+ python -m lidar_slam --no-model /working/bb43672a-fa49-4450-9b16-01380da72ae4 Lidar SLAM 0.0.9 ===================================================== The recording path: /working/bb43672a-fa49-4450-9b16-01380da72ae4 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 0.000371743 Adjusted end_distance from 9.223372036854776e+18 to 383.890371743 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.000371743 meters 0.05758460319302195 Centerline is valid? [0, True] SLAMing on 0.060371743 meters 0.05396852764503531 Centerline is valid? [True, True] Translation: X:0.06, Y:0.00, Z:-0.00 [[ 9.99991199e-01 4.11091955e-03 -8.37902559e-04 6.11804242e-02] [-4.11086940e-03 9.99991548e-01 6.15648862e-05 1.06727600e-03] [ 8.38148566e-04 -5.81198363e-05 9.99999647e-01 -3.79835733e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12037174299999999 meters 0.05270439881879384 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.00, Z:-0.00 [[ 9.99955583e-01 9.37905866e-03 -9.29942071e-04 1.19936886e-01] [-9.37899996e-03 9.99956014e-01 6.74679003e-05 -1.08052518e-03] [ 9.30533952e-04 -5.87429769e-05 9.99999565e-01 -1.35328929e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.180371743 meters 0.043816948005429124 Centerline is valid? [True, True] Translation: X:0.18, Y:0.01, Z:0.00 [[ 9.99811710e-01 1.93873206e-02 8.22807190e-04 1.81854101e-01] [-1.93872775e-02 9.99812047e-01 -6.02838924e-05 1.27293120e-02] [-8.23821285e-04 4.43205502e-05 9.99999660e-01 3.08910992e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.240371743 meters 0.041116590767855975 Centerline is valid? [True, True] Translation: X:0.24, Y:0.01, Z:0.00 [[ 9.99624376e-01 2.73722403e-02 1.36682007e-03 2.41925430e-01] [-2.73721286e-02 9.99625308e-01 -1.00426113e-04 1.44817674e-02] [-1.36905682e-03 6.29756160e-05 9.99999061e-01 3.97856871e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.30037174299999997 meters 0.03847986243864871 Centerline is valid? [True, True] Translation: X:0.30, Y:0.02, Z:0.00 [[ 9.99302211e-01 3.73066338e-02 1.81849626e-03 3.01182661e-01] [-3.73064527e-02 9.99303863e-01 -1.33418169e-04 1.50030059e-02] [-1.82220772e-03 6.54834261e-05 9.99998338e-01 3.78606566e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36037174299999997 meters 0.03664485375996067 Centerline is valid? [True, True] Translation: X:0.36, Y:0.01, Z:0.00 [[ 9.99146852e-01 4.11637289e-02 3.33408735e-03 3.61451667e-01] [-4.11631435e-02 9.99152409e-01 -2.44029992e-04 1.40873220e-02] [-3.34130659e-03 1.06580283e-04 9.99994412e-01 4.51213735e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42037174299999996 meters 0.035358864148655515 Centerline is valid? [True, True] Translation: X:0.42, Y:0.01, Z:0.00 [[ 9.99087973e-01 4.24320071e-02 4.76928547e-03 4.19577384e-01] [-4.24308223e-02 9.99099346e-01 -3.49384316e-04 7.89529635e-03] [-4.77981507e-03 1.46700964e-04 9.99988566e-01 4.42936286e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48037174299999996 meters 0.03536346625838686 Centerline is valid? [True, True] Translation: X:0.48, Y:-0.00, Z:0.00 [[ 9.99276347e-01 3.77470500e-02 4.68418177e-03 4.78622025e-01] [-3.77458588e-02 9.99287312e-01 -3.42484830e-04 -3.41226523e-03] [-4.69377120e-03 1.65428527e-04 9.99988971e-01 3.11712410e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.540371743 meters 0.03583473343092106 Centerline is valid? [True, True] Translation: X:0.54, Y:-0.01, Z:0.00 [[ 9.99409354e-01 3.39595507e-02 5.26224658e-03 5.37593541e-01] [-3.39579962e-02 9.99423187e-01 -3.84496893e-04 -1.35074027e-02] [-5.27226859e-03 2.05574442e-04 9.99986080e-01 2.85688837e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.600371743 meters 0.03701120396413919 Centerline is valid? [True, True] Translation: X:0.60, Y:-0.03, Z:0.00 [[ 9.99626583e-01 2.70381712e-02 3.95378341e-03 5.97423191e-01] [-2.70372411e-02 9.99634385e-01 -2.88519090e-04 -2.65950753e-02] [-3.96013888e-03 1.81511957e-04 9.99992142e-01 2.82980652e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6603717429999999 meters 0.03746323427579761 Centerline is valid? [True, True] Translation: X:0.66, Y:-0.04, Z:0.00 [[ 9.99741345e-01 2.21968929e-02 4.95396347e-03 6.57024889e-01] [-2.21953726e-02 9.99753587e-01 -3.61664606e-04 -3.69666832e-02] [-4.96077058e-03 2.51615994e-04 9.99987664e-01 2.40609859e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.720371743 meters 0.0364628182859406 Centerline is valid? [True, True] Translation: X:0.72, Y:-0.04, Z:0.00 [[ 9.99777118e-01 2.01700040e-02 6.23578872e-03 7.16602008e-01] [-2.01675560e-02 9.99796511e-01 -4.55213257e-04 -4.16069467e-02] [-6.24370146e-03 3.29351180e-04 9.99980454e-01 2.60099919e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.780371743 meters 0.03785639758967165 Centerline is valid? [True, True] Translation: X:0.78, Y:-0.05, Z:0.00 [[ 9.99833651e-01 1.69643604e-02 6.69927178e-03 7.75076693e-01] [-1.69614652e-02 9.99856025e-01 -4.88762465e-04 -5.05243654e-02] [-6.70659880e-03 3.75051695e-04 9.99977440e-01 2.37147070e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.840371743 meters 0.039579772994415244 Centerline is valid? [True, True] Translation: X:0.83, Y:-0.06, Z:0.00 [[ 9.99888008e-01 1.35850927e-02 6.27834916e-03 8.33693392e-01] [-1.35824846e-02 9.99907649e-01 -4.57856464e-04 -6.05064066e-02] [-6.28398937e-03 3.72529606e-04 9.99980186e-01 1.97452476e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9003717429999999 meters 0.03814321893055619 Centerline is valid? [True, True] Translation: X:0.89, Y:-0.06, Z:0.00 [[ 9.99919334e-01 1.17012139e-02 4.94039453e-03 8.92778175e-01] [-1.16995756e-02 9.99931493e-01 -3.60385998e-04 -6.35575647e-02] [-4.94427303e-03 3.02556408e-04 9.99987731e-01 9.84367239e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9603717429999999 meters 0.03835734110247086 Centerline is valid? [True, True] Translation: X:0.95, Y:-0.07, Z:-0.00 [[ 9.99948161e-01 9.85154333e-03 2.57357662e-03 9.51579968e-01] [-9.85109208e-03 9.99951459e-01 -1.87955543e-04 -6.76055203e-02] [-2.57530335e-03 1.62593259e-04 9.99996671e-01 -6.29505118e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.020371743 meters 0.03892771355417298 Centerline is valid? [True, True] Translation: X:1.01, Y:-0.07, Z:-0.00 [[ 9.99953391e-01 9.56789402e-03 1.29303187e-03 1.01071072e+00] [-9.56777920e-03 9.99954223e-01 -9.49574318e-05 -7.05345423e-02] [-1.29388122e-03 8.25815624e-05 9.99999160e-01 -1.30650851e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0803717430000002 meters 0.038920543429978256 Centerline is valid? [True, True] Translation: X:1.07, Y:-0.07, Z:-0.00 [[ 9.99945029e-01 1.03097462e-02 1.91018822e-03 1.06966607e+00] [-1.03094981e-02 9.99946846e-01 -1.39661891e-04 -7.00919504e-02] [-1.91152656e-03 1.19961132e-04 9.99998166e-01 -4.21803476e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.140371743 meters 0.040156051046601623 Centerline is valid? [True, True] Translation: X:1.13, Y:-0.07, Z:-0.00 [[ 9.99936051e-01 1.10546160e-02 2.38542050e-03 1.12794544e+00] [-1.10542323e-02 9.99938885e-01 -1.73981272e-04 -7.30987012e-02] [-2.38719801e-03 1.47601154e-04 9.99997140e-01 -4.46963923e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.200371743 meters 0.05670377870987506 Centerline is valid? [True, True] Translation: X:1.18, Y:-0.09, Z:-0.00 [[ 9.99925778e-01 1.16222101e-02 3.65552895e-03 1.18418985e+00] [-1.16213150e-02 9.99932435e-01 -2.66011303e-04 -9.33586230e-02] [-3.65837361e-03 2.23509505e-04 9.99993283e-01 -4.52211127e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.260371743 meters 0.04137743680182029 Centerline is valid? [True, True] Translation: X:1.25, Y:-0.07, Z:0.00 [[ 9.99944876e-01 1.00311071e-02 3.10205557e-03 1.24514012e+00] [-1.00304562e-02 9.99949668e-01 -2.25320709e-04 -7.23399461e-02] [-3.10415966e-03 1.94193256e-04 9.99995163e-01 9.81391871e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.320371743 meters 0.04337878848869872 Centerline is valid? [True, True] Translation: X:1.31, Y:-0.08, Z:-0.00 [[ 9.99966769e-01 7.71428375e-03 2.63631123e-03 1.30561886e+00] [-7.71380730e-03 9.99970230e-01 -1.90846731e-04 -7.64120517e-02] [-2.63770499e-03 1.70504393e-04 9.99996507e-01 -1.78071708e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.380371743 meters 0.04712765708592603 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.08, Z:-0.00 [[ 9.99994081e-01 3.42573163e-03 3.19266423e-04 1.36447954e+00] [-3.42572429e-03 9.99994132e-01 -2.35539608e-05 -8.09565829e-02] [-3.19345239e-04 2.24601026e-05 9.99999949e-01 -2.99370010e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.440371743 meters 0.039202295841364844 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.07, Z:-0.00 [[ 9.99996416e-01 2.22722510e-03 -1.48561364e-03 1.42465767e+00] [-2.22706909e-03 9.99997514e-01 1.06662193e-04 -6.95001703e-02] [ 1.48584751e-03 -1.03353246e-04 9.99998891e-01 -2.54952881e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.500371743 meters 0.04938433251930391 Centerline is valid? [True, True] Translation: X:1.48, Y:-0.08, Z:-0.01 [[ 9.99989525e-01 3.96988264e-03 -2.27832231e-03 1.48294092e+00] [-3.96951889e-03 9.99992108e-01 1.64157694e-04 -8.01395492e-02] [ 2.27895602e-03 -1.55112131e-04 9.99997391e-01 -7.86047549e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5603717430000001 meters 0.03500846587245756 Centerline is valid? [True, True] Translation: X:1.55, Y:-0.05, Z:-0.00 [[ 9.99897177e-01 1.42158512e-02 -1.88292617e-03 1.54569005e+00] [-1.42156200e-02 9.99898944e-01 1.36083945e-04 -5.49876603e-02] [ 1.88467044e-03 -1.09302989e-04 9.99998218e-01 -3.93944707e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.620371743 meters 0.031534979227891405 Centerline is valid? [True, True] Translation: X:1.61, Y:-0.04, Z:-0.00 [[ 9.99653865e-01 2.63073409e-02 2.71192572e-04 1.60654738e+00] [-2.63073366e-02 9.99653902e-01 -1.95600834e-05 -4.46829835e-02] [-2.71613287e-04 1.24189587e-05 9.99999963e-01 -1.73530600e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.680371743 meters 0.03000565696720367 Centerline is valid? [True, True] Translation: X:1.67, Y:-0.04, Z:-0.00 [[ 9.99523110e-01 3.08779889e-02 3.20942247e-04 1.66721217e+00] [-3.08779829e-02 9.99523161e-01 -2.34303702e-05 -4.12846854e-02] [-3.21512692e-04 1.35091473e-05 9.99999948e-01 -1.58750248e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.740371743 meters 0.026685269421057187 Centerline is valid? [True, True] Translation: X:1.73, Y:-0.04, Z:-0.00 [[ 9.99431986e-01 3.36794736e-02 -1.18286073e-03 1.72690944e+00] [-3.36794003e-02 9.99432685e-01 8.18805054e-05 -3.63643716e-02] [ 1.18494737e-03 -4.19959561e-05 9.99999297e-01 -1.70051882e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.800371743 meters 0.02889985908782631 Centerline is valid? [True, True] Translation: X:1.78, Y:-0.04, Z:-0.00 [[ 9.99399453e-01 3.46275913e-02 -1.28984328e-03 1.78387199e+00] [-3.46275020e-02 9.99400284e-01 9.15256239e-05 -4.39481738e-02] [ 1.29223905e-03 -4.68066078e-05 9.99999164e-01 -4.53449673e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.860371743 meters 0.027109727783215087 Centerline is valid? [True, True] Translation: X:1.84, Y:-0.05, Z:-0.00 [[ 9.99510963e-01 3.12701754e-02 -1.08607906e-04 1.84295475e+00] [-3.12701748e-02 9.99510968e-01 7.04685171e-06 -4.78773441e-02] [ 1.08775150e-04 -3.64721732e-06 9.99999994e-01 -7.82724145e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.920371743 meters 0.02799979123130086 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.06, Z:-0.00 [[ 9.99601043e-01 2.82335293e-02 7.89127054e-04 1.90177773e+00] [-2.82334927e-02 9.99601354e-01 -5.74372405e-05 -5.78582956e-02] [-7.90434127e-04 3.51345126e-05 9.99999687e-01 -4.38885964e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.980371743 meters 0.02901289001427041 Centerline is valid? [True, True] Translation: X:1.96, Y:-0.07, Z:-0.00 [[ 9.99682728e-01 2.51844962e-02 4.30636174e-04 1.96106222e+00] [-2.51844850e-02 9.99682820e-01 -3.14190245e-05 -6.70001494e-02] [-4.31290857e-04 2.05637058e-05 9.99999907e-01 -1.08534967e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.040371743 meters 0.02992817882193857 Centerline is valid? [True, True] Translation: X:2.02, Y:-0.08, Z:-0.00 [[ 9.99755694e-01 2.20670394e-02 -1.26420847e-03 2.02085296e+00] [-2.20669426e-02 9.99756491e-01 9.04764567e-05 -7.56414945e-02] [ 1.26589717e-03 -6.25571370e-05 9.99999197e-01 -2.76563887e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.100371743 meters 0.031876578626318965 Centerline is valid? [True, True] Translation: X:2.08, Y:-0.09, Z:-0.00 [[ 9.99798670e-01 1.99263657e-02 -2.35771012e-03 2.07922649e+00] [-1.99260240e-02 9.99801443e-01 1.68333446e-04 -8.54291879e-02] [ 2.36059626e-03 -1.21319767e-04 9.99997206e-01 -4.33273371e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1603717430000002 meters 0.03251532652627821 Centerline is valid? [True, True] Translation: X:2.14, Y:-0.09, Z:-0.00 [[ 9.99837518e-01 1.79513326e-02 -1.63909918e-03 2.13840690e+00] [-1.79511649e-02 9.99838858e-01 1.16990576e-04 -9.23535706e-02] [ 1.64093519e-03 -8.75478278e-05 9.99998650e-01 -3.21344344e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.220371743 meters 0.03325621025093432 Centerline is valid? [True, True] Translation: X:2.20, Y:-0.10, Z:-0.00 [[ 9.99844858e-01 1.76112131e-02 -3.23409757e-04 2.19702755e+00] [-1.76112069e-02 9.99844910e-01 2.21747929e-05 -9.78214140e-02] [ 3.23750124e-04 -1.64757165e-05 9.99999947e-01 -1.85029671e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.280371743 meters 0.030538585958077926 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.10, Z:0.00 [[ 9.99814147e-01 1.91814964e-02 1.93409472e-03 2.25645184e+00] [-1.91812630e-02 9.99816013e-01 -1.39145835e-04 -9.92694223e-02] [-1.93640789e-03 1.02021595e-04 9.99998120e-01 8.09877594e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.340371743 meters 0.029775802893710453 Centerline is valid? [True, True] Translation: X:2.32, Y:-0.10, Z:0.00 [[ 9.99751152e-01 2.20479596e-02 3.39430059e-03 2.31626641e+00] [-2.20472611e-02 9.99756900e-01 -2.43068646e-04 -1.03822872e-01] [-3.39883460e-03 1.68173127e-04 9.99994210e-01 2.09277478e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.400371743 meters 0.029033451803109823 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.11, Z:0.00 [[ 9.99680094e-01 2.49913343e-02 3.89137894e-03 2.37630858e+00] [-2.49904389e-02 9.99687651e-01 -2.78557887e-04 -1.07374030e-01] [-3.89712500e-03 1.81221507e-04 9.99992390e-01 1.66401969e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.460371743 meters 0.026490153258551266 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.11, Z:0.00 [[ 9.99519937e-01 3.06986720e-02 4.18174724e-03 2.43708442e+00] [-3.06976888e-02 9.99528670e-01 -2.99118428e-04 -1.08480205e-01] [-4.18895879e-03 1.70604857e-04 9.99991212e-01 1.20926640e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.520371743 meters 0.027507776764812086 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.11, Z:-0.00 [[ 9.99393210e-01 3.45746534e-02 4.21956207e-03 2.49539093e+00] [-3.45736856e-02 9.99402106e-01 -3.02115673e-04 -1.14812220e-01] [-4.22748476e-03 1.56046540e-04 9.99991052e-01 -4.53727165e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.580371743 meters 0.024594641363984693 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.11, Z:0.00 [[ 9.99242061e-01 3.86881212e-02 4.30496905e-03 2.55598886e+00] [-3.86871534e-02 9.99251324e-01 -3.07886509e-04 -1.13680180e-01] [-4.31365758e-03 1.41106152e-04 9.99990686e-01 2.83413860e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6403717429999998 meters 0.02425422049302785 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.12, Z:-0.00 [[ 9.99132091e-01 4.15278119e-02 3.24111353e-03 2.61481634e+00] [-4.15272707e-02 9.99137343e-01 -2.34127561e-04 -1.19394578e-01] [-3.24804036e-03 9.93297605e-05 9.99994720e-01 -2.39366466e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.700371743 meters 0.023386060280210598 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.12, Z:-0.00 [[ 9.99099347e-01 4.23133682e-02 3.17399534e-03 2.67321445e+00] [-4.23128545e-02 9.99104384e-01 -2.28852878e-04 -1.23465750e-01] [-3.18083620e-03 9.43459579e-05 9.99994937e-01 -3.23329062e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.760371743 meters 0.023404169163748344 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.13, Z:-0.00 [[ 9.99045343e-01 4.34470192e-02 4.55621128e-03 2.73111568e+00] [-4.34459929e-02 9.99055725e-01 -3.24028265e-04 -1.30237577e-01] [-4.56598702e-03 1.25769806e-04 9.99989568e-01 -2.40459688e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.820371743 meters 0.023689692365277022 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.14, Z:-0.00 [[ 9.99049662e-01 4.32587775e-02 5.33404136e-03 2.78938745e+00] [-4.32573712e-02 9.99063890e-01 -3.78778447e-04 -1.36867752e-01] [-5.34543360e-03 1.47681872e-04 9.99985702e-01 -1.99849888e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.880371743 meters 0.024127510712625273 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.15, Z:-0.00 [[ 9.99080974e-01 4.25681384e-02 5.01607141e-03 2.84806710e+00] [-4.25668876e-02 9.99093556e-01 -3.55895345e-04 -1.45641550e-01] [-5.02667442e-03 1.42049720e-04 9.99987356e-01 -2.75239792e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.940371743 meters 0.0247475490346697 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.15, Z:-0.00 [[ 9.99092619e-01 4.23018234e-02 4.94911505e-03 2.90534776e+00] [-4.23006034e-02 9.99104867e-01 -3.50955235e-04 -1.53522143e-01] [-4.95953098e-03 1.41286232e-04 9.99987691e-01 -4.23839002e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.000371743 meters 0.024140379337409368 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.16, Z:-0.00 [[ 9.99113720e-01 4.16862487e-02 5.83360514e-03 2.96365059e+00] [-4.16845482e-02 9.99130736e-01 -4.12834371e-04 -1.61771795e-01] [-5.84574371e-03 1.69297289e-04 9.99982899e-01 -4.96710462e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.060371743 meters 0.02523556841814835 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.17, Z:-0.01 [[ 9.99139499e-01 4.06945410e-02 8.01354137e-03 3.02099564e+00] [-4.06913049e-02 9.99171605e-01 -5.66530692e-04 -1.74653865e-01] [-8.02995770e-03 2.39961736e-04 9.99967731e-01 -5.16094136e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.120371743 meters 0.023603241335940293 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.18, Z:-0.01 [[ 9.99056109e-01 4.27817007e-02 7.52437802e-03 3.07987531e+00] [-4.27789164e-02 9.99084422e-01 -5.30673029e-04 -1.78989088e-01] [-7.54019196e-03 2.08287394e-04 9.99971551e-01 -5.65004909e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.180371743 meters 0.023197543801383013 Centerline is valid? [True, True] Translation: X:3.14, Y:-0.18, Z:-0.01 [[ 9.98983410e-01 4.45104594e-02 7.13900064e-03 3.13854648e+00] [-4.45080004e-02 9.99008901e-01 -5.03028099e-04 -1.83958979e-01] [-7.15431520e-03 1.84774082e-04 9.99974390e-01 -6.81760116e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.240371743 meters 0.021968956061634667 Centerline is valid? [True, True] Translation: X:3.20, Y:-0.19, Z:-0.01 [[ 9.98644117e-01 5.15184846e-02 7.46810364e-03 3.19851897e+00] [-5.15159964e-02 9.98672031e-01 -5.25290924e-04 -1.89296860e-01] [-7.48524843e-03 1.39851891e-04 9.99971975e-01 -8.15591185e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.300371743 meters 0.02133399845620438 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.19, Z:-0.01 [[ 9.98398191e-01 5.60031450e-02 8.04361375e-03 3.25578881e+00] [-5.60004019e-02 9.98430586e-01 -5.66028025e-04 -1.94985372e-01] [-8.06268933e-03 1.14675754e-04 9.99967489e-01 -9.48258531e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.360371743 meters 0.02080267430506731 Centerline is valid? [True, True] Translation: X:3.31, Y:-0.20, Z:-0.01 [[ 9.98165887e-01 6.00117981e-02 7.96527507e-03 3.31466432e+00] [-6.00092394e-02 9.98197665e-01 -5.60067820e-04 -2.03038871e-01] [-7.98452965e-03 8.10504946e-05 9.99968120e-01 -1.20490520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.420371743 meters 0.020777382063251148 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.21, Z:-0.02 [[ 9.98104041e-01 6.11633117e-02 6.88271389e-03 3.37187409e+00] [-6.11614251e-02 9.98127770e-01 -4.84453668e-04 -2.13795169e-01] [-6.89945865e-03 6.25785744e-05 9.99976196e-01 -1.51032884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.480371743 meters 0.020623183331158274 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.22, Z:-0.02 [[ 9.98151189e-01 6.04002635e-02 6.78325338e-03 3.42929508e+00] [-6.03984266e-02 9.98174235e-01 -4.75516722e-04 -2.23228325e-01] [-6.79959009e-03 6.49397501e-05 9.99976880e-01 -1.62386761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.540371743 meters 0.021079189747471187 Centerline is valid? [True, True] Translation: X:3.49, Y:-0.24, Z:-0.02 [[ 9.98302182e-01 5.78546317e-02 6.75238174e-03 3.48679729e+00] [-5.78527679e-02 9.98325015e-01 -4.71187022e-04 -2.36763111e-01] [-6.76833195e-03 7.97430589e-05 9.99977091e-01 -1.67769988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6003717429999997 meters 0.02173423420010364 Centerline is valid? [True, True] Translation: X:3.54, Y:-0.25, Z:-0.02 [[ 9.98462734e-01 5.48437737e-02 8.02053743e-03 3.54408313e+00] [-5.48410766e-02 9.98494941e-01 -5.55989399e-04 -2.51735884e-01] [-8.03895860e-03 1.15279789e-04 9.99967680e-01 -1.74426342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.660371743 meters 0.021886267938146128 Centerline is valid? [True, True] Translation: X:3.60, Y:-0.26, Z:-0.02 [[ 9.98576734e-01 5.25925264e-02 8.86186001e-03 3.60200037e+00] [-5.25891541e-02 9.98616045e-01 -6.13295783e-04 -2.61942028e-01] [-8.88185037e-03 1.46385178e-04 9.99960545e-01 -1.77327747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.720371743 meters 0.02263858620715219 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.28, Z:-0.02 [[ 9.98861759e-01 4.71556561e-02 7.17853155e-03 3.65973449e+00] [-4.71533062e-02 9.98887541e-01 -4.96351658e-04 -2.76822247e-01] [-7.19395151e-03 1.57295194e-04 9.99974111e-01 -2.05869757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.780371743 meters 0.02376577452342048 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.29, Z:-0.02 [[ 9.99102947e-01 4.18867878e-02 6.22879424e-03 3.71868192e+00] [-4.18849184e-02 9.99122349e-01 -4.30318276e-04 -2.89040053e-01] [-6.24135219e-03 1.69039719e-04 9.99980508e-01 -2.28678066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.840371743 meters 0.024027458197521452 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.30, Z:-0.02 [[ 9.99367727e-01 3.46742861e-02 7.86382639e-03 3.77827191e+00] [-3.46710874e-02 9.99398630e-01 -5.42769246e-04 -3.01179970e-01] [-7.87791746e-03 2.69778656e-04 9.99968932e-01 -2.12256293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.900371743 meters 0.0252384717906586 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.31, Z:-0.02 [[ 9.99477589e-01 3.09418779e-02 9.33533169e-03 3.83733446e+00] [-3.09372087e-02 9.99521122e-01 -6.44198595e-04 -3.11287923e-01] [-9.35079392e-03 3.55052954e-04 9.99956217e-01 -2.07428851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.960371743 meters 0.027062745690444184 Centerline is valid? [True, True] Translation: X:3.90, Y:-0.32, Z:-0.02 [[ 9.99608799e-01 2.63992987e-02 9.23717861e-03 3.89665332e+00] [-2.63945373e-02 9.99651401e-01 -6.37007170e-04 -3.22932076e-01] [-9.25077508e-03 3.92946916e-04 9.99957133e-01 -2.19054015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.020371742999999 meters 0.02895553529303116 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.33, Z:-0.02 [[ 9.99677285e-01 2.37353345e-02 9.05312550e-03 3.95402111e+00] [-2.37306510e-02 9.99718193e-01 -6.24419210e-04 -3.34538074e-01] [-9.06539507e-03 4.09381139e-04 9.99958825e-01 -2.43294051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.080371743 meters 0.02906721058837861 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.34, Z:-0.02 [[ 9.99699302e-01 2.26578218e-02 9.37698124e-03 4.01272491e+00] [-2.26527565e-02 9.99743185e-01 -6.46051572e-04 -3.40945720e-01] [-9.38921121e-03 4.33442832e-04 9.99955826e-01 -2.47866514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.140371742999999 meters 0.02878701087862609 Centerline is valid? [True, True] Translation: X:4.07, Y:-0.35, Z:-0.03 [[ 9.99712693e-01 2.18340364e-02 9.88971224e-03 4.07170165e+00] [-2.18283692e-02 9.99761501e-01 -6.80630371e-04 -3.45645606e-01] [-9.90221446e-03 4.64558531e-04 9.99950864e-01 -2.50568489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.200371743 meters 0.02801407829775374 Centerline is valid? [True, True] Translation: X:4.13, Y:-0.35, Z:-0.03 [[ 9.99753728e-01 2.05166059e-02 8.45886858e-03 4.13072361e+00] [-2.05124176e-02 9.99789429e-01 -5.81606720e-04 -3.49524293e-01] [-8.46901999e-03 4.07951641e-04 9.99964054e-01 -2.75310031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.260371742999999 meters 0.027685456441138238 Centerline is valid? [True, True] Translation: X:4.19, Y:-0.35, Z:-0.03 [[ 9.99777536e-01 1.94792011e-02 8.08940591e-03 4.18923418e+00] [-1.94753392e-02 9.99810183e-01 -5.55907272e-04 -3.53433017e-01] [-8.09869903e-03 3.98239679e-04 9.99967126e-01 -2.99455798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.320371743 meters 0.028365104230441918 Centerline is valid? [True, True] Translation: X:4.25, Y:-0.36, Z:-0.03 [[ 9.99842076e-01 1.64841452e-02 6.64044112e-03 4.24831623e+00] [-1.64814799e-02 9.99864067e-01 -4.55897967e-04 -3.56455115e-01] [-6.64705355e-03 3.46381673e-04 9.99977848e-01 -3.19399808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3803717429999995 meters 0.02962731821706914 Centerline is valid? [True, True] Translation: X:4.31, Y:-0.36, Z:-0.03 [[ 9.99882358e-01 1.39141975e-02 6.45492499e-03 4.30765698e+00] [-1.39116288e-02 9.99903131e-01 -4.42680425e-04 -3.61692355e-01] [-6.46045925e-03 3.52829826e-04 9.99979069e-01 -3.28953994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.440371742999999 meters 0.03295465227631362 Centerline is valid? [True, True] Translation: X:4.37, Y:-0.37, Z:-0.03 [[ 9.99935467e-01 8.31210120e-03 7.74408416e-03 4.36697857e+00] [-8.30824140e-03 9.99965345e-01 -5.30457028e-04 -3.69032000e-01] [-7.74822501e-03 4.66083075e-04 9.99969873e-01 -3.30589371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.500371743 meters 0.032916182672281184 Centerline is valid? [True, True] Translation: X:4.43, Y:-0.37, Z:-0.03 [[ 9.99957875e-01 5.45900199e-03 7.37880799e-03 4.42818103e+00] [-5.45542099e-03 9.99984991e-01 -5.05348621e-04 -3.69847842e-01] [-7.38145595e-03 4.65072829e-04 9.99972649e-01 -3.26160231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.560371742999999 meters 0.03817580150349654 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.38, Z:-0.03 [[ 9.99953847e-01 6.20281727e-03 7.33681224e-03 4.48868539e+00] [-6.19929676e-03 9.99980658e-01 -5.02487254e-04 -3.76659295e-01] [-7.33978717e-03 4.56980986e-04 9.99972959e-01 -3.39640323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.620371743 meters 0.033128140746800684 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.37, Z:-0.03 [[ 9.99941343e-01 8.08320160e-03 7.20912070e-03 4.55059079e+00] [-8.07984945e-03 9.99967235e-01 -4.93991196e-04 -3.70590952e-01] [-7.21287752e-03 4.35713610e-04 9.99973892e-01 -3.47501052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.680371742999999 meters 0.03256703662744719 Centerline is valid? [True, True] Translation: X:4.61, Y:-0.37, Z:-0.04 [[ 9.99911543e-01 1.21477729e-02 5.41635406e-03 4.61160084e+00] [-1.21459389e-02 9.99926166e-01 -3.71375464e-04 -3.67870193e-01] [-5.42046554e-03 3.05555908e-04 9.99985262e-01 -3.75064695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.740371743 meters 0.03163750792066224 Centerline is valid? [True, True] Translation: X:4.67, Y:-0.36, Z:-0.04 [[ 9.99852804e-01 1.64566346e-02 4.85280257e-03 4.67211328e+00] [-1.64552109e-02 9.99864548e-01 -3.33153102e-04 -3.62208588e-01] [-4.85762783e-03 2.53250174e-04 9.99988170e-01 -3.80996424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8003717429999995 meters 0.029408196211369357 Centerline is valid? [True, True] Translation: X:4.73, Y:-0.36, Z:-0.04 [[ 9.99795147e-01 1.93383459e-02 5.97432277e-03 4.73223043e+00] [-1.93362400e-02 9.99812953e-01 -4.10071475e-04 -3.56779176e-01] [-5.98113540e-03 2.94466532e-04 9.99982069e-01 -3.70562466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.860371742999999 meters 0.028222092876037504 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.35, Z:-0.04 [[ 9.99690019e-01 2.32715407e-02 8.84885596e-03 4.79230446e+00] [-2.32670792e-02 9.99729101e-01 -6.06814455e-04 -3.51707149e-01] [-8.86058032e-03 4.00739321e-04 9.99960664e-01 -3.54445103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.920371743 meters 0.027538214646218563 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.35, Z:-0.04 [[ 9.99638429e-01 2.53597462e-02 8.93836254e-03 4.85167266e+00] [-2.53552786e-02 9.99678315e-01 -6.12809469e-04 -3.48885523e-01] [-8.95102790e-03 3.85953223e-04 9.99959864e-01 -3.67431404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.980371742999999 meters 0.027747978982548178 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.35, Z:-0.04 [[ 9.99659552e-01 2.52553499e-02 6.55337508e-03 4.91026825e+00] [-2.52529475e-02 9.99680993e-01 -4.49086705e-04 -3.50652518e-01] [-6.56262635e-03 2.83441777e-04 9.99978426e-01 -4.01246209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.040371743 meters 0.028884148115322167 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.35, Z:-0.04 [[ 9.99720422e-01 2.34333466e-02 3.15541003e-03 4.96976601e+00] [-2.34327809e-02 9.99725391e-01 -2.16132373e-04 -3.53391118e-01] [-3.15960823e-03 1.42131915e-04 9.99994998e-01 -4.39693743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.100371742999999 meters 0.02862030901680565 Centerline is valid? [True, True] Translation: X:5.03, Y:-0.35, Z:-0.04 [[ 9.99744330e-01 2.23958029e-02 3.11483389e-03 5.02827824e+00] [-2.23952457e-02 9.99749172e-01 -2.13649864e-04 -3.54239338e-01] [-3.11883747e-03 1.43837770e-04 9.99995126e-01 -4.42245100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.160371743 meters 0.02910000747702909 Centerline is valid? [True, True] Translation: X:5.09, Y:-0.36, Z:-0.04 [[ 9.99747708e-01 2.21118244e-02 3.94806893e-03 5.08654591e+00] [-2.21109278e-02 9.99755487e-01 -2.70600557e-04 -3.56446469e-01] [-3.95308705e-03 1.83236819e-04 9.99992170e-01 -4.44705922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.220371742999999 meters 0.02922889661868275 Centerline is valid? [True, True] Translation: X:5.15, Y:-0.36, Z:-0.05 [[ 9.99730234e-01 2.26818427e-02 4.99923756e-03 5.14541539e+00] [-2.26804186e-02 9.99742708e-01 -3.41377630e-04 -3.57028173e-01] [-5.00569437e-03 2.27900738e-04 9.99987445e-01 -4.53908513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.280371742999999 meters 0.02832381220032773 Centerline is valid? [True, True] Translation: X:5.20, Y:-0.36, Z:-0.05 [[ 9.99755237e-01 2.17109302e-02 4.25452004e-03 5.20389683e+00] [-2.17098899e-02 9.99764270e-01 -2.90564537e-04 -3.56129293e-01] [-4.25982555e-03 1.98128256e-04 9.99990907e-01 -4.62594745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3403717429999995 meters 0.028984367843921353 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.36, Z:-0.05 [[ 9.99819181e-01 1.87380710e-02 3.23896298e-03 5.26364938e+00] [-1.87374543e-02 9.99824414e-01 -2.20624522e-04 -3.56902588e-01] [-3.24252834e-03 1.59894708e-04 9.99994730e-01 -4.66871210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.400371742999999 meters 0.031058184778074933 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.36, Z:-0.05 [[ 9.99844405e-01 1.74050053e-02 2.86898001e-03 5.32076989e+00] [-1.74045138e-02 9.99848511e-01 -1.96177452e-04 -3.62512547e-01] [-2.87195986e-03 1.46213726e-04 9.99995865e-01 -4.85329010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.460371743 meters 0.03186780996840473 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.36, Z:-0.05 [[ 9.99821289e-01 1.82497577e-02 4.93316014e-03 5.37903251e+00] [-1.82483247e-02 9.99833429e-01 -3.35344112e-04 -3.64524648e-01] [-4.93845837e-03 2.45262274e-04 9.99987776e-01 -4.84214685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.520371742999999 meters 0.02904837143136543 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.36, Z:-0.05 [[ 9.99777816e-01 2.02494603e-02 5.85470891e-03 5.43840990e+00] [-2.02474794e-02 9.99794920e-01 -3.97414337e-04 -3.60520882e-01] [-5.86155565e-03 2.78782939e-04 9.99982782e-01 -4.83789838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.580371743 meters 0.029130678803634593 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.36, Z:-0.05 [[ 9.99726634e-01 2.27063647e-02 5.57477996e-03 5.49677952e+00] [-2.27046090e-02 9.99742146e-01 -3.78037064e-04 -3.60867732e-01] [-5.58192633e-03 2.51360522e-04 9.99984389e-01 -5.02162186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.640371742999999 meters 0.02812387176995131 Centerline is valid? [True, True] Translation: X:5.56, Y:-0.36, Z:-0.05 [[ 9.99682559e-01 2.45389417e-02 5.71145576e-03 5.55567481e+00] [-2.45371311e-02 9.99698844e-01 -3.86879310e-04 -3.57788993e-01] [-5.71922934e-03 2.46613760e-04 9.99983615e-01 -5.00756318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.700371743 meters 0.027881263477593843 Centerline is valid? [True, True] Translation: X:5.61, Y:-0.36, Z:-0.05 [[ 9.99658018e-01 2.56273426e-02 5.20436707e-03 5.61480038e+00] [-2.56258554e-02 9.99671542e-01 -3.52243484e-04 -3.57837428e-01] [-5.21168472e-03 2.18756665e-04 9.99986395e-01 -5.07503753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.760371742999999 meters 0.028345347289848288 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.36, Z:-0.05 [[ 9.99627853e-01 2.70078930e-02 3.83781560e-03 5.67245635e+00] [-2.70070939e-02 9.99635208e-01 -2.59909130e-04 -3.58406445e-01] [-3.84343519e-03 1.56164160e-04 9.99992602e-01 -5.38047959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.820371742999999 meters 0.025866556644860424 Centerline is valid? [True, True] Translation: X:5.73, Y:-0.35, Z:-0.05 [[ 9.99539983e-01 3.00180394e-02 4.32903950e-03 5.73233095e+00] [-3.00170553e-02 9.99549344e-01 -2.92133870e-04 -3.54062501e-01] [-4.33585788e-03 1.62054465e-04 9.99990587e-01 -5.41489150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8803717429999995 meters 0.0254280011908022 Centerline is valid? [True, True] Translation: X:5.79, Y:-0.35, Z:-0.05 [[ 9.99384988e-01 3.42852597e-02 7.35985827e-03 5.79171790e+00] [-3.42825355e-02 9.99412058e-01 -4.96021629e-04 -3.53323936e-01] [-7.37253733e-03 2.43401967e-04 9.99972793e-01 -5.29762382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.940371742999999 meters 0.024577431907101037 Centerline is valid? [True, True] Translation: X:5.85, Y:-0.35, Z:-0.05 [[ 9.99258267e-01 3.76066183e-02 8.28602736e-03 5.85098604e+00] [-3.76032815e-02 9.99292591e-01 -5.58180910e-04 -3.52734035e-01] [-8.30115704e-03 2.46185069e-04 9.99965514e-01 -5.21204695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.000371743 meters 0.02370358787258081 Centerline is valid? [True, True] Translation: X:5.91, Y:-0.35, Z:-0.05 [[ 9.99031974e-01 4.32057443e-02 8.26914965e-03 5.91010212e+00] [-4.32026173e-02 9.99066176e-01 -5.56493306e-04 -3.52112986e-01] [-8.28547142e-03 1.98705699e-04 9.99965655e-01 -5.26948597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.060371742999999 meters 0.022796019148701618 Centerline is valid? [True, True] Translation: X:5.97, Y:-0.35, Z:-0.06 [[ 9.98875202e-01 4.69583329e-02 6.57619130e-03 5.96922729e+00] [-4.69564356e-02 9.98896840e-01 -4.42699524e-04 -3.53131276e-01] [-6.58972514e-03 1.33407073e-04 9.99978279e-01 -5.59061649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.120371743 meters 0.022359908125353052 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.36, Z:-0.06 [[ 9.98892218e-01 4.66701378e-02 6.01963218e-03 6.02739174e+00] [-4.66685449e-02 9.98910348e-01 -4.04899162e-04 -3.57182811e-01] [-6.03196958e-03 1.23523147e-04 9.99981800e-01 -5.78418163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.180371742999999 meters 0.022900817400418532 Centerline is valid? [True, True] Translation: X:6.09, Y:-0.37, Z:-0.06 [[ 9.99084627e-01 4.24099337e-02 5.59520368e-03 6.08664439e+00] [-4.24084943e-02 9.99100284e-01 -3.75708616e-04 -3.65248075e-01] [-5.60610337e-03 1.38080539e-04 9.99984276e-01 -5.87798538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.240371743 meters 0.024891605486378834 Centerline is valid? [True, True] Translation: X:6.14, Y:-0.38, Z:-0.06 [[ 9.99378903e-01 3.48022893e-02 5.53256698e-03 6.14472720e+00] [-3.48007675e-02 9.99394201e-01 -3.71140988e-04 -3.76628385e-01] [-5.54213191e-03 1.78372897e-04 9.99984626e-01 -5.97331958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3003717429999995 meters 0.02678693646883902 Centerline is valid? [True, True] Translation: X:6.20, Y:-0.39, Z:-0.06 [[ 9.99567403e-01 2.88949828e-02 5.48514549e-03 6.20479660e+00] [-2.88933994e-02 9.99582431e-01 -3.67724500e-04 -3.86238685e-01] [-5.49348045e-03 2.09080924e-04 9.99984889e-01 -6.08692529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.360371742999999 meters 0.02792246268961806 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.39, Z:-0.06 [[ 9.99777155e-01 2.04163237e-02 5.36789319e-03 6.26491441e+00] [-2.04146853e-02 9.99791534e-01 -3.59858580e-04 -3.94550541e-01] [-5.37412116e-03 2.50194537e-04 9.99985528e-01 -6.05298392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.420371743 meters 0.02984088914308115 Centerline is valid? [True, True] Translation: X:6.33, Y:-0.40, Z:-0.06 [[ 9.99865907e-01 1.55794584e-02 5.04463292e-03 6.32506024e+00] [-1.55779498e-02 9.99878599e-01 -3.38193008e-04 -4.03634926e-01] [-5.04928936e-03 2.59562620e-04 9.99987219e-01 -6.16408465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.480371742999999 meters 0.03135755006797213 Centerline is valid? [True, True] Translation: X:6.38, Y:-0.41, Z:-0.06 [[ 9.99921733e-01 1.10398787e-02 5.88626760e-03 6.38458075e+00] [-1.10377455e-02 9.99939004e-01 -3.94768521e-04 -4.11191404e-01] [-5.89026676e-03 3.29766500e-04 9.99982598e-01 -6.17920284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.540371743 meters 0.031640865362164504 Centerline is valid? [True, True] Translation: X:6.44, Y:-0.41, Z:-0.06 [[ 9.99913003e-01 1.13071090e-02 6.79226033e-03 6.44364859e+00] [-1.13042731e-02 9.99936001e-01 -4.55759953e-04 -4.14585339e-01] [-6.79697896e-03 3.78938737e-04 9.99976828e-01 -6.06389942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.600371742999999 meters 0.030331189240470673 Centerline is valid? [True, True] Translation: X:6.50, Y:-0.41, Z:-0.06 [[ 9.99875930e-01 1.44393026e-02 6.29535042e-03 6.50419607e+00] [-1.44369323e-02 9.99895693e-01 -4.21811971e-04 -4.12903326e-01] [-6.30078445e-03 3.30874089e-04 9.99980095e-01 -6.10287890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.660371743 meters 0.030057123391319922 Centerline is valid? [True, True] Translation: X:6.56, Y:-0.41, Z:-0.06 [[ 9.99847294e-01 1.67272866e-02 5.05840736e-03 6.56275626e+00] [-1.67257846e-02 9.99860057e-01 -3.39086944e-04 -4.14489350e-01] [-5.06337147e-03 2.54429331e-04 9.99987149e-01 -6.37087058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.720371742999999 meters 0.029451047179163973 Centerline is valid? [True, True] Translation: X:6.62, Y:-0.41, Z:-0.07 [[ 9.99808658e-01 1.92743180e-02 3.33900640e-03 6.62213496e+00] [-1.92736781e-02 9.99814220e-01 -2.23733331e-04 -4.13803471e-01] [-3.34269839e-03 1.59335587e-04 9.99994400e-01 -6.68395009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.780371742999999 meters 0.027946551898057222 Centerline is valid? [True, True] Translation: X:6.68, Y:-0.41, Z:-0.07 [[ 9.99771937e-01 2.11981916e-02 2.59068083e-03 6.68156341e+00] [-2.11978122e-02 9.99775286e-01 -1.73838488e-04 -4.11141243e-01] [-2.59378373e-03 1.18882076e-04 9.99996629e-01 -6.70076406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8403717429999995 meters 0.02961306303128496 Centerline is valid? [True, True] Translation: X:6.74, Y:-0.42, Z:-0.07 [[ 9.99743351e-01 2.22715367e-02 4.14867916e-03 6.73949086e+00] [-2.22705752e-02 9.99751941e-01 -2.77830785e-04 -4.15915750e-01] [-4.15383777e-03 1.85366009e-04 9.99991356e-01 -6.72562983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.900371742999999 meters 0.027599677118973768 Centerline is valid? [True, True] Translation: X:6.80, Y:-0.41, Z:-0.07 [[ 9.99717724e-01 2.32529200e-02 4.87578957e-03 6.79819617e+00] [-2.32516091e-02 9.99729592e-01 -3.25379036e-04 -4.14061903e-01] [-4.88203713e-03 2.11917237e-04 9.99988060e-01 -6.74435799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.960371743 meters 0.027739916622950604 Centerline is valid? [True, True] Translation: X:6.86, Y:-0.42, Z:-0.07 [[ 9.99711459e-01 2.35666478e-02 4.64880069e-03 6.85687270e+00] [-2.35654608e-02 9.99722248e-01 -3.09941504e-04 -4.17353838e-01] [-4.65481376e-03 2.00300943e-04 9.99989146e-01 -6.84941764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.020371742999999 meters 0.02666672209715403 Centerline is valid? [True, True] Translation: X:6.92, Y:-0.42, Z:-0.07 [[ 9.99693264e-01 2.43130469e-02 4.71731726e-03 6.91614314e+00] [-2.43118346e-02 9.99704374e-01 -3.14169983e-04 -4.17112036e-01] [-4.72356113e-03 1.99386979e-04 9.99988824e-01 -6.80704470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.080371743 meters 0.027275956252518545 Centerline is valid? [True, True] Translation: X:6.97, Y:-0.42, Z:-0.07 [[ 9.99697983e-01 2.41424928e-02 4.59154066e-03 6.97460424e+00] [-2.41413440e-02 9.99708509e-01 -3.05478114e-04 -4.20291176e-01] [-4.59757727e-03 1.94539892e-04 9.99989412e-01 -6.94451096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.140371742999999 meters 0.02804809037224401 Centerline is valid? [True, True] Translation: X:7.03, Y:-0.42, Z:-0.07 [[ 9.99723974e-01 2.33078575e-02 2.95275814e-03 7.03340461e+00] [-2.33073783e-02 9.99728327e-01 -1.96588596e-04 -4.24372318e-01] [-2.95653801e-03 1.27713282e-04 9.99995621e-01 -7.26098427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.200371742999999 meters 0.027746508780964445 Centerline is valid? [True, True] Translation: X:7.09, Y:-0.43, Z:-0.07 [[ 9.99733133e-01 2.30078162e-02 2.07424511e-03 7.09208130e+00] [-2.30075788e-02 9.99735281e-01 -1.38253035e-04 -4.27047353e-01] [-2.07687692e-03 9.04927823e-05 9.99997839e-01 -7.38589577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.260371742999999 meters 0.027586289427483975 Centerline is valid? [True, True] Translation: X:7.15, Y:-0.43, Z:-0.08 [[ 9.99714741e-01 2.38606966e-02 1.05055516e-03 7.15111755e+00] [-2.38606357e-02 9.99715292e-01 -7.04376501e-05 -4.28753578e-01] [-1.05193675e-03 4.53506431e-05 9.99999446e-01 -7.50873187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.320371742999999 meters 0.027189169339721913 Centerline is valid? [True, True] Translation: X:7.21, Y:-0.43, Z:-0.08 [[ 9.99698851e-01 2.44702088e-02 1.84829562e-03 7.21026660e+00] [-2.44700231e-02 9.99700557e-01 -1.23037586e-04 -4.30578979e-01] [-1.85075292e-03 7.77726964e-05 9.99998284e-01 -7.52296778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3803717429999995 meters 0.026447840635166787 Centerline is valid? [True, True] Translation: X:7.27, Y:-0.43, Z:-0.07 [[ 9.99647782e-01 2.61415913e-02 4.57480294e-03 7.26918953e+00] [-2.61404792e-02 9.99658233e-01 -3.02733795e-04 -4.31410452e-01] [-4.58115337e-03 1.83039625e-04 9.99989490e-01 -7.44100701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.440371742999999 meters 0.027042901371966063 Centerline is valid? [True, True] Translation: X:7.33, Y:-0.43, Z:-0.08 [[ 9.99607424e-01 2.73489496e-02 6.08547264e-03 7.32793330e+00] [-2.73470089e-02 9.99625920e-01 -4.01917990e-04 -4.34279018e-01] [-6.09418822e-03 2.35340733e-04 9.99981403e-01 -7.56905012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.500371743 meters 0.027293201627451028 Centerline is valid? [True, True] Translation: X:7.39, Y:-0.44, Z:-0.08 [[ 9.99662573e-01 2.57108856e-02 3.69993397e-03 7.38719933e+00] [-2.57101578e-02 9.99669409e-01 -2.44125928e-04 -4.37274233e-01] [-3.70498750e-03 1.48917668e-04 9.99993125e-01 -7.84539853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.560371742999999 meters 0.027324257714004575 Centerline is valid? [True, True] Translation: X:7.45, Y:-0.44, Z:-0.08 [[ 9.99713214e-01 2.38421041e-02 2.24601787e-03 7.44685922e+00] [-2.38418309e-02 9.99715732e-01 -1.48315362e-04 -4.41175649e-01] [-2.24891555e-03 9.47236491e-05 9.99997467e-01 -7.99962958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.620371743 meters 0.029221041117634572 Centerline is valid? [True, True] Translation: X:7.50, Y:-0.45, Z:-0.08 [[ 9.99770203e-01 2.13563821e-02 1.85663148e-03 7.50493018e+00] [-2.13561903e-02 9.99771923e-01 -1.23051921e-04 -4.47269674e-01] [-1.85883596e-03 8.33730686e-05 9.99998269e-01 -8.08532057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.680371742999999 meters 0.029465956507057363 Centerline is valid? [True, True] Translation: X:7.56, Y:-0.45, Z:-0.08 [[ 9.99780730e-01 2.07788909e-02 2.59400018e-03 7.56395783e+00] [-2.07785162e-02 9.99784089e-01 -1.71329989e-04 -4.50508340e-01] [-2.59700016e-03 1.17392947e-04 9.99996621e-01 -8.10859706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.740371742999999 meters 0.030032536431917972 Centerline is valid? [True, True] Translation: X:7.62, Y:-0.45, Z:-0.08 [[ 9.99766534e-01 2.12298054e-02 4.02158552e-03 7.62268444e+00] [-2.12289117e-02 9.99774606e-01 -2.64782606e-04 -4.53355005e-01] [-4.02630036e-03 1.79346904e-04 9.99991878e-01 -8.08850314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8003717429999995 meters 0.028723019238227926 Centerline is valid? [True, True] Translation: X:7.68, Y:-0.45, Z:-0.08 [[ 9.99776324e-01 2.08443370e-02 3.57995032e-03 7.68176301e+00] [-2.08436268e-02 9.99782720e-01 -2.35586309e-04 -4.54335449e-01] [-3.58408311e-03 1.60914466e-04 9.99993564e-01 -8.24523890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.860371742999999 meters 0.029480404227305374 Centerline is valid? [True, True] Translation: X:7.74, Y:-0.46, Z:-0.08 [[ 9.99795411e-01 1.98559964e-02 3.85688059e-03 7.74069876e+00] [-1.98551661e-02 9.99802835e-01 -2.53443940e-04 -4.60461206e-01] [-3.86115253e-03 1.76813083e-04 9.99992530e-01 -8.46869844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.920371743 meters 0.030224751003689192 Centerline is valid? [True, True] Translation: X:7.80, Y:-0.47, Z:-0.09 [[ 9.99823784e-01 1.84224419e-02 3.60767263e-03 7.79896678e+00] [-1.84217069e-02 9.99830278e-01 -2.36870382e-04 -4.65753173e-01] [-3.61142406e-03 1.70369154e-04 9.99993464e-01 -8.55455264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.980371742999999 meters 0.030161612036697663 Centerline is valid? [True, True] Translation: X:7.86, Y:-0.47, Z:-0.09 [[ 9.99845351e-01 1.73395062e-02 2.93533068e-03 7.85774131e+00] [-1.73390150e-02 9.99849649e-01 -1.92711666e-04 -4.71587329e-01] [-2.93823088e-03 1.41786120e-04 9.99995673e-01 -8.76375602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.040371743 meters 0.031157480584441982 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.48, Z:-0.09 [[ 9.99887551e-01 1.49169797e-02 1.53931069e-03 7.91649135e+00] [-1.49168416e-02 9.99888733e-01 -1.01197440e-04 -4.78795484e-01] [-1.54064898e-03 7.82244070e-05 9.99998810e-01 -8.95810652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.100371743 meters 0.030365184565599376 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.48, Z:-0.09 [[ 9.99878095e-01 1.55156908e-02 1.74903337e-03 7.97574165e+00] [-1.55155137e-02 9.99879621e-01 -1.14791657e-04 -4.81588588e-01] [-1.75060390e-03 8.76405122e-05 9.99998464e-01 -8.98924554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.160371743 meters 0.029685170726300978 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.48, Z:-0.09 [[ 9.99832912e-01 1.80333055e-02 2.99126560e-03 8.03560986e+00] [-1.80328020e-02 9.99837377e-01 -1.95234139e-04 -4.83987455e-01] [-2.99429986e-03 1.41260617e-04 9.99995507e-01 -8.94290579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.220371743 meters 0.02781551389767411 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.48, Z:-0.09 [[ 9.99726370e-01 2.25373187e-02 6.26538157e-03 8.09632989e+00] [-2.25352004e-02 9.99745967e-01 -4.08495404e-04 -4.84108592e-01] [-6.27299634e-03 2.67191998e-04 9.99980289e-01 -8.78187823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.280371743 meters 0.0265775609204808 Centerline is valid? [True, True] Translation: X:8.16, Y:-0.48, Z:-0.09 [[ 9.99629728e-01 2.62961956e-02 6.99409600e-03 8.15608810e+00] [-2.62936472e-02 9.99654158e-01 -4.56078892e-04 -4.84545592e-01] [-7.00367029e-03 2.72009726e-04 9.99975437e-01 -8.77932593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.340371743 meters 0.024351806929298517 Centerline is valid? [True, True] Translation: X:8.22, Y:-0.48, Z:-0.09 [[ 9.99459247e-01 3.23571748e-02 5.85044814e-03 8.21623765e+00] [-3.23554970e-02 9.99476351e-01 -3.81227420e-04 -4.83178625e-01] [-5.85972001e-03 1.91727112e-04 9.99982813e-01 -8.86940294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.400371743000001 meters 0.02349490809158747 Centerline is valid? [True, True] Translation: X:8.28, Y:-0.48, Z:-0.09 [[ 9.99195971e-01 3.97911105e-02 4.90703131e-03 8.27641900e+00] [-3.97900199e-02 9.99208012e-01 -3.19700999e-04 -4.84426959e-01] [-4.91586626e-03 1.24193076e-04 9.99987909e-01 -9.06177197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.460371743 meters 0.022725850965188584 Centerline is valid? [True, True] Translation: X:8.34, Y:-0.49, Z:-0.09 [[ 9.98970975e-01 4.50109523e-02 5.56829977e-03 8.33558675e+00] [-4.50096290e-02 9.98986487e-01 -3.62797879e-04 -4.86866685e-01] [-5.57898611e-03 1.11797444e-04 9.99984431e-01 -9.08239912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.520371743 meters 0.02194322820191633 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.49, Z:-0.09 [[ 9.98614705e-01 5.19868728e-02 8.12621986e-03 8.39590676e+00] [-5.19842904e-02 9.98647763e-01 -5.28831827e-04 -4.88769052e-01] [-8.14272359e-03 1.05663466e-04 9.99966842e-01 -8.94383518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.580371743 meters 0.02177084762551779 Centerline is valid? [True, True] Translation: X:8.45, Y:-0.49, Z:-0.09 [[ 9.98473891e-01 5.45790594e-02 8.42710097e-03 8.45396063e+00] [-5.45763649e-02 9.98509448e-01 -5.49549324e-04 -4.94102633e-01] [-8.44453382e-03 8.87901140e-05 9.99964340e-01 -9.04720880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.640371743000001 meters 0.0219546629216134 Centerline is valid? [True, True] Translation: X:8.51, Y:-0.50, Z:-0.09 [[ 9.98547647e-01 5.34039699e-02 7.11422043e-03 8.51258218e+00] [-5.34020285e-02 9.98572986e-01 -4.62708372e-04 -5.01834478e-01] [-7.12877881e-03 8.21225538e-05 9.99974587e-01 -9.27841200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.700371743 meters 0.022138924177527927 Centerline is valid? [True, True] Translation: X:8.57, Y:-0.51, Z:-0.09 [[ 9.98800211e-01 4.86735834e-02 5.38706346e-03 8.57098699e+00] [-4.86724038e-02 9.98814735e-01 -3.49937564e-04 -5.13269504e-01] [-5.39771107e-03 8.73163854e-05 9.99985428e-01 -9.46422795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.760371743 meters 0.022642319160221226 Centerline is valid? [True, True] Translation: X:8.63, Y:-0.52, Z:-0.10 [[ 9.99003741e-01 4.44033337e-02 4.45750343e-03 8.62925550e+00] [-4.44024857e-02 9.99013681e-01 -2.89067370e-04 -5.22951313e-01] [-4.46594246e-03 9.08551518e-05 9.99990024e-01 -9.56434281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.820371743 meters 0.023489912091456004 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.54, Z:-0.10 [[ 9.99205332e-01 3.95731810e-02 4.76117799e-03 8.68666857e+00] [-3.95721741e-02 9.99216668e-01 -3.05547551e-04 -5.36343635e-01] [-4.76953989e-03 1.16894578e-04 9.99988619e-01 -9.66329865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.880371743 meters 0.024134267816961538 Centerline is valid? [True, True] Translation: X:8.75, Y:-0.54, Z:-0.10 [[ 9.99256673e-01 3.81960989e-02 5.21139003e-03 8.74513489e+00] [-3.81948765e-02 9.99270254e-01 -3.33927075e-04 -5.43976374e-01] [-5.22034175e-03 1.34630459e-04 9.99986365e-01 -9.73386092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.940371743 meters 0.024886574169173465 Centerline is valid? [True, True] Translation: X:8.80, Y:-0.56, Z:-0.10 [[ 9.99391547e-01 3.42222884e-02 6.73575454e-03 8.80350232e+00] [-3.42201622e-02 9.99414226e-01 -4.30691488e-04 -5.57167229e-01] [-6.74654816e-03 1.99930820e-04 9.99977222e-01 -9.65139535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.000371743 meters 0.02607105152233374 Centerline is valid? [True, True] Translation: X:8.86, Y:-0.57, Z:-0.10 [[ 9.99423301e-01 3.25205715e-02 9.77125161e-03 8.86062243e+00] [-3.25160229e-02 9.99471019e-01 -6.24060050e-04 -5.71482902e-01] [-9.78637760e-03 3.05977914e-04 9.99952065e-01 -9.62137807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.060371743000001 meters 0.026701175075901154 Centerline is valid? [True, True] Translation: X:8.92, Y:-0.58, Z:-0.10 [[ 9.99429224e-01 3.24118584e-02 9.52358164e-03 8.91670250e+00] [-3.24075374e-02 9.99474553e-01 -6.07726367e-04 -5.84199185e-01] [-9.53827505e-03 2.98743663e-04 9.99954465e-01 -9.82160685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.120371743 meters 0.027179770265312292 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.59, Z:-0.10 [[ 9.99480764e-01 3.15112734e-02 6.72628325e-03 8.97486635e+00] [-3.15091047e-02 9.99503373e-01 -4.28174034e-04 -5.94639685e-01] [-6.73643511e-03 2.16012547e-04 9.99977287e-01 -1.01734209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.180371743 meters 0.02577910900536732 Centerline is valid? [True, True] Translation: X:9.03, Y:-0.60, Z:-0.10 [[ 9.99547002e-01 2.96255142e-02 5.30273718e-03 9.03356491e+00] [-2.96241405e-02 9.99561052e-01 -3.37435956e-04 -6.03741516e-01] [-5.31040626e-03 1.80194068e-04 9.99985883e-01 -1.03128523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.240371743 meters 0.026046778563492346 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.62, Z:-0.10 [[ 9.99552247e-01 2.95277931e-02 4.83894508e-03 9.09145633e+00] [-2.95266493e-02 9.99563946e-01 -3.07651572e-04 -6.15200393e-01] [-4.84591931e-03 1.64635986e-04 9.99988245e-01 -1.04131921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.300371743 meters 0.02552249503510179 Centerline is valid? [True, True] Translation: X:9.15, Y:-0.62, Z:-0.11 [[ 9.99548159e-01 2.96347618e-02 5.02574867e-03 9.14955261e+00] [-2.96335314e-02 9.99560780e-01 -3.19128779e-04 -6.24429265e-01] [-5.03299857e-03 1.70053902e-04 9.99987320e-01 -1.05394541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.360371743 meters 0.025218869835776158 Centerline is valid? [True, True] Translation: X:9.21, Y:-0.63, Z:-0.10 [[ 9.99536060e-01 2.97732995e-02 6.41986579e-03 9.20769559e+00] [-2.97712994e-02 9.99556654e-01 -4.06915708e-04 -6.31484834e-01] [-6.42913479e-03 2.15599178e-04 9.99979310e-01 -1.04588584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.420371743 meters 0.02554577435202779 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.64, Z:-0.10 [[ 9.99531362e-01 2.93113744e-02 8.82606427e-03 9.26400506e+00] [-2.93075825e-02 9.99570284e-01 -5.58680531e-04 -6.42464736e-01] [-8.83864727e-03 2.99748105e-04 9.99960893e-01 -1.04335208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.480371743000001 meters 0.025792009874353275 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.65, Z:-0.10 [[ 9.99574585e-01 2.74480992e-02 9.86161647e-03 9.32266237e+00] [-2.74432911e-02 9.99623168e-01 -6.22568258e-04 -6.50456629e-01] [-9.87498861e-03 3.51668196e-04 9.99951179e-01 -1.04604790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.540371743 meters 0.026175725268233443 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.66, Z:-0.10 [[ 9.99670517e-01 2.37791557e-02 9.66486752e-03 9.38157372e+00] [-2.37743744e-02 9.99717164e-01 -6.09317765e-04 -6.62007861e-01] [-9.67662301e-03 3.79340826e-04 9.99953108e-01 -1.04974030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.600371743 meters 0.02668250671093645 Centerline is valid? [True, True] Translation: X:9.44, Y:-0.67, Z:-0.11 [[ 9.99731261e-01 2.09897956e-02 9.84040618e-03 9.44033475e+00] [-2.09847070e-02 9.99779604e-01 -6.20093386e-04 -6.73316200e-01] [-9.85125303e-03 4.13428703e-04 9.99951390e-01 -1.06134212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.660371743 meters 0.02652174946858166 Centerline is valid? [True, True] Translation: X:9.50, Y:-0.68, Z:-0.11 [[ 9.99736997e-01 2.05591771e-02 1.01615272e-02 9.49924647e+00] [-2.05537338e-02 9.99788545e-01 -6.39826479e-04 -6.79504119e-01] [-1.01725328e-02 4.30800877e-04 9.99948166e-01 -1.06886075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.720371743 meters 0.02735701532485619 Centerline is valid? [True, True] Translation: X:9.56, Y:-0.69, Z:-0.11 [[ 9.99731274e-01 2.09089940e-02 1.00097149e-02 9.55684698e+00] [-2.09037361e-02 9.99781295e-01 -6.29618815e-04 -6.88039964e-01] [-1.00206904e-02 4.20209181e-04 9.99949703e-01 -1.08516567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.780371743 meters 0.0257058847858618 Centerline is valid? [True, True] Translation: X:9.62, Y:-0.69, Z:-0.11 [[ 9.99717471e-01 2.15169608e-02 1.00994564e-02 9.61548831e+00] [-2.15116491e-02 9.99768396e-01 -6.34282985e-04 -6.90281425e-01] [-1.01107652e-02 4.16847819e-04 9.99948798e-01 -1.09480844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.840371743 meters 0.026011100414079173 Centerline is valid? [True, True] Translation: X:9.67, Y:-0.70, Z:-0.11 [[ 9.99690517e-01 2.23593834e-02 1.09053896e-02 9.67409914e+00] [-2.23532498e-02 9.99749901e-01 -6.84013654e-04 -6.96138232e-01] [-1.09179562e-02 4.40031066e-04 9.99940301e-01 -1.09355889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.900371743000001 meters 0.026347294902700314 Centerline is valid? [True, True] Translation: X:9.73, Y:-0.70, Z:-0.11 [[ 9.99721492e-01 2.11863342e-02 1.03960328e-02 9.73242113e+00] [-2.11807043e-02 9.99775452e-01 -6.51360681e-04 -7.02792906e-01] [-1.04074983e-02 4.30983976e-04 9.99945748e-01 -1.11276811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.960371743 meters 0.027290167801244745 Centerline is valid? [True, True] Translation: X:9.79, Y:-0.71, Z:-0.11 [[ 9.99784640e-01 1.84043860e-02 9.58921247e-03 9.79118904e+00] [-1.83994749e-02 9.99830535e-01 -6.00120746e-04 -7.10749640e-01] [-9.59863229e-03 4.23555029e-04 9.99953842e-01 -1.14108325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.020371743 meters 0.026781233478771677 Centerline is valid? [True, True] Translation: X:9.85, Y:-0.71, Z:-0.11 [[ 9.99830876e-01 1.51763368e-02 1.03874151e-02 9.85082852e+00] [-1.51704074e-02 9.99884712e-01 -6.49393513e-04 -7.14513885e-01] [-1.03960730e-02 4.91702365e-04 9.99945838e-01 -1.14154402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.080371743 meters 0.02952805998549857 Centerline is valid? [True, True] Translation: X:9.91, Y:-0.72, Z:-0.12 [[ 9.99854713e-01 1.32501051e-02 1.07232246e-02 9.90943647e+00] [-1.32436799e-02 9.99912074e-01 -6.69970641e-04 -7.23352114e-01] [-1.07311590e-02 5.27858349e-04 9.99942280e-01 -1.15007158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.140371743 meters 0.03141645764159342 Centerline is valid? [True, True] Translation: X:9.97, Y:-0.73, Z:-0.12 [[ 9.99905828e-01 8.95227714e-03 1.04015285e-02 9.97001256e+00] [-8.94600565e-03 9.99959773e-01 -6.49310826e-04 -7.30827547e-01] [-1.04069229e-02 5.56197546e-04 9.99945692e-01 -1.17223490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.200371743 meters 0.0347386425252252 Centerline is valid? [True, True] Translation: X:10.03, Y:-0.74, Z:-0.12 [[ 9.99944214e-01 2.70937474e-03 1.02091962e-02 1.00308693e+01] [-2.70300728e-03 9.99996144e-01 -6.37444197e-04 -7.39741081e-01] [-1.02108839e-02 6.09813105e-04 9.99947682e-01 -1.18658320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.260371743 meters 0.03660638685674809 Centerline is valid? [True, True] Translation: X:10.09, Y:-0.75, Z:-0.12 [[ 9.99955313e-01 -2.95766986e-03 8.97913291e-03 1.00920495e+01] [ 2.96282457e-03 9.99995454e-01 -5.60828815e-04 -7.45559886e-01] [-8.97743334e-03 5.87407349e-04 9.99959530e-01 -1.21239867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.320371743 meters 0.035211003030368324 Centerline is valid? [True, True] Translation: X:10.15, Y:-0.75, Z:-0.12 [[ 9.99947473e-01 -5.47436612e-03 8.66505032e-03 1.01529064e+01] [ 5.47926293e-03 9.99984842e-01 -5.41483509e-04 -7.45428205e-01] [-8.66195470e-03 5.88933155e-04 9.99962311e-01 -1.22312625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.380371743 meters 0.03605574873469383 Centerline is valid? [True, True] Translation: X:10.22, Y:-0.75, Z:-0.12 [[ 9.99935812e-01 -6.42315618e-03 9.33356162e-03 1.02153682e+01] [ 6.42887829e-03 9.99979164e-01 -5.83193744e-04 -7.47399441e-01] [-9.32962121e-03 6.43160641e-04 9.99956271e-01 -1.22659041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.440371743 meters 0.03768601456860855 Centerline is valid? [True, True] Translation: X:10.28, Y:-0.75, Z:-0.12 [[ 9.99936545e-01 -5.85532358e-03 9.62398569e-03 1.02765479e+01] [ 5.86138904e-03 9.99982641e-01 -6.02159533e-04 -7.49275109e-01] [-9.62029278e-03 6.58531247e-04 9.99953507e-01 -1.23114194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.500371743 meters 0.035285533371272944 Centerline is valid? [True, True] Translation: X:10.34, Y:-0.75, Z:-0.12 [[ 9.99936288e-01 -5.41571384e-03 9.90401233e-03 1.03387228e+01] [ 5.42212069e-03 9.99985108e-01 -6.20158082e-04 -7.46394991e-01] [-9.90050624e-03 6.73819320e-04 9.99950762e-01 -1.23504323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.560371743 meters 0.036882564158404546 Centerline is valid? [True, True] Translation: X:10.40, Y:-0.75, Z:-0.12 [[ 9.99918418e-01 -6.65578441e-03 1.09022038e-02 1.04003931e+01] [ 6.66363172e-03 9.99977564e-01 -6.83623543e-04 -7.48124506e-01] [-1.08974092e-02 7.56216043e-04 9.99940336e-01 -1.23868832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.620371743 meters 0.0401352736943194 Centerline is valid? [True, True] Translation: X:10.46, Y:-0.75, Z:-0.13 [[ 9.99897041e-01 -9.35463298e-03 1.08811330e-02 1.04601898e+01] [ 9.36261491e-03 9.99955937e-01 -6.82847070e-04 -7.52669271e-01] [-1.08742658e-02 7.84652623e-04 9.99940566e-01 -1.25323794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.680371743 meters 0.04136081512610376 Centerline is valid? [True, True] Translation: X:10.52, Y:-0.75, Z:-0.13 [[ 9.99878140e-01 -1.26397104e-02 9.16208138e-03 1.05209872e+01] [ 1.26455136e-02 9.99919877e-01 -5.75738023e-04 -7.54546373e-01] [-9.15407012e-03 6.91527088e-04 9.99957862e-01 -1.27795271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.740371743 meters 0.04088164079727293 Centerline is valid? [True, True] Translation: X:10.58, Y:-0.76, Z:-0.13 [[ 9.99853603e-01 -1.53909646e-02 7.47595962e-03 1.05817651e+01] [ 1.53949046e-02 9.99881381e-01 -4.69767221e-04 -7.55157091e-01] [-7.46784266e-03 5.84790134e-04 9.99971944e-01 -1.29918988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.800371743 meters 0.041975821214424607 Centerline is valid? [True, True] Translation: X:10.64, Y:-0.76, Z:-0.13 [[ 9.99827223e-01 -1.74945422e-02 6.28219285e-03 1.06426590e+01] [ 1.74973661e-02 9.99846831e-01 -3.94827460e-04 -7.57814795e-01] [-6.27432329e-03 5.04681071e-04 9.99980189e-01 -1.31044882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.860371743 meters 0.04086893050141902 Centerline is valid? [True, True] Translation: X:10.70, Y:-0.76, Z:-0.13 [[ 9.99827488e-01 -1.76407711e-02 5.81347463e-03 1.07049179e+01] [ 1.76431896e-02 9.99844280e-01 -3.65002670e-04 -7.57254361e-01] [-5.80613043e-03 4.67507938e-04 9.99983035e-01 -1.31980816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.920371743 meters 0.038237050587469845 Centerline is valid? [True, True] Translation: X:10.77, Y:-0.75, Z:-0.13 [[ 9.99850507e-01 -1.57168092e-02 7.20731047e-03 1.07672694e+01] [ 1.57204833e-02 9.99876323e-01 -4.53406353e-04 -7.52388898e-01] [-7.19929299e-03 5.66640975e-04 9.99973924e-01 -1.31898503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.980371743000001 meters 0.037926627104667654 Centerline is valid? [True, True] Translation: X:10.83, Y:-0.75, Z:-0.13 [[ 9.99888754e-01 -1.20243334e-02 8.82581967e-03 1.08279728e+01] [ 1.20297085e-02 9.99927486e-01 -5.56180237e-04 -7.50149058e-01] [-8.81849197e-03 6.62290402e-04 9.99960897e-01 -1.31586080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.040371743 meters 0.03692840940439188 Centerline is valid? [True, True] Translation: X:10.89, Y:-0.75, Z:-0.13 [[ 9.99924010e-01 -7.88006211e-03 9.48046787e-03 1.08889038e+01] [ 7.88607915e-03 9.99968726e-01 -5.97462030e-04 -7.46619630e-01] [-9.47546333e-03 6.72180349e-04 9.99954881e-01 -1.30922565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.100371743 meters 0.038148997989469774 Centerline is valid? [True, True] Translation: X:10.95, Y:-0.75, Z:-0.13 [[ 9.99922404e-01 -6.90158654e-03 1.03708361e-02 1.09503470e+01] [ 6.90873268e-03 9.99975921e-01 -6.53393315e-04 -7.49524949e-01] [-1.03660769e-02 7.24991948e-04 9.99946008e-01 -1.31778685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.160371743 meters 0.03739387301720456 Centerline is valid? [True, True] Translation: X:11.01, Y:-0.75, Z:-0.13 [[ 9.99930355e-01 -7.15049598e-03 9.38911993e-03 1.10124443e+01] [ 7.15636740e-03 9.99974218e-01 -5.91894811e-04 -7.50265956e-01] [-9.38464552e-03 6.59045580e-04 9.99955746e-01 -1.33632328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.220371743 meters 0.039490387900464656 Centerline is valid? [True, True] Translation: X:11.07, Y:-0.75, Z:-0.14 [[ 9.99935827e-01 -8.27606900e-03 7.73619570e-03 1.10735256e+01] [ 8.28008921e-03 9.99965601e-01 -4.87778418e-04 -7.53193561e-01] [-7.73189269e-03 5.51803506e-04 9.99969956e-01 -1.36805912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.280371743 meters 0.04087855054777187 Centerline is valid? [True, True] Translation: X:11.14, Y:-0.76, Z:-0.14 [[ 9.99935504e-01 -9.29652850e-03 6.52401971e-03 1.11357956e+01] [ 9.29941497e-03 9.99956675e-01 -4.12241545e-04 -7.55382791e-01] [-6.51990464e-03 4.72884523e-04 9.99978633e-01 -1.39433042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.340371743 meters 0.0435562561811293 Centerline is valid? [True, True] Translation: X:11.20, Y:-0.76, Z:-0.14 [[ 9.99934295e-01 -9.45080654e-03 6.48758744e-03 1.11964479e+01] [ 9.45366794e-03 9.99955229e-01 -4.10531794e-04 -7.59023837e-01] [-6.48341713e-03 4.71836317e-04 9.99978871e-01 -1.40623703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.400371743000001 meters 0.046359051688416586 Centerline is valid? [True, True] Translation: X:11.26, Y:-0.76, Z:-0.14 [[ 9.99944770e-01 -8.41717154e-03 6.29348791e-03 1.12581445e+01] [ 8.41984509e-03 9.99964473e-01 -3.98436395e-04 -7.62112933e-01] [-6.28991062e-03 4.51404582e-04 9.99980116e-01 -1.42502061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.460371743 meters 0.038912760363814164 Centerline is valid? [True, True] Translation: X:11.32, Y:-0.75, Z:-0.14 [[ 9.99946334e-01 -7.54403173e-03 7.10051392e-03 1.13215689e+01] [ 7.54741568e-03 9.99971417e-01 -4.49902015e-04 -7.53218172e-01] [-7.09691689e-03 5.03468400e-04 9.99974690e-01 -1.41903307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.520371743 meters 0.038507280455878326 Centerline is valid? [True, True] Translation: X:11.38, Y:-0.75, Z:-0.14 [[ 9.99938368e-01 -7.33727206e-03 8.33212061e-03 1.13840601e+01] [ 7.34193505e-03 9.99972908e-01 -5.29189611e-04 -7.53258414e-01] [-8.32801206e-03 5.90330884e-04 9.99965147e-01 -1.41884600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.580371743 meters 0.03850429321366011 Centerline is valid? [True, True] Translation: X:11.45, Y:-0.75, Z:-0.14 [[ 9.99939719e-01 -7.95743424e-03 7.56550428e-03 1.14461049e+01] [ 7.96129971e-03 9.99968193e-01 -4.80953585e-04 -7.54309708e-01] [-7.56143649e-03 5.41155840e-04 9.99971266e-01 -1.43729203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.640371743 meters 0.039250515420976316 Centerline is valid? [True, True] Translation: X:11.51, Y:-0.76, Z:-0.15 [[ 9.99940069e-01 -8.32252862e-03 7.11295369e-03 1.15081250e+01] [ 8.32595792e-03 9.99965236e-01 -4.52643589e-04 -7.57581060e-01] [-7.10893928e-03 5.11838615e-04 9.99974600e-01 -1.45626606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.700371743 meters 0.039701777021639156 Centerline is valid? [True, True] Translation: X:11.57, Y:-0.76, Z:-0.15 [[ 9.99971713e-01 -5.47274875e-03 5.15975621e-03 1.15677780e+01] [ 5.47451928e-03 9.99984961e-01 -3.29081533e-04 -7.59192872e-01] [-5.15787763e-03 3.57319409e-04 9.99986634e-01 -1.49121654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.760371743 meters 0.03889622785133538 Centerline is valid? [True, True] Translation: X:11.63, Y:-0.76, Z:-0.15 [[ 9.99987513e-01 -3.43294612e-04 4.98552463e-03 1.16271865e+01] [ 3.44884947e-04 9.99999890e-01 -3.18134331e-04 -7.56793472e-01] [-4.98541487e-03 3.19849791e-04 9.99987522e-01 -1.50492121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.820371743 meters 0.035658163856464385 Centerline is valid? [True, True] Translation: X:11.69, Y:-0.75, Z:-0.15 [[ 9.99967236e-01 5.84010626e-03 5.60542747e-03 1.16887764e+01] [-5.83819500e-03 9.99982894e-01 -3.57268121e-04 -7.50842718e-01] [-5.60741806e-03 3.24530836e-04 9.99984226e-01 -1.51188948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.880371743 meters 0.030889008174720164 Centerline is valid? [True, True] Translation: X:11.75, Y:-0.74, Z:-0.15 [[ 9.99928810e-01 1.04258137e-02 5.80329441e-03 1.17500389e+01] [-1.04238406e-02 9.99945602e-01 -3.70140653e-04 -7.43876689e-01] [-5.80683774e-03 3.09621686e-04 9.99983092e-01 -1.50877508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.940371743 meters 0.02910171697082789 Centerline is valid? [True, True] Translation: X:11.81, Y:-0.74, Z:-0.15 [[ 9.99818711e-01 1.75646328e-02 7.35047112e-03 1.18103796e+01] [-1.75616589e-02 9.99845672e-01 -4.68945903e-04 -7.39142780e-01] [-7.35757360e-03 3.39774421e-04 9.99972875e-01 -1.50413645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.000371743 meters 0.02893318937596122 Centerline is valid? [True, True] Translation: X:11.87, Y:-0.74, Z:-0.15 [[ 9.99745929e-01 2.15037700e-02 6.75753906e-03 1.18692993e+01] [-2.15013470e-02 9.99768726e-01 -4.31019397e-04 -7.40062965e-01] [-6.76524476e-03 2.85613695e-04 9.99977075e-01 -1.52603324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.060371743 meters 0.026418120227346714 Centerline is valid? [True, True] Translation: X:11.93, Y:-0.74, Z:-0.15 [[ 9.99698909e-01 2.39042753e-02 5.53873600e-03 1.19285968e+01] [-2.39026810e-02 9.99714227e-01 -3.53871183e-04 -7.38586825e-01] [-5.54561221e-03 2.21373996e-04 9.99984598e-01 -1.54807680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.120371743 meters 0.026229186146076385 Centerline is valid? [True, True] Translation: X:11.99, Y:-0.74, Z:-0.16 [[ 9.99637417e-01 2.64621598e-02 4.97891398e-03 1.19877814e+01] [-2.64609082e-02 9.99649799e-01 -3.17105957e-04 -7.39454967e-01] [-4.98556166e-03 1.85244394e-04 9.99987555e-01 -1.55443205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.180371743 meters 0.02565160778674704 Centerline is valid? [True, True] Translation: X:12.05, Y:-0.74, Z:-0.16 [[ 9.99491427e-01 3.14872013e-02 5.04411960e-03 1.20465717e+01] [-3.14859820e-02 9.99504142e-01 -3.20967472e-04 -7.39363142e-01] [-5.05172480e-03 1.61985177e-04 9.99987227e-01 -1.55503073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.240371743 meters 0.025186445670787115 Centerline is valid? [True, True] Translation: X:12.11, Y:-0.74, Z:-0.16 [[ 9.99407480e-01 3.40159459e-02 5.25397656e-03 1.21052578e+01] [-3.40146589e-02 9.99421278e-01 -3.34155843e-04 -7.41383663e-01] [-5.26230260e-03 1.55245628e-04 9.99986142e-01 -1.56211675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.300371743 meters 0.025278176435438178 Centerline is valid? [True, True] Translation: X:12.16, Y:-0.74, Z:-0.16 [[ 9.99340421e-01 3.59828592e-02 4.89448007e-03 1.21635292e+01] [-3.59817672e-02 9.99352398e-01 -3.11007422e-04 -7.44445655e-01] [-4.90250133e-03 1.34690246e-04 9.99987974e-01 -1.58540481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.360371743 meters 0.024377205234378443 Centerline is valid? [True, True] Translation: X:12.22, Y:-0.75, Z:-0.16 [[ 9.99323910e-01 3.65272745e-02 4.18101510e-03 1.22219625e+01] [-3.65264830e-02 9.99332650e-01 -2.65545955e-04 -7.45270483e-01] [-4.18792457e-03 1.12648645e-04 9.99991224e-01 -1.59202784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.420371743 meters 0.024574597252739087 Centerline is valid? [True, True] Translation: X:12.28, Y:-0.75, Z:-0.16 [[ 9.99367019e-01 3.53702822e-02 3.80854288e-03 1.22808972e+01] [-3.53696177e-02 9.99374270e-01 -2.41716125e-04 -7.49139199e-01] [-3.81470933e-03 1.06856418e-04 9.99992718e-01 -1.59771652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.480371743000001 meters 0.024855388789606334 Centerline is valid? [True, True] Translation: X:12.34, Y:-0.76, Z:-0.16 [[ 9.99438999e-01 3.33129738e-02 3.45445511e-03 1.23390785e+01] [-3.33124153e-02 9.99444963e-01 -2.19087776e-04 -7.55024900e-01] [-3.45983623e-03 1.03888624e-04 9.99994009e-01 -1.60826978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.540371743 meters 0.026009672728593256 Centerline is valid? [True, True] Translation: X:12.40, Y:-0.77, Z:-0.16 [[ 9.99560900e-01 2.93199890e-02 4.28312484e-03 1.23977567e+01] [-2.93190970e-02 9.99570066e-01 -2.70906930e-04 -7.65013879e-01] [-4.28922637e-03 1.45210622e-04 9.99990791e-01 -1.61155116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.600371743 meters 0.026504031359904142 Centerline is valid? [True, True] Translation: X:12.46, Y:-0.77, Z:-0.16 [[ 9.99609614e-01 2.73143873e-02 5.87744581e-03 1.24560303e+01] [-2.73126757e-02 9.99626870e-01 -3.71298073e-04 -7.72133595e-01] [-5.88539454e-03 2.10624352e-04 9.99982659e-01 -1.60027644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.660371743 meters 0.027110766973947726 Centerline is valid? [True, True] Translation: X:12.51, Y:-0.78, Z:-0.16 [[ 9.99628529e-01 2.66936982e-02 5.49999029e-03 1.25149725e+01] [-2.66921919e-02 9.99643640e-01 -3.47119587e-04 -7.78907840e-01] [-5.50729622e-03 2.00183846e-04 9.99984815e-01 -1.60721532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.720371743 meters 0.026589086417827403 Centerline is valid? [True, True] Translation: X:12.57, Y:-0.78, Z:-0.16 [[ 9.99626904e-01 2.68046012e-02 5.25040523e-03 1.25741450e+01] [-2.68032316e-02 9.99640674e-01 -3.31048276e-04 -7.82245797e-01] [-5.25739224e-03 1.90196936e-04 9.99986162e-01 -1.61465911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.780371743 meters 0.027166000874261353 Centerline is valid? [True, True] Translation: X:12.63, Y:-0.79, Z:-0.16 [[ 9.99575885e-01 2.85586327e-02 5.69688340e-03 1.26316595e+01] [-2.85570509e-02 9.99592100e-01 -3.58836955e-04 -7.88372943e-01] [-5.70480753e-03 1.95998578e-04 9.99983708e-01 -1.62015415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.840371743 meters 0.0261377311019076 Centerline is valid? [True, True] Translation: X:12.69, Y:-0.79, Z:-0.16 [[ 9.99514265e-01 3.06238703e-02 5.78034944e-03 1.26906044e+01] [-3.06222802e-02 9.99530962e-01 -3.63418209e-04 -7.91909772e-01] [-5.78876751e-03 1.86234204e-04 9.99983228e-01 -1.62728680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.900371743000001 meters 0.026137061120354816 Centerline is valid? [True, True] Translation: X:12.75, Y:-0.80, Z:-0.17 [[ 9.99416527e-01 3.38722265e-02 4.39059158e-03 1.27478002e+01] [-3.38713400e-02 9.99426163e-01 -2.76128726e-04 -7.98024542e-01] [-4.39742519e-03 1.27252392e-04 9.99990323e-01 -1.65858460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.960371743 meters 0.02416809149361028 Centerline is valid? [True, True] Translation: X:12.81, Y:-0.80, Z:-0.17 [[ 9.99321817e-01 3.66735098e-02 3.31049868e-03 1.28063849e+01] [-3.66730217e-02 9.99327297e-01 -2.08055480e-04 -7.99826245e-01] [-3.31590182e-03 8.65083908e-05 9.99994499e-01 -1.66841018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.020371743 meters 0.024003847794021916 Centerline is valid? [True, True] Translation: X:12.86, Y:-0.80, Z:-0.17 [[ 9.99173384e-01 4.04326756e-02 4.21271834e-03 1.28638773e+01] [-4.04319203e-02 9.99182261e-01 -2.64336106e-04 -8.04491777e-01] [-4.21996125e-03 9.37893093e-05 9.99991092e-01 -1.67936437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.080371743 meters 0.022540474877274723 Centerline is valid? [True, True] Translation: X:12.92, Y:-0.81, Z:-0.17 [[ 9.98862531e-01 4.72570305e-02 6.35738929e-03 1.29234705e+01] [-4.72554589e-02 9.98882758e-01 -3.97278639e-04 -8.07281371e-01] [-6.36906075e-03 9.64053989e-05 9.99979713e-01 -1.67564725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.140371743 meters 0.02222336817306554 Centerline is valid? [True, True] Translation: X:12.98, Y:-0.81, Z:-0.17 [[ 9.98724459e-01 5.01159758e-02 6.15171846e-03 1.29820699e+01] [-5.01145580e-02 9.98743402e-01 -3.84505663e-04 -8.13831947e-01] [-6.16325810e-03 7.57245585e-05 9.99981004e-01 -1.68942465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.200371743 meters 0.022295385697595437 Centerline is valid? [True, True] Translation: X:13.04, Y:-0.83, Z:-0.17 [[ 9.98782477e-01 4.88821693e-02 6.64051014e-03 1.30389499e+01] [-4.88804907e-02 9.98804548e-01 -4.14949889e-04 -8.26061620e-01] [-6.65285538e-03 8.98532845e-05 9.99977865e-01 -1.71256317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.260371743 meters 0.02206748374915871 Centerline is valid? [True, True] Translation: X:13.10, Y:-0.84, Z:-0.17 [[ 9.98889711e-01 4.65883367e-02 6.99084247e-03 1.30971013e+01] [-4.65864301e-02 9.98914168e-01 -4.35409529e-04 -8.35137841e-01] [-7.00353660e-03 1.09247704e-04 9.99975469e-01 -1.71305076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.320371743 meters 0.022621963358637063 Centerline is valid? [True, True] Translation: X:13.16, Y:-0.85, Z:-0.17 [[ 9.99073305e-01 4.23173096e-02 7.85982841e-03 1.31555726e+01] [-4.23147729e-02 9.99104209e-01 -4.88838515e-04 -8.48066899e-01] [-7.87347398e-03 1.55798657e-04 9.99968992e-01 -1.71641347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.380371743 meters 0.023571813781071208 Centerline is valid? [True, True] Translation: X:13.21, Y:-0.86, Z:-0.17 [[ 9.99298228e-01 3.67226883e-02 7.38217274e-03 1.32139834e+01] [-3.67203022e-02 9.99325477e-01 -4.58544933e-04 -8.63172822e-01] [-7.39403230e-03 1.87147524e-04 9.99972646e-01 -1.73452269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.440371743 meters 0.024941245425000567 Centerline is valid? [True, True] Translation: X:13.27, Y:-0.88, Z:-0.17 [[ 9.99467090e-01 3.16865805e-02 7.84200997e-03 1.32727986e+01] [-3.16837376e-02 9.99497826e-01 -4.86528347e-04 -8.76143504e-01] [-7.85348833e-03 2.37804885e-04 9.99969133e-01 -1.74944072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.500371743 meters 0.02638805547578341 Centerline is valid? [True, True] Translation: X:13.33, Y:-0.89, Z:-0.17 [[ 9.99651504e-01 2.46352524e-02 9.48550098e-03 1.33319326e+01] [-2.46307807e-02 9.99696443e-01 -5.87975010e-04 -8.90799939e-01] [-9.49710651e-03 3.54134809e-04 9.99954839e-01 -1.74144939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.560371743 meters 0.030108799704872135 Centerline is valid? [True, True] Translation: X:13.39, Y:-0.91, Z:-0.18 [[ 9.99737290e-01 2.01493251e-02 1.09250250e-02 1.33902184e+01] [-2.01431285e-02 9.99796877e-01 -6.76945465e-04 -9.08246884e-01] [-1.09364459e-02 4.56703442e-04 9.99940091e-01 -1.75041668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.620371743 meters 0.026867111751057503 Centerline is valid? [True, True] Translation: X:13.45, Y:-0.91, Z:-0.18 [[ 9.99775415e-01 1.83920102e-02 1.05286792e-02 1.34493568e+01] [-1.83861570e-02 9.99830747e-01 -6.52458072e-04 -9.11936629e-01] [-1.05388972e-02 4.58729591e-04 9.99944359e-01 -1.76261159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.680371743 meters 0.027142761853716946 Centerline is valid? [True, True] Translation: X:13.51, Y:-0.92, Z:-0.18 [[ 9.99796429e-01 1.81543683e-02 8.80447859e-03 1.35076695e+01] [-1.81502684e-02 9.99835122e-01 -5.45346917e-04 -9.17761074e-01] [-8.81292735e-03 3.85432250e-04 9.99961091e-01 -1.77764629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.740371743 meters 0.026326612133625412 Centerline is valid? [True, True] Translation: X:13.57, Y:-0.92, Z:-0.18 [[ 9.99737962e-01 2.11331703e-02 8.79754124e-03 1.35674478e+01] [-2.11292001e-02 9.99776606e-01 -5.43996147e-04 -9.22496353e-01] [-8.80707228e-03 3.57968591e-04 9.99961153e-01 -1.78994619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.800371743 meters 0.025017184851569445 Centerline is valid? [True, True] Translation: X:13.63, Y:-0.92, Z:-0.18 [[ 9.99611425e-01 2.68496625e-02 7.48967753e-03 1.36278317e+01] [-2.68469459e-02 9.99639449e-01 -4.63026544e-04 -9.23710750e-01] [-7.49940922e-03 2.61771655e-04 9.99971845e-01 -1.80820654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.860371743 meters 0.024296116551942935 Centerline is valid? [True, True] Translation: X:13.69, Y:-0.93, Z:-0.18 [[ 9.99509320e-01 3.02623551e-02 8.08134410e-03 1.36877842e+01] [-3.02593051e-02 9.99541958e-01 -4.99439774e-04 -9.25294634e-01] [-8.09275672e-03 2.54658853e-04 9.99967221e-01 -1.81854336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.920371743 meters 0.022489666157208623 Centerline is valid? [True, True] Translation: X:13.75, Y:-0.92, Z:-0.18 [[ 9.99317667e-01 3.56349315e-02 9.71349566e-03 1.37483644e+01] [-3.56307807e-02 9.99364842e-01 -6.00089715e-04 -9.24275137e-01] [-9.72871021e-03 2.53580820e-04 9.99952643e-01 -1.81418439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.980371743 meters 0.02222000074534267 Centerline is valid? [True, True] Translation: X:13.81, Y:-0.93, Z:-0.18 [[ 9.99210205e-01 3.81106524e-02 1.12491653e-02 1.38058362e+01] [-3.81052428e-02 9.99273490e-01 -6.94913638e-04 -9.28235769e-01] [-1.12674762e-02 2.65712626e-04 9.99936485e-01 -1.81933142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.040371743 meters 0.022243735793587394 Centerline is valid? [True, True] Translation: X:13.86, Y:-0.93, Z:-0.18 [[ 9.99187748e-01 3.87242676e-02 1.11478711e-02 1.38643062e+01] [-3.87190048e-02 9.99249902e-01 -6.87610291e-04 -9.33267921e-01] [-1.11661363e-02 2.55417305e-04 9.99937624e-01 -1.82800771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.100371743 meters 0.02185258767585659 Centerline is valid? [True, True] Translation: X:13.92, Y:-0.94, Z:-0.18 [[ 9.99250267e-01 3.74092565e-02 9.97250425e-03 1.39229722e+01] [-3.74049855e-02 9.99300000e-01 -6.14512106e-04 -9.40169746e-01] [-9.98851194e-03 2.41030009e-04 9.99950085e-01 -1.84965066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.160371743 meters 0.02195641660086622 Centerline is valid? [True, True] Translation: X:13.98, Y:-0.95, Z:-0.19 [[ 9.99313086e-01 3.58744164e-02 9.29425212e-03 1.39810452e+01] [-3.58706460e-02 9.99356278e-01 -5.72096443e-04 -9.48415007e-01] [-9.30879283e-03 2.38312634e-04 9.99956644e-01 -1.85947251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.220371743 meters 0.02207689512950287 Centerline is valid? [True, True] Translation: X:14.04, Y:-0.95, Z:-0.19 [[ 9.99300452e-01 3.62802429e-02 9.07467598e-03 1.40401376e+01] [-3.62766712e-02 9.99341629e-01 -5.57938182e-04 -9.53187680e-01] [-9.08894361e-03 2.28348841e-04 9.99958669e-01 -1.86754186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.280371743 meters 0.022076315516756196 Centerline is valid? [True, True] Translation: X:14.10, Y:-0.96, Z:-0.19 [[ 9.99197294e-01 3.87954188e-02 9.98416750e-03 1.40976994e+01] [-3.87912284e-02 9.99247149e-01 -6.13090569e-04 -9.59094901e-01] [-1.00004360e-02 2.25300316e-04 9.99949969e-01 -1.87400131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.340371743 meters 0.021768645358304944 Centerline is valid? [True, True] Translation: X:14.16, Y:-0.96, Z:-0.19 [[ 9.99158174e-01 3.96268875e-02 1.06138030e-02 1.41568032e+01] [-3.96222104e-02 9.99214520e-01 -6.50661853e-04 -9.62836026e-01] [-1.06312498e-02 2.29571772e-04 9.99943460e-01 -1.86949276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.400371743 meters 0.022156390702044892 Centerline is valid? [True, True] Translation: X:14.21, Y:-0.97, Z:-0.19 [[ 9.99183659e-01 3.88873325e-02 1.09449017e-02 1.42146800e+01] [-3.88823231e-02 9.99243572e-01 -6.70184770e-04 -9.68879549e-01] [-1.09626844e-02 2.44074465e-04 9.99939878e-01 -1.87150113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.460371743 meters 0.022902369409630238 Centerline is valid? [True, True] Translation: X:14.27, Y:-0.98, Z:-0.19 [[ 9.99310073e-01 3.53985206e-02 1.12393795e-02 1.42714408e+01] [-3.53930287e-02 9.99373234e-01 -6.87223575e-04 -9.78682667e-01] [-1.12566617e-02 2.88953759e-04 9.99936600e-01 -1.89049496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.520371743 meters 0.024357378040847658 Centerline is valid? [True, True] Translation: X:14.33, Y:-0.99, Z:-0.19 [[ 9.99443741e-01 3.15405711e-02 1.08351312e-02 1.43306944e+01] [-3.15352548e-02 9.99502421e-01 -6.61196452e-04 -9.88322332e-01] [-1.08505944e-02 3.19140033e-04 9.99941080e-01 -1.90590593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.580371743 meters 0.0250570396188198 Centerline is valid? [True, True] Translation: X:14.39, Y:-1.00, Z:-0.19 [[ 9.99514016e-01 2.97959780e-02 9.16141929e-03 1.43887703e+01] [-2.97921048e-02 9.99555960e-01 -5.58985402e-04 -9.95985444e-01] [-9.17400678e-03 2.85775780e-04 9.99957877e-01 -1.93423337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.640371743 meters 0.02325426952693424 Centerline is valid? [True, True] Translation: X:14.45, Y:-1.00, Z:-0.19 [[ 9.99541229e-01 2.91255264e-02 8.30877298e-03 1.44477303e+01] [-2.91223213e-02 9.99575727e-01 -5.06502053e-04 -9.97839757e-01] [-8.31999993e-03 2.64298928e-04 9.99965353e-01 -1.94896938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.700371743 meters 0.024047821226629545 Centerline is valid? [True, True] Translation: X:14.51, Y:-1.01, Z:-0.20 [[ 9.99550941e-01 2.88972795e-02 7.92871382e-03 1.45051978e+01] [-2.88943568e-02 9.99582354e-01 -4.82950399e-04 -1.00598675e+00] [-7.93935837e-03 2.53638440e-04 9.99968451e-01 -1.96240024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.760371743 meters 0.023616642553885393 Centerline is valid? [True, True] Translation: X:14.56, Y:-1.01, Z:-0.20 [[ 9.99484732e-01 3.09355415e-02 8.55941248e-03 1.45641135e+01] [-3.09322193e-02 9.99521349e-01 -5.20274735e-04 -1.00970319e+00] [-8.57141049e-03 2.55245030e-04 9.99963232e-01 -1.96663543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.820371743 meters 0.023200233438416314 Centerline is valid? [True, True] Translation: X:14.62, Y:-1.01, Z:-0.20 [[ 9.99429205e-01 3.27862877e-02 8.14389467e-03 1.46233022e+01] [-3.27833438e-02 9.99462359e-01 -4.94754264e-04 -1.01359328e+00] [-8.15573734e-03 2.27487762e-04 9.99966716e-01 -1.97957796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.880371743 meters 0.022508445049385383 Centerline is valid? [True, True] Translation: X:14.68, Y:-1.02, Z:-0.20 [[ 9.99366162e-01 3.46226740e-02 8.27916182e-03 1.46821554e+01] [-3.46197051e-02 9.99400432e-01 -5.01697489e-04 -1.01651937e+00] [-8.29156801e-03 2.14757354e-04 9.99965601e-01 -1.99814337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.940371743 meters 0.023156774287940277 Centerline is valid? [True, True] Translation: X:14.74, Y:-1.02, Z:-0.20 [[ 9.99469263e-01 3.17447135e-02 7.31199190e-03 1.47406076e+01] [-3.17423238e-02 9.99495987e-01 -4.42665720e-04 -1.02371869e+00] [-7.32235886e-03 2.10331167e-04 9.99973169e-01 -2.02378067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.000371743 meters 0.024812286692279785 Centerline is valid? [True, True] Translation: X:14.80, Y:-1.03, Z:-0.20 [[ 9.99617440e-01 2.66990813e-02 7.22025717e-03 1.47999694e+01] [-2.66966252e-02 9.99643486e-01 -4.36356143e-04 -1.03218019e+00] [-7.22933336e-03 2.43432711e-04 9.99973838e-01 -2.03590893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.060371743 meters 0.02767439394312267 Centerline is valid? [True, True] Translation: X:14.86, Y:-1.04, Z:-0.20 [[ 9.99824560e-01 1.71361225e-02 7.56326088e-03 1.48596471e+01] [-1.71331582e-02 9.99853112e-01 -4.56555107e-04 -1.04409281e+00] [-7.56997352e-03 3.26892464e-04 9.99971294e-01 -2.04321166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.120371743 meters 0.03047173446232154 Centerline is valid? [True, True] Translation: X:14.92, Y:-1.05, Z:-0.20 [[ 9.99889045e-01 1.19785597e-02 8.85509068e-03 1.49180493e+01] [-1.19742927e-02 9.99928163e-01 -5.34735517e-04 -1.05315785e+00] [-8.86085992e-03 4.28642737e-04 9.99960650e-01 -2.04093226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.180371743 meters 0.030788031663391863 Centerline is valid? [True, True] Translation: X:14.98, Y:-1.06, Z:-0.20 [[ 9.99845480e-01 1.45569148e-02 9.85453364e-03 1.49784559e+01] [-1.45517613e-02 9.99893941e-01 -5.94465967e-04 -1.05588695e+00] [-9.86214207e-03 4.50973289e-04 9.99951266e-01 -2.04355546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.240371743 meters 0.028485480336339138 Centerline is valid? [True, True] Translation: X:15.04, Y:-1.05, Z:-0.21 [[ 9.99777124e-01 1.86959344e-02 9.80635971e-03 1.50384831e+01] [-1.86910267e-02 9.99825132e-01 -5.91877976e-04 -1.05347332e+00] [-9.81571060e-03 4.08455130e-04 9.99951741e-01 -2.05610280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.300371743 meters 0.02503308593659918 Centerline is valid? [True, True] Translation: X:15.10, Y:-1.05, Z:-0.21 [[ 9.99627208e-01 2.52384764e-02 1.04145838e-02 1.50996433e+01] [-2.52332978e-02 9.99681392e-01 -6.28361386e-04 -1.04782047e+00] [-1.04271245e-02 3.65332844e-04 9.99945569e-01 -2.06910108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.360371743 meters 0.0237234890811906 Centerline is valid? [True, True] Translation: X:15.16, Y:-1.05, Z:-0.21 [[ 9.99528738e-01 2.83830266e-02 1.16920940e-02 1.51589833e+01] [-2.83767146e-02 9.99597051e-01 -7.05428482e-04 -1.04665010e+00] [-1.17074049e-02 3.73312827e-04 9.99931396e-01 -2.07077228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.420371743 meters 0.022446823972519542 Centerline is valid? [True, True] Translation: X:15.22, Y:-1.04, Z:-0.21 [[ 9.99418829e-01 3.27156768e-02 9.57547203e-03 1.52191673e+01] [-3.27116457e-02 9.99464664e-01 -5.77342625e-04 -1.04432486e+00] [-9.58923409e-03 2.63777641e-04 9.99953987e-01 -2.09288480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.480371743 meters 0.021297204599979695 Centerline is valid? [True, True] Translation: X:15.28, Y:-1.04, Z:-0.21 [[ 9.99261020e-01 3.76781268e-02 7.60087717e-03 1.52784808e+01] [-3.76757323e-02 9.99289913e-01 -4.58024017e-04 -1.04380373e+00] [-7.61273737e-03 1.71316932e-04 9.99971008e-01 -2.12592530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.540371743 meters 0.020694425014190453 Centerline is valid? [True, True] Translation: X:15.34, Y:-1.04, Z:-0.21 [[ 9.99071136e-01 4.24668641e-02 7.30969139e-03 1.53376895e+01] [-4.24647771e-02 9.99097867e-01 -4.40547272e-04 -1.04397128e+00] [-7.32180574e-03 1.29733648e-04 9.99973187e-01 -2.14156423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.600371743 meters 0.01958570060219851 Centerline is valid? [True, True] Translation: X:15.40, Y:-1.04, Z:-0.21 [[ 9.98710253e-01 5.00085735e-02 8.77345667e-03 1.53973096e+01] [-5.00058702e-02 9.98748785e-01 -5.27365605e-04 -1.04208106e+00] [-8.78885199e-03 8.79611019e-05 9.99961373e-01 -2.14307990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.660371743 meters 0.019149639982384004 Centerline is valid? [True, True] Translation: X:15.46, Y:-1.04, Z:-0.21 [[ 9.98343349e-01 5.62545762e-02 1.20822565e-02 1.54558534e+01] [-5.62499318e-02 9.98416457e-01 -7.24150412e-04 -1.04255838e+00] [-1.21038605e-02 4.33246415e-05 9.99926745e-01 -2.12781671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.720371743 meters 0.019120865384766983 Centerline is valid? [True, True] Translation: X:15.51, Y:-1.05, Z:-0.21 [[ 9.98244723e-01 5.76524496e-02 1.35524460e-02 1.55143416e+01] [-5.76467501e-02 9.98336714e-01 -8.11147856e-04 -1.04703998e+00] [-1.35766691e-02 2.84695973e-05 9.99907832e-01 -2.13106945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.780371743 meters 0.019070741588577543 Centerline is valid? [True, True] Translation: X:15.57, Y:-1.06, Z:-0.21 [[ 9.98475744e-01 5.36912958e-02 1.27840728e-02 1.55723875e+01] [-5.36859107e-02 9.98557579e-01 -7.64288607e-04 -1.05692692e+00] [-1.28066684e-02 7.67990448e-05 9.99917988e-01 -2.14846458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.840371743 meters 0.019728362706818575 Centerline is valid? [True, True] Translation: X:15.63, Y:-1.07, Z:-0.22 [[ 9.98931117e-01 4.47540244e-02 1.15629171e-02 1.56309751e+01] [-4.47490291e-02 9.98998022e-01 -6.90500502e-04 -1.06979600e+00] [-1.15822340e-02 1.72333122e-04 9.99932909e-01 -2.16384230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.900371743 meters 0.021216204480691392 Centerline is valid? [True, True] Translation: X:15.69, Y:-1.08, Z:-0.22 [[ 9.99209836e-01 3.82223652e-02 1.08974170e-02 1.56886657e+01] [-3.82175456e-02 9.99269231e-01 -6.50246843e-04 -1.08179597e+00] [-1.09143075e-02 2.33260511e-04 9.99940410e-01 -2.18254424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.960371743 meters 0.02242601939832001 Centerline is valid? [True, True] Translation: X:15.75, Y:-1.09, Z:-0.22 [[ 9.99520714e-01 2.90028875e-02 1.08247596e-02 1.57480479e+01] [-2.89976016e-02 9.99579273e-01 -6.44976840e-04 -1.09476784e+00] [-1.08389115e-02 3.30775646e-04 9.99941203e-01 -2.19307947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.020371743 meters 0.024205294019086148 Centerline is valid? [True, True] Translation: X:15.81, Y:-1.11, Z:-0.22 [[ 9.99644088e-01 2.39716169e-02 1.17072394e-02 1.58063580e+01] [-2.39650916e-02 9.99712553e-01 -6.97363933e-04 -1.10524915e+00] [-1.17205912e-02 4.16550668e-04 9.99931225e-01 -2.19080918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.080371742999997 meters 0.02667242518992035 Centerline is valid? [True, True] Translation: X:15.86, Y:-1.12, Z:-0.22 [[ 9.99745393e-01 1.90518190e-02 1.20904027e-02 1.58647454e+01] [-1.90445068e-02 9.99818378e-01 -7.19648886e-04 -1.11721074e+00] [-1.21019175e-02 4.89209901e-04 9.99926649e-01 -2.19658214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.140371743 meters 0.027503978392284013 Centerline is valid? [True, True] Translation: X:15.92, Y:-1.13, Z:-0.22 [[ 9.99756845e-01 1.73707686e-02 1.35833151e-02 1.59243855e+01] [-1.73613820e-02 9.99848953e-01 -8.08654304e-04 -1.12514361e+00] [-1.35953103e-02 5.72632553e-04 9.99907416e-01 -2.19676836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.200371742999998 meters 0.027046820110636388 Centerline is valid? [True, True] Translation: X:15.99, Y:-1.13, Z:-0.22 [[ 9.99771273e-01 1.67535359e-02 1.32936279e-02 1.59853478e+01] [-1.67444946e-02 9.99859488e-01 -7.91141593e-04 -1.12869686e+00] [-1.33050144e-02 5.68365558e-04 9.99911323e-01 -2.21449670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.260371742999997 meters 0.028190028778680164 Centerline is valid? [True, True] Translation: X:16.05, Y:-1.13, Z:-0.22 [[ 9.99822345e-01 1.50636859e-02 1.13297929e-02 1.60464595e+01] [-1.50570066e-02 9.99886409e-01 -6.74600447e-04 -1.13498371e+00] [-1.13386679e-02 5.03887834e-04 9.99935588e-01 -2.24940938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.320371743 meters 0.03083358896180818 Centerline is valid? [True, True] Translation: X:16.11, Y:-1.14, Z:-0.23 [[ 9.99853067e-01 1.42670040e-02 9.50245530e-03 1.61064086e+01] [-1.42622665e-02 9.99898128e-01 -5.66133746e-04 -1.14250070e+00] [-9.50956431e-03 4.30524012e-04 9.99954690e-01 -2.27902079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.380371742999998 meters 0.026380654000171887 Centerline is valid? [True, True] Translation: X:16.17, Y:-1.14, Z:-0.23 [[ 9.99828414e-01 1.63750378e-02 8.66030873e-03 1.61677160e+01] [-1.63711807e-02 9.99865850e-01 -5.16085249e-04 -1.13708167e+00] [-8.66759787e-03 3.74217216e-04 9.99962366e-01 -2.27927025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.440371742999996 meters 0.024293085371517534 Centerline is valid? [True, True] Translation: X:16.23, Y:-1.13, Z:-0.23 [[ 9.99643230e-01 2.59595150e-02 6.28624549e-03 1.62267333e+01] [-2.59576687e-02 9.99662973e-01 -3.75137212e-04 -1.13090107e+00] [-6.29386523e-03 2.11827096e-04 9.99980171e-01 -2.28892623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.500371743 meters 0.023586750686205863 Centerline is valid? [True, True] Translation: X:16.29, Y:-1.13, Z:-0.23 [[ 9.99575638e-01 2.85101475e-02 5.97628625e-03 1.62861497e+01] [-2.85085253e-02 9.99593486e-01 -3.56480683e-04 -1.13173994e+00] [-5.98402012e-03 1.85954298e-04 9.99982078e-01 -2.29670690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.560371742999997 meters 0.021736318085569344 Centerline is valid? [True, True] Translation: X:16.35, Y:-1.13, Z:-0.23 [[ 9.99407343e-01 3.36674538e-02 7.17392096e-03 1.63463606e+01] [-3.36652544e-02 9.99433073e-01 -4.27145908e-04 -1.12956722e+00] [-7.18423479e-03 1.85380883e-04 9.99974176e-01 -2.29238580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.620371743 meters 0.020586440870063612 Centerline is valid? [True, True] Translation: X:16.41, Y:-1.13, Z:-0.23 [[ 9.99167810e-01 3.96565168e-02 9.54195691e-03 1.64062526e+01] [-3.96529004e-02 9.99213353e-01 -5.67965959e-04 -1.12829090e+00] [-9.55697431e-03 1.89127036e-04 9.99954313e-01 -2.27594471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.680371743 meters 0.020262322618787954 Centerline is valid? [True, True] Translation: X:16.47, Y:-1.13, Z:-0.23 [[ 9.99093521e-01 4.09459718e-02 1.16431745e-02 1.64651882e+01] [-4.09406800e-02 9.99161339e-01 -6.92580830e-04 -1.13192162e+00] [-1.16617682e-02 2.15273540e-04 9.99931976e-01 -2.26757646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.740371742999997 meters 0.02082575680268662 Centerline is valid? [True, True] Translation: X:16.52, Y:-1.14, Z:-0.23 [[ 9.99187802e-01 3.87140565e-02 1.11784738e-02 1.65234753e+01] [-3.87090479e-02 9.99250303e-01 -6.64155084e-04 -1.13888910e+00] [-1.11958055e-02 2.30907579e-04 9.99937298e-01 -2.28759231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.800371743 meters 0.022225040155757526 Centerline is valid? [True, True] Translation: X:16.58, Y:-1.15, Z:-0.23 [[ 9.99438103e-01 3.21891731e-02 9.34531851e-03 1.65822209e+01] [-3.21853931e-02 9.99481762e-01 -5.54633673e-04 -1.14961825e+00] [-9.35832861e-03 2.53539276e-04 9.99956178e-01 -2.32066583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.860371742999998 meters 0.023794191228067477 Centerline is valid? [True, True] Translation: X:16.64, Y:-1.16, Z:-0.23 [[ 9.99604060e-01 2.66546926e-02 9.01392939e-03 1.66425005e+01] [-2.66509577e-02 9.99644657e-01 -5.34230103e-04 -1.15856713e+00] [-9.02496610e-03 2.93788729e-04 9.99959231e-01 -2.33371192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.920371742999997 meters 0.026869225254607432 Centerline is valid? [True, True] Translation: X:16.70, Y:-1.17, Z:-0.24 [[ 9.99785085e-01 1.91403795e-02 7.96423702e-03 1.67009971e+01] [-1.91372247e-02 9.99816755e-01 -4.72143095e-04 -1.17070456e+00] [-7.97181461e-03 3.19628231e-04 9.99968173e-01 -2.35718684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.980371743 meters 0.028935187221192264 Centerline is valid? [True, True] Translation: X:16.76, Y:-1.18, Z:-0.24 [[ 9.99877140e-01 1.39382759e-02 7.17140421e-03 1.67606624e+01] [-1.39355855e-02 9.99902805e-01 -4.25001036e-04 -1.17802194e+00] [-7.17663096e-03 3.25011104e-04 9.99974195e-01 -2.37524872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.040371742999998 meters 0.028022317371115348 Centerline is valid? [True, True] Translation: X:16.82, Y:-1.18, Z:-0.24 [[ 9.99922653e-01 1.09197424e-02 5.95367670e-03 1.68207551e+01] [-1.09178358e-02 9.99940336e-01 -3.52660941e-04 -1.17926581e+00] [-5.95717245e-03 2.87632400e-04 9.99982215e-01 -2.38638190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.100371742999997 meters 0.030345086804376625 Centerline is valid? [True, True] Translation: X:16.88, Y:-1.19, Z:-0.24 [[ 9.99974061e-01 5.87399359e-03 4.16816293e-03 1.68813957e+01] [-5.87301579e-03 9.99982723e-01 -2.46788985e-04 -1.18618529e+00] [-4.16954055e-03 2.22302897e-04 9.99991283e-01 -2.40961135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.160371743 meters 0.03289214221235362 Centerline is valid? [True, True] Translation: X:16.94, Y:-1.19, Z:-0.24 [[ 9.99989400e-01 -6.94267781e-04 4.55179649e-03 1.69419020e+01] [ 6.95502060e-04 9.99999722e-01 -2.69585871e-04 -1.19104536e+00] [-4.55160806e-03 2.72748797e-04 9.99989604e-01 -2.40735747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.220371742999998 meters 0.03494042537984865 Centerline is valid? [True, True] Translation: X:17.00, Y:-1.20, Z:-0.24 [[ 9.99982360e-01 -4.47474992e-03 3.90589081e-03 1.70020040e+01] [ 4.47568742e-03 9.99989957e-01 -2.31313376e-04 -1.19536701e+00] [-3.90481652e-03 2.48790842e-04 9.99992345e-01 -2.41289623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.280371743 meters 0.035457938916596786 Centerline is valid? [True, True] Translation: X:17.06, Y:-1.19, Z:-0.24 [[ 9.99981591e-01 -4.28813078e-03 4.29286102e-03 1.70642070e+01] [ 4.28925887e-03 9.99990769e-01 -2.53612448e-04 -1.19464845e+00] [-4.29173387e-03 2.72020971e-04 9.99990753e-01 -2.41513277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.340371743 meters 0.02931036368547829 Centerline is valid? [True, True] Translation: X:17.13, Y:-1.18, Z:-0.24 [[ 9.99977988e-01 5.35024521e-03 3.92411721e-03 1.71253573e+01] [-5.34937306e-03 9.99985665e-01 -2.32715036e-04 -1.18026030e+00] [-3.92530604e-03 2.11718347e-04 9.99992274e-01 -2.40075401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.400371742999997 meters 0.029092476828752677 Centerline is valid? [True, True] Translation: X:17.19, Y:-1.18, Z:-0.24 [[ 9.99886094e-01 1.42903813e-02 4.85627946e-03 1.71850984e+01] [-1.42891496e-02 9.99897863e-01 -2.88236940e-04 -1.17654867e+00] [-4.85990247e-03 2.18812004e-04 9.99988167e-01 -2.40729205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.460371743 meters 0.02562447914502284 Centerline is valid? [True, True] Translation: X:17.25, Y:-1.17, Z:-0.24 [[ 9.99609132e-01 2.64929793e-02 8.92781682e-03 1.72457316e+01] [-2.64893059e-02 9.99648957e-01 -5.29471607e-04 -1.16599530e+00] [-8.93871005e-03 2.92772982e-04 9.99960006e-01 -2.38668998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.520371743 meters 0.02347102425846083 Centerline is valid? [True, True] Translation: X:17.31, Y:-1.16, Z:-0.24 [[ 9.99344069e-01 3.51732184e-02 8.61836935e-03 1.73054082e+01] [-3.51701191e-02 9.99381209e-01 -5.10957199e-04 -1.15695594e+00] [-8.63100839e-03 2.07512970e-04 9.99962731e-01 -2.39549059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.580371742999997 meters 0.0215670715914388 Centerline is valid? [True, True] Translation: X:17.36, Y:-1.15, Z:-0.24 [[ 9.99240837e-01 3.82388207e-02 7.45265849e-03 1.73642527e+01] [-3.82365868e-02 9.99268617e-01 -4.42061208e-04 -1.15232975e+00] [-7.46411164e-03 1.56761389e-04 9.99972131e-01 -2.40510846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.640371743 meters 0.02088960483854473 Centerline is valid? [True, True] Translation: X:17.42, Y:-1.15, Z:-0.24 [[ 9.99205412e-01 3.93789062e-02 6.15198760e-03 1.74236583e+01] [-3.93774079e-02 9.99224343e-01 -3.64525690e-04 -1.15230598e+00] [-6.16157039e-03 1.21986717e-04 9.99981010e-01 -2.42795595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.700371742999998 meters 0.021258720009629327 Centerline is valid? [True, True] Translation: X:17.48, Y:-1.16, Z:-0.25 [[ 9.99334526e-01 3.61537614e-02 4.83849999e-03 1.74817147e+01] [-3.61527957e-02 9.99346233e-01 -2.86934684e-04 -1.15696331e+00] [-4.84571051e-03 1.11818435e-04 9.99988253e-01 -2.45484124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.760371742999997 meters 0.022091490113199056 Centerline is valid? [True, True] Translation: X:17.54, Y:-1.16, Z:-0.25 [[ 9.99427529e-01 3.34753403e-02 4.90066955e-03 1.75395297e+01] [-3.34743198e-02 9.99439536e-01 -2.90143021e-04 -1.16312438e+00] [-4.90763554e-03 1.25930342e-04 9.99987950e-01 -2.47472807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.820371743 meters 0.022283629520504444 Centerline is valid? [True, True] Translation: X:17.60, Y:-1.17, Z:-0.25 [[ 9.99521311e-01 3.02929291e-02 6.28381439e-03 1.75979863e+01] [-3.02911950e-02 9.99541048e-01 -3.70973122e-04 -1.16740890e+00] [-6.29216828e-03 1.80451295e-04 9.99980188e-01 -2.46253572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.880371742999998 meters 0.023455995005120897 Centerline is valid? [True, True] Translation: X:17.66, Y:-1.17, Z:-0.24 [[ 9.99665883e-01 2.42581021e-02 8.92567142e-03 1.76578799e+01] [-2.42543751e-02 9.99705681e-01 -5.25578783e-04 -1.17481445e+00] [-8.93579398e-03 3.08916595e-04 9.99960027e-01 -2.44999020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.940371742999996 meters 0.025216029919581166 Centerline is valid? [True, True] Translation: X:17.72, Y:-1.18, Z:-0.25 [[ 9.99761799e-01 1.94263239e-02 9.94805132e-03 1.77174231e+01] [-1.94214575e-02 9.99811214e-01 -5.85567888e-04 -1.18273268e+00] [-9.95754870e-03 3.92222749e-04 9.99950345e-01 -2.45199986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.000371743 meters 0.027619980555287 Centerline is valid? [True, True] Translation: X:17.78, Y:-1.19, Z:-0.25 [[ 9.99858677e-01 1.45109335e-02 8.48874263e-03 1.77774216e+01] [-1.45072143e-02 9.99894640e-01 -4.99551735e-04 -1.18975367e+00] [-8.49509722e-03 3.76333129e-04 9.99963845e-01 -2.47483001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.060371742999997 meters 0.02796338445138349 Centerline is valid? [True, True] Translation: X:17.84, Y:-1.19, Z:-0.25 [[ 9.99911516e-01 1.19239052e-02 5.89759269e-03 1.78377456e+01] [-1.19220661e-02 9.99928869e-01 -3.46892106e-04 -1.19227409e+00] [-5.90130950e-03 2.76549922e-04 9.99982549e-01 -2.50622415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.120371743 meters 0.02825851572377263 Centerline is valid? [True, True] Translation: X:17.90, Y:-1.19, Z:-0.25 [[ 9.99941674e-01 1.01672645e-02 3.64357011e-03 1.78973509e+01] [-1.01665495e-02 9.99948296e-01 -2.14687192e-04 -1.19485552e+00] [-3.64556450e-03 1.77632134e-04 9.99993339e-01 -2.53428306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.180371743 meters 0.0300482199760957 Centerline is valid? [True, True] Translation: X:17.96, Y:-1.20, Z:-0.26 [[ 9.99937820e-01 1.06731733e-02 3.23114454e-03 1.79562152e+01] [-1.06726132e-02 9.99943028e-01 -1.90512013e-04 -1.19879320e+00] [-3.23299382e-03 1.56015411e-04 9.99994762e-01 -2.55435140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.240371742999997 meters 0.027828918212406514 Centerline is valid? [True, True] Translation: X:18.02, Y:-1.19, Z:-0.26 [[ 9.99899777e-01 1.36085225e-02 3.90431865e-03 1.80161346e+01] [-1.36077292e-02 9.99907384e-01 -2.29660675e-04 -1.19383403e+00] [-3.90708239e-03 1.76508747e-04 9.99992352e-01 -2.55507135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.300371743 meters 0.027952735048805796 Centerline is valid? [True, True] Translation: X:18.08, Y:-1.19, Z:-0.26 [[ 9.99847172e-01 1.64338216e-02 5.96337328e-03 1.80753795e+01] [-1.64320241e-02 9.99864924e-01 -3.50297658e-04 -1.19371106e+00] [-5.96832449e-03 2.52253830e-04 9.99982158e-01 -2.55475714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.360371742999998 meters 0.029016027741646223 Centerline is valid? [True, True] Translation: X:18.13, Y:-1.19, Z:-0.26 [[ 9.99836730e-01 1.68361930e-02 6.56172110e-03 1.81339083e+01] [-1.68340256e-02 9.99858223e-01 -3.85414939e-04 -1.19210628e+00] [-6.56727972e-03 2.74891831e-04 9.99978397e-01 -2.55189576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.420371742999997 meters 0.029874495570699554 Centerline is valid? [True, True] Translation: X:18.19, Y:-1.20, Z:-0.26 [[ 9.99849619e-01 1.58704348e-02 6.99063599e-03 1.81926173e+01] [-1.58679549e-02 9.99874012e-01 -4.10059441e-04 -1.19502118e+00] [-6.99626307e-03 2.99070679e-04 9.99975481e-01 -2.55517271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.480371743 meters 0.031862675721691096 Centerline is valid? [True, True] Translation: X:18.25, Y:-1.20, Z:-0.26 [[ 9.99889078e-01 1.28989918e-02 7.44631002e-03 1.82520650e+01] [-1.28961018e-02 9.99916747e-01 -4.36000712e-04 -1.19877643e+00] [-7.45131406e-03 3.39923979e-04 9.99972181e-01 -2.56180953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.540371742999998 meters 0.03368291508045822 Centerline is valid? [True, True] Translation: X:18.31, Y:-1.20, Z:-0.26 [[ 9.99933645e-01 7.92854639e-03 8.35722146e-03 1.83117625e+01] [-7.92473662e-03 9.99968479e-01 -4.88882738e-04 -1.20270247e+00] [-8.36083416e-03 4.22621520e-04 9.99964958e-01 -2.56961843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.600371742999997 meters 0.02973581527844637 Centerline is valid? [True, True] Translation: X:18.37, Y:-1.20, Z:-0.26 [[ 9.99973698e-01 5.94047079e-03 4.16112480e-03 1.83732520e+01] [-5.93951027e-03 9.99982331e-01 -2.43151431e-04 -1.19586518e+00] [-4.16249572e-03 2.18429992e-04 9.99991313e-01 -2.60729533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.660371743 meters 0.02925126756068398 Centerline is valid? [True, True] Translation: X:18.43, Y:-1.19, Z:-0.26 [[ 9.99966971e-01 7.78577676e-03 2.33215302e-03 1.84338449e+01] [-7.78547971e-03 9.99969683e-01 -1.36420477e-04 -1.19447310e+00] [-2.33314446e-03 1.18259041e-04 9.99997271e-01 -2.62958513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.720371742999998 meters 0.027508447184276235 Centerline is valid? [True, True] Translation: X:18.49, Y:-1.19, Z:-0.26 [[ 9.99919974e-01 1.17511768e-02 4.68564221e-03 1.84942117e+01] [-1.17500203e-02 9.99930929e-01 -2.74260189e-04 -1.19177307e+00] [-4.68854145e-03 2.19181850e-04 9.99988985e-01 -2.61055305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.780371742999996 meters 0.026020767446440666 Centerline is valid? [True, True] Translation: X:18.55, Y:-1.19, Z:-0.26 [[ 9.99736609e-01 2.10660573e-02 9.10683413e-03 1.85535383e+01] [-2.10620768e-02 9.99778028e-01 -5.32782271e-04 -1.18591471e+00] [-9.11603629e-03 3.40833100e-04 9.99958390e-01 -2.58615191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.840371743 meters 0.023908250707428733 Centerline is valid? [True, True] Translation: X:18.61, Y:-1.18, Z:-0.26 [[ 9.99527706e-01 2.94079406e-02 8.91836417e-03 1.86141040e+01] [-2.94044606e-02 9.99567460e-01 -5.21100370e-04 -1.18092026e+00] [-8.92983111e-03 2.58614569e-04 9.99960095e-01 -2.60771384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.900371742999997 meters 0.023257151202471446 Centerline is valid? [True, True] Translation: X:18.67, Y:-1.18, Z:-0.26 [[ 9.99477390e-01 3.15956609e-02 6.83093160e-03 1.86727788e+01] [-3.15936671e-02 9.99500716e-01 -3.99614380e-04 -1.18082518e+00] [-6.84014710e-03 1.83591359e-04 9.99976589e-01 -2.64508377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.960371743 meters 0.023808025311444457 Centerline is valid? [True, True] Translation: X:18.73, Y:-1.19, Z:-0.27 [[ 9.99510806e-01 3.08435173e-02 5.17931796e-03 1.87300468e+01] [-3.08423609e-02 9.99524215e-01 -3.03012218e-04 -1.18501089e+00] [-5.18619968e-03 1.43121593e-04 9.99986541e-01 -2.66868703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.020371743 meters 0.02383739002345588 Centerline is valid? [True, True] Translation: X:18.79, Y:-1.19, Z:-0.27 [[ 9.99553389e-01 2.95191588e-02 4.65214092e-03 1.87888749e+01] [-2.95182136e-02 9.99564206e-01 -2.71725663e-04 -1.18776780e+00] [-4.65813466e-03 1.34281418e-04 9.99989142e-01 -2.68139357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.080371742999997 meters 0.0235254104873374 Centerline is valid? [True, True] Translation: X:18.85, Y:-1.19, Z:-0.27 [[ 9.99551240e-01 2.95163534e-02 5.10923538e-03 1.88473845e+01] [-2.95152156e-02 9.99564287e-01 -2.97966113e-04 -1.19029793e+00] [-5.11580410e-03 1.47032214e-04 9.99986903e-01 -2.67949914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.140371743 meters 0.024309504171032604 Centerline is valid? [True, True] Translation: X:18.91, Y:-1.20, Z:-0.27 [[ 9.99562616e-01 2.84759242e-02 7.98114124e-03 1.89057955e+01] [-2.84731238e-02 9.99594451e-01 -4.64299773e-04 -1.19702197e+00] [-7.99112585e-03 2.36848673e-04 9.99968042e-01 -2.66845373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.200371742999998 meters 0.02501778330991399 Centerline is valid? [True, True] Translation: X:18.96, Y:-1.20, Z:-0.27 [[ 9.99634201e-01 2.56337779e-02 8.62396561e-03 1.89637239e+01] [-2.56304078e-02 9.99671362e-01 -5.01100503e-04 -1.20302337e+00] [-8.63397654e-03 2.79881446e-04 9.99962687e-01 -2.67670347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.260371742999997 meters 0.025930753856538855 Centerline is valid? [True, True] Translation: X:19.02, Y:-1.21, Z:-0.27 [[ 9.99808145e-01 1.78918639e-02 7.97214408e-03 1.90233784e+01] [-1.78887469e-02 9.99839877e-01 -4.62124495e-04 -1.21056729e+00] [-7.97913582e-03 3.19424166e-04 9.99968115e-01 -2.69198270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.320371743 meters 0.029717401137331532 Centerline is valid? [True, True] Translation: X:19.08, Y:-1.22, Z:-0.27 [[ 9.99957929e-01 8.08057549e-03 4.34109375e-03 1.90834820e+01] [-8.07955929e-03 9.99967328e-01 -2.51576110e-04 -1.22206580e+00] [-4.34298480e-03 2.16491402e-04 9.99990546e-01 -2.73469629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.380371742999998 meters 0.03121719221933364 Centerline is valid? [True, True] Translation: X:19.14, Y:-1.23, Z:-0.28 [[ 9.99994254e-01 2.83772616e-03 1.85461880e-03 1.91439378e+01] [-2.83753156e-03 9.99995968e-01 -1.07546316e-04 -1.22837752e+00] [-1.85491651e-03 1.02283159e-04 9.99998274e-01 -2.76905109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.440371742999996 meters 0.03501854029469233 Centerline is valid? [True, True] Translation: X:19.20, Y:-1.24, Z:-0.28 [[ 9.99996471e-01 -2.65589987e-03 -5.81578110e-05 1.92033120e+01] [ 2.65590006e-03 9.99996473e-01 3.15922166e-06 -1.23722223e+00] [ 5.81492153e-05 -3.31367185e-06 9.99999998e-01 -2.80110576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.500371743 meters 0.03677099915585184 Centerline is valid? [True, True] Translation: X:19.26, Y:-1.24, Z:-0.28 [[ 9.99993686e-01 -2.31185659e-03 2.69861591e-03 1.92640564e+01] [ 2.31228584e-03 9.99997315e-01 -1.55954143e-04 -1.23926562e+00] [-2.69824812e-03 1.62193130e-04 9.99996347e-01 -2.78931120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.560371742999997 meters 0.033711710489172445 Centerline is valid? [True, True] Translation: X:19.33, Y:-1.23, Z:-0.28 [[ 9.99986520e-01 5.64212703e-04 5.16145102e-03 1.93253552e+01] [-5.62676510e-04 9.99999797e-01 -2.99075520e-04 -1.23421419e+00] [-5.16161871e-03 2.96167262e-04 9.99986635e-01 -2.76253536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.620371743 meters 0.03156024188920955 Centerline is valid? [True, True] Translation: X:19.39, Y:-1.23, Z:-0.28 [[ 9.99955877e-01 5.53622672e-03 7.58904611e-03 1.93868078e+01] [-5.53304652e-03 9.99984596e-01 -4.39982981e-04 -1.22971219e+00] [-7.59136505e-03 3.97973023e-04 9.99971106e-01 -2.75790839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.680371743 meters 0.03382442099315841 Centerline is valid? [True, True] Translation: X:19.45, Y:-1.23, Z:-0.28 [[ 9.99943152e-01 9.38380658e-03 5.06332573e-03 1.94463990e+01] [-9.38243923e-03 9.99955941e-01 -2.93735840e-04 -1.23351409e+00] [-5.06585900e-03 2.46212795e-04 9.99987138e-01 -2.80832839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.740371742999997 meters 0.030588451670492015 Centerline is valid? [True, True] Translation: X:19.51, Y:-1.23, Z:-0.28 [[ 9.99942678e-01 1.04446714e-02 2.35573206e-03 1.95066344e+01] [-1.04443774e-02 9.99945447e-01 -1.37069642e-04 -1.22938984e+00] [-2.35703519e-03 1.12457631e-04 9.99997216e-01 -2.83374338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.800371743 meters 0.032055095014397676 Centerline is valid? [True, True] Translation: X:19.57, Y:-1.23, Z:-0.29 [[ 9.99950201e-01 9.93400906e-03 -9.54139874e-04 1.95650260e+01] [-9.93396202e-03 9.99950656e-01 5.40281744e-05 -1.23073001e+00] [ 9.54629509e-04 -4.45470946e-05 9.99999543e-01 -2.88137362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.860371742999998 meters 0.032038589625871874 Centerline is valid? [True, True] Translation: X:19.62, Y:-1.23, Z:-0.29 [[ 9.99921578e-01 1.24515859e-02 -1.34021742e-03 1.96245038e+01] [-1.24514938e-02 9.99922474e-01 7.70656891e-05 -1.22973707e+00] [ 1.34107311e-03 -6.03719365e-05 9.99999099e-01 -2.89374260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.920371742999997 meters 0.02893190734283231 Centerline is valid? [True, True] Translation: X:19.68, Y:-1.22, Z:-0.29 [[ 9.99869073e-01 1.61686424e-02 6.41330757e-04 1.96846052e+01] [-1.61686216e-02 9.99869279e-01 -3.75794476e-05 -1.22306048e+00] [-6.41854530e-04 2.72050931e-05 9.99999794e-01 -2.86719435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.980371743 meters 0.026956720237326263 Centerline is valid? [True, True] Translation: X:19.75, Y:-1.22, Z:-0.28 [[ 9.99745112e-01 2.19423263e-02 5.31454623e-03 1.97453611e+01] [-2.19410022e-02 9.99759220e-01 -3.07325006e-04 -1.21751387e+00] [-5.32001002e-03 1.90640202e-04 9.99985830e-01 -2.83154730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.040371742999998 meters 0.024962295306915953 Centerline is valid? [True, True] Translation: X:19.81, Y:-1.21, Z:-0.28 [[ 9.99682853e-01 2.40018206e-02 7.62272432e-03 1.98050560e+01] [-2.39991542e-02 9.99711882e-01 -4.41087909e-04 -1.21474311e+00] [-7.63111499e-03 2.58009083e-04 9.99970849e-01 -2.82336902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.100371742999997 meters 0.02498200224149126 Centerline is valid? [True, True] Translation: X:19.86, Y:-1.22, Z:-0.28 [[ 9.99645886e-01 2.48699878e-02 9.46503507e-03 1.98631417e+01] [-2.48659216e-02 9.99690645e-01 -5.47063993e-04 -1.21866448e+00] [-9.47571249e-03 3.11513450e-04 9.99955056e-01 -2.83272727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.160371743 meters 0.02538803664345936 Centerline is valid? [True, True] Translation: X:19.92, Y:-1.22, Z:-0.29 [[ 9.99689148e-01 2.37835597e-02 7.47991974e-03 1.99219964e+01] [-2.37809923e-02 9.99717099e-01 -4.31999591e-04 -1.22126607e+00] [-7.48807815e-03 2.53985390e-04 9.99971932e-01 -2.86292341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.220371742999998 meters 0.026155376775081788 Centerline is valid? [True, True] Translation: X:19.98, Y:-1.23, Z:-0.29 [[ 9.99758823e-01 2.14383643e-02 4.76367068e-03 1.99810784e+01] [-2.14372970e-02 9.99770157e-01 -2.74984901e-04 -1.22573400e+00] [-4.76847101e-03 1.72798358e-04 9.99988616e-01 -2.89589223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.280371742999996 meters 0.026852957934823788 Centerline is valid? [True, True] Translation: X:20.04, Y:-1.23, Z:-0.30 [[ 9.99821129e-01 1.88972179e-02 7.77825958e-04 2.00398966e+01] [-1.88971882e-02 9.99821431e-01 -4.54959841e-05 -1.23264806e+00] [-7.78546810e-04 3.07891227e-05 9.99999696e-01 -2.95063578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.340371743 meters 0.026483717456580784 Centerline is valid? [True, True] Translation: X:20.10, Y:-1.24, Z:-0.30 [[ 9.99831712e-01 1.83449287e-02 -1.02078995e-04 2.00988340e+01] [-1.83449283e-02 9.99831718e-01 4.84526506e-06 -1.23658748e+00] [ 1.02150703e-04 -2.97181782e-06 9.99999995e-01 -2.96012884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.400371742999997 meters 0.02741492016268775 Centerline is valid? [True, True] Translation: X:20.16, Y:-1.24, Z:-0.30 [[ 9.99844166e-01 1.75843312e-02 1.56047982e-03 2.01554265e+01] [-1.75842096e-02 9.99845382e-01 -9.16061211e-05 -1.24129178e+00] [-1.56184937e-03 6.41520416e-05 9.99998778e-01 -2.95325273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.460371743 meters 0.02731988021655142 Centerline is valid? [True, True] Translation: X:20.21, Y:-1.25, Z:-0.29 [[ 9.99806638e-01 1.86890181e-02 6.11611309e-03 2.02141671e+01] [-1.86872208e-02 9.99825317e-01 -3.50895853e-04 -1.24545674e+00] [-6.12160261e-03 2.36534847e-04 9.99981235e-01 -2.91975008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.520371743 meters 0.02816838312078697 Centerline is valid? [True, True] Translation: X:20.27, Y:-1.25, Z:-0.29 [[ 9.99817473e-01 1.73109719e-02 8.08395213e-03 2.02723227e+01] [-1.73077941e-02 9.99850102e-01 -4.62896005e-04 -1.25367197e+00] [-8.09075354e-03 3.22896135e-04 9.99967217e-01 -2.91535546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.580371742999997 meters 0.027516598779220042 Centerline is valid? [True, True] Translation: X:20.33, Y:-1.26, Z:-0.29 [[ 9.99855222e-01 1.56881146e-02 6.58926368e-03 2.03313521e+01] [-1.56859708e-02 9.99876897e-01 -3.76910997e-04 -1.25806430e+00] [-6.59436554e-03 2.73497431e-04 9.99978220e-01 -2.92991639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.640371743 meters 0.028389434112027663 Centerline is valid? [True, True] Translation: X:20.39, Y:-1.27, Z:-0.30 [[ 9.99931386e-01 1.12264729e-02 3.34499357e-03 2.03916453e+01] [-1.12258968e-02 9.99936969e-01 -1.90954386e-04 -1.26531505e+00] [-3.34692648e-03 1.53390731e-04 9.99994387e-01 -2.95893122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.700371742999998 meters 0.02944171259118006 Centerline is valid? [True, True] Translation: X:20.45, Y:-1.27, Z:-0.30 [[ 9.99959643e-01 8.71226615e-03 2.19298320e-03 2.04503914e+01] [-8.71201109e-03 9.99962042e-01 -1.25829130e-04 -1.27256093e+00] [-2.19399621e-03 1.06718758e-04 9.99997587e-01 -2.97355822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.760371742999997 meters 0.03089575506730841 Centerline is valid? [True, True] Translation: X:20.51, Y:-1.28, Z:-0.30 [[ 9.99972664e-01 6.60275381e-03 3.32784922e-03 2.05082774e+01] [-6.60215613e-03 9.99978187e-01 -1.90552787e-04 -1.28144718e+00] [-3.32903480e-03 1.68576598e-04 9.99994445e-01 -2.97604416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.820371743 meters 0.03346738382482138 Centerline is valid? [True, True] Translation: X:20.57, Y:-1.29, Z:-0.30 [[ 9.99972118e-01 5.85138163e-03 4.63954841e-03 2.05662239e+01] [-5.85021602e-03 9.99982852e-01 -2.64766531e-04 -1.28985888e+00] [-4.64101810e-03 2.37616788e-04 9.99989202e-01 -2.98247518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.880371742999998 meters 0.030300502552273085 Centerline is valid? [True, True] Translation: X:20.63, Y:-1.29, Z:-0.30 [[ 9.99972264e-01 5.59562070e-03 4.91531270e-03 2.06268041e+01] [-5.59431313e-03 9.99984313e-01 -2.79728542e-04 -1.28898153e+00] [-4.91680084e-03 2.52222985e-04 9.99987881e-01 -2.99055778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.940371742999996 meters 0.031551326776161966 Centerline is valid? [True, True] Translation: X:20.69, Y:-1.30, Z:-0.30 [[ 9.99979038e-01 4.35515631e-03 4.79128467e-03 2.06873840e+01] [-4.35390048e-03 9.99990485e-01 -2.72505069e-04 -1.29530544e+00] [-4.79242588e-03 2.51638580e-04 9.99988485e-01 -3.00831030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.000371743 meters 0.033819857527983346 Centerline is valid? [True, True] Translation: X:20.75, Y:-1.30, Z:-0.30 [[ 9.99993448e-01 2.12034887e-03 2.93408752e-03 2.07476245e+01] [-2.11986962e-03 9.99997739e-01 -1.66439736e-04 -1.30284692e+00] [-2.93443380e-03 1.60218762e-04 9.99995682e-01 -3.03094662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.060371742999997 meters 0.03540236539322684 Centerline is valid? [True, True] Translation: X:20.81, Y:-1.31, Z:-0.31 [[ 9.99998622e-01 -1.86213351e-04 1.64969577e-03 2.08084256e+01] [ 1.86368324e-04 9.99999978e-01 -9.37869435e-05 -1.31025171e+00] [-1.64967827e-03 9.40942653e-05 9.99998635e-01 -3.06129184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.120371742999996 meters 0.03384648768837225 Centerline is valid? [True, True] Translation: X:20.87, Y:-1.31, Z:-0.31 [[ 9.99995006e-01 -2.88769141e-03 -1.28455899e-03 2.08693841e+01] [ 2.88778819e-03 9.99995828e-01 7.34942783e-05 -1.31309540e+00] [ 1.28434140e-03 -7.72034456e-05 9.99999172e-01 -3.08913916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.180371743 meters 0.035016539566490326 Centerline is valid? [True, True] Translation: X:20.93, Y:-1.32, Z:-0.31 [[ 9.99988268e-01 -4.24187896e-03 -2.33900136e-03 2.09301382e+01] [ 4.24220467e-03 9.99990993e-01 1.34308421e-04 -1.31853781e+00] [ 2.33841058e-03 -1.44229367e-04 9.99997256e-01 -3.09962108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.240371742999997 meters 0.035668861095777764 Centerline is valid? [True, True] Translation: X:20.99, Y:-1.32, Z:-0.31 [[ 9.99993688e-01 -3.54140453e-03 2.86696164e-04 2.09901813e+01] [ 3.54140937e-03 9.99993729e-01 -1.63629198e-05 -1.32288608e+00] [-2.86636418e-04 1.73781250e-05 9.99999959e-01 -3.08610464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.300371743 meters 0.03234928203637993 Centerline is valid? [True, True] Translation: X:21.05, Y:-1.32, Z:-0.31 [[ 9.99989621e-01 -1.84629293e-03 4.16516866e-03 2.10522649e+01] [ 1.84729681e-03 9.99998266e-01 -2.37182207e-04 -1.32210599e+00] [-4.16472353e-03 2.44874048e-04 9.99991298e-01 -3.06438200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.360371742999998 meters 0.03389027015189344 Centerline is valid? [True, True] Translation: X:21.11, Y:-1.33, Z:-0.31 [[ 9.99989633e-01 -1.41245104e-03 4.32888355e-03 2.11135648e+01] [ 1.41353253e-03 9.99998971e-01 -2.46782175e-04 -1.32823667e+00] [-4.32853052e-03 2.52898635e-04 9.99990600e-01 -3.07498094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.420371742999997 meters 0.0333383097707245 Centerline is valid? [True, True] Translation: X:21.17, Y:-1.33, Z:-0.31 [[ 9.99993809e-01 -2.96313088e-03 1.89793594e-03 2.11743326e+01] [ 2.96334092e-03 9.99995603e-01 -1.07865870e-04 -1.33265367e+00] [-1.89760798e-03 1.13489434e-04 9.99998193e-01 -3.10252867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.480371743 meters 0.033204305969275025 Centerline is valid? [True, True] Translation: X:21.24, Y:-1.34, Z:-0.31 [[ 9.99988266e-01 -4.84394536e-03 -6.62446180e-05 2.12353166e+01] [ 4.84394566e-03 9.99988268e-01 4.30361973e-06 -1.33808232e+00] [ 6.62229943e-05 -4.62445456e-06 9.99999998e-01 -3.12722816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.540371742999998 meters 0.03425276328812171 Centerline is valid? [True, True] Translation: X:21.30, Y:-1.34, Z:-0.31 [[ 9.99977688e-01 -6.53087227e-03 -1.40428688e-03 2.12964556e+01] [ 6.53099241e-03 9.99978670e-01 8.09888557e-05 -1.34371788e+00] [ 1.40372800e-03 -9.01584356e-05 9.99999011e-01 -3.14156249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.600371742999997 meters 0.03401904326495527 Centerline is valid? [True, True] Translation: X:21.36, Y:-1.35, Z:-0.32 [[ 9.99986622e-01 -5.01362757e-03 -1.27246414e-03 2.13581802e+01] [ 5.01372547e-03 9.99987428e-01 7.37561791e-05 -1.34786226e+00] [ 1.27207836e-03 -8.01349782e-05 9.99999188e-01 -3.15591151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.660371743 meters 0.03533962567873255 Centerline is valid? [True, True] Translation: X:21.42, Y:-1.35, Z:-0.32 [[ 9.99993810e-01 -3.51649137e-03 -1.19273011e-04 2.14186096e+01] [ 3.51649227e-03 9.99993817e-01 7.34562799e-06 -1.35326088e+00] [ 1.19246443e-04 -7.76500515e-06 9.99999993e-01 -3.16134491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.720371742999998 meters 0.03647779200841218 Centerline is valid? [True, True] Translation: X:21.48, Y:-1.36, Z:-0.31 [[ 9.99994722e-01 -2.48232506e-03 2.09634046e-03 2.14789525e+01] [ 2.48258231e-03 9.99996911e-01 -1.20124205e-04 -1.35883291e+00] [-2.09603580e-03 1.25327908e-04 9.99997795e-01 -3.14786743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.780371742999996 meters 0.032892803200757256 Centerline is valid? [True, True] Translation: X:21.54, Y:-1.36, Z:-0.31 [[ 9.99986566e-01 -4.12914801e-03 3.13324794e-03 2.15408168e+01] [ 4.12972375e-03 9.99991457e-01 -1.77306084e-04 -1.36038242e+00] [-3.13248905e-03 1.90243151e-04 9.99995076e-01 -3.14086443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.840371743 meters 0.034881517743061335 Centerline is valid? [True, True] Translation: X:21.60, Y:-1.37, Z:-0.32 [[ 9.99974496e-01 -6.90106624e-03 1.83941000e-03 2.16015306e+01] [ 6.90127255e-03 9.99976180e-01 -1.05833433e-04 -1.36984083e+00] [-1.83863582e-03 1.18525004e-04 9.99998303e-01 -3.16773346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.900371742999997 meters 0.035645948780010796 Centerline is valid? [True, True] Translation: X:21.66, Y:-1.38, Z:-0.32 [[ 9.99938931e-01 -1.09597605e-02 -1.42087248e-03 2.16611384e+01] [ 1.09598882e-02 9.99939935e-01 8.21030541e-05 -1.37833541e+00] [ 1.41988730e-03 -9.76706436e-05 9.99998987e-01 -3.19471701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.960371743 meters 0.040447486777655285 Centerline is valid? [True, True] Translation: X:21.72, Y:-1.39, Z:-0.32 [[ 9.99903569e-01 -1.32348184e-02 -4.20610366e-03 2.17207980e+01] [ 1.32359569e-02 9.99912371e-01 2.42952356e-04 -1.39107760e+00] [ 4.20251965e-03 -2.98600735e-04 9.99991125e-01 -3.22874752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.020371743 meters 0.03854026289177604 Centerline is valid? [True, True] Translation: X:21.78, Y:-1.40, Z:-0.32 [[ 9.99865969e-01 -1.51058506e-02 -6.31334301e-03 2.17816969e+01] [ 1.51084555e-02 9.99885794e-01 3.65108065e-04 -1.39641975e+00] [ 6.30710672e-03 -4.60443991e-04 9.99980004e-01 -3.24947601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.080371742999997 meters 0.03919503153332741 Centerline is valid? [True, True] Translation: X:21.84, Y:-1.40, Z:-0.32 [[ 9.99881667e-01 -1.44415849e-02 -5.30026048e-03 2.18425711e+01] [ 1.44434127e-02 9.99895641e-01 3.06738047e-04 -1.40248602e+00] [ 5.29527757e-03 -3.83255599e-04 9.99985906e-01 -3.24187720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.140371743 meters 0.03517804245120564 Centerline is valid? [True, True] Translation: X:21.90, Y:-1.40, Z:-0.32 [[ 9.99940981e-01 -1.06539200e-02 -2.12820880e-03 2.19032464e+01] [ 1.06542057e-02 9.99943235e-01 1.22962049e-04 -1.40128500e+00] [ 2.12677796e-03 -1.45629167e-04 9.99997728e-01 -3.20630744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.200371742999998 meters 0.0356588742159102 Centerline is valid? [True, True] Translation: X:21.96, Y:-1.41, Z:-0.32 [[ 9.99959831e-01 -8.90347582e-03 -1.03157610e-03 2.19641936e+01] [ 8.90354259e-03 9.99960361e-01 6.01488690e-05 -1.40639416e+00] [ 1.03099967e-03 -6.93311346e-05 9.99999466e-01 -3.20993014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.260371742999997 meters 0.03473767899333947 Centerline is valid? [True, True] Translation: X:22.02, Y:-1.41, Z:-0.32 [[ 9.99987912e-01 -4.75609505e-03 1.24682096e-03 2.20244807e+01] [ 4.75618860e-03 9.99988687e-01 -7.20716952e-05 -1.41036179e+00] [-1.24646408e-03 7.80009397e-05 9.99999220e-01 -3.20750907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.320371743 meters 0.03490702134297113 Centerline is valid? [True, True] Translation: X:22.09, Y:-1.42, Z:-0.32 [[ 9.99994726e-01 -2.98009204e-03 1.29142700e-03 2.20860907e+01] [ 2.98019006e-03 9.99995556e-01 -7.39848079e-05 -1.41595032e+00] [-1.29120078e-03 7.78331156e-05 9.99999163e-01 -3.21499086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.380371742999998 meters 0.0327383987265951 Centerline is valid? [True, True] Translation: X:22.15, Y:-1.42, Z:-0.32 [[ 9.99997469e-01 -2.24919490e-03 -4.98407406e-05 2.21480744e+01] [ 2.24919509e-03 9.99997471e-01 3.90344456e-06 -1.42072538e+00] [ 4.98318349e-05 -4.01553623e-06 9.99999999e-01 -3.23686507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.440371742999996 meters 0.034454639256160095 Centerline is valid? [True, True] Translation: X:22.21, Y:-1.43, Z:-0.33 [[ 9.99996875e-01 -1.67739200e-03 -1.85365838e-03 2.22083895e+01] [ 1.67759448e-03 9.99998587e-01 1.07684584e-04 -1.42928560e+00] [ 1.85347513e-03 -1.10793934e-04 9.99998276e-01 -3.26787226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.500371743 meters 0.03216966910854132 Centerline is valid? [True, True] Translation: X:22.27, Y:-1.43, Z:-0.33 [[ 9.99992278e-01 -8.41006288e-04 -3.83887176e-03 2.22684580e+01] [ 8.41866603e-04 9.99999621e-01 2.22495751e-04 -1.43195814e+00] [ 3.83868319e-03 -2.25725851e-04 9.99992607e-01 -3.27461742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.560371742999997 meters 0.03417962546607083 Centerline is valid? [True, True] Translation: X:22.33, Y:-1.44, Z:-0.33 [[ 9.99990812e-01 1.98332046e-03 -3.80030284e-03 2.23268085e+01] [-1.98250129e-03 9.99998011e-01 2.19310794e-04 -1.44009028e+00] [ 3.80073024e-03 -2.11774674e-04 9.99992755e-01 -3.28782351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.620371742999996 meters 0.031722621970242955 Centerline is valid? [True, True] Translation: X:22.39, Y:-1.44, Z:-0.33 [[ 9.99987781e-01 4.25538150e-03 -2.51571431e-03 2.23869399e+01] [-4.25502919e-03 9.99990937e-01 1.45380728e-04 -1.44057753e+00] [ 2.51631016e-03 -1.34674514e-04 9.99996825e-01 -3.27765708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.680371743 meters 0.029957447100231613 Centerline is valid? [True, True] Translation: X:22.45, Y:-1.44, Z:-0.33 [[ 9.99972536e-01 7.01701382e-03 -2.38528675e-03 2.24470444e+01] [-7.01670507e-03 9.99975373e-01 1.37785766e-04 -1.44300541e+00] [ 2.38619485e-03 -1.21045129e-04 9.99997146e-01 -3.27526995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.740371742999997 meters 0.030371511392436615 Centerline is valid? [True, True] Translation: X:22.51, Y:-1.45, Z:-0.33 [[ 9.99969293e-01 7.56699399e-03 -2.03810928e-03 2.25054902e+01] [-7.56677159e-03 9.99971365e-01 1.16811205e-04 -1.44844758e+00] [ 2.03893483e-03 -1.01385711e-04 9.99997916e-01 -3.28293427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.800371743 meters 0.031711683317247136 Centerline is valid? [True, True] Translation: X:22.56, Y:-1.46, Z:-0.33 [[ 9.99986608e-01 5.12045299e-03 -7.51929237e-04 2.25641512e+01] [-5.12042234e-03 9.99986890e-01 4.26835461e-05 -1.45789572e+00] [ 7.52137938e-04 -3.88327792e-05 9.99999716e-01 -3.27793968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.860371742999998 meters 0.035780224141145636 Centerline is valid? [True, True] Translation: X:22.62, Y:-1.47, Z:-0.33 [[ 9.99998762e-01 4.38648202e-04 -1.51108933e-03 2.26225337e+01] [-4.38517314e-04 9.99999900e-01 8.69485851e-05 -1.47105364e+00] [ 1.51112732e-03 -8.62858386e-05 9.99998855e-01 -3.28947684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.920371742999997 meters 0.03300200883611865 Centerline is valid? [True, True] Translation: X:22.68, Y:-1.47, Z:-0.33 [[ 9.99993187e-01 -2.59067792e-03 -2.62956942e-03 2.26831289e+01] [ 2.59108601e-03 9.99996632e-01 1.51795820e-04 -1.47336578e+00] [ 2.62916731e-03 -1.58608227e-04 9.99996531e-01 -3.28950149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.980371743 meters 0.041694260347563745 Centerline is valid? [True, True] Translation: X:22.74, Y:-1.49, Z:-0.33 [[ 9.99983962e-01 -5.28482671e-03 -2.03606636e-03 2.27420845e+01] [ 5.28507953e-03 9.99986027e-01 1.18806855e-04 -1.49436562e+00] [ 2.03541004e-03 -1.29565722e-04 9.99997920e-01 -3.32675750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.040371742999998 meters 0.035637219177209904 Centerline is valid? [True, True] Translation: X:22.80, Y:-1.49, Z:-0.33 [[ 9.99985772e-01 -5.18994086e-03 -1.23270351e-03 2.28037438e+01] [ 5.19003329e-03 9.99986529e-01 7.17948234e-05 -1.49128116e+00] [ 1.23231429e-03 -7.81915742e-05 9.99999238e-01 -3.30428373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.100371742999997 meters 0.036112797039145474 Centerline is valid? [True, True] Translation: X:22.86, Y:-1.50, Z:-0.33 [[ 9.99997758e-01 -2.09818276e-03 -2.86941256e-04 2.28630191e+01] [ 2.09818754e-03 9.99997799e-01 1.63486461e-05 -1.49602880e+00] [ 2.86906322e-04 -1.69506660e-05 9.99999959e-01 -3.29837936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.160371743 meters 0.03598263299477925 Centerline is valid? [True, True] Translation: X:22.92, Y:-1.50, Z:-0.33 [[ 9.99999692e-01 -8.90840469e-05 7.79883569e-04 2.29239460e+01] [ 8.91190667e-05 9.99999995e-01 -4.48691945e-05 -1.50005260e+00] [-7.79879568e-04 4.49386832e-05 9.99999695e-01 -3.30142518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.220371742999998 meters 0.036282245442930794 Centerline is valid? [True, True] Translation: X:22.98, Y:-1.50, Z:-0.33 [[ 9.99998336e-01 1.81873152e-03 1.45610420e-04 2.29843244e+01] [-1.81873035e-03 9.99998346e-01 -8.18863963e-06 -1.50425195e+00] [-1.45625072e-04 7.92379991e-06 9.99999989e-01 -3.31481295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.280371742999996 meters 0.03066576506714315 Centerline is valid? [True, True] Translation: X:23.05, Y:-1.50, Z:-0.33 [[ 9.99998273e-01 1.26023948e-03 -1.36595162e-03 2.30453242e+01] [-1.26013270e-03 9.99999203e-01 7.90306012e-05 -1.49919947e+00] [ 1.36605012e-03 -7.73091844e-05 9.99999064e-01 -3.31436667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.340371743 meters 0.031349247383082694 Centerline is valid? [True, True] Translation: X:23.11, Y:-1.50, Z:-0.33 [[ 9.99992713e-01 -2.00365867e-03 -3.24944512e-03 2.31051151e+01] [ 2.00427941e-03 9.99997974e-01 1.87785581e-04 -1.50317518e+00] [ 3.24906228e-03 -1.94297008e-04 9.99994703e-01 -3.33689586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.400371742999997 meters 0.03630454676472702 Centerline is valid? [True, True] Translation: X:23.16, Y:-1.51, Z:-0.34 [[ 9.99977240e-01 -5.20814513e-03 -4.28885005e-03 2.31635672e+01] [ 5.20925405e-03 9.99986401e-01 2.47427639e-04 -1.51400022e+00] [ 4.28750309e-03 -2.69763717e-04 9.99990772e-01 -3.37110684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.460371743 meters 0.03415180450541467 Centerline is valid? [True, True] Translation: X:23.22, Y:-1.51, Z:-0.34 [[ 9.99936435e-01 -1.04102654e-02 -4.33045521e-03 2.32241276e+01] [ 1.04114468e-02 9.99945768e-01 2.50354558e-04 -1.51250574e+00] [ 4.32761410e-03 -2.95424948e-04 9.99990592e-01 -3.35902184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.520371743 meters 0.03761021591451807 Centerline is valid? [True, True] Translation: X:23.28, Y:-1.52, Z:-0.34 [[ 9.99896996e-01 -1.41237131e-02 -2.55296867e-03 2.32840152e+01] [ 1.41241357e-02 9.99900239e-01 1.47577586e-04 -1.51781694e+00] [ 2.55062963e-03 -1.83620861e-04 9.99996730e-01 -3.35094103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.580371742999997 meters 0.039948226283653056 Centerline is valid? [True, True] Translation: X:23.35, Y:-1.52, Z:-0.33 [[ 9.99882062e-01 -1.53345733e-02 -8.44620006e-04 2.33463924e+01] [ 1.53346209e-02 9.99882417e-01 4.98918081e-05 -1.52169572e+00] [ 8.43755623e-04 -6.28378515e-05 9.99999642e-01 -3.34663276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.640371743 meters 0.04247551004671779 Centerline is valid? [True, True] Translation: X:23.41, Y:-1.53, Z:-0.33 [[ 9.99856036e-01 -1.69271494e-02 1.17397674e-03 2.34078000e+01] [ 1.69272400e-02 9.99856722e-01 -6.72672085e-05 -1.52583323e+00] [-1.17266990e-03 8.71297106e-05 9.99999309e-01 -3.34013923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.700371742999998 meters 0.04396874594589066 Centerline is valid? [True, True] Translation: X:23.47, Y:-1.53, Z:-0.34 [[ 9.99838288e-01 -1.79632586e-02 8.48110486e-04 2.34696782e+01] [ 1.79633060e-02 9.99838646e-01 -4.82190720e-05 -1.52901060e+00] [-8.47107468e-04 6.34461425e-05 9.99999639e-01 -3.35152542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.760371742999997 meters 0.04615897915692436 Centerline is valid? [True, True] Translation: X:23.53, Y:-1.53, Z:-0.34 [[ 9.99812549e-01 -1.93476542e-02 -7.31777453e-04 2.35302903e+01] [ 1.93476906e-02 9.99812815e-01 4.26976455e-05 -1.53192365e+00] [ 7.30814376e-04 -5.68478455e-05 9.99999731e-01 -3.37553914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.820371743 meters 0.04400426923923094 Centerline is valid? [True, True] Translation: X:23.59, Y:-1.53, Z:-0.34 [[ 9.99772167e-01 -2.12577995e-02 -1.92893791e-03 2.35916528e+01] [ 2.12580553e-02 9.99774016e-01 1.12198566e-04 -1.52878205e+00] [ 1.92611691e-03 -1.53178472e-04 9.99998133e-01 -3.38594896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.880371742999998 meters 0.0457393351403542 Centerline is valid? [True, True] Translation: X:23.65, Y:-1.53, Z:-0.34 [[ 9.99731083e-01 -2.30126502e-02 -2.86011218e-03 2.36523510e+01] [ 2.30132195e-02 9.99735147e-01 1.66290266e-04 -1.53267315e+00] [ 2.85552790e-03 -2.32065937e-04 9.99995896e-01 -3.40351816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.940371742999996 meters 0.04253112865248728 Centerline is valid? [True, True] Translation: X:23.71, Y:-1.53, Z:-0.34 [[ 9.99680755e-01 -2.51171281e-02 -2.74199555e-03 2.37133177e+01] [ 2.51176594e-02 9.99684489e-01 1.59491966e-04 -1.52903019e+00] [ 2.73712444e-03 -2.28313559e-04 9.99996228e-01 -3.39239530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.000371743 meters 0.042220857075689414 Centerline is valid? [True, True] Translation: X:23.78, Y:-1.53, Z:-0.34 [[ 9.99646672e-01 -2.64440370e-02 -2.69133882e-03 2.37756867e+01] [ 2.64445562e-02 9.99650269e-01 1.57521418e-04 -1.53032945e+00] [ 2.68623208e-03 -2.28637022e-04 9.99996366e-01 -3.39488402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.060371742999997 meters 0.044991972633811224 Centerline is valid? [True, True] Translation: X:23.84, Y:-1.54, Z:-0.34 [[ 9.99643425e-01 -2.66119471e-02 -2.19714530e-03 2.38367021e+01] [ 2.66122936e-02 9.99645822e-01 1.28642280e-04 -1.53560675e+00] [ 2.19294370e-03 -1.87067486e-04 9.99997578e-01 -3.40511867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.120371742999996 meters 0.044493601986324426 Centerline is valid? [True, True] Translation: X:23.90, Y:-1.54, Z:-0.34 [[ 9.99649729e-01 -2.63875916e-02 -2.02862083e-03 2.38992092e+01] [ 2.63878875e-02 9.99651772e-01 1.19222570e-04 -1.53764450e+00] [ 2.02476842e-03 -1.72711828e-04 9.99997935e-01 -3.40950845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.180371743 meters 0.04336064327274904 Centerline is valid? [True, True] Translation: X:23.96, Y:-1.54, Z:-0.34 [[ 9.99692945e-01 -2.47466925e-02 -1.27149628e-03 2.39608103e+01] [ 2.47468073e-02 9.99693748e-01 7.46479066e-05 -1.53603505e+00] [ 1.26925959e-03 -1.06090459e-04 9.99999189e-01 -3.39645058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.240371742999997 meters 0.04308387008218662 Centerline is valid? [True, True] Translation: X:24.02, Y:-1.54, Z:-0.34 [[ 9.99723053e-01 -2.35223645e-02 -7.18571366e-04 2.40223902e+01] [ 2.35224010e-02 9.99723309e-01 4.24317874e-05 -1.53772621e+00] [ 7.17374448e-04 -5.93225598e-05 9.99999741e-01 -3.40284462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.300371743 meters 0.041712912571584854 Centerline is valid? [True, True] Translation: X:24.08, Y:-1.54, Z:-0.34 [[ 9.99737839e-01 -2.28750996e-02 -9.92003406e-04 2.40847806e+01] [ 2.28751693e-02 9.99738327e-01 5.89717356e-05 -1.53808379e+00] [ 9.90394842e-04 -8.16485213e-05 9.99999506e-01 -3.42021542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.360371742999998 meters 0.04301710399519637 Centerline is valid? [True, True] Translation: X:24.15, Y:-1.54, Z:-0.34 [[ 9.99746571e-01 -2.24521258e-02 -1.64180429e-03 2.41472557e+01] [ 2.24523153e-02 9.99747910e-01 9.70402523e-05 -1.54206152e+00] [ 1.63921164e-03 -1.33877967e-04 9.99998648e-01 -3.43777758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.420371742999997 meters 0.043584101266307275 Centerline is valid? [True, True] Translation: X:24.21, Y:-1.54, Z:-0.34 [[ 9.99795757e-01 -2.00886880e-02 -2.21087524e-03 2.42069034e+01] [ 2.00890222e-02 9.99798187e-01 1.29027208e-04 -1.54268807e+00] [ 2.20783706e-03 -1.73415177e-04 9.99997548e-01 -3.44246998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.480371743 meters 0.040296171186399554 Centerline is valid? [True, True] Translation: X:24.27, Y:-1.54, Z:-0.34 [[ 9.99875819e-01 -1.56975443e-02 -1.39056362e-03 2.42679512e+01] [ 1.56976725e-02 9.99876781e-01 8.12995962e-05 -1.53885557e+00] [ 1.38911607e-03 -1.03118113e-04 9.99999030e-01 -3.43920520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.540371742999998 meters 0.038948295312959846 Centerline is valid? [True, True] Translation: X:24.33, Y:-1.54, Z:-0.34 [[ 9.99914985e-01 -1.29729334e-02 -1.31367111e-03 2.43284542e+01] [ 1.29730454e-02 9.99915844e-01 7.68132210e-05 -1.53818040e+00] [ 1.31256407e-03 -9.38490058e-05 9.99999134e-01 -3.44699047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.600371742999997 meters 0.041609271995153324 Centerline is valid? [True, True] Translation: X:24.39, Y:-1.54, Z:-0.35 [[ 9.99952722e-01 -9.53841165e-03 -1.89026865e-03 2.43879279e+01] [ 9.53863755e-03 9.99954500e-01 1.10528139e-04 -1.54228747e+00] [ 1.88912838e-03 -1.28553501e-04 9.99998207e-01 -3.47276934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.660371743 meters 0.04204856586850978 Centerline is valid? [True, True] Translation: X:24.45, Y:-1.55, Z:-0.35 [[ 9.99966409e-01 -8.10372206e-03 -1.22942340e-03 2.44497492e+01] [ 8.10381750e-03 9.99967161e-01 7.26618868e-05 -1.54532542e+00] [ 1.22879419e-03 -8.26224689e-05 9.99999242e-01 -3.48428324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.720371742999998 meters 0.036260331701453784 Centerline is valid? [True, True] Translation: X:24.51, Y:-1.54, Z:-0.35 [[ 9.99966853e-01 -8.13068906e-03 -4.28868511e-04 2.45125531e+01] [ 8.13070101e-03 9.99966945e-01 2.61434088e-05 -1.53956768e+00] [ 4.28641771e-04 -2.96295439e-05 9.99999908e-01 -3.46650329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.780371742999996 meters 0.03832608452747197 Centerline is valid? [True, True] Translation: X:24.57, Y:-1.55, Z:-0.35 [[ 9.99960329e-01 -8.89098005e-03 -5.39614468e-04 2.45732746e+01] [ 8.89099882e-03 9.99960474e-01 3.23974515e-05 -1.54576499e+00] [ 5.39305094e-04 -3.71938779e-05 9.99999854e-01 -3.48131813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.840371743 meters 0.03942411680075567 Centerline is valid? [True, True] Translation: X:24.64, Y:-1.55, Z:-0.35 [[ 9.99949906e-01 -9.81141041e-03 -1.98015437e-03 2.46355540e+01] [ 9.81166176e-03 9.99951858e-01 1.17257141e-04 -1.55017881e+00] [ 1.97890859e-03 -1.36679872e-04 9.99998033e-01 -3.50016567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.900371742999997 meters 0.04232986025934126 Centerline is valid? [True, True] Translation: X:24.70, Y:-1.56, Z:-0.35 [[ 9.99920210e-01 -1.19413929e-02 -4.12029589e-03 2.46950966e+01] [ 1.19424958e-02 9.99928656e-01 2.43185112e-04 -1.55731773e+00] [ 4.11709796e-03 -2.92372325e-04 9.99991482e-01 -3.53931793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.960371743 meters 0.03873507775931818 Centerline is valid? [True, True] Translation: X:24.76, Y:-1.56, Z:-0.35 [[ 9.99909736e-01 -1.27540614e-02 -4.22529426e-03 2.47572209e+01] [ 1.27552298e-02 9.99918618e-01 2.49711544e-04 -1.55581153e+00] [ 4.22176556e-03 -3.03583604e-04 9.99991042e-01 -3.53670685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.020371743 meters 0.045788750713633065 Centerline is valid? [True, True] Translation: X:24.82, Y:-1.57, Z:-0.36 [[ 9.99908009e-01 -1.34245472e-02 -1.93776155e-03 2.48182006e+01] [ 1.34247949e-02 9.99909877e-01 1.14911182e-04 -1.56891806e+00] [ 1.93604429e-03 -1.40914662e-04 9.99998116e-01 -3.55063032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.080371742999997 meters 0.039008478346434665 Centerline is valid? [True, True] Translation: X:24.88, Y:-1.56, Z:-0.35 [[ 9.99914505e-01 -1.30525551e-02 7.83015661e-04 2.48806994e+01] [ 1.30525944e-02 9.99914810e-01 -4.51782219e-05 -1.56274859e+00] [-7.82359265e-04 5.53947453e-05 9.99999692e-01 -3.51001933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.140371743 meters 0.03959639084723395 Centerline is valid? [True, True] Translation: X:24.94, Y:-1.57, Z:-0.35 [[ 9.99911711e-01 -1.30571514e-02 2.46590711e-03 2.49427649e+01] [ 1.30575475e-02 9.99914736e-01 -1.44625541e-04 -1.56728384e+00] [-2.46380846e-03 1.76811471e-04 9.99996949e-01 -3.50381688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.200371742999998 meters 0.04476318294136936 Centerline is valid? [True, True] Translation: X:25.00, Y:-1.58, Z:-0.35 [[ 9.99906703e-01 -1.35499585e-02 1.72762717e-03 2.50028477e+01] [ 1.35501523e-02 9.99908187e-01 -1.00513373e-04 -1.57926301e+00] [-1.72610660e-03 1.23913606e-04 9.99998503e-01 -3.52800263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.260371742999997 meters 0.039931754767938005 Centerline is valid? [True, True] Translation: X:25.06, Y:-1.58, Z:-0.36 [[ 9.99895317e-01 -1.44634315e-02 -4.05909581e-04 2.50648171e+01] [ 1.44634427e-02 9.99895399e-01 2.48048449e-05 -1.57823191e+00] [ 4.05508360e-04 -3.06730982e-05 9.99999917e-01 -3.55410888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.320371743 meters 0.04155276632191986 Centerline is valid? [True, True] Translation: X:25.13, Y:-1.59, Z:-0.36 [[ 9.99897415e-01 -1.43058623e-02 -7.08063597e-04 2.51258495e+01] [ 1.43058961e-02 9.99897665e-01 4.27286196e-05 -1.58578843e+00] [ 7.07379868e-04 -5.28537206e-05 9.99999748e-01 -3.57055838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.380371742999998 meters 0.03952213943735234 Centerline is valid? [True, True] Translation: X:25.19, Y:-1.59, Z:-0.36 [[ 9.99903653e-01 -1.38708741e-02 -5.33414515e-04 2.51877743e+01] [ 1.38708935e-02 9.99903794e-01 3.26750234e-05 -1.58641380e+00] [ 5.32909966e-04 -4.00708111e-05 9.99999857e-01 -3.56550962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.440371742999996 meters 0.04393325121387349 Centerline is valid? [True, True] Translation: X:25.25, Y:-1.60, Z:-0.36 [[ 9.99920031e-01 -1.26426911e-02 -3.05782341e-04 2.52479171e+01] [ 1.26426974e-02 9.99920078e-01 1.86610508e-05 -1.59682803e+00] [ 3.05521976e-04 -2.25254722e-05 9.99999953e-01 -3.57839031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.500371743 meters 0.04174244043540948 Centerline is valid? [True, True] Translation: X:25.31, Y:-1.60, Z:-0.36 [[ 9.99931637e-01 -1.16909808e-02 -2.04249547e-04 2.53105821e+01] [ 1.16909838e-02 9.99931658e-01 1.35661010e-05 -1.59791420e+00] [ 2.04076987e-04 -1.59530517e-05 9.99999979e-01 -3.57838170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.560371742999997 meters 0.03983117077134533 Centerline is valid? [True, True] Translation: X:25.37, Y:-1.60, Z:-0.36 [[ 9.99944371e-01 -1.05199145e-02 -7.65202049e-04 2.53731038e+01] [ 1.05199532e-02 9.99944663e-01 4.65733502e-05 -1.59835821e+00] [ 7.64669757e-04 -5.46206491e-05 9.99999706e-01 -3.58553621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.620371742999996 meters 0.04041270262081159 Centerline is valid? [True, True] Translation: X:25.44, Y:-1.60, Z:-0.36 [[ 9.99945828e-01 -1.03097951e-02 -1.43163422e-03 2.54356605e+01] [ 1.03099292e-02 9.99946848e-01 8.63634758e-05 -1.60261081e+00] [ 1.43066774e-03 -1.01118845e-04 9.99998971e-01 -3.59217103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.680371743 meters 0.039672531766535755 Centerline is valid? [True, True] Translation: X:25.50, Y:-1.61, Z:-0.36 [[ 9.99901022e-01 -1.39750111e-02 -1.62631343e-03 2.54964526e+01] [ 1.39751874e-02 9.99902338e-01 9.70895915e-05 -1.60658169e+00] [ 1.62479777e-03 -1.19808017e-04 9.99998673e-01 -3.59117277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.740371742999997 meters 0.040841682417841856 Centerline is valid? [True, True] Translation: X:25.56, Y:-1.61, Z:-0.36 [[ 9.99850382e-01 -1.71413795e-02 -2.32075416e-03 2.55565617e+01] [ 1.71417468e-02 9.99853060e-01 1.38484694e-04 -1.61332409e+00] [ 2.31803933e-03 -1.78245754e-04 9.99997297e-01 -3.59840125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.800371743 meters 0.04355674807284493 Centerline is valid? [True, True] Translation: X:25.62, Y:-1.62, Z:-0.36 [[ 9.99772088e-01 -2.10092573e-02 -3.79262352e-03 2.56161695e+01] [ 2.10102660e-02 9.99779234e-01 2.26320646e-04 -1.62186792e+00] [ 3.78703141e-03 -3.05953094e-04 9.99992782e-01 -3.61689916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.860371742999998 meters 0.047518464284892425 Centerline is valid? [True, True] Translation: X:25.68, Y:-1.63, Z:-0.36 [[ 9.99729892e-01 -2.28064605e-02 -4.47300580e-03 2.56761145e+01] [ 2.28078826e-02 9.99739831e-01 2.67154703e-04 -1.63161507e+00] [ 4.46574921e-03 -3.69102333e-04 9.99989960e-01 -3.63280176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.920371742999997 meters 0.042673535152353725 Centerline is valid? [True, True] Translation: X:25.74, Y:-1.63, Z:-0.36 [[ 9.99749386e-01 -2.20059643e-02 -4.11120313e-03 2.57383291e+01] [ 2.20071634e-02 9.99757783e-01 2.46630736e-04 -1.62835307e+00] [ 4.10477998e-03 -3.37044846e-04 9.99991519e-01 -3.61668905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.980371743 meters 0.04061043627939184 Centerline is valid? [True, True] Translation: X:25.80, Y:-1.63, Z:-0.36 [[ 9.99821384e-01 -1.85576780e-02 -3.57937875e-03 2.57989716e+01] [ 1.85585621e-02 9.99827752e-01 2.13938457e-04 -1.62768208e+00] [ 3.57479201e-03 -2.80328367e-04 9.99993571e-01 -3.60182545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.040371742999998 meters 0.04142477938700603 Centerline is valid? [True, True] Translation: X:25.86, Y:-1.63, Z:-0.36 [[ 9.99849523e-01 -1.70013613e-02 -3.44741426e-03 2.58601717e+01] [ 1.70021741e-02 9.99855431e-01 2.06605240e-04 -1.63224208e+00] [ 3.44340331e-03 -2.65187688e-04 9.99994036e-01 -3.61297832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.100371742999997 meters 0.03975692713942024 Centerline is valid? [True, True] Translation: X:25.92, Y:-1.63, Z:-0.36 [[ 9.99928268e-01 -1.14185745e-02 -3.61585975e-03 2.59207937e+01] [ 1.14194304e-02 9.99934773e-01 2.16142453e-04 -1.63336397e+00] [ 3.61315586e-03 -2.57418008e-04 9.99993439e-01 -3.62344464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.160371743 meters 0.0346135838610892 Centerline is valid? [True, True] Translation: X:25.98, Y:-1.63, Z:-0.36 [[ 9.99980666e-01 -4.18045818e-03 -4.60334358e-03 2.59820924e+01] [ 4.18177056e-03 9.99991218e-01 2.75506622e-04 -1.62862147e+00] [ 4.60215141e-03 -2.94751422e-04 9.99989367e-01 -3.62843127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.220371742999998 meters 0.03350173999143523 Centerline is valid? [True, True] Translation: X:26.04, Y:-1.63, Z:-0.36 [[ 9.99988096e-01 1.03292942e-03 -4.76878218e-03 2.60423353e+01] [-1.03158148e-03 9.99999427e-01 2.85110508e-04 -1.63013997e+00] [ 4.76907395e-03 -2.80187727e-04 9.99988589e-01 -3.63904402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.280371742999996 meters 0.030207006837562403 Centerline is valid? [True, True] Translation: X:26.10, Y:-1.63, Z:-0.36 [[ 9.99941092e-01 9.38936135e-03 -5.44534428e-03 2.61033342e+01] [-9.38772594e-03 9.99955881e-01 3.25814940e-04 -1.62648146e+00] [ 5.44816323e-03 -2.74676347e-04 9.99985121e-01 -3.63359180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.340371743 meters 0.029205747210159182 Centerline is valid? [True, True] Translation: X:26.16, Y:-1.63, Z:-0.36 [[ 9.99888195e-01 1.42518607e-02 -4.52566231e-03 2.61630506e+01] [-1.42507832e-02 9.99898416e-01 2.70257237e-04 -1.62748179e+00] [ 4.52905424e-03 -2.05732788e-04 9.99989723e-01 -3.63288885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.400371742999997 meters 0.028118478828114628 Centerline is valid? [True, True] Translation: X:26.22, Y:-1.63, Z:-0.36 [[ 9.99819773e-01 1.86238045e-02 -3.68435774e-03 2.62234456e+01] [-1.86231214e-02 9.99826551e-01 2.19637091e-04 -1.62880874e+00] [ 3.68780917e-03 -1.50983265e-04 9.99993189e-01 -3.62919387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.460371742999996 meters 0.025616138314335426 Centerline is valid? [True, True] Translation: X:26.28, Y:-1.63, Z:-0.36 [[ 9.99753350e-01 2.20777872e-02 -2.41045736e-03 2.62831819e+01] [-2.20775055e-02 9.99756252e-01 1.43424454e-04 -1.62738227e+00] [ 2.41303631e-03 -9.01721929e-05 9.99997085e-01 -3.60440773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.520371743 meters 0.02729015669547549 Centerline is valid? [True, True] Translation: X:26.34, Y:-1.63, Z:-0.36 [[ 9.99710395e-01 2.39103927e-02 -2.72372455e-03 2.63404427e+01] [-2.39100423e-02 9.99714101e-01 1.61144623e-04 -1.63417481e+00] [ 2.72679887e-03 -9.59735855e-05 9.99996278e-01 -3.62631473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.580371742999997 meters 0.025202419773807116 Centerline is valid? [True, True] Translation: X:26.40, Y:-1.63, Z:-0.36 [[ 9.99643316e-01 2.64413114e-02 -3.75476509e-03 2.63998620e+01] [-2.64406604e-02 9.99650360e-01 2.22922925e-04 -1.63402516e+00] [ 3.75934664e-03 -1.23564944e-04 9.99992926e-01 -3.62549436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.640371743 meters 0.02427609234061031 Centerline is valid? [True, True] Translation: X:26.46, Y:-1.64, Z:-0.36 [[ 9.99538121e-01 3.00950435e-02 -4.22291831e-03 2.64588267e+01] [-3.00942546e-02 9.99547034e-01 2.50256608e-04 -1.63670017e+00] [ 4.22853696e-03 -1.23055441e-04 9.99991052e-01 -3.62337583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.700371742999998 meters 0.022852572039366918 Centerline is valid? [True, True] Translation: X:26.52, Y:-1.64, Z:-0.36 [[ 9.99459862e-01 3.27305601e-02 -2.94881148e-03 2.65179513e+01] [-3.27301885e-02 9.99464209e-01 1.74200241e-04 -1.63802699e+00] [ 2.95293320e-03 -7.75909934e-05 9.99995637e-01 -3.60400836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.760371742999997 meters 0.022728206854334413 Centerline is valid? [True, True] Translation: X:26.58, Y:-1.64, Z:-0.36 [[ 9.99334850e-01 3.63966371e-02 -2.26767814e-03 2.65756143e+01] [-3.63964284e-02 9.99337422e-01 1.33282431e-04 -1.64395301e+00] [ 2.27102666e-03 -5.06583930e-05 9.99997420e-01 -3.61481996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.820371743 meters 0.02245489111134424 Centerline is valid? [True, True] Translation: X:26.63, Y:-1.65, Z:-0.36 [[ 9.99239681e-01 3.87829916e-02 -3.99241684e-03 2.66338503e+01] [-3.87823598e-02 9.99247654e-01 2.35579154e-04 -1.64911334e+00] [ 3.99854963e-03 -8.05646918e-05 9.99992003e-01 -3.62807508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.880371742999998 meters 0.022102194817164793 Centerline is valid? [True, True] Translation: X:26.69, Y:-1.66, Z:-0.36 [[ 9.99226988e-01 3.90171836e-02 -4.80469841e-03 2.66910236e+01] [-3.90162916e-02 9.99238536e-01 2.79277673e-04 -1.65661189e+00] [ 4.81193643e-03 -9.16002738e-05 9.99988418e-01 -3.64699508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.940371742999996 meters 0.022284548397030687 Centerline is valid? [True, True] Translation: X:26.75, Y:-1.66, Z:-0.37 [[ 9.99298656e-01 3.71444029e-02 -4.74226073e-03 2.67492515e+01] [-3.71435002e-02 9.99309903e-01 2.78307621e-04 -1.66484618e+00] [ 4.74932569e-03 -1.01968269e-04 9.99988717e-01 -3.65789503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.000371743 meters 0.02270985648319284 Centerline is valid? [True, True] Translation: X:26.81, Y:-1.68, Z:-0.37 [[ 9.99475311e-01 3.22323760e-02 -3.19011808e-03 2.68083248e+01] [-3.22319424e-02 9.99480398e-01 1.87272136e-04 -1.67637030e+00] [ 3.19449671e-03 -8.43501741e-05 9.99994894e-01 -3.65213578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.060371742999997 meters 0.023840352326773652 Centerline is valid? [True, True] Translation: X:26.87, Y:-1.69, Z:-0.36 [[ 9.99645998e-01 2.65241410e-02 -2.08526508e-03 2.68674702e+01] [-2.65239438e-02 9.99648171e-01 1.22167349e-04 -1.68844948e+00] [ 2.08777181e-03 -6.68146478e-05 9.99997818e-01 -3.64805863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.120371742999996 meters 0.02489959529666982 Centerline is valid? [True, True] Translation: X:26.93, Y:-1.70, Z:-0.37 [[ 9.99734999e-01 2.29730471e-02 -1.47372591e-03 2.69260053e+01] [-2.29729454e-02 9.99736083e-01 8.58710362e-05 -1.69835890e+00] [ 1.47530969e-03 -5.19924554e-05 9.99998910e-01 -3.65282178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.180371743 meters 0.026207046380084413 Centerline is valid? [True, True] Translation: X:26.99, Y:-1.71, Z:-0.37 [[ 9.99837036e-01 1.80063208e-02 -1.29372933e-03 2.69861519e+01] [-1.80062374e-02 9.99837872e-01 7.60379677e-05 -1.70862494e+00] [ 1.29488874e-03 -5.27303788e-05 9.99999160e-01 -3.65012589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.240371742999997 meters 0.02699016323339556 Centerline is valid? [True, True] Translation: X:27.04, Y:-1.72, Z:-0.37 [[ 9.99891428e-01 1.47197143e-02 -6.80521681e-04 2.70447435e+01] [-1.47196910e-02 9.99891659e-01 3.92058701e-05 -1.71709249e+00] [ 6.81025052e-04 -2.91845446e-05 9.99999768e-01 -3.65495481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.300371743 meters 0.029402648341007878 Centerline is valid? [True, True] Translation: X:27.10, Y:-1.73, Z:-0.37 [[ 9.99949027e-01 1.00965940e-02 -4.36400367e-05 2.71042422e+01] [-1.00965939e-02 9.99949028e-01 2.31375559e-06 -1.72803796e+00] [ 4.36611733e-05 -1.87302193e-06 9.99999999e-01 -3.66087490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.360371742999998 meters 0.031170330442781998 Centerline is valid? [True, True] Translation: X:27.16, Y:-1.74, Z:-0.37 [[ 9.99967707e-01 8.02928983e-03 -3.40675369e-04 2.71621400e+01] [-8.02928382e-03 9.99967765e-01 1.89975472e-05 -1.73558338e+00] [ 3.40816924e-04 -1.62615545e-05 9.99999942e-01 -3.67149519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.420371742999997 meters 0.030084101956666557 Centerline is valid? [True, True] Translation: X:27.22, Y:-1.74, Z:-0.37 [[ 9.99981756e-01 6.03386345e-03 -2.83139876e-04 2.72215721e+01] [-6.03385913e-03 9.99981796e-01 1.60883459e-05 -1.73790088e+00] [ 2.83231796e-04 -1.43796262e-05 9.99999960e-01 -3.66680494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.480371743 meters 0.03201057259263964 Centerline is valid? [True, True] Translation: X:27.28, Y:-1.74, Z:-0.37 [[ 9.99992235e-01 3.93554924e-03 2.02070806e-04 2.72799127e+01] [-3.93554678e-03 9.99992256e-01 -1.25568166e-05 -1.74381218e+00] [-2.02118659e-04 1.17614600e-05 9.99999980e-01 -3.67452125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.540371742999998 meters 0.03487165514512003 Centerline is valid? [True, True] Translation: X:27.34, Y:-1.75, Z:-0.37 [[ 9.99999802e-01 5.53801735e-04 2.99144506e-04 2.73382919e+01] [-5.53796550e-04 9.99999847e-01 -1.74164198e-05 -1.75091953e+00] [-2.99154105e-04 1.72507512e-05 9.99999955e-01 -3.68460165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.600371742999997 meters 0.037041490678423335 Centerline is valid? [True, True] Translation: X:27.40, Y:-1.76, Z:-0.37 [[ 9.99997744e-01 -1.85544305e-03 1.03444417e-03 2.73986685e+01] [ 1.85550670e-03 9.99998277e-01 -6.05691800e-05 -1.75669919e+00] [-1.03433000e-03 6.24884614e-05 9.99999463e-01 -3.69248889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.660371743 meters 0.039478526119362777 Centerline is valid? [True, True] Translation: X:27.46, Y:-1.76, Z:-0.37 [[ 9.99990419e-01 -4.29567788e-03 8.42270533e-04 2.74590434e+01] [ 4.29572075e-03 9.99990772e-01 -4.90942669e-05 -1.76235582e+00] [-8.42051867e-04 5.27119556e-05 9.99999644e-01 -3.70503832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.720371742999998 meters 0.03474689920831768 Centerline is valid? [True, True] Translation: X:27.52, Y:-1.76, Z:-0.37 [[ 9.99986981e-01 -5.03540166e-03 8.25800526e-04 2.75216826e+01] [ 5.03544253e-03 9.99987321e-01 -4.74138342e-05 -1.75706362e+00] [-8.25551308e-04 5.15714880e-05 9.99999658e-01 -3.69736258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.780371742999996 meters 0.034425082352520994 Centerline is valid? [True, True] Translation: X:27.58, Y:-1.76, Z:-0.37 [[ 9.99993171e-01 -3.60220958e-03 8.25354345e-04 2.75838560e+01] [ 3.60225016e-03 9.99993511e-01 -4.76869381e-05 -1.75553861e+00] [-8.25177211e-04 5.06597453e-05 9.99999658e-01 -3.69319454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.840371743 meters 0.033204655663510385 Centerline is valid? [True, True] Translation: X:27.64, Y:-1.75, Z:-0.37 [[ 9.99998290e-01 2.08032544e-04 1.83778182e-03 2.76447171e+01] [-2.07835001e-04 9.99999973e-01 -1.07680250e-04 -1.75279163e+00] [-1.83780417e-03 1.07298110e-04 9.99998305e-01 -3.68781138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.900371742999997 meters 0.029684065871433515 Centerline is valid? [True, True] Translation: X:27.71, Y:-1.75, Z:-0.37 [[ 9.99983352e-01 5.50073836e-03 1.74299451e-03 2.77053608e+01] [-5.50056836e-03 9.99984867e-01 -1.02309855e-04 -1.74612736e+00] [-1.74353091e-03 9.27206909e-05 9.99998476e-01 -3.69540937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.960371742999996 meters 0.032693177903651505 Centerline is valid? [True, True] Translation: X:27.76, Y:-1.75, Z:-0.37 [[ 9.99971793e-01 7.28814105e-03 1.81549892e-03 2.77640056e+01] [-7.28795831e-03 9.99973437e-01 -1.07249419e-04 -1.75219486e+00] [-1.81623234e-03 9.40151134e-05 9.99998346e-01 -3.71635075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.020371743 meters 0.02710418134439352 Centerline is valid? [True, True] Translation: X:27.82, Y:-1.74, Z:-0.37 [[ 9.99928025e-01 1.18007593e-02 2.16490863e-03 2.78241572e+01] [-1.18005110e-02 9.99930363e-01 -1.27429407e-04 -1.74357225e+00] [-2.16626164e-03 1.01873207e-04 9.99997648e-01 -3.70545520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.080371742999997 meters 0.026292301384744546 Centerline is valid? [True, True] Translation: X:27.88, Y:-1.74, Z:-0.37 [[ 9.99825432e-01 1.85828248e-02 1.94505284e-03 2.78837460e+01] [-1.85826376e-02 9.99827321e-01 -1.14287303e-04 -1.74213822e+00] [-1.94684076e-03 7.81231405e-05 9.99998102e-01 -3.72446958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.140371743 meters 0.024873861200913214 Centerline is valid? [True, True] Translation: X:27.94, Y:-1.74, Z:-0.37 [[ 9.99714119e-01 2.38322303e-02 1.92509984e-03 2.79441581e+01] [-2.38320568e-02 9.99715970e-01 -1.13030899e-04 -1.73817933e+00] [-1.92724683e-03 6.71194963e-05 9.99998141e-01 -3.72044651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.200371742999998 meters 0.02392503671669534 Centerline is valid? [True, True] Translation: X:28.00, Y:-1.74, Z:-0.37 [[ 9.99622434e-01 2.73429936e-02 2.71123957e-03 2.80039482e+01] [-2.73426621e-02 9.99626107e-01 -1.59242966e-04 -1.73876096e+00] [-2.71458004e-03 8.50503339e-05 9.99996312e-01 -3.72333804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.260371742999997 meters 0.02275959210052618 Centerline is valid? [True, True] Translation: X:28.06, Y:-1.74, Z:-0.37 [[ 9.99402610e-01 3.43915130e-02 3.41262605e-03 2.80634175e+01] [-3.43910299e-02 9.99408434e-01 -2.00175731e-04 -1.73942500e+00] [-3.41749161e-03 8.26924239e-05 9.99994157e-01 -3.73091122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.320371743 meters 0.021028324287696663 Centerline is valid? [True, True] Translation: X:28.12, Y:-1.74, Z:-0.37 [[ 9.99066337e-01 4.30080669e-02 4.09397051e-03 2.81235680e+01] [-4.30074456e-02 9.99074723e-01 -2.39715654e-04 -1.73870561e+00] [-4.10049216e-03 6.34206266e-05 9.99991591e-01 -3.73040300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.380371742999998 meters 0.02061757736336782 Centerline is valid? [True, True] Translation: X:28.18, Y:-1.74, Z:-0.37 [[ 9.98846461e-01 4.77286507e-02 5.26520375e-03 2.81822743e+01] [-4.77276870e-02 9.98860337e-01 -3.08597106e-04 -1.74132104e+00] [-5.27393212e-03 5.69451309e-05 9.99986091e-01 -3.73462734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.440371742999996 meters 0.02045142760679632 Centerline is valid? [True, True] Translation: X:28.24, Y:-1.75, Z:-0.37 [[ 9.98717399e-01 5.01393610e-02 7.04285244e-03 2.82403491e+01] [-5.01377026e-02 9.98742230e-01 -4.11940290e-04 -1.74897823e+00] [-7.05464857e-03 5.82994939e-05 9.99975114e-01 -3.74767044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.500371743 meters 0.020429201935168603 Centerline is valid? [True, True] Translation: X:28.30, Y:-1.76, Z:-0.38 [[ 9.98844771e-01 4.76111467e-02 6.50397872e-03 2.82971541e+01] [-4.76096805e-02 9.98865944e-01 -3.80161881e-04 -1.76091857e+00] [-6.51470278e-03 7.00703583e-05 9.99978777e-01 -3.76411626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.560371742999997 meters 0.020737789087695493 Centerline is valid? [True, True] Translation: X:28.35, Y:-1.77, Z:-0.38 [[ 9.99007410e-01 4.42075347e-02 5.46712591e-03 2.83549556e+01] [-4.42064494e-02 9.99022366e-01 -3.19257544e-04 -1.77199418e+00] [-5.47589465e-03 7.72584275e-05 9.99985004e-01 -3.78541136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.620371742999996 meters 0.021178175892302514 Centerline is valid? [True, True] Translation: X:28.41, Y:-1.79, Z:-0.38 [[ 9.99248950e-01 3.85245437e-02 4.17071805e-03 2.84140038e+01] [-3.85238649e-02 9.99257651e-01 -2.43001108e-04 -1.78609434e+00] [-4.17698343e-03 8.21464229e-05 9.99991273e-01 -3.80152783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.680371743 meters 0.021891196973100532 Centerline is valid? [True, True] Translation: X:28.47, Y:-1.80, Z:-0.38 [[ 9.99416324e-01 3.37518429e-02 5.27490065e-03 2.84730724e+01] [-3.37506923e-02 9.99430236e-01 -3.07018534e-04 -1.80026705e+00] [-5.28225764e-03 1.28807786e-04 9.99986040e-01 -3.80645026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.740371742999997 meters 0.022659060066550548 Centerline is valid? [True, True] Translation: X:28.53, Y:-1.81, Z:-0.38 [[ 9.99492809e-01 3.12112035e-02 6.32345935e-03 2.85311893e+01] [-3.12094996e-02 9.99512797e-01 -3.67990000e-04 -1.81035416e+00] [-6.33186395e-03 1.70451357e-04 9.99979939e-01 -3.80804638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.800371742999996 meters 0.02457599970665763 Centerline is valid? [True, True] Translation: X:28.59, Y:-1.82, Z:-0.38 [[ 9.99623353e-01 2.66296737e-02 6.63422731e-03 2.85888449e+01] [-2.66277007e-02 9.99645346e-01 -3.85552823e-04 -1.82406431e+00] [-6.64214160e-03 2.08753386e-04 9.99977919e-01 -3.81818385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.860371742999998 meters 0.027647637844331135 Centerline is valid? [True, True] Translation: X:28.65, Y:-1.84, Z:-0.38 [[ 9.99782662e-01 1.97009201e-02 6.81927818e-03 2.86468054e+01] [-1.96986801e-02 9.99805884e-01 -3.95500489e-04 -1.84043116e+00] [-6.82574618e-03 2.61083752e-04 9.99976670e-01 -3.83311155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.920371742999997 meters 0.027722700024760016 Centerline is valid? [True, True] Translation: X:28.71, Y:-1.85, Z:-0.38 [[ 9.99877633e-01 1.47033527e-02 5.34147113e-03 2.87066889e+01] [-1.47019079e-02 9.99891873e-01 -3.09652895e-04 -1.84741558e+00] [-5.34544651e-03 2.31085187e-04 9.99985686e-01 -3.84594603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.980371743 meters 0.029004042230678644 Centerline is valid? [True, True] Translation: X:28.77, Y:-1.86, Z:-0.39 [[ 9.99966279e-01 7.05453339e-03 4.20418538e-03 2.87669721e+01] [-7.05357175e-03 9.99975094e-01 -2.43516977e-04 -1.85744778e+00] [-4.20579857e-03 2.13854242e-04 9.99991133e-01 -3.86485377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.040371742999998 meters 0.03178961192033889 Centerline is valid? [True, True] Translation: X:28.83, Y:-1.87, Z:-0.39 [[ 9.99986133e-01 2.70640977e-03 4.51766220e-03 2.88262328e+01] [-2.70525467e-03 9.99996307e-01 -2.61775992e-04 -1.86735482e+00] [-4.51835399e-03 2.49550935e-04 9.99989761e-01 -3.86743264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.100371742999997 meters 0.03199350266649075 Centerline is valid? [True, True] Translation: X:28.89, Y:-1.87, Z:-0.38 [[ 9.99979105e-01 -1.32128359e-03 6.32807065e-03 2.88869750e+01] [ 1.32362835e-03 9.99999057e-01 -3.66359694e-04 -1.87150870e+00] [-6.32758062e-03 3.74728053e-04 9.99979910e-01 -3.84737375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.160371743 meters 0.03279578970668231 Centerline is valid? [True, True] Translation: X:28.95, Y:-1.88, Z:-0.38 [[ 9.99963877e-01 -1.34612651e-04 8.49862284e-03 2.89484100e+01] [ 1.38798696e-04 9.99999869e-01 -4.91967853e-04 -1.87558051e+00] [-8.49855551e-03 4.93129680e-04 9.99963765e-01 -3.84059532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.220371742999998 meters 0.03234350289972362 Centerline is valid? [True, True] Translation: X:29.01, Y:-1.88, Z:-0.38 [[ 9.99959304e-01 2.26856744e-03 8.73174405e-03 2.90095945e+01] [-2.26423247e-03 9.99997308e-01 -5.06314090e-04 -1.87737047e+00] [-8.73286915e-03 4.86522787e-04 9.99961749e-01 -3.84904351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.280371742999996 meters 0.031704392996739515 Centerline is valid? [True, True] Translation: X:29.07, Y:-1.88, Z:-0.39 [[ 9.99956080e-01 4.73716731e-03 8.08684697e-03 2.90712722e+01] [-4.73352862e-03 9.99988687e-01 -4.69031438e-04 -1.87861312e+00] [-8.08897736e-03 4.30731516e-04 9.99967191e-01 -3.86219708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.340371743 meters 0.03324766191152449 Centerline is valid? [True, True] Translation: X:29.13, Y:-1.88, Z:-0.39 [[ 9.99964432e-01 5.90104836e-03 6.02596087e-03 2.91319361e+01] [-5.89905627e-03 9.99982540e-01 -3.48306092e-04 -1.88434200e+00] [-6.02791102e-03 3.12746222e-04 9.99981783e-01 -3.89659406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.400371742999997 meters 0.029017617809359502 Centerline is valid? [True, True] Translation: X:29.19, Y:-1.88, Z:-0.39 [[ 9.99966824e-01 6.92538006e-03 4.28826086e-03 2.91932441e+01] [-6.92437165e-03 9.99975995e-01 -2.49957792e-04 -1.88000777e+00] [-4.28988897e-03 2.20255987e-04 9.99990774e-01 -3.90901747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.460371742999996 meters 0.029764517810304193 Centerline is valid? [True, True] Translation: X:29.25, Y:-1.88, Z:-0.39 [[ 9.99939376e-01 1.09127841e-02 1.46798550e-03 2.92524251e+01] [-1.09126709e-02 9.99940451e-01 -8.51316982e-05 -1.88275996e+00] [-1.46882710e-03 6.91068946e-05 9.99998919e-01 -3.94588222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.520371743 meters 0.026486873724544464 Centerline is valid? [True, True] Translation: X:29.31, Y:-1.88, Z:-0.39 [[ 9.99838331e-01 1.79378569e-02 1.24272505e-03 2.93136839e+01] [-1.79377808e-02 9.99839102e-01 -7.23713986e-05 -1.87865618e+00] [-1.24382329e-03 5.00679689e-05 9.99999225e-01 -3.94784794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.580371742999997 meters 0.025446657215338835 Centerline is valid? [True, True] Translation: X:29.37, Y:-1.88, Z:-0.39 [[ 9.99725718e-01 2.31271038e-02 3.69134659e-03 2.93738550e+01] [-2.31264645e-02 9.99732524e-01 -2.15777916e-04 -1.87954262e+00] [-3.69534957e-03 1.30350936e-04 9.99993164e-01 -3.94528834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.640371743 meters 0.02438125950184273 Centerline is valid? [True, True] Translation: X:29.43, Y:-1.88, Z:-0.39 [[ 9.99613688e-01 2.68148549e-02 7.31020549e-03 2.94343436e+01] [-2.68124489e-02 9.99640390e-01 -4.26952959e-04 -1.87996437e+00] [-7.31902535e-03 2.30783511e-04 9.99973189e-01 -3.91597660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.700371742999998 meters 0.02412848603334778 Centerline is valid? [True, True] Translation: X:29.49, Y:-1.88, Z:-0.39 [[ 9.99654931e-01 2.49586567e-02 8.19045406e-03 2.94931716e+01] [-2.49555729e-02 9.99688447e-01 -4.78510877e-04 -1.88327719e+00] [-8.19984529e-03 2.73948285e-04 9.99966343e-01 -3.90963687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.760371742999997 meters 0.026562369315148025 Centerline is valid? [True, True] Translation: X:29.55, Y:-1.90, Z:-0.39 [[ 9.99819473e-01 1.71237879e-02 8.23390611e-03 2.95528700e+01] [-1.71204144e-02 9.99853320e-01 -4.80026012e-04 -1.89513579e+00] [-8.24091822e-03 3.38971469e-04 9.99965986e-01 -3.92554251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.820371743 meters 0.02774984312162541 Centerline is valid? [True, True] Translation: X:29.61, Y:-1.90, Z:-0.39 [[ 9.99874502e-01 1.37080981e-02 7.94154473e-03 2.96126131e+01] [-1.37048517e-02 9.99905977e-01 -4.63070699e-04 -1.90184826e+00] [-7.94714586e-03 3.54174892e-04 9.99968358e-01 -3.94231956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.880371742999998 meters 0.051219912494869 Centerline is valid? [True, True] Translation: X:29.67, Y:-1.94, Z:-0.40 [[ 9.99944460e-01 7.06345542e-03 7.82199604e-03 2.96699443e+01] [-7.06010439e-03 9.99974973e-01 -4.55941652e-04 -1.94360206e+00] [-7.82502081e-03 4.00692221e-04 9.99969304e-01 -4.00227686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.940371742999996 meters 0.031856263735055235 Centerline is valid? [True, True] Translation: X:29.73, Y:-1.92, Z:-0.40 [[ 9.99961876e-01 4.35366043e-04 8.72105923e-03 2.97327299e+01] [-4.30952233e-04 9.99999778e-01 -5.07982161e-04 -1.92054190e+00] [-8.72127846e-03 5.04204435e-04 9.99961842e-01 -3.96759267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.000371743 meters 0.032689364281733725 Centerline is valid? [True, True] Translation: X:29.79, Y:-1.93, Z:-0.40 [[ 9.99954023e-01 -4.02371375e-04 9.58070457e-03 2.97941667e+01] [ 4.07730435e-04 9.99999762e-01 -5.57412976e-04 -1.92630689e+00] [-9.58047800e-03 5.61293693e-04 9.99953949e-01 -3.97285757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.060371742999997 meters 0.03361546410830396 Centerline is valid? [True, True] Translation: X:29.86, Y:-1.93, Z:-0.40 [[ 9.99952701e-01 -2.58387402e-04 9.72256640e-03 2.98570495e+01] [ 2.63927569e-04 9.99999804e-01 -5.68546781e-04 -1.93130803e+00] [-9.72241759e-03 5.71085943e-04 9.99952573e-01 -3.97866309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.120371742999996 meters 0.033778923405169345 Centerline is valid? [True, True] Translation: X:29.92, Y:-1.94, Z:-0.40 [[ 9.99961012e-01 5.09493429e-04 8.81558078e-03 2.99193489e+01] [-5.04959643e-04 9.99999739e-01 -5.16510494e-04 -1.93557734e+00] [-8.81584164e-03 5.12038844e-04 9.99961009e-01 -3.98689709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.180371743 meters 0.034111806849507334 Centerline is valid? [True, True] Translation: X:29.98, Y:-1.94, Z:-0.40 [[ 9.99969626e-01 1.75641360e-03 7.59358040e-03 2.99814472e+01] [-1.75308241e-03 9.99998364e-01 -4.45319300e-04 -1.93937520e+00] [-7.59435014e-03 4.31993601e-04 9.99971069e-01 -4.00667578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.240371742999997 meters 0.030869159050231985 Centerline is valid? [True, True] Translation: X:30.04, Y:-1.94, Z:-0.40 [[ 9.99972744e-01 4.99895876e-03 5.43337720e-03 3.00432457e+01] [-4.99730011e-03 9.99987463e-01 -3.18804235e-04 -1.93745599e+00] [-5.43490277e-03 2.91643329e-04 9.99985188e-01 -4.03328768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.300371742999996 meters 0.029092176847489326 Centerline is valid? [True, True] Translation: X:30.10, Y:-1.94, Z:-0.40 [[ 9.99926331e-01 1.08307571e-02 5.47978815e-03 3.01035176e+01] [-1.08291527e-02 9.99941311e-01 -3.22378378e-04 -1.93682029e+00] [-5.48295815e-03 2.63013166e-04 9.99984934e-01 -4.04164514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.360371742999998 meters 0.02616009713430179 Centerline is valid? [True, True] Translation: X:30.16, Y:-1.93, Z:-0.40 [[ 9.99852486e-01 1.58378104e-02 6.64600333e-03 3.01640836e+01] [-1.58355595e-02 9.99874533e-01 -3.91173713e-04 -1.93461677e+00] [-6.65136481e-03 2.85872829e-04 9.99977839e-01 -4.03308355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.420371742999997 meters 0.025507724398888813 Centerline is valid? [True, True] Translation: X:30.22, Y:-1.93, Z:-0.40 [[ 9.99663019e-01 2.49014333e-02 7.33253780e-03 3.02230154e+01] [-2.48989364e-02 9.99689880e-01 -4.31627897e-04 -1.93452938e+00] [-7.34101199e-03 2.48910054e-04 9.99973023e-01 -4.02657077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.480371743 meters 0.02173890236044635 Centerline is valid? [True, True] Translation: X:30.28, Y:-1.93, Z:-0.40 [[ 9.99393746e-01 3.40685951e-02 7.17433801e-03 3.02841529e+01] [-3.40664448e-02 9.99419481e-01 -4.21736782e-04 -1.92903856e+00] [-7.18454115e-03 1.77076912e-04 9.99974175e-01 -4.01942506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.540371742999998 meters 0.020542469319958647 Centerline is valid? [True, True] Translation: X:30.34, Y:-1.93, Z:-0.40 [[ 9.99092150e-01 4.20262214e-02 6.97654175e-03 3.03441862e+01] [-4.20243814e-02 9.99116501e-01 -4.10188944e-04 -1.93019305e+00] [-6.98761668e-03 1.16631703e-04 9.99975580e-01 -4.03604260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.600371742999997 meters 0.020383159326934446 Centerline is valid? [True, True] Translation: X:30.40, Y:-1.93, Z:-0.40 [[ 9.98855457e-01 4.73905946e-02 6.47358769e-03 3.04017550e+01] [-4.73891200e-02 9.98876432e-01 -3.81064916e-04 -1.93364746e+00] [-6.48437307e-03 7.38511469e-05 9.99978974e-01 -4.04904968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.660371743 meters 0.02009790662967866 Centerline is valid? [True, True] Translation: X:30.46, Y:-1.94, Z:-0.41 [[ 9.98769809e-01 4.91417259e-02 6.63022726e-03 3.04601207e+01] [-4.91402229e-02 9.98791814e-01 -3.89508645e-04 -1.93798572e+00] [-6.64135783e-03 6.32186296e-05 9.99977944e-01 -4.06065269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.720371742999998 meters 0.019942448751311605 Centerline is valid? [True, True] Translation: X:30.52, Y:-1.95, Z:-0.41 [[ 9.98792835e-01 4.86040001e-02 7.10805059e-03 3.05181378e+01] [-4.86022614e-02 9.98818125e-01 -4.17240911e-04 -1.94659606e+00] [-7.11992933e-03 7.12698994e-05 9.99974650e-01 -4.07337494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.780371742999996 meters 0.02010898110621858 Centerline is valid? [True, True] Translation: X:30.58, Y:-1.96, Z:-0.41 [[ 9.98916208e-01 4.58440957e-02 8.04532926e-03 3.05768340e+01] [-4.58417890e-02 9.98948602e-01 -4.70982647e-04 -1.95698241e+00] [-8.05846218e-03 1.01659914e-04 9.99967525e-01 -4.07296425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.840371743 meters 0.020561084342481148 Centerline is valid? [True, True] Translation: X:30.63, Y:-1.97, Z:-0.41 [[ 9.98985927e-01 4.42820597e-02 8.13743343e-03 3.06343067e+01] [-4.42796523e-02 9.99019062e-01 -4.75860017e-04 -1.96653889e+00] [-8.15052317e-03 1.15054738e-04 9.99966777e-01 -4.08775977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.900371742999997 meters 0.020516214167553733 Centerline is valid? [True, True] Translation: X:30.69, Y:-1.98, Z:-0.41 [[ 9.98979464e-01 4.47037221e-02 6.45036234e-03 3.06928971e+01] [-4.47022212e-02 9.99000285e-01 -3.76739657e-04 -1.97707169e+00] [-6.46075548e-03 8.80096568e-05 9.99979125e-01 -4.10800530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.960371742999996 meters 0.02033374111565961 Centerline is valid? [True, True] Translation: X:30.75, Y:-1.99, Z:-0.41 [[ 9.98841631e-01 4.76026869e-02 7.02718196e-03 3.07509887e+01] [-4.76009815e-02 9.98866347e-01 -4.09829129e-04 -1.98751028e+00] [-7.03872454e-03 7.48536370e-05 9.99975225e-01 -4.11934333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.020371743 meters 0.020105750399432066 Centerline is valid? [True, True] Translation: X:30.81, Y:-1.99, Z:-0.41 [[ 9.98494245e-01 5.45500598e-02 5.79079197e-03 3.08093090e+01] [-5.45490199e-02 9.98511037e-01 -3.37485829e-04 -1.99428512e+00] [-5.80057957e-03 2.10956308e-05 9.99983176e-01 -4.13260735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.080371742999997 meters 0.020598558593865113 Centerline is valid? [True, True] Translation: X:30.87, Y:-2.00, Z:-0.42 [[ 9.97927109e-01 6.41531190e-02 5.08547274e-03 3.08679716e+01] [-6.41524429e-02 9.97940067e-01 -2.96120542e-04 -2.00155553e+00] [-5.09399406e-03 -3.07387828e-05 9.99987025e-01 -4.15053427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.140371743 meters 0.021170251287563963 Centerline is valid? [True, True] Translation: X:30.93, Y:-2.01, Z:-0.41 [[ 9.97538889e-01 6.98431092e-02 6.17295311e-03 3.09260485e+01] [-6.98422252e-02 9.97557986e-01 -3.58910275e-04 -2.00882575e+00] [-6.18294608e-03 -7.31058246e-05 9.99980883e-01 -4.14904300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.200371742999998 meters 0.02213795773243739 Centerline is valid? [True, True] Translation: X:30.98, Y:-2.02, Z:-0.41 [[ 9.97097616e-01 7.55924622e-02 9.06222304e-03 3.09830142e+01] [-7.55908073e-02 9.97138784e-01 -5.25481467e-04 -2.02074706e+00] [-9.07601650e-03 -1.61064438e-04 9.99958799e-01 -4.13728560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.260371742999997 meters 0.022588183195394646 Centerline is valid? [True, True] Translation: X:31.04, Y:-2.04, Z:-0.41 [[ 9.96948710e-01 7.74363572e-02 9.84279537e-03 3.10407311e+01] [-7.74345051e-02 9.96997278e-01 -5.69700345e-04 -2.03864170e+00] [-9.85735571e-03 -1.94209964e-04 9.99951396e-01 -4.14312570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.320371743 meters 0.023117109586298215 Centerline is valid? [True, True] Translation: X:31.10, Y:-2.05, Z:-0.42 [[ 9.97021496e-01 7.64985768e-02 9.80331497e-03 3.10979076e+01] [-7.64967005e-02 9.97069673e-01 -5.66770431e-04 -2.05352298e+00] [-9.81794519e-03 -1.84838947e-04 9.99951786e-01 -4.16771839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.380371742999998 meters 0.0229369667783314 Centerline is valid? [True, True] Translation: X:31.16, Y:-2.08, Z:-0.42 [[ 9.97361879e-01 7.19386791e-02 9.70094494e-03 3.11552613e+01] [-7.19366353e-02 9.97409047e-01 -5.59908813e-04 -2.07953716e+00] [-9.71608935e-03 -1.39421632e-04 9.99952788e-01 -4.18561629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.440371742999996 meters 0.023039473041748932 Centerline is valid? [True, True] Translation: X:31.21, Y:-2.10, Z:-0.42 [[ 9.97780931e-01 6.60083310e-02 8.72433434e-03 3.12131423e+01] [-6.60064531e-02 9.97819069e-01 -5.03326524e-04 -2.10495426e+00] [-8.73853091e-03 -7.36527570e-05 9.99961816e-01 -4.19467280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.500371743 meters 0.02297272023137396 Centerline is valid? [True, True] Translation: X:31.27, Y:-2.12, Z:-0.42 [[ 9.98043134e-01 6.19812007e-02 8.26037193e-03 3.12709880e+01] [-6.19793900e-02 9.98077316e-01 -4.75257816e-04 -2.12347711e+00] [-8.27394689e-03 -3.76450125e-05 9.99965770e-01 -4.20001821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.560371742999997 meters 0.02293654996500542 Centerline is valid? [True, True] Translation: X:31.33, Y:-2.15, Z:-0.42 [[ 9.98412552e-01 5.56433144e-02 8.72907292e-03 3.13276097e+01] [-5.56410555e-02 9.98450711e-01 -5.01616020e-04 -2.14881601e+00] [-8.74346064e-03 1.51249005e-05 9.99961775e-01 -4.19861257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.620371742999996 meters 0.022844624841029334 Centerline is valid? [True, True] Translation: X:31.39, Y:-2.17, Z:-0.42 [[ 9.98787391e-01 4.84542536e-02 8.71400196e-03 3.13853665e+01] [-4.84517364e-02 9.98825400e-01 -4.99865120e-04 -2.17197275e+00] [-8.72798709e-03 7.70504518e-05 9.99961907e-01 -4.19317707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.680371743 meters 0.023251932632949345 Centerline is valid? [True, True] Translation: X:31.44, Y:-2.19, Z:-0.42 [[ 9.99154486e-01 4.02990867e-02 8.14223360e-03 3.14441508e+01] [-4.02966250e-02 9.99187652e-01 -4.66235912e-04 -2.19341636e+00] [-8.15440815e-03 1.37737170e-04 9.99966743e-01 -4.19402687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.740371742999997 meters 0.023303768528291913 Centerline is valid? [True, True] Translation: X:31.50, Y:-2.20, Z:-0.42 [[ 9.99277135e-01 3.71472290e-02 8.08025884e-03 3.15036839e+01] [-3.71447028e-02 9.99309790e-01 -4.62540479e-04 -2.20308434e+00] [-8.09186387e-03 1.62067311e-04 9.99967247e-01 -4.20086930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.800371742999996 meters 0.024765283826813693 Centerline is valid? [True, True] Translation: X:31.56, Y:-2.23, Z:-0.42 [[ 9.99629458e-01 2.60491482e-02 7.89862882e-03 3.15634092e+01] [-2.60463901e-02 9.99660633e-01 -4.51876387e-04 -2.22515341e+00] [-7.90771928e-03 2.45978180e-04 9.99968703e-01 -4.18783117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.860371742999998 meters 0.02714574747501138 Centerline is valid? [True, True] Translation: X:31.62, Y:-2.24, Z:-0.42 [[ 9.99866940e-01 1.37174367e-02 8.82804165e-03 3.16230953e+01] [-1.37135109e-02 9.99905838e-01 -5.05077974e-04 -2.24202351e+00] [-8.83413876e-03 3.83947323e-04 9.99960905e-01 -4.16983789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.920371742999997 meters 0.02984940569083975 Centerline is valid? [True, True] Translation: X:31.68, Y:-2.25, Z:-0.42 [[ 9.99940148e-01 6.40759848e-03 8.86808182e-03 3.16829865e+01] [-6.40334985e-03 9.99979370e-01 -5.07402285e-04 -2.25403016e+00] [-8.87115009e-03 4.50586485e-04 9.99960549e-01 -4.17420322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.980371743 meters 0.031275727228355664 Centerline is valid? [True, True] Translation: X:31.74, Y:-2.26, Z:-0.42 [[ 9.99965604e-01 -1.40843886e-04 8.29286140e-03 3.17429427e+01] [ 1.44783931e-04 9.99999877e-01 -4.74514356e-04 -2.26232547e+00] [-8.29279354e-03 4.75698707e-04 9.99965501e-01 -4.18524038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.040371743 meters 0.033103226395898626 Centerline is valid? [True, True] Translation: X:31.81, Y:-2.27, Z:-0.42 [[ 9.99964141e-01 -2.06387970e-03 8.21323214e-03 3.18053210e+01] [ 2.06780599e-03 9.99997752e-01 -4.69580924e-04 -2.26578402e+00] [-8.21224452e-03 4.86547456e-04 9.99966161e-01 -4.20345961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.100371743000004 meters 0.03529111746775874 Centerline is valid? [True, True] Translation: X:31.87, Y:-2.27, Z:-0.42 [[ 9.99959159e-01 -3.05082791e-03 8.50722014e-03 3.18663771e+01] [ 3.05507394e-03 9.99995215e-01 -4.86158376e-04 -2.26619561e+00] [-8.50569625e-03 5.12128707e-04 9.99963695e-01 -4.21892797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.160371743 meters 0.03506630161966982 Centerline is valid? [True, True] Translation: X:31.93, Y:-2.27, Z:-0.42 [[ 9.99948315e-01 -4.58541668e-03 9.07422183e-03 3.19283984e+01] [ 4.59033888e-03 9.99989328e-01 -5.21684951e-04 -2.26586391e+00] [-9.07173285e-03 5.63311741e-04 9.99958692e-01 -4.21711615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.220371743 meters 0.03409622622287031 Centerline is valid? [True, True] Translation: X:31.99, Y:-2.26, Z:-0.42 [[ 9.99925430e-01 -7.52052399e-03 9.62168162e-03 3.19903181e+01] [ 7.52620216e-03 9.99971524e-01 -5.54070945e-04 -2.25989564e+00] [-9.61724073e-03 6.26444349e-04 9.99953557e-01 -4.21318367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.280371743 meters 0.03691501972579482 Centerline is valid? [True, True] Translation: X:32.05, Y:-2.26, Z:-0.43 [[ 9.99936597e-01 -8.17357157e-03 7.74561472e-03 3.20517709e+01] [ 8.17727134e-03 9.99966466e-01 -4.46110094e-04 -2.25775893e+00] [-7.74170867e-03 5.09419803e-04 9.99969903e-01 -4.25154661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.340371743 meters 0.03514949409828657 Centerline is valid? [True, True] Translation: X:32.11, Y:-2.25, Z:-0.43 [[ 9.99972720e-01 -4.91584009e-03 5.51304669e-03 3.21127681e+01] [ 4.91766812e-03 9.99987858e-01 -3.18076470e-04 -2.24773289e+00] [-5.51141614e-03 3.45179127e-04 9.99984752e-01 -4.28695142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.400371743 meters 0.03272324961054153 Centerline is valid? [True, True] Translation: X:32.17, Y:-2.23, Z:-0.43 [[ 9.99976233e-01 4.06421629e-03 5.56909002e-03 3.21740413e+01] [-4.06249015e-03 9.99991696e-01 -3.21227455e-04 -2.23334932e+00] [-5.57034932e-03 2.98595447e-04 9.99984441e-01 -4.29497757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.460371743 meters 0.031080420999378418 Centerline is valid? [True, True] Translation: X:32.24, Y:-2.22, Z:-0.43 [[ 9.99907751e-01 1.14796618e-02 7.25992575e-03 3.22351878e+01] [-1.14769220e-02 9.99934050e-01 -4.18941970e-04 -2.22445562e+00] [-7.26425628e-03 3.35581722e-04 9.99973559e-01 -4.28802628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.520371743 meters 0.028790250513998826 Centerline is valid? [True, True] Translation: X:32.30, Y:-2.21, Z:-0.43 [[ 9.99731219e-01 2.06117004e-02 1.06135180e-02 3.22965674e+01] [-2.06063584e-02 9.99787479e-01 -6.12444976e-04 -2.21241668e+00] [-1.06238859e-02 3.93574407e-04 9.99943487e-01 -4.27285281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.580371743 meters 0.02879615047899464 Centerline is valid? [True, True] Translation: X:32.36, Y:-2.21, Z:-0.43 [[ 9.99644551e-01 2.42470558e-02 1.10838851e-02 3.23578173e+01] [-2.42414543e-02 9.99705928e-01 -6.39461897e-04 -2.20540800e+00] [-1.10961307e-02 3.70545106e-04 9.99938367e-01 -4.27460092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.640371743 meters 0.027470153206536386 Centerline is valid? [True, True] Translation: X:32.42, Y:-2.20, Z:-0.43 [[ 9.99658512e-01 2.45504350e-02 8.95183619e-03 3.24191412e+01] [-2.45467899e-02 9.99698549e-01 -5.16860682e-04 -2.19859752e+00] [-8.96182681e-03 2.96945338e-04 9.99959798e-01 -4.30785614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.700371743 meters 0.02781274517050532 Centerline is valid? [True, True] Translation: X:32.48, Y:-2.20, Z:-0.43 [[ 9.99665386e-01 2.45662750e-02 8.10023622e-03 3.24787472e+01] [-2.45632892e-02 9.99698167e-01 -4.67902118e-04 -2.19967585e+00] [-8.10928592e-03 2.68777106e-04 9.99967083e-01 -4.33183218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.760371743 meters 0.026367207722283487 Centerline is valid? [True, True] Translation: X:32.54, Y:-2.20, Z:-0.43 [[ 9.99609150e-01 2.62875812e-02 9.51370206e-03 3.25384662e+01] [-2.62835443e-02 9.99654377e-01 -5.49127878e-04 -2.19577971e+00] [-9.52484915e-03 2.98859441e-04 9.99954593e-01 -4.31917677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.820371743 meters 0.026402750372025503 Centerline is valid? [True, True] Translation: X:32.60, Y:-2.20, Z:-0.43 [[ 9.99560212e-01 2.77989827e-02 1.03246894e-02 3.25968914e+01] [-2.77943124e-02 9.99613486e-01 -5.95579705e-04 -2.19542520e+00] [-1.03372553e-02 3.08350134e-04 9.99946522e-01 -4.31678268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.880371743 meters 0.02629714328806988 Centerline is valid? [True, True] Translation: X:32.66, Y:-2.20, Z:-0.43 [[ 9.99505667e-01 3.01246740e-02 8.99590130e-03 3.26569623e+01] [-3.01212270e-02 9.99546118e-01 -5.18445222e-04 -2.19557454e+00] [-9.00743622e-03 2.47221352e-04 9.99959402e-01 -4.33258079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.940371743 meters 0.024927508204229103 Centerline is valid? [True, True] Translation: X:32.72, Y:-2.19, Z:-0.44 [[ 9.99370596e-01 3.47874557e-02 6.94587054e-03 3.27167584e+01] [-3.47855142e-02 9.99394721e-01 -4.00167480e-04 -2.19439555e+00] [-6.95558716e-03 1.58299935e-04 9.99975797e-01 -4.35624523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.000371743 meters 0.02387260168919005 Centerline is valid? [True, True] Translation: X:32.78, Y:-2.19, Z:-0.44 [[ 9.99250617e-01 3.79976909e-02 7.37427712e-03 3.27757905e+01] [-3.79955903e-02 9.99277817e-01 -4.24803493e-04 -2.19432763e+00] [-7.38509309e-03 1.44295141e-04 9.99972719e-01 -4.37056216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.060371743000005 meters 0.024134391075022778 Centerline is valid? [True, True] Translation: X:32.83, Y:-2.20, Z:-0.44 [[ 9.99193563e-01 3.90778593e-02 9.22737200e-03 3.28333505e+01] [-3.90746241e-02 9.99236154e-01 -5.30699323e-04 -2.19937199e+00] [-9.24106230e-03 1.69715256e-04 9.99957286e-01 -4.36505878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.120371743 meters 0.0242380426587945 Centerline is valid? [True, True] Translation: X:32.89, Y:-2.21, Z:-0.44 [[ 9.99257154e-01 3.67938083e-02 1.14610979e-02 3.28914126e+01] [-3.67886822e-02 9.99322851e-01 -6.57830870e-04 -2.20626383e+00] [-1.14775411e-02 2.35703514e-04 9.99934103e-01 -4.35496520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.180371743 meters 0.024682364539655367 Centerline is valid? [True, True] Translation: X:32.95, Y:-2.21, Z:-0.44 [[ 9.99362832e-01 3.35199758e-02 1.22613898e-02 3.29508308e+01] [-3.35138783e-02 9.99438005e-01 -7.02483024e-04 -2.21397654e+00] [-1.22780462e-02 2.91108700e-04 9.99924580e-01 -4.36485076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.240371743000004 meters 0.02603445991459183 Centerline is valid? [True, True] Translation: X:33.01, Y:-2.23, Z:-0.44 [[ 9.99551979e-01 2.75070999e-02 1.17983416e-02 3.30103532e+01] [-2.75010410e-02 9.99621547e-01 -6.75498840e-04 -2.22569089e+00] [-1.18124574e-02 3.50729528e-04 9.99930169e-01 -4.38439092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.300371743 meters 0.028614459491242784 Centerline is valid? [True, True] Translation: X:33.07, Y:-2.24, Z:-0.44 [[ 9.99696873e-01 2.20327154e-02 1.09872936e-02 3.30702963e+01] [-2.20271338e-02 9.99757176e-01 -6.28767711e-04 -2.23674880e+00] [-1.09984791e-02 3.86558528e-04 9.99939440e-01 -4.39742240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.360371743 meters 0.03118213084379541 Centerline is valid? [True, True] Translation: X:33.13, Y:-2.25, Z:-0.44 [[ 9.99867740e-01 1.18356319e-02 1.11544186e-02 3.31305816e+01] [-1.18292432e-02 9.99929828e-01 -6.38555060e-04 -2.24777160e+00] [-1.11611936e-02 5.06522274e-04 9.99937584e-01 -4.41171646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.420371743000004 meters 0.03303327852688403 Centerline is valid? [True, True] Translation: X:33.19, Y:-2.26, Z:-0.44 [[ 9.99924881e-01 2.08798082e-03 1.20778126e-02 3.31910492e+01] [-2.07977935e-03 9.99997598e-01 -6.91572711e-04 -2.25712505e+00] [-1.20792276e-02 6.66401576e-04 9.99926821e-01 -4.42464420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.480371743 meters 0.03380391929673296 Centerline is valid? [True, True] Translation: X:33.25, Y:-2.26, Z:-0.44 [[ 9.99910483e-01 -5.85196517e-03 1.20324407e-02 3.32516690e+01] [ 5.86068006e-03 9.99982589e-01 -6.89149689e-04 -2.26090476e+00] [-1.20281983e-02 7.59606284e-04 9.99927370e-01 -4.43986126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.540371743 meters 0.03663625333201878 Centerline is valid? [True, True] Translation: X:33.31, Y:-2.27, Z:-0.44 [[ 9.99875628e-01 -9.85554130e-03 1.23124528e-02 3.33107916e+01] [ 9.86497062e-03 9.99951091e-01 -7.05336393e-04 -2.26665013e+00] [-1.23048992e-02 8.26710655e-04 9.99923950e-01 -4.43964137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.600371743000004 meters 0.037361389150238636 Centerline is valid? [True, True] Translation: X:33.37, Y:-2.26, Z:-0.44 [[ 9.99838850e-01 -1.23179907e-02 1.30591297e-02 3.33718889e+01] [ 1.23288123e-02 9.99923717e-01 -7.48479323e-04 -2.26425249e+00] [-1.30489137e-02 9.09362265e-04 9.99914446e-01 -4.42934118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.660371743 meters 0.03818853745588051 Centerline is valid? [True, True] Translation: X:33.43, Y:-2.27, Z:-0.44 [[ 9.99850129e-01 -1.13077865e-02 1.31093108e-02 3.34333399e+01] [ 1.13186078e-02 9.99935660e-01 -7.51568625e-04 -2.26665264e+00] [-1.30999687e-02 8.99835135e-04 9.99913787e-01 -4.43351609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.720371743 meters 0.036677540897042143 Centerline is valid? [True, True] Translation: X:33.49, Y:-2.26, Z:-0.44 [[ 9.99886298e-01 -8.28184377e-03 1.26016423e-02 3.34944437e+01] [ 8.29161302e-03 9.99965362e-01 -7.23186476e-04 -2.26116803e+00] [-1.25952165e-02 8.27592190e-04 9.99920335e-01 -4.44232541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.780371743 meters 0.033944773130583826 Centerline is valid? [True, True] Translation: X:33.56, Y:-2.25, Z:-0.45 [[ 9.99937632e-01 8.26334905e-04 1.11377208e-02 3.35558089e+01] [-8.19264178e-04 9.99999460e-01 -6.39392560e-04 -2.24980149e+00] [-1.11382432e-02 6.30227947e-04 9.99937769e-01 -4.46925289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.840371743 meters 0.03295254246300228 Centerline is valid? [True, True] Translation: X:33.62, Y:-2.25, Z:-0.45 [[ 9.99926366e-01 3.15489310e-03 1.17179232e-02 3.36172386e+01] [-3.14722618e-03 9.99994821e-01 -6.72671978e-04 -2.24531090e+00] [-1.17199847e-02 6.35743492e-04 9.99931117e-01 -4.46755968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.900371743 meters 0.03384181025757195 Centerline is valid? [True, True] Translation: X:33.68, Y:-2.24, Z:-0.45 [[ 9.99928202e-01 3.04793836e-03 1.15887858e-02 3.36786468e+01] [-3.04043303e-03 9.99995157e-01 -6.65200207e-04 -2.24065322e+00] [-1.15907572e-02 6.29917520e-04 9.99932627e-01 -4.45788763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.960371743 meters 0.03337039726834954 Centerline is valid? [True, True] Translation: X:33.74, Y:-2.24, Z:-0.45 [[ 9.99932559e-01 3.23795270e-03 1.11531724e-02 3.37419864e+01] [-3.23098676e-03 9.99994574e-01 -6.42532501e-04 -2.23639001e+00] [-1.11551924e-02 6.06453416e-04 9.99937595e-01 -4.46559353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.020371743 meters 0.0321268678383396 Centerline is valid? [True, True] Translation: X:33.80, Y:-2.23, Z:-0.45 [[ 9.99932189e-01 5.75827400e-03 1.01222137e-02 3.38040972e+01] [-5.75263016e-03 9.99983281e-01 -5.86596958e-04 -2.23121767e+00] [-1.01254223e-02 5.28327828e-04 9.99948597e-01 -4.46674541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.080371743 meters 0.028506459674353866 Centerline is valid? [True, True] Translation: X:33.87, Y:-2.22, Z:-0.45 [[ 9.99873196e-01 1.19453616e-02 1.05309176e-02 3.38653830e+01] [-1.19395867e-02 9.99928534e-01 -6.11072579e-04 -2.21929912e+00] [-1.05374645e-02 4.85260289e-04 9.99944362e-01 -4.46256215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.140371743 meters 0.027084491880130575 Centerline is valid? [True, True] Translation: X:33.92, Y:-2.21, Z:-0.45 [[ 9.99782519e-01 1.81864798e-02 1.02062126e-02 3.39249911e+01] [-1.81813795e-02 9.99834530e-01 -5.92293379e-04 -2.21310856e+00] [-1.02152955e-02 4.06601542e-04 9.99947740e-01 -4.47197566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.200371743 meters 0.024751762440915263 Centerline is valid? [True, True] Translation: X:33.99, Y:-2.21, Z:-0.45 [[ 9.99676577e-01 2.22604152e-02 1.22969265e-02 3.39854518e+01] [-2.22533208e-02 9.99752110e-01 -7.13462432e-04 -2.20601966e+00] [-1.23097602e-02 4.39584230e-04 9.99924135e-01 -4.45779732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.260371743 meters 0.024983620718824668 Centerline is valid? [True, True] Translation: X:34.04, Y:-2.21, Z:-0.45 [[ 9.99668144e-01 2.31149207e-02 1.13710975e-02 3.40446823e+01] [-2.31089139e-02 9.99732736e-01 -6.59380281e-04 -2.20546242e+00] [-1.13832999e-02 3.96387751e-04 9.99935130e-01 -4.46788189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.320371743 meters 0.02529093025944893 Centerline is valid? [True, True] Translation: X:34.10, Y:-2.21, Z:-0.45 [[ 9.99765005e-01 1.95378896e-02 9.39176502e-03 3.41043680e+01] [-1.95336367e-02 9.99809052e-01 -5.44351560e-04 -2.20627189e+00] [-9.40060716e-03 3.60768314e-04 9.99955748e-01 -4.49310355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.380371743 meters 0.027573779877135808 Centerline is valid? [True, True] Translation: X:34.16, Y:-2.21, Z:-0.45 [[ 9.99838422e-01 1.56930736e-02 8.76688815e-03 3.41638647e+01] [-1.56892237e-02 9.99876788e-01 -5.07746471e-04 -2.21207429e+00] [-8.77377607e-03 3.70118760e-04 9.99961441e-01 -4.51217860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.440371743 meters 0.02977689678074288 Centerline is valid? [True, True] Translation: X:34.22, Y:-2.22, Z:-0.45 [[ 9.99931407e-01 8.63877825e-03 7.90897320e-03 3.42239200e+01] [-8.63542671e-03 9.99962609e-01 -4.57816369e-04 -2.21533628e+00] [-7.91263245e-03 3.89487608e-04 9.99968619e-01 -4.53547388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.500371743 meters 0.03282840302766416 Centerline is valid? [True, True] Translation: X:34.28, Y:-2.22, Z:-0.46 [[ 9.99973694e-01 2.05192552e-03 6.95700551e-03 3.42844594e+01] [-2.04917351e-03 9.99997819e-01 -4.02679921e-04 -2.22071276e+00] [-6.95781661e-03 3.88413217e-04 9.99975719e-01 -4.55375302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.560371743000005 meters 0.03455458399887165 Centerline is valid? [True, True] Translation: X:34.35, Y:-2.22, Z:-0.46 [[ 9.99977108e-01 -1.20067872e-03 6.65892039e-03 3.43452977e+01] [ 1.20327061e-03 9.99999202e-01 -3.85242926e-04 -2.22379447e+00] [-6.65845252e-03 3.93246591e-04 9.99977755e-01 -4.56235807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.620371743 meters 0.03413521398810173 Centerline is valid? [True, True] Translation: X:34.41, Y:-2.22, Z:-0.46 [[ 9.99964422e-01 -4.98484013e-03 6.80491313e-03 3.44060616e+01] [ 4.98763723e-03 9.99987484e-01 -3.94132497e-04 -2.22252422e+00] [-6.80286327e-03 4.28058912e-04 9.99976769e-01 -4.56218495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.680371743 meters 0.036471707760362106 Centerline is valid? [True, True] Translation: X:34.47, Y:-2.22, Z:-0.46 [[ 9.99952629e-01 -6.74043305e-03 7.02187883e-03 3.44666479e+01] [ 6.74345450e-03 9.99977180e-01 -4.06703793e-04 -2.22324806e+00] [-7.01897723e-03 4.54036247e-04 9.99975264e-01 -4.56038944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.740371743000004 meters 0.03908182498390548 Centerline is valid? [True, True] Translation: X:34.53, Y:-2.22, Z:-0.46 [[ 9.99965539e-01 -6.27394059e-03 5.43678151e-03 3.45283754e+01] [ 6.27574383e-03 9.99980258e-01 -3.14677032e-04 -2.22373700e+00] [-5.43469991e-03 3.48786036e-04 9.99985171e-01 -4.58523745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.800371743 meters 0.04038459043767302 Centerline is valid? [True, True] Translation: X:34.59, Y:-2.22, Z:-0.46 [[ 9.99972911e-01 -5.76196453e-03 4.58011244e-03 3.45912059e+01] [ 5.76323979e-03 9.99983357e-01 -2.65283647e-04 -2.22155606e+00] [-4.57850766e-03 2.91672747e-04 9.99989476e-01 -4.60607873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.860371743 meters 0.036335218524794814 Centerline is valid? [True, True] Translation: X:34.65, Y:-2.21, Z:-0.46 [[ 9.99957761e-01 -6.92698908e-03 6.04101957e-03 3.46545402e+01] [ 6.92923292e-03 9.99975931e-01 -3.50582824e-04 -2.21031495e+00] [-6.03844569e-03 3.92427647e-04 9.99981691e-01 -4.58161107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.920371743000004 meters 0.034916951508265806 Centerline is valid? [True, True] Translation: X:34.72, Y:-2.20, Z:-0.46 [[ 9.99944083e-01 -8.00381080e-03 6.91153923e-03 3.47167069e+01] [ 8.00677878e-03 9.99967864e-01 -4.01860401e-04 -2.20401536e+00] [-6.90810071e-03 4.57177096e-04 9.99976034e-01 -4.58145280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.980371743 meters 0.03638006103535025 Centerline is valid? [True, True] Translation: X:34.78, Y:-2.21, Z:-0.46 [[ 9.99938175e-01 -7.62337000e-03 8.09503362e-03 3.47777154e+01] [ 7.62743379e-03 9.99970800e-01 -4.71255601e-04 -2.20506400e+00] [-8.09120468e-03 5.32970799e-04 9.99967124e-01 -4.58485296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.040371743 meters 0.034431312717694354 Centerline is valid? [True, True] Translation: X:34.84, Y:-2.20, Z:-0.46 [[ 9.99956472e-01 -4.86095748e-03 7.96403444e-03 3.48386551e+01] [ 4.86480948e-03 9.99988059e-01 -4.64373744e-04 -2.19789755e+00] [-7.96168204e-03 5.03097041e-04 9.99968179e-01 -4.58094363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.100371743000004 meters 0.02966950625291366 Centerline is valid? [True, True] Translation: X:34.90, Y:-2.19, Z:-0.46 [[ 9.99975738e-01 3.43238088e-03 6.06154681e-03 3.49006531e+01] [-3.43030215e-03 9.99994054e-01 -3.53301747e-04 -2.18627048e+00] [-6.06272343e-03 3.32500239e-04 9.99981566e-01 -4.59272600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.160371743 meters 0.02723510449830807 Centerline is valid? [True, True] Translation: X:34.96, Y:-2.18, Z:-0.46 [[ 9.99922246e-01 1.13085712e-02 5.25531552e-03 3.49619960e+01] [-1.13071168e-02 9.99936026e-01 -3.06374853e-04 -2.18053314e+00] [-5.25844397e-03 2.46928565e-04 9.99986144e-01 -4.60412169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.220371743 meters 0.024443849992331755 Centerline is valid? [True, True] Translation: X:35.02, Y:-2.17, Z:-0.46 [[ 9.99639882e-01 2.62780497e-02 5.43782051e-03 3.50217431e+01] [-2.62767112e-02 9.99654657e-01 -3.17455208e-04 -2.16986457e+00] [-5.44428470e-03 1.74452847e-04 9.99985165e-01 -4.61393159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.280371743 meters 0.02140541961588405 Centerline is valid? [True, True] Translation: X:35.08, Y:-2.16, Z:-0.46 [[ 9.99045797e-01 4.32433971e-02 6.12413553e-03 3.50830724e+01] [-4.32420194e-02 9.99064563e-01 -3.57258016e-04 -2.15766798e+00] [-6.13385584e-03 9.20971320e-05 9.99981183e-01 -4.60950226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.340371743 meters 0.020673189191330894 Centerline is valid? [True, True] Translation: X:35.14, Y:-2.15, Z:-0.46 [[ 9.98267752e-01 5.82049077e-02 8.58395779e-03 3.51433234e+01] [-5.82027539e-02 9.98304657e-01 -5.00720631e-04 -2.15198663e+00] [-8.59854943e-03 2.43275811e-07 9.99963032e-01 -4.60079865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.400371743 meters 0.02090351795577563 Centerline is valid? [True, True] Translation: X:35.20, Y:-2.15, Z:-0.46 [[ 9.97684370e-01 6.73832682e-02 9.24086794e-03 3.52015248e+01] [-6.73811646e-02 9.97727161e-01 -5.39141073e-04 -2.15465520e+00] [-9.25619402e-03 -8.47678215e-05 9.99957157e-01 -4.60964485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.460371743 meters 0.021076013980358327 Centerline is valid? [True, True] Translation: X:35.26, Y:-2.16, Z:-0.46 [[ 9.97443192e-01 7.10825414e-02 7.37234111e-03 3.52595696e+01] [-7.10813023e-02 9.97470432e-01 -4.30280544e-04 -2.16468599e+00] [-7.38427771e-03 -9.48552081e-05 9.99972731e-01 -4.64101702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.520371743 meters 0.020340839214007936 Centerline is valid? [True, True] Translation: X:35.32, Y:-2.18, Z:-0.47 [[ 9.97566284e-01 6.94873117e-02 5.74652202e-03 3.53167032e+01] [-6.94865343e-02 9.97582833e-01 -3.35070784e-04 -2.18141768e+00] [-5.75591489e-03 -6.50505828e-05 9.99983432e-01 -4.66067048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.580371743 meters 0.02019637995292427 Centerline is valid? [True, True] Translation: X:35.37, Y:-2.19, Z:-0.47 [[ 9.97639880e-01 6.83871720e-02 6.15335741e-03 3.53746270e+01] [-6.83862746e-02 9.97658855e-01 -3.56383708e-04 -2.18976161e+00] [-6.16332359e-03 -6.52625898e-05 9.99981004e-01 -4.67081363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.640371743 meters 0.02008122925244522 Centerline is valid? [True, True] Translation: X:35.43, Y:-2.21, Z:-0.47 [[ 9.97795647e-01 6.59828099e-02 7.07926866e-03 3.54312395e+01] [-6.59815864e-02 9.97820758e-01 -4.06505978e-04 -2.20980847e+00] [-7.09066363e-03 -6.14914814e-05 9.99974859e-01 -4.67972654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.700371743 meters 0.019786612401565023 Centerline is valid? [True, True] Translation: X:35.49, Y:-2.23, Z:-0.47 [[ 9.97974093e-01 6.30765112e-02 8.31042876e-03 3.54891349e+01] [-6.30747331e-02 9.98008693e-01 -4.76139434e-04 -2.23098741e+00] [-8.32391335e-03 -4.90032555e-05 9.99965354e-01 -4.68053709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.760371743 meters 0.019693762013700263 Centerline is valid? [True, True] Translation: X:35.55, Y:-2.25, Z:-0.47 [[ 9.98215439e-01 5.91253384e-02 8.37445708e-03 3.55469024e+01] [-5.91233990e-02 9.98250567e-01 -4.79185075e-04 -2.25287328e+00] [-8.38813851e-03 -1.67964272e-05 9.99964819e-01 -4.69771716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.820371743 meters 0.020118363798155504 Centerline is valid? [True, True] Translation: X:35.60, Y:-2.28, Z:-0.47 [[ 9.98573961e-01 5.28501055e-02 7.54396101e-03 3.56048402e+01] [-5.28483558e-02 9.98602456e-01 -4.31226797e-04 -2.27603770e+00] [-7.55620837e-03 3.19259152e-05 9.99971451e-01 -4.71539386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.880371743 meters 0.021104361536412892 Centerline is valid? [True, True] Translation: X:35.66, Y:-2.30, Z:-0.47 [[ 9.98958829e-01 4.47475169e-02 8.88359744e-03 3.56623426e+01] [-4.47447773e-02 9.98998322e-01 -5.06994624e-04 -2.29859934e+00] [-8.89738569e-03 1.08972167e-04 9.99960412e-01 -4.72106218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.940371743 meters 0.023398645952725897 Centerline is valid? [True, True] Translation: X:35.72, Y:-2.31, Z:-0.47 [[ 9.99144724e-01 4.02963683e-02 9.27485547e-03 3.57188728e+01] [-4.02931964e-02 9.99187760e-01 -5.28669574e-04 -2.31493691e+00] [-9.28862552e-03 1.54503842e-04 9.99956848e-01 -4.73018218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.000371743 meters 0.023612862224738393 Centerline is valid? [True, True] Translation: X:35.78, Y:-2.33, Z:-0.47 [[ 9.99360962e-01 3.38001809e-02 1.16281878e-02 3.57772448e+01] [-3.37947720e-02 9.99428575e-01 -6.61387468e-04 -2.33187628e+00] [-1.16438982e-02 2.67992860e-04 9.99932172e-01 -4.73429998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.060371743 meters 0.025081723428121896 Centerline is valid? [True, True] Translation: X:35.83, Y:-2.35, Z:-0.47 [[ 9.99457670e-01 3.01425245e-02 1.32587692e-02 3.58345242e+01] [-3.01351836e-02 9.99545548e-01 -7.53149384e-04 -2.34785757e+00] [-1.32754455e-02 3.53185485e-04 9.99911815e-01 -4.73309121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.120371743 meters 0.02618601998637741 Centerline is valid? [True, True] Translation: X:35.89, Y:-2.36, Z:-0.47 [[ 9.99527996e-01 2.62865403e-02 1.58997623e-02 3.58946164e+01] [-2.62755008e-02 9.99654332e-01 -9.02854833e-04 -2.36098958e+00] [-1.59179991e-02 4.84654466e-04 9.99873183e-01 -4.72170553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.180371743 meters 0.028590725708046705 Centerline is valid? [True, True] Translation: X:35.95, Y:-2.37, Z:-0.47 [[ 9.99580355e-01 2.26926060e-02 1.80044242e-02 3.59541414e+01] [-2.26778664e-02 9.99742301e-01 -1.02243712e-03 -2.37370526e+00] [-1.80229863e-02 6.13706129e-04 9.99837384e-01 -4.71044006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.240371743000004 meters 0.03022488922176757 Centerline is valid? [True, True] Translation: X:36.01, Y:-2.38, Z:-0.47 [[ 9.99596899e-01 2.10230925e-02 1.90806155e-02 3.60149520e+01] [-2.10062171e-02 9.99778757e-01 -1.08444250e-03 -2.38170057e+00] [-1.90991923e-02 6.83193808e-04 9.99817360e-01 -4.72186763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.300371743 meters 0.027554987943130115 Centerline is valid? [True, True] Translation: X:36.08, Y:-2.38, Z:-0.47 [[ 9.99608453e-01 1.90320435e-02 2.05115033e-02 3.60775184e+01] [-1.90120749e-02 9.99818572e-01 -1.16811137e-03 -2.38156322e+00] [-2.05300135e-02 7.77687765e-04 9.99788935e-01 -4.73897190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.360371743 meters 0.02723004802963234 Centerline is valid? [True, True] Translation: X:36.14, Y:-2.38, Z:-0.47 [[ 9.99619931e-01 1.80259114e-02 2.08580993e-02 3.61400073e+01] [-1.80049839e-02 9.99837188e-01 -1.19070321e-03 -2.38311012e+00] [-2.08761669e-02 8.14700916e-04 9.99781737e-01 -4.74904959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.420371743000004 meters 0.03267385841289223 Centerline is valid? [True, True] Translation: X:36.20, Y:-2.39, Z:-0.48 [[ 9.99671089e-01 1.64727215e-02 1.96561308e-02 3.62005482e+01] [-1.64537534e-02 9.99863993e-01 -1.12634221e-03 -2.39457596e+00] [-1.96720113e-02 8.02554619e-04 9.99806165e-01 -4.75026194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.480371743 meters 0.029719909473258876 Centerline is valid? [True, True] Translation: X:36.26, Y:-2.39, Z:-0.48 [[ 9.99759795e-01 1.26240310e-02 1.79160746e-02 3.62614873e+01] [-1.26076236e-02 9.99919992e-01 -1.02845281e-03 -2.38970318e+00] [-1.79276244e-02 8.02326644e-04 9.99838965e-01 -4.79363400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.540371743 meters 0.03187125480425152 Centerline is valid? [True, True] Translation: X:36.32, Y:-2.39, Z:-0.48 [[ 9.99800822e-01 7.10532727e-03 1.86502281e-02 3.63219118e+01] [-7.08658387e-03 9.99974316e-01 -1.07089322e-03 -2.39233037e+00] [-1.86573581e-02 9.38513512e-04 9.99825496e-01 -4.79536328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.600371743000004 meters 0.03412742285110252 Centerline is valid? [True, True] Translation: X:36.38, Y:-2.39, Z:-0.48 [[ 9.99812118e-01 2.36434547e-03 1.92389608e-02 3.63829089e+01] [-2.34352181e-03 9.99996644e-01 -1.10484322e-03 -2.39329527e+00] [-1.92415085e-02 1.05954871e-03 9.99814304e-01 -4.80270711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.660371743 meters 0.03240671090873778 Centerline is valid? [True, True] Translation: X:36.44, Y:-2.39, Z:-0.48 [[ 9.99809266e-01 -3.05061985e-04 1.95278800e-02 3.64448138e+01] [ 3.27029930e-04 9.99999317e-01 -1.12176936e-03 -2.38837439e+00] [-1.95275244e-02 1.12794160e-03 9.99808683e-01 -4.81462802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.720371743 meters 0.03594068757486427 Centerline is valid? [True, True] Translation: X:36.50, Y:-2.39, Z:-0.48 [[ 9.99847942e-01 -2.75849125e-03 1.72187109e-02 3.65047631e+01] [ 2.77594062e-03 9.99995657e-01 -9.89577194e-04 -2.39232014e+00] [-1.72159064e-02 1.03722484e-03 9.99851257e-01 -4.83911477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.780371743 meters 0.032943367790794216 Centerline is valid? [True, True] Translation: X:36.57, Y:-2.39, Z:-0.49 [[ 9.99881323e-01 -2.96869766e-03 1.51171161e-02 3.65672550e+01] [ 2.98217217e-03 9.99995176e-01 -8.68877352e-04 -2.38621322e+00] [-1.51144637e-02 9.13856079e-04 9.99885352e-01 -4.87363865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.840371743 meters 0.033364732208478166 Centerline is valid? [True, True] Translation: X:36.63, Y:-2.38, Z:-0.49 [[ 9.99918138e-01 1.86921272e-03 1.26579109e-02 3.66274443e+01] [-1.86014099e-03 9.99998005e-01 -7.28420210e-04 -2.38338950e+00] [-1.26592472e-02 7.04815081e-04 9.99919620e-01 -4.90465947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.900371743 meters 0.027562432006290157 Centerline is valid? [True, True] Translation: X:36.69, Y:-2.37, Z:-0.49 [[ 9.99874050e-01 1.08982895e-02 1.15374191e-02 3.66886244e+01] [-1.08913550e-02 9.99940467e-01 -6.63705638e-04 -2.37038805e+00] [-1.15439655e-02 5.37963916e-04 9.99933221e-01 -4.91091155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.960371743 meters 0.02650087079350964 Centerline is valid? [True, True] Translation: X:36.75, Y:-2.37, Z:-0.49 [[ 9.99791014e-01 1.76820286e-02 1.02603235e-02 3.67496663e+01] [-1.76768993e-02 9.99843577e-01 -5.90388961e-04 -2.36723444e+00] [-1.02691578e-02 4.08894873e-04 9.99947187e-01 -4.92526665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.020371743 meters 0.02395293162727733 Centerline is valid? [True, True] Translation: X:36.81, Y:-2.36, Z:-0.49 [[ 9.99556966e-01 2.78060709e-02 1.06157355e-02 3.68095679e+01] [-2.78011492e-02 9.99613287e-01 -6.10938282e-04 -2.36238251e+00] [-1.06286180e-02 3.15537971e-04 9.99943465e-01 -4.92865807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.080371743 meters 0.02279818351935892 Centerline is valid? [True, True] Translation: X:36.87, Y:-2.36, Z:-0.49 [[ 9.99302578e-01 3.57031801e-02 1.09380265e-02 3.68692452e+01] [-3.56984297e-02 9.99362410e-01 -6.29294961e-04 -2.36137723e+00] [-1.09535204e-02 2.38385705e-04 9.99939980e-01 -4.93635020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.140371743 meters 0.020705883870353235 Centerline is valid? [True, True] Translation: X:36.93, Y:-2.36, Z:-0.50 [[ 9.99137199e-01 4.03495757e-02 9.83717274e-03 3.69278644e+01] [-4.03459597e-02 9.99185610e-01 -5.65835329e-04 -2.36358865e+00] [-9.85199266e-03 1.68456950e-04 9.99951454e-01 -4.95921115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.200371743 meters 0.020762572473176966 Centerline is valid? [True, True] Translation: X:36.99, Y:-2.37, Z:-0.50 [[ 9.98996314e-01 4.42778012e-02 6.77061823e-03 3.69855125e+01] [-4.42761789e-02 9.99019253e-01 -3.89390706e-04 -2.37307722e+00] [-6.78121934e-03 8.92227759e-05 9.99977003e-01 -5.00666146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.260371743 meters 0.02092367512908287 Centerline is valid? [True, True] Translation: X:37.04, Y:-2.38, Z:-0.50 [[ 9.98784449e-01 4.88922059e-02 6.25914332e-03 3.70435465e+01] [-4.88909139e-02 9.98804060e-01 -3.59344949e-04 -2.38466610e+00] [-6.26922693e-03 5.28929091e-05 9.99980347e-01 -5.03176244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.320371743 meters 0.021019055643208034 Centerline is valid? [True, True] Translation: X:37.10, Y:-2.40, Z:-0.51 [[ 9.98405214e-01 5.61512750e-02 5.83633165e-03 3.71017125e+01] [-5.61502778e-02 9.98422273e-01 -3.34706248e-04 -2.39719706e+00] [-5.84591769e-03 6.46081962e-06 9.99982912e-01 -5.05484691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.380371743 meters 0.0214530539994346 Centerline is valid? [True, True] Translation: X:37.16, Y:-2.41, Z:-0.51 [[ 9.97940625e-01 6.39155554e-02 5.41393886e-03 3.71602087e+01] [-6.39148133e-02 9.97955310e-01 -3.10156446e-04 -2.41102643e+00] [-5.42269286e-03 -3.65131745e-05 9.99985296e-01 -5.07474216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.440371743 meters 0.021854000791407913 Centerline is valid? [True, True] Translation: X:37.22, Y:-2.42, Z:-0.51 [[ 9.97800869e-01 6.60166622e-02 5.93520727e-03 3.72182706e+01] [-6.60158106e-02 9.97818519e-01 -3.39504613e-04 -2.41887160e+00] [-5.94467269e-03 -5.30595207e-05 9.99982329e-01 -5.08518090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.500371743 meters 0.022545492664547414 Centerline is valid? [True, True] Translation: X:37.27, Y:-2.44, Z:-0.51 [[ 9.97678021e-01 6.78072923e-02 6.38261245e-03 3.72745676e+01] [-6.78063438e-02 9.97698435e-01 -3.65137650e-04 -2.43773676e+00] [-6.39268144e-03 -6.84918063e-05 9.99979564e-01 -5.10611697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.560371743 meters 0.022208011564507923 Centerline is valid? [True, True] Translation: X:37.33, Y:-2.46, Z:-0.51 [[ 9.97910925e-01 6.42549418e-02 6.71473905e-03 3.73328754e+01] [-6.42538237e-02 9.97933515e-01 -3.82329476e-04 -2.45651040e+00] [-6.72542970e-03 -4.99168987e-05 9.99977383e-01 -5.11316901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.620371743 meters 0.02230992843296058 Centerline is valid? [True, True] Translation: X:37.39, Y:-2.48, Z:-0.51 [[ 9.98498245e-01 5.43093783e-02 7.19346850e-03 3.73901048e+01] [-5.43078392e-02 9.98524156e-01 -4.09267358e-04 -2.48470452e+00] [-7.20507912e-03 1.79910079e-05 9.99974043e-01 -5.11817563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.680371743 meters 0.023203113651626354 Centerline is valid? [True, True] Translation: X:37.45, Y:-2.51, Z:-0.51 [[ 9.99131331e-01 4.07964374e-02 8.49906322e-03 3.74469139e+01] [-4.07938083e-02 9.99167470e-01 -4.82548021e-04 -2.51382372e+00] [-8.51167373e-03 1.35419691e-04 9.99963766e-01 -5.11424427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.740371743000004 meters 0.025890368145463295 Centerline is valid? [True, True] Translation: X:37.51, Y:-2.54, Z:-0.51 [[ 9.99605221e-01 2.66370893e-02 8.93686541e-03 3.75053441e+01] [-2.66336206e-02 9.99645134e-01 -5.06950516e-04 -2.54351946e+00] [-8.94719770e-03 2.68729300e-04 9.99959937e-01 -5.10021151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.800371743 meters 0.028888506713429053 Centerline is valid? [True, True] Translation: X:37.57, Y:-2.57, Z:-0.51 [[ 9.99831082e-01 1.54121838e-02 1.00136153e-02 3.75653448e+01] [-1.54072700e-02 9.99881140e-01 -5.67675803e-04 -2.56570839e+00] [-1.00211742e-02 4.13297437e-04 9.99949701e-01 -5.07801230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.860371743 meters 0.03247999700128276 Centerline is valid? [True, True] Translation: X:37.63, Y:-2.58, Z:-0.51 [[ 9.99942680e-01 4.90474754e-03 9.51735095e-03 3.76250988e+01] [-4.89983011e-03 9.99987850e-01 -5.39929579e-04 -2.58366902e+00] [-9.51988354e-03 4.93265228e-04 9.99954563e-01 -5.07767319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.920371743000004 meters 0.03149777088574427 Centerline is valid? [True, True] Translation: X:37.69, Y:-2.59, Z:-0.51 [[ 9.99939438e-01 -3.54998213e-03 1.04172157e-02 3.76857858e+01] [ 3.55633090e-03 9.99993502e-01 -5.90989733e-04 -2.58842512e+00] [-1.04150500e-02 6.28001007e-04 9.99945565e-01 -5.07425412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.980371743 meters 0.03453643678158975 Centerline is valid? [True, True] Translation: X:37.74, Y:-2.59, Z:-0.51 [[ 9.99890424e-01 -7.92058925e-03 1.25061319e-02 3.77446652e+01] [ 7.93008032e-03 9.99968305e-01 -7.09505570e-04 -2.59468267e+00] [-1.25001158e-02 8.08602456e-04 9.99921544e-01 -5.06876559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.040371743 meters 0.041150820131809526 Centerline is valid? [True, True] Translation: X:37.80, Y:-2.60, Z:-0.51 [[ 9.99865636e-01 -1.05974167e-02 1.25061826e-02 3.78038615e+01] [ 1.06071186e-02 9.99943491e-01 -7.09692241e-04 -2.60426044e+00] [-1.24979549e-02 8.42251445e-04 9.99921543e-01 -5.07572784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.100371743000004 meters 0.039554024144722325 Centerline is valid? [True, True] Translation: X:37.87, Y:-2.60, Z:-0.51 [[ 9.99792919e-01 -1.63332391e-02 1.21385701e-02 3.78650907e+01] [ 1.63428126e-02 9.99866209e-01 -6.89901220e-04 -2.59871800e+00] [-1.21256777e-02 8.88136730e-04 9.99926087e-01 -5.08556072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.160371743 meters 0.040449286807096876 Centerline is valid? [True, True] Translation: X:37.93, Y:-2.59, Z:-0.51 [[ 9.99702639e-01 -2.10305303e-02 1.23430191e-02 3.79267547e+01] [ 2.10407865e-02 9.99778372e-01 -7.01643132e-04 -2.59436856e+00] [-1.23255276e-02 9.61141319e-04 9.99923576e-01 -5.08919840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.220371743 meters 0.043796485178381285 Centerline is valid? [True, True] Translation: X:37.99, Y:-2.59, Z:-0.51 [[ 9.99639966e-01 -2.37122480e-02 1.25565593e-02 3.79873091e+01] [ 2.37230767e-02 9.99718313e-01 -7.14129763e-04 -2.59265540e+00] [-1.25360887e-02 1.01175287e-03 9.99920908e-01 -5.09840958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.280371743 meters 0.04142849583887791 Centerline is valid? [True, True] Translation: X:38.05, Y:-2.58, Z:-0.51 [[ 9.99662294e-01 -2.40540626e-02 9.83366693e-03 3.80501409e+01] [ 2.40607192e-02 9.99710343e-01 -5.59158178e-04 -2.58060179e+00] [-9.81736851e-03 7.95574445e-04 9.99951492e-01 -5.14466621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.340371743 meters 0.04174892649144719 Centerline is valid? [True, True] Translation: X:38.11, Y:-2.58, Z:-0.52 [[ 9.99715715e-01 -2.20956280e-02 8.95948793e-03 3.81120624e+01] [ 2.21010815e-02 9.99755611e-01 -5.10120359e-04 -2.57667778e+00] [-8.94602690e-03 7.07989713e-04 9.99959733e-01 -5.16394735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.400371743 meters 0.040740002943159256 Centerline is valid? [True, True] Translation: X:38.17, Y:-2.56, Z:-0.52 [[ 9.99777539e-01 -1.83487030e-02 1.04018129e-02 3.81730954e+01] [ 1.83558614e-02 9.99831341e-01 -5.93133740e-04 -2.56484481e+00] [-1.03891753e-02 7.83936028e-04 9.99945724e-01 -5.16019211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.460371743 meters 0.038811860745592786 Centerline is valid? [True, True] Translation: X:38.24, Y:-2.55, Z:-0.51 [[ 9.99789576e-01 -1.60311582e-02 1.27986937e-02 3.82351827e+01] [ 1.60418072e-02 9.99871056e-01 -7.29808334e-04 -2.55219682e+00] [-1.27853437e-02 9.34968941e-04 9.99917827e-01 -5.14557508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.520371743 meters 0.03922146629130126 Centerline is valid? [True, True] Translation: X:38.30, Y:-2.54, Z:-0.52 [[ 9.99833533e-01 -1.37812771e-02 1.19575708e-02 3.82969288e+01] [ 1.37904143e-02 9.99904675e-01 -6.82010890e-04 -2.54280445e+00] [-1.19470320e-02 8.46797212e-04 9.99928273e-01 -5.16234789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.580371743 meters 0.04045117473830252 Centerline is valid? [True, True] Translation: X:38.36, Y:-2.54, Z:-0.52 [[ 9.99838984e-01 -1.35455122e-02 1.17696528e-02 3.83591814e+01] [ 1.35543493e-02 9.99907910e-01 -6.71393688e-04 -2.54048589e+00] [-1.17594745e-02 8.30815568e-04 9.99930510e-01 -5.17297163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.640371743 meters 0.03780305312509198 Centerline is valid? [True, True] Translation: X:38.42, Y:-2.53, Z:-0.52 [[ 9.99804455e-01 -1.58800101e-02 1.17845777e-02 3.84205857e+01] [ 1.58890601e-02 9.99873533e-01 -6.74719814e-04 -2.52894468e+00] [-1.17723728e-02 8.61833739e-04 9.99930332e-01 -5.17987533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.700371743 meters 0.04026678075142843 Centerline is valid? [True, True] Translation: X:38.48, Y:-2.53, Z:-0.52 [[ 9.99742154e-01 -2.00260608e-02 1.07042774e-02 3.84812189e+01] [ 2.00337662e-02 9.99799116e-01 -6.13094443e-04 -2.52691142e+00] [-1.06898493e-02 8.27383352e-04 9.99942520e-01 -5.19901092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.760371743 meters 0.04040935601780221 Centerline is valid? [True, True] Translation: X:38.54, Y:-2.52, Z:-0.52 [[ 9.99702071e-01 -2.18505356e-02 1.08776504e-02 3.85431247e+01] [ 2.18585992e-02 9.99760878e-01 -6.22953298e-04 -2.52095522e+00] [-1.08614375e-02 8.60537903e-04 9.99940643e-01 -5.19327338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.820371743 meters 0.0410940296808085 Centerline is valid? [True, True] Translation: X:38.60, Y:-2.51, Z:-0.52 [[ 9.99725369e-01 -2.07506911e-02 1.08901456e-02 3.86040995e+01] [ 2.07587135e-02 9.99784320e-01 -6.24132001e-04 -2.51411949e+00] [-1.08748456e-02 8.50026007e-04 9.99940506e-01 -5.17799945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.880371743 meters 0.04181779164334931 Centerline is valid? [True, True] Translation: X:38.66, Y:-2.51, Z:-0.52 [[ 9.99742890e-01 -1.92759194e-02 1.19412114e-02 3.86648168e+01] [ 1.92854635e-02 9.99813784e-01 -6.84612961e-04 -2.50835739e+00] [-1.19257912e-02 9.14728736e-04 9.99928467e-01 -5.17245960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.940371743 meters 0.04445261322646823 Centerline is valid? [True, True] Translation: X:38.73, Y:-2.51, Z:-0.52 [[ 9.99699625e-01 -2.11088324e-02 1.24530302e-02 3.87255648e+01] [ 2.11193565e-02 9.99776706e-01 -7.14194912e-04 -2.50623954e+00] [-1.24351737e-02 9.76980370e-04 9.99922203e-01 -5.18476449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.000371743 meters 0.04371429166572685 Centerline is valid? [True, True] Translation: X:38.79, Y:-2.50, Z:-0.52 [[ 9.99657241e-01 -2.39855583e-02 1.04925105e-02 3.87872012e+01] [ 2.39931881e-02 9.99711941e-01 -6.01877467e-04 -2.49951203e+00] [-1.04750517e-02 8.53419946e-04 9.99944771e-01 -5.20568503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.060371743 meters 0.0462517607087991 Centerline is valid? [True, True] Translation: X:38.85, Y:-2.50, Z:-0.52 [[ 9.99591879e-01 -2.70693078e-02 9.12839063e-03 3.88481100e+01] [ 2.70752129e-02 9.99633262e-01 -5.23913158e-04 -2.49789993e+00] [-9.11086093e-03 7.70852459e-04 9.99958198e-01 -5.22079263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.120371743 meters 0.048732145432663944 Centerline is valid? [True, True] Translation: X:38.91, Y:-2.50, Z:-0.52 [[ 9.99569905e-01 -2.76241889e-02 9.84420168e-03 3.89092606e+01] [ 2.76310816e-02 9.99618029e-01 -5.64828801e-04 -2.49610794e+00] [-9.82483855e-03 8.36591811e-04 9.99951385e-01 -5.22411721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.180371743 meters 0.04181493186945247 Centerline is valid? [True, True] Translation: X:38.97, Y:-2.48, Z:-0.52 [[ 9.99644542e-01 -2.51828628e-02 8.75292923e-03 3.89711625e+01] [ 2.51882239e-02 9.99682600e-01 -5.02776876e-04 -2.47910015e+00] [-8.73748968e-03 7.23068901e-04 9.99961566e-01 -5.23522937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.240371743000004 meters 0.04065800411203051 Centerline is valid? [True, True] Translation: X:39.03, Y:-2.47, Z:-0.53 [[ 9.99743660e-01 -2.15338268e-02 6.99347628e-03 3.90320098e+01] [ 2.15371618e-02 9.99767968e-01 -4.01901126e-04 -2.47004362e+00] [-6.98319910e-03 5.52417733e-04 9.99975465e-01 -5.25452933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.300371743 meters 0.040213821999902005 Centerline is valid? [True, True] Translation: X:39.09, Y:-2.47, Z:-0.53 [[ 9.99766870e-01 -2.05734321e-02 6.55285569e-03 3.90942479e+01] [ 2.05763361e-02 9.99788214e-01 -3.76063123e-04 -2.46744265e+00] [-6.54373098e-03 5.10809213e-04 9.99978459e-01 -5.26739595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.360371743 meters 0.03975573004130449 Centerline is valid? [True, True] Translation: X:39.16, Y:-2.46, Z:-0.53 [[ 9.99717950e-01 -2.26337082e-02 7.19281565e-03 3.91557075e+01] [ 2.26372674e-02 9.99743659e-01 -4.13788283e-04 -2.46205623e+00] [-7.18160627e-03 5.76497265e-04 9.99974046e-01 -5.25974940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.420371743000004 meters 0.041908176690288436 Centerline is valid? [True, True] Translation: X:39.22, Y:-2.46, Z:-0.53 [[ 9.99658105e-01 -2.52781381e-02 6.68491807e-03 3.92165773e+01] [ 2.52812719e-02 9.99680304e-01 -3.84676321e-04 -2.46332198e+00] [-6.67305703e-03 5.53548034e-04 9.99977582e-01 -5.27119433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.480371743 meters 0.04366774292502095 Centerline is valid? [True, True] Translation: X:39.28, Y:-2.47, Z:-0.53 [[ 9.99606866e-01 -2.73843534e-02 6.01749792e-03 3.92774281e+01] [ 2.73869310e-02 9.99624848e-01 -3.46355794e-04 -2.46520916e+00] [-6.00575571e-03 5.11020430e-04 9.99981835e-01 -5.28166108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.540371743 meters 0.044493705772319966 Centerline is valid? [True, True] Translation: X:39.34, Y:-2.46, Z:-0.53 [[ 9.99554440e-01 -2.93839236e-02 5.24460896e-03 3.93387949e+01] [ 2.93859092e-02 9.99568095e-01 -3.01931628e-04 -2.46414954e+00] [-5.23347185e-03 4.55914702e-04 9.99986201e-01 -5.29930518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.600371743000004 meters 0.043000382171923965 Centerline is valid? [True, True] Translation: X:39.40, Y:-2.46, Z:-0.53 [[ 9.99566248e-01 -2.88563194e-02 5.88460230e-03 3.94014559e+01] [ 2.88588083e-02 9.99583441e-01 -3.38462443e-04 -2.45944895e+00] [-5.87238424e-03 5.08138244e-04 9.99982628e-01 -5.30525471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.660371743 meters 0.04463565468264175 Centerline is valid? [True, True] Translation: X:39.46, Y:-2.46, Z:-0.53 [[ 9.99604561e-01 -2.73838548e-02 6.39106409e-03 3.94629474e+01] [ 2.73867661e-02 9.99624844e-01 -3.68435649e-04 -2.45877645e+00] [-6.37857726e-03 5.43320533e-04 9.99979509e-01 -5.31498897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.720371743 meters 0.041247699679136086 Centerline is valid? [True, True] Translation: X:39.53, Y:-2.45, Z:-0.53 [[ 9.99636671e-01 -2.63900502e-02 5.48554765e-03 3.95254164e+01] [ 2.63921790e-02 9.99651616e-01 -3.16035410e-04 -2.45172510e+00] [-5.47529638e-03 4.60696140e-04 9.99984904e-01 -5.33128004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.780371743 meters 0.04385389912769289 Centerline is valid? [True, True] Translation: X:39.59, Y:-2.45, Z:-0.53 [[ 9.99648449e-01 -2.60939459e-02 4.69944233e-03 3.95864757e+01] [ 2.60955068e-02 9.99659418e-01 -2.71127896e-04 -2.45329025e+00] [-4.69076699e-03 3.93666910e-04 9.99988921e-01 -5.34341860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.840371743 meters 0.045103319076002485 Centerline is valid? [True, True] Translation: X:39.65, Y:-2.45, Z:-0.54 [[ 9.99638232e-01 -2.65619300e-02 4.22722064e-03 3.96485277e+01] [ 2.65631971e-02 9.99647106e-01 -2.43874920e-04 -2.45319915e+00] [-4.21925109e-03 3.56075189e-04 9.99991036e-01 -5.35247409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.900371743 meters 0.043345467224022605 Centerline is valid? [True, True] Translation: X:39.71, Y:-2.45, Z:-0.54 [[ 9.99635911e-01 -2.66355050e-02 4.31227276e-03 3.97107213e+01] [ 2.66368256e-02 9.99645146e-01 -2.49096656e-04 -2.45139869e+00] [-4.30410772e-03 3.63871220e-04 9.99990671e-01 -5.35817409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.960371743 meters 0.04449183870937547 Centerline is valid? [True, True] Translation: X:39.77, Y:-2.45, Z:-0.54 [[ 9.99626268e-01 -2.68830089e-02 4.96264861e-03 3.97730933e+01] [ 2.68847635e-02 9.99638498e-01 -2.87189504e-04 -2.45324288e+00] [-4.95313408e-03 4.20501807e-04 9.99987645e-01 -5.36532301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.020371743 meters 0.0482670149111816 Centerline is valid? [True, True] Translation: X:39.83, Y:-2.46, Z:-0.54 [[ 9.99581095e-01 -2.87360339e-02 3.44611499e-03 3.98332944e+01] [ 2.87368927e-02 9.99586990e-01 -1.99945070e-04 -2.45872775e+00] [-3.43894608e-03 2.98891948e-04 9.99994042e-01 -5.38924549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.080371743 meters 0.04422681307792824 Centerline is valid? [True, True] Translation: X:39.90, Y:-2.45, Z:-0.54 [[ 9.99567056e-01 -2.93192774e-02 2.46603042e-03 3.98956591e+01] [ 2.93197173e-02 9.99570075e-01 -1.42410015e-04 -2.45444007e+00] [-2.46079485e-03 2.14651674e-04 9.99996949e-01 -5.40532593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.140371743 meters 0.04381620186180262 Centerline is valid? [True, True] Translation: X:39.96, Y:-2.46, Z:-0.54 [[ 9.99608812e-01 -2.79485231e-02 1.04991455e-03 3.99576372e+01] [ 2.79486018e-02 9.99609360e-01 -6.03586201e-05 -2.45518751e+00] [-1.04781747e-03 8.96786521e-05 9.99999447e-01 -5.43083867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.200371743 meters 0.04424422674811477 Centerline is valid? [True, True] Translation: X:40.02, Y:-2.45, Z:-0.54 [[ 9.99677528e-01 -2.53894056e-02 4.67812617e-04 4.00183151e+01] [ 2.53894212e-02 9.99677636e-01 -2.72362631e-05 -2.45383119e+00] [-4.66970299e-04 3.91049717e-05 9.99999890e-01 -5.43159974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.260371743 meters 0.04224651863452404 Centerline is valid? [True, True] Translation: X:40.08, Y:-2.45, Z:-0.54 [[ 9.99756264e-01 -2.18179609e-02 3.37471689e-03 4.00788328e+01] [ 2.18187477e-02 9.99761923e-01 -1.96478710e-04 -2.45209725e+00] [-3.36962668e-03 2.70062917e-04 9.99994286e-01 -5.41579127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.320371743 meters 0.0429688553538538 Centerline is valid? [True, True] Translation: X:40.14, Y:-2.46, Z:-0.54 [[ 9.99823983e-01 -1.77926966e-02 5.95166224e-03 4.01383728e+01] [ 1.77950736e-02 9.99841595e-01 -3.46656742e-04 -2.45530829e+00] [-5.94455151e-03 4.52505992e-04 9.99982229e-01 -5.41254954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.380371743 meters 0.03589114196493064 Centerline is valid? [True, True] Translation: X:40.20, Y:-2.45, Z:-0.54 [[ 9.99913204e-01 -1.19529473e-02 5.54180037e-03 4.01996028e+01] [ 1.19549177e-02 9.99928485e-01 -3.22558432e-04 -2.44613633e+00] [-5.53754852e-03 3.88782203e-04 9.99984592e-01 -5.41671213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.440371743 meters 0.039674848605604315 Centerline is valid? [True, True] Translation: X:40.26, Y:-2.45, Z:-0.55 [[ 9.99973991e-01 -5.70893418e-03 4.40733204e-03 4.02589612e+01] [ 5.71012001e-03 9.99983664e-01 -2.56521505e-04 -2.45438683e+00] [-4.40579558e-03 2.81681228e-04 9.99990255e-01 -5.45264961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.500371743 meters 0.03601767653763481 Centerline is valid? [True, True] Translation: X:40.32, Y:-2.45, Z:-0.55 [[ 9.99998117e-01 2.79028617e-04 1.92056809e-03 4.03197805e+01] [-2.78814442e-04 9.99999955e-01 -1.11783588e-04 -2.45137423e+00] [-1.92059920e-03 1.11247895e-04 9.99998149e-01 -5.47612436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.560371743 meters 0.030596569643206367 Centerline is valid? [True, True] Translation: X:40.38, Y:-2.45, Z:-0.55 [[ 9.99965209e-01 8.25452288e-03 1.20190040e-03 4.03809110e+01] [-8.25444498e-03 9.99965929e-01 -6.97558551e-05 -2.44583232e+00] [-1.20243525e-03 5.98324075e-05 9.99999275e-01 -5.48634240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.620371743 meters 0.027353081092941694 Centerline is valid? [True, True] Translation: X:40.44, Y:-2.44, Z:-0.55 [[ 9.99829871e-01 1.82957875e-02 2.34376411e-03 4.04417059e+01] [-1.82955178e-02 9.99832614e-01 -1.36454904e-04 -2.44354059e+00] [-2.34586835e-03 9.35513108e-05 9.99997244e-01 -5.48541554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.680371743 meters 0.02534803154951165 Centerline is valid? [True, True] Translation: X:40.50, Y:-2.44, Z:-0.55 [[ 9.99689932e-01 2.45665618e-02 4.06502437e-03 4.05025874e+01] [-2.45658023e-02 9.99698187e-01 -2.36674495e-04 -2.44268338e+00] [-4.06961177e-03 1.36740524e-04 9.99991710e-01 -5.47500650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.740371743000004 meters 0.023670150476532134 Centerline is valid? [True, True] Translation: X:40.56, Y:-2.45, Z:-0.55 [[ 9.99506041e-01 3.08389766e-02 6.05233662e-03 4.05624607e+01] [-3.08374075e-02 9.99524352e-01 -3.52429635e-04 -2.44507472e+00] [-6.06032641e-03 1.65617178e-04 9.99981622e-01 -5.47504184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.800371743 meters 0.02370695126765411 Centerline is valid? [True, True] Translation: X:40.62, Y:-2.45, Z:-0.55 [[ 9.99535440e-01 2.98093412e-02 6.34883322e-03 4.06209931e+01] [-2.98075919e-02 9.99555587e-01 -3.69986249e-04 -2.45266704e+00] [-6.35704076e-03 1.80570938e-04 9.99979778e-01 -5.49034484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.860371743 meters 0.026584200074610435 Centerline is valid? [True, True] Translation: X:40.68, Y:-2.47, Z:-0.55 [[ 9.99760520e-01 2.16001117e-02 3.51251985e-03 4.06799631e+01] [-2.15995269e-02 9.99766682e-01 -2.04336306e-04 -2.46783710e+00] [-3.51611400e-03 1.28418605e-04 9.99993810e-01 -5.52918508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.920371743000004 meters 0.031172870979493936 Centerline is valid? [True, True] Translation: X:40.74, Y:-2.48, Z:-0.56 [[ 9.99956902e-01 9.28303583e-03 1.39286017e-04 4.07396702e+01] [-9.28303479e-03 9.99956912e-01 -8.15916302e-06 -2.48492731e+00] [-1.39355757e-04 6.86581444e-06 9.99999990e-01 -5.57405087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.980371743 meters 0.03262258388847669 Centerline is valid? [True, True] Translation: X:40.80, Y:-2.49, Z:-0.56 [[ 9.99998262e-01 -6.60931878e-04 1.74313167e-03 4.07992781e+01] [ 6.61109696e-04 9.99999776e-01 -1.01436261e-04 -2.49456877e+00] [-1.74306423e-03 1.02588486e-04 9.99998476e-01 -5.55246660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.040371743 meters 0.03665515384741127 Centerline is valid? [True, True] Translation: X:40.86, Y:-2.51, Z:-0.55 [[ 9.99965554e-01 -6.27550941e-03 5.43227426e-03 4.08584390e+01] [ 6.27731626e-03 9.99980248e-01 -3.15628590e-04 -2.50501479e+00] [-5.43018623e-03 3.49717821e-04 9.99985195e-01 -5.52185571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.100371743000004 meters 0.035580914584906836 Centerline is valid? [True, True] Translation: X:40.92, Y:-2.51, Z:-0.55 [[ 9.99925117e-01 -1.01704848e-02 6.80593173e-03 4.09195285e+01] [ 1.01734079e-02 9.99948172e-01 -3.95008903e-04 -2.50855063e+00] [-6.80156156e-03 4.64218844e-04 9.99976761e-01 -5.51896908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.160371743 meters 0.03977201700288972 Centerline is valid? [True, True] Translation: X:40.98, Y:-2.52, Z:-0.55 [[ 9.99870851e-01 -1.46436722e-02 6.62148802e-03 4.09782634e+01] [ 1.46465395e-02 9.99892660e-01 -3.84743650e-04 -2.51992922e+00] [-6.61514321e-03 4.81675847e-04 9.99978004e-01 -5.54588188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.220371743 meters 0.04237956312884072 Centerline is valid? [True, True] Translation: X:41.04, Y:-2.53, Z:-0.56 [[ 9.99810893e-01 -1.90768780e-02 3.77505685e-03 4.10384115e+01] [ 1.90778394e-02 9.99817978e-01 -2.18810649e-04 -2.52737509e+00] [-3.77019548e-03 2.90789198e-04 9.99992851e-01 -5.58844488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.280371743 meters 0.0437616241344954 Centerline is valid? [True, True] Translation: X:41.10, Y:-2.53, Z:-0.56 [[ 9.99793675e-01 -2.01384285e-02 2.65530978e-03 4.11005901e+01] [ 2.01389067e-02 9.99797180e-01 -1.53503129e-04 -2.53325826e+00] [-2.65167992e-03 2.06946493e-04 9.99996463e-01 -5.60580183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.340371743 meters 0.04566662014700101 Centerline is valid? [True, True] Translation: X:41.16, Y:-2.54, Z:-0.56 [[ 9.99748746e-01 -2.24143700e-02 2.01973577e-04 4.11617295e+01] [ 2.24143728e-02 9.99748766e-01 -1.15113052e-05 -2.53742166e+00] [-2.01664816e-04 1.60355240e-05 9.99999980e-01 -5.63455436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.400371743 meters 0.045837162881226 Centerline is valid? [True, True] Translation: X:41.22, Y:-2.54, Z:-0.56 [[ 9.99764449e-01 -2.16968072e-02 -5.43791684e-04 4.12240163e+01] [ 2.16968281e-02 9.99764596e-01 3.26687202e-05 -2.53719019e+00] [ 5.42954866e-04 -4.44595797e-05 9.99999852e-01 -5.64560543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.460371743 meters 0.04301688235787305 Centerline is valid? [True, True] Translation: X:41.29, Y:-2.53, Z:-0.56 [[ 9.99791146e-01 -2.04328758e-02 4.03099981e-04 4.12856970e+01] [ 2.04328868e-02 9.99791227e-01 -2.29957385e-05 -2.53273004e+00] [-4.02545955e-04 3.12274320e-05 9.99999918e-01 -5.62851472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.520371743 meters 0.04046579339123872 Centerline is valid? [True, True] Translation: X:41.35, Y:-2.53, Z:-0.56 [[ 9.99855421e-01 -1.67184731e-02 3.10314269e-03 4.13470439e+01] [ 1.67191141e-02 9.99860210e-01 -1.80736421e-04 -2.52784433e+00] [-3.09968727e-03 2.32592087e-04 9.99995169e-01 -5.61351455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.580371743 meters 0.03920028748059062 Centerline is valid? [True, True] Translation: X:41.41, Y:-2.53, Z:-0.56 [[ 9.99906962e-01 -1.30186189e-02 4.07216143e-03 4.14083800e+01] [ 1.30196928e-02 9.99915212e-01 -2.37311137e-04 -2.52508730e+00] [-4.06872670e-03 2.90307349e-04 9.99991681e-01 -5.61764837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.640371743 meters 0.037449537085702735 Centerline is valid? [True, True] Translation: X:41.47, Y:-2.52, Z:-0.56 [[ 9.99922407e-01 -1.15630517e-02 4.63423190e-03 4.14697881e+01] [ 1.15644269e-02 9.99933093e-01 -2.70052839e-04 -2.52270695e+00] [-4.63079920e-03 3.23624121e-04 9.99989225e-01 -5.62107654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.700371743 meters 0.03950605518297561 Centerline is valid? [True, True] Translation: X:41.53, Y:-2.53, Z:-0.56 [[ 9.99921138e-01 -1.18844250e-02 4.05937444e-03 4.15317575e+01] [ 1.18854817e-02 9.99929337e-01 -2.36289162e-04 -2.52710089e+00] [-4.05627943e-03 2.84518148e-04 9.99991733e-01 -5.63486324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.760371743 meters 0.04036595298935915 Centerline is valid? [True, True] Translation: X:41.59, Y:-2.53, Z:-0.57 [[ 9.99924288e-01 -1.19227018e-02 3.04416417e-03 4.15927867e+01] [ 1.19232940e-02 9.99928899e-01 -1.76476239e-04 -2.52920023e+00] [-3.04184366e-03 2.12759343e-04 9.99995351e-01 -5.65159399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.820371743 meters 0.03874063539189897 Centerline is valid? [True, True] Translation: X:41.66, Y:-2.53, Z:-0.57 [[ 9.99941803e-01 -1.07038067e-02 1.34856799e-03 4.16552480e+01] [ 1.07039217e-02 9.99942708e-01 -7.81087863e-05 -2.52830399e+00] [-1.34765467e-03 9.25392069e-05 9.99999088e-01 -5.68449077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.880371743 meters 0.041707389785601165 Centerline is valid? [True, True] Translation: X:41.72, Y:-2.53, Z:-0.57 [[ 9.99963684e-01 -8.38327056e-03 1.53322682e-03 4.17153260e+01] [ 8.38341626e-03 9.99964855e-01 -8.86265045e-05 -2.53199262e+00] [-1.53242995e-03 1.01476965e-04 9.99998821e-01 -5.70400670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.940371743 meters 0.035889260046687056 Centerline is valid? [True, True] Translation: X:41.78, Y:-2.52, Z:-0.57 [[ 9.99972341e-01 -5.93944392e-03 4.47662367e-03 4.17767548e+01] [ 5.94067994e-03 9.99982319e-01 -2.62859357e-04 -2.52287062e+00] [-4.47498328e-03 2.89446275e-04 9.99989945e-01 -5.67399216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.000371743 meters 0.03666066704365514 Centerline is valid? [True, True] Translation: X:41.84, Y:-2.53, Z:-0.57 [[ 9.99967007e-01 -5.64253900e-03 5.84354265e-03 4.18389073e+01] [ 5.64463906e-03 9.99984010e-01 -3.42951351e-04 -2.52576325e+00] [-5.84151409e-03 3.75924725e-04 9.99982868e-01 -5.67060513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.060371743 meters 0.03536978023519335 Centerline is valid? [True, True] Translation: X:41.90, Y:-2.53, Z:-0.57 [[ 9.99949487e-01 -8.41367525e-03 5.49848823e-03 4.18995758e+01] [ 8.41558064e-03 9.99964536e-01 -3.23484612e-04 -2.52596043e+00] [-5.49557154e-03 3.69741243e-04 9.99984831e-01 -5.68686770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.120371743 meters 0.03632705181964833 Centerline is valid? [True, True] Translation: X:41.96, Y:-2.53, Z:-0.57 [[ 9.99935350e-01 -1.05853022e-02 4.15299326e-03 4.19605021e+01] [ 1.05864068e-02 9.99943933e-01 -2.44060732e-04 -2.53062300e+00] [-4.15017696e-03 2.88010230e-04 9.99991347e-01 -5.71315375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.180371743 meters 0.037734836942424896 Centerline is valid? [True, True] Translation: X:42.02, Y:-2.53, Z:-0.57 [[ 9.99937141e-01 -1.09998540e-02 2.17182496e-03 4.20224316e+01] [ 1.10001559e-02 9.99939488e-01 -1.27116677e-04 -2.53469449e+00] [-2.17029527e-03 1.50999100e-04 9.99997634e-01 -5.74638833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.240371743 meters 0.036712603819619785 Centerline is valid? [True, True] Translation: X:42.08, Y:-2.54, Z:-0.58 [[ 9.99960736e-01 -8.37037809e-03 2.90917723e-03 4.20836814e+01] [ 8.37091201e-03 9.99964949e-01 -1.71400211e-04 -2.53509805e+00] [-2.90764057e-03 1.95745948e-04 9.99995754e-01 -5.75158112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.300371743 meters 0.03746310613294993 Centerline is valid? [True, True] Translation: X:42.14, Y:-2.54, Z:-0.58 [[ 9.99974229e-01 -5.87618031e-03 4.12456877e-03 4.21429969e+01] [ 5.87723487e-03 9.99982699e-01 -2.43603961e-04 -2.53947843e+00] [-4.12306595e-03 2.67838742e-04 9.99991464e-01 -5.75776620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.360371743 meters 0.03730678950445217 Centerline is valid? [True, True] Translation: X:42.20, Y:-2.54, Z:-0.58 [[ 9.99976882e-01 -5.41209951e-03 4.11628667e-03 4.22048145e+01] [ 5.41314200e-03 9.99985320e-01 -2.42160948e-04 -2.54302167e+00] [-4.11491565e-03 2.64437394e-04 9.99991499e-01 -5.76776298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.420371743000004 meters 0.03914129110646249 Centerline is valid? [True, True] Translation: X:42.27, Y:-2.55, Z:-0.58 [[ 9.99973259e-01 -6.63337460e-03 3.07889291e-03 4.22668148e+01] [ 6.63396353e-03 9.99977979e-01 -1.81109352e-04 -2.55033861e+00] [-3.07762375e-03 2.01529772e-04 9.99995244e-01 -5.79083363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.480371743 meters 0.03625402099962795 Centerline is valid? [True, True] Translation: X:42.33, Y:-2.55, Z:-0.58 [[ 9.99978818e-01 -6.24912184e-03 1.81992124e-03 4.23290383e+01] [ 6.24932643e-03 9.99980467e-01 -1.06753712e-04 -2.55170991e+00] [-1.81921857e-03 1.18124732e-04 9.99998338e-01 -5.80941203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.540371743 meters 0.03527055893761729 Centerline is valid? [True, True] Translation: X:42.39, Y:-2.55, Z:-0.58 [[ 9.99985321e-01 -5.26037900e-03 1.29845935e-03 4.23912877e+01] [ 5.26048205e-03 9.99986161e-01 -7.59664237e-05 -2.55375067e+00] [-1.29804177e-03 8.27958308e-05 9.99999154e-01 -5.82149642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.600371743000004 meters 0.03463464854229413 Centerline is valid? [True, True] Translation: X:42.45, Y:-2.55, Z:-0.58 [[ 9.99996401e-01 -1.85910039e-03 1.93453892e-03 4.24521478e+01] [ 1.85932517e-03 9.99998265e-01 -1.14401753e-04 -2.55488748e+00] [-1.93432288e-03 1.17998278e-04 9.99998122e-01 -5.82546273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.660371743 meters 0.03296878017390128 Centerline is valid? [True, True] Translation: X:42.51, Y:-2.55, Z:-0.58 [[ 9.99981400e-01 3.84658623e-03 4.73321292e-03 4.25125934e+01] [-3.84530076e-03 9.99992567e-01 -2.80655694e-04 -2.55435607e+00] [-4.73425731e-03 2.62449847e-04 9.99988759e-01 -5.80340420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.720371743 meters 0.03280231060673545 Centerline is valid? [True, True] Translation: X:42.57, Y:-2.56, Z:-0.58 [[ 9.99955273e-01 6.90608400e-03 6.46205325e-03 4.25731009e+01] [-6.90375077e-03 9.99976095e-01 -3.83303713e-04 -2.55673527e+00] [-6.46454590e-03 3.38674164e-04 9.99979047e-01 -5.79154972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.780371743 meters 0.03239117195430443 Centerline is valid? [True, True] Translation: X:42.63, Y:-2.56, Z:-0.58 [[ 9.99918961e-01 1.03606351e-02 7.39786275e-03 4.26326854e+01] [-1.03576715e-02 9.99946262e-01 -4.38812271e-04 -2.55901904e+00] [-7.40201157e-03 3.62152078e-04 9.99972539e-01 -5.79684630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.840371743 meters 0.029288710108115127 Centerline is valid? [True, True] Translation: X:42.69, Y:-2.56, Z:-0.58 [[ 9.99907236e-01 1.22271073e-02 6.00141276e-03 4.26927811e+01] [-1.22251887e-02 9.99925206e-01 -3.56271110e-04 -2.55757941e+00] [-6.00532006e-03 2.82869657e-04 9.99981928e-01 -5.81666155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.900371743 meters 0.02944242761049791 Centerline is valid? [True, True] Translation: X:42.75, Y:-2.56, Z:-0.58 [[ 9.99908155e-01 1.27546477e-02 4.58256816e-03 4.27515372e+01] [-1.27535333e-02 9.99918633e-01 -2.72333844e-04 -2.56192205e+00] [-4.58566882e-03 2.13864896e-04 9.99989463e-01 -5.84250460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.960371743 meters 0.03267017193763167 Centerline is valid? [True, True] Translation: X:42.81, Y:-2.57, Z:-0.59 [[ 9.99924026e-01 1.12358257e-02 5.06944242e-03 4.28094215e+01] [-1.12344456e-02 9.99936846e-01 -3.00624082e-04 -2.57176151e+00] [-5.07250003e-03 2.43648867e-04 9.99987105e-01 -5.85273314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.020371743 meters 0.032845681389549686 Centerline is valid? [True, True] Translation: X:42.87, Y:-2.58, Z:-0.59 [[ 9.99959100e-01 7.29344938e-03 5.34832348e-03 4.28693938e+01] [-7.29186044e-03 9.99973364e-01 -3.16530926e-04 -2.57822058e+00] [-5.35048963e-03 2.77518751e-04 9.99985648e-01 -5.85599166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.080371743 meters 0.03190847259518632 Centerline is valid? [True, True] Translation: X:42.93, Y:-2.58, Z:-0.58 [[ 9.99977867e-01 3.57207329e-03 5.61303851e-03 4.29297546e+01] [-3.57026615e-03 9.99993571e-01 -3.31939947e-04 -2.58138430e+00] [-5.61418814e-03 3.11892559e-04 9.99984192e-01 -5.84615455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.140371743 meters 0.03219415349710342 Centerline is valid? [True, True] Translation: X:42.99, Y:-2.59, Z:-0.58 [[ 9.99980883e-01 2.37092214e-03 5.71078590e-03 4.29912616e+01] [-2.36903371e-03 9.99997137e-01 -3.37418571e-04 -2.58593270e+00] [-5.71156954e-03 3.23883076e-04 9.99983636e-01 -5.84876257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.200371743 meters 0.03513330389556127 Centerline is valid? [True, True] Translation: X:43.05, Y:-2.60, Z:-0.59 [[ 9.99981143e-01 1.20767222e-03 6.02125236e-03 4.30517435e+01] [-1.20555984e-03 9.99999211e-01 -3.54437068e-04 -2.59531618e+00] [-6.02167565e-03 3.47171404e-04 9.99981809e-01 -5.86201594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.260371743 meters 0.032780282315641465 Centerline is valid? [True, True] Translation: X:43.11, Y:-2.60, Z:-0.59 [[ 9.99978714e-01 5.63789491e-05 6.52448750e-03 4.31137269e+01] [-5.38628631e-05 9.99999924e-01 -3.85812418e-04 -2.59626392e+00] [-6.52450876e-03 3.85452778e-04 9.99978641e-01 -5.85798801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.320371743 meters 0.033202527123059544 Centerline is valid? [True, True] Translation: X:43.17, Y:-2.60, Z:-0.59 [[ 9.99981126e-01 -1.83528404e-03 5.86334587e-03 4.31748101e+01] [ 1.83736426e-03 9.99998251e-01 -3.49416786e-04 -2.60192664e+00] [-5.86269433e-03 3.60183293e-04 9.99982749e-01 -5.87199103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.380371743 meters 0.035186407195942855 Centerline is valid? [True, True] Translation: X:43.24, Y:-2.61, Z:-0.59 [[ 9.99986912e-01 -2.08138970e-03 4.67363435e-03 4.32351028e+01] [ 2.08271438e-03 9.99997792e-01 -2.78587797e-04 -2.61050876e+00] [-4.67304418e-03 2.88317997e-04 9.99989040e-01 -5.89700552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.440371743 meters 0.0348124582645097 Centerline is valid? [True, True] Translation: X:43.30, Y:-2.61, Z:-0.59 [[ 9.99992422e-01 -5.91858916e-04 3.84784161e-03 4.32967938e+01] [ 5.92745353e-04 9.99999798e-01 -2.29235998e-04 -2.61361117e+00] [-3.84770516e-03 2.31515051e-04 9.99992571e-01 -5.91078885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.500371743 meters 0.032143871937189795 Centerline is valid? [True, True] Translation: X:43.36, Y:-2.61, Z:-0.59 [[ 9.99985665e-01 3.31217112e-03 4.20700178e-03 4.33574832e+01] [-3.31114242e-03 9.99994487e-01 -2.51460405e-04 -2.61167843e+00] [-4.20781146e-03 2.37526818e-04 9.99991119e-01 -5.90963179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.560371743 meters 0.031187055973140018 Centerline is valid? [True, True] Translation: X:43.42, Y:-2.61, Z:-0.59 [[ 9.99966872e-01 7.07787113e-03 4.01984677e-03 4.34181988e+01] [-7.07696299e-03 9.99974929e-01 -2.40093718e-04 -2.61312097e+00] [-4.02144534e-03 2.11637458e-04 9.99991892e-01 -5.92210593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.620371743 meters 0.02999069874273631 Centerline is valid? [True, True] Translation: X:43.48, Y:-2.61, Z:-0.59 [[ 9.99962351e-01 7.76625197e-03 3.87059898e-03 4.34777295e+01] [-7.76541277e-03 9.99969822e-01 -2.31794865e-04 -2.61347993e+00] [-3.87228235e-03 2.01729339e-04 9.99992482e-01 -5.92736891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.680371743 meters 0.033147352580002995 Centerline is valid? [True, True] Translation: X:43.54, Y:-2.62, Z:-0.60 [[ 9.99970474e-01 6.71072329e-03 3.74390226e-03 4.35363800e+01] [-6.70993123e-03 9.99977463e-01 -2.24081470e-04 -2.62222742e+00] [-3.74532163e-03 1.98953527e-04 9.99992966e-01 -5.95158554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.740371743 meters 0.03458422187279586 Centerline is valid? [True, True] Translation: X:43.60, Y:-2.63, Z:-0.60 [[ 9.99981132e-01 4.93179291e-03 3.66238220e-03 4.35962655e+01] [-4.93102423e-03 9.99987818e-01 -2.18886227e-04 -2.62892303e+00] [-3.66341709e-03 2.00822802e-04 9.99993270e-01 -5.96762936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.800371743 meters 0.03272651550932463 Centerline is valid? [True, True] Translation: X:43.66, Y:-2.63, Z:-0.60 [[ 9.99990723e-01 2.72548733e-03 3.33564002e-03 4.36564632e+01] [-2.72483800e-03 9.99996268e-01 -1.99193258e-04 -2.62847753e+00] [-3.33617047e-03 1.90102331e-04 9.99994417e-01 -5.96949960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.860371743 meters 0.034426419839657774 Centerline is valid? [True, True] Translation: X:43.72, Y:-2.63, Z:-0.60 [[ 9.99997542e-01 -1.53656187e-04 2.21172315e-03 4.37171063e+01] [ 1.53948104e-04 9.99999979e-01 -1.31816954e-04 -2.63470557e+00] [-2.21170285e-03 1.32157121e-04 9.99997545e-01 -5.99327226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.920371743000004 meters 0.03465833726157753 Centerline is valid? [True, True] Translation: X:43.78, Y:-2.64, Z:-0.60 [[ 9.99991180e-01 -3.31937488e-03 2.57307423e-03 4.37784589e+01] [ 3.31978010e-03 9.99994478e-01 -1.53229298e-04 -2.63817447e+00] [-2.57255140e-03 1.61769988e-04 9.99996678e-01 -6.00186773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.980371743 meters 0.03800392724622439 Centerline is valid? [True, True] Translation: X:43.84, Y:-2.65, Z:-0.60 [[ 9.99985580e-01 -4.52455987e-03 2.89293759e-03 4.38389533e+01] [ 4.52507474e-03 9.99989747e-01 -1.71454797e-04 -2.64602386e+00] [-2.89213217e-03 1.84543083e-04 9.99995801e-01 -6.01245581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.040371743 meters 0.040120848075886874 Centerline is valid? [True, True] Translation: X:43.90, Y:-2.65, Z:-0.60 [[ 9.99977858e-01 -5.62469559e-03 3.55615807e-03 4.39010745e+01] [ 5.62548563e-03 9.99984154e-01 -2.12196607e-04 -2.65076581e+00] [-3.55490818e-03 2.32197025e-04 9.99993654e-01 -6.01390668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.100371743000004 meters 0.037222926031186675 Centerline is valid? [True, True] Translation: X:43.96, Y:-2.65, Z:-0.60 [[ 9.99964593e-01 -7.19733843e-03 4.36010565e-03 4.39632711e+01] [ 7.19854308e-03 9.99974056e-01 -2.60657871e-04 -2.64912935e+00] [-4.35811649e-03 2.92035051e-04 9.99990461e-01 -6.00600955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.160371743 meters 0.035908044266855184 Centerline is valid? [True, True] Translation: X:44.02, Y:-2.65, Z:-0.60 [[ 9.99961461e-01 -8.07407953e-03 3.44760455e-03 4.40249805e+01] [ 8.07483865e-03 9.99967377e-01 -2.06325505e-04 -2.64967991e+00] [-3.44582619e-03 2.34156404e-04 9.99994036e-01 -6.01895559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.220371743 meters 0.04001480334944299 Centerline is valid? [True, True] Translation: X:44.09, Y:-2.66, Z:-0.61 [[ 9.99972126e-01 -7.40087253e-03 9.87136390e-04 4.40853969e+01] [ 7.40093396e-03 9.99972611e-01 -5.85913441e-05 -2.65844431e+00] [-9.86675727e-04 6.58954422e-05 9.99999511e-01 -6.06606899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.280371743 meters 0.03798650732009481 Centerline is valid? [True, True] Translation: X:44.15, Y:-2.66, Z:-0.61 [[ 9.99969075e-01 -7.82928021e-03 7.42776263e-04 4.41476154e+01] [ 7.82931482e-03 9.99969349e-01 -4.37077215e-05 -2.65821889e+00] [-7.42411296e-04 4.95217990e-05 9.99999723e-01 -6.06663375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.340371743 meters 0.038632415222018095 Centerline is valid? [True, True] Translation: X:44.21, Y:-2.66, Z:-0.61 [[ 9.99977351e-01 -6.40855485e-03 2.05619281e-03 4.42086756e+01] [ 6.40882198e-03 9.99979456e-01 -1.23351653e-04 -2.66227873e+00] [-2.05536006e-03 1.36526633e-04 9.99997878e-01 -6.07458489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.400371743 meters 0.04395304905816218 Centerline is valid? [True, True] Translation: X:44.27, Y:-2.67, Z:-0.61 [[ 9.99978003e-01 -6.04630141e-03 2.72679447e-03 4.42692432e+01] [ 6.04677005e-03 9.99981705e-01 -1.63651630e-04 -2.67329299e+00] [-2.72575510e-03 1.80136330e-04 9.99996269e-01 -6.08824879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.460371743 meters 0.03787989932523005 Centerline is valid? [True, True] Translation: X:44.33, Y:-2.67, Z:-0.61 [[ 9.99965864e-01 -7.01188907e-03 4.37088363e-03 4.43318379e+01] [ 7.01310449e-03 9.99975373e-01 -2.62805756e-04 -2.66904330e+00] [-4.36893323e-03 2.93450249e-04 9.99990413e-01 -6.07688924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.520371743 meters 0.038076419352695984 Centerline is valid? [True, True] Translation: X:44.39, Y:-2.68, Z:-0.61 [[ 9.99959457e-01 -7.86802196e-03 4.37923281e-03 4.43934896e+01] [ 7.86925155e-03 9.99969002e-01 -2.63618525e-04 -2.67548837e+00] [-4.37702291e-03 2.98069122e-04 9.99990376e-01 -6.09912264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.580371743 meters 0.037451524163708755 Centerline is valid? [True, True] Translation: X:44.46, Y:-2.68, Z:-0.61 [[ 9.99947716e-01 -9.45792554e-03 3.88749151e-03 4.44553389e+01] [ 9.45890711e-03 9.99955236e-01 -2.34183838e-04 -2.68006378e+00] [-3.88510259e-03 2.70943015e-04 9.99992416e-01 -6.10961807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.640371743 meters 0.03915677497388188 Centerline is valid? [True, True] Translation: X:44.52, Y:-2.69, Z:-0.61 [[ 9.99923876e-01 -1.18089143e-02 3.57649402e-03 4.45161622e+01] [ 1.18097620e-02 9.99930239e-01 -2.16002499e-04 -2.68890568e+00] [-3.57369376e-03 2.58223600e-04 9.99993581e-01 -6.12573533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.700371743 meters 0.03916448866817071 Centerline is valid? [True, True] Translation: X:44.58, Y:-2.69, Z:-0.61 [[ 9.99915672e-01 -1.25801991e-02 3.22311454e-03 4.45784077e+01] [ 1.25808905e-02 9.99920839e-01 -1.94324758e-04 -2.69409831e+00] [-3.22041475e-03 2.34858022e-04 9.99994787e-01 -6.14563523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.760371743 meters 0.0413471263158387 Centerline is valid? [True, True] Translation: X:44.64, Y:-2.70, Z:-0.62 [[ 9.99935818e-01 -1.07125434e-02 3.68797371e-03 4.46390816e+01] [ 1.07134389e-02 9.99942585e-01 -2.23155440e-04 -2.70174646e+00] [-3.68537140e-03 2.62651998e-04 9.99993175e-01 -6.15395781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.820371743 meters 0.03550893348645551 Centerline is valid? [True, True] Translation: X:44.70, Y:-2.70, Z:-0.61 [[ 9.99965551e-01 -6.57110091e-03 5.07115155e-03 4.47005074e+01] [ 6.57274461e-03 9.99978352e-01 -3.07530319e-04 -2.69646294e+00] [-5.06902096e-03 3.40851109e-04 9.99987094e-01 -6.14330832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.880371743 meters 0.03419082208750309 Centerline is valid? [True, True] Translation: X:44.76, Y:-2.70, Z:-0.62 [[ 9.99985112e-01 -5.99700483e-04 5.42363026e-03 4.47603774e+01] [ 6.01493375e-04 9.99999765e-01 -3.28945373e-04 -2.69759921e+00] [-5.42343172e-03 3.32202753e-04 9.99985238e-01 -6.16161480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.940371743 meters 0.032361432966586605 Centerline is valid? [True, True] Translation: X:44.82, Y:-2.70, Z:-0.62 [[ 9.99978032e-01 4.80524566e-03 4.56554494e-03 4.48206916e+01] [-4.80403160e-03 9.99988422e-01 -2.76846661e-04 -2.69782926e+00] [-4.56682240e-03 2.54907557e-04 9.99989540e-01 -6.18759320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.000371743 meters 0.03214021147516681 Centerline is valid? [True, True] Translation: X:44.88, Y:-2.70, Z:-0.62 [[ 9.99962921e-01 7.48052765e-03 4.26601449e-03 4.48814109e+01] [-7.47949244e-03 9.99971995e-01 -2.58567688e-04 -2.70078515e+00] [-4.26782925e-03 2.26650478e-04 9.99990867e-01 -6.20762919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.060371743 meters 0.03127848966825731 Centerline is valid? [True, True] Translation: X:44.94, Y:-2.70, Z:-0.62 [[ 9.99943549e-01 9.65574639e-03 4.43467616e-03 4.49409242e+01] [-9.65464636e-03 9.99953357e-01 -2.69392884e-04 -2.70317025e+00] [-4.43707050e-03 2.26562446e-04 9.99990130e-01 -6.22324094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.120371743 meters 0.030120931960440016 Centerline is valid? [True, True] Translation: X:45.00, Y:-2.70, Z:-0.62 [[ 9.99911275e-01 1.26153588e-02 4.27724919e-03 4.50007403e+01] [-1.26143630e-02 9.99920402e-01 -2.59696177e-04 -2.70394069e+00] [-4.28018489e-03 2.05718361e-04 9.99990819e-01 -6.23182934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.180371743 meters 0.029156134314717353 Centerline is valid? [True, True] Translation: X:45.06, Y:-2.71, Z:-0.63 [[ 9.99852690e-01 1.64078398e-02 5.03787761e-03 4.50611066e+01] [-1.64065087e-02 9.99865358e-01 -3.05445833e-04 -2.70601166e+00] [-5.04221100e-03 2.22746855e-04 9.99987263e-01 -6.25636954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.240371743 meters 0.028297337176610475 Centerline is valid? [True, True] Translation: X:45.12, Y:-2.71, Z:-0.63 [[ 9.99804926e-01 1.90432694e-02 5.24058841e-03 4.51201182e+01] [-1.90418632e-02 9.99818637e-01 -3.18093835e-04 -2.70793078e+00] [-5.24569550e-03 2.18241216e-04 9.99986217e-01 -6.27034687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.300371743 meters 0.025920660023726467 Centerline is valid? [True, True] Translation: X:45.18, Y:-2.71, Z:-0.63 [[ 9.99669784e-01 2.49653186e-02 6.08728243e-03 4.51804248e+01] [-2.49635375e-02 9.99688294e-01 -3.68422146e-04 -2.70627329e+00] [-6.09458277e-03 2.16340384e-04 9.99981404e-01 -6.27031348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.360371743 meters 0.02547035164014405 Centerline is valid? [True, True] Translation: X:45.24, Y:-2.71, Z:-0.63 [[ 9.99551053e-01 2.94435126e-02 5.54729059e-03 4.52404326e+01] [-2.94421008e-02 9.99566431e-01 -3.36013847e-04 -2.70993636e+00] [-5.55477888e-03 1.72539106e-04 9.99984557e-01 -6.29298134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.420371743000004 meters 0.0248018355501938 Centerline is valid? [True, True] Translation: X:45.30, Y:-2.71, Z:-0.63 [[ 9.99490473e-01 3.15473879e-02 4.85344083e-03 4.52997157e+01] [-3.15463324e-02 9.99502247e-01 -2.93894301e-04 -2.71316936e+00] [-4.86029662e-03 1.40636297e-04 9.99988179e-01 -6.30977347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.480371743 meters 0.024593385633880995 Centerline is valid? [True, True] Translation: X:45.36, Y:-2.72, Z:-0.63 [[ 9.99469907e-01 3.24023557e-02 3.16097675e-03 4.53585566e+01] [-3.24019114e-02 9.99474902e-01 -1.91693858e-04 -2.71750451e+00] [-3.16552825e-03 8.91705541e-05 9.99994986e-01 -6.33385752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.540371743 meters 0.025581283928567608 Centerline is valid? [True, True] Translation: X:45.42, Y:-2.73, Z:-0.64 [[ 9.99558501e-01 2.96257670e-02 2.26194238e-03 4.54163129e+01] [-2.96255321e-02 9.99561058e-01 -1.37286783e-04 -2.72684472e+00] [-2.26501674e-03 7.02149248e-05 9.99997432e-01 -6.36117246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.600371743000004 meters 0.025451891577711657 Centerline is valid? [True, True] Translation: X:45.48, Y:-2.74, Z:-0.64 [[ 9.99702642e-01 2.43398011e-02 1.48350472e-03 4.54757503e+01] [-2.43396949e-02 9.99703742e-01 -8.96562155e-05 -2.73505549e+00] [-1.48524744e-03 5.35215032e-05 9.99998896e-01 -6.35648584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.660371743 meters 0.027541846651370057 Centerline is valid? [True, True] Translation: X:45.54, Y:-2.75, Z:-0.63 [[ 9.99844910e-01 1.74953486e-02 2.01719793e-03 4.55355661e+01] [-1.74951388e-02 9.99846941e-01 -1.21589091e-04 -2.74632323e+00] [-2.01901643e-03 8.62790759e-05 9.99997958e-01 -6.34986675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.720371743 meters 0.03066390981523564 Centerline is valid? [True, True] Translation: X:45.59, Y:-2.76, Z:-0.64 [[ 9.99922578e-01 1.21022703e-02 2.89354465e-03 4.55942219e+01] [-1.21018154e-02 9.99926755e-01 -1.74677025e-04 -2.75874469e+00] [-2.89544671e-03 1.39646358e-04 9.99995798e-01 -6.35834244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.780371743 meters 0.03275030101651275 Centerline is valid? [True, True] Translation: X:45.65, Y:-2.77, Z:-0.64 [[ 9.99983753e-01 5.13893356e-03 2.46676480e-03 4.56539002e+01] [-5.13858266e-03 9.99986786e-01 -1.48569058e-04 -2.77010014e+00] [-2.46749569e-03 1.35890969e-04 9.99996946e-01 -6.36652293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.840371743 meters 0.03420639861339832 Centerline is valid? [True, True] Translation: X:45.71, Y:-2.78, Z:-0.64 [[ 9.99998669e-01 -6.17209483e-04 1.51047680e-03 4.57139590e+01] [ 6.17347488e-04 9.99999805e-01 -9.09004062e-05 -2.77959849e+00] [-1.51042040e-03 9.18327743e-05 9.99998855e-01 -6.38372807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.900371743 meters 0.04056100740041886 Centerline is valid? [True, True] Translation: X:45.77, Y:-2.80, Z:-0.64 [[ 9.99980730e-01 -6.19880398e-03 -3.38879228e-04 4.57732844e+01] [ 6.19881146e-03 9.99980787e-01 2.10419284e-05 -2.79513597e+00] [ 3.38742282e-04 -2.31421713e-05 9.99999942e-01 -6.41037362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.960371743 meters 0.04090045364384327 Centerline is valid? [True, True] Translation: X:45.83, Y:-2.80, Z:-0.64 [[ 9.99930339e-01 -1.17969324e-02 -3.87406299e-04 4.58336133e+01] [ 1.17969425e-02 9.99930413e-01 2.38759279e-05 -2.80263647e+00] [ 3.87097678e-04 -2.84444745e-05 9.99999925e-01 -6.41402713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.020371743 meters 0.047638138328748456 Centerline is valid? [True, True] Translation: X:45.89, Y:-2.82, Z:-0.64 [[ 9.99874147e-01 -1.58020673e-02 -1.40911215e-03 4.58918605e+01] [ 1.58022038e-02 9.99875134e-01 8.57782301e-05 -2.81689696e+00] [ 1.40758073e-03 -1.08034512e-04 9.99999004e-01 -6.43588298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.080371743 meters 0.04150364143478833 Centerline is valid? [True, True] Translation: X:45.95, Y:-2.81, Z:-0.64 [[ 9.99864827e-01 -1.64100542e-02 -1.01853934e-03 4.59544118e+01] [ 1.64101263e-02 9.99865343e-01 6.25206730e-05 -2.81255278e+00] [ 1.01737622e-03 -7.92265811e-05 9.99999479e-01 -6.41999515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.140371743 meters 0.04244185641762786 Centerline is valid? [True, True] Translation: X:46.02, Y:-2.82, Z:-0.64 [[ 9.99893221e-01 -1.46125978e-02 -1.36504791e-04 4.60159285e+01] [ 1.46125992e-02 9.99893230e-01 9.24189199e-06 -2.81606634e+00] [ 1.36355168e-04 -1.12355949e-05 9.99999991e-01 -6.41420889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.200371743 meters 0.04169604106663039 Centerline is valid? [True, True] Translation: X:46.08, Y:-2.82, Z:-0.64 [[ 9.99940927e-01 -1.08643690e-02 3.29655174e-04 4.60761735e+01] [ 1.08643762e-02 9.99940981e-01 -1.99122466e-05 -2.81753308e+00] [-3.29419384e-04 2.34925682e-05 9.99999945e-01 -6.40937653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.260371743 meters 0.03894038180529196 Centerline is valid? [True, True] Translation: X:46.14, Y:-2.82, Z:-0.64 [[ 9.99963210e-01 -8.57353214e-03 -2.72308976e-04 4.61383357e+01] [ 8.57353720e-03 9.99963246e-01 1.74323326e-05 -2.81690445e+00] [ 2.72149511e-04 -1.97663424e-05 9.99999963e-01 -6.41382192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.320371743 meters 0.03969293829365595 Centerline is valid? [True, True] Translation: X:46.20, Y:-2.82, Z:-0.64 [[ 9.99992393e-01 -3.20040578e-03 -2.22980462e-03 4.61979328e+01] [ 3.20071405e-03 9.99994869e-01 1.34695136e-04 -2.82043903e+00] [ 2.22936209e-03 -1.41831079e-04 9.99997505e-01 -6.43975634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.380371743 meters 0.03190008693267819 Centerline is valid? [True, True] Translation: X:46.26, Y:-2.81, Z:-0.64 [[ 9.99980942e-01 5.55113920e-03 -2.70192562e-03 4.62593862e+01] [-5.55071767e-03 9.99984581e-01 1.63485768e-04 -2.81001602e+00] [ 2.70279150e-03 -1.48485025e-04 9.99996336e-01 -6.42464601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.440371743 meters 0.028591423688131244 Centerline is valid? [True, True] Translation: X:46.32, Y:-2.81, Z:-0.64 [[ 9.99867394e-01 1.61323835e-02 -2.22287426e-03 4.63205448e+01] [-1.61321244e-02 9.99869860e-01 1.34473086e-04 -2.80559956e+00] [ 2.22475434e-03 -9.85955704e-05 9.99997520e-01 -6.42464993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.500371743 meters 0.026519286220892915 Centerline is valid? [True, True] Translation: X:46.38, Y:-2.80, Z:-0.64 [[ 9.99726299e-01 2.33357699e-02 -1.66384062e-03 4.63816022e+01] [-2.33356346e-02 9.99727682e-01 1.00638995e-04 -2.80356864e+00] [ 1.66573602e-03 -6.17846736e-05 9.99998611e-01 -6.42402559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.560371743 meters 0.023320481256513707 Centerline is valid? [True, True] Translation: X:46.44, Y:-2.80, Z:-0.64 [[ 9.99400418e-01 3.46167996e-02 -6.93677970e-04 4.64424234e+01] [-3.46167789e-02 9.99400659e-01 4.18379845e-05 -2.79837656e+00] [ 6.94710517e-04 -1.78000023e-05 9.99999759e-01 -6.41498354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.620371743 meters 0.022182266086798397 Centerline is valid? [True, True] Translation: X:46.50, Y:-2.80, Z:-0.64 [[ 9.99120172e-01 4.19360316e-02 5.00937664e-04 4.65026184e+01] [-4.19360216e-02 9.99120298e-01 -3.05500112e-05 -2.79839426e+00] [-5.01778134e-04 9.51579971e-06 9.99999874e-01 -6.41283234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.680371743 meters 0.021937555195995953 Centerline is valid? [True, True] Translation: X:46.56, Y:-2.80, Z:-0.64 [[ 9.99020155e-01 4.42507920e-02 7.73123722e-04 4.65613583e+01] [-4.42507665e-02 9.99020454e-01 -5.00584869e-05 -2.80193210e+00] [-7.74581539e-04 1.57981201e-05 9.99999700e-01 -6.41406623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.740371743 meters 0.022525999751705116 Centerline is valid? [True, True] Translation: X:46.62, Y:-2.81, Z:-0.64 [[ 9.99043471e-01 4.37279632e-02 8.63135660e-05 4.66184656e+01] [-4.37279629e-02 9.99043475e-01 -6.41588186e-06 -2.80927488e+00] [-8.65115584e-05 2.63542848e-06 9.99999996e-01 -6.44158958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.800371743 meters 0.023186566043757746 Centerline is valid? [True, True] Translation: X:46.68, Y:-2.82, Z:-0.65 [[ 9.99265371e-01 3.83199172e-02 -5.50632309e-04 4.66773645e+01] [-3.83199050e-02 9.99265522e-01 3.26055255e-05 -2.82038550e+00] [ 5.51477322e-04 -1.14813948e-05 9.99999848e-01 -6.45479981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.860371743 meters 0.0240346482353321 Centerline is valid? [True, True] Translation: X:46.74, Y:-2.83, Z:-0.65 [[ 9.99442659e-01 3.33812236e-02 2.56473600e-04 4.67364755e+01] [-3.33812207e-02 9.99442692e-01 -1.59042645e-05 -2.83062450e+00] [-2.56861569e-04 7.33399855e-06 9.99999967e-01 -6.46439941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.920371743000004 meters 0.02531549362299909 Centerline is valid? [True, True] Translation: X:46.80, Y:-2.84, Z:-0.65 [[ 9.99699836e-01 2.44689822e-02 1.22792347e-03 4.67962628e+01] [-2.44689100e-02 9.99700589e-01 -7.38426635e-05 -2.84406969e+00] [-1.22936267e-03 4.37745497e-05 9.99999243e-01 -6.45937457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.980371743 meters 0.02662830579983468 Centerline is valid? [True, True] Translation: X:46.85, Y:-2.85, Z:-0.65 [[ 9.99768137e-01 2.14806317e-02 1.50167807e-03 4.68539937e+01] [-2.14805190e-02 9.99769263e-01 -9.11020848e-05 -2.85279259e+00] [-1.50328851e-03 5.88241373e-05 9.99998868e-01 -6.46748728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.040371743 meters 0.028951867818486566 Centerline is valid? [True, True] Translation: X:46.91, Y:-2.87, Z:-0.65 [[ 9.99910502e-01 1.32070297e-02 2.13612566e-03 4.69141835e+01] [-1.32067859e-02 9.99912778e-01 -1.28159714e-04 -2.86644836e+00] [-2.13763195e-03 9.99368900e-05 9.99997710e-01 -6.46927549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.100371743000004 meters 0.03196369101148194 Centerline is valid? [True, True] Translation: X:46.97, Y:-2.88, Z:-0.65 [[ 9.99981674e-01 5.83235310e-03 1.62340883e-03 4.69733105e+01] [-5.83220230e-03 9.99982988e-01 -9.76097814e-05 -2.88071968e+00] [-1.62395051e-03 8.81399439e-05 9.99998678e-01 -6.48350532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.160371743 meters 0.032985682472482646 Centerline is valid? [True, True] Translation: X:47.03, Y:-2.89, Z:-0.65 [[ 9.99998112e-01 1.83681331e-03 6.33858974e-04 4.70331648e+01] [-1.83678943e-03 9.99998312e-01 -3.82564764e-05 -2.88959087e+00] [-6.33928174e-04 3.70921387e-05 9.99999798e-01 -6.50116755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.220371743 meters 0.03713521822326184 Centerline is valid? [True, True] Translation: X:47.09, Y:-2.90, Z:-0.65 [[ 9.99995665e-01 -2.28450752e-03 -1.85744213e-03 4.70915993e+01] [ 2.28471790e-03 9.99997384e-01 1.11149776e-04 -2.90288494e+00] [ 1.85718335e-03 -1.15393026e-04 9.99998269e-01 -6.53950256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.280371743 meters 0.038833542732345315 Centerline is valid? [True, True] Translation: X:47.15, Y:-2.91, Z:-0.66 [[ 9.99987025e-01 -3.57238275e-03 -3.63140452e-03 4.71514096e+01] [ 3.57319571e-03 9.99993592e-01 2.17406455e-04 -2.91100823e+00] [ 3.63060459e-03 -2.30379354e-04 9.99993383e-01 -6.56711858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.340371743 meters 0.03545782183176372 Centerline is valid? [True, True] Translation: X:47.21, Y:-2.91, Z:-0.65 [[ 9.99994495e-01 -1.05851059e-03 -3.14484747e-03 4.72116996e+01] [ 1.05910762e-03 9.99999421e-01 1.88182134e-04 -2.90907422e+00] [ 3.14464646e-03 -1.91511830e-04 9.99995037e-01 -6.54953155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.400371743 meters 0.03794650301492196 Centerline is valid? [True, True] Translation: X:47.27, Y:-2.92, Z:-0.65 [[ 9.99992245e-01 3.93742286e-03 -7.57291405e-05 4.72706602e+01] [-3.93742255e-03 9.99992248e-01 4.24847949e-06 -2.91613548e+00] [ 7.57452815e-05 -3.95026892e-06 9.99999997e-01 -6.54202854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.460371743 meters 0.03394767718689044 Centerline is valid? [True, True] Translation: X:47.33, Y:-2.91, Z:-0.65 [[ 9.99966017e-01 7.99249221e-03 2.02096395e-03 4.73317866e+01] [-7.99226376e-03 9.99968054e-01 -1.21091593e-04 -2.91343146e+00] [-2.02186722e-03 1.04935401e-04 9.99997951e-01 -6.51845613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.520371743 meters 0.028050718840442326 Centerline is valid? [True, True] Translation: X:47.39, Y:-2.91, Z:-0.65 [[ 9.99871180e-01 1.57054077e-02 3.31109281e-03 4.73921822e+01] [-1.57048359e-02 9.99876652e-01 -1.98619381e-04 -2.90764703e+00] [-3.31380379e-03 1.46593625e-04 9.99994499e-01 -6.49755031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.580371743 meters 0.028649144926092548 Centerline is valid? [True, True] Translation: X:47.45, Y:-2.91, Z:-0.65 [[ 9.99721952e-01 2.35537103e-02 1.11454802e-03 4.74516611e+01] [-2.35536502e-02 9.99722572e-01 -6.69861219e-05 -2.91293365e+00] [-1.11581659e-03 4.07158223e-05 9.99999377e-01 -6.53303168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.640371743 meters 0.02492152894282324 Centerline is valid? [True, True] Translation: X:47.51, Y:-2.91, Z:-0.65 [[ 9.99627288e-01 2.72778650e-02 -1.09731426e-03 4.75113451e+01] [-2.72778102e-02 9.99627889e-01 6.48728435e-05 -2.90955914e+00] [ 1.09867553e-03 -3.49163343e-05 9.99999396e-01 -6.54383548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.700371743 meters 0.023427173091446468 Centerline is valid? [True, True] Translation: X:47.57, Y:-2.91, Z:-0.66 [[ 9.99525334e-01 3.07506351e-02 -1.87230786e-03 4.75704697e+01] [-3.07504809e-02 9.99527086e-01 1.11097690e-04 -2.91181055e+00] [ 1.87483874e-03 -5.34705890e-05 9.99998241e-01 -6.55922199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.760371743 meters 0.023365092708526946 Centerline is valid? [True, True] Translation: X:47.63, Y:-2.92, Z:-0.66 [[ 9.99499186e-01 3.16312972e-02 -9.15774419e-04 4.76295925e+01] [-3.16312611e-02 9.99499605e-01 5.39115279e-05 -2.91621682e+00] [ 9.17021461e-04 -2.49174285e-05 9.99999579e-01 -6.55346211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.820371743 meters 0.0226979923232574 Centerline is valid? [True, True] Translation: X:47.69, Y:-2.92, Z:-0.65 [[ 9.99484817e-01 3.20063674e-02 2.38603475e-03 4.76879305e+01] [-3.20061166e-02 9.99487663e-01 -1.43253402e-04 -2.92108201e+00] [-2.38939732e-03 6.68118939e-05 9.99997143e-01 -6.52769750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.880371743 meters 0.022759233709707553 Centerline is valid? [True, True] Translation: X:47.75, Y:-2.93, Z:-0.65 [[ 9.99592682e-01 2.83709482e-02 3.09167376e-03 4.77469729e+01] [-2.83705125e-02 9.99597459e-01 -1.84703863e-04 -2.92966332e+00] [-3.09566946e-03 9.69162611e-05 9.99995204e-01 -6.52291708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.940371743 meters 0.02610383633078995 Centerline is valid? [True, True] Translation: X:47.81, Y:-2.95, Z:-0.66 [[ 9.99789957e-01 2.04313585e-02 1.61281277e-03 4.78055463e+01] [-2.04312296e-02 9.99791256e-01 -9.63303774e-05 -2.94504120e+00] [-1.61444426e-03 6.33583960e-05 9.99998695e-01 -6.56667948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.000371743 meters 0.028766314965528835 Centerline is valid? [True, True] Translation: X:47.87, Y:-2.96, Z:-0.66 [[ 9.99902308e-01 1.39776072e-02 3.55418478e-05 4.78656927e+01] [-1.39776072e-02 9.99902308e-01 -2.12668130e-06 -2.95689529e+00] [-3.55681016e-05 1.62968355e-06 9.99999999e-01 -6.60187281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.060371743 meters 0.028276412938098794 Centerline is valid? [True, True] Translation: X:47.93, Y:-2.96, Z:-0.66 [[ 9.99982633e-01 5.88140516e-03 3.76828018e-04 4.79255256e+01] [-5.88139703e-03 9.99982704e-01 -2.26832571e-05 -2.96429434e+00] [-3.76954910e-04 2.04665880e-05 9.99999929e-01 -6.59917791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.120371743 meters 0.033172243704976116 Centerline is