 -2.34702123e-05 7.13368173e+00] [-1.66653435e-02 7.60059629e-04 9.99860835e-01 -3.84349963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.05589822699994 meters 0.059715568200015945 Centerline is valid? [True, True] Translation: X:323.10, Y:7.13, Z:-3.85 [[ 9.98759600e-01 -4.73323071e-02 1.54568390e-02 3.23098309e+02] [ 4.73383032e-02 9.98878914e-01 -2.20764800e-05 7.12722681e+00] [-1.54384657e-02 7.53749629e-04 9.99880536e-01 -3.84671672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.11589822699995 meters 0.05836811899011928 Centerline is valid? [True, True] Translation: X:323.16, Y:7.14, Z:-3.85 [[ 9.98553016e-01 -5.21282273e-02 1.32106683e-02 3.23158321e+02] [ 5.21330302e-02 9.98640149e-01 -1.92191067e-05 7.13519716e+00] [-1.31917019e-02 7.07903465e-04 9.99912735e-01 -3.84955626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.17589822699995 meters 0.05937146717318168 Centerline is valid? [True, True] Translation: X:323.22, Y:7.14, Z:-3.85 [[ 9.98482591e-01 -5.32175013e-02 1.41567322e-02 3.23218699e+02] [ 5.32231235e-02 9.98582645e-01 -2.04175350e-05 7.13998873e+00] [-1.41355806e-02 7.73852062e-04 9.99899788e-01 -3.84890586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.23589822699995 meters 0.060954223436982355 Centerline is valid? [True, True] Translation: X:323.28, Y:7.15, Z:-3.85 [[ 9.98321825e-01 -5.57740116e-02 1.55818494e-02 3.23279179e+02] [ 5.57811336e-02 9.98443020e-01 -2.24920138e-05 7.14916788e+00] [-1.55563343e-02 8.91627491e-04 9.99878595e-01 -3.84706915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.29589822699995 meters 0.06691090416327597 Centerline is valid? [True, True] Translation: X:323.34, Y:7.15, Z:-3.85 [[ 9.98113105e-01 -5.97415460e-02 1.41837101e-02 3.23338506e+02] [ 5.97478440e-02 9.98213502e-01 -2.03235825e-05 7.14855994e+00] [-1.41571568e-02 8.67731335e-04 9.99899406e-01 -3.85080266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.35589822699995 meters 0.07957071993293358 Centerline is valid? [True, True] Translation: X:323.40, Y:7.14, Z:-3.85 [[ 9.97454998e-01 -6.99665920e-02 1.37187223e-02 3.23397451e+02] [ 6.99734435e-02 9.97548854e-01 -1.94823285e-05 7.13900387e+00] [-1.36837326e-02 9.79378987e-04 9.99905894e-01 -3.85272719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.41589822699996 meters 0.08791056843650984 Centerline is valid? [True, True] Translation: X:323.46, Y:7.13, Z:-3.85 [[ 9.96959631e-01 -7.67611880e-02 1.33870689e-02 3.23456395e+02] [ 7.67683198e-02 9.97048958e-01 -1.89174084e-05 7.13362571e+00] [-1.33461110e-02 1.04656268e-03 9.99910389e-01 -3.85329669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.47589822699996 meters 0.07999616662373629 Centerline is valid? [True, True] Translation: X:323.52, Y:7.15, Z:-3.85 [[ 9.96797710e-01 -7.87703232e-02 1.37681027e-02 3.23516299e+02] [ 7.87780656e-02 9.96892179e-01 -2.00733834e-05 7.14841867e+00] [-1.37237327e-02 1.10463360e-03 9.99905215e-01 -3.85263828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.53589822699996 meters 0.08646478025825226 Centerline is valid? [True, True] Translation: X:323.58, Y:7.14, Z:-3.86 [[ 9.97134440e-01 -7.43909694e-02 1.37437947e-02 3.23575762e+02] [ 7.43982682e-02 9.97228608e-01 -1.98371582e-05 7.14361941e+00] [-1.37042296e-02 1.04229484e-03 9.99905549e-01 -3.85516540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.59589822699996 meters 0.09050585524419053 Centerline is valid? [True, True] Translation: X:323.63, Y:7.14, Z:-3.86 [[ 9.97136793e-01 -7.42809280e-02 1.41618928e-02 3.23634085e+02] [ 7.42886698e-02 9.97236779e-01 -2.06627342e-05 7.13866478e+00] [-1.41212255e-02 1.07267175e-03 9.99899715e-01 -3.85567306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.65589822699997 meters 0.08041150409633814 Centerline is valid? [True, True] Translation: X:323.69, Y:7.15, Z:-3.86 [[ 9.97085836e-01 -7.52543439e-02 1.25147853e-02 3.23693965e+02] [ 7.52604383e-02 9.97163911e-01 -1.60705468e-05 7.14832545e+00] [-1.24780829e-02 9.57891939e-04 9.99921687e-01 -3.85736924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.71589822699997 meters 0.0850941198738691 Centerline is valid? [True, True] Translation: X:323.75, Y:7.14, Z:-3.86 [[ 9.97273481e-01 -7.27738265e-02 1.22300439e-02 3.23753162e+02] [ 7.27794573e-02 9.97348059e-01 -1.53875363e-05 7.14156402e+00] [-1.21964907e-02 9.05441538e-04 9.99925210e-01 -3.85822789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.77589822699997 meters 0.07419391403927979 Centerline is valid? [True, True] Translation: X:323.81, Y:7.16, Z:-3.86 [[ 9.97729147e-01 -6.62095282e-02 1.23631525e-02 3.23814087e+02] [ 6.62147780e-02 9.97805393e-01 -1.53396176e-05 7.15976595e+00] [-1.23350046e-02 8.33928182e-04 9.99923573e-01 -3.85779359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.835898227 meters 0.06668222348102179 Centerline is valid? [True, True] Translation: X:323.87, Y:7.17, Z:-3.86 [[ 9.97972597e-01 -6.22576287e-02 1.32168122e-02 3.23873996e+02] [ 6.22632837e-02 9.98059759e-01 -1.64165004e-05 7.17392087e+00] [-1.31901463e-02 8.39305345e-04 9.99912654e-01 -3.85670491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.895898227 meters 0.06313921469717095 Centerline is valid? [True, True] Translation: X:323.93, Y:7.19, Z:-3.86 [[ 9.98060657e-01 -6.10453372e-02 1.21816035e-02 3.23934916e+02] [ 6.10500465e-02 9.98134706e-01 -1.47669871e-05 7.18603672e+00] [-1.21579798e-02 7.58425810e-04 9.99925801e-01 -3.85860709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.955898227 meters 0.07729407470486373 Centerline is valid? [True, True] Translation: X:323.99, Y:7.17, Z:-3.86 [[ 9.97831675e-01 -6.47575856e-02 1.17644855e-02 3.23994553e+02] [ 6.47622378e-02 9.97900723e-01 -1.45140945e-05 7.17370203e+00] [-1.17388487e-02 7.76377029e-04 9.99930796e-01 -3.86137445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.015898227 meters 0.07329405577605518 Centerline is valid? [True, True] Translation: X:324.05, Y:7.18, Z:-3.86 [[ 9.97734718e-01 -6.60428941e-02 1.27972379e-02 3.24053675e+02] [ 6.60485036e-02 9.97816413e-01 -1.57352398e-05 7.18348235e+00] [-1.27682548e-02 8.60938008e-04 9.99918112e-01 -3.86020338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.075898227 meters 0.06894653538016689 Centerline is valid? [True, True] Translation: X:324.11, Y:7.19, Z:-3.86 [[ 9.97718560e-01 -6.61841147e-02 1.33168515e-02 3.24114497e+02] [ 6.61901936e-02 9.97807024e-01 -1.57734859e-05 7.19140175e+00] [-1.32866040e-02 8.97182477e-04 9.99911327e-01 -3.85969999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.135898227 meters 0.07480693351089993 Centerline is valid? [True, True] Translation: X:324.17, Y:7.19, Z:-3.86 [[ 9.97674222e-01 -6.69711343e-02 1.26891220e-02 3.24174071e+02] [ 6.69767175e-02 9.97754538e-01 -1.50821249e-05 7.19143610e+00] [-1.26596190e-02 8.64922788e-04 9.99919490e-01 -3.86153476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.195898227 meters 0.08690275222719344 Centerline is valid? [True, True] Translation: X:324.23, Y:7.18, Z:-3.87 [[ 9.97516261e-01 -6.96096453e-02 1.07613566e-02 3.24233504e+02] [ 6.96138126e-02 9.97574016e-01 -1.26973887e-05 7.18077992e+00] [-1.07343659e-02 7.61804916e-04 9.99942095e-01 -3.86712190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.255898227 meters 0.07451832387643675 Centerline is valid? [True, True] Translation: X:324.29, Y:7.20, Z:-3.86 [[ 9.97254829e-01 -7.28048631e-02 1.35003189e-02 3.24293893e+02] [ 7.28117097e-02 9.97345705e-01 -1.56794302e-05 7.19963318e+00] [-1.34633435e-02 9.98617687e-04 9.99908866e-01 -3.86222146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.315898227 meters 0.07970523129461035 Centerline is valid? [True, True] Translation: X:324.35, Y:7.20, Z:-3.86 [[ 9.97189263e-01 -7.36519698e-02 1.37462866e-02 3.24353893e+02] [ 7.36591485e-02 9.97283475e-01 -1.59725104e-05 7.19956308e+00] [-1.37077680e-02 1.02846738e-03 9.99905515e-01 -3.86221174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.375898227 meters 0.07802713709630854 Centerline is valid? [True, True] Translation: X:324.41, Y:7.21, Z:-3.86 [[ 9.97368821e-01 -7.12705633e-02 1.32643024e-02 3.24414775e+02] [ 7.12770379e-02 9.97456557e-01 -1.54210515e-05 7.20884714e+00] [-1.32294664e-02 9.60820662e-04 9.99912025e-01 -3.86424766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.43589822699994 meters 0.0731398845478999 Centerline is valid? [True, True] Translation: X:324.48, Y:7.23, Z:-3.86 [[ 9.97607902e-01 -6.76546736e-02 1.41887077e-02 3.24475401e+02] [ 6.76617177e-02 9.97708320e-01 -1.64592445e-05 7.22845740e+00] [-1.41550782e-02 9.76452206e-04 9.99899335e-01 -3.86398487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.49589822699994 meters 0.08067617943883382 Centerline is valid? [True, True] Translation: X:324.53, Y:7.23, Z:-3.87 [[ 9.97331369e-01 -7.21450658e-02 1.11906114e-02 3.24534460e+02] [ 7.21497275e-02 9.97393812e-01 -1.28954561e-05 7.23036276e+00] [-1.11605162e-02 8.20260604e-04 9.99937383e-01 -3.87085931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.55589822699994 meters 0.08790203671989778 Centerline is valid? [True, True] Translation: X:324.59, Y:7.23, Z:-3.87 [[ 9.96946357e-01 -7.73261518e-02 1.08915983e-02 3.24593456e+02] [ 7.73308758e-02 9.97005484e-01 -1.26244391e-05 7.22691053e+00] [-1.08580071e-02 8.54842727e-04 9.99940685e-01 -3.87335656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.61589822699995 meters 0.08701038357534155 Centerline is valid? [True, True] Translation: X:324.65, Y:7.24, Z:-3.87 [[ 9.96642057e-01 -8.08568158e-02 1.29145546e-02 3.24654294e+02] [ 8.08637573e-02 9.96725164e-01 -1.53603334e-05 7.23894054e+00] [-1.28710196e-02 1.05962816e-03 9.99916604e-01 -3.86924142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.67589822699995 meters 0.08768823573034365 Centerline is valid? [True, True] Translation: X:324.71, Y:7.25, Z:-3.87 [[ 9.96744594e-01 -7.96429112e-02 1.25387549e-02 3.24714702e+02] [ 7.96493594e-02 9.96822943e-01 -1.49425655e-05 7.24646709e+00] [-1.24977285e-02 1.01359772e-03 9.99921387e-01 -3.87114003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.73589822699995 meters 0.08703183995716585 Centerline is valid? [True, True] Translation: X:324.78, Y:7.26, Z:-3.87 [[ 9.96740881e-01 -7.97845485e-02 1.19181235e-02 3.24776721e+02] [ 7.97903815e-02 9.96811665e-01 -1.39686612e-05 7.25929175e+00] [-1.18790101e-02 9.64874759e-04 9.99928977e-01 -3.87379792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.79589822699995 meters 0.0876312503785528 Centerline is valid? [True, True] Translation: X:324.84, Y:7.26, Z:-3.87 [[ 9.96410471e-01 -8.35927439e-02 1.33576679e-02 3.24837206e+02] [ 8.36004222e-02 9.96499357e-01 -1.65046594e-05 7.26341804e+00] [-1.33095278e-02 1.13315209e-03 9.99910782e-01 -3.87389788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.85589822699995 meters 0.10392564804021645 Centerline is valid? [True, False] Translation: X:324.84, Y:7.27, Z:-3.87 [[ 9.96901073e-01 -7.72458501e-02 1.48771228e-02 3.24837502e+02] [ 7.74377959e-02 9.96915157e-01 -1.27889701e-02 7.26541095e+00] [-1.38433343e-02 1.39013896e-02 9.99807538e-01 -3.87496512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.91589822699996 meters 0.10893792955312646 Centerline is valid? [False, False] Translation: X:324.84, Y:7.26, Z:-3.88 [[ 9.97538296e-01 -6.84369068e-02 1.52884678e-02 3.24838194e+02] [ 6.87706863e-02 9.97378921e-01 -2.24917893e-02 7.26217173e+00] [-1.37091270e-02 2.34878196e-02 9.99630123e-01 -3.87608352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.97589822699996 meters 0.11825235415801331 Centerline is valid? [False, False] Translation: X:324.84, Y:7.26, Z:-3.87 [[ 9.98514296e-01 -5.29905277e-02 1.26966344e-02 3.24837623e+02] [ 5.32966536e-02 9.98262578e-01 -2.51255437e-02 7.25725548e+00] [-1.13431591e-02 2.57649027e-02 9.99603673e-01 -3.87471852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.03589822699996 meters 0.09879822018697373 Centerline is valid? [False, True] Translation: X:324.84, Y:7.25, Z:-3.88 [[ 9.99328318e-01 -3.49718838e-02 1.09490101e-02 3.24840706e+02] [ 3.52430605e-02 9.99049802e-01 -2.56401967e-02 7.25136161e+00] [-1.00419204e-02 2.60088513e-02 9.99611274e-01 -3.87661221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.09589822699996 meters 0.10069969208789345 Centerline is valid? [True, False] Translation: X:324.84, Y:7.24, Z:-3.88 [[ 9.99714695e-01 -2.13372656e-02 1.07354454e-02 3.24841260e+02] [ 2.14430917e-02 9.99721635e-01 -9.84102979e-03 7.23977179e+00] [-1.05224764e-02 1.00684232e-02 9.99893947e-01 -3.87915255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.15589822699997 meters 0.09907784329727566 Centerline is valid? [False, True] Translation: X:324.84, Y:7.23, Z:-3.88 [[ 9.99803752e-01 -1.65343383e-02 1.09121062e-02 3.24840651e+02] [ 1.65800214e-02 9.99854097e-01 -4.10935139e-03 7.23361093e+00] [-1.08425686e-02 4.28946789e-03 9.99932017e-01 -3.87945940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.21589822699997 meters 0.09235691938703844 Centerline is valid? [True, True] Translation: X:324.90, Y:7.24, Z:-3.88 [[ 9.99844190e-01 -1.23554488e-02 1.26071207e-02 3.24901893e+02] [ 1.23681598e-02 9.99923078e-01 -9.30766244e-04 7.23541356e+00] [-1.25946509e-02 1.08654810e-03 9.99920094e-01 -3.87712157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.27589822699997 meters 0.08341716718456926 Centerline is valid? [True, True] Translation: X:324.96, Y:7.25, Z:-3.88 [[ 9.99913487e-01 2.32915092e-03 1.29457906e-02 3.24962751e+02] [-2.31696863e-03 9.99996859e-01 -9.55941974e-04 7.25079861e+00] [-1.29479764e-02 9.25864282e-04 9.99915743e-01 -3.87681580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.335898227 meters 0.0692297231115048 Centerline is valid? [True, True] Translation: X:325.02, Y:7.28, Z:-3.88 [[ 9.99759021e-01 1.72344387e-02 1.35968151e-02 3.25024715e+02] [-1.72223727e-02 9.99851180e-01 -1.00401066e-03 7.27573370e+00] [-1.36120952e-02 7.69599299e-04 9.99907055e-01 -3.87722066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.395898227 meters 0.054932440601184 Centerline is valid? [True, True] Translation: X:325.09, Y:7.30, Z:-3.88 [[ 9.99619123e-01 2.37787434e-02 1.40064571e-02 3.25087267e+02] [-2.37665798e-02 9.99717000e-01 -1.03426341e-03 7.29576210e+00] [-1.40270867e-02 7.00983909e-04 9.99901370e-01 -3.87687033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.455898227 meters 0.04923248734457212 Centerline is valid? [True, True] Translation: X:325.15, Y:7.31, Z:-3.88 [[ 9.99451301e-01 3.02666431e-02 1.34546397e-02 3.25149447e+02] [-3.02560052e-02 9.99541688e-01 -9.93544432e-04 7.30833060e+00] [-1.34785445e-02 5.85915627e-04 9.99908989e-01 -3.87834942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.515898227 meters 0.0497562986916259 Centerline is valid? [True, True] Translation: X:325.21, Y:7.31, Z:-3.88 [[ 9.99298856e-01 3.42575290e-02 1.51068938e-02 3.25209050e+02] [-3.42445700e-02 9.99412860e-01 -1.11574603e-03 7.31044345e+00] [-1.51362467e-02 5.97634647e-04 9.99885262e-01 -3.87715698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.575898227 meters 0.04364040381036135 Centerline is valid? [True, True] Translation: X:325.27, Y:7.32, Z:-3.88 [[ 9.99070182e-01 4.05436179e-02 1.46624236e-02 3.25269591e+02] [-4.05320880e-02 9.99177651e-01 -1.08278975e-03 7.32422931e+00] [-1.46942662e-02 4.87484308e-04 9.99891915e-01 -3.87960651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.635898227 meters 0.03576157914316022 Centerline is valid? [True, True] Translation: X:325.33, Y:7.34, Z:-3.88 [[ 9.98948572e-01 4.34018186e-02 1.47659062e-02 3.25331098e+02] [-4.33904395e-02 9.99057596e-01 -1.09027671e-03 7.33972312e+00] [-1.47993108e-02 4.48431202e-04 9.99890384e-01 -3.88027459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.695898227 meters 0.0384666668368815 Centerline is valid? [True, True] Translation: X:325.39, Y:7.34, Z:-3.88 [[ 9.99035707e-01 4.09190987e-02 1.59148964e-02 3.25390262e+02] [-4.09055709e-02 9.99162326e-01 -1.17473836e-03 7.33621058e+00] [-1.59496342e-02 5.22597642e-04 9.99872660e-01 -3.87955359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.755898227 meters 0.037489722813498064 Centerline is valid? [True, True] Translation: X:325.45, Y:7.33, Z:-3.88 [[ 9.99174444e-01 3.74564629e-02 1.57303457e-02 3.25450939e+02] [-3.74428269e-02 9.99298098e-01 -1.16058403e-03 7.33493662e+00] [-1.57627759e-02 5.70637294e-04 9.99875597e-01 -3.88172435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.815898227 meters 0.03674223616995376 Centerline is valid? [True, True] Translation: X:325.51, Y:7.33, Z:-3.88 [[ 9.99149384e-01 3.84551167e-02 1.48900099e-02 3.25510277e+02] [-3.84430091e-02 9.99260190e-01 -1.09861372e-03 7.33242425e+00] [-1.49212415e-02 5.25262434e-04 9.99888534e-01 -3.88364121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.875898227 meters 0.03682554365939116 Centerline is valid? [True, True] Translation: X:325.57, Y:7.33, Z:-3.89 [[ 9.99176864e-01 3.84830810e-02 1.28314805e-02 3.25569581e+02] [-3.84740954e-02 9.99259150e-01 -9.46484502e-04 7.32735667e+00] [-1.28583980e-02 4.52025810e-04 9.99917225e-01 -3.88919847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.93589822699994 meters 0.03923212729513974 Centerline is valid? [True, True] Translation: X:325.63, Y:7.32, Z:-3.89 [[ 9.99238088e-01 3.71580240e-02 1.19384059e-02 3.25627939e+02] [-3.71501544e-02 9.99309307e-01 -8.80356244e-04 7.31821833e+00] [-1.19628724e-02 4.36171869e-04 9.99928347e-01 -3.89253955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.99589822699994 meters 0.052826496971479855 Centerline is valid? [True, True] Translation: X:325.69, Y:7.29, Z:-3.89 [[ 9.99433637e-01 3.11982057e-02 1.26125900e-02 3.25685008e+02] [-3.11889543e-02 9.99513074e-01 -9.29580471e-04 7.28908656e+00] [-1.26354499e-02 5.35680497e-04 9.99920026e-01 -3.89321009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.05589822699994 meters 0.05059193102677686 Centerline is valid? [True, True] Translation: X:325.75, Y:7.28, Z:-3.89 [[ 9.99478168e-01 2.88581032e-02 1.45121037e-02 3.25745133e+02] [-2.88456023e-02 9.99583306e-01 -1.07003606e-03 7.27826464e+00] [-1.45369359e-02 6.50867305e-04 9.99894121e-01 -3.89077776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.11589822699995 meters 0.049280720542178566 Centerline is valid? [True, True] Translation: X:325.81, Y:7.27, Z:-3.89 [[ 9.99452278e-01 2.98161825e-02 1.43575637e-02 3.25805612e+02] [-2.98040384e-02 9.99555200e-01 -1.05910223e-03 7.26908592e+00] [-1.43827558e-02 6.30608752e-04 9.99896364e-01 -3.89203080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.17589822699995 meters 0.04344882182498028 Centerline is valid? [True, True] Translation: X:325.87, Y:7.26, Z:-3.89 [[ 9.99366694e-01 3.18657645e-02 1.58361344e-02 3.25866617e+02] [-3.18512440e-02 9.99491938e-01 -1.16836198e-03 7.26372514e+00] [-1.58653194e-02 6.63221467e-04 9.99873918e-01 -3.89008812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.23589822699995 meters 0.04229491932111249 Centerline is valid? [True, True] Translation: X:325.93, Y:7.26, Z:-3.89 [[ 9.99293677e-01 3.41372786e-02 1.57096316e-02 3.25927143e+02] [-3.41232636e-02 9.99416959e-01 -1.15939256e-03 7.25708442e+00] [-1.57400508e-02 6.22509751e-04 9.99875924e-01 -3.89115647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.29589822699995 meters 0.04165251755338015 Centerline is valid? [True, True] Translation: X:325.99, Y:7.25, Z:-3.90 [[ 9.99316566e-01 3.45090976e-02 1.32484768e-02 3.25987818e+02] [-3.44991591e-02 9.99404248e-01 -9.78037709e-04 7.25113547e+00] [-1.32743352e-02 5.20307978e-04 9.99911757e-01 -3.89507927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.35589822699995 meters 0.05137547485123838 Centerline is valid? [True, True] Translation: X:326.05, Y:7.23, Z:-3.89 [[ 9.99470168e-01 2.80478119e-02 1.65137489e-02 3.26046784e+02] [-2.80314857e-02 9.99606297e-01 -1.21933048e-03 7.23122167e+00] [-1.65414469e-02 7.55779526e-04 9.99862895e-01 -3.89094444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.41589822699996 meters 0.05316626549491686 Centerline is valid? [True, True] Translation: X:326.11, Y:7.22, Z:-3.89 [[ 9.99583955e-01 2.25892856e-02 1.79343452e-02 3.26107584e+02] [-2.25691443e-02 9.99744407e-01 -1.32468336e-03 7.22212389e+00] [-1.79596850e-02 9.19369405e-04 9.99838289e-01 -3.89043819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.47589822699996 meters 0.06123774637722755 Centerline is valid? [True, True] Translation: X:326.17, Y:7.21, Z:-3.90 [[ 9.99698390e-01 1.86930511e-02 1.59279212e-02 3.26165644e+02] [-1.86766674e-02 9.99824883e-01 -1.17676056e-03 7.20527461e+00] [-1.59471292e-02 8.78925147e-04 9.99872450e-01 -3.89565728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.53589822699996 meters 0.0602320609022861 Centerline is valid? [True, True] Translation: X:326.23, Y:7.20, Z:-3.90 [[ 9.99788383e-01 1.58375528e-02 1.31286176e-02 3.26225620e+02] [-1.58261763e-02 9.99874288e-01 -9.69992365e-04 7.20197758e+00] [-1.31423295e-02 7.62011282e-04 9.99913346e-01 -3.90036704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.59589822699996 meters 0.06734037785308136 Centerline is valid? [True, True] Translation: X:326.29, Y:7.19, Z:-3.90 [[ 9.99895985e-01 8.42473268e-03 1.17065432e-02 3.26285198e+02] [-8.41518078e-03 9.99964218e-01 -8.64964629e-04 7.18527699e+00] [-1.17134114e-02 7.66361982e-04 9.99931102e-01 -3.90411285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.65589822699997 meters 0.0750560341569518 Centerline is valid? [True, True] Translation: X:326.34, Y:7.17, Z:-3.91 [[ 9.99945166e-01 2.63479029e-04 1.04688323e-02 3.26344618e+02] [-2.55394079e-04 9.99999668e-01 -7.73616994e-04 7.16550565e+00] [-1.04690326e-02 7.70900895e-04 9.99944901e-01 -3.90732606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.71589822699997 meters 0.08255097240285558 Centerline is valid? [True, True] Translation: X:326.40, Y:7.15, Z:-3.91 [[ 9.99953311e-01 -2.70535405e-03 9.27669715e-03 3.26402893e+02] [ 2.71182986e-03 9.99996088e-01 -6.85565194e-04 7.14687464e+00] [-9.27480616e-03 7.10690010e-04 9.99956736e-01 -3.91059364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.77589822699997 meters 0.07707987260451626 Centerline is valid? [True, True] Translation: X:326.46, Y:7.14, Z:-3.91 [[ 9.99962926e-01 -5.78776855e-04 8.59140368e-03 3.26463079e+02] [ 5.84252738e-04 9.99999628e-01 -6.34871524e-04 7.14311638e+00] [-8.59103304e-03 6.39867537e-04 9.99962892e-01 -3.91132497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.835898227 meters 0.07025577908995013 Centerline is valid? [True, True] Translation: X:326.52, Y:7.14, Z:-3.91 [[ 9.99937481e-01 5.06939356e-03 9.96672692e-03 3.26523862e+02] [-5.06230427e-03 9.99986915e-01 -7.36395067e-04 7.14194433e+00] [-9.97032959e-03 6.85894424e-04 9.99950060e-01 -3.90893306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.895898227 meters 0.07200558962713433 Centerline is valid? [True, True] Translation: X:326.58, Y:7.13, Z:-3.91 [[ 9.99898606e-01 8.19162018e-03 1.16479569e-02 3.26582468e+02] [-8.18214653e-03 9.99966155e-01 -8.60753952e-04 7.13226678e+00] [-1.16546137e-02 7.65361387e-04 9.99931790e-01 -3.90709353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.955898227 meters 0.0745483968352463 Centerline is valid? [True, True] Translation: X:326.64, Y:7.12, Z:-3.90 [[ 9.99867746e-01 7.33675383e-03 1.45142308e-02 3.26643351e+02] [-7.32195916e-03 9.99972619e-01 -1.07219841e-03 7.12150610e+00] [-1.45216999e-02 9.65784006e-04 9.99894088e-01 -3.90325881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.015898227 meters 0.08067857571709303 Centerline is valid? [True, True] Translation: X:326.70, Y:7.11, Z:-3.91 [[ 9.99901793e-01 2.63457031e-03 1.37645971e-02 3.26703200e+02] [-2.62080455e-03 9.99996047e-01 -1.01802696e-03 7.10711423e+00] [-1.37672247e-02 9.81852662e-04 9.99904745e-01 -3.90523757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.075898227 meters 0.08029532918793572 Centerline is valid? [True, True] Translation: X:326.76, Y:7.10, Z:-3.91 [[ 9.99895412e-01 -6.49479240e-03 1.29221750e-02 3.26763260e+02] [ 6.50768271e-03 9.99978368e-01 -9.55735948e-04 7.09969413e+00] [-1.29156881e-02 1.03972940e-03 9.99916048e-01 -3.90634167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.135898227 meters 0.09750153349992068 Centerline is valid? [True, True] Translation: X:326.82, Y:7.07, Z:-3.91 [[ 9.99845784e-01 -1.04516663e-02 1.41127935e-02 3.26820567e+02] [ 1.04674337e-02 9.99944670e-01 -1.04383868e-03 7.07031920e+00] [-1.41011028e-02 1.19140243e-03 9.99899865e-01 -3.90619421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.195898227 meters 0.08587868607563309 Centerline is valid? [True, True] Translation: X:326.88, Y:7.08, Z:-3.91 [[ 9.99834132e-01 -1.03007779e-02 1.50200468e-02 3.26883447e+02] [ 1.03186243e-02 9.99946144e-01 -1.11115534e-03 7.07585711e+00] [-1.50077921e-02 1.26595726e-03 9.99886575e-01 -3.90621428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.255898227 meters 0.08977163011411378 Centerline is valid? [True, True] Translation: X:326.94, Y:7.06, Z:-3.91 [[ 9.99909586e-01 -6.71911944e-03 1.16478653e-02 3.26942100e+02] [ 6.72961675e-03 9.99976984e-01 -8.62261056e-04 7.05856624e+00] [-1.16418036e-02 9.40568765e-04 9.99931790e-01 -3.91400848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.315898227 meters 0.08432927304628607 Centerline is valid? [True, True] Translation: X:327.00, Y:7.06, Z:-3.92 [[ 9.99958039e-01 -3.71085772e-03 8.37550064e-03 3.27002705e+02] [ 3.71617989e-03 9.99992903e-01 -6.19971113e-04 7.05761273e+00] [-8.37314057e-03 6.51069966e-04 9.99964733e-01 -3.91947511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.375898227 meters 0.07388593881412409 Centerline is valid? [True, True] Translation: X:327.06, Y:7.06, Z:-3.92 [[ 9.99971449e-01 3.83432378e-03 6.51153924e-03 3.27063641e+02] [-3.83126569e-03 9.99992544e-01 -4.82049375e-04 7.05810883e+00] [-6.51333903e-03 4.57088175e-04 9.99978684e-01 -3.92214387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.43589822699994 meters 0.06982655908096835 Centerline is valid? [True, True] Translation: X:327.12, Y:7.05, Z:-3.92 [[ 9.99936066e-01 9.46102494e-03 6.19291027e-03 3.27123995e+02] [-9.45836643e-03 9.99955164e-01 -4.58430778e-04 7.05364201e+00] [-6.19696983e-03 3.99826655e-04 9.99980719e-01 -3.92402919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.49589822699994 meters 0.060629093547488494 Centerline is valid? [True, True] Translation: X:327.18, Y:7.05, Z:-3.92 [[ 9.99725499e-01 2.16415793e-02 8.97595581e-03 3.27183646e+02] [-2.16364821e-02 9.99765683e-01 -6.64608672e-04 7.05348216e+00] [-8.98823578e-03 4.70218130e-04 9.99959494e-01 -3.91953534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.55589822699994 meters 0.05217990528574829 Centerline is valid? [True, True] Translation: X:327.24, Y:7.05, Z:-3.92 [[ 9.99511291e-01 2.98064436e-02 9.42100855e-03 3.27244470e+02] [-2.98011923e-02 9.99555603e-01 -6.97327071e-04 7.05422149e+00] [-9.43760672e-03 4.16228993e-04 9.99955378e-01 -3.91969432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.61589822699995 meters 0.03874573383207749 Centerline is valid? [True, True] Translation: X:327.31, Y:7.06, Z:-3.92 [[ 9.99132751e-01 4.02001080e-02 1.08487957e-02 3.27306011e+02] [-4.01937553e-02 9.99191582e-01 -8.03060836e-04 7.05893023e+00] [-1.08723085e-02 3.66310542e-04 9.99940828e-01 -3.91772553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.67589822699995 meters 0.02940158383419883 Centerline is valid? [True, True] Translation: X:327.37, Y:7.06, Z:-3.91 [[ 9.98678801e-01 4.94862414e-02 1.38479019e-02 3.27367641e+02] [-4.94767811e-02 9.98774748e-01 -1.02512563e-03 7.06233437e+00] [-1.38816644e-02 3.38621618e-04 9.99903588e-01 -3.91367819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.73589822699995 meters 0.0215944835064529 Centerline is valid? [True, True] Translation: X:327.43, Y:7.07, Z:-3.91 [[ 9.98294206e-01 5.64921107e-02 1.47417851e-02 3.27428839e+02] [-5.64821492e-02 9.98403012e-01 -1.09153761e-03 7.06795672e+00] [-1.47799059e-02 2.57027967e-04 9.99890738e-01 -3.91289215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.79589822699995 meters 0.015148480173506592 Centerline is valid? [True, True] Translation: X:327.49, Y:7.07, Z:-3.91 [[ 9.97878406e-01 6.34509679e-02 1.45828956e-02 3.27490371e+02] [-6.34419601e-02 9.97984945e-01 -1.07993936e-03 7.07263269e+00] [-1.46220335e-02 1.52480687e-04 9.99893081e-01 -3.91470600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.85589822699995 meters 0.01388260196655889 Centerline is valid? [True, True] Translation: X:327.55, Y:7.07, Z:-3.92 [[ 9.97815463e-01 6.43026413e-02 1.51483441e-02 3.27550384e+02] [-6.42930162e-02 9.97930433e-01 -1.12203225e-03 7.07094983e+00] [-1.51891432e-02 1.45648396e-04 9.99884628e-01 -3.91501634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.91589822699996 meters 0.014139803283681248 Centerline is valid? [True, True] Translation: X:327.61, Y:7.07, Z:-3.92 [[ 9.97811501e-01 6.47863206e-02 1.32265627e-02 3.27610335e+02] [-6.47790303e-02 9.97899152e-01 -9.79314204e-04 7.06933345e+00] [-1.32622219e-02 1.20367069e-04 9.99912046e-01 -3.91935737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.97589822699996 meters 0.017553706853801965 Centerline is valid? [True, True] Translation: X:327.67, Y:7.06, Z:-3.93 [[ 9.98079732e-01 6.13274921e-02 8.70557567e-03 3.27670645e+02] [-6.13242013e-02 9.98117692e-01 -6.44700048e-04 7.06243096e+00] [-8.72872693e-03 1.09599576e-04 9.99961898e-01 -3.92795025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.03589822699996 meters 0.02236406445556344 Centerline is valid? [True, True] Translation: X:327.73, Y:7.05, Z:-3.93 [[ 9.98337028e-01 5.69003031e-02 9.24851180e-03 3.27729379e+02] [-5.68963982e-02 9.98379853e-01 -6.84987149e-04 7.05189533e+00] [-9.27250383e-03 1.57641023e-04 9.99956997e-01 -3.92724230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.09589822699996 meters 0.03003346718040198 Centerline is valid? [True, True] Translation: X:327.79, Y:7.04, Z:-3.93 [[ 9.98817276e-01 4.78336224e-02 8.71749029e-03 3.27788631e+02] [-4.78298095e-02 9.98855291e-01 -6.45468018e-04 7.03610356e+00] [-8.73838638e-03 2.27748708e-04 9.99961794e-01 -3.92852971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.15589822699997 meters 0.03931339016619593 Centerline is valid? [True, True] Translation: X:327.85, Y:7.01, Z:-3.93 [[ 9.99055846e-01 4.26997052e-02 8.00948714e-03 3.27846532e+02] [-4.26963228e-02 9.99087920e-01 -5.92889321e-04 7.01489184e+00] [-8.02749805e-03 2.50353893e-04 9.99967748e-01 -3.93223584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.21589822699997 meters 0.03736363291224011 Centerline is valid? [True, True] Translation: X:327.91, Y:7.00, Z:-3.93 [[ 9.99108565e-01 4.11185072e-02 9.55742721e-03 3.27907027e+02] [-4.11136161e-02 9.99154227e-01 -7.07756971e-04 7.00185479e+00] [-9.57844570e-03 3.14185658e-04 9.99954076e-01 -3.92809122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.27589822699997 meters 0.03933684426174535 Centerline is valid? [True, True] Translation: X:327.97, Y:6.99, Z:-3.93 [[ 9.98729812e-01 4.89538358e-02 1.19282712e-02 3.27965619e+02] [-4.89467689e-02 9.98800998e-01 -8.83842657e-04 6.98884777e+00] [-1.19572366e-02 2.98869678e-04 9.99928465e-01 -3.92504475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.335898227 meters 0.02419124758977969 Centerline is valid? [True, True] Translation: X:328.03, Y:6.99, Z:-3.92 [[ 9.98288155e-01 5.67611205e-02 1.41044193e-02 3.28026524e+02] [-5.67520216e-02 9.98387759e-01 -1.04484825e-03 6.98675274e+00] [-1.41409863e-02 2.42605331e-04 9.99899982e-01 -3.92281578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.395898227 meters 0.011234585581662616 Centerline is valid? [True, True] Translation: X:328.09, Y:6.99, Z:-3.92 [[ 9.97477859e-01 6.92959183e-02 1.53621963e-02 3.28087937e+02] [-6.92866085e-02 9.97596146e-01 -1.13806305e-03 6.98927739e+00] [-1.54041309e-02 7.07982144e-05 9.99881347e-01 -3.92170386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.455898227 meters 0.010163704045303855 Centerline is valid? [True, True] Translation: X:328.15, Y:6.99, Z:-3.92 [[ 9.96910529e-01 7.71539843e-02 1.47193830e-02 3.28148709e+02] [-7.71462897e-02 9.97019188e-01 -1.09069173e-03 6.98788870e+00] [-1.47596585e-02 -4.82237167e-05 9.99891069e-01 -3.92405470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.515898227 meters 0.02186510568326395 Centerline is valid? [True, True] Translation: X:328.21, Y:6.99, Z:-3.92 [[ 9.95851919e-01 8.97242509e-02 1.51166937e-02 3.28209039e+02] [-8.97175815e-02 9.95966616e-01 -1.12014414e-03 6.99421621e+00] [-1.51562264e-02 -2.40735506e-04 9.99885109e-01 -3.92472867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.575898227 meters 0.027753270606684366 Centerline is valid? [True, True] Translation: X:328.27, Y:6.99, Z:-3.93 [[ 9.95041093e-01 9.84099678e-02 1.44465007e-02 3.28269537e+02] [-9.84047934e-02 9.95145894e-01 -1.07031207e-03 6.98858590e+00] [-1.44817052e-02 -3.56600425e-04 9.99895071e-01 -3.92725544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.635898227 meters 0.03502927314472229 Centerline is valid? [True, True] Translation: X:328.33, Y:6.99, Z:-3.93 [[ 9.94844796e-01 1.00557052e-01 1.31191231e-02 3.28328140e+02] [-1.00552970e-01 9.94931231e-01 -9.72012900e-04 6.98722028e+00] [-1.31503680e-02 -3.52164819e-04 9.99913468e-01 -3.93175205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.695898227 meters 0.029916859548239323 Centerline is valid? [True, True] Translation: X:328.39, Y:6.96, Z:-3.94 [[ 9.94857220e-01 1.00703820e-01 1.08560285e-02 3.28385560e+02] [-1.00701036e-01 9.94916406e-01 -8.04108934e-04 6.96204400e+00] [-1.08818177e-02 -2.93239743e-04 9.99940748e-01 -3.93622834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.755898227 meters 0.03328889953619646 Centerline is valid? [True, True] Translation: X:328.44, Y:6.95, Z:-3.94 [[ 9.94672540e-01 1.02536759e-01 1.06184249e-02 3.28443589e+02] [-1.02534207e-01 9.94729169e-01 -7.85936604e-04 6.94892966e+00] [-1.06430443e-02 -3.07002214e-04 9.99943314e-01 -3.93689131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.815898227 meters 0.046549235445402674 Centerline is valid? [True, True] Translation: X:328.50, Y:6.95, Z:-3.93 [[ 9.93503471e-01 1.13177211e-01 1.19068347e-02 3.28503173e+02] [-1.13174771e-01 9.93574706e-01 -8.80700521e-04 6.95372301e+00] [-1.19300050e-02 -4.72574276e-04 9.99928723e-01 -3.93495358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.875898227 meters 0.05866460244047568 Centerline is valid? [True, True] Translation: X:328.56, Y:6.96, Z:-3.94 [[ 9.92630748e-01 1.20634511e-01 1.14679372e-02 3.28562812e+02] [-1.20632746e-01 9.92696843e-01 -8.48029441e-04 6.96245046e+00] [-1.14864867e-02 -5.41628661e-04 9.99933881e-01 -3.93751280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.93589822699994 meters 0.0576636968850722 Centerline is valid? [True, True] Translation: X:328.62, Y:6.96, Z:-3.94 [[ 9.91882916e-01 1.26612561e-01 1.17277987e-02 3.28622760e+02] [-1.26611131e-01 9.91952050e-01 -8.67284090e-04 6.95593449e+00] [-1.17432230e-02 -6.24625595e-04 9.99930851e-01 -3.93675011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.99589822699994 meters 0.056212989584906066 Centerline is valid? [True, True] Translation: X:328.68, Y:6.95, Z:-3.93 [[ 9.91619430e-01 1.28417552e-01 1.41363954e-02 3.28681610e+02] [-1.28415660e-01 9.91719883e-01 -1.04526855e-03 6.95174975e+00] [-1.41535752e-02 -7.78825941e-04 9.99899530e-01 -3.93425323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.05589822699994 meters 0.054660574810961114 Centerline is valid? [True, True] Translation: X:328.74, Y:6.94, Z:-3.93 [[ 9.92243256e-01 1.23337731e-01 1.55281800e-02 3.28739780e+02] [-1.23334836e-01 9.92364450e-01 -1.14755773e-03 6.94297198e+00] [-1.55511509e-02 -7.76509114e-04 9.99878772e-01 -3.93417873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.11589822699995 meters 0.051099401852879686 Centerline is valid? [True, True] Translation: X:328.80, Y:6.93, Z:-3.93 [[ 9.92739355e-01 1.19114503e-01 1.67424154e-02 3.28799314e+02] [-1.19110549e-01 9.92880228e-01 -1.23673486e-03 6.93170013e+00] [-1.67705263e-02 -7.66442917e-04 9.99859071e-01 -3.93386825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.17589822699995 meters 0.04776177827436035 Centerline is valid? [True, True] Translation: X:328.86, Y:6.92, Z:-3.94 [[ 9.93234715e-01 1.15021983e-01 1.59607103e-02 3.28858820e+02] [-1.15017862e-01 9.93362724e-01 -1.17896009e-03 6.91664337e+00] [-1.59903810e-02 -6.64782685e-04 9.99871925e-01 -3.93693469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.23589822699995 meters 0.04324432879654926 Centerline is valid? [True, True] Translation: X:328.92, Y:6.90, Z:-3.94 [[ 9.93435924e-01 1.13473603e-01 1.44501340e-02 3.28918080e+02] [-1.13470062e-01 9.93540843e-01 -1.06734836e-03 6.89826414e+00] [-1.44779142e-02 -5.79315394e-04 9.99895022e-01 -3.94059597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.29589822699995 meters 0.04707570311333834 Centerline is valid? [True, True] Translation: X:328.98, Y:6.89, Z:-3.94 [[ 9.93416784e-01 1.13817749e-01 1.29851000e-02 3.28975912e+02] [-1.13814918e-01 9.93501507e-01 -9.59224191e-04 6.89084292e+00] [-1.30098931e-02 -5.24988679e-04 9.99915230e-01 -3.94445002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.35589822699995 meters 0.04890789725159523 Centerline is valid? [True, True] Translation: X:329.04, Y:6.88, Z:-3.95 [[ 9.93115888e-01 1.16528988e-01 1.19091338e-02 3.29035570e+02] [-1.16526806e-01 9.93187158e-01 -8.79323729e-04 6.87556818e+00] [-1.19304654e-02 -5.14462958e-04 9.99928697e-01 -3.94633541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.41589822699996 meters 0.0543338786166905 Centerline is valid? [True, True] Translation: X:329.10, Y:6.87, Z:-3.95 [[ 9.92631146e-01 1.20665757e-01 1.10988276e-02 3.29095958e+02] [-1.20664120e-01 9.92693054e-01 -8.19495978e-04 6.87030155e+00] [-1.11166142e-02 -5.25773036e-04 9.99938070e-01 -3.94843199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.47589822699996 meters 0.06437122446930249 Centerline is valid? [True, True] Translation: X:329.16, Y:6.87, Z:-3.95 [[ 9.91340464e-01 1.30882099e-01 1.06752375e-02 3.29156524e+02] [-1.30881174e-01 9.91397749e-01 -7.88216701e-04 6.87143246e+00] [-1.06865699e-02 -6.15796517e-04 9.99942707e-01 -3.94979218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.53589822699996 meters 0.07319915544278116 Centerline is valid? [True, True] Translation: X:329.22, Y:6.88, Z:-3.95 [[ 9.90106008e-01 1.39855156e-01 1.14292682e-02 3.29217695e+02] [-1.39854691e-01 9.90171679e-01 -8.43895859e-04 6.87653512e+00] [-1.14349608e-02 -7.62890403e-04 9.99934328e-01 -3.94877023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.59589822699996 meters 0.08185671659216125 Centerline is valid? [True, True] Translation: X:329.28, Y:6.88, Z:-3.95 [[ 9.89464744e-01 1.44095055e-01 1.40048152e-02 3.29277806e+02] [-1.44094779e-01 9.89563351e-01 -1.03404695e-03 6.88424099e+00] [-1.40076529e-02 -9.94867757e-04 9.99901393e-01 -3.94546661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.65589822699997 meters 0.08469960506465421 Centerline is valid? [True, True] Translation: X:329.34, Y:6.89, Z:-3.95 [[ 9.89322529e-01 1.45020447e-01 1.44915105e-02 3.29337933e+02] [-1.45020255e-01 9.89428108e-01 -1.06966107e-03 6.88680373e+00] [-1.44934305e-02 -1.04332275e-03 9.99894420e-01 -3.94683107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.71589822699997 meters 0.07294762725867107 Centerline is valid? [True, True] Translation: X:329.40, Y:6.87, Z:-3.94 [[ 9.89650006e-01 1.42583325e-01 1.62129799e-02 3.29397352e+02] [-1.42582766e-01 9.89782160e-01 -1.19633150e-03 6.87250351e+00] [-1.62178952e-02 -1.12774203e-03 9.99867845e-01 -3.94492083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.77589822699997 meters 0.07030921306310402 Centerline is valid? [True, True] Translation: X:329.46, Y:6.87, Z:-3.95 [[ 9.89825011e-01 1.41392636e-01 1.59552241e-02 3.29456917e+02] [-1.41391941e-01 9.89952995e-01 -1.17728039e-03 6.86656635e+00] [-1.59613807e-02 -1.09063853e-03 9.99872014e-01 -3.94640247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.835898227 meters 0.06770792021264296 Centerline is valid? [True, True] Translation: X:329.52, Y:6.86, Z:-3.95 [[ 9.90368709e-01 1.37804436e-01 1.34073722e-02 3.29516933e+02] [-1.37803622e-01 9.90459077e-01 -9.88980863e-04 6.86224461e+00] [-1.34157395e-02 -8.68128757e-04 9.99909628e-01 -3.95239100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.895898227 meters 0.06420189013342995 Centerline is valid? [True, True] Translation: X:329.58, Y:6.85, Z:-3.96 [[ 9.90832748e-01 1.34557429e-01 1.20317680e-02 3.29577223e+02] [-1.34556536e-01 9.90905521e-01 -8.87432442e-04 6.85403348e+00] [-1.20417560e-02 -7.39655899e-04 9.99927222e-01 -3.95599648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.955898227 meters 0.060608548117079095 Centerline is valid? [True, True] Translation: X:329.64, Y:6.84, Z:-3.96 [[ 9.91525012e-01 1.29336971e-01 1.22514443e-02 3.29635753e+02] [-1.29335647e-01 9.91600461e-01 -9.03643860e-04 6.84226750e+00] [-1.22654124e-02 -6.88562990e-04 9.99924540e-01 -3.95674291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.015898227 meters 0.05852989909208579 Centerline is valid? [True, True] Translation: X:329.70, Y:6.83, Z:-3.96 [[ 9.92000194e-01 1.25868664e-01 9.62775575e-03 3.29695321e+02] [-1.25867684e-01 9.92046784e-01 -7.10012474e-04 6.82727931e+00] [-9.64055245e-03 -5.07490808e-04 9.99953400e-01 -3.96189168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.075898227 meters 0.062270817347626656 Centerline is valid? [True, True] Translation: X:329.75, Y:6.82, Z:-3.96 [[ 9.91931699e-01 1.26325137e-01 1.06519345e-02 3.29753479e+02] [-1.26323963e-01 