valid? [True, True] Translation: X:47.98, Y:-2.98, Z:-0.66 [[ 9.99994588e-01 9.38801531e-04 3.15309388e-03 4.79839756e+01] [-9.38214274e-04 9.99999542e-01 -1.87721661e-04 -2.97758808e+00] [-3.15326867e-03 1.84762367e-04 9.99995011e-01 -6.58762779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.180371743 meters 0.032081423322351886 Centerline is valid? [True, True] Translation: X:48.04, Y:-2.98, Z:-0.66 [[ 9.99984533e-01 -5.75555281e-04 5.53204210e-03 4.80449306e+01] [ 5.77384386e-04 9.99999779e-01 -3.29046878e-04 -2.98161837e+00] [-5.53185149e-03 3.32235903e-04 9.99984644e-01 -6.57439604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.240371743 meters 0.03375963249737803 Centerline is valid? [True, True] Translation: X:48.11, Y:-2.99, Z:-0.66 [[ 9.99987890e-01 -4.03516599e-04 4.90472952e-03 4.81054697e+01] [ 4.04949182e-04 9.99999876e-01 -2.91092367e-04 -2.98785645e+00] [-4.90461145e-03 2.93075008e-04 9.99987929e-01 -6.59158018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.300371743 meters 0.03347269300119559 Centerline is valid? [True, True] Translation: X:48.17, Y:-2.99, Z:-0.66 [[ 9.99995678e-01 8.71093410e-05 2.93862829e-03 4.81678575e+01] [-8.65965642e-05 9.99999981e-01 -1.74622086e-04 -2.99043379e+00] [-2.93864345e-03 1.74366856e-04 9.99995667e-01 -6.61078203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.360371743 meters 0.030926441447316065 Centerline is valid? [True, True] Translation: X:48.23, Y:-2.99, Z:-0.66 [[ 9.99997384e-01 4.98579813e-04 2.23218439e-03 4.82297989e+01] [-4.98284719e-04 9.99999867e-01 -1.32753977e-04 -2.99072140e+00] [-2.23225028e-03 1.31641367e-04 9.99997500e-01 -6.62108054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.420371743000004 meters 0.02981678369859147 Centerline is valid? [True, True] Translation: X:48.29, Y:-2.99, Z:-0.66 [[ 9.99997032e-01 2.17988923e-03 1.08818117e-03 4.82909769e+01] [-2.17981994e-03 9.99997622e-01 -6.48544763e-05 -2.99051942e+00] [-1.08831996e-03 6.24822448e-05 9.99999406e-01 -6.62904751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.480371743 meters 0.0312880208314394 Centerline is valid? [True, True] Translation: X:48.35, Y:-2.99, Z:-0.66 [[ 9.99988233e-01 4.56054854e-03 1.65388855e-03 4.83509761e+01] [-4.56039108e-03 9.99989596e-01 -9.89660958e-05 -2.99467574e+00] [-1.65432268e-03 9.14225526e-05 9.99998627e-01 -6.64251722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.540371743 meters 0.03011596946973813 Centerline is valid? [True, True] Translation: X:48.41, Y:-2.99, Z:-0.66 [[ 9.99938886e-01 1.09300999e-02 1.66018128e-03 4.84110220e+01] [-1.09299499e-02 9.99940261e-01 -9.93796895e-05 -2.99370028e+00] [-1.66116833e-03 8.12279179e-05 9.99998617e-01 -6.64601037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.600371743000004 meters 0.026648880689535658 Centerline is valid? [True, True] Translation: X:48.47, Y:-2.99, Z:-0.66 [[ 9.99851672e-01 1.69732464e-02 2.92275095e-03 4.84719939e+01] [-1.69728074e-02 9.99855936e-01 -1.74922822e-04 -2.98801876e+00] [-2.92529889e-03 1.25289588e-04 9.99995713e-01 -6.63077389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.660371743 meters 0.026085840242671375 Centerline is valid? [True, True] Translation: X:48.53, Y:-2.99, Z:-0.66 [[ 9.99796795e-01 1.98961316e-02 3.24226546e-03 4.85317971e+01] [-1.98956057e-02 9.99802044e-01 -1.94377214e-04 -2.98813010e+00] [-3.24549099e-03 1.29830880e-04 9.99994725e-01 -6.63790213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.720371743 meters 0.02608066765567333 Centerline is valid? [True, True] Translation: X:48.59, Y:-2.99, Z:-0.67 [[ 9.99804674e-01 1.95645877e-02 2.80011475e-03 4.85908141e+01] [-1.95641931e-02 9.99808589e-01 -1.68240028e-04 -2.99097346e+00] [-2.80287033e-03 1.13425181e-04 9.99996066e-01 -6.65087559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.780371743 meters 0.025999190280482226 Centerline is valid? [True, True] Translation: X:48.65, Y:-2.99, Z:-0.67 [[ 9.99848867e-01 1.71368185e-02 2.92778254e-03 4.86507000e+01] [-1.71363786e-02 9.99853146e-01 -1.75263675e-04 -2.99413223e+00] [-2.93035605e-03 1.25065597e-04 9.99995699e-01 -6.65418108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.840371743 meters 0.02873152876041424 Centerline is valid? [True, True] Translation: X:48.71, Y:-3.00, Z:-0.67 [[ 9.99923402e-01 1.22666853e-02 1.64904919e-03 4.87100768e+01] [-1.22665393e-02 9.99924758e-01 -9.86544813e-05 -3.00059364e+00] [-1.65013528e-03 7.84187979e-05 9.99998635e-01 -6.67179692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.900371743 meters 0.03028047967886809 Centerline is valid? [True, True] Translation: X:48.77, Y:-3.01, Z:-0.67 [[ 9.99966952e-01 7.90487857e-03 1.89929929e-03 4.87690620e+01] [-7.90467670e-03 9.99968751e-01 -1.13766872e-04 -3.00758511e+00] [-1.90013925e-03 9.87497656e-05 9.99998190e-01 -6.68540416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.960371743 meters 0.029718190853065263 Centerline is valid? [True, True] Translation: X:48.83, Y:-3.01, Z:-0.67 [[ 9.99984749e-01 5.05852094e-03 2.21659853e-03 4.88288324e+01] [-5.05823936e-03 9.99987198e-01 -1.32618338e-04 -3.00988516e+00] [-2.21724100e-03 1.21404230e-04 9.99997535e-01 -6.68437160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.020371743 meters 0.031115035173407708 Centerline is valid? [True, True] Translation: X:48.89, Y:-3.01, Z:-0.67 [[ 9.99989099e-01 3.05443605e-03 3.53163833e-03 4.88886161e+01] [-3.05371104e-03 9.99995315e-01 -2.10665046e-04 -3.01477922e+00] [-3.53226524e-03 1.99878146e-04 9.99993742e-01 -6.68404617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.080371743 meters 0.032573329365968455 Centerline is valid? [True, True] Translation: X:48.95, Y:-3.02, Z:-0.67 [[ 9.99982888e-01 4.45549629e-03 3.79102237e-03 4.89484275e+01] [-4.45467263e-03 9.99990052e-01 -2.25682433e-04 -3.01903125e+00] [-3.79199019e-03 2.08790808e-04 9.99992789e-01 -6.69730282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.140371743 meters 0.030961065852293128 Centerline is valid? [True, True] Translation: X:49.01, Y:-3.02, Z:-0.67 [[ 9.99973788e-01 6.00674175e-03 4.04258239e-03 4.90095842e+01] [-6.00581743e-03 9.99981936e-01 -2.40746265e-04 -3.01903438e+00] [-4.04395547e-03 2.16460943e-04 9.99991800e-01 -6.70330734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.200371743 meters 0.02938995656909764 Centerline is valid? [True, True] Translation: X:49.07, Y:-3.02, Z:-0.67 [[ 9.99954399e-01 9.07241425e-03 2.98184233e-03 4.90700957e+01] [-9.07192273e-03 9.99958833e-01 -1.78320798e-04 -3.01757393e+00] [-2.98333738e-03 1.51261623e-04 9.99995538e-01 -6.70861131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.260371743 meters 0.027893595632878618 Centerline is valid? [True, True] Translation: X:49.13, Y:-3.02, Z:-0.67 [[ 9.99933136e-01 1.12629242e-02 2.62107957e-03 4.91295216e+01] [-1.12625519e-02 9.99936563e-01 -1.56747432e-04 -3.01763981e+00] [-2.62267873e-03 1.27216906e-04 9.99996553e-01 -6.71823355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.320371743 meters 0.0289236552508015 Centerline is valid? [True, True] Translation: X:49.19, Y:-3.02, Z:-0.67 [[ 9.99880012e-01 1.48891443e-02 4.27486686e-03 4.91884696e+01] [-1.48881909e-02 9.99889132e-01 -2.54743641e-04 -3.02276263e+00] [-4.27818583e-03 1.91068041e-04 9.99990830e-01 -6.72397426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.380371743 meters 0.026198191867061404 Centerline is valid? [True, True] Translation: X:49.25, Y:-3.02, Z:-0.67 [[ 9.99793880e-01 1.97080262e-02 4.87770124e-03 4.92488538e+01] [-1.97068435e-02 9.99805759e-01 -2.90422827e-04 -3.01979961e+00] [-4.88247746e-03 1.94238870e-04 9.99988062e-01 -6.70882145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.440371743 meters 0.027253562527680412 Centerline is valid? [True, True] Translation: X:49.31, Y:-3.02, Z:-0.67 [[ 9.99763477e-01 2.11956131e-02 4.87187186e-03 4.93062079e+01] [-2.11944494e-02 9.99775330e-01 -2.90371143e-04 -3.02460171e+00] [-4.87693189e-03 1.87045822e-04 9.99988090e-01 -6.72524826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.500371743 meters 0.02430690048358452 Centerline is valid? [True, True] Translation: X:49.37, Y:-3.02, Z:-0.67 [[ 9.99759189e-01 2.14798166e-02 4.49237464e-03 4.93652975e+01] [-2.14788320e-02 9.99769268e-01 -2.67312872e-04 -3.02390356e+00] [-4.49707994e-03 1.70757540e-04 9.99989874e-01 -6.72690345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.560371743 meters 0.02591540299673627 Centerline is valid? [True, True] Translation: X:49.42, Y:-3.03, Z:-0.67 [[ 9.99798591e-01 1.94701469e-02 4.86730927e-03 4.94224138e+01] [-1.94689686e-02 9.99810420e-01 -2.89349330e-04 -3.03085821e+00] [-4.87202019e-03 1.94529561e-04 9.99988113e-01 -6.73264699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.620371743 meters 0.025390318334508923 Centerline is valid? [True, True] Translation: X:49.48, Y:-3.04, Z:-0.67 [[ 9.99828123e-01 1.75628897e-02 5.93876936e-03 4.94812705e+01] [-1.75611077e-02 9.99845730e-01 -3.52075014e-04 -3.03524776e+00] [-5.94403664e-03 2.47723132e-04 9.99982303e-01 -6.72846656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.680371743 meters 0.027041680616797643 Centerline is valid? [True, True] Translation: X:49.54, Y:-3.04, Z:-0.67 [[ 9.99882175e-01 1.37984818e-02 6.72589410e-03 4.95401469e+01] [-1.37961163e-02 9.99904750e-01 -3.97977157e-04 -3.04436687e+00] [-6.73074493e-03 3.05139048e-04 9.99977302e-01 -6.73126328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.740371743 meters 0.029799093443454442 Centerline is valid? [True, True] Translation: X:49.60, Y:-3.06, Z:-0.68 [[ 9.99952175e-01 7.90223333e-03 5.76214536e-03 4.95998079e+01] [-7.90040318e-03 9.99968733e-01 -3.40308843e-04 -3.05548753e+00] [-5.76465440e-03 2.94769296e-04 9.99983341e-01 -6.75228433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.800371743 meters 0.030527326460678288 Centerline is valid? [True, True] Translation: X:49.66, Y:-3.06, Z:-0.68 [[ 9.99987060e-01 1.62535355e-03 4.82068789e-03 4.96595194e+01] [-1.62400024e-03 9.99998641e-01 -2.84630358e-04 -3.06289818e+00] [-4.82114396e-03 2.76797877e-04 9.99988340e-01 -6.76567399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.860371743 meters 0.03380579641707749 Centerline is valid? [True, True] Translation: X:49.72, Y:-3.07, Z:-0.68 [[ 9.99989333e-01 -2.01480702e-03 4.15629901e-03 4.97190759e+01] [ 2.01584467e-03 9.99997938e-01 -2.45484795e-04 -3.07294169e+00] [-4.15579583e-03 2.53860630e-04 9.99991332e-01 -6.78545125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.920371743000004 meters 0.03667493764540544 Centerline is valid? [True, True] Translation: X:49.78, Y:-3.08, Z:-0.68 [[ 9.99981956e-01 -4.59503670e-03 3.86961634e-03 4.97782750e+01] [ 4.59595538e-03 9.99989412e-01 -2.28550294e-04 -3.08154175e+00] [-3.86852517e-03 2.46330754e-04 9.99992487e-01 -6.80091944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.980371743 meters 0.03555067404339911 Centerline is valid? [True, True] Translation: X:49.84, Y:-3.08, Z:-0.68 [[ 9.99983450e-01 -4.19964922e-03 3.93217262e-03 4.98401009e+01] [ 4.20059198e-03 9.99991151e-01 -2.31528118e-04 -3.08383066e+00] [-3.93116549e-03 2.48041739e-04 9.99992242e-01 -6.80893518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.040371743 meters 0.03787424610923356 Centerline is valid? [True, True] Translation: X:49.90, Y:-3.09, Z:-0.68 [[ 9.99984405e-01 -5.81117635e-04 5.55447357e-03 4.98998509e+01] [ 5.82951195e-04 9.99999776e-01 -3.28491784e-04 -3.08875271e+00] [-5.55428144e-03 3.31724648e-04 9.99984520e-01 -6.81189565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.100371743000004 meters 0.031182106793854143 Centerline is valid? [True, True] Translation: X:49.96, Y:-3.08, Z:-0.68 [[ 9.99965750e-01 6.23051490e-03 5.44796830e-03 4.99612843e+01] [-6.22885248e-03 9.99980549e-01 -3.22058048e-04 -3.07904543e+00] [-5.44986892e-03 2.88112427e-04 9.99985108e-01 -6.81493573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.160371743 meters 0.02713652157398462 Centerline is valid? [True, True] Translation: X:50.02, Y:-3.07, Z:-0.68 [[ 9.99918710e-01 1.13847183e-02 5.74117596e-03 5.00226434e+01] [-1.13829561e-02 9.99935154e-01 -3.39518431e-04 -3.07261501e+00] [-5.74466899e-03 2.74139278e-04 9.99983462e-01 -6.81686312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.220371743 meters 0.030200167311678693 Centerline is valid? [True, True] Translation: X:50.08, Y:-3.08, Z:-0.68 [[ 9.99892402e-01 1.31595923e-02 6.48149777e-03 5.00808863e+01] [-1.31573809e-02 9.99913364e-01 -3.83724141e-04 -3.07905804e+00] [-6.48598590e-03 2.98403319e-04 9.99978921e-01 -6.82990174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.280371743 meters 0.028797753780291015 Centerline is valid? [True, True] Translation: X:50.14, Y:-3.08, Z:-0.68 [[ 9.99886229e-01 1.42175774e-02 5.03888700e-03 5.01399135e+01] [-1.42162540e-02 9.99898899e-01 -2.98352513e-04 -3.07836714e+00] [-5.04261942e-03 2.26684471e-04 9.99987260e-01 -6.84901488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.340371743 meters 0.026898359174263687 Centerline is valid? [True, True] Translation: X:50.20, Y:-3.08, Z:-0.69 [[ 9.99897806e-01 1.38307653e-02 3.61764578e-03 5.01986786e+01] [-1.38300805e-02 9.99904337e-01 -2.14252416e-04 -3.07687087e+00] [-3.62026298e-03 1.64198188e-04 9.99993433e-01 -6.85628692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.400371743 meters 0.030421669724077557 Centerline is valid? [True, True] Translation: X:50.26, Y:-3.08, Z:-0.69 [[ 9.99919942e-01 1.19896176e-02 4.04451820e-03 5.02565049e+01] [-1.19887505e-02 9.99928104e-01 -2.38569688e-04 -3.08359545e+00] [-4.04708778e-03 1.90061869e-04 9.99991792e-01 -6.87201744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.460371743 meters 0.028908264331397655 Centerline is valid? [True, True] Translation: X:50.32, Y:-3.08, Z:-0.69 [[ 9.99948767e-01 9.16040567e-03 4.30691722e-03 5.03164768e+01] [-9.15939580e-03 9.99958020e-01 -2.54143716e-04 -3.08433995e+00] [-4.30906447e-03 2.14681936e-04 9.99990693e-01 -6.87107642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.520371743 meters 0.034663355552649544 Centerline is valid? [True, True] Translation: X:50.38, Y:-3.09, Z:-0.69 [[ 9.99971005e-01 5.85285007e-03 4.87163275e-03 5.03751236e+01] [-5.85152224e-03 9.99982839e-01 -2.86773469e-04 -3.09420064e+00] [-4.87322759e-03 2.58258686e-04 9.99988092e-01 -6.88643747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.580371743 meters 0.03260237925020569 Centerline is valid? [True, True] Translation: X:50.44, Y:-3.09, Z:-0.69 [[ 9.99974952e-01 3.37012252e-03 6.22388722e-03 5.04365304e+01] [-3.36790853e-03 9.99994262e-01 -3.66171559e-04 -3.09134826e+00] [-6.22508555e-03 3.45200905e-04 9.99980564e-01 -6.86957617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.640371743 meters 0.03241118902774231 Centerline is valid? [True, True] Translation: X:50.50, Y:-3.09, Z:-0.69 [[ 9.99984629e-01 8.80295721e-05 5.54377521e-03 5.04980248e+01] [-8.62204454e-05 9.99999943e-01 -3.26572934e-04 -3.09339016e+00] [-5.54380365e-03 3.26089928e-04 9.99984580e-01 -6.88221653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.700371743 meters 0.034378059668527354 Centerline is valid? [True, True] Translation: X:50.56, Y:-3.10, Z:-0.69 [[ 9.99987686e-01 -2.32591593e-03 4.38391088e-03 5.05590540e+01] [ 2.32707058e-03 9.99997259e-01 -2.58301926e-04 -3.09843936e+00] [-4.38329807e-03 2.68500415e-04 9.99990357e-01 -6.90478108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.760371743 meters 0.037402961101079206 Centerline is valid? [True, True] Translation: X:50.62, Y:-3.10, Z:-0.69 [[ 9.99985700e-01 -4.55199684e-03 2.80713982e-03 5.06188287e+01] [ 4.55247990e-03 9.99989624e-01 -1.65717140e-04 -3.10326764e+00] [-2.80635634e-03 1.78494218e-04 9.99996046e-01 -6.92532770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.820371743 meters 0.03645418848242173 Centerline is valid? [True, True] Translation: X:50.68, Y:-3.10, Z:-0.69 [[ 9.99984479e-01 -4.85422494e-03 2.73450482e-03 5.06810573e+01] [ 4.85468226e-03 9.99988203e-01 -1.60630071e-04 -3.10436889e+00] [-2.73369283e-03 1.73902730e-04 9.99996248e-01 -6.93159904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.880371743 meters 0.03339360741003582 Centerline is valid? [True, True] Translation: X:50.74, Y:-3.10, Z:-0.69 [[ 9.99987057e-01 -4.11077312e-03 2.99795838e-03 5.07435855e+01] [ 4.11132032e-03 9.99991533e-01 -1.76386140e-04 -3.09960197e+00] [-2.99720791e-03 1.88709424e-04 9.99995491e-01 -6.91451374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.940371743 meters 0.0388241845348206 Centerline is valid? [True, True] Translation: X:50.80, Y:-3.11, Z:-0.69 [[ 9.99990602e-01 -2.46125648e-03 3.56909388e-03 5.08031939e+01] [ 2.46202527e-03 9.99996947e-01 -2.11023138e-04 -3.10828103e+00] [-3.56856361e-03 2.19808354e-04 9.99993608e-01 -6.93300627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.000371743 meters 0.033587095566218556 Centerline is valid? [True, True] Translation: X:50.86, Y:-3.10, Z:-0.69 [[ 9.99994188e-01 1.06925786e-03 3.23741389e-03 5.08647861e+01] [-1.06864377e-03 9.99999411e-01 -1.91408316e-04 -3.09965685e+00] [-3.23761665e-03 1.87947561e-04 9.99994741e-01 -6.93235001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.060371743 meters 0.029581417948138625 Centerline is valid? [True, True] Translation: X:50.93, Y:-3.09, Z:-0.69 [[ 9.99978903e-01 6.12612563e-03 2.15985626e-03 5.09263475e+01] [-6.12586376e-03 9.99981229e-01 -1.27839249e-04 -3.09115786e+00] [-2.16059888e-03 1.14605567e-04 9.99997659e-01 -6.93274323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.120371743 meters 0.030260724319274967 Centerline is valid? [True, True] Translation: X:50.98, Y:-3.09, Z:-0.70 [[ 9.99952387e-01 9.65022028e-03 1.44813026e-03 5.09849220e+01] [-9.65010552e-03 9.99953433e-01 -8.62182583e-05 -3.09260602e+00] [-1.44889485e-03 7.22395434e-05 9.99998948e-01 -6.95360089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.180371743 meters 0.03145486213779084 Centerline is valid? [True, True] Translation: X:51.04, Y:-3.09, Z:-0.70 [[ 9.99894052e-01 1.44275646e-02 1.93122994e-03 5.10445151e+01] [-1.44273701e-02 9.99895914e-01 -1.14594081e-04 -3.09277144e+00] [-1.93268224e-03 8.67193714e-05 9.99998129e-01 -6.97053276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.240371743 meters 0.026955755920958235 Centerline is valid? [True, True] Translation: X:51.11, Y:-3.08, Z:-0.70 [[ 9.99800949e-01 1.95606575e-02 3.92967739e-03 5.11057053e+01] [-1.95598943e-02 9.99808660e-01 -2.32549564e-04 -3.08486050e+00] [-3.93347431e-03 1.55639200e-04 9.99992252e-01 -6.95086443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.300371743 meters 0.025254119159052603 Centerline is valid? [True, True] Translation: X:51.17, Y:-3.08, Z:-0.70 [[ 9.99724681e-01 2.30709171e-02 4.27724819e-03 5.11656736e+01] [-2.30700438e-02 9.99733819e-01 -2.53386967e-04 -3.08240991e+00] [-4.28195554e-03 1.54640901e-04 9.99990820e-01 -6.95361697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.360371743 meters 0.024940489091714337 Centerline is valid? [True, True] Translation: X:51.22, Y:-3.08, Z:-0.70 [[ 9.99684097e-01 2.47674197e-02 4.27555755e-03 5.12247485e+01] [-2.47665618e-02 9.99693230e-01 -2.53483568e-04 -3.08273897e+00] [-4.28052407e-03 1.47512632e-04 9.99990828e-01 -6.96043378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.420371743 meters 0.025199668020634294 Centerline is valid? [True, True] Translation: X:51.28, Y:-3.09, Z:-0.70 [[ 9.99685469e-01 2.47359894e-02 4.13451082e-03 5.12827467e+01] [-2.47351866e-02 9.99694008e-01 -2.45204128e-04 -3.08604985e+00] [-4.13931106e-03 1.42859107e-04 9.99991423e-01 -6.97690160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.480371743 meters 0.025909848792294642 Centerline is valid? [True, True] Translation: X:51.34, Y:-3.09, Z:-0.70 [[ 9.99738997e-01 2.26617093e-02 2.89551707e-03 5.13418271e+01] [-2.26613082e-02 9.99743185e-01 -1.71264688e-04 -3.09127701e+00] [-2.89865461e-03 1.05603783e-04 9.99995793e-01 -7.00231562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.540371743 meters 0.02612546863355818 Centerline is valid? [True, True] Translation: X:51.40, Y:-3.10, Z:-0.70 [[ 9.99810818e-01 1.91722755e-02 3.27903640e-03 5.14013795e+01] [-1.91717439e-02 9.99816187e-01 -1.93487505e-04 -3.09631010e+00] [-3.28214326e-03 1.30586055e-04 9.99994605e-01 -7.00872600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.600371743000004 meters 0.02834613579775567 Centerline is valid? [True, True] Translation: X:51.46, Y:-3.11, Z:-0.70 [[ 9.99851520e-01 1.68778139e-02 3.47522845e-03 5.14594311e+01] [-1.68772028e-02 9.99857549e-01 -2.05090623e-04 -3.10503813e+00] [-3.47819488e-03 1.46408036e-04 9.99993940e-01 -7.01902656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.660371743 meters 0.0307167864322122 Centerline is valid? [True, True] Translation: X:51.52, Y:-3.11, Z:-0.70 [[ 9.99924390e-01 1.17951979e-02 3.47677251e-03 5.15192035e+01] [-1.17945576e-02 9.99930421e-01 -2.04607978e-04 -3.11435325e+00] [-3.47894399e-03 1.63585514e-04 9.99993935e-01 -7.01655383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.720371743 meters 0.033167252422782276 Centerline is valid? [True, True] Translation: X:51.58, Y:-3.12, Z:-0.70 [[ 9.99960787e-01 7.86274388e-03 4.07458081e-03 5.15785327e+01] [-7.86183237e-03 9.99969067e-01 -2.39674207e-04 -3.12391440e+00] [-4.07633926e-03 2.07631137e-04 9.99991670e-01 -7.02198007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.780371743 meters 0.032001744472559546 Centerline is valid? [True, True] Translation: X:51.64, Y:-3.13, Z:-0.70 [[ 9.99982455e-01 4.02196263e-03 4.34891644e-03 5.16382399e+01] [-4.02088839e-03 9.99991883e-01 -2.55728002e-04 -3.12912345e+00] [-4.34990967e-03 2.38237007e-04 9.99990511e-01 -7.01610823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.840371743 meters 0.03375458111248389 Centerline is valid? [True, True] Translation: X:51.70, Y:-3.14, Z:-0.70 [[ 9.99980726e-01 4.15180442e-03 4.61639143e-03 5.16983382e+01] [-4.15059735e-03 9.99991350e-01 -2.71023645e-04 -3.13636127e+00] [-4.61747673e-03 2.51857639e-04 9.99989308e-01 -7.02438752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.900371743 meters 0.03199958142574011 Centerline is valid? [True, True] Translation: X:51.76, Y:-3.14, Z:-0.70 [[ 9.99976277e-01 5.69028554e-03 3.88151707e-03 5.17585602e+01] [-5.68944294e-03 9.99983789e-01 -2.28088250e-04 -3.13772496e+00] [-3.88275203e-03 2.05999169e-04 9.99992441e-01 -7.03969994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.960371743 meters 0.031130399947495172 Centerline is valid? [True, True] Translation: X:51.82, Y:-3.14, Z:-0.71 [[ 9.99955130e-01 8.90722042e-03 3.22475168e-03 5.18189285e+01] [-8.90665491e-03 9.99960317e-01 -1.89684791e-04 -3.13971462e+00] [-3.22631328e-03 1.60954529e-04 9.99994782e-01 -7.05614024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.020371743 meters 0.029880934683122314 Centerline is valid? [True, True] Translation: X:51.88, Y:-3.14, Z:-0.71 [[ 9.99890217e-01 1.47162694e-02 1.72759794e-03 5.18782091e+01] [-1.47161156e-02 9.99891707e-01 -1.01749967e-04 -3.13954367e+00] [-1.72890823e-03 7.63152661e-05 9.99998503e-01 -7.07301755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.080371743 meters 0.028814431899797037 Centerline is valid? [True, True] Translation: X:51.94, Y:-3.14, Z:-0.71 [[ 9.99796979e-01 2.01018227e-02 1.38466421e-03 5.19376550e+01] [-2.01017288e-02 9.99797936e-01 -8.17140732e-05 -3.13997131e+00] [-1.38602702e-03 5.38633392e-05 9.99999038e-01 -7.09221041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.140371743 meters 0.02436167261799241 Centerline is valid? [True, True] Translation: X:52.00, Y:-3.13, Z:-0.71 [[ 9.99609291e-01 2.78480265e-02 2.39846830e-03 5.19990496e+01] [-2.78477692e-02 9.99612166e-01 -1.40598872e-04 -3.13402944e+00] [-2.40145350e-03 7.37519466e-05 9.99997114e-01 -7.08281640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.200371743 meters 0.022955117536072586 Centerline is valid? [True, True] Translation: X:52.06, Y:-3.13, Z:-0.71 [[ 9.99479431e-01 3.20754403e-02 3.46901122e-03 5.20594706e+01] [-3.20749246e-02 9.99485446e-01 -2.04204519e-04 -3.13389098e+00] [-3.47377618e-03 9.28299430e-05 9.99993962e-01 -7.07271654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.260371743 meters 0.022304942756940047 Centerline is valid? [True, True] Translation: X:52.12, Y:-3.14, Z:-0.71 [[ 9.99462642e-01 3.24589040e-02 4.56575912e-03 5.21182521e+01] [-3.24580159e-02 9.99473064e-01 -2.68493645e-04 -3.13809202e+00] [-4.57206827e-03 1.20153885e-04 9.99989541e-01 -7.07445593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.320371743 meters 0.022874552625706895 Centerline is valid? [True, True] Translation: X:52.18, Y:-3.15, Z:-0.71 [[ 9.99557355e-01 2.93789391e-02 4.68735904e-03 5.21762515e+01] [-2.93779701e-02 9.99568336e-01 -2.75451639e-04 -3.14607193e+00] [-4.69342815e-03 1.37624618e-04 9.99988976e-01 -7.09043530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.380371743 meters 0.025026439850886605 Centerline is valid? [True, True] Translation: X:52.24, Y:-3.16, Z:-0.71 [[ 9.99726445e-01 2.30026082e-02 4.23252238e-03 5.22350064e+01] [-2.30017653e-02 9.99735394e-01 -2.47719940e-04 -3.15780641e+00] [-4.23710063e-03 1.50296689e-04 9.99991012e-01 -7.11405649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.440371743 meters 0.026184218672956224 Centerline is valid? [True, True] Translation: X:52.29, Y:-3.17, Z:-0.71 [[ 9.99822715e-01 1.83957404e-02 4.01680715e-03 5.22946670e+01] [-1.83949441e-02 9.99830771e-01 -2.35088029e-04 -3.16557856e+00] [-4.02045201e-03 1.61157408e-04 9.99991905e-01 -7.12149987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.500371743 meters 0.02818336812882717 Centerline is valid? [True, True] Translation: X:52.35, Y:-3.18, Z:-0.71 [[ 9.99905750e-01 1.28895500e-02 4.72765311e-03 5.23546779e+01] [-1.28883872e-02 9.99916903e-01 -2.76339513e-04 -3.17614006e+00] [-4.73082215e-03 2.15381644e-04 9.99988786e-01 -7.12522406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.560371743 meters 0.029165312806223326 Centerline is valid? [True, True] Translation: X:52.41, Y:-3.18, Z:-0.71 [[ 9.99934297e-01 1.01970711e-02 5.23661392e-03 5.24135301e+01] [-1.01956052e-02 9.99947976e-01 -3.06560217e-04 -3.18294859e+00] [-5.23946751e-03 2.53149627e-04 9.99986242e-01 -7.12038223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.620371743 meters 0.029071576368753814 Centerline is valid? [True, True] Translation: X:52.47, Y:-3.19, Z:-0.71 [[ 9.99925050e-01 1.06239061e-02 6.08491640e-03 5.24723735e+01] [-1.06219365e-02 9.99943522e-01 -3.55913944e-04 -3.18749180e+00] [-6.08835394e-03 2.91253673e-04 9.99981423e-01 -7.12825238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.680371743 meters 0.027916717494496524 Centerline is valid? [True, True] Translation: X:52.53, Y:-3.19, Z:-0.71 [[ 9.99882997e-01 1.39691192e-02 6.23352697e-03 5.25325021e+01] [-1.39671226e-02 9.99902389e-01 -3.63720647e-04 -3.19003792e+00] [-6.23799936e-03 2.76613655e-04 9.99980505e-01 -7.13058749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.740371743 meters 0.02721377316356147 Centerline is valid? [True, True] Translation: X:52.59, Y:-3.19, Z:-0.71 [[ 9.99829224e-01 1.73625474e-02 6.32971471e-03 5.25928073e+01] [-1.73605559e-02 9.99849226e-01 -3.69427798e-04 -3.19213213e+00] [-6.33517456e-03 2.59477342e-04 9.99979899e-01 -7.14173047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.800371743 meters 0.02516180945381989 Centerline is valid? [True, True] Translation: X:52.65, Y:-3.19, Z:-0.72 [[ 9.99763366e-01 2.11528763e-02 5.07618298e-03 5.26529080e+01] [-2.11516461e-02 9.99776235e-01 -2.95919033e-04 -3.19104591e+00] [-5.08130665e-03 1.88479383e-04 9.99987072e-01 -7.15141830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.860371743 meters 0.024939773111952286 Centerline is valid? [True, True] Translation: X:52.71, Y:-3.19, Z:-0.72 [[ 9.99645357e-01 2.64162699e-02 3.36761550e-03 5.27116414e+01] [-2.64157575e-02 9.99651024e-01 -1.96530106e-04 -3.19490010e+00] [-3.37163187e-03 1.07502293e-04 9.99994310e-01 -7.18974478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.920371743 meters 0.023822469528810966 Centerline is valid? [True, True] Translation: X:52.77, Y:-3.20, Z:-0.72 [[ 9.99560332e-01 2.95366267e-02 2.59418291e-03 5.27702305e+01] [-2.95363321e-02 9.99563696e-01 -1.51817064e-04 -3.19604474e+00] [-2.59753522e-03 7.51276677e-05 9.99996624e-01 -7.19751589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.980371743 meters 0.02235778091764593 Centerline is valid? [True, True] Translation: X:52.83, Y:-3.20, Z:-0.72 [[ 9.99350858e-01 3.58488052e-02 3.56745417e-03 5.28299075e+01] [-3.58482918e-02 9.99357222e-01 -2.07771888e-04 -3.19636054e+00] [-3.57260946e-03 7.97498770e-05 9.99993615e-01 -7.19794410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.040371743 meters 0.021508666662488015 Centerline is valid? [True, True] Translation: X:52.89, Y:-3.20, Z:-0.72 [[ 9.99107113e-01 4.18079020e-02 6.08908311e-03 5.28902473e+01] [-4.18065212e-02 9.99125663e-01 -3.53931851e-04 -3.19797240e+00] [-6.09855634e-03 9.90524479e-05 9.99981399e-01 -7.18715570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.100371743000004 meters 0.021110261944049323 Centerline is valid? [True, True] Translation: X:52.95, Y:-3.20, Z:-0.72 [[ 9.99039351e-01 4.32138664e-02 7.27583548e-03 5.29493434e+01] [-4.32119317e-02 9.99065839e-01 -4.22976651e-04 -3.20254677e+00] [-7.28731713e-03 1.08167413e-04 9.99973441e-01 -7.19063251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.160371743 meters 0.020848869976259805 Centerline is valid? [True, True] Translation: X:53.01, Y:-3.21, Z:-0.72 [[ 9.99104321e-01 4.16950559e-02 7.21657744e-03 5.30080521e+01] [-4.16931147e-02 9.99130376e-01 -4.19292284e-04 -3.20978981e+00] [-7.22778415e-03 1.18035141e-04 9.99973872e-01 -7.20018335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.220371743 meters 0.02195399633332958 Centerline is valid? [True, True] Translation: X:53.07, Y:-3.22, Z:-0.72 [[ 9.99295744e-01 3.70865893e-02 5.70967972e-03 5.30662023e+01] [-3.70853010e-02 9.99312049e-01 -3.31377102e-04 -3.22160406e+00] [-5.71804138e-03 1.19398537e-04 9.99983645e-01 -7.22683730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.280371743 meters 0.02221136129973941 Centerline is valid? [True, True] Translation: X:53.13, Y:-3.23, Z:-0.72 [[ 9.99451974e-01 3.25581514e-02 5.97650465e-03 5.31252713e+01] [-3.25566619e-02 9.99469831e-01 -3.46360773e-04 -3.23155698e+00] [-5.98461296e-03 1.51595917e-04 9.99982081e-01 -7.23299792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.340371743 meters 0.02465310911580674 Centerline is valid? [True, True] Translation: X:53.18, Y:-3.25, Z:-0.72 [[ 9.99659659e-01 2.51629381e-02 6.88428034e-03 5.31834083e+01] [-2.51607889e-02 9.99683338e-01 -3.98641129e-04 -3.24747896e+00] [-6.89213133e-03 2.25291531e-04 9.99976224e-01 -7.24056331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.400371743 meters 0.025023123656274286 Centerline is valid? [True, True] Translation: X:53.24, Y:-3.26, Z:-0.72 [[ 9.99808862e-01 1.79940940e-02 7.64534908e-03 5.32429956e+01] [-1.79912376e-02 9.99838047e-01 -4.42231803e-04 -3.25777717e+00] [-7.65206845e-03 3.04597984e-04 9.99970676e-01 -7.23949388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.460371743 meters 0.029379000647221327 Centerline is valid? [True, True] Translation: X:53.30, Y:-3.27, Z:-0.73 [[ 9.99902559e-01 1.13828900e-02 8.08099756e-03 5.33012105e+01] [-1.13794837e-02 9.99935142e-01 -4.67381285e-04 -3.27381248e+00] [-8.08579360e-03 3.75378163e-04 9.99967239e-01 -7.25126946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.520371743 meters 0.02997930425420939 Centerline is valid? [True, True] Translation: X:53.36, Y:-3.28, Z:-0.73 [[ 9.99943442e-01 6.34323546e-03 8.53671856e-03 5.33610935e+01] [-6.33925390e-03 9.99979785e-01 -4.93381432e-04 -3.28169660e+00] [-8.53967563e-03 4.39237101e-04 9.99963440e-01 -7.25285980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.580371743 meters 0.03581176506367422 Centerline is valid? [True, True] Translation: X:53.42, Y:-3.30, Z:-0.73 [[ 9.99968285e-01 6.14041360e-04 7.94052987e-03 5.34201266e+01] [-6.10415878e-04 9.99999708e-01 -4.58994896e-04 -3.29742449e+00] [-7.94080940e-03 4.54133314e-04 9.99968368e-01 -7.27830722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.640371743 meters 0.033764137957477076 Centerline is valid? [True, True] Translation: X:53.48, Y:-3.30, Z:-0.73 [[ 9.99977759e-01 -3.03194500e-03 5.94042441e-03 5.34805646e+01] [ 3.03403786e-03 9.99995338e-01 -3.43328124e-04 -3.29926097e+00] [-5.93935576e-03 3.61343961e-04 9.99982297e-01 -7.30958627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.700371743 meters 0.034250650963858466 Centerline is valid? [True, True] Translation: X:53.54, Y:-3.30, Z:-0.73 [[ 9.99979694e-01 -2.94430048e-03 5.65175077e-03 5.35421556e+01] [ 2.94619140e-03 9.99995607e-01 -3.26276057e-04 -3.30304578e+00] [-5.65076529e-03 3.42920571e-04 9.99983976e-01 -7.32581743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.760371743 meters 0.03386572934175606 Centerline is valid? [True, True] Translation: X:53.60, Y:-3.30, Z:-0.73 [[ 9.99981864e-01 -1.82138448e-03 5.74056758e-03 5.36046380e+01] [ 1.82331931e-03 9.99998283e-01 -3.31828948e-04 -3.30293448e+00] [-5.73995333e-03 3.42289818e-04 9.99983468e-01 -7.33579084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.820371743 meters 0.03310826680113644 Centerline is valid? [True, True] Translation: X:53.67, Y:-3.30, Z:-0.73 [[ 9.99976972e-01 -3.72444911e-04 6.77624955e-03 5.36664757e+01] [ 3.75113972e-04 9.99999853e-01 -3.92617982e-04 -3.30083953e+00] [-6.77610232e-03 3.95150806e-04 9.99976964e-01 -7.33289402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.880371743 meters 0.032163465588545784 Centerline is valid? [True, True] Translation: X:53.73, Y:-3.30, Z:-0.73 [[ 9.99974535e-01 1.07153716e-03 7.05558728e-03 5.37290696e+01] [-1.06867916e-03 9.99999345e-01 -4.08826421e-04 -3.29935512e+00] [-7.05602073e-03 4.01275851e-04 9.99975025e-01 -7.33313224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.940371743 meters 0.031906118998598174 Centerline is valid? [True, True] Translation: X:53.79, Y:-3.30, Z:-0.73 [[ 9.99972687e-01 3.09251135e-03 6.71281213e-03 5.37906377e+01] [-3.08996502e-03 9.99995150e-01 -3.89660727e-04 -3.29613039e+00] [-6.71398460e-03 3.68907729e-04 9.99977393e-01 -7.34953060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.000371743 meters 0.030905158031553033 Centerline is valid? [True, True] Translation: X:53.85, Y:-3.29, Z:-0.74 [[ 9.99968256e-01 4.65064597e-03 6.46988864e-03 5.38519835e+01] [-4.64831175e-03 9.99989126e-01 -3.75772243e-04 -3.29181047e+00] [-6.47156587e-03 3.45686255e-04 9.99978999e-01 -7.36572012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.060371743 meters 0.03154333267365897 Centerline is valid? [True, True] Translation: X:53.91, Y:-3.29, Z:-0.74 [[ 9.99964847e-01 6.01367476e-03 5.84297654e-03 5.39127930e+01] [-6.01179320e-03 9.99981871e-01 -3.39531135e-04 -3.29274852e+00] [-5.84491244e-03 3.04392433e-04 9.99982872e-01 -7.38369368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.120371743 meters 0.03035289114446445 Centerline is valid? [True, True] Translation: X:53.97, Y:-3.29, Z:-0.74 [[ 9.99959947e-01 6.97442701e-03 5.60909805e-03 5.39735036e+01] [-6.97270546e-03 9.99975637e-01 -3.26418774e-04 -3.28886153e+00] [-5.61123798e-03 2.87295111e-04 9.99984216e-01 -7.39041887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.180371743 meters 0.030515580895928627 Centerline is valid? [True, True] Translation: X:54.03, Y:-3.29, Z:-0.74 [[ 9.99947184e-01 8.53382984e-03 5.72735000e-03 5.40344142e+01] [-8.53206045e-03 9.99963546e-01 -3.33300389e-04 -3.28656189e+00] [-5.72998554e-03 2.84416689e-04 9.99983543e-01 -7.39088671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.240371743 meters 0.029947698367259266 Centerline is valid? [True, True] Translation: X:54.09, Y:-3.29, Z:-0.74 [[ 9.99928578e-01 1.02352322e-02 6.17078115e-03 5.40945482e+01] [-1.02332096e-02 9.99947575e-01 -3.59245984e-04 -3.28593179e+00] [-6.17413461e-03 2.96073428e-04 9.99980896e-01 -7.39613359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.300371743 meters 0.029230475519214098 Centerline is valid? [True, True] Translation: X:54.16, Y:-3.28, Z:-0.74 [[ 9.99894505e-01 1.27785108e-02 6.90568231e-03 5.41550293e+01] [-1.27760394e-02 9.99918302e-01 -4.01876444e-04 -3.28416203e+00] [-6.91025351e-03 3.13606779e-04 9.99976075e-01 -7.41030080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.360371743 meters 0.027485587587158956 Centerline is valid? [True, True] Translation: X:54.22, Y:-3.28, Z:-0.74 [[ 9.99848577e-01 1.56263208e-02 7.65780409e-03 5.42152997e+01] [-1.56233663e-02 9.99877849e-01 -4.45484453e-04 -3.28085417e+00] [-7.66382996e-03 3.25776317e-04 9.99970579e-01 -7.41962991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.420371743 meters 0.03030134766056602 Centerline is valid? [True, True] Translation: X:54.27, Y:-3.29, Z:-0.74 [[ 9.99825940e-01 1.71327119e-02 7.38640129e-03 5.42728296e+01] [-1.71300016e-02 9.99853178e-01 -4.30044227e-04 -3.28722846e+00] [-7.39268463e-03 3.03440307e-04 9.99972628e-01 -7.44097185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.480371743 meters 0.028657586799525517 Centerline is valid? [True, True] Translation: X:54.33, Y:-3.29, Z:-0.75 [[ 9.99832216e-01 1.71602334e-02 6.40833467e-03 5.43320681e+01] [-1.71581975e-02 9.99852718e-01 -3.72542995e-04 -3.28556519e+00] [-6.41378376e-03 2.62525015e-04 9.99979397e-01 -7.45768666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.540371743 meters 0.029526108937379926 Centerline is valid? [True, True] Translation: X:54.39, Y:-3.29, Z:-0.75 [[ 9.99858246e-01 1.57997741e-02 5.81846231e-03 5.43903817e+01] [-1.57980747e-02 9.99875146e-01 -3.37926640e-04 -3.29048422e+00] [-5.82307501e-03 2.45958235e-04 9.99983016e-01 -7.47738894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.600371743000004 meters 0.030362333453495736 Centerline is valid? [True, True] Translation: X:54.45, Y:-3.29, Z:-0.75 [[ 9.99907254e-01 1.23617772e-02 5.71569382e-03 5.44501311e+01] [-1.23600850e-02 9.99923556e-01 -3.31296730e-04 -3.29384411e+00] [-5.71935231e-03 2.60619543e-04 9.99983610e-01 -7.48487540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.660371743 meters 0.02922195555989987 Centerline is valid? [True, True] Translation: X:54.51, Y:-3.29, Z:-0.75 [[ 9.99924495e-01 1.08958351e-02 5.68200478e-03 5.45096729e+01] [-1.08941402e-02 9.99940603e-01 -3.29157369e-04 -3.29455575e+00] [-5.68525373e-03 2.67231959e-04 9.99983803e-01 -7.48984914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.720371743 meters 0.031356142056188314 Centerline is valid? [True, True] Translation: X:54.57, Y:-3.30, Z:-0.75 [[ 9.99961788e-01 7.31534042e-03 4.78631459e-03 5.45684652e+01] [-7.31409732e-03 9.99973213e-01 -2.77172164e-04 -3.30038904e+00] [-4.78821399e-03 2.42154002e-04 9.99988507e-01 -7.50589559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.780371743 meters 0.03300325146504373 Centerline is valid? [True, True] Translation: X:54.63, Y:-3.31, Z:-0.75 [[ 9.99981505e-01 3.97723371e-03 4.60128566e-03 5.46286642e+01] [-3.97605183e-03 9.99992060e-01 -2.65977594e-04 -3.30652433e+00] [-4.60230698e-03 2.47677725e-04 9.99989379e-01 -7.52369221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.840371743 meters 0.03691653542588761 Centerline is valid? [True, True] Translation: X:54.69, Y:-3.32, Z:-0.75 [[ 9.99987692e-01 -2.15259095e-03 4.47003716e-03 5.46885891e+01] [ 2.15376561e-03 9.99997647e-01 -2.57988437e-04 -3.31562607e+00] [-4.46947130e-03 2.67612674e-04 9.99989976e-01 -7.53431862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.900371743 meters 0.035514875666310286 Centerline is valid? [True, True] Translation: X:54.75, Y:-3.32, Z:-0.75 [[ 9.99970651e-01 -6.49840103e-03 4.05797099e-03 5.47488859e+01] [ 6.49940668e-03 9.99978851e-01 -2.34684321e-04 -3.31666515e+00] [-4.05636009e-03 2.61051837e-04 9.99991739e-01 -7.53321890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.960371743 meters 0.036127228658863086 Centerline is valid? [True, True] Translation: X:54.81, Y:-3.32, Z:-0.76 [[ 9.99940044e-01 -1.04811439e-02 3.17070925e-03 5.48096740e+01] [ 1.04817778e-02 9.99945048e-01 -1.83361030e-04 -3.32027411e+00] [-3.16861318e-03 2.16584706e-04 9.99994956e-01 -7.55823894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.020371743 meters 0.03827774971374141 Centerline is valid? [True, True] Translation: X:54.87, Y:-3.32, Z:-0.76 [[ 9.99936253e-01 -1.10891692e-02 2.12605780e-03 5.48706388e+01] [ 1.10894544e-02 9.99938503e-01 -1.22369787e-04 -3.32416615e+00] [-2.12457008e-03 1.45938808e-04 9.99997732e-01 -7.58645012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.080371743 meters 0.037133692911801935 Centerline is valid? [True, True] Translation: X:54.93, Y:-3.32, Z:-0.76 [[ 9.99943302e-01 -1.04588152e-02 2.00174117e-03 5.49334091e+01] [ 1.04590657e-02 9.99945296e-01 -1.14704145e-04 -3.32389216e+00] [-2.00043200e-03 1.35633984e-04 9.99997990e-01 -7.59457791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.140371743 meters 0.03722860526974325 Centerline is valid? [True, True] Translation: X:55.00, Y:-3.32, Z:-0.76 [[ 9.99944864e-01 -1.03520250e-02 1.76200515e-03 5.49959947e+01] [ 1.03522195e-02 9.99946409e-01 -1.01341880e-04 -3.32474979e+00] [-1.76086163e-03 1.19576957e-04 9.99998443e-01 -7.59813693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.200371743 meters 0.038033294275077546 Centerline is valid? [True, True] Translation: X:55.06, Y:-3.33, Z:-0.76 [[ 9.99942464e-01 -1.06309618e-02 1.43227577e-03 5.50584169e+01] [ 1.06310905e-02 9.99943485e-01 -8.22992050e-05 -3.32859762e+00] [-1.43131990e-03 9.75211232e-05 9.99998971e-01 -7.60768429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.260371743 meters 0.03833880239604541 Centerline is valid? [True, True] Translation: X:55.12, Y:-3.33, Z:-0.76 [[ 9.99940986e-01 -1.07807309e-02 1.34153920e-03 5.51211118e+01] [ 1.07808440e-02 9.99941882e-01 -7.71193126e-05 -3.32986559e+00] [-1.34062983e-03 9.15776864e-05 9.99999097e-01 -7.61094824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.320371743 meters 0.03823356350655947 Centerline is valid? [True, True] Translation: X:55.18, Y:-3.33, Z:-0.76 [[ 9.99958030e-01 -9.04204094e-03 1.47667228e-03 5.51825682e+01] [ 9.04217708e-03 9.99959115e-01 -8.55409572e-05 -3.33173478e+00] [-1.47583844e-03 9.88896992e-05 9.99998906e-01 -7.61771014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.380371743 meters 0.03637464112184588 Centerline is valid? [True, True] Translation: X:55.24, Y:-3.33, Z:-0.76 [[ 9.99995160e-01 -2.56642061e-03 1.75863644e-03 5.52433164e+01] [ 2.56660480e-03 9.99996701e-01 -1.02486882e-04 -3.32872790e+00] [-1.75836761e-03 1.07000111e-04 9.99998448e-01 -7.62297252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.440371743 meters 0.03276972746696163 Centerline is valid? [True, True] Translation: X:55.30, Y:-3.32, Z:-0.76 [[ 9.99969547e-01 7.46880995e-03 2.26327107e-03 5.53047296e+01] [-7.46853057e-03 9.99972101e-01 -1.31863281e-04 -3.32121248e+00] [-2.26419279e-03 1.14955956e-04 9.99997430e-01 -7.62018339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.500371743 meters 0.03221876848284957 Centerline is valid? [True, True] Translation: X:55.36, Y:-3.32, Z:-0.76 [[ 9.99900805e-01 1.38140111e-02 2.74849043e-03 5.53641808e+01] [-1.38136224e-02 9.99904575e-01 -1.60369015e-04 -3.32087886e+00] [-2.75044349e-03 1.22386498e-04 9.99996210e-01 -7.62242551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.560371743 meters 0.02959744556824718 Centerline is valid? [True, True] Translation: X:55.43, Y:-3.32, Z:-0.76 [[ 9.99763474e-01 2.15906059e-02 2.61583922e-03 5.54254479e+01] [-2.15902814e-02 9.99766891e-01 -1.52203676e-04 -3.31659614e+00] [-2.61851562e-03 9.56909709e-05 9.99996567e-01 -7.63411305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.620371743 meters 0.026872702978403513 Centerline is valid? [True, True] Translation: X:55.49, Y:-3.31, Z:-0.76 [[ 9.99612912e-01 2.78012701e-02 1.05575248e-03 5.54860445e+01] [-2.78012204e-02 9.99613469e-01 -6.17208087e-05 -3.31091662e+00] [-1.05706032e-03 3.23457098e-05 9.99999441e-01 -7.64611287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.680371743 meters 0.026223513709468727 Centerline is valid? [True, True] Translation: X:55.54, Y:-3.31, Z:-0.77 [[ 9.99518516e-01 3.10017828e-02 1.27497800e-03 5.55444196e+01] [-3.10017122e-02 9.99519329e-01 -7.50835732e-05 -3.31165247e+00] [-1.27669288e-03 3.55209206e-05 9.99999184e-01 -7.66435870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.740371743 meters 0.0236128458958703 Centerline is valid? [True, True] Translation: X:55.60, Y:-3.31, Z:-0.77 [[ 9.99475895e-01 3.23564342e-02 9.98393775e-04 5.56033376e+01] [-3.23563914e-02 9.99476393e-01 -5.90184313e-05 -3.30809654e+00] [-9.99780635e-04 2.66830797e-05 9.99999500e-01 -7.65708552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.800371743 meters 0.023857542114042233 Centerline is valid? [True, True] Translation: X:55.66, Y:-3.31, Z:-0.77 [[ 9.99529815e-01 3.06254594e-02 1.49353568e-03 5.56619770e+01] [-3.06253625e-02 9.99530930e-01 -8.76860797e-05 -3.31222612e+00] [-1.49552053e-03 4.19047794e-05 9.99998881e-01 -7.65890810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.860371743 meters 0.02532272927394832 Centerline is valid? [True, True] Translation: X:55.72, Y:-3.32, Z:-0.76 [[ 9.99698793e-01 2.44096357e-02 2.54806186e-03 5.57218450e+01] [-2.44093375e-02 9.99702037e-01 -1.48078908e-04 -3.32045402e+00] [-2.55091718e-03 8.58378035e-05 9.99996743e-01 -7.64425534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.920371743 meters 0.028188152922599578 Centerline is valid? [True, True] Translation: X:55.78, Y:-3.33, Z:-0.77 [[ 9.99869447e-01 1.60175790e-02 2.12766672e-03 5.57806336e+01] [-1.60173521e-02 9.99871706e-01 -1.23649146e-04 -3.33269528e+00] [-2.12937431e-03 8.95534163e-05 9.99997729e-01 -7.65178892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.980371743 meters 0.02997147504743463 Centerline is valid? [True, True] Translation: X:55.84, Y:-3.34, Z:-0.77 [[ 9.99946078e-01 1.03063060e-02 1.27300506e-03 5.58409062e+01] [-1.03062202e-02 9.99946887e-01 -7.38874776e-05 -3.34148905e+00] [-1.27369896e-03 6.07636229e-05 9.99999187e-01 -7.66775933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.040371743 meters 0.032441212432874594 Centerline is valid? [True, True] Translation: X:55.90, Y:-3.35, Z:-0.77 [[ 9.99992738e-01 3.80491653e-03 2.14758790e-04 5.59005915e+01] [-3.80491394e-03 9.99992761e-01 -1.24452232e-05 -3.35161882e+00] [-2.14804588e-04 1.16279942e-05 9.99999977e-01 -7.68663865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.100371743000004 meters 0.03208383308736703 Centerline is valid? [True, True] Translation: X:55.96, Y:-3.36, Z:-0.77 [[ 9.99999586e-01 6.87947609e-04 5.94768768e-04 5.59603891e+01] [-6.87927070e-04 9.99999763e-01 -3.47371546e-05 -3.35582638e+00] [-5.94792524e-04 3.43279827e-05 9.99999823e-01 -7.68550201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.160371743 meters 0.032921428942755626 Centerline is valid? [True, True] Translation: X:56.02, Y:-3.36, Z:-0.77 [[ 9.99995970e-01 -2.44740227e-03 1.43889064e-03 5.60204028e+01] [ 2.44752515e-03 9.99997001e-01 -8.36499233e-05 -3.36274921e+00] [-1.43868160e-03 8.71713072e-05 9.99998961e-01 -7.68661226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.220371743 meters 0.03390111391396968 Centerline is valid? [True, True] Translation: X:56.08, Y:-3.37, Z:-0.77 [[ 9.99994763e-01 -3.16965632e-03 6.53657113e-04 5.60813036e+01] [ 3.16968144e-03 9.99994976e-01 -3.73987022e-05 -3.36805629e+00] [-6.53535288e-04 3.94703911e-05 9.99999786e-01 -7.70085100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.280371743 meters 0.03269809775201067 Centerline is valid? [True, True] Translation: X:56.14, Y:-3.37, Z:-0.77 [[ 9.99999221e-01 -9.20250720e-04 -8.43358051e-04 5.61430513e+01] [ 9.20292985e-04 9.99999575e-01 4.97278977e-05 -3.36979794e+00] [ 8.43311930e-04 -5.05039955e-05 9.99999643e-01 -7.72468334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.340371743 meters 0.031463938799952254 Centerline is valid? [True, True] Translation: X:56.20, Y:-3.37, Z:-0.77 [[ 9.99993263e-01 3.29653517e-03 -1.61447136e-03 5.62040250e+01] [-3.29638826e-03 9.99994563e-01 9.36502557e-05 -3.36858122e+00] [ 1.61477131e-03 -8.83277003e-05 9.99998692e-01 -7.73615004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.400371743 meters 0.030872246906317947 Centerline is valid? [True, True] Translation: X:56.26, Y:-3.37, Z:-0.77 [[ 9.99976460e-01 6.59867266e-03 -1.88064179e-03 5.62641114e+01] [-6.59847954e-03 9.99978224e-01 1.08875042e-04 -3.36915926e+00] [ 1.88131927e-03 -9.64631030e-05 9.99998226e-01 -7.74955779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.460371743 meters 0.029222840971204644 Centerline is valid? [True, True] Translation: X:56.32, Y:-3.37, Z:-0.78 [[ 9.99934480e-01 1.13847186e-02 -1.19340352e-03 5.63249659e+01] [-1.13846441e-02 9.99935190e-01 6.91787168e-05 -3.36784321e+00] [ 1.19411376e-03 -5.55877098e-05 9.99999286e-01 -7.76243272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.520371743 meters 0.028825701189299544 Centerline is valid? [True, True] Translation: X:56.38, Y:-3.37, Z:-0.78 [[ 9.99917312e-01 1.28425405e-02 -6.62399049e-04 5.63836767e+01] [-1.28425185e-02 9.99917531e-01 3.73796961e-05 -3.36929168e+00] [ 6.62824471e-04 -2.88697332e-05 9.99999780e-01 -7.76464634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.580371743 meters 0.029212882473465755 Centerline is valid? [True, True] Translation: X:56.44, Y:-3.37, Z:-0.78 [[ 9.99850172e-01 1.73017345e-02 5.32085631e-04 5.64424003e+01] [-1.73017202e-02 9.99850314e-01 -3.15503078e-05 -3.36920714e+00] [-5.32551860e-04 2.23395840e-05 9.99999858e-01 -7.76278417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.640371743 meters 0.027611564465616134 Centerline is valid? [True, True] Translation: X:56.50, Y:-3.37, Z:-0.78 [[ 9.99774370e-01 2.11828109e-02 1.58033908e-03 5.65026239e+01] [-2.11826923e-02 9.99775617e-01 -9.17110098e-05 -3.36766804e+00] [-1.58192717e-03 5.82144806e-05 9.99998747e-01 -7.75693825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.700371743 meters 0.02649469605044833 Centerline is valid? [True, True] Translation: X:56.56, Y:-3.37, Z:-0.78 [[ 9.99649324e-01 2.63709567e-02 2.40881630e-03 5.65623787e+01] [-2.63706963e-02 9.99652223e-01 -1.39815588e-04 -3.36683623e+00] [-2.41166564e-03 7.62443946e-05 9.99997089e-01 -7.76191876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.760371743 meters 0.024305961684665534 Centerline is valid? [True, True] Translation: X:56.62, Y:-3.36, Z:-0.78 [[ 9.99530845e-01 3.05178982e-02 2.59746159e-03 5.66230213e+01] [-3.05176102e-02 9.99534218e-01 -1.50454006e-04 -3.36308776e+00] [-2.60084328e-03 7.11150991e-05 9.99996615e-01 -7.75022798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.820371743 meters 0.023746807224341627 Centerline is valid? [True, True] Translation: X:56.68, Y:-3.36, Z:-0.78 [[ 9.99461530e-01 3.27374867e-02 2.21528688e-03 5.66818922e+01] [-3.27372813e-02 9.99463983e-01 -1.28957380e-04 -3.36444921e+00] [-2.21832119e-03 5.63654708e-05 9.99997538e-01 -7.75755643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.880371743 meters 0.023741282434045198 Centerline is valid? [True, True] Translation: X:56.74, Y:-3.37, Z:-0.78 [[ 9.99344836e-01 3.61117447e-02 2.41686233e-03 5.67400312e+01] [-3.61115106e-02 9.99347757e-01 -1.40411958e-04 -3.36777301e+00] [-2.42035646e-03 5.30434159e-05 9.99997070e-01 -7.77003497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.940371743 meters 0.022732005817364453 Centerline is valid? [True, True] Translation: X:56.80, Y:-3.37, Z:-0.78 [[ 9.99195931e-01 3.99682609e-02 3.16709576e-03 5.67989424e+01] [-3.99678801e-02 9.99200948e-01 -1.83455616e-04 -3.37007632e+00] [-3.17189749e-03 5.67260007e-05 9.99994968e-01 -7.77105687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.000371743 meters 0.02202986735209004 Centerline is valid? [True, True] Translation: X:56.86, Y:-3.37, Z:-0.78 [[ 9.99102872e-01 4.21712740e-02 3.87760070e-03 5.68579336e+01] [-4.21707153e-02 9.99110394e-01 -2.25752077e-04 -3.37496726e+00] [-3.88367142e-03 6.20283531e-05 9.99992457e-01 -7.77729841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.060371743 meters 0.021814601028015773 Centerline is valid? [True, True] Translation: X:56.92, Y:-3.38, Z:-0.78 [[ 9.99085225e-01 4.24603193e-02 5.08280112e-03 5.69158406e+01] [-4.24593809e-02 9.99098151e-01 -2.92445961e-04 -3.38143397e+00] [-5.09063455e-03 7.63658498e-05 9.99987040e-01 -7.78133924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.120371743 meters 0.022416683902770483 Centerline is valid? [True, True] Translation: X:56.97, Y:-3.39, Z:-0.78 [[ 9.99235174e-01 3.86772018e-02 5.75676639e-03 5.69741405e+01] [-3.86759399e-02 9.99251751e-01 -3.30405800e-04 -3.39155870e+00] [-5.76523807e-03 1.07504746e-04 9.99983375e-01 -7.78697111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.180371743 meters 0.02267487984450008 Centerline is valid? [True, True] Translation: X:57.03, Y:-3.40, Z:-0.78 [[ 9.99420420e-01 3.36277009e-02 5.29175179e-03 5.70328597e+01] [-3.36265661e-02 9.99434421e-01 -3.03291136e-04 -3.40051935e+00] [-5.29895787e-03 1.25171913e-04 9.99985953e-01 -7.80213014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.240371743 meters 0.02425816156085469 Centerline is valid? [True, True] Translation: X:57.09, Y:-3.42, Z:-0.78 [[ 9.99697693e-01 2.41492213e-02 4.61930258e-03 5.70923582e+01] [-2.41482583e-02 9.99708353e-01 -2.64126609e-04 -3.41560323e+00] [-4.62433382e-03 1.52498650e-04 9.99989296e-01 -7.82620496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.300371743 meters 0.03083260729658827 Centerline is valid? [True, True] Translation: X:57.15, Y:-3.44, Z:-0.79 [[ 9.99878979e-01 1.51396388e-02 3.58045549e-03 5.71502000e+01] [-1.51390039e-02 9.99885378e-01 -2.04338244e-04 -3.43748795e+00] [-3.58313870e-03 1.50108985e-04 9.99993569e-01 -7.85741384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.360371743 meters 0.02931339970925843 Centerline is valid? [True, True] Translation: X:57.21, Y:-3.44, Z:-0.78 [[ 9.99948576e-01 9.42054527e-03 3.75478458e-03 5.72107005e+01] [-9.41980477e-03 9.99955610e-01 -2.14850453e-04 -3.44205986e+00] [-3.75664191e-03 1.79470067e-04 9.99992928e-01 -7.84980881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.420371743 meters 0.03268828614770676 Centerline is valid? [True, True] Translation: X:57.27, Y:-3.46, Z:-0.78 [[ 9.99970635e-01 3.06313286e-03 7.02464356e-03 5.72693619e+01] [-3.06038611e-03 9.99995236e-01 -4.01731572e-04 -3.45743469e+00] [-7.02584066e-03 3.80221653e-04 9.99975246e-01 -7.83857534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.480371743 meters 0.0342110975175508 Centerline is valid? [True, True] Translation: X:57.33, Y:-3.47, Z:-0.78 [[ 9.99963068e-01 7.78726216e-04 8.55897022e-03 5.73305943e+01] [-7.74566395e-04 9.99999580e-01 -4.89322982e-04 -3.46621013e+00] [-8.55934768e-03 4.82675420e-04 9.99963252e-01 -7.82766622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.540371743 meters 0.036601132151733766 Centerline is valid? [True, True] Translation: X:57.39, Y:-3.48, Z:-0.78 [[ 9.99967339e-01 -4.48280710e-04 8.06975397e-03 5.73906769e+01] [ 4.52016357e-04 9.99999792e-01 -4.61101594e-04 -3.47735408e+00] [-8.06954558e-03 4.64734195e-04 9.99967333e-01 -7.83782339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.600371743 meters 0.03779507870936242 Centerline is valid? [True, True] Translation: X:57.45, Y:-3.49, Z:-0.79 [[ 9.99975394e-01 -6.40380799e-04 6.98583177e-03 5.74524707e+01] [ 6.43183580e-04 9.99999714e-01 -3.98970135e-04 -3.48608471e+00] [-6.98557428e-03 4.03453491e-04 9.99975519e-01 -7.85414236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.660371743 meters 0.0378630969465776 Centerline is valid? [True, True] Translation: X:57.51, Y:-3.49, Z:-0.79 [[ 9.99988123e-01 1.31151022e-03 4.69408089e-03 5.75124483e+01] [-1.31025655e-03 9.99999105e-01 -2.70140927e-04 -3.49150397e+00] [-4.69443098e-03 2.63987268e-04 9.99988946e-01 -7.89062471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.720371743 meters 0.03646246214356305 Centerline is valid? [True, True] Translation: X:57.57, Y:-3.49, Z:-0.79 [[ 9.99971846e-01 6.94087646e-03 2.85161917e-03 5.75715313e+01] [-6.94043570e-03 9.99975901e-01 -1.64430976e-04 -3.49253285e+00] [-2.85269175e-03 1.44634867e-04 9.99995921e-01 -7.92177611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.780371743 meters 0.027178978099281586 Centerline is valid? [True, True] Translation: X:57.63, Y:-3.48, Z:-0.79 [[ 9.99919308e-01 1.23691508e-02 2.89509657e-03 5.76325054e+01] [-1.23687197e-02 9.99923491e-01 -1.66751414e-04 -3.48034984e+00] [-2.89693765e-03 1.30929321e-04 9.99995795e-01 -7.89887214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.840371743 meters 0.031100866362607442 Centerline is valid? [True, True] Translation: X:57.69, Y:-3.49, Z:-0.79 [[ 9.99811295e-01 1.90031524e-02 4.03163529e-03 5.76918161e+01] [-1.90023697e-02 9.99819412e-01 -2.32352508e-04 -3.48838019e+00] [-4.03532265e-03 1.55698038e-04 9.99991846e-01 -7.91320765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.900371743 meters 0.023146062982639957 Centerline is valid? [True, True] Translation: X:57.75, Y:-3.47, Z:-0.79 [[ 9.99568613e-01 2.89992114e-02 4.65111094e-03 5.77531610e+01] [-2.89982793e-02 9.99579426e-01 -2.67737305e-04 -3.47350414e+00] [-4.65691897e-03 1.32747593e-04 9.99989148e-01 -7.87272916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.960371743 meters 0.021737060876570288 Centerline is valid? [True, True] Translation: X:57.81, Y:-3.47, Z:-0.79 [[ 9.99330260e-01 3.62357462e-02 5.09929872e-03 5.78131169e+01] [-3.62347185e-02 9.99343264e-01 -2.93812839e-04 -3.47162943e+00] [-5.10659636e-03 1.08844407e-04 9.99986955e-01 -7.87593729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.020371743 meters 0.02177250263170075 Centerline is valid? [True, True] Translation: X:57.87, Y:-3.47, Z:-0.79 [[ 9.99287915e-01 3.75132241e-02 4.05226827e-03 5.78719801e+01] [-3.75125843e-02 9.99296128e-01 -2.33792085e-04 -3.47471999e+00] [-4.05818628e-03 8.16145502e-05 9.99991762e-01 -7.90176697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.080371743 meters 0.02218500904688985 Centerline is valid? [True, True] Translation: X:57.93, Y:-3.48, Z:-0.79 [[ 9.99380474e-01 3.49788633e-02 3.89195418e-03 5.79299915e+01] [-3.49782541e-02 9.99388048e-01 -2.24495128e-04 -3.47990945e+00] [-3.89742507e-03 8.82222849e-05 9.99992401e-01 -7.91680875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.140371743 meters 0.023924099285525285 Centerline is valid? [True, True] Translation: X:57.99, Y:-3.49, Z:-0.79 [[ 9.99605978e-01 2.76661182e-02 4.74083668e-03 5.79887687e+01] [-2.76651385e-02 9.99617210e-01 -2.72112721e-04 -3.49204778e+00] [-4.74655024e-03 1.40849598e-04 9.99988725e-01 -7.92635575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.200371743 meters 0.026623229250153636 Centerline is valid? [True, True] Translation: X:58.05, Y:-3.50, Z:-0.79 [[ 9.99836775e-01 1.76198793e-02 3.99541783e-03 5.80483624e+01] [-1.76191044e-02 9.99844745e-01 -2.29078921e-04 -3.50497523e+00] [-3.99883386e-03 1.58645846e-04 9.99991992e-01 -7.93657703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.260371743 meters 0.028137281024346997 Centerline is valid? [True, True] Translation: X:58.11, Y:-3.51, Z:-0.79 [[ 9.99928615e-01 1.13806131e-02 3.63959886e-03 5.81082230e+01] [-1.13799285e-02 9.99935225e-01 -2.08733424e-04 -3.51387348e+00] [-3.64173862e-03 1.67300148e-04 9.99993355e-01 -7.94883755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.320371743 meters 0.030599600320175 Centerline is valid? [True, True] Translation: X:58.17, Y:-3.52, Z:-0.80 [[ 9.99986965e-01 4.12511711e-03 3.00899469e-03 5.81681866e+01] [-4.12461666e-03 9.99991479e-01 -1.72506465e-04 -3.52495188e+00] [-3.00968066e-03 1.60093267e-04 9.99995458e-01 -7.95870184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.380371743 meters 0.0318366688038716 Centerline is valid? [True, True] Translation: X:58.23, Y:-3.53, Z:-0.80 [[ 9.99991516e-01 7.55493587e-04 4.04930832e-03 5.82278401e+01] [-7.54558910e-04 9.99999688e-01 -2.32346586e-04 -3.53109656e+00] [-4.04948259e-03 2.29289173e-04 9.99991775e-01 -7.96004793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.440371743 meters 0.030967160931347718 Centerline is valid? [True, True] Translation: X:58.29, Y:-3.53, Z:-0.80 [[ 9.99988361e-01 5.29865493e-04 4.79543731e-03 5.82896067e+01] [-5.28555093e-04 9.99999823e-01 -2.74522887e-04 -3.53339923e+00] [-4.79558192e-03 2.71985039e-04 9.99988464e-01 -7.95918570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.500371743 meters 0.03093266173692435 Centerline is valid? [True, True] Translation: X:58.35, Y:-3.54, Z:-0.80 [[ 9.99976942e-01 1.71132916e-03 6.57173828e-03 5.83513395e+01] [-1.70889166e-03 9.99998469e-01 -3.76503770e-04 -3.53711679e+00] [-6.57237254e-03 3.65264700e-04 9.99978335e-01 -7.96162019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.560371743 meters 0.031688519984383275 Centerline is valid? [True, True] Translation: X:58.41, Y:-3.54, Z:-0.80 [[ 9.99974343e-01 2.96844466e-03 6.51928018e-03 5.84134180e+01] [-2.96607111e-03 9.99995531e-01 -3.73719809e-04 -3.54204213e+00] [-6.52036041e-03 3.54373572e-04 9.99978679e-01 -7.98086454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.620371743 meters 0.030913092231661592 Centerline is valid? [True, True] Translation: X:58.47, Y:-3.54, Z:-0.80 [[ 9.99976599e-01 4.99898558e-03 4.67018387e-03 5.84749240e+01] [-4.99778782e-03 9.99987475e-01 -2.68105126e-04 -3.54306824e+00] [-4.67146563e-03 2.44758265e-04 9.99989059e-01 -8.01151391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.680371743 meters 0.03074944063613559 Centerline is valid? [True, True] Translation: X:58.54, Y:-3.55, Z:-0.80 [[ 9.99967919e-01 7.47380279e-03 2.88160980e-03 5.85352737e+01] [-7.47335614e-03 9.99972060e-01 -1.65739286e-04 -3.54556952e+00] [-2.88276800e-03 1.44198673e-04 9.99995834e-01 -8.04615336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.740371743 meters 0.028459672173120464 Centerline is valid? [True, True] Translation: X:58.60, Y:-3.54, Z:-0.80 [[ 9.99933879e-01 1.11403736e-02 2.85139678e-03 5.85956341e+01] [-1.11399505e-02 9.99937935e-01 -1.64203131e-04 -3.54443526e+00] [-2.85304909e-03 1.32427854e-04 9.99995921e-01 -8.04554716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.800371743 meters 0.026698831008110564 Centerline is valid? [True, True] Translation: X:58.66, Y:-3.54, Z:-0.80 [[ 9.99892954e-01 1.41997094e-02 3.52818170e-03 5.86555813e+01] [-1.41990804e-02 9.99899167e-01 -2.03250831e-04 -3.54333862e+00] [-3.53071205e-03 1.53132138e-04 9.99993755e-01 -8.04316340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.860371743 meters 0.02582534668413248 Centerline is valid? [True, True] Translation: X:58.72, Y:-3.54, Z:-0.81 [[ 9.99796596e-01 1.98342199e-02 3.65642517e-03 5.87159162e+01] [-1.98335833e-02 9.99803273e-01 -2.10286713e-04 -3.54412698e+00] [-3.65987673e-03 1.37723927e-04 9.99993293e-01 -8.05129426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.920371743 meters 0.025257585526462262 Centerline is valid? [True, True] Translation: X:58.78, Y:-3.55, Z:-0.81 [[ 9.99700329e-01 2.41437643e-02 4.04120996e-03 5.87762282e+01] [-2.41430222e-02 9.99708488e-01 -2.32321347e-04 -3.54579729e+00] [-4.04564101e-03 1.34684706e-04 9.99991807e-01 -8.06023910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.980371743 meters 0.02484715148299734 Centerline is valid? [True, True] Translation: X:58.84, Y:-3.55, Z:-0.81 [[ 9.99586603e-01 2.84854784e-02 3.89875078e-03 5.88364613e+01] [-2.84848209e-02 9.99594200e-01 -2.24067343e-04 -3.54731940e+00] [-3.90355134e-03 1.12919497e-04 9.99992375e-01 -8.06629761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.040371743 meters 0.024240698142078108 Centerline is valid? [True, True] Translation: X:58.90, Y:-3.55, Z:-0.81 [[ 9.99553981e-01 2.94762644e-02 4.79464698e-03 5.88951024e+01] [-2.94752797e-02 9.99565471e-01 -2.75913388e-04 -3.55057401e+00] [-4.80069646e-03 1.34466765e-04 9.99988468e-01 -8.07288012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.100371743 meters 0.0241489003501653 Centerline is valid? [True, True] Translation: X:58.95, Y:-3.56, Z:-0.81 [[ 9.99582654e-01 2.83692524e-02 5.44998610e-03 5.89533388e+01] [-2.83679666e-02 9.99597499e-01 -3.13104273e-04 -3.55539374e+00] [-5.45667501e-03 1.58368577e-04 9.99985100e-01 -8.07357290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.160371743 meters 0.025768391571119136 Centerline is valid? [True, True] Translation: X:59.01, Y:-3.56, Z:-0.81 [[ 9.99732964e-01 2.26615263e-02 4.52287399e-03 5.90123846e+01] [-2.26605855e-02 9.99743182e-01 -2.59163691e-04 -3.56477377e+00] [-4.52758548e-03 1.56603513e-04 9.99989738e-01 -8.09276877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.220371743 meters 0.02967526947772962 Centerline is valid? [True, True] Translation: X:59.07, Y:-3.58, Z:-0.81 [[ 9.99899842e-01 1.35329449e-02 4.14322988e-03 5.90713049e+01] [-1.35320774e-02 9.99908409e-01 -2.37343701e-04 -3.58035097e+00] [-4.14606236e-03 1.81253422e-04 9.99991389e-01 -8.13142229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.280371743 meters 0.030186679716499253 Centerline is valid? [True, True] Translation: X:59.13, Y:-3.59, Z:-0.81 [[ 9.99965918e-01 6.88065932e-03 4.56286195e-03 5.91312324e+01] [-6.87953924e-03 9.99976302e-01 -2.61128284e-04 -3.58770058e+00] [-4.56455055e-03 2.29728996e-04 9.99989556e-01 -8.13474314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.340371743 meters 0.03257921928475856 Centerline is valid? [True, True] Translation: X:59.19, Y:-3.60, Z:-0.81 [[ 9.99983430e-01 -2.09191673e-03 5.36319187e-03 5.91914807e+01] [ 2.09359301e-03 9.99997761e-01 -3.06957304e-04 -3.59738741e+00] [-5.36253774e-03 3.18180559e-04 9.99985571e-01 -8.13197693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.400371743 meters 0.035520719650780505 Centerline is valid? [True, True] Translation: X:59.25, Y:-3.61, Z:-0.81 [[ 9.99957202e-01 -7.68069909e-03 5.15765211e-03 5.92518976e+01] [ 7.68232196e-03 9.99970447e-01 -2.94915419e-04 -3.60615493e+00] [-5.15523453e-03 3.34525542e-04 9.99986656e-01 -8.14361160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.460371743 meters 0.04198044966914654 Centerline is valid? [True, True] Translation: X:59.31, Y:-3.62, Z:-0.82 [[ 9.99943684e-01 -9.53052428e-03 4.66888206e-03 5.93113408e+01] [ 9.53187191e-03 9.99954535e-01 -2.66475220e-04 -3.61946962e+00] [-4.66613014e-03 3.10963399e-04 9.99989065e-01 -8.17331036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.520371743 meters 0.03503160598604146 Centerline is valid? [True, True] Translation: X:59.37, Y:-3.61, Z:-0.82 [[ 9.99948808e-01 -9.34712200e-03 3.87459293e-03 5.93744576e+01] [ 9.34804982e-03 9.99956282e-01 -2.21420199e-04 -3.61272631e+00] [-3.87235390e-03 2.57628752e-04 9.99992469e-01 -8.17478192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.580371743 meters 0.03409429505852421 Centerline is valid? [True, True] Translation: X:59.44, Y:-3.61, Z:-0.82 [[ 9.99983608e-01 -5.48673294e-03 1.63673930e-03 5.94352142e+01] [ 5.48689370e-03 9.99984942e-01 -9.37438707e-05 -3.61273575e+00] [-1.63620030e-03 1.02722949e-04 9.99998656e-01 -8.19563977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.640371743 meters 0.033095397886324616 Centerline is valid? [True, True] Translation: X:59.50, Y:-3.61, Z:-0.82 [[ 9.99999764e-01 -1.91250019e-04 6.60299794e-04 5.94960209e+01] [ 1.91275097e-04 9.99999981e-01 -3.79159785e-05 -3.61194225e+00] [-6.60292530e-04 3.80422684e-05 9.99999781e-01 -8.20504880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.700371743 meters 0.02863464063408725 Centerline is valid? [True, True] Translation: X:59.56, Y:-3.60, Z:-0.82 [[ 9.99933442e-01 1.14830817e-02 1.11814846e-03 5.95570455e+01] [-1.14830169e-02 9.99934066e-01 -6.42752131e-05 -3.60262751e+00] [-1.11881281e-03 5.14312174e-05 9.99999373e-01 -8.18522116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.760371743 meters 0.025107293311641864 Centerline is valid? [True, True] Translation: X:59.62, Y:-3.59, Z:-0.82 [[ 9.99693747e-01 2.45963844e-02 2.72569559e-03 5.96183945e+01] [-2.45960489e-02 9.99697459e-01 -1.56559234e-04 -3.59372671e+00] [-2.72872175e-03 8.94699456e-05 9.99996273e-01 -8.18155857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.820371743 meters 0.02251750051961502 Centerline is valid? [True, True] Translation: X:59.68, Y:-3.59, Z:-0.82 [[ 9.99312461e-01 3.69316953e-02 3.26436365e-03 5.96794660e+01] [-3.69312800e-02 9.99317790e-01 -1.87449750e-04 -3.58721618e+00] [-3.26905950e-03 6.67637431e-05 9.99994654e-01 -8.19568234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.880371743 meters 0.02201338910292788 Centerline is valid? [True, True] Translation: X:59.74, Y:-3.59, Z:-0.82 [[ 9.99116735e-01 4.19597642e-02 2.26445826e-03 5.97380360e+01] [-4.19595753e-02 9.99119301e-01 -1.30894714e-04 -3.58661379e+00] [-2.26795627e-03 3.57633919e-05 9.99997428e-01 -8.21477655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.940371743 meters 0.021533605715200337 Centerline is valid? [True, True] Translation: X:59.80, Y:-3.59, Z:-0.82 [[ 9.99071510e-01 4.30167570e-02 2.38236399e-03 5.97963689e+01] [-4.30165515e-02 9.99074350e-01 -1.37465878e-04 -3.59099402e+00] [-2.38607209e-03 3.48571593e-05 9.99997153e-01 -8.23847288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.000371743 meters 0.02205078980669813 Centerline is valid? [True, True] Translation: X:59.85, Y:-3.60, Z:-0.83 [[ 9.99182265e-01 4.03503256e-02 2.57941119e-03 5.98547345e+01] [-4.03500765e-02 9.99185593e-01 -1.48560596e-04 -3.59799859e+00] [-2.58330497e-03 4.43596739e-05 9.99996662e-01 -8.25087171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.060371743 meters 0.02278364900124346 Centerline is valid? [True, True] Translation: X:59.91, Y:-3.61, Z:-0.82 [[ 9.99357614e-01 3.56310031e-02 3.84602128e-03 5.99128955e+01] [-3.56304173e-02 9.99365011e-01 -2.20750025e-04 -3.60607659e+00] [-3.85144464e-03 8.35728754e-05 9.99992580e-01 -8.24548436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.120371743 meters 0.022933957315157974 Centerline is valid? [True, True] Translation: X:59.97, Y:-3.61, Z:-0.82 [[ 9.99471119e-01 3.20263078e-02 5.63893421e-03 5.99711276e+01] [-3.20249961e-02 9.99487016e-01 -3.22778776e-04 -3.61473746e+00] [-5.64637894e-03 1.42021219e-04 9.99984049e-01 -8.24533991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.180371743 meters 0.023341944841829658 Centerline is valid? [True, True] Translation: X:60.03, Y:-3.62, Z:-0.83 [[ 9.99603719e-01 2.74934866e-02 6.04263821e-03 6.00297959e+01] [-2.74919016e-02 9.99621967e-01 -3.45233566e-04 -3.62445691e+00] [-6.04984557e-03 1.78973142e-04 9.99981684e-01 -8.25370977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.240371743 meters 0.024028920508843185 Centerline is valid? [True, True] Translation: X:60.09, Y:-3.63, Z:-0.83 [[ 9.99710969e-01 2.33105978e-02 5.88165979e-03 6.00885282e+01] [-2.33090245e-02 9.99728251e-01 -3.35907092e-04 -3.63235102e+00] [-5.88789165e-03 1.98714252e-04 9.99982646e-01 -8.26411593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.300371743 meters 0.025623071148406326 Centerline is valid? [True, True] Translation: X:60.15, Y:-3.64, Z:-0.83 [[ 9.99817255e-01 1.82954037e-02 5.54394652e-03 6.01470479e+01] [-1.82939340e-02 9.99832602e-01 -3.15688635e-04 -3.64213396e+00] [-5.54879413e-03 2.14210353e-04 9.99984582e-01 -8.27570745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.360371743 meters 0.027341987272401076 Centerline is valid? [True, True] Translation: X:60.21, Y:-3.65, Z:-0.83 [[ 9.99923928e-01 1.10118697e-02 5.55677890e-03 6.02068172e+01] [-1.10102817e-02 9.99939335e-01 -3.16295482e-04 -3.65238875e+00] [-5.55992480e-03 2.55089719e-04 9.99984511e-01 -8.28387659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.420371743 meters 0.02959846475531185 Centerline is valid? [True, True] Translation: X:60.27, Y:-3.66, Z:-0.83 [[ 9.99968375e-01 5.31900893e-03 5.91239648e-03 6.02668455e+01] [-5.31711174e-03 9.99985807e-01 -3.36555968e-04 -3.66298765e+00] [-5.91410271e-03 3.05108452e-04 9.99982465e-01 -8.29596364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.480371743 meters 0.031266956216263096 Centerline is valid? [True, True] Translation: X:60.33, Y:-3.67, Z:-0.83 [[ 9.99973146e-01 3.35890880e-03 6.51339494e-03 6.03274722e+01] [-3.35656821e-03 9.99994298e-01 -3.70248673e-04 -3.67046912e+00] [-6.51460143e-03 3.48376076e-04 9.99978719e-01 -8.30612615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.540371743 meters 0.03213729827211601 Centerline is valid? [True, True] Translation: X:60.39, Y:-3.68, Z:-0.83 [[ 9.99978928e-01 3.17634349e-03 5.66170724e-03 6.03884230e+01] [-3.17457417e-03 9.99994909e-01 -3.21465743e-04 -3.67710453e+00] [-5.66269951e-03 3.03485459e-04 9.99983921e-01 -8.31047877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.600371743 meters 0.03166496989718919 Centerline is valid? [True, True] Translation: X:60.45, Y:-3.68, Z:-0.83 [[ 9.99979030e-01 3.89723535e-03 5.17206909e-03 6.04492480e+01] [-3.89576114e-03 9.99992368e-01 -2.95076420e-04 -3.68002268e+00] [-5.17317960e-03 2.74921087e-04 9.99986581e-01 -8.32042033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.660371743 meters 0.033128003916794775 Centerline is valid? [True, True] Translation: X:60.51, Y:-3.69, Z:-0.83 [[ 9.99972241e-01 5.36237565e-03 5.17329364e-03 6.05091542e+01] [-5.36091854e-03 9.99985587e-01 -2.95487720e-04 -3.68706403e+00] [-5.17480360e-03 2.67745912e-04 9.99986575e-01 -8.34535171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.720371743 meters 0.03186765146618281 Centerline is valid? [True, True] Translation: X:60.57, Y:-3.69, Z:-0.84 [[ 9.99951987e-01 8.33950196e-03 5.14555509e-03 6.05697678e+01] [-8.33809849e-03 9.99965194e-01 -2.94144802e-04 -3.68895816e+00] [-5.14782902e-03 2.51226534e-04 9.99986718e-01 -8.36195674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.780371743 meters 0.03154321668019485 Centerline is valid? [True, True] Translation: X:60.63, Y:-3.69, Z:-0.84 [[ 9.99918724e-01 1.17183628e-02 5.02248872e-03 6.06291520e+01] [-1.17170675e-02 9.99931312e-01 -2.87261160e-04 -3.69256375e+00] [-5.02550996e-03 2.28388973e-04 9.99987346e-01 -8.37386059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.840371743 meters 0.026196158378066547 Centerline is valid? [True, True] Translation: X:60.69, Y:-3.69, Z:-0.84 [[ 9.99828447e-01 1.78810124e-02 4.83174693e-03 6.06896533e+01] [-1.78798863e-02 9.99840104e-01 -2.76157144e-04 -3.68693738e+00] [-4.83591232e-03 1.89718683e-04 9.99988289e-01 -8.37418306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.900371743 meters 0.024651366474671123 Centerline is valid? [True, True] Translation: X:60.75, Y:-3.68, Z:-0.84 [[ 9.99709943e-01 2.36028335e-02 4.78921559e-03 6.07501665e+01] [-2.36017921e-02 9.99721401e-01 -2.73841938e-04 -3.68452490e+00] [-4.79434477e-03 1.60728437e-04 9.99988494e-01 -8.37536935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.960371743 meters 0.023181508531376842 Centerline is valid? [True, True] Translation: X:60.81, Y:-3.68, Z:-0.84 [[ 9.99583964e-01 2.85320849e-02 4.22130000e-03 6.08099801e+01] [-2.85313193e-02 9.99592870e-01 -2.41502944e-04 -3.68302867e+00] [-4.22647196e-03 1.20963212e-04 9.99991061e-01 -8.37881290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.020371743 meters 0.021859739544962786 Centerline is valid? [True, True] Translation: X:60.87, Y:-3.68, Z:-0.84 [[ 9.99528254e-01 3.04141183e-02 4.27221353e-03 6.08690382e+01] [-3.04133503e-02 9.99537377e-01 -2.44621498e-04 -3.68360739e+00] [-4.27767706e-03 1.14573772e-04 9.99990844e-01 -8.37757331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.080371743 meters 0.02260693795748799 Centerline is valid? [True, True] Translation: X:60.93, Y:-3.69, Z:-0.84 [[ 9.99529640e-01 3.01348393e-02 5.69119628e-03 6.09280179e+01] [-3.01334764e-02 9.99545831e-01 -3.25098619e-04 -3.68667524e+00] [-5.69840831e-03 1.53450177e-04 9.99983752e-01 -8.37356421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.140371743 meters 0.022743718747824358 Centerline is valid? [True, True] Translation: X:60.99, Y:-3.69, Z:-0.84 [[ 9.99572505e-01 2.82091393e-02 7.68452098e-03 6.09869735e+01] [-2.82066046e-02 9.99602019e-01 -4.38044411e-04 -3.69287019e+00] [-7.69381954e-03 2.21102905e-04 9.99970378e-01 -8.36986506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.200371743 meters 0.024179050062372167 Centerline is valid? [True, True] Translation: X:61.04, Y:-3.70, Z:-0.84 [[ 9.99665997e-01 2.47520040e-02 7.43190365e-03 6.10447791e+01] [-2.47495416e-02 9.99693594e-01 -4.23135410e-04 -3.69951883e+00] [-7.44009992e-03 2.39057873e-04 9.99972293e-01 -8.38087201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.260371743 meters 0.024409516599742616 Centerline is valid? [True, True] Translation: X:61.10, Y:-3.70, Z:-0.84 [[ 9.99742868e-01 2.16849358e-02 6.63029058e-03 6.11044330e+01] [-2.16829127e-02 9.99764827e-01 -3.76874419e-04 -3.70407495e+00] [-6.63690381e-03 2.33013501e-04 9.99977948e-01 -8.38709913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.320371743 meters 0.025707611409637364 Centerline is valid? [True, True] Translation: X:61.16, Y:-3.71, Z:-0.84 [[ 9.99859672e-01 1.53405764e-02 6.73077618e-03 6.11640220e+01] [-1.53383501e-02 9.99882288e-01 -3.82263099e-04 -3.71174030e+00] [-6.73584802e-03 2.78970455e-04 9.99977275e-01 -8.39473105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.380371743 meters 0.02807390324922845 Centerline is valid? [True, True] Translation: X:61.22, Y:-3.72, Z:-0.84 [[ 9.99929452e-01 1.00998547e-02 6.25164632e-03 6.12222721e+01] [-1.00978322e-02 9.99948953e-01 -3.54991733e-04 -3.72078010e+00] [-6.25491255e-03 2.91838613e-04 9.99980395e-01 -8.40871480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.440371743 meters 0.028219996555745957 Centerline is valid? [True, True] Translation: X:61.28, Y:-3.72, Z:-0.84 [[ 9.99950165e-01 8.68370405e-03 4.92547953e-03 6.12815497e+01] [-8.68243183e-03 9.99962268e-01 -2.79616564e-04 -3.72480042e+00] [-4.92772179e-03 2.36837489e-04 9.99987831e-01 -8.42500461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.500371743 meters 0.02925068039870515 Centerline is valid? [True, True] Translation: X:61.34, Y:-3.73, Z:-0.84 [[ 9.99939936e-01 9.82812587e-03 4.85111261e-03 6.13406223e+01] [-9.82690606e-03 9.99951677e-01 -2.75221954e-04 -3.72903455e+00] [-4.85358310e-03 2.27533995e-04 9.99988195e-01 -8.43900800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.560371743 meters 0.02937031518993361 Centerline is valid? [True, True] Translation: X:61.40, Y:-3.73, Z:-0.85 [[ 9.99934442e-01 1.03139785e-02 4.97329153e-03 6.14000603e+01] [-1.03127034e-02 9.99946783e-01 -2.81961935e-04 -3.73202002e+00] [-4.97593501e-03 2.30655370e-04 9.99987593e-01 -8.45264646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.620371743 meters 0.028527241475112992 Centerline is valid? [True, True] Translation: X:61.46, Y:-3.73, Z:-0.85 [[ 9.99954747e-01 8.29348853e-03 4.66068071e-03 6.14596266e+01] [-8.29234739e-03 9.99965583e-01 -2.64114169e-04 -3.73305651e+00] [-4.66271074e-03 2.25454234e-04 9.99989104e-01 -8.45163739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.680371743 meters 0.030542535634913017 Centerline is valid? [True, True] Translation: X:61.52, Y:-3.74, Z:-0.85 [[ 9.99979457e-01 5.44429895e-03 3.38315932e-03 6.15183565e+01] [-5.44368137e-03 9.99985165e-01 -1.91729221e-04 -3.73929504e+00] [-3.38415296e-03 1.73308441e-04 9.99994259e-01 -8.47623421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.740371743 meters 0.031044253857907284 Centerline is valid? [True, True] Translation: X:61.58, Y:-3.74, Z:-0.85 [[ 9.99987422e-01 4.08668018e-03 2.90757116e-03 6.15782698e+01] [-4.08621959e-03 9.99991638e-01 -1.64332749e-04 -3.74236740e+00] [-2.90821842e-03 1.52449708e-04 9.99995760e-01 -8.48706760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.800371743 meters 0.031965130199720894 Centerline is valid? [True, True] Translation: X:61.64, Y:-3.74, Z:-0.85 [[ 9.99990285e-01 2.73935109e-03 3.45324874e-03 6.16385286e+01] [-2.73869331e-03 9.99996231e-01 -1.95196208e-04 -3.74482367e+00] [-3.45377043e-03 1.85736923e-04 9.99994018e-01 -8.48849246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.860371743 meters 0.03251951096183792 Centerline is valid? [True, True] Translation: X:61.70, Y:-3.75, Z:-0.85 [[ 9.99985353e-01 3.93801865e-03 3.71295671e-03 6.16992982e+01] [-3.93726645e-03 9.99992227e-01 -2.09876301e-04 -3.74532714e+00] [-3.71375435e-03 1.95254327e-04 9.99993085e-01 -8.48338061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.920371743 meters 0.0319695545675064 Centerline is valid? [True, True] Translation: X:61.76, Y:-3.75, Z:-0.85 [[ 9.99970171e-01 6.71423178e-03 3.81787683e-03 6.17606241e+01] [-6.71345732e-03 9.99977441e-01 -2.15631366e-04 -3.74537630e+00] [-3.81923851e-03 1.89993781e-04 9.99992689e-01 -8.48898738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.980371743 meters 0.030701133954556353 Centerline is valid? [True, True] Translation: X:61.82, Y:-3.74, Z:-0.85 [[ 9.99917839e-01 1.24159986e-02 3.18715573e-03 6.18214246e+01] [-1.24154871e-02 9.99922909e-01 -1.80241739e-04 -3.74185429e+00] [-3.18914791e-03 1.40656839e-04 9.99994905e-01 -8.50836216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.040371743 meters 0.0260513326715167 Centerline is valid? [True, True] Translation: X:61.88, Y:-3.73, Z:-0.85 [[ 9.99839791e-01 1.74555277e-02 3.96199967e-03 6.18815694e+01] [-1.74547754e-02 9.99847629e-01 -2.24373001e-04 -3.73291738e+00] [-3.96531252e-03 1.55181240e-04 9.99992126e-01 -8.50596711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.100371743 meters 0.025440052020573 Centerline is valid? [True, True] Translation: X:61.94, Y:-3.73, Z:-0.85 [[ 9.99775355e-01 2.06191340e-02 4.90829866e-03 6.19419276e+01] [-2.06180183e-02 9.99787387e-01 -2.77812016e-04 -3.73168742e+00] [-4.91298334e-03 1.76550215e-04 9.99987916e-01 -8.51616127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.160371743 meters 0.02883879235244275 Centerline is valid? [True, True] Translation: X:62.00, Y:-3.74, Z:-0.86 [[ 9.99769102e-01 2.11664928e-02 3.70437256e-03 6.19993817e+01] [-2.11658597e-02 9.99775956e-01 -2.10027925e-04 -3.73973104e+00] [-3.70798817e-03 1.31573200e-04 9.99993117e-01 -8.55766155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.220371743 meters 0.026065516510868622 Centerline is valid? [True, True] Translation: X:62.06, Y:-3.74, Z:-0.86 [[ 9.99796537e-01 1.99592005e-02 2.91793900e-03 6.20585804e+01] [-1.99588031e-02 9.99800790e-01 -1.65246944e-04 -3.73586760e+00] [-2.92065591e-03 1.06974752e-04 9.99995729e-01 -8.56162756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.280371743 meters 0.026120955885766385 Centerline is valid? [True, True] Translation: X:62.12, Y:-3.74, Z:-0.86 [[ 9.99810035e-01 1.92822611e-02 2.84399604e-03 6.21173434e+01] [-1.92818814e-02 9.99814074e-01 -1.60886849e-04 -3.73893341e+00] [-2.84656953e-03 1.06018691e-04 9.99995943e-01 -8.57467348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.340371743 meters 0.02608320538119654 Centerline is valid? [True, True] Translation: X:62.18, Y:-3.74, Z:-0.86 [[ 9.99848907e-01 1.71407482e-02 2.89102448e-03 6.21755625e+01] [-1.71403468e-02 9.99853080e-01 -1.63542091e-04 -3.74050793e+00] [-2.89340297e-03 1.13964219e-04 9.99995808e-01 -8.58054678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.400371743 meters 0.026424551028339384 Centerline is valid? [True, True] Translation: X:62.23, Y:-3.74, Z:-0.86 [[ 9.99875556e-01 1.53726740e-02 3.54295588e-03 6.22341660e+01] [-1.53720630e-02 9.99881823e-01 -1.99632692e-04 -3.74200385e+00] [-3.54560608e-03 1.45145308e-04 9.99993704e-01 -8.58159328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.460371743 meters 0.02723128147216766 Centerline is valid? [True, True] Translation: X:62.29, Y:-3.74, Z:-0.86 [[ 9.99879937e-01 1.47931369e-02 4.61251107e-03 6.22929149e+01] [-1.47920981e-02 9.99890557e-01 -2.59250331e-04 -3.74494006e+00] [-4.61584139e-03 1.90990489e-04 9.99989329e-01 -8.58349075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.520371743 meters 0.027706652540229297 Centerline is valid? [True, True] Translation: X:62.35, Y:-3.75, Z:-0.86 [[ 9.99884148e-01 1.48137993e-02 3.49884564e-03 6.23518323e+01] [-1.48132018e-02 9.99890259e-01 -1.96637750e-04 -3.74671034e+00] [-3.50137463e-03 1.44785863e-04 9.99993860e-01 -8.60309581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.580371743 meters 0.0278201411846257 Centerline is valid? [True, True] Translation: X:62.41, Y:-3.75, Z:-0.86 [[ 9.99869324e-01 1.60637158e-02 1.81431561e-03 6.24110007e+01] [-1.60635565e-02 9.99870968e-01 -1.02302542e-04 -3.74713388e+00] [-1.81572487e-03 7.31448123e-05 9.99998349e-01 -8.62606191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.640371743 meters 0.026293111488523885 Centerline is valid? [True, True] Translation: X:62.47, Y:-3.74, Z:-0.86 [[ 9.99834788e-01 1.79914717e-02 2.58917956e-03 6.24697133e+01] [-1.79911554e-02 9.99838135e-01 -1.45410792e-04 -3.74496892e+00] [-2.59137662e-03 9.88044368e-05 9.99996637e-01 -8.61732893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.700371743 meters 0.025110865562584867 Centerline is valid? [True, True] Translation: X:62.53, Y:-3.74, Z:-0.86 [[ 9.99791072e-01 2.02023398e-02 3.11092889e-03 6.25288372e+01] [-2.02018951e-02 9.99795906e-01 -1.74301257e-04 -3.74456565e+00] [-3.11381526e-03 1.11418182e-04 9.99995146e-01 -8.61477789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.760371743 meters 0.024140636290146667 Centerline is valid? [True, True] Translation: X:62.59, Y:-3.74, Z:-0.86 [[ 9.99667218e-01 2.55712893e-02 3.40035964e-03 6.25891586e+01] [-2.55707912e-02 9.99672996e-01 -1.89871158e-04 -3.74180584e+00] [-3.40410295e-03 1.02858086e-04 9.99994201e-01 -8.61653131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.820371743 meters 0.023736404712177327 Centerline is valid? [True, True] Translation: X:62.65, Y:-3.74, Z:-0.86 [[ 9.99602251e-01 2.80194769e-02 3.20146199e-03 6.26471598e+01] [-2.80190467e-02 9.99607373e-01 -1.79151509e-04 -3.74327762e+00] [-3.20522474e-03 8.93783381e-05 9.99994859e-01 -8.62957690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.880371743 meters 0.02312993884619964 Centerline is valid? [True, True] Translation: X:62.71, Y:-3.74, Z:-0.86 [[ 9.99520988e-01 3.08050481e-02 2.97389892e-03 6.27065556e+01] [-3.08046909e-02 9.99525409e-01 -1.65854508e-04 -3.74434170e+00] [-2.97759669e-03 7.41650243e-05 9.99995564e-01 -8.64341987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.940371743 meters 0.022843682483537485 Centerline is valid? [True, True] Translation: X:62.77, Y:-3.75, Z:-0.87 [[ 9.99508844e-01 3.11024542e-02 3.83509697e-03 6.27657444e+01] [-3.11018640e-02 9.99516197e-01 -2.13462006e-04 -3.74787368e+00] [-3.83988073e-03 9.40784989e-05 9.99992623e-01 -8.65231107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.000371743 meters 0.023663320240934232 Centerline is valid? [True, True] Translation: X:62.82, Y:-3.75, Z:-0.87 [[ 9.99582125e-01 2.86842773e-02 3.57588969e-03 6.28240202e+01] [-2.86837486e-02 9.99588517e-01 -1.99069805e-04 -3.75448914e+00] [-3.58012845e-03 9.64166978e-05 9.99993587e-01 -8.65635354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.060371743 meters 0.02482686132133148 Centerline is valid? [True, True] Translation: X:62.88, Y:-3.76, Z:-0.87 [[ 9.99691899e-01 2.45525340e-02 3.64410264e-03 6.28823154e+01] [-2.45519592e-02 9.99698535e-01 -2.02397640e-04 -3.76408047e+00] [-3.64797345e-03 1.12865421e-04 9.99993340e-01 -8.67186582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.120371743 meters 0.025121060181447618 Centerline is valid? [True, True] Translation: X:62.94, Y:-3.77, Z:-0.87 [[ 9.99807708e-01 1.93600888e-02 3.12008511e-03 6.29426660e+01] [-1.93596441e-02 9.99812570e-01 -1.72664247e-04 -3.77061803e+00] [-3.12284310e-03 1.12227308e-04 9.99995118e-01 -8.67948790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.180371743 meters 0.026186917700451423 Centerline is valid? [True, True] Translation: X:63.00, Y:-3.78, Z:-0.87 [[ 9.99868055e-01 1.58216538e-02 3.68075991e-03 6.30014582e+01] [-1.58210089e-02 9.99874819e-01 -2.04253074e-04 -3.77767759e+00] [-3.68353077e-03 1.45992788e-04 9.99993205e-01 -8.68680139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.240371743 meters 0.027523649567333785 Centerline is valid? [True, True] Translation: X:63.06, Y:-3.79, Z:-0.87 [[ 9.99925378e-01 1.15489667e-02 3.98254977e-03 6.30615603e+01] [-1.15481812e-02 9.99933293e-01 -2.20176524e-04 -3.78599236e+00] [-3.98482692e-03 1.74168887e-04 9.99992045e-01 -8.68897462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.300371743 meters 0.03094999023028614 Centerline is valid? [True, True] Translation: X:63.12, Y:-3.80, Z:-0.87 [[ 9.99985578e-01 4.07695605e-03 3.49614778e-03 6.31216082e+01] [-4.07630517e-03 9.99991673e-01 -1.93274761e-04 -3.79886712e+00] [-3.49690664e-03 1.79020608e-04 9.99993870e-01 -8.71075495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.360371743 meters 0.03046200396492849 Centerline is valid? [True, True] Translation: X:63.18, Y:-3.81, Z:-0.87 [[ 9.99995018e-01 -2.25990992e-03 2.20368748e-03 6.31815557e+01] [ 2.26018380e-03 9.99997438e-01 -1.21801884e-04 -3.80547371e+00] [-2.20340657e-03 1.26782016e-04 9.99997564e-01 -8.72380255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.420371743 meters 0.031979870513925285 Centerline is valid? [True, True] Translation: X:63.24, Y:-3.81, Z:-0.87 [[ 9.99990641e-01 -4.14711010e-03 1.23259713e-03 6.32428597e+01] [ 4.14719667e-03 9.99991398e-01 -6.76818483e-05 -3.81306498e+00] [-1.23230584e-03 7.27930376e-05 9.99999238e-01 -8.73952172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.480371743 meters 0.03122376354989467 Centerline is valid? [True, True] Translation: X:63.30, Y:-3.82, Z:-0.87 [[ 9.99999197e-01 -4.74309249e-04 1.17538304e-03 6.33036934e+01] [ 4.74385734e-04 9.99999885e-01 -6.47946597e-05 -3.81518775e+00] [-1.17535217e-03 6.53521926e-05 9.99999307e-01 -8.74054968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.540371743 meters 0.027883453870596233 Centerline is valid? [True, True] Translation: X:63.36, Y:-3.81, Z:-0.87 [[ 9.99945719e-01 1.00063299e-02 2.90387129e-03 6.33647210e+01] [-1.00059052e-02 9.99949927e-01 -1.60749155e-04 -3.81185297e+00] [-2.90533440e-03 1.31684568e-04 9.99995771e-01 -8.73749996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.600371743 meters 0.02503244493566653 Centerline is valid? [True, True] Translation: X:63.42, Y:-3.81, Z:-0.87 [[ 9.99806813e-01 1.93731288e-02 3.31938529e-03 6.34245934e+01] [-1.93726245e-02 9.99812316e-01 -1.84006994e-04 -3.80937444e+00] [-3.32232709e-03 1.19666241e-04 9.99994474e-01 -8.74110728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.660371743 meters 0.022210726470235885 Centerline is valid? [True, True] Translation: X:63.49, Y:-3.80, Z:-0.87 [[ 9.99411133e-01 3.40504427e-02 4.23717438e-03 6.34852761e+01] [-3.40497543e-02 9.99420111e-01 -2.34509382e-04 -3.80349488e+00] [-4.24270244e-03 9.00965405e-05 9.99990996e-01 -8.74704542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.720371743 meters 0.020772338588165472 Centerline is valid? [True, True] Translation: X:63.55, Y:-3.80, Z:-0.88 [[ 9.98964150e-01 4.53987034e-02 3.09605121e-03 6.35451129e+01] [-4.53983896e-02 9.98968947e-01 -1.71596832e-04 -3.79880229e+00] [-3.10064930e-03 3.08633446e-05 9.99995192e-01 -8.76086439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.780371743 meters 0.020283286878575217 Centerline is valid? [True, True] Translation: X:63.60, Y:-3.80, Z:-0.88 [[ 9.98676796e-01 5.13855373e-02 2.04545302e-03 6.36037244e+01] [-5.13854072e-02 9.98678891e-01 -1.16104653e-04 -3.80073601e+00] [-2.04871685e-03 1.08445869e-05 9.99997901e-01 -8.78234332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.840371743 meters 0.02013979829938393 Centerline is valid? [True, True] Translation: X:63.66, Y:-3.81, Z:-0.88 [[ 9.98653846e-01 5.18467494e-02 1.55282627e-03 6.36615032e+01] [-5.18466775e-02 9.98655053e-01 -8.65319660e-05 -3.80517904e+00] [-1.55522420e-03 5.90659775e-06 9.99998791e-01 -8.80285563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.900371743 meters 0.02023144145743779 Centerline is valid? [True, True] Translation: X:63.72, Y:-3.81, Z:-0.88 [[ 9.98839068e-01 4.80771513e-02 3.01714447e-03 6.37190801e+01] [-4.80768665e-02 9.98843625e-01 -1.66884828e-04 -3.81279368e+00] [-3.02167887e-03 2.16362340e-05 9.99995434e-01 -8.79115652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.960371743 meters 0.02044859491451561 Centerline is valid? [True, True] Translation: X:63.78, Y:-3.82, Z:-0.88 [[ 9.99043733e-01 4.34957794e-02 4.44263459e-03 6.37771149e+01] [-4.34951236e-02 9.99053609e-01 -2.44165658e-04 -3.82210470e+00] [-4.44905030e-03 5.06992295e-05 9.99990102e-01 -8.79806812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.020371743 meters 0.0212005611610985 Centerline is valid? [True, True] Translation: X:63.84, Y:-3.84, Z:-0.88 [[ 9.99411740e-01 3.37780428e-02 5.93449972e-03 6.38359596e+01] [-3.37767076e-02 9.99429351e-01 -3.25101660e-04 -3.83586645e+00] [-5.94209451e-03 1.24462553e-04 9.99982338e-01 -8.79633128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.080371743 meters 0.023302521508705543 Centerline is valid? [True, True] Translation: X:63.90, Y:-3.85, Z:-0.88 [[ 9.99697163e-01 2.31160687e-02 8.43970976e-03 6.38958146e+01] [-2.31129942e-02 9.99732752e-01 -4.61657358e-04 -3.85031727e+00] [-8.44812597e-03 2.66450589e-04 9.99964278e-01 -8.79413165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.140371743 meters 0.02360310168248427 Centerline is valid? [True, True] Translation: X:63.96, Y:-3.86, Z:-0.88 [[ 9.99770385e-01 1.94296132e-02 9.03695972e-03 6.39552935e+01] [-1.94259369e-02 9.99811176e-01 -4.94423320e-04 -3.85591379e+00] [-9.04485978e-03 3.18758384e-04 9.99959044e-01 -8.80155123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.200371743 meters 0.026399836345209118 Centerline is valid? [True, True] Translation: X:64.01, Y:-3.87, Z:-0.88 [[ 9.99887144e-01 1.20503363e-02 8.97153266e-03 6.40145678e+01] [-1.20464200e-02 9.99927319e-01 -4.90435912e-04 -3.86765440e+00] [-8.97679052e-03 3.82305713e-04 9.99959635e-01 -8.81149197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.260371743 meters 0.032480071534724396 Centerline is valid? [True, True] Translation: X:64.07, Y:-3.89, Z:-0.88 [[ 9.99966811e-01 -1.78146061e-03 7.95005887e-03 6.40744737e+01] [ 1.78497015e-03 9.99998313e-01 -4.34374472e-04 -3.88571603e+00] [-7.94927163e-03 4.48550673e-04 9.99968303e-01 -8.83357206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.320371743 meters 0.035499879735758605 Centerline is valid? [True, True] Translation: X:64.13, Y:-3.89, Z:-0.89 [[ 9.99953662e-01 -6.64654611e-03 6.96406043e-03 6.41348059e+01] [ 6.64935610e-03 9.99977820e-01 -3.80422535e-04 -3.89468835e+00] [-6.96137748e-03 4.26711424e-04 9.99975678e-01 -8.85234447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.380371743 meters 0.038919112073489436 Centerline is valid? [True, True] Translation: X:64.19, Y:-3.90, Z:-0.89 [[ 9.99930826e-01 -1.03683977e-02 5.55329548e-03 6.41939328e+01] [ 1.03702426e-02 9.99946182e-01 -3.03508257e-04 -3.90240191e+00] [-5.54984972e-03 3.61076283e-04 9.99984534e-01 -8.87925652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.440371743 meters 0.036148648890262404 Centerline is valid? [True, True] Translation: X:64.26, Y:-3.90, Z:-0.89 [[ 9.99930083e-01 -1.09393027e-02 4.49017919e-03 6.42557800e+01] [ 1.09405115e-02 9.99940121e-01 -2.44735697e-04 -3.90071594e+00] [-4.48723309e-03 2.93843443e-04 9.99989889e-01 -8.89703932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.500371743 meters 0.03985382887863275 Centerline is valid? [True, True] Translation: X:64.32, Y:-3.91, Z:-0.89 [[ 9.99944527e-01 -9.56227988e-03 4.41660167e-03 6.43163285e+01] [ 9.56343780e-03 9.99954240e-01 -2.41128414e-04 -3.90721862e+00] [-4.41409383e-03 2.83352933e-04 9.99990218e-01 -8.91507821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.560371743 meters 0.0345913532730763 Centerline is valid? [True, True] Translation: X:64.38, Y:-3.90, Z:-0.89 [[ 9.99972977e-01 -5.02417417e-03 5.36679184e-03 6.43774775e+01] [ 5.02582182e-03 9.99987327e-01 -2.93566840e-04 -3.89965898e+00] [-5.36524890e-03 3.20531447e-04 9.99985556e-01 -8.90511060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.620371743 meters 0.03382214582642732 Centerline is valid? [True, True] Translation: X:64.44, Y:-3.90, Z:-0.89 [[ 9.99987953e-01 2.47523392e-04 4.90229140e-03 6.44371816e+01] [-2.46210698e-04 9.99999934e-01 -2.68373354e-04 -3.89791422e+00] [-4.90235750e-03 2.67163124e-04 9.99987948e-01 -8.91549219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.680371743 meters 0.032958876448745955 Centerline is valid? [True, True] Translation: X:64.50, Y:-3.90, Z:-0.89 [[ 9.99989847e-01 3.26580273e-03 3.10480209e-03 6.44992162e+01] [-3.26529293e-03 9.99994655e-01 -1.69254286e-04 -3.89700503e+00] [-3.10533824e-03 1.59114479e-04 9.99995166e-01 -8.93014951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.740371743 meters 0.02774951911401903 Centerline is valid? [True, True] Translation: X:64.56, Y:-3.89, Z:-0.89 [[ 9.99968128e-01 7.63066206e-03 2.34865004e-03 6.45602943e+01] [-7.63038105e-03 9.99970880e-01 -1.28582087e-04 -3.88921848e+00] [-2.34956281e-03 1.10656894e-04 9.99997234e-01 -8.93170874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.800371743 meters 0.02716573549001011 Centerline is valid? [True, True] Translation: X:64.62, Y:-3.89, Z:-0.89 [[ 9.99915931e-01 1.27400001e-02 2.41333235e-03 6.46191654e+01] [-1.27397173e-02 9.99918838e-01 -1.32542303e-04 -3.88824002e+00] [-2.41482506e-03 1.01785989e-04 9.99997079e-01 -8.94578630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.860371743 meters 0.025941638441380893 Centerline is valid? [True, True] Translation: X:64.68, Y:-3.89, Z:-0.89 [[ 9.99880128e-01 1.52961053e-02 2.39980693e-03 6.46782372e+01] [-1.52958321e-02 9.99883003e-01 -1.32139082e-04 -3.88641868e+00] [-2.40154737e-03 9.54161983e-05 9.99997112e-01 -8.94378141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.920371743 meters 0.025698188288980826 Centerline is valid? [True, True] Translation: X:64.74, Y:-3.89, Z:-0.89 [[ 9.99822298e-01 1.84668275e-02 3.78804864e-03 6.47375351e+01] [-1.84661744e-02 9.99829464e-01 -2.07338312e-04 -3.88599762e+00] [-3.79123152e-03 1.37350701e-04 9.99992804e-01 -8.93904072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.980371743 meters 0.025967021270363756 Centerline is valid? [True, True] Translation: X:64.80, Y:-3.89, Z:-0.89 [[ 9.99794997e-01 1.95597263e-02 5.23270250e-03 6.47967652e+01] [-1.95584952e-02 9.99808673e-01 -2.86339039e-04 -3.88686266e+00] [-5.23730206e-03 1.83936552e-04 9.99986268e-01 -8.92430136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.040371743 meters 0.025194436700622776 Centerline is valid? [True, True] Translation: X:64.86, Y:-3.89, Z:-0.89 [[ 9.99824412e-01 1.80466439e-02 5.04624074e-03 6.48552882e+01] [-1.80454804e-02 9.99837129e-01 -2.76000477e-04 -3.88601947e+00] [-5.05039973e-03 1.84890177e-04 9.99987230e-01 -8.91837454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.100371743 meters 0.02668748009729901 Centerline is valid? [True, True] Translation: X:64.92, Y:-3.89, Z:-0.89 [[ 9.99932765e-01 1.12361550e-02 2.86604485e-03 6.49155269e+01] [-1.12357538e-02 9.99936865e-01 -1.56054454e-04 -3.89191954e+00] [-2.86761735e-03 1.23841787e-04 9.99995881e-01 -8.94584783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.160371743 meters 0.028937684384503542 Centerline is valid? [True, True] Translation: X:64.98, Y:-3.90, Z:-0.90 [[ 9.99987274e-01 4.77556312e-03 1.62662379e-03 6.49757581e+01] [-4.77542537e-03 9.99988594e-01 -8.85569467e-05 -3.89953173e+00] [-1.62702815e-03 8.07879992e-05 9.99998673e-01 -8.96813045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.220371743 meters 0.03366400402668947 Centerline is valid? [True, True] Translation: X:65.04, Y:-3.91, Z:-0.90 [[ 9.99989665e-01 -4.34749180e-03 1.32993013e-03 6.50350823e+01] [ 4.34759202e-03 9.99990547e-01 -7.24763875e-05 -3.90919892e+00] [-1.32960247e-03 7.82576321e-05 9.99999113e-01 -8.98242474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.280371743 meters 0.0344478553451983 Centerline is valid? [True, True] Translation: X:65.10, Y:-3.91, Z:-0.90 [[ 9.99945526e-01 -1.03694623e-02 1.19174090e-03 6.50960211e+01] [ 1.03695465e-02 9.99946233e-01 -6.45127482e-05 -3.91221975e+00] [-1.19100786e-03 7.68670465e-05 9.99999288e-01 -8.98528921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.340371743 meters 0.0372679367779275 Centerline is valid? [True, True] Translation: X:65.16, Y:-3.92, Z:-0.90 [[ 9.99911560e-01 -1.32945283e-02 3.56682515e-04 6.51556848e+01] [ 1.32945360e-02 9.99911624e-01 -1.94254930e-05 -3.91780624e+00] [-3.56392740e-04 2.41657035e-05 9.99999936e-01 -9.00110342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.400371743 meters 0.03800674472245754 Centerline is valid? [True, True] Translation: X:65.22, Y:-3.92, Z:-0.90 [[ 9.99901749e-01 -1.40150171e-02 2.67722800e-04 6.52173671e+01] [ 1.40150212e-02 9.99901785e-01 -1.31063809e-05 -3.91993638e+00] [-2.67512819e-04 1.68572338e-05 9.99999964e-01 -9.00575565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.460371743 meters 0.03772729426457609 Centerline is valid? [True, True] Translation: X:65.28, Y:-3.92, Z:-0.90 [[ 9.99929223e-01 -1.18949748e-02 2.42263951e-04 6.52786219e+01] [ 1.18949783e-02 9.99929252e-01 -1.27292667e-05 -3.91860193e+00] [-2.42095397e-04 1.56100902e-05 9.99999971e-01 -9.00844148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.520371743 meters 0.03855152749129252 Centerline is valid? [True, True] Translation: X:65.34, Y:-3.92, Z:-0.90 [[ 9.99965742e-01 -8.27634655e-03 -1.33668734e-04 6.53382309e+01] [ 8.27634760e-03 9.99965750e-01 7.29667840e-06 -3.92102340e+00] [ 1.33603766e-04 -8.40271733e-06 9.99999991e-01 -9.02927761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.580371743 meters 0.029879762956919523 Centerline is valid? [True, True] Translation: X:65.40, Y:-3.91, Z:-0.90 [[ 9.99999045e-01 1.12766591e-03 -7.99582868e-04 6.54002204e+01] [-1.12763126e-03 9.99999363e-01 4.37876381e-05 -3.90588589e+00] [ 7.99631736e-04 -4.28859617e-05 9.99999679e-01 -9.00801724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.640371743 meters 0.02698295658051369 Centerline is valid? [True, True] Translation: X:65.46, Y:-3.90, Z:-0.90 [[ 9.99900150e-01 1.40714071e-02 -1.29834241e-03 6.54604017e+01] [-1.40713273e-02 9.99900991e-01 7.05632250e-05 -3.89851693e+00] [ 1.29920678e-03 -5.22867783e-05 9.99999155e-01 -9.01686446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.700371743 meters 0.024292567333856048 Centerline is valid? [True, True] Translation: X:65.52, Y:-3.89, Z:-0.90 [[ 9.99631861e-01 2.71066758e-02 -1.17076318e-03 6.55212320e+01] [-2.71066197e-02 9.99632546e-01 6.37828528e-05 -3.89111867e+00] [ 1.17206192e-03 -3.20239397e-05 9.99999313e-01 -9.02111503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.760371743 meters 0.023068172545497635 Centerline is valid? [True, True] Translation: X:65.58, Y:-3.89, Z:-0.90 [[ 9.99444063e-01 3.33359165e-02 -5.30923250e-04 6.55812690e+01] [-3.33359060e-02 9.99444204e-01 2.87251439e-05 -3.88909861e+00] [ 5.31585744e-04 -1.10103670e-05 9.99999859e-01 -9.02019225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.820371743 meters 0.022536583634134588 Centerline is valid? [True, True] Translation: X:65.64, Y:-3.89, Z:-0.90 [[ 9.99286111e-01 3.77675320e-02 -9.38948596e-04 6.56404694e+01] [-3.77675015e-02 9.99286552e-01 5.01729853e-05 -3.88801982e+00] [ 9.40173615e-04 -1.46754248e-05 9.99999558e-01 -9.02720631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.880371743 meters 0.022680188209762205 Centerline is valid? [True, True] Translation: X:65.70, Y:-3.89, Z:-0.90 [[ 9.99355613e-01 3.58777049e-02 -1.07171816e-03 6.56988942e+01] [-3.58776640e-02 9.99356188e-01 5.73340163e-05 -3.89392063e+00] [ 1.07308519e-03 -1.88463270e-05 9.99999424e-01 -9.03975266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.940371743 meters 0.023606589091401477 Centerline is valid? [True, True] Translation: X:65.76, Y:-3.90, Z:-0.90 [[ 9.99583240e-01 2.88193438e-02 -1.67077158e-03 6.57589811e+01] [-2.88192320e-02 9.99584636e-01 9.09281369e-05 -3.90341867e+00] [ 1.67269809e-03 -4.27398877e-05 9.99998600e-01 -9.04293058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.000371743 meters 0.025188965078277874 Centerline is valid? [True, True] Translation: X:65.82, Y:-3.91, Z:-0.91 [[ 9.99754518e-01 2.20793324e-02 -1.84587734e-03 6.58191321e+01] [-2.20791845e-02 9.99756220e-01 1.00457890e-04 -3.91314444e+00] [ 1.84764540e-03 -5.96777627e-05 9.99998291e-01 -9.05755756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.060371743 meters 0.027268148514289856 Centerline is valid? [True, True] Translation: X:65.88, Y:-3.92, Z:-0.91 [[ 9.99884856e-01 1.51023205e-02 -1.48128972e-03 6.58792920e+01] [-1.51022175e-02 9.99885952e-01 8.06522238e-05 -3.92350212e+00] [ 1.48233881e-03 -5.82721777e-05 9.99998900e-01 -9.06422825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.120371743 meters 0.028313100174201956 Centerline is valid? [True, True] Translation: X:65.94, Y:-3.93, Z:-0.91 [[ 9.99954891e-01 9.48908148e-03 -4.16341981e-04 6.59386288e+01] [-9.48907301e-03 9.99954977e-01 2.23117720e-05 -3.93140565e+00] [ 4.16534954e-04 -1.83600661e-05 9.99999913e-01 -9.05885846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.180371743 meters 0.031069610446425536 Centerline is valid? [True, True] Translation: X:66.00, Y:-3.94, Z:-0.91 [[ 9.99986533e-01 5.17983596e-03 -3.20570699e-04 6.59971150e+01] [-5.17983069e-03 9.99986584e-01 1.72705853e-05 -3.94158035e+00] [ 3.20655857e-04 -1.56098508e-05 9.99999948e-01 -9.06718907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.240371743 meters 0.03055684355458765 Centerline is valid? [True, True] Translation: X:66.06, Y:-3.95, Z:-0.91 [[ 9.99990388e-01 4.36128705e-03 -4.50888280e-04 6.60554788e+01] [-4.36127690e-03 9.99990489e-01 2.34909029e-05 -3.94631117e+00] [ 4.50986443e-04 -2.15242285e-05 9.99999898e-01 -9.07433711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.300371743 meters 0.028619951382026092 Centerline is valid? [True, True] Translation: X:66.11, Y:-3.95, Z:-0.91 [[ 9.99985295e-01 5.38240711e-03 -6.63261245e-04 6.61141753e+01] [-5.38238511e-03 9.99985514e-01 3.49474434e-05 -3.94695939e+00] [ 6.63439738e-04 -3.13770021e-05 9.99999779e-01 -9.07239397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.360371743 meters 0.028086166290559503 Centerline is valid? [True, True] Translation: X:66.17, Y:-3.95, Z:-0.91 [[ 9.99959901e-01 8.78155833e-03 -1.75493520e-03 6.61743741e+01] [-8.78140526e-03 9.99961438e-01 9.49088990e-05 -3.95006693e+00] [ 1.75570097e-03 -7.94942961e-05 9.99998456e-01 -9.08737017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.420371743 meters 0.02699805415462603 Centerline is valid? [True, True] Translation: X:66.23, Y:-3.95, Z:-0.91 [[ 9.99888325e-01 1.46664877e-02 -2.86920047e-03 6.62347845e+01] [-1.46661021e-02 9.99892435e-01 1.55375019e-04 -3.95051370e+00] [ 2.87117065e-03 -1.13277680e-04 9.99995872e-01 -9.11199712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.480371743 meters 0.024571552183433026 Centerline is valid? [True, True] Translation: X:66.30, Y:-3.95, Z:-0.91 [[ 9.99737384e-01 2.26150148e-02 -3.70467722e-03 6.62958717e+01] [-2.26144259e-02 9.99744241e-01 2.00779247e-04 -3.94649150e+00] [ 3.70827034e-03 -1.16947371e-04 9.99993118e-01 -9.11222322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.540371743 meters 0.023357841063128937 Centerline is valid? [True, True] Translation: X:66.36, Y:-3.94, Z:-0.91 [[ 9.99536183e-01 3.03439905e-02 -2.58095996e-03 6.63563788e+01] [-3.03437318e-02 9.99539513e-01 1.39353273e-04 -3.94459113e+00] [ 2.58399999e-03 -6.09726823e-05 9.99996660e-01 -9.11337125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.600371743 meters 0.022906843251779472 Centerline is valid? [True, True] Translation: X:66.42, Y:-3.95, Z:-0.91 [[ 9.99385392e-01 3.50436129e-02 -8.85541773e-04 6.64155240e+01] [-3.50435846e-02 9.99385784e-01 4.74421761e-05 -3.94678922e+00] [ 8.86660404e-04 -1.63804597e-05 9.99999607e-01 -9.11681306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.660371743 meters 0.02254735522402761 Centerline is valid? [True, True] Translation: X:66.47, Y:-3.95, Z:-0.91 [[ 9.99353540e-01 3.59513911e-02 -6.20921270e-06 6.64739283e+01] [-3.59513911e-02 9.99353540e-01 -6.56510412e-07 -3.95117042e+00] [ 6.18159618e-06 8.79315840e-07 1.00000000e+00 -9.12290419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.720371743 meters 0.022886531191632593 Centerline is valid? [True, True] Translation: X:66.53, Y:-3.96, Z:-0.91 [[ 9.99400415e-01 3.46110045e-02 9.42522500e-04 6.65321235e+01] [-3.46109709e-02 9.99400860e-01 -5.18773100e-05 -3.95730335e+00] [-9.43753322e-04 1.92245863e-05 9.99999554e-01 -9.12677546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.780371743 meters 0.023828007268756612 Centerline is valid? [True, True] Translation: X:66.59, Y:-3.97, Z:-0.91 [[ 9.99518086e-01 3.09976696e-02 1.65532065e-03 6.65896212e+01] [-3.09975623e-02 9.99519456e-01 -9.04523966e-05 -3.96788530e+00] [-1.65732901e-03 3.90979013e-05 9.99998626e-01 -9.13719491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.840371743 meters 0.025136017718386777 Centerline is valid? [True, True] Translation: X:66.65, Y:-3.98, Z:-0.92 [[ 9.99666795e-01 2.57701313e-02 1.48302871e-03 6.66484350e+01] [-2.57700400e-02 9.99667894e-01 -8.05971612e-05 -3.97942432e+00] [-1.48461319e-03 4.23525966e-05 9.99998897e-01 -9.15272447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.900371743 meters 0.026560445910463852 Centerline is valid? [True, True] Translation: X:66.71, Y:-3.99, Z:-0.92 [[ 9.99749317e-01 2.21639974e-02 3.17168085e-03 6.67074604e+01] [-2.21635657e-02 9.99754343e-01 -1.71199887e-04 -3.99098212e+00] [-3.17469618e-03 1.00861213e-04 9.99994956e-01 -9.15320996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.960371743 meters 0.027554098329883984 Centerline is valid? [True, True] Translation: X:66.77, Y:-4.00, Z:-0.92 [[ 9.99789450e-01 2.01403334e-02 3.92719740e-03 6.67659455e+01] [-2.01396556e-02 9.99797154e-01 -2.12066664e-04 -4.00020357e+00] [-3.93067188e-03 1.32929610e-04 9.99992266e-01 -9.15745440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.020371743 meters 0.029292601302633177 Centerline is valid? [True, True] Translation: X:66.82, Y:-4.01, Z:-0.92 [[ 9.99857785e-01 1.63384842e-02 4.17895240e-03 6.68243347e+01] [-1.63376857e-02 9.99866506e-01 -2.25155213e-04 -4.01237812e+00] [-4.18207322e-03 1.56848782e-04 9.99991243e-01 -9.17062573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.080371743 meters 0.030730987293654935 Centerline is valid? [True, True] Translation: X:66.88, Y:-4.02, Z:-0.92 [[ 9.99925780e-01 1.15185053e-02 3.96974720e-03 6.68843237e+01] [-1.15177494e-02 9.99933646e-01 -2.13228099e-04 -4.02379510e+00] [-3.97193986e-03 1.67489720e-04 9.99992098e-01 -9.18476791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.140371743 meters 0.035071126782607126 Centerline is valid? [True, True] Translation: X:66.94, Y:-4.04, Z:-0.92 [[ 9.99959297e-01 8.00882526e-03 4.15488687e-03 6.69429706e+01] [-8.00796628e-03 9.99967911e-01 -2.23334012e-04 -4.03874408e+00] [-4.15654218e-03 1.90052727e-04 9.99991343e-01 -9.21163188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.200371743 meters 0.035118365773161284 Centerline is valid? [True, True] Translation: X:67.00, Y:-4.05, Z:-0.92 [[ 9.99952607e-01 8.64360051e-03 4.48013048e-03 6.70023071e+01] [-8.64260791e-03 9.99962623e-01 -2.40869176e-04 -4.04593280e+00] [-4.48204500e-03 2.02137750e-04 9.99989935e-01 -9.21561603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.260371743 meters 0.034253050882279666 Centerline is valid? [True, True] Translation: X:67.06, Y:-4.05, Z:-0.92 [[ 9.99927547e-01 1.11874339e-02 4.44313029e-03 6.70624385e+01] [-1.11864832e-02 9.99937401e-01 -2.38754118e-04 -4.04949212e+00] [-4.44552320e-03 1.89033817e-04 9.99990101e-01 -9.22775002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.320371743 meters 0.02481656530848923 Centerline is valid? [True, True] Translation: X:67.12, Y:-4.04, Z:-0.92 [[ 9.99879837e-01 1.47648110e-02 4.72345436e-03 6.71229371e+01] [-1.47637779e-02 9.99890977e-01 -2.53502578e-04 -4.04010778e+00] [-4.72668231e-03 1.83736085e-04 9.99988812e-01 -9.21593069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.380371743 meters 0.025349491080031827 Centerline is valid? [True, True] Translation: X:67.18, Y:-4.04, Z:-0.92 [[ 9.99860141e-01 1.57590257e-02 5.59933217e-03 6.71820189e+01] [-1.57575887e-02 9.99875796e-01 -3.00660957e-04 -4.04478440e+00] [-5.60337483e-03 2.12386933e-04 9.99984278e-01 -9.21981610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.440371743 meters 0.028668796872799728 Centerline is valid? [True, True] Translation: X:67.24, Y:-4.05, Z:-0.92 [[ 9.99873556e-01 1.50812846e-02 5.04258369e-03 6.72388466e+01] [-1.50801092e-02 9.99886252e-01 -2.71038473e-04 -4.05487671e+00] [-5.04609771e-03 1.94961489e-04 9.99987249e-01 -9.24695353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.500371743 meters 0.030275454371493822 Centerline is valid? [True, True] Translation: X:67.30, Y:-4.06, Z:-0.93 [[ 9.99904367e-01 1.32457637e-02 3.97572700e-03 6.72965689e+01] [-1.32450225e-02 9.99912258e-01 -2.12696744e-04 -4.06268305e+00] [-3.97819549e-03 1.60017810e-04 9.99992074e-01 -9.27341202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.560371743 meters 0.025831337358498914 Centerline is valid? [True, True] Translation: X:67.36, Y:-4.06, Z:-0.92 [[ 9.99930703e-01 1.08896397e-02 4.47263105e-03 6.73568988e+01] [-1.08886778e-02 9.99940688e-01 -2.39354056e-04 -4.05878028e+00] [-4.47497225e-03 1.90636431e-04 9.99989969e-01 -9.24839284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.620371743 meters 0.02764558781372739 Centerline is valid? [True, True] Translation: X:67.42, Y:-4.07, Z:-0.93 [[ 9.99964239e-01 7.50552574e-03 3.89707428e-03 6.74157691e+01] [-7.50477016e-03 9.99971817e-01 -2.08470563e-04 -4.06621862e+00] [-3.89852913e-03 1.79216461e-04 9.99992385e-01 -9.25526623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.680371743 meters 0.028889994151938558 Centerline is valid? [True, True] Translation: X:67.48, Y:-4.07, Z:-0.93 [[ 9.99983894e-01 4.25875135e-03 3.75174476e-03 6.74754267e+01] [-4.25802941e-03 9.99990914e-01 -2.00394835e-04 -4.07093548e+00] [-3.75256410e-03 1.84416568e-04 9.99992942e-01 -9.25831591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.740371743 meters 0.030252808189712363 Centerline is valid? [True, True] Translation: X:67.54, Y:-4.08, Z:-0.93 [[ 9.99989172e-01 2.56122030e-03 3.88528470e-03 6.75363015e+01] [-2.56043671e-03 9.99996701e-01 -2.06642198e-04 -4.07568572e+00] [-3.88580114e-03 1.96691935e-04 9.99992431e-01 -9.26057741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.800371743 meters 0.0320003235691113 Centerline is valid? [True, True] Translation: X:67.60, Y:-4.08, Z:-0.93 [[ 9.99991040e-01 3.74638496e-04 4.21654728e-03 6.75975009e+01] [-3.73693724e-04 9.99999905e-01 -2.24848602e-04 -4.08048096e+00] [-4.21663111e-03 2.23270890e-04 9.99991085e-01 -9.26747975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.860371743 meters 0.033070017954159904 Centerline is valid? [True, True] Translation: X:67.66, Y:-4.09, Z:-0.93 [[ 9.99991865e-01 -7.71748247e-04 3.95904495e-03 6.76590570e+01] [ 7.72586886e-04 9.99999679e-01 -2.10303622e-04 -4.08629148e+00] [-3.95888138e-03 2.13360618e-04 9.99992141e-01 -9.28705308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.920371743 meters 0.0342358176808014 Centerline is valid? [True, True] Translation: X:67.72, Y:-4.09, Z:-0.93 [[ 9.99992028e-01 -2.33344318e-03 3.24036735e-03 6.77211031e+01] [ 2.33401546e-03 9.99997261e-01 -1.72838529e-04 -4.08994197e+00] [-3.23995517e-03 1.80400219e-04 9.99994735e-01 -9.30073238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.980371743 meters 0.03367138113874744 Centerline is valid? [True, True] Translation: X:67.78, Y:-4.09, Z:-0.93 [[ 9.99990107e-01 -3.04749157e-03 3.24031421e-03 6.77829838e+01] [ 3.04806826e-03 9.99995340e-01 -1.73050512e-04 -4.09054767e+00] [-3.23977173e-03 1.82925498e-04 9.99994735e-01 -9.31230311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.040371743 meters 0.03482732481672874 Centerline is valid? [True, True] Translation: X:67.84, Y:-4.09, Z:-0.93 [[ 9.99989945e-01 -2.80801413e-03 3.49630917e-03 6.78441493e+01] [ 2.80868590e-03 9.99996038e-01 -1.87239540e-04 -4.09414112e+00] [-3.49576955e-03 1.97057691e-04 9.99993870e-01 -9.32524811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.100371743 meters 0.035686119863631904 Centerline is valid? [True, True] Translation: X:67.91, Y:-4.10, Z:-0.93 [[ 9.99994832e-01 -1.22629215e-03 2.97199491e-03 6.79050673e+01] [ 1.22677130e-03 9.99999235e-01 -1.59404011e-04 -4.09538906e+00] [-2.97179716e-03 1.63049145e-04 9.99995571e-01 -9.34113850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.160371743 meters 0.035437312389378604 Centerline is valid? [True, True] Translation: X:67.97, Y:-4.09, Z:-0.94 [[ 9.99994894e-01 2.50373326e-03 1.98558579e-03 6.79655191e+01] [-2.50352608e-03 9.99996860e-01 -1.06818534e-04 -4.09354252e+00] [-1.98584700e-03 1.01847023e-04 9.99998023e-01 -9.36016004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.220371743 meters 0.029822389729400888 Centerline is valid? [True, True] Translation: X:68.03, Y:-4.09, Z:-0.93 [[ 9.99979336e-01 5.56995389e-03 3.20984711e-03 6.80264919e+01] [-5.56942823e-03 9.99984476e-01 -1.72680106e-04 -4.08604130e+00] [-3.21075910e-03 1.54799524e-04 9.99994834e-01 -9.34736166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.280371743 meters 0.028727923406067658 Centerline is valid? [True, True] Translation: X:68.09, Y:-4.08, Z:-0.93 [[ 9.99949202e-01 9.10218402e-03 4.32940984e-03 6.80871048e+01] [-9.10125999e-03 9.99958556e-01 -2.33083546e-04 -4.08186333e+00] [-4.33135198e-03 1.93668621e-04 9.99990601e-01 -9.34298774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.340371743 meters 0.02868635885056362 Centerline is valid? [True, True] Translation: X:68.15, Y:-4.08, Z:-0.94 [[ 9.99943123e-01 9.75871190e-03 4.30324045e-03 6.81469898e+01] [-9.75780467e-03 9.99952365e-01 -2.31770225e-04 -4.08306098e+00] [-4.30529724e-03 1.89766863e-04 9.99990714e-01 -9.36087884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.400371743 meters 0.02814755408382361 Centerline is valid? [True, True] Translation: X:68.21, Y:-4.08, Z:-0.94 [[ 9.99947096e-01 9.66873138e-03 3.51001583e-03 6.82059507e+01] [-9.66812600e-03 9.99953245e-01 -1.89398076e-04 -4.08288515e+00] [-3.51168296e-03 1.55452781e-04 9.99993822e-01 -9.37076748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.460371743 meters 0.027825490455976796 Centerline is valid? [True, True] Translation: X:68.26, Y:-4.08, Z:-0.94 [[ 9.99952350e-01 9.16100262e-03 3.37237159e-03 6.82647598e+01] [-9.16044159e-03 9.99958026e-01 -1.81770898e-04 -4.08353629e+00] [-3.37389524e-03 1.50869823e-04 9.99994297e-01 -9.37152362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.520371743 meters 0.029157327891510095 Centerline is valid? [True, True] Translation: X:68.32, Y:-4.09, Z:-0.94 [[ 9.99966802e-01 7.61565814e-03 2.89767547e-03 6.83236971e+01] [-7.61523826e-03 9.99970992e-01 -1.55906854e-04 -4.08629439e+00] [-2.89877874e-03 1.33835189e-04 9.99995790e-01 -9.39115940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.580371743 meters 0.02968042280231923 Centerline is valid? [True, True] Translation: X:68.38, Y:-4.09, Z:-0.94 [[ 9.99972442e-01 6.59689031e-03 3.40537891e-03 6.83834813e+01] [-6.59630623e-03 9.99978227e-01 -1.82720404e-04 -4.08890948e+00] [-3.40651016e-03 1.60252446e-04 9.99994185e-01 -9.40376678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.640371743 meters 0.02927790044089226 Centerline is valid? [True, True] Translation: X:68.44, Y:-4.09, Z:-0.94 [[ 9.99969741e-01 5.64415757e-03 5.35364984e-03 6.84435705e+01] [-5.64270287e-03 9.99984039e-01 -2.86787536e-04 -4.08836624e+00] [-5.35518307e-03 2.56569803e-04 9.99985628e-01 -9.39653121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.700371743 meters 0.03294994531369965 Centerline is valid? [True, True] Translation: X:68.50, Y:-4.10, Z:-0.94 [[ 9.99972494e-01 3.40358020e-03 6.58997609e-03 6.85037355e+01] [-3.40133466e-03 9.99994154e-01 -3.51928287e-04 -4.09555494e+00] [-6.59113538e-03 3.29503893e-04 9.99978224e-01 -9.39956980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.760371743 meters 0.030801761015902537 Centerline is valid? [True, True] Translation: X:68.57, Y:-4.09, Z:-0.94 [[ 9.99979277e-01 6.02717733e-04 6.40962544e-03 6.85650078e+01] [-6.00531506e-04 9.99999761e-01 -3.43004007e-04 -4.09425081e+00] [-6.40983064e-03 3.39147716e-04 9.99979399e-01 -9.40658760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.820371743 meters 0.03686947858107206 Centerline is valid? [True, True] Translation: X:68.63, Y:-4.11, Z:-0.94 [[ 9.99982660e-01 -3.21908812e-04 5.88019194e-03 6.86252264e+01] [ 3.23760096e-04 9.99999898e-01 -3.13884736e-04 -4.10643729e+00] [-5.88009030e-03 3.15783064e-04 9.99982662e-01 -9.43876350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.880371743 meters 0.03720663061372852 Centerline is valid? [True, True] Translation: X:68.69, Y:-4.11, Z:-0.95 [[ 9.99991075e-01 6.05980300e-04 4.18129794e-03 6.86877206e+01] [-6.05049808e-04 9.99999792e-01 -2.23797919e-04 -4.10710089e+00] [-4.18143269e-03 2.21266028e-04 9.99991233e-01 -9.46598114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.940371743 meters 0.029411817702523938 Centerline is valid? [True, True] Translation: X:68.75, Y:-4.09, Z:-0.95 [[ 9.99975944e-01 6.03665828e-03 3.41619802e-03 6.87487192e+01] [-6.03606637e-03 9.99981766e-01 -1.83549706e-04 -4.09407679e+00] [-3.41724375e-03 1.62924892e-04 9.99994148e-01 -9.46711424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.000371743 meters 0.030148747175327027 Centerline is valid? [True, True] Translation: X:68.81, Y:-4.09, Z:-0.95 [[ 9.99940731e-01 1.02554015e-02 3.65541099e-03 6.88078488e+01] [-1.02547503e-02 9.99947399e-01 -1.96845055e-04 -4.09494217e+00] [-3.65723744e-03 1.59348061e-04 9.99993300e-01 -9.48456441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.060371743 meters 0.026393100996520404 Centerline is valid? [True, True] Translation: X:68.87, Y:-4.09, Z:-0.95 [[ 9.99865643e-01 1.54017650e-02 5.61081395e-03 6.88685594e+01] [-1.54003150e-02 9.99881363e-01 -3.01529077e-04 -4.08605021e+00] [-5.61479238e-03 2.15080262e-04 9.99984214e-01 -9.46129042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.120371743 meters 0.026701546773248312 Centerline is valid? [True, True] Translation: X:68.93, Y:-4.09, Z:-0.95 [[ 9.99773828e-01 1.97677837e-02 7.84391521e-03 6.89271682e+01] [-1.97650842e-02 9.99804563e-01 -4.21525737e-04 -4.08570648e+00] [-7.85071485e-03 2.66394755e-04 9.99969147e-01 -9.45736738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.180371743 meters 0.025245176900389514 Centerline is valid? [True, True] Translation: X:68.99, Y:-4.08, Z:-0.95 [[ 9.99749134e-01 2.11546056e-02 7.35880878e-03 6.89858168e+01] [-2.11522689e-02 9.99776188e-01 -3.95231923e-04 -4.08331017e+00] [-7.36552276e-03 2.39477270e-04 9.99972845e-01 -9.46660915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.240371743 meters 0.025585138602840143 Centerline is valid? [True, True] Translation: X:69.04, Y:-4.08, Z:-0.95 [[ 9.99721354e-01 2.24548750e-02 7.27962164e-03 6.90431873e+01] [-2.24526257e-02 9.99747832e-01 -3.90584651e-04 -4.08461282e+00] [-7.28655648e-03 2.27029196e-04 9.99973427e-01 -9.48659954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.300371743 meters 0.024062339919544314 Centerline is valid? [True, True] Translation: X:69.10, Y:-4.08, Z:-0.95 [[ 9.99701493e-01 2.30582374e-02 8.07733623e-03 6.91021452e+01] [-2.30554952e-02 9.99734093e-01 -4.32454046e-04 -4.08346595e+00] [-8.08516004e-03 2.46097968e-04 9.99967284e-01 -9.48842660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.360371743 meters 0.023620487854586127 Centerline is valid? [True, True] Translation: X:69.16, Y:-4.09, Z:-0.95 [[ 9.99700898e-01 2.28905256e-02 8.61040776e-03 6.91606142e+01] [-2.28874091e-02 9.99737943e-01 -4.60318373e-04 -4.08500258e+00] [-8.61868827e-03 2.63110766e-04 9.99962824e-01 -9.49636622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.420371743 meters 0.025181650853855538 Centerline is valid? [True, True] Translation: X:69.22, Y:-4.09, Z:-0.95 [[ 9.99714196e-01 2.23428116e-02 8.50437083e-03 6.92178728e+01] [-2.23397559e-02 9.99750333e-01 -4.54137540e-04 -4.08988276e+00] [-8.51239429e-03 2.64022177e-04 9.99963734e-01 -9.52118924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.480371743 meters 0.02503053186121832 Centerline is valid? [True, True] Translation: X:69.28, Y:-4.09, Z:-0.95 [[ 9.99707916e-01 2.26612293e-02 8.39949431e-03 6.92766786e+01] [-2.26582669e-02 9.99743168e-01 -4.47690349e-04 -4.09243377e+00] [-8.40748227e-03 2.57241601e-04 9.99964623e-01 -9.53414431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.540371743 meters 0.02437758464347595 Centerline is valid? [True, True] Translation: X:69.34, Y:-4.09, Z:-0.95 [[ 9.99712727e-01 2.23464119e-02 8.66609602e-03 6.93357096e+01] [-2.23432520e-02 9.99750252e-01 -4.61290332e-04 -4.09232348e+00] [-8.67423987e-03 2.67529049e-04 9.99962342e-01 -9.53318317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.600371743 meters 0.026696928843403626 Centerline is valid? [True, True] Translation: X:69.39, Y:-4.10, Z:-0.96 [[ 9.99754973e-01 2.06458088e-02 7.98398118e-03 6.93935615e+01] [-2.06430750e-02 9.99786819e-01 -4.24678411e-04 -4.09919934e+00] [-7.99104697e-03 2.59760431e-04 9.99968037e-01 -9.55124735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.660371743 meters 0.026011286018142156 Centerline is valid? [True, True] Translation: X:69.45, Y:-4.10, Z:-0.96 [[ 9.99802717e-01 1.85478140e-02 7.10680475e-03 6.94518761e+01] [-1.85455997e-02 9.99827944e-01 -3.77356734e-04 -4.10087488e+00] [-7.11258113e-03 2.45482332e-04 9.99974675e-01 -9.55726664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.720371743 meters 0.026031102532942624 Centerline is valid? [True, True] Translation: X:69.51, Y:-4.10, Z:-0.96 [[ 9.99841912e-01 1.66667283e-02 6.19445637e-03 6.95100752e+01] [-1.66650123e-02 9.99861075e-01 -3.28530440e-04 -4.10459973e+00] [-6.19907133e-03 2.25247811e-04 9.99980760e-01 -9.57320447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.780371743 meters 0.02681651295097703 Centerline is valid? [True, True] Translation: X:69.57, Y:-4.11, Z:-0.96 [[ 9.99873778e-01 1.47531458e-02 5.89676735e-03 6.95681060e+01] [-1.47515603e-02 9.99891141e-01 -3.12267862e-04 -4.10920519e+00] [-5.90073237e-03 2.25241928e-04 9.99982565e-01 -9.58342312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.840371743 meters 0.028172073954326544 Centerline is valid? [True, True] Translation: X:69.63, Y:-4.12, Z:-0.96 [[ 9.99890339e-01 1.28396161e-02 7.37934806e-03 6.96271062e+01] [-1.28370903e-02 9.99917525e-01 -3.89544485e-04 -4.11519262e+00] [-7.38374105e-03 2.94772410e-04 9.99972696e-01 -9.58459001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.900371743 meters 0.028629670100008088 Centerline is valid? [True, True] Translation: X:69.69, Y:-4.12, Z:-0.96 [[ 9.99893528e-01 1.24532757e-02 7.60577152e-03 6.96858152e+01] [-1.24505835e-02 9.99922408e-01 -4.01217362e-04 -4.11897837e+00] [-7.61017784e-03 3.06478350e-04 9.99970995e-01 -9.58694777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.960371743 meters 0.0282217032569791 Centerline is valid? [True, True] Translation: X:69.74, Y:-4.12, Z:-0.96 [[ 9.99901430e-01 1.24778811e-02 6.43679195e-03 6.97442774e+01] [-1.24759553e-02 9.99922115e-01 -3.39259237e-04 -4.12109235e+00] [-6.44052385e-03 2.58920668e-04 9.99979226e-01 -9.59760091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.020371743 meters 0.02682176186713464 Centerline is valid? [True, True] Translation: X:69.80, Y:-4.12, Z:-0.96 [[ 9.99889979e-01 1.42294600e-02 4.18957561e-03 6.98028342e+01] [-1.42286592e-02 9.99898743e-01 -2.20885937e-04 -4.11985044e+00] [-4.19229447e-03 1.61249591e-04 9.99991199e-01 -9.61160365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.080371743 meters 0.025945649869980266 Centerline is valid? [True, True] Translation: X:69.86, Y:-4.12, Z:-0.96 [[ 9.99863447e-01 1.60258652e-02 4.03233609e-03 6.98619814e+01] [-1.60251390e-02 9.99871567e-01 -2.12346678e-04 -4.12052929e+00] [-4.03522124e-03 1.47698935e-04 9.99991848e-01 -9.61910845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.140371743 meters 0.02573971431350094 Centerline is valid? [True, True] Translation: X:69.92, Y:-4.12, Z:-0.96 [[ 9.99824200e-01 1.83825973e-02 3.69435063e-03 6.99196079e+01] [-1.83820039e-02 9.99831018e-01 -1.94536531e-04 -4.12213807e+00] [-3.69730243e-03 1.26592764e-04 9.99993157e-01 -9.63530308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.200371743 meters 0.025456514426624183 Centerline is valid? [True, True] Translation: X:69.98, Y:-4.12, Z:-0.96 [[ 9.99811849e-01 1.91584750e-02 3.03649778e-03 6.99785532e+01] [-1.91580784e-02 9.99816454e-01 -1.59646739e-04 -4.12359286e+00] [-3.03899904e-03 1.01443238e-04 9.99995377e-01 -9.64413383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.260371743 meters 0.025453326315038934 Centerline is valid? [True, True] Translation: X:70.04, Y:-4.13, Z:-0.96 [[ 9.99806491e-01 1.93294529e-02 3.65402766e-03 7.00377406e+01] [-1.93288815e-02 9.99813161e-01 -1.91636602e-04 -4.12613714e+00] [-3.65704918e-03 1.20971251e-04 9.99993306e-01 -9.64794326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.320371743 meters 0.026342408314434605 Centerline is valid? [True, True] Translation: X:70.09, Y:-4.13, Z:-0.97 [[ 9.99844690e-01 1.73590215e-02 3.04312143e-03 7.00947261e+01] [-1.73586151e-02 9.99849315e-01 -1.59923907e-04 -4.13117778e+00] [-3.04543900e-03 1.07074696e-04 9.99995357e-01 -9.65551485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.380371743 meters 0.025982473567500334 Centerline is valid? [True, True] Translation: X:70.15, Y:-4.13, Z:-0.97 [[ 9.99885982e-01 1.49344172e-02 2.23299286e-03 7.01546035e+01] [-1.49341938e-02 9.99888472e-01 -1.16684754e-04 -4.13459555e+00] [-2.23448644e-03 8.33235017e-05 9.99997500e-01 -9.66006317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.440371743 meters 0.026693666485415865 Centerline is valid? [True, True] Translation: X:70.21, Y:-4.14, Z:-0.97 [[ 9.99923606e-01 1.21383432e-02 2.33314162e-03 7.02135283e+01] [-1.21380914e-02 9.99926323e-01 -1.22023237e-04 -4.13913480e+00] [-2.33445088e-03 9.36940291e-05 9.99997271e-01 -9.66867658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.500371743 meters 0.026731090317612605 Centerline is valid? [True, True] Translation: X:70.27, Y:-4.14, Z:-0.97 [[ 9.99908120e-01 1.32117875e-02 3.03304079e-03 7.02722598e+01] [-1.32113676e-02 9.99912714e-01 -1.58424571e-04 -4.14165729e+00] [-3.03486912e-03 1.18339398e-04 9.99995388e-01 -9.66535480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.560371743 meters 0.025869338252470137 Centerline is valid? [True, True] Translation: X:70.33, Y:-4.14, Z:-0.97 [[ 9.99848132e-01 1.69059977e-02 4.23094418e-03 7.03318091e+01] [-1.69052182e-02 9.99857072e-01 -2.19941225e-04 -4.14146010e+00] [-4.23405779e-03 1.48382788e-04 9.99991025e-01 -9.65764283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62037174299999 meters 0.025187026223724613 Centerline is valid? [True, True] Translation: X:70.39, Y:-4.14, Z:-0.97 [[ 9.99817968e-01 1.87009860e-02 3.78219154e-03 7.03908129e+01] [-1.87003748e-02 9.99825113e-01 -1.96898304e-04 -4.14259561e+00] [-3.78521228e-03 1.26134062e-04 9.99992828e-01 -9.67442112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.680371743 meters 0.02451524654498375 Centerline is valid? [True, True] Translation: X:70.45, Y:-4.15, Z:-0.97 [[ 9.99786224e-01 2.05383962e-02 2.38335384e-03 7.04494767e+01] [-2.05381582e-02 9.99789062e-01 -1.24277823e-04 -4.14515898e+00] [-2.38540357e-03 7.53015572e-05 9.99997152e-01 -9.71117808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.740371743 meters 0.024120374002198842 Centerline is valid? [True, True] Translation: X:70.51, Y:-4.15, Z:-0.97 [[ 9.99748299e-01 2.23928428e-02 1.37818578e-03 7.05087354e+01] [-2.23927648e-02 9.99749248e-01 -7.19605971e-05 -4.14655619e+00] [-1.37945159e-03 4.10810946e-05 9.99999048e-01 -9.73370194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.800371743 meters 0.023369531710871125 Centerline is valid? [True, True] Translation: X:70.57, Y:-4.15, Z:-0.97 [[ 9.99673159e-01 2.55278097e-02 1.38036752e-03 7.05677281e+01] [-2.55277342e-02 9.99674112e-01 -7.22353442e-05 -4.14649815e+00] [-1.38176169e-03 3.69740795e-05 9.99999045e-01 -9.73486870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.860371743 meters 0.023051071021983473 Centerline is valid? [True, True] Translation: X:70.63, Y:-4.15, Z:-0.97 [[ 9.99610369e-01 2.77364372e-02 3.13045800e-03 7.06264191e+01] [-2.77360648e-02 9.99615268e-01 -1.62300984e-04 -4.14832654e+00] [-3.13375526e-03 7.54111603e-05 9.99995087e-01 -9.73102173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.920371743 meters 0.022613610542704908 Centerline is valid? [True, True] Translation: X:70.69, Y:-4.15, Z:-0.97 [[ 9.99549405e-01 2.97206118e-02 4.20394400e-03 7.06855125e+01] [-2.97199605e-02 9.99558241e-01 -2.17314318e-04 -4.15037661e+00] [-4.20854558e-03 9.22753473e-05 9.99991140e-01 -9.72318709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.980371743 meters 0.02234117688809561 Centerline is valid? [True, True] Translation: X:70.74, Y:-4.15, Z:-0.97 [[ 9.99561860e-01 2.92468983e-02 4.55046272e-03 7.07441644e+01] [-2.92461322e-02 9.99572213e-01 -2.34824386e-04 -4.15440311e+00] [-4.55538397e-03 1.01638066e-04 9.99989619e-01 -9.73191353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.040371743 meters 0.02328896700779357 Centerline is valid? [True, True] Translation: X:70.80, Y:-4.16, Z:-0.97 [[ 9.99667953e-01 2.52377627e-02 5.19993049e-03 7.08031930e+01] [-2.52367124e-02 9.99681468e-01 -2.67505131e-04 -4.16261346e+00] [-5.20502538e-03 1.36187157e-04 9.99986444e-01 -9.74751671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.100371743 meters 0.02420902199268907 Centerline is valid? [True, True] Translation: X:70.86, Y:-4.17, Z:-0.98 [[ 9.99798499e-01 1.95261091e-02 4.65744660e-03 7.08629804e+01] [-1.95252059e-02 9.99809336e-01 -2.39320677e-04 -4.17000573e+00] [-4.66123160e-03 1.48334850e-04 9.99989125e-01 -9.75596445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.160371743 meters 0.026887813996489845 Centerline is valid? [True, True] Translation: X:70.92, Y:-4.18, Z:-0.98 [[ 9.99867881e-01 1.57028557e-02 4.20013583e-03 7.09207572e+01] [-1.57020860e-02 9.99876691e-01 -2.16163107e-04 -4.17925920e+00] [-4.20301229e-03 1.50183653e-04 9.99991156e-01 -9.78206484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.220371743 meters 0.029470096646034297 Centerline is valid? [True, True] Translation: X:70.98, Y:-4.19, Z:-0.98 [[ 9.99934082e-01 1.04878462e-02 4.67297108e-03 7.09807722e+01] [-1.04868399e-02 9.99944983e-01 -2.39799015e-04 -4.18799447e+00] [-4.67522896e-03 1.90778508e-04 9.99989053e-01 -9.79865232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.280371743 meters 0.03126973104772124 Centerline is valid? [True, True] Translation: X:71.04, Y:-4.19, Z:-0.98 [[ 9.99957045e-01 8.00053219e-03 4.67974346e-03 7.10394469e+01] [-7.99949501e-03 9.99967975e-01 -2.40308121e-04 -4.19432673e+00] [-4.68151619e-03 2.02862214e-04 9.99989021e-01 -9.80480719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.340371743 meters 0.032724987713589136 Centerline is valid? [True, True] Translation: X:71.10, Y:-4.20, Z:-0.98 [[ 9.99957545e-01 6.89342482e-03 6.11464766e-03 7.10984598e+01] [-6.89163663e-03 9.99976203e-01 -3.13465742e-04 -4.19873340e+00] [-6.11666300e-03 2.71312504e-04 9.99981256e-01 -9.80602680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.400371743 meters 0.03200895008912873 Centerline is valid? [True, True] Translation: X:71.16, Y:-4.20, Z:-0.98 [[ 9.99940516e-01 7.54903780e-03 7.87247966e-03 7.11592689e+01] [-7.54610094e-03 9.99971447e-01 -4.02691471e-04 -4.19990614e+00] [-7.87529481e-03 3.43260991e-04 9.99968930e-01 -9.80143353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.460371743 meters 0.03307040590857682 Centerline is valid? [True, True] Translation: X:71.22, Y:-4.20, Z:-0.98 [[ 9.99931224e-01 8.65568767e-03 7.91370187e-03 7.12192031e+01] [-8.65275535e-03 9.99962482e-01 -4.04700727e-04 -4.20355469e+00] [-7.91690793e-03 3.36197567e-04 9.99968604e-01 -9.81477958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.520371743 meters 0.02847846031066353 Centerline is valid? [True, True] Translation: X:71.28, Y:-4.20, Z:-0.98 [[ 9.99935201e-01 9.42397446e-03 6.38609713e-03 7.12802447e+01] [-9.42207943e-03 9.99955558e-01 -3.26764126e-04 -4.19660403e+00] [-6.38889273e-03 2.66572638e-04 9.99979555e-01 -9.83008446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.580371743 meters 0.02844893340837518 Centerline is valid? [True, True] Translation: X:71.34, Y:-4.20, Z:-0.99 [[ 9.99937007e-01 9.92924334e-03 5.23376518e-03 7.13395752e+01] [-9.92797581e-03 9.99950680e-01 -2.68108514e-04 -4.19875032e+00] [-5.23616917e-03 2.16130931e-04 9.99986268e-01 -9.85700057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.640371743 meters 0.028722749465545094 Centerline is valid? [True, True] Translation: X:71.40, Y:-4.20, Z:-0.99 [[ 9.99916204e-01 1.18462676e-02 5.22021704e-03 7.13983697e+01] [-1.18450328e-02 9.99929809e-01 -2.67379768e-04 -4.19979207e+00] [-5.22301808e-03 2.05523720e-04 9.99986339e-01 -9.87959934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.700371743 meters 0.02841558848001167 Centerline is valid? [True, True] Translation: X:71.46, Y:-4.20, Z:-0.99 [[ 9.99873565e-01 1.47141155e-02 6.02901849e-03 7.14578275e+01] [-1.47125240e-02 9.99891717e-01 -3.08242489e-04 -4.19907323e+00] [-6.03290117e-03 2.19501437e-04 9.99981778e-01 -9.88136096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.760371743 meters 0.028066396612617454 Centerline is valid? [True, True] Translation: X:71.52, Y:-4.20, Z:-0.99 [[ 9.99853641e-01 1.56441502e-02 6.92514910e-03 7.15169745e+01] [-1.56420731e-02 9.99877593e-01 -3.53994909e-04 -4.19999092e+00] [-6.92983936e-03 2.45619410e-04 9.99975958e-01 -9.88686205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.820371743 meters 0.028054187079662143 Centerline is valid? [True, True] Translation: X:71.58, Y:-4.20, Z:-0.99 [[ 9.99814358e-01 1.73888581e-02 8.29920284e-03 7.15752628e+01] [-1.73859413e-02 9.99848763e-01 -4.23474403e-04 -4.20151677e+00] [-8.30531143e-03 2.79106334e-04 9.99965471e-01 -9.88496851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.880371743 meters 0.025460411345401154 Centerline is valid? [True, True] Translation: X:71.63, Y:-4.20, Z:-0.99 [[ 9.99801055e-01 1.71029642e-02 1.02635261e-02 7.16341227e+01] [-1.70984973e-02 9.99853673e-01 -5.22822304e-04 -4.19846670e+00] [-1.02709661e-02 3.47227418e-04 9.99947192e-01 -9.87953833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.940371743 meters 0.026777541836162398 Centerline is valid? [True, True] Translation: X:71.69, Y:-4.20, Z:-0.99 [[ 9.99872727e-01 1.32854658e-02 8.83319938e-03 7.16933592e+01] [-1.32820144e-02 9.99911689e-01 -4.49275282e-04 -4.20434262e+00] [-8.83838814e-03 3.31895420e-04 9.99960886e-01 -9.90480011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.000371743 meters 0.02766405623773271 Centerline is valid? [True, True] Translation: X:71.75, Y:-4.21, Z:-0.99 [[ 9.99914766e-01 1.02226017e-02 8.12150369e-03 7.17533378e+01] [-1.02195868e-02 9.99947694e-01 -4.12633694e-04 -4.20952682e+00] [-8.12529707e-03 3.29600111e-04 9.99966935e-01 -9.92522791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.060371743 meters 0.02863128144631963 Centerline is valid? [True, True] Translation: X:71.81, Y:-4.22, Z:-0.99 [[ 9.99950237e-01 6.85199770e-03 7.25078609e-03 7.18129093e+01] [-6.84950561e-03 9.99976474e-01 -3.68476285e-04 -4.21556253e+00] [-7.25314030e-03 3.18793648e-04 9.99973645e-01 -9.94417401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12037174299999 meters 0.02793234512691957 Centerline is valid? [True, True] Translation: X:71.87, Y:-4.22, Z:-1.00 [[ 9.99951624e-01 6.83511054e-03 7.07325188e-03 7.18731789e+01] [-6.83274030e-03 9.99976592e-01 -3.59210135e-04 -4.21640994e+00] [-7.07554155e-03 3.10863064e-04 9.99974920e-01 -9.95253370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.180371743 meters 0.02753457179253496 Centerline is valid? [True, True] Translation: X:71.93, Y:-4.22, Z:-1.00 [[ 9.99926673e-01 8.89580287e-03 8.21663879e-03 7.19334435e+01] [-8.89267381e-03 9.99960372e-01 -4.17276237e-04 -4.21770086e+00] [-8.22002519e-03 3.44177751e-04 9.99966156e-01 -9.95766318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.240371743 meters 0.027116511809605524 Centerline is valid? [True, True] Translation: X:71.99, Y:-4.22, Z:-1.00 [[ 9.99874007e-01 1.24182179e-02 9.88728622e-03 7.19937058e+01] [-1.24138567e-02 9.99922819e-01 -5.02342785e-04 -4.21847984e+00] [-9.89276131e-03 3.79540139e-04 9.99950993e-01 -9.95985622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.300371743 meters 0.026129276479664676 Centerline is valid? [True, True] Translation: X:72.05, Y:-4.22, Z:-1.00 [[ 9.99757157e-01 1.85016714e-02 1.19714087e-02 7.20534196e+01] [-1.84957234e-02 9.99828755e-01 -6.07383094e-04 -4.21760423e+00] [-1.19805963e-02 3.85815731e-04 9.99928156e-01 -9.96023394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.360371743 meters 0.023812211538381 Centerline is valid? [True, True] Translation: X:72.11, Y:-4.22, Z:-1.00 [[ 9.99673200e-01 2.24356884e-02 1.22529078e-02 7.21126306e+01] [-2.24297571e-02 9.99748228e-01 -6.21297153e-04 -4.21537504e+00] [-1.22637621e-02 3.46264367e-04 9.99924737e-01 -9.97045013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.420371743 meters 0.023670233793612914 Centerline is valid? [True, True] Translation: X:72.17, Y:-4.22, Z:-1.00 [[ 9.99674919e-01 2.28508153e-02 1.13091443e-02 7.21710995e+01] [-2.28457975e-02 9.99738837e-01 -5.72701235e-04 -4.21835379e+00] [-1.13192775e-02 3.14148640e-04 9.99935886e-01 -9.99490511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.480371743 meters 0.023953788887709142 Centerline is valid? [True, True] Translation: X:72.23, Y:-4.22, Z:-1.00 [[ 9.99730972e-01 2.12703271e-02 9.24971900e-03 7.22293420e+01] [-2.12669074e-02 9.99773724e-01 -4.67916675e-04 -4.22473093e+00] [-9.25757876e-03 2.71077874e-04 9.99957111e-01 -1.00307293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.540371743 meters 0.02470188759542024 Centerline is valid? [True, True] Translation: X:72.29, Y:-4.23, Z:-1.00 [[ 9.99778261e-01 1.91552627e-02 8.74671039e-03 7.22882281e+01] [-1.91521291e-02 9.99816484e-01 -4.41885378e-04 -4.23118160e+00] [-8.75356966e-03 2.74269268e-04 9.99961649e-01 -1.00495849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.600371743 meters 0.025462734125716507 Centerline is valid? [True, True] Translation: X:72.35, Y:-4.24, Z:-1.01 [[ 9.99832407e-01 1.50806703e-02 1.03793592e-02 7.23478914e+01] [-1.50760493e-02 9.99886213e-01 -5.23313037e-04 -4.23744595e+00] [-1.03860700e-02 3.66745602e-04 9.99945996e-01 -1.00503577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.660371743 meters 0.026398771005397472 Centerline is valid? [True, True] Translation: X:72.41, Y:-4.25, Z:-1.00 [[ 9.99839090e-01 1.20395347e-02 1.32982619e-02 7.24065752e+01] [-1.20316885e-02 9.99927392e-01 -6.69864488e-04 -4.24573581e+00] [-1.33053612e-02 5.09756155e-04 9.99911350e-01 -1.00432091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.720371743 meters 0.0273747342177745 Centerline is valid? [True, True] Translation: X:72.47, Y:-4.25, Z:-1.00 [[ 9.99857214e-01 9.56561695e-03 1.39301730e-02 7.24677155e+01] [-9.55677865e-03 9.99954087e-01 -7.00902085e-04 -4.25198243e+00] [-1.39362380e-02 5.67674426e-04 9.99902725e-01 -1.00479301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.780371743 meters 0.029014206734285668 Centerline is valid? [True, True] Translation: X:72.53, Y:-4.26, Z:-1.01 [[ 9.99901805e-01 4.02536131e-03 1.34229648e-02 7.25278122e+01] [-4.01665029e-03 9.99991705e-01 -6.75860194e-04 -4.25891705e+00] [-1.34255741e-02 6.21878473e-04 9.99909680e-01 -1.00561795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.840371743 meters 0.029281036185805253 Centerline is valid? [True, True] Translation: X:72.59, Y:-4.27, Z:-1.01 [[ 9.99922502e-01 -6.49036026e-04 1.24325583e-02 7.25885981e+01] [ 6.56869817e-04 9.99999588e-01 -6.26029780e-04 -4.26736230e+00] [-1.24321469e-02 6.34147836e-04 9.99922517e-01 -1.00915933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.900371743 meters 0.03004222559724819 Centerline is valid? [True, True] Translation: X:72.65, Y:-4.27, Z:-1.01 [[ 9.99932117e-01 -1.66767409e-03 1.15316745e-02 7.26505503e+01] [ 1.67447655e-03 9.99998430e-01 -5.80263390e-04 -4.27269533e+00] [-1.15306887e-02 5.99533519e-04 9.99933340e-01 -1.01214879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.960371743 meters 0.03010170849701399 Centerline is valid? [True, True] Translation: X:72.71, Y:-4.27, Z:-1.01 [[ 9.99947009e-01 -3.33395384e-04 1.02892031e-02 7.27123556e+01] [ 3.38770539e-04 9.99999807e-01 -5.20668877e-04 -4.27420825e+00] [-1.02890275e-02 5.24126965e-04 9.99946929e-01 -1.01419468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.020371743 meters 0.028888155113472452 Centerline is valid? [True, True] Translation: X:72.77, Y:-4.27, Z:-1.02 [[ 9.99937983e-01 2.71176488e-03 1.08017126e-02 7.27735850e+01] [-2.70600786e-03 9.99996189e-01 -5.47552275e-04 -4.27382627e+00] [-1.08031562e-02 5.18288799e-04 9.99941510e-01 -1.01501889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.080371743 meters 0.0275835310642617 Centerline is valid? [True, True] Translation: X:72.83, Y:-4.27, Z:-1.02 [[ 9.99889395e-01 8.62139644e-03 1.21189439e-02 7.28340951e+01] [-8.61457589e-03 9.99962705e-01 -6.14890941e-04 -4.27155834e+00] [-1.21237931e-02 5.10423370e-04 9.99926374e-01 -1.01554858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.140371743 meters 0.02532533418350583 Centerline is valid? [True, True] Translation: X:72.90, Y:-4.27, Z:-1.02 [[ 9.99836757e-01 1.34756611e-02 1.20359981e-02 7.28950311e+01] [-1.34692846e-02 9.99909099e-01 -6.10699951e-04 -4.26724550e+00] [-1.20431336e-02 4.48483975e-04 9.99927378e-01 -1.01616794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.200371743 meters 0.024620457936673158 Centerline is valid? [True, True] Translation: X:72.96, Y:-4.27, Z:-1.02 [[ 9.99813060e-01 1.59142854e-02 1.09809447e-02 7.29551621e+01] [-1.59091216e-02 9.99873287e-01 -5.57448734e-04 -4.26711862e+00] [-1.09884247e-02 3.82647338e-04 9.99939552e-01 -1.01860286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.260371743 meters 0.024145185535557574 Centerline is valid? [True, True] Translation: X:73.01, Y:-4.27, Z:-1.02 [[ 9.99746257e-01 2.03802272e-02 9.59522927e-03 7.30137560e+01] [-2.03764919e-02 9.99792259e-01 -4.86893653e-04 -4.26620581e+00] [-9.60315896e-03 2.91252995e-04 9.99953846e-01 -1.02129720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.320371743 meters 0.023337383415399447 Centerline is valid? [True, True] Translation: X:73.07, Y:-4.26, Z:-1.02 [[ 9.99670678e-01 2.39417880e-02 9.23726686e-03 7.30724612e+01] [-2.39384754e-02 9.99713324e-01 -4.69027274e-04 -4.26493745e+00] [-9.24584811e-03 2.47746727e-04 9.99957226e-01 -1.02243645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.380371743 meters 0.022107327078710996 Centerline is valid? [True, True] Translation: X:73.13, Y:-4.26, Z:-1.02 [[ 9.99544954e-01 2.88329766e-02 8.86249806e-03 7.31312264e+01] [-2.88301247e-02 9.99584225e-01 -4.49401210e-04 -4.26343699e+00] [-8.87177083e-03 1.93689787e-04 9.99960626e-01 -1.02404594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.440371743 meters 0.022036320465949437 Centerline is valid? [True, True] Translation: X:73.19, Y:-4.26, Z:-1.03 [[ 9.99455492e-01 3.17799324e-02 8.87445015e-03 7.31888652e+01] [-3.17771938e-02 9.99494876e-01 -4.49462019e-04 -4.26447969e+00] [-8.88425133e-03 1.67212161e-04 9.99960520e-01 -1.02544403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.500371743 meters 0.02198662652461869 Centerline is valid? [True, True] Translation: X:73.25, Y:-4.27, Z:-1.03 [[ 9.99439726e-01 3.22198689e-02 9.06170741e-03 7.32474365e+01] [-3.22170400e-02 9.99480791e-01 -4.58025266e-04 -4.26641924e+00] [-9.07176001e-03 1.65827257e-04 9.99958837e-01 -1.02667734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.560371743 meters 0.022267947738718135 Centerline is valid? [True, True] Translation: X:73.31, Y:-4.27, Z:-1.03 [[ 9.99508165e-01 3.00205353e-02 9.06623024e-03 7.33065613e+01] [-3.00176189e-02 9.99549265e-01 -4.57612241e-04 -4.26984773e+00] [-9.07588154e-03 1.85240527e-04 9.99958796e-01 -1.02783096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62037174299999 meters 0.022786326490597603 Centerline is valid? [True, True] Translation: X:73.37, Y:-4.27, Z:-1.03 [[ 9.99601764e-01 2.66949904e-02 9.14824671e-03 7.33653611e+01] [-2.66918879e-02 9.99643602e-01 -4.61088533e-04 -4.27484133e+00] [-9.15729504e-03 2.16720936e-04 9.99958048e-01 -1.02889551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.680371743 meters 0.02347205417037422 Centerline is valid? [True, True] Translation: X:73.42, Y:-4.28, Z:-1.03 [[ 9.99657097e-01 2.43664871e-02 9.58972573e-03 7.34237714e+01] [-2.43629779e-02 9.99703062e-01 -4.82601690e-04 -4.27963746e+00] [-9.59863748e-03 2.48801929e-04 9.99953901e-01 -1.03004902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.740371743 meters 0.02539811964536958 Centerline is valid? [True, True] Translation: X:73.48, Y:-4.29, Z:-1.03 [[ 9.99823270e-01 1.61491617e-02 9.62457021e-03 7.34835893e+01] [-1.61452556e-02 9.99869540e-01 -4.83414930e-04 -4.28834936e+00] [-9.63112134e-03 3.27938351e-04 9.99953566e-01 -1.03139076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.800371743 meters 0.02787408486880151 Centerline is valid? [True, True] Translation: X:73.54, Y:-4.30, Z:-1.03 [[ 9.99948173e-01 6.09361870e-03 8.15588216e-03 7.35437016e+01] [-6.09048120e-03 9.99981369e-01 -4.09473761e-04 -4.29758639e+00] [-8.15822539e-03 3.59779293e-04 9.99966656e-01 -1.03389214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.860371743 meters 0.03355068787271443 Centerline is valid? [True, True] Translation: X:73.60, Y:-4.31, Z:-1.04 [[ 9.99964402e-01 7.88229243e-04 8.40080354e-03 7.36023707e+01] [-7.84714819e-04 9.99999603e-01 -4.21631783e-04 -4.31009232e+00] [-8.40113255e-03 4.15024538e-04 9.99964624e-01 -1.03513130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.920371743 meters 0.032133794828120364 Centerline is valid? [True, True] Translation: X:73.66, Y:-4.31, Z:-1.03 [[ 9.99946442e-01 -4.06153504e-03 9.51928749e-03 7.36635846e+01] [ 4.06627002e-03 9.99991618e-01 -4.78108195e-04 -4.30974057e+00] [-9.51726585e-03 5.16790582e-04 9.99954576e-01 -1.03346555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.980371743 meters 0.03255736172695647 Centerline is valid? [True, True] Translation: X:73.73, Y:-4.31, Z:-1.03 [[ 9.99940916e-01 -5.96241444e-03 9.08921205e-03 7.37256300e+01] [ 5.96680906e-03 9.99982094e-01 -4.56457841e-04 -4.31269212e+00] [-9.08632771e-03 5.10664465e-04 9.99958588e-01 -1.03472445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.040371743 meters 0.03385239285383004 Centerline is valid? [True, True] Translation: X:73.79, Y:-4.32, Z:-1.04 [[ 9.99941955e-01 -7.96549341e-03 7.25521520e-03 7.37868662e+01] [ 7.96835009e-03 9.99968186e-01 -3.64919669e-04 -4.31576000e+00] [-7.25207761e-03 4.22710582e-04 9.99973614e-01 -1.03945608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.100371743 meters 0.03617086567706359 Centerline is valid? [True, True] Translation: X:73.85, Y:-4.32, Z:-1.04 [[ 9.99944907e-01 -8.53727157e-03 6.10712998e-03 7.38477065e+01] [ 8.53930630e-03 9.99963492e-01 -3.07173613e-04 -4.31793404e+00] [-6.10428459e-03 3.59307343e-04 9.99981304e-01 -1.04080270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.160371743 meters 0.03568707689291578 Centerline is valid? [True, True] Translation: X:73.91, Y:-4.32, Z:-1.04 [[ 9.99970139e-01 -6.22185025e-03 4.58360649e-03 7.39091798e+01] [ 6.22297320e-03 9.99980610e-01 -2.30771479e-04 -4.31923081e+00] [-4.58208179e-03 2.59288249e-04 9.99989469e-01 -1.04422291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.220371743 meters 0.03615425191685529 Centerline is valid? [True, True] Translation: X:73.97, Y:-4.32, Z:-1.04 [[ 9.99979084e-01 -3.76448412e-03 5.25921553e-03 7.39693838e+01] [ 3.76593082e-03 9.99992874e-01 -2.65202102e-04 -4.31948294e+00] [-5.25817970e-03 2.85002397e-04 9.99986135e-01 -1.04311221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.280371743 meters 0.035326989959495646 Centerline is valid? [True, True] Translation: X:74.03, Y:-4.32, Z:-1.04 [[ 9.99979694e-01 -2.88613460e-04 6.36623789e-03 7.40307174e+01] [ 2.90664110e-04 9.99999906e-01 -3.21190406e-04 -4.31679804e+00] [-6.36614459e-03 3.23034321e-04 9.99979684e-01 -1.04141036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.340371743 meters 0.029138879526740623 Centerline is valid? [True, True] Translation: X:74.09, Y:-4.31, Z:-1.04 [[ 9.99978169e-01 3.31477516e-03 5.71607813e-03 7.40919491e+01] [-3.31318037e-03 9.99994470e-01 -2.88447548e-04 -4.30804009e+00] [-5.71700266e-03 2.69502853e-04 9.99983621e-01 -1.04184231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.400371743 meters 0.032088374529843304 Centerline is valid? [True, True] Translation: X:74.15, Y:-4.31, Z:-1.04 [[ 9.99931030e-01 1.04166933e-02 5.42482180e-03 7.41509770e+01] [-1.04153590e-02 9.99945721e-01 -2.74145906e-04 -4.31340664e+00] [-5.42738304e-03 2.17625531e-04 9.99985248e-01 -1.04397131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.460371743 meters 0.026322581131394057 Centerline is valid? [True, True] Translation: X:74.21, Y:-4.30, Z:-1.04 [[ 9.99865322e-01 1.52908339e-02 5.96064267e-03 7.42118236e+01] [-1.52893103e-02 9.99883066e-01 -3.01095475e-04 -4.30333003e+00] [-5.96454967e-03 2.09920809e-04 9.99982190e-01 -1.04187581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.520371743 meters 0.024079200302119567 Centerline is valid? [True, True] Translation: X:74.27, Y:-4.30, Z:-1.04 [[ 9.99669932e-01 2.43605982e-02 8.16012138e-03 7.42727705e+01] [-2.43580472e-02 9.99703214e-01 -4.11872097e-04 -4.29928607e+00] [-8.16773302e-03 2.12971530e-04 9.99966621e-01 -1.04012325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.580371743 meters 0.022294756135020233 Centerline is valid? [True, True] Translation: X:74.33, Y:-4.30, Z:-1.04 [[ 9.99400862e-01 3.38169364e-02 7.37097423e-03 7.43334299e+01] [-3.38151113e-02 9.99428036e-01 -3.72122077e-04 -4.29568093e+00] [-7.37934233e-03 1.22648810e-04 9.99972765e-01 -1.04062683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.640371743 meters 0.02157956767396403 Centerline is valid? [True, True] Translation: X:74.39, Y:-4.29, Z:-1.04 [[ 9.99180979e-01 4.02166611e-02 4.47122735e-03 7.43923817e+01] [-4.02160512e-02 9.99190982e-01 -2.26255854e-04 -4.29463473e+00] [-4.47670930e-03 4.62554371e-05 9.99989978e-01 -1.04268254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.700371743 meters 0.02155419172733141 Centerline is valid? [True, True] Translation: X:74.45, Y:-4.30, Z:-1.04 [[ 9.99128766e-01 4.15394574e-02 4.02285826e-03 7.44511561e+01] [-4.15389752e-02 9.99136864e-01 -2.03374146e-04 -4.29886549e+00] [-4.02783404e-03 3.60915502e-05 9.99991888e-01 -1.04462805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.760371743 meters 0.02168127233528867 Centerline is valid? [True, True] Translation: X:74.51, Y:-4.31, Z:-1.05 [[ 9.99246750e-01 3.86119007e-02 3.87981036e-03 7.45098748e+01] [-3.86114311e-02 9.99254281e-01 -1.95907568e-04 -4.30735015e+00] [-3.88448147e-03 4.59549708e-05 9.99992454e-01 -1.04564207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.820371743 meters 0.02201377519711495 Centerline is valid? [True, True] Translation: X:74.57, Y:-4.32, Z:-1.05 [[ 9.99402436e-01 3.42463484e-02 4.68601184e-03 7.45679397e+01] [-3.42456178e-02 9.99413419e-01 -2.36080399e-04 -4.31587805e+00] [-4.69134801e-03 7.54639551e-05 9.99988993e-01 -1.04646452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.880371743 meters 0.023409027839825722 Centerline is valid? [True, True] Translation: X:74.63, Y:-4.33, Z:-1.05 [[ 9.99683073e-01 2.44257324e-02 6.09408898e-03 7.46270819e+01] [-2.44243214e-02 9.99701635e-01 -3.05867879e-04 -4.33006776e+00] [-6.09974176e-03 1.56926954e-04 9.99981384e-01 -1.04621724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.940371743 meters 0.024845446043456086 Centerline is valid? [True, True] Translation: X:74.69, Y:-4.34, Z:-1.05 [[ 9.99827810e-01 1.73381314e-02 6.61351393e-03 7.46866626e+01] [-1.73363156e-02 9.99849660e-01 -3.31796588e-04 -4.34275924e+00] [-6.61827238e-03 2.17085491e-04 9.99978075e-01 -1.04627719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.000371743 meters 0.02658597368588338 Centerline is valid? [True, True] Translation: X:74.75, Y:-4.36, Z:-1.05 [[ 9.99956089e-01 8.36931041e-03 4.21611078e-03 7.47465377e+01] [-8.36849325e-03 9.99964961e-01 -2.11421948e-04 -4.35681444e+00] [-4.21773251e-03 1.76130169e-04 9.99991090e-01 -1.04904917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.060371743 meters 0.028501063683637327 Centerline is valid? [True, True] Translation: X:74.81, Y:-4.37, Z:-1.05 [[ 9.99987560e-01 3.99098577e-03 2.99185652e-03 7.48058985e+01] [-3.99055432e-03 9.99992026e-01 -1.50165779e-04 -4.36992249e+00] [-2.99243198e-03 1.38224745e-04 9.99995513e-01 -1.05149178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12037174299999 meters 0.0293730928754783 Centerline is valid? [True, True] Translation: X:74.87, Y:-4.38, Z:-1.05 [[ 9.99991095e-01 3.23637724e-03 2.70848639e-03 7.48661846e+01] [-3.23602150e-03 9.99994755e-01 -1.35714247e-04 -4.37757999e+00] [-2.70891141e-03 1.26948318e-04 9.99996323e-01 -1.05262449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.180371743 meters 0.028997749425456874 Centerline is valid? [True, True] Translation: X:74.93, Y:-4.38, Z:-1.05 [[ 9.99989481e-01 4.14885518e-03 1.95598658e-03 7.49263665e+01] [-4.14867139e-03 9.99991389e-01 -9.80087056e-05 -4.38279184e+00] [-1.95637636e-03 8.98929290e-05 9.99998082e-01 -1.05300184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.240371743 meters 0.02836163548863705 Centerline is valid? [True, True] Translation: X:74.99, Y:-4.39, Z:-1.05 [[ 9.99988819e-01 4.22653972e-03 2.12080365e-03 7.49861957e+01] [-4.22632292e-03 9.99991063e-01 -1.06695942e-04 -4.38658325e+00] [-2.12123565e-03 9.77315476e-05 9.99997745e-01 -1.05320705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.300371743 meters 0.03119167301752252 Centerline is valid? [True, True] Translation: X:75.04, Y:-4.40, Z:-1.06 [[ 9.99992328e-01 3.36047127e-03 2.01261118e-03 7.50447273e+01] [-3.36027652e-03 9.99994349e-01 -1.00136415e-04 -4.39721124e+00] [-2.01293632e-03 9.33727169e-05 9.99997970e-01 -1.05519073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.360371743 meters 0.02913019407622845 Centerline is valid? [True, True] Translation: X:75.10, Y:-4.40, Z:-1.05 [[ 9.99996036e-01 2.15687967e-03 1.80973063e-03 7.51046705e+01] [-2.15671921e-03 9.99997670e-01 -9.06090066e-05 -4.39916877e+00] [-1.80992185e-03 8.67055666e-05 9.99998358e-01 -1.05419244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.420371743 meters 0.03364521574648496 Centerline is valid? [True, True] Translation: X:75.16, Y:-4.41, Z:-1.06 [[ 9.99994667e-01 2.09974788e-03 2.50123036e-03 7.51636823e+01] [-2.09944132e-03 9.99997788e-01 -1.25180106e-04 -4.41041130e+00] [-2.50148768e-03 1.19928252e-04 9.99996864e-01 -1.05609801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.480371743 meters 0.029764823289578014 Centerline is valid? [True, True] Translation: X:75.22, Y:-4.41, Z:-1.06 [[ 9.99994197e-01 3.08931778e-03 1.43580154e-03 7.52243223e+01] [-3.08921757e-03 9.99995226e-01 -7.20066934e-05 -4.40885398e+00] [-1.43601714e-03 6.75707722e-05 9.99998967e-01 -1.05608757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.540371743 meters 0.02886021019599494 Centerline is valid? [True, True] Translation: X:75.28, Y:-4.41, Z:-1.06 [[ 9.99992628e-01 3.68991819e-03 1.06240246e-03 7.52837897e+01] [-3.68986317e-03 9.99993191e-01 -5.37447084e-05 -4.41102630e+00] [-1.06259354e-03 4.98241925e-05 9.99999434e-01 -1.05668067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.600371743 meters 0.029319585335192716 Centerline is valid? [True, True] Translation: X:75.34, Y:-4.42, Z:-1.06 [[ 9.99987601e-01 4.93247034e-03 6.84340526e-04 7.53434116e+01] [-4.93244770e-03 9.99987835e-01 -3.47663385e-05 -4.41627200e+00] [-6.84503685e-04 3.13904336e-05 9.99999765e-01 -1.05734559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.660371743 meters 0.028095351734484138 Centerline is valid? [True, True] Translation: X:75.40, Y:-4.42, Z:-1.06 [[ 9.99975526e-01 6.93866083e-03 8.95775235e-04 7.54028297e+01] [-6.93862300e-03 9.99975926e-01 -4.53300965e-05 -4.41883512e+00] [-8.96068201e-04 3.91135404e-05 9.99999598e-01 -1.05759726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.720371743 meters 0.027301623493617644 Centerline is valid? [True, True] Translation: X:75.46, Y:-4.42, Z:-1.06 [[ 9.99956446e-01 9.24894863e-03 1.25052388e-03 7.54618900e+01] [-9.24887643e-03 9.99957226e-01 -6.35013923e-05 -4.42082768e+00] [-1.25105771e-03 5.19326857e-05 9.99999216e-01 -1.05726207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.780371743 meters 0.026915817918808104 Centerline is valid? [True, True] Translation: X:75.52, Y:-4.43, Z:-1.06 [[ 9.99912625e-01 1.29578662e-02 2.61451346e-03 7.55212072e+01] [-1.29575678e-02 9.99916039e-01 -1.31056998e-04 -4.42575474e+00] [-2.61599217e-03 9.71678114e-05 9.99996574e-01 -1.05756617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.840371743 meters 0.025577241101001954 Centerline is valid? [True, True] Translation: X:75.58, Y:-4.43, Z:-1.06 [[ 9.99884217e-01 1.50057288e-02 2.52588291e-03 7.55798818e+01] [-1.50054559e-02 9.99887404e-01 -1.26967365e-04 -4.42800248e+00] [-2.52750375e-03 8.90506401e-05 9.99996802e-01 -1.05838855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.900371743 meters 0.025533950871156345 Centerline is valid? [True, True] Translation: X:75.64, Y:-4.43, Z:-1.06 [[ 9.99853076e-01 1.70309495e-02 1.94245813e-03 7.56380430e+01] [-1.70307918e-02 9.99854961e-01 -9.77146433e-05 -4.43360495e+00] [-1.94384057e-03 6.46186868e-05 9.99998109e-01 -1.06033082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.960371743 meters 0.024049549002558204 Centerline is valid? [True, True] Translation: X:75.70, Y:-4.44, Z:-1.06 [[ 9.99821409e-01 1.86687007e-02 2.93778372e-03 7.56968654e+01] [-1.86683490e-02 9.99825720e-01 -1.47095456e-04 -4.43643413e+00] [-2.94001780e-03 9.22256139e-05 9.99995674e-01 -1.06018547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.020371743 meters 0.02425068204284629 Centerline is valid? [True, True] Translation: X:75.76, Y:-4.44, Z:-1.06 [[ 9.99818009e-01 1.86345541e-02 4.08675791e-03 7.57554231e+01] [-1.86338761e-02 9.99826353e-01 -2.03914237e-04 -4.44281874e+00] [-4.08984811e-03 1.27724986e-04 9.99991628e-01 -1.06082120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.080371743 meters 0.024780636138466677 Centerline is valid? [True, True] Translation: X:75.81, Y:-4.45, Z:-1.06 [[ 9.99834031e-01 1.77323331e-02 4.18036538e-03 7.58126657e+01] [-1.77316165e-02 9.99842761e-01 -2.08422647e-04 -4.45159752e+00] [-4.18340389e-03 1.34263419e-04 9.99991241e-01 -1.06270926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.140371743 meters 0.026152337336089276 Centerline is valid? [True, True] Translation: X:75.87, Y:-4.46, Z:-1.07 [[ 9.99896494e-01 1.39658264e-02 3.45801415e-03 7.58702129e+01] [-1.39653155e-02 9.99902465e-01 -1.71867804e-04 -4.46178741e+00] [-3.46007715e-03 1.23557756e-04 9.99994006e-01 -1.06501983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.200371743 meters 0.026213205901882152 Centerline is valid? [True, True] Translation: X:75.93, Y:-4.47, Z:-1.07 [[ 9.99940814e-01 1.02047061e-02 3.77260275e-03 7.59298567e+01] [-1.02040725e-02 9.99947920e-01 -1.87150511e-04 -4.46861546e+00] [-3.77431609e-03 1.48643522e-04 9.99992866e-01 -1.06561481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.260371743 meters 0.02819719211448098 Centerline is valid? [True, True] Translation: X:75.99, Y:-4.48, Z:-1.07 [[ 9.99978773e-01 4.33647392e-03 4.86292787e-03 7.59900482e+01] [-4.33535510e-03 9.99990573e-01 -2.40590118e-04 -4.47890564e+00] [-4.86392534e-03 2.19502492e-04 9.99988147e-01 -1.06557391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.320371743 meters 0.029247133745430004 Centerline is valid? [True, True] Translation: X:76.05, Y:-4.48, Z:-1.07 [[ 9.99981754e-01 3.38617042e-04 6.03127669e-03 7.60510486e+01] [-3.36824268e-04 9.99999899e-01 -2.98259395e-04 -4.48479393e+00] [-6.03137708e-03 2.96222473e-04 9.99981767e-01 -1.06529133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.380371743 meters 0.030277874062383265 Centerline is valid? [True, True] Translation: X:76.11, Y:-4.49, Z:-1.07 [[ 9.99971643e-01 -3.96475443e-03 6.40259532e-03 7.61118988e+01] [ 3.96686355e-03 9.99992082e-01 -3.16750955e-04 -4.49242510e+00] [-6.40128879e-03 3.42140195e-04 9.99979453e-01 -1.06631925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.440371743 meters 0.031734739299398566 Centerline is valid? [True, True] Translation: X:76.17, Y:-4.50, Z:-1.07 [[ 9.99966841e-01 -5.05921129e-03 6.38138236e-03 7.61725146e+01] [ 5.06132422e-03 9.99987142e-01 -3.15003904e-04 -4.49781180e+00] [-6.37970664e-03 3.47291704e-04 9.99979589e-01 -1.06769278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.500371743 meters 0.02894288910829545 Centerline is valid? [True, True] Translation: X:76.24, Y:-4.49, Z:-1.07 [[ 9.99974205e-01 -3.70766860e-03 6.15162557e-03 7.62351376e+01] [ 3.70961338e-03 9.99993073e-01 -3.04760526e-04 -4.49465809e+00] [-6.15045301e-03 3.27572817e-04 9.99981032e-01 -1.06788340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.560371743 meters 0.027350074581524254 Centerline is valid? [True, True] Translation: X:76.30, Y:-4.49, Z:-1.07 [[ 9.99984605e-01 -6.68994804e-04 5.50833211e-03 7.62965347e+01] [ 6.70511465e-04 9.99999738e-01 -2.73497162e-04 -4.49175903e+00] [-5.50814770e-03 2.77186352e-04 9.99984792e-01 -1.06967188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62037174299999 meters 0.027832490136796107 Centerline is valid? [True, True] Translation: X:76.36, Y:-4.49, Z:-1.07 [[ 9.99979152e-01 2.09670175e-03 6.10728615e-03 7.63573857e+01] [-2.09488699e-03 9.99997760e-01 -3.03528198e-04 -4.49352902e+00] [-6.10790887e-03 2.90727796e-04 9.99981304e-01 -1.07084412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.680371743 meters 0.028621881443348728 Centerline is valid? [True, True] Translation: X:76.42, Y:-4.49, Z:-1.07 [[ 9.99976344e-01 4.12531539e-03 5.50393865e-03 7.64177998e+01] [-4.12387042e-03 9.99991459e-01 -2.73856418e-04 -4.49293171e+00] [-5.50502139e-03 2.51152410e-04 9.99984816e-01 -1.07159249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.740371743 meters 0.027352410142864204 Centerline is valid? [True, True] Translation: X:76.48, Y:-4.49, Z:-1.07 [[ 9.99977217e-01 4.19727980e-03 5.28670683e-03 7.64794705e+01] [-4.19594805e-03 9.99991162e-01 -2.62971502e-04 -4.49073772e+00] [-5.28776387e-03 2.40782763e-04 9.99985991e-01 -1.07234930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.800371743 meters 0.02764022255276049 Centerline is valid? [True, True] Translation: X:76.54, Y:-4.49, Z:-1.07 [[ 9.99979766e-01 3.77852684e-03 5.11764459e-03 7.65407786e+01] [-3.77727257e-03 9.99992834e-01 -2.54731070e-04 -4.49142563e+00] [-5.11857042e-03 2.35395177e-04 9.99986872e-01 -1.07320677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.860371743 meters 0.02746470040611232 Centerline is valid? [True, True] Translation: X:76.60, Y:-4.49, Z:-1.07 [[ 9.99988859e-01 2.58249866e-03 3.95137832e-03 7.66021576e+01] [-2.58174152e-03 9.99996648e-01 -1.96702778e-04 -4.48886567e+00] [-3.95187306e-03 1.86499149e-04 9.99992174e-01 -1.07395590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.920371743 meters 0.028335799215569158 Centerline is valid? [True, True] Translation: X:76.66, Y:-4.49, Z:-1.08 [[ 9.99990508e-01 2.99650580e-03 3.16294350e-03 7.66634283e+01] [-2.99602267e-03 9.99995500e-01 -1.57472445e-04 -4.49041703e+00] [-3.16340113e-03 1.47994700e-04 9.99994985e-01 -1.07551316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.980371743 meters 0.028189980713581628 Centerline is valid? [True, True] Translation: X:76.72, Y:-4.49, Z:-1.08 [[ 9.99986330e-01 3.73738031e-03 3.65676400e-03 7.67246473e+01] [-3.73673804e-03 9.99993002e-01 -1.82455251e-04 -4.48862099e+00] [-3.65742031e-03 1.68788388e-04 9.99993297e-01 -1.07544540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.040371743 meters 0.027497057016163798 Centerline is valid? [True, True] Translation: X:76.79, Y:-4.49, Z:-1.07 [[ 9.99971655e-01 5.79409236e-03 4.80804387e-03 7.67860283e+01] [-5.79300493e-03 9.99983192e-01 -2.40064391e-04 -4.48518611e+00] [-4.80935401e-03 2.12204565e-04 9.99988412e-01 -1.07452375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.100371743 meters 0.027647066734408806 Centerline is valid? [True, True] Translation: X:76.85, Y:-4.49, Z:-1.08 [[ 9.99959830e-01 7.08800783e-03 5.48627813e-03 7.68464492e+01] [-7.08660981e-03 9.99974852e-01 -2.74218629e-04 -4.48598211e+00] [-5.48808382e-03 2.35328501e-04 9.99984913e-01 -1.07558106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.160371743 meters 0.02766087868052572 Centerline is valid? [True, True] Translation: X:76.91, Y:-4.49, Z:-1.08 [[ 9.99952230e-01 8.44615247e-03 4.91930249e-03 7.69069592e+01] [-8.44504488e-03 9.99964310e-01 -2.45879694e-04 -4.48551630e+00] [-4.92120366e-03 2.04324218e-04 9.99987870e-01 -1.07703414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.220371743 meters 0.027936965477471685 Centerline is valid? [True, True] Translation: X:76.97, Y:-4.49, Z:-1.08 [[ 9.99947319e-01 9.53526142e-03 3.79984760e-03 7.69664055e+01] [-9.53460707e-03 9.99954526e-01 -1.90283548e-04 -4.48598694e+00] [-3.80148921e-03 1.54043470e-04 9.99992762e-01 -1.07873691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.280371743 meters 0.026739090607292522 Centerline is valid? [True, True] Translation: X:77.02, Y:-4.49, Z:-1.08 [[ 9.99947075e-01 9.79838357e-03 3.13668287e-03 7.70249720e+01] [-9.79793778e-03 9.99951987e-01 -1.57454797e-04 -4.48514195e+00] [-3.13807507e-03 1.26713440e-04 9.99995068e-01 -1.07991232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.340371743 meters 0.026518533896805124 Centerline is valid? [True, True] Translation: X:77.08, Y:-4.49, Z:-1.08 [[ 9.99935133e-01 1.07430897e-02 3.78353781e-03 7.70836558e+01] [-1.07424496e-02 9.99942280e-01 -1.89440126e-04 -4.48574719e+00] [-3.78535460e-03 1.48783373e-04 9.99992824e-01 -1.08104668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.400371743 meters 0.026607093424366096 Centerline is valid? [True, True] Translation: X:77.14, Y:-4.49, Z:-1.08 [[ 9.99930529e-01 1.07947997e-02 4.73388727e-03 7.71428456e+01] [-1.07938012e-02 9.99941717e-01 -2.36430975e-04 -4.48713459e+00] [-4.73616360e-03 1.85317912e-04 9.99988767e-01 -1.08117018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.460371743 meters 0.028132184931239333 Centerline is valid? [True, True] Translation: X:77.20, Y:-4.49, Z:-1.08 [[ 9.99925573e-01 1.06890993e-02 5.88144890e-03 7.72007663e+01] [-1.06875592e-02 9.99942843e-01 -2.93216174e-04 -4.49118501e+00] [-5.88424695e-03 2.30336017e-04 9.99982661e-01 -1.08193647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.520371743 meters 0.026816678263972958 Centerline is valid? [True, True] Translation: X:77.26, Y:-4.49, Z:-1.08 [[ 9.99934787e-01 9.65696931e-03 6.09623917e-03 7.72600377e+01] [-9.65529992e-03 9.99953341e-01 -3.03212180e-04 -4.49115417e+00] [-6.09888283e-03 2.44331389e-04 9.99981372e-01 -1.08208984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.580371743 meters 0.02903837436118782 Centerline is valid? [True, True] Translation: X:77.32, Y:-4.50, Z:-1.08 [[ 9.99958926e-01 7.72154672e-03 4.74596595e-03 7.73189465e+01] [-7.72051886e-03 9.99970169e-01 -2.34857868e-04 -4.49732608e+00] [-4.74763784e-03 1.98206902e-04 9.99988710e-01 -1.08392245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.640371743 meters 0.030307611653344068 Centerline is valid? [True, True] Translation: X:77.38, Y:-4.50, Z:-1.09 [[ 9.99969982e-01 6.88049735e-03 3.56282487e-03 7.73783063e+01] [-6.87991134e-03 9.99976318e-01 -1.76708969e-04 -4.50119113e+00] [-3.56395634e-03 1.52191746e-04 9.99993638e-01 -1.08648741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.700371743 meters 0.027806637800280563 Centerline is valid? [True, True] Translation: X:77.44, Y:-4.50, Z:-1.09 [[ 9.99959269e-01 8.51491601e-03 2.99277998e-03 7.74380429e+01] [-8.51450842e-03 9.99963740e-01 -1.48905979e-04 -4.49876217e+00] [-2.99393938e-03 1.23417864e-04 9.99995511e-01 -1.08720632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.760371743 meters 0.025518937851972196 Centerline is valid? [True, True] Translation: X:77.50, Y:-4.50, Z:-1.09 [[ 9.99899745e-01 1.36731926e-02 3.68031531e-03 7.74979113e+01] [-1.36726119e-02 9.99906509e-01 -1.82875366e-04 -4.49522182e+00] [-3.68247172e-03 1.32537509e-04 9.99993211e-01 -1.08665398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.820371743 meters 0.02453711950786132 Centerline is valid? [True, True] Translation: X:77.56, Y:-4.49, Z:-1.09 [[ 9.99803342e-01 1.92609762e-02 4.72148641e-03 7.75580908e+01] [-1.92600852e-02 9.99814480e-01 -2.34126305e-04 -4.49456037e+00] [-4.72511998e-03 1.43144032e-04 9.99988826e-01 -1.08664771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.880371743 meters 0.02216997615670739 Centerline is valid? [True, True] Translation: X:77.62, Y:-4.49, Z:-1.09 [[ 9.99548265e-01 2.95815927e-02 5.30995673e-03 7.76186115e+01] [-2.95806124e-02 9.99562363e-01 -2.63058706e-04 -4.48836608e+00] [-5.31541459e-03 1.05868101e-04 9.99985867e-01 -1.08697397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.940371743 meters 0.020622281962143215 Centerline is valid? [True, True] Translation: X:77.68, Y:-4.48, Z:-1.09 [[ 9.99175194e-01 4.02480322e-02 5.38777300e-03 7.76786215e+01] [-4.02471766e-02 9.99189718e-01 -2.67172365e-04 -4.48309027e+00] [-5.39416055e-03 5.01093485e-05 9.99985450e-01 -1.08798277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.000371743 meters 0.02053334619911325 Centerline is valid? [True, True] Translation: X:77.74, Y:-4.48, Z:-1.09 [[ 9.98932632e-01 4.58689852e-02 5.44366119e-03 7.77375259e+01] [-4.58681947e-02 9.98947464e-01 -2.70042758e-04 -4.48216631e+00] [-5.45031813e-03 2.00636117e-05 9.99985147e-01 -1.08978975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.060371743 meters 0.02049520385420174 Centerline is valid? [True, True] Translation: X:77.80, Y:-4.48, Z:-1.09 [[ 9.98700937e-01 5.06049114e-02 5.96497735e-03 7.77953409e+01] [-5.06040397e-02 9.98718751e-01 -2.97078924e-04 -4.48228723e+00] [-5.97236838e-03 -5.15895082e-06 9.99982165e-01 -1.09139281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12037174299999 meters 0.02039137665022001 Centerline is valid? [True, True] Translation: X:77.85, Y:-4.49, Z:-1.09 [[ 9.98738673e-01 4.97944266e-02 6.44806187e-03 7.78538945e+01] [-4.97934150e-02 9.98759488e-01 -3.17421524e-04 -4.48841603e+00] [-6.45586880e-03 -4.04986924e-06 9.99979161e-01 -1.09235826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.180371743 meters 0.020486610703665774 Centerline is valid? [True, True] Translation: X:77.91, Y:-4.50, Z:-1.09 [[ 9.98926550e-01 4.57983294e-02 6.94694725e-03 7.79110743e+01] [-4.57970608e-02 9.98950706e-01 -3.41654642e-04 -4.49621652e+00] [-6.95530507e-03 2.31381267e-05 9.99975811e-01 -1.09333744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.240371743 meters 0.02092978631683787 Centerline is valid? [True, True] Translation: X:77.97, Y:-4.51, Z:-1.09 [[ 9.99281331e-01 3.72723815e-02 6.89860398e-03 7.79689619e+01] [-3.72709340e-02 9.99305140e-01 -3.38301771e-04 -4.50908617e+00] [-6.90641973e-03 8.09412297e-05 9.99976147e-01 -1.09419030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.300371743 meters 0.02208180783314077 Centerline is valid? [True, True] Translation: X:78.03, Y:-4.52, Z:-1.10 [[ 9.99504487e-01 3.07971256e-02 6.50512877e-03 7.80265511e+01] [-3.07957041e-02 9.99525649e-01 -3.18594938e-04 -4.51971103e+00] [-6.51185487e-03 1.18107049e-04 9.99978791e-01 -1.09520676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.360371743 meters 0.023208614897088472 Centerline is valid? [True, True] Translation: X:78.09, Y:-4.53, Z:-1.10 [[ 9.99730483e-01 2.19813125e-02 7.46879431e-03 7.80858327e+01] [-2.19792002e-02 9.99758362e-01 -3.64787364e-04 -4.53171256e+00] [-7.47500807e-03 2.00530922e-04 9.99972042e-01 -1.09556140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.420371743 meters 0.023907104104251252 Centerline is valid? [True, True] Translation: X:78.15, Y:-4.54, Z:-1.10 [[ 9.99814574e-01 1.75781345e-02 7.86298573e-03 7.81451793e+01] [-1.75756577e-02 9.99845462e-01 -3.83999558e-04 -4.53990360e+00] [-7.86852060e-03 2.45731209e-04 9.99969013e-01 -1.09653996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.480371743 meters 0.026174876236251764 Centerline is valid? [True, True] Translation: X:78.20, Y:-4.55, Z:-1.10 [[ 9.99889530e-01 1.25312291e-02 7.99356261e-03 7.82037132e+01] [-1.25285106e-02 9.99921439e-01 -3.90072781e-04 -4.55205004e+00] [-7.99782272e-03 2.89882256e-04 9.99967975e-01 -1.09744604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.540371743 meters 0.026870437351303907 Centerline is valid? [True, True] Translation: X:78.26, Y:-4.56, Z:-1.10 [[ 9.99940790e-01 7.45457724e-03 7.92756087e-03 7.82633393e+01] [-7.45174723e-03 9.99972161e-01 -3.86462316e-04 -4.56066992e+00] [-7.93022108e-03 3.27365254e-04 9.99968502e-01 -1.09831287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.600371743 meters 0.02767584561905224 Centerline is valid? [True, True] Translation: X:78.32, Y:-4.57, Z:-1.10 [[ 9.99974246e-01 3.53514888e-03 6.24575460e-03 7.83236037e+01] [-3.53331944e-03 9.99993712e-01 -3.03918984e-04 -4.56844459e+00] [-6.24678973e-03 2.81842911e-04 9.99980449e-01 -1.10075368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.660371743 meters 0.02891246593517389 Centerline is valid? [True, True] Translation: X:78.38, Y:-4.58, Z:-1.10 [[ 9.99984565e-01 1.76650170e-03 5.26767916e-03 7.83847690e+01] [-1.76517468e-03 9.99998409e-01 -2.56555048e-04 -4.57553511e+00] [-5.26812398e-03 2.47252714e-04 9.99986093e-01 -1.10258778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.720371743 meters 0.03156806044585222 Centerline is valid? [True, True] Translation: X:78.44, Y:-4.58, Z:-1.11 [[ 9.99988382e-01 -9.09223882e-04 4.73377575e-03 7.84444920e+01] [ 9.10326802e-04 9.99999559e-01 -2.30840233e-04 -4.58493059e+00] [-4.73356377e-03 2.35146834e-04 9.99988769e-01 -1.10500218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.780371743 meters 0.0330275445349897 Centerline is valid? [True, True] Translation: X:78.51, Y:-4.59, Z:-1.11 [[ 9.99986933e-01 -2.52464984e-03 4.44523230e-03 7.85062689e+01] [ 2.52563642e-03 9.99996787e-01 -2.16342008e-04 -4.59111832e+00] [-4.44467183e-03 2.27566221e-04 9.99990097e-01 -1.10594673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.840371743 meters 0.03206131767383626 Centerline is valid? [True, True] Translation: X:78.57, Y:-4.59, Z:-1.11 [[ 9.99979310e-01 -5.06466335e-03 3.96587915e-03 7.85668952e+01] [ 5.06547126e-03 9.99987152e-01 -1.93695861e-04 -4.59372529e+00] [-3.96484719e-03 2.13780900e-04 9.99992117e-01 -1.10585428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.900371743 meters 0.03715555082213036 Centerline is valid? [True, True] Translation: X:78.63, Y:-4.61, Z:-1.11 [[ 9.99961752e-01 -7.74940334e-03 4.05473984e-03 7.86260504e+01] [ 7.75027089e-03 9.99969947e-01 -1.98290428e-04 -4.60532063e+00] [-4.05308135e-03 2.29708176e-04 9.99991760e-01 -1.10797956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.960371743 meters 0.034187514944160946 Centerline is valid? [True, True] Translation: X:78.69, Y:-4.60, Z:-1.11 [[ 9.99946091e-01 -9.55820551e-03 4.05666728e-03 7.86878731e+01] [ 9.55908656e-03 9.99954291e-01 -1.97849927e-04 -4.60496328e+00] [-4.05459077e-03 2.36617295e-04 9.99991752e-01 -1.10795239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.020371743 meters 0.03230945591289567 Centerline is valid? [True, True] Translation: X:78.75, Y:-4.61, Z:-1.11 [[ 9.99941717e-01 -1.03077681e-02 3.21127852e-03 7.87500235e+01] [ 1.03083234e-02 9.99946856e-01 -1.56422737e-04 -4.60688867e+00] [-3.20949549e-03 1.89516518e-04 9.99994832e-01 -1.10915745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.080371743 meters 0.0326327934616452 Centerline is valid? [True, True] Translation: X:78.81, Y:-4.61, Z:-1.11 [[ 9.99954402e-01 -9.32447162e-03 2.06112019e-03 7.88125139e+01] [ 9.32469743e-03 9.99956519e-01 -9.99748175e-05 -4.61103211e+00] [-2.06009836e-03 1.19189581e-04 9.99997871e-01 -1.11082980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.140371743 meters 0.03249390603925042 Centerline is valid? [True, True] Translation: X:78.87, Y:-4.61, Z:-1.11 [[ 9.99982388e-01 -5.47270988e-03 2.29615720e-03 7.88726980e+01] [ 5.47298325e-03 9.99985017e-01 -1.12788797e-04 -4.61338130e+00] [-2.29550554e-03 1.25353640e-04 9.99997357e-01 -1.11205909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.200371743 meters 0.029348602575308823 Centerline is valid? [True, True] Translation: X:78.93, Y:-4.61, Z:-1.11 [[ 9.99995232e-01 1.03492453e-03 2.90929588e-03 7.89336639e+01] [-1.03451312e-03 9.99999455e-01 -1.42911584e-04 -4.61036875e+00] [-2.90944219e-03 1.39901198e-04 9.99995758e-01 -1.11208943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.260371743 meters 0.027827158232616823 Centerline is valid? [True, True] Translation: X:78.99, Y:-4.61, Z:-1.11 [[ 9.99980871e-01 5.61649318e-03 2.59106838e-03 7.89944469e+01] [-5.61618265e-03 9.99984221e-01 -1.27103764e-04 -4.60857345e+00] [-2.59174137e-03 1.12549419e-04 9.99996635e-01 -1.11298297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.320371743 meters 0.026482933538128816 Centerline is valid? [True, True] Translation: X:79.05, Y:-4.61, Z:-1.11 [[ 9.99944411e-01 1.01535870e-02 2.84248162e-03 7.90541977e+01] [-1.01532298e-02 9.99948445e-01 -1.40068577e-04 -4.60794602e+00] [-2.84375727e-03 1.11200422e-04 9.99995950e-01 -1.11339137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.380371743 meters 0.02659665731222652 Centerline is valid? [True, True] Translation: X:79.11, Y:-4.61, Z:-1.11 [[ 9.99937822e-01 1.06989614e-02 3.14395533e-03 7.91126222e+01] [-1.06985264e-02 9.99942757e-01 -1.55137837e-04 -4.61122637e+00] [-3.14543518e-03 1.21492501e-04 9.99995046e-01 -1.11435695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.440371743 meters 0.02601543831614913 Centerline is valid? [True, True] Translation: X:79.17, Y:-4.61, Z:-1.12 [[ 9.99944320e-01 1.03130981e-02 2.23520345e-03 7.91715372e+01] [-1.03128770e-02 9.99946815e-01 -1.10437786e-04 -4.61296455e+00] [-2.23622352e-03 8.73802583e-05 9.99997496e-01 -1.11509629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.500371743 meters 0.02605932918904274 Centerline is valid? [True, True] Translation: X:79.23, Y:-4.62, Z:-1.12 [[ 9.99962650e-01 8.48693562e-03 1.63431570e-03 7.92300223e+01] [-8.48681469e-03 9.99963983e-01 -8.09135995e-05 -4.61566452e+00] [-1.63494354e-03 6.70404429e-05 9.99998661e-01 -1.11606281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.560371743 meters 0.030137117783423213 Centerline is valid? [True, True] Translation: X:79.29, Y:-4.63, Z:-1.12 [[ 9.99976210e-01 6.85407859e-03 7.74812164e-04 7.92878687e+01] [-6.85405116e-03 9.99976510e-01 -3.80563158e-05 -4.62570027e+00] [-7.75054805e-04 3.27448082e-05 9.99999699e-01 -1.11886262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62037174299999 meters 0.027186907213975937 Centerline is valid? [True, True] Translation: X:79.35, Y:-4.62, Z:-1.12 [[ 9.99980566e-01 6.22282167e-03 -3.79964303e-04 7.93465549e+01] [-6.22281545e-03 9.99980638e-01 1.75315040e-05 -4.62246738e+00] [ 3.80066042e-04 -1.51667156e-05 9.99999928e-01 -1.11826121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.680371743 meters 0.027104610234877643 Centerline is valid? [True, True] Translation: X:79.41, Y:-4.62, Z:-1.12 [[ 9.99970787e-01 7.40920460e-03 -1.87867881e-03 7.94059519e+01] [-7.40904702e-03 9.99972549e-01 9.08210149e-05 -4.62110422e+00] [ 1.87930014e-03 -7.68991421e-05 9.99998231e-01 -1.11977132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.740371743 meters 0.025816157803520763 Centerline is valid? [True, True] Translation: X:79.47, Y:-4.62, Z:-1.12 [[ 9.99953752e-01 9.59792355e-03 -6.11773721e-04 7.94652607e+01] [-9.59790921e-03 9.99953939e-01 2.63671504e-05 -4.61844625e+00] [ 6.11998612e-04 -2.04941823e-05 9.99999813e-01 -1.11953522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.800371743 meters 0.02593332967652141 Centerline is valid? [True, True] Translation: X:79.52, Y:-4.62, Z:-1.12 [[ 9.99946626e-01 1.03119859e-02 6.38542618e-04 7.95241736e+01] [-1.03119676e-02 9.99946830e-01 -3.19350456e-05 -4.61931650e+00] [-6.38837981e-04 2.53487104e-05 9.99999796e-01 -1.11990055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.860371743 meters 0.026450719945288515 Centerline is valid? [True, True] Translation: X:79.58, Y:-4.62, Z:-1.12 [[ 9.99958537e-01 9.00558829e-03 1.35045517e-03 7.95833818e+01] [-9.00550692e-03 9.99959447e-01 -6.63191283e-05 -4.61920888e+00] [-1.35099765e-03 5.41548452e-05 9.99999086e-01 -1.12021531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.920371743 meters 0.027765503368374262 Centerline is valid? [True, True] Translation: X:79.64, Y:-4.62, Z:-1.12 [[ 9.99987979e-01 4.90213889e-03 1.07416676e-04 7.96435142e+01] [-4.90213833e-03 9.99987984e-01 -5.48920058e-06 -4.62199962e+00] [-1.07442294e-04 4.96256319e-06 9.99999994e-01 -1.12197400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.980371743 meters 0.030541650904900363 Centerline is valid? [True, True] Translation: X:79.70, Y:-4.63, Z:-1.12 [[ 9.99998064e-01 -8.74420588e-04 -1.76302931e-03 7.97040425e+01] [ 8.74572177e-04 9.99999614e-01 8.52129259e-05 -4.62755695e+00] [ 1.76295412e-03 -8.67546572e-05 9.99998442e-01 -1.12447974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.040371743 meters 0.030131985027594718 Centerline is valid? [True, True] Translation: X:79.76, Y:-4.63, Z:-1.12 [[ 9.99989287e-01 -4.15305889e-03 -2.04384226e-03 7.97643026e+01] [ 4.15326926e-03 9.99991370e-01 9.86939405e-05 -4.62796681e+00] [ 2.04341474e-03 -1.07181511e-04 9.99997906e-01 -1.12442899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.100371743 meters 0.03166516993193314 Centerline is valid? [True, True] Translation: X:79.83, Y:-4.63, Z:-1.12 [[ 9.99981679e-01 -5.84614653e-03 -1.56993006e-03 7.98257458e+01] [ 5.84627374e-03 9.99982907e-01 7.64509631e-05 -4.63026980e+00] [ 1.56945628e-03 -8.56278033e-05 9.99998765e-01 -1.12432380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.160371743 meters 0.03179557942618871 Centerline is valid? [True, True] Translation: X:79.89, Y:-4.63, Z:-1.12 [[ 9.99986249e-01 -5.23876338e-03 2.37532761e-04 7.98867825e+01] [ 5.23876614e-03 9.99986278e-01 -1.09937448e-05 -4.63134128e+00] [-2.37471908e-04 1.22379722e-05 9.99999972e-01 -1.12286058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.220371743 meters 0.031967334845201964 Centerline is valid? [True, True] Translation: X:79.95, Y:-4.63, Z:-1.12 [[ 9.99986144e-01 -5.07135014e-03 1.41167849e-03 7.99490657e+01] [ 5.07145038e-03 9.99987138e-01 -6.74368791e-05 -4.63249321e+00] [-1.41131834e-03 7.45952021e-05 9.99999001e-01 -1.12244680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.280371743 meters 0.03130888490887173 Centerline is valid? [True, True] Translation: X:80.01, Y:-4.63, Z:-1.12 [[ 9.99991374e-01 -3.95931258e-03 1.25501650e-03 8.00117895e+01] [ 3.95939090e-03 9.99992160e-01 -5.99281834e-05 -4.63080283e+00] [-1.25476939e-03 6.48967674e-05 9.99999211e-01 -1.12315588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.340371743 meters 0.030927520915716277 Centerline is valid? [True, True] Translation: X:80.07, Y:-4.63, Z:-1.12 [[ 9.99996865e-01 -2.37056961e-03 8.06572674e-04 8.00732074e+01] [ 2.37060158e-03 9.99997189e-01 -3.86880978e-05 -4.63105851e+00] [-8.06478694e-04 4.06000390e-05 9.99999674e-01 -1.12487484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.400371743 meters 0.030066282036333675 Centerline is valid? [True, True] Translation: X:80.14, Y:-4.63, Z:-1.13 [[ 9.99999410e-01 -3.94023104e-04 1.01262770e-03 8.01352825e+01] [ 3.94072417e-04 9.99999921e-01 -4.84990333e-05 -4.62928901e+00] [-1.01260851e-03 4.88980533e-05 9.99999486e-01 -1.12637489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.460371743 meters 0.029865897035042676 Centerline is valid? [True, True] Translation: X:80.20, Y:-4.63, Z:-1.13 [[ 9.99999932e-01 -3.65297335e-04 -4.23981869e-05 8.01962294e+01] [ 3.65297457e-04 9.99999933e-01 2.87659674e-06 -4.62824097e+00] [ 4.23971332e-05 -2.89208450e-06 9.99999999e-01 -1.12807088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.520371743 meters 0.030710761832962768 Centerline is valid? [True, True] Translation: X:80.26, Y:-4.63, Z:-1.13 [[ 9.99998987e-01 -1.42247868e-03 4.01354618e-05 8.02566213e+01] [ 1.42247876e-03 9.99998988e-01 -1.95451346e-06 -4.63071407e+00] [-4.01326410e-05 2.01160333e-06 9.99999999e-01 -1.12929811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.580371743 meters 0.03164893990123553 Centerline is valid? [True, True] Translation: X:80.32, Y:-4.63, Z:-1.13 [[ 9.99996128e-01 -2.78135007e-03 8.67982156e-05 8.03176324e+01] [ 2.78135040e-03 9.99996132e-01 -3.73350614e-06 -4.63244525e+00] [-8.67874958e-05 3.97490793e-06 9.99999996e-01 -1.13008284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.640371743 meters 0.03287279420566708 Centerline is valid? [True, True] Translation: X:80.38, Y:-4.64, Z:-1.13 [[ 9.99992892e-01 -3.74863454e-03 4.03694003e-04 8.03786494e+01] [ 3.74864158e-03 9.99992974e-01 -1.66756514e-05 -4.63505873e+00] [-4.03628656e-04 1.81888370e-05 9.99999918e-01 -1.13099499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.700371743 meters 0.030414810906863324 Centerline is valid? [True, True] Translation: X:80.44, Y:-4.63, Z:-1.13 [[ 9.99998332e-01 -1.81539658e-03 -2.00560974e-04 8.04402783e+01] [ 1.81539869e-03 9.99998352e-01 1.03299316e-05 -4.63156804e+00] [ 2.00541891e-04 -1.06940125e-05 9.99999980e-01 -1.13150401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.760371743 meters 0.03233869943159568 Centerline is valid? [True, True] Translation: X:80.50, Y:-4.64, Z:-1.13 [[ 9.99999927e-01 2.65210464e-04 -2.75071194e-04 8.05001967e+01] [-2.65206698e-04 9.99999965e-01 1.37268198e-05 -4.63619547e+00] [ 2.75074825e-04 -1.36538680e-05 9.99999962e-01 -1.13316594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.820371743 meters 0.03276432079869067 Centerline is valid? [True, True] Translation: X:80.56, Y:-4.64, Z:-1.13 [[ 9.99999196e-01 1.22502054e-03 3.28024039e-04 8.05600390e+01] [-1.22501526e-03 9.99999250e-01 -1.63074561e-05 -4.63789170e+00] [-3.28043770e-04 1.59056085e-05 9.99999946e-01 -1.13362203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.880371743 meters 0.03479500397495996 Centerline is valid? [True, True] Translation: X:80.62, Y:-4.64, Z:-1.14 [[ 9.99999229e-01 1.17632116e-03 -3.98627941e-04 8.06191399e+01] [-1.17631340e-03 9.99999308e-01 1.96949563e-05 -4.64404670e+00] [ 3.98650833e-04 -1.92260297e-05 9.99999920e-01 -1.13638830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.940371743 meters 0.029545001646044698 Centerline is valid? [True, True] Translation: X:80.68, Y:-4.64, Z:-1.13 [[ 9.99999466e-01 7.66486160e-04 -6.92922847e-04 8.06792416e+01] [-7.66463184e-04 9.99999706e-01 3.34229994e-05 -4.63872960e+00] [ 6.92948261e-04 -3.28918817e-05 9.99999759e-01 -1.13480567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.000371743 meters 0.030101908644649757 Centerline is valid? [True, True] Translation: X:80.74, Y:-4.64, Z:-1.13 [[ 9.99999834e-01 5.63187427e-04 -1.23878833e-04 8.07391103e+01] [-5.63186742e-04 9.99999841e-01 5.56271740e-06 -4.64176041e+00] [ 1.23881946e-04 -5.49294955e-06 9.99999992e-01 -1.13418945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.060371743 meters 0.030536797591405155 Centerline is valid? [True, True] Translation: X:80.80, Y:-4.65, Z:-1.13 [[ 9.99999796e-01 3.58616356e-04 5.28650058e-04 8.07991617e+01] [-3.58602731e-04 9.99999935e-01 -2.58667684e-05 -4.64535841e+00] [-5.28659301e-04 2.56771877e-05 9.99999860e-01 -1.13460794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12037174299999 meters 0.0303040436273457 Centerline is valid? [True, True] Translation: X:80.86, Y:-4.65, Z:-1.14 [[ 9.99999801e-01 -2.57179263e-04 5.75215604e-04 8.08593271e+01] [ 2.57195495e-04 9.99999967e-01 -2.81452135e-05 -4.64817181e+00] [-5.75208346e-04 2.82931508e-05 9.99999834e-01 -1.13505702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.180371743 meters 0.0310269932129825 Centerline is valid? [True, True] Translation: X:80.92, Y:-4.65, Z:-1.14 [[ 9.99996025e-01 -2.81874419e-03 -7.20198730e-05 8.09196130e+01] [ 2.81874445e-03 9.99996027e-01 3.52392162e-06 -4.65449553e+00] [ 7.20096538e-05 -3.72691323e-06 9.99999997e-01 -1.13689653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.240371743 meters 0.03218903796151519 Centerline is valid? [True, True] Translation: X:80.98, Y:-4.66, Z:-1.14 [[ 9.99988023e-01 -4.80759122e-03 -9.17267333e-04 8.09805539e+01] [ 4.80763489e-03 9.99988442e-01 4.54133780e-05 -4.66107257e+00] [ 9.17038402e-04 -4.98227205e-05 9.99999578e-01 -1.13879670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.300371743 meters 0.03699645833898799 Centerline is valid? [True, True] Translation: X:81.04, Y:-4.67, Z:-1.14 [[ 9.99980708e-01 -5.99136680e-03 -1.63922259e-03 8.10408619e+01] [ 5.99150777e-03 9.99982047e-01 8.10994208e-05 -4.67301689e+00] [ 1.63870727e-03 -9.09192711e-05 9.99998653e-01 -1.14259228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.360371743 meters 0.033220523581989875 Centerline is valid? [True, True] Translation: X:81.10, Y:-4.67, Z:-1.14 [[ 9.99971475e-01 -7.38392628e-03 -1.58939051e-03 8.11035805e+01] [ 7.38406119e-03 9.99972734e-01 7.90331893e-05 -4.67085366e+00] [ 1.58876360e-03 -9.07670917e-05 9.99998734e-01 -1.14074910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.420371743 meters 0.03514453009478404 Centerline is valid? [True, True] Translation: X:81.16, Y:-4.68, Z:-1.14 [[ 9.99977998e-01 -6.57491030e-03 -8.80015865e-04 8.11648219e+01] [ 6.57495155e-03 9.99978384e-01 4.39875815e-05 -4.67654406e+00] [ 8.79707628e-04 -4.97726754e-05 9.99999612e-01 -1.14071713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.480371743 meters 0.031223214717590788 Centerline is valid? [True, True] Translation: X:81.23, Y:-4.67, Z:-1.14 [[ 9.99984748e-01 -5.39201624e-03 1.19585027e-03 8.12270034e+01] [ 5.39208953e-03 9.99985461e-01 -5.80729452e-05 -4.67301845e+00] [-1.19551975e-03 6.45201912e-05 9.99999283e-01 -1.13796697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.540371743 meters 0.036881434349130784 Centerline is valid? [True, True] Translation: X:81.29, Y:-4.68, Z:-1.14 [[ 9.99988552e-01 -4.41339998e-03 1.84896639e-03 8.12880564e+01] [ 4.41357449e-03 9.99990256e-01 -9.03150342e-05 -4.68382019e+00] [-1.84854977e-03 9.84745512e-05 9.99998287e-01 -1.14068871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.600371743 meters 0.034662111960402295 Centerline is valid? [True, True] Translation: X:81.35, Y:-4.68, Z:-1.14 [[ 9.99994910e-01 -2.63028317e-03 1.80605950e-03 8.13498221e+01] [ 2.63044736e-03 9.99996536e-01 -8.85386261e-05 -4.68266257e+00] [-1.80582037e-03 9.32889199e-05 9.99998365e-01 -1.14134690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.660371743 meters 0.029350694226836064 Centerline is valid? [True, True] Translation: X:81.41, Y:-4.68, Z:-1.14 [[ 9.99996244e-01 2.42900039e-03 1.26945644e-03 8.14111456e+01] [-2.42892324e-03 9.99997048e-01 -6.23105773e-05 -4.67744458e+00] [-1.26960405e-03 5.92269310e-05 9.99999192e-01 -1.14140403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.720371743 meters 0.029466265800651 Centerline is valid? [True, True] Translation: X:81.47, Y:-4.68, Z:-1.14 [[ 9.99989319e-01 3.42799542e-03 3.10022258e-03 8.14712294e+01] [-3.42753737e-03 9.99994114e-01 -1.53048453e-04 -4.67832480e+00] [-3.10072899e-03 1.42420690e-04 9.99995183e-01 -1.13981336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.780371743 meters 0.030342701962275 Centerline is valid? [True, True] Translation: X:81.53, Y:-4.68, Z:-1.14 [[ 9.99994843e-01 3.04957270e-03 1.00676001e-03 8.15316198e+01] [-3.04952429e-03 9.99995349e-01 -4.96200490e-05 -4.68332453e+00] [-1.00690665e-03 4.65496540e-05 9.99999492e-01 -1.14303348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.840371743 meters 0.030958769289490616 Centerline is valid? [True, True] Translation: X:81.59, Y:-4.69, Z:-1.15 [[ 9.99994278e-01 2.34697153e-03 -2.43641174e-03 8.15907388e+01] [-2.34668661e-03 9.99997239e-01 1.19795483e-04 -4.68879266e+00] [ 2.43668617e-03 -1.14077303e-04 9.99997025e-01 -1.14834257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.900371743 meters 0.0294756587877069 Centerline is valid? [True, True] Translation: X:81.65, Y:-4.69, Z:-1.15 [[ 9.99997784e-01 8.46526843e-05 -2.10370497e-03 8.16503951e+01] [-8.44360494e-05 9.99999991e-01 1.03066405e-04 -4.68758617e+00] [ 2.10371368e-03 -1.02888548e-04 9.99997782e-01 -1.14581041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.960371743 meters 0.030800841370016034 Centerline is valid? [True, True] Translation: X:81.71, Y:-4.69, Z:-1.14 [[ 9.99996863e-01 -2.36048016e-03 8.38372654e-04 8.17101228e+01] [ 2.36051599e-03 9.99997213e-01 -4.17484221e-05 -4.69252879e+00] [-8.38271771e-04 4.37272832e-05 9.99999648e-01 -1.14406425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.020371743 meters 0.03162137298353479 Centerline is valid? [True, True] Translation: X:81.77, Y:-4.70, Z:-1.14 [[ 9.99992525e-01 -3.13447272e-03 2.26378933e-03 8.17714407e+01] [ 3.13473190e-03 9.99995081e-01 -1.10954269e-04 -4.69828251e+00] [-2.26343041e-03 1.18049812e-04 9.99997431e-01 -1.14390407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.080371743 meters 0.03327859754241011 Centerline is valid? [True, True] Translation: X:81.83, Y:-4.71, Z:-1.14 [[ 9.99984469e-01 -3.98458968e-03 3.89676276e-03 8.18336789e+01] [ 3.98536468e-03 9.99992040e-01 -1.91137703e-04 -4.70640112e+00] [-3.89597014e-03 2.06664755e-04 9.99992389e-01 -1.14473061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.140371743 meters 0.03480116088933 Centerline is valid? [True, True] Translation: X:81.90, Y:-4.71, Z:-1.15 [[ 9.99978467e-01 -5.41756685e-03 3.70336874e-03 8.18951698e+01] [ 5.41827810e-03 9.99985304e-01 -1.82048654e-04 -4.71294705e+00] [-3.70232806e-03 2.02110615e-04 9.99993126e-01 -1.14583138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.200371743 meters 0.035861550731267816 Centerline is valid? [True, True] Translation: X:81.96, Y:-4.72, Z:-1.15 [[ 9.99965367e-01 -8.13831583e-03 1.74149899e-03 8.19561419e+01] [ 8.13847708e-03 9.99966878e-01 -8.55282497e-05 -4.72181364e+00] [-1.74074525e-03 9.96984372e-05 9.99998480e-01 -1.14897109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.260371743 meters 0.03892824362588832 Centerline is valid? [True, True] Translation: X:82.02, Y:-4.73, Z:-1.15 [[ 9.99944744e-01 -1.04635969e-02 1.01106854e-03 8.20160317e+01] [ 1.04636521e-02 9.99945253e-01 -4.93562877e-05 -4.73305877e+00] [-1.01049675e-03 5.99330300e-05 9.99999488e-01 -1.15187045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.320371743 meters 0.035433548058501574 Centerline is valid? [True, True] Translation: X:82.08, Y:-4.73, Z:-1.15 [[ 9.99935662e-01 -1.12832657e-02 1.16634008e-03 8.20778562e+01] [ 1.12833390e-02 9.99936340e-01 -5.63135207e-05 -4.73272716e+00] [-1.16563043e-03 6.94701081e-05 9.99999318e-01 -1.15080887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.380371743 meters 0.035114114817147955 Centerline is valid? [True, True] Translation: X:82.14, Y:-4.74, Z:-1.15 [[ 9.99936937e-01 -1.11165013e-02 1.59569532e-03 8.21403384e+01] [ 1.11166401e-02 9.99938205e-01 -7.81610150e-05 -4.73697412e+00] [-1.59472783e-03 9.58948565e-05 9.99998724e-01 -1.15100213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.440371743 meters 0.03492681252648047 Centerline is valid? [True, True] Translation: X:82.20, Y:-4.74, Z:-1.15 [[ 9.99930730e-01 -1.15934628e-02 2.03128832e-03 8.22024228e+01] [ 1.15936896e-02 9.99932786e-01 -9.99191377e-05 -4.74231315e+00] [-2.02999338e-03 1.23462343e-04 9.99997932e-01 -1.15116376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.500371743 meters 0.033534111882866584 Centerline is valid? [True, True] Translation: X:82.26, Y:-4.74, Z:-1.15 [[ 9.99924611e-01 -1.19577863e-02 2.78983896e-03 8.22645126e+01] [ 1.19582171e-02 9.99928488e-01 -1.37786539e-04 -4.74458027e+00] [-2.78799184e-03 1.71137652e-04 9.99996099e-01 -1.15091624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.560371743 meters 0.03683772267469478 Centerline is valid? [True, True] Translation: X:82.33, Y:-4.75, Z:-1.15 [[ 9.99925596e-01 -1.17436344e-02 3.29984477e-03 8.23254984e+01] [ 1.17442380e-02 9.99931021e-01 -1.63605531e-04 -4.75463795e+00] [-3.29769583e-03 2.02347521e-04 9.99994542e-01 -1.15231450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62037174299999 meters 0.03896733020756712 Centerline is valid? [True, True] Translation: X:82.39, Y:-4.76, Z:-1.15 [[ 9.99924987e-01 -1.17981144e-02 3.29004059e-03 8.23867433e+01] [ 1.17987130e-02 9.99930380e-01 -1.62595980e-04 -4.76209760e+00] [-3.28789321e-03 2.01402028e-04 9.99994575e-01 -1.15296728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.680371743 meters 0.037094958400773106 Centerline is valid? [True, True] Translation: X:82.45, Y:-4.77, Z:-1.15 [[ 9.99906527e-01 -1.34237509e-02 2.59626880e-03 8.24489772e+01] [ 1.34241305e-02 9.99909884e-01 -1.28833177e-04 -4.76529094e+00] [-2.59430541e-03 1.63673786e-04 9.99996621e-01 -1.15337771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.740371743 meters 0.03852971286291595 Centerline is valid? [True, True] Translation: X:82.51, Y:-4.77, Z:-1.16 [[ 9.99888555e-01 -1.47950057e-02 1.99611582e-03 8.25108496e+01] [ 1.47952326e-02 9.99890540e-01 -9.89654665e-05 -4.77315846e+00] [-1.99443313e-03 1.28487435e-04 9.99998003e-01 -1.15616683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.800371743 meters 0.040601603188558925 Centerline is valid? [True, True] Translation: X:82.57, Y:-4.78, Z:-1.16 [[ 9.99870400e-01 -1.59972896e-02 1.80807406e-03 8.25718848e+01] [ 1.59974782e-02 9.99872028e-01 -8.98975490e-05 -4.78156876e+00] [-1.80640456e-03 1.18810524e-04 9.99998361e-01 -1.15797403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.860371743 meters 0.03456634042625234 Centerline is valid? [True, True] Translation: X:82.63, Y:-4.78, Z:-1.16 [[ 9.99873113e-01 -1.55104358e-02 3.63089995e-03 8.26348762e+01] [ 1.55111950e-02 9.99879678e-01 -1.81019142e-04 -4.77673801e+00] [-3.62765538e-03 2.37315770e-04 9.99993392e-01 -1.15527681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.920371743 meters 0.04344325411145309 Centerline is valid? [True, True] Translation: X:82.69, Y:-4.79, Z:-1.16 [[ 9.99887536e-01 -1.42996872e-02 4.52045151e-03 8.26949763e+01] [ 1.43008573e-02 9.99897712e-01 -2.26623468e-04 -4.79329490e+00] [-4.51674847e-03 2.91244313e-04 9.99989757e-01 -1.15751795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.980371743 meters 0.03433340131896422 Centerline is valid? [True, True] Translation: X:82.76, Y:-4.78, Z:-1.16 [[ 9.99890233e-01 -1.42659595e-02 4.00044776e-03 8.27581598e+01] [ 1.42668745e-02 9.99898203e-01 -2.00267796e-04 -4.78484381e+00] [-3.99718351e-03 2.57319699e-04 9.99991978e-01 -1.15743058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.040371743 meters 0.035391073616428584 Centerline is valid? [True, True] Translation: X:82.82, Y:-4.79, Z:-1.16 [[ 9.99865854e-01 -1.60666729e-02 3.18369297e-03 8.28194622e+01] [ 1.60672629e-02 9.99870900e-01 -1.59806643e-04 -4.79232364e+00] [-3.18071439e-03 2.10938437e-04 9.99994919e-01 -1.16023984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.100371743 meters 0.03784390985945567 Centerline is valid? [True, True] Translation: X:82.88, Y:-4.80, Z:-1.16 [[ 9.99844426e-01 -1.74690589e-02 2.44058719e-03 8.28804190e+01] [ 1.74694074e-02 9.99847391e-01 -1.21541310e-04 -4.80108633e+00] [-2.43809152e-03 1.64158014e-04 9.99997014e-01 -1.16222536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.160371743 meters 0.03634926529658604 Centerline is valid? [True, True] Translation: X:82.94, Y:-4.80, Z:-1.16 [[ 9.99844642e-01 -1.74002354e-02 2.81480026e-03 8.29431205e+01] [ 1.74007006e-02 9.99848586e-01 -1.40857508e-04 -4.80360758e+00] [-2.81192311e-03 1.89815121e-04 9.99996029e-01 -1.16283057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.220371743 meters 0.03560629521207134 Centerline is valid? [True, True] Translation: X:83.00, Y:-4.81, Z:-1.16 [[ 9.99851829e-01 -1.69655182e-02 2.91394887e-03 8.30048026e+01] [ 1.69660172e-02 9.99856056e-01 -1.46584298e-04 -4.80754028e+00] [-2.91104254e-03 1.96000685e-04 9.99995744e-01 -1.16357685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.280371743 meters 0.035587493059075784 Centerline is valid? [True, True] Translation: X:83.07, Y:-4.81, Z:-1.16 [[ 9.99874071e-01 -1.56328167e-02 2.73076791e-03 8.30665121e+01] [ 1.56332503e-02 9.99877784e-01 -1.37514392e-04 -4.81209992e+00] [-2.72828442e-03 1.80187853e-04 9.99996262e-01 -1.16488307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.340371743 meters 0.03380730578030181 Centerline is valid? [True, True] Translation: X:83.13, Y:-4.81, Z:-1.17 [[ 9.99918698e-01 -1.25876787e-02 2.03635665e-03 8.31275245e+01] [ 1.25879146e-02 9.99920764e-01 -1.03078557e-04 -4.81228057e+00] [-2.03489778e-03 1.28703661e-04 9.99997921e-01 -1.16614579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.400371743 meters 0.03196220649330872 Centerline is valid? [True, True] Translation: X:83.19, Y:-4.81, Z:-1.17 [[ 9.99945849e-01 -9.84513520e-03 3.37241012e-03 8.31880811e+01] [ 9.84576814e-03 9.99951515e-01 -1.71130535e-04 -4.81366316e+00] [-3.37056181e-03 2.04325236e-04 9.99994299e-01 -1.16621478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.460371743 meters 0.03217142079464908 Centerline is valid? [True, True] Translation: X:83.25, Y:-4.82, Z:-1.17 [[ 9.99953730e-01 -8.22037189e-03 4.99633505e-03 8.32497131e+01] [ 8.22173849e-03 9.99966169e-01 -2.53042024e-04 -4.81852279e+00] [-4.99408592e-03 2.94108876e-04 9.99987486e-01 -1.16607230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.520371743 meters 0.030415796068177126 Centerline is valid? [True, True] Translation: X:83.31, Y:-4.82, Z:-1.17 [[ 9.99959948e-01 -7.31302063e-03 5.15964677e-03 8.33124621e+01] [ 7.31446582e-03 9.99973215e-01 -2.61281630e-04 -4.81965313e+00] [-5.15759781e-03 2.99011225e-04 9.99986655e-01 -1.16615247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.580371743 meters 0.0320312635612673 Centerline is valid? [True, True] Translation: X:83.37, Y:-4.83, Z:-1.17 [[ 9.99976927e-01 -5.45330987e-03 4.05055867e-03 8.33726666e+01] [ 5.45418873e-03 9.99985105e-01 -2.05958152e-04 -4.82594637e+00] [-4.04937518e-03 2.28045911e-04 9.99991775e-01 -1.16841934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.640371743 meters 0.035037587585111496 Centerline is valid? [True, True] Translation: X:83.43, Y:-4.84, Z:-1.17 [[ 9.99984593e-01 -4.14175252e-03 3.69582447e-03 8.34330338e+01] [ 4.14247409e-03 9.99991402e-01 -1.87604697e-04 -4.83633091e+00] [-3.69501568e-03 2.02911664e-04 9.99993153e-01 -1.17076405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.700371743 meters 0.029809775936688192 Centerline is valid? [True, True] Translation: X:83.50, Y:-4.83, Z:-1.17 [[ 9.99988857e-01 -1.97688236e-03 4.28700405e-03 8.34952173e+01] [ 1.97783482e-03 9.99998020e-01 -2.17945982e-04 -4.83307032e+00] [-4.28656471e-03 2.26422539e-04 9.99990787e-01 -1.17007409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.760371743 meters 0.02940081801442718 Centerline is valid? [True, True] Translation: X:83.56, Y:-4.84, Z:-1.17 [[ 9.99987860e-01 1.52546300e-03 4.68527718e-03 8.35553895e+01] [-1.52435975e-03 9.99998810e-01 -2.39033330e-04 -4.83713627e+00] [-4.68563624e-03 2.31888381e-04 9.99988995e-01 -1.17137485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.820371743 meters 0.028471141278155913 Centerline is valid? [True, True] Translation: X:83.62, Y:-4.84, Z:-1.17 [[ 9.99973698e-01 5.81563286e-03 4.33379165e-03 8.36164533e+01] [-5.81472989e-03 9.99983070e-01 -2.20928133e-04 -4.84022601e+00] [-4.33500311e-03 1.95722494e-04 9.99990585e-01 -1.17288463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.880371743 meters 0.027058519170144776 Centerline is valid? [True, True] Translation: X:83.68, Y:-4.84, Z:-1.17 [[ 9.99962706e-01 7.77184226e-03 3.76643199e-03 8.36770315e+01] [-7.77117326e-03 9.99969786e-01 -1.92222994e-04 -4.84093257e+00] [-3.76781212e-03 1.62946230e-04 9.99992888e-01 -1.17241500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.940371743 meters 0.027996208340422053 Centerline is valid? [True, True] Translation: X:83.74, Y:-4.85, Z:-1.17 [[ 9.99954673e-01 8.10677892e-03 4.99325233e-03 8.37356290e+01] [-8.10560489e-03 9.99967116e-01 -2.55315546e-04 -4.84757778e+00] [-4.99515792e-03 2.14830643e-04 9.99987501e-01 -1.17310841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.000371743 meters 0.027157449837692183 Centerline is valid? [True, True] Translation: X:83.80, Y:-4.85, Z:-1.17 [[ 9.99971990e-01 5.71159108e-03 4.83702928e-03 8.37952691e+01] [-5.71046329e-03 9.99983665e-01 -2.46937404e-04 -4.85242854e+00] [-4.83836067e-03 2.19308809e-04 9.99988271e-01 -1.17253379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.060371743 meters 0.031399340482027964 Centerline is valid? [True, True] Translation: X:83.86, Y:-4.86, Z:-1.17 [[ 9.99991403e-01 1.57361835e-03 3.83629485e-03 8.38551647e+01] [-1.57288148e-03 9.99998744e-01 -1.95090085e-04 -4.86354583e+00] [-3.83659703e-03 1.89054371e-04 9.99992622e-01 -1.17404713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12037174299999 meters 0.032611837687469454 Centerline is valid? [True, True] Translation: X:83.92, Y:-4.87, Z:-1.18 [[ 9.99992225e-01 -1.83621750e-03 3.48976630e-03 8.39164399e+01] [ 1.83684825e-03 9.99998297e-01 -1.77547722e-04 -4.87002056e+00] [-3.48943435e-03 1.83956513e-04 9.99993895e-01 -1.17528015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.180371743 meters 0.03592554770859599 Centerline is valid? [True, True] Translation: X:83.98, Y:-4.88, Z:-1.18 [[ 9.99971277e-01 -7.18142999e-03 2.42318245e-03 8.39768006e+01] [ 7.18175048e-03 9.99974203e-01 -1.23585353e-04 -4.87894754e+00] [-2.42223242e-03 1.40984494e-04 9.99997056e-01 -1.17634502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.240371743 meters 0.031930355770516214 Centerline is valid? [True, True] Translation: X:84.04, Y:-4.88, Z:-1.17 [[ 9.99936559e-01 -1.09274121e-02 2.73298578e-03 8.40381731e+01] [ 1.09278332e-02 9.99940280e-01 -1.39225619e-04 -4.87571761e+00] [-2.73130119e-03 1.69082399e-04 9.99996256e-01 -1.17480144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.300371743 meters 0.03472737044526476 Centerline is valid? [True, True] Translation: X:84.10, Y:-4.88, Z:-1.17 [[ 9.99868657e-01 -1.57617128e-02 3.77332486e-03 8.40989206e+01] [ 1.57625512e-02 9.99875745e-01 -1.92546677e-04 -4.88279424e+00] [-3.76982114e-03 2.51998613e-04 9.99992862e-01 -1.17447884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.360371743 meters 0.034871536987600184 Centerline is valid? [True, True] Translation: X:84.16, Y:-4.89, Z:-1.17 [[ 9.99806251e-01 -1.92649367e-02 4.04005501e-03 8.41597825e+01] [ 1.92659259e-02 9.99814374e-01 -2.06078689e-04 -4.88599764e+00] [-4.03533498e-03 2.83874163e-04 9.99991818e-01 -1.17468860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.420371743 meters 0.038959524707931605 Centerline is valid? [True, True] Translation: X:84.22, Y:-4.89, Z:-1.18 [[ 9.99739116e-01 -2.27365599e-02 2.17910639e-03 8.42191737e+01] [ 2.27368565e-02 9.99741478e-01 -1.11430507e-04 -4.89429144e+00] [-2.17600950e-03 1.60947466e-04 9.99997620e-01 -1.17804104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48037174299999 meters 0.040897067562506745 Centerline is valid? [True, True] Translation: X:84.28, Y:-4.90, Z:-1.18 [[ 9.99648113e-01 -2.65263092e-02 6.67977652e-05 8.42794269e+01] [ 2.65263095e-02 9.99648116e-01 -3.39588639e-06 -4.89917780e+00] [-6.66841799e-05 5.16658962e-06 9.99999998e-01 -1.18139233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.540371743 meters 0.043579074481020816 Centerline is valid? [True, True] Translation: X:84.34, Y:-4.90, Z:-1.18 [[ 9.99582754e-01 -2.87909373e-02 -2.32382329e-03 8.43402986e+01] [ 2.87912910e-02 9.99585438e-01 1.18895717e-04 -4.90328669e+00] [ 2.31943680e-03 -1.85751980e-04 9.99997293e-01 -1.18353974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.600371743 meters 0.04567002611142362 Centerline is valid? [True, True] Translation: X:84.40, Y:-4.91, Z:-1.18 [[ 9.99558748e-01 -2.95405773e-02 -3.10867423e-03 8.44024017e+01] [ 2.95412165e-02 9.99563550e-01 1.59920528e-04 -4.90678395e+00] [ 3.10259330e-03 -2.51683981e-04 9.99995155e-01 -1.18476364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.660371743 meters 0.048155788300625224 Centerline is valid? [True, True] Translation: X:84.46, Y:-4.91, Z:-1.19 [[ 9.99531735e-01 -3.03907157e-02 -3.56592003e-03 8.44636757e+01] [ 3.03915653e-02 9.99538053e-01 1.84302397e-04 -4.91032175e+00] [ 3.55867168e-03 -2.92589986e-04 9.99993625e-01 -1.18572900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.720371743 meters 0.04975856741880054 Centerline is valid? [True, True] Translation: X:84.52, Y:-4.91, Z:-1.19 [[ 9.99603983e-01 -2.79267167e-02 -3.46072836e-03 8.45234702e+01] [ 2.79274970e-02 9.99609936e-01 1.77327946e-04 -4.91166174e+00] [ 3.45442627e-03 -2.73907202e-04 9.99993996e-01 -1.18647306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.780371743 meters 0.04862324020654139 Centerline is valid? [True, True] Translation: X:84.58, Y:-4.91, Z:-1.19 [[ 9.99681823e-01 -2.51384426e-02 -2.07625224e-03 8.45843838e+01] [ 2.51387176e-02 9.99683967e-01 1.06492797e-04 -4.91011871e+00] [ 2.07291901e-03 -1.58653233e-04 9.99997839e-01 -1.18577156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.840371743 meters 0.048131686118273176 Centerline is valid? [True, True] Translation: X:84.65, Y:-4.91, Z:-1.19 [[ 9.99771876e-01 -2.13502091e-02 -6.03407019e-04 8.46450153e+01] [ 2.13502317e-02 9.99772057e-01 3.09985837e-05 -4.90812274e+00] [ 6.02607650e-04 -4.38743919e-05 9.99999817e-01 -1.18505242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.900371743 meters 0.03937684615702898 Centerline is valid? [True, True] Translation: X:84.71, Y:-4.90, Z:-1.18 [[ 9.99786021e-01 -2.06826757e-02 -3.72666656e-04 8.47078832e+01] [ 2.06826847e-02 9.99786090e-01 2.01324342e-05 -4.89698769e+00] [ 3.72170546e-04 -2.78358732e-05 9.99999930e-01 -1.18328849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.960371743 meters 0.037007358867335895 Centerline is valid? [True, True] Translation: X:84.77, Y:-4.90, Z:-1.18 [[ 9.99767204e-01 -2.15478972e-02 -1.10677424e-03 8.47704306e+01] [ 2.15479744e-02 9.99767814e-01 5.79203790e-05 -4.89664796e+00] [ 1.10526920e-03 -8.17556383e-05 9.99999386e-01 -1.18381203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.020371743 meters 0.03784316976688455 Centerline is valid? [True, True] Translation: X:84.83, Y:-4.90, Z:-1.19 [[ 9.99750641e-01 -2.21880516e-02 -2.51916989e-03 8.48325210e+01] [ 2.21884510e-02 9.99753797e-01 1.30692864e-04 -4.89910987e+00] [ 2.51564985e-03 -1.86556752e-04 9.99996818e-01 -1.18531449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.080371743 meters 0.038955735783759785 Centerline is valid? [True, True] Translation: X:84.89, Y:-4.90, Z:-1.19 [[ 9.99775433e-01 -2.10999729e-02 -1.96859221e-03 8.48935554e+01] [ 2.11002143e-02 9.99777361e-01 1.01909367e-04 -4.90258388e+00] [ 1.96600364e-03 -1.43424199e-04 9.99998057e-01 -1.18672247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.140371743 meters 0.04072663407791383 Centerline is valid? [True, True] Translation: X:84.95, Y:-4.91, Z:-1.19 [[ 9.99805746e-01 -1.96957393e-02 -7.40764641e-04 8.49540573e+01] [ 1.96957733e-02 9.99806019e-01 3.86913891e-05 -4.90715816e+00] [ 7.39858891e-04 -5.32738056e-05 9.99999725e-01 -1.18697228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.200371743 meters 0.039215841500743295 Centerline is valid? [True, True] Translation: X:85.02, Y:-4.90, Z:-1.19 [[ 9.99853593e-01 -1.70795254e-02 1.03999243e-03 8.50153079e+01] [ 1.70795901e-02 9.99854132e-01 -5.33742940e-05 -4.90482639e+00] [-1.03892913e-03 7.11291242e-05 9.99999458e-01 -1.18610759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.260371743 meters 0.03607108473035911 Centerline is valid? [True, True] Translation: X:85.08, Y:-4.90, Z:-1.19 [[ 9.99866800e-01 -1.62923238e-02 9.70975086e-04 8.50779172e+01] [ 1.62923792e-02 9.99867269e-01 -4.91092992e-05 -4.90243535e+00] [-9.70046103e-04 6.49222521e-05 9.99999527e-01 -1.18696712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.320371743 meters 0.03698706768719139 Centerline is valid? [True, True] Translation: X:85.14, Y:-4.91, Z:-1.19 [[ 9.99855615e-01 -1.69830012e-02 5.71895282e-04 8.51402486e+01] [ 1.69830203e-02 9.99855778e-01 -2.85579686e-05 -4.90520195e+00] [-5.71327802e-04 3.82663544e-05 9.99999836e-01 -1.18811893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.380371743 meters 0.03859185933937169 Centerline is valid? [True, True] Translation: X:85.20, Y:-4.91, Z:-1.19 [[ 9.99828870e-01 -1.84686063e-02 1.06841937e-03 8.52018225e+01] [ 1.84686751e-02 9.99829438e-01 -5.45497677e-05 -4.90981481e+00] [-1.06722968e-03 7.42727227e-05 9.99999428e-01 -1.18858988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.440371743 meters 0.037825351147331175 Centerline is valid? [True, True] Translation: X:85.26, Y:-4.91, Z:-1.19 [[ 9.99807283e-01 -1.94994198e-02 2.27381495e-03 8.52640497e+01] [ 1.94997357e-02 9.99809855e-01 -1.16838023e-04 -4.91199789e+00] [-2.27110432e-03 1.61154297e-04 9.99997408e-01 -1.18944129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.500371743 meters 0.0381191494444678 Centerline is valid? [True, True] Translation: X:85.33, Y:-4.92, Z:-1.19 [[ 9.99803815e-01 -1.94929754e-02 3.51510615e-03 8.53263331e+01] [ 1.94937331e-02 9.99809963e-01 -1.81431310e-04 -4.91547340e+00] [-3.51090151e-03 2.49918257e-04 9.99993806e-01 -1.18959421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.560371743 meters 0.0381313065161424 Centerline is valid? [True, True] Translation: X:85.39, Y:-4.92, Z:-1.19 [[ 9.99816024e-01 -1.88276777e-02 3.66561459e-03 8.53882313e+01] [ 1.88284985e-02 9.99822710e-01 -1.89518818e-04 -4.91896207e+00] [-3.66139652e-03 2.58501970e-04 9.99993264e-01 -1.19136551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62037174299999 meters 0.03829767909273848 Centerline is valid? [True, True] Translation: X:85.45, Y:-4.92, Z:-1.19 [[ 9.99811701e-01 -1.91704992e-02 3.00901651e-03 8.54506008e+01] [ 1.91710539e-02 9.99816206e-01 -1.55611632e-04 -4.92244108e+00] [-3.00548032e-03 2.13268348e-04 9.99995461e-01 -1.19278216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.680371743 meters 0.03866903311798235 Centerline is valid? [True, True] Translation: X:85.51, Y:-4.93, Z:-1.19 [[ 9.99810425e-01 -1.92510177e-02 2.91776913e-03 8.55121097e+01] [ 1.92515407e-02 9.99814660e-01 -1.51272977e-04 -4.92704529e+00] [-2.91431620e-03 2.07415851e-04 9.99995732e-01 -1.19455497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.740371743 meters 0.04002557601692978 Centerline is valid? [True, True] Translation: X:85.57, Y:-4.93, Z:-1.20 [[ 9.99840940e-01 -1.76938159e-02 2.24130190e-03 8.55723124e+01] [ 1.76941192e-02 9.99843440e-01 -1.15548923e-04 -4.93131493e+00] [-2.23890650e-03 1.55188407e-04 9.99997482e-01 -1.19601560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.800371743 meters 0.040107485725216066 Centerline is valid? [True, True] Translation: X:85.63, Y:-4.93, Z:-1.20 [[ 9.99875184e-01 -1.56860756e-02 1.88753117e-03 8.56337268e+01] [ 1.56862886e-02 9.99876958e-01 -9.81228633e-05 -4.93376982e+00] [-1.88575976e-03 1.27718975e-04 9.99998214e-01 -1.19737429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.860371743 meters 0.03428517516297163 Centerline is valid? [True, True] Translation: X:85.69, Y:-4.93, Z:-1.20 [[ 9.99916689e-01 -1.25905324e-02 2.84501193e-03 8.56946636e+01] [ 1.25910054e-02 9.99920719e-01 -1.48431656e-04 -4.92816532e+00] [-2.84291754e-03 1.84240850e-04 9.99995942e-01 -1.19773068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.920371743 meters 0.04091183420718246 Centerline is valid? [True, True] Translation: X:85.75, Y:-4.94, Z:-1.20 [[ 9.99929608e-01 -1.08980064e-02 4.69173016e-03 8.57547073e+01] [ 1.08992755e-02 9.99940571e-01 -2.45031824e-04 -4.93937547e+00] [-4.68878097e-03 2.96151036e-04 9.99988964e-01 -1.19835862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98037174299999 meters 0.03430934534378571 Centerline is valid? [True, True] Translation: X:85.82, Y:-4.93, Z:-1.20 [[ 9.99920776e-01 -1.10293523e-02 6.06583753e-03 8.58186694e+01] [ 1.10314729e-02 9.99939101e-01 -3.16253576e-04 -4.93269813e+00] [-6.06198006e-03 3.83143644e-04 9.99981553e-01 -1.19700324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.040371743 meters 0.03622449067774677 Centerline is valid? [True, True] Translation: X:85.88, Y:-4.94, Z:-1.20 [[ 9.99891270e-01 -1.34666051e-02 6.00822691e-03 8.58794952e+01] [ 1.34687377e-02 9.99909243e-01 -3.14630919e-04 -4.93998302e+00] [-6.00344461e-03 3.95519942e-04 9.99981901e-01 -1.19812849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.100371743 meters 0.037383417507129056 Centerline is valid? [True, True] Translation: X:85.94, Y:-4.95, Z:-1.20 [[ 9.99820503e-01 -1.84168391e-02 4.44768792e-03 8.59400041e+01] [ 1.84180572e-02 9.99830346e-01 -2.33066294e-04 -4.94707048e+00] [-4.44264101e-03 3.14942230e-04 9.99990082e-01 -1.20010682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.160371743 meters 0.0424960837079638 Centerline is valid? [True, True] Translation: X:86.00, Y:-4.96, Z:-1.21 [[ 9.99722100e-01 -2.35100774e-02 1.73176726e-03 8.59993473e+01] [ 2.35102694e-02 9.99723591e-01 -9.06187504e-05 -4.96057362e+00] [-1.72915813e-03 1.31307882e-04 9.99998496e-01 -1.20500788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.220371743 meters 0.041981673929891154 Centerline is valid? [True, True] Translation: X:86.06, Y:-4.97, Z:-1.21 [[ 9.99685476e-01 -2.50333787e-02 1.50961659e-03 8.60604580e+01] [ 2.50335259e-02 9.99686609e-01 -7.86921851e-05 -4.96551701e+00] [-1.50717356e-03 1.16458461e-04 9.99998857e-01 -1.20709879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.280371743 meters 0.04256427853281723 Centerline is valid? [True, True] Translation: X:86.12, Y:-4.97, Z:-1.21 [[ 9.99713466e-01 -2.37005354e-02 3.35702657e-03 8.61222289e+01] [ 2.37012577e-02 9.99719070e-01 -1.75540429e-04 -4.96979239e+00] [-3.35192308e-03 2.55055882e-04 9.99994350e-01 -1.20686058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.340371743 meters 0.04249681476399876 Centerline is valid? [True, True] Translation: X:86.18, Y:-4.97, Z:-1.21 [[ 9.99752372e-01 -2.15661411e-02 5.48599871e-03 8.61833711e+01] [ 2.15680441e-02 9.99767341e-01 -2.87937501e-04 -4.97316156e+00] [-5.47851264e-03 4.06188462e-04 9.99984910e-01 -1.20626998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.400371743 meters 0.043154266552231584 Centerline is valid? [True, True] Translation: X:86.24, Y:-4.98, Z:-1.21 [[ 9.99796534e-01 -1.85818399e-02 7.84900046e-03 8.62431440e+01] [ 1.85856466e-02 9.99827187e-01 -4.12332226e-04 -4.97772209e+00] [-7.83998216e-03 5.58127079e-04 9.99969111e-01 -1.20601520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.460371743 meters 0.04454528126920883 Centerline is valid? [True, True] Translation: X:86.31, Y:-4.99, Z:-1.21 [[ 9.99814518e-01 -1.81911574e-02 6.32543900e-03 8.63055068e+01] [ 1.81936176e-02 9.99834427e-01 -3.31608756e-04 -4.98503857e+00] [-6.31835934e-03 4.46629866e-04 9.99979939e-01 -1.20948232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.520371743 meters 0.04573807510282921 Centerline is valid? [True, True] Translation: X:86.37, Y:-4.99, Z:-1.21 [[ 9.99825396e-01 -1.84100102e-02 3.20131667e-03 8.63678269e+01] [ 1.84106410e-02 9.99830496e-01 -1.67701899e-04 -4.99129553e+00] [-3.19768664e-03 2.26610909e-04 9.99994862e-01 -1.21389794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.580371743 meters 0.03752539942501443 Centerline is valid? [True, True] Translation: X:86.43, Y:-4.98, Z:-1.21 [[ 9.99829665e-01 -1.81698254e-02 3.24012872e-03 8.64305547e+01] [ 1.81704710e-02 9.99834889e-01 -1.69902997e-04 -4.98415255e+00] [-3.23650663e-03 2.28748721e-04 9.99994736e-01 -1.21334027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.640371743 meters 0.039268663037235675 Centerline is valid? [True, True] Translation: X:86.49, Y:-4.99, Z:-1.21 [[ 9.99849343e-01 -1.66967765e-02 4.74432105e-03 8.64904829e+01] [ 1.66981503e-02 9.99860545e-01 -2.50103622e-04 -4.99027087e+00] [-4.73948350e-03 3.29287328e-04 9.99988714e-01 -1.21238397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.700371743 meters 0.039577169338182755 Centerline is valid? [True, True] Translation: X:86.55, Y:-4.99, Z:-1.21 [[ 9.99857319e-01 -1.54920117e-02 6.73344036e-03 8.65518668e+01] [ 1.54947525e-02 9.99879886e-01 -3.55061880e-04 -4.99432547e+00] [-6.72713096e-03 4.59344211e-04 9.99977267e-01 -1.21134913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.760371743 meters 0.035430034614568715 Centerline is valid? [True, True] Translation: X:86.61, Y:-4.99, Z:-1.21 [[ 9.99859928e-01 -1.44947778e-02 8.36811341e-03 8.66147934e+01] [ 1.44989771e-02 9.99894787e-01 -4.41361454e-04 -4.99371909e+00] [-8.36083554e-03 5.62628716e-04 9.99964889e-01 -1.21096923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.820371743 meters 0.03768737015025647 Centerline is valid? [True, True] Translation: X:86.68, Y:-5.00, Z:-1.21 [[ 9.99852201e-01 -1.50374724e-02 8.33369172e-03 8.66754175e+01] [ 1.50416603e-02 9.99886771e-01 -4.40074425e-04 -5.00203666e+00] [-8.32613049e-03 5.65361942e-04 9.99965177e-01 -1.21222155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.880371743 meters 0.03711511790525134 Centerline is valid? [True, True] Translation: X:86.74, Y:-5.01, Z:-1.21 [[ 9.99837868e-01 -1.65492308e-02 7.09656984e-03 8.67374424e+01] [ 1.65523132e-02 9.99862930e-01 -3.75841268e-04 -5.00666989e+00] [-7.08937723e-03 4.93244979e-04 9.99974748e-01 -1.21460322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.940371743 meters 0.03802216154892727 Centerline is valid? [True, True] Translation: X:86.80, Y:-5.01, Z:-1.22 [[ 9.99797035e-01 -1.93813783e-02 5.50006863e-03 8.67978700e+01] [ 1.93832759e-02 9.99812084e-01 -2.91916366e-04 -5.01245071e+00] [-5.49337734e-03 3.98466466e-04 9.99984832e-01 -1.21610633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.000371743 meters 0.036728777448626626 Centerline is valid? [True, True] Translation: X:86.86, Y:-5.01, Z:-1.22 [[ 9.99779918e-01 -2.03984831e-02 4.90070433e-03 8.68602525e+01] [ 2.03999996e-02 9.99791865e-01 -2.59655303e-04 -5.01437690e+00] [-4.89438774e-03 3.59572524e-04 9.99987958e-01 -1.21726334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.060371743 meters 0.0454257283006755 Centerline is valid? [True, True] Translation: X:86.92, Y:-5.03, Z:-1.22 [[ 9.99693980e-01 -2.44669828e-02 3.64863707e-03 8.69187844e+01] [ 2.44678538e-02 9.99700598e-01 -1.94245802e-04 -5.03211031e+00] [-3.64279205e-03 2.83460677e-04 9.99993325e-01 -1.22122675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12037174299999 meters 0.041978531468037296 Centerline is valid? [True, True] Translation: X:86.98, Y:-5.03, Z:-1.22 [[ 9.99611134e-01 -2.76781016e-02 3.39157872e-03 8.69800398e+01] [ 2.76788710e-02 9.99616850e-01 -1.80124528e-04 -5.03116171e+00] [-3.38529373e-03 2.73929553e-04 9.99994232e-01 -1.22098993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.180371743 meters 0.04370435356587678 Centerline is valid? [True, True] Translation: X:87.04, Y:-5.04, Z:-1.22 [[ 9.99613794e-01 -2.74369868e-02 4.41292169e-03 8.70413541e+01] [ 2.74382866e-02 9.99623472e-01 -2.34260154e-04 -5.03606188e+00] [-4.40483271e-03 3.55252692e-04 9.99990236e-01 -1.22091107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.240371743 meters 0.04070272130887088 Centerline is valid? [True, True] Translation: X:87.10, Y:-5.03, Z:-1.22 [[ 9.99685388e-01 -2.41467669e-02 6.78662322e-03 8.71023415e+01] [ 2.41497735e-02 9.99708286e-01 -3.61412777e-04 -5.03403214e+00] [-6.77591652e-03 5.25194486e-04 9.99976905e-01 -1.21891141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.300371743 meters 0.03849104644492487 Centerline is valid? [True, True] Translation: X:87.16, Y:-5.03, Z:-1.22 [[ 9.99755790e-01 -2.08920121e-02 7.20302295e-03 8.71632215e+01] [ 2.08953146e-02 9.99781596e-01 -3.83523379e-04 -5.03289658e+00] [-7.19343720e-03 5.33939150e-04 9.99973984e-01 -1.21928060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.360371743 meters 0.039361681212858414 Centerline is valid? [True, True] Translation: X:87.22, Y:-5.04, Z:-1.22 [[ 9.99847743e-01 -1.64597299e-02 5.79381539e-03 8.72228295e+01] [ 1.64617944e-02 9.99864448e-01 -3.08816896e-04 -5.03614180e+00] [-5.78794698e-03 4.04146474e-04 9.99983168e-01 -1.22203483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.420371743 meters 0.03756363431616153 Centerline is valid? [True, True] Translation: X:87.28, Y:-5.04, Z:-1.23 [[ 9.99923664e-01 -1.16189295e-02 4.20325342e-03 8.72837692e+01] [ 1.16199728e-02 9.99932461e-01 -2.23854048e-04 -5.03586553e+00] [-4.20036859e-03 2.72678650e-04 9.99991141e-01 -1.22515577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48037174299999 meters 0.0357880430579661 Centerline is valid? [True, True] Translation: X:87.34, Y:-5.03, Z:-1.23 [[ 9.99965919e-01 -7.48337347e-03 3.48698398e-03 8.73443430e+01] [ 7.48406612e-03 9.99971977e-01 -1.85632743e-04 -5.03475230e+00] [-3.48549711e-03 2.11723236e-04 9.99993903e-01 -1.22588720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.540371743 meters 0.032066996283069624 Centerline is valid? [True, True] Translation: X:87.41, Y:-5.03, Z:-1.23 [[ 9.99990741e-01 -2.42054638e-03 3.55802801e-03 8.74054217e+01] [ 2.42123594e-03 9.99997051e-01 -1.89507840e-04 -5.02908955e+00] [-3.55755880e-03 1.98120910e-04 9.99993652e-01 -1.22548763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.600371743 meters 0.030807255688276792 Centerline is valid? [True, True] Translation: X:87.47, Y:-5.03, Z:-1.23 [[ 9.99993164e-01 2.48399051e-04 3.68928901e-03 8.74670625e+01] [-2.47677114e-04 9.99999950e-01 -1.96140182e-04 -5.02838657e+00] [-3.68933755e-03 1.95225089e-04 9.99993175e-01 -1.22646655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.660371743 meters 0.030643153603777347 Centerline is valid? [True, True] Translation: X:87.53, Y:-5.03, Z:-1.23 [[ 9.99991426e-01 9.06331065e-04 4.04065877e-03 8.75279989e+01] [-9.05469614e-04 9.99999567e-01 -2.15019857e-04 -5.03066546e+00] [-4.04085189e-03 2.11359320e-04 9.99991813e-01 -1.22796979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.720371743 meters 0.032251830808667704 Centerline is valid? [True, True] Translation: X:87.59, Y:-5.04, Z:-1.23 [[ 9.99987557e-01 1.13139855e-03 4.85860353e-03 8.75885568e+01] [-1.13015509e-03 9.99999328e-01 -2.58666381e-04 -5.03518703e+00] [-4.85889292e-03 2.53172187e-04 9.99988163e-01 -1.22916416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.780371743 meters 0.03030496502521244 Centerline is valid? [True, True] Translation: X:87.65, Y:-5.03, Z:-1.23 [[ 9.99984071e-01 2.53829035e-03 5.04136765e-03 8.76506896e+01] [-2.53696794e-03 9.99996746e-01 -2.68689090e-04 -5.03258940e+00] [-5.04203325e-03 2.55895022e-04 9.99987256e-01 -1.22892423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.840371743 meters 0.029698885492014868 Centerline is valid? [True, True] Translation: X:87.71, Y:-5.03, Z:-1.23 [[ 9.99979166e-01 4.28605219e-03 4.82669423e-03 8.77125409e+01] [-4.28485919e-03 9.99990787e-01 -2.57479300e-04 -5.03344505e+00] [-4.82775333e-03 2.36792231e-04 9.99988318e-01 -1.22994430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.900371743 meters 0.02958368368325787 Centerline is valid? [True, True] Translation: X:87.77, Y:-5.04, Z:-1.23 [[ 9.99972902e-01 5.35586327e-03 5.05071531e-03 8.77726829e+01] [-5.35456655e-03 9.99985628e-01 -2.70227381e-04 -5.03586660e+00] [-5.05209002e-03 2.43175668e-04 9.99987209e-01 -1.23056416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.960371743 meters 0.029121574836506764 Centerline is valid? [True, True] Translation: X:87.83, Y:-5.04, Z:-1.23 [[ 9.99959419e-01 7.80777297e-03 4.49439939e-03 8.78331345e+01] [-7.80677089e-03 9.99969498e-01 -2.40462925e-04 -5.03680834e+00] [-4.49613978e-03 2.05366421e-04 9.99989871e-01 -1.23049085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.020371743 meters 0.028867907557338906 Centerline is valid? [True, True] Translation: X:87.89, Y:-5.04, Z:-1.23 [[ 9.99938077e-01 9.95456106e-03 4.97482884e-03 8.78932411e+01] [-9.95335757e-03 9.99950429e-01 -2.66615846e-04 -5.03872297e+00] [-4.97723627e-03 2.17083086e-04 9.99987590e-01 -1.23171571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.080371743 meters 0.02835030770402667 Centerline is valid? [True, True] Translation: X:87.95, Y:-5.04, Z:-1.23 [[ 9.99895338e-01 1.30282354e-02 6.29112703e-03 8.79532968e+01] [-1.30263762e-02 9.99915097e-01 -3.36416334e-04 -5.04030705e+00] [-6.29497580e-03 2.54430536e-04 9.99980154e-01 -1.23271124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.140371743 meters 0.027110797065283937 Centerline is valid? [True, True] Translation: X:88.01, Y:-5.04, Z:-1.23 [[ 9.99894096e-01 1.25949316e-02 7.29134108e-03 8.80124896e+01] [-1.25924213e-02 9.99920636e-01 -3.90105338e-04 -5.04225997e+00] [-7.29567576e-03 2.98248386e-04 9.99973342e-01 -1.23309117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.200371743 meters 0.027694640970307792 Centerline is valid? [True, True] Translation: X:88.07, Y:-5.05, Z:-1.23 [[ 9.99927810e-01 1.01180897e-02 6.48070072e-03 8.80718334e+01] [-1.01160586e-02 9.99948771e-01 -3.46103653e-04 -5.04797466e+00] [-6.48387063e-03 2.80519519e-04 9.99978940e-01 -1.23439945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.260371743 meters 0.029782385838583118 Centerline is valid? [True, True] Translation: X:88.13, Y:-5.06, Z:-1.24 [[ 9.99968752e-01 5.92032623e-03 5.23872355e-03 8.81313627e+01] [-5.91894289e-03 9.99982444e-01 -2.79524073e-04 -5.05606512e+00] [-5.24028645e-03 2.48507634e-04 9.99986239e-01 -1.23587102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.320371743 meters 0.03170234392421072 Centerline is valid? [True, True] Translation: X:88.19, Y:-5.06, Z:-1.24 [[ 9.99994688e-01 -4.34045108e-04 3.23027367e-03 8.81918992e+01] [ 4.34603522e-04 9.99999891e-01 -1.72168959e-04 -5.06490583e+00] [-3.23019859e-03 1.73571933e-04 9.99994768e-01 -1.23812648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.380371743 meters 0.03404503310348466 Centerline is valid? [True, True] Translation: X:88.25, Y:-5.07, Z:-1.24 [[ 9.99989134e-01 -3.48625033e-03 3.09474089e-03 8.82510902e+01] [ 3.48677757e-03 9.99993908e-01 -1.64988778e-04 -5.07346232e+00] [-3.09414685e-03 1.75777659e-04 9.99995198e-01 -1.23971764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.440371743 meters 0.03345453263251056 Centerline is valid? [True, True] Translation: X:88.31, Y:-5.08, Z:-1.24 [[ 9.99984034e-01 -4.95530048e-03 2.71587360e-03 8.83134504e+01] [ 4.95570973e-03 9.99987710e-01 -1.43979100e-04 -5.07600884e+00] [-2.71512676e-03 1.57435882e-04 9.99996302e-01 -1.23980573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.500371743 meters 0.035632308552325576 Centerline is valid? [True, True] Translation: X:88.37, Y:-5.08, Z:-1.24 [[ 9.99975088e-01 -6.24771995e-03 3.28472394e-03 8.83739775e+01] [ 6.24832519e-03 9.99980464e-01 -1.74028131e-04 -5.08241422e+00] [-3.28357249e-03 1.94547819e-04 9.99994590e-01 -1.24163260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.560371743 meters 0.03433710545932161 Centerline is valid? [True, True] Translation: X:88.44, Y:-5.08, Z:-1.24 [[ 9.99968178e-01 -7.44512764e-03 2.86600360e-03 8.84358439e+01] [ 7.44559533e-03 9.99972270e-01 -1.52550695e-04 -5.08421639e+00] [-2.86478836e-03 1.73884943e-04 9.99995881e-01 -1.24290127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62037174299999 meters 0.035469269188921765 Centerline is valid? [True, True] Translation: X:88.50, Y:-5.09, Z:-1.24 [[ 9.99943833e-01 -1.04716848e-02 1.63533714e-03 8.84972513e+01] [ 1.04718413e-02 9.99945165e-01 -8.71739235e-05 -5.08789007e+00] [-1.63433461e-03 1.04294018e-04 9.99998659e-01 -1.24367987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.680371743 meters 0.03727286279992303 Centerline is valid? [True, True] Translation: X:88.56, Y:-5.09, Z:-1.24 [[ 9.99919034e-01 -1.26025642e-02 1.76072911e-03 8.85585306e+01] [ 1.26027491e-02 9.99920578e-01 -9.39654287e-05 -5.09310298e+00] [-1.75940507e-03 1.16147848e-04 9.99998446e-01 -1.24377297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.740371743 meters 0.03738168317338799 Centerline is valid? [True, True] Translation: X:88.62, Y:-5.10, Z:-1.24 [[ 9.99873973e-01 -1.57771661e-02 1.76618751e-03 8.86190900e+01] [ 1.57773576e-02 9.99875525e-01 -9.45378288e-05 -5.09647864e+00] [-1.76447612e-03 1.22391686e-04 9.99998436e-01 -1.24382591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.800371743 meters 0.04354215093599596 Centerline is valid? [True, True] Translation: X:88.68, Y:-5.11, Z:-1.25 [[ 9.99821203e-01 -1.88957086e-02 7.17293987e-04 8.86782249e+01] [ 1.88957412e-02 9.99821459e-01 -3.86658483e-05 -5.10860552e+00] [-7.16435302e-04 5.22127365e-05 9.99999742e-01 -1.24694424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.860371743 meters 0.04728942602591107 Centerline is valid? [True, True] Translation: X:88.74, Y:-5.12, Z:-1.25 [[ 9.99779233e-01 -2.09992995e-02 -7.17754663e-04 8.87380822e+01] [ 2.09993332e-02 9.99779489e-01 3.95033362e-05 -5.11681797e+00] [ 7.16766847e-04 -5.45669845e-05 9.99999742e-01 -1.24904444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.920371743 meters 0.039084795785821906 Centerline is valid? [True, True] Translation: X:88.80, Y:-5.11, Z:-1.25 [[ 9.99776611e-01 -2.11151036e-02 -9.38197614e-04 8.88011473e+01] [ 2.11151612e-02 9.99777049e-01 5.14965175e-05 -5.10835164e+00] [ 9.36901088e-04 -7.12952076e-05 9.99999559e-01 -1.24740294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98037174299999 meters 0.0383961467862752 Centerline is valid? [True, True] Translation: X:88.86, Y:-5.11, Z:-1.25 [[ 9.99781774e-01 -2.08323817e-02 -1.55467935e-03 8.88638247e+01] [ 2.08325395e-02 9.99782975e-01 8.53583606e-05 -5.10968991e+00] [ 1.55256373e-03 -1.17727652e-04 9.99998788e-01 -1.24763791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.040371743 meters 0.03671843368509111 Centerline is valid? [True, True] Translation: X:88.93, Y:-5.11, Z:-1.25 [[ 9.99831177e-01 -1.80668493e-02 -3.34772639e-03 8.89250262e+01] [ 1.80675554e-02 9.99836752e-01 1.80789327e-04 -5.10737646e+00] [ 3.34391359e-03 -2.41244038e-04 9.99994380e-01 -1.24844982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.100371743 meters 0.03560093660458977 Centerline is valid? [True, True] Translation: X:88.98, Y:-5.11, Z:-1.25 [[ 9.99943592e-01 -9.80423086e-03 -4.08527440e-03 8.89843754e+01] [ 9.80521136e-03 9.99951904e-01 2.20048612e-04 -5.10584795e+00] [ 4.08292051e-03 -2.60093179e-04 9.99991631e-01 -1.24996861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.160371743 meters 0.03149838111440654 Centerline is valid? [True, True] Translation: X:89.05, Y:-5.10, Z:-1.25 [[ 9.99996022e-01 1.27532696e-04 -2.81782433e-03 8.90452347e+01] [-1.27104888e-04 9.99999980e-01 1.52000639e-04 -5.09909650e+00] [ 2.81784366e-03 -1.51641875e-04 9.99996018e-01 -1.24840656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.220371743 meters 0.02843312277896283 Centerline is valid? [True, True] Translation: X:89.11, Y:-5.10, Z:-1.25 [[ 9.99980059e-01 6.16392274e-03 -1.37365464e-03 8.91060683e+01] [-6.16382688e-03 9.99981001e-01 7.40110359e-05 -5.09551569e+00] [ 1.37408474e-03 -6.55425907e-05 9.99999054e-01 -1.24728686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.280371743 meters 0.02687845261353068 Centerline is valid? [True, True] Translation: X:89.17, Y:-5.10, Z:-1.25 [[ 9.99924024e-01 1.23173604e-02 -4.78761056e-04 8.91666458e+01] [-1.23173495e-02 9.99924138e-01 2.57492417e-05 -5.09592195e+00] [ 4.79041899e-04 -1.98502181e-05 9.99999885e-01 -1.24754338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.340371743 meters 0.027440818839624855 Centerline is valid? [True, True] Translation: X:89.22, Y:-5.10, Z:-1.25 [[ 9.99912701e-01 1.32063868e-02 -4.25174547e-04 8.92241974e+01] [-1.32063788e-02 9.99912792e-01 2.16300809e-05 -5.09985482e+00] [ 4.25423123e-04 -1.60131765e-05 9.99999909e-01 -1.24844432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.400371743 meters 0.02717248893133803 Centerline is valid? [True, True] Translation: X:89.28, Y:-5.10, Z:-1.25 [[ 9.99930803e-01 1.16695400e-02 -1.48715675e-03 8.92828163e+01] [-1.16694355e-02 9.99931907e-01 7.89156920e-05 -5.10406315e+00] [ 1.48797640e-03 -6.15559514e-05 9.99998891e-01 -1.24903056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.460371743 meters 0.028320883759520243 Centerline is valid? [True, True] Translation: X:89.34, Y:-5.11, Z:-1.25 [[ 9.99959698e-01 8.27042492e-03 -3.49325010e-03 8.93422824e+01] [-8.26982048e-03 9.99965787e-01 1.87438248e-04 -5.11234267e+00] [ 3.49468078e-03 -1.58542143e-04 9.99993881e-01 -1.25162418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.520371743 meters 0.03030970644483991 Centerline is valid? [True, True] Translation: X:89.40, Y:-5.12, Z:-1.25 [[ 9.99984143e-01 4.66646494e-03 -3.15237639e-03 8.94013161e+01] [-4.66595697e-03 9.99989100e-01 1.68475911e-04 -5.12111520e+00] [ 3.15312822e-03 -1.53764387e-04 9.99995017e-01 -1.25275405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.580371743 meters 0.03339994858182647 Centerline is valid? [True, True] Translation: X:89.46, Y:-5.13, Z:-1.25 [[ 9.99998054e-01 1.55351129e-03 -1.21560367e-03 8.94596084e+01] [-1.55343408e-03 9.99998791e-01 6.44525896e-05 -5.13005819e+00] [ 1.21570232e-03 -6.25641040e-05 9.99999259e-01 -1.25290323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.640371743 meters 0.030516685433125672 Centerline is valid? [True, True] Translation: X:89.52, Y:-5.13, Z:-1.25 [[ 9.99999904e-01 -4.36622571e-04 1.93291017e-05 8.95190306e+01] [ 4.36622606e-04 9.99999905e-01 -1.80674976e-06 -5.12898393e+00] [-1.93283110e-05 1.81518911e-06 1.00000000e+00 -1.24988723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.700371743 meters 0.032643465713297945 Centerline is valid? [True, True] Translation: X:89.58, Y:-5.14, Z:-1.25 [[ 9.99999958e-01 -3.85724243e-05 2.88012761e-04 8.95795388e+01] [ 3.85767979e-05 9.99999999e-01 -1.51801791e-05 -5.13500295e+00] [-2.88012175e-04 1.51912891e-05 9.99999958e-01 -1.25024274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.760371743 meters 0.03353663139341368 Centerline is valid? [True, True] Translation: X:89.64, Y:-5.14, Z:-1.25 [[ 9.99999855e-01 -3.92590785e-04 3.68774138e-04 8.96398767e+01] [ 3.92598100e-04 9.99999923e-01 -1.97618527e-05 -5.13947383e+00] [-3.68766352e-04 1.99066299e-05 9.99999932e-01 -1.25206729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.820371743 meters 0.030967060389224445 Centerline is valid? [True, True] Translation: X:89.70, Y:-5.14, Z:-1.25 [[ 9.99997831e-01 -1.83814950e-03 -9.79814475e-04 8.97005285e+01] [ 1.83820183e-03 9.99998309e-01 5.25062561e-05 -5.13800833e+00] [ 9.79716304e-04 -5.43072389e-05 9.99999519e-01 -1.25326529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.880371743 meters 0.03174783341369228 Centerline is valid? [True, True] Translation: X:89.76, Y:-5.14, Z:-1.25 [[ 9.99998004e-01 -1.67046622e-03 -1.09587976e-03 8.97609361e+01] [ 1.67053158e-03 9.99998603e-01 5.87259578e-05 -5.14177843e+00] [ 1.09578013e-03 -6.05565424e-05 9.99999398e-01 -1.25438225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.940371743 meters 0.03148101756274958 Centerline is valid? [True, True] Translation: X:89.82, Y:-5.14, Z:-1.25 [[ 9.99998794e-01 -1.32560681e-03 -8.08568127e-04 8.98210876e+01] [ 1.32564228e-03 9.99999120e-01 4.33295141e-05 -5.14424120e+00] [ 8.08509978e-04 -4.44013340e-05 9.99999672e-01 -1.25391278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.000371743 meters 0.03217258891318355 Centerline is valid? [True, True] Translation: X:89.88, Y:-5.15, Z:-1.25 [[ 9.99998183e-01 -1.89999988e-03 1.55058407e-04 8.98815331e+01] [ 1.90000119e-03 9.99998195e-01 -8.30926327e-06 -5.14951595e+00] [-1.55042340e-04 8.60385933e-06 9.99999988e-01 -1.25406299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.060371743 meters 0.03176607820377156 Centerline is valid? [True, True] Translation: X:89.94, Y:-5.15, Z:-1.26 [[ 9.99990943e-01 -4.25013494e-03 2.23017194e-04 8.99429584e+01] [ 4.25013760e-03 9.99990968e-01 -1.14466530e-05 -5.15243890e+00] [-2.22966530e-04 1.23944031e-05 9.99999975e-01 -1.25538963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12037174299999 meters 0.03261371882492789 Centerline is valid? [True, True] Translation: X:90.00, Y:-5.16, Z:-1.26 [[ 9.99983109e-01 -5.81224333e-03 -9.94838474e-06 9.00045172e+01] [ 5.81224337e-03 9.99983109e-01 3.85644104e-06 -5.15774829e+00] [ 9.92580207e-06 -3.91419833e-06 1.00000000e+00 -1.25661779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.180371743 meters 0.03374356983107767 Centerline is valid? [True, True] Translation: X:90.07, Y:-5.16, Z:-1.26 [[ 9.99979589e-01 -6.37142437e-03 4.76056652e-04 9.00661660e+01] [ 6.37143683e-03 9.99979702e-01 -2.46619721e-05 -5.16279899e+00] [-4.75889857e-04 2.76946336e-05 9.99999886e-01 -1.25732029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.240371743 meters 0.03448103092945532 Centerline is valid? [True, True] Translation: X:90.13, Y:-5.17, Z:-1.26 [[ 9.99987371e-01 -5.01269646e-03 3.61383216e-04 9.01280447e+01] [ 5.01270348e-03 9.99987436e-01 -1.85193808e-05 -5.16734659e+00] [-3.61285844e-04 2.03306539e-05 9.99999935e-01 -1.25820448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.300371743 meters 0.033939149718585575 Centerline is valid? [True, True] Translation: X:90.19, Y:-5.17, Z:-1.26 [[ 9.99995008e-01 -3.09527419e-03 6.34809916e-04 9.01894624e+01] [ 3.09529628e-03 9.99995209e-01 -3.38052788e-05 -5.16958822e+00] [-6.34702239e-04 3.57700348e-05 9.99999798e-01 -1.25825814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.360371743 meters 0.03306780590807601 Centerline is valid? [True, True] Translation: X:90.25, Y:-5.17, Z:-1.26 [[ 9.99996223e-01 2.40602221e-03 1.32854827e-03 9.02488642e+01] [-2.40592865e-03 9.99997103e-01 -7.20199883e-05 -5.17164182e+00] [-1.32871771e-03 6.88233239e-05 9.99999115e-01 -1.25849293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.420371743 meters 0.029896690147205585 Centerline is valid? [True, True] Translation: X:90.31, Y:-5.17, Z:-1.26 [[ 9.99963505e-01 7.51865878e-03 4.05689230e-03 9.03098838e+01] [-7.51783123e-03 9.99971717e-01 -2.19198308e-04 -5.17028597e+00] [-4.05842564e-03 1.88691277e-04 9.99991747e-01 -1.25726753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48037174299999 meters 0.028886352739262638 Centerline is valid? [True, True] Translation: X:90.37, Y:-5.17, Z:-1.26 [[ 9.99931825e-01 9.92823546e-03 6.14624856e-03 9.03696189e+01] [-9.92638013e-03 9.99950677e-01 -3.32296288e-04 -5.17314046e+00] [-6.14924453e-03 2.71263634e-04 9.99981056e-01 -1.25725736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.540371743 meters 0.028756262192767685 Centerline is valid? [True, True] Translation: X:90.43, Y:-5.18, Z:-1.26 [[ 9.99926942e-01 9.66379688e-03 7.26096196e-03 9.04289002e+01] [-9.66120310e-03 9.99953253e-01 -3.92213180e-04 -5.17870270e+00] [-7.26441280e-03 3.22034898e-04 9.99973562e-01 -1.25825627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.600371743 meters 0.030357110025551273 Centerline is valid? [True, True] Translation: X:90.49, Y:-5.19, Z:-1.26 [[ 9.99967687e-01 6.78468704e-03 4.31197798e-03 9.04890457e+01] [-6.78374688e-03 9.99976963e-01 -2.32622424e-04 -5.18600596e+00] [-4.31345692e-03 2.03363540e-04 9.99990676e-01 -1.26180027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.660371743 meters 0.030380220189686686 Centerline is valid? [True, True] Translation: X:90.55, Y:-5.19, Z:-1.27 [[ 9.99993657e-01 3.53079929e-03 4.69464324e-04 9.05489383e+01] [-3.53078767e-03 9.99993766e-01 -2.55693775e-05 -5.19121742e+00] [-4.69551678e-04 2.39116365e-05 9.99999889e-01 -1.26574993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.720371743 meters 0.03165343388415733 Centerline is valid? [True, True] Translation: X:90.61, Y:-5.20, Z:-1.27 [[ 9.99998970e-01 1.39878967e-03 3.21751009e-04 9.06083534e+01] [-1.39878401e-03 9.99999022e-01 -1.78405083e-05 -5.19733372e+00] [-3.21775650e-04 1.73904298e-05 9.99999948e-01 -1.26665805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.780371743 meters 0.032461395802889016 Centerline is valid? [True, True] Translation: X:90.67, Y:-5.20, Z:-1.27 [[ 9.99997724e-01 5.95238000e-04 2.04868193e-03 9.06685824e+01] [-5.95013045e-04 9.99999817e-01 -1.10412483e-04 -5.20302599e+00] [-2.04874728e-03 1.09193239e-04 9.99997895e-01 -1.26559277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.840371743 meters 0.03384421828276679 Centerline is valid? [True, True] Translation: X:90.73, Y:-5.21, Z:-1.27 [[ 9.99991747e-01 8.71015248e-04 3.96817360e-03 9.07290928e+01] [-8.70174131e-04 9.99999599e-01 -2.13687297e-04 -5.20906938e+00] [-3.96835813e-03 2.10232531e-04 9.99992104e-01 -1.26555739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.900371743 meters 0.032274879131933755 Centerline is valid? [True, True] Translation: X:90.79, Y:-5.21, Z:-1.27 [[ 9.99980434e-01 1.14671396e-03 6.14944902e-03 9.07907664e+01] [-1.14469854e-03 9.99999290e-01 -3.31249817e-04 -5.21086125e+00] [-6.14982450e-03 3.24204071e-04 9.99981037e-01 -1.26515432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.960371743 meters 0.033645568974571466 Centerline is valid? [True, True] Translation: X:90.85, Y:-5.22, Z:-1.26 [[ 9.99970762e-01 1.17578389e-03 7.55598304e-03 9.08525087e+01] [-1.17275005e-03 9.99999230e-01 -4.05933295e-04 -5.21816991e+00] [-7.55645451e-03 3.97060147e-04 9.99971371e-01 -1.26491056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.020371743 meters 0.03406336874734973 Centerline is valid? [True, True] Translation: X:90.91, Y:-5.22, Z:-1.27 [[ 9.99973109e-01 4.24300182e-04 7.32123886e-03 9.09147874e+01] [-4.21417725e-04 9.99999833e-01 -3.95249727e-04 -5.22393820e+00] [-7.32140535e-03 3.92153799e-04 9.99973121e-01 -1.26644099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.080371743 meters 0.03365594116195527 Centerline is valid? [True, True] Translation: X:90.98, Y:-5.23, Z:-1.27 [[ 9.99984821e-01 3.75322193e-04 5.49699644e-03 9.09768890e+01] [-3.73685761e-04 9.99999886e-01 -2.98719663e-04 -5.22856534e+00] [-5.49710793e-03 2.96660979e-04 9.99984847e-01 -1.27015708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.140371743 meters 0.035060658793126 Centerline is valid? [True, True] Translation: X:91.04, Y:-5.24, Z:-1.27 [[ 9.99990753e-01 3.34239803e-03 2.70590120e-03 9.10366763e+01] [-3.34201157e-03 9.99994405e-01 -1.47330704e-04 -5.23582656e+00] [-2.70637849e-03 1.38286188e-04 9.99996328e-01 -1.27487523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.200371743 meters 0.0296205685285568 Centerline is valid? [True, True] Translation: X:91.10, Y:-5.23, Z:-1.28 [[ 9.99957695e-01 9.06379381e-03 1.56688796e-03 9.10979961e+01] [-9.06367094e-03 9.99958920e-01 -8.54991708e-05 -5.22942872e+00] [-1.56759854e-03 7.12937969e-05 9.99998769e-01 -1.27508651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.260371743 meters 0.026290593577748596 Centerline is valid? [True, True] Translation: X:91.16, Y:-5.23, Z:-1.27 [[ 9.99874231e-01 1.53132086e-02 4.12638286e-03 9.11592763e+01] [-1.53124096e-02 9.99882733e-01 -2.25157936e-04 -5.22583296e+00] [-4.12934686e-03 1.61944754e-04 9.99991461e-01 -1.27235126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.320371743 meters 0.025855088371940355 Centerline is valid? [True, True] Translation: X:91.22, Y:-5.23, Z:-1.27 [[ 9.99827186e-01 1.71581746e-02 7.15512449e-03 9.12186547e+01] [-1.71558189e-02 9.99852752e-01 -3.90476547e-04 -5.22848355e+00] [-7.16077077e-03 2.67657047e-04 9.99974326e-01 -1.27140300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.380371743 meters 0.02559743736643084 Centerline is valid? [True, True] Translation: X:91.28, Y:-5.23, Z:-1.27 [[ 9.99833806e-01 1.59455110e-02 8.83747749e-03 9.12769313e+01] [-1.59418749e-02 9.99872804e-01 -4.81734240e-04 -5.23349230e+00] [-8.84403490e-03 3.40768218e-04 9.99960833e-01 -1.27107088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.440371743 meters 0.027421419701781274 Centerline is valid? [True, True] Translation: X:91.34, Y:-5.24, Z:-1.27 [[ 9.99925146e-01 9.93987934e-03 7.13452624e-03 9.13369533e+01] [-9.93736249e-03 9.99950548e-01 -3.88133274e-04 -5.24386269e+00] [-7.13803142e-03 3.17205847e-04 9.99974474e-01 -1.27435950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.500371743 meters 0.03102953760079336 Centerline is valid? [True, True] Translation: X:91.40, Y:-5.26, Z:-1.28 [[ 9.99992537e-01 1.75195012e-03 3.44339689e-03 9.13970537e+01] [-1.75131569e-03 9.99998449e-01 -1.87251898e-04 -5.25602317e+00] [-3.44371961e-03 1.81220025e-04 9.99994054e-01 -1.27905690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.560371743 meters 0.03349209945570976 Centerline is valid? [True, True] Translation: X:91.46, Y:-5.26, Z:-1.28 [[ 9.99992754e-01 -3.55821824e-03 1.35291208e-03 9.14574077e+01] [ 3.55832099e-03 9.99993666e-01 -7.35461806e-05 -5.26444176e+00] [-1.35264182e-03 7.83597432e-05 9.99999082e-01 -1.28145051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62037174299999 meters 0.03350520862263939 Centerline is valid? [True, True] Translation: X:91.52, Y:-5.27, Z:-1.28 [[ 9.99962735e-01 -8.40685171e-03 1.96306209e-03 9.15177096e+01] [ 8.40707735e-03 9.99964654e-01 -1.06719712e-04 -5.26741171e+00] [-1.96209552e-03 1.23219350e-04 9.99998067e-01 -1.28087421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.680371743 meters 0.0362281558079247 Centerline is valid? [True, True] Translation: X:91.58, Y:-5.27, Z:-1.28 [[ 9.99937807e-01 -1.02405144e-02 4.41739879e-03 9.15782796e+01] [ 1.02416739e-02 9.99947524e-01 -2.39954037e-04 -5.27297641e+00] [-4.41470973e-03 2.85180671e-04 9.99990214e-01 -1.28074824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.740371743 meters 0.03721746839845547 Centerline is valid? [True, True] Translation: X:91.64, Y:-5.28, Z:-1.28 [[ 9.99925003e-01 -1.07746924e-02 5.82183334e-03 9.16401890e+01] [ 1.07767160e-02 9.99941879e-01 -3.16328967e-04 -5.27666763e+00] [-5.81808663e-03 3.79045488e-04 9.99983003e-01 -1.28078677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.800371743 meters 0.03681794885487202 Centerline is valid? [True, True] Translation: X:91.70, Y:-5.28, Z:-1.28 [[ 9.99887008e-01 -1.27091495e-02 8.02798683e-03 9.17018906e+01] [ 1.27130680e-02 9.99919090e-01 -4.37251788e-04 -5.27808444e+00] [-8.02178019e-03 5.39262724e-04 9.99967680e-01 -1.27973014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.860371743 meters 0.03953017872599986 Centerline is valid? [True, True] Translation: X:91.76, Y:-5.28, Z:-1.28 [[ 9.99827861e-01 -1.65987918e-02 8.29024149e-03 9.17621950e+01] [ 1.66031098e-02 9.99862057e-01 -4.52292637e-04 -5.28418563e+00] [-8.28159039e-03 5.89858570e-04 9.99965533e-01 -1.28034635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.920371743 meters 0.043078996729142754 Centerline is valid? [True, True] Translation: X:91.82, Y:-5.29, Z:-1.28 [[ 9.99757391e-01 -2.12391711e-02 5.83589463e-03 9.18216568e+01] [ 2.12413892e-02 9.99774326e-01 -3.18343969e-04 -5.29401948e+00] [-5.82781626e-03 4.42229245e-04 9.99982920e-01 -1.28489255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98037174299999 meters 0.045583946517575226 Centerline is valid? [True, True] Translation: X:91.88, Y:-5.30, Z:-1.29 [[ 9.99709098e-01 -2.39470188e-02 2.87382547e-03 9.18823927e+01] [ 2.39475673e-02 9.99713204e-01 -1.56588762e-04 -5.30117358e+00] [-2.86925143e-03 2.25364338e-04 9.99995858e-01 -1.28883349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.040371743 meters 0.04842394420119134 Centerline is valid? [True, True] Translation: X:91.94, Y:-5.31, Z:-1.29 [[ 9.99660465e-01 -2.60530861e-02 -4.36931021e-04 9.19418182e+01] [ 2.60530994e-02 9.99660560e-01 2.46847952e-05 -5.30638061e+00] [ 4.36139594e-04 -3.60598212e-05 9.99999904e-01 -1.29179002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.100371743 meters 0.048762576021482894 Centerline is valid? [True, True] Translation: X:92.00, Y:-5.31, Z:-1.29 [[ 9.99681556e-01 -2.52341607e-02 -1.55921538e-04 9.20039569e+01] [ 2.52341625e-02 9.99681568e-01 9.48210564e-06 -5.30832200e+00] [ 1.55632615e-04 -1.34136355e-05 9.99999988e-01 -1.29256478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.160371743 meters 0.04403670825474403 Centerline is valid? [True, True] Translation: X:92.07, Y:-5.30, Z:-1.29 [[ 9.99823207e-01 -1.86195686e-02 2.62029221e-03 9.20650775e+01] [ 1.86200080e-02 9.99826622e-01 -1.43362608e-04 -5.29946300e+00] [-2.61716856e-03 1.92127125e-04 9.99996557e-01 -1.28994990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.220371743 meters 0.04029437825842967 Centerline is valid? [True, True] Translation: X:92.13, Y:-5.29, Z:-1.29 [[ 9.99868098e-01 -1.54609692e-02 4.97437501e-03 9.21256306e+01] [ 1.54625143e-02 9.99880411e-01 -2.72298281e-04 -5.29495364e+00] [-4.96957014e-03 3.49178709e-04 9.99987591e-01 -1.28807592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.280371743 meters 0.04505759065011561 Centerline is valid? [True, True] Translation: X:92.19, Y:-5.30, Z:-1.29 [[ 9.99895758e-01 -1.34888634e-02 5.15019090e-03 9.21856146e+01] [ 1.34904920e-02 9.99908960e-01 -2.81610505e-04 -5.30218526e+00] [-5.14592342e-03 3.51059759e-04 9.99986698e-01 -1.28940925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.340371743 meters 0.0477757646079573 Centerline is valid? [True, True] Translation: X:92.25, Y:-5.31, Z:-1.29 [[ 9.99861174e-01 -1.60909796e-02 4.32597564e-03 9.22455378e+01] [ 1.60921531e-02 9.99870485e-01 -2.36590644e-04 -5.31077016e+00] [-4.32160839e-03 3.06172061e-04 9.99990615e-01 -1.29221611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.400371743 meters 0.04563512735111805 Centerline is valid? [True, True] Translation: X:92.31, Y:-5.31, Z:-1.29 [[ 9.99820085e-01 -1.87189276e-02 3.06581462e-03 9.23070609e+01] [ 1.87195287e-02 9.99824760e-01 -1.67463202e-04 -5.31101034e+00] [-3.06214263e-03 2.24823677e-04 9.99995286e-01 -1.29332028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.460371743 meters 0.04197368848982695 Centerline is valid? [True, True] Translation: X:92.37, Y:-5.31, Z:-1.30 [[ 9.99809405e-01 -1.95226828e-02 -1.39666070e-04 9.23693236e+01] [ 1.95226842e-02 9.99809414e-01 8.66301023e-06 -5.30920167e+00] [ 1.39470326e-04 -1.13880157e-05 9.99999990e-01 -1.29540405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.520371743 meters 0.03998966524166541 Centerline is valid? [True, True] Translation: X:92.43, Y:-5.31, Z:-1.30 [[ 9.99845461e-01 -1.75654800e-02 -7.13257907e-04 9.24307013e+01] [ 1.75655128e-02 9.99845714e-01 3.96586990e-05 -5.30895110e+00] [ 7.12451237e-04 -5.21813110e-05 9.99999745e-01 -1.29550357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.580371743 meters 0.036541066565750374 Centerline is valid? [True, True] Translation: X:92.49, Y:-5.30, Z:-1.29 [[ 9.99920579e-01 -1.25331757e-02 1.32492599e-03 9.24914270e+01] [ 1.25332830e-02 9.99921453e-01 -7.27360084e-05 -5.30379913e+00] [-1.32391031e-03 8.93359041e-05 9.99999120e-01 -1.29388705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.640371743 meters 0.03427202897130046 Centerline is valid? [True, True] Translation: X:92.55, Y:-5.30, Z:-1.29 [[ 9.99958831e-01 -8.44532999e-03 3.31861085e-03 9.25517948e+01] [ 8.44598059e-03 9.99964315e-01 -1.82079250e-04 -5.30219398e+00] [-3.31695471e-03 2.10100677e-04 9.99994477e-01 -1.29373166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.700371743 meters 0.032647736244748614 Centerline is valid? [True, True] Translation: X:92.61, Y:-5.30, Z:-1.29 [[ 9.99982595e-01 -3.66167386e-03 4.62622964e-03 9.26127644e+01] [ 3.66288764e-03 9.99993259e-01 -2.53924304e-04 -5.29988751e+00] [-4.62526866e-03 2.70865244e-04 9.99989267e-01 -1.29365350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.760371743 meters 0.0348656561600149 Centerline is valid? [True, True] Translation: X:92.67, Y:-5.31, Z:-1.30 [[ 9.99987299e-01 -2.52177312e-03 4.36381833e-03 9.26737878e+01] [ 2.52284004e-03 9.99996789e-01 -2.39003793e-04 -5.30530189e+00] [-4.36320161e-03 2.50009973e-04 9.99990450e-01 -1.29570521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.820371743 meters 0.03262674997529483 Centerline is valid? [True, True] Translation: X:92.74, Y:-5.31, Z:-1.30 [[ 9.99988573e-01 -2.98651488e-03 3.73288562e-03 9.27363435e+01] [ 2.98729850e-03 9.99995517e-01 -2.04364624e-04 -5.30604792e+00] [-3.73225855e-03 2.15513533e-04 9.99993012e-01 -1.29643053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.880371743 meters 0.032639239279174934 Centerline is valid? [True, True] Translation: X:92.80, Y:-5.31, Z:-1.30 [[ 9.99988781e-01 -3.67933123e-03 2.98323935e-03 9.27985726e+01] [ 3.67983481e-03 9.99993216e-01 -1.63331420e-04 -5.30952335e+00] [-2.98261816e-03 1.74307415e-04 9.99995537e-01 -1.29760970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.940371743 meters 0.03359765472208444 Centerline is valid? [True, True] Translation: X:92.86, Y:-5.32, Z:-1.30 [[ 9.99992377e-01 -3.50376472e-03 1.72296749e-03 9.28606525e+01] [ 3.50393193e-03 9.99993857e-01 -9.40381360e-05 -5.31545679e+00] [-1.72262742e-03 1.00074580e-04 9.99998511e-01 -1.30076896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.000371743 meters 0.031176897735183062 Centerline is valid? [True, True] Translation: X:92.92, Y:-5.31, Z:-1.30 [[ 9.99998500e-01 -1.49162609e-03 8.80701037e-04 9.29224543e+01] [ 1.49166882e-03 9.99998886e-01 -4.78609974e-05 -5.31467115e+00] [-8.80628666e-04 4.91746399e-05 9.99999611e-01 -1.30119084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.060371743 meters 0.03171341520818413 Centerline is valid? [True, True] Translation: X:92.98, Y:-5.32, Z:-1.30 [[ 9.99998311e-01 3.82119523e-04 1.79799976e-03 9.29829836e+01] [-3.81942428e-04 9.99999922e-01 -9.88377866e-05 -5.31848115e+00] [-1.79803739e-03 9.81508872e-05 9.99998379e-01 -1.30177533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12037174299999 meters 0.03492772290552041 Centerline is valid? [True, True] Translation: X:93.04, Y:-5.33, Z:-1.30 [[ 9.99995738e-01 8.43530635e-04 2.79505069e-03 9.30430430e+01] [-8.43102827e-04 9.99999633e-01 -1.54233697e-04 -5.32730373e+00] [-2.79517976e-03 1.51876524e-04 9.99996082e-01 -1.30307788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.180371743 meters 0.03690385948245896 Centerline is valid? [True, True] Translation: X:93.10, Y:-5.33, Z:-1.30 [[ 9.99996302e-01 7.04965897e-04 2.62666278e-03 9.31026736e+01] [-7.04587499e-04 9.99999741e-01 -1.44983090e-04 -5.33313599e+00] [-2.62676431e-03 1.43131840e-04 9.99996540e-01 -1.30416930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.240371743 meters 0.03245380924511569 Centerline is valid? [True, True] Translation: X:93.16, Y:-5.33, Z:-1.31 [[ 9.99999406e-01 -7.49887384e-04 7.90558053e-04 9.31640897e+01] [ 7.49921798e-04 9.99999718e-01 -4.32360742e-05 -5.33022076e+00] [-7.90525408e-04 4.38289053e-05 9.99999687e-01 -1.30506062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.300371743 meters 0.03079399737040506 Centerline is valid? [True, True] Translation: X:93.23, Y:-5.33, Z:-1.31 [[ 9.99998386e-01 -1.78777904e-03 -1.79823966e-04 9.32256309e+01] [ 1.78778095e-03 9.99998402e-01 1.04698462e-05 -5.33094767e+00] [ 1.79804961e-04 -1.07913152e-05 9.99999984e-01 -1.30511623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.360371743 meters 0.033429898492846805 Centerline is valid? [True, True] Translation: X:93.29, Y:-5.34, Z:-1.31 [[ 9.99998828e-01 -1.51491727e-03 2.19304228e-04 9.32858335e+01] [ 1.51491992e-03 9.99998852e-01 -1.18905382e-05 -5.33750716e+00] [-2.19285963e-04 1.22227526e-05 9.99999976e-01 -1.30567248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.420371743 meters 0.032058487341405165 Centerline is valid? [True, True] Translation: X:93.35, Y:-5.34, Z:-1.30 [[ 9.99998643e-01 -6.96149960e-04 1.49295529e-03 9.33472026e+01] [ 6.96273489e-04 9.99999754e-01 -8.22235862e-05 -5.33661753e+00] [-1.49289768e-03 8.32629798e-05 9.99998882e-01 -1.30368010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48037174299999 meters 0.03391450396552799 Centerline is valid? [True, True] Translation: X:93.41, Y:-5.34, Z:-1.30 [[ 9.99998803e-01 -5.02745625e-04 1.46360977e-03 9.34072155e+01] [ 5.02863752e-04 9.99999870e-01 -8.03429103e-05 -5.34184633e+00] [-1.46356919e-03 8.10788104e-05 9.99998926e-01 -1.30483298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.540371743 meters 0.03293928525373243 Centerline is valid? [True, True] Translation: X:93.47, Y:-5.34, Z:-1.31 [[ 9.99997864e-01 -9.81193019e-04 1.81899291e-03 9.34690215e+01] [ 9.81377392e-04 9.99999513e-01 -1.00470115e-04 -5.34353181e+00] [-1.81889344e-03 1.02255019e-04 9.99998341e-01 -1.30547124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.600371743 meters 0.032469039975087044 Centerline is valid? [True, True] Translation: X:93.53, Y:-5.34, Z:-1.31 [[ 9.99999978e-01 2.08276919e-04 3.29026062e-05 9.35307549e+01] [-2.08276875e-04 9.99999978e-01 -1.32453345e-06 -5.34372453e+00] [-3.29028814e-05 1.31768057e-06 9.99999999e-01 -1.30655330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.660371743 meters 0.031918801895320086 Centerline is valid? [True, True] Translation: X:93.59, Y:-5.34, Z:-1.31 [[ 9.99999594e-01 7.77874435e-04 -4.55501311e-04 9.35911226e+01] [-7.77862991e-04 9.99999697e-01 2.53002329e-05 -5.34452627e+00] [ 4.55520853e-04 -2.49459050e-05 9.99999896e-01 -1.30836995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.720371743 meters 0.033459444966471685 Centerline is valid? [True, True] Translation: X:93.65, Y:-5.35, Z:-1.31 [[ 9.99997818e-01 8.99437310e-04 -1.88555452e-03 9.36504622e+01] [-8.99241961e-04 9.99999590e-01 1.04448340e-04 -5.34864201e+00] [ 1.88564769e-03 -1.02752543e-04 9.99998217e-01 -1.31034640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.780371743 meters 0.03430332037001999 Centerline is valid? [True, True] Translation: X:93.71, Y:-5.35, Z:-1.31 [[ 9.99993793e-01 -4.16088530e-04 -3.49868958e-03 9.37099626e+01] [ 4.16768583e-04 9.99999894e-01 1.93646706e-04 -5.35022779e+00] [ 3.49860864e-03 -1.95103648e-04 9.99993861e-01 -1.31272354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.840371743 meters 0.034828295196760235 Centerline is valid? [True, True] Translation: X:93.77, Y:-5.35, Z:-1.31 [[ 9.99992385e-01 -1.15350796e-05 -3.90242308e-03 9.37685425e+01] [ 1.23765791e-05 9.99999977e-01 2.15611048e-04 -5.35183591e+00] [ 3.90242051e-03 -2.15657705e-04 9.99992362e-01 -1.31424336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.900371743 meters 0.033992051638968526 Centerline is valid? [True, True] Translation: X:93.83, Y:-5.35, Z:-1.31 [[ 9.99987527e-01 4.82880336e-03 -1.27636193e-03 9.38287122e+01] [-4.82871702e-03 9.99988339e-01 7.07171113e-05 -5.35079564e+00] [ 1.27668852e-03 -6.45530386e-05 9.99999183e-01 -1.31310382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.960371743 meters 0.028125563796461653 Centerline is valid? [True, True] Translation: X:93.89, Y:-5.34, Z:-1.31 [[ 9.99960540e-01 8.88233920e-03 1.48822572e-04 9.38895966e+01] [-8.88233799e-03 9.99960551e-01 -8.77451731e-06 -5.34160724e+00] [-1.48894639e-04 7.45227869e-06 9.99999989e-01 -1.31012772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.020371743 meters 0.02770717370259403 Centerline is valid? [True, True] Translation: X:93.95, Y:-5.34, Z:-1.31 [[ 9.99938211e-01 1.10910884e-02 7.49002744e-04 9.39490413e+01] [-1.10910599e-02 9.99938491e-01 -4.22130031e-05 -5.34275057e+00] [-7.49424862e-04 3.39031606e-05 9.99999719e-01 -1.30992165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.080371743 meters 0.02883804092935179 Centerline is valid? [True, True] Translation: X:94.01, Y:-5.35, Z:-1.31 [[ 9.99948183e-01 1.01797227e-02 5.99211416e-05 9.40062922e+01] [-1.01797225e-02 9.99948185e-01 -4.73795665e-06 -5.34722351e+00] [-5.99662680e-05 4.12773055e-06 9.99999998e-01 -1.31135614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.140371743 meters 0.029157559073436153 Centerline is valid? [True, True] Translation: X:94.06, Y:-5.35, Z:-1.32 [[ 9.99949699e-01 9.70376501e-03 -2.53718919e-03 9.40648962e+01] [-9.70344353e-03 9.99952911e-01 1.38983304e-04 -5.35153188e+00] [ 2.53841838e-03 -1.14356841e-04 9.99996772e-01 -1.31539171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.200371743 meters 0.028525310184553836 Centerline is valid? [True, True] Translation: X:94.12, Y:-5.35, Z:-1.32 [[ 9.99945180e-01 9.95313670e-03 -3.25145003e-03 9.41235944e+01] [-9.95260995e-03 9.99950456e-01 1.78145400e-04 -5.35340666e+00] [ 3.25306205e-03 -1.45775221e-04 9.99994698e-01 -1.31667499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.260371743 meters 0.027881218485484152 Centerline is valid? [True, True] Translation: X:94.18, Y:-5.36, Z:-1.32 [[ 9.99940560e-01 1.06215889e-02 -2.46153314e-03 9.41820943e+01] [-1.06212901e-02 9.99943583e-01 1.34440882e-04 -5.35508475e+00] [ 2.46282224e-03 -1.08288233e-04 9.99996961e-01 -1.31616795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.320371743 meters 0.028084502251815927 Centerline is valid? [True, True] Translation: X:94.24, Y:-5.36, Z:-1.32 [[ 9.99944152e-01 1.05194081e-02 -1.01715148e-03 9.42406469e+01] [-1.05193577e-02 9.99944669e-01 5.48907567e-05 -5.35887752e+00] [ 1.01767262e-03 -4.41879110e-05 9.99999481e-01 -1.31599264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.380371743 meters 0.028520341989884266 Centerline is valid? [True, True] Translation: X:94.30, Y:-5.36, Z:-1.32 [[ 9.99954062e-01 9.57152422e-03 -5.10038302e-04 9.42992162e+01] [-9.57151170e-03 9.99954192e-01 2.69924395e-05 -5.36458111e+00] [ 5.10273297e-04 -2.21093620e-05 9.99999870e-01 -1.31629060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.440371743 meters 0.0286827192610507 Centerline is valid? [True, True] Translation: X:94.36, Y:-5.37, Z:-1.32 [[ 9.99963593e-01 8.50376471e-03 -7.05623902e-04 9.43574422e+01] [-8.50374043e-03 9.99963842e-01 3.74077326e-05 -5.36883238e+00] [ 7.05916494e-04 -3.14059282e-05 9.99999750e-01 -1.31628756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.500371743 meters 0.029242172403593534 Centerline is valid? [True, True] Translation: X:94.42, Y:-5.37, Z:-1.32 [[ 9.99973266e-01 7.28101012e-03 -6.74573163e-04 9.44158198e+01] [-7.28098755e-03 9.99973493e-01 3.59098792e-05 -5.37361190e+00] [ 6.74816742e-04 -3.09973604e-05 9.99999772e-01 -1.31611077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.560371743 meters 0.029080550014577614 Centerline is valid? [True, True] Translation: X:94.47, Y:-5.38, Z:-1.32 [[ 9.99978126e-01 6.58369322e-03 -6.34546012e-04 9.44744302e+01] [-6.58367317e-03 9.99978327e-01 3.36691742e-05 -5.37896760e+00] [ 6.34753927e-04 -2.94907942e-05 9.99999798e-01 -1.31727909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62037174299999 meters 0.029658624398969605 Centerline is valid? [True, True] Translation: X:94.53, Y:-5.38, Z:-1.32 [[ 9.99976267e-01 6.86377488e-03 -5.95338934e-04 9.45326840e+01] [-6.86375735e-03 9.99976444e-01 3.14969991e-05 -5.38429558e+00] [ 5.95541098e-04 -2.74099896e-05 9.99999822e-01 -1.31900919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.680371743 meters 0.03047652521863124 Centerline is valid? [True, True] Translation: X:94.59, Y:-5.39, Z:-1.32 [[ 9.99947890e-01 1.00161131e-02 -1.97334828e-03 9.45914533e+01] [-1.00159211e-02 9.99949834e-01 1.07146605e-04 -5.38914052e+00] [ 1.97432247e-03 -8.73761207e-05 9.99998047e-01 -1.32243333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.740371743 meters 0.027629929564609388 Centerline is valid? [True, True] Translation: X:94.65, Y:-5.39, Z:-1.32 [[ 9.99911654e-01 1.31717241e-02 -1.78604808e-03 9.46513344e+01] [-1.31715721e-02 9.99913246e-01 9.68561487e-05 -5.38655788e+00] [ 1.78716890e-03 -7.33225309e-05 9.99998400e-01 -1.32172997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.800371743 meters 0.02604290807703127 Centerline is valid? [True, True] Translation: X:94.71, Y:-5.39, Z:-1.32 [[ 9.99834812e-01 1.81517303e-02 -9.29535504e-04 9.47114762e+01] [-1.81516913e-02 9.99835243e-01 5.04021483e-05 -5.38837130e+00] [ 9.30297243e-04 -3.35211810e-05 9.99999567e-01 -1.32226614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.860371743 meters 0.024759555343953132 Centerline is valid? [True, True] Translation: X:94.77, Y:-5.39, Z:-1.32 [[ 9.99738408e-01 2.28324142e-02 -1.34045679e-03 9.47709695e+01] [-2.28323375e-02 9.99739306e-01 7.24955987e-05 -5.39083874e+00] [ 1.34176259e-03 -4.18708726e-05 9.99999099e-01 -1.32342235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.920371743 meters 0.02393083558609521 Centerline is valid? [True, True] Translation: X:94.83, Y:-5.39, Z:-1.32 [[ 9.99609195e-01 2.79435997e-02 -7.82013915e-04 9.48293165e+01] [-2.79435755e-02 9.99609501e-01 4.18072644e-05 -5.39441865e+00] [ 7.82876784e-04 -1.99386611e-05 9.99999693e-01 -1.32483176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98037174299999 meters 0.02212348329080045 Centerline is valid? [True, True] Translation: X:94.89, Y:-5.40, Z:-1.32 [[ 9.99484495e-01 3.21006608e-02 5.41124678e-04 9.48881581e+01] [-3.21006490e-02 9.99484641e-01 -3.04223553e-05 -5.39562841e+00] [-5.41822382e-04 1.30362191e-05 9.99999853e-01 -1.32400891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.040371743 meters 0.021704899128700314 Centerline is valid? [True, True] Translation: X:94.95, Y:-5.40, Z:-1.32 [[ 9.99338332e-01 3.62902729e-02 2.43189744e-03 9.49460470e+01] [-3.62900568e-02 9.99341290e-01 -1.32960046e-04 -5.40111811e+00] [-2.43512068e-03 4.46183741e-05 9.99997034e-01 -1.32396693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.100371743 meters 0.021818649431430616 Centerline is valid? [True, True] Translation: X:95.00, Y:-5.41, Z:-1.32 [[ 9.99404167e-01 3.44042117e-02 2.76790690e-03 9.50045594e+01] [-3.44039254e-02 9.99407998e-01 -1.50995576e-04 -5.41155836e+00] [-2.77146317e-03 5.56787450e-05 9.99996158e-01 -1.32488525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.160371743 meters 0.02319564171515938 Centerline is valid? [True, True] Translation: X:95.06, Y:-5.43, Z:-1.33 [[ 9.99618646e-01 2.73378237e-02 3.89947716e-03 9.50634171e+01] [-2.73372059e-02 9.99626246e-01 -2.11659838e-04 -5.42810109e+00] [-3.90380603e-03 1.04978311e-04 9.99992375e-01 -1.32563288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.220371743 meters 0.024432585703389475 Centerline is valid? [True, True] Translation: X:95.12, Y:-5.44, Z:-1.33 [[ 9.99746109e-01 2.21669742e-02 4.04252636e-03 9.51221085e+01] [-2.21662679e-02 9.99754274e-01 -2.19437606e-04 -5.44012556e+00] [-4.04639728e-03 1.29774171e-04 9.99991805e-01 -1.32610889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.280371743 meters 0.026126588811051094 Centerline is valid? [True, True] Translation: X:95.18, Y:-5.46, Z:-1.33 [[ 9.99885221e-01 1.47277132e-02 3.55526967e-03 9.51819255e+01] [-1.47271222e-02 9.99891532e-01 -1.92363271e-04 -5.45741264e+00] [-3.55771710e-03 1.39982301e-04 9.99993662e-01 -1.32882494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.340371743 meters 0.030090863237205657 Centerline is valid? [True, True] Translation: X:95.24, Y:-5.48, Z:-1.33 [[ 9.99964281e-01 7.71513749e-03 3.45143389e-03 9.52406378e+01] [-7.71453828e-03 9.99970225e-01 -1.86891411e-04 -5.47754119e+00] [-3.45277302e-03 1.60258516e-04 9.99994026e-01 -1.33162576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.400371743 meters 0.03018721075394825 Centerline is valid? [True, True] Translation: X:95.30, Y:-5.49, Z:-1.33 [[ 9.99986277e-01 1.76589922e-03 4.93231678e-03 9.53009292e+01] [-1.76460502e-03 9.99998408e-01 -2.66731647e-04 -5.49046844e+00] [-4.93277995e-03 2.58024396e-04 9.99987800e-01 -1.33077795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.460371743 meters 0.035599046153150314 Centerline is valid? [True, True] Translation: X:95.36, Y:-5.51, Z:-1.33 [[ 9.99978079e-01 -3.43661305e-03 5.65961873e-03 9.53596044e+01] [ 3.43840063e-03 9.99994042e-01 -3.06148046e-04 -5.50963697e+00] [-5.65853289e-03 3.25601372e-04 9.99983937e-01 -1.33198684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.520371743 meters 0.03285869177175424 Centerline is valid? [True, True] Translation: X:95.42, Y:-5.51, Z:-1.33 [[ 9.99968505e-01 -6.10569106e-03 5.07050330e-03 9.54205673e+01] [ 6.10715829e-03 9.99981314e-01 -2.73934641e-04 -5.51330152e+00] [-5.06873599e-03 3.04892380e-04 9.99987107e-01 -1.33275239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.580371743 meters 0.033477262372633175 Centerline is valid? [True, True] Translation: X:95.48, Y:-5.52, Z:-1.33 [[ 9.99948095e-01 -9.03321799e-03 4.71264296e-03 9.54815482e+01] [ 9.03451733e-03 9.99959156e-01 -2.54498217e-04 -5.52388367e+00] [-4.71015153e-03 2.97061461e-04 9.99988863e-01 -1.33428399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.640371743 meters 0.03727426343287819 Centerline is valid? [True, True] Translation: X:95.54, Y:-5.54, Z:-1.34 [[ 9.99935406e-01 -1.02664000e-02 4.87697045e-03 9.55416724e+01] [ 1.02678071e-02 9.99947250e-01 -2.63570149e-04 -5.53649527e+00] [-4.87400727e-03 3.13628916e-04 9.99988073e-01 -1.33501707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.700371743 meters 0.038161310509846065 Centerline is valid? [True, True] Translation: X:95.60, Y:-5.54, Z:-1.34 [[ 9.99941433e-01 -9.68497195e-03 4.83033968e-03 9.56034561e+01] [ 9.68634487e-03 9.99953052e-01 -2.60914870e-04 -5.54221185e+00] [-4.82758596e-03 3.07687925e-04 9.99988300e-01 -1.33521139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.760371743 meters 0.03389889626097008 Centerline is valid? [True, True] Translation: X:95.67, Y:-5.54, Z:-1.33 [[ 9.99952759e-01 -8.41992890e-03 4.85637970e-03 9.56658508e+01] [ 8.42130331e-03 9.99964506e-01 -2.62630928e-04 -5.54064511e+00] [-4.85399599e-03 3.03515567e-04 9.99988173e-01 -1.33498883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.820371743 meters 0.033890136720349094 Centerline is valid? [True, True] Translation: X:95.73, Y:-5.54, Z:-1.33 [[ 9.99972234e-01 -5.03434835e-03 5.49417115e-03 9.57252624e+01] [ 5.03606368e-03 9.99987274e-01 -2.98418938e-04 -5.54359263e+00] [-5.49259889e-03 3.26079648e-04 9.99984862e-01 -1.33492741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.880371743 meters 0.03350040207034412 Centerline is valid? [True, True] Translation: X:95.79, Y:-5.55, Z:-1.34 [[ 9.99981046e-01 -1.46445634e-03 5.98018824e-03 9.57854720e+01] [ 1.46642334e-03 9.99998872e-01 -3.24547049e-04 -5.54662430e+00] [-5.97970621e-03 3.33310386e-04 9.99982066e-01 -1.33612470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.940371743 meters 0.03406892524018917 Centerline is valid? [True, True] Translation: X:95.85, Y:-5.55, Z:-1.34 [[ 9.99975972e-01 4.12846256e-06 6.93215034e-03 9.58454218e+01] [-1.52138974e-06 9.99999929e-01 -3.76089519e-04 -5.55152897e+00] [-6.93215140e-03 3.76069936e-04 9.99975902e-01 -1.33675605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.000371743 meters 0.03499748941999285 Centerline is valid? [True, True] Translation: X:95.91, Y:-5.56, Z:-1.34 [[ 9.99974011e-01 6.09427476e-04 7.18376224e-03 9.59064498e+01] [-6.06643985e-04 9.99999740e-01 -3.89642477e-04 -5.55845911e+00] [-7.18399784e-03 3.85274364e-04 9.99974121e-01 -1.33788102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.060371743 meters 0.029050187754282926 Centerline is valid? [True, True] Translation: X:95.97, Y:-5.55, Z:-1.34 [[ 9.99981020e-01 6.23410826e-04 6.12949217e-03 9.59692806e+01] [-6.21384500e-04 9.99999752e-01 -3.32485088e-04 -5.55299028e+00] [-6.12969793e-03 3.28670006e-04 9.99981159e-01 -1.33793782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12037174299999 meters 0.03121515433496299 Centerline is valid? [True, True] Translation: X:96.03, Y:-5.56, Z:-1.34 [[ 9.99985278e-01 1.95783512e-03 5.06070413e-03 9.60301747e+01] [-1.95647276e-03 9.99998049e-01 -2.74141401e-04 -5.56151431e+00] [-5.06123098e-03 2.64236235e-04 9.99987157e-01 -1.34131302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.180371743 meters 0.026818245801432796 Centerline is valid? [True, True] Translation: X:96.09, Y:-5.56, Z:-1.34 [[ 9.99959311e-01 6.55986799e-03 6.19223862e-03 9.60908815e+01] [-6.55790185e-03 9.99978440e-01 -3.37768910e-04 -5.55847107e+00] [-6.19432083e-03 2.97147074e-04 9.99980771e-01 -1.34116416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.240371743 meters 0.024419624302525478 Centerline is valid? [True, True] Translation: X:96.15, Y:-5.56, Z:-1.34 [[ 9.99867240e-01 1.47035806e-02 7.02189487e-03 9.61519383e+01] [-1.47012526e-02 9.99891857e-01 -3.83034928e-04 -5.55505031e+00] [-7.02676749e-03 2.79753426e-04 9.99975273e-01 -1.34175001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.300371743 meters 0.024205164651259898 Centerline is valid? [True, True] Translation: X:96.21, Y:-5.56, Z:-1.34 [[ 9.99791175e-01 1.91063048e-02 7.24950418e-03 9.62105555e+01] [-1.91039365e-02 9.99817425e-01 -3.95796837e-04 -5.55621529e+00] [-7.25574282e-03 2.57220117e-04 9.99973644e-01 -1.34334926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.360371743 meters 0.023753477289755992 Centerline is valid? [True, True] Translation: X:96.27, Y:-5.56, Z:-1.35 [[ 9.99741665e-01 2.15888971e-02 7.10792130e-03 9.62698261e+01] [-2.15866858e-02 9.99766905e-01 -3.87689308e-04 -5.55732143e+00] [-7.11463427e-03 2.34152691e-04 9.99974663e-01 -1.34504591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.420371743 meters 0.02437302816317011 Centerline is valid? [True, True] Translation: X:96.33, Y:-5.56, Z:-1.35 [[ 9.99768510e-01 2.00365980e-02 7.83974027e-03 9.63282739e+01] [-2.00338632e-02 9.99799211e-01 -4.27215767e-04 -5.56112775e+00] [-7.84672609e-03 2.70056587e-04 9.99969178e-01 -1.34574268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48037174299999 meters 0.024991470947765267 Centerline is valid? [True, True] Translation: X:96.39, Y:-5.57, Z:-1.35 [[ 9.99857745e-01 1.48533878e-02 7.99170068e-03 9.63879903e+01] [-1.48503879e-02 9.99889632e-01 -4.34595052e-04 -5.56506320e+00] [-7.99727386e-03 3.15853373e-04 9.99967971e-01 -1.34573377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.540371743 meters 0.024914539131641867 Centerline is valid? [True, True] Translation: X:96.45, Y:-5.57, Z:-1.35 [[ 9.99882139e-01 1.31113185e-02 7.98762324e-03 9.64476117e+01] [-1.31082663e-02 9.99913989e-01 -4.34341449e-04 -5.56821656e+00] [-7.99263100e-03 3.29586364e-04 9.99968004e-01 -1.34680900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.600371743 meters 0.02834931657671044 Centerline is valid? [True, True] Translation: X:96.51, Y:-5.58, Z:-1.35 [[ 9.99940916e-01 8.28688258e-03 7.03509986e-03 9.65061998e+01] [-8.28439725e-03 9.99965611e-01 -3.82343993e-04 -5.57673506e+00] [-7.03802637e-03 3.24039840e-04 9.99975180e-01 -1.34874538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.660371743 meters 0.029444348196550747 Centerline is valid? [True, True] Translation: X:96.57, Y:-5.58, Z:-1.35 [[ 9.99964799e-01 3.16712493e-03 7.76987912e-03 9.65667780e+01] [-3.16394375e-03 9.99994906e-01 -4.21683092e-04 -5.58085007e+00] [-7.77117506e-03 3.97084788e-04 9.99969725e-01 -1.34897637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.720371743 meters 0.029630020506159732 Centerline is valid? [True, True] Translation: X:96.63, Y:-5.58, Z:-1.35 [[ 9.99966361e-01 2.31700973e-04 8.19894761e-03 9.66279080e+01] [-2.28061454e-04 9.99999875e-01 -4.44832865e-04 -5.58420224e+00] [-8.19904966e-03 4.42948037e-04 9.99966289e-01 -1.34864631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.780371743 meters 0.032725686855681606 Centerline is valid? [True, True] Translation: X:96.69, Y:-5.59, Z:-1.35 [[ 9.99963383e-01 -4.09775058e-03 7.51267631e-03 9.66875794e+01] [ 4.10093229e-03 9.99991508e-01 -4.08156377e-04 -5.58999652e+00] [-7.51093999e-03 4.38950408e-04 9.99971696e-01 -1.34894294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.840371743 meters 0.03266160189110661 Centerline is valid? [True, True] Translation: X:96.75, Y:-5.59, Z:-1.35 [[ 9.99943225e-01 -8.31379884e-03 6.66543804e-03 9.67478494e+01] [ 8.31639535e-03 9.99965353e-01 -3.61926566e-04 -5.59188579e+00] [-6.66219811e-03 4.17338435e-04 9.99977720e-01 -1.35074536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.900371743 meters 0.03551857353320768 Centerline is valid? [True, True] Translation: X:96.81, Y:-5.60, Z:-1.35 [[ 9.99942500e-01 -9.17720767e-03 5.54755865e-03 9.68089491e+01] [ 9.17901720e-03 9.99957827e-01 -3.00811080e-04 -5.59738505e+00] [-5.54456408e-03 3.51714920e-04 9.99984567e-01 -1.35183235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.960371743 meters 0.034086363545266805 Centerline is valid? [True, True] Translation: X:96.87, Y:-5.59, Z:-1.35 [[ 9.99965457e-01 -6.79434928e-03 4.78761880e-03 9.68711643e+01] [ 6.79567056e-03 9.99976875e-01 -2.59764797e-04 -5.59385072e+00] [-4.78574315e-03 2.92290904e-04 9.99988506e-01 -1.35133947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.020371743 meters 0.031317670686820676 Centerline is valid? [True, True] Translation: X:96.93, Y:-5.59, Z:-1.35 [[ 9.99982905e-01 -2.98158286e-03 5.02993962e-03 9.69322144e+01] [ 2.98299637e-03 9.99995513e-01 -2.73540165e-04 -5.58888891e+00] [-5.02910147e-03 2.88539780e-04 9.99987312e-01 -1.35073479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.080371743 meters 0.029918584324757642 Centerline is valid? [True, True] Translation: X:96.99, Y:-5.59, Z:-1.35 [[ 9.99985291e-01 1.26847845e-03 5.27331797e-03 9.69932567e+01] [-1.26698349e-03 9.99999156e-01 -2.86825442e-04 -5.58541442e+00] [-5.27367735e-03 2.80140017e-04 9.99986055e-01 -1.35088226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.140371743 meters 0.029289555223766764 Centerline is valid? [True, True] Translation: X:97.05, Y:-5.58, Z:-1.35 [[ 9.99977758e-01 4.73396203e-03 4.69818862e-03 9.70539466e+01] [-4.73281207e-03 9.99988767e-01 -2.55853895e-04 -5.58405408e+00] [-4.69934705e-03 2.33612561e-04 9.99988931e-01 -1.35247900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.200371743 meters 0.02924761054430729 Centerline is valid? [True, True] Translation: X:97.11, Y:-5.58, Z:-1.35 [[ 9.99972859e-01 6.47882608e-03 3.50804290e-03 9.71144459e+01] [-6.47819565e-03 9.99978998e-01 -1.91040955e-04 -5.58453582e+00] [-3.50920694e-03 1.68309981e-04 9.99993829e-01 -1.35382015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.260371743 meters 0.029029329058993802 Centerline is valid? [True, True] Translation: X:97.17, Y:-5.59, Z:-1.36 [[ 9.99951590e-01 9.12271904e-03 3.68695153e-03 9.71739260e+01] [-9.12203926e-03 9.99958373e-01 -2.01149831e-04 -5.58571235e+00] [-3.68863309e-03 1.67507577e-04 9.99993183e-01 -1.35537338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.320371743 meters 0.02967709998236421 Centerline is valid? [True, True] Translation: X:97.23, Y:-5.59, Z:-1.36 [[ 9.99943143e-01 9.87185858e-03 4.03209550e-03 9.72328505e+01] [-9.87105255e-03 9.99951256e-01 -2.19754920e-04 -5.58948516e+00] [-4.03406835e-03 1.79941399e-04 9.99991847e-01 -1.35682220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.380371743 meters 0.03125098800999822 Centerline is valid? [True, True] Translation: X:97.29, Y:-5.59, Z:-1.36 [[ 9.99954984e-01 8.71567109e-03 3.75073075e-03 9.72910536e+01] [-8.71496509e-03 9.99962003e-01 -2.04531242e-04 -5.59381315e+00] [-3.75237086e-03 1.71834547e-04 9.99992945e-01 -1.35778065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.440371743 meters 0.03341101313484853 Centerline is valid? [True, True] Translation: X:97.35, Y:-5.60, Z:-1.36 [[ 9.99976935e-01 5.52557172e-03 3.94948269e-03 9.73496352e+01] [-5.52476768e-03 9.99984715e-01 -2.14461702e-04 -5.60094360e+00] [-3.95060734e-03 1.92636781e-04 9.99992178e-01 -1.35878608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.500371743 meters 0.03573456248767806 Centerline is valid? [True, True] Translation: X:97.41, Y:-5.61, Z:-1.36 [[ 9.99991490e-01 2.12082490e-03 3.53857289e-03 9.74098660e+01] [-2.12015753e-03 9.99997734e-01 -1.92337677e-04 -5.60635089e+00] [-3.53897279e-03 1.84833708e-04 9.99993721e-01 -1.35975620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.560371743 meters 0.031287735010356255 Centerline is valid? [True, True] Translation: X:97.47, Y:-5.60, Z:-1.36 [[ 9.99997700e-01 4.92552374e-04 2.08766978e-03 9.74718520e+01] [-4.92317444e-04 9.99999872e-01 -1.13044350e-04 -5.60188692e+00] [-2.08772519e-03 1.12016293e-04 9.99997814e-01 -1.35995700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62037174299999 meters 0.031776289141860814 Centerline is valid? [True, True] Translation: X:97.53, Y:-5.60, Z:-1.36 [[ 9.99999855e-01 4.25985781e-04 -3.30962116e-04 9.75330122e+01] [-4.25979677e-04 9.99999909e-01 1.85144555e-05 -5.60328093e+00] [ 3.30969972e-04 -1.83734697e-05 9.99999945e-01 -1.36265088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.680371743 meters 0.031143268311885356 Centerline is valid? [True, True] Translation: X:97.59, Y:-5.60, Z:-1.36 [[ 9.99995052e-01 3.13362278e-03 2.74949345e-04 9.75930813e+01] [-3.13361871e-03 9.99995090e-01 -1.52091960e-05 -5.60355846e+00] [-2.74995655e-04 1.43475343e-05 9.99999962e-01 -1.36280822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.740371743 meters 0.02792263440033558 Centerline is valid? [True, True] Translation: X:97.65, Y:-5.60, Z:-1.36 [[ 9.99942147e-01 1.07279831e-02 7.83334257e-04 9.76531900e+01] [-1.07279527e-02 9.99942453e-01 -4.29817856e-05 -5.59623351e+00] [-7.83750287e-04 3.45757261e-05 9.99999692e-01 -1.36185090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.800371743 meters 0.025297183372466222 Centerline is valid? [True, True] Translation: X:97.71, Y:-5.59, Z:-1.36 [[ 9.99744943e-01 2.24721547e-02 2.24737756e-03 9.77141081e+01] [-2.24719365e-02 9.99747467e-01 -1.22264649e-04 -5.58923959e+00] [-2.24955758e-03 7.17305385e-05 9.99997467e-01 -1.36206427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.860371743 meters 0.023216806547249554 Centerline is valid? [True, True] Translation: X:97.77, Y:-5.59, Z:-1.36 [[ 9.99549835e-01 2.98854012e-02 2.64394252e-03 9.77746460e+01] [-2.98851248e-02 9.99553330e-01 -1.43977420e-04 -5.58549560e+00] [-2.64706437e-03 6.48980542e-05 9.99996494e-01 -1.36257109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.920371743 meters 0.022603722700648844 Centerline is valid? [True, True] Translation: X:97.83, Y:-5.58, Z:-1.36 [[ 9.99357895e-01 3.57595558e-02 2.24744982e-03 9.78347656e+01] [-3.57593701e-02 9.99360422e-01 -1.22785826e-04 -5.58423187e+00] [-2.25040316e-03 4.23395945e-05 9.99997467e-01 -1.36382627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98037174299999 meters 0.022341924150289297 Centerline is valid? [True, True] Translation: X:97.89, Y:-5.59, Z:-1.36 [[ 9.99397575e-01 3.46418248e-02 2.10481205e-03 9.78937744e+01] [-3.46416591e-02 9.99399791e-01 -1.15173523e-04 -5.58851430e+00] [-2.10753855e-03 4.21899581e-05 9.99997778e-01 -1.36356708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.040371743 meters 0.022956387685682787 Centerline is valid? [True, True] Translation: X:97.95, Y:-5.59, Z:-1.36 [[ 9.99478645e-01 3.22427343e-02 1.68663531e-03 9.79527048e+01] [-3.22426243e-02 9.99480067e-01 -9.23772653e-05 -5.59379207e+00] [-1.68873687e-03 3.79475553e-05 9.99998573e-01 -1.36400723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.100371743 meters 0.023602860037248322 Centerline is valid? [True, True] Translation: X:98.01, Y:-5.60, Z:-1.37 [[ 9.99616407e-01 2.76670940e-02 1.25302667e-03 9.80119339e+01] [-2.76670300e-02 9.99617192e-01 -6.83282517e-05 -5.60220346e+00] [-1.25443745e-03 3.36345150e-05 9.99999213e-01 -1.36546994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.160371743 meters 0.02488216592047284 Centerline is valid? [True, True] Translation: X:98.07, Y:-5.61, Z:-1.37 [[ 9.99739032e-01 2.26939988e-02 2.61721436e-03 9.80708266e+01] [-2.26937040e-02 9.99742455e-01 -1.42266678e-04 -5.61260027e+00] [-2.61976891e-03 8.28352624e-05 9.99996565e-01 -1.36605691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.220371743 meters 0.026189085001030375 Centerline is valid? [True, True] Translation: X:98.13, Y:-5.62, Z:-1.36 [[ 9.99861087e-01 1.61635269e-02 4.06778311e-03 9.81302094e+01] [-1.61627649e-02 9.99869350e-01 -2.20124986e-04 -5.62188103e+00] [-4.07080965e-03 1.54347786e-04 9.99991702e-01 -1.36466399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.280371743 meters 0.02893150503737341 Centerline is valid? [True, True] Translation: X:98.19, Y:-5.64, Z:-1.37 [[ 9.99968776e-01 6.60331517e-03 4.34092183e-03 9.81897714e+01] [-6.60235822e-03 9.99978177e-01 -2.34740485e-04 -5.63548745e+00] [-4.34237716e-03 2.06072834e-04 9.99990551e-01 -1.36563008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.340371743 meters 0.032909656598821384 Centerline is valid? [True, True] Translation: X:98.25, Y:-5.65, Z:-1.37 [[ 9.99987957e-01 2.02541728e-04 4.90362067e-03 9.82487017e+01] [-2.01245269e-04 9.99999945e-01 -2.64880042e-04 -5.64978169e+00] [-4.90367405e-03 2.63890021e-04 9.99987942e-01 -1.36754127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.400371743 meters 0.03570314869911489 Centerline is valid? [True, True] Translation: X:98.31, Y:-5.66, Z:-1.37 [[ 9.99978894e-01 -4.42881851e-03 4.75360701e-03 9.83086266e+01] [ 4.43008971e-03 9.99990154e-01 -2.56922208e-04 -5.65870492e+00] [-4.75242234e-03 2.77975691e-04 9.99988669e-01 -1.36870658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.460371743 meters 0.03425116384609119 Centerline is valid? [True, True] Translation: X:98.37, Y:-5.66, Z:-1.37 [[ 9.99964285e-01 -7.09567020e-03 4.59125748e-03 9.83697029e+01] [ 7.09688349e-03 9.99974786e-01 -2.48021710e-04 -5.66173430e+00] [-4.58938183e-03 2.80596471e-04 9.99989429e-01 -1.36975177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.520371743 meters 0.03498228805209787 Centerline is valid? [True, True] Translation: X:98.43, Y:-5.67, Z:-1.37 [[ 9.99967828e-01 -6.17463813e-03 5.12021424e-03 9.84316664e+01] [ 6.17613327e-03 9.99980889e-01 -2.76246214e-04 -5.66664116e+00] [-5.11841067e-03 3.07860452e-04 9.99986853e-01 -1.37130611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.580371743 meters 0.03458713869013285 Centerline is valid? [True, True] Translation: X:98.49, Y:-5.67, Z:-1.37 [[ 9.99970708e-01 -3.37047271e-03 6.87189194e-03 9.84920955e+01] [ 3.37310903e-03 9.99994242e-01 -3.72083838e-04 -5.66894362e+00] [-6.87059827e-03 3.95252579e-04 9.99976319e-01 -1.37134101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.640371743 meters 0.03455673501708693 Centerline is valid? [True, True] Translation: X:98.55, Y:-5.67, Z:-1.37 [[ 9.99973547e-01 1.69375773e-04 7.27158362e-03 9.85520780e+01] [-1.66517155e-04 9.99999909e-01 -3.93725449e-04 -5.67158680e+00] [-7.27164964e-03 3.92504190e-04 9.99973484e-01 -1.37216213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.700371743 meters 0.028591705845137965 Centerline is valid? [True, True] Translation: X:98.61, Y:-5.66, Z:-1.37 [[ 9.99974446e-01 3.99979150e-03 5.92522848e-03 9.86132826e+01] [-3.99796140e-03 9.99991957e-01 -3.20677063e-04 -5.66403135e+00] [-5.92646346e-03 2.96980034e-04 9.99982394e-01 -1.37274822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.760371743 meters 0.027339120017858036 Centerline is valid? [True, True] Translation: X:98.67, Y:-5.66, Z:-1.37 [[ 9.99931856e-01 1.02836585e-02 5.52541472e-03 9.86737925e+01] [-1.02821615e-02 9.99947092e-01 -2.99265206e-04 -5.66278771e+00] [-5.52819993e-03 2.42431607e-04 9.99984690e-01 -1.37435351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.820371743 meters 0.026560875723403668 Centerline is valid? [True, True] Translation: X:98.73, Y:-5.66, Z:-1.38 [[ 9.99863534e-01 1.55633951e-02 5.54023457e-03 9.87342761e+01] [-1.55619700e-02 9.99878860e-01 -3.00243843e-04 -5.66377145e+00] [-5.54423624e-03 2.13985906e-04 9.99984608e-01 -1.37620217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.880371743 meters 0.02423088794815614 Centerline is valid? [True, True] Translation: X:98.79, Y:-5.66, Z:-1.38 [[ 9.99703699e-01 2.39063386e-02 4.58263239e-03 9.87945886e+01] [-2.39054519e-02 9.99714193e-01 -2.48173654e-04 -5.66061913e+00] [-4.58725557e-03 1.38550221e-04 9.99989469e-01 -1.37783989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.940371743 meters 0.023927464752008208 Centerline is valid? [True, True] Translation: X:98.85, Y:-5.66, Z:-1.38 [[ 9.99555224e-01 2.91351263e-02 6.36380764e-03 9.88538508e+01] [-2.91335210e-02 9.99575469e-01 -3.44835242e-04 -5.66229019e+00] [-6.37115283e-03 1.59281744e-04 9.99979691e-01 -1.37820918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.000371743 meters 0.02320832005830528 Centerline is valid? [True, True] Translation: X:98.91, Y:-5.67, Z:-1.38 [[ 9.99510983e-01 3.01913550e-02 8.14109283e-03 9.89130644e+01] [-3.01887654e-02 9.99544118e-01 -4.40811239e-04 -5.66521164e+00] [-8.15069015e-03 1.94826133e-04 9.99966764e-01 -1.37720398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.060371743 meters 0.022684947198793978 Centerline is valid? [True, True] Translation: X:98.97, Y:-5.67, Z:-1.38 [[ 9.99578299e-01 2.80249391e-02 7.60440625e-03 9.89720995e+01] [-2.80226187e-02 9.99607205e-01 -4.11531987e-04 -5.66840723e+00] [-7.61295243e-03 1.98263066e-04 9.99971001e-01 -1.37792629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12037174299999 meters 0.023414207782637742 Centerline is valid? [True, True] Translation: X:99.03, Y:-5.67, Z:-1.38 [[ 9.99715654e-01 2.28494078e-02 6.82023744e-03 9.90311382e+01] [-2.28474244e-02 9.99738896e-01 -3.68586051e-04 -5.67459885e+00] [-6.82687862e-03 2.12656386e-04 9.99976674e-01 -1.37973525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.180371743 meters 0.025921912605064223 Centerline is valid? [True, True] Translation: X:99.09, Y:-5.69, Z:-1.38 [[ 9.99859475e-01 1.58705566e-02 5.39968028e-03 9.90901612e+01] [-1.58692137e-02 9.99874034e-01 -2.91456950e-04 -5.68505701e+00] [-5.40362568e-03 2.05727312e-04 9.99985379e-01 -1.38218166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.240371743 meters 0.028823152817630746 Centerline is valid? [True, True] Translation: X:99.15, Y:-5.69, Z:-1.38 [[ 9.99957959e-01 7.15102053e-03 5.73966691e-03 9.91499179e+01] [-7.14936199e-03 9.99974395e-01 -3.09427699e-04 -5.69401819e+00] [-5.74173267e-03 2.68379734e-04 9.99983480e-01 -1.38241617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.300371743 meters 0.031251752464033306 Centerline is valid? [True, True] Translation: X:99.21, Y:-5.70, Z:-1.38 [[ 9.99981042e-01 8.38544393e-04 6.10016291e-03 9.92096801e+01] [-8.36553727e-04 9.99999596e-01 -3.28874145e-04 -5.70216282e+00] [-6.10043622e-03 3.23764797e-04 9.99981340e-01 -1.38260478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.360371743 meters 0.03221704360357937 Centerline is valid? [True, True] Translation: X:99.27, Y:-5.71, Z:-1.38 [[ 9.99953064e-01 -6.73645249e-03 6.96346565e-03 9.92700772e+01] [ 6.73922726e-03 9.99977221e-01 -3.75087677e-04 -5.70842190e+00] [-6.96078026e-03 4.21998450e-04 9.99975684e-01 -1.38226036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.420371743 meters 0.03679852327702535 Centerline is valid? [True, True] Translation: X:99.33, Y:-5.72, Z:-1.38 [[ 9.99926249e-01 -1.05218777e-02 6.06511948e-03 9.93289920e+01] [ 1.05240536e-02 9.99944567e-01 -3.26961640e-04 -5.71738163e+00] [-6.06134302e-03 3.90767169e-04 9.99981554e-01 -1.38356966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48037174299999 meters 0.03331427368921688 Centerline is valid? [True, True] Translation: X:99.39, Y:-5.71, Z:-1.39 [[ 9.99922900e-01 -1.16838605e-02 4.20504384e-03 9.93909649e+01] [ 1.16849138e-02 9.99931704e-01 -2.26007638e-04 -5.71487915e+00] [-4.20211601e-03 2.75125788e-04 9.99991133e-01 -1.38508773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.540371743 meters 0.034325829251622884 Centerline is valid? [True, True] Translation: X:99.45, Y:-5.72, Z:-1.39 [[ 9.99932972e-01 -1.08073584e-02 4.15351428e-03 9.94535189e+01] [ 1.08083780e-02 9.99941563e-01 -2.23105606e-04 -5.71843472e+00] [-4.15086038e-03 2.67983404e-04 9.99991349e-01 -1.38568570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.600371743 meters 0.03275312488153042 Centerline is valid? [True, True] Translation: X:99.52, Y:-5.72, Z:-1.39 [[ 9.99959428e-01 -8.35244153e-03 3.37323226e-03 9.95154004e+01] [ 8.35310163e-03 9.99965096e-01 -1.81645809e-04 -5.71722798e+00] [-3.37159733e-03 2.09815391e-04 9.99994294e-01 -1.38603235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.660371743 meters 0.031816797110575654 Centerline is valid? [True, True] Translation: X:99.58, Y:-5.71, Z:-1.39 [[ 9.99997576e-01 -1.12463643e-03 1.89267065e-03 9.95750089e+01] [ 1.12483262e-03 9.99999362e-01 -1.02593491e-04 -5.71436417e+00] [-1.89255407e-03 1.04722180e-04 9.99998204e-01 -1.38716779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.720371743 meters 0.027422277326918945 Centerline is valid? [True, True] Translation: X:99.64, Y:-5.71, Z:-1.39 [[ 9.99951524e-01 9.74734136e-03 1.39237070e-03 9.96359013e+01] [-9.74724609e-03 9.99952492e-01 -7.51919041e-05 -5.70578892e+00] [-1.39303747e-03 6.16164792e-05 9.99999028e-01 -1.38750864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.780371743 meters 0.025093261075076277 Centerline is valid? [True, True] Translation: X:99.70, Y:-5.70, Z:-1.39 [[ 9.99771393e-01 2.13316989e-02 1.45614448e-03 9.96968072e+01] [-2.13316069e-02 9.99772452e-01 -7.86353854e-05 -5.69994441e+00] [-1.45749056e-03 4.75555071e-05 9.99998937e-01 -1.38860936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.840371743 meters 0.02358190023331978 Centerline is valid? [True, True] Translation: X:99.76, Y:-5.70, Z:-1.39 [[ 9.99555569e-01 2.96699715e-02 2.89100052e-03 9.97577065e+01] [-2.96696432e-02 9.99559747e-01 -1.56366132e-04 -5.69679560e+00] [-2.89436713e-03 7.05216839e-05 9.99995809e-01 -1.38920034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.900371743 meters 0.02296718174409548 Centerline is valid? [True, True] Translation: X:99.82, Y:-5.70, Z:-1.39 [[ 9.99470895e-01 3.23437294e-02 3.43704300e-03 9.98167021e+01] [-3.23432789e-02 9.99476802e-01 -1.86582114e-04 -5.69844904e+00] [-3.44127951e-03 7.53181523e-05 9.99994076e-01 -1.39020784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.960371743 meters 0.02305376508369496 Centerline is valid? [True, True] Translation: X:99.87, Y:-5.70, Z:-1.39 [[ 9.99444031e-01 3.31580797e-02 3.48877044e-03 9.98743887e+01] [-3.31576209e-02 9.99450117e-01 -1.89299438e-04 -5.70285519e+00] [-3.49312883e-03 7.35148652e-05 9.99993896e-01 -1.39138586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.020371743 meters 0.022880774219848674 Centerline is valid? [True, True] Translation: X:99.93, Y:-5.71, Z:-1.39 [[ 9.99532720e-01 3.02288447e-02 4.53416151e-03 9.99325404e+01] [-3.02280428e-02 9.99542998e-01 -2.45310661e-04 -5.70815589e+00] [-4.53950485e-03 1.08137204e-04 9.99989691e-01 -1.39073774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.080371743 meters 0.023511933805417495 Centerline is valid? [True, True] Translation: X:99.99, Y:-5.72, Z:-1.39 [[ 9.99662734e-01 2.56346183e-02 4.15740171e-03 9.99919436e+01] [-2.56339077e-02 9.99671372e-01 -2.24126834e-04 -5.71805116e+00] [-4.16178088e-03 1.17480792e-04 9.99991333e-01 -1.39209992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.140371743 meters 0.024097927683318827 Centerline is valid? [True, True] Translation: X:100.05, Y:-5.73, Z:-1.39 [[ 9.99725830e-01 2.30676230e-02 4.01870453e-03 1.00049897e+02] [-2.30669366e-02 9.99733899e-01 -2.17059265e-04 -5.72525846e+00] [-4.02264219e-03 1.24300551e-04 9.99991901e-01 -1.39408179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.200371743 meters 0.02472109311597793 Centerline is valid? [True, True] Translation: X:100.11, Y:-5.74, Z:-1.39 [[ 9.99821401e-01 1.80364270e-02 5.64393081e-03 1.00109202e+02] [-1.80350014e-02 9.99837310e-01 -3.03389915e-04 -5.73627366e+00] [-5.64848467e-03 2.01547430e-04 9.99984027e-01 -1.39449035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.260371743 meters 0.025766333075308255 Centerline is valid? [True, True] Translation: X:100.17, Y:-5.74, Z:-1.39 [[ 9.99874206e-01 1.45206732e-02 6.38144164e-03 1.00167855e+02] [-1.45187802e-02 9.99894538e-01 -3.42872851e-04 -5.74479981e+00] [-6.38574739e-03 2.50178971e-04 9.99979580e-01 -1.39482837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.320371743 meters 0.02848063328146241 Centerline is valid? [True, True] Translation: X:100.23, Y:-5.76, Z:-1.40 [[ 9.99933513e-01 9.58675120e-03 6.40817024e-03 1.00226255e+02] [-9.58474636e-03 9.99954006e-01 -3.43495648e-04 -5.75685778e+00] [-6.41116851e-03 2.82052123e-04 9.99979408e-01 -1.39641870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.380371743 meters 0.029577559942257314 Centerline is valid? [True, True] Translation: X:100.29, Y:-5.77, Z:-1.40 [[ 9.99974850e-01 2.06951257e-03 6.78348663e-03 1.00286448e+02] [-2.06709276e-03 9.99997797e-01 -3.63711886e-04 -5.76712788e+00] [-6.78422440e-03 3.49680642e-04 9.99976926e-01 -1.39779688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.440371743 meters 0.03527114724180701 Centerline is valid? [True, True] Translation: X:100.35, Y:-5.78, Z:-1.40 [[ 9.99977820e-01 -7.24335027e-04 6.62082708e-03 1.00346287e+02] [ 7.26700317e-04 9.99999673e-01 -3.54851180e-04 -5.78041340e+00] [-6.62056788e-03 3.59654666e-04 9.99978019e-01 -1.39960850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.500371743 meters 0.03716306482691037 Centerline is valid? [True, True] Translation: X:100.41, Y:-5.79, Z:-1.40 [[ 9.99982346e-01 -2.28512101e-03 5.48506017e-03 1.00408068e+02] [ 2.28676581e-03 9.99997342e-01 -2.93617449e-04 -5.78576191e+00] [-5.48437464e-03 3.06155313e-04 9.99984914e-01 -1.40097390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.560371743 meters 0.031000165743881064 Centerline is valid? [True, True] Translation: X:100.47, Y:-5.78, Z:-1.40 [[ 9.99974849e-01 -2.91251017e-03 6.46666259e-03 1.00470378e+02] [ 2.91481299e-03 9.99995692e-01 -3.46711483e-04 -5.77938598e+00] [-6.46562493e-03 3.65551875e-04 9.99979031e-01 -1.40091887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62037174299999 meters 0.032456884710082255 Centerline is valid? [True, True] Translation: X:100.53, Y:-5.78, Z:-1.40 [[ 9.99969224e-01 -3.83540434e-03 6.84403228e-03 1.00532223e+02] [ 3.83800921e-03 9.99992567e-01 -3.67511297e-04 -5.78398484e+00] [-6.84257185e-03 3.93767446e-04 9.99976512e-01 -1.40185260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.680371743 meters 0.03376148527112694 Centerline is valid? [True, True] Translation: X:100.59, Y:-5.79, Z:-1.40 [[ 9.99960117e-01 -5.69157251e-03 6.88264393e-03 1.00594132e+02] [ 5.69425414e-03 9.99983719e-01 -3.70089679e-04 -5.78631068e+00] [-6.88042549e-03 4.09266442e-04 9.99976246e-01 -1.40306428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.740371743 meters 0.03598798871557761 Centerline is valid? [True, True] Translation: X:100.65, Y:-5.79, Z:-1.40 [[ 9.99936503e-01 -7.94226279e-03 7.99438406e-03 1.00653800e+02] [ 7.94596172e-03 9.99968337e-01 -4.31033977e-04 -5.79081306e+00] [-7.99070755e-03 4.94529677e-04 9.99967952e-01 -1.40370175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.800371743 meters 0.03857034311583624 Centerline is valid? [True, True] Translation: X:100.72, Y:-5.80, Z:-1.40 [[ 9.99924060e-01 -8.98256322e-03 8.43733043e-03 1.00715044e+02] [ 8.98671784e-03 9.99959515e-01 -4.54625271e-04 -5.79549179e+00] [-8.43290515e-03 5.30414655e-04 9.99964302e-01 -1.40389302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.860371743 meters 0.03470713116818015 Centerline is valid? [True, True] Translation: X:100.78, Y:-5.79, Z:-1.40 [[ 9.99926685e-01 -9.10653153e-03 7.98101292e-03 1.00777117e+02] [ 9.11025485e-03 9.99958408e-01 -4.30291598e-04 -5.79145908e+00] [-7.97676251e-03 5.02969113e-04 9.99968059e-01 -1.40454683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.920371743 meters 0.03491134209795523 Centerline is valid? [True, True] Translation: X:100.84, Y:-5.79, Z:-1.41 [[ 9.99956330e-01 -6.41381985e-03 6.79706495e-03 1.00838538e+02] [ 6.41646257e-03 9.99979347e-01 -3.67066561e-04 -5.79206369e+00] [-6.79457027e-03 4.10663644e-04 9.99976832e-01 -1.40610919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98037174299999 meters 0.03348076528429951 Centerline is valid? [True, True] Translation: X:100.90, Y:-5.79, Z:-1.41 [[ 9.99978705e-01 8.11785367e-05 6.52549837e-03 1.00899871e+02] [-7.88778526e-05 9.99999935e-01 -3.52824913e-04 -5.78816645e+00] [-6.52552658e-03 3.52302682e-04 9.99978646e-01 -1.40659750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.040371743 meters 0.028817959526338203 Centerline is valid? [True, True] Translation: X:100.96, Y:-5.78, Z:-1.41 [[ 9.99938858e-01 8.39119007e-03 7.20199870e-03 1.00960983e+02] [-8.38860227e-03 9.99964739e-01 -3.89448961e-04 -5.77970391e+00] [-7.20501270e-03 3.29010446e-04 9.99973989e-01 -1.40693655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.100371743 meters 0.02627189356177292 Centerline is valid? [True, True] Translation: X:101.02, Y:-5.77, Z:-1.41 [[ 9.99846820e-01 1.60497628e-02 6.98153120e-03 1.01022099e+02] [-1.60475161e-02 9.99871159e-01 -3.77705108e-04 -5.77455856e+00] [-6.98669377e-03 2.65611017e-04 9.99975557e-01 -1.40842258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.160371743 meters 0.025471032909218275 Centerline is valid? [True, True] Translation: X:101.08, Y:-5.77, Z:-1.41 [[ 9.99785141e-01 1.97998975e-02 6.13475061e-03 1.01082350e+02] [-1.97982328e-02 9.99803941e-01 -3.31966073e-04 -5.77368313e+00] [-6.14012073e-03 2.10437527e-04 9.99981127e-01 -1.40974824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.220371743 meters 0.025178146453211325 Centerline is valid? [True, True] Translation: X:101.14, Y:-5.77, Z:-1.41 [[ 9.99737861e-01 2.21836775e-02 5.66512666e-03 1.01141053e+02] [-2.21822941e-02 9.99753896e-01 -3.06923976e-04 -5.77499558e+00] [-5.67054115e-03 1.81178014e-04 9.99983906e-01 -1.41103268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.280371743 meters 0.02630710756037292 Centerline is valid? [True, True] Translation: X:101.20, Y:-5.78, Z:-1.41 [[ 9.99778842e-01 2.01054259e-02 6.16749796e-03 1.01198329e+02] [-2.01037492e-02 9.99797844e-01 -3.33733401e-04 -5.78130660e+00] [-6.17296101e-03 2.09669761e-04 9.99980925e-01 -1.41254057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34037174299999 meters 0.027708509908190966 Centerline is valid? [True, True] Translation: X:101.26, Y:-5.79, Z:-1.41 [[ 9.99845321e-01 1.58198001e-02 7.68560568e-03 1.01257323e+02] [-1.58170791e-02 9.99874816e-01 -4.14704062e-04 -5.78841939e+00] [-7.69120410e-03 2.93076084e-04 9.99970379e-01 -1.41219069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.400371743 meters 0.026763413230239362 Centerline is valid? [True, True] Translation: X:101.32, Y:-5.79, Z:-1.41 [[ 9.99898551e-01 1.16395411e-02 8.21024849e-03 1.01316811e+02] [-1.16363008e-02 9.99932198e-01 -4.42330135e-04 -5.79157575e+00] [-8.21484034e-03 3.46748340e-04 9.99966198e-01 -1.41257001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.460371743 meters 0.028942503573593716 Centerline is valid? [True, True] Translation: X:101.38, Y:-5.80, Z:-1.41 [[ 9.99942116e-01 7.84226337e-03 7.36638773e-03 1.01375692e+02] [-7.83955613e-03 9.99969192e-01 -3.96315725e-04 -5.79996694e+00] [-7.36926880e-03 3.38543575e-04 9.99972789e-01 -1.41427685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.520371743 meters 0.0306704293658662 Centerline is valid? [True, True] Translation: X:101.44, Y:-5.81, Z:-1.42 [[ 9.99976966e-01 3.16079393e-04 6.78000010e-03 1.01436154e+02] [-3.13612420e-04 9.99999884e-01 -3.64920377e-04 -5.80861873e+00] [-6.78011465e-03 3.62785679e-04 9.99976949e-01 -1.41559401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.580371743 meters 0.033421220035170306 Centerline is valid? [True, True] Translation: X:101.50, Y:-5.82, Z:-1.42 [[ 9.99963605e-01 -5.94999576e-03 6.11434786e-03 1.01496252e+02] [ 5.95211865e-03 9.99982232e-01 -3.29059617e-04 -5.81886012e+00] [-6.11228132e-03 3.65440965e-04 9.99981253e-01 -1.41725289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.640371743 meters 0.037144484838314354 Centerline is valid? [True, True] Translation: X:101.56, Y:-5.83, Z:-1.42 [[ 9.99953413e-01 -7.77478191e-03 5.72053794e-03 1.01557237e+02] [ 7.77666807e-03 9.99969714e-01 -3.07548087e-04 -5.82883286e+00] [-5.71797357e-03 3.52020484e-04 9.99983590e-01 -1.41924374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.700371743 meters 0.03682560407263918 Centerline is valid? [True, True] Translation: X:101.62, Y:-5.83, Z:-1.42 [[ 9.99972950e-01 -4.78402377e-03 5.58686805e-03 1.01617693e+02] [ 4.78578033e-03 9.99988503e-01 -3.01082638e-04 -5.83049678e+00] [-5.58536343e-03 3.27812017e-04 9.99984348e-01 -1.41981922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.760371743 meters 0.03595320920385633 Centerline is valid? [True, True] Translation: X:101.68, Y:-5.83, Z:-1.42 [[ 9.99986416e-01 4.21316980e-04 5.19517742e-03 1.01677249e+02] [-4.19867358e-04 9.99999873e-01 -2.80119644e-04 -5.82990240e+00] [-5.19529478e-03 2.77934554e-04 9.99986466e-01 -1.42178646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.820371743 meters 0.02905165444287437 Centerline is valid? [True, True] Translation: X:101.74, Y:-5.82, Z:-1.42 [[ 9.99969666e-01 6.59426355e-03 4.14512256e-03 1.01738137e+02] [-6.59339442e-03 9.99978238e-01 -2.23305856e-04 -5.81839959e+00] [-4.14650489e-03 1.95968654e-04 9.99991384e-01 -1.42268783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.880371743 meters 0.026911138686722118 Centerline is valid? [True, True] Translation: X:101.80, Y:-5.81, Z:-1.42 [[ 9.99936818e-01 1.07805698e-02 3.18413876e-03 1.01798542e+02] [-1.07800774e-02 9.99941879e-01 -1.71745160e-04 -5.81449652e+00] [-3.18580521e-03 1.37409047e-04 9.99994916e-01 -1.42356676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.940371743 meters 0.02567705176148321 Centerline is valid? [True, True] Translation: X:101.86, Y:-5.81, Z:-1.42 [[ 9.99830017e-01 1.82738522e-02 2.45022462e-03 1.01858929e+02] [-1.82735835e-02 9.99833015e-01 -1.32013047e-04 -5.80878755e+00] [-2.45222786e-03 8.72162232e-05 9.99996989e-01 -1.42405364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.000371743 meters 0.02515154973340074 Centerline is valid? [True, True] Translation: X:101.92, Y:-5.81, Z:-1.42 [[ 9.99766395e-01 2.12054526e-02 4.18142651e-03 1.01919081e+02] [-2.12046953e-02 9.99775130e-01 -2.25358053e-04 -5.80846093e+00] [-4.18526505e-03 1.36639533e-04 9.99991232e-01 -1.42376576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.060371743 meters 0.024394237639419374 Centerline is valid? [True, True] Translation: X:101.98, Y:-5.81, Z:-1.42 [[ 9.99700292e-01 2.41365406e-02 4.09305578e-03 1.01978668e+02] [-2.41358358e-02 9.99708664e-01 -2.21508756e-04 -5.80583734e+00] [-4.09720978e-03 1.22653046e-04 9.99991599e-01 -1.42369469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12037174299999 meters 0.02422846328795287 Centerline is valid? [True, True] Translation: X:102.04, Y:-5.81, Z:-1.42 [[ 9.99678238e-01 2.48333005e-02 5.16990116e-03 1.02037629e+02] [-2.48321927e-02 9.99691595e-01 -2.78354476e-04 -5.80781888e+00] [-5.17521920e-03 1.49884930e-04 9.99986597e-01 -1.42463697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.180371743 meters 0.024663222769329723 Centerline is valid? [True, True] Translation: X:102.10, Y:-5.81, Z:-1.42 [[ 9.99704414e-01 2.37079771e-02 5.38675436e-03 1.02095913e+02] [-2.37067597e-02 9.99718913e-01 -2.89750525e-04 -5.81057291e+00] [-5.39210962e-03 1.61962387e-04 9.99985449e-01 -1.42490655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.240371743 meters 0.025007212155973103 Centerline is valid? [True, True] Translation: X:102.15, Y:-5.81, Z:-1.42 [[ 9.99747907e-01 2.18556076e-02 5.14343261e-03 1.02154907e+02] [-2.18544761e-02 9.99761124e-01 -2.76109264e-04 -5.81458778e+00] [-5.14823850e-03 1.63632634e-04 9.99986734e-01 -1.42498516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.300371743 meters 0.026292176178215807 Centerline is valid? [True, True] Translation: X:102.21, Y:-5.82, Z:-1.43 [[ 9.99817164e-01 1.85715888e-02 4.55344924e-03 1.02214442e+02] [-1.85706705e-02 9.99827520e-01 -2.43886657e-04 -5.82194498e+00] [-4.55719323e-03 1.59281460e-04 9.99989603e-01 -1.42666446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.360371743 meters 0.02768482716084033 Centerline is valid? [True, True] Translation: X:102.27, Y:-5.83, Z:-1.43 [[ 9.99868040e-01 1.58186215e-02 3.69781782e-03 1.02274066e+02] [-1.58179972e-02 9.99874868e-01 -1.98015846e-04 -5.82933840e+00] [-3.70048744e-03 1.39497644e-04 9.99993143e-01 -1.42917473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.420371743 meters 0.02706847735615257 Centerline is valid? [True, True] Translation: X:102.33, Y:-5.83, Z:-1.43 [[ 9.99908422e-01 1.30555020e-02 3.56392375e-03 1.02333887e+02] [-1.30549049e-02 9.99914763e-01 -1.90753482e-04 -5.83308629e+00] [-3.56611035e-03 1.44209327e-04 9.99993631e-01 -1.42992489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48037174299999 meters 0.027335050624750813 Centerline is valid? [True, True] Translation: X:102.39, Y:-5.84, Z:-1.43 [[ 9.99929122e-01 1.11562965e-02 4.15796814e-03 1.02392862e+02] [-1.11554676e-02 9.99937751e-01 -2.22495118e-04 -5.83808079e+00] [-4.16019153e-03 1.76095269e-04 9.99991331e-01 -1.42977727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.540371743 meters 0.028805392384771807 Centerline is valid? [True, True] Translation: X:102.45, Y:-5.85, Z:-1.43 [[ 9.99964433e-01 7.31138805e-03 4.20421306e-03 1.02452699e+02] [-7.31050917e-03 9.99973253e-01 -2.24377692e-04 -5.84713325e+00] [-4.20574113e-03 1.93634773e-04 9.99991137e-01 -1.43045187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.600371743 meters 0.028499010523102487 Centerline is valid? [True, True] Translation: X:102.51, Y:-5.85, Z:-1.43 [[ 9.99977514e-01 5.59728953e-03 3.69357096e-03 1.02512087e+02] [-5.59659894e-03 9.99984319e-01 -1.97280001e-04 -5.85186594e+00] [-3.69461728e-03 1.76604130e-04 9.99993159e-01 -1.43189267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.660371743 meters 0.029494228067676657 Centerline is valid? [True, True] Translation: X:102.57, Y:-5.86, Z:-1.44 [[ 9.99982956e-01 5.15810708e-03 2.73524627e-03 1.02572444e+02] [-5.15772776e-03 9.99986688e-01 -1.45715742e-04 -5.85842418e+00] [-2.73596148e-03 1.31605603e-04 9.99996249e-01 -1.43534157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.720371743 meters 0.029452638757627117 Centerline is valid? [True, True] Translation: X:102.63, Y:-5.86, Z:-1.44 [[ 9.99970813e-01 7.10706428e-03 2.80403311e-03 1.02632075e+02] [-7.10667217e-03 9.99974736e-01 -1.49779297e-04 -5.86096744e+00] [-2.80502676e-03 1.29847581e-04 9.99996057e-01 -1.43679522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.780371743 meters 0.028681466628882487 Centerline is valid? [True, True] Translation: X:102.69, Y:-5.86, Z:-1.44 [[ 9.99935292e-01 1.05862099e-02 4.16465872e-03 1.02691935e+02] [-1.05853762e-02 9.99943949e-01 -2.22170956e-04 -5.86194360e+00] [-4.16677723e-03 1.78072100e-04 9.99991303e-01 -1.43702869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84037174299999 meters 0.02729369299554379 Centerline is valid? [True, True] Translation: X:102.75, Y:-5.86, Z:-1.44 [[ 9.99875174e-01 1.51911707e-02 4.34324883e-03 1.02752429e+02] [-1.51903096e-02 9.99884594e-01 -2.31196860e-04 -5.86065797e+00] [-4.34625975e-03 1.65192707e-04 9.99990541e-01 -1.43777127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.900371743 meters 0.02622885866097602 Centerline is valid? [True, True] Translation: X:102.81, Y:-5.86, Z:-1.44 [[ 9.99808837e-01 1.90030859e-02 4.60132622e-03 1.02812261e+02] [-1.90021593e-02 9.99819413e-01 -2.45006289e-04 -5.86054503e+00] [-4.60515115e-03 1.57524319e-04 9.99989384e-01 -1.43903535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.960371743 meters 0.02513220726127991 Centerline is valid? [True, True] Translation: X:102.87, Y:-5.86, Z:-1.44 [[ 9.99785908e-01 2.01821255e-02 4.56287749e-03 1.02871002e+02] [-2.01812257e-02 9.99796309e-01 -2.43159849e-04 -5.85964015e+00] [-4.56685555e-03 1.51023331e-04 9.99989560e-01 -1.43931694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.020371743 meters 0.027316690335980276 Centerline is valid? [True, True] Translation: X:102.93, Y:-5.87, Z:-1.44 [[ 9.99814261e-01 1.86780977e-02 4.75100554e-03 1.02928199e+02] [-1.86771064e-02 9.99825536e-01 -2.52948327e-04 -5.86697489e+00] [-4.75490125e-03 1.64166309e-04 9.99988682e-01 -1.44115690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.080371743 meters 0.027846777308625666 Centerline is valid? [True, True] Translation: X:102.99, Y:-5.87, Z:-1.44 [[ 9.99906852e-01 1.28511204e-02 4.59747675e-03 1.02987960e+02] [-1.28501355e-02 9.99917404e-01 -2.43717396e-04 -5.87282902e+00] [-4.60022906e-03 1.84616495e-04 9.99989402e-01 -1.44173306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.140371743 meters 0.029847250005381264 Centerline is valid? [True, True] Translation: X:103.05, Y:-5.88, Z:-1.44 [[ 9.99977312e-01 4.29182474e-03 5.19195190e-03 1.03047611e+02] [-4.29045412e-03 9.99990758e-01 -2.75100032e-04 -5.88035932e+00] [-5.19308460e-03 2.52817959e-04 9.99986484e-01 -1.44108494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.200371743 meters 0.03247247807184842 Centerline is valid? [True, True] Translation: X:103.11, Y:-5.89, Z:-1.44 [[ 9.99977332e-01 -4.68593616e-03 4.83499262e-03 1.03108039e+02] [ 4.68722773e-03 9.99988982e-01 -2.55831365e-04 -5.89034611e+00] [-4.83374054e-03 2.78488277e-04 9.99988279e-01 -1.44145902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.260371743 meters 0.037443400833107224 Centerline is valid? [True, True] Translation: X:103.17, Y:-5.90, Z:-1.44 [[ 9.99929255e-01 -1.09795253e-02 4.57556655e-03 1.03167151e+02] [ 1.09807449e-02 9.99939681e-01 -2.41523589e-04 -5.90337010e+00] [-4.57263874e-03 2.91749632e-04 9.99989503e-01 -1.44385085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.320371743 meters 0.03584124046950436 Centerline is valid? [True, True] Translation: X:103.23, Y:-5.90, Z:-1.44 [[ 9.99927902e-01 -1.14248556e-02 3.69654002e-03 1.03229616e+02] [ 1.14256554e-02 9.99934706e-01 -1.95298698e-04 -5.90332281e+00] [-3.69406740e-03 2.37520009e-04 9.99993149e-01 -1.44389221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.380371743 meters 0.03491811180642486 Centerline is valid? [True, True] Translation: X:103.29, Y:-5.90, Z:-1.44 [[ 9.99967711e-01 -6.98194997e-03 3.97869660e-03 1.03290644e+02] [ 6.98284568e-03 9.99975597e-01 -2.11279554e-04 -5.90387236e+00] [-3.97712437e-03 2.39055357e-04 9.99992063e-01 -1.44434301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.440371743 meters 0.030455301241332514 Centerline is valid? [True, True] Translation: X:103.35, Y:-5.90, Z:-1.45 [[ 9.99993809e-01 -5.41781892e-04 3.47698356e-03 1.03351941e+02] [ 5.42427057e-04 9.99999836e-01 -1.84612959e-04 -5.89877919e+00] [-3.47688297e-03 1.86497826e-04 9.99993938e-01 -1.44515919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.500371743 meters 0.029195856820229727 Centerline is valid? [True, True] Translation: X:103.41, Y:-5.90, Z:-1.45 [[ 9.99977729e-01 6.39984268e-03 1.89277985e-03 1.03411979e+02] [-6.39966382e-03 9.99979517e-01 -1.00538794e-04 -5.89692243e+00] [-1.89338451e-03 8.84234003e-05 9.99998204e-01 -1.44727592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.560371743 meters 0.02777025347703354 Centerline is valid? [True, True] Translation: X:103.47, Y:-5.89, Z:-1.45 [[ 9.99923557e-01 1.23499375e-02 -5.99472408e-04 1.03472546e+02] [-1.23499208e-02 9.99923736e-01 3.15823754e-05 -5.89418925e+00] [ 5.99816730e-04 -2.41765244e-05 9.99999820e-01 -1.45049824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62037174299999 meters 0.02683290331952772 Centerline is valid? [True, True] Translation: X:103.53, Y:-5.89, Z:-1.45 [[ 9.99856325e-01 1.68762361e-02 -1.58777787e-03 1.03532249e+02] [-1.68761244e-02 9.99857585e-01 8.37552606e-05 -5.89377914e+00] [ 1.58896522e-03 -5.69476903e-05 9.99998736e-01 -1.45291142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.680371743 meters 0.02625284600759323 Centerline is valid? [True, True] Translation: X:103.59, Y:-5.89, Z:-1.45 [[ 9.99830569e-01 1.83236082e-02 -1.75468611e-03 1.03591091e+02] [-1.83234750e-02 9.99832107e-01 9.19894714e-05 -5.89348458e+00] [ 1.75607709e-03 -5.98219384e-05 9.99998456e-01 -1.45309514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.740371743 meters 0.02579049316632649 Centerline is valid? [True, True] Translation: X:103.65, Y:-5.89, Z:-1.45 [[ 9.99840465e-01 1.78427160e-02 -8.25431145e-04 1.03649073e+02] [-1.78426873e-02 9.99840806e-01 4.21458256e-05 -5.89425889e+00] [ 8.26051737e-04 -2.74111921e-05 9.99999658e-01 -1.45244997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.800371743 meters 0.027773333697013194 Centerline is valid? [True, True] Translation: X:103.71, Y:-5.90, Z:-1.45 [[ 9.99915748e-01 1.29704112e-02 5.15076297e-04 1.03708577e+02] [-1.29703986e-02 9.99915880e-01 -2.77078267e-05 -5.90162201e+00] [-5.15392351e-04 2.10247473e-05 9.99999867e-01 -1.45306314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.860371743 meters 0.032624575577714525 Centerline is valid? [True, True] Translation: X:103.77, Y:-5.91, Z:-1.45 [[ 9.99978254e-01 6.23027562e-03 2.16199256e-03 1.03767324e+02] [-6.23004257e-03 9.99980587e-01 -1.14509230e-04 -5.91453315e+00] [-2.16266402e-03 1.01037435e-04 9.99997656e-01 -1.45347708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.920371743 meters 0.03057755005491737 Centerline is valid? [True, True] Translation: X:103.83, Y:-5.92, Z:-1.45 [[ 9.99996885e-01 1.51185993e-04 2.49127056e-03 1.03828130e+02] [-1.50858431e-04 9.99999980e-01 -1.31671395e-04 -5.91541061e+00] [-2.49129042e-03 1.31295155e-04 9.99996888e-01 -1.45127959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98037174299999 meters 0.033537937702015845 Centerline is valid? [True, True] Translation: X:103.89, Y:-5.93, Z:-1.45 [[ 9.99985971e-01 -5.20322502e-03 9.92550356e-04 1.03888264e+02] [ 5.20327957e-03 9.99986461e-01 -5.23879046e-05 -5.92542736e+00] [-9.92264332e-04 5.75516866e-05 9.99999506e-01 -1.45439256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.040371743 meters 0.03610564128804704 Centerline is valid? [True, True] Translation: X:103.95, Y:-5.94, Z:-1.46 [[ 9.99962516e-01 -8.60708226e-03 -9.40706596e-04 1.03948497e+02] [ 8.60713290e-03 9.99962957e-01 4.98021697e-05 -5.93543054e+00] [ 9.40243097e-04 -5.78970896e-05 9.99999556e-01 -1.45890418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.100371743 meters 0.0358510020524942 Centerline is valid? [True, True] Translation: X:104.01, Y:-5.94, Z:-1.46 [[ 9.99980736e-01 -6.00547223e-03 -1.56874952e-03 1.04009675e+02] [ 6.00561047e-03 9.99981963e-01 8.34290449e-05 -5.93802528e+00] [ 1.56822020e-03 -9.28487363e-05 9.99998766e-01 -1.46018798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.160371743 meters 0.03271223944664916 Centerline is valid? [True, True] Translation: X:104.07, Y:-5.94, Z:-1.46 [[ 9.99993428e-01 -3.29037982e-03 -1.52242616e-03 1.04070948e+02] [ 3.29050658e-03 9.99994583e-01 8.07663644e-05 -5.93586886e+00] [ 1.52215216e-03 -8.57753869e-05 9.99998838e-01 -1.45989124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.220371743 meters 0.026803303012884257 Centerline is valid? [True, True] Translation: X:104.13, Y:-5.93, Z:-1.46 [[ 9.99927396e-01 1.20481252e-02 -2.13154561e-04 1.04132032e+02] [-1.20481230e-02 9.99927419e-01 1.11690902e-05 -5.92531014e+00] [ 2.13273657e-04 -8.60016688e-06 9.99999977e-01 -1.45782653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.280371743 meters 0.02621485042233797 Centerline is valid? [True, True] Translation: X:104.19, Y:-5.93, Z:-1.46 [[ 9.99808964e-01 1.95448207e-02 -1.88155782e-04 1.04191346e+02] [-1.95448192e-02 9.99808982e-01 9.64658466e-06 -5.92566003e+00] [ 1.88308382e-04 -5.96727106e-06 9.99999982e-01 -1.45964569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34037174299999 meters 0.02369248639246616 Centerline is valid? [True, True] Translation: X:104.25, Y:-5.92, Z:-1.46 [[ 9.99615010e-01 2.77302429e-02 -9.29990464e-04 1.04251932e+02] [-2.77302092e-02 9.99615443e-01 4.90651917e-05 -5.92242565e+00] [ 9.30993419e-04 -2.32574719e-05 9.99999566e-01 -1.46041989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.400371743 meters 0.023188069516013522 Centerline is valid? [True, True] Translation: X:104.31, Y:-5.92, Z:-1.46 [[ 9.99516000e-01 3.10691181e-02 -1.57336152e-03 1.04311074e+02] [-3.10690269e-02 9.99517238e-01 8.23601368e-05 -5.92399844e+00] [ 1.57516081e-03 -3.34374633e-05 9.99998759e-01 -1.46183639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.460371743 meters 0.02354559446583739 Centerline is valid? [True, True] Translation: X:104.37, Y:-5.93, Z:-1.46 [[ 9.99508046e-01 3.13415090e-02 -1.17293574e-03 1.04368223e+02] [-3.13414594e-02 9.99508734e-01 6.06627449e-05 -5.92970691e+00] [ 1.17426078e-03 -2.38713835e-05 9.99999310e-01 -1.46441048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.520371743 meters 0.024704021199396606 Centerline is valid? [True, True] Translation: X:104.43, Y:-5.94, Z:-1.47 [[ 9.99585826e-01 2.87487146e-02 -1.29901685e-03 1.04425492e+02] [-2.87486515e-02 9.99586670e-01 6.72409674e-05 -5.93713870e+00] [ 1.30041302e-03 -2.98681352e-05 9.99999154e-01 -1.46569047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.580371743 meters 0.02365098852548084 Centerline is valid? [True, True] Translation: X:104.48, Y:-5.94, Z:-1.46 [[ 9.99745641e-01 2.25513912e-02 -2.95600713e-04 1.04484881e+02] [-2.25513878e-02 9.99745685e-01 1.47820736e-05 -5.94033310e+00] [ 2.95858893e-04 -8.11210739e-06 9.99999956e-01 -1.46234878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.640371743 meters 0.025333753682646162 Centerline is valid? [True, True] Translation: X:104.54, Y:-5.95, Z:-1.46 [[ 9.99854531e-01 1.70251751e-02 1.03008374e-03 1.04543986e+02] [-1.70251279e-02 9.99855061e-01 -5.46206803e-05 -5.94970871e+00] [-1.03086436e-03 3.70754274e-05 9.99999468e-01 -1.46293569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.700371743 meters 0.029869403769376055 Centerline is valid? [True, True] Translation: X:104.60, Y:-5.97, Z:-1.46 [[ 9.99989809e-01 3.29122694e-03 3.09023709e-03 1.04603422e+02] [-3.29074075e-03 9.99994572e-01 -1.62404334e-04 -5.96670333e+00] [-3.09075482e-03 1.52233510e-04 9.99995212e-01 -1.46361229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.760371743 meters 0.03166139938590003 Centerline is valid? [True, True] Translation: X:104.66, Y:-5.98, Z:-1.46 [[ 9.99974758e-01 -6.26196797e-03 3.35726303e-03 1.04663911e+02] [ 6.26259510e-03 9.99980374e-01 -1.76317313e-04 -5.97666366e+00] [-3.35609305e-03 1.97338041e-04 9.99994349e-01 -1.46413743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.820371743 meters 0.035107723934486926 Centerline is valid? [True, True] Translation: X:104.72, Y:-5.99, Z:-1.47 [[ 9.99930782e-01 -1.14100765e-02 2.87067134e-03 1.04722775e+02] [ 1.14105562e-02 9.99934886e-01 -1.50784326e-04 -5.98735813e+00] [-2.86876396e-03 1.83529846e-04 9.99995868e-01 -1.46578164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.880371743 meters 0.03547661881830866 Centerline is valid? [True, True] Translation: X:104.78, Y:-5.99, Z:-1.47 [[ 9.99912994e-01 -1.29996550e-02 2.23890755e-03 1.04784812e+02] [ 1.29999490e-02 9.99915490e-01 -1.16829237e-04 -5.99073243e+00] [-2.23719960e-03 1.45924756e-04 9.99997487e-01 -1.46755596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.940371743 meters 0.03424621251471156 Centerline is valid? [True, True] Translation: X:104.85, Y:-5.99, Z:-1.47 [[ 9.99929309e-01 -1.17087091e-02 2.06945195e-03 1.04847132e+02] [ 1.17089576e-02 9.99931442e-01 -1.08046142e-04 -5.99119161e+00] [-2.06804499e-03 1.32269630e-04 9.99997853e-01 -1.46833262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.000371743 meters 0.03283908941751735 Centerline is valid? [True, True] Translation: X:104.91, Y:-5.99, Z:-1.47 [[ 9.99965238e-01 -7.73713822e-03 3.10789646e-03 1.04907998e+02] [ 7.73768416e-03 9.99970050e-01 -1.63678390e-04 -5.99050613e+00] [-3.10653698e-03 1.87720621e-04 9.99995157e-01 -1.46890314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.060371743 meters 0.03369570717401825 Centerline is valid? [True, True] Translation: X:104.97, Y:-5.99, Z:-1.47 [[ 9.99991534e-01 -2.28213473e-03 3.42406626e-03 1.04967163e+02] [ 2.28276681e-03 9.99997378e-01 -1.80700802e-04 -5.99105695e+00] [-3.42364490e-03 1.88515617e-04 9.99994122e-01 -1.46981765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12037174299999 meters 0.03066456507722534 Centerline is valid? [True, True] Translation: X:105.03, Y:-5.99, Z:-1.47 [[ 9.99986657e-01 3.52891810e-03 3.77272395e-03 1.05028075e+02] [-3.52819305e-03 9.99993756e-01 -1.98818991e-04 -5.98750549e+00] [-3.77340201e-03 1.85505440e-04 9.99992863e-01 -1.47057098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.180371743 meters 0.027501779401569247 Centerline is valid? [True, True] Translation: X:105.09, Y:-5.98, Z:-1.47 [[ 9.99950921e-01 9.42579884e-03 3.05115996e-03 1.05089207e+02] [-9.42535204e-03 9.99955567e-01 -1.60784308e-04 -5.98262890e+00] [-3.05253991e-03 1.32018160e-04 9.99995332e-01 -1.47120726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.240371743 meters 0.02615517923662466 Centerline is valid? [True, True] Translation: X:105.15, Y:-5.98, Z:-1.47 [[ 9.99907316e-01 1.33643420e-02 2.59884573e-03 1.05149449e+02] [-1.33640306e-02 9.99910688e-01 -1.37169740e-04 -5.98107137e+00] [-2.60044680e-03 1.02425973e-04 9.99996614e-01 -1.47243747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.300371743 meters 0.025397616486460373 Centerline is valid? [True, True] Translation: X:105.21, Y:-5.98, Z:-1.47 [[ 9.99825583e-01 1.85549955e-02 2.12481800e-03 1.05208472e+02] [-1.85547986e-02 9.99827839e-01 -1.12367931e-04 -5.97947378e+00] [-2.12653717e-03 7.29227617e-05 9.99997736e-01 -1.47361136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.360371743 meters 0.025547243424123043 Centerline is valid? [True, True] Translation: X:105.27, Y:-5.98, Z:-1.47 [[ 9.99818281e-01 1.87935192e-02 3.19500948e-03 1.05267074e+02] [-1.87930751e-02 9.99823380e-01 -1.68982108e-04 -5.97933792e+00] [-3.19762095e-03 1.08907348e-04 9.99994882e-01 -1.47303065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.420371743 meters 0.02637416353242935 Centerline is valid? [True, True] Translation: X:105.33, Y:-5.98, Z:-1.47 [[ 9.99861629e-01 1.56329791e-02 5.68627708e-03 1.05326919e+02] [-1.56315297e-02 9.99877775e-01 -2.99253581e-04 -5.98344773e+00] [-5.69026031e-03 2.10326964e-04 9.99983788e-01 -1.47287493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48037174299999 meters 0.027160710239291955 Centerline is valid? [True, True] Translation: X:105.39, Y:-5.99, Z:-1.47 [[ 9.99917988e-01 1.16000201e-02 5.42735779e-03 1.05385859e+02] [-1.15986405e-02 9.99932693e-01 -2.85615348e-04 -5.98691073e+00] [-5.43030563e-03 2.22641953e-04 9.99985231e-01 -1.47394053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.540371743 meters 0.02988024980777768 Centerline is valid? [True, True] Translation: X:105.45, Y:-5.99, Z:-1.48 [[ 9.99991274e-01 -1.19954973e-03 4.00159708e-03 1.05446272e+02] [ 1.20039973e-03 9.99999257e-01 -2.10019174e-04 -5.99453722e+00] [-4.00134218e-03 2.14820857e-04 9.99991972e-01 -1.47558140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.600371743 meters 0.032773098341555805 Centerline is valid? [True, True] Translation: X:105.51, Y:-6.00, Z:-1.48 [[ 9.99969669e-01 -6.67991513e-03 4.00507602e-03 1.05506575e+02] [ 6.68081032e-03 9.99977661e-01 -2.10176870e-04 -6.00306209e+00] [-4.00358259e-03 2.36927648e-04 9.99991958e-01 -1.47692454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.660371743 meters 0.04001998176580584 Centerline is valid? [True, True] Translation: X:105.57, Y:-6.01, Z:-1.48 [[ 9.99933715e-01 -1.09507899e-02 3.55611560e-03 1.05565957e+02] [ 1.09515220e-02 9.99940013e-01 -1.86458695e-04 -6.01484815e+00] [-3.55386041e-03 2.25391214e-04 9.99993660e-01 -1.47803444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.720371743 meters 0.04186734010746274 Centerline is valid? [True, True] Translation: X:105.63, Y:-6.02, Z:-1.48 [[ 9.99931291e-01 -1.12458123e-02 3.30820946e-03 1.05627230e+02] [ 1.12464466e-02 9.99936742e-01 -1.73170550e-04 -6.01807176e+00] [-3.30605275e-03 2.10364252e-04 9.99994513e-01 -1.47972848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.780371743 meters 0.035617686155291456 Centerline is valid? [True, True] Translation: X:105.69, Y:-6.01, Z:-1.48 [[ 9.99950809e-01 -9.45085661e-03 3.01005049e-03 1.05689305e+02] [ 9.45137430e-03 9.99955322e-01 -1.57809316e-04 -6.00931918e+00] [-3.00842458e-03 1.86250668e-04 9.99995457e-01 -1.47988478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84037174299999 meters 0.04299548233572561 Centerline is valid? [True, True] Translation: X:105.75, Y:-6.02, Z:-1.48 [[ 9.99966195e-01 -7.71878123e-03 2.83348506e-03 1.05749274e+02] [ 7.71923381e-03 9.99970195e-01 -1.48825640e-04 -6.01940959e+00] [-2.83225185e-03 1.70692942e-04 9.99995975e-01 -1.48230151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.900371743 meters 0.03511980101421376 Centerline is valid? [True, True] Translation: X:105.81, Y:-6.01, Z:-1.48 [[ 9.99985842e-01 -4.87089779e-03 2.14238882e-03 1.05811533e+02] [ 4.87114953e-03 9.99988130e-01 -1.12301463e-04 -6.00597171e+00] [-2.14181638e-03 1.22735769e-04 9.99997699e-01 -1.48097119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.960371743 meters 0.034946152727661564 Centerline is valid? [True, True] Translation: X:105.87, Y:-6.00, Z:-1.48 [[ 9.99993312e-01 -3.30304913e-03 1.57059273e-03 1.05873176e+02] [ 3.30318238e-03 9.99994541e-01 -8.22518383e-05 -6.00388858e+00] [-1.57031248e-03 8.74392424e-05 9.99998763e-01 -1.48291133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.020371743 meters 0.035251047412457194 Centerline is valid? [True, True] Translation: X:105.94, Y:-6.00, Z:-1.48 [[ 9.99996021e-01 -2.30702677e-03 1.62366840e-03 1.05935383e+02] [ 2.30716731e-03 9.99997335e-01 -8.46870111e-05 -6.00485485e+00] [-1.62346870e-03 8.84327488e-05 9.99998678e-01 -1.48414654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.080371743 meters 0.03284919647253669 Centerline is valid? [True, True] Translation: X:106.00, Y:-6.00, Z:-1.48 [[ 9.99997921e-01 -8.91342856e-04 1.83378761e-03 1.05997279e+02] [ 8.91520948e-04 9.99999598e-01 -9.63014424e-05 -6.00002285e+00] [-1.83370104e-03 9.79361023e-05 9.99998314e-01 -1.48422359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.140371743 meters 0.034689042503779806 Centerline is valid? [True, True] Translation: X:106.06, Y:-6.00, Z:-1.49 [[ 9.99994431e-01 2.40525163e-03 2.31346575e-03 1.06057155e+02] [-2.40497554e-03 9.99997101e-01 -1.22116154e-04 -6.00368727e+00] [-2.31375276e-03 1.16551645e-04 9.99997316e-01 -1.48618256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.200371743 meters 0.028724420998236036 Centerline is valid? [True, True] Translation: X:106.12, Y:-5.99, Z:-1.48 [[ 9.99958631e-01 7.48940087e-03 5.16190694e-03 1.06118387e+02] [-7.48809351e-03 9.99971927e-01 -2.72552186e-04 -5.99356938e+00] [-5.16380328e-03 2.33888069e-04 9.99986640e-01 -1.48292740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.260371743 meters 0.027988846153934564 Centerline is valid? [True, True] Translation: X:106.18, Y:-5.99, Z:-1.48 [[ 9.99936367e-01 9.83637147e-03 5.52336945e-03 1.06178237e+02] [-9.83490941e-03 9.99951594e-01 -2.91804921e-04 -5.99330172e+00] [-5.52597238e-03 2.37464514e-04 9.99984704e-01 -1.48298430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.320371743 meters 0.0289297189655747 Centerline is valid? [True, True] Translation: X:106.24, Y:-6.00, Z:-1.49 [[ 9.99949144e-01 9.68043084e-03 2.82809995e-03 1.06236263e+02] [-9.68004779e-03 9.99953136e-01 -1.49101466e-04 -5.99795200e+00] [-2.82941078e-03 1.21717741e-04 9.99995990e-01 -1.48690197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.380371743 meters 0.027840732810550498 Centerline is valid? [True, True] Translation: X:106.29, Y:-6.00, Z:-1.49 [[ 9.99949821e-01 9.51263706e-03 3.14097768e-03 1.06294783e+02] [-9.51216106e-03 9.99954745e-01 -1.66450885e-04 -6.00016463e+00] [-3.14241892e-03 1.36565047e-04 9.99995053e-01 -1.48800834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.440371743 meters 0.026283648079656326 Centerline is valid? [True, True] Translation: X:106.35, Y:-6.00, Z:-1.49 [[ 9.99892475e-01 1.37752092e-02 5.02806960e-03 1.06354866e+02] [-1.37740505e-02 9.99905098e-01 -2.65005662e-04 -5.99949257e+00] [-5.03124293e-03 1.95720283e-04 9.99987324e-01 -1.48591217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.500371743 meters 0.025799290296548715 Centerline is valid? [True, True] Translation: X:106.41, Y:-6.00, Z:-1.49 [[ 9.99811209e-01 1.84228424e-02 6.17614669e-03 1.06413329e+02] [-1.84211820e-02 9.99830263e-01 -3.25622959e-04 -6.00127765e+00] [-6.18109727e-03 2.11789562e-04 9.99980874e-01 -1.48572553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.560371743 meters 0.02292323768420344 Centerline is valid? [True, True] Translation: X:106.47, Y:-6.00, Z:-1.49 [[ 9.99569961e-01 2.87784232e-02 5.62990599e-03 1.06473779e+02] [-2.87772113e-02 9.99585806e-01 -2.96166633e-04 -5.99996968e+00] [-5.63609732e-03 1.34026275e-04 9.99984108e-01 -1.48741120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62037174299999 meters 0.021668804707576744 Centerline is valid? [True, True] Translation: X:106.53, Y:-6.00, Z:-1.49 [[ 9.99368396e-01 3.53432251e-02 3.69677086e-03 1.06533184e+02] [-3.53427455e-02 9.99375231e-01 -1.94994323e-04 -6.00070295e+00] [-3.70135296e-03 6.42171316e-05 9.99993148e-01 -1.48956324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.680371743 meters 0.02076350165577937 Centerline is valid? [True, True] Translation: X:106.59, Y:-6.00, Z:-1.49 [[ 9.98948133e-01 4.57069238e-02 3.67497632e-03 1.06592326e+02] [-4.57065214e-02 9.98954892e-01 -1.93464706e-04 -6.00104094e+00] [-3.67997825e-03 2.52908236e-05 9.99993229e-01 -1.49175208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.740371743 meters 0.020227750879568306 Centerline is valid? [True, True] Translation: X:106.65, Y:-6.00, Z:-1.49 [[ 9.98618217e-01 5.22898554e-02 5.23714871e-03 1.06651063e+02] [-5.22891207e-02 9.98631950e-01 -2.77208167e-04 -6.00411040e+00] [-5.24447920e-03 2.97922444e-06 9.99986248e-01 -1.49059959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.800371743 meters 0.02001730185216468 Centerline is valid? [True, True] Translation: X:106.71, Y:-6.01, Z:-1.49 [[ 9.98653975e-01 5.14007370e-02 6.94279932e-03 1.06709654e+02] [-5.13994445e-02 9.98678108e-01 -3.64572203e-04 -6.01367175e+00] [-6.95236097e-03 7.22545082e-06 9.99975832e-01 -1.49022111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.860371743 meters 0.020192102579354495 Centerline is valid? [True, True] Translation: X:106.77, Y:-6.03, Z:-1.49 [[ 9.99004172e-01 4.40359916e-02 7.17600182e-03 1.06767484e+02] [-4.40344432e-02 9.99029944e-01 -3.73711390e-04 -6.02942675e+00] [-7.18549745e-03 5.73479934e-05 9.99974182e-01 -1.49152064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.920371743 meters 0.021082417207357332 Centerline is valid? [True, True] Translation: X:106.83, Y:-6.04, Z:-1.49 [[ 9.99319463e-01 3.62369824e-02 6.89140277e-03 1.06825480e+02] [-3.62353730e-02 9.99343219e-01 -3.58301725e-04 -6.04304819e+00] [-6.89986040e-03 1.08345338e-04 9.99976190e-01 -1.49298308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98037174299999 meters 0.023842038643008073 Centerline is valid? [True, True] Translation: X:106.88, Y:-6.06, Z:-1.49 [[ 9.99738944e-01 2.21680080e-02 5.53376518e-03 1.06884562e+02] [-2.21667580e-02 9.99754246e-01 -2.87134262e-04 -6.06386132e+00] [-5.53877043e-03 1.64393671e-04 9.99984647e-01 -1.49490103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.040371743 meters 0.02969922339363415 Centerline is valid? [True, True] Translation: X:106.94, Y:-6.09, Z:-1.50 [[ 9.99954004e-01 8.31285333e-03 4.78397444e-03 1.06942704e+02] [-8.31176086e-03 9.99965426e-01 -2.48197122e-04 -6.08937395e+00] [-4.78587227e-03 2.08422455e-04 9.99988526e-01 -1.49773382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.100371743 meters 0.030482246044898093 Centerline is valid? [True, True] Translation: X:107.00, Y:-6.10, Z:-1.50 [[ 9.99980236e-01 -2.23598296e-03 5.87608933e-03 1.07002306e+02] [ 2.23781333e-03 9.99997450e-01 -3.04939574e-04 -6.10404169e+00] [-5.87539251e-03 3.18083138e-04 9.99982689e-01 -1.49677139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.160371743 meters 0.031544007971754384 Centerline is valid? [True, True] Translation: X:107.06, Y:-6.12, Z:-1.50 [[ 9.99949892e-01 -7.56085068e-03 6.56100649e-03 1.07062601e+02] [ 7.56324588e-03 9.99971340e-01 -3.40332037e-04 -6.11530128e+00] [-6.55824525e-03 3.89937489e-04 9.99978418e-01 -1.49576757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.220371743 meters 0.03364498095112463 Centerline is valid? [True, True] Translation: X:107.12, Y:-6.13, Z:-1.50 [[ 9.99943850e-01 -9.16927640e-03 5.31227934e-03 1.07122946e+02] [ 9.17086693e-03 9.99957909e-01 -2.75123220e-04 -6.12918665e+00] [-5.30953306e-03 3.23825978e-04 9.99985852e-01 -1.49915147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.280371743 meters 0.03389357119001728 Centerline is valid? [True, True] Translation: X:107.18, Y:-6.14, Z:-1.50 [[ 9.99948783e-01 -9.15172706e-03 4.32161867e-03 1.07184436e+02] [ 9.15277918e-03 9.99958087e-01 -2.23739897e-04 -6.13669258e+00] [-4.31938993e-03 2.63283260e-04 9.99990637e-01 -1.50164347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34037174299999 meters 0.0339132787163591 Centerline is valid? [True, True] Translation: X:107.25, Y:-6.14, Z:-1.50 [[ 9.99967197e-01 -7.51131254e-03 3.03061478e-03 1.07247092e+02] [ 7.51182162e-03 9.99971774e-01 -1.56632805e-04 -6.14106250e+00] [-3.02935272e-03 1.79393105e-04 9.99995395e-01 -1.50293236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.400371743 meters 0.033061685441756916 Centerline is valid? [True, True] Translation: X:107.31, Y:-6.14, Z:-1.50 [[ 9.99987813e-01 -4.64323929e-03 1.67746370e-03 1.07308305e+02] [ 4.64339165e-03 9.99989216e-01 -8.69444613e-05 -6.14498951e+00] [-1.67704190e-03 9.47325227e-05 9.99998589e-01 -1.50463324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.460371743 meters 0.03147444427046914 Centerline is valid? [True, True] Translation: X:107.37, Y:-6.15, Z:-1.51 [[ 9.99995582e-01 -2.10796192e-03 2.09584504e-03 1.07370069e+02] [ 2.10819417e-03 9.99997772e-01 -1.08614188e-04 -6.14754030e+00] [-2.09561141e-03 1.13032156e-04 9.99997798e-01 -1.50502519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.520371743 meters 0.03154999780593058 Centerline is valid? [True, True] Translation: X:107.43, Y:-6.15, Z:-1.51 [[ 9.99998839e-01 -8.73325323e-04 1.24866270e-03 1.07432079e+02] [ 8.73406231e-04 9.99999617e-01 -6.42516125e-05 -6.15127556e+00] [-1.24860611e-03 6.53421277e-05 9.99999218e-01 -1.50572531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.580371743 meters 0.029158652190406774 Centerline is valid? [True, True] Translation: X:107.49, Y:-6.15, Z:-1.51 [[ 9.99998631e-01 -5.89782469e-04 1.54570692e-03 1.07493138e+02] [ 5.89907661e-04 9.99999823e-01 -8.05385161e-05 -6.15143657e+00] [-1.54565915e-03 8.14502302e-05 9.99998802e-01 -1.50529428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.640371743 meters 0.03123656200307424 Centerline is valid? [True, True] Translation: X:107.55, Y:-6.16, Z:-1.50 [[ 9.99990660e-01 5.50920560e-05 4.32160746e-03 1.07553161e+02] [-5.41170774e-05 9.99999973e-01 -2.25722166e-04 -6.15998818e+00] [-4.32161978e-03 2.25486185e-04 9.99990636e-01 -1.50429142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.700371743 meters 0.03461648352816839 Centerline is valid? [True, True] Translation: X:107.61, Y:-6.17, Z:-1.50 [[ 9.99983376e-01 2.09056740e-05 5.76611797e-03 1.07614186e+02] [-1.91782359e-05 9.99999955e-01 -2.99639378e-04 -6.17003491e+00] [-5.76612397e-03 2.99523813e-04 9.99983331e-01 -1.50423293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.760371743 meters 0.030885131786902876 Centerline is valid? [True, True] Translation: X:107.68, Y:-6.17, Z:-1.51 [[ 9.99982947e-01 -2.37700200e-03 5.33440954e-03 1.07675311e+02] [ 2.37852846e-03 9.99997132e-01 -2.79829443e-04 -6.17175916e+00] [-5.33372909e-03 2.92512716e-04 9.99985733e-01 -1.50525193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.820371743 meters 0.030353143453083424 Centerline is valid? [True, True] Translation: X:107.74, Y:-6.18, Z:-1.51 [[ 9.99978756e-01 -5.26333869e-03 3.84510895e-03 1.07736433e+02] [ 5.26415301e-03 9.99986124e-01 -2.01692469e-04 -6.17564602e+00] [-3.84399402e-03 2.21929426e-04 9.99992587e-01 -1.50638474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.880371743 meters 0.033446202449076576 Centerline is valid? [True, True] Translation: X:107.80, Y:-6.19, Z:-1.51 [[ 9.99947152e-01 -9.73370770e-03 3.30884218e-03 1.07795028e+02] [ 9.73433712e-03 9.99952605e-01 -1.74170111e-04 -6.18691070e+00] [-3.30699003e-03 2.06370291e-04 9.99994511e-01 -1.50796675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.940371743 meters 0.033568211015840024 Centerline is valid? [True, True] Translation: X:107.86, Y:-6.19, Z:-1.51 [[ 9.99943434e-01 -1.00540245e-02 3.47074992e-03 1.07857170e+02] [ 1.00547155e-02 9.99949434e-01 -1.81706531e-04 -6.19112098e+00] [-3.46874754e-03 2.16593656e-04 9.99993960e-01 -1.50877902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.000371743 meters 0.03491842433083325 Centerline is valid? [True, True] Translation: X:107.92, Y:-6.20, Z:-1.51 [[ 9.99943765e-01 -1.00072015e-02 3.51034288e-03 1.07919561e+02] [ 1.00079090e-02 9.99949903e-01 -1.84056181e-04 -6.19767603e+00] [-3.50832513e-03 2.19177023e-04 9.99993822e-01 -1.50992312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.060371743 meters 0.03578676182928863 Centerline is valid? [True, True] Translation: X:107.98, Y:-6.20, Z:-1.51 [[ 9.99955972e-01 -8.77972915e-03 3.31204990e-03 1.07980331e+02] [ 8.78035050e-03 9.99961437e-01 -1.73109242e-04 -6.20198902e+00] [-3.31040233e-03 2.02182580e-04 9.99994500e-01 -1.51116627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12037174299999 meters 0.03781899699878346 Centerline is valid? [True, True] Translation: X:108.04, Y:-6.21, Z:-1.51 [[ 9.99949866e-01 -9.24960331e-03 3.83537411e-03 1.08041397e+02] [ 9.25044457e-03 9.99957193e-01 -2.01660345e-04 -6.20924223e+00] [-3.83334465e-03 2.37129151e-04 9.99992625e-01 -1.51316761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.180371743 meters 0.03896730620102975 Centerline is valid? [True, True] Translation: X:108.10, Y:-6.21, Z:-1.51 [[ 9.99938485e-01 -1.03414402e-02 4.01003157e-03 1.08103459e+02] [ 1.03423721e-02 9.99946494e-01 -2.11705362e-04 -6.21465089e+00] [-4.00762767e-03 2.53165577e-04 9.99991937e-01 -1.51486851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.240371743 meters 0.0330874043965912 Centerline is valid? [True, True] Translation: X:108.16, Y:-6.21, Z:-1.52 [[ 9.99908240e-01 -1.32596036e-02 2.77389408e-03 1.08164542e+02] [ 1.32600612e-02 9.99912071e-01 -1.46659431e-04 -6.20752199e+00] [-2.77170553e-03 1.83427979e-04 9.99996142e-01 -1.51528819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.300371743 meters 0.03948117645757578 Centerline is valid? [True, True] Translation: X:108.22, Y:-6.22, Z:-1.52 [[ 9.99851174e-01 -1.72198175e-02 1.05244620e-03 1.08223269e+02] [ 1.72198860e-02 9.99851725e-01 -5.60554040e-05 -6.21829699e+00] [-1.05132489e-03 7.41700650e-05 9.99999445e-01 -1.51923837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.360371743 meters 0.03920495043679155 Centerline is valid? [True, True] Translation: X:108.28, Y:-6.22, Z:-1.52 [[ 9.99767233e-01 -2.15725840e-02 3.21081906e-04 1.08283510e+02] [ 2.15725906e-02 9.99767284e-01 -1.69415007e-05 -6.21793656e+00] [-3.20641714e-04 2.38641258e-05 9.99999948e-01 -1.52020671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.420371743 meters 0.04069801536332457 Centerline is valid? [True, True] Translation: X:108.34, Y:-6.22, Z:-1.52 [[ 9.99727531e-01 -2.33407259e-02 2.74247022e-04 1.08344924e+02] [ 2.33407306e-02 9.99727568e-01 -1.40587752e-05 -6.21871896e+00] [-2.73844166e-04 2.04560705e-05 9.99999962e-01 -1.52079567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48037174299999 meters 0.04094257228028411 Centerline is valid? [True, True] Translation: X:108.41, Y:-6.22, Z:-1.52 [[ 9.99738637e-01 -2.28533365e-02 6.18106049e-04 1.08407241e+02] [ 2.28533605e-02 9.99738827e-01 -3.18608418e-05 -6.21710787e+00] [-6.17216490e-04 4.59783149e-05 9.99999808e-01 -1.52158065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.540371743 meters 0.041715001216885664 Centerline is valid? [True, True] Translation: X:108.47, Y:-6.22, Z:-1.52 [[ 9.99740585e-01 -2.27435356e-02 1.22253262e-03 1.08469916e+02] [ 2.27436309e-02 9.99741328e-01 -6.40955518e-05 -6.21817783e+00] [-1.22075863e-03 9.18837552e-05 9.99999251e-01 -1.52293338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.600371743 meters 0.04399545537942537 Centerline is valid? [True, True] Translation: X:108.53, Y:-6.22, Z:-1.52 [[ 9.99726217e-01 -2.33956363e-02 3.67415392e-04 1.08530529e+02] [ 2.33956449e-02 9.99726284e-01 -1.90828736e-05 -6.21949503e+00] [-3.66868369e-04 2.76735690e-05 9.99999932e-01 -1.52477365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.660371743 meters 0.04494363642211519 Centerline is valid? [True, True] Translation: X:108.59, Y:-6.22, Z:-1.53 [[ 9.99738608e-01 -2.28513925e-02 7.28323854e-04 1.08593159e+02] [ 2.28514261e-02 9.99738871e-01 -3.78867902e-05 -6.21822784e+00] [-7.27267902e-04 5.45201257e-05 9.99999734e-01 -1.52557769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.720371743 meters 0.038656023249487186 Centerline is valid? [True, True] Translation: X:108.65, Y:-6.21, Z:-1.52 [[ 9.99811535e-01 -1.93819083e-02 1.11224884e-03 1.08654257e+02] [ 1.93819861e-02 9.99812150e-01 -5.92598895e-05 -6.20643746e+00] [-1.11089134e-03 8.08063127e-05 9.99999380e-01 -1.52473438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.780371743 meters 0.03546261501201217 Centerline is valid? [True, True] Translation: X:108.71, Y:-6.20, Z:-1.53 [[ 9.99882149e-01 -1.53341449e-02 7.42413780e-04 1.08714821e+02] [ 1.53341785e-02 9.99882424e-01 -3.95690994e-05 -6.19944276e+00] [-7.41719732e-04 5.09487417e-05 9.99999724e-01 -1.52540760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84037174299999 meters 0.034290956478881716 Centerline is valid? [True, True] Translation: X:108.78, Y:-6.19, Z:-1.53 [[ 9.99962453e-01 -8.66549046e-03 -3.44485209e-05 1.08775934e+02] [ 8.66549053e-03 9.99962454e-01 2.06874929e-06 -6.19211152e+00] [ 3.44293007e-05 -2.36718494e-06 9.99999999e-01 -1.52776897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.900371743 meters 0.03444646925532904 Centerline is valid? [True, True] Translation: X:108.84, Y:-6.19, Z:-1.53 [[ 9.99993211e-01 -3.66171534e-03 -4.11583831e-04 1.08835636e+02] [ 3.66172459e-03 9.99993296e-01 2.17245874e-05 -6.18771525e+00] [ 4.11501523e-04 -2.32315465e-05 9.99999915e-01 -1.52888877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.960371743 meters 0.03099167157615596 Centerline is valid? [True, True] Translation: X:108.90, Y:-6.18, Z:-1.53 [[ 9.99999647e-01 5.95124683e-04 5.92983725e-04 1.08897246e+02] [-5.95106140e-04 9.99999822e-01 -3.14459823e-05 -6.17872404e+00] [-5.93002334e-04 3.10930829e-05 9.99999824e-01 -1.52796456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.020371743 meters 0.028077105714799804 Centerline is valid? [True, True] Translation: X:108.96, Y:-6.17, Z:-1.53 [[ 9.99973831e-01 6.82167481e-03 2.40869422e-03 1.08958277e+02] [-6.82138483e-03 9.99976726e-01 -1.28583101e-04 -6.16917365e+00] [-2.40951531e-03 1.12149106e-04 9.99997091e-01 -1.52645096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.080371743 meters 0.02681329104597608 Centerline is valid? [True, True] Translation: X:109.02, Y:-6.17, Z:-1.53 [[ 9.99918849e-01 1.23188819e-02 3.24665220e-03 1.09018894e+02] [-1.23183840e-02 9.99924111e-01 -1.73310616e-04 -6.16514797e+00] [-3.24854080e-03 1.33303043e-04 9.99994715e-01 -1.52725571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.140371743 meters 0.02856850471648927 Centerline is valid? [True, True] Translation: X:109.08, Y:-6.17, Z:-1.53 [[ 9.99824450e-01 1.81429884e-02 4.67976393e-03 1.09078191e+02] [-1.81420169e-02 9.99835389e-01 -2.49960276e-04 -6.16576913e+00] [-4.68352861e-03 1.65016040e-04 9.99989019e-01 -1.52994296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.200371743 meters 0.02621148904938305 Centerline is valid? [True, True] Translation: X:109.14, Y:-6.16, Z:-1.53 [[ 9.99828960e-01 1.78599590e-02 4.80348752e-03 1.09137328e+02] [-1.78589308e-02 9.99840484e-01 -2.56853367e-04 -6.16044068e+00] [-4.80730868e-03 1.71024283e-04 9.99988430e-01 -1.52998257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.260371743 meters 0.027280755107694486 Centerline is valid? [True, True] Translation: X:109.20, Y:-6.16, Z:-1.53 [[ 9.99903984e-01 1.28353423e-02 5.22273385e-03 1.09197607e+02] [-1.28340633e-02 9.99917601e-01 -2.78343797e-04 -6.16369953e+00] [-5.22587615e-03 2.11288175e-04 9.99986323e-01 -1.53067795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.320371743 meters 0.03090690175232216 Centerline is valid? [True, True] Translation: X:109.26, Y:-6.17, Z:-1.53 [[ 9.99962559e-01 6.72089566e-03 5.45070796e-03 1.09256744e+02] [-6.71941221e-03 9.99977382e-01 -2.90424814e-04 -6.17325080e+00] [-5.45253659e-03 2.53788387e-04 9.99985103e-01 -1.53225638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.380371743 meters 0.03139852381828515 Centerline is valid? [True, True] Translation: X:109.32, Y:-6.18, Z:-1.53 [[ 9.99983149e-01 2.71198864e-03 5.13292684e-03 1.09316975e+02] [-2.71062117e-03 9.99996289e-01 -2.73349907e-04 -6.17668678e+00] [-5.13364912e-03 2.59431881e-04 9.99986789e-01 -1.53275899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.440371743 meters 0.0325163672850795 Centerline is valid? [True, True] Translation: X:109.38, Y:-6.18, Z:-1.53 [[ 9.99980919e-01 -2.32338235e-03 5.72393556e-03 1.09377701e+02] [ 2.32516336e-03 9.99997250e-01 -3.04516130e-04 -6.18056528e+00] [-5.72321232e-03 3.17819405e-04 9.99983572e-01 -1.53220333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.500371743 meters 0.03572020055856277 Centerline is valid? [True, True] Translation: X:109.44, Y:-6.19, Z:-1.53 [[ 9.99976044e-01 -2.47332707e-03 6.46478343e-03 1.09438573e+02] [ 2.47559981e-03 9.99996877e-01 -3.43579605e-04 -6.18975541e+00] [-6.46391346e-03 3.59575591e-04 9.99979044e-01 -1.53432398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.560371743 meters 0.03236826292180784 Centerline is valid? [True, True] Translation: X:109.50, Y:-6.19, Z:-1.54 [[ 9.99978893e-01 -4.18739616e-03 4.96776256e-03 1.09500850e+02] [ 4.18875885e-03 9.99991192e-01 -2.63932902e-04 -6.18745854e+00] [-4.96661361e-03 2.84736091e-04 9.99987626e-01 -1.53533995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62037174299999 meters 0.03243690970961247 Centerline is valid? [True, True] Translation: X:109.56, Y:-6.19, Z:-1.54 [[ 9.99986505e-01 -4.97004324e-03 1.51267948e-03 1.09562859e+02] [ 4.97016956e-03 9.99987645e-01 -7.97623705e-05 -6.19111529e+00] [-1.51226437e-03 8.72795676e-05 9.99998853e-01 -1.53940485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.680371743 meters 0.03452413446236763 Centerline is valid? [True, True] Translation: X:109.62, Y:-6.20, Z:-1.54 [[ 9.99991072e-01 -4.22494512e-03 8.00527148e-05 1.09624256e+02] [ 4.22494540e-03 9.99991075e-01 -3.26922742e-06 -6.19819938e+00] [-8.00381880e-05 3.60741658e-06 9.99999997e-01 -1.54271436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.740371743 meters 0.03281852752406143 Centerline is valid? [True, True] Translation: X:109.68, Y:-6.20, Z:-1.54 [[ 9.99998438e-01 -1.53257156e-03 8.80732718e-04 1.09684698e+02] [ 1.53261363e-03 9.99998824e-01 -4.71021926e-05 -6.19678926e+00] [-8.80659495e-04 4.84519419e-05 9.99999611e-01 -1.54231512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.800371743 meters 0.03180903097360351 Centerline is valid? [True, True] Translation: X:109.75, Y:-6.19, Z:-1.54 [[ 9.99990396e-01 2.64657794e-03 3.49324219e-03 1.09746003e+02] [-2.64594177e-03 9.99996482e-01 -1.86724654e-04 -6.19484544e+00] [-3.49372408e-03 1.77479945e-04 9.99993881e-01 -1.53967683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.860371743 meters 0.030193402489591344 Centerline is valid? [True, True] Translation: X:109.81, Y:-6.19, Z:-1.54 [[ 9.99982025e-01 4.09701250e-03 4.37765294e-03 1.09806764e+02] [-4.09602658e-03 9.99991584e-01 -2.34159949e-04 -6.19466344e+00] [-4.37857545e-03 2.16224757e-04 9.99990391e-01 -1.53953507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.920371743 meters 0.028288862352845428 Centerline is valid? [True, True] Translation: X:109.87, Y:-6.19, Z:-1.54 [[ 9.99961190e-01 7.22493073e-03 5.04173851e-03 1.09867614e+02] [-7.22366265e-03 9.99973873e-01 -2.69681779e-04 -6.19195875e+00] [-5.04355522e-03 2.33251494e-04 9.99987254e-01 -1.53824057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98037174299999 meters 0.029082676688448134 Centerline is valid? [True, True] Translation: X:109.93, Y:-6.19, Z:-1.54 [[ 9.99958574e-01 8.53291845e-03 3.16860191e-03 1.09926626e+02] [-8.53242290e-03 9.99963584e-01 -1.69879972e-04 -6.19403703e+00] [-3.16993610e-03 1.42837083e-04 9.99994966e-01 -1.54074003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.040371743 meters 0.027949866166254427 Centerline is valid? [True, True] Translation: X:109.99, Y:-6.20, Z:-1.54 [[ 9.99960046e-01 8.71992735e-03 1.96729590e-03 1.09985224e+02] [-8.71973557e-03 9.99961977e-01 -1.06040838e-04 -6.19510181e+00] [-1.96814577e-03 8.88823009e-05 9.99998059e-01 -1.54264261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.100371743 meters 0.028053387388321305 Centerline is valid? [True, True] Translation: X:110.04, Y:-6.20, Z:-1.54 [[ 9.99961033e-01 8.80080740e-03 6.91042247e-04 1.10043710e+02] [-8.80078333e-03 9.99961272e-01 -3.78609030e-05 -6.19841381e+00] [-6.91348691e-04 3.17777146e-05 9.99999761e-01 -1.54425984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.160371743 meters 0.028933592211536047 Centerline is valid? [True, True] Translation: X:110.10, Y:-6.20, Z:-1.54 [[ 9.99951290e-01 9.47701955e-03 2.75739933e-03 1.10101260e+02] [-9.47664740e-03 9.99955085e-01 -1.48000149e-04 -6.20279546e+00] [-2.75867808e-03 1.21862038e-04 9.99996187e-01 -1.54353576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.220371743 meters 0.028726513716047924 Centerline is valid? [True, True] Translation: X:110.16, Y:-6.21, Z:-1.54 [[ 9.99940909e-01 9.84500515e-03 4.61024206e-03 1.10160342e+02] [-9.84397530e-03 9.99951517e-01 -2.46020729e-04 -6.20687070e+00] [-4.61244062e-03 2.00623083e-04 9.99989343e-01 -1.54175694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.280371743 meters 0.028021942644357048 Centerline is valid? [True, True] Translation: X:110.22, Y:-6.21, Z:-1.54 [[ 9.99943377e-01 9.50992121e-03 4.77546471e-03 1.10219336e+02] [-9.50881416e-03 9.99954758e-01 -2.54472942e-04 -6.21022681e+00] [-4.77766868e-03 2.09049526e-04 9.99988565e-01 -1.54153379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34037174299999 meters 0.02763024359280262 Centerline is valid? [True, True] Translation: X:110.28, Y:-6.22, Z:-1.54 [[ 9.99935772e-01 1.08407880e-02 3.30605477e-03 1.10278358e+02] [-1.08402633e-02 9.99941227e-01 -1.76586611e-04 -6.21537161e+00] [-3.30777481e-03 1.40736765e-04 9.99994519e-01 -1.54390601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.400371743 meters 0.027419031143875842 Centerline is valid? [True, True] Translation: X:110.34, Y:-6.22, Z:-1.55 [[ 9.99913307e-01 1.29128781e-02 2.57619584e-03 1.10336851e+02] [-1.29125672e-02 9.99916620e-01 -1.37274888e-04 -6.21931858e+00] [-2.57775365e-03 1.03997685e-04 9.99996672e-01 -1.54559992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.460371743 meters 0.026506553124161784 Centerline is valid? [True, True] Translation: X:110.40, Y:-6.22, Z:-1.55 [[ 9.99862370e-01 1.62546725e-02 3.32050859e-03 1.10397012e+02] [-1.62541781e-02 9.99867877e-01 -1.75836011e-04 -6.22326351e+00] [-3.32292803e-03 1.21839673e-04 9.99994472e-01 -1.54557874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.520371743 meters 0.024651502759878017 Centerline is valid? [True, True] Translation: X:110.46, Y:-6.22, Z:-1.55 [[ 9.99835977e-01 1.79822544e-02 2.15815770e-03 1.10456352e+02] [-1.79820485e-02 9.99838303e-01 -1.14774364e-04 -6.22476850e+00] [-2.15987264e-03 7.59474423e-05 9.99997665e-01 -1.54526394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.580371743 meters 0.025147360764598028 Centerline is valid? [True, True] Translation: X:110.51, Y:-6.23, Z:-1.55 [[ 9.99843444e-01 1.76040122e-02 1.78515164e-03 1.10514566e+02] [-1.76038703e-02 9.99845035e-01 -9.51850460e-05 -6.23250321e+00] [-1.78655064e-03 6.37445664e-05 9.99998402e-01 -1.54714567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.640371743 meters 0.02656335476256351 Centerline is valid? [True, True] Translation: X:110.57, Y:-6.24, Z:-1.55 [[ 9.99865367e-01 1.60411936e-02 3.45370215e-03 1.10571842e+02] [-1.60406566e-02 9.99871324e-01 -1.83133933e-04 -6.24176097e+00] [-3.45619543e-03 1.27709627e-04 9.99994019e-01 -1.54717224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.700371743 meters 0.026092720251763023 Centerline is valid? [True, True] Translation: X:110.63, Y:-6.25, Z:-1.55 [[ 9.99889765e-01 1.42014084e-02 4.33333588e-03 1.10630299e+02] [-1.42005495e-02 9.99899141e-01 -2.28907952e-04 -6.24573146e+00] [-4.33614964e-03 1.67346968e-04 9.99990585e-01 -1.54615946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.760371743 meters 0.03141529430416167 Centerline is valid? [True, True] Translation: X:110.69, Y:-6.26, Z:-1.55 [[ 9.99944810e-01 9.27583546e-03 4.93320733e-03 1.10688373e+02] [-9.27466765e-03 9.99956956e-01 -2.59549206e-04 -6.26191106e+00] [-4.93540252e-03 2.13781022e-04 9.99987798e-01 -1.54830057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.820371743 meters 0.030575399997487224 Centerline is valid? [True, True] Translation: X:110.75, Y:-6.27, Z:-1.55 [[ 9.99995529e-01 1.45681579e-03 2.61133104e-03 1.10748106e+02] [-1.45646170e-03 9.99998930e-01 -1.37492406e-04 -6.26856124e+00] [-2.61152855e-03 1.33688488e-04 9.99996581e-01 -1.54987117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.880371743 meters 0.032104614629224745 Centerline is valid? [True, True] Translation: X:110.81, Y:-6.28, Z:-1.55 [[ 9.99994769e-01 -3.23236460e-03 -1.20934248e-04 1.10807735e+02] [ 3.23236542e-03 9.99994776e-01 6.57365659e-06 -6.27805381e+00] [ 1.20912368e-04 -6.96452588e-06 9.99999993e-01 -1.55272261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.940371743 meters 0.03132402356734861 Centerline is valid? [True, True] Translation: X:110.87, Y:-6.28, Z:-1.55 [[ 9.99996150e-01 -2.72293768e-03 5.34394770e-04 1.10868590e+02] [ 2.72295282e-03 9.99996292e-01 -2.76090253e-05 -6.28211879e+00] [-5.34317611e-04 2.90640508e-05 9.99999857e-01 -1.55288918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.000371743 meters 0.03272529721510292 Centerline is valid? [True, True] Translation: X:110.93, Y:-6.29, Z:-1.55 [[ 9.99997112e-01 4.74907386e-04 2.35575594e-03 1.10927922e+02] [-4.74616205e-04 9.99999880e-01 -1.24161454e-04 -6.28704918e+00] [-2.35581462e-03 1.23043015e-04 9.99997217e-01 -1.55292865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.060371743 meters 0.0268986477605476 Centerline is valid? [True, True] Translation: X:110.99, Y:-6.28, Z:-1.55 [[ 9.99962283e-01 7.49661290e-03 4.38566519e-03 1.10988706e+02] [-7.49567309e-03 9.99971880e-01 -2.30689418e-04 -6.28008452e+00] [-4.38727126e-03 1.97807204e-04 9.99990356e-01 -1.55038697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12037174299999 meters 0.025543701189838074 Centerline is valid? [True, True] Translation: X:111.05, Y:-6.28, Z:-1.55 [[ 9.99894792e-01 1.34946323e-02 5.31973668e-03 1.11048689e+02] [-1.34933342e-02 9.99908922e-01 -2.79837591e-04 -6.28180018e+00] [-5.32302847e-03 2.08027165e-04 9.99985811e-01 -1.55106405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.180371743 meters 0.028145543478270613 Centerline is valid? [True, True] Translation: X:111.11, Y:-6.29, Z:-1.55 [[ 9.99841338e-01 1.69765229e-02 5.39405032e-03 1.11106649e+02] [-1.69752366e-02 9.99855870e-01 -2.84158510e-04 -6.29141231e+00] [-5.39809690e-03 1.92548144e-04 9.99985412e-01 -1.55447637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.240371743 meters 0.02385196894499909 Centerline is valid? [True, True] Translation: X:111.17, Y:-6.29, Z:-1.56 [[ 9.99770532e-01 2.09069406e-02 4.66717034e-03 1.11166686e+02] [-2.09060219e-02 9.99781415e-01 -2.45550821e-04 -6.28897654e+00] [-4.67128388e-03 1.47922510e-04 9.99989079e-01 -1.55505634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.300371743 meters 0.02364362294137977 Centerline is valid? [True, True] Translation: X:111.23, Y:-6.29, Z:-1.56 [[ 9.99719436e-01 2.34222890e-02 3.52790977e-03 1.11225014e+02] [-2.34217784e-02 9.99725655e-01 -1.85977427e-04 -6.29473343e+00] [-3.53129792e-03 1.03295328e-04 9.99993760e-01 -1.55622552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.360371743 meters 0.023328864069832148 Centerline is valid? [True, True] Translation: X:111.28, Y:-6.30, Z:-1.56 [[ 9.99665426e-01 2.57039504e-02 2.88851642e-03 1.11283518e+02] [-2.57036177e-02 9.99669596e-01 -1.52239956e-04 -6.30223029e+00] [-2.89147521e-03 7.79436981e-05 9.99995817e-01 -1.55826319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.420371743 meters 0.022409885799172708 Centerline is valid? [True, True] Translation: X:111.34, Y:-6.30, Z:-1.56 [[ 9.99638899e-01 2.67093561e-02 2.94646501e-03 1.11341906e+02] [-2.67090149e-02 9.99643239e-01 -1.55095286e-04 -6.30486420e+00] [-2.94955632e-03 7.63421033e-05 9.99995647e-01 -1.55784609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48037174299999 meters 0.022230117257181933 Centerline is valid? [True, True] Translation: X:111.40, Y:-6.31, Z:-1.56 [[ 9.99577452e-01 2.87682071e-02 4.16014741e-03 1.11400194e+02] [-2.87675477e-02 9.99586105e-01 -2.18245441e-04 -6.31184333e+00] [-4.16470407e-03 9.84759829e-05 9.99991323e-01 -1.55774671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.540371743 meters 0.021875968014631954 Centerline is valid? [True, True] Translation: X:111.46, Y:-6.32, Z:-1.56 [[ 9.99530709e-01 3.00963856e-02 5.70701248e-03 1.11458259e+02] [-3.00951710e-02 9.99546993e-01 -2.98601831e-04 -6.31917212e+00] [-5.71341400e-03 1.26708183e-04 9.99983670e-01 -1.55858414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.600371743 meters 0.02213908629909515 Centerline is valid? [True, True] Translation: X:111.52, Y:-6.33, Z:-1.56 [[ 9.99528037e-01 3.01354331e-02 5.96306256e-03 1.11517336e+02] [-3.01341116e-02 9.99545816e-01 -3.11363424e-04 -6.32500884e+00] [-5.96973731e-03 1.31524880e-04 9.99982172e-01 -1.55945478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.660371743 meters 0.022070942938866307 Centerline is valid? [True, True] Translation: X:111.58, Y:-6.33, Z:-1.56 [[ 9.99551069e-01 2.94612439e-02 5.44930749e-03 1.11576171e+02] [-2.94601306e-02 9.99565916e-01 -2.84469751e-04 -6.33337242e+00] [-5.45532287e-03 1.23804733e-04 9.99985112e-01 -1.56023428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.720371743 meters 0.022359543678394704 Centerline is valid? [True, True] Translation: X:111.63, Y:-6.34, Z:-1.56 [[ 9.99585439e-01 2.82837643e-02 5.38314129e-03 1.11633601e+02] [-2.82826612e-02 9.99599926e-01 -2.80960085e-04 -6.34487923e+00] [-5.38893425e-03 1.28594048e-04 9.99985471e-01 -1.56160306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.780371743 meters 0.02210502635708917 Centerline is valid? [True, True] Translation: X:111.69, Y:-6.35, Z:-1.56 [[ 9.99575482e-01 2.86047720e-02 5.53369963e-03 1.11692201e+02] [-2.86036167e-02 9.99590791e-01 -2.87824567e-04 -6.34958356e+00] [-5.53966835e-03 1.29418557e-04 9.99984648e-01 -1.56224753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84037174299999 meters 0.021268707534624114 Centerline is valid? [True, True] Translation: X:111.75, Y:-6.36, Z:-1.56 [[ 9.99531478e-01 2.98756140e-02 6.65375395e-03 1.11750659e+02] [-2.98739762e-02 9.99553613e-01 -3.45421321e-04 -6.35682352e+00] [-6.66110348e-03 1.46485396e-04 9.99977804e-01 -1.56262677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.900371743 meters 0.021243434270464674 Centerline is valid? [True, True] Translation: X:111.81, Y:-6.37, Z:-1.56 [[ 9.99536478e-01 2.96640250e-02 6.84650205e-03 1.11806771e+02] [-2.96622859e-02 9.99559914e-01 -3.55443554e-04 -6.36786224e+00] [-6.85403289e-03 1.52195897e-04 9.99976499e-01 -1.56424373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.960371743 meters 0.022004822785796213 Centerline is valid? [True, True] Translation: X:111.86, Y:-6.38, Z:-1.56 [[ 9.99608290e-01 2.69141322e-02 7.67441953e-03 1.11864605e+02] [-2.69118798e-02 9.99637731e-01 -3.96637583e-04 -6.37784544e+00] [-7.68231448e-03 1.89949161e-04 9.99970473e-01 -1.56400642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.020371743 meters 0.024053225770175286 Centerline is valid? [True, True] Translation: X:111.92, Y:-6.39, Z:-1.57 [[ 9.99710757e-01 2.29317984e-02 7.24805491e-03 1.11922515e+02] [-2.29296901e-02 9.99737010e-01 -3.73854167e-04 -6.38972292e+00] [-7.25472190e-03 2.07550379e-04 9.99973663e-01 -1.56681642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.080371743 meters 0.02641668465373229 Centerline is valid? [True, True] Translation: X:111.98, Y:-6.41, Z:-1.57 [[ 9.99889573e-01 1.28768172e-02 7.41816129e-03 1.11982416e+02] [-1.28743394e-02 9.99917049e-01 -3.81672920e-04 -6.40602686e+00] [-7.42246068e-03 2.86126846e-04 9.99972412e-01 -1.56883840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.140371743 meters 0.03093670890459292 Centerline is valid? [True, True] Translation: X:112.04, Y:-6.42, Z:-1.57 [[ 9.99953195e-01 2.65381131e-03 9.30400706e-03 1.12041717e+02] [-2.64947108e-03 9.99996376e-01 -4.78785064e-04 -6.42165348e+00] [-9.30524394e-03 4.54111957e-04 9.99956602e-01 -1.56865728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.200371743 meters 0.03706185755294499 Centerline is valid? [True, True] Translation: X:112.10, Y:-6.44, Z:-1.57 [[ 9.99910966e-01 -7.46872971e-03 1.10579012e-02 1.12100167e+02] [ 7.47547550e-03 9.99971896e-01 -5.68835384e-04 -6.43880778e+00] [-1.10533420e-02 6.51447809e-04 9.99938698e-01 -1.56915409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.260371743 meters 0.04018621411708326 Centerline is valid? [True, True] Translation: X:112.16, Y:-6.45, Z:-1.57 [[ 9.99842663e-01 -1.35985110e-02 1.13898899e-02 1.12160854e+02] [ 1.36060609e-02 9.99907262e-01 -5.85635553e-04 -6.44886006e+00] [-1.13808699e-02 7.40514948e-04 9.99934962e-01 -1.57028156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.320371743 meters 0.044892217609830004 Centerline is valid? [True, True] Translation: X:112.22, Y:-6.46, Z:-1.57 [[ 9.99740718e-01 -2.00716443e-02 1.07529240e-02 1.12220192e+02] [ 2.00787493e-02 9.99798249e-01 -5.53189573e-04 -6.45805031e+00] [-1.07396512e-02 7.68951407e-04 9.99942033e-01 -1.57036401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.380371743 meters 0.04083217570032133 Centerline is valid? [True, True] Translation: X:112.28, Y:-6.45, Z:-1.57 [[ 9.99663505e-01 -2.46427744e-02 8.10000530e-03 1.12281322e+02] [ 2.46469577e-02 9.99696131e-01 -4.17024022e-04 -6.45454083e+00] [-8.08726733e-03 6.16524184e-04 9.99967107e-01 -1.57320595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.440371743 meters 0.04344226004440675 Centerline is valid? [True, True] Translation: X:112.34, Y:-6.46, Z:-1.58 [[ 9.99614685e-01 -2.68073258e-02 7.20054673e-03 1.12341613e+02] [ 2.68106865e-02 9.99640460e-01 -3.70591028e-04 -6.45743053e+00] [-7.18802329e-03 5.63499835e-04 9.99974007e-01 -1.57573513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.500371743 meters 0.042839105195853 Centerline is valid? [True, True] Translation: X:112.40, Y:-6.46, Z:-1.58 [[ 9.99630514e-01 -2.58007978e-02 8.55303741e-03 1.12403373e+02] [ 2.58055038e-02 9.99666886e-01 -4.40299444e-04 -6.45584299e+00] [-8.53882819e-03 6.60852200e-04 9.99963325e-01 -1.57534590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.560371743 meters 0.0392939680985317 Centerline is valid? [True, True] Translation: X:112.47, Y:-6.45, Z:-1.58 [[ 9.99646775e-01 -2.47697736e-02 9.63242739e-03 1.12466233e+02] [ 2.47756972e-02 9.99692912e-01 -4.96106652e-04 -6.44668034e+00] [-9.61718094e-03 7.34581519e-04 9.99953484e-01 -1.57512739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62037174299999 meters 0.043240002866185435 Centerline is valid? [True, True] Translation: X:112.53, Y:-6.45, Z:-1.58 [[ 9.99634914e-01 -2.57170840e-02 8.28678734e-03 1.12527195e+02] [ 2.57215020e-02 9.99669056e-01 -4.26986172e-04 -6.45127447e+00] [-8.27306404e-03 6.39978903e-04 9.99965573e-01 -1.57716501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.680371743 meters 0.05032427823564053 Centerline is valid? [True, True] Translation: X:112.59, Y:-6.46, Z:-1.58 [[ 9.99633892e-01 -2.62506779e-02 6.55620767e-03 1.12588395e+02] [ 2.62534610e-02 9.99655261e-01 -3.38773964e-04 -6.45640997e+00] [-6.54505444e-03 5.10773079e-04 9.99978450e-01 -1.57922093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.740371743 meters 0.04755518163355236 Centerline is valid? [True, True] Translation: X:112.65, Y:-6.45, Z:-1.58 [[ 9.99596686e-01 -2.75913947e-02 6.72168983e-03 1.12650995e+02] [ 2.75943518e-02 9.99619143e-01 -3.47578045e-04 -6.45257382e+00] [-6.70953967e-03 5.32918536e-04 9.99977349e-01 -1.57996182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.800371743 meters 0.04260778121483232 Centerline is valid? [True, True] Translation: X:112.71, Y:-6.44, Z:-1.58 [[ 9.99601694e-01 -2.76794766e-02 5.50458698e-03 1.12713680e+02] [ 2.76814620e-02 9.99616754e-01 -2.84811845e-04 -6.44209717e+00] [-5.49459393e-03 4.37073418e-04 9.99984809e-01 -1.58029418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.860371743 meters 0.04188209304337201 Centerline is valid? [True, True] Translation: X:112.78, Y:-6.44, Z:-1.58 [[ 9.99645185e-01 -2.60570297e-02 5.52586835e-03 1.12775737e+02] [ 2.60590089e-02 9.99660365e-01 -2.86464434e-04 -6.43669726e+00] [-5.51652716e-03 4.30361444e-04 9.99984691e-01 -1.58059895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.920371743 meters 0.03970166842630202 Centerline is valid? [True, True] Translation: X:112.84, Y:-6.43, Z:-1.58 [[ 9.99747673e-01 -2.15922378e-02 6.19395550e-03 1.12837042e+02] [ 2.15946437e-02 9.99766757e-01 -3.21811181e-04 -6.43072928e+00] [-6.18556218e-03 4.55486242e-04 9.99980765e-01 -1.58096342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98037174299999 meters 0.03886205354890842 Centerline is valid? [True, True] Translation: X:112.90, Y:-6.43, Z:-1.58 [[ 9.99863558e-01 -1.57543619e-02 4.96639854e-03 1.12897055e+02] [ 1.57558388e-02 9.99875836e-01 -2.58398993e-04 -6.42512758e+00] [-4.96171098e-03 3.36613511e-04 9.99987634e-01 -1.58211731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.040371743 meters 0.03652201555404951 Centerline is valid? [True, True] Translation: X:112.96, Y:-6.42, Z:-1.58 [[ 9.99923743e-01 -1.13617227e-02 4.83939772e-03 1.12958106e+02] [ 1.13630724e-02 9.99935407e-01 -2.51482900e-04 -6.42039180e+00] [-4.83622785e-03 3.06454149e-04 9.99988258e-01 -1.58305614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.100371743 meters 0.03315259935506887 Centerline is valid? [True, True] Translation: X:113.02, Y:-6.41, Z:-1.58 [[ 9.99982970e-01 -3.89582578e-03 4.34527120e-03 1.13019033e+02] [ 3.89684400e-03 9.99992382e-01 -2.25886472e-04 -6.41126595e+00] [-4.34435808e-03 2.42815469e-04 9.99990534e-01 -1.58341624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.160371743 meters 0.029826763235656983 Centerline is valid? [True, True] Translation: X:113.08, Y:-6.40, Z:-1.58 [[ 9.99982554e-01 3.45841666e-03 4.78859318e-03 1.13080462e+02] [-3.45726502e-03 9.99993993e-01 -2.48753904e-04 -6.40164886e+00] [-4.78942471e-03 2.32194129e-04 9.99988504e-01 -1.58336153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.220371743 meters 0.028266236403468308 Centerline is valid? [True, True] Translation: X:113.14, Y:-6.40, Z:-1.59 [[ 9.99959912e-01 8.35520528e-03 3.21937655e-03 1.13141529e+02] [-8.35471020e-03 9.99965085e-01 -1.67200579e-04 -6.39734298e+00] [-3.22066114e-03 1.40296918e-04 9.99994804e-01 -1.58533346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.280371743 meters 0.027666676451523885 Centerline is valid? [True, True] Translation: X:113.20, Y:-6.40, Z:-1.59 [[ 9.99955123e-01 9.17865070e-03 2.34615784e-03 1.13200956e+02] [-9.17838810e-03 9.99957870e-01 -1.22671946e-04 -6.39553382e+00] [-2.34718496e-03 1.01132494e-04 9.99997240e-01 -1.58654513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34037174299999 meters 0.027772985759580236 Centerline is valid? [True, True] Translation: X:113.26, Y:-6.39, Z:-1.59 [[ 9.99967478e-01 7.73247458e-03 2.29177733e-03 1.13260316e+02] [-7.73222046e-03 9.99970099e-01 -1.19724103e-04 -6.39466220e+00] [-2.29263456e-03 1.01999682e-04 9.99997367e-01 -1.58699009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.400371743 meters 0.02987784199706751 Centerline is valid? [True, True] Translation: X:113.32, Y:-6.40, Z:-1.59 [[ 9.99984750e-01 4.30233030e-03 3.46249457e-03 1.13318795e+02] [-4.30173177e-03 9.99990731e-01 -1.80290161e-04 -6.39946532e+00] [-3.46323814e-03 1.65392688e-04 9.99993989e-01 -1.58783708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.460371743 meters 0.031012557920218804 Centerline is valid? [True, True] Translation: X:113.38, Y:-6.40, Z:-1.59 [[ 9.99990981e-01 1.40994781e-03 4.00618859e-03 1.13378922e+02] [-1.40912619e-03 9.99998986e-01 -2.07903603e-04 -6.40332307e+00] [-4.00647766e-03 2.02256503e-04 9.99991954e-01 -1.58872048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.520371743 meters 0.03199956572341516 Centerline is valid? [True, True] Translation: X:113.44, Y:-6.41, Z:-1.59 [[ 9.99985617e-01 -4.23567701e-03 3.29006768e-03 1.13439243e+02] [ 4.23626082e-03 9.99991012e-01 -1.70497541e-04 -6.40595609e+00] [-3.28931594e-03 1.84432674e-04 9.99994573e-01 -1.58967688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.580371743 meters 0.03540953448578722 Centerline is valid? [True, True] Translation: X:113.50, Y:-6.41, Z:-1.59 [[ 9.99967660e-01 -7.65737454e-03 2.45818469e-03 1.13498690e+02] [ 7.65771083e-03 9.99970671e-01 -1.27422581e-04 -6.41380992e+00] [-2.45713687e-03 1.46242528e-04 9.99996971e-01 -1.59230184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.640371743 meters 0.033322664588221806 Centerline is valid? [True, True] Translation: X:113.56, Y:-6.41, Z:-1.59 [[ 9.99963599e-01 -8.36999526e-03 1.65653408e-03 1.13561064e+02] [ 8.37014745e-03 9.99964966e-01 -8.49586143e-05 -6.41296541e+00] [-1.65576494e-03 9.88209562e-05 9.99998624e-01 -1.59271822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.700371743 meters 0.03663434194938931 Centerline is valid? [True, True] Translation: X:113.62, Y:-6.42, Z:-1.60 [[ 9.99965334e-01 -8.30727208e-03 5.66135387e-04 1.13621891e+02] [ 8.30728963e-03 9.99965493e-01 -2.86571479e-05 -6.41866099e+00] [-5.65877789e-04 3.33592051e-05 9.99999839e-01 -1.59522639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.760371743 meters 0.03334496252422024 Centerline is valid? [True, True] Translation: X:113.68, Y:-6.41, Z:-1.60 [[ 9.99986890e-01 -5.12051295e-03 2.58189428e-05 1.13682983e+02] [ 5.12051298e-03 9.99986890e-01 -1.06086865e-06 -6.41390232e+00] [-2.58131722e-05 1.19306097e-06 1.00000000e+00 -1.59539354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.820371743 meters 0.031208649425076302 Centerline is valid? [True, True] Translation: X:113.74, Y:-6.41, Z:-1.60 [[ 9.99999981e-01 1.56773372e-04 -1.17789027e-04 1.13743429e+02] [-1.56772648e-04 9.99999988e-01 6.15449367e-06 -6.40984088e+00] [ 1.17789990e-04 -6.13602745e-06 9.99999993e-01 -1.59632261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.880371743 meters 0.029007757668633095 Centerline is valid? [True, True] Translation: X:113.80, Y:-6.40, Z:-1.60 [[ 9.99973950e-01 7.21399062e-03 2.39622577e-04 1.13804292e+02] [-7.21398782e-03 9.99973979e-01 -1.25157935e-05 -6.40474722e+00] [-2.39706631e-04 1.07868331e-05 9.99999971e-01 -1.59598439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.940371743 meters 0.027160677895540913 Centerline is valid? [True, True] Translation: X:113.86, Y:-6.40, Z:-1.60 [[ 9.99929888e-01 1.17979809e-02 1.01376963e-03 1.13864949e+02] [-1.17979333e-02 9.99930401e-01 -5.29342050e-05 -6.40201125e+00] [-1.01432359e-03 4.09701072e-05 9.99999485e-01 -1.59586530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.000371743 meters 0.02558878911517321 Centerline is valid? [True, True] Translation: X:113.93, Y:-6.40, Z:-1.60 [[ 9.99825047e-01 1.86125616e-02 1.85698023e-03 1.13925528e+02] [-1.86124143e-02 9.99826769e-01 -9.65424692e-05 -6.39940959e+00] [-1.85845545e-03 6.19626933e-05 9.99998271e-01 -1.59599338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.060371743 meters 0.024327780993139574 Centerline is valid? [True, True] Translation: X:113.99, Y:-6.40, Z:-1.60 [[ 9.99711401e-01 2.39464069e-02 1.91935004e-03 1.13985616e+02] [-2.39462591e-02 9.99713242e-01 -9.99481543e-05 -6.39837964e+00] [-1.92119305e-03 5.39580560e-05 9.99998153e-01 -1.59743329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12037174299999 meters 0.024001152977388217 Centerline is valid? [True, True] Translation: X:114.04, Y:-6.40, Z:-1.60 [[ 9.99650107e-01 2.64254692e-02 1.16517489e-03 1.14044369e+02] [-2.64254155e-02 9.99650786e-01 -6.14397252e-05 -6.39999303e+00] [-1.16639157e-03 3.06279972e-05 9.99999319e-01 -1.59910731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.180371743 meters 0.023567466717413152 Centerline is valid? [True, True] Translation: X:114.10, Y:-6.40, Z:-1.60 [[ 9.99566499e-01 2.94399858e-02 3.18940696e-04 1.14102973e+02] [-2.94399817e-02 9.99566550e-01 -1.75162525e-05 -6.40092232e+00] [-3.19318129e-04 8.11905097e-06 9.99999949e-01 -1.60031385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.240371743 meters 0.022980045647974866 Centerline is valid? [True, True] Translation: X:114.16, Y:-6.40, Z:-1.60 [[ 9.99500557e-01 3.15490323e-02 1.81549359e-03 1.14162116e+02] [-3.15489124e-02 9.99502205e-01 -9.46889382e-05 -6.40350975e+00] [-1.81757719e-03 3.73647984e-05 9.99998348e-01 -1.60009252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.300371743 meters 0.02361921840252153 Centerline is valid? [True, True] Translation: X:114.22, Y:-6.41, Z:-1.60 [[ 9.99555528e-01 2.96566021e-02 3.03844984e-03 1.14219861e+02] [-2.96562568e-02 9.99560144e-01 -1.58644056e-04 -6.40972078e+00] [-3.04181821e-03 6.84644941e-05 9.99995371e-01 -1.59974393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.360371743 meters 0.024352093248972428 Centerline is valid? [True, True] Translation: X:114.28, Y:-6.42, Z:-1.60 [[ 9.99643999e-01 2.64415462e-02 3.56663146e-03 1.14277894e+02] [-2.64410543e-02 9.99650357e-01 -1.84996629e-04 -6.41686882e+00] [-3.57027601e-03 9.06252732e-05 9.99993622e-01 -1.60037561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.420371743 meters 0.02615645029035239 Centerline is valid? [True, True] Translation: X:114.34, Y:-6.43, Z:-1.60 [[ 9.99790006e-01 2.01310740e-02 3.83194304e-03 1.14337746e+02] [-2.01304648e-02 9.99797342e-01 -1.97467080e-04 -6.42860615e+00] [-3.83514169e-03 1.20286819e-04 9.99992639e-01 -1.60253281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48037174299999 meters 0.02894922852897143 Centerline is valid? [True, True] Translation: X:114.40, Y:-6.44, Z:-1.60 [[ 9.99899712e-01 1.35406830e-02 4.14929710e-03 1.14396499e+02] [-1.35399107e-02 9.99908308e-01 -2.14150161e-04 -6.44077060e+00] [-4.15181638e-03 1.57947572e-04 9.99991369e-01 -1.60340647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.540371743 meters 0.03164130134540588 Centerline is valid? [True, True] Translation: X:114.46, Y:-6.45, Z:-1.60 [[ 9.99955242e-01 8.16937025e-03 4.77227185e-03 1.14456364e+02] [-8.16828946e-03 9.99966609e-01 -2.45918183e-04 -6.45155978e+00] [-4.77412150e-03 2.06925878e-04 9.99988582e-01 -1.60334175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.600371743 meters 0.030637216428668106 Centerline is valid? [True, True] Translation: X:114.52, Y:-6.45, Z:-1.60 [[ 9.99976983e-01 4.67854107e-03 4.91369217e-03 1.14516324e+02] [-4.67735362e-03 9.99989029e-01 -2.53125508e-04 -6.45492286e+00] [-4.91482252e-03 2.30136606e-04 9.99987896e-01 -1.60401586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.660371743 meters 0.03597211712379602 Centerline is valid? [True, True] Translation: X:114.58, Y:-6.47, Z:-1.61 [[ 9.99987823e-01 3.33821978e-03 3.63454635e-03 1.14576270e+02] [-3.33756257e-03 9.99994413e-01 -1.86871532e-04 -6.46791982e+00] [-3.63514987e-03 1.74738730e-04 9.99993378e-01 -1.60807122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.720371743 meters 0.03640388561331103 Centerline is valid? [True, True] Translation: X:114.64, Y:-6.47, Z:-1.61 [[ 9.99988005e-01 4.06872450e-03 2.72687923e-03 1.14636268e+02] [-4.06835677e-03 9.99991714e-01 -1.40384207e-04 -6.47258555e+00] [-2.72742782e-03 1.29288606e-04 9.99996272e-01 -1.61013460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.780371743 meters 0.035196115821911865 Centerline is valid? [True, True] Translation: X:114.70, Y:-6.47, Z:-1.61 [[ 9.99965099e-01 8.12026897e-03 1.96536179e-03 1.14695648e+02] [-8.12008539e-03 9.99967026e-01 -1.01370504e-04 -6.47409036e+00] [-1.96612014e-03 8.54080600e-05 9.99998064e-01 -1.61249531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84037174299999 meters 0.02547338106430034 Centerline is valid? [True, True] Translation: X:114.76, Y:-6.46, Z:-1.61 [[ 9.99859896e-01 1.66007946e-02 2.14542221e-03 1.14756773e+02] [-1.66005958e-02 9.99862195e-01 -1.10451930e-04 -6.45829030e+00] [-2.14696015e-03 7.48211682e-05 9.99997692e-01 -1.60931042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.900371743 meters 0.024016663292407512 Centerline is valid? [True, True] Translation: X:114.82, Y:-6.46, Z:-1.61 [[ 9.99728145e-01 2.31264173e-02 2.96718055e-03 1.14816600e+02] [-2.31260647e-02 9.99732545e-01 -1.53095741e-04 -6.45607814e+00] [-2.96992752e-03 8.44349123e-05 9.99995586e-01 -1.60914359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.960371743 meters 0.022955126320961347 Centerline is valid? [True, True] Translation: X:114.88, Y:-6.45, Z:-1.61 [[ 9.99505265e-01 3.12755790e-02 3.32621019e-03 1.14875974e+02] [-3.12751817e-02 9.99510797e-01 -1.71433351e-04 -6.45389861e+00] [-3.32994468e-03 6.73207089e-05 9.99994453e-01 -1.61015064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.020371743 meters 0.021920417142260916 Centerline is valid? [True, True] Translation: X:114.94, Y:-6.46, Z:-1.61 [[ 9.99411660e-01 3.39455796e-02 4.90217068e-03 1.14935355e+02] [-3.39447497e-02 9.99423679e-01 -2.52421095e-04 -6.45510991e+00] [-4.90791403e-03 8.58696286e-05 9.99987952e-01 -1.60909767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.080371743 meters 0.021781055853928446 Centerline is valid? [True, True] Translation: X:114.99, Y:-6.46, Z:-1.61 [[ 9.99427589e-01 3.34517544e-02 5.04717424e-03 1.14994334e+02] [-3.34508690e-02 9.99440329e-01 -2.59748422e-04 -6.45997337e+00] [-5.05303852e-03 9.07673747e-05 9.99987229e-01 -1.61002537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.140371743 meters 0.02211078334065541 Centerline is valid? [True, True] Translation: X:115.05, Y:-6.47, Z:-1.61 [[ 9.99526400e-01 3.03903142e-02 4.83780062e-03 1.15052777e+02] [-3.03894664e-02 9.99538103e-01 -2.48673439e-04 -6.46707990e+00] [-4.84312332e-03 1.01537488e-04 9.99988267e-01 -1.61118342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20037174299999 meters 0.023093643802645506 Centerline is valid? [True, True] Translation: X:115.11, Y:-6.48, Z:-1.61 [[ 9.99667010e-01 2.52930132e-02 5.11199599e-03 1.15112366e+02] [-2.52920037e-02 9.99680072e-01 -2.62031362e-04 -6.47577383e+00] [-5.11698808e-03 1.32651487e-04 9.99986899e-01 -1.61244943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.260371743 meters 0.025166836446551624 Centerline is valid? [True, True] Translation: X:115.17, Y:-6.49, Z:-1.61 [[ 9.99820144e-01 1.80917791e-02 5.68925397e-03 1.15171941e+02] [-1.80904146e-02 9.99836313e-01 -2.91212974e-04 -6.48733777e+00] [-5.69359127e-03 1.88239635e-04 9.99983774e-01 -1.61356290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.320371743 meters 0.02769541089803197 Centerline is valid? [True, True] Translation: X:115.23, Y:-6.50, Z:-1.61 [[ 9.99900544e-01 1.25979764e-02 6.33978717e-03 1.15230233e+02] [-1.25961718e-02 9.99920612e-01 -3.24503978e-04 -6.49765526e+00] [-6.34337196e-03 2.44614656e-04 9.99979851e-01 -1.61417617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.380371743 meters 0.03159385368693437 Centerline is valid? [True, True] Translation: X:115.29, Y:-6.51, Z:-1.61 [[ 9.99960600e-01 4.61320940e-03 7.58402837e-03 1.15290169e+02] [-4.61040208e-03 9.99989297e-01 -3.87602774e-04 -6.51098401e+00] [-7.58573529e-03 3.52622082e-04 9.99971166e-01 -1.61393957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.440371743 meters 0.03539636763096092 Centerline is valid? [True, True] Translation: X:115.35, Y:-6.52, Z:-1.62 [[ 9.99969353e-01 -5.85369259e-04 7.80702040e-03 1.15348844e+02] [ 5.88502883e-04 9.99999747e-01 -3.99094244e-04 -6.52262766e+00] [-7.80678481e-03 4.03676467e-04 9.99969445e-01 -1.61545786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.500371743 meters 0.03627885097066285 Centerline is valid? [True, True] Translation: X:115.41, Y:-6.53, Z:-1.62 [[ 9.99966907e-01 -2.19453475e-03 7.83379204e-03 1.15411018e+02] [ 2.19773442e-03 9.99997505e-01 -3.99858445e-04 -6.52900000e+00] [-7.83289499e-03 4.17061807e-04 9.99969235e-01 -1.61680603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.560371743 meters 0.03140512305362956 Centerline is valid? [True, True] Translation: X:115.47, Y:-6.53, Z:-1.62 [[ 9.99964909e-01 -2.39840016e-03 8.02670052e-03 1.15473673e+02] [ 2.40177012e-03 9.99997032e-01 -4.10230938e-04 -6.52734886e+00] [-8.02569279e-03 4.29494832e-04 9.99967701e-01 -1.61736307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62037174299999 meters 0.029714626859349887 Centerline is valid? [True, True] Translation: X:115.54, Y:-6.53, Z:-1.62 [[ 9.99970281e-01 -1.17866179e-03 7.61891034e-03 1.15536133e+02] [ 1.18166645e-03 9.99999226e-01 -3.89879288e-04 -6.52910576e+00] [-7.61844490e-03 3.98870712e-04 9.99970900e-01 -1.61859802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.680371743 meters 0.030278337246749366 Centerline is valid? [True, True] Translation: X:115.60, Y:-6.53, Z:-1.62 [[ 9.99971872e-01 1.71425176e-03 7.30185981e-03 1.15596947e+02] [-1.71156348e-03 9.99998465e-01 -3.74397233e-04 -6.53352782e+00] [-7.30249041e-03 3.61889105e-04 9.99973271e-01 -1.62068183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.740371743 meters 0.026282617383065313 Centerline is valid? [True, True] Translation: X:115.66, Y:-6.53, Z:-1.62 [[ 9.99927259e-01 1.06424462e-02 5.67580849e-03 1.15658376e+02] [-1.06409636e-02 9.99943341e-01 -2.91340144e-04 -6.52838876e+00] [-5.67858748e-03 2.30922880e-04 9.99983850e-01 -1.62281095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.800371743 meters 0.02356548331340563 Centerline is valid? [True, True] Translation: X:115.72, Y:-6.52, Z:-1.62 [[ 9.99739667e-01 2.20976214e-02 5.68273010e-03 1.15718892e+02] [-2.20963187e-02 9.99755804e-01 -2.91918410e-04 -6.52306440e+00] [-5.68779310e-03 1.66274998e-04 9.99983811e-01 -1.62325717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.860371743 meters 0.021022617172316158 Centerline is valid? [True, True] Translation: X:115.78, Y:-6.52, Z:-1.62 [[ 9.99456078e-01 3.20293532e-02 7.85292649e-03 1.15779661e+02] [-3.20271732e-02 9.99486917e-01 -4.03226680e-04 -6.51836059e+00] [-7.86181237e-03 1.51500319e-04 9.99969084e-01 -1.62266312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.920371743 meters 0.020675186876723435 Centerline is valid? [True, True] Translation: X:115.84, Y:-6.52, Z:-1.62 [[ 9.99296037e-01 3.64706291e-02 8.79336135e-03 1.15839038e+02] [-3.64680663e-02 9.99334717e-01 -4.51660346e-04 -6.51830988e+00] [-8.80398361e-03 1.30665509e-04 9.99961236e-01 -1.62327954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98037174299999 meters 0.02041392491138064 Centerline is valid? [True, True] Translation: X:115.90, Y:-6.52, Z:-1.62 [[ 9.99249337e-01 3.71278374e-02 1.10583266e-02 1.15897962e+02] [-3.71238327e-02 9.99310512e-01 -5.67262089e-04 -6.52189856e+00] [-1.10717632e-02 1.56308800e-04 9.99938694e-01 -1.62232016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.040371743 meters 0.021094093528890173 Centerline is valid? [True, True] Translation: X:115.96, Y:-6.53, Z:-1.62 [[ 9.99473428e-01 3.03938426e-02 1.13613807e-02 1.15957397e+02] [-3.03891911e-02 9.99537973e-01 -5.81870857e-04 -6.53172633e+00] [-1.13738168e-02 2.36301290e-04 9.99935288e-01 -1.62385643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.100371743 meters 0.02203860748831081 Centerline is valid? [True, True] Translation: X:116.02, Y:-6.54, Z:-1.63 [[ 9.99671554e-01 2.35250588e-02 1.01664398e-02 1.16017525e+02] [-2.35209839e-02 9.99723208e-01 -5.20220528e-04 -6.54102116e+00] [-1.01758640e-02 2.80924997e-04 9.99948185e-01 -1.62590465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.160371743 meters 0.02440053653630581 Centerline is valid? [True, True] Translation: X:116.08, Y:-6.55, Z:-1.63 [[ 9.99874318e-01 1.21142229e-02 1.02270687e-02 1.16076990e+02] [-1.21095027e-02 9.99926540e-01 -5.23346481e-04 -6.55369258e+00] [-1.02326573e-02 3.99435991e-04 9.99947565e-01 -1.62626355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.220371743 meters 0.02895143207544862 Centerline is valid? [True, True] Translation: X:116.14, Y:-6.57, Z:-1.63 [[ 9.99950511e-01 2.63756607e-03 9.59269014e-03 1.16135873e+02] [-2.63298213e-03 9.99996413e-01 -4.90455517e-04 -6.56851183e+00] [-9.59394934e-03 4.65173863e-04 9.99953869e-01 -1.62696187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.280371743 meters 0.030407203021941834 Centerline is valid? [True, True] Translation: X:116.20, Y:-6.58, Z:-1.63 [[ 9.99945655e-01 -3.71684290e-03 9.74022571e-03 1.16196108e+02] [ 3.72188030e-03 9.99992949e-01 -4.99099738e-04 -6.57605901e+00] [-9.73830196e-03 5.35324568e-04 9.99952438e-01 -1.62775726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34037174299999 meters 0.03084342244041351 Centerline is valid? [True, True] Translation: X:116.26, Y:-6.58, Z:-1.63 [[ 9.99928806e-01 -5.56718989e-03 1.05541459e-02 1.16257866e+02] [ 5.57320492e-03 9.99984323e-01 -5.40595219e-04 -6.58066075e+00] [-1.05509708e-02 5.99377149e-04 9.99944157e-01 -1.62865251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.400371743 meters 0.03177105007588046 Centerline is valid? [True, True] Translation: X:116.32, Y:-6.59, Z:-1.63 [[ 9.99925189e-01 -6.62114965e-03 1.02848307e-02 1.16319997e+02] [ 6.62692467e-03 9.99977903e-01 -5.27530575e-04 -6.58582504e+00] [-1.02811105e-02 5.95647908e-04 9.99946971e-01 -1.63017226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.460371743 meters 0.03512172720251609 Centerline is valid? [True, True] Translation: X:116.38, Y:-6.59, Z:-1.63 [[ 9.99905834e-01 -8.54252872e-03 1.07400195e-02 1.16381030e+02] [ 8.54894627e-03 9.99963305e-01 -5.51767745e-04 -6.59299794e+00] [-1.07349119e-02 6.43531637e-04 9.99942172e-01 -1.63130464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.520371743 meters 0.037006094676010966 Centerline is valid? [True, True] Translation: X:116.44, Y:-6.60, Z:-1.63 [[ 9.99901716e-01 -1.04325976e-02 9.36587359e-03 1.16440687e+02] [ 1.04375666e-02 9.99945411e-01 -4.81820913e-04 -6.59862337e+00] [-9.36033567e-03 5.79530487e-04 9.99956023e-01 -1.63453538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.580371743 meters 0.03621575943998514 Centerline is valid? [True, True] Translation: X:116.50, Y:-6.60, Z:-1.64 [[ 9.99910530e-01 -1.04998710e-02 8.28767715e-03 1.16503087e+02] [ 1.05037608e-02 9.99944743e-01 -4.25951772e-04 -6.59850470e+00] [-8.28274676e-03 5.12965440e-04 9.99965566e-01 -1.63659451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.640371743 meters 0.03549348822874525 Centerline is valid? [True, True] Translation: X:116.57, Y:-6.60, Z:-1.64 [[ 9.99938763e-01 -8.03908710e-03 7.60547208e-03 1.16565125e+02] [ 8.04229508e-03 9.99967584e-01 -3.91309499e-04 -6.59773555e+00] [-7.60207977e-03 4.52450987e-04 9.99971001e-01 -1.63845370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70037174299999 meters 0.031122063130763055 Centerline is valid? [True, True] Translation: X:116.63, Y:-6.59, Z:-1.64 [[ 9.99967954e-01 -1.84847378e-03 7.78935201e-03 1.16626019e+02] [ 1.85165960e-03 9.99998205e-01 -4.01805036e-04 -6.58958920e+00] [-7.78859530e-03 4.16215388e-04 9.99969582e-01 -1.63929230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.760371743 meters 0.028597614968401838 Centerline is valid? [True, True] Translation: X:116.69, Y:-6.58, Z:-1.64 [[ 9.99947010e-01 5.46546616e-03 8.72384187e-03 1.16686662e+02] [-5.46174670e-03 9.99984983e-01 -4.50123258e-04 -6.58200065e+00] [-8.72617100e-03 4.02451992e-04 9.99961845e-01 -1.63818316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.820371743 meters 0.02588089034218493 Centerline is valid? [True, True] Translation: X:116.75, Y:-6.57, Z:-1.64 [[ 9.99884241e-01 1.19422058e-02 9.42802548e-03 1.16747314e+02] [-1.19381492e-02 9.99928619e-01 -4.86429078e-04 -6.57444186e+00] [-9.43316154e-03 3.73819595e-04 9.99955437e-01 -1.63749782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.880371743 meters 0.02677864607876785 Centerline is valid? [True, True] Translation: X:116.81, Y:-6.58, Z:-1.64 [[ 9.99860055e-01 1.39397673e-02 9.24947225e-03 1.16806364e+02] [-1.39359463e-02 9.99902776e-01 -4.77429449e-04 -6.57623376e+00] [-9.25522824e-03 3.48462486e-04 9.99957109e-01 -1.63960898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.940371743 meters 0.026057478473516547 Centerline is valid? [True, True] Translation: X:116.87, Y:-6.58, Z:-1.64 [[ 9.99863067e-01 1.42630515e-02 8.39116686e-03 1.16865753e+02] [-1.42599168e-02 9.99898228e-01 -4.33278386e-04 -6.57544245e+00] [-8.39649275e-03 3.13561714e-04 9.99964700e-01 -1.64185222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.000371743 meters 0.026627689649770254 Centerline is valid? [True, True] Translation: X:116.92, Y:-6.58, Z:-1.64 [[ 9.99887399e-01 1.21128848e-02 8.85823365e-03 1.16924869e+02] [-1.21093189e-02 9.99926576e-01 -4.56074449e-04 -6.57822428e+00] [-8.86310761e-03 3.48755919e-04 9.99960661e-01 -1.64236695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.060371743 meters 0.027799663342207077 Centerline is valid? [True, True] Translation: X:116.98, Y:-6.58, Z:-1.64 [[ 9.99931907e-01 7.34694628e-03 9.06662596e-03 1.16984904e+02] [-7.34302126e-03 9.99972931e-01 -4.66121520e-04 -6.58296701e+00] [-9.06980510e-03 3.99513353e-04 9.99958789e-01 -1.64244284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12037174299999 meters 0.03174600588591105 Centerline is valid? [True, True] Translation: X:117.04, Y:-6.59, Z:-1.64 [[ 9.99948153e-01 3.92143112e-03 9.39749407e-03 1.17044492e+02] [-3.91706939e-03 9.99992212e-01 -4.82498358e-04 -6.59330172e+00] [-9.39931297e-03 4.45662705e-04 9.99955726e-01 -1.64417256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.180371743 meters 0.030267390060273965 Centerline is valid? [True, True] Translation: X:117.11, Y:-6.59, Z:-1.64 [[ 9.99953296e-01 -8.26611223e-04 9.62930091e-03 1.17105640e+02] [ 8.31421230e-04 9.99999532e-01 -4.95525334e-04 -6.59352221e+00] [-9.62888679e-03 5.03508196e-04 9.99953514e-01 -1.64423910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.240371743 meters 0.03057923216190872 Centerline is valid? [True, True] Translation: X:117.17, Y:-6.60, Z:-1.64 [[ 9.99943002e-01 -4.83295396e-03 9.52024260e-03 1.17166821e+02] [ 4.83783686e-03 9.99988178e-01 -4.89933859e-04 -6.59676778e+00] [-9.51776222e-03 5.35963314e-04 9.99954561e-01 -1.64476789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.300371743 meters 0.03290646713679232 Centerline is valid? [True, True] Translation: X:117.23, Y:-6.60, Z:-1.65 [[ 9.99919680e-01 -8.53745993e-03 9.36723945e-03 1.17227401e+02] [ 8.54235071e-03 9.99963397e-01 -4.82229101e-04 -6.60469315e+00] [-9.36277957e-03 5.62208613e-04 9.99956010e-01 -1.64688156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.360371743 meters 0.0354789380928712 Centerline is valid? [True, True] Translation: X:117.29, Y:-6.61, Z:-1.65 [[ 9.99911477e-01 -1.09196990e-02 7.60258605e-03 1.17287171e+02] [ 1.09229907e-02 9.99940266e-01 -3.91590183e-04 -6.61214272e+00] [-7.59785587e-03 4.74598495e-04 9.99971023e-01 -1.64901926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.420371743 meters 0.03436150621483339 Centerline is valid? [True, True] Translation: X:117.35, Y:-6.61, Z:-1.65 [[ 9.99909717e-01 -1.17472141e-02 6.52383385e-03 1.17349608e+02] [ 1.17496519e-02 9.99930914e-01 -3.35477245e-04 -6.61350190e+00] [-6.51944222e-03 4.12099734e-04 9.99978663e-01 -1.65046197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48037174299999 meters 0.034460476995817516 Centerline is valid? [True, True] Translation: X:117.41, Y:-6.62, Z:-1.65 [[ 9.99907572e-01 -1.21841532e-02 6.03277306e-03 1.17411724e+02] [ 1.21862479e-02 9.99925697e-01 -3.10590481e-04 -6.61742428e+00] [-6.02854052e-03 3.84078642e-04 9.99981754e-01 -1.65223157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.540371743 meters 0.03500230957124942 Centerline is valid? [True, True] Translation: X:117.47, Y:-6.62, Z:-1.65 [[ 9.99905723e-01 -1.26207893e-02 5.40928870e-03 1.17473969e+02] [ 1.26224814e-02 9.99920294e-01 -2.78784622e-04 -6.62038232e+00] [-5.40533907e-03 3.47036985e-04 9.99985331e-01 -1.65399368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.600371743 meters 0.03655203566378003 Centerline is valid? [True, True] Translation: X:117.53, Y:-6.62, Z:-1.66 [[ 9.99917299e-01 -1.18087109e-02 5.09398286e-03 1.17534789e+02] [ 1.18101993e-02 9.99930223e-01 -2.62212042e-04 -6.62451492e+00] [-5.09053103e-03 3.22351310e-04 9.99986991e-01 -1.65569388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.660371743 meters 0.035695391471997566 Centerline is valid? [True, True] Translation: X:117.60, Y:-6.62, Z:-1.66 [[ 9.99928086e-01 -1.08365824e-02 5.13729233e-03 1.17597148e+02] [ 1.08380906e-02 9.99941231e-01 -2.65829832e-04 -6.62497027e+00] [-5.13410973e-03 3.21489155e-04 9.99986769e-01 -1.65686828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.720371743 meters 0.034791243050386875 Centerline is valid? [True, True] Translation: X:117.66, Y:-6.62, Z:-1.66 [[ 9.99940981e-01 -9.53038239e-03 5.21599681e-03 1.17659469e+02] [ 9.53192147e-03 9.99954534e-01 -2.70289351e-04 -6.62425772e+00] [-5.21318369e-03 3.19991871e-04 9.99986360e-01 -1.65628370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.780371743 meters 0.03502739588935093 Centerline is valid? [True, True] Translation: X:117.72, Y:-6.63, Z:-1.66 [[ 9.99943987e-01 -8.66460140e-03 6.07837223e-03 1.17722253e+02] [ 8.66667725e-03 9.99962394e-01 -3.15256846e-04 -6.62624597e+00] [-6.07541207e-03 3.67918478e-04 9.99981477e-01 -1.65568349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84037174299999 meters 0.03594935552300928 Centerline is valid? [True, True] Translation: X:117.78, Y:-6.63, Z:-1.66 [[ 9.99950189e-01 -8.35206696e-03 5.46457579e-03 1.17783551e+02] [ 8.35374548e-03 9.99965066e-01 -2.84411859e-04 -6.63156619e+00] [-5.46200947e-03 3.30047368e-04 9.99985029e-01 -1.65904139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.900371743 meters 0.03672822142741604 Centerline is valid? [True, True] Translation: X:117.84, Y:-6.63, Z:-1.66 [[ 9.99968334e-01 -6.53737671e-03 4.53802347e-03 1.17844181e+02] [ 6.53851695e-03 9.99978596e-01 -2.36473597e-04 -6.63315473e+00] [-4.53638042e-03 2.66138052e-04 9.99989675e-01 -1.66097765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.960371743 meters 0.03370984935929738 Centerline is valid? [True, True] Translation: X:117.91, Y:-6.63, Z:-1.66 [[ 9.99975482e-01 -4.30964020e-03 5.51935845e-03 1.17906528e+02] [ 4.31129386e-03 9.99990665e-01 -2.87746803e-04 -6.62964211e+00] [-5.51806684e-03 3.11535324e-04 9.99984727e-01 -1.66030984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.020371743 meters 0.03076955878091485 Centerline is valid? [True, True] Translation: X:117.97, Y:-6.62, Z:-1.66 [[ 9.99977996e-01 -1.01709230e-03 6.55532444e-03 1.17967572e+02] [ 1.01935938e-03 9.99999422e-01 -3.42506676e-04 -6.62494215e+00] [-6.55497229e-03 3.49181371e-04 9.99978455e-01 -1.65985894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.080371743 meters 0.030420449259532335 Centerline is valid? [True, True] Translation: X:118.03, Y:-6.63, Z:-1.66 [[ 9.99974055e-01 2.53604953e-04 7.19893830e-03 1.18030034e+02] [-2.50905232e-04 9.99999898e-01 -3.75917181e-04 -6.62510877e+00] [-7.19903290e-03 3.74101177e-04 9.99974017e-01 -1.66023918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.140371743 meters 0.0309503759696811 Centerline is valid? [True, True] Translation: X:118.09, Y:-6.63, Z:-1.66 [[ 9.99975143e-01 5.11763394e-04 7.03217437e-03 1.18091908e+02] [-5.09190225e-04 9.99999803e-01 -3.67699200e-04 -6.62749773e+00] [-7.03236116e-03 3.64109345e-04 9.99975206e-01 -1.66130674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20037174299999 meters 0.03153586968621144 Centerline is valid? [True, True] Translation: X:118.15, Y:-6.63, Z:-1.66 [[ 9.99976899e-01 1.23011011e-03 6.68499995e-03 1.18152632e+02] [-1.22779694e-03 9.99999185e-01 -3.50116253e-04 -6.63174052e+00] [-6.68542518e-03 3.41900342e-04 9.99977594e-01 -1.66385151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.260371743 meters 0.0298609630496827 Centerline is valid? [True, True] Translation: X:118.21, Y:-6.63, Z:-1.66 [[ 9.99974188e-01 3.19601762e-03 6.43498265e-03 1.18214662e+02] [-3.19391285e-03 9.99994843e-01 -3.37331475e-04 -6.63083935e+00] [-6.43602758e-03 3.16769994e-04 9.99979238e-01 -1.66484255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.320371743 meters 0.028136094642341396 Centerline is valid? [True, True] Translation: X:118.28, Y:-6.63, Z:-1.67 [[ 9.99958048e-01 6.86488562e-03 6.06421954e-03 1.18275084e+02] [-6.86307936e-03 9.99976398e-01 -3.18616267e-04 -6.62914645e+00] [-6.06626368e-03 2.76983680e-04 9.99981562e-01 -1.66605726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.380371743 meters 0.02846870229622385 Centerline is valid? [True, True] Translation: X:118.33, Y:-6.63, Z:-1.67 [[ 9.99929629e-01 1.04200652e-02 5.67087280e-03 1.18334799e+02] [-1.04185427e-02 9.99945681e-01 -2.97949688e-04 -6.63105269e+00] [-5.67366942e-03 2.38846491e-04 9.99983876e-01 -1.66754731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.440371743 meters 0.026592029237157096 Centerline is valid? [True, True] Translation: X:118.40, Y:-6.63, Z:-1.67 [[ 9.99842211e-01 1.64999250e-02 6.58071452e-03 1.18395172e+02] [-1.64980060e-02 9.99863839e-01 -3.45782633e-04 -6.62971377e+00] [-6.58552387e-03 2.37159405e-04 9.99978287e-01 -1.66812052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.500371743 meters 0.024743582774114176 Centerline is valid? [True, True] Translation: X:118.45, Y:-6.63, Z:-1.67 [[ 9.99775688e-01 2.02289099e-02 6.27412546e-03 1.18454815e+02] [-2.02272374e-02 9.99795354e-01 -3.29902976e-04 -6.62903931e+00] [-6.27951506e-03 2.02920749e-04 9.99980263e-01 -1.66886688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.560371743 meters 0.02468017268211567 Centerline is valid? [True, True] Translation: X:118.51, Y:-6.63, Z:-1.67 [[ 9.99715649e-01 2.30125622e-02 6.24845623e-03 1.18512265e+02] [-2.30109566e-02 9.99735159e-01 -3.28741195e-04 -6.63431694e+00] [-6.25436656e-03 1.84864762e-04 9.99980424e-01 -1.67106966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62037174299999 meters 0.02438392630252998 Centerline is valid? [True, True] Translation: X:118.57, Y:-6.64, Z:-1.67 [[ 9.99740066e-01 2.19285451e-02 6.24021074e-03 1.18570290e+02] [-2.19269262e-02 9.99759522e-01 -3.27744088e-04 -6.64051117e+00] [-6.24589706e-03 1.90830255e-04 9.99980476e-01 -1.67151995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.680371743 meters 0.024731295991723124 Centerline is valid? [True, True] Translation: X:118.63, Y:-6.65, Z:-1.67 [[ 9.99838134e-01 1.73128361e-02 4.89603507e-03 1.18629292e+02] [-1.73117857e-02 9.99850107e-01 -2.56854489e-04 -6.64894398e+00] [-4.89974807e-03 1.72053803e-04 9.99987981e-01 -1.67286375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.740371743 meters 0.02905477739288963 Centerline is valid? [True, True] Translation: X:118.69, Y:-6.66, Z:-1.68 [[ 9.99911425e-01 1.25517941e-02 4.42659162e-03 1.18688232e+02] [-1.25508923e-02 9.99921208e-01 -2.31441171e-04 -6.66411234e+00] [-4.42914784e-03 1.75862996e-04 9.99990176e-01 -1.67580541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.800371743 meters 0.028154062923414932 Centerline is valid? [True, True] Translation: X:118.75, Y:-6.67, Z:-1.68 [[ 9.99978050e-01 4.94677869e-03 4.40780068e-03 1.18748680e+02] [-4.94581192e-03 9.99987743e-01 -2.30205196e-04 -6.67231741e+00] [-4.40888543e-03 2.08399990e-04 9.99990259e-01 -1.67678300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.860371743 meters 0.03098584653460675 Centerline is valid? [True, True] Translation: X:118.81, Y:-6.68, Z:-1.68 [[ 9.99987853e-01 -1.47399082e-03 4.70335331e-03 1.18808933e+02] [ 1.47516232e-03 9.99998882e-01 -2.45619223e-04 -6.68484319e+00] [-4.70298601e-03 2.52554449e-04 9.99988909e-01 -1.67707991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.920371743 meters 0.03467958759585733 Centerline is valid? [True, True] Translation: X:118.87, Y:-6.70, Z:-1.68 [[ 9.99963994e-01 -6.16002424e-03 5.83650464e-03 1.18868111e+02] [ 6.16190878e-03 9.99980969e-01 -3.04960765e-04 -6.69810724e+00] [-5.83451500e-03 3.40913793e-04 9.99982921e-01 -1.67670178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98037174299999 meters 0.03411310449408573 Centerline is valid? [True, True] Translation: X:118.93, Y:-6.70, Z:-1.68 [[ 9.99937686e-01 -8.62349681e-03 7.08933659e-03 1.18928618e+02] [ 8.62633480e-03 9.99962724e-01 -3.69837679e-04 -6.70455278e+00] [-7.08588304e-03 4.30969624e-04 9.99974802e-01 -1.67732225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.040371743 meters 0.035724957638834834 Centerline is valid? [True, True] Translation: X:118.99, Y:-6.71, Z:-1.68 [[ 9.99918726e-01 -1.10822380e-02 6.30279584e-03 1.18989828e+02] [ 1.10845320e-02 9.99938511e-01 -3.29147056e-04 -6.71298960e+00] [-6.29876059e-03 3.98983847e-04 9.99980083e-01 -1.67917411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.100371743 meters 0.036639189986583054 Centerline is valid? [True, True] Translation: X:119.05, Y:-6.72, Z:-1.68 [[ 9.99935121e-01 -1.04129299e-02 4.61776463e-03 1.19050983e+02] [ 1.04141535e-02 9.99945742e-01 -2.41018632e-04 -6.71916335e+00] [-4.61500437e-03 2.89093105e-04 9.99989309e-01 -1.68101501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.160371743 meters 0.035592561333971345 Centerline is valid? [True, True] Translation: X:119.11, Y:-6.72, Z:-1.68 [[ 9.99973252e-01 -7.02314745e-03 2.04231583e-03 1.19111734e+02] [ 7.02338000e-03 9.99975330e-01 -1.06715291e-04 -6.72186707e+00] [-2.04151597e-03 1.21056397e-04 9.99997909e-01 -1.68419775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.220371743 meters 0.034212864440132655 Centerline is valid? [True, True] Translation: X:119.17, Y:-6.72, Z:-1.69 [[ 9.99996283e-01 -2.41089787e-03 1.27379367e-03 1.19172674e+02] [ 2.41098472e-03 9.99997091e-01 -6.66508725e-05 -6.72195457e+00] [-1.27362928e-03 6.97217218e-05 9.99999187e-01 -1.68543684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.280371743 meters 0.03303496529090962 Centerline is valid? [True, True] Translation: X:119.23, Y:-6.72, Z:-1.69 [[ 9.99989987e-01 3.84523873e-03 2.28905551e-03 1.19232760e+02] [-3.84497432e-03 9.99992601e-01 -1.19900020e-04 -6.72103178e+00] [-2.28949961e-03 1.11097460e-04 9.99997373e-01 -1.68513575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34037174299999 meters 0.025018672432701453 Centerline is valid? [True, True] Translation: X:119.29, Y:-6.71, Z:-1.68 [[ 9.99868712e-01 1.53802912e-02 5.09956325e-03 1.19294299e+02] [-1.53791287e-02 9.99881699e-01 -2.67112285e-04 -6.70767865e+00] [-5.10306823e-03 1.88650377e-04 9.99986961e-01 -1.68108568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.400371743 meters 0.02367190890335607 Centerline is valid? [True, True] Translation: X:119.35, Y:-6.71, Z:-1.68 [[ 9.99708621e-01 2.30383097e-02 7.20487114e-03 1.19354977e+02] [-2.30361879e-02 9.99734561e-01 -3.77364375e-04 -6.70693797e+00] [-7.21165252e-03 2.11281654e-04 9.99973973e-01 -1.68089263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.460371743 meters 0.022119365797473724 Centerline is valid? [True, True] Translation: X:119.42, Y:-6.71, Z:-1.68 [[ 9.99478343e-01 3.12822155e-02 8.02903328e-03 1.19415207e+02] [-3.12798458e-02 9.99510577e-01 -4.20579720e-04 -6.70588228e+00] [-8.03826035e-03 1.69213399e-04 9.99967678e-01 -1.68109113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.520371743 meters 0.02150699415581225 Centerline is valid? [True, True] Translation: X:119.47, Y:-6.71, Z:-1.68 [[ 9.99354126e-01 3.52029518e-02 7.21687018e-03 1.19473678e+02] [-3.52011375e-02 9.99380176e-01 -3.78304912e-04 -6.70714784e+00] [-7.22571444e-03 1.24018535e-04 9.99973886e-01 -1.68176583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.580371743 meters 0.02115524587101639 Centerline is valid? [True, True] Translation: X:119.53, Y:-6.71, Z:-1.68 [[ 9.99283314e-01 3.73772067e-02 5.98362572e-03 1.19531810e+02] [-3.73760000e-02 9.99301224e-01 -3.13392941e-04 -6.71321493e+00] [-5.99115825e-03 8.95243419e-05 9.99982049e-01 -1.68413562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.640371743 meters 0.02114967392947805 Centerline is valid? [True, True] Translation: X:119.59, Y:-6.72, Z:-1.69 [[ 9.99319499e-01 3.65365146e-02 5.06178777e-03 1.19589998e+02] [-3.65356414e-02 9.99332315e-01 -2.64900392e-04 -6.72004689e+00] [-5.06808663e-03 7.97844639e-05 9.99987154e-01 -1.68596350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70037174299999 meters 0.022103857183802738 Centerline is valid? [True, True] Translation: X:119.65, Y:-6.73, Z:-1.69 [[ 9.99456934e-01 3.24664253e-02 5.63629065e-03 1.19646750e+02] [-3.24652793e-02 9.99472820e-01 -2.94733553e-04 -6.73222077e+00] [-5.64288825e-03 1.11589744e-04 9.99984073e-01 -1.68608424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.760371743 meters 0.02290752791938573 Centerline is valid? [True, True] Translation: X:119.71, Y:-6.74, Z:-1.69 [[ 9.99570568e-01 2.83929694e-02 7.24699270e-03 1.19705060e+02] [-2.83909781e-02 9.99596824e-01 -3.77528042e-04 -6.74243710e+00] [-7.25479003e-03 1.71616709e-04 9.99973669e-01 -1.68547382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.820371743 meters 0.025194167497830513 Centerline is valid? [True, True] Translation: X:119.76, Y:-6.76, Z:-1.69 [[ 9.99754723e-01 2.06396171e-02 8.03114151e-03 1.19763475e+02] [-2.06369294e-02 9.99786949e-01 -4.17390575e-04 -6.75798533e+00] [-8.03804525e-03 2.51550099e-04 9.99967663e-01 -1.68534052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.880371743 meters 0.02634447444043073 Centerline is valid? [True, True] Translation: X:119.82, Y:-6.77, Z:-1.69 [[ 9.99918182e-01 1.01467793e-02 7.78921807e-03 1.19823566e+02] [-1.01439349e-02 9.99948467e-01 -4.04598669e-04 -6.77151982e+00] [-7.79292204e-03 3.25552245e-04 9.99969582e-01 -1.68628552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.940371743 meters 0.033442017347561456 Centerline is valid? [True, True] Translation: X:119.88, Y:-6.79, Z:-1.69 [[ 9.99968297e-01 2.39320530e-03 7.59451469e-03 1.19882313e+02] [-2.39027726e-03 9.99997065e-01 -3.94599421e-04 -6.79227631e+00] [-7.59543676e-03 3.76433915e-04 9.99971083e-01 -1.68880775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.000371743 meters 0.03302672689382478 Centerline is valid? [True, True] Translation: X:119.94, Y:-6.80, Z:-1.69 [[ 9.99946880e-01 -8.25941080e-03 6.16593992e-03 1.19942371e+02] [ 8.26154150e-03 9.99965822e-01 -3.20168868e-04 -6.80238134e+00] [-6.16308477e-03 3.71092029e-04 9.99980939e-01 -1.69050165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.060371743 meters 0.035840919246725084 Centerline is valid? [True, True] Translation: X:120.00, Y:-6.81, Z:-1.69 [[ 9.99872028e-01 -1.52776247e-02 4.74565221e-03 1.20001946e+02] [ 1.52789659e-02 9.99883239e-01 -2.46495317e-04 -6.81435453e+00] [-4.74133224e-03 3.18972431e-04 9.99988709e-01 -1.69328484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12037174299999 meters 0.03856760829833998 Centerline is valid? [True, True] Translation: X:120.06, Y:-6.82, Z:-1.70 [[ 9.99822191e-01 -1.85343376e-02 3.47346425e-03 1.20062435e+02] [ 1.85350751e-02 9.99828194e-01 -1.80241917e-04 -6.82427291e+00] [-3.46952683e-03 2.44590789e-04 9.99993951e-01 -1.69602857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.180371743 meters 0.03868030024543323 Centerline is valid? [True, True] Translation: X:120.13, Y:-6.83, Z:-1.70 [[ 9.99829023e-01 -1.83182030e-02 2.52346469e-03 1.20125328e+02] [ 1.83185888e-02 9.99832192e-01 -1.29850558e-04 -6.82767622e+00] [-2.52066260e-03 1.76054668e-04 9.99996808e-01 -1.69769111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.240371743 meters 0.03882583301544797 Centerline is valid? [True, True] Translation: X:120.19, Y:-6.83, Z:-1.70 [[ 9.99872090e-01 -1.58785424e-02 1.91704569e-03 1.20187247e+02] [ 1.58787616e-02 9.99873920e-01 -9.91587523e-05 -6.82858837e+00] [-1.91522949e-03 1.29586380e-04 9.99998158e-01 -1.69967553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.300371743 meters 0.03686615805901719 Centerline is valid? [True, True] Translation: X:120.25, Y:-6.83, Z:-1.70 [[ 9.99925514e-01 -1.21495587e-02 1.16403051e-03 1.20248723e+02] [ 1.21496372e-02 9.99926189e-01 -6.04336822e-05 -6.82516525e+00] [-1.16321035e-03 7.45717291e-05 9.99999321e-01 -1.70076796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.360371743 meters 0.03353074265543487 Centerline is valid? [True, True] Translation: X:120.31, Y:-6.82, Z:-1.70 [[ 9.99951177e-01 -9.74491599e-03 1.63731252e-03 1.20310990e+02] [ 9.74506734e-03 9.99952512e-01 -8.44865074e-05 -6.82111226e+00] [-1.63641145e-03 1.00438103e-04 9.99998656e-01 -1.70009756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.420371743 meters 0.030779353364062706 Centerline is valid? [True, True] Translation: X:120.37, Y:-6.82, Z:-1.70 [[ 9.99967138e-01 -7.74385417e-03 2.39912789e-03 1.20372696e+02] [ 7.74417573e-03 9.99970006e-01 -1.24772074e-04 -6.81729458e+00] [-2.39808972e-03 1.43347241e-04 9.99997114e-01 -1.69993879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48037174299999 meters 0.03162633177716225 Centerline is valid? [True, True] Translation: X:120.43, Y:-6.82, Z:-1.70 [[ 9.99974566e-01 -6.70096513e-03 2.44205518e-03 1.20433667e+02] [ 6.70129495e-03 9.99977538e-01 -1.26900138e-04 -6.81959309e+00] [-2.44114997e-03 1.43261843e-04 9.99997010e-01 -1.70096226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.540371743 meters 0.030046595105870728 Centerline is valid? [True, True] Translation: X:120.49, Y:-6.82, Z:-1.70 [[ 9.99993209e-01 -3.13125584e-03 1.94361661e-03 1.20494416e+02] [ 3.13145924e-03 9.99995092e-01 -1.01614759e-04 -6.81597969e+00] [-1.94328889e-03 1.07700426e-04 9.99998106e-01 -1.70092407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.600371743 meters 0.030355737922125613 Centerline is valid? [True, True] Translation: X:120.55, Y:-6.81, Z:-1.70 [[ 9.99991340e-01 2.90916910e-03 2.97593932e-03 1.20553936e+02] [-2.90871833e-03 9.99995758e-01 -1.55790471e-04 -6.81436350e+00] [-2.97637991e-03 1.47132952e-04 9.99995560e-01 -1.70061776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.660371743 meters 0.027526988192150523 Centerline is valid? [True, True] Translation: X:120.62, Y:-6.81, Z:-1.70 [[ 9.99970942e-01 6.56242876e-03 3.87950586e-03 1.20615320e+02] [-6.56169178e-03 9.99978451e-01 -2.02663716e-04 -6.81098924e+00] [-3.88075223e-03 1.77201706e-04 9.99992454e-01 -1.69963175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.720371743 meters 0.02559675056274559 Centerline is valid? [True, True] Translation: X:120.68, Y:-6.81, Z:-1.70 [[ 9.99912623e-01 1.24241900e-02 4.51512105e-03 1.20675903e+02] [-1.24232503e-02 9.99922801e-01 -2.36113692e-04 -6.80650623e+00] [-4.51770600e-03 1.80000582e-04 9.99989779e-01 -1.69943846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.780371743 meters 0.02464558501577643 Centerline is valid? [True, True] Translation: X:120.73, Y:-6.81, Z:-1.70 [[ 9.99824456e-01 1.78051705e-02 5.83382052e-03 1.20734524e+02] [-1.78036917e-02 9.99841455e-01 -3.05323151e-04 -6.80656349e+00] [-5.83833193e-03 2.01406011e-04 9.99982937e-01 -1.70058953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84037174299999 meters 0.023036595950354493 Centerline is valid? [True, True] Translation: X:120.79, Y:-6.80, Z:-1.70 [[ 9.99687642e-01 2.39292942e-02 7.21163766e-03 1.20794839e+02] [-2.39271994e-02 9.99713633e-01 -3.76621790e-04 -6.80408273e+00] [-7.21858478e-03 2.03949856e-04 9.99973925e-01 -1.70060795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.900371743 meters 0.022603503252614 Centerline is valid? [True, True] Translation: X:120.85, Y:-6.80, Z:-1.70 [[ 9.99596774e-01 2.75228464e-02 6.98446395e-03 1.20853477e+02] [-2.75209673e-02 9.99621160e-01 -3.65016783e-04 -6.80465566e+00] [-6.99186425e-03 1.72650395e-04 9.99975542e-01 -1.70134101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.960371743 meters 0.0218485483161934 Centerline is valid? [True, True] Translation: X:120.91, Y:-6.81, Z:-1.70 [[ 9.99496134e-01 3.09546807e-02 7.02040051e-03 1.20912603e+02] [-3.09528678e-02 9.99520778e-01 -3.66754644e-04 -6.80632946e+00] [-7.02838895e-03 1.49268320e-04 9.99975289e-01 -1.70237440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.020371743 meters 0.021953122010471247 Centerline is valid? [True, True] Translation: X:120.97, Y:-6.81, Z:-1.70 [[ 9.99511061e-01 3.04539405e-02 7.08501077e-03 1.20971049e+02] [-3.04520905e-02 9.99536159e-01 -3.68867522e-04 -6.81174445e+00] [-7.09295793e-03 1.52933779e-04 9.99974833e-01 -1.70404641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.080371743 meters 0.022228549495585694 Centerline is valid? [True, True] Translation: X:121.03, Y:-6.82, Z:-1.71 [[ 9.99597882e-01 2.75178703e-02 6.84406816e-03 1.21029445e+02] [-2.75160783e-02 9.99621298e-01 -3.55868257e-04 -6.81856747e+00] [-6.85126903e-03 1.67403240e-04 9.99976516e-01 -1.70581057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.140371743 meters 0.023311021886945005 Centerline is valid? [True, True] Translation: X:121.09, Y:-6.83, Z:-1.71 [[ 9.99765223e-01 2.03382330e-02 7.47366362e-03 1.21089235e+02] [-2.03359030e-02 9.99793129e-01 -3.87629999e-04 -6.82963649e+00] [-7.48000124e-03 2.35555294e-04 9.99971997e-01 -1.70718834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20037174299999 meters 0.02551900053962722 Centerline is valid? [True, True] Translation: X:121.15, Y:-6.84, Z:-1.71 [[ 9.99910927e-01 1.05886553e-02 8.12519436e-03 1.21149050e+02] [-1.05855821e-02 9.99943882e-01 -4.21139670e-04 -6.84273347e+00] [-8.12919770e-03 3.35092245e-04 9.99966901e-01 -1.70779974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.260371743 meters 0.02698527131505873 Centerline is valid? [True, True] Translation: X:121.21, Y:-6.85, Z:-1.71 [[ 9.99946888e-01 6.73380470e-03 7.80242330e-03 1.21209213e+02] [-6.73085367e-03 9.99977266e-01 -4.04416768e-04 -6.85004727e+00] [-7.80496918e-03 3.51878319e-04 9.99969479e-01 -1.70921014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.320371743 meters 0.029350810511346657 Centerline is valid? [True, True] Translation: X:121.27, Y:-6.86, Z:-1.71 [[ 9.99967234e-01 -4.05968191e-03 7.00358114e-03 1.21269164e+02] [ 4.06232331e-03 9.99991683e-01 -3.62965261e-04 -6.86357540e+00] [-7.00204936e-03 3.91404179e-04 9.99975409e-01 -1.71085491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.380371743 meters 0.03183642301562008 Centerline is valid? [True, True] Translation: X:121.33, Y:-6.87, Z:-1.71 [[ 9.99943772e-01 -8.81995773e-03 5.88735152e-03 1.21329026e+02] [ 8.82190677e-03 9.99961040e-01 -3.05166801e-04 -6.87391780e+00] [-5.88443059e-03 3.57087308e-04 9.99982623e-01 -1.71228155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.440371743 meters 0.034666765313123064 Centerline is valid? [True, True] Translation: X:121.39, Y:-6.88, Z:-1.71 [[ 9.99949656e-01 -8.82049902e-03 4.78373248e-03 1.21389381e+02] [ 8.82178361e-03 9.99961057e-01 -2.47498556e-04 -6.88207780e+00] [-4.78136312e-03 2.89687149e-04 9.99988527e-01 -1.71469678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.500371743 meters 0.030932102675192006 Centerline is valid? [True, True] Translation: X:121.45, Y:-6.88, Z:-1.72 [[ 9.99977298e-01 -5.18486623e-03 4.30363826e-03 1.21450674e+02] [ 5.18587453e-03 9.99986528e-01 -2.23164063e-04 -6.88029503e+00] [-4.30242320e-03 2.45477124e-04 9.99990714e-01 -1.71566591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.560371743 meters 0.02925504106795915 Centerline is valid? [True, True] Translation: X:121.51, Y:-6.88, Z:-1.72 [[ 9.99987101e-01 1.71004159e-03 4.78254972e-03 1.21511537e+02] [-1.70887361e-03 9.99998509e-01 -2.48294455e-04 -6.87887358e+00] [-4.78296718e-03 2.40118479e-04 9.99988533e-01 -1.71624419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62037174299999 meters 0.02635038579105622 Centerline is valid? [True, True] Translation: X:121.57, Y:-6.87, Z:-1.72 [[ 9.99931467e-01 1.05408075e-02 5.09437167e-03 1.21572476e+02] [-1.05395966e-02 9.99944422e-01 -2.64476576e-04 -6.87427078e+00] [-5.09687633e-03 2.10765828e-04 9.99986989e-01 -1.71637513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.680371743 meters 0.025223841719013002 Centerline is valid? [True, True] Translation: X:121.63, Y:-6.87, Z:-1.72 [[ 9.99862380e-01 1.58642068e-02 4.85268041e-03 1.21632567e+02] [-1.58631689e-02 9.99874140e-01 -2.52299329e-04 -6.87304248e+00] [-4.85607218e-03 1.75285718e-04 9.99988194e-01 -1.71685949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.740371743 meters 0.022474566333602636 Centerline is valid? [True, True] Translation: X:121.69, Y:-6.87, Z:-1.72 [[ 9.99758986e-01 2.16230912e-02 3.79639380e-03 1.21692805e+02] [-2.16224975e-02 9.99766187e-01 -1.97373334e-04 -6.86806979e+00] [-3.79977397e-03 1.15238249e-04 9.99992774e-01 -1.71786791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.800371743 meters 0.022071668070321602 Centerline is valid? [True, True] Translation: X:121.75, Y:-6.87, Z:-1.72 [[ 9.99690924e-01 2.46127801e-02 3.50241710e-03 1.21751326e+02] [-2.46122924e-02 9.99697055e-01 -1.82277202e-04 -6.86895026e+00] [-3.50584241e-03 9.60183513e-05 9.99993850e-01 -1.71909554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.860371743 meters 0.021889859618923622 Centerline is valid? [True, True] Translation: X:121.81, Y:-6.87, Z:-1.72 [[ 9.99579335e-01 2.86275289e-02 4.64955989e-03 1.21809986e+02] [-2.86267160e-02 9.99590142e-01 -2.41290084e-04 -6.86950077e+00] [-4.65456177e-03 1.08086951e-04 9.99989162e-01 -1.71976063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.920371743 meters 0.02115161233884121 Centerline is valid? [True, True] Translation: X:121.87, Y:-6.87, Z:-1.72 [[ 9.99498514e-01 3.12562001e-02 5.07646670e-03 1.21869318e+02] [-3.12552682e-02 9.99511400e-01 -2.62834759e-04 -6.86958683e+00] [-5.08220156e-03 1.04036623e-04 9.99987080e-01 -1.71937235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98037174299999 meters 0.021658405815630888 Centerline is valid? [True, True] Translation: X:121.93, Y:-6.87, Z:-1.72 [[ 9.99534587e-01 3.00064967e-02 5.49729393e-03 1.21927247e+02] [-3.00053839e-02 9.99549697e-01 -2.84820796e-04 -6.87413755e+00] [-5.50336496e-03 1.19739822e-04 9.99984849e-01 -1.71988344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.040371743 meters 0.022615482962485684 Centerline is valid? [True, True] Translation: X:121.99, Y:-6.88, Z:-1.72 [[ 9.99623192e-01 2.67945038e-02 5.96064293e-03 1.21985028e+02] [-2.67931451e-02 9.99640952e-01 -3.07701832e-04 -6.88124321e+00] [-5.96674749e-03 1.47881517e-04 9.99982188e-01 -1.72045976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.100371743 meters 0.02284556768418666 Centerline is valid? [True, True] Translation: X:122.04, Y:-6.89, Z:-1.72 [[ 9.99764046e-01 2.04262736e-02 7.39052728e-03 1.22043900e+02] [-2.04240194e-02 9.99791336e-01 -3.80364247e-04 -6.88746747e+00] [-7.39675456e-03 2.29330226e-04 9.99972617e-01 -1.72012228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.160371743 meters 0.024517897862205814 Centerline is valid? [True, True] Translation: X:122.10, Y:-6.90, Z:-1.72 [[ 9.99843706e-01 1.51593914e-02 9.09705337e-03 1.22104043e+02] [-1.51557666e-02 9.99885036e-01 -4.67268565e-04 -6.89715736e+00] [-9.10309104e-03 3.29322716e-04 9.99958512e-01 -1.72031194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.220371743 meters 0.02571009461723029 Centerline is valid? [True, True] Translation: X:122.16, Y:-6.91, Z:-1.72 [[ 9.99913779e-01 1.02083728e-02 8.25978130e-03 1.22163682e+02] [-1.02052150e-02 9.99947835e-01 -4.24365977e-04 -6.90607125e+00] [-8.26368252e-03 3.40036543e-04 9.99965797e-01 -1.72177966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.280371743 meters 0.026888409338176412 Centerline is valid? [True, True] Translation: X:122.22, Y:-6.91, Z:-1.72 [[ 9.99954757e-01 6.58270867e-03 6.86673865e-03 1.22224241e+02] [-6.58044323e-03 9.99978287e-01 -3.52456774e-04 -6.91350475e+00] [-6.86890966e-03 3.07254644e-04 9.99976362e-01 -1.72394399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34037174299999 meters 0.031068736830797306 Centerline is valid? [True, True] Translation: X:122.28, Y:-6.93, Z:-1.73 [[ 9.99983784e-01 1.92730221e-03 5.35881653e-03 1.22283333e+02] [-1.92585647e-03 9.99998108e-01 -2.74933559e-04 -6.92664334e+00] [-5.35933627e-03 2.64608789e-04 9.99985604e-01 -1.72692868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.400371743 meters 0.029973326330274053 Centerline is valid? [True, True] Translation: X:122.35, Y:-6.93, Z:-1.73 [[ 9.99989016e-01 1.36607102e-03 4.48342310e-03 1.22345793e+02] [-1.36506204e-03 9.99999042e-01 -2.28098279e-04 -6.92928091e+00] [-4.48373041e-03 2.21975623e-04 9.99989923e-01 -1.72776591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.460371743 meters 0.026819031613719558 Centerline is valid? [True, True] Translation: X:122.41, Y:-6.93, Z:-1.73 [[ 9.99977072e-01 5.38083304e-03 4.11132291e-03 1.22407055e+02] [-5.38000611e-03 9.99985505e-01 -2.12165860e-04 -6.92695596e+00] [-4.11240495e-03 1.90042053e-04 9.99991526e-01 -1.72702815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.520371743 meters 0.024821827270176098 Centerline is valid? [True, True] Translation: X:122.47, Y:-6.92, Z:-1.73 [[ 9.99890489e-01 1.44422208e-02 3.22982788e-03 1.22467447e+02] [-1.44417566e-02 9.99895698e-01 -1.66976147e-04 -6.92461412e+00] [-3.23190251e-03 1.20313474e-04 9.99994770e-01 -1.72737626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.580371743 meters 0.022605670854736255 Centerline is valid? [True, True] Translation: X:122.53, Y:-6.92, Z:-1.73 [[ 9.99776476e-01 2.10024252e-02 2.42829243e-03 1.22527577e+02] [-2.10021819e-02 9.99779422e-01 -1.25648341e-04 -6.92231032e+00] [-2.43039572e-03 7.46208159e-05 9.99997044e-01 -1.72787951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.640371743 meters 0.02109656365381161 Centerline is valid? [True, True] Translation: X:122.59, Y:-6.92, Z:-1.73 [[ 9.99559462e-01 2.96259692e-02 1.78449404e-03 1.22587834e+02] [-2.96258515e-02 9.99561054e-01 -9.23640562e-05 -6.92020797e+00] [-1.78644712e-03 3.94562107e-05 9.99998404e-01 -1.72927245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70037174299999 meters 0.019866568650725093 Centerline is valid? [True, True] Translation: X:122.65, Y:-6.92, Z:-1.73 [[ 9.99356431e-01 3.58550203e-02 1.06866386e-03 1.22645891e+02] [-3.58549806e-02 9.99357002e-01 -5.62904818e-05 -6.91929546e+00] [-1.06999501e-03 1.79373329e-05 9.99999427e-01 -1.73107617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.760371743 meters 0.020038861435425194 Centerline is valid? [True, True] Translation: X:122.71, Y:-6.92, Z:-1.73 [[ 9.99320243e-01 3.68314956e-02 1.57875946e-03 1.22705113e+02] [-3.68314120e-02 9.99321490e-01 -8.20007964e-05 -6.92185594e+00] [-1.58070847e-03 2.37971155e-05 9.99998750e-01 -1.73201021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.820371743 meters 0.019619913777971034 Centerline is valid? [True, True] Translation: X:122.76, Y:-6.93, Z:-1.73 [[ 9.99397308e-01 3.46505422e-02 2.08827331e-03 1.22764146e+02] [-3.46503914e-02 9.99399489e-01 -1.08362271e-04 -6.92631110e+00] [-2.09077409e-03 3.59374749e-05 9.99997814e-01 -1.73111667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.880371743 meters 0.02036554847048146 Centerline is valid? [True, True] Translation: X:122.82, Y:-6.93, Z:-1.73 [[ 9.99479808e-01 3.21954705e-02 1.88793111e-03 1.22822161e+02] [-3.21953425e-02 9.99481591e-01 -9.81330624e-05 -6.93297409e+00] [-1.89011183e-03 3.72994256e-05 9.99998213e-01 -1.73193934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.940371743 meters 0.020433123784719558 Centerline is valid? [True, True] Translation: X:122.88, Y:-6.94, Z:-1.73 [[ 9.99578184e-01 2.89990601e-02 1.58363081e-03 1.22880359e+02] [-2.89989663e-02 9.99579438e-01 -8.21669550e-05 -6.93973829e+00] [-1.58534756e-03 3.62086391e-05 9.99998743e-01 -1.73111384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.000371743 meters 0.0202584684456168 Centerline is valid? [True, True] Translation: X:122.94, Y:-6.95, Z:-1.73 [[ 9.99573216e-01 2.92097234e-02 4.22422059e-04 1.22938609e+02] [-2.92097164e-02 9.99573305e-01 -2.26287835e-05 -6.94577552e+00] [-4.22902794e-04 1.02802973e-05 9.99999911e-01 -1.73167425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.060371743 meters 0.019685879462023735 Centerline is valid? [True, True] Translation: X:123.00, Y:-6.95, Z:-1.73 [[ 9.99489270e-01 3.19345899e-02 1.17525537e-03 1.22997302e+02] [-3.19345402e-02 9.99489961e-01 -6.10834144e-05 -6.94898236e+00] [-1.17660662e-03 2.35209774e-05 9.99999308e-01 -1.73173528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12037174299999 meters 0.018920003167999015 Centerline is valid? [True, True] Translation: X:123.06, Y:-6.95, Z:-1.73 [[ 9.99284578e-01 3.77516619e-02 2.26821699e-03 1.23056253e+02] [-3.77514941e-02 9.99287151e-01 -1.16772371e-04 -6.95274173e+00] [-2.27100845e-03 3.10602488e-05 9.99997421e-01 -1.73152142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.180371743 meters 0.018842557906941275 Centerline is valid? [True, True] Translation: X:123.11, Y:-6.96, Z:-1.73 [[ 9.99208986e-01 3.96929814e-02 2.42270429e-03 1.23114004e+02] [-3.96927958e-02 9.99211923e-01 -1.24674496e-04 -6.95654332e+00] [-2.42574371e-03 2.84119700e-05 9.99997057e-01 -1.73277817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.240371743 meters 0.018784668706645018 Centerline is valid? [True, True] Translation: X:123.17, Y:-6.96, Z:-1.74 [[ 9.99105513e-01 4.22688480e-02 1.23253683e-03 1.23172881e+02] [-4.22688016e-02 9.99106273e-01 -6.36931805e-05 -6.96364004e+00] [-1.23412752e-03 1.15383529e-05 9.99999238e-01 -1.73552194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.300371743 meters 0.018667994220608556 Centerline is valid? [True, True] Translation: X:123.23, Y:-6.97, Z:-1.74 [[ 9.99138297e-01 4.14974818e-02 -7.88544856e-04 1.23231361e+02] [-4.14974638e-02 9.99138608e-01 3.90649547e-05 -6.97249571e+00] [ 7.89486708e-04 -6.30868062e-06 9.99999688e-01 -1.73715942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.360371743 meters 0.018925246833287068 Centerline is valid? [True, True] Translation: X:123.29, Y:-6.98, Z:-1.74 [[ 9.99160652e-01 4.09274113e-02 -1.71422725e-03 1.23290319e+02] [-4.09273240e-02 9.99162122e-01 8.59686290e-05 -6.98005975e+00] [ 1.71630941e-03 -1.57377372e-05 9.99998527e-01 -1.73785082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.420371743 meters 0.018740435820150628 Centerline is valid? [True, True] Translation: X:123.35, Y:-6.99, Z:-1.74 [[ 9.99135187e-01 4.15642839e-02 -1.13539932e-03 1.23348468e+02] [-4.15642465e-02 9.99135832e-01 5.64981210e-05 -6.98776326e+00] [ 1.13676645e-03 -9.25724332e-06 9.99999354e-01 -1.73651754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48037174299999 meters 0.01877934830424277 Centerline is valid? [True, True] Translation: X:123.41, Y:-6.99, Z:-1.74 [[ 9.99045352e-01 4.36843440e-02 -2.49205003e-04 1.23405859e+02] [-4.36843426e-02 9.99045383e-01 1.13425590e-05 -6.99343274e+00] [ 2.49462600e-04 -4.45374133e-07 9.99999969e-01 -1.73685664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.540371743 meters 0.018686042652420874 Centerline is valid? [True, True] Translation: X:123.46, Y:-7.00, Z:-1.74 [[ 9.98931817e-01 4.62005298e-02 8.57550380e-04 1.23463975e+02] [-4.62005087e-02 9.98932185e-01 -4.43264098e-05 -7.00051595e+00] [-8.58682579e-04 4.65979722e-06 9.99999631e-01 -1.73658096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.600371743 meters 0.019052980097630137 Centerline is valid? [True, True] Translation: X:123.52, Y:-7.01, Z:-1.74 [[ 9.98844719e-01 4.80542774e-02 -1.13062362e-04 1.23522355e+02] [-4.80542772e-02 9.98844726e-01 4.69781265e-06 -7.00661337e+00] [ 1.13157494e-04 7.40744715e-07 9.99999994e-01 -1.73842151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.660371743 meters 0.018900050013703675 Centerline is valid? [True, True] Translation: X:123.58, Y:-7.02, Z:-1.74 [[ 9.98845098e-01 4.80465029e-02 -6.23895908e-05 1.23579585e+02] [-4.80465029e-02 9.98845100e-01 1.61498736e-06 -7.01536104e+00] [ 6.23951315e-05 1.38447945e-06 9.99999998e-01 -1.73947447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.720371743 meters 0.018654842132617824 Centerline is valid? [True, True] Translation: X:123.64, Y:-7.02, Z:-1.74 [[ 9.98864739e-01 4.76338201e-02 5.01702343e-04 1.23637881e+02] [-4.76338129e-02 9.98864865e-01 -2.62325321e-05 -7.02185326e+00] [-5.02382399e-04 2.30475583e-06 9.99999874e-01 -1.73975443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.780371743 meters 0.01872052642899856 Centerline is valid? [True, True] Translation: X:123.70, Y:-7.03, Z:-1.74 [[ 9.98903623e-01 4.67762304e-02 1.88027175e-03 1.23695628e+02] [-4.67761324e-02 9.98905393e-01 -9.60744810e-05 -7.03050506e+00] [-1.88270759e-03 8.01730696e-06 9.99998228e-01 -1.74122767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84037174299999 meters 0.019155725632087506 Centerline is valid? [True, True] Translation: X:123.75, Y:-7.04, Z:-1.74 [[ 9.99040962e-01 4.37005614e-02 2.72362614e-03 1.23753716e+02] [-4.37003495e-02 9.99044674e-01 -1.37300076e-04 -7.04098816e+00] [-2.72702428e-03 1.81449857e-05 9.99996281e-01 -1.74176252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.900371743 meters 0.019273030598542983 Centerline is valid? [True, True] Translation: X:123.81, Y:-7.05, Z:-1.74 [[ 9.99158299e-01 4.09004437e-02 3.13799948e-03 1.23812356e+02] [-4.09001497e-02 9.99163226e-01 -1.57834357e-04 -7.04962351e+00] [-3.14182918e-03 2.93568587e-05 9.99995064e-01 -1.74158985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.960371743 meters 0.01961586408730753 Centerline is valid? [True, True] Translation: X:123.87, Y:-7.06, Z:-1.74 [[ 9.99260720e-01 3.82680886e-02 3.68322084e-03 1.23869940e+02] [-3.82676667e-02 9.99267507e-01 -1.84984852e-04 -7.05820488e+00] [-3.68760193e-03 4.38998293e-05 9.99993200e-01 -1.74277366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.020371743 meters 0.019840295929720142 Centerline is valid? [True, True] Translation: X:123.93, Y:-7.07, Z:-1.74 [[ 9.99348273e-01 3.59020079e-02 3.75171291e-03 1.23928181e+02] [-3.59015555e-02 9.99355314e-01 -1.87886549e-04 -7.06745258e+00] [-3.75603974e-03 5.30717690e-05 9.99992945e-01 -1.74289271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.080371743 meters 0.02027683459455738 Centerline is valid? [True, True] Translation: X:123.99, Y:-7.08, Z:-1.74 [[ 9.99419125e-01 3.38851510e-02 3.63454609e-03 1.23986357e+02] [-3.38847139e-02 9.99425732e-01 -1.81801183e-04 -7.07834143e+00] [-3.63861925e-03 5.85400249e-05 9.99993378e-01 -1.74470601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.140371743 meters 0.020325828572971816 Centerline is valid? [True, True] Translation: X:124.04, Y:-7.09, Z:-1.75 [[ 9.99432319e-01 3.34313770e-02 4.16931739e-03 1.24044325e+02] [-3.34307982e-02 9.99441013e-01 -2.08449700e-04 -7.08621647e+00] [-4.17395555e-03 6.89477584e-05 9.99991287e-01 -1.74518838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20037174299999 meters 0.020511689761159007 Centerline is valid? [True, True] Translation: X:124.10, Y:-7.09, Z:-1.75 [[ 9.99337761e-01 3.59164020e-02 5.83530567e-03 1.24101775e+02] [-3.59153189e-02 9.99354795e-01 -2.90324561e-04 -7.09484029e+00] [-5.84196811e-03 8.05554323e-05 9.99982932e-01 -1.74522952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.260371743 meters 0.020329523246552118 Centerline is valid? [True, True] Translation: X:124.16, Y:-7.10, Z:-1.75 [[ 9.99219305e-01 3.90773912e-02 5.80842975e-03 1.24160100e+02] [-3.90763753e-02 9.99236185e-01 -2.88327918e-04 -7.10190262e+00] [-5.81526029e-03 6.11304413e-05 9.99983089e-01 -1.74580904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.320371743 meters 0.021421774193697105 Centerline is valid? [True, True] Translation: X:124.22, Y:-7.11, Z:-1.75 [[ 9.99136567e-01 4.12796136e-02 4.70251856e-03 1.24218638e+02] [-4.12789727e-02 9.99147633e-01 -2.33290418e-04 -7.10951206e+00] [-4.70814042e-03 3.89738518e-05 9.99988916e-01 -1.74618673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.380371743 meters 0.02042733186705697 Centerline is valid? [True, True] Translation: X:124.28, Y:-7.12, Z:-1.75 [[ 9.99187680e-01 3.97726944e-02 6.48941282e-03 1.24275748e+02] [-3.97714461e-02 9.99208751e-01 -3.21345620e-04 -7.12046392e+00] [-6.49705886e-03 6.29912528e-05 9.99978892e-01 -1.74687931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.440371743 meters 0.02122617306298064 Centerline is valid? [True, True] Translation: X:124.33, Y:-7.13, Z:-1.75 [[ 9.99274706e-01 3.71073360e-02 8.55029836e-03 1.24334446e+02] [-3.71050854e-02 9.99311280e-01 -4.21757876e-04 -7.13338010e+00] [-8.56005991e-03 1.04192426e-04 9.99963357e-01 -1.74623168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.500371743 meters 0.02155890009923812 Centerline is valid? [True, True] Translation: X:124.39, Y:-7.14, Z:-1.75 [[ 9.99361097e-01 3.44640278e-02 9.46719480e-03 1.24392022e+02] [-3.44611568e-02 9.99405929e-01 -4.66266180e-04 -7.14478471e+00] [-9.47764003e-03 1.39717797e-04 9.99955076e-01 -1.74779587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.560371743 meters 0.022192725541849572 Centerline is valid? [True, True] Translation: X:124.45, Y:-7.16, Z:-1.75 [[ 9.99474456e-01 3.13317179e-02 8.31477760e-03 1.24451048e+02] [-3.13294024e-02 9.99509030e-01 -4.08618362e-04 -7.15850451e+00] [-8.32349801e-03 1.47906602e-04 9.99965348e-01 -1.74978389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62037174299999 meters 0.022409658120696636 Centerline is valid? [True, True] Translation: X:124.51, Y:-7.17, Z:-1.75 [[ 9.99518516e-01 3.01493689e-02 7.33162243e-03 1.24509147e+02] [-3.01475375e-02 9.99545395e-01 -3.60212263e-04 -7.17109413e+00] [-7.33914961e-03 1.39008464e-04 9.99973058e-01 -1.75063753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.680371743 meters 0.02278892036939206 Centerline is valid? [True, True] Translation: X:124.57, Y:-7.18, Z:-1.75 [[ 9.99526727e-01 2.93939826e-02 9.07282858e-03 1.24567463e+02] [-2.93911521e-02 9.99567888e-01 -4.45174356e-04 -7.18222798e+00] [-9.08199354e-03 1.78302782e-04 9.99958742e-01 -1.74944515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.740371743 meters 0.023268542955347984 Centerline is valid? [True, True] Translation: X:124.63, Y:-7.19, Z:-1.75 [[ 9.99607094e-01 2.62688999e-02 9.77766798e-03 1.24626609e+02] [-2.62654723e-02 9.99654888e-01 -4.78822510e-04 -7.19223804e+00] [-9.78687174e-03 2.21819310e-04 9.99952083e-01 -1.74929419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.800371743 meters 0.02522387230992504 Centerline is valid? [True, True] Translation: X:124.69, Y:-7.21, Z:-1.75 [[ 9.99745363e-01 1.99211853e-02 1.05998249e-02 1.24685516e+02] [-1.99168057e-02 9.99801506e-01 -5.18590832e-04 -7.20957475e+00] [-1.06080519e-02 3.07344126e-04 9.99943686e-01 -1.75005335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.860371743 meters 0.026299229642698405 Centerline is valid? [True, True] Translation: X:124.75, Y:-7.22, Z:-1.75 [[ 9.99814009e-01 1.59359800e-02 1.08624205e-02 1.24746558e+02] [-1.59311497e-02 9.99872950e-01 -5.31066803e-04 -7.21957887e+00] [-1.08695035e-02 3.57917182e-04 9.99940861e-01 -1.75033975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.920371743 meters 0.02686983664956997 Centerline is valid? [True, True] Translation: X:124.81, Y:-7.23, Z:-1.75 [[ 9.99860275e-01 1.08832227e-02 1.26880625e-02 1.24807489e+02] [-1.08762191e-02 9.99940659e-01 -6.20858063e-04 -7.23066830e+00] [-1.26940665e-02 4.82773166e-04 9.99919311e-01 -1.74946275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98037174299999 meters 0.027726098291580157 Centerline is valid? [True, True] Translation: X:124.87, Y:-7.24, Z:-1.75 [[ 9.99900775e-01 7.46679730e-03 1.19451288e-02 1.24868307e+02] [-7.46034166e-03 9.99972000e-01 -5.84909636e-04 -7.24003508e+00] [-1.19491618e-02 4.95736857e-04 9.99928483e-01 -1.75051461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.040371743 meters 0.03003055520114848 Centerline is valid? [True, True] Translation: X:124.93, Y:-7.25, Z:-1.75 [[ 9.99925686e-01 4.67164765e-03 1.12604597e-02 1.24927765e+02] [-4.66572855e-03 9.99988963e-01 -5.51866033e-04 -7.24875494e+00] [-1.12629136e-02 4.99286773e-04 9.99936447e-01 -1.75181440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.100371743 meters 0.030805314688916764 Centerline is valid? [True, True] Translation: X:124.99, Y:-7.25, Z:-1.75 [[ 9.99923062e-01 4.17569593e-03 1.16804848e-02 1.24989915e+02] [-4.16929994e-03 9.99991145e-01 -5.71876386e-04 -7.25382317e+00] [-1.16827694e-02 5.23132942e-04 9.99931617e-01 -1.75267512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.160371743 meters 0.03045382877856741 Centerline is valid? [True, True] Translation: X:125.05, Y:-7.26, Z:-1.75 [[ 9.99926101e-01 3.41291319e-03 1.16681205e-02 1.25051887e+02] [-3.40644572e-03 9.99994033e-01 -5.74115382e-04 -7.25739391e+00] [-1.16700103e-02 5.34326137e-04 9.99931760e-01 -1.75357037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.220371743 meters 0.02841425125677835 Centerline is valid? [True, True] Translation: X:125.11, Y:-7.26, Z:-1.76 [[ 9.99956162e-01 9.21714660e-04 9.31801502e-03 1.25113293e+02] [-9.17457910e-04 9.99999473e-01 -4.61094347e-04 -7.25690814e+00] [-9.31843511e-03 4.52525247e-04 9.99956480e-01 -1.75597001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.280371743 meters 0.03078774717907531 Centerline is valid? [True, True] Translation: X:125.17, Y:-7.26, Z:-1.76 [[ 9.99959653e-01 -1.72235201e-03 8.81620863e-03 1.25173536e+02] [ 1.72626865e-03 9.99998415e-01 -4.36663918e-04 -7.26273963e+00] [-8.81544256e-03 4.51865445e-04 9.99961041e-01 -1.75776338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34037174299999 meters 0.03384729825359518 Centerline is valid? [True, True] Translation: X:125.23, Y:-7.27, Z:-1.76 [[ 9.99920329e-01 -8.09158412e-03 9.68820221e-03 1.25234203e+02] [ 8.09661456e-03 9.99967107e-01 -4.80123366e-04 -7.27044741e+00] [-9.68399857e-03 5.58526754e-04 9.99952953e-01 -1.75787517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.400371743 meters 0.0426027994884857 Centerline is valid? [True, True] Translation: X:125.29, Y:-7.29, Z:-1.76 [[ 9.99872772e-01 -1.26676010e-02 9.69388959e-03 1.25293350e+02] [ 1.26728514e-02 9.99919581e-01 -4.80379680e-04 -7.28548917e+00] [-9.68702476e-03 6.03167784e-04 9.99952898e-01 -1.75866350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.460371743 meters 0.04725518638024068 Centerline is valid? [True, True] Translation: X:125.35, Y:-7.29, Z:-1.76 [[ 9.99777546e-01 -1.85874896e-02 9.96810766e-03 1.25353160e+02] [ 1.85933338e-02 9.99827007e-01 -4.93931642e-04 -7.29181968e+00] [-9.95720230e-03 6.79162118e-04 9.99950195e-01 -1.75932025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.520371743 meters 0.051541540225940166 Centerline is valid? [True, True] Translation: X:125.41, Y:-7.30, Z:-1.76 [[ 9.99704137e-01 -2.28230347e-02 8.41115409e-03 1.25412934e+02] [ 2.28273515e-02 9.99739335e-01 -4.17561750e-04 -7.29605006e+00] [-8.39943157e-03 6.09442580e-04 9.99964538e-01 -1.76198297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.580371743 meters 0.05331273601181878 Centerline is valid? [True, True] Translation: X:125.47, Y:-7.30, Z:-1.76 [[ 9.99671949e-01 -2.46735812e-02 6.87080185e-03 1.25473696e+02] [ 2.46765046e-02 9.99695431e-01 -3.41019597e-04 -7.29791898e+00] [-6.86029504e-03 5.10455098e-04 9.99976338e-01 -1.76418022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.640371743 meters 0.055139297323367614 Centerline is valid? [True, True] Translation: X:125.54, Y:-7.30, Z:-1.76 [[ 9.99687164e-01 -2.40733941e-02 6.78568111e-03 1.25535173e+02] [ 2.40762276e-02 9.99710069e-01 -3.36176174e-04 -7.29731776e+00] [-6.77562083e-03 4.99444609e-04 9.99976920e-01 -1.76485351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70037174299999 meters 0.055130802299999365 Centerline is valid? [True, True] Translation: X:125.60, Y:-7.30, Z:-1.77 [[ 9.99732632e-01 -2.19416599e-02 7.29569117e-03 1.25595733e+02] [ 2.19448916e-02 9.99759116e-01 -3.63194260e-04 -7.29573351e+00] [-7.28596466e-03 5.23200305e-04 9.99973320e-01 -1.76503790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.760371743 meters 0.052867531556855925 Centerline is valid? [True, True] Translation: X:125.66, Y:-7.29, Z:-1.76 [[ 9.99814363e-01 -1.70750612e-02 8.92646023e-03 1.25656519e+02] [ 1.70797062e-02 9.99854032e-01 -4.44383737e-04 -7.28914439e+00] [-8.91756938e-03 5.96762561e-04 9.99960060e-01 -1.76422721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.820371743 meters 0.033769415057949066 Centerline is valid? [True, True] Translation: X:125.72, Y:-7.26, Z:-1.76 [[ 9.99882975e-01 -1.23787202e-02 8.98902791e-03 1.25718961e+02] [ 1.23832414e-02 9.99923225e-01 -4.47474849e-04 -7.25802258e+00] [-8.98279861e-03 5.58735786e-04 9.99959498e-01 -1.76337658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.880371743 meters 0.03424149641884704 Centerline is valid? [True, True] Translation: X:125.78, Y:-7.26, Z:-1.76 [[ 9.99912987e-01 -1.03594250e-02 8.16704980e-03 1.25779402e+02] [ 1.03630892e-02 9.99946219e-01 -4.06463024e-04 -7.25718189e+00] [-8.16239985e-03 4.91063522e-04 9.99966566e-01 -1.76418499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.940371743 meters 0.0511650385133049 Centerline is valid? [True, True] Translation: X:125.84, Y:-7.28, Z:-1.77 [[ 9.99934745e-01 -8.47045505e-03 7.66527844e-03 1.25838653e+02] [ 8.47362414e-03 9.99964026e-01 -3.81050832e-04 -7.27687075e+00] [-7.66177501e-03 4.45978655e-04 9.99970549e-01 -1.76779406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.000371743 meters 0.03590277243361695 Centerline is valid? [True, True] Translation: X:125.90, Y:-7.25, Z:-1.76 [[ 9.99929928e-01 -7.36666788e-03 9.26666005e-03 1.25902244e+02] [ 7.37126601e-03 9.99972725e-01 -4.62144231e-04 -7.25258077e+00] [-9.26300284e-03 5.30418864e-04 9.99956957e-01 -1.76398564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.060371743 meters 0.036525600789023754 Centerline is valid? [True, True] Translation: X:125.96, Y:-7.25, Z:-1.77 [[ 9.99929541e-01 -6.70833551e-03 9.79341981e-03 1.25963357e+02] [ 6.71344781e-03 9.99977345e-01 -4.89231860e-04 -7.25162675e+00] [-9.78991600e-03 5.54945002e-04 9.99951924e-01 -1.76509795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12037174299999 meters 0.030194305087439147 Centerline is valid? [True, True] Translation: X:126.03, Y:-7.24, Z:-1.77 [[ 9.99944710e-01 -5.91917055e-03 8.69139868e-03 1.26026541e+02] [ 5.92316852e-03 9.99982364e-01 -4.34322306e-04 -7.24208163e+00] [-8.68867457e-03 4.85778911e-04 9.99962135e-01 -1.76595755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.180371743 meters 0.030331718551063456 Centerline is valid? [True, True] Translation: X:126.09, Y:-7.24, Z:-1.77 [[ 9.99965094e-01 -4.20952725e-03 7.21736718e-03 1.26088745e+02] [ 4.21224393e-03 9.99991063e-01 -3.61248244e-04 -7.24091162e+00] [-7.21578200e-03 3.91636945e-04 9.99973889e-01 -1.76696163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.240371743 meters 0.030813419867861104 Centerline is valid? [True, True] Translation: X:126.15, Y:-7.24, Z:-1.77 [[ 9.99966866e-01 -4.16580511e-03 6.99385135e-03 1.26150813e+02] [ 4.16835852e-03 9.99991251e-01 -3.50556202e-04 -7.24030669e+00] [-6.99232981e-03 3.79697467e-04 9.99975481e-01 -1.76710617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.300371743 meters 0.03241031004903675 Centerline is valid? [True, True] Translation: X:126.21, Y:-7.24, Z:-1.77 [[ 9.99959911e-01 -5.40126611e-03 7.14156936e-03 1.26211530e+02] [ 5.40396480e-03 9.99985334e-01 -3.58641833e-04 -7.24457241e+00] [-7.13952751e-03 3.97220245e-04 9.99974434e-01 -1.76793986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.360371743 meters 0.03022913357069697 Centerline is valid? [True, True] Translation: X:126.27, Y:-7.24, Z:-1.77 [[ 9.99948423e-01 -7.51729792e-03 6.82950679e-03 1.26273160e+02] [ 7.51981824e-03 9.99971667e-01 -3.43430317e-04 -7.24031059e+00] [-6.82673162e-03 3.94769253e-04 9.99976620e-01 -1.76822396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.420371743 meters 0.03239341067088132 Centerline is valid? [True, True] Translation: X:126.33, Y:-7.24, Z:-1.77 [[ 9.99947864e-01 -7.55350035e-03 6.87121546e-03 1.26334300e+02] [ 7.55605330e-03 9.99971393e-01 -3.45659282e-04 -7.24141082e+00] [-6.86840796e-03 3.97560531e-04 9.99976333e-01 -1.76890741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48037174299999 meters 0.031566080990575084 Centerline is valid? [True, True] Translation: X:126.40, Y:-7.24, Z:-1.77 [[ 9.99954265e-01 -6.76260740e-03 6.76270852e-03 1.26396432e+02] [ 6.76506391e-03 9.99977059e-01 -3.40434629e-04 -7.23958248e+00] [-6.76025115e-03 3.86169214e-04 9.99977075e-01 -1.76936802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.540371743 meters 0.03125477143518063 Centerline is valid? [True, True] Translation: X:126.46, Y:-7.24, Z:-1.77 [[ 9.99964752e-01 -5.75178711e-03 6.11642962e-03 1.26458415e+02] [ 5.75377986e-03 9.99983399e-01 -3.08257150e-04 -7.23828936e+00] [-6.11455505e-03 3.43438874e-04 9.99981247e-01 -1.77051520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.600371743 meters 0.03343527927407616 Centerline is valid? [True, True] Translation: X:126.52, Y:-7.24, Z:-1.77 [[ 9.99961743e-01 -6.37372888e-03 5.99060355e-03 1.26519657e+02] [ 6.37565502e-03 9.99979630e-01 -3.02483383e-04 -7.24003098e+00] [-5.98855357e-03 3.40665833e-04 9.99982010e-01 -1.77117334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.660371743 meters 0.0351586227499193 Centerline is valid? [True, True] Translation: X:126.58, Y:-7.24, Z:-1.77 [[ 9.99970177e-01 -6.67529922e-03 3.88395358e-03 1.26580796e+02] [ 6.67610867e-03 9.99977695e-01 -1.95482594e-04 -7.24255110e+00] [-3.88256204e-03 2.21406460e-04 9.99992438e-01 -1.77421141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.720371743 meters 0.034439554945755076 Centerline is valid? [True, True] Translation: X:126.64, Y:-7.24, Z:-1.77 [[ 9.99974824e-01 -5.98956445e-03 3.80471696e-03 1.26643401e+02] [ 5.99033933e-03 9.99982039e-01 -1.92298802e-04 -7.24177849e+00] [-3.80349683e-03 2.15085506e-04 9.99992744e-01 -1.77471509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.780371743 meters 0.03126804936383746 Centerline is valid? [True, True] Translation: X:126.71, Y:-7.23, Z:-1.77 [[ 9.99975969e-01 -5.06946723e-03 4.72882913e-03 1.26706241e+02] [ 5.07065652e-03 9.99987115e-01 -2.39543628e-04 -7.23413834e+00] [-4.72755384e-03 2.63516139e-04 9.99988790e-01 -1.77322902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84037174299999 meters 0.02995742116898613 Centerline is valid? [True, True] Translation: X:126.77, Y:-7.23, Z:-1.77 [[ 9.99986410e-01 -4.06883909e-03 3.25950860e-03 1.26768891e+02] [ 4.06939855e-03 9.99991706e-01 -1.65023585e-04 -7.22947323e+00] [-3.25881012e-03 1.78285582e-04 9.99994674e-01 -1.77355772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.900371743 meters 0.02951556962789928 Centerline is valid? [True, True] Translation: X:126.83, Y:-7.23, Z:-1.77 [[ 9.99987258e-01 -3.43769930e-03 3.69683685e-03 1.26831501e+02] [ 3.43841616e-03 9.99994071e-01 -1.87575597e-04 -7.22813505e+00] [-3.69617010e-03 2.00284471e-04 9.99993149e-01 -1.77260096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.960371743 meters 0.028404502580633758 Centerline is valid? [True, True] Translation: X:126.89, Y:-7.22, Z:-1.77 [[ 9.99983835e-01 -3.12595764e-04 5.67731027e-03 1.26892954e+02] [ 3.14244376e-04 9.99999909e-01 -2.89496425e-04 -7.22289522e+00] [-5.67721926e-03 2.91275808e-04 9.99983842e-01 -1.77068505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.020371743 meters 0.02797330335615197 Centerline is valid? [True, True] Translation: X:126.95, Y:-7.22, Z:-1.77 [[ 9.99971880e-01 1.89490711e-03 7.25593927e-03 1.26954200e+02] [-1.89227157e-03 9.99998141e-01 -3.70073822e-04 -7.22186723e+00] [-7.25662704e-03 3.56333208e-04 9.99973607e-01 -1.77106934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.080371743 meters 0.026463239288545482 Centerline is valid? [True, True] Translation: X:127.02, Y:-7.22, Z:-1.77 [[ 9.99958013e-01 5.26699975e-03 7.49867012e-03 1.27016160e+02] [-5.26427822e-03 9.99986070e-01 -3.82625671e-04 -7.21909392e+00] [-7.50058096e-03 3.43134520e-04 9.99971811e-01 -1.77182871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.140371743 meters 0.025420050684972606 Centerline is valid? [True, True] Translation: X:127.08, Y:-7.22, Z:-1.77 [[ 9.99928256e-01 9.74261837e-03 6.96878245e-03 1.27077536e+02] [-9.74037218e-03 9.99952498e-01 -3.56189043e-04 -7.21602577e+00] [-6.97192164e-03 2.88284954e-04 9.99975654e-01 -1.77392758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20037174299999 meters 0.024788986759348923 Centerline is valid? [True, True] Translation: X:127.14, Y:-7.21, Z:-1.78 [[ 9.99887470e-01 1.39644721e-02 5.48100306e-03 1.27137977e+02] [-1.39631449e-02 9.99902471e-01 -2.80335822e-04 -7.21452806e+00] [-5.48438324e-03 2.03772236e-04 9.99984940e-01 -1.77539995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.260371743 meters 0.023961746548248716 Centerline is valid? [True, True] Translation: X:127.20, Y:-7.21, Z:-1.78 [[ 9.99826945e-01 1.76910395e-02 5.75391213e-03 1.27197646e+02] [-1.76896367e-02 9.99843483e-01 -2.94595316e-04 -7.21326488e+00] [-5.75822324e-03 1.92759720e-04 9.99983403e-01 -1.77541544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.320371743 meters 0.021991377061920628 Centerline is valid? [True, True] Translation: X:127.26, Y:-7.21, Z:-1.78 [[ 9.99682029e-01 2.47164928e-02 4.99365085e-03 1.27256706e+02] [-2.47155244e-02 9.99694492e-01 -2.55550632e-04 -7.21152946e+00] [-4.99844156e-03 1.32048675e-04 9.99987499e-01 -1.77623171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.380371743 meters 0.020553504968019894 Centerline is valid? [True, True] Translation: X:127.32, Y:-7.21, Z:-1.78 [[ 9.99531643e-01 3.03424260e-02 3.97898524e-03 1.27316663e+02] [-3.03418558e-02 9.99539559e-01 -2.03590896e-04 -7.20928576e+00] [-3.98333060e-03 8.27657467e-05 9.99992063e-01 -1.77696668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.440371743 meters 0.019609756326772244 Centerline is valid? [True, True] Translation: X:127.38, Y:-7.21, Z:-1.78 [[ 9.99228224e-01 3.89214703e-02 5.29859300e-03 1.27375272e+02] [-3.89205809e-02 9.99242270e-01 -2.70898970e-04 -7.20737966e+00] [-5.30512189e-03 6.44655792e-05 9.99985926e-01 -1.77703966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.500371743 meters 0.019190467908976494 Centerline is valid? [True, True] Translation: X:127.43, Y:-7.21, Z:-1.78 [[ 9.98958489e-01 4.51523618e-02 6.57284990e-03 1.27432999e+02] [-4.51511299e-02 9.98980111e-01 -3.35769362e-04 -7.20967747e+00] [-6.58130710e-03 3.86480543e-05 9.99978342e-01 -1.77796511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.560371743 meters 0.019230687046169048 Centerline is valid? [True, True] Translation: X:127.49, Y:-7.22, Z:-1.78 [[ 9.98825405e-01 4.78062780e-02 7.89747283e-03 1.27491199e+02] [-4.78045909e-02 9.98856626e-01 -4.02360465e-04 -7.21600885e+00] [-7.90767842e-03 2.43523964e-05 9.99968734e-01 -1.77827466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62037174299999 meters 0.018894391626148668 Centerline is valid? [True, True] Translation: X:127.55, Y:-7.22, Z:-1.78 [[ 9.98872689e-01 4.65088753e-02 9.50130735e-03 1.27550064e+02] [-4.65063823e-02 9.98917876e-01 -4.83285849e-04 -7.22324069e+00] [-9.51350284e-03 4.08696040e-05 9.99954745e-01 -1.77766646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.680371743 meters 0.019075479704590847 Centerline is valid? [True, True] Translation: X:127.61, Y:-7.24, Z:-1.78 [[ 9.99004791e-01 4.32053129e-02 1.10783182e-02 1.27606773e+02] [-4.32017302e-02 9.99066211e-01 -5.62608651e-04 -7.23634741e+00] [-1.10922811e-02 8.34462234e-05 9.99938475e-01 -1.77891905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.740371743 meters 0.019981494103024217 Centerline is valid? [True, True] Translation: X:127.66, Y:-7.25, Z:-1.78 [[ 9.99213447e-01 3.80379762e-02 1.12071149e-02 1.27664974e+02] [-3.80339985e-02 9.99276284e-01 -5.67922273e-04 -7.24945343e+00] [-1.12206068e-02 1.41224180e-04 9.99937037e-01 -1.78037731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.800371743 meters 0.02169857632202292 Centerline is valid? [True, True] Translation: X:127.72, Y:-7.27, Z:-1.78 [[ 9.99526652e-01 2.94900699e-02 8.76402178e-03 1.27722150e+02] [-2.94873126e-02 9.99565056e-01 -4.43694727e-04 -7.26668826e+00] [-8.77329451e-03 1.85057255e-04 9.99961497e-01 -1.78435523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.860371743 meters 0.02354673425158716 Centerline is valid? [True, True] Translation: X:127.78, Y:-7.28, Z:-1.79 [[ 9.99721831e-01 2.23486313e-02 7.53653457e-03 1.27781764e+02] [-2.23463950e-02 9.99750216e-01 -3.80817053e-04 -7.28034777e+00] [-7.54316280e-03 2.12296743e-04 9.99971527e-01 -1.78670695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.920371743 meters 0.02670649711017453 Centerline is valid? [True, True] Translation: X:127.84, Y:-7.30, Z:-1.79 [[ 9.99885675e-01 1.27783453e-02 8.08396916e-03 1.27841057e+02] [-1.27754615e-02 9.99918307e-01 -4.08267076e-04 -7.29750159e+00] [-8.08852574e-03 3.04943964e-04 9.99967241e-01 -1.78673358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98037174299999 meters 0.0268419955843675 Centerline is valid? [True, True] Translation: X:127.90, Y:-7.30, Z:-1.79 [[ 9.99929690e-01 8.41927944e-03 8.35048981e-03 1.27901384e+02] [-8.41605278e-03 9.99964496e-01 -4.21468757e-04 -7.30394477e+00] [-8.35374180e-03 3.51160961e-04 9.99965045e-01 -1.78645965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04037174299998 meters 0.027922700622719 Centerline is valid? [True, True] Translation: X:127.96, Y:-7.31, Z:-1.79 [[ 9.99937855e-01 5.28913148e-03 9.81384577e-03 1.27962261e+02] [-5.28452583e-03 9.99985914e-01 -4.95173133e-04 -7.31320167e+00] [-9.81632657e-03 4.43280839e-04 9.99951720e-01 -1.78635208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.10037174299998 meters 0.02723182819693659 Centerline is valid? [True, True] Translation: X:128.02, Y:-7.32, Z:-1.79 [[ 9.99922096e-01 6.46752466e-03 1.06757853e-02 1.28024404e+02] [-6.46214480e-03 9.99978975e-01 -5.38349891e-04 -7.31808909e+00] [-1.06790426e-02 4.69319481e-04 9.99942867e-01 -1.78687380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16037174299998 meters 0.026885743976401446 Centerline is valid? [True, True] Translation: X:128.09, Y:-7.32, Z:-1.79 [[ 9.99911224e-01 8.96595898e-03 9.85671608e-03 1.28085645e+02] [-8.96146238e-03 9.99959720e-01 -5.00269468e-04 -7.32115326e+00] [-9.86080445e-03 4.11894466e-04 9.99951296e-01 -1.78804295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.220371743 meters 0.027391662643727378 Centerline is valid? [True, True] Translation: X:128.15, Y:-7.33, Z:-1.79 [[ 9.99897881e-01 1.09698026e-02 9.15925795e-03 1.28146593e+02] [-1.09660099e-02 9.99939764e-01 -4.64209856e-04 -7.32541115e+00] [-9.16379852e-03 3.63721938e-04 9.99957945e-01 -1.78950257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.280371743 meters 0.0271068346166156 Centerline is valid? [True, True] Translation: X:128.21, Y:-7.33, Z:-1.79 [[ 9.99893855e-01 1.22144679e-02 7.94262509e-03 1.28207670e+02] [-1.22116341e-02 9.99925353e-01 -4.05191409e-04 -7.32857064e+00] [-7.94698139e-03 3.08155969e-04 9.99968375e-01 -1.79104240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.340371743 meters 0.025130662331488727 Centerline is valid? [True, True] Translation: X:128.27, Y:-7.33, Z:-1.79 [[ 9.99885988e-01 1.37367733e-02 6.26985668e-03 1.28268291e+02] [-1.37350349e-02 9.99905619e-01 -3.20250683e-04 -7.32586330e+00] [-6.27366414e-03 2.34097471e-04 9.99980293e-01 -1.79126496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.400371743 meters 0.025107688310221258 Centerline is valid? [True, True] Translation: X:128.33, Y:-7.33, Z:-1.79 [[ 9.99856472e-01 1.62023606e-02 4.95169170e-03 1.28327748e+02] [-1.62013057e-02 9.99868718e-01 -2.53089632e-04 -7.32703713e+00] [-4.95514228e-03 1.72829436e-04 9.99987708e-01 -1.79198989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.460371743 meters 0.024286554407658714 Centerline is valid? [True, True] Translation: X:128.39, Y:-7.32, Z:-1.79 [[ 9.99805043e-01 1.95634369e-02 2.67343763e-03 1.28386921e+02] [-1.95631396e-02 9.99808614e-01 -1.37337669e-04 -7.32411531e+00] [-2.67561277e-03 8.50100609e-05 9.99996417e-01 -1.79332907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52037174299997 meters 0.025029185334988106 Centerline is valid? [True, True] Translation: X:128.44, Y:-7.33, Z:-1.79 [[ 9.99819390e-01 1.88648391e-02 2.30330263e-03 1.28444862e+02] [-1.88646161e-02 9.99822040e-01 -1.18493819e-04 -7.32503480e+00] [-2.30512810e-03 7.50214985e-05 9.99997340e-01 -1.79482787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58037174299997 meters 0.025952239123806686 Centerline is valid? [True, True] Translation: X:128.50, Y:-7.33, Z:-1.79 [[ 9.99873186e-01 1.57084798e-02 2.61826814e-03 1.28504436e+02] [-1.57081836e-02 9.99876610e-01 -1.33661300e-04 -7.32923984e+00] [-2.62004469e-03 9.25161136e-05 9.99996563e-01 -1.79471989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64037174299997 meters 0.027528181472130493 Centerline is valid? [True, True] Translation: X:128.57, Y:-7.33, Z:-1.79 [[ 9.99962705e-01 8.22669155e-03 2.62863254e-03 1.28565089e+02] [-8.22636844e-03 9.99966154e-01 -1.33709293e-04 -7.33418263e+00] [-2.62964356e-03 1.12080207e-04 9.99996536e-01 -1.79422512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70037174299998 meters 0.02924735353508708 Centerline is valid? [True, True] Translation: X:128.63, Y:-7.34, Z:-1.79 [[ 9.99996349e-01 -9.54578140e-04 2.52805338e-03 1.28625370e+02] [ 9.54906163e-04 9.99999536e-01 -1.28549218e-04 -7.34015977e+00] [-2.52792949e-03 1.30962803e-04 9.99996796e-01 -1.79315922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76037174299998 meters 0.030018649570323516 Centerline is valid? [True, True] Translation: X:128.69, Y:-7.34, Z:-1.79 [[ 9.99977188e-01 -6.27057321e-03 2.51061605e-03 1.28685494e+02] [ 6.27091339e-03 9.99980329e-01 -1.27648862e-04 -7.34358849e+00] [-2.50976623e-03 1.43389806e-04 9.99996840e-01 -1.79359900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82037174299998 meters 0.034137698733109505 Centerline is valid? [True, True] Translation: X:128.75, Y:-7.35, Z:-1.80 [[ 9.99949379e-01 -1.00045458e-02 1.07151034e-03 1.28745289e+02] [ 1.00046099e-02 9.99949951e-01 -5.45123406e-05 -7.35180627e+00] [-1.07091134e-03 6.52296241e-05 9.99999424e-01 -1.79616691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88037174299998 meters 0.03212806634835121 Centerline is valid? [True, True] Translation: X:128.81, Y:-7.35, Z:-1.80 [[ 9.99949703e-01 -1.00061438e-02 6.84609957e-04 1.28807359e+02] [ 1.00061693e-02 9.99949936e-01 -3.38300208e-05 -7.35025975e+00] [-6.84237175e-04 4.06786423e-05 9.99999765e-01 -1.79695326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.940371743 meters 0.031359446227374625 Centerline is valid? [True, True] Translation: X:128.87, Y:-7.35, Z:-1.80 [[ 9.99984196e-01 -5.62174991e-03 6.55364989e-05 1.28868342e+02] [ 5.62175013e-03 9.99984198e-01 -3.07764628e-06 -7.34522724e+00] [-6.55181616e-05 3.44602746e-06 9.99999998e-01 -1.79627306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.000371743 meters 0.029954348520692516 Centerline is valid? [True, True] Translation: X:128.93, Y:-7.34, Z:-1.80 [[ 9.99995727e-01 -2.30231139e-03 1.80121691e-03 1.28928914e+02] [ 2.30248044e-03 9.99997345e-01 -9.17847063e-05 -7.33992801e+00] [-1.80100081e-03 9.59315809e-05 9.99998374e-01 -1.79588439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.060371743 meters 0.030638115708552127 Centerline is valid? [True, True] Translation: X:128.99, Y:-7.34, Z:-1.80 [[ 9.99998233e-01 -3.33911085e-04 1.84990401e-03 1.28989286e+02] [ 3.34085634e-04 9.99999940e-01 -9.40474124e-05 -7.33991863e+00] [-1.84987249e-03 9.46652726e-05 9.99998285e-01 -1.79624136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.120371743 meters 0.029320269184597635 Centerline is valid? [True, True] Translation: X:129.05, Y:-7.34, Z:-1.80 [[ 9.99999414e-01 -4.94991153e-04 9.62752403e-04 1.29051120e+02] [ 4.95038174e-04 9.99999876e-01 -4.86022934e-05 -7.33545489e+00] [-9.62728226e-04 4.90788641e-05 9.99999535e-01 -1.79753406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.180371743 meters 0.03104428733868298 Centerline is valid? [True, True] Translation: X:129.11, Y:-7.34, Z:-1.80 [[ 9.99994928e-01 -3.06818285e-03 8.54658408e-04 1.29111885e+02] [ 3.06822103e-03 9.99995292e-01 -4.33613481e-05 -7.33688615e+00] [-8.54521344e-04 4.59834091e-05 9.99999634e-01 -1.79962743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.240371743 meters 0.03038901651993007 Centerline is valid? [True, True] Translation: X:129.17, Y:-7.34, Z:-1.80 [[ 9.99973675e-01 -6.54071319e-03 3.14140186e-03 1.29173212e+02] [ 6.54124832e-03 9.99978593e-01 -1.60102201e-04 -7.33524978e+00] [-3.14028743e-03 1.80646676e-04 9.99995053e-01 -1.79908247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30037174299997 meters 0.03069171120799375 Centerline is valid? [True, True] Translation: X:129.24, Y:-7.34, Z:-1.80 [[ 9.99952455e-01 -8.70691352e-03 4.39071347e-03 1.29235041e+02] [ 8.70797115e-03 9.99962060e-01 -2.21818869e-04 -7.33713152e+00] [-4.38861553e-03 2.60042529e-04 9.99990336e-01 -1.79928695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36037174299997 meters 0.03639556607196284 Centerline is valid? [True, True] Translation: X:129.29, Y:-7.34, Z:-1.80 [[ 9.99890438e-01 -1.41966621e-02 4.19116657e-03 1.29294735e+02] [ 1.41976879e-02 9.99899185e-01 -2.15108451e-04 -7.34346593e+00] [-4.18769022e-03 2.74589758e-04 9.99991194e-01 -1.80036825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42037174299998 meters 0.035928163477913534 Centerline is valid? [True, True] Translation: X:129.36, Y:-7.34, Z:-1.80 [[ 9.99820861e-01 -1.86866409e-02 3.00920972e-03 1.29355470e+02] [ 1.86871893e-02 9.99825367e-01 -1.54254881e-04 -7.34082901e+00] [-3.00580171e-03 2.10460919e-04 9.99995460e-01 -1.80181630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48037174299998 meters 0.03814088528845476 Centerline is valid? [True, True] Translation: X:129.42, Y:-7.34, Z:-1.80 [[ 9.99816224e-01 -1.90263927e-02 2.34815938e-03 1.29416584e+02] [ 1.90267262e-02 9.99818968e-01 -1.19774387e-04 -7.34104340e+00] [-2.34545542e-03 1.64430161e-04 9.99997236e-01 -1.80356160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54037174299998 meters 0.038674586453440116 Centerline is valid? [True, True] Translation: X:129.48, Y:-7.34, Z:-1.80 [[ 9.99836347e-01 -1.78784614e-02 2.76398984e-03 1.29478053e+02] [ 1.78789205e-02 9.99840149e-01 -1.41475817e-04 -7.34085928e+00] [-2.76101865e-03 1.90869819e-04 9.99996170e-01 -1.80465003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.60037174299998 meters 0.03630873176789908 Centerline is valid? [True, True] Translation: X:129.54, Y:-7.34, Z:-1.81 [[ 9.99868105e-01 -1.59641981e-02 2.98624636e-03 1.29539783e+02] [ 1.59647259e-02 9.99872544e-01 -1.52992948e-04 -7.33629449e+00] [-2.98342334e-03 2.00647374e-04 9.99995529e-01 -1.80548558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66037174299998 meters 0.03234587030141357 Centerline is valid? [True, True] Translation: X:129.60, Y:-7.33, Z:-1.81 [[ 9.99937210e-01 -1.08694263e-02 2.72611758e-03 1.29600580e+02] [ 1.08698486e-02 9.99940912e-01 -1.40125144e-04 -7.32597667e+00] [-2.72443342e-03 1.69748831e-04 9.99996274e-01 -1.80605422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.720371743 meters 0.030490558296226777 Centerline is valid? [True, True] Translation: X:129.66, Y:-7.32, Z:-1.80 [[ 9.99966612e-01 -4.45772965e-03 6.84854485e-03 1.29661386e+02] [ 4.46024432e-03 9.99989991e-01 -3.51953809e-04 -7.31990517e+00] [-6.84690739e-03 3.82488241e-04 9.99976487e-01 -1.80426725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.780371743 meters 0.03102738160252718 Centerline is valid? [True, True] Translation: X:129.72, Y:-7.32, Z:-1.80 [[ 9.99955143e-01 -9.79910102e-04 9.42079736e-03 1.29721580e+02] [ 9.84516474e-04 9.99999398e-01 -4.84332632e-04 -7.32054785e+00] [-9.42031709e-03 4.93585837e-04 9.99955506e-01 -1.80358008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.840371743 meters 0.029212585865274702 Centerline is valid? [True, True] Translation: X:129.78, Y:-7.31, Z:-1.81 [[ 9.99942670e-01 2.64258793e-03 1.03765828e-02 1.29783007e+02] [-2.63719462e-03 9.99996380e-01 -5.33406123e-04 -7.31491798e+00] [-1.03779548e-02 5.06010475e-04 9.99946020e-01 -1.80506349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.900371743 meters 0.030209799032913195 Centerline is valid? [True, True] Translation: X:129.85, Y:-7.32, Z:-1.81 [[ 9.99947899e-01 2.43532971e-03 9.91303159e-03 1.29845415e+02] [-2.43040494e-03 9.99996917e-01 -5.08813974e-04 -7.31731800e+00] [-9.91424016e-03 4.84694783e-04 9.99950735e-01 -1.80820720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.960371743 meters 0.03394077694630912 Centerline is valid? [True, True] Translation: X:129.91, Y:-7.32, Z:-1.81 [[ 9.99953951e-01 -4.25516875e-03 8.60171358e-03 1.29906481e+02] [ 4.25914778e-03 9.99990831e-01 -4.44319335e-04 -7.32211807e+00] [-8.59974406e-03 4.80934844e-04 9.99962906e-01 -1.81104737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02037174299997 meters 0.03334965419527371 Centerline is valid? [True, True] Translation: X:129.97, Y:-7.32, Z:-1.81 [[ 9.99899159e-01 -1.23084660e-02 7.08337187e-03 1.29967489e+02] [ 1.23113674e-02 9.99924145e-01 -3.66154500e-04 -7.32012908e+00] [-7.07832776e-03 4.53323570e-04 9.99974846e-01 -1.81239043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08037174299997 meters 0.03680407424372017 Centerline is valid? [True, True] Translation: X:130.03, Y:-7.32, Z:-1.81 [[ 9.99870250e-01 -1.47661102e-02 6.43774343e-03 1.30027270e+02] [ 1.47685581e-02 9.99890883e-01 -3.32867445e-04 -7.32412539e+00] [-6.43212581e-03 4.27900444e-04 9.99979222e-01 -1.81389446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14037174299997 meters 0.036707950279732886 Centerline is valid? [True, True] Translation: X:130.09, Y:-7.32, Z:-1.81 [[ 9.99875572e-01 -1.36250811e-02 7.94963608e-03 1.30090035e+02] [ 1.36287737e-02 9.99907040e-01 -4.10503093e-04 -7.32305360e+00] [-7.94330394e-03 5.18795807e-04 9.99968317e-01 -1.81365354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20037174299998 meters 0.03506363653651865 Centerline is valid? [True, True] Translation: X:130.15, Y:-7.32, Z:-1.81 [[ 9.99905713e-01 -9.34296059e-03 1.00634688e-02 1.30150773e+02] [ 9.34867780e-03 9.99956164e-01 -5.21222010e-04 -7.31808252e+00] [-1.00581579e-02 6.15252993e-04 9.99949226e-01 -1.81281883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26037174299998 meters 0.03304921931109303 Centerline is valid? [True, True] Translation: X:130.21, Y:-7.31, Z:-1.81 [[ 9.99916437e-01 -5.93091270e-03 1.14866666e-02 1.30211859e+02] [ 5.93813673e-03 9.99982192e-01 -5.94901641e-04 -7.31495101e+00] [-1.14829337e-02 6.63061326e-04 9.99933849e-01 -1.81241816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.32037174299998 meters 0.03054338743671835 Centerline is valid? [True, True] Translation: X:130.27, Y:-7.31, Z:-1.81 [[ 9.99927359e-01 -2.69393097e-03 1.17481851e-02 1.30272980e+02] [ 2.70126840e-03 9.99996166e-01 -6.08735550e-04 -7.30845592e+00] [-1.17465001e-02 6.40426331e-04 9.99930802e-01 -1.81379773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38037174299998 meters 0.030351271792127838 Centerline is valid? [True, True] Translation: X:130.34, Y:-7.31, Z:-1.82 [[ 9.99936998e-01 -1.54314567e-03 1.11184257e-02 1.30335297e+02] [ 1.54964689e-03 9.99998633e-01 -5.76133745e-04 -7.30892403e+00] [-1.11175214e-02 5.93327082e-04 9.99938022e-01 -1.81586442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.440371743 meters 0.028416647696390965 Centerline is valid? [True, True] Translation: X:130.40, Y:-7.31, Z:-1.82 [[ 9.99937582e-01 6.13315118e-04 1.11559431e-02 1.30397453e+02] [-6.06894167e-04 9.99999648e-01 -5.78939504e-04 -7.30575745e+00] [-1.11562942e-02 5.72132891e-04 9.99937603e-01 -1.81795475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.500371743 meters 0.03138640296430191 Centerline is valid? [True, True] Translation: X:130.46, Y:-7.31, Z:-1.82 [[ 9.99936986e-01 2.41901865e-03 1.09623412e-02 1.30458118e+02] [-2.41291971e-03 9.99996927e-01 -5.69546522e-04 -7.30954545e+00] [-1.09636852e-02 5.43059384e-04 9.99939750e-01 -1.81885350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.560371743 meters 0.028714958842273087 Centerline is valid? [True, True] Translation: X:130.52, Y:-7.30, Z:-1.82 [[ 9.99927745e-01 4.48228429e-03 1.11541153e-02 1.30519765e+02] [-4.47609350e-03 9.99989814e-01 -5.79926007e-04 -7.30400436e+00] [-1.11566011e-02 5.29957242e-04 9.99937623e-01 -1.81962456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.620371743 meters 0.029202335356321257 Centerline is valid? [True, True] Translation: X:130.58, Y:-7.31, Z:-1.82 [[ 9.99938056e-01 4.89919449e-03 9.99409357e-03 1.30582671e+02] [-4.89425225e-03 9.99987888e-01 -5.18913400e-04 -7.30502579e+00] [-9.99651479e-03 4.69967641e-04 9.99949923e-01 -1.82196631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.680371743 meters 0.028794891940298564 Centerline is valid? [True, True] Translation: X:130.64, Y:-7.31, Z:-1.82 [[ 9.99954323e-01 2.91977670e-03 9.10087322e-03 1.30644754e+02] [-2.91556658e-03 9.99995637e-01 -4.75839986e-04 -7.30644368e+00] [-9.10222285e-03 4.49284049e-04 9.99958473e-01 -1.82354848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.740371743 meters 0.03157832198660465 Centerline is valid? [True, True] Translation: X:130.70, Y:-7.31, Z:-1.82 [[ 9.99950640e-01 -1.44748181e-03 9.82970022e-03 1.30704150e+02] [ 1.45261466e-03 9.99998812e-01 -5.15057667e-04 -7.31277667e+00] [-9.82894301e-03 5.29311010e-04 9.99951555e-01 -1.82373919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80037174299997 meters 0.030892276441027815 Centerline is valid? [True, True] Translation: X:130.77, Y:-7.31, Z:-1.82 [[ 9.99946317e-01 -3.13733092e-03 9.87526690e-03 1.30766187e+02] [ 3.14259059e-03 9.99994928e-01 -5.17138203e-04 -7.31491733e+00] [-9.87359438e-03 5.48144362e-04 9.99951105e-01 -1.82416427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86037174299997 meters 0.03270370030292664 Centerline is valid? [True, True] Translation: X:130.83, Y:-7.32, Z:-1.82 [[ 9.99921679e-01 -7.74167955e-03 9.83376069e-03 1.30826879e+02] [ 7.74712689e-03 9.99969857e-01 -5.15970709e-04 -7.32003433e+00] [-9.82946980e-03 5.92113690e-04 9.99951514e-01 -1.82470126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92037174299998 meters 0.035575207257475476 Centerline is valid? [True, True] Translation: X:130.89, Y:-7.33, Z:-1.83 [[ 9.99901664e-01 -1.14209637e-02 8.13785516e-03 1.30886174e+02] [ 1.14248143e-02 9.99934644e-01 -4.26838541e-04 -7.32530286e+00] [-8.13244839e-03 5.19770052e-04 9.99966796e-01 -1.82664243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98037174299998 meters 0.04106193705347518 Centerline is valid? [True, True] Translation: X:130.95, Y:-7.33, Z:-1.83 [[ 9.99899871e-01 -1.28398628e-02 5.94859789e-03 1.30947095e+02] [ 1.28419447e-02 9.99917490e-01 -3.11921234e-04 -7.33395574e+00] [-5.94410205e-03 3.88281566e-04 9.99982258e-01 -1.82980264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04037174299998 meters 0.035376990317135655 Centerline is valid? [True, True] Translation: X:131.01, Y:-7.32, Z:-1.83 [[ 9.99907158e-01 -1.20679653e-02 6.32763619e-03 1.31010460e+02] [ 1.20703062e-02 9.99927096e-01 -3.31888013e-04 -7.32480504e+00] [-6.32316967e-03 4.08233707e-04 9.99979925e-01 -1.82918487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10037174299998 meters 0.03588889640967648 Centerline is valid? [True, True] Translation: X:131.07, Y:-7.33, Z:-1.83 [[ 9.99911433e-01 -1.10570806e-02 7.40717483e-03 1.31072321e+02] [ 1.10602682e-02 9.99938757e-01 -3.89521910e-04 -7.32585152e+00] [-7.40241422e-03 4.71412751e-04 9.99972491e-01 -1.82958961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16037174299998 meters 0.03505526549206098 Centerline is valid? [True, True] Translation: X:131.13, Y:-7.32, Z:-1.83 [[ 9.99930650e-01 -9.41544803e-03 7.07428569e-03 1.31133689e+02] [ 9.41831970e-03 9.99955577e-01 -3.72725776e-04 -7.32262928e+00] [-7.07046205e-03 4.39327811e-04 9.99974907e-01 -1.83058126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.220371743 meters 0.03544444818315364 Centerline is valid? [True, True] Translation: X:131.20, Y:-7.32, Z:-1.83 [[ 9.99935145e-01 -9.22835439e-03 6.67405340e-03 1.31196170e+02] [ 9.23090585e-03 9.99957332e-01 -3.51591281e-04 -7.32399263e+00] [-6.67052403e-03 4.13176037e-04 9.99977666e-01 -1.83234485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.280371743 meters 0.03513673992244926 Centerline is valid? [True, True] Translation: X:131.26, Y:-7.32, Z:-1.83 [[ 9.99908397e-01 -1.24012546e-02 5.42269746e-03 1.31257262e+02] [ 1.24029890e-02 9.99923039e-01 -2.86327477e-04 -7.32362553e+00] [-5.41872931e-03 3.53558905e-04 9.99985256e-01 -1.83466052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.340371743 meters 0.038506671047894785 Centerline is valid? [True, True] Translation: X:131.32, Y:-7.33, Z:-1.84 [[ 9.99846146e-01 -1.69771469e-02 4.41132948e-03 1.31316232e+02] [ 1.69783396e-02 9.99855830e-01 -2.33045873e-04 -7.32922987e+00] [-4.40673704e-03 3.07907068e-04 9.99990243e-01 -1.83627319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.400371743 meters 0.03920362326215839 Centerline is valid? [True, True] Translation: X:131.38, Y:-7.33, Z:-1.84 [[ 9.99863229e-01 -1.63442431e-02 2.52760086e-03 1.31378696e+02] [ 1.63446307e-02 9.99866409e-01 -1.32784290e-04 -7.33056321e+00] [-2.52509294e-03 1.74078832e-04 9.99996797e-01 -1.83967722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.460371743 meters 0.03850295806435001 Centerline is valid? [True, True] Translation: X:131.44, Y:-7.33, Z:-1.84 [[ 9.99900248e-01 -1.40868656e-02 1.02711769e-03 1.31439842e+02] [ 1.40869284e-02 9.99900773e-01 -5.39020681e-05 -7.33051978e+00] [-1.02625646e-03 6.83656246e-05 9.99999471e-01 -1.84184645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52037174299997 meters 0.03763998474868662 Centerline is valid? [True, True] Translation: X:131.50, Y:-7.33, Z:-1.84 [[ 9.99934637e-01 -1.13319714e-02 1.51906390e-03 1.31500433e+02] [ 1.13321067e-02 9.99935786e-01 -8.04572134e-05 -7.32826587e+00] [-1.51805461e-03 9.76661486e-05 9.99998843e-01 -1.84192890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58037174299997 meters 0.03611690422828993 Centerline is valid? [True, True] Translation: X:131.56, Y:-7.33, Z:-1.84 [[ 9.99962729e-01 -8.30337575e-03 2.36533865e-03 1.31561638e+02] [ 8.30369475e-03 9.99965516e-01 -1.25074677e-04 -7.32677624e+00] [-2.36421855e-03 1.44711065e-04 9.99997195e-01 -1.84145820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64037174299997 meters 0.03435724982128229 Centerline is valid? [True, True] Translation: X:131.62, Y:-7.32, Z:-1.84 [[ 9.99978595e-01 -3.22207758e-03 5.69462263e-03 1.31622634e+02] [ 3.22384789e-03 9.99994758e-01 -3.01720900e-04 -7.32316222e+00] [-5.69362061e-03 3.20073039e-04 9.99983740e-01 -1.83995349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70037174299998 meters 0.03143666053057876 Centerline is valid? [True, True] Translation: X:131.68, Y:-7.32, Z:-1.84 [[ 9.99969449e-01 1.43254841e-03 7.68426671e-03 1.31683250e+02] [-1.42946229e-03 9.99998895e-01 -4.07092272e-04 -7.31752228e+00] [-7.68484140e-03 3.96095465e-04 9.99970393e-01 -1.83905603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76037174299998 meters 0.030393954982766702 Centerline is valid? [True, True] Translation: X:131.75, Y:-7.32, Z:-1.84 [[ 9.99970261e-01 2.53563321e-03 7.28341244e-03 1.31745745e+02] [-2.53289291e-03 9.99996718e-01 -3.85439050e-04 -7.31677987e+00] [-7.28436587e-03 3.66979484e-04 9.99973401e-01 -1.84129273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82037174299998 meters 0.033312375820589525 Centerline is valid? [True, True] Translation: X:131.81, Y:-7.32, Z:-1.84 [[ 9.99981299e-01 1.96802423e-03 5.79036410e-03 1.31807047e+02] [-1.96628914e-03 9.99998020e-01 -3.05328295e-04 -7.32414316e+00] [-5.79095353e-03 2.93937055e-04 9.99983189e-01 -1.84401868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88037174299998 meters 0.035070710176496024 Centerline is valid? [True, True] Translation: X:131.87, Y:-7.33, Z:-1.85 [[ 9.99983543e-01 9.53947157e-04 5.65726294e-03 1.31867765e+02] [-9.52267274e-04 9.99999502e-01 -2.99628974e-04 -7.33091334e+00] [-5.65754595e-03 2.94236817e-04 9.99983953e-01 -1.84659155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.940371743 meters 0.03665343083032252 Centerline is valid? [True, True] Translation: X:131.93, Y:-7.34, Z:-1.85 [[ 9.99980128e-01 5.12159727e-04 6.28341686e-03 1.31930008e+02] [-5.10068375e-04 9.99999814e-01 -3.34434751e-04 -7.33756428e+00] [-6.28358698e-03 3.31223132e-04 9.99980203e-01 -1.84826446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.000371743 meters 0.03323916881854782 Centerline is valid? [True, True] Translation: X:131.99, Y:-7.34, Z:-1.85 [[ 9.99978289e-01 8.03098608e-04 6.54041080e-03 1.31992512e+02] [-8.00819862e-04 9.99999618e-01 -3.51021584e-04 -7.33634966e+00] [-6.54069021e-03 3.45776272e-04 9.99978550e-01 -1.84897082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.060371743 meters 0.03181289375826389 Centerline is valid? [True, True] Translation: X:132.06, Y:-7.34, Z:-1.85 [[ 9.99968315e-01 9.84739437e-04 7.89935661e-03 1.32055007e+02] [-9.81414946e-04 9.99999428e-01 -4.24721152e-04 -7.33823665e+00] [-7.89977033e-03 4.16955148e-04 9.99968709e-01 -1.84886727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.120371743 meters 0.031929709126308006 Centerline is valid? [True, True] Translation: X:132.12, Y:-7.34, Z:-1.85 [[ 9.99957790e-01 9.64819941e-04 9.13713667e-03 1.32118029e+02] [-9.60373224e-04 9.99999418e-01 -4.91039315e-04 -7.34337492e+00] [-9.13760512e-03 4.82243527e-04 9.99958135e-01 -1.84934622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.180371743 meters 0.034618715167812744 Centerline is valid? [True, True] Translation: X:132.18, Y:-7.35, Z:-1.85 [[ 9.99972525e-01 1.49288123e-04 7.41128362e-03 1.32178615e+02] [-1.46327066e-04 9.99999909e-01 -4.00074357e-04 -7.35211654e+00] [-7.41134267e-03 3.98978894e-04 9.99972456e-01 -1.85339484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.240371743 meters 0.03616303120696253 Centerline is valid? [True, True] Translation: X:132.24, Y:-7.36, Z:-1.86 [[ 9.99972799e-01 1.86456557e-04 7.37331586e-03 1.32240823e+02] [-1.83511497e-04 9.99999903e-01 -4.00095983e-04 -7.35982183e+00] [-7.37338975e-03 3.98732012e-04 9.99972737e-01 -1.85603742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30037174299997 meters 0.03518169777996865 Centerline is valid? [True, True] Translation: X:132.30, Y:-7.36, Z:-1.86 [[ 9.99966914e-01 7.71824350e-04 8.09784847e-03 1.32302715e+02] [-7.68272855e-04 9.99999607e-01 -4.41674320e-04 -7.36311980e+00] [-8.09818618e-03 4.35438350e-04 9.99967114e-01 -1.85705532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36037174299997 meters 0.03119380124541792 Centerline is valid? [True, True] Translation: X:132.37, Y:-7.36, Z:-1.86 [[ 9.99956068e-01 9.62939609e-04 9.32390660e-03 1.32365160e+02] [-9.58232389e-04 9.99999411e-01 -5.09309052e-04 -7.36096287e+00] [-9.32439155e-03 5.00352208e-04 9.99956402e-01 -1.85666919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42037174299998 meters 0.03142916504554128 Centerline is valid? [True, True] Translation: X:132.43, Y:-7.37, Z:-1.86 [[ 9.99943913e-01 1.29442578e-03 1.05116674e-02 1.32426917e+02] [-1.28845166e-03 9.99999005e-01 -5.75084579e-04 -7.36774906e+00] [-1.05124013e-02 5.61508549e-04 9.99944586e-01 -1.85782010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48037174299998 meters 0.0313034686539867 Centerline is valid? [True, True] Translation: X:132.49, Y:-7.37, Z:-1.86 [[ 9.99939589e-01 2.36612229e-03 1.07340765e-02 1.32488521e+02] [-2.35994566e-03 9.99997042e-01 -5.88052926e-04 -7.37335758e+00] [-1.07354362e-02 5.62685563e-04 9.99942215e-01 -1.85816237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54037174299998 meters 0.03068375030122342 Centerline is valid? [True, True] Translation: X:132.55, Y:-7.38, Z:-1.86 [[ 9.99937654e-01 3.85120920e-03 1.04812641e-02 1.32550271e+02] [-3.84539374e-03 9.99992441e-01 -5.74939975e-04 -7.37740063e+00] [-1.04833991e-02 5.34599542e-04 9.99944905e-01 -1.85868215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60037174299998 meters 0.030320422676166508 Centerline is valid? [True, True] Translation: X:132.61, Y:-7.38, Z:-1.86 [[ 9.99940155e-01 4.62905115e-03 9.91254940e-03 1.32612258e+02] [-4.62388864e-03 9.99989162e-01 -5.43660442e-04 -7.38245810e+00] [-9.91495860e-03 4.97793382e-04 9.99950722e-01 -1.86134026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66037174299998 meters 0.03218591758307391 Centerline is valid? [True, True] Translation: X:132.67, Y:-7.39, Z:-1.86 [[ 9.99937479e-01 4.36121320e-03 1.02965323e-02 1.32673525e+02] [-4.35559956e-03 9.99990353e-01 -5.67558774e-04 -7.39184747e+00] [-1.02989082e-02 5.22675718e-04 9.99946828e-01 -1.86308635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.720371743 meters 0.03097212798043871 Centerline is valid? [True, True] Translation: X:132.74, Y:-7.39, Z:-1.86 [[ 9.99929763e-01 4.02187731e-03 1.11487164e-02 1.32735943e+02] [-4.01524366e-03 9.99991748e-01 -6.17334236e-04 -7.39276983e+00] [-1.11511072e-02 5.72526064e-04 9.99937661e-01 -1.86222326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.780371743 meters 0.033754707732121005 Centerline is valid? [True, True] Translation: X:132.80, Y:-7.40, Z:-1.86 [[ 9.99929750e-01 2.28947294e-03 1.16298150e-02 1.32796344e+02] [-2.28209466e-03 9.99997186e-01 -6.47658677e-04 -7.40215413e+00] [-1.16312651e-02 6.21072841e-04 9.99932162e-01 -1.86302402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.840371743 meters 0.03339661282439345 Centerline is valid? [True, True] Translation: X:132.86, Y:-7.41, Z:-1.87 [[ 9.99951154e-01 -1.69709109e-03 9.73706607e-03 1.32857161e+02] [ 1.70245417e-03 9.99998404e-01 -5.42528244e-04 -7.40744274e+00] [-9.73612981e-03 5.59078652e-04 9.99952446e-01 -1.86520638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.900371743 meters 0.038221396911761574 Centerline is valid? [True, True] Translation: X:132.92, Y:-7.42, Z:-1.87 [[ 9.99951038e-01 -5.26589109e-03 8.37804446e-03 1.32916158e+02] [ 5.26998981e-03 9.99986004e-01 -4.67220911e-04 -7.41977238e+00] [-8.37546687e-03 5.11350244e-04 9.99964794e-01 -1.86698820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.960371743 meters 0.03532051017112129 Centerline is valid? [True, True] Translation: X:132.98, Y:-7.42, Z:-1.87 [[ 9.99939447e-01 -9.22968856e-03 5.99288022e-03 1.32976809e+02] [ 9.23185642e-03 9.99957330e-01 -3.34176352e-04 -7.42135617e+00] [-5.98954016e-03 3.89481526e-04 9.99981987e-01 -1.86909073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02037174299997 meters 0.03736364561327378 Centerline is valid? [True, True] Translation: X:133.04, Y:-7.43, Z:-1.87 [[ 9.99927623e-01 -1.11204455e-02 4.59169112e-03 1.33037959e+02] [ 1.11217366e-02 9.99938119e-01 -2.55741720e-04 -7.43033050e+00] [-4.58856302e-03 3.06790790e-04 9.99989425e-01 -1.87125649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08037174299997 meters 0.03846540383302041 Centerline is valid? [True, True] Translation: X:133.10, Y:-7.44, Z:-1.87 [[ 9.99923760e-01 -1.11560469e-02 5.29307255e-03 1.33099970e+02] [ 1.11577620e-02 9.99937707e-01 -2.94602564e-04 -7.43567961e+00] [-5.28945622e-03 3.53638947e-04 9.99985948e-01 -1.87117816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14037174299997 meters 0.03846129357780294 Centerline is valid? [True, True] Translation: X:133.16, Y:-7.44, Z:-1.87 [[ 9.99919899e-01 -1.01723915e-02 7.53108988e-03 1.33162649e+02] [ 1.01758450e-02 9.99948136e-01 -4.20382753e-04 -7.44069372e+00] [-7.52642299e-03 4.96984283e-04 9.99971553e-01 -1.86936674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20037174299998 meters 0.04237278865681871 Centerline is valid? [True, True] Translation: X:133.22, Y:-7.45, Z:-1.87 [[ 9.99916731e-01 -9.41349178e-03 8.82704869e-03 1.33223898e+02] [ 9.41821632e-03 9.99955526e-01 -4.93817794e-04 -7.45136843e+00] [-8.82200757e-03 5.76911729e-04 9.99960919e-01 -1.86904187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26037174299998 meters 0.041022691551886994 Centerline is valid? [True, True] Translation: X:133.28, Y:-7.45, Z:-1.87 [[ 9.99933039e-01 -7.85085105e-03 8.50181446e-03 1.33284995e+02] [ 7.85518407e-03 9.99969034e-01 -4.76385993e-04 -7.45479884e+00] [-8.49781115e-03 5.43137412e-04 9.99963745e-01 -1.86997409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.32037174299998 meters 0.034208043620365856 Centerline is valid? [True, True] Translation: X:133.35, Y:-7.45, Z:-1.87 [[ 9.99952039e-01 -6.33693340e-03 7.46750076e-03 1.33347220e+02] [ 6.34023378e-03 9.99979813e-01 -4.18374671e-04 -7.45091686e+00] [-7.46469880e-03 4.65700306e-04 9.99972030e-01 -1.87206527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38037174299998 meters 0.033856745374241735 Centerline is valid? [True, True] Translation: X:133.41, Y:-7.46, Z:-1.87 [[ 9.99973122e-01 -4.43364615e-03 5.83930622e-03 1.33408428e+02] [ 4.43563479e-03 9.99990109e-01 -3.27654346e-04 -7.45668508e+00] [-5.83779576e-03 3.53546569e-04 9.99982897e-01 -1.87446174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.440371743 meters 0.034254736962728245 Centerline is valid? [True, True] Translation: X:133.47, Y:-7.46, Z:-1.88 [[ 9.99981822e-01 -3.65686405e-03 4.79405529e-03 1.33470692e+02] [ 3.65819439e-03 9.99993273e-01 -2.68757799e-04 -7.46284111e+00] [-4.79304023e-03 2.86290499e-04 9.99988472e-01 -1.87644597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.500371743 meters 0.036989534554964926 Centerline is valid? [True, True] Translation: X:133.53, Y:-7.48, Z:-1.88 [[ 9.99991657e-01 -2.98178193e-03 2.79193919e-03 1.33531020e+02] [ 2.98223048e-03 9.99995541e-01 -1.56508345e-04 -7.47507765e+00] [-2.79146007e-03 1.64833246e-04 9.99996090e-01 -1.88042854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.560371743 meters 0.03279834946789096 Centerline is valid? [True, True] Translation: X:133.59, Y:-7.48, Z:-1.88 [[ 9.99995035e-01 -2.64105049e-03 1.71923135e-03 1.33592816e+02] [ 2.64121932e-03 9.99996507e-01 -9.59367040e-05 -7.47558886e+00] [-1.71897198e-03 1.00477095e-04 9.99998518e-01 -1.88082796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.620371743 meters 0.034820001921560505 Centerline is valid? [True, True] Translation: X:133.65, Y:-7.49, Z:-1.88 [[ 9.99995034e-01 -2.30496604e-03 2.14936450e-03 1.33653601e+02] [ 2.30522871e-03 9.99997336e-01 -1.19739224e-04 -7.48640930e+00] [-2.14908278e-03 1.24693406e-04 9.99997683e-01 -1.88272150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.680371743 meters 0.0337730992189806 Centerline is valid? [True, True] Translation: X:133.71, Y:-7.49, Z:-1.88 [[ 9.99999261e-01 -1.52237977e-04 1.20582603e-03 1.33714557e+02] [ 1.52319721e-04 9.99999986e-01 -6.76992715e-05 -7.49190059e+00] [-1.20581571e-03 6.78828926e-05 9.99999271e-01 -1.88442679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.740371743 meters 0.03327838171114736 Centerline is valid? [True, True] Translation: X:133.78, Y:-7.50, Z:-1.89 [[ 9.99998752e-01 1.57994809e-03 -1.41279970e-05 1.33775294e+02] [-1.57994807e-03 9.99998752e-01 1.29773133e-06 -7.49734333e+00] [ 1.41300296e-05 -1.27540820e-06 1.00000000e+00 -1.88701485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80037174299997 meters 0.03405603615380411 Centerline is valid? [True, True] Translation: X:133.83, Y:-7.50, Z:-1.89 [[ 9.99997852e-01 1.92368113e-03 -7.71138494e-04 1.33834280e+02] [-1.92364844e-03 9.99998149e-01 4.31300053e-05 -7.50345070e+00] [ 7.71220034e-04 -4.16465133e-05 9.99999702e-01 -1.88894194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86037174299997 meters 0.031724960889664575 Centerline is valid? [True, True] Translation: X:133.89, Y:-7.51, Z:-1.89 [[ 9.99999340e-01 7.48251308e-04 -8.72301578e-04 1.33894272e+02] [-7.48209024e-04 9.99999719e-01 4.87995956e-05 -7.50517195e+00] [ 8.72337847e-04 -4.81468994e-05 9.99999618e-01 -1.88795756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92037174299998 meters 0.032791015917937476 Centerline is valid? [True, True] Translation: X:133.95, Y:-7.51, Z:-1.89 [[ 9.99998931e-01 -5.45032925e-04 1.35711927e-03 1.33953423e+02] [ 5.45138143e-04 9.99999848e-01 -7.71622296e-05 -7.51210895e+00] [-1.35707701e-03 7.79019646e-05 9.99999076e-01 -1.88708057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98037174299998 meters 0.03219454591768207 Centerline is valid? [True, True] Translation: X:134.01, Y:-7.52, Z:-1.89 [[ 9.99988693e-01 -2.53816334e-03 4.02136289e-03 1.34014743e+02] [ 2.53909582e-03 9.99996751e-01 -2.26794693e-04 -7.51680487e+00] [-4.02077418e-03 2.37002754e-04 9.99991889e-01 -1.88503363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04037174299998 meters 0.03313042905911834 Centerline is valid? [True, True] Translation: X:134.08, Y:-7.52, Z:-1.88 [[ 9.99979851e-01 -4.04360671e-03 4.89362793e-03 1.34076512e+02] [ 4.04500536e-03 9.99991781e-01 -2.75945909e-04 -7.52335275e+00] [-4.89247189e-03 2.95735100e-04 9.99987988e-01 -1.88488420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10037174299998 meters 0.03470896461568998 Centerline is valid? [True, True] Translation: X:134.14, Y:-7.53, Z:-1.89 [[ 9.99977005e-01 -5.09605129e-03 4.47426741e-03 1.34137022e+02] [ 5.09722981e-03 9.99986977e-01 -2.52037170e-04 -7.53117144e+00] [-4.47292475e-03 2.74837743e-04 9.99989959e-01 -1.88702768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.16037174299998 meters 0.03315227440502879 Centerline is valid? [True, True] Translation: X:134.20, Y:-7.53, Z:-1.89 [[ 9.99978793e-01 -5.91284900e-03 2.72988192e-03 1.34198906e+02] [ 5.91329139e-03 9.99982504e-01 -1.54012608e-04 -7.53431717e+00] [-2.72892350e-03 1.70151929e-04 9.99996262e-01 -1.88942413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.220371743 meters 0.03384886472699985 Centerline is valid? [True, True] Translation: X:134.26, Y:-7.54, Z:-1.89 [[ 9.99974478e-01 -6.69758615e-03 2.48710850e-03 1.34261004e+02] [ 6.69795603e-03 9.99977559e-01 -1.40417810e-04 -7.54095795e+00] [-2.48611222e-03 1.57072770e-04 9.99996897e-01 -1.89061204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.280371743 meters 0.03570850703183518 Centerline is valid? [True, True] Translation: X:134.32, Y:-7.55, Z:-1.89 [[ 9.99976585e-01 -6.41330341e-03 2.38736106e-03 1.34322099e+02] [ 6.41364425e-03 9.99979423e-01 -1.35140629e-04 -7.54924756e+00] [-2.38644524e-03 1.50449149e-04 9.99997141e-01 -1.89245456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.340371743 meters 0.03189451192444865 Centerline is valid? [True, True] Translation: X:134.38, Y:-7.55, Z:-1.89 [[ 9.99989302e-01 -4.16327754e-03 2.01587718e-03 1.34383554e+02] [ 4.16351640e-03 9.99991326e-01 -1.14306125e-04 -7.54711910e+00] [-2.01538381e-03 1.22698040e-04 9.99997962e-01 -1.89144438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.400371743 meters 0.03091882950029551 Centerline is valid? [True, True] Translation: X:134.44, Y:-7.55, Z:-1.89 [[ 9.99994477e-01 -7.34196867e-04 3.24151811e-03 1.34444654e+02] [ 7.34798576e-04 9.99999713e-01 -1.84438577e-04 -7.54807447e+00] [-3.24138177e-03 1.86819421e-04 9.99994729e-01 -1.89100306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.460371743 meters 0.03017164298185132 Centerline is valid? [True, True] Translation: X:134.50, Y:-7.55, Z:-1.89 [[ 9.99975223e-01 4.25385226e-03 5.60879560e-03 1.34504417e+02] [-4.25212568e-03 9.99990909e-01 -3.19722992e-04 -7.55019715e+00] [-5.61010466e-03 2.95865767e-04 9.99984219e-01 -1.88978735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52037174299997 meters 0.030711850762877576 Centerline is valid? [True, True] Translation: X:134.57, Y:-7.55, Z:-1.89 [[ 9.99959399e-01 6.41348147e-03 6.32986229e-03 1.34565489e+02] [-6.41132815e-03 9.99979382e-01 -3.60417426e-04 -7.55274345e+00] [-6.33204331e-03 3.19819969e-04 9.99979901e-01 -1.88978707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58037174299997 meters 0.028738847615345495 Centerline is valid? [True, True] Translation: X:134.63, Y:-7.55, Z:-1.89 [[ 9.99964292e-01 5.04789871e-03 6.77735308e-03 1.34626300e+02] [-5.04540041e-03 9.99987198e-01 -3.85671417e-04 -7.55386066e+00] [-6.77921314e-03 3.51463185e-04 9.99976959e-01 -1.89012939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64037174299997 meters 0.02990446181305303 Centerline is valid? [True, True] Translation: X:134.69, Y:-7.56, Z:-1.89 [[ 9.99975629e-01 2.98743613e-03 6.31008789e-03 1.34687624e+02] [-2.98522571e-03 9.99995480e-01 -3.59689293e-04 -7.56020412e+00] [-6.31113392e-03 3.40843491e-04 9.99980027e-01 -1.89202473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70037174299998 meters 0.030427759951237816 Centerline is valid? [True, True] Translation: X:134.75, Y:-7.57, Z:-1.89 [[ 9.99984299e-01 1.13285314e-03 5.48809629e-03 1.34749506e+02] [-1.13115425e-03 9.99999311e-01 -3.12651889e-04 -7.56551091e+00] [-5.48844670e-03 3.06439096e-04 9.99984891e-01 -1.89410064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76037174299998 meters 0.03387563120072325 Centerline is valid? [True, True] Translation: X:134.81, Y:-7.57, Z:-1.90 [[ 9.99990740e-01 -7.27953691e-04 4.24136907e-03 1.34809179e+02] [ 7.28988431e-04 9.99999705e-01 -2.42422772e-04 -7.57217425e+00] [-4.24119135e-03 2.45512436e-04 9.99990976e-01 -1.89571563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.82037174299998 meters 0.030796535748671257 Centerline is valid? [True, True] Translation: X:134.87, Y:-7.57, Z:-1.90 [[ 9.99989968e-01 -1.33532899e-03 4.27552877e-03 1.34871809e+02] [ 1.33637521e-03 9.99999078e-01 -2.41851970e-04 -7.57033722e+00] [-4.27520187e-03 2.47563255e-04 9.99990831e-01 -1.89631292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88037174299998 meters 0.03273389958255991 Centerline is valid? [True, True] Translation: X:134.93, Y:-7.58, Z:-1.90 [[ 9.99985040e-01 -1.84924518e-03 5.14778775e-03 1.34932692e+02] [ 1.85078481e-03 9.99998244e-01 -2.94338244e-04 -7.57526826e+00] [-5.14723441e-03 3.03861288e-04 9.99986707e-01 -1.89672418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.940371743 meters 0.0364708554010012 Centerline is valid? [True, True] Translation: X:134.99, Y:-7.58, Z:-1.90 [[ 9.99982885e-01 -1.66619603e-03 5.60840234e-03 1.34993477e+02] [ 1.66802995e-03 9.99998557e-01 -3.22333645e-04 -7.58288655e+00] [-5.60785718e-03 3.31683112e-04 9.99984221e-01 -1.89785562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.000371743 meters 0.0339888603943275 Centerline is valid? [True, True] Translation: X:135.06, Y:-7.58, Z:-1.90 [[ 9.99980997e-01 -2.48509739e-03 5.64175373e-03 1.35055937e+02] [ 2.48695851e-03 9.99996855e-01 -3.22892137e-04 -7.58170399e+00] [-5.64093357e-03 3.36916809e-04 9.99984033e-01 -1.89928757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.060371743 meters 0.03615465926254489 Centerline is valid? [True, True] Translation: X:135.12, Y:-7.59, Z:-1.90 [[ 9.99978622e-01 -3.45049757e-03 5.55432976e-03 1.35117318e+02] [ 3.45233311e-03 9.99993989e-01 -3.20914626e-04 -7.58783072e+00] [-5.55318906e-03 3.40083162e-04 9.99984523e-01 -1.90079742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.120371743 meters 0.03709406512930127 Centerline is valid? [True, True] Translation: X:135.18, Y:-7.59, Z:-1.90 [[ 9.99974899e-01 -4.22700126e-03 5.68626932e-03 1.35178127e+02] [ 4.22893940e-03 9.99991004e-01 -3.28866853e-04 -7.59158516e+00] [-5.68482804e-03 3.52905486e-04 9.99983779e-01 -1.90121058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.180371743 meters 0.03759066202917369 Centerline is valid? [True, True] Translation: X:135.24, Y:-7.59, Z:-1.90 [[ 9.99980564e-01 -3.48691771e-03 5.16843615e-03 1.35239926e+02] [ 3.48850944e-03 9.99993870e-01 -2.98988588e-04 -7.59480833e+00] [-5.16736192e-03 3.17012916e-04 9.99986599e-01 -1.90217635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.240371743 meters 0.03149451508824153 Centerline is valid? [True, True] Translation: X:135.30, Y:-7.59, Z:-1.90 [[ 9.99994733e-01 2.66681020e-04 3.23470679e-03 1.35301683e+02] [-2.66075962e-04 9.99999947e-01 -1.87480875e-04 -7.58650216e+00] [-3.23475661e-03 1.86619210e-04 9.99994751e-01 -1.90361897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30037174299997 meters 0.031567545271614 Centerline is valid? [True, True] Translation: X:135.36, Y:-7.59, Z:-1.91 [[ 9.99984394e-01 5.13925821e-03 2.19096578e-03 1.35360961e+02] [-5.13899150e-03 9.99986787e-01 -1.27346080e-04 -7.58720590e+00] [-2.19159130e-03 1.16084738e-04 9.99997592e-01 -1.90617512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36037174299997 meters 0.03030420208115633 Centerline is valid? [True, True] Translation: X:135.42, Y:-7.59, Z:-1.91 [[ 9.99957604e-01 8.76517187e-03 2.82182388e-03 1.35421072e+02] [-8.76474388e-03 9.99961575e-01 -1.64000845e-04 -7.58574653e+00] [-2.82315295e-03 1.39261329e-04 9.99996005e-01 -1.90594103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42037174299998 meters 0.028322270414419905 Centerline is valid? [True, True] Translation: X:135.48, Y:-7.58, Z:-1.90 [[ 9.99907150e-01 1.27389203e-02 4.83861041e-03 1.35481083e+02] [-1.27377087e-02 9.99918833e-01 -2.81131539e-04 -7.58295661e+00] [-4.84179899e-03 2.19472626e-04 9.99988254e-01 -1.90492090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48037174299998 meters 0.03135170715953492 Centerline is valid? [True, True] Translation: X:135.54, Y:-7.59, Z:-1.91 [[ 9.99901608e-01 1.32622099e-02 4.57041961e-03 1.35538969e+02] [-1.32611336e-02 9.99912032e-01 -2.65718216e-04 -7.59054414e+00] [-4.57354157e-03 2.05083126e-04 9.99989520e-01 -1.90735944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54037174299998 meters 0.02930647704819231 Centerline is valid? [True, True] Translation: X:135.60, Y:-7.59, Z:-1.91 [[ 9.99911830e-01 1.24937731e-02 4.49876196e-03 1.35597462e+02] [-1.24927239e-02 9.99921929e-01 -2.61246619e-04 -7.59109690e+00] [-4.50167469e-03 2.05021794e-04 9.99989846e-01 -1.90791996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60037174299998 meters 0.03154879414233829 Centerline is valid? [True, True] Translation: X:135.66, Y:-7.60, Z:-1.91 [[ 9.99940306e-01 1.04236456e-02 3.27592848e-03 1.35655189e+02] [-1.04230781e-02 9.99945660e-01 -1.90263471e-04 -7.59924110e+00] [-3.27773370e-03 1.56106855e-04 9.99994616e-01 -1.90966981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66037174299998 meters 0.03082485095014298 Centerline is valid? [True, True] Translation: X:135.71, Y:-7.60, Z:-1.91 [[ 9.99968467e-01 7.31098708e-03 3.10064282e-03 1.35714571e+02] [-7.31046541e-03 9.99973262e-01 -1.79544712e-04 -7.60352354e+00] [-3.10187257e-03 1.56871908e-04 9.99995177e-01 -1.90940459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.720371743 meters 0.03038932363716699 Centerline is valid? [True, True] Translation: X:135.77, Y:-7.61, Z:-1.91 [[ 9.99980485e-01 5.20701431e-03 3.45210823e-03 1.35773869e+02] [-5.20635575e-03 9.99986427e-01 -1.99726951e-04 -7.60733169e+00] [-3.45310135e-03 1.81750150e-04 9.99994022e-01 -1.90992071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.780371743 meters 0.030792835020581853 Centerline is valid? [True, True] Translation: X:135.83, Y:-7.61, Z:-1.91 [[ 9.99991058e-01 2.40980910e-03 3.47520836e-03 1.35833839e+02] [-2.40912597e-03 9.99997078e-01 -2.00745843e-04 -7.61393968e+00] [-3.47568196e-03 1.92371833e-04 9.99993941e-01 -1.91193605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.840371743 meters 0.03298810729539701 Centerline is valid? [True, True] Translation: X:135.89, Y:-7.62, Z:-1.91 [[ 9.99994041e-01 -3.96551129e-04 3.42937481e-03 1.35893304e+02] [ 3.97231944e-04 9.99999902e-01 -1.97845680e-04 -7.62224163e+00] [-3.42929602e-03 1.99206758e-04 9.99994100e-01 -1.91248873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.900371743 meters 0.03300369293400224 Centerline is valid? [True, True] Translation: X:135.95, Y:-7.63, Z:-1.91 [[ 9.99977602e-01 -4.17972140e-03 5.22733203e-03 1.35954300e+02] [ 4.18135391e-03 9.99991213e-01 -3.01412576e-04 -7.62776980e+00] [-5.22602628e-03 3.23263150e-04 9.99986292e-01 -1.91148177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.960371743 meters 0.03396424330791029 Centerline is valid? [True, True] Translation: X:136.01, Y:-7.63, Z:-1.91 [[ 9.99949813e-01 -7.49827575e-03 6.64434965e-03 1.36014739e+02] [ 7.50098753e-03 9.99971794e-01 -3.83308256e-04 -7.63415419e+00] [-6.64128809e-03 4.33128203e-04 9.99977853e-01 -1.91180992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02037174299997 meters 0.0366219955504522 Centerline is valid? [True, True] Translation: X:136.08, Y:-7.64, Z:-1.91 [[ 9.99935408e-01 -8.52166811e-03 7.52065680e-03 1.36075385e+02] [ 8.52516729e-03 9.99963566e-01 -4.33340394e-04 -7.64199033e+00] [-7.51669001e-03 4.97427261e-04 9.99971626e-01 -1.91229865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08037174299997 meters 0.03751696783653483 Centerline is valid? [True, True] Translation: X:136.14, Y:-7.65, Z:-1.91 [[ 9.99938776e-01 -8.99892136e-03 6.43922117e-03 1.36137499e+02] [ 9.00150258e-03 9.99959416e-01 -3.71989070e-04 -7.64708097e+00] [-6.43561234e-03 4.29928962e-04 9.99979199e-01 -1.91372118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14037174299997 meters 0.038356647945137365 Centerline is valid? [True, True] Translation: X:136.20, Y:-7.65, Z:-1.92 [[ 9.99940736e-01 -9.38960934e-03 5.51004170e-03 1.36199347e+02] [ 9.39150665e-03 9.99955848e-01 -3.18563072e-04 -7.65329120e+00] [-5.50680724e-03 3.70291786e-04 9.99984769e-01 -1.91611675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20037174299998 meters 0.03887214418235391 Centerline is valid? [True, True] Translation: X:136.26, Y:-7.66, Z:-1.92 [[ 9.99939643e-01 -9.59050861e-03 5.36019527e-03 1.36261610e+02] [ 9.59230889e-03 9.99953945e-01 -3.10253399e-04 -7.65893676e+00] [-5.35697291e-03 3.61651322e-04 9.99985586e-01 -1.91754803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26037174299998 meters 0.03578596324550909 Centerline is valid? [True, True] Translation: X:136.32, Y:-7.66, Z:-1.92 [[ 9.99948015e-01 -8.73253623e-03 5.26411752e-03 1.36324535e+02] [ 8.73426160e-03 9.99961809e-01 -3.04860837e-04 -7.65803312e+00] [-5.26125428e-03 3.50823168e-04 9.99986098e-01 -1.91767475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32037174299998 meters 0.03594657456629647 Centerline is valid? [True, True] Translation: X:136.39, Y:-7.66, Z:-1.92 [[ 9.99947305e-01 -7.88295625e-03 6.57622493e-03 1.36386391e+02] [ 7.88563758e-03 9.99968835e-01 -3.81901507e-04 -7.66161017e+00] [-6.57300947e-03 4.33739109e-04 9.99978303e-01 -1.91721542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38037174299998 meters 0.036224751186126995 Centerline is valid? [True, True] Translation: X:136.45, Y:-7.67, Z:-1.92 [[ 9.99941019e-01 -8.28392924e-03 7.02384449e-03 1.36448576e+02] [ 8.28700197e-03 9.99965579e-01 -4.08479373e-04 -7.66543391e+00] [-7.02021890e-03 4.66661894e-04 9.99975249e-01 -1.91735333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.440371743 meters 0.03584613723804769 Centerline is valid? [True, True] Translation: X:136.51, Y:-7.67, Z:-1.92 [[ 9.99914006e-01 -1.04033179e-02 7.98441255e-03 1.36509962e+02] [ 1.04073633e-02 9.99945734e-01 -4.65272027e-04 -7.66876272e+00] [-7.97913889e-03 5.48328699e-04 9.99968016e-01 -1.91781034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.500371743 meters 0.03656965385702918 Centerline is valid? [True, True] Translation: X:136.57, Y:-7.67, Z:-1.92 [[ 9.99906417e-01 -1.10811659e-02 8.02280939e-03 1.36572302e+02] [ 1.10852725e-02 9.99938447e-01 -4.67585348e-04 -7.67359078e+00] [-8.01713418e-03 5.56476619e-04 9.99967707e-01 -1.91902813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.560371743 meters 0.03876262193379016 Centerline is valid? [True, True] Translation: X:136.63, Y:-7.68, Z:-1.92 [[ 9.99855283e-01 -1.49616737e-02 8.09693967e-03 1.36632319e+02] [ 1.49659913e-02 9.99887891e-01 -4.72903285e-04 -7.68050846e+00] [-8.08895651e-03 5.94013577e-04 9.99967107e-01 -1.92113469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.620371743 meters 0.04045055155979888 Centerline is valid? [True, True] Translation: X:136.69, Y:-7.69, Z:-1.92 [[ 9.99798690e-01 -1.88144532e-02 6.97112145e-03 1.36692784e+02] [ 1.88177470e-02 9.99822848e-01 -4.07194009e-04 -7.68651988e+00] [-6.96222537e-03 5.38292836e-04 9.99975619e-01 -1.92423289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.680371743 meters 0.04156092510475618 Centerline is valid? [True, True] Translation: X:136.75, Y:-7.69, Z:-1.93 [[ 9.99748897e-01 -2.13949128e-02 6.66336723e-03 1.36753180e+02] [ 2.13979785e-02 9.99770961e-01 -3.89126506e-04 -7.69216288e+00] [-6.65351573e-03 5.31611384e-04 9.99977724e-01 -1.92643819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.740371743 meters 0.0462472661984346 Centerline is valid? [True, True] Translation: X:136.81, Y:-7.70, Z:-1.93 [[ 9.99757105e-01 -2.11900341e-02 6.05920751e-03 1.36814033e+02] [ 2.11925642e-02 9.99775350e-01 -3.53649820e-04 -7.70096307e+00] [-6.05035246e-03 4.81974064e-04 9.99981580e-01 -1.92790571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80037174299997 meters 0.04126567064456557 Centerline is valid? [True, True] Translation: X:136.87, Y:-7.69, Z:-1.93 [[ 9.99831529e-01 -1.73766602e-02 5.91315922e-03 1.36874936e+02] [ 1.73790075e-02 9.99848914e-01 -3.45820769e-04 -7.69471741e+00] [-5.90625661e-03 4.48527347e-04 9.99982457e-01 -1.92842300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86037174299997 meters 0.038541753197305455 Centerline is valid? [True, True] Translation: X:136.94, Y:-7.69, Z:-1.93 [[ 9.99886897e-01 -1.37782189e-02 6.02935903e-03 1.36935591e+02] [ 1.37805945e-02 9.99904981e-01 -3.52642373e-04 -7.69137487e+00] [-6.02392734e-03 4.35690640e-04 9.99981761e-01 -1.92917007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92037174299998 meters 0.03377598178230595 Centerline is valid? [True, True] Translation: X:137.00, Y:-7.68, Z:-1.93 [[ 9.99937435e-01 -9.33677996e-03 6.16046499e-03 1.36996705e+02] [ 9.33917648e-03 9.99956324e-01 -3.60361897e-04 -7.68384659e+00] [-6.15683131e-03 4.17873020e-04 9.99980959e-01 -1.92858375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98037174299998 meters 0.033586290723409996 Centerline is valid? [True, True] Translation: X:137.06, Y:-7.69, Z:-1.93 [[ 9.99952908e-01 -6.95578751e-03 6.76747409e-03 1.37058392e+02] [ 6.95862262e-03 9.99975710e-01 -3.95475221e-04 -7.68529049e+00] [-6.76455887e-03 4.42548895e-04 9.99977022e-01 -1.92933831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04037174299998 meters 0.03509506568761505 Centerline is valid? [True, True] Translation: X:137.12, Y:-7.69, Z:-1.93 [[ 9.99960816e-01 -6.22230554e-03 6.29674620e-03 1.37119351e+02] [ 6.22474742e-03 9.99980558e-01 -3.68277271e-04 -7.68972539e+00] [-6.29433225e-03 4.07458495e-04 9.99980107e-01 -1.93101788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10037174299998 meters 0.034840267242228225 Centerline is valid? [True, True] Translation: X:137.18, Y:-7.69, Z:-1.93 [[ 9.99975119e-01 -4.87998474e-03 5.09378286e-03 1.37181244e+02] [ 4.88156531e-03 9.99988041e-01 -2.97907319e-04 -7.69222757e+00] [-5.09226816e-03 3.22765541e-04 9.99986982e-01 -1.93287976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16037174299998 meters 0.03411066610423099 Centerline is valid? [True, True] Translation: X:137.24, Y:-7.69, Z:-1.93 [[ 9.99985811e-01 -3.78362430e-03 3.74981640e-03 1.37243777e+02] [ 3.78447316e-03 9.99992815e-01 -2.19304723e-04 -7.69465625e+00] [-3.74895970e-03 2.33492691e-04 9.99992945e-01 -1.93450697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.220371743 meters 0.03456041253522843 Centerline is valid? [True, True] Translation: X:137.30, Y:-7.70, Z:-1.94 [[ 9.99994932e-01 -3.16427693e-04 3.16781803e-03 1.37303850e+02] [ 3.17018877e-04 9.99999932e-01 -1.86121503e-04 -7.69782280e+00] [-3.16775892e-03 1.87124818e-04 9.99994965e-01 -1.93520116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.280371743 meters 0.03382391586492519 Centerline is valid? [True, True] Translation: X:137.36, Y:-7.70, Z:-1.93 [[ 9.99973852e-01 5.51654311e-03 4.67575308e-03 1.37364758e+02] [-5.51531866e-03 9.99984753e-01 -2.74726108e-04 -7.69810757e+00] [-4.67719733e-03 2.48930657e-04 9.99989031e-01 -1.93425469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.340371743 meters 0.029289361973849307 Centerline is valid? [True, True] Translation: X:137.43, Y:-7.70, Z:-1.93 [[ 9.99945633e-01 7.94150344e-03 6.75745906e-03 1.37425992e+02] [-7.93900171e-03 9.99968407e-01 -3.96961216e-04 -7.69606908e+00] [-6.76039804e-03 3.43292155e-04 9.99977089e-01 -1.93323360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.400371743 meters 0.03226113918996492 Centerline is valid? [True, True] Translation: X:137.49, Y:-7.70, Z:-1.93 [[ 9.99906965e-01 1.10766989e-02 7.96037513e-03 1.37485277e+02] [-1.10733252e-02 9.99938579e-01 -4.67761972e-04 -7.70420416e+00] [-7.96506746e-03 3.79570632e-04 9.99968206e-01 -1.93338421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.460371743 meters 0.03258740669255449 Centerline is valid? [True, True] Translation: X:137.54, Y:-7.71, Z:-1.94 [[ 9.99908581e-01 1.10651065e-02 7.77133683e-03 1.37544462e+02] [-1.10618892e-02 9.99938711e-01 -4.56862921e-04 -7.70981622e+00] [-7.77591577e-03 3.70855488e-04 9.99969698e-01 -1.93502370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52037174299997 meters 0.028732554512429388 Centerline is valid? [True, True] Translation: X:137.60, Y:-7.71, Z:-1.94 [[ 9.99933277e-01 9.66769666e-03 6.32269299e-03 1.37604392e+02] [-9.66553981e-03 9.99953219e-01 -3.71595408e-04 -7.71133623e+00] [-6.32598968e-03 3.10458373e-04 9.99979943e-01 -1.93666644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58037174299997 meters 0.02955434927064626 Centerline is valid? [True, True] Translation: X:137.66, Y:-7.72, Z:-1.94 [[ 9.99957978e-01 7.24502906e-03 5.61703690e-03 1.37664633e+02] [-7.24329119e-03 9.99973713e-01 -3.29674020e-04 -7.72131206e+00] [-5.61927774e-03 2.88974332e-04 9.99984170e-01 -1.93854330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64037174299997 meters 0.030574807960847834 Centerline is valid? [True, True] Translation: X:137.72, Y:-7.73, Z:-1.94 [[ 9.99976349e-01 5.42577077e-03 4.22629042e-03 1.37724828e+02] [-5.42477074e-03 9.99985255e-01 -2.48048602e-04 -7.72917898e+00] [-4.22757396e-03 2.25116079e-04 9.99991038e-01 -1.94010744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70037174299998 meters 0.030528121571593247 Centerline is valid? [True, True] Translation: X:137.79, Y:-7.74, Z:-1.94 [[ 9.99991003e-01 2.62832105e-03 3.32960861e-03 1.37785045e+02] [-2.62768490e-03 9.99996529e-01 -1.95420730e-04 -7.73780546e+00] [-3.33011068e-03 1.86669810e-04 9.99994438e-01 -1.94164999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76037174299998 meters 0.03221672424470468 Centerline is valid? [True, True] Translation: X:137.85, Y:-7.75, Z:-1.94 [[ 9.99989948e-01 3.69255626e-04 4.46840177e-03 1.37845845e+02] [-3.68088944e-04 9.99999898e-01 -2.61915617e-04 -7.74873932e+00] [-4.46849803e-03 2.60268215e-04 9.99989982e-01 -1.94217766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82037174299998 meters 0.032949739258810576 Centerline is valid? [True, True] Translation: X:137.91, Y:-7.76, Z:-1.94 [[ 9.99985927e-01 -1.05855765e-03 5.19852302e-03 1.37908102e+02] [ 1.06015572e-03 9.99999392e-01 -3.04663496e-04 -7.75597645e+00] [-5.19819735e-03 3.10170453e-04 9.99986441e-01 -1.94253636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88037174299998 meters 0.03413959465506048 Centerline is valid? [True, True] Translation: X:137.97, Y:-7.76, Z:-1.94 [[ 9.99988081e-01 -2.49399927e-03 4.19740963e-03 1.37970154e+02] [ 2.49505413e-03 9.99996857e-01 -2.46093343e-04 -7.76478388e+00] [-4.19678268e-03 2.56563174e-04 9.99991161e-01 -1.94429059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.940371743 meters 0.03453878398922225 Centerline is valid? [True, True] Translation: X:138.03, Y:-7.77, Z:-1.95 [[ 9.99979649e-01 -5.56354956e-03 3.12218221e-03 1.38031011e+02] [ 5.56414985e-03 9.99984503e-01 -1.83613152e-04 -7.77299802e+00] [-3.12111228e-03 2.00981705e-04 9.99995109e-01 -1.94626261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.000371743 meters 0.03607213326476379 Centerline is valid? [True, True] Translation: X:138.09, Y:-7.78, Z:-1.95 [[ 9.99971513e-01 -7.34011564e-03 1.75933547e-03 1.38091390e+02] [ 7.34030815e-03 9.99973054e-01 -1.02989982e-04 -7.78118939e+00] [-1.75853211e-03 1.15901112e-04 9.99998447e-01 -1.94856721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.060371743 meters 0.0377288418471924 Centerline is valid? [True, True] Translation: X:138.15, Y:-7.79, Z:-1.95 [[ 9.99963000e-01 -8.58363005e-03 5.66271697e-04 1.38153206e+02] [ 8.58364978e-03 9.99963159e-01 -3.24261583e-05 -7.79053281e+00] [-5.65972501e-04 3.72856364e-05 9.99999839e-01 -1.95181475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.120371743 meters 0.03721818489748337 Centerline is valid? [True, True] Translation: X:138.21, Y:-7.79, Z:-1.95 [[ 9.99958592e-01 -9.09982933e-03 8.59374318e-05 1.38214962e+02] [ 9.09982971e-03 9.99958596e-01 -4.07657205e-06 -7.79440916e+00] [-8.58967776e-05 4.85841925e-06 9.99999996e-01 -1.95300383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.180371743 meters 0.04022279566672853 Centerline is valid? [True, True] Translation: X:138.28, Y:-7.80, Z:-1.95 [[ 9.99961792e-01 -8.65495238e-03 1.22698223e-03 1.38275697e+02] [ 8.65504699e-03 9.99962542e-01 -7.18167772e-05 -7.80350858e+00] [-1.22631469e-03 8.24336221e-05 9.99999245e-01 -1.95335994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.240371743 meters 0.03594449991020818 Centerline is valid? [True, True] Translation: X:138.34, Y:-7.80, Z:-1.95 [[ 9.99966160e-01 -7.83445417e-03 2.50985685e-03 1.38338609e+02] [ 7.83484866e-03 9.99969296e-01 -1.47385778e-04 -7.80120181e+00] [-2.50862510e-03 1.67045139e-04 9.99996839e-01 -1.95158348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30037174299997 meters 0.03665104828276606 Centerline is valid? [True, True] Translation: X:138.40, Y:-7.81, Z:-1.95 [[ 9.99960544e-01 -8.07900577e-03 3.69316603e-03 1.38400252e+02] [ 8.07986572e-03 9.99967334e-01 -2.17990212e-04 -7.80666207e+00] [-3.69128424e-03 2.47821897e-04 9.99993156e-01 -1.95194659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36037174299997 meters 0.03716833922687158 Centerline is valid? [True, True] Translation: X:138.46, Y:-7.81, Z:-1.95 [[ 9.99939910e-01 -1.02427138e-02 3.90685967e-03 1.38460650e+02] [ 1.02436960e-02 9.99947505e-01 -2.31484055e-04 -7.81246628e+00] [-3.90428356e-03 2.71490828e-04 9.99992341e-01 -1.95309533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42037174299998 meters 0.03720385364983163 Centerline is valid? [True, True] Translation: X:138.52, Y:-7.82, Z:-1.95 [[ 9.99936151e-01 -1.07759657e-02 3.40197241e-03 1.38522310e+02] [ 1.07767117e-02 9.99941909e-01 -2.01024595e-04 -7.81686714e+00] [-3.39960855e-03 2.37673836e-04 9.99994193e-01 -1.95459835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48037174299998 meters 0.03944336644540072 Centerline is valid? [True, True] Translation: X:138.58, Y:-7.82, Z:-1.96 [[ 9.99887919e-01 -1.48758344e-02 1.69067525e-03 1.38582803e+02] [ 1.48760253e-02 9.99889341e-01 -1.00366995e-04 -7.82361246e+00] [-1.68899511e-03 1.25506274e-04 9.99998566e-01 -1.95764620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54037174299998 meters 0.04280557057877017 Centerline is valid? [True, True] Translation: X:138.64, Y:-7.83, Z:-1.96 [[ 9.99848754e-01 -1.72912399e-02 1.86608393e-03 1.38642545e+02] [ 1.72914750e-02 9.99850485e-01 -1.09965657e-04 -7.83270297e+00] [-1.86390349e-03 1.42216369e-04 9.99998253e-01 -1.95948447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60037174299998 meters 0.043851278511942954 Centerline is valid? [True, True] Translation: X:138.71, Y:-7.84, Z:-1.96 [[ 9.99849130e-01 -1.71536748e-02 2.73282957e-03 1.38705002e+02] [ 1.71541805e-02 9.99852843e-01 -1.61710488e-04 -7.83705005e+00] [-2.72965349e-03 2.08565542e-04 9.99996253e-01 -1.95986026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66037174299998 meters 0.04673419014417831 Centerline is valid? [True, True] Translation: X:138.77, Y:-7.84, Z:-1.96 [[ 9.99872145e-01 -1.55238797e-02 3.83431205e-03 1.38765606e+02] [ 1.55248671e-02 9.99879456e-01 -2.27906841e-04 -7.84093215e+00] [-3.83031185e-03 2.87404887e-04 9.99992623e-01 -1.95922251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.720371743 meters 0.03824854616030692 Centerline is valid? [True, True] Translation: X:138.83, Y:-7.83, Z:-1.96 [[ 9.99903983e-01 -1.27911214e-02 5.33019964e-03 1.38826788e+02] [ 1.27929947e-02 9.99918116e-01 -3.17489974e-04 -7.82966098e+00] [-5.32570213e-03 3.85648705e-04 9.99985744e-01 -1.95726191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.780371743 meters 0.03828606815927544 Centerline is valid? [True, True] Translation: X:138.89, Y:-7.83, Z:-1.96 [[ 9.99913743e-01 -1.12860437e-02 6.71801975e-03 1.38888685e+02] [ 1.12889820e-02 9.99936198e-01 -3.99615568e-04 -7.83225244e+00] [-6.71308104e-03 4.75420703e-04 9.99977354e-01 -1.95730773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.840371743 meters 0.03933088448880057 Centerline is valid? [True, True] Translation: X:138.95, Y:-7.84, Z:-1.96 [[ 9.99916382e-01 -1.07380504e-02 7.20582739e-03 1.38950599e+02] [ 1.07414213e-02 9.99942217e-01 -4.29262201e-04 -7.83523429e+00] [-7.20080158e-03 5.06627134e-04 9.99973946e-01 -1.95770510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.900371743 meters 0.04108801961233515 Centerline is valid? [True, True] Translation: X:139.01, Y:-7.84, Z:-1.96 [[ 9.99920531e-01 -1.08594473e-02 6.40348863e-03 1.39011143e+02] [ 1.08621114e-02 9.99940933e-01 -3.81418986e-04 -7.83933562e+00] [-6.39896839e-03 4.50944082e-04 9.99979425e-01 -1.95981427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.960371743 meters 0.04307873847688503 Centerline is valid? [True, True] Translation: X:139.07, Y:-7.85, Z:-1.96 [[ 9.99928282e-01 -1.09427341e-02 4.86693068e-03 1.39072147e+02] [ 1.09442781e-02 9.99940067e-01 -2.90720033e-04 -7.84512254e+00] [-4.86345772e-03 3.43964226e-04 9.99988114e-01 -1.96342016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02037174299997 meters 0.04393768510483319 Centerline is valid? [True, True] Translation: X:139.13, Y:-7.85, Z:-1.97 [[ 9.99946959e-01 -9.74856376e-03 3.32342298e-03 1.39132936e+02] [ 9.74927698e-03 9.99952455e-01 -1.98471408e-04 -7.84739945e+00] [-3.32133016e-03 2.30861852e-04 9.99994458e-01 -1.96564590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08037174299997 meters 0.043768942003969434 Centerline is valid? [True, True] Translation: X:139.19, Y:-7.85, Z:-1.97 [[ 9.99965471e-01 -7.48198447e-03 3.61630164e-03 1.39193329e+02] [ 7.48281697e-03 9.99971980e-01 -2.16732033e-04 -7.84936443e+00] [-3.61457873e-03 2.43784672e-04 9.99993438e-01 -1.96630962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14037174299997 meters 0.03284661382693912 Centerline is valid? [True, True] Translation: X:139.26, Y:-7.84, Z:-1.96 [[ 9.99982750e-01 -2.35293718e-03 5.38173803e-03 1.39255062e+02] [ 2.35470699e-03 9.99997176e-01 -3.22542515e-04 -7.83617291e+00] [-5.38096391e-03 3.35209367e-04 9.99985466e-01 -1.96453640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20037174299998 meters 0.03338303255371527 Centerline is valid? [True, True] Translation: X:139.31, Y:-7.84, Z:-1.97 [[ 9.99979720e-01 3.47019125e-03 5.34020389e-03 1.39314388e+02] [-3.46853055e-03 9.99993933e-01 -3.20210522e-04 -7.83725523e+00] [-5.34128269e-03 3.01681367e-04 9.99985690e-01 -1.96564322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26037174299998 meters 0.02875638155621349 Centerline is valid? [True, True] Translation: X:139.38, Y:-7.83, Z:-1.97 [[ 9.99964997e-01 6.26287843e-03 5.54803137e-03 1.39376341e+02] [-6.26113203e-03 9.99980344e-01 -3.32092434e-04 -7.83170030e+00] [-5.55000217e-03 2.97343853e-04 9.99984554e-01 -1.96507556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32037174299998 meters 0.02886664671771477 Centerline is valid? [True, True] Translation: X:139.44, Y:-7.83, Z:-1.97 [[ 9.99932733e-01 9.61436577e-03 6.48792064e-03 1.39436860e+02] [-9.61204405e-03 9.99953728e-01 -3.88940403e-04 -7.83411636e+00] [-6.49135985e-03 3.26552061e-04 9.99978878e-01 -1.96557523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38037174299998 meters 0.02819551884860247 Centerline is valid? [True, True] Translation: X:139.50, Y:-7.84, Z:-1.97 [[ 9.99927721e-01 1.03636069e-02 6.09489190e-03 1.39497107e+02] [-1.03615710e-02 9.99946251e-01 -3.65523205e-04 -7.83530624e+00] [-6.09835244e-03 3.02344130e-04 9.99981359e-01 -1.96560488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.440371743 meters 0.028849752375250566 Centerline is valid? [True, True] Translation: X:139.56, Y:-7.84, Z:-1.97 [[ 9.99924003e-01 1.04398693e-02 6.55722247e-03 1.39556129e+02] [-1.04375145e-02 9.99945450e-01 -3.93245540e-04 -7.83955076e+00] [-6.56097021e-03 3.24774550e-04 9.99978424e-01 -1.96660268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.500371743 meters 0.029589731185031415 Centerline is valid? [True, True] Translation: X:139.62, Y:-7.85, Z:-1.97 [[ 9.99925963e-01 9.52408331e-03 7.57368553e-03 1.39615197e+02] [-9.52091825e-03 9.99954572e-01 -4.53848067e-04 -7.84562281e+00] [-7.57766396e-03 3.81706025e-04 9.99971216e-01 -1.96790587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.560371743 meters 0.0321422682772175 Centerline is valid? [True, True] Translation: X:139.67, Y:-7.85, Z:-1.97 [[ 9.99940443e-01 7.58284507e-03 7.84925227e-03 1.39674868e+02] [-7.57939416e-03 9.99971166e-01 -4.69302638e-04 -7.85264688e+00] [-7.85258459e-03 4.09782111e-04 9.99969084e-01 -1.96842959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.620371743 meters 0.035054073929756784 Centerline is valid? [True, True] Translation: X:139.73, Y:-7.86, Z:-1.97 [[ 9.99960599e-01 5.08103128e-03 7.27891482e-03 1.39734986e+02] [-5.07799010e-03 9.99987012e-01 -4.36227271e-04 -7.85925064e+00] [-7.28103676e-03 3.99247826e-04 9.99973413e-01 -1.97017477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.680371743 meters 0.03648821706876453 Centerline is valid? [True, True] Translation: X:139.80, Y:-7.87, Z:-1.97 [[ 9.99983066e-01 1.61382186e-03 5.59138532e-03 1.39795894e+02] [-1.61197311e-03 9.99998645e-01 -3.35134027e-04 -7.86523755e+00] [-5.59191859e-03 3.26115189e-04 9.99984312e-01 -1.97317928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74037174299997 meters 0.039194468743917486 Centerline is valid? [True, True] Translation: X:139.86, Y:-7.87, Z:-1.97 [[ 9.99990000e-01 -1.80321747e-04 4.46851268e-03 1.39855702e+02] [ 1.81521208e-04 9.99999948e-01 -2.68020932e-04 -7.86910981e+00] [-4.46846411e-03 2.68829382e-04 9.99989980e-01 -1.97440516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80037174299997 meters 0.03957251413990981 Centerline is valid? [True, True] Translation: X:139.92, Y:-7.87, Z:-1.98 [[ 9.99990923e-01 6.66151726e-04 4.20831674e-03 1.39917602e+02] [-6.65097403e-04 9.99999747e-01 -2.51927759e-04 -7.87120009e+00] [-4.20848350e-03 2.49126532e-04 9.99991113e-01 -1.97559467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86037174299997 meters 0.03249861317341068 Centerline is valid? [True, True] Translation: X:139.98, Y:-7.86, Z:-1.97 [[ 9.99977320e-01 3.07545832e-03 5.99176319e-03 1.39979506e+02] [-3.07335986e-03 9.99995213e-01 -3.59399592e-04 -7.86279448e+00] [-5.99283983e-03 3.40976596e-04 9.99981985e-01 -1.97429401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92037174299998 meters 0.030036954067247545 Centerline is valid? [True, True] Translation: X:140.04, Y:-7.86, Z:-1.97 [[ 9.99966164e-01 5.04919348e-03 6.49438612e-03 1.40041347e+02] [-5.04676801e-03 9.99987189e-01 -3.89806045e-04 -7.85828560e+00] [-6.49627113e-03 3.57017195e-04 9.99978835e-01 -1.97357907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98037174299998 meters 0.031468527867780406 Centerline is valid? [True, True] Translation: X:140.10, Y:-7.86, Z:-1.98 [[ 9.99970276e-01 5.73247307e-03 5.15609326e-03 1.40102185e+02] [-5.73096188e-03 9.99983531e-01 -3.07815583e-04 -7.86266050e+00] [-5.15777289e-03 2.78257059e-04 9.99986660e-01 -1.97579123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04037174299998 meters 0.030649047440111342 Centerline is valid? [True, True] Translation: X:140.16, Y:-7.86, Z:-1.98 [[ 9.99986359e-01 4.10197896e-03 3.23341606e-03 1.40162931e+02] [-4.10136952e-03 9.99991570e-01 -1.95090507e-04 -7.86401334e+00] [-3.23418906e-03 1.81826412e-04 9.99994753e-01 -1.97783403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10037174299998 meters 0.031050671998410915 Centerline is valid? [True, True] Translation: X:140.22, Y:-7.87, Z:-1.98 [[ 9.99995021e-01 2.39948345e-03 2.04926554e-03 1.40223618e+02] [-2.39923509e-03 9.99997114e-01 -1.23643925e-04 -7.86571702e+00] [-2.04955631e-03 1.18726640e-04 9.99997893e-01 -1.97851734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16037174299998 meters 0.03274181819936764 Centerline is valid? [True, True] Translation: X:140.28, Y:-7.87, Z:-1.98 [[ 9.99994707e-01 2.23515367e-03 2.36442738e-03 1.40283469e+02] [-2.23482308e-03 9.99997493e-01 -1.42449495e-04 -7.87049918e+00] [-2.36473985e-03 1.37164664e-04 9.99997195e-01 -1.97969607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.220371743 meters 0.03171742035786661 Centerline is valid? [True, True] Translation: X:140.34, Y:-7.87, Z:-1.98 [[ 9.99985635e-01 3.64415369e-03 3.93058329e-03 1.40344438e+02] [-3.64325002e-03 9.99993335e-01 -2.37043301e-04 -7.87035607e+00] [-3.93142092e-03 2.22719798e-04 9.99992247e-01 -1.97821810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.280371743 meters 0.032240684203395396 Centerline is valid? [True, True] Translation: X:140.41, Y:-7.87, Z:-1.98 [[ 9.99973587e-01 6.16487327e-03 3.84960393e-03 1.40405016e+02] [-6.16402795e-03 9.99980975e-01 -2.31413981e-04 -7.87197297e+00] [-3.85095733e-03 2.07678803e-04 9.99992563e-01 -1.97798289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.340371743 meters 0.030214481596334615 Centerline is valid? [True, True] Translation: X:140.47, Y:-7.87, Z:-1.98 [[ 9.99972094e-01 6.31336312e-03 3.99410760e-03 1.40465274e+02] [-6.31244718e-03 9.99980047e-01 -2.41886428e-04 -7.87142528e+00] [-3.99555503e-03 2.16667085e-04 9.99991994e-01 -1.97788600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.400371743 meters 0.03049065602559323 Centerline is valid? [True, True] Translation: X:140.52, Y:-7.87, Z:-1.98 [[ 9.99974841e-01 6.79469276e-03 2.03725076e-03 1.40524703e+02] [-6.79445511e-03 9.99976910e-01 -1.23551982e-04 -7.87453146e+00] [-2.03804322e-03 1.09706865e-04 9.99997917e-01 -1.98033746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.460371743 meters 0.030666049728836724 Centerline is valid? [True, True] Translation: X:140.58, Y:-7.88, Z:-1.98 [[ 9.99975257e-01 6.81502599e-03 1.74405039e-03 1.40583512e+02] [-6.81485106e-03 9.99976773e-01 -1.06223876e-04 -7.87762095e+00] [-1.74473380e-03 9.43358043e-05 9.99998474e-01 -1.98142237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52037174299997 meters 0.030772776826668846 Centerline is valid? [True, True] Translation: X:140.64, Y:-7.88, Z:-1.98 [[ 9.99967643e-01 7.62129658e-03 2.57477798e-03 1.40642695e+02] [-7.62092026e-03 9.99970948e-01 -1.55937709e-04 -7.88028662e+00] [-2.57589163e-03 1.36310486e-04 9.99996673e-01 -1.98078866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58037174299997 meters 0.02895305606018459 Centerline is valid? [True, True] Translation: X:140.70, Y:-7.88, Z:-1.98 [[ 9.99936759e-01 1.02926278e-02 4.53205385e-03 1.40702603e+02] [-1.02914937e-02 9.99947004e-01 -2.73495069e-04 -7.88009187e+00] [-4.53462865e-03 2.26836170e-04 9.99989693e-01 -1.97927110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64037174299997 meters 0.028957333923256466 Centerline is valid? [True, True] Translation: X:140.76, Y:-7.88, Z:-1.98 [[ 9.99913256e-01 1.22520679e-02 4.83389640e-03 1.40762012e+02] [-1.22508007e-02 9.99924914e-01 -2.91661299e-04 -7.88177871e+00] [-4.83710690e-03 2.32416898e-04 9.99988274e-01 -1.97990931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70037174299998 meters 0.026524163907077812 Centerline is valid? [True, True] Translation: X:140.82, Y:-7.88, Z:-1.98 [[ 9.99872808e-01 1.50343476e-02 5.32317532e-03 1.40822263e+02] [-1.50328538e-02 9.99886949e-01 -3.20511484e-04 -7.87994369e+00] [-5.32739221e-03 2.40448201e-04 9.99985780e-01 -1.98074175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76037174299998 meters 0.02711308311001567 Centerline is valid? [True, True] Translation: X:140.88, Y:-7.88, Z:-1.98 [[ 9.99831794e-01 1.76263538e-02 5.06902228e-03 1.40879825e+02] [-1.76250297e-02 9.99844620e-01 -3.05775677e-04 -7.88326051e+00] [-5.07362436e-03 2.16382576e-04 9.99987106e-01 -1.98334243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82037174299998 meters 0.02686430555626545 Centerline is valid? [True, True] Translation: X:140.94, Y:-7.89, Z:-1.99 [[ 9.99819766e-01 1.85599089e-02 3.99576337e-03 1.40938517e+02] [-1.85590947e-02 9.99827736e-01 -2.40753839e-04 -7.88644450e+00] [-3.99954342e-03 1.66552696e-04 9.99991988e-01 -1.98671999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88037174299998 meters 0.02701934438313605 Centerline is valid? [True, True] Translation: X:141.00, Y:-7.89, Z:-1.99 [[ 9.99831198e-01 1.79307892e-02 4.00783768e-03 1.40997140e+02] [-1.79299662e-02 9.99839216e-01 -2.41193252e-04 -7.88996267e+00] [-4.01151807e-03 1.69292144e-04 9.99991939e-01 -1.98806614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.940371743 meters 0.02847934539223664 Centerline is valid? [True, True] Translation: X:141.05, Y:-7.90, Z:-1.99 [[ 9.99872114e-01 1.56573329e-02 3.25644942e-03 1.41054934e+02] [-1.56567777e-02 9.99877406e-01 -1.95916570e-04 -7.89636697e+00] [-3.25911773e-03 1.44906010e-04 9.99994679e-01 -1.98926486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.000371743 meters 0.02947892029557767 Centerline is valid? [True, True] Translation: X:141.11, Y:-7.90, Z:-1.99 [[ 9.99901515e-01 1.36399787e-02 3.30317652e-03 1.41114382e+02] [-1.36393986e-02 9.99906959e-01 -1.98086211e-04 -7.90258312e+00] [-3.30557109e-03 1.53013362e-04 9.99994525e-01 -1.99064100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.060371743 meters 0.02968147644878163 Centerline is valid? [True, True] Translation: X:141.17, Y:-7.91, Z:-1.99 [[ 9.99961475e-01 8.11106719e-03 3.35544070e-03 1.41174873e+02] [-8.11043903e-03 9.99967090e-01 -2.00771499e-04 -7.90676344e+00] [-3.35695874e-03 1.73549667e-04 9.99994350e-01 -1.99105564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.120371743 meters 0.034064295596468445 Centerline is valid? [True, True] Translation: X:141.23, Y:-7.92, Z:-1.99 [[ 9.99990711e-01 8.77726581e-04 4.21989359e-03 1.41233871e+02] [-8.76669172e-04 9.99999584e-01 -2.52420308e-04 -7.91894258e+00] [-4.22011339e-03 2.48718513e-04 9.99991064e-01 -1.99231831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.180371743 meters 0.04234252449175061 Centerline is valid? [True, True] Translation: X:141.29, Y:-7.93, Z:-2.00 [[ 9.99983581e-01 -4.13925088e-03 3.96297079e-03 1.41292475e+02] [ 4.14022321e-03 9.99991401e-01 -2.37180925e-04 -7.93433811e+00] [-3.96195496e-03 2.53584614e-04 9.99992119e-01 -1.99548844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24037174299997 meters 0.036156347724457534 Centerline is valid? [True, True] Translation: X:141.35, Y:-7.93, Z:-1.99 [[ 9.99974740e-01 -5.62010645e-03 4.35120442e-03 1.41354805e+02] [ 5.62128178e-03 9.99984167e-01 -2.57934675e-04 -7.92922037e+00] [-4.34968591e-03 2.82387506e-04 9.99990500e-01 -1.99467641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30037174299997 meters 0.03768677600338552 Centerline is valid? [True, True] Translation: X:141.42, Y:-7.93, Z:-2.00 [[ 9.99983104e-01 -3.44747678e-03 4.68048461e-03 1.41415103e+02] [ 3.44882871e-03 9.99994013e-01 -2.80803629e-04 -7.93325580e+00] [-4.67948852e-03 2.96941075e-04 9.99989007e-01 -1.99653041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36037174299997 meters 0.03502915720845801 Centerline is valid? [True, True] Translation: X:141.48, Y:-7.93, Z:-2.00 [[ 9.99985667e-01 -1.26397843e-03 5.20272113e-03 1.41476854e+02] [ 1.26561925e-03 9.99999150e-01 -3.12098529e-04 -7.93142235e+00] [-5.20232222e-03 3.18678719e-04 9.99986417e-01 -1.99644152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42037174299998 meters 0.03405383020139799 Centerline is valid? [True, True] Translation: X:141.54, Y:-7.93, Z:-2.00 [[ 9.99972640e-01 2.96123229e-03 6.77872053e-03 1.41537337e+02] [-2.95853932e-03 9.99995541e-01 -4.07261340e-04 -7.93083537e+00] [-6.77989630e-03 3.87195086e-04 9.99976941e-01 -1.99545571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48037174299998 meters 0.03291582136653944 Centerline is valid? [True, True] Translation: X:141.60, Y:-7.93, Z:-2.00 [[ 9.99936327e-01 7.92463353e-03 8.03381069e-03 1.41597662e+02] [-7.92101020e-03 9.99968512e-01 -4.82729362e-04 -7.93022243e+00] [-8.03738318e-03 4.19062728e-04 9.99967612e-01 -1.99507855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54037174299998 meters 0.03261394671458449 Centerline is valid? [True, True] Translation: X:141.66, Y:-7.93, Z:-2.00 [[ 9.99908223e-01 1.13777667e-02 7.35476740e-03 1.41657036e+02] [-1.13748222e-02 9.99935207e-01 -4.42063567e-04 -7.93098502e+00] [-7.35932056e-03 3.58363825e-04 9.99972856e-01 -1.99601242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60037174299998 meters 0.029108551944567924 Centerline is valid? [True, True] Translation: X:141.72, Y:-7.93, Z:-2.00 [[ 9.99921707e-01 1.12516073e-02 5.47548478e-03 1.41716781e+02] [-1.12499727e-02 9.99936663e-01 -3.29238387e-04 -7.92805133e+00] [-5.47884244e-03 2.67613555e-04 9.99984955e-01 -1.99887961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66037174299998 meters 0.030103102866919782 Centerline is valid? [True, True] Translation: X:141.78, Y:-7.93, Z:-2.00 [[ 9.99965880e-01 7.82548015e-03 2.64575525e-03 1.41776601e+02] [-7.82508665e-03 9.99969371e-01 -1.59048844e-04 -7.93287744e+00] [-2.64691884e-03 1.38340153e-04 9.99996487e-01 -2.00288430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.720371743 meters 0.030183210966144944 Centerline is valid? [True, True] Translation: X:141.84, Y:-7.93, Z:-2.00 [[ 9.99985959e-01 4.91887720e-03 1.97116827e-03 1.41836373e+02] [-4.91865308e-03 9.99987896e-01 -1.18527574e-04 -7.93442731e+00] [-1.97172743e-03 1.08830417e-04 9.99998050e-01 -2.00382843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.780371743 meters 0.03126330572061535 Centerline is valid? [True, True] Translation: X:141.90, Y:-7.94, Z:-2.00 [[ 9.99990805e-01 3.69609541e-03 2.17471439e-03 1.41896166e+02] [-3.69581942e-03 9.99993162e-01 -1.30914457e-04 -7.93793127e+00] [-2.17518339e-03 1.22875902e-04 9.99997627e-01 -2.00482931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.840371743 meters 0.03113675133906401 Centerline is valid? [True, True] Translation: X:141.96, Y:-7.94, Z:-2.00 [[ 9.99970049e-01 6.83068466e-03 3.63905297e-03 1.41955566e+02] [-6.82993497e-03 9.99976652e-01 -2.18399963e-04 -7.93863182e+00] [-3.64045982e-03 1.93538927e-04 9.99993355e-01 -2.00445899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.900371743 meters 0.03069483930668965 Centerline is valid? [True, True] Translation: X:142.02, Y:-7.94, Z:-2.00 [[ 9.99925751e-01 1.09097690e-02 5.42853137e-03 1.42015329e+02] [-1.09081613e-02 9.99940451e-01 -3.25687239e-04 -7.93779438e+00] [-5.43176129e-03 2.66447762e-04 9.99985212e-01 -2.00326476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.960371743 meters 0.028742364849340066 Centerline is valid? [True, True] Translation: X:142.07, Y:-7.94, Z:-2.00 [[ 9.99902328e-01 1.24917547e-02 6.26827690e-03 1.42074003e+02] [-1.24896417e-02 9.99921931e-01 -3.76125588e-04 -7.93646633e+00] [-6.27248601e-03 2.97800319e-04 9.99980283e-01 -2.00250309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02037174299997 meters 0.02846780650739304 Centerline is valid? [True, True] Translation: X:142.13, Y:-7.94, Z:-2.00 [[ 9.99881837e-01 1.38053515e-02 6.76202391e-03 1.42132703e+02] [-1.38029263e-02 9.99904653e-01 -4.05187431e-04 -7.93914238e+00] [-6.76697293e-03 3.11803835e-04 9.99977055e-01 -2.00359866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08037174299997 meters 0.027852368282004908 Centerline is valid? [True, True] Translation: X:142.19, Y:-7.94, Z:-2.01 [[ 9.99889113e-01 1.39446519e-02 5.22577395e-03 1.42191389e+02] [-1.39432061e-02 9.99902740e-01 -3.12996701e-04 -7.94179578e+00] [-5.22963032e-03 2.40097951e-04 9.99986297e-01 -2.00615065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14037174299997 meters 0.02942971310353498 Centerline is valid? [True, True] Translation: X:142.25, Y:-7.95, Z:-2.01 [[ 9.99904231e-01 1.37910735e-02 1.15574621e-03 1.42249086e+02] [-1.37910018e-02 9.99904897e-01 -6.99205385e-05 -7.94838628e+00] [-1.15660057e-03 5.39749442e-05 9.99999330e-01 -2.01245158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20037174299998 meters 0.02992278792456875 Centerline is valid? [True, True] Translation: X:142.31, Y:-7.95, Z:-2.02 [[ 9.99903841e-01 1.38253774e-02 -1.08057448e-03 1.42307557e+02] [-1.38253170e-02 9.99904424e-01 6.33756473e-05 -7.95170200e+00] [ 1.08134739e-03 -4.84302684e-05 9.99999414e-01 -2.01576664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26037174299998 meters 0.03040547256892591 Centerline is valid? [True, True] Translation: X:142.37, Y:-7.96, Z:-2.02 [[ 9.99896521e-01 1.43110693e-02 -1.46304645e-03 1.42366348e+02] [-1.43109587e-02 9.99897589e-01 8.60705084e-05 -7.95588072e+00] [ 1.46412838e-03 -6.51240046e-05 9.99998926e-01 -2.01758220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32037174299998 meters 0.03067610003153449 Centerline is valid? [True, True] Translation: X:142.42, Y:-7.96, Z:-2.02 [[ 9.99873735e-01 1.58644761e-02 -9.12627168e-04 1.42424799e+02] [-1.58644341e-02 9.99874151e-01 5.32738896e-05 -7.95866255e+00] [ 9.13357476e-04 -3.87888494e-05 9.99999582e-01 -2.01864734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38037174299998 meters 0.02895067538897976 Centerline is valid? [True, True] Translation: X:142.48, Y:-7.96, Z:-2.02 [[ 9.99877220e-01 1.56674023e-02 -2.78340034e-04 1.42483575e+02] [-1.56673986e-02 9.99877259e-01 1.55300318e-05 -7.95806013e+00] [ 2.78549185e-04 -1.11672607e-05 9.99999961e-01 -2.01697398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.440371743 meters 0.028765671270598134 Centerline is valid? [True, True] Translation: X:142.54, Y:-7.96, Z:-2.02 [[ 9.99904525e-01 1.37669877e-02 1.18767914e-03 1.42541884e+02] [-1.37669122e-02 9.99905229e-01 -7.16389041e-05 -7.96055909e+00] [-1.18855283e-03 5.52813900e-05 9.99999292e-01 -2.01535201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.500371743 meters 0.028709579623204803 Centerline is valid? [True, True] Translation: X:142.60, Y:-7.96, Z:-2.02 [[ 9.99901952e-01 1.39197765e-02 1.52526487e-03 1.42600373e+02] [-1.39196534e-02 9.99903113e-01 -9.12862153e-05 -7.96447305e+00] [-1.52638777e-03 7.00461066e-05 9.99998833e-01 -2.01549932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.560371743 meters 0.028966431556017247 Centerline is valid? [True, True] Translation: X:142.66, Y:-7.97, Z:-2.02 [[ 9.99910737e-01 1.33498369e-02 5.47056506e-04 1.42658748e+02] [-1.33498207e-02 9.99910887e-01 -3.33421422e-05 -7.96931754e+00] [-5.47452868e-04 2.60360597e-05 9.99999850e-01 -2.01644561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.620371743 meters 0.028827815051396633 Centerline is valid? [True, True] Translation: X:142.72, Y:-7.98, Z:-2.02 [[ 9.99929929e-01 1.16688202e-02 -1.99389978e-03 1.42717695e+02] [-1.16686101e-02 9.99931913e-01 1.17009184e-04 -7.97633774e+00] [ 1.99512938e-03 -9.37349459e-05 9.99998005e-01 -2.01989811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.680371743 meters 0.028945288829977173 Centerline is valid? [True, True] Translation: X:142.78, Y:-7.98, Z:-2.02 [[ 9.99936769e-01 1.05953669e-02 -3.76769663e-03 1.42775909e+02] [-1.05946083e-02 9.99943851e-01 2.21247171e-04 -7.98225593e+00] [ 3.76982927e-03 -1.81315912e-04 9.99992878e-01 -2.02230630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74037174299997 meters 0.02952875603833393 Centerline is valid? [True, True] Translation: X:142.83, Y:-7.99, Z:-2.02 [[ 9.99944729e-01 9.25280328e-03 -4.99236826e-03 1.42833922e+02] [-9.25145643e-03 9.99957161e-01 2.92808732e-04 -7.98974014e+00] [ 4.99486369e-03 -2.46605871e-04 9.99987495e-01 -2.02402503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80037174299997 meters 0.029596529260684564 Centerline is valid? [True, True] Translation: X:142.89, Y:-7.99, Z:-2.02 [[ 9.99954420e-01 8.43616287e-03 -4.47089793e-03 1.42892830e+02] [-8.43507554e-03 9.99964390e-01 2.62002578e-04 -7.99303312e+00] [ 4.47294902e-03 -2.24278274e-04 9.99989971e-01 -2.02233580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86037174299997 meters 0.03087573972480204 Centerline is valid? [True, True] Translation: X:142.95, Y:-8.00, Z:-2.02 [[ 9.99968750e-01 7.40726592e-03 -2.76250949e-03 1.42950273e+02] [-7.40684928e-03 9.99972556e-01 1.61018443e-04 -7.99975518e+00] [ 2.76362638e-03 -1.40551920e-04 9.99996171e-01 -2.02197722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92037174299998 meters 0.0312538188292341 Centerline is valid? [True, True] Translation: X:143.01, Y:-8.01, Z:-2.02 [[ 9.99972724e-01 7.33890338e-03 -8.31898650e-04 1.43009216e+02] [-7.33886614e-03 9.99973069e-01 4.78095512e-05 -8.00591811e+00] [ 8.32227116e-04 -4.17030543e-05 9.99999653e-01 -2.02215516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98037174299998 meters 0.030091417686567867 Centerline is valid? [True, True] Translation: X:143.07, Y:-8.01, Z:-2.02 [[ 9.99977823e-01 6.63330270e-03 5.93524351e-04 1.43067895e+02] [-6.63328262e-03 9.99977999e-01 -3.57951114e-05 -8.01018393e+00] [-5.93748733e-04 3.18573028e-05 9.99999823e-01 -2.02115552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04037174299998 meters 0.03357687238484327 Centerline is valid? [True, True] Translation: X:143.13, Y:-8.02, Z:-2.02 [[ 9.99990323e-01 4.28327370e-03 -1.00403440e-03 1.43126050e+02] [-4.28321759e-03 9.99990825e-01 5.80306693e-05 -8.02139524e+00] [ 1.00427375e-03 -5.37296099e-05 9.99999494e-01 -2.02362880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10037174299998 meters 0.030985589914634494 Centerline is valid? [True, True] Translation: X:143.19, Y:-8.02, Z:-2.02 [[ 9.99995302e-01 2.11079084e-03 -2.22293253e-03 1.43185209e+02] [-2.11050874e-03 9.99997765e-01 1.29243374e-04 -8.02327954e+00] [ 2.22320037e-03 -1.24551248e-04 9.99997521e-01 -2.02353205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16037174299998 meters 0.033365106309330206 Centerline is valid? [True, True] Translation: X:143.24, Y:-8.03, Z:-2.02 [[ 9.99997785e-01 1.46033389e-03 -1.51561694e-03 1.43243569e+02] [-1.46020249e-03 9.99998930e-01 8.78022129e-05 -8.03241028e+00] [ 1.51574354e-03 -8.55889108e-05 9.99998848e-01 -2.02473766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.220371743 meters 0.03375016823570052 Centerline is valid? [True, True] Translation: X:143.30, Y:-8.04, Z:-2.02 [[ 9.99999003e-01 1.29686396e-03 5.57866186e-04 1.43302901e+02] [-1.29684571e-03 9.99999159e-01 -3.30713110e-05 -8.03875470e+00] [-5.57908605e-04 3.23478117e-05 9.99999844e-01 -2.02283609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.280371743 meters 0.033290846537447245 Centerline is valid? [True, True] Translation: X:143.36, Y:-8.04, Z:-2.02 [[ 9.99998197e-01 6.47821679e-04 1.78495643e-03 1.43363696e+02] [-6.47636645e-04 9.99999785e-01 -1.04238827e-04 -8.04257118e+00] [-1.78502357e-03 1.03082636e-04 9.99998402e-01 -2.02186522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.340371743 meters 0.03398399073351449 Centerline is valid? [True, True] Translation: X:143.42, Y:-8.05, Z:-2.02 [[ 9.99995574e-01 -1.53196628e-03 2.55039692e-03 1.43424147e+02] [ 1.53235058e-03 9.99998815e-01 -1.48735086e-04 -8.04854988e+00] [-2.55016604e-03 1.52642530e-04 9.99996737e-01 -2.02165524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.400371743 meters 0.03519921630060102 Centerline is valid? [True, True] Translation: X:143.48, Y:-8.06, Z:-2.02 [[ 9.99978849e-01 -5.75271710e-03 3.03439590e-03 1.43484065e+02] [ 5.75328124e-03 9.99983434e-01 -1.77217615e-04 -8.05597920e+00] [-3.03332615e-03 1.94671600e-04 9.99995381e-01 -2.02189430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.460371743 meters 0.03857124835039205 Centerline is valid? [True, True] Translation: X:143.54, Y:-8.07, Z:-2.02 [[ 9.99941653e-01 -1.03877314e-02 2.96411027e-03 1.43542994e+02] [ 1.03882906e-02 9.99946025e-01 -1.73324910e-04 -8.06558860e+00] [-2.96214984e-03 2.04106836e-04 9.99995592e-01 -2.02284173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52037174299997 meters 0.039388206253246336 Centerline is valid? [True, True] Translation: X:143.60, Y:-8.07, Z:-2.02 [[ 9.99910687e-01 -1.28403560e-02 3.70730987e-03 1.43603733e+02] [ 1.28412459e-02 9.99917524e-01 -2.16344747e-04 -8.07189547e+00] [-3.70422617e-03 2.63931903e-04 9.99993105e-01 -2.02308785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58037174299997 meters 0.03831960355670348 Centerline is valid? [True, True] Translation: X:143.66, Y:-8.08, Z:-2.02 [[ 9.99887971e-01 -1.45499142e-02 3.51353362e-03 1.43664838e+02] [ 1.45507235e-02 9.99894112e-01 -2.04892377e-04 -8.07608963e+00] [-3.51018041e-03 2.55993880e-04 9.99993807e-01 -2.02395634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64037174299997 meters 0.04434976691518212 Centerline is valid? [True, True] Translation: X:143.72, Y:-8.09, Z:-2.03 [[ 9.99922584e-01 -1.20770903e-02 2.99484587e-03 1.43724122e+02] [ 1.20776685e-02 9.99927047e-01 -1.75076374e-04 -8.08885145e+00] [-2.99251297e-03 2.11233576e-04 9.99995500e-01 -2.02741088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70037174299998 meters 0.03500033239740083 Centerline is valid? [True, True] Translation: X:143.79, Y:-8.08, Z:-2.03 [[ 9.99981149e-01 -5.68488276e-03 2.32022563e-03 1.43785530e+02] [ 5.68521227e-03 9.99983830e-01 -1.35445269e-04 -8.07857453e+00] [-2.31941812e-03 1.48633691e-04 9.99997299e-01 -2.02714908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76037174299998 meters 0.034586488690335836 Centerline is valid? [True, True] Translation: X:143.85, Y:-8.08, Z:-2.03 [[ 9.99996235e-01 -1.50471973e-03 2.29463919e-03 1.43845168e+02] [ 1.50503191e-03 9.99998858e-01 -1.34329320e-04 -8.08125229e+00] [-2.29443444e-03 1.37782320e-04 9.99997358e-01 -2.02848849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82037174299998 meters 0.03086952183082339 Centerline is valid? [True, True] Translation: X:143.91, Y:-8.08, Z:-2.03 [[ 9.99993411e-01 3.30266190e-03 1.50681737e-03 1.43905647e+02] [-3.30253300e-03 9.99994543e-01 -8.80266086e-05 -8.07867866e+00] [-1.50709987e-03 8.30497145e-05 9.99998861e-01 -2.02944995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88037174299998 meters 0.03197610039907523 Centerline is valid? [True, True] Translation: X:143.96, Y:-8.08, Z:-2.03 [[ 9.99986988e-01 5.06611944e-03 5.98151011e-04 1.43964744e+02] [-5.06609928e-03 9.99987167e-01 -3.52139527e-05 -8.08447795e+00] [-5.98321733e-04 3.21832021e-05 9.99999820e-01 -2.03236524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.940371743 meters 0.03289340408334235 Centerline is valid? [True, True] Translation: X:144.02, Y:-8.09, Z:-2.04 [[ 9.99982190e-01 5.84007872e-03 -1.22971447e-03 1.44023142e+02] [-5.83999603e-03 9.99982945e-01 7.08158818e-05 -8.08901729e+00] [ 1.23010706e-03 -6.36330930e-05 9.99999241e-01 -2.03502224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.000371743 meters 0.03389629620700468 Centerline is valid? [True, True] Translation: X:144.08, Y:-8.09, Z:-2.03 [[ 9.99985146e-01 5.43490550e-03 -4.11443692e-04 1.44081195e+02] [-5.43489659e-03 9.99985231e-01 2.27843377e-05 -8.09383862e+00] [ 4.11561445e-04 -2.05478453e-05 9.99999915e-01 -2.03471077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.060371743 meters 0.031040376651561088 Centerline is valid? [True, True] Translation: X:144.14, Y:-8.09, Z:-2.03 [[ 9.99980862e-01 5.08403984e-03 3.52522883e-03 1.44140553e+02] [-5.08334424e-03 9.99987058e-01 -2.06254930e-04 -8.09285072e+00] [-3.52623181e-03 1.88331032e-04 9.99993765e-01 -2.02979160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.120371743 meters 0.030618507491612806 Centerline is valid? [True, True] Translation: X:144.20, Y:-8.10, Z:-2.03 [[ 9.99976683e-01 4.75483686e-03 4.90162285e-03 1.44200835e+02] [-4.75349491e-03 9.99988661e-01 -2.85390111e-04 -8.09595204e+00] [-4.90292425e-03 2.62083617e-04 9.99987946e-01 -2.02937013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.180371743 meters 0.030150790392840045 Centerline is valid? [True, True] Translation: X:144.26, Y:-8.10, Z:-2.03 [[ 9.99974748e-01 3.82497486e-03 5.98943799e-03 1.44261657e+02] [-3.82295454e-03 9.99992632e-01 -3.48726621e-04 -8.09927143e+00] [-5.99072773e-03 3.25820466e-04 9.99982002e-01 -2.02948958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24037174299997 meters 0.03196111841035827 Centerline is valid? [True, True] Translation: X:144.32, Y:-8.11, Z:-2.03 [[ 9.99983265e-01 1.08137721e-03 5.68328827e-03 1.44322287e+02] [-1.07951483e-03 9.99999363e-01 -3.30750977e-04 -8.10931927e+00] [-5.68364231e-03 3.24610248e-04 9.99983795e-01 -2.03230143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30037174299997 meters 0.03208490828584436 Centerline is valid? [True, True] Translation: X:144.38, Y:-8.12, Z:-2.03 [[ 9.99986482e-01 -1.68292820e-03 4.91976799e-03 1.44382945e+02] [ 1.68435738e-03 9.99998540e-01 -2.86369291e-04 -8.11627992e+00] [-4.91927887e-03 2.94652067e-04 9.99987857e-01 -2.03333912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36037174299997 meters 0.03589097848463893 Centerline is valid? [True, True] Translation: X:144.44, Y:-8.13, Z:-2.04 [[ 9.99988564e-01 -1.28478851e-03 4.60664407e-03 1.44443953e+02] [ 1.28603612e-03 9.99999137e-01 -2.67874696e-04 -8.12786350e+00] [-4.60629593e-03 2.73795944e-04 9.99989353e-01 -2.03648725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42037174299998 meters 0.03502043944035552 Centerline is valid? [True, True] Translation: X:144.51, Y:-8.13, Z:-2.04 [[ 9.99995389e-01 -1.00977807e-03 2.86403054e-03 1.44505829e+02] [ 1.01025827e-03 9.99999476e-01 -1.66221949e-04 -8.13194387e+00] [-2.86386119e-03 1.69114593e-04 9.99995885e-01 -2.03894751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48037174299998 meters 0.037326560452916074 Centerline is valid? [True, True] Translation: X:144.57, Y:-8.14, Z:-2.04 [[ 9.99998892e-01 -1.10296192e-03 9.99356497e-04 1.44567015e+02] [ 1.10301940e-03 9.99999390e-01 -5.69621673e-05 -8.14039121e+00] [-9.99293060e-04 5.80644138e-05 9.99999499e-01 -2.04230739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54037174299998 meters 0.036858745577196504 Centerline is valid? [True, True] Translation: X:144.63, Y:-8.14, Z:-2.04 [[ 9.99998208e-01 5.47691488e-04 1.81223794e-03 1.44628290e+02] [-5.47501039e-04 9.99999845e-01 -1.05584933e-04 -8.14381446e+00] [-1.81229549e-03 1.04592542e-04 9.99998352e-01 -2.04200531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60037174299998 meters 0.03156782492317525 Centerline is valid? [True, True] Translation: X:144.69, Y:-8.14, Z:-2.04 [[ 9.99991057e-01 9.55242364e-04 4.11979735e-03 1.44689766e+02] [-9.54258582e-04 9.99999516e-01 -2.40752790e-04 -8.13989823e+00] [-4.12002533e-03 2.36819285e-04 9.99991485e-01 -2.03907051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66037174299998 meters 0.032744328180288176 Centerline is valid? [True, True] Translation: X:144.75, Y:-8.14, Z:-2.04 [[ 9.99986111e-01 5.32298119e-04 5.24349665e-03 1.44750881e+02] [-5.30696941e-04 9.99999812e-01 -3.06751234e-04 -8.14494139e+00] [-5.24365895e-03 3.03964266e-04 9.99986206e-01 -2.03845563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.720371743 meters 0.031785233187080694 Centerline is valid? [True, True] Translation: X:144.81, Y:-8.15, Z:-2.04 [[ 9.99981659e-01 -1.84418974e-03 5.76895228e-03 1.44812358e+02] [ 1.84616877e-03 9.99998239e-01 -3.37740902e-04 -8.14787459e+00] [-5.76831926e-03 3.48385167e-04 9.99983302e-01 -2.03864826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.780371743 meters 0.03602352161213337 Centerline is valid? [True, True] Translation: X:144.87, Y:-8.16, Z:-2.04 [[ 9.99965573e-01 -6.99294042e-03 4.46661408e-03 1.44870698e+02] [ 6.99418112e-03 9.99975506e-01 -2.62211283e-04 -8.16022026e+00] [-4.46467104e-03 2.93442563e-04 9.99989990e-01 -2.04192688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.840371743 meters 0.03931986606537582 Centerline is valid? [True, True] Translation: X:144.93, Y:-8.17, Z:-2.04 [[ 9.99930753e-01 -1.13569637e-02 3.08355922e-03 1.44929393e+02] [ 1.13575728e-02 9.99935484e-01 -1.80086551e-04 -8.16987223e+00] [-3.08131505e-03 2.15095829e-04 9.99995230e-01 -2.04494026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.900371743 meters 0.03944069455535275 Centerline is valid? [True, True] Translation: X:144.99, Y:-8.18, Z:-2.05 [[ 9.99864539e-01 -1.63486433e-02 1.90394341e-03 1.44989739e+02] [ 1.63488845e-02 9.99866342e-01 -1.11201410e-04 -8.17620901e+00] [-1.90187094e-03 1.42313698e-04 9.99998181e-01 -2.04649354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.960371743 meters 0.040709569451698256 Centerline is valid? [True, True] Translation: X:145.05, Y:-8.18, Z:-2.05 [[ 9.99841965e-01 -1.77718401e-02 4.53695501e-04 1.45050432e+02] [ 1.77718539e-02 9.99842068e-01 -2.63862961e-05 -8.18193979e+00] [-4.53154915e-04 3.44451363e-05 9.99999897e-01 -2.04788070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02037174299997 meters 0.04074066097029975 Centerline is valid? [True, True] Translation: X:145.11, Y:-8.19, Z:-2.05 [[ 9.99842632e-01 -1.77128596e-02 9.82921034e-04 1.45112164e+02] [ 1.77129239e-02 9.99843112e-01 -5.67773614e-05 -8.18551851e+00] [-9.81761137e-04 7.41788320e-05 9.99999515e-01 -2.04808477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08037174299997 meters 0.0366346628566017 Centerline is valid? [True, True] Translation: X:145.17, Y:-8.18, Z:-2.05 [[ 9.99871181e-01 -1.58349836e-02 2.62190532e-03 1.45173769e+02] [ 1.58354408e-02 9.99874600e-01 -1.53705973e-04 -8.18435936e+00] [-2.61914260e-03 1.95205200e-04 9.99996551e-01 -2.04771250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14037174299997 meters 0.038828329238958764 Centerline is valid? [True, True] Translation: X:145.23, Y:-8.19, Z:-2.05 [[ 9.99893281e-01 -1.38339048e-02 4.69561325e-03 1.45233272e+02] [ 1.38353537e-02 9.99904249e-01 -2.76213877e-04 -8.19190841e+00] [-4.69134252e-03 3.41149871e-04 9.99988937e-01 -2.04765632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20037174299998 meters 0.03760950454433235 Centerline is valid? [True, True] Translation: X:145.29, Y:-8.19, Z:-2.05 [[ 9.99918536e-01 -1.15984597e-02 5.32888223e-03 1.45293969e+02] [ 1.16002941e-02 9.99932665e-01 -3.13465174e-04 -8.19304798e+00] [-5.32488770e-03 3.75256239e-04 9.99985752e-01 -2.04685896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26037174299998 meters 0.038437245199584254 Centerline is valid? [True, True] Translation: X:145.35, Y:-8.20, Z:-2.05 [[ 9.99938850e-01 -9.75524285e-03 5.20887468e-03 1.45354477e+02] [ 9.75696908e-03 9.99952353e-01 -3.06092023e-04 -8.19856266e+00] [-5.20564049e-03 3.56896134e-04 9.99986387e-01 -2.04852194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32037174299998 meters 0.03718437602832772 Centerline is valid? [True, True] Translation: X:145.42, Y:-8.20, Z:-2.05 [[ 9.99976391e-01 -5.53789537e-03 4.06811405e-03 1.45415281e+02] [ 5.53891500e-03 9.99984631e-01 -2.39415624e-04 -8.19879041e+00] [-4.06672567e-03 2.61942909e-04 9.99991697e-01 -2.05007256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38037174299998 meters 0.03587983298638484 Centerline is valid? [True, True] Translation: X:145.48, Y:-8.20, Z:-2.05 [[ 9.99988928e-01 -1.49207175e-03 4.46282149e-03 1.45475975e+02] [ 1.49325870e-03 9.99998851e-01 -2.62643869e-04 -8.19823951e+00] [-4.46242448e-03 2.69305108e-04 9.99990007e-01 -2.05055389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.440371743 meters 0.030137893447873737 Centerline is valid? [True, True] Translation: X:145.54, Y:-8.19, Z:-2.05 [[ 9.99963455e-01 6.11639234e-03 5.97319232e-03 1.45537689e+02] [-6.11440152e-03 9.99981245e-01 -3.51496233e-04 -8.18962792e+00] [-5.97523018e-03 3.14960891e-04 9.99982099e-01 -2.04953974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.500371743 meters 0.027769406261920756 Centerline is valid? [True, True] Translation: X:145.60, Y:-8.18, Z:-2.05 [[ 9.99879228e-01 1.35508540e-02 7.60947305e-03 1.45598489e+02] [-1.35478355e-02 9.99908123e-01 -4.48091049e-04 -8.18489335e+00] [-7.61484593e-03 3.44945043e-04 9.99970947e-01 -2.04923164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.560371743 meters 0.02483877027494452 Centerline is valid? [True, True] Translation: X:145.66, Y:-8.18, Z:-2.05 [[ 9.99717768e-01 2.12928696e-02 1.05355226e-02 1.45659533e+02] [-2.12875127e-02 9.99773203e-01 -6.20353761e-04 -8.17839680e+00] [-1.05463423e-02 3.95903607e-04 9.99944307e-01 -2.04673799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.620371743 meters 0.024650558518003563 Centerline is valid? [True, True] Translation: X:145.72, Y:-8.18, Z:-2.05 [[ 9.99621519e-01 2.48602464e-02 1.17808205e-02 1.45719904e+02] [-2.48537952e-02 9.99690856e-01 -6.93716093e-04 -8.17947559e+00] [-1.17944245e-02 4.00655434e-04 9.99930363e-01 -2.04678017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.680371743 meters 0.025244004575227023 Centerline is valid? [True, True] Translation: X:145.78, Y:-8.18, Z:-2.05 [[ 9.99539544e-01 2.82676364e-02 1.10291055e-02 1.45779304e+02] [-2.82621903e-02 9.99600334e-01 -6.49373905e-04 -8.18075819e+00] [-1.10430538e-02 3.37368219e-04 9.99938967e-01 -2.04873547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74037174299997 meters 0.024421868711034724 Centerline is valid? [True, True] Translation: X:145.84, Y:-8.18, Z:-2.05 [[ 9.99538856e-01 2.82841308e-02 1.10491680e-02 1.45837806e+02] [-2.82786718e-02 9.99599867e-01 -6.50016666e-04 -8.18278887e+00] [-1.10631321e-02 3.37261117e-04 9.99938745e-01 -2.04980823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80037174299997 meters 0.0239869007922966 Centerline is valid? [True, True] Translation: X:145.90, Y:-8.19, Z:-2.05 [[ 9.99591519e-01 2.66288166e-02 1.03779456e-02 1.45896563e+02] [-2.66239186e-02 9.99645335e-01 -6.09860149e-04 -8.18708706e+00] [-1.03905047e-02 3.33309454e-04 9.99945962e-01 -2.05225111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86037174299997 meters 0.025171924524603487 Centerline is valid? [True, True] Translation: X:145.96, Y:-8.19, Z:-2.06 [[ 9.99698069e-01 2.33942982e-02 7.51518637e-03 1.45956070e+02] [-2.33916423e-02 9.99726281e-01 -4.41127406e-04 -8.19398395e+00] [-7.52344919e-03 2.65201664e-04 9.99971663e-01 -2.05564614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92037174299998 meters 0.025441901452634287 Centerline is valid? [True, True] Translation: X:146.02, Y:-8.20, Z:-2.06 [[ 9.99795904e-01 1.93109523e-02 5.93609760e-03 1.46015312e+02] [-1.93092223e-02 9.99813499e-01 -3.48619301e-04 -8.19821334e+00] [-5.94172268e-03 2.33926721e-04 9.99982320e-01 -2.05731273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98037174299998 meters 0.02727816265952966 Centerline is valid? [True, True] Translation: X:146.07, Y:-8.21, Z:-2.06 [[ 9.99853917e-01 1.59374781e-02 6.17587759e-03 1.46073266e+02] [-1.59355453e-02 9.99872956e-01 -3.62035845e-04 -8.20552880e+00] [-6.18086292e-03 2.63566980e-04 9.99980864e-01 -2.05823988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04037174299998 meters 0.029717075940519665 Centerline is valid? [True, True] Translation: X:146.13, Y:-8.21, Z:-2.06 [[ 9.99888865e-01 1.33593987e-02 6.61695699e-03 1.46132555e+02] [-1.33571267e-02 9.99910715e-01 -3.87437474e-04 -8.21430258e+00] [-6.62154212e-03 2.99010883e-04 9.99978033e-01 -2.05956226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10037174299998 meters 0.030318582431979463 Centerline is valid? [True, True] Translation: X:146.19, Y:-8.22, Z:-2.06 [[ 9.99938741e-01 8.37604048e-03 7.23576071e-03 1.46192014e+02] [-8.37319650e-03 9.99964855e-01 -4.23249721e-04 -8.22086731e+00] [-7.23905156e-03 3.62637346e-04 9.99973732e-01 -2.06017403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16037174299998 meters 0.031938893384244715 Centerline is valid? [True, True] Translation: X:146.25, Y:-8.23, Z:-2.06 [[ 9.99961455e-01 6.44386985e-03 5.96370206e-03 1.46252129e+02] [-6.44190574e-03 9.99979190e-01 -3.48495115e-04 -8.22769426e+00] [-5.96582361e-03 3.10064076e-04 9.99982156e-01 -2.06159294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.220371743 meters 0.03357415702845706 Centerline is valid? [True, True] Translation: X:146.31, Y:-8.24, Z:-2.06 [[ 9.99976417e-01 5.80468384e-03 3.67031283e-03 1.46312388e+02] [-5.80393750e-03 9.99983134e-01 -2.13962272e-04 -8.23555502e+00] [-3.67149291e-03 1.92654960e-04 9.99993241e-01 -2.06477678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.280371743 meters 0.029612221754142964 Centerline is valid? [True, True] Translation: X:146.37, Y:-8.23, Z:-2.06 [[ 9.99981412e-01 5.54205035e-03 2.54204453e-03 1.46372911e+02] [-5.54168991e-03 9.99984634e-01 -1.48815566e-04 -8.23257163e+00] [-2.54283021e-03 1.34725578e-04 9.99996758e-01 -2.06445728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.340371743 meters 0.033104131238584134 Centerline is valid? [True, True] Translation: X:146.43, Y:-8.24, Z:-2.07 [[ 9.99988042e-01 4.08111230e-03 2.69463821e-03 1.46431977e+02] [-4.08070145e-03 9.99991661e-01 -1.57952034e-04 -8.24203622e+00] [-2.69526036e-03 1.46954131e-04 9.99996357e-01 -2.06671919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.400371743 meters 0.03125709595953138 Centerline is valid? [True, True] Translation: X:146.49, Y:-8.24, Z:-2.07 [[ 9.99994580e-01 1.45844668e-03 2.95170125e-03 1.46492308e+02] [-1.45794312e-03 9.99998922e-01 -1.72744552e-04 -8.24432243e+00] [-2.95195001e-03 1.68440203e-04 9.99995629e-01 -2.06755546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.460371743 meters 0.03242843959893434 Centerline is valid? [True, True] Translation: X:146.55, Y:-8.25, Z:-2.07 [[ 9.99991451e-01 -3.02052933e-03 2.82386318e-03 1.46552343e+02] [ 3.02100779e-03 9.99995423e-01 -1.65184023e-04 -8.24912155e+00] [-2.82335131e-03 1.73713523e-04 9.99995999e-01 -2.06867551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52037174299997 meters 0.03444706623477023 Centerline is valid? [True, True] Translation: X:146.61, Y:-8.26, Z:-2.07 [[ 9.99969590e-01 -7.65951925e-03 1.46678041e-03 1.46612414e+02] [ 7.65965332e-03 9.99970661e-01 -8.58092578e-05 -8.25549366e+00] [-1.46608012e-03 9.70416777e-05 9.99998921e-01 -2.07083308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58037174299997 meters 0.039963756534996286 Centerline is valid? [True, True] Translation: X:146.67, Y:-8.27, Z:-2.07 [[ 9.99953666e-01 -9.62203648e-03 2.86234475e-04 1.46672148e+02] [ 9.62204160e-03 9.99953707e-01 -1.65076863e-05 -8.26503937e+00] [-2.86062387e-04 1.92610815e-05 9.99999959e-01 -2.07354078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64037174299997 meters 0.036332241785956336 Centerline is valid? [True, True] Translation: X:146.73, Y:-8.26, Z:-2.07 [[ 9.99956544e-01 -9.28570397e-03 -8.28391644e-04 1.46734289e+02] [ 9.28574821e-03 9.99956885e-01 4.95806865e-05 -8.26060194e+00] [ 8.27895537e-04 -5.72707681e-05 9.99999656e-01 -2.07328697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70037174299998 meters 0.04030788389660169 Centerline is valid? [True, True] Translation: X:146.79, Y:-8.26, Z:-2.08 [[ 9.99983604e-01 -5.28784830e-03 -2.19801383e-03 1.46794064e+02] [ 5.28814408e-03 9.99986009e-01 1.28776507e-04 -8.26293026e+00] [ 2.19730213e-03 -1.40397810e-04 9.99997576e-01 -2.07717734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76037174299998 meters 0.03319724208950005 Centerline is valid? [True, True] Translation: X:146.86, Y:-8.25, Z:-2.08 [[ 9.99996556e-01 -1.62993144e-03 -2.05719822e-03 1.46856019e+02] [ 1.63018356e-03 9.99998664e-01 1.20881980e-04 -8.25140330e+00] [ 2.05699844e-03 -1.24235174e-04 9.99997877e-01 -2.07548563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82037174299998 meters 0.031400689604526334 Centerline is valid? [True, True] Translation: X:146.92, Y:-8.24, Z:-2.07 [[ 9.99995774e-01 2.59878204e-03 1.30284825e-03 1.46917428e+02] [-2.59868465e-03 9.99996620e-01 -7.64395566e-05 -8.24462920e+00] [-1.30304250e-03 7.30535419e-05 9.99999148e-01 -2.07354418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88037174299998 meters 0.031246146735153267 Centerline is valid? [True, True] Translation: X:146.98, Y:-8.24, Z:-2.07 [[ 9.99992832e-01 2.85455600e-03 2.48758546e-03 1.46977900e+02] [-2.85420197e-03 9.99995916e-01 -1.45857677e-04 -8.24241434e+00] [-2.48799166e-03 1.38756560e-04 9.99996895e-01 -2.07195631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.940371743 meters 0.033040794853926275 Centerline is valid? [True, True] Translation: X:147.04, Y:-8.25, Z:-2.07 [[ 9.99997191e-01 1.16519257e-03 2.06402112e-03 1.47037904e+02] [-1.16494480e-03 9.99999314e-01 -1.21237209e-04 -8.24613993e+00] [-2.06416097e-03 1.18832397e-04 9.99997863e-01 -2.07218287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.000371743 meters 0.03431340571943927 Centerline is valid? [True, True] Translation: X:147.10, Y:-8.25, Z:-2.07 [[ 9.99999285e-01 -1.08931576e-03 4.93164435e-04 1.47098365e+02] [ 1.08933003e-03 9.99999406e-01 -2.86657872e-05 -8.25034786e+00] [-4.93132917e-04 2.92029855e-05 9.99999878e-01 -2.07397185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.060371743 meters 0.03460463198187474 Centerline is valid? [True, True] Translation: X:147.16, Y:-8.25, Z:-2.08 [[ 9.99999585e-01 7.46922068e-04 -5.22128741e-04 1.47159724e+02] [-7.46905912e-04 9.99999721e-01 3.11367752e-05 -8.25269566e+00] [ 5.22151852e-04 -3.07467813e-05 9.99999863e-01 -2.07501505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.120371743 meters 0.03262140863276698 Centerline is valid? [True, True] Translation: X:147.22, Y:-8.25, Z:-2.08 [[ 9.99990372e-01 4.38349159e-03 2.04177281e-04 1.47220220e+02] [-4.38348918e-03 9.99990392e-01 -1.22236515e-05 -8.25274321e+00] [-2.04228902e-04 1.13285249e-05 9.99999979e-01 -2.07521889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.180371743 meters 0.032010994457175236 Centerline is valid? [True, True] Translation: X:147.28, Y:-8.25, Z:-2.08 [[ 9.99957682e-01 9.13674005e-03 1.07459376e-03 1.47280201e+02] [-9.13667729e-03 9.99958258e-01 -6.33003745e-05 -8.25261909e+00] [-1.07512726e-03 5.34794793e-05 9.99999421e-01 -2.07537447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24037174299997 meters 0.028353054957358473 Centerline is valid? [True, True] Translation: X:147.34, Y:-8.25, Z:-2.07 [[ 9.99935272e-01 1.12021428e-02 1.99092102e-03 1.47339548e+02] [-1.12019308e-02 9.99937249e-01 -1.17602312e-04 -8.24930332e+00] [-1.99211349e-03 9.52925402e-05 9.99998011e-01 -2.07445814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30037174299997 meters 0.0284750046646902 Centerline is valid? [True, True] Translation: X:147.40, Y:-8.25, Z:-2.07 [[ 9.99938208e-01 1.08053197e-02 2.61257938e-03 1.47398794e+02] [-1.08049547e-02 9.99941613e-01 -1.53818588e-04 -8.25146759e+00] [-2.61408890e-03 1.25580281e-04 9.99996575e-01 -2.07497980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36037174299997 meters 0.030150933729619998 Centerline is valid? [True, True] Translation: X:147.46, Y:-8.26, Z:-2.08 [[ 9.99976137e-01 6.78085217e-03 1.32139324e-03 1.47458677e+02] [-6.78075565e-03 9.99977007e-01 -7.75118519e-05 -8.25876805e+00] [-1.32188845e-03 6.85499575e-05 9.99999124e-01 -2.07693167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42037174299998 meters 0.03178457755373282 Centerline is valid? [True, True] Translation: X:147.52, Y:-8.27, Z:-2.08 [[ 9.99994782e-01 3.20848141e-03 -3.77269085e-04 1.47518353e+02] [-3.20847343e-03 9.99994853e-01 2.17643111e-05 -8.26560496e+00] [ 3.77336973e-04 -2.05537397e-05 9.99999929e-01 -2.07857154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48037174299998 meters 0.03313943329936269 Centerline is valid? [True, True] Translation: X:147.58, Y:-8.27, Z:-2.08 [[ 9.99993516e-01 -3.50533215e-03 -8.25247027e-04 1.47577862e+02] [ 3.50537310e-03 9.99993855e-01 4.81852468e-05 -8.27397130e+00] [ 8.25073051e-04 -5.10777331e-05 9.99999658e-01 -2.07931938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54037174299998 meters 0.03770748716755175 Centerline is valid? [True, True] Translation: X:147.64, Y:-8.29, Z:-2.08 [[ 9.99982655e-01 -5.82165672e-03 8.93528621e-04 1.47637307e+02] [ 5.82170570e-03 9.99983052e-01 -5.22217038e-05 -8.28544735e+00] [-8.93209461e-04 5.74226587e-05 9.99999599e-01 -2.08023137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60037174299998 meters 0.03491273819597804 Centerline is valid? [True, True] Translation: X:147.70, Y:-8.29, Z:-2.08 [[ 9.99971569e-01 -6.62584619e-03 3.60004817e-03 1.47699982e+02] [ 6.62664371e-03 9.99978022e-01 -2.09645524e-04 -8.28623440e+00] [-3.59857997e-03 2.33495800e-04 9.99993498e-01 -2.07735394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66037174299998 meters 0.03654474791528046 Centerline is valid? [True, True] Translation: X:147.76, Y:-8.29, Z:-2.08 [[ 9.99968142e-01 -7.18707390e-03 3.47279051e-03 1.47760720e+02] [ 7.18782084e-03 9.99974147e-01 -2.02650735e-04 -8.29416136e+00] [-3.47124426e-03 2.27606075e-04 9.99993949e-01 -2.07895613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.720371743 meters 0.03800439413587296 Centerline is valid? [True, True] Translation: X:147.82, Y:-8.30, Z:-2.08 [[ 9.99965545e-01 -8.14828867e-03 1.58562128e-03 1.47822428e+02] [ 8.14844474e-03 9.99966797e-01 -9.19924536e-05 -8.30184687e+00] [-1.58481905e-03 1.04909631e-04 9.99998739e-01 -2.08206898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.780371743 meters 0.040847480873076186 Centerline is valid? [True, True] Translation: X:147.88, Y:-8.31, Z:-2.09 [[ 9.99941424e-01 -1.05845324e-02 -2.26191574e-03 1.47882034e+02] [ 1.05848614e-02 9.99943970e-01 1.33494958e-04 -8.31123560e+00] [ 2.26037602e-03 -1.57429203e-04 9.99997433e-01 -2.08676390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.840371743 meters 0.04379970541847016 Centerline is valid? [True, True] Translation: X:147.94, Y:-8.32, Z:-2.09 [[ 9.99912991e-01 -1.20288665e-02 -5.41443452e-03 1.47941308e+02] [ 1.20307628e-02 9.99927577e-01 3.17793660e-04 -8.32124857e+00] [ 5.41021970e-03 -3.82905787e-04 9.99985291e-01 -2.09130595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.900371743 meters 0.03933417510346881 Centerline is valid? [True, True] Translation: X:148.00, Y:-8.32, Z:-2.09 [[ 9.99920228e-01 -1.09209121e-02 -6.34589194e-03 1.48002864e+02] [ 1.09234993e-02 9.99940267e-01 3.73184005e-04 -8.31919828e+00] [ 6.34143738e-03 -4.42473582e-04 9.99979795e-01 -2.09113077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.960371743 meters 0.039089978481468585 Centerline is valid? [True, True] Translation: X:148.06, Y:-8.32, Z:-2.09 [[ 9.99928536e-01 -1.00309252e-02 -6.50412555e-03 1.48064025e+02] [ 1.00336257e-02 9.99949589e-01 3.82709403e-04 -8.32209969e+00] [ 6.49995874e-03 -4.47942015e-04 9.99978775e-01 -2.09210471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02037174299997 meters 0.03717016872666244 Centerline is valid? [True, True] Translation: X:148.12, Y:-8.32, Z:-2.09 [[ 9.99962521e-01 -6.81931851e-03 -5.33413208e-03 1.48124543e+02] [ 6.82108852e-03 9.99976687e-01 3.13703952e-04 -8.32343371e+00] [ 5.33186847e-03 -3.50076781e-04 9.99985724e-01 -2.09201314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08037174299997 meters 0.03379190553555789 Centerline is valid? [True, True] Translation: X:148.19, Y:-8.32, Z:-2.09 [[ 9.99992451e-01 -3.22461799e-03 -2.16804647e-03 1.48185265e+02] [ 3.22490177e-03 9.99994792e-01 1.27411673e-04 -8.32243805e+00] [ 2.16762433e-03 -1.34402448e-04 9.99997642e-01 -2.08898901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14037174299997 meters 0.03701618810705605 Centerline is valid? [True, True] Translation: X:148.25, Y:-8.33, Z:-2.09 [[ 9.99995958e-01 -2.74758054e-03 -7.31951300e-04 1.48245377e+02] [ 2.74761296e-03 9.99996224e-01 4.32849807e-05 -8.33160967e+00] [ 7.31829608e-04 -4.52959246e-05 9.99999731e-01 -2.08939265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20037174299998 meters 0.033563806615660816 Centerline is valid? [True, True] Translation: X:148.31, Y:-8.33, Z:-2.09 [[ 9.99991164e-01 -4.20285088e-03 -9.20480106e-05 1.48306869e+02] [ 4.20285145e-03 9.99991168e-01 5.92714045e-06 -8.33305947e+00] [ 9.20222866e-05 -6.31395219e-06 9.99999996e-01 -2.08868716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26037174299998 meters 0.03686574154200483 Centerline is valid? [True, True] Translation: X:148.37, Y:-8.35, Z:-2.09 [[ 9.99970904e-01 -7.53680656e-03 -1.17796786e-03 1.48365715e+02] [ 7.53689328e-03 9.99971595e-01 6.91928370e-05 -8.34513748e+00] [ 1.17741290e-03 -7.80690418e-05 9.99999304e-01 -2.09044601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32037174299998 meters 0.04063087031924501 Centerline is valid? [True, True] Translation: X:148.42, Y:-8.36, Z:-2.09 [[ 9.99931886e-01 -1.14612752e-02 -2.20496263e-03 1.48424930e+02] [ 1.14615884e-02 9.99934305e-01 1.29460604e-04 -8.35790070e+00] [ 2.20333400e-03 -1.54724160e-04 9.99997561e-01 -2.09273175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38037174299998 meters 0.0402834156653611 Centerline is valid? [True, True] Translation: X:148.48, Y:-8.36, Z:-2.09 [[ 9.99870879e-01 -1.58416070e-02 -2.69616066e-03 1.48484732e+02] [ 1.58420912e-02 9.99874494e-01 1.58303170e-04 -8.36477225e+00] [ 2.69331449e-03 -2.00995552e-04 9.99996353e-01 -2.09366125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.440371743 meters 0.04073637031597725 Centerline is valid? [True, True] Translation: X:148.55, Y:-8.37, Z:-2.09 [[ 9.99849877e-01 -1.72011893e-02 -2.08391689e-03 1.48546925e+02] [ 1.72014843e-02 9.99852036e-01 1.23678716e-04 -8.37173691e+00] [ 2.08148113e-03 -1.59506612e-04 9.99997821e-01 -2.09440467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.500371743 meters 0.041943698140715927 Centerline is valid? [True, True] Translation: X:148.61, Y:-8.38, Z:-2.09 [[ 9.99868251e-01 -1.62295348e-02 -2.89460985e-04 1.48608240e+02] [ 1.62295405e-02 9.99868292e-01 1.75492773e-05 -8.37795604e+00] [ 2.89138044e-04 -2.22447840e-05 9.99999958e-01 -2.09383812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.560371743 meters 0.042629399287300834 Centerline is valid? [True, True] Translation: X:148.67, Y:-8.38, Z:-2.09 [[ 9.99900422e-01 -1.40939182e-02 7.12985251e-04 1.48668235e+02] [ 1.40939517e-02 9.99900674e-01 -4.19954206e-05 -8.38450370e+00] [-7.12322554e-04 5.20400185e-05 9.99999745e-01 -2.09393298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.620371743 meters 0.037789553259038995 Centerline is valid? [True, True] Translation: X:148.73, Y:-8.38, Z:-2.09 [[ 9.99913393e-01 -1.31567743e-02 -3.25253324e-04 1.48730358e+02] [ 1.31567815e-02 9.99913446e-01 2.02113515e-05 -8.38372946e+00] [ 3.24959255e-04 -2.44888880e-05 9.99999947e-01 -2.09447181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.680371743 meters 0.03934043872852395 Centerline is valid? [True, True] Translation: X:148.79, Y:-8.39, Z:-2.10 [[ 9.99896869e-01 -1.43013513e-02 -1.31241462e-03 1.48791112e+02] [ 1.43014663e-02 9.99897726e-01 7.82309573e-05 -8.39439360e+00] [ 1.31116159e-03 -9.69923427e-05 9.99999136e-01 -2.09731131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74037174299997 meters 0.03995570781887018 Centerline is valid? [True, True] Translation: X:148.85, Y:-8.40, Z:-2.10 [[ 9.99865019e-01 -1.63675666e-02 -1.43053378e-03 1.48852167e+02] [ 1.63677049e-02 9.99866037e-01 8.49965615e-05 -8.40274774e+00] [ 1.42895096e-03 -1.08399643e-04 9.99998973e-01 -2.09809770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80037174299997 meters 0.039849555181298034 Centerline is valid? [True, True] Translation: X:148.91, Y:-8.41, Z:-2.10 [[ 9.99856387e-01 -1.69225810e-02 -9.11588743e-04 1.48914440e+02] [ 1.69226381e-02 9.99856800e-01 5.49227264e-05 -8.40791262e+00] [ 9.10528769e-04 -7.03413252e-05 9.99999583e-01 -2.09861828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86037174299997 meters 0.041760616576061796 Centerline is valid? [True, True] Translation: X:148.98, Y:-8.42, Z:-2.10 [[ 9.99852263e-01 -1.71095879e-02 -1.64744484e-03 1.48976019e+02] [ 1.71097734e-02 9.99853612e-01 9.85451574e-05 -8.41552499e+00] [ 1.64551760e-03 -1.26718006e-04 9.99998638e-01 -2.10007516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92037174299998 meters 0.042646838794928504 Centerline is valid? [True, True] Translation: X:149.04, Y:-8.42, Z:-2.10 [[ 9.99834813e-01 -1.80843319e-02 -1.81737169e-03 1.49037437e+02] [ 1.80845587e-02 9.99836455e-01 1.08445804e-04 -8.42364557e+00] [ 1.81511330e-03 -1.41294255e-04 9.99998343e-01 -2.10235896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98037174299998 meters 0.04417615648915584 Centerline is valid? [True, True] Translation: X:149.10, Y:-8.43, Z:-2.10 [[ 9.99819807e-01 -1.89019081e-02 -1.75227717e-03 1.49099623e+02] [ 1.89021208e-02 9.99821333e-01 1.04948651e-04 -8.43077072e+00] [ 1.74998036e-03 -1.38051495e-04 9.99998459e-01 -2.10316733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04037174299998 meters 0.04164114219870149 Centerline is valid? [True, True] Translation: X:149.16, Y:-8.44, Z:-2.10 [[ 9.99762544e-01 -2.17637445e-02 -1.09318668e-03 1.49160742e+02] [ 2.17638286e-02 9.99763138e-01 6.51342907e-05 -8.43540856e+00] [ 1.09151018e-03 -8.89107518e-05 9.99999400e-01 -2.10178276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10037174299998 meters 0.04270083482112748 Centerline is valid? [True, True] Translation: X:149.22, Y:-8.44, Z:-2.10 [[ 9.99759159e-01 -2.19341588e-02 -7.18437663e-04 1.49222436e+02] [ 2.19341959e-02 9.99759416e-01 4.37033674e-05 -8.44120421e+00] [ 7.17306221e-04 -5.94511942e-05 9.99999741e-01 -2.10232081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16037174299998 meters 0.04053549265977953 Centerline is valid? [True, True] Translation: X:149.28, Y:-8.44, Z:-2.10 [[ 9.99811061e-01 -1.94346847e-02 -3.66566382e-04 1.49282848e+02] [ 1.94346939e-02 9.99811128e-01 2.17821037e-05 -8.44243861e+00] [ 3.66073820e-04 -2.89020937e-05 9.99999933e-01 -2.10191919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.220371743 meters 0.04036009987558466 Centerline is valid? [True, True] Translation: X:149.34, Y:-8.45, Z:-2.10 [[ 9.99888804e-01 -1.49122845e-02 -5.21638484e-05 1.49342026e+02] [ 1.49122847e-02 9.99888806e-01 2.83609776e-06 -8.44608846e+00] [ 5.21157553e-05 -3.61366455e-06 9.99999999e-01 -2.10276783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.280371743 meters 0.038135006577276975 Centerline is valid? [True, True] Translation: X:149.40, Y:-8.44, Z:-2.10 [[ 9.99963397e-01 -8.54975598e-03 -3.25087463e-04 1.49403226e+02] [ 8.54976278e-03 9.99963450e-01 1.95391896e-05 -8.44486718e+00] [ 3.24908525e-04 -2.23178951e-05 9.99999947e-01 -2.10344749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.340371743 meters 0.03525486333240348 Centerline is valid? [True, True] Translation: X:149.46, Y:-8.44, Z:-2.10 [[ 9.99993867e-01 -3.43544114e-03 -6.81027318e-04 1.49464547e+02] [ 3.43546951e-03 9.99994098e-01 4.04883392e-05 -8.44194114e+00] [ 6.80884203e-04 -4.28277395e-05 9.99999767e-01 -2.10331926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.400371743 meters 0.03503667567314878 Centerline is valid? [True, True] Translation: X:149.52, Y:-8.44, Z:-2.10 [[ 9.99990920e-01 4.25932504e-03 1.31096250e-04 1.49524030e+02] [-4.25932402e-03 9.99990929e-01 -8.05788043e-06 -8.44132022e+00] [-1.31129382e-04 7.49942587e-06 9.99999991e-01 -2.10477603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.460371743 meters 0.028573213337859595 Centerline is valid? [True, True] Translation: X:149.59, Y:-8.43, Z:-2.10 [[ 9.99953627e-01 9.62219750e-03 3.97057519e-04 1.49585149e+02] [-9.62218887e-03 9.99953705e-01 -2.36356445e-05 -8.42992180e+00] [-3.97266565e-04 1.98139860e-05 9.99999921e-01 -2.10395173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52037174299997 meters 0.02816547514968537 Centerline is valid? [True, True] Translation: X:149.64, Y:-8.43, Z:-2.10 [[ 9.99941694e-01 1.07985577e-02 1.93417569e-05 1.49644589e+02] [-1.07985577e-02 9.99941694e-01 -1.91312139e-06 -8.42839832e+00] [-1.93612882e-05 1.70414677e-06 1.00000000e+00 -2.10454779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58037174299997 meters 0.035986413944054135 Centerline is valid? [True, True] Translation: X:149.70, Y:-8.44, Z:-2.11 [[ 9.99961528e-01 8.73911977e-03 7.54625505e-04 1.49702252e+02] [-8.73908814e-03 9.99961812e-01 -4.52033645e-05 -8.43971898e+00] [-7.54991725e-04 3.86068867e-05 9.99999714e-01 -2.10784328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64037174299997 meters 0.030952950339697895 Centerline is valid? [True, True] Translation: X:149.76, Y:-8.43, Z:-2.11 [[ 9.99981973e-01 5.94523700e-03 8.41438602e-04 1.49762510e+02] [-5.94519670e-03 9.99982326e-01 -5.03866753e-05 -8.43274002e+00] [-8.41723291e-04 4.53832489e-05 9.99999645e-01 -2.10599691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70037174299998 meters 0.033035820951528946 Centerline is valid? [True, True] Translation: X:149.82, Y:-8.44, Z:-2.11 [[ 9.99999346e-01 5.41308901e-05 1.14230356e-03 1.49823011e+02] [-5.40535793e-05 9.99999996e-01 -6.77105052e-05 -8.43743146e+00] [-1.14230722e-03 6.76487153e-05 9.99999345e-01 -2.10699590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76037174299998 meters 0.03631436015571239 Centerline is valid? [True, True] Translation: X:149.88, Y:-8.44, Z:-2.11 [[ 9.99986139e-01 -5.19598518e-03 8.50536153e-04 1.49883134e+02] [ 5.19602990e-03 9.99986499e-01 -5.03733419e-05 -8.44312047e+00] [-8.50262931e-04 5.47920550e-05 9.99999637e-01 -2.10755198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82037174299998 meters 0.03994387817183814 Centerline is valid? [True, True] Translation: X:149.94, Y:-8.45, Z:-2.11 [[ 9.99937108e-01 -1.12121404e-02 2.60048323e-04 1.49943292e+02] [ 1.12121448e-02 9.99937142e-01 -1.52499160e-05 -8.45074167e+00] [-2.59860992e-04 1.81646564e-05 9.99999966e-01 -2.10979440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88037174299998 meters 0.04148816213064375 Centerline is valid? [True, True] Translation: X:150.00, Y:-8.46, Z:-2.11 [[ 9.99911421e-01 -1.33095709e-02 -7.82138020e-05 1.50003930e+02] [ 1.33095713e-02 9.99911424e-01 4.88349388e-06 -8.45717901e+00] [ 7.81418768e-05 -5.92405348e-06 9.99999997e-01 -2.11134926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.940371743 meters 0.0444761257700622 Centerline is valid? [True, True] Translation: X:150.06, Y:-8.46, Z:-2.12 [[ 9.99851412e-01 -1.71905245e-02 -1.28078509e-03 1.50063959e+02] [ 1.71906359e-02 9.99852227e-01 7.60020151e-05 -8.46498462e+00] [ 1.27928931e-03 -9.80082322e-05 9.99999177e-01 -2.11555527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.000371743 meters 0.045919520531737555 Centerline is valid? [True, True] Translation: X:150.13, Y:-8.47, Z:-2.12 [[ 9.99854892e-01 -1.68927106e-02 -2.19779153e-03 1.50125144e+02] [ 1.68930396e-02 9.99857294e-01 1.31185273e-04 -8.46816125e+00] [ 2.19526182e-03 -1.68293616e-04 9.99997576e-01 -2.11651536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.060371743 meters 0.04597367731405826 Centerline is valid? [True, True] Translation: X:150.19, Y:-8.47, Z:-2.12 [[ 9.99887485e-01 -1.48763207e-02 -1.92689742e-03 1.50185558e+02] [ 1.48765686e-02 9.99889331e-01 1.14383861e-04 -8.46985353e+00] [ 1.92498256e-03 -1.43036613e-04 9.99998137e-01 -2.11653629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.120371743 meters 0.04559925583704067 Centerline is valid? [True, True] Translation: X:150.25, Y:-8.47, Z:-2.12 [[ 9.99941764e-01 -1.07918399e-02 7.52006755e-05 1.50245240e+02] [ 1.07918403e-02 9.99941766e-01 -4.70830824e-06 -8.47011588e+00] [-7.51454851e-05 5.51958773e-06 9.99999997e-01 -2.11564516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.180371743 meters 0.04113717099084707 Centerline is valid? [True, True] Translation: X:150.31, Y:-8.46, Z:-2.11 [[ 9.99970312e-01 -7.50250332e-03 1.75693269e-03 1.50306171e+02] [ 7.50269784e-03 9.99971849e-01 -1.04153055e-04 -8.46446343e+00] [-1.75610183e-03 1.17331698e-04 9.99998451e-01 -2.11434839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24037174299997 meters 0.03447719170947776 Centerline is valid? [True, True] Translation: X:150.37, Y:-8.46, Z:-2.11 [[ 9.99983588e-01 -5.61476088e-03 1.13965177e-03 1.50368140e+02] [ 5.61484106e-03 9.99984234e-01 -6.71651119e-05 -8.45522177e+00] [-1.13925669e-03 7.35629731e-05 9.99999348e-01 -2.11343968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30037174299997 meters 0.035053902267251275 Centerline is valid? [True, True] Translation: X:150.43, Y:-8.46, Z:-2.11 [[ 9.99985519e-01 -4.97127460e-03 2.06117501e-03 1.50430614e+02] [ 4.97153564e-03 9.99987634e-01 -1.21541200e-04 -8.45752989e+00] [-2.06054531e-03 1.31786645e-04 9.99997868e-01 -2.11392161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36037174299997 meters 0.03601111174545873 Centerline is valid? [True, True] Translation: X:150.49, Y:-8.46, Z:-2.11 [[ 9.99991195e-01 -3.35722261e-03 2.51784784e-03 1.50492294e+02] [ 3.35760861e-03 9.99994352e-01 -1.49094814e-04 -8.45901660e+00] [-2.51733308e-03 1.57547449e-04 9.99996819e-01 -2.11367745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42037174299998 meters 0.037229715586000904 Centerline is valid? [True, True] Translation: X:150.55, Y:-8.46, Z:-2.11 [[ 9.99988876e-01 -3.18265237e-03 3.48128338e-03 1.50553353e+02] [ 3.18339095e-03 9.99994912e-01 -2.06637643e-04 -8.46318033e+00] [-3.48060801e-03 2.17717631e-04 9.99993919e-01 -2.11412422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48037174299998 meters 0.03727735422874794 Centerline is valid? [True, True] Translation: X:150.62, Y:-8.47, Z:-2.12 [[ 9.99990087e-01 -2.32729925e-03 3.79597989e-03 1.50615169e+02] [ 2.32817162e-03 9.99997264e-01 -2.25411060e-04 -8.46620256e+00] [-3.79544491e-03 2.34246518e-04 9.99992770e-01 -2.11545960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54037174299998 meters 0.03725212466910493 Centerline is valid? [True, True] Translation: X:150.67, Y:-8.47, Z:-2.12 [[ 9.99998012e-01 5.94362657e-04 1.90331969e-03 1.50674743e+02] [-5.94147278e-04 9.99999817e-01 -1.13723351e-04 -8.46831560e+00] [-1.90338693e-03 1.12592273e-04 9.99998182e-01 -2.11831530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60037174299998 meters 0.03240976969509272 Centerline is valid? [True, True] Translation: X:150.74, Y:-8.46, Z:-2.12 [[ 9.99995166e-01 2.73223554e-03 1.48396501e-03 1.50735419e+02] [-2.73210723e-03 9.99996264e-01 -8.84793214e-05 -8.46374032e+00] [-1.48420121e-03 8.44245422e-05 9.99998895e-01 -2.11804984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66037174299998 meters 0.031168919676410892 Centerline is valid? [True, True] Translation: X:150.80, Y:-8.46, Z:-2.12 [[ 9.99974935e-01 6.29315994e-03 3.24418583e-03 1.50795644e+02] [-6.29256480e-03 9.99980183e-01 -1.93624435e-04 -8.46459064e+00] [-3.24534005e-03 1.73205332e-04 9.99994719e-01 -2.11716530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.720371743 meters 0.028695133324857472 Centerline is valid? [True, True] Translation: X:150.86, Y:-8.46, Z:-2.12 [[ 9.99928340e-01 1.15627932e-02 3.10109466e-03 1.50856667e+02] [-1.15622753e-02 9.99933138e-01 -1.84881146e-04 -8.46275160e+00] [-3.10302506e-03 1.49012187e-04 9.99995175e-01 -2.11746454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.780371743 meters 0.028187584897691405 Centerline is valid? [True, True] Translation: X:150.92, Y:-8.46, Z:-2.12 [[ 9.99866518e-01 1.61835281e-02 2.24489761e-03 1.50916703e+02] [-1.61832674e-02 9.99869033e-01 -1.34262690e-04 -8.46424723e+00] [-2.24677645e-03 9.79149896e-05 9.99997471e-01 -2.11866151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.840371743 meters 0.02765520922972114 Centerline is valid? [True, True] Translation: X:150.97, Y:-8.47, Z:-2.12 [[ 9.99842818e-01 1.76480147e-02 1.69880576e-03 1.50973900e+02] [-1.76478663e-02 9.99844259e-01 -1.02293398e-04 -8.47018662e+00] [-1.70034646e-03 7.22970226e-05 9.99998552e-01 -2.12073111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.900371743 meters 0.02667913398043398 Centerline is valid? [True, True] Translation: X:151.03, Y:-8.47, Z:-2.12 [[ 9.99818414e-01 1.89984087e-02 1.48335332e-03 1.51032283e+02] [-1.89982973e-02 9.99819512e-01 -8.91351861e-05 -8.47229949e+00] [-1.48477902e-03 6.09378129e-05 9.99998896e-01 -2.12089920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.960371743 meters 0.026973095298885127 Centerline is valid? [True, True] Translation: X:151.09, Y:-8.48, Z:-2.12 [[ 9.99806584e-01 1.94347780e-02 3.01388486e-03 1.51090138e+02] [-1.94343235e-02 9.99811119e-01 -1.80009514e-04 -8.47721878e+00] [-3.01681404e-03 1.21401884e-04 9.99995442e-01 -2.11975991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02037174299997 meters 0.028493553144899004 Centerline is valid? [True, True] Translation: X:151.15, Y:-8.49, Z:-2.12 [[ 9.99870881e-01 1.56265997e-02 3.74563482e-03 1.51149369e+02] [-1.56258756e-02 9.99877884e-01 -2.22519206e-04 -8.48623221e+00] [-3.74865464e-03 1.63961651e-04 9.99992960e-01 -2.12110677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08037174299997 meters 0.02943039116130875 Centerline is valid? [True, True] Translation: X:151.21, Y:-8.49, Z:-2.12 [[ 9.99933081e-01 1.10757719e-02 3.34075160e-03 1.51209366e+02] [-1.10751713e-02 9.99938649e-01 -1.98213952e-04 -8.49277129e+00] [-3.34274202e-03 1.61201291e-04 9.99994400e-01 -2.12217647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14037174299997 meters 0.033922061470299705 Centerline is valid? [True, True] Translation: X:151.27, Y:-8.51, Z:-2.12 [[ 9.99987376e-01 2.96647152e-03 4.05551667e-03 1.51267818e+02] [-2.96552175e-03 9.99995574e-01 -2.40185780e-04 -8.50600744e+00] [-4.05621122e-03 2.28156025e-04 9.99991748e-01 -2.12274903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20037174299998 meters 0.03425909441507623 Centerline is valid? [True, True] Translation: X:151.33, Y:-8.51, Z:-2.12 [[ 9.99982398e-01 -4.88402279e-03 3.36901255e-03 1.51327807e+02] [ 4.88472323e-03 9.99988050e-01 -1.99711060e-04 -8.51334974e+00] [-3.36799689e-03 2.16164239e-04 9.99994305e-01 -2.12327222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26037174299998 meters 0.0373473925074299 Centerline is valid? [True, True] Translation: X:151.39, Y:-8.52, Z:-2.13 [[ 9.99930608e-01 -1.14785554e-02 2.64992840e-03 1.51387976e+02] [ 1.14790115e-02 9.99934102e-01 -1.56936867e-04 -8.52420529e+00] [-2.64795237e-03 1.87344536e-04 9.99996477e-01 -2.12530320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32037174299998 meters 0.0392026885829109 Centerline is valid? [True, True] Translation: X:151.45, Y:-8.53, Z:-2.13 [[ 9.99896443e-01 -1.43137358e-02 1.49027536e-03 1.51448875e+02] [ 1.43138829e-02 9.99897547e-01 -8.81149449e-05 -8.53183223e+00] [-1.48886143e-03 1.09437447e-04 9.99998886e-01 -2.12715638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38037174299998 meters 0.03911758280621526 Centerline is valid? [True, True] Translation: X:151.51, Y:-8.54, Z:-2.13 [[ 9.99887692e-01 -1.48489281e-02 2.02804721e-03 1.51511139e+02] [ 1.48492006e-02 9.99889737e-01 -1.19383033e-04 -8.53726781e+00] [-2.02605088e-03 1.49484505e-04 9.99997936e-01 -2.12828779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.440371743 meters 0.03908130121039527 Centerline is valid? [True, True] Translation: X:151.57, Y:-8.54, Z:-2.13 [[ 9.99920766e-01 -1.22858848e-02 2.74192262e-03 1.51571941e+02] [ 1.22863764e-02 9.99924506e-01 -1.62522926e-04 -8.54088371e+00] [-2.73971889e-03 1.96198342e-04 9.99996228e-01 -2.12792396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.500371743 meters 0.038215817826476955 Centerline is valid? [True, True] Translation: X:151.63, Y:-8.54, Z:-2.13 [[ 9.99964983e-01 -7.92040594e-03 2.70188517e-03 1.51632439e+02] [ 7.92086828e-03 9.99968617e-01 -1.60457634e-04 -8.54259624e+00] [-2.70052948e-03 1.81853292e-04 9.99996337e-01 -2.12833213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.560371743 meters 0.03529153558565301 Centerline is valid? [True, True] Translation: X:151.69, Y:-8.54, Z:-2.13 [[ 9.99983823e-01 -4.73468042e-03 3.15216044e-03 1.51693094e+02] [ 4.73529398e-03 9.99988771e-01 -1.87210578e-04 -8.54158363e+00] [-3.15123867e-03 2.02133956e-04 9.99995014e-01 -2.12821523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.620371743 meters 0.034933595047811045 Centerline is valid? [True, True] Translation: X:151.75, Y:-8.54, Z:-2.13 [[ 9.99990197e-01 -2.63931923e-04 4.42001882e-03 1.51752475e+02] [ 2.65095505e-04 9.99999930e-01 -2.62668913e-04 -8.54363789e+00] [-4.41994918e-03 2.63838065e-04 9.99990197e-01 -2.12889479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.680371743 meters 0.03369364682634697 Centerline is valid? [True, True] Translation: X:151.81, Y:-8.55, Z:-2.13 [[ 9.99977579e-01 2.54969992e-03 6.19198358e-03 1.51813741e+02] [-2.54747299e-03 9.99996688e-01 -3.67508936e-04 -8.54505740e+00] [-6.19290011e-03 3.51726785e-04 9.99980762e-01 -2.12789701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74037174299997 meters 0.03469181675448257 Centerline is valid? [True, True] Translation: X:151.87, Y:-8.55, Z:-2.13 [[ 9.99972914e-01 3.19810823e-03 6.62893763e-03 1.51874355e+02] [-3.19557939e-03 9.99994817e-01 -3.92041491e-04 -8.55054691e+00] [-6.63015707e-03 3.70847576e-04 9.99977952e-01 -2.12867985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80037174299997 meters 0.031112199133401727 Centerline is valid? [True, True] Translation: X:151.94, Y:-8.55, Z:-2.13 [[ 9.99980837e-01 3.14766424e-03 5.33087891e-03 1.51936229e+02] [-3.14602132e-03 9.99995001e-01 -3.16545939e-04 -8.55033921e+00] [-5.33184865e-03 2.99768814e-04 9.99985741e-01 -2.13033194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86037174299997 meters 0.03147375967079222 Centerline is valid? [True, True] Translation: X:152.00, Y:-8.56, Z:-2.13 [[ 9.99995323e-01 2.19527293e-03 2.12952749e-03 1.51997647e+02] [-2.19500779e-03 9.99997583e-01 -1.26836996e-04 -8.55584053e+00] [-2.12980079e-03 1.22162073e-04 9.99997725e-01 -2.13454387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92037174299998 meters 0.031363971365473156 Centerline is valid? [True, True] Translation: X:152.06, Y:-8.56, Z:-2.14 [[ 9.99998420e-01 1.66600040e-03 6.19779897e-04 1.52058333e+02] [-1.66597790e-03 9.99998612e-01 -3.68192160e-05 -8.55938546e+00] [-6.19840378e-04 3.57866182e-05 9.99999807e-01 -2.13616868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98037174299998 meters 0.032172338144806696 Centerline is valid? [True, True] Translation: X:152.12, Y:-8.56, Z:-2.14 [[ 9.99997844e-01 1.96314010e-03 6.77146545e-04 1.52118563e+02] [-1.96311312e-03 9.99998072e-01 -4.05058027e-05 -8.56292631e+00] [-6.77224758e-04 3.91764001e-05 9.99999770e-01 -2.13617864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04037174299998 meters 0.03466872786830036 Centerline is valid? [True, True] Translation: X:152.18, Y:-8.57, Z:-2.13 [[ 9.99986586e-01 3.24474914e-03 4.03737442e-03 1.52178044e+02] [-3.24379971e-03 9.99994710e-01 -2.41686105e-04 -8.56910764e+00] [-4.03813727e-03 2.28586429e-04 9.99991821e-01 -2.13404066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10037174299998 meters 0.033268940522748515 Centerline is valid? [True, True] Translation: X:152.24, Y:-8.57, Z:-2.13 [[ 9.99953595e-01 5.85249402e-03 7.65220214e-03 1.52238373e+02] [-5.84916303e-03 9.99982789e-01 -4.57606598e-04 -8.57128080e+00] [-7.65474858e-03 4.12826385e-04 9.99970617e-01 -2.13162726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16037174299998 meters 0.034352840411030636 Centerline is valid? [True, True] Translation: X:152.30, Y:-8.58, Z:-2.13 [[ 9.99930172e-01 8.64412404e-03 8.05790729e-03 1.52298996e+02] [-8.64052250e-03 9.99962554e-01 -4.81663579e-04 -8.57862995e+00] [-8.06176912e-03 4.12005416e-04 9.99967419e-01 -2.13260965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.220371743 meters 0.03413702336098422 Centerline is valid? [True, True] Translation: X:152.36, Y:-8.58, Z:-2.13 [[ 9.99907478e-01 1.14231006e-02 7.38568355e-03 1.52359881e+02] [-1.14201481e-02 9.99934690e-01 -4.41810603e-04 -8.58220602e+00] [-7.39024804e-03 3.57424126e-04 9.99972628e-01 -2.13383367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.280371743 meters 0.02673114371834743 Centerline is valid? [True, True] Translation: X:152.42, Y:-8.58, Z:-2.13 [[ 9.99849972e-01 1.61522973e-02 6.25596110e-03 1.52420049e+02] [-1.61502679e-02 9.99869506e-01 -3.74785256e-04 -8.57663445e+00] [-6.26119837e-03 2.73693580e-04 9.99980361e-01 -2.13451287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.340371743 meters 0.024178223839658865 Centerline is valid? [True, True] Translation: X:152.48, Y:-8.58, Z:-2.14 [[ 9.99658339e-01 2.56923368e-02 4.80715685e-03 1.52479955e+02] [-2.56912496e-02 9.99669884e-01 -2.87794429e-04 -8.57640670e+00] [-4.81296404e-03 1.64194235e-04 9.99988404e-01 -2.13640342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.400371743 meters 0.022743828176867827 Centerline is valid? [True, True] Translation: X:152.54, Y:-8.58, Z:-2.14 [[ 9.99412789e-01 3.40656435e-02 3.68902682e-03 1.52539005e+02] [-3.40650605e-02 9.99419593e-01 -2.20763406e-04 -8.57776285e+00] [-3.69440613e-03 9.49668491e-05 9.99993171e-01 -2.13881775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.460371743 meters 0.020317928303980232 Centerline is valid? [True, True] Translation: X:152.60, Y:-8.57, Z:-2.14 [[ 9.98712152e-01 5.06748989e-02 2.46827549e-03 1.52599107e+02] [-5.06746886e-02 9.98715202e-01 -1.47720615e-04 -8.57392480e+00] [-2.47258998e-03 2.24512818e-05 9.99996943e-01 -2.14020689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52037174299997 meters 0.020538826783661455 Centerline is valid? [True, True] Translation: X:152.66, Y:-8.57, Z:-2.14 [[ 9.97749984e-01 6.69452552e-02 3.64719681e-03 1.52657962e+02] [-6.69448966e-02 9.97756650e-01 -2.20466198e-04 -8.57033849e+00] [-3.65377403e-03 -2.41910669e-05 9.99993325e-01 -2.13853691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58037174299997 meters 0.021341531646207723 Centerline is valid? [True, True] Translation: X:152.72, Y:-8.58, Z:-2.14 [[ 9.97014936e-01 7.70602308e-02 4.78946441e-03 1.52717527e+02] [-7.70597497e-02 9.97026436e-01 -2.85181492e-04 -8.57542729e+00] [-4.79719878e-03 -8.47447221e-05 9.99988490e-01 -2.13889180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64037174299997 meters 0.02129390150537535 Centerline is valid? [True, True] Translation: X:152.77, Y:-8.58, Z:-2.14 [[ 9.97029089e-01 7.68844731e-02 4.66610593e-03 1.52774366e+02] [-7.68840115e-02 9.97040005e-01 -2.78500447e-04 -8.58470671e+00] [-4.67370664e-03 -8.10758941e-05 9.99989075e-01 -2.14051770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70037174299998 meters 0.019905235774657463 Centerline is valid? [True, True] Translation: X:152.83, Y:-8.61, Z:-2.14 [[ 9.97732892e-01 6.71961802e-02 3.70797812e-03 1.52832425e+02] [-6.71958224e-02 9.97739782e-01 -2.21112438e-04 -8.60655764e+00] [-3.71445520e-03 -2.85494869e-05 9.99993101e-01 -2.14251864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76037174299998 meters 0.019282125967628343 Centerline is valid? [True, True] Translation: X:152.89, Y:-8.63, Z:-2.14 [[ 9.98724372e-01 5.02956296e-02 4.46962042e-03 1.52889326e+02] [-5.02949445e-02 9.98734373e-01 -2.65630601e-04 -8.63420537e+00] [-4.47732361e-03 4.04924440e-05 9.99989976e-01 -2.14238580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82037174299998 meters 0.02120309023475603 Centerline is valid? [True, True] Translation: X:152.95, Y:-8.66, Z:-2.14 [[ 9.99367426e-01 3.45956994e-02 8.23922254e-03 1.52947634e+02] [-3.45928594e-02 9.99401369e-01 -4.86988519e-04 -8.66022050e+00] [-8.25113800e-03 2.01662195e-04 9.99965938e-01 -2.13962292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88037174299998 meters 0.025252060529380792 Centerline is valid? [True, True] Translation: X:153.01, Y:-8.68, Z:-2.14 [[ 9.99731800e-01 2.14803344e-02 8.65585520e-03 1.53006789e+02] [-2.14767111e-02 9.99769218e-01 -5.11342846e-04 -8.68424920e+00] [-8.66484141e-03 3.25306403e-04 9.99962407e-01 -2.14119082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.940371743 meters 0.03024105439832998 Centerline is valid? [True, True] Translation: X:153.07, Y:-8.70, Z:-2.14 [[ 9.99845650e-01 1.50878043e-02 9.00195284e-03 1.53065068e+02] [-1.50836266e-02 9.99886094e-01 -5.31805733e-04 -8.70204899e+00] [-9.00895125e-03 3.95941553e-04 9.99959340e-01 -2.14310355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.000371743 meters 0.03415236627751063 Centerline is valid? [True, True] Translation: X:153.12, Y:-8.73, Z:-2.14 [[ 9.99927712e-01 4.37181156e-03 1.12007797e-02 1.53123263e+02] [-4.36467315e-03 9.99990256e-01 -6.61679011e-04 -8.72637351e+00] [-1.12035633e-02 6.12743437e-04 9.99937050e-01 -2.14347818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.060371743 meters 0.03354752590634913 Centerline is valid? [True, True] Translation: X:153.18, Y:-8.73, Z:-2.15 [[ 9.99954725e-01 1.01650390e-03 9.46119682e-03 1.53183866e+02] [-1.01125979e-03 9.99999332e-01 -5.59042698e-04 -8.73401934e+00] [-9.46175877e-03 5.49449660e-04 9.99955086e-01 -2.14647763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.120371743 meters 0.03931919989408313 Centerline is valid? [True, True] Translation: X:153.24, Y:-8.75, Z:-2.15 [[ 9.99976676e-01 -1.81280732e-03 6.58498832e-03 1.53243271e+02] [ 1.81540900e-03 9.99998276e-01 -3.89136846e-04 -8.75119032e+00] [-6.58427154e-03 4.01082217e-04 9.99978243e-01 -2.15127344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.180371743 meters 0.034363557261298916 Centerline is valid? [True, True] Translation: X:153.31, Y:-8.75, Z:-2.15 [[ 9.99980962e-01 -2.04456283e-03 5.82204921e-03 1.53305291e+02] [ 2.04659831e-03 9.99997847e-01 -3.43679182e-04 -8.75043657e+00] [-5.82133400e-03 3.55588035e-04 9.99982993e-01 -2.15121370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24037174299997 meters 0.03238896243893169 Centerline is valid? [True, True] Translation: X:153.37, Y:-8.75, Z:-2.15 [[ 9.99979512e-01 -9.76085561e-04 6.32640530e-03 1.53367998e+02] [ 9.78469395e-04 9.99999451e-01 -3.73722952e-04 -8.75228963e+00] [-6.32603705e-03 3.79905489e-04 9.99979918e-01 -2.15036586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30037174299997 meters 0.032811754778574946 Centerline is valid? [True, True] Translation: X:153.43, Y:-8.76, Z:-2.15 [[ 9.99973860e-01 -1.68482728e-04 7.22841566e-03 1.53430539e+02] [ 1.71581285e-04 9.99999894e-01 -4.28045431e-04 -8.75773977e+00] [-7.22834277e-03 4.29274503e-04 9.99973783e-01 -2.15134600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36037174299997 meters 0.03371739245576016 Centerline is valid? [True, True] Translation: X:153.49, Y:-8.76, Z:-2.15 [[ 9.99970365e-01 -3.00181622e-04 7.69274039e-03 1.53492845e+02] [ 3.03702844e-04 9.99999850e-01 -4.56569024e-04 -8.76349575e+00] [-7.69260218e-03 4.58891801e-04 9.99970306e-01 -2.15229012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42037174299998 meters 0.03330996023951387 Centerline is valid? [True, True] Translation: X:153.55, Y:-8.77, Z:-2.15 [[ 9.99970862e-01 -3.22996556e-03 6.91680061e-03 1.53553954e+02] [ 3.23288743e-03 9.99994690e-01 -4.11292464e-04 -8.76592229e+00] [-6.91543542e-03 4.33641717e-04 9.99975994e-01 -2.15310381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48037174299998 meters 0.03540105434068878 Centerline is valid? [True, True] Translation: X:153.61, Y:-8.77, Z:-2.15 [[ 9.99963707e-01 -5.62207385e-03 6.40136230e-03 1.53613765e+02] [ 5.62462592e-03 9.99984109e-01 -3.80743471e-04 -8.77399357e+00] [-6.39912001e-03 4.16734921e-04 9.99979439e-01 -2.15389027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54037174299998 meters 0.03620690484980256 Centerline is valid? [True, True] Translation: X:153.68, Y:-8.78, Z:-2.15 [[ 9.99939693e-01 -7.40520423e-03 8.11004162e-03 1.53676110e+02] [ 7.40935813e-03 9.99972434e-01 -4.82266112e-04 -8.77807718e+00] [-8.10624678e-03 5.42327231e-04 9.99966997e-01 -2.15224886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60037174299998 meters 0.03930833797971871 Centerline is valid? [True, True] Translation: X:153.74, Y:-8.79, Z:-2.15 [[ 9.99939447e-01 -6.94445171e-03 8.53676853e-03 1.53736567e+02] [ 6.94904415e-03 9.99975726e-01 -5.08416170e-04 -8.78528239e+00] [-8.53303064e-03 5.67707766e-04 9.99963432e-01 -2.15208973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66037174299998 meters 0.033052900193209826 Centerline is valid? [True, True] Translation: X:153.80, Y:-8.78, Z:-2.15 [[ 9.99946492e-01 -6.15749712e-03 8.31259652e-03 1.53799304e+02] [ 6.16182700e-03 9.99980893e-01 -4.95370685e-04 -8.77952553e+00] [-8.30938745e-03 5.46564960e-04 9.99965327e-01 -2.15247505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.720371743 meters 0.03261127692779623 Centerline is valid? [True, True] Translation: X:153.86, Y:-8.78, Z:-2.15 [[ 9.99951063e-01 -3.89886966e-03 9.09232934e-03 1.53861075e+02] [ 3.90396395e-03 9.99992232e-01 -5.42602956e-04 -8.77965383e+00] [-9.09014318e-03 5.78072529e-04 9.99958517e-01 -2.15267631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.780371743 meters 0.03410995511219923 Centerline is valid? [True, True] Translation: X:153.92, Y:-8.78, Z:-2.15 [[ 9.99954924e-01 -1.98738968e-03 9.28443138e-03 1.53922533e+02] [ 1.99262803e-03 9.99997861e-01 -5.54992221e-04 -8.78220673e+00] [-9.28330853e-03 5.73467623e-04 9.99956745e-01 -2.15266808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.840371743 meters 0.03607677090582315 Centerline is valid? [True, True] Translation: X:153.98, Y:-8.79, Z:-2.16 [[ 9.99960091e-01 -4.34593234e-03 7.80576028e-03 1.53983399e+02] [ 4.34970905e-03 9.99990431e-01 -4.66924354e-04 -8.78722571e+00] [-7.80365637e-03 5.00858506e-04 9.99969426e-01 -2.15565698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.900371743 meters 0.03861209748806803 Centerline is valid? [True, True] Translation: X:154.04, Y:-8.79, Z:-2.16 [[ 9.99942333e-01 -7.75904055e-03 7.42476370e-03 1.54043771e+02] [ 7.76255139e-03 9.99969772e-01 -4.44153356e-04 -8.79317146e+00] [-7.42109306e-03 5.01762853e-04 9.99972337e-01 -2.15718526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.960371743 meters 0.03902561152458808 Centerline is valid? [True, True] Translation: X:154.10, Y:-8.80, Z:-2.16 [[ 9.99856854e-01 -1.56655844e-02 6.39218704e-03 1.54104493e+02] [ 1.56683496e-02 9.99877171e-01 -3.82748670e-04 -8.79717707e+00] [-6.38540591e-03 4.82848903e-04 9.99979497e-01 -2.15898078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02037174299997 meters 0.04697011434594331 Centerline is valid? [True, True] Translation: X:154.16, Y:-8.81, Z:-2.16 [[ 9.99709425e-01 -2.34501831e-02 5.58170016e-03 1.54163210e+02] [ 2.34524122e-02 9.99724898e-01 -3.34246696e-04 -8.80981962e+00] [-5.57232648e-03 4.65053906e-04 9.99984366e-01 -2.16053902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08037174299997 meters 0.04609739723586766 Centerline is valid? [True, True] Translation: X:154.22, Y:-8.81, Z:-2.16 [[ 9.99590260e-01 -2.79811685e-02 6.03040730e-03 1.54224119e+02] [ 2.79838522e-02 9.99608310e-01 -3.61094645e-04 -8.80833291e+00] [-6.01794140e-03 5.29700717e-04 9.99981752e-01 -2.16057508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14037174299997 meters 0.042806262408118086 Centerline is valid? [True, True] Translation: X:154.29, Y:-8.81, Z:-2.16 [[ 9.99529153e-01 -3.00987008e-02 5.96159306e-03 1.54285168e+02] [ 3.01013610e-02 9.99546788e-01 -3.56969197e-04 -8.80529953e+00] [-5.94814688e-03 5.36253184e-04 9.99982166e-01 -2.16099189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20037174299998 meters 0.04228674399547103 Centerline is valid? [True, True] Translation: X:154.35, Y:-8.80, Z:-2.16 [[ 9.99514507e-01 -3.07351534e-02 5.10897640e-03 1.54347290e+02] [ 3.07371130e-02 9.99527457e-01 -3.05468814e-04 -8.80427840e+00] [-5.09717355e-03 4.62355696e-04 9.99986902e-01 -2.16207980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26037174299998 meters 0.04232307514193945 Centerline is valid? [True, True] Translation: X:154.41, Y:-8.80, Z:-2.16 [[ 9.99519388e-01 -3.02126134e-02 6.94196301e-03 1.54410241e+02] [ 3.02162243e-02 9.99543299e-01 -4.15838146e-04 -8.80291988e+00] [-6.92622905e-03 6.25398200e-04 9.99975818e-01 -2.16085762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32037174299998 meters 0.04261264473953547 Centerline is valid? [True, True] Translation: X:154.47, Y:-8.80, Z:-2.16 [[ 9.99531304e-01 -2.95795601e-02 7.88809835e-03 1.54472311e+02] [ 2.95842110e-02 9.99562179e-01 -4.73549228e-04 -8.80384671e+00] [-7.87063740e-03 7.06690444e-04 9.99968776e-01 -2.16094938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38037174299998 meters 0.04217847174892138 Centerline is valid? [True, True] Translation: X:154.53, Y:-8.80, Z:-2.16 [[ 9.99553662e-01 -2.87612658e-02 8.07872845e-03 1.54534685e+02] [ 2.87661228e-02 9.99586052e-01 -4.85625461e-04 -8.80233973e+00] [-8.06141707e-03 7.17802402e-04 9.99967249e-01 -2.16252050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.440371743 meters 0.04323536361311585 Centerline is valid? [True, True] Translation: X:154.60, Y:-8.80, Z:-2.17 [[ 9.99605972e-01 -2.72538476e-02 6.71775670e-03 1.54596120e+02] [ 2.72571762e-02 9.99628372e-01 -4.04419258e-04 -8.80259375e+00] [-6.70423822e-03 5.87366984e-04 9.99977354e-01 -2.16549465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.500371743 meters 0.04415757373596502 Centerline is valid? [True, True] Translation: X:154.66, Y:-8.80, Z:-2.17 [[ 9.99640780e-01 -2.62563302e-02 5.37731326e-03 1.54658729e+02] [ 2.62584474e-02 9.99655135e-01 -3.23508530e-04 -8.80211928e+00] [-5.36696466e-03 4.64592217e-04 9.99985490e-01 -2.16729536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.560371743 meters 0.0461446105017781 Centerline is valid? [True, True] Translation: X:154.72, Y:-8.80, Z:-2.17 [[ 9.99640404e-01 -2.61913898e-02 5.75092463e-03 1.54721239e+02] [ 2.61938082e-02 9.99656824e-01 -3.45598547e-04 -8.80372378e+00] [-5.73989934e-03 4.96112888e-04 9.99983404e-01 -2.16749490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.620371743 meters 0.04796063799410428 Centerline is valid? [True, True] Translation: X:154.78, Y:-8.81, Z:-2.17 [[ 9.99631721e-01 -2.63975862e-02 6.29196516e-03 1.54783603e+02] [ 2.64004989e-02 9.99651374e-01 -3.80309350e-04 -8.80679129e+00] [-6.27973237e-03 5.46280310e-04 9.99980133e-01 -2.16827212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.680371743 meters 0.04955480028320224 Centerline is valid? [True, True] Translation: X:154.84, Y:-8.81, Z:-2.17 [[ 9.99659188e-01 -2.54180318e-02 5.95244881e-03 1.54843981e+02] [ 2.54206262e-02 9.99676779e-01 -3.60584116e-04 -8.80924461e+00] [-5.94135951e-03 5.11776200e-04 9.99982219e-01 -2.17003011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74037174299997 meters 0.049685776262763125 Centerline is valid? [True, True] Translation: X:154.90, Y:-8.81, Z:-2.17 [[ 9.99743778e-01 -2.15064810e-02 7.06048793e-03 1.54903919e+02] [ 2.15100373e-02 9.99768541e-01 -4.28119173e-04 -8.80808748e+00] [-7.04964638e-03 5.79880838e-04 9.99974983e-01 -2.16894829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80037174299997 meters 0.04858421386494371 Centerline is valid? [True, True] Translation: X:154.96, Y:-8.81, Z:-2.17 [[ 9.99806423e-01 -1.81233002e-02 7.65908749e-03 1.54964916e+02] [ 1.81273841e-02 9.99835578e-01 -4.64111889e-04 -8.80653394e+00] [-7.64941692e-03 6.02861268e-04 9.99970561e-01 -2.16897349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86037174299997 meters 0.03740519831892997 Centerline is valid? [True, True] Translation: X:155.03, Y:-8.79, Z:-2.17 [[ 9.99856493e-01 -1.50676363e-02 7.74332209e-03 1.55027093e+02] [ 1.50717186e-02 9.99886305e-01 -4.69124589e-04 -8.79266103e+00] [-7.73537312e-03 5.85762438e-04 9.99969910e-01 -2.16920267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92037174299998 meters 0.03918939717592523 Centerline is valid? [True, True] Translation: X:155.09, Y:-8.80, Z:-2.17 [[ 9.99856698e-01 -1.53313502e-02 7.17860740e-03 1.55088332e+02] [ 1.53348652e-02 9.99882319e-01 -4.34870219e-04 -8.79654546e+00] [-7.17109547e-03 5.44890879e-04 9.99974139e-01 -2.17031176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98037174299998 meters 0.04048914216836185 Centerline is valid? [True, True] Translation: X:155.15, Y:-8.80, Z:-2.17 [[ 9.99857137e-01 -1.53829833e-02 7.00494746e-03 1.55149945e+02] [ 1.53863333e-02 9.99881533e-01 -4.24593616e-04 -8.80102990e+00] [-6.99758609e-03 5.32313414e-04 9.99975375e-01 -2.17117829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04037174299998 meters 0.041182152560047335 Centerline is valid? [True, True] Translation: X:155.21, Y:-8.80, Z:-2.17 [[ 9.99899362e-01 -1.27004598e-02 6.32175759e-03 1.55210138e+02] [ 1.27031406e-02 9.99919238e-01 -3.84089474e-04 -8.80358105e+00] [-6.31636892e-03 4.64356996e-04 9.99979944e-01 -2.17404236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10037174299998 meters 0.039224825874151444 Centerline is valid? [True, True] Translation: X:155.27, Y:-8.80, Z:-2.17 [[ 9.99968821e-01 -6.28902427e-03 4.77543511e-03 1.55270784e+02] [ 6.29048133e-03 9.99980173e-01 -2.90156402e-04 -8.79979554e+00] [-4.77351562e-03 3.20187141e-04 9.99988555e-01 -2.17450435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16037174299998 meters 0.036699109514566154 Centerline is valid? [True, True] Translation: X:155.33, Y:-8.80, Z:-2.17 [[ 9.99975855e-01 1.16743480e-03 6.85026032e-03 1.55332153e+02] [-1.16461158e-03 9.99999235e-01 -4.16108812e-04 -8.79644814e+00] [-6.85074086e-03 4.08120872e-04 9.99976450e-01 -2.17357710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.220371743 meters 0.03562645103492735 Centerline is valid? [True, True] Translation: X:155.39, Y:-8.80, Z:-2.17 [[ 9.99933416e-01 7.63304195e-03 8.65453024e-03 1.55391814e+02] [-7.62877446e-03 9.99970762e-01 -5.25999172e-04 -8.79523779e+00] [-8.65829217e-03 4.59940690e-04 9.99962411e-01 -2.17230587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.280371743 meters 0.03577430286349009 Centerline is valid? [True, True] Translation: X:155.45, Y:-8.80, Z:-2.17 [[ 9.99908538e-01 1.11616633e-02 7.63754313e-03 1.55452372e+02] [-1.11584443e-02 9.99937635e-01 -4.63962113e-04 -8.79581731e+00] [-7.64224540e-03 3.78696579e-04 9.99970726e-01 -2.17372420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.340371743 meters 0.028583092085407717 Centerline is valid? [True, True] Translation: X:155.51, Y:-8.79, Z:-2.18 [[ 9.99907586e-01 1.23300611e-02 5.72610264e-03 1.55512521e+02] [-1.23282691e-02 9.99923943e-01 -3.48148058e-04 -8.78901759e+00] [-5.72995982e-03 2.77522951e-04 9.99983545e-01 -2.17617721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.400371743 meters 0.028978212136682304 Centerline is valid? [True, True] Translation: X:155.57, Y:-8.79, Z:-2.18 [[ 9.99919983e-01 1.19936301e-02 4.02239178e-03 1.55571488e+02] [-1.19927416e-02 9.99928054e-01 -2.44919252e-04 -8.79384343e+00] [-4.02503985e-03 1.96660149e-04 9.99991880e-01 -2.17983021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.460371743 meters 0.02868614069100489 Centerline is valid? [True, True] Translation: X:155.63, Y:-8.80, Z:-2.18 [[ 9.99928545e-01 1.14813666e-02 3.32911831e-03 1.55629746e+02] [-1.14807548e-02 9.99934073e-01 -2.02838975e-04 -8.79593007e+00] [-3.33122770e-03 1.64603690e-04 9.99994438e-01 -2.18043086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52037174299997 meters 0.027800769491876518 Centerline is valid? [True, True] Translation: X:155.69, Y:-8.80, Z:-2.18 [[ 9.99939212e-01 1.03183876e-02 3.88629810e-03 1.55688517e+02] [-1.03175479e-02 9.99946745e-01 -2.36060686e-04 -8.79793976e+00] [-3.88852690e-03 1.95949269e-04 9.99992420e-01 -2.18018757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58037174299997 meters 0.03238221583304357 Centerline is valid? [True, True] Translation: X:155.75, Y:-8.81, Z:-2.18 [[ 9.99948046e-01 9.26708382e-03 4.24579014e-03 1.55746429e+02] [-9.26607464e-03 9.99957036e-01 -2.57299766e-04 -8.80881127e+00] [-4.24799214e-03 2.17944590e-04 9.99990953e-01 -2.18164870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64037174299997 meters 0.03020520428078342 Centerline is valid? [True, True] Translation: X:155.81, Y:-8.81, Z:-2.18 [[ 9.99960160e-01 6.99220841e-03 5.54868343e-03 1.55805892e+02] [-6.99045268e-03 9.99975510e-01 -3.35753172e-04 -8.80907089e+00] [-5.55089520e-03 2.96951987e-04 9.99984550e-01 -2.17980019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70037174299998 meters 0.030547551317395973 Centerline is valid? [True, True] Translation: X:155.87, Y:-8.81, Z:-2.18 [[ 9.99966281e-01 6.23409346e-03 5.34543219e-03 1.55866209e+02] [-6.23245741e-03 9.99980526e-01 -3.22668418e-04 -8.81300277e+00] [-5.34733964e-03 2.89342359e-04 9.99985661e-01 -2.18060885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76037174299998 meters 0.03082045461808752 Centerline is valid? [True, True] Translation: X:155.93, Y:-8.82, Z:-2.18 [[ 9.99962176e-01 7.15485049e-03 4.94525159e-03 1.55926170e+02] [-7.15346146e-03 9.99974369e-01 -2.98512160e-04 -8.81756260e+00] [-4.94726065e-03 2.63125202e-04 9.99987728e-01 -2.18195008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82037174299998 meters 0.02990012998418442 Centerline is valid? [True, True] Translation: X:155.99, Y:-8.82, Z:-2.18 [[ 9.99959810e-01 7.93427925e-03 4.17434241e-03 1.55986856e+02] [-7.93329631e-03 9.99968499e-01 -2.51977467e-04 -8.81931366e+00] [-4.17621017e-03 2.18851044e-04 9.99991256e-01 -2.18302450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88037174299998 meters 0.028933935732871854 Centerline is valid? [True, True] Translation: X:156.05, Y:-8.82, Z:-2.18 [[ 9.99939278e-01 1.05396550e-02 3.21803305e-03 1.56046492e+02] [-1.05390831e-02 9.99944443e-01 -1.94641679e-04 -8.82131377e+00] [-3.21990573e-03 1.60714742e-04 9.99994803e-01 -2.18393034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.940371743 meters 0.02682688299400799 Centerline is valid? [True, True] Translation: X:156.11, Y:-8.82, Z:-2.18 [[ 9.99886998e-01 1.48879006e-02 2.08383517e-03 1.56106010e+02] [-1.48876699e-02 9.99889165e-01 -1.26147097e-04 -8.82206436e+00] [-2.08548228e-03 9.51093915e-05 9.99997821e-01 -2.18496968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.000371743 meters 0.02555946301303867 Centerline is valid? [True, True] Translation: X:156.17, Y:-8.82, Z:-2.19 [[ 9.99787474e-01 2.04725111e-02 2.42549859e-03 1.56166023e+02] [-2.04722158e-02 9.99790411e-01 -1.46520305e-04 -8.82200900e+00] [-2.42798987e-03 9.68338352e-05 9.99997048e-01 -2.18519433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.060371743 meters 0.02458143311476881 Centerline is valid? [True, True] Translation: X:156.23, Y:-8.82, Z:-2.19 [[ 9.99688168e-01 2.48916510e-02 1.99310642e-03 1.56225780e+02] [-2.48914600e-02 9.99690152e-01 -1.20549544e-04 -8.82312734e+00] [-1.99548954e-03 7.09006236e-05 9.99998006e-01 -2.18606288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.120371743 meters 0.023160215504041227 Centerline is valid? [True, True] Translation: X:156.29, Y:-8.82, Z:-2.19 [[ 9.99522889e-01 3.08675309e-02 1.09106519e-03 1.56285611e+02] [-3.08674771e-02 9.99523484e-01 -6.61828922e-05 -8.82362451e+00] [-1.09258818e-03 3.24728860e-05 9.99999403e-01 -2.18711508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.180371743 meters 0.02281157494258298 Centerline is valid? [True, True] Translation: X:156.34, Y:-8.83, Z:-2.19 [[ 9.99453330e-01 3.30348443e-02 1.31917456e-03 1.56344202e+02] [-3.30347670e-02 9.99454200e-01 -8.03142007e-05 -8.82808633e+00] [-1.32110772e-03 3.66916712e-05 9.99999127e-01 -2.18776159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24037174299997 meters 0.02277477373938504 Centerline is valid? [True, True] Translation: X:156.40, Y:-8.83, Z:-2.19 [[ 9.99483972e-01 3.20859260e-02 1.51115308e-03 1.56402438e+02] [-3.20858239e-02 9.99485113e-01 -9.17542478e-05 -8.83320704e+00] [-1.51331902e-03 4.32203085e-05 9.99998854e-01 -2.18798588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30037174299997 meters 0.023580912606451038 Centerline is valid? [True, True] Translation: X:156.46, Y:-8.84, Z:-2.19 [[ 9.99581370e-01 2.88262345e-02 2.47660397e-03 1.56461816e+02] [-2.88259534e-02 9.99584435e-01 -1.49134457e-04 -8.84262353e+00] [-2.47987377e-03 7.76815539e-05 9.99996922e-01 -2.18790132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36037174299997 meters 0.024873356311804706 Centerline is valid? [True, True] Translation: X:156.52, Y:-8.85, Z:-2.19 [[ 9.99693294e-01 2.44469479e-02 3.95782496e-03 1.56521223e+02] [-2.44461975e-02 9.99701119e-01 -2.37884083e-04 -8.85303355e+00] [-3.96245758e-03 1.41057352e-04 9.99992139e-01 -2.18774992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42037174299998 meters 0.027273553353297397 Centerline is valid? [True, True] Translation: X:156.58, Y:-8.86, Z:-2.19 [[ 9.99799993e-01 1.93117563e-02 5.19896339e-03 1.56579985e+02] [-1.93103938e-02 9.99813488e-01 -3.12138186e-04 -8.86467771e+00] [-5.20402166e-03 2.11681726e-04 9.99986437e-01 -2.18822749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48037174299998 meters 0.027434654166115444 Centerline is valid? [True, True] Translation: X:156.64, Y:-8.87, Z:-2.19 [[ 9.99849597e-01 1.64216462e-02 5.57787983e-03 1.56638901e+02] [-1.64200334e-02 9.99865126e-01 -3.34818393e-04 -8.86988705e+00] [-5.58262579e-03 2.43179062e-04 9.99984387e-01 -2.18877273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54037174299998 meters 0.03268703203191377 Centerline is valid? [True, True] Translation: X:156.70, Y:-8.89, Z:-2.19 [[ 9.99924620e-01 1.02135874e-02 6.81446819e-03 1.56697735e+02] [-1.02110416e-02 9.99947783e-01 -4.08270150e-04 -8.88526605e+00] [-6.81828226e-03 3.38656556e-04 9.99976698e-01 -2.19042600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60037174299998 meters 0.035526389605998125 Centerline is valid? [True, True] Translation: X:156.76, Y:-8.89, Z:-2.19 [[ 9.99956057e-01 4.90892089e-03 7.98668200e-03 1.56757885e+02] [-4.90525830e-03 9.99987855e-01 -4.78111665e-04 -8.89435490e+00] [-7.98893202e-03 4.38913917e-04 9.99967992e-01 -2.19086338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66037174299998 meters 0.031771111406996726 Centerline is valid? [True, True] Translation: X:156.82, Y:-8.89, Z:-2.19 [[ 9.99948392e-01 2.57822267e-03 9.82680961e-03 1.56819617e+02] [-2.57256560e-03 9.99996518e-01 -5.88274446e-04 -8.89201038e+00] [-9.82829210e-03 5.62963974e-04 9.99951543e-01 -2.19005475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.720371743 meters 0.03669824363470134 Centerline is valid? [True, True] Translation: X:156.88, Y:-8.90, Z:-2.19 [[ 9.99954687e-01 1.79914367e-03 9.34805997e-03 1.56880108e+02] [-1.79399603e-03 9.99998235e-01 -5.59020134e-04 -8.90097678e+00] [-9.34904922e-03 5.42224421e-04 9.99956150e-01 -2.19149636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.780371743 meters 0.035262526502638294 Centerline is valid? [True, True] Translation: X:156.94, Y:-8.90, Z:-2.19 [[ 9.99963612e-01 3.93893685e-04 8.52166218e-03 1.56941986e+02] [-3.89545847e-04 9.99999793e-01 -5.11863881e-04 -8.90047007e+00] [-8.52186203e-03 5.08525678e-04 9.99963559e-01 -2.19273686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.840371743 meters 0.03795954752655038 Centerline is valid? [True, True] Translation: X:157.00, Y:-8.91, Z:-2.19 [[ 9.99957812e-01 -2.70495659e-03 8.77828755e-03 1.57003200e+02] [ 2.70970324e-03 9.99996189e-01 -5.28877745e-04 -8.90627784e+00] [-8.77682351e-03 5.52641986e-04 9.99961330e-01 -2.19391877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.900371743 meters 0.03608754678273475 Centerline is valid? [True, True] Translation: X:157.07, Y:-8.90, Z:-2.19 [[ 9.99961498e-01 -4.19157499e-03 7.70923282e-03 1.57065165e+02] [ 4.19527178e-03 9.99991092e-01 -4.63418804e-04 -8.90267536e+00] [-7.70722170e-03 4.95743289e-04 9.99970176e-01 -2.19421752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.960371743 meters 0.03600697173888763 Centerline is valid? [True, True] Translation: X:157.13, Y:-8.90, Z:-2.20 [[ 9.99965514e-01 -3.63052310e-03 7.46925309e-03 1.57126685e+02] [ 3.63399877e-03 9.99993295e-01 -4.51811396e-04 -8.90253899e+00] [-7.46756270e-03 4.78939072e-04 9.99972003e-01 -2.19617828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02037174299997 meters 0.031028000325090153 Centerline is valid? [True, True] Translation: X:157.19, Y:-8.90, Z:-2.20 [[ 9.99971811e-01 -1.03982013e-03 7.43610855e-03 1.57188402e+02] [ 1.04319737e-03 9.99999354e-01 -4.50304358e-04 -8.89553700e+00] [-7.43563551e-03 4.58048994e-04 9.99972250e-01 -2.19630272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08037174299997 meters 0.032008017617923455 Centerline is valid? [True, True] Translation: X:157.25, Y:-8.89, Z:-2.20 [[ 9.99958851e-01 3.61998306e-03 8.31815366e-03 1.57248697e+02] [-3.61591297e-03 9.99993335e-01 -5.04289256e-04 -8.89360941e+00] [-8.31992374e-03 4.74190785e-04 9.99965276e-01 -2.19589849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14037174299997 meters 0.02842093594937705 Centerline is valid? [True, True] Translation: X:157.31, Y:-8.89, Z:-2.20 [[ 9.99925384e-01 8.50136631e-03 8.77232526e-03 1.57309834e+02] [-8.49702697e-03 9.99963758e-01 -5.31814023e-04 -8.88597027e+00] [-8.77652848e-03 4.57235657e-04 9.99961381e-01 -2.19568772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20037174299998 meters 0.02812865824895712 Centerline is valid? [True, True] Translation: X:157.37, Y:-8.88, Z:-2.20 [[ 9.99873446e-01 1.35471424e-02 8.34071435e-03 1.57369988e+02] [-1.35433935e-02 9.99908156e-01 -5.05792177e-04 -8.88363953e+00] [-8.34680035e-03 3.92766590e-04 9.99965088e-01 -2.19732650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26037174299998 meters 0.026294389906793957 Centerline is valid? [True, True] Translation: X:157.43, Y:-8.88, Z:-2.20 [[ 9.99808639e-01 1.84243417e-02 6.57483042e-03 1.57430001e+02] [-1.84221160e-02 9.99830219e-01 -3.98930470e-04 -8.87940060e+00] [-6.58106416e-03 2.77731842e-04 9.99978306e-01 -2.19891221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32037174299998 meters 0.02503051176042665 Centerline is valid? [True, True] Translation: X:157.49, Y:-8.88, Z:-2.20 [[ 9.99744807e-01 2.18879485e-02 5.58923386e-03 1.57490363e+02] [-2.18863957e-02 9.99760407e-01 -3.38849580e-04 -8.87824750e+00] [-5.59531144e-03 2.16434924e-04 9.99984323e-01 -2.20086591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38037174299998 meters 0.02578645812496682 Centerline is valid? [True, True] Translation: X:157.55, Y:-8.88, Z:-2.20 [[ 9.99736479e-01 2.23239225e-02 5.34922663e-03 1.57548183e+02] [-2.23225036e-02 9.99750769e-01 -3.24833564e-04 -8.88137525e+00] [-5.35514499e-03 2.05339834e-04 9.99985640e-01 -2.20219048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.440371743 meters 0.02573478367709986 Centerline is valid? [True, True] Translation: X:157.61, Y:-8.88, Z:-2.20 [[ 9.99772228e-01 2.06647552e-02 5.33479495e-03 1.57607042e+02] [-2.06633236e-02 9.99786438e-01 -3.23326189e-04 -8.88438754e+00] [-5.34033710e-03 2.13017949e-04 9.99985718e-01 -2.20316014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.500371743 meters 0.02652788884349825 Centerline is valid? [True, True] Translation: X:157.67, Y:-8.89, Z:-2.21 [[ 9.99807029e-01 1.90761002e-02 4.69126432e-03 1.57665855e+02] [-1.90749768e-02 9.99818016e-01 -2.84105317e-04 -8.88922944e+00] [-4.69583021e-03 1.94564735e-04 9.99988956e-01 -2.20510892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.560371743 meters 0.027148653731286238 Centerline is valid? [True, True] Translation: X:157.72, Y:-8.89, Z:-2.21 [[ 9.99840879e-01 1.73357015e-02 4.20602596e-03 1.57724433e+02] [-1.73347839e-02 9.99849709e-01 -2.54516884e-04 -8.89402819e+00] [-4.20980606e-03 1.81565834e-04 9.99991122e-01 -2.20647519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.620371743 meters 0.02871892981575395 Centerline is valid? [True, True] Translation: X:157.78, Y:-8.90, Z:-2.21 [[ 9.99906894e-01 1.33022372e-02 3.04194393e-03 1.57783839e+02] [-1.33017402e-02 9.99911511e-01 -1.83546772e-04 -8.90065055e+00] [-3.04411634e-03 1.43066535e-04 9.99995356e-01 -2.20776289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.680371743 meters 0.030462418323878096 Centerline is valid? [True, True] Translation: X:157.84, Y:-8.91, Z:-2.21 [[ 9.99956020e-01 8.68579004e-03 3.53770696e-03 1.57843344e+02] [-8.68508942e-03 9.99962261e-01 -2.13357771e-04 -8.91018086e+00] [-3.53942663e-03 1.82623087e-04 9.99993720e-01 -2.20881750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74037174299997 meters 0.030021177871508608 Centerline is valid? [True, True] Translation: X:157.90, Y:-8.91, Z:-2.21 [[ 9.99966586e-01 7.20409105e-03 3.86380039e-03 1.57902901e+02] [-7.20324391e-03 9.99974029e-01 -2.33120171e-04 -8.91476424e+00] [-3.86537946e-03 2.05280485e-04 9.99992508e-01 -2.20888297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80037174299997 meters 0.02862550701973125 Centerline is valid? [True, True] Translation: X:157.96, Y:-8.92, Z:-2.21 [[ 9.99954542e-01 9.15205578e-03 2.67468190e-03 1.57962731e+02] [-9.15165662e-03 9.99958110e-01 -1.61438629e-04 -8.91669390e+00] [-2.67604735e-03 1.36953520e-04 9.99996410e-01 -2.21009186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86037174299997 meters 0.0267859242987156 Centerline is valid? [True, True] Translation: X:158.02, Y:-8.92, Z:-2.21 [[ 9.99896218e-01 1.42398592e-02 2.18606175e-03 1.58022617e+02] [-1.42396054e-02 9.99898603e-01 -1.31619928e-04 -8.91919426e+00] [-2.18771434e-03 1.00477611e-04 9.99997602e-01 -2.21230031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92037174299998 meters 0.025158844570404692 Centerline is valid? [True, True] Translation: X:158.08, Y:-8.92, Z:-2.21 [[ 9.99760883e-01 2.16977090e-02 2.71772942e-03 1.58081926e+02] [-2.16973439e-02 9.99764572e-01 -1.63733346e-04 -8.92006004e+00] [-2.72064223e-03 1.04726684e-04 9.99996294e-01 -2.21300529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98037174299998 meters 0.023919233738767504 Centerline is valid? [True, True] Translation: X:158.14, Y:-8.92, Z:-2.21 [[ 9.99568473e-01 2.93317739e-02 1.58551949e-03 1.58142333e+02] [-2.93316594e-02 9.99569730e-01 -9.53972551e-05 -8.91962755e+00] [-1.58763546e-03 4.88501710e-05 9.99998739e-01 -2.21494121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04037174299998 meters 0.022643901995989767 Centerline is valid? [True, True] Translation: X:158.20, Y:-8.92, Z:-2.22 [[ 9.99386013e-01 3.50365570e-02 -1.89811262e-04 1.58201994e+02] [-3.50365556e-02 9.99386031e-01 1.09100328e-05 -8.92087847e+00] [ 1.90076974e-04 -4.25300129e-06 9.99999982e-01 -2.21849323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10037174299998 meters 0.02244646048189446 Centerline is valid? [True, True] Translation: X:158.26, Y:-8.93, Z:-2.22 [[ 9.99339081e-01 3.63492816e-02 -3.60497489e-04 1.58261032e+02] [-3.63492765e-02 9.99339146e-01 2.06519492e-05 -8.92556398e+00] [ 3.61009937e-04 -7.53447703e-06 9.99999935e-01 -2.21999354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16037174299998 meters 0.022485569225551724 Centerline is valid? [True, True] Translation: X:158.32, Y:-8.93, Z:-2.22 [[ 9.99416356e-01 3.41580535e-02 -4.19049612e-04 1.58318972e+02] [-3.41580465e-02 9.99416443e-01 2.38731458e-05 -8.93203835e+00] [ 4.19620532e-04 -9.54529626e-06 9.99999912e-01 -2.22017884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.220371743 meters 0.024053460985141637 Centerline is valid? [True, True] Translation: X:158.38, Y:-8.94, Z:-2.22 [[ 9.99531478e-01 3.05984207e-02 7.48477421e-04 1.58376752e+02] [-3.05983948e-02 9.99531758e-01 -4.60229438e-05 -8.94188548e+00] [-7.49535182e-04 2.30991735e-05 9.99999719e-01 -2.22042490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.280371743 meters 0.024102972462804094 Centerline is valid? [True, True] Translation: X:158.44, Y:-8.95, Z:-2.22 [[ 9.99594188e-01 2.83384065e-02 2.89723222e-03 1.58435133e+02] [-2.83380206e-02 9.99598382e-01 -1.74177379e-04 -8.95020008e+00] [-2.90100455e-03 9.20048698e-05 9.99995788e-01 -2.22040176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.340371743 meters 0.026310020749842834 Centerline is valid? [True, True] Translation: X:158.49, Y:-8.96, Z:-2.22 [[ 9.99679632e-01 2.49607947e-02 4.19424870e-03 1.58492903e+02] [-2.49599597e-02 9.99688420e-01 -2.51324277e-04 -8.96168375e+00] [-4.19921511e-03 1.46555483e-04 9.99991173e-01 -2.22088359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.400371743 meters 0.02886249174314245 Centerline is valid? [True, True] Translation: X:158.55, Y:-8.98, Z:-2.22 [[ 9.99808917e-01 1.90095616e-02 4.55705299e-03 1.58551971e+02] [-1.90085176e-02 9.99819285e-01 -2.72304072e-04 -8.97566033e+00] [-4.56140584e-03 1.85629217e-04 9.99989580e-01 -2.22218134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.460371743 meters 0.03213419348029714 Centerline is valid? [True, True] Translation: X:158.61, Y:-8.99, Z:-2.22 [[ 9.99908601e-01 1.27641404e-02 4.45722006e-03 1.58611263e+02] [-1.27630806e-02 9.99918513e-01 -2.66117716e-04 -8.99106362e+00] [-4.46025362e-03 2.09205534e-04 9.99990031e-01 -2.22492904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52037174299997 meters 0.02823587796152378 Centerline is valid? [True, True] Translation: X:158.67, Y:-8.99, Z:-2.22 [[ 9.99940675e-01 1.03733339e-02 3.32277641e-03 1.58670919e+02] [-1.03727306e-02 9.99946182e-01 -1.98763201e-04 -8.99056080e+00] [-3.32465942e-03 1.64285145e-04 9.99994460e-01 -2.22490645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58037174299997 meters 0.029108000575137134 Centerline is valid? [True, True] Translation: X:158.73, Y:-9.00, Z:-2.23 [[ 9.99939863e-01 1.03203246e-02 3.70955365e-03 1.58729085e+02] [-1.03195716e-02 9.99946727e-01 -2.22067271e-04 -8.99751554e+00] [-3.71164784e-03 1.83772912e-04 9.99993095e-01 -2.22523875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64037174299997 meters 0.029935217861846605 Centerline is valid? [True, True] Translation: X:158.79, Y:-9.00, Z:-2.23 [[ 9.99914249e-01 1.24778376e-02 3.97463120e-03 1.58787657e+02] [-1.24769923e-02 9.99922131e-01 -2.37395275e-04 -9.00397087e+00] [-3.97728388e-03 1.87783475e-04 9.99992073e-01 -2.22636144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70037174299998 meters 0.02606123380912968 Centerline is valid? [True, True] Translation: X:158.85, Y:-9.00, Z:-2.23 [[ 9.99813261e-01 1.89454015e-02 3.80977554e-03 1.58848384e+02] [-1.89446743e-02 9.99820508e-01 -2.26875621e-04 -9.00070084e+00] [-3.81338997e-03 1.54658298e-04 9.99992717e-01 -2.22637687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76037174299998 meters 0.02433349250938215 Centerline is valid? [True, True] Translation: X:158.91, Y:-9.00, Z:-2.23 [[ 9.99578251e-01 2.88522864e-02 3.29632506e-03 1.58909639e+02] [-2.88517964e-02 9.99583681e-01 -1.96101200e-04 -8.99800664e+00] [-3.30061071e-03 1.00913594e-04 9.99994548e-01 -2.22685923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82037174299998 meters 0.021893722898885647 Centerline is valid? [True, True] Translation: X:158.97, Y:-9.00, Z:-2.23 [[ 9.99444440e-01 3.31181560e-02 3.74160970e-03 1.58969477e+02] [-3.31175523e-02 9.99451438e-01 -2.23200604e-04 -8.99735185e+00] [-3.74694919e-03 9.91636472e-05 9.99992975e-01 -2.22655747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88037174299998 meters 0.021508596626831734 Centerline is valid? [True, True] Translation: X:159.03, Y:-9.00, Z:-2.23 [[ 9.99276820e-01 3.77237789e-02 4.77009567e-03 1.59028803e+02] [-3.77228517e-02 9.99288200e-01 -2.84236049e-04 -8.99920690e+00] [-4.77742277e-03 1.04088883e-04 9.99988583e-01 -2.22669274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.940371743 meters 0.020744676606232162 Centerline is valid? [True, True] Translation: X:159.09, Y:-9.00, Z:-2.23 [[ 9.99217093e-01 3.91440714e-02 5.73949840e-03 1.59087283e+02] [-3.91427524e-02 9.99233570e-01 -3.41997844e-04 -9.00233663e+00] [-5.74848667e-03 1.17070327e-04 9.99983470e-01 -2.22610864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.000371743 meters 0.02077752654413535 Centerline is valid? [True, True] Translation: X:159.15, Y:-9.01, Z:-2.23 [[ 9.99292937e-01 3.73376408e-02 4.41886007e-03 1.59145914e+02] [-3.73368417e-02 9.99302702e-01 -2.63228284e-04 -9.00944564e+00] [-4.42560713e-03 9.80558861e-05 9.99990202e-01 -2.22760735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.060371743 meters 0.021247092593300185 Centerline is valid? [True, True] Translation: X:159.20, Y:-9.02, Z:-2.23 [[ 9.99394448e-01 3.46500368e-02 3.18008635e-03 1.59204388e+02] [-3.46496092e-02 9.99399504e-01 -1.89484291e-04 -9.01775081e+00] [-3.18474236e-03 7.91807993e-05 9.99994926e-01 -2.22973130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.120371743 meters 0.022804584471747158 Centerline is valid? [True, True] Translation: X:159.26, Y:-9.03, Z:-2.23 [[ 9.99558653e-01 2.95477763e-02 3.07041101e-03 1.59263329e+02] [-2.95473554e-02 9.99563365e-01 -1.82362127e-04 -9.03035173e+00] [-3.07445876e-03 9.15591169e-05 9.99995270e-01 -2.23146393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.180371743 meters 0.024520637871485063 Centerline is valid? [True, True] Translation: X:159.32, Y:-9.04, Z:-2.23 [[ 9.99692739e-01 2.43132999e-02 4.82600227e-03 1.59322442e+02] [-2.43122013e-02 9.99704374e-01 -2.86168600e-04 -9.04291903e+00] [-4.83153328e-03 1.68749933e-04 9.99988314e-01 -2.23157960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24037174299997 meters 0.024960700141198364 Centerline is valid? [True, True] Translation: X:159.38, Y:-9.05, Z:-2.23 [[ 9.99805835e-01 1.90150033e-02 5.16926052e-03 1.59381790e+02] [-1.90136741e-02 9.99819177e-01 -3.06151337e-04 -9.05164325e+00] [-5.17414727e-03 2.07805258e-04 9.99986592e-01 -2.23151708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30037174299997 meters 0.028872731969753977 Centerline is valid? [True, True] Translation: X:159.44, Y:-9.07, Z:-2.23 [[ 9.99897261e-01 1.31835611e-02 5.62685535e-03 1.59440319e+02] [-1.31818939e-02 9.99913060e-01 -3.33271708e-04 -9.06728303e+00] [-5.63075985e-03 2.59064857e-04 9.99984114e-01 -2.23324288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36037174299997 meters 0.02954399226697864 Centerline is valid? [True, True] Translation: X:159.50, Y:-9.07, Z:-2.23 [[ 9.99916496e-01 1.11573236e-02 6.52033147e-03 1.59500036e+02] [-1.11550441e-02 9.99937706e-01 -3.85871387e-04 -9.07299641e+00] [-6.52423059e-03 3.13104580e-04 9.99978668e-01 -2.23398772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42037174299998 meters 0.03190726472183653 Centerline is valid? [True, True] Translation: X:159.56, Y:-9.08, Z:-2.23 [[ 9.99942559e-01 6.37824490e-03 8.61371307e-03 1.59559919e+02] [-6.37409503e-03 9.99979556e-01 -5.09141447e-04 -9.08434881e+00] [-8.61678439e-03 4.54207576e-04 9.99962772e-01 -2.23286950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48037174299998 meters 0.03093301017867007 Centerline is valid? [True, True] Translation: X:159.62, Y:-9.09, Z:-2.23 [[ 9.99952674e-01 3.41580591e-03 9.10943013e-03 1.59620615e+02] [-3.41104392e-03 9.99994038e-01 -5.38239293e-04 -9.08665754e+00] [-9.11121433e-03 5.07141154e-04 9.99958363e-01 -2.23270149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54037174299998 meters 0.03420249045117484 Centerline is valid? [True, True] Translation: X:159.68, Y:-9.09, Z:-2.23 [[ 9.99962994e-01 -6.54668711e-04 8.57795655e-03 1.59681118e+02] [ 6.59042244e-04 9.99999654e-01 -5.07040414e-04 -9.09336305e+00] [-8.57762164e-03 5.12674886e-04 9.99963080e-01 -2.23425009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60037174299998 meters 0.03298325980447302 Centerline is valid? [True, True] Translation: X:159.74, Y:-9.09, Z:-2.24 [[ 9.99954419e-01 -5.93868948e-03 7.47615508e-03 1.59741819e+02] [ 5.94215919e-03 9.99982248e-01 -4.41975916e-04 -9.09414396e+00] [-7.47339760e-03 4.86380274e-04 9.99971955e-01 -2.23551030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66037174299998 meters 0.03810111493380375 Centerline is valid? [True, True] Translation: X:159.80, Y:-9.10, Z:-2.24 [[ 9.99924374e-01 -1.04198237e-02 6.53249134e-03 1.59800547e+02] [ 1.04225653e-02 9.99945609e-01 -3.85787180e-04 -9.10214782e+00] [-6.52811620e-03 4.53843322e-04 9.99978589e-01 -2.23685114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.720371743 meters 0.038715880152414756 Centerline is valid? [True, True] Translation: X:159.86, Y:-9.10, Z:-2.24 [[ 9.99880339e-01 -1.39186762e-02 6.75111905e-03 1.59860866e+02] [ 1.39216890e-02 9.99903009e-01 -3.99464194e-04 -9.10396922e+00] [-6.74490424e-03 4.93403373e-04 9.99977131e-01 -2.23752119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.780371743 meters 0.0411847050239942 Centerline is valid? [True, True] Translation: X:159.92, Y:-9.11, Z:-2.24 [[ 9.99800357e-01 -1.88684484e-02 6.57471739e-03 1.59922336e+02] [ 1.88714117e-02 9.99821843e-01 -3.88965886e-04 -9.10650811e+00] [-6.56620687e-03 5.12962430e-04 9.99978311e-01 -2.23736091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.840371743 meters 0.03990239527764626 Centerline is valid? [True, True] Translation: X:159.98, Y:-9.10, Z:-2.24 [[ 9.99750058e-01 -2.16203738e-02 5.69037662e-03 1.59983557e+02] [ 2.16226389e-02 9.99766147e-01 -3.36838210e-04 -9.10265464e+00] [-5.68176334e-03 4.59794979e-04 9.99983753e-01 -2.23759121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.900371743 meters 0.040244184402102166 Centerline is valid? [True, True] Translation: X:160.05, Y:-9.10, Z:-2.24 [[ 9.99713711e-01 -2.31135763e-02 6.18534921e-03 1.60045640e+02] [ 2.31162801e-02 9.99732716e-01 -3.65987256e-04 -9.10047490e+00] [-6.17523669e-03 5.08864742e-04 9.99980804e-01 -2.23752290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.960371743 meters 0.04401939561909442 Centerline is valid? [True, True] Translation: X:160.11, Y:-9.10, Z:-2.24 [[ 9.99684457e-01 -2.44456894e-02 5.77873882e-03 1.60106776e+02] [ 2.44480731e-02 9.99701043e-01 -3.42200086e-04 -9.10299248e+00] [-5.76864591e-03 4.83371136e-04 9.99983244e-01 -2.23959621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02037174299997 meters 0.04507835780170101 Centerline is valid? [True, True] Translation: X:160.17, Y:-9.10, Z:-2.24 [[ 9.99657864e-01 -2.55823585e-02 5.44963181e-03 1.60168812e+02] [ 2.55844957e-02 9.99672611e-01 -3.22811689e-04 -9.10405681e+00] [-5.43958937e-03 4.62127325e-04 9.99985099e-01 -2.24198238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08037174299997 meters 0.04567682375626077 Centerline is valid? [True, True] Translation: X:160.23, Y:-9.10, Z:-2.24 [[ 9.99659154e-01 -2.55754648e-02 5.24125272e-03 1.60231788e+02] [ 2.55774434e-02 9.99672795e-01 -3.10809617e-04 -9.09969319e+00] [-5.23158866e-03 4.44761524e-04 9.99986216e-01 -2.24202524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14037174299997 meters 0.04187613832583239 Centerline is valid? [True, True] Translation: X:160.29, Y:-9.09, Z:-2.24 [[ 9.99693273e-01 -2.41274829e-02 5.58791651e-03 1.60293967e+02] [ 2.41297136e-02 9.99708781e-01 -3.32123969e-04 -9.08899985e+00] [-5.57827588e-03 4.66856923e-04 9.99984332e-01 -2.24187411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20037174299998 meters 0.043144061023663305 Centerline is valid? [True, True] Translation: X:160.35, Y:-9.09, Z:-2.24 [[ 9.99728696e-01 -2.23594771e-02 6.52601940e-03 1.60354488e+02] [ 2.23624854e-02 9.99749853e-01 -3.88349080e-04 -9.08526215e+00] [-6.51570365e-03 5.34181733e-04 9.99978630e-01 -2.24356226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26037174299998 meters 0.042571781190074355 Centerline is valid? [True, True] Translation: X:160.42, Y:-9.08, Z:-2.25 [[ 9.99741910e-01 -2.16771298e-02 6.79812106e-03 1.60416939e+02] [ 2.16803768e-02 9.99764871e-01 -4.04286651e-04 -9.08386831e+00] [-6.78775885e-03 5.51568135e-04 9.99976811e-01 -2.24522755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32037174299998 meters 0.04274233141078564 Centerline is valid? [True, True] Translation: X:160.48, Y:-9.08, Z:-2.25 [[ 9.99737510e-01 -2.22159548e-02 5.60015371e-03 1.60479580e+02] [ 2.22181679e-02 9.99753090e-01 -3.33269022e-04 -9.08054584e+00] [-5.59136709e-03 4.57606698e-04 9.99984263e-01 -2.24747639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38037174299998 meters 0.04445265601635934 Centerline is valid? [True, True] Translation: X:160.54, Y:-9.08, Z:-2.25 [[ 9.99738132e-01 -2.25244834e-02 4.03911223e-03 1.60542379e+02] [ 2.25256372e-02 9.99746237e-01 -2.40387066e-04 -9.07923784e+00] [-4.03267266e-03 3.31307693e-04 9.99991814e-01 -2.24918416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.440371743 meters 0.04503617966812257 Centerline is valid? [True, True] Translation: X:160.60, Y:-9.08, Z:-2.25 [[ 9.99793175e-01 -1.99723046e-02 3.83601249e-03 1.60602527e+02] [ 1.99733302e-02 9.99800487e-01 -2.29252899e-04 -9.08083520e+00] [-3.83066845e-03 3.05823428e-04 9.99992616e-01 -2.25166017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.500371743 meters 0.04115786992661255 Centerline is valid? [True, True] Translation: X:160.66, Y:-9.07, Z:-2.25 [[ 9.99872450e-01 -1.56239690e-02 3.31276836e-03 1.60663753e+02] [ 1.56247102e-02 9.99877907e-01 -1.97986957e-04 -9.07324877e+00] [-3.30927056e-03 2.49722750e-04 9.99994493e-01 -2.25293754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.560371743 meters 0.036993103119753984 Centerline is valid? [True, True] Translation: X:160.72, Y:-9.06, Z:-2.25 [[ 9.99938337e-01 -1.05424983e-02 3.48967261e-03 1.60724946e+02] [ 1.05432900e-02 9.99944396e-01 -2.08564502e-04 -9.06462705e+00] [-3.48727978e-03 2.45344272e-04 9.99993889e-01 -2.25322768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.620371743 meters 0.035605683792567316 Centerline is valid? [True, True] Translation: X:160.79, Y:-9.06, Z:-2.25 [[ 9.99971881e-01 -6.63242278e-03 3.49979268e-03 1.60785866e+02] [ 6.63319491e-03 9.99977978e-01 -2.09058436e-04 -9.06071801e+00] [-3.49832904e-03 2.32267365e-04 9.99993854e-01 -2.25380152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.680371743 meters 0.03978364219502909 Centerline is valid? [True, True] Translation: X:160.85, Y:-9.07, Z:-2.26 [[ 9.99983551e-01 -4.64034672e-03 3.37113950e-03 1.60845816e+02] [ 4.64105160e-03 9.99989210e-01 -2.01301024e-04 -9.06905801e+00] [-3.37016902e-03 2.16943345e-04 9.99994297e-01 -2.25733770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74037174299997 meters 0.03514499181408461 Centerline is valid? [True, True] Translation: X:160.91, Y:-9.07, Z:-2.26 [[ 9.99987842e-01 -3.52150212e-03 3.45168676e-03 1.60908540e+02] [ 3.52223269e-03 9.99993776e-01 -2.05600267e-04 -9.06630541e+00] [-3.45094126e-03 2.17755411e-04 9.99994022e-01 -2.25851832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80037174299997 meters 0.03543363299725249 Centerline is valid? [True, True] Translation: X:160.97, Y:-9.07, Z:-2.26 [[ 9.99989790e-01 -2.33958426e-03 3.86591389e-03 1.60970470e+02] [ 2.34049423e-03 9.99997234e-01 -2.30874791e-04 -9.06756588e+00] [-3.86536305e-03 2.39920583e-04 9.99992501e-01 -2.25916897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86037174299997 meters 0.036071886209358375 Centerline is valid? [True, True] Translation: X:161.03, Y:-9.07, Z:-2.26 [[ 9.99989153e-01 -2.95524417e-03 3.60015080e-03 1.61032779e+02] [ 2.95603715e-03 9.99995608e-01 -2.14961928e-04 -9.07045513e+00] [-3.59949972e-03 2.25601775e-04 9.99993496e-01 -2.25999822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92037174299998 meters 0.03764414945351649 Centerline is valid? [True, True] Translation: X:161.09, Y:-9.08, Z:-2.26 [[ 9.99986592e-01 -3.92028050e-03 3.38326905e-03 1.61093795e+02] [ 3.92098760e-03 9.99992292e-01 -2.02392790e-04 -9.07580412e+00] [-3.38244954e-03 2.15655833e-04 9.99994256e-01 -2.26107161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98037174299998 meters 0.037916193612973645 Centerline is valid? [True, True] Translation: X:161.16, Y:-9.08, Z:-2.26 [[ 9.99984347e-01 -3.26016429e-03 4.54725413e-03 1.61155822e+02] [ 3.26143636e-03 9.99994644e-01 -2.72358476e-04 -9.07996520e+00] [-4.54634184e-03 2.87184793e-04 9.99989624e-01 -2.26242899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04037174299998 meters 0.03840442127785033 Centerline is valid? [True, True] Translation: X:161.22, Y:-9.08, Z:-2.26 [[ 9.99984263e-01 -2.50241680e-03 5.02117136e-03 1.61217965e+02] [ 2.50396063e-03 9.99996820e-01 -3.01201977e-04 -9.08441668e+00] [-5.02040166e-03 3.13770052e-04 9.99987348e-01 -2.26356541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10037174299998 meters 0.035257368764373624 Centerline is valid? [True, True] Translation: X:161.28, Y:-9.08, Z:-2.26 [[ 9.99978716e-01 -2.68052058e-03 5.94832873e-03 1.61279813e+02] [ 2.68269458e-03 9.99996338e-01 -3.57531850e-04 -9.08381808e+00] [-5.94734858e-03 3.73481789e-04 9.99982245e-01 -2.26355066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16037174299998 meters 0.03588915086131404 Centerline is valid? [True, True] Translation: X:161.34, Y:-9.09, Z:-2.27 [[ 9.99971812e-01 -4.90144407e-03 5.68781868e-03 1.61340432e+02] [ 4.90347087e-03 9.99987919e-01 -3.42450735e-04 -9.09028219e+00] [-5.68607147e-03 3.70331135e-04 9.99983766e-01 -2.26536064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.220371743 meters 0.038269523605481054 Centerline is valid? [True, True] Translation: X:161.40, Y:-9.10, Z:-2.27 [[ 9.99963639e-01 -6.79062818e-03 5.15828838e-03 1.61400986e+02] [ 6.79232056e-03 9.99976884e-01 -3.10640828e-04 -9.10003902e+00] [-5.15605970e-03 3.45666281e-04 9.99986648e-01 -2.26720569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.280371743 meters 0.03905103064607258 Centerline is valid? [True, True] Translation: X:161.46, Y:-9.11, Z:-2.27 [[ 9.99961093e-01 -7.39072946e-03 4.81549659e-03 1.61462686e+02] [ 7.39220927e-03 9.99972635e-01 -2.89574854e-04 -9.10542225e+00] [-4.81322464e-03 3.25160746e-04 9.99988364e-01 -2.26853082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.340371743 meters 0.036147330020056614 Centerline is valid? [True, True] Translation: X:161.52, Y:-9.11, Z:-2.27 [[ 9.99950275e-01 -8.68738400e-03 4.89655905e-03 1.61524446e+02] [ 8.68893199e-03 9.99962207e-01 -2.94953074e-04 -9.10674952e+00] [-4.89381162e-03 3.37484276e-04 9.99987968e-01 -2.26893719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.400371743 meters 0.0382032271871999 Centerline is valid? [True, True] Translation: X:161.59, Y:-9.11, Z:-2.27 [[ 9.99961185e-01 -7.86571190e-03 3.96967183e-03 1.61585813e+02] [ 7.86672245e-03 9.99969028e-01 -2.39018053e-04 -9.11472745e+00] [-3.96766884e-03 2.70237082e-04 9.99992092e-01 -2.27136609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.460371743 meters 0.036382885179449334 Centerline is valid? [True, True] Translation: X:161.65, Y:-9.12, Z:-2.27 [[ 9.99966316e-01 -5.73935502e-03 5.86735205e-03 1.61647735e+02] [ 5.74153177e-03 9.99983455e-01 -3.54217217e-04 -9.11551957e+00] [-5.86522200e-03 3.87892874e-04 9.99982724e-01 -2.27074350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52037174299997 meters 0.03576334633453108 Centerline is valid? [True, True] Translation: X:161.71, Y:-9.12, Z:-2.27 [[ 9.99966284e-01 -3.61145971e-03 7.37482666e-03 1.61709180e+02] [ 3.61484863e-03 9.99993367e-01 -4.46247194e-04 -9.11796410e+00] [-7.37316614e-03 4.72891031e-04 9.99972706e-01 -2.27016130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58037174299997 meters 0.03551985074181165 Centerline is valid? [True, True] Translation: X:161.77, Y:-9.12, Z:-2.27 [[ 9.99965038e-01 -7.65460089e-04 8.32692680e-03 1.61769652e+02] [ 7.69687109e-04 9.99999577e-01 -5.04439844e-04 -9.12177519e+00] [-8.32653714e-03 5.10831335e-04 9.99965203e-01 -2.27051718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64037174299997 meters 0.033431511653084826 Centerline is valid? [True, True] Translation: X:161.83, Y:-9.12, Z:-2.27 [[ 9.99972568e-01 1.08001735e-03 7.32786779e-03 1.61831586e+02] [-1.07679591e-03 9.99999322e-01 -4.43546663e-04 -9.12198203e+00] [-7.32834186e-03 4.35643878e-04 9.99973052e-01 -2.27172035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70037174299998 meters 0.0372702239334194 Centerline is valid? [True, True] Translation: X:161.89, Y:-9.13, Z:-2.27 [[ 9.99978160e-01 1.50216179e-03 6.43608984e-03 1.61892604e+02] [-1.49968371e-03 9.99998799e-01 -3.89837478e-04 -9.13312400e+00] [-6.43666771e-03 3.80176865e-04 9.99979212e-01 -2.27486893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76037174299998 meters 0.03361828605943674 Centerline is valid? [True, True] Translation: X:161.95, Y:-9.13, Z:-2.28 [[ 9.99977006e-01 4.01873274e-03 5.46243257e-03 1.61954249e+02] [-4.01698329e-03 9.99991877e-01 -3.31203557e-04 -9.13212318e+00] [-5.46371922e-03 3.09253440e-04 9.99985026e-01 -2.27595268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82037174299998 meters 0.031817985474828274 Centerline is valid? [True, True] Translation: X:162.02, Y:-9.13, Z:-2.28 [[ 9.99969533e-01 5.00204533e-03 5.99268367e-03 1.62015387e+02] [-4.99995578e-03 9.99987434e-01 -3.63614799e-04 -9.13354763e+00] [-5.99442718e-03 3.33640568e-04 9.99981978e-01 -2.27522696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88037174299998 meters 0.032171075263675575 Centerline is valid? [True, True] Translation: X:162.08, Y:-9.14, Z:-2.28 [[ 9.99965651e-01 4.93487177e-03 6.65907329e-03 1.62076884e+02] [-4.93228816e-03 9.99987754e-01 -4.04350788e-04 -9.13905726e+00] [-6.66098716e-03 3.71492431e-04 9.99977746e-01 -2.27550304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.940371743 meters 0.033315479419209315 Centerline is valid? [True, True] Translation: X:162.14, Y:-9.15, Z:-2.28 [[ 9.99972843e-01 3.63691332e-03 6.40978615e-03 1.62137311e+02] [-3.63449069e-03 9.99993319e-01 -3.89564989e-04 -9.14642625e+00] [-6.41116014e-03 3.66258102e-04 9.99979381e-01 -2.27684443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.000371743 meters 0.03544756023368304 Centerline is valid? [True, True] Translation: X:162.20, Y:-9.16, Z:-2.28 [[ 9.99985362e-01 1.25055697e-03 5.26423905e-03 1.62197544e+02] [-1.24889133e-03 9.99999169e-01 -3.19680533e-04 -9.15602234e+00] [-5.26463445e-03 3.13101391e-04 9.99986093e-01 -2.27832390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.060371743 meters 0.03506643462188396 Centerline is valid? [True, True] Translation: X:162.26, Y:-9.16, Z:-2.28 [[ 9.99984747e-01 -1.22243358e-03 5.38628405e-03 1.62258423e+02] [ 1.22421638e-03 9.99999197e-01 -3.27703291e-04 -9.16206898e+00] [-5.38587913e-03 3.34292269e-04 9.99985440e-01 -2.27899488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.120371743 meters 0.03623951545513647 Centerline is valid? [True, True] Translation: X:162.32, Y:-9.17, Z:-2.28 [[ 9.99976978e-01 -3.61102420e-03 5.74499535e-03 1.62318688e+02] [ 3.61309233e-03 9.99993412e-01 -3.49650703e-04 -9.17129776e+00] [-5.74369490e-03 3.70399852e-04 9.99983436e-01 -2.27931627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.180371743 meters 0.0360402505087022 Centerline is valid? [True, True] Translation: X:162.38, Y:-9.18, Z:-2.28 [[ 9.99966711e-01 -6.12370363e-03 5.39231582e-03 1.62379197e+02] [ 6.12556242e-03 9.99981185e-01 -3.28264144e-04 -9.17826819e+00] [-5.39020417e-03 3.61284183e-04 9.99985407e-01 -2.28039837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24037174299997 meters 0.04119204227448203 Centerline is valid? [True, True] Translation: X:162.44, Y:-9.19, Z:-2.28 [[ 9.99966228e-01 -7.49953404e-03 3.36153048e-03 1.62439359e+02] [ 7.50026021e-03 9.99971852e-01 -2.03468009e-04 -9.19246398e+00] [-3.35990994e-03 2.28673490e-04 9.99994329e-01 -2.28316590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30037174299997 meters 0.03697682542006287 Centerline is valid? [True, True] Translation: X:162.50, Y:-9.19, Z:-2.28 [[ 9.99975138e-01 -6.41449867e-03 2.92892221e-03 1.62501830e+02] [ 6.41504743e-03 9.99979408e-01 -1.77999679e-04 -9.19125118e+00] [-2.92772012e-03 1.96784428e-04 9.99995695e-01 -2.28243140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36037174299997 meters 0.03629072862691063 Centerline is valid? [True, True] Translation: X:162.56, Y:-9.19, Z:-2.28 [[ 9.99986520e-01 -4.79264544e-03 1.99777365e-03 1.62563120e+02] [ 4.79289803e-03 9.99988507e-01 -1.21666279e-04 -9.19498619e+00] [-1.99716759e-03 1.31239764e-04 9.99997997e-01 -2.28339776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42037174299998 meters 0.03382372257378353 Centerline is valid? [True, True] Translation: X:162.62, Y:-9.20, Z:-2.28 [[ 9.99993999e-01 -2.22530592e-03 2.65513583e-03 1.62623568e+02] [ 2.22574488e-03 9.99997510e-01 -1.62381231e-04 -9.19634439e+00] [-2.65476787e-03 1.68289911e-04 9.99996462e-01 -2.28340554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48037174299998 meters 0.03361503687394789 Centerline is valid? [True, True] Translation: X:162.68, Y:-9.20, Z:-2.28 [[ 9.99995850e-01 3.90369432e-04 2.85427977e-03 1.62684194e+02] [-3.89873341e-04 9.99999909e-01 -1.74360157e-04 -9.20094981e+00] [-2.85434757e-03 1.73246626e-04 9.99995911e-01 -2.28381456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54037174299998 meters 0.03496790852104397 Centerline is valid? [True, True] Translation: X:162.74, Y:-9.21, Z:-2.29 [[ 9.99997983e-01 1.42930819e-03 1.41118299e-03 1.62744702e+02] [-1.42918842e-03 9.99998975e-01 -8.58793614e-05 -9.20726858e+00] [-1.41130429e-03 8.38623418e-05 9.99999001e-01 -2.28560330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60037174299998 meters 0.03537085941141162 Centerline is valid? [True, True] Translation: X:162.81, Y:-9.21, Z:-2.29 [[ 9.99999960e-01 1.56463907e-04 -2.37387539e-04 1.62805227e+02] [-1.56460462e-04 9.99999988e-01 1.45307435e-05 -9.21338214e+00] [ 2.37389809e-04 -1.44936011e-05 9.99999972e-01 -2.28800436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66037174299998 meters 0.03699959955650851 Centerline is valid? [True, True] Translation: X:162.86, Y:-9.22, Z:-2.29 [[ 9.99996112e-01 -2.60177728e-03 -1.00305154e-03 1.62864827e+02] [ 2.60183991e-03 9.99996613e-01 6.11336754e-05 -9.21961938e+00] [ 1.00288908e-03 -6.37432173e-05 9.99999495e-01 -2.28920956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.720371743 meters 0.03808744946247231 Centerline is valid? [True, True] Translation: X:162.93, Y:-9.23, Z:-2.29 [[ 9.99959529e-01 -8.90006698e-03 -1.31496410e-03 1.62925091e+02] [ 8.90018052e-03 9.99960389e-01 8.05133128e-05 -9.22650691e+00] [ 1.31419544e-03 -9.22134722e-05 9.99999132e-01 -2.28961374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.780371743 meters 0.04438383455554822 Centerline is valid? [True, True] Translation: X:162.98, Y:-9.24, Z:-2.29 [[ 9.99878522e-01 -1.55382026e-02 -1.22697271e-03 1.62983563e+02] [ 1.55383060e-02 9.99879270e-01 7.48072011e-05 -9.24046328e+00] [ 1.22566221e-03 -9.38631912e-05 9.99999244e-01 -2.29036522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.840371743 meters 0.04704145081705725 Centerline is valid? [True, True] Translation: X:163.04, Y:-9.25, Z:-2.29 [[ 9.99790943e-01 -2.04386456e-02 -5.76652785e-04 1.63044366e+02] [ 2.04386695e-02 9.99791108e-01 3.56951158e-05 -9.24965902e+00] [ 5.75802767e-04 -4.74736692e-05 9.99999833e-01 -2.29064139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.900371743 meters 0.0474651924917004 Centerline is valid? [True, True] Translation: X:163.10, Y:-9.26, Z:-2.29 [[ 9.99724019e-01 -2.34079508e-02 -1.98820470e-03 1.63104515e+02] [ 2.34082389e-02 9.99725982e-01 1.21747289e-04 -9.25596521e+00] [ 1.98481004e-03 -1.68254059e-04 9.99998016e-01 -2.29257242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.960371743 meters 0.045840349971590186 Centerline is valid? [True, True] Translation: X:163.17, Y:-9.26, Z:-2.29 [[ 9.99674764e-01 -2.53214817e-02 -3.03126600e-03 1.63165895e+02] [ 2.53221617e-02 9.99679325e-01 1.86154420e-04 -9.25872080e+00] [ 3.02558024e-03 -2.62852084e-04 9.99995388e-01 -2.29339743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02037174299997 meters 0.04309198193243204 Centerline is valid? [True, True] Translation: X:163.23, Y:-9.26, Z:-2.29 [[ 9.99623785e-01 -2.70793313e-02 -4.35878431e-03 1.63226890e+02] [ 2.70807523e-02 9.99633213e-01 2.67296559e-04 -9.26037688e+00] [ 4.34994736e-03 -3.85235156e-04 9.99990465e-01 -2.29360819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08037174299997 meters 0.04522861341467657 Centerline is valid? [True, True] Translation: X:163.29, Y:-9.27, Z:-2.29 [[ 9.99614855e-01 -2.75248314e-02 -3.53912355e-03 1.63288589e+02] [ 2.75257748e-02 9.99621070e-01 2.18105184e-04 -9.26910778e+00] [ 3.53177916e-03 -3.15438300e-04 9.99993713e-01 -2.29432871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14037174299997 meters 0.042855651147991204 Centerline is valid? [True, True] Translation: X:163.35, Y:-9.27, Z:-2.29 [[ 9.99673939e-01 -2.54305568e-02 -2.30271331e-03 1.63349767e+02] [ 2.54309500e-02 9.99676571e-01 1.41627709e-04 -9.26973855e+00] [ 2.29836687e-03 -2.00141716e-04 9.99997339e-01 -2.29407244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20037174299998 meters 0.042406349181691214 Centerline is valid? [True, True] Translation: X:163.41, Y:-9.27, Z:-2.29 [[ 9.99699711e-01 -2.44069239e-02 -2.18850964e-03 1.63411252e+02] [ 2.44072772e-02 9.99702089e-01 1.34890368e-04 -9.27291688e+00] [ 2.18456540e-03 -1.88265423e-04 9.99997596e-01 -2.29461771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26037174299998 meters 0.04148823627666272 Centerline is valid? [True, True] Translation: X:163.47, Y:-9.27, Z:-2.30 [[ 9.99797029e-01 -1.98650677e-02 -3.35870130e-03 1.63471746e+02] [ 1.98658718e-02 9.99802633e-01 2.06203437e-04 -9.27332232e+00] [ 3.35394216e-03 -2.72885113e-04 9.99994338e-01 -2.29663439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32037174299998 meters 0.03818148563347883 Centerline is valid? [True, True] Translation: X:163.53, Y:-9.27, Z:-2.30 [[ 9.99856040e-01 -1.67448985e-02 -2.74015018e-03 1.63532801e+02] [ 1.67454226e-02 9.99859771e-01 1.68415870e-04 -9.27081674e+00] [ 2.73694582e-03 -2.14276597e-04 9.99996232e-01 -2.29636235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38037174299998 meters 0.041125729029569326 Centerline is valid? [True, True] Translation: X:163.59, Y:-9.28, Z:-2.30 [[ 9.99902929e-01 -1.37158750e-02 -2.45105796e-03 1.63592413e+02] [ 1.37162849e-02 9.99905916e-01 1.50514443e-04 -9.27628292e+00] [ 2.44876291e-03 -1.84119242e-04 9.99996985e-01 -2.29783360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.440371743 meters 0.03617153174767489 Centerline is valid? [True, True] Translation: X:163.65, Y:-9.27, Z:-2.30 [[ 9.99918888e-01 -1.24393462e-02 -2.73512200e-03 1.63654666e+02] [ 1.24398549e-02 9.99922608e-01 1.69042668e-04 -9.27108308e+00] [ 2.73280754e-03 -2.03053477e-04 9.99996245e-01 -2.29692016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.500371743 meters 0.04432582770318251 Centerline is valid? [True, True] Translation: X:163.71, Y:-9.28, Z:-2.30 [[ 9.99932700e-01 -1.14441511e-02 -1.90443538e-03 1.63714881e+02] [ 1.14443959e-02 9.99934504e-01 1.17657075e-04 -9.28461021e+00] [ 1.90296416e-03 -1.39444269e-04 9.99998180e-01 -2.29974961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.560371743 meters 0.04584946092775877 Centerline is valid? [True, True] Translation: X:163.78, Y:-9.29, Z:-2.30 [[ 9.99923860e-01 -1.23370798e-02 -2.64131587e-04 1.63777191e+02] [ 1.23370848e-02 9.99923895e-01 1.72139705e-05 -9.28832359e+00] [ 2.63899115e-04 -2.04712736e-05 9.99999965e-01 -2.29876231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.620371743 meters 0.03977812776985009 Centerline is valid? [True, True] Translation: X:163.84, Y:-9.28, Z:-2.30 [[ 9.99889131e-01 -1.48834972e-02 -4.55000283e-04 1.63838811e+02] [ 1.48835116e-02 9.99889234e-01 2.82804763e-05 -9.28255935e+00] [ 4.54528972e-04 -3.50493429e-05 9.99999896e-01 -2.29769070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.680371743 meters 0.04391698748394016 Centerline is valid? [True, True] Translation: X:163.90, Y:-9.29, Z:-2.30 [[ 9.99852992e-01 -1.70755799e-02 -1.55542168e-03 1.63898160e+02] [ 1.70757512e-02 9.99854194e-01 9.69057225e-05 -9.29204110e+00] [ 1.55354017e-03 -1.23451470e-04 9.99998786e-01 -2.30000791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74037174299997 meters 0.04184507153516608 Centerline is valid? [True, True] Translation: X:163.96, Y:-9.29, Z:-2.30 [[ 9.99844282e-01 -1.75483444e-02 -1.86201378e-03 1.63960105e+02] [ 1.75485901e-02 9.99846005e-01 1.15682877e-04 -9.29115153e+00] [ 1.85969700e-03 -1.48340579e-04 9.99998260e-01 -2.29881096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80037174299997 meters 0.04212639005139724 Centerline is valid? [True, True] Translation: X:164.02, Y:-9.29, Z:-2.30 [[ 9.99872715e-01 -1.58619066e-02 -1.71868908e-03 1.64021300e+02] [ 1.58621132e-02 9.99874183e-01 1.06641733e-04 -9.29371709e+00] [ 1.71678130e-03 -1.33890200e-04 9.99998517e-01 -2.29909525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86037174299997 meters 0.037875600776208655 Centerline is valid? [True, True] Translation: X:164.08, Y:-9.29, Z:-2.30 [[ 9.99950420e-01 -9.95779167e-03 7.10202930e-06 1.64081966e+02] [ 9.95779167e-03 9.99950420e-01 -4.65835115e-07 -9.28988614e+00] [-7.09703859e-06 5.36532552e-07 1.00000000e+00 -2.29881955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92037174299998 meters 0.03934650560689407 Centerline is valid? [True, True] Translation: X:164.14, Y:-9.29, Z:-2.30 [[ 9.99999525e-01 -7.37230209e-04 6.36938514e-04 1.64141660e+02] [ 7.37255576e-04 9.99999727e-01 -3.95925777e-05 -9.29103067e+00] [-6.36909152e-04 4.00621454e-05 9.99999796e-01 -2.29925931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98037174299998 meters 0.03719489304478667 Centerline is valid? [True, True] Translation: X:164.20, Y:-9.29, Z:-2.30 [[ 9.99974767e-01 7.09921586e-03 2.57139526e-04 1.64201658e+02] [-7.09921203e-03 9.99974800e-01 -1.57983057e-05 -9.28848543e+00] [-2.57245202e-04 1.39724191e-05 9.99999967e-01 -2.30156394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04037174299998 meters 0.033181401901225864 Centerline is valid? [True, True] Translation: X:164.26, Y:-9.28, Z:-2.30 [[ 9.99952852e-01 9.70517499e-03 3.21994577e-04 1.64261940e+02] [-9.70516888e-03 9.99952904e-01 -2.05056163e-05 -9.28479825e+00] [-3.22178423e-04 1.73796377e-05 9.99999948e-01 -2.30187300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10037174299998 meters 0.03229179751244139 Centerline is valid? [True, True] Translation: X:164.32, Y:-9.29, Z:-2.30 [[ 9.99951432e-01 9.84112574e-03 5.35027118e-04 1.64320881e+02] [-9.84110898e-03 9.99951575e-01 -3.39490901e-05 -9.28618522e+00] [-5.35335306e-04 2.86821810e-05 9.99999856e-01 -2.30334032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16037174299998 meters 0.036326887551891 Centerline is valid? [True, True] Translation: X:164.38, Y:-9.29, Z:-2.30 [[ 9.99966260e-01 8.05860632e-03 1.59281705e-03 1.64378690e+02] [-8.05845880e-03 9.99967525e-01 -9.90097583e-05 -9.29498631e+00] [-1.59356320e-03 8.61707671e-05 9.99998727e-01 -2.30394424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.220371743 meters 0.03182122804992936 Centerline is valid? [True, True] Translation: X:164.44, Y:-9.29, Z:-2.30 [[ 9.99987290e-01 4.28324181e-03 2.65976678e-03 1.64439651e+02] [-4.28282144e-03 9.99990815e-01 -1.63724878e-04 -9.29131811e+00] [-2.66044362e-03 1.52331490e-04 9.99996449e-01 -2.30180323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.280371743 meters 0.03377647658290781 Centerline is valid? [True, True] Translation: X:164.50, Y:-9.30, Z:-2.30 [[ 9.99997115e-01 -1.20353566e-03 2.07874863e-03 1.64500097e+02] [ 1.20380423e-03 9.99999267e-01 -1.27953474e-04 -9.29874222e+00] [-2.07859311e-03 1.30455511e-04 9.99997831e-01 -2.30365954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.340371743 meters 0.03634444643839566 Centerline is valid? [True, True] Translation: X:164.56, Y:-9.31, Z:-2.30 [[ 9.99984009e-01 -5.26302767e-03 2.06937599e-03 1.64559667e+02] [ 5.26330286e-03 9.99986141e-01 -1.27560754e-04 -9.30697250e+00] [-2.06867595e-03 1.38450466e-04 9.99997851e-01 -2.30480682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.400371743 meters 0.03938701154708969 Centerline is valid? [True, True] Translation: X:164.62, Y:-9.32, Z:-2.31 [[ 9.99948640e-01 -9.63294664e-03 3.15008324e-03 1.64620149e+02] [ 9.63360480e-03 9.99953577e-01 -1.93826345e-04 -9.31614092e+00] [-3.14806989e-03 2.24163048e-04 9.99995020e-01 -2.30573320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.460371743 meters 0.03953333114403375 Centerline is valid? [True, True] Translation: X:164.68, Y:-9.32, Z:-2.31 [[ 9.99921571e-01 -1.22413350e-02 2.64611323e-03 1.64680729e+02] [ 1.22418081e-02 9.99925053e-01 -1.62651468e-04 -9.31954180e+00] [-2.64392384e-03 1.95031922e-04 9.99996486e-01 -2.30587567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52037174299997 meters 0.038473283813417504 Centerline is valid? [True, True] Translation: X:164.74, Y:-9.32, Z:-2.31 [[ 9.99897442e-01 -1.39058910e-02 3.42518466e-03 1.64742255e+02] [ 1.39066925e-02 9.99903275e-01 -2.10288710e-04 -9.32218332e+00] [-3.42192911e-03 2.57900133e-04 9.99994112e-01 -2.30572533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58037174299997 meters 0.039431391372552305 Centerline is valid? [True, True] Translation: X:164.80, Y:-9.33, Z:-2.31 [[ 9.99893686e-01 -1.40998745e-02 3.71612798e-03 1.64804581e+02] [ 1.41008195e-02 9.99900552e-01 -2.28230839e-04 -9.32789906e+00] [-3.71254039e-03 2.80607025e-04 9.99993069e-01 -2.30755769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64037174299997 meters 0.04120080581999346 Centerline is valid? [True, True] Translation: X:164.87, Y:-9.33, Z:-2.31 [[ 9.99900392e-01 -1.35012118e-02 4.11388467e-03 1.64865611e+02] [ 1.35023638e-02 9.99908807e-01 -2.52372337e-04 -9.33309461e+00] [-4.11010218e-03 3.07894367e-04 9.99991506e-01 -2.30946268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70037174299998 meters 0.041439729949045524 Centerline is valid? [True, True] Translation: X:164.93, Y:-9.34, Z:-2.31 [[ 9.99914023e-01 -1.23694300e-02 4.35254673e-03 1.64927342e+02] [ 1.23707158e-02 9.99923444e-01 -2.68615390e-04 -9.33730441e+00] [-4.34889090e-03 3.22436414e-04 9.99990492e-01 -2.31115871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76037174299998 meters 0.04303620643838475 Centerline is valid? [True, True] Translation: X:164.99, Y:-9.34, Z:-2.31 [[ 9.99926159e-01 -1.14185868e-02 4.15845849e-03 1.64987952e+02] [ 1.14197531e-02 9.99934760e-01 -2.56832666e-04 -9.34265915e+00] [-4.15525452e-03 3.04302271e-04 9.99991321e-01 -2.31275340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82037174299998 meters 0.0448959735490354 Centerline is valid? [True, True] Translation: X:165.05, Y:-9.35, Z:-2.31 [[ 9.99922847e-01 -1.16576680e-02 4.28943518e-03 1.65049334e+02] [ 1.16589122e-02 9.99931997e-01 -2.65181179e-04 -9.34826363e+00] [-4.28605209e-03 3.15170868e-04 9.99990765e-01 -2.31407453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88037174299998 meters 0.03857956308285639 Centerline is valid? [True, True] Translation: X:165.11, Y:-9.34, Z:-2.31 [[ 9.99914559e-01 -1.24013737e-02 4.13285165e-03 1.65111834e+02] [ 1.24025350e-02 9.99923053e-01 -2.55473338e-04 -9.34369541e+00] [-4.12936542e-03 3.06709347e-04 9.99991427e-01 -2.31441921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.940371743 meters 0.04829628805575475 Centerline is valid? [True, True] Translation: X:165.17, Y:-9.36, Z:-2.32 [[ 9.99905003e-01 -1.29566515e-02 4.70204101e-03 1.65172209e+02] [ 1.29581606e-02 9.99915997e-01 -2.90609280e-04 -9.36141769e+00] [-4.69788070e-03 3.51511476e-04 9.99988903e-01 -2.31684236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.000371743 meters 0.04008616288429767 Centerline is valid? [True, True] Translation: X:165.23, Y:-9.35, Z:-2.32 [[ 9.99888936e-01 -1.38239889e-02 5.56885236e-03 1.65234934e+02] [ 1.38261276e-02 9.99904355e-01 -3.45727458e-04 -9.35461778e+00] [-5.56354039e-03 4.22684723e-04 9.99984434e-01 -2.31616610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.060371743 meters 0.04051770016131108 Centerline is valid? [True, True] Translation: X:165.30, Y:-9.36, Z:-2.32 [[ 9.99895516e-01 -1.35056604e-02 5.15317460e-03 1.65297481e+02] [ 1.35074883e-02 9.99908718e-01 -3.20060996e-04 -9.35907873e+00] [-5.14838157e-03 3.89634000e-04 9.99986671e-01 -2.31732904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.120371743 meters 0.038217287474009626 Centerline is valid? [True, True] Translation: X:165.36, Y:-9.36, Z:-2.32 [[ 9.99907474e-01 -1.28280695e-02 4.52598940e-03 1.65359555e+02] [ 1.28294744e-02 9.99917659e-01 -2.81518154e-04 -9.35977678e+00] [-4.52200539e-03 3.39558172e-04 9.99989718e-01 -2.31831344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.180371743 meters 0.039442637881026456 Centerline is valid? [True, True] Translation: X:165.42, Y:-9.36, Z:-2.32 [[ 9.99915751e-01 -1.24845978e-02 3.55326466e-03 1.65421127e+02] [ 1.24854618e-02 9.99922029e-01 -2.21064721e-04 -9.36485271e+00] [-3.55022770e-03 2.65410247e-04 9.99993663e-01 -2.32079529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24037174299997 meters 0.04053687186520469 Centerline is valid? [True, True] Translation: X:165.48, Y:-9.37, Z:-2.32 [[ 9.99919580e-01 -1.22868152e-02 3.14129739e-03 1.65483136e+02] [ 1.22874899e-02 9.99924487e-01 -1.95551209e-04 -9.36984190e+00] [-3.13865748e-03 2.34134143e-04 9.99995047e-01 -2.32225452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30037174299997 meters 0.04391605492510074 Centerline is valid? [True, True] Translation: X:165.54, Y:-9.38, Z:-2.32 [[ 9.99941517e-01 -9.71691395e-03 4.74807305e-03 1.65542135e+02] [ 9.71843442e-03 9.99952731e-01 -2.97261881e-04 -9.37712644e+00] [-4.74496015e-03 3.43388333e-04 9.99988684e-01 -2.32295920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36037174299997 meters 0.03643107031448735 Centerline is valid? [True, True] Translation: X:165.60, Y:-9.37, Z:-2.32 [[ 9.99963757e-01 -5.88195394e-03 6.15527570e-03 1.65603110e+02] [ 5.88443469e-03 9.99982612e-01 -3.84995160e-04 -9.36750951e+00] [-6.15290415e-03 4.21201525e-04 9.99980982e-01 -2.32110913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42037174299998 meters 0.03632079082093968 Centerline is valid? [True, True] Translation: X:165.66, Y:-9.37, Z:-2.32 [[ 9.99969484e-01 -3.35999752e-03 7.05273070e-03 1.65663631e+02] [ 3.36319266e-03 9.99994247e-01 -4.41224801e-04 -9.36918890e+00] [-7.05120761e-03 4.64931029e-04 9.99975032e-01 -2.32139100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48037174299998 meters 0.03768074769339963 Centerline is valid? [True, True] Translation: X:165.72, Y:-9.37, Z:-2.32 [[ 9.99974686e-01 -2.49345262e-03 6.66412567e-03 1.65724653e+02] [ 2.49628359e-03 9.99996798e-01 -4.16523136e-04 -9.37496588e+00] [-6.66306574e-03 4.33148140e-04 9.99977708e-01 -2.32371383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54037174299998 meters 0.039225959685753584 Centerline is valid? [True, True] Translation: X:165.79, Y:-9.38, Z:-2.33 [[ 9.99977737e-01 -1.99600072e-03 6.36725977e-03 1.65786481e+02] [ 1.99857620e-03 9.99997924e-01 -3.98150710e-04 -9.38118116e+00] [-6.36645184e-03 4.10867299e-04 9.99979650e-01 -2.32571643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60037174299998 meters 0.03852491830627836 Centerline is valid? [True, True] Translation: X:165.85, Y:-9.38, Z:-2.33 [[ 9.99978937e-01 -3.66657339e-04 6.48007114e-03 1.65847863e+02] [ 3.69295500e-04 9.99999849e-01 -4.05927335e-04 -9.38337473e+00] [-6.47992132e-03 4.08311846e-04 9.99978922e-01 -2.32660978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66037174299998 meters 0.037742557734311066 Centerline is valid? [True, True] Translation: X:165.91, Y:-9.39, Z:-2.33 [[ 9.99974066e-01 1.24701792e-03 7.09310076e-03 1.65909439e+02] [-1.24389534e-03 9.99999128e-01 -4.44622756e-04 -9.38583418e+00] [-7.09364903e-03 4.35788150e-04 9.99974745e-01 -2.32755942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.720371743 meters 0.03677410313631175 Centerline is valid? [True, True] Translation: X:165.97, Y:-9.39, Z:-2.33 [[ 9.99962626e-01 4.96743607e-03 7.07612521e-03 1.65969934e+02] [-4.96441862e-03 9.99987579e-01 -4.43927661e-04 -9.38847449e+00] [-7.07824249e-03 4.08782222e-04 9.99974865e-01 -2.32865587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.780371743 meters 0.03596923896826864 Centerline is valid? [True, True] Translation: X:166.03, Y:-9.39, Z:-2.33 [[ 9.99933514e-01 9.98562549e-03 5.76676236e-03 1.66030748e+02] [-9.98370360e-03 9.99950096e-01 -3.61961189e-04 -9.39025666e+00] [-5.77008899e-03 3.04363477e-04 9.99983307e-01 -2.32998255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.840371743 meters 0.030389597014418013 Centerline is valid? [True, True] Translation: X:166.09, Y:-9.39, Z:-2.33 [[ 9.99879755e-01 1.43667656e-02 5.83715199e-03 1.66091300e+02] [-1.43648700e-02 9.99896753e-01 -3.66553505e-04 -9.38559417e+00] [-5.84181550e-03 2.82659499e-04 9.99982897e-01 -2.32962451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.900371743 meters 0.02966191318224437 Centerline is valid? [True, True] Translation: X:166.15, Y:-9.39, Z:-2.33 [[ 9.99835112e-01 1.74952289e-02 4.86472527e-03 1.66150827e+02] [-1.74939486e-02 9.99846922e-01 -3.05613097e-04 -9.38848236e+00] [-4.86932736e-03 2.20459451e-04 9.99988120e-01 -2.33034175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.960371743 meters 0.027739426112570978 Centerline is valid? [True, True] Translation: X:166.21, Y:-9.39, Z:-2.33 [[ 9.99803351e-01 1.92447870e-02 4.78508604e-03 1.66209266e+02] [-1.92435675e-02 9.99814780e-01 -3.00780119e-04 -9.39269051e+00] [-4.78998819e-03 2.08638845e-04 9.99988506e-01 -2.33044955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02037174299997 meters 0.028028009427401638 Centerline is valid? [True, True] Translation: X:166.27, Y:-9.40, Z:-2.33 [[ 9.99790382e-01 1.99372896e-02 4.65800563e-03 1.66268192e+02] [-1.99361429e-02 9.99801213e-01 -2.92479334e-04 -9.39932146e+00] [-4.66291093e-03 1.99555359e-04 9.99989109e-01 -2.33115437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08037174299997 meters 0.030996670004041403 Centerline is valid? [True, True] Translation: X:166.33, Y:-9.42, Z:-2.33 [[ 9.99841123e-01 1.72640838e-02 4.43621078e-03 1.66325421e+02] [-1.72630194e-02 9.99850944e-01 -2.78124632e-04 -9.41535429e+00] [-4.44035110e-03 2.01498052e-04 9.99990121e-01 -2.33252196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14037174299997 meters 0.031631581879913884 Centerline is valid? [True, True] Translation: X:166.38, Y:-9.42, Z:-2.33 [[ 9.99848676e-01 1.73634866e-02 1.06547309e-03 1.66383132e+02] [-1.73634241e-02 9.99849242e-01 -6.78868645e-05 -9.42358387e+00] [-1.06649122e-03 4.93763303e-05 9.99999430e-01 -2.33415287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20037174299998 meters 0.02638222078146152 Centerline is valid? [True, True] Translation: X:166.44, Y:-9.42, Z:-2.33 [[ 9.99759160e-01 2.18012700e-02 -2.51527712e-03 1.66443236e+02] [-2.18009446e-02 9.99762319e-01 1.56709547e-04 -9.42200633e+00] [ 2.51809576e-03 -1.01836388e-04 9.99996824e-01 -2.33345694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26037174299998 meters 0.02446640496488126 Centerline is valid? [True, True] Translation: X:166.50, Y:-9.42, Z:-2.33 [[ 9.99625015e-01 2.70728193e-02 -4.11007007e-03 1.66502790e+02] [-2.70719960e-02 9.99633454e-01 2.55819313e-04 -9.42248640e+00] [ 4.11548928e-03 -1.44455584e-04 9.99991521e-01 -2.33329879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32037174299998 meters 0.022906955481157187 Centerline is valid? [True, True] Translation: X:166.56, Y:-9.42, Z:-2.33 [[ 9.99352882e-01 3.56965512e-02 -4.42429339e-03 1.66563627e+02] [-3.56956799e-02 9.99362668e-01 2.75785047e-04 -9.42430585e+00] [ 4.43131823e-03 -1.17678421e-04 9.99990175e-01 -2.33282201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38037174299998 meters 0.022289270902180015 Centerline is valid? [True, True] Translation: X:166.62, Y:-9.43, Z:-2.33 [[ 9.99131530e-01 4.15068843e-02 -3.65585435e-03 1.66622162e+02] [-4.15063313e-02 9.99138215e-01 2.27036998e-04 -9.42895410e+00] [ 3.66212739e-03 -7.50987215e-05 9.99993292e-01 -2.33250246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.440371743 meters 0.022057068739970258 Centerline is valid? [True, True] Translation: X:166.68, Y:-9.44, Z:-2.33 [[ 9.99123313e-01 4.16841489e-02 -3.87779781e-03 1.66679711e+02] [-4.16835324e-02 9.99130835e-01 2.39707822e-04 -9.43620071e+00] [ 3.88441938e-03 -7.78573623e-05 9.99992453e-01 -2.33134497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.500371743 meters 0.02307601666886512 Centerline is valid? [True, True] Translation: X:166.74, Y:-9.45, Z:-2.33 [[ 9.99380209e-01 3.49895512e-02 -3.86371390e-03 1.66738310e+02] [-3.49888871e-02 9.99387673e-01 2.39381026e-04 -9.45043861e+00] [ 3.86972388e-03 -1.04045611e-04 9.99992507e-01 -2.33286404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.560371743 meters 0.027567357801607215 Centerline is valid? [True, True] Translation: X:166.80, Y:-9.47, Z:-2.34 [[ 9.99679908e-01 2.47414048e-02 -5.28627066e-03 1.66796350e+02] [-2.47400106e-02 9.99693865e-01 3.28990899e-04 -9.46997983e+00] [ 5.29279205e-03 -1.98103199e-04 9.99985973e-01 -2.33683750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.620371743 meters 0.026797401818861182 Centerline is valid? [True, True] Translation: X:166.86, Y:-9.48, Z:-2.34 [[ 9.99830219e-01 1.75032663e-02 -5.75923690e-03 1.66856300e+02] [-1.75014937e-02 9.99846773e-01 3.58040042e-04 -9.47694844e+00] [ 5.76462130e-03 -2.57184006e-04 9.99983351e-01 -2.33597540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.680371743 meters 0.031602879534467936 Centerline is valid? [True, True] Translation: X:166.92, Y:-9.49, Z:-2.34 [[ 9.99934444e-01 9.78792206e-03 -5.94176609e-03 1.66915156e+02] [-9.78590133e-03 9.99952049e-01 3.69068149e-04 -9.49331279e+00] [ 5.94509358e-03 -3.10898418e-04 9.99982279e-01 -2.33854778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74037174299997 meters 0.030385734916753036 Centerline is valid? [True, True] Translation: X:166.97, Y:-9.50, Z:-2.34 [[ 9.99978589e-01 5.71826565e-03 -3.18165352e-03 1.66974977e+02] [-5.71766638e-03 9.99983635e-01 1.97416546e-04 -9.50000608e+00] [ 3.18273033e-03 -1.79220686e-04 9.99994919e-01 -2.33522424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80037174299997 meters 0.031081476864402276 Centerline is valid? [True, True] Translation: X:167.03, Y:-9.51, Z:-2.33 [[ 9.99978232e-01 6.16753301e-03 -2.34437661e-03 1.67033560e+02] [-6.16721117e-03 9.99980972e-01 1.44484973e-04 -9.50558160e+00] [ 2.34522312e-03 -1.30023562e-04 9.99997242e-01 -2.33487615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86037174299997 meters 0.03153644641505464 Centerline is valid? [True, True] Translation: X:167.09, Y:-9.51, Z:-2.34 [[ 9.99968552e-01 7.51759080e-03 -2.52607726e-03 1.67092002e+02] [-7.51722166e-03 9.99971733e-01 1.55595533e-04 -9.51268205e+00] [ 2.52717556e-03 -1.36601557e-04 9.99996797e-01 -2.33821920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92037174299998 meters 0.0328640566406108 Centerline is valid? [True, True] Translation: X:167.15, Y:-9.52, Z:-2.34 [[ 9.99959671e-01 8.17123219e-03 -3.72663714e-03 1.67150933e+02] [-8.17043246e-03 9.99966595e-01 2.29770792e-04 -9.51841821e+00] [ 3.72839016e-03 -1.99313288e-04 9.99993030e-01 -2.34032056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98037174299998 meters 0.03211029159543901 Centerline is valid? [True, True] Translation: X:167.21, Y:-9.52, Z:-2.34 [[ 9.99970507e-01 6.64834290e-03 -3.84506238e-03 1.67210350e+02] [-6.64747885e-03 9.99977877e-01 2.37454695e-04 -9.52076185e+00] [ 3.84655600e-03 -2.11887720e-04 9.99992580e-01 -2.34077838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04037174299998 meters 0.034571488115002665 Centerline is valid? [True, True] Translation: X:167.27, Y:-9.53, Z:-2.34 [[ 9.99950022e-01 8.55031424e-03 -5.18123604e-03 1.67268515e+02] [-8.54877424e-03 9.99963408e-01 3.19300369e-04 -9.52596153e+00] [ 5.18377657e-03 -2.74991194e-04 9.99986526e-01 -2.34282913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10037174299998 meters 0.029725953873580967 Centerline is valid? [True, True] Translation: X:167.33, Y:-9.52, Z:-2.34 [[ 9.99911632e-01 1.20668207e-02 -5.57850363e-03 1.67328748e+02] [-1.20650881e-02 9.99927155e-01 3.44123331e-04 -9.52056475e+00] [ 5.58224974e-03 -2.76787783e-04 9.99984381e-01 -2.34215465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16037174299998 meters 0.027428260070716297 Centerline is valid? [True, True] Translation: X:167.39, Y:-9.52, Z:-2.34 [[ 9.99763422e-01 2.12709689e-02 -4.54380046e-03 1.67388726e+02] [-2.12699137e-02 9.99773730e-01 2.80424235e-04 -9.51555831e+00] [ 4.54873723e-03 -1.83711649e-04 9.99989638e-01 -2.34161390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.220371743 meters 0.024399830867377084 Centerline is valid? [True, True] Translation: X:167.45, Y:-9.51, Z:-2.34 [[ 9.99567490e-01 2.91865710e-02 -3.60241107e-03 1.67449583e+02] [-2.91859586e-02 9.99573974e-01 2.22440417e-04 -9.51032898e+00] [ 3.60736863e-03 -1.17204389e-04 9.99993487e-01 -2.34127037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.280371743 meters 0.022185615253468467 Centerline is valid? [True, True] Translation: X:167.51, Y:-9.50, Z:-2.34 [[ 9.99212837e-01 3.96544381e-02 -1.10973223e-03 1.67510750e+02] [-3.96543865e-02 9.99213453e-01 6.84916735e-05 -9.50453067e+00] [ 1.11157537e-03 -2.44320088e-05 9.99999382e-01 -2.34124462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.340371743 meters 0.02227582053557646 Centerline is valid? [True, True] Translation: X:167.57, Y:-9.51, Z:-2.34 [[ 9.99232291e-01 3.91677925e-02 -8.44420807e-04 1.67569466e+02] [-3.91677633e-02 9.99232647e-01 5.10791383e-05 -9.50819222e+00] [ 8.45773496e-04 -1.79658500e-05 9.99999642e-01 -2.34208691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.400371743 meters 0.023465765400683142 Centerline is valid? [True, True] Translation: X:167.63, Y:-9.52, Z:-2.34 [[ 9.99582119e-01 2.89056983e-02 -2.20632249e-04 1.67628849e+02] [-2.89056960e-02 9.99582143e-01 1.35603910e-05 -9.52234287e+00] [ 2.20932029e-04 -7.17719565e-06 9.99999976e-01 -2.34381415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.460371743 meters 0.025856093043029826 Centerline is valid? [True, True] Translation: X:167.69, Y:-9.53, Z:-2.34 [[ 9.99726469e-01 2.33595570e-02 -1.14802555e-03 1.67687893e+02] [-2.33594914e-02 9.99727127e-01 7.05410529e-05 -9.53343563e+00] [ 1.14936009e-03 -4.37044648e-05 9.99999339e-01 -2.34494665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52037174299997 meters 0.02707764730033055 Centerline is valid? [True, True] Translation: X:167.75, Y:-9.54, Z:-2.35 [[ 9.99829151e-01 1.84567526e-02 -1.00869034e-03 1.67747062e+02] [-1.84566995e-02 9.99829659e-01 6.19292698e-05 -9.54402910e+00] [ 1.00966154e-03 -4.33015946e-05 9.99999489e-01 -2.34524869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58037174299997 meters 0.02869523947800004 Centerline is valid? [True, True] Translation: X:167.80, Y:-9.56, Z:-2.35 [[ 9.99880585e-01 1.54378339e-02 7.00011295e-04 1.67804487e+02] [-1.54378068e-02 9.99880829e-01 -4.40964218e-05 -9.55676710e+00] [-7.00608627e-04 3.32845169e-05 9.99999754e-01 -2.34659325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64037174299997 meters 0.029836106149646376 Centerline is valid? [True, True] Translation: X:167.86, Y:-9.56, Z:-2.35 [[ 9.99894429e-01 1.45274713e-02 2.89082461e-04 1.67862889e+02] [-1.45274664e-02 9.99894471e-01 -1.87764711e-05 -9.56337225e+00] [-2.89324729e-04 1.45748531e-05 9.99999958e-01 -2.34690354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70037174299998 meters 0.030545167978991674 Centerline is valid? [True, True] Translation: X:167.92, Y:-9.57, Z:-2.35 [[ 9.99939742e-01 1.09776498e-02 5.31702821e-05 1.67922208e+02] [-1.09776496e-02 9.99939744e-01 -3.51710291e-06 -9.57313196e+00] [-5.32056879e-05 2.93320626e-06 9.99999999e-01 -2.34895781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76037174299998 meters 0.03212337730923069 Centerline is valid? [True, True] Translation: X:167.98, Y:-9.58, Z:-2.35 [[ 9.99986124e-01 5.25868743e-03 3.14624405e-04 1.67981600e+02] [-5.25868153e-03 9.99986173e-01 -1.95997674e-05 -9.58429417e+00] [-3.14723124e-04 1.79449858e-05 9.99999950e-01 -2.34993535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82037174299998 meters 0.03507010981254503 Centerline is valid? [True, True] Translation: X:168.04, Y:-9.59, Z:-2.35 [[ 9.99998520e-01 -1.65077814e-03 -4.84832718e-04 1.68041684e+02] [ 1.65079279e-03 9.99998637e-01 2.98276801e-05 -9.59301640e+00] [ 4.84782818e-04 -3.06279943e-05 9.99999882e-01 -2.34963826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88037174299998 meters 0.039622179432476 Centerline is valid? [True, True] Translation: X:168.10, Y:-9.60, Z:-2.35 [[ 9.99983256e-01 -5.77886708e-03 -3.05402948e-04 1.68100522e+02] [ 5.77887316e-03 9.99983302e-01 1.90170964e-05 -9.60369586e+00] [ 3.05287951e-04 -2.07816629e-05 9.99999953e-01 -2.35005773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.940371743 meters 0.038449931752190795 Centerline is valid? [True, True] Translation: X:168.16, Y:-9.61, Z:-2.35 [[ 9.99948014e-01 -1.01545371e-02 9.24413212e-04 1.68161334e+02] [ 1.01545939e-02 9.99948439e-01 -5.67982494e-05 -9.60685251e+00] [-9.23788789e-04 6.61823375e-05 9.99999571e-01 -2.34953563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.000371743 meters 0.038479830370167806 Centerline is valid? [True, True] Translation: X:168.22, Y:-9.61, Z:-2.35 [[ 9.99928669e-01 -1.18919457e-02 1.11289513e-03 1.68222306e+02] [ 1.18920284e-02 9.99929285e-01 -6.77437135e-05 -9.61000719e+00] [-1.11201083e-03 8.09734618e-05 9.99999378e-01 -2.34971865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.060371743 meters 0.04034755667277272 Centerline is valid? [True, True] Translation: X:168.28, Y:-9.62, Z:-2.35 [[ 9.99903260e-01 -1.38934181e-02 6.66305105e-04 1.68282646e+02] [ 1.38934484e-02 9.99903481e-01 -4.07678853e-05 -9.61694919e+00] [-6.65674389e-04 5.00212170e-05 9.99999777e-01 -2.35185052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.120371743 meters 0.04269658018147551 Centerline is valid? [True, True] Translation: X:168.34, Y:-9.62, Z:-2.35 [[ 9.99882546e-01 -1.53107566e-02 -6.88952100e-04 1.68342118e+02] [ 1.53107903e-02 9.99882782e-01 4.36894887e-05 -9.62195040e+00] [ 6.88202423e-04 -5.42327583e-05 9.99999762e-01 -2.35356860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.180371743 meters 0.04485449746507996 Centerline is valid? [True, True] Translation: X:168.40, Y:-9.63, Z:-2.36 [[ 9.99906900e-01 -1.34268806e-02 -2.43096462e-03 1.68402610e+02] [ 1.34272858e-02 9.99909839e-01 1.50434930e-04 -9.62536092e+00] [ 2.42872557e-03 -1.83062181e-04 9.99997034e-01 -2.35578439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24037174299997 meters 0.03930379206303379 Centerline is valid? [True, True] Translation: X:168.46, Y:-9.62, Z:-2.35 [[ 9.99957544e-01 -8.93346439e-03 -2.25923187e-03 1.68464059e+02] [ 8.93380191e-03 9.99960083e-01 1.39346880e-04 -9.61707905e+00] [ 2.25789684e-03 -1.59524493e-04 9.99997438e-01 -2.35460056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30037174299997 meters 0.03387459676664544 Centerline is valid? [True, True] Translation: X:168.53, Y:-9.61, Z:-2.35 [[ 9.99998739e-01 -1.58764371e-03 -2.65347026e-05 1.68525556e+02] [ 1.58764376e-03 9.99998740e-01 1.77703697e-06 -9.60836107e+00] [ 2.65318477e-05 -1.81916238e-06 1.00000000e+00 -2.35269990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36037174299997 meters 0.03125038730225288 Centerline is valid? [True, True] Translation: X:168.59, Y:-9.60, Z:-2.35 [[ 9.99978254e-01 6.58410599e-03 3.75350456e-04 1.68586293e+02] [-6.58409774e-03 9.99978324e-01 -2.32040183e-05 -9.60292909e+00] [-3.75495098e-04 2.07321696e-05 9.99999929e-01 -2.35298591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42037174299998 meters 0.029724614317886366 Centerline is valid? [True, True] Translation: X:168.65, Y:-9.60, Z:-2.35 [[ 9.99914872e-01 1.30389255e-02 4.84433300e-04 1.68647472e+02] [-1.30389125e-02 9.99914989e-01 -2.99406078e-05 -9.59978553e+00] [-4.84782511e-04 2.36215756e-05 9.99999882e-01 -2.35296950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48037174299998 meters 0.027820219156325942 Centerline is valid? [True, True] Translation: X:168.71, Y:-9.60, Z:-2.35 [[ 9.99854944e-01 1.69997492e-02 1.04852441e-03 1.68707933e+02] [-1.69996904e-02 9.99855493e-01 -6.49101659e-05 -9.59909259e+00] [-1.04947635e-03 4.70761599e-05 9.99999448e-01 -2.35423991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54037174299998 meters 0.026748170018018675 Centerline is valid? [True, True] Translation: X:168.77, Y:-9.60, Z:-2.35 [[ 9.99770627e-01 2.13077988e-02 2.16147381e-03 1.68768032e+02] [-2.13075599e-02 9.99772959e-01 -1.33500442e-04 -9.60044567e+00] [-2.16382767e-03 8.74140873e-05 9.99997655e-01 -2.35416244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60037174299998 meters 0.026787867142347172 Centerline is valid? [True, True] Translation: X:168.83, Y:-9.60, Z:-2.36 [[ 9.99689525e-01 2.48335804e-02 2.03658341e-03 1.68827937e+02] [-2.48333756e-02 9.99691596e-01 -1.25765421e-04 -9.60254108e+00] [-2.03907853e-03 7.51511333e-05 9.99997918e-01 -2.35515306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66037174299998 meters 0.025768024228584457 Centerline is valid? [True, True] Translation: X:168.89, Y:-9.61, Z:-2.36 [[ 9.99669732e-01 2.56321809e-02 1.84884663e-03 1.68886648e+02] [-2.56320123e-02 9.99671439e-01 -1.14810397e-04 -9.60702566e+00] [-1.85118201e-03 6.73828194e-05 9.99998284e-01 -2.35711784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.720371743 meters 0.026236079885134156 Centerline is valid? [True, True] Translation: X:168.94, Y:-9.61, Z:-2.36 [[ 9.99667982e-01 2.56618228e-02 2.32306027e-03 1.68943616e+02] [-2.56615573e-02 9.99670678e-01 -1.44030673e-04 -9.61470218e+00] [-2.32599132e-03 8.43695079e-05 9.99997291e-01 -2.35830239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.780371743 meters 0.02447514825506326 Centerline is valid? [True, True] Translation: X:169.00, Y:-9.62, Z:-2.36 [[ 9.99581160e-01 2.87285490e-02 3.48919497e-03 1.69002960e+02] [-2.87279708e-02 9.99587243e-01 -2.15734417e-04 -9.61680461e+00] [-3.49395252e-03 1.15406568e-04 9.99993889e-01 -2.35650754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.840371743 meters 0.02384825479980192 Centerline is valid? [True, True] Translation: X:169.06, Y:-9.63, Z:-2.36 [[ 9.99511652e-01 3.08556897e-02 4.93799778e-03 1.69060017e+02] [-3.08545651e-02 9.99523838e-01 -3.03790583e-04 -9.62507181e+00] [-4.94502016e-03 1.51282453e-04 9.99987762e-01 -2.35717143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.900371743 meters 0.023873997199962853 Centerline is valid? [True, True] Translation: X:169.12, Y:-9.63, Z:-2.36 [[ 9.99523741e-01 3.04288651e-02 5.13565904e-03 1.69118358e+02] [-3.04276466e-02 9.99536922e-01 -3.15262776e-04 -9.63082293e+00] [-5.14287392e-03 1.58846611e-04 9.99986763e-01 -2.35817983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96037174299997 meters 0.025679398948494515 Centerline is valid? [True, True] Translation: X:169.18, Y:-9.64, Z:-2.36 [[ 9.99635125e-01 2.67562922e-02 3.70363985e-03 1.69177159e+02] [-2.67556346e-02 9.99641978e-01 -2.26992397e-04 -9.64452911e+00] [-3.70838734e-03 1.27816339e-04 9.99993116e-01 -2.36136105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02037174299997 meters 0.028213568557537736 Centerline is valid? [True, True] Translation: X:169.24, Y:-9.66, Z:-2.37 [[ 9.99839116e-01 1.78904631e-02 1.29383251e-03 1.69236483e+02] [-1.78903757e-02 9.99839951e-01 -7.91064410e-05 -9.66076984e+00] [-1.29504069e-03 5.59465643e-05 9.99999160e-01 -2.36584238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08037174299997 meters 0.03167750424547941 Centerline is valid? [True, True] Translation: X:169.30, Y:-9.68, Z:-2.37 [[ 9.99967508e-01 8.03822319e-03 6.08628638e-04 1.69296132e+02] [-8.03820185e-03 9.99967692e-01 -3.74914385e-05 -9.67620199e+00] [-6.08910339e-04 3.25979404e-05 9.99999814e-01 -2.36769062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14037174299997 meters 0.034266423574231736 Centerline is valid? [True, True] Translation: X:169.36, Y:-9.69, Z:-2.37 [[ 9.99999078e-01 -9.92476554e-04 9.26431821e-04 1.69355938e+02] [ 9.92529617e-04 9.99999506e-01 -5.68190608e-05 -9.68619321e+00] [-9.26374972e-04 5.77385195e-05 9.99999569e-01 -2.36653158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20037174299998 meters 0.04023572059842439 Centerline is valid? [True, True] Translation: X:169.41, Y:-9.70, Z:-2.37 [[ 9.99948564e-01 -1.01014885e-02 9.10647070e-04 1.69414754e+02] [ 1.01015433e-02 9.99948977e-01 -5.55588798e-05 -9.70224191e+00] [-9.10039378e-04 6.47549629e-05 9.99999584e-01 -2.36865474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26037174299998 meters 0.04305103624077728 Centerline is valid? [True, True] Translation: X:169.47, Y:-9.71, Z:-2.37 [[ 9.99870644e-01 -1.60326973e-02 1.28346833e-03 1.69474679e+02] [ 1.60328113e-02 9.99871463e-01 -7.85665159e-05 -9.71304036e+00] [-1.28204372e-03 9.91339584e-05 9.99999173e-01 -2.36976227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32037174299998 meters 0.042938890260307574 Centerline is valid? [True, True] Translation: X:169.54, Y:-9.72, Z:-2.37 [[ 9.99794476e-01 -1.99424455e-02 3.64764096e-03 1.69535566e+02] [ 1.99433906e-02 9.99801086e-01 -2.22916197e-04 -9.71715481e+00] [-3.64246990e-03 2.95616710e-04 9.99993322e-01 -2.36740483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38037174299998 meters 0.043243651898308644 Centerline is valid? [True, True] Translation: X:169.60, Y:-9.72, Z:-2.37 [[ 9.99734234e-01 -2.21909232e-02 6.24693683e-03 1.69596877e+02] [ 2.21937376e-02 9.99753616e-01 -3.81558817e-04 -9.72038754e+00] [-6.23693054e-03 5.20100288e-04 9.99980415e-01 -2.36508915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.440371743 meters 0.043419441815999694 Centerline is valid? [True, True] Translation: X:169.66, Y:-9.72, Z:-2.37 [[ 9.99640021e-01 -2.60886481e-02 6.26186714e-03 1.69657608e+02] [ 2.60915551e-02 9.99659484e-01 -3.82977415e-04 -9.72364616e+00] [-6.24974351e-03 5.46221403e-04 9.99980321e-01 -2.36579363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.500371743 meters 0.04227263488257073 Centerline is valid? [True, True] Translation: X:169.72, Y:-9.73, Z:-2.37 [[ 9.99536437e-01 -3.01914424e-02 3.92264068e-03 1.69718303e+02] [ 3.01926141e-02 9.99544070e-01 -2.39807644e-04 -9.72504915e+00] [-3.91361209e-03 3.58131254e-04 9.99992278e-01 -2.36860783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.560371743 meters 0.04656025195652669 Centerline is valid? [True, True] Translation: X:169.78, Y:-9.73, Z:-2.37 [[ 9.99485369e-01 -3.19007375e-02 3.36738435e-03 1.69778172e+02] [ 3.19016103e-02 9.99490993e-01 -2.05787335e-04 -9.73350942e+00] [-3.35910556e-03 3.13106414e-04 9.99994309e-01 -2.37034258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.620371743 meters 0.047342262804988114 Centerline is valid? [True, True] Translation: X:169.84, Y:-9.74, Z:-2.37 [[ 9.99489204e-01 -3.19261514e-02 1.43269715e-03 1.69840082e+02] [ 3.19263082e-02 9.99490222e-01 -8.67430974e-05 -9.73610264e+00] [-1.42919742e-03 1.32439520e-04 9.99998970e-01 -2.37361054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.680371743 meters 0.04677146985869222 Centerline is valid? [True, True] Translation: X:169.90, Y:-9.74, Z:-2.37 [[ 9.99532606e-01 -3.05637729e-02 6.51966104e-04 1.69902072e+02] [ 3.05638050e-02 9.99532817e-01 -3.92048168e-05 -9.73712243e+00] [-6.50463269e-04 5.91130576e-05 9.99999787e-01 -2.37430059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74037174299997 meters 0.0478396277274409 Centerline is valid? [True, True] Translation: X:169.96, Y:-9.74, Z:-2.37 [[ 9.99627947e-01 -2.72376624e-02 1.44098580e-03 1.69961170e+02] [ 2.72378182e-02 9.99628978e-01 -8.85844093e-05 -9.73881023e+00] [-1.43803833e-03 1.27800760e-04 9.99998958e-01 -2.37359645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80037174299997 meters 0.04355781743520831 Centerline is valid? [True, True] Translation: X:170.02, Y:-9.73, Z:-2.37 [[ 9.99697587e-01 -2.44064663e-02 3.00976943e-03 1.70022500e+02] [ 2.44071314e-02 9.99702085e-01 -1.84431806e-04 -9.73448239e+00] [-3.00437145e-03 2.57835869e-04 9.99995454e-01 -2.37211965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86037174299997 meters 0.04245958956535746 Centerline is valid? [True, True] Translation: X:170.08, Y:-9.73, Z:-2.37 [[ 9.99790915e-01 -2.01336857e-02 3.57224762e-03 1.70083076e+02] [ 2.01345959e-02 9.99797254e-01 -2.19011253e-04 -9.73397027e+00] [-3.56711386e-03 2.90891224e-04 9.99993596e-01 -2.37300821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92037174299998 meters 0.04261472923421658 Centerline is valid? [True, True] Translation: X:170.14, Y:-9.73, Z:-2.38 [[ 9.99900822e-01 -1.40269902e-02 1.26076937e-03 1.70142647e+02] [ 1.40270991e-02 9.99901612e-01 -7.75394871e-05 -9.73238369e+00] [-1.25955768e-03 9.52167337e-05 9.99999202e-01 -2.37610883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98037174299998 meters 0.0392780237366001 Centerline is valid? [True, True] Translation: X:170.20, Y:-9.73, Z:-2.38 [[ 9.99960884e-01 -8.82314630e-03 6.18555341e-04 1.70203336e+02] [ 8.82317136e-03 9.99961074e-01 -3.78014107e-05 -9.72823661e+00] [-6.18197736e-04 4.32575518e-05 9.99999808e-01 -2.37744916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04037174299998 meters 0.033451934813536505 Centerline is valid? [True, True] Translation: X:170.27, Y:-9.72, Z:-2.37 [[ 9.99990553e-01 -3.04194946e-03 3.10482731e-03 1.70265164e+02] [ 3.04255435e-03 9.99995353e-01 -1.90120065e-04 -9.71827451e+00] [-3.10423454e-03 1.99564875e-04 9.99995162e-01 -2.37471099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10037174299998 meters 0.03425911055400875 Centerline is valid? [True, True] Translation: X:170.33, Y:-9.72, Z:-2.37 [[ 9.99984910e-01 1.60540825e-04 5.49133256e-03 1.70325401e+02] [-1.58694428e-04 9.99999931e-01 -3.36672519e-04 -9.72094549e+00] [-5.49138623e-03 3.35795995e-04 9.99984866e-01 -2.37446731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16037174299998 meters 0.03141937045273178 Centerline is valid? [True, True] Translation: X:170.39, Y:-9.72, Z:-2.38 [[ 9.99970232e-01 5.35565940e-03 5.55450270e-03 1.70386374e+02] [-5.35385037e-03 9.99985610e-01 -3.40504652e-04 -9.71603034e+00] [-5.55624640e-03 3.10756539e-04 9.99984516e-01 -2.37523017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.220371743 meters 0.032184616734607735 Centerline is valid? [True, True] Translation: X:170.45, Y:-9.72, Z:-2.38 [[ 9.99965353e-01 7.65515220e-03 3.26985161e-03 1.70446505e+02] [-7.65454048e-03 9.99970684e-01 -1.99551058e-04 -9.71971123e+00] [-3.27128334e-03 1.74514932e-04 9.99994634e-01 -2.37904160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.280371743 meters 0.03297671618358148 Centerline is valid? [True, True] Translation: X:170.51, Y:-9.72, Z:-2.38 [[ 9.99967707e-01 7.79185080e-03 1.96766839e-03 1.70506382e+02] [-7.79162728e-03 9.99969637e-01 -1.21237500e-04 -9.72361440e+00] [-1.96855331e-03 1.05902246e-04 9.99998057e-01 -2.38136481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.340371743 meters 0.03254804996388946 Centerline is valid? [True, True] Translation: X:170.57, Y:-9.72, Z:-2.38 [[ 9.99963058e-01 8.58502795e-03 4.25074063e-04 1.70565492e+02] [-8.58501723e-03 9.99963148e-01 -2.70439846e-05 -9.72465790e+00] [-4.25290571e-04 2.33937174e-05 9.99999909e-01 -2.38311670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.400371743 meters 0.030912798683435286 Centerline is valid? [True, True] Translation: X:170.62, Y:-9.72, Z:-2.38 [[ 9.99948304e-01 1.01475932e-02 6.45126634e-04 1.70624121e+02] [-1.01475692e-02 9.99948511e-01 -4.04962307e-05 -9.72429878e+00] [-6.45504357e-04 3.39476701e-05 9.99999791e-01 -2.38298363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46037174299997 meters 0.02849154932873485 Centerline is valid? [True, True] Translation: X:170.69, Y:-9.72, Z:-2.38 [[ 9.99855393e-01 1.69712909e-02 1.08122112e-03 1.70685392e+02] [-1.69712295e-02 9.99855976e-01 -6.60048853e-05 -9.72168186e+00] [-1.08218559e-03 4.76456887e-05 9.99999413e-01 -2.38274434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52037174299997 meters 0.026249341007846757 Centerline is valid? [True, True] Translation: X:170.75, Y:-9.72, Z:-2.38 [[ 9.99715625e-01 2.35261655e-02 3.89732480e-03 1.70745735e+02] [-2.35254134e-02 9.99723211e-01 -2.38705434e-04 -9.72103866e+00] [-3.90186189e-03 1.46951375e-04 9.99992377e-01 -2.38206178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58037174299997 meters 0.025170618725492703 Centerline is valid? [True, True] Translation: X:170.81, Y:-9.72, Z:-2.38 [[ 9.99624950e-01 2.67262227e-02 5.97230804e-03 1.70805305e+02] [-2.67245124e-02 9.99642769e-01 -3.66019092e-04 -9.72153136e+00] [-5.97995686e-03 2.06274796e-04 9.99982099e-01 -2.38071731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64037174299997 meters 0.02472480752145511 Centerline is valid? [True, True] Translation: X:170.86, Y:-9.73, Z:-2.38 [[ 9.99602193e-01 2.74343055e-02 6.54327260e-03 1.70864326e+02] [-2.74322677e-02 9.99623584e-01 -4.01001732e-04 -9.72616602e+00] [-6.55181081e-03 2.21345406e-04 9.99978512e-01 -2.38183887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70037174299998 meters 0.026613737374824274 Centerline is valid? [True, True] Translation: X:170.92, Y:-9.74, Z:-2.39 [[ 9.99695081e-01 2.39853820e-02 5.86909858e-03 1.70923380e+02] [-2.39836868e-02 9.99712286e-01 -3.59062421e-04 -9.73749637e+00] [-5.87602221e-03 2.18190314e-04 9.99982712e-01 -2.38528612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76037174299998 meters 0.02759981141024395 Centerline is valid? [True, True] Translation: X:170.98, Y:-9.75, Z:-2.39 [[ 9.99842581e-01 1.69527996e-02 5.23596569e-03 1.70983027e+02] [-1.69513562e-02 9.99856264e-01 -3.19921944e-04 -9.75019900e+00] [-5.24063666e-03 2.31114863e-04 9.99986241e-01 -2.38746441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82037174299998 meters 0.02687528358843455 Centerline is valid? [True, True] Translation: X:171.04, Y:-9.75, Z:-2.39 [[ 9.99874563e-01 1.51992017e-02 4.45444031e-03 1.71041975e+02] [-1.51981376e-02 9.99884464e-01 -2.72634472e-04 -9.75427845e+00] [-4.45806949e-03 2.04901077e-04 9.99990042e-01 -2.38780618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88037174299998 meters 0.028602834634053997 Centerline is valid? [True, True] Translation: X:171.10, Y:-9.76, Z:-2.39 [[ 9.99928344e-01 1.11469757e-02 4.36475199e-03 1.71101800e+02] [-1.11459181e-02 9.99937847e-01 -2.66563936e-04 -9.76451411e+00] [-4.36745209e-03 2.17895667e-04 9.99990439e-01 -2.38861144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.940371743 meters 0.030610116292045634 Centerline is valid? [True, True] Translation: X:171.16, Y:-9.77, Z:-2.39 [[ 9.99948298e-01 7.76489782e-03 6.56567505e-03 1.71161106e+02] [-7.76243269e-03 9.99969792e-01 -4.00857069e-04 -9.77466622e+00] [-6.56858932e-03 3.49870733e-04 9.99978365e-01 -2.38765409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.000371743 meters 0.03142533222213742 Centerline is valid? [True, True] Translation: X:171.22, Y:-9.78, Z:-2.39 [[ 9.99954588e-01 5.20149553e-03 7.98534874e-03 1.71221688e+02] [-5.19777328e-03 9.99986373e-01 -4.86817383e-04 -9.78316481e+00] [-7.98777210e-03 4.45289244e-04 9.99967998e-01 -2.38747644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.060371743 meters 0.03345180759954005 Centerline is valid? [True, True] Translation: X:171.28, Y:-9.79, Z:-2.39 [[ 9.99950985e-01 6.11511082e-03 7.78674521e-03 1.71283625e+02] [-6.11160923e-03 9.99981212e-01 -4.73402949e-04 -9.79168842e+00] [-7.78949383e-03 4.25790202e-04 9.99969571e-01 -2.38880941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.120371743 meters 0.028257662295339193 Centerline is valid? [True, True] Translation: X:171.34, Y:-9.79, Z:-2.39 [[ 9.99918175e-01 1.09738569e-02 6.57395593e-03 1.71344502e+02] [-1.09714474e-02 9.99939731e-01 -4.02482374e-04 -9.79026182e+00] [-6.57797651e-03 3.30323630e-04 9.99978310e-01 -2.38978419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.180371743 meters 0.02528893028770805 Centerline is valid? [True, True] Translation: X:171.40, Y:-9.79, Z:-2.39 [[ 9.99731904e-01 2.26914802e-02 4.60628288e-03 1.71404849e+02] [-2.26904205e-02 9.99742499e-01 -2.82200894e-04 -9.78913625e+00] [-4.61150032e-03 1.77606742e-04 9.99989351e-01 -2.39044918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24037174299997 meters 0.022305020183197136 Centerline is valid? [True, True] Translation: X:171.47, Y:-9.79, Z:-2.39 [[ 9.99452696e-01 3.28398251e-02 3.98168267e-03 1.71466076e+02] [-3.28391134e-02 9.99460621e-01 -2.44000669e-04 -9.78623825e+00] [-3.98754797e-03 1.13112198e-04 9.99992043e-01 -2.39113153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30037174299997 meters 0.020156423534459074 Centerline is valid? [True, True] Translation: X:171.53, Y:-9.78, Z:-2.39 [[ 9.98704850e-01 5.07967473e-02 2.88332837e-03 1.71527009e+02] [-5.07964491e-02 9.98709011e-01 -1.76619107e-04 -9.78125380e+00] [-2.88857770e-03 2.99275157e-05 9.99995828e-01 -2.39122301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36037174299997 meters 0.019821157035465678 Centerline is valid? [True, True] Translation: X:171.59, Y:-9.78, Z:-2.39 [[ 9.97776381e-01 6.66219972e-02 1.95030016e-03 1.71586136e+02] [-6.66218849e-02 9.97778287e-01 -1.22573030e-04 -9.77986503e+00] [-1.95413321e-03 -7.63219828e-06 9.99998091e-01 -2.39117841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42037174299998 meters 0.021152158533902593 Centerline is valid? [True, True] Translation: X:171.65, Y:-9.79, Z:-2.39 [[ 9.97019754e-01 7.71092149e-02 2.40399333e-03 1.71645465e+02] [-7.71090844e-02 9.97022651e-01 -1.47058612e-04 -9.78619545e+00] [-2.40817538e-03 -3.87493830e-05 9.99997100e-01 -2.39215321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48037174299998 meters 0.021758887605363677 Centerline is valid? [True, True] Translation: X:171.70, Y:-9.80, Z:-2.39 [[ 9.96881200e-01 7.88602255e-02 2.98966584e-03 1.71703616e+02] [-7.88600251e-02 9.96885682e-01 -1.85032866e-04 -9.80090903e+00] [-2.99494680e-03 -5.13093372e-05 9.99995514e-01 -2.39241076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54037174299998 meters 0.021440223111323927 Centerline is valid? [True, True] Translation: X:171.76, Y:-9.82, Z:-2.39 [[ 9.97156312e-01 7.53038061e-02 2.93693418e-03 1.71761897e+02] [-7.53035994e-02 9.97160637e-01 -1.81055028e-04 -9.81617580e+00] [-2.94222929e-03 -4.06215505e-05 9.99995671e-01 -2.39363943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60037174299998 meters 0.01948375834161174 Centerline is valid? [True, True] Translation: X:171.82, Y:-9.84, Z:-2.40 [[ 9.97747053e-01 6.70620646e-02 1.87041279e-03 1.71818889e+02] [-6.70619688e-02 9.97748806e-01 -1.13951138e-04 -9.84200438e+00] [-1.87384392e-03 -1.17391515e-05 9.99998244e-01 -2.39709371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66037174299998 meters 0.02090078025024855 Centerline is valid? [True, True] Translation: X:171.88, Y:-9.87, Z:-2.40 [[ 9.98032570e-01 6.25804940e-02 3.83017251e-03 1.71876694e+02] [-6.25800577e-02 9.98039920e-01 -2.33754113e-04 -9.86673473e+00] [-3.83729352e-03 -6.39819843e-06 9.99992638e-01 -2.39712088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.720371743 meters 0.02105828291902717 Centerline is valid? [True, True] Translation: X:171.93, Y:-9.89, Z:-2.40 [[ 9.98132171e-01 6.08186278e-02 5.76750321e-03 1.71934024e+02] [-6.08176351e-02 9.98148834e-01 -3.47514006e-04 -9.88817709e+00] [-5.77796192e-03 -3.90099614e-06 9.99983307e-01 -2.39741964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.780371743 meters 0.020880757839019243 Centerline is valid? [True, True] Translation: X:171.99, Y:-9.91, Z:-2.40 [[ 9.98442262e-01 5.54308816e-02 6.36138779e-03 1.71991757e+02] [-5.54295682e-02 9.98462526e-01 -3.82722543e-04 -9.91078349e+00] [-6.37282198e-03 2.95173827e-05 9.99979693e-01 -2.39941166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.840371743 meters 0.02276020918302077 Centerline is valid? [True, True] Translation: X:172.05, Y:-9.93, Z:-2.40 [[ 9.98703916e-01 5.05027105e-02 6.32171036e-03 1.72049157e+02] [-5.05013167e-02 9.98723922e-01 -3.80013748e-04 -9.92848721e+00] [-6.33283509e-03 6.02665213e-05 9.99979946e-01 -2.40068336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.900371743 meters 0.024428092877604477 Centerline is valid? [True, True] Translation: X:172.11, Y:-9.95, Z:-2.40 [[ 9.99149568e-01 4.08060239e-02 5.91693978e-03 1.72106766e+02] [-4.08046372e-02 9.99167081e-01 -3.54934590e-04 -9.95224649e+00] [-5.92649491e-03 1.13194161e-04 9.99982432e-01 -2.40194891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96037174299997 meters 0.024715347089353024 Centerline is valid? [True, True] Translation: X:172.17, Y:-9.97, Z:-2.40 [[ 9.99466746e-01 3.17346300e-02 7.69001547e-03 1.72165659e+02] [-3.17320259e-02 9.99496306e-01 -4.60437681e-04 -9.97240641e+00] [-7.70075387e-03 2.16172380e-04 9.99970325e-01 -2.40111530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02037174299997 meters 0.02544117649253463 Centerline is valid? [True, True] Translation: X:172.22, Y:-9.99, Z:-2.40 [[ 9.99590121e-01 2.75471693e-02 7.79383248e-03 1.72224702e+02] [-2.75443675e-02 9.99620473e-01 -4.66622531e-04 -9.98575219e+00] [-7.80372864e-03 2.51755086e-04 9.99969519e-01 -2.40257193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08037174299997 meters 0.029634537201181078 Centerline is valid? [True, True] Translation: X:172.28, Y:-10.01, Z:-2.40 [[ 9.99732526e-01 2.20930789e-02 6.83898745e-03 1.72282503e+02] [-2.20907954e-02 9.99755885e-01 -4.09262354e-04 -1.00054048e+01] [-6.84635981e-03 2.58074214e-04 9.99976530e-01 -2.40420955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14037174299997 meters 0.027769465613568377 Centerline is valid? [True, True] Translation: X:172.34, Y:-10.01, Z:-2.40 [[ 9.99819883e-01 1.73382180e-02 7.71934055e-03 1.72342385e+02] [-1.73351708e-02 9.99849628e-01 -4.61488591e-04 -1.00132620e+01] [-7.72618117e-03 3.27589383e-04 9.99970099e-01 -2.40438353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20037174299998 meters 0.030293510843941572 Centerline is valid? [True, True] Translation: X:172.40, Y:-10.03, Z:-2.40 [[ 9.99889901e-01 1.21650840e-02 8.49681953e-03 1.72402545e+02] [-1.21612102e-02 9.99925921e-01 -5.07437414e-04 -1.00261396e+01] [-8.50236312e-03 4.04049937e-04 9.99963773e-01 -2.40385116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26037174299998 meters 0.03183281381199107 Centerline is valid? [True, True] Translation: X:172.46, Y:-10.03, Z:-2.40 [[ 9.99914079e-01 9.86425528e-03 8.63308209e-03 1.72464023e+02] [-9.86017623e-03 9.99951255e-01 -5.14926414e-04 -1.00320114e+01] [-8.63774064e-03 4.29758460e-04 9.99962602e-01 -2.40300818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32037174299998 meters 0.03345580753094723 Centerline is valid? [True, True] Translation: X:172.53, Y:-10.04, Z:-2.40 [[ 9.99912071e-01 1.10719946e-02 7.29806308e-03 1.72526223e+02] [-1.10691035e-02 9.99938640e-01 -4.36417726e-04 -1.00367148e+01] [-7.30244729e-03 3.55596336e-04 9.99973274e-01 -2.40467307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38037174299998 meters 0.03058607022055005 Centerline is valid? [True, True] Translation: X:172.59, Y:-10.03, Z:-2.40 [[ 9.99842493e-01 1.50687333e-02 9.37672407e-03 1.72587389e+02] [-1.50640942e-02 9.99886370e-01 -5.65184851e-04 -1.00331785e+01] [-9.38417522e-03 4.23843976e-04 9.99955878e-01 -2.40383106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.440371743 meters 0.02858751959368068 Centerline is valid? [True, True] Translation: X:172.65, Y:-10.03, Z:-2.41 [[ 9.99777764e-01 1.90513484e-02 9.02598575e-03 1.72648738e+02] [-1.90472104e-02 9.99818437e-01 -5.44197744e-04 -1.00296818e+01] [-9.03471467e-03 3.72156954e-04 9.99959117e-01 -2.40512380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.500371743 meters 0.027296369138061903 Centerline is valid? [True, True] Translation: X:172.71, Y:-10.02, Z:-2.41 [[ 9.99578070e-01 2.80574466e-02 7.51415993e-03 1.72709675e+02] [-2.80548312e-02 9.99606283e-01 -4.53261477e-04 -1.00231452e+01] [-7.52391884e-03 2.42261744e-04 9.99971666e-01 -2.40548166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.560371743 meters 0.025883289294103894 Centerline is valid? [True, True] Translation: X:172.77, Y:-10.02, Z:-2.41 [[ 9.99298385e-01 3.67902726e-02 7.01524355e-03 1.72768986e+02] [-3.67882066e-02 9.99322995e-01 -4.23353020e-04 -1.00188073e+01] [-7.02606947e-03 1.64977760e-04 9.99975303e-01 -2.40589895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.620371743 meters 0.02466056379706208 Centerline is valid? [True, True] Translation: X:172.83, Y:-10.02, Z:-2.40 [[ 9.98978629e-01 4.42932977e-02 8.93318686e-03 1.72828984e+02] [-4.42902499e-02 9.99018560e-01 -5.38817052e-04 -1.00156661e+01] [-8.94828546e-03 1.42613642e-04 9.99959953e-01 -2.40389179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.680371743 meters 0.024809095492959298 Centerline is valid? [True, True] Translation: X:172.89, Y:-10.02, Z:-2.40 [[ 9.98813859e-01 4.75212084e-02 1.06117355e-02 1.72886603e+02] [-4.75170929e-02 9.98870220e-01 -6.39756912e-04 -1.00161618e+01] [-1.06301486e-02 1.34759249e-04 9.99943489e-01 -2.40354166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74037174299997 meters 0.022356258208627394 Centerline is valid? [True, True] Translation: X:172.95, Y:-10.02, Z:-2.40 [[ 9.98778030e-01 4.81343446e-02 1.12040907e-02 1.72945401e+02] [-4.81298081e-02 9.98840862e-01 -6.74341361e-04 -1.00176050e+01] [-1.12235626e-02 1.34266602e-04 9.99937005e-01 -2.40406874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80037174299997 meters 0.022365764726759146 Centerline is valid? [True, True] Translation: X:173.00, Y:-10.02, Z:-2.41 [[ 9.98689026e-01 5.00816552e-02 1.05856917e-02 1.73002621e+02] [-5.00777221e-02 9.98745121e-01 -6.36448190e-04 -1.00238592e+01] [-1.06042823e-02 1.05506496e-04 9.99943767e-01 -2.40616977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86037174299997 meters 0.024699986760757207 Centerline is valid? [True, True] Translation: X:173.06, Y:-10.03, Z:-2.41 [[ 9.98697538e-01 4.96928522e-02 1.15692680e-02 1.73060743e+02] [-4.96881424e-02 9.98764540e-01 -6.94359199e-04 -1.00322848e+01] [-1.15894793e-02 1.18599388e-04 9.99932833e-01 -2.40621107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92037174299998 meters 0.023381187499164728 Centerline is valid? [True, True] Translation: X:173.12, Y:-10.04, Z:-2.40 [[ 9.98747356e-01 4.80881343e-02 1.38293559e-02 1.73118437e+02] [-4.80812673e-02 9.98843083e-01 -8.28798878e-04 -1.00411754e+01] [-1.38532119e-02 1.62827730e-04 9.99904026e-01 -2.40415443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98037174299998 meters 0.024909799723575852 Centerline is valid? [True, True] Translation: X:173.18, Y:-10.05, Z:-2.41 [[ 9.98994707e-01 4.27229394e-02 1.35766588e-02 1.73177649e+02] [-4.27158422e-02 9.99086932e-01 -8.12434515e-04 -1.00520006e+01] [-1.35989720e-02 2.31679365e-04 9.99907503e-01 -2.40531672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04037174299998 meters 0.026509670686467472 Centerline is valid? [True, True] Translation: X:173.24, Y:-10.07, Z:-2.41 [[ 9.99273939e-01 3.60517998e-02 1.23232888e-02 1.73236282e+02] [-3.60454509e-02 9.99349880e-01 -7.36989972e-04 -1.00662432e+01] [-1.23418470e-02 2.92256372e-04 9.99923794e-01 -2.40705997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10037174299998 meters 0.030192703678447896 Centerline is valid? [True, True] Translation: X:173.30, Y:-10.08, Z:-2.41 [[ 9.99677131e-01 2.34302708e-02 9.83136544e-03 1.73295792e+02] [-2.34256221e-02 9.99725410e-01 -5.87744254e-04 -1.00831336e+01] [-9.84243685e-03 3.57248638e-04 9.99951498e-01 -2.40908248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16037174299998 meters 0.030735076293510025 Centerline is valid? [True, True] Translation: X:173.36, Y:-10.10, Z:-2.41 [[ 9.99931938e-01 7.12003348e-03 9.24249454e-03 1.73355131e+02] [-7.11522895e-03 9.99974534e-01 -5.52608463e-04 -1.00997807e+01] [-9.24619376e-03 4.86808387e-04 9.99957135e-01 -2.41072974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.220371743 meters 0.034102070166691145 Centerline is valid? [True, True] Translation: X:173.41, Y:-10.11, Z:-2.41 [[ 9.99923875e-01 -5.52411334e-03 1.10330860e-02 1.73414919e+02] [ 5.53172587e-03 9.99984482e-01 -6.59574948e-04 -1.01133211e+01] [-1.10292713e-02 7.20556746e-04 9.99938916e-01 -2.40838378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.280371743 meters 0.03767549882304829 Centerline is valid? [True, True] Translation: X:173.48, Y:-10.12, Z:-2.41 [[ 9.99857881e-01 -1.23998674e-02 1.14219559e-02 1.73475004e+02] [ 1.24084720e-02 9.99922779e-01 -6.82782974e-04 -1.01227019e+01] [-1.14126075e-02 8.24414957e-04 9.99934534e-01 -2.40804143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.340371743 meters 0.04110619223955559 Centerline is valid? [True, True] Translation: X:173.54, Y:-10.13, Z:-2.41 [[ 9.99756311e-01 -1.78922009e-02 1.29300944e-02 1.73535366e+02] [ 1.79036835e-02 9.99839418e-01 -7.72834223e-04 -1.01301691e+01] [-1.29141903e-02 1.00414221e-03 9.99916104e-01 -2.40738182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.400371743 meters 0.04378323124487212 Centerline is valid? [True, True] Translation: X:173.60, Y:-10.13, Z:-2.41 [[ 9.99741065e-01 -1.94086211e-02 1.18788707e-02 1.73595675e+02] [ 1.94184242e-02 9.99811192e-01 -7.10461045e-04 -1.01319813e+01] [-1.18628388e-02 9.40946032e-04 9.99929191e-01 -2.40978107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46037174299997 meters 0.04542239547862986 Centerline is valid? [True, True] Translation: X:173.66, Y:-10.13, Z:-2.41 [[ 9.99743752e-01 -2.03851393e-02 9.84261033e-03 1.73657408e+02] [ 2.03919163e-02 9.99791890e-01 -5.88659768e-04 -1.01327929e+01] [-9.82856208e-03 7.89218611e-04 9.99951387e-01 -2.41266719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52037174299997 meters 0.04798156713736967 Centerline is valid? [True, True] Translation: X:173.72, Y:-10.13, Z:-2.42 [[ 9.99701185e-01 -2.30429770e-02 8.15859069e-03 1.73718486e+02] [ 2.30477256e-02 9.99734247e-01 -4.88485003e-04 -1.01333319e+01] [-8.14516637e-03 6.76375996e-04 9.99966599e-01 -2.41619174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58037174299997 meters 0.042653571428997 Centerline is valid? [True, True] Translation: X:173.78, Y:-10.12, Z:-2.42 [[ 9.99651942e-01 -2.52531439e-02 7.63366066e-03 1.73780235e+02] [ 2.52573655e-02 9.99680877e-01 -4.57115586e-04 -1.01173344e+01] [-7.61968099e-03 6.49762641e-04 9.99970759e-01 -2.41537209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64037174299997 meters 0.043804559411471225 Centerline is valid? [True, True] Translation: X:173.84, Y:-10.11, Z:-2.42 [[ 9.99597630e-01 -2.70873687e-02 8.41734759e-03 1.73840201e+02] [ 2.70925645e-02 9.99632802e-01 -5.03844899e-04 -1.01134741e+01] [-8.40060893e-03 7.31689700e-04 9.99964447e-01 -2.41621407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70037174299998 meters 0.04173520965892954 Centerline is valid? [True, True] Translation: X:173.90, Y:-10.10, Z:-2.42 [[ 9.99690416e-01 -2.36081695e-02 7.85667235e-03 1.73901882e+02] [ 2.36125984e-02 9.99721073e-01 -4.71421238e-04 -1.01013976e+01] [-7.84335151e-03 6.56791742e-04 9.99969025e-01 -2.41660392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76037174299998 meters 0.04420996468183584 Centerline is valid? [True, True] Translation: X:173.96, Y:-10.10, Z:-2.42 [[ 9.99816481e-01 -1.76094151e-02 7.54405652e-03 1.73961680e+02] [ 1.76133301e-02 9.99844771e-01 -4.52826551e-04 -1.00980880e+01] [-7.53491145e-03 5.85619407e-04 9.99971441e-01 -2.41612700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82037174299998 meters 0.0384056927017041 Centerline is valid? [True, True] Translation: X:174.02, Y:-10.08, Z:-2.41 [[ 9.99909240e-01 -8.07937421e-03 1.07812714e-02 1.74023119e+02] [ 8.08681451e-03 9.99967092e-01 -6.46696425e-04 -1.00799921e+01] [-1.07756917e-02 7.33823873e-04 9.99941671e-01 -2.41199005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88037174299998 meters 0.031534192558604325 Centerline is valid? [True, True] Translation: X:174.09, Y:-10.06, Z:-2.41 [[ 9.99925381e-01 4.41737452e-03 1.13894142e-02 1.74085228e+02] [-4.40987750e-03 9.99990043e-01 -6.83273868e-04 -1.00590066e+01] [-1.13923191e-02 6.32996962e-04 9.99934905e-01 -2.40998125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.940371743 meters 0.03244158370636013 Centerline is valid? [True, True] Translation: X:174.14, Y:-10.06, Z:-2.41 [[ 9.99859975e-01 1.21740669e-02 1.14814405e-02 1.74144609e+02] [-1.21669550e-02 9.99925742e-01 -6.89070229e-04 -1.00585670e+01] [-1.14889767e-02 5.49279572e-04 9.99933849e-01 -2.41150980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.000371743 meters 0.025466418105370914 Centerline is valid? [True, True] Translation: X:174.21, Y:-10.04, Z:-2.41 [[ 9.99577961e-01 2.74531223e-02 9.49872229e-03 1.74206221e+02] [-2.74489457e-02 9.99623044e-01 -5.69816098e-04 -1.00375565e+01] [-9.51078492e-03 3.08845702e-04 9.99954724e-01 -2.41457561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.060371743 meters 0.02439384619665617 Centerline is valid? [True, True] Translation: X:174.27, Y:-10.03, Z:-2.42 [[ 9.99408916e-01 3.32230803e-02 8.83437101e-03 1.74266156e+02] [-3.32196903e-02 9.99447933e-01 -5.30227692e-04 -1.00338283e+01] [-8.84710965e-03 2.36439213e-04 9.99960836e-01 -2.41630384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.120371743 meters 0.024475541699749956 Centerline is valid? [True, True] Translation: X:174.32, Y:-10.03, Z:-2.42 [[ 9.99329196e-01 3.54342757e-02 9.25045058e-03 1.74323770e+02] [-3.54306546e-02 9.99371983e-01 -5.55091498e-04 -1.00347957e+01] [-9.26431041e-03 2.26969620e-04 9.99957060e-01 -2.41770386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.180371743 meters 0.025720907654110302 Centerline is valid? [True, True] Translation: X:174.38, Y:-10.04, Z:-2.42 [[ 9.99412871e-01 3.26897336e-02 1.02612699e-02 1.74382292e+02] [-3.26851450e-02 9.99465509e-01 -6.14611173e-04 -1.00398333e+01] [-1.02758769e-02 2.78859222e-04 9.99947163e-01 -2.41825111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24037174299997 meters 0.02627037454202521 Centerline is valid? [True, True] Translation: X:174.44, Y:-10.05, Z:-2.42 [[ 9.99603145e-01 2.57203581e-02 1.14898067e-02 1.74442198e+02] [-2.57141577e-02 9.99669100e-01 -6.87074147e-04 -1.00510196e+01] [-1.15036765e-02 3.91350776e-04 9.99933754e-01 -2.41958848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30037174299997 meters 0.027688705873750948 Centerline is valid? [True, True] Translation: X:174.50, Y:-10.06, Z:-2.42 [[ 9.99700606e-01 2.20640133e-02 1.05772066e-02 1.74501825e+02] [-2.20585537e-02 9.99756480e-01 -6.32565901e-04 -1.00583078e+01] [-1.05885878e-02 3.99058634e-04 9.99943860e-01 -2.42114547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36037174299997 meters 0.028864664264858293 Centerline is valid? [True, True] Translation: X:174.56, Y:-10.07, Z:-2.42 [[ 9.99841170e-01 1.35942706e-02 1.15252504e-02 1.74561643e+02] [-1.35872300e-02 9.99907452e-01 -6.88975399e-04 -1.00709634e+01] [-1.15335499e-02 5.32269741e-04 9.99933345e-01 -2.42230165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42037174299998 meters 0.0336358528329937 Centerline is valid? [True, True] Translation: X:174.62, Y:-10.09, Z:-2.42 [[ 9.99892995e-01 7.79048963e-03 1.23816851e-02 1.74620917e+02] [-7.78191910e-03 9.99969446e-01 -7.40222568e-04 -1.00854962e+01] [-1.23870735e-02 6.43790088e-04 9.99923070e-01 -2.42277414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48037174299998 meters 0.032268244338568154 Centerline is valid? [True, True] Translation: X:174.68, Y:-10.09, Z:-2.42 [[ 9.99916421e-01 5.74219396e-03 1.15835602e-02 1.74683126e+02] [-5.73456018e-03 9.99983318e-01 -6.92125153e-04 -1.00893135e+01] [-1.15873413e-02 6.25640682e-04 9.99932669e-01 -2.42367145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54037174299998 meters 0.033002293416164355 Centerline is valid? [True, True] Translation: X:174.74, Y:-10.10, Z:-2.42 [[ 9.99878381e-01 9.99043266e-03 1.19756114e-02 1.74742446e+02] [-9.98256424e-03 9.99949916e-01 -7.16634485e-04 -1.00962435e+01] [-1.19821711e-02 5.97000018e-04 9.99928033e-01 -2.42444022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60037174299998 meters 0.03207595512769685 Centerline is valid? [True, True] Translation: X:174.80, Y:-10.10, Z:-2.42 [[ 9.99838720e-01 1.39245170e-02 1.13419993e-02 1.74803805e+02] [-1.39177123e-02 9.99902914e-01 -6.78670689e-04 -1.00965978e+01] [-1.13503483e-02 5.20706550e-04 9.99935447e-01 -2.42495767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66037174299998 meters 0.02742674833722013 Centerline is valid? [True, True] Translation: X:174.87, Y:-10.09, Z:-2.43 [[ 9.99742076e-01 1.90450827e-02 1.23719727e-02 1.74865300e+02] [-1.90373742e-02 9.99818499e-01 -7.40543176e-04 -1.00930550e+01] [-1.23838309e-02 5.04822299e-04 9.99923190e-01 -2.42500495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.720371743 meters 0.02740985204802182 Centerline is valid? [True, True] Translation: X:174.93, Y:-10.09, Z:-2.43 [[ 9.99523504e-01 2.86018550e-02 1.16059713e-02 1.74925797e+02] [-2.85957119e-02 9.99590817e-01 -6.94937730e-04 -1.00944455e+01] [-1.16210988e-02 3.62725584e-04 9.99932407e-01 -2.42587910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.780371743 meters 0.025523507882194263 Centerline is valid? [True, True] Translation: X:174.98, Y:-10.10, Z:-2.43 [[ 9.99531963e-01 2.84133523e-02 1.13374057e-02 1.74984481e+02] [-2.84074759e-02 9.99596196e-01 -6.79049222e-04 -1.00989355e+01] [-1.13521217e-02 3.56664323e-04 9.99935499e-01 -2.42744926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.840371743 meters 0.026154058334873522 Centerline is valid? [True, True] Translation: X:175.04, Y:-10.11, Z:-2.43 [[ 9.99537236e-01 2.82778364e-02 1.12106173e-02 1.75043168e+02] [-2.82720914e-02 9.99600040e-01 -6.70636388e-04 -1.01072380e+01] [-1.12250977e-02 3.53378444e-04 9.99936934e-01 -2.42893965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.900371743 meters 0.02689269810090495 Centerline is valid? [True, True] Translation: X:175.10, Y:-10.12, Z:-2.43 [[ 9.99581867e-01 2.68388187e-02 1.07595567e-02 1.75102462e+02] [-2.68334528e-02 9.99639711e-01 -6.42793762e-04 -1.01153534e+01] [-1.07729320e-02 3.53808933e-04 9.99941908e-01 -2.42942787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96037174299997 meters 0.029960357399650504 Centerline is valid? [True, True] Translation: X:175.16, Y:-10.13, Z:-2.43 [[ 9.99680171e-01 2.32004638e-02 1.00644997e-02 1.75161516e+02] [-2.31955887e-02 9.99730766e-01 -6.00856859e-04 -1.01291332e+01] [-1.00757302e-02 3.67212691e-04 9.99949171e-01 -2.43097872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02037174299997 meters 0.030922507543606217 Centerline is valid? [True, True] Translation: X:175.22, Y:-10.14, Z:-2.43 [[ 9.99818511e-01 1.62984607e-02 9.86429410e-03 1.75220824e+02] [-1.62934454e-02 9.99867080e-01 -5.88580822e-04 -1.01412982e+01] [-9.87257590e-03 4.27750664e-04 9.99951173e-01 -2.43289257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08037174299997 meters 0.032540323494283395 Centerline is valid? [True, True] Translation: X:175.28, Y:-10.15, Z:-2.43 [[ 9.99889644e-01 1.18883922e-02 8.90875147e-03 1.75281870e+02] [-1.18841265e-02 9.99929240e-01 -5.31606926e-04 -1.01503040e+01] [-8.91444104e-03 4.25675531e-04 9.99960175e-01 -2.43484640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14037174299997 meters 0.03565669536258697 Centerline is valid? [True, True] Translation: X:175.34, Y:-10.16, Z:-2.44 [[ 9.99954820e-01 3.18381865e-03 8.95667280e-03 1.75341385e+02] [-3.17915408e-03 9.99994803e-01 -5.34981336e-04 -1.01638896e+01] [-8.95832954e-03 5.06482522e-04 9.99959745e-01 -2.43577671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20037174299998 meters 0.039256750667873055 Centerline is valid? [True, True] Translation: X:175.40, Y:-10.17, Z:-2.44 [[ 9.99974992e-01 -1.60427942e-03 6.88781557e-03 1.75401328e+02] [ 1.60715082e-03 9.99998624e-01 -4.11366365e-04 -1.01735626e+01] [-6.88714614e-03 4.22425836e-04 9.99976194e-01 -2.43700050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26037174299998 meters 0.0359908879086129 Centerline is valid? [True, True] Translation: X:175.46, Y:-10.17, Z:-2.44 [[ 9.99960650e-01 -2.27533197e-03 8.57448408e-03 1.75463628e+02] [ 2.27980353e-03 9.99997270e-01 -5.11757534e-04 -1.01725104e+01] [-8.57329625e-03 5.31285535e-04 9.99963107e-01 -2.43627489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32037174299998 meters 0.03505891367513533 Centerline is valid? [True, True] Translation: X:175.52, Y:-10.17, Z:-2.44 [[ 9.99956043e-01 1.01481057e-03 9.32106625e-03 1.75524329e+02] [-1.00965847e-03 9.99999335e-01 -5.57425578e-04 -1.01719027e+01] [-9.32162574e-03 5.47989982e-04 9.99956403e-01 -2.43558650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38037174299998 meters 0.034908035069756496 Centerline is valid? [True, True] Translation: X:175.59, Y:-10.17, Z:-2.44 [[ 9.99941665e-01 4.45908962e-03 9.83788112e-03 1.75585193e+02] [-4.45351722e-03 9.99989910e-01 -5.88257576e-04 -1.01718020e+01] [-9.84040495e-03 5.44410086e-04 9.99951434e-01 -2.43544642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.440371743 meters 0.03314886406219587 Centerline is valid? [True, True] Translation: X:175.65, Y:-10.17, Z:-2.44 [[ 9.99919052e-01 7.11715957e-03 1.05468100e-02 1.75647554e+02] [-7.11090172e-03 9.99974518e-01 -6.30721632e-04 -1.01653678e+01] [-1.05510302e-02 5.55673247e-04 9.99944182e-01 -2.43560558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.500371743 meters 0.03135430712751315 Centerline is valid? [True, True] Translation: X:175.71, Y:-10.16, Z:-2.44 [[ 9.99921709e-01 7.02208770e-03 1.03568999e-02 1.75709565e+02] [-7.01604991e-03 9.99975196e-01 -6.19192001e-04 -1.01649037e+01] [-1.03609911e-02 5.46478997e-04 9.99946174e-01 -2.43728899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.560371743 meters 0.03266968872075959 Centerline is valid? [True, True] Translation: X:175.77, Y:-10.16, Z:-2.44 [[ 9.99914489e-01 1.03173679e-02 8.03534073e-03 1.75769856e+02] [-1.03138180e-02 9.99946694e-01 -4.83105858e-04 -1.01634771e+01] [-8.03989679e-03 4.00189505e-04 9.99967599e-01 -2.43812988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.620371743 meters 0.030845071300347127 Centerline is valid? [True, True] Translation: X:175.83, Y:-10.16, Z:-2.44 [[ 9.99881471e-01 1.20777215e-02 9.54840468e-03 1.75831334e+02] [-1.20727874e-02 9.99926956e-01 -5.74220695e-04 -1.01623896e+01] [-9.55464250e-03 4.58876774e-04 9.99954248e-01 -2.43785303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.680371743 meters 0.031140136465770147 Centerline is valid? [True, True] Translation: X:175.89, Y:-10.16, Z:-2.44 [[ 9.99835638e-01 1.43673591e-02 1.10578561e-02 1.75892074e+02] [-1.43608760e-02 9.99896656e-01 -6.65478579e-04 -1.01626037e+01] [-1.10662745e-02 5.06568700e-04 9.99938639e-01 -2.43752894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74037174299997 meters 0.03294685829395728 Centerline is valid? [True, True] Translation: X:175.95, Y:-10.16, Z:-2.44 [[ 9.99857939e-01 1.41853275e-02 9.10376903e-03 1.75953225e+02] [-1.41809321e-02 9.99899296e-01 -5.47186109e-04 -1.01641615e+01] [-9.11061426e-03 4.18008445e-04 9.99958410e-01 -2.43891962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80037174299997 meters 0.03411880339502136 Centerline is valid? [True, True] Translation: X:176.01, Y:-10.16, Z:-2.44 [[ 9.99882168e-01 1.27189059e-02 8.59530514e-03 1.76013730e+02] [-1.27149082e-02 9.99919027e-01 -5.19597524e-04 -1.01646812e+01] [-8.60121786e-03 4.10247783e-04 9.99962925e-01 -2.43936151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86037174299997 meters 0.030095800634773132 Centerline is valid? [True, True] Translation: X:176.08, Y:-10.16, Z:-2.44 [[ 9.99909533e-01 1.01481481e-02 8.82836072e-03 1.76075006e+02] [-1.01438315e-02 9.99948408e-01 -5.33590788e-04 -1.01602154e+01] [-8.83332020e-03 4.43989112e-04 9.99960887e-01 -2.43877637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92037174299998 meters 0.03212280085442071 Centerline is valid? [True, True] Translation: X:176.14, Y:-10.16, Z:-2.44 [[ 9.99925714e-01 8.90835338e-03 8.31907134e-03 1.76136608e+02] [-8.90447737e-03 9.99960228e-01 -5.02843130e-04 -1.01620718e+01] [-8.32321998e-03 4.28728794e-04 9.99965269e-01 -2.43785112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98037174299998 meters 0.03125927894598702 Centerline is valid? [True, True] Translation: X:176.20, Y:-10.16, Z:-2.44 [[ 9.99913534e-01 9.48158455e-03 9.11180923e-03 1.76197895e+02] [-9.47695483e-03 9.99954941e-01 -5.51144835e-04 -1.01613112e+01] [-9.11662439e-03 4.64744975e-04 9.99958335e-01 -2.43774295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04037174299998 meters 0.028403447042376153 Centerline is valid? [True, True] Translation: X:176.26, Y:-10.16, Z:-2.44 [[ 9.99875470e-01 1.41063566e-02 7.07497125e-03 1.76259161e+02] [-1.41036791e-02 9.99900446e-01 -4.28207130e-04 -1.01560075e+01] [-7.08030735e-03 3.28370682e-04 9.99974880e-01 -2.43846502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10037174299998 meters 0.028281603644891736 Centerline is valid? [True, True] Translation: X:176.32, Y:-10.16, Z:-2.44 [[ 9.99834687e-01 1.71497573e-02 6.04017343e-03 1.76318866e+02] [-1.71478590e-02 9.99852898e-01 -3.65939729e-04 -1.01558588e+01] [-6.04556068e-03 2.62303192e-04 9.99981691e-01 -2.44003287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16037174299998 meters 0.028992108418464946 Centerline is valid? [True, True] Translation: X:176.38, Y:-10.16, Z:-2.44 [[ 9.99813003e-01 1.86225520e-02 5.21157091e-03 1.76377826e+02] [-1.86211566e-02 9.99826561e-01 -3.16149305e-04 -1.01577763e+01] [-5.21655453e-03 2.19044708e-04 9.99986370e-01 -2.44057391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.220371743 meters 0.027586794634179946 Centerline is valid? [True, True] Translation: X:176.44, Y:-10.15, Z:-2.44 [[ 9.99774017e-01 2.04869997e-02 5.67422346e-03 1.76436935e+02] [-2.04853782e-02 9.99790094e-01 -3.43738574e-04 -1.01549058e+01] [-5.68007458e-03 2.27422281e-04 9.99983842e-01 -2.43958691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.280371743 meters 0.02616840743225505 Centerline is valid? [True, True] Translation: X:176.50, Y:-10.16, Z:-2.44 [[ 9.99744897e-01 2.17907726e-02 5.94170525e-03 1.76495500e+02] [-2.17890205e-02 9.99762526e-01 -3.59452978e-04 -1.01560195e+01] [-5.94812701e-03 2.29897342e-04 9.99982283e-01 -2.44066513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.340371743 meters 0.025904606993908386 Centerline is valid? [True, True] Translation: X:176.55, Y:-10.16, Z:-2.44 [[ 9.99729194e-01 2.25202421e-02 5.86327337e-03 1.76554632e+02] [-2.25185509e-02 9.99746363e-01 -3.54296063e-04 -1.01588947e+01] [-5.86976506e-03 2.22167698e-04 9.99982748e-01 -2.44200305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.400371743 meters 0.027695158576491036 Centerline is valid? [True, True] Translation: X:176.61, Y:-10.17, Z:-2.44 [[ 9.99778651e-01 2.06654636e-02 3.94810995e-03 1.76613074e+02] [-2.06646829e-02 9.99786434e-01 -2.38423323e-04 -1.01651370e+01] [-3.95219390e-03 1.56784108e-04 9.99992178e-01 -2.44373413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46037174299997 meters 0.027095333736016605 Centerline is valid? [True, True] Translation: X:176.67, Y:-10.17, Z:-2.44 [[ 9.99840177e-01 1.77277800e-02 2.31201050e-03 1.76672646e+02] [-1.77275044e-02 9.99842846e-01 -1.39618226e-04 -1.01674813e+01] [-2.31412228e-03 9.86097355e-05 9.99997318e-01 -2.44496340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52037174299997 meters 0.02828427246378124 Centerline is valid? [True, True] Translation: X:176.73, Y:-10.18, Z:-2.45 [[ 9.99915707e-01 1.28963310e-02 1.50432590e-03 1.76731117e+02] [-1.28962087e-02 9.99916836e-01 -9.09631036e-05 -1.01755736e+01] [-1.50537388e-03 7.15553354e-05 9.99998864e-01 -2.44688652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58037174299997 meters 0.03161683492586447 Centerline is valid? [True, True] Translation: X:176.79, Y:-10.18, Z:-2.45 [[ 9.99963189e-01 8.15264673e-03 2.67500610e-03 1.76790383e+02] [-8.15224502e-03 9.99966757e-01 -1.61040651e-04 -1.01849649e+01] [-2.67623009e-03 1.39227417e-04 9.99996409e-01 -2.44659603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64037174299997 meters 0.03214729664828414 Centerline is valid? [True, True] Translation: X:176.85, Y:-10.19, Z:-2.45 [[ 9.99971906e-01 6.58743437e-03 3.57680276e-03 1.76850014e+02] [-6.58670604e-03 9.99978284e-01 -2.15368875e-04 -1.01892995e+01] [-3.57814381e-03 1.91803476e-04 9.99993580e-01 -2.44556577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70037174299998 meters 0.03154424308477915 Centerline is valid? [True, True] Translation: X:176.91, Y:-10.19, Z:-2.44 [[ 9.99975824e-01 4.59217304e-03 5.22149492e-03 1.76910697e+02] [-4.59059764e-03 9.99989414e-01 -3.13658010e-04 -1.01933786e+01] [-5.22288002e-03 2.89680645e-04 9.99986319e-01 -2.44464260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76037174299998 meters 0.03294352745710238 Centerline is valid? [True, True] Translation: X:176.97, Y:-10.20, Z:-2.45 [[ 9.99977792e-01 2.62329679e-03 6.12645748e-03 1.76971404e+02] [-2.62109290e-03 9.99996497e-01 -3.67734626e-04 -1.02012506e+01] [-6.12740070e-03 3.51668445e-04 9.99981165e-01 -2.44554687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82037174299998 meters 0.03217538655949844 Centerline is valid? [True, True] Translation: X:177.03, Y:-10.20, Z:-2.45 [[ 9.99986775e-01 1.67188634e-04 5.14030327e-03 1.77032629e+02] [-1.65604329e-04 9.99999939e-01 -3.08636471e-04 -1.02049649e+01] [-5.14035456e-03 3.07781133e-04 9.99986741e-01 -2.44681276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88037174299998 meters 0.03130682048900602 Centerline is valid? [True, True] Translation: X:177.09, Y:-10.21, Z:-2.45 [[ 9.99990482e-01 -7.63321022e-04 4.29570780e-03 1.77094675e+02] [ 7.64427075e-04 9.99999675e-01 -2.55842454e-04 -1.02089359e+01] [-4.29551112e-03 2.59123775e-04 9.99990741e-01 -2.44932572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.940371743 meters 0.032927990335763935 Centerline is valid? [True, True] Translation: X:177.16, Y:-10.21, Z:-2.45 [[ 9.99992190e-01 6.56142643e-04 3.89737193e-03 1.77155704e+02] [-6.55232334e-04 9.99999758e-01 -2.34842178e-04 -1.02144981e+01] [-3.89752507e-03 2.32286660e-04 9.99992378e-01 -2.45082680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.000371743 meters 0.03350793006605065 Centerline is valid? [True, True] Translation: X:177.22, Y:-10.22, Z:-2.45 [[ 9.99984204e-01 2.29215046e-03 5.13200620e-03 1.77217337e+02] [-2.29059071e-03 9.99997329e-01 -3.09783896e-04 -1.02179282e+01] [-5.13270256e-03 2.98023677e-04 9.99986783e-01 -2.45049996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.060371743 meters 0.033614849680396935 Centerline is valid? [True, True] Translation: X:177.28, Y:-10.22, Z:-2.45 [[ 9.99972027e-01 2.84339882e-03 6.91817759e-03 1.77279067e+02] [-2.84057294e-03 9.99995878e-01 -4.18263585e-04 -1.02212942e+01] [-6.91933836e-03 3.98600296e-04 9.99975982e-01 -2.45058924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.120371743 meters 0.03486948312355984 Centerline is valid? [True, True] Translation: X:177.34, Y:-10.23, Z:-2.45 [[ 9.99969439e-01 -1.79145426e-03 7.61001194e-03 1.77338915e+02] [ 1.79501345e-03 9.99998283e-01 -4.60893257e-04 -1.02277809e+01] [-7.60917320e-03 4.74539245e-04 9.99970937e-01 -2.45141381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.180371743 meters 0.039217668452499535 Centerline is valid? [True, True] Translation: X:177.40, Y:-10.24, Z:-2.45 [[ 9.99952826e-01 -6.61393723e-03 7.11345805e-03 1.77398139e+02] [ 6.61716986e-03 9.99978013e-01 -4.30999760e-04 -1.02373580e+01] [-7.11045104e-03 4.78050388e-04 9.99974606e-01 -2.45288125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24037174299997 meters 0.045874479201392586 Centerline is valid? [True, True] Translation: X:177.46, Y:-10.25, Z:-2.46 [[ 9.99795313e-01 -1.95449895e-02 5.22740117e-03 1.77458105e+02] [ 1.95469099e-02 9.99808891e-01 -3.16540540e-04 -1.02502760e+01] [-5.22021539e-03 4.18655288e-04 9.99986287e-01 -2.45553687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30037174299997 meters 0.04455085191664105 Centerline is valid? [True, True] Translation: X:177.52, Y:-10.25, Z:-2.46 [[ 9.99705500e-01 -2.39899844e-02 3.65986185e-03 1.77519716e+02] [ 2.39909544e-02 9.99712151e-01 -2.21356013e-04 -1.02503668e+01] [-3.65349803e-03 3.09094402e-04 9.99993278e-01 -2.45618437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36037174299997 meters 0.04159428610692895 Centerline is valid? [True, True] Translation: X:177.58, Y:-10.24, Z:-2.46 [[ 9.99656663e-01 -2.60828418e-02 2.49811680e-03 1.77580851e+02] [ 2.60833004e-02 9.99659761e-01 -1.51148291e-04 -1.02449396e+01] [-2.49332446e-03 2.16255527e-04 9.99996868e-01 -2.45728843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42037174299998 meters 0.04173898246778409 Centerline is valid? [True, True] Translation: X:177.64, Y:-10.25, Z:-2.46 [[ 9.99679308e-01 -2.46870095e-02 5.64204352e-03 1.77642138e+02] [ 2.46893281e-02 9.99695114e-01 -3.41655590e-04 -1.02452666e+01] [-5.63188888e-03 4.80844288e-04 9.99984025e-01 -2.45611622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48037174299998 meters 0.04331503467379387 Centerline is valid? [True, True] Translation: X:177.70, Y:-10.25, Z:-2.46 [[ 9.99727734e-01 -2.21990117e-02 7.18767099e-03 1.77702432e+02] [ 2.22027156e-02 9.99753394e-01 -4.35918465e-04 -1.02458153e+01] [-7.17622151e-03 5.95385594e-04 9.99974073e-01 -2.45505687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54037174299998 meters 0.039126112696594405 Centerline is valid? [True, True] Translation: X:177.76, Y:-10.24, Z:-2.45 [[ 9.99810799e-01 -1.81444366e-02 7.01043887e-03 1.77763605e+02] [ 1.81478611e-02 9.99835224e-01 -4.25167550e-04 -1.02359684e+01] [-7.00156929e-03 5.52311579e-04 9.99975336e-01 -2.45416618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60037174299998 meters 0.041721567346971834 Centerline is valid? [True, True] Translation: X:177.82, Y:-10.24, Z:-2.46 [[ 9.99868868e-01 -1.46153364e-02 6.97407913e-03 1.77823050e+02] [ 1.46186408e-02 9.99893052e-01 -4.23066017e-04 -1.02367307e+01] [-6.96715002e-03 5.24962098e-04 9.99975591e-01 -2.45584319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66037174299998 meters 0.03955506645060989 Centerline is valid? [True, True] Translation: X:177.88, Y:-10.23, Z:-2.46 [[ 9.99902201e-01 -1.25551125e-02 6.16101420e-03 1.77884815e+02] [ 1.25576495e-02 9.99921080e-01 -3.73283959e-04 -1.02336434e+01] [-6.15584135e-03 4.50615309e-04 9.99980951e-01 -2.45822391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.720371743 meters 0.03886058549214638 Centerline is valid? [True, True] Translation: X:177.94, Y:-10.23, Z:-2.46 [[ 9.99968230e-01 -7.17530051e-03 3.47186745e-03 1.77944360e+02] [ 7.17607558e-03 9.99974229e-01 -2.10837992e-04 -1.02293647e+01] [-3.47026515e-03 2.35745677e-04 9.99993951e-01 -2.46155467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.780371743 meters 0.03319695457595284 Centerline is valid? [True, True] Translation: X:178.01, Y:-10.22, Z:-2.46 [[ 9.99997897e-01 9.30163944e-04 1.82760137e-03 1.78006091e+02] [-9.29963364e-04 9.99999561e-01 -1.10597513e-04 -1.02179557e+01] [-1.82770344e-03 1.08897678e-04 9.99998324e-01 -2.46257439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.840371743 meters 0.031096514581277077 Centerline is valid? [True, True] Translation: X:178.07, Y:-10.21, Z:-2.46 [[ 9.99971300e-01 7.00087415e-03 2.89611456e-03 1.78067214e+02] [-7.00039453e-03 9.99975482e-01 -1.75713546e-04 -1.02137677e+01] [-2.89727370e-03 1.55434558e-04 9.99995791e-01 -2.46146277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.900371743 meters 0.026311175142253226 Centerline is valid? [True, True] Translation: X:178.13, Y:-10.20, Z:-2.46 [[ 9.99759625e-01 2.09447555e-02 6.48145631e-03 1.78128718e+02] [-2.09426453e-02 9.99780601e-01 -3.93280420e-04 -1.02013394e+01] [-6.48827145e-03 2.57447044e-04 9.99978918e-01 -2.45774579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96037174299997 meters 0.02343990530070979 Centerline is valid? [True, True] Translation: X:178.19, Y:-10.19, Z:-2.46 [[ 9.99469881e-01 3.14578164e-02 8.38825779e-03 1.78188914e+02] [-3.14546510e-02 9.99505050e-01 -5.09051744e-04 -1.01940673e+01] [-8.40011968e-03 2.44932165e-04 9.99964688e-01 -2.45643465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02037174299997 meters 0.021006996802974413 Centerline is valid? [True, True] Translation: X:178.25, Y:-10.19, Z:-2.46 [[ 9.98880745e-01 4.65688663e-02 8.28238713e-03 1.78248513e+02] [-4.65663014e-02 9.98915075e-01 -5.02361248e-04 -1.01869842e+01] [-8.29679576e-03 1.16118842e-04 9.99965574e-01 -2.45838164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08037174299997 meters 0.019967340627838736 Centerline is valid? [True, True] Translation: X:178.31, Y:-10.18, Z:-2.46 [[ 9.98319884e-01 5.75333059e-02 6.87949386e-03 1.78308056e+02] [-5.75317864e-02 9.98343587e-01 -4.18723827e-04 -1.01840442e+01] [-6.89218914e-03 2.22307508e-05 9.99976248e-01 -2.46059664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14037174299997 meters 0.019979722889091035 Centerline is valid? [True, True] Translation: X:178.37, Y:-10.19, Z:-2.46 [[ 9.97868198e-01 6.49518926e-02 6.34916506e-03 1.78365552e+02] [-6.49507638e-02 9.97888396e-01 -3.84050343e-04 -1.01864544e+01] [-6.36070294e-03 -2.91514963e-05 9.99979770e-01 -2.46337292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20037174299998 meters 0.020119653461818838 Centerline is valid? [True, True] Translation: X:178.42, Y:-10.19, Z:-2.46 [[ 9.97634062e-01 6.85387911e-02 5.35833118e-03 1.78424304e+02] [-6.85380327e-02 9.97648451e-01 -3.25245499e-04 -1.01920633e+01] [-5.36802274e-03 -4.27734889e-05 9.99985591e-01 -2.46461953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26037174299998 meters 0.020673174472453038 Centerline is valid? [True, True] Translation: X:178.48, Y:-10.20, Z:-2.47 [[ 9.97185862e-01 7.48589934e-02 4.06059196e-03 1.78482700e+02] [-7.48586108e-02 9.97194127e-01 -2.46337846e-04 -1.02018018e+01] [-4.06763906e-03 -5.83256558e-05 9.99991725e-01 -2.46689112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32037174299998 meters 0.022645560059549263 Centerline is valid? [True, True] Translation: X:178.54, Y:-10.21, Z:-2.47 [[ 9.96616507e-01 8.20511876e-02 4.81056489e-03 1.78541040e+02] [-8.20507524e-02 9.96628111e-01 -2.88081077e-04 -1.02120614e+01] [-4.81798159e-03 -1.07604112e-04 9.99988388e-01 -2.46782500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38037174299998 meters 0.023488167214243173 Centerline is valid? [True, True] Translation: X:178.60, Y:-10.22, Z:-2.47 [[ 9.96320938e-01 8.54994169e-02 5.86832748e-03 1.78599170e+02] [-8.54988226e-02 9.96338209e-01 -3.52523694e-04 -1.02227080e+01] [-5.87697946e-03 -1.50508353e-04 9.99982719e-01 -2.46903922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.440371743 meters 0.023371648589625354 Centerline is valid? [True, True] Translation: X:178.66, Y:-10.24, Z:-2.47 [[ 9.96195871e-01 8.68972175e-02 6.53147579e-03 1.78657350e+02] [-8.68965245e-02 9.96217266e-01 -3.90341324e-04 -1.02351884e+01] [-6.54068853e-03 -1.78706131e-04 9.99978593e-01 -2.47057485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.500371743 meters 0.02356119889502012 Centerline is valid? [True, True] Translation: X:178.71, Y:-10.25, Z:-2.47 [[ 9.96125060e-01 8.75509331e-02 8.34861834e-03 1.78714994e+02] [-8.75498494e-02 9.96160016e-01 -4.95894006e-04 -1.02494310e+01] [-8.35997577e-03 -2.36947832e-04 9.99965027e-01 -2.47112012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.560371743 meters 0.022983573584395046 Centerline is valid? [True, True] Translation: X:178.77, Y:-10.27, Z:-2.47 [[ 9.96143682e-01 8.72233690e-02 9.47884467e-03 1.78771129e+02] [-8.72219815e-02 9.96188743e-01 -5.60462521e-04 -1.02737980e+01] [-9.49160379e-03 -2.68462416e-04 9.99954918e-01 -2.47121347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.620371743 meters 0.024114748958222403 Centerline is valid? [True, True] Translation: X:178.83, Y:-10.29, Z:-2.47 [[ 9.96206854e-01 8.65427278e-02 9.06978946e-03 1.78827569e+02] [-8.65414611e-02 9.96248107e-01 -5.32775571e-04 -1.02903607e+01] [-9.08186843e-03 -2.54158156e-04 9.99958727e-01 -2.47280729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.680371743 meters 0.02397270689498064 Centerline is valid? [True, True] Translation: X:178.89, Y:-10.32, Z:-2.47 [[ 9.96297898e-01 8.53308135e-02 1.04474934e-02 1.78885369e+02] [-8.53290726e-02 9.96352635e-01 -6.13086718e-04 -1.03171643e+01] [-1.04617027e-02 -2.80657910e-04 9.99945236e-01 -2.47413137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74037174299997 meters 0.024464466187444755 Centerline is valid? [True, True] Translation: X:178.94, Y:-10.34, Z:-2.48 [[ 9.96455728e-01 8.35450105e-02 9.80881380e-03 1.78943338e+02] [-8.35434143e-02 9.96503974e-01 -5.73073843e-04 -1.03421394e+01] [-9.82239939e-03 -2.48419081e-04 9.99951728e-01 -2.47525960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80037174299997 meters 0.024008173518125175 Centerline is valid? [True, True] Translation: X:179.00, Y:-10.36, Z:-2.48 [[ 9.96701465e-01 8.05412670e-02 9.96466628e-03 1.79001466e+02] [-8.05394834e-02 9.96751250e-01 -5.80800187e-04 -1.03614052e+01] [-9.97907195e-03 -2.23664677e-04 9.99950183e-01 -2.47581191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86037174299997 meters 0.023338355840702284 Centerline is valid? [True, True] Translation: X:179.06, Y:-10.39, Z:-2.47 [[ 9.97278937e-01 7.28322764e-02 1.14097462e-02 1.79058676e+02] [-7.28294554e-02 9.97344189e-01 -6.63103266e-04 -1.03931806e+01] [-1.14277394e-02 -1.69666683e-04 9.99934687e-01 -2.47490644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92037174299998 meters 0.024420996026298457 Centerline is valid? [True, True] Translation: X:179.11, Y:-10.43, Z:-2.47 [[ 9.98055546e-01 6.12237645e-02 1.16952184e-02 1.79114948e+02] [-6.12200071e-02 9.98124065e-01 -6.79347397e-04 -1.04272936e+01] [-1.17148711e-02 -3.79549147e-05 9.99931378e-01 -2.47349083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98037174299998 meters 0.022190187451144153 Centerline is valid? [True, True] Translation: X:179.17, Y:-10.45, Z:-2.47 [[ 9.98639205e-01 5.06348591e-02 1.24839829e-02 1.79172327e+02] [-5.06297611e-02 9.98717229e-01 -7.24265259e-04 -1.04496190e+01] [-1.25046418e-02 9.12186115e-05 9.99921810e-01 -2.47335608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04037174299998 meters 0.02438691798646555 Centerline is valid? [True, True] Translation: X:179.23, Y:-10.48, Z:-2.47 [[ 9.99277529e-01 3.60612729e-02 1.20002026e-02 1.79230196e+02] [-3.60555231e-02 9.99349546e-01 -6.95211978e-04 -1.04807865e+01] [-1.20174672e-02 2.62036126e-04 9.99927753e-01 -2.47237577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10037174299998 meters 0.025146457971919844 Centerline is valid? [True, True] Translation: X:179.29, Y:-10.50, Z:-2.47 [[ 9.99567551e-01 2.70418782e-02 1.15519360e-02 1.79289796e+02] [-2.70359484e-02 9.99634238e-01 -6.69198129e-04 -1.05012346e+01] [-1.15658071e-02 3.56591191e-04 9.99933050e-01 -2.47139418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16037174299998 meters 0.026009442969833523 Centerline is valid? [True, True] Translation: X:179.35, Y:-10.52, Z:-2.47 [[ 9.99670522e-01 2.37511539e-02 9.73292582e-03 1.79349829e+02] [-2.37467921e-02 9.99717846e-01 -5.63481921e-04 -1.05163969e+01] [-9.74356298e-03 3.32170500e-04 9.99952475e-01 -2.47294983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.220371743 meters 0.02343673038164111 Centerline is valid? [True, True] Translation: X:179.41, Y:-10.52, Z:-2.47 [[ 9.99659163e-01 2.41705463e-02 9.86628218e-03 1.79411631e+02] [-2.41660770e-02 9.99707794e-01 -5.71961711e-04 -1.05241539e+01] [-9.87722382e-03 3.33337429e-04 9.99951163e-01 -2.47373917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.280371743 meters 0.022096136795831334 Centerline is valid? [True, True] Translation: X:179.47, Y:-10.54, Z:-2.48 [[ 9.99651900e-01 2.44195093e-02 9.98831698e-03 1.79473264e+02] [-2.44149148e-02 9.99701742e-01 -5.81684240e-04 -1.05350703e+01] [-9.99954233e-03 3.37617848e-04 9.99949946e-01 -2.47509160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.340371743 meters 0.025304541855088875 Centerline is valid? [True, True] Translation: X:179.54, Y:-10.54, Z:-2.48 [[ 9.99671575e-01 2.42437586e-02 8.30556851e-03 1.79535397e+02] [-2.42405632e-02 9.99706037e-01 -4.85191107e-04 -1.05427212e+01] [-8.31488983e-03 2.83700099e-04 9.99965390e-01 -2.47740134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.400371743 meters 0.025497317478200002 Centerline is valid? [True, True] Translation: X:179.60, Y:-10.55, Z:-2.48 [[ 9.99653804e-01 2.51043383e-02 7.87676058e-03 1.79597171e+02] [-2.51014764e-02 9.99684802e-01 -4.61997059e-04 -1.05484284e+01] [-7.88587597e-03 2.64118798e-04 9.99968871e-01 -2.47909284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46037174299997 meters 0.024512807945692088 Centerline is valid? [True, True] Translation: X:179.66, Y:-10.55, Z:-2.48 [[ 9.99490396e-01 3.09072328e-02 7.98072787e-03 1.79658215e+02] [-3.09044516e-02 9.99522232e-01 -4.71599138e-04 -1.05507823e+01] [-7.99149076e-03 2.24718790e-04 9.99968042e-01 -2.47966522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52037174299997 meters 0.022312195226852773 Centerline is valid? [True, True] Translation: X:179.72, Y:-10.55, Z:-2.48 [[ 9.99236790e-01 3.77926212e-02 9.87702750e-03 1.79718034e+02] [-3.77886942e-02 9.99285582e-01 -5.83974599e-04 -1.05514561e+01] [-9.89204110e-03 2.10288932e-04 9.99951050e-01 -2.47939474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58037174299997 meters 0.022372817582902063 Centerline is valid? [True, True] Translation: X:179.78, Y:-10.55, Z:-2.48 [[ 9.99061085e-01 4.19106251e-02 1.09748850e-02 1.79778925e+02] [-4.19060326e-02 9.99121346e-01 -6.48186435e-04 -1.05544854e+01] [-1.09924078e-02 1.87663955e-04 9.99939564e-01 -2.48027150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64037174299997 meters 0.018104100262674155 Centerline is valid? [True, True] Translation: X:179.84, Y:-10.56, Z:-2.48 [[ 9.99030253e-01 4.22298205e-02 1.24577937e-02 1.79840188e+02] [-4.22238830e-02 9.99107901e-01 -7.39362116e-04 -1.05571435e+01] [-1.24779032e-02 2.12628698e-04 9.99922125e-01 -2.47984366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70037174299998 meters 0.023338757678911342 Centerline is valid? [True, True] Translation: X:179.90, Y:-10.56, Z:-2.48 [[ 9.98965533e-01 4.39749689e-02 1.15786964e-02 1.79901910e+02] [-4.39699586e-02 9.99032617e-01 -6.87052229e-04 -1.05636115e+01] [-1.15977085e-02 1.77226693e-04 9.99932729e-01 -2.48230431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76037174299998 meters 0.021362720838914422 Centerline is valid? [True, True] Translation: X:179.96, Y:-10.57, Z:-2.48 [[ 9.98905191e-01 4.52120695e-02 1.20119802e-02 1.79963710e+02] [-4.52067289e-02 9.98977397e-01 -7.15894209e-04 -1.05698363e+01] [-1.20320637e-02 1.72088111e-04 9.99927597e-01 -2.48151216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82037174299998 meters 0.02120585548226436 Centerline is valid? [True, True] Translation: X:180.03, Y:-10.58, Z:-2.48 [[ 9.98836494e-01 4.64887053e-02 1.28241551e-02 1.80025627e+02] [-4.64826780e-02 9.98918801e-01 -7.67824602e-04 -1.05754997e+01] [-1.28459848e-02 1.70830161e-04 9.99917472e-01 -2.48146256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88037174299998 meters 0.019953665285666784 Centerline is valid? [True, True] Translation: X:180.09, Y:-10.58, Z:-2.48 [[ 9.98752942e-01 4.83551663e-02 1.24232824e-02 1.80087949e+02] [-4.83496133e-02 9.98830194e-01 -7.47110623e-04 -1.05824519e+01] [-1.24448763e-02 1.45518030e-04 9.99922549e-01 -2.48267279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.940371743 meters 0.020279783589425452 Centerline is valid? [True, True] Translation: X:180.15, Y:-10.59, Z:-2.49 [[ 9.98685517e-01 5.02256700e-02 1.02283669e-02 1.80150008e+02] [-5.02220033e-02 9.98737890e-01 -6.15181599e-04 -1.05894673e+01] [-1.02463555e-02 1.00683876e-04 9.99947500e-01 -2.48602318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.000371743 meters 0.020640586267377012 Centerline is valid? [True, True] Translation: X:180.21, Y:-10.60, Z:-2.49 [[ 9.98677925e-01 5.05381974e-02 9.39645152e-03 1.80211057e+02] [-5.05350873e-02 9.98722125e-01 -5.68278729e-04 -1.05972556e+01] [-9.41316381e-03 9.26769246e-05 9.99955691e-01 -2.48755925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.060371743 meters 0.020637894164673886 Centerline is valid? [True, True] Translation: X:180.27, Y:-10.61, Z:-2.49 [[ 9.98724891e-01 4.92919526e-02 1.09039072e-02 1.80271541e+02] [-4.92876850e-02 9.98784405e-01 -6.59925820e-04 -1.06059269e+01] [-1.09231816e-02 1.21655997e-04 9.99940333e-01 -2.48677546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.120371743 meters 0.021070179290450044 Centerline is valid? [True, True] Translation: X:180.33, Y:-10.62, Z:-2.49 [[ 9.98807806e-01 4.72590657e-02 1.22289485e-02 1.80333631e+02] [-4.72535440e-02 9.98882653e-01 -7.40237022e-04 -1.06159838e+01] [-1.22502674e-02 1.61493361e-04 9.99924950e-01 -2.48512796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.180371743 meters 0.019948983831291407 Centerline is valid? [True, True] Translation: X:180.40, Y:-10.63, Z:-2.49 [[ 9.98980489e-01 4.35595738e-02 1.18552054e-02 1.80395467e+02] [-4.35540891e-02 9.99050811e-01 -7.20546862e-04 -1.06269132e+01] [-1.18753393e-02 2.03469585e-04 9.99929465e-01 -2.48560592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24037174299997 meters 0.019391991933103796 Centerline is valid? [True, True] Translation: X:180.46, Y:-10.64, Z:-2.49 [[ 9.99125565e-01 4.02146827e-02 1.14404405e-02 1.80456874e+02] [-4.02093242e-02 9.99191034e-01 -6.98103773e-04 -1.06366942e+01] [-1.14592596e-02 2.37480946e-04 9.99934312e-01 -2.48673265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30037174299997 meters 0.02081109255516839 Centerline is valid? [True, True] Translation: X:180.52, Y:-10.65, Z:-2.49 [[ 9.99385963e-01 3.30171120e-02 1.17289116e-02 1.80516422e+02] [-3.30109429e-02 9.99454732e-01 -7.19239482e-04 -1.06504183e+01] [-1.17462634e-02 3.31615410e-04 9.99930955e-01 -2.48767300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36037174299997 meters 0.024584223559351023 Centerline is valid? [True, True] Translation: X:180.58, Y:-10.66, Z:-2.49 [[ 9.99568590e-01 2.72453995e-02 1.09691250e-02 1.80577270e+02] [-2.72396552e-02 9.99628705e-01 -6.72770317e-04 -1.06599200e+01] [-1.09833821e-02 3.73684895e-04 9.99939611e-01 -2.48923287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42037174299998 meters 0.027645511591292905 Centerline is valid? [True, True] Translation: X:180.64, Y:-10.67, Z:-2.49 [[ 9.99736243e-01 2.01145135e-02 1.10837670e-02 1.80636948e+02] [-2.01082060e-02 9.99797578e-01 -6.80231214e-04 -1.06719634e+01] [-1.10952059e-02 4.57177129e-04 9.99938342e-01 -2.48945375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48037174299998 meters 0.0324595877918314 Centerline is valid? [True, True] Translation: X:180.70, Y:-10.69, Z:-2.49 [[ 9.99899565e-01 8.39861068e-03 1.14158951e-02 1.80695493e+02] [-8.39115448e-03 9.99964548e-01 -7.00883425e-04 -1.06867968e+01] [-1.14213769e-02 6.05020492e-04 9.99934591e-01 -2.48816646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54037174299998 meters 0.03934373510024745 Centerline is valid? [True, True] Translation: X:180.76, Y:-10.70, Z:-2.49 [[ 9.99952014e-01 -1.06555348e-03 9.73827921e-03 1.80755334e+02] [ 1.07142756e-03 9.99999247e-01 -5.97996973e-04 -1.06956824e+01] [-9.73763468e-03 6.08402138e-04 9.99952403e-01 -2.49190961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60037174299998 meters 0.03188143552947386 Centerline is valid? [True, True] Translation: X:180.82, Y:-10.69, Z:-2.49 [[ 9.99921443e-01 -5.64280393e-03 1.11923001e-02 1.80816972e+02] [ 5.65084901e-03 9.99983798e-01 -6.87310991e-04 -1.06876598e+01] [-1.11882404e-02 7.50502996e-04 9.99937128e-01 -2.49016136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66037174299998 meters 0.048049516455141356 Centerline is valid? [True, True] Translation: X:180.88, Y:-10.70, Z:-2.49 [[ 9.99901664e-01 -9.07822828e-03 1.06887284e-02 1.80875817e+02] [ 9.08576189e-03 9.99958508e-01 -6.56468944e-04 -1.07041130e+01] [-1.06823253e-02 7.53519630e-04 9.99942658e-01 -2.49317658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.720371743 meters 0.04917663868185712 Centerline is valid? [True, True] Translation: X:180.94, Y:-10.70, Z:-2.49 [[ 9.99881596e-01 -1.00277530e-02 1.16720987e-02 1.80937630e+02] [ 1.00367976e-02 9.99949373e-01 -7.16572383e-04 -1.07033633e+01] [-1.16643221e-02 8.33638030e-04 9.99931622e-01 -2.49352105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.780371743 meters 0.03566111587674909 Centerline is valid? [True, True] Translation: X:181.00, Y:-10.68, Z:-2.50 [[ 9.99865280e-01 -1.15216301e-02 1.16907911e-02 1.81001022e+02] [ 1.15308101e-02 9.99933260e-01 -7.18127366e-04 -1.06771880e+01] [-1.16817368e-02 8.52834911e-04 9.99931402e-01 -2.49509186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.840371743 meters 0.037062665534820426 Centerline is valid? [True, True] Translation: X:181.06, Y:-10.67, Z:-2.50 [[ 9.99804085e-01 -1.59370121e-02 1.17389671e-02 1.81062016e+02] [ 1.59465897e-02 9.99872584e-01 -7.22723189e-04 -1.06722173e+01] [-1.17259533e-02 9.09778088e-04 9.99930835e-01 -2.49723749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.900371743 meters 0.036975077765232296 Centerline is valid? [True, True] Translation: X:181.12, Y:-10.67, Z:-2.50 [[ 9.99719689e-01 -2.03393381e-02 1.21183475e-02 1.81122933e+02] [ 2.03498663e-02 9.99792642e-01 -7.46100685e-04 -1.06693558e+01] [-1.21006595e-02 9.92498298e-04 9.99926292e-01 -2.49889512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96037174299997 meters 0.0417282243567919 Centerline is valid? [True, True] Translation: X:181.18, Y:-10.67, Z:-2.50 [[ 9.99535726e-01 -2.79325609e-02 1.21698373e-02 1.81182134e+02] [ 2.79437367e-02 9.99609217e-01 -7.49214888e-04 -1.06692127e+01] [-1.21441541e-02 1.08893778e-03 9.99925664e-01 -2.50166892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02037174299997 meters 0.04369195876709779 Centerline is valid? [True, True] Translation: X:181.24, Y:-10.66, Z:-2.50 [[ 9.99377826e-01 -3.37877697e-02 1.01167287e-02 1.81243825e+02] [ 3.37957961e-02 9.99428564e-01 -6.23431672e-04 -1.06585090e+01] [-1.00898833e-02 9.64946689e-04 9.99948630e-01 -2.50437382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08037174299997 meters 0.045617081555383854 Centerline is valid? [True, True] Translation: X:181.31, Y:-10.65, Z:-2.50 [[ 9.99307492e-01 -3.51405136e-02 1.22343680e-02 1.81306197e+02] [ 3.51523523e-02 9.99381681e-01 -7.53901335e-04 -1.06484586e+01] [-1.22003108e-02 1.18344607e-03 9.99924873e-01 -2.50495696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14037174299997 meters 0.04809313569546623 Centerline is valid? [True, True] Translation: X:181.37, Y:-10.64, Z:-2.51 [[ 9.99359521e-01 -3.34572177e-02 1.26949918e-02 1.81367310e+02] [ 3.34698365e-02 9.99439422e-01 -7.82780721e-04 -1.06449829e+01] [-1.26616856e-02 1.20717867e-03 9.99919109e-01 -2.50611687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20037174299998 meters 0.050047477922579346 Centerline is valid? [True, True] Translation: X:181.43, Y:-10.63, Z:-2.51 [[ 9.99488694e-01 -2.91705654e-02 1.30930753e-02 1.81428785e+02] [ 2.91836304e-02 9.99573741e-01 -8.07863893e-04 -1.06337772e+01] [-1.30639284e-02 1.18955430e-03 9.99913956e-01 -2.50693396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26037174299998 meters 0.05064011812049048 Centerline is valid? [True, True] Translation: X:181.49, Y:-10.63, Z:-2.51 [[ 9.99544199e-01 -2.69433578e-02 1.36180027e-02 1.81490387e+02] [ 2.69572860e-02 9.99636233e-01 -8.40222897e-04 -1.06278779e+01] [-1.35904105e-02 1.20694432e-03 9.99906918e-01 -2.50793775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32037174299998 meters 0.04438120557323823 Centerline is valid? [True, True] Translation: X:181.55, Y:-10.61, Z:-2.51 [[ 9.99694844e-01 -2.21363358e-02 1.09636803e-02 1.81552637e+02] [ 2.21450779e-02 9.99754539e-01 -6.76601308e-04 -1.06064934e+01] [-1.09460117e-02 9.19186393e-04 9.99939668e-01 -2.51168904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38037174299998 meters 0.040870001740281416 Centerline is valid? [True, True] Translation: X:181.61, Y:-10.59, Z:-2.51 [[ 9.99860320e-01 -1.37919269e-02 9.44055697e-03 1.81614805e+02] [ 1.37980403e-02 9.99904633e-01 -5.82734948e-04 -1.05898591e+01] [-9.43161961e-03 7.12914737e-04 9.99955267e-01 -2.51327615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.440371743 meters 0.04039147001960258 Centerline is valid? [True, True] Translation: X:181.67, Y:-10.58, Z:-2.51 [[ 9.99919392e-01 -7.09378376e-03 1.05303179e-02 1.81674969e+02] [ 7.10102351e-03 9.99974576e-01 -6.50284225e-04 -1.05841577e+01] [-1.05254372e-02 7.25007842e-04 9.99944343e-01 -2.51406499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.500371743 meters 0.03624459260605171 Centerline is valid? [True, True] Translation: X:181.74, Y:-10.56, Z:-2.51 [[ 9.99918355e-01 6.46672278e-03 1.10211504e-02 1.81736820e+02] [-6.45961338e-03 9.99978905e-01 -6.80544510e-04 -1.05640655e+01] [-1.10253188e-02 6.09296576e-04 9.99939034e-01 -2.51368615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.560371743 meters 0.03236298440949652 Centerline is valid? [True, True] Translation: X:181.80, Y:-10.55, Z:-2.52 [[ 9.99757999e-01 1.87042926e-02 1.15798156e-02 1.81797860e+02] [-1.86972619e-02 9.99824935e-01 -7.15121799e-04 -1.05509521e+01] [-1.15911642e-02 4.98437894e-04 9.99932696e-01 -2.51505779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.620371743 meters 0.03139681750928602 Centerline is valid? [True, True] Translation: X:181.86, Y:-10.55, Z:-2.52 [[ 9.99636799e-01 2.45678869e-02 1.10764941e-02 1.81858021e+02] [-2.45618126e-02 9.99698079e-01 -6.84113211e-04 -1.05485700e+01] [-1.10899571e-02 4.11805968e-04 9.99938420e-01 -2.51672990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.680371743 meters 0.029080350687070513 Centerline is valid? [True, True] Translation: X:181.92, Y:-10.54, Z:-2.52 [[ 9.99514665e-01 2.94115430e-02 1.02662688e-02 1.81918668e+02] [-2.94065794e-02 9.99567332e-01 -6.34134824e-04 -1.05415526e+01] [-1.02804778e-02 3.31931208e-04 9.99947099e-01 -2.51717845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74037174299997 meters 0.027864975907259767 Centerline is valid? [True, True] Translation: X:181.98, Y:-10.54, Z:-2.52 [[ 9.99487787e-01 2.99713286e-02 1.12197542e-02 1.81977342e+02] [-2.99654368e-02 9.99550695e-01 -6.92908132e-04 -1.05430788e+01] [-1.12354805e-02 3.56348381e-04 9.99936817e-01 -2.51783968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80037174299997 meters 0.02870064480155341 Centerline is valid? [True, True] Translation: X:182.04, Y:-10.54, Z:-2.52 [[ 9.99351214e-01 3.44151659e-02 1.06182425e-02 1.82037644e+02] [-3.44101461e-02 9.99407581e-01 -6.55141649e-04 -1.05421531e+01] [-1.06344989e-02 2.89341326e-04 9.99943410e-01 -2.51819141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86037174299997 meters 0.025323207461065297 Centerline is valid? [True, True] Translation: X:182.10, Y:-10.54, Z:-2.52 [[ 9.99147941e-01 3.98424104e-02 1.07691214e-02 1.82096279e+02] [-3.98375639e-02 9.99205948e-01 -6.64256869e-04 -1.05431366e+01] [-1.07870357e-02 2.34675322e-04 9.99941791e-01 -2.52016847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92037174299998 meters 0.02557659668410696 Centerline is valid? [True, True] Translation: X:182.16, Y:-10.54, Z:-2.52 [[ 9.98717570e-01 4.98185975e-02 9.01787988e-03 1.82155861e+02] [-4.98156058e-02 9.98758277e-01 -5.56201606e-04 -1.05441152e+01] [-9.03439136e-03 1.06257167e-04 9.99959183e-01 -2.52151692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98037174299998 meters 0.02373363592318039 Centerline is valid? [True, True] Translation: X:182.21, Y:-10.55, Z:-2.52 [[ 9.98457381e-01 5.47431527e-02 9.27610012e-03 1.82214236e+02] [-5.47402014e-02 9.98500467e-01 -5.71948219e-04 -1.05474717e+01] [-9.29350055e-03 6.32903323e-05 9.99956812e-01 -2.52185772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04037174299998 meters 0.023532649862411395 Centerline is valid? [True, True] Translation: X:182.27, Y:-10.56, Z:-2.52 [[ 9.98183197e-01 5.93243306e-02 1.05322387e-02 1.82272898e+02] [-5.93207899e-02 9.98238761e-01 -6.48537132e-04 -1.05557967e+01] [-1.05521630e-02 2.25781474e-05 9.99944324e-01 -2.52104194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10037174299998 meters 0.024839716707496722 Centerline is valid? [True, True] Translation: X:182.33, Y:-10.57, Z:-2.52 [[ 9.98044676e-01 6.14982886e-02 1.11707118e-02 1.82331298e+02] [-6.14944509e-02 9.98107189e-01 -6.87029711e-04 -1.05655275e+01] [-1.11918189e-02 -1.25044566e-06 9.99937370e-01 -2.52093828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16037174299998 meters 0.02480704349349542 Centerline is valid? [True, True] Translation: X:182.39, Y:-10.58, Z:-2.52 [[ 9.98064914e-01 6.11803645e-02 1.11080915e-02 1.82388022e+02] [-6.11765579e-02 9.98126727e-01 -6.82473251e-04 -1.05816002e+01] [-1.11290370e-02 1.59780393e-06 9.99938070e-01 -2.52207185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.220371743 meters 0.025098224057148486 Centerline is valid? [True, True] Translation: X:182.45, Y:-10.60, Z:-2.52 [[ 9.98240578e-01 5.83848191e-02 1.03421817e-02 1.82445979e+02] [-5.83813778e-02 9.98294151e-01 -6.34590331e-04 -1.05950748e+01] [-1.03615900e-02 2.96830002e-05 9.99946317e-01 -2.52309567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.280371743 meters 0.024070053850029235 Centerline is valid? [True, True] Translation: X:182.50, Y:-10.61, Z:-2.52 [[ 9.98628478e-01 5.15997063e-02 8.86755315e-03 1.82503386e+02] [-5.15969118e-02 9.98667844e-01 -5.43777744e-04 -1.06101619e+01] [-8.88379896e-03 8.54935831e-05 9.99960535e-01 -2.52483736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.340371743 meters 0.02628871755950846 Centerline is valid? [True, True] Translation: X:182.56, Y:-10.63, Z:-2.53 [[ 9.99280074e-01 3.71838395e-02 7.52959834e-03 1.82562682e+02] [-3.71814250e-02 9.99308426e-01 -4.60454041e-04 -1.06346585e+01] [-7.54151252e-03 1.80161353e-04 9.99971546e-01 -2.52527047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.400371743 meters 0.03079626997369778 Centerline is valid? [True, True] Translation: X:182.62, Y:-10.66, Z:-2.52 [[ 9.99729731e-01 2.17162383e-02 8.29881895e-03 1.82621099e+02] [-2.17127715e-02 9.99764121e-01 -5.07618805e-04 -1.06594832e+01] [-8.30788500e-03 3.27291252e-04 9.99965435e-01 -2.52415339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46037174299997 meters 0.033691162573596195 Centerline is valid? [True, True] Translation: X:182.68, Y:-10.68, Z:-2.52 [[ 9.99880379e-01 1.22538031e-02 9.43782911e-03 1.82679767e+02] [-1.22489004e-02 9.99924813e-01 -5.77108610e-04 -1.06786189e+01] [-9.44419128e-03 4.61436547e-04 9.99955296e-01 -2.52437784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52037174299997 meters 0.03872974580216559 Centerline is valid? [True, True] Translation: X:182.74, Y:-10.70, Z:-2.53 [[ 9.99957870e-01 3.78914363e-03 8.36071144e-03 1.82739040e+02] [-3.78500144e-03 9.99992706e-01 -5.11201738e-04 -1.06973227e+01] [-8.36258747e-03 4.79534896e-04 9.99964918e-01 -2.52563707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58037174299997 meters 0.03568425827777183 Centerline is valid? [True, True] Translation: X:182.80, Y:-10.70, Z:-2.53 [[ 9.99969354e-01 -1.71329625e-03 7.63905821e-03 1.82799036e+02] [ 1.71691359e-03 9.99998417e-01 -4.66998547e-04 -1.07028694e+01] [-7.63824602e-03 4.80099839e-04 9.99970713e-01 -2.52552927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64037174299997 meters 0.032657137907082676 Centerline is valid? [True, True] Translation: X:182.86, Y:-10.71, Z:-2.53 [[ 9.99950052e-01 -4.63921305e-03 8.85275387e-03 1.82860066e+02] [ 4.64418412e-03 9.99989069e-01 -5.41053477e-04 -1.07085942e+01] [-8.85014704e-03 5.82140272e-04 9.99960667e-01 -2.52517725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70037174299998 meters 0.0358943539869744 Centerline is valid? [True, True] Translation: X:182.92, Y:-10.72, Z:-2.53 [[ 9.99962166e-01 -3.62403149e-03 7.90782458e-03 1.82921132e+02] [ 3.62796738e-03 9.99993302e-01 -4.83433295e-04 -1.07171029e+01] [-7.90601964e-03 5.12104335e-04 9.99968616e-01 -2.52595780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76037174299998 meters 0.03527245898450877 Centerline is valid? [True, True] Translation: X:182.98, Y:-10.72, Z:-2.53 [[ 9.99972312e-01 1.07775488e-03 7.36301466e-03 1.82982030e+02] [-1.07446433e-03 9.99999321e-01 -4.50842853e-04 -1.07187639e+01] [-7.36349556e-03 4.42919074e-04 9.99972791e-01 -2.52700033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82037174299998 meters 0.03376162794461069 Centerline is valid? [True, True] Translation: X:183.04, Y:-10.72, Z:-2.53 [[ 9.99944043e-01 6.61119809e-03 8.25851091e-03 1.83041097e+02] [-6.60724534e-03 9.99978044e-01 -5.05820172e-04 -1.07204730e+01] [-8.26167366e-03 4.51225860e-04 9.99965770e-01 -2.52769640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88037174299998 meters 0.02973867758391784 Centerline is valid? [True, True] Translation: X:183.10, Y:-10.72, Z:-2.53 [[ 9.99813378e-01 1.62552358e-02 1.04391529e-02 1.83102286e+02] [-1.62494482e-02 9.99867765e-01 -6.38996147e-04 -1.07168758e+01] [-1.04481596e-02 4.69246421e-04 9.99945306e-01 -2.52729059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.940371743 meters 0.02858728782308351 Centerline is valid? [True, True] Translation: X:183.16, Y:-10.71, Z:-2.53 [[ 9.99665362e-01 2.33459083e-02 1.11414406e-02 1.83163438e+02] [-2.33397526e-02 9.99727358e-01 -6.82221881e-04 -1.07139888e+01] [-1.11543301e-02 4.21955117e-04 9.99937699e-01 -2.52704255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.000371743 meters 0.027697008509511376 Centerline is valid? [True, True] Translation: X:183.23, Y:-10.71, Z:-2.53 [[ 9.99574466e-01 2.74418922e-02 9.89091209e-03 1.83225164e+02] [-2.74372432e-02 9.99623345e-01 -6.05444642e-04 -1.07149430e+01] [-9.90380118e-03 3.33807644e-04 9.99950900e-01 -2.52806721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.060371743 meters 0.027487562561349294 Centerline is valid? [True, True] Translation: X:183.29, Y:-10.72, Z:-2.53 [[ 9.99527780e-01 2.92687284e-02 9.35725460e-03 1.83286287e+02] [-2.92646423e-02 9.99571534e-01 -5.73336072e-04 -1.07178476e+01] [-9.37002616e-03 2.99228623e-04 9.99956056e-01 -2.52888523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.120371743 meters 0.023749773550077204 Centerline is valid? [True, True] Translation: X:183.35, Y:-10.72, Z:-2.53 [[ 9.99474152e-01 3.03381454e-02 1.14462654e-02 1.83346493e+02] [-3.03320939e-02 9.99539630e-01 -7.01952249e-04 -1.07190998e+01] [-1.14622918e-02 3.54393932e-04 9.99934243e-01 -2.52884034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.180371743 meters 0.02602290834842096 Centerline is valid? [True, True] Translation: X:183.41, Y:-10.73, Z:-2.53 [[ 9.99520799e-01 2.92134262e-02 1.02346782e-02 1.83407619e+02] [-2.92085307e-02 9.99573143e-01 -6.27511509e-04 -1.07254719e+01] [-1.02486412e-02 3.28270894e-04 9.99947427e-01 -2.53010604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24037174299997 meters 0.027623059895067886 Centerline is valid? [True, True] Translation: X:183.47, Y:-10.73, Z:-2.53 [[ 9.99630455e-01 2.56516955e-02 8.99688934e-03 1.83468220e+02] [-2.56477652e-02 9.99670890e-01 -5.51981232e-04 -1.07332146e+01] [-9.00808763e-03 3.21027145e-04 9.99959375e-01 -2.53228812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30037174299997 meters 0.029038065648783064 Centerline is valid? [True, True] Translation: X:183.53, Y:-10.75, Z:-2.53 [[ 9.99833092e-01 1.56976360e-02 9.34731277e-03 1.83528013e+02] [-1.56929585e-02 9.99876693e-01 -5.73545883e-04 -1.07455794e+01] [-9.35516350e-03 4.26763162e-04 9.99956148e-01 -2.53482229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36037174299997 meters 0.03600892274291067 Centerline is valid? [True, True] Translation: X:183.59, Y:-10.76, Z:-2.54 [[ 9.99953234e-01 6.30324256e-03 7.33484304e-03 1.83588394e+02] [-6.30010775e-03 9.99980053e-01 -4.50413357e-04 -1.07587092e+01] [-7.33753579e-03 4.04181991e-04 9.99972998e-01 -2.53619668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42037174299998 meters 0.036895273953783725 Centerline is valid? [True, True] Translation: X:183.65, Y:-10.76, Z:-2.54 [[ 9.99973515e-01 5.35561243e-04 7.25824202e-03 1.83648122e+02] [-5.32337600e-04 9.99999759e-01 -4.46060303e-04 -1.07648496e+01] [-7.25847916e-03 4.42184654e-04 9.99973559e-01 -2.53693384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48037174299998 meters 0.03382737941882826 Centerline is valid? [True, True] Translation: X:183.71, Y:-10.77, Z:-2.54 [[ 9.99948266e-01 -5.94292019e-03 8.25513330e-03 1.83709629e+02] [ 5.94730650e-03 9.99982186e-01 -5.06895681e-04 -1.07664748e+01] [-8.25197381e-03 5.55965265e-04 9.99965797e-01 -2.53655251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54037174299998 meters 0.03934908955463601 Centerline is valid? [True, True] Translation: X:183.77, Y:-10.78, Z:-2.54 [[ 9.99918225e-01 -9.47202638e-03 8.59206225e-03 1.83768576e+02] [ 9.47691248e-03 9.99954954e-01 -5.28140390e-04 -1.07752854e+01] [-8.58667265e-03 6.09523423e-04 9.99962948e-01 -2.53664290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60037174299998 meters 0.044978155977817486 Centerline is valid? [True, True] Translation: X:183.83, Y:-10.79, Z:-2.54 [[ 9.99889409e-01 -1.10643927e-02 9.93724127e-03 1.83829305e+02] [ 1.10710028e-02 9.99938528e-01 -6.10416359e-04 -1.07872493e+01] [-9.92987653e-03 7.20364078e-04 9.99950438e-01 -2.53779413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66037174299998 meters 0.038662788000921544 Centerline is valid? [True, True] Translation: X:183.89, Y:-10.78, Z:-2.54 [[ 9.99890535e-01 -1.16883720e-02 9.07197614e-03 1.83892480e+02] [ 1.16939094e-02 9.99931468e-01 -5.57583004e-04 -1.07776512e+01] [-9.06483719e-03 6.63608835e-04 9.99958693e-01 -2.53727517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.720371743 meters 0.03622390323705675 Centerline is valid? [True, True] Translation: X:183.95, Y:-10.78, Z:-2.54 [[ 9.99879985e-01 -1.20791914e-02 9.70098035e-03 1.83954640e+02] [ 1.20855494e-02 9.99926789e-01 -5.97045871e-04 -1.07776979e+01] [-9.69305829e-03 7.14215894e-04 9.99952766e-01 -2.53901936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.780371743 meters 0.03843376018984045 Centerline is valid? [True, True] Translation: X:184.01, Y:-10.78, Z:-2.54 [[ 9.99909541e-01 -9.70349240e-03 9.31411081e-03 1.84013957e+02] [ 9.70926118e-03 9.99952699e-01 -5.74341074e-04 -1.07795226e+01] [-9.30809713e-03 6.64722254e-04 9.99956458e-01 -2.53949878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.840371743 meters 0.03431676955002137 Centerline is valid? [True, True] Translation: X:184.08, Y:-10.77, Z:-2.54 [[ 9.99934292e-01 -5.81871059e-03 9.87695725e-03 1.84075402e+02] [ 5.82500607e-03 9.99982849e-01 -6.08743126e-04 -1.07736590e+01] [-9.87324575e-03 6.66236463e-04 9.99951036e-01 -2.53974173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.900371743 meters 0.033761312620585716 Centerline is valid? [True, True] Translation: X:184.14, Y:-10.77, Z:-2.54 [[ 9.99959701e-01 2.52731913e-03 8.61447899e-03 1.84136420e+02] [-2.52283895e-03 9.99996677e-01 -5.30903011e-04 -1.07668157e+01] [-8.61579212e-03 5.09148673e-04 9.99962754e-01 -2.54205339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96037174299997 meters 0.03337039033620306 Centerline is valid? [True, True] Translation: X:184.20, Y:-10.76, Z:-2.55 [[ 9.99903059e-01 1.06644068e-02 8.95228033e-03 1.84196799e+02] [-1.06598905e-02 9.99943029e-01 -5.52046964e-04 -1.07649095e+01] [-8.95765756e-03 4.56563119e-04 9.99959775e-01 -2.54565321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02037174299997 meters 0.030747151785266727 Centerline is valid? [True, True] Translation: X:184.26, Y:-10.76, Z:-2.54 [[ 9.99807766e-01 1.70499592e-02 9.68143924e-03 1.84258231e+02] [-1.70449762e-02 9.99854546e-01 -5.96977327e-04 -1.07562051e+01] [-9.69020948e-03 4.31842666e-04 9.99952956e-01 -2.54479291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08037174299997 meters 0.031063833918210392 Centerline is valid? [True, True] Translation: X:184.32, Y:-10.76, Z:-2.55 [[ 9.99774060e-01 1.87756864e-02 9.96502365e-03 1.84319315e+02] [-1.87704941e-02 9.99823630e-01 -6.14329589e-04 -1.07565240e+01] [-9.97480058e-03 4.27142370e-04 9.99950159e-01 -2.54522946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14037174299997 meters 0.03179036219439485 Centerline is valid? [True, True] Translation: X:184.38, Y:-10.76, Z:-2.55 [[ 9.99746465e-01 2.05486811e-02 9.20633565e-03 1.84380593e+02] [-2.05443216e-02 9.99788782e-01 -5.67862819e-04 -1.07577103e+01] [-9.21605993e-03 3.78580926e-04 9.99957460e-01 -2.54621412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20037174299998 meters 0.029557928791856636 Centerline is valid? [True, True] Translation: X:184.44, Y:-10.76, Z:-2.55 [[ 9.99741119e-01 2.08151887e-02 9.18816500e-03 1.84441297e+02] [-2.08108537e-02 9.99783270e-01 -5.67169334e-04 -1.07592968e+01] [-9.19797938e-03 3.75808948e-04 9.99957627e-01 -2.54930694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26037174299998 meters 0.031960619103303355 Centerline is valid? [True, True] Translation: X:184.50, Y:-10.76, Z:-2.55 [[ 9.99727664e-01 2.20576686e-02 7.61955763e-03 1.84502410e+02] [-2.20547236e-02 9.99756654e-01 -4.70322205e-04 -1.07623191e+01] [-7.62807766e-03 3.02146882e-04 9.99970860e-01 -2.55116439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32037174299998 meters 0.03048514496983347 Centerline is valid? [True, True] Translation: X:184.56, Y:-10.76, Z:-2.55 [[ 9.99767490e-01 1.99776926e-02 8.11530343e-03 1.84562904e+02] [-1.99742792e-02 9.99800368e-01 -5.01458908e-04 -1.07606086e+01] [-8.12370135e-03 3.39244978e-04 9.99966945e-01 -2.55179457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38037174299998 meters 0.029780897458604405 Centerline is valid? [True, True] Translation: X:184.62, Y:-10.76, Z:-2.55 [[ 9.99815221e-01 1.65316030e-02 9.80971005e-03 1.84622676e+02] [-1.65264498e-02 9.99863245e-01 -6.06159281e-04 -1.07639732e+01] [-9.81838931e-03 4.43927595e-04 9.99951700e-01 -2.55265693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.440371743 meters 0.032925896753002504 Centerline is valid? [True, True] Translation: X:184.68, Y:-10.77, Z:-2.55 [[ 9.99822660e-01 1.56065697e-02 1.05396329e-02 1.84684413e+02] [-1.56005710e-02 9.99878092e-01 -6.51134795e-04 -1.07665956e+01] [-1.05485100e-02 4.86595031e-04 9.99944245e-01 -2.55157044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.500371743 meters 0.03083038653485651 Centerline is valid? [True, True] Translation: X:184.75, Y:-10.77, Z:-2.55 [[ 9.99805781e-01 1.48771209e-02 1.29256411e-02 1.84746392e+02] [-1.48680332e-02 9.99889146e-01 -7.98890797e-04 -1.07666379e+01] [-1.29360935e-02 6.06556776e-04 9.99916141e-01 -2.55178619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.560371743 meters 0.03186734272738837 Centerline is valid? [True, True] Translation: X:184.81, Y:-10.77, Z:-2.55 [[ 9.99797400e-01 1.56810717e-02 1.26199688e-02 1.84808412e+02] [-1.56724327e-02 9.99876873e-01 -7.83165850e-04 -1.07664465e+01] [-1.26306958e-02 5.85221569e-04 9.99920058e-01 -2.55192841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.620371743 meters 0.033863495194780664 Centerline is valid? [True, True] Translation: X:184.87, Y:-10.77, Z:-2.55 [[ 9.99840155e-01 1.36781169e-02 1.15140518e-02 1.84868921e+02] [-1.36707581e-02 9.99906293e-01 -7.17579074e-04 -1.07735543e+01] [-1.15227880e-02 5.60058555e-04 9.99933454e-01 -2.55450690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.680371743 meters 0.03213211594144798 Centerline is valid? [True, True] Translation: X:184.93, Y:-10.77, Z:-2.56 [[ 9.99867194e-01 1.30586813e-02 9.75018735e-03 1.84931102e+02] [-1.30533708e-02 9.99914616e-01 -6.08102713e-04 -1.07737373e+01] [-9.75729587e-03 4.80749142e-04 9.99952281e-01 -2.55777437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74037174299997 meters 0.032861889457804785 Centerline is valid? [True, True] Translation: X:184.99, Y:-10.77, Z:-2.56 [[ 9.99821547e-01 1.66093409e-02 9.00025038e-03 1.84992704e+02] [-1.66049314e-02 9.99861969e-01 -5.64447591e-04 -1.07732855e+01] [-9.00838317e-03 4.14898324e-04 9.99959338e-01 -2.55807128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80037174299997 meters 0.029648973090641333 Centerline is valid? [True, True] Translation: X:185.05, Y:-10.77, Z:-2.56 [[ 9.99685527e-01 2.31097867e-02 9.73579255e-03 1.85053263e+02] [-2.31049293e-02 9.99732859e-01 -6.11121932e-04 -1.07699861e+01] [-9.74731461e-03 3.85984953e-04 9.99952419e-01 -2.55900484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86037174299997 meters 0.026378550311920185 Centerline is valid? [True, True] Translation: X:185.11, Y:-10.77, Z:-2.56 [[ 9.99456015e-01 3.12160456e-02 1.06411222e-02 1.85114569e+02] [-3.12107008e-02 9.99512604e-01 -6.68018310e-04 -1.07650900e+01] [-1.06567886e-02 3.35538038e-04 9.99943159e-01 -2.55996135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92037174299998 meters 0.028160960880932357 Centerline is valid? [True, True] Translation: X:185.17, Y:-10.77, Z:-2.56 [[ 9.99309438e-01 3.55580421e-02 1.07829983e-02 1.85173165e+02] [-3.55528049e-02 9.99367570e-01 -6.77049183e-04 -1.07676311e+01] [-1.08002533e-02 2.93215804e-04 9.99941633e-01 -2.56010430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98037174299998 meters 0.02745250778297891 Centerline is valid? [True, True] Translation: X:185.23, Y:-10.77, Z:-2.56 [[ 9.99367022e-01 3.34646830e-02 1.20693828e-02 1.85232872e+02] [-3.34579787e-02 9.99439838e-01 -7.57027922e-04 -1.07721875e+01] [-1.20879557e-02 3.52731588e-04 9.99926876e-01 -2.56137078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04037174299998 meters 0.029532324767329223 Centerline is valid? [True, True] Translation: X:185.29, Y:-10.78, Z:-2.56 [[ 9.99568257e-01 2.71821640e-02 1.11548172e-02 1.85292556e+02] [-2.71760509e-02 9.99630418e-01 -6.99262274e-04 -1.07780696e+01] [-1.11697021e-02 3.95816491e-04 9.99937539e-01 -2.56177840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10037174299998 meters 0.030946498376636548 Centerline is valid? [True, True] Translation: X:185.35, Y:-10.79, Z:-2.56 [[ 9.99765492e-01 1.84505747e-02 1.13374021e-02 1.85352301e+02] [-1.84437017e-02 9.99829648e-01 -7.10487896e-04 -1.07857980e+01] [-1.13485796e-02 5.01217619e-04 9.99935477e-01 -2.56218506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16037174299998 meters 0.03309035988941653 Centerline is valid? [True, True] Translation: X:185.41, Y:-10.80, Z:-2.56 [[ 9.99854425e-01 1.22496241e-02 1.18774904e-02 1.85412022e+02] [-1.22416470e-02 9.99924791e-01 -7.44093704e-04 -1.07955733e+01] [-1.18857119e-02 5.98585339e-04 9.99929183e-01 -2.56289734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.220371743 meters 0.03499294947386505 Centerline is valid? [True, True] Translation: X:185.47, Y:-10.80, Z:-2.56 [[ 9.99878260e-01 9.73828502e-03 1.21914305e-02 1.85472174e+02] [-9.72969422e-03 9.99952374e-01 -7.63773034e-04 -1.08025622e+01] [-1.21982877e-02 6.45061161e-04 9.99925390e-01 -2.56365163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.280371743 meters 0.03186527234117698 Centerline is valid? [True, True] Translation: X:185.54, Y:-10.80, Z:-2.56 [[ 9.99877785e-01 9.68028601e-03 1.22762464e-02 1.85535027e+02] [-9.67157329e-03 9.99952934e-01 -7.68891716e-04 -1.08014271e+01] [-1.22831117e-02 6.50067130e-04 9.99924348e-01 -2.56477737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.340371743 meters 0.033164393159497964 Centerline is valid? [True, True] Translation: X:185.60, Y:-10.80, Z:-2.57 [[ 9.99840703e-01 1.33744741e-02 1.18191657e-02 1.85595628e+02] [-1.33666140e-02 9.99910386e-01 -7.43777379e-04 -1.08026213e+01] [-1.18280541e-02 5.85676672e-04 9.99929875e-01 -2.56540351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.400371743 meters 0.033685189292472315 Centerline is valid? [True, True] Translation: X:185.66, Y:-10.80, Z:-2.57 [[ 9.99759680e-01 1.83650550e-02 1.19711020e-02 1.85655575e+02] [-1.83573484e-02 9.99831206e-01 -7.53338699e-04 -1.08026344e+01] [-1.19829165e-02 5.33399966e-04 9.99928060e-01 -2.56576991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46037174299997 meters 0.032187256146333845 Centerline is valid? [True, True] Translation: X:185.72, Y:-10.80, Z:-2.57 [[ 9.99664972e-01 2.26323251e-02 1.25587362e-02 1.85716376e+02] [-2.26241797e-02 9.99743728e-01 -7.90292097e-04 -1.08026848e+01] [-1.25734039e-02 5.05896222e-04 9.99920824e-01 -2.56708643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52037174299997 meters 0.030424773191059757 Centerline is valid? [True, True] Translation: X:185.78, Y:-10.80, Z:-2.57 [[ 9.99471079e-01 2.95692341e-02 1.35359550e-02 1.85777595e+02] [-2.95604032e-02 9.99562633e-01 -8.52054610e-04 -1.08007797e+01] [-1.35552294e-02 4.51475653e-04 9.99908022e-01 -2.56815095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58037174299997 meters 0.03006559729686276 Centerline is valid? [True, True] Translation: X:185.84, Y:-10.80, Z:-2.57 [[ 9.99317194e-01 3.41555397e-02 1.40906097e-02 1.85837030e+02] [-3.41464239e-02 9.99416447e-01 -8.87089383e-04 -1.08038272e+01] [-1.41126861e-02 4.05339741e-04 9.99900329e-01 -2.56977708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64037174299997 meters 0.026693201026649276 Centerline is valid? [True, True] Translation: X:185.90, Y:-10.81, Z:-2.57 [[ 9.99396786e-01 3.15444758e-02 1.45261621e-02 1.85896860e+02] [-3.15345159e-02 9.99502245e-01 -9.14253400e-04 -1.08074270e+01] [-1.45477712e-02 4.55626422e-04 9.99894072e-01 -2.57232204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70037174299998 meters 0.029294619297362354 Centerline is valid? [True, True] Translation: X:185.96, Y:-10.82, Z:-2.57 [[ 9.99541526e-01 2.68484980e-02 1.39962545e-02 1.85956763e+02] [-2.68387914e-02 9.99639387e-01 -8.80915871e-04 -1.08165000e+01] [-1.40148585e-02 5.04869439e-04 9.99901660e-01 -2.57295778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76037174299998 meters 0.031519690521546094 Centerline is valid? [True, True] Translation: X:186.02, Y:-10.83, Z:-2.57 [[ 9.99789469e-01 1.47937766e-02 1.42183414e-02 1.86017211e+02] [-1.47825424e-02 9.99890332e-01 -8.94895777e-04 -1.08273199e+01] [-1.42300210e-02 6.84524139e-04 9.99898514e-01 -2.57428004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82037174299998 meters 0.03476112433733685 Centerline is valid? [True, True] Translation: X:186.08, Y:-10.84, Z:-2.58 [[ 9.99883933e-01 6.21353100e-03 1.39108638e-02 1.86076512e+02] [-6.20194760e-03 9.99980384e-01 -8.75672216e-04 -1.08398596e+01] [-1.39160319e-02 7.89296131e-04 9.99902856e-01 -2.57574339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88037174299998 meters 0.03887562498383661 Centerline is valid? [True, True] Translation: X:186.14, Y:-10.85, Z:-2.58 [[ 9.99913118e-01 -4.48883678e-03 1.23938010e-02 1.86135787e+02] [ 4.49884891e-03 9.99989576e-01 -7.80072371e-04 -1.08528680e+01] [-1.23901702e-02 8.35762435e-04 9.99922890e-01 -2.57730513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.940371743 meters 0.03910177973022741 Centerline is valid? [True, True] Translation: X:186.20, Y:-10.86, Z:-2.58 [[ 9.99901261e-01 -6.93501454e-03 1.22218776e-02 1.86197277e+02] [ 6.94493202e-03 9.99975588e-01 -7.69197217e-04 -1.08561643e+01] [-1.22162449e-02 8.54001377e-04 9.99925014e-01 -2.57770912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.000371743 meters 0.03830103292823337 Centerline is valid? [True, True] Translation: X:186.26, Y:-10.86, Z:-2.58 [[ 9.99895014e-01 -7.27591346e-03 1.25308235e-02 1.86259777e+02] [ 7.28637065e-03 9.99973143e-01 -7.89065384e-04 -1.08593340e+01] [-1.25247458e-02 8.80286768e-04 9.99921175e-01 -2.57818381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.060371743 meters 0.03779600662588849 Centerline is valid? [True, True] Translation: X:186.32, Y:-10.86, Z:-2.58 [[ 9.99881866e-01 -7.66926537e-03 1.33205571e-02 1.86322299e+02] [ 7.68113127e-03 9.99970147e-01 -8.39863372e-04 -1.08629283e+01] [-1.33137183e-02 9.42081104e-04 9.99910925e-01 -2.57975113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.120371743 meters 0.03762801531237364 Centerline is valid? [True, True] Translation: X:186.38, Y:-10.86, Z:-2.58 [[ 9.99889758e-01 -5.94449412e-03 1.36063933e-02 1.86384021e+02] [ 5.95673003e-03 9.99981890e-01 -8.58925764e-04 -1.08647900e+01] [-1.36010410e-02 9.39880686e-04 9.99907060e-01 -2.58069549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.180371743 meters 0.0382905082459778 Centerline is valid? [True, True] Translation: X:186.45, Y:-10.87, Z:-2.58 [[ 9.99902142e-01 -5.28382028e-03 1.29532959e-02 1.86445716e+02] [ 5.29486688e-03 9.99985647e-01 -8.18655474e-04 -1.08675391e+01] [-1.29487843e-02 8.87161339e-04 9.99915767e-01 -2.58241632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24037174299997 meters 0.03867206790957759 Centerline is valid? [True, True] Translation: X:186.51, Y:-10.87, Z:-2.58 [[ 9.99910432e-01 -7.52186507e-03 1.10702295e-02 1.86506425e+02] [ 7.53007881e-03 9.99971403e-01 -7.00471916e-04 -1.08684292e+01] [-1.10646441e-02 7.83768877e-04 9.99938478e-01 -2.58442082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30037174299997 meters 0.042769343232918686 Centerline is valid? [True, True] Translation: X:186.57, Y:-10.88, Z:-2.59 [[ 9.99890475e-01 -1.06292879e-02 1.02983716e-02 1.86565526e+02] [ 1.06365626e-02 9.99943218e-01 -6.51874856e-04 -1.08762877e+01] [-1.02908579e-02 7.61342734e-04 9.99946758e-01 -2.58569854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36037174299997 meters 0.04275539146733783 Centerline is valid? [True, True] Translation: X:186.63, Y:-10.87, Z:-2.58 [[ 9.99827376e-01 -1.52688775e-02 1.05867729e-02 1.86626620e+02] [ 1.52768238e-02 9.99883078e-01 -6.70113510e-04 -1.08731078e+01] [-1.05753032e-02 8.31730096e-04 9.99943734e-01 -2.58437518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42037174299998 meters 0.04418410867392409 Centerline is valid? [True, True] Translation: X:186.69, Y:-10.88, Z:-2.58 [[ 9.99714614e-01 -2.12318551e-02 1.09498376e-02 1.86687467e+02] [ 2.12407112e-02 9.99774150e-01 -6.93117747e-04 -1.08758295e+01] [-1.09326484e-02 9.25502279e-04 9.99939809e-01 -2.58479704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48037174299998 meters 0.04530431161918845 Centerline is valid? [True, True] Translation: X:186.75, Y:-10.88, Z:-2.59 [[ 9.99626287e-01 -2.56650604e-02 9.41224030e-03 1.86748902e+02] [ 2.56717984e-02 9.99670248e-01 -5.95743644e-04 -1.08761079e+01] [-9.39384680e-03 8.37150143e-04 9.99955526e-01 -2.58704877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54037174299998 meters 0.04850545018600654 Centerline is valid? [True, True] Translation: X:186.81, Y:-10.88, Z:-2.59 [[ 9.99603050e-01 -2.70694290e-02 7.80956815e-03 1.86810339e+02] [ 2.70741111e-02 9.99633307e-01 -4.94418296e-04 -1.08757346e+01] [-7.79332081e-03 7.05659152e-04 9.99969383e-01 -2.58757132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60037174299998 meters 0.04423649833072622 Centerline is valid? [True, True] Translation: X:186.87, Y:-10.87, Z:-2.59 [[ 9.99579916e-01 -2.76645355e-02 8.64083834e-03 1.86873257e+02] [ 2.76702909e-02 9.99616954e-01 -5.47210235e-04 -1.08698244e+01] [-8.62239019e-03 7.86074871e-04 9.99962518e-01 -2.58750702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66037174299998 meters 0.04348321622009799 Centerline is valid? [True, True] Translation: X:186.93, Y:-10.86, Z:-2.59 [[ 9.99702976e-01 -2.29396914e-02 8.22984909e-03 1.86933684e+02] [ 2.29447619e-02 9.99736598e-01 -5.22209832e-04 -1.08634476e+01] [-8.21570200e-03 7.10886651e-04 9.99965998e-01 -2.58794997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.720371743 meters 0.03847457418124997 Centerline is valid? [True, True] Translation: X:187.00, Y:-10.85, Z:-2.59 [[ 9.99879760e-01 -1.39192141e-02 6.83531378e-03 1.86995047e+02] [ 1.39225023e-02 9.99902983e-01 -4.33721192e-04 -1.08486544e+01] [-6.82861358e-03 5.28833714e-04 9.99976545e-01 -2.58905823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.780371743 meters 0.036480639600016095 Centerline is valid? [True, True] Translation: X:187.06, Y:-10.84, Z:-2.59 [[ 9.99956719e-01 -6.93849545e-03 6.19817774e-03 1.87056888e+02] [ 6.94106470e-03 9.99975833e-01 -3.93101924e-04 -1.08416305e+01] [-6.19530041e-03 4.36106863e-04 9.99980714e-01 -2.59017882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.840371743 meters 0.03519012981994591 Centerline is valid? [True, True] Translation: X:187.12, Y:-10.83, Z:-2.59 [[ 9.99979912e-01 3.59531851e-03 5.22009663e-03 1.87118209e+02] [-3.59363772e-03 9.99993488e-01 -3.31327403e-04 -1.08312995e+01] [-5.22125386e-03 3.12561611e-04 9.99986320e-01 -2.59000702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.900371743 meters 0.03216426299445344 Centerline is valid? [True, True] Translation: X:187.18, Y:-10.82, Z:-2.59 [[ 9.99930318e-01 1.01039287e-02 6.10481881e-03 1.87179373e+02] [-1.01017510e-02 9.99948901e-01 -3.87454401e-04 -1.08207046e+01] [-6.10842167e-03 3.25758043e-04 9.99981290e-01 -2.58810130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96037174299997 meters 0.03136726546576545 Centerline is valid? [True, True] Translation: X:187.24, Y:-10.82, Z:-2.59 [[ 9.99899994e-01 1.31365399e-02 5.23771692e-03 1.87239818e+02] [-1.31349766e-02 9.99913677e-01 -3.32755383e-04 -1.08162024e+01] [-5.24163604e-03 2.63924816e-04 9.99986228e-01 -2.58881458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02037174299997 meters 0.031826507232083794 Centerline is valid? [True, True] Translation: X:187.30, Y:-10.81, Z:-2.59 [[ 9.99884204e-01 1.45552570e-02 4.44102052e-03 1.87299466e+02] [-1.45541469e-02 9.99894043e-01 -2.82188273e-04 -1.08134702e+01] [-4.44465728e-03 2.17520331e-04 9.99990099e-01 -2.59103719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08037174299997 meters 0.030394104786543356 Centerline is valid? [True, True] Translation: X:187.36, Y:-10.81, Z:-2.59 [[ 9.99883414e-01 1.45961030e-02 4.48459047e-03 1.87358837e+02] [-1.45949717e-02 9.99893447e-01 -2.84883952e-04 -1.08117822e+01] [-4.48827082e-03 2.19398268e-04 9.99989904e-01 -2.59196304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14037174299997 meters 0.030781842552932853 Centerline is valid? [True, True] Translation: X:187.42, Y:-10.81, Z:-2.59 [[ 9.99871607e-01 1.57718649e-02 2.83140356e-03 1.87418114e+02] [-1.57714182e-02 9.99875607e-01 -1.80021841e-04 -1.08113577e+01] [-2.83389064e-03 1.35343478e-04 9.99995975e-01 -2.59382186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20037174299998 meters 0.030312472151421705 Centerline is valid? [True, True] Translation: X:187.48, Y:-10.81, Z:-2.59 [[ 9.99866282e-01 1.61459475e-02 2.59367568e-03 1.87477182e+02] [-1.61455742e-02 9.99869638e-01 -1.64794380e-04 -1.08102505e+01] [-2.59599833e-03 1.22895961e-04 9.99996623e-01 -2.59382922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26037174299998 meters 0.02984959477535043 Centerline is valid? [True, True] Translation: X:187.54, Y:-10.81, Z:-2.59 [[ 9.99846502e-01 1.71410532e-02 3.62731404e-03 1.87536025e+02] [-1.71403319e-02 9.99853067e-01 -2.29841115e-04 -1.08093756e+01] [-3.63072079e-03 1.67632468e-04 9.99993395e-01 -2.59161981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32037174299998 meters 0.02930926954369047 Centerline is valid? [True, True] Translation: X:187.60, Y:-10.81, Z:-2.59 [[ 9.99888966e-01 1.36900919e-02 5.88530489e-03 1.87595429e+02] [-1.36881405e-02 9.99906244e-01 -3.71726696e-04 -1.08116601e+01] [-5.88984208e-03 2.91126542e-04 9.99982612e-01 -2.59069264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38037174299998 meters 0.030343619386104297 Centerline is valid? [True, True] Translation: X:187.66, Y:-10.81, Z:-2.59 [[ 9.99941822e-01 1.01512406e-02 3.64762039e-03 1.87655949e+02] [-1.01504692e-02 9.99948456e-01 -2.29920871e-04 -1.08143745e+01] [-3.64976636e-03 1.92882436e-04 9.99993321e-01 -2.59269028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.440371743 meters 0.031858110564573716 Centerline is valid? [True, True] Translation: X:187.72, Y:-10.82, Z:-2.59 [[ 9.99965348e-01 8.13382301e-03 1.77287285e-03 1.87715599e+02] [-8.13363684e-03 9.99966915e-01 -1.12191611e-04 -1.08173680e+01] [-1.77372675e-03 9.77678197e-05 9.99998422e-01 -2.59463547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.500371743 meters 0.03203170825691185 Centerline is valid? [True, True] Translation: X:187.77, Y:-10.82, Z:-2.59 [[ 9.99975979e-01 6.64965593e-03 1.95551869e-03 1.87774745e+02] [-6.64942641e-03 9.99977885e-01 -1.23846681e-04 -1.08201248e+01] [-1.95629898e-03 1.10840628e-04 9.99998080e-01 -2.59428244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.560371743 meters 0.03247017915502611 Centerline is valid? [True, True] Translation: X:187.83, Y:-10.82, Z:-2.59 [[ 9.99981407e-01 5.19407078e-03 3.19495399e-03 1.87834597e+02] [-5.19345342e-03 9.99986494e-01 -2.01494222e-04 -1.08225389e+01] [-3.19595742e-03 1.84897631e-04 9.99994876e-01 -2.59367642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.620371743 meters 0.03426316705358354 Centerline is valid? [True, True] Translation: X:187.89, Y:-10.83, Z:-2.60 [[ 9.99993943e-01 2.97325456e-03 1.80938967e-03 1.87894560e+02] [-2.97305305e-03 9.99995574e-01 -1.14043976e-04 -1.08278155e+01] [-1.80972075e-03 1.08663873e-04 9.99998357e-01 -2.59597101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.680371743 meters 0.03436978384012657 Centerline is valid? [True, True] Translation: X:187.95, Y:-10.83, Z:-2.60 [[ 9.99999047e-01 5.87313193e-04 1.24961098e-03 1.87954675e+02] [-5.87215159e-04 9.99999824e-01 -7.88171281e-05 -1.08322673e+01] [-1.24965705e-03 7.80832625e-05 9.99999216e-01 -2.59730301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74037174299997 meters 0.03624494448416247 Centerline is valid? [True, True] Translation: X:188.02, Y:-10.84, Z:-2.60 [[ 9.99998179e-01 -1.86459270e-03 -4.07698369e-04 1.88015584e+02] [ 1.86460341e-03 9.99998261e-01 2.58905798e-05 -1.08375779e+01] [ 4.07649385e-04 -2.66507284e-05 9.99999917e-01 -2.59908823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80037174299997 meters 0.03416131489510855 Centerline is valid? [True, True] Translation: X:188.08, Y:-10.84, Z:-2.60 [[ 9.99985806e-01 -5.28917784e-03 6.42546194e-04 1.88076328e+02] [ 5.28920490e-03 9.99986011e-01 -4.04083105e-05 -1.08385697e+01] [-6.42323479e-04 4.38062954e-05 9.99999793e-01 -2.59909314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86037174299997 meters 0.04040537065188683 Centerline is valid? [True, True] Translation: X:188.14, Y:-10.85, Z:-2.60 [[ 9.99945341e-01 -1.03830022e-02 1.22824640e-03 1.88135248e+02] [ 1.03831048e-02 9.99946091e-01 -7.71860021e-05 -1.08500738e+01] [-1.22737877e-03 8.99347944e-05 9.99999243e-01 -2.60057223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92037174299998 meters 0.04290665440081821 Centerline is valid? [True, True] Translation: X:188.20, Y:-10.86, Z:-2.60 [[ 9.99875763e-01 -1.57572705e-02 4.08039088e-04 1.88195307e+02] [ 1.57572821e-02 9.99875846e-01 -2.51660542e-05 -1.08582819e+01] [-4.07591880e-04 3.15925147e-05 9.99999916e-01 -2.60303136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98037174299998 meters 0.04345927993768719 Centerline is valid? [True, True] Translation: X:188.26, Y:-10.86, Z:-2.60 [[ 9.99808651e-01 -1.95593430e-02 -3.05226351e-04 1.88255676e+02] [ 1.95593498e-02 9.99808697e-01 1.92530408e-05 -1.08622488e+01] [ 3.04791383e-04 -2.52193857e-05 9.99999953e-01 -2.60368880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04037174299998 meters 0.04271262072887582 Centerline is valid? [True, True] Translation: X:188.32, Y:-10.86, Z:-2.60 [[ 9.99760381e-01 -2.18352452e-02 1.55036578e-03 1.88317317e+02] [ 2.18354219e-02 9.99761574e-01 -9.71052447e-05 -1.08622250e+01] [-1.54787581e-03 1.30934867e-04 9.99998793e-01 -2.60134751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10037174299998 meters 0.04504445014967448 Centerline is valid? [True, True] Translation: X:188.38, Y:-10.87, Z:-2.60 [[ 9.99752172e-01 -2.20912789e-02 2.75118716e-03 1.88378697e+02] [ 2.20918346e-02 9.99755931e-01 -1.71742051e-04 -1.08680802e+01] [-2.74672168e-03 2.32478261e-04 9.99996201e-01 -2.60126177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16037174299998 meters 0.041636052266937014 Centerline is valid? [True, True] Translation: X:188.44, Y:-10.87, Z:-2.60 [[ 9.99751917e-01 -2.20538634e-02 3.11943810e-03 1.88441865e+02] [ 2.20545804e-02 9.99756749e-01 -1.95624858e-04 -1.08660470e+01] [-3.11436501e-03 2.64374225e-04 9.99995115e-01 -2.60153710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.220371743 meters 0.04248103104324779 Centerline is valid? [True, True] Translation: X:188.50, Y:-10.87, Z:-2.60 [[ 9.99836496e-01 -1.79200165e-02 2.41937029e-03 1.88502868e+02] [ 1.79204386e-02 9.99839404e-01 -1.52914771e-04 -1.08659999e+01] [-2.41624151e-03 1.96245946e-04 9.99997062e-01 -2.60323037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.280371743 meters 0.03999237218541629 Centerline is valid? [True, True] Translation: X:188.56, Y:-10.86, Z:-2.60 [[ 9.99917040e-01 -1.22339241e-02 4.03032999e-03 1.88563703e+02] [ 1.22350499e-02 9.99925117e-01 -2.54796456e-04 -1.08595732e+01] [-4.02691102e-03 3.04086606e-04 9.99991846e-01 -2.60288326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.340371743 meters 0.03783120543421081 Centerline is valid? [True, True] Translation: X:188.62, Y:-10.86, Z:-2.60 [[ 9.99958059e-01 -8.22767327e-03 4.02309489e-03 1.88624355e+02] [ 8.22876263e-03 9.99966111e-01 -2.54297894e-04 -1.08554563e+01] [-4.02086627e-03 2.87392321e-04 9.99991875e-01 -2.60432981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.400371743 meters 0.03909114003790289 Centerline is valid? [True, True] Translation: X:188.68, Y:-10.86, Z:-2.61 [[ 9.99983790e-01 -4.77909509e-03 3.09522413e-03 1.88684443e+02] [ 4.77972352e-03 9.99988558e-01 -1.95665626e-04 -1.08555466e+01] [-3.09425361e-03 2.10456770e-04 9.99995191e-01 -2.60637430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46037174299997 meters 0.033590882203592014 Centerline is valid? [True, True] Translation: X:188.75, Y:-10.85, Z:-2.61 [[ 9.99996873e-01 -1.67421796e-03 1.85786066e-03 1.88746001e+02] [ 1.67443862e-03 9.99998591e-01 -1.17221101e-04 -1.08466524e+01] [-1.85766179e-03 1.20331609e-04 9.99998267e-01 -2.60783887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52037174299997 meters 0.03413369945329821 Centerline is valid? [True, True] Translation: X:188.81, Y:-10.85, Z:-2.61 [[ 9.99995812e-01 -7.74701437e-05 2.89308089e-03 1.88807375e+02] [ 7.79985531e-05 9.99999980e-01 -1.82533530e-04 -1.08474571e+01] [-2.89306669e-03 1.82758421e-04 9.99995798e-01 -2.60874173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58037174299997 meters 0.035323831072574655 Centerline is valid? [True, True] Translation: X:188.87, Y:-10.85, Z:-2.61 [[ 9.99992001e-01 -4.03091880e-04 3.97925962e-03 1.88868526e+02] [ 4.04095489e-04 9.99999887e-01 -2.51409152e-04 -1.08511136e+01] [-3.97915783e-03 2.53015142e-04 9.99992051e-01 -2.60880829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64037174299997 meters 0.03661439213684663 Centerline is valid? [True, True] Translation: X:188.93, Y:-10.86, Z:-2.61 [[ 9.99989700e-01 -2.58951262e-03 3.72737580e-03 1.88929030e+02] [ 2.59040817e-03 9.99996617e-01 -2.35455127e-04 -1.08556725e+01] [-3.72675348e-03 2.45108126e-04 9.99993026e-01 -2.61065066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70037174299998 meters 0.03714537752340638 Centerline is valid? [True, True] Translation: X:188.99, Y:-10.86, Z:-2.61 [[ 9.99966086e-01 -7.51347086e-03 3.37257489e-03 1.88989814e+02] [ 7.51423391e-03 9.99971745e-01 -2.13637146e-04 -1.08599730e+01] [-3.37087444e-03 2.38972217e-04 9.99994290e-01 -2.61168520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76037174299998 meters 0.04035763754359233 Centerline is valid? [True, True] Translation: X:189.05, Y:-10.87, Z:-2.61 [[ 9.99930649e-01 -1.15087290e-02 2.49920406e-03 1.89049197e+02] [ 1.15091609e-02 9.99933755e-01 -1.58521963e-04 -1.08674015e+01] [-2.49721412e-03 1.87274711e-04 9.99996864e-01 -2.61293902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82037174299998 meters 0.041202697134639914 Centerline is valid? [True, True] Translation: X:189.11, Y:-10.87, Z:-2.61 [[ 9.99873425e-01 -1.56970903e-02 2.59542065e-03 1.89109662e+02] [ 1.56975696e-02 9.99876772e-01 -1.64370307e-04 -1.08706213e+01] [-2.59252068e-03 2.05091298e-04 9.99996618e-01 -2.61376630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88037174299998 meters 0.04266307718949349 Centerline is valid? [True, True] Translation: X:189.17, Y:-10.87, Z:-2.61 [[ 9.99871536e-01 -1.55370465e-02 3.93840996e-03 1.89171481e+02] [ 1.55381461e-02 9.99879245e-01 -2.48764935e-04 -1.08740338e+01] [-3.93406930e-03 3.09928567e-04 9.99992213e-01 -2.61358915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.940371743 meters 0.039158770290776496 Centerline is valid? [True, True] Translation: X:189.23, Y:-10.87, Z:-2.61 [[ 9.99906145e-01 -1.26059728e-02 5.36568069e-03 1.89232660e+02] [ 1.26079785e-02 9.99920458e-01 -3.40127745e-04 -1.08699264e+01] [-5.36096626e-03 4.07746209e-04 9.99985547e-01 -2.61285440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.000371743 meters 0.039557934026792745 Centerline is valid? [True, True] Translation: X:189.29, Y:-10.87, Z:-2.61 [[ 9.99926858e-01 -1.05158567e-02 5.97458383e-03 1.89294620e+02] [ 1.05183054e-02 9.99944609e-01 -3.78572739e-04 -1.08725770e+01] [-5.97027188e-03 4.41387546e-04 9.99982080e-01 -2.61340968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.060371743 meters 0.039420446219117035 Centerline is valid? [True, True] Translation: X:189.36, Y:-10.88, Z:-2.62 [[ 9.99950446e-01 -8.54217810e-03 5.11232514e-03 1.89355720e+02] [ 8.54394698e-03 9.99963447e-01 -3.24264193e-04 -1.08750281e+01] [-5.10936835e-03 3.67927560e-04 9.99986879e-01 -2.61584084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.120371743 meters 0.03746472075830012 Centerline is valid? [True, True] Translation: X:189.42, Y:-10.87, Z:-2.62 [[ 9.99957838e-01 -8.61602706e-03 3.17580148e-03 1.89418172e+02] [ 8.61670850e-03 9.99962855e-01 -2.00953456e-04 -1.08741687e+01] [-3.17395209e-03 2.28309939e-04 9.99994937e-01 -2.61742645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.180371743 meters 0.03916254494395701 Centerline is valid? [True, True] Translation: X:189.48, Y:-10.88, Z:-2.62 [[ 9.99962701e-01 -8.48793107e-03 1.59718233e-03 1.89479174e+02] [ 8.48810302e-03 9.99963970e-01 -1.00909521e-04 -1.08779244e+01] [-1.59626827e-03 1.14462805e-04 9.99998719e-01 -2.61883802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24037174299997 meters 0.036560653023566356 Centerline is valid? [True, True] Translation: X:189.54, Y:-10.88, Z:-2.62 [[ 9.99967442e-01 -8.01936238e-03 8.97527306e-04 1.89541715e+02] [ 8.01941600e-03 9.99967842e-01 -5.61607963e-05 -1.08755947e+01] [-8.97048070e-04 6.33566127e-05 9.99999596e-01 -2.61897356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30037174299997 meters 0.03839133987279844 Centerline is valid? [True, True] Translation: X:189.60, Y:-10.88, Z:-2.62 [[ 9.99972072e-01 -7.42319001e-03 8.67007304e-04 1.89603126e+02] [ 7.42324007e-03 9.99972446e-01 -5.45340831e-05 -1.08766978e+01] [-8.66578598e-04 6.09685634e-05 9.99999623e-01 -2.61975635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36037174299997 meters 0.036355423700330895 Centerline is valid? [True, True] Translation: X:189.67, Y:-10.87, Z:-2.62 [[ 9.99969708e-01 -7.31803218e-03 2.65116380e-03 1.89666197e+02] [ 7.31850387e-03 9.99973205e-01 -1.68258877e-04 -1.08723693e+01] [-2.64986144e-03 1.87656333e-04 9.99996472e-01 -2.61825382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42037174299998 meters 0.037199628323409874 Centerline is valid? [True, True] Translation: X:189.73, Y:-10.87, Z:-2.62 [[ 9.99958236e-01 -8.24352123e-03 3.94601797e-03 1.89728280e+02] [ 8.24457653e-03 9.99965981e-01 -2.51242998e-04 -1.08749445e+01] [-3.94381260e-03 2.83765752e-04 9.99992183e-01 -2.61811554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48037174299998 meters 0.04510945763360162 Centerline is valid? [True, True] Translation: X:189.79, Y:-10.89, Z:-2.62 [[ 9.99931336e-01 -1.12804115e-02 3.17420742e-03 1.89787517e+02] [ 1.12811124e-02 9.99936346e-01 -2.02965548e-04 -1.08857343e+01] [-3.17171583e-03 2.38760202e-04 9.99994942e-01 -2.62122835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54037174299998 meters 0.04326557049375637 Centerline is valid? [True, True] Translation: X:189.85, Y:-10.88, Z:-2.62 [[ 9.99877048e-01 -1.55783692e-02 1.78957027e-03 1.89849079e+02] [ 1.55785982e-02 9.99878640e-01 -1.14087365e-04 -1.08840569e+01] [-1.78757579e-03 1.41952334e-04 9.99998392e-01 -2.62258032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60037174299998 meters 0.041732416008737123 Centerline is valid? [True, True] Translation: X:189.91, Y:-10.88, Z:-2.62 [[ 9.99822861e-01 -1.87875747e-02 1.12829692e-03 1.89909665e+02] [ 1.87876679e-02 9.99823494e-01 -7.21136516e-05 -1.08829001e+01] [-1.12674293e-03 9.32989453e-05 9.99999361e-01 -2.62345774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66037174299998 meters 0.04719272681085117 Centerline is valid? [True, True] Translation: X:189.97, Y:-10.89, Z:-2.63 [[ 9.99735679e-01 -2.29842020e-02 5.45651423e-04 1.89969636e+02] [ 2.29842244e-02 9.99735827e-01 -3.47733056e-05 -1.08904436e+01] [-5.44708040e-04 4.73054890e-05 9.99999851e-01 -2.62615426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.720371743 meters 0.04804810363647486 Centerline is valid? [True, True] Translation: X:190.03, Y:-10.89, Z:-2.63 [[ 9.99647963e-01 -2.65179016e-02 8.66220484e-04 1.90030560e+02] [ 2.65179595e-02 9.99648336e-01 -5.53833939e-05 -1.08908008e+01] [-8.64447214e-04 7.83342966e-05 9.99999623e-01 -2.62704684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.780371743 meters 0.0484072477137001 Centerline is valid? [True, True] Translation: X:190.09, Y:-10.89, Z:-2.63 [[ 9.99580384e-01 -2.89563365e-02 7.65639409e-04 1.90091490e+02] [ 2.89563822e-02 9.99580675e-01 -4.87440910e-05 -1.08928460e+01] [-7.63906907e-04 7.08937846e-05 9.99999706e-01 -2.62814660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.840371743 meters 0.049159859161478324 Centerline is valid? [True, True] Translation: X:190.15, Y:-10.90, Z:-2.63 [[ 9.99499466e-01 -3.16268804e-02 7.46529038e-04 1.90151784e+02] [ 3.16269247e-02 9.99499743e-01 -4.77157789e-05 -1.08954467e+01] [-7.44646481e-04 7.13023133e-05 9.99999720e-01 -2.62927652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.900371743 meters 0.051493072700422624 Centerline is valid? [True, True] Translation: X:190.21, Y:-10.90, Z:-2.63 [[ 9.99433865e-01 -3.36444256e-02 4.58112126e-05 1.90212398e+02] [ 3.36444257e-02 9.99433866e-01 -2.67750558e-06 -1.09001209e+01] [-4.56951943e-05 4.21728169e-06 9.99999999e-01 -2.62993879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96037174299997 meters 0.051573138683232225 Centerline is valid? [True, True] Translation: X:190.27, Y:-10.90, Z:-2.63 [[ 9.99414252e-01 -3.42207045e-02 3.10840571e-04 1.90274748e+02] [ 3.42207120e-02 9.99414300e-01 -1.88972037e-05 -1.09001413e+01] [-3.10011836e-04 2.95233204e-05 9.99999952e-01 -2.63023216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02037174299997 meters 0.05400451770976058 Centerline is valid? [True, True] Translation: X:190.33, Y:-10.90, Z:-2.63 [[ 9.99497111e-01 -3.16946962e-02 9.85959381e-04 1.90334471e+02] [ 3.16947739e-02 9.99497592e-01 -6.33319255e-05 -1.09026451e+01] [-9.83456742e-04 9.45498362e-05 9.99999512e-01 -2.63131322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08037174299997 meters 0.046672974391988135 Centerline is valid? [True, True] Translation: X:190.40, Y:-10.89, Z:-2.63 [[ 9.99599829e-01 -2.82856046e-02 -3.26342943e-04 1.90395863e+02] [ 2.82856129e-02 9.99599882e-01 2.09267920e-05 -1.08908019e+01] [ 3.25620441e-04 -3.01492278e-05 9.99999947e-01 -2.63186718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14037174299997 meters 0.05055634126949843 Centerline is valid? [True, True] Translation: X:190.46, Y:-10.90, Z:-2.63 [[ 9.99640760e-01 -2.68020055e-02 -5.29302682e-05 1.90456632e+02] [ 2.68020057e-02 9.99640762e-01 3.90551525e-06 -1.08967032e+01] [ 5.28065779e-05 -5.32274958e-06 9.99999999e-01 -2.63372737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20037174299998 meters 0.04631371337157085 Centerline is valid? [True, True] Translation: X:190.52, Y:-10.89, Z:-2.63 [[ 9.99655088e-01 -2.62572054e-02 5.14715102e-04 1.90519286e+02] [ 2.62572253e-02 9.99655219e-01 -3.19958598e-05 -1.08908554e+01] [-5.13697516e-04 4.54998144e-05 9.99999867e-01 -2.63386083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26037174299998 meters 0.04765969732846938 Centerline is valid? [True, True] Translation: X:190.58, Y:-10.89, Z:-2.64 [[ 9.99699497e-01 -2.45074529e-02 5.49030217e-04 1.90579587e+02] [ 2.45074758e-02 9.99699646e-01 -3.49893085e-05 -1.08923690e+01] [-5.48007815e-04 4.84341388e-05 9.99999849e-01 -2.63522739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32037174299998 meters 0.04890304337123382 Centerline is valid? [True, True] Translation: X:190.64, Y:-10.90, Z:-2.64 [[ 9.99758965e-01 -2.19435830e-02 7.00882247e-04 1.90638816e+02] [ 2.19436200e-02 9.99759209e-01 -4.52363488e-05 -1.08958741e+01] [-6.99720833e-04 6.06053390e-05 9.99999753e-01 -2.63731078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38037174299998 meters 0.04236558393257248 Centerline is valid? [True, True] Translation: X:190.70, Y:-10.89, Z:-2.64 [[ 9.99840721e-01 -1.77615831e-02 1.74902034e-03 1.90700145e+02] [ 1.77618063e-02 9.99842240e-01 -1.12171027e-04 -1.08870526e+01] [-1.74675208e-03 1.43218921e-04 9.99998464e-01 -2.63653583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.440371743 meters 0.04117206083086572 Centerline is valid? [True, True] Translation: X:190.76, Y:-10.89, Z:-2.64 [[ 9.99924885e-01 -1.19420006e-02 2.75928704e-03 1.90760825e+02] [ 1.19425346e-02 9.99928670e-01 -1.77139081e-04 -1.08862254e+01] [-2.75697482e-03 2.10078656e-04 9.99996177e-01 -2.63818771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.500371743 meters 0.04072290304029436 Centerline is valid? [True, True] Translation: X:190.82, Y:-10.89, Z:-2.64 [[ 9.99978453e-01 -5.25769091e-03 3.93064140e-03 1.90820949e+02] [ 5.25872323e-03 9.99986141e-01 -2.52345796e-04 -1.08868235e+01] [-3.92926017e-03 2.73010514e-04 9.99992243e-01 -2.63978948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.560371743 meters 0.03629865319177494 Centerline is valid? [True, True] Translation: X:190.88, Y:-10.88, Z:-2.64 [[ 9.99990392e-01 -6.79782089e-04 4.33055716e-03 1.90882101e+02] [ 6.80992113e-04 9.99999730e-01 -2.77947071e-04 -1.08822156e+01] [-4.33036705e-03 2.80893476e-04 9.99990584e-01 -2.63973474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.620371743 meters 0.03482141813710583 Centerline is valid? [True, True] Translation: X:190.94, Y:-10.88, Z:-2.64 [[ 9.99967630e-01 5.86008564e-03 5.51346348e-03 1.90943179e+02] [-5.85822403e-03 9.99982778e-01 -3.53737278e-04 -1.08807464e+01] [-5.51544146e-03 3.21426723e-04 9.99984738e-01 -2.63984312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.680371743 meters 0.03261005446056239 Centerline is valid? [True, True] Translation: X:191.00, Y:-10.88, Z:-2.64 [[ 9.99909595e-01 1.18160218e-02 6.41736597e-03 1.91003824e+02] [-1.18136203e-02 9.99930132e-01 -4.12001760e-04 -1.08788886e+01] [-6.42178583e-03 3.36152189e-04 9.99979324e-01 -2.64055695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74037174299997 meters 0.03197339459197168 Centerline is valid? [True, True] Translation: X:191.06, Y:-10.88, Z:-2.64 [[ 9.99865474e-01 1.50329849e-02 6.56067531e-03 1.91063609e+02] [-1.50305422e-02 9.99886946e-01 -4.21466638e-04 -1.08798851e+01] [-6.56626951e-03 3.22799433e-04 9.99978390e-01 -2.64179642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80037174299997 meters 0.028826839941669367 Centerline is valid? [True, True] Translation: X:191.12, Y:-10.88, Z:-2.64 [[ 9.99791617e-01 1.96744440e-02 5.44409016e-03 1.91123669e+02] [-1.96728321e-02 9.99806410e-01 -3.49476490e-04 -1.08768052e+01] [-5.44991200e-03 2.42302994e-04 9.99985120e-01 -2.64311606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86037174299997 meters 0.027782786502548652 Centerline is valid? [True, True] Translation: X:191.18, Y:-10.88, Z:-2.64 [[ 9.99701217e-01 2.38909000e-02 5.16736294e-03 1.91183326e+02] [-2.38895037e-02 9.99714550e-01 -3.31787290e-04 -1.08762296e+01] [-5.17381461e-03 2.08242421e-04 9.99986594e-01 -2.64412151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92037174299998 meters 0.02685293583512601 Centerline is valid? [True, True] Translation: X:191.24, Y:-10.88, Z:-2.64 [[ 9.99620140e-01 2.68997338e-02 5.99836373e-03 1.91243089e+02] [-2.68979081e-02 9.99638112e-01 -3.84845295e-04 -1.08780960e+01] [-6.00654523e-03 2.23355671e-04 9.99981936e-01 -2.64470542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98037174299998 meters 0.025861613898441976 Centerline is valid? [True, True] Translation: X:191.30, Y:-10.88, Z:-2.64 [[ 9.99531704e-01 2.96964773e-02 7.38185224e-03 1.91302269e+02] [-2.96937873e-02 9.99558930e-01 -4.73764573e-04 -1.08791086e+01] [-7.39266546e-03 2.54347561e-04 9.99972642e-01 -2.64376324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04037174299998 meters 0.02625771164422262 Centerline is valid? [True, True] Translation: X:191.36, Y:-10.88, Z:-2.64 [[ 9.99533365e-01 2.93102642e-02 8.60007434e-03 1.91360303e+02] [-2.93066103e-02 9.99570317e-01 -5.50610249e-04 -1.08843961e+01] [-8.61251757e-03 2.98314287e-04 9.99962867e-01 -2.64346850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10037174299998 meters 0.026110338957633608 Centerline is valid? [True, True] Translation: X:191.42, Y:-10.89, Z:-2.64 [[ 9.99564459e-01 2.83214657e-02 8.29376897e-03 1.91419287e+02] [-2.83180421e-02 9.99598823e-01 -5.29967837e-04 -1.08896191e+01] [-8.30545117e-03 2.94873716e-04 9.99965466e-01 -2.64492912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16037174299998 meters 0.026914613420313465 Centerline is valid? [True, True] Translation: X:191.48, Y:-10.90, Z:-2.65 [[ 9.99589165e-01 2.79449719e-02 6.37026332e-03 1.91477348e+02] [-2.79429460e-02 9.99609437e-01 -4.06825153e-04 -1.08968800e+01] [-6.37914404e-03 2.28654091e-04 9.99979627e-01 -2.64694091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.220371743 meters 0.026738353222580627 Centerline is valid? [True, True] Translation: X:191.54, Y:-10.90, Z:-2.65 [[ 9.99570897e-01 2.87936386e-02 5.38041525e-03 1.91535979e+02] [-2.87922069e-02 9.99585359e-01 -3.43381404e-04 -1.09018159e+01] [-5.38807151e-03 1.88320029e-04 9.99985467e-01 -2.64797547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.280371743 meters 0.02585166653834409 Centerline is valid? [True, True] Translation: X:191.59, Y:-10.91, Z:-2.65 [[ 9.99498247e-01 3.12198189e-02 5.34579148e-03 1.91594882e+02] [-3.12184422e-02 9.99512528e-01 -3.40803874e-04 -1.09055624e+01] [-5.35382539e-03 1.73745592e-04 9.99985653e-01 -2.64861411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.340371743 meters 0.024064052789555385 Centerline is valid? [True, True] Translation: X:191.65, Y:-10.91, Z:-2.65 [[ 9.99299599e-01 3.69218201e-02 6.09015394e-03 1.91654588e+02] [-3.69201442e-02 9.99318144e-01 -3.87418042e-04 -1.09074638e+01] [-6.10030551e-03 1.62297332e-04 9.99981380e-01 -2.64756116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.400371743 meters 0.02293747469035546 Centerline is valid? [True, True] Translation: X:191.71, Y:-10.91, Z:-2.65 [[ 9.99125809e-01 4.10580968e-02 7.86454614e-03 1.91713329e+02] [-4.10554317e-02 9.99156745e-01 -5.00095901e-04 -1.09104707e+01] [-7.87844731e-03 1.76776385e-04 9.99968949e-01 -2.64653780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46037174299997 meters 0.022297632952537227 Centerline is valid? [True, True] Translation: X:191.77, Y:-10.92, Z:-2.65 [[ 9.98920652e-01 4.56093297e-02 8.79321470e-03 1.91771021e+02] [-4.56061802e-02 9.98959341e-01 -5.58465024e-04 -1.09165831e+01] [-8.80953518e-03 1.56837312e-04 9.99961183e-01 -2.64586632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52037174299997 meters 0.02227003602483913 Centerline is valid? [True, True] Translation: X:191.83, Y:-10.93, Z:-2.65 [[ 9.98873482e-01 4.65966834e-02 8.97309060e-03 1.91828074e+02] [-4.65934512e-02 9.98913773e-01 -5.69030031e-04 -1.09256904e+01] [-8.98985871e-03 1.50301749e-04 9.99959579e-01 -2.64591797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58037174299997 meters 0.022403718344570504 Centerline is valid? [True, True] Translation: X:191.89, Y:-10.94, Z:-2.65 [[ 9.98953799e-01 4.48611219e-02 8.87624929e-03 1.91886557e+02] [-4.48578985e-02 9.98993220e-01 -5.62013760e-04 -1.09359517e+01] [-8.89252543e-03 1.63255891e-04 9.99960447e-01 -2.64741661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64037174299997 meters 0.02260414312369624 Centerline is valid? [True, True] Translation: X:191.95, Y:-10.95, Z:-2.65 [[ 9.99139864e-01 4.07833857e-02 7.49982962e-03 1.91945589e+02] [-4.07809741e-02 9.99167998e-01 -4.74268165e-04 -1.09486530e+01] [-7.51293200e-03 1.68009872e-04 9.99971763e-01 -2.64891700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70037174299998 meters 0.023163223730690068 Centerline is valid? [True, True] Translation: X:192.00, Y:-10.96, Z:-2.65 [[ 9.99222375e-01 3.89199498e-02 6.31534067e-03 1.92004074e+02] [-3.89182017e-02 9.99242320e-01 -3.99491431e-04 -1.09583057e+01] [-6.32610385e-03 1.53399074e-04 9.99979978e-01 -2.64952206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76037174299998 meters 0.023229064601262655 Centerline is valid? [True, True] Translation: X:192.06, Y:-10.97, Z:-2.65 [[ 9.99253332e-01 3.81728180e-02 5.96786292e-03 1.92062602e+02] [-3.81712459e-02 9.99271141e-01 -3.77134890e-04 -1.09671270e+01] [-5.97790950e-03 1.49052532e-04 9.99982121e-01 -2.64984934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82037174299998 meters 0.02357393550827301 Centerline is valid? [True, True] Translation: X:192.12, Y:-10.98, Z:-2.65 [[ 9.99246401e-01 3.83162753e-02 6.20429341e-03 1.92121274e+02] [-3.83145821e-02 9.99265650e-01 -3.91577173e-04 -1.09766480e+01] [-6.21474107e-03 1.53567172e-04 9.99980677e-01 -2.65059154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88037174299998 meters 0.02369805112495544 Centerline is valid? [True, True] Translation: X:192.18, Y:-10.99, Z:-2.65 [[ 9.99256003e-01 3.81009472e-02 5.97974730e-03 1.92179446e+02] [-3.80993728e-02 9.99273884e-01 -3.77019204e-04 -1.09877588e+01] [-5.98977010e-03 1.48914082e-04 9.99982050e-01 -2.65215130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.940371743 meters 0.024261566766227156 Centerline is valid? [True, True] Translation: X:192.24, Y:-11.00, Z:-2.65 [[ 9.99360781e-01 3.54301440e-02 4.76804119e-03 1.92236974e+02] [-3.54291107e-02 9.99372147e-01 -3.01040466e-04 -1.10013775e+01] [-4.77571346e-03 1.31920577e-04 9.99988588e-01 -2.65495062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.000371743 meters 0.025290344046017908 Centerline is valid? [True, True] Translation: X:192.30, Y:-11.01, Z:-2.66 [[ 9.99477487e-01 3.21436820e-02 3.39648131e-03 1.92295742e+02] [-3.21431413e-02 9.99483253e-01 -2.13686073e-04 -1.10123350e+01] [-3.40159485e-03 1.04400841e-04 9.99994209e-01 -2.65641693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.060371743 meters 0.026213444159336755 Centerline is valid? [True, True] Translation: X:192.36, Y:-11.03, Z:-2.66 [[ 9.99683901e-01 2.49998241e-02 2.66572238e-03 1.92355486e+02] [-2.49994669e-02 9.99687451e-01 -1.67256338e-04 -1.10271143e+01] [-2.66907059e-03 1.00561831e-04 9.99996433e-01 -2.65796957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.120371743 meters 0.028202133828528528 Centerline is valid? [True, True] Translation: X:192.41, Y:-11.04, Z:-2.66 [[ 9.99869751e-01 1.60811419e-02 1.37060720e-03 1.92414455e+02] [-1.60810389e-02 9.99870688e-01 -8.61295650e-05 -1.10431171e+01] [-1.37181502e-03 6.40775590e-05 9.99999057e-01 -2.66000162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.180371743 meters 0.03496630285002637 Centerline is valid? [True, True] Translation: X:192.47, Y:-11.07, Z:-2.67 [[ 9.99969738e-01 7.77827734e-03 1.49617554e-04 1.92472071e+02] [-7.77827595e-03 9.99969749e-01 -9.84994544e-06 -1.10662773e+01] [-1.49689643e-04 8.68588075e-06 9.99999989e-01 -2.66500622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24037174299997 meters 0.03362745999969214 Centerline is valid? [True, True] Translation: X:192.53, Y:-11.07, Z:-2.67 [[ 9.99995829e-01 2.54859625e-03 -1.35906880e-03 1.92532668e+02] [-2.54848290e-03 9.99996749e-01 8.51216058e-05 -1.10724393e+01] [ 1.35928132e-03 -8.16576871e-05 9.99999073e-01 -2.66653553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30037174299997 meters 0.03698480418503438 Centerline is valid? [True, True] Translation: X:192.59, Y:-11.09, Z:-2.67 [[ 