9.91988729e-01 -7.85690561e-04 6.82089131e+00] [-1.06658514e-02 -5.66243205e-04 9.99942958e-01 -3.96070663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.135898227 meters 0.06614116843423876 Centerline is valid? [True, True] Translation: X:329.81, Y:6.81, Z:-3.96 [[ 9.91193299e-01 1.31867331e-01 1.21182165e-02 3.29812771e+02] [-1.31866231e-01 9.91267118e-01 -8.93251324e-04 6.81147734e+00] [-1.21301803e-02 -7.12598814e-04 9.99926173e-01 -3.95921157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.195898227 meters 0.07517920540535517 Centerline is valid? [True, True] Translation: X:329.87, Y:6.81, Z:-3.96 [[ 9.90157207e-01 1.39356328e-01 1.29814736e-02 3.29872671e+02] [-1.39355708e-01 9.90241926e-01 -9.56736969e-04 6.80586049e+00] [-1.29881267e-02 -8.61722432e-04 9.99915279e-01 -3.95852952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.255898227 meters 0.0859169842566642 Centerline is valid? [True, True] Translation: X:329.93, Y:6.80, Z:-3.96 [[ 9.89146819e-01 1.46206922e-01 1.45638837e-02 3.29931563e+02] [-1.46206883e-01 9.89253454e-01 -1.07319152e-03 6.80293039e+00] [-1.45642803e-02 -1.06779606e-03 9.99893365e-01 -3.95689090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.315898227 meters 0.07940206978950949 Centerline is valid? [True, True] Translation: X:329.99, Y:6.78, Z:-3.96 [[ 9.88584550e-01 1.49922253e-01 1.49634690e-02 3.29990053e+02] [-1.49922634e-01 9.88697116e-01 -1.10265691e-03 6.78144408e+00] [-1.49596515e-02 -1.15329311e-03 9.99887433e-01 -3.95732646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.375898227 meters 0.0908907169803695 Centerline is valid? [True, True] Translation: X:330.05, Y:6.78, Z:-3.96 [[ 9.87607798e-01 1.56174909e-01 1.54995439e-02 3.30049282e+02] [-1.56176085e-01 9.87728569e-01 -1.14198199e-03 6.78156246e+00] [-1.54876912e-02 -1.29282777e-03 9.99879223e-01 -3.95712955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.43589822699994 meters 0.10494850753405612 Centerline is valid? [True, False] Translation: X:330.05, Y:6.78, Z:-3.96 [[ 9.89304475e-01 1.44900407e-01 1.67489537e-02 3.30051754e+02] [-1.45021029e-01 9.89409020e-01 6.22030809e-03 6.78086889e+00] [-1.56702407e-02 -8.58272913e-03 9.99840377e-01 -3.96062618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.49589822699994 meters 0.09755502970736096 Centerline is valid? [False, True] Translation: X:330.05, Y:6.78, Z:-3.96 [[ 9.91209976e-01 1.31158852e-01 1.73245320e-02 3.30052768e+02] [-1.31356467e-01 9.91276324e-01 1.08040967e-02 6.78300325e+00] [-1.57563455e-02 -1.29848178e-02 9.99791544e-01 -3.96252949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.55589822699994 meters 0.10083111268873869 Centerline is valid? [True, False] Translation: X:330.05, Y:6.78, Z:-3.96 [[ 9.93181266e-01 1.15380663e-01 1.66816108e-02 3.30053349e+02] [-1.15618577e-01 9.93193927e-01 1.40772189e-02 6.78253227e+00] [-1.49438357e-02 -1.59099342e-02 9.99761750e-01 -3.96277015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.61589822699995 meters 0.10333166468188724 Centerline is valid? [False, False] Translation: X:330.06, Y:6.78, Z:-3.97 [[ 9.94994735e-01 9.85516050e-02 1.65245057e-02 3.30056191e+02] [-9.88216068e-02 9.94969921e-01 1.64056805e-02 6.78123074e+00] [-1.48245800e-02 -1.79565440e-02 9.99728860e-01 -3.96575615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.67589822699995 meters 0.09711885576164113 Centerline is valid? [False, True] Translation: X:330.01, Y:6.78, Z:-3.96 [[ 9.96383634e-01 8.44020687e-02 9.79516412e-03 3.30012445e+02] [-8.45862027e-02 9.96211030e-01 2.02177558e-02 6.78397907e+00] [-8.05163012e-03 -2.09731767e-02 9.99747617e-01 -3.96086453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.73589822699995 meters 0.09355684722802099 Centerline is valid? [True, True] Translation: X:330.07, Y:6.79, Z:-3.96 [[ 9.96164561e-01 8.69088741e-02 1.01496037e-02 3.30072710e+02] [-8.69137702e-02 9.96215837e-01 4.14721704e-05 6.78887099e+00] [-1.01075916e-02 -9.23453430e-04 9.99948491e-01 -3.96156272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.79589822699995 meters 0.0978515629068536 Centerline is valid? [True, True] Translation: X:330.13, Y:6.80, Z:-3.96 [[ 9.96333771e-01 8.48464348e-02 1.09589525e-02 3.30131966e+02] [-8.48520183e-02 9.96393563e-01 4.47046109e-05 6.79517255e+00] [-1.09156367e-02 -9.74429954e-04 9.99939948e-01 -3.96136343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.85589822699995 meters 0.09176689552896847 Centerline is valid? [True, True] Translation: X:330.19, Y:6.79, Z:-3.96 [[ 9.96811383e-01 7.90875060e-02 1.05939822e-02 3.30192607e+02] [-7.90924026e-02 9.96867288e-01 4.33820733e-05 6.78582163e+00] [-1.05573634e-02 -8.81147252e-04 9.99943881e-01 -3.96289532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.91589822699996 meters 0.08885380728307443 Centerline is valid? [True, True] Translation: X:330.25, Y:6.78, Z:-3.96 [[ 9.97278319e-01 7.28855621e-02 1.11198069e-02 3.30251951e+02] [-7.28905728e-02 9.97339943e-01 4.54620161e-05 6.77991318e+00] [-1.10869141e-02 -8.55867377e-04 9.99938172e-01 -3.96143944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.97589822699996 meters 0.08986434161699687 Centerline is valid? [True, True] Translation: X:330.31, Y:6.78, Z:-3.96 [[ 9.97327363e-01 7.20992991e-02 1.18246700e-02 3.30312797e+02] [-7.21049128e-02 9.97397052e-01 4.85593365e-05 6.78163506e+00] [-1.17903899e-02 -9.01046353e-04 9.99930085e-01 -3.96084653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.03589822699996 meters 0.08239430253921558 Centerline is valid? [True, True] Translation: X:330.37, Y:6.77, Z:-3.96 [[ 9.97331176e-01 7.20478546e-02 1.18166311e-02 3.30374803e+02] [-7.20534591e-02 9.97400770e-01 4.86934947e-05 6.77266362e+00] [-1.17824087e-02 -8.99992684e-04 9.99930180e-01 -3.96188185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.09589822699996 meters 0.0745816445538207 Centerline is valid? [True, True] Translation: X:330.44, Y:6.76, Z:-3.96 [[ 9.97569835e-01 6.84819215e-02 1.28316582e-02 3.30435951e+02] [-6.84882048e-02 9.97651925e-01 5.03682863e-05 6.76300988e+00] [-1.27980792e-02 -9.29063120e-04 9.99917670e-01 -3.96016122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.15589822699997 meters 0.06453955308438117 Centerline is valid? [True, True] Translation: X:330.50, Y:6.75, Z:-3.96 [[ 9.97966917e-01 6.26338449e-02 1.17912653e-02 3.30496768e+02] [-6.26387430e-02 9.98036265e-01 4.61861198e-05 6.75177569e+00] [-1.17652176e-02 -7.84682257e-04 9.99930480e-01 -3.96311229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.21589822699997 meters 0.06620336109482054 Centerline is valid? [True, True] Translation: X:330.56, Y:6.76, Z:-3.96 [[ 9.98035695e-01 6.16162253e-02 1.13221788e-02 3.30557373e+02] [-6.16206765e-02 9.98099639e-01 4.43751887e-05 6.75529954e+00] [-1.12979284e-02 -7.41968340e-04 9.99935901e-01 -3.96476866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.27589822699997 meters 0.07500971064702287 Centerline is valid? [True, True] Translation: X:330.62, Y:6.77, Z:-3.97 [[ 9.97936861e-01 6.33243386e-02 1.05853289e-02 3.30617389e+02] [-6.33283236e-02 9.97992746e-01 4.13718293e-05 6.76865792e+00] [-1.05614616e-02 -7.11637610e-04 9.99943973e-01 -3.96741164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.335898227 meters 0.08422121272413971 Centerline is valid? [True, True] Translation: X:330.68, Y:6.78, Z:-3.97 [[ 9.97779016e-01 6.58340873e-02 1.01443303e-02 3.30677110e+02] [-6.58378687e-02 9.97830333e-01 3.88997370e-05 6.78492383e+00] [-1.01197596e-02 -7.06694427e-04 9.99948544e-01 -3.97000435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.395898227 meters 0.0719609286779547 Centerline is valid? [True, True] Translation: X:330.74, Y:6.77, Z:-3.97 [[ 9.97851184e-01 6.47862153e-02 9.78576060e-03 3.30738338e+02] [-6.47896864e-02 9.97898940e-01 3.77748565e-05 6.77047681e+00] [-9.76275284e-03 -6.71710045e-04 9.99952118e-01 -3.97096476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.455898227 meters 0.0670153582496087 Centerline is valid? [True, True] Translation: X:330.80, Y:6.76, Z:-3.97 [[ 9.98083554e-01 6.09077319e-02 1.09301392e-02 3.30799510e+02] [-6.09118270e-02 9.98143150e-01 4.18503884e-05 6.76390563e+00] [-1.09072946e-02 -7.07544934e-04 9.99940263e-01 -3.96980182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.515898227 meters 0.07349645729171858 Centerline is valid? [True, True] Translation: X:330.86, Y:6.77, Z:-3.97 [[ 9.97933417e-01 6.30791326e-02 1.22441449e-02 3.30859874e+02] [-6.30844326e-02 9.98008192e-01 4.67363392e-05 6.77203285e+00] [-1.22168088e-02 -8.19054685e-04 9.99925037e-01 -3.96743434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.575898227 meters 0.08137122841875546 Centerline is valid? [True, True] Translation: X:330.92, Y:6.78, Z:-3.97 [[ 9.97591208e-01 6.81967821e-02 1.26878242e-02 3.30919536e+02] [-6.82028830e-02 9.97671471e-01 4.82730807e-05 6.78263919e+00] [-1.26549882e-02 -9.13502990e-04 9.99919505e-01 -3.96783164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.635898227 meters 0.08943858382872258 Centerline is valid? [True, True] Translation: X:330.98, Y:6.79, Z:-3.97 [[ 9.97151616e-01 7.41546185e-02 1.37748881e-02 3.30980256e+02] [-7.41623729e-02 9.97246178e-01 5.22778239e-05 6.79145889e+00] [-1.37330779e-02 -1.07370731e-03 9.99905120e-01 -3.96726998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.695898227 meters 0.09071676338924906 Centerline is valid? [True, True] Translation: X:331.04, Y:6.79, Z:-3.97 [[ 9.97085018e-01 7.50856106e-02 1.35505344e-02 3.31041711e+02] [-7.50931986e-02 9.97176518e-01 5.13343760e-05 6.79243184e+00] [-1.35084203e-02 -1.06873771e-03 9.99908186e-01 -3.96921711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.755898227 meters 0.08984877199316293 Centerline is valid? [True, True] Translation: X:331.10, Y:6.79, Z:-3.97 [[ 9.97203629e-01 7.35549522e-02 1.32132847e-02 3.31102509e+02] [-7.35620297e-02 9.97290642e-01 4.97596645e-05 6.79082223e+00] [-1.31738251e-02 -1.02161656e-03 9.99912700e-01 -3.97244845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.815898227 meters 0.08001367339414557 Centerline is valid? [True, True] Translation: X:331.16, Y:6.78, Z:-3.97 [[ 9.97432728e-01 6.99560123e-02 1.53006638e-02 3.31163014e+02] [-6.99650791e-02 9.97549440e-01 5.74345188e-05 6.77623317e+00] [-1.52591507e-02 -1.12779922e-03 9.99882936e-01 -3.96983391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.875898227 meters 0.07569837332063326 Centerline is valid? [True, True] Translation: X:331.23, Y:6.77, Z:-3.97 [[ 9.97498168e-01 6.93908553e-02 1.35023638e-02 3.31225026e+02] [-6.93978676e-02 9.97589060e-01 5.09333842e-05 6.76966510e+00] [-1.34662761e-02 -9.87841213e-04 9.99908838e-01 -3.97344896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.93589822699994 meters 0.08370234561967847 Centerline is valid? [True, True] Translation: X:331.28, Y:6.78, Z:-3.98 [[ 9.97412792e-01 7.08967786e-02 1.18898833e-02 3.31284738e+02] [-7.09022991e-02 9.97483264e-01 4.28856910e-05 6.77933803e+00] [-1.18569192e-02 -8.85794800e-04 9.99929312e-01 -3.97634922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.99589822699994 meters 0.07973940235321914 Centerline is valid? [True, True] Translation: X:331.35, Y:6.78, Z:-3.98 [[ 9.97192551e-01 7.39368312e-02 1.18473912e-02 3.31345388e+02] [-7.39425171e-02 9.97262504e-01 4.20237898e-05 6.77573964e+00] [-1.18118519e-02 -9.17931736e-04 9.99929816e-01 -3.97738573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.05589822699994 meters 0.0867618732937118 Centerline is valid? [True, True] Translation: X:331.41, Y:6.79, Z:-3.98 [[ 9.97147233e-01 7.44431240e-02 1.24746624e-02 3.31406372e+02] [-7.44494690e-02 9.97224786e-01 4.43746852e-05 6.78504323e+00] [-1.24367391e-02 -9.72980083e-04 9.99922187e-01 -3.97794816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.11589822699995 meters 0.0739540942025227 Centerline is valid? [True, True] Translation: X:331.47, Y:6.77, Z:-3.98 [[ 9.97204165e-01 7.35581834e-02 1.31547017e-02 3.31468154e+02] [-7.35651455e-02 9.97290413e-01 4.54922053e-05 6.76973846e+00] [-1.31157115e-02 -1.01309256e-03 9.99913472e-01 -3.97752726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.17589822699995 meters 0.08653571278597808 Centerline is valid? [True, True] Translation: X:331.53, Y:6.79, Z:-3.98 [[ 9.97292559e-01 7.22734652e-02 1.35682574e-02 3.31528153e+02] [-7.22807466e-02 9.97384325e-01 4.63924276e-05 6.78965013e+00] [-1.35294143e-02 -1.02699060e-03 9.99907946e-01 -3.98019577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.23589822699995 meters 0.07864997851324049 Centerline is valid? [True, True] Translation: X:331.59, Y:6.78, Z:-3.98 [[ 9.97309192e-01 7.19367992e-02 1.41235067e-02 3.31590097e+02] [-7.19446546e-02 9.97408625e-01 4.82405468e-05 6.78198189e+00] [-1.40834371e-02 -1.06422155e-03 9.99900257e-01 -3.98060817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.29589822699995 meters 0.07783292783178836 Centerline is valid? [True, True] Translation: X:331.65, Y:6.78, Z:-3.98 [[ 9.97354366e-01 7.16240625e-02 1.24202022e-02 3.31651990e+02] [-7.16300921e-02 9.97431265e-01 4.07331894e-05 6.78369174e+00] [-1.23853805e-02 -9.30285654e-04 9.99922865e-01 -3.98385222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.35589822699995 meters 0.08278441854361286 Centerline is valid? [True, True] Translation: X:331.71, Y:6.79, Z:-3.98 [[ 9.97389783e-01 7.10665605e-02 1.27735963e-02 3.31713406e+02] [-7.10728655e-02 9.97471125e-01 3.97579156e-05 6.79404319e+00] [-1.27384680e-02 -9.47510230e-04 9.99918414e-01 -3.98483636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.41589822699996 meters 0.08057962325293919 Centerline is valid? [True, True] Translation: X:331.78, Y:6.79, Z:-3.98 [[ 9.97354720e-01 7.12283457e-02 1.44943180e-02 3.31776409e+02] [-7.12364464e-02 9.97459456e-01 4.27156616e-05 6.79399106e+00] [-1.44544520e-02 -1.07512637e-03 9.99894951e-01 -3.98231765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.47589822699996 meters 0.0785601456978554 Centerline is valid? [True, True] Translation: X:331.84, Y:6.79, Z:-3.98 [[ 9.97374290e-01 7.11252774e-02 1.36279632e-02 3.31838513e+02] [-7.11323978e-02 9.97466882e-01 3.78666098e-05 6.79461147e+00] [-1.35907487e-02 -1.00715689e-03 9.99907134e-01 -3.98386563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.53589822699996 meters 0.07684749079023792 Centerline is valid? [True, True] Translation: X:331.90, Y:6.79, Z:-3.98 [[ 9.97381956e-01 7.10126395e-02 1.36542354e-02 3.31900472e+02] [-7.10197476e-02 9.97474909e-01 3.57875859e-05 6.79179244e+00] [-1.36172159e-02 -1.00541425e-03 9.99906776e-01 -3.98357501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.59589822699996 meters 0.08396665533709118 Centerline is valid? [True, True] Translation: X:331.96, Y:6.80, Z:-3.98 [[ 9.97299593e-01 7.22323088e-02 1.32670950e-02 3.31960655e+02] [-7.22390965e-02 9.97387343e-01 3.24798687e-05 6.80026327e+00] [-1.32300865e-02 -9.90795114e-04 9.99911988e-01 -3.98393313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.65589822699997 meters 0.08499584853517275 Centerline is valid? [True, True] Translation: X:332.02, Y:6.80, Z:-3.98 [[ 9.96706195e-01 7.97990134e-02 1.44526440e-02 3.32020738e+02] [-7.98078559e-02 9.96810265e-01 3.51988024e-05 6.80146897e+00] [-1.44037351e-02 -1.18851739e-03 9.99895554e-01 -3.98198595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.71589822699997 meters 0.08105748777733894 Centerline is valid? [True, True] Translation: X:332.08, Y:6.80, Z:-3.99 [[ 9.96173415e-01 8.64312809e-02 1.29677150e-02 3.32081088e+02] [-8.64389571e-02 9.96257148e-01 3.15873845e-05 6.80144717e+00] [-1.29164487e-02 -1.15238228e-03 9.99915915e-01 -3.98550393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.77589822699997 meters 0.09037556517231138 Centerline is valid? [True, True] Translation: X:332.14, Y:6.82, Z:-3.99 [[ 9.96141468e-01 8.68226670e-02 1.28062729e-02 3.32141861e+02] [-8.68301890e-02 9.96223126e-01 3.14825789e-05 6.81601450e+00] [-1.27551719e-02 -1.14333220e-03 9.99917996e-01 -3.98715114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.835898227 meters 0.09384838313741026 Centerline is valid? [True, True] Translation: X:332.20, Y:6.82, Z:-3.99 [[ 9.96603535e-01 8.11862865e-02 1.37906151e-02 3.32201817e+02] [-8.11944395e-02 9.96698280e-01 3.14199898e-05 6.82428543e+00] [-1.37425314e-02 -1.15103453e-03 9.99904904e-01 -3.98578243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.895898227 meters 0.0822560636888753 Centerline is valid? [True, True] Translation: X:332.26, Y:6.81, Z:-3.99 [[ 9.97187809e-01 7.35836636e-02 1.42097787e-02 3.32262134e+02] [-7.35915538e-02 9.97288465e-01 3.24748016e-05 6.81253512e+00] [-1.41688588e-02 -1.07810317e-03 9.99899035e-01 -3.98733941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.955898227 meters 0.08721443131793184 Centerline is valid? [True, True] Translation: X:332.32, Y:6.82, Z:-3.99 [[ 9.97491893e-01 6.89037241e-02 1.61925984e-02 3.32321969e+02] [-6.89133577e-02 9.97622648e-01 3.70533096e-05 6.81891506e+00] [-1.61515498e-02 -1.15284670e-03 9.99868891e-01 -3.98571133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.015898227 meters 0.07375902008495439 Centerline is valid? [True, True] Translation: X:332.38, Y:6.80, Z:-3.99 [[ 9.97830091e-01 6.41232152e-02 1.49439548e-02 3.32383001e+02] [-6.41308884e-02 9.97941495e-01 3.43282153e-05 6.79658236e+00] [-1.49109913e-02 -9.92622822e-04 9.99888332e-01 -3.98846877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.075898227 meters 0.07412801292412731 Centerline is valid? [True, True] Translation: X:332.44, Y:6.79, Z:-3.99 [[ 9.97955072e-01 6.24853395e-02 1.34631635e-02 3.32443121e+02] [-6.24914179e-02 9.98045501e-01 3.08616530e-05 6.79320856e+00] [-1.34349214e-02 -8.72130722e-04 9.99909367e-01 -3.99210812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.135898227 meters 0.06979796754031879 Centerline is valid? [True, True] Translation: X:332.50, Y:6.78, Z:-3.99 [[ 9.97787647e-01 6.44333971e-02 1.63752613e-02 3.32504705e+02] [-6.44426506e-02 9.97921411e-01 3.75043558e-05 6.78155878e+00] [-1.63388073e-02 -1.09268662e-03 9.99865916e-01 -3.98932644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.195898227 meters 0.07560613250173656 Centerline is valid? [True, True] Translation: X:332.56, Y:6.78, Z:-3.99 [[ 9.97659922e-01 6.64967696e-02 1.59015441e-02 3.32564874e+02] [-6.65057509e-02 9.97786041e-01 3.60839852e-05 6.78470785e+00] [-1.58639393e-02 -1.09354368e-03 9.99873562e-01 -3.99216149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.255898227 meters 0.07318749545665801 Centerline is valid? [True, True] Translation: X:332.63, Y:6.77, Z:-4.00 [[ 9.97790671e-01 6.48470243e-02 1.44443802e-02 3.32625853e+02] [-6.48542627e-02 9.97894746e-01 3.27836704e-05 6.76982329e+00] [-1.44118451e-02 -9.69490866e-04 9.99895674e-01 -3.99634313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.315898227 meters 0.06980842003792187 Centerline is valid? [True, True] Translation: X:332.69, Y:6.76, Z:-4.00 [[ 9.97916053e-01 6.25115121e-02 1.59957151e-02 3.32686677e+02] [-6.25200873e-02 9.98043705e-01 3.61102747e-05 6.75632629e+00] [-1.59621655e-02 -1.03608853e-03 9.99872060e-01 -3.99537271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.375898227 meters 0.07379992582221288 Centerline is valid? [True, True] Translation: X:332.75, Y:6.75, Z:-4.00 [[ 9.97723787e-01 6.57585831e-02 1.49349667e-02 3.32746691e+02] [-6.57664188e-02 9.97835045e-01 3.35955866e-05 6.75064460e+00] [-1.49004240e-02 -1.01573839e-03 9.99888467e-01 -3.99767654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.43589822699994 meters 0.08706806250332069 Centerline is valid? [True, True] Translation: X:332.81, Y:6.76, Z:-4.00 [[ 9.97256078e-01 7.30350063e-02 1.20913949e-02 3.32806110e+02] [-7.30406748e-02 9.97328962e-01 2.72828815e-05 6.76130091e+00] [-1.20571057e-02 -9.10371662e-04 9.99926896e-01 -4.00430471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.49589822699994 meters 0.07913810084826235 Centerline is valid? [True, True] Translation: X:332.87, Y:6.75, Z:-4.00 [[ 9.97090765e-01 7.51476074e-02 1.27610501e-02 3.32866309e+02] [-7.51540950e-02 9.97171932e-01 2.89362689e-05 6.74657045e+00] [-1.27227865e-02 -9.87897257e-04 9.99918574e-01 -4.00292933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.55589822699994 meters 0.07487693635995124 Centerline is valid? [True, True] Translation: X:332.93, Y:6.74, Z:-4.00 [[ 9.97094333e-01 7.49672620e-02 1.35204008e-02 3.32928421e+02] [-7.49745309e-02 9.97185449e-01 3.08488055e-05 6.73928863e+00] [-1.34800343e-02 -1.04444488e-03 9.99908595e-01 -4.00248715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.61589822699995 meters 0.07265822138850186 Centerline is valid? [True, True] Translation: X:332.99, Y:6.73, Z:-4.00 [[ 9.97373706e-01 7.07736128e-02 1.53878314e-02 3.32988842e+02] [-7.07824897e-02 9.97491773e-01 3.23320344e-05 6.72979328e+00] [-1.53469470e-02 -1.12143614e-03 9.99881600e-01 -4.00131451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.67589822699995 meters 0.07756063421603748 Centerline is valid? [True, True] Translation: X:333.05, Y:6.73, Z:-4.00 [[ 9.97592813e-01 6.75859394e-02 1.55151357e-02 3.33048832e+02] [-6.75945780e-02 9.97712871e-01 3.24596176e-05 6.73106100e+00] [-1.54774568e-02 -1.08112053e-03 9.99879633e-01 -4.00101701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.73589822699995 meters 0.08042179954931773 Centerline is valid? [True, True] Translation: X:333.11, Y:6.73, Z:-4.00 [[ 9.97555065e-01 6.85596668e-02 1.35449193e-02 3.33109844e+02] [-6.85663412e-02 9.97646559e-01 2.84487556e-05 6.72934371e+00] [-1.35110917e-02 -9.57104757e-04 9.99908263e-01 -4.00415701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.79589822699995 meters 0.08524860607136026 Centerline is valid? [True, True] Translation: X:333.17, Y:6.73, Z:-4.00 [[ 9.97209453e-01 7.34550438e-02 1.33290434e-02 3.33170145e+02] [-7.34619278e-02 9.97298022e-01 2.69312053e-05 6.73055275e+00] [-1.32910504e-02 -1.00603328e-03 9.99911164e-01 -4.00402543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.85589822699995 meters 0.08150461406804871 Centerline is valid? [True, True] Translation: X:333.23, Y:6.72, Z:-4.00 [[ 9.96887723e-01 7.76461879e-02 1.36359031e-02 3.33230932e+02] [-7.76537817e-02 9.96980386e-01 2.75200562e-05 6.72493661e+00] [-1.35925911e-02 -1.08631385e-03 9.99907026e-01 -4.00417514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.91589822699996 meters 0.0869237278463633 Centerline is valid? [True, True] Translation: X:333.29, Y:6.73, Z:-4.00 [[ 9.96418302e-01 8.33331422e-02 1.43580992e-02 3.33291657e+02] [-8.33421469e-02 9.96520991e-01 2.89061522e-05 6.73153992e+00] [-1.43057385e-02 -1.22543744e-03 9.99896917e-01 -4.00314579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.97589822699996 meters 0.09303092373455663 Centerline is valid? [True, True] Translation: X:333.35, Y:6.74, Z:-4.01 [[ 9.96162291e-01 8.65655977e-02 1.29262132e-02 3.33351239e+02] [-8.65731657e-02 9.96245495e-01 2.60213593e-05 6.74060933e+00] [-1.28754292e-02 -1.14498470e-03 9.99916453e-01 -4.00611573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.03589822699996 meters 0.09710684602855323 Centerline is valid? [True, True] Translation: X:333.41, Y:6.75, Z:-4.00 [[ 9.95943397e-01 8.88803065e-02 1.40371228e-02 3.33412118e+02] [-8.88894535e-02 9.96041497e-01 2.78352926e-05 6.74830421e+00] [-1.39790828e-02 -1.27547455e-03 9.99901474e-01 -4.00471091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.09589822699996 meters 0.09233293400341192 Centerline is valid? [True, True] Translation: X:333.47, Y:6.74, Z:-4.00 [[ 9.96346644e-01 8.40764497e-02 1.49838682e-02 3.33472393e+02] [-8.40863327e-02 9.96458473e-01 2.96811362e-05 6.73893530e+00] [-1.49283069e-02 -1.28951123e-03 9.99887735e-01 -4.00431848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.15589822699997 meters 0.09109863221963314 Centerline is valid? [True, True] Translation: X:333.53, Y:6.73, Z:-4.01 [[ 9.96820711e-01 7.83465490e-02 1.45013453e-02 3.33532189e+02] [-7.83552037e-02 9.96925504e-01 2.87510044e-05 6.73000586e+00] [-1.44545084e-02 -1.16491546e-03 9.99894850e-01 -4.00638523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.21589822699997 meters 0.08267960963043802 Centerline is valid? [True, True] Translation: X:333.59, Y:6.72, Z:-4.01 [[ 9.97300593e-01 7.23070828e-02 1.27754703e-02 3.33593203e+02] [-7.23133068e-02 9.97381965e-01 2.53185814e-05 6.71580456e+00] [-1.27401930e-02 -9.49086743e-04 9.99918390e-01 -4.01144247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.27589822699997 meters 0.07980004977325691 Centerline is valid? [True, True] Translation: X:333.65, Y:6.71, Z:-4.01 [[ 9.97521849e-01 6.90059671e-02 1.37235698e-02 3.33654115e+02] [-6.90128370e-02 9.97615772e-01 2.70878010e-05 6.70709986e+00] [-1.36889805e-02 -9.74123161e-04 9.99905827e-01 -4.01121752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.335898227 meters 0.07953672003236689 Centerline is valid? [True, True] Translation: X:333.71, Y:6.70, Z:-4.01 [[ 9.97740405e-01 6.52480149e-02 1.60244074e-02 3.33714353e+02] [-6.52568966e-02 9.97868497e-01 3.14458618e-05 6.69721190e+00] [-1.59881996e-02 -1.07707791e-03 9.99871600e-01 -4.00766243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.395898227 meters 0.06335151811610165 Centerline is valid? [True, True] Translation: X:333.78, Y:6.67, Z:-4.01 [[ 9.97989034e-01 6.13398071e-02 1.59785831e-02 3.33775119e+02] [-6.13481374e-02 9.98116429e-01 3.12423775e-05 6.66860904e+00] [-1.59465698e-02 -1.01143586e-03 9.99872334e-01 -4.01007282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.455898227 meters 0.0638264203855132 Centerline is valid? [True, True] Translation: X:333.83, Y:6.66, Z:-4.01 [[ 9.98368708e-01 5.47037736e-02 1.63530058e-02 3.33834339e+02] [-5.47116093e-02 9.98502198e-01 3.18291929e-05 6.65683181e+00] [-1.63267711e-02 -9.26476535e-04 9.99866280e-01 -4.00916716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.515898227 meters 0.053578303752281474 Centerline is valid? [True, True] Translation: X:333.90, Y:6.64, Z:-4.01 [[ 9.98523524e-01 5.20515526e-02 1.55373021e-02 3.33895529e+02] [-5.20583085e-02 9.98644046e-01 3.04098036e-05 6.63527464e+00] [-1.55146514e-02 -8.39210571e-04 9.99879288e-01 -4.01126317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.575898227 meters 0.05138632662639405 Centerline is valid? [True, True] Translation: X:333.95, Y:6.62, Z:-4.01 [[ 9.98675486e-01 4.83322813e-02 1.76426611e-02 3.33954731e+02] [-4.83404106e-02 9.98830918e-01 3.43604046e-05 6.61878099e+00] [-1.76203747e-02 -8.87168377e-04 9.99844356e-01 -4.00802255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.635898227 meters 0.04797700636367325 Centerline is valid? [True, True] Translation: X:334.02, Y:6.60, Z:-4.01 [[ 9.98836073e-01 4.46046599e-02 1.83554765e-02 3.34015561e+02] [-4.46128346e-02 9.99004351e-01 3.59106236e-05 6.60356550e+00] [-1.83355991e-02 -8.54758662e-04 9.99831523e-01 -4.00768077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.695898227 meters 0.04454376036598861 Centerline is valid? [True, True] Translation: X:334.08, Y:6.60, Z:-4.01 [[ 9.99025619e-01 4.05614992e-02 1.73947788e-02 3.34075739e+02] [-4.05682280e-02 9.99176770e-01 3.39923621e-05 6.59575175e+00] [-1.73790801e-02 -7.39634593e-04 9.99848699e-01 -4.01037850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.755898227 meters 0.04089803328522582 Centerline is valid? [True, True] Translation: X:334.14, Y:6.59, Z:-4.01 [[ 9.99249607e-01 3.42472391e-02 1.80928137e-02 3.34135133e+02] [-3.42534851e-02 9.99413177e-01 3.53424759e-05 6.58629436e+00] [-1.80809861e-02 -6.55057880e-04 9.99836311e-01 -4.00872644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.815898227 meters 0.0364533141313951 Centerline is valid? [True, True] Translation: X:334.20, Y:6.58, Z:-4.01 [[ 9.99405087e-01 2.97753642e-02 1.74039898e-02 3.34195961e+02] [-2.97804690e-02 9.99556463e-01 3.41555244e-05 6.57770390e+00] [-1.73952534e-02 -5.52434182e-04 9.99848539e-01 -4.01020723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.875898227 meters 0.025932499129796546 Centerline is valid? [True, True] Translation: X:334.26, Y:6.56, Z:-4.01 [[ 9.99662816e-01 1.97878413e-02 1.68135369e-02 3.34257144e+02] [-1.97911914e-02 9.99804135e-01 3.28658900e-05 6.55851219e+00] [-1.68095934e-02 -3.65614736e-04 9.99858642e-01 -4.01224996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.93589822699994 meters 0.018026991204845116 Centerline is valid? [True, True] Translation: X:334.32, Y:6.54, Z:-4.01 [[ 9.99789723e-01 1.28491338e-02 1.59815166e-02 3.34318000e+02] [-1.28512718e-02 9.99917419e-01 3.10828369e-05 6.54319307e+00] [-1.59797974e-02 -2.36459114e-04 9.99872287e-01 -4.01440200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.99589822699994 meters 0.01884049274983548 Centerline is valid? [True, True] Translation: X:334.38, Y:6.53, Z:-4.01 [[ 9.99846268e-01 4.43931217e-03 1.69626656e-02 3.34378354e+02] [-4.44050713e-03 9.99990140e-01 3.27825923e-05 6.52703939e+00] [-1.69623528e-02 -1.08100390e-04 9.99856123e-01 -4.01371348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.05589822699994 meters 0.010042876024266631 Centerline is valid? [True, True] Translation: X:334.44, Y:6.52, Z:-4.01 [[ 9.99855792e-01 1.24086422e-03 1.69368203e-02 3.34440174e+02] [-1.24158836e-03 9.99999229e-01 3.22404125e-05 6.51903090e+00] [-1.69367673e-02 -5.32643222e-05 9.99856561e-01 -4.01359043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.11589822699995 meters 0.009784681092688667 Centerline is valid? [True, True] Translation: X:334.50, Y:6.51, Z:-4.01 [[ 9.99828770e-01 -3.17365720e-03 1.82306938e-02 3.34502523e+02] [ 3.17360938e-03 9.99994964e-01 3.15541733e-05 6.50844616e+00] [-1.82307021e-02 2.63083304e-05 9.99833807e-01 -4.01211971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.17589822699995 meters 0.012796105382261997 Centerline is valid? [True, True] Translation: X:334.56, Y:6.50, Z:-4.02 [[ 9.99821189e-01 -8.93116150e-03 1.66680896e-02 3.34564208e+02] [ 8.93196506e-03 9.99960109e-01 2.62362638e-05 6.49643825e+00] [-1.66676590e-02 1.22647221e-04 9.99861077e-01 -4.01648598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.23589822699995 meters 0.014571577286216487 Centerline is valid? [True, True] Translation: X:334.63, Y:6.49, Z:-4.02 [[ 9.99768281e-01 -1.19851936e-02 1.78812658e-02 3.34625853e+02] [ 1.19866554e-02 9.99928157e-01 2.54275758e-05 6.48989805e+00] [-1.78802860e-02 1.88914888e-04 9.99840117e-01 -4.01561111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.29589822699995 meters 0.015595002520841 Centerline is valid? [True, True] Translation: X:334.69, Y:6.48, Z:-4.02 [[ 9.99778712e-01 -1.28466689e-02 1.66580617e-02 3.34687492e+02] [ 1.28480737e-02 9.99917460e-01 2.26895210e-05 6.48429632e+00] [-1.66569783e-02 1.91339506e-04 9.99861245e-01 -4.01870354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.35589822699995 meters 0.016092710981281573 Centerline is valid? [True, True] Translation: X:334.75, Y:6.48, Z:-4.02 [[ 9.99807998e-01 -1.31008223e-02 1.45717526e-02 3.34748832e+02] [ 1.31019308e-02 9.99914166e-01 1.93977670e-05 6.48091941e+00] [-1.45707560e-02 1.71524051e-04 9.99893826e-01 -4.02296219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.41589822699996 meters 0.019166227588641095 Centerline is valid? [True, True] Translation: X:334.81, Y:6.47, Z:-4.03 [[ 9.99831674e-01 -1.42639347e-02 1.15396487e-02 3.34809162e+02] [ 1.42647100e-02 9.99898254e-01 1.51260565e-05 6.47147307e+00] [-1.15386904e-02 1.49486232e-04 9.99933416e-01 -4.02927310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.47589822699996 meters 0.018176402466384935 Centerline is valid? [True, True] Translation: X:334.87, Y:6.47, Z:-4.03 [[ 9.99831683e-01 -1.45922684e-02 1.11207458e-02 3.34869786e+02] [ 1.45930105e-02 9.99893516e-01 1.44116049e-05 6.47045403e+00] [-1.11197719e-02 1.47875981e-04 9.99938162e-01 -4.02941440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.53589822699996 meters 0.016240440384668434 Centerline is valid? [True, True] Translation: X:334.93, Y:6.47, Z:-4.03 [[ 9.99835099e-01 -1.26895606e-02 1.29903469e-02 3.34930040e+02] [ 1.26904130e-02 9.99919473e-01 1.68121481e-05 6.47023741e+00] [-1.29895141e-02 1.48043491e-04 9.99915622e-01 -4.02655200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.59589822699996 meters 0.012455237241671524 Centerline is valid? [True, True] Translation: X:334.99, Y:6.48, Z:-4.03 [[ 9.99874138e-01 -8.11642032e-03 1.36319855e-02 3.34990048e+02] [ 8.11693162e-03 9.99967057e-01 1.78204780e-05 6.47798599e+00] [-1.36316810e-02 9.28316591e-05 9.99907080e-01 -4.02658134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.65589822699997 meters 0.009397396595247265 Centerline is valid? [True, True] Translation: X:335.05, Y:6.49, Z:-4.02 [[ 9.99878955e-01 -9.98725959e-04 1.55266567e-02 3.35050924e+02] [ 9.98531373e-04 9.99999501e-01 2.02847847e-05 6.49480475e+00] [-1.55266692e-02 -4.77847549e-06 9.99879454e-01 -4.02286570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.71589822699997 meters 0.009507600092618022 Centerline is valid? [True, True] Translation: X:335.11, Y:6.50, Z:-4.02 [[ 9.99871099e-01 -1.30212202e-03 1.60027838e-02 3.35113705e+02] [ 1.30196071e-03 9.99999152e-01 2.04985540e-05 6.50087946e+00] [-1.60027970e-02 3.39084018e-07 9.99871947e-01 -4.02372593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.77589822699997 meters 0.0159370419172889 Centerline is valid? [True, True] Translation: X:335.18, Y:6.49, Z:-4.02 [[ 9.99812759e-01 -1.11726877e-02 1.57992948e-02 3.35175127e+02] [ 1.11737790e-02 9.99937571e-01 1.92053942e-05 6.49402164e+00] [-1.57985231e-02 1.57336031e-04 9.99875183e-01 -4.02491200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.835898227 meters 0.03093580508355978 Centerline is valid? [True, True] Translation: X:335.23, Y:6.48, Z:-4.02 [[ 9.99597696e-01 -2.36212463e-02 1.56997433e-02 3.35234251e+02] [ 2.36238757e-02 9.99720917e-01 1.79796134e-05 6.48147513e+00] [-1.56957864e-02 3.52916403e-04 9.99876751e-01 -4.02479196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.895898227 meters 0.03487965251736654 Centerline is valid? [True, True] Translation: X:335.29, Y:6.48, Z:-4.02 [[ 9.99513869e-01 -2.68061989e-02 1.59202312e-02 3.35293293e+02] [ 2.68093012e-02 9.99640566e-01 1.85633366e-05 6.48256541e+00] [-1.59150065e-02 4.08255959e-04 9.99873265e-01 -4.02492952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.955898227 meters 0.029308095432063447 Centerline is valid? [True, True] Translation: X:335.35, Y:6.50, Z:-4.02 [[ 9.99629310e-01 -2.18835792e-02 1.61972444e-02 3.35352228e+02] [ 2.18861361e-02 9.99760470e-01 1.94029884e-05 6.50157393e+00] [-1.61937892e-02 3.35099299e-04 9.99868816e-01 -4.02305803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.015898227 meters 0.021557743697389133 Centerline is valid? [True, True] Translation: X:335.41, Y:6.52, Z:-4.02 [[ 9.99747117e-01 -1.54473183e-02 1.63426685e-02 3.35412645e+02] [ 1.54490562e-02 9.99880656e-01 1.99114009e-05 6.52351510e+00] [-1.63410257e-02 2.32572439e-04 9.99866449e-01 -4.02215883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.075898227 meters 0.01243336842876684 Centerline is valid? [True, True] Translation: X:335.47, Y:6.56, Z:-4.03 [[ 9.99844607e-01 -9.28056389e-03 1.49877469e-02 3.35473702e+02] [ 9.28133057e-03 9.99956927e-01 1.84038725e-05 6.55689767e+00] [-1.49872721e-02 1.20705220e-04 9.99887677e-01 -4.02509564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.135898227 meters 0.019207665550901525 Centerline is valid? [True, True] Translation: X:335.54, Y:6.56, Z:-4.03 [[ 9.99791568e-01 -1.29626117e-02 1.57731115e-02 3.35535165e+02] [ 1.29639260e-02 9.99915965e-01 1.89213762e-05 6.56169614e+00] [-1.57720312e-02 1.85564018e-04 9.99875597e-01 -4.02567744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.195898227 meters 0.019832667279953083 Centerline is valid? [True, True] Translation: X:335.60, Y:6.57, Z:-4.03 [[ 9.99737844e-01 -1.73108161e-02 1.49859369e-02 3.35597154e+02] [ 1.73125056e-02 9.99850127e-01 1.69917850e-05 6.57049454e+00] [-1.49839851e-02 2.42456786e-04 9.99887704e-01 -4.02803487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.255898227 meters 0.024706109000559466 Centerline is valid? [True, True] Translation: X:335.66, Y:6.58, Z:-4.03 [[ 9.99688802e-01 -2.18897429e-02 1.19640724e-02 3.35658536e+02] [ 2.18911535e-02 9.99760360e-01 1.30622164e-05 6.57838261e+00] [-1.19614912e-02 2.48849194e-04 9.99928428e-01 -4.03407535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.315898227 meters 0.027063016091724384 Centerline is valid? [True, True] Translation: X:335.72, Y:6.58, Z:-4.04 [[ 9.99652015e-01 -2.38595457e-02 1.12504210e-02 3.35718103e+02] [ 2.38609225e-02 9.99715288e-01 1.18564219e-05 6.58201868e+00] [-1.12475008e-02 2.56593127e-04 9.99936712e-01 -4.03670832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.375898227 meters 0.02845902516889407 Centerline is valid? [True, True] Translation: X:335.78, Y:6.58, Z:-4.04 [[ 9.99624492e-01 -2.43847898e-02 1.25002946e-02 3.35776451e+02] [ 2.43865267e-02 9.99702604e-01 1.34847189e-05 6.58305542e+00] [-1.24969059e-02 2.91359113e-04 9.99921868e-01 -4.03536878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.43589822699994 meters 0.0253250987367755 Centerline is valid? [True, True] Translation: X:335.84, Y:6.59, Z:-4.04 [[ 9.99689146e-01 -2.18197594e-02 1.20627385e-02 3.35836061e+02] [ 2.18211847e-02 9.99761890e-01 1.34564666e-05 6.58977173e+00] [-1.20601598e-02 2.49770961e-04 9.99927242e-01 -4.03607987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.49589822699994 meters 0.01760540209854515 Centerline is valid? [True, True] Translation: X:335.89, Y:6.60, Z:-4.03 [[ 9.99811817e-01 -1.39811415e-02 1.34483280e-02 3.35894582e+02] [ 1.39821993e-02 9.99902244e-01 1.53740989e-05 6.60229140e+00] [-1.34472283e-02 1.72665996e-04 9.99909567e-01 -4.03446456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.55589822699994 meters 0.012486001238546394 Centerline is valid? [True, True] Translation: X:335.96, Y:6.61, Z:-4.04 [[ 9.99869061e-01 -8.59825350e-03 1.37087898e-02 3.35956286e+02] [ 8.59884300e-03 9.99963029e-01 1.59418423e-05 6.61029910e+00] [-1.37084200e-02 1.01939976e-04 9.99906030e-01 -4.03511427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.61589822699995 meters 0.009274321524811831 Centerline is valid? [True, True] Translation: X:336.02, Y:6.62, Z:-4.03 [[ 9.99887705e-01 -2.08884496e-03 1.48395965e-02 3.36018104e+02] [ 2.08882739e-03 9.99997818e-01 1.66836035e-05 6.61532584e+00] [-1.48395990e-02 1.43156256e-05 9.99889887e-01 -4.03387847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.67589822699995 meters 0.02748876225557237 Centerline is valid? [True, True] Translation: X:336.08, Y:6.62, Z:-4.03 [[ 9.99821773e-01 2.96046888e-03 1.86456116e-02 3.36079964e+02] [-2.96135869e-03 9.99995615e-01 2.01117275e-05 6.62220033e+00] [-1.86454703e-02 -7.53244870e-05 9.99826155e-01 -4.02969597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.73589822699995 meters 0.012016860881036014 Centerline is valid? [True, True] Translation: X:336.14, Y:6.63, Z:-4.03 [[ 9.99823994e-01 5.88318056e-03 1.78148772e-02 3.36142052e+02] [-5.88444223e-03 9.99982686e-01 1.84020040e-05 6.62557393e+00] [-1.78144605e-02 -1.23229381e-04 9.99841302e-01 -4.03193063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.79589822699995 meters 0.013381678254892709 Centerline is valid? [True, True] Translation: X:336.20, Y:6.63, Z:-4.04 [[ 9.99819110e-01 7.92459138e-03 1.72901171e-02 3.36204222e+02] [-7.92606653e-03 9.99968588e-01 1.67916713e-05 6.62775279e+00] [-1.72894409e-02 -1.53831252e-04 9.99850515e-01 -4.03596442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.85589822699995 meters 0.012427411702553237 Centerline is valid? [True, True] Translation: X:336.27, Y:6.62, Z:-4.04 [[ 9.99849783e-01 7.08977554e-03 1.58160292e-02 3.36265944e+02] [-7.09086774e-03 9.99974859e-01 1.29788247e-05 6.62359802e+00] [-1.58155395e-02 -1.25126246e-04 9.99874919e-01 -4.03970908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.91589822699996 meters 0.010176816923179085 Centerline is valid? [True, True] Translation: X:336.33, Y:6.62, Z:-4.04 [[ 9.99914106e-01 2.46318754e-03 1.28729948e-02 3.36326616e+02] [-2.46350579e-03 9.99996966e-01 8.86549611e-06 6.61665911e+00] [-1.28729339e-02 -4.05774318e-05 9.99917140e-01 -4.04427025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.97589822699996 meters 0.00964433831179113 Centerline is valid? [True, True] Translation: X:336.39, Y:6.61, Z:-4.04 [[ 9.99901819e-01 -1.02735550e-03 1.39748936e-02 3.36388458e+02] [ 1.02735396e-03 9.99999472e-01 7.28878710e-06 6.61150406e+00] [-1.39748937e-02 7.06909090e-06 9.99902346e-01 -4.04284396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.03589822699996 meters 0.01329425162630092 Centerline is valid? [True, True] Translation: X:336.45, Y:6.60, Z:-4.04 [[ 9.99862002e-01 -8.62641865e-03 1.41972142e-02 3.36450553e+02] [ 8.62721531e-03 9.99962785e-01 5.13033985e-06 6.60110711e+00] [-1.41967301e-02 1.17352792e-04 9.99899214e-01 -4.04294413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.09589822699996 meters 0.020370808722899057 Centerline is valid? [True, True] Translation: X:336.51, Y:6.59, Z:-4.04 [[ 9.99769560e-01 -1.53186396e-02 1.50388308e-02 3.36510646e+02] [ 1.53203301e-02 9.99882637e-01 2.79951616e-06 6.58906829e+00] [-1.50371087e-02 2.27600982e-04 9.99886910e-01 -4.04210121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.15589822699997 meters 0.03524965309496052 Centerline is valid? [True, True] Translation: X:336.57, Y:6.58, Z:-4.04 [[ 9.99619300e-01 -2.19747668e-02 1.66842475e-02 3.36572113e+02] [ 2.19777749e-02 9.99758460e-01 3.06419576e-06 