9.99992645e-01 -3.27808456e-03 -1.99082276e-03 1.92592611e+02] [ 3.27833929e-03 9.99994618e-01 1.24705968e-04 -1.10868730e+01] [ 1.99040325e-03 -1.31231643e-04 9.99998011e-01 -2.66823642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36037174299997 meters 0.038355302121750354 Centerline is valid? [True, True] Translation: X:192.65, Y:-11.10, Z:-2.67 [[ 9.99967559e-01 -7.97191369e-03 -1.15319529e-03 1.92652692e+02] [ 7.97200232e-03 9.99968220e-01 7.22787797e-05 -1.10994337e+01] [ 1.15258244e-03 -8.14697104e-05 9.99999332e-01 -2.66800269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42037174299998 meters 0.03816436481111656 Centerline is valid? [True, True] Translation: X:192.71, Y:-11.11, Z:-2.67 [[ 9.99960183e-01 -8.84675182e-03 -1.16968108e-03 1.92714968e+02] [ 8.84684484e-03 9.99960863e-01 7.43707486e-05 -1.11059572e+01] [ 1.16897736e-03 -8.47157743e-05 9.99999313e-01 -2.66862638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48037174299998 meters 0.03882324540452524 Centerline is valid? [True, True] Translation: X:192.78, Y:-11.12, Z:-2.67 [[ 9.99941593e-01 -1.07847261e-02 -7.07984825e-04 1.92775443e+02] [ 1.07847605e-02 9.99941842e-01 4.46627563e-05 -1.11174838e+01] [ 7.07461975e-04 -5.22955944e-05 9.99999748e-01 -2.67002376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54037174299998 meters 0.03838249414431485 Centerline is valid? [True, True] Translation: X:192.84, Y:-11.12, Z:-2.67 [[ 9.99938736e-01 -1.09533811e-02 -1.59591100e-03 1.92837524e+02] [ 1.09535566e-02 9.99940003e-01 1.01243327e-04 -1.11246910e+01] [ 1.59470629e-03 -1.18718026e-04 9.99998721e-01 -2.67193057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60037174299998 meters 0.03680464970048315 Centerline is valid? [True, True] Translation: X:192.90, Y:-11.13, Z:-2.67 [[ 9.99952730e-01 -9.41532810e-03 -2.42689119e-03 1.92899110e+02] [ 9.41572779e-03 9.99955659e-01 1.53317737e-04 -1.11312102e+01] [ 2.42534004e-03 -1.76161436e-04 9.99997043e-01 -2.67313356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66037174299998 meters 0.034929735890704056 Centerline is valid? [True, True] Translation: X:192.96, Y:-11.14, Z:-2.67 [[ 9.99978549e-01 -6.17156978e-03 -2.19398182e-03 1.92960090e+02] [ 6.17188779e-03 9.99980944e-01 1.38202995e-04 -1.11371430e+01] [ 2.19308708e-03 -1.51741040e-04 9.99997584e-01 -2.67394748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.720371743 meters 0.034763109739330424 Centerline is valid? [True, True] Translation: X:193.02, Y:-11.14, Z:-2.68 [[ 9.99991490e-01 -2.83055786e-03 -3.00130601e-03 1.93020883e+02] [ 2.83113764e-03 9.99995974e-01 1.88945206e-04 -1.11445447e+01] [ 3.00075911e-03 -1.97440708e-04 9.99995478e-01 -2.67565563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.780371743 meters 0.03515487771822385 Centerline is valid? [True, True] Translation: X:193.08, Y:-11.15, Z:-2.68 [[ 9.99996526e-01 -6.67940569e-04 -2.54998451e-03 1.93080786e+02] [ 6.68350902e-04 9.99999764e-01 1.60067033e-04 -1.11508239e+01] [ 2.54987699e-03 -1.61770762e-04 9.99996736e-01 -2.67623091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.840371743 meters 0.0351931362889447 Centerline is valid? [True, True] Translation: X:193.14, Y:-11.16, Z:-2.68 [[ 9.99995189e-01 3.09832942e-03 1.51854450e-04 1.93139317e+02] [-3.09832796e-03 9.99995200e-01 -9.84254731e-06 -1.11593368e+01] [-1.51884216e-04 9.37200507e-06 9.99999988e-01 -2.67558306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.900371743 meters 0.03309122169847691 Centerline is valid? [True, True] Translation: X:193.20, Y:-11.16, Z:-2.68 [[ 9.99982185e-01 5.93374663e-03 6.48854252e-04 1.93199073e+02] [-5.93372110e-03 9.99982394e-01 -4.12566461e-05 -1.11609347e+01] [-6.49087635e-04 3.74057909e-05 9.99999789e-01 -2.67520720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96037174299997 meters 0.03433557445182848 Centerline is valid? [True, True] Translation: X:193.26, Y:-11.17, Z:-2.68 [[ 9.99973338e-01 7.28975918e-03 4.27390502e-04 1.93257168e+02] [-7.28974807e-03 9.99973429e-01 -2.75600558e-05 -1.11698873e+01] [-4.27580052e-04 2.44437519e-05 9.99999908e-01 -2.67708498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02037174299997 meters 0.03301480725856009 Centerline is valid? [True, True] Translation: X:193.32, Y:-11.17, Z:-2.68 [[ 9.99991677e-01 4.05698632e-03 -4.31841928e-04 1.93317416e+02] [-4.05697499e-03 9.99991770e-01 2.71027086e-05 -1.11747226e+01] [ 4.31948329e-04 -2.53505111e-05 9.99999906e-01 -2.67813625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08037174299997 meters 0.03506579975057397 Centerline is valid? [True, True] Translation: X:193.38, Y:-11.18, Z:-2.68 [[ 9.99999927e-01 -5.28013536e-05 -3.79165596e-04 1.93376020e+02] [ 5.28104050e-05 9.99999998e-01 2.38619238e-05 -1.11836588e+01] [ 3.79164335e-04 -2.38819459e-05 9.99999928e-01 -2.67860545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14037174299997 meters 0.0389339317612198 Centerline is valid? [True, True] Translation: X:193.44, Y:-11.19, Z:-2.68 [[ 9.99983952e-01 -5.62676402e-03 -6.59188973e-04 1.93435182e+02] [ 5.62679330e-03 9.99984169e-01 4.25660669e-05 -1.11936919e+01] [ 6.58939028e-04 -4.62745039e-05 9.99999782e-01 -2.67883150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20037174299998 meters 0.041194160054125004 Centerline is valid? [True, True] Translation: X:193.50, Y:-11.20, Z:-2.68 [[ 9.99965278e-01 -8.33319913e-03 -2.36987646e-05 1.93496111e+02] [ 8.33319918e-03 9.99965278e-01 1.73380236e-06 -1.12006975e+01] [ 2.36834935e-05 -1.93122868e-06 1.00000000e+00 -2.67877605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26037174299998 meters 0.0351059218355436 Centerline is valid? [True, True] Translation: X:193.56, Y:-11.19, Z:-2.67 [[ 9.99947149e-01 -1.00317953e-02 2.25016867e-03 1.93559110e+02] [ 1.00321369e-02 9.99949667e-01 -1.40565676e-04 -1.11943918e+01] [-2.24864529e-03 1.63132247e-04 9.99997458e-01 -2.67479707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32037174299998 meters 0.0389948594935707 Centerline is valid? [True, True] Translation: X:193.62, Y:-11.20, Z:-2.67 [[ 9.99944938e-01 -9.61131194e-03 4.21231634e-03 1.93620007e+02] [ 9.61250814e-03 9.99953764e-01 -2.63821713e-04 -1.12011819e+01] [-4.20958591e-03 3.04298112e-04 9.99991093e-01 -2.67332837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38037174299998 meters 0.037393925369400574 Centerline is valid? [True, True] Translation: X:193.68, Y:-11.20, Z:-2.67 [[ 9.99942504e-01 -9.51864083e-03 4.93803567e-03 1.93682147e+02] [ 9.52029104e-03 9.99954633e-01 -3.10783874e-04 -1.12013522e+01] [-4.93485341e-03 3.57777542e-04 9.99987760e-01 -2.67303445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.440371743 meters 0.036811336298052916 Centerline is valid? [True, True] Translation: X:193.74, Y:-11.20, Z:-2.67 [[ 9.99946226e-01 -9.39356174e-03 4.39397902e-03 1.93744885e+02] [ 9.39486805e-03 9.99955829e-01 -2.76748611e-04 -1.12020917e+01] [-4.39118528e-03 3.18014583e-04 9.99990308e-01 -2.67361939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.500371743 meters 0.037430863663206505 Centerline is valid? [True, True] Translation: X:193.81, Y:-11.20, Z:-2.68 [[ 9.99961298e-01 -8.35399503e-03 2.75925662e-03 1.93807265e+02] [ 8.35450574e-03 9.99965085e-01 -1.73616593e-04 -1.12027041e+01] [-2.75770989e-03 1.96662099e-04 9.99996178e-01 -2.67558280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.560371743 meters 0.03839192583620306 Centerline is valid? [True, True] Translation: X:193.87, Y:-11.21, Z:-2.68 [[ 9.99971383e-01 -7.29577503e-03 2.00146197e-03 1.93869748e+02] [ 7.29604138e-03 9.99973376e-01 -1.25812121e-04 -1.12050047e+01] [-2.00049078e-03 1.40411270e-04 9.99997989e-01 -2.67681991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.620371743 meters 0.03565259391670241 Centerline is valid? [True, True] Translation: X:193.93, Y:-11.20, Z:-2.68 [[ 9.99986994e-01 -4.24765667e-03 2.82282447e-03 1.93931028e+02] [ 4.24817785e-03 9.99990960e-01 -1.78659464e-04 -1.11987917e+01] [-2.82204006e-03 1.90649001e-04 9.99996000e-01 -2.67581273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.680371743 meters 0.038506202570694745 Centerline is valid? [True, True] Translation: X:193.99, Y:-11.21, Z:-2.68 [[ 9.99985392e-01 -4.15673591e-03 3.45512850e-03 1.93991877e+02] [ 4.15751528e-03 9.99991334e-01 -2.18417714e-04 -1.12061282e+01] [-3.45419065e-03 2.32779273e-04 9.99994007e-01 -2.67642885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74037174299997 meters 0.03674798386099933 Centerline is valid? [True, True] Translation: X:194.05, Y:-11.20, Z:-2.67 [[ 9.99987519e-01 -9.49952853e-04 4.90495405e-03 1.94052780e+02] [ 9.51490472e-04 9.99999499e-01 -3.11158984e-04 -1.12020224e+01] [-4.90465600e-03 3.15822117e-04 9.99987922e-01 -2.67481739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80037174299997 meters 0.03492020383072425 Centerline is valid? [True, True] Translation: X:194.11, Y:-11.20, Z:-2.67 [[ 9.99986493e-01 5.31264319e-04 5.17029578e-03 1.94114958e+02] [-5.29577997e-04 9.99999806e-01 -3.27519416e-04 -1.12001306e+01] [-5.17046878e-03 3.24776917e-04 9.99986580e-01 -2.67499391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86037174299997 meters 0.03209258316122061 Centerline is valid? [True, True] Translation: X:194.18, Y:-11.20, Z:-2.68 [[ 9.99991205e-01 6.23988174e-04 4.14735314e-03 1.94177993e+02] [-6.22904489e-04 9.99999772e-01 -2.62581975e-04 -1.11958078e+01] [-4.14751604e-03 2.59996261e-04 9.99991365e-01 -2.67559730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92037174299998 meters 0.033755193494637466 Centerline is valid? [True, True] Translation: X:194.24, Y:-11.20, Z:-2.68 [[ 9.99996204e-01 1.49653223e-04 2.75120485e-03 1.94239122e+02] [-1.49180028e-04 9.99999974e-01 -1.72200025e-04 -1.11989584e+01] [-2.75123055e-03 1.71788947e-04 9.99996201e-01 -2.67714024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98037174299998 meters 0.03509520541034748 Centerline is valid? [True, True] Translation: X:194.30, Y:-11.20, Z:-2.68 [[ 9.99996049e-01 2.30280603e-04 2.80173273e-03 1.94300428e+02] [-2.29781784e-04 9.99999958e-01 -1.78360118e-04 -1.12015461e+01] [-2.80177369e-03 1.77715626e-04 9.99996059e-01 -2.67793793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04037174299998 meters 0.036805097595562955 Centerline is valid? [True, True] Translation: X:194.36, Y:-11.20, Z:-2.68 [[ 9.99987227e-01 2.47672081e-03 4.40589200e-03 1.94359927e+02] [-2.47550474e-03 9.99996896e-01 -2.81440967e-04 -1.12030384e+01] [-4.40657538e-03 2.70530565e-04 9.99990254e-01 -2.67703780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10037174299998 meters 0.036934348296296875 Centerline is valid? [True, True] Translation: X:194.42, Y:-11.20, Z:-2.68 [[ 9.99977680e-01 3.29774953e-03 5.81077344e-03 1.94420683e+02] [-3.29565429e-03 9.99994501e-01 -3.70116872e-04 -1.12046545e+01] [-5.81196203e-03 3.50958310e-04 9.99983049e-01 -2.67602489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16037174299998 meters 0.03913569357578005 Centerline is valid? [True, True] Translation: X:194.48, Y:-11.21, Z:-2.68 [[ 9.99975027e-01 4.82807702e-03 5.16085723e-03 1.94481196e+02] [-4.82644034e-03 9.99988298e-01 -3.29540548e-04 -1.12087938e+01] [-5.16238788e-03 3.04623749e-04 9.99986628e-01 -2.67875460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.220371743 meters 0.039504829062218735 Centerline is valid? [True, True] Translation: X:194.54, Y:-11.21, Z:-2.68 [[ 9.99989932e-01 3.27904238e-03 3.06344821e-03 1.94541998e+02] [-3.27845815e-03 9.99994607e-01 -1.95713660e-04 -1.12119013e+01] [-3.06407344e-03 1.85668303e-04 9.99995288e-01 -2.68085448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.280371743 meters 0.041237514654003514 Centerline is valid? [True, True] Translation: X:194.60, Y:-11.22, Z:-2.68 [[ 9.99995386e-01 2.32853277e-03 1.95063720e-03 1.94602779e+02] [-2.32829419e-03 9.99997282e-01 -1.24569536e-04 -1.12167017e+01] [-1.95092196e-03 1.20027304e-04 9.99998090e-01 -2.68299449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.340371743 meters 0.044395157250244864 Centerline is valid? [True, True] Translation: X:194.66, Y:-11.22, Z:-2.68 [[ 9.99997736e-01 1.44361757e-03 1.56328368e-03 1.94661860e+02] [-1.44346307e-03 9.99998953e-01 -9.99572109e-05 -1.12226753e+01] [-1.56342635e-03 9.77004424e-05 9.99998773e-01 -2.68456239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.400371743 meters 0.04491581749990777 Centerline is valid? [True, True] Translation: X:194.72, Y:-11.22, Z:-2.68 [[ 9.99995520e-01 1.95272923e-03 2.26850629e-03 1.94722049e+02] [-1.95240496e-03 9.99998084e-01 -1.45149902e-04 -1.12243502e+01] [-2.26878538e-03 1.40720209e-04 9.99997416e-01 -2.68440778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46037174299997 meters 0.04647678218499192 Centerline is valid? [True, True] Translation: X:194.78, Y:-11.23, Z:-2.69 [[ 9.99994773e-01 1.87442718e-03 2.63461334e-03 1.94782004e+02] [-1.87399170e-03 9.99998230e-01 -1.67750221e-04 -1.12273959e+01] [-2.63492311e-03 1.62812101e-04 9.99996515e-01 -2.68575423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52037174299997 meters 0.049171864588908855 Centerline is valid? [True, True] Translation: X:194.84, Y:-11.23, Z:-2.69 [[ 9.99998803e-01 2.55305112e-04 1.52583236e-03 1.94842936e+02] [-2.55156569e-04 9.99999963e-01 -9.75457797e-05 -1.12312684e+01] [-1.52585721e-03 9.71563368e-05 9.99998831e-01 -2.68899525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58037174299997 meters 0.040787509970173115 Centerline is valid? [True, True] Translation: X:194.90, Y:-11.22, Z:-2.69 [[ 9.99994012e-01 -3.16661307e-03 1.39616230e-03 1.94904523e+02] [ 3.16674080e-03 9.99994982e-01 -8.92857357e-05 -1.12212838e+01] [-1.39587256e-03 9.37064852e-05 9.99999021e-01 -2.68892526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64037174299997 meters 0.04016592760578426 Centerline is valid? [True, True] Translation: X:194.96, Y:-11.23, Z:-2.69 [[ 9.99975832e-01 -6.87513498e-03 1.03367218e-03 1.94964626e+02] [ 6.87520707e-03 9.99976363e-01 -6.61985880e-05 -1.12250579e+01] [-1.03319262e-03 7.33036984e-05 9.99999464e-01 -2.69009729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70037174299998 meters 0.04253541978461036 Centerline is valid? [True, True] Translation: X:195.02, Y:-11.23, Z:-2.69 [[ 9.99916846e-01 -1.28712820e-02 7.93927371e-04 1.95024884e+02] [ 1.28713263e-02 9.99917160e-01 -5.07762524e-05 -1.12327692e+01] [-7.93208046e-04 6.09909285e-05 9.99999684e-01 -2.69044181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76037174299998 meters 0.0447287823240379 Centerline is valid? [True, True] Translation: X:195.09, Y:-11.24, Z:-2.69 [[ 9.99842453e-01 -1.77153766e-02 1.11128810e-03 1.95085314e+02] [ 1.77154660e-02 9.99843066e-01 -7.07271286e-05 -1.12404011e+01] [-1.10986074e-03 9.04029723e-05 9.99999380e-01 -2.69120675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82037174299998 meters 0.046562876095119825 Centerline is valid? [True, True] Translation: X:195.15, Y:-11.25, Z:-2.69 [[ 9.99782487e-01 -2.07321685e-02 2.27060491e-03 1.95145246e+02] [ 2.07325521e-02 9.99785047e-01 -1.45565447e-04 -1.12468621e+01] [-2.26709895e-03 1.92609219e-04 9.99997412e-01 -2.69060048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88037174299998 meters 0.04738072232458731 Centerline is valid? [True, True] Translation: X:195.21, Y:-11.25, Z:-2.69 [[ 9.99772698e-01 -2.11790086e-02 2.45004010e-03 1.95207372e+02] [ 2.11794549e-02 9.99775678e-01 -1.56325652e-04 -1.12521362e+01] [-2.44617968e-03 2.08180633e-04 9.99996986e-01 -2.69121732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.940371743 meters 0.046584757366319285 Centerline is valid? [True, True] Translation: X:195.27, Y:-11.25, Z:-2.69 [[ 9.99791352e-01 -2.03697549e-02 1.52514795e-03 1.95269407e+02] [ 2.03699265e-02 9.99792507e-01 -9.70426727e-05 -1.12547218e+01] [-1.52285476e-03 1.28089577e-04 9.99998832e-01 -2.69164551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.000371743 meters 0.044232543661102616 Centerline is valid? [True, True] Translation: X:195.33, Y:-11.25, Z:-2.69 [[ 9.99853248e-01 -1.70662364e-02 1.49174819e-03 1.95330261e+02] [ 1.70663983e-02 9.99854354e-01 -9.58576226e-05 -1.12544350e+01] [-1.48989499e-03 1.21302324e-04 9.99998883e-01 -2.69303022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.060371743 meters 0.042520613517480585 Centerline is valid? [True, True] Translation: X:195.39, Y:-11.25, Z:-2.69 [[ 9.99925935e-01 -1.21155701e-02 1.15665291e-03 1.95391270e+02] [ 1.21156640e-02 9.99926600e-01 -7.42463264e-05 -1.12536218e+01] [-1.15566848e-03 8.82544455e-05 9.99999328e-01 -2.69367933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.120371743 meters 0.04668086666239371 Centerline is valid? [True, True] Translation: X:195.45, Y:-11.26, Z:-2.70 [[ 9.99967767e-01 -7.83687683e-03 1.74616947e-03 1.95450488e+02] [ 7.83708517e-03 9.99969283e-01 -1.12498114e-04 -1.12613051e+01] [-1.74523420e-03 1.26179366e-04 9.99998469e-01 -2.69577708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.180371743 meters 0.03880942220126735 Centerline is valid? [True, True] Translation: X:195.51, Y:-11.25, Z:-2.69 [[ 9.99992390e-01 -2.82759394e-03 2.68772207e-03 1.95511622e+02] [ 2.82806849e-03 9.99995986e-01 -1.72777115e-04 -1.12505385e+01] [-2.68722274e-03 1.80376863e-04 9.99996373e-01 -2.69337534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24037174299997 meters 0.037098585833686755 Centerline is valid? [True, True] Translation: X:195.57, Y:-11.25, Z:-2.69 [[ 9.99994148e-01 6.45141623e-04 3.35983717e-03 1.95573086e+02] [-6.44420285e-04 9.99999769e-01 -2.15772718e-04 -1.12498753e+01] [-3.35997560e-03 2.13606308e-04 9.99994332e-01 -2.69325223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30037174299997 meters 0.03791150422792282 Centerline is valid? [True, True] Translation: X:195.63, Y:-11.25, Z:-2.70 [[ 9.99991922e-01 2.48338900e-03 3.16041341e-03 1.95633660e+02] [-2.48276037e-03 9.99996897e-01 -2.02816001e-04 -1.12538554e+01] [-3.16090728e-03 1.94967814e-04 9.99994985e-01 -2.69548992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36037174299997 meters 0.03855351682427513 Centerline is valid? [True, True] Translation: X:195.69, Y:-11.26, Z:-2.70 [[ 9.99974713e-01 6.43272820e-03 3.03201952e-03 1.95693625e+02] [-6.43216619e-03 9.99979294e-01 -1.95075214e-04 -1.12575991e+01] [-3.03321160e-03 1.75567828e-04 9.99995384e-01 -2.69789742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42037174299998 meters 0.0381264944233374 Centerline is valid? [True, True] Translation: X:195.75, Y:-11.26, Z:-2.70 [[ 9.99955354e-01 9.24717494e-03 1.94430585e-03 1.95753257e+02] [-9.24694837e-03 9.99957238e-01 -1.25484399e-04 -1.12580654e+01] [-1.94538308e-03 1.07499901e-04 9.99998102e-01 -2.69958113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48037174299998 meters 0.03333430423767894 Centerline is valid? [True, True] Translation: X:195.81, Y:-11.25, Z:-2.70 [[ 9.99938375e-01 1.09621753e-02 1.75413539e-03 1.95813170e+02] [-1.09619931e-02 9.99939909e-01 -1.13450045e-04 -1.12528788e+01] [-1.75527365e-03 9.42142336e-05 9.99998455e-01 -2.69783572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54037174299998 meters 0.03329358546062654 Centerline is valid? [True, True] Translation: X:195.87, Y:-11.25, Z:-2.70 [[ 9.99939121e-01 1.08967976e-02 1.73636986e-03 1.95871805e+02] [-1.08966188e-02 9.99940624e-01 -1.12435973e-04 -1.12546309e+01] [-1.73749195e-03 9.35085678e-05 9.99998486e-01 -2.69695318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60037174299998 meters 0.03543480759763712 Centerline is valid? [True, True] Translation: X:195.93, Y:-11.26, Z:-2.70 [[ 9.99948368e-01 9.97485696e-03 1.94023836e-03 1.95928973e+02] [-9.97463202e-03 9.99950244e-01 -1.25578925e-04 -1.12619902e+01] [-1.94139445e-03 1.06219278e-04 9.99998110e-01 -2.69768913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66037174299998 meters 0.03457746247340564 Centerline is valid? [True, True] Translation: X:195.99, Y:-11.26, Z:-2.70 [[ 9.99967700e-01 7.95777351e-03 1.12829010e-03 1.95988715e+02] [-7.95769646e-03 9.99968334e-01 -7.27633518e-05 -1.12638142e+01] [-1.12883340e-03 6.37824114e-05 9.99999361e-01 -2.69757199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.720371743 meters 0.038284988904364596 Centerline is valid? [True, True] Translation: X:196.05, Y:-11.27, Z:-2.70 [[ 9.99987373e-01 5.02539083e-03 -5.18800291e-06 1.96047397e+02] [-5.02539083e-03 9.99987373e-01 3.47217628e-07 -1.12741053e+01] [ 5.18968217e-06 -3.21141496e-07 1.00000000e+00 -2.70021011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.780371743 meters 0.03742756453180061 Centerline is valid? [True, True] Translation: X:196.11, Y:-11.28, Z:-2.70 [[ 9.99996944e-01 1.92402160e-03 -1.55276700e-03 1.96107248e+02] [-1.92386992e-03 9.99998144e-01 9.91712077e-05 -1.12766867e+01] [ 1.55295493e-03 -9.61835829e-05 9.99998790e-01 -2.70161578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.840371743 meters 0.04100116547375966 Centerline is valid? [True, True] Translation: X:196.17, Y:-11.29, Z:-2.70 [[ 9.99998056e-01 -2.42187571e-05 -1.97150926e-03 1.96165824e+02] [ 2.44685705e-05 9.99999992e-01 1.26687702e-04 -1.12865177e+01] [ 1.97150617e-03 -1.26735695e-04 9.99998049e-01 -2.70363885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.900371743 meters 0.04041086998235762 Centerline is valid? [True, True] Translation: X:196.23, Y:-11.29, Z:-2.70 [[ 9.99998433e-01 -3.61610992e-05 -1.77018148e-03 1.96225425e+02] [ 3.63609127e-05 9.99999993e-01 1.12845321e-04 -1.12892497e+01] [ 1.77017739e-03 -1.12909510e-04 9.99998427e-01 -2.70364088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96037174299997 meters 0.04292894817975576 Centerline is valid? [True, True] Translation: X:196.28, Y:-11.30, Z:-2.70 [[ 9.99998691e-01 9.91238982e-04 -1.27883760e-03 1.96284736e+02] [-9.91135419e-04 9.99999506e-01 8.16135888e-05 -1.12954769e+01] [ 1.27891787e-03 -8.03459807e-05 9.99999179e-01 -2.70457891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02037174299997 meters 0.043950395581323264 Centerline is valid? [True, True] Translation: X:196.34, Y:-11.30, Z:-2.71 [[ 9.99996829e-01 1.62743941e-03 -1.92162637e-03 1.96343933e+02] [-1.62720706e-03 9.99998669e-01 1.22470781e-04 -1.12996562e+01] [ 1.92182312e-03 -1.19343509e-04 9.99998146e-01 -2.70648595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08037174299997 meters 0.039487290909272 Centerline is valid? [True, True] Translation: X:196.40, Y:-11.30, Z:-2.71 [[ 9.99996705e-01 9.85500818e-04 -2.37055751e-03 1.96404285e+02] [-9.85145433e-04 9.99999503e-01 1.51079186e-04 -1.12951953e+01] [ 2.37070523e-03 -1.48743345e-04 9.99997179e-01 -2.70574506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14037174299997 meters 0.04273085461496146 Centerline is valid? [True, True] Translation: X:196.46, Y:-11.30, Z:-2.71 [[ 9.99998174e-01 1.01014198e-04 -1.90835790e-03 1.96462652e+02] [-1.00783094e-04 9.99999988e-01 1.21196775e-04 -1.13030061e+01] [ 1.90837012e-03 -1.21004223e-04 9.99998172e-01 -2.70766875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20037174299998 meters 0.04123016616693188 Centerline is valid? [True, True] Translation: X:196.52, Y:-11.30, Z:-2.71 [[ 9.99999239e-01 -3.67903189e-04 -1.17737619e-03 1.96522025e+02] [ 3.67991391e-04 9.99999930e-01 7.46984756e-05 -1.13024249e+01] [ 1.17734862e-03 -7.51316831e-05 9.99999304e-01 -2.70722631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26037174299998 meters 0.042729321953635165 Centerline is valid? [True, True] Translation: X:196.58, Y:-11.31, Z:-2.71 [[ 9.99998639e-01 -8.64951249e-04 -1.40507146e-03 1.96582830e+02] [ 8.65078158e-04 9.99999622e-01 8.97162018e-05 -1.13061576e+01] [ 1.40499333e-03 -9.09315763e-05 9.99999009e-01 -2.70851519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32037174299998 meters 0.04385603927577284 Centerline is valid? [True, True] Translation: X:196.64, Y:-11.31, Z:-2.71 [[ 9.99997563e-01 -1.17729684e-03 -1.86757673e-03 1.96643300e+02] [ 1.17752159e-03 9.99999300e-01 1.19247950e-04 -1.13096954e+01] [ 1.86743504e-03 -1.21446771e-04 9.99998249e-01 -2.70994323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38037174299998 meters 0.046081824671352536 Centerline is valid? [True, True] Translation: X:196.70, Y:-11.31, Z:-2.71 [[ 9.99998209e-01 -1.70118913e-03 -8.29895650e-04 1.96702547e+02] [ 1.70123348e-03 9.99998552e-01 5.27470064e-05 -1.13144480e+01] [ 8.29804715e-04 -5.41587582e-05 9.99999654e-01 -2.71045222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.440371743 meters 0.03669304569490853 Centerline is valid? [True, True] Translation: X:196.76, Y:-11.30, Z:-2.71 [[ 9.99999721e-01 4.29774599e-05 7.45341726e-04 1.96764352e+02] [-4.29421886e-05 9.99999998e-01 -4.73382694e-05 -1.13013216e+01] [-7.45343759e-04 4.73062496e-05 9.99999721e-01 -2.70710297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.500371743 meters 0.03657028080948661 Centerline is valid? [True, True] Translation: X:196.83, Y:-11.30, Z:-2.71 [[ 9.99993781e-01 2.72794834e-03 2.23543649e-03 1.96825275e+02] [-2.72763651e-03 9.99996270e-01 -1.42530523e-04 -1.13022797e+01] [-2.23581697e-03 1.36432179e-04 9.99997491e-01 -2.70816364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.560371743 meters 0.03553818417727266 Centerline is valid? [True, True] Translation: X:196.89, Y:-11.30, Z:-2.71 [[ 9.99983884e-01 5.00478315e-03 2.68031678e-03 1.96885704e+02] [-5.00434166e-03 9.99987464e-01 -1.71397239e-04 -1.13024519e+01] [-2.68114098e-03 1.57981255e-04 9.99996393e-01 -2.70929446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.620371743 meters 0.034160482236273194 Centerline is valid? [True, True] Translation: X:196.95, Y:-11.30, Z:-2.71 [[ 9.99965324e-01 8.08202999e-03 2.00780659e-03 1.96945434e+02] [-8.08178795e-03 9.99967334e-01 -1.28634006e-04 -1.13017759e+01] [-2.00878063e-03 1.12402879e-04 9.99997976e-01 -2.71048520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.680371743 meters 0.03408965010141457 Centerline is valid? [True, True] Translation: X:197.01, Y:-11.30, Z:-2.71 [[ 9.99936113e-01 1.11311817e-02 1.96636359e-03 1.97005669e+02] [-1.11309553e-02 9.99938041e-01 -1.26016950e-04 -1.13037368e+01] [-1.96764448e-03 1.04121394e-04 9.99998059e-01 -2.71257464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74037174299997 meters 0.03367244832863081 Centerline is valid? [True, True] Translation: X:197.07, Y:-11.30, Z:-2.71 [[ 9.99904471e-01 1.36144707e-02 2.38643964e-03 1.97065410e+02] [-1.36141451e-02 9.99907312e-01 -1.52597098e-04 -1.13045224e+01] [-2.38829597e-03 1.20093185e-04 9.99997141e-01 -2.71323952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80037174299997 meters 0.03291338205985142 Centerline is valid? [True, True] Translation: X:197.12, Y:-11.30, Z:-2.71 [[ 9.99834099e-01 1.80852890e-02 2.16721578e-03 1.97124141e+02] [-1.80850318e-02 9.99836443e-01 -1.38245445e-04 -1.13038190e+01] [-2.16936152e-03 9.90283436e-05 9.99997642e-01 -2.71466251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86037174299997 meters 0.03045376867571166 Centerline is valid? [True, True] Translation: X:197.18, Y:-11.30, Z:-2.71 [[ 9.99765095e-01 2.14684279e-02 2.97691388e-03 1.97184262e+02] [-2.14679574e-02 9.99769519e-01 -1.89911273e-04 -1.13022378e+01] [-2.98030485e-03 1.25958402e-04 9.99995551e-01 -2.71432662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92037174299998 meters 0.030342521275292127 Centerline is valid? [True, True] Translation: X:197.24, Y:-11.31, Z:-2.71 [[ 9.99732836e-01 2.28137289e-02 3.71352260e-03 1.97243588e+02] [-2.28130051e-02 9.99739721e-01 -2.37134292e-04 -1.13052474e+01] [-3.71796597e-03 1.52354329e-04 9.99993077e-01 -2.71483157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98037174299998 meters 0.03289829573790701 Centerline is valid? [True, True] Translation: X:197.30, Y:-11.31, Z:-2.72 [[ 9.99726184e-01 2.32290598e-02 2.82273459e-03 1.97301413e+02] [-2.32286414e-02 9.99730162e-01 -1.80905189e-04 -1.13131991e+01] [-2.82617516e-03 1.15287364e-04 9.99996000e-01 -2.71797920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04037174299998 meters 0.030196646796787248 Centerline is valid? [True, True] Translation: X:197.36, Y:-11.31, Z:-2.72 [[ 9.99739685e-01 2.28034339e-02 7.52398006e-04 1.97360622e+02] [-2.28034037e-02 9.99739967e-01 -4.87424948e-05 -1.13126892e+01] [-7.53313855e-04 3.15725709e-05 9.99999716e-01 -2.71992872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10037174299998 meters 0.03074855274274224 Centerline is valid? [True, True] Translation: X:197.42, Y:-11.32, Z:-2.72 [[ 9.99730148e-01 2.32011375e-02 1.15680106e-03 1.97418056e+02] [-2.32010663e-02 9.99730816e-01 -7.49491236e-05 -1.13177588e+01] [-1.15822857e-03 4.80898804e-05 9.99999328e-01 -2.72098975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16037174299998 meters 0.029057053191249346 Centerline is valid? [True, True] Translation: X:197.48, Y:-11.32, Z:-2.72 [[ 9.99684114e-01 2.50023749e-02 2.55983942e-03 1.97476916e+02] [-2.50020393e-02 9.99687387e-01 -1.63012186e-04 -1.13179986e+01] [-2.56311487e-03 9.89594867e-05 9.99996710e-01 -2.71943589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.220371743 meters 0.02899481993969569 Centerline is valid? [True, True] Translation: X:197.53, Y:-11.32, Z:-2.72 [[ 9.99620072e-01 2.73568163e-02 3.36386309e-03 1.97534936e+02] [-2.73562520e-02 9.99625725e-01 -2.13653517e-04 -1.13218048e+01] [-3.36844896e-03 1.21549658e-04 9.99994319e-01 -2.72002484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.280371743 meters 0.02988827943448307 Centerline is valid? [True, True] Translation: X:197.59, Y:-11.33, Z:-2.72 [[ 9.99651323e-01 2.63122211e-02 2.21361398e-03 1.97592656e+02] [-2.63119734e-02 9.99653770e-01 -1.40962086e-04 -1.13290838e+01] [-2.21655658e-03 8.26683839e-05 9.99997540e-01 -2.72175147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.340371743 meters 0.030600146144226802 Centerline is valid? [True, True] Translation: X:197.65, Y:-11.34, Z:-2.72 [[ 9.99729062e-01 2.32152956e-02 1.68878901e-03 1.97651624e+02] [-2.32151470e-02 9.99730486e-01 -1.07518374e-04 -1.13363248e+01] [-1.69082993e-03 6.82837576e-05 9.99998568e-01 -2.72320370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.400371743 meters 0.031345603673131286 Centerline is valid? [True, True] Translation: X:197.71, Y:-11.34, Z:-2.72 [[ 9.99848389e-01 1.71987895e-02 2.72049905e-03 1.97711627e+02] [-1.71983858e-02 9.99852082e-01 -1.71700429e-04 -1.13437340e+01] [-2.72304968e-03 1.24886205e-04 9.99996285e-01 -2.72186650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46037174299997 meters 0.033419687926736046 Centerline is valid? [True, True] Translation: X:197.77, Y:-11.35, Z:-2.72 [[ 9.99872458e-01 1.55940314e-02 3.44871846e-03 1.97769269e+02] [-1.55933707e-02 9.99878392e-01 -2.18383398e-04 -1.13516925e+01] [-3.45170455e-03 1.64578400e-04 9.99994029e-01 -2.72243050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52037174299997 meters 0.03276556199660398 Centerline is valid? [True, True] Translation: X:197.83, Y:-11.36, Z:-2.72 [[ 9.99926075e-01 1.16806517e-02 3.37740088e-03 1.97828943e+02] [-1.16799992e-02 9.99931764e-01 -2.12864201e-04 -1.13562500e+01] [-3.37965681e-03 1.73400425e-04 9.99994274e-01 -2.72229834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58037174299997 meters 0.0342363439030474 Centerline is valid? [True, True] Translation: X:197.89, Y:-11.37, Z:-2.72 [[ 9.99961919e-01 8.24713071e-03 2.85391287e-03 1.97889025e+02] [-8.24665144e-03 9.99965980e-01 -1.79658891e-04 -1.13650572e+01] [-2.85529745e-03 1.56116824e-04 9.99995911e-01 -2.72354407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64037174299997 meters 0.03458624839000079 Centerline is valid? [True, True] Translation: X:197.95, Y:-11.37, Z:-2.72 [[ 9.99975362e-01 6.23945332e-03 3.21629594e-03 1.97948133e+02] [-6.23883240e-03 9.99980518e-01 -2.03053132e-04 -1.13699853e+01] [-3.21750022e-03 1.82982198e-04 9.99994807e-01 -2.72347855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70037174299998 meters 0.03579279342976455 Centerline is valid? [True, True] Translation: X:198.01, Y:-11.38, Z:-2.72 [[ 9.99981300e-01 4.33189770e-03 4.31683629e-03 1.98007259e+02] [-4.33076431e-03 9.99990585e-01 -2.71865287e-04 -1.13765418e+01] [-4.31797334e-03 2.53165002e-04 9.99990645e-01 -2.72338957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76037174299998 meters 0.037674013611763625 Centerline is valid? [True, True] Translation: X:198.07, Y:-11.38, Z:-2.73 [[ 9.99987523e-01 2.69219074e-03 4.20795631e-03 1.98066558e+02] [-2.69110065e-03 9.99996344e-01 -2.64693925e-04 -1.13849390e+01] [-4.20865353e-03 2.53366588e-04 9.99991111e-01 -2.72510095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82037174299998 meters 0.03832478791282436 Centerline is valid? [True, True] Translation: X:198.13, Y:-11.39, Z:-2.73 [[ 9.99995715e-01 8.33694708e-04 2.80623754e-03 1.98127539e+02] [-8.33204173e-04 9.99999637e-01 -1.75966002e-04 -1.13908686e+01] [-2.80638323e-03 1.73627079e-04 9.99996047e-01 -2.72725107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88037174299998 meters 0.03601915269545219 Centerline is valid? [True, True] Translation: X:198.19, Y:-11.39, Z:-2.73 [[ 9.99997177e-01 -1.25216477e-03 2.01946599e-03 1.98188612e+02] [ 1.25242249e-03 9.99999208e-01 -1.26359383e-04 -1.13910455e+01] [-2.01930617e-03 1.28888251e-04 9.99997953e-01 -2.72691354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.940371743 meters 0.037355292950802 Centerline is valid? [True, True] Translation: X:198.25, Y:-11.40, Z:-2.73 [[ 9.99995638e-01 -1.82983235e-03 2.31866382e-03 1.98249602e+02] [ 1.83017461e-03 9.99998315e-01 -1.45498694e-04 -1.13963258e+01] [-2.31839367e-03 1.49741619e-04 9.99997301e-01 -2.72761287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.000371743 meters 0.03758544684888082 Centerline is valid? [True, True] Translation: X:198.31, Y:-11.40, Z:-2.73 [[ 9.99993046e-01 -2.33515398e-03 2.90777564e-03 1.98311720e+02] [ 2.33569388e-03 9.99997256e-01 -1.82294792e-04 -1.13997066e+01] [-2.90734197e-03 1.89085198e-04 9.99995756e-01 -2.72788331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.060371743 meters 0.03890111349603643 Centerline is valid? [True, True] Translation: X:198.37, Y:-11.41, Z:-2.73 [[ 9.99989677e-01 -2.03167345e-03 4.06436398e-03 1.98372579e+02] [ 2.03272937e-03 9.99997901e-01 -2.55685220e-04 -1.14052020e+01] [-4.06383598e-03 2.63944332e-04 9.99991708e-01 -2.72812468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.120371743 meters 0.039103829778925174 Centerline is valid? [True, True] Translation: X:198.43, Y:-11.41, Z:-2.73 [[ 9.99991130e-01 -1.91695983e-03 3.75041792e-03 1.98434986e+02] [ 1.91785798e-03 9.99998133e-01 -2.35899922e-04 -1.14083016e+01] [-3.74995870e-03 2.43090598e-04 9.99992939e-01 -2.72855997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.180371743 meters 0.04109353547582061 Centerline is valid? [True, True] Translation: X:198.50, Y:-11.41, Z:-2.73 [[ 9.99987771e-01 -2.50682216e-03 4.26308952e-03 1.98495649e+02] [ 2.50799062e-03 9.99996819e-01 -2.68763114e-04 -1.14149154e+01] [-4.26240222e-03 2.79451616e-04 9.99990877e-01 -2.72943781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24037174299997 meters 0.04156233400857225 Centerline is valid? [True, True] Translation: X:198.56, Y:-11.42, Z:-2.73 [[ 9.99987076e-01 -2.61756810e-03 4.35841446e-03 1.98557740e+02] [ 2.61879083e-03 9.99996533e-01 -2.74861212e-04 -1.14204813e+01] [-4.35767988e-03 2.86271436e-04 9.99990464e-01 -2.73047620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30037174299997 meters 0.035231745136149635 Centerline is valid? [True, True] Translation: X:198.62, Y:-11.42, Z:-2.73 [[ 9.99990284e-01 -1.12178815e-03 4.26312278e-03 1.98619557e+02] [ 1.12294693e-03 9.99999333e-01 -2.69431302e-04 -1.14163800e+01] [-4.26281769e-03 2.74215945e-04 9.99990877e-01 -2.72972952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36037174299997 meters 0.0350685548600037 Centerline is valid? [True, True] Translation: X:198.68, Y:-11.42, Z:-2.73 [[ 9.99991058e-01 1.32473279e-03 4.01621319e-03 1.98681437e+02] [-1.32372423e-03 9.99999092e-01 -2.53769254e-04 -1.14191480e+01] [-4.01654572e-03 2.48450626e-04 9.99991903e-01 -2.72944631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42037174299998 meters 0.033746319793706014 Centerline is valid? [True, True] Translation: X:198.74, Y:-11.42, Z:-2.73 [[ 9.99989051e-01 2.91433547e-03 3.66130226e-03 1.98742511e+02] [-2.91350524e-03 9.99995729e-01 -2.32070551e-04 -1.14207267e+01] [-3.66196295e-03 2.21400787e-04 9.99993270e-01 -2.72965045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48037174299998 meters 0.036154865202099505 Centerline is valid? [True, True] Translation: X:198.80, Y:-11.43, Z:-2.73 [[ 9.99982687e-01 3.86346082e-03 4.43849632e-03 1.98802486e+02] [-3.86225105e-03 9.99992502e-01 -2.81102293e-04 -1.14269562e+01] [-4.43954906e-03 2.63954839e-04 9.99990110e-01 -2.73111942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54037174299998 meters 0.034053106322048325 Centerline is valid? [True, True] Translation: X:198.86, Y:-11.43, Z:-2.73 [[ 9.99981307e-01 4.23040409e-03 4.41464467e-03 1.98863440e+02] [-4.22920976e-03 9.99991018e-01 -2.79838671e-04 -1.14268939e+01] [-4.41578885e-03 2.61162982e-04 9.99990216e-01 -2.73127155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60037174299998 meters 0.033677663871361514 Centerline is valid? [True, True] Translation: X:198.92, Y:-11.43, Z:-2.73 [[ 9.99980351e-01 3.88958143e-03 4.91612165e-03 1.98924325e+02] [-3.88809624e-03 9.99992393e-01 -3.11626655e-04 -1.14293344e+01] [-4.91729635e-03 2.92506178e-04 9.99987867e-01 -2.73272400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66037174299998 meters 0.03417260445409077 Centerline is valid? [True, True] Translation: X:198.99, Y:-11.43, Z:-2.73 [[ 9.99980209e-01 3.38399310e-03 5.30383799e-03 1.98985198e+02] [-3.38225732e-03 9.99994224e-01 -3.36203497e-04 -1.14321750e+01] [-5.30494507e-03 3.18257898e-04 9.99985878e-01 -2.73332157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.720371743 meters 0.03278495934489213 Centerline is valid? [True, True] Translation: X:199.05, Y:-11.43, Z:-2.73 [[ 9.99977022e-01 3.70301871e-03 5.67821701e-03 1.99046370e+02] [-3.70103608e-03 9.99993086e-01 -3.59631935e-04 -1.14326867e+01] [-5.67950948e-03 3.38608385e-04 9.99983814e-01 -2.73353235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.780371743 meters 0.03139484101009695 Centerline is valid? [True, True] Translation: X:199.11, Y:-11.43, Z:-2.73 [[ 9.99977523e-01 3.50841261e-03 5.71347494e-03 1.99107352e+02] [-3.50640007e-03 9.99993787e-01 -3.62223334e-04 -1.14326960e+01] [-5.71471028e-03 3.42181464e-04 9.99983612e-01 -2.73394311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.840371743 meters 0.03378903166009553 Centerline is valid? [True, True] Translation: X:199.17, Y:-11.44, Z:-2.73 [[ 9.99973536e-01 2.48991201e-03 6.83580011e-03 1.99167815e+02] [-2.48700619e-03 9.99996813e-01 -4.33556745e-04 -1.14386971e+01] [-6.83685784e-03 4.16544594e-04 9.99976542e-01 -2.73426690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.900371743 meters 0.034445487331402624 Centerline is valid? [True, True] Translation: X:199.23, Y:-11.44, Z:-2.74 [[ 9.99976213e-01 1.29224753e-03 6.77526607e-03 1.99229072e+02] [-1.28936560e-03 9.99999076e-01 -4.29710918e-04 -1.14433366e+01] [-6.77581510e-03 4.20964902e-04 9.99976955e-01 -2.73536712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96037174299997 meters 0.03490381667933169 Centerline is valid? [True, True] Translation: X:199.29, Y:-11.45, Z:-2.74 [[ 9.99978830e-01 1.38459536e-03 6.35792183e-03 1.99290837e+02] [-1.38206861e-03 9.99998964e-01 -4.01793293e-04 -1.14476380e+01] [-6.35847156e-03 3.92997702e-04 9.99979707e-01 -2.73681776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02037174299997 meters 0.03437304851406187 Centerline is valid? [True, True] Translation: X:199.35, Y:-11.45, Z:-2.74 [[ 9.99983213e-01 1.72139483e-03 5.53260930e-03 1.99352556e+02] [-1.71948156e-03 9.99998460e-01 -3.50554577e-04 -1.14505948e+01] [-5.53320422e-03 3.41035473e-04 9.99984634e-01 -2.73838503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08037174299997 meters 0.036447793720295864 Centerline is valid? [True, True] Translation: X:199.41, Y:-11.46, Z:-2.74 [[ 9.99975804e-01 3.66893538e-03 5.91018571e-03 1.99412967e+02] [-3.66676530e-03 9.99993206e-01 -3.77969992e-04 -1.14572278e+01] [-5.91153231e-03 3.56289583e-04 9.99982463e-01 -2.73981215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14037174299997 meters 0.031012536820807683 Centerline is valid? [True, True] Translation: X:199.47, Y:-11.45, Z:-2.74 [[ 9.99947985e-01 8.16891565e-03 6.10702913e-03 1.99474125e+02] [-8.16667942e-03 9.99966576e-01 -3.91022035e-04 -1.14506694e+01] [-6.11001924e-03 3.41127547e-04 9.99981275e-01 -2.73836458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20037174299998 meters 0.030731712059175 Centerline is valid? [True, True] Translation: X:199.53, Y:-11.45, Z:-2.74 [[ 9.99910173e-01 1.19782973e-02 6.01385808e-03 1.99533813e+02] [-1.19761952e-02 9.99928209e-01 -3.85438037e-04 -1.14526183e+01] [-6.01804322e-03 3.13380276e-04 9.99981842e-01 -2.73918167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26037174299998 meters 0.03083857851131128 Centerline is valid? [True, True] Translation: X:199.59, Y:-11.46, Z:-2.74 [[ 9.99830156e-01 1.73668171e-02 6.16866833e-03 1.99593402e+02] [-1.73647098e-02 9.99849144e-01 -3.95008624e-04 -1.14559043e+01] [-6.17459779e-03 2.87824398e-04 9.99980896e-01 -2.74142746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32037174299998 meters 0.02768625688257396 Centerline is valid? [True, True] Translation: X:199.65, Y:-11.45, Z:-2.74 [[ 9.99757125e-01 2.09766373e-02 6.75813605e-03 1.99653411e+02] [-2.09741908e-02 9.99779924e-01 -4.32694453e-04 -1.14541216e+01] [-6.76572522e-03 2.90842928e-04 9.99977070e-01 -2.74241567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38037174299998 meters 0.027897078789416063 Centerline is valid? [True, True] Translation: X:199.71, Y:-11.46, Z:-2.74 [[ 9.99741470e-01 2.16488558e-02 6.95121093e-03 1.99712333e+02] [-2.16462838e-02 9.99765593e-01 -4.45040027e-04 -1.14586358e+01] [-6.95921612e-03 2.94457086e-04 9.99975741e-01 -2.74371503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.440371743 meters 0.0269895333324047 Centerline is valid? [True, True] Translation: X:199.77, Y:-11.46, Z:-2.75 [[ 9.99726623e-01 2.24996885e-02 6.35948369e-03 1.99770860e+02] [-2.24975552e-02 9.99746815e-01 -4.06796450e-04 -1.14610644e+01] [-6.36702636e-03 2.63612406e-04 9.99979696e-01 -2.74502941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.500371743 meters 0.02760278064253631 Centerline is valid? [True, True] Translation: X:199.83, Y:-11.47, Z:-2.75 [[ 9.99753853e-01 2.14807138e-02 5.55080001e-03 1.99829117e+02] [-2.14790745e-02 9.99769235e-01 -3.54788503e-04 -1.14665529e+01] [-5.55714019e-03 2.35475126e-04 9.99984531e-01 -2.74646525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.560371743 meters 0.028937936900322096 Centerline is valid? [True, True] Translation: X:199.89, Y:-11.47, Z:-2.75 [[ 9.99793906e-01 1.96307348e-02 5.17498371e-03 1.99886151e+02] [-1.96292858e-02 9.99807272e-01 -3.30665257e-04 -1.14740513e+01] [-5.18047755e-03 2.29015875e-04 9.99986555e-01 -2.74817139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.620371743 meters 0.0296589405184413 Centerline is valid? [True, True] Translation: X:199.94, Y:-11.48, Z:-2.75 [[ 9.99846149e-01 1.66222316e-02 5.60170986e-03 1.99944920e+02] [-1.66204922e-02 9.99861806e-01 -3.56933123e-04 -1.14811797e+01] [-5.60686876e-03 2.63775033e-04 9.99984247e-01 -2.74865984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.680371743 meters 0.029899534742339886 Centerline is valid? [True, True] Translation: X:200.00, Y:-11.49, Z:-2.75 [[ 9.99858246e-01 1.54493607e-02 6.69360348e-03 2.00003349e+02] [-1.54468533e-02 9.99880599e-01 -4.26134228e-04 -1.14881397e+01] [-6.69938776e-03 3.22678711e-04 9.99977507e-01 -2.74985715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74037174299997 meters 0.030355947788383398 Centerline is valid? [True, True] Translation: X:200.06, Y:-11.50, Z:-2.75 [[ 9.99864928e-01 1.47789724e-02 7.19085974e-03 2.00061546e+02] [-1.47760656e-02 9.99890723e-01 -4.57195883e-04 -1.14963389e+01] [-7.19683084e-03 3.50881514e-04 9.99974041e-01 -2.75133687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80037174299997 meters 0.02918148439382009 Centerline is valid? [True, True] Translation: X:200.12, Y:-11.50, Z:-2.75 [[ 9.99869967e-01 1.37865365e-02 8.36541865e-03 2.00120236e+02] [-1.37825741e-02 9.99904875e-01 -5.31125205e-04 -1.14998458e+01] [-8.37194527e-03 4.15759139e-04 9.99964868e-01 -2.75003941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86037174299997 meters 0.03128299622169251 Centerline is valid? [True, True] Translation: X:200.18, Y:-11.51, Z:-2.75 [[ 9.99896983e-01 1.17407298e-02 8.25708466e-03 2.00178439e+02] [-1.17368056e-02 9.99930984e-01 -5.23542794e-04 -1.15086678e+01] [-8.26266157e-03 4.26577062e-04 9.99965773e-01 -2.75133890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92037174299998 meters 0.032428832005078734 Centerline is valid? [True, True] Translation: X:200.24, Y:-11.52, Z:-2.76 [[ 9.99947552e-01 8.04434829e-03 6.33897039e-03 2.00238011e+02] [-8.04196432e-03 9.99967582e-01 -4.01481147e-04 -1.15181343e+01] [-6.34199455e-03 3.50482316e-04 9.99979828e-01 -2.75500054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98037174299998 meters 0.03478582614329269 Centerline is valid? [True, True] Translation: X:200.30, Y:-11.53, Z:-2.76 [[ 9.99974625e-01 3.80850403e-03 6.02038574e-03 2.00297432e+02] [-3.80627823e-03 9.99992683e-01 -3.81125404e-04 -1.15271864e+01] [-6.02179321e-03 3.58200469e-04 9.99981805e-01 -2.75616453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04037174299998 meters 0.03413728416268831 Centerline is valid? [True, True] Translation: X:200.36, Y:-11.53, Z:-2.76 [[ 9.99973082e-01 2.07284519e-03 7.03829961e-03 2.00358195e+02] [-2.06976201e-03 9.99997759e-01 -4.45313409e-04 -1.15313271e+01] [-7.03920690e-03 4.30733817e-04 9.99975132e-01 -2.75586867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10037174299998 meters 0.038702340071706906 Centerline is valid? [True, True] Translation: X:200.42, Y:-11.54, Z:-2.76 [[ 9.99950078e-01 1.71095197e-03 9.84445668e-03 2.00418900e+02] [-1.70490855e-03 9.99998353e-01 -6.22249841e-04 -1.15424125e+01] [-9.84550511e-03 6.05434879e-04 9.99951349e-01 -2.75525369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16037174299998 meters 0.035194405889459386 Centerline is valid? [True, True] Translation: X:200.48, Y:-11.54, Z:-2.76 [[ 9.99939955e-01 2.17086341e-03 1.07412580e-02 2.00481797e+02] [-2.16366597e-03 9.99997427e-01 -6.81649357e-04 -1.15408507e+01] [-1.07427101e-02 6.58367933e-04 9.99942079e-01 -2.75527065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.220371743 meters 0.0360048378638467 Centerline is valid? [True, True] Translation: X:200.54, Y:-11.55, Z:-2.76 [[ 9.99950621e-01 2.03578705e-03 9.72680114e-03 2.00543572e+02] [-2.02985815e-03 9.99997748e-01 -6.19375770e-04 -1.15466238e+01] [-9.72804016e-03 5.99601159e-04 9.99952502e-01 -2.75802526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.280371743 meters 0.0568787154559423 Centerline is valid? [True, True] Translation: X:200.60, Y:-11.58, Z:-2.76 [[ 9.99948494e-01 3.61566836e-03 9.48344089e-03 2.00601880e+02] [-3.61007177e-03 9.99993299e-01 -6.07195845e-04 -1.15810157e+01] [-9.48557276e-03 5.72928669e-04 9.99954847e-01 -2.76230752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.340371743 meters 0.03610663754131646 Centerline is valid? [True, True] Translation: X:200.66, Y:-11.56, Z:-2.76 [[ 9.99966398e-01 4.82578420e-05 8.19759277e-03 2.00664197e+02] [-4.39557493e-05 9.99999861e-01 -5.24978871e-04 -1.15550204e+01] [-8.19761696e-03 5.24600899e-04 9.99966261e-01 -2.76138290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.400371743 meters 0.036231286717115084 Centerline is valid? [True, True] Translation: X:200.73, Y:-11.56, Z:-2.76 [[ 9.99960883e-01 7.36674220e-04 8.81421107e-03 2.00726577e+02] [-7.31728196e-04 9.99999573e-01 -5.64353776e-04 -1.15590810e+01] [-8.81462305e-03 5.57882093e-04 9.99960995e-01 -2.76153292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46037174299997 meters 0.035265107393378035 Centerline is valid? [True, True] Translation: X:200.79, Y:-11.56, Z:-2.76 [[ 9.99958431e-01 1.82819252e-03 8.93273042e-03 2.00788694e+02] [-1.82315015e-03 9.99998174e-01 -5.72593397e-04 -1.15616475e+01] [-8.93376092e-03 5.56283886e-04 9.99959938e-01 -2.76256880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52037174299997 meters 0.035397280608080714 Centerline is valid? [True, True] Translation: X:200.85, Y:-11.57, Z:-2.76 [[ 9.99961146e-01 2.74216803e-03 8.37771476e-03 2.00850602e+02] [-2.73776018e-03 9.99996108e-01 -5.37563664e-04 -1.15662976e+01] [-8.37915624e-03 5.14606604e-04 9.99964762e-01 -2.76406932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58037174299997 meters 0.035655033682844305 Centerline is valid? [True, True] Translation: X:200.91, Y:-11.57, Z:-2.77 [[ 9.99956234e-01 3.23311637e-03 8.77937430e-03 2.00912904e+02] [-3.22829678e-03 9.99994631e-01 -5.63083708e-04 -1.15723709e+01] [-8.78114768e-03 5.34716638e-04 9.99961302e-01 -2.76585333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64037174299997 meters 0.03657190343787493 Centerline is valid? [True, True] Translation: X:200.98, Y:-11.58, Z:-2.77 [[ 9.99960674e-01 2.46379921e-03 8.51939181e-03 2.00975160e+02] [-2.45921570e-03 9.99996826e-01 -5.48442702e-04 -1.15798441e+01] [-8.52071602e-03 5.27470112e-04 9.99963559e-01 -2.76680173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70037174299998 meters 0.035464676334915894 Centerline is valid? [True, True] Translation: X:201.04, Y:-11.58, Z:-2.77 [[ 9.99971650e-01 1.99128730e-03 7.26178421e-03 2.01036822e+02] [-1.98793470e-03 9.99997914e-01 -4.68865338e-04 -1.15831766e+01] [-7.26270271e-03 4.54416093e-04 9.99973523e-01 -2.76780227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76037174299998 meters 0.0358091556796134 Centerline is valid? [True, True] Translation: X:201.10, Y:-11.59, Z:-2.77 [[ 9.99979748e-01 1.92312879e-03 6.06679493e-03 2.01098731e+02] [-1.92078304e-03 9.99998078e-01 -3.92457312e-04 -1.15901910e+01] [-6.06753802e-03 3.80796367e-04 9.99981520e-01 -2.77044786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82037174299998 meters 0.03541672485426434 Centerline is valid? [True, True] Translation: X:201.16, Y:-11.59, Z:-2.77 [[ 9.99979377e-01 3.51451658e-03 5.37531846e-03 2.01159645e+02] [-3.51268282e-03 9.99993769e-01 -3.50546887e-04 -1.15944664e+01] [-5.37651697e-03 3.31657868e-04 9.99985491e-01 -2.77216041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88037174299998 meters 0.03809545464117327 Centerline is valid? [True, True] Translation: X:201.22, Y:-11.60, Z:-2.77 [[ 9.99953507e-01 7.85007689e-03 5.60008822e-03 2.01219200e+02] [-7.84815072e-03 9.99969136e-01 -3.65845548e-04 -1.16028266e+01] [-5.60278729e-03 3.21878202e-04 9.99984252e-01 -2.77406015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.940371743 meters 0.03234141813713729 Centerline is valid? [True, True] Translation: X:201.28, Y:-11.60, Z:-2.77 [[ 9.99936432e-01 1.00481922e-02 5.11522757e-03 2.01279880e+02] [-1.00466128e-02 9.99949476e-01 -3.34355380e-04 -1.15979852e+01] [-5.11832880e-03 2.82943415e-04 9.99986861e-01 -2.77325127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.000371743 meters 0.031188628349069596 Centerline is valid? [True, True] Translation: X:201.34, Y:-11.60, Z:-2.77 [[ 9.99896169e-01 1.34002647e-02 5.29941526e-03 2.01340163e+02] [-1.33986176e-02 9.99910175e-01 -3.46180379e-04 -1.16007575e+01] [-5.30357815e-03 2.75139596e-04 9.99985898e-01 -2.77380120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.060371743 meters 0.0307772953393355 Centerline is valid? [True, True] Translation: X:201.40, Y:-11.60, Z:-2.77 [[ 9.99856684e-01 1.60068622e-02 5.51280155e-03 2.01400198e+02] [-1.60051219e-02 9.99871845e-01 -3.59665875e-04 -1.16047272e+01] [-5.51785218e-03 2.71381269e-04 9.99984740e-01 -2.77492111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.120371743 meters 0.029813802525713983 Centerline is valid? [True, True] Translation: X:201.46, Y:-11.61, Z:-2.78 [[ 9.99796699e-01 1.93425095e-02 5.69447521e-03 2.01459764e+02] [-1.93407064e-02 9.99812882e-01 -3.71556334e-04 -1.16081842e+01] [-5.70059650e-03 2.61345624e-04 9.99983717e-01 -2.77559248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18037174299997 meters 0.02924016403639063 Centerline is valid? [True, True] Translation: X:201.52, Y:-11.61, Z:-2.78 [[ 9.99775892e-01 2.02249819e-02 6.25423550e-03 2.01518016e+02] [-2.02228240e-02 9.99795415e-01 -4.08087031e-04 -1.16122751e+01] [-6.26120953e-03 2.81517272e-04 9.99980359e-01 -2.77612647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24037174299997 meters 0.02938341693435077 Centerline is valid? [True, True] Translation: X:201.58, Y:-11.62, Z:-2.78 [[ 9.99830350e-01 1.75227694e-02 5.67651668e-03 2.01577304e+02] [-1.75209517e-02 9.99846428e-01 -3.69781197e-04 -1.16183496e+01] [-5.68212451e-03 2.70260490e-04 9.99983820e-01 -2.77697084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30037174299997 meters 0.03064653902205601 Centerline is valid? [True, True] Translation: X:201.64, Y:-11.62, Z:-2.78 [[ 9.99862043e-01 1.58242962e-02 5.04840972e-03 2.01636254e+02] [-1.58228368e-02 9.99874757e-01 -3.28894845e-04 -1.16247881e+01] [-5.05298197e-03 2.48969309e-04 9.99987203e-01 -2.77824345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36037174299997 meters 0.032245675574499345 Centerline is valid? [True, True] Translation: X:201.70, Y:-11.63, Z:-2.78 [[ 9.99917692e-01 1.20767459e-02 4.33148622e-03 2.01696025e+02] [-1.20756386e-02 9.99927047e-01 -2.81714693e-04 -1.16326601e+01] [-4.33457242e-03 2.29386044e-04 9.99990579e-01 -2.78020161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42037174299998 meters 0.037335402198169866 Centerline is valid? [True, True] Translation: X:201.76, Y:-11.65, Z:-2.78 [[ 9.99961652e-01 7.40175709e-03 4.68066867e-03 2.01755124e+02] [-7.40041316e-03 9.99972570e-01 -3.04378809e-04 -1.16450146e+01] [-4.68279322e-03 2.69728255e-04 9.99988999e-01 -2.78082399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48037174299998 meters 0.033696244140025124 Centerline is valid? [True, True] Translation: X:201.81, Y:-11.64, Z:-2.78 [[ 9.99969478e-01 5.13679248e-03 5.88698098e-03 2.01814815e+02] [-5.13462817e-03 9.99986744e-01 -3.82698685e-04 -1.16431814e+01] [-5.88886879e-03 3.52459546e-04 9.99982598e-01 -2.78013037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54037174299998 meters 0.03471614261970981 Centerline is valid? [True, True] Translation: X:201.87, Y:-11.65, Z:-2.78 [[ 9.99981829e-01 3.78332739e-03 4.69333228e-03 2.01874999e+02] [-3.78193884e-03 9.99992802e-01 -3.04696182e-04 -1.16470837e+01] [-4.69445126e-03 2.86940750e-04 9.99988940e-01 -2.78131449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60037174299998 meters 0.03504071811591238 Centerline is valid? [True, True] Translation: X:201.94, Y:-11.65, Z:-2.78 [[ 9.99990641e-01 1.64395304e-03 4.00187081e-03 2.01935711e+02] [-1.64292716e-03 9.99998617e-01 -2.59624012e-04 -1.16504820e+01] [-4.00229208e-03 2.53046800e-04 9.99991959e-01 -2.78285829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66037174299998 meters 0.03591002608374465 Centerline is valid? [True, True] Translation: X:202.00, Y:-11.66, Z:-2.78 [[ 9.99990657e-01 6.90115268e-04 4.26729051e-03 2.01996331e+02] [-6.88939735e-04 9.99999724e-01 -2.76939006e-04 -1.16558862e+01] [-4.26748046e-03 2.73996512e-04 9.99990857e-01 -2.78407050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.720371743 meters 0.036118239430059096 Centerline is valid? [True, True] Translation: X:202.06, Y:-11.66, Z:-2.78 [[ 9.99991615e-01 1.22764583e-03 3.90686852e-03 2.02057481e+02] [-1.22666509e-03 9.99999216e-01 -2.53416101e-04 -1.16575860e+01] [-3.90717656e-03 2.48621557e-04 9.99992336e-01 -2.78466603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.780371743 meters 0.03490177947673676 Centerline is valid? [True, True] Translation: X:202.12, Y:-11.66, Z:-2.79 [[ 9.99989428e-01 2.81116699e-03 3.63884872e-03 2.02118681e+02] [-2.81032481e-03 9.99996023e-01 -2.36534480e-04 -1.16574520e+01] [-3.63949918e-03 2.26305633e-04 9.99993351e-01 -2.78551984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.840371743 meters 0.034684061682390195 Centerline is valid? [True, True] Translation: X:202.18, Y:-11.66, Z:-2.79 [[ 9.99979389e-01 5.32918294e-03 3.58061761e-03 2.02179073e+02] [-5.32838374e-03 9.99985777e-01 -2.32703974e-04 -1.16586627e+01] [-3.58180680e-03 2.13620273e-04 9.99993562e-01 -2.78713716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.900371743 meters 0.03290624354204071 Centerline is valid? [True, True] Translation: X:202.24, Y:-11.66, Z:-2.79 [[ 9.99972851e-01 6.59053653e-03 3.29562004e-03 2.02239505e+02] [-6.58986567e-03 9.99978264e-01 -2.14378083e-04 -1.16566609e+01] [-3.29696127e-03 1.92654569e-04 9.99994546e-01 -2.78713846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96037174299997 meters 0.03525460978534119 Centerline is valid? [True, True] Translation: X:202.30, Y:-11.66, Z:-2.79 [[ 9.99969644e-01 6.77704892e-03 3.84471712e-03 2.02297739e+02] [-6.77613630e-03 9.99977010e-01 -2.50346785e-04 -1.16616988e+01] [-3.84632534e-03 2.24286858e-04 9.99992578e-01 -2.78793485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02037174299997 meters 0.033361542244603144 Centerline is valid? [True, True] Translation: X:202.36, Y:-11.66, Z:-2.79 [[ 9.99968524e-01 7.00288384e-03 3.72962280e-03 2.02357410e+02] [-7.00202796e-03 9.99975456e-01 -2.42491669e-04 -1.16619357e+01] [-3.73122940e-03 2.16369113e-04 9.99993016e-01 -2.78953427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08037174299997 meters 0.03269481348805333 Centerline is valid? [True, True] Translation: X:202.42, Y:-11.66, Z:-2.79 [[ 9.99957022e-01 8.88713119e-03 2.64055857e-03 2.02417377e+02] [-8.88670858e-03 9.99960498e-01 -1.71735668e-04 -1.16631038e+01] [-2.64198050e-03 1.48262413e-04 9.99996499e-01 -2.79116601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14037174299997 meters 0.031890075091911795 Centerline is valid? [True, True] Translation: X:202.48, Y:-11.66, Z:-2.79 [[ 9.99922421e-01 1.22404361e-02 2.30743461e-03 2.02477887e+02] [-1.22401229e-02 9.99925076e-01 -1.49837077e-04 -1.16620353e+01] [-2.30909580e-03 1.21582169e-04 9.99997327e-01 -2.79255336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20037174299998 meters 0.03184441810127689 Centerline is valid? [True, True] Translation: X:202.54, Y:-11.66, Z:-2.79 [[ 9.99891825e-01 1.43554268e-02 3.20299703e-03 2.02538141e+02] [-1.43548345e-02 9.99896942e-01 -2.07832530e-04 -1.16642081e+01] [-3.20565046e-03 1.61831556e-04 9.99994849e-01 -2.79338056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26037174299998 meters 0.031022192147008323 Centerline is valid? [True, True] Translation: X:202.60, Y:-11.66, Z:-2.79 [[ 9.99820402e-01 1.85673464e-02 3.79689903e-03 2.02597993e+02] [-1.85665441e-02 9.99827596e-01 -2.46432334e-04 -1.16623504e+01] [-3.80082002e-03 1.75892782e-04 9.99992761e-01 -2.79375788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32037174299998 meters 0.030085404156030657 Centerline is valid? [True, True] Translation: X:202.66, Y:-11.66, Z:-2.80 [[ 9.99714410e-01 2.36025909e-02 3.74371662e-03 2.02657434e+02] [-2.36018467e-02 9.99721408e-01 -2.42844803e-04 -1.16612667e+01] [-3.74840542e-03 1.54416824e-04 9.99992963e-01 -2.79618377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38037174299998 meters 0.02693615616584517 Centerline is valid? [True, True] Translation: X:202.72, Y:-11.66, Z:-2.80 [[ 9.99639260e-01 2.67190614e-02 2.72804126e-03 2.02716558e+02] [-2.67186765e-02 9.99642977e-01 -1.77431212e-04 -1.16559768e+01] [-2.73180808e-03 1.04477554e-04 9.99996263e-01 -2.79697930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.440371743 meters 0.0269657797345395 Centerline is valid? [True, True] Translation: X:202.78, Y:-11.66, Z:-2.80 [[ 9.99642613e-01 2.66342375e-02 2.29431723e-03 2.02775494e+02] [-2.66339651e-02 9.99645242e-01 -1.49214497e-04 -1.16585551e+01] [-2.29747751e-03 8.80544043e-05 9.99997357e-01 -2.79807950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.500371743 meters 0.02829837121298275 Centerline is valid? [True, True] Translation: X:202.83, Y:-11.67, Z:-2.80 [[ 9.99725148e-01 2.32549174e-02 2.97275114e-03 2.02834710e+02] [-2.32544478e-02 9.99729560e-01 -1.92419904e-04 -1.16650989e+01] [-2.97642190e-03 1.23237330e-04 9.99995563e-01 -2.79994747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.560371743 meters 0.035036265655451995 Centerline is valid? [True, True] Translation: X:202.89, Y:-11.68, Z:-2.80 [[ 9.99814471e-01 1.87591583e-02 4.37240291e-03 2.02893269e+02] [-1.87581021e-02 9.99824011e-01 -2.82449877e-04 -1.16806177e+01] [-4.37693193e-03 2.00379494e-04 9.99990401e-01 -2.80154893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.620371743 meters 0.03027005814909239 Centerline is valid? [True, True] Translation: X:202.95, Y:-11.68, Z:-2.80 [[ 9.99859069e-01 1.59415847e-02 5.26387041e-03 2.02952831e+02] [-1.59400140e-02 9.99872892e-01 -3.40213538e-04 -1.16772686e+01] [-5.26862488e-03 2.56259424e-04 9.99986088e-01 -2.79995053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68037174299997 meters 0.03201725997829763 Centerline is valid? [True, True] Translation: X:203.01, Y:-11.69, Z:-2.80 [[ 9.99911766e-01 1.13444325e-02 6.91117078e-03 2.03012352e+02] [-1.13416214e-02 9.99935582e-01 -4.45814152e-04 -1.16858715e+01] [-6.91578308e-03 3.67390934e-04 9.99976018e-01 -2.79981265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74037174299997 meters 0.03553637604632477 Centerline is valid? [True, True] Translation: X:203.07, Y:-11.70, Z:-2.80 [[ 9.99955152e-01 6.85778578e-03 6.53183795e-03 2.03070775e+02] [-6.85518085e-03 9.99976414e-01 -4.21110021e-04 -1.16967015e+01] [-6.53457177e-03 3.76314204e-04 9.99978579e-01 -2.80169422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80037174299997 meters 0.03365991867049893 Centerline is valid? [True, True] Translation: X:203.13, Y:-11.70, Z:-2.80 [[ 9.99974768e-01 3.71702808e-03 6.05366174e-03 2.03131171e+02] [-3.71473327e-03 9.99993024e-01 -3.90277089e-04 -1.16986489e+01] [-6.05507019e-03 3.67779503e-04 9.99981600e-01 -2.80290814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86037174299997 meters 0.03475412537694038 Centerline is valid? [True, True] Translation: X:203.19, Y:-11.71, Z:-2.81 [[ 9.99988140e-01 -4.85076927e-04 4.84601889e-03 2.03191278e+02] [ 4.86596456e-04 9.99999833e-01 -3.12388137e-04 -1.17064651e+01] [-4.84586654e-03 3.14742487e-04 9.99988209e-01 -2.80513160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92037174299998 meters 0.03671179530090528 Centerline is valid? [True, True] Translation: X:203.25, Y:-11.71, Z:-2.81 [[ 9.99985943e-01 -1.23804568e-03 5.15572098e-03 2.03252163e+02] [ 1.23976520e-03 9.99999177e-01 -3.30333459e-04 -1.17140903e+01] [-5.15530777e-03 3.36720699e-04 9.99986655e-01 -2.80621177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98037174299998 meters 0.035782534854399604 Centerline is valid? [True, True] Translation: X:203.31, Y:-11.72, Z:-2.81 [[ 9.99980436e-01 1.53144293e-03 6.06480820e-03 2.03313452e+02] [-1.52909176e-03 9.99998754e-01 -3.92293351e-04 -1.17157463e+01] [-6.06540142e-03 3.83012029e-04 9.99981532e-01 -2.80633062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04037174299998 meters 0.034351972490114915 Centerline is valid? [True, True] Translation: X:203.37, Y:-11.72, Z:-2.81 [[ 9.99963830e-01 5.16877554e-03 6.75449350e-03 2.03374790e+02] [-5.16594085e-03 9.99986561e-01 -4.37054415e-04 -1.17163996e+01] [-6.75666176e-03 4.02145293e-04 9.99977093e-01 -2.80615675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10037174299998 meters 0.031578435862541894 Centerline is valid? [True, True] Translation: X:203.44, Y:-11.71, Z:-2.81 [[ 9.99903689e-01 1.14927524e-02 7.78000775e-03 2.03435530e+02] [-1.14891800e-02 9.99933870e-01 -5.03707334e-04 -1.17149283e+01] [-7.78528225e-03 4.14272912e-04 9.99969608e-01 -2.80593485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16037174299998 meters 0.029557910523448826 Centerline is valid? [True, True] Translation: X:203.50, Y:-11.71, Z:-2.81 [[ 9.99805625e-01 1.83610700e-02 7.18220457e-03 2.03495949e+02] [-1.83582023e-02 9.99831366e-01 -4.65010025e-04 -1.17138504e+01] [-7.18953148e-03 3.33067274e-04 9.99974100e-01 -2.80725420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.220371743 meters 0.028801174986803586 Centerline is valid? [True, True] Translation: X:203.56, Y:-11.72, Z:-2.81 [[ 9.99771860e-01 2.03573433e-02 6.46577555e-03 2.03555118e+02] [-2.03550584e-02 9.99792727e-01 -4.18993152e-04 -1.17157716e+01] [-6.47296495e-03 2.87286323e-04 9.99979009e-01 -2.80879570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.280371743 meters 0.027096004571975908 Centerline is valid? [True, True] Translation: X:203.62, Y:-11.72, Z:-2.81 [[ 9.99622540e-01 2.71107588e-02 4.44787901e-03 2.03615980e+02] [-2.71097464e-02 9.99632422e-01 -2.87747859e-04 -1.17161161e+01] [-4.45404513e-03 1.67058373e-04 9.99990067e-01 -2.81090797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.340371743 meters 0.025188183592447334 Centerline is valid? [True, True] Translation: X:203.68, Y:-11.72, Z:-2.81 [[ 9.99451304e-01 3.28712881e-02 4.07063149e-03 2.03675604e+02] [-3.28704866e-02 9.99459585e-01 -2.63651347e-04 -1.17157103e+01] [-4.07709822e-03 1.29703044e-04 9.99991680e-01 -2.81116817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.400371743 meters 0.02353114795941129 Centerline is valid? [True, True] Translation: X:203.74, Y:-11.71, Z:-2.81 [[ 9.99094039e-01 4.21140384e-02 6.12445495e-03 2.03736262e+02] [-4.21124021e-02 9.99112801e-01 -3.95941673e-04 -1.17146003e+01] [-6.13569604e-03 1.37667456e-04 9.99981167e-01 -2.81019927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46037174299997 meters 0.02259584866559713 Centerline is valid? [True, True] Translation: X:203.80, Y:-11.72, Z:-2.81 [[ 9.98803761e-01 4.81006880e-02 8.79611159e-03 2.03796411e+02] [-4.80975445e-02 9.98842481e-01 -5.68692332e-04 -1.17170460e+01] [-8.81328442e-03 1.44940672e-04 9.99961152e-01 -2.80970919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52037174299997 meters 0.022458901094077516 Centerline is valid? [True, True] Translation: X:203.86, Y:-11.72, Z:-2.81 [[ 9.98769324e-01 4.87519809e-02 9.11495292e-03 2.03855206e+02] [-4.87486316e-02 9.98810905e-01 -5.89399622e-04 -1.17239265e+01] [-9.13284878e-03 1.44332779e-04 9.99958284e-01 -2.81058190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58037174299997 meters 0.023095705804016816 Centerline is valid? [True, True] Translation: X:203.91, Y:-11.74, Z:-2.81 [[ 9.98945493e-01 4.52626032e-02 7.69411723e-03 2.03913263e+02] [-4.52601163e-02 9.98975112e-01 -4.97119923e-04 -1.17354235e+01] [-7.70873257e-03 1.48359066e-04 9.99970276e-01 -2.81322106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64037174299997 meters 0.02371334099041338 Centerline is valid? [True, True] Translation: X:203.97, Y:-11.75, Z:-2.82 [[ 9.99132052e-01 4.11445017e-02 6.50176288e-03 2.03971943e+02] [-4.11426417e-02 9.99153195e-01 -4.19638827e-04 -1.17464325e+01] [-6.51352298e-03 1.51774903e-04 9.99978775e-01 -2.81618710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70037174299998 meters 0.024667404662428342 Centerline is valid? [True, True] Translation: X:204.03, Y:-11.76, Z:-2.82 [[ 9.99415736e-01 3.36240478e-02 6.13262748e-03 2.04031442e+02] [-3.36222549e-02 9.99434534e-01 -3.95257914e-04 -1.17596946e+01] [-6.14244986e-03 1.88834215e-04 9.99981117e-01 -2.81584793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76037174299998 meters 0.02604124623826529 Centerline is valid? [True, True] Translation: X:204.09, Y:-11.77, Z:-2.82 [[ 9.99586932e-01 2.75627992e-02 8.13991239e-03 2.04091193e+02] [-2.75594423e-02 9.99620029e-01 -5.24291783e-04 -1.17746433e+01] [-8.15127041e-03 2.99743768e-04 9.99966733e-01 -2.81576804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82037174299998 meters 0.027039908979871838 Centerline is valid? [True, True] Translation: X:204.15, Y:-11.78, Z:-2.82 [[ 9.99662875e-01 2.43955499e-02 8.88784520e-03 2.04150371e+02] [-2.43914212e-02 9.99702321e-01 -5.72652717e-04 -1.17847762e+01] [-8.89916965e-03 3.55672486e-04 9.99960338e-01 -2.81595192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88037174299998 meters 0.02928936590229422 Centerline is valid? [True, True] Translation: X:204.21, Y:-11.80, Z:-2.82 [[ 9.99758662e-01 1.99148371e-02 9.27457187e-03 2.04209152e+02] [-1.99101529e-02 9.99801595e-01 -5.97122564e-04 -1.17992666e+01] [-9.28462334e-03 4.12320312e-04 9.99956812e-01 -2.81745632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.940371743 meters 0.0313465413191655 Centerline is valid? [True, True] Translation: X:204.27, Y:-11.81, Z:-2.82 [[ 9.99827915e-01 1.63000652e-02 8.85707513e-03 2.04268257e+02] [-1.62956529e-02 9.99867055e-01 -5.70108588e-04 -1.18105481e+01] [-8.86519043e-03 4.25678659e-04 9.99960613e-01 -2.81893348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.000371743 meters 0.03199658076043479 Centerline is valid? [True, True] Translation: X:204.33, Y:-11.82, Z:-2.82 [[ 9.99920181e-01 1.04383617e-02 7.11839047e-03 2.04327994e+02] [-1.04353652e-02 9.99945445e-01 -4.57967166e-04 -1.18214457e+01] [-7.12278256e-03 3.83647607e-04 9.99974559e-01 -2.82106352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.060371743 meters 0.03592434930704571 Centerline is valid? [True, True] Translation: X:204.39, Y:-11.84, Z:-2.82 [[ 9.99958955e-01 6.47232916e-03 6.34015819e-03 2.04386481e+02] [-6.46987164e-03 9.99978987e-01 -4.08046253e-04 -1.18362906e+01] [-6.34266597e-03 3.67009495e-04 9.99979818e-01 -2.82326831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.120371743 meters 0.03489704180197628 Centerline is valid? [True, True] Translation: X:204.45, Y:-11.84, Z:-2.82 [[ 9.99955841e-01 5.21895407e-03 7.81529624e-03 2.04447082e+02] [-5.21518532e-03 9.99986275e-01 -5.02528696e-04 -1.18413120e+01] [-7.81781164e-03 4.61748287e-04 9.99969334e-01 -2.82254542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18037174299997 meters 0.03306949679837184 Centerline is valid? [True, True] Translation: X:204.51, Y:-11.84, Z:-2.82 [[ 9.99945142e-01 5.23150916e-03 9.07434160e-03 2.04508652e+02] [-5.22642778e-03 9.99986172e-01 -5.83595388e-04 -1.18445766e+01] [-9.07726921e-03 5.36136982e-04 9.99958657e-01 -2.82276611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24037174299997 meters 0.03583094741875016 Centerline is valid? [True, True] Translation: X:204.57, Y:-11.86, Z:-2.82 [[ 9.99942298e-01 5.25640893e-03 9.36863685e-03 2.04569364e+02] [-5.25099894e-03 9.99986032e-01 -6.01962507e-04 -1.18550374e+01] [-9.37167016e-03 5.52733070e-04 9.99955932e-01 -2.82380917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30037174299997 meters 0.034401303127725644 Centerline is valid? [True, True] Translation: X:204.63, Y:-11.86, Z:-2.83 [[ 9.99946189e-01 4.78371831e-03 9.20514060e-03 2.04631575e+02] [-4.77845694e-03 9.99988407e-01 -5.93477271e-04 -1.18584562e+01] [-9.20787292e-03 5.49458968e-04 9.99957456e-01 -2.82506568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36037174299997 meters 0.03577804951267247 Centerline is valid? [True, True] Translation: X:204.69, Y:-11.87, Z:-2.83 [[ 9.99958713e-01 4.64913543e-03 7.80758554e-03 2.04693213e+02] [-4.64533504e-03 9.99989083e-01 -5.04820240e-04 -1.18656311e+01] [-7.80984728e-03 4.68530547e-04 9.99969393e-01 -2.82747882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42037174299998 meters 0.035825619596007476 Centerline is valid? [True, True] Translation: X:204.75, Y:-11.87, Z:-2.83 [[ 9.99950629e-01 5.81482742e-03 8.05778053e-03 2.04754003e+02] [-5.81078992e-03 9.99982980e-01 -5.24389053e-04 -1.18708818e+01] [-8.06069262e-03 4.77541094e-04 9.99967398e-01 -2.82838642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48037174299998 meters 0.03544975161005897 Centerline is valid? [True, True] Translation: X:204.81, Y:-11.87, Z:-2.83 [[ 9.99919890e-01 1.01886998e-02 7.51020326e-03 2.04813724e+02] [-1.01853114e-02 9.99948009e-01 -4.89285442e-04 -1.18720040e+01] [-7.51479798e-03 4.12752486e-04 9.99971678e-01 -2.82976604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54037174299998 meters 0.03364778920876629 Centerline is valid? [True, True] Translation: X:204.87, Y:-11.87, Z:-2.83 [[ 9.99861370e-01 1.53407039e-02 6.47337179e-03 2.04873862e+02] [-1.53382948e-02 9.99882273e-01 -4.21641060e-04 -1.18719964e+01] [-6.47907797e-03 3.22292123e-04 9.99978959e-01 -2.83139170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60037174299998 meters 0.030758205734330107 Centerline is valid? [True, True] Translation: X:204.93, Y:-11.87, Z:-2.83 [[ 9.99654675e-01 2.51583151e-02 7.58878742e-03 2.04933919e+02] [-2.51552865e-02 9.99683434e-01 -4.94301832e-04 -1.18688406e+01] [-7.59882087e-03 3.03233016e-04 9.99971083e-01 -2.83179288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66037174299998 meters 0.028585644726350543 Centerline is valid? [True, True] Translation: X:204.99, Y:-11.87, Z:-2.83 [[ 9.99414554e-01 3.27893783e-02 9.76761147e-03 2.04993694e+02] [-3.27847263e-02 9.99462234e-01 -6.36043279e-04 -1.18669116e+01] [-9.78321425e-03 3.15442441e-04 9.99952093e-01 -2.83074161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.720371743 meters 0.025259549432226955 Centerline is valid? [True, True] Translation: X:205.05, Y:-11.86, Z:-2.83 [[ 9.99287473e-01 3.62927891e-02 1.03624492e-02 2.05053135e+02] [-3.62877401e-02 9.99341155e-01 -6.74902482e-04 -1.18645204e+01] [-1.03801160e-02 2.98391733e-04 9.99946081e-01 -2.83091655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.780371743 meters 0.02498752282792938 Centerline is valid? [True, True] Translation: X:205.11, Y:-11.87, Z:-2.83 [[ 9.99299091e-01 3.62099094e-02 9.49579667e-03 2.05111484e+02] [-3.62056767e-02 9.99344169e-01 -6.17322489e-04 -1.18683518e+01] [-9.51192223e-03 2.73088057e-04 9.99954723e-01 -2.83314791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.840371743 meters 0.029258451667698308 Centerline is valid? [True, True] Translation: X:205.17, Y:-11.88, Z:-2.84 [[ 9.99387705e-01 3.43105523e-02 6.85573494e-03 2.05168099e+02] [-3.43083020e-02 9.99411198e-01 -4.45597564e-04 -1.18832640e+01] [-6.86698696e-03 2.10116102e-04 9.99976400e-01 -2.83917033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.900371743 meters 0.025352872709770533 Centerline is valid? [True, True] Translation: X:205.23, Y:-11.88, Z:-2.84 [[ 9.99466225e-01 3.17602413e-02 7.65190139e-03 2.05227521e+02] [-3.17573705e-02 9.99495484e-01 -4.96414927e-04 -1.18817612e+01] [-7.66380715e-03 2.53145685e-04 9.99970601e-01 -2.83705138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96037174299997 meters 0.02650998641856264 Centerline is valid? [True, True] Translation: X:205.28, Y:-11.89, Z:-2.84 [[ 9.99500644e-01 3.01481146e-02 9.46332961e-03 2.05284678e+02] [-3.01436595e-02 9.99545389e-01 -6.13085647e-04 -1.18888820e+01] [-9.47751085e-03 3.27520113e-04 9.99955034e-01 -2.83720521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02037174299997 meters 0.026323432866152255 Centerline is valid? [True, True] Translation: X:205.34, Y:-11.89, Z:-2.84 [[ 9.99555600e-01 2.80789145e-02 1.00088864e-02 2.05343654e+02] [-2.80738377e-02 9.99605643e-01 -6.47402559e-04 -1.18938482e+01] [-1.00231177e-02 3.66127001e-04 9.99949700e-01 -2.83807790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08037174299997 meters 0.027239211826687475 Centerline is valid? [True, True] Translation: X:205.40, Y:-11.90, Z:-2.84 [[ 9.99584064e-01 2.69757782e-02 1.01983372e-02 2.05401369e+02] [-2.69704570e-02 9.99636014e-01 -6.58965006e-04 -1.19003677e+01] [-1.02124012e-02 3.83637104e-04 9.99947778e-01 -2.83920013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14037174299997 meters 0.02620583654788992 Centerline is valid? [True, True] Translation: X:205.46, Y:-11.90, Z:-2.84 [[ 9.99596651e-01 2.60514869e-02 1.13072720e-02 2.05460458e+02] [-2.60448999e-02 9.99660508e-01 -7.29436892e-04 -1.19028807e+01] [-1.13224362e-02 4.34645908e-04 9.99935805e-01 -2.83874571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20037174299998 meters 0.027521459566467777 Centerline is valid? [True, True] Translation: X:205.52, Y:-11.91, Z:-2.84 [[ 9.99672126e-01 2.27684994e-02 1.17147729e-02 2.05519337e+02] [-2.27612150e-02 9.99740645e-01 -7.54783975e-04 -1.19101446e+01] [-1.17289199e-02 4.87894036e-04 9.99931095e-01 -2.83927091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26037174299998 meters 0.029447272325640813 Centerline is valid? [True, True] Translation: X:205.58, Y:-11.92, Z:-2.84 [[ 9.99816769e-01 1.71567121e-02 8.48977204e-03 2.05579476e+02] [-1.71526889e-02 9.99852732e-01 -5.46478926e-04 -1.19184274e+01] [-8.49789755e-03 4.00756376e-04 9.99963812e-01 -2.84251947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32037174299998 meters 0.03217751633732009 Centerline is valid? [True, True] Translation: X:205.64, Y:-11.93, Z:-2.85 [[ 9.99894531e-01 1.27327514e-02 6.98591410e-03 2.05638081e+02] [-1.27299183e-02 9.99918870e-01 -4.49854863e-04 -1.19268568e+01] [-6.99107523e-03 3.60877302e-04 9.99975497e-01 -2.84516356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38037174299998 meters 0.035338606635422654 Centerline is valid? [True, True] Translation: X:205.70, Y:-11.94, Z:-2.85 [[ 9.99952953e-01 7.45217329e-03 6.20934537e-03 2.05698032e+02] [-7.44983628e-03 9.99972170e-01 -3.99414318e-04 -1.19354715e+01] [-6.21214906e-03 3.53136921e-04 9.99980642e-01 -2.84646122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.440371743 meters 0.033063347825948164 Centerline is valid? [True, True] Translation: X:205.76, Y:-11.93, Z:-2.84 [[ 9.99959626e-01 4.87915512e-03 7.54591855e-03 2.05759402e+02] [-4.87563174e-03 9.99987996e-01 -4.85250371e-04 -1.19340642e+01] [-7.54819558e-03 4.48439659e-04 9.99971411e-01 -2.84464145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.500371743 meters 0.034947975398370974 Centerline is valid? [True, True] Translation: X:205.82, Y:-11.94, Z:-2.84 [[ 9.99953569e-01 4.33965834e-03 8.60395359e-03 2.05820899e+02] [-4.33506616e-03 9.99990451e-01 -5.52306983e-04 -1.19392649e+01] [-8.60626825e-03 5.14982631e-04 9.99962833e-01 -2.84401954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.560371743 meters 0.03499212670985687 Centerline is valid? [True, True] Translation: X:205.88, Y:-11.94, Z:-2.84 [[ 9.99959681e-01 4.54548154e-03 7.74430454e-03 2.05883125e+02] [-4.54175652e-03 9.99989562e-01 -4.98519233e-04 -1.19420131e+01] [-7.74648972e-03 4.63326388e-04 9.99969888e-01 -2.84480499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.620371743 meters 0.036260509794661167 Centerline is valid? [True, True] Translation: X:205.94, Y:-11.95, Z:-2.85 [[ 9.99966774e-01 4.14003343e-03 7.02216540e-03 2.05944039e+02] [-4.13694960e-03 9.99991340e-01 -4.53624847e-04 -1.19455210e+01] [-7.02398261e-03 4.24559430e-04 9.99975241e-01 -2.84559764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68037174299997 meters 0.0368219099938463 Centerline is valid? [True, True] Translation: X:206.01, Y:-11.95, Z:-2.85 [[ 9.99975941e-01 4.05995719e-03 5.62449391e-03 2.06005454e+02] [-4.05796466e-03 9.99991700e-01 -3.65626971e-04 -1.19490268e+01] [-5.62593165e-03 3.42794177e-04 9.99984116e-01 -2.84741602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74037174299997 meters 0.03505512045071518 Centerline is valid? [True, True] Translation: X:206.07, Y:-11.95, Z:-2.85 [[ 9.99974513e-01 5.39584868e-03 4.67534205e-03 2.06066886e+02] [-5.39448610e-03 9.99985403e-01 -3.04002075e-04 -1.19480430e+01] [-4.67691415e-03 2.78773259e-04 9.99989024e-01 -2.84920633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80037174299997 meters 0.033704097662614216 Centerline is valid? [True, True] Translation: X:206.13, Y:-11.95, Z:-2.85 [[ 9.99963172e-01 7.49865674e-03 4.17434446e-03 2.06127427e+02] [-7.49758693e-03 9.99971856e-01 -2.71870520e-04 -1.19461323e+01] [-4.17626564e-03 2.40562997e-04 9.99991250e-01 -2.84908382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86037174299997 meters 0.034544314687936103 Centerline is valid? [True, True] Translation: X:206.19, Y:-11.95, Z:-2.85 [[ 9.99948110e-01 9.42309031e-03 3.87070810e-03 2.06186421e+02] [-9.42218348e-03 9.99955578e-01 -2.52451454e-04 -1.19469111e+01] [-3.87291503e-03 2.15967832e-04 9.99992477e-01 -2.84922466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92037174299998 meters 0.031888416763956325 Centerline is valid? [True, True] Translation: X:206.25, Y:-11.94, Z:-2.85 [[ 9.99917638e-01 1.17196834e-02 5.23128415e-03 2.06246915e+02] [-1.17180610e-02 9.99931283e-01 -3.40681598e-04 -1.19435170e+01] [-5.23491736e-03 2.79353032e-04 9.99986259e-01 -2.84764047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98037174299998 meters 0.03116742505701266 Centerline is valid? [True, True] Translation: X:206.31, Y:-11.94, Z:-2.85 [[ 9.99858839e-01 1.60319576e-02 5.02770000e-03 2.06307280e+02] [-1.60305138e-02 9.99871449e-01 -3.27337827e-04 -1.19410544e+01] [-5.03230155e-03 2.46695006e-04 9.99987307e-01 -2.84783438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04037174299998 meters 0.029642751720356544 Centerline is valid? [True, True] Translation: X:206.37, Y:-11.94, Z:-2.85 [[ 9.99795415e-01 1.97231630e-02 4.48597837e-03 2.06367836e+02] [-1.97220509e-02 9.99805459e-01 -2.92019583e-04 -1.19388746e+01] [-4.49086521e-03 2.03487146e-04 9.99989895e-01 -2.84922202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10037174299998 meters 0.029122007549615574 Centerline is valid? [True, True] Translation: X:206.43, Y:-11.94, Z:-2.85 [[ 9.99784743e-01 2.04822842e-02 3.30826856e-03 2.06426385e+02] [-2.04816816e-02 9.99790205e-01 -2.15935292e-04 -1.19387749e+01] [-3.31199735e-03 1.48129907e-04 9.99994504e-01 -2.85053836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16037174299998 meters 0.029298083767139566 Centerline is valid? [True, True] Translation: X:206.48, Y:-11.94, Z:-2.85 [[ 9.99799991e-01 1.98775764e-02 2.20440005e-03 2.06484603e+02] [-1.98773062e-02 9.99802416e-01 -1.44423061e-04 -1.19411108e+01] [-2.20683527e-03 1.00576640e-04 9.99997560e-01 -2.85215523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.220371743 meters 0.030347395857540344 Centerline is valid? [True, True] Translation: X:206.54, Y:-11.94, Z:-2.85 [[ 9.99807708e-01 1.94645377e-02 2.38322357e-03 2.06542192e+02] [-1.94642219e-02 9.99810542e-01 -1.55617916e-04 -1.19439200e+01] [-2.38580108e-03 1.09200400e-04 9.99997148e-01 -2.85293959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.280371743 meters 0.02998315591782172 Centerline is valid? [True, True] Translation: X:206.60, Y:-11.94, Z:-2.85 [[ 9.99841411e-01 1.75644519e-02 2.93976235e-03 2.06601224e+02] [-1.75639654e-02 9.99845723e-01 -1.91225815e-04 -1.19447058e+01] [-2.94266759e-03 1.39561605e-04 9.99995661e-01 -2.85239350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.340371743 meters 0.030191349794884116 Centerline is valid? [True, True] Translation: X:206.66, Y:-11.95, Z:-2.85 [[ 9.99889519e-01 1.45088673e-02 3.23150080e-03 2.06660484e+02] [-1.45082652e-02 9.99894728e-01 -2.09690016e-04 -1.19480155e+01] [-3.23420298e-03 1.62783379e-04 9.99994757e-01 -2.85224968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.400371743 meters 0.033395815163683056 Centerline is valid? [True, True] Translation: X:206.72, Y:-11.96, Z:-2.85 [[ 9.99949069e-01 9.38190317e-03 3.72010394e-03 2.06719047e+02] [-9.38107221e-03 9.99955968e-01 -2.40756789e-04 -1.19565192e+01] [-3.72219889e-03 2.05845964e-04 9.99993051e-01 -2.85381422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46037174299997 meters 0.03487179365279975 Centerline is valid? [True, True] Translation: X:206.78, Y:-11.96, Z:-2.85 [[ 9.99983611e-01 5.14788627e-03 2.50532191e-03 2.06779043e+02] [-5.14749652e-03 9.99986738e-01 -1.61995388e-04 -1.19620528e+01] [-2.50612262e-03 1.49096597e-04 9.99996849e-01 -2.85459785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52037174299997 meters 0.036946623870778454 Centerline is valid? [True, True] Translation: X:206.84, Y:-11.97, Z:-2.86 [[ 9.99992787e-01 3.01384345e-03 2.31127390e-03 2.06837813e+02] [-3.01350699e-03 9.99995448e-01 -1.49043881e-04 -1.19684573e+01] [-2.31171258e-03 1.42077766e-04 9.99997318e-01 -2.85593762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58037174299997 meters 0.03831831374426518 Centerline is valid? [True, True] Translation: X:206.90, Y:-11.97, Z:-2.86 [[ 9.99990000e-01 1.78702648e-03 4.09959045e-03 2.06898247e+02] [-1.78595485e-03 9.99998370e-01 -2.65044989e-04 -1.19741992e+01] [-4.10005741e-03 2.57720655e-04 9.99991562e-01 -2.85605845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64037174299997 meters 0.03919342213122174 Centerline is valid? [True, True] Translation: X:206.96, Y:-11.98, Z:-2.86 [[ 9.99980231e-01 3.29711709e-03 5.35412613e-03 2.06958539e+02] [-3.29531159e-03 9.99994511e-01 -3.46002773e-04 -1.19787063e+01] [-5.35523755e-03 3.28352419e-04 9.99985607e-01 -2.85600476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70037174299998 meters 0.03351404225019497 Centerline is valid? [True, True] Translation: X:207.02, Y:-11.97, Z:-2.86 [[ 9.99975627e-01 6.40510719e-03 2.77841742e-03 2.07019625e+02] [-6.40463260e-03 9.99979474e-01 -1.79677169e-04 -1.19719599e+01] [-2.77951125e-03 1.61878047e-04 9.99996124e-01 -2.85743772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76037174299998 meters 0.032001787012189385 Centerline is valid? [True, True] Translation: X:207.08, Y:-11.97, Z:-2.86 [[ 9.99953099e-01 9.65559053e-03 7.54120042e-04 2.07079262e+02] [-9.65555612e-03 9.99953383e-01 -4.92488644e-05 -1.19716619e+01] [-7.54560414e-04 4.19651062e-05 9.99999714e-01 -2.85885701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82037174299998 meters 0.03194726225366287 Centerline is valid? [True, True] Translation: X:207.14, Y:-11.97, Z:-2.86 [[ 9.99870908e-01 1.60511813e-02 7.25805019e-04 2.07138656e+02] [-1.60511512e-02 9.99871171e-01 -4.71871258e-05 -1.19729152e+01] [-7.26468924e-04 3.55310281e-05 9.99999735e-01 -2.85993838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88037174299998 meters 0.029026739492685614 Centerline is valid? [True, True] Translation: X:207.20, Y:-11.97, Z:-2.86 [[ 9.99750253e-01 2.22532220e-02 2.05585493e-03 2.07200043e+02] [-2.22529961e-02 9.99752363e-01 -1.32655044e-04 -1.19679882e+01] [-2.05829783e-03 8.68729815e-05 9.99997878e-01 -2.85807280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.940371743 meters 0.027371943672067706 Centerline is valid? [True, True] Translation: X:207.26, Y:-11.97, Z:-2.86 [[ 9.99638764e-01 2.66547328e-02 3.44489818e-03 2.07260384e+02] [-2.66541230e-02 9.99644691e-01 -2.22821074e-04 -1.19681456e+01] [-3.44961341e-03 1.30919844e-04 9.99994041e-01 -2.85846091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.000371743 meters 0.026093415704386738 Centerline is valid? [True, True] Translation: X:207.32, Y:-11.97, Z:-2.86 [[ 9.99561920e-01 2.93868580e-02 3.51851121e-03 2.07319749e+02] [-2.93862376e-02 9.99568105e-01 -2.27902350e-04 -1.19683330e+01] [-3.52368891e-03 1.24406704e-04 9.99993784e-01 -2.85924225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.060371743 meters 0.027930632497057344 Centerline is valid? [True, True] Translation: X:207.38, Y:-11.98, Z:-2.86 [[ 9.99550095e-01 2.97887139e-02 3.49867132e-03 2.07377645e+02] [-2.97881030e-02 9.99556210e-01 -2.26608406e-04 -1.19761477e+01] [-3.50386902e-03 1.22287672e-04 9.99993854e-01 -2.86120029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.120371743 meters 0.026815306615692584 Centerline is valid? [True, True] Translation: X:207.44, Y:-11.98, Z:-2.86 [[ 9.99642916e-01 2.64611555e-02 3.72127577e-03 2.07437394e+02] [-2.64604439e-02 9.99649832e-01 -2.40328190e-04 -1.19788583e+01] [-3.72633207e-03 1.41775763e-04 9.99993047e-01 -2.86015299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18037174299997 meters 0.028127482622080695 Centerline is valid? [True, True] Translation: X:207.50, Y:-11.99, Z:-2.86 [[ 9.99759100e-01 2.17042173e-02 3.26643033e-03 2.07496688e+02] [-2.17036445e-02 9.99764426e-01 -2.10702785e-04 -1.19879559e+01] [-3.27023398e-03 1.39758584e-04 9.99994643e-01 -2.86273139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24037174299997 meters 0.029179230364627877 Centerline is valid? [True, True] Translation: X:207.56, Y:-11.99, Z:-2.86 [[ 9.99816424e-01 1.89838057e-02 2.59493635e-03 2.07556271e+02] [-1.89834345e-02 9.99819784e-01 -1.67598920e-04 -1.19946279e+01] [-2.59765036e-03 1.18307349e-04 9.99996619e-01 -2.86396916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30037174299997 meters 0.03065125748041737 Centerline is valid? [True, True] Translation: X:207.62, Y:-12.00, Z:-2.87 [[ 9.99884710e-01 1.49553478e-02 2.62747170e-03 2.07616032e+02] [-1.49549541e-02 9.99888154e-01 -1.69422891e-04 -1.20026324e+01] [-2.62971160e-03 1.30109640e-04 9.99996534e-01 -2.86539502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36037174299997 meters 0.03311862573466801 Centerline is valid? [True, True] Translation: X:207.67, Y:-12.01, Z:-2.87 [[ 9.99928074e-01 1.15478034e-02 3.23952382e-03 2.07674311e+02] [-1.15471870e-02 9.99933307e-01 -2.08912486e-04 -1.20127784e+01] [-3.24172025e-03 1.71490073e-04 9.99994731e-01 -2.86610788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42037174299998 meters 0.034504840446743804 Centerline is valid? [True, True] Translation: X:207.73, Y:-12.02, Z:-2.87 [[ 9.99941900e-01 9.87011295e-03 4.33329585e-03 2.07732012e+02] [-9.86899431e-03 9.99951261e-01 -2.79456909e-04 -1.20206322e+01] [-4.33584292e-03 2.36675400e-04 9.99990572e-01 -2.86622012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48037174299998 meters 0.03643158711225894 Centerline is valid? [True, True] Translation: X:207.79, Y:-12.03, Z:-2.87 [[ 9.99946227e-01 9.41559579e-03 4.34611051e-03 2.07790144e+02] [-9.41446833e-03 9.99955644e-01 -2.79803080e-04 -1.20288106e+01] [-4.34855224e-03 2.38871715e-04 9.99990516e-01 -2.86755680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54037174299998 meters 0.037416378934319885 Centerline is valid? [True, True] Translation: X:207.85, Y:-12.04, Z:-2.87 [[ 9.99949663e-01 9.17525157e-03 4.06036328e-03 2.07848744e+02] [-9.17426554e-03 9.99957881e-01 -2.61402887e-04 -1.20351208e+01] [-4.06259070e-03 2.24138878e-04 9.99991723e-01 -2.86932101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60037174299998 meters 0.03229989135645572 Centerline is valid? [True, True] Translation: X:207.91, Y:-12.03, Z:-2.87 [[ 9.99948509e-01 9.07059706e-03 4.55015437e-03 2.07908096e+02] [-9.06935939e-03 9.99958830e-01 -2.92566504e-04 -1.20315342e+01] [-4.55262079e-03 2.51284454e-04 9.99989605e-01 -2.86821431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66037174299998 meters 0.03571301730487392 Centerline is valid? [True, True] Translation: X:207.97, Y:-12.04, Z:-2.87 [[ 9.99912670e-01 1.16478409e-02 6.24342196e-03 2.07966876e+02] [-1.16455676e-02 9.99932108e-01 -4.00331447e-04 -1.20402154e+01] [-6.24766108e-03 3.27588293e-04 9.99980430e-01 -2.86842996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.720371743 meters 0.03064351426648801 Centerline is valid? [True, True] Translation: X:208.03, Y:-12.04, Z:-2.87 [[ 9.99889827e-01 1.35945398e-02 5.96007267e-03 2.08026635e+02] [-1.35925030e-02 9.99907545e-01 -3.82121500e-04 -1.20360779e+01] [-5.96471639e-03 3.01067095e-04 9.99982166e-01 -2.86890969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.780371743 meters 0.030579106222866515 Centerline is valid? [True, True] Translation: X:208.09, Y:-12.04, Z:-2.87 [[ 9.99878559e-01 1.50334776e-02 4.10621410e-03 2.08085261e+02] [-1.50325221e-02 9.99886971e-01 -2.63450505e-04 -1.20395952e+01] [-4.10971055e-03 2.01691757e-04 9.99991535e-01 -2.87089137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.840371743 meters 0.030626956169717966 Centerline is valid? [True, True] Translation: X:208.14, Y:-12.04, Z:-2.87 [[ 9.99873046e-01 1.53817101e-02 4.15862315e-03 2.08143804e+02] [-1.53807344e-02 9.99881674e-01 -2.66506282e-04 -1.20437506e+01] [-4.16223040e-03 2.02509770e-04 9.99991317e-01 -2.87180250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.900371743 meters 0.02933009103839481 Centerline is valid? [True, True] Translation: X:208.20, Y:-12.05, Z:-2.87 [[ 9.99847147e-01 1.69265696e-02 4.37875780e-03 2.08203049e+02] [-1.69255050e-02 9.99856714e-01 -2.80084856e-04 -1.20462094e+01] [-4.38287127e-03 2.05929357e-04 9.99990374e-01 -2.87207932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96037174299997 meters 0.029046399412104268 Centerline is valid? [True, True] Translation: X:208.26, Y:-12.05, Z:-2.87 [[ 9.99811709e-01 1.88466895e-02 4.62041119e-03 2.08261709e+02] [-1.88455252e-02 9.99822364e-01 -2.95411861e-04 -1.20500944e+01] [-4.62515797e-03 2.08282162e-04 9.99989282e-01 -2.87288598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02037174299997 meters 0.02856259108968085 Centerline is valid? [True, True] Translation: X:208.32, Y:-12.05, Z:-2.87 [[ 9.99743948e-01 2.19830782e-02 5.36498159e-03 2.08321095e+02] [-2.19815581e-02 9.99758318e-01 -3.42157817e-04 -1.20537367e+01] [-5.37120666e-03 2.24139552e-04 9.99985550e-01 -2.87285255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08037174299997 meters 0.02869889941291733 Centerline is valid? [True, True] Translation: X:208.38, Y:-12.06, Z:-2.87 [[ 9.99709813e-01 2.32707012e-02 6.22606205e-03 2.08380154e+02] [-2.32686799e-02 9.99729169e-01 -3.96906276e-04 -1.20604467e+01] [-6.23361212e-03 2.51918854e-04 9.99980539e-01 -2.87372155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14037174299997 meters 0.030660762386464743 Centerline is valid? [True, True] Translation: X:208.44, Y:-12.07, Z:-2.88 [[ 9.99721413e-01 2.25566105e-02 6.94944707e-03 2.08437326e+02] [-2.25540764e-02 9.99745526e-01 -4.42806796e-04 -1.20712431e+01] [-6.95766683e-03 2.85945076e-04 9.99975754e-01 -2.87546218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20037174299998 meters 0.028094720574629205 Centerline is valid? [True, True] Translation: X:208.50, Y:-12.07, Z:-2.88 [[ 9.99733678e-01 2.18964185e-02 7.28830685e-03 2.08495922e+02] [-2.18936195e-02 9.99760198e-01 -4.63612705e-04 -1.20729731e+01] [-7.29671057e-03 3.03921818e-04 9.99973332e-01 -2.87555655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26037174299998 meters 0.02877283045625746 Centerline is valid? [True, True] Translation: X:208.55, Y:-12.08, Z:-2.88 [[ 9.99751491e-01 2.15226575e-02 5.80796556e-03 2.08553741e+02] [-2.15208742e-02 9.99768331e-01 -3.69373157e-04 -1.20817714e+01] [-5.81456992e-03 2.44288868e-04 9.99983065e-01 -2.87834834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32037174299998 meters 0.027986780275824834 Centerline is valid? [True, True] Translation: X:208.61, Y:-12.09, Z:-2.88 [[ 9.99763436e-01 2.14369347e-02 3.67818676e-03 2.08612624e+02] [-2.14362191e-02 9.99770191e-01 -2.33884511e-04 -1.20872096e+01] [-3.68235524e-03 1.54982765e-04 9.99993208e-01 -2.88141629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38037174299998 meters 0.028355524244690886 Centerline is valid? [True, True] Translation: X:208.67, Y:-12.09, Z:-2.88 [[ 9.99759470e-01 2.15790052e-02 3.91763051e-03 2.08671115e+02] [-2.15781958e-02 9.99767133e-01 -2.48753507e-04 -1.20935059e+01] [-3.92208607e-03 1.64158276e-04 9.99992295e-01 -2.88220227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.440371743 meters 0.026871402982414756 Centerline is valid? [True, True] Translation: X:208.73, Y:-12.10, Z:-2.88 [[ 9.99651461e-01 2.54707541e-02 6.94247649e-03 2.08731208e+02] [-2.54683175e-02 9.99675533e-01 -4.39175342e-04 -1.20978998e+01] [-6.95141001e-03 2.62209077e-04 9.99975804e-01 -2.88013820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.500371743 meters 0.02624041148426306 Centerline is valid? [True, True] Translation: X:208.79, Y:-12.10, Z:-2.88 [[ 9.99573842e-01 2.83346544e-02 7.02012260e-03 2.08790225e+02] [-2.83322298e-02 9.99598463e-01 -4.44617825e-04 -1.21021512e+01] [-7.02990186e-03 2.45532621e-04 9.99975260e-01 -2.88125876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.560371743 meters 0.02490057750945211 Centerline is valid? [True, True] Translation: X:208.85, Y:-12.11, Z:-2.88 [[ 9.99413574e-01 3.36125912e-02 6.53463089e-03 2.08849763e+02] [-3.36106109e-02 9.99434919e-01 -4.12670382e-04 -1.21051982e+01] [-6.54480922e-03 1.92795446e-04 9.99978564e-01 -2.88306217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.620371743 meters 0.023593758593134798 Centerline is valid? [True, True] Translation: X:208.91, Y:-12.11, Z:-2.88 [[ 9.99192257e-01 3.95057598e-02 7.35723883e-03 2.08909813e+02] [-3.95034123e-02 9.99219328e-01 -4.64176813e-04 -1.21073918e+01] [-7.36983290e-03 1.73165838e-04 9.99972827e-01 -2.88352325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68037174299997 meters 0.02281676808920722 Centerline is valid? [True, True] Translation: X:208.97, Y:-12.11, Z:-2.88 [[ 9.99056477e-01 4.26593805e-02 8.14454144e-03 2.08969187e+02] [-4.26566080e-02 9.99089660e-01 -5.13892376e-04 -1.21093034e+01] [-8.15904948e-03 1.65988994e-04 9.99966701e-01 -2.88353475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74037174299997 meters 0.022510159089666013 Centerline is valid? [True, True] Translation: X:209.03, Y:-12.11, Z:-2.88 [[ 9.98910431e-01 4.56924917e-02 9.49462713e-03 2.09027384e+02] [-4.56888662e-02 9.98955539e-01 -5.98508280e-04 -1.21141301e+01] [-9.51205770e-03 1.64057415e-04 9.99954746e-01 -2.88382208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80037174299997 meters 0.022175997941849653 Centerline is valid? [True, True] Translation: X:209.09, Y:-12.12, Z:-2.89 [[ 9.98872084e-01 4.64023059e-02 1.00690159e-02 2.09086035e+02] [-4.63982724e-02 9.98922819e-01 -6.33934283e-04 -1.21213839e+01] [-1.00875858e-02 1.66034315e-04 9.99949105e-01 -2.88580692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86037174299997 meters 0.022372110130328634 Centerline is valid? [True, True] Translation: X:209.14, Y:-12.13, Z:-2.89 [[ 9.98973842e-01 4.45177133e-02 8.33286597e-03 2.09143966e+02] [-4.45148881e-02 9.99008583e-01 -5.24302358e-04 -1.21297156e+01] [-8.34794538e-03 1.52827745e-04 9.99965144e-01 -2.88762518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92037174299998 meters 0.02277877766236335 Centerline is valid? [True, True] Translation: X:209.20, Y:-12.14, Z:-2.89 [[ 9.99054635e-01 4.27657708e-02 7.80539750e-03 2.09202342e+02] [-4.27632443e-02 9.99085114e-01 -4.90374904e-04 -1.21359827e+01] [-7.81922771e-03 1.56127201e-04 9.99969417e-01 -2.88879538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98037174299998 meters 0.024045149391539386 Centerline is valid? [True, True] Translation: X:209.26, Y:-12.15, Z:-2.89 [[ 9.99328027e-01 3.57724590e-02 7.98910300e-03 2.09260829e+02] [-3.57695943e-02 9.99359938e-01 -5.01226483e-04 -1.21489731e+01] [-8.00191958e-03 2.15122699e-04 9.99967961e-01 -2.89028592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04037174299998 meters 0.025862021885906847 Centerline is valid? [True, True] Translation: X:209.32, Y:-12.16, Z:-2.89 [[ 9.99558591e-01 2.82522479e-02 9.18878854e-03 2.09320699e+02] [-2.82481486e-02 9.99600776e-01 -5.75624650e-04 -1.21626917e+01] [-9.20138284e-03 3.15804300e-04 9.99957617e-01 -2.89099783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10037174299998 meters 0.028004913613218368 Centerline is valid? [True, True] Translation: X:209.38, Y:-12.17, Z:-2.89 [[ 9.99698253e-01 2.27602999e-02 9.23965945e-03 2.09380638e+02] [-2.27559208e-02 9.99740883e-01 -5.78811419e-04 -1.21743640e+01] [-9.25043922e-03 3.68379806e-04 9.99957146e-01 -2.89268497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16037174299998 meters 0.029514796296310597 Centerline is valid? [True, True] Translation: X:209.44, Y:-12.18, Z:-2.89 [[ 9.99749899e-01 2.00884204e-02 9.82823988e-03 2.09438670e+02] [-2.00833346e-02 9.99798120e-01 -6.15904498e-04 -1.21834521e+01] [-9.83862830e-03 4.18366630e-04 9.99951512e-01 -2.89388320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.220371743 meters 0.03287498882639663 Centerline is valid? [True, True] Translation: X:209.50, Y:-12.20, Z:-2.90 [[ 9.99829829e-01 1.54972639e-02 1.00074179e-02 2.09497025e+02] [-1.54917690e-02 9.99879799e-01 -6.26364779e-04 -1.21956926e+01] [-1.00159220e-02 4.71225582e-04 9.99949728e-01 -2.89561850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.280371743 meters 0.03711144543707999 Centerline is valid? [True, True] Translation: X:209.56, Y:-12.21, Z:-2.90 [[ 9.99914379e-01 9.10970857e-03 9.39401638e-03 2.09556037e+02] [-9.10458565e-03 9.99958380e-01 -5.87960617e-04 -1.22079673e+01] [-9.39898155e-03 5.02381649e-04 9.99955702e-01 -2.89738170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.340371743 meters 0.03558340134240862 Centerline is valid? [True, True] Translation: X:209.62, Y:-12.21, Z:-2.90 [[ 9.99953546e-01 4.61246207e-03 8.46354187e-03 2.09617005e+02] [-4.60814218e-03 9.99989242e-01 -5.29841187e-04 -1.22104458e+01] [-8.46589469e-03 4.90815369e-04 9.99964043e-01 -2.89847753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.400371743 meters 0.036313299270251634 Centerline is valid? [True, True] Translation: X:209.68, Y:-12.22, Z:-2.90 [[ 9.99962388e-01 -7.62392110e-04 8.63955317e-03 2.09677758e+02] [ 7.67093742e-04 9.99999560e-01 -5.40897921e-04 -1.22150432e+01] [-8.63913699e-03 5.47504924e-04 9.99962532e-01 -2.89965068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46037174299997 meters 0.038352694587874506 Centerline is valid? [True, True] Translation: X:209.74, Y:-12.22, Z:-2.90 [[ 9.99945769e-01 -3.27090840e-03 9.88733126e-03 2.09738482e+02] [ 3.27718813e-03 9.99994438e-01 -6.18993691e-04 -1.22200277e+01] [-9.88525160e-03 6.51362767e-04 9.99950928e-01 -2.89997222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52037174299997 meters 0.039636980008334266 Centerline is valid? [True, True] Translation: X:209.80, Y:-12.22, Z:-2.90 [[ 9.99953237e-01 -4.38480683e-03 8.61954218e-03 2.09800016e+02] [ 4.38961686e-03 9.99990220e-01 -5.39197729e-04 -1.22223884e+01] [-8.61709361e-03 5.77009002e-04 9.99962706e-01 -2.90191943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58037174299997 meters 0.04060433653928872 Centerline is valid? [True, True] Translation: X:209.86, Y:-12.23, Z:-2.90 [[ 9.99960645e-01 -4.67897059e-03 7.53762373e-03 2.09862276e+02] [ 4.68266479e-03 9.99988925e-01 -4.72526646e-04 -1.22251858e+01] [-7.53532931e-03 5.07804215e-04 9.99971480e-01 -2.90358319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64037174299997 meters 0.042270816178556776 Centerline is valid? [True, True] Translation: X:209.92, Y:-12.23, Z:-2.90 [[ 9.99952978e-01 -5.49746674e-03 7.98870621e-03 2.09924759e+02] [ 5.50164731e-03 9.99984740e-01 -5.01428097e-04 -1.22269399e+01] [-7.98582772e-03 5.45355563e-04 9.99967964e-01 -2.90378516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70037174299998 meters 0.038958409827385916 Centerline is valid? [True, True] Translation: X:209.99, Y:-12.22, Z:-2.90 [[ 9.99950799e-01 -4.29706585e-03 8.94058266e-03 2.09987300e+02] [ 4.30226077e-03 9.99990587e-01 -5.61897834e-04 -1.22205800e+01] [-8.93808399e-03 6.00334906e-04 9.99959874e-01 -2.90334704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76037174299998 meters 0.04359795891008311 Centerline is valid? [True, True] Translation: X:210.05, Y:-12.22, Z:-2.90 [[ 9.99948325e-01 -2.38284788e-03 9.88278275e-03 2.10047574e+02] [ 2.38911245e-03 9.99996953e-01 -6.22129190e-04 -1.22247319e+01] [-9.88127019e-03 6.45708121e-04 9.99950971e-01 -2.90442041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82037174299998 meters 0.035700486143360716 Centerline is valid? [True, True] Translation: X:210.11, Y:-12.21, Z:-2.90 [[ 9.99943965e-01 8.99812440e-04 1.05478635e-02 2.10109219e+02] [-8.92856042e-04 9.99999381e-01 -6.64198281e-04 -1.22108706e+01] [-1.05484546e-02 6.54743339e-04 9.99944149e-01 -2.90391187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88037174299998 meters 0.034208484657877646 Centerline is valid? [True, True] Translation: X:210.17, Y:-12.21, Z:-2.90 [[ 9.99936521e-01 2.39742478e-03 1.10093980e-02 2.10171560e+02] [-2.38993561e-03 9.99996904e-01 -6.93358706e-04 -1.22059225e+01] [-1.10110261e-02 6.67002940e-04 9.99939154e-01 -2.90298446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.940371743 meters 0.03492806599955978 Centerline is valid? [True, True] Translation: X:210.23, Y:-12.21, Z:-2.90 [[ 9.99947835e-01 2.01397247e-03 1.00135726e-02 2.10234202e+02] [-2.00776087e-03 9.99997786e-01 -6.30331673e-04 -1.22070368e+01] [-1.00148199e-02 6.10193933e-04 9.99949664e-01 -2.90463425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.000371743 meters 0.03529848076917069 Centerline is valid? [True, True] Translation: X:210.30, Y:-12.21, Z:-2.91 [[ 9.99955263e-01 1.50955263e-03 9.33776774e-03 2.10296427e+02] [-1.50410951e-03 9.99998695e-01 -5.89910358e-04 -1.22091831e+01] [-9.33864605e-03 5.75838941e-04 9.99956228e-01 -2.90656751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.060371743 meters 0.03602009358826599 Centerline is valid? [True, True] Translation: X:210.36, Y:-12.21, Z:-2.91 [[ 9.99960391e-01 1.20282983e-03 8.81865353e-03 2.10358460e+02] [-1.19794531e-03 9.99999126e-01 -5.59146172e-04 -1.22102899e+01] [-8.81931838e-03 5.48559760e-04 9.99960959e-01 -2.90747389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.120371743 meters 0.03702431308544444 Centerline is valid? [True, True] Translation: X:210.42, Y:-12.21, Z:-2.91 [[ 9.99955550e-01 1.52088749e-03 9.30514821e-03 2.10420474e+02] [-1.51543159e-03 9.99998676e-01 -5.93353002e-04 -1.22132992e+01] [-9.30603831e-03 5.79225312e-04 9.99956530e-01 -2.90842257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18037174299997 meters 0.03919535949741243 Centerline is valid? [True, True] Translation: X:210.48, Y:-12.22, Z:-2.91 [[ 9.99944801e-01 6.93080528e-04 1.04840104e-02 2.10481679e+02] [-6.86102328e-04 9.99999541e-01 -6.69186082e-04 -1.22175006e+01] [-1.04844694e-02 6.61956040e-04 9.99944817e-01 -2.90829559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24037174299997 meters 0.03657586277638487 Centerline is valid? [True, True] Translation: X:210.54, Y:-12.22, Z:-2.91 [[ 9.99941885e-01 -2.26603663e-03 1.05400444e-02 2.10543365e+02] [ 2.27327097e-03 9.99997189e-01 -6.74437926e-04 -1.22162088e+01] [-1.05384864e-02 6.98359108e-04 9.99944225e-01 -2.90953276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30037174299997 meters 0.03586902109308894 Centerline is valid? [True, True] Translation: X:210.60, Y:-12.22, Z:-2.91 [[ 9.99952432e-01 -4.88259198e-03 8.44362174e-03 2.10604868e+02] [ 4.88732915e-03 9.99987911e-01 -5.40491797e-04 -1.22183263e+01] [-8.44088066e-03 5.81732845e-04 9.99964206e-01 -2.91333493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36037174299997 meters 0.04173700205229827 Centerline is valid? [True, True] Translation: X:210.66, Y:-12.23, Z:-2.92 [[ 9.99947235e-01 -8.06771836e-03 6.35916673e-03 2.10664236e+02] [ 8.07047242e-03 9.99967350e-01 -4.07541700e-04 -1.22274963e+01] [-6.35567117e-03 4.58841676e-04 9.99979697e-01 -2.91692191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42037174299998 meters 0.03993079679651774 Centerline is valid? [True, True] Translation: X:210.73, Y:-12.22, Z:-2.92 [[ 9.99930828e-01 -9.31558067e-03 7.18041460e-03 2.10726693e+02] [ 9.31911913e-03 9.99956471e-01 -4.59491974e-04 -1.22249826e+01] [-7.17582161e-03 5.26375329e-04 9.99974115e-01 -2.91664693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48037174299998 meters 0.03972999909195326 Centerline is valid? [True, True] Translation: X:210.79, Y:-12.23, Z:-2.92 [[ 9.99924893e-01 -9.25465306e-03 8.03488854e-03 2.10788901e+02] [ 9.25908747e-03 9.99957001e-01 -5.14870787e-04 -1.22250425e+01] [-8.02977810e-03 5.89227853e-04 9.99967587e-01 -2.91635771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54037174299998 meters 0.03898875539591276 Centerline is valid? [True, True] Translation: X:210.85, Y:-12.22, Z:-2.92 [[ 9.99935201e-01 -7.59103867e-03 8.48352535e-03 2.10850725e+02] [ 7.59592992e-03 9.99971002e-01 -5.44487311e-04 -1.22225580e+01] [-8.47914612e-03 6.08892293e-04 9.99963866e-01 -2.91574819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60037174299998 meters 0.04087760531794769 Centerline is valid? [True, True] Translation: X:210.91, Y:-12.23, Z:-2.92 [[ 9.99938134e-01 -6.44717134e-03 9.06430523e-03 2.10912071e+02] [ 6.45271106e-03 9.99979012e-01 -5.82044955e-04 -1.22268046e+01] [-9.06036244e-03 6.40498289e-04 9.99958749e-01 -2.91670283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66037174299998 meters 0.03860786060573106 Centerline is valid? [True, True] Translation: X:210.97, Y:-12.22, Z:-2.92 [[ 9.99971527e-01 -3.96983305e-03 6.41756000e-03 2.10974286e+02] [ 3.97255884e-03 9.99992024e-01 -4.12047338e-04 -1.22224084e+01] [-6.41587306e-03 4.37529741e-04 9.99979322e-01 -2.91921697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.720371743 meters 0.04162429392063705 Centerline is valid? [True, True] Translation: X:211.03, Y:-12.23, Z:-2.92 [[ 9.99983214e-01 -2.14226328e-03 5.38350727e-03 2.11034813e+02] [ 2.14415816e-03 9.99997641e-01 -3.46230542e-04 -1.22268318e+01] [-5.38275285e-03 3.57767822e-04 9.99985449e-01 -2.92096721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.780371743 meters 0.03880913030515321 Centerline is valid? [True, True] Translation: X:211.10, Y:-12.22, Z:-2.92 [[ 9.99981157e-01 1.41888497e-03 5.97269424e-03 2.11095670e+02] [-1.41661326e-03 9.99998923e-01 -3.84563595e-04 -1.22221577e+01] [-5.97323346e-03 3.76095351e-04 9.99982089e-01 -2.92074871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.840371743 meters 0.03964673086438317 Centerline is valid? [True, True] Translation: X:211.16, Y:-12.23, Z:-2.92 [[ 9.99974406e-01 2.86053187e-03 6.55786400e-03 2.11155592e+02] [-2.85782673e-03 9.99995827e-01 -4.21836770e-04 -1.22261005e+01] [-6.55904332e-03 4.03084734e-04 9.99978408e-01 -2.92113377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.900371743 meters 0.03349965535322697 Centerline is valid? [True, True] Translation: X:211.22, Y:-12.22, Z:-2.92 [[ 9.99948419e-01 5.87319932e-03 8.28639046e-03 2.11217018e+02] [-5.86897208e-03 9.99982635e-01 -5.34366786e-04 -1.22167423e+01] [-8.28938501e-03 4.85706629e-04 9.99965524e-01 -2.91994858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96037174299997 meters 0.033403366728527166 Centerline is valid? [True, True] Translation: X:211.28, Y:-12.22, Z:-2.92 [[ 9.99942237e-01 7.45499497e-03 7.74251966e-03 2.11277960e+02] [-7.45135075e-03 9.99972114e-01 -4.99417086e-04 -1.22176305e+01] [-7.74602690e-03 4.41696008e-04 9.99969902e-01 -2.92222210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02037174299997 meters 0.03224311171895773 Centerline is valid? [True, True] Translation: X:211.34, Y:-12.22, Z:-2.92 [[ 9.99961871e-01 6.51893923e-03 5.81025186e-03 2.11338798e+02] [-6.51687017e-03 9.99978695e-01 -3.74967058e-04 -1.22180632e+01] [-5.81257246e-03 3.37088104e-04 9.99983050e-01 -2.92459249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08037174299997 meters 0.03346847556576072 Centerline is valid? [True, True] Translation: X:211.40, Y:-12.22, Z:-2.93 [[ 9.99977645e-01 3.93890609e-03 5.40322323e-03 2.11399002e+02] [-3.93707924e-03 9.99992189e-01 -3.48699293e-04 -1.22231942e+01] [-5.40455452e-03 3.27418580e-04 9.99985342e-01 -2.92586983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14037174299997 meters 0.046589242325757535 Centerline is valid? [True, True] Translation: X:211.46, Y:-12.25, Z:-2.93 [[ 9.99981961e-01 -6.91753145e-04 5.96648044e-03 2.11457090e+02] [ 6.94063553e-04 9.99999685e-01 -3.85169378e-04 -1.22462702e+01] [-5.96621211e-03 3.89303546e-04 9.99982126e-01 -2.92832598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20037174299998 meters 0.038159686204806045 Centerline is valid? [True, True] Translation: X:211.52, Y:-12.24, Z:-2.93 [[ 9.99975664e-01 -4.67035937e-03 5.18266889e-03 2.11518495e+02] [ 4.67215471e-03 9.99989030e-01 -3.34359816e-04 -1.22382158e+01] [-5.18105046e-03 3.58565910e-04 9.99986514e-01 -2.92842349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26037174299998 meters 0.03761947630563498 Centerline is valid? [True, True] Translation: X:211.58, Y:-12.24, Z:-2.93 [[ 9.99972130e-01 -6.76507377e-03 3.15785500e-03 2.11579432e+02] [ 6.76575016e-03 9.99977091e-01 -2.03559297e-04 -1.22399642e+01] [-3.15640557e-03 2.24918881e-04 9.99994993e-01 -2.93018133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32037174299998 meters 0.041833185436302225 Centerline is valid? [True, True] Translation: X:211.64, Y:-12.25, Z:-2.93 [[ 9.99967992e-01 -7.38044049e-03 3.08935185e-03 2.11640185e+02] [ 7.38108786e-03 9.99972740e-01 -1.98200084e-04 -1.22489421e+01] [-3.08780483e-03 2.20996518e-04 9.99995208e-01 -2.93212766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38037174299998 meters 0.037993450307025875 Centerline is valid? [True, True] Translation: X:211.70, Y:-12.24, Z:-2.93 [[ 9.99974730e-01 -5.61766181e-03 4.35675810e-03 2.11702426e+02] [ 5.61893979e-03 9.99984174e-01 -2.81146811e-04 -1.22446851e+01] [-4.35510976e-03 3.05620068e-04 9.99990470e-01 -2.93042078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.440371743 meters 0.04438496839898705 Centerline is valid? [True, True] Translation: X:211.76, Y:-12.26, Z:-2.93 [[ 9.99978133e-01 -4.17403526e-03 5.12939666e-03 2.11762656e+02] [ 4.17579077e-03 9.99991226e-01 -3.31582689e-04 -1.22559463e+01] [-5.12796762e-03 3.52994726e-04 9.99986790e-01 -2.93151354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.500371743 meters 0.03567341193408196 Centerline is valid? [True, True] Translation: X:211.83, Y:-12.25, Z:-2.93 [[ 9.99973875e-01 -3.13897282e-03 6.51120711e-03 2.11825562e+02] [ 3.14178026e-03 9.99994976e-01 -4.20986086e-04 -1.22461063e+01] [-6.50985294e-03 4.41431870e-04 9.99978713e-01 -2.93041660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.560371743 meters 0.03652710759925699 Centerline is valid? [True, True] Translation: X:211.89, Y:-12.25, Z:-2.93 [[ 9.99971458e-01 -4.66735808e-03 5.94128954e-03 2.11886970e+02] [ 4.66971668e-03 9.99989023e-01 -3.83175397e-04 -1.22506413e+01] [-5.93943591e-03 4.10908599e-04 9.99982277e-01 -2.93207734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.620371743 meters 0.039993047122085124 Centerline is valid? [True, True] Translation: X:211.95, Y:-12.26, Z:-2.94 [[ 9.99953387e-01 -9.24627747e-03 2.78033687e-03 2.11946966e+02] [ 9.24681561e-03 9.99957231e-01 -1.80760037e-04 -1.22591373e+01] [-2.77854660e-03 2.06460873e-04 9.99996119e-01 -2.93646751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68037174299997 meters 0.040554914632013765 Centerline is valid? [True, True] Translation: X:212.01, Y:-12.26, Z:-2.94 [[ 9.99920374e-01 -1.24955732e-02 1.76264809e-03 2.12007203e+02] [ 1.24957944e-02 9.99921918e-01 -1.14567886e-04 -1.22635122e+01] [-1.76107887e-03 1.36584451e-04 9.99998440e-01 -2.93865495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74037174299997 meters 0.045726926173754144 Centerline is valid? [True, True] Translation: X:212.07, Y:-12.27, Z:-2.94 [[ 9.99858633e-01 -1.66951647e-02 1.99650963e-03 2.12066314e+02] [ 1.66954570e-02 9.99860613e-01 -1.29855046e-04 -1.22743738e+01] [-1.99406339e-03 1.63169329e-04 9.99997999e-01 -2.93912070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80037174299997 meters 0.044662194164552145 Centerline is valid? [True, True] Translation: X:212.13, Y:-12.28, Z:-2.94 [[ 9.99805455e-01 -1.94684193e-02 3.16747162e-03 2.12127143e+02] [ 1.94691687e-02 9.99810437e-01 -2.05923794e-04 -1.22771568e+01] [-3.16286217e-03 2.67551772e-04 9.99994962e-01 -2.93868173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86037174299997 meters 0.044577049561352396 Centerline is valid? [True, True] Translation: X:212.19, Y:-12.28, Z:-2.94 [[ 9.99853129e-01 -1.68623575e-02 3.06276852e-03 2.12187857e+02] [ 1.68630462e-02 9.99857789e-01 -1.99165380e-04 -1.22830486e+01] [-3.05897456e-03 2.50783735e-04 9.99995290e-01 -2.94095907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92037174299998 meters 0.044227748255020016 Centerline is valid? [True, True] Translation: X:212.25, Y:-12.29, Z:-2.94 [[ 9.99915455e-01 -1.24722773e-02 3.67759404e-03 2.12247100e+02] [ 1.24732426e-02 9.99922177e-01 -2.39638460e-04 -1.22857208e+01] [-3.67431900e-03 2.85489723e-04 9.99993209e-01 -2.93898283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98037174299998 meters 0.040583904466484806 Centerline is valid? [True, True] Translation: X:212.31, Y:-12.29, Z:-2.94 [[ 9.99936712e-01 -1.05816417e-02 3.82118153e-03 2.12309252e+02] [ 1.05826669e-02 9.99943971e-01 -2.48171837e-04 -1.22851942e+01] [-3.81834137e-03 2.88594423e-04 9.99992668e-01 -2.93877674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04037174299998 meters 0.04505560280196597 Centerline is valid? [True, True] Translation: X:212.37, Y:-12.30, Z:-2.94 [[ 9.99958130e-01 -9.07193985e-03 1.19902496e-03 2.12369463e+02] [ 9.07203790e-03 9.99958845e-01 -7.63579461e-05 -1.22987952e+01] [-1.19828290e-03 8.72323489e-05 9.99999278e-01 -2.94478631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10037174299998 meters 0.03975114007739612 Centerline is valid? [True, True] Translation: X:212.43, Y:-12.30, Z:-2.95 [[ 9.99969523e-01 -7.78916218e-03 5.30512627e-04 2.12431877e+02] [ 7.78918113e-03 9.99969663e-01 -3.36714759e-05 -1.22966463e+01] [-5.30234260e-04 3.78027087e-05 9.99999859e-01 -2.94503368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16037174299998 meters 0.04011097981607673 Centerline is valid? [True, True] Translation: X:212.49, Y:-12.30, Z:-2.94 [[ 9.99980588e-01 -5.75142473e-03 2.39701360e-03 2.12492307e+02] [ 5.75181667e-03 9.99983446e-01 -1.56651693e-04 -1.23015218e+01] [-2.39607295e-03 1.70435834e-04 9.99997115e-01 -2.94376289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.220371743 meters 0.03844593665190371 Centerline is valid? [True, True] Translation: X:212.55, Y:-12.30, Z:-2.94 [[ 9.99978820e-01 -4.04395882e-03 5.09959300e-03 2.12554003e+02] [ 4.04570830e-03 9.99991761e-01 -3.32794335e-04 -1.23039777e+01] [-5.09820518e-03 3.53418753e-04 9.99986942e-01 -2.94233866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.280371743 meters 0.03759234613634154 Centerline is valid? [True, True] Translation: X:212.62, Y:-12.31, Z:-2.94 [[ 9.99976139e-01 -3.77016164e-03 5.78860679e-03 2.12616385e+02] [ 3.77241278e-03 9.99992813e-01 -3.78021126e-04 -1.23074748e+01] [-5.78713998e-03 3.99849120e-04 9.99983174e-01 -2.94329179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.340371743 meters 0.04450588171931217 Centerline is valid? [True, True] Translation: X:212.68, Y:-12.32, Z:-2.95 [[ 9.99976734e-01 -4.66332744e-03 4.97840755e-03 2.12676403e+02] [ 4.66500545e-03 9.99989066e-01 -3.25498538e-04 -1.23229515e+01] [-4.97683521e-03 3.48715263e-04 9.99987555e-01 -2.94667116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.400371743 meters 0.04063505638867949 Centerline is valid? [True, True] Translation: X:212.74, Y:-12.32, Z:-2.95 [[ 9.99956481e-01 -7.89248139e-03 4.97437726e-03 2.12737600e+02] [ 7.89419901e-03 9.99968787e-01 -3.25754489e-04 -1.23242302e+01] [-4.97165098e-03 3.65009037e-04 9.99987575e-01 -2.94736519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46037174299997 meters 0.041721022114982666 Centerline is valid? [True, True] Translation: X:212.80, Y:-12.33, Z:-2.95 [[ 9.99913960e-01 -1.21459436e-02 4.95470697e-03 2.12797784e+02] [ 1.21477013e-02 9.99926161e-01 -3.24803897e-04 -1.23310111e+01] [-4.95039607e-03 3.84964251e-04 9.99987673e-01 -2.94828162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52037174299997 meters 0.04362454344592399 Centerline is valid? [True, True] Translation: X:212.86, Y:-12.34, Z:-2.95 [[ 9.99863908e-01 -1.57191334e-02 5.00738003e-03 2.12858386e+02] [ 1.57209731e-02 9.99876364e-01 -3.28241007e-04 -1.23392611e+01] [-5.00160127e-03 4.06917222e-04 9.99987409e-01 -2.94984561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58037174299997 meters 0.042734979309066244 Centerline is valid? [True, True] Translation: X:212.92, Y:-12.34, Z:-2.95 [[ 9.99845518e-01 -1.69371727e-02 4.69815413e-03 2.12920305e+02] [ 1.69388026e-02 9.99856481e-01 -3.07336735e-04 -1.23426301e+01] [-4.69227444e-03 3.86870363e-04 9.99988916e-01 -2.95025007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64037174299997 meters 0.04337404678522476 Centerline is valid? [True, True] Translation: X:212.98, Y:-12.35, Z:-2.95 [[ 9.99867461e-01 -1.54358284e-02 5.17639404e-03 2.12981469e+02] [ 1.54377912e-02 9.99880773e-01 -3.39426842e-04 -1.23466335e+01] [-5.17053753e-03 4.19293945e-04 9.99986545e-01 -2.95105870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70037174299998 meters 0.04322729735610326 Centerline is valid? [True, True] Translation: X:213.04, Y:-12.35, Z:-2.95 [[ 9.99904681e-01 -1.26050293e-02 5.63395161e-03 2.13042733e+02] [ 1.26073116e-02 9.99920456e-01 -3.69774629e-04 -1.23491800e+01] [-5.62884245e-03 4.40768367e-04 9.99984061e-01 -2.95192311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76037174299998 meters 0.03916174118016382 Centerline is valid? [True, True] Translation: X:213.10, Y:-12.35, Z:-2.95 [[ 9.99963391e-01 -6.44030724e-03 5.63371873e-03 2.13103776e+02] [ 6.44249322e-03 9.99979178e-01 -3.69955601e-04 -1.23450341e+01] [-5.63121880e-03 4.06237252e-04 9.99984062e-01 -2.95226874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82037174299998 meters 0.03607211668134168 Centerline is valid? [True, True] Translation: X:213.16, Y:-12.34, Z:-2.95 [[ 9.99979683e-01 -1.57940330e-03 6.17562823e-03 2.13164689e+02] [ 1.58193950e-03 9.99998666e-01 -4.05815628e-04 -1.23426955e+01] [-6.17497905e-03 4.15576854e-04 9.99980848e-01 -2.95243417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88037174299998 meters 0.034538899598694134 Centerline is valid? [True, True] Translation: X:213.23, Y:-12.34, Z:-2.95 [[ 9.99958996e-01 5.09498666e-03 7.48653136e-03 2.13225184e+02] [-5.09144568e-03 9.99986917e-01 -4.91963351e-04 -1.23407968e+01] [-7.48893997e-03 4.53825911e-04 9.99971855e-01 -2.95184639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.940371743 meters 0.03178919487086998 Centerline is valid? [True, True] Translation: X:213.29, Y:-12.34, Z:-2.95 [[ 9.99916037e-01 1.02683465e-02 7.90438687e-03 2.13286316e+02] [-1.02645605e-02 9.99947183e-01 -5.19388135e-04 -1.23392018e+01] [-7.90930264e-03 4.38209468e-04 9.99968625e-01 -2.95252066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.000371743 meters 0.030799737227651777 Centerline is valid? [True, True] Translation: X:213.35, Y:-12.34, Z:-2.96 [[ 9.99900577e-01 1.23498593e-02 6.80570532e-03 2.13346223e+02] [-1.23470998e-02 9.99923672e-01 -4.47337973e-04 -1.23409538e+01] [-6.81071041e-03 3.63262775e-04 9.99976741e-01 -2.95607736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.060371743 meters 0.031195072374119493 Centerline is valid? [True, True] Translation: X:213.40, Y:-12.35, Z:-2.96 [[ 9.99904690e-01 1.26670612e-02 5.49146858e-03 2.13404974e+02] [-1.26652671e-02 9.99919727e-01 -3.61361998e-04 -1.23450352e+01] [-5.49560516e-03 2.91776640e-04 9.99984856e-01 -2.95932656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.120371743 meters 0.03225036168147912 Centerline is valid? [True, True] Translation: X:213.46, Y:-12.35, Z:-2.96 [[ 9.99911202e-01 1.20711722e-02 5.64580382e-03 2.13463093e+02] [-1.20692675e-02 9.99927095e-01 -3.71314726e-04 -1.23500984e+01] [-5.64987442e-03 3.03141037e-04 9.99983993e-01 -2.95976452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18037174299997 meters 0.03130783799747338 Centerline is valid? [True, True] Translation: X:213.52, Y:-12.35, Z:-2.96 [[ 9.99908526e-01 1.09353818e-02 7.95970696e-03 2.13522220e+02] [-1.09315730e-02 9.99940112e-01 -5.21859916e-04 -1.23523288e+01] [-7.96493701e-03 4.34800061e-04 9.99968185e-01 -2.95772286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24037174299997 meters 0.03178001930789197 Centerline is valid? [True, True] Translation: X:213.58, Y:-12.36, Z:-2.96 [[ 9.99915137e-01 8.90607425e-03 9.50795866e-03 2.13581356e+02] [-8.90055527e-03 9.99960195e-01 -6.22615929e-04 -1.23585263e+01] [-9.51312526e-03 5.37936980e-04 9.99954605e-01 -2.95860276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30037174299997 meters 0.03647827118115077 Centerline is valid? [True, True] Translation: X:213.64, Y:-12.37, Z:-2.96 [[ 9.99949081e-01 6.13179779e-03 8.01477517e-03 2.13640710e+02] [-6.12779476e-03 9.99981088e-01 -5.23917421e-04 -1.23716929e+01] [-8.01783615e-03 4.74777847e-04 9.99967744e-01 -2.96214805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36037174299997 meters 0.0340293078880596 Centerline is valid? [True, True] Translation: X:213.70, Y:-12.37, Z:-2.96 [[ 9.99973170e-01 3.64816916e-03 6.35210147e-03 2.13701886e+02] [-3.64560162e-03 9.99993268e-01 -4.15735480e-04 -1.23729656e+01] [-6.35357539e-03 3.92567094e-04 9.99979739e-01 -2.96364673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42037174299998 meters 0.039892653640996076 Centerline is valid? [True, True] Translation: X:213.76, Y:-12.39, Z:-2.97 [[ 9.99977483e-01 3.49252731e-03 5.73031841e-03 2.13762392e+02] [-3.49044244e-03 9.99993839e-01 -3.73792889e-04 -1.23863353e+01] [-5.73158859e-03 3.53783126e-04 9.99983512e-01 -2.96633721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48037174299998 meters 0.040646697326449724 Centerline is valid? [True, True] Translation: X:213.82, Y:-12.39, Z:-2.97 [[ 9.99973546e-01 5.20083704e-03 5.08513631e-03 2.13822442e+02] [-5.19920616e-03 9.99986428e-01 -3.33882735e-04 -1.23910669e+01] [-5.08680376e-03 3.07435230e-04 9.99987015e-01 -2.96810697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54037174299998 meters 0.033009786269257164 Centerline is valid? [True, True] Translation: X:213.88, Y:-12.38, Z:-2.97 [[ 9.99936620e-01 9.58082379e-03 5.91307179e-03 2.13883726e+02] [-9.57868685e-03 9.99954047e-01 -3.89607384e-04 -1.23822886e+01] [-5.91653283e-03 3.32943227e-04 9.99982442e-01 -2.96639613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60037174299998 meters 0.030064731406210757 Centerline is valid? [True, True] Translation: X:213.94, Y:-12.38, Z:-2.97 [[ 9.99849076e-01 1.57861940e-02 7.25403088e-03 2.13944583e+02] [-1.57831422e-02 9.99875324e-01 -4.77755545e-04 -1.23802345e+01] [-7.26066842e-03 3.63192039e-04 9.99973575e-01 -2.96630527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66037174299998 meters 0.030356152677072153 Centerline is valid? [True, True] Translation: X:214.00, Y:-12.38, Z:-2.97 [[ 9.99728136e-01 2.20153655e-02 7.67969262e-03 2.14004468e+02] [-2.20121282e-02 9.99757576e-01 -5.05824303e-04 -1.23825387e+01] [-7.68896678e-03 3.36640409e-04 9.99970383e-01 -2.96747309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.720371743 meters 0.02688501478453038 Centerline is valid? [True, True] Translation: X:214.06, Y:-12.38, Z:-2.97 [[ 9.99597259e-01 2.76188444e-02 6.52070092e-03 2.14064614e+02] [-2.76166289e-02 9.99618496e-01 -4.29582899e-04 -1.23797781e+01] [-6.53007783e-03 2.49330111e-04 9.99978648e-01 -2.96936185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.780371743 meters 0.026344032976326117 Centerline is valid? [True, True] Translation: X:214.12, Y:-12.38, Z:-2.97 [[ 9.99517386e-01 3.05331108e-02 5.72056352e-03 2.14123179e+02] [-3.05314512e-02 9.99533735e-01 -3.77243018e-04 -1.23824359e+01] [-5.72941462e-03 2.02403850e-04 9.99983566e-01 -2.97047474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.840371743 meters 0.025492721035419427 Centerline is valid? [True, True] Translation: X:214.18, Y:-12.39, Z:-2.97 [[ 9.99419509e-01 3.34257965e-02 6.58487943e-03 2.14181844e+02] [-3.34236642e-02 9.99441179e-01 -4.33624739e-04 -1.23854430e+01] [-6.59569391e-03 2.13282224e-04 9.99978225e-01 -2.97073818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.900371743 meters 0.025261826831796036 Centerline is valid? [True, True] Translation: X:214.24, Y:-12.39, Z:-2.97 [[ 9.99360300e-01 3.50472319e-02 7.11917038e-03 2.14240917e+02] [-3.50447858e-02 9.99385633e-01 -4.68095267e-04 -1.23905008e+01] [-7.13120205e-03 2.18306025e-04 9.99974549e-01 -2.97254208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96037174299997 meters 0.02427605341812481 Centerline is valid? [True, True] Translation: X:214.30, Y:-12.39, Z:-2.97 [[ 9.99328244e-01 3.59461371e-02 7.13695675e-03 2.14299197e+02] [-3.59437034e-02 9.99353706e-01 -4.69017916e-04 -1.23944988e+01] [-7.14920356e-03 2.12174194e-04 9.99974422e-01 -2.97258335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02037174299997 meters 0.02404647866837802 Centerline is valid? [True, True] Translation: X:214.36, Y:-12.40, Z:-2.97 [[ 9.99323539e-01 3.61522563e-02 6.74386354e-03 2.14358104e+02] [-3.61500909e-02 9.99346274e-01 -4.42756879e-04 -1.24006181e+01] [-6.75546156e-03 1.98666091e-04 9.99977162e-01 -2.97381324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08037174299997 meters 0.024267701181921363 Centerline is valid? [True, True] Translation: X:214.42, Y:-12.41, Z:-2.98 [[ 9.99353958e-01 3.52462111e-02 7.02649582e-03 2.14416187e+02] [-3.52438419e-02 9.99378637e-01 -4.60752955e-04 -1.24073667e+01] [-7.03836961e-03 2.12814581e-04 9.99975208e-01 -2.97501054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14037174299997 meters 0.02506909782264148 Centerline is valid? [True, True] Translation: X:214.47, Y:-12.42, Z:-2.98 [[ 9.99433587e-01 3.30361224e-02 6.41253252e-03 2.14474468e+02] [-3.30341062e-02 9.99454137e-01 -4.20109707e-04 -1.24179349e+01] [-6.42291095e-03 2.08039471e-04 9.99979351e-01 -2.97687761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20037174299998 meters 0.02512334858782771 Centerline is valid? [True, True] Translation: X:214.53, Y:-12.43, Z:-2.98 [[ 9.99486653e-01 3.15645447e-02 5.48722125e-03 2.14532640e+02] [-3.15630476e-02 9.99501698e-01 -3.59244206e-04 -1.24263179e+01] [-5.49582634e-03 1.85866364e-04 9.99984881e-01 -2.97827843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26037174299998 meters 0.02446217515235239 Centerline is valid? [True, True] Translation: X:214.59, Y:-12.43, Z:-2.98 [[ 9.99453847e-01 3.24545022e-02 6.22205450e-03 2.14590877e+02] [-3.24525980e-02 9.99473193e-01 -4.06778773e-04 -1.24319997e+01] [-6.23197848e-03 2.04634776e-04 9.99980560e-01 -2.97829477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32037174299998 meters 0.024721280634813186 Centerline is valid? [True, True] Translation: X:214.65, Y:-12.44, Z:-2.98 [[ 9.99386087e-01 3.42786456e-02 7.24037631e-03 2.14648462e+02] [-3.42761174e-02 9.99412289e-01 -4.73020088e-04 -1.24391247e+01] [-7.25233555e-03 2.24557707e-04 9.99973676e-01 -2.97922755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38037174299998 meters 0.024231179388653556 Centerline is valid? [True, True] Translation: X:214.71, Y:-12.44, Z:-2.98 [[ 9.99372120e-01 3.44508893e-02 8.27657484e-03 2.14707142e+02] [-3.44476048e-02 9.99406360e-01 -5.39107261e-04 -1.24436306e+01] [-8.29023426e-03 2.53660587e-04 9.99965603e-01 -2.97935652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.440371743 meters 0.02461256479855302 Centerline is valid? [True, True] Translation: X:214.77, Y:-12.45, Z:-2.98 [[ 9.99387533e-01 3.38274265e-02 8.95907710e-03 2.14765145e+02] [-3.38235596e-02 9.99427650e-01 -5.82827930e-04 -1.24514370e+01] [-8.97366494e-03 2.79443089e-04 9.99959697e-01 -2.98012378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.500371743 meters 0.027396628618968345 Centerline is valid? [True, True] Translation: X:214.82, Y:-12.47, Z:-2.98 [[ 9.99406198e-01 3.33034314e-02 8.83925707e-03 2.14822216e+02] [-3.32996515e-02 9.99445248e-01 -5.74501722e-04 -1.24654651e+01] [-8.85348636e-03 2.79816401e-04 9.99960768e-01 -2.98274015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.560371743 meters 0.024145394794129135 Centerline is valid? [True, True] Translation: X:214.88, Y:-12.47, Z:-2.98 [[ 9.99362850e-01 3.43669958e-02 9.63345298e-03 2.14881033e+02] [-3.43625653e-02 9.99409237e-01 -6.25099809e-04 -1.24676078e+01] [-9.64924470e-03 2.93671370e-04 9.99953402e-01 -2.98250976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.620371743 meters 0.024019944653171144 Centerline is valid? [True, True] Translation: X:214.94, Y:-12.47, Z:-2.98 [[ 9.99336933e-01 3.51165743e-02 9.61873224e-03 2.14940123e+02] [-3.51121995e-02 9.99383182e-01 -6.23366893e-04 -1.24727938e+01] [-9.63468974e-03 2.85218714e-04 9.99953545e-01 -2.98306511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68037174299997 meters 0.02305399090031099 Centerline is valid? [True, True] Translation: X:215.00, Y:-12.48, Z:-2.98 [[ 9.99150428e-01 4.00459824e-02 9.73349161e-03 2.15000074e+02] [-4.00417430e-02 9.99197809e-01 -6.30115885e-04 -1.24787563e+01] [-9.75091710e-03 2.39834587e-04 9.99952430e-01 -2.98469273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74037174299997 meters 0.021557427776497304 Centerline is valid? [True, True] Translation: X:215.06, Y:-12.48, Z:-2.99 [[ 9.98816626e-01 4.75688916e-02 1.01265770e-02 2.15059728e+02] [-4.75646900e-02 9.98867945e-01 -6.55482508e-04 -1.24831629e+01] [-1.01462937e-02 1.73039332e-04 9.99948510e-01 -2.98546144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80037174299997 meters 0.020964141214363373 Centerline is valid? [True, True] Translation: X:215.12, Y:-12.49, Z:-2.99 [[ 9.98470726e-01 5.41440409e-02 1.11638845e-02 2.15118750e+02] [-5.41393457e-02 9.98533129e-01 -7.22572809e-04 -1.24902275e+01] [-1.11866315e-02 1.17062395e-04 9.99937421e-01 -2.98612985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86037174299997 meters 0.02040522008354548 Centerline is valid? [True, True] Translation: X:215.18, Y:-12.50, Z:-2.99 [[ 9.98281479e-01 5.73978869e-02 1.18139958e-02 2.15177271e+02] [-5.73928953e-02 9.98351379e-01 -7.61386669e-04 -1.24959574e+01] [-1.18382210e-02 8.20387837e-05 9.99929922e-01 -2.98624032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92037174299998 meters 0.020087464580635792 Centerline is valid? [True, True] Translation: X:215.23, Y:-12.51, Z:-2.99 [[ 9.98146005e-01 5.97505177e-02 1.15942881e-02 2.15234398e+02] [-5.97458779e-02 9.98213340e-01 -7.46442059e-04 -1.25056355e+01] [-1.16181734e-02 5.23472359e-05 9.99932505e-01 -2.98764954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98037174299998 meters 0.01991820176449112 Centerline is valid? [True, True] Translation: X:215.29, Y:-12.52, Z:-2.99 [[ 9.98248449e-01 5.79903716e-02 1.17111553e-02 2.15292554e+02] [-5.79855296e-02 9.98317140e-01 -7.52868259e-04 -1.25199873e+01] [-1.17351062e-02 7.24720297e-05 9.99931139e-01 -2.98901215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04037174299998 meters 0.020488354901606564 Centerline is valid? [True, True] Translation: X:215.35, Y:-12.54, Z:-2.99 [[ 9.98582836e-01 5.17019678e-02 1.26185175e-02 2.15350075e+02] [-5.16958570e-02 9.98662547e-01 -8.10191420e-04 -1.25380595e+01] [-1.26435293e-02 1.56718171e-04 9.99920055e-01 -2.99049193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10037174299998 meters 0.02206761684533832 Centerline is valid? [True, True] Translation: X:215.41, Y:-12.56, Z:-2.99 [[ 9.98997461e-01 4.30719700e-02 1.22015522e-02 2.15407921e+02] [-4.30656234e-02 9.99071939e-01 -7.82538131e-04 -1.25585942e+01] [-1.22239338e-02 2.56286156e-04 9.99925252e-01 -2.99280746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16037174299998 meters 0.02409459553965696 Centerline is valid? [True, True] Translation: X:215.47, Y:-12.58, Z:-3.00 [[ 9.99339956e-01 3.47501079e-02 1.05869393e-02 2.15467148e+02] [-3.47448692e-02 9.99395985e-01 -6.78411418e-04 -1.25787521e+01] [-1.06041195e-02 3.10121816e-04 9.99943727e-01 -2.99554251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.220371743 meters 0.02567140139967026 Centerline is valid? [True, True] Translation: X:215.53, Y:-12.59, Z:-3.00 [[ 9.99463856e-01 3.10866921e-02 1.02770996e-02 2.15525899e+02] [-3.10815640e-02 9.99516635e-01 -6.58369924e-04 -1.25918125e+01] [-1.02925986e-02 3.38588614e-04 9.99946972e-01 -2.99699592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.280371743 meters 0.027164046322243854 Centerline is valid? [True, True] Translation: X:215.58, Y:-12.61, Z:-3.00 [[ 9.99544869e-01 2.83415093e-02 1.03351098e-02 2.15584013e+02] [-2.83361797e-02 9.99598231e-01 -6.61779986e-04 -1.26074017e+01] [-1.03497133e-02 3.68621261e-04 9.99946372e-01 -2.99811413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.340371743 meters 0.026878423715866944 Centerline is valid? [True, True] Translation: X:215.64, Y:-12.62, Z:-3.00 [[ 9.99582854e-01 2.67215546e-02 1.09579795e-02 2.15642582e+02] [-2.67154721e-02 9.99642832e-01 -7.01103870e-04 -1.26188126e+01] [-1.09728003e-02 4.08063810e-04 9.99939714e-01 -2.99903886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.400371743 meters 0.027202142256870968 Centerline is valid? [True, True] Translation: X:215.70, Y:-12.63, Z:-3.00 [[ 9.99605985e-01 2.58881413e-02 1.08479984e-02 2.15700758e+02] [-2.58821395e-02 9.99664761e-01 -6.93307190e-04 -1.26306138e+01] [-1.08623102e-02 4.12264608e-04 9.99940918e-01 -3.00095348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46037174299997 meters 0.02717565296021126 Centerline is valid? [True, True] Translation: X:215.76, Y:-12.64, Z:-3.00 [[ 9.99599200e-01 2.63923930e-02 1.02411073e-02 2.15759492e+02] [-2.63870774e-02 9.99651587e-01 -6.53843693e-04 -1.26387612e+01] [-1.02547957e-02 3.83348741e-04 9.99947345e-01 -3.00246149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52037174299997 meters 0.026816026534163064 Centerline is valid? [True, True] Translation: X:215.82, Y:-12.65, Z:-3.00 [[ 9.99532584e-01 2.92660395e-02 8.83810964e-03 2.15818297e+02] [-2.92621980e-02 9.99571611e-01 -5.63681227e-04 -1.26468682e+01] [-8.85082021e-03 3.04795240e-04 9.99960784e-01 -3.00430751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58037174299997 meters 0.02391934729540503 Centerline is valid? [True, True] Translation: X:215.88, Y:-12.65, Z:-3.00 [[ 9.99327259e-01 3.56055688e-02 8.79046855e-03 2.15877867e+02] [-3.56020181e-02 9.99365890e-01 -5.60122582e-04 -1.26485601e+01] [-8.80483791e-03 2.46787344e-04 9.99961206e-01 -3.00448860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64037174299997 meters 0.023091852709653315 Centerline is valid? [True, True] Translation: X:215.94, Y:-12.65, Z:-3.00 [[ 9.98964342e-01 4.42735688e-02 1.04926270e-02 2.15936282e+02] [-4.42689920e-02 9.99019424e-01 -6.68158069e-04 -1.26533884e+01] [-1.05119200e-02 2.02968063e-04 9.99944728e-01 -3.00398652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70037174299998 meters 0.022301289780430635 Centerline is valid? [True, True] Translation: X:216.00, Y:-12.66, Z:-3.00 [[ 9.98680340e-01 4.98630016e-02 1.22987362e-02 2.15995294e+02] [-4.98571469e-02 9.98756053e-01 -7.82369316e-04 -1.26584871e+01] [-1.23224485e-02 1.68156958e-04 9.99924062e-01 -3.00443867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76037174299998 meters 0.02232118820869913 Centerline is valid? [True, True] Translation: X:216.05, Y:-12.67, Z:-3.01 [[ 9.98572866e-01 5.19394427e-02 1.24308505e-02 2.16053639e+02] [-5.19336305e-02 9.98650226e-01 -7.90126686e-04 -1.26674346e+01] [-1.24551104e-02 1.43419874e-04 9.99922422e-01 -3.00595047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82037174299998 meters 0.02275679639404658 Centerline is valid? [True, True] Translation: X:216.11, Y:-12.68, Z:-3.01 [[ 9.98661147e-01 5.03205799e-02 1.19896671e-02 2.16111848e+02] [-5.03150661e-02 9.98733105e-01 -7.61268520e-04 -1.26754974e+01] [-1.20127850e-02 1.56988399e-04 9.99927832e-01 -3.00714682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88037174299998 meters 0.023647996760474133 Centerline is valid? [True, True] Translation: X:216.17, Y:-12.69, Z:-3.01 [[ 9.98982097e-01 4.36945816e-02 1.12050621e-02 2.16170612e+02] [-4.36893586e-02 9.99044911e-01 -7.10601425e-04 -1.26897142e+01] [-1.12254097e-02 2.20336124e-04 9.99936969e-01 -3.00896681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.940371743 meters 0.024843768551411075 Centerline is valid? [True, True] Translation: X:216.23, Y:-12.71, Z:-3.01 [[ 9.99269968e-01 3.60670974e-02 1.25974780e-02 2.16229819e+02] [-3.60598965e-02 9.99349312e-01 -7.98364849e-04 -1.27051563e+01] [-1.26180757e-02 3.43518263e-04 9.99920330e-01 -3.00968454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.000371743 meters 0.027718001344214798 Centerline is valid? [True, True] Translation: X:216.29, Y:-12.72, Z:-3.01 [[ 9.99489850e-01 2.92538285e-02 1.28161145e-02 2.16287830e+02] [-2.92458191e-02 9.99571920e-01 -8.11956480e-04 -1.27222368e+01] [-1.28343810e-02 4.36724494e-04 9.99917541e-01 -3.01045252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.060371743 meters 0.02858516828799722 Centerline is valid? [True, True] Translation: X:216.35, Y:-12.73, Z:-3.01 [[ 9.99641469e-01 2.33708720e-02 1.30666058e-02 2.16347735e+02] [-2.33620436e-02 9.99726727e-01 -8.27899013e-04 -1.27320066e+01] [-1.30823838e-02 5.22339571e-04 9.99914286e-01 -3.01096601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.120371743 meters 0.02998657798324765 Centerline is valid? [True, True] Translation: X:216.41, Y:-12.74, Z:-3.01 [[ 9.99712008e-01 2.00615539e-02 1.31694957e-02 2.16408300e+02] [-2.00523028e-02 9.99798584e-01 -8.34146997e-04 -1.27420665e+01] [-1.31835774e-02 5.69828054e-04 9.99912931e-01 -3.01162488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18037174299997 meters 0.03229807582277683 Centerline is valid? [True, True] Translation: X:216.47, Y:-12.75, Z:-3.01 [[ 9.99803120e-01 1.46052296e-02 1.34316049e-02 2.16468090e+02] [-1.45951118e-02 9.99893124e-01 -8.51004569e-04 -1.27545967e+01] [-1.34425985e-02 6.54801247e-04 9.99909430e-01 -3.01208024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24037174299997 meters 0.03479007520810269 Centerline is valid? [True, True] Translation: X:216.53, Y:-12.77, Z:-3.01 [[ 9.99854249e-01 8.61356245e-03 1.47406955e-02 2.16528148e+02] [-8.60072575e-03 9.99962577e-01 -9.34007604e-04 -1.27657430e+01] [-1.47481890e-02 8.07090792e-04 9.99890914e-01 -3.01332712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30037174299997 meters 0.03718780173237877 Centerline is valid? [True, True] Translation: X:216.59, Y:-12.78, Z:-3.02 [[ 9.99893622e-01 1.77074342e-03 1.44778900e-02 2.16588392e+02] [-1.75764507e-03 9.99998035e-01 -9.17387834e-04 -1.27752214e+01] [-1.44794860e-02 8.91843252e-04 9.99894769e-01 -3.01525626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36037174299997 meters 0.03857652626954343 Centerline is valid? [True, True] Translation: X:216.65, Y:-12.78, Z:-3.02 [[ 9.99903664e-01 -5.18920006e-03 1.28737791e-02 2.16648353e+02] [ 5.20013271e-03 9.99986146e-01 -8.15889610e-04 -1.27813062e+01] [-1.28693670e-02 8.82756371e-04 9.99916797e-01 -3.01773833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42037174299998 meters 0.04240330272603423 Centerline is valid? [True, True] Translation: X:216.71, Y:-12.79, Z:-3.02 [[ 9.99876702e-01 -9.85679530e-03 1.22239531e-02 2.16707617e+02] [ 9.86699841e-03 9.99951020e-01 -7.74651828e-04 -1.27901743e+01] [-1.22157188e-02 8.95170040e-04 9.99924985e-01 -3.01884272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48037174299998 meters 0.04262387448130006 Centerline is valid? [True, True] Translation: X:216.77, Y:-12.79, Z:-3.02 [[ 9.99808505e-01 -1.56412464e-02 1.17603036e-02 2.16768061e+02] [ 1.56510889e-02 9.99877236e-01 -7.45357216e-04 -1.27904311e+01] [-1.17472016e-02 9.29276042e-04 9.99930567e-01 -3.01909515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54037174299998 meters 0.042482313223537 Centerline is valid? [True, True] Translation: X:216.83, Y:-12.79, Z:-3.02 [[ 9.99758877e-01 -1.86733220e-02 1.15539738e-02 2.16828469e+02] [ 1.86830227e-02 9.99825189e-01 -7.32221457e-04 -1.27899807e+01] [-1.15382810e-02 9.47908057e-04 9.99932983e-01 -3.01966425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60037174299998 meters 0.04375723232191008 Centerline is valid? [True, True] Translation: X:216.89, Y:-12.79, Z:-3.02 [[ 9.99715716e-01 -2.03861339e-02 1.23649792e-02 2.16889539e+02] [ 2.03973752e-02 9.99791645e-01 -7.83682596e-04 -1.27913583e+01] [-1.23464267e-02 1.03567293e-03 9.99923244e-01 -3.01979846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66037174299998 meters 0.04716053449757545 Centerline is valid? [True, True] Translation: X:216.95, Y:-12.79, Z:-3.02 [[ 9.99699049e-01 -2.10286669e-02 1.26335168e-02 2.16950562e+02] [ 2.10404551e-02 9.99778304e-01 -8.00891343e-04 -1.27913940e+01] [-1.26138743e-02 1.06646526e-03 9.99919873e-01 -3.02014708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.720371743 meters 0.04924270990550497 Centerline is valid? [True, True] Translation: X:217.01, Y:-12.79, Z:-3.02 [[ 9.99708332e-01 -2.03770643e-02 1.29624693e-02 2.17011803e+02] [ 2.03894296e-02 9.99791776e-01 -8.22476520e-04 -1.27888215e+01] [-1.29430106e-02 1.08653399e-03 9.99915645e-01 -3.02034982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.780371743 meters 0.0461345235237859 Centerline is valid? [True, True] Translation: X:217.08, Y:-12.78, Z:-3.02 [[ 9.99706477e-01 -2.11819894e-02 1.17594238e-02 2.17075063e+02] [ 2.11922271e-02 9.99775141e-01 -7.46658159e-04 -1.27785967e+01] [-1.17409639e-02 9.95647378e-04 9.99930577e-01 -3.02163733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.840371743 meters 0.04487093239371138 Centerline is valid? [True, True] Translation: X:217.14, Y:-12.77, Z:-3.02 [[ 9.99703523e-01 -2.14417049e-02 1.15377705e-02 2.17137217e+02] [ 2.14515850e-02 9.99769619e-01 -7.33235430e-04 -1.27737326e+01] [-1.15193906e-02 9.80521506e-04 9.99933169e-01 -3.02235587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.900371743 meters 0.0456987123201181 Centerline is valid? [True, True] Translation: X:217.20, Y:-12.77, Z:-3.02 [[ 9.99742813e-01 -1.95784600e-02 1.14452038e-02 2.17197937e+02] [ 1.95880822e-02 9.99807869e-01 -7.29223094e-04 -1.27682058e+01] [-1.14287277e-02 9.53225139e-04 9.99934236e-01 -3.02347343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96037174299997 meters 0.044416737408717905 Centerline is valid? [True, True] Translation: X:217.26, Y:-12.76, Z:-3.02 [[ 9.99850394e-01 -1.39481234e-02 1.02293835e-02 2.17259874e+02] [ 1.39555188e-02 9.99902404e-01 -6.51925342e-04 -1.27571495e+01] [-1.02192920e-02 7.94584164e-04 9.99947466e-01 -3.02463862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02037174299997 meters 0.03899256088952353 Centerline is valid? [True, True] Translation: X:217.32, Y:-12.74, Z:-3.02 [[ 9.99903852e-01 -7.24410848e-03 1.18241245e-02 2.17321857e+02] [ 7.25352605e-03 9.99973409e-01 -7.53779903e-04 -1.27393931e+01] [-1.18183496e-02 8.39474023e-04 9.99929808e-01 -3.02270451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08037174299997 meters 0.03759567614034034 Centerline is valid? [True, True] Translation: X:217.38, Y:-12.73, Z:-3.02 [[ 9.99929305e-01 -6.30005464e-04 1.18738077e-02 2.17382956e+02] [ 6.39041025e-04 9.99999509e-01 -7.57187055e-04 -1.27291037e+01] [-1.18733248e-02 7.64721376e-04 9.99929217e-01 -3.02341700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14037174299997 meters 0.03691623979985745 Centerline is valid? [True, True] Translation: X:217.44, Y:-12.72, Z:-3.03 [[ 9.99936212e-01 3.24589375e-03 1.08183336e-02 2.17444483e+02] [-3.23861992e-03 9.99994518e-01 -6.89812873e-04 -1.27242763e+01] [-1.08205134e-02 6.54732400e-04 9.99941242e-01 -3.02501840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20037174299998 meters 0.035299592948378325 Centerline is valid? [True, True] Translation: X:217.50, Y:-12.72, Z:-3.03 [[ 9.99904094e-01 9.32890444e-03 1.02358862e-02 2.17504748e+02] [-9.32270791e-03 9.99956329e-01 -6.52922004e-04 -1.27157749e+01] [-1.02415302e-02 5.57433208e-04 9.99947399e-01 -3.02591402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26037174299998 meters 0.029808968929398296 Centerline is valid? [True, True] Translation: X:217.57, Y:-12.70, Z:-3.03 [[ 9.99843391e-01 1.48889343e-02 9.56624279e-03 2.17566251e+02] [-1.48837782e-02 9.99889044e-01 -6.09961056e-04 -1.27017281e+01] [-9.57426303e-03 4.67483695e-04 9.99954056e-01 -3.02670619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32037174299998 meters 0.02860745803670899 Centerline is valid? [True, True] Translation: X:217.63, Y:-12.70, Z:-3.03 [[ 9.99763318e-01 1.96437707e-02 9.35036624e-03 2.17626969e+02] [-1.96390511e-02 9.99806957e-01 -5.96310061e-04 -1.26953694e+01] [-9.36027499e-03 4.12536606e-04 9.99956107e-01 -3.02816339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38037174299998 meters 0.02679494574088116 Centerline is valid? [True, True] Translation: X:217.69, Y:-12.69, Z:-3.03 [[ 9.99694200e-01 2.29809775e-02 9.13130859e-03 2.17687621e+02] [-2.29766168e-02 9.99735833e-01 -5.82186996e-04 -1.26895565e+01] [-9.14227563e-03 3.72202385e-04 9.99958139e-01 -3.02914961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.440371743 meters 0.0260676116778121 Centerline is valid? [True, True] Translation: X:217.75, Y:-12.69, Z:-3.03 [[ 9.99660362e-01 2.41258673e-02 9.85411927e-03 2.17747189e+02] [-2.41208430e-02 9.99708853e-01 -6.28419993e-04 -1.26880511e+01] [-9.86641145e-03 3.90516894e-04 9.99951250e-01 -3.02926144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.500371743 meters 0.026105756703138822 Centerline is valid? [True, True] Translation: X:217.81, Y:-12.69, Z:-3.03 [[ 9.99621644e-01 2.51092980e-02 1.12290294e-02 2.17805915e+02] [-2.51028515e-02 9.99684618e-01 -7.14688989e-04 -1.26861146e+01] [-1.12434333e-02 4.32537925e-04 9.99936697e-01 -3.02860846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.560371743 meters 0.02598500830020811 Centerline is valid? [True, True] Translation: X:217.87, Y:-12.69, Z:-3.03 [[ 9.99620253e-01 2.55704612e-02 1.02713782e-02 2.17865117e+02] [-2.55650985e-02 9.99672946e-01 -6.53082405e-04 -1.26885600e+01] [-1.02847185e-02 3.90245604e-04 9.99947035e-01 -3.03056338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.620371743 meters 0.025529237014186773 Centerline is valid? [True, True] Translation: X:217.92, Y:-12.69, Z:-3.03 [[ 9.99571071e-01 2.77280545e-02 9.42490085e-03 2.17924366e+02] [-2.77236397e-02 9.99615447e-01 -5.98770230e-04 -1.26902803e+01] [-9.43787921e-03 3.37220844e-04 9.99955405e-01 -3.03255325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68037174299997 meters 0.024524875759343725 Centerline is valid? [True, True] Translation: X:217.98, Y:-12.69, Z:-3.03 [[ 9.99455386e-01 3.16324791e-02 9.39771283e-03 2.17984150e+02] [-3.16282730e-02 9.99499523e-01 -5.95887783e-04 -1.26919093e+01] [-9.41185890e-03 2.98329827e-04 9.99955663e-01 -3.03372102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74037174299997 meters 0.02423643145607509 Centerline is valid? [True, True] Translation: X:218.04, Y:-12.70, Z:-3.04 [[ 9.99357809e-01 3.46921822e-02 8.96783293e-03 2.18043344e+02] [-3.46884770e-02 9.99398012e-01 -5.68421025e-04 -1.26959089e+01] [-8.98215416e-03 2.56975523e-04 9.99959627e-01 -3.03556266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80037174299997 meters 0.024014128845702743 Centerline is valid? [True, True] Translation: X:218.10, Y:-12.70, Z:-3.04 [[ 9.99289525e-01 3.67667679e-02 8.28554548e-03 2.18102095e+02] [-3.67636788e-02 9.99323850e-01 -5.24890454e-04 -1.27012854e+01] [-8.29924173e-03 2.19910400e-04 9.99965537e-01 -3.03761014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86037174299997 meters 0.023262974924393505 Centerline is valid? [True, True] Translation: X:218.16, Y:-12.71, Z:-3.04 [[ 9.99263138e-01 3.72620704e-02 9.20425856e-03 2.18161141e+02] [-3.72582859e-02 9.99305499e-01 -5.82361271e-04 -1.27060007e+01] [-9.21956619e-03 2.38997254e-04 9.99957470e-01 -3.03784279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92037174299998 meters 0.025872426091873454 Centerline is valid? [True, True] Translation: X:218.22, Y:-12.72, Z:-3.04 [[ 9.99329631e-01 3.44682582e-02 1.23380382e-02 2.18217853e+02] [-3.44612589e-02 9.99405730e-01 -7.79508181e-04 -1.27220440e+01] [-1.23575744e-02 3.53801294e-04 9.99923580e-01 -3.03856848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98037174299998 meters 0.025520918919095144 Centerline is valid? [True, True] Translation: X:218.28, Y:-12.73, Z:-3.04 [[ 9.99449320e-01 3.09079581e-02 1.20729293e-02 2.18276643e+02] [-3.09010152e-02 9.99522160e-01 -7.61242988e-04 -1.27290402e+01] [-1.20906889e-02 3.87758013e-04 9.99926830e-01 -3.04073723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04037174299998 meters 0.029299787991594703 Centerline is valid? [True, True] Translation: X:218.33, Y:-12.75, Z:-3.04 [[ 9.99710027e-01 2.15257379e-02 1.07937100e-02 2.18334498e+02] [-2.15196502e-02 9.99768194e-01 -6.79838156e-04 -1.27469395e+01] [-1.08058419e-02 4.47364159e-04 9.99941515e-01 -3.04359662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10037174299998 meters 0.0356859512045343 Centerline is valid? [True, True] Translation: X:218.39, Y:-12.77, Z:-3.05 [[ 9.99916445e-01 8.33453966e-03 9.88120345e-03 2.18394174e+02] [-8.32879192e-03 9.99965121e-01 -6.22692444e-04 -1.27667636e+01] [-9.88604866e-03 5.40341928e-04 9.99950986e-01 -3.04575783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16037174299998 meters 0.03775030482145837 Centerline is valid? [True, True] Translation: X:218.45, Y:-12.78, Z:-3.05 [[ 9.99951229e-01 -2.17515855e-03 9.63369830e-03 2.18454352e+02] [ 2.18110827e-03 9.99997437e-01 -6.07130776e-04 -1.27778301e+01] [-9.63235300e-03 6.28113305e-04 9.99953411e-01 -3.04681035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.220371743 meters 0.0401547260241677 Centerline is valid? [True, True] Translation: X:218.51, Y:-12.79, Z:-3.05 [[ 9.99930186e-01 -6.23860683e-03 1.00350738e-02 2.18514163e+02] [ 6.24526610e-03 9.99980298e-01 -6.32399347e-04 -1.27873697e+01] [-1.00309308e-02 6.95026903e-04 9.99949447e-01 -3.04749219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.280371743 meters 0.040369506133904345 Centerline is valid? [True, True] Translation: X:218.58, Y:-12.79, Z:-3.05 [[ 9.99915125e-01 -6.17257571e-03 1.14735281e-02 2.18577348e+02] [ 6.18127424e-03 9.99980635e-01 -7.22831489e-04 -1.27925548e+01] [-1.14688442e-02 7.93691163e-04 9.99933916e-01 -3.04725271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.340371743 meters 0.03815859581917029 Centerline is valid? [True, True] Translation: X:218.64, Y:-12.79, Z:-3.05 [[ 9.99924075e-01 -5.01971305e-03 1.12537246e-02 2.18640087e+02] [ 5.02802240e-03 9.99987107e-01 -7.10193132e-04 -1.27928797e+01] [-1.12500145e-02 7.66723190e-04 9.99936423e-01 -3.04818295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.400371743 meters 0.037034679387067365 Centerline is valid? [True, True] Translation: X:218.70, Y:-12.79, Z:-3.05 [[ 9.99950816e-01 -2.10650387e-03 9.69162761e-03 2.18700792e+02] [ 2.11253994e-03 9.99997581e-01 -6.12617922e-04 -1.27940342e+01] [-9.69031368e-03 6.33061741e-04 9.99952847e-01 -3.05026610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46037174299997 meters 0.03565396470980818 Centerline is valid? [True, True] Translation: X:218.76, Y:-12.79, Z:-3.05 [[ 9.99955966e-01 1.38752085e-03 9.28116288e-03 2.18761859e+02] [-1.38213371e-03 9.99998873e-01 -5.86826911e-04 -1.27933703e+01] [-9.28196665e-03 5.73973262e-04 9.99956757e-01 -3.05115109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52037174299997 meters 0.03168591270166296 Centerline is valid? [True, True] Translation: X:218.82, Y:-12.79, Z:-3.05 [[ 9.99935460e-01 6.48166203e-03 9.33083420e-03 2.18822782e+02] [-6.47643593e-03 9.99978854e-01 -5.90197373e-04 -1.27883985e+01] [-9.33446235e-03 5.29728731e-04 9.99956293e-01 -3.05149622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58037174299997 meters 0.028189348584295698 Centerline is valid? [True, True] Translation: X:218.88, Y:-12.78, Z:-3.05 [[ 9.99768545e-01 1.87947142e-02 1.04697704e-02 2.18884013e+02] [-1.87888071e-02 9.99823255e-01 -6.62284885e-04 -1.27806124e+01] [-1.04803673e-02 4.65417100e-04 9.99944971e-01 -3.05189430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64037174299997 meters 0.02687428166748518 Centerline is valid? [True, True] Translation: X:218.94, Y:-12.78, Z:-3.05 [[ 9.99663789e-01 2.33102494e-02 1.13552699e-02 2.18944442e+02] [-2.33035899e-02 9.99728176e-01 -7.18444186e-04 -1.27803458e+01] [-1.13689304e-02 4.53584083e-04 9.99935269e-01 -3.05241750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70037174299998 meters 0.027122551171853394 Centerline is valid? [True, True] Translation: X:219.00, Y:-12.78, Z:-3.05 [[ 9.99587276e-01 2.63559619e-02 1.14298554e-02 2.19003548e+02] [-2.63494153e-02 9.99652532e-01 -7.23001100e-04 -1.27828493e+01] [-1.14449392e-02 4.21532694e-04 9.99934416e-01 -3.05392712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76037174299998 meters 0.026246921117714837 Centerline is valid? [True, True] Translation: X:219.06, Y:-12.78, Z:-3.06 [[ 9.99615315e-01 2.61512798e-02 9.23754465e-03 2.19062234e+02] [-2.61469957e-02 9.99657938e-01 -5.84264651e-04 -1.27836780e+01] [-9.24966410e-03 3.42505853e-04 9.99957162e-01 -3.05621733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82037174299998 meters 0.02541717129884818 Centerline is valid? [True, True] Translation: X:219.12, Y:-12.78, Z:-3.06 [[ 9.99606498e-01 2.69018553e-02 7.94605021e-03 2.19121446e+02] [-2.68987123e-02 9.99638038e-01 -5.02160927e-04 -1.27848500e+01] [-7.95668310e-03 2.88224806e-04 9.99968304e-01 -3.05727407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88037174299998 meters 0.02789415256948527 Centerline is valid? [True, True] Translation: X:219.18, Y:-12.79, Z:-3.06 [[ 9.99539354e-01 2.91530260e-02 8.43686153e-03 2.19178479e+02] [-2.91495678e-02 9.99574919e-01 -5.32597600e-04 -1.27930834e+01] [-8.44880201e-03 2.86421394e-04 9.99964267e-01 -3.05845085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.940371743 meters 0.026997685745664995 Centerline is valid? [True, True] Translation: X:219.24, Y:-12.80, Z:-3.06 [[ 9.99455385e-01 3.15112772e-02 9.79659259e-03 2.19236992e+02] [-3.15067390e-02 9.99503349e-01 -6.17262561e-04 -1.27955284e+01] [-9.81117783e-03 3.08267704e-04 9.99951822e-01 -3.05858321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.000371743 meters 0.02318585839054225 Centerline is valid? [True, True] Translation: X:219.30, Y:-12.79, Z:-3.06 [[ 9.99273445e-01 3.64592040e-02 1.11044139e-02 2.19297081e+02] [-3.64536889e-02 9.99335099e-01 -6.98725715e-04 -1.27921859e+01] [-1.11225055e-02 2.93421203e-04 9.99938100e-01 -3.05831759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.060371743 meters 0.022085731343451067 Centerline is valid? [True, True] Translation: X:219.36, Y:-12.79, Z:-3.06 [[ 9.99044123e-01 4.19638273e-02 1.22424828e-02 2.19357057e+02] [-4.19575431e-02 9.99119098e-01 -7.69810692e-04 -1.27944510e+01] [-1.22640025e-02 2.55410349e-04 9.99924762e-01 -3.05844852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.120371743 meters 0.02217824421685935 Centerline is valid? [True, True] Translation: X:219.41, Y:-12.80, Z:-3.06 [[ 9.98972525e-01 4.36313938e-02 1.22554165e-02 2.19414457e+02] [-4.36252224e-02 9.99047670e-01 -7.70570706e-04 -1.28020018e+01] [-1.22773664e-02 2.35133692e-04 9.99924603e-01 -3.06041529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18037174299997 meters 0.02265658637201495 Centerline is valid? [True, True] Translation: X:219.47, Y:-12.81, Z:-3.06 [[ 9.99028509e-01 4.22883844e-02 1.23988012e-02 2.19472388e+02] [-4.22819832e-02 9.99105414e-01 -7.78068556e-04 -1.28115107e+01] [-1.24206126e-02 2.53066767e-04 9.99922829e-01 -3.06290247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24037174299997 meters 0.024294186575751765 Centerline is valid? [True, True] Translation: X:219.53, Y:-12.83, Z:-3.07 [[ 9.99215536e-01 3.78756063e-02 1.15650369e-02 2.19529857e+02] [-3.78697507e-02 9.99282421e-01 -7.24965960e-04 -1.28288107e+01] [-1.15841966e-02 2.86432186e-04 9.99932860e-01 -3.06685152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30037174299997 meters 0.02464155306172746 Centerline is valid? [True, True] Translation: X:219.59, Y:-12.84, Z:-3.07 [[ 9.99273673e-01 3.63857058e-02 1.13228621e-02 2.19588557e+02] [-3.63800032e-02 9.99337777e-01 -7.09265076e-04 -1.28384609e+01] [-1.13411709e-02 2.96824159e-04 9.99935643e-01 -3.06851496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36037174299997 meters 0.02585570445039047 Centerline is valid? [True, True] Translation: X:219.65, Y:-12.85, Z:-3.07 [[ 9.99301660e-01 3.54419456e-02 1.18347340e-02 2.19645253e+02] [-3.54356593e-02 9.99371685e-01 -7.40513441e-04 -1.28520276e+01] [-1.18535433e-02 3.20624708e-04 9.99929693e-01 -3.06977110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42037174299998 meters 0.02597682383582308 Centerline is valid? [True, True] Translation: X:219.70, Y:-12.86, Z:-3.07 [[ 9.99299136e-01 3.56481998e-02 1.14211535e-02 2.19702655e+02] [-3.56423692e-02 9.99364354e-01 -7.13713706e-04 -1.28640549e+01] [-1.14393363e-02 3.06136520e-04 9.99934522e-01 -3.07130586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48037174299998 meters 0.02379550256270736 Centerline is valid? [True, True] Translation: X:219.76, Y:-12.87, Z:-3.07 [[ 9.99207900e-01 3.73685294e-02 1.36808524e-02 2.19761613e+02] [-3.73603428e-02 9.99301494e-01 -8.53572392e-04 -1.28685835e+01] [-1.37031930e-02 3.41774942e-04 9.99906048e-01 -3.07032087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54037174299998 meters 0.02369544734373332 Centerline is valid? [True, True] Translation: X:219.82, Y:-12.88, Z:-3.07 [[ 9.99081416e-01 3.99789390e-02 1.54275195e-02 2.19818591e+02] [-3.99688590e-02 9.99200464e-01 -9.61275979e-04 -1.28799867e+01] [-1.54536155e-02 3.43772613e-04 9.99880527e-01 -3.07044159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60037174299998 meters 0.023361930100512043 Centerline is valid? [True, True] Translation: X:219.88, Y:-12.89, Z:-3.07 [[ 9.98954807e-01 4.27195408e-02 1.62583528e-02 2.19876497e+02] [-4.27087327e-02 9.99087054e-01 -1.01156569e-03 -1.28913862e+01] [-1.62867234e-02 3.16134764e-04 9.99867313e-01 -3.07212491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66037174299998 meters 0.02313660084418749 Centerline is valid? [True, True] Translation: X:219.93, Y:-12.90, Z:-3.07 [[ 9.98854917e-01 4.53328019e-02 1.52902513e-02 2.19934470e+02] [-4.53235644e-02 9.98971907e-01 -9.50306436e-04 -1.29038975e+01] [-1.53176115e-02 2.56209568e-04 9.99882646e-01 -3.07469728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.720371743 meters 0.02279277999668709 Centerline is valid? [True, True] Translation: X:219.99, Y:-12.91, Z:-3.08 [[ 9.98802679e-01 4.65667573e-02 1.49914897e-02 2.19992756e+02] [-4.65580320e-02 9.98915153e-01 -9.30689683e-04 -1.29142762e+01] [-1.50185654e-02 2.31601094e-04 9.99887188e-01 -3.07607773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.780371743 meters 0.022907583329344807 Centerline is valid? [True, True] Translation: X:220.05, Y:-12.93, Z:-3.08 [[ 9.98669810e-01 4.94927272e-02 1.44596233e-02 2.20049899e+02] [-4.94849311e-02 9.98774468e-01 -8.96672455e-04 -1.29337174e+01] [-1.44862813e-02 1.79946250e-04 9.99895052e-01 -3.07830938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.840371743 meters 0.022519797940201147 Centerline is valid? [True, True] Translation: X:220.11, Y:-12.94, Z:-3.08 [[ 9.98573177e-01 5.15475176e-02 1.39450278e-02 2.20108262e+02] [-5.15404800e-02 9.98670533e-01 -8.63815479e-04 -1.29424154e+01] [-1.39710159e-02 1.43849539e-04 9.99902390e-01 -3.07991476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.900371743 meters 0.02269945987725245 Centerline is valid? [True, True] Translation: X:220.17, Y:-12.96, Z:-3.08 [[ 9.98453628e-01 5.36803520e-02 1.44489539e-02 2.20165265e+02] [-5.36730361e-02 9.98558164e-01 -8.93917071e-04 -1.29586147e+01] [-1.44761066e-02 1.17015519e-04 9.99895209e-01 -3.08052078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96037174299997 meters 0.02255609968950465 Centerline is valid? [True, True] Translation: X:220.22, Y:-12.98, Z:-3.08 [[ 9.98384952e-01 5.47524513e-02 1.51544419e-02 2.20222835e+02] [-5.47445484e-02 9.98499954e-01 -9.36146480e-04 -1.29756698e+01] [-1.51829658e-02 1.05011482e-04 9.99884727e-01 -3.08046092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02037174299997 meters 0.022775808968253663 Centerline is valid? [True, True] Translation: X:220.28, Y:-12.99, Z:-3.08 [[ 9.98390413e-01 5.44957822e-02 1.57096561e-02 2.20280131e+02] [-5.44872765e-02 9.98513995e-01 -9.69256371e-04 -1.29940667e+01] [-1.57391318e-02 1.11719895e-04 9.99876126e-01 -3.08027230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08037174299997 meters 0.02237590644396821 Centerline is valid? [True, True] Translation: X:220.34, Y:-13.01, Z:-3.08 [[ 9.98535433e-01 5.17204637e-02 1.58739686e-02 2.20337827e+02] [-5.17114506e-02 9.98661589e-01 -9.78000471e-04 -1.30132198e+01] [-1.59033054e-02 1.55702180e-04 9.99873522e-01 -3.08142790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14037174299997 meters 0.022844931631157406 Centerline is valid? [True, True] Translation: X:220.40, Y:-13.03, Z:-3.08 [[ 9.98768795e-01 4.75589564e-02 1.41081335e-02 2.20395443e+02] [-4.75514349e-02 9.98868413e-01 -8.68288255e-04 -1.30344930e+01] [-1.41334638e-02 1.96357224e-04 9.99900098e-01 -3.08403510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20037174299998 meters 0.023414244117977365 Centerline is valid? [True, True] Translation: X:220.45, Y:-13.06, Z:-3.08 [[ 9.99044225e-01 4.17089662e-02 1.30766174e-02 2.20454437e+02] [-4.17020112e-02 9.99129769e-01 -8.04206470e-04 -1.30553962e+01] [-1.30987803e-02 2.58116585e-04 9.99914174e-01 -3.08473017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26037174299998 meters 0.023873628113457945 Centerline is valid? [True, True] Translation: X:220.51, Y:-13.07, Z:-3.08 [[ 9.99295688e-01 3.51602375e-02 1.31104938e-02 2.20513957e+02] [-3.51526832e-02 9.99381628e-01 -8.06276647e-04 -1.30739458e+01] [-1.31307355e-02 3.44839743e-04 9.99913729e-01 -3.08348470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32037174299998 meters 0.024462824837343453 Centerline is valid? [True, True] Translation: X:220.57, Y:-13.09, Z:-3.08 [[ 9.99398568e-01 3.18204567e-02 1.37826143e-02 2.20574560e+02] [-3.18117906e-02 9.99493518e-01 -8.47602806e-04 -1.30874464e+01] [-1.38026047e-02 4.08643392e-04 9.99904656e-01 -3.08319004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38037174299998 meters 0.025283372013022675 Centerline is valid? [True, True] Translation: X:220.64, Y:-13.10, Z:-3.08 [[ 9.99492786e-01 2.87819810e-02 1.36296907e-02 2.20636029e+02] [-2.87732176e-02 9.99585613e-01 -8.38660222e-04 -1.30992029e+01] [-1.36481811e-02 4.46064784e-04 9.99906760e-01 -3.08353564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.440371743 meters 0.027274113332595065 Centerline is valid? [True, True] Translation: X:220.70, Y:-13.11, Z:-3.08 [[ 9.99625734e-01 2.41960016e-02 1.27649996e-02 2.20695562e+02] [-2.41879300e-02 9.99707120e-01 -7.86356773e-04 -1.31128627e+01] [-1.27802877e-02 4.77303550e-04 9.99918215e-01 -3.08306101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.500371743 meters 0.026730961956003864 Centerline is valid? [True, True] Translation: X:220.76, Y:-13.12, Z:-3.08 [[ 9.99704356e-01 2.01956169e-02 1.35402001e-02 2.20756703e+02] [-2.01861654e-02 9.99795890e-01 -8.34350789e-04 -1.31196722e+01] [-1.35542867e-02 5.60779399e-04 9.99907979e-01 -3.08191241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.560371743 meters 0.029019158073565074 Centerline is valid? [True, True] Translation: X:220.82, Y:-13.13, Z:-3.08 [[ 9.99794445e-01 1.47861725e-02 1.38721830e-02 2.20817065e+02] [-1.47757249e-02 9.99890467e-01 -8.55321983e-04 -1.31291244e+01] [-1.38833105e-02 6.50174607e-04 9.99903411e-01 -3.08093058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.620371743 meters 0.03192194732234235 Centerline is valid? [True, True] Translation: X:220.88, Y:-13.14, Z:-3.08 [[ 9.99841363e-01 1.01001812e-02 1.46709277e-02 2.20876308e+02] [-1.00879915e-02 9.99948706e-01 -9.04639942e-04 -1.31383648e+01] [-1.46793122e-02 7.56496238e-04 9.99891967e-01 -3.08108744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68037174299997 meters 0.03338862138217327 Centerline is valid? [True, True] Translation: X:220.94, Y:-13.14, Z:-3.08 [[ 9.99886119e-01 7.16747580e-03 1.32806666e-02 2.20937107e+02] [-7.15723133e-03 9.99974052e-01 -8.18750839e-04 -1.31438453e+01] [-1.32861903e-02 7.23604796e-04 9.99911473e-01 -3.08355842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74037174299997 meters 0.03608813152192902 Centerline is valid? [True, True] Translation: X:221.00, Y:-13.15, Z:-3.09 [[ 9.99932808e-01 3.61648572e-03 1.10136898e-02 2.20996824e+02] [-3.60922546e-03 9.99993256e-01 -6.79008734e-04 -1.31479967e+01] [-1.10160711e-02 6.39212220e-04 9.99939117e-01 -3.08716377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80037174299997 meters 0.04027051538180313 Centerline is valid? [True, True] Translation: X:221.06, Y:-13.15, Z:-3.09 [[ 9.99939176e-01 -1.88815254e-03 1.08663967e-02 2.21056349e+02] [ 1.89555274e-03 9.99997978e-01 -6.70758317e-04 -1.31548750e+01] [-1.08651083e-02 6.91315347e-04 9.99940734e-01 -3.08882387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86037174299997 meters 0.045557093806032865 Centerline is valid? [True, True] Translation: X:221.12, Y:-13.16, Z:-3.09 [[ 9.99900084e-01 -8.24161482e-03 1.14846515e-02 2.21115170e+02] [ 8.25030027e-03 9.99965714e-01 -7.09093367e-04 -1.31613555e+01] [-1.14784136e-02 8.03774341e-04 9.99933798e-01 -3.08850103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92037174299998 meters 0.05059230099323477 Centerline is valid? [True, True] Translation: X:221.18, Y:-13.16, Z:-3.09 [[ 9.99845082e-01 -1.34894690e-02 1.13069012e-02 2.21175083e+02] [ 1.34982178e-02 9.99908651e-01 -6.97797663e-04 -1.31648548e+01] [-1.12964554e-02 8.50312577e-04 9.99935831e-01 -3.08965319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98037174299998 meters 0.05488521091851528 Centerline is valid? [True, True] Translation: X:221.24, Y:-13.16, Z:-3.09 [[ 9.99802521e-01 -1.65710096e-02 1.09691127e-02 2.21235288e+02] [ 1.65794288e-02 9.99862323e-01 -6.77047022e-04 -1.31645663e+01] [-1.09563832e-02 8.58774943e-04 9.99939608e-01 -3.09086156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04037174299998 meters 0.0433673170936887 Centerline is valid? [True, True] Translation: X:221.30, Y:-13.14, Z:-3.09 [[ 9.99763989e-01 -1.76238422e-02 1.27030392e-02 2.21299360e+02] [ 1.76352208e-02 9.99844180e-01 -7.84275708e-04 -1.31412415e+01] [-1.26872379e-02 1.00811151e-03 9.99919006e-01 -3.09031594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10037174299998 meters 0.06132626888474899 Centerline is valid? [True, True] Translation: X:221.36, Y:-13.16, Z:-3.09 [[ 9.99730387e-01 -1.90036486e-02 1.33422223e-02 2.21358934e+02] [ 1.90163372e-02 9.99818833e-01 -8.24779003e-04 -1.31595971e+01] [-1.33241314e-02 1.07827683e-03 9.99910648e-01 -3.09094997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16037174299998 meters 0.05115716737348551 Centerline is valid? [True, True] Translation: X:221.42, Y:-13.14, Z:-3.09 [[ 9.99705285e-01 -2.08318017e-02 1.24651343e-02 2.21422001e+02] [ 2.08430230e-02 9.99782463e-01 -7.70969069e-04 -1.31361831e+01] [-1.24463620e-02 1.03055293e-03 9.99922010e-01 -3.09242875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.220371743 meters 0.0468363342472057 Centerline is valid? [True, True] Translation: X:221.48, Y:-13.12, Z:-3.10 [[ 9.99687543e-01 -2.28999727e-02 1.00203639e-02 2.21483976e+02] [ 2.29073301e-02 9.99737400e-01 -6.20075553e-04 -1.31212157e+01] [-1.00035329e-02 8.49421590e-04 9.99949603e-01 -3.09572502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.280371743 meters 0.04667002993328306 Centerline is valid? [True, True] Translation: X:221.54, Y:-13.11, Z:-3.10 [[ 9.99615701e-01 -2.65590625e-02 7.94144351e-03 2.21544850e+02] [ 2.65637996e-02 9.99646999e-01 -4.91608575e-04 -1.31119126e+01] [-7.92558351e-03 7.02374565e-04 9.99968345e-01 -3.09807063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.340371743 meters 0.04992492730542414 Centerline is valid? [True, True] Translation: X:221.60, Y:-13.11, Z:-3.10 [[ 9.99542445e-01 -2.93383781e-02 7.35942856e-03 2.21604889e+02] [ 2.93425220e-02 9.99569312e-01 -4.55718936e-04 -1.31067605e+01] [-7.34288889e-03 6.71454614e-04 9.99972815e-01 -3.09813038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.400371743 meters 0.045314519854813474 Centerline is valid? [True, True] Translation: X:221.67, Y:-13.09, Z:-3.10 [[ 9.99562714e-01 -2.83418296e-02 8.43336643e-03 2.21667473e+02] [ 2.83472324e-02 9.99598000e-01 -5.21778114e-04 -1.30901267e+01] [-8.41518808e-03 7.60612546e-04 9.99964302e-01 -3.09677834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46037174299997 meters 0.044847811933697024 Centerline is valid? [True, True] Translation: X:221.73, Y:-13.08, Z:-3.10 [[ 9.99681736e-01 -2.32256864e-02 9.84861275e-03 2.21729533e+02] [ 2.32328138e-02 9.99729896e-01 -6.09886867e-04 -1.30785300e+01] [-9.83178756e-03 8.38503747e-04 9.99951315e-01 -3.09562393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52037174299997 meters 0.04290063425379355 Centerline is valid? [True, True] Translation: X:221.79, Y:-13.06, Z:-3.09 [[ 9.99855995e-01 -1.42278554e-02 9.24968805e-03 2.21789807e+02] [ 1.42337616e-02 9.99898531e-01 -5.73009886e-04 -1.30640859e+01] [-9.24059679e-03 7.04585224e-04 9.99957057e-01 -3.09485246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58037174299997 meters 0.04024432511405678 Centerline is valid? [True, True] Translation: X:221.85, Y:-13.05, Z:-3.09 [[ 9.99927322e-01 -7.10889897e-03 9.73729306e-03 2.21851607e+02] [ 7.11510846e-03 9.99974505e-01 -6.03208260e-04 -1.30501512e+01] [-9.73275666e-03 6.72446316e-04 9.99952409e-01 -3.09447577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64037174299997 meters 0.03877814178420886 Centerline is valid? [True, True] Translation: X:221.91, Y:-13.04, Z:-3.10 [[ 9.99947807e-01 -4.97204226e-03 8.92538270e-03 2.21913626e+02] [ 4.97717372e-03 9.99987461e-01 -5.52809610e-04 -1.30423288e+01] [-8.92252219e-03 5.97203937e-04 9.99960015e-01 -3.09547743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70037174299998 meters 0.037095430555560846 Centerline is valid? [True, True] Translation: X:221.98, Y:-13.03, Z:-3.10 [[ 9.99967721e-01 -3.60447971e-03 7.18082981e-03 2.21976587e+02] [ 3.60776544e-03 9.99993393e-01 -4.44669282e-04 -1.30320732e+01] [-7.17917957e-03 4.70561679e-04 9.99974119e-01 -3.09705083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76037174299998 meters 0.03816662003751485 Centerline is valid? [True, True] Translation: X:222.04, Y:-13.02, Z:-3.10 [[ 9.99963786e-01 -5.11288845e-03 6.80338134e-03 2.22039467e+02] [ 5.11587559e-03 9.99986825e-01 -4.21736368e-04 -1.30234139e+01] [-6.80113541e-03 4.56526348e-04 9.99976768e-01 -3.09867138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82037174299998 meters 0.039492680717713065 Centerline is valid? [True, True] Translation: X:222.10, Y:-13.02, Z:-3.10 [[ 9.99955152e-01 -6.80596425e-03 6.58588217e-03 2.22100913e+02] [ 6.80880466e-03 9.99976736e-01 -4.08962244e-04 -1.30225847e+01] [-6.58294558e-03 4.53785887e-04 9.99978229e-01 -3.09905641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88037174299998 meters 0.04219658436495904 Centerline is valid? [True, True] Translation: X:222.16, Y:-13.02, Z:-3.10 [[ 9.99921378e-01 -1.09888942e-02 6.04008040e-03 2.22161719e+02] [ 1.09913619e-02 9.99939523e-01 -3.75499272e-04 -1.30212895e+01] [-6.03558879e-03 4.41858459e-04 9.99981688e-01 -3.10013467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.940371743 meters 0.042612750243356 Centerline is valid? [True, True] Translation: X:222.22, Y:-13.02, Z:-3.10 [[ 9.99855927e-01 -1.58675261e-02 6.02889835e-03 2.22223098e+02] [ 1.58700718e-02 9.99873992e-01 -3.74626481e-04 -1.30183245e+01] [-6.02219427e-03 4.70251557e-04 9.99981756e-01 -3.10058236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.000371743 meters 0.05068536516377692 Centerline is valid? [True, True] Translation: X:222.28, Y:-13.03, Z:-3.10 [[ 9.99759987e-01 -2.14973561e-02 4.22273272e-03 2.22282286e+02] [ 2.14986567e-02 9.99768843e-01 -2.62851157e-04 -1.30257553e+01] [-4.21610600e-03 3.53571151e-04 9.99991050e-01 -3.10383226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.060371743 meters 0.04572295410069431 Centerline is valid? [True, True] Translation: X:222.34, Y:-13.02, Z:-3.10 [[ 9.99709089e-01 -2.38109400e-02 3.84399620e-03 2.22343760e+02] [ 2.38120331e-02 9.99716425e-01 -2.38852942e-04 -1.30181612e+01] [-3.83721882e-03 3.30316822e-04 9.99992583e-01 -3.10444106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.120371743 meters 0.050040755625886474 Centerline is valid? [True, True] Translation: X:222.41, Y:-13.02, Z:-3.10 [[ 9.99706734e-01 -2.39066298e-02 3.86244123e-03 2.22405210e+02] [ 2.39077331e-02 9.99714141e-01 -2.39711669e-04 -1.30192702e+01] [-3.85560641e-03 3.31983584e-04 9.99992512e-01 -3.10447411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18037174299997 meters 0.04446503850920269 Centerline is valid? [True, True] Translation: X:222.47, Y:-13.01, Z:-3.10 [[ 9.99756242e-01 -2.14480194e-02 5.23816857e-03 2.22466804e+02] [ 2.14500195e-02 9.99769869e-01 -3.25945926e-04 -1.30059030e+01] [-5.22997221e-03 4.38225293e-04 9.99986228e-01 -3.10139184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24037174299997 meters 0.0470011866669426 Centerline is valid? [True, True] Translation: X:222.53, Y:-13.01, Z:-3.10 [[ 9.99798876e-01 -1.93665390e-02 5.21001352e-03 2.22526804e+02] [ 1.93684909e-02 9.99812361e-01 -3.24444660e-04 -1.30077751e+01] [-5.20275255e-03 4.25289506e-04 9.99986375e-01 -3.10215142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30037174299997 meters 0.043537031094891876 Centerline is valid? [True, True] Translation: X:222.59, Y:-13.00, Z:-3.10 [[ 9.99844276e-01 -1.71738304e-02 4.05992004e-03 2.22588351e+02] [ 1.71749969e-02 9.99852467e-01 -2.52647300e-04 -1.30010454e+01] [-4.05498214e-03 3.22337071e-04 9.99991727e-01 -3.10355875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36037174299997 meters 0.042988278420997 Centerline is valid? [True, True] Translation: X:222.65, Y:-12.99, Z:-3.10 [[ 9.99911780e-01 -1.30006166e-02 2.72316103e-03 2.22649374e+02] [ 1.30011265e-02 9.99915467e-01 -1.69624762e-04 -1.29945357e+01] [-2.72072561e-03 2.05013959e-04 9.99996278e-01 -3.10480722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42037174299998 meters 0.04130257341535717 Centerline is valid? [True, True] Translation: X:222.71, Y:-12.99, Z:-3.11 [[ 9.99969564e-01 -7.68278046e-03 1.35879061e-03 2.22710289e+02] [ 7.68290255e-03 9.99970482e-01 -8.46577698e-05 -1.29878604e+01] [-1.35810010e-03 9.50946490e-05 9.99999073e-01 -3.10577666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48037174299998 meters 0.039807670722677435 Centerline is valid? [True, True] Translation: X:222.77, Y:-12.98, Z:-3.11 [[ 9.99999160e-01 1.36086712e-04 1.28880666e-03 2.22770047e+02] [-1.35983134e-04 9.99999988e-01 -8.04547593e-05 -1.29813494e+01] [-1.28881760e-03 8.02794358e-05 9.99999166e-01 -3.10609738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54037174299998 meters 0.03506196622802181 Centerline is valid? [True, True] Translation: X:222.83, Y:-12.97, Z:-3.11 [[ 9.99947500e-01 1.00536299e-02 1.98021743e-03 2.22831543e+02] [-1.00534051e-02 9.99949456e-01 -1.23434025e-04 -1.29718813e+01] [-1.98135830e-03 1.03519617e-04 9.99998032e-01 -3.10588894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60037174299998 meters 0.02873691009479591 Centerline is valid? [True, True] Translation: X:222.89, Y:-12.96, Z:-3.10 [[ 9.99801161e-01 1.97148201e-02 2.99411906e-03 2.22892720e+02] [-1.97143501e-02 9.99805636e-01 -1.86388549e-04 -1.29598151e+01] [-2.99721173e-03 1.27324377e-04 9.99995500e-01 -3.10432384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66037174299998 meters 0.02655562327297267 Centerline is valid? [True, True] Translation: X:222.95, Y:-12.96, Z:-3.10 [[ 9.99650864e-01 2.62795372e-02 2.74522359e-03 2.22953208e+02] [-2.62791666e-02 9.99654628e-01 -1.70987729e-04 -1.29555783e+01] [-2.74876894e-03 9.87858434e-05 9.99996217e-01 -3.10487930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.720371743 meters 0.02595640022084891 Centerline is valid? [True, True] Translation: X:223.01, Y:-12.96, Z:-3.11 [[ 9.99629072e-01 2.71430123e-02 2.23073706e-03 2.23012338e+02] [-2.71427679e-02 9.99631557e-01 -1.39744363e-04 -1.29573266e+01] [-2.23370825e-03 7.91441490e-05 9.99997502e-01 -3.10579162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.780371743 meters 0.02824121935271978 Centerline is valid? [True, True] Translation: X:223.07, Y:-12.97, Z:-3.11 [[ 9.99734395e-01 2.29864808e-02 1.66172778e-03 2.23070546e+02] [-2.29863396e-02 9.99735774e-01 -1.03996226e-04 -1.29671370e+01] [-1.66367922e-03 6.57715650e-05 9.99998614e-01 -3.10733096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.840371743 meters 0.03185586608685453 Centerline is valid? [True, True] Translation: X:223.13, Y:-12.98, Z:-3.11 [[ 9.99875506e-01 1.57520822e-02 9.18937169e-04 2.23129004e+02] [-1.57520360e-02 9.99875927e-01 -5.75487832e-05 -1.29792286e+01] [-9.19729667e-04 4.30664874e-05 9.99999576e-01 -3.10889897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.900371743 meters 0.03157956262152154 Centerline is valid? [True, True] Translation: X:223.19, Y:-12.99, Z:-3.11 [[ 9.99952567e-01 9.57428195e-03 1.78779149e-03 2.23189373e+02] [-9.57409866e-03 9.99954161e-01 -1.11055832e-04 -1.29867386e+01] [-1.78877282e-03 9.39340721e-05 9.99998396e-01 -3.10744342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96037174299997 meters 0.03395384165596455 Centerline is valid? [True, True] Translation: X:223.25, Y:-13.00, Z:-3.11 [[ 9.99972447e-01 6.86297532e-03 2.82913586e-03 2.23247807e+02] [-6.86250390e-03 9.99976437e-01 -1.76303272e-04 -1.29957939e+01] [-2.83027917e-03 1.56883459e-04 9.99995982e-01 -3.10712541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02037174299997 meters 0.03498235482250296 Centerline is valid? [True, True] Translation: X:223.31, Y:-13.00, Z:-3.11 [[ 9.99979276e-01 5.52976095e-03 3.29691112e-03 2.23306634e+02] [-5.52911452e-03 9.99984693e-01 -2.05153545e-04 -1.30028014e+01] [-3.29799510e-03 1.86920295e-04 9.99994544e-01 -3.10734658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08037174299997 meters 0.036628185643199404 Centerline is valid? [True, True] Translation: X:223.37, Y:-13.01, Z:-3.11 [[ 9.99978218e-01 5.50482419e-03 3.64152332e-03 2.23365960e+02] [-5.50403769e-03 9.99984827e-01 -2.25968280e-04 -1.30118804e+01] [-3.64271198e-03 2.05920276e-04 9.99993344e-01 -3.10905926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14037174299997 meters 0.033928916058928775 Centerline is valid? [True, True] Translation: X:223.43, Y:-13.01, Z:-3.11 [[ 9.99978695e-01 5.91077789e-03 2.77002679e-03 2.23425140e+02] [-5.91032376e-03 9.99982519e-01 -1.72102358e-04 -1.30141102e+01] [-2.77099563e-03 1.55726936e-04 9.99996149e-01 -3.11070529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20037174299998 meters 0.036192767017902576 Centerline is valid? [True, True] Translation: X:223.48, Y:-13.02, Z:-3.11 [[ 9.99984971e-01 5.47551840e-03 2.77222704e-04 2.23483846e+02] [-5.47551378e-03 9.99985009e-01 -1.74124151e-05 -1.30225765e+01] [-2.77313891e-04 1.58942167e-05 9.99999961e-01 -3.11452201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26037174299998 meters 0.03294405725119052 Centerline is valid? [True, True] Translation: X:223.54, Y:-13.02, Z:-3.11 [[ 9.99984951e-01 5.46819452e-03 -4.43387605e-04 2.23542833e+02] [-5.46818334e-03 9.99985049e-01 2.64305808e-05 -1.30218469e+01] [ 4.43525504e-04 -2.40056583e-05 9.99999901e-01 -3.11449683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32037174299998 meters 0.03232669688622775 Centerline is valid? [True, True] Translation: X:223.60, Y:-13.02, Z:-3.11 [[ 9.99973743e-01 7.24605361e-03 9.16665672e-05 2.23601342e+02] [-7.24605303e-03 9.99973747e-01 -6.66473582e-06 -1.30234591e+01] [-9.17124539e-05 6.00034003e-06 9.99999996e-01 -3.11353271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38037174299998 meters 0.03169215058986965 Centerline is valid? [True, True] Translation: X:223.66, Y:-13.03, Z:-3.11 [[ 9.99963668e-01 8.36969348e-03 1.61585163e-03 2.23659888e+02] [-8.36954160e-03 9.99964970e-01 -1.00734578e-04 -1.30255056e+01] [-1.61663815e-03 8.72069803e-05 9.99998689e-01 -3.11368548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.440371743 meters 0.03112291968681354 Centerline is valid? [True, True] Translation: X:223.72, Y:-13.03, Z:-3.11 [[ 9.99946303e-01 1.00262642e-02 2.62001644e-03 2.23718965e+02] [-1.00258727e-02 9.99949726e-01 -1.62526288e-04 -1.30272490e+01] [-2.62151425e-03 1.36249609e-04 9.99996555e-01 -3.11313952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.500371743 meters 0.030516673778026023 Centerline is valid? [True, True] Translation: X:223.78, Y:-13.03, Z:-3.11 [[ 9.99922570e-01 1.19310008e-02 3.53617749e-03 2.23777438e+02] [-1.19303016e-02 9.99928807e-01 -2.18750127e-04 -1.30299970e+01] [-3.53853565e-03 1.76545525e-04 9.99993724e-01 -3.11277561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.560371743 meters 0.031517836886721724 Centerline is valid? [True, True] Translation: X:223.84, Y:-13.04, Z:-3.11 [[ 9.99877078e-01 1.52396118e-02 3.68563664e-03 2.23836136e+02] [-1.52388772e-02 9.99883856e-01 -2.27315555e-04 -1.30350627e+01] [-3.68867278e-03 1.71122648e-04 9.99993182e-01 -3.11408309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.620371743 meters 0.027047102415196037 Centerline is valid? [True, True] Translation: X:223.90, Y:-13.03, Z:-3.11 [[ 9.99767020e-01 2.12531635e-02 3.76953131e-03 2.23896467e+02] [-2.12524387e-02 9.99774114e-01 -2.32210824e-04 -1.30299800e+01] [-3.77361504e-03 1.52044990e-04 9.99992868e-01 -3.11393153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68037174299997 meters 0.024987164271142524 Centerline is valid? [True, True] Translation: X:223.96, Y:-13.03, Z:-3.11 [[ 9.99570999e-01 2.89273042e-02 4.58563643e-03 2.23956624e+02] [-2.89263140e-02 9.99581507e-01 -2.82140242e-04 -1.30288380e+01] [-4.59187892e-03 1.49373644e-04 9.99989446e-01 -3.11413821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74037174299997 meters 0.022500938616988504 Centerline is valid? [True, True] Translation: X:224.02, Y:-13.03, Z:-3.11 [[ 9.99275142e-01 3.76278720e-02 5.77358781e-03 2.24017587e+02] [-3.76264474e-02 9.99291811e-01 -3.55209455e-04 -1.30260369e+01] [-5.78286480e-03 1.37712380e-04 9.99983270e-01 -3.11432401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80037174299997 meters 0.021481035042937635 Centerline is valid? [True, True] Translation: X:224.08, Y:-13.03, Z:-3.11 [[ 9.98951526e-01 4.53622716e-02 6.17358771e-03 2.24076389e+02] [-4.53607889e-02 9.98970597e-01 -3.80045601e-04 -1.30279697e+01] [-6.18447233e-03 9.96083243e-05 9.99980871e-01 -3.11490650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86037174299997 meters 0.02097069549658338 Centerline is valid? [True, True] Translation: X:224.14, Y:-13.03, Z:-3.12 [[ 9.98750671e-01 4.95324183e-02 6.60574379e-03 2.24135563e+02] [-4.95308093e-02 9.98772513e-01 -4.07044211e-04 -1.30318533e+01] [-6.61779721e-03 7.93478428e-05 9.99978099e-01 -3.11565615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92037174299998 meters 0.02076548649065976 Centerline is valid? [True, True] Translation: X:224.19, Y:-13.04, Z:-3.12 [[ 9.98569805e-01 5.30547934e-02 6.59804895e-03 2.24194157e+02] [-5.30532734e-02 9.98591601e-01 -4.05307545e-04 -1.30401850e+01] [-6.61025978e-03 5.46797805e-05 9.99978150e-01 -3.11734437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98037174299998 meters 0.02081298168317104 Centerline is valid? [True, True] Translation: X:224.25, Y:-13.05, Z:-3.12 [[ 9.98638007e-01 5.14752788e-02 8.51035844e-03 2.24251860e+02] [-5.14726984e-02 9.98674266e-01 -5.22100874e-04 -1.30538227e+01] [-8.52595125e-03 8.33386634e-05 9.99963650e-01 -3.11726777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04037174299998 meters 0.02117639607676402 Centerline is valid? [True, True] Translation: X:224.31, Y:-13.07, Z:-3.12 [[ 9.98782720e-01 4.84169706e-02 9.42738679e-03 2.24310304e+02] [-4.84136806e-02 9.98827204e-01 -5.77016014e-04 -1.30670069e+01] [-9.44426775e-03 1.19899131e-04 9.99955395e-01 -3.11820147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10037174299998 meters 0.02285818462817143 Centerline is valid? [True, True] Translation: X:224.37, Y:-13.09, Z:-3.12 [[ 9.98996369e-01 4.38807613e-02 8.98519338e-03 2.24366978e+02] [-4.38775919e-02 9.99036763e-01 -5.49654245e-04 -1.30873024e+01] [-9.00065776e-03 1.54853946e-04 9.99959481e-01 -3.12130293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16037174299998 meters 0.022653385670416002 Centerline is valid? [True, True] Translation: X:224.43, Y:-13.10, Z:-3.12 [[ 9.99123954e-01 4.09908615e-02 8.43058122e-03 2.24425100e+02] [-4.09879793e-02 9.99159507e-01 -5.14435505e-04 -1.30985828e+01] [-8.44458253e-03 1.68432347e-04 9.99964330e-01 -3.12227068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.220371743 meters 0.023444710864488308 Centerline is valid? [True, True] Translation: X:224.48, Y:-13.11, Z:-3.12 [[ 9.99232084e-01 3.80046173e-02 9.53368289e-03 2.24482976e+02] [-3.80008033e-02 9.99277540e-01 -5.80951588e-04 -1.31123296e+01] [-9.54887403e-03 2.18217858e-04 9.99954385e-01 -3.12296484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.280371743 meters 0.024912513101218444 Centerline is valid? [True, True] Translation: X:224.54, Y:-13.13, Z:-3.12 [[ 9.99342620e-01 3.44920562e-02 1.11636055e-02 2.24540988e+02] [-3.44866183e-02 9.99404929e-01 -6.79304613e-04 -1.31316884e+01] [-1.11803929e-02 2.93863051e-04 9.99937454e-01 -3.12351838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.340371743 meters 0.02972023151999202 Centerline is valid? [True, True] Translation: X:224.60, Y:-13.16, Z:-3.13 [[ 9.99309875e-01 3.58515974e-02 9.71790081e-03 2.24596977e+02] [-3.58475457e-02 9.99357096e-01 -5.90846609e-04 -1.31574269e+01] [-9.73283592e-03 2.42075958e-04 9.99952606e-01 -3.12750615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.400371743 meters 0.02559284897677817 Centerline is valid? [True, True] Translation: X:224.66, Y:-13.16, Z:-3.13 [[ 9.99430170e-01 3.24341351e-02 9.34674432e-03 2.24656367e+02] [-3.24302471e-02 9.99473840e-01 -5.67277519e-04 -1.31649216e+01] [-9.36022560e-03 2.63837040e-04 9.99956157e-01 -3.12842052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46037174299997 meters 0.026576493503066373 Centerline is valid? [True, True] Translation: X:224.71, Y:-13.18, Z:-3.13 [[ 9.99541455e-01 2.90889743e-02 8.40900173e-03 2.24714636e+02] [-2.90857098e-02 9.99576791e-01 -5.10273705e-04 -1.31839719e+01] [-8.42028631e-03 2.65457937e-04 9.99964514e-01 -3.13034807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52037174299997 meters 0.027740333995696333 Centerline is valid? [True, True] Translation: X:224.77, Y:-13.20, Z:-3.13 [[ 9.99618159e-01 2.63933078e-02 8.18110627e-03 2.24773831e+02] [-2.63901332e-02 9.99651597e-01 -4.95774618e-04 -1.31976626e+01] [-8.19134108e-03 2.79684826e-04 9.99966411e-01 -3.13150955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58037174299997 meters 0.02819918275882008 Centerline is valid? [True, True] Translation: X:224.83, Y:-13.21, Z:-3.13 [[ 9.99708669e-01 2.23311441e-02 9.15949611e-03 2.24832535e+02] [-2.23269979e-02 9.99750568e-01 -5.54685643e-04 -1.32141708e+01] [-9.16959820e-03 3.50019995e-04 9.99957897e-01 -3.13158244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64037174299997 meters 0.02832309291698038 Centerline is valid? [True, True] Translation: X:224.89, Y:-13.23, Z:-3.13 [[ 9.99745301e-01 2.06679480e-02 9.06475240e-03 2.24891360e+02] [-2.06638218e-02 9.99786330e-01 -5.48632811e-04 -1.32279323e+01] [-9.07415464e-03 3.61180646e-04 9.99958764e-01 -3.13193530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70037174299998 meters 0.029147091786943975 Centerline is valid? [True, True] Translation: X:224.95, Y:-13.24, Z:-3.13 [[ 9.99742927e-01 2.05389146e-02 9.60374766e-03 2.24949356e+02] [-2.05342800e-02 9.99788981e-01 -5.80957166e-04 -1.32404333e+01] [-9.61365332e-03 3.83601775e-04 9.99953714e-01 -3.13244126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76037174299998 meters 0.029336124974594428 Centerline is valid? [True, True] Translation: X:225.01, Y:-13.25, Z:-3.13 [[ 9.99691813e-01 2.22393852e-02 1.10312716e-02 2.25008508e+02] [-2.22333819e-02 9.99752586e-01 -6.66565082e-04 -1.32495062e+01] [-1.10433663e-02 4.21097180e-04 9.99938932e-01 -3.13163487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82037174299998 meters 0.027433889485767957 Centerline is valid? [True, True] Translation: X:225.07, Y:-13.25, Z:-3.13 [[ 9.99665211e-01 2.36347786e-02 1.05291271e-02 2.25068190e+02] [-2.36293902e-02 9.99720585e-01 -6.35883451e-04 -1.32537774e+01] [-1.05412140e-02 3.86873712e-04 9.99944365e-01 -3.13246849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88037174299998 meters 0.028271173833037157 Centerline is valid? [True, True] Translation: X:225.13, Y:-13.26, Z:-3.13 [[ 9.99600194e-01 2.61861278e-02 1.06647982e-02 2.25126212e+02] [-2.61807494e-02 9.99657018e-01 -6.43634253e-04 -1.32639026e+01] [-1.06779946e-02 3.64164516e-04 9.99942922e-01 -3.13405076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.940371743 meters 0.02634545796665878 Centerline is valid? [True, True] Translation: X:225.19, Y:-13.27, Z:-3.13 [[ 9.99441580e-01 3.10952249e-02 1.22317052e-02 2.25185659e+02] [-3.10885202e-02 9.99516363e-01 -7.37940720e-04 -1.32673977e+01] [-1.22487360e-02 3.57263024e-04 9.99924918e-01 -3.13333396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.000371743 meters 0.024971742979925143 Centerline is valid? [True, True] Translation: X:225.25, Y:-13.27, Z:-3.13 [[ 9.99136122e-01 3.94441503e-02 1.30831131e-02 2.25246016e+02] [-3.94372013e-02 9.99221740e-01 -7.88809137e-04 -1.32699619e+01] [-1.31040449e-02 2.72166339e-04 9.99914101e-01 -3.13386909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.060371743 meters 0.024436080643512957 Centerline is valid? [True, True] Translation: X:225.31, Y:-13.27, Z:-3.14 [[ 9.98867391e-01 4.57121188e-02 1.32037268e-02 2.25305200e+02] [-4.57055945e-02 9.98954636e-01 -7.95614352e-04 -1.32725563e+01] [-1.32262933e-02 1.91229048e-04 9.99912510e-01 -3.13531845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.120371743 meters 0.023846484631849612 Centerline is valid? [True, True] Translation: X:225.36, Y:-13.28, Z:-3.14 [[ 9.98397305e-01 5.46896999e-02 1.45553783e-02 2.25362549e+02] [-5.46827376e-02 9.98503395e-01 -8.76181514e-04 -1.32770459e+01] [-1.45815128e-02 7.88493267e-05 9.99893681e-01 -3.13638536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18037174299997 meters 0.024336315116653302 Centerline is valid? [True, True] Translation: X:225.42, Y:-13.28, Z:-3.14 [[ 9.97966187e-01 6.19785852e-02 1.49045310e-02 2.25420032e+02] [-6.19721174e-02 9.98077479e-01 -8.95858086e-04 -1.32839748e+01] [-1.49314007e-02 -2.96292659e-05 9.99888520e-01 -3.13758253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24037174299997 meters 0.02429839206836538 Centerline is valid? [True, True] Translation: X:225.48, Y:-13.30, Z:-3.14 [[ 9.97711209e-01 6.58438859e-02 1.53924073e-02 2.25478248e+02] [-6.58374683e-02 9.97829933e-01 -9.23837116e-04 -1.32959177e+01] [-1.54198338e-02 -9.16744824e-05 9.99881103e-01 -3.13854139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30037174299997 meters 0.024228000770428863 Centerline is valid? [True, True] Translation: X:225.54, Y:-13.31, Z:-3.14 [[ 9.97801689e-01 6.40850845e-02 1.68787534e-02 2.25535141e+02] [-6.40771377e-02 9.97944436e-01 -1.01176558e-03 -1.33134116e+01] [-1.69088971e-02 -7.20007996e-05 9.99857032e-01 -3.13950714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36037174299997 meters 0.02414893636152378 Centerline is valid? [True, True] Translation: X:225.59, Y:-13.33, Z:-3.14 [[ 9.98072004e-01 5.96883633e-02 1.70168491e-02 2.25593330e+02] [-5.96796694e-02 9.98217060e-01 -1.01871045e-03 -1.33335699e+01] [-1.70473142e-02 1.18645729e-06 9.99854684e-01 -3.14077671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42037174299998 meters 0.02429418325846583 Centerline is valid? [True, True] Translation: X:225.65, Y:-13.35, Z:-3.14 [[ 9.98315197e-01 5.55477873e-02 1.67693301e-02 2.25650956e+02] [-5.55387755e-02 9.98456027e-01 -1.00298735e-03 -1.33500282e+01] [-1.67991525e-02 6.99494551e-05 9.99858882e-01 -3.14194385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48037174299998 meters 0.024704936061440096 Centerline is valid? [True, True] Translation: X:225.71, Y:-13.37, Z:-3.14 [[ 9.98712484e-01 4.74069255e-02 1.80542995e-02 2.25709008e+02] [-4.73951691e-02 9.98875635e-01 -1.07873595e-03 -1.33749339e+01] [-1.80851394e-02 2.21660481e-04 9.99836426e-01 -3.14161696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54037174299998 meters 0.0242820172599268 Centerline is valid? [True, True] Translation: X:225.77, Y:-13.39, Z:-3.14 [[ 9.98995822e-01 4.13387372e-02 1.72758986e-02 2.25768886e+02] [-4.13270658e-02 9.99145139e-01 -1.03220308e-03 -1.33945197e+01] [-1.73038001e-02 3.17204369e-04 9.99850228e-01 -3.14251572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60037174299998 meters 0.02387021278815551 Centerline is valid? [True, True] Translation: X:225.83, Y:-13.41, Z:-3.14 [[ 9.99132785e-01 3.83523542e-02 1.62103056e-02 2.25830237e+02] [-3.83416635e-02 9.99264217e-01 -9.69889870e-04 -1.34123056e+01] [-1.62355759e-02 3.47518683e-04 9.99868134e-01 -3.14298959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66037174299998 meters 0.02286555481727365 Centerline is valid? [True, True] Translation: X:225.89, Y:-13.42, Z:-3.14 [[ 9.99161326e-01 3.81256282e-02 1.49358969e-02 2.25892253e+02] [-3.81164767e-02 9.99272900e-01 -8.97007226e-04 -1.34204035e+01] [-1.49592360e-02 3.26951160e-04 9.99888051e-01 -3.14455067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.720371743 meters 0.022091752179137975 Centerline is valid? [True, True] Translation: X:225.95, Y:-13.43, Z:-3.15 [[ 9.99087101e-01 4.03407119e-02 1.40567550e-02 2.25952580e+02] [-4.03327775e-02 9.99185943e-01 -8.47605094e-04 -1.34343252e+01] [-1.40795050e-02 2.79883346e-04 9.99900840e-01 -3.14519683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.780371743 meters 0.02118519011469374 Centerline is valid? [True, True] Translation: X:226.01, Y:-13.44, Z:-3.14 [[ 9.98989139e-01 4.26003735e-02 1.43495153e-02 2.26014023e+02] [-4.25923080e-02 9.99092159e-01 -8.67347896e-04 -1.34410767e+01] [-1.43734375e-02 2.55292154e-04 9.99896664e-01 -3.14455713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.840371743 meters 0.020573186477863083 Centerline is valid? [True, True] Translation: X:226.08, Y:-13.45, Z:-3.14 [[ 9.98787883e-01 4.66624604e-02 1.56646176e-02 2.26075194e+02] [-4.66533359e-02 9.98910691e-01 -9.47611135e-04 -1.34491103e+01] [-1.56917719e-02 2.15655850e-04 9.99876853e-01 -3.14399201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.900371743 meters 0.019887472806767958 Centerline is valid? [True, True] Translation: X:226.14, Y:-13.46, Z:-3.14 [[ 9.98642511e-01 4.91474502e-02 1.72529072e-02 2.26136201e+02] [-4.91367128e-02 9.98791514e-01 -1.04596692e-03 -1.34573663e+01] [-1.72834639e-02 1.96795885e-04 9.99850610e-01 -3.14274603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96037174299997 meters 0.019464516385805434 Centerline is valid? [True, True] Translation: X:226.20, Y:-13.46, Z:-3.14 [[ 9.98606108e-01 4.96190417e-02 1.79942000e-02 2.26197808e+02] [-4.96074115e-02 9.98768197e-01 -1.09239002e-03 -1.34635142e+01] [-1.80262380e-02 1.98221669e-04 9.99837495e-01 -3.14335724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02037174299997 meters 0.01924487272761982 Centerline is valid? [True, True] Translation: X:226.26, Y:-13.48, Z:-3.14 [[ 9.98666381e-01 4.86987875e-02 1.71431758e-02 2.26260646e+02] [-4.86880238e-02 9.98813488e-01 -1.04491908e-03 -1.34758726e+01] [-1.71737215e-02 2.08858198e-04 9.99852499e-01 -3.14460222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08037174299997 meters 0.019111804409570197 Centerline is valid? [True, True] Translation: X:226.32, Y:-13.48, Z:-3.15 [[ 9.98702352e-01 4.81266750e-02 1.66563640e-02 2.26322961e+02] [-4.81163576e-02 9.98841217e-01 -1.01985708e-03 -1.34826983e+01] [-1.66861452e-02 2.17090094e-04 9.99860753e-01 -3.14555797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14037174299997 meters 0.01914944843131004 Centerline is valid? [True, True] Translation: X:226.38, Y:-13.50, Z:-3.15 [[ 9.98892569e-01 4.43477676e-02 1.57134277e-02 2.26384718e+02] [-4.43380518e-02 9.99016118e-01 -9.66318526e-04 -1.34966442e+01] [-1.57408216e-02 2.68545625e-04 9.99876070e-01 -3.14665646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20037174299998 meters 0.019351721142714235 Centerline is valid? [True, True] Translation: X:226.45, Y:-13.51, Z:-3.15 [[ 9.99102490e-01 3.99170755e-02 1.41718634e-02 2.26446035e+02] [-3.99086826e-02 9.99202948e-01 -8.74648295e-04 -1.35096514e+01] [-1.41954811e-02 3.08282892e-04 9.99899192e-01 -3.14978740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26037174299998 meters 0.01987397557040001 Centerline is valid? [True, True] Translation: X:226.51, Y:-13.52, Z:-3.15 [[ 9.99288001e-01 3.55286730e-02 1.26966190e-02 2.26507227e+02] [-3.55215731e-02 9.99368602e-01 -7.84339538e-04 -1.35224437e+01] [-1.27164689e-02 3.32777211e-04 9.99919087e-01 -3.15216713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32037174299998 meters 0.02108783542170416 Centerline is valid? [True, True] Translation: X:226.57, Y:-13.54, Z:-3.15 [[ 9.99472647e-01 3.03488160e-02 1.15488978e-02 2.26567333e+02] [-3.03425779e-02 9.99539302e-01 -7.15019532e-04 -1.35358950e+01] [-1.15652772e-02 3.64219134e-04 9.99933054e-01 -3.15294564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38037174299998 meters 0.023453988168655227 Centerline is valid? [True, True] Translation: X:226.63, Y:-13.55, Z:-3.15 [[ 9.99672305e-01 2.25998545e-02 1.20220314e-02 2.26627710e+02] [-2.25925321e-02 9.99744479e-01 -7.44561021e-04 -1.35489820e+01] [-1.20357865e-02 4.72708902e-04 9.99927456e-01 -3.15311630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.440371743 meters 0.026059652134599976 Centerline is valid? [True, True] Translation: X:226.69, Y:-13.56, Z:-3.15 [[ 9.99786925e-01 1.59627616e-02 1.30879820e-02 2.26687535e+02] [-1.59535141e-02 9.99872406e-01 -8.10671006e-04 -1.35599681e+01] [-1.30992526e-02 6.01698966e-04 9.99914020e-01 -3.15283488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.500371743 meters 0.029927513570393163 Centerline is valid? [True, True] Translation: X:226.75, Y:-13.57, Z:-3.15 [[ 9.99896310e-01 6.49574667e-03 1.28520510e-02 2.26747283e+02] [-6.48604896e-03 9.99978648e-01 -7.96103412e-04 -1.35718531e+01] [-1.28569479e-02 7.12661831e-04 9.99917092e-01 -3.15430091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.560371743 meters 0.033071104782203986 Centerline is valid? [True, True] Translation: X:226.81, Y:-13.58, Z:-3.16 [[ 9.99926250e-01 1.31046513e-06 1.21447674e-02 2.26808110e+02] [ 7.82566028e-06 9.99999717e-01 -7.52220904e-04 -1.35803458e+01] [-1.21447649e-02 7.52260468e-04 9.99925967e-01 -3.15534904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.620371743 meters 0.03178983269934477 Centerline is valid? [True, True] Translation: X:226.87, Y:-13.58, Z:-3.15 [[ 9.99904629e-01 5.95862271e-06 1.38105948e-02 2.26871779e+02] [ 5.86144056e-06 9.99999634e-01 -8.55828602e-04 -1.35790146e+01] [-1.38105949e-02 8.55827931e-04 9.99904263e-01 -3.15439191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68037174299997 meters 0.03191233615776844 Centerline is valid? [True, True] Translation: X:226.93, Y:-13.58, Z:-3.15 [[ 9.99871923e-01 5.25461659e-03 1.51171277e-02 2.26932053e+02] [-5.24102652e-03 9.99985825e-01 -9.38462060e-04 -1.35769922e+01] [-1.51218447e-02 8.59112597e-04 9.99885289e-01 -3.15394760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74037174299997 meters 0.030450733877161882 Centerline is valid? [True, True] Translation: X:226.99, Y:-13.57, Z:-3.15 [[ 9.99821666e-01 8.94497097e-03 1.66319905e-02 2.26993091e+02] [-8.92902836e-03 9.99959602e-01 -1.03256447e-03 -1.35742479e+01] [-1.66405549e-02 8.83872816e-04 9.99861146e-01 -3.15421472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80037174299997 meters 0.030172726867109964 Centerline is valid? [True, True] Translation: X:227.05, Y:-13.57, Z:-3.16 [[ 9.99793682e-01 1.24670210e-02 1.60364194e-02 2.27054145e+02] [-1.24526462e-02 9.99921967e-01 -9.95928216e-04 -1.35702133e+01] [-1.60475843e-02 7.96026881e-04 9.99870912e-01 -3.15737125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86037174299997 meters 0.027706032904001313 Centerline is valid? [True, True] Translation: X:227.12, Y:-13.56, Z:-3.16 [[ 9.99803877e-01 1.18854825e-02 1.58411910e-02 2.27116747e+02] [-1.18713718e-02 9.99929048e-01 -9.84500798e-04 -1.35631369e+01] [-1.58517683e-02 7.96251046e-04 9.99874036e-01 -3.16007899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92037174299998 meters 0.028670827371039626 Centerline is valid? [True, True] Translation: X:227.18, Y:-13.56, Z:-3.16 [[ 9.99808096e-01 9.88952667e-03 1.69105791e-02 2.27178555e+02] [-9.87308631e-03 9.99950703e-01 -1.05540511e-03 -1.35633253e+01] [-1.69201829e-02 8.88242968e-04 9.99856449e-01 -3.15987079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98037174299998 meters 0.030336217538385443 Centerline is valid? [True, True] Translation: X:227.24, Y:-13.56, Z:-3.16 [[ 9.99829266e-01 6.42453980e-03 1.73252582e-02 2.27239797e+02] [-6.40670554e-03 9.99978889e-01 -1.08468624e-03 -1.35624534e+01] [-1.73318610e-02 9.73503221e-04 9.99849318e-01 -3.16092996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04037174299998 meters 0.030583622460818166 Centerline is valid? [True, True] Translation: X:227.30, Y:-13.56, Z:-3.16 [[ 9.99833324e-01 4.26867148e-03 1.77511089e-02 2.27301254e+02] [-4.24960398e-03 9.99990352e-01 -1.11174006e-03 -1.35629847e+01] [-1.77556833e-02 1.03611957e-03 9.99841819e-01 -3.16182919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10037174299998 meters 0.0340027156688352 Centerline is valid? [True, True] Translation: X:227.36, Y:-13.57, Z:-3.16 [[ 9.99851122e-01 1.54641899e-03 1.71855017e-02 2.27360918e+02] [-1.52813832e-03 9.99998253e-01 -1.07680724e-03 -1.35658430e+01] [-1.71871369e-02 1.05038510e-03 9.99851739e-01 -3.16477103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16037174299998 meters 0.03675597796916595 Centerline is valid? [True, True] Translation: X:227.42, Y:-13.57, Z:-3.17 [[ 9.99885785e-01 6.33295002e-04 1.51002027e-02 2.27421898e+02] [-6.19074601e-04 9.99999361e-01 -9.46391565e-04 -1.35660867e+01] [-1.51007924e-02 9.36935321e-04 9.99885538e-01 -3.16803289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.220371743 meters 0.03397554142048759 Centerline is valid? [True, True] Translation: X:227.49, Y:-13.56, Z:-3.17 [[ 9.99903855e-01 7.56633255e-04 1.38458720e-02 2.27485114e+02] [-7.44649280e-04 9.99999344e-01 -8.70661896e-04 -1.35577456e+01] [-1.38465216e-02 8.60267868e-04 9.99903762e-01 -3.17148926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.280371743 meters 0.03439154260847114 Centerline is valid? [True, True] Translation: X:227.55, Y:-13.56, Z:-3.17 [[ 9.99904872e-01 2.37501103e-03 1.35870201e-02 2.27547122e+02] [-2.36359984e-03 9.99996840e-01 -8.55856145e-04 -1.35577283e+01] [-1.35890098e-02 8.23660450e-04 9.99907326e-01 -3.17284072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.340371743 meters 0.03267405236307997 Centerline is valid? [True, True] Translation: X:227.61, Y:-13.55, Z:-3.17 [[ 9.99869656e-01 7.68266196e-03 1.42002722e-02 2.27608525e+02] [-7.67071964e-03 9.99970179e-01 -8.95267541e-04 -1.35508952e+01] [-1.42067268e-02 7.86224541e-04 9.99898770e-01 -3.17385326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.400371743 meters 0.030115658823546262 Centerline is valid? [True, True] Translation: X:227.67, Y:-13.54, Z:-3.18 [[ 9.99777258e-01 1.51602432e-02 1.46833397e-02 2.27669965e+02] [-1.51482786e-02 9.99884830e-01 -9.25724023e-04 -1.35402661e+01] [-1.46956828e-02 7.03090505e-04 9.99891765e-01 -3.17530184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46037174299997 meters 0.029943673354123977 Centerline is valid? [True, True] Translation: X:227.73, Y:-13.54, Z:-3.18 [[ 9.99734307e-01 1.67566333e-02 1.58281468e-02 2.27732207e+02] [-1.67429228e-02 9.99859329e-01 -9.98331540e-04 -1.35367050e+01] [-1.58426489e-02 7.33056850e-04 9.99874229e-01 -3.17620025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52037174299997 meters 0.031770382030781766 Centerline is valid? [True, True] Translation: X:227.79, Y:-13.54, Z:-3.18 [[ 9.99775477e-01 1.24548557e-02 1.71426804e-02 2.27793465e+02] [-1.24380762e-02 9.99922055e-01 -1.08508843e-03 -1.35371579e+01] [-1.71548588e-02 8.71622842e-04 9.99852465e-01 -3.17671927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58037174299997 meters 0.03478242287020511 Centerline is valid? [True, True] Translation: X:227.85, Y:-13.54, Z:-3.18 [[ 9.99828209e-01 6.39218238e-03 1.73980385e-02 2.27853472e+02] [-6.37397925e-03 9.99979079e-01 -1.10152554e-03 -1.35389818e+01] [-1.74047157e-02 9.90441574e-04 9.99848036e-01 -3.17751804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64037174299997 meters 0.036658124191873906 Centerline is valid? [True, True] Translation: X:227.91, Y:-13.54, Z:-3.18 [[ 9.99830958e-01 3.21797574e-03 1.81024710e-02 2.27914316e+02] [-3.19774717e-03 9.99994230e-01 -1.14628292e-03 -1.35406950e+01] [-1.81060553e-02 1.08820202e-03 9.99835480e-01 -3.17910335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70037174299998 meters 0.036806874603748235 Centerline is valid? [True, True] Translation: X:227.98, Y:-13.54, Z:-3.18 [[ 9.99828044e-01 3.07700392e-03 1.82870290e-02 2.27977076e+02] [-3.05631323e-03 9.99994658e-01 -1.15928103e-03 -1.35409012e+01] [-1.82904984e-02 1.10319079e-03 9.99832106e-01 -3.18088482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76037174299998 meters 0.03861177156447067 Centerline is valid? [True, True] Translation: X:228.04, Y:-13.54, Z:-3.18 [[ 9.99833101e-01 4.93654044e-03 1.75897977e-02 2.28037255e+02] [-4.91762435e-03 9.99987283e-01 -1.11849292e-03 -1.35416638e+01] [-1.75950955e-02 1.03180623e-03 9.99844662e-01 -3.18292587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82037174299998 meters 0.034034355097363814 Centerline is valid? [True, True] Translation: X:228.10, Y:-13.53, Z:-3.18 [[ 9.99801476e-01 9.08290481e-03 1.77343966e-02 2.28098852e+02] [-9.06432090e-03 9.99958282e-01 -1.12800432e-03 -1.35338013e+01] [-1.77439023e-02 9.67030125e-04 9.99842097e-01 -3.18452579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88037174299998 meters 0.033328365382147264 Centerline is valid? [True, True] Translation: X:228.16, Y:-13.53, Z:-3.19 [[ 9.99770154e-01 1.18431558e-02 1.78711717e-02 2.28160846e+02] [-1.18247155e-02 9.99929439e-01 -1.13716613e-03 -1.35330967e+01] [-1.78833783e-02 9.25583234e-04 9.99839651e-01 -3.18563197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.940371743 meters 0.037251589674574974 Centerline is valid? [True, True] Translation: X:228.22, Y:-13.54, Z:-3.19 [[ 9.99757642e-01 1.43817982e-02 1.66679651e-02 2.28220787e+02] [-1.43660970e-02 9.99896239e-01 -1.06135965e-03 -1.35399917e+01] [-1.66814999e-02 8.21648818e-04 9.99860516e-01 -3.18691498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.000371743 meters 0.032664333952707986 Centerline is valid? [True, True] Translation: X:228.28, Y:-13.53, Z:-3.19 [[ 9.99731466e-01 1.62833536e-02 1.64878072e-02 2.28282378e+02] [-1.62682424e-02 9.99867112e-01 -1.05022419e-03 -1.35342518e+01] [-1.65027173e-02 7.81714530e-04 9.99863515e-01 -3.18874779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.060371743 meters 0.0304715941669292 Centerline is valid? [True, True] Translation: X:228.34, Y:-13.53, Z:-3.19 [[ 9.99639885e-01 2.07192091e-02 1.70533013e-02 2.28343870e+02] [-2.07036778e-02 9.99785065e-01 -1.08681476e-03 -1.35332351e+01] [-1.70721539e-02 7.33357322e-04 9.99853991e-01 -3.18935177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.120371743 meters 0.02875557150671859 Centerline is valid? [True, True] Translation: X:228.40, Y:-13.53, Z:-3.19 [[ 9.99463864e-01 2.65512247e-02 1.91576982e-02 2.28404735e+02] [-2.65326846e-02 9.99647200e-01 -1.22133561e-03 -1.35314410e+01] [-1.91833673e-02 7.12375648e-04 9.99815728e-01 -3.18793824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18037174299997 meters 0.02790762528091967 Centerline is valid? [True, True] Translation: X:228.47, Y:-13.53, Z:-3.19 [[ 9.99313211e-01 3.06720326e-02 2.07926139e-02 2.28466359e+02] [-3.06510678e-02 9.99529266e-01 -1.32629955e-03 -1.35328745e+01] [-2.08235064e-02 6.88072848e-04 9.99782931e-01 -3.18815574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24037174299997 meters 0.027258219740662462 Centerline is valid? [True, True] Translation: X:228.53, Y:-13.54, Z:-3.19 [[ 9.99288703e-01 3.17504503e-02 2.03468948e-02 2.28528195e+02] [-3.17305504e-02 9.99495614e-01 -1.30020931e-03 -1.35364973e+01] [-2.03779143e-02 6.53666309e-04 9.99792135e-01 -3.19000827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30037174299997 meters 0.027242998337762215 Centerline is valid? [True, True] Translation: X:228.59, Y:-13.54, Z:-3.19 [[ 9.99370634e-01 2.95108221e-02 1.96836689e-02 2.28589923e+02] [-2.94916691e-02 9.99564229e-01 -1.26267595e-03 -1.35432159e+01] [-1.97123539e-02 6.81377019e-04 9.99805460e-01 -3.19167708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36037174299997 meters 0.030338843787194765 Centerline is valid? [True, True] Translation: X:228.65, Y:-13.56, Z:-3.19 [[ 9.99552700e-01 2.35074612e-02 1.84878353e-02 2.28648589e+02] [-2.34894736e-02 9.99723377e-01 -1.18953000e-03 -1.35580231e+01] [-1.85106840e-02 7.54728406e-04 9.99828378e-01 -3.19326593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42037174299998 meters 0.030999422891615797 Centerline is valid? [True, True] Translation: X:228.71, Y:-13.57, Z:-3.20 [[ 9.99665317e-01 1.99781376e-02 1.64355808e-02 2.28708826e+02] [-1.99634325e-02 9.99800151e-01 -1.05830851e-03 -1.35674747e+01] [-1.64534392e-02 7.29843704e-04 9.99864367e-01 -3.19527904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48037174299998 meters 0.029106132870009266 Centerline is valid? [True, True] Translation: X:228.77, Y:-13.57, Z:-3.20 [[ 9.99593699e-01 2.26341965e-02 1.73242790e-02 2.28769739e+02] [-2.26182494e-02 9.99743552e-01 -1.11591462e-03 -1.35711643e+01] [-1.73450940e-02 7.23616359e-04 9.99849301e-01 -3.19515452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54037174299998 meters 0.027205470305375512 Centerline is valid? [True, True] Translation: X:228.83, Y:-13.57, Z:-3.20 [[ 9.99359972e-01 3.13586651e-02 1.72128044e-02 2.28830828e+02] [-3.13442047e-02 9.99508034e-01 -1.10929826e-03 -1.35724892e+01] [-1.72391224e-02 5.69066611e-04 9.99851233e-01 -3.19571887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60037174299998 meters 0.025795506975825163 Centerline is valid? [True, True] Translation: X:228.89, Y:-13.57, Z:-3.20 [[ 9.99161210e-01 3.73262926e-02 1.68411219e-02 2.28891179e+02] [-3.73132927e-02 9.99303027e-01 -1.08558725e-03 -1.35743905e+01] [-1.68699051e-02 4.56278956e-04 9.99857589e-01 -3.19700269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66037174299998 meters 0.024205970943836908 Centerline is valid? [True, True] Translation: X:228.95, Y:-13.58, Z:-3.20 [[ 9.98805469e-01 4.54430214e-02 1.79601585e-02 2.28950618e+02] [-4.54295472e-02 9.98966874e-01 -1.15772091e-03 -1.35802854e+01] [-1.79942137e-02 3.40416108e-04 9.99838033e-01 -3.19666723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.720371743 meters 0.023380609546437933 Centerline is valid? [True, True] Translation: X:229.01, Y:-13.59, Z:-3.20 [[ 9.98692995e-01 4.77068834e-02 1.83399801e-02 2.29010541e+02] [-4.76932148e-02 9.98861332e-01 -1.18220440e-03 -1.35867958e+01] [-1.83754962e-02 3.05966647e-04 9.99831109e-01 -3.19727096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.780371743 meters 0.022464765559291704 Centerline is valid? [True, True] Translation: X:229.07, Y:-13.60, Z:-3.20 [[ 9.98667760e-01 4.85462045e-02 1.74920084e-02 2.29071429e+02] [-4.85338972e-02 9.98820899e-01 -1.12766781e-03 -1.35958653e+01] [-1.75261276e-02 2.77210148e-04 9.99846367e-01 -3.19855699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.840371743 meters 0.02247034269192789 Centerline is valid? [True, True] Translation: X:229.13, Y:-13.61, Z:-3.20 [[ 9.98820067e-01 4.60317125e-02 1.54775666e-02 2.29132311e+02] [-4.60217675e-02 9.98939938e-01 -9.98296120e-04 -1.36077375e+01] [-1.55071127e-02 2.84813226e-04 9.99879717e-01 -3.20035304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.900371743 meters 0.022518363721096675 Centerline is valid? [True, True] Translation: X:229.19, Y:-13.62, Z:-3.20 [[ 9.98938250e-01 4.39116987e-02 1.39332586e-02 2.29191973e+02] [-4.39034269e-02 9.99035375e-01 -8.99137328e-04 -1.36182063e+01] [-1.39593008e-02 2.86464870e-04 9.99902523e-01 -3.20140598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96037174299997 meters 0.023061422992093464 Centerline is valid? [True, True] Translation: X:229.25, Y:-13.63, Z:-3.20 [[ 9.99044336e-01 4.13206240e-02 1.42485658e-02 2.29252014e+02] [-4.13117101e-02 9.99145884e-01 -9.19488698e-04 -1.36320222e+01] [-1.42743897e-02 3.29977356e-04 9.99898061e-01 -3.20029617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02037174299997 meters 0.02160625952407681 Centerline is valid? [True, True] Translation: X:229.31, Y:-13.64, Z:-3.20 [[ 9.98790031e-01 4.68033575e-02 1.50970143e-02 2.29312359e+02] [-4.67939707e-02 9.98904087e-01 -9.74609126e-04 -1.36378114e+01] [-1.51260842e-02 2.66980636e-04 9.99885559e-01 -3.19799831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08037174299997 meters 0.0196851193998467 Centerline is valid? [True, True] Translation: X:229.37, Y:-13.64, Z:-3.20 [[ 9.98377780e-01 5.47962276e-02 1.54654831e-02 2.29373228e+02] [-5.47873120e-02 9.98497547e-01 -9.99894363e-04 -1.36399582e+01] [-1.54970374e-02 1.50960066e-04 9.99879902e-01 -3.19825468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14037174299997 meters 0.019226066299910045 Centerline is valid? [True, True] Translation: X:229.43, Y:-13.65, Z:-3.20 [[ 9.97999591e-01 6.10889820e-02 1.62773745e-02 2.29432783e+02] [-6.10799370e-02 9.98132322e-01 -1.05270868e-03 -1.36458075e+01] [-1.63112825e-02 5.63818222e-05 9.99866961e-01 -3.19718628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20037174299998 meters 0.01900119279251705 Centerline is valid? [True, True] Translation: X:229.49, Y:-13.65, Z:-3.20 [[ 9.97722101e-01 6.52239977e-02 1.72174355e-02 2.29492098e+02] [-6.52144879e-02 9.97870648e-01 -1.11381130e-03 -1.36503621e+01] [-1.72534207e-02 -1.15520834e-05 9.99851149e-01 -3.19665912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26037174299998 meters 0.01848784291183933 Centerline is valid? [True, True] Translation: X:229.55, Y:-13.66, Z:-3.20 [[ 9.97308030e-01 7.10482837e-02 1.81337889e-02 2.29550940e+02] [-7.10387094e-02 9.97472870e-01 -1.17240621e-03 -1.36574005e+01] [-1.81712599e-02 -1.18950834e-04 9.99834882e-01 -3.19562716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32037174299998 meters 0.01854083238625512 Centerline is valid? [True, True] Translation: X:229.61, Y:-13.67, Z:-3.20 [[ 9.97058484e-01 7.45855379e-02 1.76458985e-02 2.29610969e+02] [-7.45770361e-02 9.97214604e-01 -1.14026949e-03 -1.36682910e+01] [-1.76817953e-02 -1.79063447e-04 9.99843649e-01 -3.19727968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38037174299998 meters 0.01861994443778521 Centerline is valid? [True, True] Translation: X:229.67, Y:-13.68, Z:-3.20 [[ 9.96881569e-01 7.70850699e-02 1.68828176e-02 2.29670482e+02] [-7.70776458e-02 9.97024496e-01 -1.09095956e-03 -1.36816986e+01] [-1.69166794e-02 -2.13730354e-04 9.99856880e-01 -3.19908820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.440371743 meters 0.018340484279680987 Centerline is valid? [True, True] Translation: X:229.73, Y:-13.69, Z:-3.20 [[ 9.96735053e-01 7.91344374e-02 1.60304652e-02 2.29730640e+02] [-7.91280090e-02 9.96863925e-01 -1.03588096e-03 -1.36937502e+01] [-1.60621663e-02 -2.35959931e-04 9.99870967e-01 -3.20019356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.500371743 meters 0.018203044401851387 Centerline is valid? [True, True] Translation: X:229.79, Y:-13.71, Z:-3.20 [[ 9.96455244e-01 8.26403847e-02 1.57325564e-02 2.29789194e+02] [-8.26346302e-02 9.96579392e-01 -1.01659946e-03 -1.37141642e+01] [-1.57627537e-02 -2.87058116e-04 9.99875719e-01 -3.20061789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.560371743 meters 0.018203829412474073 Centerline is valid? [True, True] Translation: X:229.85, Y:-13.73, Z:-3.20 [[ 9.96471734e-01 8.24901865e-02 1.54742513e-02 2.29848718e+02] [-8.24846052e-02 9.96591838e-01 -9.99661454e-04 -1.37278848e+01] [-1.55039748e-02 -2.80253127e-04 9.99879767e-01 -3.20111758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.620371743 meters 0.01657107841490316 Centerline is valid? [True, True] Translation: X:229.91, Y:-13.75, Z:-3.20 [[ 9.96691664e-01 8.00873960e-02 1.38468416e-02 2.29909598e+02] [-8.00826957e-02 9.96787822e-01 -8.94486521e-04 -1.37496178e+01] [-1.38740002e-02 -2.17365146e-04 9.99903728e-01 -3.20155850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68037174299997 meters 0.015168490128295247 Centerline is valid? [True, True] Translation: X:229.97, Y:-13.77, Z:-3.20 [[ 9.97166690e-01 7.40230335e-02 1.33859099e-02 2.29970011e+02] [-7.40180513e-02 9.97256524e-01 -8.67917076e-04 -1.37729096e+01] [-1.34134318e-02 -1.25340965e-04 9.99910028e-01 -3.20195753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74037174299997 meters 0.014041025083038812 Centerline is valid? [True, True] Translation: X:230.03, Y:-13.79, Z:-3.20 [[ 9.97605617e-01 6.78932376e-02 1.31734701e-02 2.30031502e+02] [-6.78878358e-02 9.97692591e-01 -8.57310926e-04 -1.37914923e+01] [-1.32012792e-02 -3.90601823e-05 9.99912859e-01 -3.20196650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80037174299997 meters 0.014424107679119332 Centerline is valid? [True, True] Translation: X:230.09, Y:-13.82, Z:-3.20 [[ 9.98400279e-01 5.51147620e-02 1.26192554e-02 2.30091792e+02] [-5.51087470e-02 9.98480018e-01 -8.24152051e-04 -1.38183470e+01] [-1.26454973e-02 1.27402285e-04 9.99920034e-01 -3.20202170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86037174299997 meters 0.015471867716800432 Centerline is valid? [True, True] Translation: X:230.15, Y:-13.83, Z:-3.20 [[ 9.98819973e-01 4.68955497e-02 1.26281099e-02 2.30152067e+02] [-4.68888258e-02 9.98899771e-01 -8.28161022e-04 -1.38347085e+01] [-1.26530531e-02 2.35066527e-04 9.99919919e-01 -3.20217782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92037174299998 meters 0.01729023873781811 Centerline is valid? [True, True] Translation: X:230.21, Y:-13.85, Z:-3.20 [[ 9.99123689e-01 3.99904828e-02 1.23537774e-02 2.30211883e+02] [-3.99835151e-02 9.99200011e-01 -8.10585673e-04 -1.38490620e+01] [-1.23763102e-02 3.15927903e-04 9.99923361e-01 -3.20332749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98037174299998 meters 0.018358885464241668 Centerline is valid? [True, True] Translation: X:230.27, Y:-13.86, Z:-3.20 [[ 9.99361098e-01 3.36274105e-02 1.21075872e-02 2.30271888e+02] [-3.36202437e-02 9.99434364e-01 -7.95030117e-04 -1.38623271e+01] [-1.21274735e-02 3.87462139e-04 9.99926384e-01 -3.20393867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04037174299998 meters 0.01943087621980622 Centerline is valid? [True, True] Translation: X:230.33, Y:-13.87, Z:-3.21 [[ 9.99426486e-01 3.19808966e-02 1.11320287e-02 2.30333355e+02] [-3.19747417e-02 9.99488410e-01 -7.30484469e-04 -1.38727583e+01] [-1.11496952e-02 3.74121784e-04 9.99937770e-01 -3.20500273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10037174299998 meters 0.020602728521547924 Centerline is valid? [True, True] Translation: X:230.39, Y:-13.88, Z:-3.21 [[ 9.99485087e-01 3.01048516e-02 1.11021696e-02 2.30394249e+02] [-3.00985827e-02 9.99546667e-01 -7.31339830e-04 -1.38800294e+01] [-1.11191535e-02 3.96803683e-04 9.99938102e-01 -3.20598903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16037174299998 meters 0.02072722076802075 Centerline is valid? [True, True] Translation: X:230.46, Y:-13.88, Z:-3.21 [[ 9.99545729e-01 2.81552613e-02 1.07525613e-02 2.30455921e+02] [-2.81492430e-02 9.99603479e-01 -7.10666253e-04 -1.38841785e+01] [-1.07683067e-02 4.07666956e-04 9.99941937e-01 -3.20670751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.220371743 meters 0.020405590632716547 Centerline is valid? [True, True] Translation: X:230.52, Y:-13.89, Z:-3.21 [[ 9.99559114e-01 2.75522357e-02 1.10657908e-02 2.30517587e+02] [-2.75457956e-02 9.99620273e-01 -7.34004663e-04 -1.38855860e+01] [-1.10818123e-02 4.28865039e-04 9.99938503e-01 -3.20699344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.280371743 meters 0.021488914671826936 Centerline is valid? [True, True] Translation: X:230.58, Y:-13.89, Z:-3.21 [[ 9.99509107e-01 2.88776518e-02 1.21501350e-02 2.30578583e+02] [-2.88699451e-02 9.99582849e-01 -8.09242605e-04 -1.38886439e+01] [-1.21684356e-02 4.58071624e-04 9.99925857e-01 -3.20710562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.340371743 meters 0.018734377380229466 Centerline is valid? [True, True] Translation: X:230.64, Y:-13.88, Z:-3.21 [[ 9.99352032e-01 3.34552720e-02 1.32763057e-02 2.30639888e+02] [-3.34464452e-02 9.99440118e-01 -8.86393062e-04 -1.38830851e+01] [-1.32985271e-02 4.41773478e-04 9.99911473e-01 -3.20800064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40037174299997 meters 0.01748380974825956 Centerline is valid? [True, True] Translation: X:230.70, Y:-13.88, Z:-3.21 [[ 9.99145276e-01 3.93127137e-02 1.27760639e-02 2.30701398e+02] [-3.93050151e-02 9.99226895e-01 -8.53210123e-04 -1.38787023e+01] [-1.27997287e-02 3.50317479e-04 9.99918019e-01 -3.20963494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46037174299997 meters 0.017605980370159122 Centerline is valid? [True, True] Translation: X:230.76, Y:-13.88, Z:-3.21 [[ 9.99019099e-01 4.23687027e-02 1.28737433e-02 2.30763479e+02] [-4.23611393e-02 9.99101994e-01 -8.59747155e-04 -1.38786809e+01] [-1.28986090e-02 3.13557395e-04 9.99916760e-01 -3.21100772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52037174299997 meters 0.016653152604780848 Centerline is valid? [True, True] Translation: X:230.83, Y:-13.88, Z:-3.21 [[ 9.99037435e-01 4.21530399e-02 1.21377323e-02 2.30825437e+02] [-4.21462671e-02 9.99111120e-01 -8.13357481e-04 -1.38778777e+01] [-1.21612288e-02 3.01014466e-04 9.99926004e-01 -3.21231033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58037174299997 meters 0.017242320754649924 Centerline is valid? [True, True] Translation: X:230.89, Y:-13.88, Z:-3.21 [[ 9.99047698e-01 4.23487120e-02 1.05016185e-02 2.30887597e+02] [-4.23436269e-02 9.99102857e-01 -7.06192586e-04 -1.38802061e+01] [-1.05221034e-02 2.60843460e-04 9.99944607e-01 -3.21441034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64037174299997 meters 0.017224101808105928 Centerline is valid? [True, True] Translation: X:230.95, Y:-13.88, Z:-3.22 [[ 9.99007558e-01 4.35771248e-02 9.21595970e-03 2.30948596e+02] [-4.35732505e-02 9.99050042e-01 -6.20853039e-04 -1.38824558e+01] [-9.23425991e-03 2.18667558e-04 9.99957339e-01 -3.21580134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70037174299998 meters 0.015570501766987738 Centerline is valid? [True, True] Translation: X:231.01, Y:-13.88, Z:-3.22 [[ 9.98841054e-01 4.71501787e-02 9.66483799e-03 2.31011366e+02] [-4.71460629e-02 9.98887792e-01 -6.53367980e-04 -1.38810013e+01] [-9.68489510e-03 1.96951702e-04 9.99953081e-01 -3.21514858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76037174299998 meters 0.0145487233050829 Centerline is valid? [True, True] Translation: X:231.07, Y:-13.88, Z:-3.22 [[ 9.98402663e-01 5.54641088e-02 1.07636043e-02 2.31072291e+02] [-5.54594450e-02 9.98460673e-01 -7.31527791e-04 -1.38804583e+01] [-1.07876092e-02 1.33415773e-04 9.99941803e-01 -3.21546182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82037174299998 meters 0.013919190514352578 Centerline is valid? [True, True] Translation: X:231.13, Y:-13.88, Z:-3.22 [[ 9.97870117e-01 6.41180571e-02 1.20043818e-02 2.31133285e+02] [-6.41128804e-02 9.97942319e-01 -8.15964503e-04 -1.38804969e+01] [-1.20319986e-02 4.45911007e-05 9.99927612e-01 -3.21611042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88037174299998 meters 0.013600287243482027 Centerline is valid? [True, True] Translation: X:231.20, Y:-13.88, Z:-3.22 [[ 9.97629646e-01 6.76774910e-02 1.24437349e-02 2.31195817e+02] [-6.76721696e-02 9.97707250e-01 -8.48687203e-04 -1.38836851e+01] [-1.24726416e-02 4.58097350e-06 9.99922214e-01 -3.21720640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.940371743 meters 0.01348859274517216 Centerline is valid? [True, True] Translation: X:231.26, Y:-13.89, Z:-3.22 [[ 9.97502924e-01 6.95087840e-02 1.25078537e-02 2.31258935e+02] [-6.95035072e-02 9.97581339e-01 -8.56598478e-04 -1.38911725e+01] [-1.25371426e-02 -1.48802179e-05 9.99921407e-01 -3.21864354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.000371743 meters 0.013451249434264095 Centerline is valid? [True, True] Translation: X:231.32, Y:-13.90, Z:-3.22 [[ 9.97586576e-01 6.82781165e-02 1.26143861e-02 2.31321564e+02] [-6.82726052e-02 9.97666326e-01 -8.67520519e-04 -1.39022017e+01] [-1.26441809e-02 4.20981897e-06 9.99920059e-01 -3.22005418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.060371743 meters 0.013749538672564943 Centerline is valid? [True, True] Translation: X:231.38, Y:-13.92, Z:-3.22 [[ 9.97970615e-01 6.23022418e-02 1.31560406e-02 2.31382769e+02] [-6.22956760e-02 9.98057325e-01 -9.08675006e-04 -1.39167948e+01] [-1.31870952e-02 8.72665123e-05 9.99913043e-01 -3.22071220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.120371743 meters 0.015532724343830915 Centerline is valid? [True, True] Translation: X:231.44, Y:-13.94, Z:-3.22 [[ 9.98583938e-01 5.19937050e-02 1.12593353e-02 2.31442389e+02] [-5.19882089e-02 9.98647394e-01 -7.80473082e-04 -1.39366067e+01] [-1.12846856e-02 1.94015207e-04 9.99936307e-01 -3.22229955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18037174299997 meters 0.01676073849182053 Centerline is valid? [True, True] Translation: X:231.50, Y:-13.95, Z:-3.22 [[ 9.98930024e-01 4.48031554e-02 1.14666480e-02 2.31502420e+02] [-4.47969746e-02 9.98995795e-01 -7.95432569e-04 -1.39487476e+01] [-1.14907710e-02 2.80910337e-04 9.99933939e-01 -3.22228432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24037174299997 meters 0.021185092061532712 Centerline is valid? [True, True] Translation: X:231.56, Y:-13.97, Z:-3.22 [[ 9.99401100e-01 3.24683861e-02 1.19684941e-02 2.31561235e+02] [-3.24607604e-02 9.99472665e-01 -8.30912622e-04 -1.39672602e+01] [-1.19891611e-02 4.41908571e-04 9.99928030e-01 -3.22204475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30037174299997 meters 0.02261298026189446 Centerline is valid? [True, True] Translation: X:231.62, Y:-13.98, Z:-3.22 [[ 9.99526919e-01 2.81854781e-02 1.23092166e-02 2.31621612e+02] [-2.81770861e-02 9.99602582e-01 -8.54691192e-04 -1.39761748e+01] [-1.23284146e-02 5.07448996e-04 9.99923873e-01 -3.22255063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36037174299997 meters 0.0238452804800969 Centerline is valid? [True, True] Translation: X:231.68, Y:-13.98, Z:-3.22 [[ 9.99648764e-01 2.30287670e-02 1.31157758e-02 2.31681924e+02] [-2.30187928e-02 9.99734617e-01 -9.10943175e-04 -1.39826249e+01] [-1.31332730e-02 6.08713894e-04 9.99913570e-01 -3.22269743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42037174299998 meters 0.026287612863973058 Centerline is valid? [True, True] Translation: X:231.74, Y:-13.99, Z:-3.22 [[ 9.99694830e-01 2.11723721e-02 1.27270245e-02 2.31742644e+02] [-2.11628291e-02 9.99775651e-01 -8.84043020e-04 -1.39864837e+01] [-1.27428865e-02 6.14433392e-04 9.99918617e-01 -3.22456516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48037174299998 meters 0.02289809613194157 Centerline is valid? [True, True] Translation: X:231.81, Y:-13.98, Z:-3.23 [[ 9.99689477e-01 2.13622488e-02 1.28298109e-02 2.31806283e+02] [-2.13525648e-02 9.99771611e-01 -8.91328931e-04 -1.39822961e+01] [-1.28459215e-02 6.17102784e-04 9.99917297e-01 -3.22589529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54037174299998 meters 0.022541554094257916 Centerline is valid? [True, True] Translation: X:231.87, Y:-13.98, Z:-3.23 [[ 9.99673739e-01 2.25245371e-02 1.20441589e-02 2.31869180e+02] [-2.25160478e-02 9.99746129e-01 -8.40000716e-04 -1.39789717e+01] [-1.20600218e-02 5.68539800e-04 9.99927114e-01 -3.22846502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60037174299998 meters 0.02331341109691767 Centerline is valid? [True, True] Translation: X:231.93, Y:-13.98, Z:-3.23 [[ 9.99660284e-01 2.45224736e-02 8.82976853e-03 2.31930380e+02] [-2.45179767e-02 9.99699199e-01 -6.17197865e-04 -1.39762198e+01] [-8.84224775e-03 4.00500134e-04 9.99960826e-01 -3.23311865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66037174299998 meters 0.02525180296693659 Centerline is valid? [True, True] Translation: X:231.99, Y:-13.97, Z:-3.23 [[ 9.99699664e-01 2.29292428e-02 8.65055028e-03 2.31992648e+02] [-2.29248426e-02 9.99737007e-01 -6.07484340e-04 -1.39746204e+01] [-8.66220440e-03 4.08989387e-04 9.99962399e-01 -3.23461900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.720371743 meters 0.023868033696015353 Centerline is valid? [True, True] Translation: X:232.06, Y:-13.97, Z:-3.24 [[ 9.99718506e-01 2.24728341e-02 7.60789401e-03 2.32055455e+02] [-2.24694232e-02 9.99747388e-01 -5.33527002e-04 -1.39666881e+01] [-7.61796203e-03 3.62431827e-04 9.99970917e-01 -3.23544574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.780371743 meters 0.02423888398373819 Centerline is valid? [True, True] Translation: X:232.12, Y:-13.97, Z:-3.24 [[ 9.99685340e-01 2.39129672e-02 7.57568390e-03 2.32117905e+02] [-2.39096120e-02 9.99713982e-01 -5.33163111e-04 -1.39685104e+01] [-7.58626663e-03 3.51863683e-04 9.99971162e-01 -3.23641219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.840371743 meters 0.021479865282601044 Centerline is valid? [True, True] Translation: X:232.18, Y:-13.95, Z:-3.24 [[ 9.99356042e-01 3.45278721e-02 9.76354534e-03 2.32179562e+02] [-3.45227616e-02 9.99403673e-01 -6.91521197e-04 -1.39535856e+01] [-9.78159982e-03 3.54011338e-04 9.99952096e-01 -3.23522041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90037174299997 meters 0.019080152506187133 Centerline is valid? [True, True] Translation: X:232.24, Y:-13.95, Z:-3.24 [[ 9.99050236e-01 4.23467440e-02 1.02654864e-02 2.32241281e+02] [-4.23415073e-02 9.99102932e-01 -7.27026081e-04 -1.39461775e+01] [-1.02870648e-02 2.91679409e-04 9.99947044e-01 -3.23549320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96037174299997 meters 0.016475253771137278 Centerline is valid? [True, True] Translation: X:232.30, Y:-13.94, Z:-3.24 [[ 9.98578526e-01 5.21041937e-02 1.12285639e-02 2.32302643e+02] [-5.20985436e-02 9.98641632e-01 -7.95304868e-04 -1.39352298e+01] [-1.12547501e-02 2.09182536e-04 9.99936641e-01 -3.23549269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02037174299997 meters 0.01583775903902592 Centerline is valid? [True, True] Translation: X:232.37, Y:-13.93, Z:-3.24 [[ 9.98301491e-01 5.69999850e-02 1.20472000e-02 2.32365323e+02] [-5.69938431e-02 9.98374166e-01 -8.52803805e-04 -1.39305452e+01] [-1.20762230e-02 1.64739085e-04 9.99927066e-01 -3.23591457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08037174299997 meters 0.016222231674042194 Centerline is valid? [True, True] Translation: X:232.43, Y:-13.93, Z:-3.24 [[ 9.98373144e-01 5.58265417e-02 1.15957910e-02 2.32427422e+02] [-5.58207414e-02 9.98440467e-01 -8.23514677e-04 -1.39312583e+01] [-1.16236810e-02 1.74889286e-04 9.99932427e-01 -3.23706010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14037174299997 meters 0.01834707618926808 Centerline is valid? [True, True] Translation: X:232.49, Y:-13.94, Z:-3.24 [[ 9.98823308e-01 4.71000308e-02 1.15579341e-02 2.32488145e+02] [-4.70936449e-02 9.98890139e-01 -8.24200052e-04 -1.39381515e+01] [-1.15839263e-02 2.78924977e-04 9.99932865e-01 -3.23836969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20037174299998 meters 0.02027580545904028 Centerline is valid? [True, True] Translation: X:232.55, Y:-13.95, Z:-3.24 [[ 9.99168761e-01 3.92804690e-02 1.09010089e-02 2.32549143e+02] [-3.92743219e-02 9.99228164e-01 -7.77475873e-04 -1.39454487e+01] [-1.09231347e-02 3.48699873e-04 9.99940280e-01 -3.23997298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26037174299998 meters 0.025022473051998544 Centerline is valid? [True, True] Translation: X:232.61, Y:-13.96, Z:-3.24 [[ 9.99558630e-01 2.84676915e-02 8.49332962e-03 2.32608220e+02] [-2.84635665e-02 9.99594647e-01 -6.06183645e-04 -1.39568856e+01] [-8.50714347e-03 3.64165641e-04 9.99963747e-01 -3.24271959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32037174299998 meters 0.02856776053031805 Centerline is valid? [True, True] Translation: X:232.67, Y:-13.96, Z:-3.24 [[ 9.99761064e-01 2.04616000e-02 7.69013445e-03 2.32669248e+02] [-2.04579839e-02 9.99790563e-01 -5.48606774e-04 -1.39642358e+01] [-7.69974923e-03 3.91151045e-04 9.99970280e-01 -3.24460254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38037174299998 meters 0.03264811357142032 Centerline is valid? [True, True] Translation: X:232.73, Y:-13.97, Z:-3.25 [[ 9.99861451e-01 1.51812734e-02 6.82700963e-03 2.32728599e+02] [-1.51782976e-02 9.99884684e-01 -4.87487327e-04 -1.39703802e+01] [-6.83362304e-03 3.83797402e-04 9.99976577e-01 -3.24672155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.440371743 meters 0.0335288004283196 Centerline is valid? [True, True] Translation: X:232.79, Y:-13.97, Z:-3.25 [[ 9.99929970e-01 9.09042080e-03 7.57756469e-03 2.32789692e+02] [-9.08658366e-03 9.99958570e-01 -5.40655502e-04 -1.39707957e+01] [-7.58216553e-03 4.71763464e-04 9.99971144e-01 -3.24643351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.500371743 meters 0.03512485148536357 Centerline is valid? [True, True] Translation: X:232.85, Y:-13.97, Z:-3.25 [[ 9.99973523e-01 -5.74435698e-04 7.25425675e-03 2.32849961e+02] [ 5.78209247e-04 9.99999699e-01 -5.18097600e-04 -1.39699001e+01] [-7.25395695e-03 5.22278360e-04 9.99973553e-01 -3.24756632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.560371743 meters 0.04180175695290513 Centerline is valid? [True, True] Translation: X:232.91, Y:-13.97, Z:-3.25 [[ 9.99914256e-01 -1.01949599e-02 8.21846844e-03 2.32909635e+02] [ 1.02001249e-02 9.99947805e-01 -5.86787257e-04 -1.39724485e+01] [-8.21205721e-03 6.70566348e-04 9.99966056e-01 -3.24890617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.620371743 meters 0.044415091989116355 Centerline is valid? [True, True] Translation: X:232.97, Y:-13.97, Z:-3.25 [[ 9.99872134e-01 -1.33978235e-02 8.73003596e-03 2.32970662e+02] [ 1.34037716e-02 9.99909971e-01 -6.23189334e-04 -1.39710378e+01] [-8.72090063e-03 7.40125058e-04 9.99961698e-01 -3.24985430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68037174299997 meters 0.04380086861318284 Centerline is valid? [True, True] Translation: X:233.03, Y:-13.96, Z:-3.25 [[ 9.99863536e-01 -1.38302323e-02 9.03512965e-03 2.33033847e+02] [ 1.38366182e-02 9.99904062e-01 -6.44655341e-04 -1.39591112e+01] [-9.02534710e-03 7.69583009e-04 9.99958975e-01 -3.25161760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74037174299997 meters 0.0434710830867399 Centerline is valid? [True, True] Translation: X:233.10, Y:-13.95, Z:-3.25 [[ 9.99880996e-01 -1.19839176e-02 9.71495100e-03 2.33096900e+02] [ 1.19912224e-02 9.99927862e-01 -6.94017956e-04 -1.39461800e+01] [-9.70593313e-03 8.10429503e-04 9.99952568e-01 -3.25366112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80037174299997 meters 0.04080696775927728 Centerline is valid? [True, True] Translation: X:233.16, Y:-13.93, Z:-3.26 [[ 9.99925372e-01 -8.13936879e-03 9.11045114e-03 2.33158454e+02] [ 8.14564081e-03 9.99966611e-01 -6.51548121e-04 -1.39300792e+01] [-9.10484377e-03 7.25709961e-04 9.99958287e-01 -3.25637921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86037174299997 meters 0.04053228725734021 Centerline is valid? [True, True] Translation: X:233.22, Y:-13.91, Z:-3.26 [[ 9.99958875e-01 -2.42171180e-03 8.73980076e-03 2.33220326e+02] [ 2.42726603e-03 9.99996859e-01 -6.24958443e-04 -1.39148585e+01] [-8.73825984e-03 6.46146563e-04 9.99961612e-01 -3.25925109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92037174299998 meters 0.041364889531022235 Centerline is valid? [True, True] Translation: X:233.28, Y:-13.91, Z:-3.26 [[ 9.99953393e-01 7.64994965e-04 9.62431299e-03 2.33281305e+02] [-7.58403915e-04 9.99999475e-01 -6.88464307e-04 -1.39076584e+01] [-9.62483462e-03 6.81133103e-04 9.99953448e-01 -3.26142345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98037174299998 meters 0.03542212294550448 Centerline is valid? [True, True] Translation: X:233.34, Y:-13.88, Z:-3.26 [[ 9.99928516e-01 5.73108323e-03 1.04937079e-02 2.33343596e+02] [-5.72351999e-03 9.99983339e-01 -7.50630812e-04 -1.38810622e+01] [-1.04978350e-02 6.90516207e-04 9.99944658e-01 -3.26374045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04037174299998 meters 0.03914802089780703 Centerline is valid? [True, True] Translation: X:233.40, Y:-13.88, Z:-3.27 [[ 9.99918222e-01 7.30951282e-03 1.04938435e-02 2.33404074e+02] [-7.30203579e-03 9.99973058e-01 -7.50654027e-04 -1.38808385e+01] [-1.04990477e-02 6.73966219e-04 9.99944656e-01 -3.26562370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10037174299998 meters 0.03771085489494178 Centerline is valid? [True, True] Translation: X:233.47, Y:-13.87, Z:-3.27 [[ 9.99896231e-01 8.83745355e-03 1.13766277e-02 2.33467272e+02] [-8.82876832e-03 9.99960695e-01 -8.13424235e-04 -1.38693186e+01] [-1.13833692e-02 7.12898216e-04 9.99934953e-01 -3.26599617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16037174299998 meters 0.03671915180643706 Centerline is valid? [True, True] Translation: X:233.53, Y:-13.86, Z:-3.27 [[ 9.99900475e-01 8.83181536e-03 1.10017898e-02 2.33529906e+02] [-8.82366394e-03 9.99960759e-01 -7.89238610e-04 -1.38600475e+01] [-1.10083285e-02 6.92083965e-04 9.99939167e-01 -3.26672430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.220371743 meters 0.0387462231862395 Centerline is valid? [True, True] Translation: X:233.59, Y:-13.86, Z:-3.27 [[ 9.99919656e-01 6.20862503e-03 1.10514869e-02 2.33591307e+02] [-6.20020213e-03 9.99980462e-01 -7.96249896e-04 -1.38566444e+01] [-1.10562146e-02 7.27664470e-04 9.99938613e-01 -3.26798366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.280371743 meters 0.040073671914087436 Centerline is valid? [True, True] Translation: X:233.65, Y:-13.85, Z:-3.27 [[ 9.99922460e-01 4.32592821e-03 1.16773345e-02 2.33653057e+02] [-4.31638998e-03 9.99990330e-01 -8.41894808e-04 -1.38533509e+01] [-1.16808635e-02 7.91425598e-04 9.99931463e-01 -3.26873747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.340371743 meters 0.03794906997490691 Centerline is valid? [True, True] Translation: X:233.72, Y:-13.85, Z:-3.27 [[ 9.99919550e-01 4.44257830e-03 1.18809249e-02 2.33716614e+02] [-4.43271413e-03 9.99989809e-01 -8.56457372e-04 -1.38481540e+01] [-1.18846087e-02 8.03723727e-04 9.99929053e-01 -3.26974954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40037174299997 meters 0.03960244193891613 Centerline is valid? [True, True] Translation: X:233.78, Y:-13.85, Z:-3.27 [[ 9.99933194e-01 3.48263350e-03 1.10216985e-02 2.33777812e+02] [-3.47405239e-03 9.99993647e-01 -7.97615401e-04 -1.38467685e+01] [-1.10244063e-02 7.59272158e-04 9.99938941e-01 -3.27190221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46037174299997 meters 0.04188905398825127 Centerline is valid? [True, True] Translation: X:233.84, Y:-13.85, Z:-3.27 [[ 9.99952012e-01 -2.80542232e-03 9.38632848e-03 2.33838513e+02] [ 2.81194725e-03 9.99995814e-01 -6.82026676e-04 -1.38465881e+01] [-9.38437582e-03 7.08387808e-04 9.99955715e-01 -3.27408904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52037174299997 meters 0.04793240661693105 Centerline is valid? [True, True] Translation: X:233.90, Y:-13.85, Z:-3.27 [[ 9.99896541e-01 -1.04084157e-02 9.92832624e-03 2.33898258e+02] [ 1.04160887e-02 9.99945491e-01 -7.21439633e-04 -1.38508472e+01] [-9.92027601e-03 8.24779321e-04 9.99950453e-01 -3.27290455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58037174299997 meters 0.05088998976453451 Centerline is valid? [True, True] Translation: X:233.96, Y:-13.85, Z:-3.27 [[ 9.99850411e-01 -1.23542702e-02 1.21048653e-02 2.33958143e+02] [ 1.23658195e-02 9.99923153e-01 -8.79722550e-04 -1.38491374e+01] [-1.20930668e-02 1.02927753e-03 9.99926346e-01 -3.27200607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64037174299997 meters 0.044827106768332015 Centerline is valid? [True, True] Translation: X:234.02, Y:-13.84, Z:-3.27 [[ 9.99873073e-01 -1.06679450e-02 1.18335157e-02 2.34020959e+02] [ 1.06788636e-02 9.99942610e-01 -8.59884328e-04 -1.38374661e+01] [-1.18236634e-02 9.86143686e-04 9.99929612e-01 -3.27378677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70037174299998 meters 0.04106780512601133 Centerline is valid? [True, True] Translation: X:234.08, Y:-13.83, Z:-3.28 [[ 9.99909157e-01 -7.96593973e-03 1.08729291e-02 2.34082249e+02] [ 7.97500649e-03 9.99967886e-01 -7.90780987e-04 -1.38288181e+01] [-1.08662806e-02 8.77420830e-04 9.99940575e-01 -3.27515845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76037174299998 meters 0.04409917176256044 Centerline is valid? [True, True] Translation: X:234.14, Y:-13.83, Z:-3.28 [[ 9.99911698e-01 -6.97667538e-03 1.13102404e-02 2.34143595e+02] [ 6.98642165e-03 9.99975256e-01 -8.22438874e-04 -1.38261141e+01] [-1.13042227e-02 9.01384359e-04 9.99935699e-01 -3.27562484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82037174299998 meters 0.04486486470852923 Centerline is valid? [True, True] Translation: X:234.21, Y:-13.83, Z:-3.28 [[ 9.99908349e-01 -8.22562261e-03 1.07532476e-02 2.34205403e+02] [ 8.23451021e-03 9.99965790e-01 -7.82489972e-04 -1.38251610e+01] [-1.07464433e-02 8.70965984e-04 9.99941876e-01 -3.27653246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88037174299998 meters 0.05042248725507452 Centerline is valid? [True, True] Translation: X:234.27, Y:-13.83, Z:-3.28 [[ 9.99875367e-01 -1.30716144e-02 8.85347664e-03 2.34265657e+02] [ 1.30778315e-02 9.99914274e-01 -6.44690057e-04 -1.38266651e+01] [-8.84429053e-03 7.60393983e-04 9.99960599e-01 -3.27732447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.940371743 meters 0.0546692343814738 Centerline is valid? [True, True] Translation: X:234.33, Y:-13.83, Z:-3.28 [[ 9.99815345e-01 -1.84073222e-02 5.51788307e-03 2.34326067e+02] [ 1.84098190e-02 9.99830444e-01 -4.02040758e-04 -1.38277965e+01] [-5.50954699e-03 5.03549748e-04 9.99984696e-01 -3.28170262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.000371743 meters 0.05638302162909783 Centerline is valid? [True, True] Translation: X:234.39, Y:-13.83, Z:-3.28 [[ 9.99738276e-01 -2.26432518e-02 3.26549472e-03 2.34386599e+02] [ 2.26441490e-02 9.99743560e-01 -2.38014126e-04 -1.38254161e+01] [-3.25926790e-03 3.11896180e-04 9.99994640e-01 -3.28418687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.060371743 meters 0.050723148346898964 Centerline is valid? [True, True] Translation: X:234.45, Y:-13.81, Z:-3.28 [[ 9.99714744e-01 -2.33447852e-02 5.04501858e-03 2.34449435e+02] [ 2.33469327e-02 9.99727356e-01 -3.67176771e-04 -1.38123593e+01] [-5.03507142e-03 4.84857741e-04 9.99987206e-01 -3.28088553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.120371743 meters 0.044629837648750365 Centerline is valid? [True, True] Translation: X:234.51, Y:-13.80, Z:-3.28 [[ 9.99730460e-01 -2.24086508e-02 6.07114246e-03 2.34511963e+02] [ 2.24117473e-02 9.99748727e-01 -4.42471131e-04 -1.38028491e+01] [-6.05970177e-03 5.78416778e-04 9.99981473e-01 -3.27939390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18037174299997 meters 0.04790937440836708 Centerline is valid? [True, True] Translation: X:234.57, Y:-13.80, Z:-3.28 [[ 9.99755542e-01 -2.13995098e-02 5.56037477e-03 2.34572251e+02] [ 2.14020935e-02 9.99770867e-01 -4.05576283e-04 -1.38010404e+01] [-5.55042157e-03 5.24480797e-04 9.99984459e-01 -3.27963854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24037174299997 meters 0.046888412468293277 Centerline is valid? [True, True] Translation: X:234.63, Y:-13.80, Z:-3.28 [[ 9.99767831e-01 -2.11054075e-02 4.34123510e-03 2.34634281e+02] [ 2.11069775e-02 9.99777173e-01 -3.16141628e-04 -1.37989942e+01] [-4.33359546e-03 4.07698581e-04 9.99990527e-01 -3.28112973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30037174299997 meters 0.04646249865597137 Centerline is valid? [True, True] Translation: X:234.70, Y:-13.80, Z:-3.28 [[ 9.99791833e-01 -2.02312133e-02 2.64350892e-03 2.34696541e+02] [ 2.02317919e-02 9.99795298e-01 -1.92299244e-04 -1.37961000e+01] [-2.63907734e-03 2.45742136e-04 9.99996487e-01 -3.28312387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36037174299997 meters 0.04950085115195613 Centerline is valid? [True, True] Translation: X:234.76, Y:-13.80, Z:-3.29 [[ 9.99832292e-01 -1.82094908e-02 1.94988916e-03 2.34756798e+02] [ 1.82098033e-02 9.99834178e-01 -1.42604310e-04 -1.37966535e+01] [-1.94696908e-03 1.78087492e-04 9.99998089e-01 -3.28505554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42037174299998 meters 0.04945178920090834 Centerline is valid? [True, True] Translation: X:234.82, Y:-13.79, Z:-3.29 [[ 9.99865341e-01 -1.63232922e-02 1.68790949e-03 2.34818001e+02] [ 1.63235233e-02 9.99866755e-01 -1.23225417e-04 -1.37940453e+01] [-1.68567314e-03 1.50761454e-04 9.99998568e-01 -3.28589568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48037174299998 meters 0.048557373212845006 Centerline is valid? [True, True] Translation: X:234.88, Y:-13.79, Z:-3.29 [[ 9.99898648e-01 -1.40732284e-02 2.15363086e-03 2.34878896e+02] [ 1.40736001e-02 9.99900950e-01 -1.57543183e-04 -1.37911610e+01] [-2.15120040e-03 1.87836555e-04 9.99997669e-01 -3.28545801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54037174299998 meters 0.0486490379174276 Centerline is valid? [True, True] Translation: X:234.94, Y:-13.79, Z:-3.29 [[ 9.99915223e-01 -1.26796312e-02 2.96219612e-03 2.34940319e+02] [ 1.26803272e-02 9.99919578e-01 -2.16301933e-04 -1.37918880e+01] [-2.95921526e-03 2.53845212e-04 9.99995589e-01 -3.28549845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60037174299998 meters 0.050156763016437116 Centerline is valid? [True, True] Translation: X:235.00, Y:-13.79, Z:-3.29 [[ 9.99944004e-01 -1.00790542e-02 3.22524020e-03 2.35000618e+02] [ 1.00798676e-02 9.99949169e-01 -2.36047749e-04 -1.37942869e+01] [-3.22269712e-03 2.68544525e-04 9.99994771e-01 -3.28723613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66037174299998 meters 0.04307960921223663 Centerline is valid? [True, True] Translation: X:235.06, Y:-13.78, Z:-3.29 [[ 9.99977457e-01 -6.53755081e-03 1.53144381e-03 2.35061856e+02] [ 6.53773000e-03 9.99978623e-01 -1.12028618e-04 -1.37835659e+01] [-1.53067868e-03 1.22038259e-04 9.99998821e-01 -3.28817473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.720371743 meters 0.04373522153479084 Centerline is valid? [True, True] Translation: X:235.12, Y:-13.78, Z:-3.29 [[ 9.99995167e-01 -2.98000210e-03 8.86148111e-04 2.35121451e+02] [ 2.98006091e-03 9.99995557e-01 -6.50554856e-05 -1.37845453e+01] [-8.85950309e-04 6.76959466e-05 9.99999605e-01 -3.29101413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.780371743 meters 0.04243562874633236 Centerline is valid? [True, True] Translation: X:235.18, Y:-13.78, Z:-3.29 [[ 9.99997872e-01 -1.51557884e-03 1.39935448e-03 2.35183467e+02] [ 1.51572267e-03 9.99998846e-01 -1.01730247e-04 -1.37829972e+01] [-1.39919868e-03 1.03851063e-04 9.99999016e-01 -3.29169751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.840371743 meters 0.04145240031400515 Centerline is valid? [True, True] Translation: X:235.25, Y:-13.78, Z:-3.29 [[ 9.99997756e-01 -5.51269897e-04 2.04566901e-03 2.35245305e+02] [ 5.51576622e-04 9.99999837e-01 -1.49377695e-04 -1.37826068e+01] [-2.04558633e-03 1.50505703e-04 9.99997896e-01 -3.29150227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90037174299997 meters 0.04061419386599216 Centerline is valid? [True, True] Translation: X:235.31, Y:-13.78, Z:-3.29 [[ 9.99993964e-01 1.70351091e-03 3.02817328e-03 2.35306481e+02] [-1.70284717e-03 9.99998526e-01 -2.21752377e-04 -1.37804115e+01] [-3.02854658e-03 2.16594522e-04 9.99995390e-01 -3.29144496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96037174299997 meters 0.038553301016273175 Centerline is valid? [True, True] Translation: X:235.37, Y:-13.78, Z:-3.29 [[ 9.99989270e-01 3.45471417e-03 3.08621243e-03 2.35367605e+02] [-3.45403321e-03 9.99994009e-01 -2.25948738e-04 -1.37776696e+01] [-3.08697453e-03 2.15286433e-04 9.99995212e-01 -3.29229219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02037174299997 meters 0.040643931155484696 Centerline is valid? [True, True] Translation: X:235.43, Y:-13.78, Z:-3.30 [[ 9.99993722e-01 3.18743535e-03 1.54782964e-03 2.35426879e+02] [-3.18726321e-03 9.99994914e-01 -1.13667296e-04 -1.37813760e+01] [-1.54818408e-03 1.08733242e-04 9.99998796e-01 -3.29505001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08037174299997 meters 0.0409626610669287 Centerline is valid? [True, True] Translation: X:235.49, Y:-13.78, Z:-3.30 [[ 9.99997886e-01 1.95371533e-03 6.40437402e-04 2.35486874e+02] [-1.95368552e-03 9.99998090e-01 -4.71640773e-05 -1.37834304e+01] [-6.40528324e-04 4.59127643e-05 9.99999794e-01 -3.29692652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14037174299997 meters 0.03813331865309164 Centerline is valid? [True, True] Translation: X:235.55, Y:-13.78, Z:-3.30 [[ 9.99997031e-01 2.11642788e-03 1.20804935e-03 2.35547272e+02] [-2.11632194e-03 9.99997757e-01 -8.89647991e-05 -1.37814139e+01] [-1.20823493e-03 8.64079136e-05 9.99999266e-01 -3.29682020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20037174299998 meters 0.03869988321253977 Centerline is valid? [True, True] Translation: X:235.61, Y:-13.78, Z:-3.30 [[ 9.99989865e-01 3.70457853e-03 2.55844519e-03 2.35607814e+02] [-3.70411130e-03 9.99993122e-01 -1.87334841e-04 -1.37821416e+01] [-2.55912159e-03 1.77856176e-04 9.99996710e-01 -3.29681488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26037174299998 meters 0.03753251149216105 Centerline is valid? [True, True] Translation: X:235.67, Y:-13.78, Z:-3.30 [[ 9.99963501e-01 8.20135039e-03 2.39448662e-03 2.35668844e+02] [-8.20095385e-03 9.99966356e-01 -1.75378431e-04 -1.37809150e+01] [-2.39584441e-03 1.55734956e-04 9.99997118e-01 -3.29837196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32037174299998 meters 0.03417485477690462 Centerline is valid? [True, True] Translation: X:235.73, Y:-13.78, Z:-3.30 [[ 9.99935954e-01 1.10410108e-02 2.48660022e-03 2.35728704e+02] [-1.10405910e-02 9.99939034e-01 -1.82489441e-04 -1.37774522e+01] [-2.48846349e-03 1.55024217e-04 9.99996892e-01 -3.29888046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38037174299998 meters 0.03695822008951738 Centerline is valid? [True, True] Translation: X:235.79, Y:-13.78, Z:-3.30 [[ 9.99934859e-01 1.13355522e-02 1.33526559e-03 2.35786531e+02] [-1.13354302e-02 9.99935747e-01 -9.89310232e-05 -1.37846729e+01] [-1.33630123e-03 8.37887689e-05 9.99999104e-01 -3.30196638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.440371743 meters 0.03569108475967583 Centerline is valid? [True, True] Translation: X:235.84, Y:-13.79, Z:-3.31 [[ 9.99943330e-01 1.05568937e-02 -1.37420009e-03 2.35844737e+02] [-1.05567675e-02 9.99944271e-01 9.90624773e-05 -1.37877431e+01] [ 1.37516930e-03 -8.45497527e-05 9.99999051e-01 -3.30581378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.500371743 meters 0.03749779863174646 Centerline is valid? [True, True] Translation: X:235.90, Y:-13.79, Z:-3.31 [[ 9.99949777e-01 9.65383825e-03 -2.69185487e-03 2.35901570e+02] [-9.65334889e-03 9.99953386e-01 1.94727999e-04 -1.37948942e+01] [ 2.69360927e-03 -1.68732805e-04 9.99996358e-01 -3.30842767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.560371743 meters 0.036223675444380155 Centerline is valid? [True, True] Translation: X:235.96, Y:-13.80, Z:-3.31 [[ 9.99947242e-01 9.99836172e-03 -2.35497836e-03 2.35960751e+02] [-9.99798783e-03 9.99950004e-01 1.70485289e-04 -1.37975460e+01] [ 2.35656519e-03 -1.46931250e-04 9.99997213e-01 -3.30843350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.620371743 meters 0.03486381462616984 Centerline is valid? [True, True] Translation: X:236.02, Y:-13.80, Z:-3.31 [[ 9.99943233e-01 1.06041408e-02 -1.04090997e-03 2.36019652e+02] [-1.06040687e-02 9.99943772e-01 7.47084206e-05 -1.37993772e+01] [ 1.04164366e-03 -6.36662988e-05 9.99999455e-01 -3.30614492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68037174299997 meters 0.035981801719841215 Centerline is valid? [True, True] Translation: X:236.08, Y:-13.81, Z:-3.31 [[ 9.99921292e-01 1.23627867e-02 2.13783754e-03 2.36078519e+02] [-1.23624814e-02 9.99923569e-01 -1.55943277e-04 -1.38062669e+01] [-2.13960204e-03 1.29502026e-04 9.99997703e-01 -3.30513946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74037174299997 meters 0.03582261747994489 Centerline is valid? [True, True] Translation: X:236.14, Y:-13.81, Z:-3.31 [[ 9.99913715e-01 1.25728424e-02 3.80600404e-03 2.36137074e+02] [-1.25718770e-02 9.99920932e-01 -2.77457277e-04 -1.38113475e+01] [-3.80919153e-03 2.29584722e-04 9.99992719e-01 -3.30511968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80037174299997 meters 0.03810683276518929 Centerline is valid? [True, True] Translation: X:236.19, Y:-13.82, Z:-3.31 [[ 9.99941860e-01 1.05353555e-02 2.29830237e-03 2.36194953e+02] [-1.05349976e-02 9.99944491e-01 -1.67763270e-04 -1.38204260e+01] [-2.29994224e-03 1.43540907e-04 9.99997345e-01 -3.30737977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86037174299997 meters 0.0351000961197098 Centerline is valid? [True, True] Translation: X:236.25, Y:-13.82, Z:-3.31 [[ 9.99956735e-01 9.14955027e-03 1.67764954e-03 2.36254066e+02] [-9.14935772e-03 9.99958136e-01 -1.22416033e-04 -1.38218023e+01] [-1.67869935e-03 1.07061321e-04 9.99998585e-01 -3.30776026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92037174299998 meters 0.03894322645865298 Centerline is valid? [True, True] Translation: X:236.31, Y:-13.83, Z:-3.31 [[ 9.99961974e-01 8.32972161e-03 2.58201427e-03 2.36310788e+02] [-8.32926340e-03 9.99965293e-01 -1.88166385e-04 -1.38327081e+01] [-2.58349203e-03 1.66652952e-04 9.99996649e-01 -3.30763044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98037174299998 meters 0.03612498544785549 Centerline is valid? [True, True] Translation: X:236.37, Y:-13.83, Z:-3.31 [[ 9.99951547e-01 9.12523283e-03 3.69239696e-03 2.36370272e+02] [-9.12430514e-03 9.99958337e-01 -2.68009407e-04 -1.38325552e+01] [-3.69468877e-03 2.34305865e-04 9.99993147e-01 -3.30602977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04037174299998 meters 0.036602868177966756 Centerline is valid? [True, True] Translation: X:236.43, Y:-13.84, Z:-3.31 [[ 9.99921052e-01 1.21646587e-02 3.14830229e-03 2.36429140e+02] [-1.21640001e-02 9.99925990e-01 -2.28258870e-04 -1.38382768e+01] [-3.15084598e-03 1.89944900e-04 9.99995018e-01 -3.30795280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10037174299998 meters 0.03217580112641867 Centerline is valid? [True, True] Translation: X:236.49, Y:-13.83, Z:-3.31 [[ 9.99847024e-01 1.70825273e-02 3.75716093e-03 2.36490409e+02] [-1.70816260e-02 9.99854061e-01 -2.71847921e-04 -1.38345541e+01] [-3.76125647e-03 2.07627917e-04 9.99992905e-01 -3.30684361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16037174299998 meters 0.03165554701404179 Centerline is valid? [True, True] Translation: X:236.55, Y:-13.84, Z:-3.31 [[ 9.99725240e-01 2.26970579e-02 5.85552468e-03 2.36549471e+02] [-2.26949642e-02 9.99742346e-01 -4.23776013e-04 -1.38362619e+01] [-5.86363445e-03 2.90768654e-04 9.99982766e-01 -3.30567182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.220371743 meters 0.030280899785923035 Centerline is valid? [True, True] Translation: X:236.61, Y:-13.84, Z:-3.31 [[ 9.99619622e-01 2.68427888e-02 6.33063092e-03 2.36609078e+02] [-2.68404247e-02 9.99639626e-01 -4.58116888e-04 -1.38381750e+01] [-6.34064666e-03 2.88025807e-04 9.99979856e-01 -3.30570507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.280371743 meters 0.02759189233359426 Centerline is valid? [True, True] Translation: X:236.67, Y:-13.84, Z:-3.31 [[ 9.99466609e-01 3.20600620e-02 6.21687901e-03 2.36669262e+02] [-3.20578850e-02 9.99485913e-01 -4.49540703e-04 -1.38374599e+01] [-6.22809529e-03 2.50000929e-04 9.99980574e-01 -3.30644217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.340371743 meters 0.026289145464973938 Centerline is valid? [True, True] Translation: X:236.73, Y:-13.84, Z:-3.31 [[ 9.99328186e-01 3.61447934e-02 6.06058347e-03 2.36729487e+02] [-3.61428000e-02 9.99346540e-01 -4.38141072e-04 -1.38413219e+01] [-6.07245964e-03 2.18800266e-04 9.99981539e-01 -3.30825666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40037174299997 meters 0.02580914974869362 Centerline is valid? [True, True] Translation: X:236.79, Y:-13.85, Z:-3.31 [[ 9.99262477e-01 3.81034722e-02 4.75693874e-03 2.36788002e+02] [-3.81022641e-02 9.99273786e-01 -3.44364511e-04 -1.38463793e+01] [-4.76660567e-03 1.62860398e-04 9.99988626e-01 -3.30997099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46037174299997 meters 0.024990960754150783 Centerline is valid? [True, True] Translation: X:236.85, Y:-13.85, Z:-3.31 [[ 9.99161386e-01 4.06820137e-02 4.63656377e-03 2.36846717e+02] [-4.06808952e-02 9.99172133e-01 -3.35334466e-04 -1.38536356e+01] [-4.64636739e-03 1.46433685e-04 9.99989195e-01 -3.31119873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52037174299997 meters 0.024905226874712534 Centerline is valid? [True, True] Translation: X:236.91, Y:-13.86, Z:-3.31 [[ 9.99098145e-01 4.22060472e-02 4.64177296e-03 2.36905635e+02] [-4.22049450e-02 9.99108918e-01 -3.35208739e-04 -1.38621382e+01] [-4.65178460e-03 1.39000657e-04 9.99989171e-01 -3.31194094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58037174299997 meters 0.025099919148803305 Centerline is valid? [True, True] Translation: X:236.96, Y:-13.87, Z:-3.31 [[ 9.99101403e-01 4.21702741e-02 4.24905225e-03 2.36964115e+02] [-4.21693502e-02 9.99110430e-01 -3.06847655e-04 -1.38708814e+01] [-4.25821227e-03 1.27392151e-04 9.99990926e-01 -3.31396078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64037174299997 meters 0.024353495667432848 Centerline is valid? [True, True] Translation: X:237.02, Y:-13.88, Z:-3.31 [[ 9.99196645e-01 3.98869068e-02 3.88567517e-03 2.37022008e+02] [-3.98861168e-02 9.99204193e-01 -2.80633120e-04 -1.38799709e+01] [-3.89377651e-03 1.25423178e-04 9.99992411e-01 -3.31437315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70037174299998 meters 0.02514975276967334 Centerline is valid? [True, True] Translation: X:237.08, Y:-13.89, Z:-3.31 [[ 9.99360168e-01 3.54100753e-02 5.03805055e-03 2.37080565e+02] [-3.54086962e-02 9.99372850e-01 -3.62704560e-04 -1.38930083e+01] [-5.04773433e-03 1.84081689e-04 9.99987243e-01 -3.31457850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76037174299998 meters 0.02723485300399986 Centerline is valid? [True, True] Translation: X:237.14, Y:-13.91, Z:-3.32 [[ 9.99541164e-01 2.99588342e-02 4.46426230e-03 2.37139535e+02] [-2.99576993e-02 9.99551116e-01 -3.20889837e-04 -1.39076512e+01] [-4.47187185e-03 1.87003573e-04 9.99989984e-01 -3.31608481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82037174299998 meters 0.02853615879423111 Centerline is valid? [True, True] Translation: X:237.20, Y:-13.92, Z:-3.32 [[ 9.99635794e-01 2.66925534e-02 3.97328661e-03 2.37198680e+02] [-2.66916281e-02 9.99643674e-01 -2.85733040e-04 -1.39183078e+01] [-3.97949777e-03 1.79575486e-04 9.99992066e-01 -3.31725340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88037174299998 meters 0.029862243358840867 Centerline is valid? [True, True] Translation: X:237.26, Y:-13.93, Z:-3.32 [[ 9.99748622e-01 2.19477478e-02 4.58132573e-03 2.37258210e+02] [-2.19464698e-02 9.99759093e-01 -3.29051082e-04 -1.39302288e+01] [-4.58744399e-03 2.28424440e-04 9.99989452e-01 -3.31730530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.940371743 meters 0.03189485106675844 Centerline is valid? [True, True] Translation: X:237.32, Y:-13.94, Z:-3.32 [[ 9.99824824e-01 1.81104512e-02 4.72585227e-03 2.37318120e+02] [-1.81090497e-02 9.99835960e-01 -3.39172607e-04 -1.39412088e+01] [-4.73121961e-03 2.53532498e-04 9.99988776e-01 -3.31860023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.000371743 meters 0.03249067204180572 Centerline is valid? [True, True] Translation: X:237.38, Y:-13.95, Z:-3.32 [[ 9.99860037e-01 1.60785845e-02 4.62438085e-03 2.37377333e+02] [-1.60772194e-02 9.99870698e-01 -3.32225489e-04 -1.39482269e+01] [-4.62912463e-03 2.57831804e-04 9.99989252e-01 -3.31996685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.060371743 meters 0.03449042523572571 Centerline is valid? [True, True] Translation: X:237.44, Y:-13.96, Z:-3.32 [[ 9.99907892e-01 1.24798310e-02 5.33483713e-03 2.37437150e+02] [-1.24779654e-02 9.99922074e-01 -3.82842057e-04 -1.39585030e+01] [-5.33919921e-03 3.16238881e-04 9.99985696e-01 -3.32021715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.120371743 meters 0.036610892654712276 Centerline is valid? [True, True] Translation: X:237.50, Y:-13.97, Z:-3.32 [[ 9.99955915e-01 7.32485075e-03 5.87485993e-03 2.37496827e+02] [-7.32250131e-03 9.99973101e-01 -4.21323842e-04 -1.39683735e+01] [-5.87778804e-03 3.78286599e-04 9.99982654e-01 -3.32104650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18037174299997 meters 0.03945521830106849 Centerline is valid? [True, True] Translation: X:237.56, Y:-13.98, Z:-3.32 [[ 9.99974667e-01 2.17472791e-03 6.77766113e-03 2.37556697e+02] [-2.17148335e-03 9.99997524e-01 -4.86036019e-04 -1.39795711e+01] [-6.77870135e-03 4.71306127e-04 9.99976913e-01 -3.32224584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24037174299997 meters 0.04079721288444981 Centerline is valid? [True, True] Translation: X:237.62, Y:-13.99, Z:-3.32 [[ 9.99974447e-01 -4.55246873e-04 7.13425741e-03 2.37617125e+02] [ 4.58908013e-04 9.99999764e-01 -5.11548835e-04 -1.39869286e+01] [-7.13402284e-03 5.14809731e-04 9.99974420e-01 -3.32286089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30037174299997 meters 0.04457543393032662 Centerline is valid? [True, True] Translation: X:237.68, Y:-14.00, Z:-3.32 [[ 9.99970283e-01 -2.87068140e-03 7.15493107e-03 2.37677000e+02] [ 2.87442621e-03 9.99995737e-01 -5.13160400e-04 -1.39979825e+01] [-7.15342745e-03 5.33711472e-04 9.99974271e-01 -3.32430074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36037174299997 meters 0.04545474985959071 Centerline is valid? [True, True] Translation: X:237.74, Y:-14.00, Z:-3.33 [[ 9.99978855e-01 -3.42343521e-03 5.52895372e-03 2.37738357e+02] [ 3.42567838e-03 9.99994054e-01 -3.96294166e-04 -1.40046060e+01] [-5.52756415e-03 4.15226203e-04 9.99984637e-01 -3.32744858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42037174299998 meters 0.04275420987433314 Centerline is valid? [True, True] Translation: X:237.80, Y:-14.00, Z:-3.33 [[ 9.99990688e-01 2.17313915e-04 4.31010968e-03 2.37798789e+02] [-2.15982128e-04 9.99999929e-01 -3.09454560e-04 -1.40040385e+01] [-4.31017662e-03 3.08520771e-04 9.99990664e-01 -3.32898171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48037174299998 meters 0.037301616423641736 Centerline is valid? [True, True] Translation: X:237.86, Y:-14.00, Z:-3.33 [[ 9.99988485e-01 1.72991954e-03 4.47624226e-03 2.37861021e+02] [-1.72850024e-03 9.99998455e-01 -3.20922206e-04 -1.39996902e+01] [-4.47679051e-03 3.13181325e-04 9.99989930e-01 -3.32872740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54037174299998 meters 0.035635230157734045 Centerline is valid? [True, True] Translation: X:237.92, Y:-14.00, Z:-3.33 [[ 9.99944256e-01 8.34672957e-03 6.46656158e-03 2.37920927e+02] [-8.34389796e-03 9.99965081e-01 -4.64741213e-04 -1.39994467e+01] [-6.47021484e-03 4.10758977e-04 9.99978984e-01 -3.32792374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60037174299998 meters 0.03249377615978147 Centerline is valid? [True, True] Translation: X:237.98, Y:-14.00, Z:-3.33 [[ 9.99862262e-01 1.46481011e-02 7.80322044e-03 2.37981505e+02] [-1.46441692e-02 9.99892611e-01 -5.60790005e-04 -1.39975408e+01] [-7.81059697e-03 4.46441082e-04 9.99969397e-01 -3.32791748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66037174299998 meters 0.03136676081598996 Centerline is valid? [True, True] Translation: X:238.04, Y:-14.00, Z:-3.33 [[ 9.99820121e-01 1.69844559e-02 8.44120864e-03 2.38041971e+02] [-1.69799372e-02 9.99855646e-01 -6.06693732e-04 -1.39980841e+01] [-8.45029448e-03 4.63253408e-04 9.99964188e-01 -3.32833873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.720371743 meters 0.03063934202662224 Centerline is valid? [True, True] Translation: X:238.10, Y:-14.00, Z:-3.33 [[ 9.99811690e-01 1.77560881e-02 7.82978105e-03 2.38101182e+02] [-1.77522231e-02 9.99842258e-01 -5.62849731e-04 -1.40008262e+01] [-7.83853998e-03 4.23747720e-04 9.99969188e-01 -3.32921503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.780371743 meters 0.030589676096822407 Centerline is valid? [True, True] Translation: X:238.16, Y:-14.00, Z:-3.33 [[ 9.99849242e-01 1.61578506e-02 6.35746096e-03 2.38160801e+02] [-1.61552725e-02 9.99869391e-01 -4.56672094e-04 -1.40041108e+01] [-6.36400945e-03 3.53896732e-04 9.99979687e-01 -3.33152757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.840371743 meters 0.03397828250821793 Centerline is valid? [True, True] Translation: X:238.22, Y:-14.01, Z:-3.33 [[ 9.99892155e-01 1.38648436e-02 4.84193032e-03 2.38218748e+02] [-1.38633209e-02 9.99903839e-01 -3.47912761e-04 -1.40129575e+01] [-4.84628847e-03 2.80750007e-04 9.99988217e-01 -3.33479891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90037174299997 meters 0.033318965186101016 Centerline is valid? [True, True] Translation: X:238.28, Y:-14.02, Z:-3.34 [[ 9.99916884e-01 1.19871074e-02 4.74701574e-03 2.38278663e+02] [-1.19856246e-02 9.99928112e-01 -3.40681606e-04 -1.40151346e+01] [-4.75075827e-03 2.83757342e-04 9.99988675e-01 -3.33639228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96037174299997 meters 0.034937849546619 Centerline is valid? [True, True] Translation: X:238.34, Y:-14.02, Z:-3.34 [[ 9.99929817e-01 1.08799698e-02 4.68913197e-03 2.38338060e+02] [-1.08785117e-02 9.99940771e-01 -3.36361457e-04 -1.40201787e+01] [-4.69251384e-03 2.85327073e-04 9.99988949e-01 -3.33690586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02037174299997 meters 0.034876689813393404 Centerline is valid? [True, True] Translation: X:238.40, Y:-14.02, Z:-3.34 [[ 9.99947674e-01 8.99022638e-03 4.88105541e-03 2.38397561e+02] [-8.98862490e-03 9.99959540e-01 -3.49938799e-04 -1.40224169e+01] [-4.88400395e-03 3.06046512e-04 9.99988026e-01 -3.33731091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08037174299997 meters 0.037092519062712215 Centerline is valid? [True, True] Translation: X:238.46, Y:-14.03, Z:-3.34 [[ 9.99968336e-01 6.40025379e-03 4.72912230e-03 2.38456036e+02] [-6.39872237e-03 9.99979471e-01 -3.38886977e-04 -1.40293873e+01] [-4.73119418e-03 3.08615906e-04 9.99988760e-01 -3.33932759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14037174299997 meters 0.037378006068772555 Centerline is valid? [True, True] Translation: X:238.52, Y:-14.03, Z:-3.34 [[ 9.99987794e-01 3.97909137e-03 2.92885137e-03 2.38516584e+02] [-3.97849454e-03 9.99992064e-01 -2.09573501e-04 -1.40319182e+01] [-2.92966204e-03 1.97918523e-04 9.99995689e-01 -3.34163045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20037174299998 meters 0.039225358497266244 Centerline is valid? [True, True] Translation: X:238.58, Y:-14.04, Z:-3.34 [[ 9.99995508e-01 1.79619179e-03 2.39950865e-03 2.38576622e+02] [-1.79578445e-03 9.99998373e-01 -1.71902548e-04 -1.40377257e+01] [-2.39981352e-03 1.67592776e-04 9.99997106e-01 -3.34349878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26037174299998 meters 0.03650097775457383 Centerline is valid? [True, True] Translation: X:238.64, Y:-14.04, Z:-3.34 [[ 9.99996633e-01 8.92028983e-05 2.59344881e-03 2.38637532e+02] [-8.87225834e-05 9.99999979e-01 -1.85317606e-04 -1.40372932e+01] [-2.59346529e-03 1.85086884e-04 9.99996620e-01 -3.34347261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32037174299998 meters 0.03907944208044876 Centerline is valid? [True, True] Translation: X:238.70, Y:-14.04, Z:-3.35 [[ 9.99994960e-01 9.99571587e-05 3.17321857e-03 2.38698018e+02] [-9.92414900e-05 9.99999970e-01 -2.25690649e-04 -1.40425028e+01] [-3.17324103e-03 2.25374597e-04 9.99994940e-01 -3.34531570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38037174299998 meters 0.04542395845349182 Centerline is valid? [True, True] Translation: X:238.76, Y:-14.05, Z:-3.35 [[ 9.99993727e-01 4.94979093e-04 3.50715357e-03 2.38758826e+02] [-4.94102365e-04 9.99999846e-01 -2.50844621e-04 -1.40528041e+01] [-3.50727720e-03 2.49110155e-04 9.99993818e-01 -3.34703639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.440371743 meters 0.03772176531702368 Centerline is valid? [True, True] Translation: X:238.82, Y:-14.04, Z:-3.35 [[ 9.99993937e-01 3.72356235e-04 3.46238696e-03 2.38820627e+02] [-3.71499811e-04 9.99999900e-01 -2.47990513e-04 -1.40441376e+01] [-3.46247896e-03 2.46702734e-04 9.99993975e-01 -3.34637137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.500371743 meters 0.03842382080803543 Centerline is valid? [True, True] Translation: X:238.88, Y:-14.05, Z:-3.35 [[ 9.99991398e-01 1.02382469e-03 4.01949125e-03 2.38881956e+02] [-1.02267479e-03 9.99999436e-01 -2.88126619e-04 -1.40476403e+01] [-4.01978397e-03 2.84013508e-04 9.99991880e-01 -3.34848534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.560371743 meters 0.0375082792982648 Centerline is valid? [True, True] Translation: X:238.94, Y:-14.05, Z:-3.35 [[ 9.99992408e-01 1.44934573e-03 3.61713451e-03 2.38943339e+02] [-1.44841701e-03 9.99998917e-01 -2.59360084e-04 -1.40467133e+01] [-3.61750650e-03 2.54118996e-04 9.99993425e-01 -3.34986170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.620371743 meters 0.03847585617382929 Centerline is valid? [True, True] Translation: X:239.00, Y:-14.05, Z:-3.35 [[ 9.99988603e-01 1.77775481e-03 4.43086243e-03 2.39004340e+02] [-1.77636321e-03 9.99998372e-01 -3.17985254e-04 -1.40506370e+01] [-4.43142052e-03 3.10110809e-04 9.99990133e-01 -3.35069388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68037174299997 meters 0.039183267500358845 Centerline is valid? [True, True] Translation: X:239.07, Y:-14.05, Z:-3.35 [[ 9.99973750e-01 2.42219140e-03 6.82878751e-03 2.39065620e+02] [-2.41889738e-03 9.99996954e-01 -4.90591277e-04 -1.40541037e+01] [-6.82995502e-03 4.74060263e-04 9.99976563e-01 -3.35052594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74037174299997 meters 0.03887319806118832 Centerline is valid? [True, True] Translation: X:239.13, Y:-14.06, Z:-3.35 [[ 9.99968377e-01 2.67680355e-03 7.48863495e-03 2.39127434e+02] [-2.67285743e-03 9.99996284e-01 -5.36905840e-04 -1.40560374e+01] [-7.49004432e-03 5.16872808e-04 9.99971816e-01 -3.35112111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80037174299997 meters 0.038371305976803084 Centerline is valid? [True, True] Translation: X:239.19, Y:-14.06, Z:-3.35 [[ 9.99974779e-01 2.03638244e-03 6.80399489e-03 2.39189157e+02] [-2.03309993e-03 9.99997814e-01 -4.89321241e-04 -1.40594996e+01] [-6.80497646e-03 4.75475698e-04 9.99976733e-01 -3.35331342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86037174299997 meters 0.03997106462491862 Centerline is valid? [True, True] Translation: X:239.25, Y:-14.06, Z:-3.36 [[ 9.99987626e-01 3.51997529e-04 4.96220214e-03 2.39249988e+02] [-3.50219895e-04 9.99999874e-01 -3.59099283e-04 -1.40648574e+01] [-4.96232792e-03 3.57356978e-04 9.99987624e-01 -3.35549766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92037174299998 meters 0.04100391171237728 Centerline is valid? [True, True] Translation: X:239.31, Y:-14.07, Z:-3.36 [[ 9.99990858e-01 5.16174434e-04 4.24464364e-03 2.39311827e+02] [-5.14877235e-04 9.99999820e-01 -3.06695555e-04 -1.40696134e+01] [-4.24480119e-03 3.04507281e-04 9.99990944e-01 -3.35615148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98037174299998 meters 0.0417293446245491 Centerline is valid? [True, True] Translation: X:239.37, Y:-14.07, Z:-3.36 [[ 9.99985440e-01 2.11283990e-03 4.96539133e-03 2.39372568e+02] [-2.11108017e-03 9.99997707e-01 -3.59614557e-04 -1.40722688e+01] [-4.96613975e-03 3.49126982e-04 9.99987608e-01 -3.35608627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04037174299998 meters 0.04201899687732431 Centerline is valid? [True, True] Translation: X:239.43, Y:-14.08, Z:-3.36 [[ 9.99966525e-01 4.20824511e-03 7.01703828e-03 2.39433633e+02] [-4.20477798e-03 9.99991030e-01 -5.08780670e-04 -1.40753029e+01] [-7.01911641e-03 4.79258551e-04 9.99975251e-01 -3.35569880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10037174299998 meters 0.04316441018237137 Centerline is valid? [True, True] Translation: X:239.49, Y:-14.08, Z:-3.36 [[ 9.99926433e-01 6.88226500e-03 9.98818624e-03 2.39492987e+02] [-6.87537226e-03 9.99976102e-01 -7.24262911e-04 -1.40796726e+01] [-9.99293211e-03 6.55537131e-04 9.99949855e-01 -3.35505619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16037174299998 meters 0.04371064274926542 Centerline is valid? [True, True] Translation: X:239.55, Y:-14.08, Z:-3.35 [[ 9.99913413e-01 7.35051425e-03 1.09149528e-02 2.39553783e+02] [-7.34230062e-03 9.99972731e-01 -7.92393095e-04 -1.40843738e+01] [-1.09204796e-02 7.12183620e-04 9.99940116e-01 -3.35471066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.220371743 meters 0.04651584290755848 Centerline is valid? [True, True] Translation: X:239.61, Y:-14.09, Z:-3.36 [[ 9.99916970e-01 6.35003534e-03 1.12129337e-02 2.39614365e+02] [-6.34130576e-03 9.99979562e-01 -8.13909937e-04 -1.40938525e+01] [-1.12178729e-02 7.42737717e-04 9.99936802e-01 -3.35616283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.280371743 meters 0.04218493997860118 Centerline is valid? [True, True] Translation: X:239.68, Y:-14.09, Z:-3.36 [[ 9.99956132e-01 4.04068911e-03 8.45024143e-03 2.39675646e+02] [-4.03563234e-03 9.99991667e-01 -6.15384009e-04 -1.40943799e+01] [-8.45265759e-03 5.81254946e-04 9.99964107e-01 -3.36042465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.340371743 meters 0.04407119793450656 Centerline is valid? [True, True] Translation: X:239.74, Y:-14.10, Z:-3.36 [[ 9.99975233e-01 3.35476950e-03 6.18698255e-03 2.39736379e+02] [-3.35204887e-03 9.99994281e-01 -4.50052249e-04 -1.41017583e+01] [-6.18845699e-03 4.29302034e-04 9.99980759e-01 -3.36353100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40037174299997 meters 0.037184866274198564 Centerline is valid? [True, True] Translation: X:239.80, Y:-14.10, Z:-3.36 [[ 9.99982691e-01 3.40287166e-03 4.79978319e-03 2.39797962e+02] [-3.40123021e-03 9.99994155e-01 -3.50103839e-04 -1.40963958e+01] [-4.80094649e-03 3.33772612e-04 9.99988420e-01 -3.36434993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46037174299997 meters 0.045826633963213875 Centerline is valid? [True, True] Translation: X:239.86, Y:-14.11, Z:-3.37 [[ 9.99976432e-01 4.77287024e-03 4.93512136e-03 2.39856987e+02] [-4.77114975e-03 9.99988553e-01 -3.60337826e-04 -1.41126658e+01] [-4.93678471e-03 3.36783130e-04 9.99987757e-01 -3.36615246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52037174299997 meters 0.03522835026770552 Centerline is valid? [True, True] Translation: X:239.92, Y:-14.10, Z:-3.36 [[ 9.99935948e-01 9.44163455e-03 6.24141010e-03 2.39918987e+02] [-9.43897199e-03 9.99955348e-01 -4.55915761e-04 -1.40999225e+01] [-6.24543600e-03 3.96974064e-04 9.99980418e-01 -3.36409350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58037174299997 meters 0.034172426892946625 Centerline is valid? [True, True] Translation: X:239.98, Y:-14.10, Z:-3.36 [[ 9.99865948e-01 1.39897490e-02 8.50717291e-03 2.39979746e+02] [-1.39849637e-02 9.99902012e-01 -6.21733053e-04 -1.41015694e+01] [-8.51503720e-03 5.02677204e-04 9.99963620e-01 -3.36387757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64037174299997 meters 0.032490856729262066 Centerline is valid? [True, True] Translation: X:240.04, Y:-14.10, Z:-3.36 [[ 9.99844609e-01 1.51146605e-02 9.07224981e-03 2.40038696e+02] [-1.51092616e-02 9.99885629e-01 -6.63345928e-04 -1.41032319e+01] [-9.08123846e-03 5.26167854e-04 9.99958626e-01 -3.36426842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70037174299998 meters 0.03579097739721718 Centerline is valid? [True, True] Translation: X:240.10, Y:-14.11, Z:-3.37 [[ 9.99857671e-01 1.46725469e-02 8.32792747e-03 2.40096129e+02] [-1.46679859e-02 9.99892234e-01 -6.08490037e-04 -1.41136154e+01] [-8.33595810e-03 4.86249508e-04 9.99965137e-01 -3.36680934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76037174299998 meters 0.034583100926934944 Centerline is valid? [True, True] Translation: X:240.16, Y:-14.12, Z:-3.37 [[ 9.99884522e-01 1.40229885e-02 5.85649977e-03 2.40155764e+02] [-1.40207253e-02 9.99901613e-01 -4.27312086e-04 -1.41177758e+01] [-5.86191576e-03 3.45150366e-04 9.99982759e-01 -3.37059907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82037174299998 meters 0.03740094026137494 Centerline is valid? [True, True] Translation: X:240.21, Y:-14.13, Z:-3.37 [[ 9.99888615e-01 1.39372949e-02 5.33940893e-03 2.40213212e+02] [-1.39354110e-02 9.99902821e-01 -3.89887528e-04 -1.41264928e+01] [-5.34432403e-03 3.15437243e-04 9.99985669e-01 -3.37251856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88037174299998 meters 0.03656007191678206 Centerline is valid? [True, True] Translation: X:240.27, Y:-14.13, Z:-3.37 [[ 9.99886455e-01 1.35493007e-02 6.59494495e-03 2.40272457e+02] [-1.35464246e-02 9.99908128e-01 -4.80571113e-04 -1.41289539e+01] [-6.60085046e-03 3.91178622e-04 9.99978138e-01 -3.37139181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.940371743 meters 0.03421881223995554 Centerline is valid? [True, True] Translation: X:240.33, Y:-14.13, Z:-3.37 [[ 9.99883598e-01 1.26576531e-02 8.51901436e-03 2.40331479e+02] [-1.26528292e-02 9.99919758e-01 -6.19912164e-04 -1.41290960e+01] [-8.52617740e-03 5.12050372e-04 9.99963520e-01 -3.36961139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.000371743 meters 0.03521811171778215 Centerline is valid? [True, True] Translation: X:240.39, Y:-14.13, Z:-3.37 [[ 9.99887934e-01 1.24645958e-02 8.29176446e-03 2.40391281e+02] [-1.24600256e-02 9.99922189e-01 -6.02600058e-04 -1.41349297e+01] [-8.29863044e-03 4.99216930e-04 9.99965441e-01 -3.37114536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.060371743 meters 0.037167352084424204 Centerline is valid? [True, True] Translation: X:240.45, Y:-14.14, Z:-3.37 [[ 9.99907483e-01 1.21208555e-02 6.17337341e-03 2.40449427e+02] [-1.21183155e-02 9.99926470e-01 -4.48688404e-04 -1.41411800e+01] [-6.17835797e-03 3.73836006e-04 9.99980844e-01 -3.37419431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.120371743 meters 0.03497820543864399 Centerline is valid? [True, True] Translation: X:240.51, Y:-14.14, Z:-3.38 [[ 9.99927011e-01 1.07501888e-02 5.51425425e-03 2.40509432e+02] [-1.07481434e-02 9.99942157e-01 -4.00429589e-04 -1.41414709e+01] [-5.51823999e-03 3.41132367e-04 9.99984716e-01 -3.37515079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18037174299997 meters 0.03805209740951354 Centerline is valid? [True, True] Translation: X:240.57, Y:-14.15, Z:-3.38 [[ 9.99944460e-01 9.49184769e-03 4.58060747e-03 2.40567674e+02] [-9.49042277e-03 9.99954910e-01 -3.32712903e-04 -1.41506205e+01] [-4.58355899e-03 2.89222522e-04 9.99989454e-01 -3.37730758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24037174299997 meters 0.03678756067609884 Centerline is valid? [True, True] Translation: X:240.63, Y:-14.15, Z:-3.38 [[ 9.99956434e-01 8.35540840e-03 4.16147322e-03 2.40627382e+02] [-8.35422388e-03 9.99965057e-01 -3.01943768e-04 -1.41534202e+01] [-4.16385067e-03 2.67164735e-04 9.99991295e-01 -3.37858202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30037174299997 meters 0.03753555105882932 Centerline is valid? [True, True] Translation: X:240.69, Y:-14.16, Z:-3.38 [[ 9.99948447e-01 8.32319221e-03 5.81625031e-03 2.40686556e+02] [-8.32087931e-03 9.99965292e-01 -4.21747453e-04 -1.41579881e+01] [-5.81955873e-03 3.73329393e-04 9.99982997e-01 -3.37766558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36037174299997 meters 0.03548978342011219 Centerline is valid? [True, True] Translation: X:240.75, Y:-14.16, Z:-3.38 [[ 9.99935995e-01 8.77804278e-03 7.13799487e-03 2.40746717e+02] [-8.77457543e-03 9.99961369e-01 -5.16932240e-04 -1.41589604e+01] [-7.14225677e-03 4.54266280e-04 9.99974391e-01 -3.37656757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42037174299998 meters 0.03510642952335877 Centerline is valid? [True, True] Translation: X:240.81, Y:-14.16, Z:-3.38 [[ 9.99919627e-01 1.04819513e-02 7.13219371e-03 2.40807348e+02] [-1.04785363e-02 9.99944965e-01 -5.16006972e-04 -1.41629008e+01] [-7.13720995e-03 4.41230548e-04 9.99974432e-01 -3.37772361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48037174299998 meters 0.033231809155130194 Centerline is valid? [True, True] Translation: X:240.87, Y:-14.16, Z:-3.38 [[ 9.99918730e-01 1.20070423e-02 4.28538660e-03 2.40866818e+02] [-1.20058219e-02 9.99927879e-01 -3.10399807e-04 -1.41638267e+01] [-4.28880452e-03 2.58924992e-04 9.99990770e-01 -3.38037314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54037174299998 meters 0.03216782242491142 Centerline is valid? [True, True] Translation: X:240.93, Y:-14.16, Z:-3.38 [[ 9.99891729e-01 1.45865589e-02 1.93976653e-03 2.40926492e+02] [-1.45863133e-02 9.99893604e-01 -1.40711253e-04 -1.41648367e+01] [-1.94161264e-03 1.12401976e-04 9.99998109e-01 -3.38214016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60037174299998 meters 0.03230461383124395 Centerline is valid? [True, True] Translation: X:240.99, Y:-14.17, Z:-3.38 [[ 9.99848590e-01 1.72806634e-02 2.04347682e-03 2.40985043e+02] [-1.72803962e-02 9.99850672e-01 -1.48342607e-04 -1.41676677e+01] [-2.04573513e-03 1.13008057e-04 9.99997901e-01 -3.38269266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66037174299998 meters 0.03139917368939256 Centerline is valid? [True, True] Translation: X:241.05, Y:-14.17, Z:-3.38 [[ 9.99790238e-01 2.03049653e-02 2.68108232e-03 2.41045416e+02] [-2.03045183e-02 9.99793823e-01 -1.93833082e-04 -1.41689447e+01] [-2.68446532e-03 1.39354338e-04 9.99996387e-01 -3.38207152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.720371743 meters 0.029715305573922098 Centerline is valid? [True, True] Translation: X:241.10, Y:-14.17, Z:-3.38 [[ 9.99747211e-01 2.21540237e-02 3.83572549e-03 2.41104590e+02] [-2.21531217e-02 9.99754551e-01 -2.77506765e-04 -1.41700537e+01] [-3.84093191e-03 1.92463321e-04 9.99992605e-01 -3.38213379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.780371743 meters 0.030250928076360387 Centerline is valid? [True, True] Translation: X:241.16, Y:-14.17, Z:-3.38 [[ 9.99715822e-01 2.34413044e-02 4.33371850e-03 2.41162655e+02] [-2.34401657e-02 9.99725192e-01 -3.13365168e-04 -1.41741141e+01] [-4.33987325e-03 2.11693037e-04 9.99990560e-01 -3.38284556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.840371743 meters 0.03019429891452709 Centerline is valid? [True, True] Translation: X:241.22, Y:-14.18, Z:-3.38 [[ 9.99725174e-01 2.33462367e-02 2.12826994e-03 2.41221737e+02] [-2.33459611e-02 9.99727434e-01 -1.54248471e-04 -1.41777109e+01] [-2.13129097e-03 1.04519573e-04 9.99997723e-01 -3.38466810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90037174299997 meters 0.030291720607688116 Centerline is valid? [True, True] Translation: X:241.28, Y:-14.18, Z:-3.39 [[ 9.99773215e-01 2.12595055e-02 1.24583357e-03 2.41281367e+02] [-2.12594096e-02 9.99773989e-01 -9.01661554e-05 -1.41827664e+01] [-1.24746888e-03 6.36600209e-05 9.99999220e-01 -3.38517133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96037174299997 meters 0.030877129795421576 Centerline is valid? [True, True] Translation: X:241.34, Y:-14.19, Z:-3.39 [[ 9.99784883e-01 2.07269658e-02 7.61889274e-04 2.41340187e+02] [-2.07269293e-02 9.99785173e-01 -5.57819621e-05 -1.41880304e+01] [-7.62881790e-04 3.99783374e-05 9.99999708e-01 -3.38718101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02037174299997 meters 0.03313996404282568 Centerline is valid? [True, True] Translation: X:241.40, Y:-14.19, Z:-3.39 [[ 9.99703041e-01 2.43165394e-02 -1.59266224e-03 2.41398685e+02] [-2.43163887e-02 9.99704306e-01 1.13959082e-04 -1.41942944e+01] [ 1.59496239e-03 -7.51974462e-05 9.99998725e-01 -3.39093845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08037174299997 meters 0.02979874262453308 Centerline is valid? [True, True] Translation: X:241.46, Y:-14.19, Z:-3.39 [[ 9.99570940e-01 2.92189359e-02 -2.04703237e-03 2.41459039e+02] [-2.92186963e-02 9.99573032e-01 1.46834212e-04 -1.41912762e+01] [ 2.05044869e-03 -8.69595945e-05 9.99997894e-01 -3.39062325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14037174299997 meters 0.026797904982607042 Centerline is valid? [True, True] Translation: X:241.52, Y:-14.19, Z:-3.39 [[ 9.99258275e-01 3.85078444e-02 -2.13291582e-04 2.41519566e+02] [-3.85078421e-02 9.99258298e-01 1.49238273e-05 -1.41870514e+01] [ 2.13708068e-04 -6.69935933e-06 9.99999977e-01 -3.38907366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20037174299998 meters 0.023790462275641088 Centerline is valid? [True, True] Translation: X:241.58, Y:-14.18, Z:-3.39 [[ 9.98913788e-01 4.65055032e-02 2.91230590e-03 2.41580830e+02] [-4.65050908e-02 9.98918031e-01 -2.09195855e-04 -1.41835680e+01] [-2.91888363e-03 7.35315742e-05 9.99995737e-01 -3.38612257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26037174299998 meters 0.023012156745082855 Centerline is valid? [True, True] Translation: X:241.64, Y:-14.19, Z:-3.39 [[ 9.98763419e-01 4.95648726e-02 3.86728492e-03 2.41639450e+02] [-4.95641658e-02 9.98770903e-01 -2.78459517e-04 -1.41856497e+01] [-3.87633346e-03 8.64364283e-05 9.99992483e-01 -3.38538581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32037174299998 meters 0.02287996875008499 Centerline is valid? [True, True] Translation: X:241.70, Y:-14.19, Z:-3.39 [[ 9.98735865e-01 5.01445077e-02 3.49285954e-03 2.41698336e+02] [-5.01439286e-02 9.98741970e-01 -2.53230632e-04 -1.41916040e+01] [-3.50116354e-03 7.77648148e-05 9.99993868e-01 -3.38658010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38037174299998 meters 0.023031690992443836 Centerline is valid? [True, True] Translation: X:241.76, Y:-14.20, Z:-3.39 [[ 9.98790261e-01 4.90637045e-02 3.28151288e-03 2.41756144e+02] [-4.90631897e-02 9.98795648e-01 -2.37261189e-04 -1.42000159e+01] [-3.28920170e-03 7.59726761e-05 9.99994588e-01 -3.38855502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.440371743 meters 0.023073946687463508 Centerline is valid? [True, True] Translation: X:241.82, Y:-14.21, Z:-3.39 [[ 9.98972402e-01 4.52395919e-02 2.74215533e-03 2.41815507e+02] [-4.52392248e-02 9.98976163e-01 -1.95775211e-04 -1.42100835e+01] [-2.74820460e-03 7.15210516e-05 9.99996221e-01 -3.38941457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.500371743 meters 0.02369605760120056 Centerline is valid? [True, True] Translation: X:241.87, Y:-14.22, Z:-3.39 [[ 9.99063272e-01 4.31709963e-02 2.97399140e-03 2.41873092e+02] [-4.31705540e-02 9.99067694e-01 -2.12766916e-04 -1.42201002e+01] [-2.98040409e-03 8.41787548e-05 9.99995555e-01 -3.39078458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.560371743 meters 0.025063062448193806 Centerline is valid? [True, True] Translation: X:241.93, Y:-14.23, Z:-3.39 [[ 9.99209107e-01 3.97226451e-02 1.80902365e-03 2.41930815e+02] [-3.97224760e-02 9.99210743e-01 -1.29301451e-04 -1.42332122e+01] [-1.81273206e-03 5.73402882e-05 9.99998355e-01 -3.39364057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.620371743 meters 0.025294168555190757 Centerline is valid? [True, True] Translation: X:241.99, Y:-14.24, Z:-3.39 [[ 9.99337361e-01 3.63825339e-02 1.07229303e-03 2.41990169e+02] [-3.63824725e-02 9.99337936e-01 -7.66672141e-05 -1.42428356e+01] [-1.07437245e-03 3.76037398e-05 9.99999422e-01 -3.39498013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68037174299997 meters 0.026190670143319487 Centerline is valid? [True, True] Translation: X:242.05, Y:-14.25, Z:-3.40 [[ 9.99452071e-01 3.30384866e-02 2.00413912e-03 2.42049247e+02] [-3.30382667e-02 9.99454077e-01 -1.42778655e-04 -1.42548358e+01] [-2.00776221e-03 7.64871397e-05 9.99997982e-01 -3.39624631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74037174299997 meters 0.027390977014627896 Centerline is valid? [True, True] Translation: X:242.11, Y:-14.26, Z:-3.40 [[ 9.99527271e-01 3.06392355e-02 2.54379384e-03 2.42108458e+02] [-3.06388739e-02 9.99530503e-01 -1.80991706e-04 -1.42649065e+01] [-2.54814498e-03 1.02967167e-04 9.99996748e-01 -3.39732411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80037174299997 meters 0.02862734736676406 Centerline is valid? [True, True] Translation: X:242.17, Y:-14.28, Z:-3.40 [[ 9.99644002e-01 2.65241799e-02 2.88728859e-03 2.42167987e+02] [-2.65236981e-02 9.99648164e-01 -2.05066013e-04 -1.42769757e+01] [-2.89171195e-03 1.28411439e-04 9.99995811e-01 -3.39847774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86037174299997 meters 0.030041967727216234 Centerline is valid? [True, True] Translation: X:242.23, Y:-14.29, Z:-3.40 [[ 9.99758691e-01 2.16952078e-02 3.44644921e-03 2.42227502e+02] [-2.16944927e-02 9.99764617e-01 -2.44736231e-04 -1.42891772e+01] [-3.45094757e-03 1.69908206e-04 9.99994031e-01 -3.39949119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92037174299998 meters 0.03354401295415093 Centerline is valid? [True, True] Translation: X:242.29, Y:-14.30, Z:-3.40 [[ 9.99859013e-01 1.65055114e-02 3.08573432e-03 2.42286293e+02] [-1.65049138e-02 9.99863761e-01 -2.19049071e-04 -1.43041608e+01] [-3.08892944e-03 1.68088409e-04 9.99995215e-01 -3.40125493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98037174299998 meters 0.035219580534232964 Centerline is valid? [True, True] Translation: X:242.35, Y:-14.31, Z:-3.40 [[ 9.99926918e-01 1.16905654e-02 3.08040644e-03 2.42345845e+02] [-1.16899478e-02 9.99931646e-01 -2.18403655e-04 -1.43143424e+01] [-3.08274914e-03 1.82377903e-04 9.99995232e-01 -3.40311991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04037174299998 meters 0.036508039886932214 Centerline is valid? [True, True] Translation: X:242.41, Y:-14.32, Z:-3.40 [[ 9.99960728e-01 7.94904663e-03 3.91867444e-03 2.42405378e+02] [-7.94801809e-03 9.99968375e-01 -2.77974825e-04 -1.43229486e+01] [-3.92076015e-03 2.46818213e-04 9.99992283e-01 -3.40395225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10037174299998 meters 0.037485806961519604 Centerline is valid? [True, True] Translation: X:242.47, Y:-14.33, Z:-3.40 [[ 9.99971013e-01 6.24374397e-03 4.35758861e-03 2.42465240e+02] [-6.24245645e-03 9.99980468e-01 -3.09004739e-04 -1.43291460e+01] [-4.35943284e-03 2.81793725e-04 9.99990458e-01 -3.40373614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16037174299998 meters 0.0408293369275078 Centerline is valid? [True, True] Translation: X:242.52, Y:-14.34, Z:-3.40 [[ 9.99974439e-01 4.50454410e-03 5.55251612e-03 2.42524007e+02] [-4.50242786e-03 9.99989787e-01 -3.93571764e-04 -1.43384674e+01] [-5.55423227e-03 3.68561901e-04 9.99984507e-01 -3.40410782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.220371743 meters 0.04348359279009493 Centerline is valid? [True, True] Translation: X:242.58, Y:-14.35, Z:-3.41 [[ 9.99978345e-01 3.22730695e-03 5.73526248e-03 2.42584109e+02] [-3.22503526e-03 9.99994717e-01 -4.05296362e-04 -1.43476336e+01] [-5.73654020e-03 3.86791162e-04 9.99983471e-01 -3.40592117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.280371743 meters 0.04005654209296596 Centerline is valid? [True, True] Translation: X:242.65, Y:-14.35, Z:-3.41 [[ 9.99988232e-01 6.91572761e-04 4.80187199e-03 2.42645254e+02] [-6.89945349e-04 9.99999704e-01 -3.40560276e-04 -1.43473974e+01] [-4.80210609e-03 3.37243239e-04 9.99988413e-01 -3.40765867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.340371743 meters 0.038400137523189395 Centerline is valid? [True, True] Translation: X:242.71, Y:-14.35, Z:-3.41 [[ 9.99990185e-01 -2.50706245e-03 3.65304375e-03 2.42705712e+02] [ 2.50802601e-03 9.99996821e-01 -2.59210798e-04 -1.43496659e+01] [-3.65238228e-03 2.68370182e-04 9.99993294e-01 -3.40904939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40037174299997 meters 0.043600632840869874 Centerline is valid? [True, True] Translation: X:242.76, Y:-14.36, Z:-3.41 [[ 9.99979049e-01 -5.57283243e-03 3.29332309e-03 2.42764504e+02] [ 5.57363269e-03 9.99984440e-01 -2.33866562e-04 -1.43622920e+01] [-3.29196854e-03 2.52217435e-04 9.99994550e-01 -3.41090136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46037174299997 meters 0.04175518547921872 Centerline is valid? [True, True] Translation: X:242.83, Y:-14.36, Z:-3.41 [[ 9.99980679e-01 -5.56363930e-03 2.77266609e-03 2.42826551e+02] [ 5.56420393e-03 9.99984501e-01 -1.95969401e-04 -1.43633567e+01] [-2.77153281e-03 2.11393294e-04 9.99996137e-01 -3.41146580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52037174299997 meters 0.04058471091022843 Centerline is valid? [True, True] Translation: X:242.89, Y:-14.36, Z:-3.41 [[ 9.99997410e-01 6.94430804e-04 2.16761078e-03 2.42886478e+02] [-6.94098968e-04 9.99999747e-01 -1.53837133e-04 -1.43605081e+01] [-2.16771706e-03 1.52332198e-04 9.99997639e-01 -3.41158504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58037174299997 meters 0.03552850260496755 Centerline is valid? [True, True] Translation: X:242.95, Y:-14.35, Z:-3.41 [[ 9.99961163e-01 7.95075158e-03 3.80244784e-03 2.42947463e+02] [-7.94978179e-03 9.99968364e-01 -2.70090369e-04 -1.43542651e+01] [-3.80447497e-03 2.39851249e-04 9.99992734e-01 -3.41071853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64037174299997 meters 0.02991700473964962 Centerline is valid? [True, True] Translation: X:243.01, Y:-14.34, Z:-3.41 [[ 9.99757662e-01 2.10708262e-02 6.37481457e-03 2.43008576e+02] [-2.10683650e-02 9.99777935e-01 -4.52999207e-04 -1.43438760e+01] [-6.38294401e-03 3.18582508e-04 9.99979578e-01 -3.40989361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70037174299998 meters 0.026653186927251257 Centerline is valid? [True, True] Translation: X:243.07, Y:-14.34, Z:-3.41 [[ 9.99401196e-01 3.39705137e-02 6.57679008e-03 2.43068396e+02] [-3.39681721e-02 9.99422806e-01 -4.67448230e-04 -1.43367475e+01] [-6.58887345e-03 2.43766784e-04 9.99978263e-01 -3.41212794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76037174299998 meters 0.024813030449808565 Centerline is valid? [True, True] Translation: X:243.13, Y:-14.33, Z:-3.41 [[ 9.99132140e-01 4.11289748e-02 6.58597705e-03 2.43128963e+02] [-4.11267826e-02 9.99153826e-01 -4.68003418e-04 -1.43332909e+01] [-6.59965267e-03 1.96737210e-04 9.99978203e-01 -3.41389586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82037174299998 meters 0.022399415926612175 Centerline is valid? [True, True] Translation: X:243.19, Y:-14.33, Z:-3.41 [[ 9.98660185e-01 5.13364201e-02 6.51211494e-03 2.43189812e+02] [-5.13344936e-02 9.98681408e-01 -4.62751999e-04 -1.43285747e+01] [-6.52728415e-03 1.27835874e-04 9.99978689e-01 -3.41466231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88037174299998 meters 0.021589957763285143 Centerline is valid? [True, True] Translation: X:243.25, Y:-14.33, Z:-3.42 [[ 9.98264892e-01 5.85715829e-02 6.04775962e-03 2.43248890e+02] [-5.85700514e-02 9.98283208e-01 -4.30194095e-04 -1.43271598e+01] [-6.06257402e-03 7.52300699e-05 9.99981620e-01 -3.41659422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.940371743 meters 0.021393092806541433 Centerline is valid? [True, True] Translation: X:243.31, Y:-14.33, Z:-3.42 [[ 9.98198328e-01 5.96288607e-02 6.67053325e-03 2.43307232e+02] [-5.96270162e-02 9.98220613e-01 -4.75223227e-04 -1.43326355e+01] [-6.68700082e-03 7.66230368e-05 9.99977639e-01 -3.41906390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.000371743 meters 0.021623822059821718 Centerline is valid? [True, True] Translation: X:243.37, Y:-14.34, Z:-3.42 [[ 9.98279546e-01 5.82365886e-02 6.81531316e-03 2.43365649e+02] [-5.82346425e-02 9.98302806e-01 -4.83813157e-04 -1.43392628e+01] [-6.83192188e-03 8.60934534e-05 9.99976658e-01 -3.42051322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.060371743 meters 0.02159174145391563 Centerline is valid? [True, True] Translation: X:243.42, Y:-14.35, Z:-3.42 [[ 9.98491289e-01 5.43644319e-02 7.72366201e-03 2.43423670e+02] [-5.43618353e-02 9.98521153e-01 -5.45876974e-04 -1.43500085e+01] [-7.74191619e-03 1.25180961e-04 9.99970023e-01 -3.42136067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.120371743 meters 0.02260316285869313 Centerline is valid? [True, True] Translation: X:243.48, Y:-14.37, Z:-3.42 [[ 9.98754422e-01 4.88626529e-02 1.01017578e-02 2.43482273e+02] [-4.88579754e-02 9.98805484e-01 -7.09443680e-04 -1.43652703e+01] [-1.01243564e-02 2.15008580e-04 9.99948724e-01 -3.42225066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18037174299997 meters 0.023101403660478696 Centerline is valid? [True, True] Translation: X:243.54, Y:-14.37, Z:-3.42 [[ 9.98857391e-01 4.65716255e-02 1.07236649e-02 2.43540348e+02] [-4.65662256e-02 9.98914921e-01 -7.52818331e-04 -1.43740022e+01] [-1.07470889e-02 2.52597553e-04 9.99942216e-01 -3.42327343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24037174299997 meters 0.024641680981883043 Centerline is valid? [True, True] Translation: X:243.60, Y:-14.39, Z:-3.42 [[ 9.99214363e-01 3.79953698e-02 1.12698346e-02 2.43599706e+02] [-3.79888718e-02 9.99277850e-01 -7.90167733e-04 -1.43897744e+01] [-1.12917188e-02 3.61418645e-04 9.99936181e-01 -3.42413895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30037174299997 meters 0.026619078301640984 Centerline is valid? [True, True] Translation: X:243.66, Y:-14.41, Z:-3.43 [[ 9.99591804e-01 2.71817841e-02 8.79640262e-03 2.43658843e+02] [-2.71774085e-02 9.99630436e-01 -6.16607361e-04 -1.44052901e+01] [-8.80991227e-03 3.77292237e-04 9.99961121e-01 -3.42747802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36037174299997 meters 0.03290770143343155 Centerline is valid? [True, True] Translation: X:243.72, Y:-14.43, Z:-3.43 [[ 9.99777335e-01 1.95961082e-02 7.82772014e-03 2.43716797e+02] [-1.95924114e-02 9.99807900e-01 -5.48676937e-04 -1.44251201e+01] [-7.83696836e-03 3.95190852e-04 9.99969212e-01 -3.43061182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42037174299998 meters 0.03637049358352268 Centerline is valid? [True, True] Translation: X:243.78, Y:-14.44, Z:-3.43 [[ 9.99908929e-01 1.05602158e-02 8.40326761e-03 2.43776259e+02] [-1.05556391e-02 9.99944114e-01 -5.88806887e-04 -1.44403072e+01] [-8.40901592e-03 5.00051404e-04 9.99964519e-01 -3.43087943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48037174299998 meters 0.0356467181563423 Centerline is valid? [True, True] Translation: X:243.84, Y:-14.45, Z:-3.43 [[ 9.99957320e-01 4.59768942e-03 8.01366235e-03 2.43836845e+02] [-4.59333755e-03 9.99989293e-01 -5.61377361e-04 -1.44459546e+01] [-8.01615759e-03 5.24543946e-04 9.99967733e-01 -3.43093605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54037174299998 meters 0.03750577595415961 Centerline is valid? [True, True] Translation: X:243.90, Y:-14.45, Z:-3.43 [[ 9.99962539e-01 4.02336330e-03 7.66381166e-03 2.43898003e+02] [-4.01937260e-03 9.99991779e-01 -5.36050352e-04 -1.44548043e+01] [-7.66590538e-03 5.05226556e-04 9.99970489e-01 -3.43253515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60037174299998 meters 0.0343479024723533 Centerline is valid? [True, True] Translation: X:243.96, Y:-14.45, Z:-3.43 [[ 9.99944284e-01 6.40027904e-03 8.39433925e-03 2.43959328e+02] [-6.39555898e-03 9.99979375e-01 -5.89014442e-04 -1.44547956e+01] [-8.39793597e-03 5.35295133e-04 9.99964593e-01 -3.43219743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66037174299998 meters 0.03321630732235744 Centerline is valid? [True, True] Translation: X:244.02, Y:-14.45, Z:-3.43 [[ 9.99881608e-01 1.18651088e-02 9.79743461e-03 2.44020450e+02] [-1.18589351e-02 9.99929444e-01 -6.87991237e-04 -1.44548885e+01] [-9.80490643e-03 5.71722643e-04 9.99951767e-01 -3.43185155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.720371743 meters 0.03291443044899597 Centerline is valid? [True, True] Translation: X:244.08, Y:-14.46, Z:-3.43 [[ 9.99849549e-01 1.43184725e-02 9.79086404e-03 2.44080912e+02] [-1.43124219e-02 9.99897336e-01 -6.87778873e-04 -1.44575199e+01] [-9.79970681e-03 5.47544419e-04 9.99951832e-01 -3.43293772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.780371743 meters 0.03328206101211927 Centerline is valid? [True, True] Translation: X:244.14, Y:-14.46, Z:-3.43 [[ 9.99829386e-01 1.53513527e-02 1.02730165e-02 2.44140900e+02] [-1.53447445e-02 9.99882002e-01 -7.21780221e-04 -1.44586014e+01] [-1.02828846e-02 5.64020262e-04 9.99946971e-01 -3.43304273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.840371743 meters 0.03424611172621161 Centerline is valid? [True, True] Translation: X:244.20, Y:-14.46, Z:-3.43 [[ 9.99862474e-01 1.27750799e-02 1.05749797e-02 2.44200812e+02] [-1.27679385e-02 9.99918211e-01 -7.42548789e-04 -1.44617653e+01] [-1.05836009e-02 6.07425979e-04 9.99943808e-01 -3.43287071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90037174299997 meters 0.037800799544763786 Centerline is valid? [True, True] Translation: X:244.26, Y:-14.47, Z:-3.44 [[ 9.99928238e-01 7.47514569e-03 9.36173039e-03 2.44259392e+02] [-7.46931822e-03 9.99971888e-01 -6.57287448e-04 -1.44702224e+01] [-9.36638054e-03 5.87314536e-04 9.99955962e-01 -3.43598752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96037174299997 meters 0.036327349558788496 Centerline is valid? [True, True] Translation: X:244.32, Y:-14.47, Z:-3.44 [[ 9.99970343e-01 3.48871093e-03 6.86596769e-03 2.44319538e+02] [-3.48548531e-03 9.99993810e-01 -4.81708128e-04 -1.44715718e+01] [-6.86760573e-03 4.57762613e-04 9.99976313e-01 -3.43874891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02037174299997 meters 0.040269436335406375 Centerline is valid? [True, True] Translation: X:244.38, Y:-14.48, Z:-3.44 [[ 9.99989802e-01 -9.08644105e-04 4.42380615e-03 2.44378510e+02] [ 9.10025817e-04 9.99999538e-01 -3.10332795e-04 -1.44800477e+01] [-4.42352212e-03 3.14355408e-04 9.99990167e-01 -3.44216172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08037174299997 meters 0.04618861593939798 Centerline is valid? [True, True] Translation: X:244.44, Y:-14.49, Z:-3.44 [[ 9.99987115e-01 -3.15447648e-03 3.97738097e-03 2.44438030e+02] [ 3.15560844e-03 9.99994982e-01 -2.78355981e-04 -1.44898803e+01] [-3.97648294e-03 2.90903452e-04 9.99992051e-01 -3.44365321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14037174299997 meters 0.04063682111345382 Centerline is valid? [True, True] Translation: X:244.50, Y:-14.49, Z:-3.44 [[ 9.99981360e-01 -3.81626841e-03 4.76602745e-03 2.44500218e+02] [ 3.81790481e-03 9.99992656e-01 -3.34297369e-04 -1.44853057e+01] [-4.76471668e-03 3.52487377e-04 9.99988587e-01 -3.44306553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20037174299998 meters 0.04009093568954926 Centerline is valid? [True, True] Translation: X:244.56, Y:-14.49, Z:-3.44 [[ 9.99979772e-01 -4.62883940e-03 4.36221785e-03 2.44562921e+02] [ 4.63021792e-03 9.99989234e-01 -3.05967439e-04 -1.44851320e+01] [-4.36075461e-03 3.26159269e-04 9.99990439e-01 -3.44337414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26037174299998 meters 0.03902784155744902 Centerline is valid? [True, True] Translation: X:244.62, Y:-14.49, Z:-3.44 [[ 9.99984082e-01 -4.06915319e-03 3.90877306e-03 2.44624939e+02] [ 4.07025643e-03 9.99991679e-01 -2.74333973e-04 -1.44852447e+01] [-3.90762423e-03 2.90239315e-04 9.99992323e-01 -3.44410948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32037174299998 meters 0.04134421321094531 Centerline is valid? [True, True] Translation: X:244.69, Y:-14.49, Z:-3.45 [[ 9.99986212e-01 -2.95948451e-03 4.33793720e-03 2.44686164e+02] [ 2.96083562e-03 9.99995570e-01 -3.05074620e-04 -1.44892427e+01] [-4.33701512e-03 3.17914332e-04 9.99990545e-01 -3.44516766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38037174299998 meters 0.03928695036291435 Centerline is valid? [True, True] Translation: X:244.75, Y:-14.49, Z:-3.45 [[ 9.99995305e-01 -1.03662996e-03 2.88377530e-03 2.44747772e+02] [ 1.03721937e-03 9.99999442e-01 -2.02901156e-04 -1.44870195e+01] [-2.88356336e-03 2.05891310e-04 9.99995821e-01 -3.44614454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.440371743 meters 0.04094845036061829 Centerline is valid? [True, True] Translation: X:244.81, Y:-14.49, Z:-3.45 [[ 9.99997562e-01 2.05793807e-03 8.00753992e-04 2.44807365e+02] [-2.05789350e-03 9.99997881e-01 -5.64818240e-05 -1.44894530e+01] [-8.00868531e-04 5.48338199e-05 9.99999678e-01 -3.44840505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.500371743 meters 0.03939003601948087 Centerline is valid? [True, True] Translation: X:244.87, Y:-14.49, Z:-3.45 [[ 9.99977195e-01 6.70589153e-03 8.00784705e-04 2.44868467e+02] [-6.70584841e-03 9.99977514e-01 -5.65198878e-05 -1.44876102e+01] [-8.01145715e-04 5.11486581e-05 9.99999678e-01 -3.44866765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.560371743 meters 0.03443391699870902 Centerline is valid? [True, True] Translation: X:244.93, Y:-14.48, Z:-3.45 [[ 9.99934573e-01 1.12731297e-02 1.94050055e-03 2.44929312e+02] [-1.12728851e-02 9.99936450e-01 -1.36901603e-04 -1.44825002e+01] [-1.94192054e-03 1.15017607e-04 9.99998108e-01 -3.44736271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.620371743 meters 0.03493344001029125 Centerline is valid? [True, True] Translation: X:244.99, Y:-14.48, Z:-3.45 [[ 9.99801982e-01 1.96237238e-02 3.30237748e-03 2.44988287e+02] [-1.96230599e-02 9.99807422e-01 -2.33306258e-04 -1.44843252e+01] [-3.30631985e-03 1.68457308e-04 9.99994520e-01 -3.44828963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68037174299997 meters 0.028924724490240403 Centerline is valid? [True, True] Translation: X:245.05, Y:-14.48, Z:-3.45 [[ 9.99685138e-01 2.49852079e-02 2.31617425e-03 2.45049299e+02] [-2.49848964e-02 9.99687815e-01 -1.63325137e-04 -1.44763920e+01] [-2.31953189e-03 1.05404338e-04 9.99997304e-01 -3.44811963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74037174299997 meters 0.029482353779632545 Centerline is valid? [True, True] Translation: X:245.11, Y:-14.48, Z:-3.45 [[ 9.99490247e-01 3.19208151e-02 -5.54257771e-04 2.45108271e+02] [-3.19207986e-02 9.99490401e-01 3.87514068e-05 -1.44783306e+01] [ 5.55212298e-04 -2.10393025e-05 9.99999846e-01 -3.45240324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80037174299997 meters 0.026217443352032774 Centerline is valid? [True, True] Translation: X:245.17, Y:-14.48, Z:-3.45 [[ 9.99339709e-01 3.62556669e-02 -2.38189743e-03 2.45168562e+02] [-3.62553717e-02 9.99342544e-01 1.67021545e-04 -1.44765996e+01] [ 2.38638692e-03 -8.05546854e-05 9.99997149e-01 -3.45350000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86037174299997 meters 0.025727097759875438 Centerline is valid? [True, True] Translation: X:245.23, Y:-14.48, Z:-3.45 [[ 9.99290348e-01 3.74740140e-02 -3.80759777e-03 2.45227624e+02] [-3.74732688e-02 9.99297595e-01 2.66871503e-04 -1.44787370e+01] [ 3.81492404e-03 -1.23998982e-04 9.99992715e-01 -3.45461645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92037174299998 meters 0.025008945780472393 Centerline is valid? [True, True] Translation: X:245.29, Y:-14.48, Z:-3.45 [[ 9.99205041e-01 3.98026384e-02 -2.24405444e-03 2.45286666e+02] [-3.98023867e-02 9.99207559e-01 1.56725646e-04 -1.44809759e+01] [ 2.24851425e-03 -6.72823330e-05 9.99997470e-01 -3.45364717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98037174299998 meters 0.024634278347160095 Centerline is valid? [True, True] Translation: X:245.35, Y:-14.48, Z:-3.45 [[ 9.99197676e-01 4.00054701e-02 1.88850720e-03 2.45345526e+02] [-4.00052890e-02 9.99199459e-01 -1.33578201e-04 -1.44846071e+01] [-1.89233923e-03 5.79207511e-05 9.99998208e-01 -3.45057209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04037174299998 meters 0.02483124726006948 Centerline is valid? [True, True] Translation: X:245.40, Y:-14.49, Z:-3.45 [[ 9.99293500e-01 3.72305088e-02 5.13718597e-03 2.45404339e+02] [-3.72291428e-02 9.99306690e-01 -3.61299475e-04 -1.44908068e+01] [-5.14707567e-03 1.69791186e-04 9.99986739e-01 -3.44923922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10037174299998 meters 0.028302163570566616 Centerline is valid? [True, True] Translation: X:245.46, Y:-14.50, Z:-3.45 [[ 9.99368762e-01 3.51517766e-02 5.14108705e-03 2.45461641e+02] [-3.51503823e-02 9.99381969e-01 -3.61352855e-04 -1.45021294e+01] [-5.15061190e-03 1.80413581e-04 9.99986719e-01 -3.45130301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16037174299998 meters 0.028463718200694696 Centerline is valid? [True, True] Translation: X:245.52, Y:-14.51, Z:-3.45 [[ 9.99648091e-01 2.62312440e-02 3.95166930e-03 2.45521642e+02] [-2.62303544e-02 9.99655887e-01 -2.76791238e-04 -1.45093005e+01] [-3.95757006e-03 1.73040146e-04 9.99992154e-01 -3.45346736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.220371743 meters 0.031755065991734374 Centerline is valid? [True, True] Translation: X:245.58, Y:-14.52, Z:-3.46 [[ 9.99829138e-01 1.83210004e-02 2.45670322e-03 2.45581481e+02] [-1.83206328e-02 9.99832148e-01 -1.72069726e-04 -1.45220473e+01] [-2.45944335e-03 1.27031968e-04 9.99996967e-01 -3.45721330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.280371743 meters 0.03326670536615826 Centerline is valid? [True, True] Translation: X:245.64, Y:-14.53, Z:-3.46 [[ 9.99974633e-01 7.12064519e-03 1.71052994e-04 2.45640857e+02] [-7.12064322e-03 9.99974648e-01 -1.20786319e-05 -1.45322295e+01] [-1.71134665e-04 1.08603182e-05 9.99999985e-01 -3.45893870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.340371743 meters 0.03672389462612009 Centerline is valid? [True, True] Translation: X:245.70, Y:-14.54, Z:-3.46 [[ 9.99999706e-01 7.33466716e-04 -2.22357703e-04 2.45700745e+02] [-7.33463305e-04 9.99999731e-01 1.54216642e-05 -1.45423161e+01] [ 2.22368954e-04 -1.52585685e-05 9.99999975e-01 -3.45982260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40037174299997 meters 0.0384172586392662 Centerline is valid? [True, True] Translation: X:245.76, Y:-14.55, Z:-3.46 [[ 9.99996972e-01 2.97899782e-05 2.46081663e-03 2.45761099e+02] [-2.93659810e-05 9.99999985e-01 -1.72335364e-04 -1.45486455e+01] [-2.46082173e-03 1.72262578e-04 9.99996957e-01 -3.45913201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46037174299997 meters 0.03950647180045395 Centerline is valid? [True, True] Translation: X:245.82, Y:-14.55, Z:-3.46 [[ 9.99989549e-01 2.96463576e-04 4.56233008e-03 2.45821978e+02] [-2.95010451e-04 9.99999906e-01 -3.19174777e-04 -1.45532756e+01] [-4.56242428e-03 3.17825506e-04 9.99989542e-01 -3.45857659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52037174299997 meters 0.04036377750765394 Centerline is valid? [True, True] Translation: X:245.88, Y:-14.56, Z:-3.46 [[ 9.99980750e-01 -1.06582622e-03 6.11253912e-03 2.45884167e+02] [ 1.06846059e-03 9.99999338e-01 -4.27729144e-04 -1.45587204e+01] [-6.11207919e-03 4.34251917e-04 9.99981227e-01 -3.45850313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58037174299997 meters 0.04403612632887255 Centerline is valid? [True, True] Translation: X:245.94, Y:-14.57, Z:-3.46 [[ 9.99977445e-01 -4.93932216e-03 4.55116117e-03 2.45942615e+02] [ 4.94082345e-03 9.99987743e-01 -3.18685214e-04 -1.45693511e+01] [-4.54953130e-03 3.41164510e-04 9.99989593e-01 -3.46290596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64037174299997 meters 0.04198652491343459 Centerline is valid? [True, True] Translation: X:246.00, Y:-14.57, Z:-3.47 [[ 9.99941388e-01 -1.06711421e-02 1.82931216e-03 2.46002980e+02] [ 1.06713947e-02 9.99943051e-01 -1.28366961e-04 -1.45722035e+01] [-1.82783816e-03 1.47880750e-04 9.99998319e-01 -3.46587874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70037174299998 meters 0.04402742164966367 Centerline is valid? [True, True] Translation: X:246.06, Y:-14.58, Z:-3.47 [[ 9.99911459e-01 -1.32917437e-02 -6.35348886e-04 2.46062897e+02] [ 1.32917748e-02 9.99911659e-01 4.47483492e-05 -1.45796477e+01] [ 6.34697976e-04 -5.31893015e-05 9.99999797e-01 -3.46905050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76037174299998 meters 0.04560695753466381 Centerline is valid? [True, True] Translation: X:246.12, Y:-14.58, Z:-3.47 [[ 9.99915064e-01 -1.29260397e-02 -1.66820894e-03 2.46124928e+02] [ 1.29262548e-02 9.99916445e-01 1.18238260e-04 -1.45844693e+01] [ 1.66654120e-03 -1.39791911e-04 9.99998602e-01 -3.47057790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82037174299998 meters 0.04167890050860821 Centerline is valid? [True, True] Translation: X:246.19, Y:-14.58, Z:-3.47 [[ 9.99952698e-01 -9.48486196e-03 2.15405162e-03 2.46185693e+02] [ 9.48520978e-03 9.99955003e-01 -1.51312675e-04 -1.45805653e+01] [-2.15251951e-03 1.71737149e-04 9.99997669e-01 -3.46682577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88037174299998 meters 0.040534803932108954 Centerline is valid? [True, True] Translation: X:246.25, Y:-14.58, Z:-3.47 [[ 9.99974862e-01 -5.62567190e-03 4.31583357e-03 2.46246472e+02] [ 5.62703316e-03 9.99984122e-01 -3.03332910e-04 -1.45815119e+01] [-4.31405859e-03 3.27610624e-04 9.99990641e-01 -3.46566847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.940371743 meters 0.036372524274140165 Centerline is valid? [True, True] Translation: X:246.31, Y:-14.58, Z:-3.47 [[ 9.99984670e-01 -5.32617686e-04 5.51136381e-03 2.46308084e+02] [ 5.34760253e-04 9.99999782e-01 -3.87288016e-04 -1.45767026e+01] [-5.51115633e-03 3.90229337e-04 9.99984737e-01 -3.46536296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.000371743 meters 0.03700031126797605 Centerline is valid? [True, True] Translation: X:246.37, Y:-14.58, Z:-3.47 [[ 9.99985253e-01 1.47018345e-03 5.22813013e-03 2.46367941e+02] [-1.46828295e-03 9.99998855e-01 -3.67334756e-04 -1.45814028e+01] [-5.22866420e-03 3.59652964e-04 9.99986266e-01 -3.46720600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.060371743 meters 0.038647683818017496 Centerline is valid? [True, True] Translation: X:246.43, Y:-14.59, Z:-3.47 [[ 9.99986931e-01 9.72093132e-04 5.01915343e-03 2.46430168e+02] [-9.70345278e-04 9.99999468e-01 -3.50660162e-04 -1.45887821e+01] [-5.01949163e-03 3.45785268e-04 9.99987342e-01 -3.46853011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.120371743 meters 0.04230841737703632 Centerline is valid? [True, True] Translation: X:246.49, Y:-14.60, Z:-3.47 [[ 9.99984161e-01 -2.13717444e-03 5.20684205e-03 2.46489849e+02] [ 2.13911625e-03 9.99997645e-01 -3.67394761e-04 -1.45995322e+01] [-5.20604460e-03 3.78526982e-04 9.99986377e-01 -3.46992531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18037174299997 meters 0.04153363098802737 Centerline is valid? [True, True] Translation: X:246.55, Y:-14.60, Z:-3.47 [[ 9.99974382e-01 -4.85834610e-03 5.25664206e-03 2.46550732e+02] [ 4.86036178e-03 9.99988120e-01 -3.70746819e-04 -1.46044801e+01] [-5.25477839e-03 3.96286503e-04 9.99986115e-01 -3.47139774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24037174299997 meters 0.04282796082030625 Centerline is valid? [True, True] Translation: X:246.61, Y:-14.61, Z:-3.47 [[ 9.99971195e-01 -6.48285014e-03 3.94730608e-03 2.46611873e+02] [ 6.48399865e-03 9.99978940e-01 -2.78232609e-04 -1.46113553e+01] [-3.94541921e-03 3.03818922e-04 9.99992171e-01 -3.47308885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30037174299997 meters 0.04264113095457881 Centerline is valid? [True, True] Translation: X:246.67, Y:-14.62, Z:-3.47 [[ 9.99967036e-01 -7.56286060e-03 2.95463158e-03 2.46673603e+02] [ 7.56350812e-03 9.99971375e-01 -2.08040456e-04 -1.46151522e+01] [-2.95297362e-03 2.30380978e-04 9.99995613e-01 -3.47350122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36037174299997 meters 0.044704691823091634 Centerline is valid? [True, True] Translation: X:246.73, Y:-14.62, Z:-3.48 [[ 9.99973291e-01 -6.77287353e-03 2.74673885e-03 2.46734535e+02] [ 6.77343046e-03 9.99977041e-01 -1.93506323e-04 -1.46219880e+01] [-2.74536519e-03 2.12106000e-04 9.99996209e-01 -3.47531285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42037174299998 meters 0.04166778247800049 Centerline is valid? [True, True] Translation: X:246.80, Y:-14.62, Z:-3.48 [[ 9.99985461e-01 -4.92316823e-03 2.19986899e-03 2.46796255e+02] [ 4.92352139e-03 9.99987867e-01 -1.55148421e-04 -1.46217990e+01] [-2.19907848e-03 1.65977267e-04 9.99997568e-01 -3.47643396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48037174299998 meters 0.0404127419794313 Centerline is valid? [True, True] Translation: X:246.86, Y:-14.62, Z:-3.48 [[ 9.99998307e-01 -1.53184182e-03 1.01931674e-03 2.46856851e+02] [ 1.53191580e-03 9.99998824e-01 -7.18083860e-05 -1.46231336e+01] [-1.01920555e-03 7.33697719e-05 9.99999478e-01 -3.47824346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54037174299998 meters 0.03624600008665253 Centerline is valid? [True, True] Translation: X:246.92, Y:-14.62, Z:-3.48 [[ 9.99996855e-01 1.85840551e-03 1.68443042e-03 2.46917837e+02] [-1.85820766e-03 9.99998266e-01 -1.19015334e-04 -1.46203265e+01] [-1.68464868e-03 1.15884938e-04 9.99998574e-01 -3.47731829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60037174299998 meters 0.03752752616002972 Centerline is valid? [True, True] Translation: X:246.98, Y:-14.63, Z:-3.48 [[ 9.99991931e-01 3.42810366e-03 2.09407492e-03 2.46977148e+02] [-3.42780025e-03 9.99994114e-01 -1.48462857e-04 -1.46258072e+01] [-2.09457154e-03 1.41283589e-04 9.99997796e-01 -3.47744677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66037174299998 meters 0.03606833636190668 Centerline is valid? [True, True] Translation: X:247.04, Y:-14.63, Z:-3.48 [[ 9.99985620e-01 5.14322559e-03 1.51892433e-03 2.47037326e+02] [-5.14306820e-03 9.99986769e-01 -1.07504356e-04 -1.46278202e+01] [-1.51945716e-03 9.96908783e-05 9.99998841e-01 -3.47765349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.720371743 meters 0.03494449294223829 Centerline is valid? [True, True] Translation: X:247.10, Y:-14.63, Z:-3.48 [[ 9.99980919e-01 5.96158863e-03 1.61925469e-03 2.47097305e+02] [-5.96141011e-03 9.99982224e-01 -1.15054101e-04 -1.46297676e+01] [-1.61991181e-03 1.05398865e-04 9.99998682e-01 -3.47731496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.780371743 meters 0.035899914222598306 Centerline is valid? [True, True] Translation: X:247.16, Y:-14.64, Z:-3.48 [[ 9.99973226e-01 7.01931513e-03 2.06797777e-03 2.47156079e+02] [-7.01902667e-03 9.99975356e-01 -1.46714679e-04 -1.46351207e+01] [-2.06895664e-03 1.32195560e-04 9.99997851e-01 -3.47735968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.840371743 meters 0.03609605422916815 Centerline is valid? [True, True] Translation: X:247.21, Y:-14.64, Z:-3.48 [[ 9.99967604e-01 7.32030984e-03 3.34721654e-03 2.47214683e+02] [-7.31955597e-03 9.99973184e-01 -2.37419270e-04 -1.46398617e+01] [-3.34886476e-03 2.12911439e-04 9.99994370e-01 -3.47724364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90037174299997 meters 0.03590342645529497 Centerline is valid? [True, True] Translation: X:247.27, Y:-14.64, Z:-3.48 [[ 9.99967343e-01 7.32890751e-03 3.40590017e-03 2.47274698e+02] [-7.32812917e-03 9.99973120e-01 -2.40948287e-04 -1.46436260e+01] [-3.40757451e-03 2.15981542e-04 9.99994171e-01 -3.47800225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96037174299997 meters 0.03968745319926081 Centerline is valid? [True, True] Translation: X:247.33, Y:-14.65, Z:-3.48 [[ 9.99980541e-01 6.02775788e-03 1.60749911e-03 2.47332431e+02] [-6.02758216e-03 9.99981827e-01 -1.14135839e-04 -1.46540460e+01] [-1.60815788e-03 1.04444285e-04 9.99998701e-01 -3.48125531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02037174299997 meters 0.04107136799866958 Centerline is valid? [True, True] Translation: X:247.39, Y:-14.66, Z:-3.48 [[ 9.99984962e-01 5.41251191e-03 8.83807225e-04 2.47392040e+02] [-5.41245852e-03 9.99985351e-01 -6.27921022e-05 -1.46606758e+01] [-8.84134141e-04 5.80075879e-05 9.99999607e-01 -3.48256353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08037174299997 meters 0.035438009860689644 Centerline is valid? [True, True] Translation: X:247.45, Y:-14.66, Z:-3.48 [[ 9.99991980e-01 3.92922670e-03 7.74716590e-04 2.47452329e+02] [-3.92918517e-03 9.99992279e-01 -5.51105137e-05 -1.46581544e+01] [-7.74927151e-04 5.20660669e-05 9.99999698e-01 -3.48180733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14037174299997 meters 0.03683050201960058 Centerline is valid? [True, True] Translation: X:247.51, Y:-14.67, Z:-3.48 [[ 9.99983205e-01 5.62009695e-03 1.41556005e-03 2.47511023e+02] [-5.61996069e-03 9.99984203e-01 -1.00216539e-04 -1.46651246e+01] [-1.41610092e-03 9.22594640e-05 9.99998993e-01 -3.48293415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20037174299998 meters 0.03891753765021338 Centerline is valid? [True, True] Translation: X:247.57, Y:-14.67, Z:-3.48 [[ 9.99965729e-01 8.06907731e-03 1.85238280e-03 2.47569436e+02] [-8.06884820e-03 9.99967438e-01 -1.31120212e-04 -1.46720421e+01] [-1.85338050e-03 1.16169123e-04 9.99998276e-01 -3.48392424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26037174299998 meters 0.03404287707662346 Centerline is valid? [True, True] Translation: X:247.63, Y:-14.67, Z:-3.48 [[ 9.99925011e-01 1.17921003e-02 3.30423358e-03 2.47630207e+02] [-1.17913958e-02 9.99930452e-01 -2.32627878e-04 -1.46683968e+01] [-3.30674695e-03 1.93648908e-04 9.99994514e-01 -3.48264941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32037174299998 meters 0.03375540359107709 Centerline is valid? [True, True] Translation: X:247.69, Y:-14.67, Z:-3.48 [[ 9.99864480e-01 1.61826961e-02 3.02349983e-03 2.47689561e+02] [-1.61821256e-02 9.99869038e-01 -2.13039389e-04 -1.46718402e+01] [-3.02655142e-03 1.64083864e-04 9.99995407e-01 -3.48416620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38037174299998 meters 0.03159054457077128 Centerline is valid? [True, True] Translation: X:247.75, Y:-14.67, Z:-3.49 [[ 9.99802877e-01 1.97514593e-02 2.02160479e-03 2.47750072e+02] [-1.97512115e-02 9.99804916e-01 -1.42453360e-04 -1.46712599e+01] [-2.02402407e-03 1.02496136e-04 9.99997946e-01 -3.48528482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.440371743 meters 0.029839016224497472 Centerline is valid? [True, True] Translation: X:247.81, Y:-14.67, Z:-3.49 [[ 9.99711760e-01 2.38614417e-02 2.65122714e-03 2.47809763e+02] [-2.38610298e-02 9.99715268e-01 -1.86899337e-04 -1.46707391e+01] [-2.65493193e-03 1.23584456e-04 9.99996468e-01 -3.48525134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.500371743 meters 0.02777466039298729 Centerline is valid? [True, True] Translation: X:247.87, Y:-14.67, Z:-3.48 [[ 9.99639329e-01 2.66893588e-02 2.98178077e-03 2.47869387e+02] [-2.66888508e-02 9.99643767e-01 -2.10042135e-04 -1.46703451e+01] [-2.98632445e-03 1.30386077e-04 9.99995532e-01 -3.48460432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.560371743 meters 0.02759957738019521 Centerline is valid? [True, True] Translation: X:247.93, Y:-14.68, Z:-3.49 [[ 9.99619400e-01 2.74564920e-02 2.68254373e-03 2.47928116e+02] [-2.74560826e-02 9.99622993e-01 -1.89319428e-04 -1.46753963e+01] [-2.68673044e-03 1.15595231e-04 9.99996384e-01 -3.48606825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.620371743 meters 0.028190578345291865 Centerline is valid? [True, True] Translation: X:247.99, Y:-14.68, Z:-3.49 [[ 9.99629173e-01 2.71122016e-02 2.53886499e-03 2.47986496e+02] [-2.71118341e-02 9.99632391e-01 -1.79048028e-04 -1.46811645e+01] [-2.54278606e-03 1.10148346e-04 9.99996761e-01 -3.48761309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68037174299997 meters 0.027588278002750863 Centerline is valid? [True, True] Translation: X:248.05, Y:-14.69, Z:-3.49 [[ 9.99639515e-01 2.68302015e-02 9.90377446e-04 2.48045348e+02] [-2.68301449e-02 9.99640004e-01 -7.03957854e-05 -1.46850884e+01] [-9.91909648e-04 4.37984384e-05 9.99999507e-01 -3.48895741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74037174299997 meters 0.027956169538147814 Centerline is valid? [True, True] Translation: X:248.10, Y:-14.69, Z:-3.49 [[ 9.99659278e-01 2.61009286e-02 2.62255462e-04 2.48103533e+02] [-2.61009244e-02 9.99659313e-01 -1.93583441e-05 -1.46903820e+01] [-2.62671386e-04 1.25066383e-05 9.99999965e-01 -3.48936615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80037174299997 meters 0.027956082298568528 Centerline is valid? [True, True] Translation: X:248.16, Y:-14.70, Z:-3.49 [[ 9.99651815e-01 2.63864988e-02 3.22547246e-05 2.48161847e+02] [-2.63864987e-02 9.99651816e-01 -3.26051084e-06 -1.46950838e+01] [-3.23295276e-05 2.40828634e-06 9.99999999e-01 -3.49023114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86037174299997 meters 0.027511544702751925 Centerline is valid? [True, True] Translation: X:248.22, Y:-14.70, Z:-3.49 [[ 9.99617873e-01 2.76421489e-02 1.43284486e-04 2.48220412e+02] [-2.76421476e-02 9.99617883e-01 -1.10130206e-05 -1.46989955e+01] [-1.43534159e-04 7.04812131e-06 9.99999990e-01 -3.49085166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92037174299998 meters 0.026685574029245807 Centerline is valid? [True, True] Translation: X:248.28, Y:-14.70, Z:-3.49 [[ 9.99525700e-01 3.07944813e-02 2.75139614e-04 2.48280671e+02] [-3.07944770e-02 9.99525737e-01 -1.99238407e-05 -1.47017859e+01] [-2.75622670e-04 1.14416104e-05 9.99999962e-01 -3.49139841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98037174299998 meters 0.027037959913739144 Centerline is valid? [True, True] Translation: X:248.34, Y:-14.71, Z:-3.49 [[ 9.99473154e-01 3.24424027e-02 9.51350754e-04 2.48338734e+02] [-3.24423533e-02 9.99473606e-01 -6.73133177e-05 -1.47073939e+01] [-9.53033774e-04 3.64137967e-05 9.99999545e-01 -3.49265146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04037174299998 meters 0.026573256447361547 Centerline is valid? [True, True] Translation: X:248.40, Y:-14.71, Z:-3.49 [[ 9.99487883e-01 3.19338811e-02 2.04897321e-03 2.48397440e+02] [-3.19336535e-02 9.99489981e-01 -1.43698486e-04 -1.47131037e+01] [-2.05251704e-03 7.81936948e-05 9.99997891e-01 -3.49348697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10037174299998 meters 0.02934003971956565 Centerline is valid? [True, True] Translation: X:248.46, Y:-14.73, Z:-3.50 [[ 9.99647374e-01 2.65138874e-02 1.46351715e-03 2.48455984e+02] [-2.65137659e-02 9.99648443e-01 -1.02367466e-04 -1.47251364e+01] [-1.46571680e-03 6.35280174e-05 9.99998924e-01 -3.49573900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16037174299998 meters 0.03298205493921507 Centerline is valid? [True, True] Translation: X:248.52, Y:-14.74, Z:-3.50 [[ 9.99802674e-01 1.98546993e-02 6.34904136e-04 2.48515240e+02] [-1.98546751e-02 9.99802876e-01 -4.44193135e-05 -1.47384547e+01] [-6.35660913e-04 3.18047331e-05 9.99999797e-01 -3.49816848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.220371743 meters 0.03500995320257247 Centerline is valid? [True, True] Translation: X:248.57, Y:-14.75, Z:-3.50 [[ 9.99874321e-01 1.58498338e-02 -3.54542107e-04 2.48574997e+02] [-1.58498262e-02 9.99874383e-01 2.44314113e-05 -1.47475203e+01] [ 3.54884804e-04 -1.88089100e-05 9.99999937e-01 -3.49971981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.280371743 meters 0.0375418520186261 Centerline is valid? [True, True] Translation: X:248.63, Y:-14.76, Z:-3.50 [[ 9.99915451e-01 1.29869445e-02 6.55163341e-04 2.48632878e+02] [-1.29869168e-02 9.99915665e-01 -4.64776593e-05 -1.47557803e+01] [-6.55711691e-04 3.79651779e-05 9.99999784e-01 -3.49915962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.340371743 meters 0.03197518958995228 Centerline is valid? [True, True] Translation: X:248.69, Y:-14.75, Z:-3.50 [[ 9.99920070e-01 1.23128114e-02 2.87192733e-03 2.48692232e+02] [-1.23122863e-02 9.99924181e-01 -2.00441488e-04 -1.47516484e+01] [-2.87417758e-03 1.65065475e-04 9.99995856e-01 -3.49753385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40037174299997 meters 0.03188877086343214 Centerline is valid? [True, True] Translation: X:248.75, Y:-14.75, Z:-3.50 [[ 9.99917122e-01 1.24266491e-02 3.36576069e-03 2.48750880e+02] [-1.24259300e-02 9.99922768e-01 -2.34490944e-04 -1.47540962e+01] [-3.36841469e-03 1.92648803e-04 9.99994308e-01 -3.49853266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46037174299997 meters 0.03252109463311405 Centerline is valid? [True, True] Translation: X:248.81, Y:-14.76, Z:-3.50 [[ 9.99893997e-01 1.40083053e-02 3.97026486e-03 2.48809116e+02] [-1.40073190e-02 9.99901855e-01 -2.76125697e-04 -1.47554997e+01] [-3.97374325e-03 2.20483661e-04 9.99992080e-01 -3.49892970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52037174299997 meters 0.031737953647073526 Centerline is valid? [True, True] Translation: X:248.87, Y:-14.76, Z:-3.50 [[ 9.99864105e-01 1.57142274e-02 4.98339023e-03 2.48868704e+02] [-1.57126984e-02 9.99876488e-01 -3.45817797e-04 -1.47559186e+01] [-4.98820898e-03 2.67468295e-04 9.99987523e-01 -3.49845554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58037174299997 meters 0.030344998255540143 Centerline is valid? [True, True] Translation: X:248.93, Y:-14.75, Z:-3.50 [[ 9.99818617e-01 1.78080995e-02 6.75306502e-03 2.48928912e+02] [-1.78053454e-02 9.99841363e-01 -4.67736781e-04 -1.47547854e+01] [-6.76032323e-03 3.47411287e-04 9.99977088e-01 -3.49772842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64037174299997 meters 0.029839692648642908 Centerline is valid? [True, True] Translation: X:248.99, Y:-14.76, Z:-3.50 [[ 9.99792876e-01 1.93842757e-02 6.20125016e-03 2.48988194e+02] [-1.93819824e-02 9.99812059e-01 -4.29705016e-04 -1.47551229e+01] [-6.20841421e-03 3.09423493e-04 9.99980680e-01 -3.49996334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70037174299998 meters 0.03065793163185482 Centerline is valid? [True, True] Translation: X:249.05, Y:-14.76, Z:-3.50 [[ 9.99778822e-01 2.00174381e-02 6.45047582e-03 2.49045851e+02] [-2.00149706e-02 9.99799581e-01 -4.46858248e-04 -1.47592165e+01] [-6.45812797e-03 3.17653329e-04 9.99979096e-01 -3.50127971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76037174299998 meters 0.029482047268141597 Centerline is valid? [True, True] Translation: X:249.10, Y:-14.76, Z:-3.50 [[ 9.99771169e-01 1.97880579e-02 8.12666400e-03 2.49104502e+02] [-1.97841431e-02 9.99804117e-01 -5.61844524e-04 -1.47599219e+01] [-8.13618994e-03 4.00936873e-04 9.99966820e-01 -3.50091354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82037174299998 meters 0.032187672906051325 Centerline is valid? [True, True] Translation: X:249.16, Y:-14.77, Z:-3.50 [[ 9.99819244e-01 1.69110520e-02 8.68886896e-03 2.49162153e+02] [-1.69064744e-02 9.99856895e-01 -6.00010989e-04 -1.47676678e+01] [-8.69777236e-03 4.53004392e-04 9.99962071e-01 -3.50183131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88037174299998 meters 0.03547969636150126 Centerline is valid? [True, True] Translation: X:249.22, Y:-14.78, Z:-3.51 [[ 9.99914876e-01 1.13152549e-02 6.49659897e-03 2.49222350e+02] [-1.13125830e-02 9.99935910e-01 -4.47879314e-04 -1.47777877e+01] [-6.50125047e-03 3.74347874e-04 9.99978797e-01 -3.50539814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.940371743 meters 0.03294455000338502 Centerline is valid? [True, True] Translation: X:249.28, Y:-14.78, Z:-3.51 [[ 9.99935771e-01 9.89849957e-03 5.52031066e-03 2.49282293e+02] [-9.89654716e-03 9.99950955e-01 -3.80881985e-04 -1.47781917e+01] [-5.52381008e-03 3.26225506e-04 9.99984690e-01 -3.50663144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.000371743 meters 0.03458419259693272 Centerline is valid? [True, True] Translation: X:249.34, Y:-14.78, Z:-3.51 [[ 9.99953337e-01 9.51147259e-03 1.68995259e-03 2.49340873e+02] [-9.51128822e-03 9.99954760e-01 -1.17101475e-04 -1.47826746e+01] [-1.69098994e-03 1.01022385e-04 9.99998565e-01 -3.50964399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.060371743 meters 0.033490279392656634 Centerline is valid? [True, True] Translation: X:249.40, Y:-14.78, Z:-3.51 [[ 9.99900165e-01 1.38025379e-02 3.02503566e-03 2.49401211e+02] [-1.38019706e-02 9.99904727e-01 -2.08314232e-04 -1.47833996e+01] [-3.02762272e-03 1.66541981e-04 9.99995403e-01 -3.50900762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.120371743 meters 0.030613414698387673 Centerline is valid? [True, True] Translation: X:249.46, Y:-14.78, Z:-3.51 [[ 9.99704848e-01 2.33753016e-02 6.61905738e-03 2.49461401e+02] [-2.33727946e-02 9.99726715e-01 -4.55863755e-04 -1.47794017e+01] [-6.62790445e-03 3.01023337e-04 9.99977990e-01 -3.50608229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18037174299997 meters 0.02844753078932096 Centerline is valid? [True, True] Translation: X:249.52, Y:-14.78, Z:-3.51 [[ 9.99484690e-01 3.09257132e-02 8.59965974e-03 2.49520603e+02] [-3.09217616e-02 9.99521633e-01 -5.92119363e-04 -1.47778752e+01] [-8.61385766e-03 3.25897610e-04 9.99962847e-01 -3.50538343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24037174299997 meters 0.02592102507144956 Centerline is valid? [True, True] Translation: X:249.58, Y:-14.78, Z:-3.51 [[ 9.99456436e-01 3.18777834e-02 8.40468124e-03 2.49579478e+02] [-3.18740440e-02 9.99491726e-01 -5.78532881e-04 -1.47777481e+01] [-8.41885171e-03 3.10327232e-04 9.99964513e-01 -3.50656501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30037174299997 meters 0.026533114487265287 Centerline is valid? [True, True] Translation: X:249.64, Y:-14.78, Z:-3.51 [[ 9.99552555e-01 2.91042009e-02 6.90184922e-03 2.49638479e+02] [-2.91016162e-02 9.99576346e-01 -4.74648685e-04 -1.47847355e+01] [-6.91273949e-03 2.73581339e-04 9.99976069e-01 -3.50877616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36037174299997 meters 0.028785850270890787 Centerline is valid? [True, True] Translation: X:249.70, Y:-14.80, Z:-3.51 [[ 9.99747604e-01 2.18199913e-02 5.34934783e-03 2.49698061e+02] [-2.18183376e-02 9.99761884e-01 -3.67296324e-04 -1.47951484e+01] [-5.35608847e-03 2.50489744e-04 9.99985625e-01 -3.51081929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42037174299998 meters 0.030324980542065203 Centerline is valid? [True, True] Translation: X:249.76, Y:-14.80, Z:-3.51 [[ 9.99889290e-01 1.42879547e-02 4.15476999e-03 2.49758260e+02] [-1.42868924e-02 9.99897896e-01 -2.85265081e-04 -1.48042285e+01] [-4.15842163e-03 2.25874748e-04 9.99991328e-01 -3.51305792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48037174299998 meters 0.03607415565938688 Centerline is valid? [True, True] Translation: X:249.82, Y:-14.82, Z:-3.52 [[ 9.99971505e-01 7.43023811e-03 1.33467762e-03 2.49816717e+02] [-7.43012210e-03 9.99972392e-01 -9.18502070e-05 -1.48186786e+01] [-1.33532324e-03 8.19307721e-05 9.99999105e-01 -3.51764313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54037174299998 meters 0.038522639343261576 Centerline is valid? [True, True] Translation: X:249.88, Y:-14.83, Z:-3.52 [[ 9.99988461e-01 4.68140232e-03 1.07844357e-03 2.49876265e+02] [-4.68132495e-03 9.99989040e-01 -7.42562929e-05 -1.48259403e+01] [-1.07877937e-03 6.92068912e-05 9.99999416e-01 -3.51845533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60037174299998 meters 0.03527950660473696 Centerline is valid? [True, True] Translation: X:249.94, Y:-14.82, Z:-3.52 [[ 9.99986914e-01 4.32088541e-03 2.73905157e-03 2.49936384e+02] [-4.32038554e-03 9.99990649e-01 -1.88389904e-04 -1.48246924e+01] [-2.73983997e-03 1.76553680e-04 9.99996231e-01 -3.51540501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66037174299998 meters 0.0354806504183875 Centerline is valid? [True, True] Translation: X:250.00, Y:-14.83, Z:-3.51 [[ 9.99963720e-01 7.46355447e-03 4.10532032e-03 2.49995774e+02] [-7.46246030e-03 9.99972116e-01 -2.81778411e-04 -1.48276489e+01] [-4.10730892e-03 2.51132398e-04 9.99991533e-01 -3.51445306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.720371743 meters 0.033536680480685636 Centerline is valid? [True, True] Translation: X:250.06, Y:-14.83, Z:-3.51 [[ 9.99925438e-01 1.12250064e-02 4.80799530e-03 2.50056169e+02] [-1.12235498e-02 9.99936960e-01 -3.29830958e-04 -1.48279331e+01] [-4.81139456e-03 2.75843591e-04 9.99988387e-01 -3.51414614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.780371743 meters 0.034463288801924466 Centerline is valid? [True, True] Translation: X:250.11, Y:-14.83, Z:-3.52 [[ 9.99905066e-01 1.30412483e-02 4.44811018e-03 2.50114384e+02] [-1.30400180e-02 9.99914929e-01 -3.05485111e-04 -1.48329614e+01] [-4.45171568e-03 2.47452674e-04 9.99990060e-01 -3.51551416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.840371743 meters 0.03352007998571455 Centerline is valid? [True, True] Translation: X:250.17, Y:-14.83, Z:-3.52 [[ 9.99897600e-01 1.38415897e-02 3.63308406e-03 2.50173231e+02] [-1.38407737e-02 9.99904181e-01 -2.49633737e-04 -1.48348702e+01] [-3.63619127e-03 1.99323480e-04 9.99993369e-01 -3.51711072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90037174299997 meters 0.03211217023314277 Centerline is valid? [True, True] Translation: X:250.23, Y:-14.84, Z:-3.52 [[ 9.99918111e-01 1.22741012e-02 3.62174771e-03 2.50232575e+02] [-1.22732816e-02 9.99924650e-01 -2.48440788e-04 -1.48358512e+01] [-3.62452420e-03 2.03969714e-04 9.99993411e-01 -3.51701252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96037174299997 meters 0.034143617329368776 Centerline is valid? [True, True] Translation: X:250.29, Y:-14.84, Z:-3.52 [[ 9.99943716e-01 1.00385193e-02 3.43404758e-03 2.50290404e+02] [-1.00377703e-02 9.99949593e-01 -2.35261507e-04 -1.48423779e+01] [-3.43623616e-03 2.00778085e-04 9.99994076e-01 -3.51794591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02037174299997 meters 0.0344902849954338 Centerline is valid? [True, True] Translation: X:250.35, Y:-14.85, Z:-3.52 [[ 9.99971440e-01 6.43585478e-03 3.96209042e-03 2.50350462e+02] [-6.43483141e-03 9.99979260e-01 -2.70984606e-04 -1.48467643e+01] [-3.96375226e-03 2.45481483e-04 9.99992114e-01 -3.51797474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08037174299997 meters 0.03593400023887169 Centerline is valid? [True, True] Translation: X:250.41, Y:-14.85, Z:-3.52 [[ 9.99989100e-01 2.18165057e-03 4.12788812e-03 2.50410510e+02] [-2.18050456e-03 9.99997583e-01 -2.82105756e-04 -1.48537480e+01] [-4.12849359e-03 2.73101802e-04 9.99991440e-01 -3.51915935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14037174299997 meters 0.03673595978124921 Centerline is valid? [True, True] Translation: X:250.47, Y:-14.86, Z:-3.52 [[ 9.99995469e-01 -7.49063762e-05 3.00948013e-03 2.50470808e+02] [ 7.55239370e-05 9.99999976e-01 -2.05092024e-04 -1.48600204e+01] [-3.00946470e-03 2.05318382e-04 9.99995450e-01 -3.52226238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20037174299998 meters 0.03819452327791104 Centerline is valid? [True, True] Translation: X:250.53, Y:-14.87, Z:-3.52 [[ 9.99995088e-01 -4.15727684e-04 3.10660781e-03 2.50531750e+02] [ 4.16388370e-04 9.99999891e-01 -2.12027658e-04 -1.48664711e+01] [-3.10651932e-03 2.13320172e-04 9.99995152e-01 -3.52334625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26037174299998 meters 0.03854408166851886 Centerline is valid? [True, True] Translation: X:250.59, Y:-14.87, Z:-3.52 [[ 9.99991915e-01 1.08344567e-03 3.87252526e-03 2.50592769e+02] [-1.08242922e-03 9.99999379e-01 -2.64563557e-04 -1.48710772e+01] [-3.87280949e-03 2.60369683e-04 9.99992467e-01 -3.52287684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32037174299998 meters 0.03682120198044619 Centerline is valid? [True, True] Translation: X:250.65, Y:-14.87, Z:-3.52 [[ 9.99985337e-01 4.14216409e-03 3.48840236e-03 2.50653351e+02] [-4.14135626e-03 9.99991396e-01 -2.38767043e-04 -1.48724372e+01] [-3.48936136e-03 2.24316825e-04 9.99993887e-01 -3.52423465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38037174299998 meters 0.03618197290805573 Centerline is valid? [True, True] Translation: X:250.71, Y:-14.88, Z:-3.53 [[ 9.99958754e-01 8.08006292e-03 4.14766489e-03 2.50713225e+02] [-8.07895417e-03 9.99967324e-01 -2.84004716e-04 -1.48750538e+01] [-4.14982414e-03 2.50484207e-04 9.99991358e-01 -3.52533450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.440371743 meters 0.03518903327628874 Centerline is valid? [True, True] Translation: X:250.77, Y:-14.88, Z:-3.53 [[ 9.99915899e-01 1.21133607e-02 4.63254883e-03 2.50773927e+02] [-1.21120211e-02 9.99926597e-01 -3.17114942e-04 -1.48769638e+01] [-4.63605011e-03 2.60978743e-04 9.99989219e-01 -3.52575152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.500371743 meters 0.028775548555594777 Centerline is valid? [True, True] Translation: X:250.83, Y:-14.87, Z:-3.53 [[ 9.99814007e-01 1.85321931e-02 5.33946023e-03 2.50834719e+02] [-1.85305054e-02 9.99828229e-01 -3.65378710e-04 -1.48701466e+01] [-5.34531433e-03 2.66367855e-04 9.99985678e-01 -3.52501706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.560371743 meters 0.027107107829326092 Centerline is valid? [True, True] Translation: X:250.90, Y:-14.87, Z:-3.53 [[ 9.99642168e-01 2.61195884e-02 5.77083359e-03 2.50895631e+02] [-2.61177441e-02 9.99658796e-01 -3.94726303e-04 -1.48703350e+01] [-5.77917465e-03 2.43863902e-04 9.99983271e-01 -3.52519621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.620371743 meters 0.024441676185306026 Centerline is valid? [True, True] Translation: X:250.96, Y:-14.87, Z:-3.53 [[ 9.99342116e-01 3.60050217e-02 4.35581143e-03 2.50955684e+02] [-3.60040629e-02 9.99351599e-01 -2.98357766e-04 -1.48703419e+01] [-4.36372950e-03 1.41334572e-04 9.99990469e-01 -3.52762058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68037174299997 meters 0.02321472639814715 Centerline is valid? [True, True] Translation: X:251.02, Y:-14.87, Z:-3.53 [[ 9.99101336e-01 4.22777890e-02 3.01801466e-03 2.51015199e+02] [-4.22773570e-02 9.99105891e-01 -2.06852754e-04 -1.48717505e+01] [-3.02406150e-03 7.90731800e-05 9.99995424e-01 -3.52956418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74037174299997 meters 0.021437022062932208 Centerline is valid? [True, True] Translation: X:251.08, Y:-14.87, Z:-3.53 [[ 9.98710223e-01 5.06830085e-02 3.02052606e-03 2.51075241e+02] [-5.06826150e-02 9.98714789e-01 -2.06725731e-04 -1.48729445e+01] [-3.02712153e-03 5.33709411e-05 9.99995417e-01 -3.53023951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80037174299997 meters 0.021104134245288595 Centerline is valid? [True, True] Translation: X:251.13, Y:-14.88, Z:-3.53 [[ 9.98612489e-01 5.25532327e-02 3.35475160e-03 2.51134106e+02] [-5.25527562e-02 9.98618123e-01 -2.30089104e-04 -1.48770726e+01] [-3.36220767e-03 5.34684099e-05 9.99994346e-01 -3.53094384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86037174299997 meters 0.020763061266023664 Centerline is valid? [True, True] Translation: X:251.19, Y:-14.89, Z:-3.53 [[ 9.98467992e-01 5.51899891e-02 3.96651812e-03 2.51191048e+02] [-5.51893450e-02 9.98475870e-01 -2.71743837e-04 -1.48862444e+01] [-3.97547017e-03 5.24179861e-05 9.99992096e-01 -3.53158571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92037174299998 meters 0.021130792363922585 Centerline is valid? [True, True] Translation: X:251.25, Y:-14.90, Z:-3.53 [[ 9.98602240e-01 5.26069283e-02 5.10652455e-03 2.51249339e+02] [-5.26058237e-02 9.98615294e-01 -3.50480704e-04 -1.48994423e+01] [-5.11789123e-03 8.13578864e-05 9.99986900e-01 -3.53167640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98037174299998 meters 0.021695644906877747 Centerline is valid? [True, True] Translation: X:251.31, Y:-14.91, Z:-3.53 [[ 9.98808591e-01 4.85067716e-02 5.33771693e-03 2.51306166e+02] [-4.85055218e-02 9.98822848e-01 -3.63432062e-04 -1.49135410e+01] [-5.34906254e-03 1.04090322e-04 9.99985688e-01 -3.53299711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04037174299998 meters 0.022240139983377046 Centerline is valid? [True, True] Translation: X:251.36, Y:-14.93, Z:-3.53 [[ 9.99099806e-01 4.19502579e-02 6.30508460e-03 2.51364304e+02] [-4.19483900e-02 9.99119687e-01 -4.28257611e-04 -1.49314591e+01] [-6.31749967e-03 1.63383948e-04 9.99980031e-01 -3.53365929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10037174299998 meters 0.024204667379162194 Centerline is valid? [True, True] Translation: X:251.42, Y:-14.95, Z:-3.54 [[ 9.99333605e-01 3.59231221e-02 6.47107120e-03 2.51421986e+02] [-3.59210330e-02 9.99354535e-01 -4.38799633e-04 -1.49507863e+01] [-6.48265741e-03 2.06059657e-04 9.99978966e-01 -3.53545484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16037174299998 meters 0.026346992210277014 Centerline is valid? [True, True] Translation: X:251.48, Y:-14.97, Z:-3.54 [[ 9.99532788e-01 2.99984298e-02 5.85661363e-03 2.51480804e+02] [-2.99966167e-02 9.99549921e-01 -3.97188733e-04 -1.49674046e+01] [-5.86589273e-03 2.21324568e-04 9.99982771e-01 -3.53756654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.220371743 meters 0.02785313942558684 Centerline is valid? [True, True] Translation: X:251.54, Y:-14.98, Z:-3.54 [[ 9.99634746e-01 2.62632256e-02 6.37314912e-03 2.51539809e+02] [-2.62610029e-02 9.99655027e-01 -4.32218612e-04 -1.49798096e+01] [-6.38230201e-03 2.64695456e-04 9.99979598e-01 -3.53877203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.280371743 meters 0.03266947671407191 Centerline is valid? [True, True] Translation: X:251.60, Y:-15.00, Z:-3.54 [[ 9.99785396e-01 1.91610285e-02 7.87503332e-03 2.51598336e+02] [-1.91574194e-02 9.99816337e-01 -5.33474690e-04 -1.49974698e+01] [-7.88380890e-03 3.82494888e-04 9.99968849e-01 -3.53974673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.340371743 meters 0.03587422324201207 Centerline is valid? [True, True] Translation: X:251.66, Y:-15.01, Z:-3.54 [[ 9.99875220e-01 1.37443981e-02 7.78688006e-03 2.51657903e+02] [-1.37407054e-02 9.99905453e-01 -5.27518667e-04 -1.50104487e+01] [-7.79339426e-03 4.20455618e-04 9.99969543e-01 -3.54066784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40037174299997 meters 0.03497834646171142 Centerline is valid? [True, True] Translation: X:251.72, Y:-15.02, Z:-3.54 [[ 9.99955868e-01 4.69273943e-03 8.13880502e-03 2.51717549e+02] [-4.68840699e-03 9.99988857e-01 -5.51316410e-04 -1.50177047e+01] [-8.14130152e-03 5.13134049e-04 9.99966727e-01 -3.54169174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46037174299997 meters 0.04331062076124847 Centerline is valid? [True, True] Translation: X:251.78, Y:-15.04, Z:-3.54 [[ 9.99959352e-01 -3.43411490e-03 8.33676806e-03 2.51776360e+02] [ 3.43894064e-03 9.99993927e-01 -5.64584247e-04 -1.50374204e+01] [-8.33477859e-03 5.93230948e-04 9.99965089e-01 -3.54288574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52037174299997 meters 0.03897108861265032 Centerline is valid? [True, True] Translation: X:251.84, Y:-15.04, Z:-3.54 [[ 9.99927627e-01 -9.46184993e-03 7.43056537e-03 2.51837518e+02] [ 9.46584997e-03 9.99955071e-01 -5.03338221e-04 -1.50372270e+01] [-7.42546901e-03 5.73638410e-04 9.99972266e-01 -3.54350771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58037174299997 meters 0.04365655568951809 Centerline is valid? [True, True] Translation: X:251.90, Y:-15.05, Z:-3.55 [[ 9.99911305e-01 -1.15443116e-02 6.64163440e-03 2.51896913e+02] [ 1.15475501e-02 9.99933224e-01 -4.49456344e-04 -1.50477264e+01] [-6.63600223e-03 5.26111085e-04 9.99977843e-01 -3.54524569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64037174299997 meters 0.045863728149232244 Centerline is valid? [True, True] Translation: X:251.96, Y:-15.05, Z:-3.55 [[ 9.99903799e-01 -1.23381350e-02 6.33740527e-03 2.51957613e+02] [ 1.23411038e-02 9.99923753e-01 -4.29552356e-04 -1.50541348e+01] [-6.33162219e-03 5.07721609e-04 9.99979826e-01 -3.54655416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70037174299998 meters 0.047226392856415965 Centerline is valid? [True, True] Translation: X:252.02, Y:-15.06, Z:-3.55 [[ 9.99919372e-01 -1.12478231e-02 5.89375643e-03 2.52019313e+02] [ 1.12503727e-02 9.99936633e-01 -3.99611311e-04 -1.50568936e+01] [-5.88888820e-03 4.65886047e-04 9.99982552e-01 -3.54735708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76037174299998 meters 0.048158526619492846 Centerline is valid? [True, True] Translation: X:252.08, Y:-15.06, Z:-3.55 [[ 9.99921589e-01 -1.01204818e-02 7.37505475e-03 2.52081012e+02] [ 1.01244499e-02 9.99948621e-01 -5.00912350e-04 -1.50598382e+01] [-7.36960635e-03 5.75541445e-04 9.99972678e-01 -3.54706403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82037174299998 meters 0.039920474438311114 Centerline is valid? [True, True] Translation: X:252.14, Y:-15.05, Z:-3.55 [[ 9.99937545e-01 -8.64526097e-03 7.08274748e-03 2.52143750e+02] [ 8.64888516e-03 9.99962482e-01 -4.81222818e-04 -1.50494042e+01] [-7.07832145e-03 5.42450633e-04 9.99974801e-01 -3.54678962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88037174299998 meters 0.05009806998347987 Centerline is valid? [True, True] Translation: X:252.20, Y:-15.06, Z:-3.55 [[ 9.99947484e-01 -7.95521066e-03 6.46101110e-03 2.52204116e+02] [ 7.95821575e-03 9.99968236e-01 -4.39535717e-04 -1.50637000e+01] [-6.45730927e-03 4.90930754e-04 9.99979031e-01 -3.54869402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.940371743 meters 0.04279316294879103 Centerline is valid? [True, True] Translation: X:252.27, Y:-15.05, Z:-3.55 [[ 9.99945034e-01 -9.04762886e-03 5.29796547e-03 2.52266881e+02] [ 9.04966466e-03 9.99958986e-01 -3.60414514e-04 -1.50544161e+01] [-5.29448728e-03 4.08339515e-04 9.99985901e-01 -3.54946862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.000371743 meters 0.044700335962104015 Centerline is valid? [True, True] Translation: X:252.33, Y:-15.06, Z:-3.55 [[ 9.99913046e-01 -1.24487222e-02 4.35072387e-03 2.52327592e+02] [ 1.24501305e-02 9.99922450e-01 -2.96758524e-04 -1.50579978e+01] [-4.34669220e-03 3.50899800e-04 9.99990492e-01 -3.55097651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.060371743 meters 0.045245497029929076 Centerline is valid? [True, True] Translation: X:252.39, Y:-15.06, Z:-3.55 [[ 9.99885868e-01 -1.46993822e-02 3.48991585e-03 2.52389074e+02] [ 1.47003008e-02 9.99891916e-01 -2.37708136e-04 -1.50587209e+01] [-3.48604449e-03 2.88983818e-04 9.99993882e-01 -3.55195010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.120371743 meters 0.04555144860869756 Centerline is valid? [True, True] Translation: X:252.45, Y:-15.06, Z:-3.55 [[ 9.99881450e-01 -1.48012605e-02 4.24374664e-03 2.52450923e+02] [ 1.48026193e-02 9.99890393e-01 -2.88964209e-04 -1.50607384e+01] [-4.23900446e-03 3.51748518e-04 9.99990954e-01 -3.55134508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18037174299997 meters 0.04301244623884945 Centerline is valid? [True, True] Translation: X:252.51, Y:-15.06, Z:-3.55 [[ 9.99891317e-01 -1.37237890e-02 5.38620457e-03 2.52512567e+02] [ 1.37259675e-02 9.99905727e-01 -3.67708088e-04 -1.50569093e+01] [-5.38065045e-03 4.41598994e-04 9.99985427e-01 -3.55008956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24037174299997 meters 0.04104339574431403 Centerline is valid? [True, True] Translation: X:252.58, Y:-15.06, Z:-3.55 [[ 9.99894524e-01 -1.33410715e-02 5.74074001e-03 2.52575393e+02] [ 1.33435397e-02 9.99910894e-01 -3.91846937e-04 -1.50552316e+01] [-5.73500082e-03 4.68407399e-04 9.99983445e-01 -3.55063632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30037174299997 meters 0.04264629891645532 Centerline is valid? [True, True] Translation: X:252.64, Y:-15.06, Z:-3.55 [[ 9.99888461e-01 -1.37564704e-02 5.81586048e-03 2.52636914e+02] [ 1.37590140e-02 9.99905261e-01 -3.97569568e-04 -1.50598415e+01] [-5.80984034e-03 4.77545730e-04 9.99983009e-01 -3.55212639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36037174299997 meters 0.043026876987202936 Centerline is valid? [True, True] Translation: X:252.70, Y:-15.06, Z:-3.55 [[ 9.99873794e-01 -1.48213857e-02 5.72035290e-03 2.52699260e+02] [ 1.48238646e-02 9.99890044e-01 -3.91190184e-04 -1.50634189e+01] [-5.71392593e-03 4.75938551e-04 9.99983562e-01 -3.55346972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42037174299998 meters 0.045190891347691865 Centerline is valid? [True, True] Translation: X:252.76, Y:-15.07, Z:-3.55 [[ 9.99884032e-01 -1.44177705e-02 4.90405544e-03 2.52760417e+02] [ 1.44195895e-02 9.99895976e-01 -3.35749430e-04 -1.50679668e+01] [-4.89870454e-03 4.06424960e-04 9.99987919e-01 -3.55495350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48037174299998 meters 0.0466963836267061 Centerline is valid? [True, True] Translation: X:252.82, Y:-15.07, Z:-3.56 [[ 9.99933078e-01 -1.13808499e-02 2.07761549e-03 2.52819932e+02] [ 1.13811705e-02 9.99935222e-01 -1.42559064e-04 -1.50719313e+01] [-2.07585846e-03 1.66195220e-04 9.99997832e-01 -3.55844299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54037174299998 meters 0.039315340244845565 Centerline is valid? [True, True] Translation: X:252.88, Y:-15.06, Z:-3.56 [[ 9.99983776e-01 -5.63890422e-03 8.06252154e-04 2.52881039e+02] [ 5.63895066e-03 9.99984099e-01 -5.53459875e-05 -1.50615062e+01] [-8.05927244e-04 5.98915057e-05 9.99999673e-01 -3.55891252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60037174299998 meters 0.03789301966752645 Centerline is valid? [True, True] Translation: X:252.94, Y:-15.06, Z:-3.56 [[ 9.99999739e-01 -3.96120969e-04 6.03697735e-04 2.52942034e+02] [ 3.96146058e-04 9.99999921e-01 -4.14397458e-05 -1.50596610e+01] [-6.03681272e-04 4.16788875e-05 9.99999817e-01 -3.55898827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66037174299998 meters 0.03234042044440099 Centerline is valid? [True, True] Translation: X:253.00, Y:-15.05, Z:-3.56 [[ 9.99960837e-01 8.80056128e-03 9.35117592e-04 2.53003471e+02] [-8.80050508e-03 9.99961273e-01 -6.41966794e-05 -1.50496289e+01] [-9.35646344e-04 5.59646581e-05 9.99999561e-01 -3.55754121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.720371743 meters 0.032807955240206556 Centerline is valid? [True, True] Translation: X:253.06, Y:-15.05, Z:-3.56 [[ 9.99926974e-01 1.18971093e-02 2.12249987e-03 2.53061864e+02] [-1.18968256e-02 9.99929220e-01 -1.46266841e-04 -1.50529648e+01] [-2.12408979e-03 1.21005149e-04 9.99997737e-01 -3.55793696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.780371743 meters 0.028353407618542697 Centerline is valid? [True, True] Translation: X:253.12, Y:-15.04, Z:-3.56 [[ 9.99796164e-01 1.97286163e-02 4.29099264e-03 2.53122516e+02] [-1.97275337e-02 9.99805350e-01 -2.94482749e-04 -1.50445659e+01] [-4.29596713e-03 2.09772021e-04 9.99990750e-01 -3.55524464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.840371743 meters 0.029212349396843446 Centerline is valid? [True, True] Translation: X:253.18, Y:-15.05, Z:-3.56 [[ 9.99711193e-01 2.36798554e-02 4.09809300e-03 2.53181071e+02] [-2.36789006e-02 9.99719576e-01 -2.81357136e-04 -1.50453110e+01] [-4.10360629e-03 1.84237541e-04 9.99991563e-01 -3.55712488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90037174299997 meters 0.030920799692029266 Centerline is valid? [True, True] Translation: X:253.24, Y:-15.05, Z:-3.56 [[ 9.99715578e-01 2.37121900e-02 2.54840766e-03 2.53238634e+02] [-2.37118196e-02 9.99718820e-01 -1.75481090e-04 -1.50502703e+01] [-2.55185214e-03 1.15003796e-04 9.99996737e-01 -3.56031093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96037174299997 meters 0.030051683074603264 Centerline is valid? [True, True] Translation: X:253.30, Y:-15.05, Z:-3.56 [[ 9.99788872e-01 2.05352050e-02 7.19030384e-04 2.53299401e+02] [-2.05351750e-02 9.99789130e-01 -4.91715893e-05 -1.50502585e+01] [-7.19888511e-04 3.43957931e-05 9.99999740e-01 -3.56040395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02037174299997 meters 0.031012209545343974 Centerline is valid? [True, True] Translation: X:253.36, Y:-15.05, Z:-3.56 [[ 9.99868755e-01 1.61723084e-02 9.63717924e-04 2.53359910e+02] [-1.61722524e-02 9.99869218e-01 -6.59047838e-05 -1.50534147e+01] [-9.64657720e-04 5.03106446e-05 9.99999533e-01 -3.55992893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08037174299997 meters 0.03506442852277182 Centerline is valid? [True, True] Translation: X:253.42, Y:-15.06, Z:-3.56 [[ 9.99909249e-01 1.34492354e-02 7.82023646e-04 2.53418118e+02] [-1.34491971e-02 9.99909554e-01 -5.41799676e-05 -1.50626311e+01] [-7.82681594e-04 4.36574606e-05 9.99999693e-01 -3.56235375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14037174299997 meters 0.03236339154426976 Centerline is valid? [True, True] Translation: X:253.48, Y:-15.06, Z:-3.56 [[ 9.99954169e-01 9.55199022e-03 6.47457792e-04 2.53478701e+02] [-9.55196336e-03 9.99954378e-01 -4.45673270e-05 -1.50603852e+01] [-6.47853960e-04 3.83807913e-05 9.99999789e-01 -3.56108482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20037174299998 meters 0.032787043150734135 Centerline is valid? [True, True] Translation: X:253.54, Y:-15.06, Z:-3.56 [[ 9.99980946e-01 5.79950805e-03 2.11511038e-03 2.53538859e+02] [-5.79921491e-03 9.99983174e-01 -1.44699770e-04 -1.50632757e+01] [-2.11591398e-03 1.32431033e-04 9.99997753e-01 -3.55919730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26037174299998 meters 0.03738807119061317 Centerline is valid? [True, True] Translation: X:253.60, Y:-15.07, Z:-3.56 [[ 9.99996900e-01 1.41546321e-03 2.04875649e-03 2.53597224e+02] [-1.41518088e-03 9.99998989e-01 -1.39247554e-04 -1.50748648e+01] [-2.04895152e-03 1.36347761e-04 9.99997892e-01 -3.56094607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32037174299998 meters 0.03791831829256848 Centerline is valid? [True, True] Translation: X:253.66, Y:-15.08, Z:-3.56 [[ 9.99998195e-01 -1.84052808e-03 4.71370507e-04 2.53657888e+02] [ 1.84054344e-03 9.99998306e-01 -3.21541201e-05 -1.50792146e+01] [-4.71310528e-04 3.30216400e-05 9.99999888e-01 -3.56222908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38037174299998 meters 0.03926761755317685 Centerline is valid? [True, True] Translation: X:253.72, Y:-15.08, Z:-3.56 [[ 9.99997534e-01 -2.04706916e-03 -8.60696157e-04 2.53718789e+02] [ 2.04712100e-03 9.99997903e-01 5.93578395e-05 -1.50845657e+01] [ 8.60572842e-04 -6.11196423e-05 9.99999628e-01 -3.56363876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.440371743 meters 0.036816736347313604 Centerline is valid? [True, True] Translation: X:253.78, Y:-15.08, Z:-3.56 [[ 9.99998526e-01 9.10383486e-04 -1.45549800e-03 2.53779431e+02] [-9.10239573e-04 9.99999581e-01 9.95354496e-05 -1.50845329e+01] [ 1.45558800e-03 -9.82104511e-05 9.99998936e-01 -3.56387600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.500371743 meters 0.036738141659981974 Centerline is valid? [True, True] Translation: X:253.84, Y:-15.09, Z:-3.56 [[ 9.99984859e-01 5.50241132e-03 6.90927496e-05 2.53838587e+02] [-5.50241099e-03 9.99984862e-01 -5.01461546e-06 -1.50863666e+01] [-6.91192963e-05 4.63436284e-06 9.99999998e-01 -3.56339876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.560371743 meters 0.032702389835470407 Centerline is valid? [True, True] Translation: X:253.90, Y:-15.08, Z:-3.56 [[ 9.99934089e-01 1.14508673e-02 8.34294945e-04 2.53899056e+02] [-1.14508234e-02 9.99934436e-01 -5.74559126e-05 -1.50822218e+01] [-8.34898166e-04 4.78987615e-05 9.99999650e-01 -3.56232228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.620371743 meters 0.030781864792967073 Centerline is valid? [True, True] Translation: X:253.96, Y:-15.08, Z:-3.56 [[ 9.99860174e-01 1.66028187e-02 1.99467452e-03 2.53959294e+02] [-1.66025797e-02 9.99862158e-01 -1.36344093e-04 -1.50810701e+01] [-1.99666327e-03 1.03208286e-04 9.99998001e-01 -3.56148124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68037174299997 meters 0.028989297156595227 Centerline is valid? [True, True] Translation: X:254.02, Y:-15.08, Z:-3.56 [[ 9.99795617e-01 2.00275733e-02 2.76060849e-03 2.54018912e+02] [-2.00271275e-02 9.99799419e-01 -1.89040999e-04 -1.50812904e+01] [-2.76384080e-03 1.33715304e-04 9.99996172e-01 -3.56092913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74037174299997 meters 0.027419020556385777 Centerline is valid? [True, True] Translation: X:254.08, Y:-15.08, Z:-3.56 [[ 9.99656327e-01 2.61048227e-02 2.40114905e-03 2.54079533e+02] [-2.61045038e-02 9.99659206e-01 -1.64022813e-04 -1.50827529e+01] [-2.40461254e-03 1.01285639e-04 9.99997104e-01 -3.56277926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80037174299997 meters 0.02472128636589683 Centerline is valid? [True, True] Translation: X:254.14, Y:-15.08, Z:-3.56 [[ 9.99431601e-01 3.36670125e-02 1.73409213e-03 2.54140408e+02] [-3.36668576e-02 9.99433104e-01 -1.18461907e-04 -1.50826990e+01] [-1.73709734e-03 6.00131409e-05 9.99998489e-01 -3.56297207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86037174299997 meters 0.02351837760767792 Centerline is valid? [True, True] Translation: X:254.20, Y:-15.08, Z:-3.56 [[ 9.99242835e-01 3.88793566e-02 1.46718431e-03 2.54199862e+02] [-3.88792507e-02 9.99243911e-01 -1.00644642e-04 -1.50841116e+01] [-1.46998799e-03 4.35254107e-05 9.99998919e-01 -3.56296436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92037174299998 meters 0.022338756089240196 Centerline is valid? [True, True] Translation: X:254.26, Y:-15.09, Z:-3.56 [[ 9.98956212e-01 4.55708314e-02 3.12809804e-03 2.54259640e+02] [-4.55703856e-02 9.98961108e-01 -2.13688879e-04 -1.50868122e+01] [-3.13458627e-03 7.09171996e-05 9.99995085e-01 -3.56345383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98037174299998 meters 0.022410965769049798 Centerline is valid? [True, True] Translation: X:254.32, Y:-15.09, Z:-3.56 [[ 9.98879942e-01 4.70062766e-02 5.41025154e-03 2.54317636e+02] [-4.70049630e-02 9.98894587e-01 -3.69762839e-04 -1.50946577e+01] [-5.42165216e-03 1.15040009e-04 9.99985296e-01 -3.56472727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04037174299998 meters 0.023508463885047785 Centerline is valid? [True, True] Translation: X:254.38, Y:-15.11, Z:-3.57 [[ 9.99103348e-01 4.19777286e-02 5.51096001e-03 2.54376059e+02] [-4.19762923e-02 9.99118536e-01 -3.76088303e-04 -1.51074164e+01] [-5.52188963e-03 1.44421414e-04 9.99984744e-01 -3.56753390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10037174299998 meters 0.025679226989695603 Centerline is valid? [True, True] Translation: X:254.43, Y:-15.12, Z:-3.57 [[ 9.99333133e-01 3.62118251e-02 4.68957762e-03 2.54434937e+02] [-3.62107238e-02 9.99344126e-01 -3.19562415e-04 -1.51207940e+01] [-4.69807379e-03 1.49536310e-04 9.99988953e-01 -3.57043953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16037174299998 meters 0.030856775464898893 Centerline is valid? [True, True] Translation: X:254.49, Y:-15.14, Z:-3.57 [[ 9.99684575e-01 2.46667276e-02 4.72261630e-03 2.54492353e+02] [-2.46654830e-02 9.99695709e-01 -3.21597236e-04 -1.51422600e+01] [-4.72911200e-03 2.05010184e-04 9.99988797e-01 -3.57343067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.220371743 meters 0.028451057806611686 Centerline is valid? [True, True] Translation: X:254.55, Y:-15.15, Z:-3.57 [[ 9.99763261e-01 2.11762160e-02 4.99893310e-03 2.54551390e+02] [-2.11747758e-02 9.99775731e-01 -3.40855357e-04 -1.51463040e+01] [-5.00503002e-03 2.34923376e-04 9.99987447e-01 -3.57356213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.280371743 meters 0.029017103663962346 Centerline is valid? [True, True] Translation: X:254.61, Y:-15.16, Z:-3.57 [[ 9.99840535e-01 1.68326466e-02 5.96382570e-03 2.54610663e+02] [-1.68305242e-02 9.99858274e-01 -4.05886782e-04 -1.51553326e+01] [-5.96981262e-03 3.05447744e-04 9.99982134e-01 -3.57444595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.340371743 meters 0.03283785946014421 Centerline is valid? [True, True] Translation: X:254.67, Y:-15.17, Z:-3.58 [[ 9.99878201e-01 1.44726744e-02 5.84162120e-03 2.54668107e+02] [-1.44705976e-02 9.99895216e-01 -3.97626631e-04 -1.51683841e+01] [-5.84676381e-03 3.13046451e-04 9.99982859e-01 -3.57696256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40037174299997 meters 0.03216150143176662 Centerline is valid? [True, True] Translation: X:254.73, Y:-15.17, Z:-3.58 [[ 9.99892715e-01 1.33047407e-02 6.12718433e-03 2.54726862e+02] [-1.33024341e-02 9.99911432e-01 -4.17070072e-04 -1.51736138e+01] [-6.13219067e-03 3.35518861e-04 9.99981142e-01 -3.57777772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46037174299997 meters 0.03287550059771498 Centerline is valid? [True, True] Translation: X:254.79, Y:-15.18, Z:-3.58 [[ 9.99910079e-01 1.06658291e-02 8.12861313e-03 2.54785802e+02] [-1.06616904e-02 9.99943010e-01 -5.52315698e-04 -1.51808740e+01] [-8.13404078e-03 4.65601276e-04 9.99966810e-01 -3.57786227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52037174299997 meters 0.03277778336645727 Centerline is valid? [True, True] Translation: X:254.85, Y:-15.19, Z:-3.58 [[ 9.99924053e-01 8.83605820e-03 8.59146725e-03 2.54845918e+02] [-8.83137476e-03 9.99960833e-01 -5.82913178e-04 -1.51864480e+01] [-8.59628140e-03 5.06994440e-04 9.99962923e-01 -3.57931445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58037174299997 meters 0.03523041939329275 Centerline is valid? [True, True] Translation: X:254.91, Y:-15.19, Z:-3.58 [[ 9.99923311e-01 8.67409583e-03 8.83919900e-03 2.54905522e+02] [-8.66913290e-03 9.99962243e-01 -5.99628405e-04 -1.51936274e+01] [-8.84406649e-03 5.22954230e-04 9.99960754e-01 -3.58124431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64037174299997 meters 0.035185301251730514 Centerline is valid? [True, True] Translation: X:254.97, Y:-15.20, Z:-3.58 [[ 9.99920003e-01 8.84307848e-03 9.04363933e-03 2.54966552e+02] [-8.83788947e-03 9.99960757e-01 -6.13579467e-04 -1.51970184e+01] [-9.04871036e-03 5.33603698e-04 9.99958917e-01 -3.58230220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70037174299998 meters 0.034816119805426905 Centerline is valid? [True, True] Translation: X:255.03, Y:-15.20, Z:-3.58 [[ 9.99901885e-01 1.03647495e-02 9.42299912e-03 2.55027951e+02] [-1.03591801e-02 9.99946138e-01 -6.39669738e-04 -1.52004121e+01] [-9.42912159e-03 5.41992433e-04 9.99955398e-01 -3.58364918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76037174299998 meters 0.033177849340488744 Centerline is valid? [True, True] Translation: X:255.09, Y:-15.20, Z:-3.58 [[ 9.99878529e-01 1.20658753e-02 9.86620285e-03 2.55088589e+02] [-1.20598470e-02 9.99927053e-01 -6.70274837e-04 -1.51995263e+01] [-9.87357059e-03 5.51208521e-04 9.99951103e-01 -3.58413224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82037174299998 meters 0.03289038687336277 Centerline is valid? [True, True] Translation: X:255.15, Y:-15.20, Z:-3.58 [[ 9.99866671e-01 1.26005908e-02 1.03858388e-02 2.55148913e+02] [-1.25939395e-02 9.99920444e-01 -7.05577063e-04 -1.52023876e+01] [-1.03939033e-02 5.74684364e-04 9.99945817e-01 -3.58452632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88037174299998 meters 0.03349026386849209 Centerline is valid? [True, True] Translation: X:255.21, Y:-15.21, Z:-3.59 [[ 9.99857385e-01 1.32795225e-02 1.04338306e-02 2.55208642e+02] [-1.32728458e-02 9.99911661e-01 -7.08900430e-04 -1.52063914e+01] [-1.04423227e-02 5.70312706e-04 9.99945315e-01 -3.58666976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.940371743 meters 0.03135785636453655 Centerline is valid? [True, True] Translation: X:255.27, Y:-15.21, Z:-3.59 [[ 9.99839926e-01 1.44738662e-02 1.05180225e-02 2.55269081e+02] [-1.44671498e-02 9.99895090e-01 -7.14372010e-04 -1.52053720e+01] [-1.05272588e-02 5.62091851e-04 9.99944429e-01 -3.58729600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.000371743 meters 0.03164012179933868 Centerline is valid? [True, True] Translation: X:255.33, Y:-15.21, Z:-3.59 [[ 9.99805104e-01 1.68394469e-02 1.03046798e-02 2.55328198e+02] [-1.68331241e-02 9.99858068e-01 -7.00013334e-04 -1.52060871e+01] [-1.03150051e-02 5.26416951e-04 9.99946660e-01 -3.58802871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.060371743 meters 0.03055627508675531 Centerline is valid? [True, True] Translation: X:255.39, Y:-15.21, Z:-3.59 [[ 9.99791400e-01 1.77716434e-02 1.00660654e-02 2.55386920e+02] [-1.77656593e-02 9.99841945e-01 -6.83600462e-04 -1.52056978e+01] [-1.00766231e-02 5.04627575e-04 9.99949102e-01 -3.58841523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.120371743 meters 0.030338147669710797 Centerline is valid? [True, True] Translation: X:255.45, Y:-15.21, Z:-3.59 [[ 9.99805695e-01 1.71046376e-02 9.79817859e-03 2.55446157e+02] [-1.70989439e-02 9.99853582e-01 -6.64585992e-04 -1.52073904e+01] [-9.80811146e-03 4.96918354e-04 9.99951776e-01 -3.58931210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18037174299997 meters 0.03182501786871942 Centerline is valid? [True, True] Translation: X:255.51, Y:-15.21, Z:-3.59 [[ 9.99846154e-01 1.48140396e-02 9.39215392e-03 2.55505765e+02] [-1.48087102e-02 9.99890142e-01 -6.36728359e-04 -1.52114216e+01] [-9.40055464e-03 4.97544715e-04 9.99955690e-01 -3.58967619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24037174299997 meters 0.03296080926001128 Centerline is valid? [True, True] Translation: X:255.57, Y:-15.22, Z:-3.59 [[ 9.99876732e-01 1.12784655e-02 1.09231975e-02 2.55565443e+02] [-1.12710525e-02 9.99936206e-01 -7.39975468e-04 -1.52156796e+01] [-1.09308464e-02 6.16768321e-04 9.99940066e-01 -3.58988306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30037174299997 meters 0.03615249936079806 Centerline is valid? [True, True] Translation: X:255.63, Y:-15.23, Z:-3.59 [[ 9.99921454e-01 5.72425326e-03 1.11498608e-02 2.55625852e+02] [-5.71618680e-03 9.99983377e-01 -7.55193167e-04 -1.52257641e+01] [-1.11539984e-02 6.91399162e-04 9.99937553e-01 -3.59146562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36037174299997 meters 0.038668892233890646 Centerline is valid? [True, True] Translation: X:255.69, Y:-15.24, Z:-3.59 [[ 9.99949719e-01 -1.41162057e-03 9.92809839e-03 2.55685917e+02] [ 1.41836675e-03 9.99998768e-01 -6.72495707e-04 -1.52350488e+01] [-9.92713685e-03 6.86543578e-04 9.99950489e-01 -3.59393873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42037174299998 meters 0.04119721570212836 Centerline is valid? [True, True] Translation: X:255.75, Y:-15.24, Z:-3.60 [[ 9.99951371e-01 -7.21467887e-03 6.72334188e-03 2.55746345e+02] [ 7.21790220e-03 9.99973847e-01 -4.55282757e-04 -1.52424888e+01] [-6.71988132e-03 5.03789041e-04 9.99977294e-01 -3.59661007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48037174299998 meters 0.04149007348107592 Centerline is valid? [True, True] Translation: X:255.81, Y:-15.25, Z:-3.60 [[ 9.99949991e-01 -8.69359687e-03 4.94342328e-03 2.55807047e+02] [ 8.69535724e-03 9.99962139e-01 -3.34721840e-04 -1.52465678e+01] [-4.94032617e-03 3.77689933e-04 9.99987725e-01 -3.59884946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54037174299998 meters 0.04041568004378884 Centerline is valid? [True, True] Translation: X:255.87, Y:-15.25, Z:-3.60 [[ 9.99963970e-01 -7.80165483e-03 3.34545449e-03 2.55869509e+02] [ 7.80245410e-03 9.99969535e-01 -2.25924966e-04 -1.52467492e+01] [-3.34358999e-03 2.52019581e-04 9.99994378e-01 -3.60064885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60037174299998 meters 0.040181977628429455 Centerline is valid? [True, True] Translation: X:255.93, Y:-15.25, Z:-3.60 [[ 9.99981526e-01 -5.19221494e-03 3.16045574e-03 2.55930791e+02] [ 5.19291752e-03 9.99986494e-01 -2.14139545e-04 -1.52475679e+01] [-3.15930120e-03 2.30547575e-04 9.99994983e-01 -3.60109163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66037174299998 meters 0.037631562890084305 Centerline is valid? [True, True] Translation: X:255.99, Y:-15.24, Z:-3.60 [[ 9.99989933e-01 1.58687034e-05 4.48705105e-03 2.55992194e+02] [-1.45033853e-05 9.99999954e-01 -3.04311969e-04 -1.52442296e+01] [-4.48705567e-03 3.04243828e-04 9.99989887e-01 -3.60024980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.720371743 meters 0.03534066046488266 Centerline is valid? [True, True] Translation: X:256.05, Y:-15.24, Z:-3.60 [[ 9.99973281e-01 4.43253042e-03 5.81297596e-03 2.56052973e+02] [-4.43031157e-03 9.99990108e-01 -3.94528994e-04 -1.52416425e+01] [-5.81466722e-03 3.68765158e-04 9.99983027e-01 -3.60012568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.780371743 meters 0.03453753885067111 Centerline is valid? [True, True] Translation: X:256.11, Y:-15.24, Z:-3.60 [[ 9.99958860e-01 6.35697798e-03 6.47051579e-03 2.56114193e+02] [-6.35427054e-03 9.99979715e-01 -4.38899942e-04 -1.52418449e+01] [-6.47317461e-03 3.97766478e-04 9.99978970e-01 -3.59993013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.840371743 meters 0.03667293029985957 Centerline is valid? [True, True] Translation: X:256.17, Y:-15.25, Z:-3.60 [[ 9.99946160e-01 8.21198993e-03 6.34353842e-03 2.56174021e+02] [-8.20942262e-03 9.99966209e-01 -4.30644861e-04 -1.52467420e+01] [-6.34686052e-03 3.78544888e-04 9.99979787e-01 -3.60104869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90037174299997 meters 0.03364127692004918 Centerline is valid? [True, True] Translation: X:256.23, Y:-15.24, Z:-3.60 [[ 9.99925244e-01 1.08169172e-02 5.70093222e-03 2.56234728e+02] [-1.08148838e-02 9.99941442e-01 -3.87392352e-04 -1.52432078e+01] [-5.70478877e-03 3.25708472e-04 9.99983675e-01 -3.60160194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96037174299997 meters 0.034451345901792746 Centerline is valid? [True, True] Translation: X:256.29, Y:-15.25, Z:-3.60 [[ 9.99927337e-01 1.13351866e-02 4.10285688e-03 2.56293879e+02] [-1.13341357e-02 9.99935728e-01 -2.79314195e-04 -1.52463322e+01] [-4.10575926e-03 2.32791563e-04 9.99991544e-01 -3.60384555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.020371743 meters 0.035892404734215136 Centerline is valid? [True, True] Translation: X:256.35, Y:-15.25, Z:-3.61 [[ 9.99935592e-01 1.08868612e-02 3.20736181e-03 2.56351506e+02] [-1.08862161e-02 9.99940720e-01 -2.18514593e-04 -1.52518767e+01] [-3.20955061e-03 1.83584486e-04 9.99994833e-01 -3.60661141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.080371743 meters 0.03357644238048798 Centerline is valid? [True, True] Translation: X:256.41, Y:-15.25, Z:-3.61 [[ 9.99937339e-01 1.09071671e-02 2.52040128e-03 2.56410158e+02] [-1.09067691e-02 9.99940505e-01 -1.71580440e-04 -1.52516215e+01] [-2.52212279e-03 1.44080254e-04 9.99996809e-01 -3.60693185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.140371743 meters 0.033248737217147176 Centerline is valid? [True, True] Translation: X:256.47, Y:-15.26, Z:-3.61 [[ 9.99945377e-01 1.01588114e-02 2.45813551e-03 2.56468550e+02] [-1.01584309e-02 9.99948388e-01 -1.67195689e-04 -1.52550741e+01] [-2.45970715e-03 1.42215757e-04 9.99996965e-01 -3.60773792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.200371743 meters 0.03962963865343867 Centerline is valid? [True, True] Translation: X:256.53, Y:-15.27, Z:-3.61 [[ 9.99961593e-01 8.18968358e-03 3.12117458e-03 2.56526044e+02] [-8.18906274e-03 9.99966447e-01 -2.11641787e-04 -1.52701753e+01] [-3.12280313e-03 1.86074165e-04 9.99995107e-01 -3.60991187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.260371743 meters 0.03625398073211639 Centerline is valid? [True, True] Translation: X:256.59, Y:-15.27, Z:-3.61 [[ 9.99977512e-01 6.25765227e-03 2.41173655e-03 2.56585955e+02] [-6.25727648e-03 9.99980410e-01 -1.63330190e-04 -1.52702523e+01] [-2.41271136e-03 1.48235614e-04 9.99997078e-01 -3.60974075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.320371743 meters 0.03609044373288202 Centerline is valid? [True, True] Translation: X:256.65, Y:-15.27, Z:-3.61 [[ 9.99989648e-01 4.24273894e-03 1.64434382e-03 2.56645242e+02] [-4.24256137e-03 9.99990994e-01 -1.11463874e-04 -1.52749045e+01] [-1.64480192e-03 1.04486491e-04 9.99998642e-01 -3.61102617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.380371743 meters 0.03701146159962561 Centerline is valid? [True, True] Translation: X:256.70, Y:-15.28, Z:-3.61 [[ 9.99986265e-01 4.35788431e-03 2.91198482e-03 2.56704422e+02] [-4.35732991e-03 9.99990487e-01 -1.96703334e-04 -1.52810106e+01] [-2.91281433e-03 1.84012154e-04 9.99995741e-01 -3.61035860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.440371743 meters 0.038090584287434275 Centerline is valid? [True, True] Translation: X:256.76, Y:-15.29, Z:-3.61 [[ 9.99975739e-01 4.50613112e-03 5.31186288e-03 2.56764342e+02] [-4.50428838e-03 9.99989791e-01 -3.58822088e-04 -1.52874603e+01] [-5.31342555e-03 3.34887221e-04 9.99985828e-01 -3.60948639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.500371743 meters 0.038308320937310555 Centerline is valid? [True, True] Translation: X:256.83, Y:-15.29, Z:-3.61 [[ 9.99955221e-01 4.97115981e-03 8.05258391e-03 2.56825074e+02] [-4.96694973e-03 9.99987517e-01 -5.42737898e-04 -1.52942640e+01] [-8.05518143e-03 5.02716815e-04 9.99967430e-01 -3.60828055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.560371743 meters 0.03721216102913496 Centerline is valid? [True, True] Translation: X:256.89, Y:-15.30, Z:-3.61 [[ 9.99952221e-01 5.35933460e-03 8.17512683e-03 2.56887232e+02] [-5.35501795e-03 9.99985511e-01 -5.49820497e-04 -1.52980919e+01] [-8.17795505e-03 5.06016277e-04 9.99966432e-01 -3.60933576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.620371743 meters 0.03930674094484601 Centerline is valid? [True, True] Translation: X:256.95, Y:-15.31, Z:-3.61 [[ 9.99958468e-01 5.35589105e-03 7.37408002e-03 2.56948330e+02] [-5.35236702e-03 9.99985552e-01 -4.97546220e-04 -1.53069978e+01] [-7.37663829e-03 4.58056773e-04 9.99972687e-01 -3.61196897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.680371743 meters 0.038058132555338624 Centerline is valid? [True, True] Translation: X:257.01, Y:-15.31, Z:-3.61 [[ 9.99968284e-01 5.44421929e-03 5.81308745e-03 2.57009119e+02] [-5.44201819e-03 9.99985114e-01 -3.94396970e-04 -1.53122603e+01] [-5.81514810e-03 3.62749534e-04 9.99983026e-01 -3.61476084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.740371743 meters 0.03719699160232886 Centerline is valid? [True, True] Translation: X:257.07, Y:-15.32, Z:-3.62 [[ 9.99974977e-01 5.37165909e-03 4.60330117e-03 2.57070405e+02] [-5.37027780e-03 9.99985531e-01 -3.12371658e-04 -1.53177563e+01] [-4.60491252e-03 2.87642836e-04 9.99989356e-01 -3.61686545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.800371743 meters 0.038474110074245 Centerline is valid? [True, True] Translation: X:257.13, Y:-15.33, Z:-3.62 [[ 9.99981058e-01 5.31129131e-03 3.11037154e-03 2.57130565e+02] [-5.31065996e-03 9.99985876e-01 -2.11207940e-04 -1.53275292e+01] [-3.11144940e-03 1.94685814e-04 9.99995140e-01 -3.61963372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86037174300003 meters 0.03895860166308563 Centerline is valid? [True, True] Translation: X:257.19, Y:-15.34, Z:-3.62 [[ 9.99973830e-01 6.84469024e-03 2.34280176e-03 2.57189899e+02] [-6.84433489e-03 9.99976565e-01 -1.59662948e-04 -1.53357904e+01] [-2.34383970e-03 1.43623849e-04 9.99997243e-01 -3.62167794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92037174300003 meters 0.03468754710235644 Centerline is valid? [True, True] Translation: X:257.25, Y:-15.33, Z:-3.62 [[ 9.99934627e-01 1.09119530e-02 3.41622568e-03 2.57250257e+02] [-1.09112233e-02 9.99940444e-01 -2.32166869e-04 -1.53345446e+01] [-3.41855562e-03 1.94876490e-04 9.99994138e-01 -3.62072529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98037174300003 meters 0.03219391294794719 Centerline is valid? [True, True] Translation: X:257.31, Y:-15.33, Z:-3.62 [[ 9.99889973e-01 1.44022867e-02 3.55193121e-03 2.57310749e+02] [-1.44015194e-02 9.99896264e-01 -2.41518983e-04 -1.53342078e+01] [-3.55504117e-03 1.90339203e-04 9.99993663e-01 -3.62096010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.040371743 meters 0.030503984828706573 Centerline is valid? [True, True] Translation: X:257.37, Y:-15.34, Z:-3.62 [[ 9.99803353e-01 1.94384704e-02 3.92450813e-03 2.57371308e+02] [-1.94375731e-02 9.99811037e-01 -2.66647694e-04 -1.53365500e+01] [-3.92894977e-03 1.90312345e-04 9.99992264e-01 -3.62226236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.100371743 meters 0.03254593634511193 Centerline is valid? [True, True] Translation: X:257.43, Y:-15.34, Z:-3.62 [[ 9.99747684e-01 2.20546613e-02 4.26159416e-03 2.57429622e+02] [-2.20536252e-02 9.99756747e-01 -2.89954002e-04 -1.53446149e+01] [-4.26695235e-03 1.95897241e-04 9.99990877e-01 -3.62375369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.160371743 meters 0.03069472211854642 Centerline is valid? [True, True] Translation: X:257.49, Y:-15.35, Z:-3.62 [[ 9.99698039e-01 2.40889858e-02 4.85293784e-03 2.57488902e+02] [-2.40876680e-02 9.99709796e-01 -3.29822994e-04 -1.53464533e+01] [-4.85947460e-03 2.12827445e-04 9.99988170e-01 -3.62313068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.220371743 meters 0.03070089152541852 Centerline is valid? [True, True] Translation: X:257.55, Y:-15.35, Z:-3.62 [[ 9.99702511e-01 2.38297240e-02 5.19934760e-03 2.57547711e+02] [-2.38282087e-02 9.99716006e-01 -3.53201999e-04 -1.53526748e+01] [-5.20628772e-03 2.29205785e-04 9.99986421e-01 -3.62394882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.280371743 meters 0.030485002753050244 Centerline is valid? [True, True] Translation: X:257.61, Y:-15.36, Z:-3.63 [[ 9.99719295e-01 2.30936095e-02 5.29299980e-03 2.57606223e+02] [-2.30920308e-02 9.99733279e-01 -3.59190811e-04 -1.53593534e+01] [-5.29988306e-03 2.36863870e-04 9.99985927e-01 -3.62524623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.340371743 meters 0.02990691891003909 Centerline is valid? [True, True] Translation: X:257.66, Y:-15.36, Z:-3.63 [[ 9.99733145e-01 2.24848047e-02 5.29835389e-03 2.57664872e+02] [-2.24832162e-02 9.99747156e-01 -3.59195920e-04 -1.53641828e+01] [-5.30509069e-03 2.39976031e-04 9.99985899e-01 -3.62548051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.400371743 meters 0.028104439012907042 Centerline is valid? [True, True] Translation: X:257.72, Y:-15.37, Z:-3.63 [[ 9.99760320e-01 2.12733215e-02 5.17185265e-03 2.57723228e+02] [-2.12717933e-02 9.99773668e-01 -3.50310832e-04 -1.53681040e+01] [-5.17813437e-03 2.40212289e-04 9.99986565e-01 -3.62583225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.460371743 meters 0.029211664055733114 Centerline is valid? [True, True] Translation: X:257.78, Y:-15.38, Z:-3.63 [[ 9.99816669e-01 1.84998435e-02 4.93796576e-03 2.57781726e+02] [-1.84984190e-02 9.99828834e-01 -3.33988823e-04 -1.53782576e+01] [-4.94329929e-03 2.42583033e-04 9.99987752e-01 -3.62731181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.520371743 meters 0.03225640307913133 Centerline is valid? [True, True] Translation: X:257.84, Y:-15.39, Z:-3.63 [[ 9.99888937e-01 1.44242687e-02 3.74884760e-03 2.57840550e+02] [-1.44234206e-02 9.99895945e-01 -2.53168475e-04 -1.53895446e+01] [-3.75210928e-03 1.99069152e-04 9.99992941e-01 -3.62958732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.580371743 meters 0.034029542411011963 Centerline is valid? [True, True] Translation: X:257.90, Y:-15.40, Z:-3.63 [[ 9.99924677e-01 1.20626156e-02 2.26595378e-03 2.57899647e+02] [-1.20622991e-02 9.99927236e-01 -1.53283438e-04 -1.53980746e+01] [-2.26763790e-03 1.25939280e-04 9.99997421e-01 -3.63169880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.640371743 meters 0.036243669608075 Centerline is valid? [True, True] Translation: X:257.96, Y:-15.41, Z:-3.63 [[ 9.99956773e-01 9.03257303e-03 2.20542703e-03 2.57959186e+02] [-9.03226648e-03 9.99959197e-01 -1.48918315e-04 -1.54078301e+01] [-2.20668216e-03 1.28991873e-04 9.99997557e-01 -3.63302647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.700371743 meters 0.038049229999503 Centerline is valid? [True, True] Translation: X:258.02, Y:-15.41, Z:-3.63 [[ 9.99970186e-01 7.48064626e-03 1.91481184e-03 2.58017147e+02] [-7.48041118e-03 9.99972013e-01 -1.29904950e-04 -1.54146496e+01] [-1.91573003e-03 1.15577497e-04 9.99998158e-01 -3.63312707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.760371743 meters 0.038628915487938426 Centerline is valid? [True, True] Translation: X:258.08, Y:-15.42, Z:-3.63 [[ 9.99964534e-01 7.72551767e-03 3.35367891e-03 2.58075438e+02] [-7.72480110e-03 9.99970138e-01 -2.26570520e-04 -1.54198182e+01] [-3.35532913e-03 2.00655982e-04 9.99994351e-01 -3.63255896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.820371743 meters 0.038536858000596044 Centerline is valid? [True, True] Translation: X:258.14, Y:-15.42, Z:-3.63 [[ 9.99938302e-01 9.86710485e-03 5.10218679e-03 2.58135206e+02] [-9.86548056e-03 9.99951276e-01 -3.43421227e-04 -1.54228481e+01] [-5.10532676e-03 2.93064514e-04 9.99986925e-01 -3.63227358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.880371743 meters 0.02884742273066113 Centerline is valid? [True, True] Translation: X:258.20, Y:-15.41, Z:-3.63 [[ 9.99863544e-01 1.61253287e-02 3.58706643e-03 2.58196767e+02] [-1.61245665e-02 9.99869962e-01 -2.41309166e-04 -1.54094860e+01] [-3.59049116e-03 1.83436347e-04 9.99993537e-01 -3.63166012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.940371743 meters 0.028317635959636236 Centerline is valid? [True, True] Translation: X:258.26, Y:-15.41, Z:-3.63 [[ 9.99790535e-01 1.99746973e-02 4.46070406e-03 2.58256305e+02] [-1.99735555e-02 9.99800464e-01 -3.00371804e-04 -1.54109906e+01] [-4.46581383e-03 2.11212766e-04 9.99990006e-01 -3.63202821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.000371743 meters 0.027906600149954663 Centerline is valid? [True, True] Translation: X:258.32, Y:-15.41, Z:-3.63 [[ 9.99718467e-01 2.32190631e-02 4.88480096e-03 2.58316393e+02] [-2.32177344e-02 9.99730378e-01 -3.28539662e-04 -1.54131520e+01] [-4.89111229e-03 2.15033156e-04 9.99988015e-01 -3.63267350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.060371743 meters 0.028071096717259516 Centerline is valid? [True, True] Translation: X:258.38, Y:-15.42, Z:-3.63 [[ 9.99689132e-01 2.44746284e-02 4.75722081e-03 2.58375381e+02] [-2.44733804e-02 9.99700431e-01 -3.20366880e-04 -1.54169302e+01] [-4.76363656e-03 2.03842014e-04 9.99988633e-01 -3.63477436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.120371743 meters 0.02665605957962147 Centerline is valid? [True, True] Translation: X:258.43, Y:-15.42, Z:-3.64 [[ 9.99645264e-01 2.62660311e-02 4.40919366e-03 2.58434475e+02] [-2.62649775e-02 9.99654972e-01 -2.96701808e-04 -1.54187398e+01] [-4.41546554e-03 1.80789185e-04 9.99990235e-01 -3.63562704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.180371743 meters 0.025345715973341343 Centerline is valid? [True, True] Translation: X:258.49, Y:-15.42, Z:-3.64 [[ 9.99541416e-01 3.00074539e-02 4.06336598e-03 2.58494735e+02] [-3.00065930e-02 9.99549664e-01 -2.72689300e-04 -1.54208844e+01] [-4.06971881e-03 1.50636480e-04 9.99991707e-01 -3.63533916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.240371743 meters 0.0242031087239447 Centerline is valid? [True, True] Translation: X:258.55, Y:-15.43, Z:-3.63 [[ 9.99423705e-01 3.33093857e-02 6.53782402e-03 2.58554651e+02] [-3.33072293e-02 9.99445064e-01 -4.38477261e-04 -1.54259173e+01] [-6.54880135e-03 2.20467765e-04 9.99978532e-01 -3.63411184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.300371743 meters 0.0238246206451683 Centerline is valid? [True, True] Translation: X:258.61, Y:-15.43, Z:-3.63 [[ 9.99346046e-01 3.52028846e-02 8.26055592e-03 2.58612900e+02] [-3.51995057e-02 9.99380152e-01 -5.54112517e-04 -1.54314089e+01] [-8.27494199e-03 2.62982667e-04 9.99965728e-01 -3.63416514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36037174300003 meters 0.023357266214468212 Centerline is valid? [True, True] Translation: X:258.67, Y:-15.44, Z:-3.64 [[ 9.99246514e-01 3.79630291e-02 8.07548452e-03 2.58670430e+02] [-3.79598937e-02 9.99279117e-01 -5.41239480e-04 -1.54395089e+01] [-8.09021013e-03 2.34287130e-04 9.99967246e-01 -3.63608831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42037174300003 meters 0.023008928697392916 Centerline is valid? [True, True] Translation: X:258.73, Y:-15.45, Z:-3.64 [[ 9.99201688e-01 3.93894870e-02 6.66746385e-03 2.58728302e+02] [-3.93873847e-02 9.99223916e-01 -4.46365912e-04 -1.54485101e+01] [-6.67987147e-03 1.83395609e-04 9.99977673e-01 -3.63885588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48037174300003 meters 0.02253987464878964 Centerline is valid? [True, True] Translation: X:258.79, Y:-15.45, Z:-3.64 [[ 9.99209895e-01 3.91591367e-02 6.79319147e-03 2.58786858e+02] [-3.91569524e-02 9.99232969e-01 -4.54300452e-04 -1.54532325e+01] [-6.80577090e-03 1.87940832e-04 9.99976823e-01 -3.63922445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.540371743 meters 0.023669260441235955 Centerline is valid? [True, True] Translation: X:258.84, Y:-15.47, Z:-3.64 [[ 9.99296442e-01 3.65135940e-02 8.56612333e-03 2.58844748e+02] [-3.65100312e-02 9.99333123e-01 -5.71979652e-04 -1.54673950e+01] [-8.58129581e-03 2.58827801e-04 9.99963147e-01 -3.63944361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.600371743 meters 0.025160912872527783 Centerline is valid? [True, True] Translation: X:258.90, Y:-15.48, Z:-3.64 [[ 9.99496510e-01 3.01714778e-02 9.81873445e-03 2.58903761e+02] [-3.01665014e-02 9.99544673e-01 -6.54570570e-04 -1.54832337e+01] [-9.83401308e-03 3.58044134e-04 9.99951581e-01 -3.63980487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.660371743 meters 0.02722970752670419 Centerline is valid? [True, True] Translation: X:258.96, Y:-15.50, Z:-3.64 [[ 9.99629377e-01 2.54822601e-02 9.57927215e-03 2.58963233e+02] [-2.54773106e-02 9.99675197e-01 -6.38379900e-04 -1.54978277e+01] [-9.59242813e-03 3.94089210e-04 9.99953914e-01 -3.64167457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.720371743 meters 0.029538377303537682 Centerline is valid? [True, True] Translation: X:259.02, Y:-15.52, Z:-3.64 [[ 9.99752929e-01 2.05363207e-02 8.50530118e-03 2.59022033e+02] [-2.05322415e-02 9.99789031e-01 -5.66652011e-04 -1.55157052e+01] [-8.51514377e-03 3.91879110e-04 9.99963669e-01 -3.64424128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.780371743 meters 0.029480267524554002 Centerline is valid? [True, True] Translation: X:259.08, Y:-15.53, Z:-3.65 [[ 9.99795189e-01 1.85997201e-02 7.97690244e-03 2.59081339e+02] [-1.85960707e-02 9.99826937e-01 -5.31433659e-04 -1.55255988e+01] [-7.98540645e-03 3.82985774e-04 9.99968043e-01 -3.64533718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.840371743 meters 0.03028956765611042 Centerline is valid? [True, True] Translation: X:259.14, Y:-15.54, Z:-3.65 [[ 9.99809555e-01 1.83440422e-02 6.65951061e-03 2.59139404e+02] [-1.83414923e-02 9.99831682e-01 -4.43768907e-04 -1.55356648e+01] [-6.66653021e-03 3.21539031e-04 9.99977727e-01 -3.64698265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.900371743 meters 0.029885374683465794 Centerline is valid? [True, True] Translation: X:259.20, Y:-15.54, Z:-3.65 [[ 9.99820670e-01 1.76387140e-02 6.89225638e-03 2.59198188e+02] [-1.76359706e-02 9.99844369e-01 -4.58628534e-04 -1.55430597e+01] [-6.89927335e-03 3.36994657e-04 9.99976143e-01 -3.64846715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.960371743 meters 0.03250716112372714 Centerline is valid? [True, True] Translation: X:259.26, Y:-15.55, Z:-3.65 [[ 9.99878333e-01 1.38426938e-02 7.19020367e-03 2.59257855e+02] [-1.38396149e-02 9.99904114e-01 -4.77789450e-04 -1.55545095e+01] [-7.19612812e-03 3.78221669e-04 9.99974036e-01 -3.64978929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.020371743 meters 0.036215428523617595 Centerline is valid? [True, True] Translation: X:259.32, Y:-15.57, Z:-3.65 [[ 9.99913084e-01 8.91546026e-03 9.71280907e-03 2.59316687e+02] [-8.90961276e-03 9.99960101e-01 -6.45144239e-04 -1.55666080e+01] [-9.71817329e-03 5.58550798e-04 9.99952621e-01 -3.64918410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.080371743 meters 0.03876720790178927 Centerline is valid? [True, True] Translation: X:259.38, Y:-15.58, Z:-3.65 [[ 9.99936381e-01 4.55962902e-03 1.03171382e-02 2.59377079e+02] [-4.55280247e-03 9.99989401e-01 -6.85061179e-04 -1.55756001e+01] [-1.03201525e-02 6.38045704e-04 9.99946542e-01 -3.64953971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.140371743 meters 0.04147168596036063 Centerline is valid? [True, True] Translation: X:259.44, Y:-15.58, Z:-3.65 [[ 9.99947597e-01 1.98206251e-03 1.00436299e-02 2.59436330e+02] [-1.97546319e-03 9.99997826e-01 -6.66943527e-04 -1.55837167e+01] [-1.00449300e-02 6.47067756e-04 9.99949339e-01 -3.65096366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.200371743 meters 0.04294096612361851 Centerline is valid? [True, True] Translation: X:259.50, Y:-15.59, Z:-3.65 [[ 9.99954428e-01 -6.10158835e-04 9.52732303e-03 2.59496691e+02] [ 6.16213500e-04 9.99999610e-01 -6.32582769e-04 -1.55908334e+01] [-9.52693334e-03 6.38424806e-04 9.99954414e-01 -3.65357295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.260371743 meters 0.04381393018484434 Centerline is valid? [True, True] Translation: X:259.56, Y:-15.60, Z:-3.66 [[ 9.99973429e-01 -9.17884605e-05 7.28916978e-03 2.59558494e+02] [ 9.53168151e-05 9.99999878e-01 -4.83708469e-04 -1.55960354e+01] [-7.28912450e-03 4.84390397e-04 9.99973317e-01 -3.65731892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.320371743 meters 0.03447286759205322 Centerline is valid? [True, True] Translation: X:259.62, Y:-15.58, Z:-3.66 [[ 9.99970592e-01 2.53392925e-03 7.23845581e-03 2.59621372e+02] [-2.53051426e-03 9.99996683e-01 -4.80903708e-04 -1.55834436e+01] [-7.23965038e-03 4.62572550e-04 9.99973686e-01 -3.65598297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.380371743 meters 0.033719398798126424 Centerline is valid? [True, True] Translation: X:259.68, Y:-15.58, Z:-3.66 [[ 9.99957737e-01 5.23306324e-03 7.55910645e-03 2.59681929e+02] [-5.22940978e-03 9.99986200e-01 -5.03003147e-04 -1.55847894e+01] [-7.56163438e-03 4.63452223e-04 9.99971303e-01 -3.65682988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.440371743 meters 0.033809221022110585 Centerline is valid? [True, True] Translation: X:259.74, Y:-15.59, Z:-3.66 [[ 9.99929478e-01 9.02178104e-03 7.72313943e-03 2.59741350e+02] [-9.01807903e-03 9.99959204e-01 -5.14031252e-04 -1.55857537e+01] [-7.72746183e-03 4.44347120e-04 9.99970044e-01 -3.65853156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.500371743 meters 0.036191880988535916 Centerline is valid? [True, True] Translation: X:259.80, Y:-15.59, Z:-3.66 [[ 9.99933890e-01 9.18594107e-03 6.91617328e-03 2.59801462e+02] [-9.18298197e-03 9.99957730e-01 -4.59486701e-04 -1.55903710e+01] [-6.92010175e-03 3.95945230e-04 9.99975977e-01 -3.66062170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.560371743 meters 0.038228768854561286 Centerline is valid? [True, True] Translation: X:259.86, Y:-15.60, Z:-3.66 [[ 9.99958751e-01 6.57770912e-03 6.26340409e-03 2.59861960e+02] [-6.57522526e-03 9.99978296e-01 -4.17076770e-04 -1.55956997e+01] [-6.26601156e-03 3.75876273e-04 9.99980298e-01 -3.66242723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.620371743 meters 0.03591204599245187 Centerline is valid? [True, True] Translation: X:259.92, Y:-15.59, Z:-3.66 [[ 9.99973558e-01 4.29282873e-03 5.86976608e-03 2.59923265e+02] [-4.29060937e-03 9.99990719e-01 -3.90641422e-04 -1.55930620e+01] [-5.87138856e-03 3.65446220e-04 9.99982696e-01 -3.66165263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.680371743 meters 0.03679947769128533 Centerline is valid? [True, True] Translation: X:259.98, Y:-15.60, Z:-3.66 [[ 9.99970272e-01 4.35331043e-03 6.36418408e-03 2.59984680e+02] [-4.35069904e-03 9.99990446e-01 -4.24112873e-04 -1.55960968e+01] [-6.36596957e-03 3.96411616e-04 9.99979658e-01 -3.66216447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.740371743 meters 0.033753044613560046 Centerline is valid? [True, True] Translation: X:260.05, Y:-15.59, Z:-3.66 [[ 9.99950740e-01 7.89109309e-03 6.02061953e-03 2.60045529e+02] [-7.88881713e-03 9.99968802e-01 -4.01683117e-04 -1.55918539e+01] [-6.02360141e-03 3.54167764e-04 9.99981795e-01 -3.66241868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.800371743 meters 0.032468451178133635 Centerline is valid? [True, True] Translation: X:260.11, Y:-15.59, Z:-3.66 [[ 9.99891083e-01 1.33016007e-02 6.39454725e-03 2.60105533e+02] [-1.32991427e-02 9.99911471e-01 -4.26765284e-04 -1.55911887e+01] [-6.39965781e-03 3.41676805e-04 9.99979464e-01 -3.66294222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86037174300003 meters 0.03184819700205186 Centerline is valid? [True, True] Translation: X:260.17, Y:-15.59, Z:-3.66 [[ 9.99840387e-01 1.64299299e-02 7.01836629e-03 2.60165541e+02] [-1.64270460e-02 9.99864957e-01 -4.68352154e-04 -1.55928163e+01] [-7.02511350e-03 3.52986373e-04 9.99975261e-01 -3.66484576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92037174300003 meters 0.030906418342159767 Centerline is valid? [True, True] Translation: X:260.22, Y:-15.60, Z:-3.67 [[ 9.99857305e-01 1.60063334e-02 5.40070339e-03 2.60224057e+02] [-1.60046182e-02 9.99871853e-01 -3.60668419e-04 -1.55950878e+01] [-5.40578428e-03 2.74180758e-04 9.99985351e-01 -3.66686268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98037174300003 meters 0.03309291737634779 Centerline is valid? [True, True] Translation: X:260.28, Y:-15.60, Z:-3.67 [[ 9.99923157e-01 1.18763470e-02 3.55426751e-03 2.60283855e+02] [-1.18755796e-02 9.99929455e-01 -2.36935386e-04 -1.56028307e+01] [-3.55683071e-03 1.94708193e-04 9.99993656e-01 -3.66905411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.040371743 meters 0.03473250636040674 Centerline is valid? [True, True] Translation: X:260.34, Y:-15.61, Z:-3.67 [[ 9.99977526e-01 5.69399172e-03 3.53933825e-03 2.60343418e+02] [-5.69319263e-03 9.99983766e-01 -2.35810077e-04 -1.56098339e+01] [-3.54062349e-03 2.15654642e-04 9.99993709e-01 -3.67020631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.100371743 meters 0.037053518252492264 Centerline is valid? [True, True] Translation: X:260.40, Y:-15.62, Z:-3.67 [[ 9.99990091e-01 1.08264916e-03 4.31800573e-03 2.60403220e+02] [-1.08141836e-03 9.99999374e-01 -2.87365327e-04 -1.56173426e+01] [-4.31831415e-03 2.82692909e-04 9.99990636e-01 -3.67103141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.160371743 meters 0.036614165934389944 Centerline is valid? [True, True] Translation: X:260.46, Y:-15.62, Z:-3.67 [[ 9.99988129e-01 -3.73566366e-04 4.85820927e-03 2.60464774e+02] [ 3.75140135e-04 9.99999877e-01 -3.23032835e-04 -1.56192933e+01] [-4.85808800e-03 3.24851510e-04 9.99988147e-01 -3.67106453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.220371743 meters 0.038683559399412995 Centerline is valid? [True, True] Translation: X:260.53, Y:-15.62, Z:-3.67 [[ 9.99982210e-01 -6.70989190e-04 5.92696563e-03 2.60525655e+02] [ 6.73337854e-04 9.99999696e-01 -3.94280875e-04 -1.56223871e+01] [-5.92669927e-03 3.98264711e-04 9.99982358e-01 -3.67034884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.280371743 meters 0.03761279456094692 Centerline is valid? [True, True] Translation: X:260.59, Y:-15.62, Z:-3.67 [[ 9.99977743e-01 -3.03151519e-04 6.66497957e-03 2.60587919e+02] [ 3.06115505e-04 9.99999855e-01 -4.43694761e-04 -1.56219918e+01] [-6.66484409e-03 4.45725139e-04 9.99977690e-01 -3.66933657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.340371743 meters 0.03808635020236086 Centerline is valid? [True, True] Translation: X:260.65, Y:-15.63, Z:-3.67 [[ 9.99974682e-01 -5.59329568e-05 7.11568471e-03 2.60650284e+02] [ 5.93092631e-05 9.99999886e-01 -4.74277765e-04 -1.56264854e+01] [-7.11565737e-03 4.74687783e-04 9.99974571e-01 -3.67045276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.400371743 meters 0.040086666562160915 Centerline is valid? [True, True] Translation: X:260.71, Y:-15.63, Z:-3.67 [[ 9.99973710e-01 -1.71199339e-04 7.24916724e-03 2.60711517e+02] [ 1.74702769e-04 9.99999868e-01 -4.82656769e-04 -1.56315870e+01] [-7.24908365e-03 4.83910529e-04 9.99973608e-01 -3.67233392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.460371743 meters 0.04112966833850804 Centerline is valid? [True, True] Translation: X:260.77, Y:-15.64, Z:-3.67 [[ 9.99977176e-01 -3.21717956e-05 6.75627079e-03 2.60774006e+02] [ 3.52267460e-05 9.99999897e-01 -4.52046670e-04 -1.56362713e+01] [-6.75625555e-03 4.52274354e-04 9.99977074e-01 -3.67460567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.520371743 meters 0.042595465983121986 Centerline is valid? [True, True] Translation: X:260.84, Y:-15.64, Z:-3.68 [[ 9.99988509e-01 -2.67502931e-04 4.78650426e-03 2.60836223e+02] [ 2.69033363e-04 9.99999913e-01 -3.19098123e-04 -1.56396810e+01] [-4.78641849e-03 3.20382186e-04 9.99988494e-01 -3.67672678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.580371743 meters 0.044647276979637954 Centerline is valid? [True, True] Translation: X:260.90, Y:-15.64, Z:-3.68 [[ 9.99993581e-01 -2.13237329e-03 2.87939375e-03 2.60897138e+02] [ 2.13294003e-03 9.99997707e-01 -1.93767432e-04 -1.56432584e+01] [-2.87897396e-03 1.99907763e-04 9.99995836e-01 -3.67904324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.640371743 meters 0.04488759353060479 Centerline is valid? [True, True] Translation: X:260.96, Y:-15.64, Z:-3.68 [[ 9.99982884e-01 -5.33882375e-03 2.39353377e-03 2.60957656e+02] [ 5.33922485e-03 9.99985733e-01 -1.61219440e-04 -1.56443479e+01] [-2.39263890e-03 1.73996296e-04 9.99997122e-01 -3.68076037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.700371743 meters 0.03994150238218861 Centerline is valid? [True, True] Translation: X:261.02, Y:-15.64, Z:-3.68 [[ 9.99969119e-01 -7.43688894e-03 2.54044381e-03 2.61018923e+02] [ 7.43734716e-03 9.99972328e-01 -1.70968017e-04 -1.56375637e+01] [-2.53910204e-03 1.89856900e-04 9.99996758e-01 -3.68021884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.760371743 meters 0.04069407408256376 Centerline is valid? [True, True] Translation: X:261.08, Y:-15.64, Z:-3.68 [[ 9.99965699e-01 -7.49681039e-03 3.52105293e-03 2.61081342e+02] [ 7.49768956e-03 9.99971864e-01 -2.36557807e-04 -1.56397987e+01] [-3.51918043e-03 2.62949454e-04 9.99993773e-01 -3.68084348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.820371743 meters 0.042798818234702315 Centerline is valid? [True, True] Translation: X:261.14, Y:-15.64, Z:-3.68 [[ 9.99971371e-01 -5.91141604e-03 4.72356164e-03 2.61141905e+02] [ 5.91298628e-03 9.99982467e-01 -3.18531080e-04 -1.56413028e+01] [-4.72159586e-03 3.46452316e-04 9.99988793e-01 -3.67949027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.880371743 meters 0.03794347197797201 Centerline is valid? [True, True] Translation: X:261.20, Y:-15.64, Z:-3.68 [[ 9.99967972e-01 -5.12859923e-03 6.14436684e-03 2.61204738e+02] [ 5.13123994e-03 9.99986749e-01 -4.14090978e-04 -1.56356428e+01] [-6.14216172e-03 4.45605936e-04 9.99981037e-01 -3.67917352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.940371743 meters 0.03991670489751654 Centerline is valid? [True, True] Translation: X:261.27, Y:-15.64, Z:-3.68 [[ 9.99968950e-01 -5.64843769e-03 5.49500552e-03 2.61266115e+02] [ 5.65056005e-03 9.99983967e-01 -3.70785801e-04 -1.56409236e+01] [-5.49282306e-03 4.01824147e-04 9.99984834e-01 -3.68059780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.000371743 meters 0.04026200663443909 Centerline is valid? [True, True] Translation: X:261.33, Y:-15.64, Z:-3.68 [[ 9.99971643e-01 -6.48160596e-03 3.83440168e-03 2.61328167e+02] [ 6.48264468e-03 9.99978954e-01 -2.58528708e-04 -1.56419017e+01] [-3.83264530e-03 2.83378440e-04 9.99992615e-01 -3.68292303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.060371743 meters 0.040726119648796286 Centerline is valid? [True, True] Translation: X:261.39, Y:-15.64, Z:-3.69 [[ 9.99975403e-01 -5.70593551e-03 4.07860481e-03 2.61390216e+02] [ 5.70710583e-03 9.99983676e-01 -2.75360048e-04 -1.56440351e+01] [-4.07696705e-03 2.98630304e-04 9.99991645e-01 -3.68523475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.120371743 meters 0.04136293225007166 Centerline is valid? [True, True] Translation: X:261.45, Y:-15.65, Z:-3.69 [[ 9.99975483e-01 -4.97439776e-03 4.92833064e-03 2.61452812e+02] [ 4.97609970e-03 9.99987564e-01 -3.33136204e-04 -1.56465387e+01] [-4.92661219e-03 3.57651901e-04 9.99987800e-01 -3.68538209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.180371743 meters 0.0394320397205003 Centerline is valid? [True, True] Translation: X:261.52, Y:-15.64, Z:-3.69 [[ 9.99966474e-01 -6.21309305e-03 5.33363270e-03 2.61515556e+02] [ 6.21510774e-03 9.99980621e-01 -3.61242770e-04 -1.56449222e+01] [-5.33128491e-03 3.94379761e-04 9.99985711e-01 -3.68537874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.240371743 meters 0.04237725727771018 Centerline is valid? [True, True] Translation: X:261.58, Y:-15.65, Z:-3.69 [[ 9.99957662e-01 -7.63948613e-03 5.12955511e-03 2.61575960e+02] [ 7.64137165e-03 9.99970744e-01 -3.48081605e-04 -1.56513770e+01] [-5.12674587e-03 3.87263705e-04 9.99986783e-01 -3.68731986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.300371743 meters 0.04421724265217674 Centerline is valid? [True, True] Translation: X:261.64, Y:-15.66, Z:-3.69 [[ 9.99958392e-01 -7.07915505e-03 5.75317371e-03 2.61637126e+02] [ 7.08151844e-03 9.99974849e-01 -3.90530038e-04 -1.56553786e+01] [-5.75026440e-03 4.31254995e-04 9.99983374e-01 -3.68820038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36037174300003 meters 0.03961095124006547 Centerline is valid? [True, True] Translation: X:261.70, Y:-15.65, Z:-3.69 [[ 9.99966821e-01 -5.68338747e-03 5.83575542e-03 2.61699197e+02] [ 5.68579731e-03 9.99983757e-01 -3.96435649e-04 -1.56513390e+01] [-5.83340753e-03 4.29603418e-04 9.99982893e-01 -3.68826770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42037174300003 meters 0.037087196443902584 Centerline is valid? [True, True] Translation: X:261.76, Y:-15.65, Z:-3.69 [[ 9.99979414e-01 -2.54462945e-03 5.89041019e-03 2.61760565e+02] [ 2.54703411e-03 9.99996676e-01 -4.00767625e-04 -1.56481597e+01] [-5.88937080e-03 4.15762450e-04 9.99982571e-01 -3.68829038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48037174300003 meters 0.036397835723486684 Centerline is valid? [True, True] Translation: X:261.82, Y:-15.65, Z:-3.69 [[ 9.99979691e-01 1.61868657e-04 6.37115431e-03 2.61821405e+02] [-1.59109241e-04 9.99999893e-01 -4.33615344e-04 -1.56482835e+01] [-6.37122382e-03 4.32592828e-04 9.99979610e-01 -3.68982905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.540371743 meters 0.036177036179328194 Centerline is valid? [True, True] Translation: X:261.88, Y:-15.65, Z:-3.69 [[ 9.99988832e-01 2.88585006e-05 4.72602137e-03 2.61883889e+02] [-2.73489665e-05 9.99999949e-01 -3.19473398e-04 -1.56497995e+01] [-4.72603035e-03 3.19340578e-04 9.99988781e-01 -3.69203359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.600371743 meters 0.0381869238476997 Centerline is valid? [True, True] Translation: X:261.94, Y:-15.66, Z:-3.69 [[ 9.99984467e-01 -2.73871046e-03 4.85442010e-03 2.61944211e+02] [ 2.74035259e-03 9.99996190e-01 -3.31654248e-04 -1.56566915e+01] [-4.85349330e-03 3.44951919e-04 9.99988162e-01 -3.69441389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.660371743 meters 0.039706756175039166 Centerline is valid? [True, True] Translation: X:262.01, Y:-15.66, Z:-3.70 [[ 9.99981382e-01 -4.05898210e-03 4.55640383e-03 2.62005837e+02] [ 4.06043350e-03 9.99991709e-01 -3.09334997e-04 -1.56617698e+01] [-4.55511046e-03 3.27830213e-04 9.99989572e-01 -3.69543117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.720371743 meters 0.04153845522990761 Centerline is valid? [True, True] Translation: X:262.07, Y:-15.67, Z:-3.70 [[ 9.99979802e-01 -5.26954574e-03 3.55362281e-03 2.62067959e+02] [ 5.27044256e-03 9.99986082e-01 -2.43051477e-04 -1.56665854e+01] [-3.55229258e-03 2.61775732e-04 9.99993656e-01 -3.69693043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.780371743 meters 0.039534155491482155 Centerline is valid? [True, True] Translation: X:262.13, Y:-15.67, Z:-3.70 [[ 9.99984403e-01 -4.87363230e-03 2.72773770e-03 2.62130623e+02] [ 4.87415908e-03 9.99988104e-01 -1.86507221e-04 -1.56665410e+01] [-2.72679628e-03 1.99799740e-04 9.99996262e-01 -3.69864105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.840371743 meters 0.0445113919315756 Centerline is valid? [True, True] Translation: X:262.19, Y:-15.67, Z:-3.70 [[ 9.99989279e-01 -1.91768974e-03 4.21480125e-03 2.62190347e+02] [ 1.91892798e-03 9.99998117e-01 -2.89758953e-04 -1.56745189e+01] [-4.21423765e-03 2.97843747e-04 9.99991076e-01 -3.69848665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.900371743 meters 0.03757433195226783 Centerline is valid? [True, True] Translation: X:262.25, Y:-15.67, Z:-3.70 [[ 9.99981372e-01 6.42554707e-04 6.06982916e-03 2.62251735e+02] [-6.40034434e-04 9.99999708e-01 -4.17146503e-04 -1.56678411e+01] [-6.07009542e-03 4.13253833e-04 9.99981491e-01 -3.69643924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.960371743 meters 0.035510681707183266 Centerline is valid? [True, True] Translation: X:262.31, Y:-15.67, Z:-3.70 [[ 9.99966709e-01 2.49178284e-03 7.77000101e-03 2.62313673e+02] [-2.48770866e-03 9.99996763e-01 -5.33968184e-04 -1.56684949e+01] [-7.77130639e-03 5.14620909e-04 9.99969671e-01 -3.69625332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.020371743 meters 0.035630255981029986 Centerline is valid? [True, True] Translation: X:262.38, Y:-15.67, Z:-3.70 [[ 9.99972375e-01 2.31684690e-03 7.06270269e-03 2.62375665e+02] [-2.31348401e-03 9.99997207e-01 -4.84280727e-04 -1.56741962e+01] [-7.06380497e-03 4.67927899e-04 9.99974942e-01 -3.69905479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.080371743 meters 0.039858140215567224 Centerline is valid? [True, True] Translation: X:262.43, Y:-15.69, Z:-3.70 [[ 9.99993278e-01 -6.68146758e-04 3.60531794e-03 2.62434906e+02] [ 6.69047524e-04 9.99999745e-01 -2.48643428e-04 -1.56856053e+01] [-3.60515089e-03 2.51053886e-04 9.99993470e-01 -3.70380592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.140371743 meters 0.03908449314426038 Centerline is valid? [True, True] Translation: X:262.50, Y:-15.69, Z:-3.71 [[ 9.99990594e-01 -3.90835651e-03 1.88039893e-03 2.62495808e+02] [ 3.90860725e-03 9.99992353e-01 -1.29691712e-04 -1.56901761e+01] [-1.87987767e-03 1.37040233e-04 9.99998224e-01 -3.70666906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.200371743 meters 0.06907407028150657 Centerline is valid? [True, True] Translation: X:262.55, Y:-15.74, Z:-3.72 [[ 9.99990835e-01 -4.03225408e-03 1.43937397e-03 2.62554274e+02] [ 4.03239940e-03 9.99991865e-01 -9.80694228e-05 -1.57358939e+01] [-1.43896682e-03 1.03872655e-04 9.99998959e-01 -3.71553201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.260371743 meters 0.04218286339833965 Centerline is valid? [True, True] Translation: X:262.62, Y:-15.70, Z:-3.71 [[ 9.99983545e-01 -5.73608833e-03 8.39507128e-05 2.62617476e+02] [ 5.73608882e-03 9.99983548e-01 -5.56767503e-06 -1.57033953e+01] [-8.39173952e-05 6.04913216e-06 9.99999996e-01 -3.71029496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.320371743 meters 0.03753791461839913 Centerline is valid? [True, True] Translation: X:262.68, Y:-15.70, Z:-3.71 [[ 9.99993428e-01 -3.12741381e-03 1.83385684e-03 2.62678685e+02] [ 3.12765159e-03 9.99995101e-01 -1.26809502e-04 -1.56994430e+01] [-1.83345127e-03 1.32544334e-04 9.99998310e-01 -3.70876216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.380371743 meters 0.03919811596491135 Centerline is valid? [True, True] Translation: X:262.74, Y:-15.70, Z:-3.71 [[ 9.99988091e-01 1.29095440e-03 4.70647086e-03 2.62737631e+02] [-1.28943300e-03 9.99999115e-01 -3.26276336e-04 -1.57040254e+01] [-4.70688790e-03 3.20203772e-04 9.99988871e-01 -3.70824862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.440371743 meters 0.042035158680261114 Centerline is valid? [True, True] Translation: X:262.80, Y:-15.71, Z:-3.71 [[ 9.99974441e-01 3.97326845e-03 5.94393924e-03 2.62797361e+02] [-3.97089094e-03 9.99992031e-01 -4.11737180e-04 -1.57110355e+01] [-5.94552782e-03 3.88123922e-04 9.99982250e-01 -3.70899049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.500371743 meters 0.0349368172854815 Centerline is valid? [True, True] Translation: X:262.86, Y:-15.70, Z:-3.71 [[ 9.99963750e-01 5.99456958e-03 6.04677187e-03 2.62859994e+02] [-5.99214851e-03 9.99981959e-01 -4.18427644e-04 -1.57049868e+01] [-6.04917108e-03 3.82179321e-04 9.99981631e-01 -3.70844594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.560371743 meters 0.03460270140686855 Centerline is valid? [True, True] Translation: X:262.92, Y:-15.71, Z:-3.71 [[ 9.99967332e-01 6.64554352e-03 4.60122602e-03 2.62920470e+02] [-6.64414586e-03 9.99977877e-01 -3.18977373e-04 -1.57103101e+01] [-4.60324400e-03 2.88395736e-04 9.99989363e-01 -3.71157015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.620371743 meters 0.03370149303812139 Centerline is valid? [True, True] Translation: X:262.98, Y:-15.71, Z:-3.72 [[ 9.99965678e-01 7.93819115e-03 2.37218498e-03 2.62980498e+02] [-7.93782278e-03 9.99968481e-01 -1.64660727e-04 -1.57146676e+01] [-2.37341732e-03 1.45825092e-04 9.99997173e-01 -3.71532648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.680371743 meters 0.03299956467308728 Centerline is valid? [True, True] Translation: X:263.04, Y:-15.72, Z:-3.72 [[ 9.99946201e-01 1.03669815e-02 3.48762289e-04 2.63040755e+02] [-1.03669735e-02 9.99946261e-01 -2.48850358e-05 -1.57171918e+01] [-3.49001530e-04 2.12680876e-05 9.99999939e-01 -3.71727598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.740371743 meters 0.03184975093015618 Centerline is valid? [True, True] Translation: X:263.10, Y:-15.72, Z:-3.72 [[ 9.99863680e-01 1.65111096e-02 -6.81648290e-05 2.63100223e+02] [-1.65111094e-02 9.99863682e-01 4.42578420e-06 -1.57184236e+01] [ 6.82286114e-05 -3.29970392e-06 9.99999998e-01 -3.71914903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.800371743 meters 0.028596734472516972 Centerline is valid? [True, True] Translation: X:263.16, Y:-15.71, Z:-3.72 [[ 9.99704172e-01 2.41629132e-02 2.77884766e-03 2.63160784e+02] [-2.41624712e-02 9.99708026e-01 -1.92523336e-04 -1.57139797e+01] [-2.78268824e-03 1.25322555e-04 9.99996120e-01 -3.71687158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86037174300003 meters 0.027140468771657638 Centerline is valid? [True, True] Translation: X:263.22, Y:-15.71, Z:-3.72 [[ 9.99509458e-01 3.07583170e-02 5.89650092e-03 2.63220889e+02] [-3.07564434e-02 9.99526825e-01 -4.08188451e-04 -1.57134354e+01] [-5.90626604e-03 2.26632821e-04 9.99982532e-01 -3.71503367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92037174300003 meters 0.025465486680070665 Centerline is valid? [True, True] Translation: X:263.28, Y:-15.71, Z:-3.71 [[ 9.99427245e-01 3.29881905e-02 7.54720381e-03 2.63280483e+02] [-3.29851823e-02 9.99455704e-01 -5.22749481e-04 -1.57128096e+01] [-7.56034046e-03 2.73504180e-04 9.99971383e-01 -3.71395245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98037174300003 meters 0.025278567016795733 Centerline is valid? [True, True] Translation: X:263.34, Y:-15.72, Z:-3.71 [[ 9.99429768e-01 3.26084036e-02 8.76534752e-03 2.63337877e+02] [-3.26043331e-02 9.99468153e-01 -6.06913261e-04 -1.57155181e+01] [-8.78047617e-03 3.20778869e-04 9.99961399e-01 -3.71445582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.040371743 meters 0.02672370865743711 Centerline is valid? [True, True] Translation: X:263.40, Y:-15.72, Z:-3.72 [[ 9.99544021e-01 2.91034173e-02 8.04625179e-03 2.63396730e+02] [-2.90998845e-02 9.99576354e-01 -5.55813860e-04 -1.57236985e+01] [-8.05901911e-03 3.21415422e-04 9.99967474e-01 -3.71667737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.100371743 meters 0.028838546275305563 Centerline is valid? [True, True] Translation: X:263.46, Y:-15.73, Z:-3.72 [[ 9.99692781e-01 2.40595623e-02 5.95657797e-03 2.63456285e+02] [-2.40575393e-02 9.99710491e-01 -4.11048694e-04 -1.57322982e+01] [-5.96474314e-03 2.67621804e-04 9.99982175e-01 -3.71951660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.160371743 meters 0.029364177519471197 Centerline is valid? [True, True] Translation: X:263.52, Y:-15.74, Z:-3.72 [[ 9.99771281e-01 2.07600553e-02 5.13868802e-03 2.63515863e+02] [-2.07585057e-02 9.99784456e-01 -3.54708268e-04 -1.57384045e+01] [-5.14494417e-03 2.47955654e-04 9.99986734e-01 -3.72074245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.220371743 meters 0.03038103866778856 Centerline is valid? [True, True] Translation: X:263.58, Y:-15.75, Z:-3.72 [[ 9.99845504e-01 1.69382806e-02 4.69705791e-03 2.63576155e+02] [-1.69369460e-02 9.99856507e-01 -3.23771052e-04 -1.57462404e+01] [-4.70186804e-03 2.44167215e-04 9.99988916e-01 -3.72156108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.280371743 meters 0.03175608416693316 Centerline is valid? [True, True] Translation: X:263.64, Y:-15.75, Z:-3.72 [[ 9.99891452e-01 1.39480067e-02 4.74738192e-03 2.63635520e+02] [-1.39466081e-02 9.99902688e-01 -3.27571349e-04 -1.57539754e+01] [-4.75148891e-03 2.61325916e-04 9.99988677e-01 -3.72221636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.340371743 meters 0.03252946994890978 Centerline is valid? [True, True] Translation: X:263.69, Y:-15.76, Z:-3.72 [[ 9.99915898e-01 1.20251222e-02 4.85738033e-03 2.63694941e+02] [-1.20236364e-02 9.99927657e-01 -3.34977524e-04 -1.57603667e+01] [-4.86105709e-03 2.76545976e-04 9.99988147e-01 -3.72268968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.400371743 meters 0.03483743321258694 Centerline is valid? [True, True] Translation: X:263.75, Y:-15.77, Z:-3.72 [[ 9.99951356e-01 8.50909097e-03 4.98808278e-03 2.63754940e+02] [-8.50748309e-03 9.99963752e-01 -3.43473714e-04 -1.57706337e+01] [-4.99082462e-03 3.01020976e-04 9.99987500e-01 -3.72334771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.460371743 meters 0.034238052935295894 Centerline is valid? [True, True] Translation: X:263.81, Y:-15.78, Z:-3.72 [[ 9.99982747e-01 3.79306648e-03 4.48531966e-03 2.63814614e+02] [-3.79171840e-03 9.99992764e-01 -3.09019770e-04 -1.57779287e+01] [-4.48645934e-03 2.92007369e-04 9.99989893e-01 -3.72402644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.520371743 meters 0.038403668073170846 Centerline is valid? [True, True] Translation: X:263.87, Y:-15.79, Z:-3.73 [[ 9.99996211e-01 4.83843983e-04 2.70990058e-03 2.63873170e+02] [-4.83339821e-04 9.99999866e-01 -1.86696457e-04 -1.57918403e+01] [-2.70999055e-03 1.85385946e-04 9.99996311e-01 -3.72659654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.580371743 meters 0.03743779649215443 Centerline is valid? [True, True] Translation: X:263.93, Y:-15.80, Z:-3.73 [[ 9.99998179e-01 4.94180368e-04 1.84354205e-03 2.63934455e+02] [-4.93948079e-04 9.99999870e-01 -1.26454234e-04 -1.57967372e+01] [-1.84360430e-03 1.25543390e-04 9.99998293e-01 -3.72778182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.640371743 meters 0.034838421569419326 Centerline is valid? [True, True] Translation: X:264.00, Y:-15.80, Z:-3.73 [[ 9.99992835e-01 3.71593967e-03 7.22619028e-04 2.63995227e+02] [-3.71590485e-03 9.99993095e-01 -4.95216862e-05 -1.57981201e+01] [-7.22798058e-04 4.68361479e-05 9.99999738e-01 -3.72846920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.700371743 meters 0.03486982945549387 Centerline is valid? [True, True] Translation: X:264.05, Y:-15.80, Z:-3.73 [[ 9.99968852e-01 7.88528074e-03 -3.44017196e-04 2.64054666e+02] [-7.88527317e-03 9.99968910e-01 2.33735859e-05 -1.58030930e+01] [ 3.44190808e-04 -2.06601882e-05 9.99999941e-01 -3.73061019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.760371743 meters 0.03294182686052257 Centerline is valid? [True, True] Translation: X:264.11, Y:-15.80, Z:-3.73 [[ 9.99934099e-01 1.14790568e-02 -1.70176090e-04 2.64114659e+02] [-1.14790551e-02 9.99934113e-01 1.14646083e-05 -1.58044088e+01] [ 1.70296480e-04 -9.51039202e-06 9.99999985e-01 -3.73083349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.820371743 meters 0.03266765510468221 Centerline is valid? [True, True] Translation: X:264.17, Y:-15.81, Z:-3.73 [[ 9.99911133e-01 1.33271373e-02 -3.37740552e-04 2.64173142e+02] [-1.33271305e-02 9.99911190e-01 2.22332365e-05 -1.58080621e+01] [ 3.38006862e-04 -1.77301482e-05 9.99999943e-01 -3.73186023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.880371743 meters 0.03257670785942737 Centerline is valid? [True, True] Translation: X:264.23, Y:-15.81, Z:-3.73 [[ 9.99915008e-01 1.30337730e-02 3.12802582e-04 2.64231465e+02] [-1.30337666e-02 9.99915057e-01 -2.24863377e-05 -1.58116633e+01] [-3.13069094e-04 1.84074307e-05 9.99999951e-01 -3.73163535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.940371743 meters 0.03503026259423484 Centerline is valid? [True, True] Translation: X:264.29, Y:-15.82, Z:-3.73 [[ 9.99956662e-01 9.20142040e-03 1.41707363e-03 2.64291184e+02] [-9.20129133e-03 9.99957662e-01 -9.75737595e-05 -1.58219263e+01] [-1.41791145e-03 8.45306235e-05 9.99998991e-01 -3.73228446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.000371743 meters 0.03903718989335575 Centerline is valid? [True, True] Translation: X:264.35, Y:-15.83, Z:-3.73 [[ 9.99993948e-01 3.24308102e-03 1.25974617e-03 2.64350220e+02] [-3.24297444e-03 9.99994738e-01 -8.66331824e-05 -1.58344469e+01] [-1.26002050e-03 8.25473334e-05 9.99999203e-01 -3.73304094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.060371743 meters 0.03838675960149774 Centerline is valid? [True, True] Translation: X:264.41, Y:-15.84, Z:-3.73 [[ 9.99999767e-01 -6.55888111e-04 1.86656319e-04 2.64410821e+02] [ 6.55890520e-04 9.99999785e-01 -1.28484077e-05 -1.58394927e+01] [-1.86647852e-04 1.29708309e-05 9.99999982e-01 -3.73387188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.120371743 meters 0.039319430049035056 Centerline is valid? [True, True] Translation: X:264.47, Y:-15.85, Z:-3.74 [[ 9.99988305e-01 -4.77412230e-03 -7.72718833e-04 2.64470872e+02] [ 4.77416476e-03 9.99988602e-01 5.31103192e-05 -1.58475587e+01] [ 7.72456470e-04 -5.67987851e-05 9.99999700e-01 -3.73576405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.180371743 meters 0.03767931998664504 Centerline is valid? [True, True] Translation: X:264.53, Y:-15.85, Z:-3.74 [[ 9.99983618e-01 -5.67644973e-03 -7.35424268e-04 2.64532379e+02] [ 5.67648879e-03 9.99983887e-01 5.10472024e-05 -1.58504873e+01] [ 7.35122651e-04 -5.52209938e-05 9.99999728e-01 -3.73553825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.240371743 meters 0.0386166874659978 Centerline is valid? [True, True] Translation: X:264.59, Y:-15.86, Z:-3.74 [[ 9.99987642e-01 -4.95270237e-03 -4.31261964e-04 2.64593490e+02] [ 4.95271583e-03 9.99987735e-01 3.01545096e-05 -1.58560375e+01] [ 4.31107328e-04 -3.22900549e-05 9.99999907e-01 -3.73569024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.300371743 meters 0.0397619915599567 Centerline is valid? [True, True] Translation: X:264.65, Y:-15.86, Z:-3.74 [[ 9.99993197e-01 -3.52731743e-03 -1.07918971e-03 2.64653321e+02] [ 3.52739983e-03 9.99993776e-01 7.44598585e-05 -1.58608677e+01] [ 1.07892035e-03 -7.82660855e-05 9.99999415e-01 -3.73665995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36037174300003 meters 0.03812765567140807 Centerline is valid? [True, True] Translation: X:264.71, Y:-15.86, Z:-3.74 [[ 9.99994893e-01 -2.95413423e-03 -1.21916302e-03 2.64714321e+02] [ 2.95423929e-03 9.99995633e-01 8.43841708e-05 -1.58624222e+01] [ 1.21890841e-03 -8.79854392e-05 9.99999253e-01 -3.73718253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42037174300003 meters 0.038487649485296024 Centerline is valid? [True, True] Translation: X:264.78, Y:-15.87, Z:-3.74 [[ 9.99995142e-01 -2.82166823e-03 -1.32430840e-03 2.64775182e+02] [ 2.82179172e-03 9.99996015e-01 9.13893767e-05 -1.58664646e+01] [ 1.32404526e-03 -9.51258552e-05 9.99999119e-01 -3.73836536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48037174300003 meters 0.040272577501236514 Centerline is valid? [True, True] Translation: X:264.84, Y:-15.87, Z:-3.74 [[ 9.99994638e-01 -2.76362712e-03 -1.75699068e-03 2.64835585e+02] [ 2.76384541e-03 9.99996173e-01 1.21823600e-04 -1.58714781e+01] [ 1.75664728e-03 -1.26678997e-04 9.99998449e-01 -3.74019702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.540371743 meters 0.0396286338178427 Centerline is valid? [True, True] Translation: X:264.90, Y:-15.87, Z:-3.74 [[ 9.99991318e-01 -3.70404837e-03 -1.90913716e-03 2.64896331e+02] [ 3.70430614e-03 9.99993130e-01 1.31495877e-04 -1.58727069e+01] [ 1.90863698e-03 -1.38566764e-04 9.99998169e-01 -3.74124359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.600371743 meters 0.041115756983702505 Centerline is valid? [True, True] Translation: X:264.96, Y:-15.88, Z:-3.74 [[ 9.99989415e-01 -4.24192475e-03 -1.78226801e-03 2.64956364e+02] [ 4.24215024e-03 9.99990995e-01 1.22757495e-04 -1.58766669e+01] [ 1.78173123e-03 -1.30316844e-04 9.99998404e-01 -3.74179554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.660371743 meters 0.04353347544329816 Centerline is valid? [True, True] Translation: X:265.02, Y:-15.88, Z:-3.74 [[ 9.99980400e-01 -6.16786161e-03 -1.07546320e-03 2.65017679e+02] [ 6.16794539e-03 9.99980975e-01 7.45973683e-05 -1.58814177e+01] [ 1.07498264e-03 -8.12293045e-05 9.99999419e-01 -3.74276712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.720371743 meters 0.041947594152504604 Centerline is valid? [True, True] Translation: X:265.08, Y:-15.88, Z:-3.74 [[ 9.99951931e-01 -9.79568857e-03 -4.24181958e-04 2.65078320e+02] [ 9.79570187e-03 9.99952021e-01 2.92838137e-05 -1.58807221e+01] [ 4.23874751e-04 -3.34375661e-05 9.99999910e-01 -3.74187053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.780371743 meters 0.046870759475126485 Centerline is valid? [True, True] Translation: X:265.14, Y:-15.89, Z:-3.74 [[ 9.99921745e-01 -1.25101161e-02 -7.46078906e-06 2.65137791e+02] [ 1.25101162e-02 9.99921745e-01 1.37675352e-06 -1.58906826e+01] [ 7.44298171e-06 -1.46998111e-06 1.00000000e+00 -3.74320237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.840371743 meters 0.0473055246487602 Centerline is valid? [True, True] Translation: X:265.20, Y:-15.89, Z:-3.74 [[ 9.99858603e-01 -1.67965121e-02 -8.06569101e-04 2.65199203e+02] [ 1.67965628e-02 9.99858926e-01 5.61018912e-05 -1.58940214e+01] [ 8.05512999e-04 -6.96415471e-05 9.99999673e-01 -3.74442829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.900371743 meters 0.043887487631996396 Centerline is valid? [True, True] Translation: X:265.26, Y:-15.89, Z:-3.74 [[ 9.99815017e-01 -1.91233727e-02 -2.05623427e-03 2.65260535e+02] [ 1.91237053e-02 9.99817115e-01 1.42190593e-04 -1.58927837e+01] [ 2.05313905e-03 -1.81487109e-04 9.99997876e-01 -3.74485883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.960371743 meters 0.04482636587049591 Centerline is valid? [True, True] Translation: X:265.32, Y:-15.90, Z:-3.75 [[ 9.99840802e-01 -1.77976784e-02 -1.26984122e-03 2.65322395e+02] [ 1.77978050e-02 9.99841603e-01 8.84851329e-05 -1.58974382e+01] [ 1.26806525e-03 -1.11071433e-04 9.99999190e-01 -3.74513802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.020371743 meters 0.0440052536759222 Centerline is valid? [True, True] Translation: X:265.38, Y:-15.90, Z:-3.74 [[ 9.99872246e-01 -1.59723383e-02 -6.13817815e-04 2.65384278e+02] [ 1.59723680e-02 9.99872433e-01 4.34787413e-05 -1.58991972e+01] [ 6.13045055e-04 -5.32773107e-05 9.99999811e-01 -3.74418572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.080371743 meters 0.045030733463386007 Centerline is valid? [True, True] Translation: X:265.44, Y:-15.90, Z:-3.75 [[ 9.99913418e-01 -1.31588869e-02 -3.00944721e-05 2.65443881e+02] [ 1.31588870e-02 9.99913418e-01 2.00655211e-06 -1.59033693e+01] [ 3.00654623e-05 -2.40238813e-06 1.00000000e+00 -3.74526067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.140371743 meters 0.044412042189205164 Centerline is valid? [True, True] Translation: X:265.50, Y:-15.91, Z:-3.75 [[ 9.99947265e-01 -1.02682290e-02 -1.74343057e-04 2.65504754e+02] [ 1.02682313e-02 9.99947280e-01 1.23030620e-05 -1.59065644e+01] [ 1.74207534e-04 -1.40926080e-05 9.99999985e-01 -3.74645680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.200371743 meters 0.04088285784816704 Centerline is valid? [True, True] Translation: X:265.57, Y:-15.90, Z:-3.75 [[ 9.99971260e-01 -7.56821471e-03 4.47876821e-04 2.65565974e+02] [ 7.56822923e-03 9.99971360e-01 -3.07349230e-05 -1.59042940e+01] [-4.47631386e-04 3.41236741e-05 9.99999899e-01 -3.74536935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.260371743 meters 0.04021441989150401 Centerline is valid? [True, True] Translation: X:265.63, Y:-15.91, Z:-3.75 [[ 9.99978929e-01 -6.48307857e-03 3.32610445e-04 2.65626875e+02] [ 6.48308642e-03 9.99978984e-01 -2.25143679e-05 -1.59074595e+01] [-3.32457493e-04 2.46702358e-05 9.99999944e-01 -3.74602427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.320371743 meters 0.03882986878773914 Centerline is valid? [True, True] Translation: X:265.69, Y:-15.91, Z:-3.75 [[ 9.99981977e-01 -5.97015812e-03 -6.34832733e-04 2.65689168e+02] [ 5.97018789e-03 9.99982177e-01 4.50154572e-05 -1.59099273e+01] [ 6.34552669e-04 -4.88047166e-05 9.99999797e-01 -3.74759061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.380371743 meters 0.039623169669622746 Centerline is valid? [True, True] Translation: X:265.75, Y:-15.91, Z:-3.75 [[ 9.99985242e-01 -5.14436612e-03 -1.74700250e-03 2.65751396e+02] [ 5.14458742e-03 9.99986759e-01 1.22203002e-04 -1.59140760e+01] [ 1.74635071e-03 -1.31188805e-04 9.99998467e-01 -3.74884033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.440371743 meters 0.039482995328479556 Centerline is valid? [True, True] Translation: X:265.81, Y:-15.92, Z:-3.75 [[ 9.99994613e-01 -2.80006416e-03 -1.71307301e-03 2.65811110e+02] [ 2.80027181e-03 9.99996072e-01 1.18830817e-04 -1.59181253e+01] [ 1.71273355e-03 -1.23627247e-04 9.99998526e-01 -3.74998860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.500371743 meters 0.0382561328675396 Centerline is valid? [True, True] Translation: X:265.87, Y:-15.92, Z:-3.75 [[ 9.99998745e-01 -9.68190059e-04 -1.25414462e-03 2.65871860e+02] [ 9.68299923e-04 9.99999527e-01 8.69963096e-05 -1.59195033e+01] [ 1.25405980e-03 -8.82105885e-05 9.99999210e-01 -3.74969758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.560371743 meters 0.03783626091766328 Centerline is valid? [True, True] Translation: X:265.93, Y:-15.92, Z:-3.75 [[ 9.99997738e-01 2.10899817e-03 -2.74949735e-04 2.65931850e+02] [-2.10899304e-03 9.99997776e-01 1.89220657e-05 -1.59226855e+01] [ 2.74989030e-04 -1.83421559e-05 9.99999962e-01 -3.75014856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.620371743 meters 0.035824404291821335 Centerline is valid? [True, True] Translation: X:265.99, Y:-15.92, Z:-3.75 [[ 9.99995133e-01 3.08701254e-03 4.52143720e-04 2.65991769e+02] [-3.08699845e-03 9.99995235e-01 -3.18469308e-05 -1.59249126e+01] [-4.52239877e-04 3.04510088e-05 9.99999897e-01 -3.74990326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.680371743 meters 0.03778746597138253 Centerline is valid? [True, True] Translation: X:266.05, Y:-15.93, Z:-3.75 [[ 9.99993392e-01 3.59053395e-03 5.68394049e-04 2.66050445e+02] [-3.59051234e-03 9.99993553e-01 -3.90383939e-05 -1.59330962e+01] [-5.68530553e-04 3.69973101e-05 9.99999838e-01 -3.75108045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.740371743 meters 0.03963717821148463 Centerline is valid? [True, True] Translation: X:266.11, Y:-15.94, Z:-3.75 [[ 9.99986668e-01 5.13349415e-03 5.57366561e-04 2.66108687e+02] [-5.13347313e-03 9.99986823e-01 -3.91448793e-05 -1.59406743e+01] [-5.57560167e-04 3.62831312e-05 9.99999844e-01 -3.75230689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.800371743 meters 0.03803660280502971 Centerline is valid? [True, True] Translation: X:266.17, Y:-15.94, Z:-3.75 [[ 9.99957525e-01 9.18750349e-03 7.33246922e-04 2.66169372e+02] [-9.18746865e-03 9.99957793e-01 -5.08641227e-05 -1.59432116e+01] [-7.33683289e-04 4.41252792e-05 9.99999730e-01 -3.75295454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86037174300003 meters 0.032701087361033186 Centerline is valid? [True, True] Translation: X:266.23, Y:-15.94, Z:-3.75 [[ 9.99914999e-01 1.29696626e-02 1.33541123e-03 2.66230181e+02] [-1.29695502e-02 9.99915888e-01 -9.27731204e-05 -1.59398550e+01] [-1.33650215e-03 7.54455516e-05 9.99999104e-01 -3.75205716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92037174300003 meters 0.029543747612030716 Centerline is valid? [True, True] Translation: X:266.29, Y:-15.94, Z:-3.75 [[ 9.99786568e-01 2.06587464e-02 1.87982883e-04 2.66290587e+02] [-2.06587442e-02 9.99786585e-01 -1.35697609e-05 -1.59375307e+01] [-1.88223099e-04 9.68337437e-06 9.99999982e-01 -3.75296463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98037174300003 meters 0.02833650888482885 Centerline is valid? [True, True] Translation: X:266.35, Y:-15.94, Z:-3.75 [[ 9.99624735e-01 2.73926198e-02 -1.81018306e-04 2.66350233e+02] [-2.73926180e-02 9.99624752e-01 1.22391533e-05 -1.59385708e+01] [ 1.81285641e-04 -7.27599507e-06 9.99999984e-01 -3.75420099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.040371743 meters 0.0279331296516343 Centerline is valid? [True, True] Translation: X:266.41, Y:-15.94, Z:-3.75 [[ 9.99589935e-01 2.86334270e-02 -2.99237538e-04 2.66408844e+02] [-2.86334224e-02 9.99589979e-01 1.96994887e-05 -1.59420070e+01] [ 2.99678908e-04 -1.11232158e-05 9.99999955e-01 -3.75481812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.100371743 meters 0.026243920773990757 Centerline is valid? [True, True] Translation: X:266.47, Y:-15.94, Z:-3.75 [[ 9.99563834e-01 2.94951671e-02 1.47519764e-03 2.66467207e+02] [-2.94950473e-02 9.99564921e-01 -1.02951999e-04 -1.59449202e+01] [-1.47759240e-03 5.93960704e-05 9.99998907e-01 -3.75362494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.160371743 meters 0.02746458055796663 Centerline is valid? [True, True] Translation: X:266.53, Y:-15.96, Z:-3.75 [[ 9.99637705e-01 2.67241599e-02 3.20579328e-03 2.66525145e+02] [-2.67235849e-02 9.99642837e-01 -2.22062768e-04 -1.59553516e+01] [-3.21058272e-03 1.36312027e-04 9.99994837e-01 -3.75469262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.220371743 meters 0.02962359474073552 Centerline is valid? [True, True] Translation: X:266.58, Y:-15.97, Z:-3.76 [[ 9.99733946e-01 2.28965082e-02 2.79042355e-03 2.66584165e+02] [-2.28960589e-02 9.99737832e-01 -1.92824309e-04 -1.59659172e+01] [-2.79410699e-03 1.28883305e-04 9.99996088e-01 -3.75573301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.280371743 meters 0.03146787023379809 Centerline is valid? [True, True] Translation: X:266.64, Y:-15.98, Z:-3.76 [[ 9.99855845e-01 1.67905056e-02 2.52351262e-03 2.66644150e+02] [-1.67901194e-02 9.99859021e-01 -1.74159342e-04 -1.59780015e+01] [-2.52608108e-03 1.31764158e-04 9.99996801e-01 -3.75619496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.340371743 meters 0.03278069061070941 Centerline is valid? [True, True] Translation: X:266.70, Y:-15.99, Z:-3.76 [[ 9.99931823e-01 1.11463705e-02 3.47951267e-03 2.66704006e+02] [-1.11456021e-02 9.99937857e-01 -2.40141444e-04 -1.59895875e+01] [-3.48197315e-03 2.01343808e-04 9.99993918e-01 -3.75620927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.400371743 meters 0.03240268271754563 Centerline is valid? [True, True] Translation: X:266.76, Y:-16.00, Z:-3.76 [[ 9.99955268e-01 8.59690525e-03 3.94396559e-03 2.66763456e+02] [-8.59589691e-03 9.99963017e-01 -2.72546037e-04 -1.59956545e+01] [-3.94616279e-03 2.38631924e-04 9.99992185e-01 -3.75690735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.460371743 meters 0.03535107652872959 Centerline is valid? [True, True] Translation: X:266.82, Y:-16.01, Z:-3.76 [[ 9.99963491e-01 7.87068423e-03 3.32687395e-03 2.66821637e+02] [-7.86996226e-03 9.99969005e-01 -2.30047843e-04 -1.60071270e+01] [-3.32858146e-03 2.03857072e-04 9.99994439e-01 -3.75918838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.520371743 meters 0.034424146492854274 Centerline is valid? [True, True] Translation: X:266.88, Y:-16.01, Z:-3.76 [[ 9.99958184e-01 8.51328865e-03 3.33967410e-03 2.66880947e+02] [-8.51256596e-03 9.99963741e-01 -2.30551581e-04 -1.60111271e+01] [-3.34151576e-03 2.02112744e-04 9.99994397e-01 -3.75962171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.580371743 meters 0.03413285676421471 Centerline is valid? [True, True] Translation: X:266.94, Y:-16.02, Z:-3.76 [[ 9.99937956e-01 1.01506254e-02 4.58789778e-03 2.66940237e+02] [-1.01492803e-02 9.99948445e-01 -3.16367333e-04 -1.60163533e+01] [-4.59087258e-03 2.69783843e-04 9.99989425e-01 -3.75937764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.640371743 meters 0.03504358919811155 Centerline is valid? [True, True] Translation: X:267.00, Y:-16.02, Z:-3.76 [[ 9.99923005e-01 1.15730548e-02 4.47756652e-03 2.66998758e+02] [-1.15717878e-02 9.99932997e-01 -3.08772318e-04 -1.60226952e+01] [-4.48083995e-03 2.56935094e-04 9.99989928e-01 -3.76078615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.700371743 meters 0.033100304596079634 Centerline is valid? [True, True] Translation: X:267.06, Y:-16.02, Z:-3.76 [[ 9.99919380e-01 1.21467365e-02 3.70004154e-03 2.67057348e+02] [-1.21458747e-02 9.99926204e-01 -2.55279683e-04 -1.60237703e+01] [-3.70286931e-03 2.10318861e-04 9.99993122e-01 -3.76162773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.760371743 meters 0.03374584027283585 Centerline is valid? [True, True] Translation: X:267.12, Y:-16.03, Z:-3.76 [[ 9.99924953e-01 1.15540110e-02 4.07339927e-03 2.67115401e+02] [-1.15529626e-02 9.99933223e-01 -2.80820673e-04 -1.60292063e+01] [-4.07637187e-03 2.33739769e-04 9.99991664e-01 -3.76269090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.820371743 meters 0.03512716784465875 Centerline is valid? [True, True] Translation: X:267.17, Y:-16.04, Z:-3.76 [[ 9.99933313e-01 1.01187960e-02 5.56597201e-03 2.67174745e+02] [-1.01168240e-02 9.99948751e-01 -3.82329022e-04 -1.60356301e+01] [-5.56955547e-03 3.25993566e-04 9.99984437e-01 -3.76262666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.880371743 meters 0.037791475124296224 Centerline is valid? [True, True] Translation: X:267.23, Y:-16.04, Z:-3.76 [[ 9.99957813e-01 6.61712927e-03 6.37067860e-03 2.67233891e+02] [-6.61447782e-03 9.99978029e-01 -4.37175710e-04 -1.60447933e+01] [-6.37343148e-03 3.95018555e-04 9.99979611e-01 -3.76318273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.940371743 meters 0.04286814464908917 Centerline is valid? [True, True] Translation: X:267.29, Y:-16.06, Z:-3.77 [[ 9.99969926e-01 4.25123990e-03 6.48649108e-03 2.67293339e+02] [-4.24844705e-03 9.99990877e-01 -4.44282119e-04 -1.60568928e+01] [-6.48832065e-03 4.16711244e-04 9.99978864e-01 -3.76545962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.000371743 meters 0.04137443991932251 Centerline is valid? [True, True] Translation: X:267.35, Y:-16.06, Z:-3.77 [[ 9.99973316e-01 4.23637892e-03 5.95154125e-03 2.67354993e+02] [-4.23402304e-03 9.99990953e-01 -4.08388257e-04 -1.60592771e+01] [-5.95321749e-03 3.83178396e-04 9.99982206e-01 -3.76682875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.060371743 meters 0.03499701798505408 Centerline is valid? [True, True] Translation: X:267.42, Y:-16.05, Z:-3.77 [[ 9.99965398e-01 6.51924203e-03 5.16734788e-03 2.67416488e+02] [-6.51749516e-03 9.99978698e-01 -3.54827200e-04 -1.60527326e+01] [-5.16955101e-03 3.21136758e-04 9.99986586e-01 -3.76704132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.120371743 meters 0.035013037250428765 Centerline is valid? [True, True] Translation: X:267.48, Y:-16.05, Z:-3.77 [[ 9.99935681e-01 9.93201078e-03 5.47622849e-03 2.67476616e+02] [-9.93009837e-03 9.99950625e-01 -3.76301511e-04 -1.60549444e+01] [-5.47969553e-03 3.21897820e-04 9.99984935e-01 -3.76797800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.180371743 meters 0.03550956493098648 Centerline is valid? [True, True] Translation: X:267.54, Y:-16.06, Z:-3.77 [[ 9.99910423e-01 1.22165554e-02 5.46821797e-03 2.67536117e+02] [-1.22146818e-02 9.99925327e-01 -3.75897788e-04 -1.60584995e+01] [-5.47240182e-03 3.09071574e-04 9.99984979e-01 -3.76992689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.240371743 meters 0.035803448797904716 Centerline is valid? [True, True] Translation: X:267.60, Y:-16.06, Z:-3.77 [[ 9.99903963e-01 1.27844159e-02 5.35007142e-03 2.67595016e+02] [-1.27826286e-02 9.99918231e-01 -3.68129040e-04 -1.60620392e+01] [-5.35434026e-03 2.99705710e-04 9.99985621e-01 -3.77118515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.300371743 meters 0.03271592242876162 Centerline is valid? [True, True] Translation: X:267.65, Y:-16.06, Z:-3.77 [[ 9.99918820e-01 1.11642437e-02 6.14115053e-03 2.67654933e+02] [-1.11618634e-02 9.99937616e-01 -4.21749802e-04 -1.60621505e+01] [-6.14547594e-03 3.53168882e-04 9.99981054e-01 -3.77092848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36037174300003 meters 0.03499841294599086 Centerline is valid? [True, True] Translation: X:267.71, Y:-16.07, Z:-3.77 [[ 9.99955591e-01 6.72161743e-03 6.60580115e-03 2.67714989e+02] [-6.71876990e-03 9.99977326e-01 -4.53161513e-04 -1.60710519e+01] [-6.60869735e-03 4.08758531e-04 9.99978079e-01 -3.77212865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42037174300003 meters 0.03631109086429442 Centerline is valid? [True, True] Translation: X:267.78, Y:-16.08, Z:-3.77 [[ 9.99974880e-01 3.77417167e-03 5.99952877e-03 2.67775502e+02] [-3.77177244e-03 9.99992802e-01 -4.11167305e-04 -1.60781389e+01] [-6.00103740e-03 3.88528120e-04 9.99981918e-01 -3.77464157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48037174300003 meters 0.03783088396465122 Centerline is valid? [True, True] Translation: X:267.84, Y:-16.09, Z:-3.78 [[ 9.99996084e-01 -6.88554634e-05 2.79776382e-03 2.67835679e+02] [ 6.93928375e-05 9.99999979e-01 -1.91976104e-04 -1.60853796e+01] [-2.79775054e-03 1.92169497e-04 9.99996068e-01 -3.77897893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.540371743 meters 0.03881896389158366 Centerline is valid? [True, True] Translation: X:267.90, Y:-16.09, Z:-3.78 [[ 9.99997390e-01 -2.20513724e-03 5.98327622e-04 2.67896438e+02] [ 2.20516207e-03 9.99997568e-01 -4.08273840e-05 -1.60897305e+01] [-5.98236137e-04 4.21466868e-05 9.99999820e-01 -3.78117446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.600371743 meters 0.047697248581586284 Centerline is valid? [True, True] Translation: X:267.96, Y:-16.10, Z:-3.78 [[ 9.99994954e-01 -2.92270095e-03 1.24500301e-03 2.67956063e+02] [ 2.92280934e-03 9.99995725e-01 -8.52488587e-05 -1.61039545e+01] [-1.24474853e-03 8.88873349e-05 9.99999221e-01 -3.78306050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.660371743 meters 0.039585537304824565 Centerline is valid? [True, True] Translation: X:268.02, Y:-16.10, Z:-3.78 [[ 9.99992796e-01 -2.77399065e-03 2.59109449e-03 2.68018715e+02] [ 2.77445885e-03 9.99996136e-01 -1.77118474e-04 -1.60957436e+01] [-2.59059315e-03 1.84306083e-04 9.99996627e-01 -3.78096736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.720371743 meters 0.04127912652303031 Centerline is valid? [True, True] Translation: X:268.08, Y:-16.10, Z:-3.78 [[ 9.99982783e-01 -2.29933785e-03 5.39875577e-03 2.68079546e+02] [ 2.30137236e-03 9.99997283e-01 -3.70665978e-04 -1.61005827e+01] [-5.39788882e-03 3.83084144e-04 9.99985358e-01 -3.78029037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.780371743 meters 0.04210113879319476 Centerline is valid? [True, True] Translation: X:268.14, Y:-16.10, Z:-3.78 [[ 9.99985673e-01 -3.18969402e-03 4.29882421e-03 2.68141448e+02] [ 3.19099176e-03 9.99994865e-01 -2.95058339e-04 -1.61031631e+01] [-4.29786099e-03 3.08771625e-04 9.99990716e-01 -3.78220582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.840371743 meters 0.04493163932997448 Centerline is valid? [True, True] Translation: X:268.20, Y:-16.11, Z:-3.79 [[ 9.99981823e-01 -5.33719524e-03 2.80485651e-03 2.68201365e+02] [ 5.33775735e-03 9.99985735e-01 -1.92961260e-04 -1.61112313e+01] [-2.80378663e-03 2.07929396e-04 9.99996048e-01 -3.78601895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.900371743 meters 0.041959383742610705 Centerline is valid? [True, True] Translation: X:268.26, Y:-16.11, Z:-3.79 [[ 9.99946831e-01 -1.03104774e-02 -1.68918354e-04 2.68262803e+02] [ 1.03104796e-02 9.99946846e-01 1.20694811e-05 -1.61101984e+01] [ 1.68784933e-04 -1.38104686e-05 9.99999986e-01 -3.78823172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.960371743 meters 0.04318021768552483 Centerline is valid? [True, True] Translation: X:268.32, Y:-16.11, Z:-3.79 [[ 9.99908922e-01 -1.34194164e-02 -1.43763838e-03 2.68323198e+02] [ 1.34195727e-02 9.99909949e-01 9.91240840e-05 -1.61139280e+01] [ 1.43617873e-03 -1.18407549e-04 9.99998962e-01 -3.78948847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.020371743 meters 0.04230333276395005 Centerline is valid? [True, True] Translation: X:268.38, Y:-16.12, Z:-3.79 [[ 9.99881130e-01 -1.53923246e-02 -8.95302861e-04 2.68383937e+02] [ 1.53923862e-02 9.99881528e-01 6.19724744e-05 -1.61160933e+01] [ 8.94242892e-04 -7.57459551e-05 9.99999597e-01 -3.78934843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.080371743 meters 0.05569576257625978 Centerline is valid? [True, True] Translation: X:268.44, Y:-16.14, Z:-3.79 [[ 9.99886322e-01 -1.50756946e-02 2.57711572e-04 2.68443829e+02] [ 1.50756992e-02 9.99886355e-01 -1.59775108e-05 -1.61355590e+01] [-2.57441412e-04 1.98608767e-05 9.99999967e-01 -3.79181942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.140371743 meters 0.043540933864383596 Centerline is valid? [True, True] Translation: X:268.51, Y:-16.12, Z:-3.79 [[ 9.99912398e-01 -1.31048589e-02 1.85970444e-03 2.68506035e+02] [ 1.31051199e-02 9.99914116e-01 -1.28218523e-04 -1.61213424e+01] [-1.85786443e-03 1.52578940e-04 9.99998263e-01 -3.78911567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.200371743 meters 0.04231569212082428 Centerline is valid? [True, True] Translation: X:268.57, Y:-16.12, Z:-3.79 [[ 9.99939705e-01 -1.00992679e-02 4.31167226e-03 2.68567136e+02] [ 1.01006454e-02 9.99948943e-01 -2.97812945e-04 -1.61212056e+01] [-4.30844442e-03 3.41345660e-04 9.99990660e-01 -3.78841759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.260371743 meters 0.04128179342102001 Centerline is valid? [True, True] Translation: X:268.63, Y:-16.12, Z:-3.79 [[ 9.99952908e-01 -8.55540819e-03 4.58106253e-03 2.68629042e+02] [ 8.55694499e-03 9.99963339e-01 -3.15972779e-04 -1.61208497e+01] [-4.57819130e-03 3.55157800e-04 9.99989457e-01 -3.78833933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.320371743 meters 0.038740766533652174 Centerline is valid? [True, True] Translation: X:268.69, Y:-16.12, Z:-3.79 [[ 9.99944781e-01 -9.44306535e-03 4.61127809e-03 2.68691566e+02] [ 9.44463216e-03 9.99955348e-01 -3.18120855e-04 -1.61211948e+01] [-4.60806816e-03 3.61655114e-04 9.99989317e-01 -3.78899626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.380371743 meters 0.04497340845478801 Centerline is valid? [True, True] Translation: X:268.75, Y:-16.14, Z:-3.79 [[ 9.99913729e-01 -1.27906502e-02 2.98902683e-03 2.68750711e+02] [ 1.27913249e-02 9.99918166e-01 -2.06707694e-04 -1.61355417e+01] [-2.98613830e-03 2.44923474e-04 9.99995511e-01 -3.79254650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.440371743 meters 0.049203806575512425 Centerline is valid? [True, True] Translation: X:268.81, Y:-16.15, Z:-3.79 [[ 9.99869284e-01 -1.60527170e-02 1.93008527e-03 2.68809099e+02] [ 1.60530043e-02 9.99871133e-01 -1.33461787e-04 -1.61482862e+01] [-1.92769412e-03 1.64428009e-04 9.99998128e-01 -3.79499642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.500371743 meters 0.04548154367923654 Centerline is valid? [True, True] Translation: X:268.87, Y:-16.15, Z:-3.79 [[ 9.99857365e-01 -1.67710789e-02 1.99519901e-03 2.68871540e+02] [ 1.67713860e-02 9.99859341e-01 -1.37278238e-04 -1.61486237e+01] [-1.99261606e-03 1.70720910e-04 9.99998000e-01 -3.79466071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.560371743 meters 0.04470765161990049 Centerline is valid? [True, True] Translation: X:268.93, Y:-16.15, Z:-3.79 [[ 9.99889748e-01 -1.43235120e-02 3.91519503e-03 2.68931981e+02] [ 1.43246830e-02 9.99897360e-01 -2.71207797e-04 -1.61524121e+01] [-3.91090852e-03 3.27261823e-04 9.99992299e-01 -3.79363797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.620371743 meters 0.04501912517617784 Centerline is valid? [True, True] Translation: X:268.99, Y:-16.16, Z:-3.79 [[ 9.99933896e-01 -1.05262116e-02 4.62638680e-03 2.68990973e+02] [ 1.05278084e-02 9.99944530e-01 -3.20940168e-04 -1.61570921e+01] [-4.62275189e-03 3.69624666e-04 9.99989247e-01 -3.79338823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.680371743 meters 0.04249123196372767 Centerline is valid? [True, True] Translation: X:269.05, Y:-16.16, Z:-3.79 [[ 9.99959695e-01 -7.65318083e-03 4.69434193e-03 2.69051827e+02] [ 7.65479148e-03 9.99970649e-01 -3.25233999e-04 -1.61596724e+01] [-4.69171507e-03 3.61155099e-04 9.99988929e-01 -3.79370753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.740371743 meters 0.04215341727246319 Centerline is valid? [True, True] Translation: X:269.11, Y:-16.16, Z:-3.79 [[ 9.99976869e-01 -5.95450893e-03 3.28724695e-03 2.69113579e+02] [ 5.95528830e-03 9.99982241e-01 -2.27350992e-04 -1.61633918e+01] [-3.28583481e-03 2.46922236e-04 9.99994571e-01 -3.79491819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.800371743 meters 0.04058353897578464 Centerline is valid? [True, True] Translation: X:269.17, Y:-16.17, Z:-3.80 [[ 9.99993757e-01 -3.09232401e-03 1.70957813e-03 2.69174560e+02] [ 3.09253093e-03 9.99995211e-01 -1.18407158e-04 -1.61671407e+01] [-1.70920379e-03 1.23693342e-04 9.99998532e-01 -3.79687670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86037174300003 meters 0.04161892948674439 Centerline is valid? [True, True] Translation: X:269.23, Y:-16.17, Z:-3.80 [[ 9.99998880e-01 -5.71441020e-04 1.38335074e-03 2.69233887e+02] [ 5.71574384e-04 9.99999832e-01 -9.60130463e-05 -1.61734504e+01] [-1.38329564e-03 9.68036266e-05 9.99999039e-01 -3.79811013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92037174300003 meters 0.03542293764767315 Centerline is valid? [True, True] Translation: X:269.30, Y:-16.17, Z:-3.80 [[ 9.99984097e-01 5.29628975e-03 1.93794234e-03 2.69295261e+02] [-5.29603936e-03 9.99985967e-01 -1.34315865e-04 -1.61682070e+01] [-1.93862652e-03 1.24050310e-04 9.99998113e-01 -3.79700267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98037174300003 meters 0.032647674721151876 Centerline is valid? [True, True] Translation: X:269.36, Y:-16.17, Z:-3.80 [[ 9.99911447e-01 1.31291336e-02 2.17360540e-03 2.69356475e+02] [-1.31288366e-02 9.99913802e-01 -1.50825724e-04 -1.61668308e+01] [-2.17539825e-03 1.22275457e-04 9.99997626e-01 -3.79770781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.040371743 meters 0.02991828716574756 Centerline is valid? [True, True] Translation: X:269.42, Y:-16.17, Z:-3.80 [[ 9.99851082e-01 1.70142013e-02 2.88635444e-03 2.69416394e+02] [-1.70136929e-02 9.99855237e-01 -2.00596172e-04 -1.61663182e+01] [-2.88934958e-03 1.51458752e-04 9.99995814e-01 -3.79832668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.100371743 meters 0.0300813303045353 Centerline is valid? [True, True] Translation: X:269.48, Y:-16.17, Z:-3.80 [[ 9.99801288e-01 1.97804230e-02 2.47381491e-03 2.69475097e+02] [-1.97800575e-02 9.99804341e-01 -1.72120316e-04 -1.61706222e+01] [-2.47673550e-03 1.23153912e-04 9.99996925e-01 -3.80035383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.160371743 meters 0.03077593257408144 Centerline is valid? [True, True] Translation: X:269.53, Y:-16.18, Z:-3.80 [[ 9.99803677e-01 1.97375166e-02 1.74314713e-03 2.69533807e+02] [-1.97373342e-02 9.99805192e-01 -1.21809544e-04 -1.61755168e+01] [-1.74521177e-03 8.73805527e-05 9.99998473e-01 -3.80178651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.220371743 meters 0.031431887529400473 Centerline is valid? [True, True] Translation: X:269.59, Y:-16.18, Z:-3.80 [[ 9.99826049e-01 1.85876778e-02 1.53919281e-03 2.69590816e+02] [-1.85875335e-02 9.99827231e-01 -1.07994427e-04 -1.61825633e+01] [-1.54093425e-03 7.93658429e-05 9.99998810e-01 -3.80317862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.280371743 meters 0.031186138535116165 Centerline is valid? [True, True] Translation: X:269.65, Y:-16.19, Z:-3.80 [[ 9.99856022e-01 1.69568446e-02 6.32753118e-04 2.69649806e+02] [-1.69568198e-02 9.99856222e-01 -4.44978349e-05 -1.61873161e+01] [-6.33416685e-04 3.37619476e-05 9.99999799e-01 -3.80366970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.340371743 meters 0.031543867775946435 Centerline is valid? [True, True] Translation: X:269.71, Y:-16.19, Z:-3.80 [[ 9.99874364e-01 1.58392542e-02 6.11094375e-04 2.69708236e+02] [-1.58392308e-02 9.99874551e-01 -4.32072851e-05 -1.61931162e+01] [-6.11702085e-04 3.35225919e-05 9.99999812e-01 -3.80453550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.400371743 meters 0.03337436667074927 Centerline is valid? [True, True] Translation: X:269.77, Y:-16.20, Z:-3.81 [[ 9.99891021e-01 1.47067907e-02 1.28687449e-03 2.69765028e+02] [-1.47066867e-02 9.99891847e-01 -9.02247010e-05 -1.62024304e+01] [-1.28806222e-03 7.12892085e-05 9.99999168e-01 -3.80645721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.460371743 meters 0.03108986136768693 Centerline is valid? [True, True] Translation: X:269.82, Y:-16.21, Z:-3.81 [[ 9.99913061e-01 1.31300905e-02 1.21317881e-03 2.69823691e+02] [-1.31299975e-02 9.99913794e-01 -8.45879921e-05 -1.62050438e+01] [-1.21418488e-03 6.86516033e-05 9.99999261e-01 -3.80645704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.520371743 meters 0.03527809811843317 Centerline is valid? [True, True] Translation: X:269.88, Y:-16.22, Z:-3.81 [[ 9.99950455e-01 9.87201979e-03 1.27727300e-03 2.69882072e+02] [-9.87191483e-03 9.99951268e-01 -8.84519127e-05 -1.62176994e+01] [-1.27808396e-03 7.58384000e-05 9.99999180e-01 -3.80769980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.580371743 meters 0.03433245174927179 Centerline is valid? [True, True] Translation: X:269.94, Y:-16.22, Z:-3.81 [[ 9.99975665e-01 6.83748515e-03 1.38518282e-03 2.69942403e+02] [-6.83735956e-03 9.99976620e-01 -9.53805421e-05 -1.62225096e+01] [-1.38580260e-03 8.59072280e-05 9.99999036e-01 -3.80764428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.640371743 meters 0.03538461358250945 Centerline is valid? [True, True] Translation: X:270.00, Y:-16.23, Z:-3.81 [[ 9.99997169e-01 2.33734965e-03 4.46885842e-04 2.70002373e+02] [-2.33733612e-03 9.99997268e-01 -3.07877343e-05 -1.62304929e+01] [-4.46956583e-04 2.97431247e-05 9.99999900e-01 -3.80837692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.700371743 meters 0.035969287174433276 Centerline is valid? [True, True] Translation: X:270.06, Y:-16.24, Z:-3.81 [[ 9.99996202e-01 9.60315320e-04 2.58335959e-03 2.70061651e+02] [-9.59857905e-04 9.99999523e-01 -1.78296075e-04 -1.62367885e+01] [-2.58352958e-03 1.75815740e-04 9.99996647e-01 -3.80657326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.760371743 meters 0.0340430228585316 Centerline is valid? [True, True] Translation: X:270.12, Y:-16.24, Z:-3.81 [[ 9.99987997e-01 2.02588973e-03 4.46106767e-03 2.70122936e+02] [-2.02454177e-03 9.99997904e-01 -3.06655482e-04 -1.62384516e+01] [-4.46167956e-03 2.97620184e-04 9.99990002e-01 -3.80606723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.820371743 meters 0.03553445633673168 Centerline is valid? [True, True] Translation: X:270.18, Y:-16.24, Z:-3.81 [[ 9.99985606e-01 3.39838560e-03 4.15200423e-03 2.70183296e+02] [-3.39722920e-03 9.99994189e-01 -2.85536217e-04 -1.62446487e+01] [-4.15295046e-03 2.71426796e-04 9.99991340e-01 -3.80839572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.880371743 meters 0.033163878750894875 Centerline is valid? [True, True] Translation: X:270.24, Y:-16.25, Z:-3.81 [[ 9.99985585e-01 3.93312726e-03 3.65515892e-03 2.70244708e+02] [-3.93223437e-03 9.99992237e-01 -2.51436668e-04 -1.62455241e+01] [-3.65611948e-03 2.37060102e-04 9.99993288e-01 -3.80897435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.940371743 meters 0.03434249800058425 Centerline is valid? [True, True] Translation: X:270.30, Y:-16.25, Z:-3.81 [[ 9.99988410e-01 4.09328930e-03 2.53490936e-03 2.70304524e+02] [-4.09285999e-03 9.99991609e-01 -1.74525069e-04 -1.62510693e+01] [-2.53560247e-03 1.64148017e-04 9.99996772e-01 -3.81139027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.000371743 meters 0.037751060994338115 Centerline is valid? [True, True] Translation: X:270.36, Y:-16.26, Z:-3.81 [[ 9.99997017e-01 2.39448823e-03 4.81465255e-04 2.70363820e+02] [-2.39447252e-03 9.99997133e-01 -3.31966467e-05 -1.62595110e+01] [-4.81543364e-04 3.20436924e-05 9.99999884e-01 -3.81390769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.060371743 meters 0.03680001781395672 Centerline is valid? [True, True] Translation: X:270.42, Y:-16.26, Z:-3.82 [[ 9.99999738e-01 2.82911526e-04 -6.66391855e-04 2.70424366e+02] [-2.82880970e-04 9.99999959e-01 4.59471889e-05 -1.62617497e+01] [ 6.66404827e-04 -4.57586673e-05 9.99999777e-01 -3.81526213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.120371743 meters 0.03816723820906056 Centerline is valid? [True, True] Translation: X:270.48, Y:-16.27, Z:-3.82 [[ 9.99999263e-01 -1.89199210e-04 -1.19949000e-03 2.70484866e+02] [ 1.89298548e-04 9.99999979e-01 8.27038822e-05 -1.62671942e+01] [ 1.19947432e-03 -8.29308829e-05 9.99999277e-01 -3.81645663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.180371743 meters 0.03858970455928356 Centerline is valid? [True, True] Translation: X:270.54, Y:-16.27, Z:-3.82 [[ 9.99999916e-01 3.43541306e-04 2.24656486e-04 2.70544943e+02] [-3.43537780e-04 9.99999941e-01 -1.57320807e-05 -1.62701409e+01] [-2.24661877e-04 1.56549014e-05 9.99999975e-01 -3.81715007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.240371743 meters 0.03988115983797492 Centerline is valid? [True, True] Translation: X:270.60, Y:-16.27, Z:-3.82 [[ 9.99996848e-01 9.28034032e-04 2.33304208e-03 2.70604311e+02] [-9.27660871e-04 9.99999557e-01 -1.61022909e-04 -1.62728467e+01] [-2.33319048e-03 1.58858130e-04 9.99997265e-01 -3.81551961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.300371743 meters 0.04089598564839789 Centerline is valid? [True, True] Translation: X:270.67, Y:-16.28, Z:-3.82 [[ 9.99994871e-01 7.36193309e-04 3.11701299e-03 2.70665700e+02] [-7.35528473e-04 9.99999707e-01 -2.14433518e-04 -1.62766707e+01] [-3.11716994e-03 2.12139766e-04 9.99995119e-01 -3.81625689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36037174300003 meters 0.03859373716659273 Centerline is valid? [True, True] Translation: X:270.73, Y:-16.28, Z:-3.82 [[ 9.99997146e-01 -1.88708067e-03 1.46527020e-03 2.70726492e+02] [ 1.88723039e-03 9.99998214e-01 -1.00804559e-04 -1.62769794e+01] [-1.46507735e-03 1.03569574e-04 9.99998921e-01 -3.81914946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42037174300003 meters 0.04039598778381005 Centerline is valid? [True, True] Translation: X:270.79, Y:-16.28, Z:-3.82 [[ 9.99985488e-01 -5.32982597e-03 -7.85757269e-04 2.70786931e+02] [ 5.32987023e-03 9.99985795e-01 5.42371120e-05 -1.62813427e+01] [ 7.85457032e-04 -5.84243092e-05 9.99999690e-01 -3.82152340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48037174300003 meters 0.04357633183500641 Centerline is valid? [True, True] Translation: X:270.85, Y:-16.29, Z:-3.82 [[ 9.99975743e-01 -6.85352004e-03 -1.24201492e-03 2.70847077e+02] [ 6.85363202e-03 9.99976510e-01 8.59277249e-05 -1.62874477e+01] [ 1.24139684e-03 -9.44379537e-05 9.99999225e-01 -3.82295881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.540371743 meters 0.04366252995675694 Centerline is valid? [True, True] Translation: X:270.91, Y:-16.29, Z:-3.82 [[ 9.99967032e-01 -8.11848346e-03 -1.56130526e-04 2.70909561e+02] [ 8.11848539e-03 9.99967044e-01 1.17643883e-05 -1.62890219e+01] [ 1.56029872e-04 -1.30315438e-05 9.99999988e-01 -3.82303252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.600371743 meters 0.047753051378811306 Centerline is valid? [True, True] Translation: X:270.97, Y:-16.30, Z:-3.82 [[ 9.99970877e-01 -7.41593765e-03 1.80264568e-03 2.70970029e+02] [ 7.41617327e-03 9.99972492e-01 -1.24062730e-04 -1.62952522e+01] [-1.80167605e-03 1.37427849e-04 9.99998368e-01 -3.82290719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.660371743 meters 0.047635355924217804 Centerline is valid? [True, True] Translation: X:271.03, Y:-16.30, Z:-3.82 [[ 9.99977578e-01 -5.97664791e-03 3.02059934e-03 2.71031299e+02] [ 5.97730432e-03 9.99982114e-01 -2.08329132e-04 -1.62955148e+01] [-3.01930020e-03 2.26379502e-04 9.99995416e-01 -3.82241954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.720371743 meters 0.03942130505207189 Centerline is valid? [True, True] Translation: X:271.09, Y:-16.29, Z:-3.82 [[ 9.99980829e-01 -5.22080171e-03 3.32951021e-03 2.71094691e+02] [ 5.22159424e-03 9.99986341e-01 -2.29383055e-04 -1.62857546e+01] [-3.32826717e-03 2.46764009e-04 9.99994431e-01 -3.82082967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.780371743 meters 0.04132580434102478 Centerline is valid? [True, True] Translation: X:271.16, Y:-16.29, Z:-3.82 [[ 9.99969253e-01 -7.02663733e-03 3.48125868e-03 2.71155572e+02] [ 7.02751766e-03 9.99975278e-01 -2.40707385e-04 -1.62908434e+01] [-3.47948125e-03 2.65164591e-04 9.99993911e-01 -3.82196312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.840371743 meters 0.039585078413506856 Centerline is valid? [True, True] Translation: X:271.22, Y:-16.29, Z:-3.82 [[ 9.99965600e-01 -8.06209181e-03 1.95000145e-03 2.71218008e+02] [ 8.06236853e-03 9.99967490e-01 -1.34090169e-04 -1.62902044e+01] [-1.94885701e-03 1.49807187e-04 9.99998090e-01 -3.82312767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.900371743 meters 0.03900875326057524 Centerline is valid? [True, True] Translation: X:271.28, Y:-16.29, Z:-3.82 [[ 9.99975506e-01 -6.82234349e-03 1.56302508e-03 2.71279656e+02] [ 6.82252035e-03 9.99976721e-01 -1.07842544e-04 -1.62919416e+01] [-1.56225296e-03 1.18503673e-04 9.99998773e-01 -3.82444825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.960371743 meters 0.045670903398736855 Centerline is valid? [True, True] Translation: X:271.34, Y:-16.30, Z:-3.83 [[ 9.99985988e-01 -5.21817413e-03 8.91570754e-04 2.71339138e+02] [ 5.21823109e-03 9.99986383e-01 -6.15694171e-05 -1.63034931e+01] [-8.91237334e-04 6.62209766e-05 9.99999601e-01 -3.82760743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.020371743 meters 0.04014907562770023 Centerline is valid? [True, True] Translation: X:271.40, Y:-16.30, Z:-3.83 [[ 9.99995966e-01 -2.74396486e-03 7.34249960e-04 2.71400745e+02] [ 2.74400279e-03 9.99996234e-01 -5.06554749e-05 -1.62966990e+01] [-7.34108198e-04 5.26700545e-05 9.99999729e-01 -3.82640241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.080371743 meters 0.040725367118284714 Centerline is valid? [True, True] Translation: X:271.46, Y:-16.30, Z:-3.83 [[ 9.99996131e-01 -5.35696239e-04 2.72980842e-03 2.71461784e+02] [ 5.36214572e-04 9.99999838e-01 -1.89150846e-04 -1.62984912e+01] [-2.72970666e-03 1.90613878e-04 9.99996256e-01 -3.82568928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.140371743 meters 0.0401246220249231 Centerline is valid? [True, True] Translation: X:271.52, Y:-16.30, Z:-3.83 [[ 9.99992964e-01 -2.08408315e-04 3.74555214e-03 2.71523085e+02] [ 2.09381775e-04 9.99999944e-01 -2.59507381e-04 -1.63013439e+01] [-3.74549785e-03 2.60289805e-04 9.99992952e-01 -3.82622713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.200371743 meters 0.03879407994991193 Centerline is valid? [True, True] Translation: X:271.59, Y:-16.30, Z:-3.83 [[ 9.99993344e-01 8.34654913e-04 3.55174152e-03 2.71585378e+02] [-8.33787115e-04 9.99999622e-01 -2.45804116e-04 -1.63038945e+01] [-3.55194534e-03 2.42841083e-04 9.99993662e-01 -3.82789276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.260371743 meters 0.03953597827274717 Centerline is valid? [True, True] Translation: X:271.65, Y:-16.31, Z:-3.83 [[ 9.99996104e-01 1.29663039e-03 2.47183747e-03 2.71646226e+02] [-1.29621077e-03 9.99999145e-01 -1.71355624e-04 -1.63088115e+01] [-2.47205754e-03 1.68150934e-04 9.99996930e-01 -3.82993953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.320371743 meters 0.03674135844099783 Centerline is valid? [True, True] Translation: X:271.71, Y:-16.31, Z:-3.83 [[ 9.99988312e-01 4.55477911e-03 1.62152179e-03 2.71706864e+02] [-4.55460228e-03 9.99989621e-01 -1.12729404e-04 -1.63087753e+01] [-1.62201842e-03 1.05342700e-04 9.99998679e-01 -3.83025124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.380371743 meters 0.03636472729738714 Centerline is valid? [True, True] Translation: X:271.77, Y:-16.31, Z:-3.83 [[ 9.99969067e-01 7.45632483e-03 2.50372327e-03 2.71766585e+02] [-7.45591179e-03 9.99972189e-01 -1.74262771e-04 -1.63112646e+01] [-2.50495300e-03 1.55589841e-04 9.99996850e-01 -3.82959495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.440371743 meters 0.03527124811845454 Centerline is valid? [True, True] Translation: X:271.83, Y:-16.31, Z:-3.83 [[ 9.99918317e-01 1.23215695e-02 3.39680938e-03 2.71827296e+02] [-1.23208382e-02 9.99924068e-01 -2.36121674e-04 -1.63124507e+01] [-3.39946085e-03 1.94250848e-04 9.99994203e-01 -3.82967538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.500371743 meters 0.031061962642042588 Centerline is valid? [True, True] Translation: X:271.89, Y:-16.31, Z:-3.83 [[ 9.99856087e-01 1.64807366e-02 4.02386304e-03 2.71888169e+02] [-1.64797439e-02 9.99864161e-01 -2.79728431e-04 -1.63094866e+01] [-4.02792657e-03 2.13375942e-04 9.99991865e-01 -3.82975491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.560371743 meters 0.030547448521752455 Centerline is valid? [True, True] Translation: X:271.95, Y:-16.31, Z:-3.83 [[ 9.99826539e-01 1.81273258e-02 4.27697862e-03 2.71946646e+02] [-1.81262168e-02 9.99835662e-01 -2.97918899e-04 -1.63120831e+01] [-4.28167622e-03 2.20341780e-04 9.99990809e-01 -3.83085200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.620371743 meters 0.031406226395454734 Centerline is valid? [True, True] Translation: X:272.00, Y:-16.32, Z:-3.83 [[ 9.99830819e-01 1.80165175e-02 3.70657228e-03 2.72004943e+02] [-1.80156843e-02 9.99837671e-01 -2.58045318e-04 -1.63171876e+01] [-3.71061968e-03 1.91225225e-04 9.99993097e-01 -3.83146654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.680371743 meters 0.031197583933120224 Centerline is valid? [True, True] Translation: X:272.06, Y:-16.32, Z:-3.83 [[ 9.99849365e-01 1.71871375e-02 2.41847903e-03 2.72063815e+02] [-1.71867799e-02 9.99852282e-01 -1.68547646e-04 -1.63231057e+01] [-2.42101862e-03 1.26956390e-04 9.99997061e-01 -3.83301507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.740371743 meters 0.032429287879833964 Centerline is valid? [True, True] Translation: X:272.12, Y:-16.33, Z:-3.83 [[ 9.99860583e-01 1.66070889e-02 1.73738242e-03 2.72122050e+02] [-1.66069032e-02 9.99862089e-01 -1.21228687e-04 -1.63305775e+01] [-1.73915607e-03 9.23592437e-05 9.99998483e-01 -3.83499490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.800371743 meters 0.031256512121168915 Centerline is valid? [True, True] Translation: X:272.18, Y:-16.33, Z:-3.84 [[ 9.99856082e-01 1.68521596e-02 1.95440165e-03 2.72180852e+02] [-1.68519256e-02 9.99857987e-01 -1.36125101e-04 -1.63338799e+01] [-1.95641810e-03 1.03170079e-04 9.99998081e-01 -3.83561638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86037174300003 meters 0.03301519553621489 Centerline is valid? [True, True] Translation: X:272.24, Y:-16.34, Z:-3.84 [[ 9.99795675e-01 1.99636192e-02 3.17205113e-03 2.72239139e+02] [-1.99630218e-02 9.99800695e-01 -2.19879961e-04 -1.63424769e+01] [-3.17580853e-03 1.56511308e-04 9.99994945e-01 -3.83640422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92037174300003 meters 0.027384322068397488 Centerline is valid? [True, True] Translation: X:272.30, Y:-16.34, Z:-3.84 [[ 9.99666575e-01 2.55968242e-02 3.39729201e-03 2.72299804e+02] [-2.55961740e-02 9.99672337e-01 -2.34742095e-04 -1.63386392e+01] [-3.40218750e-03 1.47706148e-04 9.99994202e-01 -3.83532558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98037174300003 meters 0.026650181312155994 Centerline is valid? [True, True] Translation: X:272.36, Y:-16.34, Z:-3.84 [[ 9.99518811e-01 3.08377198e-02 3.34400440e-03 2.72358806e+02] [-3.08371180e-02 9.99524396e-01 -2.31386925e-04 -1.63423753e+01] [-3.34954943e-03 1.28156126e-04 9.99994382e-01 -3.83617181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.040371743 meters 0.02614411680837897 Centerline is valid? [True, True] Translation: X:272.42, Y:-16.35, Z:-3.84 [[ 9.99494325e-01 3.15875646e-02 3.64953842e-03 2.72417132e+02] [-3.15868521e-02 9.99500979e-01 -2.52722044e-04 -1.63472294e+01] [-3.65570010e-03 1.37316819e-04 9.99993308e-01 -3.83648918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.100371743 meters 0.02775964219184944 Centerline is valid? [True, True] Translation: X:272.48, Y:-16.36, Z:-3.84 [[ 9.99614887e-01 2.73769148e-02 4.53681933e-03 2.72475492e+02] [-2.73757738e-02 9.99625164e-01 -3.13426009e-04 -1.63582305e+01] [-4.54369941e-03 1.89106365e-04 9.99989659e-01 -3.83765434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.160371743 meters 0.02914268950103998 Centerline is valid? [True, True] Translation: X:272.54, Y:-16.37, Z:-3.84 [[ 9.99792250e-01 2.00343620e-02 3.75237851e-03 2.72535537e+02] [-2.00335322e-02 9.99799275e-01 -2.58612155e-04 -1.63703733e+01] [-3.75680645e-03 1.83385033e-04 9.99992926e-01 -3.83935634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.220371743 meters 0.03243881242642535 Centerline is valid? [True, True] Translation: X:272.59, Y:-16.39, Z:-3.84 [[ 9.99912682e-01 1.29093112e-02 2.82463595e-03 2.72594688e+02] [-1.29088124e-02 9.99916659e-01 -1.94770584e-04 -1.63859723e+01] [-2.82691490e-03 1.58290882e-04 9.99995992e-01 -3.84175034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.280371743 meters 0.032170480341937015 Centerline is valid? [True, True] Translation: X:272.65, Y:-16.39, Z:-3.84 [[ 9.99956740e-01 8.79191824e-03 3.03634096e-03 2.72654597e+02] [-8.79132244e-03 9.99961334e-01 -2.09516101e-04 -1.63933468e+01] [-3.03806561e-03 1.82813585e-04 9.99995368e-01 -3.84233421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.340371743 meters 0.03494738877383879 Centerline is valid? [True, True] Translation: X:272.71, Y:-16.41, Z:-3.84 [[ 9.99987351e-01 4.41044425e-03 2.41794649e-03 2.72713241e+02] [-4.41005373e-03 9.99990262e-01 -1.66816836e-04 -1.64067708e+01] [-2.41865868e-03 1.56151452e-04 9.99997063e-01 -3.84418764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.400371743 meters 0.03516669771203381 Centerline is valid? [True, True] Translation: X:272.77, Y:-16.42, Z:-3.85 [[ 9.99994990e-01 1.80081369e-03 2.60318647e-03 2.72772692e+02] [-1.80035255e-03 9.99998363e-01 -1.79477639e-04 -1.64158619e+01] [-2.60350542e-03 1.74790087e-04 9.99996596e-01 -3.84603111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.460371743 meters 0.03675399246000182 Centerline is valid? [True, True] Translation: X:272.83, Y:-16.42, Z:-3.85 [[ 9.99993595e-01 1.42568568e-03 3.28277081e-03 2.72832981e+02] [-1.42495202e-03 9.99998959e-01 -2.25817782e-04 -1.64241945e+01] [-3.28308934e-03 2.21138545e-04 9.99994586e-01 -3.84633119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.520371743 meters 0.037321583605312535 Centerline is valid? [True, True] Translation: X:272.89, Y:-16.43, Z:-3.85 [[ 9.99990021e-01 2.11953851e-04 4.46240743e-03 2.72893878e+02] [-2.10586149e-04 9.99999931e-01 -3.06961746e-04 -1.64304900e+01] [-4.46247218e-03 3.06018962e-04 9.99989996e-01 -3.84609162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.580371743 meters 0.045467078341544086 Centerline is valid? [True, True] Translation: X:272.95, Y:-16.45, Z:-3.85 [[ 9.99978600e-01 -1.29480130e-03 6.41266896e-03 2.72953703e+02] [ 1.29765518e-03 9.99999061e-01 -4.40897233e-04 -1.64470994e+01] [-6.41209206e-03 4.49209231e-04 9.99979341e-01 -3.84586366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.640371743 meters 0.03931290465262872 Centerline is valid? [True, True] Translation: X:273.02, Y:-16.44, Z:-3.85 [[ 9.99962952e-01 -4.34916376e-03 7.42832625e-03 2.73015397e+02] [ 4.35309031e-03 9.99990394e-01 -5.12504736e-04 -1.64448485e+01] [-7.42602593e-03 5.44821924e-04 9.99972278e-01 -3.84530567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.700371743 meters 0.040557001641776454 Centerline is valid? [True, True] Translation: X:273.08, Y:-16.45, Z:-3.85 [[ 9.99954493e-01 -6.40644036e-03 7.06891369e-03 2.73075968e+02] [ 6.41004975e-03 9.99979336e-01 -4.88063102e-04 -1.64531362e+01] [-7.06564088e-03 5.33352980e-04 9.99974896e-01 -3.84720271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.760371743 meters 0.04327000349989194 Centerline is valid? [True, True] Translation: X:273.14, Y:-16.46, Z:-3.85 [[ 9.99944156e-01 -9.18547082e-03 5.22614712e-03 2.73135689e+02] [ 9.18748188e-03 9.99957729e-01 -3.60931028e-04 -1.64643601e+01] [-5.22261088e-03 4.08926004e-04 9.99986278e-01 -3.85051214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.820371743 meters 0.04431223974997078 Centerline is valid? [True, True] Translation: X:273.20, Y:-16.47, Z:-3.85 [[ 9.99948089e-01 -9.23591457e-03 4.30327649e-03 2.73197482e+02] [ 9.23727610e-03 9.99957291e-01 -2.96626662e-04 -1.64726993e+01] [-4.30035309e-03 3.36361817e-04 9.99990697e-01 -3.85205397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.880371743 meters 0.03883664652348567 Centerline is valid? [True, True] Translation: X:273.26, Y:-16.47, Z:-3.85 [[ 9.99973089e-01 -5.37293716e-03 4.99526782e-03 2.73258642e+02] [ 5.37472953e-03 9.99985496e-01 -3.45460059e-04 -1.64708124e+01] [-4.99333923e-03 3.72298976e-04 9.99987464e-01 -3.85129676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.940371743 meters 0.038408245825328216 Centerline is valid? [True, True] Translation: X:273.32, Y:-16.47, Z:-3.85 [[ 9.99988137e-01 -1.56381995e-03 4.61301190e-03 2.73319162e+02] [ 1.56530809e-03 9.99998724e-01 -3.19002180e-04 -1.64742953e+01] [-4.61250715e-03 3.26219181e-04 9.99989309e-01 -3.85221550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.000371743 meters 0.03305349382864283 Centerline is valid? [True, True] Translation: X:273.38, Y:-16.47, Z:-3.85 [[ 9.99973985e-01 6.18216936e-03 3.71608703e-03 2.73380843e+02] [-6.18125754e-03 9.99980863e-01 -2.56807117e-04 -1.64693237e+01] [-3.71760354e-03 2.33830345e-04 9.99993062e-01 -3.85276863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.060371743 meters 0.030758203455281394 Centerline is valid? [True, True] Translation: X:273.44, Y:-16.47, Z:-3.85 [[ 9.99867836e-01 1.56434922e-02 4.42617224e-03 2.73441890e+02] [-1.56422893e-02 9.99877605e-01 -3.06257004e-04 -1.64674030e+01] [-4.43042143e-03 2.36981061e-04 9.99990158e-01 -3.85258858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.120371743 meters 0.028029189815986382 Centerline is valid? [True, True] Translation: X:273.50, Y:-16.46, Z:-3.85 [[ 9.99703952e-01 2.36503405e-02 5.71580855e-03 2.73501898e+02] [-2.36484640e-02 9.99720258e-01 -3.95669929e-04 -1.64643843e+01] [-5.72356733e-03 2.60382699e-04 9.99983586e-01 -3.85188881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.180371743 meters 0.027329154680478734 Centerline is valid? [True, True] Translation: X:273.56, Y:-16.47, Z:-3.85 [[ 9.99614239e-01 2.70216040e-02 6.41917014e-03 2.73561566e+02] [-2.70193080e-02 9.99634813e-01 -4.44156641e-04 -1.64661590e+01] [-6.42882776e-03 2.70543768e-04 9.99979298e-01 -3.85255564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.240371743 meters 0.027848417792390587 Centerline is valid? [True, True] Translation: X:273.62, Y:-16.47, Z:-3.85 [[ 9.99613716e-01 2.71055782e-02 6.14057059e-03 2.73619397e+02] [-2.71034774e-02 9.99632543e-01 -4.25093589e-04 -1.64717664e+01] [-6.14983660e-03 2.58498567e-04 9.99981056e-01 -3.85388203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.300371743 meters 0.02793796474840319 Centerline is valid? [True, True] Translation: X:273.68, Y:-16.48, Z:-3.85 [[ 9.99669187e-01 2.48040095e-02 6.80270116e-03 2.73678683e+02] [-2.48013855e-02 9.99692288e-01 -4.69821561e-04 -1.64767349e+01] [-6.81226134e-03 3.00949725e-04 9.99976751e-01 -3.85406407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36037174300003 meters 0.031090797792657495 Centerline is valid? [True, True] Translation: X:273.74, Y:-16.49, Z:-3.86 [[ 9.99810310e-01 1.85762378e-02 5.85375321e-03 2.73737213e+02] [-1.85741901e-02 9.99827403e-01 -4.04001678e-04 -1.64893229e+01] [-5.86024770e-03 2.95196318e-04 9.99982785e-01 -3.85724667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42037174300003 meters 0.031141421556502197 Centerline is valid? [True, True] Translation: X:273.80, Y:-16.50, Z:-3.86 [[ 9.99933440e-01 1.13039756e-02 2.30999272e-03 2.73797052e+02] [-1.13036372e-02 9.99936099e-01 -1.59520681e-04 -1.64957205e+01] [-2.31164833e-03 1.33398744e-04 9.99997319e-01 -3.86051656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48037174300003 meters 0.03755999253068889 Centerline is valid? [True, True] Translation: X:273.85, Y:-16.51, Z:-3.86 [[ 9.99970123e-01 7.53027952e-03 1.74609691e-03 2.73854852e+02] [-7.53008053e-03 9.99971641e-01 -1.20512452e-04 -1.65110392e+01] [-1.74695488e-03 1.07360602e-04 9.99998468e-01 -3.86379157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.540371743 meters 0.04222856119406377 Centerline is valid? [True, True] Translation: X:273.91, Y:-16.52, Z:-3.86 [[ 9.99994598e-01 2.86865325e-03 1.60445965e-03 2.73914180e+02] [-2.86847909e-03 9.99995880e-01 -1.10836783e-04 -1.65214922e+01] [-1.60477099e-03 1.06233825e-04 9.99998707e-01 -3.86488072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.600371743 meters 0.03673655111566254 Centerline is valid? [True, True] Translation: X:273.97, Y:-16.52, Z:-3.86 [[ 9.99997911e-01 1.69002175e-03 1.15001738e-03 2.73974549e+02] [-1.68993144e-03 9.99998569e-01 -7.95001106e-05 -1.65167838e+01] [-1.15015009e-03 7.75564940e-05 9.99999336e-01 -3.86312077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.660371743 meters 0.037857918643386786 Centerline is valid? [True, True] Translation: X:274.04, Y:-16.52, Z:-3.86 [[ 9.99998745e-01 1.54341670e-03 3.58164649e-04 2.74035332e+02] [-1.54340796e-03 9.99998809e-01 -2.46812026e-05 -1.65204936e+01] [-3.58202316e-04 2.41283775e-05 9.99999936e-01 -3.86399502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.720371743 meters 0.038561026833656344 Centerline is valid? [True, True] Translation: X:274.10, Y:-16.52, Z:-3.86 [[ 9.99998273e-01 1.73833204e-03 6.57332373e-04 2.74096010e+02] [-1.73830264e-03 9.99998488e-01 -4.52969145e-05 -1.65241490e+01] [-6.57410120e-04 4.41541936e-05 9.99999783e-01 -3.86466168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.780371743 meters 0.03567544357196091 Centerline is valid? [True, True] Translation: X:274.16, Y:-16.52, Z:-3.86 [[ 9.99996791e-01 2.17663720e-03 1.29641073e-03 2.74156668e+02] [-2.17652320e-03 9.99997627e-01 -8.93359412e-05 -1.65203438e+01] [-1.29660211e-03 8.65139864e-05 9.99999156e-01 -3.86318496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.840371743 meters 0.03673042420420782 Centerline is valid? [True, True] Translation: X:274.22, Y:-16.52, Z:-3.86 [[ 9.99997283e-01 1.33288142e-03 1.91252160e-03 2.74216611e+02] [-1.33263138e-03 9.99999103e-01 -1.32009331e-04 -1.65234154e+01] [-1.91269583e-03 1.29460286e-04 9.99998162e-01 -3.86330889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.900371743 meters 0.037915974548911366 Centerline is valid? [True, True] Translation: X:274.28, Y:-16.53, Z:-3.86 [[ 9.99995820e-01 -2.54273470e-03 1.37642917e-03 2.74277054e+02] [ 2.54286755e-03 9.99996762e-01 -9.47789552e-05 -1.65257331e+01] [-1.37618371e-03 9.82786361e-05 9.99999048e-01 -3.86343791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.960371743 meters 0.04063977337436203 Centerline is valid? [True, True] Translation: X:274.34, Y:-16.53, Z:-3.87 [[ 9.99984645e-01 -5.49775841e-03 6.95819611e-04 2.74337705e+02] [ 5.49779293e-03 9.99984886e-01 -4.77103606e-05 -1.65334051e+01] [-6.95546794e-04 5.15351002e-05 9.99999757e-01 -3.86569425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.020371743 meters 0.039645961936379114 Centerline is valid? [True, True] Translation: X:274.40, Y:-16.53, Z:-3.87 [[ 9.99950631e-01 -9.92546071e-03 -4.69089588e-04 2.74398807e+02] [ 9.92547718e-03 9.99950741e-01 3.27944985e-05 -1.65334618e+01] [ 4.68740980e-04 -3.74488175e-05 9.99999889e-01 -3.86675803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.080371743 meters 0.0405524615090646 Centerline is valid? [True, True] Translation: X:274.46, Y:-16.54, Z:-3.87 [[ 9.99934272e-01 -1.14354959e-02 -8.25038603e-04 2.74460385e+02] [ 1.14355472e-02 9.99934610e-01 5.74248339e-05 -1.65355134e+01] [ 8.24327973e-04 -6.68558274e-05 9.99999658e-01 -3.86732332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.140371743 meters 0.04244049536270033 Centerline is valid? [True, True] Translation: X:274.52, Y:-16.54, Z:-3.87 [[ 9.99944107e-01 -1.05488394e-02 -7.10969961e-04 2.74521600e+02] [ 1.05488775e-02 9.99944358e-01 4.98428256e-05 -1.65392016e+01] [ 7.10404617e-04 -5.73399748e-05 9.99999746e-01 -3.86838529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.200371743 meters 0.04106890353619138 Centerline is valid? [True, True] Translation: X:274.58, Y:-16.54, Z:-3.87 [[ 9.99963864e-01 -8.49827433e-03 2.22721432e-04 2.74582740e+02] [ 8.49827791e-03 9.99963889e-01 -1.51278310e-05 -1.65367004e+01] [-2.22584829e-04 1.70200330e-05 9.99999975e-01 -3.86794073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.260371743 meters 0.03940990805126778 Centerline is valid? [True, True] Translation: X:274.64, Y:-16.53, Z:-3.87 [[ 9.99977788e-01 -6.48935845e-03 1.52018061e-03 2.74643721e+02] [ 6.48952549e-03 9.99978937e-01 -1.04974936e-04 -1.65337513e+01] [-1.51946737e-03 1.14837855e-04 9.99998839e-01 -3.86748900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.320371743 meters 0.04048039837493867 Centerline is valid? [True, True] Translation: X:274.71, Y:-16.54, Z:-3.87 [[ 9.99980648e-01 -5.74719545e-03 2.38195083e-03 2.74705666e+02] [ 5.74760148e-03 9.99983469e-01 -1.63648774e-04 -1.65369511e+01] [-2.38097093e-03 1.77336111e-04 9.99997150e-01 -3.86748257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.380371743 meters 0.03867602809497837 Centerline is valid? [True, True] Translation: X:274.77, Y:-16.54, Z:-3.87 [[ 9.99976568e-01 -6.28720296e-03 2.70808918e-03 2.74767681e+02] [ 6.28773060e-03 9.99980215e-01 -1.86369436e-04 -1.65368572e+01] [-2.70686386e-03 2.03392804e-04 9.99996316e-01 -3.86773984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.440371743 meters 0.04229104644579215 Centerline is valid? [True, True] Translation: X:274.83, Y:-16.55, Z:-3.87 [[ 9.99979568e-01 -6.08246361e-03 1.96640090e-03 2.74828173e+02] [ 6.08274160e-03 9.99981491e-01 -1.35421091e-04 -1.65450385e+01] [-1.96554081e-03 1.47379433e-04 9.99998057e-01 -3.86980100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.500371743 meters 0.03912559867326688 Centerline is valid? [True, True] Translation: X:274.89, Y:-16.54, Z:-3.87 [[ 9.99989558e-01 -4.56088766e-03 2.87341919e-04 2.74890083e+02] [ 4.56089335e-03 9.99989599e-01 -1.91481349e-05 -1.65439552e+01] [-2.87251598e-04 2.04584708e-05 9.99999959e-01 -3.87224636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.560371743 meters 0.03956884138707678 Centerline is valid? [True, True] Translation: X:274.95, Y:-16.55, Z:-3.87 [[ 9.99997149e-01 -2.21183565e-03 -9.00256167e-04 2.74951614e+02] [ 2.21189340e-03 9.99997552e-01 6.31581266e-05 -1.65458947e+01] [ 9.00114267e-04 -6.51492171e-05 9.99999593e-01 -3.87384381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.620371743 meters 0.03613564214592544 Centerline is valid? [True, True] Translation: X:275.01, Y:-16.54, Z:-3.87 [[ 9.99999732e-01 -1.06335557e-04 -7.24942232e-04 2.75012807e+02] [ 1.06372231e-04 9.99999993e-01 5.05502618e-05 -1.65433125e+01] [ 7.24936852e-04 -5.06273620e-05 9.99999736e-01 -3.87339395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.680371743 meters 0.03539131112887596 Centerline is valid? [True, True] Translation: X:275.07, Y:-16.54, Z:-3.87 [[ 9.99996656e-01 2.47853062e-03 -7.38215113e-04 2.75072813e+02] [-2.47849368e-03 9.99996927e-01 5.09478690e-05 -1.65431320e+01] [ 7.38339120e-04 -4.91180371e-05 9.99999726e-01 -3.87404836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.740371743 meters 0.036907834140219024 Centerline is valid? [True, True] Translation: X:275.13, Y:-16.55, Z:-3.88 [[ 9.99987340e-01 5.01100853e-03 -4.58288269e-04 2.75132001e+02] [-5.01099473e-03 9.99987444e-01 3.12699234e-05 -1.65461083e+01] [ 4.58439208e-04 -2.89730474e-05 9.99999894e-01 -3.87580501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.800371743 meters 0.03498251103419786 Centerline is valid? [True, True] Translation: X:275.19, Y:-16.54, Z:-3.87 [[ 9.99986062e-01 5.25854570e-03 4.73308846e-04 2.75191468e+02] [-5.25853029e-03 9.99986173e-01 -3.37925098e-05 -1.65428498e+01] [-4.73480001e-04 3.13031299e-05 9.99999887e-01 -3.87327891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86037174300003 meters 0.0390312038136981 Centerline is valid? [True, True] Translation: X:275.25, Y:-16.55, Z:-3.87 [[ 9.99991911e-01 3.67254761e-03 1.64050160e-03 2.75249853e+02] [-3.67236507e-03 9.99993250e-01 -1.14264980e-04 -1.65508842e+01] [-1.64091017e-03 1.08239535e-04 9.99998648e-01 -3.87358043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92037174300003 meters 0.0399148271635493 Centerline is valid? [True, True] Translation: X:275.31, Y:-16.56, Z:-3.88 [[ 9.99998375e-01 -2.64064006e-04 1.78349334e-03 2.75310335e+02] [ 2.64284620e-04 9.99999957e-01 -1.23463203e-04 -1.65572747e+01] [-1.78346066e-03 1.23934352e-04 9.99998402e-01 -3.87537382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98037174300003 meters 0.04143380743340217 Centerline is valid? [True, True] Translation: X:275.37, Y:-16.56, Z:-3.88 [[ 9.99999633e-01 -6.75450456e-04 5.26550387e-04 2.75370833e+02] [ 6.75469611e-04 9.99999771e-01 -3.62013648e-05 -1.65647649e+01] [-5.26525815e-04 3.65570203e-05 9.99999861e-01 -3.87835674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.040371743 meters 0.04119330331381091 Centerline is valid? [True, True] Translation: X:275.43, Y:-16.57, Z:-3.88 [[ 9.99999983e-01 7.35910318e-05 1.67323398e-04 2.75431746e+02] [-7.35890820e-05 9.99999997e-01 -1.16590632e-05 -1.65674071e+01] [-1.67324255e-04 1.16467498e-05 9.99999986e-01 -3.87875604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.100371743 meters 0.043334810797283414 Centerline is valid? [True, True] Translation: X:275.49, Y:-16.57, Z:-3.88 [[ 9.99999756e-01 6.64551666e-04 2.15931003e-04 2.75491399e+02] [-6.64548455e-04 9.99999779e-01 -1.49437213e-05 -1.65745866e+01] [-2.15940887e-04 1.48002211e-05 9.99999977e-01 -3.88018600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.160371743 meters 0.03726630504059131 Centerline is valid? [True, True] Translation: X:275.55, Y:-16.57, Z:-3.88 [[ 9.99999057e-01 1.24709089e-03 5.75076508e-04 2.75552123e+02] [-1.24706821e-03 9.99999222e-01 -3.97987457e-05 -1.65712229e+01] [-5.75125693e-04 3.90815485e-05 9.99999834e-01 -3.88007719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.220371743 meters 0.03832961321061753 Centerline is valid? [True, True] Translation: X:275.61, Y:-16.58, Z:-3.88 [[ 9.99997598e-01 1.47704944e-03 1.61945831e-03 2.75611443e+02] [-1.47686951e-03 9.99998903e-01 -1.12296728e-04 -1.65776464e+01] [-1.61962241e-03 1.09904729e-04 9.99998682e-01 -3.88008658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.280371743 meters 0.03939387946950683 Centerline is valid? [True, True] Translation: X:275.67, Y:-16.58, Z:-3.88 [[ 9.99998422e-01 -1.08791506e-04 1.77309568e-03 2.75671388e+02] [ 1.09009195e-04 9.99999987e-01 -1.22677308e-04 -1.65846813e+01] [-1.77308231e-03 1.22870398e-04 9.99998421e-01 -3.88097027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.340371743 meters 0.04022087172509954 Centerline is valid? [True, True] Translation: X:275.73, Y:-16.59, Z:-3.88 [[ 9.99990612e-01 -4.28709290e-03 6.30007766e-04 2.75731668e+02] [ 4.28712118e-03 9.99990809e-01 -4.35461011e-05 -1.65928174e+01] [-6.29815290e-04 4.62466119e-05 9.99999801e-01 -3.88209271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.400371743 meters 0.042686807742788296 Centerline is valid? [True, True] Translation: X:275.79, Y:-16.60, Z:-3.88 [[ 9.99963813e-01 -8.47389645e-03 -7.52021357e-04 2.75791040e+02] [ 8.47393780e-03 9.99964094e-01 5.18126765e-05 -1.66045645e+01] [ 7.51555300e-04 -5.81833837e-05 9.99999716e-01 -3.88484242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.460371743 meters 0.04375575200315907 Centerline is valid? [True, True] Translation: X:275.85, Y:-16.61, Z:-3.89 [[ 9.99942763e-01 -1.04916453e-02 -2.09685386e-03 2.75851670e+02] [ 1.04919730e-02 9.99944947e-01 1.45337577e-04 -1.66141710e+01] [ 2.09521359e-03 -1.67329392e-04 9.99997791e-01 -3.88735387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.520371743 meters 0.04205650895665359 Centerline is valid? [True, True] Translation: X:275.91, Y:-16.62, Z:-3.89 [[ 9.99950784e-01 -9.56045646e-03 -2.65085393e-03 2.75913677e+02] [ 9.56097927e-03 9.99954276e-01 1.84620995e-04 -1.66165151e+01] [ 2.64896766e-03 -2.09956668e-04 9.99996469e-01 -3.88719280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.580371743 meters 0.040611941968185655 Centerline is valid? [True, True] Translation: X:275.97, Y:-16.62, Z:-3.89 [[ 9.99974056e-01 -6.90098776e-03 -2.06488383e-03 2.75974868e+02] [ 6.90129832e-03 9.99976175e-01 1.43315574e-04 -1.66186166e+01] [ 2.06384562e-03 -1.57562235e-04 9.99997858e-01 -3.88677865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.640371743 meters 0.038406855458024684 Centerline is valid? [True, True] Translation: X:276.04, Y:-16.62, Z:-3.89 [[ 9.99998308e-01 -1.78994246e-03 -4.24160705e-04 2.76035636e+02] [ 1.78995507e-03 9.99998398e-01 2.93659285e-05 -1.66199404e+01] [ 4.24107461e-04 -3.01251074e-05 9.99999910e-01 -3.88580740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.700371743 meters 0.04113658600833103 Centerline is valid? [True, True] Translation: X:276.09, Y:-16.63, Z:-3.89 [[ 9.99997092e-01 2.40469661e-03 1.84671549e-04 2.76094573e+02] [-2.40469424e-03 9.99997109e-01 -1.30346706e-05 -1.66263312e+01] [-1.84702360e-04 1.25905541e-05 9.99999983e-01 -3.88634754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.760371743 meters 0.03328020323544472 Centerline is valid? [True, True] Translation: X:276.16, Y:-16.62, Z:-3.88 [[ 9.99958053e-01 9.01109062e-03 1.64067319e-03 2.76156536e+02] [-9.01091656e-03 9.99959394e-01 -1.13451403e-04 -1.66167406e+01] [-1.64162889e-03 9.86626746e-05 9.99998648e-01 -3.88351082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.820371743 meters 0.03087035080723714 Centerline is valid? [True, True] Translation: X:276.22, Y:-16.61, Z:-3.88 [[ 9.99862700e-01 1.62440921e-02 3.27269201e-03 2.76217294e+02] [-1.62434355e-02 9.99868041e-01 -2.27132927e-04 -1.66146756e+01] [-3.27594971e-03 1.73941980e-04 9.99994619e-01 -3.88264248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.880371743 meters 0.0282066726288209 Centerline is valid? [True, True] Translation: X:276.28, Y:-16.61, Z:-3.88 [[ 9.99705658e-01 2.37265494e-02 5.06443782e-03 2.76277660e+02] [-2.37250754e-02 9.99718459e-01 -3.50937720e-04 -1.66114416e+01] [-5.07133852e-03 2.30680255e-04 9.99987114e-01 -3.88174455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.940371743 meters 0.027838255220164188 Centerline is valid? [True, True] Translation: X:276.34, Y:-16.61, Z:-3.88 [[ 9.99599910e-01 2.76805162e-02 5.81455120e-03 2.76336098e+02] [-2.76786401e-02 9.99616792e-01 -4.02887408e-04 -1.66135578e+01] [-5.82347515e-03 2.41787346e-04 9.99983014e-01 -3.88266471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.000371743 meters 0.02713031485825344 Centerline is valid? [True, True] Translation: X:276.40, Y:-16.62, Z:-3.88 [[ 9.99464572e-01 3.20923834e-02 6.37565903e-03 2.76395331e+02] [-3.20902209e-02 9.99484879e-01 -4.41213824e-04 -1.66159668e+01] [-6.38653440e-03 2.36381279e-04 9.99979578e-01 -3.88398060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.060371743 meters 0.026426624828339962 Centerline is valid? [True, True] Translation: X:276.46, Y:-16.62, Z:-3.88 [[ 9.99346617e-01 3.53114483e-02 7.70983766e-03 2.76455073e+02] [-3.53083846e-02 9.99376322e-01 -5.33167027e-04 -1.66182210e+01] [-7.72385611e-03 2.60596751e-04 9.99970137e-01 -3.88391983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.120371743 meters 0.025144483240944347 Centerline is valid? [True, True] Translation: X:276.51, Y:-16.62, Z:-3.88 [[ 9.99127104e-01 4.10215251e-02 7.89079569e-03 2.76514137e+02] [-4.10184961e-02 9.99158238e-01 -5.45396187e-04 -1.66196631e+01] [-7.90652651e-03 2.21251541e-04 9.99968718e-01 -3.88426327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.180371743 meters 0.02304238745377918 Centerline is valid? [True, True] Translation: X:276.57, Y:-16.62, Z:-3.89 [[ 9.98900701e-01 4.61160981e-02 8.40806111e-03 2.76573686e+02] [-4.61128418e-02 9.98936068e-01 -5.80842277e-04 -1.66203872e+01] [-8.42590169e-03 1.92484165e-04 9.99964483e-01 -3.88529010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.240371743 meters 0.022411142315079572 Centerline is valid? [True, True] Translation: X:276.63, Y:-16.63, Z:-3.89 [[ 9.98680457e-01 5.05731807e-02 8.92740250e-03 2.76631055e+02] [-5.05696884e-02 9.98720344e-01 -6.16636767e-04 -1.66255784e+01] [-8.94716379e-03 1.64367126e-04 9.99959960e-01 -3.88742578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.300371743 meters 0.02157458858159686 Centerline is valid? [True, True] Translation: X:276.69, Y:-16.63, Z:-3.89 [[ 9.98638609e-01 5.14281405e-02 8.72214154e-03 2.76689243e+02] [-5.14248466e-02 9.98676686e-01 -6.01649970e-04 -1.66308290e+01] [-8.74154114e-03 1.52296098e-04 9.99961780e-01 -3.88785749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36037174300003 meters 0.022158196037100245 Centerline is valid? [True, True] Translation: X:276.75, Y:-16.64, Z:-3.89 [[ 9.98809896e-01 4.81576873e-02 7.72200538e-03 2.76747091e+02] [-4.81550112e-02 9.98839733e-01 -5.32226865e-04 -1.66437818e+01] [-7.73867661e-03 1.59740204e-04 9.99970043e-01 -3.88985475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42037174300003 meters 0.023641460735100116 Centerline is valid? [True, True] Translation: X:276.81, Y:-16.66, Z:-3.89 [[ 9.99111145e-01 4.18252023e-02 5.25087559e-03 2.76806544e+02] [-4.18238811e-02 9.99124933e-01 -3.61226330e-04 -1.66600182e+01] [-5.26138908e-03 1.41293256e-04 9.99986149e-01 -3.89211439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48037174300003 meters 0.024726484849492462 Centerline is valid? [True, True] Translation: X:276.87, Y:-16.68, Z:-3.89 [[ 9.99412678e-01 3.39326700e-02 4.78251887e-03 2.76865919e+02] [-3.39314827e-02 9.99424107e-01 -3.29193681e-04 -1.66766395e+01] [-4.79093507e-03 1.66722382e-04 9.99988510e-01 -3.89322412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.540371743 meters 0.026852151819604615 Centerline is valid? [True, True] Translation: X:276.92, Y:-16.69, Z:-3.89 [[ 9.99583997e-01 2.85517457e-02 4.07808395e-03 2.76924333e+02] [-2.85508373e-02 9.99592302e-01 -2.80817373e-04 -1.66902939e+01] [-4.08443915e-03 1.64267841e-04 9.99991645e-01 -3.89492892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.600371743 meters 0.02998244821650172 Centerline is valid? [True, True] Translation: X:276.98, Y:-16.71, Z:-3.90 [[ 9.99780637e-01 2.08469380e-02 2.02065372e-03 2.76983846e+02] [-2.08466997e-02 9.99782674e-01 -1.38881475e-04 -1.67070746e+01] [-2.02310984e-03 9.67270483e-05 9.99997949e-01 -3.89872055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.660371743 meters 0.03191853981412525 Centerline is valid? [True, True] Translation: X:277.04, Y:-16.72, Z:-3.90 [[ 9.99882292e-01 1.53391065e-02 -3.37355783e-04 2.77043445e+02] [-1.53390995e-02 9.99882349e-01 2.31837960e-05 -1.67209193e+01] [ 3.37671711e-04 -1.80063331e-05 9.99999943e-01 -3.90144831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.720371743 meters 0.032547618948008644 Centerline is valid? [True, True] Translation: X:277.10, Y:-16.73, Z:-3.90 [[ 9.99879760e-01 1.53958033e-02 -1.85338502e-03 2.77102074e+02] [-1.53955956e-02 9.99881473e-01 1.26288904e-04 -1.67313565e+01] [ 1.85510966e-03 -9.77397523e-05 9.99998275e-01 -3.90333522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.780371743 meters 0.03633162607808806 Centerline is valid? [True, True] Translation: X:277.16, Y:-16.74, Z:-3.91 [[ 9.99828290e-01 1.81346469e-02 -3.81105551e-03 2.77158840e+02] [-1.81337874e-02 9.99835536e-01 2.59971267e-04 -1.67436489e+01] [ 3.81514322e-03 -1.90817757e-04 9.99992704e-01 -3.90733700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.840371743 meters 0.027741871035410336 Centerline is valid? [True, True] Translation: X:277.22, Y:-16.74, Z:-3.90 [[ 9.99683983e-01 2.48855433e-02 -3.55569231e-03 2.77219966e+02] [-2.48848334e-02 9.99690295e-01 2.43762398e-04 -1.67388180e+01] [ 3.56065725e-03 -1.55202554e-04 9.99993649e-01 -3.90440571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.900371743 meters 0.029033610463929597 Centerline is valid? [True, True] Translation: X:277.28, Y:-16.75, Z:-3.91 [[ 9.99517243e-01 3.08163146e-02 -3.95426156e-03 2.77278995e+02] [-3.08154845e-02 9.99525054e-01 2.70708550e-04 -1.67494981e+01] [ 3.96072574e-03 -1.48725378e-04 9.99992145e-01 -3.90878604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.960371743 meters 0.024761063095688547 Centerline is valid? [True, True] Translation: X:277.34, Y:-16.75, Z:-3.91 [[ 9.99432746e-01 3.34874274e-02 -3.57480280e-03 2.77338422e+02] [-3.34867683e-02 9.99439131e-01 2.44079787e-04 -1.67491398e+01] [ 3.58097141e-03 -1.24232738e-04 9.99993581e-01 -3.90674935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.020371743 meters 0.026045482697761517 Centerline is valid? [True, True] Translation: X:277.40, Y:-16.77, Z:-3.91 [[ 9.99498191e-01 3.16730626e-02 -4.28075067e-04 2.77395215e+02] [-3.16730535e-02 9.99498283e-01 2.80348834e-05 -1.67652121e+01] [ 4.28748245e-04 -1.44623708e-05 9.99999908e-01 -3.90704896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.080371743 meters 0.027575461706846435 Centerline is valid? [True, True] Translation: X:277.45, Y:-16.78, Z:-3.91 [[ 9.99666731e-01 2.57915474e-02 -1.10606672e-03 2.77454256e+02] [-2.57914797e-02 9.99667342e-01 7.54073054e-05 -1.67784334e+01] [ 1.10764365e-03 -4.68550771e-05 9.99999385e-01 -3.90872550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.140371743 meters 0.032239847942829254 Centerline is valid? [True, True] Translation: X:277.51, Y:-16.80, Z:-3.91 [[ 9.99896921e-01 1.39843290e-02 -3.25360299e-03 2.77513510e+02] [-1.39836788e-02 9.99902199e-01 2.22507960e-04 -1.67993276e+01] [ 3.25639641e-03 -1.76987685e-04 9.99994682e-01 -3.91199332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.200371743 meters 0.03540567653331661 Centerline is valid? [True, True] Translation: X:277.57, Y:-16.82, Z:-3.91 [[ 9.99981370e-01 3.81525377e-03 -4.76482323e-03 2.77573066e+02] [-3.81374491e-03 9.99992675e-01 3.25713475e-04 -1.68167161e+01] [ 4.76603101e-03 -3.07535586e-04 9.99988595e-01 -3.91415381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.260371743 meters 0.039615497794113365 Centerline is valid? [True, True] Translation: X:277.63, Y:-16.83, Z:-3.92 [[ 9.99984799e-01 1.36082156e-03 -5.34330831e-03 2.77631464e+02] [-1.35889227e-03 9.99999010e-01 3.64679860e-04 -1.68294864e+01] [ 5.34379928e-03 -3.57413336e-04 9.99985658e-01 -3.91637912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.320371743 meters 0.038265424216409105 Centerline is valid? [True, True] Translation: X:277.69, Y:-16.83, Z:-3.91 [[ 9.99986836e-01 3.25390576e-03 -3.96745499e-03 2.77691205e+02] [-3.25285673e-03 9.99994673e-01 2.70832948e-04 -1.68332890e+01] [ 3.96831512e-03 -2.57923820e-04 9.99992093e-01 -3.91473506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.380371743 meters 0.03742532955969919 Centerline is valid? [True, True] Translation: X:277.75, Y:-16.84, Z:-3.91 [[ 9.99979653e-01 5.72877172e-03 -2.80604874e-03 2.77751314e+02] [-5.72825701e-03 9.99983575e-01 1.91431021e-04 -1.68367025e+01] [ 2.80709931e-03 -1.75353358e-04 9.99996045e-01 -3.91410680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.440371743 meters 0.038293447480143586 Centerline is valid? [True, True] Translation: X:277.81, Y:-16.84, Z:-3.92 [[ 9.99958217e-01 8.59869969e-03 -3.10278039e-03 2.77810428e+02] [-8.59808511e-03 9.99963013e-01 2.11357121e-04 -1.68416851e+01] [ 3.10448302e-03 -1.84670320e-04 9.99995164e-01 -3.91547324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.500371743 meters 0.032843182246261766 Centerline is valid? [True, True] Translation: X:277.87, Y:-16.84, Z:-3.91 [[ 9.99935769e-01 1.08635360e-02 -3.23126646e-03 2.77870927e+02] [-1.08628806e-02 9.99940973e-01 2.20298865e-04 -1.68363085e+01] [ 3.23346896e-03 -1.85183854e-04 9.99994755e-01 -3.91418459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.560371743 meters 0.02957113684814478 Centerline is valid? [True, True] Translation: X:277.93, Y:-16.83, Z:-3.91 [[ 9.99806173e-01 1.96819459e-02 -4.88117812e-04 2.77931859e+02] [-1.96819321e-02 9.99806291e-01 3.32020903e-05 -1.68302700e+01] [ 4.88676741e-04 -2.35885532e-05 9.99999880e-01 -3.91101070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.620371743 meters 0.027195691818445607 Centerline is valid? [True, True] Translation: X:277.99, Y:-16.83, Z:-3.91 [[ 9.99578766e-01 2.87551870e-02 3.92816173e-03 2.77993048e+02] [-2.87543549e-02 9.99586472e-01 -2.68173950e-04 -1.68259861e+01] [-3.93424872e-03 1.55109230e-04 9.99992249e-01 -3.90893122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.680371743 meters 0.025788369647071874 Centerline is valid? [True, True] Translation: X:278.05, Y:-16.82, Z:-3.91 [[ 9.99445958e-01 3.28047799e-02 5.62344412e-03 2.78053219e+02] [-3.28031385e-02 9.99461759e-01 -3.83890870e-04 -1.68240107e+01] [-5.63301080e-03 1.99211562e-04 9.99984115e-01 -3.90789091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.740371743 meters 0.026917685355365952 Centerline is valid? [True, True] Translation: X:278.11, Y:-16.83, Z:-3.91 [[ 9.99471781e-01 3.14029223e-02 8.36757792e-03 2.78110721e+02] [-3.13992372e-02 9.99506759e-01 -5.71441829e-04 -1.68264883e+01] [-8.38139563e-03 3.08404419e-04 9.99964828e-01 -3.90826786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.800371743 meters 0.028141047682595514 Centerline is valid? [True, True] Translation: X:278.17, Y:-16.83, Z:-3.91 [[ 9.99614383e-01 2.63316948e-02 8.81627307e-03 2.78170647e+02] [-2.63274197e-02 9.99653193e-01 -6.00638751e-04 -1.68308906e+01] [-8.82903136e-03 3.68297413e-04 9.99960956e-01 -3.90842160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86037174300003 meters 0.029244127245834972 Centerline is valid? [True, True] Translation: X:278.23, Y:-16.84, Z:-3.91 [[ 9.99789842e-01 1.86128486e-02 8.59264196e-03 2.78231355e+02] [-1.86085058e-02 9.99826676e-01 -5.85092831e-04 -1.68354058e+01] [-8.60204289e-03 4.25073641e-04 9.99962911e-01 -3.90967021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92037174300003 meters 0.033482743287046625 Centerline is valid? [True, True] Translation: X:278.29, Y:-16.85, Z:-3.91 [[ 9.99902273e-01 1.19198367e-02 7.30494578e-03 2.78289976e+02] [-1.19165190e-02 9.99928872e-01 -4.97534964e-04 -1.68461965e+01] [-7.31035673e-03 4.10436816e-04 9.99973195e-01 -3.91301693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.980371743 meters 0.03547192276870265 Centerline is valid? [True, True] Translation: X:278.35, Y:-16.85, Z:-3.91 [[ 9.99931746e-01 9.14312833e-03 7.27365311e-03 2.78350427e+02] [-9.13976750e-03 9.99958109e-01 -4.95162750e-04 -1.68522258e+01] [-7.27787575e-03 4.28649455e-04 9.99973424e-01 -3.91441491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.040371743 meters 0.03486108808405681 Centerline is valid? [True, True] Translation: X:278.41, Y:-16.85, Z:-3.91 [[ 9.99951153e-01 5.70947891e-03 8.06799480e-03 2.78411352e+02] [-5.70523461e-03 9.99983574e-01 -5.48984094e-04 -1.68545738e+01] [-8.07099669e-03 5.02927475e-04 9.99967303e-01 -3.91443146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.100371743 meters 0.03455765170536091 Centerline is valid? [True, True] Translation: X:278.47, Y:-16.86, Z:-3.91 [[ 9.99950367e-01 6.27302623e-03 7.74033577e-03 2.78473610e+02] [-6.26914435e-03 9.99980211e-01 -5.25673977e-04 -1.68565765e+01] [-7.74348016e-03 4.77122604e-04 9.99969905e-01 -3.91455025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.160371743 meters 0.033413478073564255 Centerline is valid? [True, True] Translation: X:278.54, Y:-16.85, Z:-3.92 [[ 9.99929502e-01 9.98702298e-03 6.42266307e-03 2.78535009e+02] [-9.98440856e-03 9.99950058e-01 -4.38997668e-04 -1.68548794e+01] [-6.42672659e-03 3.74840227e-04 9.99979278e-01 -3.91518534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.220371743 meters 0.031129495087316696 Centerline is valid? [True, True] Translation: X:278.60, Y:-16.85, Z:-3.91 [[ 9.99849567e-01 1.62298002e-02 6.11861484e-03 2.78596055e+02] [-1.62275424e-02 9.99868237e-01 -4.18478712e-04 -1.68496134e+01] [-6.12460046e-03 3.19125677e-04 9.99981194e-01 -3.91491615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.280371743 meters 0.0304834071488751 Centerline is valid? [True, True] Translation: X:278.66, Y:-16.85, Z:-3.91 [[ 9.99767381e-01 1.99709330e-02 8.14532063e-03 2.78656548e+02] [-1.99670551e-02 9.99800483e-01 -5.57142614e-04 -1.68480702e+01] [-8.15482216e-03 3.94374946e-04 9.99966671e-01 -3.91360511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.340371743 meters 0.030727742047922207 Centerline is valid? [True, True] Translation: X:278.72, Y:-16.85, Z:-3.91 [[ 9.99782936e-01 1.92495584e-02 7.97089724e-03 2.78715609e+02] [-1.92458205e-02 9.99814633e-01 -5.45396056e-04 -1.68494514e+01] [-7.97991834e-03 3.91871213e-04 9.99968083e-01 -3.91486361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.400371743 meters 0.02925727682516937 Centerline is valid? [True, True] Translation: X:278.78, Y:-16.85, Z:-3.92 [[ 9.99832107e-01 1.72668185e-02 6.13314186e-03 2.78775671e+02] [-1.72645712e-02 9.99850868e-01 -4.19179199e-04 -1.68496033e+01] [-6.13946511e-03 3.13222757e-04 9.99981104e-01 -3.91614718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.460371743 meters 0.03217525619593595 Centerline is valid? [True, True] Translation: X:278.83, Y:-16.86, Z:-3.92 [[ 9.99917312e-01 1.19899131e-02 4.64874489e-03 2.78834374e+02] [-1.19885661e-02 9.99928084e-01 -3.17520786e-04 -1.68574707e+01] [-4.65221762e-03 2.61762745e-04 9.99989144e-01 -3.91800213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.520371743 meters 0.0335672139361672 Centerline is valid? [True, True] Translation: X:278.89, Y:-16.86, Z:-3.92 [[ 9.99975511e-01 6.19971583e-03 3.24668495e-03 2.78894676e+02] [-6.19902904e-03 9.99980761e-01 -2.21554201e-04 -1.68635469e+01] [-3.24799606e-03 2.01422481e-04 9.99994705e-01 -3.91924901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.580371743 meters 0.03864063699131823 Centerline is valid? [True, True] Translation: X:278.95, Y:-16.87, Z:-3.92 [[ 9.99995638e-01 1.79597348e-03 2.34498262e-03 2.78953960e+02] [-1.79560369e-03 9.99998375e-01 -1.59792137e-04 -1.68738815e+01] [-2.34526579e-03 1.55580781e-04 9.99997238e-01 -3.92118562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.640371743 meters 0.03619638190227119 Centerline is valid? [True, True] Translation: X:279.01, Y:-16.87, Z:-3.92 [[ 9.99995201e-01 1.30218704e-03 2.81094104e-03 2.79014499e+02] [-1.30165277e-03 9.99999134e-01 -1.91888232e-04 -1.68726541e+01] [-2.81118849e-03 1.88228442e-04 9.99996031e-01 -3.92017030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.700371743 meters 0.03729274047204704 Centerline is valid? [True, True] Translation: X:279.08, Y:-16.88, Z:-3.92 [[ 9.99990366e-01 1.65486873e-03 4.06565504e-03 2.79075882e+02] [-1.65375539e-03 9.99998594e-01 -2.77187665e-04 -1.68762383e+01] [-4.06610803e-03 2.70461396e-04 9.99991697e-01 -3.91935936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.760371743 meters 0.03826777516653149 Centerline is valid? [True, True] Translation: X:279.14, Y:-16.88, Z:-3.92 [[ 9.99986949e-01 1.20496035e-03 4.96478240e-03 2.79137009e+02] [-1.20329315e-03 9.99999219e-01 -3.38777293e-04 -1.68806037e+01] [-4.96518674e-03 3.32798784e-04 9.99987618e-01 -3.91923525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.820371743 meters 0.036718939889302284 Centerline is valid? [True, True] Translation: X:279.20, Y:-16.88, Z:-3.92 [[ 9.99984421e-01 -1.86262699e-03 5.26200953e-03 2.79197947e+02] [ 1.86454396e-03 9.99998197e-01 -3.59422330e-04 -1.68817879e+01] [-5.26133058e-03 3.69227978e-04 9.99986091e-01 -3.91853659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.880371743 meters 0.03967968253276172 Centerline is valid? [True, True] Translation: X:279.26, Y:-16.89, Z:-3.92 [[ 9.99960916e-01 -6.82570149e-03 5.61919310e-03 2.79257384e+02] [ 6.82796773e-03 9.99976615e-01 -3.84218499e-04 -1.68917479e+01] [-5.61643914e-03 4.22571152e-04 9.99984138e-01 -3.91999618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.940371743 meters 0.04138623212472356 Centerline is valid? [True, True] Translation: X:279.32, Y:-16.90, Z:-3.92 [[ 9.99933392e-01 -1.02671082e-02 5.27243495e-03 2.79317755e+02] [ 1.02691497e-02 9.99947206e-01 -3.60280450e-04 -1.68996442e+01] [-5.26845756e-03 4.14399876e-04 9.99986036e-01 -3.92209897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.000371743 meters 0.043359274127354644 Centerline is valid? [True, True] Translation: X:279.38, Y:-16.91, Z:-3.92 [[ 9.99925308e-01 -1.19018937e-02 2.77898498e-03 2.79378815e+02] [ 1.19024661e-02 9.99929145e-01 -1.89521194e-04 -1.69064590e+01] [-2.77653242e-03 2.22583812e-04 9.99996121e-01 -3.92454227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.060371743 meters 0.045010155531588894 Centerline is valid? [True, True] Translation: X:279.44, Y:-16.91, Z:-3.93 [[ 9.99918758e-01 -1.25311304e-02 2.33405233e-03 2.79440689e+02] [ 1.25315349e-02 9.99921465e-01 -1.58770686e-04 -1.69129243e+01] [-2.33187945e-03 1.88007046e-04 9.99997263e-01 -3.92595667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.120371743 meters 0.04765833041425573 Centerline is valid? [True, True] Translation: X:279.50, Y:-16.92, Z:-3.93 [[ 9.99919674e-01 -1.25621906e-02 1.68419580e-03 2.79501083e+02] [ 1.25623999e-02 9.99921083e-01 -1.13778627e-04 -1.69196334e+01] [-1.68263358e-03 1.34927029e-04 9.99998575e-01 -3.92721284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.180371743 meters 0.041651109731811034 Centerline is valid? [True, True] Translation: X:279.56, Y:-16.91, Z:-3.93 [[ 9.99922794e-01 -1.20366006e-02 3.08640545e-03 2.79563456e+02] [ 1.20373083e-02 9.99927527e-01 -2.10840219e-04 -1.69139256e+01] [-3.08364397e-03 2.47975955e-04 9.99995215e-01 -3.92569969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.240371743 meters 0.04966701986353066 Centerline is valid? [True, True] Translation: X:279.62, Y:-16.93, Z:-3.93 [[ 9.99913388e-01 -1.16832635e-02 6.05945451e-03 2.79623875e+02] [ 1.16859947e-02 9.99931630e-01 -4.15517766e-04 -1.69290010e+01] [-6.05418562e-03 4.86292530e-04 9.99981555e-01 -3.92594458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.300371743 meters 0.04209026818678188 Centerline is valid? [True, True] Translation: X:279.69, Y:-16.92, Z:-3.93 [[ 9.99912342e-01 -1.14563729e-02 6.63771221e-03 2.79686278e+02] [ 1.14596472e-02 9.99934232e-01 -4.55461445e-04 -1.69223693e+01] [-6.63205773e-03 5.31487361e-04 9.99977866e-01 -3.92590759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36037174300003 meters 0.04193551219195748 Centerline is valid? [True, True] Translation: X:279.75, Y:-16.93, Z:-3.93 [[ 9.99909270e-01 -1.20368901e-02 6.04687282e-03 2.79748043e+02] [ 1.20396201e-02 9.99927435e-01 -4.15268631e-04 -1.69263061e+01] [-6.04143549e-03 4.88033005e-04 9.99981631e-01 -3.92686477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42037174300003 meters 0.04478856384594081 Centerline is valid? [True, True] Translation: X:279.81, Y:-16.93, Z:-3.93 [[ 9.99908393e-01 -1.26219784e-02 4.88788603e-03 2.79809105e+02] [ 1.26237707e-02 9.99920261e-01 -3.36010566e-04 -1.69345272e+01] [-4.88325515e-03 3.97683338e-04 9.99987998e-01 -3.92961306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.480371743 meters 0.043506757597316884 Centerline is valid? [True, True] Translation: X:279.87, Y:-16.94, Z:-3.93 [[ 9.99911358e-01 -1.29617468e-02 3.04446550e-03 2.79871424e+02] [ 1.29624427e-02 9.99915962e-01 -2.08964978e-04 -1.69379691e+01] [-3.04150110e-03 2.48410165e-04 9.99995344e-01 -3.93254697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.540371743 meters 0.04361993045542794 Centerline is valid? [True, True] Translation: X:279.93, Y:-16.94, Z:-3.94 [[ 9.99937137e-01 -1.11400687e-02 1.27305091e-03 2.79933309e+02] [ 1.11401883e-02 9.99937942e-01 -8.68917079e-05 -1.69418908e+01] [-1.27200392e-03 1.01068272e-04 9.99999186e-01 -3.93576026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.600371743 meters 0.057059912860818 Centerline is valid? [True, True] Translation: X:279.99, Y:-16.96, Z:-3.94 [[ 9.99984285e-01 -4.95053829e-03 2.63078726e-03 2.79991247e+02] [ 4.95103390e-03 9.99987727e-01 -1.81910807e-04 -1.69633396e+01] [-2.62985442e-03 1.94933065e-04 9.99996523e-01 -3.94024962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.660371743 meters 0.03996119976571698 Centerline is valid? [True, True] Translation: X:280.05, Y:-16.94, Z:-3.94 [[ 9.99996676e-01 -1.17875267e-03 2.29334783e-03 2.80053940e+02] [ 1.17911859e-03 9.99999292e-01 -1.58211573e-04 -1.69416578e+01] [-2.29315971e-03 1.60915177e-04 9.99997358e-01 -3.93642411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.720371743 meters 0.03751787094698765 Centerline is valid? [True, True] Translation: X:280.11, Y:-16.94, Z:-3.94 [[ 9.99992429e-01 3.23745552e-03 2.15900476e-03 2.80114542e+02] [-3.23714131e-03 9.99994749e-01 -1.49014088e-04 -1.69393442e+01] [-2.15947585e-03 1.42023957e-04 9.99997658e-01 -3.93633701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.780371743 meters 0.035631252251739666 Centerline is valid? [True, True] Translation: X:280.17, Y:-16.94, Z:-3.94 [[ 9.99987075e-01 5.03617546e-03 6.97873770e-04 2.80174936e+02] [-5.03614306e-03 9.99987317e-01 -4.81698528e-05 -1.69399081e+01] [-6.98107511e-04 4.46546381e-05 9.99999755e-01 -3.93826328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.840371743 meters 0.036579969639122606 Centerline is valid? [True, True] Translation: X:280.23, Y:-16.94, Z:-3.94 [[ 9.99980730e-01 6.17631710e-03 -6.27289030e-04 2.80234155e+02] [-6.17629164e-03 9.99980926e-01 4.25182795e-05 -1.69431579e+01] [ 6.27539671e-04 -3.86431401e-05 9.99999802e-01 -3.94060921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.900371743 meters 0.036526138201173196 Centerline is valid? [True, True] Translation: X:280.29, Y:-16.95, Z:-3.94 [[ 9.99978933e-01 6.39339995e-03 -1.12138081e-03 2.80292490e+02] [-6.39331842e-03 9.99979560e-01 7.62753005e-05 -1.69456720e+01] [ 1.12184555e-03 -6.91043490e-05 9.99999368e-01 -3.94139650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.960371743 meters 0.03661435049473183 Centerline is valid? [True, True] Translation: X:280.35, Y:-16.95, Z:-3.94 [[ 9.99973650e-01 7.21070608e-03 -8.39699236e-04 2.80351156e+02] [-7.21066090e-03 9.99974001e-01 5.68156408e-05 -1.69488472e+01] [ 8.40087086e-04 -5.07593573e-05 9.99999646e-01 -3.94172223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.020371743 meters 0.035136379904228424 Centerline is valid? [True, True] Translation: X:280.41, Y:-16.95, Z:-3.94 [[ 9.99948484e-01 1.01336962e-02 5.80221105e-04 2.80411057e+02] [-1.01336745e-02 9.99948652e-01 -4.04081235e-05 -1.69483329e+01] [-5.80600796e-04 3.45262701e-05 9.99999831e-01 -3.94003476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.080371743 meters 0.03310314024784332 Centerline is valid? [True, True] Translation: X:280.47, Y:-16.95, Z:-3.94 [[ 9.99920037e-01 1.25834354e-02 1.25603889e-03 2.80470854e+02] [-1.25833362e-02 9.99920823e-01 -8.68643256e-05 -1.69483706e+01] [-1.25703250e-03 7.10522200e-05 9.99999207e-01 -3.93932286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.140371743 meters 0.033491595710509 Centerline is valid? [True, True] Translation: X:280.53, Y:-16.95, Z:-3.94 [[ 9.99884517e-01 1.51843412e-02 6.23273014e-04 2.80530755e+02] [-1.51843170e-02 9.99884711e-01 -4.34989701e-05 -1.69535826e+01] [-6.23861661e-04 3.40299717e-05 9.99999805e-01 -3.94147849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.200371743 meters 0.0329265951069602 Centerline is valid? [True, True] Translation: X:280.59, Y:-16.96, Z:-3.94 [[ 9.99837343e-01 1.80280357e-02 5.26413857e-04 2.80589935e+02] [-1.80280189e-02 9.99837481e-01 -3.66374593e-05 -1.69581693e+01] [-5.26988807e-04 2.71413010e-05 9.99999861e-01 -3.94232966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.260371743 meters 0.030447497834166802 Centerline is valid? [True, True] Translation: X:280.65, Y:-16.96, Z:-3.94 [[ 9.99737640e-01 2.29039270e-02 -2.46573200e-04 2.80650426e+02] [-2.29039236e-02 9.99737671e-01 1.67494814e-05 -1.69599317e+01] [ 2.46892145e-04 -1.10975933e-05 9.99999969e-01 -3.94425086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.320371743 meters 0.028965269083625907 Centerline is valid? [True, True] Translation: X:280.71, Y:-16.96, Z:-3.94 [[ 9.99580098e-01 2.89456494e-02 1.33288404e-03 2.80710513e+02] [-2.89455530e-02 9.99580986e-01 -9.15621153e-05 -1.69627101e+01] [-1.33497587e-03 5.29426025e-05 9.99999108e-01 -3.94360741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.380371743 meters 0.028205326437193094 Centerline is valid? [True, True] Translation: X:280.77, Y:-16.97, Z:-3.94 [[ 9.99471402e-01 3.23862073e-02 2.83721641e-03 2.80770085e+02] [-3.23857836e-02 9.99475424e-01 -1.95182454e-04 -1.69667703e+01] [-2.84204930e-03 1.03193804e-04 9.99995956e-01 -3.94357982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.440371743 meters 0.02538097961313182 Centerline is valid? [True, True] Translation: X:280.83, Y:-16.97, Z:-3.94 [[ 9.99395543e-01 3.45037066e-02 4.24770714e-03 2.80829093e+02] [-3.45027759e-02 9.99404559e-01 -2.92205600e-04 -1.69684983e+01] [-4.25526006e-03 1.45471286e-04 9.99990936e-01 -3.94242806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.500371743 meters 0.02649899087228119 Centerline is valid? [True, True] Translation: X:280.89, Y:-16.98, Z:-3.94 [[ 9.99490823e-01 3.15765066e-02 4.58456300e-03 2.80888211e+02] [-3.15753952e-02 9.99501323e-01 -3.14627705e-04 -1.69793768e+01] [-4.59221163e-03 1.69708116e-04 9.99989441e-01 -3.94480042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.560371743 meters 0.02855960659043463 Centerline is valid? [True, True] Translation: X:280.95, Y:-16.99, Z:-3.95 [[ 9.99631067e-01 2.68320994e-02 4.21517116e-03 2.80947466e+02] [-2.68311190e-02 9.99639939e-01 -2.88991868e-04 -1.69926388e+01] [-4.22140770e-03 1.75787491e-04 9.99991074e-01 -3.94695227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.620371743 meters 0.029880940696248873 Centerline is valid? [True, True] Translation: X:281.01, Y:-17.01, Z:-3.95 [[ 9.99746771e-01 2.21841238e-02 3.77601416e-03 2.81007126e+02] [-2.21833041e-02 9.99753887e-01 -2.58843653e-04 -1.70054185e+01] [-3.78082706e-03 1.75013636e-04 9.99992837e-01 -3.94950515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.680371743 meters 0.03160582927298719 Centerline is valid? [True, True] Translation: X:281.06, Y:-17.02, Z:-3.95 [[ 9.99803757e-01 1.96304326e-02 2.66337391e-03 2.81064894e+02] [-1.96300141e-02 9.99807296e-01 -1.83191434e-04 -1.70152849e+01] [-2.66645679e-03 1.30873417e-04 9.99996436e-01 -3.95113372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.740371743 meters 0.03239503318186034 Centerline is valid? [True, True] Translation: X:281.12, Y:-17.03, Z:-3.95 [[ 9.99793070e-01 2.01291074e-02 2.93876199e-03 2.81122192e+02] [-2.01286004e-02 9.99797379e-01 -2.01985759e-04 -1.70250264e+01] [-2.94223232e-03 1.42790796e-04 9.99995661e-01 -3.95201801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.800371743 meters 0.031129219086276097 Centerline is valid? [True, True] Translation: X:281.18, Y:-17.03, Z:-3.95 [[ 9.99668800e-01 2.52843288e-02 4.79518919e-03 2.81182706e+02] [-2.52830473e-02 9.99680279e-01 -3.27683744e-04 -1.70313391e+01] [-4.80194133e-03 2.06338220e-04 9.99988449e-01 -3.95198140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86037174300003 meters 0.02846313098897963 Centerline is valid? [True, True] Translation: X:281.24, Y:-17.03, Z:-3.95 [[ 9.99420845e-01 3.35351666e-02 5.77644977e-03 2.81241408e+02] [-3.35334429e-02 9.99437518e-01 -3.95021984e-04 -1.70328322e+01] [-5.78644774e-03 2.01088957e-04 9.99983238e-01 -3.95207780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92037174300003 meters 0.02370248226429759 Centerline is valid? [True, True] Translation: X:281.30, Y:-17.03, Z:-3.95 [[ 9.99123546e-01 4.15325963e-02 5.21377803e-03 2.81301691e+02] [-4.15313033e-02 9.99137140e-01 -3.56063023e-04 -1.70318014e+01] [-5.22406749e-03 1.39215953e-04 9.99986345e-01 -3.95319922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.980371743 meters 0.02537871312001372 Centerline is valid? [True, True] Translation: X:281.36, Y:-17.04, Z:-3.96 [[ 9.99007790e-01 4.42128359e-02 5.35347605e-03 2.81358528e+02] [-4.42115074e-02 9.99022126e-01 -3.66295565e-04 -1.70420550e+01] [-5.36443600e-03 1.29246877e-04 9.99985603e-01 -3.95622548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.040371743 meters 0.02365479955634777 Centerline is valid? [True, True] Translation: X:281.42, Y:-17.05, Z:-3.95 [[ 9.99057882e-01 4.28155609e-02 7.08349810e-03 2.81416510e+02] [-4.28132072e-02 9.99082977e-01 -4.83653260e-04 -1.70494771e+01] [-7.09771026e-03 1.79930330e-04 9.99974795e-01 -3.95484396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.100371743 meters 0.024951173717490935 Centerline is valid? [True, True] Translation: X:281.47, Y:-17.06, Z:-3.96 [[ 9.99185914e-01 3.97315369e-02 6.99391702e-03 2.81474252e+02] [-3.97291729e-02 9.99210371e-01 -4.76676110e-04 -1.70620123e+01] [-7.00733350e-03 1.98425516e-04 9.99975429e-01 -3.95684606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.160371743 meters 0.026071016787093157 Centerline is valid? [True, True] Translation: X:281.53, Y:-17.07, Z:-3.96 [[ 9.99358329e-01 3.52377291e-02 6.42134709e-03 2.81533384e+02] [-3.52356462e-02 9.99378936e-01 -4.37248705e-04 -1.70737173e+01] [-6.43276667e-03 2.10707821e-04 9.99979287e-01 -3.95815742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.220371743 meters 0.02672268634057636 Centerline is valid? [True, True] Translation: X:281.59, Y:-17.09, Z:-3.96 [[ 9.99429809e-01 3.28783595e-02 7.68566888e-03 2.81591397e+02] [-3.28753071e-02 9.99459324e-01 -5.23189129e-04 -1.70850425e+01] [-7.69871503e-03 2.70222087e-04 9.99970328e-01 -3.95782984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.280371743 meters 0.025719646108127044 Centerline is valid? [True, True] Translation: X:281.65, Y:-17.09, Z:-3.96 [[ 9.99452195e-01 3.21716054e-02 7.76518155e-03 2.81649984e+02] [-3.21684725e-02 9.99482321e-01 -5.28058923e-04 -1.70898524e+01] [-7.77815019e-03 2.77975620e-04 9.99969711e-01 -3.95841961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.340371743 meters 0.025945849742664753 Centerline is valid? [True, True] Translation: X:281.71, Y:-17.10, Z:-3.96 [[ 9.99504148e-01 3.01922354e-02 8.93798950e-03 2.81708386e+02] [-3.01880127e-02 9.99544054e-01 -6.07011487e-04 -1.71015248e+01] [-8.95224130e-03 3.36890359e-04 9.99959871e-01 -3.95919427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.400371743 meters 0.02762494219918027 Centerline is valid? [True, True] Translation: X:281.77, Y:-17.12, Z:-3.96 [[ 9.99581399e-01 2.73041832e-02 9.56605026e-03 2.81765721e+02] [-2.72992216e-02 9.99627096e-01 -6.48884600e-04 -1.71164421e+01] [-9.58020030e-03 3.87467250e-04 9.99954034e-01 -3.96115814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.460371743 meters 0.02889076670664959 Centerline is valid? [True, True] Translation: X:281.82, Y:-17.13, Z:-3.96 [[ 9.99660296e-01 2.44455487e-02 9.03926997e-03 2.81824550e+02] [-2.44410089e-02 9.99701086e-01 -6.12369312e-04 -1.71294228e+01] [-9.05153772e-03 3.91232409e-04 9.99958957e-01 -3.96306902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.520371743 meters 0.028060384151135154 Centerline is valid? [True, True] Translation: X:281.88, Y:-17.14, Z:-3.96 [[ 9.99674455e-01 2.38961188e-02 8.94203220e-03 2.81884150e+02] [-2.38916570e-02 9.99714370e-01 -6.05476544e-04 -1.71356901e+01] [-8.95394663e-03 3.91639468e-04 9.99959836e-01 -3.96324454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.580371743 meters 0.029904004244878005 Centerline is valid? [True, True] Translation: X:281.94, Y:-17.15, Z:-3.96 [[ 9.99650721e-01 2.48798838e-02 8.91220903e-03 2.81942055e+02] [-2.48754928e-02 9.99690375e-01 -6.03222966e-04 -1.71457000e+01] [-8.92445770e-03 3.81316682e-04 9.99960104e-01 -3.96478585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.640371743 meters 0.029905312957813714 Centerline is valid? [True, True] Translation: X:282.00, Y:-17.15, Z:-3.97 [[ 9.99620490e-01 2.62780454e-02 8.26678276e-03 2.82001200e+02] [-2.62743193e-02 9.99654614e-01 -5.59035542e-04 -1.71532964e+01] [-8.27861789e-03 3.41619293e-04 9.99965673e-01 -3.96742030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.700371743 meters 0.02662170845310447 Centerline is valid? [True, True] Translation: X:282.06, Y:-17.15, Z:-3.97 [[ 9.99612180e-01 2.67888000e-02 7.60590782e-03 2.82059899e+02] [-2.67856604e-02 9.99641067e-01 -5.14374918e-04 -1.71520109e+01] [-7.61695729e-03 3.10446169e-04 9.99970942e-01 -3.96793329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.760371743 meters 0.02797636189655554 Centerline is valid? [True, True] Translation: X:282.12, Y:-17.16, Z:-3.97 [[ 9.99617368e-01 2.67739413e-02 6.94786820e-03 2.82117085e+02] [-2.67713228e-02 9.99641474e-01 -4.69623049e-04 -1.71607374e+01] [-6.95795087e-03 2.83439734e-04 9.99975753e-01 -3.96971935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.820371743 meters 0.027736434021332863 Centerline is valid? [True, True] Translation: X:282.18, Y:-17.17, Z:-3.97 [[ 9.99629258e-01 2.60511400e-02 7.91735065e-03 2.82175422e+02] [-2.60477260e-02 9.99660558e-01 -5.34031434e-04 -1.71660904e+01] [-7.92857529e-03 3.27604466e-04 9.99968515e-01 -3.96950635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.880371743 meters 0.02782724987783271 Centerline is valid? [True, True] Translation: X:282.23, Y:-17.17, Z:-3.97 [[ 9.99641162e-01 2.52726514e-02 8.87925607e-03 2.82234193e+02] [-2.52683335e-02 9.99680526e-01 -5.98154915e-04 -1.71713933e+01] [-8.89153634e-03 3.73576270e-04 9.99960400e-01 -3.96875953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.940371743 meters 0.027872247155467114 Centerline is valid? [True, True] Translation: X:282.29, Y:-17.18, Z:-3.97 [[ 9.99658706e-01 2.48081893e-02 8.18694054e-03 2.82293633e+02] [-2.48045089e-02 9.99692169e-01 -5.50799707e-04 -1.71773043e+01] [-8.19808469e-03 3.47538684e-04 9.99966335e-01 -3.96984476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.000371743 meters 0.026784869942475576 Centerline is valid? [True, True] Translation: X:282.35, Y:-17.18, Z:-3.97 [[ 9.99668358e-01 2.49639156e-02 6.32279888e-03 2.82352275e+02] [-2.49617224e-02 9.99688317e-01 -4.25563667e-04 -1.71800450e+01] [-6.33145191e-03 2.67594582e-04 9.99979920e-01 -3.97081599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.060371743 meters 0.02680065811875994 Centerline is valid? [True, True] Translation: X:282.41, Y:-17.18, Z:-3.97 [[ 9.99635291e-01 2.59563826e-02 7.45325990e-03 2.82410861e+02] [-2.59533680e-02 9.99663029e-01 -5.00912515e-04 -1.71837746e+01] [-7.46375025e-03 3.07292631e-04 9.99972099e-01 -3.97038712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.120371743 meters 0.027151080122480024 Centerline is valid? [True, True] Translation: X:282.47, Y:-17.19, Z:-3.97 [[ 9.99546836e-01 2.89426500e-02 8.27321896e-03 2.82469337e+02] [-2.89390457e-02 9.99581024e-01 -5.55060243e-04 -1.71882518e+01] [-8.28581759e-03 3.15389648e-04 9.99965622e-01 -3.97117009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.180371743 meters 0.02494008517584071 Centerline is valid? [True, True] Translation: X:282.53, Y:-17.19, Z:-3.97 [[ 9.99507115e-01 3.03504752e-02 8.02344016e-03 2.82528958e+02] [-3.03471312e-02 9.99539275e-01 -5.38217773e-04 -1.71867286e+01] [-8.03607873e-03 2.94464102e-04 9.99967667e-01 -3.97188665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.240371743 meters 0.026637502151334414 Centerline is valid? [True, True] Translation: X:282.59, Y:-17.20, Z:-3.97 [[ 9.99638095e-01 2.57336436e-02 7.83951647e-03 2.82587328e+02] [-2.57303153e-02 9.99668783e-01 -5.25131156e-04 -1.71954249e+01] [-7.85043342e-03 3.23227878e-04 9.99969133e-01 -3.97193239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.300371743 meters 0.029664960832085516 Centerline is valid? [True, True] Translation: X:282.65, Y:-17.21, Z:-3.97 [[ 9.99805871e-01 1.76128564e-02 8.83214624e-03 2.82646835e+02] [-1.76083162e-02 9.99844787e-01 -5.91567552e-04 -1.72091052e+01] [-8.84119457e-03 4.35933489e-04 9.99960821e-01 -3.97253424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36037174300003 meters 0.033788164055613815 Centerline is valid? [True, True] Translation: X:282.71, Y:-17.22, Z:-3.97 [[ 9.99888318e-01 1.20471545e-02 8.84410143e-03 2.82705614e+02] [-1.20423840e-02 9.99927312e-01 -5.92455052e-04 -1.72217768e+01] [-8.85059597e-03 4.85884820e-04 9.99960715e-01 -3.97388961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42037174300003 meters 0.034109837482464676 Centerline is valid? [True, True] Translation: X:282.77, Y:-17.23, Z:-3.98 [[ 9.99969249e-01 3.11697783e-03 7.19618163e-03 2.82765951e+02] [-3.11359044e-03 9.99995037e-01 -4.81876201e-04 -1.72286301e+01] [-7.19764791e-03 4.59455420e-04 9.99973991e-01 -3.97642019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.480371743 meters 0.03601981981466677 Centerline is valid? [True, True] Translation: X:282.83, Y:-17.24, Z:-3.98 [[ 9.99977748e-01 1.67350466e-03 6.45772288e-03 2.82826288e+02] [-1.67074839e-03 9.99998511e-01 -4.32188815e-04 -1.72360849e+01] [-6.45843653e-03 4.21389968e-04 9.99979055e-01 -3.97803704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.540371743 meters 0.03393522455161949 Centerline is valid? [True, True] Translation: X:282.89, Y:-17.24, Z:-3.98 [[ 9.99979579e-01 2.11248048e-03 6.03153962e-03 2.82888323e+02] [-2.11009364e-03 9.99997693e-01 -4.02063640e-04 -1.72354255e+01] [-6.03237505e-03 3.89328316e-04 9.99981729e-01 -3.97790763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.600371743 meters 0.034799379910397395 Centerline is valid? [True, True] Translation: X:282.95, Y:-17.24, Z:-3.98 [[ 9.99968480e-01 2.82211328e-03 7.42117015e-03 2.82950575e+02] [-2.81848956e-03 9.99995904e-01 -4.98708473e-04 -1.72396666e+01] [-7.42254717e-03 4.77776264e-04 9.99972338e-01 -3.97772928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.660371743 meters 0.035528974952052254 Centerline is valid? [True, True] Translation: X:283.01, Y:-17.24, Z:-3.98 [[ 9.99962233e-01 3.18747890e-03 8.08539189e-03 2.83012582e+02] [-3.18319244e-03 9.99994786e-01 -5.42961591e-04 -1.72424290e+01] [-8.08708042e-03 5.17203726e-04 9.99967165e-01 -3.97745360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.720371743 meters 0.03620864752860319 Centerline is valid? [True, True] Translation: X:283.08, Y:-17.25, Z:-3.98 [[ 9.99973728e-01 3.47628391e-03 6.36078866e-03 2.83075998e+02] [-3.47363310e-03 9.99993875e-01 -4.27742996e-04 -1.72456980e+01] [-6.36223666e-03 4.05636712e-04 9.99979678e-01 -3.97958473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.780371743 meters 0.03478455873566864 Centerline is valid? [True, True] Translation: X:283.14, Y:-17.25, Z:-3.98 [[ 9.99982283e-01 3.40591955e-03 4.88185224e-03 2.83138364e+02] [-3.40435357e-03 9.99994151e-01 -3.29050186e-04 -1.72460894e+01] [-4.88294440e-03 3.12424806e-04 9.99988030e-01 -3.98127903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.840371743 meters 0.03548534076543908 Centerline is valid? [True, True] Translation: X:283.20, Y:-17.25, Z:-3.98 [[ 9.99985669e-01 3.45424012e-03 4.09029413e-03 2.83199788e+02] [-3.45313035e-03 9.99993999e-01 -2.78349712e-04 -1.72495440e+01] [-4.09123107e-03 2.64221404e-04 9.99991596e-01 -3.98296390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.900371743 meters 0.033718400930068365 Centerline is valid? [True, True] Translation: X:283.26, Y:-17.25, Z:-3.98 [[ 9.99984973e-01 4.29069008e-03 3.41238514e-03 2.83261009e+02] [-4.28992242e-03 9.99990771e-01 -2.32250398e-04 -1.72488881e+01] [-3.41335017e-03 2.17608040e-04 9.99994151e-01 -3.98368812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.960371743 meters 0.03644915592475082 Centerline is valid? [True, True] Translation: X:283.32, Y:-17.25, Z:-3.99 [[ 9.99972674e-01 6.94881557e-03 2.52311527e-03 2.83320464e+02] [-6.94840282e-03 9.99975845e-01 -1.72316132e-04 -1.72535465e+01] [-2.52425171e-03 1.54779802e-04 9.99996802e-01 -3.98584113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.020371743 meters 0.03484509650223224 Centerline is valid? [True, True] Translation: X:283.38, Y:-17.25, Z:-3.99 [[ 9.99938713e-01 1.05771104e-02 3.27022771e-03 2.83380771e+02] [-1.05764368e-02 9.99944043e-01 -2.23188805e-04 -1.72515478e+01] [-3.27240541e-03 1.88587770e-04 9.99994628e-01 -3.98579326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.080371743 meters 0.044964850177651276 Centerline is valid? [True, True] Translation: X:283.44, Y:-17.26, Z:-3.99 [[ 9.99830790e-01 1.75595035e-02 5.48225342e-03 2.83439098e+02] [-1.75577160e-02 9.99845781e-01 -3.74016317e-04 -1.72645937e+01] [-5.48797550e-03 2.77697181e-04 9.99984902e-01 -3.98729217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.140371743 meters 0.030158467380630452 Centerline is valid? [True, True] Translation: X:283.50, Y:-17.24, Z:-3.98 [[ 9.99820439e-01 1.86065494e-02 3.58966004e-03 2.83499173e+02] [-1.86057880e-02 9.99826867e-01 -2.45379113e-04 -1.72424154e+01] [-3.59360421e-03 1.78546598e-04 9.99993527e-01 -3.98382381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.200371743 meters 0.029013203882444334 Centerline is valid? [True, True] Translation: X:283.56, Y:-17.24, Z:-3.98 [[ 9.99790334e-01 2.02429625e-02 3.08401889e-03 2.83558490e+02] [-2.02424085e-02 9.99795079e-01 -2.10744164e-04 -1.72407013e+01] [-3.08765300e-03 1.48272008e-04 9.99995222e-01 -3.98456182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.260371743 meters 0.02886609985837497 Centerline is valid? [True, True] Translation: X:283.62, Y:-17.24, Z:-3.99 [[ 9.99791073e-01 2.01987852e-02 3.13357303e-03 2.83617434e+02] [-2.01982138e-02 9.99795972e-01 -2.13885068e-04 -1.72404971e+01] [-3.13725392e-03 1.50547803e-04 9.99995067e-01 -3.98551001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.320371743 meters 0.03101636986309247 Centerline is valid? [True, True] Translation: X:283.68, Y:-17.24, Z:-3.99 [[ 9.99826416e-01 1.83167070e-02 3.41109566e-03 2.83675363e+02] [-1.83160202e-02 9.99832221e-01 -2.32477581e-04 -1.72440004e+01] [-3.41478157e-03 1.69959529e-04 9.99994155e-01 -3.98651192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.380371743 meters 0.030685744934169958 Centerline is valid? [True, True] Translation: X:283.74, Y:-17.24, Z:-3.99 [[ 9.99884456e-01 1.49653207e-02 2.66713104e-03 2.83735789e+02] [-1.49648905e-02 9.99888003e-01 -1.81196473e-04 -1.72449112e+01] [-2.66954400e-03 1.41262213e-04 9.99996427e-01 -3.98709785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.440371743 meters 0.031022371003213523 Centerline is valid? [True, True] Translation: X:283.80, Y:-17.25, Z:-3.99 [[ 9.99916871e-01 1.27245600e-02 2.08239076e-03 2.83795521e+02] [-1.27242924e-02 9.99919033e-01 -1.41707812e-04 -1.72481701e+01] [-2.08402532e-03 1.15199083e-04 9.99997822e-01 -3.98796686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.500371743 meters 0.033170700065204485 Centerline is valid? [True, True] Translation: X:283.86, Y:-17.25, Z:-3.99 [[ 9.99961454e-01 8.55238956e-03 1.98687988e-03 2.83855893e+02] [-8.55213870e-03 9.99963421e-01 -1.34716561e-04 -1.72540135e+01] [-1.98795935e-03 1.17719296e-04 9.99998017e-01 -3.98776291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.560371743 meters 0.03625625212471404 Centerline is valid? [True, True] Translation: X:283.92, Y:-17.26, Z:-3.99 [[ 9.99988395e-01 4.36632906e-03 2.03599559e-03 2.83915082e+02] [-4.36605637e-03 9.99990459e-01 -1.38359727e-04 -1.72621468e+01] [-2.03658029e-03 1.29468849e-04 9.99997918e-01 -3.98844982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.620371743 meters 0.03830301708263767 Centerline is valid? [True, True] Translation: X:283.98, Y:-17.27, Z:-3.99 [[ 9.99997587e-01 1.73738124e-03 1.34461269e-03 2.83975305e+02] [-1.73726026e-03 9.99998487e-01 -9.11376958e-05 -1.72685997e+01] [-1.34476900e-03 8.88015336e-05 9.99999092e-01 -3.98971344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.680371743 meters 0.03911936493705638 Centerline is valid? [True, True] Translation: X:284.04, Y:-17.27, Z:-3.99 [[ 9.99997167e-01 2.27029377e-03 -7.15152436e-04 2.84036145e+02] [-2.27025969e-03 9.99997422e-01 4.84729511e-05 -1.72722355e+01] [ 7.15260640e-04 -4.68492320e-05 9.99999743e-01 -3.99203511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.740371743 meters 0.040051395177766576 Centerline is valid? [True, True] Translation: X:284.10, Y:-17.28, Z:-3.99 [[ 9.99994669e-01 3.23370731e-03 -4.52827469e-04 2.84095118e+02] [-3.23369397e-03 9.99994771e-01 3.01975427e-05 -1.72763886e+01] [ 4.52922751e-04 -2.87330763e-05 9.99999897e-01 -3.99327583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.800371743 meters 0.03605899385744353 Centerline is valid? [True, True] Translation: X:284.16, Y:-17.27, Z:-3.99 [[ 9.99978669e-01 6.52833712e-03 -2.03817767e-04 2.84155414e+02] [-6.52833450e-03 9.99978690e-01 1.35568560e-05 -1.72716401e+01] [ 2.03901927e-04 -1.22259762e-05 9.99999979e-01 -3.99158665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86037174300003 meters 0.03486327409072388 Centerline is valid? [True, True] Translation: X:284.22, Y:-17.27, Z:-3.99 [[ 9.99938298e-01 1.10081319e-02 1.49041269e-03 2.84215574e+02] [-1.10079936e-02 9.99939405e-01 -1.00982629e-04 -1.72716141e+01] [-1.49143400e-03 8.45699454e-05 9.99998884e-01 -3.99146368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92037174300003 meters 0.032415845331521066 Centerline is valid? [True, True] Translation: X:284.27, Y:-17.27, Z:-3.99 [[ 9.99916223e-01 1.28723359e-02 1.36011026e-03 2.84274507e+02] [-1.28722213e-02 9.99917145e-01 -9.30168108e-05 -1.72699808e+01] [-1.36119491e-03 7.55013780e-05 9.99999071e-01 -3.99224609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.980371743 meters 0.03207981517878092 Centerline is valid? [True, True] Translation: X:284.33, Y:-17.27, Z:-3.99 [[ 9.99920141e-01 1.26201727e-02 6.65046183e-04 2.84333017e+02] [-1.26201450e-02 9.99920362e-01 -4.59537826e-05 -1.72720366e+01] [-6.65573164e-04 3.75571336e-05 9.99999778e-01 -3.99339345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.040371743 meters 0.03510959392387009 Centerline is valid? [True, True] Translation: X:284.39, Y:-17.28, Z:-4.00 [[ 9.99937300e-01 1.11980055e-02 1.90893147e-05 2.84391609e+02] [-1.11980055e-02 9.99937300e-01 -2.03395479e-06 -1.72791566e+01] [-1.91108942e-05 1.82006502e-06 1.00000000e+00 -3.99564421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.100371743 meters 0.03230242015689568 Centerline is valid? [True, True] Translation: X:284.45, Y:-17.28, Z:-3.99 [[ 9.99947843e-01 1.02088526e-02 -3.01886319e-04 2.84450635e+02] [-1.02088472e-02 9.99947888e-01 1.93436545e-05 -1.72772502e+01] [ 3.02068064e-04 -1.62607342e-05 9.99999954e-01 -3.99496305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.160371743 meters 0.03221106740454755 Centerline is valid? [True, True] Translation: X:284.51, Y:-17.28, Z:-3.99 [[ 9.99955154e-01 9.43824747e-03 7.80431075e-04 2.84509704e+02] [-9.43820848e-03 9.99955458e-01 -5.36238391e-05 -1.72794185e+01] [-7.80902428e-04 4.62555631e-05 9.99999694e-01 -3.99493642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.220371743 meters 0.03552238506809245 Centerline is valid? [True, True] Translation: X:284.57, Y:-17.29, Z:-4.00 [[ 9.99964329e-01 8.28607677e-03 1.63776725e-03 2.84567970e+02] [-8.28590614e-03 9.99965665e-01 -1.10941937e-04 -1.72883570e+01] [-1.63863029e-03 9.73675938e-05 9.99998653e-01 -3.99661655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.280371743 meters 0.035151128806510966 Centerline is valid? [True, True] Translation: X:284.63, Y:-17.29, Z:-4.00 [[ 9.99975035e-01 6.92057556e-03 1.42684965e-03 2.84627151e+02] [-6.92044453e-03 9.99976049e-01 -9.67507029e-05 -1.72905573e+01] [-1.42748505e-03 8.68738536e-05 9.99998977e-01 -3.99723491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.340371743 meters 0.036234493500875486 Centerline is valid? [True, True] Translation: X:284.69, Y:-17.30, Z:-4.00 [[ 9.99978120e-01 6.14769066e-03 2.44251575e-03 2.84686454e+02] [-6.14730653e-03 9.99981092e-01 -1.64742332e-04 -1.72961394e+01] [-2.44348235e-03 1.49723835e-04 9.99997003e-01 -3.99751742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.400371743 meters 0.03768941013706913 Centerline is valid? [True, True] Translation: X:284.75, Y:-17.30, Z:-4.00 [[ 9.99984150e-01 5.01386075e-03 2.56127465e-03 2.84745771e+02] [-5.01343497e-03 9.99987418e-01 -1.72632397e-04 -1.73014121e+01] [-2.56210798e-03 1.59788877e-04 9.99996705e-01 -3.99789619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.460371743 meters 0.03889539568624349 Centerline is valid? [True, True] Translation: X:284.81, Y:-17.31, Z:-4.00 [[ 9.99989438e-01 3.69386741e-03 2.73484329e-03 2.84806088e+02] [-3.69337848e-03 9.99993163e-01 -1.83808682e-04 -1.73072274e+01] [-2.73550355e-03 1.73705929e-04 9.99996243e-01 -3.99927257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.520371743 meters 0.036413918562337624 Centerline is valid? [True, True] Translation: X:284.87, Y:-17.31, Z:-4.00 [[ 9.99988318e-01 4.03394849e-03 2.66273701e-03 2.84866586e+02] [-4.03348620e-03 9.99991849e-01 -1.78962423e-04 -1.73069157e+01] [-2.66343723e-03 1.68220219e-04 9.99996439e-01 -3.99956612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.580371743 meters 0.03403257854825882 Centerline is valid? [True, True] Translation: X:284.93, Y:-17.31, Z:-4.00 [[ 9.99985793e-01 4.72215376e-03 2.47269326e-03 2.84927528e+02] [-4.72175720e-03 9.99988839e-01 -1.66189592e-04 -1.73065831e+01] [-2.47345044e-03 1.54511774e-04 9.99996929e-01 -4.00019069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.640371743 meters 0.036168407419498394 Centerline is valid? [True, True] Translation: X:284.99, Y:-17.31, Z:-4.00 [[ 9.99978965e-01 6.07019389e-03 2.28537096e-03 2.84986776e+02] [-6.06985816e-03 9.99981566e-01 -1.53810773e-04 -1.73112274e+01] [-2.28626249e-03 1.39935660e-04 9.99997377e-01 -4.00108138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.700371743 meters 0.034568088225227514 Centerline is valid? [True, True] Translation: X:285.05, Y:-17.31, Z:-4.00 [[ 9.99974473e-01 6.55799291e-03 2.83657741e-03 2.85046965e+02] [-6.55747798e-03 9.99978481e-01 -1.90794924e-04 -1.73125195e+01] [-2.83776761e-03 1.72189260e-04 9.99995959e-01 -4.00157105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.760371743 meters 0.03722115711631264 Centerline is valid? [True, True] Translation: X:285.11, Y:-17.32, Z:-4.00 [[ 9.99941009e-01 9.70101553e-03 4.88563036e-03 2.85106217e+02] [-9.69952666e-03 9.99952905e-01 -3.28348245e-04 -1.73181553e+01] [-4.88858558e-03 2.80940573e-04 9.99988011e-01 -4.00150273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.820371743 meters 0.03139399843136206 Centerline is valid? [True, True] Translation: X:285.17, Y:-17.31, Z:-4.00 [[ 9.99867609e-01 1.53307262e-02 5.45290490e-03 2.85167843e+02] [-1.53289571e-02 9.99882438e-01 -3.66072274e-04 -1.73095102e+01] [-5.45787600e-03 2.82436464e-04 9.99985066e-01 -4.00028688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.880371743 meters 0.030347989264659727 Centerline is valid? [True, True] Translation: X:285.23, Y:-17.31, Z:-4.00 [[ 9.99789716e-01 1.97336437e-02 5.57744107e-03 2.85228075e+02] [-1.97318585e-02 9.99805238e-01 -3.74927237e-04 -1.73105225e+01] [-5.58375347e-03 2.64795118e-04 9.99984376e-01 -4.00013970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.940371743 meters 0.02878853700851379 Centerline is valid? [True, True] Translation: X:285.29, Y:-17.31, Z:-4.00 [[ 9.99735920e-01 2.22684775e-02 5.67501645e-03 2.85288495e+02] [-2.22666719e-02 9.99751994e-01 -3.81155423e-04 -1.73095826e+01] [-5.68209677e-03 2.54691038e-04 9.99983824e-01 -3.99936191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.000371743 meters 0.029442539462682757 Centerline is valid? [True, True] Translation: X:285.35, Y:-17.31, Z:-4.00 [[ 9.99728606e-01 2.27593658e-02 4.97254999e-03 2.85346421e+02] [-2.27579827e-02 9.99740948e-01 -3.34551726e-04 -1.73133787e+01] [-4.97887603e-03 2.21295724e-04 9.99987581e-01 -4.00060211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.060371743 meters 0.028297559617200325 Centerline is valid? [True, True] Translation: X:285.41, Y:-17.31, Z:-4.00 [[ 9.99737018e-01 2.25650189e-02 4.08827325e-03 2.85405415e+02] [-2.25640836e-02 9.99745361e-01 -2.74759296e-04 -1.73148997e+01] [-4.09343217e-03 1.82438900e-04 9.99991605e-01 -4.00279863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.120371743 meters 0.028244179783060007 Centerline is valid? [True, True] Translation: X:285.46, Y:-17.32, Z:-4.00 [[ 9.99760384e-01 2.16090136e-02 3.49656007e-03 2.85463780e+02] [-2.16083240e-02 9.99766485e-01 -2.34890000e-04 -1.73179828e+01] [-3.50081931e-03 1.59278913e-04 9.99993859e-01 -4.00300481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.180371743 meters 0.02873546419259949 Centerline is valid? [True, True] Translation: X:285.52, Y:-17.32, Z:-4.00 [[ 9.99777928e-01 2.08337861e-02 3.16971936e-03 2.85522692e+02] [-2.08332159e-02 9.99782942e-01 -2.12796595e-04 -1.73216990e+01] [-3.17346471e-03 1.46713891e-04 9.99994954e-01 -4.00302838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.240371743 meters 0.02929245026549683 Centerline is valid? [True, True] Translation: X:285.58, Y:-17.33, Z:-4.00 [[ 9.99768638e-01 2.10340927e-02 4.49855862e-03 2.85581708e+02] [-2.10329480e-02 9.99778738e-01 -3.01607375e-04 -1.73277122e+01] [-4.50390730e-03 2.06919645e-04 9.99989836e-01 -4.00296915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.300371743 meters 0.02830894781819903 Centerline is valid? [True, True] Translation: X:285.64, Y:-17.33, Z:-4.00 [[ 9.99734554e-01 2.24359262e-02 5.23927722e-03 2.85640184e+02] [-2.24343988e-02 9.99748256e-01 -3.50123787e-04 -1.73297819e+01] [-5.24581362e-03 2.32490813e-04 9.99986214e-01 -4.00228443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36037174300003 meters 0.02707010545389173 Centerline is valid? [True, True] Translation: X:285.70, Y:-17.33, Z:-4.00 [[ 9.99641538e-01 2.62592217e-02 5.22009615e-03 2.85700265e+02] [-2.62577619e-02 9.99655145e-01 -3.47988769e-04 -1.73323935e+01] [-5.22743388e-03 2.10795986e-04 9.99986315e-01 -4.00218513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42037174300003 meters 0.02733972514181655 Centerline is valid? [True, True] Translation: X:285.76, Y:-17.34, Z:-4.00 [[ 9.99567976e-01 2.89089238e-02 5.30424134e-03 2.85757744e+02] [-2.89074511e-02 9.99582030e-01 -3.54116426e-04 -1.73386566e+01] [-5.31226144e-03 2.00631342e-04 9.99985870e-01 -4.00296649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.480371743 meters 0.026067702856016783 Centerline is valid? [True, True] Translation: X:285.82, Y:-17.34, Z:-4.00 [[ 9.99560208e-01 2.91573023e-02 5.40762729e-03 2.85816238e+02] [-2.91557788e-02 9.99574815e-01 -3.60371099e-04 -1.73426771e+01] [-5.41583550e-03 2.02549025e-04 9.99985314e-01 -4.00269053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.540371743 meters 0.02629171119348608 Centerline is valid? [True, True] Translation: X:285.87, Y:-17.35, Z:-4.00 [[ 9.99571913e-01 2.89891165e-02 3.95241066e-03 2.85874073e+02] [-2.89883007e-02 9.99579716e-01 -2.63559215e-04 -1.73513139e+01] [-3.95838987e-03 1.48872720e-04 9.99992154e-01 -4.00499366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.600371743 meters 0.02662278800933824 Centerline is valid? [True, True] Translation: X:285.93, Y:-17.36, Z:-4.01 [[ 9.99582380e-01 2.87215139e-02 3.18439940e-03 2.85932710e+02] [-2.87209837e-02 9.99587445e-01 -2.12098257e-04 -1.73578820e+01] [-3.18917744e-03 1.20550597e-04 9.99994907e-01 -4.00623468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.660371743 meters 0.026514200388144175 Centerline is valid? [True, True] Translation: X:285.99, Y:-17.37, Z:-4.01 [[ 9.99568054e-01 2.92264320e-02 3.08572557e-03 2.85990672e+02] [-2.92259372e-02 9.99572810e-01 -2.05342528e-04 -1.73656615e+01] [-3.09040881e-03 1.15070609e-04 9.99995218e-01 -4.00659010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.720371743 meters 0.02658901559203136 Centerline is valid? [True, True] Translation: X:286.05, Y:-17.37, Z:-4.01 [[ 9.99535872e-01 3.02708833e-02 3.42272345e-03 2.86049221e+02] [-3.02702819e-02 9.99541724e-01 -2.27405636e-04 -1.73719092e+01] [-3.42803867e-03 1.23693287e-04 9.99994117e-01 -4.00764221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.780371743 meters 0.025707420436062924 Centerline is valid? [True, True] Translation: X:286.11, Y:-17.38, Z:-4.01 [[ 9.99517945e-01 3.08462455e-02 3.51954366e-03 2.86107391e+02] [-3.08456141e-02 9.99524134e-01 -2.33570874e-04 -1.73772923e+01] [-3.52507361e-03 1.24895794e-04 9.99993779e-01 -4.00748320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.840371743 meters 0.025356750535116837 Centerline is valid? [True, True] Translation: X:286.16, Y:-17.38, Z:-4.01 [[ 9.99523478e-01 3.05526269e-02 4.39942142e-03 2.86164915e+02] [-3.05516383e-02 9.99533147e-01 -2.91753503e-04 -1.73846519e+01] [-4.40628137e-03 1.57204944e-04 9.99990280e-01 -4.00697222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.900371743 meters 0.02645061521277043 Centerline is valid? [True, True] Translation: X:286.22, Y:-17.39, Z:-4.01 [[ 9.99562127e-01 2.89925500e-02 5.91498796e-03 2.86222128e+02] [-2.89907437e-02 9.99579604e-01 -3.90907340e-04 -1.73946812e+01] [-5.92383472e-03 2.19256272e-04 9.99982430e-01 -4.00676312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.960371743 meters 0.026541561619615812 Centerline is valid? [True, True] Translation: X:286.28, Y:-17.40, Z:-4.01 [[ 9.99608220e-01 2.70390366e-02 7.23160353e-03 2.86280076e+02] [-2.70362924e-02 9.99634339e-01 -4.76985343e-04 -1.74007390e+01] [-7.24185644e-03 2.81282722e-04 9.99973738e-01 -4.00662120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.020371743 meters 0.029031939419965347 Centerline is valid? [True, True] Translation: X:286.34, Y:-17.41, Z:-4.01 [[ 9.99733307e-01 2.21358977e-02 6.58156297e-03 2.86338023e+02] [-2.21335245e-02 9.99754930e-01 -4.33209299e-04 -1.74138632e+01] [-6.58953950e-03 2.87420580e-04 9.99978247e-01 -4.00885727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.080371743 meters 0.02985544652971599 Centerline is valid? [True, True] Translation: X:286.40, Y:-17.42, Z:-4.01 [[ 9.99851251e-01 1.64061246e-02 5.32124831e-03 2.86398359e+02] [-1.64044944e-02 9.99865376e-01 -3.49874602e-04 -1.74236125e+01] [-5.32627203e-03 2.62530171e-04 9.99985781e-01 -4.01069450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.140371743 meters 0.03177576908783316 Centerline is valid? [True, True] Translation: X:286.46, Y:-17.43, Z:-4.01 [[ 9.99906909e-01 1.24382132e-02 5.60925266e-03 2.86458246e+02] [-1.24363397e-02 9.99922598e-01 -3.68759580e-04 -1.74340071e+01] [-5.61340520e-03 2.98966681e-04 9.99984200e-01 -4.01111744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.200371743 meters 0.0334357063050846 Centerline is valid? [True, True] Translation: X:286.52, Y:-17.44, Z:-4.01 [[ 9.99930173e-01 1.04797794e-02 5.46113966e-03 2.86517820e+02] [-1.04779744e-02 9.99945040e-01 -3.59011739e-04 -1.74418946e+01] [-5.46460188e-03 3.01764988e-04 9.99985023e-01 -4.01215830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.260371743 meters 0.034545434865979295 Centerline is valid? [True, True] Translation: X:286.58, Y:-17.45, Z:-4.01 [[ 9.99932161e-01 1.01650776e-02 5.68722670e-03 2.86576670e+02] [-1.01631141e-02 9.99948284e-01 -3.74039011e-04 -1.74485593e+01] [-5.69073472e-03 3.16213703e-04 9.99983758e-01 -4.01315902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.320371743 meters 0.031965391343342545 Centerline is valid? [True, True] Translation: X:286.64, Y:-17.45, Z:-4.01 [[ 9.99919708e-01 1.16823617e-02 4.90921071e-03 2.86636877e+02] [-1.16809171e-02 9.99931724e-01 -3.22822804e-04 -1.74476778e+01] [-4.91264686e-03 2.65452800e-04 9.99987898e-01 -4.01322599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.380371743 meters 0.03221124744188256 Centerline is valid? [True, True] Translation: X:286.70, Y:-17.45, Z:-4.01 [[ 9.99910861e-01 1.24402159e-02 4.84877004e-03 2.86696297e+02] [-1.24388153e-02 9.99922584e-01 -3.18927133e-04 -1.74516667e+01] [-4.85236219e-03 2.58585750e-04 9.99988194e-01 -4.01354532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.440371743 meters 0.033612844327703756 Centerline is valid? [True, True] Translation: X:286.76, Y:-17.46, Z:-4.01 [[ 9.99932877e-01 1.06141625e-02 4.64555989e-03 2.86755900e+02] [-1.06128578e-02 9.99943635e-01 -3.05410822e-04 -1.74574554e+01] [-4.64853972e-03 2.56087656e-04 9.99989163e-01 -4.01478493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.500371743 meters 0.03303414672008092 Centerline is valid? [True, True] Translation: X:286.82, Y:-17.46, Z:-4.02 [[ 9.99979088e-01 5.40614680e-03 3.54932488e-03 2.86816199e+02] [-5.40535383e-03 9.99985364e-01 -2.32969183e-04 -1.74605313e+01] [-3.55053240e-03 2.13778954e-04 9.99993674e-01 -4.01556106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.560371743 meters 0.0349255368703047 Centerline is valid? [True, True] Translation: X:286.88, Y:-17.47, Z:-4.02 [[ 9.99993821e-01 -1.12249863e-03 3.33151003e-03 2.86876602e+02] [ 1.12323321e-03 9.99999345e-01 -2.18630911e-04 -1.74681263e+01] [-3.33126243e-03 2.22371623e-04 9.99994427e-01 -4.01659054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.620371743 meters 0.0374588221652484 Centerline is valid? [True, True] Translation: X:286.94, Y:-17.48, Z:-4.02 [[ 9.99978208e-01 -5.35977773e-03 3.85442298e-03 2.86936844e+02] [ 5.36079231e-03 9.99985599e-01 -2.52941393e-04 -1.74758205e+01] [-3.85301176e-03 2.73598641e-04 9.99992540e-01 -4.01739941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.680371743 meters 0.041406471208718876 Centerline is valid? [True, True] Translation: X:287.00, Y:-17.48, Z:-4.02 [[ 9.99934357e-01 -1.08815600e-02 3.58792880e-03 2.86996579e+02] [ 1.08824742e-02 9.99940756e-01 -2.35397030e-04 -1.74836763e+01] [-3.58515475e-03 2.74427121e-04 9.99993536e-01 -4.01760960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.740371743 meters 0.04055150404822063 Centerline is valid? [True, True] Translation: X:287.06, Y:-17.48, Z:-4.02 [[ 9.99887815e-01 -1.46127219e-02 3.29030135e-03 2.87056807e+02] [ 1.46135113e-02 9.99893194e-01 -2.15989038e-04 -1.74849042e+01] [-3.28679374e-03 2.64047663e-04 9.99994564e-01 -4.01848955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.800371743 meters 0.0427658119738416 Centerline is valid? [True, True] Translation: X:287.12, Y:-17.49, Z:-4.02 [[ 9.99836630e-01 -1.78799682e-02 2.64965384e-03 2.87117007e+02] [ 1.78804915e-02 9.99840116e-01 -1.73930923e-04 -1.74883949e+01] [-2.64612033e-03 2.21279620e-04 9.99996475e-01 -4.01919850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86037174300003 meters 0.046555256044518434 Centerline is valid? [True, True] Translation: X:287.18, Y:-17.49, Z:-4.02 [[ 9.99799578e-01 -1.96398192e-02 3.88348771e-03 2.87177199e+02] [ 1.96409560e-02 9.99807065e-01 -2.54814183e-04 -1.74922902e+01] [-3.87773395e-03 3.31038524e-04 9.99992427e-01 -4.01891496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92037174300003 meters 0.045752135034545054 Centerline is valid? [True, True] Translation: X:287.24, Y:-17.49, Z:-4.02 [[ 9.99818032e-01 -1.88033425e-02 3.21507082e-03 2.87239663e+02] [ 1.88041156e-02 9.99823165e-01 -2.10390578e-04 -1.74902435e+01] [-3.21054624e-03 2.70808857e-04 9.99994810e-01 -4.01955785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.980371743 meters 0.04763688730257621 Centerline is valid? [True, True] Translation: X:287.30, Y:-17.49, Z:-4.02 [[ 9.99822621e-01 -1.87827136e-02 1.39141044e-03 2.87301806e+02] [ 1.87828578e-02 9.99823582e-01 -9.05955135e-05 -1.74893885e+01] [-1.38946335e-03 1.16714108e-04 9.99999028e-01 -4.02081021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.040371743 meters 0.04815726554939996 Centerline is valid? [True, True] Translation: X:287.36, Y:-17.49, Z:-4.02 [[ 9.99819496e-01 -1.89578939e-02 1.25428838e-03 2.87364181e+02] [ 1.89580112e-02 9.99820277e-01 -8.16617192e-05 -1.74917334e+01] [-1.25251483e-03 1.05425792e-04 9.99999210e-01 -4.02139727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.100371743 meters 0.044683663355613336 Centerline is valid? [True, True] Translation: X:287.43, Y:-17.48, Z:-4.02 [[ 9.99776748e-01 -2.10299659e-02 2.04798262e-03 2.87425753e+02] [ 2.10302857e-02 9.99778830e-01 -1.34728541e-04 -1.74845554e+01] [-2.04469634e-03 1.77768122e-04 9.99997894e-01 -4.02088314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.160371743 meters 0.04782840866525796 Centerline is valid? [True, True] Translation: X:287.49, Y:-17.49, Z:-4.02 [[ 9.99687521e-01 -2.48790591e-02 2.42756302e-03 2.87486719e+02] [ 2.48795203e-02 9.99690444e-01 -1.59967691e-04 -1.74852302e+01] [-2.42283171e-03 2.20314307e-04 9.99997041e-01 -4.02104526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.220371743 meters 0.04972619596784323 Centerline is valid? [True, True] Translation: X:287.55, Y:-17.49, Z:-4.02 [[ 9.99630096e-01 -2.70535010e-02 2.78902643e-03 2.87547781e+02] [ 2.70541178e-02 9.99633954e-01 -1.83634002e-04 -1.74867587e+01] [-2.78303758e-03 2.59020725e-04 9.99996094e-01 -4.02046984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.280371743 meters 0.04829233877429609 Centerline is valid? [True, True] Translation: X:287.61, Y:-17.48, Z:-4.02 [[ 9.99526039e-01 -3.05671560e-02 3.65337035e-03 2.87608816e+02] [ 3.05682387e-02 9.99532653e-01 -2.40861939e-04 -1.74816464e+01] [-3.64430050e-03 3.52424876e-04 9.99993297e-01 -4.01997514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.340371743 meters 0.05101573912578149 Centerline is valid? [True, True] Translation: X:287.67, Y:-17.48, Z:-4.02 [[ 9.99485376e-01 -3.20054760e-02 2.15240495e-03 2.87669955e+02] [ 3.20058542e-02 9.99487671e-01 -1.41485088e-04 -1.74849062e+01] [-2.14677392e-03 2.10301836e-04 9.99997674e-01 -4.02152270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.400371743 meters 0.050448415420583315 Centerline is valid? [True, True] Translation: X:287.73, Y:-17.48, Z:-4.02 [[ 9.99474441e-01 -3.23763671e-02 1.61653913e-03 2.87732311e+02] [ 3.23765800e-02 9.99475736e-01 -1.05728317e-04 -1.74826700e+01] [-1.61226853e-03 1.58010759e-04 9.99998688e-01 -4.02251607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.460371743 meters 0.04943822621988246 Centerline is valid? [True, True] Translation: X:287.79, Y:-17.48, Z:-4.02 [[ 9.99500437e-01 -3.15730615e-02 1.42059670e-03 2.87794404e+02] [ 3.15732251e-02 9.99501437e-01 -9.28875846e-05 -1.74805283e+01] [-1.41695570e-03 1.37694001e-04 9.99998987e-01 -4.02335373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.520371743 meters 0.04882001589919856 Centerline is valid? [True, True] Translation: X:287.86, Y:-17.48, Z:-4.02 [[ 9.99548920e-01 -2.99392522e-02 2.36600799e-03 2.87855283e+02] [ 2.99397056e-02 9.99551694e-01 -1.56432501e-04 -1.74787345e+01] [-2.36026382e-03 2.27199520e-04 9.99997189e-01 -4.02381390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.580371743 meters 0.04850584717528535 Centerline is valid? [True, True] Translation: X:287.92, Y:-17.48, Z:-4.03 [[ 9.99615853e-01 -2.75917675e-02 2.61547865e-03 2.87915802e+02] [ 2.75923136e-02 9.99619245e-01 -1.72926663e-04 -1.74781364e+01] [-2.60971145e-03 2.45027341e-04 9.99996565e-01 -4.02567086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.640371743 meters 0.04984939509255608 Centerline is valid? [True, True] Translation: X:287.98, Y:-17.48, Z:-4.03 [[ 9.99656601e-01 -2.61493967e-02 1.69957846e-03 2.87977749e+02] [ 2.61496241e-02 9.99658034e-01 -1.11707399e-04 -1.74804568e+01] [-1.69607618e-03 1.56112376e-04 9.99998549e-01 -4.02800703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.700371743 meters 0.048990998234053014 Centerline is valid? [True, True] Translation: X:288.04, Y:-17.48, Z:-4.03 [[ 9.99689578e-01 -2.48590419e-02 1.66609685e-03 2.88039607e+02] [ 2.48592583e-02 9.99690955e-01 -1.09321658e-04 -1.74791794e+01] [-1.66286432e-03 1.50705654e-04 9.99998606e-01 -4.02819101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.760371743 meters 0.048036575082078134 Centerline is valid? [True, True] Translation: X:288.10, Y:-17.48, Z:-4.03 [[ 9.99739049e-01 -2.26149039e-02 3.22478171e-03 2.88100783e+02] [ 2.26157091e-02 9.99744209e-01 -2.13434252e-04 -1.74787380e+01] [-3.21913005e-03 2.86309281e-04 9.99994778e-01 -4.02790370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.820371743 meters 0.04718170675437089 Centerline is valid? [True, True] Translation: X:288.16, Y:-17.48, Z:-4.03 [[ 9.99774981e-01 -2.08211821e-02 4.05773633e-03 2.88161979e+02] [ 2.08224428e-02 9.99783153e-01 -2.68701897e-04 -1.74797439e+01] [-4.05126173e-03 3.53133417e-04 9.99991731e-01 -4.02833019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.880371743 meters 0.04705855764268112 Centerline is valid? [True, True] Translation: X:288.22, Y:-17.48, Z:-4.03 [[ 9.99829466e-01 -1.78970725e-02 4.55336547e-03 2.88223006e+02] [ 1.78986310e-02 9.99839761e-01 -3.01743489e-04 -1.74809401e+01] [-4.54723552e-03 3.83191040e-04 9.99989588e-01 -4.03012147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.940371743 meters 0.044160503996246867 Centerline is valid? [True, True] Translation: X:288.28, Y:-17.48, Z:-4.03 [[ 9.99884460e-01 -1.45731258e-02 4.32325830e-03 2.88284451e+02] [ 1.45745000e-02 9.99893745e-01 -2.86518211e-04 -1.74775515e+01] [-4.31862347e-03 3.49494435e-04 