6.58194296e+00] [-1.66802849e-02 3.63619607e-04 9.99860808e-01 -4.03971479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.21589822699997 meters 0.026707579706029497 Centerline is valid? [True, True] Translation: X:336.63, Y:6.58, Z:-4.04 [[ 9.99620880e-01 -2.04700142e-02 1.84139687e-02 3.36631448e+02] [ 2.04734298e-02 9.99790397e-01 3.02488477e-06 6.58020656e+00] [-1.84101711e-02 3.73973359e-04 9.99830448e-01 -4.03638820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.27589822699997 meters 0.023232159819351568 Centerline is valid? [True, True] Translation: X:336.69, Y:6.59, Z:-4.03 [[ 9.99617063e-01 -1.84309875e-02 2.06404208e-02 3.36692983e+02] [ 1.84348434e-02 9.99830064e-01 3.45897401e-06 6.58671338e+00] [-2.06369770e-02 3.77045275e-04 9.99786964e-01 -4.03441771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.335898227 meters 0.021574414522797812 Centerline is valid? [True, True] Translation: X:336.76, Y:6.59, Z:-4.04 [[ 9.99641941e-01 -1.83017893e-02 1.95201031e-02 3.36755496e+02] [ 1.83052240e-02 9.99832445e-01 2.72122015e-06 6.59110947e+00] [-1.95168823e-02 3.54599615e-04 9.99809465e-01 -4.03947155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.395898227 meters 0.023440571913711166 Centerline is valid? [True, True] Translation: X:336.82, Y:6.59, Z:-4.04 [[ 9.99641681e-01 -1.94908891e-02 1.83470621e-02 3.36816792e+02] [ 1.94941382e-02 9.99809971e-01 1.75226542e-06 6.58967453e+00] [-1.83436098e-02 3.55908527e-04 9.99831678e-01 -4.04295932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.455898227 meters 0.02748747638202889 Centerline is valid? [True, True] Translation: X:336.88, Y:6.59, Z:-4.05 [[ 9.99589840e-01 -2.35402684e-02 1.63097421e-02 3.36877849e+02] [ 2.35433830e-02 9.99722816e-01 1.04485437e-06 6.58808402e+00] [-1.63052459e-02 3.82942078e-04 9.99866987e-01 -4.04715350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.515898227 meters 0.027908556566417463 Centerline is valid? [True, True] Translation: X:336.94, Y:6.60, Z:-4.05 [[ 9.99603732e-01 -2.37824325e-02 1.50590149e-02 3.36938184e+02] [ 2.37851200e-02 9.99717094e-01 6.33786468e-07 6.59804083e+00] [-1.50547697e-02 3.57546941e-04 9.99886607e-01 -4.04986700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.575898227 meters 0.02919841820114812 Centerline is valid? [True, True] Translation: X:337.00, Y:6.61, Z:-4.05 [[ 9.99615312e-01 -2.31801384e-02 1.52285768e-02 3.36997227e+02] [ 2.31828170e-02 9.99731242e-01 6.39542584e-07 6.60650765e+00] [-1.52244988e-02 3.52402012e-04 9.99884039e-01 -4.05028958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.635898227 meters 0.03267425731993607 Centerline is valid? [True, True] Translation: X:337.06, Y:6.62, Z:-4.05 [[ 9.99566856e-01 -2.49547865e-02 1.55999463e-02 3.37056613e+02] [ 2.49578144e-02 9.99688505e-01 5.84020093e-07 6.61997595e+00] [-1.55951016e-02 3.88756797e-04 9.99878313e-01 -4.05003282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.695898227 meters 0.03879684917885829 Centerline is valid? [True, True] Translation: X:337.12, Y:6.62, Z:-4.05 [[ 9.99444321e-01 -2.94698864e-02 1.55748290e-02 3.37116189e+02] [ 2.94734498e-02 9.99565564e-01 7.42600557e-07 6.62345740e+00] [-1.55680846e-02 4.58301752e-04 9.99878705e-01 -4.05161507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.755898227 meters 0.043968147792480726 Centerline is valid? [True, True] Translation: X:337.18, Y:6.63, Z:-4.05 [[ 9.99168690e-01 -3.76348937e-02 1.56698064e-02 3.37176585e+02] [ 3.76395076e-02 9.99291383e-01 4.77171126e-07 6.63167456e+00] [-1.56587204e-02 5.89327021e-04 9.99877221e-01 -4.05110362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.815898227 meters 0.052696257164621986 Centerline is valid? [True, True] Translation: X:337.24, Y:6.64, Z:-4.05 [[ 9.99033462e-01 -4.06579735e-02 1.67054267e-02 3.37235764e+02] [ 4.06636394e-02 9.99172892e-01 5.08548982e-07 6.63711170e+00] [-1.66916302e-02 6.78795391e-04 9.99860455e-01 -4.05103313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.875898227 meters 0.05099600106334431 Centerline is valid? [True, True] Translation: X:337.29, Y:6.65, Z:-4.05 [[ 9.98958661e-01 -4.20441750e-02 1.77166925e-02 3.37294472e+02] [ 4.20507611e-02 9.99115476e-01 7.84903485e-07 6.64906488e+00] [-1.77010546e-02 7.44216316e-04 9.99843047e-01 -4.04968875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.93589822699994 meters 0.052970332653708506 Centerline is valid? [True, True] Translation: X:337.35, Y:6.66, Z:-4.05 [[ 9.98897374e-01 -4.32200390e-02 1.83320669e-02 3.37352414e+02] [ 4.32272753e-02 9.99065264e-01 1.52351591e-06 6.66452368e+00] [-1.83149971e-02 7.90923464e-04 9.99831954e-01 -4.04877015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.99589822699994 meters 0.050951576349954786 Centerline is valid? [True, True] Translation: X:337.41, Y:6.68, Z:-4.05 [[ 9.98921226e-01 -4.29247192e-02 1.77158637e-02 3.37412256e+02] [ 4.29314154e-02 9.99078022e-01 2.33903165e-06 6.67962498e+00] [-1.76996304e-02 7.58230594e-04 9.99843062e-01 -4.05104274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.05589822699994 meters 0.04775457128491861 Centerline is valid? [True, True] Translation: X:337.47, Y:6.70, Z:-4.05 [[ 9.98905221e-01 -4.31092221e-02 1.81646455e-02 3.37472218e+02] [ 4.31162848e-02 9.99070061e-01 2.81731586e-06 6.70312537e+00] [-1.81478749e-02 7.80377797e-04 9.99835009e-01 -4.05093702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.11589822699995 meters 0.055991356152834154 Centerline is valid? [True, True] Translation: X:337.53, Y:6.70, Z:-4.05 [[ 9.98879730e-01 -4.41287744e-02 1.70861697e-02 3.37531848e+02] [ 4.41351660e-02 9.99025569e-01 3.00127699e-06 6.70414917e+00] [-1.70696528e-02 7.51103021e-04 9.99854021e-01 -4.05353388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.17589822699995 meters 0.05244931227827941 Centerline is valid? [True, True] Translation: X:337.59, Y:6.72, Z:-4.06 [[ 9.98794465e-01 -4.70160849e-02 1.41104724e-02 3.37592199e+02] [ 4.70207292e-02 9.98893914e-01 2.62030899e-06 6.72311433e+00] [-1.40949882e-02 6.60867550e-04 9.99900442e-01 -4.06145367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.23589822699995 meters 0.0536724028416077 Centerline is valid? [True, True] Translation: X:337.65, Y:6.73, Z:-4.06 [[ 9.98785994e-01 -4.74027411e-02 1.33984690e-02 3.37652288e+02] [ 4.74069637e-02 9.98875658e-01 2.45256986e-06 6.73165520e+00] [-1.33835208e-02 6.32731140e-04 9.99910236e-01 -4.06183126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.29589822699995 meters 0.051588333497782426 Centerline is valid? [True, True] Translation: X:337.71, Y:6.74, Z:-4.06 [[ 9.98910407e-01 -4.46981687e-02 1.34191027e-02 3.37712144e+02] [ 4.47021564e-02 9.99000359e-01 2.77960428e-06 6.74458232e+00] [-1.34058126e-02 5.97086251e-04 9.99909960e-01 -4.06228009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.35589822699995 meters 0.043442892865333246 Centerline is valid? [True, True] Translation: X:337.77, Y:6.76, Z:-4.06 [[ 9.99128328e-01 -3.90527740e-02 1.47466856e-02 3.37771843e+02] [ 3.90569733e-02 9.99236985e-01 3.24064451e-06 6.76182947e+00] [-1.47355602e-02 5.72723086e-04 9.99891262e-01 -4.06153220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.41589822699996 meters 0.04164381082484663 Centerline is valid? [True, True] Translation: X:337.83, Y:6.77, Z:-4.06 [[ 9.99182275e-01 -3.68610610e-02 1.66145331e-02 3.37832711e+02] [ 3.68660844e-02 9.99320215e-01 3.92751459e-06 6.76971283e+00] [-1.66033836e-02 6.08588478e-04 9.99861969e-01 -4.05925502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.47589822699996 meters 0.03877918408483116 Centerline is valid? [True, True] Translation: X:337.89, Y:6.78, Z:-4.06 [[ 9.99199784e-01 -3.60594233e-02 1.73063510e-02 3.37893776e+02] [ 3.60647579e-02 9.99349455e-01 3.85627436e-06 6.78345380e+00] [-1.72952315e-02 6.20296170e-04 9.99850234e-01 -4.05948530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.53589822699996 meters 0.03969031626170171 Centerline is valid? [True, True] Translation: X:337.95, Y:6.79, Z:-4.06 [[ 9.99196610e-01 -3.59144866e-02 1.77843821e-02 3.37954902e+02] [ 3.59201053e-02 9.99354665e-01 3.50121608e-06 6.78870215e+00] [-1.77730310e-02 6.35318475e-04 9.99841845e-01 -4.05954872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.59589822699996 meters 0.03950228954352524 Centerline is valid? [True, True] Translation: X:338.02, Y:6.80, Z:-4.06 [[ 9.99199799e-01 -3.49049666e-02 1.95295807e-02 3.38015961e+02] [ 3.49115632e-02 9.99390406e-01 3.16377650e-06 6.80076156e+00] [-1.95177860e-02 6.78646948e-04 9.99809280e-01 -4.05670303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.65589822699997 meters 0.035954860166264216 Centerline is valid? [True, True] Translation: X:338.08, Y:6.82, Z:-4.05 [[ 9.99158319e-01 -3.49511945e-02 2.14725021e-02 3.38077791e+02] [ 3.49591950e-02 9.99388741e-01 2.78505103e-06 6.81626463e+00] [-2.14594742e-02 7.47878682e-04 9.99769439e-01 -4.05488078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.71589822699997 meters 0.04480671167652139 Centerline is valid? [True, True] Translation: X:338.14, Y:6.81, Z:-4.06 [[ 9.99082909e-01 -3.72909708e-02 2.10410331e-02 3.38137615e+02] [ 3.72991936e-02 9.99304143e-01 1.65193798e-06 6.81097206e+00] [-2.10264531e-02 7.83163144e-04 9.99778613e-01 -4.05580316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.77589822699997 meters 0.04688364815938538 Centerline is valid? [True, True] Translation: X:338.20, Y:6.82, Z:-4.06 [[ 9.98909410e-01 -4.14506037e-02 2.14904007e-02 3.38198457e+02] [ 4.14601625e-02 9.99140158e-01 7.55028016e-07 6.81606058e+00] [-2.14719537e-02 8.90241302e-04 9.99769055e-01 -4.05732541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.835898227 meters 0.04571843505877588 Centerline is valid? [True, True] Translation: X:338.26, Y:6.82, Z:-4.06 [[ 9.98765114e-01 -4.43240828e-02 2.24415357e-02 3.38259381e+02] [ 4.43352334e-02 9.99016710e-01 6.63356276e-07 6.82128977e+00] [-2.24194986e-02 9.94288186e-04 9.99748157e-01 -4.05907121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.895898227 meters 0.04909022314963419 Centerline is valid? [True, True] Translation: X:338.32, Y:6.82, Z:-4.06 [[ 9.98790857e-01 -4.44049882e-02 2.10955169e-02 3.38320243e+02] [ 4.44148670e-02 9.99013173e-01 2.39676404e-07 6.81796541e+00] [-2.10747099e-02 9.36715190e-04 9.99777465e-01 -4.06274039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.955898227 meters 0.041829061211558764 Centerline is valid? [True, True] Translation: X:338.38, Y:6.83, Z:-4.07 [[ 9.98950541e-01 -4.13185282e-02 1.97634877e-02 3.38381339e+02] [ 4.13266068e-02 9.99145691e-01 -3.44991626e-07 6.82852289e+00] [-1.97465893e-02 8.17102513e-04 9.99804683e-01 -4.06696063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.015898227 meters 0.04225147145775599 Centerline is valid? [True, True] Translation: X:338.44, Y:6.83, Z:-4.07 [[ 9.99052612e-01 -3.85382699e-02 2.02158468e-02 3.38441167e+02] [ 3.85461591e-02 9.99256821e-01 -5.89378318e-07 6.82940442e+00] [-2.02008000e-02 7.79832066e-04 9.99795639e-01 -4.06672308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.075898227 meters 0.044271399988262884 Centerline is valid? [True, True] Translation: X:338.50, Y:6.83, Z:-4.07 [[ 9.99080653e-01 -3.76166488e-02 2.05629992e-02 3.38502234e+02] [ 3.76246204e-02 9.99291943e-01 -7.91577754e-07 6.82773905e+00] [-2.05484097e-02 7.74465891e-04 9.99788559e-01 -4.06822314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.135898227 meters 0.042643356325600526 Centerline is valid? [True, True] Translation: X:338.56, Y:6.83, Z:-4.07 [[ 9.99031374e-01 -3.91003271e-02 2.01860837e-02 3.38564676e+02] [ 3.91083265e-02 9.99234977e-01 -1.52425037e-06 6.82783292e+00] [-2.01705813e-02 7.90966726e-04 9.99796240e-01 -4.07164913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.195898227 meters 0.04779686854167904 Centerline is valid? [True, True] Translation: X:338.63, Y:6.82, Z:-4.07 [[ 9.98990481e-01 -4.04237236e-02 1.95944046e-02 3.38625973e+02] [ 4.04315313e-02 9.99182311e-01 -2.31773874e-06 6.81822321e+00] [-1.95782888e-02 7.94547181e-04 9.99808011e-01 -4.07309325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.255898227 meters 0.0426065492570694 Centerline is valid? [True, True] Translation: X:338.69, Y:6.82, Z:-4.08 [[ 9.99037330e-01 -3.95556253e-02 1.89675182e-02 3.38687885e+02] [ 3.95627982e-02 9.99217086e-01 -2.93241457e-06 6.82362566e+00] [-1.89525523e-02 7.53337686e-04 9.99820100e-01 -4.07615995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.315898227 meters 0.041870713327424695 Centerline is valid? [True, True] Translation: X:338.75, Y:6.82, Z:-4.08 [[ 9.99058525e-01 -3.87441086e-02 1.95181210e-02 3.38749818e+02] [ 3.87515676e-02 9.99248876e-01 -3.94882305e-06 6.82422313e+00] [-1.95033075e-02 7.60302892e-04 9.99809503e-01 -4.07669002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.375898227 meters 0.03924843921703928 Centerline is valid? [True, True] Translation: X:338.81, Y:6.83, Z:-4.07 [[ 9.99150183e-01 -3.46535110e-02 2.23169612e-02 3.38809581e+02] [ 3.46622624e-02 9.99399083e-01 -5.31666005e-06 6.82974961e+00] [-2.23033663e-02 7.78868506e-04 9.99750946e-01 -4.07386459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.43589822699994 meters 0.034922618982222556 Centerline is valid? [True, True] Translation: X:338.87, Y:6.84, Z:-4.08 [[ 9.99218201e-01 -3.26803416e-02 2.22482121e-02 3.38871388e+02] [ 3.26885564e-02 9.99465586e-01 -5.56091293e-06 6.84086232e+00] [-2.22361407e-02 7.32818502e-04 9.99752478e-01 -4.07596782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.49589822699994 meters 0.036819848988349196 Centerline is valid? [True, True] Translation: X:338.93, Y:6.84, Z:-4.08 [[ 9.99253852e-01 -3.15774423e-02 2.22396966e-02 3.38932934e+02] [ 3.15853956e-02 9.99501057e-01 -6.35102647e-06 6.84446065e+00] [-2.22283998e-02 7.08795904e-04 9.99752667e-01 -4.07671771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.55589822699994 meters 0.03256656305445691 Centerline is valid? [True, True] Translation: X:338.99, Y:6.86, Z:-4.08 [[ 9.99334291e-01 -2.85263757e-02 2.27424874e-02 3.38994473e+02] [ 2.85339198e-02 9.99592825e-01 -7.21679553e-06 6.86190060e+00] [-2.27330214e-02 6.56144305e-04 9.99741356e-01 -4.07788924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.61589822699995 meters 0.03457547170521297 Centerline is valid? [True, True] Translation: X:339.06, Y:6.87, Z:-4.08 [[ 9.99261569e-01 -3.02337268e-02 2.37115568e-02 3.39056685e+02] [ 3.02424262e-02 9.99542593e-01 -8.29117539e-06 6.86608163e+00] [-2.37004603e-02 7.25380060e-04 9.99718841e-01 -4.07823894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.67589822699995 meters 0.05194011946232528 Centerline is valid? [True, True] Translation: X:339.12, Y:6.85, Z:-4.08 [[ 9.98825654e-01 -4.22189869e-02 2.37669807e-02 3.39116800e+02] [ 4.22311303e-02 9.99107868e-01 -9.01888292e-06 6.85103327e+00] [-2.37453967e-02 1.01271475e-03 9.99717525e-01 -4.07948358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.73589822699995 meters 0.06166594448142343 Centerline is valid? [True, True] Translation: X:339.18, Y:6.83, Z:-4.08 [[ 9.98335773e-01 -5.34524317e-02 2.16453538e-02 3.39176217e+02] [ 5.34651373e-02 9.98569717e-01 -8.29862841e-06 6.82535053e+00] [-2.16139513e-02 1.16555663e-03 9.99765712e-01 -4.08390043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.79589822699995 meters 0.06292974806667687 Centerline is valid? [True, True] Translation: X:339.24, Y:6.82, Z:-4.08 [[ 9.98288687e-01 -5.43151035e-02 2.16695113e-02 3.39237844e+02] [ 5.43280478e-02 9.98523141e-01 -8.66554683e-06 6.81751967e+00] [-2.16370378e-02 1.18591296e-03 9.99765189e-01 -4.08424930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.85589822699995 meters 0.0539563841526914 Centerline is valid? [True, True] Translation: X:339.30, Y:6.82, Z:-4.08 [[ 9.98583711e-01 -4.81084547e-02 2.27188891e-02 3.39299087e+02] [ 4.81210952e-02 9.98841509e-01 -9.69798881e-06 6.82049477e+00] [-2.26921029e-02 1.10294208e-03 9.99741893e-01 -4.08192540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.91589822699996 meters 0.05046723843575432 Centerline is valid? [True, True] Translation: X:339.36, Y:6.82, Z:-4.08 [[ 9.98790483e-01 -4.24345321e-02 2.48370975e-02 3.39358854e+02] [ 4.24478918e-02 9.99098682e-01 -1.06800777e-05 6.81994169e+00] [-2.48142581e-02 1.06494959e-03 9.99691512e-01 -4.07942972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.97589822699996 meters 0.044297997564578064 Centerline is valid? [True, True] Translation: X:339.42, Y:6.82, Z:-4.08 [[ 9.98851273e-01 -3.99724584e-02 2.64260645e-02 3.39420683e+02] [ 3.99867284e-02 9.99200211e-01 -1.15685734e-05 6.82230228e+00] [-2.64044668e-02 1.06824715e-03 9.99650771e-01 -4.08066145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.03589822699996 meters 0.05177890717603828 Centerline is valid? [True, True] Translation: X:339.48, Y:6.81, Z:-4.08 [[ 9.98646828e-01 -4.55873721e-02 2.50260935e-02 3.39481091e+02] [ 4.56019422e-02 9.98959690e-01 -1.15014554e-05 6.80588282e+00] [-2.49995343e-02 1.15272436e-03 9.99686798e-01 -4.08397030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.09589822699996 meters 0.05505646416543651 Centerline is valid? [True, True] Translation: X:339.54, Y:6.80, Z:-4.09 [[ 9.98513102e-01 -4.83660050e-02 2.51458538e-02 3.39542251e+02] [ 4.83815988e-02 9.98828925e-01 -1.17536498e-05 6.79873018e+00] [-2.51158376e-02 1.22833278e-03 9.99683793e-01 -4.08539196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.15589822699997 meters 0.05564313010968628 Centerline is valid? [True, True] Translation: X:339.60, Y:6.80, Z:-4.09 [[ 9.98412397e-01 -5.11388405e-02 2.36115240e-02 3.39603190e+02] [ 5.11533679e-02 9.98690809e-01 -1.12932427e-05 6.79528442e+00] [-2.35800345e-02 1.21908429e-03 9.99721209e-01 -4.09085764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.21589822699997 meters 0.05597370923477697 Centerline is valid? [True, True] Translation: X:339.66, Y:6.79, Z:-4.09 [[ 9.98473935e-01 -5.04344397e-02 2.24981969e-02 3.39664664e+02] [ 5.04474580e-02 9.98726716e-01 -1.10947261e-05 6.79445108e+00] [-2.24689907e-02 1.14605464e-03 9.99746883e-01 -4.09465748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.27589822699997 meters 0.05571935190662334 Centerline is valid? [True, True] Translation: X:339.73, Y:6.79, Z:-4.10 [[ 9.98536971e-01 -4.90532753e-02 2.27528901e-02 3.39725097e+02] [ 4.90662424e-02 9.98795526e-01 -1.16522940e-05 6.79335247e+00] [-2.27249133e-02 1.12803407e-03 9.99741119e-01 -4.09596751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.335898227 meters 0.05702463681175184 Centerline is valid? [True, True] Translation: X:339.79, Y:6.79, Z:-4.10 [[ 9.98516099e-01 -4.99896553e-02 2.16017398e-02 3.39786718e+02] [ 5.00015699e-02 9.98749139e-01 -1.14473136e-05 6.79311514e+00] [-2.15741468e-02 1.09155123e-03 9.99766655e-01 -4.09850748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.395898227 meters 0.06177816420040551 Centerline is valid? [True, True] Translation: X:339.85, Y:6.79, Z:-4.10 [[ 9.98350857e-01 -5.29079548e-02 2.22781031e-02 3.39846556e+02] [ 5.29213657e-02 9.98598683e-01 -1.24264236e-05 6.78936078e+00] [-2.22462269e-02 1.19139357e-03 9.99751812e-01 -4.09776598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.455898227 meters 0.0653775024271293 Centerline is valid? [True, True] Translation: X:339.91, Y:6.79, Z:-4.10 [[ 9.98228920e-01 -5.48297581e-02 2.30807674e-02 3.39906539e+02] [ 5.48446703e-02 9.98494898e-01 -1.30917937e-05 6.78870817e+00] [-2.30453107e-02 1.27892569e-03 9.99733604e-01 -4.09763503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.515898227 meters 0.06655308050367016 Centerline is valid? [True, True] Translation: X:339.97, Y:6.79, Z:-4.10 [[ 9.98242621e-01 -5.50521806e-02 2.19300391e-02 3.39967794e+02] [ 5.50656992e-02 9.98482733e-01 -1.25894991e-05 6.79405172e+00] [-2.18960723e-02 1.22016031e-03 9.99759508e-01 -4.10028171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.575898227 meters 0.06719545257995455 Centerline is valid? [True, True] Translation: X:340.03, Y:6.80, Z:-4.10 [[ 9.98266753e-01 -5.47683512e-02 2.15387290e-02 3.40029002e+02] [ 5.47813355e-02 9.98498375e-01 -1.28232027e-05 6.80007007e+00] [-2.15056836e-02 1.19272132e-03 9.99768015e-01 -4.10207968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.635898227 meters 0.060603153770368505 Centerline is valid? [True, True] Translation: X:340.09, Y:6.82, Z:-4.11 [[ 9.98258222e-01 -5.55974710e-02 1.97343049e-02 3.40090946e+02] [ 5.56085418e-02 9.98452648e-01 -1.22616904e-05 6.81842038e+00] [-1.97030872e-02 1.10963625e-03 9.99805260e-01 -4.10867664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.695898227 meters 0.062085968345494534 Centerline is valid? [True, True] Translation: X:340.15, Y:6.82, Z:-4.11 [[ 9.98211211e-01 -5.66152633e-02 1.92117177e-02 3.40153140e+02] [ 5.66259597e-02 9.98395463e-01 -1.27951705e-05 6.82375114e+00] [-1.91801673e-02 1.10065423e-03 9.99815438e-01 -4.11080610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.755898227 meters 0.06621760883718295 Centerline is valid? [True, True] Translation: X:340.21, Y:6.83, Z:-4.11 [[ 9.98226002e-01 -5.63276093e-02 1.92885975e-02 3.40214529e+02] [ 5.63383571e-02 9.98411733e-01 -1.38388602e-05 6.83137157e+00] [-1.92571825e-02 1.10050220e-03 9.99813958e-01 -4.11156785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.815898227 meters 0.0705890300131604 Centerline is valid? [True, True] Translation: X:340.27, Y:6.84, Z:-4.11 [[ 9.98369261e-01 -5.32975918e-02 2.04495861e-02 3.40274226e+02] [ 5.33090616e-02 9.98578061e-01 -1.57719435e-05 6.84035094e+00] [-2.04196675e-02 1.10589447e-03 9.99790885e-01 -4.10914203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.875898227 meters 0.056098015011589564 Centerline is valid? [True, True] Translation: X:340.34, Y:6.87, Z:-4.11 [[ 9.98496938e-01 -5.02656513e-02 2.18455804e-02 3.40335573e+02] [ 5.02780168e-02 9.98735261e-01 -1.68203810e-05 6.86990208e+00] [-2.18171059e-02 1.11514756e-03 9.99761357e-01 -4.10959432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.93589822699994 meters 0.058135062290322066 Centerline is valid? [True, True] Translation: X:340.40, Y:6.89, Z:-4.11 [[ 9.98443731e-01 -5.02786240e-02 2.41283320e-02 3.40396638e+02] [ 5.02937345e-02 9.98734469e-01 -1.94387731e-05 6.88527124e+00] [-2.40968195e-02 1.23291244e-03 9.99708869e-01 -4.10737169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.99589822699994 meters 0.061238456282477954 Centerline is valid? [True, True] Translation: X:340.46, Y:6.89, Z:-4.11 [[ 9.98252842e-01 -5.39721241e-02 2.40473074e-02 3.40457316e+02] [ 5.39882254e-02 9.98541572e-01 -2.03698061e-05 6.89245549e+00] [-2.40111368e-02 1.31860567e-03 9.99710821e-01 -4.10937859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.05589822699994 meters 0.07022349325033045 Centerline is valid? [True, True] Translation: X:340.52, Y:6.90, Z:-4.11 [[ 9.97915299e-01 -6.05026867e-02 2.24606592e-02 3.40517022e+02] [ 6.05183818e-02 9.98167083e-01 -1.90877322e-05 6.89754951e+00] [-2.24183358e-02 1.37833069e-03 9.99747727e-01 -4.11321633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.11589822699995 meters 0.0659834018250803 Centerline is valid? [True, True] Translation: X:340.58, Y:6.91, Z:-4.12 [[ 9.97804717e-01 -6.27826471e-02 2.10733438e-02 3.40577573e+02] [ 6.27969732e-02 9.98026322e-01 -1.81122493e-05 6.91344201e+00] [-2.10306147e-02 1.34141469e-03 9.99777932e-01 -4.11803834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.17589822699995 meters 0.0661479750980191 Centerline is valid? [True, True] Translation: X:340.64, Y:6.92, Z:-4.12 [[ 9.97815292e-01 -6.31627449e-02 1.93677927e-02 3.40640020e+02] [ 6.31749265e-02 9.98002469e-01 -1.71602790e-05 6.92253402e+00] [-1.93280211e-02 1.24068167e-03 9.99812427e-01 -4.12180018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.23589822699995 meters 0.06568006517071874 Centerline is valid? [True, True] Translation: X:340.70, Y:6.93, Z:-4.12 [[ 9.97846749e-01 -6.25162193e-02 1.98390572e-02 3.40702473e+02] [ 6.25288919e-02 9.98043154e-01 -1.84900766e-05 6.93120038e+00] [-1.97990793e-02 1.25896453e-03 9.99803186e-01 -4.12312585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.29589822699995 meters 0.0691335161848258 Centerline is valid? [True, True] Translation: X:340.76, Y:6.94, Z:-4.12 [[ 9.97832065e-01 -6.28373710e-02 1.95610521e-02 3.40763858e+02] [ 6.28497684e-02 9.98022999e-01 -1.90532582e-05 6.93595782e+00] [-1.95211826e-02 1.24841954e-03 9.99808664e-01 -4.12364162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.35589822699995 meters 0.0698184728839443 Centerline is valid? [True, True] Translation: X:340.83, Y:6.94, Z:-4.13 [[ 9.97871883e-01 -6.27197519e-02 1.78307993e-02 3.40826062e+02] [ 6.27300443e-02 9.98030531e-01 -1.79538543e-05 6.93598099e+00] [-1.77945560e-02 1.13644248e-03 9.99841018e-01 -4.12762822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.41589822699996 meters 0.06134275729318237 Centerline is valid? [True, True] Translation: X:340.89, Y:6.95, Z:-4.13 [[ 9.98090293e-01 -5.96216336e-02 1.61563398e-02 3.40887045e+02] [ 5.96296887e-02 9.98220567e-01 -1.68756004e-05 6.94704626e+00] [-1.61265845e-02 9.80240887e-04 9.99869478e-01 -4.13167059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.47589822699996 meters 0.06302636199263989 Centerline is valid? [True, True] Translation: X:340.95, Y:6.94, Z:-4.13 [[ 9.98339235e-01 -5.52111180e-02 1.64469930e-02 3.40946702e+02] [ 5.52188717e-02 9.98474274e-01 -1.73383053e-05 6.94424327e+00] [-1.64209422e-02 9.25493909e-04 9.99864739e-01 -4.13147646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.53589822699996 meters 0.05677259591674361 Centerline is valid? [True, True] Translation: X:341.01, Y:6.95, Z:-4.13 [[ 9.98686574e-01 -4.78248116e-02 1.83824241e-02 3.41006243e+02] [ 4.78332453e-02 9.98855335e-01 -1.91330547e-05 6.95155593e+00] [-1.83604674e-02 8.98398927e-04 9.99831029e-01 -4.12827437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.59589822699996 meters 0.05095853090697364 Centerline is valid? [True, True] Translation: X:341.07, Y:6.96, Z:-4.13 [[ 9.98994041e-01 -4.15763324e-02 1.68021922e-02 3.41065929e+02] [ 4.15824934e-02 9.99135074e-01 -1.73255963e-05 6.95922573e+00] [-1.67869392e-02 7.15985211e-04 9.99858833e-01 -4.13174451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.65589822699997 meters 0.04491424640937774 Centerline is valid? [True, True] Translation: X:341.13, Y:6.97, Z:-4.13 [[ 9.99031726e-01 -4.07460275e-02 1.65943249e-02 3.41127681e+02] [ 4.07519235e-02 9.99169295e-01 -1.71667989e-05 6.96587906e+00] [-1.65798404e-02 6.93400835e-04 9.99862305e-01 -4.13356203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.71589822699997 meters 0.04911451741003609 Centerline is valid? [True, True] Translation: X:341.19, Y:6.96, Z:-4.13 [[ 9.98910511e-01 -4.25037786e-02 1.92670496e-02 3.41187765e+02] [ 4.25120688e-02 9.99095953e-01 -2.07183055e-05 6.96270333e+00] [-1.92487507e-02 8.39777871e-04 9.99814373e-01 -4.13008847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.77589822699997 meters 0.04984017793890653 Centerline is valid? [True, True] Translation: X:341.25, Y:6.96, Z:-4.13 [[ 9.98824154e-01 -4.44909809e-02 1.92578035e-02 3.41248635e+02] [ 4.44996326e-02 9.99009400e-01 -2.07564561e-05 6.96340565e+00] [-1.92378033e-02 8.77697230e-04 9.99814551e-01 -4.13126012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.835898227 meters 0.050958245487676274 Centerline is valid? [True, True] Translation: X:341.31, Y:6.97, Z:-4.13 [[ 9.98712621e-01 -4.71465634e-02 1.87163500e-02 3.41309716e+02] [ 4.71552044e-02 9.98887574e-01 -2.03781979e-05 6.96741844e+00] [-1.86945687e-02 9.02925272e-04 9.99824834e-01 -4.13372568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.895898227 meters 0.05990462215276053 Centerline is valid? [True, True] Translation: X:341.37, Y:6.96, Z:-4.14 [[ 9.98478694e-01 -5.22824188e-02 1.75170556e-02 3.41369627e+02] [ 5.22907806e-02 9.98631901e-01 -1.93571683e-05 6.95757897e+00] [-1.74920785e-02 9.35308231e-04 9.99846564e-01 -4.13852180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.955898227 meters 0.06113818577859113 Centerline is valid? [True, True] Translation: X:341.43, Y:6.96, Z:-4.14 [[ 9.98212983e-01 -5.74172812e-02 1.65558809e-02 3.41430422e+02] [ 5.74254659e-02 9.98349796e-01 -1.90029233e-05 6.95681716e+00] [-1.65274692e-02 9.69698137e-04 9.99862942e-01 -4.14017830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.015898227 meters 0.07227676389977708 Centerline is valid? [True, True] Translation: X:341.49, Y:6.94, Z:-4.14 [[ 9.97793539e-01 -6.36989682e-02 1.87215040e-02 3.41490292e+02] [ 6.37105378e-02 9.97968420e-01 -2.15975189e-05 6.93968837e+00] [-1.86820940e-02 1.21430695e-03 9.99824737e-01 -4.13884090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.075898227 meters 0.0669966956695795 Centerline is valid? [True, True] Translation: X:341.55, Y:6.95, Z:-4.14 [[ 9.97750371e-01 -6.48296858e-02 1.70677477e-02 3.41552213e+02] [ 6.48394656e-02 9.97895708e-01 -1.96697590e-05 6.94537032e+00] [-1.70305570e-02 1.12628915e-03 9.99854335e-01 -4.14326821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.135898227 meters 0.0674180307010591 Centerline is valid? [True, True] Translation: X:341.61, Y:6.94, Z:-4.15 [[ 9.98046901e-01 -6.08244395e-02 1.42397759e-02 3.41612062e+02] [ 6.08308485e-02 9.98148089e-01 -1.69785081e-05 6.94461727e+00] [-1.42123724e-02 8.83162997e-04 9.99898609e-01 -4.14832072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.195898227 meters 0.0675130343196699 Centerline is valid? [True, True] Translation: X:341.67, Y:6.95, Z:-4.15 [[ 9.98226138e-01 -5.76550835e-02 1.48482022e-02 3.41671204e+02] [ 5.76617024e-02 9.98336180e-01 -1.76894707e-05 6.94508215e+00] [-1.48224776e-02 8.73830710e-04 9.99889759e-01 -4.14788893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.255898227 meters 0.06033413781312969 Centerline is valid? [True, True] Translation: X:341.73, Y:6.95, Z:-4.15 [[ 9.98524060e-01 -5.20567573e-02 1.54853098e-02 3.41731866e+02] [ 5.20632827e-02 9.98643787e-01 -1.82836892e-05 6.95392722e+00] [-1.54633567e-02 8.24472766e-04 9.99880095e-01 -4.14893191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.315898227 meters 0.052760879227741704 Centerline is valid? [True, True] Translation: X:341.79, Y:6.96, Z:-4.15 [[ 9.98646115e-01 -4.98494070e-02 1.48652090e-02 3.41793086e+02] [ 4.98551777e-02 9.98756457e-01 -1.76480206e-05 6.96487017e+00] [-1.48458438e-02 7.58731765e-04 9.99889507e-01 -4.15114986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.375898227 meters 0.05196155064978048 Centerline is valid? [True, True] Translation: X:341.85, Y:6.97, Z:-4.15 [[ 9.98821530e-01 -4.66162094e-02 1.35084898e-02 3.41852339e+02] [ 4.66206822e-02 9.98912665e-01 -1.62256866e-05 6.97396614e+00] [-1.34930452e-02 6.45981575e-04 9.99908756e-01 -4.15319874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.43589822699994 meters 0.050394141573151974 Centerline is valid? [True, True] Translation: X:341.91, Y:6.98, Z:-4.15 [[ 9.98920450e-01 -4.44058611e-02 1.36401367e-02 3.41912112e+02] [ 4.44102146e-02 9.99013380e-01 -1.62921949e-05 6.98360251e+00] [-1.36259556e-02 6.22036004e-04 9.99906969e-01 -4.15476661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.49589822699994 meters 0.05435669501289764 Centerline is valid? [True, True] Translation: X:341.97, Y:6.98, Z:-4.15 [[ 9.98786128e-01 -4.70110737e-02 1.47047715e-02 3.41972015e+02] [ 4.70164151e-02 9.98894117e-01 -1.75638273e-05 6.98269780e+00] [-1.46876841e-02 7.08908149e-04 9.99891879e-01 -4.15426268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.55589822699994 meters 0.060157172553751366 Centerline is valid? [True, True] Translation: X:342.03, Y:6.98, Z:-4.16 [[ 9.98303620e-01 -5.66310364e-02 1.35206317e-02 3.42032518e+02] [ 5.66364314e-02 9.98394869e-01 -1.61463431e-05 6.97876305e+00] [-1.34980149e-02 7.81879283e-04 9.99908592e-01 -4.15782435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.61589822699995 meters 0.07318807598262247 Centerline is valid? [True, True] Translation: X:342.09, Y:6.96, Z:-4.16 [[ 9.97769728e-01 -6.57064668e-02 1.17571508e-02 3.42092253e+02] [ 6.57111736e-02 9.97838685e-01 -1.40618104e-05 6.96330465e+00] [-1.17308160e-02 7.86606628e-04 9.99930882e-01 -4.16163819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.67589822699995 meters 0.07431787063414587 Centerline is valid? [True, True] Translation: X:342.15, Y:6.96, Z:-4.16 [[ 9.97621226e-01 -6.79174914e-02 1.17942651e-02 3.42152801e+02] [ 6.79223820e-02 9.97690608e-01 -1.41284650e-05 6.96286434e+00] [-1.17660680e-02 8.15189437e-04 9.99930445e-01 -4.16246547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.73589822699995 meters 0.06973260527766759 Centerline is valid? [True, True] Translation: X:342.21, Y:6.97, Z:-4.16 [[ 9.97634902e-01 -6.77208163e-02 1.17683532e-02 3.42214649e+02] [ 6.77256706e-02 9.97703981e-01 -1.39960443e-05 6.96862334e+00] [-1.17403850e-02 8.10982554e-04 9.99930750e-01 -4.16365740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.79589822699995 meters 0.07526390408988334 Centerline is valid? [True, True] Translation: X:342.28, Y:6.96, Z:-4.17 [[ 9.97581165e-01 -6.83617950e-02 1.25890722e-02 3.42275984e+02] [ 6.83674090e-02 9.97660211e-01 -1.56194264e-05 6.95864497e+00] [-1.25585487e-02 8.76263894e-04 9.99920754e-01 -4.16509588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.85589822699995 meters 0.0745167483614529 Centerline is valid? [True, True] Translation: X:342.34, Y:6.95, Z:-4.16 [[ 9.97511161e-01 -6.90883037e-02 1.40815669e-02 3.42337929e+02] [ 6.90954073e-02 9.97610056e-01 -1.79967277e-05 6.95372048e+00] [-1.40466694e-02 9.90923536e-04 9.99900850e-01 -4.16381487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.91589822699996 meters 0.07342253929385688 Centerline is valid? [True, True] Translation: X:342.40, Y:6.95, Z:-4.17 [[ 9.97688612e-01 -6.66469363e-02 1.32521787e-02 3.42398601e+02] [ 6.66530214e-02 9.97776215e-01 -1.75525769e-05 6.94963953e+00] [-1.32215388e-02 9.00809754e-04 9.99912186e-01 -4.16513163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.97589822699996 meters 0.06841829485330984 Centerline is valid? [True, True] Translation: X:342.46, Y:6.95, Z:-4.17 [[ 9.97923633e-01 -6.28955701e-02 1.38769849e-02 3.42459661e+02] [ 6.29018820e-02 9.98019716e-01 -1.84200151e-05 6.95334287e+00] [-1.38483460e-02 8.91270235e-04 9.99903710e-01 -4.16509594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.03589822699996 meters 0.06286890250053913 Centerline is valid? [True, True] Translation: X:342.52, Y:6.96, Z:-4.16 [[ 9.98225436e-01 -5.76951463e-02 1.47393716e-02 3.42520018e+02] [ 5.77017048e-02 9.98333868e-01 -1.97277028e-05 6.95765221e+00] [-1.47136756e-02 8.70179561e-04 9.99891369e-01 -4.16475963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.09589822699996 meters 0.05998525256273505 Centerline is valid? [True, True] Translation: X:342.58, Y:6.96, Z:-4.17 [[ 9.98300242e-01 -5.65208560e-02 1.42133488e-02 3.42581555e+02] [ 5.65268367e-02 9.98401080e-01 -1.90738673e-05 6.96152691e+00] [-1.41895448e-02 8.22477094e-04 9.99898985e-01 -4.16674506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.15589822699997 meters 0.058068385165957644 Centerline is valid? [True, True] Translation: X:342.64, Y:6.97, Z:-4.17 [[ 9.98417158e-01 -5.49140807e-02 1.21500101e-02 3.42643199e+02] [ 5.49183341e-02 9.98490849e-01 -1.64598342e-05 6.96540044e+00] [-1.21307700e-02 6.83692094e-04 9.99926186e-01 -4.17178088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.21589822699997 meters 0.06421009544414213 Centerline is valid? [True, True] Translation: X:342.70, Y:6.96, Z:-4.17 [[ 9.98331968e-01 -5.65236584e-02 1.17625418e-02 3.42702960e+02] [ 5.65277644e-02 9.98401027e-01 -1.66308967e-05 6.95845547e+00] [-1.17427938e-02 6.81513349e-04 9.99930819e-01 -4.17374410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.27589822699997 meters 0.07036315511929055 Centerline is valid? [True, True] Translation: X:342.76, Y:6.95, Z:-4.18 [[ 9.98102196e-01 -6.04942516e-02 1.15088060e-02 3.42762522e+02] [ 6.04984433e-02 9.98168291e-01 -1.61029741e-05 6.95298274e+00] [-1.14867511e-02 7.12337264e-04 9.99933771e-01 -4.17614251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.335898227 meters 0.0733095749953143 Centerline is valid? [True, True] Translation: X:342.82, Y:6.95, Z:-4.18 [[ 9.97858448e-01 -6.43982885e-02 1.14620181e-02 3.42823945e+02] [ 6.44027103e-02 9.97923990e-01 -1.67038517e-05 6.95019353e+00] [-1.14371471e-02 7.54853110e-04 9.99934309e-01 -4.17730452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.395898227 meters 0.07950634006375876 Centerline is valid? [True, True] Translation: X:342.88, Y:6.94, Z:-4.18 [[ 9.97500754e-01 -6.98567363e-02 1.05962926e-02 3.42884564e+02] [ 6.98608244e-02 9.97556748e-01 -1.56941942e-05 6.94390478e+00] [-1.05693069e-02 7.55920710e-04 9.99943858e-01 -4.17920360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.455898227 meters 0.07071208398260331 Centerline is valid? [True, True] Translation: X:342.95, Y:6.96, Z:-4.18 [[ 9.97238456e-01 -7.33588124e-02 1.15735229e-02 3.42945975e+02] [ 7.33639231e-02 9.97305236e-01 -1.70847845e-05 6.95560506e+00] [-1.15410817e-02 8.66116648e-04 9.99933024e-01 -4.17834312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.515898227 meters 0.07749525501967716 Centerline is valid? [True, True] Translation: X:343.01, Y:6.95, Z:-4.18 [[ 9.97053822e-01 -7.56718598e-02 1.25477589e-02 3.43005889e+02] [ 7.56780528e-02 9.97132304e-01 -1.88003329e-05 6.94577000e+00] [-1.25103530e-02 9.68334901e-04 9.99921274e-01 -4.17870897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.575898227 meters 0.0794308016456891 Centerline is valid? [True, True] Translation: X:343.07, Y:6.94, Z:-4.18 [[ 9.96909499e-01 -7.77027312e-02 1.15644790e-02 3.43066685e+02] [ 7.77081289e-02 9.96976151e-01 -1.74623666e-05 6.93722750e+00] [-1.15281529e-02 9.16062425e-04 9.99933129e-01 -4.18177574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.635898227 meters 0.07584564443293836 Centerline is valid? [True, True] Translation: X:343.13, Y:6.94, Z:-4.18 [[ 9.97008336e-01 -7.63959165e-02 1.17491303e-02 3.43128079e+02] [ 7.64013979e-02 9.97077141e-01 -1.77470257e-05 6.93608571e+00] [-1.17134334e-02 9.15343910e-04 9.99930976e-01 -4.18216044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.695898227 meters 0.07494358470024433 Centerline is valid? [True, True] Translation: X:343.19, Y:6.93, Z:-4.18 [[ 9.97352381e-01 -7.18224217e-02 1.13915636e-02 3.43187553e+02] [ 7.18272819e-02 9.97417085e-01 -1.75703800e-05 6.93480954e+00] [-1.13608782e-02 8.35748908e-04 9.99935114e-01 -4.18216494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.755898227 meters 0.07159887987244366 Centerline is valid? [True, True] Translation: X:343.25, Y:6.94, Z:-4.18 [[ 9.97989621e-01 -6.23919809e-02 1.11336098e-02 3.43247410e+02] [ 6.23960378e-02 9.98051469e-01 -1.70542045e-05 6.93578438e+00] [-1.11108515e-02 7.11713055e-04 9.99938019e-01 -4.18404136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.815898227 meters 0.05880763158592038 Centerline is valid? [True, True] Translation: X:343.31, Y:6.96, Z:-4.18 [[ 9.98384311e-01 -5.55865103e-02 1.17858718e-02 3.43307575e+02] [ 5.55905827e-02 9.98453648e-01 -1.79582955e-05 6.95601435e+00] [-1.17666484e-02 6.73112760e-04 9.99930544e-01 -4.18354006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.875898227 meters 0.06711467460392767 Centerline is valid? [True, True] Translation: X:343.37, Y:6.95, Z:-4.18 [[ 9.98412910e-01 -5.44798187e-02 1.42692460e-02 3.43368365e+02] [ 5.44856752e-02 9.98514552e-01 -2.17052088e-05 6.95028720e+00] [-1.42468673e-02 7.99140266e-04 9.99898189e-01 -4.18173825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.93589822699994 meters 0.06723242023851442 Centerline is valid? [True, True] Translation: X:343.43, Y:6.95, Z:-4.18 [[ 9.98040830e-01 -6.09899291e-02 1.39545867e-02 3.43428438e+02] [ 6.09961686e-02 9.98138000e-01 -2.15564783e-05 6.95078493e+00] [-1.39272885e-02 8.72690567e-04 9.99902630e-01 -4.18362945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.99589822699994 meters 0.07445394874906174 Centerline is valid? [True, True] Translation: X:343.49, Y:6.94, Z:-4.19 [[ 9.97220360e-01 -7.34343712e-02 1.26074203e-02 3.43489232e+02] [ 7.34404533e-02 9.97299604e-01 -1.95118206e-05 6.93949317e+00] [-1.25719425e-02 9.45352250e-04 9.99920523e-01 -4.18734105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.05589822699994 meters 0.08691658463229195 Centerline is valid? [True, True] Translation: X:343.55, Y:6.92, Z:-4.19 [[ 9.96881946e-01 -7.79896902e-02 1.19997463e-02 3.43548465e+02] [ 7.79955285e-02 9.96953709e-01 -1.86085194e-05 6.92372436e+00] [-1.19617403e-02 9.54477048e-04 9.99928000e-01 -4.18839718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.11589822699995 meters 0.0839589014119936 Centerline is valid? [True, True] Translation: X:343.61, Y:6.93, Z:-4.19 [[ 9.97104103e-01 -7.48751909e-02 1.33084046e-02 3.43609299e+02] [ 7.48820981e-02 9.97192394e-01 -2.07694279e-05 6.93085744e+00] [-1.32694847e-02 1.01727054e-03 9.99911439e-01 -4.18699772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.17589822699995 meters 0.07147629697970027 Centerline is valid? [True, True] Translation: X:343.67, Y:6.95, Z:-4.19 [[ 9.97400176e-01 -7.03173755e-02 1.57593187e-02 3.43669620e+02] [ 7.03264975e-02 9.97524026e-01 -2.47130150e-05 6.95003281e+00] [-1.57185613e-02 1.13294645e-03 9.99875814e-01 -4.18545794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.23589822699995 meters 0.06972082064812592 Centerline is valid? [True, True] Translation: X:343.73, Y:6.96, Z:-4.19 [[ 9.97729716e-01 -6.55949798e-02 1.52549005e-02 3.43729276e+02] [ 6.56029786e-02 9.97845804e-01 -2.39791826e-05 