9.99990614e-01 -4.02958290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.000371743 meters 0.04102195008260768 Centerline is valid? [True, True] Translation: X:288.35, Y:-17.48, Z:-4.03 [[ 9.99923479e-01 -1.12453751e-02 5.15533179e-03 2.88345126e+02] [ 1.12472854e-02 9.99936689e-01 -3.41701601e-04 -1.74754067e+01] [-5.15116284e-03 3.99658942e-04 9.99986653e-01 -4.02890237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.060371743 meters 0.040588461180903326 Centerline is valid? [True, True] Translation: X:288.40, Y:-17.48, Z:-4.03 [[ 9.99975092e-01 -6.22167835e-03 3.33245006e-03 2.88404434e+02] [ 6.22244968e-03 9.99980616e-01 -2.21144258e-04 -1.74767713e+01] [-3.33100957e-03 2.41874753e-04 9.99994423e-01 -4.03107082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.120371743 meters 0.03645462887214883 Centerline is valid? [True, True] Translation: X:288.47, Y:-17.47, Z:-4.03 [[ 9.99992950e-01 2.89605495e-03 2.39030255e-03 2.88465704e+02] [-2.89568458e-03 9.99995795e-01 -1.58390822e-04 -1.74722164e+01] [-2.39075121e-03 1.51468143e-04 9.99997131e-01 -4.03193614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.180371743 meters 0.03347569032083736 Centerline is valid? [True, True] Translation: X:288.53, Y:-17.47, Z:-4.03 [[ 9.99897487e-01 1.38470007e-02 3.64355846e-03 2.88525627e+02] [-1.38462115e-02 9.99904107e-01 -2.41735074e-04 -1.74681257e+01] [-3.64655638e-03 1.91260812e-04 9.99993333e-01 -4.03086957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.240371743 meters 0.03047572568593074 Centerline is valid? [True, True] Translation: X:288.59, Y:-17.47, Z:-4.03 [[ 9.99762550e-01 2.14244973e-02 3.97926677e-03 2.88585460e+02] [-2.14236161e-02 9.99770453e-01 -2.63961098e-04 -1.74656523e+01] [-3.98400858e-03 1.78648137e-04 9.99992048e-01 -4.03187202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.300371743 meters 0.027888801193278297 Centerline is valid? [True, True] Translation: X:288.64, Y:-17.46, Z:-4.03 [[ 9.99703109e-01 2.42102598e-02 2.74893042e-03 2.88644483e+02] [-2.42098484e-02 9.99706882e-01 -1.82866385e-04 -1.74636800e+01] [-2.75255190e-03 1.16260905e-04 9.99996205e-01 -4.03399859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36037174300003 meters 0.029521089375719664 Centerline is valid? [True, True] Translation: X:288.70, Y:-17.47, Z:-4.04 [[ 9.99716506e-01 2.38086532e-02 2.34728276e-04 2.88702344e+02] [-2.38086499e-02 9.99716534e-01 -1.67203839e-05 -1.74678297e+01] [-2.35059829e-04 1.11270805e-05 9.99999972e-01 -4.03857247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42037174300003 meters 0.030716013954769868 Centerline is valid? [True, True] Translation: X:288.76, Y:-17.47, Z:-4.04 [[ 9.99767750e-01 2.15497026e-02 2.38474683e-04 2.88761962e+02] [-2.15496993e-02 9.99767778e-01 -1.62231986e-05 -1.74734133e+01] [-2.38768909e-04 1.10803731e-05 9.99999971e-01 -4.03889234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.480371743 meters 0.033720999335217494 Centerline is valid? [True, True] Translation: X:288.82, Y:-17.48, Z:-4.04 [[ 9.99855732e-01 1.69361531e-02 1.29681495e-03 2.88820907e+02] [-1.69360557e-02 9.99856571e-01 -8.60714749e-05 -1.74809869e+01] [-1.29808667e-03 6.40961274e-05 9.99999155e-01 -4.03805345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.540371743 meters 0.03720974529313428 Centerline is valid? [True, True] Translation: X:288.88, Y:-17.49, Z:-4.04 [[ 9.99938110e-01 1.10362252e-02 1.40619874e-03 2.88880446e+02] [-1.10361055e-02 9.99939096e-01 -9.28462284e-05 -1.74895524e+01] [-1.40713777e-03 7.73215244e-05 9.99999007e-01 -4.03780579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.600371743 meters 0.03347615063210504 Centerline is valid? [True, True] Translation: X:288.94, Y:-17.49, Z:-4.04 [[ 9.99986785e-01 4.77050845e-03 1.91632831e-03 2.88940946e+02] [-4.77027466e-03 9.99988614e-01 -1.26554948e-04 -1.74873928e+01] [-1.91691022e-03 1.17411864e-04 9.99998156e-01 -4.03533171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.660371743 meters 0.03685388186630006 Centerline is valid? [True, True] Translation: X:289.00, Y:-17.50, Z:-4.04 [[ 9.99996583e-01 -2.30486338e-04 2.60389094e-03 2.89000602e+02] [ 2.30934656e-04 9.99999959e-01 -1.71872752e-04 -1.74960358e+01] [-2.60385122e-03 1.72473494e-04 9.99996595e-01 -4.03517584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.720371743 meters 0.03723864916563374 Centerline is valid? [True, True] Translation: X:289.06, Y:-17.50, Z:-4.04 [[ 9.99987555e-01 -4.56177811e-03 2.01998989e-03 2.89060580e+02] [ 4.56205662e-03 9.99989585e-01 -1.33292723e-04 -1.75018741e+01] [-2.01936080e-03 1.42506372e-04 9.99997951e-01 -4.03650219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.780371743 meters 0.03836779188128708 Centerline is valid? [True, True] Translation: X:289.12, Y:-17.51, Z:-4.04 [[ 9.99968306e-01 -7.79651611e-03 1.61261034e-03 2.89120943e+02] [ 7.79669763e-03 9.99969600e-01 -1.06308444e-04 -1.75072460e+01] [-1.61173248e-03 1.18878110e-04 9.99998694e-01 -4.03709623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.840371743 meters 0.03988812678206537 Centerline is valid? [True, True] Translation: X:289.18, Y:-17.51, Z:-4.04 [[ 9.99960953e-01 -8.75042158e-03 1.23363040e-03 2.89181700e+02] [ 8.75052782e-03 9.99961710e-01 -8.07450885e-05 -1.75141934e+01] [-1.23287661e-03 9.15368529e-05 9.99999236e-01 -4.03819215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.900371743 meters 0.04112745648665777 Centerline is valid? [True, True] Translation: X:289.24, Y:-17.52, Z:-4.04 [[ 9.99963825e-01 -8.45090922e-03 9.65032041e-04 2.89244094e+02] [ 8.45097378e-03 9.99964288e-01 -6.28316371e-05 -1.75195836e+01] [-9.64466594e-04 7.09848246e-05 9.99999532e-01 -4.03954215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.960371743 meters 0.039117302226007226 Centerline is valid? [True, True] Translation: X:289.31, Y:-17.52, Z:-4.04 [[ 9.99967200e-01 -8.09170209e-03 3.52020714e-04 2.89306659e+02] [ 8.09171043e-03 9.99967261e-01 -2.22890363e-05 -1.75179911e+01] [-3.51828833e-04 2.51367550e-05 9.99999938e-01 -4.03901387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.020371743 meters 0.042863827010191285 Centerline is valid? [True, True] Translation: X:289.37, Y:-17.53, Z:-4.04 [[ 9.99961340e-01 -8.78860528e-03 -2.81795034e-04 2.89367089e+02] [ 8.78861111e-03 9.99961379e-01 1.94292747e-05 -1.75266956e+01] [ 2.81613394e-04 -2.19051105e-05 9.99999960e-01 -4.04185204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.080371743 meters 0.043112781038176666 Centerline is valid? [True, True] Translation: X:289.43, Y:-17.53, Z:-4.04 [[ 9.99921347e-01 -1.24981249e-02 -1.04745787e-03 2.89427575e+02] [ 1.24982044e-02 9.99921892e-01 6.94615070e-05 -1.75308455e+01] [ 1.04650792e-03 -8.25473863e-05 9.99999449e-01 -4.04295509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.140371743 meters 0.04516441338806394 Centerline is valid? [True, True] Translation: X:289.49, Y:-17.54, Z:-4.04 [[ 9.99858438e-01 -1.68030353e-02 -8.72931021e-04 2.89488592e+02] [ 1.68030926e-02 9.99858816e-01 5.83220487e-05 -1.75386851e+01] [ 8.71827790e-04 -7.29817333e-05 9.99999617e-01 -4.04416288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.200371743 meters 0.04741152686028542 Centerline is valid? [True, True] Translation: X:289.55, Y:-17.55, Z:-4.05 [[ 9.99837616e-01 -1.79722190e-02 -1.31924339e-03 2.89550680e+02] [ 1.79723514e-02 9.99838480e-01 8.85570432e-05 -1.75459618e+01] [ 1.31743874e-03 -1.12252569e-04 9.99999126e-01 -4.04530601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.260371743 meters 0.04218883570550167 Centerline is valid? [True, True] Translation: X:289.61, Y:-17.54, Z:-4.04 [[ 9.99878075e-01 -1.55632748e-02 -1.27244643e-03 2.89612040e+02] [ 1.55633951e-02 9.99878879e-01 8.47396965e-05 -1.75393164e+01] [ 1.27097348e-03 -1.04532951e-04 9.99999187e-01 -4.04421477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.320371743 meters 0.04267436632015871 Centerline is valid? [True, True] Translation: X:289.67, Y:-17.54, Z:-4.05 [[ 9.99904144e-01 -1.38066037e-02 -1.03926407e-03 2.89673860e+02] [ 1.38066837e-02 9.99904681e-01 6.98215237e-05 -1.75426531e+01] [ 1.03820101e-03 -8.41636211e-05 9.99999458e-01 -4.04526078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.380371743 meters 0.04931602245942891 Centerline is valid? [True, True] Translation: X:289.73, Y:-17.55, Z:-4.05 [[ 9.99927619e-01 -1.18121056e-02 -2.28733728e-03 2.89733873e+02] [ 1.18124854e-02 9.99930219e-01 1.52580779e-04 -1.75525156e+01] [ 2.28537537e-03 -1.79588873e-04 9.99997372e-01 -4.04905238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.440371743 meters 0.040424470071520203 Centerline is valid? [True, True] Translation: X:289.80, Y:-17.54, Z:-4.05 [[ 9.99930981e-01 -1.12738065e-02 -3.30677590e-03 2.89797162e+02] [ 1.12745990e-02 9.99936415e-01 2.21116318e-04 -1.75395560e+01] [ 3.30407282e-03 -2.58383629e-04 9.99994508e-01 -4.04736715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.500371743 meters 0.04166625264515729 Centerline is valid? [True, True] Translation: X:289.86, Y:-17.54, Z:-4.05 [[ 9.99930910e-01 -1.14960806e-02 -2.45280988e-03 2.89859471e+02] [ 1.14965184e-02 9.99933899e-01 1.64442482e-04 -1.75428879e+01] [ 2.45075731e-03 -1.92629894e-04 9.99996978e-01 -4.04849281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.560371743 meters 0.042045502983462074 Centerline is valid? [True, True] Translation: X:289.92, Y:-17.54, Z:-4.05 [[ 9.99926171e-01 -1.21250432e-02 -7.97295934e-04 2.89921918e+02] [ 1.21250903e-02 9.99926487e-01 5.41905967e-05 -1.75436137e+01] [ 7.96580259e-04 -6.38538811e-05 9.99999681e-01 -4.04815567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.620371743 meters 0.04353455410482132 Centerline is valid? [True, True] Translation: X:289.98, Y:-17.55, Z:-4.05 [[ 9.99912390e-01 -1.32364816e-02 8.50735201e-05 2.89984010e+02] [ 1.32364821e-02 9.99912394e-01 -4.68376914e-06 -1.75474603e+01] [-8.50040707e-05 5.80943293e-06 9.99999996e-01 -4.04825881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.680371743 meters 0.04705162786260121 Centerline is valid? [True, True] Translation: X:290.04, Y:-17.55, Z:-4.05 [[ 9.99874637e-01 -1.58301104e-02 3.43228375e-04 2.90044432e+02] [ 1.58301190e-02 9.99874696e-01 -2.24493397e-05 -1.75546465e+01] [-3.42829992e-04 2.78798714e-05 9.99999941e-01 -4.05003803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.740371743 meters 0.04823807329420371 Centerline is valid? [True, True] Translation: X:290.11, Y:-17.56, Z:-4.05 [[ 9.99844473e-01 -1.76351210e-02 1.81566238e-04 2.90105587e+02] [ 1.76351234e-02 9.99844489e-01 -1.16443987e-05 -1.75579245e+01] [-1.81332652e-04 1.48445307e-05 9.99999983e-01 -4.05090073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.800371743 meters 0.043118395386608395 Centerline is valid? [True, True] Translation: X:290.17, Y:-17.55, Z:-4.05 [[ 9.99852975e-01 -1.70887564e-02 -1.41522611e-03 2.90167894e+02] [ 1.70889089e-02 9.99853969e-01 9.57313885e-05 -1.75514247e+01] [ 1.41338352e-03 -1.19901984e-04 9.99998994e-01 -4.05172559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86037174300003 meters 0.04459344357864775 Centerline is valid? [True, True] Translation: X:290.23, Y:-17.55, Z:-4.05 [[ 9.99871043e-01 -1.57022578e-02 -3.36699063e-03 2.90229172e+02] [ 1.57031081e-02 9.99876673e-01 2.26247373e-04 -1.75539224e+01] [ 3.36302279e-03 -2.79090415e-04 9.99994306e-01 -4.05444111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92037174300003 meters 0.04439949279982114 Centerline is valid? [True, True] Translation: X:290.29, Y:-17.55, Z:-4.05 [[ 9.99908045e-01 -1.29779174e-02 -3.93391671e-03 2.90290284e+02] [ 1.29790549e-02 9.99915734e-01 2.63776465e-04 -1.75533306e+01] [ 3.93016194e-03 -3.14810731e-04 9.99992227e-01 -4.05478398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.980371743 meters 0.04184351536748518 Centerline is valid? [True, True] Translation: X:290.35, Y:-17.55, Z:-4.05 [[ 9.99950003e-01 -9.73004267e-03 -2.30609917e-03 2.90351405e+02] [ 9.73042476e-03 9.99952646e-01 1.54526704e-04 -1.75490874e+01] [ 2.30448642e-03 -1.76958303e-04 9.99997329e-01 -4.05327380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.040371743 meters 0.041701396197330105 Centerline is valid? [True, True] Translation: X:290.41, Y:-17.55, Z:-4.05 [[ 9.99975980e-01 -6.87303513e-03 -8.94482977e-04 2.90412292e+02] [ 6.87309170e-03 9.99976378e-01 6.01873027e-05 -1.75511229e+01] [ 8.94048178e-04 -6.63337205e-05 9.99999598e-01 -4.05364639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.100371743 meters 0.04238927516582009 Centerline is valid? [True, True] Translation: X:290.47, Y:-17.56, Z:-4.06 [[ 9.99982572e-01 -5.60519891e-03 -1.85391252e-03 2.90472743e+02] [ 5.60543932e-03 9.99984282e-01 1.24508895e-04 -1.75551410e+01] [ 1.85318548e-03 -1.34898720e-04 9.99998274e-01 -4.05520329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.160371743 meters 0.04395762303309344 Centerline is valid? [True, True] Translation: X:290.53, Y:-17.56, Z:-4.06 [[ 9.99980447e-01 -5.73269680e-03 -2.49827810e-03 2.90534114e+02] [ 5.73313510e-03 9.99983551e-01 1.68312007e-04 -1.75616142e+01] [ 2.49727213e-03 -1.82631682e-04 9.99996865e-01 -4.05725206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.220371743 meters 0.0387948334214343 Centerline is valid? [True, True] Translation: X:290.60, Y:-17.56, Z:-4.06 [[ 9.99977003e-01 -5.42580443e-03 -4.06872607e-03 2.90595818e+02] [ 5.42696227e-03 9.99985237e-01 2.73585348e-04 -1.75588213e+01] [ 4.06718158e-03 -2.95659879e-04 9.99991685e-01 -4.05767331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.280371743 meters 0.04167602631325059 Centerline is valid? [True, True] Translation: X:290.66, Y:-17.57, Z:-4.06 [[ 9.99980532e-01 -5.41262173e-03 -3.10468174e-03 2.90655397e+02] [ 5.41329556e-03 9.99985326e-01 2.08676523e-04 -1.75678280e+01] [ 3.10350669e-03 -2.25479021e-04 9.99995159e-01 -4.05823541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.340371743 meters 0.04808702783311322 Centerline is valid? [True, True] Translation: X:290.72, Y:-17.58, Z:-4.06 [[ 9.99989087e-01 -4.06983081e-03 -2.29382070e-03 2.90715451e+02] [ 4.07019601e-03 9.99991705e-01 1.54564826e-04 -1.75820719e+01] [ 2.29317262e-03 -1.63899439e-04 9.99997357e-01 -4.06035812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.400371743 meters 0.03919392823039823 Centerline is valid? [True, True] Translation: X:290.78, Y:-17.57, Z:-4.06 [[ 9.99995449e-01 -1.07915096e-03 -2.81716786e-03 2.90776770e+02] [ 1.07968915e-03 9.99999399e-01 1.89524585e-04 -1.75735225e+01] [ 2.81696164e-03 -1.92565388e-04 9.99996014e-01 -4.05895956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.460371743 meters 0.04019778813200737 Centerline is valid? [True, True] Translation: X:290.84, Y:-17.58, Z:-4.06 [[ 9.99993330e-01 1.53675027e-03 -3.31335513e-03 2.90835538e+02] [-1.53602306e-03 9.99998796e-01 2.22010158e-04 -1.75792418e+01] [ 3.31369231e-03 -2.16919288e-04 9.99994486e-01 -4.06013635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.520371743 meters 0.03465742433789672 Centerline is valid? [True, True] Translation: X:290.90, Y:-17.58, Z:-4.06 [[ 9.99987045e-01 4.02811689e-03 -3.11193739e-03 2.90895642e+02] [-4.02748794e-03 9.99991868e-01 2.08349259e-04 -1.75756472e+01] [ 3.11275134e-03 -1.95813270e-04 9.99995136e-01 -4.05848995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.580371743 meters 0.0362322933476487 Centerline is valid? [True, True] Translation: X:290.95, Y:-17.58, Z:-4.06 [[ 9.99983492e-01 5.23891286e-03 -2.35978141e-03 2.90953160e+02] [-5.23855710e-03 9.99986266e-01 1.56912103e-04 -1.75842708e+01] [ 2.36057105e-03 -1.44547663e-04 9.99997203e-01 -4.06028457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.640371743 meters 0.03511259774099172 Centerline is valid? [True, True] Translation: X:291.01, Y:-17.59, Z:-4.06 [[ 9.99982819e-01 5.24995047e-03 -2.60772674e-03 2.91011334e+02] [-5.24951556e-03 9.99986206e-01 1.73593971e-04 -1.75887419e+01] [ 2.60860213e-03 -1.59901686e-04 9.99996585e-01 -4.06089646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.700371743 meters 0.036710488767228135 Centerline is valid? [True, True] Translation: X:291.07, Y:-17.60, Z:-4.06 [[ 9.99988117e-01 3.36732685e-03 -3.52530196e-03 2.91070519e+02] [-3.36651777e-03 9.99994306e-01 2.35413590e-04 -1.75992908e+01] [ 3.52607460e-03 -2.23542800e-04 9.99993758e-01 -4.06427628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.760371743 meters 0.03732992952627943 Centerline is valid? [True, True] Translation: X:291.13, Y:-17.61, Z:-4.06 [[ 9.99992328e-01 -1.23356910e-04 -3.91509213e-03 2.91130188e+02] [ 1.24381864e-04 9.99999958e-01 2.61553285e-04 -1.76081570e+01] [ 3.91505970e-03 -2.62038245e-04 9.99992302e-01 -4.06477916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.820371743 meters 0.03996814546301733 Centerline is valid? [True, True] Translation: X:291.19, Y:-17.62, Z:-4.07 [[ 9.99991794e-01 -1.15496264e-03 -3.88310447e-03 2.91188620e+02] [ 1.15597642e-03 9.99999298e-01 2.58841998e-04 -1.76175995e+01] [ 3.88280280e-03 -2.63328651e-04 9.99992427e-01 -4.06628466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.880371743 meters 0.03855602299519514 Centerline is valid? [True, True] Translation: X:291.25, Y:-17.63, Z:-4.07 [[ 9.99992826e-01 -3.12057417e-03 -2.14722564e-03 2.91247473e+02] [ 3.12088765e-03 9.99995120e-01 1.42660351e-04 -1.76251552e+01] [ 2.14676998e-03 -1.49360578e-04 9.99997685e-01 -4.06570724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.940371743 meters 0.036537770737332255 Centerline is valid? [True, True] Translation: X:291.31, Y:-17.63, Z:-4.06 [[ 9.99998429e-01 -1.35101010e-03 -1.14746308e-03 2.91307645e+02] [ 1.35109893e-03 9.99999084e-01 7.66383535e-05 -1.76297158e+01] [ 1.14735849e-03 -7.81885692e-05 9.99999339e-01 -4.06450460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.000371743 meters 0.03429896663523991 Centerline is valid? [True, True] Translation: X:291.37, Y:-17.63, Z:-4.06 [[ 9.99991585e-01 3.93705052e-03 -1.15329180e-03 2.91367881e+02] [-3.93696434e-03 9.99992247e-01 7.69827684e-05 -1.76330654e+01] [ 1.15358594e-03 -7.24416519e-05 9.99999332e-01 -4.06455751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.060371743 meters 0.03282609354491145 Centerline is valid? [True, True] Translation: X:291.43, Y:-17.64, Z:-4.07 [[ 9.99946984e-01 1.02752201e-02 -6.70112195e-04 2.91428104e+02] [-1.02751928e-02 9.99947208e-01 4.41630689e-05 -1.76372323e+01] [ 6.70530604e-04 -3.72751955e-05 9.99999774e-01 -4.06594546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.120371743 meters 0.030793728862318685 Centerline is valid? [True, True] Translation: X:291.49, Y:-17.64, Z:-4.07 [[ 9.99885178e-01 1.51466068e-02 -4.59266363e-04 2.91488004e+02] [-1.51465943e-02 9.99885283e-01 3.06032308e-05 -1.76401122e+01] [ 4.59677212e-04 -2.36433956e-05 9.99999894e-01 -4.06744222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.180371743 meters 0.030153074617378962 Centerline is valid? [True, True] Translation: X:291.55, Y:-17.64, Z:-4.07 [[ 9.99844717e-01 1.75372608e-02 -1.72798894e-03 2.91546864e+02] [-1.75370895e-02 9.99846207e-01 1.14195203e-04 -1.76431818e+01] [ 1.72972585e-03 -8.38735739e-05 9.99998501e-01 -4.06962154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.240371743 meters 0.03092893834959748 Centerline is valid? [True, True] Translation: X:291.61, Y:-17.65, Z:-4.07 [[ 9.99841008e-01 1.76235965e-02 -2.71422651e-03 2.91605085e+02] [-1.76231733e-02 9.99844684e-01 1.79771915e-04 -1.76494743e+01] [ 2.71697317e-03 -1.31910049e-04 9.99996300e-01 -4.07150615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.300371743 meters 0.03235734820006452 Centerline is valid? [True, True] Translation: X:291.66, Y:-17.66, Z:-4.07 [[ 9.99911393e-01 1.31737468e-02 -1.91276092e-03 2.91664671e+02] [-1.31735277e-02 9.99913217e-01 1.27105151e-04 -1.76581183e+01] [ 1.91426938e-03 -1.01896080e-04 9.99998163e-01 -4.07262902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36037174300003 meters 0.034031125541378625 Centerline is valid? [True, True] Translation: X:291.72, Y:-17.67, Z:-4.07 [[ 9.99948053e-01 1.01235816e-02 -1.18467209e-03 2.91723404e+02] [-1.01234962e-02 9.99948753e-01 7.80719338e-05 -1.76660234e+01] [ 1.18540175e-03 -6.60748549e-05 9.99999295e-01 -4.07332485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42037174300003 meters 0.03703250957453412 Centerline is valid? [True, True] Translation: X:291.78, Y:-17.68, Z:-4.07 [[ 9.99983725e-01 5.67315421e-03 -6.03564743e-04 2.91781970e+02] [-5.67313100e-03 9.99983907e-01 4.01567304e-05 -1.76765888e+01] [ 6.03782845e-04 -3.67319750e-05 9.99999817e-01 -4.07481527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.480371743 meters 0.03849179881247496 Centerline is valid? [True, True] Translation: X:291.84, Y:-17.69, Z:-4.08 [[ 9.99998834e-01 1.50229039e-03 -2.73776168e-04 2.91841509e+02] [-1.50228548e-03 9.99998871e-01 1.81404276e-05 -1.76866319e+01] [ 2.73803111e-04 -1.77291165e-05 9.99999962e-01 -4.07676975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.540371743 meters 0.041618580088559134 Centerline is valid? [True, True] Translation: X:291.90, Y:-17.70, Z:-4.08 [[ 9.99997185e-01 -2.36818514e-03 -1.49104566e-04 2.91900073e+02] [ 2.36818669e-03 9.99997196e-01 1.01976549e-05 -1.76978008e+01] [ 1.49079998e-04 -1.05507336e-05 9.99999989e-01 -4.07729244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.600371743 meters 0.03855201730136311 Centerline is valid? [True, True] Translation: X:291.96, Y:-17.70, Z:-4.08 [[ 9.99991374e-01 -3.76006349e-03 1.76477736e-03 2.91961800e+02] [ 3.76027578e-03 9.99992923e-01 -1.16992257e-04 -1.77002403e+01] [-1.76432497e-03 1.23627298e-04 9.99998436e-01 -4.07655443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.660371743 meters 0.03587902794121503 Centerline is valid? [True, True] Translation: X:292.02, Y:-17.70, Z:-4.08 [[ 9.99997527e-01 -1.71743470e-03 1.41279665e-03 2.92023030e+02] [ 1.71756864e-03 9.99998521e-01 -9.35954158e-05 -1.77020081e+01] [-1.41263382e-03 9.60217596e-05 9.99998998e-01 -4.07754536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.720371743 meters 0.037426351993556255 Centerline is valid? [True, True] Translation: X:292.08, Y:-17.71, Z:-4.08 [[ 9.99997291e-01 1.47259234e-03 1.80277115e-03 2.92082993e+02] [-1.47237822e-03 9.99998909e-01 -1.20094486e-04 -1.77084269e+01] [-1.80294603e-03 1.17439800e-04 9.99998368e-01 -4.07900994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.780371743 meters 0.03494156841742146 Centerline is valid? [True, True] Translation: X:292.14, Y:-17.71, Z:-4.08 [[ 9.99988684e-01 3.90324780e-03 2.71971070e-03 2.92143329e+02] [-3.90276942e-03 9.99992368e-01 -1.81177883e-04 -1.77092334e+01] [-2.72039713e-03 1.70561429e-04 9.99996285e-01 -4.07952271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.840371743 meters 0.0335371487165616 Centerline is valid? [True, True] Translation: X:292.20, Y:-17.71, Z:-4.08 [[ 9.99967440e-01 7.49386160e-03 2.99347625e-03 2.92203321e+02] [-7.49329754e-03 9.99971905e-01 -1.99601511e-04 -1.77116953e+01] [-2.99488794e-03 1.77164004e-04 9.99995500e-01 -4.08026573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.900371743 meters 0.03396971087847747 Centerline is valid? [True, True] Translation: X:292.26, Y:-17.72, Z:-4.08 [[ 9.99969315e-01 7.51215989e-03 2.22185319e-03 2.92262459e+02] [-7.51184770e-03 9.99971775e-01 -1.48824105e-04 -1.77153480e+01] [-2.22290847e-03 1.32129316e-04 9.99997521e-01 -4.08098336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.960371743 meters 0.035739383520447796 Centerline is valid? [True, True] Translation: X:292.32, Y:-17.72, Z:-4.08 [[ 9.99978182e-01 6.22395874e-03 2.21292247e-03 2.92320511e+02] [-6.22364685e-03 9.99980622e-01 -1.47798279e-04 -1.77239513e+01] [-2.21379948e-03 1.34022607e-04 9.99997541e-01 -4.08249041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.020371743 meters 0.03575675144067854 Centerline is valid? [True, True] Translation: X:292.38, Y:-17.73, Z:-4.08 [[ 9.99987461e-01 3.77661165e-03 3.28861095e-03 2.92380041e+02] [-3.77591175e-03 9.99992847e-01 -2.19006000e-04 -1.77291335e+01] [-3.28941453e-03 2.06585749e-04 9.99994569e-01 -4.08155251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.080371743 meters 0.03678624388859431 Centerline is valid? [True, True] Translation: X:292.44, Y:-17.73, Z:-4.08 [[ 9.99994305e-01 1.66572223e-03 2.93504327e-03 2.92440247e+02] [-1.66515700e-03 9.99998595e-01 -1.95012876e-04 -1.77341644e+01] [-2.93536398e-03 1.90124457e-04 9.99995674e-01 -4.08296211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.140371743 meters 0.03650542654452343 Centerline is valid? [True, True] Translation: X:292.50, Y:-17.74, Z:-4.08 [[ 9.99995144e-01 -4.50144221e-04 3.08386564e-03 2.92501501e+02] [ 4.50777020e-04 9.99999877e-01 -2.04504710e-04 -1.77398317e+01] [-3.08377321e-03 2.05893853e-04 9.99995224e-01 -4.08405479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.200371743 meters 0.040098376613080286 Centerline is valid? [True, True] Translation: X:292.56, Y:-17.75, Z:-4.09 [[ 9.99987501e-01 -4.22198811e-03 2.67808787e-03 2.92560114e+02] [ 4.22247938e-03 9.99991069e-01 -1.77811002e-04 -1.77499204e+01] [-2.67731324e-03 1.89116950e-04 9.99996398e-01 -4.08511310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.260371743 meters 0.03988538215314467 Centerline is valid? [True, True] Translation: X:292.62, Y:-17.76, Z:-4.09 [[ 9.99966287e-01 -7.65273913e-03 2.97653687e-03 2.92621036e+02] [ 7.65336126e-03 9.99970693e-01 -1.97678999e-04 -1.77551740e+01] [-2.97493685e-03 2.20452847e-04 9.99995551e-01 -4.08548894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.320371743 meters 0.04294914660639994 Centerline is valid? [True, True] Translation: X:292.68, Y:-17.76, Z:-4.09 [[ 9.99936374e-01 -1.05294840e-02 4.04694652e-03 2.92680140e+02] [ 1.05306593e-02 9.99944515e-01 -2.69213185e-04 -1.77649693e+01] [-4.04388730e-03 3.11813071e-04 9.99991775e-01 -4.08645049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.380371743 meters 0.04591835792156777 Centerline is valid? [True, True] Translation: X:292.74, Y:-17.77, Z:-4.09 [[ 9.99916442e-01 -1.21546779e-02 4.40135235e-03 2.92741427e+02] [ 1.21560822e-02 9.99926069e-01 -2.92452025e-04 -1.77717804e+01] [-4.39747230e-03 3.45930790e-04 9.99990271e-01 -4.08650724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.440371743 meters 0.04724294461295356 Centerline is valid? [True, True] Translation: X:292.80, Y:-17.78, Z:-4.09 [[ 9.99914458e-01 -1.25534955e-02 3.67248798e-03 2.92802730e+02] [ 1.25544754e-02 9.99921160e-01 -2.43886755e-04 -1.77772263e+01] [-3.66913681e-03 2.89972052e-04 9.99993227e-01 -4.08789913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.500371743 meters 0.04884284268121136 Centerline is valid? [True, True] Translation: X:292.86, Y:-17.78, Z:-4.09 [[ 9.99911757e-01 -1.30422737e-02 2.52542925e-03 2.92863725e+02] [ 1.30427384e-02 9.99914926e-01 -1.67632028e-04 -1.77828553e+01] [-2.52302810e-03 2.00555748e-04 9.99996797e-01 -4.08928169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.560371743 meters 0.04356631015347963 Centerline is valid? [True, True] Translation: X:292.93, Y:-17.78, Z:-4.09 [[ 9.99919289e-01 -1.24020140e-02 2.75785994e-03 2.92926262e+02] [ 1.24025658e-02 9.99923068e-01 -1.83041093e-04 -1.77795200e+01] [-2.75537770e-03 2.17230859e-04 9.99996180e-01 -4.08903341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.620371743 meters 0.047901009459749545 Centerline is valid? [True, True] Translation: X:292.99, Y:-17.79, Z:-4.09 [[ 9.99955039e-01 -9.17719236e-03 2.38722310e-03 2.92986025e+02] [ 9.17759895e-03 9.99957872e-01 -1.59417738e-04 -1.77865798e+01] [-2.38565952e-03 1.81319547e-04 9.99997138e-01 -4.09014592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.680371743 meters 0.04098196157122613 Centerline is valid? [True, True] Translation: X:293.05, Y:-17.78, Z:-4.09 [[ 9.99975809e-01 -6.54516205e-03 2.35440794e-03 2.93047087e+02] [ 6.54554996e-03 9.99978565e-01 -1.57093619e-04 -1.77787227e+01] [-2.35332927e-03 1.72500713e-04 9.99997216e-01 -4.08898498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.740371743 meters 0.04036278023815088 Centerline is valid? [True, True] Translation: X:293.11, Y:-17.78, Z:-4.09 [[ 9.99995266e-01 -2.62228019e-03 1.60960308e-03 2.93107873e+02] [ 2.62245638e-03 9.99996556e-01 -1.07365254e-04 -1.77804979e+01] [-1.60931599e-03 1.11585860e-04 9.99998699e-01 -4.08999981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.800371743 meters 0.03782985070425257 Centerline is valid? [True, True] Translation: X:293.17, Y:-17.78, Z:-4.09 [[ 9.99984009e-01 5.41603078e-03 1.62733249e-03 2.93168023e+02] [-5.41586092e-03 9.99985328e-01 -1.08765693e-04 -1.77784506e+01] [-1.62789770e-03 9.99505470e-05 9.99998670e-01 -4.09044274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86037174300003 meters 0.03416252301664452 Centerline is valid? [True, True] Translation: X:293.23, Y:-17.77, Z:-4.09 [[ 9.99874901e-01 1.58060649e-02 5.92232663e-04 2.93229391e+02] [-1.58060442e-02 9.99875076e-01 -3.96022750e-05 -1.77735676e+01] [-5.92784636e-04 3.02364652e-05 9.99999824e-01 -4.09133262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92037174300003 meters 0.031062165270437293 Centerline is valid? [True, True] Translation: X:293.29, Y:-17.77, Z:-4.09 [[ 9.99678767e-01 2.53367496e-02 6.42251116e-04 2.93289379e+02] [-2.53367271e-02 9.99678973e-01 -4.30396618e-05 -1.77706603e+01] [-6.43135421e-04 2.67532947e-05 9.99999793e-01 -4.09211879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.980371743 meters 0.028583070451129688 Centerline is valid? [True, True] Translation: X:293.35, Y:-17.77, Z:-4.09 [[ 9.99452636e-01 3.30657132e-02 1.04223716e-03 2.93350458e+02] [-3.30656587e-02 9.99453179e-01 -6.95421583e-05 -1.77685877e+01] [-1.04396670e-03 3.50418355e-05 9.99999454e-01 -4.09180680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.040371743 meters 0.02745027988602214 Centerline is valid? [True, True] Translation: X:293.41, Y:-17.77, Z:-4.09 [[ 9.99342495e-01 3.62506820e-02 6.83067550e-04 2.93409803e+02] [-3.62506589e-02 9.99342728e-01 -4.61948590e-05 -1.77707294e+01] [-6.84293184e-04 2.14028369e-05 9.99999766e-01 -4.09302533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.100371743 meters 0.02820255125361985 Centerline is valid? [True, True] Translation: X:293.47, Y:-17.78, Z:-4.10 [[ 9.99337461e-01 3.63908219e-02 -5.89027326e-04 2.93467517e+02] [-3.63908058e-02 9.99337635e-01 3.80944819e-05 -1.77781702e+01] [ 5.90023464e-04 -1.66340638e-05 9.99999826e-01 -4.09640127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.160371743 meters 0.02505730073588083 Centerline is valid? [True, True] Translation: X:293.53, Y:-17.78, Z:-4.09 [[ 9.99389451e-01 3.48969440e-02 -1.71138281e-03 2.93526124e+02] [-3.48968024e-02 9.99390915e-01 1.12516906e-04 -1.77766147e+01] [ 1.71426693e-03 -5.27264208e-05 9.99998529e-01 -4.09372053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.220371743 meters 0.025632455579279536 Centerline is valid? [True, True] Translation: X:293.59, Y:-17.78, Z:-4.09 [[ 9.99527254e-01 3.06578553e-02 -2.31622030e-03 2.93585697e+02] [-3.06575821e-02 9.99529934e-01 1.53373514e-04 -1.77833130e+01] [ 2.31983362e-03 -8.22912932e-05 9.99997306e-01 -4.09307216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.280371743 meters 0.02670889101530666 Centerline is valid? [True, True] Translation: X:293.64, Y:-17.79, Z:-4.09 [[ 9.99676747e-01 2.54239520e-02 -1.58086045e-04 2.93644709e+02] [-2.54239508e-02 9.99676759e-01 9.74042599e-06 -1.77931859e+01] [ 1.58282585e-04 -5.71810552e-06 9.99999987e-01 -4.09145443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.340371743 meters 0.029017326900586223 Centerline is valid? [True, True] Translation: X:293.70, Y:-17.80, Z:-4.09 [[ 9.99801794e-01 1.98841806e-02 9.95801093e-04 2.93704767e+02] [-1.98841246e-02 9.99802289e-01 -6.61021416e-05 -1.78044476e+01] [-9.96918599e-04 4.62884067e-05 9.99999502e-01 -4.09025078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.400371743 meters 0.03114400818012859 Centerline is valid? [True, True] Translation: X:293.76, Y:-17.82, Z:-4.09 [[ 9.99902174e-01 1.39689950e-02 7.14255063e-04 2.93764397e+02] [-1.39689647e-02 9.99902428e-01 -4.74299755e-05 -1.78168477e+01] [-7.14847921e-04 3.74479318e-05 9.99999744e-01 -4.09089039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.460371743 meters 0.03433188379737545 Centerline is valid? [True, True] Translation: X:293.82, Y:-17.83, Z:-4.09 [[ 9.99970879e-01 7.61183812e-03 -5.48548738e-04 2.93823800e+02] [-7.61181935e-03 9.99971029e-01 3.63047615e-05 -1.78303588e+01] [ 5.48809192e-04 -3.21282504e-05 9.99999849e-01 -4.09272171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.520371743 meters 0.03366680823565136 Centerline is valid? [True, True] Translation: X:293.88, Y:-17.84, Z:-4.09 [[ 9.99989039e-01 4.40243516e-03 -1.59403751e-03 2.93883352e+02] [-4.40227254e-03 9.99990304e-01 1.05516394e-04 -1.78351133e+01] [ 1.59448658e-03 -9.84978501e-05 9.99998724e-01 -4.09342965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.580371743 meters 0.03562256335641117 Centerline is valid? [True, True] Translation: X:293.94, Y:-17.84, Z:-4.10 [[ 9.99995192e-01 2.68131179e-03 -1.55764531e-03 2.93941482e+02] [-2.68115534e-03 9.99996400e-01 1.02520201e-04 -1.78445091e+01] [ 1.55791459e-03 -9.83434190e-05 9.99998782e-01 -4.09517653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.640371743 meters 0.03238440282559175 Centerline is valid? [True, True] Translation: X:294.00, Y:-17.84, Z:-4.09 [[ 9.99979596e-01 6.36061454e-03 5.91426571e-04 2.94002395e+02] [-6.36059242e-03 9.99979770e-01 -3.92681562e-05 -1.78428269e+01] [-5.91664376e-04 3.55055316e-05 9.99999824e-01 -4.09221177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.700371743 meters 0.030206554391687727 Centerline is valid? [True, True] Translation: X:294.06, Y:-17.84, Z:-4.09 [[ 9.99906923e-01 1.34346931e-02 2.37795820e-03 2.94062533e+02] [-1.34343552e-02 9.99909743e-01 -1.58009532e-04 -1.78406863e+01] [-2.37986638e-03 1.26048490e-04 9.99997160e-01 -4.09020320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.760371743 meters 0.028650546746761967 Centerline is valid? [True, True] Translation: X:294.12, Y:-17.84, Z:-4.09 [[ 9.99796473e-01 1.99991809e-02 2.65421530e-03 2.94123266e+02] [-1.99987842e-02 9.99799989e-01 -1.75915756e-04 -1.78411518e+01] [-2.65720260e-03 1.22798873e-04 9.99996462e-01 -4.09108839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.820371743 meters 0.02816238387349296 Centerline is valid? [True, True] Translation: X:294.18, Y:-17.84, Z:-4.09 [[ 9.99715325e-01 2.38149492e-02 1.45489317e-03 2.94183551e+02] [-2.38148338e-02 9.99716382e-01 -9.66272813e-05 -1.78440949e+01] [-1.45678171e-03 6.19517350e-05 9.99998937e-01 -4.09352121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.880371743 meters 0.02788649446214209 Centerline is valid? [True, True] Translation: X:294.24, Y:-17.85, Z:-4.10 [[ 9.99667574e-01 2.57825144e-02 -6.65980698e-05 2.94242730e+02] [-2.57825142e-02 9.99667576e-01 3.66691840e-06 -1.78479488e+01] [ 6.66704731e-05 -1.94863373e-06 9.99999998e-01 -4.09608758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.940371743 meters 0.02619792180843096 Centerline is valid? [True, True] Translation: X:294.30, Y:-17.85, Z:-4.10 [[ 9.99622706e-01 2.74653954e-02 3.13232106e-04 2.94301636e+02] [-2.74653900e-02 9.99622755e-01 -2.17283161e-05 -1.78493856e+01] [-3.13710717e-04 1.31170763e-05 9.99999951e-01 -4.09584787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.000371743 meters 0.025338028300508787 Centerline is valid? [True, True] Translation: X:294.36, Y:-17.85, Z:-4.09 [[ 9.99524807e-01 3.07783859e-02 1.68846554e-03 2.94361380e+02] [-3.07782404e-02 9.99526231e-01 -1.12082818e-04 -1.78526611e+01] [-1.69111533e-03 6.00615584e-05 9.99998568e-01 -4.09468404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.060371743 meters 0.0237226035402189 Centerline is valid? [True, True] Translation: X:294.42, Y:-17.85, Z:-4.09 [[ 9.99332740e-01 3.64781878e-02 1.84820083e-03 2.94421350e+02] [-3.64780233e-02 9.99334448e-01 -1.22661087e-04 -1.78519011e+01] [-1.85144521e-03 5.51605271e-05 9.99998285e-01 -4.09301289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.120371743 meters 0.022921377210580615 Centerline is valid? [True, True] Translation: X:294.48, Y:-17.85, Z:-4.09 [[ 9.99098600e-01 4.23762669e-02 2.49799782e-03 2.94481642e+02] [-4.23759863e-02 9.99101721e-01 -1.65174412e-04 -1.78542189e+01] [-2.50275340e-03 5.91704020e-05 9.99996866e-01 -4.09320704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.180371743 meters 0.022991891618836212 Centerline is valid? [True, True] Translation: X:294.54, Y:-17.86, Z:-4.09 [[ 9.99039261e-01 4.37202862e-02 3.01510434e-03 2.94539222e+02] [-4.37198801e-02 9.99043809e-01 -2.00504147e-04 -1.78605940e+01] [-3.02098743e-03 6.84915145e-05 9.99995434e-01 -4.09439920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.240371743 meters 0.023293119067833566 Centerline is valid? [True, True] Translation: X:294.60, Y:-17.87, Z:-4.09 [[ 9.99167945e-01 4.07090471e-02 2.48833829e-03 2.94598102e+02] [-4.07087629e-02 9.99171041e-01 -1.64792682e-04 -1.78669002e+01] [-2.49298411e-03 6.33583921e-05 9.99996891e-01 -4.09498566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.300371743 meters 0.025244769525254337 Centerline is valid? [True, True] Translation: X:294.66, Y:-17.88, Z:-4.10 [[ 9.99487627e-01 3.19643698e-02 1.66238873e-03 2.94657393e+02] [-3.19642319e-02 9.99489007e-01 -1.09501808e-04 -1.78822996e+01] [-1.66503942e-03 5.63087230e-05 9.99998612e-01 -4.09680628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36037174300003 meters 0.02737466758679185 Centerline is valid? [True, True] Translation: X:294.72, Y:-17.90, Z:-4.10 [[ 9.99768563e-01 2.14393195e-02 1.78208048e-03 2.94716661e+02] [-2.14391440e-02 9.99770148e-01 -1.17487402e-04 -1.78963590e+01] [-1.78418971e-03 7.92539315e-05 9.99998405e-01 -4.09611333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42037174300003 meters 0.031121010497320776 Centerline is valid? [True, True] Translation: X:294.78, Y:-17.91, Z:-4.10 [[ 9.99907984e-01 1.32182786e-02 3.04962179e-03 2.94775456e+02] [-1.32177277e-02 9.99912622e-01 -2.00739781e-04 -1.79129317e+01] [-3.05200875e-03 1.60412239e-04 9.99995330e-01 -4.09631279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.480371743 meters 0.03354343713970199 Centerline is valid? [True, True] Translation: X:294.83, Y:-17.93, Z:-4.10 [[ 9.99975739e-01 6.24954416e-03 3.07650725e-03 2.94834672e+02] [-6.24895067e-03 9.99980455e-01 -2.02484204e-04 -1.79266646e+01] [-3.07771255e-03 1.83254350e-04 9.99995247e-01 -4.09805494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.540371743 meters 0.03510617663164469 Centerline is valid? [True, True] Translation: X:294.89, Y:-17.94, Z:-4.10 [[ 9.99993809e-01 2.29715309e-03 2.66562904e-03 2.94894509e+02] [-2.29669347e-03 9.99997347e-01 -1.75470776e-04 -1.79359091e+01] [-2.66602505e-03 1.69347557e-04 9.99996432e-01 -4.09955898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.600371743 meters 0.03850736057054797 Centerline is valid? [True, True] Translation: X:294.95, Y:-17.95, Z:-4.10 [[ 9.99996070e-01 -2.51213355e-03 1.24472776e-03 2.94953090e+02] [ 2.51223732e-03 9.99996841e-01 -8.18059287e-05 -1.79489443e+01] [-1.24451832e-03 8.49326587e-05 9.99999222e-01 -4.10313177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.660371743 meters 0.03967961618129296 Centerline is valid? [True, True] Translation: X:295.01, Y:-17.96, Z:-4.10 [[ 9.99989224e-01 -4.63590659e-03 2.44641326e-04 2.95014019e+02] [ 4.63591055e-03 9.99989254e-01 -1.56025719e-05 -1.79564453e+01] [-2.44566365e-04 1.67365391e-05 9.99999970e-01 -4.10482062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.720371743 meters 0.04149191983675025 Centerline is valid? [True, True] Translation: X:295.08, Y:-17.96, Z:-4.11 [[ 9.99983014e-01 -5.79601908e-03 6.15068119e-04 2.95075181e+02] [ 5.79604463e-03 9.99983202e-01 -3.97687868e-05 -1.79645214e+01] [-6.14827287e-04 4.33330735e-05 9.99999810e-01 -4.10558590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.780371743 meters 0.039899304489991065 Centerline is valid? [True, True] Translation: X:295.14, Y:-17.97, Z:-4.11 [[ 9.99973579e-01 -7.15683221e-03 1.27338630e-03 2.95137286e+02] [ 7.15694361e-03 9.99974385e-01 -8.29456230e-05 -1.79673732e+01] [-1.27276005e-03 9.20569854e-05 9.99999186e-01 -4.10529455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.840371743 meters 0.04041601653407093 Centerline is valid? [True, True] Translation: X:295.20, Y:-17.97, Z:-4.11 [[ 9.99971180e-01 -7.42516425e-03 1.58281214e-03 2.95199494e+02] [ 7.42533727e-03 9.99972426e-01 -1.03462042e-04 -1.79721540e+01] [-1.58200028e-03 1.15211974e-04 9.99998742e-01 -4.10544038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.900371743 meters 0.03656241526346906 Centerline is valid? [True, True] Translation: X:295.26, Y:-17.97, Z:-4.11 [[ 9.99980107e-01 -5.98024093e-03 2.00556231e-03 2.95261678e+02] [ 5.98051702e-03 9.99982108e-01 -1.31692897e-04 -1.79697260e+01] [-2.00473887e-03 1.43684577e-04 9.99997980e-01 -4.10520120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.960371743 meters 0.0379179934263563 Centerline is valid? [True, True] Translation: X:295.32, Y:-17.97, Z:-4.11 [[ 9.99983772e-01 -5.35919562e-03 1.93275406e-03 2.95322918e+02] [ 5.35944925e-03 9.99985630e-01 -1.26072645e-04 -1.79742363e+01] [-1.93205064e-03 1.36429097e-04 9.99998124e-01 -4.10606767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.020371743 meters 0.037179545605167584 Centerline is valid? [True, True] Translation: X:295.38, Y:-17.98, Z:-4.11 [[ 9.99984467e-01 -5.48885089e-03 9.69102296e-04 2.95384981e+02] [ 5.48891469e-03 9.99984934e-01 -6.31848809e-05 -1.79762787e+01] [-9.68740883e-04 6.85032193e-05 9.99999528e-01 -4.10696028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.080371743 meters 0.040811161459580574 Centerline is valid? [True, True] Translation: X:295.45, Y:-17.98, Z:-4.11 [[ 9.99978875e-01 -6.46731885e-03 6.50313028e-04 2.95445388e+02] [ 6.46734792e-03 9.99979086e-01 -4.26068725e-05 -1.79844903e+01] [-6.50023875e-04 4.68117731e-05 9.99999788e-01 -4.10929885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.140371743 meters 0.04809777150112161 Centerline is valid? [True, True] Translation: X:295.51, Y:-18.00, Z:-4.11 [[ 9.99977445e-01 -6.67515669e-03 7.43480161e-04 2.95505654e+02] [ 6.67519466e-03 9.99977719e-01 -4.85953544e-05 -1.79952666e+01] [-7.43139215e-04 5.35571331e-05 9.99999722e-01 -4.11143370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.200371743 meters 0.04007559929589845 Centerline is valid? [True, True] Translation: X:295.57, Y:-17.98, Z:-4.11 [[ 9.99979620e-01 -6.28585333e-03 1.11712905e-03 2.95568861e+02] [ 6.28593900e-03 9.99980241e-01 -7.32012259e-05 -1.79838088e+01] [-1.11664684e-03 8.02219392e-05 9.99999373e-01 -4.10873924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.260371743 meters 0.04178504835055096 Centerline is valid? [True, True] Translation: X:295.63, Y:-17.99, Z:-4.11 [[ 9.99977951e-01 -6.30092237e-03 2.09664043e-03 2.95630223e+02] [ 6.30122683e-03 9.99980137e-01 -1.38637924e-04 -1.79863523e+01] [-2.09572524e-03 1.51846274e-04 9.99997792e-01 -4.10835829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.320371743 meters 0.03944470916360663 Centerline is valid? [True, True] Translation: X:295.69, Y:-17.98, Z:-4.11 [[ 9.99969741e-01 -7.13481789e-03 3.10038141e-03 2.95693083e+02] [ 7.13548859e-03 9.99974521e-01 -2.05318567e-04 -1.79833034e+01] [-3.09883751e-03 2.27435091e-04 9.99995173e-01 -4.10659211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.380371743 meters 0.04052119142656908 Centerline is valid? [True, True] Translation: X:295.76, Y:-17.99, Z:-4.11 [[ 9.99961718e-01 -8.18045909e-03 3.10517893e-03 2.95755225e+02] [ 8.18113759e-03 9.99966513e-01 -2.05865865e-04 -1.79858841e+01] [-3.10339087e-03 2.31261880e-04 9.99995158e-01 -4.10753223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.440371743 meters 0.04239128226639256 Centerline is valid? [True, True] Translation: X:295.82, Y:-17.99, Z:-4.11 [[ 9.99939120e-01 -1.09205489e-02 1.58062267e-03 2.95816397e+02] [ 1.09207286e-02 9.99940362e-01 -1.05091019e-04 -1.79874008e+01] [-1.57938075e-03 1.22346172e-04 9.99998745e-01 -4.10966516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.500371743 meters 0.04276299598317924 Centerline is valid? [True, True] Translation: X:295.88, Y:-17.99, Z:-4.11 [[ 9.99934355e-01 -1.14531382e-02 3.33984269e-04 2.95878697e+02] [ 1.14531459e-02 9.99934410e-01 -2.12781832e-05 -1.79883487e+01] [-3.33718661e-04 2.51019569e-05 9.99999944e-01 -4.11013758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.560371743 meters 0.04248322643375085 Centerline is valid? [True, True] Translation: X:295.94, Y:-17.99, Z:-4.11 [[ 9.99946312e-01 -1.03555715e-02 3.68125106e-04 2.95940001e+02] [ 1.03555811e-02 9.99946379e-01 -2.40681875e-05 -1.79861666e+01] [-3.67856128e-04 2.78790448e-05 9.99999932e-01 -4.11110751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.620371743 meters 0.03969496091545758 Centerline is valid? [True, True] Translation: X:296.00, Y:-17.98, Z:-4.11 [[ 9.99965533e-01 -8.24728727e-03 9.56612800e-04 2.96002046e+02] [ 8.24735143e-03 9.99965988e-01 -6.31465234e-05 -1.79810287e+01] [-9.56059477e-04 7.10338689e-05 9.99999540e-01 -4.11006218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.680371743 meters 0.03859604874973289 Centerline is valid? [True, True] Translation: X:296.06, Y:-17.98, Z:-4.11 [[ 9.99973400e-01 -7.12723955e-03 1.54983583e-03 2.96064062e+02] [ 7.12740781e-03 9.99974594e-01 -1.03070491e-04 -1.79777795e+01] [-1.54906184e-03 1.14114062e-04 9.99998794e-01 -4.10989153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.740371743 meters 0.040120710591952276 Centerline is valid? [True, True] Translation: X:296.13, Y:-17.98, Z:-4.11 [[ 9.99968883e-01 -7.75731938e-03 1.43396937e-03 2.96126697e+02] [ 7.75746344e-03 9.99969906e-01 -9.49295807e-05 -1.79790822e+01] [-1.43318982e-03 1.06050592e-04 9.99998967e-01 -4.11109832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.800371743 meters 0.04220782505424741 Centerline is valid? [True, True] Translation: X:296.19, Y:-17.98, Z:-4.11 [[ 9.99954010e-01 -9.47937047e-03 1.45586285e-03 2.96187939e+02] [ 9.47952163e-03 9.99955064e-01 -9.69650239e-05 -1.79823966e+01] [-1.45487826e-03 1.10761448e-04 9.99998936e-01 -4.11229208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86037174300003 meters 0.0446420657229685 Centerline is valid? [True, True] Translation: X:296.25, Y:-17.99, Z:-4.11 [[ 9.99937268e-01 -1.11954278e-02 3.50003782e-04 2.96249253e+02] [ 1.11954365e-02 9.99937329e-01 -2.29513434e-05 -1.79871310e+01] [-3.49724897e-04 2.68683487e-05 9.99999938e-01 -4.11393935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92037174300003 meters 0.047143436469172635 Centerline is valid? [True, True] Translation: X:296.31, Y:-17.99, Z:-4.11 [[ 9.99908982e-01 -1.34915690e-02 -7.81328167e-05 2.96308741e+02] [ 1.34915694e-02 9.99908985e-01 5.23342991e-06 -1.79911126e+01] [ 7.80550980e-05 -6.28708788e-06 9.99999997e-01 -4.11485452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.980371743 meters 0.04439855432669309 Centerline is valid? [True, True] Translation: X:296.37, Y:-17.99, Z:-4.11 [[ 9.99910021e-01 -1.33978298e-02 6.69941944e-04 2.96371046e+02] [ 1.33978623e-02 9.99910244e-01 -4.39243282e-05 -1.79877096e+01] [-6.69293322e-04 5.28961659e-05 9.99999775e-01 -4.11415371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.040371743 meters 0.04243466564085581 Centerline is valid? [True, True] Translation: X:296.43, Y:-17.98, Z:-4.11 [[ 9.99950479e-01 -9.81175646e-03 1.66423454e-03 2.96432064e+02] [ 9.81195560e-03 9.99951855e-01 -1.11533900e-04 -1.79828953e+01] [-1.66306007e-03 1.27857772e-04 9.99998609e-01 -4.11256866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.100371743 meters 0.03826598731207653 Centerline is valid? [True, True] Translation: X:296.49, Y:-17.98, Z:-4.11 [[ 9.99990516e-01 -3.99272066e-03 1.73929747e-03 2.96493837e+02] [ 3.99292917e-03 9.99992021e-01 -1.16426893e-04 -1.79759309e+01] [-1.73881873e-03 1.23370681e-04 9.99998481e-01 -4.11303469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.160371743 meters 0.03805383224335063 Centerline is valid? [True, True] Translation: X:296.55, Y:-17.98, Z:-4.12 [[ 9.99998933e-01 -7.66363691e-04 1.24399038e-03 2.96554305e+02] [ 7.66468079e-04 9.99999703e-01 -8.34390024e-05 -1.79767182e+01] [-1.24392607e-03 8.43923922e-05 9.99999223e-01 -4.11503650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.220371743 meters 0.036631542931706 Centerline is valid? [True, True] Translation: X:296.62, Y:-17.97, Z:-4.12 [[ 9.99997024e-01 2.27868922e-03 8.71560649e-04 2.96615772e+02] [-2.27863934e-03 9.99997402e-01 -5.82241521e-05 -1.79737837e+01] [-8.71691060e-04 5.62380064e-05 9.99999618e-01 -4.11613619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.280371743 meters 0.03489804918913127 Centerline is valid? [True, True] Translation: X:296.68, Y:-17.97, Z:-4.12 [[ 9.99998365e-01 1.77393526e-03 -3.49661155e-04 2.96675798e+02] [-1.77392735e-03 9.99998426e-01 2.29321817e-05 -1.79716028e+01] [ 3.49701285e-04 -2.23118707e-05 9.99999939e-01 -4.11761425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.340371743 meters 0.036157035063718965 Centerline is valid? [True, True] Translation: X:296.74, Y:-17.98, Z:-4.12 [[ 9.99999628e-01 -7.97006687e-04 -3.28538250e-04 2.96736204e+02] [ 7.97013967e-04 9.99999682e-01 2.20300737e-05 -1.79750409e+01] [ 3.28520587e-04 -2.22919151e-05 9.99999946e-01 -4.11853617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.400371743 meters 0.03833558445046473 Centerline is valid? [True, True] Translation: X:296.80, Y:-17.98, Z:-4.12 [[ 9.99986236e-01 -5.19682405e-03 7.22128863e-04 2.96796094e+02] [ 5.19686033e-03 9.99986495e-01 -4.83753136e-05 -1.79812468e+01] [-7.21867713e-04 5.21274506e-05 9.99999738e-01 -4.11842281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.460371743 meters 0.04053571459316067 Centerline is valid? [True, True] Translation: X:296.86, Y:-17.99, Z:-4.12 [[ 9.99969783e-01 -7.74103228e-03 7.13958274e-04 2.96856728e+02] [ 7.74106806e-03 9.99970036e-01 -4.73527435e-05 -1.79878574e+01] [-7.13570322e-04 5.28781123e-05 9.99999744e-01 -4.12017628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.520371743 meters 0.04637341033019815 Centerline is valid? [True, True] Translation: X:296.92, Y:-18.00, Z:-4.12 [[ 9.99956195e-01 -9.34600950e-03 -5.09812482e-04 2.96915928e+02] [ 9.34602814e-03 9.99956324e-01 3.42072791e-05 -1.79997048e+01] [ 5.09470514e-04 -3.89705024e-05 9.99999869e-01 -4.12385184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.580371743 meters 0.040966900624165505 Centerline is valid? [True, True] Translation: X:296.98, Y:-17.99, Z:-4.13 [[ 9.99953303e-01 -9.42107864e-03 -2.15270940e-03 2.96978683e+02] [ 9.42141382e-03 9.99955607e-01 1.45614665e-04 -1.79944901e+01] [ 2.15124199e-03 -1.65889431e-04 9.99997672e-01 -4.12521711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.640371743 meters 0.04025712786637493 Centerline is valid? [True, True] Translation: X:297.04, Y:-18.00, Z:-4.13 [[ 9.99974106e-01 -6.51128433e-03 -3.06443125e-03 2.97039155e+02] [ 6.51194553e-03 9.99978776e-01 2.05838822e-04 -1.79954994e+01] [ 3.06302594e-03 -2.25788901e-04 9.99995283e-01 -4.12706028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.700371743 meters 0.035105076563820586 Centerline is valid? [True, True] Translation: X:297.10, Y:-17.98, Z:-4.13 [[ 9.99953184e-01 9.32059707e-03 -2.59921970e-03 2.97100135e+02] [-9.32017451e-03 9.99956551e-01 1.74638830e-04 -1.79826732e+01] [ 2.60073451e-03 -1.50405473e-04 9.99996607e-01 -4.12600210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.760371743 meters 0.03114045121637108 Centerline is valid? [True, True] Translation: X:297.16, Y:-17.97, Z:-4.12 [[ 9.99799539e-01 2.00005782e-02 -9.26946738e-04 2.97161685e+02] [-2.00005288e-02 9.99799967e-01 6.24661051e-05 -1.79748484e+01] [ 9.28010677e-04 -4.39141581e-05 9.99999568e-01 -4.12445880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.820371743 meters 0.026713565080354693 Centerline is valid? [True, True] Translation: X:297.22, Y:-17.96, Z:-4.12 [[ 9.99438206e-01 3.34568665e-02 1.97731668e-03 2.97223258e+02] [-3.34566691e-02 9.99440160e-01 -1.32863348e-04 -1.79649684e+01] [-1.98065489e-03 6.66342759e-05 9.99998036e-01 -4.12328914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.880371743 meters 0.024322134482905454 Centerline is valid? [True, True] Translation: X:297.28, Y:-17.96, Z:-4.12 [[ 9.99178349e-01 4.03633734e-02 3.66408483e-03 2.97283447e+02] [-4.03627405e-02 9.99185062e-01 -2.46534772e-04 -1.79593185e+01] [-3.67104981e-03 9.84397007e-05 9.99993257e-01 -4.12295113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.940371743 meters 0.024192120631572684 Centerline is valid? [True, True] Translation: X:297.34, Y:-17.96, Z:-4.12 [[ 9.99128931e-01 4.15531174e-02 3.83636389e-03 2.97342487e+02] [-4.15524316e-02 9.99136291e-01 -2.58334742e-04 -1.79613553e+01] [-3.84378500e-03 9.86994670e-05 9.99992608e-01 -4.12354296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.000371743 meters 0.023991810628553892 Centerline is valid? [True, True] Translation: X:297.40, Y:-17.97, Z:-4.12 [[ 9.99154407e-01 4.09513724e-02 3.66837196e-03 2.97400874e+02] [-4.09507420e-02 9.99161136e-01 -2.46819050e-04 -1.79653371e+01] [-3.67540227e-03 9.63877883e-05 9.99993241e-01 -4.12405391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.060371743 meters 0.025101890555324028 Centerline is valid? [True, True] Translation: X:297.46, Y:-17.97, Z:-4.13 [[ 9.99259288e-01 3.83384262e-02 3.32286204e-03 2.97459242e+02] [-3.83378950e-02 9.99264808e-01 -2.23425541e-04 -1.79739248e+01] [-3.32898488e-03 9.58685110e-05 9.99994454e-01 -4.12585944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.120371743 meters 0.02670331757670557 Centerline is valid? [True, True] Translation: X:297.52, Y:-17.99, Z:-4.13 [[ 9.99385111e-01 3.48292036e-02 4.04065528e-03 2.97517028e+02] [-3.48283924e-02 9.99393271e-01 -2.70991726e-04 -1.79856291e+01] [-4.04764212e-03 1.30095568e-04 9.99991800e-01 -4.12781879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.180371743 meters 0.026064404912360773 Centerline is valid? [True, True] Translation: X:297.58, Y:-17.99, Z:-4.13 [[ 9.99347159e-01 3.57234779e-02 5.39336097e-03 2.97575992e+02] [-3.57220402e-02 9.99361698e-01 -3.62695664e-04 -1.79913665e+01] [-5.40287513e-03 1.69797024e-04 9.99985390e-01 -4.12820755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.240371743 meters 0.02480610443982929 Centerline is valid? [True, True] Translation: X:297.64, Y:-17.99, Z:-4.13 [[ 9.99216738e-01 3.89234636e-02 7.13258790e-03 2.97635009e+02] [-3.89210551e-02 9.99242175e-01 -4.76232145e-04 -1.79948362e+01] [-7.14571925e-03 1.98251284e-04 9.99974449e-01 -4.12702054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.300371743 meters 0.024843535481358533 Centerline is valid? [True, True] Translation: X:297.69, Y:-18.00, Z:-4.13 [[ 9.99147688e-01 4.03921846e-02 8.50705096e-03 2.97693328e+02] [-4.03888250e-02 9.99183878e-01 -5.66408411e-04 -1.80020212e+01] [-8.52298664e-03 2.22335861e-04 9.99963654e-01 -4.12789782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36037174300003 meters 0.02464387722745909 Centerline is valid? [True, True] Translation: X:297.75, Y:-18.01, Z:-4.13 [[ 9.99163747e-01 4.01388032e-02 7.78999900e-03 2.97751632e+02] [-4.01359821e-02 9.99194092e-01 -5.18202300e-04 -1.80122803e+01] [-7.80452100e-03 2.05109691e-04 9.99969523e-01 -4.13117141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42037174300003 meters 0.025933630430647187 Centerline is valid? [True, True] Translation: X:297.81, Y:-18.03, Z:-4.13 [[ 9.99299423e-01 3.68220564e-02 6.69320299e-03 2.97809547e+02] [-3.68199027e-02 9.99321819e-01 -4.44758280e-04 -1.80263862e+01] [-6.70504069e-03 1.98003611e-04 9.99977501e-01 -4.13385136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.480371743 meters 0.026624626317212376 Centerline is valid? [True, True] Translation: X:297.87, Y:-18.04, Z:-4.14 [[ 9.99449642e-01 3.25983651e-02 6.14489315e-03 2.97868329e+02] [-3.25964725e-02 9.99468511e-01 -4.07913801e-04 -1.80384783e+01] [-6.15492453e-03 2.07387462e-04 9.99981037e-01 -4.13534236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.540371743 meters 0.02712170040720393 Centerline is valid? [True, True] Translation: X:297.93, Y:-18.05, Z:-4.14 [[ 9.99593993e-01 2.76298458e-02 6.95999705e-03 2.97927494e+02] [-2.76273005e-02 9.99618187e-01 -4.61597206e-04 -1.80502405e+01] [-6.97009349e-03 2.69123864e-04 9.99975672e-01 -4.13606053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.600371743 meters 0.030778827056046405 Centerline is valid? [True, True] Translation: X:297.99, Y:-18.06, Z:-4.14 [[ 9.99700265e-01 2.34036139e-02 7.18681026e-03 2.97986376e+02] [-2.34007922e-02 9.99726050e-01 -4.76474162e-04 -1.80640548e+01] [-7.19599265e-03 3.08154292e-04 9.99974061e-01 -4.13718584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.660371743 meters 0.031053015731830134 Centerline is valid? [True, True] Translation: X:298.05, Y:-18.07, Z:-4.14 [[ 9.99874872e-01 1.41898592e-02 6.99194963e-03 2.98046450e+02] [-1.41869655e-02 9.99899253e-01 -4.63298488e-04 -1.80731151e+01] [-6.99781935e-03 3.64045969e-04 9.99975449e-01 -4.13762815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.720371743 meters 0.03289118124154028 Centerline is valid? [True, True] Translation: X:298.11, Y:-18.08, Z:-4.14 [[ 9.99937858e-01 7.28457268e-03 8.43889895e-03 2.98106686e+02] [-7.28011186e-03 9.99973343e-01 -5.59201271e-04 -1.80842386e+01] [-8.44274754e-03 4.97730393e-04 9.99964235e-01 -4.13805619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.780371743 meters 0.0359031397567802 Centerline is valid? [True, True] Translation: X:298.17, Y:-18.09, Z:-4.14 [[ 9.99957448e-01 4.45239029e-03 8.07954573e-03 2.98165828e+02] [-4.44820906e-03 9.99989963e-01 -5.35404036e-04 -1.80942896e+01] [-8.08184846e-03 4.99441745e-04 9.99967217e-01 -4.13938047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.840371743 meters 0.03553174012861967 Centerline is valid? [True, True] Translation: X:298.23, Y:-18.10, Z:-4.14 [[ 9.99947227e-01 5.06006903e-03 8.94080974e-03 2.98227069e+02] [-5.05497465e-03 9.99987048e-01 -5.92296448e-04 -1.80972300e+01] [-8.94369100e-03 5.47069625e-04 9.99959855e-01 -4.13935390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.900371743 meters 0.033641359598632334 Centerline is valid? [True, True] Translation: X:298.29, Y:-18.10, Z:-4.14 [[ 9.99938764e-01 4.88346482e-03 9.93072935e-03 2.98288474e+02] [-4.87716714e-03 9.99987890e-01 -6.58280155e-04 -1.80979713e+01] [-9.93382378e-03 6.09806018e-04 9.99950472e-01 -4.13951283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.960371743 meters 0.03534587481565105 Centerline is valid? [True, True] Translation: X:298.35, Y:-18.10, Z:-4.14 [[ 9.99932739e-01 4.32643272e-03 1.07610479e-02 2.98349212e+02] [-4.31900452e-03 9.99990419e-01 -7.13430103e-04 -1.81026514e+01] [-1.07640314e-02 6.66905102e-04 9.99941844e-01 -4.13983289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.020371743 meters 0.03470519654730253 Centerline is valid? [True, True] Translation: X:298.41, Y:-18.10, Z:-4.14 [[ 9.99945978e-01 4.43597976e-03 9.40020964e-03 2.98411296e+02] [-4.43031162e-03 9.99989992e-01 -6.23717293e-04 -1.81036741e+01] [-9.40288236e-03 5.82037741e-04 9.99955623e-01 -4.14174353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.080371743 meters 0.03409348635541106 Centerline is valid? [True, True] Translation: X:298.47, Y:-18.10, Z:-4.14 [[ 9.99962598e-01 5.49722238e-03 6.67701455e-03 2.98473702e+02] [-5.49438186e-03 9.99984807e-01 -4.43687809e-04 -1.81040903e+01] [-6.67935216e-03 4.06985147e-04 9.99977610e-01 -4.14469634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.140371743 meters 0.03343245245084696 Centerline is valid? [True, True] Translation: X:298.53, Y:-18.10, Z:-4.15 [[ 9.99959334e-01 7.66891580e-03 4.74538833e-03 2.98534926e+02] [-7.66749425e-03 9.99970554e-01 -3.17683961e-04 -1.81033725e+01] [-4.74768489e-03 2.81285804e-04 9.99988690e-01 -4.14567855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.200371743 meters 0.0331214576790895 Centerline is valid? [True, True] Translation: X:298.60, Y:-18.10, Z:-4.15 [[ 9.99938167e-01 9.94709282e-03 4.97173659e-03 2.98595098e+02] [-9.94555836e-03 9.99950486e-01 -3.33264617e-04 -1.81046895e+01] [-4.97480544e-03 2.83797314e-04 9.99987585e-01 -4.14601679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.260371743 meters 0.03106225879896249 Centerline is valid? [True, True] Translation: X:298.66, Y:-18.10, Z:-4.15 [[ 9.99876572e-01 1.44151816e-02 6.24846106e-03 2.98655445e+02] [-1.44128466e-02 9.99896042e-01 -4.18558681e-04 -1.81026847e+01] [-6.25384508e-03 3.28448909e-04 9.99980391e-01 -4.14596635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.320371743 meters 0.029045498612459426 Centerline is valid? [True, True] Translation: X:298.72, Y:-18.10, Z:-4.15 [[ 9.99773834e-01 1.93764264e-02 8.76557145e-03 2.98716331e+02] [-1.93720217e-02 9.99812172e-01 -5.87130607e-04 -1.81004245e+01] [-8.77530153e-03 4.17190978e-04 9.99961409e-01 -4.14537884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.380371743 meters 0.03025650238091905 Centerline is valid? [True, True] Translation: X:298.78, Y:-18.10, Z:-4.15 [[ 9.99690859e-01 2.31192293e-02 9.14804671e-03 2.98775308e+02] [-2.31145875e-02 9.99732634e-01 -6.12822345e-04 -1.81047389e+01] [-9.15976882e-03 4.01179571e-04 9.99957968e-01 -4.14756021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.440371743 meters 0.02759798280612949 Centerline is valid? [True, True] Translation: X:298.83, Y:-18.10, Z:-4.15 [[ 9.99692105e-01 2.34674828e-02 8.06052897e-03 2.98834499e+02] [-2.34638904e-02 9.99724539e-01 -5.39965129e-04 -1.81020409e+01] [-8.07098023e-03 3.50667509e-04 9.99967368e-01 -4.14923321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.500371743 meters 0.027609105883239088 Centerline is valid? [True, True] Translation: X:298.89, Y:-18.11, Z:-4.15 [[ 9.99710541e-01 2.28070708e-02 7.65977511e-03 2.98893155e+02] [-2.28038113e-02 9.99739828e-01 -5.12616204e-04 -1.81054381e+01] [-7.66947353e-03 3.37795757e-04 9.99970532e-01 -4.15040871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.560371743 meters 0.02826758256571864 Centerline is valid? [True, True] Translation: X:298.95, Y:-18.11, Z:-4.15 [[ 9.99724730e-01 2.19414334e-02 8.30884395e-03 2.98951956e+02] [-2.19375740e-02 9.99759188e-01 -5.55361197e-04 -1.81095475e+01] [-8.31902850e-03 3.72932444e-04 9.99965327e-01 -4.15252649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.620371743 meters 0.02850428755685542 Centerline is valid? [True, True] Translation: X:299.01, Y:-18.11, Z:-4.15 [[ 9.99694682e-01 2.29195688e-02 9.23236781e-03 2.99010337e+02] [-2.29148526e-02 9.99737230e-01 -6.16311302e-04 -1.81127056e+01] [-9.24406741e-03 4.04564784e-04 9.99957191e-01 -4.15336947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.680371743 meters 0.027932836509252563 Centerline is valid? [True, True] Translation: X:299.07, Y:-18.11, Z:-4.15 [[ 9.99639568e-01 2.47433059e-02 1.04164839e-02 2.99069078e+02] [-2.47374102e-02 9.99693742e-01 -6.94487793e-04 -1.81139814e+01] [-1.04304777e-02 4.36560642e-04 9.99945506e-01 -4.15276428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.740371743 meters 0.027116258463782454 Centerline is valid? [True, True] Translation: X:299.13, Y:-18.12, Z:-4.15 [[ 9.99657190e-01 2.40865573e-02 1.02634919e-02 2.99128165e+02] [-2.40808062e-02 9.99709782e-01 -6.83575908e-04 -1.81174726e+01] [-1.02769783e-02 4.36188411e-04 9.99947095e-01 -4.15499027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.800371743 meters 0.028128592435260686 Centerline is valid? [True, True] Translation: X:299.19, Y:-18.13, Z:-4.16 [[ 9.99713356e-01 2.18442732e-02 9.79962322e-03 2.99187747e+02] [-2.18389308e-02 9.99761290e-01 -6.51859532e-04 -1.81252303e+01] [-9.81152334e-03 4.37659388e-04 9.99951770e-01 -4.15732091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86037174300003 meters 0.030905553521633038 Centerline is valid? [True, True] Translation: X:299.25, Y:-18.14, Z:-4.16 [[ 9.99859275e-01 1.51188104e-02 7.26985655e-03 2.99247478e+02] [-1.51156954e-02 9.99885635e-01 -4.83250865e-04 -1.81375415e+01] [-7.27633131e-03 3.73293923e-04 9.99973457e-01 -4.16075967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92037174300003 meters 0.031506747042948244 Centerline is valid? [True, True] Translation: X:299.31, Y:-18.15, Z:-4.16 [[ 9.99923473e-01 1.08137027e-02 6.00936256e-03 2.99307154e+02] [-1.08114962e-02 9.99941474e-01 -3.99532179e-04 -1.81450716e+01] [-6.01333128e-03 3.34531403e-04 9.99981864e-01 -4.16312847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.980371743 meters 0.03432886090847119 Centerline is valid? [True, True] Translation: X:299.37, Y:-18.16, Z:-4.16 [[ 9.99974509e-01 5.54179755e-03 4.50223859e-03 2.99366383e+02] [-5.54050590e-03 9.99984606e-01 -2.99312616e-04 -1.81563561e+01] [-4.50382802e-03 2.74360307e-04 9.99989820e-01 -4.16479740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.040371743 meters 0.0337762210030244 Centerline is valid? [True, True] Translation: X:299.43, Y:-18.16, Z:-4.16 [[ 9.99980556e-01 3.26947778e-03 5.31015461e-03 2.99426758e+02] [-3.26765061e-03 9.99994599e-01 -3.52728579e-04 -1.81617046e+01] [-5.31127917e-03 3.35369991e-04 9.99985839e-01 -4.16454792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.100371743 meters 0.03485943966866664 Centerline is valid? [True, True] Translation: X:299.49, Y:-18.17, Z:-4.17 [[ 9.99973979e-01 3.39424037e-03 6.36552458e-03 2.99487646e+02] [-3.39161900e-03 9.99994159e-01 -4.22556762e-04 -1.81686522e+01] [-6.36692166e-03 4.00956333e-04 9.99979651e-01 -4.16507142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.160371743 meters 0.034810510301894915 Centerline is valid? [True, True] Translation: X:299.55, Y:-18.18, Z:-4.17 [[ 9.99977829e-01 2.80695606e-03 6.03836919e-03 2.99548488e+02] [-2.80458542e-03 9.99995987e-01 -4.01028986e-04 -1.81753837e+01] [-6.03947063e-03 3.84084972e-04 9.99981688e-01 -4.16736888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.220371743 meters 0.0372016200126534 Centerline is valid? [True, True] Translation: X:299.61, Y:-18.18, Z:-4.17 [[ 9.99983751e-01 1.25508563e-03 5.56074188e-03 2.99609381e+02] [-1.25305957e-03 9.99999147e-01 -3.67820051e-04 -1.81842752e+01] [-5.56119879e-03 3.60846134e-04 9.99984471e-01 -4.16898961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.280371743 meters 0.04089844105660766 Centerline is valid? [True, True] Translation: X:299.67, Y:-18.20, Z:-4.17 [[ 9.99989271e-01 -3.67142408e-03 2.82469538e-03 2.99669869e+02] [ 3.67197023e-03 9.99993241e-01 -1.88185959e-04 -1.81973991e+01] [-2.82398538e-03 1.98556137e-04 9.99995993e-01 -4.17334821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.340371743 meters 0.043113672560542354 Centerline is valid? [True, True] Translation: X:299.73, Y:-18.21, Z:-4.18 [[ 9.99975555e-01 -6.71515614e-03 1.94812282e-03 2.99730263e+02] [ 6.71542203e-03 9.99977443e-01 -1.29978151e-04 -1.82058904e+01] [-1.94720605e-03 1.43057441e-04 9.99998094e-01 -4.17520919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.400371743 meters 0.039351659357511344 Centerline is valid? [True, True] Translation: X:299.79, Y:-18.21, Z:-4.18 [[ 9.99953817e-01 -9.45678806e-03 1.71254629e-03 2.99790985e+02] [ 9.45699728e-03 9.99955275e-01 -1.14108028e-04 -1.82073644e+01] [-1.71139060e-03 1.30298304e-04 9.99998527e-01 -4.17579767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.460371743 meters 0.04898680970528342 Centerline is valid? [True, True] Translation: X:299.85, Y:-18.23, Z:-4.18 [[ 9.99940613e-01 -1.08229572e-02 1.27855989e-03 2.99851194e+02] [ 1.08230734e-02 9.99941425e-01 -8.40029562e-05 -1.82278740e+01] [-1.27757584e-03 9.78359151e-05 9.99999179e-01 -4.17995385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.520371743 meters 0.04186324635116297 Centerline is valid? [True, True] Translation: X:299.91, Y:-18.22, Z:-4.18 [[ 9.99950847e-01 -9.75074972e-03 1.79625978e-03 2.99912778e+02] [ 9.75098041e-03 9.99952451e-01 -1.19710160e-04 -1.82240995e+01] [-1.79500710e-03 1.37219570e-04 9.99998380e-01 -4.17914572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.580371743 meters 0.041209816384599356 Centerline is valid? [True, True] Translation: X:299.97, Y:-18.23, Z:-4.18 [[ 9.99980494e-01 -5.69913904e-03 2.55554363e-03 2.99973206e+02] [ 5.69959462e-03 9.99983743e-01 -1.71025294e-04 -1.82291432e+01] [-2.55452738e-03 1.85587520e-04 9.99996720e-01 -4.18058124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.640371743 meters 0.03879260017343577 Centerline is valid? [True, True] Translation: X:300.03, Y:-18.23, Z:-4.18 [[ 9.99994627e-01 -2.41836776e-03 2.21301376e-03 3.00034120e+02] [ 2.41870094e-03 9.99997064e-01 -1.47893819e-04 -1.82300536e+01] [-2.21264960e-03 1.53245643e-04 9.99997540e-01 -4.18079441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.700371743 meters 0.03619301207563386 Centerline is valid? [True, True] Translation: X:300.10, Y:-18.23, Z:-4.18 [[ 9.99995900e-01 2.31719428e-03 1.68237553e-03 3.00095199e+02] [-2.31700805e-03 9.99997309e-01 -1.12636225e-04 -1.82305500e+01] [-1.68263201e-03 1.08737686e-04 9.99998578e-01 -4.18159326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.760371743 meters 0.034136133110797905 Centerline is valid? [True, True] Translation: X:300.16, Y:-18.23, Z:-4.18 [[ 9.99987115e-01 4.89591723e-03 1.34187471e-03 3.00155480e+02] [-4.89580078e-03 9.99988011e-01 -9.00558613e-05 -1.82317738e+01] [-1.34229953e-03 8.34851496e-05 9.99999096e-01 -4.18241187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.820371743 meters 0.03273426157270044 Centerline is valid? [True, True] Translation: X:300.22, Y:-18.23, Z:-4.18 [[ 9.99961943e-01 8.54484834e-03 1.75990942e-03 3.00215207e+02] [-8.54465346e-03 9.99963487e-01 -1.18221345e-04 -1.82322434e+01] [-1.76085534e-03 1.03179030e-04 9.99998444e-01 -4.18271672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.880371743 meters 0.030968370356958985 Centerline is valid? [True, True] Translation: X:300.28, Y:-18.23, Z:-4.18 [[ 9.99931165e-01 1.12714288e-02 3.25893950e-03 3.00275180e+02] [-1.12707764e-02 9.99936459e-01 -2.18468811e-04 -1.82336220e+01] [-3.26119488e-03 1.81722994e-04 9.99994666e-01 -4.18204950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.940371743 meters 0.031268457320631854 Centerline is valid? [True, True] Translation: X:300.33, Y:-18.24, Z:-4.18 [[ 9.99933621e-01 1.11488504e-02 2.90797190e-03 3.00333819e+02] [-1.11483298e-02 9.99937836e-01 -1.95182146e-04 -1.82393700e+01] [-2.90996719e-03 1.62750161e-04 9.99995753e-01 -4.18296672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.000371743 meters 0.03288225888798693 Centerline is valid? [True, True] Translation: X:300.39, Y:-18.25, Z:-4.18 [[ 9.99949221e-01 9.58995963e-03 3.09635303e-03 3.00392142e+02] [-9.58936347e-03 9.99954000e-01 -2.07324837e-04 -1.82464786e+01] [-3.09819883e-03 1.77622255e-04 9.99995185e-01 -4.18377285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.060371743 meters 0.03611135580186379 Centerline is valid? [True, True] Translation: X:300.45, Y:-18.26, Z:-4.19 [[ 9.99962889e-01 7.98129578e-03 3.24323812e-03 3.00449868e+02] [-7.98063338e-03 9.99968131e-01 -2.17130463e-04 -1.82559125e+01] [-3.24486774e-03 1.91239311e-04 9.99994717e-01 -4.18556140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.120371743 meters 0.035201427697570474 Centerline is valid? [True, True] Translation: X:300.51, Y:-18.26, Z:-4.19 [[ 9.99983552e-01 4.73507046e-03 3.23646931e-03 3.00510186e+02] [-4.73439645e-03 9.99988769e-01 -2.15883607e-04 -1.82580971e+01] [-3.23745518e-03 2.00557327e-04 9.99994739e-01 -4.18578691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.180371743 meters 0.037673828634050215 Centerline is valid? [True, True] Translation: X:300.57, Y:-18.26, Z:-4.19 [[ 9.99996430e-01 1.11052593e-03 2.43017330e-03 3.00570150e+02] [-1.11013547e-03 9.99999371e-01 -1.62015092e-04 -1.82649908e+01] [-2.43035169e-03 1.59316692e-04 9.99997034e-01 -4.18757930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.240371743 meters 0.03715345245895886 Centerline is valid? [True, True] Translation: X:300.63, Y:-18.27, Z:-4.19 [[ 9.99987585e-01 -3.81231344e-03 3.20868146e-03 3.00630831e+02] [ 3.81301882e-03 9.99992708e-01 -2.13744891e-04 -1.82673006e+01] [-3.20784320e-03 2.25977000e-04 9.99994829e-01 -4.18709625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.300371743 meters 0.03986590305403284 Centerline is valid? [True, True] Translation: X:300.69, Y:-18.27, Z:-4.19 [[ 9.99951936e-01 -8.52040528e-03 4.85054755e-03 3.00690676e+02] [ 8.52207209e-03 9.99963634e-01 -3.23069559e-04 -1.82737942e+01] [-4.84761848e-03 3.64390747e-04 9.99988184e-01 -4.18623772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36037174300003 meters 0.04043500163691126 Centerline is valid? [True, True] Translation: X:300.75, Y:-18.28, Z:-4.19 [[ 9.99942718e-01 -9.47844285e-03 4.97197688e-03 3.00752952e+02] [ 9.48020323e-03 9.99955007e-01 -3.30610475e-04 -1.82783439e+01] [-4.96861950e-03 3.77726888e-04 9.99987585e-01 -4.18674453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42037174300003 meters 0.03945960794460931 Centerline is valid? [True, True] Translation: X:300.81, Y:-18.28, Z:-4.19 [[ 9.99923048e-01 -1.15577890e-02 4.50724158e-03 3.00813725e+02] [ 1.15592600e-02 9.99933144e-01 -3.00449993e-04 -1.82780716e+01] [-4.50346770e-03 3.52527250e-04 9.99989797e-01 -4.18704016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.480371743 meters 0.04021213511431636 Centerline is valid? [True, True] Translation: X:300.88, Y:-18.28, Z:-4.19 [[ 9.99912762e-01 -1.24864742e-02 4.30763804e-03 3.00875857e+02] [ 1.24878244e-02 9.99921983e-01 -2.86676633e-04 -1.82803815e+01] [-4.30372239e-03 3.40444652e-04 9.99990681e-01 -4.18874584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.540371743 meters 0.042583544491313 Centerline is valid? [True, True] Translation: X:300.94, Y:-18.28, Z:-4.19 [[ 9.99912353e-01 -1.27882000e-02 3.42745951e-03 3.00936547e+02] [ 1.27890573e-02 9.99918191e-01 -2.28345303e-04 -1.82843198e+01] [-3.42425898e-03 2.72159265e-04 9.99994100e-01 -4.19033972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.600371743 meters 0.03978933524045528 Centerline is valid? [True, True] Translation: X:301.00, Y:-18.28, Z:-4.19 [[ 9.99930646e-01 -1.11682424e-02 3.73817472e-03 3.00999020e+02] [ 1.11692520e-02 9.99937591e-01 -2.49307392e-04 -1.82798777e+01] [-3.73515710e-03 2.91042717e-04 9.99992982e-01 -4.18933785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.660371743 meters 0.0412744389688978 Centerline is valid? [True, True] Translation: X:301.06, Y:-18.28, Z:-4.19 [[ 9.99950859e-01 -9.08073793e-03 3.97747351e-03 3.01060032e+02] [ 9.08186633e-03 9.99958724e-01 -2.65727792e-04 -1.82827904e+01] [-3.97489633e-03 3.01837617e-04 9.99992055e-01 -4.19040107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.720371743 meters 0.038006592954031575 Centerline is valid? [True, True] Translation: X:301.12, Y:-18.28, Z:-4.19 [[ 9.99988401e-01 -3.90191914e-03 2.82357185e-03 3.01120827e+02] [ 3.90246804e-03 9.99992368e-01 -1.88916415e-04 -1.82776705e+01] [-2.82281316e-03 1.99933123e-04 9.99995996e-01 -4.19238993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.780371743 meters 0.03523909879356879 Centerline is valid? [True, True] Translation: X:301.18, Y:-18.27, Z:-4.19 [[ 9.99988266e-01 2.99138334e-03 3.81034828e-03 3.01182565e+02] [-2.99043371e-03 9.99995496e-01 -2.54896611e-04 -1.82726055e+01] [-3.81109362e-03 2.43499026e-04 9.99992708e-01 -4.19262384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.840371743 meters 0.03284182181361288 Centerline is valid? [True, True] Translation: X:301.24, Y:-18.27, Z:-4.19 [[ 9.99932871e-01 1.08974504e-02 3.93688686e-03 3.01243219e+02] [-1.08964970e-02 9.99940597e-01 -2.63558170e-04 -1.82685582e+01] [-3.93952510e-03 2.20642202e-04 9.99992216e-01 -4.19315790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.900371743 meters 0.031192544326156858 Centerline is valid? [True, True] Translation: X:301.30, Y:-18.27, Z:-4.20 [[ 9.99818387e-01 1.87223563e-02 3.55884994e-03 3.01302505e+02] [-1.87216251e-02 9.99824707e-01 -2.38655378e-04 -1.82669913e+01] [-3.56269428e-03 1.71984580e-04 9.99993639e-01 -4.19579461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.960371743 meters 0.028394210429438366 Centerline is valid? [True, True] Translation: X:301.36, Y:-18.26, Z:-4.20 [[ 9.99716953e-01 2.36242117e-02 2.81260103e-03 3.01363145e+02] [-2.36237748e-02 9.99720902e-01 -1.88461797e-04 -1.82647188e+01] [-2.81626830e-03 1.21964200e-04 9.99996027e-01 -4.19697897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.020371743 meters 0.02661091893039114 Centerline is valid? [True, True] Translation: X:301.42, Y:-18.26, Z:-4.20 [[ 9.99558432e-01 2.95823624e-02 2.79721519e-03 3.01424038e+02] [-2.95819541e-02 9.99562341e-01 -1.87237048e-04 -1.82628065e+01] [-2.80152987e-03 1.04407279e-04 9.99996070e-01 -4.19715324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.080371743 meters 0.02572349613930413 Centerline is valid? [True, True] Translation: X:301.48, Y:-18.26, Z:-4.20 [[ 9.99392102e-01 3.45901446e-02 4.35287128e-03 3.01482976e+02] [-3.45892023e-02 9.99401572e-01 -2.91602345e-04 -1.82630705e+01] [-4.36035296e-03 1.40862736e-04 9.99990484e-01 -4.19783374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.140371743 meters 0.02464422110742993 Centerline is valid? [True, True] Translation: X:301.54, Y:-18.27, Z:-4.20 [[ 9.99272747e-01 3.75678500e-02 6.52938459e-03 3.01542393e+02] [-3.75657955e-02 9.99294061e-01 -4.37064225e-04 -1.82650451e+01] [-6.54119481e-03 1.91464843e-04 9.99978588e-01 -4.19926054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.200371743 meters 0.024085016375573337 Centerline is valid? [True, True] Translation: X:301.60, Y:-18.27, Z:-4.20 [[ 9.99291357e-01 3.68808244e-02 7.52256660e-03 3.01601293e+02] [-3.68780807e-02 9.99319646e-01 -5.03167880e-04 -1.82690598e+01] [-7.53600584e-03 2.25393495e-04 9.99971579e-01 -4.20073607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.260371743 meters 0.024545822849657933 Centerline is valid? [True, True] Translation: X:301.66, Y:-18.28, Z:-4.20 [[ 9.99363864e-01 3.48930137e-02 7.37190018e-03 3.01659220e+02] [-3.48903276e-02 9.99391026e-01 -4.92689354e-04 -1.82754288e+01] [-7.38460230e-03 2.35167923e-04 9.99972706e-01 -4.20248858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.320371743 meters 0.025468730412757056 Centerline is valid? [True, True] Translation: X:301.72, Y:-18.28, Z:-4.20 [[ 9.99504915e-01 3.03055075e-02 8.45580561e-03 3.01717830e+02] [-3.03018193e-02 9.99540635e-01 -5.63989728e-04 -1.82843801e+01] [-8.46901331e-03 3.07484212e-04 9.99964090e-01 -4.20438853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.380371743 meters 0.02699680844276096 Centerline is valid? [True, True] Translation: X:301.78, Y:-18.29, Z:-4.20 [[ 9.99646654e-01 2.42415980e-02 1.09046585e-02 3.01777127e+02] [-2.42351134e-02 9.99706023e-01 -7.26429426e-04 -1.82949296e+01] [-1.09190625e-02 4.61897111e-04 9.99940279e-01 -4.20491018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.440371743 meters 0.03361127197721955 Centerline is valid? [True, True] Translation: X:301.84, Y:-18.31, Z:-4.21 [[ 9.99760831e-01 1.89839586e-02 1.08577566e-02 3.01835392e+02] [-1.89772228e-02 9.99819655e-01 -7.23071792e-04 -1.83130097e+01] [-1.08695252e-02 5.16848790e-04 9.99940791e-01 -4.20684683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.500371743 meters 0.03279310480503973 Centerline is valid? [True, True] Translation: X:301.90, Y:-18.32, Z:-4.21 [[ 9.99841093e-01 1.50325333e-02 9.58183502e-03 3.01895874e+02] [-1.50271108e-02 9.99886883e-01 -6.37665442e-04 -1.83175943e+01] [-9.59033688e-03 4.93576816e-04 9.99953890e-01 -4.20940173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.560371743 meters 0.032899137903466616 Centerline is valid? [True, True] Translation: X:301.95, Y:-18.32, Z:-4.21 [[ 9.99871315e-01 1.34043556e-02 8.81347994e-03 3.01954630e+02] [-1.33997024e-02 9.99910048e-01 -5.86805307e-04 -1.83236072e+01] [-8.82055289e-03 4.68631786e-04 9.99960988e-01 -4.21145208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.620371743 meters 0.03399184697641067 Centerline is valid? [True, True] Translation: X:302.01, Y:-18.33, Z:-4.21 [[ 9.99887361e-01 1.29218535e-02 7.63491232e-03 3.02012756e+02] [-1.29183491e-02 9.99916426e-01 -5.08138680e-04 -1.83300714e+01] [-7.64084033e-03 4.09450981e-04 9.99970725e-01 -4.21245182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.680371743 meters 0.032385429313459495 Centerline is valid? [True, True] Translation: X:302.07, Y:-18.33, Z:-4.21 [[ 9.99869400e-01 1.40139161e-02 8.04938239e-03 3.02071317e+02] [-1.40100609e-02 9.99901711e-01 -5.35125685e-04 -1.83307937e+01] [-8.05609043e-03 4.22283460e-04 9.99967460e-01 -4.21167607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.740371743 meters 0.03124845328602831 Centerline is valid? [True, True] Translation: X:302.13, Y:-18.33, Z:-4.21 [[ 9.99849033e-01 1.47212259e-02 9.23019428e-03 3.02129916e+02] [-1.47161941e-02 9.99891523e-01 -6.12829267e-04 -1.83338865e+01] [-9.23821462e-03 4.76903419e-04 9.99957213e-01 -4.21105112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.800371743 meters 0.032724120147618475 Centerline is valid? [True, True] Translation: X:302.19, Y:-18.34, Z:-4.21 [[ 9.99847615e-01 1.45286865e-02 9.67798348e-03 3.02187419e+02] [-1.45231522e-02 9.99894327e-01 -6.41882906e-04 -1.83417641e+01] [-9.68628650e-03 5.01230266e-04 9.99952961e-01 -4.21163046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86037174300003 meters 0.032975197527502595 Centerline is valid? [True, True] Translation: X:302.25, Y:-18.35, Z:-4.21 [[ 9.99877707e-01 1.30519777e-02 8.61492787e-03 3.02246284e+02] [-1.30475449e-02 9.99914714e-01 -5.70551111e-04 -1.83480730e+01] [-8.62163996e-03 4.58077678e-04 9.99962728e-01 -4.21318959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92037174300003 meters 0.0337234111355599 Centerline is valid? [True, True] Translation: X:302.31, Y:-18.35, Z:-4.21 [[ 9.99906677e-01 1.14271428e-02 7.48722361e-03 3.02305815e+02] [-1.14237523e-02 9.99934624e-01 -4.95448638e-04 -1.83548151e+01] [-7.49239569e-03 4.09870213e-04 9.99971848e-01 -4.21492772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.980371743 meters 0.034865022138842676 Centerline is valid? [True, True] Translation: X:302.37, Y:-18.36, Z:-4.22 [[ 9.99946553e-01 8.31138566e-03 6.14910341e-03 3.02365292e+02] [-8.30904172e-03 9.99965397e-01 -4.06632618e-04 -1.83629053e+01] [-6.15227031e-03 3.55517728e-04 9.99981011e-01 -4.21611880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.040371743 meters 0.03911123291927183 Centerline is valid? [True, True] Translation: X:302.42, Y:-18.38, Z:-4.22 [[ 9.99971105e-01 4.29910738e-03 6.26957867e-03 3.02423746e+02] [-4.29659287e-03 9.99990684e-01 -4.14478642e-04 -1.83771857e+01] [-6.27130215e-03 3.87528838e-04 9.99980260e-01 -4.21695634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.100371743 meters 0.04254975543704836 Centerline is valid? [True, True] Translation: X:302.48, Y:-18.39, Z:-4.22 [[ 9.99974655e-01 9.80433964e-05 7.11894145e-03 3.02482644e+02] [-9.46966602e-05 9.99999885e-01 -4.70452664e-04 -1.83900152e+01] [-7.11898675e-03 4.69766601e-04 9.99974549e-01 -4.21688915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.160371743 meters 0.03974927887557907 Centerline is valid? [True, True] Translation: X:302.54, Y:-18.39, Z:-4.22 [[ 9.99978852e-01 -4.17899444e-03 4.98316619e-03 3.02542914e+02] [ 4.18068630e-03 9.99991207e-01 -3.29146329e-04 -1.83916682e+01] [-4.98174687e-03 3.49972423e-04 9.99987530e-01 -4.21661057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.220371743 meters 0.04300866103734918 Centerline is valid? [True, True] Translation: X:302.60, Y:-18.40, Z:-4.22 [[ 9.99965037e-01 -7.92317330e-03 2.67368140e-03 3.02601448e+02] [ 7.92367416e-03 9.99968592e-01 -1.76788447e-04 -1.84033202e+01] [-2.67219670e-03 1.97967647e-04 9.99996410e-01 -4.21846432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.280371743 meters 0.041389823491665235 Centerline is valid? [True, True] Translation: X:302.66, Y:-18.41, Z:-4.22 [[ 9.99959168e-01 -8.65601310e-03 2.59547623e-03 3.02663194e+02] [ 8.65648544e-03 9.99962517e-01 -1.70809131e-04 -1.84060049e+01] [-2.59390042e-03 1.93269859e-04 9.99996617e-01 -4.21906011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.340371743 meters 0.04326704135332561 Centerline is valid? [True, True] Translation: X:302.73, Y:-18.41, Z:-4.22 [[ 9.99956670e-01 -9.10080179e-03 1.95798441e-03 3.02725158e+02] [ 9.10107090e-03 9.99958576e-01 -1.28576102e-04 -1.84134623e+01] [-1.95673316e-03 1.46390286e-04 9.99998075e-01 -4.21953127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.400371743 meters 0.04507970690203381 Centerline is valid? [True, True] Translation: X:302.79, Y:-18.42, Z:-4.22 [[ 9.99962227e-01 -8.28527952e-03 2.62672480e-03 3.02786365e+02] [ 8.28576071e-03 9.99965658e-01 -1.72359997e-04 -1.84210112e+01] [-2.62520654e-03 1.94117899e-04 9.99996535e-01 -4.21897977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.460371743 meters 0.04563049121418939 Centerline is valid? [True, True] Translation: X:302.85, Y:-18.43, Z:-4.22 [[ 9.99974199e-01 -6.83418102e-03 2.21268122e-03 3.02847713e+02] [ 6.83452137e-03 9.99976634e-01 -1.46290815e-04 -1.84271548e+01] [-2.21162974e-03 1.61409657e-04 9.99997541e-01 -4.21872047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.520371743 meters 0.046434361082723134 Centerline is valid? [True, True] Translation: X:302.91, Y:-18.43, Z:-4.22 [[ 9.99986618e-01 -5.10830811e-03 8.17426776e-04 3.02908400e+02] [ 5.10835377e-03 9.99986951e-01 -5.37760636e-05 -1.84324483e+01] [-8.17141404e-04 5.79510491e-05 9.99999664e-01 -4.21967918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.580371743 meters 0.03783684246912219 Centerline is valid? [True, True] Translation: X:302.97, Y:-18.43, Z:-4.22 [[ 9.99987286e-01 -5.01910300e-03 -4.85827720e-04 3.02971491e+02] [ 5.01911977e-03 9.99987404e-01 3.33065209e-05 -1.84251745e+01] [ 4.85654431e-04 -3.57445249e-05 9.99999881e-01 -4.21893853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.640371743 meters 0.041736004924711675 Centerline is valid? [True, True] Translation: X:303.03, Y:-18.44, Z:-4.22 [[ 9.99985179e-01 -5.19164673e-03 -1.63954261e-03 3.03032395e+02] [ 5.19183367e-03 9.99986516e-01 1.09783873e-04 -1.84364905e+01] [ 1.63895055e-03 -1.18294478e-04 9.99998650e-01 -4.21990562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.700371743 meters 0.038878759871173514 Centerline is valid? [True, True] Translation: X:303.09, Y:-18.44, Z:-4.22 [[ 9.99983232e-01 -5.41332895e-03 -2.05701678e-03 3.03093388e+02] [ 5.41362289e-03 9.99985337e-01 1.37355067e-04 -1.84375025e+01] [ 2.05624307e-03 -1.48488677e-04 9.99997875e-01 -4.21899447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.760371743 meters 0.04111863985571488 Centerline is valid? [True, True] Translation: X:303.15, Y:-18.45, Z:-4.22 [[ 9.99990392e-01 -3.89977586e-03 -2.00200471e-03 3.03153684e+02] [ 3.90005143e-03 9.99992386e-01 1.33761271e-04 -1.84454463e+01] [ 2.00146783e-03 -1.41567907e-04 9.99997987e-01 -4.22049339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.820371743 meters 0.041373789917505406 Centerline is valid? [True, True] Translation: X:303.21, Y:-18.45, Z:-4.22 [[ 9.99994831e-01 -2.53977109e-03 -1.97174919e-03 3.03214183e+02] [ 2.54003480e-03 9.99996766e-01 1.31247744e-04 -1.84497679e+01] [ 1.97140947e-03 -1.36255377e-04 9.99998047e-01 -4.22102886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.880371743 meters 0.0393702492496292 Centerline is valid? [True, True] Translation: X:303.27, Y:-18.45, Z:-4.22 [[ 9.99991817e-01 -3.14404589e-03 -2.54581785e-03 3.03275000e+02] [ 3.14448819e-03 9.99995042e-01 1.69754089e-04 -1.84516518e+01] [ 2.54527151e-03 -1.77757994e-04 9.99996745e-01 -4.22102044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.940371743 meters 0.04183405868207638 Centerline is valid? [True, True] Translation: X:303.33, Y:-18.46, Z:-4.22 [[ 9.99978369e-01 -5.40421159e-03 -3.74904701e-03 3.03334104e+02] [ 5.40518522e-03 9.99985361e-01 2.49618570e-04 -1.84608239e+01] [ 3.74764313e-03 -2.69877464e-04 9.99992941e-01 -4.22308425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.000371743 meters 0.04492709510100445 Centerline is valid? [True, True] Translation: X:303.39, Y:-18.47, Z:-4.23 [[ 9.99943192e-01 -9.09560926e-03 -5.55722278e-03 3.03393613e+02] [ 9.09780369e-03 9.99958546e-01 3.69727308e-04 -1.84714706e+01] [ 5.55362951e-03 -4.20264826e-04 9.99984490e-01 -4.22690555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.060371743 meters 0.04236642552323458 Centerline is valid? [True, True] Translation: X:303.46, Y:-18.47, Z:-4.23 [[ 9.99922875e-01 -1.11220138e-02 -5.52678955e-03 3.03455112e+02] [ 1.11242200e-02 9.99938056e-01 3.68598952e-04 -1.84743705e+01] [ 5.52234763e-03 -4.30051747e-04 9.99984659e-01 -4.22613804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.120371743 meters 0.04007100689272322 Centerline is valid? [True, True] Translation: X:303.52, Y:-18.48, Z:-4.22 [[ 9.99942252e-01 -9.80217435e-03 -4.40579137e-03 3.03517207e+02] [ 9.80356631e-03 9.99951901e-01 2.94454254e-04 -1.84752524e+01] [ 4.40269316e-03 -3.37629718e-04 9.99990251e-01 -4.22432762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.180371743 meters 0.03911695144030363 Centerline is valid? [True, True] Translation: X:303.58, Y:-18.48, Z:-4.22 [[ 9.99970527e-01 -6.90480934e-03 -3.35681788e-03 3.03577822e+02] [ 6.90560024e-03 9.99976131e-01 2.24076712e-04 -1.84778156e+01] [ 3.35519055e-03 -2.47250950e-04 9.99994341e-01 -4.22464348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.240371743 meters 0.03710423464850707 Centerline is valid? [True, True] Translation: X:303.64, Y:-18.48, Z:-4.23 [[ 9.99993375e-01 5.79490548e-04 -3.59374186e-03 3.03638320e+02] [-5.78632672e-04 9.99999804e-01 2.39748922e-04 -1.84773533e+01] [ 3.59388009e-03 -2.37667877e-04 9.99993514e-01 -4.22518256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.300371743 meters 0.0348356516883014 Centerline is valid? [True, True] Translation: X:303.70, Y:-18.48, Z:-4.22 [[ 9.99980047e-01 4.83016693e-03 -4.07115022e-03 3.03699401e+02] [-4.82910183e-03 9.99988303e-01 2.71412086e-04 -1.84756504e+01] [ 4.07241356e-03 -2.51746672e-04 9.99991676e-01 -4.22478244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36037174300003 meters 0.03443821574907679 Centerline is valid? [True, True] Translation: X:303.76, Y:-18.48, Z:-4.23 [[ 9.99937185e-01 1.03336528e-02 -4.34061383e-03 3.03759048e+02] [-1.03324952e-02 9.99946577e-01 2.89049266e-04 -1.84765286e+01] [ 4.34336887e-03 -2.44181738e-04 9.99990538e-01 -4.22725694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42037174300003 meters 0.03221040329421634 Centerline is valid? [True, True] Translation: X:303.82, Y:-18.47, Z:-4.23 [[ 9.99905030e-01 1.32004185e-02 -3.95976735e-03 3.03818782e+02] [-1.31994789e-02 9.99912848e-01 2.63312155e-04 -1.84749531e+01] [ 3.96289808e-03 -2.11020282e-04 9.99992125e-01 -4.22679853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.480371743 meters 0.0310357638530707 Centerline is valid? [True, True] Translation: X:303.88, Y:-18.47, Z:-4.23 [[ 9.99889889e-01 1.44467293e-02 -3.39152920e-03 3.03877966e+02] [-1.44460501e-02 9.99895625e-01 2.24693559e-04 -1.84743271e+01] [ 3.39442130e-03 -1.75674617e-04 9.99994224e-01 -4.22576389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.540371743 meters 0.032678106358868475 Centerline is valid? [True, True] Translation: X:303.94, Y:-18.48, Z:-4.23 [[ 9.99906413e-01 1.34482391e-02 -2.51211647e-03 3.03935854e+02] [-1.34478658e-02 9.99909560e-01 1.65426946e-04 -1.84808552e+01] [ 2.51411398e-03 -1.31628859e-04 9.99996831e-01 -4.22696704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.600371743 meters 0.03374318103973753 Centerline is valid? [True, True] Translation: X:303.99, Y:-18.49, Z:-4.23 [[ 9.99936943e-01 1.08925754e-02 -2.73161429e-03 3.03994913e+02] [-1.08921225e-02 9.99940663e-01 1.80613897e-04 -1.84857201e+01] [ 2.73341955e-03 -1.50849430e-04 9.99996253e-01 -4.22709919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.660371743 meters 0.03495262744313536 Centerline is valid? [True, True] Translation: X:304.05, Y:-18.49, Z:-4.23 [[ 9.99959546e-01 8.45951107e-03 -3.05676531e-03 3.04054365e+02] [-8.45893192e-03 9.99964202e-01 2.02343109e-04 -1.84927078e+01] [ 3.05836761e-03 -1.76477954e-04 9.99995308e-01 -4.22908242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.720371743 meters 0.03865193166597213 Centerline is valid? [True, True] Translation: X:304.11, Y:-18.50, Z:-4.23 [[ 9.99987106e-01 4.01351199e-03 -3.11106947e-03 3.04112871e+02] [-4.01289016e-03 9.99991927e-01 2.06093276e-04 -1.85033185e+01] [ 3.11187151e-03 -1.93606238e-04 9.99995139e-01 -4.23002196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.780371743 meters 0.03669263420181997 Centerline is valid? [True, True] Translation: X:304.17, Y:-18.51, Z:-4.23 [[ 9.99997939e-01 2.57427429e-04 -2.01374383e-03 3.04172774e+02] [-2.57159525e-04 9.99999958e-01 1.33295567e-04 -1.85056336e+01] [ 2.01377806e-03 -1.32777439e-04 9.99997964e-01 -4.22864722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.840371743 meters 0.03768623853430074 Centerline is valid? [True, True] Translation: X:304.23, Y:-18.51, Z:-4.23 [[ 9.99993877e-01 -2.98126445e-03 -1.83240022e-03 3.04232822e+02] [ 2.98149158e-03 9.99995548e-01 1.21234734e-04 -1.85123423e+01] [ 1.83203063e-03 -1.26697277e-04 9.99998314e-01 -4.22939679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.900371743 meters 0.037780814078860935 Centerline is valid? [True, True] Translation: X:304.29, Y:-18.52, Z:-4.23 [[ 9.99988545e-01 -4.31661889e-03 -2.06818503e-03 3.04293199e+02] [ 4.31691167e-03 9.99990673e-01 1.37120900e-04 -1.85154611e+01] [ 2.06757384e-03 -1.46047501e-04 9.99997852e-01 -4.22863706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.960371743 meters 0.037974831096495 Centerline is valid? [True, True] Translation: X:304.35, Y:-18.52, Z:-4.23 [[ 9.99988015e-01 -4.34618318e-03 -2.25393182e-03 3.04354404e+02] [ 4.34653232e-03 9.99990543e-01 1.50026348e-04 -1.85195209e+01] [ 2.25325846e-03 -1.59821337e-04 9.99997449e-01 -4.22971319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.020371743 meters 0.04324483811549478 Centerline is valid? [True, True] Translation: X:304.41, Y:-18.53, Z:-4.23 [[ 9.99986890e-01 -4.62649109e-03 -2.19446773e-03 3.04414474e+02] [ 4.62682291e-03 9.99989286e-01 1.46156378e-04 -1.85310306e+01] [ 2.19376803e-03 -1.56307875e-04 9.99997581e-01 -4.23178976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.080371743 meters 0.03902470636781043 Centerline is valid? [True, True] Translation: X:304.48, Y:-18.53, Z:-4.23 [[ 9.99989298e-01 -4.08226728e-03 -2.17674904e-03 3.04475879e+02] [ 4.08259203e-03 9.99991656e-01 1.44765724e-04 -1.85269410e+01] [ 2.17613991e-03 -1.53650953e-04 9.99997620e-01 -4.23038838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.140371743 meters 0.039482303046877325 Centerline is valid? [True, True] Translation: X:304.54, Y:-18.53, Z:-4.23 [[ 9.99990762e-01 -3.50980906e-03 -2.48136481e-03 3.04537367e+02] [ 3.51023005e-03 9.99993825e-01 1.65323246e-04 -1.85315454e+01] [ 2.48076924e-03 -1.74031880e-04 9.99996908e-01 -4.23201943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.200371743 meters 0.03976425973878842 Centerline is valid? [True, True] Translation: X:304.60, Y:-18.53, Z:-4.23 [[ 9.99990531e-01 -2.91216596e-03 -3.23374886e-03 3.04597462e+02] [ 2.91287575e-03 9.99995735e-01 2.14804188e-04 -1.85347470e+01] [ 3.23310952e-03 -2.24221663e-04 9.99994748e-01 -4.23327546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.260371743 meters 0.040070190571103795 Centerline is valid? [True, True] Translation: X:304.66, Y:-18.54, Z:-4.23 [[ 9.99991997e-01 -7.54522702e-04 -3.92894709e-03 3.04657563e+02] [ 7.55552675e-04 9.99999681e-01 2.60672060e-04 -1.85359200e+01] [ 3.92874915e-03 -2.63638500e-04 9.99992248e-01 -4.23272172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.320371743 meters 0.0393524263321283 Centerline is valid? [True, True] Translation: X:304.72, Y:-18.54, Z:-4.23 [[ 9.99989143e-01 2.32229609e-03 -4.03998100e-03 3.04717513e+02] [-2.32123233e-03 9.99997270e-01 2.67978557e-04 -1.85359835e+01] [ 4.04059230e-03 -2.58597913e-04 9.99991803e-01 -4.23246898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.380371743 meters 0.03464204482482233 Centerline is valid? [True, True] Translation: X:304.78, Y:-18.53, Z:-4.23 [[ 9.99972645e-01 6.37091149e-03 -3.75766567e-03 3.04778739e+02] [-6.37001939e-03 9.99979680e-01 2.49329773e-04 -1.85303692e+01] [ 3.75917778e-03 -2.25386550e-04 9.99992909e-01 -4.23076433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.440371743 meters 0.03407187459751894 Centerline is valid? [True, True] Translation: X:304.84, Y:-18.53, Z:-4.23 [[ 9.99943128e-01 1.00011974e-02 -3.70349827e-03 3.04839313e+02] [-1.00003564e-02 9.99949965e-01 2.45537488e-04 -1.85310644e+01] [ 3.70576864e-03 -2.08487221e-04 9.99993112e-01 -4.23108118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.500371743 meters 0.03266476537972088 Centerline is valid? [True, True] Translation: X:304.90, Y:-18.53, Z:-4.23 [[ 9.99872079e-01 1.55495090e-02 -3.74673803e-03 3.04898478e+02] [-1.55486875e-02 9.99879081e-01 2.48285835e-04 -1.85308285e+01] [ 3.75014570e-03 -1.89997215e-04 9.99992950e-01 -4.23136419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.560371743 meters 0.03266874733780381 Centerline is valid? [True, True] Translation: X:304.96, Y:-18.53, Z:-4.23 [[ 9.99794028e-01 1.98177962e-02 -4.37687910e-03 3.04957674e+02] [-1.98167172e-02 9.99803588e-01 2.89754226e-04 -1.85345643e+01] [ 4.38176171e-03 -2.02959169e-04 9.99990379e-01 -4.23315849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.620371743 meters 0.03101921157933758 Centerline is valid? [True, True] Translation: X:305.02, Y:-18.54, Z:-4.23 [[ 9.99742664e-01 2.22839793e-02 -4.24621673e-03 3.05017220e+02] [-2.22829867e-02 9.99751664e-01 2.80952834e-04 -1.85358323e+01] [ 4.25142299e-03 -1.86262144e-04 9.99990945e-01 -4.23349541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.680371743 meters 0.0312471709588831 Centerline is valid? [True, True] Translation: X:305.07, Y:-18.54, Z:-4.24 [[ 9.99673286e-01 2.49739923e-02 -5.44247374e-03 3.05074544e+02] [-2.49724068e-02 9.99688076e-01 3.59095014e-04 -1.85398466e+01] [ 5.44974414e-03 -2.23066024e-04 9.99985125e-01 -4.23528850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.740371743 meters 0.030343939000321365 Centerline is valid? [True, True] Translation: X:305.13, Y:-18.54, Z:-4.24 [[ 9.99594069e-01 2.76818552e-02 -6.73883447e-03 3.05133505e+02] [-2.76794854e-02 9.99616751e-01 4.44695275e-04 -1.85435425e+01] [ 6.74856181e-03 -2.57987289e-04 9.99977195e-01 -4.23707292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.800371743 meters 0.03104498500311116 Centerline is valid? [True, True] Translation: X:305.19, Y:-18.55, Z:-4.24 [[ 9.99503207e-01 3.06499641e-02 -7.34293107e-03 3.05191278e+02] [-3.06472331e-02 9.99530146e-01 4.84180592e-04 -1.85502424e+01] [ 7.35432109e-03 -2.58899534e-04 9.99972923e-01 -4.23932213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86037174300003 meters 0.027266165934745467 Centerline is valid? [True, True] Translation: X:305.25, Y:-18.55, Z:-4.24 [[ 9.99426952e-01 3.31374409e-02 -6.90482876e-03 3.05250256e+02] [-3.31350895e-02 9.99450779e-01 4.54703619e-04 -1.85479384e+01] [ 6.91610419e-03 -2.25650933e-04 9.99976058e-01 -4.23561428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92037174300003 meters 0.029169004178744597 Centerline is valid? [True, True] Translation: X:305.31, Y:-18.56, Z:-4.24 [[ 9.99274819e-01 3.73123006e-02 -7.59127060e-03 3.05308225e+02] [-3.73095776e-02 9.99303630e-01 5.00049844e-04 -1.85575840e+01] [ 7.60464228e-03 -2.16460118e-04 9.99971061e-01 -4.24025456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.980371743 meters 0.027710195674525213 Centerline is valid? [True, True] Translation: X:305.37, Y:-18.56, Z:-4.24 [[ 9.99242532e-01 3.80892071e-02 -7.97337258e-03 3.05366880e+02] [-3.80862345e-02 9.99274319e-01 5.24374207e-04 -1.85587360e+01] [ 7.98755945e-03 -2.20301272e-04 9.99968075e-01 -4.23940417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.040371743 meters 0.03209612565209334 Centerline is valid? [True, True] Translation: X:305.43, Y:-18.57, Z:-4.25 [[ 9.99438021e-01 3.22591061e-02 -9.11002827e-03 3.05425456e+02] [-3.22549772e-02 9.99479493e-01 5.99822824e-04 -1.85667204e+01] [ 9.12463618e-03 -3.05641981e-04 9.99958323e-01 -4.24648990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.100371743 meters 0.03375779898560936 Centerline is valid? [True, True] Translation: X:305.48, Y:-18.58, Z:-4.25 [[ 9.99527867e-01 2.91213884e-02 -9.79733452e-03 3.05483116e+02] [-2.91164752e-02 9.99575818e-01 6.43774566e-04 -1.85769435e+01] [ 9.81192628e-03 -3.58206771e-04 9.99951798e-01 -4.24879364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.160371743 meters 0.03671390823413248 Centerline is valid? [True, True] Translation: X:305.54, Y:-18.59, Z:-4.25 [[ 9.99698682e-01 2.24260282e-02 -9.98088231e-03 3.05542437e+02] [-2.24205868e-02 9.99748411e-01 6.56748407e-04 -1.85920370e+01] [ 9.99309950e-03 -4.32773279e-04 9.99949974e-01 -4.24987061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.220371743 meters 0.04227059512932643 Centerline is valid? [True, True] Translation: X:305.60, Y:-18.61, Z:-4.25 [[ 9.99856159e-01 1.46162587e-02 -8.60381377e-03 3.05600209e+02] [-1.46119230e-02 9.99893080e-01 5.66578238e-04 -1.86122259e+01] [ 8.61117510e-03 -4.40778477e-04 9.99962826e-01 -4.25117420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.280371743 meters 0.03936829648918693 Centerline is valid? [True, True] Translation: X:305.66, Y:-18.62, Z:-4.25 [[ 9.99920867e-01 8.74958420e-03 -9.03910851e-03 3.05660716e+02] [-8.74456211e-03 9.99961589e-01 5.94968943e-04 -1.86150195e+01] [ 9.04396704e-03 -5.15878815e-04 9.99958969e-01 -4.24752770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.340371743 meters 0.04342609627081009 Centerline is valid? [True, True] Translation: X:305.72, Y:-18.63, Z:-4.25 [[ 9.99961819e-01 -1.19753541e-04 -8.73763668e-03 3.05719995e+02] [ 1.24783139e-04 9.99999827e-01 5.75081568e-04 -1.86301073e+01] [ 8.73756630e-03 -5.76149921e-04 9.99961661e-01 -4.24747681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.400371743 meters 0.04270193769166927 Centerline is valid? [True, True] Translation: X:305.78, Y:-18.64, Z:-4.25 [[ 9.99923386e-01 -8.45052847e-03 -9.04494260e-03 3.05779614e+02] [ 8.45625730e-03 9.99964068e-01 5.95316752e-04 -1.86379698e+01] [ 9.03958685e-03 -6.71757505e-04 9.99958916e-01 -4.24604874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.460371743 meters 0.04766612350991306 Centerline is valid? [True, True] Translation: X:305.84, Y:-18.65, Z:-4.25 [[ 9.99827459e-01 -1.55282532e-02 -1.01943781e-02 3.05837996e+02] [ 1.55358923e-02 9.99879086e-01 6.70582857e-04 -1.86510377e+01] [ 1.01827325e-02 -8.28845915e-04 9.99947811e-01 -4.24719586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.520371743 meters 0.05004970019234931 Centerline is valid? [True, True] Translation: X:305.90, Y:-18.66, Z:-4.25 [[ 9.99724103e-01 -2.10255006e-02 -1.04712427e-02 3.05898117e+02] [ 2.10338632e-02 9.99778526e-01 6.89120773e-04 -1.86615188e+01] [ 1.04544345e-02 -9.09181332e-04 9.99944938e-01 -4.24820206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.580371743 meters 0.05349876672023811 Centerline is valid? [True, True] Translation: X:305.96, Y:-18.67, Z:-4.25 [[ 9.99682965e-01 -2.30660781e-02 -1.00958127e-02 3.05957600e+02] [ 2.30739544e-02 9.99733540e-01 6.64364099e-04 -1.86718410e+01] [ 1.00777983e-02 -8.97103795e-04 9.99948815e-01 -4.25048714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.640371743 meters 0.053734167649911305 Centerline is valid? [True, True] Translation: X:306.02, Y:-18.67, Z:-4.25 [[ 9.99670833e-01 -2.35884106e-02 -1.00902124e-02 3.06019697e+02] [ 2.35963215e-02 9.99721346e-01 6.65667623e-04 -1.86746020e+01] [ 1.00716987e-02 -9.03540403e-04 9.99948871e-01 -4.24954493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.700371743 meters 0.05468215458329991 Centerline is valid? [True, True] Translation: X:306.08, Y:-18.68, Z:-4.25 [[ 9.99742599e-01 -2.10534252e-02 -8.45514350e-03 3.06079090e+02] [ 2.10588803e-02 9.99778082e-01 5.56652110e-04 -1.86787254e+01] [ 8.44154772e-03 -7.34564682e-04 9.99964100e-01 -4.24873200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.760371743 meters 0.054556270361495525 Centerline is valid? [True, True] Translation: X:306.14, Y:-18.68, Z:-4.25 [[ 9.99777659e-01 -1.95722815e-02 -7.84594263e-03 3.06140368e+02] [ 1.95769408e-02 9.99808219e-01 5.17480443e-04 -1.86818888e+01] [ 7.83430966e-03 -6.70964940e-04 9.99969086e-01 -4.24939353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.820371743 meters 0.046441774324287234 Centerline is valid? [True, True] Translation: X:306.20, Y:-18.67, Z:-4.25 [[ 9.99837067e-01 -1.59947784e-02 -8.36700207e-03 3.06201921e+02] [ 1.59999488e-02 9.99871841e-01 5.51374543e-04 -1.86713540e+01] [ 8.35711064e-03 -6.85156310e-04 9.99964844e-01 -4.24722148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.880371743 meters 0.044918664872546823 Centerline is valid? [True, True] Translation: X:306.26, Y:-18.67, Z:-4.25 [[ 9.99926121e-01 -9.27272599e-03 -7.85936860e-03 3.06262656e+02] [ 9.27708204e-03 9.99956833e-01 5.17972237e-04 -1.86690079e+01] [ 7.85422632e-03 -5.90845977e-04 9.99968981e-01 -4.24774641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.940371743 meters 0.04391140325747537 Centerline is valid? [True, True] Translation: X:306.32, Y:-18.67, Z:-4.25 [[ 9.99971770e-01 -1.56068729e-03 -7.35009548e-03 3.06322536e+02] [ 1.56428670e-03 9.99998659e-01 4.83986175e-04 -1.86657728e+01] [ 7.34933028e-03 -4.95470168e-04 9.99972871e-01 -4.24932743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.000371743 meters 0.038511322592360356 Centerline is valid? [True, True] Translation: X:306.38, Y:-18.66, Z:-4.25 [[ 9.99974659e-01 3.02313461e-03 -6.44532527e-03 3.06383891e+02] [-3.02046039e-03 9.99995348e-01 4.24602247e-04 -1.86576598e+01] [ 6.44657891e-03 -4.05123637e-04 9.99979139e-01 -4.24674436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.060371743 meters 0.037473859491923035 Centerline is valid? [True, True] Translation: X:306.44, Y:-18.65, Z:-4.25 [[ 9.99957317e-01 7.79783856e-03 -4.95563689e-03 3.06444984e+02] [-7.79631634e-03 9.99969555e-01 3.26414827e-04 -1.86545729e+01] [ 4.95803135e-03 -2.87765182e-04 9.99987667e-01 -4.24658001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.120371743 meters 0.03663366970092792 Centerline is valid? [True, True] Translation: X:306.50, Y:-18.65, Z:-4.25 [[ 9.99929901e-01 1.09007047e-02 -4.62247247e-03 3.06504982e+02] [-1.08994167e-02 9.99940553e-01 3.03758432e-04 -1.86548873e+01] [ 4.62550886e-03 -2.53354886e-04 9.99989270e-01 -4.24715870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.180371743 meters 0.03647447148504153 Centerline is valid? [True, True] Translation: X:306.56, Y:-18.65, Z:-4.25 [[ 9.99893809e-01 1.34064157e-02 -5.71296156e-03 3.06564175e+02] [-1.34044929e-02 9.99910086e-01 3.74731392e-04 -1.86545359e+01] [ 5.71747169e-03 -2.98112246e-04 9.99983611e-01 -4.24774835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.240371743 meters 0.03789818210621272 Centerline is valid? [True, True] Translation: X:306.62, Y:-18.66, Z:-4.25 [[ 9.99847414e-01 1.61334479e-02 -6.69781655e-03 3.06622641e+02] [-1.61308655e-02 9.99869793e-01 4.39402041e-04 -1.86576752e+01] [ 6.70403351e-03 -3.31293417e-04 9.99977473e-01 -4.24963700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.300371743 meters 0.03467842492637601 Centerline is valid? [True, True] Translation: X:306.68, Y:-18.65, Z:-4.25 [[ 9.99820992e-01 1.81699017e-02 -5.27616480e-03 3.06682817e+02] [-1.81683281e-02 9.99834882e-01 3.46029227e-04 -1.86533918e+01] [ 5.28158093e-03 -2.50108192e-04 9.99986021e-01 -4.24782365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36037174300003 meters 0.03339475324787162 Centerline is valid? [True, True] Translation: X:306.74, Y:-18.65, Z:-4.25 [[ 9.99800629e-01 1.93756064e-02 -4.82584313e-03 3.06741567e+02] [-1.93743083e-02 9.99812251e-01 3.15602386e-04 -1.86543339e+01] [ 4.83105207e-03 -2.22042091e-04 9.99988306e-01 -4.24729440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42037174300003 meters 0.0327724180297951 Centerline is valid? [True, True] Translation: X:306.80, Y:-18.66, Z:-4.25 [[ 9.99812568e-01 1.89306505e-02 -4.05693047e-03 3.06799879e+02] [-1.89297313e-02 9.99820782e-01 2.64860626e-04 -1.86569564e+01] [ 4.06121738e-03 -1.88014379e-04 9.99991736e-01 -4.24739996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.480371743 meters 0.05735466279802813 Centerline is valid? [True, True] Translation: X:306.86, Y:-18.70, Z:-4.26 [[ 9.99767784e-01 2.14443421e-02 -2.12559916e-03 3.06856226e+02] [-2.14440955e-02 9.99770039e-01 1.38728331e-04 -1.87014756e+01] [ 2.12808529e-03 -9.31145648e-05 9.99997731e-01 -4.26257250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.540371743 meters 0.0347252312456823 Centerline is valid? [True, True] Translation: X:306.92, Y:-18.67, Z:-4.25 [[ 9.99844117e-01 1.70629470e-02 -4.53841450e-03 3.06919142e+02] [-1.70617742e-02 9.99854393e-01 2.97029842e-04 -1.86669609e+01] [ 4.54282189e-03 -2.19550137e-04 9.99989657e-01 -4.25146895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.600371743 meters 0.03421737753238809 Centerline is valid? [True, True] Translation: X:306.98, Y:-18.67, Z:-4.25 [[ 9.99751382e-01 2.14906903e-02 -5.94347486e-03 3.06978908e+02] [-2.14887596e-02 9.99769014e-01 3.88511537e-04 -1.86680518e+01] [ 5.95045138e-03 -2.60697043e-04 9.99982262e-01 -4.25332704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.660371743 meters 0.031115782877454527 Centerline is valid? [True, True] Translation: X:307.04, Y:-18.67, Z:-4.25 [[ 9.99481520e-01 3.18223592e-02 -4.90199556e-03 3.07038977e+02] [-3.18211707e-02 9.99493527e-01 3.20257969e-04 -1.86658011e+01] [ 4.90970420e-03 -1.64104684e-04 9.99987934e-01 -4.25302476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.720371743 meters 0.029464956900029995 Centerline is valid? [True, True] Translation: X:307.10, Y:-18.67, Z:-4.25 [[ 9.99164917e-01 4.08590157e-02 1.00187285e-04 3.07099938e+02] [-4.08590153e-02 9.99164922e-01 -6.38349288e-06 -1.86662849e+01] [-1.00364444e-04 2.28460835e-06 9.99999995e-01 -4.24996480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.780371743 meters 0.028330364746150673 Centerline is valid? [True, True] Translation: X:307.16, Y:-18.67, Z:-4.25 [[ 9.98906851e-01 4.66496363e-02 2.98561188e-03 3.07159465e+02] [-4.66492595e-02 9.98911312e-01 -1.95749387e-04 -1.86691569e+01] [-2.99149311e-03 5.62588209e-05 9.99995524e-01 -4.25130404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.840371743 meters 0.02862496449294901 Centerline is valid? [True, True] Translation: X:307.22, Y:-18.67, Z:-4.25 [[ 9.98808978e-01 4.86478511e-02 3.74319317e-03 3.07216795e+02] [-4.86472719e-02 9.98815990e-01 -2.45693257e-04 -1.86747526e+01] [-3.75071364e-03 6.33044956e-05 9.99992964e-01 -4.25454833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.900371743 meters 0.028096593719911522 Centerline is valid? [True, True] Translation: X:307.28, Y:-18.68, Z:-4.26 [[ 9.98784869e-01 4.89364831e-02 5.83145643e-03 3.07275375e+02] [-4.89350900e-02 9.98801888e-01 -3.81423113e-04 -1.86826543e+01] [-5.84313519e-03 9.55967886e-05 9.99982924e-01 -4.25551265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.960371743 meters 0.02823202725461036 Centerline is valid? [True, True] Translation: X:307.33, Y:-18.70, Z:-4.26 [[ 9.98972239e-01 4.47888838e-02 6.95856327e-03 3.07332684e+02] [-4.47868034e-02 9.98996464e-01 -4.54583993e-04 -1.86978515e+01] [-6.97194042e-03 1.42464984e-04 9.99975686e-01 -4.25769989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.020371743 meters 0.030146204960873245 Centerline is valid? [True, True] Translation: X:307.39, Y:-18.71, Z:-4.26 [[ 9.99292504e-01 3.70809864e-02 6.28433538e-03 3.07391710e+02] [-3.70791434e-02 9.99312248e-01 -4.09569394e-04 -1.87146943e+01] [-6.29520055e-03 1.76261852e-04 9.99980169e-01 -4.26108904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.080371743 meters 0.032772621953444596 Centerline is valid? [True, True] Translation: X:307.45, Y:-18.73, Z:-4.26 [[ 9.99495021e-01 3.12012393e-02 6.01551390e-03 3.07450086e+02] [-3.11994440e-02 9.99513102e-01 -3.92089915e-04 -1.87307277e+01] [-6.02481865e-03 2.04211229e-04 9.99981830e-01 -4.26344962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.140371743 meters 0.03273255589690308 Centerline is valid? [True, True] Translation: X:307.51, Y:-18.74, Z:-4.26 [[ 9.99721536e-01 2.22494604e-02 7.86206435e-03 3.07509936e+02] [-2.22461220e-02 9.99752393e-01 -5.11824529e-04 -1.87430967e+01] [-7.87150547e-03 3.36781562e-04 9.99968963e-01 -4.26153380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.200371743 meters 0.036174405244715525 Centerline is valid? [True, True] Translation: X:307.57, Y:-18.76, Z:-4.26 [[ 9.99829372e-01 1.65984025e-02 8.10677850e-03 3.07568956e+02] [-1.65946674e-02 9.99862160e-01 -5.27792877e-04 -1.87583418e+01] [-8.11442158e-03 3.93173527e-04 9.99967000e-01 -4.26200236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.260371743 meters 0.03514691443748393 Centerline is valid? [True, True] Translation: X:307.63, Y:-18.77, Z:-4.26 [[ 9.99900214e-01 1.10777409e-02 8.76619099e-03 3.07628944e+02] [-1.10731622e-02 9.99938528e-01 -5.70675709e-04 -1.87674214e+01] [-8.77197391e-03 4.73549308e-04 9.99961413e-01 -4.26236659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.320371743 meters 0.036335757185146686 Centerline is valid? [True, True] Translation: X:307.69, Y:-18.78, Z:-4.26 [[ 9.99924757e-01 9.16187503e-03 8.15717806e-03 3.07688767e+02] [-9.15784748e-03 9.99957925e-01 -5.30958773e-04 -1.87797637e+01] [-8.16169942e-03 4.56216630e-04 9.99966589e-01 -4.26429647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.380371743 meters 0.03838109671683915 Centerline is valid? [True, True] Translation: X:307.75, Y:-18.79, Z:-4.27 [[ 9.99905674e-01 1.12752654e-02 7.84287717e-03 3.07748656e+02] [-1.12716079e-02 9.99936343e-01 -5.10389928e-04 -1.87905798e+01] [-7.84813270e-03 4.21939949e-04 9.99969114e-01 -4.26629432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.440371743 meters 0.03773443923358887 Centerline is valid? [True, True] Translation: X:307.81, Y:-18.80, Z:-4.27 [[ 9.99882588e-01 1.31751325e-02 7.82475139e-03 3.07808665e+02] [-1.31715461e-02 9.99913122e-01 -5.09706672e-04 -1.87955743e+01] [-7.83078704e-03 4.06582752e-04 9.99969256e-01 -4.26750651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.500371743 meters 0.03744301602335086 Centerline is valid? [True, True] Translation: X:307.87, Y:-18.80, Z:-4.27 [[ 9.99849801e-01 1.57303757e-02 7.27535151e-03 3.07868194e+02] [-1.57273448e-02 9.99876205e-01 -4.73628029e-04 -1.88012054e+01] [-7.28190120e-03 3.59134929e-04 9.99973422e-01 -4.26978583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.560371743 meters 0.03535850584552489 Centerline is valid? [True, True] Translation: X:307.93, Y:-18.80, Z:-4.27 [[ 9.99826246e-01 1.69727933e-02 7.70721225e-03 3.07927059e+02] [-1.69694291e-02 9.99855883e-01 -5.01680190e-04 -1.88022777e+01] [-7.71461643e-03 3.70806030e-04 9.99970173e-01 -4.26905513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.620371743 meters 0.03427929589772022 Centerline is valid? [True, True] Translation: X:307.99, Y:-18.81, Z:-4.27 [[ 9.99808943e-01 1.78988724e-02 7.85541981e-03 3.07986177e+02] [-1.78954114e-02 9.99839734e-01 -5.10661964e-04 -1.88056502e+01] [-7.86330112e-03 3.69988429e-04 9.99969015e-01 -4.26985116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.680371743 meters 0.03210602249696868 Centerline is valid? [True, True] Translation: X:308.05, Y:-18.80, Z:-4.27 [[ 9.99785623e-01 1.91150497e-02 7.95752509e-03 3.08045407e+02] [-1.91115390e-02 9.99817224e-01 -5.16996119e-04 -1.88045855e+01] [-7.96595306e-03 3.64804736e-04 9.99968205e-01 -4.26910579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.740371743 meters 0.03262853924786502 Centerline is valid? [True, True] Translation: X:308.10, Y:-18.81, Z:-4.27 [[ 9.99753334e-01 2.07845169e-02 7.82782050e-03 3.08103533e+02] [-2.07811752e-02 9.99783919e-01 -5.08007922e-04 -1.88088375e+01] [-7.83668775e-03 3.45211305e-04 9.99969233e-01 -4.26973341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.800371743 meters 0.03228157725683428 Centerline is valid? [True, True] Translation: X:308.16, Y:-18.81, Z:-4.27 [[ 9.99730301e-01 2.20411201e-02 7.31528823e-03 3.08162185e+02] [-2.20382386e-02 9.99757016e-01 -4.74286665e-04 -1.88114811e+01] [-7.32396454e-03 3.12942683e-04 9.99973130e-01 -4.27121619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86037174300003 meters 0.032247822904780635 Centerline is valid? [True, True] Translation: X:308.22, Y:-18.82, Z:-4.27 [[ 9.99769060e-01 1.99974754e-02 7.86942282e-03 3.08220739e+02] [-1.99940826e-02 9.99799968e-01 -5.09574229e-04 -1.88161336e+01] [-7.87803888e-03 3.52114658e-04 9.99968906e-01 -4.27127144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92037174300003 meters 0.03298514672455855 Centerline is valid? [True, True] Translation: X:308.28, Y:-18.82, Z:-4.27 [[ 9.99836222e-01 1.55893051e-02 9.19255183e-03 3.08280954e+02] [-1.55844996e-02 9.99878378e-01 -5.94167007e-04 -1.88209997e+01] [-9.20069647e-03 4.50808375e-04 9.99957571e-01 -4.27058608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.980371743 meters 0.03456186246824217 Centerline is valid? [True, True] Translation: X:308.34, Y:-18.83, Z:-4.27 [[ 9.99874006e-01 1.33933031e-02 8.52006113e-03 3.08340660e+02] [-1.33890958e-02 9.99910210e-01 -5.50661353e-04 -1.88269144e+01] [-8.52667129e-03 4.36516058e-04 9.99963552e-01 -4.27177445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.040371743 meters 0.03718069354453296 Centerline is valid? [True, True] Translation: X:308.40, Y:-18.84, Z:-4.28 [[ 9.99957237e-01 6.93731820e-03 6.11541448e-03 3.08400181e+02] [-6.93503176e-03 9.99975874e-01 -3.95006406e-04 -1.88362757e+01] [-6.11800723e-03 3.52578920e-04 9.99981223e-01 -4.27528672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.100371743 meters 0.039482385064653985 Centerline is valid? [True, True] Translation: X:308.46, Y:-18.84, Z:-4.28 [[ 9.99989328e-01 8.04448276e-04 4.54947622e-03 3.08460802e+02] [-8.03122424e-04 9.99999635e-01 -2.93249096e-04 -1.88420586e+01] [-4.54971047e-03 2.89592180e-04 9.99989608e-01 -4.27688660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.160371743 meters 0.040200259405977636 Centerline is valid? [True, True] Translation: X:308.52, Y:-18.85, Z:-4.28 [[ 9.99989150e-01 -1.26369430e-03 4.48366487e-03 3.08521935e+02] [ 1.26500419e-03 9.99999158e-01 -2.89321633e-04 -1.88453473e+01] [-4.48329548e-03 2.94990348e-04 9.99989906e-01 -4.27680501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.220371743 meters 0.03962299948304144 Centerline is valid? [True, True] Translation: X:308.58, Y:-18.84, Z:-4.28 [[ 9.99984402e-01 -2.73277445e-04 5.57867470e-03 3.08584095e+02] [ 2.75290851e-04 9.99999897e-01 -3.60146558e-04 -1.88437420e+01] [-5.57857571e-03 3.61676698e-04 9.99984374e-01 -4.27555087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.280371743 meters 0.03793451521949858 Centerline is valid? [True, True] Translation: X:308.64, Y:-18.84, Z:-4.28 [[ 9.99951808e-01 7.06515577e-03 6.81647585e-03 3.08644249e+02] [-7.06231320e-03 9.99974964e-01 -4.40995267e-04 -1.88413566e+01] [-6.81942090e-03 3.92833927e-04 9.99976670e-01 -4.27508967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.340371743 meters 0.03339380739786931 Centerline is valid? [True, True] Translation: X:308.71, Y:-18.83, Z:-4.28 [[ 9.99835640e-01 1.69755695e-02 6.36584567e-03 3.08705549e+02] [-1.69732903e-02 9.99855858e-01 -4.11902387e-04 -1.88317035e+01] [-6.37192036e-03 3.03785340e-04 9.99979653e-01 -4.27520007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.400371743 meters 0.031268865231757995 Centerline is valid? [True, True] Translation: X:308.77, Y:-18.83, Z:-4.28 [[ 9.99706203e-01 2.36109545e-02 5.48008274e-03 3.08766538e+02] [-2.36093654e-02 9.99721197e-01 -3.54497929e-04 -1.88277048e+01] [-5.48692492e-03 2.25012503e-04 9.99984921e-01 -4.27708378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.460371743 meters 0.030156899828371966 Centerline is valid? [True, True] Translation: X:308.83, Y:-18.82, Z:-4.28 [[ 9.99403021e-01 3.42772941e-02 4.32062216e-03 3.08825716e+02] [-3.42764041e-02 9.99412352e-01 -2.79883312e-04 -1.88248986e+01] [-4.32767680e-03 1.31620836e-04 9.99990627e-01 -4.28002003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.520371743 meters 0.02818024527643726 Centerline is valid? [True, True] Translation: X:308.89, Y:-18.82, Z:-4.28 [[ 9.99027594e-01 4.38965422e-02 4.11837240e-03 3.08886308e+02] [-4.38958177e-02 9.99036079e-01 -2.66209266e-04 -1.88184003e+01] [-4.12608828e-03 8.51710782e-05 9.99991484e-01 -4.28046541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.580371743 meters 0.027451035965493094 Centerline is valid? [True, True] Translation: X:308.95, Y:-18.82, Z:-4.28 [[ 9.98736630e-01 5.00438770e-02 4.55575344e-03 3.08945264e+02] [-5.00430515e-02 9.98747018e-01 -2.95086078e-04 -1.88177002e+01] [-4.56481242e-03 6.67294708e-05 9.99989579e-01 -4.28095851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.640371743 meters 0.027305635203178857 Centerline is valid? [True, True] Translation: X:309.00, Y:-18.82, Z:-4.28 [[ 9.98385720e-01 5.65086604e-02 5.72069798e-03 3.09004642e+02] [-5.65074663e-02 9.98402108e-01 -3.70283691e-04 -1.88188231e+01] [-5.73248116e-03 4.64238006e-05 9.99983568e-01 -4.28129708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.700371743 meters 0.026938087216569144 Centerline is valid? [True, True] Translation: X:309.06, Y:-18.82, Z:-4.28 [[ 9.98318330e-01 5.75915119e-02 6.61282099e-03 3.09063233e+02] [-5.75899494e-02 9.98340230e-01 -4.26627667e-04 -1.88248663e+01] [-6.62641537e-03 4.50781939e-05 9.99978044e-01 -4.28124027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.760371743 meters 0.027163434551379078 Centerline is valid? [True, True] Translation: X:309.12, Y:-18.84, Z:-4.28 [[ 9.98472268e-01 5.48278195e-02 6.85852144e-03 3.09121695e+02] [-5.48260771e-02 9.98495822e-01 -4.41951908e-04 -1.88382570e+01] [-6.87243626e-03 6.52508985e-05 9.99976382e-01 -4.28336279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.820371743 meters 0.02736107338618507 Centerline is valid? [True, True] Translation: X:309.18, Y:-18.85, Z:-4.29 [[ 9.98715972e-01 5.02321101e-02 6.56833042e-03 3.09178382e+02] [-5.02304145e-02 9.98737566e-01 -4.22954376e-04 -1.88543206e+01] [-6.58128423e-03 9.24813312e-05 9.99978339e-01 -4.28545039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.880371743 meters 0.027824168373282058 Centerline is valid? [True, True] Translation: X:309.24, Y:-18.87, Z:-4.29 [[ 9.99023950e-01 4.38032995e-02 5.69368720e-03 3.09236709e+02] [-4.38019245e-02 9.99040168e-01 -3.66021334e-04 -1.88703670e+01] [-5.70425516e-03 1.16269621e-04 9.99983724e-01 -4.28609161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.940371743 meters 0.029226014944210996 Centerline is valid? [True, True] Translation: X:309.29, Y:-18.89, Z:-4.29 [[ 9.99281079e-01 3.74216132e-02 6.07849742e-03 3.09294814e+02] [-3.74199304e-02 9.99299553e-01 -3.90384031e-04 -1.88884994e+01] [-6.08884856e-03 1.62646425e-04 9.99981450e-01 -4.28717534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.000371743 meters 0.030950989970114983 Centerline is valid? [True, True] Translation: X:309.35, Y:-18.90, Z:-4.29 [[ 9.99420159e-01 3.32732165e-02 7.22764692e-03 3.09352656e+02] [-3.32707326e-02 9.99446268e-01 -4.63664195e-04 -1.89032379e+01] [-7.23907234e-03 2.22926236e-04 9.99973773e-01 -4.28811360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.060371743 meters 0.03274821708406367 Centerline is valid? [True, True] Translation: X:309.41, Y:-18.92, Z:-4.29 [[ 9.99594985e-01 2.72654482e-02 8.15232050e-03 3.09411822e+02] [-2.72620943e-02 9.99628184e-01 -5.22267415e-04 -1.89204907e+01] [-8.16352919e-03 2.99806559e-04 9.99966633e-01 -4.28829007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.120371743 meters 0.03305181319759362 Centerline is valid? [True, True] Translation: X:309.47, Y:-18.93, Z:-4.29 [[ 9.99668075e-01 2.42020791e-02 8.83172408e-03 3.09470913e+02] [-2.41980242e-02 9.99707025e-01 -5.65713335e-04 -1.89312326e+01] [-8.84282804e-03 3.51815288e-04 9.99960840e-01 -4.28802499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.180371743 meters 0.033387429802223596 Centerline is valid? [True, True] Translation: X:309.53, Y:-18.94, Z:-4.29 [[ 9.99731649e-01 2.14791365e-02 8.67618819e-03 3.09529598e+02] [-2.14751225e-02 9.99769229e-01 -5.55553507e-04 -1.89438496e+01] [-8.68611878e-03 3.69082220e-04 9.99962207e-01 -4.28940682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.240371743 meters 0.035316808625017224 Centerline is valid? [True, True] Translation: X:309.59, Y:-18.96, Z:-4.29 [[ 9.99743048e-01 2.10191909e-02 8.48714609e-03 3.09586957e+02] [-2.10153363e-02 9.99779006e-01 -5.43107567e-04 -1.89581662e+01] [-8.49668616e-03 3.64607785e-04 9.99963836e-01 -4.29147066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.300371743 meters 0.03575688335932684 Centerline is valid? [True, True] Translation: X:309.65, Y:-18.97, Z:-4.29 [[ 9.99743397e-01 2.07034045e-02 9.19290370e-03 3.09645636e+02] [-2.06988756e-02 9.99785583e-01 -5.87540483e-04 -1.89668774e+01] [-9.20309667e-03 3.97106948e-04 9.99957572e-01 -4.29205781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36037174300003 meters 0.0341307942161815 Centerline is valid? [True, True] Translation: X:309.70, Y:-18.97, Z:-4.29 [[ 9.99775168e-01 1.91153008e-02 9.17705696e-03 3.09704681e+02] [-1.91107277e-02 9.99817202e-01 -5.85758939e-04 -1.89732682e+01] [-9.18657637e-03 4.10247004e-04 9.99957718e-01 -4.29281449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42037174300003 meters 0.03561881057570759 Centerline is valid? [True, True] Translation: X:309.76, Y:-18.99, Z:-4.29 [[ 9.99811299e-01 1.67534213e-02 9.83304838e-03 3.09763898e+02] [-1.67480609e-02 9.99859545e-01 -6.27243992e-04 -1.89855559e+01] [-9.84217576e-03 4.62441138e-04 9.99951458e-01 -4.29365780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.480371743 meters 0.03653931053908035 Centerline is valid? [True, True] Translation: X:309.82, Y:-18.99, Z:-4.29 [[ 9.99831819e-01 1.54831539e-02 9.82879104e-03 3.09823320e+02] [-1.54777418e-02 9.99880016e-01 -6.26469518e-04 -1.89945470e+01] [-9.83731147e-03 4.74236668e-04 9.99951500e-01 -4.29379987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.540371743 meters 0.03781240653225866 Centerline is valid? [True, True] Translation: X:309.88, Y:-19.00, Z:-4.29 [[ 9.99875176e-01 1.19220939e-02 1.03680620e-02 3.09883462e+02] [-1.19158802e-02 9.99928785e-01 -6.60882849e-04 -1.90041347e+01] [-1.03752028e-02 5.37255771e-04 9.99946032e-01 -4.29439480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.600371743 meters 0.0404558214599296 Centerline is valid? [True, True] Translation: X:309.94, Y:-19.02, Z:-4.30 [[ 9.99899755e-01 9.28521922e-03 1.06894917e-02 3.09942953e+02] [-9.27846651e-03 9.99956722e-01 -6.81134647e-04 -1.90161708e+01] [-1.06953535e-02 5.81884276e-04 9.99942634e-01 -4.29548508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.660371743 meters 0.04190397265170887 Centerline is valid? [True, True] Translation: X:310.00, Y:-19.03, Z:-4.30 [[ 9.99926113e-01 7.15837006e-03 9.82480063e-03 3.10003129e+02] [-7.15255373e-03 9.99974224e-01 -6.27015643e-04 -1.90254354e+01] [-9.82903579e-03 5.56696900e-04 9.99951539e-01 -4.29756560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.720371743 meters 0.038410600466891286 Centerline is valid? [True, True] Translation: X:310.06, Y:-19.02, Z:-4.30 [[ 9.99944854e-01 6.20140741e-03 8.47535647e-03 3.10064973e+02] [-6.19705406e-03 9.99980652e-01 -5.39813498e-04 -1.90240331e+01] [-8.47854010e-03 4.87261487e-04 9.99963938e-01 -4.29910633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.780371743 meters 0.03801953572027667 Centerline is valid? [True, True] Translation: X:310.13, Y:-19.03, Z:-4.30 [[ 9.99957018e-01 5.26733899e-03 7.62997267e-03 3.10126930e+02] [-5.26377372e-03 9.99986028e-01 -4.87277453e-04 -1.90266348e+01] [-7.63243271e-03 4.47094060e-04 9.99970773e-01 -4.30027696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.840371743 meters 0.03870026404427008 Centerline is valid? [True, True] Translation: X:310.19, Y:-19.03, Z:-4.30 [[ 9.99959556e-01 4.88330312e-03 7.55250458e-03 3.10188832e+02] [-4.87978472e-03 9.99987977e-01 -4.84216082e-04 -1.90309610e+01] [-7.55477834e-03 4.47341902e-04 9.99971362e-01 -4.30116461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.900371743 meters 0.03960967345926004 Centerline is valid? [True, True] Translation: X:310.25, Y:-19.03, Z:-4.30 [[ 9.99959215e-01 4.88801311e-03 7.59450142e-03 3.10250453e+02] [-4.88443994e-03 9.99987952e-01 -4.88970921e-04 -1.90349188e+01] [-7.59680001e-03 4.51856092e-04 9.99971042e-01 -4.30197344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.960371743 meters 0.040399382011521524 Centerline is valid? [True, True] Translation: X:310.31, Y:-19.04, Z:-4.30 [[ 9.99965420e-01 5.11985391e-03 6.55327677e-03 3.10312617e+02] [-5.11719204e-03 9.99986818e-01 -4.22891454e-04 -1.90364977e+01] [-6.55535552e-03 3.89342454e-04 9.99978438e-01 -4.30239433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.020371743 meters 0.03981797286234732 Centerline is valid? [True, True] Translation: X:310.37, Y:-19.04, Z:-4.30 [[ 9.99959901e-01 6.71541038e-03 5.92456026e-03 3.10374173e+02] [-6.71324604e-03 9.99977392e-01 -3.85127682e-04 -1.90359207e+01] [-5.92701260e-03 3.45339208e-04 9.99982375e-01 -4.30330919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.080371743 meters 0.039067416001945604 Centerline is valid? [True, True] Translation: X:310.43, Y:-19.03, Z:-4.30 [[ 9.99914448e-01 1.16621990e-02 5.92363247e-03 3.10434141e+02] [-1.16601182e-02 9.99931944e-01 -3.85686766e-04 -1.90332482e+01] [-5.92772729e-03 3.16583515e-04 9.99982381e-01 -4.30431069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.140371743 meters 0.03554447399264981 Centerline is valid? [True, True] Translation: X:310.50, Y:-19.02, Z:-4.30 [[ 9.99845061e-01 1.68417484e-02 5.11948314e-03 3.10495511e+02] [-1.68402628e-02 9.99858137e-01 -3.33171069e-04 -1.90245314e+01] [-5.12436806e-03 2.46906007e-04 9.99986840e-01 -4.30466238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.200371743 meters 0.03348970279387416 Centerline is valid? [True, True] Translation: X:310.56, Y:-19.02, Z:-4.30 [[ 9.99691210e-01 2.39953604e-02 6.45804888e-03 3.10556723e+02] [-2.39931455e-02 9.99712035e-01 -4.20241152e-04 -1.90169115e+01] [-6.46627302e-03 2.65162480e-04 9.99979058e-01 -4.30486361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.260371743 meters 0.03279994938493555 Centerline is valid? [True, True] Translation: X:310.62, Y:-19.01, Z:-4.31 [[ 9.99592776e-01 2.77305632e-02 6.73030950e-03 3.10616756e+02] [-2.77282406e-02 9.99615402e-01 -4.38166980e-04 -1.90145475e+01] [-6.73987166e-03 2.51368907e-04 9.99977255e-01 -4.30562563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.320371743 meters 0.03107775612290491 Centerline is valid? [True, True] Translation: X:310.68, Y:-19.01, Z:-4.31 [[ 9.99463321e-01 3.22583534e-02 5.69810969e-03 3.10677565e+02] [-3.22567637e-02 9.99479546e-01 -3.70701374e-04 -1.90071385e+01] [-5.70710230e-03 1.86699849e-04 9.99983697e-01 -4.30649008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.380371743 meters 0.03108260428997648 Centerline is valid? [True, True] Translation: X:310.74, Y:-19.01, Z:-4.31 [[ 9.99430985e-01 3.33034356e-02 5.34669570e-03 3.10736661e+02] [-3.33020488e-02 9.99445272e-01 -3.48221267e-04 -1.90061248e+01] [-5.35532670e-03 1.69967203e-04 9.99985646e-01 -4.30666840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.440371743 meters 0.03191704657482579 Centerline is valid? [True, True] Translation: X:310.80, Y:-19.01, Z:-4.31 [[ 9.99581454e-01 2.85720374e-02 4.53373494e-03 3.10797030e+02] [-2.85709955e-02 9.99591722e-01 -2.94424445e-04 -1.90099137e+01] [-4.54029622e-03 1.64767894e-04 9.99989679e-01 -4.30830264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.500371743 meters 0.03426862173445442 Centerline is valid? [True, True] Translation: X:310.86, Y:-19.02, Z:-4.31 [[ 9.99719334e-01 2.32679843e-02 4.45588428e-03 3.10855810e+02] [-2.32669238e-02 9.99729247e-01 -2.89706328e-04 -1.90192338e+01] [-4.46141872e-03 1.85950297e-04 9.99990031e-01 -4.30970316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.560371743 meters 0.03645093888866073 Centerline is valid? [True, True] Translation: X:310.92, Y:-19.03, Z:-4.31 [[ 9.99897960e-01 1.34604670e-02 4.78389001e-03 3.10916127e+02] [-1.34591352e-02 9.99909374e-01 -3.10482872e-04 -1.90274330e+01] [-4.78763571e-03 2.46064168e-04 9.99988509e-01 -4.30952172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.620371743 meters 0.04010454571485277 Centerline is valid? [True, True] Translation: X:310.98, Y:-19.04, Z:-4.31 [[ 9.99978476e-01 4.59663457e-03 4.68168885e-03 3.10975861e+02] [-4.59526151e-03 9.99989396e-01 -3.03998179e-04 -1.90375591e+01] [-4.68303657e-03 2.82478052e-04 9.99988995e-01 -4.30959014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.680371743 meters 0.04484267658430486 Centerline is valid? [True, True] Translation: X:311.04, Y:-19.05, Z:-4.31 [[ 9.99989344e-01 -1.25728328e-03 4.44194978e-03 3.11035139e+02] [ 1.25857561e-03 9.99999166e-01 -2.88155220e-04 -1.90493864e+01] [-4.44158379e-03 2.93742679e-04 9.99990093e-01 -4.31096051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.740371743 meters 0.046134065387300284 Centerline is valid? [True, True] Translation: X:311.10, Y:-19.05, Z:-4.31 [[ 9.99955785e-01 -8.51222610e-03 3.99628638e-03 3.11095780e+02] [ 8.51333022e-03 9.99963727e-01 -2.59355407e-04 -1.90538300e+01] [-3.99393373e-03 2.93365645e-04 9.99991981e-01 -4.31098105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.800371743 meters 0.051168924722527 Centerline is valid? [True, True] Translation: X:311.16, Y:-19.06, Z:-4.31 [[ 9.99912729e-01 -1.27951017e-02 3.28940924e-03 3.11155554e+02] [ 1.27958715e-02 9.99918107e-01 -2.13091955e-04 -1.90596117e+01] [-3.28641333e-03 2.55164216e-04 9.99994567e-01 -4.31306326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86037174300003 meters 0.05186922337693537 Centerline is valid? [True, True] Translation: X:311.22, Y:-19.06, Z:-4.32 [[ 9.99877504e-01 -1.55156776e-02 2.05907417e-03 3.11216484e+02] [ 1.55159855e-02 9.99879611e-01 -1.33667069e-04 -1.90593572e+01] [-2.05675235e-03 1.65599260e-04 9.99997871e-01 -4.31554861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92037174300003 meters 0.053989812438862035 Centerline is valid? [True, True] Translation: X:311.28, Y:-19.06, Z:-4.32 [[ 9.99844438e-01 -1.75720563e-02 1.52433319e-03 3.11277935e+02] [ 1.75722269e-02 9.99845592e-01 -9.85855182e-05 -1.90622507e+01] [-1.52236547e-03 1.25356111e-04 9.99998833e-01 -4.31676916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.980371743 meters 0.050340650528629356 Centerline is valid? [True, True] Translation: X:311.34, Y:-19.05, Z:-4.31 [[ 9.99776185e-01 -2.10892623e-02 1.68045429e-03 3.11339434e+02] [ 2.10894753e-02 9.99777586e-01 -1.09169301e-04 -1.90539296e+01] [-1.67777823e-03 1.44584767e-04 9.99998582e-01 -4.31396885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.040371743 meters 0.057064781389945474 Centerline is valid? [True, True] Translation: X:311.40, Y:-19.06, Z:-4.31 [[ 9.99664374e-01 -2.58151369e-02 2.17198402e-03 3.11399491e+02] [ 2.58155037e-02 9.99666714e-01 -1.41003999e-04 -1.90609055e+01] [-2.16762009e-03 1.97027536e-04 9.99997631e-01 -4.31359561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.100371743 meters 0.05601449401781471 Centerline is valid? [True, True] Translation: X:311.46, Y:-19.06, Z:-4.31 [[ 9.99565212e-01 -2.93014138e-02 3.28844290e-03 3.11460361e+02] [ 2.93022740e-02 9.99570573e-01 -2.13721162e-04 -1.90599888e+01] [-3.28076842e-03 3.09987094e-04 9.99994570e-01 -4.31335043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.160371743 meters 0.056050806330386664 Centerline is valid? [True, True] Translation: X:311.52, Y:-19.06, Z:-4.31 [[ 9.99459629e-01 -3.27560434e-02 2.73702274e-03 3.11520642e+02] [ 3.27566521e-02 9.99463341e-01 -1.77868287e-04 -1.90580830e+01] [-2.72972764e-03 2.67427875e-04 9.99996239e-01 -4.31440328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.220371743 meters 0.05243572956145608 Centerline is valid? [True, True] Translation: X:311.58, Y:-19.05, Z:-4.31 [[ 9.99422260e-01 -3.39606959e-02 1.34787853e-03 3.11582209e+02] [ 3.39608444e-02 9.99423160e-01 -8.73906123e-05 -1.90490537e+01] [-1.34413317e-03 1.33115216e-04 9.99999088e-01 -4.31426875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.280371743 meters 0.05898211518726194 Centerline is valid? [True, True] Translation: X:311.64, Y:-19.06, Z:-4.32 [[ 9.99426412e-01 -3.38375349e-02 1.36694745e-03 3.11642569e+02] [ 3.38376869e-02 9.99427338e-01 -8.82007868e-05 -1.90578242e+01] [-1.36318015e-03 1.34404536e-04 9.99999062e-01 -4.31569647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.340371743 meters 0.05256317651433797 Centerline is valid? [True, True] Translation: X:311.70, Y:-19.05, Z:-4.31 [[ 9.99500547e-01 -3.15502755e-02 1.79899628e-03 3.11703990e+02] [ 3.15505369e-02 9.99502151e-01 -1.17078927e-04 -1.90459582e+01] [-1.79440678e-03 1.73779750e-04 9.99998375e-01 -4.31461488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.400371743 meters 0.05195041461573518 Centerline is valid? [True, True] Translation: X:311.76, Y:-19.04, Z:-4.32 [[ 9.99619630e-01 -2.75346285e-02 1.56191107e-03 3.11764805e+02] [ 2.75348205e-02 9.99620840e-01 -1.01541164e-04 -1.90405752e+01] [-1.55852296e-03 1.44509482e-04 9.99998775e-01 -4.31671506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.460371743 meters 0.052482193631124135 Centerline is valid? [True, True] Translation: X:311.82, Y:-19.04, Z:-4.32 [[ 9.99704825e-01 -2.42857730e-02 6.81692342e-04 3.11824665e+02] [ 2.42858090e-02 9.99705055e-01 -4.45890052e-05 -1.90375288e+01] [-6.80408402e-04 6.11312936e-05 9.99999767e-01 -4.31954279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.520371743 meters 0.05317439056106424 Centerline is valid? [True, True] Translation: X:311.88, Y:-19.03, Z:-4.32 [[ 9.99767911e-01 -2.15434865e-02 5.40592682e-05 3.11884575e+02] [ 2.15434867e-02 9.99767912e-01 -3.52764088e-06 -1.90340797e+01] [-5.39707242e-05 4.69144729e-06 9.99999999e-01 -4.32119917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.580371743 meters 0.05357429058813358 Centerline is valid? [True, True] Translation: X:311.95, Y:-19.03, Z:-4.32 [[ 9.99804210e-01 -1.97872703e-02 7.84397525e-05 3.11945964e+02] [ 1.97872707e-02 9.99804213e-01 -4.62672368e-06 -1.90333249e+01] [-7.83328450e-05 6.17792644e-06 9.99999997e-01 -4.32204085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.640371743 meters 0.051238815883283106 Centerline is valid? [True, True] Translation: X:312.01, Y:-19.03, Z:-4.32 [[ 9.99868701e-01 -1.61860093e-02 7.70357268e-04 3.12006637e+02] [ 1.61860527e-02 9.99868996e-01 -5.01563599e-05 -1.90264903e+01] [-7.69444517e-04 6.26188178e-05 9.99999702e-01 -4.32221568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.700371743 meters 0.05016406346634744 Centerline is valid? [True, True] Translation: X:312.07, Y:-19.02, Z:-4.32 [[ 9.99938523e-01 -1.09793543e-02 1.55027468e-03 3.12066978e+02] [ 1.09795239e-02 9.99939718e-01 -1.00951583e-04 -1.90213392e+01] [-1.54907284e-03 1.17966654e-04 9.99998793e-01 -4.32119699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.760371743 meters 0.05029579189174972 Centerline is valid? [True, True] Translation: X:312.13, Y:-19.02, Z:-4.32 [[ 9.99952915e-01 -9.60130711e-03 1.40800702e-03 3.12129042e+02] [ 9.60144457e-03 9.99953901e-01 -9.09010444e-05 -1.90227235e+01] [-1.40706934e-03 1.04415666e-04 9.99999005e-01 -4.32143946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.820371743 meters 0.05000534139934508 Centerline is valid? [True, True] Translation: X:312.19, Y:-19.02, Z:-4.32 [[ 9.99970653e-01 -7.45308357e-03 1.77310486e-03 3.12190192e+02] [ 7.45329975e-03 9.99972217e-01 -1.15342715e-04 -1.90221626e+01] [-1.77219594e-03 1.28554812e-04 9.99998421e-01 -4.32144827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.880371743 meters 0.04338250439900508 Centerline is valid? [True, True] Translation: X:312.25, Y:-19.01, Z:-4.32 [[ 9.99976124e-01 -6.86099159e-03 8.23412589e-04 3.12253606e+02] [ 6.86103733e-03 9.99976461e-01 -5.27369802e-05 -1.90117694e+01] [-8.23031379e-04 5.83851855e-05 9.99999660e-01 -4.32180531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.940371743 meters 0.05281056079423534 Centerline is valid? [True, True] Translation: X:312.31, Y:-19.02, Z:-4.32 [[ 9.99981198e-01 -6.12856084e-03 -2.12527299e-04 3.12313974e+02] [ 6.12856409e-03 9.99981220e-01 1.46131385e-05 -1.90242129e+01] [ 2.12433750e-04 -1.59153509e-05 9.99999977e-01 -4.32491360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.000371743 meters 0.05335341094466001 Centerline is valid? [True, True] Translation: X:312.37, Y:-19.02, Z:-4.33 [[ 9.99989935e-01 -4.45590263e-03 -5.23560218e-04 3.12374486e+02] [ 4.45592125e-03 9.99990072e-01 3.44215324e-05 -1.90248182e+01] [ 5.23401641e-04 -3.67541291e-05 9.99999862e-01 -4.32626564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.060371743 meters 0.0539911837496647 Centerline is valid? [True, True] Translation: X:312.44, Y:-19.03, Z:-4.33 [[ 9.99994803e-01 -3.15792914e-03 -6.48997008e-04 3.12435152e+02] [ 3.15795761e-03 9.99995013e-01 4.28488710e-05 -1.90261848e+01] [ 6.48858457e-04 -4.48981534e-05 9.99999788e-01 -4.32818224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.120371743 meters 0.04196699788644306 Centerline is valid? [True, True] Translation: X:312.50, Y:-19.01, Z:-4.32 [[ 9.99995744e-01 -2.66941643e-03 -1.17753330e-03 3.12498148e+02] [ 2.66950952e-03 9.99996434e-01 7.74897447e-05 -1.90077289e+01] [ 1.17732225e-03 -8.06328513e-05 9.99999304e-01 -4.32460292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.180371743 meters 0.04419975024786196 Centerline is valid? [True, True] Translation: X:312.56, Y:-19.01, Z:-4.33 [[ 9.99994921e-01 -3.03338392e-03 -9.78131169e-04 3.12559622e+02] [ 3.03344843e-03 9.99995397e-01 6.44788793e-05 -1.90130186e+01] [ 9.77931077e-04 -6.74456623e-05 9.99999520e-01 -4.32557572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.240371743 meters 0.04401953582149643 Centerline is valid? [True, True] Translation: X:312.62, Y:-19.01, Z:-4.33 [[ 9.99985793e-01 -4.84341719e-03 -2.22615189e-03 3.12620910e+02] [ 4.84375462e-03 9.99988258e-01 1.46211074e-04 -1.90139662e+01] [ 2.22541759e-03 -1.56991931e-04 9.99997511e-01 -4.32650520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.300371743 meters 0.041531606034334055 Centerline is valid? [True, True] Translation: X:312.68, Y:-19.01, Z:-4.33 [[ 9.99962668e-01 -7.77034535e-03 -3.77958663e-03 3.12681884e+02] [ 7.77133626e-03 9.99969772e-01 2.47557739e-04 -1.90126394e+01] [ 3.77754878e-03 -2.76920936e-04 9.99992827e-01 -4.32724488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36037174300003 meters 0.04393674109811206 Centerline is valid? [True, True] Translation: X:312.74, Y:-19.02, Z:-4.33 [[ 9.99938632e-01 -9.58805876e-03 -5.54989563e-03 3.12741569e+02] [ 9.59023036e-03 9.99953946e-01 3.64805290e-04 -1.90189514e+01] [ 5.54614226e-03 -4.18007680e-04 9.99984533e-01 -4.33000186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42037174300003 meters 0.04540698292359483 Centerline is valid? [True, True] Translation: X:312.80, Y:-19.02, Z:-4.33 [[ 9.99932144e-01 -9.89163321e-03 -6.15322300e-03 3.12802986e+02] [ 9.89430772e-03 9.99950968e-01 4.04362828e-04 -1.90240453e+01] [ 6.14892149e-03 -4.65217271e-04 9.99980987e-01 -4.33054879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.480371743 meters 0.04635672687059005 Centerline is valid? [True, True] Translation: X:312.87, Y:-19.03, Z:-4.33 [[ 9.99938628e-01 -9.58606022e-03 -5.55410102e-03 3.12865411e+02] [ 9.58823846e-03 9.99953965e-01 3.65690826e-04 -1.90293129e+01] [ 5.55033980e-03 -4.18922427e-04 9.99984509e-01 -4.33107824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.540371743 meters 0.04793201070544456 Centerline is valid? [True, True] Translation: X:312.93, Y:-19.03, Z:-4.33 [[ 9.99943327e-01 -8.13967329e-03 -6.86204497e-03 3.12925463e+02] [ 8.14296673e-03 9.99966743e-01 4.52148535e-04 -1.90347344e+01] [ 6.85813642e-03 -5.08000314e-04 9.99976354e-01 -4.33318864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.600371743 meters 0.04581704804362154 Centerline is valid? [True, True] Translation: X:312.99, Y:-19.03, Z:-4.33 [[ 9.99961567e-01 -5.70382424e-03 -6.65815412e-03 3.12986307e+02] [ 5.70686591e-03 9.99983620e-01 4.37923043e-04 -1.90346400e+01] [ 6.65554722e-03 -4.75903405e-04 9.99977738e-01 -4.33302104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.660371743 meters 0.04288730650839749 Centerline is valid? [True, True] Translation: X:313.05, Y:-19.03, Z:-4.33 [[ 9.99974919e-01 -2.68192597e-03 -6.55498677e-03 3.13046454e+02] [ 2.68480708e-03 9.99996303e-01 4.30769338e-04 -1.90331363e+01] [ 6.55380725e-03 -4.48357409e-04 9.99978423e-01 -4.33317706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.720371743 meters 0.04123275867844841 Centerline is valid? [True, True] Translation: X:313.11, Y:-19.03, Z:-4.33 [[ 9.99969174e-01 5.97324588e-04 -7.82911099e-03 3.13106660e+02] [-5.93316257e-04 9.99999692e-01 5.14290515e-04 -1.90336004e+01] [ 7.82941578e-03 -5.09629522e-04 9.99969220e-01 -4.33464483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.780371743 meters 0.040945908321014114 Centerline is valid? [True, True] Translation: X:313.17, Y:-19.04, Z:-4.34 [[ 9.99963566e-01 1.60188567e-03 -8.38458401e-03 3.13165747e+02] [-1.59736431e-03 9.99998575e-01 5.45915406e-04 -1.90367144e+01] [ 8.38544656e-03 -5.32502280e-04 9.99964700e-01 -4.33668756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.840371743 meters 0.041095343404216444 Centerline is valid? [True, True] Translation: X:313.22, Y:-19.04, Z:-4.34 [[ 9.99961614e-01 1.99841097e-03 -8.53089801e-03 3.13224473e+02] [-1.99373036e-03 9.99997857e-01 5.57134509e-04 -1.90401126e+01] [ 8.53199311e-03 -5.40104813e-04 9.99963456e-01 -4.33723824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.900371743 meters 0.03982873606225799 Centerline is valid? [True, True] Translation: X:313.28, Y:-19.04, Z:-4.34 [[ 9.99973183e-01 7.11325600e-04 -7.28884589e-03 3.13282801e+02] [-7.07882434e-04 9.99999637e-01 4.74957336e-04 -1.90414628e+01] [ 7.28918109e-03 -4.69784953e-04 9.99973323e-01 -4.33692935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.960371743 meters 0.07854987811762155 Centerline is valid? [True, True] Translation: X:313.34, Y:-19.10, Z:-4.35 [[ 9.99990894e-01 4.21801735e-03 -6.47738902e-04 3.13337457e+02] [-4.21799123e-03 9.99991103e-01 4.16882972e-05 -1.91034985e+01] [ 6.47908981e-04 -3.89557606e-05 9.99999789e-01 -4.34944179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.020371743 meters 0.03999222779221792 Centerline is valid? [True, True] Translation: X:313.40, Y:-19.05, Z:-4.34 [[ 9.99970058e-01 -1.07702709e-03 -7.66308973e-03 3.13401745e+02] [ 1.08089305e-03 9.99999291e-01 5.00367310e-04 -1.90504491e+01] [ 7.66254538e-03 -5.08635308e-04 9.99970513e-01 -4.33777638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.080371743 meters 0.04045806126676379 Centerline is valid? [True, True] Translation: X:313.46, Y:-19.05, Z:-4.34 [[ 9.99960022e-01 -1.60595443e-03 -8.79628562e-03 3.13460618e+02] [ 1.61105404e-03 9.99998538e-01 5.72689985e-04 -1.90549341e+01] [ 8.79535305e-03 -5.86838382e-04 9.99961148e-01 -4.33902519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.140371743 meters 0.04032918986566405 Centerline is valid? [True, True] Translation: X:313.52, Y:-19.06, Z:-4.34 [[ 9.99951583e-01 -1.42267959e-03 -9.73691831e-03 3.13517891e+02] [ 1.42886380e-03 9.99998782e-01 6.28202908e-04 -1.90590436e+01] [ 9.73601272e-03 -6.42085222e-04 9.99952398e-01 -4.34080101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.200371743 meters 0.039102848283711585 Centerline is valid? [True, True] Translation: X:313.58, Y:-19.06, Z:-4.34 [[ 9.99953108e-01 2.12465005e-03 -9.44818321e-03 3.13577772e+02] [-2.11895363e-03 9.99997567e-01 6.12881751e-04 -1.90609704e+01] [ 9.44946238e-03 -5.92832750e-04 9.99955177e-01 -4.34032577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.260371743 meters 0.03806079346509621 Centerline is valid? [True, True] Translation: X:313.64, Y:-19.06, Z:-4.34 [[ 9.99923704e-01 7.61287307e-03 -9.72783647e-03 3.13638284e+02] [-7.60709028e-03 9.99970866e-01 6.31320817e-04 -1.90622522e+01] [ 9.73235923e-03 -5.57272119e-04 9.99952484e-01 -4.33973386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.320371743 meters 0.03685794123910255 Centerline is valid? [True, True] Translation: X:313.70, Y:-19.06, Z:-4.34 [[ 9.99872609e-01 1.24663769e-02 -9.96775958e-03 3.13699194e+02] [-1.24605460e-02 9.99922155e-01 6.46862129e-04 -1.90635930e+01] [ 9.97504767e-03 -5.22575997e-04 9.99950111e-01 -4.33977557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.380371743 meters 0.03566930633988711 Centerline is valid? [True, True] Translation: X:313.76, Y:-19.07, Z:-4.34 [[ 9.99834894e-01 1.58589746e-02 -8.87004119e-03 3.13759202e+02] [-1.58544937e-02 9.99874144e-01 5.75266433e-04 -1.90658190e+01] [ 8.87804798e-03 -4.34541441e-04 9.99960495e-01 -4.33956280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.440371743 meters 0.03363160637263624 Centerline is valid? [True, True] Translation: X:313.82, Y:-19.07, Z:-4.34 [[ 9.99761002e-01 1.97179477e-02 -9.44147668e-03 3.13819580e+02] [-1.97130439e-02 9.99805492e-01 6.12170836e-04 -1.90658233e+01] [ 9.45171099e-03 -4.25904284e-04 9.99955241e-01 -4.33979244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.500371743 meters 0.0352119076155079 Centerline is valid? [True, True] Translation: X:313.88, Y:-19.07, Z:-4.34 [[ 9.99750199e-01 2.00943935e-02 -9.78542489e-03 3.13876804e+02] [-2.00891719e-02 9.99797993e-01 6.31620334e-04 -1.90731479e+01] [ 9.79614019e-03 -4.34881472e-04 9.99951922e-01 -4.34227201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.560371743 meters 0.03542370636311286 Centerline is valid? [True, True] Translation: X:313.94, Y:-19.08, Z:-4.34 [[ 9.99811662e-01 1.73714524e-02 -8.65295813e-03 3.13936075e+02] [-1.73672604e-02 9.99849021e-01 5.59360693e-04 -1.90790268e+01] [ 8.66136863e-03 -4.08977167e-04 9.99962406e-01 -4.34175477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.620371743 meters 0.0362053132538131 Centerline is valid? [True, True] Translation: X:314.00, Y:-19.09, Z:-4.34 [[ 9.99915766e-01 1.06228843e-02 -7.45759744e-03 3.13995805e+02] [-1.06195803e-02 9.99943494e-01 4.82501137e-04 -1.90878944e+01] [ 7.46230160e-03 -4.03263940e-04 9.99972075e-01 -4.34131279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.680371743 meters 0.04137500025561107 Centerline is valid? [True, True] Translation: X:314.05, Y:-19.10, Z:-4.34 [[ 9.99975032e-01 2.01749128e-03 -6.77239879e-03 3.14053685e+02] [-2.01457051e-03 9.99997875e-01 4.38069216e-04 -1.91039699e+01] [ 6.77326820e-03 -4.24414803e-04 9.99976971e-01 -4.34286345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.740371743 meters 0.041124971007566055 Centerline is valid? [True, True] Translation: X:314.11, Y:-19.11, Z:-4.34 [[ 9.99976789e-01 -8.71567264e-04 -6.75740010e-03 3.14114019e+02] [ 8.74541262e-04 9.99999522e-01 4.37167479e-04 -1.91085304e+01] [ 6.75701585e-03 -4.43066957e-04 9.99977073e-01 -4.34244732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.800371743 meters 0.04533767823068838 Centerline is valid? [True, True] Translation: X:314.17, Y:-19.12, Z:-4.34 [[ 9.99950608e-01 -7.86199553e-03 -6.08029123e-03 3.14172649e+02] [ 7.86452799e-03 9.99968997e-01 3.92704608e-04 -1.91222945e+01] [ 6.07701528e-03 -4.40503832e-04 9.99981438e-01 -4.34400676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86037174300003 meters 0.043302774488937636 Centerline is valid? [True, True] Translation: X:314.23, Y:-19.13, Z:-4.34 [[ 9.99910481e-01 -1.25604333e-02 -4.61146650e-03 3.14232673e+02] [ 1.25619400e-02 9.99921051e-01 2.97905689e-04 -1.91262743e+01] [ 4.60736061e-03 -3.55807987e-04 9.99989323e-01 -4.34284214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92037174300003 meters 0.04818642521751711 Centerline is valid? [True, True] Translation: X:314.29, Y:-19.14, Z:-4.34 [[ 9.99886273e-01 -1.42499264e-02 -4.93757983e-03 3.14291790e+02] [ 1.42516753e-02 9.99898389e-01 3.19198926e-04 -1.91382013e+01] [ 4.93252955e-03 -3.89531409e-04 9.99987759e-01 -4.34427831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.980371743 meters 0.04874508980144039 Centerline is valid? [True, True] Translation: X:314.35, Y:-19.14, Z:-4.34 [[ 9.99877085e-01 -1.51509332e-02 -4.03291042e-03 3.14353295e+02] [ 1.51521110e-02 9.99885166e-01 2.61656314e-04 -1.91447585e+01] [ 4.02848297e-03 -3.22731258e-04 9.99991834e-01 -4.34469700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.040371743 meters 0.04450869285282635 Centerline is valid? [True, True] Translation: X:314.42, Y:-19.14, Z:-4.34 [[ 9.99866591e-01 -1.59264057e-02 -3.62636839e-03 3.14415989e+02] [ 1.59273654e-02 9.99873124e-01 2.35909539e-04 -1.91430764e+01] [ 3.62215110e-03 -2.93636561e-04 9.99993397e-01 -4.34274419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.100371743 meters 0.04573767145962087 Centerline is valid? [True, True] Translation: X:314.48, Y:-19.15, Z:-4.34 [[ 9.99861298e-01 -1.59433681e-02 -4.81589085e-03 3.14478236e+02] [ 1.59450608e-02 9.99872820e-01 3.13290426e-04 -1.91490114e+01] [ 4.81028346e-03 -3.90036644e-04 9.99988354e-01 -4.34431778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.160371743 meters 0.0478650529753166 Centerline is valid? [True, True] Translation: X:314.54, Y:-19.16, Z:-4.35 [[ 9.99848741e-01 -1.60821298e-02 -6.62273258e-03 3.14538687e+02] [ 1.60853320e-02 9.99870530e-01 4.30542740e-04 -1.91561157e+01] [ 6.61495109e-03 -5.37006469e-04 9.99977977e-01 -4.34778853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.220371743 meters 0.04817417812046532 Centerline is valid? [True, True] Translation: X:314.60, Y:-19.16, Z:-4.35 [[ 9.99825801e-01 -1.74460216e-02 -6.63356688e-03 3.14600673e+02] [ 1.74492688e-02 9.99847657e-01 4.31948245e-04 -1.91596653e+01] [ 6.62502052e-03 -5.47623892e-04 9.99977904e-01 -4.34808457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.280371743 meters 0.04692992276897929 Centerline is valid? [True, True] Translation: X:314.66, Y:-19.16, Z:-4.35 [[ 9.99775610e-01 -2.04497536e-02 -5.52607239e-03 3.14661879e+02] [ 2.04520518e-02 9.99790770e-01 3.59671394e-04 -1.91623084e+01] [ 5.51756098e-03 -4.72610206e-04 9.99984666e-01 -4.34640155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.340371743 meters 0.04837560617913199 Centerline is valid? [True, True] Translation: X:314.72, Y:-19.17, Z:-4.35 [[ 9.99710602e-01 -2.35897248e-02 -4.71562652e-03 3.14721891e+02] [ 2.35914313e-02 9.99721636e-01 3.06591084e-04 -1.91696483e+01] [ 4.70708147e-03 -4.17750736e-04 9.99988834e-01 -4.34658044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.400371743 meters 0.0511975580502831 Centerline is valid? [True, True] Translation: X:314.78, Y:-19.18, Z:-4.35 [[ 9.99562373e-01 -2.93211818e-02 -3.91535885e-03 3.14781876e+02] [ 2.93224022e-02 9.99569973e-01 2.54653109e-04 -1.91801547e+01] [ 3.90620841e-03 -3.69349393e-04 9.99992303e-01 -4.34771280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.460371743 meters 0.055145013768721336 Centerline is valid? [True, True] Translation: X:314.84, Y:-19.19, Z:-4.35 [[ 9.99363390e-01 -3.53396118e-02 -4.89140432e-03 3.14842048e+02] [ 3.53415874e-02 9.99375240e-01 3.18032951e-04 -1.91933901e+01] [ 4.87710921e-03 -4.90700481e-04 9.99987986e-01 -4.35016089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.520371743 meters 0.05797611741554433 Centerline is valid? [True, True] Translation: X:314.90, Y:-19.20, Z:-4.35 [[ 9.99192336e-01 -3.98349220e-02 -5.27778813e-03 3.14902523e+02] [ 3.98372851e-02 9.99206121e-01 3.43330687e-04 -1.92034849e+01] [ 5.25992165e-03 -5.53306142e-04 9.99986013e-01 -4.35199212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.580371743 meters 0.0572316820428242 Centerline is valid? [True, True] Translation: X:314.96, Y:-19.21, Z:-4.35 [[ 9.98964137e-01 -4.51343402e-02 -5.79173495e-03 3.14962904e+02] [ 4.51372735e-02 9.98980723e-01 3.76679404e-04 -1.92087773e+01] [ 5.76883039e-03 -6.37712340e-04 9.99983157e-01 -4.35203474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.640371743 meters 0.06074535166552283 Centerline is valid? [True, True] Translation: X:315.02, Y:-19.22, Z:-4.35 [[ 9.98892119e-01 -4.68254541e-02 -4.68094761e-03 3.15022288e+02] [ 4.68273883e-02 9.98902950e-01 3.04393629e-04 -1.92201687e+01] [ 4.66155901e-03 -5.23252948e-04 9.99988998e-01 -4.35327830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.700371743 meters 0.059139210352472736 Centerline is valid? [True, True] Translation: X:315.08, Y:-19.22, Z:-4.35 [[ 9.98978173e-01 -4.50750148e-02 -3.29437546e-03 3.15082730e+02] [ 4.50759634e-02 9.98983539e-01 2.14227329e-04 -1.92231915e+01] [ 3.28137056e-03 -3.62505573e-04 9.99994551e-01 -4.35262005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.760371743 meters 0.06257097890992384 Centerline is valid? [True, True] Translation: X:315.14, Y:-19.23, Z:-4.35 [[ 9.99143607e-01 -4.12303854e-02 -3.47961878e-03 3.15141736e+02] [ 4.12314195e-02 9.99149598e-01 2.25934477e-04 -1.92329514e+01] [ 3.46734434e-03 -3.69210609e-04 9.99993921e-01 -4.35373813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.820371743 meters 0.0544555789894448 Centerline is valid? [True, True] Translation: X:315.20, Y:-19.23, Z:-4.35 [[ 9.99298175e-01 -3.72415642e-02 -4.02781959e-03 3.15203151e+02] [ 3.72429197e-02 9.99306207e-01 2.62029392e-04 -1.92265778e+01] [ 4.01526673e-03 -4.11853255e-04 9.99991854e-01 -4.35382599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.880371743 meters 0.05453619765380943 Centerline is valid? [True, True] Translation: X:315.26, Y:-19.23, Z:-4.35 [[ 9.99393931e-01 -3.46020387e-02 -3.80387322e-03 3.15263944e+02] [ 3.46032285e-02 9.99401098e-01 2.47399171e-04 -1.92311659e+01] [ 3.79303456e-03 -3.78875524e-04 9.99992735e-01 -4.35450665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.940371743 meters 0.05363701358064005 Centerline is valid? [True, True] Translation: X:315.32, Y:-19.24, Z:-4.35 [[ 9.99537626e-01 -3.02044432e-02 -3.49651400e-03 3.15324383e+02] [ 3.02054224e-02 9.99543686e-01 2.27551925e-04 -1.92351931e+01] [ 3.48804541e-03 -3.33060393e-04 9.99993861e-01 -4.35461485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.000371743 meters 0.05182325603601848 Centerline is valid? [True, True] Translation: X:315.39, Y:-19.24, Z:-4.35 [[ 9.99644955e-01 -2.65183349e-02 -2.59633364e-03 3.15385210e+02] [ 2.65188629e-02 9.99648299e-01 1.69130900e-04 -1.92380133e+01] [ 2.59093544e-03 -2.37922667e-04 9.99996615e-01 -4.35466456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.060371743 meters 0.05134900246264783 Centerline is valid? [True, True] Translation: X:315.45, Y:-19.24, Z:-4.36 [[ 9.99714362e-01 -2.38044933e-02 -2.13098446e-03 3.15445849e+02] [ 2.38048428e-02 9.99716615e-01 1.38784844e-04 -1.92433645e+01] [ 2.12707686e-03 -1.89472952e-04 9.99997720e-01 -4.35578721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.120371743 meters 0.04818037855965453 Centerline is valid? [True, True] Translation: X:315.51, Y:-19.24, Z:-4.36 [[ 9.99735421e-01 -2.28795983e-02 -2.36880414e-03 3.15507907e+02] [ 2.28800300e-02 9.99738206e-01 1.55312051e-04 -1.92436970e+01] [ 2.36463052e-03 -2.09469269e-04 9.99997182e-01 -4.35529151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.180371743 meters 0.05103410528347959 Centerline is valid? [True, True] Translation: X:315.57, Y:-19.26, Z:-4.36 [[ 9.99730709e-01 -2.31902206e-02 -8.50127183e-04 3.15568026e+02] [ 2.31902767e-02 9.99731068e-01 5.61748085e-05 -1.92558988e+01] [ 8.48595850e-04 -7.58743657e-05 9.99999637e-01 -4.35601642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.240371743 meters 0.050286761465707645 Centerline is valid? [True, True] Translation: X:315.63, Y:-19.26, Z:-4.36 [[ 9.99709242e-01 -2.41119864e-02 2.07022771e-04 3.15629979e+02] [ 2.41119895e-02 9.99709264e-01 -1.25054215e-05 -1.92631731e+01] [-2.06661052e-04 1.74935164e-05 9.99999978e-01 -4.35527185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.300371743 meters 0.04977868137145381 Centerline is valid? [True, True] Translation: X:315.69, Y:-19.27, Z:-4.36 [[ 9.99705367e-01 -2.42718541e-02 2.35737502e-04 3.15691673e+02] [ 2.42718582e-02 9.99705395e-01 -1.43916612e-05 -1.92705855e+01] [-2.35318740e-04 2.01092082e-05 9.99999972e-01 -4.35607663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36037174300003 meters 0.053660892952621324 Centerline is valid? [True, True] Translation: X:315.75, Y:-19.29, Z:-4.36 [[ 9.99706154e-01 -2.42298592e-02 -7.20205987e-04 3.15751970e+02] [ 2.42299008e-02 9.99706412e-01 4.90434835e-05 -1.92863893e+01] [ 7.18806226e-04 -6.64795919e-05 9.99999739e-01 -4.35931472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42037174300003 meters 0.04883705618928725 Centerline is valid? [True, True] Translation: X:315.81, Y:-19.29, Z:-4.36 [[ 9.99714018e-01 -2.39027449e-02 -7.35943809e-04 3.15814020e+02] [ 2.39027876e-02 9.99714286e-01 4.92510855e-05 -1.92867499e+01] [ 7.34556304e-04 -6.68281091e-05 9.99999728e-01 -4.35996752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.480371743 meters 0.05271572487983226 Centerline is valid? [True, True] Translation: X:315.87, Y:-19.30, Z:-4.36 [[ 9.99727364e-01 -2.33268254e-02 -1.02785622e-03 3.15874324e+02] [ 2.33269077e-02 9.99727888e-01 6.81737190e-05 -1.93003771e+01] [ 1.02598625e-03 -9.21318395e-05 9.99999469e-01 -4.36168746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.540371743 meters 0.04790083397294463 Centerline is valid? [True, True] Translation: X:315.94, Y:-19.30, Z:-4.36 [[ 9.99763749e-01 -2.16945652e-02 -1.33881110e-03 3.15935685e+02] [ 2.16947029e-02 9.99764638e-01 8.83780287e-05 -1.93015884e+01] [ 1.33657867e-03 -1.17402258e-04 9.99999100e-01 -4.36153171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.600371743 meters 0.04551305214292773 Centerline is valid? [True, True] Translation: X:316.00, Y:-19.30, Z:-4.36 [[ 9.99784969e-01 -2.06968129e-02 -1.28751095e-03 3.15998227e+02] [ 2.06969406e-02 9.99785792e-01 8.59159295e-05 -1.93038785e+01] [ 1.28545697e-03 -1.12544993e-04 9.99999167e-01 -4.36191959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.660371743 meters 0.0439076632711286 Centerline is valid? [True, True] Translation: X:316.06, Y:-19.31, Z:-4.36 [[ 9.99851258e-01 -1.72339311e-02 -6.73851324e-04 3.16059047e+02] [ 1.72339648e-02 9.99851483e-01 4.43104604e-05 -1.93081405e+01] [ 6.72987602e-04 -5.59169996e-05 9.99999772e-01 -4.36229460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.720371743 meters 0.044835805418660286 Centerline is valid? [True, True] Translation: X:316.12, Y:-19.32, Z:-4.36 [[ 9.99896799e-01 -1.43535579e-02 -6.06253796e-04 3.16118107e+02] [ 1.43535854e-02 9.99896981e-01 4.09124372e-05 -1.93154503e+01] [ 6.05604101e-04 -4.96101306e-05 9.99999815e-01 -4.36311401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.780371743 meters 0.04266832911224883 Centerline is valid? [True, True] Translation: X:316.18, Y:-19.32, Z:-4.36 [[ 9.99950956e-01 -9.90287660e-03 -1.36471142e-04 3.16178416e+02] [ 9.90287793e-03 9.99950965e-01 9.06655685e-06 -1.93210398e+01] [ 1.36374664e-04 -1.04175692e-05 9.99999991e-01 -4.36361324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.840371743 meters 0.04177019357908412 Centerline is valid? [True, True] Translation: X:316.24, Y:-19.33, Z:-4.36 [[ 9.99969800e-01 -7.73935562e-03 -7.08006177e-04 3.16240039e+02] [ 7.73939111e-03 9.99970049e-01 4.73999407e-05 -1.93253745e+01] [ 7.07618127e-04 -5.28780459e-05 9.99999748e-01 -4.36455198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.900371743 meters 0.042918259300997796 Centerline is valid? [True, True] Translation: X:316.30, Y:-19.33, Z:-4.37 [[ 9.99989160e-01 -4.45919513e-03 -1.34024390e-03 3.16299027e+02] [ 4.45931704e-03 9.99990053e-01 8.79905190e-05 -1.93336409e+01] [ 1.33983821e-03 -9.39661376e-05 9.99999098e-01 -4.36777606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.960371743 meters 0.041168018193711624 Centerline is valid? [True, True] Translation: X:316.36, Y:-19.34, Z:-4.37 [[ 9.99995604e-01 -2.48082983e-03 -1.62429352e-03 3.16360134e+02] [ 2.48100685e-03 9.99996917e-01 1.06973800e-04 -1.93360291e+01] [ 1.62402313e-03 -1.11003213e-04 9.99998675e-01 -4.36772415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.020371743 meters 0.03999470262319417 Centerline is valid? [True, True] Translation: X:316.42, Y:-19.34, Z:-4.37 [[ 9.99998664e-01 -1.35936154e-03 -9.07331227e-04 3.16420407e+02] [ 1.35941630e-03 9.99999074e-01 5.97408242e-05 -1.93380540e+01] [ 9.07249177e-04 -6.09741852e-05 9.99999587e-01 -4.36797536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.080371743 meters 0.04017570568780712 Centerline is valid? [True, True] Translation: X:316.48, Y:-19.34, Z:-4.37 [[ 9.99996795e-01 -1.98920276e-03 -1.56593992e-03 3.16480821e+02] [ 1.98936665e-03 9.99998016e-01 1.03105171e-04 -1.93429374e+01] [ 1.56573172e-03 -1.06220069e-04 9.99998769e-01 -4.36913414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.140371743 meters 0.04128459715389408 Centerline is valid? [True, True] Translation: X:316.54, Y:-19.35, Z:-4.37 [[ 9.99991017e-01 -3.99752951e-03 -1.40942096e-03 3.16541355e+02] [ 3.99766465e-03 9.99992005e-01 9.30766302e-05 -1.93498572e+01] [ 1.40903762e-03 -9.87101864e-05 9.99999002e-01 -4.37009340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.200371743 meters 0.04359520808244214 Centerline is valid? [True, True] Translation: X:316.60, Y:-19.36, Z:-4.37 [[ 9.99978265e-01 -6.40286119e-03 -1.57237672e-03 3.16602127e+02] [ 6.40303233e-03 9.99979495e-01 1.03833279e-04 -1.93572115e+01] [ 1.57167965e-03 -1.13899001e-04 9.99998758e-01 -4.37069232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.260371743 meters 0.044364483894545365 Centerline is valid? [True, True] Translation: X:316.66, Y:-19.36, Z:-4.37 [[ 9.99969246e-01 -7.73707085e-03 -1.28240266e-03 3.16663172e+02] [ 7.73718622e-03 9.99970064e-01 8.50209418e-05 -1.93625444e+01] [ 1.28170646e-03 -9.49405153e-05 9.99999174e-01 -4.37159459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.320371743 meters 0.04785211307573391 Centerline is valid? [True, True] Translation: X:316.72, Y:-19.37, Z:-4.37 [[ 9.99943713e-01 -1.04969868e-02 -1.54389862e-03 3.16722600e+02] [ 1.04971564e-02 9.99944898e-01 1.01762822e-04 -1.93698231e+01] [ 1.54274535e-03 -1.17963639e-04 9.99998803e-01 -4.37345504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.380371743 meters 0.05089755405908528 Centerline is valid? [True, True] Translation: X:316.78, Y:-19.38, Z:-4.37 [[ 9.99902154e-01 -1.38814585e-02 -1.72827184e-03 3.16783287e+02] [ 1.38816761e-02 9.99903638e-01 1.13992019e-04 -1.93764326e+01] [ 1.72652292e-03 -1.37972175e-04 9.99998500e-01 -4.37478450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.440371743 meters 0.05397394507834069 Centerline is valid? [True, True] Translation: X:316.84, Y:-19.38, Z:-4.37 [[ 9.99856072e-01 -1.69343395e-02 -1.03136245e-03 3.16844044e+02] [ 1.69344187e-02 9.99856600e-01 6.80429381e-05 -1.93819804e+01] [ 1.03006229e-03 -8.54986683e-05 9.99999466e-01 -4.37489702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.500371743 meters 0.04559184742699584 Centerline is valid? [True, True] Translation: X:316.91, Y:-19.37, Z:-4.37 [[ 9.99835953e-01 -1.80933117e-02 -8.36612014e-04 3.16907360e+02] [ 1.80933650e-02 9.99836300e-01 5.62387753e-05 -1.93717932e+01] [ 8.35457515e-04 -7.13666761e-05 9.99999648e-01 -4.37356798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.560371743 meters 0.046431882881844966 Centerline is valid? [True, True] Translation: X:316.97, Y:-19.37, Z:-4.37 [[ 9.99814656e-01 -1.91784363e-02 -1.68554114e-03 3.16969581e+02] [ 1.91786528e-02 9.99816066e-01 1.12384113e-04 -1.93733423e+01] [ 1.68307576e-03 -1.44689692e-04 9.99998573e-01 -4.37388121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.620371743 meters 0.04779689651912768 Centerline is valid? [True, True] Translation: X:317.03, Y:-19.38, Z:-4.37 [[ 9.99804385e-01 -1.97320888e-02 -1.35484038e-03 3.17031257e+02] [ 1.97322292e-02 9.99805297e-01 9.03457222e-05 -1.93756036e+01] [ 1.35279388e-03 -1.17062070e-04 9.99999078e-01 -4.37434774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.680371743 meters 0.049554561795445456 Centerline is valid? [True, True] Translation: X:317.09, Y:-19.38, Z:-4.38 [[ 9.99789230e-01 -2.04326270e-02 -2.00092665e-03 3.17093314e+02] [ 2.04329347e-02 9.99791217e-01 1.33445853e-04 -1.93781689e+01] [ 1.99778224e-03 -1.74302530e-04 9.99997989e-01 -4.37655823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.740371743 meters 0.050783589151450384 Centerline is valid? [True, True] Translation: X:317.15, Y:-19.38, Z:-4.38 [[ 9.99751965e-01 -2.21864483e-02 -1.94174833e-03 3.17154686e+02] [ 2.21867406e-02 9.99753836e-01 1.29094640e-04 -1.93803932e+01] [ 1.93840619e-03 -1.72143686e-04 9.99998106e-01 -4.37842770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.800371743 meters 0.052357995475322626 Centerline is valid? [True, True] Translation: X:317.22, Y:-19.38, Z:-4.38 [[ 9.99713475e-01 -2.38517637e-02 -2.01522695e-03 3.17215424e+02] [ 2.38520822e-02 9.99715490e-01 1.34189394e-04 -1.93842159e+01] [ 2.01145294e-03 -1.82218304e-04 9.99997960e-01 -4.37951229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86037174300003 meters 0.055306839133526006 Centerline is valid? [True, True] Translation: X:317.28, Y:-19.39, Z:-4.38 [[ 9.99667104e-01 -2.57786394e-02 -1.06928628e-03 3.17275421e+02] [ 2.57787311e-02 9.99667671e-01 7.20341181e-05 -1.93875911e+01] [ 1.06707399e-03 -9.95749818e-05 9.99999426e-01 -4.37988278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92037174300003 meters 0.053927615470593 Centerline is valid? [True, True] Translation: X:317.34, Y:-19.39, Z:-4.38 [[ 9.99616239e-01 -2.77012015e-02 1.33915938e-04 3.17336837e+02] [ 2.77012029e-02 9.99616248e-01 -8.27369482e-06 -1.93864621e+01] [-1.33635356e-04 1.19801523e-05 9.99999991e-01 -4.38049764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.980371743 meters 0.05290642047422105 Centerline is valid? [True, True] Translation: X:317.40, Y:-19.39, Z:-4.38 [[ 9.99550164e-01 -2.99848813e-02 6.14031233e-04 3.17397893e+02] [ 2.99849118e-02 9.99550351e-01 -4.05277087e-05 -1.93854805e+01] [-6.12539916e-04 5.89211502e-05 9.99999811e-01 -4.38056923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.040371743 meters 0.05412318360863769 Centerline is valid? [True, True] Translation: X:317.46, Y:-19.39, Z:-4.38 [[ 9.99510531e-01 -3.12622671e-02 1.17016225e-03 3.17459081e+02] [ 3.12623788e-02 9.99511209e-01 -7.72548830e-05 -1.93880602e+01] [-1.16717513e-03 1.13799125e-04 9.99999312e-01 -4.38092523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.100371743 meters 0.0642523265062401 Centerline is valid? [True, True] Translation: X:317.52, Y:-19.40, Z:-4.38 [[ 9.99464931e-01 -3.26902598e-02 1.09487430e-03 3.17518418e+02] [ 3.26903583e-02 9.99465525e-01 -7.21558105e-05 -1.94048616e+01] [-1.09193033e-03 1.07909035e-04 9.99999398e-01 -4.38439747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.160371743 meters 0.05238832655393195 Centerline is valid? [True, True] Translation: X:317.58, Y:-19.39, Z:-4.38 [[ 9.99388831e-01 -3.49534381e-02 4.71785258e-04 3.17580578e+02] [ 3.49534566e-02 9.99388941e-01 -3.11420472e-05 -1.93908565e+01] [-4.70408448e-04 4.76135397e-05 9.99999888e-01 -4.38409307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.220371743 meters 0.061527401956966106 Centerline is valid? [True, True] Translation: X:317.64, Y:-19.41, Z:-4.39 [[ 9.99320233e-01 -3.68573747e-02 7.78445981e-04 3.17639873e+02] [ 3.68574254e-02 9.99320533e-01 -5.08456545e-05 -1.94066821e+01] [-7.76043015e-04 7.95026060e-05 9.99999696e-01 -4.38712939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.280371743 meters 0.06123690423853183 Centerline is valid? [True, True] Translation: X:317.70, Y:-19.41, Z:-4.39 [[ 9.99331099e-01 -3.65390871e-02 1.50005201e-03 3.17702483e+02] [ 3.65392765e-02 9.99332213e-01 -9.90051872e-05 -1.94092079e+01] [-1.49543273e-03 1.53749777e-04 9.99998870e-01 -4.38687222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.340371743 meters 0.05589032335470604 Centerline is valid? [True, True] Translation: X:317.76, Y:-19.40, Z:-4.39 [[ 9.99344520e-01 -3.61457431e-02 2.00389121e-03 3.17764961e+02] [ 3.61460811e-02 9.99346508e-01 -1.32696854e-04 -1.94041496e+01] [-1.99778526e-03 2.05042688e-04 9.99997983e-01 -4.38614018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.400371743 meters 0.05657573078571433 Centerline is valid? [True, True] Translation: X:317.83, Y:-19.41, Z:-4.39 [[ 9.99419245e-01 -3.39987410e-02 2.29304704e-03 3.17825312e+02] [ 3.39991806e-02 9.99421849e-01 -1.53003655e-04 -1.94066532e+01] [-2.28651938e-03 2.30876518e-04 9.99997359e-01 -4.38659719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.460371743 meters 0.053547456599726595 Centerline is valid? [True, True] Translation: X:317.89, Y:-19.40, Z:-4.39 [[ 9.99562004e-01 -2.95796391e-02 9.19119182e-04 3.17886476e+02] [ 2.95797077e-02 9.99562423e-01 -6.11154905e-05 -1.94038828e+01] [-9.16909223e-04 8.82759989e-05 9.99999576e-01 -4.38783292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.520371743 meters 0.0567830962104836 Centerline is valid? [True, True] Translation: X:317.95, Y:-19.41, Z:-4.39 [[ 9.99660929e-01 -2.60369413e-02 -3.25125845e-04 3.17945477e+02] [ 2.60369497e-02 9.99660981e-01 2.14439435e-05 -1.94095175e+01] [ 3.24457286e-04 -2.99019577e-05 9.99999947e-01 -4.39060035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.580371743 meters 0.046050949827088974 Centerline is valid? [True, True] Translation: X:318.01, Y:-19.40, Z:-4.39 [[ 9.99778009e-01 -2.10609626e-02 -6.07392540e-04 3.18007147e+02] [ 2.10609911e-02 9.99778192e-01 4.05029777e-05 -1.93950584e+01] [ 6.06404784e-04 -5.32862753e-05 9.99999815e-01 -4.38940670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.640371743 meters 0.04391779936650436 Centerline is valid? [True, True] Translation: X:318.07, Y:-19.39, Z:-4.39 [[ 9.99904416e-01 -1.38027302e-02 -8.02104664e-04 3.18067795e+02] [ 1.38027776e-02 9.99904736e-01 5.35946437e-05 -1.93905770e+01] [ 8.01288499e-04 -6.46607932e-05 9.99999677e-01 -4.39042264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.700371743 meters 0.04202728572185313 Centerline is valid? [True, True] Translation: X:318.13, Y:-19.39, Z:-4.39 [[ 9.99966875e-01 -8.13354640e-03 3.07979024e-04 3.18129394e+02] [ 8.13355305e-03 9.99966922e-01 -2.03261748e-05 -1.93869425e+01] [-3.07803513e-04 2.28304652e-05 9.99999952e-01 -4.38949749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.760371743 meters 0.042782433892546476 Centerline is valid? [True, True] Translation: X:318.19, Y:-19.39, Z:-4.39 [[ 9.99980483e-01 -6.23512464e-03 3.96428708e-04 3.18190162e+02] [ 6.23513543e-03 9.99980561e-01 -2.59697805e-05 -1.93894826e+01] [-3.96259077e-04 2.84410603e-05 9.99999921e-01 -4.39037795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.820371743 meters 0.04032197266217959 Centerline is valid? [True, True] Translation: X:318.25, Y:-19.39, Z:-4.39 [[ 9.99975420e-01 -7.01068885e-03 -9.63029798e-05 3.18252762e+02] [ 7.01068960e-03 9.99975425e-01 7.47086152e-06 -1.93875671e+01] [ 9.62482370e-05 -8.14582818e-06 9.99999995e-01 -4.39050113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.880371743 meters 0.045566102391730104 Centerline is valid? [True, True] Translation: X:318.31, Y:-19.40, Z:-4.39 [[ 9.99962822e-01 -8.48087449e-03 -1.55841432e-03 3.18312493e+02] [ 8.48104754e-03 9.99964030e-01 1.04465945e-04 -1.93973205e+01] [ 1.55747230e-03 -1.17679047e-04 9.99998780e-01 -4.39254849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.940371743 meters 0.04335583862805078 Centerline is valid? [True, True] Translation: X:318.37, Y:-19.40, Z:-4.39 [[ 9.99940564e-01 -1.07169185e-02 -2.00414476e-03 3.18373962e+02] [ 1.07172091e-02 9.99942560e-01 1.34308222e-04 -1.93954237e+01] [ 2.00259027e-03 -1.55779078e-04 9.99997983e-01 -4.39215728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.000371743 meters 0.04692764998717662 Centerline is valid? [True, True] Translation: X:318.43, Y:-19.40, Z:-4.39 [[ 9.99909975e-01 -1.33659324e-02 -1.18084441e-03 3.18433297e+02] [ 1.33660349e-02 9.99910667e-01 7.89856291e-05 -1.94031324e+01] [ 1.17968320e-03 -9.47617259e-05 9.99999300e-01 -4.39366478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.060371743 meters 0.049428910841752084 Centerline is valid? [True, True] Translation: X:318.49, Y:-19.41, Z:-4.39 [[ 9.99894161e-01 -1.45371586e-02 -5.80684229e-04 3.18493657e+02] [ 1.45371846e-02 9.99894329e-01 4.06273685e-05 -1.94102057e+01] [ 5.80032260e-04 -4.90645824e-05 9.99999831e-01 -4.39425931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.120371743 meters 0.04577962212328639 Centerline is valid? [True, True] Translation: X:318.55, Y:-19.41, Z:-4.39 [[ 9.99863352e-01 -1.65266168e-02 -3.84953031e-04 3.18554585e+02] [ 1.65266282e-02 9.99863426e-01 2.64499173e-05 -1.94079976e+01] [ 3.84463328e-04 -3.28082786e-05 9.99999926e-01 -4.39399008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.180371743 meters 0.05320356232683518 Centerline is valid? [True, True] Translation: X:318.61, Y:-19.42, Z:-4.40 [[ 9.99839192e-01 -1.78967375e-02 -1.13888730e-03 3.18613899e+02] [ 1.78968364e-02 9.99839836e-01 7.66391489e-05 -1.94216632e+01] [ 1.13733330e-03 -9.70093043e-05 9.99999349e-01 -4.39782374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.240371743 meters 0.04817314394448915 Centerline is valid? [True, True] Translation: X:318.68, Y:-19.42, Z:-4.40 [[ 9.99832258e-01 -1.81514798e-02 -2.44535889e-03 3.18676499e+02] [ 1.81519377e-02 9.99835226e-01 1.65193486e-04 -1.94166705e+01] [ 2.44195745e-03 -2.09553779e-04 9.99996996e-01 -4.39812430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.300371743 meters 0.04765392003232445 Centerline is valid? [True, True] Translation: X:318.74, Y:-19.42, Z:-4.40 [[ 9.99866888e-01 -1.61213642e-02 -2.51154373e-03 3.18737503e+02] [ 1.61218391e-02 9.99870020e-01 1.68932139e-04 -1.94174776e+01] [ 2.50849386e-03 -2.09400356e-04 9.99996832e-01 -4.39936444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36037174300003 meters 0.04434575334654268 Centerline is valid? [True, True] Translation: X:318.80, Y:-19.41, Z:-4.40 [[ 9.99912917e-01 -1.31487042e-02 -1.12725588e-03 3.18798579e+02] [ 1.31487980e-02 9.99913548e-01 7.58329837e-05 -1.94139424e+01] [ 1.12616132e-03 -9.06484397e-05 9.99999362e-01 -4.39814501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42037174300003 meters 0.042080266755775135 Centerline is valid? [True, True] Translation: X:318.86, Y:-19.41, Z:-4.40 [[ 9.99935600e-01 -1.13451395e-02 2.89726539e-04 3.18860785e+02] [ 1.13451454e-02 9.99935642e-01 -1.87083577e-05 -1.94132058e+01] [-2.89495644e-04 2.19941426e-05 9.99999958e-01 -4.39763755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.480371743 meters 0.06413966909534709 Centerline is valid? [True, True] Translation: X:318.92, Y:-19.45, Z:-4.40 [[ 9.99974061e-01 -6.39422890e-03 3.31526761e-03 3.18917901e+02] [ 6.39500345e-03 9.99979527e-01 -2.23083712e-04 -1.94467117e+01] [-3.31377329e-03 2.44279073e-04 9.99994480e-01 -4.40173308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.540371743 meters 0.04381301495425462 Centerline is valid? [True, True] Translation: X:318.98, Y:-19.42, Z:-4.40 [[ 9.99974583e-01 -7.06669631e-03 -9.46383300e-04 3.18982198e+02] [ 7.06676065e-03 9.99975028e-01 6.46551736e-05 -1.94186068e+01] [ 9.45902768e-04 -7.13413945e-05 9.99999550e-01 -4.40021514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.600371743 meters 0.0427874622460408 Centerline is valid? [True, True] Translation: X:319.04, Y:-19.42, Z:-4.40 [[ 9.99993840e-01 -3.28632025e-03 -1.23320890e-03 3.19042855e+02] [ 3.28642510e-03 9.99994596e-01 8.30045321e-05 -1.94181926e+01] [ 1.23292945e-03 -8.70568694e-05 9.99999236e-01 -4.40118077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.660371743 meters 0.0430174679917334 Centerline is valid? [True, True] Translation: X:319.10, Y:-19.42, Z:-4.40 [[ 9.99999635e-01 3.35163894e-04 -7.85818884e-04 3.19102467e+02] [-3.35122605e-04 9.99999942e-01 5.26732860e-05 -1.94196026e+01] [ 7.85836493e-04 -5.24099211e-05 9.99999690e-01 -4.40137633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.720371743 meters 0.036122095011355236 Centerline is valid? [True, True] Translation: X:319.16, Y:-19.41, Z:-4.40 [[ 9.99979479e-01 6.40611894e-03 -5.90298874e-05 3.19163500e+02] [-6.40611872e-03 9.99979481e-01 3.80953054e-06 -1.94085715e+01] [ 5.90530802e-05 -3.43129988e-06 9.99999998e-01 -4.39881158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.780371743 meters 0.03563483041881939 Centerline is valid? [True, True] Translation: X:319.22, Y:-19.41, Z:-4.40 [[ 9.99945906e-01 1.03987174e-02 2.26194694e-04 3.19223847e+02] [-1.03987142e-02 9.99945932e-01 -1.52838367e-05 -1.94100028e+01] [-2.26341396e-04 1.29308760e-05 9.99999974e-01 -4.39971388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.840371743 meters 0.03292910528165432 Centerline is valid? [True, True] Translation: X:319.28, Y:-19.41, Z:-4.40 [[ 9.99859678e-01 1.67457142e-02 4.53523898e-04 3.19284467e+02] [-1.67457020e-02 9.99859780e-01 -3.05377686e-05 -1.94058066e+01] [-4.53971682e-04 2.29389074e-05 9.99999897e-01 -4.39951295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.900371743 meters 0.030050276821988832 Centerline is valid? [True, True] Translation: X:319.35, Y:-19.40, Z:-4.40 [[ 9.99717647e-01 2.37602185e-02 2.80314827e-04 3.19345126e+02] [-2.37602141e-02 9.99717686e-01 -1.88955788e-05 -1.94010409e+01] [-2.80684654e-04 1.22299032e-05 9.99999961e-01 -4.39987701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.960371743 meters 0.028759297845616157 Centerline is valid? [True, True] Translation: X:319.41, Y:-19.40, Z:-4.40 [[ 9.99589991e-01 2.86330306e-02 1.47102072e-05 3.19405618e+02] [-2.86330306e-02 9.99589991e-01 -1.24187820e-06 -1.94006137e+01] [-1.47397348e-05 8.20171217e-07 1.00000000e+00 -4.40106989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.020371743 meters 0.02921622039068351 Centerline is valid? [True, True] Translation: X:319.46, Y:-19.40, Z:-4.40 [[ 9.99571243e-01 2.92768698e-02 -4.41938779e-04 3.19463684e+02] [-2.92768601e-02 9.99571340e-01 2.84239067e-05 -1.94041704e+01] [ 4.42581500e-04 -1.54731400e-05 9.99999902e-01 -4.40227217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.080371743 meters 0.030731750860856617 Centerline is valid? [True, True] Translation: X:319.52, Y:-19.41, Z:-4.40 [[ 9.99612837e-01 2.78124372e-02 -8.02805394e-04 3.19520816e+02] [-2.78124044e-02 9.99613159e-01 5.19668805e-05 -1.94114530e+01] [ 8.03940161e-04 -2.96188125e-05 9.99999676e-01 -4.40383180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.140371743 meters 0.03179672175350715 Centerline is valid? [True, True] Translation: X:319.58, Y:-19.42, Z:-4.40 [[ 9.99743554e-01 2.26372932e-02 6.15612453e-04 3.19580311e+02] [-2.26372719e-02 9.99743743e-01 -4.14840397e-05 -1.94179252e+01] [-6.16393785e-04 2.75376148e-05 9.99999810e-01 -4.40332219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.200371743 meters 0.03560553311134059 Centerline is valid? [True, True] Translation: X:319.64, Y:-19.43, Z:-4.40 [[ 9.99892891e-01 1.45894390e-02 1.16371188e-03 3.19639321e+02] [-1.45893580e-02 9.99893567e-01 -7.80839636e-05 -1.94301964e+01] [-1.16472723e-03 6.10977909e-05 9.99999320e-01 -4.40395691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.260371743 meters 0.03720695214020879 Centerline is valid? [True, True] Translation: X:319.70, Y:-19.44, Z:-4.40 [[ 9.99986012e-01 5.17933390e-03 1.07298936e-03 3.19699506e+02] [-5.17925971e-03 9.99986585e-01 -7.19138219e-05 -1.94380930e+01] [-1.07334743e-03 6.63555254e-05 9.99999422e-01 -4.40407441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.320371743 meters 0.03862398833398299 Centerline is valid? [True, True] Translation: X:319.76, Y:-19.45, Z:-4.41 [[ 9.99999051e-01 -8.49083028e-04 1.08453832e-03 3.19759256e+02] [ 8.49162543e-04 9.99999637e-01 -7.28586485e-05 -1.94452189e+01] [-1.08447606e-03 7.37795287e-05 9.99999409e-01 -4.40557636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.380371743 meters 0.04485196186089688 Centerline is valid? [True, True] Translation: X:319.82, Y:-19.46, Z:-4.41 [[ 9.99974309e-01 -6.99741991e-03 1.55510880e-03 3.19818124e+02] [ 6.99759043e-03 9.99975511e-01 -1.04242038e-04 -1.94589279e+01] [-1.55434129e-03 1.15121374e-04 9.99998785e-01 -4.40724027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.440371743 meters 0.04442754660375433 Centerline is valid? [True, True] Translation: X:319.88, Y:-19.46, Z:-4.41 [[ 9.99966884e-01 -7.88845814e-03 2.00062122e-03 3.19880639e+02] [ 7.88874011e-03 9.99968875e-01 -1.33086155e-04 -1.94622557e+01] [-1.99950911e-03 1.48864129e-04 9.99997990e-01 -4.40711728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.500371743 meters 0.042888960825246895 Centerline is valid? [True, True] Translation: X:319.94, Y:-19.46, Z:-4.41 [[ 9.99963557e-01 -8.37292055e-03 1.66726174e-03 3.19943162e+02] [ 8.37311693e-03 9.99964939e-01 -1.10843480e-04 -1.94618744e+01] [-1.66627520e-03 1.24799618e-04 9.99998604e-01 -4.40743859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.560371743 meters 0.04205003509612099 Centerline is valid? [True, True] Translation: X:320.00, Y:-19.46, Z:-4.41 [[ 9.99982327e-01 -5.81340322e-03 1.24489653e-03 3.20004244e+02] [ 5.81351139e-03 9.99983098e-01 -8.32922023e-05 -1.94616668e+01] [-1.24439127e-03 9.05279505e-05 9.99999222e-01 -4.40849596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.620371743 meters 0.03890679089421305 Centerline is valid? [True, True] Translation: X:320.07, Y:-19.46, Z:-4.41 [[ 9.99993584e-01 -3.23466343e-03 1.53920911e-03 3.20065119e+02] [ 3.23482624e-03 9.99994763e-01 -1.03297477e-04 -1.94579973e+01] [-1.53886692e-03 1.08275888e-04 9.99998810e-01 -4.40799536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.680371743 meters 0.04141776578854414 Centerline is valid? [True, True] Translation: X:320.12, Y:-19.46, Z:-4.41 [[ 9.99994308e-01 1.63609221e-03 2.95079954e-03 3.20124770e+02] [-1.63551434e-03 9.99998643e-01 -1.98237590e-04 -1.94620516e+01] [-2.95111987e-03 1.93410387e-04 9.99995627e-01 -4.40876418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.740371743 meters 0.03796776976225474 Centerline is valid? [True, True] Translation: X:320.19, Y:-19.46, Z:-4.41 [[ 9.99974139e-01 5.89689740e-03 4.11675700e-03 3.20186201e+02] [-5.89581011e-03 9.99982581e-01 -2.76197577e-04 -1.94576217e+01] [-4.11831400e-03 2.51918817e-04 9.99991488e-01 -4.40807387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.800371743 meters 0.035103951935874095 Centerline is valid? [True, True] Translation: X:320.25, Y:-19.45, Z:-4.41 [[ 9.99943195e-01 9.08984624e-03 5.56615502e-03 3.20246515e+02] [-9.08790697e-03 9.99958634e-01 -3.73599406e-04 -1.94531250e+01] [-5.56932073e-03 3.22993485e-04 9.99984439e-01 -4.40715486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86037174300003 meters 0.03689194879373784 Centerline is valid? [True, True] Translation: X:320.30, Y:-19.46, Z:-4.41 [[ 9.99934755e-01 1.00868099e-02 5.36125090e-03 3.20304090e+02] [-1.00850223e-02 9.99949080e-01 -3.60350977e-04 -1.94581380e+01] [-5.36461269e-03 3.06259131e-04 9.99985563e-01 -4.40920919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92037174300003 meters 0.03532466354458143 Centerline is valid? [True, True] Translation: X:320.36, Y:-19.46, Z:-4.41 [[ 9.99895764e-01 1.40016257e-02 3.52346902e-03 3.20363964e+02] [-1.40008794e-02 9.99901955e-01 -2.36392187e-04 -1.94563283e+01] [-3.52643343e-03 1.87035882e-04 9.99993765e-01 -4.41234049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.980371743 meters 0.03514013376905596 Centerline is valid? [True, True] Translation: X:320.42, Y:-19.46, Z:-4.41 [[ 9.99865502e-01 1.60560762e-02 3.34381873e-03 3.20423367e+02] [-1.60554152e-02 9.99871078e-01 -2.24426701e-04 -1.94573722e+01] [-3.34699105e-03 1.70710118e-04 9.99994384e-01 -4.41323025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.040371743 meters 0.03166202369083498 Centerline is valid? [True, True] Translation: X:320.48, Y:-19.45, Z:-4.41 [[ 9.99808147e-01 1.91030101e-02 4.32946617e-03 3.20484014e+02] [-1.91019337e-02 9.99817499e-01 -2.89822888e-04 -1.94529103e+01] [-4.33421253e-03 2.07066109e-04 9.99990586e-01 -4.41271988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.100371743 meters 0.0309746537927794 Centerline is valid? [True, True] Translation: X:320.54, Y:-19.45, Z:-4.41 [[ 9.99746659e-01 2.19239494e-02 5.09488905e-03 3.20543920e+02] [-2.19224953e-02 9.99759615e-01 -3.41081104e-04 -1.94539549e+01] [-5.10114216e-03 2.29302013e-04 9.99986963e-01 -4.41301745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.160371743 meters 0.030241728137334303 Centerline is valid? [True, True] Translation: X:320.60, Y:-19.46, Z:-4.41 [[ 9.99720167e-01 2.30637264e-02 5.25848517e-03 3.20602871e+02] [-2.30621926e-02 9.99733970e-01 -3.52146423e-04 -1.94555098e+01] [-5.26520807e-03 2.30775684e-04 9.99986112e-01 -4.41306068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.220371743 meters 0.031421921059053226 Centerline is valid? [True, True] Translation: X:320.66, Y:-19.46, Z:-4.41 [[ 9.99736175e-01 2.22353536e-02 5.75922565e-03 3.20660130e+02] [-2.22335021e-02 9.99752731e-01 -3.85308505e-04 -1.94615633e+01] [-5.76636905e-03 2.57159096e-04 9.99983341e-01 -4.41470455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.280371743 meters 0.03203915547277911 Centerline is valid? [True, True] Translation: X:320.72, Y:-19.47, Z:-4.42 [[ 9.99752158e-01 2.15111546e-02 5.73524550e-03 3.20719076e+02] [-2.15093103e-02 9.99768575e-01 -3.83059394e-04 -1.94675370e+01] [-5.74215827e-03 2.59603281e-04 9.99983480e-01 -4.41584767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.340371743 meters 0.03296718468782238 Centerline is valid? [True, True] Translation: X:320.78, Y:-19.47, Z:-4.42 [[ 9.99763097e-01 2.13322071e-02 4.32277191e-03 3.20776383e+02] [-2.13311559e-02 9.99772423e-01 -2.89133975e-04 -1.94746398e+01] [-4.32795601e-03 1.96855757e-04 9.99990615e-01 -4.41930839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.400371743 meters 0.033090588972429016 Centerline is valid? [True, True] Translation: X:320.83, Y:-19.48, Z:-4.42 [[ 9.99766158e-01 2.14067269e-02 3.06274473e-03 3.20834899e+02] [-2.14062009e-02 9.99770840e-01 -2.04419091e-04 -1.94798346e+01] [-3.06641882e-03 1.38809560e-04 9.99995289e-01 -4.42194306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.460371743 meters 0.03139391433017195 Centerline is valid? [True, True] Translation: X:320.89, Y:-19.48, Z:-4.42 [[ 9.99749442e-01 2.22514691e-02 2.43414032e-03 3.20893267e+02] [-2.22511392e-02 9.99752400e-01 -1.62515123e-04 -1.94840308e+01] [-2.43715383e-03 1.08312008e-04 9.99997024e-01 -4.42477566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.520371743 meters 0.030217403728252365 Centerline is valid? [True, True] Translation: X:320.95, Y:-19.49, Z:-4.43 [[ 9.99665994e-01 2.57104706e-02 2.62155554e-03 3.20953021e+02] [-2.57101021e-02 9.99669426e-01 -1.74176691e-04 -1.94895983e+01] [-2.62516708e-03 1.06718055e-04 9.99996549e-01 -4.42648114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.580371743 meters 0.02841103750597573 Centerline is valid? [True, True] Translation: X:321.01, Y:-19.49, Z:-4.43 [[ 9.99531484e-01 3.04712629e-02 2.88339563e-03 3.21012800e+02] [-3.04708371e-02 9.99535638e-01 -1.91500732e-04 -1.94935134e+01] [-2.88789196e-03 1.03551532e-04 9.99995825e-01 -4.42755502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.640371743 meters 0.026705329871731028 Centerline is valid? [True, True] Translation: X:321.07, Y:-19.50, Z:-4.43 [[ 9.99419417e-01 3.39928804e-02 2.30496634e-03 3.21071308e+02] [-3.39926162e-02 9.99422072e-01 -1.53721527e-04 -1.94959839e+01] [-2.30885967e-03 7.52804432e-05 9.99997332e-01 -4.42846451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.700371743 meters 0.026221714401150144 Centerline is valid? [True, True] Translation: X:321.13, Y:-19.50, Z:-4.43 [[ 9.99256973e-01 3.85412065e-02 2.76854250e-04 3.21129848e+02] [-3.85412027e-02 9.99257012e-01 -1.93111257e-05 -1.95031006e+01] [-2.77392825e-04 8.62648129e-06 9.99999961e-01 -4.43231692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.760371743 meters 0.025755009252354622 Centerline is valid? [True, True] Translation: X:321.19, Y:-19.51, Z:-4.44 [[ 9.99102445e-01 4.23410170e-02 -1.24185613e-03 3.21188662e+02] [-4.23409518e-02 9.99103217e-01 7.87149067e-05 -1.95102558e+01] [ 1.24407533e-03 -2.60628851e-05 9.99999226e-01 -4.43546991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.820371743 meters 0.025004945583558116 Centerline is valid? [True, True] Translation: X:321.25, Y:-19.52, Z:-4.44 [[ 9.98938342e-01 4.60507986e-02 -1.23026695e-03 3.21247046e+02] [-4.60507350e-02 9.98939099e-01 8.00479527e-05 -1.95164799e+01] [ 1.23264803e-03 -2.33082717e-05 9.99999240e-01 -4.43586310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.880371743 meters 0.025155456799653024 Centerline is valid? [True, True] Translation: X:321.31, Y:-19.53, Z:-4.44 [[ 9.98889434e-01 4.70804859e-02 -1.82367878e-03 3.21305316e+02] [-4.70803523e-02 9.98891099e-01 1.16139532e-04 -1.95265364e+01] [ 1.82712441e-03 -3.01511119e-05 9.99998330e-01 -4.43761358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.940371743 meters 0.02547525618926246 Centerline is valid? [True, True] Translation: X:321.36, Y:-19.54, Z:-4.44 [[ 9.98956793e-01 4.56381669e-02 -1.57604072e-03 3.21363954e+02] [-4.56380667e-02 9.98958036e-01 9.95147696e-05 -1.95362133e+01] [ 1.57894021e-03 -2.74835038e-05 9.99998753e-01 -4.43952478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.000371743 meters 0.026198295079891406 Centerline is valid? [True, True] Translation: X:321.42, Y:-19.55, Z:-4.44 [[ 9.99060129e-01 4.32951585e-02 -2.09458555e-03 3.21422000e+02] [-4.32949749e-02 9.99062324e-01 1.32926684e-04 -1.95462622e+01] [ 2.09837659e-03 -4.21167214e-05 9.99997798e-01 -4.44070933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.060371743 meters 0.0270077417974807 Centerline is valid? [True, True] Translation: X:321.48, Y:-19.56, Z:-4.44 [[ 9.99209842e-01 3.97159218e-02 -1.52907247e-03 3.21478851e+02] [-3.97158180e-02 9.99211011e-01 9.82303356e-05 -1.95601415e+01] [ 1.53176735e-03 -3.74243544e-05 9.99998826e-01 -4.44101881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.120371743 meters 0.02841216729906818 Centerline is valid? [True, True] Translation: X:321.54, Y:-19.57, Z:-4.44 [[ 9.99366032e-01 3.56016904e-02 -2.31948488e-04 3.21537604e+02] [-3.56016880e-02 9.99366059e-01 1.45929134e-05 -1.95743848e+01] [ 2.32320978e-04 -6.32590426e-06 9.99999973e-01 -4.44141960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.180371743 meters 0.02856802407537727 Centerline is valid? [True, True] Translation: X:321.60, Y:-19.59, Z:-4.44 [[ 9.99497021e-01 3.17017150e-02 8.40862484e-04 3.21596569e+02] [-3.17016799e-02 9.99497374e-01 -5.51349722e-05 -1.95873196e+01] [-8.42187718e-04 2.84504872e-05 9.99999645e-01 -4.44216437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.240371743 meters 0.02919580551828655 Centerline is valid? [True, True] Translation: X:321.66, Y:-19.60, Z:-4.44 [[ 9.99613566e-01 2.77976700e-02 8.64907310e-05 3.21655089e+02] [-2.77976695e-02 9.99613570e-01 -6.36858276e-06 -1.96006003e+01] [-8.66343404e-05 3.96188098e-06 9.99999996e-01 -4.44419447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.300371743 meters 0.030102765404421018 Centerline is valid? [True, True] Translation: X:321.71, Y:-19.61, Z:-4.45 [[ 9.99662816e-01 2.59540194e-02 -8.01813490e-04 3.21713106e+02] [-2.59539868e-02 9.99663137e-01 5.09925074e-05 -1.96098360e+01] [ 8.02866849e-04 -3.01650568e-05 9.99999677e-01 -4.44565894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36037174300003 meters 0.030353644481591963 Centerline is valid? [True, True] Translation: X:321.77, Y:-19.62, Z:-4.45 [[ 9.99692816e-01 2.47510601e-02 -1.28819822e-03 3.21771320e+02] [-2.47509743e-02 9.99693644e-01 8.24443328e-05 -1.96187531e+01] [ 1.28984416e-03 -5.05348461e-05 9.99999167e-01 -4.44701585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42037174300003 meters 0.030313957950662565 Centerline is valid? [True, True] Translation: X:321.83, Y:-19.63, Z:-4.45 [[ 9.99715784e-01 2.37988447e-02 -1.40249551e-03 3.21829383e+02] [-2.37987422e-02 9.99716766e-01 8.97359288e-05 -1.96281642e+01] [ 1.40423389e-03 -5.63327953e-05 9.99999012e-01 -4.44747965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.480371743 meters 0.030818159145197293 Centerline is valid? [True, True] Translation: X:321.89, Y:-19.64, Z:-4.45 [[ 9.99723369e-01 2.35092869e-02 -7.06493562e-04 3.21886931e+02] [-2.35092615e-02 9.99723618e-01 4.41252782e-05 -1.96352563e+01] [ 7.07335654e-04 -2.75039298e-05 9.99999749e-01 -4.44730597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.540371743 meters 0.030830676763025696 Centerline is valid? [True, True] Translation: X:321.95, Y:-19.64, Z:-4.45 [[ 9.99687016e-01 2.49986109e-02 -9.69532847e-04 3.21945494e+02] [-2.49985629e-02 9.99687485e-01 6.15564210e-05 -1.96431663e+01] [ 9.70768679e-04 -3.73002268e-05 9.99999528e-01 -4.44860329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.600371743 meters 0.029991998609674796 Centerline is valid? [True, True] Translation: X:322.00, Y:-19.65, Z:-4.45 [[ 9.99614218e-01 2.77640196e-02 -7.58069367e-04 3.22004711e+02] [-2.77639911e-02 9.99614505e-01 4.81163053e-05 -1.96475362e+01] [ 7.59113037e-04 -2.70507117e-05 9.99999712e-01 -4.44921359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.660371743 meters 0.028992194446376653 Centerline is valid? [True, True] Translation: X:322.06, Y:-19.65, Z:-4.45 [[ 9.99413995e-01 3.42233964e-02 -6.53107895e-04 3.22064013e+02] [-3.42233765e-02 9.99414208e-01 4.15883104e-05 -1.96521397e+01] [ 6.54148603e-04 -1.92123820e-05 9.99999786e-01 -4.44971331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.720371743 meters 0.0279211027284729 Centerline is valid? [True, True] Translation: X:322.12, Y:-19.65, Z:-4.45 [[ 9.99167494e-01 4.07868751e-02 -8.66248750e-04 3.22123473e+02] [-4.07868425e-02 9.99167869e-01 5.52733802e-05 -1.96535355e+01] [ 8.67782346e-04 -1.98958135e-05 9.99999623e-01 -4.44963613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.780371743 meters 0.027562004845113473 Centerline is valid? [True, True] Translation: X:322.18, Y:-19.66, Z:-4.45 [[ 9.99056717e-01 4.34161197e-02 -8.46048484e-04 3.22181188e+02] [-4.34160903e-02 9.99057076e-01 5.31494784e-05 -1.96594908e+01] [ 8.47558268e-04 -1.63672260e-05 9.99999641e-01 -4.45125049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.840371743 meters 0.027705381405066922 Centerline is valid? [True, True] Translation: X:322.24, Y:-19.67, Z:-4.45 [[ 9.99132781e-01 4.16174241e-02 -1.29439584e-03 3.22238795e+02] [-4.16173529e-02 9.99133619e-01 8.18837892e-05 -1.96717424e+01] [ 1.29668220e-03 -2.79434494e-05 9.99999159e-01 -4.45164340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.900371743 meters 0.02800238481610452 Centerline is valid? [True, True] Translation: X:322.30, Y:-19.68, Z:-4.45 [[ 9.99263183e-01 3.83775161e-02 -5.06579576e-04 3.22296945e+02] [-3.83775051e-02 9.99263312e-01 3.14997632e-05 -1.96810959e+01] [ 5.07415267e-04 -1.20352934e-05 9.99999871e-01 -4.45089232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.960371743 meters 0.028650729975452885 Centerline is valid? [True, True] Translation: X:322.36, Y:-19.69, Z:-4.45 [[ 9.99427013e-01 3.38419497e-02 -6.06351757e-04 3.22355953e+02] [-3.38419326e-02 9.99427197e-01 3.83749433e-05 -1.96935963e+01] [ 6.07303119e-04 -1.78328397e-05 9.99999815e-01 -4.44983323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.020371743 meters 0.029667034709239523 Centerline is valid? [True, True] Translation: X:322.42, Y:-19.71, Z:-4.45 [[ 9.99572138e-01 2.91592713e-02 -2.29737247e-03 3.22415167e+02] [-2.91590104e-02 9.99574775e-01 1.47005234e-04 -1.97087456e+01] [ 2.30068214e-03 -7.99532287e-05 9.99997350e-01 -4.45143674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.080371743 meters 0.03157690116335589 Centerline is valid? [True, True] Translation: X:322.47, Y:-19.72, Z:-4.45 [[ 9.99654427e-01 2.60440009e-02 -3.56894282e-03 3.22473021e+02] [-2.60433532e-02 9.99660788e-01 2.27836434e-04 -1.97246617e+01] [ 3.57366597e-03 -1.34810461e-04 9.99993605e-01 -4.45378923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.140371743 meters 0.031169022994194544 Centerline is valid? [True, True] Translation: X:322.53, Y:-19.73, Z:-4.45 [[ 9.99628578e-01 2.68172943e-02 -4.85176257e-03 3.22531277e+02] [-2.68161078e-02 9.99640336e-01 3.09434549e-04 -1.97346326e+01] [ 4.85831576e-03 -1.79214230e-04 9.99988182e-01 -4.45405953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.200371743 meters 0.03045941694688088 Centerline is valid? [True, True] Translation: X:322.59, Y:-19.74, Z:-4.46 [[ 9.99525119e-01 3.05015187e-02 -4.38104143e-03 3.22590701e+02] [-3.05005856e-02 9.99534710e-01 2.79651746e-04 -1.97413595e+01] [ 4.38753278e-03 -1.45894616e-04 9.99990364e-01 -4.45504883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.260371743 meters 0.028846481129497503 Centerline is valid? [True, True] Translation: X:322.65, Y:-19.75, Z:-4.46 [[ 9.99278691e-01 3.75822721e-02 -5.44708781e-03 3.22650639e+02] [-3.75809352e-02 9.99293527e-01 3.47614871e-04 -1.97480811e+01] [ 5.45630375e-03 -1.42657479e-04 9.99985104e-01 -4.45545846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.320371743 meters 0.027963300912579554 Centerline is valid? [True, True] Translation: X:322.71, Y:-19.75, Z:-4.46 [[ 9.99098518e-01 4.21775702e-02 -4.81707596e-03 3.22709859e+02] [-4.21765790e-02 9.99110125e-01 3.07219006e-04 -1.97541116e+01] [ 4.82574712e-03 -1.03774269e-04 9.99988351e-01 -4.45590776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.380371743 meters 0.026267642942656152 Centerline is valid? [True, True] Translation: X:322.77, Y:-19.76, Z:-4.45 [[ 9.98893464e-01 4.68054756e-02 -4.59297490e-03 3.22768604e+02] [-4.68046409e-02 9.98904020e-01 2.89106409e-04 -1.97611812e+01] [ 4.60147286e-03 -7.38139610e-05 9.99989410e-01 -4.45356109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.440371743 meters 0.02603271104057154 Centerline is valid? [True, True] Translation: X:322.83, Y:-19.77, Z:-4.45 [[ 9.98825257e-01 4.82138891e-02 -4.85043680e-03 3.22827414e+02] [-4.82129801e-02 9.98837032e-01 3.04224170e-04 -1.97703833e+01] [ 4.85946373e-03 -7.00127719e-05 9.99988190e-01 -4.45274996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.500371743 meters 0.02624532920205392 Centerline is valid? [True, True] Translation: X:322.89, Y:-19.78, Z:-4.45 [[ 9.98789724e-01 4.89857982e-02 -4.41355106e-03 3.22885378e+02] [-4.89850456e-02 9.98799473e-01 2.78527045e-04 -1.97799608e+01] [ 4.42189634e-03 -6.19919501e-05 9.99990221e-01 -4.45384379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.560371743 meters 0.02687518148959738 Centerline is valid? [True, True] Translation: X:322.94, Y:-19.79, Z:-4.45 [[ 9.98894369e-01 4.68441099e-02 -3.95851284e-03 3.22943135e+02] [-4.68434893e-02 9.98902210e-01 2.49411667e-04 -1.97938186e+01] [ 3.96585069e-03 -6.37053556e-05 9.99992134e-01 -4.45431593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.620371743 meters 0.028119072898316225 Centerline is valid? [True, True] Translation: X:323.00, Y:-19.81, Z:-4.46 [[ 9.99060839e-01 4.31663208e-02 -3.75606246e-03 3.23000826e+02] [-4.31657372e-02 9.99067897e-01 2.36333366e-04 -1.98089249e+01] [ 3.76276306e-03 -7.39782057e-05 9.99992918e-01 -4.45526068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.680371743 meters 0.029434425760531208 Centerline is valid? [True, True] Translation: X:323.06, Y:-19.83, Z:-4.46 [[ 9.99257908e-01 3.84245828e-02 -2.68033547e-03 3.23059254e+02] [-3.84242682e-02 9.99261501e-01 1.68775627e-04 -1.98251043e+01] [ 2.68484118e-03 -6.56604504e-05 9.99996394e-01 -4.45711226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.740371743 meters 0.030175806470326902 Centerline is valid? [True, True] Translation: X:323.12, Y:-19.84, Z:-4.46 [[ 9.99387349e-01 3.49240833e-02 -2.28814682e-03 3.23118380e+02] [-3.49238452e-02 9.99389966e-01 1.43921422e-04 -1.98366006e+01] [ 2.29177729e-03 -6.39223634e-05 9.99997372e-01 -4.45841928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.800371743 meters 0.031005472126497555 Centerline is valid? [True, True] Translation: X:323.18, Y:-19.85, Z:-4.46 [[ 9.99596202e-01 2.84000613e-02 -9.32438350e-04 3.23177475e+02] [-2.84000190e-02 9.99596636e-01 5.85829294e-05 -1.98508112e+01] [ 9.33725997e-04 -3.20780069e-05 9.99999564e-01 -4.45858698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.86037174300003 meters 0.03326725267658704 Centerline is valid? [True, True] Translation: X:323.24, Y:-19.86, Z:-4.46 [[ 9.99755987e-01 2.20773295e-02 7.47112617e-04 3.23236865e+02] [-2.20773003e-02 9.99756266e-01 -4.73823228e-05 -1.98640834e+01] [-7.47976596e-04 3.08765313e-05 9.99999720e-01 -4.45927948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.92037174300003 meters 0.03505503144919318 Centerline is valid? [True, True] Translation: X:323.30, Y:-19.88, Z:-4.46 [[ 9.99857195e-01 1.67359751e-02 2.34449113e-03 3.23295909e+02] [-1.67356737e-02 9.99859938e-01 -1.48104496e-04 -1.98769092e+01] [-2.34664143e-03 1.08846708e-04 9.99997241e-01 -4.45971719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.980371743 meters 0.03523294970261409 Centerline is valid? [True, True] Translation: X:323.35, Y:-19.88, Z:-4.46 [[ 9.99899151e-01 1.37392275e-02 3.59466218e-03 3.23354667e+02] [-1.37384991e-02 9.99905597e-01 -2.27260627e-04 -1.98838051e+01] [-3.59744521e-03 1.77852445e-04 9.99993513e-01 -4.45974638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.040371743 meters 0.03588582750505485 Centerline is valid? [True, True] Translation: X:323.41, Y:-19.89, Z:-4.46 [[ 9.99941289e-01 1.03005600e-02 3.36404999e-03 3.23414681e+02] [-1.02999050e-02 9.99946932e-01 -2.11970980e-04 -1.98920733e+01] [-3.36605488e-03 1.77309139e-04 9.99994319e-01 -4.45988578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.100371743 meters 0.03471434818692282 Centerline is valid? [True, True] Translation: X:323.47, Y:-19.90, Z:-4.46 [[ 9.99967318e-01 7.71108518e-03 2.42943697e-03 3.23474381e+02] [-7.71073490e-03 9.99970260e-01 -1.53515967e-04 -1.98955921e+01] [-2.43054849e-03 1.34778206e-04 9.99997037e-01 -4.46073872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.160371743 meters 0.0362067305830794 Centerline is valid? [True, True] Translation: X:323.53, Y:-19.90, Z:-4.46 [[ 9.99980712e-01 5.39422850e-03 3.07854593e-03 3.23532946e+02] [-5.39365827e-03 9.99985435e-01 -1.93500303e-04 -1.99034438e+01] [-3.07954488e-03 1.76891946e-04 9.99995243e-01 -4.46071790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.220371743 meters 0.03836340319056256 Centerline is valid? [True, True] Translation: X:323.59, Y:-19.91, Z:-4.46 [[ 9.99986526e-01 4.39916772e-03 2.75599205e-03 3.23592480e+02] [-4.39870861e-03 9.99990311e-01 -1.72622399e-04 -1.99106779e+01] [-2.75672474e-03 1.60497267e-04 9.99996187e-01 -4.46251568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.280371743 meters 0.039610090727953004 Centerline is valid? [True, True] Translation: X:323.65, Y:-19.92, Z:-4.46 [[ 9.99995000e-01 2.47781546e-03 1.96454423e-03 3.23652845e+02] [-2.47757670e-03 9.99996923e-01 -1.23957415e-04 -1.99168090e+01] [-1.96484533e-03 1.19089486e-04 9.99998063e-01 -4.46385308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.340371743 meters 0.03854321453665185 Centerline is valid? [True, True] Translation: X:323.71, Y:-19.92, Z:-4.46 [[ 9.99999410e-01 6.35179233e-05 1.08487891e-03 3.23714000e+02] [-6.34439536e-05 9.99999996e-01 -6.82167469e-05 -1.99152394e+01] [-1.08488324e-03 6.81478776e-05 9.99999409e-01 -4.46401429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.400371743 meters 0.0397001812287605 Centerline is valid? [True, True] Translation: X:323.77, Y:-19.92, Z:-4.46 [[ 9.99998952e-01 -5.35965591e-04 1.34486246e-03 3.23774029e+02] [ 5.36080228e-04 9.99999853e-01 -8.48817389e-05 -1.99188436e+01] [-1.34481677e-03 8.56026042e-05 9.99999092e-01 -4.46421483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.460371743 meters 0.040348710980204164 Centerline is valid? [True, True] Translation: X:323.84, Y:-19.92, Z:-4.46 [[ 9.99995661e-01 -2.13467762e-03 2.02991249e-03 3.23835673e+02] [ 2.13494119e-03 9.99997713e-01 -1.27687343e-04 -1.99197997e+01] [-2.02963528e-03 1.32020533e-04 9.99997932e-01 -4.46342818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.520371743 meters 0.03854376978074985 Centerline is valid? [True, True] Translation: X:323.90, Y:-19.92, Z:-4.46 [[ 9.99989733e-01 -3.71287018e-03 2.59770247e-03 3.23897018e+02] [ 3.71330770e-03 9.99993092e-01 -1.63623709e-04 -1.99176367e+01] [-2.59707701e-03 1.73268098e-04 9.99996613e-01 -4.46266600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.580371743 meters 0.040012625825246034 Centerline is valid? [True, True] Translation: X:323.96, Y:-19.92, Z:-4.46 [[ 9.99972828e-01 -6.80874702e-03 2.82560777e-03 3.23957707e+02] [ 6.80927800e-03 9.99976801e-01 -1.78339859e-04 -1.99207396e+01] [-2.82432794e-03 1.97575362e-04 9.99995992e-01 -4.46350822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.640371743 meters 0.04181419368621657 Centerline is valid? [True, True] Translation: X:324.02, Y:-19.92, Z:-4.47 [[ 9.99919308e-01 -1.24769209e-02 2.38824779e-03 3.24019023e+02] [ 1.24773159e-02 9.99922144e-01 -1.50564583e-04 -1.99241567e+01] [-2.38618327e-03 1.80351356e-04 9.99997137e-01 -4.46557242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.700371743 meters 0.04392161213511071 Centerline is valid? [True, True] Translation: X:324.08, Y:-19.93, Z:-4.47 [[ 9.99852542e-01 -1.70122960e-02 2.34007336e-03 3.24079557e+02] [ 1.70126886e-02 9.99855263e-01 -1.47951011e-04 -1.99285263e+01] [-2.33721768e-03 1.87740134e-04 9.99997251e-01 -4.46658739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.760371743 meters 0.047294596340888076 Centerline is valid? [True, True] Translation: X:324.14, Y:-19.93, Z:-4.47 [[ 9.99756709e-01 -2.20301418e-02 1.09343190e-03 3.24140179e+02] [ 2.20302300e-02 9.99757303e-01 -6.86881178e-05 -1.99328995e+01] [-1.09165331e-03 9.27599628e-05 9.99999400e-01 -4.46805120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.820371743 meters 0.04862401995717298 Centerline is valid? [True, True] Translation: X:324.20, Y:-19.93, Z:-4.47 [[ 9.99795921e-01 -2.01926447e-02 6.11269271e-04 3.24201238e+02] [ 2.01926718e-02 9.99796106e-01 -3.81968641e-05 -1.99316045e+01] [-6.10373342e-04 5.05322287e-05 9.99999812e-01 -4.46829482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.880371743 meters 0.04220195367966313 Centerline is valid? [True, True] Translation: X:324.26, Y:-19.92, Z:-4.47 [[ 9.99926744e-01 -1.19965557e-02 1.60910086e-03 3.24262579e+02] [ 1.19967351e-02 9.99928031e-01 -1.01902409e-04 -1.99170652e+01] [-1.60776258e-03 1.21198901e-04 9.99998700e-01 -4.46678436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.940371743 meters 0.040372092424044534 Centerline is valid? [True, True] Translation: X:324.32, Y:-19.91, Z:-4.47 [[ 9.99996751e-01 7.91438105e-04 2.42302198e-03 3.24322774e+02] [-7.91068649e-04 9.99999675e-01 -1.53432246e-04 -1.99104369e+01] [-2.42314263e-03 1.51514971e-04 9.99997053e-01 -4.46835794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.000371743 meters 0.03593226934055971 Centerline is valid? [True, True] Translation: X:324.38, Y:-19.90, Z:-4.47 [[ 9.99966170e-01 8.01008234e-03 1.87031078e-03 3.24384379e+02] [-8.00987480e-03 9.99967913e-01 -1.18430655e-04 -1.99018797e+01] [-1.87119941e-03 1.03445693e-04 9.99998244e-01 -4.46852539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.060371743 meters 0.03515640056940655 Centerline is valid? [True, True] Translation: X:324.44, Y:-19.90, Z:-4.47 [[ 9.99889979e-01 1.44789421e-02 3.22325949e-03 3.24443480e+02] [-1.44783577e-02 9.99895162e-01 -2.04546770e-04 -1.98988705e+01] [-3.22588319e-03 1.57856762e-04 9.99994784e-01 -4.46953674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.120371743 meters 0.03354936107020694 Centerline is valid? [True, True] Translation: X:324.50, Y:-19.89, Z:-4.47 [[ 9.99849515e-01 1.71411804e-02 2.66963793e-03 3.24503283e+02] [-1.71407893e-02 9.99853072e-01 -1.69309125e-04 -1.98949844e+01] [-2.67214784e-03 1.23523946e-04 9.99996422e-01 -4.47076436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.180371743 meters 0.03256941962487342 Centerline is valid? [True, True] Translation: X:324.56, Y:-19.89, Z:-4.47 [[ 9.99849422e-01 1.71806755e-02 2.44104535e-03 3.24562835e+02] [-1.71803477e-02 9.99852395e-01 -1.55200999e-04 -1.98917213e+01] [-2.44335150e-03 1.13239622e-04 9.99997009e-01 -4.47115043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.240371743 meters 0.033437996772799884 Centerline is valid? [True, True] Translation: X:324.62, Y:-19.90, Z:-4.47 [[ 9.99903507e-01 1.37165601e-02 2.19832286e-03 3.24623359e+02] [-1.37162880e-02 9.99905918e-01 -1.38841341e-04 -1.98956093e+01] [-2.20002046e-03 1.08675114e-04 9.99997574e-01 -4.47210602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.300371743 meters 0.03469386036083952 Centerline is valid? [True, True] Translation: X:324.68, Y:-19.90, Z:-4.47 [[ 9.99955635e-01 9.07554389e-03 2.52247076e-03 3.24683203e+02] [-9.07517027e-03 9.99958807e-01 -1.59524456e-04 -1.99004136e+01] [-2.52381462e-03 1.36625527e-04 9.99996806e-01 -4.47251298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36037174300003 meters 0.04932682323744093 Centerline is valid? [True, True] Translation: X:324.74, Y:-19.93, Z:-4.47 [[ 9.99975131e-01 5.42366449e-03 4.50793836e-03 3.24740329e+02] [-5.42243475e-03 9.99985258e-01 -2.84972296e-04 -1.99288159e+01] [-4.50941749e-03 2.60521207e-04 9.99989799e-01 -4.47471424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.42037174300003 meters 0.04228243573695555 Centerline is valid? [True, True] Translation: X:324.80, Y:-19.92, Z:-4.47 [[ 9.99957840e-01 -8.72627155e-03 2.85834522e-03 3.24801756e+02] [ 8.72682242e-03 9.99961904e-01 -1.80305885e-04 -1.99218548e+01] [-2.85666293e-03 2.05242555e-04 9.99995899e-01 -4.47374736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.480371743 meters 0.042871662452361056 Centerline is valid? [True, True] Translation: X:324.86, Y:-19.93, Z:-4.47 [[ 9.99831526e-01 -1.81931495e-02 2.43490678e-03 3.24861555e+02] [ 1.81935776e-02 9.99834471e-01 -1.53816847e-04 -1.99280191e+01] [-2.43170532e-03 1.98090599e-04 9.99997024e-01 -4.47406852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.540371743 meters 0.045977995462956334 Centerline is valid? [True, True] Translation: X:324.92, Y:-19.94, Z:-4.48 [[ 9.99720842e-01 -2.34867186e-02 2.57144853e-03 3.24921513e+02] [ 2.34872132e-02 9.99724124e-01 -1.62304636e-04 -1.99371759e+01] [-2.56692713e-03 2.22655488e-04 9.99996681e-01 -4.47516320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.600371743 meters 0.04674352391139937 Centerline is valid? [True, True] Translation: X:324.98, Y:-19.94, Z:-4.48 [[ 9.99594804e-01 -2.84292817e-02 1.41577157e-03 3.24981527e+02] [ 2.84294365e-02 9.99595798e-01 -8.93538757e-05 -1.99411814e+01] [-1.41265905e-03 1.29567258e-04 9.99998994e-01 -4.47601453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.660371743 meters 0.04928697415307704 Centerline is valid? [True, True] Translation: X:325.04, Y:-19.95, Z:-4.48 [[ 9.99543139e-01 -3.01921222e-02 1.39640465e-03 3.25041353e+02] [ 3.01922730e-02 9.99544106e-01 -8.70356770e-05 -1.99480068e+01] [-1.39314024e-03 1.29156544e-04 9.99999021e-01 -4.47755236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.720371743 meters 0.049524988621577865 Centerline is valid? [True, True] Translation: X:325.10, Y:-19.95, Z:-4.48 [[ 9.99569156e-01 -2.92754440e-02 2.10976009e-03 3.25102851e+02] [ 2.92757890e-02 9.99571363e-01 -1.32841928e-04 -1.99513124e+01] [-2.10496676e-03 1.94549585e-04 9.99997766e-01 -4.47768507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.780371743 meters 0.050921594188989665 Centerline is valid? [True, True] Translation: X:325.16, Y:-19.95, Z:-4.48 [[ 9.99610583e-01 -2.78661837e-02 1.46883633e-03 3.25163006e+02] [ 2.78663496e-02 9.99611654e-01 -9.26163118e-05 -1.99535389e+01] [-1.46568505e-03 1.33511352e-04 9.99998917e-01 -4.47857685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.840371743 meters 0.05125657133348407 Centerline is valid? [True, True] Translation: X:325.22, Y:-19.95, Z:-4.48 [[ 9.99648563e-01 -2.65080996e-02 -2.65800442e-04 3.25224306e+02] [ 2.65081051e-02 9.99648598e-01 1.73168100e-05 -1.99533733e+01] [ 2.65248003e-04 -2.43565903e-05 9.99999965e-01 -4.48086817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.900371743 meters 0.047113314757682434 Centerline is valid? [True, True] Translation: X:325.29, Y:-19.95, Z:-4.48 [[ 9.99674102e-01 -2.55149110e-02 -8.24306229e-04 3.25287204e+02] [ 2.55149635e-02 9.99674439e-01 5.32423790e-05 -1.99470507e+01] [ 8.22679392e-04 -7.42571707e-05 9.99999659e-01 -4.48041617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.960371743 meters 0.04874448347402928 Centerline is valid? [True, True] Translation: X:325.35, Y:-19.95, Z:-4.48 [[ 9.99705267e-01 -2.42699545e-02 -5.89851503e-04 3.25348274e+02] [ 2.42699810e-02 9.99705440e-01 3.78902322e-05 -1.99463635e+01] [ 5.88758162e-04 -5.21947495e-05 9.99999825e-01 -4.48108426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.020371743 meters 0.048717772188437335 Centerline is valid? [True, True] Translation: X:325.41, Y:-19.95, Z:-4.48 [[ 9.99721358e-01 -2.35873916e-02 -9.16741547e-04 3.25411029e+02] [ 2.35874560e-02 9.99721775e-01 5.94391061e-05 -1.99465609e+01] [ 9.15084474e-04 -8.10461448e-05 9.99999578e-01 -4.48128496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.080371743 meters 0.04946912676102834 Centerline is valid? [True, True] Translation: X:325.47, Y:-19.95, Z:-4.48 [[ 9.99754375e-01 -2.21155448e-02 -1.44670164e-03 3.25472976e+02] [ 2.21157018e-02 9.99755414e-01 9.26388884e-05 -1.99451783e+01] [ 1.44429904e-03 -1.24610956e-04 9.99998949e-01 -4.48266455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.140371743 meters 0.04816629064357338 Centerline is valid? [True, True] Translation: X:325.54, Y:-19.95, Z:-4.48 [[ 9.99773962e-01 -2.11183462e-02 -2.45753246e-03 3.25535797e+02] [ 2.11187969e-02 9.99776961e-01 1.57567372e-04 -1.99455091e+01] [ 2.45365677e-03 -2.09431884e-04 9.99996968e-01 -4.48324167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.200371743 meters 0.0484604138096067 Centerline is valid? [True, True] Translation: X:325.60, Y:-19.94, Z:-4.48 [[ 9.99858088e-01 -1.65347096e-02 -3.22604153e-03 3.25595599e+02] [ 1.65354561e-02 9.99863259e-01 2.04877180e-04 -1.99428268e+01] [ 3.22221281e-03 -2.58192173e-04 9.99994775e-01 -4.48403072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.260371743 meters 0.04698001535008296 Centerline is valid? [True, True] Translation: X:325.66, Y:-19.94, Z:-4.48 [[ 9.99945650e-01 -1.03028908e-02 -1.59628839e-03 3.25655571e+02] [ 1.03030656e-02 9.99946917e-01 1.01312456e-04 -1.99394870e+01] [ 1.59515984e-03 -1.17753613e-04 9.99998721e-01 -4.48394918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.320371743 meters 0.04003980240185811 Centerline is valid? [True, True] Translation: X:325.72, Y:-19.93, Z:-4.48 [[ 9.99993552e-01 -2.99854431e-03 -1.97594675e-03 3.25716977e+02] [ 2.99879879e-03 9.99995496e-01 1.25835699e-04 -1.99271000e+01] [ 1.97556053e-03 -1.31760354e-04 9.99998040e-01 -4.48330244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.380371743 meters 0.037327642580895375 Centerline is valid? [True, True] Translation: X:325.78, Y:-19.92, Z:-4.48 [[ 9.99990306e-01 3.90186921e-03 -2.04046285e-03 3.25778261e+02] [-3.90161237e-03 9.99992380e-01 1.29838022e-04 -1.99213192e+01] [ 2.04095392e-03 -1.21875668e-04 9.99997910e-01 -4.48453366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.440371743 meters 0.036840517247725205 Centerline is valid? [True, True] Translation: X:325.84, Y:-19.92, Z:-4.49 [[ 9.99969277e-01 7.39642787e-03 -2.59564572e-03 3.25838661e+02] [-7.39602500e-03 9.99972635e-01 1.64775829e-04 -1.99219352e+01] [ 2.59679345e-03 -1.45573306e-04 9.99996618e-01 -4.48546500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.500371743 meters 0.03645926098167283 Centerline is valid? [True, True] Translation: X:325.90, Y:-19.92, Z:-4.49 [[ 9.99940588e-01 1.05097446e-02 -2.89250526e-03 3.25899214e+02] [-1.05092573e-02 9.99944759e-01 1.83602563e-04 -1.99212638e+01] [ 2.89427510e-03 -1.53193573e-04 9.99995800e-01 -4.48624939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.560371743 meters 0.03508478098473992 Centerline is valid? [True, True] Translation: X:325.96, Y:-19.92, Z:-4.49 [[ 9.99942044e-01 1.01815332e-02 -3.49929330e-03 3.25957873e+02] [-1.01808214e-02 9.99948150e-01 2.21164328e-04 -1.99191969e+01] [ 3.50136365e-03 -1.85525830e-04 9.99993853e-01 -4.48741212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.620371743 meters 0.040337391162092055 Centerline is valid? [True, True] Translation: X:326.02, Y:-19.93, Z:-4.49 [[ 9.99967723e-01 6.92877581e-03 -4.06752092e-03 3.26016942e+02] [-6.92778416e-03 9.99975969e-01 2.57837475e-04 -1.99298207e+01] [ 4.06920967e-03 -2.29650245e-04 9.99991694e-01 -4.49084317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.680371743 meters 0.041856898828698516 Centerline is valid? [True, True] Translation: X:326.08, Y:-19.93, Z:-4.49 [[ 9.99988396e-01 3.41209369e-03 -3.40071672e-03 3.26077234e+02] [-3.41137937e-03 9.99994158e-01 2.15829479e-04 -1.99349705e+01] [ 3.40143329e-03 -2.04225839e-04 9.99994194e-01 -4.49071739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.740371743 meters 0.039452354728331536 Centerline is valid? [True, True] Translation: X:326.14, Y:-19.93, Z:-4.49 [[ 9.99987408e-01 -3.64617624e-03 -3.44805250e-03 3.26137501e+02] [ 3.64695141e-03 9.99993326e-01 2.18552574e-04 -1.99331912e+01] [ 3.44723261e-03 -2.31124702e-04 9.99994032e-01 -4.48881092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.800371743 meters 0.043092037672755525 Centerline is valid? [True, True] Translation: X:326.20, Y:-19.94, Z:-4.49 [[ 9.99925328e-01 -1.16557752e-02 -3.67168451e-03 3.26197846e+02] [ 1.16567091e-02 9.99932031e-01 2.33074342e-04 -1.99411480e+01] [ 3.66871828e-03 -2.75856696e-04 9.99993232e-01 -4.49058345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86037174300003 meters 0.06233280597102264 Centerline is valid? [True, True] Translation: X:326.26, Y:-19.97, Z:-4.50 [[ 9.99862526e-01 -1.65660141e-02 -7.04726846e-04 3.26255365e+02] [ 1.65660498e-02 9.99862773e-01 4.47766639e-05 -1.99714523e+01] [ 7.03888367e-04 -5.64450483e-05 9.99999751e-01 -4.49534830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92037174300003 meters 0.04603116406762783 Centerline is valid? [True, True] Translation: X:326.32, Y:-19.95, Z:-4.49 [[ 9.99743661e-01 -2.24389920e-02 -3.01713120e-03 3.26317715e+02] [ 2.24396714e-02 9.99748181e-01 1.91509469e-04 -1.99497893e+01] [ 3.01207415e-03 -2.59163810e-04 9.99995430e-01 -4.49192732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.980371743 meters 0.052360605675281675 Centerline is valid? [True, True] Translation: X:326.38, Y:-19.96, Z:-4.49 [[ 9.99668493e-01 -2.56723255e-02 -1.95834552e-03 3.26377175e+02] [ 2.56726185e-02 9.99670396e-01 1.24594905e-04 -1.99604683e+01] [ 1.95450140e-03 -1.74829458e-04 9.99998075e-01 -4.49346080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.040371743 meters 0.050919622567759615 Centerline is valid? [True, True] Translation: X:326.44, Y:-19.96, Z:-4.49 [[ 9.99676056e-01 -2.54267674e-02 -1.12348390e-03 3.26439606e+02] [ 2.54268647e-02 9.99676682e-01 7.23902868e-05 -1.99593441e+01] [ 1.12128001e-03 -1.00933510e-04 9.99999366e-01 -4.49310988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.100371743 meters 0.048638609724385884 Centerline is valid? [True, True] Translation: X:326.50, Y:-19.96, Z:-4.49 [[ 9.99711046e-01 -2.39625114e-02 -1.90325271e-03 3.26501611e+02] [ 2.39627864e-02 9.99712844e-01 1.21812242e-04 -1.99556582e+01] [ 1.89978725e-03 -1.67384282e-04 9.99998181e-01 -4.49422122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.160371743 meters 0.04669400106883827 Centerline is valid? [True, True] Translation: X:326.56, Y:-19.95, Z:-4.49 [[ 9.99725498e-01 -2.33743922e-02 -1.60181054e-03 3.26563670e+02] [ 2.33745870e-02 9.99726772e-01 1.03024588e-04 -1.99538726e+01] [ 1.59896474e-03 -1.40437968e-04 9.99998712e-01 -4.49461135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.220371743 meters 0.04678433711657796 Centerline is valid? [True, True] Translation: X:326.63, Y:-19.95, Z:-4.50 [[ 9.99738365e-01 -2.27874263e-02 -1.98382389e-03 3.26625533e+02] [ 2.27877238e-02 9.99740318e-01 1.27489709e-04 -1.99545051e+01] [ 1.98040356e-03 -1.72663184e-04 9.99998024e-01 -4.49519781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.280371743 meters 0.04658828001200322 Centerline is valid? [True, True] Translation: X:326.69, Y:-19.95, Z:-4.50 [[ 9.99755464e-01 -2.18275253e-02 -3.54564460e-03 3.26688415e+02] [ 2.18284688e-02 9.99761705e-01 2.27626743e-04 -1.99538583e+01] [ 3.53983116e-03 -3.04967073e-04 9.99993688e-01 -4.49724890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.340371743 meters 0.047101728269295914 Centerline is valid? [True, True] Translation: X:326.75, Y:-19.95, Z:-4.50 [[ 9.99802462e-01 -1.96487100e-02 -2.99423385e-03 3.26749675e+02] [ 1.96493709e-02 9.99806914e-01 1.91461752e-04 -1.99544451e+01] [ 2.98989373e-03 -2.50258742e-04 9.99995499e-01 -4.49742003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.400371743 meters 0.04414501004853019 Centerline is valid? [True, True] Translation: X:326.81, Y:-19.95, Z:-4.50 [[ 9.99846107e-01 -1.75129911e-02 -1.02795385e-03 3.26810667e+02] [ 1.75130681e-02 9.99846632e-01 6.59189124e-05 -1.99515813e+01] [ 1.02664176e-03 -8.39113938e-05 9.99999469e-01 -4.49600184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.460371743 meters 0.045906832121455764 Centerline is valid? [True, True] Translation: X:326.87, Y:-19.95, Z:-4.50 [[ 9.99913638e-01 -1.31300882e-02 5.62997901e-04 3.26870686e+02] [ 1.31301104e-02 9.99913796e-01 -3.58639241e-05 -1.99534318e+01] [-5.62478472e-04 4.32530514e-05 9.99999841e-01 -4.49648580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.520371743 meters 0.04497316639408776 Centerline is valid? [True, True] Translation: X:326.93, Y:-19.95, Z:-4.50 [[ 9.99950565e-01 -9.91229761e-03 7.83727290e-04 3.26931058e+02] [ 9.91233980e-03 9.99950870e-01 -4.99614832e-05 -1.99546292e+01] [-7.83193553e-04 5.77275845e-05 9.99999692e-01 -4.49807728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.580371743 meters 0.044477285235091014 Centerline is valid? [True, True] Translation: X:326.99, Y:-19.96, Z:-4.50 [[ 9.99977402e-01 -6.57409898e-03 1.40569441e-03 3.26991514e+02] [ 6.57423154e-03 9.99978385e-01 -8.97033164e-05 -1.99560356e+01] [-1.40507431e-03 9.89426499e-05 9.99999008e-01 -4.49944320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.640371743 meters 0.04053947682785333 Centerline is valid? [True, True] Translation: X:327.05, Y:-19.95, Z:-4.50 [[ 9.99993217e-01 -3.50402740e-03 1.13494602e-03 3.27052872e+02] [ 3.50411170e-03 9.99993858e-01 -7.22993633e-05 -1.99514618e+01] [-1.13468571e-03 7.62758505e-05 9.99999353e-01 -4.49951384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.700371743 meters 0.04017620598953064 Centerline is valid? [True, True] Translation: X:327.11, Y:-19.95, Z:-4.50 [[ 9.99998976e-01 -2.98116334e-04 1.39974246e-03 3.27113758e+02] [ 2.98241530e-04 9.99999952e-01 -8.92340863e-05 -1.99531007e+01] [-1.39971579e-03 8.96514562e-05 9.99999016e-01 -4.50102418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.760371743 meters 0.036124603261501846 Centerline is valid? [True, True] Translation: X:327.18, Y:-19.95, Z:-4.50 [[ 9.99994074e-01 3.11009986e-03 1.47656371e-03 3.27175251e+02] [-3.10996405e-03 9.99995160e-01 -9.42631815e-05 -1.99498656e+01] [-1.47684973e-03 8.96705628e-05 9.99998905e-01 -4.50066020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.820371743 meters 0.03594242594046317 Centerline is valid? [True, True] Translation: X:327.24, Y:-19.95, Z:-4.50 [[ 9.99984788e-01 5.41113174e-03 1.06903009e-03 3.27235310e+02] [-5.41106149e-03 9.99985358e-01 -6.85951572e-05 -1.99526023e+01] [-1.06938562e-03 6.28095262e-05 9.99999426e-01 -4.50159393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.880371743 meters 0.03531236948112491 Centerline is valid? [True, True] Translation: X:327.30, Y:-19.96, Z:-4.50 [[ 9.99952448e-01 9.72166787e-03 7.68768082e-04 3.27296014e+02] [-9.72163290e-03 9.99952743e-01 -4.92114919e-05 -1.99553926e+01] [-7.69210170e-04 4.17354707e-05 9.99999703e-01 -4.50215473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.940371743 meters 0.032338015265408596 Centerline is valid? [True, True] Translation: X:327.36, Y:-19.95, Z:-4.50 [[ 9.99887194e-01 1.50196428e-02 9.94630863e-05 3.27356832e+02] [-1.50196423e-02 9.99887199e-01 -6.40670438e-06 -1.99529303e+01] [-9.95480933e-05 4.91208170e-06 9.99999995e-01 -4.50147566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.000371743 meters 0.03324631843957615 Centerline is valid? [True, True] Translation: X:327.42, Y:-19.96, Z:-4.50 [[ 9.99790658e-01 2.04001876e-02 -1.57261741e-03 3.27415237e+02] [-2.04000555e-02 9.99791892e-01 9.99888515e-05 -1.99591883e+01] [ 1.57432993e-03 -6.78864371e-05 9.99998758e-01 -4.50444269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.060371743 meters 0.031029122678270193 Centerline is valid? [True, True] Translation: X:327.47, Y:-19.96, Z:-4.50 [[ 9.99751125e-01 2.22151597e-02 -2.04343071e-03 3.27473936e+02] [-2.22149415e-02 9.99753209e-01 1.29426987e-04 -1.99587903e+01] [ 2.04580165e-03 -8.40000825e-05 9.99997904e-01 -4.50447251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.120371743 meters 0.02991160629348496 Centerline is valid? [True, True] Translation: X:327.53, Y:-19.96, Z:-4.51 [[ 9.99624530e-01 2.72815542e-02 -2.55260078e-03 3.27533916e+02] [-2.72812277e-02 9.99627785e-01 1.62618365e-04 -1.99621445e+01] [ 2.55608715e-03 -9.29192235e-05 9.99996729e-01 -4.50516168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.180371743 meters 0.02956873052739018 Centerline is valid? [True, True] Translation: X:327.59, Y:-19.97, Z:-4.50 [[ 9.99529878e-01 3.05892944e-02 -2.07791155e-03 3.27593000e+02] [-3.05890860e-02 9.99532036e-01 1.32025165e-04 -1.99670217e+01] [ 2.08097772e-03 -6.84016820e-05 9.99997832e-01 -4.50442061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.240371743 meters 0.028489710867987947 Centerline is valid? [True, True] Translation: X:327.65, Y:-19.97, Z:-4.50 [[ 9.99490817e-01 3.18624473e-02 -1.70063658e-03 3.27651576e+02] [-3.18623107e-02 9.99492262e-01 1.07345130e-04 -1.99710020e+01] [ 1.70319338e-03 -5.31042607e-05 9.99998548e-01 -4.50405159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.300371743 meters 0.02901903590334499 Centerline is valid? [True, True] Translation: X:327.71, Y:-19.98, Z:-4.51 [[ 9.99564158e-01 2.93425259e-02 -3.24182784e-03 3.27710802e+02] [-2.93420123e-02 9.99569409e-01 2.05889103e-04 -1.99805341e+01] [ 3.24647324e-03 -1.10677615e-04 9.99994724e-01 -4.50576567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.36037174300003 meters 0.03025922759865611 Centerline is valid? [True, True] Translation: X:327.77, Y:-19.99, Z:-4.51 [[ 9.99728990e-01 2.28864186e-02 -4.26132390e-03 3.27770291e+02] [-2.28854703e-02 9.99738057e-01 2.71167055e-04 -1.99923116e+01] [ 4.26641372e-03 -1.73571164e-04 9.99990884e-01 -4.50691675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.42037174300003 meters 0.03414796052131868 Centerline is valid? [True, True] Translation: X:327.83, Y:-20.01, Z:-4.51 [[ 9.99932488e-01 1.08855757e-02 -4.06501983e-03 3.27829614e+02] [-1.08846136e-02 9.99940727e-01 2.58728521e-04 -2.00123926e+01] [ 4.06759530e-03 -2.14464884e-04 9.99991704e-01 -4.50869991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.480371743 meters 0.035619164459040814 Centerline is valid? [True, True] Translation: X:327.89, Y:-20.02, Z:-4.51 [[ 9.99992279e-01 1.75003597e-03 -3.51849343e-03 3.27888866e+02] [-1.74925959e-03 9.99998445e-01 2.23723373e-04 -2.00237898e+01] [ 3.51887949e-03 -2.17566887e-04 9.99993785e-01 -4.50792011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.540371743 meters 0.03879924791221766 Centerline is valid? [True, True] Translation: X:327.95, Y:-20.03, Z:-4.51 [[ 9.99994776e-01 -9.63907815e-04 -3.08540666e-03 3.27947135e+02] [ 9.64516311e-04 9.99999516e-01 1.95735673e-04 -2.00347620e+01] [ 3.08521650e-03 -1.98710575e-04 9.99995221e-01 -4.50979960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.600371743 meters 0.03979813706518086 Centerline is valid? [True, True] Translation: X:328.01, Y:-20.05, Z:-4.51 [[ 9.99956522e-01 -8.89593715e-03 -2.79574292e-03 3.28006548e+02] [ 8.89646860e-03 9.99960410e-01 1.77715187e-04 -2.00451755e+01] [ 2.79405130e-03 -2.02579700e-04 9.99996076e-01 -4.51022266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.660371743 meters 0.04584060940986645 Centerline is valid? [True, True] Translation: X:328.06, Y:-20.06, Z:-4.51 [[ 9.99884985e-01 -1.47892833e-02 -3.36055586e-03 3.28064503e+02] [ 1.47900829e-02 9.99890598e-01 2.13230007e-04 -2.00616012e+01] [ 3.35703469e-03 -2.62908382e-04 9.99994331e-01 -4.51280114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.720371743 meters 0.04431797090867077 Centerline is valid? [True, True] Translation: X:328.13, Y:-20.07, Z:-4.51 [[ 9.99816075e-01 -1.87016184e-02 -4.25035733e-03 3.28125385e+02] [ 1.87029352e-02 9.99825048e-01 2.70253211e-04 -2.00650755e+01] [ 4.24455955e-03 -3.49697663e-04 9.99990931e-01 -4.51317773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.780371743 meters 0.044563895844007946 Centerline is valid? [True, True] Translation: X:328.19, Y:-20.07, Z:-4.51 [[ 9.99806249e-01 -1.92253088e-02 -4.22525655e-03 3.28187594e+02] [ 1.92266201e-02 9.99815115e-01 2.69941021e-04 -2.00698060e+01] [ 4.21928567e-03 -3.51126122e-04 9.99991037e-01 -4.51303191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.840371743 meters 0.04385559280467352 Centerline is valid? [True, True] Translation: X:328.25, Y:-20.07, Z:-4.51 [[ 9.99834828e-01 -1.79396521e-02 -2.91300629e-03 3.28248905e+02] [ 1.79402697e-02 9.99839043e-01 1.86020481e-04 -2.00715885e+01] [ 2.90920028e-03 -2.38249874e-04 9.99995740e-01 -4.51217234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.900371743 meters 0.04422880288980981 Centerline is valid? [True, True] Translation: X:328.31, Y:-20.08, Z:-4.51 [[ 9.99869925e-01 -1.57934517e-02 -3.27100886e-03 3.28310210e+02] [ 1.57942191e-02 9.99875242e-01 2.08915750e-04 -2.00750859e+01] [ 3.26730127e-03 -2.60551606e-04 9.99994628e-01 -4.51356168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.960371743 meters 0.044873611377301656 Centerline is valid? [True, True] Translation: X:328.37, Y:-20.08, Z:-4.52 [[ 9.99888071e-01 -1.44469493e-02 -3.88996545e-03 3.28371761e+02] [ 1.44480260e-02 9.99895591e-01 2.48814352e-04 -2.00787894e+01] [ 3.88596470e-03 -3.04988824e-04 9.99992403e-01 -4.51546747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.020371743 meters 0.04256674240459915 Centerline is valid? [True, True] Translation: X:328.43, Y:-20.08, Z:-4.52 [[ 9.99901372e-01 -1.29816680e-02 -5.35937244e-03 3.28433304e+02] [ 1.29836890e-02 9.99915650e-01 3.42473459e-04 -2.00773580e+01] [ 5.35447450e-03 -4.12024106e-04 9.99985580e-01 -4.51655419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.080371743 meters 0.04540843030112853 Centerline is valid? [True, True] Translation: X:328.49, Y:-20.08, Z:-4.52 [[ 9.99928526e-01 -1.13754475e-02 -3.67994423e-03 3.28493884e+02] [ 1.13763906e-02 9.99935259e-01 2.35436510e-04 -2.00844416e+01] [ 3.67702779e-03 -2.77284165e-04 9.99993201e-01 -4.51704271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.140371743 meters 0.04046391733124663 Centerline is valid? [True, True] Translation: X:328.56, Y:-20.08, Z:-4.51 [[ 9.99931257e-01 -1.14450959e-02 -2.54768167e-03 3.28557106e+02] [ 1.14455511e-02 9.99934484e-01 1.64167007e-04 -2.00793397e+01] [ 2.54563585e-03 -1.93315342e-04 9.99996741e-01 -4.51402094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.200371743 meters 0.04220787014575444 Centerline is valid? [True, True] Translation: X:328.62, Y:-20.09, Z:-4.52 [[ 9.99926744e-01 -1.18195098e-02 -2.60868458e-03 3.28618175e+02] [ 1.18199872e-02 9.99930127e-01 1.67684784e-04 -2.00852696e+01] [ 2.60652035e-03 -1.98507119e-04 9.99996583e-01 -4.51546329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.260371743 meters 0.04167113653592373 Centerline is valid? [True, True] Translation: X:328.68, Y:-20.09, Z:-4.52 [[ 9.99905672e-01 -1.34807122e-02 -2.63017961e-03 3.28679745e+02] [ 1.34812028e-02 9.99909110e-01 1.68906739e-04 -2.00877303e+01] [ 2.62766357e-03 -2.04348791e-04 9.99996527e-01 -4.51679017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.320371743 meters 0.04236421757513864 Centerline is valid? [True, True] Translation: X:328.74, Y:-20.09, Z:-4.52 [[ 9.99875908e-01 -1.54396251e-02 -3.12828322e-03 3.28741209e+02] [ 1.54403288e-02 9.99880771e-01 2.00911902e-04 -2.00912008e+01] [ 3.12480824e-03 -2.49188692e-04 9.99995087e-01 -4.51754616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.380371743 meters 0.04375042870434898 Centerline is valid? [True, True] Translation: X:328.80, Y:-20.10, Z:-4.52 [[ 9.99859846e-01 -1.63773900e-02 -3.47408966e-03 3.28803481e+02] [ 1.63782659e-02 9.99865842e-01 2.23821101e-04 -2.00955421e+01] [ 3.46995798e-03 -2.80689296e-04 9.99993940e-01 -4.51901460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.440371743 meters 0.04271289244456577 Centerline is valid? [True, True] Translation: X:328.87, Y:-20.09, Z:-4.52 [[ 9.99858315e-01 -1.65920993e-02 -2.83765110e-03 3.28865557e+02] [ 1.65926857e-02 9.99862315e-01 1.83222974e-04 -2.00949848e+01] [ 2.83422034e-03 -2.30281267e-04 9.99995957e-01 -4.51832552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.500371743 meters 0.04281376462176842 Centerline is valid? [True, True] Translation: X:328.93, Y:-20.10, Z:-4.52 [[ 9.99904506e-01 -1.37816966e-02 -1.02184779e-03 3.28926377e+02] [ 1.37817710e-02 9.99905025e-01 6.57611641e-05 -2.00950729e+01] [ 1.02084444e-03 -7.98377566e-05 9.99999476e-01 -4.51650468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.560371743 meters 0.040016466081324246 Centerline is valid? [True, True] Translation: X:328.99, Y:-20.09, Z:-4.52 [[ 9.99958909e-01 -9.05569413e-03 -4.17157092e-04 3.28987847e+02] [ 9.05570613e-03 9.99958996e-01 2.68779387e-05 -2.00898677e+01] [ 4.16896588e-04 -3.06544863e-05 9.99999913e-01 -4.51521516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.620371743 meters 0.037985038338763974 Centerline is valid? [True, True] Translation: X:329.05, Y:-20.09, Z:-4.52 [[ 9.99995684e-01 -2.66220595e-03 -1.24265919e-03 3.29049242e+02] [ 2.66230745e-03 9.99996453e-01 8.00333160e-05 -2.00854480e+01] [ 1.24244171e-03 -8.33413114e-05 9.99999225e-01 -4.51674169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.680371743 meters 0.03636381531124896 Centerline is valid? [True, True] Translation: X:329.11, Y:-20.08, Z:-4.52 [[ 9.99996609e-01 2.38345328e-03 -1.04919269e-03 3.29110483e+02] [-2.38338409e-03 9.99997157e-01 6.71917408e-05 -2.00839184e+01] [ 1.04934986e-03 -6.46908838e-05 9.99999447e-01 -4.51765604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.740371743 meters 0.03447655423819318 Centerline is valid? [True, True] Translation: X:329.17, Y:-20.08, Z:-4.52 [[ 9.99953234e-01 9.64961389e-03 -6.43592115e-04 3.29171715e+02] [-9.64958914e-03 9.99953441e-01 4.15511518e-05 -2.00804997e+01] [ 6.43963102e-04 -3.53388091e-05 9.99999792e-01 -4.51792217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.800371743 meters 0.033501198925207226 Centerline is valid? [True, True] Translation: X:329.23, Y:-20.08, Z:-4.52 [[ 9.99883134e-01 1.52737183e-02 -6.57741278e-04 3.29231025e+02] [-1.52736940e-02 9.99883349e-01 4.19514799e-05 -2.00789554e+01] [ 6.58305307e-04 -3.19004382e-05 9.99999783e-01 -4.51845946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86037174300003 meters 0.030727247968682234 Centerline is valid? [True, True] Translation: X:329.29, Y:-20.08, Z:-4.52 [[ 9.99810727e-01 1.94452230e-02 -6.26806546e-04 3.29290957e+02] [-1.94452019e-02 9.99810923e-01 3.97285855e-05 -2.00752778e+01] [ 6.27460562e-04 -2.75326861e-05 9.99999803e-01 -4.51901654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92037174300003 meters 0.030709683174719532 Centerline is valid? [True, True] Translation: X:329.35, Y:-20.08, Z:-4.52 [[ 9.99738061e-01 2.28730414e-02 -7.95909265e-04 3.29350181e+02] [-2.28730084e-02 9.99738377e-01 5.05632787e-05 -2.00779389e+01] [ 7.96857573e-04 -3.23451949e-05 9.99999682e-01 -4.51965280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.980371743 meters 0.030691934667685054 Centerline is valid? [True, True] Translation: X:329.41, Y:-20.08, Z:-4.52 [[ 9.99720834e-01 2.36255776e-02 -2.92041840e-04 3.29409124e+02] [-2.36255734e-02 9.99720877e-01 1.77411743e-05 -2.00816906e+01] [ 2.92379469e-04 -1.08365657e-05 9.99999957e-01 -4.52047672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.040371743 meters 0.03064477008382724 Centerline is valid? [True, True] Translation: X:329.47, Y:-20.09, Z:-4.52 [[ 9.99684231e-01 2.51253281e-02 3.94708182e-04 3.29467528e+02] [-2.51253197e-02 9.99684309e-01 -2.62248614e-05 -2.00859061e+01] [-3.95242485e-04 1.62994112e-05 9.99999922e-01 -4.52119813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.100371743 meters 0.028350456164219377 Centerline is valid? [True, True] Translation: X:329.53, Y:-20.09, Z:-4.52 [[ 9.99681237e-01 2.52419161e-02 5.19518154e-04 3.29526691e+02] [-2.52419017e-02 9.99681372e-01 -3.42417615e-05 -2.00872572e+01] [-5.20216949e-04 2.11172203e-05 9.99999864e-01 -4.52060991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.160371743 meters 0.029765796933655275 Centerline is valid? [True, True] Translation: X:329.59, Y:-20.10, Z:-4.52 [[ 9.99753916e-01 2.21826871e-02 1.90262004e-04 3.29585034e+02] [-2.21826850e-02 9.99753934e-01 -1.29103538e-05 -2.00965326e+01] [-1.90501574e-04 8.68665469e-06 9.99999982e-01 -4.52297050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.220371743 meters 0.031227018822868293 Centerline is valid? [True, True] Translation: X:329.64, Y:-20.11, Z:-4.52 [[ 9.99858834e-01 1.68017818e-02 1.06737219e-04 3.29644730e+02] [-1.68017811e-02 9.99858840e-01 -7.16880772e-06 -2.01068111e+01] [-1.06842601e-04 5.37442035e-06 9.99999994e-01 -4.52387213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.280371743 meters 0.03405723005634264 Centerline is valid? [True, True] Translation: X:329.70, Y:-20.12, Z:-4.52 [[ 9.99955436e-01 9.23383989e-03 1.96526931e-03 3.29704418e+02] [-9.23361105e-03 9.99957361e-01 -1.25482857e-04 -2.01185507e+01] [-1.96634421e-03 1.07330733e-04 9.99998061e-01 -4.52334587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.340371743 meters 0.037921682501587645 Centerline is valid? [True, True] Translation: X:329.76, Y:-20.13, Z:-4.53 [[ 9.99997198e-01 3.43984441e-04 2.34199151e-03 3.29763881e+02] [-3.43634906e-04 9.99999930e-01 -1.49647589e-04 -2.01320433e+01] [-2.34204282e-03 1.48842379e-04 9.99997246e-01 -4.52509167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.400371743 meters 0.03810668190277552 Centerline is valid? [True, True] Translation: X:329.82, Y:-20.14, Z:-4.53 [[ 9.99982394e-01 -5.82275651e-03 1.14325295e-03 3.29824761e+02] [ 5.82284331e-03 9.99983044e-01 -7.26145360e-05 -2.01374173e+01] [-1.14281074e-03 7.92702404e-05 9.99999344e-01 -4.52592985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.460371743 meters 0.04057130741194283 Centerline is valid? [True, True] Translation: X:329.88, Y:-20.15, Z:-4.53 [[ 9.99914352e-01 -1.30775611e-02 -5.15895609e-04 3.29884428e+02] [ 1.30775798e-02 9.99914484e-01 3.30466018e-05 -2.01467279e+01] [ 5.15419323e-04 -3.97904374e-05 9.99999866e-01 -4.52787682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.520371743 meters 0.04374393701005411 Centerline is valid? [True, True] Translation: X:329.94, Y:-20.16, Z:-4.53 [[ 9.99847407e-01 -1.74491344e-02 8.31047040e-04 3.29944609e+02] [ 1.74491845e-02 9.99847750e-01 -5.30506166e-05 -2.01556697e+01] [-8.29994825e-04 6.75436146e-05 9.99999653e-01 -4.52864408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.580371743 meters 0.04466764003305138 Centerline is valid? [True, True] Translation: X:330.01, Y:-20.16, Z:-4.53 [[ 9.99820542e-01 -1.88138535e-02 2.21870520e-03 3.30006534e+02] [ 1.88142122e-02 9.99822987e-01 -1.40900103e-04 -2.01601776e+01] [-2.21566159e-03 1.82618008e-04 9.99997529e-01 -4.52864001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.640371743 meters 0.04619780231985667 Centerline is valid? [True, True] Translation: X:330.07, Y:-20.16, Z:-4.53 [[ 9.99830304e-01 -1.83193651e-02 1.94037192e-03 3.30068450e+02] [ 1.83196386e-02 9.99832174e-01 -1.23247349e-04 -2.01622298e+01] [-1.93778846e-03 1.58773347e-04 9.99998110e-01 -4.53006510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.700371743 meters 0.049779138374723454 Centerline is valid? [True, True] Translation: X:330.13, Y:-20.17, Z:-4.53 [[ 9.99857982e-01 -1.67566420e-02 1.79730120e-03 3.30128905e+02] [ 1.67568749e-02 9.99859587e-01 -1.14655632e-04 -2.01687682e+01] [-1.79512759e-03 1.44756501e-04 9.99998378e-01 -4.53191298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.760371743 meters 0.046120555006135606 Centerline is valid? [True, True] Translation: X:330.19, Y:-20.16, Z:-4.53 [[ 9.99914414e-01 -1.30213834e-02 1.26826659e-03 3.30189747e+02] [ 1.30214968e-02 9.99915213e-01 -8.12000481e-05 -2.01620787e+01] [-1.26710172e-03 9.77078279e-05 9.99999192e-01 -4.53251515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.820371743 meters 0.042866890206943044 Centerline is valid? [True, True] Translation: X:330.25, Y:-20.16, Z:-4.53 [[ 9.99963690e-01 -8.51938696e-03 -1.98377692e-04 3.30250353e+02] [ 8.51938965e-03 9.99963709e-01 1.27090009e-05 -2.01561142e+01] [ 1.98262219e-04 -1.43985963e-05 9.99999980e-01 -4.53414290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.880371743 meters 0.040154899361114826 Centerline is valid? [True, True] Translation: X:330.31, Y:-20.15, Z:-4.53 [[ 9.99983665e-01 -5.70951304e-03 -2.66933685e-04 3.30311537e+02] [ 5.70951788e-03 9.99983700e-01 1.73584100e-05 -2.01517255e+01] [ 2.66830226e-04 -1.88821891e-05 9.99999964e-01 -4.53458907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.940371743 meters 0.04225173895273017 Centerline is valid? [True, True] Translation: X:330.37, Y:-20.15, Z:-4.53 [[ 9.99992620e-01 -3.67432223e-03 1.12242236e-03 3.30371732e+02] [ 3.67440503e-03 9.99993247e-01 -7.17178753e-05 -2.01520887e+01] [-1.12215127e-03 7.58415804e-05 9.99999368e-01 -4.53384697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.000371743 meters 0.04410519436329511 Centerline is valid? [True, True] Translation: X:330.43, Y:-20.15, Z:-4.53 [[ 9.99986922e-01 -4.73995807e-03 1.92068960e-03 3.30432889e+02] [ 4.74020210e-03 9.99988758e-01 -1.22517996e-04 -2.01537356e+01] [-1.92008728e-03 1.31620850e-04 9.99998148e-01 -4.53423111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.060371743 meters 0.04791124770596954 Centerline is valid? [True, True] Translation: X:330.49, Y:-20.16, Z:-4.54 [[ 9.99961566e-01 -8.58145907e-03 1.79606832e-03 3.30492469e+02] [ 8.58168013e-03 9.99963170e-01 -1.15404770e-04 -2.01577381e+01] [-1.79501183e-03 1.30813619e-04 9.99998380e-01 -4.53576084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.120371743 meters 0.044995796261615505 Centerline is valid? [True, True] Translation: X:330.55, Y:-20.15, Z:-4.54 [[ 9.99935229e-01 -1.13415432e-02 9.52241537e-04 3.30554225e+02] [ 1.13416063e-02 9.99935680e-01 -6.08611788e-05 -2.01522660e+01] [-9.51490029e-04 7.16571853e-05 9.99999545e-01 -4.53702501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.180371743 meters 0.061028580976910954 Centerline is valid? [True, True] Translation: X:330.61, Y:-20.17, Z:-4.54 [[ 9.99956853e-01 -8.85323197e-03 2.81288726e-03 3.30612490e+02] [ 8.85377450e-03 9.99960788e-01 -1.80481392e-04 -2.01745857e+01] [-2.81117911e-03 2.05378274e-04 9.99996028e-01 -4.54155827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.240371743 meters 0.04202808561402726 Centerline is valid? [True, True] Translation: X:330.68, Y:-20.15, Z:-4.54 [[ 9.99959144e-01 -9.03548470e-03 2.63996295e-04 3.30676749e+02] [ 9.03548923e-03 9.99959179e-01 -1.59517964e-05 -2.01456964e+01] [-2.63841387e-04 1.83364803e-05 9.99999965e-01 -4.53831935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.300371743 meters 0.038959804655338104 Centerline is valid? [True, True] Translation: X:330.74, Y:-20.14, Z:-4.54 [[ 9.99996768e-01 -2.37531703e-03 9.06876294e-04 3.30738041e+02] [ 2.37537064e-03 9.99997177e-01 -5.80429319e-05 -2.01392877e+01] [-9.06735864e-04 6.01969116e-05 9.99999587e-01 -4.53791083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.36037174300003 meters 0.03639284105872088 Centerline is valid? [True, True] Translation: X:330.80, Y:-20.13, Z:-4.54 [[ 9.99981901e-01 5.90901217e-03 1.13175845e-03 3.30798129e+02] [-5.90893346e-03 9.99982539e-01 -7.28784701e-05 -2.01330606e+01] [-1.13216933e-03 6.61896658e-05 9.99999357e-01 -4.53727918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.42037174300003 meters 0.03168106225759228 Centerline is valid? [True, True] Translation: X:330.86, Y:-20.13, Z:-4.54 [[ 9.99929436e-01 1.18386140e-02 9.84515669e-04 3.30859555e+02] [-1.18385575e-02 9.99929920e-01 -6.32475529e-05 -2.01255748e+01] [-9.85195438e-04 5.15878446e-05 9.99999513e-01 -4.53694732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.480371743 meters 0.02870146889880693 Centerline is valid? [True, True] Translation: X:330.92, Y:-20.12, Z:-4.54 [[ 9.99720221e-01 2.36528227e-02 -1.54819487e-04 3.30919248e+02] [-2.36528214e-02 9.99720233e-01 9.80814588e-06 -2.01175733e+01] [ 1.55008164e-04 -6.14348407e-06 9.99999988e-01 -4.53886790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.540371743 meters 0.026146680282499966 Centerline is valid? [True, True] Translation: X:330.98, Y:-20.11, Z:-4.54 [[ 9.99615805e-01 2.77099854e-02 6.31930456e-04 3.30979523e+02] [-2.77099649e-02 9.99616004e-01 -4.11832587e-05 -2.01128065e+01] [-6.32828985e-04 2.36566656e-05 9.99999799e-01 -4.53779180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.600371743 meters 0.027712655801002215 Centerline is valid? [True, True] Translation: X:331.04, Y:-20.12, Z:-4.54 [[ 9.99576308e-01 2.90493252e-02 1.82782457e-03 3.31037091e+02] [-2.90491562e-02 9.99577977e-01 -1.18917446e-04 -2.01180945e+01] [-1.83050766e-03 6.57703005e-05 9.99998322e-01 -4.53953068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.660371743 meters 0.026948322271134292 Centerline is valid? [True, True] Translation: X:331.10, Y:-20.12, Z:-4.54 [[ 9.99669719e-01 2.54056471e-02 3.87370614e-03 3.31095997e+02] [-2.54048732e-02 9.99677213e-01 -2.48889341e-04 -2.01221002e+01] [-3.87877895e-03 1.50396124e-04 9.99992466e-01 -4.53901201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.720371743 meters 0.029178895270750325 Centerline is valid? [True, True] Translation: X:331.15, Y:-20.13, Z:-4.54 [[ 9.99728069e-01 2.28941019e-02 4.43264939e-03 3.31154329e+02] [-2.28930670e-02 9.99737879e-01 -2.84087963e-04 -2.01314692e+01] [-4.43799143e-03 1.82533772e-04 9.99990135e-01 -4.53986784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.780371743 meters 0.028874282679078087 Centerline is valid? [True, True] Translation: X:331.21, Y:-20.14, Z:-4.54 [[ 9.99768406e-01 2.11376221e-02 4.04181938e-03 3.31213248e+02] [-2.11367471e-02 9.99776560e-01 -2.59071604e-04 -2.01367783e+01] [-4.04639243e-03 1.73580691e-04 9.99991798e-01 -4.54111314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.840371743 meters 0.02961561562181527 Centerline is valid? [True, True] Translation: X:331.27, Y:-20.14, Z:-4.54 [[ 9.99780763e-01 2.06550113e-02 3.43458647e-03 3.31272080e+02] [-2.06543770e-02 9.99786651e-01 -2.20041991e-04 -2.01442583e+01] [-3.43839867e-03 1.49054506e-04 9.99994078e-01 -4.54310087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.900371743 meters 0.02874539702985229 Centerline is valid? [True, True] Translation: X:331.33, Y:-20.15, Z:-4.54 [[ 9.99756241e-01 2.18907289e-02 2.87312872e-03 3.31330645e+02] [-2.18902902e-02 9.99760362e-01 -1.84039634e-04 -2.01486579e+01] [-2.87646897e-03 1.21101151e-04 9.99995856e-01 -4.54421242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.960371743 meters 0.028065154391371645 Centerline is valid? [True, True] Translation: X:331.39, Y:-20.15, Z:-4.55 [[ 9.99623009e-01 2.73502962e-02 2.40837856e-03 3.31389505e+02] [-2.73500048e-02 9.99625907e-01 -1.53840755e-04 -2.01528234e+01] [-2.41168520e-03 8.79135934e-05 9.99997088e-01 -4.54552100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.020371743 meters 0.026037282963904763 Centerline is valid? [True, True] Translation: X:331.45, Y:-20.15, Z:-4.54 [[ 9.99364866e-01 3.54318207e-02 3.80128695e-03 3.31449583e+02] [-3.54311560e-02 9.99372090e-01 -2.42087746e-04 -2.01549577e+01] [-3.80747769e-03 1.07249998e-04 9.99992746e-01 -4.54498165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.080371743 meters 0.02417862076499841 Centerline is valid? [True, True] Translation: X:331.51, Y:-20.16, Z:-4.54 [[ 9.99124137e-01 4.14312445e-02 5.86615439e-03 3.31508918e+02] [-4.14297636e-02 9.99141349e-01 -3.73787613e-04 -2.01588310e+01] [-5.87660390e-03 1.30426836e-04 9.99982724e-01 -4.54428618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.140371743 meters 0.024126535843704996 Centerline is valid? [True, True] Translation: X:331.57, Y:-20.17, Z:-4.55 [[ 9.99053894e-01 4.31774743e-02 5.19840434e-03 3.31567535e+02] [-4.31763341e-02 9.99067412e-01 -3.31414580e-04 -2.01654494e+01] [-5.20786602e-03 1.06652983e-04 9.99986433e-01 -4.54584666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.200371743 meters 0.02431068810614633 Centerline is valid? [True, True] Translation: X:331.62, Y:-20.18, Z:-4.55 [[ 9.99019214e-01 4.41526000e-02 3.34026109e-03 3.31624750e+02] [-4.41521331e-02 9.99024796e-01 -2.13442015e-04 -2.01759450e+01] [-3.34642768e-03 6.57530217e-05 9.99994399e-01 -4.54876888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.260371743 meters 0.024857930696416026 Centerline is valid? [True, True] Translation: X:331.68, Y:-20.19, Z:-4.55 [[ 9.99130835e-01 4.16021347e-02 2.61464005e-03 3.31682724e+02] [-4.16018355e-02 9.99134255e-01 -1.68741846e-04 -2.01904065e+01] [-2.61939646e-03 5.98213567e-05 9.99996568e-01 -4.54970206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.320371743 meters 0.025435768092574244 Centerline is valid? [True, True] Translation: X:331.74, Y:-20.20, Z:-4.55 [[ 9.99189146e-01 4.02112007e-02 2.02747216e-03 3.31741099e+02] [-4.02110172e-02 9.99191201e-01 -1.31216149e-04 -2.02036597e+01] [-2.03110870e-03 4.95830340e-05 9.99997936e-01 -4.54983406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.380371743 meters 0.025841433173219845 Centerline is valid? [True, True] Translation: X:331.80, Y:-20.21, Z:-4.55 [[ 9.99174033e-01 4.05549890e-02 2.55832755e-03 3.31799662e+02] [-4.05547073e-02 9.99177306e-01 -1.61910749e-04 -2.02145553e+01] [-2.56278912e-03 5.80247913e-05 9.99996714e-01 -4.54978065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.440371743 meters 0.026737012180625512 Centerline is valid? [True, True] Translation: X:331.86, Y:-20.23, Z:-4.55 [[ 9.99237049e-01 3.86880797e-02 5.34337325e-03 3.31857479e+02] [-3.86868321e-02 9.99251328e-01 -3.36682196e-04 -2.02307760e+01] [-5.35239840e-03 1.29707140e-04 9.99985667e-01 -4.54810929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.500371743 meters 0.027353871228378398 Centerline is valid? [True, True] Translation: X:331.92, Y:-20.25, Z:-4.55 [[ 9.99371678e-01 3.48429737e-02 6.49734148e-03 3.31916154e+02] [-3.48410540e-02 9.99392783e-01 -4.08435835e-04 -2.02485072e+01] [-6.50762730e-03 1.81804980e-04 9.99978809e-01 -4.54898008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.560371743 meters 0.028751605200459194 Centerline is valid? [True, True] Translation: X:331.97, Y:-20.27, Z:-4.55 [[ 9.99487503e-01 3.15712375e-02 5.29037309e-03 3.31973014e+02] [-3.15699180e-02 9.99501491e-01 -3.32753990e-04 -2.02686344e+01] [-5.29824125e-03 1.65566810e-04 9.99985951e-01 -4.55144837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.620371743 meters 0.029526308030776827 Centerline is valid? [True, True] Translation: X:332.03, Y:-20.29, Z:-4.55 [[ 9.99589373e-01 2.82987442e-02 4.50189465e-03 3.32031505e+02] [-2.82977578e-02 9.99599498e-01 -2.82664862e-04 -2.02861604e+01] [-4.50809070e-03 1.55155267e-04 9.99989826e-01 -4.55344201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.680371743 meters 0.030727045524718184 Centerline is valid? [True, True] Translation: X:332.09, Y:-20.30, Z:-4.56 [[ 9.99671059e-01 2.53732111e-02 3.73811533e-03 3.32089234e+02] [-2.53725093e-02 9.99678038e-01 -2.35048322e-04 -2.03046311e+01] [-3.74287573e-03 1.40125639e-04 9.99992986e-01 -4.55612399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.740371743 meters 0.031174789255932256 Centerline is valid? [True, True] Translation: X:332.15, Y:-20.32, Z:-4.56 [[ 9.99725852e-01 2.32443544e-02 2.81427498e-03 3.32148252e+02] [-2.32439493e-02 9.99729807e-01 -1.76577647e-04 -2.03173771e+01] [-2.81761902e-03 1.11114373e-04 9.99996024e-01 -4.55741401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.800371743 meters 0.03152333527409174 Centerline is valid? [True, True] Translation: X:332.21, Y:-20.33, Z:-4.56 [[ 9.99788172e-01 2.00543564e-02 4.62957276e-03 3.32206941e+02] [-2.00532281e-02 9.99798872e-01 -2.90000689e-04 -2.03315340e+01] [-4.63445740e-03 1.97101380e-04 9.99989241e-01 -4.55619908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.86037174300003 meters 0.03583143449856366 Centerline is valid? [True, True] Translation: X:332.26, Y:-20.35, Z:-4.56 [[ 9.99852027e-01 1.59753097e-02 6.38078281e-03 3.32264449e+02] [-1.59730862e-02 9.99872342e-01 -3.99275849e-04 -2.03530758e+01] [-6.38634681e-03 2.97295973e-04 9.99979563e-01 -4.55699761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.92037174300003 meters 0.03456923326242299 Centerline is valid? [True, True] Translation: X:332.32, Y:-20.36, Z:-4.56 [[ 9.99939129e-01 9.12133771e-03 6.20795912e-03 3.32324356e+02] [-9.11910432e-03 9.99958345e-01 -3.87974732e-04 -2.03613157e+01] [-6.21123937e-03 3.31340089e-04 9.99980655e-01 -4.55727788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.980371743 meters 0.03619084032680455 Centerline is valid? [True, True] Translation: X:332.38, Y:-20.37, Z:-4.56 [[ 9.99980872e-01 4.51255952e-05 6.18492731e-03 3.32383885e+02] [-4.27352484e-05 9.99999924e-01 -3.86610985e-04 -2.03748479e+01] [-6.18494429e-03 3.86339275e-04 9.99980798e-01 -4.55920577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.040371743 meters 0.039722314495265414 Centerline is valid? [True, True] Translation: X:332.44, Y:-20.39, Z:-4.56 [[ 9.99960733e-01 -6.54702009e-03 5.97234396e-03 3.32443002e+02] [ 6.54936192e-03 9.99978483e-01 -3.72640383e-04 -2.03871186e+01] [-5.96977577e-03 4.11740793e-04 9.99982096e-01 -4.56109667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.100371743 meters 0.0428661927754299 Centerline is valid? [True, True] Translation: X:332.50, Y:-20.40, Z:-4.56 [[ 9.99870276e-01 -1.53617535e-02 4.84218780e-03 3.32503425e+02] [ 1.53633997e-02 9.99881930e-01 -3.02946118e-04 -2.03955025e+01] [-4.83696230e-03 3.77299286e-04 9.99988231e-01 -4.56181466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.160371743 meters 0.04594556043549817 Centerline is valid? [True, True] Translation: X:332.56, Y:-20.40, Z:-4.56 [[ 9.99805834e-01 -1.92334121e-02 4.28604956e-03 3.32562114e+02] [ 1.92347385e-02 9.99814959e-01 -2.68450730e-04 -2.04025619e+01] [-4.28009324e-03 3.50839648e-04 9.99990779e-01 -4.56303940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.220371743 meters 0.04670548986926255 Centerline is valid? [True, True] Translation: X:332.62, Y:-20.40, Z:-4.56 [[ 9.99766911e-01 -2.11352682e-02 4.40734300e-03 3.32623297e+02] [ 2.11366862e-02 9.99776557e-01 -2.75402202e-04 -2.04008458e+01] [-4.40053751e-03 3.68494634e-04 9.99990250e-01 -4.56250970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.280371743 meters 0.04463244798762519 Centerline is valid? [True, True] Translation: X:332.69, Y:-20.39, Z:-4.56 [[ 9.99766189e-01 -2.05515584e-02 6.72308416e-03 3.32686151e+02] [ 2.05548439e-02 9.99788639e-01 -4.19954970e-04 -2.03925248e+01] [-6.71303243e-03 5.58048726e-04 9.99977312e-01 -4.55964041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.340371743 meters 0.045791146009933 Centerline is valid? [True, True] Translation: X:332.75, Y:-20.39, Z:-4.56 [[ 9.99748642e-01 -2.07623264e-02 8.46036172e-03 3.32748506e+02] [ 2.07675444e-02 9.99784191e-01 -5.29364392e-04 -2.03916487e+01] [-8.44754507e-03 7.04932270e-04 9.99964070e-01 -4.55941700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.400371743 meters 0.043383325419214816 Centerline is valid? [True, True] Translation: X:332.81, Y:-20.38, Z:-4.56 [[ 9.99728913e-01 -2.13431056e-02 9.30437904e-03 3.32811287e+02] [ 2.13494488e-02 9.99771905e-01 -5.82941315e-04 -2.03799408e+01] [-9.28981498e-03 7.81426651e-04 9.99956543e-01 -4.55817778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.460371743 meters 0.04421181204746633 Centerline is valid? [True, True] Translation: X:332.87, Y:-20.37, Z:-4.56 [[ 9.99772902e-01 -1.99983208e-02 7.36281789e-03 3.32872931e+02] [ 2.00022609e-02 9.99799828e-01 -4.61879077e-04 -2.03725778e+01] [-7.35210725e-03 6.09047190e-04 9.99972787e-01 -4.56058485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.520371743 meters 0.04361463160015595 Centerline is valid? [True, True] Translation: X:332.93, Y:-20.36, Z:-4.56 [[ 9.99834117e-01 -1.75873342e-02 4.73540855e-03 3.32934479e+02] [ 1.75889379e-02 9.99845258e-01 -2.97221739e-04 -2.03632003e+01] [-4.72944845e-03 3.80463242e-04 9.99988744e-01 -4.56309691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.580371743 meters 0.04136190090386078 Centerline is valid? [True, True] Translation: X:333.00, Y:-20.35, Z:-4.56 [[ 9.99893252e-01 -1.41697951e-02 3.56381787e-03 3.32995996e+02] [ 1.41706821e-02 9.99899566e-01 -2.23776329e-04 -2.03511688e+01] [-3.56028908e-03 2.74254171e-04 9.99993625e-01 -4.56394396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.640371743 meters 0.04010690865439026 Centerline is valid? [True, True] Translation: X:333.06, Y:-20.34, Z:-4.57 [[ 9.99938135e-01 -1.04726880e-02 3.74820938e-03 3.33057669e+02] [ 1.04736438e-02 9.99945122e-01 -2.35462222e-04 -2.03408925e+01] [-3.74553777e-03 2.74705065e-04 9.99992948e-01 -4.56537026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.700371743 meters 0.03920181401484262 Centerline is valid? [True, True] Translation: X:333.12, Y:-20.34, Z:-4.56 [[ 9.99952482e-01 -8.29850734e-03 5.11545679e-03 3.33118654e+02] [ 8.30025965e-03 9.99965501e-01 -3.21416834e-04 -2.03357410e+01] [-5.11261303e-03 3.63861181e-04 9.99986864e-01 -4.56434296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.760371743 meters 0.038201406182776725 Centerline is valid? [True, True] Translation: X:333.18, Y:-20.33, Z:-4.56 [[ 9.99943621e-01 -6.82890297e-03 8.13152529e-03 3.33180181e+02] [ 6.83328074e-03 9.99976522e-01 -5.10708651e-04 -2.03311422e+01] [-8.12784680e-03 5.66244853e-04 9.99966808e-01 -4.56248876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.820371743 meters 0.03856801331925264 Centerline is valid? [True, True] Translation: X:333.24, Y:-20.33, Z:-4.56 [[ 9.99919405e-01 -6.48374620e-03 1.09153273e-02 3.33242790e+02] [ 6.49161929e-03 9.99978694e-01 -6.86012297e-04 -2.03263263e+01] [-1.09106468e-02 7.56815158e-04 9.99940191e-01 -4.56161906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.880371743 meters 0.03906497826366609 Centerline is valid? [True, True] Translation: X:333.30, Y:-20.33, Z:-4.56 [[ 9.99911461e-01 -6.75332486e-03 1.14657341e-02 3.33304923e+02] [ 6.76203976e-03 9.99976877e-01 -7.21485114e-04 -2.03255367e+01] [-1.14605965e-02 7.98952984e-04 9.99934006e-01 -4.56319719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.940371743 meters 0.04042480524819907 Centerline is valid? [True, True] Translation: X:333.37, Y:-20.32, Z:-4.57 [[ 9.99926087e-01 -7.85559143e-03 9.27956896e-03 3.33367613e+02] [ 7.86135138e-03 9.99968928e-01 -5.84399736e-04 -2.03222155e+01] [-9.27468982e-03 6.57306493e-04 9.99956773e-01 -4.56633939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.000371743 meters 0.04036570031865876 Centerline is valid? [True, True] Translation: X:333.43, Y:-20.32, Z:-4.57 [[ 9.99948041e-01 -7.69916257e-03 6.68111931e-03 3.33430449e+02] [ 7.70214613e-03 9.99970249e-01 -4.20951833e-04 -2.03172001e+01] [-6.67767957e-03 4.72388918e-04 9.99977592e-01 -4.57112954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.060371743 meters 0.04175954422451522 Centerline is valid? [True, True] Translation: X:333.49, Y:-20.31, Z:-4.57 [[ 9.99966124e-01 -6.51752882e-03 5.02717362e-03 3.33491983e+02] [ 6.51920060e-03 9.99978700e-01 -3.16232229e-04 -2.03142558e+01] [-5.02500548e-03 3.48994669e-04 9.99987314e-01 -4.57426455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.120371743 meters 0.04223093911770736 Centerline is valid? [True, True] Translation: X:333.55, Y:-20.31, Z:-4.57 [[ 9.99967431e-01 -5.38300422e-03 6.01328503e-03 3.33553177e+02] [ 5.38538818e-03 9.99985426e-01 -3.80327686e-04 -2.03131024e+01] [-6.01115009e-03 4.12699173e-04 9.99981848e-01 -4.57408861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.180371743 meters 0.03731316781533586 Centerline is valid? [True, True] Translation: X:333.61, Y:-20.30, Z:-4.57 [[ 9.99946955e-01 -1.43824648e-03 1.01989275e-02 3.33614537e+02] [ 1.44490867e-03 9.99998748e-01 -6.45886006e-04 -2.03028840e+01] [-1.01979858e-02 6.60588264e-04 9.99947781e-01 -4.57090551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.240371743 meters 0.03645398947161239 Centerline is valid? [True, True] Translation: X:333.67, Y:-20.30, Z:-4.57 [[ 9.99912088e-01 4.37607257e-03 1.25166752e-02 3.33674179e+02] [-4.36649108e-03 9.99990153e-01 -7.92724263e-04 -2.03002848e+01] [-1.25200210e-02 7.38000622e-04 9.99921349e-01 -4.56957095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.300371743 meters 0.033209214653263125 Centerline is valid? [True, True] Translation: X:333.74, Y:-20.30, Z:-4.57 [[ 9.99897191e-01 7.42547715e-03 1.22666478e-02 3.33735522e+02] [-7.41650697e-03 9.99972196e-01 -7.76594397e-04 -2.02960407e+01] [-1.22720734e-02 6.85538877e-04 9.99924460e-01 -4.57146237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36037174300003 meters 0.03428742009097133 Centerline is valid? [True, True] Translation: X:333.80, Y:-20.30, Z:-4.58 [[ 9.99913185e-01 8.83544205e-03 9.77534328e-03 3.33795806e+02] [-8.82981156e-03 9.99960825e-01 -6.18998730e-04 -2.03013090e+01] [-9.78042945e-03 5.32630553e-04 9.99952029e-01 -4.57537498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42037174300003 meters 0.03275828185083846 Centerline is valid? [True, True] Translation: X:333.86, Y:-20.30, Z:-4.58 [[ 9.99935156e-01 9.50368677e-03 6.27413295e-03 3.33855547e+02] [-9.50137770e-03 9.99954782e-01 -3.97734984e-04 -2.03014151e+01] [-6.27762920e-03 3.38096286e-04 9.99980238e-01 -4.58041147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.480371743 meters 0.03290990339545626 Centerline is valid? [True, True] Translation: X:333.91, Y:-20.30, Z:-4.58 [[ 9.99964636e-01 8.19191553e-03 1.90232891e-03 3.33914766e+02] [-8.19169993e-03 9.99966440e-01 -1.21100895e-04 -2.03047526e+01] [-1.90325712e-03 1.05513305e-04 9.99998183e-01 -4.58438908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.540371743 meters 0.03420952439506859 Centerline is valid? [True, True] Translation: X:333.97, Y:-20.31, Z:-4.59 [[ 9.99970178e-01 7.54809952e-03 1.63350453e-03 3.33973748e+02] [-7.54793930e-03 9.99971508e-01 -1.04220223e-04 -2.03099079e+01] [-1.63424465e-03 9.18875224e-05 9.99998660e-01 -4.58591387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.600371743 meters 0.03392283250066651 Centerline is valid? [True, True] Translation: X:334.03, Y:-20.31, Z:-4.58 [[ 9.99945803e-01 9.76704779e-03 3.60503972e-03 3.34032936e+02] [-9.76628852e-03 9.99952283e-01 -2.28158330e-04 -2.03130173e+01] [-3.60709613e-03 1.92938107e-04 9.99993476e-01 -4.58405082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.660371743 meters 0.03216074134978575 Centerline is valid? [True, True] Translation: X:334.09, Y:-20.31, Z:-4.58 [[ 9.99884897e-01 1.37901220e-02 6.32647749e-03 3.34093075e+02] [-1.37878692e-02 9.99904863e-01 -3.99567317e-04 -2.03139061e+01] [-6.33138569e-03 3.12292682e-04 9.99979908e-01 -4.58346129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.720371743 meters 0.03112846929407272 Centerline is valid? [True, True] Translation: X:334.15, Y:-20.32, Z:-4.58 [[ 9.99865095e-01 1.43756252e-02 7.94557908e-03 3.34151807e+02] [-1.43720877e-02 9.99896590e-01 -5.02142901e-04 -2.03166515e+01] [-7.95197605e-03 3.87880601e-04 9.99968307e-01 -4.58423409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.780371743 meters 0.03455710518992945 Centerline is valid? [True, True] Translation: X:334.21, Y:-20.33, Z:-4.59 [[ 9.99929831e-01 9.91293659e-03 6.48581859e-03 3.34209819e+02] [-9.91049037e-03 9.99950806e-01 -4.09195933e-04 -2.03296090e+01] [-6.48955586e-03 3.44889577e-04 9.99978883e-01 -4.58794014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.840371743 meters 0.03357640287946307 Centerline is valid? [True, True] Translation: X:334.27, Y:-20.34, Z:-4.59 [[ 9.99948374e-01 9.72694746e-03 2.93883152e-03 3.34267932e+02] [-9.72644240e-03 9.99952680e-01 -1.86101073e-04 -2.03354945e+01] [-2.94050265e-03 1.57507090e-04 9.99995664e-01 -4.59403677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.900371743 meters 0.03209709959081151 Centerline is valid? [True, True] Translation: X:334.33, Y:-20.34, Z:-4.60 [[ 9.99951198e-01 9.71202189e-03 1.81087057e-03 3.34326384e+02] [-9.71182960e-03 9.99952832e-01 -1.14948154e-04 -2.03425455e+01] [-1.81190154e-03 9.73556781e-05 9.99998354e-01 -4.59547244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.960371743 meters 0.03285909431037044 Centerline is valid? [True, True] Translation: X:334.38, Y:-20.35, Z:-4.60 [[ 9.99939363e-01 1.09814596e-02 -8.23394961e-04 3.34383690e+02] [-1.09814218e-02 9.99939701e-01 5.04813509e-05 -2.03523808e+01] [ 8.23899670e-04 -4.14362425e-05 9.99999660e-01 -4.59877092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.020371743 meters 0.03145252202252743 Centerline is valid? [True, True] Translation: X:334.44, Y:-20.36, Z:-4.60 [[ 9.99924804e-01 1.22442129e-02 -6.81659368e-04 3.34442552e+02] [-1.22441873e-02 9.99925036e-01 4.17766961e-05 -2.03581343e+01] [ 6.82119791e-04 -3.34271897e-05 9.99999767e-01 -4.60041060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.080371743 meters 0.032913363258793626 Centerline is valid? [True, True] Translation: X:334.50, Y:-20.37, Z:-4.60 [[ 9.99904827e-01 1.35885392e-02 2.38489933e-03 3.34500115e+02] [-1.35882188e-02 9.99907665e-01 -1.50469793e-04 -2.03683931e+01] [-2.38672379e-03 1.18048939e-04 9.99997145e-01 -4.59877307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.140371743 meters 0.03272136649246632 Centerline is valid? [True, True] Translation: X:334.56, Y:-20.37, Z:-4.60 [[ 9.99879443e-01 1.52370117e-02 2.98875509e-03 3.34558884e+02] [-1.52365174e-02 9.99883900e-01 -1.88096740e-04 -2.03745959e+01] [-2.99127413e-03 1.42535845e-04 9.99995516e-01 -4.60023356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.200371743 meters 0.029338580304913188 Centerline is valid? [True, True] Translation: X:334.62, Y:-20.38, Z:-4.60 [[ 9.99842511e-01 1.75937700e-02 2.32656009e-03 3.34617626e+02] [-1.75934765e-02 9.99845212e-01 -1.46526057e-04 -2.03757882e+01] [-2.32877792e-03 1.05570700e-04 9.99997283e-01 -4.60020114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.260371743 meters 0.02907371927037216 Centerline is valid? [True, True] Translation: X:334.68, Y:-20.38, Z:-4.60 [[ 9.99802131e-01 1.98905611e-02 -2.54160894e-04 3.34675868e+02] [-1.98905580e-02 9.99802163e-01 1.48675777e-05 -2.03818543e+01] [ 2.54406336e-04 -9.80923391e-06 9.99999968e-01 -4.60315466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.320371743 meters 0.02890215052415435 Centerline is valid? [True, True] Translation: X:334.73, Y:-20.39, Z:-4.61 [[ 9.99773099e-01 2.12368708e-02 -1.65702468e-03 3.34734099e+02] [-2.12367302e-02 9.99774470e-01 1.02391860e-04 -2.03881680e+01] [ 1.65882545e-03 -6.71788414e-05 9.99998622e-01 -4.60643194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.380371743 meters 0.028860079480552688 Centerline is valid? [True, True] Translation: X:334.79, Y:-20.40, Z:-4.61 [[ 9.99771070e-01 2.12460472e-02 -2.53253257e-03 3.34792295e+02] [-2.12457180e-02 9.99774272e-01 1.56834645e-04 -2.03965769e+01] [ 2.53529302e-03 -1.02993268e-04 9.99996781e-01 -4.60830957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.440371743 meters 0.029513037849623384 Centerline is valid? [True, True] Translation: X:334.85, Y:-20.41, Z:-4.61 [[ 9.99819026e-01 1.88772612e-02 -2.35904626e-03 3.34851361e+02] [-1.88769681e-02 9.99821803e-01 1.46439111e-04 -2.04061856e+01] [ 2.36139026e-03 -1.01880968e-04 9.99997207e-01 -4.60973063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.500371743 meters 0.03110620773003982 Centerline is valid? [True, True] Translation: X:334.91, Y:-20.42, Z:-4.61 [[ 9.99878932e-01 1.54346449e-02 -1.97334631e-03 3.34909745e+02] [-1.54344340e-02 9.99880875e-01 1.22058652e-04 -2.04174008e+01] [ 1.97499516e-03 -9.15863910e-05 9.99998046e-01 -4.61086211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.560371743 meters 0.03244764031642088 Centerline is valid? [True, True] Translation: X:334.97, Y:-20.43, Z:-4.61 [[ 9.99923952e-01 1.22128101e-02 -1.71398301e-03 3.34968649e+02] [-1.22126466e-02 9.99925417e-01 1.05826716e-04 -2.04269509e+01] [ 1.71514762e-03 -8.48863989e-05 9.99998526e-01 -4.61192847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.620371743 meters 0.03345980207386206 Centerline is valid? [True, True] Translation: X:335.03, Y:-20.44, Z:-4.61 [[ 9.99966239e-01 8.03121251e-03 -1.73803456e-03 3.35028529e+02] [-8.03103725e-03 9.99967745e-01 1.07791517e-04 -2.04372107e+01] [ 1.73884420e-03 -9.38296575e-05 9.99998484e-01 -4.61317116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.680371743 meters 0.033720120257468164 Centerline is valid? [True, True] Translation: X:335.09, Y:-20.45, Z:-4.61 [[ 9.99980376e-01 6.03421046e-03 -1.68421701e-03 3.35087403e+02] [-6.03404409e-03 9.99981790e-01 1.03843855e-04 -2.04455215e+01] [ 1.68481295e-03 -9.36791771e-05 9.99998576e-01 -4.61429020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.740371743 meters 0.03555218892026304 Centerline is valid? [True, True] Translation: X:335.15, Y:-20.46, Z:-4.62 [[ 9.99987909e-01 4.39828745e-03 -2.19949454e-03 3.35145158e+02] [-4.39800013e-03 9.99990320e-01 1.35452378e-04 -2.04554329e+01] [ 2.20006900e-03 -1.25777363e-04 9.99997572e-01 -4.61623687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.800371743 meters 0.03557890415270414 Centerline is valid? [True, True] Translation: X:335.20, Y:-20.46, Z:-4.62 [[ 9.99993063e-01 1.88011824e-03 -3.21550920e-03 3.35204572e+02] [-1.87948843e-03 9.99998214e-01 1.98876301e-04 -2.04648399e+01] [ 3.21587737e-03 -1.92831409e-04 9.99994810e-01 -4.61762685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.86037174300003 meters 0.03757087713786289 Centerline is valid? [True, True] Translation: X:335.26, Y:-20.48, Z:-4.62 [[ 9.99988875e-01 -4.66990204e-04 -4.69380539e-03 3.35263641e+02] [ 4.68359829e-04 9.99999848e-01 2.90699054e-04 -2.04776463e+01] [ 4.69366892e-03 -2.92894210e-04 9.99988942e-01 -4.62049744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.92037174300003 meters 0.03827685171573614 Centerline is valid? [True, True] Translation: X:335.32, Y:-20.49, Z:-4.62 [[ 9.99986197e-01 -2.10353190e-03 -4.81456892e-03 3.35322120e+02] [ 2.10498819e-03 9.99997740e-01 2.97428402e-04 -2.04876553e+01] [ 4.81393239e-03 -3.07558908e-04 9.99988366e-01 -4.62170404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.980371743 meters 0.04059373037782017 Centerline is valid? [True, True] Translation: X:335.38, Y:-20.50, Z:-4.62 [[ 9.99987766e-01 -2.47890622e-03 -4.28041273e-03 3.35381383e+02] [ 2.48006220e-03 9.99996890e-01 2.64774976e-04 -2.04988928e+01] [ 4.27974307e-03 -2.75387427e-04 9.99990804e-01 -4.62423994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.040371743 meters 0.04236278442351103 Centerline is valid? [True, True] Translation: X:335.44, Y:-20.51, Z:-4.63 [[ 9.99979378e-01 -3.43718387e-03 -5.42483591e-03 3.35441155e+02] [ 3.43905635e-03 9.99994030e-01 3.35877149e-04 -2.05095381e+01] [ 5.42364906e-03 -3.54526539e-04 9.99985229e-01 -4.62657888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.100371743 meters 0.04183581890581891 Centerline is valid? [True, True] Translation: X:335.50, Y:-20.52, Z:-4.63 [[ 9.99973042e-01 -4.17839663e-03 -6.03789188e-03 3.35500240e+02] [ 4.18072553e-03 9.99991191e-01 3.73144630e-04 -2.05166367e+01] [ 6.03627955e-03 -3.98377340e-04 9.99981702e-01 -4.62747658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.160371743 meters 0.04405456069954501 Centerline is valid? [True, True] Translation: X:335.56, Y:-20.53, Z:-4.63 [[ 9.99950685e-01 -5.98214419e-03 -7.92723880e-03 3.35560253e+02] [ 5.98622012e-03 9.99981962e-01 4.90540042e-04 -2.05279940e+01] [ 7.92416133e-03 -5.37970047e-04 9.99968459e-01 -4.63125593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.220371743 meters 0.042129595538503 Centerline is valid? [True, True] Translation: X:335.62, Y:-20.53, Z:-4.63 [[ 9.99944052e-01 -7.03263285e-03 -7.90158271e-03 3.35619919e+02] [ 7.03670904e-03 9.99975123e-01 4.88186939e-04 -2.05329924e+01] [ 7.89795290e-03 -5.43760764e-04 9.99968663e-01 -4.63066976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.280371743 meters 0.040008372421946374 Centerline is valid? [True, True] Translation: X:335.68, Y:-20.54, Z:-4.63 [[ 9.99948049e-01 -6.50126037e-03 -7.85070968e-03 3.35680706e+02] [ 6.50527176e-03 9.99978723e-01 4.85530173e-04 -2.05357511e+01] [ 7.84738608e-03 -5.36575949e-04 9.99969065e-01 -4.63025651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.340371743 meters 0.03865095605546554 Centerline is valid? [True, True] Translation: X:335.74, Y:-20.54, Z:-4.63 [[ 9.99968047e-01 -4.48059068e-03 -6.62034735e-03 3.35740803e+02] [ 4.48339915e-03 9.99989866e-01 4.09437940e-04 -2.05422884e+01] [ 6.61844574e-03 -4.39106517e-04 9.99978001e-01 -4.63065655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.400371743 meters 0.040848715456957084 Centerline is valid? [True, True] Translation: X:335.80, Y:-20.55, Z:-4.63 [[ 9.99979678e-01 -2.71627811e-03 -5.76764548e-03 3.35799397e+02] [ 2.71837643e-03 9.99996242e-01 3.55999863e-04 -2.05542073e+01] [ 5.76665681e-03 -3.71671260e-04 9.99983304e-01 -4.63227790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.460371743 meters 0.03877359484857907 Centerline is valid? [True, True] Translation: X:335.86, Y:-20.56, Z:-4.63 [[ 9.99974628e-01 -2.11401438e-03 -6.80249187e-03 3.35858446e+02] [ 2.11691831e-03 9.99997671e-01 4.19720069e-04 -2.05594952e+01] [ 6.80158874e-03 -4.34109740e-04 9.99976775e-01 -4.63353743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.520371743 meters 0.03807198048944159 Centerline is valid? [True, True] Translation: X:335.92, Y:-20.57, Z:-4.64 [[ 9.99968615e-01 -3.15769830e-03 -7.26621682e-03 3.35917374e+02] [ 3.16103459e-03 9.99994904e-01 4.47712521e-04 -2.05661871e+01] [ 7.26476605e-03 -4.70667233e-04 9.99973500e-01 -4.63524882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.580371743 meters 0.040689497884235835 Centerline is valid? [True, True] Translation: X:335.98, Y:-20.58, Z:-4.64 [[ 9.99924885e-01 -7.91362564e-03 -9.35938929e-03 3.35977133e+02] [ 7.91937783e-03 9.99968474e-01 5.77688244e-04 -2.05785333e+01] [ 9.35452262e-03 -6.51765391e-04 9.99956033e-01 -4.63837648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.640371743 meters 0.04263339520585484 Centerline is valid? [True, True] Translation: X:336.04, Y:-20.59, Z:-4.64 [[ 9.99862099e-01 -1.33839227e-02 -9.83126135e-03 3.36036649e+02] [ 1.33905327e-02 9.99910159e-01 6.06826348e-04 -2.05898261e+01] [ 9.82225638e-03 -7.38388493e-04 9.99951488e-01 -4.63984290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.700371743 meters 0.04498438433497594 Centerline is valid? [True, True] Translation: X:336.10, Y:-20.60, Z:-4.64 [[ 9.99817296e-01 -1.68378875e-02 -9.04764202e-03 3.36096668e+02] [ 1.68436282e-02 9.99857980e-01 5.58662942e-04 -2.06019942e+01] [ 9.03695037e-03 -7.10955991e-04 9.99958913e-01 -4.64163274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.760371743 meters 0.04674167763475409 Centerline is valid? [True, True] Translation: X:336.16, Y:-20.61, Z:-4.64 [[ 9.99795314e-01 -1.82065691e-02 -8.82332373e-03 3.36157691e+02] [ 1.82120875e-02 9.99833997e-01 5.45483634e-04 -2.06101186e+01] [ 8.81192765e-03 -7.06063125e-04 9.99960925e-01 -4.64247585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.820371743 meters 0.043580768772960805 Centerline is valid? [True, True] Translation: X:336.22, Y:-20.62, Z:-4.64 [[ 9.99739008e-01 -2.18022808e-02 -6.82463417e-03 3.36218086e+02] [ 2.18056636e-02 9.99762139e-01 4.21643589e-04 -2.06154184e+01] [ 6.81381806e-03 -5.70349220e-04 9.99976623e-01 -4.64029506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.880371743 meters 0.04464489528921426 Centerline is valid? [True, True] Translation: X:336.28, Y:-20.62, Z:-4.64 [[ 9.99710472e-01 -2.34036931e-02 -5.58922355e-03 3.36279864e+02] [ 2.34059945e-02 9.99725982e-01 3.46699734e-04 -2.06243663e+01] [ 5.57957795e-03 -4.77420690e-04 9.99984320e-01 -4.64049755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.940371743 meters 0.04478913552479288 Centerline is valid? [True, True] Translation: X:336.34, Y:-20.63, Z:-4.64 [[ 9.99723340e-01 -2.28305663e-02 -5.65769760e-03 3.36341990e+02] [ 2.28329176e-02 9.99739233e-01 3.51350506e-04 -2.06314298e+01] [ 5.64820073e-03 -4.80435044e-04 9.99983933e-01 -4.64176612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.000371743 meters 0.04506518076293991 Centerline is valid? [True, True] Translation: X:336.40, Y:-20.64, Z:-4.64 [[ 9.99743086e-01 -2.13560221e-02 -7.59491088e-03 3.36404149e+02] [ 2.13602186e-02 9.99771733e-01 4.71844154e-04 -2.06377746e+01] [ 7.58310050e-03 -6.33951887e-04 9.99971047e-01 -4.64494374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.060371743 meters 0.04556025556637993 Centerline is valid? [True, True] Translation: X:336.47, Y:-20.64, Z:-4.65 [[ 9.99776291e-01 -1.96285197e-02 -7.87968191e-03 3.36465226e+02] [ 1.96329813e-02 9.99807135e-01 4.89267252e-04 -2.06441231e+01] [ 7.86855860e-03 -6.43859446e-04 9.99968835e-01 -4.64688926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.120371743 meters 0.04296102560631524 Centerline is valid? [True, True] Translation: X:336.53, Y:-20.64, Z:-4.65 [[ 9.99779843e-01 -1.95738864e-02 -7.55835119e-03 3.36527498e+02] [ 1.95779984e-02 9.99808222e-01 4.70419857e-04 -2.06445740e+01] [ 7.54769372e-03 -6.18293678e-04 9.99971325e-01 -4.64561608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.180371743 meters 0.04454537288761996 Centerline is valid? [True, True] Translation: X:336.59, Y:-20.65, Z:-4.65 [[ 9.99771397e-01 -2.01500028e-02 -7.15066487e-03 3.36589706e+02] [ 2.01537018e-02 9.99796794e-01 4.45607379e-04 -2.06512848e+01] [ 7.14023282e-03 -5.89617879e-04 9.99974334e-01 -4.64631592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.240371743 meters 0.07728187578476173 Centerline is valid? [True, True] Translation: X:336.65, Y:-20.70, Z:-4.66 [[ 9.99838708e-01 -1.70247816e-02 -5.71968529e-03 3.36646355e+02] [ 1.70270910e-02 9.99854965e-01 3.55303616e-04 -2.07024233e+01] [ 5.71280677e-03 -4.52635910e-04 9.99983579e-01 -4.65793461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.300371743 meters 0.044398136129656186 Centerline is valid? [True, True] Translation: X:336.71, Y:-20.66, Z:-4.65 [[ 9.99764425e-01 -2.06633193e-02 -6.64249185e-03 3.36709910e+02] [ 2.06665159e-02 9.99786339e-01 4.12951185e-04 -2.06622831e+01] [ 6.63253967e-03 -5.50131067e-04 9.99977853e-01 -4.64772108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36037174300003 meters 0.046821891060861834 Centerline is valid? [True, True] Translation: X:336.77, Y:-20.67, Z:-4.65 [[ 9.99787793e-01 -1.98761540e-02 -5.41371403e-03 3.36770324e+02] [ 1.98782695e-02 9.99802351e-01 3.37227024e-04 -2.06731886e+01] [ 5.40594124e-03 -4.44770729e-04 9.99985289e-01 -4.64774181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42037174300003 meters 0.04364512247975506 Centerline is valid? [True, True] Translation: X:336.83, Y:-20.68, Z:-4.65 [[ 9.99829047e-01 -1.79804481e-02 -4.31050907e-03 3.36831029e+02] [ 1.79817715e-02 9.99838279e-01 2.68462021e-04 -2.06772249e+01] [ 4.30498490e-03 -3.45926716e-04 9.99990674e-01 -4.64692063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.480371743 meters 0.043236452262818005 Centerline is valid? [True, True] Translation: X:336.89, Y:-20.68, Z:-4.65 [[ 9.99865848e-01 -1.57779697e-02 -4.39798113e-03 3.36891396e+02] [ 1.57793250e-02 9.99875461e-01 2.73630404e-04 -2.06833360e+01] [ 4.39311608e-03 -3.42990869e-04 9.99990291e-01 -4.64764929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.540371743 meters 0.044065101338930705 Centerline is valid? [True, True] Translation: X:336.95, Y:-20.69, Z:-4.65 [[ 9.99887555e-01 -1.37387418e-02 -6.01033064e-03 3.36952727e+02] [ 1.37412428e-02 9.99905514e-01 3.75019859e-04 -2.06912605e+01] [ 6.00461045e-03 -4.57567103e-04 9.99981867e-01 -4.65015003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.600371743 meters 0.044924291739594696 Centerline is valid? [True, True] Translation: X:337.01, Y:-20.70, Z:-4.65 [[ 9.99886914e-01 -1.32022332e-02 -7.20144410e-03 3.37014568e+02] [ 1.32058143e-02 9.99912698e-01 4.49938606e-04 -2.07033985e+01] [ 7.19487521e-03 -5.44988657e-04 9.99973968e-01 -4.65219042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.660371743 meters 0.042498062273622024 Centerline is valid? [True, True] Translation: X:337.08, Y:-20.71, Z:-4.65 [[ 9.99883864e-01 -1.36593517e-02 -6.75873394e-03 3.37075847e+02] [ 1.36625152e-02 9.99906574e-01 4.22101948e-04 -2.07085438e+01] [ 6.75233686e-03 -5.14394232e-04 9.99977070e-01 -4.65133550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.720371743 meters 0.04423928715294243 Centerline is valid? [True, True] Translation: X:337.14, Y:-20.72, Z:-4.65 [[ 9.99889237e-01 -1.38979185e-02 -5.32559605e-03 3.37135810e+02] [ 1.38998894e-02 9.99903336e-01 3.33238415e-04 -2.07224100e+01] [ 5.32044993e-03 -4.07226701e-04 9.99985763e-01 -4.65141860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.780371743 meters 0.04370651700319401 Centerline is valid? [True, True] Translation: X:337.20, Y:-20.73, Z:-4.65 [[ 9.99843485e-01 -1.71938262e-02 -4.16865181e-03 3.37195485e+02] [ 1.71950606e-02 9.99852120e-01 2.60434563e-04 -2.07349488e+01] [ 4.16355748e-03 -3.32074021e-04 9.99991277e-01 -4.65066298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.840371743 meters 0.0464439484851753 Centerline is valid? [True, True] Translation: X:337.25, Y:-20.75, Z:-4.65 [[ 9.99805349e-01 -1.94058415e-02 -3.56055531e-03 3.37254311e+02] [ 1.94067555e-02 9.99811646e-01 2.22325911e-04 -2.07528577e+01] [ 3.55557025e-03 -2.91381461e-04 9.99993636e-01 -4.65041651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.900371743 meters 0.04674206666367769 Centerline is valid? [True, True] Translation: X:337.32, Y:-20.76, Z:-4.65 [[ 9.99842367e-01 -1.71468764e-02 -4.60713480e-03 3.37315557e+02] [ 1.71483873e-02 9.99852914e-01 2.88657045e-04 -2.07621572e+01] [ 4.60150759e-03 -3.67616475e-04 9.99989345e-01 -4.65139092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.960371743 meters 0.04058878899260998 Centerline is valid? [True, True] Translation: X:337.38, Y:-20.76, Z:-4.65 [[ 9.99903172e-01 -1.23951858e-02 -6.32509089e-03 3.37376718e+02] [ 1.23979330e-02 9.99923065e-01 3.95306902e-04 -2.07605803e+01] [ 6.31970436e-03 -4.73686678e-04 9.99979918e-01 -4.65078707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.020371743 meters 0.04073088898938803 Centerline is valid? [True, True] Translation: X:337.44, Y:-20.77, Z:-4.65 [[ 9.99949150e-01 -7.66216683e-03 -6.55655324e-03 3.37435555e+02] [ 7.66501495e-03 9.99970540e-01 4.09373352e-04 -2.07719565e+01] [ 6.55322340e-03 -4.59608614e-04 9.99978422e-01 -4.65207037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.080371743 meters 0.04084325659539165 Centerline is valid? [True, True] Translation: X:337.50, Y:-20.78, Z:-4.65 [[ 9.99965923e-01 -6.60229212e-03 -4.95606629e-03 3.37495059e+02] [ 6.60390180e-03 9.99978146e-01 3.08495569e-04 -2.07814599e+01] [ 4.95392121e-03 -3.41214431e-04 9.99987671e-01 -4.65051202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.140371743 meters 0.04080086567651057 Centerline is valid? [True, True] Translation: X:337.55, Y:-20.79, Z:-4.65 [[ 9.99976287e-01 -5.04427438e-03 -4.68836859e-03 3.37554934e+02] [ 5.04570156e-03 9.99987228e-01 2.92631775e-04 -2.07889823e+01] [ 4.68683259e-03 -3.16280944e-04 9.99988967e-01 -4.65026027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.200371743 meters 0.039853677515543695 Centerline is valid? [True, True] Translation: X:337.61, Y:-20.80, Z:-4.65 [[ 9.99976096e-01 -5.13612938e-03 -4.62900419e-03 3.37614880e+02] [ 5.13752164e-03 9.99986761e-01 2.88926454e-04 -2.07953594e+01] [ 4.62745894e-03 -3.12701157e-04 9.99989244e-01 -4.64945953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.260371743 meters 0.038081471469231694 Centerline is valid? [True, True] Translation: X:337.68, Y:-20.80, Z:-4.65 [[ 9.99977955e-01 -5.53285304e-03 -3.67106925e-03 3.37675239e+02] [ 5.53373134e-03 9.99984663e-01 2.29135464e-04 -2.08029940e+01] [ 3.66974517e-03 -2.49445123e-04 9.99993235e-01 -4.64681723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.320371743 meters 0.03904068960577052 Centerline is valid? [True, True] Translation: X:337.73, Y:-20.81, Z:-4.65 [[ 9.99978236e-01 -5.14660812e-03 -4.12798032e-03 3.37734902e+02] [ 5.14771539e-03 9.99986717e-01 2.57654274e-04 -2.08127941e+01] [ 4.12659944e-03 -2.78898335e-04 9.99991447e-01 -4.64729076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.380371743 meters 0.03705039103911257 Centerline is valid? [True, True] Translation: X:337.80, Y:-20.82, Z:-4.65 [[ 9.99986119e-01 -3.84611942e-03 -3.60121657e-03 3.37795238e+02] [ 3.84695373e-03 9.99992575e-01 2.24775501e-04 -2.08161269e+01] [ 3.60032532e-03 -2.38626094e-04 9.99993490e-01 -4.64633005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.440371743 meters 0.03877249056664684 Centerline is valid? [True, True] Translation: X:337.85, Y:-20.83, Z:-4.65 [[ 9.99992512e-01 -2.11186550e-03 -3.24293523e-03 3.37854113e+02] [ 2.11253194e-03 9.99997748e-01 2.02093891e-04 -2.08270796e+01] [ 3.24250113e-03 -2.08943181e-04 9.99994721e-01 -4.64722618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.500371743 meters 0.03965747400471786 Centerline is valid? [True, True] Translation: X:337.91, Y:-20.84, Z:-4.65 [[ 9.99995031e-01 -1.85311003e-03 -2.55021355e-03 3.37913253e+02] [ 1.85352034e-03 9.99998270e-01 1.58535564e-04 -2.08358249e+01] [ 2.54991535e-03 -1.63261649e-04 9.99996736e-01 -4.64649071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.560371743 meters 0.037618736188700284 Centerline is valid? [True, True] Translation: X:337.97, Y:-20.84, Z:-4.65 [[ 9.99989860e-01 -3.61317858e-03 -2.68789715e-03 3.37973058e+02] [ 3.61364129e-03 9.99993457e-01 1.67312092e-04 -2.08385113e+01] [ 2.68727503e-03 -1.77023492e-04 9.99996374e-01 -4.64578977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.620371743 meters 0.04067097359318586 Centerline is valid? [True, True] Translation: X:338.03, Y:-20.85, Z:-4.65 [[ 9.99984430e-01 -5.01538650e-03 -2.44668789e-03 3.38032075e+02] [ 5.01577392e-03 9.99987409e-01 1.52233601e-04 -2.08515059e+01] [ 2.44589357e-03 -1.64503263e-04 9.99996995e-01 -4.64566321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.680371743 meters 0.0376867590194925 Centerline is valid? [True, True] Translation: X:338.09, Y:-20.85, Z:-4.64 [[ 9.99983819e-01 -5.54540879e-03 -1.26924874e-03 3.38092533e+02] [ 5.54551365e-03 9.99984620e-01 7.91063150e-05 -2.08525131e+01] [ 1.26879055e-03 -8.61436712e-05 9.99999191e-01 -4.64354324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.740371743 meters 0.03873677606025732 Centerline is valid? [True, True] Translation: X:338.15, Y:-20.86, Z:-4.64 [[ 9.99985533e-01 -5.35522712e-03 -5.05936837e-04 3.38153801e+02] [ 5.35524403e-03 9.99985660e-01 3.20714618e-05 -2.08590535e+01] [ 5.05757832e-04 -3.47804130e-05 9.99999871e-01 -4.64281075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.800371743 meters 0.04031623524731174 Centerline is valid? [True, True] Translation: X:338.21, Y:-20.87, Z:-4.64 [[ 9.99983933e-01 -5.47755725e-03 -1.45935358e-03 3.38213404e+02] [ 5.47769628e-03 9.99984993e-01 9.12915439e-05 -2.08680627e+01] [ 1.45883163e-03 -9.92839728e-05 9.99998931e-01 -4.64342958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86037174300003 meters 0.038847074704418255 Centerline is valid? [True, True] Translation: X:338.28, Y:-20.87, Z:-4.64 [[ 9.99986449e-01 -5.13688437e-03 -8.45176837e-04 3.38275070e+02] [ 5.13693122e-03 9.99986804e-01 5.32722953e-05 -2.08720687e+01] [ 8.44892030e-04 -5.76131886e-05 9.99999641e-01 -4.64290497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.920371743 meters 0.03793447897076282 Centerline is valid? [True, True] Translation: X:338.34, Y:-20.87, Z:-4.64 [[ 9.99987102e-01 -5.03696181e-03 6.51306556e-04 3.38336098e+02] [ 5.03698903e-03 9.99987313e-01 -4.01515554e-05 -2.08748657e+01] [-6.51096052e-04 4.34316615e-05 9.99999787e-01 -4.64054117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.980371743 meters 0.039621575202688206 Centerline is valid? [True, True] Translation: X:338.40, Y:-20.88, Z:-4.64 [[ 9.99989489e-01 -4.50017971e-03 8.77935402e-04 3.38396562e+02] [ 4.50022894e-03 9.99989872e-01 -5.41016476e-05 -2.08813946e+01] [-8.77683043e-04 5.80519892e-05 9.99999613e-01 -4.64079909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.040371743 meters 0.03937565717505293 Centerline is valid? [True, True] Translation: X:338.46, Y:-20.88, Z:-4.64 [[ 9.99982852e-01 -5.85573024e-03 8.20653799e-05 3.38457555e+02] [ 5.85573064e-03 9.99982855e-01 -4.61610706e-06 -2.08846340e+01] [-8.20369424e-05 5.09658067e-06 9.99999997e-01 -4.64083468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.100371743 meters 0.041587776274404686 Centerline is valid? [True, True] Translation: X:338.52, Y:-20.89, Z:-4.64 [[ 9.99971510e-01 -7.52754637e-03 5.61959905e-04 3.38518088e+02] [ 7.52756703e-03 9.99971667e-01 -3.46572162e-05 -2.08916140e+01] [-5.61683100e-04 3.88864197e-05 9.99999841e-01 -4.64107888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.160371743 meters 0.042290739530263494 Centerline is valid? [True, True] Translation: X:338.58, Y:-20.89, Z:-4.64 [[ 9.99956210e-01 -9.25432772e-03 1.39146965e-03 3.38579029e+02] [ 9.25445749e-03 9.99957173e-01 -8.68555601e-05 -2.08939687e+01] [-1.39060627e-03 9.97290534e-05 9.99999028e-01 -4.63920900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.220371743 meters 0.043521446107912413 Centerline is valid? [True, True] Translation: X:338.64, Y:-20.90, Z:-4.64 [[ 9.99948924e-01 -9.85315940e-03 2.25041047e-03 3.38641107e+02] [ 9.85349938e-03 9.99951443e-01 -1.40037464e-04 -2.08982793e+01] [-2.24892139e-03 1.62204730e-04 9.99997458e-01 -4.63845616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.280371743 meters 0.04579700978265663 Centerline is valid? [True, True] Translation: X:338.70, Y:-20.90, Z:-4.64 [[ 9.99944923e-01 -1.04444162e-02 1.03242046e-03 3.38702114e+02] [ 1.04444878e-02 9.99945453e-01 -6.40184233e-05 -2.09022219e+01] [-1.03169551e-03 7.47980003e-05 9.99999465e-01 -4.63977454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.340371743 meters 0.048704175660960414 Centerline is valid? [True, True] Translation: X:338.76, Y:-20.91, Z:-4.64 [[ 9.99919030e-01 -1.27186947e-02 4.10959264e-04 3.38761667e+02] [ 1.27187060e-02 9.99919114e-01 -2.48733230e-05 -2.09066467e+01] [-4.10609668e-04 3.00981791e-05 9.99999915e-01 -4.64034216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.400371743 meters 0.04269026783856848 Centerline is valid? [True, True] Translation: X:338.82, Y:-20.90, Z:-4.64 [[ 9.99899077e-01 -1.41720786e-02 9.93977624e-04 3.38823968e+02] [ 1.41721469e-02 9.99899568e-01 -6.16958109e-05 -2.08984187e+01] [-9.93003440e-04 7.57763813e-05 9.99999504e-01 -4.63901725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.460371743 meters 0.041167637363048536 Centerline is valid? [True, True] Translation: X:338.89, Y:-20.90, Z:-4.64 [[ 9.99888725e-01 -1.47978803e-02 1.88702328e-03 3.38886683e+02] [ 1.47981286e-02 9.99890495e-01 -1.17685139e-04 -2.08968908e+01] [-1.88507515e-03 1.45596456e-04 9.99998213e-01 -4.63916015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.520371743 meters 0.04455609933056878 Centerline is valid? [True, True] Translation: X:338.95, Y:-20.90, Z:-4.64 [[ 9.99845902e-01 -1.75025415e-02 1.35420710e-03 3.38946255e+02] [ 1.75026728e-02 9.99846813e-01 -8.52119918e-05 -2.08983440e+01] [-1.35250822e-03 1.08901105e-04 9.99999079e-01 -4.64047698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.580371743 meters 0.045018109911298926 Centerline is valid? [True, True] Translation: X:339.01, Y:-20.90, Z:-4.64 [[ 9.99812279e-01 -1.93313646e-02 1.30554338e-03 3.39007111e+02] [ 1.93314880e-02 9.99813126e-01 -8.19176188e-05 -2.08985305e+01] [-1.30371583e-03 1.07140337e-04 9.99999144e-01 -4.64120927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.640371743 meters 0.047692466009512595 Centerline is valid? [True, True] Translation: X:339.07, Y:-20.90, Z:-4.64 [[ 9.99743055e-01 -2.26107780e-02 1.60496979e-03 3.39066656e+02] [ 2.26109688e-02 9.99744334e-01 -1.00799484e-04 -2.09019991e+01] [-1.60228030e-03 1.37063505e-04 9.99998707e-01 -4.64201261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.700371743 meters 0.05002408853809685 Centerline is valid? [True, True] Translation: X:339.13, Y:-20.90, Z:-4.64 [[ 9.99655303e-01 -2.61827642e-02 1.93331530e-03 3.39127476e+02] [ 2.61830481e-02 9.99657158e-01 -1.21686569e-04 -2.09030695e+01] [-1.92946639e-03 1.72264712e-04 9.99998124e-01 -4.64217873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.760371743 meters 0.04440099035290325 Centerline is valid? [True, True] Translation: X:339.19, Y:-20.89, Z:-4.64 [[ 9.99614238e-01 -2.77555475e-02 1.00237619e-03 3.39189020e+02] [ 2.77556244e-02 9.99614736e-01 -6.28664812e-05 -2.08935998e+01] [-1.00024512e-03 9.06638068e-05 9.99999496e-01 -4.64174007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.820371743 meters 0.04601133998887727 Centerline is valid? [True, True] Translation: X:339.25, Y:-20.89, Z:-4.64 [[ 9.99617809e-01 -2.76447721e-02 -4.40297081e-05 3.39251274e+02] [ 2.76447723e-02 9.99617810e-01 3.82741369e-06 -2.08922549e+01] [ 4.39070721e-05 -5.04314212e-06 9.99999999e-01 -4.64302106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.880371743 meters 0.045224607983014205 Centerline is valid? [True, True] Translation: X:339.31, Y:-20.89, Z:-4.64 [[ 9.99689382e-01 -2.49157106e-02 -5.88734801e-04 3.39312019e+02] [ 2.49157368e-02 9.99689554e-01 3.71237054e-05 -2.08886448e+01] [ 5.87627067e-04 -5.17809354e-05 9.99999826e-01 -4.64355285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.940371743 meters 0.04411737413386068 Centerline is valid? [True, True] Translation: X:339.37, Y:-20.88, Z:-4.64 [[ 9.99808536e-01 -1.95045907e-02 -1.56898715e-03 3.39373236e+02] [ 1.95047701e-02 9.99809759e-01 9.91131082e-05 -2.08798932e+01] [ 1.56675551e-03 -1.29696865e-04 9.99998764e-01 -4.64414909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.000371743 meters 0.04421951859950451 Centerline is valid? [True, True] Translation: X:339.43, Y:-20.88, Z:-4.64 [[ 9.99900870e-01 -1.40395977e-02 -1.06748289e-03 3.39433077e+02] [ 1.40396772e-02 9.99901437e-01 6.70246238e-05 -2.08751459e+01] [ 1.06643668e-03 -8.20050949e-05 9.99999428e-01 -4.64470059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.060371743 meters 0.041078804206639265 Centerline is valid? [True, True] Translation: X:339.49, Y:-20.87, Z:-4.64 [[ 9.99943529e-01 -1.05689726e-02 -1.11141955e-03 3.39494876e+02] [ 1.05690572e-02 9.99944143e-01 7.02717364e-05 -2.08665173e+01] [ 1.11061477e-03 -8.20144249e-05 9.99999380e-01 -4.64488650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.120371743 meters 0.038435186218594174 Centerline is valid? [True, True] Translation: X:339.56, Y:-20.86, Z:-4.64 [[ 9.99980647e-01 -5.79645562e-03 -2.25988433e-03 3.39556076e+02] [ 5.79679260e-03 9.99983188e-01 1.42589233e-04 -2.08603962e+01] [ 2.25901983e-03 -1.55686555e-04 9.99997436e-01 -4.64493758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.180371743 meters 0.03889070497008806 Centerline is valid? [True, True] Translation: X:339.62, Y:-20.86, Z:-4.65 [[ 9.99989189e-01 -3.78302210e-03 -2.70391274e-03 3.39616513e+02] [ 3.78349780e-03 9.99992828e-01 1.70836779e-04 -2.08619647e+01] [ 2.70324706e-03 -1.81065180e-04 9.99996330e-01 -4.64560543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.240371743 meters 0.039554915031133626 Centerline is valid? [True, True] Translation: X:339.68, Y:-20.86, Z:-4.65 [[ 9.99998494e-01 -7.54202440e-05 -1.73381363e-03 3.39676195e+02] [ 7.56096870e-05 9.99999991e-01 1.09198466e-04 -2.08637304e+01] [ 1.73380538e-03 -1.09329395e-04 9.99998491e-01 -4.64671278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.300371743 meters 0.03847244499132235 Centerline is valid? [True, True] Translation: X:339.74, Y:-20.86, Z:-4.65 [[ 9.99994292e-01 2.96722386e-03 -1.61628331e-03 3.39736161e+02] [-2.96706340e-03 9.99995593e-01 1.01664452e-04 -2.08627399e+01] [ 1.61657785e-03 -9.68682562e-05 9.99998689e-01 -4.64715347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.36037174300003 meters 0.03708986760898611 Centerline is valid? [True, True] Translation: X:339.80, Y:-20.86, Z:-4.65 [[ 9.99960266e-01 8.59340543e-03 -2.37080952e-03 3.39797190e+02] [-8.59307450e-03 9.99963068e-01 1.49735461e-04 -2.08618072e+01] [ 2.37200870e-03 -1.29356969e-04 9.99997178e-01 -4.64864972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.420371743 meters 0.03432392525296204 Centerline is valid? [True, True] Translation: X:339.86, Y:-20.86, Z:-4.65 [[ 9.99885921e-01 1.49978644e-02 -1.79150397e-03 3.39857795e+02] [-1.49976860e-02 9.99887522e-01 1.12944024e-04 -2.08606866e+01] [ 1.79299638e-03 -8.60627254e-05 9.99998389e-01 -4.64994436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.480371743 meters 0.03345747854803828 Centerline is valid? [True, True] Translation: X:339.92, Y:-20.86, Z:-4.65 [[ 9.99794270e-01 2.01368057e-02 -2.43443615e-03 3.39918050e+02] [-2.01364921e-02 9.99797229e-01 1.53249279e-04 -2.08620790e+01] [ 2.43702846e-03 -1.04196747e-04 9.99997025e-01 -4.65125134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.540371743 meters 0.033092039632053497 Centerline is valid? [True, True] Translation: X:339.98, Y:-20.87, Z:-4.65 [[ 9.99726770e-01 2.33325267e-02 -1.40657765e-03 3.39976524e+02] [-2.33324262e-02 9.99727758e-01 8.78764761e-05 -2.08668981e+01] [ 1.40824510e-03 -5.50335964e-05 9.99999007e-01 -4.65215374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.600371743 meters 0.03094278196587794 Centerline is valid? [True, True] Translation: X:340.04, Y:-20.87, Z:-4.65 [[ 9.99622368e-01 2.74737450e-02 5.61583596e-04 3.40036126e+02] [-2.74737292e-02 9.99622525e-01 -3.58588234e-05 -2.08705840e+01] [-5.62356788e-04 2.04164863e-05 9.99999842e-01 -4.65174476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.660371743 meters 0.029456080266173284 Centerline is valid? [True, True] Translation: X:340.10, Y:-20.87, Z:-4.65 [[ 9.99480826e-01 3.22154742e-02 4.92035959e-04 3.40095821e+02] [-3.22154626e-02 9.99480947e-01 -3.14738604e-05 -2.08733187e+01] [-4.92794512e-04 1.56063540e-05 9.99999878e-01 -4.65229799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.720371743 meters 0.02894391962484577 Centerline is valid? [True, True] Translation: X:340.15, Y:-20.88, Z:-4.65 [[ 9.99353884e-01 3.59369277e-02 5.92893257e-04 3.40154236e+02] [-3.59369113e-02 9.99354060e-01 -3.82719022e-05 -2.08790322e+01] [-5.93885658e-04 1.69404217e-05 9.99999824e-01 -4.65423807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.780371743 meters 0.027948577047346847 Centerline is valid? [True, True] Translation: X:340.21, Y:-20.89, Z:-4.66 [[ 9.99217191e-01 3.95458192e-02 1.06479274e-03 3.40212532e+02] [-3.95457693e-02 9.99217758e-01 -6.78628312e-05 -2.08869075e+01] [-1.06664350e-03 2.57016596e-05 9.99999431e-01 -4.65500469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.840371743 meters 0.027904771548947774 Centerline is valid? [True, True] Translation: X:340.27, Y:-20.90, Z:-4.66 [[ 9.99163854e-01 4.07831508e-02 2.88568644e-03 3.40270593e+02] [-4.07827952e-02 9.99168019e-01 -1.81985705e-04 -2.08963595e+01] [-2.89070755e-03 6.41471789e-05 9.99995820e-01 -4.65552184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.900371743 meters 0.02813083555123059 Centerline is valid? [True, True] Translation: X:340.33, Y:-20.91, Z:-4.66 [[ 9.99180156e-01 4.04294484e-02 2.11539737e-03 3.40328583e+02] [-4.04292563e-02 9.99182394e-01 -1.33521683e-04 -2.09090699e+01] [-2.11906602e-03 4.78882731e-05 9.99997754e-01 -4.65878968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.960371743 meters 0.028444960474336107 Centerline is valid? [True, True] Translation: X:340.39, Y:-20.92, Z:-4.66 [[ 9.99194521e-01 4.01028091e-02 1.43984475e-03 3.40386571e+02] [-4.01027194e-02 9.99195558e-01 -9.10916697e-05 -2.09197444e+01] [-1.44233951e-03 3.32766074e-05 9.99998959e-01 -4.66102661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.020371743 meters 0.028545486882131148 Centerline is valid? [True, True] Translation: X:340.44, Y:-20.93, Z:-4.66 [[ 9.99225750e-01 3.92786043e-02 2.25671691e-03 3.40444506e+02] [-3.92783837e-02 9.99228296e-01 -1.42034380e-04 -2.09334358e+01] [-2.26055430e-03 5.32842170e-05 9.99997444e-01 -4.66150641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.080371743 meters 0.02876553860094961 Centerline is valid? [True, True] Translation: X:340.50, Y:-20.95, Z:-4.66 [[ 9.99233138e-01 3.89941071e-02 3.54909332e-03 3.40502484e+02] [-3.89935625e-02 9.99239437e-01 -2.22537235e-04 -2.09472805e+01] [-3.55507165e-03 8.39747874e-05 9.99993677e-01 -4.66107131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.140371743 meters 0.0282240874078129 Centerline is valid? [True, True] Translation: X:340.56, Y:-20.96, Z:-4.66 [[ 9.99192253e-01 4.00799431e-02 2.90507027e-03 3.40560729e+02] [-4.00795828e-02 9.99196474e-01 -1.82133784e-04 -2.09604187e+01] [-2.91003588e-03 6.55526620e-05 9.99995764e-01 -4.66250152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.200371743 meters 0.02883394334108132 Centerline is valid? [True, True] Translation: X:340.62, Y:-20.97, Z:-4.66 [[ 9.99147314e-01 4.12510055e-02 1.73179943e-03 3.40619297e+02] [-4.12508788e-02 9.99148814e-01 -1.08850020e-04 -2.09703440e+01] [-1.73481552e-03 3.73189570e-05 9.99998495e-01 -4.66447932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.260371743 meters 0.02808826617674323 Centerline is valid? [True, True] Translation: X:340.68, Y:-20.98, Z:-4.66 [[ 9.99040930e-01 4.36966190e-02 2.79741806e-03 3.40677647e+02] [-4.36963002e-02 9.99044845e-01 -1.75032612e-04 -2.09823408e+01] [-2.80239443e-03 5.26279247e-05 9.99996072e-01 -4.66337140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.320371743 meters 0.028313386962322603 Centerline is valid? [True, True] Translation: X:340.74, Y:-21.00, Z:-4.66 [[ 9.99051405e-01 4.32217160e-02 5.30782620e-03 3.40735796e+02] [-4.32205683e-02 9.99065500e-01 -3.30787078e-04 -2.09975050e+01] [-5.31716322e-03 1.01066030e-04 9.99985859e-01 -4.66250014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.380371743 meters 0.02876725593843526 Centerline is valid? [True, True] Translation: X:340.79, Y:-21.01, Z:-4.66 [[ 9.99084117e-01 4.23871605e-02 5.85293067e-03 3.40794085e+02] [-4.23857538e-02 9.99101254e-01 -3.64221941e-04 -2.10055055e+01] [-5.86310870e-03 1.15807478e-04 9.99982805e-01 -4.66312815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.440371743 meters 0.02938858166495845 Centerline is valid? [True, True] Translation: X:340.85, Y:-21.02, Z:-4.66 [[ 9.99188060e-01 3.96312988e-02 7.25131219e-03 3.40851577e+02] [-3.96290718e-02 9.99214358e-01 -4.50595238e-04 -2.10211848e+01] [-7.26347294e-03 1.62866609e-04 9.99973607e-01 -4.66397426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.500371743 meters 0.029352495968958805 Centerline is valid? [True, True] Translation: X:340.91, Y:-21.03, Z:-4.67 [[ 9.99270875e-01 3.75796357e-02 6.74455324e-03 3.40909920e+02] [-3.75776668e-02 9.99293622e-01 -4.18449378e-04 -2.10324451e+01] [-6.75551421e-03 1.64699702e-04 9.99977168e-01 -4.66505356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.560371743 meters 0.029597164407142804 Centerline is valid? [True, True] Translation: X:340.97, Y:-21.05, Z:-4.67 [[ 9.99354598e-01 3.54554629e-02 5.77034629e-03 3.40967823e+02] [-3.54539879e-02 9.99371246e-01 -3.57741689e-04 -2.10469479e+01] [-5.77940206e-03 1.52929015e-04 9.99983287e-01 -4.66600117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.620371743 meters 0.02968197315966585 Centerline is valid? [True, True] Translation: X:341.02, Y:-21.06, Z:-4.67 [[ 9.99391635e-01 3.41049654e-02 7.29453579e-03 3.41024948e+02] [-3.41025773e-02 9.99418236e-01 -4.51551323e-04 -2.10614225e+01] [-7.30569223e-03 2.02514145e-04 9.99973293e-01 -4.66527403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.680371743 meters 0.03018755824651463 Centerline is valid? [True, True] Translation: X:341.08, Y:-21.07, Z:-4.67 [[ 9.99383937e-01 3.42839445e-02 7.50718030e-03 3.41082349e+02] [-3.42814256e-02 9.99412111e-01 -4.63989187e-04 -2.10711287e+01] [-7.51867429e-03 2.06346498e-04 9.99971713e-01 -4.66577049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.740371743 meters 0.028800573746930274 Centerline is valid? [True, True] Translation: X:341.14, Y:-21.08, Z:-4.67 [[ 9.99367072e-01 3.49690620e-02 6.52844712e-03 3.41141290e+02] [-3.49671760e-02 9.99388380e-01 -4.02838596e-04 -2.10792533e+01] [-6.53854108e-03 1.74302269e-04 9.99978608e-01 -4.66578531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.800371743 meters 0.02811390903151355 Centerline is valid? [True, True] Translation: X:341.20, Y:-21.09, Z:-4.67 [[ 9.99219298e-01 3.90499205e-02 5.99146743e-03 3.41199539e+02] [-3.90484061e-02 9.99237252e-01 -3.69582205e-04 -2.10866699e+01] [-6.00132960e-03 1.35336418e-04 9.99981983e-01 -4.66702057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.86037174300003 meters 0.026813546716380202 Centerline is valid? [True, True] Translation: X:341.26, Y:-21.09, Z:-4.67 [[ 9.98869239e-01 4.69543775e-02 7.45176926e-03 3.41259479e+02] [-4.69522629e-02 9.98897029e-01 -4.58559412e-04 -2.10894999e+01] [-7.46508155e-03 1.08163461e-04 9.99972130e-01 -4.66525642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.920371743 meters 0.025609061333282772 Centerline is valid? [True, True] Translation: X:341.32, Y:-21.09, Z:-4.66 [[ 9.98248307e-01 5.85800697e-02 8.28806873e-03 3.41318194e+02] [-5.85778530e-02 9.98282713e-01 -5.10170812e-04 -2.10905980e+01] [-8.30372157e-03 2.37798778e-05 9.99965523e-01 -4.66487819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.980371743 meters 0.02535774190408064 Centerline is valid? [True, True] Translation: X:341.38, Y:-21.09, Z:-4.67 [[ 9.97770848e-01 6.62540649e-02 7.98336651e-03 3.41375665e+02] [-6.62522573e-02 9.97802785e-01 -4.90964914e-04 -2.10927118e+01] [-7.99835375e-03 -3.90455733e-05 9.99968012e-01 -4.66661419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.040371743 meters 0.0266917915330531 Centerline is valid? [True, True] Translation: X:341.43, Y:-21.09, Z:-4.67 [[ 9.96906368e-01 7.81826266e-02 8.07284531e-03 3.41434526e+02] [-7.81811769e-02 9.96939044e-01 -4.95488464e-04 -2.10916368e+01] [-8.08687328e-03 -1.37188942e-04 9.99967291e-01 -4.66724671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.100371743 meters 0.026794186574237874 Centerline is valid? [True, True] Translation: X:341.49, Y:-21.10, Z:-4.66 [[ 9.96092679e-01 8.78089886e-02 9.43166726e-03 3.41494665e+02] [-8.78074486e-02 9.96137299e-01 -5.78058400e-04 -2.10994467e+01] [-9.44599427e-03 -2.52370898e-04 9.99955354e-01 -4.66422116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.160371743 meters 0.02701015674695382 Centerline is valid? [True, True] Translation: X:341.55, Y:-21.11, Z:-4.66 [[ 9.95625073e-01 9.28969289e-02 1.00436216e-02 3.41554012e+02] [-9.28954396e-02 9.95675679e-01 -6.15704246e-04 -2.11065932e+01] [-1.00573868e-02 -3.19996062e-04 9.99949372e-01 -4.66335523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.220371743 meters 0.02898145590263052 Centerline is valid? [True, True] Translation: X:341.61, Y:-21.11, Z:-4.66 [[ 9.95150201e-01 9.79112586e-02 9.45846593e-03 3.41613015e+02] [-9.79101679e-02 9.95195088e-01 -5.79411505e-04 -2.11142968e+01] [-9.46974975e-03 -3.49478511e-04 9.99955100e-01 -4.66406480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.280371743 meters 0.02789030804913137 Centerline is valid? [True, True] Translation: X:341.67, Y:-21.13, Z:-4.66 [[ 9.94995018e-01 9.95479161e-02 8.66754676e-03 3.41671194e+02] [-9.95470601e-02 9.95032713e-01 -5.31203356e-04 -2.11293869e+01] [-8.67737276e-03 -3.34284105e-04 9.99962295e-01 -4.66389301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.340371743 meters 0.026785454996661424 Centerline is valid? [True, True] Translation: X:341.73, Y:-21.15, Z:-4.66 [[ 9.95244395e-01 9.70792309e-02 8.01356784e-03 3.41728951e+02] [-9.70784230e-02 9.95276614e-01 -4.90643596e-04 -2.11461704e+01] [-8.02334797e-03 -2.89634240e-04 9.99967770e-01 -4.66286836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.400371743 meters 0.024445795468600977 Centerline is valid? [True, True] Translation: X:341.79, Y:-21.17, Z:-4.66 [[ 9.95835414e-01 9.07188271e-02 9.05112330e-03 3.41788583e+02] [-9.07175433e-02 9.95876509e-01 -5.53144614e-04 -2.11669881e+01] [-9.06398171e-03 -2.70254674e-04 9.99958885e-01 -4.66102940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.460371743 meters 0.022483356838529426 Centerline is valid? [True, True] Translation: X:341.85, Y:-21.18, Z:-4.66 [[ 9.96351195e-01 8.48728549e-02 8.99417253e-03 3.41847484e+02] [-8.48713484e-02 9.96391766e-01 -5.49729823e-04 -2.11827051e+01] [-9.00837659e-03 -2.15623584e-04 9.99959401e-01 -4.66121509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.520371743 meters 0.01942334563102006 Centerline is valid? [True, True] Translation: X:341.90, Y:-21.20, Z:-4.66 [[ 9.97161229e-01 7.49887195e-02 6.79525363e-03 3.41904767e+02] [-7.49876300e-02 9.97184378e-01 -4.15334175e-04 -2.12048812e+01] [-6.80726614e-03 -9.54048282e-05 9.99976826e-01 -4.66339491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.580371743 meters 0.017100768281099795 Centerline is valid? [True, True] Translation: X:341.96, Y:-21.23, Z:-4.66 [[ 9.97857089e-01 6.51837770e-02 5.68384849e-03 3.41963414e+02] [-6.51828571e-02 9.97873276e-01 -3.47131211e-04 -2.12280070e+01] [-5.69438783e-03 -2.41021442e-05 9.99983787e-01 -4.66245445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.640371743 meters 0.016225076923908878 Centerline is valid? [True, True] Translation: X:342.02, Y:-21.24, Z:-4.66 [[ 9.98405234e-01 5.61460306e-02 5.88311697e-03 3.42021796e+02] [-5.61448894e-02 9.98422567e-01 -3.59071225e-04 -2.12448701e+01] [-5.89399717e-03 2.81916392e-05 9.99982630e-01 -4.66169055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.700371743 meters 0.01611363720957253 Centerline is valid? [True, True] Translation: X:342.08, Y:-21.26, Z:-4.66 [[ 9.98745156e-01 4.97020372e-02 6.14987374e-03 3.42080972e+02] [-4.97006695e-02 9.98764088e-01 -3.75111268e-04 -2.12577078e+01] [-6.16091683e-03 6.89877197e-05 9.99981019e-01 -4.66113840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.760371743 meters 0.016356214071043863 Centerline is valid? [True, True] Translation: X:342.14, Y:-21.26, Z:-4.66 [[ 9.98931981e-01 4.57933374e-02 6.15369000e-03 3.42140948e+02] [-4.57918969e-02 9.98950931e-01 -3.74847822e-04 -2.12647172e+01] [-6.16439988e-03 9.26583399e-05 9.99980996e-01 -4.66123043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.820371743 meters 0.017005800033437584 Centerline is valid? [True, True] Translation: X:342.20, Y:-21.27, Z:-4.66 [[ 9.99158809e-01 4.04860457e-02 6.52334238e-03 3.42201262e+02] [-4.04843139e-02 9.99180095e-01 -3.97364945e-04 -2.12735543e+01] [-6.53408159e-03 1.32937645e-04 9.99978644e-01 -4.66130211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.880371743 meters 0.02190030561939281 Centerline is valid? [True, True] Translation: X:342.26, Y:-21.28, Z:-4.66 [[ 9.99319785e-01 3.65187041e-02 5.13334459e-03 3.42261642e+02] [-3.65175802e-02 9.99332962e-01 -3.12531273e-04 -2.12802451e+01] [-5.14133369e-03 1.24861362e-04 9.99986775e-01 -4.66406733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.940371743 meters 0.01895187995134357 Centerline is valid? [True, True] Translation: X:342.32, Y:-21.29, Z:-4.66 [[ 9.99445152e-01 3.27599435e-02 6.01458346e-03 3.42321530e+02] [-3.27583307e-02 9.99463235e-01 -3.66490941e-04 -2.12857795e+01] [-6.02336126e-03 1.69259880e-04 9.99981845e-01 -4.66296004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.000371743 meters 0.020232852170422998 Centerline is valid? [True, True] Translation: X:342.38, Y:-21.29, Z:-4.66 [[ 9.99603824e-01 2.73376071e-02 6.69709587e-03 3.42382868e+02] [-2.73354879e-02 9.99626233e-01 -4.07795650e-04 -2.12903523e+01] [-6.70574087e-03 2.24565709e-04 9.99977491e-01 -4.66286253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.060371743 meters 0.021945640722034428 Centerline is valid? [True, True] Translation: X:342.44, Y:-21.30, Z:-4.66 [[ 9.99747521e-01 2.14065405e-02 6.83034658e-03 3.42443650e+02] [-2.14041951e-02 9.99770817e-01 -4.16305500e-04 -2.12950465e+01] [-6.83769284e-03 2.70002321e-04 9.99976586e-01 -4.66407494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.120371743 meters 0.022993994608253618 Centerline is valid? [True, True] Translation: X:342.50, Y:-21.30, Z:-4.66 [[ 9.99822376e-01 1.76592885e-02 6.58534940e-03 3.42504576e+02] [-1.76570280e-02 9.99844022e-01 -4.01250720e-04 -2.12974686e+01] [-6.59140803e-03 2.84901750e-04 9.99978236e-01 -4.66496622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.180371743 meters 0.0272563731766741 Centerline is valid? [True, True] Translation: X:342.57, Y:-21.30, Z:-4.67 [[ 9.99905626e-01 1.26917763e-02 5.25902391e-03 3.42565732e+02] [-1.26902640e-02 9.99919424e-01 -3.20839360e-04 -2.12968989e+01] [-5.26267218e-03 2.54070680e-04 9.99986120e-01 -4.66812747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.240371743 meters 0.028272558080854153 Centerline is valid? [True, True] Translation: X:342.63, Y:-21.30, Z:-4.67 [[ 9.99945420e-01 8.58964488e-03 5.94767945e-03 3.42625303e+02] [-8.58763646e-03 9.99963060e-01 -3.63138063e-04 -2.12984759e+01] [-5.95057897e-03 3.12041734e-04 9.99982246e-01 -4.66860893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.300371743 meters 0.027180607083486852 Centerline is valid? [True, True] Translation: X:342.69, Y:-21.30, Z:-4.67 [[ 9.99950529e-01 7.93943825e-03 5.99211080e-03 3.42686671e+02] [-7.93738985e-03 9.99968432e-01 -3.65553663e-04 -2.12980005e+01] [-5.99482393e-03 3.17973859e-04 9.99981980e-01 -4.66890476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36037174300003 meters 0.02833897114576691 Centerline is valid? [True, True] Translation: X:342.75, Y:-21.29, Z:-4.67 [[ 9.99956946e-01 6.45897242e-03 6.66248827e-03 3.42748350e+02] [-6.45640523e-03 9.99979074e-01 -4.06755637e-04 -2.12930888e+01] [-6.66497608e-03 3.63722400e-04 9.99977723e-01 -4.66940678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.420371743 meters 0.028686366138188202 Centerline is valid? [True, True] Translation: X:342.81, Y:-21.29, Z:-4.67 [[ 9.99956518e-01 6.84269262e-03 6.33551058e-03 3.42809835e+02] [-6.84037761e-03 9.99976529e-01 -3.87000314e-04 -2.12860717e+01] [-6.33801000e-03 3.43646202e-04 9.99979856e-01 -4.67127225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.480371743 meters 0.029080726819786545 Centerline is valid? [True, True] Translation: X:342.87, Y:-21.28, Z:-4.67 [[ 9.99961354e-01 7.17301594e-03 5.08315363e-03 3.42871501e+02] [-7.17152952e-03 9.99974236e-01 -3.10587957e-04 -2.12831918e+01] [-5.08525052e-03 2.74121968e-04 9.99987032e-01 -4.67356693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.540371743 meters 0.03010173315631829 Centerline is valid? [True, True] Translation: X:342.93, Y:-21.28, Z:-4.68 [[ 9.99953447e-01 8.30811042e-03 4.90713899e-03 3.42933262e+02] [-8.30673797e-03 9.99965453e-01 -2.99999223e-04 -2.12755664e+01] [-4.90946189e-03 2.59222939e-04 9.99987915e-01 -4.67595024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.600371743 meters 0.030870661512252384 Centerline is valid? [True, True] Translation: X:342.99, Y:-21.27, Z:-4.68 [[ 9.99944719e-01 8.86259525e-03 5.65807700e-03 3.42994805e+02] [-8.86077781e-03 9.99960683e-01 -3.46199586e-04 -2.12686661e+01] [-5.66092277e-03 2.96045485e-04 9.99983933e-01 -4.67670959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.660371743 meters 0.03226351271885397 Centerline is valid? [True, True] Translation: X:343.06, Y:-21.26, Z:-4.68 [[ 9.99939376e-01 1.00120746e-02 4.58277325e-03 3.43056909e+02] [-1.00108940e-02 9.99949850e-01 -2.80480372e-04 -2.12626930e+01] [-4.58535162e-03 2.34585711e-04 9.99989460e-01 -4.68015429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.720371743 meters 0.030497794891450054 Centerline is valid? [True, True] Translation: X:343.12, Y:-21.25, Z:-4.68 [[ 9.99931841e-01 1.11677914e-02 3.40483747e-03 3.43117748e+02] [-1.11671451e-02 9.99937624e-01 -2.08761105e-04 -2.12549979e+01] [-3.40695649e-03 1.70724562e-04 9.99994182e-01 -4.68130434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.780371743 meters 0.031299200914262026 Centerline is valid? [True, True] Translation: X:343.18, Y:-21.25, Z:-4.68 [[ 9.99888655e-01 1.43239160e-02 4.18371759e-03 3.43178483e+02] [-1.43229678e-02 9.99897388e-01 -2.56516651e-04 -2.12493387e+01] [-4.18696261e-03 1.96564837e-04 9.99991215e-01 -4.68221503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.840371743 meters 0.03428200112124485 Centerline is valid? [True, True] Translation: X:343.24, Y:-21.25, Z:-4.68 [[ 9.99813545e-01 1.85746921e-02 5.27782126e-03 3.43237543e+02] [-1.85732409e-02 9.99827450e-01 -3.23849210e-04 -2.12487423e+01] [-5.28292598e-03 2.25762581e-04 9.99986020e-01 -4.68347357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.900371743 meters 0.030925281185353468 Centerline is valid? [True, True] Translation: X:343.30, Y:-21.24, Z:-4.68 [[ 9.99682461e-01 2.44479036e-02 6.10544662e-03 3.43299087e+02] [-2.44460734e-02 9.99701080e-01 -3.74216885e-04 -2.12372647e+01] [-6.11277040e-03 2.24843861e-04 9.99981292e-01 -4.68347448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.960371743 meters 0.03042219306573432 Centerline is valid? [True, True] Translation: X:343.36, Y:-21.23, Z:-4.69 [[ 9.99584181e-01 2.83479581e-02 5.27813401e-03 3.43358878e+02] [-2.83466433e-02 9.99598101e-01 -3.23750625e-04 -2.12348965e+01] [-5.28519040e-03 1.73998621e-04 9.99986018e-01 -4.68555170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.020371743 meters 0.030327582698150543 Centerline is valid? [True, True] Translation: X:343.42, Y:-21.23, Z:-4.69 [[ 9.99443326e-01 3.30787068e-02 4.34016602e-03 3.43418223e+02] [-3.30778626e-02 9.99452742e-01 -2.66144948e-04 -2.12318679e+01] [-4.34659456e-03 1.22433377e-04 9.99990546e-01 -4.68883654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.080371743 meters 0.028827056319719744 Centerline is valid? [True, True] Translation: X:343.48, Y:-21.23, Z:-4.69 [[ 9.99267802e-01 3.78450668e-02 5.62235499e-03 3.43478439e+02] [-3.78437276e-02 9.99283610e-01 -3.44435966e-04 -2.12267211e+01] [-5.63136240e-03 1.31412900e-04 9.99984135e-01 -4.68775364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.140371743 meters 0.028416320099657968 Centerline is valid? [True, True] Translation: X:343.54, Y:-21.23, Z:-4.69 [[ 9.99031813e-01 4.35014075e-02 6.56231056e-03 3.43537026e+02] [-4.34997062e-02 9.99053359e-01 -4.01823146e-04 -2.12256090e+01] [-6.57357828e-03 1.15975525e-04 9.99978387e-01 -4.68851324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.200371743 meters 0.027738521464545043 Centerline is valid? [True, True] Translation: X:343.60, Y:-21.23, Z:-4.69 [[ 9.98863104e-01 4.72435996e-02 6.36722816e-03 3.43596430e+02] [-4.72420760e-02 9.98883394e-01 -3.89563048e-04 -2.12263211e+01] [-6.37852284e-03 8.83190788e-05 9.99979653e-01 -4.68917930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.260371743 meters 0.02762339113527236 Centerline is valid? [True, True] Translation: X:343.65, Y:-21.23, Z:-4.69 [[ 9.98803874e-01 4.85263424e-02 6.00134621e-03 3.43654113e+02] [-4.85250117e-02 9.98821900e-01 -3.67226782e-04 -2.12305678e+01] [-6.01209620e-03 7.55721367e-05 9.99981924e-01 -4.69099376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.320371743 meters 0.02715122826258585 Centerline is valid? [True, True] Translation: X:343.71, Y:-21.24, Z:-4.69 [[ 9.98802689e-01 4.85242700e-02 6.21159130e-03 3.43711687e+02] [-4.85228479e-02 9.98822001e-01 -3.79535475e-04 -2.12355057e+01] [-6.22269073e-03 7.76769530e-05 9.99980636e-01 -4.69163420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.380371743 meters 0.027185578096867946 Centerline is valid? [True, True] Translation: X:343.77, Y:-21.24, Z:-4.69 [[ 9.98836118e-01 4.77258486e-02 6.97516986e-03 3.43770154e+02] [-4.77240441e-02 9.98860468e-01 -4.25008972e-04 -2.12430589e+01] [-6.98750535e-03 9.16309973e-05 9.99975583e-01 -4.69087782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.440371743 meters 0.02717579553242647 Centerline is valid? [True, True] Translation: X:343.83, Y:-21.25, Z:-4.69 [[ 9.98910945e-01 4.61008716e-02 7.18567815e-03 3.43826988e+02] [-4.60989169e-02 9.98936784e-01 -4.37509463e-04 -2.12527424e+01] [-7.19820779e-03 1.05781011e-04 9.99974087e-01 -4.69121773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.500371743 meters 0.026735371451030037 Centerline is valid? [True, True] Translation: X:343.89, Y:-21.26, Z:-4.69 [[ 9.98995162e-01 4.41626784e-02 7.63706524e-03 3.43885135e+02] [-4.41604227e-02 9.99024345e-01 -4.63817201e-04 -2.12636790e+01] [-7.65009751e-03 1.26095110e-04 9.99970730e-01 -4.69151837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.560371743 meters 0.025917247507613702 Centerline is valid? [True, True] Translation: X:343.94, Y:-21.27, Z:-4.69 [[ 9.99036450e-01 4.32031495e-02 7.72388969e-03 3.43943300e+02] [-4.32008181e-02 9.99066299e-01 -4.68512069e-04 -2.12720156e+01] [-7.73691908e-03 1.34382281e-04 9.99970061e-01 -4.69130683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.620371743 meters 0.025182728962262094 Centerline is valid? [True, True] Translation: X:344.00, Y:-21.29, Z:-4.69 [[ 9.98981301e-01 4.45925610e-02 6.91835700e-03 3.44000635e+02] [-4.45907256e-02 9.99005251e-01 -4.19403147e-04 -2.12856581e+01] [-6.93017723e-03 1.10481343e-04 9.99975980e-01 -4.69123616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.680371743 meters 0.02366324346945462 Centerline is valid? [True, True] Translation: X:344.06, Y:-21.29, Z:-4.69 [[ 9.98912534e-01 4.61303043e-02 6.76341660e-03 3.44059507e+02] [-4.61285905e-02 9.98935426e-01 -4.09249457e-04 -2.12927966e+01] [-6.77509525e-03 9.68175374e-05 9.99977044e-01 -4.69062827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.740371743 meters 0.022538248272968242 Centerline is valid? [True, True] Translation: X:344.12, Y:-21.30, Z:-4.69 [[ 9.98719250e-01 5.01221083e-02 6.90170162e-03 3.44118003e+02] [-5.01204225e-02 9.98743095e-01 -4.17101448e-04 -2.13011383e+01] [-6.91393284e-03 7.06510437e-05 9.99976096e-01 -4.68971608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.800371743 meters 0.021610793932114666 Centerline is valid? [True, True] Translation: X:344.18, Y:-21.31, Z:-4.69 [[ 9.98462966e-01 5.49464649e-02 7.25194009e-03 3.44175683e+02] [-5.49447344e-02 9.98489301e-01 -4.37788384e-04 -2.13095219e+01] [-7.26503951e-03 3.86595663e-05 9.99973609e-01 -4.68937710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86037174300003 meters 0.021160979560451203 Centerline is valid? [True, True] Translation: X:344.23, Y:-21.32, Z:-4.69 [[ 9.98253342e-01 5.86745051e-02 6.89688723e-03 3.44234004e+02] [-5.86730337e-02 9.98277167e-01 -4.15660235e-04 -2.13180405e+01] [-6.90939371e-03 1.02729222e-05 9.99976130e-01 -4.68984427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.920371743 meters 0.019905127225553418 Centerline is valid? [True, True] Translation: X:344.29, Y:-21.33, Z:-4.69 [[ 9.98155593e-01 6.04067188e-02 6.03659270e-03 3.44290809e+02] [-6.04056243e-02 9.98173847e-01 -3.63633673e-04 -2.13288656e+01] [-6.04753488e-03 -1.68116574e-06 9.99981713e-01 -4.69033596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.980371743 meters 0.01917170319876291 Centerline is valid? [True, True] Translation: X:344.35, Y:-21.34, Z:-4.69 [[ 9.98258912e-01 5.85570384e-02 7.08641646e-03 3.44348465e+02] [-5.85554907e-02 9.98284064e-01 -4.25867263e-04 -2.13426071e+01] [-7.09919415e-03 1.01771979e-05 9.99974800e-01 -4.68956125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.040371743 meters 0.018765585357195105 Centerline is valid? [True, True] Translation: X:344.41, Y:-21.35, Z:-4.69 [[ 9.98438668e-01 5.53626152e-02 7.43010974e-03 3.44406697e+02] [-5.53608293e-02 9.98466314e-01 -4.45966261e-04 -2.13540874e+01] [-7.44340414e-03 3.39329220e-05 9.99972297e-01 -4.68887004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.100371743 meters 0.01816946978124933 Centerline is valid? [True, True] Translation: X:344.46, Y:-21.37, Z:-4.69 [[ 9.98711151e-01 5.01676768e-02 7.69688275e-03 3.44464602e+02] [-5.01656122e-02 9.98740807e-01 -4.61189446e-04 -2.13709583e+01] [-7.71032769e-03 7.44762072e-05 9.99970272e-01 -4.68903512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.160371743 meters 0.018196189074817133 Centerline is valid? [True, True] Translation: X:344.52, Y:-21.38, Z:-4.69 [[ 9.98856907e-01 4.72017878e-02 7.54123605e-03 3.44522435e+02] [-4.71997231e-02 9.98885370e-01 -4.51630507e-04 -2.13838029e+01] [-7.55414813e-03 9.51699987e-05 9.99971462e-01 -4.68961819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.220371743 meters 0.017198286402742655 Centerline is valid? [True, True] Translation: X:344.58, Y:-21.39, Z:-4.69 [[ 9.98954114e-01 4.50684885e-02 7.71428149e-03 3.44581258e+02] [-4.50662683e-02 9.98983893e-01 -4.61476058e-04 -2.13929581e+01] [-7.72724098e-03 1.13339527e-04 9.99970138e-01 -4.68820557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.280371743 meters 0.017057815022559757 Centerline is valid? [True, True] Translation: X:344.64, Y:-21.41, Z:-4.69 [[ 9.99047638e-01 4.27781079e-02 8.59361500e-03 3.44640505e+02] [-4.27752712e-02 9.99084587e-01 -5.13712126e-04 -2.14059374e+01] [-8.60772392e-03 1.45628674e-04 9.99962942e-01 -4.68773350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.340371743 meters 0.017217354822947232 Centerline is valid? [True, True] Translation: X:344.70, Y:-21.42, Z:-4.69 [[ 9.99210768e-01 3.88862289e-02 8.10574707e-03 3.44700484e+02] [-3.88835809e-02 9.99243630e-01 -4.84066847e-04 -2.14187744e+01] [-8.11843966e-03 1.68504333e-04 9.99967031e-01 -4.68845394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.400371743 meters 0.020006352774546148 Centerline is valid? [True, True] Translation: X:344.76, Y:-21.44, Z:-4.69 [[ 9.99412513e-01 3.32899084e-02 8.14928839e-03 3.44759205e+02] [-3.32870503e-02 9.99445714e-01 -4.86145681e-04 -2.14377556e+01] [-8.16095511e-03 2.14594304e-04 9.99966676e-01 -4.68937095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.460371743 meters 0.020435949036154796 Centerline is valid? [True, True] Translation: X:344.82, Y:-21.45, Z:-4.69 [[ 9.99624613e-01 2.60404588e-02 8.51633610e-03 3.44819201e+02] [-2.60370652e-02 9.99660849e-01 -5.09130687e-04 -2.14499268e+01] [-8.52670576e-03 2.87199168e-04 9.99963606e-01 -4.68832713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.520371743 meters 0.021632519833898075 Centerline is valid? [True, True] Translation: X:344.88, Y:-21.46, Z:-4.69 [[ 9.99785162e-01 1.88521787e-02 8.61535272e-03 3.44879184e+02] [-1.88484348e-02 9.99822220e-01 -5.15558174e-04 -2.14617769e+01] [-8.62354048e-03 3.53061499e-04 9.99962754e-01 -4.68876995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.580371743 meters 0.024943447505286504 Centerline is valid? [True, True] Translation: X:344.94, Y:-21.48, Z:-4.69 [[ 9.99882952e-01 1.25413222e-02 8.76338359e-03 3.44938082e+02] [-1.25372064e-02 9.99921269e-01 -5.24434872e-04 -2.14765800e+01] [-8.76927075e-03 4.14505139e-04 9.99961463e-01 -4.68930257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.640371743 meters 0.02734533148176048 Centerline is valid? [True, True] Translation: X:345.00, Y:-21.49, Z:-4.69 [[ 9.99918132e-01 9.05324368e-03 9.04258563e-03 3.44997740e+02] [-9.04872043e-03 9.99958913e-01 -5.41004058e-04 -2.14871351e+01] [-9.04711194e-03 4.59135938e-04 9.99958969e-01 -4.68976572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.700371743 meters 0.02636737289715788 Centerline is valid? [True, True] Translation: X:345.06, Y:-21.49, Z:-4.69 [[ 9.99951520e-01 3.69081171e-03 9.12883295e-03 3.45057897e+02] [-3.68596922e-03 9.99993057e-01 -5.47228859e-04 -2.14924117e+01] [-9.13078928e-03 5.13553732e-04 9.99958182e-01 -4.69011042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.760371743 meters 0.029143637095374944 Centerline is valid? [True, True] Translation: X:345.12, Y:-21.50, Z:-4.69 [[ 9.99957895e-01 -5.65921649e-05 9.17636520e-03 3.45117632e+02] [ 6.16400594e-05 9.99999847e-01 -5.49815498e-04 -2.15017944e+01] [-9.17633269e-03 5.50357979e-04 9.99957745e-01 -4.69047775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.820371743 meters 0.028063465769026085 Centerline is valid? [True, True] Translation: X:345.18, Y:-21.50, Z:-4.69 [[ 9.99955564e-01 -1.99610203e-03 9.21334409e-03 3.45180082e+02] [ 2.00127777e-03 9.99997845e-01 -5.52580400e-04 -2.15030493e+01] [-9.21222122e-03 5.70994306e-04 9.99957404e-01 -4.69117623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.880371743 meters 0.029313585210261978 Centerline is valid? [True, True] Translation: X:345.24, Y:-21.51, Z:-4.69 [[ 9.99960837e-01 -3.36971721e-03 8.18354471e-03 3.45241907e+02] [ 3.37385036e-03 9.99994188e-01 -4.91303348e-04 -2.15065760e+01] [-8.18184159e-03 5.18894162e-04 9.99966394e-01 -4.69233123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.940371743 meters 0.03343278944272409 Centerline is valid? [True, True] Translation: X:345.30, Y:-21.51, Z:-4.70 [[ 9.99965595e-01 -4.30690438e-03 7.08940876e-03 3.45304208e+02] [ 4.31003244e-03 9.99990621e-01 -4.26011252e-04 -2.15109679e+01] [-7.08750748e-03 4.56552177e-04 9.99974779e-01 -4.69755712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.000371743 meters 0.03225488910869902 Centerline is valid? [True, True] Translation: X:345.37, Y:-21.51, Z:-4.69 [[ 9.99926534e-01 -8.57178697e-03 8.57030292e-03 3.45365370e+02] [ 8.57652486e-03 9.99963088e-01 -5.16225700e-04 -2.15115078e+01] [-8.56556159e-03 5.89691192e-04 9.99963141e-01 -4.69397261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.060371743 meters 0.029908995059239423 Centerline is valid? [True, True] Translation: X:345.43, Y:-21.51, Z:-4.69 [[ 9.99909392e-01 -1.02761193e-02 8.69539897e-03 3.45426968e+02] [ 1.02810594e-02 9.99947011e-01 -5.23611952e-04 -2.15088423e+01] [-8.68955751e-03 6.12962421e-04 9.99962057e-01 -4.69414024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.120371743 meters 0.0334038325444711 Centerline is valid? [True, True] Translation: X:345.49, Y:-21.51, Z:-4.70 [[ 9.99879000e-01 -1.28031507e-02 8.83538747e-03 3.45487390e+02] [ 1.28083532e-02 9.99917828e-01 -5.32486679e-04 -2.15109059e+01] [-8.82784394e-03 6.45589012e-04 9.99960825e-01 -4.69542147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.180371743 meters 0.03799129635581494 Centerline is valid? [True, True] Translation: X:345.55, Y:-21.51, Z:-4.70 [[ 9.99853881e-01 -1.50123054e-02 8.17604181e-03 3.45547546e+02] [ 1.50168349e-02 9.99887120e-01 -4.92885632e-04 -2.15132005e+01] [-8.16771954e-03 6.15591882e-04 9.99966454e-01 -4.69659101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.240371743 meters 0.03433985430797974 Centerline is valid? [True, True] Translation: X:345.61, Y:-21.50, Z:-4.70 [[ 9.99826419e-01 -1.66750744e-02 8.31111645e-03 3.45609179e+02] [ 1.66798132e-02 9.99860757e-01 -5.01180960e-04 -2.15022526e+01] [-8.30160195e-03 6.39721834e-04 9.99965336e-01 -4.69807839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.300371743 meters 0.03529120837001052 Centerline is valid? [True, True] Translation: X:345.67, Y:-21.50, Z:-4.70 [[ 9.99807449e-01 -1.77106497e-02 8.44974831e-03 3.45671937e+02] [ 1.77155834e-02 9.99842937e-01 -5.09389925e-04 -2.14965826e+01] [-8.43939955e-03 6.58984062e-04 9.99964170e-01 -4.69918369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.36037174300003 meters 0.03722117527379246 Centerline is valid? [True, True] Translation: X:345.73, Y:-21.49, Z:-4.70 [[ 9.99812861e-01 -1.71818179e-02 8.88976802e-03 3.45733512e+02] [ 1.71872619e-02 9.99852144e-01 -5.36345692e-04 -2.14926997e+01] [-8.87923823e-03 6.89036092e-04 9.99960341e-01 -4.70008808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.420371743 meters 0.034327536153855996 Centerline is valid? [True, True] Translation: X:345.80, Y:-21.48, Z:-4.70 [[ 9.99830047e-01 -1.64187447e-02 8.38458799e-03 3.45796881e+02] [ 1.64235719e-02 9.99864995e-01 -5.07181559e-04 -2.14797424e+01] [-8.37512875e-03 6.44800246e-04 9.99964720e-01 -4.70113052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.480371743 meters 0.03600216705610223 Centerline is valid? [True, True] Translation: X:345.86, Y:-21.48, Z:-4.70 [[ 9.99847035e-01 -1.54849673e-02 8.13154723e-03 3.45859225e+02] [ 1.54894816e-02 9.99879910e-01 -4.92469871e-04 -2.14776787e+01] [-8.12294482e-03 6.18347992e-04 9.99966817e-01 -4.70342494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.540371743 meters 0.03552491999255669 Centerline is valid? [True, True] Translation: X:345.92, Y:-21.47, Z:-4.71 [[ 9.99889664e-01 -1.24071064e-02 8.16840971e-03 3.45921116e+02] [ 1.24115673e-02 9.99922851e-01 -4.95647974e-04 -2.14677735e+01] [-8.16162996e-03 5.96976054e-04 9.99966515e-01 -4.70503778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.600371743 meters 0.03502512590242301 Centerline is valid? [True, True] Translation: X:345.98, Y:-21.46, Z:-4.71 [[ 9.99947837e-01 -7.37545819e-03 7.06576117e-03 3.45982830e+02] [ 7.37867171e-03 9.99972685e-01 -4.28841053e-04 -2.14560787e+01] [-7.06240527e-03 4.80954616e-04 9.99974945e-01 -4.70715707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.660371743 meters 0.03619372182664185 Centerline is valid? [True, True] Translation: X:346.04, Y:-21.45, Z:-4.71 [[ 9.99972664e-01 -1.68386330e-03 7.19964568e-03 3.46043549e+02] [ 1.68705436e-03 9.99998481e-01 -4.37174529e-04 -2.14463648e+01] [-7.19889861e-03 4.49308772e-04 9.99973987e-01 -4.71003957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.720371743 meters 0.032784978609855034 Centerline is valid? [True, True] Translation: X:346.11, Y:-21.43, Z:-4.71 [[ 9.99969685e-01 3.73449083e-03 6.83248507e-03 3.46105352e+02] [-3.73174231e-03 9.99992951e-01 -4.14976986e-04 -2.14292829e+01] [-6.83398663e-03 3.89467332e-04 9.99976572e-01 -4.71227334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.780371743 meters 0.0349952732383462 Centerline is valid? [True, True] Translation: X:346.17, Y:-21.43, Z:-4.72 [[ 9.99958617e-01 6.69757772e-03 6.15678642e-03 3.46166663e+02] [-6.69540371e-03 9.99977516e-01 -3.73651671e-04 -2.14264838e+01] [-6.15915055e-03 3.32414037e-04 9.99980977e-01 -4.71537867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.840371743 meters 0.034467560367657205 Centerline is valid? [True, True] Translation: X:346.23, Y:-21.41, Z:-4.72 [[ 9.99907984e-01 1.16682052e-02 6.91933067e-03 3.46228588e+02] [-1.16655743e-02 9.99931866e-01 -4.20466502e-04 -2.14114422e+01] [-6.92376532e-03 3.39709846e-04 9.99975973e-01 -4.71792526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.900371743 meters 0.03509943088062022 Centerline is valid? [True, True] Translation: X:346.29, Y:-21.41, Z:-4.72 [[ 9.99883555e-01 1.34670303e-02 7.17744516e-03 3.46289732e+02] [-1.34642459e-02 9.99909258e-01 -4.36128668e-04 -2.14084070e+01] [-7.18266722e-03 3.39438997e-04 9.99974147e-01 -4.72020090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.960371743 meters 0.03396036672003986 Centerline is valid? [True, True] Translation: X:346.35, Y:-21.40, Z:-4.72 [[ 9.99867436e-01 1.48925316e-02 6.58202864e-03 3.46350581e+02] [-1.48902184e-02 9.99889054e-01 -4.00315444e-04 -2.13988667e+01] [-6.58726010e-03 3.02254533e-04 9.99978258e-01 -4.72388363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.020371743 meters 0.03660903415870094 Centerline is valid? [True, True] Translation: X:346.41, Y:-21.40, Z:-4.73 [[ 9.99849148e-01 1.62094994e-02 6.23964177e-03 3.46410183e+02] [-1.62074468e-02 9.99868579e-01 -3.79387821e-04 -2.13987102e+01] [-6.24497143e-03 2.78201928e-04 9.99980461e-01 -4.72731208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.080371743 meters 0.03463104516782427 Centerline is valid? [True, True] Translation: X:346.47, Y:-21.40, Z:-4.73 [[ 9.99841830e-01 1.64579943e-02 6.74155396e-03 3.46470106e+02] [-1.64556040e-02 9.99864513e-01 -4.09893534e-04 -2.13951514e+01] [-6.74738660e-03 2.98892359e-04 9.99977191e-01 -4.72769791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.140371743 meters 0.03481235464714387 Centerline is valid? [True, True] Translation: X:346.53, Y:-21.39, Z:-4.73 [[ 9.99833744e-01 1.64645773e-02 7.83597262e-03 3.46530277e+02] [-1.64613509e-02 9.99864389e-01 -4.76069771e-04 -2.13916765e+01] [-7.84274827e-03 3.46999927e-04 9.99969185e-01 -4.72899305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.200371743 meters 0.03421643235357347 Centerline is valid? [True, True] Translation: X:346.59, Y:-21.39, Z:-4.73 [[ 9.99860018e-01 1.54539947e-02 6.41229551e-03 3.46589989e+02] [-1.54518143e-02 9.99880538e-01 -3.89442862e-04 -2.13887193e+01] [-6.41754793e-03 2.90306748e-04 9.99979365e-01 -4.73076355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.260371743 meters 0.03609293692962628 Centerline is valid? [True, True] Translation: X:346.65, Y:-21.39, Z:-4.73 [[ 9.99884364e-01 1.42553954e-02 5.29556416e-03 3.46648303e+02] [-1.42538913e-02 9.99898356e-01 -3.21666899e-04 -2.13928330e+01] [-5.29961138e-03 2.46147307e-04 9.99985927e-01 -4.73416341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.320371743 meters 0.03559024071980985 Centerline is valid? [True, True] Translation: X:346.71, Y:-21.39, Z:-4.74 [[ 9.99900013e-01 1.34215470e-02 4.45257598e-03 3.46707692e+02] [-1.34204767e-02 9.99909905e-01 -2.70161999e-04 -2.13924063e+01] [-4.45580082e-03 2.10379294e-04 9.99990051e-01 -4.73573238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.380371743 meters 0.03380688707610321 Centerline is valid? [True, True] Translation: X:346.77, Y:-21.39, Z:-4.74 [[ 9.99870259e-01 1.52451219e-02 5.20116425e-03 3.46767242e+02] [-1.52436875e-02 9.99883759e-01 -3.15321078e-04 -2.13907665e+01] [-5.20536676e-03 2.35995245e-04 9.99986424e-01 -4.73539203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.440371743 meters 0.03255676050805305 Centerline is valid? [True, True] Translation: X:346.83, Y:-21.39, Z:-4.74 [[ 9.99810997e-01 1.87604208e-02 5.10066724e-03 3.46827013e+02] [-1.87590878e-02 9.99823985e-01 -3.09057112e-04 -2.13889424e+01] [-5.10556749e-03 2.13314834e-04 9.99986944e-01 -4.73548076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.500371743 meters 0.03174495624441597 Centerline is valid? [True, True] Translation: X:346.89, Y:-21.39, Z:-4.74 [[ 9.99724576e-01 2.30690285e-02 4.31188368e-03 3.46886826e+02] [-2.30681163e-02 9.99733861e-01 -2.61182294e-04 -2.13891853e+01] [-4.31676134e-03 1.61643324e-04 9.99990670e-01 -4.73644644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.560371743 meters 0.030878114801713985 Centerline is valid? [True, True] Translation: X:346.95, Y:-21.39, Z:-4.74 [[ 9.99483361e-01 3.18396271e-02 4.38744236e-03 3.46946560e+02] [-3.18387684e-02 9.99492983e-01 -2.65440577e-04 -2.13893796e+01] [-4.39366938e-03 1.25612679e-04 9.99990340e-01 -4.73769148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.620371743 meters 0.02889653027210031 Centerline is valid? [True, True] Translation: X:347.01, Y:-21.39, Z:-4.74 [[ 9.99217907e-01 3.92862180e-02 4.49084363e-03 3.47007259e+02] [-3.92853941e-02 9.99227994e-01 -2.71567422e-04 -2.13870773e+01] [-4.49804553e-03 9.49304693e-05 9.99989879e-01 -4.73622810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.680371743 meters 0.028913989954022275 Centerline is valid? [True, True] Translation: X:347.07, Y:-21.39, Z:-4.74 [[ 9.99069136e-01 4.27899261e-02 5.46667603e-03 3.47065194e+02] [-4.27887551e-02 9.99084087e-01 -3.31036963e-04 -2.13919480e+01] [-5.47583407e-03 9.68165511e-05 9.99985003e-01 -4.73682140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.740371743 meters 0.028141515662877346 Centerline is valid? [True, True] Translation: X:347.12, Y:-21.40, Z:-4.74 [[ 9.98971490e-01 4.50093230e-02 5.48851367e-03 3.47123878e+02] [-4.50081797e-02 9.98986563e-01 -3.31716639e-04 -2.13973840e+01] [-5.49788175e-03 8.43474554e-05 9.99984883e-01 -4.73644585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.800371743 meters 0.028536686222453082 Centerline is valid? [True, True] Translation: X:347.18, Y:-21.40, Z:-4.74 [[ 9.98913991e-01 4.62491652e-02 5.64381167e-03 3.47182894e+02] [-4.62479785e-02 9.98929932e-01 -3.40659864e-04 -2.14029420e+01] [-5.65352764e-03 7.92750234e-05 9.99984016e-01 -4.73656163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86037174300003 meters 0.02840337331407603 Centerline is valid? [True, True] Translation: X:347.24, Y:-21.41, Z:-4.74 [[ 9.98868890e-01 4.71740015e-02 5.96271236e-03 3.47239887e+02] [-4.71726956e-02 9.98886684e-01 -3.59542848e-04 -2.14121303e+01] [-5.97303505e-03 7.78589507e-05 9.99982158e-01 -4.73683521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.920371743 meters 0.028371897741140618 Centerline is valid? [True, True] Translation: X:347.30, Y:-21.42, Z:-4.74 [[ 9.98842941e-01 4.77550393e-02 5.67756815e-03 3.47298559e+02] [-4.77538683e-02 9.98859075e-01 -3.41725814e-04 -2.14227973e+01] [-5.68740960e-03 7.02045754e-05 9.99983824e-01 -4.73685675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.980371743 meters 0.028495647140624764 Centerline is valid? [True, True] Translation: X:347.36, Y:-21.43, Z:-4.74 [[ 9.98795177e-01 4.87464611e-02 5.65490205e-03 3.47356785e+02] [-4.87453176e-02 9.98811183e-01 -3.39956686e-04 -2.14330406e+01] [-5.66475109e-03 6.38971021e-05 9.99983953e-01 -4.73711208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.040371743 meters 0.027680244634698113 Centerline is valid? [True, True] Translation: X:347.42, Y:-21.44, Z:-4.74 [[ 9.98693281e-01 5.08261636e-02 5.33203569e-03 3.47415416e+02] [-5.08251782e-02 9.98707514e-01 -3.20230005e-04 -2.14440587e+01] [-5.34142018e-03 4.88098898e-05 9.99985733e-01 -4.73579903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.100371743 meters 0.027121536296325802 Centerline is valid? [True, True] Translation: X:347.47, Y:-21.46, Z:-4.73 [[ 9.98552269e-01 5.34405659e-02 6.12150530e-03 3.47473926e+02] [-5.34393198e-02 9.98571031e-01 -3.67065513e-04 -2.14569413e+01] [-6.13237405e-03 3.94050215e-05 9.99981196e-01 -4.73436310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.160371743 meters 0.026242482862092246 Centerline is valid? [True, True] Translation: X:347.53, Y:-21.47, Z:-4.73 [[ 9.98420997e-01 5.56093903e-02 7.94412520e-03 3.47531346e+02] [-5.56073666e-02 9.98452600e-01 -4.75557366e-04 -2.14693455e+01] [-7.95827792e-03 3.30545762e-05 9.99968332e-01 -4.73234614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.220371743 meters 0.025296662616036737 Centerline is valid? [True, True] Translation: X:347.59, Y:-21.48, Z:-4.73 [[ 9.98402630e-01 5.58923498e-02 8.26042427e-03 3.47589204e+02] [-5.58901791e-02 9.98436800e-01 -4.93563403e-04 -2.14793035e+01] [-8.27509800e-03 3.10984070e-05 9.99965760e-01 -4.73200838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.280371743 meters 0.024850902779067485 Centerline is valid? [True, True] Translation: X:347.65, Y:-21.49, Z:-4.73 [[ 9.98537675e-01 5.35362656e-02 7.50861132e-03 3.47646998e+02] [-5.35344087e-02 9.98565905e-01 -4.48223951e-04 -2.14934238e+01] [-7.52183949e-03 4.55994348e-05 9.99971710e-01 -4.73147313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.340371743 meters 0.024438754197263067 Centerline is valid? [True, True] Translation: X:347.70, Y:-21.51, Z:-4.73 [[ 9.98810292e-01 4.81953931e-02 7.42992053e-03 3.47703487e+02] [-4.81934293e-02 9.98837923e-01 -4.43223751e-04 -2.15086583e+01] [-7.44264774e-03 8.46230943e-05 9.99972300e-01 -4.73173423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.400371743 meters 0.024032563813271873 Centerline is valid? [True, True] Translation: X:347.76, Y:-21.52, Z:-4.73 [[ 9.99204302e-01 3.92998748e-02 6.80318753e-03 3.47761824e+02] [-3.92980288e-02 9.99227452e-01 -4.04870400e-04 -2.15240161e+01] [-6.81384309e-03 1.37196386e-04 9.99976776e-01 -4.73136516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.460371743 meters 0.024884286660630285 Centerline is valid? [True, True] Translation: X:347.82, Y:-21.54, Z:-4.73 [[ 9.99559776e-01 2.87194955e-02 7.44617795e-03 3.47821034e+02] [-2.87169967e-02 9.99587484e-01 -4.42298300e-04 -2.15418891e+01] [-7.45580887e-03 2.28271722e-04 9.99972179e-01 -4.73073430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.520371743 meters 0.02699724429143921 Centerline is valid? [True, True] Translation: X:347.88, Y:-21.56, Z:-4.73 [[ 9.99794814e-01 1.88957464e-02 7.29932620e-03 3.47881079e+02] [-1.88930847e-02 9.99821416e-01 -4.33438151e-04 -2.15565840e+01] [-7.30621279e-03 2.95442428e-04 9.99973266e-01 -4.73040341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.580371743 meters 0.0437521525065597 Centerline is valid? [True, True] Translation: X:347.94, Y:-21.59, Z:-4.73 [[ 9.99821934e-01 1.58474436e-02 1.02449039e-02 3.47939455e+02] [-1.58420406e-02 9.99874322e-01 -6.08323474e-04 -2.15919073e+01] [-1.02532567e-02 4.45914969e-04 9.99947335e-01 -4.73225440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.640371743 meters 0.030408114302528266 Centerline is valid? [True, True] Translation: X:348.00, Y:-21.57, Z:-4.73 [[ 9.99896215e-01 1.24591298e-02 7.23384330e-03 3.48002316e+02] [-1.24563482e-02 9.99922324e-01 -4.29458170e-04 -2.15726064e+01] [-7.23863208e-03 3.39306328e-04 9.99973743e-01 -4.73018056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.700371743 meters 0.02819053354690228 Centerline is valid? [True, True] Translation: X:348.06, Y:-21.58, Z:-4.73 [[ 9.99884016e-01 1.32694318e-02 7.47514190e-03 3.48063601e+02] [-1.32664819e-02 9.99911898e-01 -4.44080176e-04 -2.15750352e+01] [-7.48037601e-03 3.44859835e-04 9.99971962e-01 -4.73174702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.760371743 meters 0.02832233347030667 Centerline is valid? [True, True] Translation: X:348.13, Y:-21.58, Z:-4.73 [[ 9.99853651e-01 1.53198521e-02 7.61438556e-03 3.48125125e+02] [-1.53168483e-02 9.99882588e-01 -4.52641871e-04 -2.15780108e+01] [-7.62042594e-03 3.35947239e-04 9.99970908e-01 -4.73317693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.820371743 meters 0.028075093071020678 Centerline is valid? [True, True] Translation: X:348.18, Y:-21.58, Z:-4.74 [[ 9.99791096e-01 1.91127300e-02 7.24347581e-03 3.48184783e+02] [-1.91101068e-02 9.99817292e-01 -4.31194101e-04 -2.15785778e+01] [-7.25039367e-03 2.92680427e-04 9.99973673e-01 -4.73594612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.880371743 meters 0.02781873201703158 Centerline is valid? [True, True] Translation: X:348.25, Y:-21.58, Z:-4.74 [[ 9.99737578e-01 2.23197983e-02 5.15769828e-03 3.48245699e+02] [-2.23185126e-02 9.99750864e-01 -3.06700467e-04 -2.15780886e+01] [-5.16325880e-03 1.91507828e-04 9.99986652e-01 -4.73967495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.940371743 meters 0.026188222256394764 Centerline is valid? [True, True] Translation: X:348.31, Y:-21.57, Z:-4.74 [[ 9.99679082e-01 2.50321254e-02 3.88923593e-03 3.48306006e+02] [-2.50314127e-02 9.99686638e-01 -2.31822396e-04 -2.15728217e+01] [-3.89382019e-03 1.34394930e-04 9.99992410e-01 -4.74069163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.000371743 meters 0.025146056813160483 Centerline is valid? [True, True] Translation: X:348.36, Y:-21.57, Z:-4.74 [[ 9.99659052e-01 2.58392049e-02 3.75715887e-03 3.48364758e+02] [-2.58385444e-02 9.99666104e-01 -2.24220065e-04 -2.15731964e+01] [-3.76169803e-03 1.27064101e-04 9.99992917e-01 -4.74094815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.060371743 meters 0.02524601996427108 Centerline is valid? [True, True] Translation: X:348.42, Y:-21.57, Z:-4.74 [[ 9.99656807e-01 2.56437486e-02 5.35413042e-03 3.48423329e+02] [-2.56424091e-02 9.99671129e-01 -3.18689571e-04 -2.15724322e+01] [-5.36054200e-03 1.81287397e-04 9.99985616e-01 -4.74140313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.120371743 meters 0.027045798116713825 Centerline is valid? [True, True] Translation: X:348.48, Y:-21.57, Z:-4.74 [[ 9.99734940e-01 2.20624148e-02 6.58019045e-03 3.48483231e+02] [-2.20603208e-02 9.99756565e-01 -3.90655221e-04 -2.15735246e+01] [-6.58720740e-03 2.45390562e-04 9.99978274e-01 -4.74233511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.180371743 meters 0.028486131677852296 Centerline is valid? [True, True] Translation: X:348.54, Y:-21.57, Z:-4.75 [[ 9.99829049e-01 1.77072676e-02 5.32224528e-03 3.48543807e+02] [-1.77058383e-02 9.99843190e-01 -3.15556682e-04 -2.15732496e+01] [-5.32699834e-03 2.21267923e-04 9.99985787e-01 -4.74529224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.240371743 meters 0.031246822297327708 Centerline is valid? [True, True] Translation: X:348.60, Y:-21.57, Z:-4.75 [[ 9.99912794e-01 1.25806179e-02 4.01654429e-03 3.48604269e+02] [-1.25797621e-02 9.99920843e-01 -2.38251516e-04 -2.15749961e+01] [-4.01922371e-03 1.87703567e-04 9.99991905e-01 -4.74786090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.300371743 meters 0.032059356518591015 Centerline is valid? [True, True] Translation: X:348.66, Y:-21.57, Z:-4.75 [[ 9.99959114e-01 7.90071384e-03 4.39880072e-03 3.48664339e+02] [-7.89964223e-03 9.99968763e-01 -2.60936025e-04 -2.15712474e+01] [-4.40072489e-03 2.26176404e-04 9.99990291e-01 -4.74851020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.36037174300003 meters 0.03283311127626798 Centerline is valid? [True, True] Translation: X:348.73, Y:-21.57, Z:-4.75 [[ 9.99980126e-01 3.52608723e-03 5.22622431e-03 3.48725384e+02] [-3.52451735e-03 9.99993741e-01 -3.09564609e-04 -2.15658963e+01] [-5.22728315e-03 2.91138538e-04 9.99986295e-01 -4.74970098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.420371743 meters 0.034192297259468284 Centerline is valid? [True, True] Translation: X:348.79, Y:-21.56, Z:-4.75 [[ 9.99981966e-01 1.39597065e-03 5.84109365e-03 3.48786340e+02] [-1.39397282e-03 9.99998969e-01 -3.46087361e-04 -2.15649468e+01] [-5.84157076e-03 3.37938794e-04 9.99982881e-01 -4.75152606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.480371743 meters 0.03709809644010748 Centerline is valid? [True, True] Translation: X:348.85, Y:-21.56, Z:-4.76 [[ 9.99985923e-01 -2.29553731e-03 4.78365992e-03 3.48847513e+02] [ 2.29691957e-03 9.99997322e-01 -2.83480910e-04 -2.15572303e+01] [-4.78299636e-03 2.94464602e-04 9.99988518e-01 -4.75505957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.540371743 meters 0.03722966935603223 Centerline is valid? [True, True] Translation: X:348.91, Y:-21.55, Z:-4.76 [[ 9.99980350e-01 -3.98109550e-03 4.84254590e-03 3.48910204e+02] [ 3.98252961e-03 9.99992029e-01 -2.86539935e-04 -2.15526784e+01] [-4.84136655e-03 3.05819887e-04 9.99988234e-01 -4.75679905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.600371743 meters 0.03854949125078099 Centerline is valid? [True, True] Translation: X:348.97, Y:-21.54, Z:-4.76 [[ 9.99975159e-01 -5.02416278e-03 4.94360305e-03 3.48972803e+02] [ 5.02567205e-03 9.99987328e-01 -2.92922012e-04 -2.15448227e+01] [-4.94206872e-03 3.17759663e-04 9.99987737e-01 -4.75959218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.660371743 meters 0.039419997502878036 Centerline is valid? [True, True] Translation: X:349.03, Y:-21.54, Z:-4.76 [[ 9.99986054e-01 -3.01921659e-03 4.33324756e-03 3.49033830e+02] [ 3.02036063e-03 9.99995406e-01 -2.57494425e-04 -2.15357340e+01] [-4.33245022e-03 2.70578804e-04 9.99990578e-01 -4.76258854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.720371743 meters 0.03843379573056655 Centerline is valid? [True, True] Translation: X:349.10, Y:-21.52, Z:-4.77 [[ 9.99994840e-01 6.92998519e-04 3.13680954e-03 3.49095276e+02] [-6.92417234e-04 9.99999743e-01 -1.86392914e-04 -2.15235825e+01] [-3.13693791e-03 1.84219971e-04 9.99995063e-01 -4.76533836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.780371743 meters 0.039570245821999805 Centerline is valid? [True, True] Translation: X:349.16, Y:-21.52, Z:-4.77 [[ 9.99994340e-01 2.31165632e-03 2.44468361e-03 3.49156370e+02] [-2.31130985e-03 9.99997318e-01 -1.44537910e-04 -2.15162889e+01] [-2.44501117e-03 1.38886670e-04 9.99997001e-01 -4.76618123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.840371743 meters 0.038057722267375575 Centerline is valid? [True, True] Translation: X:349.22, Y:-21.51, Z:-4.77 [[ 9.99992948e-01 2.25639748e-03 3.00208164e-03 3.49217226e+02] [-2.25587064e-03 9.99997440e-01 -1.78866204e-04 -2.15052087e+01] [-3.00247755e-03 1.72092634e-04 9.99995478e-01 -4.76515607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.900371743 meters 0.036215375700326076 Centerline is valid? [True, True] Translation: X:349.28, Y:-21.49, Z:-4.76 [[ 9.99991077e-01 2.72258920e-03 3.23013661e-03 3.49278341e+02] [-2.72198170e-03 9.99996277e-01 -1.92453884e-04 -2.14936782e+01] [-3.23064855e-03 1.83659794e-04 9.99994765e-01 -4.76485914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.960371743 meters 0.03738387862942724 Centerline is valid? [True, True] Translation: X:349.34, Y:-21.49, Z:-4.77 [[ 9.99986467e-01 4.52252689e-03 2.57167181e-03 3.49338614e+02] [-4.52214776e-03 9.99989763e-01 -1.53222074e-04 -2.14914361e+01] [-2.57233844e-03 1.41590520e-04 9.99996682e-01 -4.76636909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.020371743 meters 0.03595930978612666 Centerline is valid? [True, True] Translation: X:349.40, Y:-21.48, Z:-4.77 [[ 9.99974510e-01 7.01443757e-03 1.33303895e-03 3.49399825e+02] [-7.01433791e-03 9.99975396e-01 -7.94234284e-05 -2.14819334e+01] [-1.33356326e-03 7.00710183e-05 9.99999108e-01 -4.76637501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.080371743 meters 0.03362726411716597 Centerline is valid? [True, True] Translation: X:349.46, Y:-21.47, Z:-4.76 [[ 9.99970662e-01 7.46119713e-03 1.73347951e-03 3.49459196e+02] [-7.46102767e-03 9.99972161e-01 -1.04204470e-04 -2.14719236e+01] [-1.73420875e-03 9.12678747e-05 9.99998492e-01 -4.76396194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.140371743 meters 0.035026074246916124 Centerline is valid? [True, True] Translation: X:349.52, Y:-21.47, Z:-4.76 [[ 9.99986084e-01 4.42768483e-03 2.86834322e-03 3.49518835e+02] [-4.42721281e-03 9.99990185e-01 -1.70888269e-04 -2.14729484e+01] [-2.86907171e-03 1.58187125e-04 9.99995872e-01 -4.76371456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.200371743 meters 0.03687587250802493 Centerline is valid? [True, True] Translation: X:349.58, Y:-21.48, Z:-4.77 [[ 9.99995821e-01 -1.33126097e-03 2.56609929e-03 3.49578927e+02] [ 1.33165750e-03 9.99999102e-01 -1.52826772e-04 -2.14750184e+01] [-2.56589354e-03 1.56243299e-04 9.99996696e-01 -4.76549387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.260371743 meters 0.04015438992779561 Centerline is valid? [True, True] Translation: X:349.64, Y:-21.48, Z:-4.77 [[ 9.99966495e-01 -8.13581052e-03 9.04665349e-04 3.49638766e+02] [ 8.13586259e-03 9.99966902e-01 -5.38972309e-05 -2.14781935e+01] [-9.04196909e-04 6.12556580e-05 9.99999589e-01 -4.76824492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.320371743 meters 0.0441806161452704 Centerline is valid? [True, True] Translation: X:349.70, Y:-21.48, Z:-4.77 [[ 9.99902426e-01 -1.39419544e-02 8.71648149e-04 3.49698225e+02] [ 1.39420040e-02 9.99902804e-01 -5.08542791e-05 -2.14814589e+01] [-8.70854421e-04 6.30018390e-05 9.99999619e-01 -4.76819977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.380371743 meters 0.043081572002976326 Centerline is valid? [True, True] Translation: X:349.76, Y:-21.48, Z:-4.77 [[ 9.99844471e-01 -1.75651388e-02 1.58101063e-03 3.49758993e+02] [ 1.75653094e-02 9.99845714e-01 -9.40857230e-05 -2.14753998e+01] [-1.57911407e-03 1.21842031e-04 9.99998746e-01 -4.76742207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.440371743 meters 0.04363971189974407 Centerline is valid? [True, True] Translation: X:349.82, Y:-21.47, Z:-4.77 [[ 9.99842012e-01 -1.77664810e-02 5.50132452e-04 3.49821105e+02] [ 1.77665012e-02 9.99842163e-01 -3.17755437e-05 -2.14742917e+01] [-5.49481082e-04 4.15444524e-05 9.99999848e-01 -4.76908951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.500371743 meters 0.043281533715698726 Centerline is valid? [True, True] Translation: X:349.88, Y:-21.47, Z:-4.77 [[ 9.99891064e-01 -1.47575008e-02 2.76044193e-04 3.49882375e+02] [ 1.47575058e-02 9.99891102e-01 -1.62101310e-05 -2.14672646e+01] [-2.75774912e-04 2.02820889e-05 9.99999962e-01 -4.76991562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.560371743 meters 0.039046648868439664 Centerline is valid? [True, True] Translation: X:349.94, Y:-21.45, Z:-4.77 [[ 9.99943316e-01 -1.05565121e-02 1.38738378e-03 3.49944188e+02] [ 1.05566370e-02 9.99944274e-01 -8.27249204e-05 -2.14528797e+01] [-1.38643318e-03 9.73663382e-05 9.99999034e-01 -4.76789041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.620371743 meters 0.03787567059351774 Centerline is valid? [True, True] Translation: X:350.01, Y:-21.44, Z:-4.77 [[ 9.99971570e-01 -7.52794237e-03 4.34887959e-04 3.50005282e+02] [ 7.52795436e-03 9.99971664e-01 -2.59341297e-05 -2.14441715e+01] [-4.34680406e-04 2.92072091e-05 9.99999905e-01 -4.76847309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.680371743 meters 0.03643866245067682 Centerline is valid? [True, True] Translation: X:350.07, Y:-21.44, Z:-4.77 [[ 9.99984459e-01 -5.48560010e-03 9.95161224e-04 3.50067911e+02] [ 5.48566109e-03 9.99984952e-01 -5.85675208e-05 -2.14362322e+01] [-9.94824971e-04 6.40257278e-05 9.99999503e-01 -4.76845679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.740371743 meters 0.03620754050308286 Centerline is valid? [True, True] Translation: X:350.13, Y:-21.43, Z:-4.77 [[ 9.99997724e-01 -1.85531516e-03 1.05349632e-03 3.50129624e+02] [ 1.85538218e-03 9.99998277e-01 -6.26487913e-05 -2.14306717e+01] [-1.05337827e-03 6.46032871e-05 9.99999443e-01 -4.76956811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.800371743 meters 0.0344027451039868 Centerline is valid? [True, True] Translation: X:350.19, Y:-21.42, Z:-4.77 [[ 9.99997048e-01 2.04972472e-03 1.30521380e-03 3.50190674e+02] [-2.04962473e-03 9.99997896e-01 -7.79371577e-05 -2.14218217e+01] [-1.30537081e-03 7.52617291e-05 9.99999145e-01 -4.76919434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.86037174300003 meters 0.03433088654505605 Centerline is valid? [True, True] Translation: X:350.25, Y:-21.42, Z:-4.77 [[ 9.99972298e-01 7.10248147e-03 2.22663683e-03 3.50250325e+02] [-7.10220244e-03 9.99974770e-01 -1.33195960e-04 -2.14170836e+01] [-2.22752667e-03 1.17378245e-04 9.99997512e-01 -4.76959249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.920371743 meters 0.03393968697770362 Centerline is valid? [True, True] Translation: X:350.31, Y:-21.42, Z:-4.77 [[ 9.99961009e-01 8.45903360e-03 2.53481408e-03 3.50309413e+02] [-8.45867506e-03 9.99964213e-01 -1.52130697e-04 -2.14179495e+01] [-2.53601024e-03 1.30683597e-04 9.99996776e-01 -4.76996988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.980371743 meters 0.032979272579991205 Centerline is valid? [True, True] Translation: X:350.37, Y:-21.41, Z:-4.77 [[ 9.99944475e-01 9.86322017e-03 3.71005707e-03 3.50368225e+02] [-9.86246443e-03 9.99951340e-01 -2.21940423e-04 -2.14134808e+01] [-3.71206558e-03 1.85337794e-04 9.99993093e-01 -4.76964569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.040371743 meters 0.033405555443064 Centerline is valid? [True, True] Translation: X:350.43, Y:-21.41, Z:-4.77 [[ 9.99966378e-01 6.75721563e-03 4.64576984e-03 3.50427611e+02] [-6.75600069e-03 9.99977140e-01 -2.77160243e-04 -2.14138963e+01] [-4.64753647e-03 2.45764100e-04 9.99989170e-01 -4.77121499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.100371743 meters 0.036352547537365 Centerline is valid? [True, True] Translation: X:350.49, Y:-21.42, Z:-4.77 [[ 9.99992840e-01 -2.63420865e-04 3.77492516e-03 3.50486763e+02] [ 2.64270626e-04 9.99999940e-01 -2.24609659e-04 -2.14207416e+01] [-3.77486577e-03 2.25605653e-04 9.99992850e-01 -4.77457426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.160371743 meters 0.03820282051517925 Centerline is valid? [True, True] Translation: X:350.55, Y:-21.42, Z:-4.78 [[ 9.99967565e-01 -7.49401954e-03 2.95088458e-03 3.50546691e+02] [ 7.49457041e-03 9.99971900e-01 -1.75666449e-04 -2.14246239e+01] [-2.94948521e-03 1.97776363e-04 9.99995631e-01 -4.77535658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.220371743 meters 0.03951374467138069 Centerline is valid? [True, True] Translation: X:350.61, Y:-21.43, Z:-4.78 [[ 9.99914578e-01 -1.28688118e-02 2.28719250e-03 3.50607601e+02] [ 1.28691557e-02 9.99917180e-01 -1.35706978e-04 -2.14269701e+01] [-2.28525668e-03 1.65129622e-04 9.99997375e-01 -4.77710423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.280371743 meters 0.04276047499132542 Centerline is valid? [True, True] Translation: X:350.67, Y:-21.43, Z:-4.78 [[ 9.99883361e-01 -1.48423103e-02 3.60151762e-03 3.50667727e+02] [ 1.48431773e-02 9.99889811e-01 -2.14132585e-04 -2.14312643e+01] [-3.59794255e-03 2.67565574e-04 9.99993492e-01 -4.77814939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.340371743 meters 0.04229402088223638 Centerline is valid? [True, True] Translation: X:350.73, Y:-21.43, Z:-4.78 [[ 9.99859329e-01 -1.59905574e-02 5.06208098e-03 3.50729712e+02] [ 1.59922843e-02 9.99872070e-01 -3.00843032e-04 -2.14303777e+01] [-5.05662274e-03 3.81754950e-04 9.99987142e-01 -4.77788478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.400371743 meters 0.04675349186242107 Centerline is valid? [True, True] Translation: X:350.79, Y:-21.43, Z:-4.78 [[ 9.99835565e-01 -1.76369205e-02 4.21683705e-03 3.50789676e+02] [ 1.76381361e-02 9.99844404e-01 -2.51240975e-04 -2.14333264e+01] [-4.21174981e-03 3.25576807e-04 9.99991078e-01 -4.77961101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.460371743 meters 0.04568966228390603 Centerline is valid? [True, True] Translation: X:350.85, Y:-21.43, Z:-4.78 [[ 9.99804362e-01 -1.94231258e-02 3.73900467e-03 3.50851090e+02] [ 1.94240932e-02 9.99811310e-01 -2.22591037e-04 -2.14262407e+01] [-3.73397575e-03 2.95174265e-04 9.99992985e-01 -4.78021107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.520371743 meters 0.04379971227454322 Centerline is valid? [True, True] Translation: X:350.91, Y:-21.42, Z:-4.78 [[ 9.99774633e-01 -2.08339882e-02 4.07775913e-03 3.50913639e+02] [ 2.08351494e-02 9.99782895e-01 -2.42486778e-04 -2.14166792e+01] [-4.07182186e-03 3.27392850e-04 9.99991657e-01 -4.78053467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.580371743 meters 0.0435200386120133 Centerline is valid? [True, True] Translation: X:350.98, Y:-21.41, Z:-4.78 [[ 9.99766931e-01 -2.08265369e-02 5.68678611e-03 3.50976167e+02] [ 2.08287978e-02 9.99783000e-01 -3.38624243e-04 -2.14078056e+01] [-5.67849970e-03 4.56994238e-04 9.99983773e-01 -4.77956475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.640371743 meters 0.04231401289963076 Centerline is valid? [True, True] Translation: X:351.04, Y:-21.40, Z:-4.78 [[ 9.99775909e-01 -1.97015462e-02 7.74470092e-03 3.51038910e+02] [ 1.97057140e-02 9.99805717e-01 -4.62205519e-04 -2.13976202e+01] [-7.73409009e-03 6.14716804e-04 9.99969903e-01 -4.77837834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.700371743 meters 0.044399147584185936 Centerline is valid? [True, True] Translation: X:351.10, Y:-21.39, Z:-4.78 [[ 9.99799327e-01 -1.80283803e-02 8.73404047e-03 3.51099662e+02] [ 1.80336244e-02 9.99837245e-01 -5.22024862e-04 -2.13930914e+01] [-8.72320770e-03 6.79426511e-04 9.99961721e-01 -4.77894320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.760371743 meters 0.04355611043592745 Centerline is valid? [True, True] Translation: X:351.16, Y:-21.39, Z:-4.78 [[ 9.99839148e-01 -1.56914787e-02 8.68646714e-03 3.51160490e+02] [ 1.56965803e-02 9.99876666e-01 -5.19436909e-04 -2.13881210e+01] [-8.67724508e-03 6.55701186e-04 9.99962137e-01 -4.77955158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.820371743 meters 0.04013631715125602 Centerline is valid? [True, True] Translation: X:351.22, Y:-21.37, Z:-4.78 [[ 9.99936552e-01 -8.85287064e-03 6.96554663e-03 3.51222169e+02] [ 8.85598516e-03 9.99960698e-01 -4.16414936e-04 -2.13747747e+01] [-6.96158641e-03 4.78075293e-04 9.99975654e-01 -4.78092238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.880371743 meters 0.03401595477835495 Centerline is valid? [True, True] Translation: X:351.28, Y:-21.36, Z:-4.78 [[ 9.99982358e-01 2.48333448e-03 5.39590827e-03 3.51284034e+02] [-2.48162941e-03 9.99996869e-01 -3.22665766e-04 -2.13576329e+01] [-5.39669267e-03 3.09269429e-04 9.99985390e-01 -4.78296974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.940371743 meters 0.02997421789064863 Centerline is valid? [True, True] Translation: X:351.34, Y:-21.34, Z:-4.78 [[ 9.99878559e-01 1.48090257e-02 4.85395817e-03 3.51344871e+02] [-1.48077899e-02 9.99890316e-01 -2.90425722e-04 -2.13446061e+01] [-4.85772669e-03 2.18514060e-04 9.99988177e-01 -4.78312172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.000371743 meters 0.025992016480592923 Centerline is valid? [True, True] Translation: X:351.41, Y:-21.33, Z:-4.78 [[ 9.99619454e-01 2.69961391e-02 5.67061738e-03 3.51405020e+02] [-2.69946478e-02 9.99635520e-01 -3.39372087e-04 -2.13316915e+01] [-5.67771229e-03 1.86166621e-04 9.99983864e-01 -4.78212865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.060371743 meters 0.02300510873987855 Centerline is valid? [True, True] Translation: X:351.47, Y:-21.32, Z:-4.78 [[ 9.99389017e-01 3.42981917e-02 6.72513063e-03 3.51465626e+02] [-3.42962605e-02 9.99411629e-01 -4.02308445e-04 -2.13239552e+01] [-6.73497221e-03 1.71415810e-04 9.99977305e-01 -4.78069452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.120371743 meters 0.02297220155622562 Centerline is valid? [True, True] Translation: X:351.52, Y:-21.33, Z:-4.78 [[ 9.99323363e-01 3.59740414e-02 7.66057255e-03 3.51523127e+02] [-3.59715827e-02 9.99352708e-01 -4.58543234e-04 -2.13263086e+01] [-7.67210957e-03 1.82670048e-04 9.99970552e-01 -4.78093314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.180371743 meters 0.023133385849236424 Centerline is valid? [True, True] Translation: X:351.58, Y:-21.33, Z:-4.78 [[ 9.99386730e-01 3.44512098e-02 6.26729650e-03 3.51581676e+02] [-3.44495371e-02 9.99406368e-01 -3.74683016e-04 -2.13309690e+01] [-6.27648432e-03 1.58547771e-04 9.99980290e-01 -4.78313171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.240371743 meters 0.024490761210147403 Centerline is valid? [True, True] Translation: X:351.64, Y:-21.34, Z:-4.79 [[ 9.99531541e-01 3.01358490e-02 5.34135945e-03 3.51640089e+02] [-3.01345746e-02 9.99545800e-01 -3.18932230e-04 -2.13409354e+01] [-5.34854470e-03 1.57823228e-04 9.99985684e-01 -4.78565966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.300371743 meters 0.02578622504436841 Centerline is valid? [True, True] Translation: X:351.70, Y:-21.35, Z:-4.79 [[ 9.99645028e-01 2.61470319e-02 5.11385575e-03 3.51699432e+02] [-2.61458136e-02 9.99658093e-01 -3.04953087e-04 -2.13497442e+01] [-5.12008091e-03 1.71138918e-04 9.99986878e-01 -4.78709355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36037174300003 meters 0.026359509842787582 Centerline is valid? [True, True] Translation: X:351.76, Y:-21.36, Z:-4.79 [[ 9.99774303e-01 2.06788326e-02 4.87129771e-03 3.51758941e+02] [-2.06776638e-02 9.99786152e-01 -2.90186644e-04 -2.13580604e+01] [-4.87625671e-03 1.89394093e-04 9.99988093e-01 -4.78790779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.420371743 meters 0.0285693261395482 Centerline is valid? [True, True] Translation: X:351.82, Y:-21.37, Z:-4.79 [[ 9.99861499e-01 1.57855311e-02 5.27260852e-03 3.51818884e+02] [-1.57840953e-02 9.99875374e-01 -3.13815045e-04 -2.13699034e+01] [-5.27690515e-03 2.30548225e-04 9.99986050e-01 -4.78903689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.480371743 meters 0.04606634772771402 Centerline is valid? [True, True] Translation: X:351.87, Y:-21.41, Z:-4.79 [[ 9.99842283e-01 1.48640511e-02 9.71948561e-03 3.51874514e+02] [-1.48591248e-02 9.99889430e-01 -5.78867565e-04 -2.14060926e+01] [-9.72701524e-03 4.34353218e-04 9.99952597e-01 -4.79203391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.540371743 meters 0.03226508369978772 Centerline is valid? [True, True] Translation: X:351.94, Y:-21.39, Z:-4.79 [[ 9.99947113e-01 8.57129380e-03 5.68368812e-03 3.51935533e+02] [-8.56951192e-03 9.99963224e-01 -3.37788349e-04 -2.13902518e+01] [-5.68637438e-03 2.89064052e-04 9.99983791e-01 -4.79297730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.600371743 meters 0.03293133317728618 Centerline is valid? [True, True] Translation: X:352.00, Y:-21.40, Z:-4.79 [[ 9.99976471e-01 4.80751654e-03 4.89340191e-03 3.51995406e+02] [-4.80615009e-03 9.99988408e-01 -2.90965009e-04 -2.13974730e+01] [-4.89474401e-03 2.67439739e-04 9.99987985e-01 -4.79423740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.660371743 meters 0.03604045629187296 Centerline is valid? [True, True] Translation: X:352.05, Y:-21.41, Z:-4.80 [[ 9.99993700e-01 7.74024565e-04 3.46414821e-03 3.52054589e+02] [-7.73315736e-04 9.99999680e-01 -2.05953480e-04 -2.14073070e+01] [-3.46430652e-03 2.03273302e-04 9.99993979e-01 -4.79692833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.720371743 meters 0.0387583131451904 Centerline is valid? [True, True] Translation: X:352.11, Y:-21.42, Z:-4.80 [[ 9.99992293e-01 -1.42287364e-03 3.65904666e-03 3.52113913e+02] [ 1.42367836e-03 9.99998963e-01 -2.17328954e-04 -2.14155888e+01] [-3.65873364e-03 2.22536585e-04 9.99993282e-01 -4.79784843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.780371743 meters 0.04082461572766119 Centerline is valid? [True, True] Translation: X:352.17, Y:-21.42, Z:-4.80 [[ 9.99992718e-01 -2.02285629e-03 3.23605096e-03 3.52174649e+02] [ 2.02348113e-03 9.99997935e-01 -1.89824225e-04 -2.14219335e+01] [-3.23566029e-03 1.96370931e-04 9.99994746e-01 -4.79917714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.840371743 meters 0.036600876730134894 Centerline is valid? [True, True] Translation: X:352.24, Y:-21.42, Z:-4.80 [[ 9.99993171e-01 -9.80622956e-04 3.56331113e-03 3.52237596e+02] [ 9.81383448e-04 9.99999496e-01 -2.11680668e-04 -2.14176977e+01] [-3.56310176e-03 2.15176197e-04 9.99993629e-01 -4.79794766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.900371743 meters 0.03467798224294182 Centerline is valid? [True, True] Translation: X:352.30, Y:-21.42, Z:-4.80 [[ 9.99987481e-01 1.14993572e-03 4.86978794e-03 3.52299585e+02] [-1.14853624e-03 9.99999298e-01 -2.90166889e-04 -2.14155035e+01] [-4.87011820e-03 2.84570128e-04 9.99988100e-01 -4.79791641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.960371743 meters 0.03589073940002069 Centerline is valid? [True, True] Translation: X:352.36, Y:-21.42, Z:-4.80 [[ 9.99977738e-01 4.08519738e-03 5.27584052e-03 3.52358866e+02] [-4.08359419e-03 9.99991613e-01 -3.14610707e-04 -2.14190496e+01] [-5.27708152e-03 2.93059311e-04 9.99986033e-01 -4.79902727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.020371743 meters 0.03389929382903661 Centerline is valid? [True, True] Translation: X:352.42, Y:-21.42, Z:-4.80 [[ 9.99958903e-01 6.34597455e-03 6.47465608e-03 3.52418731e+02] [-6.34359814e-03 9.99979804e-01 -3.87502700e-04 -2.14191692e+01] [-6.47698440e-03 3.46414159e-04 9.99978964e-01 -4.79958814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.080371743 meters 0.03456435839817196 Centerline is valid? [True, True] Translation: X:352.48, Y:-21.42, Z:-4.80 [[ 9.99951579e-01 7.22759683e-03 6.67842262e-03 3.52478081e+02] [-7.22508981e-03 9.99973819e-01 -3.99441732e-04 -2.14237072e+01] [-6.68113478e-03 3.51170188e-04 9.99977619e-01 -4.80102564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.140371743 meters 0.03511438653089572 Centerline is valid? [True, True] Translation: X:352.54, Y:-21.43, Z:-4.80 [[ 9.99966450e-01 5.92213931e-03 5.65929534e-03 3.52537095e+02] [-5.92031808e-03 9.99982417e-01 -3.38510450e-04 -2.14286677e+01] [-5.66120055e-03 3.04994264e-04 9.99983929e-01 -4.80405041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.200371743 meters 0.03317124804248701 Centerline is valid? [True, True] Translation: X:352.60, Y:-21.43, Z:-4.81 [[ 9.99977133e-01 5.21159729e-03 4.30969829e-03 3.52596254e+02] [-5.21053468e-03 9.99986392e-01 -2.57753479e-04 -2.14295075e+01] [-4.31098295e-03 2.35291752e-04 9.99990680e-01 -4.80566048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.260371743 meters 0.03340907794102448 Centerline is valid? [True, True] Translation: X:352.66, Y:-21.43, Z:-4.81 [[ 9.99984964e-01 4.93709864e-03 2.38675218e-03 3.52655801e+02] [-4.93677196e-03 9.99987804e-01 -1.42744431e-04 -2.14344159e+01] [-2.38742781e-03 1.30959434e-04 9.99997142e-01 -4.80795039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.320371743 meters 0.033005973764183766 Centerline is valid? [True, True] Translation: X:352.71, Y:-21.44, Z:-4.81 [[ 9.99994850e-01 3.08228689e-03 8.93618592e-04 3.52714685e+02] [-3.08223988e-03 9.99995248e-01 -5.39816240e-05 -2.14396775e+01] [-8.93780733e-04 5.12269992e-05 9.99999599e-01 -4.81116267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.380371743 meters 0.03263338207313573 Centerline is valid? [True, True] Translation: X:352.77, Y:-21.44, Z:-4.81 [[ 9.99993645e-01 3.56236066e-03 1.42673120e-04 3.52774393e+02] [-3.56235941e-03 9.99993655e-01 -9.00938387e-06 -2.14445830e+01] [-1.42704310e-04 8.50107369e-06 9.99999990e-01 -4.81355522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.440371743 meters 0.038173978407400465 Centerline is valid? [True, True] Translation: X:352.83, Y:-21.46, Z:-4.81 [[ 9.99997000e-01 1.24330497e-03 2.11055408e-03 3.52832487e+02] [-1.24304130e-03 9.99999219e-01 -1.26234236e-04 -2.14585093e+01] [-2.11070938e-03 1.23610352e-04 9.99997765e-01 -4.81340163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.500371743 meters 0.0381059974419791 Centerline is valid? [True, True] Translation: X:352.89, Y:-21.47, Z:-4.81 [[ 9.99991833e-01 -2.58487616e-03 3.10686145e-03 3.52893016e+02] [ 2.58546229e-03 9.99996641e-01 -1.84653907e-04 -2.14651320e+01] [-3.10637371e-03 1.92685073e-04 9.99995157e-01 -4.81282154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.560371743 meters 0.038248109179105365 Centerline is valid? [True, True] Translation: X:352.95, Y:-21.47, Z:-4.81 [[ 9.99966868e-01 -7.38270963e-03 3.42893093e-03 3.52953650e+02] [ 7.38345179e-03 9.99972721e-01 -2.03831964e-04 -2.14732380e+01] [-3.42733256e-03 2.29142557e-04 9.99994100e-01 -4.81412874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.620371743 meters 0.040963995294035285 Centerline is valid? [True, True] Translation: X:353.01, Y:-21.49, Z:-4.82 [[ 9.99957655e-01 -8.98159709e-03 2.00484743e-03 3.53012789e+02] [ 8.98185404e-03 9.99959655e-01 -1.19198212e-04 -2.14858604e+01] [-2.00369595e-03 1.37200412e-04 9.99997983e-01 -4.81811963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.680371743 meters 0.040549418275522935 Centerline is valid? [True, True] Translation: X:353.07, Y:-21.49, Z:-4.82 [[ 9.99963254e-01 -8.30488614e-03 2.12576745e-03 3.53074645e+02] [ 8.30517170e-03 9.99965504e-01 -1.25539477e-04 -2.14935554e+01] [-2.12465153e-03 1.43189727e-04 9.99997733e-01 -4.81860824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.740371743 meters 0.03881119042331614 Centerline is valid? [True, True] Translation: X:353.14, Y:-21.50, Z:-4.82 [[ 9.99969604e-01 -7.59899068e-03 1.74516215e-03 3.53136753e+02] [ 7.59918196e-03 9.99971121e-01 -1.03000338e-04 -2.14984706e+01] [-1.74432905e-03 1.16259012e-04 9.99998472e-01 -4.81954437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.800371743 meters 0.039722587350724224 Centerline is valid? [True, True] Translation: X:353.20, Y:-21.51, Z:-4.82 [[ 9.99976678e-01 -6.64941423e-03 1.55876849e-03 3.53198535e+02] [ 6.64956571e-03 9.99977887e-01 -9.20221075e-05 -2.15098658e+01] [-1.55812213e-03 1.02385095e-04 9.99998781e-01 -4.82213848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86037174300003 meters 0.03743753679822933 Centerline is valid? [True, True] Translation: X:353.26, Y:-21.52, Z:-4.82 [[ 9.99978342e-01 -6.31441604e-03 1.85577955e-03 3.53260829e+02] [ 6.31463074e-03 9.99980056e-01 -1.09856412e-04 -2.15154554e+01] [-1.85504886e-03 1.21572596e-04 9.99998272e-01 -4.82124987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.920371743 meters 0.037408693256707516 Centerline is valid? [True, True] Translation: X:353.32, Y:-21.53, Z:-4.82 [[ 9.99983604e-01 -5.48052686e-03 1.66017560e-03 3.53322500e+02] [ 5.48069758e-03 9.99984976e-01 -9.83000537e-05 -2.15257376e+01] [-1.65961192e-03 1.07397362e-04 9.99998617e-01 -4.82369353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.980371743 meters 0.039748085997856314 Centerline is valid? [True, True] Translation: X:353.38, Y:-21.54, Z:-4.83 [[ 9.99979411e-01 -6.37107279e-03 7.65819470e-04 3.53383160e+02] [ 6.37110920e-03 9.99979703e-01 -4.51092237e-05 -2.15400441e+01] [-7.65516533e-04 4.99874145e-05 9.99999706e-01 -4.82662539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.040371743 meters 0.03770567020791329 Centerline is valid? [True, True] Translation: X:353.44, Y:-21.55, Z:-4.83 [[ 9.99964388e-01 -8.43844457e-03 1.22201307e-04 3.53443513e+02] [ 8.43844550e-03 9.99964396e-01 -7.06480857e-06 -2.15464216e+01] [-1.22137340e-04 8.09574606e-06 9.99999993e-01 -4.82705638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.100371743 meters 0.04180675775325912 Centerline is valid? [True, True] Translation: X:353.50, Y:-21.56, Z:-4.83 [[ 9.99940459e-01 -1.09007151e-02 5.02657941e-04 3.53502524e+02] [ 1.09007311e-02 9.99940585e-01 -2.90255405e-05 -2.15630773e+01] [-5.02311677e-04 3.45031513e-05 9.99999873e-01 -4.82830805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.160371743 meters 0.03942823976759458 Centerline is valid? [True, True] Translation: X:353.56, Y:-21.57, Z:-4.83 [[ 9.99922669e-01 -1.24198414e-02 6.35623025e-04 3.53564516e+02] [ 1.24198675e-02 9.99922870e-01 -3.71466931e-05 -2.15669439e+01] [-6.35112643e-04 4.50381743e-05 9.99999797e-01 -4.82753507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.220371743 meters 0.04000557548426712 Centerline is valid? [True, True] Translation: X:353.62, Y:-21.58, Z:-4.83 [[ 9.99897093e-01 -1.43135687e-02 -9.62148547e-04 3.53624808e+02] [ 1.43136311e-02 9.99897553e-01 5.80329292e-05 -2.15774760e+01] [ 9.61219319e-04 -7.17987966e-05 9.99999535e-01 -4.82955245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.280371743 meters 0.039776811879099684 Centerline is valid? [True, True] Translation: X:353.69, Y:-21.58, Z:-4.83 [[ 9.99907052e-01 -1.35938004e-02 -1.04711181e-03 3.53686626e+02] [ 1.35938748e-02 9.99907597e-01 6.39760900e-05 -2.15834133e+01] [ 1.04614537e-03 -7.82044504e-05 9.99999450e-01 -4.82983963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.340371743 meters 0.03887290908379219 Centerline is valid? [True, True] Translation: X:353.75, Y:-21.59, Z:-4.83 [[ 9.99925810e-01 -1.21775407e-02 -2.87807501e-04 3.53747794e+02] [ 1.21775463e-02 9.99925851e-01 1.78297424e-05 -2.15882349e+01] [ 2.87569038e-04 -2.13332087e-05 9.99999958e-01 -4.82977701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.400371743 meters 0.04162427562678745 Centerline is valid? [True, True] Translation: X:353.81, Y:-21.60, Z:-4.83 [[ 9.99921842e-01 -1.24956594e-02 -4.10850015e-04 3.53808729e+02] [ 1.24956709e-02 9.99921926e-01 2.54975629e-05 -2.15996513e+01] [ 4.10499329e-04 -3.06294167e-05 9.99999915e-01 -4.83189218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.460371743 meters 0.041828544994148925 Centerline is valid? [True, True] Translation: X:353.87, Y:-21.61, Z:-4.83 [[ 9.99880026e-01 -1.54749770e-02 -6.77329592e-04 3.53869419e+02] [ 1.54750083e-02 9.99880254e-01 4.10426348e-05 -2.16074013e+01] [ 6.76613350e-04 -5.15193917e-05 9.99999770e-01 -4.83324045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.520371743 meters 0.04332372005940271 Centerline is valid? [True, True] Translation: X:353.93, Y:-21.62, Z:-4.83 [[ 9.99802563e-01 -1.98044610e-02 -1.61811083e-03 3.53929914e+02] [ 1.98046452e-02 9.99803864e-01 9.78766374e-05 -2.16165441e+01] [ 1.61585507e-03 -1.29903424e-04 9.99998686e-01 -4.83407347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.580371743 meters 0.045941996207492584 Centerline is valid? [True, True] Translation: X:353.99, Y:-21.63, Z:-4.84 [[ 9.99763472e-01 -2.16978103e-02 -1.48517637e-03 3.53989278e+02] [ 2.16979670e-02 9.99764567e-01 8.94961477e-05 -2.16269510e+01] [ 1.48288484e-03 -1.21700287e-04 9.99998893e-01 -4.83613192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.640371743 meters 0.04933057623948548 Centerline is valid? [True, True] Translation: X:354.05, Y:-21.64, Z:-4.84 [[ 9.99747307e-01 -2.22943893e-02 -2.87784121e-03 3.54049683e+02] [ 2.22949828e-02 9.99751421e-01 1.74305151e-04 -2.16379747e+01] [ 2.87323981e-03 -2.38422525e-04 9.99995844e-01 -4.83800970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.700371743 meters 0.04533836059478917 Centerline is valid? [True, True] Translation: X:354.11, Y:-21.64, Z:-4.84 [[ 9.99757716e-01 -2.18055417e-02 -3.00450085e-03 3.54112096e+02] [ 2.18061878e-02 9.99762200e-01 1.82426081e-04 -2.16362801e+01] [ 2.99980848e-03 -2.47898591e-04 9.99995470e-01 -4.83700756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.760371743 meters 0.042833924340264194 Centerline is valid? [True, True] Translation: X:354.17, Y:-21.64, Z:-4.84 [[ 9.99789571e-01 -2.03693108e-02 -2.42997639e-03 3.54173410e+02] [ 2.03697287e-02 9.99792505e-01 1.47338911e-04 -2.16363909e+01] [ 2.42647099e-03 -1.96805866e-04 9.99997037e-01 -4.83695736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.820371743 meters 0.04222464719960416 Centerline is valid? [True, True] Translation: X:354.23, Y:-21.64, Z:-4.84 [[ 9.99877141e-01 -1.55930809e-02 -1.59960349e-03 3.54233311e+02] [ 1.55932554e-02 9.99878413e-01 9.66297736e-05 -2.16395119e+01] [ 1.59790224e-03 -1.21560927e-04 9.99998716e-01 -4.83770776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.880371743 meters 0.041619720278824386 Centerline is valid? [True, True] Translation: X:354.29, Y:-21.64, Z:-4.84 [[ 9.99962211e-01 -8.65094575e-03 -8.58383813e-04 3.54293335e+02] [ 8.65099349e-03 9.99962578e-01 5.19222985e-05 -2.16410570e+01] [ 8.57902514e-04 -5.93462092e-05 9.99999630e-01 -4.83814864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.940371743 meters 0.039926635643173995 Centerline is valid? [True, True] Translation: X:354.35, Y:-21.64, Z:-4.84 [[ 9.99998066e-01 -1.86740675e-03 -6.16287611e-04 3.54352815e+02] [ 1.86742988e-03 9.99998256e-01 3.69594396e-05 -2.16426592e+01] [ 6.16217517e-04 -3.81102420e-05 9.99999809e-01 -4.83979979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.000371743 meters 0.03405827473692879 Centerline is valid? [True, True] Translation: X:354.41, Y:-21.64, Z:-4.84 [[ 9.99993518e-01 3.59937376e-03 8.85210018e-05 3.54413512e+02] [-3.59937330e-03 9.99993522e-01 -5.35336257e-06 -2.16370803e+01] [-8.85396974e-05 5.03470775e-06 9.99999996e-01 -4.83782595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.060371743 meters 0.032965409009510394 Centerline is valid? [True, True] Translation: X:354.47, Y:-21.64, Z:-4.84 [[ 9.99977948e-01 6.58191686e-03 -8.83834310e-04 3.54473205e+02] [-6.58187272e-03 9.99978338e-01 5.28445982e-05 -2.16396849e+01] [ 8.84162982e-04 -4.70261479e-05 9.99999608e-01 -4.83943922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.120371743 meters 0.03328329218391536 Centerline is valid? [True, True] Translation: X:354.53, Y:-21.65, Z:-4.84 [[ 9.99969091e-01 7.07860399e-03 -3.42199975e-03 3.54531762e+02] [-7.07794269e-03 9.99974930e-01 2.05320619e-04 -2.16467833e+01] [ 3.42336734e-03 -1.81093555e-04 9.99994124e-01 -4.84448704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.180371743 meters 0.03477320293865896 Centerline is valid? [True, True] Translation: X:354.59, Y:-21.66, Z:-4.85 [[ 9.99986140e-01 3.41280029e-03 -4.00915824e-03 3.54590985e+02] [-3.41185976e-03 9.99994150e-01 2.41410581e-04 -2.16557007e+01] [ 4.00995867e-03 -2.27728549e-04 9.99991934e-01 -4.84636465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.240371743 meters 0.03501480721102007 Centerline is valid? [True, True] Translation: X:354.65, Y:-21.66, Z:-4.84 [[ 9.99992801e-01 -2.97881561e-03 -2.35053904e-03 3.54651421e+02] [ 2.97915686e-03 9.99995552e-01 1.41692410e-04 -2.16627926e+01] [ 2.35010651e-03 -1.48694015e-04 9.99997227e-01 -4.84443756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.300371743 meters 0.04021421549313852 Centerline is valid? [True, True] Translation: X:354.71, Y:-21.68, Z:-4.85 [[ 9.99937150e-01 -1.11346172e-02 -1.31018798e-03 3.54710551e+02] [ 1.11347299e-02 9.99938004e-01 7.87294179e-05 -2.16777200e+01] [ 1.30923013e-03 -9.33130590e-05 9.99999139e-01 -4.84505161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36037174300003 meters 0.04233295077951537 Centerline is valid? [True, True] Translation: X:354.77, Y:-21.69, Z:-4.84 [[ 9.99797672e-01 -2.01125684e-02 -3.17042538e-04 3.54770084e+02] [ 2.01125754e-02 9.99797722e-01 1.89090445e-05 -2.16868202e+01] [ 3.16598097e-04 -2.52817606e-05 9.99999950e-01 -4.84455925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.420371743 meters 0.044837846885921226 Centerline is valid? [True, True] Translation: X:354.83, Y:-21.70, Z:-4.85 [[ 9.99676438e-01 -2.54248262e-02 -7.73280983e-04 3.54830177e+02] [ 2.54248698e-02 9.99676735e-01 4.65523296e-05 -2.16958775e+01] [ 7.71847423e-04 -6.61978354e-05 9.99999700e-01 -4.84625478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.480371743 meters 0.05094798872748642 Centerline is valid? [True, True] Translation: X:354.89, Y:-21.71, Z:-4.85 [[ 9.99513511e-01 -3.11447285e-02 -1.65739180e-03 3.54888818e+02] [ 3.11449372e-02 9.99514874e-01 1.00205121e-04 -2.17118194e+01] [ 1.65346689e-03 -1.51775735e-04 9.99998622e-01 -4.84926721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.540371743 meters 0.0505888805123036 Centerline is valid? [True, True] Translation: X:354.95, Y:-21.72, Z:-4.85 [[ 9.99438529e-01 -3.34314022e-02 -2.22912464e-03 3.54949635e+02] [ 3.34317849e-02 9.99440993e-01 1.34633979e-04 -2.17174964e+01] [ 2.22337754e-03 -2.09082002e-04 9.99997506e-01 -4.84958397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.600371743 meters 0.05071639599786831 Centerline is valid? [True, True] Translation: X:355.01, Y:-21.72, Z:-4.85 [[ 9.99461768e-01 -3.26504511e-02 -3.18142593e-03 3.55012045e+02] [ 3.26512305e-02 9.99466788e-01 1.93332973e-04 -2.17230771e+01] [ 3.17341714e-03 -2.97106386e-04 9.99994921e-01 -4.85125139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.660371743 meters 0.04686531622537973 Centerline is valid? [True, True] Translation: X:355.07, Y:-21.72, Z:-4.85 [[ 9.99527117e-01 -3.06758486e-02 -2.12956670e-03 3.55072742e+02] [ 3.06761916e-02 9.99529367e-01 1.28573607e-04 -2.17220134e+01] [ 2.12462035e-03 -1.93839803e-04 9.99997724e-01 -4.85047250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.720371743 meters 0.04562932650308655 Centerline is valid? [True, True] Translation: X:355.13, Y:-21.73, Z:-4.85 [[ 9.99562022e-01 -2.95218873e-02 -2.05495303e-03 3.55134050e+02] [ 2.95222055e-02 9.99564117e-01 1.24665081e-04 -2.17255808e+01] [ 2.05037696e-03 -1.85277226e-04 9.99997881e-01 -4.85099077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.780371743 meters 0.047643477729761186 Centerline is valid? [True, True] Translation: X:355.19, Y:-21.73, Z:-4.85 [[ 9.99554107e-01 -2.97294600e-02 -2.78321190e-03 3.55194622e+02] [ 2.97300450e-02 9.99557950e-01 1.69058716e-04 -2.17329910e+01] [ 2.77695555e-03 -2.51728349e-04 9.99996113e-01 -4.85278992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.840371743 meters 0.04912632136576976 Centerline is valid? [True, True] Translation: X:355.26, Y:-21.74, Z:-4.86 [[ 9.99482967e-01 -3.17098983e-02 -5.31804893e-03 3.55255113e+02] [ 3.17120578e-02 9.99496994e-01 3.22227359e-04 -2.17395666e+01] [ 5.30515613e-03 -4.90707032e-04 9.99985807e-01 -4.85515891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.900371743 meters 0.049031644597117494 Centerline is valid? [True, True] Translation: X:355.32, Y:-21.75, Z:-4.86 [[ 9.99343835e-01 -3.56675145e-02 -6.30302658e-03 3.55315978e+02] [ 3.56706264e-02 9.99363528e-01 3.81941308e-04 -2.17451713e+01] [ 6.28539199e-03 -6.06523598e-04 9.99980063e-01 -4.85611481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.960371743 meters 0.05345506141186579 Centerline is valid? [True, True] Translation: X:355.38, Y:-21.76, Z:-4.86 [[ 9.99241760e-01 -3.84898298e-02 -5.86835092e-03 3.55375488e+02] [ 3.84925755e-02 9.99258823e-01 3.55610572e-04 -2.17563023e+01] [ 5.85031404e-03 -5.81228874e-04 9.99982718e-01 -4.85670628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.020371743 meters 0.05256075807885886 Centerline is valid? [True, True] Translation: X:355.44, Y:-21.76, Z:-4.86 [[ 9.99246715e-01 -3.86160529e-02 -3.84749558e-03 3.55437736e+02] [ 3.86172383e-02 9.99254049e-01 2.34260550e-04 -2.17590682e+01] [ 3.83557931e-03 -3.82663738e-04 9.99992571e-01 -4.85555372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.080371743 meters 0.05188686891130866 Centerline is valid? [True, True] Translation: X:355.50, Y:-21.76, Z:-4.86 [[ 9.99319248e-01 -3.67920128e-02 -2.71827005e-03 3.55498583e+02] [ 3.67925967e-02 9.99322910e-01 1.65091275e-04 -2.17631533e+01] [ 2.71035549e-03 -2.64991102e-04 9.99996292e-01 -4.85520734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.140371743 meters 0.04941597854691074 Centerline is valid? [True, True] Translation: X:355.56, Y:-21.77, Z:-4.85 [[ 9.99319364e-01 -3.68425450e-02 -1.85349024e-03 3.55561199e+02] [ 3.68428195e-02 9.99321066e-01 1.14160752e-04 -2.17651386e+01] [ 1.84802587e-03 -1.82370856e-04 9.99998276e-01 -4.85468630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.200371743 meters 0.05298675533765251 Centerline is valid? [True, True] Translation: X:355.62, Y:-21.78, Z:-4.86 [[ 9.99214397e-01 -3.95561685e-02 -2.42863504e-03 3.55619576e+02] [ 3.95566422e-02 9.99217319e-01 1.47296660e-04 -2.17781597e+01] [ 2.42090770e-03 -2.43249590e-04 9.99997040e-01 -4.85744416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.260371743 meters 0.0539026937642444 Centerline is valid? [True, True] Translation: X:355.68, Y:-21.79, Z:-4.86 [[ 9.99108520e-01 -4.20377281e-02 -3.87217208e-03 3.55679521e+02] [ 4.20389522e-02 9.99115945e-01 2.35241346e-04 -2.17853654e+01] [ 3.85885985e-03 -3.97813690e-04 9.99992475e-01 -4.85984010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.320371743 meters 0.0572602898418583 Centerline is valid? [True, True] Translation: X:355.74, Y:-21.80, Z:-4.86 [[ 9.98955420e-01 -4.53213219e-02 -5.83499189e-03 3.55739929e+02] [ 4.53241599e-02 9.98972269e-01 3.54984930e-04 -2.17968818e+01] [ 5.81290670e-03 -6.19080225e-04 9.99982913e-01 -4.86371556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.380371743 meters 0.05550510776598812 Centerline is valid? [True, True] Translation: X:355.80, Y:-21.80, Z:-4.87 [[ 9.98886247e-01 -4.65516141e-02 -7.69499447e-03 3.55800420e+02] [ 4.65565893e-02 9.98915544e-01 4.68591484e-04 -2.18010190e+01] [ 7.66483590e-03 -8.26322286e-04 9.99970283e-01 -4.86547530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.440371743 meters 0.05509957648427637 Centerline is valid? [True, True] Translation: X:355.86, Y:-21.81, Z:-4.87 [[ 9.98958284e-01 -4.49498121e-02 -7.86525293e-03 3.55861323e+02] [ 4.49549619e-02 9.98988900e-01 4.79102828e-04 -2.18063943e+01] [ 7.83576479e-03 -8.32185884e-04 9.99968954e-01 -4.86623602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.500371743 meters 0.05343553422482275 Centerline is valid? [True, True] Translation: X:355.92, Y:-21.81, Z:-4.86 [[ 9.99091419e-01 -4.21947793e-02 -5.99471836e-03 3.55921757e+02] [ 4.21977195e-02 9.99109213e-01 3.64770953e-04 -2.18104129e+01] [ 5.97398692e-03 -6.17402973e-04 9.99981965e-01 -4.86473055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.560371743 meters 0.052333160221423446 Centerline is valid? [True, True] Translation: X:355.98, Y:-21.82, Z:-4.86 [[ 9.99231830e-01 -3.89630720e-02 -4.19878141e-03 3.55982514e+02] [ 3.89644874e-02 9.99240563e-01 2.55809847e-04 -2.18161339e+01] [ 4.18562556e-03 -4.19216707e-04 9.99991152e-01 -4.86461213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.620371743 meters 0.053336376876791276 Centerline is valid? [True, True] Translation: X:356.04, Y:-21.82, Z:-4.87 [[ 9.99266029e-01 -3.80978078e-02 -3.99505088e-03 3.56044084e+02] [ 3.80990854e-02 9.99273936e-01 2.44140564e-04 -2.18229274e+01] [ 3.98284900e-03 -3.96169157e-04 9.99991990e-01 -4.86585644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.680371743 meters 0.050728496435543245 Centerline is valid? [True, True] Translation: X:356.11, Y:-21.83, Z:-4.87 [[ 9.99297807e-01 -3.72081379e-02 -4.40985478e-03 3.56106348e+02] [ 3.72096882e-02 9.99307443e-01 2.70008660e-04 -2.18267480e+01] [ 4.39675418e-03 -4.33908384e-04 9.99990240e-01 -4.86646961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.740371743 meters 0.04987914654725365 Centerline is valid? [True, True] Translation: X:356.17, Y:-21.83, Z:-4.87 [[ 9.99304083e-01 -3.68508024e-02 -5.77642910e-03 3.56169303e+02] [ 3.68534615e-02 9.99320618e-01 3.54537874e-04 -2.18337238e+01] [ 5.75943969e-03 -5.67172552e-04 9.99983253e-01 -4.86817709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.800371743 meters 0.05017750760115433 Centerline is valid? [True, True] Translation: X:356.23, Y:-21.84, Z:-4.87 [[ 9.99317852e-01 -3.63357059e-02 -6.59905623e-03 3.56230737e+02] [ 3.63391634e-02 9.99339433e-01 4.04761158e-04 -2.18413399e+01] [ 6.57998982e-03 -6.44289233e-04 9.99978144e-01 -4.87010266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86037174300003 meters 0.04808161446096081 Centerline is valid? [True, True] Translation: X:356.29, Y:-21.84, Z:-4.87 [[ 9.99331979e-01 -3.56106664e-02 -8.21432941e-03 3.56293218e+02] [ 3.56160027e-02 9.99365422e-01 5.04219703e-04 -2.18443813e+01] [ 8.19116117e-03 -7.96444452e-04 9.99966135e-01 -4.87067762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.920371743 meters 0.05090312051888226 Centerline is valid? [True, True] Translation: X:356.35, Y:-21.85, Z:-4.87 [[ 9.99283920e-01 -3.69530909e-02 -8.13121794e-03 3.56353308e+02] [ 3.69583649e-02 9.99316682e-01 4.99260812e-04 -2.18540569e+01] [ 8.10721250e-03 -7.99419821e-04 9.99966816e-01 -4.87206577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.980371743 meters 0.053171122789481065 Centerline is valid? [True, True] Translation: X:356.41, Y:-21.86, Z:-4.87 [[ 9.99113808e-01 -4.14656465e-02 -7.22493947e-03 3.56413647e+02] [ 4.14699244e-02 9.99139654e-01 4.43231710e-04 -2.18637646e+01] [ 7.20034463e-03 -7.42456614e-04 9.99973802e-01 -4.87254407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.040371743 meters 0.05760772598388641 Centerline is valid? [True, True] Translation: X:356.47, Y:-21.88, Z:-4.87 [[ 9.98880193e-01 -4.67304437e-02 -7.39090722e-03 3.56473315e+02] [ 4.67350623e-02 9.98907217e-01 4.53338713e-04 -2.18766414e+01] [ 7.36164584e-03 -7.98245571e-04 9.99972584e-01 -4.87328441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.100371743 meters 0.059287856920836886 Centerline is valid? [True, True] Translation: X:356.53, Y:-21.89, Z:-4.87 [[ 9.98751818e-01 -4.93226476e-02 -7.87920571e-03 3.56533455e+02] [ 4.93279763e-02 9.98782517e-01 4.83275500e-04 -2.18855476e+01] [ 7.84577649e-03 -8.71337557e-04 9.99968842e-01 -4.87459949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.160371743 meters 0.05949788061816331 Centerline is valid? [True, True] Translation: X:356.60, Y:-21.89, Z:-4.88 [[ 9.98736857e-01 -4.95538626e-02 -8.31292470e-03 3.56595010e+02] [ 4.95598149e-02 9.98771026e-01 5.11447045e-04 -2.18914054e+01] [ 8.27736416e-03 -9.22788024e-04 9.99965316e-01 -4.87626076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.220371743 meters 0.06520767091504634 Centerline is valid? [True, True] Translation: X:356.65, Y:-21.91, Z:-4.88 [[ 9.98853239e-01 -4.72971678e-02 -7.42859596e-03 3.56654287e+02] [ 4.73018503e-02 9.98880537e-01 4.55818458e-04 -2.19051018e+01] [ 7.39872100e-03 -8.06682078e-04 9.99972304e-01 -4.87760078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.280371743 meters 0.057266691522260785 Centerline is valid? [True, True] Translation: X:356.72, Y:-21.90, Z:-4.88 [[ 9.98924933e-01 -4.56080655e-02 -8.29954990e-03 3.56716824e+02] [ 4.56138648e-02 9.98959015e-01 5.10707368e-04 -2.18987294e+01] [ 8.26761783e-03 -8.88732871e-04 9.99965428e-01 -4.87675238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.340371743 meters 0.054817129747732514 Centerline is valid? [True, True] Translation: X:356.78, Y:-21.90, Z:-4.88 [[ 9.99064324e-01 -4.26799494e-02 -6.99271891e-03 3.56777151e+02] [ 4.26839916e-02 9.99088531e-01 4.29776882e-04 -2.19022343e+01] [ 6.96800241e-03 -7.27851905e-04 9.99975458e-01 -4.87672754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.400371743 meters 0.051009848073603176 Centerline is valid? [True, True] Translation: X:356.84, Y:-21.90, Z:-4.88 [[ 9.99243030e-01 -3.81341580e-02 -7.69112436e-03 3.56838411e+02] [ 3.81389164e-02 9.99272335e-01 4.72921442e-04 -2.19007016e+01] [ 7.66749334e-03 -7.65894604e-04 9.99970311e-01 -4.87730833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.460371743 meters 0.05477656773625862 Centerline is valid? [True, True] Translation: X:356.90, Y:-21.91, Z:-4.88 [[ 9.99367817e-01 -3.47660667e-02 -7.43556138e-03 3.56897316e+02] [ 3.47704174e-02 9.99395222e-01 4.56607338e-04 -2.19108698e+01] [ 7.41519007e-03 -7.14856251e-04 9.99972252e-01 -4.87942088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.520371743 meters 0.04440162940184273 Centerline is valid? [True, True] Translation: X:356.96, Y:-21.90, Z:-4.88 [[ 9.99660414e-01 -2.46580307e-02 -8.42842216e-03 3.56958742e+02] [ 2.46632681e-02 9.99695681e-01 5.17998550e-04 -2.19001181e+01] [ 8.41308441e-03 -7.25695080e-04 9.99964346e-01 -4.87897472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.580371743 meters 0.04392175969610714 Centerline is valid? [True, True] Translation: X:357.02, Y:-21.90, Z:-4.88 [[ 9.99777775e-01 -1.84779133e-02 -1.01472685e-02 3.57018394e+02] [ 1.84851871e-02 9.99828940e-01 6.23494453e-04 -2.19020571e+01] [ 1.01340118e-02 -8.10930054e-04 9.99948321e-01 -4.88113474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.640371743 meters 0.04876863065387419 Centerline is valid? [True, True] Translation: X:357.08, Y:-21.91, Z:-4.89 [[ 9.99884489e-01 -1.05164072e-02 -1.09733444e-02 3.57076920e+02] [ 1.05244324e-02 9.99944390e-01 6.73846767e-04 -2.19137901e+01] [ 1.09656477e-02 -7.89257151e-04 9.99939564e-01 -4.88776287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.700371743 meters 0.03939148237576568 Centerline is valid? [True, True] Translation: X:357.14, Y:-21.90, Z:-4.88 [[ 9.99947497e-01 -3.98996610e-03 -9.43836426e-03 3.57137944e+02] [ 3.99561467e-03 9.99991849e-01 5.79688687e-04 -2.19032155e+01] [ 9.43597440e-03 -6.17370318e-04 9.99955290e-01 -4.88302843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.760371743 meters 0.04068398871570414 Centerline is valid? [True, True] Translation: X:357.20, Y:-21.91, Z:-4.88 [[ 9.99967977e-01 -1.51293793e-04 -8.00143644e-03 3.57197229e+02] [ 1.55227675e-04 9.99999867e-01 4.91028259e-04 -2.19112934e+01] [ 8.00136109e-03 -4.92254579e-04 9.99967867e-01 -4.88380714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.820371743 meters 0.03889106013078156 Centerline is valid? [True, True] Translation: X:357.26, Y:-21.91, Z:-4.88 [[ 9.99978411e-01 -1.49549299e-04 -6.56926990e-03 3.57256247e+02] [ 1.52192901e-04 9.99999908e-01 4.01921384e-04 -2.19141652e+01] [ 6.56920919e-03 -4.02912503e-04 9.99978341e-01 -4.88295878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.880371743 meters 0.04136496420753242 Centerline is valid? [True, True] Translation: X:357.31, Y:-21.92, Z:-4.88 [[ 9.99978883e-01 -2.08067260e-03 -6.15663721e-03 3.57314204e+02] [ 2.08303022e-03 9.99997760e-01 3.76551292e-04 -2.19230930e+01] [ 6.15583994e-03 -3.89367802e-04 9.99980977e-01 -4.88462802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.940371743 meters 0.04082354233235584 Centerline is valid? [True, True] Translation: X:357.37, Y:-21.93, Z:-4.89 [[ 9.99927577e-01 -1.07008723e-02 -5.50748795e-03 3.57374422e+02] [ 1.07028921e-02 9.99942665e-01 3.37400003e-04 -2.19304647e+01] [ 5.50356171e-03 -3.96321617e-04 9.99984777e-01 -4.88568988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.000371743 meters 0.04293612960780968 Centerline is valid? [True, True] Translation: X:357.43, Y:-21.94, Z:-4.89 [[ 9.99832257e-01 -1.75132467e-02 -5.36133586e-03 3.57434467e+02] [ 1.75152586e-02 9.99846542e-01 3.28534274e-04 -2.19414435e+01] [ 5.35475942e-03 -4.22384349e-04 9.99985574e-01 -4.88785250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.060371743 meters 0.046367256899583265 Centerline is valid? [True, True] Translation: X:357.49, Y:-21.96, Z:-4.89 [[ 9.99616683e-01 -2.72287091e-02 -5.00841617e-03 3.57494184e+02] [ 2.72305866e-02 9.99629132e-01 3.07044583e-04 -2.19562201e+01] [ 4.99819828e-03 -4.43308998e-04 9.99987411e-01 -4.88915074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.120371743 meters 0.04996491121757642 Centerline is valid? [True, True] Translation: X:357.55, Y:-21.97, Z:-4.89 [[ 9.99430418e-01 -3.35055034e-02 -4.02750564e-03 3.57554018e+02] [ 3.35067681e-02 9.99438460e-01 2.46934834e-04 -2.19703692e+01] [ 4.01697036e-03 -3.81742882e-04 9.99991859e-01 -4.89020632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.180371743 meters 0.05271554047757465 Centerline is valid? [True, True] Translation: X:357.61, Y:-21.98, Z:-4.89 [[ 9.99333751e-01 -3.64348962e-02 -2.13371587e-03 3.57614212e+02] [ 3.64352579e-02 9.99336007e-01 1.30847317e-04 -2.19839267e+01] [ 2.12753169e-03 -2.08502628e-04 9.99997715e-01 -4.89053923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.240371743 meters 0.052800084566673344 Centerline is valid? [True, True] Translation: X:357.68, Y:-21.99, Z:-4.89 [[ 9.99314810e-01 -3.69810274e-02 -1.52133902e-03 3.57676141e+02] [ 3.69812135e-02 9.99315957e-01 9.43793170e-05 -2.19936061e+01] [ 1.51680812e-03 -1.50575612e-04 9.99998838e-01 -4.89042346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.300371743 meters 0.0520016271670942 Centerline is valid? [True, True] Translation: X:357.74, Y:-22.00, Z:-4.89 [[ 9.99458124e-01 -3.29034936e-02 -9.05138228e-04 3.57736662e+02] [ 3.29035575e-02 9.99458530e-01 5.57908639e-05 -2.20019231e+01] [ 9.02812408e-04 -8.55428998e-05 9.99999589e-01 -4.89267550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36037174300003 meters 0.04939170525007273 Centerline is valid? [True, True] Translation: X:357.80, Y:-22.00, Z:-4.89 [[ 9.99553588e-01 -2.98571595e-02 -1.08383864e-03 3.57797624e+02] [ 2.98572491e-02 9.99554171e-01 6.65702996e-05 -2.20035080e+01] [ 1.08136783e-03 -9.89010220e-05 9.99999410e-01 -4.89333861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.420371743 meters 0.045324013145463735 Centerline is valid? [True, True] Translation: X:357.86, Y:-22.00, Z:-4.89 [[ 9.99674679e-01 -2.54948517e-02 -7.40588694e-04 3.57857870e+02] [ 2.54948923e-02 9.99674951e-01 4.54422484e-05 -2.20039545e+01] [ 7.39189423e-04 -6.43086941e-05 9.99999725e-01 -4.89422584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.480371743 meters 0.04467161520262838 Centerline is valid? [True, True] Translation: X:357.92, Y:-22.01, Z:-4.90 [[ 9.99718939e-01 -2.36872173e-02 -9.78990195e-04 3.57919288e+02] [ 2.36872883e-02 9.99719415e-01 6.09306024e-05 -2.20089792e+01] [ 9.77272228e-04 -8.41031002e-05 9.99999519e-01 -4.89555061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.540371743 meters 0.0448904709873732 Centerline is valid? [True, True] Translation: X:357.98, Y:-22.01, Z:-4.90 [[ 9.99739875e-01 -2.27883896e-02 -9.33625783e-04 3.57980907e+02] [ 2.27884541e-02 9.99740308e-01 5.84629474e-05 -2.20149339e+01] [ 9.32051051e-04 -7.97236280e-05 9.99999562e-01 -4.89689850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.600371743 meters 0.04816565576920211 Centerline is valid? [True, True] Translation: X:358.04, Y:-22.03, Z:-4.90 [[ 9.99757664e-01 -2.20001485e-02 -7.79248587e-04 3.58041969e+02] [ 2.20001933e-02 9.99757965e-01 4.90063330e-05 -2.20265714e+01] [ 7.77981835e-04 -6.61380765e-05 9.99999695e-01 -4.89972252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.660371743 meters 0.04647192561015216 Centerline is valid? [True, True] Translation: X:358.10, Y:-22.03, Z:-4.90 [[ 9.99729755e-01 -2.32392225e-02 -5.95605399e-04 3.58103850e+02] [ 2.32392491e-02 9.99729931e-01 3.77453212e-05 -2.20297567e+01] [ 5.94567373e-04 -5.15765430e-05 9.99999822e-01 -4.90086495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.720371743 meters 0.04472721476571876 Centerline is valid? [True, True] Translation: X:358.17, Y:-22.03, Z:-4.90 [[ 9.99716880e-01 -2.37167966e-02 -1.91663231e-03 3.58166231e+02] [ 2.37170687e-02 9.99718704e-01 1.19361238e-04 -2.20345720e+01] [ 1.91326230e-03 -1.64784345e-04 9.99998156e-01 -4.90033839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.780371743 meters 0.04800936318680317 Centerline is valid? [True, True] Translation: X:358.23, Y:-22.05, Z:-4.90 [[ 9.99642707e-01 -2.66864393e-02 -1.51415298e-03 3.58225650e+02] [ 2.66866118e-02 9.99643845e-01 9.38705817e-05 -2.20469531e+01] [ 1.51110863e-03 -1.34244655e-04 9.99998849e-01 -4.90117399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.840371743 meters 0.04937682692601573 Centerline is valid? [True, True] Translation: X:358.29, Y:-22.06, Z:-4.90 [[ 9.99637160e-01 -2.69277402e-02 -6.67473247e-04 3.58287195e+02] [ 2.69277744e-02 9.99637381e-01 4.22795558e-05 -2.20558327e+01] [ 6.66092715e-04 -6.02377841e-05 9.99999776e-01 -4.90289295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.900371743 meters 0.04756586050287026 Centerline is valid? [True, True] Translation: X:358.35, Y:-22.06, Z:-4.90 [[ 9.99612169e-01 -2.78385588e-02 -7.24991126e-04 3.58348915e+02] [ 2.78385992e-02 9.99612430e-01 4.56393059e-05 -2.20575353e+01] [ 7.23439609e-04 -6.58043429e-05 9.99999736e-01 -4.90165901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.960371743 meters 0.04822925375619288 Centerline is valid? [True, True] Translation: X:358.41, Y:-22.06, Z:-4.90 [[ 9.99568717e-01 -2.93106406e-02 -1.80729379e-03 3.58409515e+02] [ 2.93108909e-02 9.99570337e-01 1.12136241e-04 -2.20644735e+01] [ 1.80323048e-03 -1.65061269e-04 9.99998361e-01 -4.90361240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.020371743 meters 0.046222160273098514 Centerline is valid? [True, True] Translation: X:358.47, Y:-22.07, Z:-4.90 [[ 9.99539243e-01 -3.03191384e-02 -1.43223275e-03 3.58471915e+02] [ 3.03192980e-02 9.99540260e-01 8.98226275e-05 -2.20670575e+01] [ 1.42885095e-03 -1.33205533e-04 9.99998970e-01 -4.90367949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.080371743 meters 0.04853157826026247 Centerline is valid? [True, True] Translation: X:358.53, Y:-22.08, Z:-4.90 [[ 9.99545069e-01 -3.01561506e-02 -5.10724692e-04 3.58532280e+02] [ 3.01561711e-02 9.99545199e-01 3.24609521e-05 -2.20750328e+01] [ 5.09513517e-04 -4.78476858e-05 9.99999869e-01 -4.90360448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.140371743 meters 0.0486854140384572 Centerline is valid? [True, True] Translation: X:358.59, Y:-22.08, Z:-4.90 [[ 9.99583411e-01 -2.88603354e-02 -2.91975792e-04 3.58594119e+02] [ 2.88603421e-02 9.99583453e-01 1.88982902e-05 -2.20788481e+01] [ 2.91308759e-04 -2.73169386e-05 9.99999957e-01 -4.90345681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.200371743 meters 0.049323263424864525 Centerline is valid? [True, True] Translation: X:358.66, Y:-22.08, Z:-4.90 [[ 9.99564910e-01 -2.94901768e-02 -5.65747739e-04 3.58656396e+02] [ 2.94902019e-02 9.99565069e-01 3.61915227e-05 -2.20849370e+01] [ 5.64434383e-04 -5.28597912e-05 9.99999839e-01 -4.90432042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.260371743 meters 0.05255308765156999 Centerline is valid? [True, True] Translation: X:358.72, Y:-22.10, Z:-4.91 [[ 9.99505991e-01 -3.14271853e-02 -3.25908984e-04 3.58716216e+02] [ 3.14271937e-02 9.99506044e-01 2.05162383e-05 -2.20950420e+01] [ 3.25103231e-04 -3.07485079e-05 9.99999947e-01 -4.90511861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.320371743 meters 0.0509019782753822 Centerline is valid? [True, True] Translation: X:358.78, Y:-22.10, Z:-4.90 [[ 9.99394559e-01 -3.47808798e-02 -8.97933247e-04 3.58776751e+02] [ 3.47809439e-02 9.99394958e-01 5.58500493e-05 -2.20992048e+01] [ 8.95447446e-04 -8.70472012e-05 9.99999595e-01 -4.90483487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.380371743 meters 0.05485840471942369 Centerline is valid? [True, True] Translation: X:358.84, Y:-22.11, Z:-4.91 [[ 9.99189975e-01 -4.01575895e-02 -2.60046898e-03 3.58836465e+02] [ 4.01581451e-02 9.99193323e-01 1.61786306e-04 -2.21104954e+01] [ 2.59187429e-03 -2.66085266e-04 9.99996606e-01 -4.90691270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.440371743 meters 0.05576429229235912 Centerline is valid? [True, True] Translation: X:358.90, Y:-22.12, Z:-4.91 [[ 9.99111408e-01 -4.19796268e-02 -3.75581672e-03 3.58897028e+02] [ 4.19807994e-02 9.99118390e-01 2.33885931e-04 -2.21164286e+01] [ 3.74268711e-03 -3.91350290e-04 9.99992920e-01 -4.90739878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.500371743 meters 0.05429262712192814 Centerline is valid? [True, True] Translation: X:358.96, Y:-22.12, Z:-4.91 [[ 9.98949150e-01 -4.56391767e-02 -4.20241724e-03 3.58958342e+02] [ 4.56406779e-02 9.98957887e-01 2.61962805e-04 -2.21189517e+01] [ 4.18608208e-03 -4.53488693e-04 9.99991135e-01 -4.90732074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.560371743 meters 0.057569627032822264 Centerline is valid? [True, True] Translation: X:359.02, Y:-22.13, Z:-4.91 [[ 9.98912396e-01 -4.63249048e-02 -5.29425076e-03 3.59018725e+02] [ 4.63272997e-02 9.98926260e-01 3.30555831e-04 -2.21291114e+01] [ 5.27325314e-03 -5.75464658e-04 9.99985931e-01 -4.90955960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.620371743 meters 0.06208453418438969 Centerline is valid? [True, True] Translation: X:359.08, Y:-22.14, Z:-4.91 [[ 9.98962200e-01 -4.51418289e-02 -6.06124104e-03 3.59078593e+02] [ 4.51449433e-02 9.98980376e-01 3.77923863e-04 -2.21411509e+01] [ 6.03800067e-03 -6.51166037e-04 9.99981559e-01 -4.91222941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.680371743 meters 0.063594105847106 Centerline is valid? [True, True] Translation: X:359.14, Y:-22.15, Z:-4.91 [[ 9.99031878e-01 -4.35162821e-02 -6.45297763e-03 3.59137583e+02] [ 4.35197745e-02 9.99052485e-01 4.01723791e-04 -2.21479371e+01] [ 6.42938181e-03 -6.82167004e-04 9.99979099e-01 -4.91251367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.740371743 meters 0.06504701354943179 Centerline is valid? [True, True] Translation: X:359.20, Y:-22.16, Z:-4.91 [[ 9.99013424e-01 -4.37780468e-02 -7.46070806e-03 3.59198996e+02] [ 4.37827328e-02 9.99040968e-01 4.65846214e-04 -2.21558141e+01] [ 7.43315917e-03 -7.92036809e-04 9.99972060e-01 -4.91412023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.800371743 meters 0.05550403440362245 Centerline is valid? [True, True] Translation: X:359.26, Y:-22.15, Z:-4.91 [[ 9.98927789e-01 -4.56732827e-02 -7.56467897e-03 3.59261122e+02] [ 4.56781544e-02 9.98956097e-01 4.72402930e-04 -2.21485918e+01] [ 7.53520598e-03 -8.17436989e-04 9.99971276e-01 -4.91134344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86037174300003 meters 0.057229885138153906 Centerline is valid? [True, True] Translation: X:359.32, Y:-22.16, Z:-4.91 [[ 9.98828782e-01 -4.75852454e-02 -8.75830280e-03 3.59321696e+02] [ 4.75918481e-02 9.98866716e-01 5.46886188e-04 -2.21568314e+01] [ 8.72235345e-03 -9.63069481e-04 9.99961496e-01 -4.91240850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.920371743 meters 0.053250262111806515 Centerline is valid? [True, True] Translation: X:359.38, Y:-22.15, Z:-4.91 [[ 9.98841443e-01 -4.71103593e-02 -9.81759852e-03 3.59383856e+02] [ 4.71186472e-02 9.98889111e-01 6.14466722e-04 -2.21548805e+01] [ 9.77774450e-03 -1.07634679e-03 9.99951617e-01 -4.91308161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.980371743 meters 0.05655389131133989 Centerline is valid? [True, True] Translation: X:359.44, Y:-22.16, Z:-4.91 [[ 9.98795716e-01 -4.78610138e-02 -1.07908049e-02 3.59444229e+02] [ 4.78710670e-02 9.98853295e-01 6.75137177e-04 -2.21626346e+01] [ 1.07461183e-02 -1.19089147e-03 9.99941550e-01 -4.91448875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.040371743 meters 0.057923357615741605 Centerline is valid? [True, True] Translation: X:359.51, Y:-22.17, Z:-4.91 [[ 9.98795786e-01 -4.77974170e-02 -1.10627435e-02 3.59506733e+02] [ 4.78079939e-02 9.98856303e-01 6.93461094e-04 -2.21671820e+01] [ 1.10169454e-02 -1.22151359e-03 9.99938566e-01 -4.91468625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.100371743 meters 0.05929198276027681 Centerline is valid? [True, True] Translation: X:359.57, Y:-22.17, Z:-4.92 [[ 9.98852499e-01 -4.64382066e-02 -1.17123068e-02 3.59567842e+02] [ 4.64499680e-02 9.98920348e-01 7.34022380e-04 -2.21699151e+01] [ 1.16655749e-02 -1.27721637e-03 9.99931139e-01 -4.91533660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.160371743 meters 0.05803579792949048 Centerline is valid? [True, True] Translation: X:359.63, Y:-22.17, Z:-4.92 [[ 9.98857177e-01 -4.59725288e-02 -1.30716127e-02 3.59630225e+02] [ 4.59871578e-02 9.98941694e-01 8.20619208e-04 -2.21688127e+01] [ 1.30200530e-02 -1.42080770e-03 9.99914226e-01 -4.91511519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.220371743 meters 0.06042012878568148 Centerline is valid? [True, True] Translation: X:359.69, Y:-22.17, Z:-4.91 [[ 9.98713411e-01 -4.92067072e-02 -1.22565122e-02 3.59690222e+02] [ 4.92197989e-02 9.98787675e-01 7.68617790e-04 -2.21741523e+01] [ 1.22038322e-02 -1.37089196e-03 9.99924591e-01 -4.91423358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.280371743 meters 0.05723587743250342 Centerline is valid? [True, True] Translation: X:359.75, Y:-22.17, Z:-4.91 [[ 9.98400577e-01 -5.54000377e-02 -1.12748931e-02 3.59751325e+02] [ 5.54115065e-02 9.98463352e-01 7.07117153e-04 -2.21733497e+01] [ 1.12183932e-02 -1.33074499e-03 9.99936186e-01 -4.91210473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.340371743 meters 0.062192106528786616 Centerline is valid? [True, True] Translation: X:359.81, Y:-22.18, Z:-4.91 [[ 9.98281903e-01 -5.74477853e-02 -1.15323336e-02 3.59810710e+02] [ 5.74599135e-02 9.98347553e-01 7.22833684e-04 -2.21832827e+01] [ 1.14717518e-02 -1.38423868e-03 9.99933239e-01 -4.91374095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.400371743 meters 0.0651682779322489 Centerline is valid? [True, True] Translation: X:359.87, Y:-22.19, Z:-4.91 [[ 9.98220136e-01 -5.84583746e-02 -1.17974030e-02 3.59871655e+02] [ 5.84711497e-02 9.98288824e-01 7.40584633e-04 -2.21881587e+01] [ 1.17339222e-02 -1.42907421e-03 9.99930134e-01 -4.91468987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.460371743 meters 0.06210007944092375 Centerline is valid? [True, True] Translation: X:359.93, Y:-22.19, Z:-4.91 [[ 9.98224743e-01 -5.84847880e-02 -1.12646234e-02 3.59933896e+02] [ 5.84964525e-02 9.98287365e-01 7.08529107e-04 -2.21852329e+01] [ 1.12038930e-02 -1.36621179e-03 9.99936301e-01 -4.91253811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.520371743 meters 0.06562326082826453 Centerline is valid? [True, True] Translation: X:359.99, Y:-22.19, Z:-4.91 [[ 9.97969499e-01 -6.29349742e-02 -9.80147005e-03 3.59994617e+02] [ 6.29440101e-02 9.98016870e-01 6.15854572e-04 -2.21927873e+01] [ 9.74327367e-03 -1.23154791e-03 9.99951775e-01 -4.91169182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.580371743 meters 0.06217569860968844 Centerline is valid? [True, True] Translation: X:360.06, Y:-22.19, Z:-4.91 [[ 9.97929128e-01 -6.35900717e-02 -9.68287473e-03 3.60056681e+02] [ 6.35989321e-02 9.97975353e-01 6.09594306e-04 -2.21908256e+01] [ 9.62450618e-03 -1.22415241e-03 9.99952934e-01 -4.91187944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.640371743 meters 0.0639900108553107 Centerline is valid? [True, True] Translation: X:360.12, Y:-22.20, Z:-4.91 [[ 9.97943340e-01 -6.32612422e-02 -1.03491757e-02 3.60118948e+02] [ 6.32713566e-02 9.97996147e-01 6.52507440e-04 -2.21969896e+01] [ 1.02871591e-02 -1.30597184e-03 9.99946233e-01 -4.91250198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.700371743 meters 0.06347386217737457 Centerline is valid? [True, True] Translation: X:360.18, Y:-22.20, Z:-4.91 [[ 9.97898150e-01 -6.40400244e-02 -9.90748253e-03 3.60180499e+02] [ 6.40493350e-02 9.97946538e-01 6.25002573e-04 -2.22010479e+01] [ 9.84711271e-03 -1.25825658e-03 9.99950724e-01 -4.91246942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.760371743 meters 0.05964468979240801 Centerline is valid? [True, True] Translation: X:360.24, Y:-22.20, Z:-4.91 [[ 9.98001694e-01 -6.26480297e-02 -8.23668691e-03 3.60242028e+02] [ 6.26544161e-02 9.98035147e-01 5.19370585e-04 -2.21992611e+01] [ 8.18796549e-03 -1.03439753e-03 9.99965943e-01 -4.90926472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.820371743 meters 0.0591895281109301 Centerline is valid? [True, True] Translation: X:360.30, Y:-22.20, Z:-4.91 [[ 9.98174007e-01 -6.00366557e-02 -6.65215190e-03 3.60302206e+02] [ 6.00407626e-02 9.98195838e-01 4.19223693e-04 -2.22016156e+01] [ 6.61498155e-03 -8.17858467e-04 9.99977786e-01 -4.90687781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.880371743 meters 0.061807078891122566 Centerline is valid? [True, True] Translation: X:360.36, Y:-22.21, Z:-4.91 [[ 9.98239842e-01 -5.89805433e-02 -6.20584844e-03 3.60362054e+02] [ 5.89840999e-02 9.98258846e-01 3.91489696e-04 -2.22090014e+01] [ 6.17195283e-03 -7.56846997e-04 9.99980667e-01 -4.90806717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.940371743 meters 0.05792480105834954 Centerline is valid? [True, True] Translation: X:360.42, Y:-22.21, Z:-4.91 [[ 9.98364228e-01 -5.68307215e-02 -6.25604859e-03 3.60423067e+02] [ 5.68342945e-02 9.98383547e-01 3.94683483e-04 -2.22070010e+01] [ 6.22350584e-03 -7.49595979e-04 9.99980353e-01 -4.90820807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.000371743 meters 0.058970116597715797 Centerline is valid? [True, True] Translation: X:360.48, Y:-22.21, Z:-4.91 [[ 9.98478215e-01 -5.48243048e-02 -5.96231775e-03 3.60484050e+02] [ 5.48275168e-02 9.98495769e-01 3.76478152e-04 -2.22117382e+01] [ 5.93270890e-03 -7.02804309e-04 9.99982154e-01 -4.90756467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.060371743 meters 0.05904260981836859 Centerline is valid? [True, True] Translation: X:360.54, Y:-22.22, Z:-4.91 [[ 9.98741124e-01 -5.00086674e-02 -3.91147748e-03 3.60544100e+02] [ 5.00100124e-02 9.98748686e-01 2.46747940e-04 -2.22155886e+01] [ 3.89424346e-03 -4.42050352e-04 9.99992320e-01 -4.90561301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.120371743 meters 0.05924021693343701 Centerline is valid? [True, True] Translation: X:360.60, Y:-22.22, Z:-4.91 [[ 9.98877851e-01 -4.72371055e-02 -3.41975728e-03 3.60604399e+02] [ 4.72381175e-02 9.98883634e-01 2.15728552e-04 -2.22196845e+01] [ 3.40574919e-03 -3.77029368e-04 9.99994129e-01 -4.90655695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.180371743 meters 0.052432885267556406 Centerline is valid? [True, True] Translation: X:360.67, Y:-22.21, Z:-4.91 [[ 9.99174273e-01 -4.04550340e-02 -3.76333338e-03 3.60665613e+02] [ 4.04562128e-02 9.99181284e-01 2.37611142e-04 -2.22147654e+01] [ 3.75063971e-03 -3.89665156e-04 9.99992890e-01 -4.90661009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.240371743 meters 0.05170563355092414 Centerline is valid? [True, True] Translation: X:360.73, Y:-22.22, Z:-4.91 [[ 9.99391742e-01 -3.45390451e-02 -4.81674361e-03 3.60726216e+02] [ 3.45409073e-02 9.99403239e-01 3.03941571e-04 -2.22174713e+01] [ 4.80337131e-03 -4.70131390e-04 9.99988353e-01 -4.90785142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.300371743 meters 0.052585890711716425 Centerline is valid? [True, True] Translation: X:360.79, Y:-22.23, Z:-4.91 [[ 9.99479887e-01 -3.18687035e-02 -4.93363710e-03 3.60786756e+02] [ 3.18706256e-02 9.99491954e-01 3.11448065e-04 -2.22252712e+01] [ 4.92120514e-03 -4.68524178e-04 9.99987781e-01 -4.90890891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36037174300003 meters 0.05488080198118192 Centerline is valid? [True, True] Translation: X:360.85, Y:-22.24, Z:-4.91 [[ 9.99469583e-01 -3.23718960e-02 -3.55157409e-03 3.60848467e+02] [ 3.23728993e-02 9.99475835e-01 2.25368186e-04 -2.22374425e+01] [ 3.54241689e-03 -3.40223397e-04 9.99993668e-01 -4.90912032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.420371743 meters 0.05050329336805219 Centerline is valid? [True, True] Translation: X:360.91, Y:-22.24, Z:-4.91 [[ 9.99578706e-01 -2.88028046e-02 -3.57897613e-03 3.60909490e+02] [ 2.88037984e-02 9.99585059e-01 2.26425005e-04 -2.22387691e+01] [ 3.57096939e-03 -3.29417720e-04 9.99993570e-01 -4.90944620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.480371743 meters 0.04390182316681783 Centerline is valid? [True, True] Translation: X:360.97, Y:-22.24, Z:-4.91 [[ 9.99691716e-01 -2.45374833e-02 -3.79282066e-03 3.60970811e+02] [ 2.45385683e-02 9.99698855e-01 2.39785644e-04 -2.22361495e+01] [ 3.78579473e-03 -3.32782110e-04 9.99992778e-01 -4.90854033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.540371743 meters 0.04419663951534619 Centerline is valid? [True, True] Translation: X:361.03, Y:-22.24, Z:-4.91 [[ 9.99836572e-01 -1.78025324e-02 -3.14623038e-03 3.61029466e+02] [ 1.78032447e-02 9.99841490e-01 1.98552316e-04 -2.22446084e+01] [ 3.14219693e-03 -2.54532976e-04 9.99995031e-01 -4.90850095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.600371743 meters 0.04132332496889823 Centerline is valid? [True, True] Translation: X:361.09, Y:-22.25, Z:-4.91 [[ 9.99902807e-01 -1.36159035e-02 -2.99721978e-03 3.61090002e+02] [ 1.36165320e-02 9.99907273e-01 1.89371186e-04 -2.22469795e+01] [ 2.99436339e-03 -2.30164519e-04 9.99995490e-01 -4.90897898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.660371743 meters 0.040581380099508464 Centerline is valid? [True, True] Translation: X:361.15, Y:-22.26, Z:-4.91 [[ 9.99998069e-01 -6.76039119e-04 -1.84530097e-03 3.61149637e+02] [ 6.76255379e-04 9.99999765e-01 1.16573139e-04 -2.22555808e+01] [ 1.84522173e-03 -1.17820808e-04 9.99998291e-01 -4.91201695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.720371743 meters 0.03703221370799857 Centerline is valid? [True, True] Translation: X:361.21, Y:-22.26, Z:-4.91 [[ 9.99982530e-01 5.62122585e-03 -1.82818210e-03 3.61209842e+02] [-5.62102412e-03 9.99984195e-01 1.15460737e-04 -2.22563844e+01] [ 1.82880224e-03 -1.05182464e-04 9.99998322e-01 -4.91211606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.780371743 meters 0.03599690225891219 Centerline is valid? [True, True] Translation: X:361.27, Y:-22.26, Z:-4.91 [[ 9.99918414e-01 1.27051017e-02 -1.32162611e-03 3.61268397e+02] [-1.27050033e-02 9.99919285e-01 8.27723316e-05 -2.22641547e+01] [ 1.32257106e-03 -6.59743144e-05 9.99999123e-01 -4.91301580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.840371743 meters 0.03337007177208843 Centerline is valid? [True, True] Translation: X:361.33, Y:-22.27, Z:-4.91 [[ 9.99848488e-01 1.73953052e-02 -6.35439298e-04 3.61328081e+02] [-1.73952834e-02 9.99848690e-01 3.98812697e-05 -2.22695268e+01] [ 6.36036896e-04 -2.88215806e-05 9.99999797e-01 -4.91330146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.900371743 meters 0.03187133867567203 Centerline is valid? [True, True] Translation: X:361.39, Y:-22.28, Z:-4.91 [[ 9.99754221e-01 2.21541904e-02 -8.30779384e-04 3.61387346e+02] [-2.21541549e-02 9.99754565e-01 5.18808729e-05 -2.22777949e+01] [ 8.31724860e-04 -3.34629065e-05 9.99999654e-01 -4.91416020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.960371743 meters 0.03254536061660232 Centerline is valid? [True, True] Translation: X:361.45, Y:-22.29, Z:-4.92 [[ 9.99624698e-01 2.73892234e-02 -5.41048836e-04 3.61445452e+02] [-2.73892093e-02 9.99624845e-01 3.33278214e-05 -2.22884548e+01] [ 5.41758681e-04 -1.84964136e-05 9.99999853e-01 -4.91597984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.020371743 meters 0.02967872772624271 Centerline is valid? [True, True] Translation: X:361.51, Y:-22.29, Z:-4.91 [[ 9.99351750e-01 3.60009303e-02 1.12807030e-04 3.61505663e+02] [-3.60009297e-02 9.99351756e-01 -7.15849705e-06 -2.22917866e+01] [-1.12991616e-04 3.09269862e-06 9.99999994e-01 -4.91304834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.080371743 meters 0.028328536378110763 Centerline is valid? [True, True] Translation: X:361.56, Y:-22.30, Z:-4.91 [[ 9.98995099e-01 4.48035803e-02 1.19616819e-03 3.61564140e+02] [-4.48035216e-02 9.98995815e-01 -7.58544347e-05 -2.23013444e+01] [-1.19836557e-03 2.21856610e-05 9.99999282e-01 -4.91244929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.140371743 meters 0.027707424762039915 Centerline is valid? [True, True] Translation: X:361.62, Y:-22.31, Z:-4.91 [[ 9.98604015e-01 5.27939233e-02 1.67995701e-03 3.61622125e+02] [-5.27938185e-02 9.98605428e-01 -1.06687284e-04 -2.23120480e+01] [-1.68324663e-03 1.78470044e-05 9.99998583e-01 -4.91238204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.200371743 meters 0.02621799580439014 Centerline is valid? [True, True] Translation: X:361.68, Y:-22.32, Z:-4.91 [[ 9.98130098e-01 6.11253334e-02 -2.60657778e-05 3.61680896e+02] [-6.11253334e-02 9.98130099e-01 8.76425469e-07 -2.23232189e+01] [ 2.60706089e-05 7.18492733e-07 1.00000000e+00 -4.91219148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.260371743 meters 0.025277684557734742 Centerline is valid? [True, True] Translation: X:361.74, Y:-22.33, Z:-4.91 [[ 9.97600910e-01 6.92268829e-02 -2.51230209e-04 3.61739268e+02] [-6.92268813e-02 9.97600942e-01 1.47368372e-05 -2.23346966e+01] [ 2.51647678e-04 2.69040168e-06 9.99999968e-01 -4.91133848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.320371743 meters 0.025384352013420687 Centerline is valid? [True, True] Translation: X:361.80, Y:-22.34, Z:-4.91 [[ 9.97451591e-01 7.13455436e-02 3.69168769e-04 3.61796658e+02] [-7.13455394e-02 9.97451660e-01 -2.44159582e-05 -2.23409874e+01] [-3.69969971e-04 -1.98480858e-06 9.99999932e-01 -4.91208634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.380371743 meters 0.02399713924917536 Centerline is valid? [True, True] Translation: X:361.85, Y:-22.36, Z:-4.91 [[ 9.97312742e-01 7.32287966e-02 2.19955198e-03 3.61852816e+02] [-7.32286659e-02 9.97315167e-01 -1.40009766e-04 -2.23553782e+01] [-2.20389930e-03 -2.14367330e-05 9.99997571e-01 -4.91012759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.440371743 meters 0.0220844677433071 Centerline is valid? [True, True] Translation: X:361.91, Y:-22.38, Z:-4.91 [[ 9.97544518e-01 6.99380389e-02 3.68866017e-03 3.61911100e+02] [-6.99376595e-02 9.97551337e-01 -2.31902555e-04 -2.23753179e+01] [-3.69584670e-03 -2.66431370e-05 9.99993170e-01 -4.90744337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.500371743 meters 0.020147495776035397 Centerline is valid? [True, True] Translation: X:361.97, Y:-22.40, Z:-4.91 [[ 9.98084010e-01 6.18005925e-02 2.99915777e-03 3.61967982e+02] [-6.18003063e-02 9.98088517e-01 -1.88079543e-04 -2.23961684e+01] [-3.00504836e-03 2.37031540e-06 9.99995485e-01 -4.90774801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.560371743 meters 0.019614674165415687 Centerline is valid? [True, True] Translation: X:362.03, Y:-22.42, Z:-4.91 [[ 9.98542175e-01 5.38199005e-02 4.11609377e-03 3.62026136e+02] [-5.38192979e-02 9.98550658e-01 -2.57127188e-04 -2.24156958e+01] [-4.12396670e-03 3.52270652e-05 9.99991496e-01 -4.90603988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.620371743 meters 0.01873424633396504 Centerline is valid? [True, True] Translation: X:362.08, Y:-22.43, Z:-4.91 [[ 9.98766405e-01 4.94140288e-02 4.89096409e-03 3.62083830e+02] [-4.94131269e-02 9.98778379e-01 -3.05157624e-04 -2.24285194e+01] [-4.90006825e-03 6.31033539e-05 9.99987993e-01 -4.90531928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.680371743 meters 0.018355919989405365 Centerline is valid? [True, True] Translation: X:362.14, Y:-22.44, Z:-4.90 [[ 9.99027528e-01 4.38927942e-02 4.17385142e-03 3.62142926e+02] [-4.38920921e-02 9.99036244e-01 -2.59717317e-04 -2.24427908e+01] [-4.18122856e-03 7.62656782e-05 9.99991256e-01 -4.90478061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.740371743 meters 0.018637223056759262 Centerline is valid? [True, True] Translation: X:362.20, Y:-22.46, Z:-4.91 [[ 9.99172833e-01 4.04905434e-02 3.76375152e-03 3.62201694e+02] [-4.04899487e-02 9.99179918e-01 -2.34104086e-04 -2.24562605e+01] [-3.77014393e-03 8.15163374e-05 9.99992890e-01 -4.90561065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.800371743 meters 0.01874956818846538 Centerline is valid? [True, True] Translation: X:362.26, Y:-22.47, Z:-4.90 [[ 9.99240307e-01 3.85463498e-02 5.74347793e-03 3.62259589e+02] [-3.85449353e-02 9.99256804e-01 -3.56816134e-04 -2.24653559e+01] [-5.75296336e-03 1.35163078e-04 9.99983442e-01 -4.90427824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86037174300003 meters 0.018702523308967836 Centerline is valid? [True, True] Translation: X:362.32, Y:-22.47, Z:-4.90 [[ 9.99318398e-01 3.62681715e-02 6.88175910e-03 3.62319133e+02] [-3.62660898e-02 9.99342078e-01 -4.27079163e-04 -2.24714533e+01] [-6.89272082e-03 1.77213571e-04 9.99976229e-01 -4.90373356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.920371743 meters 0.01894873798096093 Centerline is valid? [True, True] Translation: X:362.38, Y:-22.48, Z:-4.90 [[ 9.99430705e-01 3.28393860e-02 7.73565837e-03 3.62379616e+02] [-3.28366575e-02 9.99460617e-01 -4.79489221e-04 -2.24786092e+01] [-7.74723201e-03 2.25203086e-04 9.99969964e-01 -4.90344449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.980371743 meters 0.02030307833970622 Centerline is valid? [True, True] Translation: X:362.44, Y:-22.48, Z:-4.90 [[ 9.99524246e-01 2.98941930e-02 7.59077640e-03 3.62439315e+02] [-2.98914801e-02 9.99553039e-01 -4.70625981e-04 -2.24835441e+01] [-7.60145261e-03 2.43502537e-04 9.99971079e-01 -4.90462058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.040371743 meters 0.023497974548652174 Centerline is valid? [True, True] Translation: X:362.50, Y:-22.49, Z:-4.91 [[ 9.99633481e-01 2.61044807e-02 7.17351576e-03 3.62498856e+02] [-2.61019665e-02 9.99659187e-01 -4.43908074e-04 -2.24903625e+01] [-7.18265892e-03 2.56502506e-04 9.99974171e-01 -4.90671554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.100371743 meters 0.023963493985625167 Centerline is valid? [True, True] Translation: X:362.56, Y:-22.49, Z:-4.91 [[ 9.99793218e-01 1.93249609e-02 6.32987050e-03 3.62559374e+02] [-1.93228607e-02 9.99813219e-01 -3.92771197e-04 -2.24914909e+01] [-6.33627849e-03 2.70378773e-04 9.99979889e-01 -4.90799589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.160371743 meters 0.02678485077014326 Centerline is valid? [True, True] Translation: X:362.62, Y:-22.50, Z:-4.91 [[ 9.99899038e-01 1.30273236e-02 5.67479730e-03 3.62619203e+02] [-1.30255349e-02 9.99915102e-01 -3.52055645e-04 -2.24972251e+01] [-5.67890186e-03 2.78102831e-04 9.99983836e-01 -4.90977304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.220371743 meters 0.028958262018686103 Centerline is valid? [True, True] Translation: X:362.68, Y:-22.50, Z:-4.91 [[ 9.99977054e-01 3.19146620e-03 5.97548373e-03 3.62679446e+02] [-3.18930699e-03 9.99994845e-01 -3.70839860e-04 -2.24995348e+01] [-5.97663646e-03 3.51773698e-04 9.99982078e-01 -4.91021493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.280371743 meters 0.0344368106835478 Centerline is valid? [True, True] Translation: X:362.74, Y:-22.50, Z:-4.91 [[ 9.99975908e-01 -5.01511660e-03 4.79907948e-03 3.62738929e+02] [ 5.01660461e-03 9.99987372e-01 -2.98074579e-04 -2.25031269e+01] [-4.79752400e-03 3.22142482e-04 9.99988440e-01 -4.91259278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.340371743 meters 0.034287244211233275 Centerline is valid? [True, True] Translation: X:362.80, Y:-22.50, Z:-4.91 [[ 9.99964463e-01 -6.75409911e-03 5.04520250e-03 3.62800627e+02] [ 6.75576283e-03 9.99977131e-01 -3.12793649e-04 -2.24963819e+01] [-5.04297448e-03 3.46866725e-04 9.99987224e-01 -4.91239017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.400371743 meters 0.033110512345758125 Centerline is valid? [True, True] Translation: X:362.86, Y:-22.48, Z:-4.91 [[ 9.99973942e-01 -2.90969253e-03 6.60669850e-03 3.62861996e+02] [ 2.91246613e-03 9.99995675e-01 -4.10233990e-04 -2.24842867e+01] [-6.60547627e-03 4.29465086e-04 9.99978091e-01 -4.91174231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.460371743 meters 0.032974411574361956 Centerline is valid? [True, True] Translation: X:362.92, Y:-22.47, Z:-4.91 [[ 9.99980273e-01 2.23048105e-03 5.87189104e-03 3.62923494e+02] [-2.22837795e-03 9.99997451e-01 -3.64682988e-04 -2.24735151e+01] [-5.87268949e-03 3.51591001e-04 9.99982694e-01 -4.91408122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.520371743 meters 0.0343274023661848 Centerline is valid? [True, True] Translation: X:362.98, Y:-22.47, Z:-4.92 [[ 9.99979123e-01 4.57556151e-03 4.56256734e-03 3.62984244e+02] [-4.57431685e-03 9.99989498e-01 -2.83196353e-04 -2.24656791e+01] [-4.56381521e-03 2.62319812e-04 9.99989551e-01 -4.91729164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.580371743 meters 0.033935731674188334 Centerline is valid? [True, True] Translation: X:363.05, Y:-22.46, Z:-4.92 [[ 9.99976817e-01 5.10388472e-03 4.50734417e-03 3.63046144e+02] [-5.10267578e-03 9.99986942e-01 -2.79674707e-04 -2.24594842e+01] [-4.50871274e-03 2.56668707e-04 9.99989803e-01 -4.91819623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.640371743 meters 0.03387219511321474 Centerline is valid? [True, True] Translation: X:363.11, Y:-22.45, Z:-4.92 [[ 9.99954165e-01 8.55188669e-03 4.30508727e-03 3.63107906e+02] [-8.55081433e-03 9.99963405e-01 -2.67435166e-04 -2.24496052e+01] [-4.30721681e-03 2.30610906e-04 9.99990697e-01 -4.91901165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.700371743 meters 0.03218082553406167 Centerline is valid? [True, True] Translation: X:363.17, Y:-22.44, Z:-4.92 [[ 9.99855236e-01 1.66792646e-02 3.36302929e-03 3.63169189e+02] [-1.66786553e-02 9.99860880e-01 -2.09148244e-04 -2.24378386e+01] [-3.36604986e-03 1.53027160e-04 9.99994323e-01 -4.92122136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.760371743 meters 0.030592518680875293 Centerline is valid? [True, True] Translation: X:363.23, Y:-22.43, Z:-4.92 [[ 9.99620571e-01 2.75184754e-02 1.20340176e-03 3.63229036e+02] [-2.75184048e-02 9.99621294e-01 -7.52130812e-05 -2.24280739e+01] [-1.20501578e-03 4.20688463e-05 9.99999273e-01 -4.92391055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.820371743 meters 0.028045882538543395 Centerline is valid? [True, True] Translation: X:363.29, Y:-22.42, Z:-4.92 [[ 9.99076336e-01 4.29661858e-02 6.17257965e-04 3.63289694e+02] [-4.29661700e-02 9.99076527e-01 -3.87661914e-05 -2.24168439e+01] [-6.18353579e-04 1.22091739e-05 9.99999809e-01 -4.92452783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.880371743 meters 0.026639780050345473 Centerline is valid? [True, True] Translation: X:363.35, Y:-22.41, Z:-4.92 [[ 9.98312259e-01 5.80384469e-02 2.04254202e-03 3.63350310e+02] [-5.80383084e-02 9.98314349e-01 -1.27088081e-04 -2.24094694e+01] [-2.04647500e-03 8.32790514e-06 9.99997906e-01 -4.92363956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.940371743 meters 0.02635261384675587 Centerline is valid? [True, True] Translation: X:363.41, Y:-22.41, Z:-4.92 [[ 9.97699072e-01 6.77408076e-02 2.78294316e-03 3.63408767e+02] [-6.77405856e-02 9.97702953e-01 -1.74046382e-04 -2.24086618e+01] [-2.78834065e-03 -1.48722855e-05 9.99996112e-01 -4.92236476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.000371743 meters 0.026247508185264022 Centerline is valid? [True, True] Translation: X:363.47, Y:-22.42, Z:-4.92 [[ 9.97366572e-01 7.25034233e-02 1.78164223e-03 3.63467367e+02] [-7.25033401e-02 9.97368163e-01 -1.11348576e-04 -2.24156597e+01] [-1.78502639e-03 -1.81196652e-05 9.99998407e-01 -4.92451908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.060371743 meters 0.02600163499231425 Centerline is valid? [True, True] Translation: X:363.53, Y:-22.42, Z:-4.93 [[ 9.97206354e-01 7.46696078e-02 1.98411785e-03 3.63525243e+02] [-7.46695090e-02 9.97208328e-01 -1.23942810e-04 -2.24241251e+01] [-1.98783360e-03 -2.45565481e-05 9.99998024e-01 -4.92549037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.120371743 meters 0.025059594979006124 Centerline is valid? [True, True] Translation: X:363.58, Y:-22.44, Z:-4.92 [[ 9.96936422e-01 7.81293573e-02 3.68439562e-03 3.63583492e+02] [-7.81290461e-02 9.96943228e-01 -2.28528762e-04 -2.24412023e+01] [-3.69098807e-03 -6.00296697e-05 9.99993186e-01 -4.92301169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.180371743 meters 0.023867795094246125 Centerline is valid? [True, True] Translation: X:363.64, Y:-22.46, Z:-4.92 [[ 9.96875680e-01 7.87798489e-02 5.71081162e-03 3.63641527e+02] [-7.87791174e-02 9.96892033e-01 -3.53276118e-04 -2.24592519e+01] [-5.72089365e-03 -9.77203289e-05 9.99983631e-01 -4.92126860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.240371743 meters 0.023646509755565218 Centerline is valid? [True, True] Translation: X:363.70, Y:-22.47, Z:-4.92 [[ 9.96887447e-01 7.85693019e-02 6.50245805e-03 3.63698386e+02] [-7.85683476e-02 9.96908648e-01 -4.02469469e-04 -2.24672344e+01] [-6.51397841e-03 -1.09670622e-04 9.99978778e-01 -4.92164314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.300371743 meters 0.02179598720463836 Centerline is valid? [True, True] Translation: X:363.76, Y:-22.49, Z:-4.92 [[ 9.96949677e-01 7.76817417e-02 7.54248928e-03 3.63756542e+02] [-7.76804518e-02 9.96978200e-01 -4.64262376e-04 -2.24864317e+01] [-7.55576210e-03 -1.23057750e-04 9.99971447e-01 -4.92121055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.36037174300003 meters 0.020029079247718296 Centerline is valid? [True, True] Translation: X:363.81, Y:-22.51, Z:-4.92 [[ 9.97237558e-01 7.39250753e-02 7.23438414e-03 3.63814100e+02] [-7.39237932e-02 9.97263794e-01 -4.44821987e-04 -2.25075764e+01] [-7.24747288e-03 -9.11999253e-05 9.99973733e-01 -4.92212128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.420371743 meters 0.018547520825878783 Centerline is valid? [True, True] Translation: X:363.87, Y:-22.53, Z:-4.92 [[ 9.97500570e-01 7.02379025e-02 7.69736703e-03 3.63871304e+02] [-7.02363462e-02 9.97530266e-01 -4.72661744e-04 -2.25279149e+01] [-7.71155535e-03 -6.91545758e-05 9.99970263e-01 -4.92311440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.480371743 meters 0.017097481234872952 Centerline is valid? [True, True] Translation: X:363.93, Y:-22.55, Z:-4.92 [[ 9.97675525e-01 6.76521774e-02 8.16880352e-03 3.63929180e+02] [-6.76503431e-02 9.97708966e-01 -5.00971146e-04 -2.25469691e+01] [-8.18398030e-03 -5.28157093e-05 9.99966509e-01 -4.92239209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.540371743 meters 0.016612284859888284 Centerline is valid? [True, True] Translation: X:363.99, Y:-22.56, Z:-4.92 [[ 9.97717175e-01 6.69472213e-02 8.86047791e-03 3.63986549e+02] [-6.69450411e-02 9.97756517e-01 -5.42754753e-04 -2.25581424e+01] [-8.87693550e-03 -5.16493185e-05 9.99960598e-01 -4.92333251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.600371743 meters 0.015744614240494382 Centerline is valid? [True, True] Translation: X:364.04, Y:-22.57, Z:-4.92 [[ 9.97720763e-01 6.68434926e-02 9.23185262e-03 3.64044138e+02] [-6.68411301e-02 9.97763471e-01 -5.64558131e-04 -2.25721059e+01] [-9.24894236e-03 -5.37960937e-05 9.99957226e-01 -4.92418968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.660371743 meters 0.015691532639777555 Centerline is valid? [True, True] Translation: X:364.10, Y:-22.58, Z:-4.93 [[ 9.97674922e-01 6.74011350e-02 1.00914445e-02 3.64101298e+02] [-6.73983482e-02 9.97725956e-01 -6.16368741e-04 -2.25801255e+01] [-1.01100400e-02 -6.52110513e-05 9.99948890e-01 -4.92602185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.720371743 meters 0.015070338528310193 Centerline is valid? [True, True] Translation: X:364.16, Y:-22.59, Z:-4.93 [[ 9.97685130e-01 6.70389049e-02 1.14090758e-02 3.64159668e+02] [-6.70353324e-02 9.97750360e-01 -6.95685995e-04 -2.25905875e+01] [-1.14300475e-02 -7.07356164e-05 9.99934672e-01 -4.92557403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.780371743 meters 0.014218031502951478 Centerline is valid? [True, True] Translation: X:364.22, Y:-22.60, Z:-4.93 [[ 9.97733429e-01 6.62716655e-02 1.16649707e-02 3.64218936e+02] [-6.62678918e-02 9.97801615e-01 -7.10151918e-04 -2.25988728e+01] [-1.16863895e-02 -6.44707056e-05 9.99931710e-01 -4.92582094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.840371743 meters 0.01390803474522589 Centerline is valid? [True, True] Translation: X:364.28, Y:-22.61, Z:-4.93 [[ 9.97913336e-01 6.34526925e-02 1.19469467e-02 3.64278328e+02] [-6.34485386e-02 9.97984847e-01 -7.26782688e-04 -2.26083863e+01] [-1.19689880e-02 -3.27501687e-05 9.99928369e-01 -4.92716302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.900371743 meters 0.014059515140088488 Centerline is valid? [True, True] Translation: X:364.34, Y:-22.62, Z:-4.93 [[ 9.98272590e-01 5.75527597e-02 1.18116463e-02 3.64338398e+02] [-5.75482936e-02 9.98342466e-01 -7.17924404e-04 -2.26204154e+01] [-1.18333867e-02 3.69441620e-05 9.99929982e-01 -4.92848689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.960371743 meters 0.01567000633890089 Centerline is valid? [True, True] Translation: X:364.40, Y:-22.64, Z:-4.93 [[ 9.98782426e-01 4.80001561e-02 1.13864463e-02 3.64399223e+02] [-4.79953861e-02 9.98847318e-01 -6.91958410e-04 -2.26353943e+01] [-1.14065355e-02 1.44619010e-04 9.99934933e-01 -4.92880423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.020371743 meters 0.01655628972472704 Centerline is valid? [True, True] Translation: X:364.46, Y:-22.65, Z:-4.93 [[ 9.99259630e-01 3.67000009e-02 1.15456169e-02 3.64458306e+02] [-3.66943376e-02 9.99326289e-01 -7.02040016e-04 -2.26463156e+01] [-1.15636033e-02 2.77861484e-04 9.99933101e-01 -4.92828697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.080371743 meters 0.0190494383328818 Centerline is valid? [True, True] Translation: X:364.52, Y:-22.66, Z:-4.93 [[ 9.99604214e-01 2.58559738e-02 1.10853290e-02 3.64518496e+02] [-2.58500717e-02 9.99665603e-01 -6.75400664e-04 -2.26600592e+01] [-1.10990852e-02 3.88576800e-04 9.99938328e-01 -4.92880049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.140371743 meters 0.02468540662900188 Centerline is valid? [True, True] Translation: X:364.58, Y:-22.68, Z:-4.93 [[ 9.99826529e-01 1.63662976e-02 8.89134261e-03 3.64577913e+02] [-1.63621261e-02 9.99865985e-01 -5.41709546e-04 -2.26768686e+01] [-8.89901681e-03 3.96134307e-04 9.99960325e-01 -4.93112710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.200371743 meters 0.02365386990654878 Centerline is valid? [True, True] Translation: X:364.64, Y:-22.68, Z:-4.93 [[ 9.99932814e-01 9.72282912e-03 6.31139383e-03 3.64638357e+02] [-9.72059470e-03 9.99952680e-01 -3.84608174e-04 -2.26818809e+01] [-6.31483466e-03 3.23231833e-04 9.99980009e-01 -4.93147463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.260371743 meters 0.023919283223018555 Centerline is valid? [True, True] Translation: X:364.70, Y:-22.69, Z:-4.93 [[ 9.99919086e-01 1.18809014e-02 4.54597940e-03 3.64699614e+02] [-1.18797747e-02 9.99929395e-01 -2.74779504e-04 -2.26864382e+01] [-4.54892306e-03 2.20752060e-04 9.99989629e-01 -4.93121596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.320371743 meters 0.021573648048286136 Centerline is valid? [True, True] Translation: X:364.76, Y:-22.69, Z:-4.93 [[ 9.99839740e-01 1.71868396e-02 5.01074662e-03 3.64760881e+02] [-1.71855194e-02 9.99852271e-01 -3.06425520e-04 -2.26853261e+01] [-5.01527287e-03 2.20264129e-04 9.99987399e-01 -4.93085987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.380371743 meters 0.01876204038480844 Centerline is valid? [True, True] Translation: X:364.82, Y:-22.68, Z:-4.93 [[ 9.99654875e-01 2.58834439e-02 4.49210869e-03 3.64821595e+02] [-2.58824694e-02 9.99664955e-01 -2.74937793e-04 -2.26804641e+01] [-4.49771997e-03 1.58576039e-04 9.99989873e-01 -4.93056692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.440371743 meters 0.017664500996566735 Centerline is valid? [True, True] Translation: X:364.88, Y:-22.68, Z:-4.93 [[ 9.99428085e-01 3.36929976e-02 2.87819788e-03 3.64881226e+02] [-3.36926293e-02 9.99432227e-01 -1.76359547e-04 -2.26777609e+01] [-2.88250580e-03 7.92846298e-05 9.99995842e-01 -4.93220139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.500371743 meters 0.016786157310264282 Centerline is valid? [True, True] Translation: X:364.94, Y:-22.67, Z:-4.93 [[ 9.99332099e-01 3.65250586e-02 1.12956914e-03 3.64941782e+02] [-3.65250038e-02 9.99332737e-01 -6.91128877e-05 -2.26747015e+01] [-1.13133978e-03 2.78092099e-05 9.99999360e-01 -4.93261114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.560371743 meters 0.01786533837476516 Centerline is valid? [True, True] Translation: X:365.00, Y:-22.68, Z:-4.93 [[ 9.99421180e-01 3.40146941e-02 -5.53471785e-04 3.65001739e+02] [-3.40146807e-02 9.99421333e-01 3.35992696e-05 -2.26758937e+01] [ 5.54294378e-04 -1.47536556e-05 9.99999846e-01 -4.93444589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.620371743 meters 0.01956002748858741 Centerline is valid? [True, True] Translation: X:365.06, Y:-22.68, Z:-4.94 [[ 9.99601943e-01 2.81384092e-02 -2.04585257e-03 3.65062103e+02] [-2.81382119e-02 9.99604034e-01 1.25138641e-04 -2.26790250e+01] [ 2.04856369e-03 -6.75221951e-05 9.99997899e-01 -4.93586311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.680371743 meters 0.020748760471155064 Centerline is valid? [True, True] Translation: X:365.12, Y:-22.68, Z:-4.94 [[ 9.99731452e-01 2.30564781e-02 -2.32858301e-03 3.65122205e+02] [-2.30562095e-02 9.99734160e-01 1.42131251e-04 -2.26813376e+01] [ 2.33124103e-03 -8.84047842e-05 9.99997279e-01 -4.93637835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.740371743 meters 0.02097969270943235 Centerline is valid? [True, True] Translation: X:365.18, Y:-22.68, Z:-4.94 [[ 9.99771133e-01 2.11941958e-02 -2.91322996e-03 3.65181759e+02] [-2.11937684e-02 9.99775371e-01 1.77505282e-04 -2.26808392e+01] [ 2.91633765e-03 -1.15722336e-04 9.99995741e-01 -4.93604829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.800371743 meters 0.021469293522120122 Centerline is valid? [True, True] Translation: X:365.24, Y:-22.68, Z:-4.94 [[ 9.99726401e-01 2.31531497e-02 -3.32490063e-03 3.65241957e+02] [-2.31526029e-02 9.99731922e-01 2.02868531e-04 -2.26802230e+01] [ 3.32870634e-03 -1.25832923e-04 9.99994452e-01 -4.93788530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86037174300003 meters 0.020314898575087503 Centerline is valid? [True, True] Translation: X:365.30, Y:-22.68, Z:-4.94 [[ 9.99632627e-01 2.68589662e-02 -3.63408024e-03 3.65302185e+02] [-2.68583376e-02 9.99639225e-01 2.21687860e-04 -2.26777336e+01] [ 3.63872346e-03 -1.24001064e-04 9.99993372e-01 -4.93917507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.920371743 meters 0.019598532120900083 Centerline is valid? [True, True] Translation: X:365.36, Y:-22.68, Z:-4.94 [[ 9.99598030e-01 2.80825743e-02 -3.89186245e-03 3.65360888e+02] [-2.80818667e-02 9.99605599e-01 2.36353965e-04 -2.26784029e+01] [ 3.89696492e-03 -1.26968195e-04 9.99992399e-01 -4.93986486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.980371743 meters 0.01959740368240458 Centerline is valid? [True, True] Translation: X:365.42, Y:-22.68, Z:-4.94 [[ 9.99601053e-01 2.77712768e-02 -5.14688961e-03 3.65419528e+02] [-2.77700354e-02 9.99614289e-01 3.12508686e-04 -2.26774654e+01] [ 5.15358316e-03 -1.69454705e-04 9.99986706e-01 -4.94206377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.040371743 meters 0.020338231769592863 Centerline is valid? [True, True] Translation: X:365.48, Y:-22.68, Z:-4.94 [[ 9.99691327e-01 2.43657299e-02 -4.85404632e-03 3.65479279e+02] [-2.43645843e-02 9.99703096e-01 2.95015610e-04 -2.26823742e+01] [ 4.85979340e-03 -1.76657726e-04 9.99988176e-01 -4.94237752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.100371743 meters 0.02138859170032425 Centerline is valid? [True, True] Translation: X:365.54, Y:-22.69, Z:-4.94 [[ 9.99719261e-01 2.32314159e-02 -4.65831919e-03 3.65538079e+02] [-2.32303510e-02 9.99730099e-01 2.82587796e-04 -2.26882893e+01] [ 4.66362682e-03 -1.74294073e-04 9.99989110e-01 -4.94382277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.160371743 meters 0.022796755931256334 Centerline is valid? [True, True] Translation: X:365.60, Y:-22.69, Z:-4.94 [[ 9.99821329e-01 1.85850350e-02 -3.45049391e-03 3.65597949e+02] [-1.85844222e-02 9.99827273e-01 2.09574168e-04 -2.26939003e+01] [ 3.45379286e-03 -1.45411287e-04 9.99994025e-01 -4.94422968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.220371743 meters 0.024054103753978463 Centerline is valid? [True, True] Translation: X:365.66, Y:-22.70, Z:-4.94 [[ 9.99908864e-01 1.32063437e-02 -2.80303027e-03 3.65657994e+02] [-1.32059185e-02 9.99912784e-01 1.70162296e-04 -2.27008895e+01] [ 2.80503303e-03 -1.33130198e-04 9.99996057e-01 -4.94412612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.280371743 meters 0.025753461205857052 Centerline is valid? [True, True] Translation: X:365.72, Y:-22.71, Z:-4.94 [[ 9.99961166e-01 8.10407575e-03 -3.46286971e-03 3.65717660e+02] [-8.10339556e-03 9.99967145e-01 2.10408861e-04 -2.27081459e+01] [ 3.46446111e-03 -1.82339687e-04 9.99993982e-01 -4.94482438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.340371743 meters 0.02680573746182188 Centerline is valid? [True, True] Translation: X:365.78, Y:-22.71, Z:-4.94 [[ 9.99980518e-01 4.97540691e-03 -3.76952214e-03 3.65777927e+02] [-4.97457838e-03 9.99987600e-01 2.29141466e-04 -2.27119692e+01] [ 3.77061547e-03 -2.10385218e-04 9.99992869e-01 -4.94449927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.400371743 meters 0.026974083268363053 Centerline is valid? [True, True] Translation: X:365.84, Y:-22.71, Z:-4.94 [[ 9.99992385e-01 2.96240795e-03 -2.54061297e-03 3.65838099e+02] [-2.96202590e-03 9.99995601e-01 1.54128779e-04 -2.27142103e+01] [ 2.54105839e-03 -1.46602244e-04 9.99996761e-01 -4.94369492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.460371743 meters 0.030588412507390587 Centerline is valid? [True, True] Translation: X:365.90, Y:-22.72, Z:-4.95 [[ 9.99995600e-01 1.76250392e-03 -2.38594347e-03 3.65897603e+02] [-1.76216369e-03 9.99998437e-01 1.44690403e-04 -2.27196524e+01] [ 2.38619476e-03 -1.40485343e-04 9.99997143e-01 -4.94623631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.520371743 meters 0.028261847153820987 Centerline is valid? [True, True] Translation: X:365.96, Y:-22.72, Z:-4.95 [[ 9.99996323e-01 3.45037897e-04 -2.68966425e-03 3.65957992e+02] [-3.44600490e-04 9.99999927e-01 1.63087007e-04 -2.27167007e+01] [ 2.68972033e-03 -1.62159548e-04 9.99996370e-01 -4.94639753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.580371743 meters 0.028903508566993263 Centerline is valid? [True, True] Translation: X:366.02, Y:-22.72, Z:-4.95 [[ 9.99995057e-01 -1.01041818e-03 -2.97732796e-03 3.66017590e+02] [ 1.01095912e-03 9.99999473e-01 1.80186533e-04 -2.27185385e+01] [ 2.97714433e-03 -1.83195599e-04 9.99995552e-01 -4.94650977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.640371743 meters 0.03034456859242954 Centerline is valid? [True, True] Translation: X:366.08, Y:-22.72, Z:-4.95 [[ 9.99993061e-01 -2.29360420e-03 -2.93556201e-03 3.66077188e+02] [ 2.29413525e-03 9.99997353e-01 1.77549021e-04 -2.27204198e+01] [ 2.93514702e-03 -1.84282365e-04 9.99995675e-01 -4.94724690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.700371743 meters 0.03215745562118325 Centerline is valid? [True, True] Translation: X:366.14, Y:-22.72, Z:-4.95 [[ 9.99984000e-01 -5.35726116e-03 -1.81647012e-03 3.66136844e+02] [ 5.35746958e-03 9.99985643e-01 1.09893816e-04 -2.27237273e+01] [ 1.81585531e-03 -1.19623741e-04 9.99998344e-01 -4.94796688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.760371743 meters 0.03587689090334426 Centerline is valid? [True, True] Translation: X:366.20, Y:-22.73, Z:-4.95 [[ 9.99947217e-01 -9.81939617e-03 -3.02372452e-03 3.66195586e+02] [ 9.81999826e-03 9.99951766e-01 1.84341712e-04 -2.27301599e+01] [ 3.02176855e-03 -2.14024951e-04 9.99995412e-01 -4.95147376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.820371743 meters 0.03294341751815844 Centerline is valid? [True, True] Translation: X:366.26, Y:-22.73, Z:-4.95 [[ 9.99912912e-01 -1.26280084e-02 -3.83435100e-03 3.66256243e+02] [ 1.26289916e-02 9.99920224e-01 2.32315569e-04 -2.27274098e+01] [ 3.83111143e-03 -2.80719323e-04 9.99992622e-01 -4.95119910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.880371743 meters 0.03455033100927733 Centerline is valid? [True, True] Translation: X:366.32, Y:-22.73, Z:-4.95 [[ 9.99905430e-01 -1.34141162e-02 -3.03195010e-03 3.66316378e+02] [ 1.34147344e-02 9.99910002e-01 1.83643034e-04 -2.27263855e+01] [ 3.02921382e-03 -2.24298472e-04 9.99995387e-01 -4.94987680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.940371743 meters 0.035133222885604644 Centerline is valid? [True, True] Translation: X:366.38, Y:-22.73, Z:-4.95 [[ 9.99914539e-01 -1.30057298e-02 -1.32895635e-03 3.66376700e+02] [ 1.30058483e-02 9.99915417e-01 8.06083051e-05 -2.27268947e+01] [ 1.32779557e-03 -9.78856209e-05 9.99999114e-01 -4.95018507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.000371743 meters 0.033677886085753936 Centerline is valid? [True, True] Translation: X:366.44, Y:-22.72, Z:-4.95 [[ 9.99977514e-01 -6.56293412e-03 -1.37829486e-03 3.66437600e+02] [ 6.56305550e-03 9.99978459e-01 8.35612579e-05 -2.27202719e+01] [ 1.37771676e-03 -9.26052046e-05 9.99999047e-01 -4.95198652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.060371743 meters 0.03425531490009348 Centerline is valid? [True, True] Translation: X:366.50, Y:-22.72, Z:-4.95 [[ 9.99997716e-01 -4.09558716e-04 -2.09750981e-03 3.66497007e+02] [ 4.09825805e-04 9.99999908e-01 1.26908110e-04 -2.27173270e+01] [ 2.09745764e-03 -1.27767433e-04 9.99997792e-01 -4.95406810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.120371743 meters 0.031658194328106015 Centerline is valid? [True, True] Translation: X:366.56, Y:-22.71, Z:-4.95 [[ 9.99975151e-01 6.99839171e-03 -8.48399166e-04 3.66558416e+02] [-6.99835044e-03 9.99975510e-01 5.16039071e-05 -2.27103159e+01] [ 8.48739532e-04 -4.56652301e-05 9.99999639e-01 -4.95431613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.180371743 meters 0.027911308987039626 Centerline is valid? [True, True] Translation: X:366.62, Y:-22.70, Z:-4.95 [[ 9.99872890e-01 1.59309208e-02 6.40298315e-04 3.66620274e+02] [-1.59308994e-02 9.99873094e-01 -3.86243497e-05 -2.26979365e+01] [-6.40832379e-04 2.84189121e-05 9.99999794e-01 -4.95257132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.240371743 meters 0.02794469515673277 Centerline is valid? [True, True] Translation: X:366.68, Y:-22.70, Z:-4.96 [[ 9.99744732e-01 2.25295584e-02 1.69985356e-03 3.66679451e+02] [-2.25294152e-02 9.99746175e-01 -1.03382562e-04 -2.26950319e+01] [-1.70175126e-03 6.50594652e-05 9.99998550e-01 -4.95626919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.300371743 meters 0.02762061104620476 Centerline is valid? [True, True] Translation: X:366.74, Y:-22.69, Z:-4.96 [[ 9.99635494e-01 2.69744535e-02 1.12134095e-03 3.66738360e+02] [-2.69743934e-02 9.99636123e-01 -6.86490267e-05 -2.26895708e+01] [-1.12278469e-03 3.83765119e-05 9.99999369e-01 -4.95837198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36037174300003 meters 0.02582325664318609 Centerline is valid? [True, True] Translation: X:366.80, Y:-22.68, Z:-4.96 [[ 9.99623686e-01 2.72910448e-02 2.77211622e-03 3.66798243e+02] [-2.72906822e-02 9.99627526e-01 -1.68570830e-04 -2.26819218e+01] [-2.77568415e-03 9.28544519e-05 9.99996143e-01 -4.95625618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.420371743 meters 0.02672227441969924 Centerline is valid? [True, True] Translation: X:366.86, Y:-22.68, Z:-4.96 [[ 9.99678920e-01 2.50164089e-02 4.02937389e-03 3.66857550e+02] [-2.50156267e-02 9.99687030e-01 -2.44400024e-04 -2.26801577e+01] [-4.03422682e-03 1.43524239e-04 9.99991852e-01 -4.95626651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.480371743 meters 0.02847973828537125 Centerline is valid? [True, True] Translation: X:366.92, Y:-22.68, Z:-4.96 [[ 9.99755728e-01 2.19440279e-02 2.63527826e-03 3.66916377e+02] [-2.19436823e-02 9.99759196e-01 -1.60016099e-04 -2.26816241e+01] [-2.63815507e-03 1.02149302e-04 9.99996515e-01 -4.95918082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.540371743 meters 0.02897042717557119 Centerline is valid? [True, True] Translation: X:366.98, Y:-22.68, Z:-4.96 [[ 9.99825680e-01 1.85143012e-02 2.41453791e-03 3.66975518e+02] [-1.85140011e-02 9.99828590e-01 -1.46556128e-04 -2.26828508e+01] [-2.41683742e-03 1.01827823e-04 9.99997074e-01 -4.96116102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.600371743 meters 0.029698988826145443 Centerline is valid? [True, True] Translation: X:367.04, Y:-22.68, Z:-4.96 [[ 9.99889453e-01 1.43172770e-02 4.01204167e-03 3.67035407e+02] [-1.43164196e-02 9.99897485e-01 -2.42357794e-04 -2.26841349e+01] [-4.01510028e-03 1.84892931e-04 9.99991922e-01 -4.95977967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.660371743 meters 0.030913414653100362 Centerline is valid? [True, True] Translation: X:367.09, Y:-22.69, Z:-4.96 [[ 9.99896381e-01 1.39537181e-02 3.53860358e-03 3.67093936e+02] [-1.39530473e-02 9.99902629e-01 -2.14173269e-04 -2.26882667e+01] [-3.54124754e-03 1.64776774e-04 9.99993716e-01 -4.96162415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.720371743 meters 0.029775179251497638 Centerline is valid? [True, True] Translation: X:367.15, Y:-22.69, Z:-4.96 [[ 9.99837759e-01 1.78703885e-02 2.25950713e-03 3.67154106e+02] [-1.78701257e-02 9.99840307e-01 -1.36471334e-04 -2.26861456e+01] [-2.26158510e-03 9.60715163e-05 9.99997438e-01 -4.96376898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.780371743 meters 0.02982715882035007 Centerline is valid? [True, True] Translation: X:367.21, Y:-22.69, Z:-4.96 [[ 9.99775228e-01 2.10373118e-02 2.63158630e-03 3.67213859e+02] [-2.10369659e-02 9.99778686e-01 -1.59058288e-04 -2.26859613e+01] [-2.63435005e-03 1.03661945e-04 9.99996525e-01 -4.96439779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.840371743 meters 0.029654506540741355 Centerline is valid? [True, True] Translation: X:367.27, Y:-22.68, Z:-4.96 [[ 9.99660470e-01 2.57448180e-02 4.01861923e-03 3.67273941e+02] [-2.57440509e-02 9.99668538e-01 -2.42510198e-04 -2.26833144e+01] [-4.02353059e-03 1.38972321e-04 9.99991896e-01 -4.96395665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.900371743 meters 0.02959671167653242 Centerline is valid? [True, True] Translation: X:367.33, Y:-22.68, Z:-4.97 [[ 9.99686595e-01 2.48239291e-02 3.23799557e-03 3.67333283e+02] [-2.48234251e-02 9.99691832e-01 -1.95742585e-04 -2.26819939e+01] [-3.24185683e-03 1.15303098e-04 9.99994739e-01 -4.96512549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.960371743 meters 0.03156255399397923 Centerline is valid? [True, True] Translation: X:367.39, Y:-22.69, Z:-4.97 [[ 9.99800734e-01 1.97023913e-02 3.21049733e-03 3.67392725e+02] [-1.97018722e-02 9.99805881e-01 -1.93248829e-04 -2.26864050e+01] [-3.21368158e-03 1.29957513e-04 9.99994828e-01 -4.96603024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.020371743 meters 0.033144278674180516 Centerline is valid? [True, True] Translation: X:367.45, Y:-22.69, Z:-4.97 [[ 9.99848621e-01 1.70747373e-02 3.34488611e-03 3.67450850e+02] [-1.70741581e-02 9.99854206e-01 -2.01641285e-04 -2.26928005e+01] [-3.34784141e-03 1.44499647e-04 9.99994386e-01 -4.96728683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.080371743 meters 0.03660735608523276 Centerline is valid? [True, True] Translation: X:367.51, Y:-22.70, Z:-4.97 [[ 9.99981730e-01 5.33437695e-03 2.84341457e-03 3.67510855e+02] [-5.33391283e-03 9.99985760e-01 -1.70783524e-04 -2.26977016e+01] [-2.84428511e-03 1.55613878e-04 9.99995943e-01 -4.96733309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.140371743 meters 0.03893351579727598 Centerline is valid? [True, True] Translation: X:367.57, Y:-22.70, Z:-4.97 [[ 9.99990796e-01 -3.82294722e-03 1.94772061e-03 3.67571286e+02] [ 3.82318220e-03 9.99992685e-01 -1.16937074e-04 -2.27020404e+01] [-1.94725932e-03 1.24382489e-04 9.99998096e-01 -4.96909546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.200371743 meters 0.0429499004803626 Centerline is valid? [True, True] Translation: X:367.63, Y:-22.71, Z:-4.97 [[ 9.99928490e-01 -1.17333025e-02 2.31169544e-03 3.67632018e+02] [ 1.17336546e-02 9.99931149e-01 -1.38811539e-04 -2.27086743e+01] [-2.30990756e-03 1.65926249e-04 9.99997318e-01 -4.96986822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.260371743 meters 0.04346607121366362 Centerline is valid? [True, True] Translation: X:367.69, Y:-22.71, Z:-4.97 [[ 9.99783892e-01 -2.06119830e-02 2.70468044e-03 3.67692416e+02] [ 2.06124973e-02 9.99787527e-01 -1.62404811e-04 -2.27096945e+01] [-2.70075828e-03 2.18119932e-04 9.99996329e-01 -4.97001036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.320371743 meters 0.04889157853990159 Centerline is valid? [True, True] Translation: X:367.75, Y:-22.72, Z:-4.97 [[ 9.99632726e-01 -2.70980678e-02 3.28340836e-04 3.67751908e+02] [ 2.70980758e-02 9.99632780e-01 -1.99283470e-05 -2.27174320e+01] [-3.27680243e-04 2.88184327e-05 9.99999946e-01 -4.97360304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.380371743 meters 0.050910880825785536 Centerline is valid? [True, True] Translation: X:367.81, Y:-22.72, Z:-4.98 [[ 9.99568358e-01 -2.93524406e-02 -1.23731017e-03 3.67812846e+02] [ 2.93525553e-02 9.99569118e-01 7.45767607e-05 -2.27185034e+01] [ 1.23458803e-03 -1.10862786e-04 9.99999232e-01 -4.97586428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.440371743 meters 0.05083799027658726 Centerline is valid? [True, True] Translation: X:367.87, Y:-22.72, Z:-4.98 [[ 9.99614113e-01 -2.77750112e-02 -4.15875142e-04 3.67874388e+02] [ 2.77750242e-02 9.99614199e-01 2.55025695e-05 -2.27185603e+01] [ 4.15006362e-04 -3.70436705e-05 9.99999913e-01 -4.97643113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.500371743 meters 0.04817757690412107 Centerline is valid? [True, True] Translation: X:367.94, Y:-22.71, Z:-4.98 [[ 9.99690769e-01 -2.48653596e-02 2.82538659e-04 3.67935266e+02] [ 2.48653654e-02 9.99690809e-01 -1.68894689e-05 -2.27124458e+01] [-2.82031338e-04 2.39096732e-05 9.99999960e-01 -4.97669777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.560371743 meters 0.0478347535634754 Centerline is valid? [True, True] Translation: X:368.00, Y:-22.71, Z:-4.98 [[ 9.99778789e-01 -2.10320257e-02 -1.64016566e-04 3.67995595e+02] [ 2.10320276e-02 9.99778802e-01 9.86107355e-06 -2.27103611e+01] [ 1.63772888e-04 -1.33084931e-05 9.99999987e-01 -4.97765926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.620371743 meters 0.04750215153751232 Centerline is valid? [True, True] Translation: X:368.06, Y:-22.71, Z:-4.98 [[ 9.99853241e-01 -1.71311008e-02 -1.45053574e-04 3.68056265e+02] [ 1.71311023e-02 9.99853252e-01 8.72046775e-06 -2.27110007e+01] [ 1.44882896e-04 -1.12041155e-05 9.99999989e-01 -4.97899168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.680371743 meters 0.04749976317416508 Centerline is valid? [True, True] Translation: X:368.12, Y:-22.71, Z:-4.98 [[ 9.99884575e-01 -1.51828801e-02 -5.63007915e-04 3.68117612e+02] [ 1.51829018e-02 9.99884733e-01 3.43556332e-05 -2.27119077e+01] [ 5.62421400e-04 -4.28997616e-05 9.99999841e-01 -4.97913507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.740371743 meters 0.042518378416767935 Centerline is valid? [True, True] Translation: X:368.18, Y:-22.70, Z:-4.98 [[ 9.99883710e-01 -1.50686735e-02 -2.34559173e-03 3.68180621e+02] [ 1.50690485e-02 9.99886445e-01 1.42296779e-04 -2.27048452e+01] [ 2.34318115e-03 -1.77626066e-04 9.99997239e-01 -4.98017606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.800371743 meters 0.04237550585423263 Centerline is valid? [True, True] Translation: X:368.24, Y:-22.71, Z:-4.98 [[ 9.99860854e-01 -1.64495400e-02 -2.77226675e-03 3.68241958e+02] [ 1.64500675e-02 9.99864674e-01 1.67581717e-04 -2.27066883e+01] [ 2.76913495e-03 -2.13162373e-04 9.99996143e-01 -4.98166194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86037174300003 meters 0.044026758009210853 Centerline is valid? [True, True] Translation: X:368.30, Y:-22.71, Z:-4.98 [[ 9.99824557e-01 -1.86406967e-02 -1.83843743e-03 3.68303331e+02] [ 1.86409328e-02 9.99826237e-01 1.11371083e-04 -2.27110300e+01] [ 1.83604194e-03 -1.45621733e-04 9.99998304e-01 -4.98202795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.920371743 meters 0.04725567746198216 Centerline is valid? [True, True] Translation: X:368.36, Y:-22.72, Z:-4.98 [[ 9.99791288e-01 -2.03938849e-02 -1.21267937e-03 3.68363119e+02] [ 2.03939894e-02 9.99792018e-01 7.38698175e-05 -2.27188393e+01] [ 1.21092066e-03 -9.85857702e-05 9.99999262e-01 -4.98329471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.980371743 meters 0.043057680109433845 Centerline is valid? [True, True] Translation: X:368.42, Y:-22.72, Z:-4.99 [[ 9.99754403e-01 -2.19903395e-02 -2.74936834e-03 3.68424431e+02] [ 2.19908792e-02 9.99758158e-01 1.66233968e-04 -2.27156230e+01] [ 2.74504788e-03 -2.26654168e-04 9.99996207e-01 -4.98524164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.040371743 meters 0.044789504144230365 Centerline is valid? [True, True] Translation: X:368.48, Y:-22.72, Z:-4.99 [[ 9.99738474e-01 -2.25136903e-02 -4.01474090e-03 3.68484935e+02] [ 2.25148465e-02 9.99746479e-01 2.43029324e-04 -2.27207333e+01] [ 4.00825159e-03 -3.33357040e-04 9.99991911e-01 -4.98712639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.100371743 meters 0.045093626246290944 Centerline is valid? [True, True] Translation: X:368.55, Y:-22.72, Z:-4.99 [[ 9.99782955e-01 -2.05444917e-02 -3.45917546e-03 3.68546358e+02] [ 2.05453401e-02 9.99788900e-01 2.09899602e-04 -2.27238448e+01] [ 3.45413295e-03 -2.80923980e-04 9.99993995e-01 -4.98716040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.160371743 meters 0.0456215346643472 Centerline is valid? [True, True] Translation: X:368.61, Y:-22.73, Z:-4.99 [[ 9.99832527e-01 -1.80678444e-02 -2.91033325e-03 3.68605610e+02] [ 1.80684317e-02 9.99836737e-01 1.75648942e-04 -2.27275827e+01] [ 2.90668450e-03 -2.28204683e-04 9.99995750e-01 -4.98759044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.220371743 meters 0.04212892007376952 Centerline is valid? [True, True] Translation: X:368.67, Y:-22.72, Z:-4.99 [[ 9.99892544e-01 -1.43483478e-02 -3.00417341e-03 3.68666127e+02] [ 1.43489579e-02 9.99897032e-01 1.81627080e-04 -2.27232804e+01] [ 3.00125803e-03 -2.24714321e-04 9.99995471e-01 -4.98597074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.280371743 meters 0.03845288435957754 Centerline is valid? [True, True] Translation: X:368.73, Y:-22.72, Z:-4.99 [[ 9.99949887e-01 -9.64084365e-03 -2.69772809e-03 3.68726687e+02] [ 9.64131847e-03 9.99953508e-01 1.63054467e-04 -2.27216845e+01] [ 2.69603069e-03 -1.89055952e-04 9.99996348e-01 -4.98543397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.340371743 meters 0.03825619920011366 Centerline is valid? [True, True] Translation: X:368.79, Y:-22.73, Z:-4.99 [[ 9.99974400e-01 -6.04574645e-03 -3.82738311e-03 3.68787345e+02] [ 6.04667726e-03 9.99981692e-01 2.31672342e-04 -2.27266604e+01] [ 3.82591241e-03 -2.54809362e-04 9.99992649e-01 -4.98681714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.400371743 meters 0.03845003436475803 Centerline is valid? [True, True] Translation: X:368.85, Y:-22.73, Z:-4.99 [[ 9.99982601e-01 -4.47805368e-03 -3.83987890e-03 3.68848142e+02] [ 4.47897821e-03 9.99989942e-01 2.32205246e-04 -2.27318881e+01] [ 3.83880045e-03 -2.49399940e-04 9.99992601e-01 -4.98775629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.460371743 meters 0.03667120450255738 Centerline is valid? [True, True] Translation: X:368.91, Y:-22.73, Z:-4.99 [[ 9.99995760e-01 -5.12444269e-04 -2.86649128e-03 3.68908150e+02] [ 5.12942988e-04 9.99999853e-01 1.73250102e-04 -2.27347993e+01] [ 2.86640208e-03 -1.74719714e-04 9.99995877e-01 -4.98662158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.520371743 meters 0.03663950282706158 Centerline is valid? [True, True] Translation: X:368.97, Y:-22.74, Z:-4.99 [[ 9.99992488e-01 1.85945778e-03 -3.40098137e-03 3.68967410e+02] [-1.85877135e-03 9.99998251e-01 2.04983135e-04 -2.27392739e+01] [ 3.40135658e-03 -1.98659948e-04 9.99994196e-01 -4.98780531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.580371743 meters 0.03447409256039986 Centerline is valid? [True, True] Translation: X:369.03, Y:-22.74, Z:-4.99 [[ 9.99934305e-01 1.05891244e-02 -4.38809723e-03 3.69027763e+02] [-1.05880619e-02 9.99943910e-01 2.65312278e-04 -2.27404786e+01] [ 4.39066052e-03 -2.18833404e-04 9.99990337e-01 -4.98984978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.640371743 meters 0.03336392116930177 Centerline is valid? [True, True] Translation: X:369.09, Y:-22.74, Z:-4.99 [[ 9.99887075e-01 1.44832293e-02 -4.00909946e-03 3.69087539e+02] [-1.44823754e-02 9.99895096e-01 2.41949449e-04 -2.27445030e+01] [ 4.01218310e-03 -1.83860844e-04 9.99991934e-01 -4.99110605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.700371743 meters 0.03191914356428799 Centerline is valid? [True, True] Translation: X:369.15, Y:-22.75, Z:-4.99 [[ 9.99791158e-01 2.03671735e-02 -1.67861530e-03 3.69148248e+02] [-2.03670320e-02 9.99792565e-01 1.01359358e-04 -2.27491185e+01] [ 1.68033150e-03 -6.71497781e-05 9.99998586e-01 -4.99034143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.760371743 meters 0.03130426411065763 Centerline is valid? [True, True] Translation: X:369.21, Y:-22.76, Z:-4.99 [[ 9.99664842e-01 2.58289904e-02 -1.75101971e-03 3.69206859e+02] [-2.58288457e-02 9.99666374e-01 1.05206356e-04 -2.27565446e+01] [ 1.75315290e-03 -5.99442778e-05 9.99998461e-01 -4.99149583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.820371743 meters 0.030363407023390066 Centerline is valid? [True, True] Translation: X:369.27, Y:-22.76, Z:-4.99 [[ 9.99546518e-01 3.00631845e-02 -1.72152047e-03 3.69266305e+02] [-3.00630510e-02 9.99547999e-01 1.03365546e-04 -2.27639138e+01] [ 1.72384983e-03 -5.15645143e-05 9.99998513e-01 -4.99239548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.880371743 meters 0.029693065531296543 Centerline is valid? [True, True] Translation: X:369.33, Y:-22.77, Z:-4.99 [[ 9.99485470e-01 3.20748265e-02 2.54997688e-05 3.69325208e+02] [-3.20748265e-02 9.99485470e-01 -3.17099821e-06 -2.27720906e+01] [-2.55883578e-05 2.35146599e-06 1.00000000e+00 -4.99117115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.940371743 meters 0.02995710640864405 Centerline is valid? [True, True] Translation: X:369.38, Y:-22.78, Z:-4.99 [[ 9.99491520e-01 3.18850849e-02 2.09008187e-04 3.69384080e+02] [-3.18850827e-02 9.99491541e-01 -1.35888537e-05 -2.27780658e+01] [-2.09335197e-04 6.91770071e-06 9.99999978e-01 -4.99171532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.000371743 meters 0.02991183407476506 Centerline is valid? [True, True] Translation: X:369.44, Y:-22.79, Z:-4.99 [[ 9.99528810e-01 3.06862061e-02 -7.17971057e-04 3.69440775e+02] [-3.06861840e-02 9.99529067e-01 4.18700295e-05 -2.27918444e+01] [ 7.18917773e-04 -1.98185088e-05 9.99999741e-01 -4.99330541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.060371743 meters 0.031156408608654967 Centerline is valid? [True, True] Translation: X:369.50, Y:-22.80, Z:-4.99 [[ 9.99677782e-01 2.53784535e-02 -5.16600009e-04 3.69500529e+02] [-2.53784408e-02 9.99677915e-01 3.10267949e-05 -2.28040472e+01] [ 5.17221032e-04 -1.79062947e-05 9.99999866e-01 -4.99394296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.120371743 meters 0.03302769495150105 Centerline is valid? [True, True] Translation: X:369.56, Y:-22.81, Z:-4.99 [[ 9.99794734e-01 2.02604253e-02 7.77186846e-05 3.69559494e+02] [-2.02604250e-02 9.99794737e-01 -4.94390134e-06 -2.28145376e+01] [-7.78028976e-05 3.36827296e-06 9.99999997e-01 -4.99391234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.180371743 meters 0.033696420380522375 Centerline is valid? [True, True] Translation: X:369.62, Y:-22.83, Z:-4.99 [[ 9.99960412e-01 8.81994780e-03 1.17603690e-03 3.69619029e+02] [-8.81987060e-03 9.99961102e-01 -7.08218601e-05 -2.28252007e+01] [-1.17661580e-03 6.04465631e-05 9.99999306e-01 -4.99235673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.240371743 meters 0.037999063994586024 Centerline is valid? [True, True] Translation: X:369.68, Y:-22.84, Z:-4.99 [[ 9.99999062e-01 -1.25920692e-03 5.38605968e-04 3.69677770e+02] [ 1.25922464e-03 9.99999207e-01 -3.25510885e-05 -2.28380924e+01] [-5.38564552e-04 3.32292839e-05 9.99999854e-01 -4.99382613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.300371743 meters 0.03668196895410722 Centerline is valid? [True, True] Translation: X:369.74, Y:-22.84, Z:-4.99 [[ 9.99971696e-01 -7.46845612e-03 9.11224010e-04 3.69738546e+02] [ 7.46850899e-03 9.99972109e-01 -5.46374784e-05 -2.28393655e+01] [-9.10790538e-04 6.14414166e-05 9.99999583e-01 -4.99224981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36037174300003 meters 0.03999349214380471 Centerline is valid? [True, True] Translation: X:369.80, Y:-22.85, Z:-4.99 [[ 9.99775390e-01 -2.09900650e-02 2.93047647e-03 3.69799087e+02] [ 2.09906700e-02 9.99779656e-01 -1.75860535e-04 -2.28469481e+01] [-2.92613944e-03 2.37333699e-04 9.99995691e-01 -4.99078231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.420371743 meters 0.04562192946114493 Centerline is valid? [True, True] Translation: X:369.86, Y:-22.86, Z:-4.99 [[ 9.99541703e-01 -3.02296774e-02 1.59688141e-03 3.69858239e+02] [ 3.02298682e-02 9.99542969e-01 -9.54875253e-05 -2.28563363e+01] [-1.59326503e-03 1.43717278e-04 9.99998720e-01 -4.99214349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.480371743 meters 0.047278172258874256 Centerline is valid? [True, True] Translation: X:369.92, Y:-22.86, Z:-4.99 [[ 9.99379717e-01 -3.51924461e-02 1.29320747e-03 3.69918919e+02] [ 3.51925757e-02 9.99380546e-01 -7.76187813e-05 -2.28612195e+01] [-1.28967479e-03 1.23081938e-04 9.99999161e-01 -4.99351133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.540371743 meters 0.050806196661164864 Centerline is valid? [True, True] Translation: X:369.98, Y:-22.87, Z:-4.99 [[ 9.99145316e-01 -4.12914447e-02 1.91137337e-03 3.69979124e+02] [ 4.12917389e-02 9.99147126e-01 -1.14705957e-04 -2.28662038e+01] [-1.90500683e-03 1.93531850e-04 9.99998167e-01 -4.99400587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.600371743 meters 0.05290552136170634 Centerline is valid? [True, True] Translation: X:370.04, Y:-22.87, Z:-4.99 [[ 9.98993300e-01 -4.48312987e-02 1.59386483e-03 3.70040110e+02] [ 4.48315073e-02 9.98994558e-01 -9.53512886e-05 -2.28679285e+01] [-1.58798757e-03 1.66710661e-04 9.99998725e-01 -4.99448909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.660371743 meters 0.05479203547778881 Centerline is valid? [True, True] Translation: X:370.10, Y:-22.87, Z:-5.00 [[ 9.98928024e-01 -4.62708147e-02 1.34695529e-03 3.70101543e+02] [ 4.62709648e-02 9.98928922e-01 -8.04426815e-05 -2.28684296e+01] [-1.34179045e-03 1.42681370e-04 9.99999090e-01 -4.99639932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.720371743 meters 0.05341624748167483 Centerline is valid? [True, True] Translation: X:370.16, Y:-22.87, Z:-5.00 [[ 9.98894236e-01 -4.69981117e-02 1.21756714e-03 3.70164051e+02] [ 4.69982343e-02 9.98894970e-01 -7.22193649e-05 -2.28660571e+01] [-1.21282751e-03 1.29363013e-04 9.99999256e-01 -4.99745860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.780371743 meters 0.050622582566110456 Centerline is valid? [True, True] Translation: X:370.23, Y:-22.86, Z:-5.00 [[ 9.98849616e-01 -4.79483864e-02 6.29818984e-04 3.70226498e+02] [ 4.79484191e-02 9.98849812e-01 -3.68691789e-05 -2.28598999e+01] [-6.27326757e-04 6.70255899e-05 9.99999801e-01 -4.99797066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.840371743 meters 0.055571022913148645 Centerline is valid? [True, True] Translation: X:370.29, Y:-22.87, Z:-5.00 [[ 9.98866627e-01 -4.75946895e-02 -4.54733546e-04 3.70287035e+02] [ 4.75947072e-02 9.98866729e-01 2.82295090e-05 -2.28665367e+01] [ 4.52874635e-04 -4.98404243e-05 9.99999896e-01 -5.00064925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.900371743 meters 0.05577224921511927 Centerline is valid? [True, True] Translation: X:370.35, Y:-22.87, Z:-5.00 [[ 9.98797073e-01 -4.90199837e-02 -1.20372025e-03 3.70347759e+02] [ 4.90201067e-02 9.98797789e-01 7.28895015e-05 -2.28660535e+01] [ 1.19870008e-03 -1.31808316e-04 9.99999273e-01 -5.00219899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.960371743 meters 0.05676033511163745 Centerline is valid? [True, True] Translation: X:370.41, Y:-22.87, Z:-5.00 [[ 9.98744468e-01 -5.00942400e-02 -2.32059342e-04 3.70409730e+02] [ 5.00942448e-02 9.98744495e-01 1.50609355e-05 -2.28673926e+01] [ 2.31013524e-04 -2.66668635e-05 9.99999973e-01 -5.00212079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.020371743 meters 0.054708864169344014 Centerline is valid? [True, True] Translation: X:370.47, Y:-22.86, Z:-5.00 [[ 9.98731708e-01 -5.03399424e-02 -9.30036980e-04 3.70471717e+02] [ 5.03400178e-02 9.98732136e-01 5.78639439e-05 -2.28635097e+01] [ 9.25944952e-04 -1.04608634e-04 9.99999566e-01 -5.00308206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.080371743 meters 0.05161721320543222 Centerline is valid? [True, True] Translation: X:370.53, Y:-22.86, Z:-5.00 [[ 9.98841906e-01 -4.80982753e-02 -1.18447442e-03 3.70532681e+02] [ 4.80983938e-02 9.98842600e-01 7.16886070e-05 -2.28566891e+01] [ 1.17965541e-03 -1.28576902e-04 9.99999296e-01 -5.00224199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.140371743 meters 0.05343257001271986 Centerline is valid? [True, True] Translation: X:370.59, Y:-22.86, Z:-5.00 [[ 9.99104203e-01 -4.23147681e-02 -5.01478383e-04 3.70591971e+02] [ 4.23147886e-02 9.99104328e-01 3.03270285e-05 -2.28554968e+01] [ 4.99745941e-04 -5.15198134e-05 9.99999874e-01 -5.00251676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.200371743 meters 0.04733735997984022 Centerline is valid? [True, True] Translation: X:370.65, Y:-22.84, Z:-5.00 [[ 9.99402521e-01 -3.45290701e-02 -1.53118198e-03 3.70653057e+02] [ 3.45292522e-02 9.99403683e-01 9.26202033e-05 -2.28424347e+01] [ 1.52707082e-03 -1.45435433e-04 9.99998823e-01 -5.00328032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.260371743 meters 0.045938050370414756 Centerline is valid? [True, True] Translation: X:370.71, Y:-22.84, Z:-5.01 [[ 9.99636793e-01 -2.67555644e-02 -3.22816654e-03 3.70712966e+02] [ 2.67563326e-02 9.99641966e-01 1.95007842e-04 -2.28357052e+01] [ 3.22179320e-03 -2.81310912e-04 9.99994770e-01 -5.00539042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.320371743 meters 0.04391370696391747 Centerline is valid? [True, True] Translation: X:370.77, Y:-22.83, Z:-5.01 [[ 9.99803059e-01 -1.95804898e-02 -3.23218276e-03 3.70773685e+02] [ 1.95812236e-02 9.99808250e-01 1.95551340e-04 -2.28293576e+01] [ 3.22773400e-03 -2.58802921e-04 9.99994757e-01 -5.00565163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.380371743 meters 0.04007635132491555 Centerline is valid? [True, True] Translation: X:370.84, Y:-22.82, Z:-5.01 [[ 9.99889307e-01 -1.41731334e-02 -4.52720199e-03 3.70835175e+02] [ 1.41745187e-02 9.99899499e-01 2.74041030e-04 -2.28205836e+01] [ 4.52286298e-03 -3.38181605e-04 9.99989715e-01 -5.00503204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.440371743 meters 0.03959736854965611 Centerline is valid? [True, True] Translation: X:370.90, Y:-22.82, Z:-5.01 [[ 9.99950039e-01 -9.03912434e-03 -4.26777618e-03 3.70896144e+02] [ 9.04030830e-03 9.99959102e-01 2.58208696e-04 -2.28187868e+01] [ 4.26526766e-03 -2.96777808e-04 9.99990860e-01 -5.00535818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.500371743 meters 0.03810928795184195 Centerline is valid? [True, True] Translation: X:370.96, Y:-22.82, Z:-5.01 [[ 9.99982800e-01 -4.58773847e-03 -3.65417626e-03 3.70956815e+02] [ 4.58857698e-03 9.99989448e-01 2.21115584e-04 -2.28159945e+01] [ 3.65312328e-03 -2.37879250e-04 9.99993299e-01 -5.00501047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.560371743 meters 0.03694374807865434 Centerline is valid? [True, True] Translation: X:371.02, Y:-22.81, Z:-5.01 [[ 9.99991201e-01 1.04870595e-03 -4.06179266e-03 3.71017761e+02] [-1.04771650e-03 9.99999421e-01 2.45720026e-04 -2.28134323e+01] [ 4.06204800e-03 -2.41462256e-04 9.99991721e-01 -5.00564462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.620371743 meters 0.033833370685558195 Centerline is valid? [True, True] Translation: X:371.08, Y:-22.81, Z:-5.01 [[ 9.99971634e-01 6.33284270e-03 -4.07759750e-03 3.71078592e+02] [-6.33188942e-03 9.99979923e-01 2.46651676e-04 -2.28072756e+01] [ 4.07907764e-03 -2.20825783e-04 9.99991656e-01 -5.00555709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.680371743 meters 0.032655288309542826 Centerline is valid? [True, True] Translation: X:371.14, Y:-22.81, Z:-5.01 [[ 9.99951810e-01 9.29373574e-03 -3.16303739e-03 3.71138913e+02] [-9.29317932e-03 9.99956799e-01 1.90564746e-04 -2.28067568e+01] [ 3.16467180e-03 -1.61160889e-04 9.99994979e-01 -5.00600206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.740371743 meters 0.033215276520115494 Centerline is valid? [True, True] Translation: X:371.20, Y:-22.81, Z:-5.01 [[ 9.99938688e-01 1.02010342e-02 -4.30802096e-03 3.71196156e+02] [-1.02000139e-02 9.99947945e-01 2.58734476e-04 -2.28101217e+01] [ 4.31043607e-03 -2.14776739e-04 9.99990687e-01 -5.00728830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.800371743 meters 0.0341486272204758 Centerline is valid? [True, True] Translation: X:371.25, Y:-22.81, Z:-5.01 [[ 9.99933691e-01 1.07058381e-02 -4.24254215e-03 3.71254585e+02] [-1.07048534e-02 9.99942669e-01 2.54749957e-04 -2.28148852e+01] [ 4.24502623e-03 -2.09317273e-04 9.99990968e-01 -5.00903229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86037174300003 meters 0.03340139812653912 Centerline is valid? [True, True] Translation: X:371.31, Y:-22.82, Z:-5.01 [[ 9.99940294e-01 1.04817008e-02 -3.08916020e-03 3.71313750e+02] [-1.04811792e-02 9.99945054e-01 1.84975902e-04 -2.28180540e+01] [ 3.09092933e-03 -1.52586816e-04 9.99995211e-01 -5.00891857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.920371743 meters 0.03357710583496803 Centerline is valid? [True, True] Translation: X:371.37, Y:-22.82, Z:-5.01 [[ 9.99952603e-01 9.52854346e-03 -1.99961511e-03 3.71372727e+02] [-9.52832407e-03 9.99954597e-01 1.19212002e-04 -2.28219244e+01] [ 2.00066023e-03 -1.00153371e-04 9.99997994e-01 -5.00877582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.980371743 meters 0.03679882921636805 Centerline is valid? [True, True] Translation: X:371.43, Y:-22.84, Z:-5.01 [[ 9.99970422e-01 7.33008332e-03 -2.32901296e-03 3.71430750e+02] [-7.32977901e-03 9.99973127e-01 1.39167779e-04 -2.28356975e+01] [ 2.32997048e-03 -1.22092512e-04 9.99997278e-01 -5.01169533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.040371743 meters 0.03394894960002417 Centerline is valid? [True, True] Translation: X:371.49, Y:-22.83, Z:-5.01 [[ 9.99978216e-01 6.12327151e-03 -2.46443244e-03 3.71489561e+02] [-6.12292817e-03 9.99981244e-01 1.46839945e-04 -2.28344551e+01] [ 2.46528536e-03 -1.31747203e-04 9.99996953e-01 -5.01036925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.100371743 meters 0.03473157691127029 Centerline is valid? [True, True] Translation: X:371.55, Y:-22.84, Z:-5.01 [[ 9.99987834e-01 4.35000912e-03 -2.32575967e-03 3.71548510e+02] [-4.34969829e-03 9.99990530e-01 1.38690270e-04 -2.28410721e+01] [ 2.32634095e-03 -1.28572230e-04 9.99997286e-01 -5.01149648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.160371743 meters 0.0355637603620762 Centerline is valid? [True, True] Translation: X:371.61, Y:-22.85, Z:-5.01 [[ 9.99989649e-01 3.42643916e-03 -2.99349769e-03 3.71606627e+02] [-3.42592002e-03 9.99994116e-01 1.78535542e-04 -2.28484300e+01] [ 2.99409182e-03 -1.68278210e-04 9.99995504e-01 -5.01282325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.220371743 meters 0.035904510283946235 Centerline is valid? [True, True] Translation: X:371.66, Y:-22.85, Z:-5.01 [[ 9.99990653e-01 3.36045980e-03 -2.72050266e-03 3.71664747e+02] [-3.36003219e-03 9.99994342e-01 1.61732790e-04 -2.28535015e+01] [ 2.72103076e-03 -1.52590302e-04 9.99996286e-01 -5.01397024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.280371743 meters 0.03598066965120166 Centerline is valid? [True, True] Translation: X:371.72, Y:-22.86, Z:-5.01 [[ 9.99991132e-01 3.20376640e-03 -2.73349652e-03 3.71724216e+02] [-3.20333297e-03 9.99994856e-01 1.62925804e-04 -2.28588860e+01] [ 2.73400443e-03 -1.54168060e-04 9.99996251e-01 -5.01471437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.340371743 meters 0.035625548714264293 Centerline is valid? [True, True] Translation: X:371.78, Y:-22.86, Z:-5.02 [[ 9.99991468e-01 1.97729706e-03 -3.62685640e-03 3.71783746e+02] [-1.97652590e-03 9.99998023e-01 2.16198273e-04 -2.28632319e+01] [ 3.62727672e-03 -2.09027853e-04 9.99993400e-01 -5.01601755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.400371743 meters 0.03518492400661049 Centerline is valid? [True, True] Translation: X:371.84, Y:-22.87, Z:-5.02 [[ 9.99992993e-01 -1.45097484e-04 -3.74073007e-03 3.71843439e+02] [ 1.45932143e-04 9.99999965e-01 2.22855433e-04 -2.28690436e+01] [ 3.74069760e-03 -2.23399764e-04 9.99992979e-01 -5.01577087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.460371743 meters 0.03770354054303302 Centerline is valid? [True, True] Translation: X:371.90, Y:-22.88, Z:-5.02 [[ 9.99988600e-01 -3.18558782e-03 -3.55705431e-03 3.71902185e+02] [ 3.18636116e-03 9.99994901e-01 2.11763348e-04 -2.28786961e+01] [ 3.55636158e-03 -2.23094993e-04 9.99993651e-01 -5.01678360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.520371743 meters 0.03893302821461938 Centerline is valid? [True, True] Translation: X:371.96, Y:-22.89, Z:-5.02 [[ 9.99972475e-01 -6.40568849e-03 -3.74394126e-03 3.71962403e+02] [ 6.40656975e-03 9.99979453e-01 2.23435231e-04 -2.28875127e+01] [ 3.74243307e-03 -2.47414901e-04 9.99992966e-01 -5.01783191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.580371743 meters 0.03944112783030528 Centerline is valid? [True, True] Translation: X:372.02, Y:-22.90, Z:-5.02 [[ 9.99933782e-01 -1.07718469e-02 -4.04960989e-03 3.72022230e+02] [ 1.07729138e-02 9.99941941e-01 2.41732425e-04 -2.28959996e+01] [ 4.04677087e-03 -2.85342516e-04 9.99991771e-01 -5.01842877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.640371743 meters 0.04050899578503356 Centerline is valid? [True, True] Translation: X:372.08, Y:-22.90, Z:-5.02 [[ 9.99884783e-01 -1.46380152e-02 -4.01862609e-03 3.72082619e+02] [ 1.46390969e-02 9.99892814e-01 2.39901282e-04 -2.29032299e+01] [ 4.01468367e-03 -2.98702698e-04 9.99991897e-01 -5.01799169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.700371743 meters 0.0425043221192376 Centerline is valid? [True, True] Translation: X:372.14, Y:-22.91, Z:-5.02 [[ 9.99794314e-01 -1.96114632e-02 -5.16910160e-03 3.72143372e+02] [ 1.96133217e-02 9.99807593e-01 3.09098875e-04 -2.29124326e+01] [ 5.16204514e-03 -4.10418550e-04 9.99986592e-01 -5.01911404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.760371743 meters 0.042115708594834544 Centerline is valid? [True, True] Translation: X:372.20, Y:-22.92, Z:-5.02 [[ 9.99685298e-01 -2.44548402e-02 -5.59154222e-03 3.72204331e+02] [ 2.44570910e-02 9.99700825e-01 3.34496582e-04 -2.29171708e+01] [ 5.58168930e-03 -4.71144172e-04 9.99984311e-01 -5.01908478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.820371743 meters 0.04654600737201148 Centerline is valid? [True, True] Translation: X:372.26, Y:-22.93, Z:-5.02 [[ 9.99530824e-01 -3.00430916e-02 -5.96187733e-03 3.72262940e+02] [ 3.00457493e-02 9.99548461e-01 3.56700461e-04 -2.29287588e+01] [ 5.94846893e-03 -5.35662178e-04 9.99982164e-01 -5.02120182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.880371743 meters 0.04515789900378659 Centerline is valid? [True, True] Translation: X:372.32, Y:-22.93, Z:-5.02 [[ 9.99373123e-01 -3.49826446e-02 -5.43828413e-03 3.72323708e+02] [ 3.49849282e-02 9.99387787e-01 3.25316783e-04 -2.29316415e+01] [ 5.42357430e-03 -5.15370829e-04 9.99985160e-01 -5.01974190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.940371743 meters 0.05083570756469019 Centerline is valid? [True, True] Translation: X:372.38, Y:-22.94, Z:-5.02 [[ 9.99230448e-01 -3.86742759e-02 -6.54308248e-03 3.72383351e+02] [ 3.86776641e-02 9.99251662e-01 3.92047946e-04 -2.29429749e+01] [ 6.52302387e-03 -6.44817392e-04 9.99978517e-01 -5.02143495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.000371743 meters 0.0513905471828206 Centerline is valid? [True, True] Translation: X:372.44, Y:-22.95, Z:-5.02 [[ 9.99158705e-01 -4.03507125e-02 -7.32813750e-03 3.72444679e+02] [ 4.03550081e-02 9.99185308e-01 4.39210426e-04 -2.29455152e+01] [ 7.30444488e-03 -7.34567969e-04 9.99973052e-01 -5.02246754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.060371743 meters 0.05067274496816918 Centerline is valid? [True, True] Translation: X:372.51, Y:-22.94, Z:-5.02 [[ 9.99123729e-01 -4.11146602e-02 -7.83318756e-03 3.72506461e+02] [ 4.11196065e-02 9.99154120e-01 4.71384663e-04 -2.29443186e+01] [ 7.80718080e-03 -7.93069192e-04 9.99969209e-01 -5.02259514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.120371743 meters 0.04926920962593462 Centerline is valid? [True, True] Translation: X:372.57, Y:-22.94, Z:-5.02 [[ 9.99096517e-01 -4.15962065e-02 -8.71231485e-03 3.72568825e+02] [ 4.16023433e-02 9.99134110e-01 5.24263394e-04 -2.29416539e+01] [ 8.68296358e-03 -8.86242445e-04 9.99961910e-01 -5.02272143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.180371743 meters 0.04785483363416744 Centerline is valid? [True, True] Translation: X:372.63, Y:-22.94, Z:-5.02 [[ 9.99076823e-01 -4.20789392e-02 -8.65240283e-03 3.72630895e+02] [ 4.20850157e-02 9.99113897e-01 5.21345533e-04 -2.29401535e+01] [ 8.62279825e-03 -8.85000748e-04 9.99962431e-01 -5.02244323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.240371743 meters 0.05058382091202477 Centerline is valid? [True, True] Translation: X:372.69, Y:-22.94, Z:-5.02 [[ 9.98993405e-01 -4.39214609e-02 -9.11494337e-03 3.72691805e+02] [ 4.39282786e-02 9.99034536e-01 5.49012291e-04 -2.29425308e+01] [ 9.08202980e-03 -9.48863430e-04 9.99958307e-01 -5.02266320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.300371743 meters 0.052846794759220925 Centerline is valid? [True, True] Translation: X:372.75, Y:-22.95, Z:-5.02 [[ 9.98920713e-01 -4.54724268e-02 -9.46932249e-03 3.72752789e+02] [ 4.54798524e-02 9.98965093e-01 5.70206147e-04 -2.29455827e+01] [ 9.43359397e-03 -1.00025412e-03 9.99955002e-01 -5.02359054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.36037174300003 meters 0.051160892674977726 Centerline is valid? [True, True] Translation: X:372.81, Y:-22.94, Z:-5.02 [[ 9.98820472e-01 -4.73676846e-02 -1.06755505e-02 3.72814544e+02] [ 4.73772365e-02 9.98876861e-01 6.43486745e-04 -2.29413267e+01] [ 1.06330799e-02 -1.14850582e-03 9.99942808e-01 -5.02327403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.420371743 meters 0.049729557519206456 Centerline is valid? [True, True] Translation: X:372.88, Y:-22.94, Z:-5.02 [[ 9.98699610e-01 -4.98810337e-02 -1.05343439e-02 3.72875696e+02] [ 4.98904683e-02 9.98754494e-01 6.34553226e-04 -2.29381754e+01] [ 1.04895711e-02 -1.15929141e-03 9.99944311e-01 -5.02247716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.480371743 meters 0.05151168111300543 Centerline is valid? [True, True] Translation: X:372.94, Y:-22.94, Z:-5.02 [[ 9.98573247e-01 -5.24315091e-02 -1.01196643e-02 3.72935866e+02] [ 5.24403451e-02 9.98623872e-01 6.09607690e-04 -2.29405228e+01] [ 1.00737757e-02 -1.13941662e-03 9.99948609e-01 -5.02166554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.540371743 meters 0.05235854673819999 Centerline is valid? [True, True] Translation: X:373.00, Y:-22.94, Z:-5.02 [[ 9.98341480e-01 -5.65333198e-02 -1.08753329e-02 3.72996626e+02] [ 5.65437641e-02 9.98399907e-01 6.55056095e-04 -2.29425212e+01] [ 1.08208988e-02 -1.26890193e-03 9.99940647e-01 -5.02065832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.600371743 meters 0.055498887808272536 Centerline is valid? [True, True] Translation: X:373.06, Y:-22.95, Z:-5.02 [[ 9.97864267e-01 -6.40227097e-02 -1.29614114e-02 3.73057197e+02] [ 6.40381699e-02 9.97947144e-01 7.80868625e-04 -2.29482615e+01] [ 1.28848101e-02 -1.60922596e-03 9.99915692e-01 -5.02188263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.660371743 meters 0.055980969172736594 Centerline is valid? [True, True] Translation: X:373.12, Y:-22.95, Z:-5.02 [[ 9.97735903e-01 -6.59370775e-02 -1.32427162e-02 3.73117529e+02] [ 6.59533859e-02 9.97822386e-01 7.98103658e-04 -2.29511019e+01] [ 1.31612540e-02 -1.66969865e-03 9.99911993e-01 -5.02270819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.720371743 meters 0.060754107577126445 Centerline is valid? [True, True] Translation: X:373.18, Y:-22.96, Z:-5.02 [[ 9.97807123e-01 -6.48272229e-02 -1.33557430e-02 3.73177455e+02] [ 6.48437523e-02 9.97895102e-01 8.07870466e-04 -2.29589946e+01] [ 1.32752586e-02 -1.67213540e-03 9.99910482e-01 -5.02391423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.780371743 meters 0.05799356530155247 Centerline is valid? [True, True] Translation: X:373.24, Y:-22.96, Z:-5.02 [[ 9.97812286e-01 -6.48114776e-02 -1.30427891e-02 3.73240405e+02] [ 6.48272601e-02 9.97896188e-01 7.90491315e-04 -2.29566316e+01] [ 1.29641166e-02 -1.63429023e-03 9.99914627e-01 -5.02441001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.840371743 meters 0.06128687225393673 Centerline is valid? [True, True] Translation: X:373.30, Y:-22.96, Z:-5.03 [[ 9.97999937e-01 -6.18167570e-02 -1.32217450e-02 3.73299621e+02] [ 6.18326882e-02 9.98086209e-01 7.99160885e-04 -2.29636874e+01] [ 1.31470398e-02 -1.61509855e-03 9.99912270e-01 -5.02567289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.900371743 meters 0.05638795435698731 Centerline is valid? [True, True] Translation: X:373.36, Y:-22.96, Z:-5.03 [[ 9.98409664e-01 -5.49103134e-02 -1.27671358e-02 3.73360698e+02] [ 5.49246169e-02 9.98490205e-01 7.72152820e-04 -2.29564350e+01] [ 1.27054608e-02 -1.47215488e-03 9.99918199e-01 -5.02535753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.960371743 meters 0.0550709980270561 Centerline is valid? [True, True] Translation: X:373.42, Y:-22.95, Z:-5.03 [[ 9.99134370e-01 -3.96217713e-02 -1.26738157e-02 3.73420876e+02] [ 3.96346492e-02 9.99213945e-01 7.66456400e-04 -2.29534056e+01] [ 1.26334851e-02 -1.26811517e-03 9.99919390e-01 -5.02805757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.020371743 meters 0.04581092765681986 Centerline is valid? [True, True] Translation: X:373.48, Y:-22.94, Z:-5.03 [[ 9.99554056e-01 -2.68644714e-02 -1.30379788e-02 3.73482298e+02] [ 2.68770255e-02 9.99638436e-01 7.88593631e-04 -2.29391631e+01] [ 1.30120796e-02 -1.13866405e-03 9.99914691e-01 -5.02615588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.080371743 meters 0.04274769571538057 Centerline is valid? [True, True] Translation: X:373.54, Y:-22.93, Z:-5.03 [[ 9.99834473e-01 -1.31791476e-02 -1.25434169e-02 3.73542445e+02] [ 1.31896963e-02 9.99912724e-01 7.58611904e-04 -2.29345961e+01] [ 1.25323243e-02 -9.23930193e-04 9.99921040e-01 -5.02629254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.140371743 meters 0.037222760497016796 Centerline is valid? [True, True] Translation: X:373.60, Y:-22.93, Z:-5.03 [[ 9.99928503e-01 -1.39832576e-03 -1.18757846e-02 3.73604039e+02] [ 1.40695334e-03 9.99998752e-01 7.18161067e-04 -2.29266058e+01] [ 1.18747655e-02 -7.34818395e-04 9.99929222e-01 -5.02556415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.200371743 meters 0.032779518307229846 Centerline is valid? [True, True] Translation: X:373.66, Y:-22.92, Z:-5.02 [[ 9.99899555e-01 8.04987165e-03 -1.16653167e-02 3.73664475e+02] [-8.04219420e-03 9.99967413e-01 7.04903557e-04 -2.29198999e+01] [ 1.16706109e-02 -6.11018011e-04 9.99931709e-01 -5.02434486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.260371743 meters 0.03174656043933901 Centerline is valid? [True, True] Translation: X:373.73, Y:-22.92, Z:-5.03 [[ 9.99849383e-01 1.31672272e-02 -1.13064302e-02 3.73725048e+02] [-1.31603392e-02 9.99913165e-01 6.83397650e-04 -2.29212049e+01] [ 1.13144469e-02 -5.34498262e-04 9.99935847e-01 -5.02503187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.320371743 meters 0.03078368306716136 Centerline is valid? [True, True] Translation: X:373.79, Y:-22.93, Z:-5.03 [[ 9.99775493e-01 1.86182426e-02 -1.01155806e-02 3.73785495e+02] [-1.86130080e-02 9.99826576e-01 6.11377200e-04 -2.29254189e+01] [ 1.01252091e-02 -4.22958558e-04 9.99948649e-01 -5.02561113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.380371743 meters 0.03017094832780007 Centerline is valid? [True, True] Translation: X:373.85, Y:-22.93, Z:-5.03 [[ 9.99688945e-01 2.31866379e-02 -9.18658002e-03 3.73845112e+02] [-2.31825168e-02 9.99731095e-01 5.54847387e-04 -2.29310219e+01] [ 9.19697475e-03 -3.41706754e-04 9.99957649e-01 -5.02698613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.440371743 meters 0.031369470392427205 Centerline is valid? [True, True] Translation: X:373.90, Y:-22.94, Z:-5.03 [[ 9.99640702e-01 2.51824305e-02 -9.18218504e-03 3.73902010e+02] [-2.51784147e-02 9.99682821e-01 5.52706499e-04 -2.29407116e+01] [ 9.19319114e-03 -3.21315050e-04 9.99957690e-01 -5.03045639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.500371743 meters 0.030559790958490627 Centerline is valid? [True, True] Translation: X:373.96, Y:-22.95, Z:-5.03 [[ 9.99658199e-01 2.46202999e-02 -8.79351851e-03 3.73960638e+02] [-2.46165990e-02 9.99696826e-01 5.28873077e-04 -2.29472697e+01] [ 8.80387356e-03 -3.12225789e-04 9.99961196e-01 -5.03168783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.560371743 meters 0.03157305071267004 Centerline is valid? [True, True] Translation: X:374.02, Y:-22.96, Z:-5.03 [[ 9.99713298e-01 2.26549834e-02 -7.75074101e-03 3.74017807e+02] [-2.26520574e-02 9.99743301e-01 4.65098486e-04 -2.29592468e+01] [ 7.75928820e-03 -2.89394911e-04 9.99969854e-01 -5.03418169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.620371743 meters 0.03313138597493049 Centerline is valid? [True, True] Translation: X:374.08, Y:-22.97, Z:-5.04 [[ 9.99810836e-01 1.81189028e-02 -7.07089587e-03 3.74077818e+02] [-1.81163462e-02 9.99835795e-01 4.25457718e-04 -2.29722255e+01] [ 7.07744362e-03 -2.97278439e-04 9.99974910e-01 -5.03604612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.680371743 meters 0.03345375181770605 Centerline is valid? [True, True] Translation: X:374.14, Y:-22.98, Z:-5.04 [[ 9.99917988e-01 1.07245315e-02 -7.00006006e-03 3.74137327e+02] [-1.07218477e-02 9.99942431e-01 4.20813013e-04 -2.29836583e+01] [ 7.00417009e-03 -3.45724924e-04 9.99975411e-01 -5.03692492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.740371743 meters 0.03613245836214384 Centerline is valid? [True, True] Translation: X:374.20, Y:-23.00, Z:-5.04 [[ 9.99970348e-01 1.60465767e-03 -7.53180835e-03 3.74197092e+02] [-1.60129030e-03 9.99998615e-01 4.53095204e-04 -2.29986156e+01] [ 7.53252499e-03 -4.41021157e-04 9.99971533e-01 -5.03778517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.800371743 meters 0.03973866612373878 Centerline is valid? [True, True] Translation: X:374.26, Y:-23.01, Z:-5.04 [[ 9.99946708e-01 -7.13034344e-03 -7.46581760e-03 3.74256534e+02] [ 7.13389326e-03 9.99974453e-01 4.48953134e-04 -2.30149645e+01] [ 7.46242568e-03 -5.02189554e-04 9.99972030e-01 -5.03989381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.86037174300003 meters 0.04337955459376218 Centerline is valid? [True, True] Translation: X:374.32, Y:-23.03, Z:-5.04 [[ 9.99855731e-01 -1.58097068e-02 -6.21051295e-03 3.74316425e+02] [ 1.58123312e-02 9.99874907e-01 3.73690370e-04 -2.30300873e+01] [ 6.20382813e-03 -4.71839145e-04 9.99980645e-01 -5.04072975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.920371743 meters 0.04659817800809479 Centerline is valid? [True, True] Translation: X:374.38, Y:-23.04, Z:-5.04 [[ 9.99720700e-01 -2.29136540e-02 -5.78681998e-03 3.74376631e+02] [ 2.29160507e-02 9.99737332e-01 3.48180330e-04 -2.30410676e+01] [ 5.77732188e-03 -4.80694143e-04 9.99983196e-01 -5.04067661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.980371743 meters 0.04661936821105129 Centerline is valid? [True, True] Translation: X:374.44, Y:-23.05, Z:-5.04 [[ 9.99542208e-01 -2.97559043e-02 -5.47354584e-03 3.74436518e+02] [ 2.97581484e-02 9.99557074e-01 3.28989407e-04 -2.30465543e+01] [ 5.46133209e-03 -4.91721388e-04 9.99984966e-01 -5.04062432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.040371743 meters 0.05094642468306839 Centerline is valid? [True, True] Translation: X:374.50, Y:-23.06, Z:-5.04 [[ 9.99349663e-01 -3.56486166e-02 -5.42468168e-03 3.74495976e+02] [ 3.56509064e-02 9.99364251e-01 3.25958060e-04 -2.30565160e+01] [ 5.40961299e-03 -5.19140897e-04 9.99985233e-01 -5.04213267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.100371743 meters 0.05700747511309986 Centerline is valid? [True, True] Translation: X:374.56, Y:-23.07, Z:-5.04 [[ 9.99181095e-01 -4.00806597e-02 -5.53898483e-03 3.74555228e+02] [ 4.00831150e-02 9.99196294e-01 3.32939004e-04 -2.30680421e+01] [ 5.52118870e-03 -5.54686124e-04 9.99984604e-01 -5.04396938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.160371743 meters 0.04825703687356413 Centerline is valid? [True, True] Translation: X:374.62, Y:-23.06, Z:-5.04 [[ 9.99044104e-01 -4.32057736e-02 -6.64379247e-03 3.74616097e+02] [ 4.32093762e-02 9.99065959e-01 3.99600817e-04 -2.30564436e+01] [ 6.62032183e-03 -6.86292969e-04 9.99977850e-01 -5.04270013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.220371743 meters 0.047695201265879096 Centerline is valid? [True, True] Translation: X:374.68, Y:-23.06, Z:-5.04 [[ 9.99030610e-01 -4.35223425e-02 -6.60644885e-03 3.74678171e+02] [ 4.35259214e-02 9.99052218e-01 3.98840486e-04 -2.30567250e+01] [ 6.58282890e-03 -6.86005627e-04 9.99978098e-01 -5.04297172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.280371743 meters 0.05367583425024457 Centerline is valid? [True, True] Translation: X:374.74, Y:-23.06, Z:-5.05 [[ 9.99155472e-01 -4.05683357e-02 -6.52332034e-03 3.74737518e+02] [ 4.05717534e-02 9.99176550e-01 3.92388595e-04 -2.30648273e+01] [ 6.50203016e-03 -6.56719755e-04 9.99978646e-01 -5.04555394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.340371743 meters 0.04672183579596463 Centerline is valid? [True, True] Translation: X:374.80, Y:-23.05, Z:-5.04 [[ 9.99299052e-01 -3.67528969e-02 -7.11545409e-03 3.74799131e+02] [ 3.67568693e-02 9.99324146e-01 4.28266972e-04 -2.30539036e+01] [ 7.09490503e-03 -6.89508595e-04 9.99974593e-01 -5.04486138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.400371743 meters 0.04801768717683021 Centerline is valid? [True, True] Translation: X:374.86, Y:-23.05, Z:-5.05 [[ 9.99478954e-01 -3.13112607e-02 -7.83744217e-03 3.74858938e+02] [ 3.13159169e-02 9.99509425e-01 4.72053808e-04 -2.30540213e+01] [ 7.81881671e-03 -7.17244534e-04 9.99969175e-01 -5.04624402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.460371743 meters 0.04752225072702979 Centerline is valid? [True, True] Translation: X:374.92, Y:-23.05, Z:-5.05 [[ 9.99722944e-01 -2.24789501e-02 -6.98078799e-03 3.74919348e+02] [ 2.24824275e-02 9.99747150e-01 4.20045711e-04 -2.30495241e+01] [ 6.96958071e-03 -5.76874394e-04 9.99975546e-01 -5.04511578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.520371743 meters 0.041946788283180075 Centerline is valid? [True, True] Translation: X:374.98, Y:-23.04, Z:-5.04 [[ 9.99783992e-01 -1.91100170e-02 -8.17168608e-03 3.74980503e+02] [ 1.91146716e-02 9.99817177e-01 4.91872078e-04 -2.30390167e+01] [ 8.16079243e-03 -6.47964926e-04 9.99966490e-01 -5.04456505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.580371743 meters 0.03905422613728534 Centerline is valid? [True, True] Translation: X:375.04, Y:-23.03, Z:-5.04 [[ 9.99914607e-01 -9.96381929e-03 -8.45580415e-03 3.75042277e+02] [ 9.96847937e-03 9.99950184e-01 5.09142352e-04 -2.30274506e+01] [ 8.45030991e-03 -5.93390384e-04 9.99964119e-01 -5.04402477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.640371743 meters 0.03790556777097274 Centerline is valid? [True, True] Translation: X:375.10, Y:-23.03, Z:-5.04 [[ 9.99925333e-01 -8.96883269e-03 -8.29989978e-03 3.75103495e+02] [ 8.97329102e-03 9.99959614e-01 5.00070879e-04 -2.30259078e+01] [ 8.29507952e-03 -5.74510956e-04 9.99965430e-01 -5.04394208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.700371743 meters 0.037302762882422444 Centerline is valid? [True, True] Translation: X:375.16, Y:-23.02, Z:-5.04 [[ 9.99942581e-01 -7.97400068e-03 -7.15886639e-03 3.75164892e+02] [ 7.97729612e-03 9.99968088e-01 4.31892373e-04 -2.30215724e+01] [ 7.15519402e-03 -4.88975971e-04 9.99974282e-01 -5.04322849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.760371743 meters 0.03931787387846096 Centerline is valid? [True, True] Translation: X:375.23, Y:-23.02, Z:-5.04 [[ 9.99904606e-01 -1.12852704e-02 -7.96370603e-03 3.75225797e+02] [ 1.12894492e-02 9.99936157e-01 4.79966408e-04 -2.30214701e+01] [ 7.95778105e-03 -5.69826477e-04 9.99968174e-01 -5.04397752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.820371743 meters 0.043263362536867266 Centerline is valid? [True, True] Translation: X:375.29, Y:-23.03, Z:-5.04 [[ 9.99829025e-01 -1.71343502e-02 -6.95234545e-03 3.75285574e+02] [ 1.71376863e-02 9.99853051e-01 4.20561646e-04 -2.30263965e+01] [ 6.94411776e-03 -5.39636855e-04 9.99975744e-01 -5.04440173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.880371743 meters 0.044551886500119695 Centerline is valid? [True, True] Translation: X:375.35, Y:-23.03, Z:-5.04 [[ 9.99690194e-01 -2.41480982e-02 -6.03195928e-03 3.75346544e+02] [ 2.41507315e-02 9.99708262e-01 3.64091848e-04 -2.30273710e+01] [ 6.02140740e-03 -5.09655279e-04 9.99981741e-01 -5.04371041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.940371743 meters 0.048558200853321284 Centerline is valid? [True, True] Translation: X:375.41, Y:-23.03, Z:-5.05 [[ 9.99569977e-01 -2.85307566e-02 -6.77175108e-03 3.75406573e+02] [ 2.85341799e-02 9.99592734e-01 4.09430074e-04 -2.30324475e+01] [ 6.75731183e-03 -6.02480373e-04 9.99976988e-01 -5.04624109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.000371743 meters 0.043971696991254756 Centerline is valid? [True, True] Translation: X:375.47, Y:-23.02, Z:-5.05 [[ 9.99561132e-01 -2.88138515e-02 -6.87795910e-03 3.75469906e+02] [ 2.88173967e-02 9.99584606e-01 4.16880045e-04 -2.30227659e+01] [ 6.86309012e-03 -6.14901965e-04 9.99976260e-01 -5.04568326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.060371743 meters 0.04239521504867276 Centerline is valid? [True, True] Translation: X:375.53, Y:-23.02, Z:-5.05 [[ 9.99683266e-01 -2.44630570e-02 -5.90984797e-03 3.75531112e+02] [ 2.44655947e-02 9.99700609e-01 3.57473017e-04 -2.30176646e+01] [ 5.89933373e-03 -5.01947739e-04 9.99982473e-01 -5.04595619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.120371743 meters 0.041556127836383 Centerline is valid? [True, True] Translation: X:375.59, Y:-23.01, Z:-5.05 [[ 9.99855925e-01 -1.60805996e-02 -5.43543294e-03 3.75591094e+02] [ 1.60826203e-02 9.99870612e-01 3.28260017e-04 -2.30130563e+01] [ 5.42945105e-03 -4.15628727e-04 9.99985174e-01 -5.04676310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.180371743 meters 0.036878659745707615 Centerline is valid? [True, True] Translation: X:375.65, Y:-23.00, Z:-5.05 [[ 9.99964573e-01 -6.19315561e-03 -5.70074868e-03 3.75652278e+02] [ 6.19521998e-03 9.99980750e-01 3.44534931e-04 -2.30025349e+01] [ 5.69850518e-03 -3.79840118e-04 9.99983691e-01 -5.04662664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.240371743 meters 0.03510465608398813 Centerline is valid? [True, True] Translation: X:375.71, Y:-23.00, Z:-5.05 [[ 9.99983223e-01 -3.46937816e-04 -5.78218836e-03 3.75712977e+02] [ 3.48964371e-04 9.99999878e-01 3.49477149e-04 -2.29984466e+01] [ 5.78206641e-03 -3.51489063e-04 9.99983222e-01 -5.04730628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.300371743 meters 0.03286805765752713 Centerline is valid? [True, True] Translation: X:375.77, Y:-22.99, Z:-5.05 [[ 9.99940100e-01 9.48238208e-03 -5.46635867e-03 3.75773767e+02] [-9.48071786e-03 9.99955002e-01 3.30280322e-04 -2.29926404e+01] [ 5.46924454e-03 -2.78435534e-04 9.99985005e-01 -5.04798846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.36037174300003 meters 0.031886454828318006 Centerline is valid? [True, True] Translation: X:375.83, Y:-22.99, Z:-5.05 [[ 9.99914793e-01 1.17441339e-02 -5.69927928e-03 3.75832642e+02] [-1.17423692e-02 9.99930997e-01 3.43007773e-04 -2.29925395e+01] [ 5.70291434e-03 -2.76055505e-04 9.99983700e-01 -5.04889976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.420371743 meters 0.03231972370365962 Centerline is valid? [True, True] Translation: X:375.89, Y:-23.00, Z:-5.05 [[ 9.99909915e-01 1.20391786e-02 -5.93462881e-03 3.75891656e+02] [-1.20372724e-02 9.99927486e-01 3.56802035e-04 -2.29968897e+01] [ 5.93849407e-03 -2.85333149e-04 9.99982326e-01 -5.05035428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.480371743 meters 0.03146195599623081 Centerline is valid? [True, True] Translation: X:375.95, Y:-23.00, Z:-5.05 [[ 9.99949979e-01 8.77849242e-03 -4.79357576e-03 3.75951236e+02] [-8.77721092e-03 9.99961438e-01 2.88310666e-04 -2.30010617e+01] [ 4.79592184e-03 -2.46222019e-04 9.99988469e-01 -5.04836025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.540371743 meters 0.03363842600856454 Centerline is valid? [True, True] Translation: X:376.01, Y:-23.01, Z:-5.05 [[ 9.99987041e-01 2.94235505e-03 -4.15461924e-03 3.76011334e+02] [-2.94134040e-03 9.99995643e-01 2.50310337e-04 -2.30145206e+01] [ 4.15533764e-03 -2.38086944e-04 9.99991338e-01 -5.05003662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.600371743 meters 0.035201348506187766 Centerline is valid? [True, True] Translation: X:376.07, Y:-23.03, Z:-5.05 [[ 9.99985708e-01 -2.55839818e-03 -4.69448856e-03 3.76070615e+02] [ 2.55975256e-03 9.99996684e-01 2.82517930e-04 -2.30268293e+01] [ 4.69375020e-03 -2.94530621e-04 9.99988941e-01 -5.05160245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.660371743 meters 0.03545126896548103 Centerline is valid? [True, True] Translation: X:376.13, Y:-23.04, Z:-5.05 [[ 9.99953605e-01 -7.92607129e-03 -5.47396781e-03 3.76130285e+02] [ 7.92799451e-03 9.99968519e-01 3.29728520e-04 -2.30377705e+01] [ 5.47118203e-03 -3.73110809e-04 9.99984963e-01 -5.05235184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.720371743 meters 0.04182280834810754 Centerline is valid? [True, True] Translation: X:376.19, Y:-23.06, Z:-5.05 [[ 9.99907590e-01 -1.24812837e-02 -5.38783461e-03 3.76188951e+02] [ 1.24832110e-02 9.99922029e-01 3.24238346e-04 -2.30575152e+01] [ 5.38336760e-03 -3.91465859e-04 9.99985433e-01 -5.05497280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.780371743 meters 0.041955055161942784 Centerline is valid? [True, True] Translation: X:376.25, Y:-23.07, Z:-5.06 [[ 9.99841748e-01 -1.65766429e-02 -6.45707912e-03 3.76248567e+02] [ 1.65794957e-02 9.99862475e-01 3.88530301e-04 -2.30674392e+01] [ 6.44975058e-03 -4.95523930e-04 9.99979077e-01 -5.05570063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.840371743 meters 0.0441222806496681 Centerline is valid? [True, True] Translation: X:376.31, Y:-23.08, Z:-5.06 [[ 9.99793534e-01 -1.90597243e-02 -7.04387251e-03 3.76309524e+02] [ 1.90631874e-02 9.99818191e-01 4.24826587e-04 -2.30776040e+01] [ 7.03449479e-03 -5.59017537e-04 9.99975101e-01 -5.05825156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.900371743 meters 0.04245735300467959 Centerline is valid? [True, True] Translation: X:376.37, Y:-23.08, Z:-5.06 [[ 9.99785519e-01 -1.91378143e-02 -7.91578896e-03 3.76371958e+02] [ 1.91421985e-02 9.99816657e-01 4.78456619e-04 -2.30822735e+01] [ 7.90518104e-03 -6.29879602e-04 9.99968555e-01 -5.05796696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.960371743 meters 0.038529178866679455 Centerline is valid? [True, True] Translation: X:376.43, Y:-23.08, Z:-5.06 [[ 9.99846553e-01 -1.53768719e-02 -8.39185242e-03 3.76432482e+02] [ 1.53816600e-02 9.99881567e-01 5.06317804e-04 -2.30809385e+01] [ 8.38307297e-03 -6.35320732e-04 9.99964660e-01 -5.05698591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.020371743 meters 0.0377512405441933 Centerline is valid? [True, True] Translation: X:376.49, Y:-23.08, Z:-5.06 [[ 9.99908107e-01 -1.03845506e-02 -8.71424112e-03 3.76493135e+02] [ 1.03895240e-02 9.99945889e-01 5.25640579e-04 -2.30837500e+01] [ 8.70831105e-03 -6.16129093e-04 9.99961892e-01 -5.05841456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.080371743 meters 0.03651236660848163 Centerline is valid? [True, True] Translation: X:376.55, Y:-23.09, Z:-5.06 [[ 9.99955600e-01 -5.65327265e-03 -7.53919396e-03 3.76553858e+02] [ 5.65686127e-03 9.99983896e-01 4.54755263e-04 -2.30852938e+01] [ 7.53650170e-03 -4.97383246e-04 9.99971476e-01 -5.05866130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.140371743 meters 0.03505779759254732 Centerline is valid? [True, True] Translation: X:376.61, Y:-23.09, Z:-5.06 [[ 9.99972535e-01 -1.75198896e-04 -7.40941683e-03 3.76614860e+02] [ 1.78514013e-04 9.99999884e-01 4.46760340e-04 -2.30850314e+01] [ 7.40933770e-03 -4.48070754e-04 9.99972450e-01 -5.05820776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.200371743 meters 0.03452486134282464 Centerline is valid? [True, True] Translation: X:376.67, Y:-23.09, Z:-5.06 [[ 9.99962140e-01 3.69107757e-03 -7.88002114e-03 3.76674375e+02] [-3.68745292e-03 9.99993089e-01 4.74459322e-04 -2.30868020e+01] [ 7.88171794e-03 -4.45384152e-04 9.99968840e-01 -5.06015244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.260371743 meters 0.03314052918507787 Centerline is valid? [True, True] Translation: X:376.73, Y:-23.09, Z:-5.06 [[ 9.99908786e-01 9.26520507e-03 -9.82729531e-03 3.76734640e+02] [-9.25983189e-03 9.99956952e-01 5.92121195e-04 -2.30852009e+01] [ 9.83235839e-03 -5.01068082e-04 9.99951536e-01 -5.06125643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.320371743 meters 0.031152828412840602 Centerline is valid? [True, True] Translation: X:376.80, Y:-23.08, Z:-5.06 [[ 9.99854591e-01 1.41093731e-02 -9.57715626e-03 3.76795568e+02] [-1.41044921e-02 9.99900360e-01 5.77012298e-04 -2.30823773e+01] [ 9.58434328e-03 -4.41847471e-04 9.99953972e-01 -5.05997358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.380371743 meters 0.031328844638790314 Centerline is valid? [True, True] Translation: X:376.85, Y:-23.08, Z:-5.06 [[ 9.99797472e-01 1.74011520e-02 -1.01101503e-02 3.76854379e+02] [-1.73958926e-02 9.99848495e-01 6.07923600e-04 -2.30834765e+01] [ 1.01191972e-02 -4.31925389e-04 9.99948706e-01 -5.06137327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.440371743 meters 0.030792659955176566 Centerline is valid? [True, True] Translation: X:376.91, Y:-23.08, Z:-5.06 [[ 9.99786485e-01 1.83523731e-02 -9.49605173e-03 3.76913560e+02] [-1.83477855e-02 9.99831503e-01 5.70000920e-04 -2.30827987e+01] [ 9.50491254e-03 -3.95647696e-04 9.99954749e-01 -5.05982143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.500371743 meters 0.030177691952932885 Centerline is valid? [True, True] Translation: X:376.97, Y:-23.08, Z:-5.06 [[ 9.99810355e-01 1.76666332e-02 -8.19413708e-03 3.76972476e+02] [-1.76632007e-02 9.99843873e-01 4.91086438e-04 -2.30841212e+01] [ 8.20153359e-03 -3.46258618e-04 9.99966307e-01 -5.05904087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.560371743 meters 0.03123951638122952 Centerline is valid? [True, True] Translation: X:377.03, Y:-23.09, Z:-5.06 [[ 9.99821363e-01 1.71484626e-02 -7.94808748e-03 3.77030079e+02] [-1.71452297e-02 9.99852897e-01 4.74715970e-04 -2.30898143e+01] [ 7.95505895e-03 -3.38359383e-04 9.99968301e-01 -5.06069222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.620371743 meters 0.03140729105933532 Centerline is valid? [True, True] Translation: X:377.09, Y:-23.09, Z:-5.06 [[ 9.99870960e-01 1.35639280e-02 -8.60711993e-03 3.77090527e+02] [-1.35599885e-02 9.99907926e-01 5.15896691e-04 -2.30925326e+01] [ 8.61332503e-03 -3.99117673e-04 9.99962825e-01 -5.06043182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.680371743 meters 0.032433379769270715 Centerline is valid? [True, True] Translation: X:377.15, Y:-23.10, Z:-5.06 [[ 9.99927103e-01 8.36754939e-03 -8.70471561e-03 3.77151041e+02] [-8.36332203e-03 9.99964891e-01 5.21928895e-04 -2.30990457e+01] [ 8.70877726e-03 -4.49090508e-04 9.99961977e-01 -5.06108385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.740371743 meters 0.03300921114902675 Centerline is valid? [True, True] Translation: X:377.21, Y:-23.10, Z:-5.06 [[ 9.99967500e-01 2.84983864e-03 -7.54175609e-03 3.77211708e+02] [-2.84650749e-03 9.99995846e-01 4.52390948e-04 -2.31047465e+01] [ 7.54301400e-03 -4.30908580e-04 9.99971458e-01 -5.06053700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.800371743 meters 0.034966706402080244 Centerline is valid? [True, True] Translation: X:377.27, Y:-23.11, Z:-5.06 [[ 9.99973368e-01 -2.28544450e-03 -6.93106197e-03 3.77271949e+02] [ 2.28837939e-03 9.99997295e-01 4.15539430e-04 -2.31128834e+01] [ 6.93009353e-03 -4.31389263e-04 9.99975894e-01 -5.06122038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.86037174300003 meters 0.03759871986726675 Centerline is valid? [True, True] Translation: X:377.33, Y:-23.12, Z:-5.06 [[ 9.99940807e-01 -7.83596002e-03 -7.54847458e-03 3.77332103e+02] [ 7.83959896e-03 9.99969167e-01 4.52607114e-04 -2.31216055e+01] [ 7.54469523e-03 -5.11757337e-04 9.99971407e-01 -5.06310879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.920371743 meters 0.03730424540172893 Centerline is valid? [True, True] Translation: X:377.39, Y:-23.13, Z:-5.06 [[ 9.99906462e-01 -1.12637472e-02 -7.75861759e-03 3.77392580e+02] [ 1.12676957e-02 9.99936409e-01 4.65392538e-04 -2.31254423e+01] [ 7.75288215e-03 -5.52770748e-04 9.99969793e-01 -5.06412948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.980371743 meters 0.04097386266736502 Centerline is valid? [True, True] Translation: X:377.45, Y:-23.13, Z:-5.07 [[ 9.99831203e-01 -1.64042246e-02 -8.27443620e-03 3.77452200e+02] [ 1.64088969e-02 9.99865241e-01 4.97098972e-04 -2.31338961e+01] [ 8.26516662e-03 -6.32789435e-04 9.99965643e-01 -5.06550703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.040371743 meters 0.040976233451492136 Centerline is valid? [True, True] Translation: X:377.51, Y:-23.14, Z:-5.07 [[ 9.99812332e-01 -1.75722557e-02 -8.15582612e-03 3.77514271e+02] [ 1.75768425e-02 9.99845395e-01 4.91048232e-04 -2.31367987e+01] [ 8.14593636e-03 -6.34309749e-04 9.99966620e-01 -5.06564094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.100371743 meters 0.04290967243246558 Centerline is valid? [True, True] Translation: X:377.57, Y:-23.14, Z:-5.07 [[ 9.99783744e-01 -1.96156842e-02 -6.90584061e-03 3.77574807e+02] [ 1.96190223e-02 9.99807442e-01 4.15960880e-04 -2.31424228e+01] [ 6.89635148e-03 -5.51356766e-04 9.99976068e-01 -5.06593414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.160371743 meters 0.04171447647540883 Centerline is valid? [True, True] Translation: X:377.64, Y:-23.14, Z:-5.07 [[ 9.99791364e-01 -1.94620601e-02 -6.20141105e-03 3.77637266e+02] [ 1.94647543e-02 9.99810474e-01 3.74390187e-04 -2.31425624e+01] [ 6.19294931e-03 -4.95021018e-04 9.99980701e-01 -5.06562549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.220371743 meters 0.04152077025969096 Centerline is valid? [True, True] Translation: X:377.70, Y:-23.14, Z:-5.07 [[ 9.99827821e-01 -1.75426945e-02 -6.04835627e-03 3.77698938e+02] [ 1.75452231e-02 9.99846004e-01 3.65243479e-04 -2.31430750e+01] [ 6.04101749e-03 -4.71300352e-04 9.99981642e-01 -5.06647741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.280371743 meters 0.041339572156917644 Centerline is valid? [True, True] Translation: X:377.76, Y:-23.14, Z:-5.07 [[ 9.99877150e-01 -1.40872348e-02 -6.87268464e-03 3.77759780e+02] [ 1.40904145e-02 9.99900639e-01 4.14456601e-04 -2.31432985e+01] [ 6.86616322e-03 -5.11244661e-04 9.99976297e-01 -5.06860685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.340371743 meters 0.03737269599068693 Centerline is valid? [True, True] Translation: X:377.82, Y:-23.14, Z:-5.07 [[ 9.99930773e-01 -9.87434295e-03 -6.39894498e-03 3.77821293e+02] [ 9.87701247e-03 9.99951147e-01 3.85712045e-04 -2.31361280e+01] [ 6.39482371e-03 -4.48887802e-04 9.99979452e-01 -5.06701595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.400371743 meters 0.036896607078936786 Centerline is valid? [True, True] Translation: X:377.88, Y:-23.14, Z:-5.07 [[ 9.99958865e-01 -7.43463841e-03 -5.19569924e-03 3.77882072e+02] [ 7.43636737e-03 9.99972301e-01 3.13528445e-04 -2.31366285e+01] [ 5.19322435e-03 -3.52152676e-04 9.99986453e-01 -5.06727241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.460371743 meters 0.040673647807029305 Centerline is valid? [True, True] Translation: X:377.94, Y:-23.14, Z:-5.07 [[ 9.99984005e-01 -4.71018077e-03 -3.13121911e-03 3.77941732e+02] [ 4.71079493e-03 9.99988886e-01 1.88794098e-04 -2.31443418e+01] [ 3.13029505e-03 -2.03541610e-04 9.99995080e-01 -5.06920315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.520371743 meters 0.036209116803013426 Centerline is valid? [True, True] Translation: X:378.00, Y:-23.14, Z:-5.07 [[ 9.99981894e-01 -5.02102577e-03 -3.31691261e-03 3.78003376e+02] [ 5.02171875e-03 9.99987371e-01 2.00627622e-04 -2.31390850e+01] [ 3.31586337e-03 -2.17280592e-04 9.99994479e-01 -5.06877187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.580371743 meters 0.03777325148328794 Centerline is valid? [True, True] Translation: X:378.06, Y:-23.14, Z:-5.07 [[ 9.99958662e-01 -7.79257564e-03 -4.68514726e-03 3.78063805e+02] [ 7.79398673e-03 9.99969586e-01 2.83000553e-04 -2.31443680e+01] [ 4.68279946e-03 -3.19504829e-04 9.99988985e-01 -5.07143979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.640371743 meters 0.037755793805138466 Centerline is valid? [True, True] Translation: X:378.13, Y:-23.15, Z:-5.07 [[ 9.99931045e-01 -1.09556747e-02 -4.22823289e-03 3.78125177e+02] [ 1.09568540e-02 9.99939939e-01 2.55848563e-04 -2.31469275e+01] [ 4.22517594e-03 -3.02159052e-04 9.99991028e-01 -5.07203850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.700371743 meters 0.037955703513080676 Centerline is valid? [True, True] Translation: X:378.19, Y:-23.15, Z:-5.07 [[ 9.99921057e-01 -1.15919405e-02 -4.84846474e-03 3.78186884e+02] [ 1.15935008e-02 9.99932750e-01 2.93839787e-04 -2.31494085e+01] [ 4.84473251e-03 -3.50027270e-04 9.99988203e-01 -5.07353741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.760371743 meters 0.03744398252362761 Centerline is valid? [True, True] Translation: X:378.25, Y:-23.15, Z:-5.07 [[ 9.99957373e-01 -8.12994289e-03 -4.37681642e-03 3.78247692e+02] [ 8.13117954e-03 9.99966906e-01 2.64824914e-04 -2.31495069e+01] [ 4.37451856e-03 -3.00402306e-04 9.99990387e-01 -5.07417248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.820371743 meters 0.036279980157275835 Centerline is valid? [True, True] Translation: X:378.31, Y:-23.15, Z:-5.07 [[ 9.99985395e-01 -4.03796678e-03 -3.59228908e-03 3.78308514e+02] [ 4.03877323e-03 9.99991821e-01 2.17268175e-04 -2.31497353e+01] [ 3.59138237e-03 -2.31773443e-04 9.99993524e-01 -5.07457446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.880371743 meters 0.03499093472053903 Centerline is valid? [True, True] Translation: X:378.37, Y:-23.15, Z:-5.08 [[ 9.99982872e-01 4.56826457e-03 -3.65887393e-03 3.78368473e+02] [-4.56748627e-03 9.99989545e-01 2.21044780e-04 -2.31478730e+01] [ 3.65984547e-03 -2.04329137e-04 9.99993282e-01 -5.07595402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.940371743 meters 0.03203673026389353 Centerline is valid? [True, True] Translation: X:378.43, Y:-23.14, Z:-5.08 [[ 9.99900601e-01 1.37032825e-02 -3.31779147e-03 3.78429081e+02] [-1.37026931e-02 9.99906094e-01 2.00311927e-04 -2.31420103e+01] [ 3.32022484e-03 -1.54829338e-04 9.99994476e-01 -5.07616156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.000371743 meters 0.02986385510638949 Centerline is valid? [True, True] Translation: X:378.49, Y:-23.14, Z:-5.08 [[ 9.99824766e-01 1.86397443e-02 -1.73132776e-03 3.78489387e+02] [-1.86395911e-02 9.99826262e-01 1.04554346e-04 -2.31387421e+01] [ 1.73297582e-03 -7.22647830e-05 9.99998496e-01 -5.07584536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.060371743 meters 0.030164745541295425 Centerline is valid? [True, True] Translation: X:378.55, Y:-23.14, Z:-5.08 [[ 9.99834796e-01 1.80775254e-02 -1.89294210e-03 3.78547626e+02] [-1.80773433e-02 9.99836585e-01 1.13244924e-04 -2.31430828e+01] [ 1.89467996e-03 -7.90068511e-05 9.99998202e-01 -5.07836297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.120371743 meters 0.032332639162822925 Centerline is valid? [True, True] Translation: X:378.61, Y:-23.15, Z:-5.08 [[ 9.99933662e-01 1.11167292e-02 -3.01503359e-03 3.78607873e+02] [-1.11162309e-02 9.99938196e-01 1.81999387e-04 -2.31517133e+01] [ 3.01687049e-03 -1.48471504e-04 9.99995438e-01 -5.08074877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.180371743 meters 0.03593550646617496 Centerline is valid? [True, True] Translation: X:378.67, Y:-23.16, Z:-5.08 [[ 9.99985831e-01 4.66318587e-03 -2.56777445e-03 3.78666923e+02] [-4.66280394e-03 9.99989117e-01 1.54703450e-04 -2.31633795e+01] [ 2.56846791e-03 -1.42728229e-04 9.99996691e-01 -5.08266964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.240371743 meters 0.03526203675461598 Centerline is valid? [True, True] Translation: X:378.73, Y:-23.17, Z:-5.08 [[ 9.99981311e-01 -5.49919830e-03 -2.67140373e-03 3.78727541e+02] [ 5.49964849e-03 9.99984864e-01 1.61206015e-04 -2.31674335e+01] [ 2.67047679e-03 -1.75894783e-04 9.99996419e-01 -5.08250372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.300371743 meters 0.037896295085176286 Centerline is valid? [True, True] Translation: X:378.79, Y:-23.18, Z:-5.08 [[ 9.99905634e-01 -1.32158999e-02 -3.74996044e-03 3.78787296e+02] [ 1.32168412e-02 9.99912628e-01 2.26349197e-04 -2.31758575e+01] [ 3.74664139e-03 -2.75890469e-04 9.99992943e-01 -5.08392160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.36037174300003 meters 0.03996411613555763 Centerline is valid? [True, True] Translation: X:378.85, Y:-23.18, Z:-5.08 [[ 9.99844513e-01 -1.73613002e-02 -3.08797205e-03 3.78847576e+02] [ 1.73619582e-02 9.99849252e-01 1.86410672e-04 -2.31824072e+01] [ 3.08427022e-03 -2.39994929e-04 9.99995215e-01 -5.08453584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.420371743 meters 0.041235760366127465 Centerline is valid? [True, True] Translation: X:378.91, Y:-23.19, Z:-5.09 [[ 9.99819104e-01 -1.87647474e-02 -3.10531625e-03 3.78909171e+02] [ 1.87654223e-02 9.99823896e-01 1.88350196e-04 -2.31861409e+01] [ 3.10123505e-03 -2.46588695e-04 9.99995161e-01 -5.08602708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.480371743 meters 0.04133913386672486 Centerline is valid? [True, True] Translation: X:378.97, Y:-23.19, Z:-5.09 [[ 9.99825737e-01 -1.84119767e-02 -3.08147313e-03 3.78971653e+02] [ 1.84126411e-02 9.99830455e-01 1.87390032e-04 -2.31893322e+01] [ 3.07750046e-03 -2.44095436e-04 9.99995235e-01 -5.08719017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.540371743 meters 0.0405072606311065 Centerline is valid? [True, True] Translation: X:379.03, Y:-23.19, Z:-5.09 [[ 9.99856006e-01 -1.65616322e-02 -3.69869893e-03 3.79033785e+02] [ 1.65625771e-02 9.99862806e-01 2.24975767e-04 -2.31860613e+01] [ 3.69446552e-03 -2.86203357e-04 9.99993134e-01 -5.08917702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.600371743 meters 0.0391015088373873 Centerline is valid? [True, True] Translation: X:379.10, Y:-23.18, Z:-5.09 [[ 9.99876738e-01 -1.53501046e-02 -3.29893945e-03 3.79096018e+02] [ 1.53508509e-02 9.99882149e-01 2.01003715e-04 -2.31841624e+01] [ 3.29546524e-03 -2.51620466e-04 9.99994538e-01 -5.08895408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.660371743 meters 0.0387919950807276 Centerline is valid? [True, True] Translation: X:379.16, Y:-23.18, Z:-5.09 [[ 9.99895972e-01 -1.42915082e-02 -1.94863766e-03 3.79157353e+02] [ 1.42917666e-02 9.99897860e-01 1.18725686e-04 -2.31814211e+01] [ 1.94674186e-03 -1.46562810e-04 9.99998094e-01 -5.08925971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.720371743 meters 0.041162585447770926 Centerline is valid? [True, True] Translation: X:379.22, Y:-23.18, Z:-5.09 [[ 9.99887977e-01 -1.49524427e-02 -6.77210250e-04 3.79218487e+02] [ 1.49524744e-02 9.99888205e-01 4.18829683e-05 -2.31840751e+01] [ 6.76508288e-04 -5.20042454e-05 9.99999770e-01 -5.09059259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.780371743 meters 0.04031371482802928 Centerline is valid? [True, True] Translation: X:379.28, Y:-23.18, Z:-5.09 [[ 9.99854827e-01 -1.69823523e-02 -1.38718422e-03 3.79280087e+02] [ 1.69824862e-02 9.99855784e-01 8.47873339e-05 -2.31799667e+01] [ 1.38554428e-03 -1.08332862e-04 9.99999034e-01 -5.09172227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.840371743 meters 0.04038746981220661 Centerline is valid? [True, True] Translation: X:379.34, Y:-23.18, Z:-5.09 [[ 9.99840453e-01 -1.78616676e-02 -1.70477104e-04 3.79341998e+02] [ 1.78616697e-02 9.99840468e-01 1.11422805e-05 -2.31783353e+01] [ 1.70250888e-04 -1.41855085e-05 9.99999985e-01 -5.09238330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.900371743 meters 0.04134511394046042 Centerline is valid? [True, True] Translation: X:379.40, Y:-23.18, Z:-5.09 [[ 9.99842746e-01 -1.76964476e-02 1.14825205e-03 3.79403885e+02] [ 1.76965383e-02 9.99843402e-01 -6.88863891e-05 -2.31794186e+01] [-1.14685319e-03 8.91956428e-05 9.99999338e-01 -5.09296021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.960371743 meters 0.039365828994338464 Centerline is valid? [True, True] Translation: X:379.47, Y:-23.17, Z:-5.09 [[ 9.99877668e-01 -1.55934103e-02 1.22262731e-03 3.79466527e+02] [ 1.55935121e-02 9.99878411e-01 -7.37248905e-05 -2.31720409e+01] [-1.22132903e-03 9.27809254e-05 9.99999250e-01 -5.09303951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.020371743 meters 0.038225284272206735 Centerline is valid? [True, True] Translation: X:379.53, Y:-23.17, Z:-5.10 [[ 9.99945403e-01 -1.03498861e-02 1.43910498e-03 3.79527278e+02] [ 1.03500229e-02 9.99946433e-01 -8.77074543e-05 -2.31668634e+01] [-1.43812013e-03 1.02597435e-04 9.99998961e-01 -5.09511025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.080371743 meters 0.03367194318430747 Centerline is valid? [True, True] Translation: X:379.59, Y:-23.16, Z:-5.10 [[ 9.99992107e-01 -3.83161414e-03 1.05144173e-03 3.79589239e+02] [ 3.83168339e-03 9.99992657e-01 -6.38494086e-05 -2.31558628e+01] [-1.05118936e-03 6.78776965e-05 9.99999445e-01 -5.09608659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.140371743 meters 0.03230925183008234 Centerline is valid? [True, True] Translation: X:379.65, Y:-23.15, Z:-5.10 [[ 9.99993570e-01 3.14724831e-03 1.71877866e-03 3.79649799e+02] [-3.14707285e-03 9.99995042e-01 -1.04780848e-04 -2.31503598e+01] [-1.71909991e-03 9.93710531e-05 9.99998517e-01 -5.09640414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.200371743 meters 0.030933207345548434 Centerline is valid? [True, True] Translation: X:379.71, Y:-23.15, Z:-5.10 [[ 9.99965262e-01 8.14181019e-03 1.78512779e-03 3.79710300e+02] [-8.14162876e-03 9.99966850e-01 -1.08880911e-04 -2.31472705e+01] [-1.78595510e-03 9.43432808e-05 9.99998401e-01 -5.09766259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.260371743 meters 0.02827553825254533 Centerline is valid? [True, True] Translation: X:379.77, Y:-23.14, Z:-5.10 [[ 9.99838373e-01 1.77412821e-02 2.91101252e-03 3.79771708e+02] [-1.77408407e-02 9.99842603e-01 -1.77362013e-04 -2.31387961e+01] [-2.91370096e-03 1.25689537e-04 9.99995747e-01 -5.09845662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.320371743 meters 0.02748773856967443 Centerline is valid? [True, True] Translation: X:379.83, Y:-23.14, Z:-5.10 [[ 9.99806749e-01 1.93654566e-02 3.38281263e-03 3.79831159e+02] [-1.93648652e-02 9.99812462e-01 -2.07510110e-04 -2.31380862e+01] [-3.38619675e-03 1.41962298e-04 9.99994257e-01 -5.09913150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.380371743 meters 0.028034701264284482 Centerline is valid? [True, True] Translation: X:379.89, Y:-23.14, Z:-5.10 [[ 9.99862680e-01 1.63080788e-02 2.94395505e-03 3.79889989e+02] [-1.63076196e-02 9.99867006e-01 -1.79893183e-04 -2.31409743e+01] [-2.94649723e-03 1.31859581e-04 9.99995650e-01 -5.10213389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.440371743 meters 0.030521755109778243 Centerline is valid? [True, True] Translation: X:379.95, Y:-23.15, Z:-5.10 [[ 9.99959361e-01 8.46277457e-03 3.10757444e-03 3.79949888e+02] [-8.46222810e-03 9.99964177e-01 -1.88957310e-04 -2.31476045e+01] [-3.10906222e-03 1.62652628e-04 9.99995154e-01 -5.10365977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.500371743 meters 0.03544998590128185 Centerline is valid? [True, True] Translation: X:380.01, Y:-23.16, Z:-5.10 [[ 9.99987360e-01 -2.68851804e-03 4.24869788e-03 3.80008328e+02] [ 2.68963989e-03 9.99996350e-01 -2.58354084e-04 -2.31589358e+01] [-4.24798779e-03 2.69778286e-04 9.99990941e-01 -5.10409137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.560371743 meters 0.04119191639166655 Centerline is valid? [True, True] Translation: X:380.07, Y:-23.17, Z:-5.11 [[ 9.99886307e-01 -1.45247401e-02 4.05026087e-03 3.80068713e+02] [ 1.45258542e-02 9.99894464e-01 -2.45782457e-04 -2.31709124e+01] [-4.04626350e-03 3.04588012e-04 9.99991767e-01 -5.10580958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.620371743 meters 0.04713847317263954 Centerline is valid? [True, True] Translation: X:380.13, Y:-23.18, Z:-5.11 [[ 9.99699895e-01 -2.43053768e-02 3.06069653e-03 3.80129261e+02] [ 2.43060585e-02 9.99704547e-01 -1.85712882e-04 -2.31811713e+01] [-3.05527841e-03 2.60050617e-04 9.99995299e-01 -5.10825471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.680371743 meters 0.045795222108254215 Centerline is valid? [True, True] Translation: X:380.19, Y:-23.18, Z:-5.11 [[ 9.99592632e-01 -2.83676282e-02 3.13803224e-03 3.80190221e+02] [ 2.83683634e-02 9.99597519e-01 -1.90032958e-04 -2.31803797e+01] [-3.13137846e-03 2.78976384e-04 9.99995058e-01 -5.10855938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.740371743 meters 0.0561876761814912 Centerline is valid? [True, True] Translation: X:380.25, Y:-23.19, Z:-5.11 [[ 9.99525156e-01 -3.06015904e-02 3.60621123e-03 3.80249327e+02] [ 3.06025757e-02 9.99531608e-01 -2.18349363e-04 -2.31916457e+01] [-3.59784027e-03 3.28605033e-04 9.99993474e-01 -5.11009992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.800371743 meters 0.04635664298140147 Centerline is valid? [True, True] Translation: X:380.31, Y:-23.18, Z:-5.11 [[ 9.99595838e-01 -2.82617157e-02 3.07183472e-03 3.80311341e+02] [ 2.82624216e-02 9.99600521e-01 -1.86607214e-04 -2.31758798e+01] [-3.06533375e-03 2.73349282e-04 9.99995264e-01 -5.11034585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.86037174300003 meters 0.041230584357036915 Centerline is valid? [True, True] Translation: X:380.37, Y:-23.16, Z:-5.11 [[ 9.99802916e-01 -1.95458947e-02 3.47677206e-03 3.80373194e+02] [ 1.95467471e-02 9.99808922e-01 -2.11335621e-04 -2.31634439e+01] [-3.47197698e-03 2.79253554e-04 9.99993934e-01 -5.11151226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.920371743 meters 0.03775500175423921 Centerline is valid? [True, True] Translation: X:380.43, Y:-23.15, Z:-5.11 [[ 9.99961289e-01 -7.59022506e-03 4.45066233e-03 3.80433260e+02] [ 7.59150530e-03 9.99971147e-01 -2.70826074e-04 -2.31513055e+01] [-4.44847829e-03 3.04602817e-04 9.99990059e-01 -5.11169885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.980371743 meters 0.03280961427052718 Centerline is valid? [True, True] Translation: X:380.49, Y:-23.14, Z:-5.11 [[ 9.99984420e-01 1.80638424e-03 5.28177767e-03 3.80494579e+02] [-1.80471187e-03 9.99998320e-01 -3.21379513e-04 -2.31376697e+01] [-5.28234933e-03 3.11842419e-04 9.99986000e-01 -5.11244524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.040371743 meters 0.030585403637794644 Centerline is valid? [True, True] Translation: X:380.56, Y:-23.13, Z:-5.11 [[ 9.99967662e-01 5.29010953e-03 6.05725882e-03 3.80556110e+02] [-5.28797463e-03 9.99985951e-01 -3.68415665e-04 -2.31302447e+01] [-6.05912267e-03 3.36373121e-04 9.99981587e-01 -5.11394548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.100371743 meters 0.031968688278832286 Centerline is valid? [True, True] Translation: X:380.61, Y:-23.13, Z:-5.11 [[ 9.99966672e-01 4.59473861e-03 6.74859321e-03 3.80614755e+02] [-4.59206813e-03 9.99989372e-01 -4.11151640e-04 -2.31318233e+01] [-6.75041062e-03 3.80147937e-04 9.99977143e-01 -5.11480004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.160371743 meters 0.03487934157415629 Centerline is valid? [True, True] Translation: X:380.68, Y:-23.13, Z:-5.12 [[ 9.99969386e-01 -1.33591203e-03 7.70995460e-03 3.80675548e+02] [ 1.33956643e-03 9.99998993e-01 -4.68840030e-04 -2.31340533e+01] [-7.70932051e-03 4.79153673e-04 9.99970168e-01 -5.11613289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.220371743 meters 0.03529105810313883 Centerline is valid? [True, True] Translation: X:380.74, Y:-23.14, Z:-5.12 [[ 9.99955129e-01 -5.41923229e-03 7.76997937e-03 3.80736294e+02] [ 5.42306642e-03 9.99985183e-01 -4.72470872e-04 -2.31351421e+01] [-7.76730382e-03 5.14586786e-04 9.99969702e-01 -5.11704207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.280371743 meters 0.03721810844698068 Centerline is valid? [True, True] Translation: X:380.80, Y:-23.14, Z:-5.12 [[ 9.99952205e-01 -7.45746520e-03 6.32242834e-03 3.80797189e+02] [ 7.46004215e-03 9.99972100e-01 -3.84104477e-04 -2.31376649e+01] [-6.31938749e-03 4.31251701e-04 9.99979939e-01 -5.12011167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.340371743 meters 0.03677040915268564 Centerline is valid? [True, True] Translation: X:380.86, Y:-23.14, Z:-5.12 [[ 9.99975779e-01 -4.17141141e-03 5.57149515e-03 3.80857697e+02] [ 4.17336530e-03 9.99991234e-01 -3.39112783e-04 -2.31383706e+01] [-5.57003173e-03 3.62356454e-04 9.99984422e-01 -5.12159969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.400371743 meters 0.03688606060541242 Centerline is valid? [True, True] Translation: X:380.92, Y:-23.14, Z:-5.12 [[ 9.99982056e-01 -1.49352745e-03 5.80146279e-03 3.80917329e+02] [ 1.49560195e-03 9.99998819e-01 -3.53261087e-04 -2.31392628e+01] [-5.80092834e-03 3.61931428e-04 9.99983109e-01 -5.12265173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.460371743 meters 0.034309154779375135 Centerline is valid? [True, True] Translation: X:380.98, Y:-23.14, Z:-5.12 [[ 9.99966788e-01 4.89386887e-03 6.51716201e-03 3.80978387e+02] [-4.89138794e-03 9.99987958e-01 -3.96561793e-04 -2.31350963e+01] [-6.51902425e-03 3.64670655e-04 9.99978684e-01 -5.12467043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.520371743 meters 0.033060923591982205 Centerline is valid? [True, True] Translation: X:381.04, Y:-23.13, Z:-5.12 [[ 9.99937775e-01 8.68089944e-03 7.00633502e-03 3.81038225e+02] [-8.67812316e-03 9.99962253e-01 -4.26557981e-04 -2.31343863e+01] [-7.00977347e-03 3.65729600e-04 9.99975364e-01 -5.12462996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.580371743 meters 0.031147410700742142 Centerline is valid? [True, True] Translation: X:381.10, Y:-23.13, Z:-5.13 [[ 9.99909947e-01 1.16715812e-02 6.62360056e-03 3.81098508e+02] [-1.16691676e-02 9.99931832e-01 -4.02913922e-04 -2.31334544e+01] [-6.62785168e-03 3.25585733e-04 9.99977983e-01 -5.12558975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.640371743 meters 0.03224431411176248 Centerline is valid? [True, True] Translation: X:381.16, Y:-23.14, Z:-5.13 [[ 9.99909129e-01 1.16299791e-02 6.81748554e-03 3.81157100e+02] [-1.16274195e-02 9.99932313e-01 -4.14957469e-04 -2.31383476e+01] [-6.82185004e-03 3.35649997e-04 9.99976675e-01 -5.12759456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.700371743 meters 0.029154823854213533 Centerline is valid? [True, True] Translation: X:381.22, Y:-23.14, Z:-5.13 [[ 9.99897570e-01 1.21181031e-02 7.61586559e-03 3.81216195e+02] [-1.21149278e-02 9.99926504e-01 -4.62925006e-04 -2.31378820e+01] [-7.62091563e-03 3.70611927e-04 9.99970892e-01 -5.12810619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.760371743 meters 0.02856380614543385 Centerline is valid? [True, True] Translation: X:381.28, Y:-23.14, Z:-5.13 [[ 9.99887338e-01 1.31667546e-02 7.20746026e-03 3.81275277e+02] [-1.31639423e-02 9.99913256e-01 -4.37493077e-04 -2.31420249e+01] [-7.21259542e-03 3.42565197e-04 9.99973930e-01 -5.12974538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.820371743 meters 0.026848807754377254 Centerline is valid? [True, True] Translation: X:381.33, Y:-23.14, Z:-5.13 [[ 9.99873880e-01 1.45658600e-02 6.32926647e-03 3.81333855e+02] [-1.45637199e-02 9.99893870e-01 -3.84080180e-04 -2.31439107e+01] [-6.33418920e-03 2.91854076e-04 9.99979896e-01 -5.13135842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.880371743 meters 0.02885021431233246 Centerline is valid? [True, True] Translation: X:381.39, Y:-23.15, Z:-5.14 [[ 9.99882066e-01 1.46169253e-02 4.71170569e-03 3.81391251e+02] [-1.46157396e-02 9.99893143e-01 -2.85989389e-04 -2.31527874e+01] [-4.71538250e-03 2.17090597e-04 9.99988859e-01 -5.13533864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.940371743 meters 0.02895815165793222 Centerline is valid? [True, True] Translation: X:381.45, Y:-23.16, Z:-5.14 [[ 9.99915280e-01 1.20038417e-02 5.03391128e-03 3.81450538e+02] [-1.20024605e-02 9.99927922e-01 -3.04494090e-04 -2.31587141e+01] [-5.03720354e-03 2.44048972e-04 9.99987283e-01 -5.13578625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.000371743 meters 0.03225956922260998 Centerline is valid? [True, True] Translation: X:381.51, Y:-23.17, Z:-5.14 [[ 9.99959485e-01 6.78429914e-03 5.91616698e-03 3.81510262e+02] [-6.78230350e-03 9.99976936e-01 -3.57317799e-04 -2.31696493e+01] [-5.91845469e-03 3.17178083e-04 9.99982435e-01 -5.13620616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.060371743 meters 0.035009436858307964 Centerline is valid? [True, True] Translation: X:381.57, Y:-23.18, Z:-5.14 [[ 9.99973343e-01 1.46633882e-03 7.15284101e-03 3.81570010e+02] [-1.46328684e-03 9.99998836e-01 -4.31895710e-04 -2.31807110e+01] [-7.15346599e-03 4.21417539e-04 9.99974325e-01 -5.13718871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.120371743 meters 0.038667370487813296 Centerline is valid? [True, True] Translation: X:381.63, Y:-23.19, Z:-5.14 [[ 9.99964994e-01 -3.39412467e-03 7.64790966e-03 3.81629477e+02] [ 3.39775502e-03 9.99994121e-01 -4.61742516e-04 -2.31932660e+01] [-7.64629748e-03 4.87712076e-04 9.99970648e-01 -5.13897810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.180371743 meters 0.03799686633084822 Centerline is valid? [True, True] Translation: X:381.69, Y:-23.20, Z:-5.14 [[ 9.99954955e-01 -6.15095313e-03 7.22862308e-03 3.81690535e+02] [ 6.15426745e-03 9.99980967e-01 -4.36344663e-04 -2.31974202e+01] [-7.22580156e-03 4.80811888e-04 9.99973778e-01 -5.13979506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.240371743 meters 0.04019916869109395 Centerline is valid? [True, True] Translation: X:381.75, Y:-23.21, Z:-5.14 [[ 9.99938916e-01 -8.95382716e-03 6.48020788e-03 3.81750591e+02] [ 8.95654988e-03 9.99959813e-01 -3.91260704e-04 -2.32071407e+01] [-6.47644418e-03 4.49277109e-04 9.99978927e-01 -5.14275168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.300371743 meters 0.03831365145293123 Centerline is valid? [True, True] Translation: X:381.81, Y:-23.21, Z:-5.14 [[ 9.99945865e-01 -8.17022823e-03 6.44321235e-03 3.81812574e+02] [ 8.17290176e-03 9.99966526e-01 -3.88716606e-04 -2.32087908e+01] [-6.43982077e-03 4.41355304e-04 9.99979167e-01 -5.14388396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.36037174300003 meters 0.040021317305775794 Centerline is valid? [True, True] Translation: X:381.87, Y:-23.22, Z:-5.15 [[ 9.99948862e-01 -7.25952896e-03 7.04080741e-03 3.81873018e+02] [ 7.26270431e-03 9.99973536e-01 -4.25529067e-04 -2.32163454e+01] [-7.03753194e-03 4.76642609e-04 9.99975123e-01 -5.14519661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.420371743 meters 0.038968094593820925 Centerline is valid? [True, True] Translation: X:381.93, Y:-23.22, Z:-5.15 [[ 9.99951063e-01 -7.09392730e-03 6.89551025e-03 3.81934661e+02] [ 7.09697062e-03 9.99974729e-01 -4.16979881e-04 -2.32195187e+01] [-6.89237797e-03 4.65896709e-04 9.99976139e-01 -5.14611587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.480371743 meters 0.036253317435753316 Centerline is valid? [True, True] Translation: X:382.00, Y:-23.22, Z:-5.15 [[ 9.99949307e-01 -7.17710367e-03 7.06205259e-03 3.81996485e+02] [ 7.18030151e-03 9.99974130e-01 -4.27569995e-04 -2.32206186e+01] [-7.05880118e-03 4.78255988e-04 9.99974972e-01 -5.14666363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.540371743 meters 0.03584910444758278 Centerline is valid? [True, True] Translation: X:382.06, Y:-23.23, Z:-5.15 [[ 9.99944215e-01 -7.37741801e-03 7.55913904e-03 3.82058173e+02] [ 7.38109243e-03 9.99972654e-01 -4.58307527e-04 -2.32250369e+01] [-7.55555120e-03 5.14076665e-04 9.99971324e-01 -5.14855304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.600371743 meters 0.03818415364894715 Centerline is valid? [True, True] Translation: X:382.12, Y:-23.23, Z:-5.15 [[ 9.99944823e-01 -8.17022765e-03 6.60294248e-03 3.82118581e+02] [ 8.17304823e-03 9.99966520e-01 -4.00299199e-04 -2.32339043e+01] [-6.59945088e-03 4.54243279e-04 9.99978120e-01 -5.15117176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.660371743 meters 0.03881503456287117 Centerline is valid? [True, True] Translation: X:382.18, Y:-23.24, Z:-5.15 [[ 9.99930363e-01 -9.49851607e-03 7.00336465e-03 3.82179975e+02] [ 9.50173235e-03 9.99954767e-01 -4.26117235e-04 -2.32400743e+01] [-6.99900039e-03 4.92631658e-04 9.99975385e-01 -5.15224933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.720371743 meters 0.05041010442143699 Centerline is valid? [True, True] Translation: X:382.24, Y:-23.26, Z:-5.15 [[ 9.99899976e-01 -1.13730275e-02 8.40783657e-03 3.82238762e+02] [ 1.13777327e-02 9.99935140e-01 -5.11996077e-04 -2.32638470e+01] [-8.40146829e-03 6.07606982e-04 9.99964522e-01 -5.15354122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.780371743 meters 0.06889267768470446 Centerline is valid? [True, True] Translation: X:382.30, Y:-23.30, Z:-5.15 [[ 9.99878130e-01 -1.00788153e-02 1.19223446e-02 3.82297467e+02] [ 1.00882056e-02 9.99948848e-01 -7.27744978e-04 -2.32979252e+01] [-1.19143999e-02 8.47931352e-04 9.99928661e-01 -5.15252546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.840371743 meters 0.04196965931477599 Centerline is valid? [True, True] Translation: X:382.36, Y:-23.27, Z:-5.16 [[ 9.99861867e-01 -1.40786447e-02 8.83400308e-03 3.82360464e+02] [ 1.40839581e-02 9.99900671e-01 -5.39548200e-04 -2.32652499e+01] [-8.82552950e-03 6.63891400e-04 9.99960834e-01 -5.15535424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.900371743 meters 0.04164773712779853 Centerline is valid? [True, True] Translation: X:382.42, Y:-23.27, Z:-5.16 [[ 9.99869743e-01 -1.41867103e-02 7.69641190e-03 3.82422827e+02] [ 1.41907433e-02 9.99899196e-01 -4.69647923e-04 -2.32714856e+01] [-7.68897332e-03 5.78804553e-04 9.99970272e-01 -5.15726565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.960371743 meters 0.03916567334069311 Centerline is valid? [True, True] Translation: X:382.49, Y:-23.27, Z:-5.16 [[ 9.99884241e-01 -1.31701703e-02 7.61918786e-03 3.82485132e+02] [ 1.31740975e-02 9.99913109e-01 -4.65472268e-04 -2.32731914e+01] [-7.61239548e-03 5.65794309e-04 9.99970865e-01 -5.15908304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.020371743 meters 0.03918514476889742 Centerline is valid? [True, True] Translation: X:382.54, Y:-23.28, Z:-5.16 [[ 9.99924313e-01 -9.73380340e-03 7.52466457e-03 3.82544845e+02] [ 9.73754490e-03 9.99952483e-01 -4.60754570e-04 -2.32790655e+01] [-7.51982212e-03 5.33991456e-04 9.99971583e-01 -5.16085437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.080371743 meters 0.03776501950103413 Centerline is valid? [True, True] Translation: X:382.61, Y:-23.28, Z:-5.16 [[ 9.99956350e-01 -4.41965828e-03 8.23193525e-03 3.82605425e+02] [ 4.42395654e-03 9.99990087e-01 -5.04009587e-04 -2.32822891e+01] [-8.22962610e-03 5.40405311e-04 9.99965990e-01 -5.16153981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.140371743 meters 0.03640646035251659 Centerline is valid? [True, True] Translation: X:382.67, Y:-23.28, Z:-5.16 [[ 9.99964607e-01 5.01041452e-04 8.39846972e-03 3.82665371e+02] [-4.96740503e-04 9.99999744e-01 -5.14189257e-04 -2.32849840e+01] [-8.39872521e-03 5.09999198e-04 9.99964600e-01 -5.16366876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.200371743 meters 0.03323510976295062 Centerline is valid? [True, True] Translation: X:382.73, Y:-23.29, Z:-5.17 [[ 9.99955789e-01 3.78869687e-03 8.60614345e-03 3.82725680e+02] [-3.78430190e-03 9.99992701e-01 -5.26905277e-04 -2.32864144e+01] [-8.60807692e-03 4.94313736e-04 9.99962828e-01 -5.16585281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.260371743 meters 0.030790321724626448 Centerline is valid? [True, True] Translation: X:382.79, Y:-23.29, Z:-5.17 [[ 9.99958689e-01 3.83396557e-03 8.24136251e-03 3.82786134e+02] [-3.82993682e-03 9.99992538e-01 -5.04571811e-04 -2.32867824e+01] [-8.24323553e-03 4.72987070e-04 9.99965912e-01 -5.16722865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.320371743 meters 0.03288697564080574 Centerline is valid? [True, True] Translation: X:382.85, Y:-23.30, Z:-5.17 [[ 9.99966256e-01 2.23425941e-03 7.90537183e-03 3.82845172e+02] [-2.23050178e-03 9.99997395e-01 -4.84110858e-04 -2.32973973e+01] [-7.90643287e-03 4.66461577e-04 9.99968635e-01 -5.16914028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.380371743 meters 0.03681437678827904 Centerline is valid? [True, True] Translation: X:382.91, Y:-23.31, Z:-5.17 [[ 9.99960557e-01 -3.16754244e-03 8.29762104e-03 3.82905332e+02] [ 3.17186516e-03 9.99994841e-01 -5.07850694e-04 -2.33117955e+01] [-8.29596960e-03 5.34149598e-04 9.99965445e-01 -5.17044507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.440371743 meters 0.03673694883171053 Centerline is valid? [True, True] Translation: X:382.97, Y:-23.32, Z:-5.17 [[ 9.99915702e-01 -1.08445625e-02 7.14031231e-03 3.82965129e+02] [ 1.08479584e-02 9.99941064e-01 -4.37037184e-04 -2.33212181e+01] [-7.13515201e-03 5.14458154e-04 9.99974412e-01 -5.17354419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.500371743 meters 0.04024148701752347 Centerline is valid? [True, True] Translation: X:383.02, Y:-23.34, Z:-5.18 [[ 9.99806798e-01 -1.89919955e-02 5.06658151e-03 3.83024890e+02] [ 1.89938094e-02 9.99819553e-01 -3.10126585e-04 -2.33362073e+01] [-5.05977734e-03 4.06300352e-04 9.99987117e-01 -5.17696007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.560371743 meters 0.043761590358456816 Centerline is valid? [True, True] Translation: X:383.08, Y:-23.35, Z:-5.18 [[ 9.99690543e-01 -2.44026723e-02 4.82994586e-03 3.83084689e+02] [ 2.44043828e-02 9.99702125e-01 -2.95518263e-04 -2.33508881e+01] [-4.82129570e-03 4.13298661e-04 9.99988292e-01 -5.17902757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.620371743 meters 0.04539635055275956 Centerline is valid? [True, True] Translation: X:383.15, Y:-23.36, Z:-5.18 [[ 9.99655408e-01 -2.57835002e-02 4.92705897e-03 3.83145767e+02] [ 2.57852962e-02 9.99667459e-01 -3.01336618e-04 -2.33606316e+01] [-4.91765100e-03 4.28278454e-04 9.99987817e-01 -5.18058787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.680371743 meters 0.04471782746976952 Centerline is valid? [True, True] Translation: X:383.21, Y:-23.37, Z:-5.18 [[ 9.99669112e-01 -2.51382714e-02 5.45283372e-03 3.83207395e+02] [ 2.51404613e-02 9.99683873e-01 -3.33426700e-04 -2.33669746e+01] [-5.44272817e-03 4.70403128e-04 9.99985078e-01 -5.18116711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.740371743 meters 0.041921383677006596 Centerline is valid? [True, True] Translation: X:383.27, Y:-23.37, Z:-5.18 [[ 9.99713677e-01 -2.31511337e-02 6.04893642e-03 3.83268551e+02] [ 2.31537985e-02 9.99731846e-01 -3.70862125e-04 -2.33701854e+01] [-6.03872849e-03 5.10811793e-04 9.99981636e-01 -5.18203868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.800371743 meters 0.04132403776672442 Centerline is valid? [True, True] Translation: X:383.33, Y:-23.38, Z:-5.18 [[ 9.99721095e-01 -2.28518156e-02 5.96048829e-03 3.83330790e+02] [ 2.28543957e-02 9.99738738e-01 -3.65113003e-04 -2.33761948e+01] [-5.95058754e-03 5.01234530e-04 9.99982169e-01 -5.18449853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.86037174300003 meters 0.04372582046205489 Centerline is valid? [True, True] Translation: X:383.39, Y:-23.39, Z:-5.19 [[ 9.99670407e-01 -2.48620652e-02 6.39967658e-03 3.83391393e+02] [ 2.48650868e-02 9.99690739e-01 -3.93006058e-04 -2.33860469e+01] [-6.38792646e-03 5.52005040e-04 9.99979445e-01 -5.18644152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.920371743 meters 0.044715214862620534 Centerline is valid? [True, True] Translation: X:383.45, Y:-23.39, Z:-5.19 [[ 9.99612398e-01 -2.69729226e-02 6.89312750e-03 3.83452478e+02] [ 2.69764780e-02 9.99635979e-01 -4.23322081e-04 -2.33935297e+01] [-6.87920003e-03 6.09110304e-04 9.99976153e-01 -5.18782463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.980371743 meters 0.04894196383558131 Centerline is valid? [True, True] Translation: X:383.51, Y:-23.41, Z:-5.19 [[ 9.99473772e-01 -3.12956261e-02 8.53014392e-03 3.83513084e+02] [ 3.13012311e-02 9.99509859e-01 -5.24337773e-04 -2.34056051e+01] [-8.50955347e-03 7.91065858e-04 9.99963480e-01 -5.18963431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.040371743 meters 0.05465322872276643 Centerline is valid? [True, True] Translation: X:383.57, Y:-23.42, Z:-5.19 [[ 9.99319356e-01 -3.49956945e-02 1.16672871e-02 3.83573040e+02] [ 3.50064368e-02 9.99386829e-01 -7.17716725e-04 -2.34164684e+01] [-1.16350160e-02 1.12565836e-03 9.99931677e-01 -5.19177670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.100371743 meters 0.05545583510199073 Centerline is valid? [True, True] Translation: X:383.63, Y:-23.42, Z:-5.19 [[ 9.99213809e-01 -3.62591021e-02 1.60325209e-02 3.83634705e+02] [ 3.62795514e-02 9.99341194e-01 -9.86394532e-04 -2.34172646e+01] [-1.59861928e-02 1.56727171e-03 9.99870984e-01 -5.19364885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.160371743 meters 0.0640158775699843 Centerline is valid? [True, True] Translation: X:383.70, Y:-23.43, Z:-5.19 [[ 9.99150531e-01 -3.50278815e-02 2.17086012e-02 3.83695505e+02] [ 3.50651301e-02 9.99384134e-01 -1.33745765e-03 -2.34275234e+01] [-2.16483833e-02 2.09753644e-03 9.99763446e-01 -5.19395785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.220371743 meters 0.06672445244559085 Centerline is valid? [True, True] Translation: X:383.76, Y:-23.43, Z:-5.20 [[ 9.99032194e-01 -3.48771022e-02 2.68004133e-02 3.83757387e+02] [ 3.49339777e-02 9.99388249e-01 -1.65677888e-03 -2.34275366e+01] [-2.67262345e-02 2.59142048e-03 9.99639431e-01 -5.19675238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.280371743 meters 0.07272613569502874 Centerline is valid? [True, True] Translation: X:383.82, Y:-23.43, Z:-5.20 [[ 9.98894311e-01 -3.53897961e-02 3.09470247e-02 3.83819164e+02] [ 3.54660689e-02 9.99369039e-01 -1.91902031e-03 -2.34314592e+01] [-3.08595846e-02 3.01446778e-03 9.99519184e-01 -5.19989124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.340371743 meters 0.07704459492670068 Centerline is valid? [True, True] Translation: X:383.88, Y:-23.44, Z:-5.20 [[ 9.98780826e-01 -3.55810906e-02 3.42176647e-02 3.83881384e+02] [ 3.56745739e-02 9.99361200e-01 -2.12518793e-03 -2.34358111e+01] [-3.41201899e-02 3.34329757e-03 9.99412145e-01 -5.20183085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.400371743 meters 0.08659445873190288 Centerline is valid? [True, True] Translation: X:383.94, Y:-23.44, Z:-5.21 [[ 9.98639981e-01 -3.56737341e-02 3.80206867e-02 3.83942941e+02] [ 3.57894983e-02 9.99356544e-01 -2.36829736e-03 -2.34426994e+01] [-3.79117361e-02 3.72581774e-03 9.99274146e-01 -5.20578248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.460371743 meters 0.09639068117667486 Centerline is valid? [True, True] Translation: X:384.00, Y:-23.45, Z:-5.21 [[ 9.98417485e-01 -3.72884874e-02 4.20962421e-02 3.84003377e+02] [ 3.74320087e-02 9.99295726e-01 -2.62602808e-03 -2.34489879e+01] [-4.19686742e-02 4.19761925e-03 9.99110109e-01 -5.20925893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.520371743 meters 0.10816534174426033 Centerline is valid? [True, False] Translation: X:384.00, Y:-23.45, Z:-5.21 [[ 9.98161583e-01 -3.54430849e-02 4.91654511e-02 3.83996359e+02] [ 3.57828129e-02 9.99341297e-01 -6.04674034e-03 -2.34500288e+01] [-4.89187506e-02 7.79490205e-03 9.98772344e-01 -5.21476596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.580371743 meters 0.11488803151351755 Centerline is valid? [False, False] Translation: X:384.00, Y:-23.45, Z:-5.22 [[ 9.98153280e-01 -3.51446294e-02 4.95467986e-02 3.83996401e+02] [ 3.54523515e-02 9.99357072e-01 -5.34538994e-03 -2.34513051e+01] [-4.93270818e-02 7.09206902e-03 9.98757499e-01 -5.21587002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.640371743 meters 0.1320493882868551 Centerline is valid? [False, False] Translation: X:384.00, Y:-23.45, Z:-5.22 [[ 9.98138672e-01 -3.48757221e-02 5.00287510e-02 3.83996462e+02] [ 3.51485681e-02 9.99371584e-01 -4.58415368e-03 -2.34529381e+01] [-4.98374365e-02 6.33406003e-03 9.98737258e-01 -5.21725045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.700371743 meters 0.14090938713503265 Centerline is valid? [False, False] Translation: X:384.00, Y:-23.45, Z:-5.22 [[ 9.98130128e-01 -3.48632299e-02 5.02075935e-02 3.83996905e+02] [ 3.51333465e-02 9.99372469e-01 -4.50727637e-03 -2.34524299e+01] [-5.00189485e-02 6.26280912e-03 9.98728633e-01 -5.21841439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.760371743 meters 0.15350973616296223 Centerline is valid? [False, False] Translation: X:384.00, Y:-23.45, Z:-5.22 [[ 9.98229760e-01 -3.09823838e-02 5.07684810e-02 3.83996628e+02] [ 3.10195789e-02 9.99518776e-01 5.53020543e-05 -2.34533669e+01] [-5.07457634e-02 1.51961274e-03 9.98710448e-01 -5.21988996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.820371743 meters 0.15185703476038892 Centerline is valid? [False, False] Translation: X:384.00, Y:-23.45, Z:-5.22 [[ 9.98232737e-01 -3.11511223e-02 5.06064324e-02 3.83997552e+02] [ 3.12136232e-02 9.99512637e-01 -4.45004352e-04 -2.34501971e+01] [-5.05679063e-02 2.02382802e-03 9.98718574e-01 -5.22091802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.880371743 meters 0.1548013770583163 Centerline is valid? [False, False] Translation: X:384.00, Y:-23.45, Z:-5.22 [[ 9.98337231e-01 -2.72164191e-02 5.08137823e-02 3.83997565e+02] [ 2.70487456e-02 9.99626174e-01 3.98464978e-03 -2.34507303e+01] [-5.09032347e-02 -2.60357516e-03 9.98700196e-01 -5.22187104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 2908.17 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%| | 0/12798 [00:00