6.96140744e+00] [-1.52204656e-02 1.02469166e-03 9.99883637e-01 -4.18683354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.29589822699995 meters 0.07064571341541746 Centerline is valid? [True, True] Translation: X:343.79, Y:6.97, Z:-4.19 [[ 9.97806231e-01 -6.47480465e-02 1.37991010e-02 3.43790675e+02] [ 6.47545088e-02 9.97901224e-01 -2.15606815e-05 6.96622789e+00] [-1.37687438e-02 9.15067390e-04 9.99904788e-01 -4.19070249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.35589822699995 meters 0.07494939607009098 Centerline is valid? [True, True] Translation: X:343.85, Y:6.97, Z:-4.19 [[ 9.97560270e-01 -6.82573944e-02 1.46436084e-02 3.43851241e+02] [ 6.82650533e-02 9.97667220e-01 -2.32261178e-05 6.96932992e+00] [-1.46078627e-02 1.02281616e-03 9.99892776e-01 -4.19133862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.41589822699996 meters 0.08163696517817075 Centerline is valid? [True, True] Translation: X:343.91, Y:6.96, Z:-4.20 [[ 9.97233720e-01 -7.30578015e-02 1.36917675e-02 3.43910325e+02] [ 7.30649508e-02 9.97327184e-01 -2.20051814e-05 6.96285162e+00] [-1.36535643e-02 1.02233263e-03 9.99906263e-01 -4.19550051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.47589822699996 meters 0.08834980941595304 Centerline is valid? [True, True] Translation: X:343.97, Y:6.96, Z:-4.20 [[ 9.96834125e-01 -7.87676985e-02 1.08340662e-02 3.43970831e+02] [ 7.87725141e-02 9.96892617e-01 -1.78190284e-05 6.95837446e+00] [-1.07989971e-02 8.71189249e-04 9.99941310e-01 -4.19992672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.53589822699996 meters 0.07804178456388856 Centerline is valid? [True, True] Translation: X:344.03, Y:6.98, Z:-4.20 [[ 9.96934480e-01 -7.71409553e-02 1.30734899e-02 3.44031448e+02] [ 7.71478296e-02 9.97019665e-01 -2.15718925e-05 6.97648074e+00] [-1.30328624e-02 1.03009714e-03 9.99914538e-01 -4.19626939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.59589822699996 meters 0.08290229668018051 Centerline is valid? [True, True] Translation: X:344.09, Y:6.97, Z:-4.19 [[ 9.97060811e-01 -7.50835654e-02 1.52379966e-02 3.44090890e+02] [ 7.50926660e-02 9.97176560e-01 -2.51413387e-05 6.97369128e+00] [-1.51930853e-02 1.16932923e-03 9.99883895e-01 -4.19408558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.65589822699997 meters 0.08453812517090384 Centerline is valid? [True, True] Translation: X:344.15, Y:6.97, Z:-4.19 [[ 9.96781692e-01 -7.85074379e-02 1.62123728e-02 3.44151540e+02] [ 7.85181879e-02 9.96912681e-01 -2.66300231e-05 6.97465323e+00] [-1.61602293e-02 1.29951045e-03 9.99868570e-01 -4.19466018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.71589822699997 meters 0.0994263939184207 Centerline is valid? [True, True] Translation: X:344.21, Y:6.96, Z:-4.20 [[ 9.96365125e-01 -8.38243365e-02 1.51663585e-02 3.44211354e+02] [ 8.38343553e-02 9.96479704e-01 -2.49183837e-05 6.95804511e+00] [-1.51108797e-02 1.29628970e-03 9.99884984e-01 -4.19577728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.77589822699997 meters 0.09958966888249873 Centerline is valid? [True, True] Translation: X:344.27, Y:6.96, Z:-4.20 [[ 9.95792021e-01 -9.08689584e-02 1.18778889e-02 3.44272201e+02] [ 9.08756004e-02 9.95862252e-01 -1.95469562e-05 6.95773809e+00] [-1.18269650e-02 1.09887499e-03 9.99929455e-01 -4.20253334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.835898227 meters 0.10418899897391377 Centerline is valid? [True, False] Translation: X:344.27, Y:6.96, Z:-4.20 [[ 9.96642398e-01 -8.11035014e-02 1.12317490e-02 3.44271769e+02] [ 8.12067459e-02 9.96656076e-01 -9.06256929e-03 6.95519004e+00] [-1.04591848e-02 9.94423458e-03 9.99895853e-01 -4.20118933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.895898227 meters 0.10286484243242511 Centerline is valid? [False, False] Translation: X:344.27, Y:6.95, Z:-4.20 [[ 9.97529041e-01 -6.95985631e-02 9.58401452e-03 3.44270981e+02] [ 6.97440264e-02 9.97439997e-01 -1.57868217e-02 6.95019140e+00] [-8.46073930e-03 1.64162409e-02 9.99829447e-01 -4.19941229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.955898227 meters 0.10544637653340276 Centerline is valid? [False, False] Translation: X:344.28, Y:6.94, Z:-4.20 [[ 9.98482233e-01 -5.42817088e-02 9.31272464e-03 3.44275606e+02] [ 5.44466451e-02 9.98345657e-01 -1.84800436e-02 6.94294805e+00] [-8.29418985e-03 1.89590418e-02 9.99785858e-01 -4.20381632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.015898227 meters 0.10709102852769846 Centerline is valid? [False, False] Translation: X:344.28, Y:6.94, Z:-4.20 [[ 9.99146995e-01 -4.05947202e-02 7.57302432e-03 3.44277847e+02] [ 4.07618818e-02 9.98894680e-01 -2.34069809e-02 6.93974032e+00] [-6.61445386e-03 2.36957054e-02 9.99697335e-01 -4.20456735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.075898227 meters 0.10522067902196251 Centerline is valid? [False, False] Translation: X:344.28, Y:6.93, Z:-4.21 [[ 9.99624857e-01 -2.64766028e-02 7.00965714e-03 3.44280193e+02] [ 2.65242985e-02 9.99625033e-01 -6.80106005e-03 6.92578781e+00] [-6.82695979e-03 6.98443492e-03 9.99952304e-01 -4.20894984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.135898227 meters 0.0897253324626139 Centerline is valid? [False, True] Translation: X:344.28, Y:6.92, Z:-4.21 [[ 9.99856623e-01 -1.69101060e-02 -8.83752236e-04 3.44278412e+02] [ 1.68986397e-02 9.99788999e-01 -1.16787339e-02 6.91869473e+00] [ 1.08105439e-03 1.16621252e-02 9.99931411e-01 -4.20632990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.195898227 meters 0.07872507986780408 Centerline is valid? [True, True] Translation: X:344.34, Y:6.92, Z:-4.21 [[ 9.99891622e-01 -1.47197261e-02 2.71982391e-04 3.44339417e+02] [ 1.47197316e-02 9.99891659e-01 -1.83708832e-05 6.91766046e+00] [-2.71682509e-04 2.23724000e-05 9.99999963e-01 -4.20846955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.255898227 meters 0.08843570915861687 Centerline is valid? [True, True] Translation: X:344.40, Y:6.89, Z:-4.21 [[ 9.99877062e-01 -1.55029215e-02 -2.34968100e-03 3.44397901e+02] [ 1.55033377e-02 9.99879803e-01 1.59018261e-04 6.89423359e+00] [ 2.34693333e-03 -1.95426609e-04 9.99997227e-01 -4.21264274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.315898227 meters 0.09683508071960241 Centerline is valid? [True, True] Translation: X:344.46, Y:6.86, Z:-4.22 [[ 9.99843292e-01 -1.74460907e-02 -3.00427720e-03 3.44455253e+02] [ 1.74467790e-02 9.99847773e-01 2.03033065e-04 6.86374307e+00] [ 3.00027773e-03 -2.55416208e-04 9.99995467e-01 -4.21519624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.375898227 meters 0.09067868189199992 Centerline is valid? [True, True] Translation: X:344.52, Y:6.86, Z:-4.21 [[ 9.99855364e-01 -1.69277244e-02 -1.64444676e-03 3.44515651e+02] [ 1.69279300e-02 9.99856706e-01 1.11153023e-04 6.85949806e+00] [ 1.64232956e-03 -1.38974026e-04 9.99998642e-01 -4.21275547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.43589822699994 meters 0.08277285926879588 Centerline is valid? [True, True] Translation: X:344.58, Y:6.86, Z:-4.21 [[ 9.99894398e-01 -1.45067182e-02 8.64530445e-04 3.44576187e+02] [ 1.45067741e-02 9.99894770e-01 -5.84412647e-05 6.85773396e+00] [-8.63591679e-04 7.09766411e-05 9.99999625e-01 -4.20792474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.49589822699994 meters 0.08497203388878552 Centerline is valid? [True, True] Translation: X:344.64, Y:6.85, Z:-4.21 [[ 9.99940189e-01 -1.08589941e-02 1.30440617e-03 3.44635533e+02] [ 1.08591182e-02 9.99941034e-01 -8.81689988e-05 6.84670917e+00] [-1.30337183e-03 1.02328426e-04 9.99999145e-01 -4.20840226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.55589822699994 meters 0.08449081168319954 Centerline is valid? [True, True] Translation: X:344.70, Y:6.84, Z:-4.21 [[ 9.99948780e-01 -1.01175933e-02 -2.66283661e-04 3.44696217e+02] [ 1.01175985e-02 9.99948816e-01 1.80856060e-05 6.83945565e+00] [ 2.66087049e-04 -2.07788309e-05 9.99999964e-01 -4.21178999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.61589822699995 meters 0.0879182357714687 Centerline is valid? [True, True] Translation: X:344.76, Y:6.83, Z:-4.21 [[ 9.99923235e-01 -1.23904302e-02 1.88102546e-05 3.44755728e+02] [ 1.23904302e-02 9.99923236e-01 -1.26426374e-06 6.82563117e+00] [-1.87931458e-05 1.49723384e-06 1.00000000e+00 -4.21028981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.67589822699995 meters 0.08902036351615569 Centerline is valid? [True, True] Translation: X:344.82, Y:6.82, Z:-4.21 [[ 9.99917498e-01 -1.27848502e-02 1.24295599e-03 3.44816283e+02] [ 1.27849644e-02 9.99918265e-01 -8.39878808e-05 6.81589557e+00] [-1.24178063e-03 9.98720998e-05 9.99999224e-01 -4.20738419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.73589822699995 meters 0.08746226894747698 Centerline is valid? [True, True] Translation: X:344.88, Y:6.81, Z:-4.21 [[ 9.99958658e-01 -9.08312620e-03 4.23155172e-04 3.44875239e+02] [ 9.08313914e-03 9.99958747e-01 -2.86596194e-05 6.80863110e+00] [-4.22877397e-04 3.25020119e-05 9.99999910e-01 -4.20854651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.79589822699995 meters 0.07214866936968639 Centerline is valid? [True, True] Translation: X:344.94, Y:6.82, Z:-4.21 [[ 9.99992593e-01 -3.82542963e-03 4.25429902e-04 3.44936070e+02] [ 3.82544222e-03 9.99992683e-01 -2.87732605e-05 6.81596273e+00] [-4.25316719e-04 3.04005049e-05 9.99999909e-01 -4.20861061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.85589822699995 meters 0.08274050296899496 Centerline is valid? [True, True] Translation: X:344.99, Y:6.79, Z:-4.21 [[ 9.99998915e-01 -7.95165110e-04 1.24009842e-03 3.44993749e+02] [ 7.95269748e-04 9.99999680e-01 -8.38876162e-05 6.79227066e+00] [-1.24003132e-03 8.48737380e-05 9.99999228e-01 -4.20733930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.91589822699996 meters 0.07500670288891624 Centerline is valid? [True, True] Translation: X:345.05, Y:6.79, Z:-4.21 [[ 9.99979666e-01 6.20858458e-03 -1.45641437e-03 3.45054649e+02] [-6.20844776e-03 9.99980723e-01 9.84448029e-05 6.79206562e+00] [ 1.45699749e-03 -8.94007286e-05 9.99998935e-01 -4.21112504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.97589822699996 meters 0.058243686794456205 Centerline is valid? [True, True] Translation: X:345.12, Y:6.81, Z:-4.21 [[ 9.99927919e-01 1.18475562e-02 -1.94722608e-03 3.45116473e+02] [-1.18473223e-02 9.99929809e-01 1.31615026e-04 6.80802245e+00] [ 1.94864872e-03 -1.08536125e-04 9.99998095e-01 -4.21079867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.03589822699996 meters 0.0571408341696983 Centerline is valid? [True, True] Translation: X:345.18, Y:6.80, Z:-4.21 [[ 9.99847783e-01 1.73569046e-02 -1.77454003e-03 3.45176089e+02] [-1.73567189e-02 9.99849354e-01 1.19969634e-04 6.80098351e+00] [ 1.77635501e-03 -8.91511800e-05 9.99998418e-01 -4.21322719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.09589822699996 meters 0.053996209305292905 Centerline is valid? [True, True] Translation: X:345.24, Y:6.80, Z:-4.21 [[ 9.99834907e-01 1.80140031e-02 -2.37789193e-03 3.45235169e+02] [-1.80136721e-02 9.99837728e-01 1.60545059e-04 6.79609343e+00] [ 2.38039813e-03 -1.17683988e-04 9.99997160e-01 -4.21364987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.15589822699997 meters 0.04846082204842793 Centerline is valid? [True, True] Translation: X:345.30, Y:6.79, Z:-4.21 [[ 9.99771127e-01 2.12233809e-02 -2.69467768e-03 3.45295470e+02] [-2.12229672e-02 9.99774751e-01 1.82045086e-04 6.79264734e+00] [ 2.69793432e-03 -1.24814364e-04 9.99996353e-01 -4.21251066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.21589822699997 meters 0.04281719315216317 Centerline is valid? [True, True] Translation: X:345.36, Y:6.79, Z:-4.21 [[ 9.99639070e-01 2.68160527e-02 -1.62148437e-03 3.45355484e+02] [-2.68159104e-02 9.99640383e-01 1.09454152e-04 6.79221745e+00] [ 1.62383639e-03 -6.59330671e-05 9.99998679e-01 -4.21136546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.27589822699997 meters 0.041972376580715544 Centerline is valid? [True, True] Translation: X:345.41, Y:6.79, Z:-4.21 [[ 9.99567815e-01 2.93911169e-02 -5.88079848e-04 3.45413672e+02] [-2.93910986e-02 9.99567988e-01 3.97393032e-05 6.78573942e+00] [ 5.88993772e-04 -2.24378157e-05 9.99999826e-01 -4.21158120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.335898227 meters 0.043181816766074195 Centerline is valid? [True, True] Translation: X:345.47, Y:6.77, Z:-4.21 [[ 9.99519618e-01 3.09918962e-02 1.86497135e-04 3.45471797e+02] [-3.09918943e-02 9.99519636e-01 -1.26777072e-05 6.77087946e+00] [-1.86800454e-04 6.89171753e-06 9.99999983e-01 -4.21092904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.395898227 meters 0.040697878181912304 Centerline is valid? [True, True] Translation: X:345.53, Y:6.77, Z:-4.21 [[ 9.99460857e-01 3.27720722e-02 -1.99657340e-03 3.45531478e+02] [-3.27718685e-02 9.99462849e-01 1.34694385e-04 6.76636864e+00] [ 1.99991516e-03 -6.91903249e-05 9.99997998e-01 -4.21415857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.455898227 meters 0.03918464844013467 Centerline is valid? [True, True] Translation: X:345.59, Y:6.76, Z:-4.22 [[ 9.99428571e-01 3.37209870e-02 -2.32966845e-03 3.45589452e+02] [-3.37207126e-02 9.99431283e-01 1.56991439e-04 6.75705524e+00] [ 2.33363743e-03 -7.83436492e-05 9.99997274e-01 -4.21503986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.515898227 meters 0.039509441246839985 Centerline is valid? [True, True] Translation: X:345.65, Y:6.75, Z:-4.21 [[ 9.99422265e-01 3.39328027e-02 1.92368617e-03 3.45648217e+02] [-3.39326156e-02 9.99424115e-01 -1.29850568e-04 6.74960193e+00] [-1.92698454e-03 6.44998453e-05 9.99998141e-01 -4.20724074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.575898227 meters 0.03871441399715423 Centerline is valid? [True, True] Translation: X:345.71, Y:6.74, Z:-4.21 [[ 9.99376662e-01 3.52864876e-02 1.07315820e-03 3.45707886e+02] [-3.52864302e-02 9.99377237e-01 -7.24051730e-05 6.74402305e+00] [-1.07504480e-03 3.44921183e-05 9.99999422e-01 -4.20947804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.635898227 meters 0.04085081846678848 Centerline is valid? [True, True] Translation: X:345.77, Y:6.74, Z:-4.22 [[ 9.99396290e-01 3.46461723e-02 -2.58827033e-03 3.45766943e+02] [-3.46458368e-02 9.99399638e-01 1.74360305e-04 6.73589017e+00] [ 2.59275735e-03 -8.45822504e-05 9.99996635e-01 -4.21715035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.695898227 meters 0.03996693674555661 Centerline is valid? [True, True] Translation: X:345.83, Y:6.73, Z:-4.22 [[ 9.99448326e-01 3.30694451e-02 -3.07511420e-03 3.45826522e+02] [-3.30689644e-02 9.99453051e-01 2.07051173e-04 6.73294375e+00] [ 3.08027934e-03 -1.05246106e-04 9.99995250e-01 -4.21729084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.755898227 meters 0.04107789750075574 Centerline is valid? [True, True] Translation: X:345.89, Y:6.73, Z:-4.22 [[ 9.99532841e-01 3.04758949e-02 -2.30624732e-03 3.45885602e+02] [-3.04756180e-02 9.99535498e-01 1.55135906e-04 6.72957219e+00] [ 2.30990397e-03 -8.47791207e-05 9.99997329e-01 -4.21636109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.815898227 meters 0.04032882338126244 Centerline is valid? [True, True] Translation: X:345.95, Y:6.73, Z:-4.22 [[ 9.99553070e-01 2.98542898e-02 -1.54309476e-03 3.45945000e+02] [-2.98541652e-02 9.99554260e-01 1.03763846e-04 6.72760967e+00] [ 1.54550474e-03 -5.76496654e-05 9.99998804e-01 -4.21562893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.875898227 meters 0.04155265438782766 Centerline is valid? [True, True] Translation: X:346.00, Y:6.73, Z:-4.21 [[ 9.99581431e-01 2.89300843e-02 -1.16304496e-04 3.46004651e+02] [-2.89300836e-02 9.99581438e-01 7.73883378e-06 6.72559214e+00] [ 1.16479700e-04 -4.37089575e-06 9.99999993e-01 -4.21311360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.93589822699994 meters 0.0407731020600457 Centerline is valid? [True, True] Translation: X:346.06, Y:6.72, Z:-4.21 [[ 9.99596323e-01 2.84073515e-02 -4.61893334e-04 3.46064569e+02] [-2.84073402e-02 9.99596430e-01 3.09769402e-05 6.72420947e+00] [ 4.62586900e-04 -1.78432744e-05 9.99999893e-01 -4.21375482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.99589822699994 meters 0.05075975792312582 Centerline is valid? [True, True] Translation: X:346.12, Y:6.71, Z:-4.22 [[ 9.99700230e-01 2.44294883e-02 -1.62789184e-03 3.46123558e+02] [-2.44293425e-02 9.99701553e-01 1.09408416e-04 6.71148576e+00] [ 1.63007879e-03 -6.96072912e-05 9.99998669e-01 -4.21626003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.05589822699994 meters 0.05605702288365542 Centerline is valid? [True, True] Translation: X:346.18, Y:6.70, Z:-4.22 [[ 9.99815380e-01 1.91781887e-02 -1.18478361e-03 3.46183817e+02] [-1.91781077e-02 9.99816080e-01 7.96681240e-05 6.70103240e+00] [ 1.18609359e-03 -5.69315080e-05 9.99999295e-01 -4.21542650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.11589822699995 meters 0.0655865002311809 Centerline is valid? [True, True] Translation: X:346.24, Y:6.68, Z:-4.22 [[ 9.99944230e-01 1.04934491e-02 -1.19360609e-03 3.46243259e+02] [-1.04933607e-02 9.99944940e-01 8.02730309e-05 6.67986519e+00] [ 1.19438271e-03 -6.77436149e-05 9.99999284e-01 -4.21547098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.17589822699995 meters 0.06738247346890493 Centerline is valid? [True, True] Translation: X:346.30, Y:6.67, Z:-4.21 [[ 9.99963942e-01 8.45244405e-03 -8.19045745e-04 3.46302657e+02] [-8.45240181e-03 9.99964276e-01 5.50257507e-05 6.67115560e+00] [ 8.19481587e-04 -4.81008628e-05 9.99999663e-01 -4.21358287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.23589822699995 meters 0.060451971910548914 Centerline is valid? [True, True] Translation: X:346.36, Y:6.67, Z:-4.21 [[ 9.99913084e-01 1.31830216e-02 1.79279478e-04 3.46363835e+02] [-1.31830197e-02 9.99913100e-01 -1.20202385e-05 6.67279853e+00] [-1.79422362e-04 9.65574883e-06 9.99999984e-01 -4.21112017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.29589822699995 meters 0.05637724978237439 Centerline is valid? [True, True] Translation: X:346.42, Y:6.67, Z:-4.21 [[ 9.99866263e-01 1.63498868e-02 3.71343018e-04 3.46423955e+02] [-1.63498787e-02 9.99866331e-01 -2.49998641e-05 6.67127847e+00] [-3.71702126e-04 1.89251074e-05 9.99999931e-01 -4.21051016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.35589822699995 meters 0.05773239205824601 Centerline is valid? [True, True] Translation: X:346.48, Y:6.66, Z:-4.21 [[ 9.99856752e-01 1.67943730e-02 -2.10342438e-03 3.46482898e+02] [-1.67941127e-02 9.99858959e-01 1.41354328e-04 6.66253880e+00] [ 2.10550167e-03 -1.06008933e-04 9.99997778e-01 -4.21453889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.41589822699996 meters 0.0559586315918435 Centerline is valid? [True, True] Translation: X:346.54, Y:6.66, Z:-4.22 [[ 9.99890359e-01 1.44092891e-02 -3.41209580e-03 3.46543171e+02] [-1.44085903e-02 9.99896165e-01 2.29285049e-04 6.66268550e+00] [ 3.41504534e-03 -1.80096420e-04 9.99994152e-01 -4.21604521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.47589822699996 meters 0.05951908937253325 Centerline is valid? [True, True] Translation: X:346.60, Y:6.66, Z:-4.22 [[ 9.99891313e-01 1.43333508e-02 -3.45210008e-03 3.46601146e+02] [-1.43326355e-02 9.99897256e-01 2.31853305e-04 6.65608320e+00] [ 3.45506863e-03 -1.82350414e-04 9.99994015e-01 -4.21681341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.53589822699996 meters 0.060149824419033014 Centerline is valid? [True, True] Translation: X:346.66, Y:6.65, Z:-4.22 [[ 9.99905147e-01 1.32307380e-02 -3.82673009e-03 3.46660908e+02] [-1.32298513e-02 9.99912449e-01 2.56937728e-04 6.65402330e+00] [ 3.82979453e-03 -2.06286287e-04 9.99992645e-01 -4.21845331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.59589822699996 meters 0.0568879173467768 Centerline is valid? [True, True] Translation: X:346.72, Y:6.66, Z:-4.22 [[ 9.99923126e-01 1.16117691e-02 -4.34848656e-03 3.46720282e+02] [-1.16106096e-02 9.99932552e-01 2.91780047e-04 6.65522280e+00] [ 4.35158134e-03 -2.41269036e-04 9.99990503e-01 -4.21926941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.65589822699997 meters 0.05986396491213369 Centerline is valid? [True, True] Translation: X:346.78, Y:6.64, Z:-4.22 [[ 9.99953305e-01 8.09369402e-03 -5.28016705e-03 3.46780467e+02] [-8.09193479e-03 9.99967197e-01 3.54455361e-04 6.64450073e+00] [ 5.28286269e-03 -3.11712042e-04 9.99985997e-01 -4.22092076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.71589822699997 meters 0.07402581398456329 Centerline is valid? [True, True] Translation: X:346.84, Y:6.62, Z:-4.22 [[ 9.99976233e-01 3.46975005e-03 -5.95770941e-03 3.46838240e+02] [-3.46742922e-03 9.99993909e-01 3.99836290e-04 6.61775655e+00] [ 5.95906045e-03 -3.79168852e-04 9.99982173e-01 -4.22409450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.77589822699997 meters 0.07397818609027748 Centerline is valid? [True, True] Translation: X:346.90, Y:6.61, Z:-4.22 [[ 9.99981208e-01 1.81629625e-03 -5.85535455e-03 3.46897988e+02] [-1.81402667e-03 9.99998277e-01 3.92895769e-04 6.60780772e+00] [ 5.85605808e-03 -3.82266616e-04 9.99982780e-01 -4.22387644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.835898227 meters 0.07570462239692459 Centerline is valid? [True, True] Translation: X:346.96, Y:6.59, Z:-4.22 [[ 9.99990050e-01 1.83246344e-03 -4.06717791e-03 3.46955565e+02] [-1.83136981e-03 9.99998286e-01 2.72598492e-04 6.59484313e+00] [ 4.06767047e-03 -2.65147272e-04 9.99991692e-01 -4.22021096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.895898227 meters 0.06742861812242201 Centerline is valid? [True, True] Translation: X:347.02, Y:6.60, Z:-4.22 [[ 9.99971251e-01 4.62567083e-03 -6.00840351e-03 3.47016258e+02] [-4.62333302e-03 9.99989231e-01 4.02920938e-04 6.59894702e+00] [ 6.01020259e-03 -3.75130504e-04 9.99981868e-01 -4.22140987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.955898227 meters 0.06182852020607464 Centerline is valid? [True, True] Translation: X:347.08, Y:6.60, Z:-4.22 [[ 9.99937768e-01 8.25987193e-03 -7.49902749e-03 3.47077526e+02] [-8.25633239e-03 9.99965789e-01 5.02835341e-04 6.60169183e+00] [ 7.50292430e-03 -4.40889584e-04 9.99971755e-01 -4.22310717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.015898227 meters 0.0718155841358538 Centerline is valid? [True, True] Translation: X:347.13, Y:6.59, Z:-4.22 [[ 9.99953518e-01 7.89683146e-03 -5.53186077e-03 3.47134814e+02] [-7.89490290e-03 9.99968766e-01 3.70377531e-04 6.58535582e+00] [ 5.53461280e-03 -3.26686811e-04 9.99984631e-01 -4.22293509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.075898227 meters 0.06931075444301947 Centerline is valid? [True, True] Translation: X:347.19, Y:6.59, Z:-4.22 [[ 9.99965583e-01 7.03704081e-03 -4.39463561e-03 3.47194259e+02] [-7.03581541e-03 9.99975205e-01 2.94239403e-04 6.58516954e+00] [ 4.39659722e-03 -2.63309432e-04 9.99990300e-01 -4.21994441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.135898227 meters 0.06641445354564256 Centerline is valid? [True, True] Translation: X:347.25, Y:6.59, Z:-4.22 [[ 9.99970658e-01 6.30250946e-03 -4.35448861e-03 3.47254136e+02] [-6.30129985e-03 9.99980104e-01 2.91449511e-04 6.58705201e+00] [ 4.35623884e-03 -2.64002021e-04 9.99990477e-01 -4.21997115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.195898227 meters 0.07991049403763452 Centerline is valid? [True, True] Translation: X:347.31, Y:6.57, Z:-4.22 [[ 9.99983814e-01 7.34010045e-04 -5.64210878e-03 3.47312199e+02] [-7.31888623e-04 9.99999661e-01 3.78053421e-04 6.57091041e+00] [ 5.64238436e-03 -3.73917907e-04 9.99984012e-01 -4.22444779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.255898227 meters 0.07605522389512531 Centerline is valid? [True, True] Translation: X:347.37, Y:6.57, Z:-4.22 [[ 9.99976085e-01 -3.77643210e-03 -5.79382948e-03 3.47372792e+02] [ 3.77874321e-03 9.99992785e-01 3.87996957e-04 6.57325697e+00] [ 5.79232244e-03 -4.09881072e-04 9.99983140e-01 -4.22352833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.315898227 meters 0.08021821976730469 Centerline is valid? [True, True] Translation: X:347.43, Y:6.57, Z:-4.22 [[ 9.99981092e-01 -5.63254263e-03 -2.46794419e-03 3.47431809e+02] [ 5.63296756e-03 9.99984121e-01 1.65262895e-04 6.56967451e+00] [ 2.46697415e-03 -1.79161620e-04 9.99996941e-01 -4.21775593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.375898227 meters 0.0783646646778296 Centerline is valid? [True, True] Translation: X:347.49, Y:6.57, Z:-4.22 [[ 9.99962502e-01 -8.05598147e-03 -3.17745545e-03 3.47492454e+02] [ 8.05669806e-03 9.99967522e-01 2.12787418e-04 6.57312641e+00] [ 3.17563804e-03 -2.38379238e-04 9.99994929e-01 -4.21911281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.43589822699994 meters 0.08550739511522465 Centerline is valid? [True, True] Translation: X:347.55, Y:6.57, Z:-4.22 [[ 9.99908343e-01 -1.29227412e-02 -4.03824433e-03 3.47551842e+02] [ 1.29239377e-02 9.99916446e-01 2.70352391e-04 6.56671438e+00] [ 4.03441323e-03 -3.22517630e-04 9.99991810e-01 -4.22001895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.49589822699994 meters 0.08910438526163542 Centerline is valid? [True, True] Translation: X:347.61, Y:6.56, Z:-4.22 [[ 9.99904148e-01 -1.36523339e-02 -2.30400351e-03 3.47610646e+02] [ 1.36527249e-02 9.99906785e-01 1.54071493e-04 6.56246141e+00] [ 2.30168531e-03 -1.85512652e-04 9.99997334e-01 -4.21785622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.55589822699994 meters 0.09133159614875835 Centerline is valid? [True, True] Translation: X:347.67, Y:6.56, Z:-4.22 [[ 9.99892466e-01 -1.45586908e-02 -1.76082430e-03 3.47669939e+02] [ 1.45589206e-02 9.99894006e-01 1.17723736e-04 6.55697489e+00] [ 1.75892376e-03 -1.43346778e-04 9.99998443e-01 -4.21723040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.61589822699995 meters 0.0958886744011924 Centerline is valid? [True, True] Translation: X:347.73, Y:6.55, Z:-4.22 [[ 9.99830694e-01 -1.78274853e-02 -4.55683315e-03 3.47729581e+02] [ 1.78290582e-02 9.99841003e-01 3.04785011e-04 6.54566094e+00] [ 4.55067508e-03 -3.85977453e-04 9.99989571e-01 -4.22333937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.67589822699995 meters 0.09166008439168429 Centerline is valid? [True, True] Translation: X:347.79, Y:6.55, Z:-4.23 [[ 9.99824160e-01 -1.76264835e-02 -6.39966458e-03 3.47788263e+02] [ 1.76295721e-02 9.99844496e-01 4.26529160e-04 6.54603949e+00] [ 6.39115120e-03 -5.39277507e-04 9.99979431e-01 -4.22552152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.73589822699995 meters 0.07966125317679011 Centerline is valid? [True, True] Translation: X:347.85, Y:6.56, Z:-4.22 [[ 9.99909393e-01 -1.13447323e-02 -7.24592346e-03 3.47849777e+02] [ 1.13485326e-02 9.99935486e-01 4.83568028e-04 6.55957593e+00] [ 7.23997005e-03 -5.65754811e-04 9.99973631e-01 -4.22492087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.79589822699995 meters 0.07825937735823954 Centerline is valid? [True, True] Translation: X:347.91, Y:6.56, Z:-4.23 [[ 9.99933188e-01 -8.81704942e-03 -7.47521831e-03 3.47910828e+02] [ 8.82102463e-03 9.99960970e-01 4.98982300e-04 6.55901883e+00] [ 7.47052700e-03 -5.64888047e-04 9.99971936e-01 -4.22578872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.85589822699995 meters 0.07196760428223362 Centerline is valid? [True, True] Translation: X:347.97, Y:6.56, Z:-4.22 [[ 9.99977893e-01 -3.33834803e-03 -5.75059352e-03 3.47971467e+02] [ 3.34061011e-03 9.99994346e-01 3.83804888e-04 6.56479752e+00] [ 5.74927974e-03 -4.03006894e-04 9.99983392e-01 -4.22399313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.91589822699996 meters 0.07447615262106791 Centerline is valid? [True, True] Translation: X:348.03, Y:6.56, Z:-4.22 [[ 9.99978213e-01 -4.92258073e-03 -4.39800002e-03 3.48030642e+02] [ 4.92391830e-03 9.99987834e-01 2.93354736e-04 6.55552065e+00] [ 4.39650245e-03 -3.15003738e-04 9.99990286e-01 -4.22175052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.97589822699996 meters 0.0882488142480605 Centerline is valid? [True, True] Translation: X:348.09, Y:6.53, Z:-4.22 [[ 9.99917269e-01 -1.15889041e-02 -5.58143620e-03 3.48087984e+02] [ 1.15911623e-02 9.99932751e-01 3.72412124e-04 6.52590487e+00] [ 5.57674501e-03 -4.37076646e-04 9.99984354e-01 -4.22370243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.03589822699996 meters 0.08137080101216522 Centerline is valid? [True, True] Translation: X:348.15, Y:6.52, Z:-4.22 [[ 9.99877472e-01 -1.53430049e-02 -3.10377160e-03 3.48147869e+02] [ 1.53437210e-02 9.99882257e-01 2.07019107e-04 6.52171262e+00] [ 3.10022985e-03 -2.54617147e-04 9.99995162e-01 -4.21875332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.09589822699996 meters 0.0934237029790086 Centerline is valid? [True, True] Translation: X:348.21, Y:6.49, Z:-4.22 [[ 9.99831908e-01 -1.81276948e-02 -2.74619135e-03 3.48205021e+02] [ 1.81282655e-02 9.99835653e-01 1.83058860e-04 6.49350338e+00] [ 2.74242159e-03 -2.32811776e-04 9.99996212e-01 -4.21765896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.15589822699997 meters 0.0892371082677511 Centerline is valid? [True, True] Translation: X:348.26, Y:6.49, Z:-4.22 [[ 9.99851177e-01 -1.63339328e-02 -5.55220380e-03 3.48264302e+02] [ 1.63362379e-02 9.99866486e-01 3.70066886e-04 6.48800975e+00] [ 5.54541785e-03 -4.60713933e-04 9.99984518e-01 -4.22207750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.21589822699997 meters 0.0761964251511053 Centerline is valid? [True, True] Translation: X:348.33, Y:6.50, Z:-4.22 [[ 9.99932089e-01 -1.05623863e-02 -4.92477359e-03 3.48326036e+02] [ 1.05641309e-02 9.99944144e-01 3.28368188e-04 6.49890286e+00] [ 4.92103016e-03 -3.80371841e-04 9.99987819e-01 -4.21978168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.27589822699997 meters 0.069558050309332 Centerline is valid? [True, True] Translation: X:348.39, Y:6.50, Z:-4.22 [[ 9.99996214e-01 1.02140633e-03 -2.55515564e-03 3.48385954e+02] [-1.02097444e-03 9.99999464e-01 1.70323898e-04 6.50247615e+00] [ 2.55532825e-03 -1.67714504e-04 9.99996721e-01 -4.21737453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.335898227 meters 0.06290273497400597 Centerline is valid? [True, True] Translation: X:348.45, Y:6.51, Z:-4.22 [[ 9.99964445e-01 7.45636811e-03 -3.93843040e-03 3.48446646e+02] [-7.45539169e-03 9.99972174e-01 2.62542614e-04 6.50556961e+00] [ 3.94027842e-03 -2.33170738e-04 9.99992210e-01 -4.21992720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.395898227 meters 0.06055116195238158 Centerline is valid? [True, True] Translation: X:348.51, Y:6.50, Z:-4.22 [[ 9.99951109e-01 9.53106770e-03 -2.63405595e-03 3.48506937e+02] [-9.53063830e-03 9.99954567e-01 1.75524535e-04 6.50240431e+00] [ 2.63560921e-03 -1.50411719e-04 9.99996515e-01 -4.21706008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.455898227 meters 0.0620865222964297 Centerline is valid? [True, True] Translation: X:348.56, Y:6.49, Z:-4.22 [[ 9.99943219e-01 1.05935966e-02 -1.15529878e-03 3.48564958e+02] [-1.05935149e-02 9.99943884e-01 7.68375186e-05 6.48944110e+00] [ 1.15604794e-03 -6.45944809e-05 9.99999330e-01 -4.21550723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.515898227 meters 0.0635241621932766 Centerline is valid? [True, True] Translation: X:348.62, Y:6.48, Z:-4.22 [[ 9.99941328e-01 1.03892819e-02 -3.06637951e-03 3.48624184e+02] [-1.03887040e-02 9.99946015e-01 2.04322224e-04 6.47717325e+00] [ 3.06833674e-03 -1.72454527e-04 9.99995278e-01 -4.21971113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.575898227 meters 0.05894709242444267 Centerline is valid? [True, True] Translation: X:348.68, Y:6.47, Z:-4.22 [[ 9.99917932e-01 1.25642089e-02 -2.50396013e-03 3.48683509e+02] [-1.25638306e-02 9.99921058e-01 1.66755372e-04 6.46637459e+00] [ 2.50585761e-03 -1.35282356e-04 9.99996851e-01 -4.21782921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.635898227 meters 0.051307707281707554 Centerline is valid? [True, True] Translation: X:348.74, Y:6.47, Z:-4.21 [[ 9.99816443e-01 1.90928438e-02 -1.59489690e-03 3.48744288e+02] [-1.90926985e-02 9.99817712e-01 1.06233749e-04 6.46622155e+00] [ 1.59663447e-03 -7.57633638e-05 9.99998723e-01 -4.21496491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.695898227 meters 0.037639917970685374 Centerline is valid? [True, True] Translation: X:348.80, Y:6.48, Z:-4.22 [[ 9.99407639e-01 3.40858562e-02 -4.74617899e-03 3.48804091e+02] [-3.40847393e-02 9.99418896e-01 3.16025339e-04 6.47530283e+00] [ 4.75419296e-03 -1.54065864e-04 9.99988687e-01 -4.21936798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.755898227 meters 0.022437229456646272 Centerline is valid? [True, True] Translation: X:348.87, Y:6.49, Z:-4.22 [[ 9.98811730e-01 4.85692144e-02 -4.01995263e-03 3.48865805e+02] [-4.85685302e-02 9.98819817e-01 2.67697829e-04 6.49352124e+00] [ 4.02821023e-03 -7.21365404e-05 9.99991884e-01 -4.21833827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.815898227 meters 0.017309013341766138 Centerline is valid? [True, True] Translation: X:348.93, Y:6.50, Z:-4.22 [[ 9.98505484e-01 5.46264931e-02 -1.65677713e-03 3.48925222e+02] [-5.46263854e-02 9.98506858e-01 1.10209026e-04 6.49730534e+00] [ 1.66032366e-03 -1.95405706e-05 9.99998621e-01 -4.21640681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.875898227 meters 0.011997171349640649 Centerline is valid? [True, True] Translation: X:348.98, Y:6.51, Z:-4.22 [[ 9.98202051e-01 5.99292015e-02 -1.07487486e-03 3.48984535e+02] [-5.99291594e-02 9.98202630e-01 7.13319758e-05 6.50811592e+00] [ 1.07721778e-03 -6.78737779e-06 9.99999420e-01 -4.21630345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.93589822699994 meters 0.010466131712645942 Centerline is valid? [True, True] Translation: X:349.04, Y:6.52, Z:-4.22 [[ 9.98017532e-01 6.29101516e-02 -1.82156492e-03 3.49043547e+02] [-6.29100357e-02 9.98019195e-01 1.20919631e-04 6.51504844e+00] [ 1.82556383e-03 -6.08519783e-06 9.99998334e-01 -4.21746060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.99589822699994 meters 0.010298078666940033 Centerline is valid? [True, True] Translation: X:349.10, Y:6.52, Z:-4.22 [[ 9.97918309e-01 6.43877887e-02 -3.64171870e-03 3.49101763e+02] [-6.43873355e-02 9.97924953e-01 2.41666659e-04 6.52287130e+00] [ 3.64972234e-03 -6.68302029e-06 9.99993340e-01 -4.22096705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.05589822699994 meters 0.011052538255391898 Centerline is valid? [True, True] Translation: X:349.16, Y:6.52, Z:-4.22 [[ 9.98090148e-01 6.17235484e-02 -2.50185669e-03 3.49160298e+02] [-6.17233265e-02 9.98093284e-01 1.65881925e-04 6.51712127e+00] [ 2.50732518e-03 -1.11421974e-05 9.99996857e-01 -4.21898279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.11589822699995 meters 0.01680001616810375 Centerline is valid? [True, True] Translation: X:349.22, Y:6.50, Z:-4.22 [[ 9.98504156e-01 5.46745044e-02 -3.85755494e-04 3.49218275e+02] [-5.46744987e-02 9.98504231e-01 2.54620237e-05 6.50283748e+00] [ 3.86570617e-04 -4.33294823e-06 9.99999925e-01 -4.21742572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.17589822699995 meters 0.02010846524519133 Centerline is valid? [True, True] Translation: X:349.28, Y:6.49, Z:-4.22 [[ 9.98655174e-01 5.18354011e-02 -9.66789985e-04 3.49275937e+02] [-5.18353633e-02 9.98655642e-01 6.41060480e-05 6.49386550e+00] [ 9.68813236e-04 -1.39059264e-05 9.99999531e-01 -4.21893372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.23589822699995 meters 0.02003475905488839 Centerline is valid? [True, True] Translation: X:349.34, Y:6.49, Z:-4.22 [[ 9.98668567e-01 5.14866977e-02 -3.19585100e-03 3.49335108e+02] [-5.14862834e-02 9.98673679e-01 2.11830620e-04 6.48634103e+00] [ 3.20251874e-03 -4.70060911e-05 9.99994871e-01 -4.22255286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.29589822699995 meters 0.026194779544631414 Centerline is valid? [True, True] Translation: X:349.39, Y:6.49, Z:-4.23 [[ 9.98430294e-01 5.57115061e-02 -5.75986009e-03 3.49394480e+02] [-5.57102316e-02 9.98446906e-01 3.81612445e-04 6.48560139e+00] [ 5.77217469e-03 -6.01302862e-05 9.99983339e-01 -4.22636323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.35589822699995 meters 0.025055608987526998 Centerline is valid? [True, True] Translation: X:349.45, Y:6.49, Z:-4.22 [[ 9.97968891e-01 6.35838377e-02 -3.89725113e-03 3.49452260e+02] [-6.35833155e-02 9.97976500e-01 2.57867521e-04 6.48774892e+00] [ 3.90576125e-03 -9.54361566e-06 9.99992372e-01 -4.22293388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.41589822699996 meters 0.009986279235506686 Centerline is valid? [True, True] Translation: X:349.51, Y:6.48, Z:-4.22 [[ 9.97750886e-01 6.69888203e-02 -2.38057140e-03 3.49510712e+02] [-6.69886355e-02 9.97753726e-01 1.57369359e-04 6.48114502e+00] [ 2.38576597e-03 2.45581263e-06 9.99997154e-01 -4.21928430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.47589822699996 meters 0.012256675446793116 Centerline is valid? [True, True] Translation: X:349.57, Y:6.48, Z:-4.22 [[ 9.97487927e-01 7.07846457e-02 -2.71480424e-03 3.49568583e+02] [-7.07844200e-02 9.97491621e-01 1.79258786e-04 6.47829180e+00] [ 2.72068325e-03 1.33573686e-05 9.99996299e-01 -4.22075825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.53589822699996 meters 0.02455363577121529 Centerline is valid? [True, True] Translation: X:349.63, Y:6.49, Z:-4.22 [[ 9.96351311e-01 8.53181560e-02 -2.20836380e-03 3.49630195e+02] [-8.53180419e-02 9.96353758e-01 1.45984140e-04 6.49009918e+00] [ 2.21276667e-03 4.29617860e-05 9.99997551e-01 -4.21613116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.59589822699996 meters 0.041566568199058185 Centerline is valid? [True, True] Translation: X:349.69, Y:6.51, Z:-4.22 [[ 9.95355850e-01 9.62047801e-02 -3.37222689e-03 3.49690996e+02] [-9.62045769e-02 9.95361557e-01 2.22782835e-04 6.51087863e+00] [ 3.37801778e-03 1.02675463e-04 9.99994289e-01 -4.21973584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.65589822699997 meters 0.047585490679653265 Centerline is valid? [True, True] Translation: X:349.75, Y:6.52, Z:-4.22 [[ 9.94651103e-01 1.03273801e-01 -1.92470255e-03 3.49752263e+02] [-1.03273748e-01 9.94652963e-01 1.27203750e-04 6.51861635e+00] [ 1.92754791e-03 7.22478953e-05 9.99998140e-01 -4.21859045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.71589822699997 meters 0.04186942120362078 Centerline is valid? [True, True] Translation: X:349.81, Y:6.51, Z:-4.22 [[ 9.94742015e-01 1.02405773e-01 -1.17561468e-03 3.49810213e+02] [-1.02405753e-01 9.94742708e-01 7.74645430e-05 6.50695333e+00] [ 1.17736695e-03 4.33324707e-05 9.99999306e-01 -4.21660762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.77589822699997 meters 0.03224843150217384 Centerline is valid? [True, True] Translation: X:349.87, Y:6.49, Z:-4.22 [[ 9.95662469e-01 9.30089376e-02 -2.36341336e-03 3.49869381e+02] [-9.30088289e-02 9.95665272e-01 1.56083146e-04 6.48747789e+00] [ 2.36768574e-03 6.44121782e-05 9.99997195e-01 -4.21970796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.835898227 meters 0.02460861811945731 Centerline is valid? [True, True] Translation: X:349.93, Y:6.47, Z:-4.22 [[ 9.96320625e-01 8.57010033e-02 -7.41553461e-04 3.49928391e+02] [-8.57009906e-02 9.96320901e-01 4.89644067e-05 6.46680618e+00] [ 7.43021511e-04 1.47676179e-05 9.99999724e-01 -4.21689395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.895898227 meters 0.02781679276953095 Centerline is valid? [True, True] Translation: X:349.99, Y:6.47, Z:-4.22 [[ 9.96107124e-01 8.81359937e-02 -1.62603923e-03 3.49987129e+02] [-8.81359361e-02 9.96108451e-01 1.07196041e-04 6.46558853e+00] [ 1.62915925e-03 3.65337500e-05 9.99998672e-01 -4.21744352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.955898227 meters 0.03606276407312703 Centerline is valid? [True, True] Translation: X:350.05, Y:6.47, Z:-4.22 [[ 9.95244776e-01 9.72756688e-02 -5.02801227e-03 3.50048468e+02] [-9.72752322e-02 9.95257464e-01 3.31880598e-04 6.47318289e+00] [ 5.03645064e-03 1.58798629e-04 9.99987304e-01 -4.22308090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.015898227 meters 0.0395791609446446 Centerline is valid? [True, True] Translation: X:350.11, Y:6.47, Z:-4.22 [[ 9.94992486e-01 9.98195723e-02 -5.09960368e-03 3.50106891e+02] [-9.98191589e-02 9.95005539e-01 3.36157811e-04 6.47387875e+00] [ 5.10768904e-03 1.74563653e-04 9.99986940e-01 -4.22485551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.075898227 meters 0.03472022410007016 Centerline is valid? [True, True] Translation: X:350.17, Y:6.46, Z:-4.23 [[ 9.95560592e-01 9.39320317e-02 -5.99004071e-03 3.50165094e+02] [-9.39313544e-02 9.95578598e-01 3.94937001e-04 6.45783876e+00] [ 6.00065357e-03 1.69468922e-04 9.99981982e-01 -4.22843638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.135898227 meters 0.027235182663092973 Centerline is valid? [True, True] Translation: X:350.22, Y:6.44, Z:-4.23 [[ 9.96107624e-01 8.78464410e-02 -7.25293113e-03 3.50224339e+02] [-8.78452880e-02 9.96134016e-01 4.78002401e-04 6.43709343e+00] [ 7.26688222e-03 1.60993988e-04 9.99973583e-01 -4.22962331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.195898227 meters 0.027619295594089415 Centerline is valid? [True, True] Translation: X:350.28, Y:6.43, Z:-4.23 [[ 9.96269677e-01 8.60781265e-02 -6.10623891e-03 3.50281559e+02] [-8.60772792e-02 9.96288382e-01 4.01925433e-04 6.42503119e+00] [ 6.11817187e-03 1.25182310e-04 9.99981276e-01 -4.22761019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.255898227 meters 0.0362389076771693 Centerline is valid? [True, True] Translation: X:350.34, Y:6.43, Z:-4.23 [[ 9.95492027e-01 9.47019221e-02 -5.21244125e-03 3.50342791e+02] [-9.47014217e-02 9.95505662e-01 3.43281130e-04 6.43054146e+00] [ 5.22152416e-03 1.51891968e-04 9.99986356e-01 -4.22528072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.315898227 meters 0.059228542056588514 Centerline is valid? [True, True] Translation: X:350.40, Y:6.45, Z:-4.22 [[ 9.93607423e-01 1.12877372e-01 -1.72836165e-03 3.50404584e+02] [-1.12877345e-01 9.93608923e-01 1.13793210e-04 6.45185169e+00] [ 1.73016023e-03 8.20270955e-05 9.99998500e-01 -4.21848336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.375898227 meters 0.07144299350972787 Centerline is valid? [True, True] Translation: X:350.47, Y:6.47, Z:-4.22 [[ 9.92180371e-01 1.24811863e-01 -3.32330121e-04 3.50465152e+02] [-1.24811863e-01 9.92180426e-01 2.18931732e-05 6.47476381e+00] [ 3.32463969e-04 1.97567649e-05 9.99999945e-01 -4.21767820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.43589822699994 meters 0.06693736350601247 Centerline is valid? [True, True] Translation: X:350.52, Y:6.47, Z:-4.22 [[ 9.91925063e-01 1.26783700e-01 -3.25017522e-03 3.50524808e+02] [-1.26783677e-01 9.91930367e-01 2.13956471e-04 6.46623287e+00] [ 3.25107370e-03 1.99840381e-04 9.99994695e-01 -4.22200992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.49589822699994 meters 0.06803377318905919 Centerline is valid? [True, True] Translation: X:350.58, Y:6.47, Z:-4.23 [[ 9.92114584e-01 1.25225164e-01 -5.22592288e-03 3.50582682e+02] [-1.25225085e-01 9.92128298e-01 3.43581487e-04 6.46874979e+00] [ 5.22781102e-03 3.13544434e-04 9.99986286e-01 -4.22752474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.55589822699994 meters 0.06317563947476569 Centerline is valid? [True, True] Translation: X:350.64, Y:6.46, Z:-4.23 [[ 9.92456086e-01 1.22514430e-01 -4.59704300e-03 3.50643136e+02] [-1.22514339e-01 9.92466697e-01 3.02391779e-04 6.46182350e+00] [ 4.59945944e-03 2.63093124e-04 9.99989388e-01 -4.22577558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.61589822699995 meters 0.05594035451298919 Centerline is valid? [True, True] Translation: X:350.70, Y:6.45, Z:-4.22 [[ 9.93293655e-01 1.15590275e-01 -2.56970458e-03 3.50703126e+02] [-1.15590224e-01 9.93296971e-01 1.69021582e-04 6.45183399e+00] [ 2.57201702e-03 1.29144662e-04 9.99996684e-01 -4.22316312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.67589822699995 meters 0.056227692921844916 Centerline is valid? [True, True] Translation: X:350.76, Y:6.45, Z:-4.23 [[ 9.93677426e-01 1.12200425e-01 -4.02957812e-03 3.50762052e+02] [-1.12200271e-01 9.93685579e-01 2.64938709e-04 6.44851001e+00] [ 4.03385990e-03 1.88856142e-04 9.99991846e-01 -4.22702470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.73589822699995 meters 0.05071130587275148 Centerline is valid? [True, True] Translation: X:350.82, Y:6.44, Z:-4.23 [[ 9.93495241e-01 1.13669360e-01 -6.81782059e-03 3.50820679e+02] [-1.13668956e-01 9.93518579e-01 4.47979301e-04 6.43830818e+00] [ 6.82455294e-03 3.29909244e-04 9.99976658e-01 -4.23038298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.79589822699995 meters 0.05934848229992403 Centerline is valid? [True, True] Translation: X:350.88, Y:6.45, Z:-4.23 [[ 9.92893930e-01 1.18913986e-01 -4.59429051e-03 3.50881007e+02] [-1.18913859e-01 9.92904529e-01 3.01931162e-04 6.45131356e+00] [ 4.59759569e-03 2.46539194e-04 9.99989401e-01 -4.22599823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.85589822699995 meters 0.06251210640604389 Centerline is valid? [True, True] Translation: X:350.94, Y:6.45, Z:-4.23 [[ 9.92642131e-01 1.20975330e-01 -5.15452739e-03 3.50941964e+02] [-1.20975197e-01 9.92655472e-01 3.38767934e-04 6.45453803e+00] [ 5.15765239e-03 2.87294642e-04 9.99986658e-01 -4.22810887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.91589822699996 meters 0.05696545397032995 Centerline is valid? [True, True] Translation: X:351.00, Y:6.45, Z:-4.23 [[ 9.92705000e-01 1.20456984e-01 -5.18638535e-03 3.51000603e+02] [-1.20456844e-01 9.92718506e-01 3.40431871e-04 6.44698170e+00] [ 5.18962812e-03 2.86787192e-04 9.99986493e-01 -4.22788143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.97589822699996 meters 0.06028842388555519 Centerline is valid? [True, True] Translation: X:351.06, Y:6.45, Z:-4.23 [[ 9.93011543e-01 1.17931130e-01 -4.50814168e-03 3.51059294e+02] [-1.17930999e-01 9.93021748e-01 2.95773023e-04 6.44672746e+00] [ 4.51156358e-03 2.37943626e-04 9.99989795e-01 -4.22690644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.03589822699996 meters 0.05586268230895357 Centerline is valid? [True, True] Translation: X:351.12, Y:6.43, Z:-4.23 [[ 9.93193836e-01 1.16384017e-01 -4.55690365e-03 3.51117874e+02] [-1.16383870e-01 9.93204262e-01 2.98477397e-04 6.43378851e+00] [ 4.56067413e-03 2.33904171e-04 9.99989573e-01 -4.22524203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.09589822699996 meters 0.06476482455137565 Centerline is valid? [True, True] Translation: X:351.18, Y:6.44, Z:-4.23 [[ 9.92955313e-01 1.18386932e-01 -4.92755594e-03 3.51177201e+02] [-1.18386782e-01 9.92967505e-01 3.23029031e-04 6.43835520e+00] [ 4.93114534e-03 2.62604101e-04 9.99987807e-01 -4.22724695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.15589822699997 meters 0.06254566550284586 Centerline is valid? [True, True] Translation: X:351.24, Y:6.43, Z:-4.23 [[ 9.92615391e-01 1.21163608e-01 -5.83656181e-03 3.51236698e+02] [-1.21163447e-01 9.92632496e-01 3.82542656e-04 6.42911909e+00] [ 5.83991117e-03 3.27460219e-04 9.99982894e-01 -4.22809988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.21589822699997 meters 0.06193161911096218 Centerline is valid? [True, True] Translation: X:351.30, Y:6.42, Z:-4.22 [[ 9.92855390e-01 1.19288496e-01 -2.90323110e-03 3.51296445e+02] [-1.19288448e-01 9.92859623e-01 1.90226976e-04 6.42327255e+00] [ 2.90519283e-03 1.57454053e-04 9.99995768e-01 -4.22286588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.27589822699997 meters 0.06133903211384255 Centerline is valid? [True, True] Translation: X:351.35, Y:6.41, Z:-4.22 [[ 9.93239829e-01 1.16047777e-01 -2.74882754e-03 3.51354900e+02] [-1.16047722e-01 9.93243623e-01 1.80060392e-04 6.41424280e+00] [ 2.75115103e-03 1.40152022e-04 9.99996206e-01 -4.22256274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.335898227 meters 0.06093966083179945 Centerline is valid? [True, True] Translation: X:351.41, Y:6.41, Z:-4.23 [[ 9.93251764e-01 1.15870735e-01 -4.99064909e-03 3.51413488e+02] [-1.15870553e-01 9.93264269e-01 3.26612251e-04 6.40869045e+00] [ 4.99487823e-03 2.53861076e-04 9.99987493e-01 -4.22566537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.395898227 meters 0.060134920362535614 Centerline is valid? [True, True] Translation: X:351.47, Y:6.40, Z:-4.22 [[ 9.93390938e-01 1.14741135e-01 -2.98615116e-03 3.51472490e+02] [-1.14741065e-01 9.93395415e-01 1.95304751e-04 6.40207093e+00] [ 2.98883835e-03 1.48620196e-04 9.99995522e-01 -4.22278907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.455898227 meters 0.058947447916320374 Centerline is valid? [True, True] Translation: X:351.53, Y:6.39, Z:-4.22 [[ 9.93593186e-01 1.12999818e-01 -1.90303197e-03 3.51531911e+02] [-1.12999787e-01 9.93595004e-01 1.24419379e-04 6.39467461e+00] [ 1.90490242e-03 9.14199586e-05 9.99998181e-01 -4.22135087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.515898227 meters 0.05630951308423519 Centerline is valid? [True, True] Translation: X:351.59, Y:6.38, Z:-4.23 [[ 9.93888283e-01 1.10338971e-01 -3.37531765e-03 3.51590973e+02] [-1.10338857e-01 9.93894002e-01 2.20665976e-04 6.38449036e+00] [ 3.37905603e-03 1.53111364e-04 9.99994279e-01 -4.22511878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.575898227 meters 0.05389815372219349 Centerline is valid? [True, True] Translation: X:351.65, Y:6.37, Z:-4.23 [[ 9.94211189e-01 1.07341544e-01 -4.68033384e-03 3.51650304e+02] [-1.07341291e-01 9.94222185e-01 3.06005097e-04 6.37288927e+00] [ 4.68613880e-03 1.98159385e-04 9.99989000e-01 -4.22801538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.635898227 meters 0.053605675615478826 Centerline is valid? [True, True] Translation: X:351.71, Y:6.37, Z:-4.23 [[ 9.94296202e-01 1.06566011e-01 -4.32990349e-03 3.51709223e+02] [-1.06565789e-01 9.94305613e-01 2.82491774e-04 6.36651749e+00] [ 4.33535137e-03 1.80539084e-04 9.99990586e-01 -4.22843184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.695898227 meters 0.05408550264713317 Centerline is valid? [True, True] Translation: X:351.77, Y:6.36, Z:-4.23 [[ 9.94389227e-01 1.05733958e-01 -3.22421987e-03 3.51766411e+02] [-1.05733832e-01 9.94394445e-01 2.10199624e-04 6.35779427e+00] [ 3.22837156e-03 1.31888880e-04 9.99994780e-01 -4.22708907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.755898227 meters 0.05725188729213118 Centerline is valid? [True, True] Translation: X:351.83, Y:6.35, Z:-4.23 [[ 9.94111221e-01 1.08270274e-01 -4.51979045e-03 3.51826065e+02] [-1.08270051e-01 9.94121476e-01 2.94855864e-04 6.35333047e+00] [ 4.52514488e-03 1.96238419e-04 9.99989742e-01 -4.22935385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.815898227 meters 0.06550404435491534 Centerline is valid? [True, True] Translation: X:351.89, Y:6.35, Z:-4.23 [[ 9.93571875e-01 1.13008350e-01 -6.63634748e-03 3.51885028e+02] [-1.13007973e-01 9.93593987e-01 4.33070080e-04 6.35250730e+00] [ 6.64277549e-03 3.19673923e-04 9.99977885e-01 -4.23394188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.875898227 meters 0.06725686160164307 Centerline is valid? [True, True] Translation: X:351.94, Y:6.35, Z:-4.24 [[ 9.93388674e-01 1.14566825e-01 -7.30654111e-03 3.51944631e+02] [-1.14566411e-01 9.93415477e-01 4.76541209e-04 6.34646945e+00] [ 7.31302684e-03 3.63693554e-04 9.99973193e-01 -4.23548919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.93589822699994 meters 0.05948260747231511 Centerline is valid? [True, True] Translation: X:352.00, Y:6.32, Z:-4.23 [[ 9.93051971e-01 1.17438392e-01 -7.48379137e-03 3.52003456e+02] [-1.17438040e-01 9.93080092e-01 4.88052696e-04 6.32278485e+00] [ 7.48932035e-03 3.94220096e-04 9.99971877e-01 -4.23234212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.99589822699994 meters 0.0614808446521362 Centerline is valid? [True, True] Translation: X:352.06, Y:6.32, Z:-4.23 [[ 9.92667049e-01 1.20767786e-01 -5.22221750e-03 3.52063350e+02] [-1.20767660e-01 9.92680742e-01 3.40520292e-04 6.31674319e+00] [ 5.22511863e-03 2.92651717e-04 9.99986306e-01 -4.22787054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.05589822699994 meters 0.07261279830678352 Centerline is valid? [True, True] Translation: X:352.12, Y:6.33, Z:-4.22 [[ 9.92000143e-01 1.26211726e-01 -2.51329932e-03 3.52123571e+02] [-1.26211714e-01 9.92003315e-01 1.63833623e-04 6.32540737e+00] [ 2.51387898e-03 1.54684837e-04 9.99996828e-01 -4.22406503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.11589822699995 meters 0.07684775861068571 Centerline is valid? [True, True] Translation: X:352.18, Y:6.32, Z:-4.22 [[ 9.90934568e-01 1.34314777e-01 -2.86746230e-03 3.52183591e+02] [-1.34314796e-01 9.90938697e-01 1.86884637e-04 6.32436049e+00] [ 2.86658073e-03 1.99952166e-04 9.99995871e-01 -4.22361509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.17589822699995 meters 0.0790087034273125 Centerline is valid? [True, True] Translation: X:352.24, Y:6.32, Z:-4.22 [[ 9.90670979e-01 1.36247977e-01 -2.73855731e-03 3.52243362e+02] [-1.36248002e-01 9.90674745e-01 1.78428210e-04 6.32169406e+00] [ 2.73733005e-03 1.96359312e-04 9.99996234e-01 -4.22461139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.23589822699995 meters 0.0767418567636734 Centerline is valid? [True, True] Translation: X:352.30, Y:6.31, Z:-4.22 [[ 9.90615201e-01 1.36678839e-01 -6.46577591e-04 3.52301977e+02] [-1.36678840e-01 9.90615411e-01 4.19391302e-05 6.31477033e+00] [ 6.46241918e-04 4.68279354e-05 9.99999790e-01 -4.22137089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.29589822699995 meters 0.07749500110561941 Centerline is valid? [True, True] Translation: X:352.36, Y:6.31, Z:-4.22 [[ 9.90673685e-01 1.36227565e-01 -2.77501556e-03 3.52360891e+02] [-1.36227591e-01 9.90677551e-01 1.80434575e-04 6.31271853e+00] [ 2.77372578e-03 1.99281900e-04 9.99996133e-01 -4.22458092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.35589822699995 meters 0.0783880677186893 Centerline is valid? [True, True] Translation: X:352.42, Y:6.31, Z:-4.23 [[ 9.90691720e-01 1.36080510e-01 -3.46553499e-03 3.52419763e+02] [-1.36080551e-01 9.90697751e-01 2.25217975e-04 6.31100732e+00] [ 3.46394549e-03 2.48470326e-04 9.99993970e-01 -4.22615625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.41589822699996 meters 0.07599505546871843 Centerline is valid? [True, True] Translation: X:352.48, Y:6.30, Z:-4.22 [[ 9.91225927e-01 1.32152959e-01 -2.59932940e-03 3.52478630e+02] [-1.32152968e-01 9.91229320e-01 1.68964825e-04 6.30105011e+00] [ 2.59886072e-03 1.76026780e-04 9.99996607e-01 -4.22426076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.47589822699996 meters 0.07296899505807378 Centerline is valid? [True, True] Translation: X:352.54, Y:6.29, Z:-4.23 [[ 9.91582606e-01 1.29418763e-01 -3.83653637e-03 3.52538057e+02] [-1.29418763e-01 9.91589997e-01 2.49446972e-04 6.28914690e+00] [ 3.83655421e-03 2.49172511e-04 9.99992609e-01 -4.22676841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.53589822699996 meters 0.07462929321054303 Centerline is valid? [True, True] Translation: X:352.60, Y:6.28, Z:-4.23 [[ 9.91811240e-01 1.27665266e-01 -3.47039415e-03 3.52596468e+02] [-1.27665256e-01 9.91817287e-01 2.25487503e-04 6.28169565e+00] [ 3.47078383e-03 2.19407716e-04 9.99993953e-01 -4.22736646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.59589822699996 meters 0.0660402356046166 Centerline is valid? [True, True] Translation: X:352.66, Y:6.26, Z:-4.23 [[ 9.92187643e-01 1.24711749e-01 -3.26514985e-03 3.52655731e+02] [-1.24711724e-01 9.92192996e-01 2.12214325e-04 6.25501437e+00] [ 3.26612443e-03 1.96646036e-04 9.99994647e-01 -4.22572057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.65589822699997 meters 0.06769527695004472 Centerline is valid? [True, True] Translation: X:352.71, Y:6.25, Z:-4.23 [[ 9.92171657e-01 1.24806929e-01 -4.31665178e-03 3.52712883e+02] [-1.24806887e-01 9.92181013e-01 2.80110740e-04 6.24688301e+00] [ 4.31785970e-03 2.60829935e-04 9.99990644e-01 -4.22745502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.71589822699997 meters 0.06941624389837231 Centerline is valid? [True, True] Translation: X:352.77, Y:6.24, Z:-4.23 [[ 9.91553289e-01 1.29624764e-01 -4.41530184e-03 3.52772480e+02] [-1.29624768e-01 9.91563078e-01 2.86642346e-04 6.23812969e+00] [ 4.41520623e-03 2.88111314e-04 9.99990211e-01 -4.22716700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.77589822699997 meters 0.07077622473423054 Centerline is valid? [True, True] Translation: X:352.83, Y:6.23, Z:-4.23 [[ 9.91465350e-01 1.30228975e-01 -6.07237086e-03 3.52832011e+02] [-1.30228994e-01 9.91483865e-01 3.94046603e-04 6.23315253e+00] [ 6.07197401e-03 4.00115194e-04 9.99981485e-01 -4.23008244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.835898227 meters 0.07053763595935965 Centerline is valid? [True, True] Translation: X:352.89, Y:6.22, Z:-4.23 [[ 9.92363776e-01 1.23258647e-01 -4.63050714e-03 3.52890601e+02] [-1.23258583e-01 9.92374542e-01 3.00388303e-04 6.22387328e+00] [ 4.63222286e-03 2.72655277e-04 9.99989234e-01 -4.22890428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.895898227 meters 0.05443234363286937 Centerline is valid? [True, True] Translation: X:352.95, Y:6.19, Z:-4.22 [[ 9.93600411e-01 1.12933896e-01 -2.03943246e-03 3.52949675e+02] [-1.12933862e-01 9.93602499e-01 1.32311149e-04 6.19408130e+00] [ 2.04132760e-03 9.88565723e-05 9.99997912e-01 -4.22458925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.955898227 meters 0.04684405360860296 Centerline is valid? [True, True] Translation: X:353.01, Y:6.18, Z:-4.22 [[ 9.94648554e-01 1.03297500e-01 -1.96973519e-03 3.53008813e+02] [-1.03297449e-01 9.94650502e-01 1.27785974e-04 6.17791084e+00] [ 1.97239807e-03 7.63664861e-05 9.99998052e-01 -4.22465831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.015898227 meters 0.04484740267479701 Centerline is valid? [True, True] Translation: X:353.07, Y:6.17, Z:-4.23 [[ 9.94883990e-01 1.00997858e-01 -2.29773523e-03 3.53067895e+02] [-1.00997783e-01 9.94886640e-01 1.48943613e-04 6.17126819e+00] [ 2.30102907e-03 8.38845474e-05 9.99997349e-01 -4.22544892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.075898227 meters 0.0426486075241779 Centerline is valid? [True, True] Translation: X:353.13, Y:6.17, Z:-4.22 [[ 9.94916595e-01 1.00683638e-01 -1.94265445e-03 3.53127287e+02] [-1.00683584e-01 9.94918489e-01 1.25867915e-04 6.17043413e+00] [ 1.94545567e-03 7.03653357e-05 9.99998105e-01 -4.22378392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.135898227 meters 0.03891959681393689 Centerline is valid? [True, True] Translation: X:353.19, Y:6.17, Z:-4.23 [[ 9.95088539e-01 9.88954137e-02 -4.30079473e-03 3.53187266e+02] [-9.88951315e-02 9.95097822e-01 2.78749591e-04 6.16550718e+00] [ 4.30727852e-03 1.47947137e-04 9.99990713e-01 -4.22852230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.195898227 meters 0.029994350652903352 Centerline is valid? [True, True] Translation: X:353.25, Y:6.16, Z:-4.22 [[ 9.95975734e-01 8.96027464e-02 -1.91979638e-03 3.53246912e+02] [-8.96026728e-02 9.95977583e-01 1.24439856e-04 6.15646839e+00] [ 1.92322431e-03 4.80798098e-05 9.99998149e-01 -4.22475088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.255898227 meters 0.01851875200747597 Centerline is valid? [True, True] Translation: X:353.31, Y:6.14, Z:-4.23 [[ 9.96946079e-01 7.80249373e-02 -3.25966135e-03 3.53306129e+02] [-7.80246634e-02 9.96951407e-01 2.11295539e-04 6.13939328e+00] [ 3.26621029e-03 4.36837206e-05 9.99994665e-01 -4.22723412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.315898227 meters 0.012921262082866621 Centerline is valid? [True, True] Translation: X:353.37, Y:6.13, Z:-4.23 [[ 9.97422829e-01 7.17027928e-02 -2.53181986e-03 3.53367580e+02] [-7.17026067e-02 9.97426042e-01 1.64335866e-04 6.13010915e+00] [ 2.53708640e-03 1.76257393e-05 9.99996781e-01 -4.22516902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.375898227 meters 0.009910156785383763 Centerline is valid? [True, True] Translation: X:353.43, Y:6.12, Z:-4.22 [[ 9.97897474e-01 6.48088953e-02 -6.62442478e-04 3.53429674e+02] [-6.48088809e-02 9.97897694e-01 4.32200054e-05 6.11996987e+00] [ 6.63850862e-04 -1.96978541e-07 9.99999780e-01 -4.22292863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.43589822699994 meters 0.015776892799411593 Centerline is valid? [True, True] Translation: X:353.49, Y:6.11, Z:-4.22 [[ 9.98235941e-01 5.93563529e-02 -1.35247759e-03 3.53491473e+02] [-5.93562872e-02 9.98236857e-01 8.86508077e-05 6.10778584e+00] [ 1.35535496e-03 -8.21637437e-06 9.99999081e-01 -4.22306415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.49589822699994 meters 0.021385100432702822 Centerline is valid? [True, True] Translation: X:353.55, Y:6.09, Z:-4.23 [[ 9.98793837e-01 4.90624973e-02 -1.93464577e-03 3.53550110e+02] [-4.90623448e-02 9.98795710e-01 1.26205571e-04 6.08521882e+00] [ 1.93850785e-03 -3.11350882e-05 9.99998121e-01 -4.22504081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.55589822699994 meters 0.025335772438980886 Centerline is valid? [True, True] Translation: X:353.61, Y:6.07, Z:-4.23 [[ 9.98939631e-01 4.59852247e-02 -2.22993572e-03 3.53610177e+02] [-4.59850139e-02 9.98942119e-01 1.45728188e-04 6.07450091e+00] [ 2.23427806e-03 -4.30300370e-05 9.99997503e-01 -4.22599023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.61589822699995 meters 0.02872207744262987 Centerline is valid? [True, True] Translation: X:353.67, Y:6.06, Z:-4.23 [[ 9.99130236e-01 4.15987075e-02 -2.88440562e-03 3.53671210e+02] [-4.15983372e-02 9.99134397e-01 1.88265071e-04 6.06397028e+00] [ 2.88974045e-03 -6.81148472e-05 9.99995822e-01 -4.22605423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.67589822699995 meters 0.03279443440188006 Centerline is valid? [True, True] Translation: X:353.73, Y:6.05, Z:-4.23 [[ 9.99270905e-01 3.80316291e-02 -3.35451727e-03 3.53731897e+02] [-3.80311080e-02 9.99276532e-01 2.19012937e-04 6.04907693e+00] [ 3.36041980e-03 -9.12772472e-05 9.99994350e-01 -4.22737453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.73589822699995 meters 0.03519411878172932 Centerline is valid? [True, True] Translation: X:353.79, Y:6.04, Z:-4.23 [[ 9.99343305e-01 3.61168953e-02 -2.92027134e-03 3.53793176e+02] [-3.61164909e-02 9.99347568e-01 1.91138858e-04 6.03841703e+00] [ 2.92526940e-03 -8.55433847e-05 9.99995718e-01 -4.22685365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.79589822699995 meters 0.03451827673122624 Centerline is valid? [True, True] Translation: X:353.85, Y:6.03, Z:-4.23 [[ 9.99403534e-01 3.44263722e-02 -2.72036426e-03 3.53854484e+02] [-3.44260130e-02 9.99407233e-01 1.78770664e-04 6.03092123e+00] [ 2.72490615e-03 -8.50127383e-05 9.99996284e-01 -4.22588010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.85589822699995 meters 0.03854586141571031 Centerline is valid? [True, True] Translation: X:353.92, Y:6.02, Z:-4.23 [[ 9.99393005e-01 3.47242336e-02 -2.80166257e-03 3.53916247e+02] [-3.47238522e-02 9.99396928e-01 1.84675212e-04 6.01968947e+00] [ 2.80638567e-03 -8.72785981e-05 9.99996058e-01 -4.22744403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.91589822699996 meters 0.03665983079188861 Centerline is valid? [True, True] Translation: X:353.98, Y:6.02, Z:-4.23 [[ 9.99412365e-01 3.41191896e-02 -3.28733169e-03 3.53978344e+02] [-3.41186599e-02 9.99417765e-01 2.17067398e-04 6.01703776e+00] [ 3.29282386e-03 -1.04780490e-04 9.99994573e-01 -4.22796480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.97589822699996 meters 0.03953481764429557 Centerline is valid? [True, True] Translation: X:354.04, Y:6.01, Z:-4.23 [[ 9.99500392e-01 3.14211132e-02 -3.41751775e-03 3.54038949e+02] [-3.14205264e-02 9.99506228e-01 2.25270824e-04 6.00765592e+00] [ 3.42290854e-03 -1.17778070e-04 9.99994135e-01 -4.22837685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.03589822699996 meters 0.049982902077192505 Centerline is valid? [True, True] Translation: X:354.10, Y:5.99, Z:-4.23 [[ 9.99670395e-01 2.53748438e-02 -3.90111199e-03 3.54097521e+02] [-2.53740322e-02 9.99677994e-01 2.57400577e-04 5.98894104e+00] [ 3.90638731e-03 -1.58328795e-04 9.99992358e-01 -4.22967036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.09589822699996 meters 0.05196872182368326 Centerline is valid? [True, True] Translation: X:354.16, Y:5.98, Z:-4.23 [[ 9.99791628e-01 2.02131147e-02 -2.85124655e-03 3.54157166e+02] [-2.02126606e-02 9.99795686e-01 1.88009570e-04 5.97977530e+00] [ 2.85446426e-03 -1.30339115e-04 9.99995918e-01 -4.22758225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.15589822699997 meters 0.056914376956668226 Centerline is valid? [True, True] Translation: X:354.22, Y:5.97, Z:-4.23 [[ 9.99817083e-01 1.88609087e-02 -3.17280164e-03 3.54217378e+02] [-1.88603391e-02 9.99822106e-01 2.09357525e-04 5.96888674e+00] [ 3.17618589e-03 -1.49479115e-04 9.99994945e-01 -4.22874784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.21589822699997 meters 0.055678901107542526 Centerline is valid? [True, True] Translation: X:354.28, Y:5.97, Z:-4.23 [[ 9.99784983e-01 2.01821725e-02 -4.76111331e-03 3.54278759e+02] [-2.01809045e-02 9.99796295e-01 3.14225997e-04 5.96603939e+00] [ 4.76648521e-03 -2.18074860e-04 9.99988616e-01 -4.23118251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.27589822699997 meters 0.05678011877341893 Centerline is valid? [True, True] Translation: X:354.34, Y:5.96, Z:-4.23 [[ 9.99787120e-01 1.99749442e-02 -5.16876204e-03 3.54340332e+02] [-1.99734464e-02 9.99800453e-01 3.41236780e-04 5.96299280e+00] [ 5.17454682e-03 -2.37926146e-04 9.99986584e-01 -4.23207848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.335898227 meters 0.059063417847742945 Centerline is valid? [True, True] Translation: X:354.40, Y:5.96, Z:-4.23 [[ 9.99812544e-01 1.87445643e-02 -4.84959454e-03 3.54401319e+02] [-1.87432308e-02 9.99824279e-01 3.20277020e-04 5.95866626e+00] [ 4.85474581e-03 -2.29319912e-04 9.99988189e-01 -4.23091922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.395898227 meters 0.05255540824921618 Centerline is valid? [True, True] Translation: X:354.46, Y:5.97, Z:-4.22 [[ 9.99810655e-01 1.94294280e-02 -1.07302584e-03 3.54462887e+02] [-1.94293631e-02 9.99811230e-01 7.09020876e-05 5.96684844e+00] [ 1.07420087e-03 -5.00404541e-05 9.99999422e-01 -4.22267613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.455898227 meters 0.05988548612370394 Centerline is valid? [True, True] Translation: X:354.52, Y:5.96, Z:-4.22 [[ 9.99813730e-01 1.92925912e-02 -5.47963404e-04 3.54523217e+02] [-1.92925741e-02 9.99813880e-01 3.65618439e-05 5.95814256e+00] [ 5.48566790e-04 -2.59834090e-05 9.99999849e-01 -4.22320485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.515898227 meters 0.05055998036663972 Centerline is valid? [True, True] Translation: X:354.59, Y:5.98, Z:-4.23 [[ 9.99823023e-01 1.84774572e-02 -3.53645198e-03 3.54586444e+02] [-1.84767442e-02 9.99829263e-01 2.34195745e-04 5.97570297e+00] [ 3.54017552e-03 -1.68812179e-04 9.99993719e-01 -4.22557192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.575898227 meters 0.05814628771304435 Centerline is valid? [True, True] Translation: X:354.65, Y:5.97, Z:-4.22 [[ 9.99888541e-01 1.47027514e-02 -2.59512677e-03 3.54646249e+02] [-1.47023553e-02 9.99891900e-01 1.71664540e-04 5.97338740e+00] [ 2.59737018e-03 -1.33490931e-04 9.99996618e-01 -4.22359951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.635898227 meters 0.06200401637271164 Centerline is valid? [True, True] Translation: X:354.71, Y:5.97, Z:-4.22 [[ 9.99959331e-01 8.73770345e-03 -2.23371575e-03 3.54706685e+02] [-8.73739504e-03 9.99961817e-01 1.47791516e-04 5.96906104e+00] [ 2.23492182e-03 -1.28268648e-04 9.99997494e-01 -4.22336632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.695898227 meters 0.07615848123778148 Centerline is valid? [True, True] Translation: X:354.76, Y:5.95, Z:-4.23 [[ 9.99988442e-01 -2.09244376e-03 -4.32877823e-03 3.54764424e+02] [ 2.09370352e-03 9.99997767e-01 2.86509536e-04 5.94533968e+00] [ 4.32816906e-03 -2.95569402e-04 9.99990590e-01 -4.22895903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.755898227 meters 0.08306823136086587 Centerline is valid? [True, True] Translation: X:354.82, Y:5.93, Z:-4.23 [[ 9.99974003e-01 -5.39846363e-03 -4.78013349e-03 3.54822463e+02] [ 5.40003778e-03 9.99985370e-01 3.16465509e-04 5.92971866e+00] [ 4.77835513e-03 -3.42270183e-04 9.99988525e-01 -4.22802875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.815898227 meters 0.07516764015438497 Centerline is valid? [True, True] Translation: X:354.88, Y:5.93, Z:-4.23 [[ 9.99967619e-01 1.74148539e-03 -7.85673202e-03 3.54883746e+02] [-1.73745244e-03 9.99998355e-01 5.20107809e-04 5.93497338e+00] [ 7.85762486e-03 -5.06440269e-04 9.99969000e-01 -4.23160431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.875898227 meters 0.06651267807697711 Centerline is valid? [True, True] Translation: X:354.94, Y:5.94, Z:-4.23 [[ 9.99923923e-01 8.78439172e-03 -8.65922451e-03 3.54944921e+02] [-8.77975517e-03 9.99961293e-01 5.73315108e-04 5.94105648e+00] [ 8.66392556e-03 -4.97245621e-04 9.99962344e-01 -4.23249997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.93589822699994 meters 0.06021589004660666 Centerline is valid? [True, True] Translation: X:355.01, Y:5.94, Z:-4.23 [[ 9.99858120e-01 1.42012641e-02 -9.05896600e-03 3.55005479e+02] [-1.41964123e-02 9.99899046e-01 5.99661880e-04 5.94306792e+00] [ 9.06656742e-03 -4.70971983e-04 9.99958787e-01 -4.23438247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.99589822699994 meters 0.06003164431348147 Centerline is valid? [True, True] Translation: X:355.06, Y:5.94, Z:-4.23 [[ 9.99829251e-01 1.61178500e-02 -9.03785865e-03 3.55064142e+02] [-1.61131012e-02 9.99869997e-01 5.98002084e-04 5.93802672e+00] [ 9.04632221e-03 -4.52272045e-04 9.99958979e-01 -4.23404446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.05589822699994 meters 0.05819663896076013 Centerline is valid? [True, True] Translation: X:355.12, Y:5.94, Z:-4.23 [[ 9.99810305e-01 1.80379052e-02 -7.34762811e-03 3.55124032e+02] [-1.80348187e-02 9.99837241e-01 4.86110212e-04 5.93633356e+00] [ 7.35520063e-03 -3.53504859e-04 9.99972888e-01 -4.22962477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.11589822699995 meters 0.05324377327239316 Centerline is valid? [True, True] Translation: X:355.18, Y:5.94, Z:-4.22 [[ 9.99809276e-01 1.87900116e-02 -5.32417875e-03 3.55184714e+02] [-1.87884028e-02 9.99823420e-01 3.52021176e-04 5.94247336e+00] [ 5.32985309e-03 -2.51921222e-04 9.99985764e-01 -4.22490195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.17589822699995 meters 0.05442545994474128 Centerline is valid? [True, True] Translation: X:355.24, Y:5.94, Z:-4.22 [[ 9.99816438e-01 1.85804785e-02 -4.67499355e-03 3.55244825e+02] [-1.85792354e-02 9.99827343e-01 3.09188899e-04 5.93847705e+00] [ 4.67993126e-03 -2.22274339e-04 9.99989024e-01 -4.22445249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.23589822699995 meters 0.06154897208384156 Centerline is valid? [True, True] Translation: X:355.30, Y:5.93, Z:-4.22 [[ 9.99859896e-01 1.62097212e-02 -4.17526770e-03 3.55304737e+02] [-1.62087087e-02 9.99868592e-01 2.76228628e-04 5.92929714e+00] [ 4.17919663e-03 -2.08514230e-04 9.99991245e-01 -4.22433382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.29589822699995 meters 0.05859654869738279 Centerline is valid? [True, True] Translation: X:355.37, Y:5.93, Z:-4.22 [[ 9.99945106e-01 9.73791485e-03 -3.86754805e-03 3.55365666e+02] [-9.73699791e-03 9.99952562e-01 2.55842834e-04 5.93354203e+00] [ 3.86985596e-03 -2.18170482e-04 9.99992488e-01 -4.22216487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.35589822699995 meters 0.07171087716975531 Centerline is valid? [True, True] Translation: X:355.42, Y:5.91, Z:-4.22 [[ 9.99990154e-01 1.88786238e-03 -4.01606595e-03 3.55423587e+02] [-1.88681014e-03 9.99998185e-01 2.65778950e-04 5.91390625e+00] [ 4.01656041e-03 -2.58198779e-04 9.99991900e-01 -4.22421666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.41589822699996 meters 0.07518579174998534 Centerline is valid? [True, True] Translation: X:355.48, Y:5.91, Z:-4.23 [[ 9.99984621e-01 -2.71369619e-03 -4.83675431e-03 3.55483356e+02] [ 2.71527543e-03 9.99996262e-01 3.19972505e-04 5.90563781e+00] [ 4.83586792e-03 -3.33100705e-04 9.99988252e-01 -4.22517148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.47589822699996 meters 0.08378174969482043 Centerline is valid? [True, True] Translation: X:355.54, Y:5.89, Z:-4.23 [[ 9.99892517e-01 -1.29007059e-02 -6.96603243e-03 3.55543219e+02] [ 1.29042275e-02 9.99916631e-01 4.60818222e-04 5.88926976e+00] [ 6.95950680e-03 -5.50659959e-04 9.99975631e-01 -4.22799209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.53589822699996 meters 0.0886775074608154 Centerline is valid? [True, True] Translation: X:355.60, Y:5.88, Z:-4.23 [[ 9.99853747e-01 -1.61385629e-02 -5.65969169e-03 3.55601890e+02] [ 1.61409379e-02 9.99869657e-01 3.74207171e-04 5.87874838e+00] [ 5.65291482e-03 -4.65505174e-04 9.99983914e-01 -4.22613015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.59589822699996 meters 0.08430183250572822 Centerline is valid? [True, True] Translation: X:355.66, Y:5.88, Z:-4.23 [[ 9.99885048e-01 -1.31544974e-02 -7.53991897e-03 3.55662746e+02] [ 1.31586290e-02 9.99913297e-01 4.98610933e-04 5.88124286e+00] [ 7.53270627e-03 -5.97768613e-04 9.99971450e-01 -4.22822387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.65589822699997 meters 0.08607437404323731 Centerline is valid? [True, True] Translation: X:355.72, Y:5.88, Z:-4.23 [[ 9.99917911e-01 -9.57981111e-03 -8.50869158e-03 3.55721633e+02] [ 9.58494203e-03 9.99953905e-01 5.62446315e-04 5.87530651e+00] [ 8.50291124e-03 -6.43955460e-04 9.99963642e-01 -4.23057713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.71589822699997 meters 0.08783681272989827 Centerline is valid? [True, True] Translation: X:355.78, Y:5.87, Z:-4.23 [[ 9.99924903e-01 -9.81570487e-03 -7.33762931e-03 3.55778120e+02] [ 9.81952103e-03 9.99951670e-01 4.84235214e-04 5.86860952e+00] [ 7.33252157e-03 -5.56250855e-04 9.99972962e-01 -4.23025092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.77589822699997 meters 0.08553905357341647 Centerline is valid? [True, True] Translation: X:355.84, Y:5.86, Z:-4.23 [[ 9.99886546e-01 -1.27052782e-02 -8.09141747e-03 3.55838027e+02] [ 1.27100143e-02 9.99919082e-01 5.34171701e-04 5.86490409e+00] [ 8.08397593e-03 -6.36953129e-04 9.99967121e-01 -4.23108098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.835898227 meters 0.08734618843693324 Centerline is valid? [True, True] Translation: X:355.90, Y:5.85, Z:-4.23 [[ 9.99869118e-01 -1.43776225e-02 -7.41824038e-03 3.55897533e+02] [ 1.43816484e-02 9.99896459e-01 4.89640373e-04 5.85418231e+00] [ 7.41043242e-03 -5.96262813e-04 9.99972365e-01 -4.22957632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.895898227 meters 0.07970859570199217 Centerline is valid? [True, True] Translation: X:355.96, Y:5.86, Z:-4.23 [[ 9.99897644e-01 -1.21413127e-02 -7.56897045e-03 3.55958480e+02] [ 1.21454403e-02 9.99926117e-01 4.99607679e-04 5.85976510e+00] [ 7.56234533e-03 -5.91485020e-04 9.99971230e-01 -4.22772459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.955898227 meters 0.07467597292553659 Centerline is valid? [True, True] Translation: X:356.02, Y:5.86, Z:-4.23 [[ 9.99960553e-01 -5.30133220e-03 -7.12665486e-03 3.56019677e+02] [ 5.30481845e-03 9.99985819e-01 4.70370093e-04 5.86320544e+00] [ 7.12406021e-03 -5.08157148e-04 9.99974494e-01 -4.22799807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.015898227 meters 0.07259881351041629 Centerline is valid? [True, True] Translation: X:356.08, Y:5.86, Z:-4.23 [[ 9.99985204e-01 -1.21132301e-03 -5.30326396e-03 3.56079699e+02] [ 1.21319590e-03 9.99999203e-01 3.49955190e-04 5.86469390e+00] [ 5.30283582e-03 -3.56383910e-04 9.99985876e-01 -4.22503317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.075898227 meters 0.07093085841432716 Centerline is valid? [True, True] Translation: X:356.14, Y:5.87, Z:-4.23 [[ 9.99984670e-01 1.07168004e-03 -5.43234152e-03 3.56140700e+02] [-1.06974882e-03 9.99999364e-01 3.58397291e-04 5.87126981e+00] [ 5.43272215e-03 -3.52580556e-04 9.99985180e-01 -4.22562709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.135898227 meters 0.07440024132513612 Centerline is valid? [True, True] Translation: X:356.20, Y:5.87, Z:-4.23 [[ 9.99972761e-01 -1.62181011e-03 -7.20055261e-03 3.56200775e+02] [ 1.62527312e-03 9.99998566e-01 4.75110565e-04 5.86824950e+00] [ 7.19977175e-03 -4.86800488e-04 9.99973963e-01 -4.22924164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.195898227 meters 0.08143469839318516 Centerline is valid? [True, True] Translation: X:356.26, Y:5.86, Z:-4.23 [[ 9.99953663e-01 -7.20162176e-03 -6.38821724e-03 3.56260944e+02] [ 7.20446054e-03 9.99973959e-01 4.21476130e-04 5.86088810e+00] [ 6.38501557e-03 -4.67480259e-04 9.99979506e-01 -4.22826505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.255898227 meters 0.08284582150011305 Centerline is valid? [True, True] Translation: X:356.32, Y:5.86, Z:-4.23 [[ 9.99944787e-01 -9.28465711e-03 -4.92108842e-03 3.56320677e+02] [ 9.28636634e-03 9.99956828e-01 3.24591491e-04 5.85777222e+00] [ 4.91786225e-03 -3.70272599e-04 9.99987839e-01 -4.22629813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.315898227 meters 0.08639704534464307 Centerline is valid? [True, True] Translation: X:356.38, Y:5.85, Z:-4.23 [[ 9.99943101e-01 -9.39767473e-03 -5.04763599e-03 3.56378463e+02] [ 9.39947217e-03 9.99955769e-01 3.32490827e-04 5.85242337e+00] [ 5.04428808e-03 -3.79917023e-04 9.99987205e-01 -4.22783346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.375898227 meters 0.08425287180469918 Centerline is valid? [True, True] Translation: X:356.44, Y:5.85, Z:-4.23 [[ 9.99952489e-01 -5.49653599e-03 -8.05031207e-03 3.56439157e+02] [ 5.50098428e-03 9.99984729e-01 5.30523443e-04 5.85406956e+00] [ 8.04727309e-03 -5.74782878e-04 9.99967455e-01 -4.23301836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.43589822699994 meters 0.0792734726402307 Centerline is valid? [True, True] Translation: X:356.50, Y:5.86, Z:-4.23 [[ 9.99981992e-01 -9.77793554e-04 -5.92109713e-03 3.56499703e+02] [ 9.80121104e-04 9.99999444e-01 3.90205446e-04 5.85933195e+00] [ 5.92071230e-03 -3.96001811e-04 9.99982394e-01 -4.22953798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.49589822699994 meters 0.07386770830707871 Centerline is valid? [True, True] Translation: X:356.56, Y:5.86, Z:-4.23 [[ 9.99993308e-01 -1.76452600e-03 -3.20484232e-03 3.56559004e+02] [ 1.76521090e-03 9.99998420e-01 2.10891226e-04 5.86388116e+00] [ 3.20446514e-03 -2.16547037e-04 9.99994842e-01 -4.22507420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.55589822699994 meters 0.08617734360631728 Centerline is valid? [True, True] Translation: X:356.62, Y:5.85, Z:-4.23 [[ 9.99981184e-01 -4.10594596e-03 -4.55777761e-03 3.56617836e+02] [ 4.10735654e-03 9.99991520e-01 3.00172594e-04 5.84719072e+00] [ 4.55650647e-03 -3.18887363e-04 9.99989568e-01 -4.22732692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.61589822699995 meters 0.06878314548635638 Centerline is valid? [True, True] Translation: X:356.68, Y:5.87, Z:-4.22 [[ 9.99983594e-01 -3.89862967e-03 -4.19668220e-03 3.56678331e+02] [ 3.89981821e-03 9.99992358e-01 2.75062356e-04 5.86945546e+00] [ 4.19557776e-03 -2.91424141e-04 9.99991156e-01 -4.22355396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.67589822699995 meters 0.06915199639657357 Centerline is valid? [True, True] Translation: X:356.74, Y:5.87, Z:-4.22 [[ 9.99988657e-01 -3.89172824e-03 -2.74607881e-03 3.56737329e+02] [ 3.89223526e-03 9.99992409e-01 1.79315821e-04 5.87299384e+00] [ 2.74536011e-03 -1.90002172e-04 9.99996213e-01 -4.22253681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.73589822699995 meters 0.09016383802418708 Centerline is valid? [True, True] Translation: X:356.79, Y:5.85, Z:-4.23 [[ 9.99983732e-01 -4.83446026e-03 -3.02729616e-03 3.56794313e+02] [ 4.83508209e-03 9.99988291e-01 1.98123161e-04 5.84732584e+00] [ 3.02630290e-03 -2.12757163e-04 9.99995398e-01 -4.22626110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.79589822699995 meters 0.09597249054831124 Centerline is valid? [True, True] Translation: X:356.85, Y:5.84, Z:-4.23 [[ 9.99945900e-01 -1.00799910e-02 -2.56720174e-03 3.56854246e+02] [ 1.00804556e-02 9.99949177e-01 1.68097198e-04 5.83931029e+00] [ 2.56537685e-03 -1.93966667e-04 9.99996691e-01 -4.22573324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.85589822699995 meters 0.1018021732892424 Centerline is valid? [True, False] Translation: X:356.85, Y:5.84, Z:-4.23 [[ 9.99945914e-01 -1.00582957e-02 -2.64560486e-03 3.56854899e+02] [ 1.00589051e-02 9.99949384e-01 2.17141181e-04 5.83915097e+00] [ 2.64328688e-03 -2.43741325e-04 9.99996477e-01 -4.22666765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.91589822699996 meters 0.09102087136722546 Centerline is valid? [False, True] Translation: X:356.85, Y:5.84, Z:-4.23 [[ 9.99982423e-01 -5.40536356e-03 -2.43639667e-03 3.56854194e+02] [ 5.41865176e-03 9.99970299e-01 5.48083978e-03 5.83515387e+00] [ 2.40669837e-03 -5.49394543e-03 9.99982012e-01 -4.22666670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.97589822699996 meters 0.1089038304794927 Centerline is valid? [True, False] Translation: X:356.87, Y:5.84, Z:-4.22 [[ 9.99983422e-01 -7.52201089e-04 -5.70872577e-03 3.56868513e+02] [ 7.59219760e-04 9.99998959e-01 1.22739613e-03 5.83668912e+00] [ 5.70779658e-03 -1.23170996e-03 9.99982952e-01 -4.21640831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.03589822699996 meters 0.10461206443327861 Centerline is valid? [False, False] Translation: X:356.87, Y:5.84, Z:-4.22 [[ 9.99981682e-01 -1.28073072e-03 -5.91564258e-03 3.56869183e+02] [ 1.27890896e-03 9.99999134e-01 -3.11729238e-04 5.84330545e+00] [ 5.91603670e-03 3.04157960e-04 9.99982454e-01 -4.21644885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.09589822699996 meters 0.07488005478643124 Centerline is valid? [False, True] Translation: X:356.87, Y:5.85, Z:-4.22 [[ 9.99980190e-01 -1.76343556e-03 -6.04238401e-03 3.56869489e+02] [ 1.75407070e-03 9.99997253e-01 -1.55481150e-03 5.84880605e+00] [ 6.04510922e-03 1.54418193e-03 9.99980536e-01 -4.21619470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.15589822699997 meters 0.08192490842423807 Centerline is valid? [True, True] Translation: X:356.93, Y:5.84, Z:-4.21 [[ 9.99989921e-01 -2.72823123e-03 -3.56566224e-03 3.56926813e+02] [ 2.72918293e-03 9.99996241e-01 2.62067607e-04 5.84320047e+00] [ 3.56493386e-03 -2.71796310e-04 9.99993609e-01 -4.21348529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.21589822699997 meters 0.0846359564585246 Centerline is valid? [True, True] Translation: X:356.99, Y:5.84, Z:-4.22 [[ 9.99973029e-01 -5.43882423e-03 -4.93569726e-03 3.56986740e+02] [ 5.44068084e-03 9.99985134e-01 3.62809332e-04 5.84117454e+00] [ 4.93365062e-03 -3.89653100e-04 9.99987754e-01 -4.21530785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.27589822699997 meters 0.08487783649963113 Centerline is valid? [True, True] Translation: X:357.05, Y:5.85, Z:-4.21 [[ 9.99944975e-01 -9.26572800e-03 -4.91868583e-03 3.57047187e+02] [ 9.26761750e-03 9.99956989e-01 3.61493797e-04 5.84577996e+00] [ 4.91512477e-03 -4.07058405e-04 9.99987838e-01 -4.21465536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.335898227 meters 0.09840698884008395 Centerline is valid? [True, True] Translation: X:357.10, Y:5.83, Z:-4.21 [[ 9.99938401e-01 -1.03663120e-02 -3.96660221e-03 3.57103951e+02] [ 1.03675483e-02 9.99946213e-01 2.91242377e-04 5.82658263e+00] [ 3.96336975e-03 -3.32348377e-04 9.99992091e-01 -4.21420038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.395898227 meters 0.08910945186967448 Centerline is valid? [True, True] Translation: X:357.17, Y:5.84, Z:-4.22 [[ 9.99919030e-01 -1.14654726e-02 -5.52053048e-03 3.57165855e+02] [ 1.14678845e-02 9.99934159e-01 4.05448121e-04 5.84088300e+00] [ 5.51551835e-03 -4.68724098e-04 9.99984680e-01 -4.21550066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.455898227 meters 0.08632089933742225 Centerline is valid? [True, True] Translation: X:357.22, Y:5.84, Z:-4.22 [[ 9.99912617e-01 -1.06779185e-02 -7.79364632e-03 3.57224746e+02] [ 1.06826986e-02 9.99942775e-01 5.71970634e-04 5.84405091e+00] [ 7.78709287e-03 -6.55177828e-04 9.99969465e-01 -4.21897048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.515898227 meters 0.08772246167755382 Centerline is valid? [True, True] Translation: X:357.28, Y:5.84, Z:-4.22 [[ 9.99933555e-01 -8.64010813e-03 -7.63118705e-03 3.57283967e+02] [ 8.64463173e-03 9.99962478e-01 5.59990913e-04 5.84470268e+00] [ 7.62606233e-03 -6.25922506e-04 9.99970725e-01 -4.21773385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.575898227 meters 0.08526281525821619 Centerline is valid? [True, True] Translation: X:357.35, Y:5.85, Z:-4.22 [[ 9.99951753e-01 -6.00180646e-03 -7.77623462e-03 3.57345199e+02] [ 6.00642442e-03 9.99981798e-01 5.70637654e-04 5.84966821e+00] [ 7.77266822e-03 -6.17317488e-04 9.99969602e-01 -4.21805763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.635898227 meters 0.08457365609593619 Centerline is valid? [True, True] Translation: X:357.40, Y:5.85, Z:-4.22 [[ 9.99961934e-01 -2.93966907e-03 -8.21513301e-03 3.57404585e+02] [ 2.94471806e-03 9.99995483e-01 6.02568011e-04 5.85371028e+00] [ 8.21332455e-03 -6.26736324e-04 9.99966074e-01 -4.21909970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.695898227 meters 0.07600519192519505 Centerline is valid? [True, True] Translation: X:357.47, Y:5.86, Z:-4.22 [[ 9.99955456e-01 -3.07556318e-05 -9.43844867e-03 3.57466414e+02] [ 3.72929498e-05 9.99999760e-01 6.92451107e-04 5.86411046e+00] [ 9.43842511e-03 -6.92772250e-04 9.99955217e-01 -4.21967626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.755898227 meters 0.08321184025443679 Centerline is valid? [True, True] Translation: X:357.53, Y:5.86, Z:-4.22 [[ 9.99938914e-01 7.11488679e-03 -8.45848271e-03 3.57525334e+02] [-7.10989218e-03 9.99974532e-01 6.20408685e-04 5.85519713e+00] [ 8.46268142e-03 -5.60231887e-04 9.99964034e-01 -4.21981089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.815898227 meters 0.06658169318651899 Centerline is valid? [True, True] Translation: X:357.59, Y:5.88, Z:-4.21 [[ 9.99881552e-01 1.41642546e-02 -6.02131573e-03 3.57587027e+02] [-1.41618512e-02 9.99899618e-01 4.41588430e-04 5.87579816e+00] [ 6.02696607e-03 -3.56263148e-04 9.99981774e-01 -4.21340816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.875898227 meters 0.058892847383600726 Centerline is valid? [True, True] Translation: X:357.65, Y:5.89, Z:-4.21 [[ 9.99732980e-01 2.29016156e-02 -3.07963527e-03 3.57647091e+02] [-2.29010283e-02 9.99737712e-01 2.25831516e-04 5.88592464e+00] [ 3.08399943e-03 -1.55244400e-04 9.99995232e-01 -4.21038168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.93589822699994 meters 0.05327895437702284 Centerline is valid? [True, True] Translation: X:357.71, Y:5.89, Z:-4.21 [[ 9.99639059e-01 2.68646445e-02 -2.04226786e-04 3.57708340e+02] [-2.68646420e-02 9.99639080e-01 1.49736360e-05 5.89120935e+00] [ 2.04555338e-04 -9.48175191e-06 9.99999979e-01 -4.20513619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.99589822699994 meters 0.04689689099864696 Centerline is valid? [True, True] Translation: X:357.77, Y:5.90, Z:-4.20 [[ 9.99439967e-01 3.34625447e-02 9.91106152e-05 3.57769321e+02] [-3.34625442e-02 9.99439972e-01 -7.26164626e-06 5.90064514e+00] [-9.92981037e-05 3.94108616e-06 9.99999995e-01 -4.20490940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.05589822699994 meters 0.04547426253011349 Centerline is valid? [True, True] Translation: X:357.83, Y:5.90, Z:-4.21 [[ 9.99354090e-01 3.59290089e-02 -7.13186609e-04 3.57828047e+02] [-3.59289808e-02 9.99354344e-01 5.22303331e-05 5.90108463e+00] [ 7.14602721e-04 -2.65725290e-05 9.99999744e-01 -4.20721301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.11589822699995 meters 0.041614358651409736 Centerline is valid? [True, True] Translation: X:357.89, Y:5.91, Z:-4.20 [[ 9.99184993e-01 4.03451603e-02 1.27180347e-03 3.57888291e+02] [-4.03450743e-02 9.99185802e-01 -9.32300298e-05 5.90577172e+00] [-1.27452935e-03 4.18430411e-05 9.99999187e-01 -4.20371066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.17589822699995 meters 0.03297936490030255 Centerline is valid? [True, True] Translation: X:357.95, Y:5.92, Z:-4.20 [[ 9.99001862e-01 4.46303475e-02 1.84721594e-03 3.57948765e+02] [-4.46301734e-02 9.99003568e-01 -1.35374296e-04 5.91531326e+00] [-1.85141712e-03 5.27976059e-05 9.99998285e-01 -4.20362126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.23589822699995 meters 0.0293842937856063 Centerline is valid? [True, True] Translation: X:358.01, Y:5.92, Z:-4.21 [[ 9.98682798e-01 5.13030255e-02 -8.17994959e-04 3.58008869e+02] [-5.13029937e-02 9.98683133e-01 5.99013369e-05 5.91935497e+00] [ 8.19990888e-04 -1.78568445e-05 9.99999664e-01 -4.20852673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.29589822699995 meters 0.021028822994970685 Centerline is valid? [True, True] Translation: X:358.07, Y:5.93, Z:-4.21 [[ 9.98479866e-01 5.50661316e-02 -2.38273050e-03 3.58068768e+02] [-5.50658722e-02 9.98482709e-01 1.74407007e-04 5.92705343e+00] [ 2.38871912e-03 -4.29347517e-05 9.99997146e-01 -4.21123624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.35589822699995 meters 0.0260476148766703 Centerline is valid? [True, True] Translation: X:358.13, Y:5.91, Z:-4.21 [[ 9.98499159e-01 5.46613556e-02 -3.40081334e-03 3.58125628e+02] [-5.46608254e-02 9.98504949e-01 2.48714364e-04 5.91402500e+00] [ 3.40932402e-03 -6.24498194e-05 9.99994186e-01 -4.21452196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.41589822699996 meters 0.027052685232698277 Centerline is valid? [True, True] Translation: X:358.18, Y:5.91, Z:-4.21 [[ 9.98429745e-01 5.58387072e-02 -4.48143209e-03 3.58184955e+02] [-5.58377992e-02 9.98439799e-01 3.27582594e-04 5.91421767e+00] [ 4.49273195e-03 -7.68349001e-05 9.99989905e-01 -4.21411643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.47589822699996 meters 0.01685240271280721 Centerline is valid? [True, True] Translation: X:358.24, Y:5.92, Z:-4.21 [[ 9.98131699e-01 6.09243960e-02 -4.61839151e-03 3.58244278e+02] [-6.09234869e-02 9.98142382e-01 3.37385090e-04 5.91725992e+00] [ 4.63036728e-03 -5.53862386e-05 9.99989278e-01 -4.21352110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.53589822699996 meters 0.014367081679865095 Centerline is valid? [True, True] Translation: X:358.30, Y:5.92, Z:-4.21 [[ 9.97955701e-01 6.37536888e-02 -4.45928630e-03 3.58303235e+02] [-6.37528705e-02 9.97965663e-01 3.25554108e-04 5.91730328e+00] [ 4.47096988e-03 -4.05962768e-05 9.99990004e-01 -4.21378381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.59589822699996 meters 0.013275159810478094 Centerline is valid? [True, True] Translation: X:358.36, Y:5.92, Z:-4.22 [[ 9.97784725e-01 6.60854279e-02 -7.63933736e-03 3.58361919e+02] [-6.60830970e-02 9.97813967e-01 5.57416079e-04 5.91558132e+00] [ 7.65947460e-03 -5.13501780e-05 9.99970664e-01 -4.21947330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.65589822699997 meters 0.012390418757458974 Centerline is valid? [True, True] Translation: X:358.42, Y:5.91, Z:-4.22 [[ 9.97725361e-01 6.70498655e-02 -6.95839195e-03 3.58420382e+02] [-6.70479573e-02 9.97749625e-01 5.07402263e-04 5.91404644e+00] [ 6.97675421e-03 -3.97021395e-05 9.99975661e-01 -4.21782629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.71589822699997 meters 0.01305177119853636 Centerline is valid? [True, True] Translation: X:358.48, Y:5.91, Z:-4.21 [[ 9.97812120e-01 6.59514764e-02 -4.62350993e-03 3.58477528e+02] [-6.59506238e-02 9.97822831e-01 3.36785202e-04 5.90783903e+00] [ 4.63565524e-03 -3.11249920e-05 9.99989255e-01 -4.21288068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.77589822699997 meters 0.015166964369055125 Centerline is valid? [True, True] Translation: X:358.54, Y:5.90, Z:-4.21 [[ 9.97965860e-01 6.35850433e-02 -4.59178998e-03 3.58535923e+02] [-6.35841781e-02 9.97976423e-01 3.34303000e-04 5.89737589e+00] [ 4.60375481e-03 -4.16577888e-05 9.99989402e-01 -4.21335387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.835898227 meters 0.01434539763892963 Centerline is valid? [True, True] Translation: X:358.59, Y:5.89, Z:-4.21 [[ 9.98019634e-01 6.29031388e-02 7.81919446e-05 3.58594034e+02] [-6.29031386e-02 9.98019637e-01 -5.75896099e-06 5.88655653e+00] [-7.83993529e-05 8.29037411e-07 9.99999997e-01 -4.20520019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.895898227 meters 0.012364087059475136 Centerline is valid? [True, True] Translation: X:358.65, Y:5.88, Z:-4.20 [[ 9.97857519e-01 6.54031362e-02 1.67400279e-03 3.58652499e+02] [-6.54030239e-02 9.97858923e-01 -1.21810928e-04 5.88018329e+00] [-1.67838544e-03 1.20651058e-05 9.99998591e-01 -4.20191189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.955898227 meters 0.00952632789525854 Centerline is valid? [True, True] Translation: X:358.71, Y:5.88, Z:-4.21 [[ 9.97294984e-01 7.34815665e-02 -1.78156674e-03 3.58711898e+02] [-7.34814526e-02 9.97296575e-01 1.29412669e-04 5.88100753e+00] [ 1.78625985e-03 1.84950562e-06 9.99998405e-01 -4.20761404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.015898227 meters 0.013648129689603123 Centerline is valid? [True, True] Translation: X:358.77, Y:5.88, Z:-4.21 [[ 9.96745407e-01 8.06074231e-02 -1.01785649e-03 3.58769650e+02] [-8.06073898e-02 9.96745927e-01 7.38318157e-05 5.88005128e+00] [ 1.02049571e-03 8.45523198e-06 9.99999479e-01 -4.20623110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.075898227 meters 0.01616646965558605 Centerline is valid? [True, True] Translation: X:358.83, Y:5.87, Z:-4.21 [[ 9.96484894e-01 8.37656597e-02 -1.08193999e-03 3.58828458e+02] [-8.37656239e-02 9.96485481e-01 7.84509011e-05 5.87468644e+00] [ 1.08470898e-03 1.24542405e-05 9.99999412e-01 -4.20699108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.135898227 meters 0.018554519259623932 Centerline is valid? [True, True] Translation: X:358.89, Y:5.86, Z:-4.21 [[ 9.96293662e-01 8.59499229e-02 -3.39859416e-03 3.58886170e+02] [-8.59495827e-02 9.96299457e-01 2.46295976e-04 5.86266301e+00] [ 3.40718663e-03 4.67246302e-05 9.99994194e-01 -4.21069538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.195898227 meters 0.02090055285425496 Centerline is valid? [True, True] Translation: X:358.94, Y:5.85, Z:-4.21 [[ 9.96158603e-01 8.74572163e-02 -4.39008989e-03 3.58943879e+02] [-8.74566642e-02 9.96168274e-01 3.17943505e-04 5.85354448e+00] [ 4.40107472e-03 6.72204594e-05 9.99990313e-01 -4.21147039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.255898227 meters 0.02594525487704498 Centerline is valid? [True, True] Translation: X:359.00, Y:5.85, Z:-4.21 [[ 9.95863643e-01 9.07070487e-02 -5.27597021e-03 3.59001735e+02] [-9.07062978e-02 9.95877614e-01 3.81932874e-04 5.84749590e+00] [ 5.28886462e-03 9.82106613e-05 9.99986009e-01 -4.21251197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.315898227 meters 0.03029854324693159 Centerline is valid? [True, True] Translation: X:359.06, Y:5.84, Z:-4.21 [[ 9.95303597e-01 9.66072982e-02 -6.14655306e-03 3.59061730e+02] [-9.66063916e-02 9.95322564e-01 4.44934371e-04 5.84101516e+00] [ 6.16078686e-03 1.50951532e-04 9.99981011e-01 -4.21230574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.375898227 meters 0.04227791438014436 Centerline is valid? [True, True] Translation: X:359.12, Y:5.85, Z:-4.21 [[ 9.94092157e-01 1.08413335e-01 -5.22800171e-03 3.59122975e+02] [-1.08412842e-01 9.94105886e-01 3.78439592e-04 5.84582535e+00] [ 5.23821517e-03 1.90578693e-04 9.99986262e-01 -4.20876659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.43589822699994 meters 0.05219962048415956 Centerline is valid? [True, True] Translation: X:359.18, Y:5.85, Z:-4.21 [[ 9.93408865e-01 1.14538279e-01 -4.45069997e-03 3.59182590e+02] [-1.14537982e-01 9.93418817e-01 3.22269681e-04 5.85225816e+00] [ 4.45832131e-03 1.89628636e-04 9.99990044e-01 -4.20880917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.49589822699994 meters 0.05576046224320361 Centerline is valid? [True, True] Translation: X:359.24, Y:5.85, Z:-4.21 [[ 9.93155381e-01 1.16763626e-01 -2.94017225e-03 3.59241078e+02] [-1.16763507e-01 9.93159724e-01 2.12731275e-04 5.84978644e+00] [ 2.94489993e-03 1.32029614e-04 9.99995655e-01 -4.20726587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.55589822699994 meters 0.04934776158023827 Centerline is valid? [True, True] Translation: X:359.30, Y:5.83, Z:-4.21 [[ 9.93405774e-01 1.14617081e-01 -2.80947041e-03 3.59299826e+02] [-1.14616963e-01 9.93409739e-01 2.03222293e-04 5.83347485e+00] [ 2.81424801e-03 1.20130767e-04 9.99996033e-01 -4.20642360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.61589822699995 meters 0.045897648609231956 Centerline is valid? [True, True] Translation: X:359.36, Y:5.82, Z:-4.21 [[ 9.93676811e-01 1.12258784e-01 -2.08847318e-03 3.59359149e+02] [-1.12258714e-01 9.93679002e-01 1.51052862e-04 5.81898362e+00] [ 2.09222895e-03 8.43515867e-05 9.99997808e-01 -4.20521120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.67589822699995 meters 0.04808297564638609 Centerline is valid? [True, True] Translation: X:359.42, Y:5.81, Z:-4.21 [[ 9.93359187e-01 1.15035771e-01 -2.07293458e-03 3.59419294e+02] [-1.15035708e-01 9.93361346e-01 1.49904434e-04 5.81463554e+00] [ 2.07641745e-03 8.95525492e-05 9.99997840e-01 -4.20553962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.73589822699995 meters 0.0562314482147916 Centerline is valid? [True, True] Translation: X:359.48, Y:5.82, Z:-4.20 [[ 9.92640534e-01 1.21090946e-01 -1.32378460e-03 3.59479291e+02] [-1.21090926e-01 9.92641415e-01 9.57156169e-05 5.81828513e+00] [ 1.32563371e-03 6.52871017e-05 9.99999119e-01 -4.20481707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.79589822699995 meters 0.05897409966307126 Centerline is valid? [True, True] Translation: X:359.54, Y:5.81, Z:-4.21 [[ 9.92220907e-01 1.24470023e-01 -2.21028809e-03 3.59539565e+02] [-1.24469975e-01 9.92223362e-01 1.59827969e-04 5.81437143e+00] [ 2.21299327e-03 1.16529850e-04 9.99997545e-01 -4.20635159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.85589822699995 meters 0.060497478563426466 Centerline is valid? [True, True] Translation: X:359.60, Y:5.81, Z:-4.21 [[ 9.92157849e-01 1.24916989e-01 -4.30682457e-03 3.59598410e+02] [-1.24916811e-01 9.92167170e-01 3.11170950e-04 5.80780999e+00] [ 4.31196048e-03 2.29264092e-04 9.99990677e-01 -4.20996144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.91589822699996 meters 0.06001306442950595 Centerline is valid? [True, True] Translation: X:359.66, Y:5.80, Z:-4.21 [[ 9.92181526e-01 1.24705917e-01 -4.92474998e-03 3.59656723e+02] [-1.24705684e-01 9.92193714e-01 3.55599066e-04 5.80085219e+00] [ 4.93065128e-03 2.61325492e-04 9.99987810e-01 -4.21097508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.97589822699996 meters 0.05366257241121863 Centerline is valid? [True, True] Translation: X:359.71, Y:5.79, Z:-4.22 [[ 9.92177507e-01 1.24569521e-01 -8.13812202e-03 3.59714384e+02] [-1.24568883e-01 9.92210788e-01 5.87269252e-04 5.78685961e+00] [ 8.14788832e-03 4.31081424e-04 9.99966712e-01 -4.21564235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.03589822699996 meters 0.06317358188574496 Centerline is valid? [True, True] Translation: X:359.77, Y:5.79, Z:-4.22 [[ 9.92574282e-01 1.21410259e-01 -7.47290471e-03 3.59773868e+02] [-1.21409632e-01 9.92602343e-01 5.39077786e-04 5.79358270e+00] [ 7.48307229e-03 3.72207867e-04 9.99971932e-01 -4.21711520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.09589822699996 meters 0.05084379608249853 Centerline is valid? [True, True] Translation: X:359.83, Y:5.77, Z:-4.21 [[ 9.93631259e-01 1.12591829e-01 -4.47238440e-03 3.59832663e+02] [-1.12591515e-01 9.93641307e-01 3.22671167e-04 5.76840860e+00] [ 4.48027602e-03 1.82936377e-04 9.99989947e-01 -4.21001706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.15589822699997 meters 0.042004678962836134 Centerline is valid? [True, True] Translation: X:359.89, Y:5.75, Z:-4.21 [[ 9.94150731e-01 1.07937363e-01 -3.72165503e-03 3.59891273e+02] [-1.07937113e-01 9.94157687e-01 2.68492771e-04 5.74662233e+00] [ 3.72889236e-03 1.34782414e-04 9.99993039e-01 -4.20823855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.21589822699997 meters 0.04195138595857366 Centerline is valid? [True, True] Translation: X:359.95, Y:5.74, Z:-4.21 [[ 9.94114265e-01 1.08310177e-01 -2.39444641e-03 3.59949265e+02] [-1.08310075e-01 9.94117145e-01 1.72564783e-04 5.73729533e+00] [ 2.39905075e-03 8.77935576e-05 9.99997118e-01 -4.20593642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.27589822699997 meters 0.041213194107359935 Centerline is valid? [True, True] Translation: X:360.01, Y:5.72, Z:-4.21 [[ 9.94111288e-01 1.08330178e-01 -2.70560428e-03 3.60007077e+02] [-1.08330048e-01 9.94114965e-01 1.94870386e-04 5.72203660e+00] [ 2.71079205e-03 9.93753911e-05 9.99996321e-01 -4.20690766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.335898227 meters 0.04019129052132536 Centerline is valid? [True, True] Translation: X:360.07, Y:5.71, Z:-4.21 [[ 9.94283686e-01 1.06734552e-01 -2.77262450e-03 3.60065289e+02] [-1.06734410e-01 9.94287547e-01 1.99570589e-04 5.70864264e+00] [ 2.77808709e-03 9.75046588e-05 9.99996136e-01 -4.20748467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.395898227 meters 0.03750719317734794 Centerline is valid? [True, True] Translation: X:360.12, Y:5.69, Z:-4.20 [[ 9.94564895e-01 1.04110668e-01 -1.28040680e-03 3.60124612e+02] [-1.04110635e-01 9.94565718e-01 9.21619120e-05 5.69238947e+00] [ 1.28304375e-03 4.16429633e-05 9.99999176e-01 -4.20497834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.455898227 meters 0.031201052479779615 Centerline is valid? [True, True] Translation: X:360.18, Y:5.67, Z:-4.20 [[ 9.95181211e-01 9.80509654e-02 -6.04663797e-04 3.60183090e+02] [-9.80509571e-02 9.95181394e-01 4.35262511e-05 5.66705000e+00] [ 6.06017951e-04 1.59713567e-05 9.99999816e-01 -4.20492492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.515898227 meters 0.026043267179322246 Centerline is valid? [True, True] Translation: X:360.24, Y:5.65, Z:-4.21 [[ 9.95626303e-01 9.34164861e-02 -1.27457060e-03 3.60243022e+02] [-9.34164451e-02 9.95627119e-01 9.17880348e-05 5.64844416e+00] [ 1.27757157e-03 2.76792728e-05 9.99999184e-01 -4.20662523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.575898227 meters 0.02088976864054985 Centerline is valid? [True, True] Translation: X:360.30, Y:5.63, Z:-4.21 [[ 9.96065147e-01 8.86089160e-02 -1.63818119e-03 3.60302377e+02] [-8.86088418e-02 9.96066493e-01 1.17951357e-04 5.62867719e+00] [ 1.64218893e-03 2.76701023e-05 9.99998651e-01 -4.20662187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.635898227 meters 0.01916609066969499 Centerline is valid? [True, True] Translation: X:360.36, Y:5.62, Z:-4.21 [[ 9.96216993e-01 8.68804264e-02 -1.86945415e-03 3.60362916e+02] [-8.68803266e-02 9.96218746e-01 1.34682033e-04 5.61785776e+00] [ 1.87408650e-03 2.82462569e-05 9.99998243e-01 -4.20763095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.695898227 meters 0.019585571083332334 Centerline is valid? [True, True] Translation: X:360.42, Y:5.61, Z:-4.21 [[ 9.96305769e-01 8.58758062e-02 -4.01527226e-04 3.60423143e+02] [-8.58758015e-02 9.96305850e-01 2.89419086e-05 5.61289255e+00] [ 4.02529334e-04 5.64648189e-06 9.99999919e-01 -4.20572581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.755898227 meters 0.014412733660350422 Centerline is valid? [True, True] Translation: X:360.48, Y:5.60, Z:-4.21 [[ 9.96678133e-01 8.14325505e-02 -1.19942012e-03 3.60484640e+02] [-8.14325050e-02 9.96678855e-01 8.68332113e-05 5.59950628e+00] [ 1.20250772e-03 1.11270219e-05 9.99999277e-01 -4.20811142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.815898227 meters 0.010292231108913068 Centerline is valid? [True, True] Translation: X:360.55, Y:5.59, Z:-4.21 [[ 9.97091973e-01 7.61946748e-02 -1.40291928e-03 3.60545835e+02] [-7.61946070e-02 9.97092960e-01 1.01767551e-04 5.58606258e+00] [ 1.40659508e-03 5.42327496e-06 9.99999011e-01 -4.20804313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.875898227 meters 0.010106195417675998 Centerline is valid? [True, True] Translation: X:360.61, Y:5.57, Z:-4.21 [[ 9.97585277e-01 6.94506171e-02 -4.76935627e-04 3.60606568e+02] [-6.94506084e-02 9.97585391e-01 3.48126313e-05 5.57231768e+00] [ 4.78201773e-04 -1.60509894e-06 9.99999886e-01 -4.20771828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.93589822699994 meters 0.012119884225987426 Centerline is valid? [True, True] Translation: X:360.67, Y:5.56, Z:-4.21 [[ 9.97835304e-01 6.57553717e-02 -9.68489246e-04 3.60667978e+02] [-6.57553341e-02 9.97835774e-01 7.06416320e-05 5.56436247e+00] [ 9.71038282e-04 -6.80538034e-06 9.99999529e-01 -4.20746416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.99589822699994 meters 0.016243937958324527 Centerline is valid? [True, True] Translation: X:360.73, Y:5.56, Z:-4.21 [[ 9.98119797e-01 6.12913247e-02 -4.93353192e-04 3.60728286e+02] [-6.12913143e-02 9.98119919e-01 3.60227924e-05 5.55786217e+00] [ 4.94633533e-04 -5.71679668e-06 9.99999878e-01 -4.20699007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.05589822699994 meters 0.019433510175754468 Centerline is valid? [True, True] Translation: X:360.79, Y:5.55, Z:-4.21 [[ 9.98392533e-01 5.66774446e-02 1.32304699e-04 3.60789982e+02] [-5.66774439e-02 9.98392542e-01 -9.56170797e-06 5.55150698e+00] [-1.32633957e-04 2.04764571e-06 9.99999991e-01 -4.20645748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.11589822699995 meters 0.02715856933381714 Centerline is valid? [True, True] Translation: X:360.85, Y:5.54, Z:-4.21 [[ 9.98758714e-01 4.98081931e-02 4.18963699e-04 3.60849116e+02] [-4.98081847e-02 9.98758802e-01 -3.04590088e-05 5.53899869e+00] [-4.19960790e-04 9.55337910e-06 9.99999912e-01 -4.20657472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.17589822699995 meters 0.03653283304746746 Centerline is valid? [True, True] Translation: X:360.91, Y:5.52, Z:-4.21 [[ 9.99071194e-01 4.30802686e-02 9.16315228e-04 3.60908142e+02] [-4.30802255e-02 9.99071614e-01 -6.67725708e-05 5.52240141e+00] [-9.18341114e-04 2.72354854e-05 9.99999578e-01 -4.20628419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.23589822699995 meters 0.04127285475185716 Centerline is valid? [True, True] Translation: X:360.97, Y:5.51, Z:-4.21 [[ 9.99251172e-01 3.86631224e-02 1.50286722e-03 3.60968250e+02] [-3.86630014e-02 9.99252301e-01 -1.09492659e-04 5.51326725e+00] [-1.50597685e-03 5.13053106e-05 9.99998865e-01 -4.20544964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.29589822699995 meters 0.042764131926931806 Centerline is valid? [True, True] Translation: X:361.03, Y:5.51, Z:-4.21 [[ 9.99250006e-01 3.87221852e-02 1.29964377e-04 3.61030557e+02] [-3.87221844e-02 9.99250015e-01 -9.24503003e-06 5.51196955e+00] [-1.30224894e-04 4.20559174e-06 9.99999992e-01 -4.20746154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.35589822699995 meters 0.037262295289454475 Centerline is valid? [True, True] Translation: X:361.09, Y:5.52, Z:-4.21 [[ 9.99161040e-01 4.09501742e-02 -5.47590830e-04 3.61092805e+02] [-4.09501584e-02 9.99161190e-01 4.00640925e-05 5.51797651e+00] [ 5.48772137e-04 -1.76065491e-05 9.99999849e-01 -4.20896649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.41589822699996 meters 0.034870529224416955 Centerline is valid? [True, True] Translation: X:361.15, Y:5.52, Z:-4.21 [[ 9.99066256e-01 4.31992014e-02 -6.67277145e-04 3.61154941e+02] [-4.31991784e-02 9.99066479e-01 4.88683256e-05 5.52134670e+00] [ 6.68765300e-04 -1.99968706e-05 9.99999776e-01 -4.20962658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.47589822699996 meters 0.03211859596848179 Centerline is valid? [True, True] Translation: X:361.22, Y:5.52, Z:-4.21 [[ 9.99050242e-01 4.35236779e-02 -2.07434578e-03 3.61217349e+02] [-4.35234555e-02 9.99052394e-01 1.52283111e-04 5.52303939e+00] [ 2.07900803e-03 -6.18557825e-05 9.99997837e-01 -4.21157719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.53589822699996 meters 0.034636357184144685 Centerline is valid? [True, True] Translation: X:361.28, Y:5.52, Z:-4.22 [[ 9.99008241e-01 4.42549553e-02 -4.90235534e-03 3.61278363e+02] [-4.42537196e-02 9.99020259e-01 3.60304440e-04 5.52305676e+00] [ 4.91349756e-03 -1.42999646e-04 9.99987918e-01 -4.21733617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.59589822699996 meters 0.03201419111261486 Centerline is valid? [True, True] Translation: X:361.34, Y:5.53, Z:-4.21 [[ 9.99029456e-01 4.39904965e-02 -2.23207819e-03 3.61340399e+02] [-4.39902397e-02 9.99031947e-01 1.64034216e-04 5.52804437e+00] [ 2.23713337e-03 -6.56853589e-05 9.99997495e-01 -4.21256038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.65589822699997 meters 0.04115693796657195 Centerline is valid? [True, True] Translation: X:361.40, Y:5.52, Z:-4.21 [[ 9.99196003e-01 4.00670805e-02 -1.40568719e-03 3.61400514e+02] [-4.00669747e-02 9.99196991e-01 1.03367343e-04 5.52046157e+00] [ 1.40870003e-03 -4.69626035e-05 9.99999007e-01 -4.21338795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.71589822699997 meters 0.03936842205493771 Centerline is valid? [True, True] Translation: X:361.46, Y:5.53, Z:-4.21 [[ 9.99313859e-01 3.70228650e-02 -1.05743130e-03 3.61462184e+02] [-3.70228034e-02 9.99314418e-01 7.77552853e-05 5.52526071e+00] [ 1.05958506e-03 -3.85528632e-05 9.99999438e-01 -4.21261227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.77589822699997 meters 0.046241834273520376 Centerline is valid? [True, True] Translation: X:361.52, Y:5.52, Z:-4.21 [[ 9.99512199e-01 3.12267213e-02 5.06459121e-04 3.61521320e+02] [-3.12267065e-02 9.99512327e-01 -3.72535687e-05 5.52487466e+00] [-5.07375441e-04 2.14203461e-05 9.99999871e-01 -4.20896757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.835898227 meters 0.053685003449441625 Centerline is valid? [True, True] Translation: X:361.58, Y:5.52, Z:-4.21 [[ 9.99698453e-01 2.44263460e-02 2.52124076e-03 3.61581883e+02] [-2.44259561e-02 9.99701625e-01 -1.85306405e-04 5.51725833e+00] [-2.52501484e-03 1.23666810e-04 9.99996804e-01 -4.20646552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.895898227 meters 0.06710410870744636 Centerline is valid? [True, True] Translation: X:361.64, Y:5.50, Z:-4.21 [[ 9.99918885e-01 1.25447786e-02 2.20289799e-03 3.61640476e+02] [-1.25444522e-02 9.99921302e-01 -1.61934859e-04 5.50071652e+00] [-2.20475606e-03 1.34287575e-04 9.99997561e-01 -4.20694519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.955898227 meters 0.06695211907548455 Centerline is valid? [True, True] Translation: X:361.70, Y:5.50, Z:-4.21 [[ 9.99975150e-01 7.00697966e-03 7.75454153e-04 3.61701478e+02] [-7.00693754e-03 9.99975449e-01 -5.70112912e-05 5.50043647e+00] [-7.75834592e-04 5.15763157e-05 9.99999698e-01 -4.20928827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.015898227 meters 0.07443648337931615 Centerline is valid? [True, True] Translation: X:361.76, Y:5.49, Z:-4.21 [[ 9.99989773e-01 3.87978846e-03 -2.32399429e-03 3.61760450e+02] [-3.87940176e-03 9.99992460e-01 1.70879663e-04 5.49108446e+00] [ 2.32463975e-03 -1.61862208e-04 9.99997285e-01 -4.21345962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.075898227 meters 0.07113542771887313 Centerline is valid? [True, True] Translation: X:361.82, Y:5.49, Z:-4.22 [[ 9.99974931e-01 6.53712576e-03 -2.72094320e-03 3.61821506e+02] [-6.53660550e-03 9.99978616e-01 2.00052047e-04 5.49194783e+00] [ 2.72219279e-03 -1.82261299e-04 9.99996278e-01 -4.21504112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.135898227 meters 0.07434159290678875 Centerline is valid? [True, True] Translation: X:361.88, Y:5.49, Z:-4.22 [[ 9.99939343e-01 1.06002755e-02 -2.99085335e-03 3.61880643e+02] [-1.05996651e-02 9.99943798e-01 2.19840939e-04 5.48622812e+00] [ 2.99301563e-03 -1.88125560e-04 9.99995503e-01 -4.21716004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.195898227 meters 0.0668581478127095 Centerline is valid? [True, True] Translation: X:361.94, Y:5.50, Z:-4.22 [[ 9.99906322e-01 1.31313213e-02 -3.86208888e-03 3.61942225e+02] [-1.31303224e-02 9.99913753e-01 2.83887505e-04 5.49576478e+00] [ 3.86548360e-03 -2.33150439e-04 9.99992502e-01 -4.21829810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.255898227 meters 0.0693204521422202 Centerline is valid? [True, True] Translation: X:362.00, Y:5.49, Z:-4.22 [[ 9.99894672e-01 1.32549605e-02 -5.91198727e-03 3.62000602e+02] [-1.32526233e-02 9.99912086e-01 4.34326575e-04 5.49232706e+00] [ 5.91722450e-03 -3.55931488e-04 9.99982430e-01 -4.22359192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.315898227 meters 0.08552245112317218 Centerline is valid? [True, True] Translation: X:362.06, Y:5.47, Z:-4.22 [[ 9.99976041e-01 5.19939907e-03 -4.56992766e-03 3.62058415e+02] [-5.19791828e-03 9.99986434e-01 3.35846304e-04 5.46712843e+00] [ 4.57161186e-03 -3.12084147e-04 9.99989501e-01 -4.22223081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.375898227 meters 0.08518373801415363 Centerline is valid? [True, True] Translation: X:362.12, Y:5.46, Z:-4.22 [[ 9.99991837e-01 1.26220321e-05 -4.04055231e-03 3.62118422e+02] [-1.14223789e-05 9.99999956e-01 2.96926208e-04 5.46197340e+00] [ 4.04055587e-03 -2.96877631e-04 9.99991793e-01 -4.22034284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.43589822699994 meters 0.09570987303725538 Centerline is valid? [True, True] Translation: X:362.18, Y:5.44, Z:-4.21 [[ 9.99997193e-01 -2.00392728e-03 -1.26388563e-03 3.62176834e+02] [ 2.00404622e-03 9.99997988e-01 9.28489039e-05 5.44285486e+00] [ 1.26369703e-03 -9.53815285e-05 9.99999197e-01 -4.21480124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.49589822699994 meters 0.0888225039921874 Centerline is valid? [True, True] Translation: X:362.24, Y:5.45, Z:-4.21 [[ 9.99999389e-01 -9.85965665e-04 -4.99200702e-04 3.62236925e+02] [ 9.85984076e-04 9.99999513e-01 3.66366253e-05 5.44972598e+00] [ 4.99164337e-04 -3.71288069e-05 9.99999875e-01 -4.21232379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.55589822699994 meters 0.08597309761235715 Centerline is valid? [True, True] Translation: X:362.30, Y:5.46, Z:-4.21 [[ 9.99993316e-01 3.64739608e-03 -2.52051944e-04 3.62297438e+02] [-3.64739153e-03 9.99993348e-01 1.84921705e-05 5.45693685e+00] [ 2.52117716e-04 -1.75727148e-05 9.99999968e-01 -4.21307863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.61589822699995 meters 0.08527102269977684 Centerline is valid? [True, True] Translation: X:362.36, Y:5.46, Z:-4.21 [[ 9.99976239e-01 6.89201318e-03 1.49008380e-04 3.62359029e+02] [-6.89201162e-03 9.99976250e-01 -1.09451217e-05 5.46326382e+00] [-1.49080275e-04 9.91789418e-06 9.99999989e-01 -4.21298589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.67589822699995 meters 0.07746040980195758 Centerline is valid? [True, True] Translation: X:362.42, Y:5.47, Z:-4.22 [[ 9.99982340e-01 5.39600877e-03 -2.49069186e-03 3.62420641e+02] [-5.39556973e-03 9.99985427e-01 1.82960222e-04 5.47457456e+00] [ 2.49164282e-03 -1.69518289e-04 9.99996881e-01 -4.21850182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.73589822699995 meters 0.09490162407715856 Centerline is valid? [True, True] Translation: X:362.48, Y:5.45, Z:-4.22 [[ 9.99996292e-01 -8.33880087e-05 -2.72191093e-03 3.62478958e+02] [ 8.39324097e-05 9.99999976e-01 1.99893288e-04 5.45185411e+00] [ 2.72189420e-03 -2.00121004e-04 9.99996276e-01 -4.22025415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.79589822699995 meters 0.09164500307261701 Centerline is valid? [True, True] Translation: X:362.54, Y:5.46, Z:-4.22 [[ 9.99984202e-01 -5.58248655e-03 -6.57329514e-04 3.62539712e+02] [ 5.58251947e-03 9.99984416e-01 4.82562877e-05 5.45940370e+00] [ 6.57049880e-04 -5.19250801e-05 9.99999783e-01 -4.21566482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.85589822699995 meters 0.10494880830863483 Centerline is valid? [True, False] Translation: X:362.52, Y:5.47, Z:-4.21 [[ 9.99976294e-01 -2.65151927e-03 -6.35457578e-03 3.62521149e+02] [ 2.60265539e-03 9.99967079e-01 -7.68553002e-03 5.46889506e+00] [ 6.37474491e-03 7.66880905e-03 9.99950275e-01 -4.21256744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.91589822699996 meters 0.08622961409667178 Centerline is valid? [False, True] Translation: X:362.52, Y:5.48, Z:-4.21 [[ 9.99978626e-01 9.33812973e-04 -6.47110834e-03 3.62521785e+02] [-9.66679020e-04 9.99986642e-01 -5.07762473e-03 5.47665279e+00] [ 6.46628035e-03 5.08377168e-03 9.99966171e-01 -4.21294185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.97589822699996 meters 0.07869381842237366 Centerline is valid? [True, True] Translation: X:362.58, Y:5.49, Z:-4.21 [[ 9.99991015e-01 1.01663188e-03 -4.11549865e-03 3.62581191e+02] [-1.01532142e-03 9.99999433e-01 3.20498737e-04 5.48586821e+00] [ 4.11582215e-03 -3.16317303e-04 9.99991480e-01 -4.20950339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.03589822699996 meters 0.07196784537645474 Centerline is valid? [True, True] Translation: X:362.64, Y:5.49, Z:-4.21 [[ 9.99994120e-01 2.62697159e-04 -3.41925423e-03 3.62641647e+02] [-2.61788565e-04 9.99999930e-01 2.66173387e-04 5.49237509e+00] [ 3.41932391e-03 -2.65276700e-04 9.99994119e-01 -4.20770637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.09589822699996 meters 0.09109061751433584 Centerline is valid? [True, True] Translation: X:362.70, Y:5.47, Z:-4.21 [[ 9.99991711e-01 -1.81673392e-03 -3.64368747e-03 3.62698991e+02] [ 1.81777937e-03 9.99998308e-01 2.83629984e-04 5.46801392e+00] [ 3.64316603e-03 -2.90251053e-04 9.99993322e-01 -4.20983023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.15589822699997 meters 0.08197281784435793 Centerline is valid? [True, True] Translation: X:362.76, Y:5.48, Z:-4.21 [[ 9.99984118e-01 -2.79039576e-03 -4.89671457e-03 3.62759213e+02] [ 2.79229470e-03 9.99996029e-01 3.81005589e-04 5.47830172e+00] [ 4.89563197e-03 -3.94672608e-04 9.99987938e-01 -4.21090767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.21589822699997 meters 0.08352214758343887 Centerline is valid? [True, True] Translation: X:362.82, Y:5.48, Z:-4.21 [[ 9.99976649e-01 -3.37046659e-03 -5.94492541e-03 3.62818556e+02] [ 3.37327026e-03 9.99994204e-01 4.61644160e-04 5.47779576e+00] [ 5.94333500e-03 -4.81687220e-04 9.99982222e-01 -4.21249438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.27589822699997 meters 0.07786991585496529 Centerline is valid? [True, True] Translation: X:362.88, Y:5.49, Z:-4.21 [[ 9.99979598e-01 7.42433015e-04 -6.34454906e-03 3.62879929e+02] [-7.39322254e-04 9.99999605e-01 4.92635914e-04 5.48614700e+00] [ 6.34491231e-03 -4.87935197e-04 9.99979752e-01 -4.21339246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.335898227 meters 0.07905722924309198 Centerline is valid? [True, True] Translation: X:362.94, Y:5.49, Z:-4.21 [[ 9.99970215e-01 5.19213091e-03 -5.71060093e-03 3.62939079e+02] [-5.18968333e-03 9.99986435e-01 4.43338088e-04 5.48547850e+00] [ 5.71282533e-03 -4.13688673e-04 9.99983596e-01 -4.21298638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.395898227 meters 0.07054226426296559 Centerline is valid? [True, True] Translation: X:363.00, Y:5.50, Z:-4.21 [[ 9.99941500e-01 1.00285672e-02 -4.05279050e-03 3.63000943e+02] [-1.00273741e-02 9.99949675e-01 3.14624702e-04 5.49895035e+00] [ 4.05574178e-03 -2.73967450e-04 9.99991738e-01 -4.21003932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.455898227 meters 0.07329779495414675 Centerline is valid? [True, True] Translation: X:363.06, Y:5.50, Z:-4.21 [[ 9.99953642e-01 9.22913085e-03 -2.74541379e-03 3.63059445e+02] [-9.22858055e-03 9.99957393e-01 2.13045079e-04 5.49501596e+00] [ 2.74726304e-03 -1.87698930e-04 9.99996209e-01 -4.20771445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.515898227 meters 0.08250089831637124 Centerline is valid? [True, True] Translation: X:363.12, Y:5.48, Z:-4.21 [[ 9.99979059e-01 6.01417133e-03 -2.38990556e-03 3.63118717e+02] [-6.01374525e-03 9.99981900e-01 1.85428979e-04 5.48487793e+00] [ 2.39097751e-03 -1.71052813e-04 9.99997127e-01 -4.20610351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.575898227 meters 0.08612427160339857 Centerline is valid? [True, True] Translation: X:363.18, Y:5.48, Z:-4.20 [[ 9.99998503e-01 -2.65581660e-04 -1.70971865e-03 3.63178736e+02] [ 2.65808844e-04 9.99999956e-01 1.32651806e-04 5.48027224e+00] [ 1.70968335e-03 -1.33106065e-04 9.99998530e-01 -4.20442920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.635898227 meters 0.09475433298225783 Centerline is valid? [True, True] Translation: X:363.24, Y:5.47, Z:-4.20 [[ 9.99983067e-01 -5.64486938e-03 -1.41454636e-03 3.63237174e+02] [ 5.64503025e-03 9.99984061e-01 1.09762974e-04 5.46648469e+00] [ 1.41390422e-03 -1.17746272e-04 9.99998994e-01 -4.20425672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.695898227 meters 0.09475231601239019 Centerline is valid? [True, True] Translation: X:363.30, Y:5.46, Z:-4.21 [[ 9.99945080e-01 -1.02165431e-02 -2.33655021e-03 3.63297397e+02] [ 1.02169945e-02 9.99947789e-01 1.81304653e-04 5.46289024e+00] [ 2.33457590e-03 -2.05167216e-04 9.99997254e-01 -4.20605489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.755898227 meters 0.0997421576561609 Centerline is valid? [True, True] Translation: X:363.36, Y:5.46, Z:-4.21 [[ 9.99908815e-01 -1.25513317e-02 -4.98261575e-03 3.63356396e+02] [ 1.25534126e-02 9.99921128e-01 3.86576165e-04 5.45591615e+00] [ 4.97737072e-03 -4.49089746e-04 9.99987512e-01 -4.21054357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.815898227 meters 0.10064208665781554 Centerline is valid? [True, False] Translation: X:363.36, Y:5.46, Z:-4.21 [[ 9.99988681e-01 -3.54578342e-03 -3.17248769e-03 3.63359649e+02] [ 3.51194516e-03 9.99937557e-01 -1.06088993e-02 5.46153823e+00] [ 3.20990645e-03 1.05976376e-02 9.99938691e-01 -4.21428062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.875898227 meters 0.09831833464493528 Centerline is valid? [False, True] Translation: X:363.38, Y:5.46, Z:-4.22 [[ 9.99992486e-01 -3.12658424e-03 2.29199759e-03 3.63380178e+02] [ 3.12630059e-03 9.99995105e-01 1.27328723e-04 5.45777251e+00] [-2.29238448e-03 -1.20162292e-04 9.99997365e-01 -4.21895957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.93589822699994 meters 0.09518957947006562 Centerline is valid? [True, True] Translation: X:363.44, Y:5.46, Z:-4.22 [[ 9.99985100e-01 -5.02351951e-03 2.13614303e-03 3.63440634e+02] [ 5.02391572e-03 9.99987364e-01 -1.80151200e-04 5.45762589e+00] [-2.13521104e-03 1.90880319e-04 9.99997702e-01 -4.22066305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.99589822699994 meters 0.11073795696235315 Centerline is valid? [True, False] Translation: X:363.44, Y:5.46, Z:-4.22 [[ 9.99954644e-01 -9.30314387e-03 2.03976914e-03 3.63441108e+02] [ 9.31205511e-03 9.99946945e-01 -4.40366931e-03 5.45712117e+00] [-1.99869295e-03 4.42246402e-03 9.99988223e-01 -4.22083088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.05589822699994 meters 0.11325872952697022 Centerline is valid? [False, False] Translation: X:363.44, Y:5.45, Z:-4.22 [[ 9.99987560e-01 -4.47087858e-03 2.21159183e-03 3.63440779e+02] [ 4.46771555e-03 9.99988993e-01 1.43308535e-03 5.45071861e+00] [-2.21797464e-03 -1.42318676e-03 9.99996528e-01 -4.22157991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.11589822699995 meters 0.09756181991606407 Centerline is valid? [False, True] Translation: X:363.44, Y:5.45, Z:-4.22 [[ 9.99987650e-01 -4.47797429e-03 2.15575310e-03 3.63440674e+02] [ 4.47489943e-03 9.99988966e-01 1.42906746e-03 5.45068392e+00] [-2.16212864e-03 -1.41940303e-03 9.99996655e-01 -4.22103896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.17589822699995 meters 0.08341118713443023 Centerline is valid? [True, True] Translation: X:363.50, Y:5.47, Z:-4.22 [[ 9.99995179e-01 2.13066329e-03 2.25874953e-03 3.63502899e+02] [-2.13023999e-03 9.99997713e-01 -1.89794794e-04 5.46579417e+00] [-2.25914876e-03 1.84982201e-04 9.99997431e-01 -4.21877882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.23589822699995 meters 0.08342785567659831 Centerline is valid? [True, True] Translation: X:363.56, Y:5.47, Z:-4.22 [[ 9.99920647e-01 1.24523781e-02 1.90751018e-03 3.63562929e+02] [-1.24520949e-02 9.99922457e-01 -1.60278173e-04 5.46559300e+00] [-1.90935811e-03 1.36512957e-04 9.99998168e-01 -4.22106782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.29589822699995 meters 0.07527082563927771 Centerline is valid? [True, True] Translation: X:363.62, Y:5.48, Z:-4.22 [[ 9.99876390e-01 1.56351215e-02 1.65761215e-03 3.63624848e+02] [-1.56349120e-02 9.99877758e-01 -1.39277604e-04 5.47637551e+00] [-1.65958714e-03 1.13343768e-04 9.99998616e-01 -4.22278510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.35589822699995 meters 0.07664988223457535 Centerline is valid? [True, True] Translation: X:363.69, Y:5.47, Z:-4.22 [[ 9.99913238e-01 1.30802595e-02 1.55655535e-03 3.63685293e+02] [-1.30800717e-02 9.99914444e-01 -1.30786976e-04 5.47128579e+00] [-1.55813291e-03 1.10415773e-04 9.99998780e-01 -4.22368698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.41589822699996 meters 0.08394945052261286 Centerline is valid? [True, True] Translation: X:363.74, Y:5.46, Z:-4.22 [[ 9.99959156e-01 8.91496842e-03 1.48678784e-03 3.63743565e+02] [-8.91479237e-03 9.99960255e-01 -1.24993289e-04 5.45799844e+00] [-1.48784305e-03 1.11733779e-04 9.99998887e-01 -4.22391589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.47589822699996 meters 0.08250596735944757 Centerline is valid? [True, True] Translation: X:363.80, Y:5.46, Z:-4.22 [[ 9.99956734e-01 9.01582096e-03 2.29008890e-03 3.63803932e+02] [-9.01540380e-03 9.99959342e-01 -1.92416962e-04 5.45588011e+00] [-2.29173058e-03 1.71762561e-04 9.99997359e-01 -4.22192626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.53589822699996 meters 0.07532761937893326 Centerline is valid? [True, True] Translation: X:363.87, Y:5.46, Z:-4.22 [[ 9.99886872e-01 1.42510891e-02 4.81140205e-03 3.63865354e+02] [-1.42493080e-02 9.99898392e-01 -4.04247558e-04 5.46110902e+00] [-4.81667414e-03 3.35642677e-04 9.99988343e-01 -4.21755783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.59589822699996 meters 0.07443766932604505 Centerline is valid? [True, True] Translation: X:363.92, Y:5.46, Z:-4.22 [[ 9.99821252e-01 1.81505921e-02 5.29334718e-03 3.63924939e+02] [-1.81484904e-02 9.99835204e-01 -4.44814359e-04 5.45869459e+00] [-5.30054850e-03 3.48668589e-04 9.99985891e-01 -4.21757400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.65589822699997 meters 0.05877120802088752 Centerline is valid? [True, True] Translation: X:363.99, Y:5.47, Z:-4.22 [[ 9.99680695e-01 2.49671204e-02 3.89254669e-03 3.63986712e+02] [-2.49660357e-02 9.99688246e-01 -3.27024954e-04 5.47378086e+00] [-3.89949804e-03 2.29739073e-04 9.99992371e-01 -4.21883069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.71589822699997 meters 0.06599206870830612 Centerline is valid? [True, True] Translation: X:364.05, Y:5.46, Z:-4.22 [[ 9.99535243e-01 3.01552525e-02 4.46762727e-03 3.64045739e+02] [-3.01538750e-02 9.99545198e-01 -3.75394976e-04 5.46070049e+00] [-4.47691551e-03 2.40504235e-04 9.99989950e-01 -4.21887907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.77589822699997 meters 0.05124693104585102 Centerline is valid? [True, True] Translation: X:364.11, Y:5.48, Z:-4.22 [[ 9.99303524e-01 3.72460833e-02 2.27961538e-03 3.64107786e+02] [-3.72457430e-02 9.99306118e-01 -1.91549216e-04 5.47637999e+00] [-2.28516805e-03 1.06509838e-04 9.99997383e-01 -4.22302050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.835898227 meters 0.046620065217081626 Centerline is valid? [True, True] Translation: X:364.17, Y:5.48, Z:-4.22 [[ 9.99192363e-01 4.01361655e-02 1.92619358e-03 3.64168127e+02] [-4.01359278e-02 9.99194216e-01 -1.61893064e-04 5.47712148e+00] [-1.93113925e-03 8.44527473e-05 9.99998132e-01 -4.22326108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.895898227 meters 0.044877849050789786 Centerline is valid? [True, True] Translation: X:364.23, Y:5.47, Z:-4.22 [[ 9.99102179e-01 4.22526058e-02 3.09068802e-03 3.64227274e+02] [-4.22520042e-02 9.99106952e-01 -2.59724924e-04 5.47118121e+00] [-3.09890194e-03 1.28903975e-04 9.99995190e-01 -4.22209575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.955898227 meters 0.04398756952180254 Centerline is valid? [True, True] Translation: X:364.29, Y:5.47, Z:-4.22 [[ 9.99072130e-01 4.29500034e-02 3.19010067e-03 3.64285857e+02] [-4.29493660e-02 9.99077214e-01 -2.68078144e-04 5.46620185e+00] [-3.19867084e-03 1.30816601e-04 9.99994876e-01 -4.22198582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.015898227 meters 0.04046393732825168 Centerline is valid? [True, True] Translation: X:364.35, Y:5.46, Z:-4.22 [[ 9.98887023e-01 4.70670323e-02 3.06751073e-03 3.64345655e+02] [-4.70664632e-02 9.98891727e-01 -2.57496722e-04 5.46059276e+00] [-3.07623070e-03 1.12833253e-04 9.99995262e-01 -4.22124856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.075898227 meters 0.03618327313351163 Centerline is valid? [True, True] Translation: X:364.41, Y:5.46, Z:-4.22 [[ 9.98665190e-01 5.15779780e-02 2.74768067e-03 3.64405545e+02] [-5.15775384e-02 9.98668966e-01 -2.30690143e-04 5.45788660e+00] [-2.75592194e-03 8.86636106e-05 9.99996199e-01 -4.22203637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.135898227 meters 0.030431133188610085 Centerline is valid? [True, True] Translation: X:364.47, Y:5.45, Z:-4.22 [[ 9.98315425e-01 5.79877985e-02 1.93076532e-03 3.64465432e+02] [-5.79875935e-02 9.98317291e-01 -1.62047156e-04 5.45300821e+00] [-1.93691316e-03 4.98137412e-05 9.99998123e-01 -4.22467077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.195898227 meters 0.02520985443283759 Centerline is valid? [True, True] Translation: X:364.53, Y:5.45, Z:-4.22 [[ 9.98057732e-01 6.21905513e-02 3.61918569e-03 3.64525413e+02] [-6.21898585e-02 9.98064291e-01 -3.03754430e-04 5.45148892e+00] [-3.63107065e-03 7.80878122e-05 9.99993405e-01 -4.22229746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.255898227 meters 0.019319828126828593 Centerline is valid? [True, True] Translation: X:364.58, Y:5.45, Z:-4.22 [[ 9.97570234e-01 6.95418373e-02 4.19066574e-03 3.64584265e+02] [-6.95409734e-02 9.97579034e-01 -3.51684185e-04 5.45075324e+00] [-4.20497704e-03 5.94067003e-05 9.99991157e-01 -4.22406160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.315898227 meters 0.013590368005975344 Centerline is valid? [True, True] Translation: X:364.64, Y:5.45, Z:-4.23 [[ 9.97200519e-01 7.46988656e-02 3.34742831e-03 3.64643107e+02] [-7.46983433e-02 9.97206136e-01 -2.80948698e-04 5.45280988e+00] [-3.35906260e-03 3.01148379e-05 9.99994358e-01 -4.22650446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.375898227 meters 0.00971975876013144 Centerline is valid? [True, True] Translation: X:364.70, Y:5.45, Z:-4.23 [[ 9.96605561e-01 8.22413278e-02 3.70401278e-03 3.64701177e+02] [-8.22407410e-02 9.96612444e-01 -3.10700888e-04 5.45272112e+00] [-3.71701769e-03 5.02547644e-06 9.99993092e-01 -4.22701770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.43589822699994 meters 0.0097808552468098 Centerline is valid? [True, True] Translation: X:364.76, Y:5.45, Z:-4.23 [[ 9.96365755e-01 8.50793994e-02 4.09604332e-03 3.64758166e+02] [-8.50787066e-02 9.96374175e-01 -3.43402831e-04 5.44730274e+00] [-4.11040829e-03 -6.33124645e-06 9.99991552e-01 -4.22739060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.49589822699994 meters 0.011607531763391354 Centerline is valid? [True, True] Translation: X:364.82, Y:5.44, Z:-4.23 [[ 9.96062347e-01 8.85962088e-02 3.24235027e-03 3.64816029e+02] [-8.85957944e-02 9.96067624e-01 -2.71472214e-04 5.43770517e+00] [-3.25365154e-03 -1.68553469e-05 9.99994707e-01 -4.22896875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.55589822699994 meters 0.01524406699599289 Centerline is valid? [True, True] Translation: X:364.87, Y:5.43, Z:-4.23 [[ 9.95622449e-01 9.34311784e-02 2.56002199e-03 3.64873886e+02] [-9.34309360e-02 9.95625740e-01 -2.14342621e-04 5.42954804e+00] [-2.56885007e-03 -2.57809260e-05 9.99996700e-01 -4.22948192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.61589822699995 meters 0.017706082344939277 Centerline is valid? [True, True] Translation: X:364.93, Y:5.42, Z:-4.23 [[ 9.95356450e-01 9.62199703e-02 2.69335367e-03 3.64931913e+02] [-9.62197127e-02 9.95360094e-01 -2.25330277e-04 5.42383105e+00] [-2.70253803e-03 -3.48697715e-05 9.99996348e-01 -4.22909497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.67589822699995 meters 0.024683312992529814 Centerline is valid? [True, True] Translation: X:364.99, Y:5.42, Z:-4.23 [[ 9.94833707e-01 1.01500538e-01 1.88061618e-03 3.64990377e+02] [-1.01500422e-01 9.94835484e-01 -1.57298388e-04 5.41866881e+00] [-1.88686958e-03 -3.43975983e-05 9.99998219e-01 -4.23137602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.73589822699995 meters 0.02906854388126661 Centerline is valid? [True, True] Translation: X:365.05, Y:5.41, Z:-4.23 [[ 9.94478126e-01 1.04919233e-01 2.28269486e-03 3.65049937e+02] [-1.04919071e-01 9.94480745e-01 -1.90630154e-04 5.41389230e+00] [-2.29009686e-03 -4.99207070e-05 9.99997376e-01 -4.23060309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.79589822699995 meters 0.03177031090963622 Centerline is valid? [True, True] Translation: X:365.11, Y:5.40, Z:-4.23 [[ 9.93749019e-01 1.11514711e-01 5.23032965e-03 3.65109624e+02] [-1.11513957e-01 9.93762772e-01 -4.36474049e-04 5.40485005e+00] [-5.24638017e-03 -1.49509099e-04 9.99986226e-01 -4.22570726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.85589822699995 meters 0.03624807984736386 Centerline is valid? [True, True] Translation: X:365.17, Y:5.40, Z:-4.22 [[ 9.93211991e-01 1.16144651e-01 6.35297723e-03 3.65170087e+02] [-1.16143634e-01 9.93232287e-01 -5.30022684e-04 5.40040416e+00] [-6.37154140e-03 -2.11432975e-04 9.99979679e-01 -4.22417960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.91589822699996 meters 0.039112861122858084 Centerline is valid? [True, True] Translation: X:365.23, Y:5.39, Z:-4.22 [[ 9.92843764e-01 1.19099327e-01 8.75275614e-03 3.65229116e+02] [-1.19097511e-01 9.92882294e-01 -7.30179477e-04 5.38961185e+00] [-8.77742048e-03 -3.17477333e-04 9.99961427e-01 -4.22112513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.97589822699996 meters 0.042273816441307586 Centerline is valid? [True, True] Translation: X:365.29, Y:5.38, Z:-4.22 [[ 9.92712071e-01 1.20259685e-01 7.76868860e-03 3.65286283e+02] [-1.20258293e-01 9.92742425e-01 -6.47869234e-04 5.38000257e+00] [-7.79021931e-03 -2.91101617e-04 9.99969613e-01 -4.22264207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.03589822699996 meters 0.04605287121268335 Centerline is valid? [True, True] Translation: X:365.34, Y:5.37, Z:-4.23 [[ 9.92525700e-01 1.21908144e-01 5.58020877e-03 3.65344299e+02] [-1.21907453e-01 9.92541363e-01 -4.65122316e-04 5.37398247e+00] [-5.59529021e-03 -2.18623184e-04 9.99984322e-01 -4.22645234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.09589822699996 meters 0.04954133323445129 Centerline is valid? [True, True] Translation: X:365.40, Y:5.36, Z:-4.23 [[ 9.92012038e-01 1.26069509e-01 4.31231225e-03 3.65403615e+02] [-1.26069137e-01 9.92021393e-01 -3.59210325e-04 5.36421220e+00] [-4.32319147e-03 -1.87308517e-04 9.99990637e-01 -4.22911266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.15589822699997 meters 0.05111436297906504 Centerline is valid? [True, True] Translation: X:365.46, Y:5.36, Z:-4.23 [[ 9.91755564e-01 1.28076261e-01 4.16814540e-03 3.65462551e+02] [-1.28075930e-01 9.91764304e-01 -3.47266296e-04 5.35881965e+00] [-4.17829439e-03 -1.89435817e-04 9.99991253e-01 -4.23087431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.21589822699997 meters 0.05497333644237023 Centerline is valid? [True, True] Translation: X:365.52, Y:5.36, Z:-4.24 [[ 9.91485495e-01 1.30202342e-01 1.96579685e-03 3.65522171e+02] [-1.30202273e-01 9.91487439e-01 -1.63723479e-04 5.35632920e+00] [-1.97038006e-03 -9.36217616e-05 9.99998054e-01 -4.23612589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.27589822699997 meters 0.05405746103044915 Centerline is valid? [True, True] Translation: X:365.58, Y:5.35, Z:-4.24 [[ 9.91582060e-01 1.29467633e-01 1.77519240e-03 3.65580484e+02] [-1.29467575e-01 9.91583645e-01 -1.48000814e-04 5.34953708e+00] [-1.77941307e-03 -8.30749029e-05 9.99998413e-01 -4.23618967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.335898227 meters 0.047144919817100193 Centerline is valid? [True, True] Translation: X:365.64, Y:5.33, Z:-4.23 [[ 9.92310504e-01 1.23713291e-01 3.85818960e-03 3.65639293e+02] [-1.23712976e-01 9.92317992e-01 -3.21057284e-04 5.33239931e+00] [-3.86827001e-03 -1.58719601e-04 9.99992506e-01 -4.23289539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.395898227 meters 0.03920516014891201 Centerline is valid? [True, True] Translation: X:365.70, Y:5.31, Z:-4.23 [[ 9.92838233e-01 1.19355261e-01 5.15401341e-03 3.65698467e+02] [-1.19354641e-01 9.92851593e-01 -4.28724288e-04 5.31275265e+00] [-5.16834092e-03 -1.89501557e-04 9.99986626e-01 -4.23136128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.455898227 meters 0.03983641821030426 Centerline is valid? [True, True] Translation: X:365.76, Y:5.30, Z:-4.23 [[ 9.93112896e-01 1.17006148e-01 6.02805784e-03 3.65756874e+02] [-1.17005257e-01 9.93131169e-01 -5.01422987e-04 5.29968459e+00] [-6.04532170e-03 -2.07344824e-04 9.99981705e-01 -4.23106945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.515898227 meters 0.03706086719381579 Centerline is valid? [True, True] Translation: X:365.81, Y:5.28, Z:-4.24 [[ 9.93200098e-01 1.16365118e-01 3.56715186e-03 3.65813889e+02] [-1.16364802e-01 9.93206497e-01 -2.96770353e-04 5.27947096e+00] [-3.57745212e-03 -1.20338574e-04 9.99993594e-01 -4.23661961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.575898227 meters 0.03630269318196567 Centerline is valid? [True, True] Translation: X:365.87, Y:5.26, Z:-4.24 [[ 9.93356055e-01 1.15030961e-01 3.40981893e-03 3.65871976e+02] [-1.15030665e-01 9.93361901e-01 -2.83594210e-04 5.26313232e+00] [-3.41980632e-03 -1.10523712e-04 9.99994146e-01 -4.23801104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.635898227 meters 0.037537130210169745 Centerline is valid? [True, True] Translation: X:365.93, Y:5.24, Z:-4.24 [[ 9.93373606e-01 1.14814031e-01 5.15918621e-03 3.65928349e+02] [-1.14813353e-01 9.93386989e-01 -4.28495937e-04 5.24361227e+00] [-5.17426580e-03 -1.66686913e-04 9.99986600e-01 -4.23677664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.695898227 meters 0.039798761261905714 Centerline is valid? [True, True] Translation: X:365.99, Y:5.23, Z:-4.24 [[ 9.93057294e-01 1.17502144e-01 5.51879628e-03 3.65987413e+02] [-1.17501411e-01 9.93072610e-01 -4.57942751e-04 5.23107443e+00] [-5.53437469e-03 -1.93702964e-04 9.99984666e-01 -4.23684124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.755898227 meters 0.04942584820863296 Centerline is valid? [True, True] Translation: X:366.05, Y:5.23, Z:-4.24 [[ 9.92106972e-01 1.25363347e-01 2.79065375e-03 3.66046352e+02] [-1.25363191e-01 9.92110889e-01 -2.31515613e-04 5.22633440e+00] [-2.79766155e-03 -1.20157005e-04 9.99996079e-01 -4.24144038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.815898227 meters 0.056136726173960566 Centerline is valid? [True, True] Translation: X:366.11, Y:5.22, Z:-4.24 [[ 9.91360241e-01 1.31122918e-01 3.41367322e-03 3.66106367e+02] [-1.31122719e-01 9.91366104e-01 -2.83174689e-04 5.22254584e+00] [-3.42133061e-03 -1.66881985e-04 9.99994133e-01 -4.24129820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.875898227 meters 0.05865545878425709 Centerline is valid? [True, True] Translation: X:366.17, Y:5.22, Z:-4.24 [[ 9.91057534e-01 1.33379925e-01 3.84181289e-03 3.66165972e+02] [-1.33379689e-01 9.91064961e-01 -3.18644003e-04 5.21779303e+00] [-3.84998686e-03 -1.96625270e-04 9.99992569e-01 -4.24016049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.93589822699994 meters 0.05620991847181772 Centerline is valid? [True, True] Translation: X:366.23, Y:5.20, Z:-4.24 [[ 9.90344260e-01 1.38599875e-01 2.88464096e-03 3.66225495e+02] [-1.38599764e-01 9.90348448e-01 -2.39195210e-04 5.20266370e+00] [-2.88995212e-03 -1.62924953e-04 9.99995811e-01 -4.24267283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.99589822699994 meters 0.07191560233604759 Centerline is valid? [True, True] Translation: X:366.29, Y:5.21, Z:-4.24 [[ 9.89676639e-01 1.43293879e-01 2.64832008e-03 3.66286056e+02] [-1.43293803e-01 9.89680169e-01 -2.19649113e-04 5.21097289e+00] [-2.65246423e-03 -1.62106258e-04 9.99996469e-01 -4.24409440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.05589822699994 meters 0.06980897372902437 Centerline is valid? [True, True] Translation: X:366.35, Y:5.20, Z:-4.24 [[ 9.89003516e-01 1.47855878e-01 3.26872311e-03 3.66345441e+02] [-1.47855786e-01 9.89008894e-01 -2.71050987e-04 5.20205478e+00] [-3.27287271e-03 -2.15229245e-04 9.99994621e-01 -4.24291133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.11589822699995 meters 0.0718601756136238 Centerline is valid? [True, True] Translation: X:366.41, Y:5.20, Z:-4.25 [[ 9.88486349e-01 1.51305319e-01 1.19964088e-03 3.66405640e+02] [-1.51305309e-01 9.88487073e-01 -9.94474219e-05 5.19548505e+00] [-1.20087643e-03 -8.32096157e-05 9.99999275e-01 -4.24645413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.17589822699995 meters 0.08130521256666469 Centerline is valid? [True, True] Translation: X:366.47, Y:5.20, Z:-4.25 [[ 9.88287216e-01 1.52602351e-01 9.49030274e-04 3.66465134e+02] [-1.52602345e-01 9.88287670e-01 -7.88741218e-05 5.20464237e+00] [-9.49951294e-04 -6.68739592e-05 9.99999547e-01 -4.24803892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.23589822699995 meters 0.091840981106654 Centerline is valid? [True, True] Translation: X:366.53, Y:5.21, Z:-4.24 [[ 9.88000925e-01 1.54409567e-01 3.44351276e-03 3.66525070e+02] [-1.54409505e-01 9.88006894e-01 -2.85380142e-04 5.21401235e+00] [-3.44627977e-03 -2.49755257e-04 9.99994030e-01 -4.24324271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.29589822699995 meters 0.08508207035581551 Centerline is valid? [True, True] Translation: X:366.58, Y:5.20, Z:-4.24 [[ 9.87849273e-01 1.55339083e-01 4.85618332e-03 3.66583669e+02] [-1.55338972e-01 9.87861145e-01 -4.02426594e-04 5.20254349e+00] [-4.85974739e-03 -3.56817706e-04 9.99988128e-01 -4.24158053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.35589822699995 meters 0.07662764951886417 Centerline is valid? [True, True] Translation: X:366.64, Y:5.19, Z:-4.24 [[ 9.88215744e-01 1.52991486e-01 4.82156414e-03 3.66642625e+02] [-1.52991350e-01 9.88227447e-01 -3.99351133e-04 5.18668360e+00] [-4.82589935e-03 -3.43012529e-04 9.99988296e-01 -4.24187489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.41589822699996 meters 0.0749624389321474 Centerline is valid? [True, True] Translation: X:366.70, Y:5.18, Z:-4.24 [[ 9.89174416e-01 1.46663107e-01 4.88954769e-03 3.66701484e+02] [-1.46662889e-01 9.89186450e-01 -4.04981000e-04 5.17754316e+00] [-4.89607009e-03 -3.16518347e-04 9.99987964e-01 -4.24339732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.47589822699996 meters 0.07176657856385736 Centerline is valid? [True, True] Translation: X:366.76, Y:5.17, Z:-4.24 [[ 9.89490718e-01 1.44487801e-01 5.60300581e-03 3.66761199e+02] [-1.44487481e-01 9.89506520e-01 -4.63952212e-04 5.16571472e+00] [-5.61124622e-03 -3.50487789e-04 9.99984195e-01 -4.24199879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.53589822699996 meters 0.07405548179670475 Centerline is valid? [True, True] Translation: X:366.82, Y:5.16, Z:-4.24 [[ 9.89172535e-01 1.46557973e-01 7.64565859e-03 3.66821429e+02] [-1.46557440e-01 9.89201959e-01 -6.32983397e-04 5.16175560e+00] [-7.65586922e-03 -4.94398360e-04 9.99970571e-01 -4.23881938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.59589822699996 meters 0.08202405156417414 Centerline is valid? [True, True] Translation: X:366.88, Y:5.17, Z:-4.24 [[ 9.88308880e-01 1.52371841e-01 5.32734976e-03 3.66882295e+02] [-1.52371666e-01 9.88323166e-01 -4.40998889e-04 5.16628107e+00] [-5.33233899e-03 -3.75894041e-04 9.99985712e-01 -4.24375468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.65589822699997 meters 0.08703591535421687 Centerline is valid? [True, True] Translation: X:366.94, Y:5.17, Z:-4.25 [[ 9.87717139e-01 1.56182377e-01 4.68167811e-03 3.66942815e+02] [-1.56182284e-01 9.87728173e-01 -3.87574475e-04 5.16821606e+00] [-4.68475767e-03 -3.48381231e-04 9.99988966e-01 -4.24526727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.71589822699997 meters 0.09093150599642043 Centerline is valid? [True, True] Translation: X:367.00, Y:5.17, Z:-4.25 [[ 9.87500018e-01 1.57557695e-01 4.39163142e-03 3.67002840e+02] [-1.57557628e-01 9.87509727e-01 -3.63525986e-04 5.16959907e+00] [-4.39405506e-03 -3.32953111e-04 9.99990291e-01 -4.24607466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.77589822699997 meters 0.09258513386545289 Centerline is valid? [True, True] Translation: X:367.06, Y:5.17, Z:-4.25 [[ 9.87490950e-01 1.57619346e-01 4.21500183e-03 3.67062153e+02] [-1.57619284e-01 9.87499893e-01 -3.48936142e-04 5.16761818e+00] [-4.21731294e-03 -3.19794290e-04 9.99991056e-01 -4.24711788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.835898227 meters 0.09628314986817726 Centerline is valid? [True, True] Translation: X:367.12, Y:5.17, Z:-4.25 [[ 9.87332937e-01 1.58656646e-01 1.31915095e-03 3.67121561e+02] [-1.58656641e-01 9.87333813e-01 -1.09357548e-04 5.17048259e+00] [-1.31979264e-03 -1.01319749e-04 9.99999124e-01 -4.25294303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.895898227 meters 0.09919212406405088 Centerline is valid? [True, True] Translation: X:367.18, Y:5.17, Z:-4.25 [[ 9.87059351e-01 1.60347131e-01 1.62318940e-03 3.67181526e+02] [-1.60347126e-01 9.87060678e-01 -1.34244175e-04 5.17162157e+00] [-1.62371210e-03 -1.27766788e-04 9.99998674e-01 -4.25271761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.955898227 meters 0.08486324419566901 Centerline is valid? [True, True] Translation: X:367.24, Y:5.15, Z:-4.25 [[ 9.86721719e-01 1.62408070e-01 1.96676002e-03 3.67240294e+02] [-1.62408067e-01 9.86723666e-01 -1.62595277e-04 5.15426047e+00] [-1.96705544e-03 -1.58981401e-04 9.99998053e-01 -4.25079022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.015898227 meters 0.08508525890291904 Centerline is valid? [True, True] Translation: X:367.30, Y:5.15, Z:-4.25 [[ 9.86563627e-01 1.63347456e-01 3.13342857e-03 3.67299773e+02] [-1.63347451e-01 9.86568570e-01 -2.59166816e-04 5.15375906e+00] [-3.13367638e-03 -2.56153016e-04 9.99995057e-01 -4.24995285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.075898227 meters 0.08850488732613389 Centerline is valid? [True, True] Translation: X:367.36, Y:5.16, Z:-4.25 [[ 9.86259011e-01 1.65147507e-01 4.41177308e-03 3.67360754e+02] [-1.65147517e-01 9.86268810e-01 -3.64471333e-04 5.16011751e+00] [-4.41138572e-03 -3.69130233e-04 9.99990202e-01 -4.24848358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.135898227 meters 0.08837368390374473 Centerline is valid? [True, True] Translation: X:367.42, Y:5.16, Z:-4.25 [[ 9.86346182e-01 1.64640092e-01 3.85354687e-03 3.67419204e+02] [-1.64640096e-01 9.86353657e-01 -3.18411028e-04 5.15810530e+00] [-3.85338327e-03 -3.20384824e-04 9.99992524e-01 -4.24993317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.195898227 meters 0.11164344500577163 Centerline is valid? [True, False] Translation: X:367.40, Y:5.17, Z:-4.25 [[ 9.89134322e-01 1.46851006e-01 6.93364101e-03 3.67398952e+02] [-1.46903086e-01 9.89120795e-01 7.71601898e-03 5.16653422e+00] [-5.72510336e-03 -8.65075246e-03 9.99946192e-01 -4.25197352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.255898227 meters 0.09273315283352865 Centerline is valid? [False, True] Translation: X:367.40, Y:5.17, Z:-4.25 [[ 9.91273309e-01 1.31673754e-01 6.26487909e-03 3.67398607e+02] [-1.31734672e-01 9.91228557e-01 1.05794374e-02 5.17223283e+00] [-4.81689282e-03 -1.13124157e-02 9.99924411e-01 -4.25147737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.315898227 meters 0.08538205049012172 Centerline is valid? [True, True] Translation: X:367.46, Y:5.16, Z:-4.25 [[ 9.91492069e-01 1.30077413e-01 4.83162787e-03 3.67458721e+02] [-1.30077764e-01 9.91503765e-01 -2.42832306e-04 5.16357629e+00] [-4.82216423e-03 -3.87721047e-04 9.99988298e-01 -4.25209904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.375898227 meters 0.0821984084296236 Centerline is valid? [True, True] Translation: X:367.52, Y:5.15, Z:-4.25 [[ 9.92118667e-01 1.25197374e-01 5.11549829e-03 3.67519112e+02] [-1.25197704e-01 9.92131780e-01 -2.57016185e-04 5.15051599e+00] [-5.10742618e-03 -3.85458086e-04 9.99986883e-01 -4.25284280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.43589822699994 meters 0.0780150838459051 Centerline is valid? [True, True] Translation: X:367.58, Y:5.14, Z:-4.26 [[ 9.92608742e-01 1.21302721e-01 3.67911654e-03 3.67578574e+02] [-1.21302864e-01 9.92615525e-01 -1.84870425e-04 5.13539442e+00] [-3.67437348e-03 -2.62783375e-04 9.99993215e-01 -4.25606771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.49589822699994 meters 0.07970851243741152 Centerline is valid? [True, True] Translation: X:367.64, Y:5.13, Z:-4.26 [[ 9.92690199e-01 1.20658943e-01 2.75472519e-03 3.67635928e+02] [-1.20659021e-01 9.92694002e-01 -1.38644373e-04 5.12655282e+00] [-2.75132785e-03 -1.94751533e-04 9.99996196e-01 -4.25730308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.55589822699994 meters 0.08450140545706147 Centerline is valid? [True, True] Translation: X:367.70, Y:5.13, Z:-4.26 [[ 9.91773023e-01 1.27977652e-01 2.82683924e-03 3.67696309e+02] [-1.27977764e-01 9.91777027e-01 -1.41833816e-04 5.12705963e+00] [-2.82174578e-03 -2.21105614e-04 9.99995994e-01 -4.25627376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.61589822699995 meters 0.09709379798660728 Centerline is valid? [True, True] Translation: X:367.76, Y:5.14, Z:-4.26 [[ 9.90770156e-01 1.35527368e-01 2.61337281e-03 3.67756405e+02] [-1.35527490e-01 9.90773578e-01 -1.31092736e-04 5.14120347e+00] [-2.60702738e-03 -2.24301087e-04 9.99996577e-01 -4.25715790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.67589822699995 meters 0.10712915580606666 Centerline is valid? [True, False] Translation: X:367.76, Y:5.15, Z:-4.26 [[ 9.91998803e-01 1.26190728e-01 3.77833099e-03 3.67759468e+02] [-1.26218277e-01 9.91968123e-01 8.25772477e-03 5.14785279e+00] [-2.70593560e-03 -8.66854752e-03 9.99958766e-01 -4.26060594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.73589822699995 meters 0.1055832390688785 Centerline is valid? [False, False] Translation: X:367.74, Y:5.16, Z:-4.26 [[ 9.94078071e-01 1.08142841e-01 1.06730378e-02 3.67741194e+02] [-1.08280013e-01 9.94032260e-01 1.32402472e-02 5.15566212e+00] [-9.17750596e-03 -1.43175160e-02 9.99855381e-01 -4.26281116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.79589822699995 meters 0.10056917394352625 Centerline is valid? [False, False] Translation: X:367.78, Y:5.16, Z:-4.27 [[ 9.95541837e-01 9.32120033e-02 1.44212991e-02 3.67782162e+02] [-9.34229493e-02 9.95517720e-01 1.47180539e-02 5.16008043e+00] [-1.29847595e-02 -1.59997187e-02 9.99787680e-01 -4.26511127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.85589822699995 meters 0.08691657814988034 Centerline is valid? [False, True] Translation: X:367.76, Y:5.17, Z:-4.27 [[ 9.97065922e-01 7.32618107e-02 2.21868159e-02 3.67762778e+02] [-7.36739550e-02 9.97113266e-01 1.83652540e-02 5.17089187e+00] [-2.07772967e-02 -1.99459593e-02 9.99585145e-01 -4.26892746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.91589822699996 meters 0.08529844348765275 Centerline is valid? [True, True] Translation: X:367.83, Y:5.18, Z:-4.27 [[ 9.97097128e-01 7.35676167e-02 1.96245396e-02 3.67825109e+02] [-7.35851439e-02 9.97288924e-01 1.71541280e-04 5.18468569e+00] [-1.95587161e-02 -1.61511789e-03 9.99807405e-01 -4.27171745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.97589822699996 meters 0.09713386705680553 Centerline is valid? [True, True] Translation: X:367.89, Y:5.21, Z:-4.27 [[ 9.96992136e-01 7.49507006e-02 1.97249612e-02 3.67885006e+02] [-7.49686010e-02 9.97185881e-01 1.68580302e-04 5.20670372e+00] [-1.96568176e-02 -1.64682598e-03 9.99805430e-01 -4.27351224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.03589822699996 meters 0.09129843406520304 Centerline is valid? [True, True] Translation: X:367.95, Y:5.21, Z:-4.27 [[ 9.96849893e-01 7.64282528e-02 2.11899262e-02 3.67945298e+02] [-7.64492116e-02 9.97073461e-01 1.79611674e-04 5.20818712e+00] [-2.11141856e-02 -1.79899903e-03 9.99775452e-01 -4.27206311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.09589822699996 meters 0.09413009447430723 Centerline is valid? [True, True] Translation: X:368.00, Y:5.22, Z:-4.27 [[ 9.96780778e-01 7.72809955e-02 2.13478115e-02 3.68004280e+02] [-7.73024663e-02 9.97007671e-01 1.81148787e-04 5.21726360e+00] [-2.12699325e-02 -1.83080411e-03 9.99772093e-01 -4.27348971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.15589822699997 meters 0.09440102525574816 Centerline is valid? [True, True] Translation: X:368.06, Y:5.23, Z:-4.28 [[ 9.96757149e-01 7.77717234e-02 2.06578295e-02 3.68064066e+02] [-7.77919446e-02 9.96969600e-01 1.75861947e-04 5.22717396e+00] [-2.05815510e-02 -1.78230438e-03 9.99786589e-01 -4.27644206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.21589822699997 meters 0.09052749052521201 Centerline is valid? [True, True] Translation: X:368.12, Y:5.23, Z:-4.28 [[ 9.96965730e-01 7.52705496e-02 1.98413159e-02 3.68124317e+02] [-7.52887103e-02 9.97161763e-01 1.68843832e-04 5.23082869e+00] [-1.97722925e-02 -1.66215860e-03 9.99803127e-01 -4.27932988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.27589822699997 meters 0.08730348919903504 Centerline is valid? [True, True] Translation: X:368.18, Y:5.23, Z:-4.28 [[ 9.97175213e-01 7.23177301e-02 2.02913813e-02 3.68184523e+02] [-7.23361166e-02 9.97380297e-01 1.72653248e-04 5.23095894e+00] [-2.02257380e-02 -1.63996526e-03 9.99794094e-01 -4.28037849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.335898227 meters 0.08301611237566359 Centerline is valid? [True, True] Translation: X:368.25, Y:5.23, Z:-4.28 [[ 9.97398354e-01 6.95161845e-02 1.90794046e-02 3.68245288e+02] [-6.95319311e-02 9.97579713e-01 1.62383894e-04 5.23019433e+00] [-1.90219386e-02 -1.48858927e-03 9.99817958e-01 -4.28319805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.395898227 meters 0.08889215532806594 Centerline is valid? [True, True] Translation: X:368.30, Y:5.24, Z:-4.29 [[ 9.97695985e-01 6.51700682e-02 1.88569203e-02 3.68304493e+02] [-6.51846766e-02 9.97873204e-01 1.60437998e-04 5.24299211e+00] [-1.88063598e-02 -1.38925060e-03 9.99822180e-01 -4.28579226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.455898227 meters 0.07541991129949344 Centerline is valid? [True, True] Translation: X:368.37, Y:5.22, Z:-4.29 [[ 9.98043763e-01 5.93580508e-02 1.96282571e-02 3.68365774e+02] [-5.93727666e-02 9.98235867e-01 1.67316314e-04 5.22498915e+00] [-1.95836987e-02 -1.33237293e-03 9.99807333e-01 -4.28569122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.515898227 meters 0.06567647897818396 Centerline is valid? [True, True] Translation: X:368.43, Y:5.21, Z:-4.29 [[ 9.98239193e-01 5.65969999e-02 1.77565044e-02 3.68426089e+02] [-5.66086055e-02 9.98396436e-01 1.51251353e-04 5.20970945e+00] [-1.77194703e-02 -1.15615598e-03 9.99842329e-01 -4.28920514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.575898227 meters 0.07182227789294383 Centerline is valid? [True, True] Translation: X:368.49, Y:5.22, Z:-4.29 [[ 9.98245770e-01 5.58104264e-02 1.97630874e-02 3.68486446e+02] [-5.58246491e-02 9.98440574e-01 1.68275356e-04 5.21574588e+00] [-1.97228769e-02 -1.27124758e-03 9.99804677e-01 -4.28710598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.635898227 meters 0.06594840846682243 Centerline is valid? [True, True] Translation: X:368.55, Y:5.21, Z:-4.29 [[ 9.98171584e-01 5.67210732e-02 2.08855952e-02 3.68548983e+02] [-5.67371657e-02 9.98389134e-01 1.78279164e-04 5.20956539e+00] [-2.08418391e-02 -1.36294267e-03 9.99781856e-01 -4.28654423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.695898227 meters 0.0725678847023441 Centerline is valid? [True, True] Translation: X:368.61, Y:5.22, Z:-4.29 [[ 9.98135358e-01 5.74144933e-02 2.07215772e-02 3.68610039e+02] [-5.74304105e-02 9.98349497e-01 1.73388482e-04 5.21704369e+00] [-2.06774211e-02 -1.36311386e-03 9.99785270e-01 -4.28903157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.755898227 meters 0.06915215204282214 Centerline is valid? [True, True] Translation: X:368.67, Y:5.21, Z:-4.29 [[ 9.98218008e-01 5.61602419e-02 2.01701742e-02 3.68671879e+02] [-5.61749951e-02 9.98420925e-01 1.65146707e-04 5.20965120e+00] [-2.01290493e-02 -1.29791185e-03 9.99796548e-01 -4.29052272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.815898227 meters 0.060701464187439644 Centerline is valid? [True, True] Translation: X:368.73, Y:5.19, Z:-4.29 [[ 9.98452612e-01 5.13239200e-02 2.14064459e-02 3.68733193e+02] [-5.13394111e-02 9.98681248e-01 1.74372831e-04 5.19138337e+00] [-2.13692666e-02 -1.27309733e-03 9.99770841e-01 -4.28926628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.875898227 meters 0.06466284038594071 Centerline is valid? [True, True] Translation: X:368.79, Y:5.19, Z:-4.29 [[ 9.98522006e-01 5.00553533e-02 2.11722610e-02 3.68794067e+02] [-5.00702191e-02 9.98745685e-01 1.72276460e-04 5.19028788e+00] [-2.11370810e-02 -1.23212159e-03 9.99775828e-01 -4.29161477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.93589822699994 meters 0.07886290875034516 Centerline is valid? [True, True] Translation: X:368.85, Y:5.20, Z:-4.30 [[ 9.98366300e-01 5.39829766e-02 1.87234918e-02 3.68854169e+02] [-5.39952829e-02 9.98541179e-01 1.51985546e-04 5.20019542e+00] [-1.86879729e-02 -1.16271748e-03 9.99824689e-01 -4.29706519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.99589822699994 meters 0.07351078770069261 Centerline is valid? [True, True] Translation: X:368.91, Y:5.19, Z:-4.30 [[ 9.98044982e-01 5.94734642e-02 1.92125154e-02 3.68914449e+02] [-5.94874223e-02 9.98229043e-01 1.55316347e-04 5.18993246e+00] [-1.91692536e-02 -1.29791572e-03 9.99815411e-01 -4.29563537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.05589822699994 meters 0.07586693052412273 Centerline is valid? [True, True] Translation: X:368.98, Y:5.19, Z:-4.29 [[ 9.97427867e-01 6.83839377e-02 2.14775886e-02 3.68975385e+02] [-6.84034346e-02 9.97657727e-01 1.73579478e-04 5.18925739e+00] [-2.14154121e-02 -1.64227383e-03 9.99769315e-01 -4.29337846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.11589822699995 meters 0.09761659755884676 Centerline is valid? [True, True] Translation: X:369.03, Y:5.22, Z:-4.29 [[ 9.96885253e-01 7.56549338e-02 2.22738052e-02 3.69034327e+02] [-7.56777060e-02 9.97132314e-01 1.80027507e-04 5.21682515e+00] [-2.21963110e-02 -1.86509725e-03 9.99751892e-01 -4.29486361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.17589822699995 meters 0.09584631820643895 Centerline is valid? [True, True] Translation: X:369.09, Y:5.22, Z:-4.30 [[ 9.96083736e-01 8.57014997e-02 2.17357763e-02 3.69094776e+02] [-8.57255346e-02 9.96318775e-01 1.74713588e-04 5.22004159e+00] [-2.16407888e-02 -2.03734041e-03 9.99763735e-01 -4.29715576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.23589822699995 meters 0.11241684977432886 Centerline is valid? [True, False] Translation: X:369.12, Y:5.22, Z:-4.30 [[ 9.96737810e-01 7.54474401e-02 2.86604503e-02 3.69118986e+02] [-7.59193680e-02 9.96989567e-01 1.57497183e-02 5.22174985e+00] [-2.73858940e-02 -1.78742230e-02 9.99465119e-01 -4.30297804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.29589822699995 meters 0.09858829067344832 Centerline is valid? [False, True] Translation: X:369.12, Y:5.23, Z:-4.30 [[ 9.97859946e-01 5.96283244e-02 2.68326606e-02 3.69115240e+02] [-6.01335170e-02 9.98020166e-01 1.84311881e-02 5.22618952e+00] [-2.56805155e-02 -2.00052866e-02 9.99470009e-01 -4.29898123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.35589822699995 meters 0.09666135015164153 Centerline is valid? [True, True] Translation: X:369.18, Y:5.23, Z:-4.30 [[ 9.98140797e-01 5.48706941e-02 2.65359347e-02 3.69175153e+02] [-5.49124076e-02 9.98490818e-01 8.45274652e-04 5.23295578e+00] [-2.64495063e-02 -2.30085518e-03 9.99647503e-01 -4.30058841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.41589822699996 meters 0.09186047776814805 Centerline is valid? [True, True] Translation: X:369.24, Y:5.23, Z:-4.30 [[ 9.98191913e-01 5.42069745e-02 2.59713060e-02 3.69237011e+02] [-5.42467136e-02 9.98527220e-01 8.27501969e-04 5.22768595e+00] [-2.58881996e-02 -2.23486377e-03 9.99662346e-01 -4.30400411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.47589822699996 meters 0.09323959851452429 Centerline is valid? [True, True] Translation: X:369.30, Y:5.23, Z:-4.31 [[ 9.98315402e-01 5.25008052e-02 2.46986543e-02 3.69296369e+02] [-5.25361998e-02 9.98618711e-01 7.85913223e-04 5.22801506e+00] [-2.46232772e-02 -2.08216271e-03 9.99694633e-01 -4.31026408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.53589822699996 meters 0.08760293237231749 Centerline is valid? [True, True] Translation: X:369.36, Y:5.22, Z:-4.32 [[ 9.98503866e-01 5.01799801e-02 2.17255486e-02 3.69357103e+02] [-5.02068254e-02 9.98738603e-01 6.91634113e-04 5.22013604e+00] [-2.16634378e-02 -1.78137016e-03 9.99763733e-01 -4.31621801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.59589822699996 meters 0.09581715376734064 Centerline is valid? [True, True] Translation: X:369.42, Y:5.23, Z:-4.32 [[ 9.98529511e-01 4.91942012e-02 2.27759872e-02 3.69417255e+02] [-4.92234528e-02 9.98787528e-01 7.25131931e-04 5.23240486e+00] [-2.27126996e-02 -1.84517836e-03 9.99740331e-01 -4.31813764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.65589822699997 meters 0.09565697389904519 Centerline is valid? [True, True] Translation: X:369.48, Y:5.23, Z:-4.32 [[ 9.98472419e-01 4.96919837e-02 2.41564634e-02 3.69479716e+02] [-4.97250389e-02 9.98762649e-01 7.69259859e-04 5.23424196e+00] [-2.40883474e-02 -1.96926584e-03 9.99707894e-01 -4.31753942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.71589822699997 meters 0.08962798376516261 Centerline is valid? [True, True] Translation: X:369.54, Y:5.23, Z:-4.31 [[ 9.98334174e-01 5.07577801e-02 2.74321723e-02 3.69542018e+02] [-5.08006730e-02 9.98708435e-01 8.68498707e-04 5.23144534e+00] [-2.73526588e-02 -2.26062476e-03 9.99623290e-01 -4.31280703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.77589822699997 meters 0.09313931685803406 Centerline is valid? [True, True] Translation: X:369.60, Y:5.24, Z:-4.31 [[ 9.98270693e-01 5.18350076e-02 2.77264514e-02 3.69601649e+02] [-5.18792044e-02 9.98652983e-01 8.76574036e-04 5.23886151e+00] [-2.76436662e-02 -2.31348441e-03 9.99615164e-01 -4.31490805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.835898227 meters 0.08597771637514562 Centerline is valid? [True, True] Translation: X:369.66, Y:5.23, Z:-4.32 [[ 9.98480737e-01 4.82815512e-02 2.65538914e-02 3.69662487e+02] [-4.83207981e-02 9.98831516e-01 8.37961628e-04 5.23124742e+00] [-2.64824055e-02 -2.11979377e-03 9.99647032e-01 -4.31868800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.895898227 meters 0.07680554610517958 Centerline is valid? [True, True] Translation: X:369.72, Y:5.22, Z:-4.32 [[ 9.98678809e-01 4.32458786e-02 2.77566214e-02 3.69724051e+02] [-4.32868216e-02 9.99062303e-01 8.75622476e-04 5.21834347e+00] [-2.76927271e-02 -2.07596153e-03 9.99614327e-01 -4.31821220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.955898227 meters 0.07617784975779736 Centerline is valid? [True, True] Translation: X:369.78, Y:5.22, Z:-4.32 [[ 9.98749684e-01 4.03330174e-02 2.95349976e-02 3.69783637e+02] [-4.03780998e-02 9.99184038e-01 9.31345735e-04 5.21627183e+00] [-2.94733342e-02 -2.12274834e-03 9.99563313e-01 -4.31581917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.015898227 meters 0.07991343577110302 Centerline is valid? [True, True] Translation: X:369.84, Y:5.22, Z:-4.32 [[ 9.98707471e-01 4.14381415e-02 2.94324324e-02 3.69844742e+02] [-4.14834017e-02 9.99138762e-01 9.28559410e-04 5.21927808e+00] [-2.93686063e-02 -2.14831664e-03 9.99566341e-01 -4.31845289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.075898227 meters 0.07609409511263095 Centerline is valid? [True, True] Translation: X:369.91, Y:5.21, Z:-4.32 [[ 9.98788919e-01 4.11387560e-02 2.69870141e-02 3.69906706e+02] [-4.11765991e-02 9.99151524e-01 8.47818340e-04 5.21304123e+00] [-2.69292381e-02 -1.95802502e-03 9.99635425e-01 -4.32429050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.135898227 meters 0.0763234179315919 Centerline is valid? [True, True] Translation: X:369.97, Y:5.21, Z:-4.33 [[ 9.98884740e-01 3.91869912e-02 2.63373331e-02 3.69966942e+02] [-3.92222334e-02 9.99230174e-01 8.22649473e-04 5.21218934e+00] [-2.62848208e-02 -1.85474103e-03 9.99652774e-01 -4.32687117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.195898227 meters 0.06705887168545312 Centerline is valid? [True, True] Translation: X:370.03, Y:5.20, Z:-4.32 [[ 9.98971196e-01 3.44586953e-02 2.94813158e-02 3.70028496e+02] [-3.45008090e-02 9.99404246e-01 9.20857275e-04 5.19532288e+00] [-2.94320207e-02 -1.93703914e-03 9.99564907e-01 -4.32379552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.255898227 meters 0.06409004203055023 Centerline is valid? [True, True] Translation: X:370.09, Y:5.19, Z:-4.33 [[ 9.99227560e-01 2.75674470e-02 2.80057132e-02 3.70088141e+02] [-2.76027443e-02 9.99618589e-01 8.74479121e-04 5.18673950e+00] [-2.79709244e-02 -1.64683818e-03 9.99607381e-01 -4.32813956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.315898227 meters 0.0619117278800055 Centerline is valid? [True, True] Translation: X:370.15, Y:5.18, Z:-4.33 [[ 9.99336222e-01 2.21721611e-02 2.89051971e-02 3.70148097e+02] [-2.22075254e-02 9.99752975e-01 9.02968403e-04 5.17853807e+00] [-2.88780360e-02 -1.54428193e-03 9.99581750e-01 -4.32876649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.375898227 meters 0.0498804310177572 Centerline is valid? [True, True] Translation: X:370.21, Y:5.15, Z:-4.33 [[ 9.99468450e-01 1.06540091e-02 3.08108800e-02 3.70209612e+02] [-1.06887336e-02 9.99942411e-01 9.62533606e-04 5.14847118e+00] [-3.07988508e-02 -1.29135126e-03 9.99524769e-01 -4.32671271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.43589822699994 meters 0.042681263530930956 Centerline is valid? [True, True] Translation: X:370.27, Y:5.14, Z:-4.33 [[ 9.99519663e-01 6.54650338e-03 3.02916804e-02 3.70269694e+02] [-6.57818066e-03 9.99977916e-01 9.46204036e-04 5.13991291e+00] [-3.02848171e-02 -1.14501369e-03 9.99540654e-01 -4.32909701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.49589822699994 meters 0.041990202526532135 Centerline is valid? [True, True] Translation: X:370.33, Y:5.14, Z:-4.33 [[ 9.99465106e-01 6.22619533e-03 3.21050948e-02 3.70331867e+02] [-6.26161170e-03 9.99979893e-01 1.00271489e-03 5.13516108e+00] [-3.20982062e-02 -1.20320818e-03 9.99483996e-01 -4.32744932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.55589822699994 meters 0.045614522750518006 Centerline is valid? [True, True] Translation: X:370.39, Y:5.14, Z:-4.33 [[ 9.99490322e-01 7.51013926e-03 3.10273162e-02 3.70392564e+02] [-7.54368383e-03 9.99971081e-01 9.64211899e-04 5.13811004e+00] [-3.10191776e-02 -1.19778072e-03 9.99518072e-01 -4.33077226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.61589822699995 meters 0.042491459885034485 Centerline is valid? [True, True] Translation: X:370.45, Y:5.13, Z:-4.34 [[ 9.99576681e-01 7.05820170e-03 2.82248139e-02 3.70454851e+02] [-7.08567155e-03 9.99974515e-01 8.73353088e-04 5.13318472e+00] [-2.82179303e-02 -1.07297514e-03 9.99601219e-01 -4.33767107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.67589822699995 meters 0.038649433811546785 Centerline is valid? [True, True] Translation: X:370.52, Y:5.13, Z:-4.34 [[ 9.99530611e-01 2.78253056e-03 3.05092666e-02 3.70515943e+02] [-2.81248011e-03 9.99995604e-01 9.38784728e-04 5.12588103e+00] [-3.05065203e-02 -1.02415078e-03 9.99534043e-01 -4.33502283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.73589822699995 meters 0.03635162763035594 Centerline is valid? [True, True] Translation: X:370.58, Y:5.12, Z:-4.34 [[ 9.99515076e-01 -6.02080342e-06 3.11386108e-02 3.70577566e+02] [-2.38149124e-05 9.99999541e-01 9.57787254e-04 5.12197469e+00] [-3.11386023e-02 -9.58064364e-04 9.99514617e-01 -4.33590918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.79589822699995 meters 0.029918312811649597 Centerline is valid? [True, True] Translation: X:370.64, Y:5.11, Z:-4.34 [[ 9.99530092e-01 -4.59460570e-03 3.03064997e-02 3.70638786e+02] [ 4.56847133e-03 9.99989131e-01 9.31522584e-04 5.11094168e+00] [-3.03104502e-02 -7.92630479e-04 9.99540218e-01 -4.34038716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.85589822699995 meters 0.026178967652568087 Centerline is valid? [True, True] Translation: X:370.70, Y:5.11, Z:-4.34 [[ 9.99525426e-01 -8.58232642e-03 2.95848944e-02 3.70700477e+02] [ 8.55917730e-03 9.99962956e-01 9.09016820e-04 5.10502169e+00] [-2.95915999e-02 -6.55363069e-04 9.99561858e-01 -4.34294865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.91589822699996 meters 0.016797097471518467 Centerline is valid? [True, True] Translation: X:370.76, Y:5.09, Z:-4.35 [[ 9.99400960e-01 -1.83529572e-02 2.93409325e-02 3.70761414e+02] [ 1.83344268e-02 9.99831505e-01 9.00483904e-04 5.08922932e+00] [-2.93525152e-02 -3.61995298e-04 9.99569057e-01 -4.34539575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.97589822699996 meters 0.012771110732886289 Centerline is valid? [True, True] Translation: X:370.82, Y:5.08, Z:-4.35 [[ 9.99321042e-01 -2.29416803e-02 2.88293863e-02 3.70824129e+02] [ 2.29257023e-02 9.99736780e-01 8.84681501e-04 5.08017155e+00] [-2.88420940e-02 -2.23146910e-04 9.99583955e-01 -4.34769881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.03589822699996 meters 0.010909503962516741 Centerline is valid? [True, True] Translation: X:370.89, Y:5.07, Z:-4.35 [[ 9.99226297e-01 -2.54567878e-02 2.99793033e-02 3.70886339e+02] [ 2.54406844e-02 9.99675911e-01 9.18520349e-04 5.07497021e+00] [-2.99929699e-02 -1.55115693e-04 9.99550098e-01 -4.34694782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.09589822699996 meters 0.010408298817718598 Centerline is valid? [True, True] Translation: X:370.95, Y:5.07, Z:-4.34 [[ 9.99105510e-01 -2.65204862e-02 3.29369524e-02 3.70949089e+02] [ 2.65016799e-02 9.99648261e-01 1.00748582e-03 5.07192577e+00] [-3.29520862e-02 -1.33700071e-04 9.99456924e-01 -4.34356566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.15589822699997 meters 0.011229366942646457 Centerline is valid? [True, True] Translation: X:371.01, Y:5.08, Z:-4.35 [[ 9.99172912e-01 -2.47704493e-02 3.22477509e-02 3.71010897e+02] [ 2.47515585e-02 9.99693148e-01 9.84926813e-04 5.07594715e+00] [-3.22622527e-02 -1.85930098e-04 9.99479421e-01 -4.34624738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.21589822699997 meters 0.014905146572053041 Centerline is valid? [True, True] Translation: X:371.07, Y:5.09, Z:-4.35 [[ 9.99368348e-01 -1.97422322e-02 2.95491093e-02 3.71072742e+02] [ 1.97242118e-02 9.99805053e-01 9.01231593e-04 5.08519311e+00] [-2.95611411e-02 -3.17829439e-04 9.99562923e-01 -4.35290912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.27589822699997 meters 0.01696697152640148 Centerline is valid? [True, True] Translation: X:371.13, Y:5.09, Z:-4.35 [[ 9.99411537e-01 -1.81107277e-02 2.91304335e-02 3.71133988e+02] [ 1.80925616e-02 9.99835923e-01 8.87091700e-04 5.09128377e+00] [-2.91417197e-02 -3.59525517e-04 9.99575225e-01 -4.35466878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.335898227 meters 0.020222742602837875 Centerline is valid? [True, True] Translation: X:371.20, Y:5.09, Z:-4.36 [[ 9.99370112e-01 -1.93148365e-02 2.97710597e-02 3.71196670e+02] [ 1.92964279e-02 9.99813397e-01 9.05540184e-04 5.09177664e+00] [-2.97829947e-02 -3.30494687e-04 9.99556334e-01 -4.35537540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.395898227 meters 0.013009773939135957 Centerline is valid? [True, True] Translation: X:371.26, Y:5.09, Z:-4.36 [[ 9.99340754e-01 -2.15243568e-02 2.92362627e-02 3.71258941e+02] [ 2.15075987e-02 9.99768291e-01 8.87577987e-04 5.09072003e+00] [-2.92485929e-02 -2.58191050e-04 9.99572135e-01 -4.35789394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.455898227 meters 0.011203051357831933 Centerline is valid? [True, True] Translation: X:371.32, Y:5.09, Z:-4.36 [[ 9.99256492e-01 -2.39513999e-02 3.02124651e-02 3.71320877e+02] [ 2.39346580e-02 9.99713106e-01 9.15714479e-04 5.09307057e+00] [-3.02257299e-02 -1.91908620e-04 9.99543080e-01 -4.35751155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.515898227 meters 0.01018711403307945 Centerline is valid? [True, True] Translation: X:371.38, Y:5.09, Z:-4.36 [[ 9.99229174e-01 -2.58581715e-02 2.95366513e-02 3.71381681e+02] [ 2.58430446e-02 9.99665613e-01 8.93830315e-04 5.09478086e+00] [-2.95498875e-02 -1.29824329e-04 9.99563298e-01 -4.35876566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.575898227 meters 0.00920231243399211 Centerline is valid? [True, True] Translation: X:371.44, Y:5.09, Z:-4.36 [[ 9.99140346e-01 -3.06620725e-02 2.78999261e-02 3.71443521e+02] [ 3.06504740e-02 9.99529808e-01 8.43381735e-04 5.09308299e+00] [-2.79126677e-02 1.24892414e-05 9.99610366e-01 -4.36308774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.635898227 meters 0.013549214117097018 Centerline is valid? [True, True] Translation: X:371.51, Y:5.08, Z:-4.36 [[ 9.98813209e-01 -3.89570002e-02 2.92322814e-02 3.71505735e+02] [ 3.89478602e-02 9.99240855e-01 8.82208329e-04 5.08453960e+00] [-2.92444581e-02 2.57373479e-04 9.99572256e-01 -4.36221598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.695898227 meters 0.01659091572823635 Centerline is valid? [True, True] Translation: X:371.57, Y:5.08, Z:-4.36 [[ 9.98630299e-01 -4.26459556e-02 3.03125210e-02 3.71568228e+02] [ 4.26378718e-02 9.99090175e-01 9.13304849e-04 5.08163206e+00] [-3.03238907e-02 3.80407489e-04 9.99540053e-01 -4.36177672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.755898227 meters 0.018295877228773575 Centerline is valid? [True, True] Translation: X:371.63, Y:5.08, Z:-4.36 [[ 9.98583193e-01 -4.45768040e-02 2.90605287e-02 3.71630772e+02] [ 4.45702307e-02 9.99005871e-01 8.74232532e-04 5.08243631e+00] [-2.90706093e-02 4.22240555e-04 9.99577271e-01 -4.36425822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.815898227 meters 0.01831940094399186 Centerline is valid? [True, True] Translation: X:371.69, Y:5.09, Z:-4.37 [[ 9.98610308e-01 -4.38017829e-02 2.93062627e-02 3.71690881e+02] [ 4.37948075e-02 9.99040159e-01 8.80152298e-04 5.08633783e+00] [-2.93166856e-02 4.04532974e-04 9.99570092e-01 -4.36505778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.875898227 meters 0.015485569267936537 Centerline is valid? [True, True] Translation: X:371.75, Y:5.10, Z:-4.36 [[ 9.98655472e-01 -4.15566728e-02 3.09885495e-02 3.71751851e+02] [ 4.15478058e-02 9.99136084e-01 9.30269516e-04 5.09828566e+00] [-3.10004369e-02 3.58487495e-04 9.99519307e-01 -4.36495106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.93589822699994 meters 0.014559882029251979 Centerline is valid? [True, True] Translation: X:371.81, Y:5.11, Z:-4.37 [[ 9.98701912e-01 -4.03253210e-02 3.11184640e-02 3.71813559e+02] [ 4.03158065e-02 9.99186551e-01 9.33380084e-04 5.10658830e+00] [-3.11307896e-02 3.22397500e-04 9.99515268e-01 -4.36667276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.99589822699994 meters 0.013149854780483874 Centerline is valid? [True, True] Translation: X:371.87, Y:5.12, Z:-4.37 [[ 9.98851504e-01 -3.78697883e-02 2.93522068e-02 3.71874600e+02] [ 3.78603029e-02 9.99282655e-01 8.79051495e-04 5.12265001e+00] [-2.93644406e-02 2.33241533e-04 9.99568745e-01 -4.37175125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.05589822699994 meters 0.012259724276340875 Centerline is valid? [True, True] Translation: X:371.94, Y:5.13, Z:-4.38 [[ 9.98981347e-01 -3.66460502e-02 2.63312656e-02 3.71936106e+02] [ 3.66380217e-02 9.99328292e-01 7.87449870e-04 5.13276591e+00] [-2.63424356e-02 1.78077749e-04 9.99652962e-01 -4.37847780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.11589822699995 meters 0.012276743571051083 Centerline is valid? [True, True] Translation: X:372.00, Y:5.14, Z:-4.38 [[ 9.99010305e-01 -3.64130427e-02 2.55440859e-02 3.71997107e+02] [ 3.64054423e-02 9.99336811e-01 7.62678072e-04 5.14194589e+00] [-2.55549168e-02 1.68020493e-04 9.99673406e-01 -4.38140502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.17589822699995 meters 0.012093352900657299 Centerline is valid? [True, True] Translation: X:372.06, Y:5.15, Z:-4.38 [[ 9.99015774e-01 -3.58568911e-02 2.61106513e-02 3.72057669e+02] [ 3.58487848e-02 9.99356922e-01 7.78641634e-04 5.14800295e+00] [-2.61217798e-02 1.58159845e-04 9.99658756e-01 -4.38172596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.23589822699995 meters 0.009743340351519636 Centerline is valid? [True, True] Translation: X:372.12, Y:5.16, Z:-4.39 [[ 9.99230434e-01 -3.00485613e-02 2.52115942e-02 3.72119246e+02] [ 3.00391748e-02 9.99548440e-01 7.51039849e-04 5.16084038e+00] [-2.52227773e-02 6.87361019e-06 9.99681855e-01 -4.38556729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.29589822699995 meters 0.01228860104090564 Centerline is valid? [True, True] Translation: X:372.18, Y:5.17, Z:-4.39 [[ 9.99446075e-01 -2.28930262e-02 2.41547574e-02 3.72180909e+02] [ 2.28823460e-02 9.99737907e-01 7.18501721e-04 5.17267642e+00] [-2.41648753e-02 -1.65386209e-04 9.99707973e-01 -4.38762494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.35589822699995 meters 0.025920315579189206 Centerline is valid? [True, True] Translation: X:372.24, Y:5.20, Z:-4.39 [[ 9.99659315e-01 -7.77193216e-03 2.49168620e-02 3.72240522e+02] [ 7.75590773e-03 9.99969649e-01 7.39694553e-04 5.19658693e+00] [-2.49218546e-02 -5.46189668e-04 9.99689253e-01 -4.38683936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.41589822699996 meters 0.03855493533774378 Centerline is valid? [True, True] Translation: X:372.30, Y:5.21, Z:-4.39 [[ 9.99682510e-01 1.44076131e-03 2.51555954e-02 3.72300096e+02] [-1.46001038e-03 9.99998655e-01 7.46850238e-04 5.21382139e+00] [-2.51544855e-02 -7.83340550e-04 9.99683269e-01 -4.38982859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.47589822699996 meters 0.04377580672533556 Centerline is valid? [True, True] Translation: X:372.36, Y:5.22, Z:-4.39 [[ 9.99659272e-01 7.90298918e-03 2.48773678e-02 3.72359965e+02] [-7.92379259e-03 9.99968334e-01 7.37771117e-04 5.22233301e+00] [-2.48707495e-02 -9.34642840e-04 9.99690238e-01 -4.39152532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.53589822699996 meters 0.04387221920500977 Centerline is valid? [True, True] Translation: X:372.42, Y:5.22, Z:-4.39 [[ 9.99670098e-01 7.56116668e-03 2.45463693e-02 3.72422002e+02] [-7.58134537e-03 9.99970995e-01 7.29105682e-04 5.22366499e+00] [-2.45401445e-02 -9.14959652e-04 9.99698427e-01 -4.39367230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.59589822699996 meters 0.03861868879804707 Centerline is valid? [True, True] Translation: X:372.48, Y:5.22, Z:-4.39 [[ 9.99657975e-01 2.91673612e-03 2.59889606e-02 3.72482716e+02] [-2.93765872e-03 9.99995391e-01 7.66913777e-04 5.21630453e+00] [-2.59866040e-02 -8.42998170e-04 9.99661936e-01 -4.39261315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.65589822699997 meters 0.037351863412764766 Centerline is valid? [True, True] Translation: X:372.54, Y:5.22, Z:-4.39 [[ 9.99644391e-01 2.21342600e-04 2.66653953e-02 3.72543636e+02] [-2.42410662e-04 9.99999661e-01 7.86860000e-04 5.21531935e+00] [-2.66652120e-02 -7.93044161e-04 9.99644105e-01 -4.39299727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.71589822699997 meters 0.03809895379495638 Centerline is valid? [True, True] Translation: X:372.61, Y:5.22, Z:-4.39 [[ 9.99628438e-01 1.69882574e-03 2.72047959e-02 3.72605713e+02] [-1.72128625e-03 9.99998197e-01 8.02211701e-04 5.21719527e+00] [-2.72033841e-02 -8.48740871e-04 9.99629559e-01 -4.39465457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.77589822699997 meters 0.035420027252378715 Centerline is valid? [True, True] Translation: X:372.67, Y:5.22, Z:-4.40 [[ 9.99630877e-01 3.20258405e-03 2.69787623e-02 3.72668115e+02] [-3.22519727e-03 9.99994483e-01 7.94713524e-04 5.21505071e+00] [-2.69760684e-02 -8.81432008e-04 9.99635691e-01 -4.39544043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.835898227 meters 0.04259232175477777 Centerline is valid? [True, True] Translation: X:372.73, Y:5.22, Z:-4.40 [[ 9.99624473e-01 5.45327804e-03 2.68546900e-02 3.72728364e+02] [-5.47636262e-03 9.99984696e-01 7.86138764e-04 5.22300587e+00] [-2.68499920e-02 -9.32909569e-04 9.99639039e-01 -4.39861441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.895898227 meters 0.049387372664226104 Centerline is valid? [True, True] Translation: X:372.79, Y:5.23, Z:-4.40 [[ 9.99571172e-01 1.06590828e-02 2.72737086e-02 3.72788689e+02] [-1.06848092e-02 9.99942598e-01 7.97703741e-04 5.22977614e+00] [-2.72636402e-02 -1.08877604e-03 9.99627685e-01 -4.40084558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.955898227 meters 0.052515956043771676 Centerline is valid? [True, True] Translation: X:372.85, Y:5.23, Z:-4.40 [[ 9.99495143e-01 1.67684461e-02 2.69866364e-02 3.72849369e+02] [-1.67958563e-02 9.99858628e-01 7.89325940e-04 5.23107289e+00] [-2.69695855e-02 -1.24219111e-03 9.99635483e-01 -4.40183692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.015898227 meters 0.055358181251784086 Centerline is valid? [True, True] Translation: X:372.91, Y:5.23, Z:-4.40 [[ 9.99406621e-01 2.24157311e-02 2.61522543e-02 3.72910649e+02] [-2.24433837e-02 9.99747823e-01 7.64288175e-04 5.23253197e+00] [-2.61285272e-02 -1.35077974e-03 9.99657679e-01 -4.40423118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.075898227 meters 0.07517363572676113 Centerline is valid? [True, True] Translation: X:372.97, Y:5.25, Z:-4.41 [[ 9.99294244e-01 2.91128131e-02 2.37372787e-02 3.72969062e+02] [-2.91374686e-02 9.99575173e-01 6.93399030e-04 5.25213818e+00] [-2.37070077e-02 -1.38455387e-03 9.99717991e-01 -4.41241822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.135898227 meters 0.06298335688730616 Centerline is valid? [True, True] Translation: X:373.03, Y:5.23, Z:-4.41 [[ 9.99249147e-01 3.13676715e-02 2.27422790e-02 3.73030933e+02] [-3.13908639e-02 9.99506965e-01 6.63427119e-04 5.23332239e+00] [-2.27102561e-02 -1.37682877e-03 9.99741141e-01 -4.41266435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.195898227 meters 0.07487647410423659 Centerline is valid? [True, True] Translation: X:373.09, Y:5.25, Z:-4.42 [[ 9.99229575e-01 3.30810680e-02 2.11163460e-02 3.73090427e+02] [-3.31014288e-02 9.99451808e-01 6.15326457e-04 5.24683710e+00] [-2.10844145e-02 -1.31383362e-03 9.99776836e-01 -4.41987762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.255898227 meters 0.06691100887648183 Centerline is valid? [True, True] Translation: X:373.15, Y:5.24, Z:-4.42 [[ 9.99256660e-01 3.29197062e-02 2.00604257e-02 3.73153142e+02] [-3.29380811e-02 9.99457222e-01 5.86170602e-04 5.23591844e+00] [-2.00302408e-02 -1.24648681e-03 9.99798598e-01 -4.42213174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.315898227 meters 0.06874714572889026 Centerline is valid? [True, True] Translation: X:373.21, Y:5.24, Z:-4.43 [[ 9.99299144e-01 3.25429406e-02 1.84980683e-02 3.73213900e+02] [-3.25584489e-02 9.99469688e-01 5.37752040e-04 5.23926243e+00] [-1.84707585e-02 -1.13964356e-03 9.99828751e-01 -4.42615179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.375898227 meters 0.06345963817252817 Centerline is valid? [True, True] Translation: X:373.27, Y:5.23, Z:-4.43 [[ 9.99363701e-01 2.97555804e-02 1.96671895e-02 3.73274689e+02] [-2.97724810e-02 9.99556541e-01 5.67023492e-04 5.23362800e+00] [-1.96415958e-02 -1.15220372e-03 9.99806421e-01 -4.42501303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.43589822699994 meters 0.059837222143401037 Centerline is valid? [True, True] Translation: X:373.34, Y:5.23, Z:-4.42 [[ 9.99382739e-01 2.74330798e-02 2.19446252e-02 3.73335361e+02] [-2.74535631e-02 9.99622880e-01 6.32630854e-04 5.23042515e+00] [-2.19189944e-02 -1.23469851e-03 9.99758988e-01 -4.42308445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.49589822699994 meters 0.06512835236971341 Centerline is valid? [True, True] Translation: X:373.40, Y:5.24, Z:-4.43 [[ 9.99428913e-01 2.60404734e-02 2.15346629e-02 3.73395997e+02] [-2.60598804e-02 9.99660191e-01 6.21014457e-04 5.23666268e+00] [-2.15111737e-02 -1.18185054e-03 9.99767909e-01 -4.42626263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.55589822699994 meters 0.061830336493895015 Centerline is valid? [True, True] Translation: X:373.46, Y:5.23, Z:-4.43 [[ 9.99403424e-01 2.76974505e-02 2.06311984e-02 3.73457374e+02] [-2.77156033e-02 9.99615672e-01 5.94402771e-04 5.23043122e+00] [-2.06068059e-02 -1.16585428e-03 9.99786977e-01 -4.42664062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.61589822699995 meters 0.0730902875373773 Centerline is valid? [True, True] Translation: X:373.52, Y:5.24, Z:-4.43 [[ 9.99186955e-01 3.37100985e-02 2.21146647e-02 3.73516166e+02] [-3.37324135e-02 9.99430697e-01 6.36695150e-04 5.24250023e+00] [-2.20806117e-02 -1.38215850e-03 9.99755238e-01 -4.42615127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.67589822699995 meters 0.07121268562364572 Centerline is valid? [True, True] Translation: X:373.58, Y:5.24, Z:-4.43 [[ 9.99024199e-01 3.81542881e-02 2.22463335e-02 3.73577016e+02] [-3.81779730e-02 9.99270750e-01 6.40774388e-04 5.23906943e+00] [-2.22056621e-02 -1.48946904e-03 9.99752314e-01 -4.42525916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.73589822699995 meters 0.08040424391365238 Centerline is valid? [True, True] Translation: X:373.64, Y:5.25, Z:-4.43 [[ 9.98678253e-01 4.68406712e-02 2.11588822e-02 3.73637436e+02] [-4.68640357e-02 9.98901092e-01 6.09468664e-04 5.25023790e+00] [-2.11070826e-02 -1.60025371e-03 9.99775940e-01 -4.42780135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.79589822699995 meters 0.08890388608383193 Centerline is valid? [True, True] Translation: X:373.70, Y:5.26, Z:-4.43 [[ 9.98302626e-01 5.40277170e-02 2.17456332e-02 3.73696437e+02] [-5.40540864e-02 9.98537813e-01 6.26240946e-04 5.26278401e+00] [-2.16800026e-02 -1.80061831e-03 9.99763340e-01 -4.42885538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.85589822699995 meters 0.10202174613139513 Centerline is valid? [True, False] Translation: X:373.70, Y:5.27, Z:-4.43 [[ 9.98597978e-01 4.77126653e-02 2.29255083e-02 3.73698151e+02] [-4.80228574e-02 9.98759334e-01 1.31756530e-02 5.26578874e+00] [-2.22684198e-02 -1.42581288e-02 9.99650350e-01 -4.43164596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.91589822699996 meters 0.09423921682232689 Centerline is valid? [False, True] Translation: X:373.65, Y:5.27, Z:-4.43 [[ 9.99181753e-01 3.54444326e-02 1.94811745e-02 3.73651712e+02] [-3.58208470e-02 9.99171361e-01 1.93250571e-02 5.27069601e+00] [-1.87800660e-02 -2.00070766e-02 9.99623442e-01 -4.42572862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.97589822699996 meters 0.09566887385869102 Centerline is valid? [True, True] Translation: X:373.71, Y:5.29, Z:-4.42 [[ 9.99206551e-01 3.25139519e-02 2.30024043e-02 3.73710402e+02] [-3.25504784e-02 9.99469354e-01 1.21520980e-03 5.28724128e+00] [-2.29506869e-02 -1.96298486e-03 9.99734671e-01 -4.42438833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.03589822699996 meters 0.0806207440231939 Centerline is valid? [True, True] Translation: X:373.77, Y:5.28, Z:-4.43 [[ 9.99466170e-01 2.41471294e-02 2.20066111e-02 3.73771351e+02] [-2.41785450e-02 9.99706980e-01 1.16255999e-03 5.27797913e+00] [-2.19720902e-02 -1.69402722e-03 9.99757149e-01 -4.42636937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.09589822699996 meters 0.07645367208217732 Centerline is valid? [True, True] Translation: X:373.83, Y:5.28, Z:-4.43 [[ 9.99645752e-01 1.80922019e-02 1.95203415e-02 3.73831279e+02] [-1.81157673e-02 9.99835364e-01 1.03105415e-03 5.28485134e+00] [-1.94984737e-02 -1.38431486e-03 9.99808928e-01 -4.43235514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.15589822699997 meters 0.07667423344409023 Centerline is valid? [True, True] Translation: X:373.89, Y:5.30, Z:-4.44 [[ 9.99714521e-01 1.52888074e-02 1.83610838e-02 3.73890218e+02] [-1.53091844e-02 9.99882337e-01 9.69737843e-04 5.29508846e+00] [-1.83440973e-02 -1.25055422e-03 9.99830951e-01 -4.43565314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.21589822699997 meters 0.07517170330748141 Centerline is valid? [True, True] Translation: X:373.95, Y:5.30, Z:-4.44 [[ 9.99731748e-01 1.46030413e-02 1.79773006e-02 3.73952044e+02] [-1.46225049e-02 9.99892633e-01 9.51701207e-04 5.30378750e+00] [-1.79614726e-02 -1.21431908e-03 9.99837942e-01 -4.43708204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.27589822699997 meters 0.06803533046454352 Centerline is valid? [True, True] Translation: X:374.01, Y:5.31, Z:-4.44 [[ 9.99719461e-01 1.50684692e-02 1.82740191e-02 3.74013675e+02] [-1.50886032e-02 9.99885695e-01 9.64402076e-04 5.30757471e+00] [-1.82573982e-02 -1.23986095e-03 9.99832551e-01 -4.43600620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.335898227 meters 0.07306273608754449 Centerline is valid? [True, True] Translation: X:374.07, Y:5.32, Z:-4.44 [[ 9.99710555e-01 1.67483238e-02 1.72713842e-02 3.74072600e+02] [-1.67664821e-02 9.99859021e-01 9.07074909e-04 5.32243540e+00] [-1.72537573e-02 -1.19639271e-03 9.99850427e-01 -4.43932105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.395898227 meters 0.08097163341583963 Centerline is valid? [True, True] Translation: X:374.13, Y:5.35, Z:-4.44 [[ 9.99598498e-01 2.33832154e-02 1.60021044e-02 3.74131746e+02] [-2.33996491e-02 9.99725837e-01 8.40483040e-04 5.34659786e+00] [-1.59780640e-02 -1.21458921e-03 9.99871605e-01 -4.44088766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.455898227 meters 0.08795662373603456 Centerline is valid? [True, True] Translation: X:374.19, Y:5.37, Z:-4.44 [[ 9.99386243e-01 3.08160674e-02 1.66585757e-02 3.74190792e+02] [-3.08348986e-02 9.99524109e-01 8.74698476e-04 5.37086129e+00] [-1.66236932e-02 -1.38782712e-03 9.99860854e-01 -4.44161563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.515898227 meters 0.10986097332948293 Centerline is valid? [True, False] Translation: X:374.17, Y:5.39, Z:-4.45 [[ 9.99179491e-01 3.36595935e-02 2.25250222e-02 3.74173839e+02] [-3.38237435e-02 9.99403673e-01 6.94647434e-03 5.39034700e+00] [-2.22777744e-02 -7.70265527e-03 9.99722146e-01 -4.44645027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.575898227 meters 0.10459338379565178 Centerline is valid? [False, False] Translation: X:374.18, Y:5.40, Z:-4.44 [[ 9.99524981e-01 2.57420805e-02 1.69457470e-02 3.74175052e+02] [-2.60073747e-02 9.99539619e-01 1.56258277e-02 5.40226779e+00] [-1.65357042e-02 -1.60591195e-02 9.99734302e-01 -4.44460326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.635898227 meters 0.08799330465985017 Centerline is valid? [False, True] Translation: X:374.15, Y:5.42, Z:-4.45 [[ 9.99657087e-01 1.31534527e-02 2.26427632e-02 3.74150360e+02] [-1.33247652e-02 9.99883603e-01 7.43170467e-03 5.42429857e+00] [-2.25423751e-02 -7.73086574e-03 9.99715997e-01 -4.44532193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.695898227 meters 0.09429375899686214 Centerline is valid? [True, True] Translation: X:374.21, Y:5.45, Z:-4.45 [[ 9.99712563e-01 4.01043432e-03 2.36369879e-02 3.74208482e+02] [-4.05318724e-03 9.99990235e-01 1.76109757e-03 5.45122408e+00] [-2.36296943e-02 -1.85639650e-03 9.99719056e-01 -4.44774058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.755898227 meters 0.07063335525191254 Centerline is valid? [True, True] Translation: X:374.27, Y:5.44, Z:-4.45 [[ 9.99763174e-01 -8.54257424e-03 2.00154790e-02 3.74269880e+02] [ 8.51442429e-03 9.99962640e-01 1.49120759e-03 5.44134210e+00] [-2.00274700e-02 -1.32043415e-03 9.99798558e-01 -4.45238164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.815898227 meters 0.06924637881115296 Centerline is valid? [True, True] Translation: X:374.33, Y:5.45, Z:-4.46 [[ 9.99693374e-01 -1.66912111e-02 1.82910044e-02 3.74328364e+02] [ 1.66690642e-02 9.99860133e-01 1.36260897e-03 5.45291789e+00] [-1.83111897e-02 -1.05729723e-03 9.99831777e-01 -4.45832671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.875898227 meters 0.04611920204042993 Centerline is valid? [True, True] Translation: X:374.39, Y:5.44, Z:-4.46 [[ 9.99410014e-01 -3.01646997e-02 1.64229854e-02 3.74390951e+02] [ 3.01486625e-02 9.99544677e-01 1.22327355e-03 5.43587753e+00] [-1.64524073e-02 -7.27420792e-04 9.99864385e-01 -4.45910857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.93589822699994 meters 0.0452398743296676 Centerline is valid? [True, True] Translation: X:374.45, Y:5.44, Z:-4.46 [[ 9.99205954e-01 -3.63209488e-02 1.63783506e-02 3.74449666e+02] [ 3.63058224e-02 9.99339982e-01 1.22004868e-03 5.44282759e+00] [-1.64118539e-02 -6.24450416e-04 9.99865121e-01 -4.46387796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.99589822699994 meters 0.04436854968009161 Centerline is valid? [True, True] Translation: X:374.51, Y:5.45, Z:-4.46 [[ 9.99206811e-01 -3.62290353e-02 1.65289588e-02 3.74512170e+02] [ 3.62135918e-02 9.99343312e-01 1.23277576e-03 5.45177028e+00] [-1.65627668e-02 -6.33224961e-04 9.99862627e-01 -4.46294099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.05589822699994 meters 0.05468821479514663 Centerline is valid? [True, True] Translation: X:374.57, Y:5.48, Z:-4.47 [[ 9.99432014e-01 -2.99325428e-02 1.54820203e-02 3.74570969e+02] [ 2.99182667e-02 9.99551684e-01 1.15295269e-03 5.47500616e+00] [-1.55095902e-02 -6.89102617e-04 9.99879482e-01 -4.46726068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.11589822699995 meters 0.06296545981066859 Centerline is valid? [True, True] Translation: X:374.63, Y:5.49, Z:-4.47 [[ 9.99637473e-01 -2.22803203e-02 1.51165449e-02 3.74630070e+02] [ 2.22658481e-02 9.99751452e-01 1.12502411e-03 5.49427631e+00] [-1.51378536e-02 -7.88033570e-04 9.99885106e-01 -4.46923434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.17589822699995 meters 0.06637445358596232 Centerline is valid? [True, True] Translation: X:374.69, Y:5.51, Z:-4.47 [[ 9.99752326e-01 -1.61537587e-02 1.53082616e-02 3.74690111e+02] [ 1.61382009e-02 9.99869122e-01 1.13929654e-03 5.50824368e+00] [-1.53246620e-02 -8.91966560e-04 9.99882173e-01 -4.46890014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.23589822699995 meters 0.06707292832603053 Centerline is valid? [True, True] Translation: X:374.75, Y:5.52, Z:-4.47 [[ 9.99722802e-01 -1.68737674e-02 1.64193419e-02 3.74750034e+02] [ 1.68559658e-02 9.99857181e-01 1.22198040e-03 5.51566714e+00] [-1.64376163e-02 -9.44877804e-04 9.99864447e-01 -4.46935337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.29589822699995 meters 0.060928964687722575 Centerline is valid? [True, True] Translation: X:374.81, Y:5.51, Z:-4.46 [[ 9.99538013e-01 -2.18397968e-02 2.11372633e-02 3.74811261e+02] [ 2.18114081e-02 9.99760866e-01 1.57270572e-03 5.51229000e+00] [-2.11665563e-02 -1.11094567e-03 9.99775346e-01 -4.46278764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.35589822699995 meters 0.05870937897038387 Centerline is valid? [True, True] Translation: X:374.87, Y:5.51, Z:-4.46 [[ 9.99472181e-01 -2.35204213e-02 2.24086895e-02 3.74873397e+02] [ 2.34889334e-02 9.99722706e-01 1.66738143e-03 5.51354445e+00] [-2.24416932e-02 -1.14014514e-03 9.99747503e-01 -4.46257055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.41589822699996 meters 0.0572160796184117 Centerline is valid? [True, True] Translation: X:374.94, Y:5.52, Z:-4.47 [[ 9.99488428e-01 -2.36247472e-02 2.15581516e-02 3.74936252e+02] [ 2.35956365e-02 9.99720298e-01 1.60373872e-03 5.51640714e+00] [-2.15900096e-02 -1.09423998e-03 9.99766310e-01 -4.46519424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.47589822699996 meters 0.05286147237195242 Centerline is valid? [True, True] Translation: X:375.00, Y:5.52, Z:-4.47 [[ 9.99479348e-01 -2.48234412e-02 2.06113914e-02 3.74999191e+02] [ 2.47971167e-02 9.99691331e-01 1.53182065e-03 5.51507245e+00] [-2.06430544e-02 -1.01992002e-03 9.99786389e-01 -4.46766883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.53589822699996 meters 0.053982418679575477 Centerline is valid? [True, True] Translation: X:375.06, Y:5.52, Z:-4.47 [[ 9.99228802e-01 -3.16815005e-02 2.31966532e-02 3.75059265e+02] [ 3.16500511e-02 9.99497529e-01 1.72174570e-03 5.51802877e+00] [-2.32395450e-02 -9.86242631e-04 9.99729439e-01 -4.46819970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.59589822699996 meters 0.050270914285798635 Centerline is valid? [True, True] Translation: X:375.12, Y:5.51, Z:-4.47 [[ 9.99081887e-01 -3.52369587e-02 2.43667658e-02 3.75120317e+02] [ 3.52033053e-02 9.99378535e-01 1.80883342e-03 5.51437396e+00] [-2.44153604e-02 -9.49382011e-04 9.99701450e-01 -4.46802257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.65589822699997 meters 0.0488298696650117 Centerline is valid? [True, True] Translation: X:375.18, Y:5.52, Z:-4.47 [[ 9.99234032e-01 -3.18754373e-02 2.27003406e-02 3.75181338e+02] [ 3.18453686e-02 9.99491387e-01 1.68494983e-03 5.51523077e+00] [-2.27425035e-02 -9.60758496e-04 9.99740894e-01 -4.47116449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.71589822699997 meters 0.056487939787029214 Centerline is valid? [True, True] Translation: X:375.24, Y:5.53, Z:-4.48 [[ 9.99457255e-01 -2.56743048e-02 2.06403708e-02 3.75240387e+02] [ 2.56481337e-02 9.99669859e-01 1.53172463e-03 5.53126232e+00] [-2.06728826e-02 -1.00150631e-03 9.99785792e-01 -4.47669862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.77589822699997 meters 0.06905507770340642 Centerline is valid? [True, True] Translation: X:375.30, Y:5.55, Z:-4.48 [[ 9.99676318e-01 -1.71790168e-02 1.87653894e-02 3.75297983e+02] [ 1.71558881e-02 9.99851857e-01 1.39282139e-03 5.55431702e+00] [-1.87865368e-02 -1.07043364e-03 9.99822944e-01 -4.48303750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.835898227 meters 0.06715171260930536 Centerline is valid? [True, True] Translation: X:375.36, Y:5.56, Z:-4.49 [[ 9.99768940e-01 -1.50763946e-02 1.53221791e-02 3.75358284e+02] [ 1.50607368e-02 9.99885934e-01 1.13678771e-03 5.55768316e+00] [-1.53375700e-02 -9.05761735e-04 9.99881962e-01 -4.48968779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.895898227 meters 0.06169380447422993 Centerline is valid? [True, True] Translation: X:375.42, Y:5.56, Z:-4.48 [[ 9.99607134e-01 -1.90358801e-02 2.05721618e-02 3.75419862e+02] [ 1.90084869e-02 9.99818157e-01 1.52630799e-03 5.55792528e+00] [-2.05974755e-02 -1.13466268e-03 9.99787206e-01 -4.48344357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.955898227 meters 0.06363603955148119 Centerline is valid? [True, True] Translation: X:375.48, Y:5.56, Z:-4.48 [[ 9.99411667e-01 -2.40655247e-02 2.44370647e-02 3.75479818e+02] [ 2.40283778e-02 9.99709634e-01 1.81264824e-03 5.56354292e+00] [-2.44735913e-02 -1.22439877e-03 9.99699727e-01 -4.48082878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.015898227 meters 0.0573835276493219 Centerline is valid? [True, True] Translation: X:375.54, Y:5.55, Z:-4.48 [[ 9.99272897e-01 -3.01191479e-02 2.33776422e-02 3.75540107e+02] [ 3.00868068e-02 9.99545785e-01 1.73399806e-03 5.55125842e+00] [-2.34192503e-02 -1.02937866e-03 9.99725202e-01 -4.48396162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.075898227 meters 0.048592422222054586 Centerline is valid? [True, True] Translation: X:375.60, Y:5.54, Z:-4.48 [[ 9.99221519e-01 -2.98572647e-02 2.57856310e-02 3.75603665e+02] [ 2.98178106e-02 9.99553519e-01 1.91330979e-03 5.53619417e+00] [-2.58312444e-02 -1.14294925e-03 9.99665664e-01 -4.47954960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.135898227 meters 0.05113576107171654 Centerline is valid? [True, True] Translation: X:375.66, Y:5.54, Z:-4.48 [[ 9.99245940e-01 -2.65137217e-02 2.83649986e-02 3.75664781e+02] [ 2.64646791e-02 9.99647537e-01 2.10306526e-03 5.53566712e+00] [-2.84107610e-02 -1.35080884e-03 9.99595420e-01 -4.47712748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.195898227 meters 0.059933056475757265 Centerline is valid? [True, True] Translation: X:375.72, Y:5.54, Z:-4.48 [[ 9.99380520e-01 -2.02366186e-02 2.87933249e-02 3.75724308e+02] [ 2.01834941e-02 9.99794014e-01 2.13449717e-03 5.54114280e+00] [-2.88305889e-02 -1.55202499e-03 9.99583107e-01 -4.48043361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.255898227 meters 0.06054137541185511 Centerline is valid? [True, True] Translation: X:375.79, Y:5.54, Z:-4.48 [[ 9.99438283e-01 -1.70101643e-02 2.88751177e-02 3.75785503e+02] [ 1.69554150e-02 9.99853957e-01 2.13987954e-03 5.53632322e+00] [-2.89073004e-02 -1.64908793e-03 9.99580736e-01 -4.48305447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.315898227 meters 0.061896632376388275 Centerline is valid? [True, True] Translation: X:375.85, Y:5.53, Z:-4.49 [[ 9.99513674e-01 -1.73618572e-02 2.59033017e-02 3.75846504e+02] [ 1.73179164e-02 9.99848191e-01 1.91972501e-03 5.53484134e+00] [-2.59326993e-02 -1.47020018e-03 9.99662610e-01 -4.49000475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.375898227 meters 0.06090549669837031 Centerline is valid? [True, True] Translation: X:375.91, Y:5.53, Z:-4.50 [[ 9.99499383e-01 -1.94447649e-02 2.49576471e-02 3.75907636e+02] [ 1.94046488e-02 9.99810003e-01 1.84857096e-03 5.52601815e+00] [-2.49888503e-02 -1.36335116e-03 9.99686800e-01 -4.49588011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.43589822699994 meters 0.056973911819157994 Centerline is valid? [True, True] Translation: X:375.97, Y:5.51, Z:-4.50 [[ 9.99496727e-01 -2.04097894e-02 2.42844222e-02 3.75970866e+02] [ 2.03720845e-02 9.99790849e-01 1.79904918e-03 5.51493177e+00] [-2.43160613e-02 -1.30341947e-03 9.99703471e-01 -4.49895776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.49589822699994 meters 0.056042111351574796 Centerline is valid? [True, True] Translation: X:376.03, Y:5.50, Z:-4.51 [[ 9.99566010e-01 -2.25894007e-02 1.89079303e-02 3.76033489e+02] [ 2.25669481e-02 9.99744354e-01 1.40001950e-03 5.50251637e+00] [-1.89347222e-02 -9.72717625e-04 9.99820249e-01 -4.50982325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.55589822699994 meters 0.05643528786150861 Centerline is valid? [True, True] Translation: X:376.10, Y:5.50, Z:-4.51 [[ 9.99557170e-01 -2.27692789e-02 1.91578848e-02 3.76096752e+02] [ 2.27462717e-02 9.99740264e-01 1.41800564e-03 5.49578154e+00] [-1.91851958e-02 -9.81607251e-04 9.99815465e-01 -4.51038417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.61589822699995 meters 0.06302925320820005 Centerline is valid? [True, True] Translation: X:376.16, Y:5.49, Z:-4.51 [[ 9.99488460e-01 -2.18389896e-02 2.33639873e-02 3.76158362e+02] [ 2.18045472e-02 9.99760759e-01 1.72793597e-03 5.49262781e+00] [-2.33961340e-02 -1.21761090e-03 9.99725532e-01 -4.50669748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.67589822699995 meters 0.07948308446252747 Centerline is valid? [True, True] Translation: X:376.22, Y:5.51, Z:-4.50 [[ 9.99652985e-01 -2.22688007e-02 1.40716014e-02 3.76218108e+02] [ 2.24802299e-02 9.99634000e-01 -1.50500728e-02 5.51187560e+00] [-1.37313041e-02 1.53611830e-02 9.99787720e-01 -4.49969087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.73589822699995 meters 0.0734142283368851 Centerline is valid? [True, True] Translation: X:376.28, Y:5.49, Z:-4.49 [[ 9.99389961e-01 -2.96680442e-02 1.84258847e-02 3.76284111e+02] [ 2.97197288e-02 9.99555050e-01 -2.53747290e-03 5.48505971e+00] [-1.83424043e-02 3.08353724e-03 9.99827009e-01 -4.48603772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.79589822699995 meters 0.07476095959365729 Centerline is valid? [True, True] Translation: X:376.35, Y:5.48, Z:-4.49 [[ 9.98891016e-01 -3.95088247e-02 2.56084104e-02 3.76352644e+02] [ 3.91902404e-02 9.99149454e-01 1.28255349e-02 5.48056221e+00] [-2.60933510e-02 -1.18077118e-02 9.99589773e-01 -4.48714927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.85589822699995 meters 0.08380098684987941 Centerline is valid? [True, True] Translation: X:376.41, Y:5.48, Z:-4.48 [[ 9.98772994e-01 -3.91316499e-02 3.03516285e-02 3.76412320e+02] [ 3.89788132e-02 9.99224282e-01 5.61119247e-03 5.48471492e+00] [-3.05476595e-02 -4.42123705e-03 9.99523533e-01 -4.48211443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.91589822699996 meters 0.08214601912654897 Centerline is valid? [True, True] Translation: X:376.47, Y:5.48, Z:-4.48 [[ 9.98820185e-01 -3.87367408e-02 2.92865821e-02 3.76473216e+02] [ 3.87585609e-02 9.99248589e-01 -1.77535508e-04 5.47685581e+00] [-2.92576987e-02 1.31243183e-03 9.99571040e-01 -4.47684477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.97589822699996 meters 0.07163950941828491 Centerline is valid? [True, True] Translation: X:376.53, Y:5.43, Z:-4.49 [[ 9.98103517e-01 -4.25201492e-02 4.45129807e-02 3.76530658e+02] [ 4.21335974e-02 9.99065989e-01 9.58693771e-03 5.43460675e+00] [-4.48790431e-02 -7.69326424e-03 9.98962805e-01 -4.48797297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.03589822699996 meters 0.07546633745765867 Centerline is valid? [True, True] Translation: X:376.59, Y:5.43, Z:-4.49 [[ 9.97674939e-01 -5.15911989e-02 4.45315988e-02 3.76590970e+02] [ 5.14942163e-02 9.98667764e-01 3.32299209e-03 5.42728859e+00] [-4.46437094e-02 -1.02214615e-03 9.99002450e-01 -4.48985223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.09589822699996 meters 0.07710385416808228 Centerline is valid? [True, True] Translation: X:376.65, Y:5.41, Z:-4.50 [[ 9.97192574e-01 -6.05613567e-02 4.40374077e-02 3.76652729e+02] [ 6.04752364e-02 9.98164288e-01 3.28645243e-03 5.41274718e+00] [-4.41555997e-02 -6.14053315e-04 9.99024477e-01 -4.49623551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.15589822699997 meters 0.08217240259845236 Centerline is valid? [True, True] Translation: X:376.71, Y:5.40, Z:-4.50 [[ 9.96771568e-01 -6.90075286e-02 4.10414796e-02 3.76714188e+02] [ 6.89398878e-02 9.97616114e-01 3.06281635e-03 5.39874216e+00] [-4.11549988e-02 -2.23533254e-04 9.99152749e-01 -4.50452093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.21589822699997 meters 0.09247291041918228 Centerline is valid? [True, True] Translation: X:376.78, Y:5.42, Z:-4.50 [[ 9.97030964e-01 -7.57167874e-02 1.40080491e-02 3.76781734e+02] [ 7.60288835e-02 9.96833832e-01 -2.32791644e-02 5.41694082e+00] [-1.22010737e-02 2.42750640e-02 9.99630859e-01 -4.50015051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.27589822699997 meters 0.08908816213727799 Centerline is valid? [True, True] Translation: X:376.83, Y:5.39, Z:-4.51 [[ 9.96579328e-01 -7.41804193e-02 3.64267407e-02 3.76832958e+02] [ 7.32224593e-02 9.96951026e-01 2.69652399e-02 5.39010633e+00] [-3.83159693e-02 -2.42057452e-02 9.98972456e-01 -4.51280853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.335898227 meters 0.09384802529922147 Centerline is valid? [True, True] Translation: X:376.89, Y:5.39, Z:-4.52 [[ 9.96018730e-01 -8.03122952e-02 3.86862419e-02 3.76891996e+02] [ 8.02606244e-02 9.96769724e-01 2.88937984e-03 5.39104781e+00] [-3.87933274e-02 2.27105490e-04 9.99247230e-01 -4.51631100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.395898227 meters 0.10051919971091063 Centerline is valid? [True, False] Translation: X:376.87, Y:5.38, Z:-4.51 [[ 9.95495652e-01 -8.87872520e-02 3.32450149e-02 3.76874628e+02] [ 8.86605826e-02 9.96047965e-01 5.26807328e-03 5.37765112e+00] [-3.35813671e-02 -2.29682166e-03 9.99433348e-01 -4.51409570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.455898227 meters 0.10500727808724465 Centerline is valid? [False, False] Translation: X:376.88, Y:5.38, Z:-4.52 [[ 9.96018052e-01 -8.22988802e-02 3.42773231e-02 3.76875548e+02] [ 8.25911476e-02 9.96557525e-01 -7.19733881e-03 5.37540490e+00] [-3.35669913e-02 9.99968282e-03 9.99386443e-01 -4.51581162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.515898227 meters 0.11268790806427448 Centerline is valid? [False, False] Translation: X:376.87, Y:5.37, Z:-4.52 [[ 9.96936690e-01 -7.03310460e-02 3.42166708e-02 3.76874635e+02] [ 7.08478054e-02 9.97387043e-01 -1.41306146e-02 5.37255917e+00] [-3.31334432e-02 1.65115042e-02 9.99314538e-01 -4.51542682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.575898227 meters 0.11783659099718549 Centerline is valid? [False, False] Translation: X:376.83, Y:5.36, Z:-4.51 [[ 9.97842128e-01 -5.39291487e-02 3.74530873e-02 3.76830079e+02] [ 5.44818113e-02 9.98418080e-01 -1.38949665e-02 5.36461035e+00] [-3.66444958e-02 1.59054950e-02 9.99201780e-01 -4.51483618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 3793.65 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%| | 0/13254 [00:00